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Tutoriel 4 : point d'étape
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#include "Wire.h"
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#include "Grove_LED_Matrix_Driver_HT16K33.h"
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#include "MPU6050.h"
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/******************************************************************************
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* 4-labyrinthe-imu.ino
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* @title: Programme pour la carte Arduino de gestion de centrale inertielle (capteur IMU)
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* @project: Blender-EduTech - Tutoriel 3 : Labyrinthe à bille - Interfacer avec une carte Arduino par la liaision série
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* @lang: fr
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* @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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* @copyright: Copyright (C) 2023 Philippe Roy
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* @license: GNU GPL
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*
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******************************************************************************/
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/******************************************************************************
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* IMU - I2C
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******************************************************************************/
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MPU6050 accelgyro;
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int16_t ax, ay, az;
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int16_t gx, gy, gz;
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int16_t mx, my, mz;
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float Axyz[3];
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float roll;
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float pitch;
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float roll_deg;
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float pitch_deg;
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String roll_txt;
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String pitch_txt;
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String serial_msg_int_txt;
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/******************************************************************************
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* Led Matrix - I2C
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******************************************************************************/
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Matrix_8x8 matrix;
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/******************************************************************************
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* Communication serie
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******************************************************************************/
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String serial_msg = ""; // Message
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bool serial_msg_complet = false; // Flag de message complet
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/******************************************************************************
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* Initialisation
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******************************************************************************/
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void setup() {
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// Liaison série
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Serial.begin(115200);
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// IMU
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Wire.begin();
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accelgyro.initialize();
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// Led Matrix
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matrix.init();
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matrix.setBrightness(0);
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matrix.setBlinkRate(BLINK_OFF);
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matrix.clear();
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matrix.display();
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/* matrix.writeOnePicture(0xff90b2a2a6a4ae82); // Labyrinthe */
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}
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/******************************************************************************
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* Boucle principale
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******************************************************************************/
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void loop() {
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/*****
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* Lecture des accélérations
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*****/
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accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
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Axyz[0] = (double) ax / 16384;
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Axyz[1] = (double) ay / 16384;
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Axyz[2] = (double) az / 16384;
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roll = asin(-Axyz[0]);
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roll_deg = roll*57.3;
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roll_txt = String(roll_deg);
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pitch = -asin(Axyz[1]/cos(roll)); // position capteur (X vers la gauche, Y vers l'arriere, Z vers le haut)
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pitch_deg = pitch*57.3;
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pitch_txt = String(pitch_deg);
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/*****
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* IMU : Arduino -> UPBGE
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*****/
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Serial.print(roll_txt);
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Serial.print(",");
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Serial.print(pitch_txt);
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Serial.println();
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/*****
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* Led Matrix : UPBGE -> Arduino
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*****/
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if (serial_msg_complet) {
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matrix.clear();
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int xy= serial_msg.toInt(); // Message par chiffre : XY
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// Postion de la bille en x et y
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int x= xy/10;
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int y= xy-(x*10);
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if (xy<90) matrix.writePixel(x, y, true);
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// Départ - Flèches
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if (xy==90) {
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matrix.writeOnePicture(0xe7c3a51818a5c3e7);
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matrix.display();
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delay(500);
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Serial.println("start"); // Relance le jeu
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}
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// Chute
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if (xy==91) {
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matrix.writeOnePicture(0x81423c0000666600);
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matrix.display();
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delay(500);
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Serial.println("start"); // Relance le jeu
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}
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// Victoire
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if (xy==92) {
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/* matrix.writeIcon(10); */
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matrix.writeOnePicture(0x003c428100666600);
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}
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/* Orientation du plateau (N, NE, SE, S, SO, O, NO) */
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/* if (serial_msg.length() ==2) { */
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/* if (serial_msg[0] == 'X') matrix.clear(); */
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/* if (serial_msg[0] == 'N') matrix.writeOnePicture(0x00000000000000ff); */
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/* if (serial_msg[0] == 'E') matrix.writeOnePicture(0x8080808080808080); */
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/* if (serial_msg[0] == 'S') matrix.writeOnePicture(0xff00000000000000); */
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/* if (serial_msg[0] == 'O') matrix.writeOnePicture(0x0101010101010101); */
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/* } */
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/* if (serial_msg.length() ==3) { */
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/* if ((serial_msg[0] == 'N') and (serial_msg[1] == 'E')) matrix.writeOnePicture(0x00000000808080f0); */
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/* if ((serial_msg[0] == 'S') and (serial_msg[1] == 'E')) matrix.writeOnePicture(0xf080808000000000); */
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/* if ((serial_msg[0] == 'S') and (serial_msg[1] == 'O')) matrix.writeOnePicture(0x0f01010100000000); */
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/* if ((serial_msg[0] == 'N') and (serial_msg[1] == 'O')) matrix.writeOnePicture(0x000000000101010f); */
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/* } */
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matrix.display();
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serial_msg = "";
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serial_msg_complet = false;
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}
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}
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/******************************************************************************
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* Évenement provoqué UPBGE (via la liaison série)
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******************************************************************************/
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void serialEvent() {
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while (Serial.available()) {
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char inChar = (char)Serial.read();
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serial_msg += inChar;
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if (inChar == '\n') {
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serial_msg_complet = true;
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}
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}
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}
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/*
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Grove_LED_Matrix_Driver_HT16K33.cpp
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A library for Grove - Grove - LED Matrix Driver(HT16K33 with 8x8 LED Matrix)
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Copyright (c) 2018 seeed technology inc.
