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GY_512::sensor_init(){ + Wire1.begin(); + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(PWR_ADDR); + Wire1.write(0); + Wire1.endTransmission(true); +} + +int16_t GY_512::get_raw_accel_x(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(X_ACCEL_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return (Wire1.read() << 8 | Wire1.read()); +} + +int16_t GY_512::get_raw_accel_y(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Y_ACCEL_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return (Wire1.read() << 8 | Wire1.read()); +} + +int16_t GY_512::get_raw_accel_z(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Z_ACCEL_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return (Wire1.read() << 8 | Wire1.read()); +} + +int16_t GY_512::get_raw_gyro_x(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(X_GYRO_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return (Wire1.read() << 8 | Wire1.read()); +} + +int16_t GY_512::get_raw_gyro_y(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Y_GYRO_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return (Wire1.read() << 8 | Wire1.read()); +} + +int16_t GY_512::get_raw_gyro_z(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Z_GYRO_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return (Wire1.read() << 8 | Wire1.read()); +} + +double GY_512::get_accel_x(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(X_ACCEL_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return double(int16_t(Wire1.read() << 8 | Wire1.read()) * GRAVITY_CONSTANT/ ACCEL_SENS); +} + +double GY_512::get_accel_y(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Y_ACCEL_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return double(int16_t(Wire1.read() << 8 | Wire1.read()) * GRAVITY_CONSTANT/ ACCEL_SENS); +} + +double GY_512::get_accel_z(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Z_ACCEL_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return double(int16_t(Wire1.read() << 8 | Wire1.read()) * GRAVITY_CONSTANT/ ACCEL_SENS); +} + +double GY_512::get_gyro_x(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(X_GYRO_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return double(int16_t(Wire1.read() << 8 | Wire1.read()) / GYRO_SENS); +} + +double GY_512::get_gyro_y(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Y_GYRO_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return double(int16_t(Wire1.read() << 8 | Wire1.read()) / GYRO_SENS); +} + +double GY_512::get_gyro_z(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(Z_GYRO_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + return double(int16_t(Wire1.read() << 8 | Wire1.read()) / GYRO_SENS); +} + +double GY_512::get_temperature(){ + Wire1.beginTransmission(DVC_ADDR); + Wire1.write(TEMP_ADDR); + Wire1.endTransmission(false); + + Wire1.requestFrom(DVC_ADDR, RETURN_SIZE, true); + int16_t temp_out = Wire1.read() << 8 | Wire1.read(); + return ((temp_out/340) + 36.53); +} diff --git a/lib/RDV GY-512 Library/RDV_GY512.h b/lib/RDV GY-512 Library/RDV_GY512.h new file mode 100644 index 0000000..9bfa559 --- /dev/null +++ b/lib/RDV GY-512 Library/RDV_GY512.h @@ -0,0 +1,31 @@ +#ifndef RDV_GY512_H +#define RDC_GY512_H + +#include "Arduino.h" + +class GY_512{ + public: + GY_512(); + + void sensor_init(); + + int16_t get_raw_accel_x(); + int16_t get_raw_accel_y(); + int16_t get_raw_accel_z(); + + int16_t get_raw_gyro_x(); + int16_t get_raw_gyro_y(); + int16_t get_raw_gyro_z(); + + double get_accel_x(); + double get_accel_y(); + double get_accel_z(); + + double get_gyro_x(); + double get_gyro_y(); + double get_gyro_z(); + + double get_temperature(); +}; + +#endif diff --git a/lib/RDV GY-512 Library/README.md b/lib/RDV GY-512 Library/README.md new file mode 100644 index 0000000..43e8af7 --- /dev/null +++ b/lib/RDV GY-512 Library/README.md @@ -0,0 +1,35 @@ +# rdv-gy512 Library + +An Arduino library to simplify reading values from the GY-512 gyroscope, accelerometer, and temperature sensor. Shortens code and makes it much more readable. Get raw sensor values or processed data in SI units (m/s^2, degrees, celsius) with simple to use functions! + +## Available Functions +Here are the available functions and their purposes. + +- **sensor_init()**
+ Initializes device for communication. Absolutely crucial to initialize the device in the void setup() function.

+- **get_raw_accel_x()**
+ Returns acceleration value in the x-axis as measured by the sensor.

