diff --git a/Comms-Rewrite/MasterCode/MasterCode.ino b/Comms-Rewrite/MasterCode/MasterCode.ino new file mode 100644 index 0000000..2c9b4e3 --- /dev/null +++ b/Comms-Rewrite/MasterCode/MasterCode.ino @@ -0,0 +1,36 @@ +/* +Program: Receive Strings From Raspberry Pi +File: receive_string_from_raspberrypi.ino +Description: Receive strings from a Raspberry Pi +Author: Addison Sears-Collins +Website: https://automaticaddison.com +Date: July 5, 2020 +*/ +int i=0; +void setup(){ + + // Set the baud rate + Serial.begin(9600); + Serial1.begin(9600); + +} + +void loop(){ + //Serial1.println("hi"); + if(Serial.available() > 0) { + String data = Serial.readStringUntil('\n'); + //Serial.println("got req"); + if(data=="Data"){ + Serial1.println("Data"); + //Serial.println("req data from slave"); + delay(10); + if(Serial1.available() > 0){ + Serial.println("AAAAgot data"); + String data2 = Serial1.readStringUntil('\n'); + + Serial.print("Hi Raspberry Pi! You sent me: "); + Serial.println(String(data2));} + + } + } +} diff --git a/Comms-Rewrite/SlaveCode/SlaveCode.ino b/Comms-Rewrite/SlaveCode/SlaveCode.ino new file mode 100644 index 0000000..fcbe5c1 --- /dev/null +++ b/Comms-Rewrite/SlaveCode/SlaveCode.ino @@ -0,0 +1,485 @@ +/* sometimes the data is too fast so it is read weirdly: + * here's the speed that works: + * .001 ms -> too fast + * .01 ms -> too fast + * 20 ms -> good + * 25 ms -> good + * 50 ms -> good + * 1 sec -> too slow + */ + + // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) +// 6/21/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2019-07-08 - Added Auto Calibration and offset generator +// - and altered FIFO retrieval sequence to avoid using blocking code +// 2016-04-18 - Eliminated a potential infinite loop +// 2013-05-08 - added seamless Fastwire support +// - added note about gyro calibration +// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error +// 2012-06-20 - improved FIFO overflow handling and simplified read process +// 2012-06-19 - completely rearranged DMP initialization code and simplification +// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly +// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING +// 2012-06-05 - add gravity-compensated initial reference frame acceleration output +// - add 3D math helper file to DMP6 example sketch +// - add Euler output and Yaw/Pitch/Roll output formats +// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) +// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 +// 2012-05-30 - basic DMP initialization working + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project +#include + +#include +#include // not necessary if using MotionApps include file + +// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation +// is used in I2Cdev.h +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + #include +#endif + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 mpu; +MPU6050 mpu2(0x69); // <-- use for AD0 high +double z = 0; + +/* ========================================================================= + NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch + depends on the MPU-6050's INT pin being connected to the Arduino's + external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is + digital I/O pin 2. + * ========================================================================= */ + +/* ========================================================================= + NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error + when using Serial.write(buf, len). The Teapot output uses this method. + The solution requires a modification to the Arduino USBAPI.h file, which + is fortunately simple, but annoying. This will be fixed in the next IDE + release. For more info, see these links: + + http://arduino.cc/forum/index.php/topic,109987.0.html + http://code.google.com/p/arduino/issues/detail?id=958 + * ========================================================================= */ + + + +// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual +// quaternion components in a [w, x, y, z] format (not best for parsing +// on a remote host such as Processing or something though) +#define OUTPUT_READABLE_QUATERNION + +// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles +// (in degrees) calculated from the quaternions coming from the FIFO. +// Note that Euler angles suffer from gimbal lock (for more info, see +// http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_EULER + +// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ +// pitch/roll angles (in degrees) calculated from the quaternions coming +// from the FIFO. Note this also requires gravity vector calculations. +// Also note that yaw/pitch/roll angles suffer from gimbal lock (for +// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_YAWPITCHROLL + +// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration +// components