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Website : www.seeed.cc
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Author : Jerry Yip
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Create Time: 2018-06
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Version : 0.1
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Change Log :
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The MIT License (MIT)
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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#include "Grove_LED_Matrix_Driver_HT16K33.h"
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#include "Seeed_Font.h"
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HT16K33::HT16K33() {
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}
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void HT16K33::init(uint8_t addr) {
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_addr = addr;
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// turn on oscillator
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I2Cdev::writeBytes(_addr, 0x21, 0, (uint8_t*)NULL);
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}
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void HT16K33::setBrightness(uint8_t brightness) {
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I2Cdev::writeBytes(_addr, (0xE0 | brightness), 0, (uint8_t*)NULL);
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}
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void HT16K33::setBlinkRate(blink_type_t blink_type) {
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I2Cdev::writeBytes(_addr, (0x80 | 0x01 | (blink_type << 1)), 0, (uint8_t*)NULL);
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}
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Matrix_8x8::Matrix_8x8() {
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_orientation = DISPLAY_ROTATE_0;
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_offset_x = 0;
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_offset_y = 0;
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_cursor_start = 0;
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_cursor_end = 0;
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_cursor_steps = 1;
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_ms = 100;
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}
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void Matrix_8x8::setDisplayOffset(int8_t x, int8_t y) {
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if ((x < -8) || (x > 8)) {
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return;
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}
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if ((y < -8) || (y > 8)) {
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return;
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}
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_offset_x = x;
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_offset_y = y;
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}
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void Matrix_8x8::setDisplayOrientation(uint8_t orientation) {
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_orientation = (orientation_type_t)orientation;
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}
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// _cursor_end - _cursor_start >= 1
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void Matrix_8x8::display() {
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// get data from _big_buffer[] and write to HT16K33
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uint8_t line;
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if (_cursor_start > _cursor_end) {
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uint16_t t;
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t = _cursor_start;
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_cursor_start = _cursor_end;
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_cursor_end = t;
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}
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for (int32_t i = _cursor_start; i <= _cursor_end; i = i + _cursor_steps) {
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for (uint8_t j = 0; j < 8; j++) {
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// test
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line = _big_buffer[(MAX_BIG_BUFFER_SIZE - 8 - i) + j];
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for (uint8_t k = 0; k < 8; k++) {
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if (line & 0x01) {
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// set 1
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_buffer[2 * j] |= (1 << k);
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} else {
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// set 0
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_buffer[2 * j] &= ~(1 << k);
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}
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line = line >> 1;
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}
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}
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// offset
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if (_offset_y > 0) {
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for (uint8_t i = 0; i < 8; i++) {
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_buffer[2 * i] = (_buffer[2 * i] >> _offset_y);
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}
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} else if (_offset_y < 0) {
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for (uint8_t i = 0; i < 8; i++) {
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_buffer[2 * i] = (_buffer[2 * i] << (-_offset_y));
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}
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}
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if (_offset_x > 0) {
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for (int8_t i = (7 - _offset_x); i >= 0; i--) {
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_buffer[2 * (i + _offset_x)] = _buffer[2 * i];
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}
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for (uint8_t i = 0; i < _offset_x; i++) {
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_buffer[2 * i] = 0;
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}
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} else if (_offset_x < 0) {
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for (uint8_t i = (-_offset_x); i < 8; i++) {
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_buffer[2 * (i + _offset_x)] = _buffer[2 * i];
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}
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for (uint8_t i = (8 + _offset_x); i < 8; i++) {
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_buffer[2 * i] = 0;
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}
