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	- Project: "MPU6050 Setup"
	- Source Code compiled for: Arduino Mega
	- Source Code created on: 2024-06-21 05:38:13

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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. */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include 
#include   //https://github.com/jrowberg/i2cdevlib
#include   //https://github.com/schinken/PPMEncoder

/****** 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;

/***** DEFINITION OF PPM OUTPUT PIN *****/
const uint8_t ppmOutputPin = 10;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 mpu;

/****** GLOBAL VARIABLES *****/
bool blinkState = false;
bool dmpReady = false;
uint8_t mpuIntStatus, devStatus, fifoBuffer[64];
uint16_t packetSize, fifoCount;
Quaternion q;
VectorFloat gravity;
float ypr[3];

volatile bool mpuInterrupt = false;

/****** FUNCTION DEFINITIONS *****/
void dmpDataReady() {
    mpuInterrupt = true;
}

void setup(void) {
    // put your setup code here, to run once:
    pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);
    pinMode(LED_BUILTIN, OUTPUT);

    // Initialize I2C communication
    Wire.begin();
    Wire.setClock(400000);  // 400kHz I2C clock

    // Initialize serial communication
    Serial.begin(115200);
    while (!Serial);

    // Initialize MPU6050
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // Wait for user input to start DMP
    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (!Serial.available());
    while (Serial.available() && Serial.read());

    // Initialize 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);

    // Check if DMP initialization was successful
    if (devStatus == 0) {
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
        mpu.PrintActiveOffsets();
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // Enable 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();

        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    // Initialize PPM Encoder
    ppmEncoder.begin(ppmOutputPin);
}

void loop(void) {
    // put your main code here, to run repeatedly:
    if (!dmpReady) return;

    // Check if there's a new DMP packet available
    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
        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);

        // Encode Yaw, Pitch, and Roll into 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));

        blinkState = !blinkState;
        digitalWrite(LED_BUILTIN, blinkState);
    }
}

/* END CODE */