+- **get_raw_accel_y()**
+ Returns acceleration value in the y-axis as measured by the sensor.

+- **get_raw_accel_z()**
+ Returns acceleration value in the z-axis as measured by the sensor.

+- **get_accel_x()**
+ Returns acceleration in the x-axis in m/s^2.

+- **get_accel_y()**
+ Returns acceleration in the y-axis in m/s^2.

+- **get_accel_z()**
+ Returns acceleration in the z-axis in m/s^2.

+- **get_raw_gyro_x()**
+ Returns value of rotation in the x-axis as measured by the sensor.

+- **get_raw_gyro_y()**
+ Returns value of rotation in the y-axis as measured by the sensor.

+- **get_raw_gyro_z()**
+ Returns value of rotation in the z-axis as measured by the sensor.

+- **get_gyro_x()**
+ Returns angle of rotation in the x-axis in degrees.

+- **get_gyro_y()**
+ Returns angle of rotation in the y-axis in degrees.

+- **get_gyro_z()**
+ Returns angle of rotation in the z-axis in degrees.

+- **get_temperature()**
+ Returns temperature at the sensor in degrees celsius.

diff --git a/lib/RDV GY-512 Library/examples/acceleration_in_different_axis/acceleration_in_different_axis.ino b/lib/RDV GY-512 Library/examples/acceleration_in_different_axis/acceleration_in_different_axis.ino new file mode 100644 index 0000000..6629dc1 --- /dev/null +++ b/lib/RDV GY-512 Library/examples/acceleration_in_different_axis/acceleration_in_different_axis.ino @@ -0,0 +1,14 @@ +#include + +GY_512 device = GY_512(); + +void setup() { + Serial.begin(9600); + device.sensor_init(); // initializes device for communication +} + +void loop() { + Serial.println(device.get_accel_x()); // prints acceleration in the x-axis in m/s^2 + Serial.println(device.get_accel_y()); // prints acceleration in the y-axis in m/s^2 + Serial.println(device.get_accel_z()); // prints acceleration in the z-axis in m/s^2 +} diff --git a/lib/RDV GY-512 Library/examples/read_raw_sensor_data/read_raw_sensor_data.ino b/lib/RDV GY-512 Library/examples/read_raw_sensor_data/read_raw_sensor_data.ino new file mode 100644 index 0000000..2870df7 --- /dev/null +++ b/lib/RDV GY-512 Library/examples/read_raw_sensor_data/read_raw_sensor_data.ino @@ -0,0 +1,18 @@ +#include + +GY_512 device = GY_512(); + +void setup() { + Serial.begin(9600); + device.sensor_init(); // initializes device for communication +} + +void loop() { + Serial.println(device.get_raw_accel_x()); // prints acceleration value in the x-axis as measured by the sensor + Serial.println(device.get_raw_accel_y()); // prints acceleration value in the y-axis as measured by the sensor + Serial.println(device.get_raw_accel_z()); // prints acceleration value in the z-axis as measured by the sensor + + Serial.println(device.get_raw_gyro_x()); // prints value of rotation in the x-axis as measured by the sensor + Serial.println(device.get_raw_gyro_y()); // prints value of rotation in the y-axis as measured by the sensor + Serial.println(device.get_raw_gyro_z()); // prints value of rotation in the z-axis as measured by the sensor +} diff --git a/lib/RDV GY-512 Library/examples/read_temperature/read_temperature.ino b/lib/RDV GY-512 Library/examples/read_temperature/read_temperature.ino new file mode 100644 index 0000000..cb92349 --- /dev/null +++ b/lib/RDV GY-512 Library/examples/read_temperature/read_temperature.ino @@ -0,0 +1,12 @@ +#include + +GY_512 device = GY_512(); + +void setup() { + Serial.begin(9600); + device.sensor_init(); // initializes device for communication +} + +void loop() { + Serial.println(device.get_temperature()); // prints