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}
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I2Cdev::writeBytes(_addr, 0x00, 16, _buffer);
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delay(_ms);
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}
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}
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void Matrix_8x8::clear() {
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memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE);
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}
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void Matrix_8x8::writePixel(uint8_t x, uint16_t y, bool set_on) {
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if (x > 7) {
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x = 7;
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}
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if (y > (MAX_BIG_BUFFER_SIZE - 1)) {
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y = MAX_BIG_BUFFER_SIZE - 1;
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}
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uint8_t y_mod8 = y % 8;
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// first do spin
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switch (_orientation) {
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case DISPLAY_ROTATE_0: {
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uint8_t t;
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t = x;
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x = y_mod8;
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y_mod8 = t;
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x = 7 - x;
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}
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break;
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// case DISPLAY_ROTATE_90:
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// break;
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case DISPLAY_ROTATE_180: {
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uint8_t t;
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t = x;
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x = y_mod8;
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y_mod8 = t;
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y_mod8 = 7 - y_mod8;
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}
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break;
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case DISPLAY_ROTATE_270:
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y_mod8 = 7 - y_mod8;
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x = 7 - x;
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break;
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}
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if (set_on) {
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_big_buffer[((MAX_BIG_BUFFER_SIZE / 8 - 1) - (y / 8)) * 8 + y_mod8] |= (1 << x);
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} else {
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_big_buffer[((MAX_BIG_BUFFER_SIZE / 8 - 1) - (y / 8)) * 8 + y_mod8] &= ~(1 << x);
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}
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}
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void Matrix_8x8::writeBar(uint8_t bar) {
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if (bar > 32) {
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bar = 32;
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}
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Matrix_8x8::writeOnePicture(BARS[bar]);
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}
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void Matrix_8x8::writeIcon(uint8_t num) {
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if (num > 28) {
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num = 28;
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}
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Matrix_8x8::writeOnePicture(ICONS[num]);
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}
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void Matrix_8x8::writeNumber(int32_t number, uint16_t ms_per_digit) {
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Matrix_8x8::writeString(String(number), ms_per_digit, ACTION_SCROLLING);
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}
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void Matrix_8x8::writeString(String s, uint16_t ms_per_letter, action_type_t mode) {
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uint8_t pic_number = s.length();
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if (pic_number > (MAX_BIG_BUFFER_SIZE / 8)) {
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pic_number = MAX_BIG_BUFFER_SIZE / 8;
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}
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if (pic_number == 0) {
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return;
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}
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const char* p_string = s.c_str();
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_cursor_start = 0;
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if (mode == ACTION_SCROLLING) {
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_cursor_steps = 1;
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if (pic_number == 1) {
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_cursor_end = 0;
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_ms = ms_per_letter;
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} else {
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_cursor_end = pic_number * 8;
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_ms = ms_per_letter / 8;
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}
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} else {
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if (pic_number == 1) {
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_cursor_end = 0;
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} else {
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_cursor_end = pic_number * 8 - 1;
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}
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_cursor_steps = 8;
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_ms = ms_per_letter;
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}
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uint64_t frame;
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uint8_t line;
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memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE);
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for (uint8_t m = 0; m < pic_number; m++) {
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frame = ASCII[p_string[m] - 32];
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for (uint8_t i = 0; i < 8; i++) {
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line = (uint8_t)(frame & 0xff);