with gravity removed. This acceleration reference frame is +// not compensated for orientation, so +X is always +X according to the +// sensor, just without the effects of gravity. If you want acceleration +// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. +//#define OUTPUT_READABLE_REALACCEL + +// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration +// components with gravity removed and adjusted for the world frame of +// reference (yaw is relative to initial orientation, since no magnetometer +// is present in this case). Could be quite handy in some cases. +//#define OUTPUT_READABLE_WORLDACCEL + +// uncomment "OUTPUT_TEAPOT" if you want output that matches the +// format used for the InvenSense teapot demo +//#define OUTPUT_TEAPOT + + + +#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards +#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) +bool blinkState = false; + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU + +uint8_t mpu2IntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) + +uint8_t devStatus2; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) + +uint16_t packetSize2; // 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 + +uint16_t fifoCount2; // count of all bytes currently in FIFO +uint8_t fifoBuffer2[64]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorInt16 aa; // [x, y, z] accel sensor measurements +VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements +VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements +VectorFloat gravity; // [x, y, z] gravity vector +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +float ypr2[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector +// packet structure for InvenSense teapot demo +uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; + + + +// ================================================================ +// === INTERRUPT DETECTION ROUTINE === +// ================================================================ + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} + + + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +void setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + Wire.begin(); + Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties + #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + Fastwire::setup(400, true); + #endif + + // initialize serial communication + // (115200 chosen because it is required for Teapot Demo output, but it's + // really up to you depending on your project) + Serial.begin(115200);Serial3.begin(115200); + while (!Serial); // wait for Leonardo enumeration, others continue immediately + + // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino + // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to + // the baud timing being too misaligned with processor ticks. You must use + // 38400 or slower in these cases, or use some kind of external separate + // crystal solution for the UART timer. + + // initialize device + Serial.println(F("Initializing I2C devices...")); + mpu.initialize(); + + mpu2.initialize(); + pinMode(INTERRUPT_PIN, INPUT); + pinMode(10, OUTPUT); + + // verify connection + Serial.println(F("Testing device connections...")); + Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); + + Serial.println(mpu2.testConnection() ? F("MPU6050 #2 connection successful") : F("MPU6050 #2 connection failed")); + + // wait for ready + Serial.println(F("\nSend any character to begin DMP programming and demo: ")); + //while (Serial.available() && Serial.read()); // empty buffer + //while (!Serial.available()); // wait for data + //while (Serial.available() && Serial.read()); // empty buffer again + + // load and configure the DMP + Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); + + devStatus = mpu2.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 + + mpu2.setXGyroOffset(220); + mpu2.setYGyroOffset(76); + mpu2.setZGyroOffset(-85); + mpu2.setZAccelOffset(1788); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0 and devStatus2 == 0) { + // Calibration Time: generate offsets and calibrate our MPU6050 + mpu.CalibrateAccel(6); + mpu.CalibrateGyro(6); + mpu.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP...")); + mpu.setDMPEnabled(true); + + mpu2.CalibrateAccel(6); + mpu2.CalibrateGyro(6); + mpu2.