temperature at the sensor in degrees celsius +} diff --git a/lib/RDV GY-512 Library/examples/roation_in_different_axis/roation_in_different_axis.ino b/lib/RDV GY-512 Library/examples/roation_in_different_axis/roation_in_different_axis.ino new file mode 100644 index 0000000..f48ae18 --- /dev/null +++ b/lib/RDV GY-512 Library/examples/roation_in_different_axis/roation_in_different_axis.ino @@ -0,0 +1,14 @@ +#include + +GY_512 device = GY_512(); + +void setup() { + Serial.begin(9600); + device.sensor_init(); // initializes device for communication +} + +void loop() { + Serial.println(device.get_gyro_x()); // prints angle of rotation in the x-axis in degrees + Serial.println(device.get_gyro_y()); // prints angle of rotation in the y-axis in degrees + Serial.println(device.get_gyro_z()); // prints angle of rotation in the z-axis in degrees +} diff --git a/lib/RDV GY-512 Library/library.properties b/lib/RDV GY-512 Library/library.properties new file mode 100644 index 0000000..db8d57f --- /dev/null +++ b/lib/RDV GY-512 Library/library.properties @@ -0,0 +1,10 @@ +name=RDV GY-512 Library +version=1.0 +author=Gagan Singh +maintainer=Gagan Singh +sentence=An Arduino library to simplify reading values from the GY-512 gyroscope, accelerometer, and temperature sensor. +paragraph=Shortens code and makes it much more readable. Get raw sensor values or processed data in SI units (m/s^2, degrees, celsius) with simple to use functions! +category=Sensors +url=https://github.com/TheSpaceDragon/rdv-gy512 +architectures=* +includes=RDV_GY512.h diff --git a/platformio.ini b/platformio.ini index 94a8980..4dfbae0 100644 --- a/platformio.ini +++ b/platformio.ini @@ -19,5 +19,9 @@ debug_build_flags = lib_deps = moononournation/GFX Library for Arduino@^1.3.8 bitbank2/JPEGDEC@^1.2.8 + olikraus/U8g2@^2.35.7 + khoih-prog/RPI_PICO_TimerInterrupt@^1.3.1 + adafruit/Adafruit LIS2MDL@^2.1.7 + adafruit/Adafruit MMC56x3@^1.0.1 platform_packages = toolchain-gccarmnoneeabi@1.100301.220327 diff --git a/src/main.cpp b/src/main.cpp index cee7677..cbe635a 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -13,12 +13,154 @@ extern "C" { #include "hsv2rgb.h" #include "sin1.h" } +#include +#include +Adafruit_MMC5603 mag = Adafruit_MMC5603(12345); + +float MagMinX, MagMaxX; +float MagMinY, MagMaxY; +float MagMinZ, MagMaxZ; + +long lastDisplayTime; + +#include +GY_512 gy512 = GY_512(); + +int16_t accel_x, accel_y; +int16_t gyro_x, gyro_y; +// Decay factor +const float decay = 0.7; +const float decay_mag = 0.2; +int16_t raw_accel_x, raw_accel_y; +int16_t raw_gyro_x, raw_gyro_y; + + +#define TIMER_INTERRUPT_DEBUG 1 +#define _TIMERINTERRUPT_LOGLEVEL_ 4 + +#define OLD_ADDRESS 0x30 +#define NEW_ADDRESS 0x42 + + +// Can be included as many times as necessary, without `Multiple Definitions` Linker Error +#include "RPi_Pico_TimerInterrupt.h" + +#ifndef LED_BUILTIN + #define LED_BUILTIN 25 +#endif + +#define PIN_D1 1 // Pin D1 mapped to pin GPIO1 of RPI_PICO +bool TimerHandler0(struct repeating_timer *t) +{ + // Flash the LED on and off to prove timers are working + (void) t; + + static bool toggle0 = false; + /* #if (TIMER_INTERRUPT_DEBUG > 0) + Serial.print("ITimer0: millis() = "); Serial.println(millis()); + #endif */ + + //timer interrupt toggles pin LED_BUILTIN + digitalWrite(LED_BUILTIN, toggle0); + toggle0 = !toggle0; + + return true; +} + +bool TimerHandler1(struct repeating_timer *t) +{ + // Flash the LED on and off to prove