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for (uint8_t j = 7; j != 255; j--) {
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if (line & 0x01) {
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Matrix_8x8::writePixel(j, i + m * 8);
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}
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line = line >> 1;
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}
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frame = frame >> 8;
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}
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}
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}
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void Matrix_8x8::writeOnePicture(const uint8_t *pic) {
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Matrix_8x8::writePictures(pic, 1, 0, ACTION_SHIFT);
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}
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// uint64_t pic
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void Matrix_8x8::writeOnePicture(uint64_t pic) {
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Matrix_8x8::writePictures((uint64_t*)&pic, 1, 0, ACTION_SHIFT);
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}
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void Matrix_8x8::writePictures(const uint8_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode) {
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if (pic_number > (MAX_BIG_BUFFER_SIZE / 8)) {
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pic_number = MAX_BIG_BUFFER_SIZE / 8;
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}
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if (pic_number == 0) {
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return;
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}
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_cursor_start = 0;
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if (mode == ACTION_SCROLLING) {
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_cursor_steps = 1;
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_ms = ms_per_pic / 8;
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_cursor_end = pic_number * 8;
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} else {
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_cursor_end = pic_number * 8 - 1;
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_cursor_steps = 8;
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_ms = ms_per_pic;
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}
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uint8_t line;
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memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE);
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for (uint8_t i = 0; i < (8 * pic_number); i++) {
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line = pic[i];
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for (uint8_t j = 0; j < 8; j++) {
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if (line & 0x01) {
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Matrix_8x8::writePixel(j, i);
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}
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line = line >> 1;
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}
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}
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}
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void Matrix_8x8::writePictures(const uint64_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode) {
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if (pic_number > (MAX_BIG_BUFFER_SIZE / 8)) {
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pic_number = MAX_BIG_BUFFER_SIZE / 8;
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}
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if (pic_number == 0) {
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return;
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}
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_cursor_start = 0;
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if (mode == ACTION_SCROLLING) {
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_cursor_steps = 1;
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_ms = ms_per_pic / 8;
|
||||
_cursor_end = pic_number * 8;
|
||||
} else {
|
||||
_cursor_end = pic_number * 8 - 1;
|
||||
_cursor_steps = 8;
|
||||
_ms = ms_per_pic;
|
||||
}
|
||||
|
||||
uint64_t frame;
|
||||
uint8_t line;
|
||||
|
||||
memset(_big_buffer, 0, MAX_BIG_BUFFER_SIZE);
|
||||
|
||||
for (uint8_t m = 0; m < pic_number; m++) {
|
||||
frame = pic[m];
|
||||
for (uint8_t i = 0; i < 8; i++) {
|
||||
line = (uint8_t)(frame & 0xff);
|
||||
for (uint8_t j = 7; j != 255; j--) {
|
||||
if (line & 0x01) {
|
||||
Matrix_8x8::writePixel(j, i + m * 8);
|
||||
}
|
||||
line = line >> 1;
|
||||
}
|
||||
frame = frame >> 8;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,278 @@
|
||||
/*
|
||||
Grove_LED_Matrix_Driver_HT16K33.h
|
||||
A library for Grove - LED Matrix Driver(HT16K33 with 8x8 LED Matrix)
|
||||
|
||||
Copyright (c) 2018 seeed technology inc.
|
||||
Website : www.seeed.cc
|
||||
Author : Jerry Yip
|
||||
Create Time: 2018-06
|
||||
Version : 0.1
|
||||
Change Log :
|
||||
|
||||
The MIT License (MIT)
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef __GROVE_LED_MATRIX_DRIVER_HT16K33__
|
||||
#define __GROVE_LED_MATRIX_DRIVER_HT16K33__
|
||||
|
||||
#include "I2Cdev.h"
|
||||
|
||||
|
||||
|
||||
#define HT16K33_DEFAULT_I2C_ADDR 0x70
|
||||
// 8*48 means this buffer can store 48 pictures, if you
|
||||
// need more space, please make sure MAX_BIG_BUFFER_SIZE
|
||||
// is a multiple of 8.
|
||||
#define MAX_BIG_BUFFER_SIZE (8*20)
|
||||
|
||||
|
||||
enum orientation_type_t {
|
||||
DISPLAY_ROTATE_0 = 0,
|
||||
DISPLAY_ROTATE_90,
|
||||
DISPLAY_ROTATE_180,
|
||||
DISPLAY_ROTATE_270,
|
||||
};
|
||||
|
||||
enum action_type_t {
|
||||
ACTION_SCROLLING = 0,
|
||||
ACTION_SHIFT,
|
||||
};
|
||||
|
||||
enum blink_type_t {
|
||||
BLINK_OFF = 0,
|
||||
BLINK_2HZ,
|
||||
BLINK_1HZ,
|
||||
};
|
||||
|
||||
class HT16K33 {
|
||||
public:
|
||||
HT16K33();
|
||||
void init(uint8_t addr = HT16K33_DEFAULT_I2C_ADDR);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Setting the blink rate of matrix
|
||||
Parameter
|
||||
blink_type: BLINK_OFF, BLINK_2HZ, BLINK_1HZ
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void setBlinkRate(blink_type_t blink_type);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Setting the brightness of matrix
|
||||
Parameter
|
||||
brightness: 0-15
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void setBrightness(uint8_t brightness);
|
||||
|
||||
virtual void display();
|
||||
virtual void clear();
|
||||
|
||||
protected:
|
||||
uint8_t _addr;
|
||||
};
|
||||
|
||||
|
||||
class Matrix_8x8 : public HT16K33 {
|
||||
|
||||
public:
|
||||
Matrix_8x8();
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Setting the display offset of x-axis and y-axis.