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP on 0x69...")); + mpu2.setDMPEnabled(true); + + // enable Arduino interrupt detection + Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); + Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); + Serial.println(F(")...")); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + mpu2IntStatus = 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(); + + packetSize2 = 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(")")); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + z++; + digitalWrite(10,HIGH); + // if programming failed, don't try to do anything + if (!dmpReady) {Serial.println(":");return;} + Serial.println(z); + // read a packet from FIFO + if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu.dmpGetQuaternion(&q, fifoBuffer); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + String s = "sa"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z)+"e"; + + Serial3.print(s); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetEuler(euler, &q); + Serial.print("euler\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + 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); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer[0]; + teapotPacket[3] = fifoBuffer[1]; + teapotPacket[4] = fifoBuffer[4]; + teapotPacket[5] = fifoBuffer[5]; + teapotPacket[6] = fifoBuffer[8]; + teapotPacket[7] = fifoBuffer[9]; + teapotPacket[8] = fifoBuffer[12]; + teapotPacket[9] = fifoBuffer[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + // read a packet from 2nd mpu FIFO + if (mpu2.dmpGetCurrentFIFOPacket(fifoBuffer2)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + Serial.print("quat2\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + + String s = "sb"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z)+"e"; + + Serial3.print(s); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetEuler(euler, &q); + Serial.print("euler2\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr2\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); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetAccel(&aa, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal2\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetAccel(&aa, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu2.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld2\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer2[0]; + teapotPacket[3] = fifoBuffer2[1]; + teapotPacket[4] = fifoBuffer2[4]; + teapotPacket[5] = fifoBuffer2[5]; + teapotPacket[6] = fifoBuffer2[8]; + teapotPacket[7] = fifoBuffer2[9]; + teapotPacket[8] = fifoBuffer2[12]; + teapotPacket[9] = fifoBuffer2[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + }delay(20); +} diff --git a/Comms-Rewrite/SlaveFakeCode/SlaveFakeCode.ino b/Comms-Rewrite/SlaveFakeCode/SlaveFakeCode.ino new file mode 100644 index 0000000..969500a --- /dev/null +++ b/Comms-Rewrite/SlaveFakeCode/SlaveFakeCode.ino @@ -0,0 +1,26 @@ +String myStr = "-179.00 90.00 0.00"; +String myStr2 = "45.00 30.00 -30.00"; +int i=0; +void setup() { + // put your setup code here, to run once: + Serial1.begin(9600); + Serial.begin(9600); +} + +void loop() { + + // put your main code here, to run repeatedly: + if(Serial1.available() > 0) { + i+=1; + String data = Serial1.readStringUntil('\n'); + Serial.print(data.charAt(0)); + + if(data.charAt(0)=='D'){ //this took forever to resolve, just do first char comparisions for now + Serial.println("true"); + Serial1.print(myStr+"_"); + Serial1.println(myStr2+i); + + } + } + +} diff --git a/Comms-Rewrite/toA.py b/Comms-Rewrite/toA.py index 1df8b78..788637a 100644 --- a/Comms-Rewrite/toA.py +++ b/Comms-Rewrite/toA.py @@ -1,27 +1,9 @@ -#!/usr/bin/env python3 +#!/usr/bin/env python -############################################################################### -# Program: Send Strings to an Arduino From a Raspberry Pi -# File: send_strings_to_arduino.py -# Description: This program runs on a Raspberry Pi. It sends strings -# to Arduino. It also receives the string it sent -# and prints it to the screen. This provides bi-directional (2-way) communication -# between Arduino and Raspberry Pi. -# Author: Addison Sears-Collins -# Website: https://automaticaddison.com -# Date: July 5, 2020 -############################################################################### - -import serial # Module needed for serial communication -import time # Module needed to add delays in the code - -# Set the port name and the baud rate. This baud rate should match the -# baud rate set on the Arduino. -# Timeout parameter makes sure that program doesn't get stuck if data isn't -# being received. After 1 second, the function will return with whatever data -# it has. The readline() function will only wait 1 second for a complete line -# of input. -ser = serial.Serial('/dev/ttyACM1', 9600, timeout=1) +import serial # +import time + +ser = serial.Serial('/dev/ttyACM0', 9600, timeout=2) # Get rid of garbage/incomplete data ser.flush() @@ -31,15 +13,7 @@ i = 0 while (1): i+=1 send_string = ("Data\n") - - # Send the string. Make sure you encode it before you send it to the Arduino. ser.write(send_string.encode('utf-8')) - - # Do nothing for 500 milliseconds (0.5 seconds) time.sleep(0.02) - - # Receive data from the Arduino receive_string = ser.readline().decode('utf-8').rstrip() - - # Print the data received from Arduino to the terminal print(receive_string) \ No newline at end of file