racerxdl / trackdish.ino

#include <EEPROM.h> #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif #include <avr/wdt.h> // Amount of readings used to average, make it higher to get more precision // but sketch will be slower (default:1000) #define CALIB_BUFFER_SIZE 1000 // Acelerometer error allowed, make it lower to get more precision, // but sketch may not converge (default:8) #define CALIB_ACCEL_DEADZONE 8 // Giro error allowed, make it lower to get // more precision, but sketch may not converge (default:1) #define CALIB_GYRO_DEADZONE 1 #define INTERRUPT_PIN 2 #define LED_PIN 13 #define CURRENT_VERSION "v1.0.0" #define CONFIG_VERSION 0 #define SERIAL_TIMEOUT 100 #define DMP_WARMUP_TIME 10000 #define STATE_IDLE 0 #define STATE_CALIBRATION 1 #define STATE_SET_MOTORS 2 #define STATE_STOP_MOTORS 3 #define VER_MTR_PWR_PIN 4 #define HOR_MTR_PWR_PIN 5 #define VER_MTR_DIR_PIN 6 #define HOR_MTR_DIR_PIN 7 #define MTR_CTRL_VERPWRBIT 1 #define MTR_CTRL_HORPWRBIT 2 #define MTR_CTRL_VERDIRBIT 4 #define MTR_CTRL_HORDIRBIT 8 #define CMD_CALIBRATE 'c' #define CMD_STOP_MOTOR 's' #define CMD_SET_MOTOR 'w' const char magicWord[5] = "DISH"; const char currVersion[11] = CURRENT_VERSION; struct Config { char magic[4]; char version[10]; char configVersion; char firstSetup; int16_t gyroOffsetX; int16_t gyroOffsetY; int16_t gyroOffsetZ; int16_t accelOffsetX; int16_t accelOffsetY; int16_t accelOffsetZ; }; MPU6050 mpu; float ypr[3]; int mpuStatus; int dmpStatus; int dmpPacketSize; uint16_t fifoCount; uint8_t fifoBuffer[64]; float temperature; Config trackConfig; Quaternion q; VectorFloat gravity; long lastSerialTime; bool readingSerial; #define resetDevice() wdt_enable(WDTO_30MS); while(1) {} void measureSensorsMean(); void saveConfig(); /* * MPU Interrupt */ volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } /* * Calibration */ int16_t ax, ay, az,gx, gy, gz; int meanAccelX,meanAccelY,meanAccelZ,meanGyroX,meanGyroY,meanGyroZ,state=0; int accelOffsetX,accelOffsetY,accelOffsetZ,gyroOffsetX,gyroOffsetY,gyroOffsetZ; void calibrate() { Serial.println("|0|Reseting offsets.;"); mpu.setXGyroOffset(0); mpu.setYGyroOffset(0); mpu.setZGyroOffset(0); mpu.setXAccelOffset(0); mpu.setYAccelOffset(0); mpu.setZAccelOffset(0); Serial.println("|0|Reading sensor means.;"); measureSensorsMean(); Serial.println("|0|Calculating offsets.;"); calculateOffsets(); Serial.println("|0|New offsets calculated.;"); trackConfig.gyroOffsetX = gyroOffsetX; trackConfig.gyroOffsetY = gyroOffsetY; trackConfig.gyroOffsetZ = gyroOffsetZ; trackConfig.accelOffsetX = accelOffsetX; trackConfig.accelOffsetY = accelOffsetY; trackConfig.accelOffsetZ = accelOffsetZ; trackConfig.firstSetup = false; Serial.println("|0|Saving configurations.;"); saveConfig(); Serial.println("|0|Resetting device.;"); delay(100); resetDevice(); } void calculateOffsets() { accelOffsetX=-meanAccelX/8; accelOffsetY=-meanAccelY/8; accelOffsetZ=(16384-meanAccelZ)/8; gyroOffsetX=-meanGyroX/4; gyroOffsetY=-meanGyroY/4; gyroOffsetZ=-meanGyroZ/4; while (1) { // TODO: Limit iterations int