|
||||
This function will activate after call display().
|
||||
Parameter
|
||||
x: The display offset value of horizontal x-axis, range from -8 to 8.
|
||||
y: The display offset value of horizontal y-axis, range from -8 to 8.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void setDisplayOffset(int8_t x, int8_t y);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Setting the display orientation.
|
||||
This function will activate after call writeXXX().
|
||||
Parameter
|
||||
orientation: DISPLAY_ROTATE_0, DISPLAY_ROTATE_90, DISPLAY_ROTATE_180,
|
||||
DISPLAY_ROTATE_270, which means the display will rotate 0°, 90°,180° or 270°.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void setDisplayOrientation(uint8_t orientation);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Display the pixels stored in display buffer on 8x8 matrix.
|
||||
This function should be called after writeXXX(). And this
|
||||
function will block until all the data is shown. For example,
|
||||
if I call writeString("hello", 1000, ACTION_SCROLLING) and
|
||||
display(), then the program will block for 5 seconds(5*1000ms)
|
||||
before it goes to the next sentense.
|
||||
Parameter
|
||||
Null.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void display();
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Clear the display buffer.
|
||||
This function will display nothing on 8x8 Matrix after call display().
|
||||
Parameter
|
||||
Null.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void clear();
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Set a pixel ON(default) or OFF in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
x: the x-axis position of the pixel
|
||||
y: the y-axis position of the pixel
|
||||
set_on: Set the pixel ON(default) or OFF.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writePixel(uint8_t x, uint16_t y, bool set_on = true);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Write a bar in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
bar: 0 - 32. 0 is blank and 32 is full.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writeBar(uint8_t bar);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Write a icon in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
num: 0 - 28.
|
||||
0 full screen 1 arrow_up 2 arrow_down 3 arrow_right
|
||||
4 arrow_left 5 triangle_up 6 triangle_down 7 triangle_right
|
||||
8 triangel_left 9 smile_face_1 10 smile_face_2 11 hearts
|
||||
12 diamonds 13 clubs 14 spades 15 circle1
|
||||
16 circle2 17 circle3 18 circle4 19 man
|
||||
20 woman 21 musical_note_1 22 musical_note_2 23 snow
|
||||
24 up_down 25 double_! 26 left_right 27 house
|
||||
28 glasses
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writeIcon(uint8_t num);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Write a number(from -2147483648 to 2147483647) in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
number: Set the number you want to display on LED matrix. Number(except 0-9)
|
||||
will scroll horizontally, the shorter you set the ms_per_digit,
|
||||
the faster it scrolls. The number range from -2147483648 to 2147483647, if
|
||||
you want to display larger number, please use writeString().
|
||||
ms_per_digit: Set the display time(ms) of per digit.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writeNumber(int32_t number, uint16_t ms_per_digit);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Write a String in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
s: A string. The string size should be less than (MAX_BIG_BUFFER_SIZE/8),
|
||||
the excess part will be ignored.
|
||||
ms_per_letter: Set the display time(ms) of per letter.
|
||||
mode: ACTION_SCROLLING: If the size of string is more than 1, scroll the string on the matrix;
|
||||
ACTION_SHIFT: If the size of string is more than 1, display the letter 1 by 1 on the matrix;
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writeString(String s, uint16_t ms_per_letter, action_type_t mode);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Write a picture in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
pic: A pointer of a uint8_t picture array.