timers are working + + (void) t; + + static bool toggle1 = false; + + /* #if (TIMER_INTERRUPT_DEBUG > 0) + Serial.print("ITimer1: millis() = "); Serial.println(millis()); + #endif */ + + //timer interrupt toggles outputPin + digitalWrite(PIN_D1, toggle1); + toggle1 = !toggle1; + + return true; +} +bool TimerHandler2(struct repeating_timer *t) +{ + // Check the gyro/accel sensor in the background + + (void) t; + // #if (TIMER_INTERRUPT_DEBUG > 0) + // Serial.print("ITimer2: millis() = "); Serial.println(millis()); + // #endif + // Get the current acceleration values + raw_accel_x = gy512.get_raw_accel_x(); + raw_accel_y = gy512.get_raw_accel_y(); + + // Normalize the acceleration values over 100ms + accel_x = (accel_x * decay) + ((1.0 - decay) * (raw_accel_x / 100.0)); + accel_y = (accel_y * decay) + ((1.0 - decay) * (raw_accel_y / 100.0)); + + raw_gyro_x = gy512.get_raw_gyro_x(); + raw_gyro_y = gy512.get_raw_gyro_y(); + + // Normalize the change in values values over 100ms + gyro_x = (gyro_x * decay) + ((1.0 - decay) * (raw_gyro_x / 100.0)); + gyro_y = (gyro_y * decay) + ((1.0 - decay) * (raw_gyro_y / 100.0)); + //Serial.printf("- ax: %i; ay: %i; az: %i\r\n", gy512.get_raw_accel_x(), gy512.get_raw_accel_y(), gy512.get_raw_accel_z()); + //Serial.printf("- gx: %i; gy: %i; gz: %i\r\n\r\n", gy512.get_raw_gyro_x(), gy512.get_raw_gyro_y(), gy512.get_raw_gyro_z()); + return true; +} + +float heading; +float raw_heading; +float Pi = 3.14159; + +bool TimerHandler3(struct repeating_timer *t) +{ + // Get the magnetoscope sensor information in the background + sensors_event_t event; + mag.getEvent(&event); + + /*/ Display the results (magnetic vector values are in micro-Tesla (uT)) + Serial.print("X: "); + Serial.print(event.magnetic.x); + Serial.print(" "); + Serial.print("Y: "); + Serial.print(event.magnetic.y); + Serial.print(" "); + Serial.print("Z: "); + Serial.print(event.magnetic.z); + Serial.print(" "); + Serial.println("uT");*/ + + // Calculate the angle of the vector y,x + raw_heading = (atan2(event.magnetic.y,event.magnetic.z) * 180) / Pi; + + // Normalize to 0-360 + if (raw_heading < 0) + { + raw_heading = 360 + raw_heading; + } + heading = (raw_heading * decay_mag) + ((1.0 - decay_mag) * (raw_heading / 100.0)) - 70; + + Serial.print("Compass Heading: "); + Serial.println(heading); + return true; +} + +#define TIMER0_INTERVAL_MS 1000 + +#define TIMER1_INTERVAL_MS 5000 + +RPI_PICO_Timer ITimer0(0); +RPI_PICO_Timer ITimer1(1); +RPI_PICO_Timer ITimer2(2); +RPI_PICO_Timer ITimer3(3); const char name[] = "Your Name"; - - #define SPI0_SCK 2 #define SPI0_MISO GFX_NOT_DEFINED #define SPI0_MOSI 3 @@ -248,6 +390,10 @@ void setup() delay(50); + Wire.beginTransmission(OLD_ADDRESS); + Wire.write(NEW_ADDRESS); + Wire.endTransmission(); + bus->begin(90000000); if (!disp->begin()) { @@ -264,77 +410,101 @@ void setup() // filesystem begin LittleFS.begin(); + pinMode(LED_BUILTIN, OUTPUT); + pinMode(PIN_D1, OUTPUT); + + + Serial.print(F("\nStarting Argument_None on ")); Serial.println(BOARD_NAME); + Serial.println(RPI_PICO_TIMER_INTERRUPT_VERSION); + Serial.print(F("CPU Frequency = ")); Serial.print(F_CPU / 1000000); Serial.println(F(" MHz")); + + // Interval in microsecs + if (ITimer0.attachInterruptInterval(TIMER0_INTERVAL_MS * 1000, TimerHandler0)) + { + Serial.print(F("Starting ITimer0 OK, millis() = ")); Serial.println(millis()); + } + else + { + Serial.println(F("Can't set ITimer0. Select another Timer, freq. or