L1.ino

/* ====================================================================================================== \\
   Electronic Level:
      An Arduino Sketch that uses an MPU6050 and LED lights to determine and indicate orientation.

 
   - June 21, 2012 by Jeff Rowberg <[email protected]> 
   - June 6, 2020 forked/updated by David Saccavino <[email protected]>
  
\\ ====================================================================================================== */


  /* --------------------------------------
      ERROR/EXIT CODES!
      1 = initial memory load failed
      2 = DMP configuration updates failed 
     -------------------------------------- */

/* ============================================
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"

// 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: 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


// 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



// ================================================================
// ===               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();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    

    // initialize serial communication
    Serial.begin(115200);
    while (!Serial); // wait for Arduino Leonardo enumeration, others continue immediately

    // initialize device
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();

    // 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

    // load and configure the DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // INPUT GYRO OFFSETS HERE
    mpu.setXGyroOffset(113);
    mpu.setYGyroOffset(77);
    mpu.setZGyroOffset(44);
    mpu.setZAccelOffset(959);

    /*==================================*
     *      BACKUP GYRO OFFSETS:
     * 
     * Gyro-X  Offset = 113;
     * Gyro-Y  Offset = 77;
     * Gyro-Z  Offset = 44;
     * Accel-Z Offset = 959;
     * 
     *==================================*/


    // Tests for successful setup regiment (returns 0 if so)
    if (devStatus == 0) {
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        attachInterrupt(0, 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 {


        
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }
    
    // initialize digital outputs for LEDs
    pinMode(3, OUTPUT);
    pinMode(4, OUTPUT);
    pinMode(5, OUTPUT);
    pinMode(6, OUTPUT);
    pinMode(7, OUTPUT);
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================



void loop() {
    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {

      
          // ================================================================
          // ===                Active LED Modulation                     ===
          // ================================================================

            // NOTE: This is the GREEN (Level Axis Indication) LED
            // ===================================================
            if(ypr[2] * 180/M_PI < 2.5 and ypr[2] * 180/M_PI > -2.5)
            {
              // NOTE: ~5 Degree margin of error for level indication 
              // to account for ~3 degree variations in roll axis 
              // while on a stable surface
              
              LedToggle(3);
            }
            
            // NOTE: This is a Yellow (Slightly Off-Axis Indication) LED 
            // =========================================================
            else if(ypr[2] * 180/M_PI <= -2.5 and ypr[2] * 180/M_PI > -15)
            {
              LedToggle(4);
            }

            // NOTE: This is a RED (Extremely Off-Axis Indication) LED 
            // =======================================================
            else if(ypr[2] * 180/M_PI <= -15 and ypr[2] * 180/M_PI > -360)
            {
              LedToggle(5);
            }

            // NOTE: This is a Yellow (Slightly Off-Axis Indication) LED 
            // =========================================================
            else if(ypr[2] * 180/M_PI >= 2.5 and ypr[2] * 180/M_PI < 15)
            {
              LedToggle(6);
            }

            // NOTE: This is a RED (Extremely Off-Axis Indication) LED 
            // =======================================================
            else if(ypr[2] * 180/M_PI > 15 and ypr[2] * 180/M_PI < 360)
            {
              LedToggle(7);
            }

    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

        #ifdef OUTPUT_READABLE_YAWPITCHROLL
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

            // output roll axis to serial monitor
            Serial.println(ypr[2] * 180/M_PI);
            
        #endif
        
    }
}

void LedToggle(int x){
  for(int i = 3; i <= 7; i++){
    if(i != x){
      digitalWrite(i, LOW);
    }
  }
  digitalWrite(x, HIGH);
  return 0;
}