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writeOnePicture(const uint8_t *pic);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Write a picture in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
pic: A uint64_t type 8x8 matrix picture, you can make it at
|
||||
https://xantorohara.github.io/led-matrix-editor/#
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writeOnePicture(const uint64_t pic);
|
||||
|
||||
/*************************************************************
|
||||
Description
|
||||
Write many pictures in display buffer.
|
||||
Call display() to show display buffer.
|
||||
Parameter
|
||||
pic: A pointer
|
||||
pic_number: The number of pictures, should be less than (MAX_BIG_BUFFER_SIZE/8),
|
||||
the excess part will be ignored.
|
||||
ms_per_pic: Set the display time(ms) of per picture.
|
||||
mode: ACTION_SCROLLING: Scroll the pictures on the matrix;
|
||||
ACTION_SHIFT: Display the pictures 1 by 1 on the matrix;
|
||||
|
||||
Return
|
||||
Null.
|
||||
*************************************************************/
|
||||
void writePictures(const uint8_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode);
|
||||
void writePictures(const uint64_t *pic, uint8_t pic_number, uint16_t ms_per_pic, action_type_t mode);
|
||||
|
||||
private:
|
||||
// Low1 High1 Low2 High2 ... Low8 High8
|
||||
uint8_t _buffer[16];
|
||||
uint8_t _big_buffer[MAX_BIG_BUFFER_SIZE];
|
||||
uint16_t _cursor_start, _cursor_end, _cursor_steps;
|
||||
uint16_t _ms;
|
||||
orientation_type_t _orientation;
|
||||
int8_t _offset_x, _offset_y;
|
||||
|
||||
};
|
||||
|
||||
#endif //__GROVE_LED_MATRIX_DRIVER_HT16K33__
|
||||
1466
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe-imu/I2Cdev.cpp
Executable file
1466
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe-imu/I2Cdev.cpp
Executable file
File diff suppressed because it is too large
Load Diff
272
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe-imu/I2Cdev.h
Executable file
272
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe-imu/I2Cdev.h
Executable file
@ -0,0 +1,272 @@
|
||||
// I2Cdev library collection - Main I2C device class header file
|
||||
// Abstracts bit and byte I2C R/W functions into a convenient class
|
||||
// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
|
||||
//
|
||||
// Changelog:
|
||||
// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
|
||||
// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
|
||||
// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
|
||||
// 2011-10-03 - added automatic Arduino version detection for ease of use
|
||||
// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
|
||||
// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
|
||||
// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
|
||||
// 2011-08-02 - added support for 16-bit registers
|
||||
// - fixed incorrect Doxygen comments on some methods
|
||||
// - added timeout value for read operations (thanks mem @ Arduino forums)
|
||||
// 2011-07-30 - changed read/write function structures to return success or byte counts
|
||||
// - made all methods static for multi-device memory savings
|
||||
// 2011-07-28 - initial release
|
||||
|
||||
/* ============================================
|
||||
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.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _I2CDEV_H_
|
||||
#define _I2CDEV_H_
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
// I2C interface implementation setting
|
||||
// -----------------------------------------------------------------------------
|
||||
#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
|
||||
|
||||
// comment this out if you are using a non-optimal IDE/implementation setting
|
||||
// but want the compiler to shut up about it
|
||||
#define I2CDEV_IMPLEMENTATION_WARNINGS
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
// I2C interface implementation options
|
||||
// -----------------------------------------------------------------------------
|
||||
#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
|
||||
#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
|
||||
// ^^^ NBWire implementation is still buggy w/some interrupts!
|
||||
#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
|
||||
// ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
// Arduino-style "Serial.print" debug constant (uncomment to enable)
|
||||
// -----------------------------------------------------------------------------
|
||||
//#define I2CDEV_SERIAL_DEBUG
|
||||
|
||||
#ifdef ARDUINO
|
||||
#if ARDUINO < 100
|
||||
#include "WProgram.h"
|
||||
#else
|
||||
#include "Arduino.h"
|
||||
#endif
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
||||
#include <Wire.h>
|
||||
#endif
|
||||
#else
|
||||
#include "ArduinoWrapper.h"
|
||||
#endif
|
||||
|
||||
// support Arduino M0
|
||||
#ifndef BUFFER_LENGTH
|
||||
#define BUFFER_LENGTH 64
|
||||
#endif
|
||||
|
||||
// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
|
||||
#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
|
||||
|
||||
class I2Cdev {
|
||||
public:
|
||||
I2Cdev();
|
||||
|
||||
static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t* data,
|
||||
uint16_t timeout = I2Cdev::readTimeout);
|
||||
static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t* data,
|
||||
uint16_t timeout = I2Cdev::readTimeout);
|
||||
static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t* data,
|
||||
uint16_t timeout = I2Cdev::readTimeout);
|
||||
static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t* data,
|
||||
uint16_t timeout = I2Cdev::readTimeout);
|
||||
static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t* data, uint16_t timeout = I2Cdev::readTimeout);
|
||||
static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t* data, uint16_t timeout = I2Cdev::readTimeout);
|
||||
static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data,
|
||||
uint16_t timeout = I2Cdev::readTimeout);
|
||||
static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data,
|
||||
uint16_t timeout = I2Cdev::readTimeout);
|
||||
|
||||
static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
|
||||
static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
|
||||
static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
|
||||
static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
|
||||
static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
|
||||
static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
|
||||
static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data);
|
||||
static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data);
|
||||
|
||||
static uint16_t readTimeout;
|
||||
};
|
||||
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
||||
//////////////////////
|
||||
// FastWire 0.2
|
||||
// This is a library to help faster programs to read I2C devices.