timer")); + } + + + // Interval in microsecs + if (ITimer1.attachInterruptInterval(TIMER1_INTERVAL_MS * 1000, TimerHandler1)) + { + Serial.print(F("Starting ITimer1 OK, millis() = ")); Serial.println(millis()); + } + else + { + Serial.println(F("Can't set ITimer1. Select another Timer, freq. or timer")); + } + // Interval in microsecs + if (ITimer2.attachInterruptInterval(TIMER1_INTERVAL_MS * 10, TimerHandler2)) + { + Serial.print(F("Starting ITimer2 GyroAccelTemp OK, millis() = ")); Serial.println(millis()); + } + else + { + Serial.println(F("Can't set ITimer2 GyroAccelTemp. Select another Timer, freq. or timer")); + } + // Interval in microsecs + if (ITimer3.attachInterruptInterval(TIMER1_INTERVAL_MS * 100, TimerHandler3)) + { + Serial.print(F("Starting ITimer3 Mag OK, millis() = ")); Serial.println(millis()); + } + else + { + Serial.println(F("Can't set ITimer2 GyroAccelTemp. Select another Timer, freq. or timer")); + } + Serial.println("Adafruit_MMC5603 Magnetometer Calibration"); + Serial.println(""); + + /* Initialise the sensor */ + if (!mag.begin(MMC56X3_DEFAULT_ADDRESS, &Wire1)) { // I2C mode + /* There was a problem detecting the MMC5603 ... check your connections */ + Serial.println("Ooops, no MMC5603 detected ... Check your wiring!"); + } + + /* Display some basic information on this sensor */ + mag.printSensorDetails(); + + mag.setDataRate(10); // in Hz, from 1-255 or 1000 + mag.setContinuousMode(true); + + lastDisplayTime = millis(); + MagMinX = MagMaxX = MagMinY = MagMaxY = MagMinZ = MagMaxZ = 0; } void loop() { uint16_t hue; - - /* - // rainbow circles program - bg_rainbow_circles(200); - // texthue_180degree(); - rgb.r = rgb.g = rgb.b = 0; - - // small hue shift with larger saturation shifts circles - // bg_huesatcycle_circles(); - // texthue_huesatcycle(); - - // text rotation - rot += 420 - 69; - - int16_t x, y; - int16_t d; - d = rot; - for (uint8_t i = 0; i < strlen(name); i++) { - x = cos1(d); - x = (x >> 9) + (x >> 11) + (x >> 12); - - y = sin1(d); // sin1(d) * 21) / 32; - y = (y >> 9) + (y >> 11) + (y >> 12); - - rotate_letter(i, d + 0x6000, x, y, dout->color565(rgb.r, rgb.g, rgb.b)); - // d -= 9; // for 7-bit version - d -= LETTER_SPACING; // for 15-bit version - } - */ - - /* cop mode - while (true) { - uint8_t i, j, k; - - for (i = 0; i < 16; i++) { - // flashing - dout->fillScreen(i & 1 ? RED : BLUE); - dout->flush(); - delay(200); - } - for (i = 0; i < 12; i++) { - for (j = 0; j < 8; j++) { - dout->fillScreen(j & 1 ? RED : BLACK); - dout->flush(); - delay(20); - } - for (j = 0; j < 8; j++) { - dout->fillScreen(j & 1 ? BLUE : BLACK); - dout->flush(); - delay(20); - } - } - } - */ - + Serial.println("wire pins"); + Wire1.setSDA(26); + Wire1.setSCL(27); + + Serial.println("after wire pins"); + Serial.println("before init"); + gy512.sensor_init(); // initializes device for communication + Serial.println("after init"); char fn[20]; + + while (true) { - for (int i = 0; i <= 299; i++) { + for (int i = 0; i <= 99; i++) { sprintf(fn, "out00%03i.jpg", i); - Serial.println(fn); + //Serial.println(fn); + + dout->fillScreen(BLACK); jpegDraw(fn, jpeg_draw_cb, true /* useBigEndian */, - 0 /* x */, 0 /* y */, dout->width() /* widthLimit */, dout->height() /* heightLimit */); + accel_x + heading * 2 /* x */, accel_y + heading * 2/* y */, dout->width() /* widthLimit */, dout->height() /* heightLimit */); dout->flush(); + /* Get a new sensor event */ + + } } dout->flush(); + } \ No newline at end of file