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- Project: "Motion Bluetooth"
- Source Code NOT compiled for: Arduino Uno
- Source Code created on: 2024-06-09 20:57:26
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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
/* make a bluetooth headtracker to use with opentrack */
/* software */
/****** END SYSTEM REQUIREMENTS *****/
/****** DEFINITION OF LIBRARIES *****/
#include
#include
#include "MPU6050_6Axis_MotionApps20.h" // Ensure you have the correct library
/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t accelerometer_MPU6050_Interrupt_PIN_D2 = 2;
/***** DEFINITION OF Software Serial *****/
const uint8_t bluetooth_HC05_mySerial_PIN_SERIAL_TX_A0 = A0;
const uint8_t bluetooth_HC05_mySerial_PIN_SERIAL_RX_A1 = A1;
const uint8_t bluetooth_HC05_mySerial_PIN_SERIAL_TX_A2 = A2;
const uint8_t bluetooth_HC05_mySerial_PIN_SERIAL_RX_A3 = A3;
SoftwareSerial bluetooth_HC05_mySerial1(bluetooth_HC05_mySerial_PIN_SERIAL_RX_A1, bluetooth_HC05_mySerial_PIN_SERIAL_TX_A0);
SoftwareSerial bluetooth_HC05_mySerial2(bluetooth_HC05_mySerial_PIN_SERIAL_RX_A3, bluetooth_HC05_mySerial_PIN_SERIAL_TX_A2);
/***** DEFINITION OF I2C PINS *****/
const uint8_t accelerometer_MPU6050_I2C_PIN_SDA_A4 = A4;
const uint8_t accelerometer_MPU6050_I2C_PIN_SCL_A5 = A5;
const uint8_t accelerometer_MPU6050_I2C_SLAVE_ADDRESS = 0x68; // MPU6050 I2C address
/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 mpu; // Instantiate MPU6050 object
/****** VARIABLES *****/
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
Quaternion q; // [w, x, y, z] quaternion container
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() { mpuInterrupt = true; }
void setup(void)
{
// put your setup code here, to run once:
pinMode(accelerometer_MPU6050_Interrupt_PIN_D2, INPUT);
bluetooth_HC05_mySerial1.begin(9600);
bluetooth_HC05_mySerial2.begin(9600);
// Initialize I2C
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock
// Initialize Serial
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// Initialize MPU6050
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(accelerometer_MPU6050_Interrupt_PIN_D2, INPUT);
// Verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// Wait for ready
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (!Serial.available());
while (Serial.available() && Serial.read());
// Load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// Supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// Make sure it worked (returns 0 if so)
if (devStatus == 0) {
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
mpu.PrintActiveOffsets();
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// Enable Arduino interrupt detection
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
Serial.print(digitalPinToInterrupt(accelerometer_MPU6050_Interrupt_PIN_D2));
Serial.println(F(")..."));
attachInterrupt(digitalPinToInterrupt(accelerometer_MPU6050_Interrupt_PIN_D2), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// Set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// Get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
}
void loop(void)
{
// put your main code here, to run repeatedly:
// If programming failed, don't try to do anything
if (!dmpReady) return;
// Wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// Do nothing
}
// Reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// Get current FIFO count
fifoCount = mpu.getFIFOCount();
// Check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// Reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// Otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// Wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// Read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// Track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
// Get Yaw, Pitch, and Roll values
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
// Send Yaw, Pitch, and Roll values via Bluetooth
bluetooth_HC05_mySerial1.print("ypr\t");
bluetooth_HC05_mySerial1.print(ypr[0] * 180/M_PI);
bluetooth_HC05_mySerial1.print("\t");
bluetooth_HC05_mySerial1.print(ypr[1] * 180/M_PI);
bluetooth_HC05_mySerial1.print("\t");
bluetooth_HC05_mySerial1.println(ypr[2] * 180/M_PI);
bluetooth_HC05_mySerial2.print("ypr\t");
bluetooth_HC05_mySerial2.print(ypr[0] * 180/M_PI);
bluetooth_HC05_mySerial2.print("\t");
bluetooth_HC05_mySerial2.print(ypr[1] * 180/M_PI);
bluetooth_HC05_mySerial2.print("\t");
bluetooth_HC05_mySerial2.println(ypr[2] * 180/M_PI);
}
}
/* END CODE */