|
||||
// Copyright(C) 2011
|
||||
// Francesco Ferrara
|
||||
//////////////////////
|
||||
|
||||
/* Master */
|
||||
#define TW_START 0x08
|
||||
#define TW_REP_START 0x10
|
||||
|
||||
/* Master Transmitter */
|
||||
#define TW_MT_SLA_ACK 0x18
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_ACK 0x28
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
#define TW_MT_ARB_LOST 0x38
|
||||
|
||||
/* Master Receiver */
|
||||
#define TW_MR_ARB_LOST 0x38
|
||||
#define TW_MR_SLA_ACK 0x40
|
||||
#define TW_MR_SLA_NACK 0x48
|
||||
#define TW_MR_DATA_ACK 0x50
|
||||
#define TW_MR_DATA_NACK 0x58
|
||||
|
||||
#define TW_OK 0
|
||||
#define TW_ERROR 1
|
||||
|
||||
class Fastwire {
|
||||
private:
|
||||
static boolean waitInt();
|
||||
|
||||
public:
|
||||
static void setup(int khz, boolean pullup);
|
||||
static byte write(byte device, byte address, byte value);
|
||||
static byte readBuf(byte device, byte address, byte* data, byte num);
|
||||
};
|
||||
#endif
|
||||
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
|
||||
// NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
|
||||
// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
|
||||
// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
|
||||
|
||||
#define NBWIRE_BUFFER_LENGTH 32
|
||||
|
||||
class TwoWire {
|
||||
private:
|
||||
static uint8_t rxBuffer[];
|
||||
static uint8_t rxBufferIndex;
|
||||
static uint8_t rxBufferLength;
|
||||
|
||||
static uint8_t txAddress;
|
||||
static uint8_t txBuffer[];
|
||||
static uint8_t txBufferIndex;
|
||||
static uint8_t txBufferLength;
|
||||
|
||||
// static uint8_t transmitting;
|
||||
static void (*user_onRequest)(void);
|
||||
static void (*user_onReceive)(int);
|
||||
static void onRequestService(void);
|
||||
static void onReceiveService(uint8_t*, int);
|
||||
|
||||
public:
|
||||
TwoWire();
|
||||
void begin();
|
||||
void begin(uint8_t);
|
||||
void begin(int);
|
||||
void beginTransmission(uint8_t);
|
||||
//void beginTransmission(int);
|
||||
uint8_t endTransmission(uint16_t timeout = 0);
|
||||
void nbendTransmission(void (*function)(int)) ;
|
||||
uint8_t requestFrom(uint8_t, int, uint16_t timeout = 0);
|
||||
//uint8_t requestFrom(int, int);
|
||||
void nbrequestFrom(uint8_t, int, void (*function)(int));
|
||||
void send(uint8_t);
|
||||
void send(uint8_t*, uint8_t);
|
||||
//void send(int);
|
||||
void send(char*);
|
||||
uint8_t available(void);
|
||||
uint8_t receive(void);
|
||||
void onReceive(void (*)(int));
|
||||
void onRequest(void (*)(void));
|
||||
};
|
||||
|
||||
#define TWI_READY 0
|
||||
#define TWI_MRX 1
|
||||
#define TWI_MTX 2
|
||||
#define TWI_SRX 3
|
||||
#define TWI_STX 4
|
||||
|
||||
#define TW_WRITE 0
|
||||
#define TW_READ 1
|
||||
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
|
||||
#define CPU_FREQ 16000000L
|
||||
#define TWI_FREQ 100000L
|
||||
#define TWI_BUFFER_LENGTH 32
|
||||
|
||||
/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
|
||||
|
||||
#define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
|
||||
#define TW_STATUS (TWSR & TW_STATUS_MASK)
|
||||
#define TW_START 0x08
|
||||
#define TW_REP_START 0x10
|
||||
#define TW_MT_SLA_ACK 0x18
|
||||
#define TW_MT_SLA_NACK 0x20
|
||||
#define TW_MT_DATA_ACK 0x28
|
||||
#define TW_MT_DATA_NACK 0x30
|
||||
#define TW_MT_ARB_LOST 0x38
|
||||
#define TW_MR_ARB_LOST 0x38
|
||||
#define TW_MR_SLA_ACK 0x40
|
||||
#define TW_MR_SLA_NACK 0x48
|
||||
#define TW_MR_DATA_ACK 0x50
|
||||
#define TW_MR_DATA_NACK 0x58
|
||||
#define TW_ST_SLA_ACK 0xA8
|
||||
