"MPU6050 PPM" rev_03

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    - Project: "MPU6050 PPM"
    - Source Code NOT compiled for: Arduino Mega
    - Source Code created on: 2024-06-21 05:55:47

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Create a head tracking system with MPU6050 */
    /* gyroscope (I2C: SDA D20, SCL D21, Interrupt D2) */
    /* and PPMEncoder library. Ensure accurate data */
    /* capture and encoding for real-time head movement */
    /* tracking. Send out data in ppm format. */
/****** SYSTEM REQUIREMENT 2 *****/
    /* calibrate gyro all center on start. all ppm */
    /* channel should be in center on start. */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include <Wire.h>
#include <MPU6050_6Axis_MotionApps20.h>  // Include the correct MPU6050 library with DMP support
#include "PPMEncoder.h"  // Include the PPMEncoder library

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
void dmpDataReady(void);

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t gyro_MPU6050_Interrupt_PIN_D2 = 2;

/***** DEFINITION OF I2C PINS *****/
const uint8_t gyro_MPU6050_I2C_PIN_SDA_D20 = 20;
const uint8_t gyro_MPU6050_I2C_PIN_SCL_D21 = 21;
const uint8_t gyro_MPU6050_I2C_SLAVE_ADDRESS = 0x68;  // Correct I2C address for MPU6050

/***** DEFINITION OF PPM ENCODER PIN *****/
const uint8_t ppmEncoderOutputPin = 10;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 mpu;  // Define the MPU6050 object
PPMEncoder ppmEncoder;  // Define the PPMEncoder object

/****** GLOBAL VARIABLES *****/
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
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

volatile bool mpuInterrupt = false;  // Indicates whether MPU interrupt pin has gone high

void dmpDataReady() {
    mpuInterrupt = true;
}

void setup(void) {
    // Initialize PPM Encoder
    ppmEncoder.begin(ppmEncoderOutputPin);

    // Set all PPM channels to center on start
    for (int i = 0; i < ppmEncoder.getChannelCount(); i++) {
        ppmEncoder.setChannel(i, PPMEncoder::CENTER);
    }

    pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);

    // Initialize I2C
    Wire.begin();
    Wire.setClock(400000);  // 400kHz I2C clock. Comment this line if having compilation difficulties

    // Initialize serial communication
    Serial.begin(115200);
    while (!Serial);  // Wait for Leonardo enumeration, others continue immediately

    // Initialize the MPU6050
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();
    pinMode(gyro_MPU6050_Interrupt_PIN_D2, 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());
    while (Serial.available() && Serial.read());  // Empty buffer

    // 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();
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // Enable Arduino interrupt detection
        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2), 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(")"));
    }
}

void loop(void) {
    // 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) {
        // Do nothing
    }

    // 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;

        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);

        // Map the yaw, pitch, and roll to PPM channels
        ppmEncoder.setChannel(0, map(ypr[0] * 180/M_PI, -180, 180, PPMEncoder::MIN, PPMEncoder::MAX));
        ppmEncoder.setChannel(1, map(ypr[1] * 180/M_PI, -90, 90, PPMEncoder::MIN, PPMEncoder::MAX));
        ppmEncoder.setChannel(2, map(ypr[2] * 180/M_PI, -90, 90, PPMEncoder::MIN, PPMEncoder::MAX));
    }
}

/* END CODE */