ready=0; mpu.setXAccelOffset(accelOffsetX); mpu.setYAccelOffset(accelOffsetY); mpu.setZAccelOffset(accelOffsetZ); mpu.setXGyroOffset(gyroOffsetX); mpu.setYGyroOffset(gyroOffsetY); mpu.setZGyroOffset(gyroOffsetZ); measureSensorsMean(); if (abs(meanAccelX)<=CALIB_ACCEL_DEADZONE) { ready++; } else { accelOffsetX=accelOffsetX-meanAccelX/CALIB_ACCEL_DEADZONE; } if (abs(meanAccelY)<=CALIB_ACCEL_DEADZONE) { ready++; } else { accelOffsetY=accelOffsetY-meanAccelY/CALIB_ACCEL_DEADZONE; } if (abs(16384-meanAccelZ)<=CALIB_ACCEL_DEADZONE) { ready++; } else { accelOffsetZ=accelOffsetZ+(16384-meanAccelZ)/CALIB_ACCEL_DEADZONE; } if (abs(meanGyroX)<=CALIB_GYRO_DEADZONE) { ready++; } else { gyroOffsetX=gyroOffsetX-meanGyroX/(CALIB_GYRO_DEADZONE+1); } if (abs(meanGyroY)<=CALIB_GYRO_DEADZONE) { ready++; } else { gyroOffsetY=gyroOffsetY-meanGyroY/(CALIB_GYRO_DEADZONE+1); } if (abs(meanGyroZ)<=CALIB_GYRO_DEADZONE) { ready++; } else { gyroOffsetZ=gyroOffsetZ-meanGyroZ/(CALIB_GYRO_DEADZONE+1); } if (ready==6) break; } } void measureSensorsMean() { long i=0,buff_ax=0,buff_ay=0,buff_az=0,buff_gx=0,buff_gy=0,buff_gz=0; while (i<(CALIB_BUFFER_SIZE+101)){ // read raw accel/gyro measurements from device mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); if (i>100 && i<=(CALIB_BUFFER_SIZE+100)){ //First 100 measures are discarded buff_ax=buff_ax+ax; buff_ay=buff_ay+ay; buff_az=buff_az+az; buff_gx=buff_gx+gx; buff_gy=buff_gy+gy; buff_gz=buff_gz+gz; } if (i==(CALIB_BUFFER_SIZE+100)){ meanAccelX=buff_ax/CALIB_BUFFER_SIZE; meanAccelY=buff_ay/CALIB_BUFFER_SIZE; meanAccelZ=buff_az/CALIB_BUFFER_SIZE; meanGyroX=buff_gx/CALIB_BUFFER_SIZE; meanGyroY=buff_gy/CALIB_BUFFER_SIZE; meanGyroZ=buff_gz/CALIB_BUFFER_SIZE; } i++; delay(2); //Needed so we don't get repeated measures } } /* * EEPROM Manipulation */ void clearEEPROM() { for (int index = 0 ; index < EEPROM.length() ; index++) { EEPROM[index] = 0; } } void saveConfig() { EEPROM.put(0, trackConfig); } void loadConfig() { EEPROM.get(0, trackConfig); bool magicOk = true; for (int i=0; i<4; i++) { if (magicWord[i] != trackConfig.magic[i]) { magicOk = false; } } if (!magicOk) { Serial.println("|0|First setup. Cleaning EEPROM.;"); clearEEPROM(); for (int i=0; i<4; i++) { trackConfig.magic[i] = magicWord[i]; } for (int i=0; i<10; i++) { trackConfig.version[i] = currVersion[i]; } trackConfig.configVersion = CONFIG_VERSION; trackConfig.gyroOffsetX = 0; trackConfig.gyroOffsetY = 0; trackConfig.gyroOffsetZ = 0; trackConfig.accelOffsetX = 0; trackConfig.accelOffsetY = 0; trackConfig.accelOffsetZ = 0; trackConfig.firstSetup = true; saveConfig(); } } /* * Main Code */ void setup() { #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif MCUSR = 0; Serial.begin(115200); Serial.println("|0|Initializing devices.;"); mpu.initialize(); Serial.print("|1|MPUStatus|"); Serial.print(mpu.testConnection()); Serial.println(";"); Serial.println("|0|Initializing DMP.;"); dmpStatus = mpu.dmpInitialize(); Serial.println("|0|Loading configuration.;"); loadConfig(); if (dmpStatus == 0) { dmpStatus = 1; Serial.println("|0|DMP Initialized.;"); } else { dmpStatus = 0; Serial.println("|0|Failed to initialize DMP.;"); } if (trackConfig.firstSetup) { Serial.println("|1|CALIBRATION|Requires