From 8a550a4aa0b110193129034bee5b5d4d3cb50c31 Mon Sep 17 00:00:00 2001 From: Vrishak Vemuri Date: Sat, 21 May 2022 16:17:17 -0400 Subject: [PATCH] Serial coms work, very fast, need to troubleshoot timing, looks more promising than SPI --- .../does2mpustillwork/does2mpustillwork.ino | 356 +++++++++++++ .../doesmpustillwork/doesmpustillwork.ino | 351 +++++++++++++ SSU/Prev/ofSlave/ofSlave.ino | 13 + .../MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino | 477 ++++++++++++++++++ SSU/Working/ofMaster/ofMaster.ino | 17 + 5 files changed, 1214 insertions(+) create mode 100644 SSU/Prev/does2mpustillwork/does2mpustillwork.ino create mode 100644 SSU/Prev/doesmpustillwork/doesmpustillwork.ino create mode 100644 SSU/Prev/ofSlave/ofSlave.ino create mode 100644 SSU/Working/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino create mode 100644 SSU/Working/ofMaster/ofMaster.ino diff --git a/SSU/Prev/does2mpustillwork/does2mpustillwork.ino b/SSU/Prev/does2mpustillwork/does2mpustillwork.ino new file mode 100644 index 0000000..2361222 --- /dev/null +++ b/SSU/Prev/does2mpustillwork/does2mpustillwork.ino @@ -0,0 +1,356 @@ +// 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 "I2Cdev.h" + +#include "MPU6050_6Axis_MotionApps20.h" +//#include "MPU6050.h" // 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 "Wire.h" +#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 + +/* ========================================================================= + 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 INTERRUPT_PIN2 3 +#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 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 +bool dmpReady2 = false; // set true if DMP init was successful +uint8_t mpuIntStatus2; // holds actual interrupt status byte from MPU +uint8_t devStatus2; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize2; // expected DMP packet size (default is 42 bytes) +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 + +// 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; +} +volatile bool mpuInterrupt2 = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady2() { + mpuInterrupt2 = 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(9600);Serial3.begin(9600); + 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); + + // 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() && Serial.read()); // empty buffer + //while (!Serial.available()); // wait for data + //while (Serial.available() && Serial.read()); // empty buffer again + pinMode(10,OUTPUT); + // load and configure the DMP + //Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); +devStatus2 = 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) { + // 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...")); + 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(); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN2), dmpDataReady2, RISING); + mpuIntStatus2 = mpu2.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; +dmpReady2 = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + packetSize2 = mpu2.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() { + digitalWrite(10,HIGH); + // if programming failed, don't try to do anything + if (!dmpReady) return; + // 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 = "~"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #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 + + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + 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("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 = "`"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #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("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 + + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + delay(100); +} diff --git a/SSU/Prev/doesmpustillwork/doesmpustillwork.ino b/SSU/Prev/doesmpustillwork/doesmpustillwork.ino new file mode 100644 index 0000000..1adf418 --- /dev/null +++ b/SSU/Prev/doesmpustillwork/doesmpustillwork.ino @@ -0,0 +1,351 @@ +// 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 "I2Cdev.h" + +#include "MPU6050_6Axis_MotionApps20.h" +//#include "MPU6050.h" // 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 "Wire.h" +#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 mpu(0x69); // <-- use for AD0 high + +/* ========================================================================= + 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 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 +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 + +// 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(9600); + 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(); + pinMode(INTERRUPT_PIN, 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() && Serial.read()); // empty buffer + //while (!Serial.available()); // wait for data + //while (Serial.available() && Serial.read()); // empty buffer again + pinMode(10,OUTPUT); + // 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(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP...")); + mpu.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(); + + // 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(")")); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + digitalWrite(10,HIGH); + // if programming failed, don't try to do anything + if (!dmpReady) return; + // 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 = String(q.w)+"!"+String(q.x)+"@"+String(q.w)+"#"+String(q.w); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #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); + } + delay(100); +} diff --git a/SSU/Prev/ofSlave/ofSlave.ino b/SSU/Prev/ofSlave/ofSlave.ino new file mode 100644 index 0000000..b0102d2 --- /dev/null +++ b/SSU/Prev/ofSlave/ofSlave.ino @@ -0,0 +1,13 @@ +char mystr[40] = "-180.00 -180.00 -180.00 -180.00"; //String data +int x = 0; +void setup() { + // Begin the Serial at 9600 Baud + Serial3.begin(9600); +} + +void loop() { + //char buf[5]; + //String(x).toCharArray(buf,5); + Serial3.write(mystr,40); //Write the serial data + delay(100); +} diff --git a/SSU/Working/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino b/SSU/Working/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino new file mode 100644 index 0000000..f68cc09 --- /dev/null +++ b/SSU/Working/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino @@ -0,0 +1,477 @@ + // 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 = "~"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #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 = "`"+String(q.w)+"!"+String(q.x)+"@"+String(q.y)+"#"+String(q.z); + char mystr[40]; + s.toCharArray(mystr,40); + Serial3.write(mystr,40); + #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); + }delayMicroseconds(1); +} diff --git a/SSU/Working/ofMaster/ofMaster.ino b/SSU/Working/ofMaster/ofMaster.ino new file mode 100644 index 0000000..df44e93 --- /dev/null +++ b/SSU/Working/ofMaster/ofMaster.ino @@ -0,0 +1,17 @@ +char mystr[40]; //Initialized variable to store recieved data + +void setup() { + // Begin the Serial at 9600 Baud + Serial3.begin(115200); + Serial.begin(115200); +} + +void loop() { + Serial3.readBytes(mystr,40); //Read the serial data and store in var + if(mystr!=""){ + Serial.println(mystr); //Print data on Serial Monitor + } + int x = mystr[0]; + Serial.println(x); + // Serial.println("LOLYES"); +}