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- Project: "MPU6050 PPM"
- Source Code NOT compiled for: Arduino Mega
- Source Code created on: 2024-06-21 05:55:47
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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
/* Create a head tracking system with MPU6050 */
/* gyroscope (I2C: SDA D20, SCL D21, Interrupt D2) */
/* and PPMEncoder library. Ensure accurate data */
/* capture and encoding for real-time head movement */
/* tracking. Send out data in ppm format. */
/****** SYSTEM REQUIREMENT 2 *****/
/* calibrate gyro all center on start. all ppm */
/* channel should be in center on start. */
/****** END SYSTEM REQUIREMENTS *****/
/****** DEFINITION OF LIBRARIES *****/
#include
#include // Include the correct MPU6050 library with DMP support
#include "PPMEncoder.h" // Include the PPMEncoder library
/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
void dmpDataReady(void);
/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t gyro_MPU6050_Interrupt_PIN_D2 = 2;
/***** DEFINITION OF I2C PINS *****/
const uint8_t gyro_MPU6050_I2C_PIN_SDA_D20 = 20;
const uint8_t gyro_MPU6050_I2C_PIN_SCL_D21 = 21;
const uint8_t gyro_MPU6050_I2C_SLAVE_ADDRESS = 0x68; // Correct I2C address for MPU6050
/***** DEFINITION OF PPM ENCODER PIN *****/
const uint8_t ppmEncoderOutputPin = 10;
/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 mpu; // Define the MPU6050 object
PPMEncoder ppmEncoder; // Define the PPMEncoder object
/****** GLOBAL 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
// Orientation/motion vars
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) {
// Initialize PPM Encoder
ppmEncoder.begin(ppmEncoderOutputPin);
// Set all PPM channels to center on start
for (int i = 0; i < ppmEncoder.getChannelCount(); i++) {
ppmEncoder.setChannel(i, PPMEncoder::CENTER);
}
pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);
// Initialize I2C
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
// Initialize serial communication
Serial.begin(115200);
while (!Serial); // Wait for Leonardo enumeration, others continue immediately
// Initialize the MPU6050
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(gyro_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()); // Empty buffer
// 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(gyro_MPU6050_Interrupt_PIN_D2));
Serial.println(F(")..."));
attachInterrupt(digitalPinToInterrupt(gyro_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) {
// 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;
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);
// Map the yaw, pitch, and roll to PPM channels
ppmEncoder.setChannel(0, map(ypr[0] * 180/M_PI, -180, 180, PPMEncoder::MIN, PPMEncoder::MAX));
ppmEncoder.setChannel(1, map(ypr[1] * 180/M_PI, -90, 90, PPMEncoder::MIN, PPMEncoder::MAX));
ppmEncoder.setChannel(2, map(ypr[2] * 180/M_PI, -90, 90, PPMEncoder::MIN, PPMEncoder::MAX));
}
}
/* END CODE */