Calibration;"); } else { Serial.println("|0|Loading Accel / Gyro Calibration;"); mpu.setXGyroOffset(trackConfig.gyroOffsetX); mpu.setYGyroOffset(trackConfig.gyroOffsetY); mpu.setZGyroOffset(trackConfig.gyroOffsetZ); mpu.setXAccelOffset(trackConfig.accelOffsetX); mpu.setYAccelOffset(trackConfig.accelOffsetY); mpu.setZAccelOffset(trackConfig.accelOffsetZ); mpu.setDMPEnabled(true); attachInterrupt(0, dmpDataReady, RISING); dmpPacketSize = mpu.dmpGetFIFOPacketSize(); Serial.println("|0|Waiting for DMP warmup.;"); lastSerialTime = millis(); while (lastSerialTime + DMP_WARMUP_TIME > millis()); // Wait for warmpup Serial.println("|0|DMP Ready.;"); } lastSerialTime = 0; readingSerial = false; } int currentState = STATE_IDLE; void machineStateProcess() { char d; switch (currentState) { case STATE_IDLE: // Do Nothing break; case STATE_CALIBRATION: Serial.println("|0|Entering Calibration State. This can take some time;"); calibrate(); currentState = STATE_IDLE; break; case STATE_SET_MOTORS: d = Serial.read(); Serial.print("|0|Setting motors to "); Serial.print(d & MTR_CTRL_VERDIRBIT > 0 ? "UP " : "DOWN "); Serial.print(d & MTR_CTRL_VERPWRBIT > 0 ? "ON " : "OFF "); Serial.print(d & MTR_CTRL_HORDIRBIT > 0 ? "LEFT " : "RIGHT "); Serial.println(d & MTR_CTRL_HORPWRBIT > 0 ? "ON;" : "OFF;"); digitalWrite(VER_MTR_DIR_PIN, d & MTR_CTRL_VERDIRBIT); digitalWrite(HOR_MTR_DIR_PIN, d & MTR_CTRL_HORDIRBIT); digitalWrite(VER_MTR_PWR_PIN, d & MTR_CTRL_VERPWRBIT); digitalWrite(HOR_MTR_PWR_PIN, d & MTR_CTRL_HORPWRBIT); currentState = STATE_IDLE; break; case STATE_STOP_MOTORS: Serial.println("|0|Stopping Motors.;"); digitalWrite(VER_MTR_PWR_PIN, LOW); digitalWrite(HOR_MTR_PWR_PIN, LOW); currentState = STATE_IDLE; break; } } void loop() { // Process MPU if (dmpStatus) { if (mpuInterrupt || fifoCount >= dmpPacketSize) { mpuInterrupt = false; mpuStatus = mpu.getIntStatus(); if ((mpuStatus & 0x10) || fifoCount == 1024) { mpu.resetFIFO(); Serial.println("|0|MPU FIFO Overflow!;"); } else if (mpuStatus & 0x02) { while (fifoCount < dmpPacketSize) { fifoCount = mpu.getFIFOCount(); } mpu.getFIFOBytes(fifoBuffer, dmpPacketSize); fifoCount -= dmpPacketSize; mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); temperature = mpu.getTemperature() /340.00 + 36.53; Serial.print("|2|"); Serial.print(ypr[0] * 180/M_PI); Serial.print("|"); Serial.print(ypr[1] * 180/M_PI); Serial.print("|"); Serial.print(ypr[2] * 180/M_PI); Serial.println(";"); Serial.print("|3|"); Serial.print(temperature); Serial.println(";"); } } } // Process Serial Data if (Serial.available() > 0) { char cmd = Serial.read(); switch (cmd) { case CMD_CALIBRATE: currentState = STATE_CALIBRATION; break; case CMD_STOP_MOTOR: currentState = STATE_STOP_MOTORS; break; case CMD_SET_MOTOR: currentState = STATE_SET_MOTORS; break; default: Serial.print("|0|Unknown command "); Serial.print(cmd); Serial.println(";"); } } else if (lastSerialTime + SERIAL_TIMEOUT < millis() && readingSerial) { // Timeout Serial.println("|0|Serial Command Timeout;"); readingSerial = false; } machineStateProcess(); } #define CMD_CALIBRATE 'c' #define CMD_STOP_MOTOR 's' #define CMD_SET_MOTOR 'w'