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267 lines
7.2 KiB
267 lines
7.2 KiB
#include <Wire.h>
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#include <Adafruit_Sensor.h>
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#include <Adafruit_BME280.h>
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#include <MPU6050_tockn.h>
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#include <EEPROM.h>
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#define SEALEVELPRESSURE_HPA (1013.25)
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Adafruit_BME280 bme;
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MPU6050 mpu6050(Wire);
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long timer = 0;
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int bmePresent;
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int RXLED = 17; // The RX LED has a defined Arduino pin
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int greenLED = 9;
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int blueLED = 8;
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int Sensor1 = 0;
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int Sensor2 = 0;
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float Sensor3 = 0;
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void eeprom_word_write(int addr, int val);
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short eeprom_word_read(int addr);
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void setup() {
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Serial.begin(9600); // Serial Monitor for testing
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Serial1.begin(9600); // Pi UART
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Serial.println("Starting!");
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blink_setup();
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blink(500);
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delay(250);
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blink(500);
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delay(250);
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blink(500);
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delay(250);
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if (bme.begin(0x76)) {
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bmePresent = 1;
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} else {
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Serial.println("Could not find a valid BME280 sensor, check wiring!");
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bmePresent = 0;
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}
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mpu6050.begin();
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if (eeprom_word_read(0) == 0xA07)
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{
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Serial.println("Reading gyro offsets from EEPROM\n");
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float xOffset = ((float)eeprom_word_read(1)) / 100.0;
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float yOffset = ((float)eeprom_word_read(2)) / 100.0;
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float zOffset = ((float)eeprom_word_read(3)) / 100.0;
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Serial.println(xOffset, DEC);
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Serial.println(yOffset, DEC);
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Serial.println(zOffset, DEC);
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mpu6050.setGyroOffsets(xOffset, yOffset, zOffset);
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}
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else
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{
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Serial.println("Calculating gyro offsets and storing in EEPROM\n");
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mpu6050.calcGyroOffsets(true);
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eeprom_word_write(0, 0xA07);
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eeprom_word_write(1, (int)(mpu6050.getGyroXoffset() * 100.0) + 0.5);
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eeprom_word_write(2, (int)(mpu6050.getGyroYoffset() * 100.0) + 0.5);
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eeprom_word_write(3, (int)(mpu6050.getGyroZoffset() * 100.0) + 0.5);
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Serial.println(eeprom_word_read(0), HEX);
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Serial.println(((float)eeprom_word_read(1)) / 100.0, DEC);
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Serial.println(((float)eeprom_word_read(2)) / 100.0, DEC);
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Serial.println(((float)eeprom_word_read(3)) / 100.0, DEC);
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}
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}
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void loop() {
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if (Serial.available() > 0) {
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blink(50);
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char result = Serial.read();
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// Serial.println(result);
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if (result == 'R') {
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Serial.println("OK");
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delay(500);
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setup();
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}
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if (result == '?')
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{
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if (bmePresent) {
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Serial.print("OK BME280 ");
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Serial.print(bme.readTemperature());
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Serial.print(" ");
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Serial.print(bme.readPressure() / 100.0F);
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Serial.print(" ");
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Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
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Serial.print(" ");
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Serial.print(bme.readHumidity());
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} else
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{
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Serial.print("OK BME280 0.0 0.0 0.0 0.0");
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}
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mpu6050.update();
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Serial.print(" MPU6050 ");
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Serial.print(mpu6050.getGyroX());
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Serial.print(" ");
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Serial.print(mpu6050.getGyroY());
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Serial.print(" ");
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Serial.print(mpu6050.getGyroZ());
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Serial.print(" ");
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Serial.print(mpu6050.getAccX());
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Serial.print(" ");
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Serial.print(mpu6050.getAccY());
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Serial.print(" ");
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Serial.print(mpu6050.getAccZ());
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Serial.print(" XS ");
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Serial.print(Sensor1);
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Serial.print(" ");
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Serial.print(Sensor2);
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Serial.print(" ");
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Serial.println(Sensor3);
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float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ());
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float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ());
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// Serial.print(rotation);
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// Serial.print(" ");
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// Serial.println(acceleration);
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if (acceleration > 1.2)
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digitalWrite(greenLED, HIGH);
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else
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digitalWrite(greenLED, LOW);
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if (rotation > 5)
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digitalWrite(blueLED, HIGH);
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else
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digitalWrite(blueLED, LOW);
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}
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}
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if (Serial1.available() > 0) {
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blink(50);
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char result = Serial1.read();
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// Serial1.println(result);
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if (result == 'R') {
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Serial1.println("OK");
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delay(500);
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setup();
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}
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if (result == '?')
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{
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if (bmePresent) {
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Serial1.print("OK BME280 ");
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Serial1.print(bme.readTemperature());
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Serial1.print(" ");
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Serial1.print(bme.readPressure() / 100.0F);
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Serial1.print(" ");
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Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
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Serial1.print(" ");
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Serial1.print(bme.readHumidity());
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} else
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{
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Serial1.print("OK BME280 0.0 0.0 0.0 0.0");
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}
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mpu6050.update();
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Serial1.print(" MPU6050 ");
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Serial1.print(mpu6050.getGyroX());
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Serial1.print(" ");
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Serial1.print(mpu6050.getGyroY());
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Serial1.print(" ");
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Serial1.print(mpu6050.getGyroZ());
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Serial1.print(" ");
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Serial1.print(mpu6050.getAccX());
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Serial1.print(" ");
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Serial1.print(mpu6050.getAccY());
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Serial1.print(" ");
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Serial1.print(mpu6050.getAccZ());
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Serial1.print(" XS ");
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Serial1.print(Sensor1);
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Serial1.print(" ");
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Serial1.print(Sensor2);
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Serial1.print(" ");
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Serial1.println(Sensor3);
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float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ());
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float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ());
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// Serial.print(rotation);
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// Serial.print(" ");
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// Serial.println(acceleration);
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if (acceleration > 1.2)
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digitalWrite(greenLED, HIGH);
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else
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digitalWrite(greenLED, LOW);
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if (rotation > 5)
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digitalWrite(blueLED, HIGH);
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else
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digitalWrite(blueLED, LOW);
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}
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}
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// delay(100);
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}
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void eeprom_word_write(int addr, int val)
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{
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EEPROM.write(addr * 2, lowByte(val));
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EEPROM.write(addr * 2 + 1, highByte(val));
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}
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short eeprom_word_read(int addr)
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{
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return ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
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}
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void blink_setup()
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{
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#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
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// initialize digital pin PB1 as an output.
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pinMode(PC13, OUTPUT);
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#endif
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#if defined __AVR_ATmega32U4__
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pinMode(RXLED, OUTPUT); // Set RX LED as an output
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// TX LED is set as an output behind the scenes
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#endif
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}
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void blink(int length)
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{
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#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
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digitalWrite(PC13, LOW); // turn the LED on (HIGH is the voltage level)
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#endif
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#if defined __AVR_ATmega32U4__
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digitalWrite(RXLED, LOW); // set the RX LED ON
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TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
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#endif
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delay(length); // wait for a lenth of time
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#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
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digitalWrite(PC13, HIGH); // turn the LED off by making the voltage LOW
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#endif
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#if defined __AVR_ATmega32U4__
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digitalWrite(RXLED, HIGH); // set the RX LED OFF
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TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
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#endif
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}
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