#define TW_ST_ARB_LOST_SLA_ACK 0xB0
|
||||
#define TW_ST_DATA_ACK 0xB8
|
||||
#define TW_ST_DATA_NACK 0xC0
|
||||
#define TW_ST_LAST_DATA 0xC8
|
||||
#define TW_SR_SLA_ACK 0x60
|
||||
#define TW_SR_ARB_LOST_SLA_ACK 0x68
|
||||
#define TW_SR_GCALL_ACK 0x70
|
||||
#define TW_SR_ARB_LOST_GCALL_ACK 0x78
|
||||
#define TW_SR_DATA_ACK 0x80
|
||||
#define TW_SR_DATA_NACK 0x88
|
||||
#define TW_SR_GCALL_DATA_ACK 0x90
|
||||
#define TW_SR_GCALL_DATA_NACK 0x98
|
||||
#define TW_SR_STOP 0xA0
|
||||
#define TW_NO_INFO 0xF8
|
||||
#define TW_BUS_ERROR 0x00
|
||||
|
||||
//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
|
||||
//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
|
||||
|
||||
#ifndef sbi // set bit
|
||||
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
|
||||
#endif // sbi
|
||||
|
||||
#ifndef cbi // clear bit
|
||||
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
|
||||
#endif // cbi
|
||||
|
||||
extern TwoWire Wire;
|
||||
|
||||
#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
|
||||
|
||||
#endif /* _I2CDEV_H_ */
|
||||
3237
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe-imu/MPU6050.cpp
Normal file
3237
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe-imu/MPU6050.cpp
Normal file
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,997 @@
|
||||
// I2Cdev library collection - MPU6050 I2C device class
|
||||
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||
// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// ... - ongoing debug release
|
||||
|
||||
// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
|
||||
// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
|
||||
// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
|
||||
|
||||
/* ============================================
|
||||
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.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _MPU6050_H_
|
||||
#define _MPU6050_H_
|
||||
|
||||
#include "I2Cdev.h"
|
||||
#include <avr/pgmspace.h>
|
||||
|
||||
//Magnetometer Registers
|
||||
#define MPU9150_RA_MAG_ADDRESS 0x0C
|
||||
#define MPU9150_RA_MAG_XOUT_L 0x03
|
||||
#define MPU9150_RA_MAG_XOUT_H 0x04
|
||||
#define MPU9150_RA_MAG_YOUT_L 0x05
|
||||
#define MPU9150_RA_MAG_YOUT_H 0x06
|
||||
#define MPU9150_RA_MAG_ZOUT_L 0x07
|
||||
#define MPU9150_RA_MAG_ZOUT_H 0x08
|
||||
|
||||
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
|
||||
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
|
||||
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
|
||||
|
||||
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
|
||||
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
|
||||
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
|
||||
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
|
||||
#define MPU6050_RA_XA_OFFS_L_TC 0x07
|
||||
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
|
||||
#define MPU6050_RA_YA_OFFS_L_TC 0x09
|
||||
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
|
||||
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
|
||||
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
|
||||
#define MPU6050_RA_XG_OFFS_USRL 0x14
|
||||
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
|
||||
#define MPU6050_RA_YG_OFFS_USRL 0x16
|
||||
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
|
||||
#define MPU6050_RA_ZG_OFFS_USRL 0x18
|
||||
#define MPU6050_RA_SMPLRT_DIV 0x19
|
||||
#define MPU6050_RA_CONFIG 0x1A
|
||||
#define MPU6050_RA_GYRO_CONFIG 0x1B
|
||||
#define MPU6050_RA_ACCEL_CONFIG 0x1C
|
||||
#define MPU6050_RA_FF_THR 0x1D
|
||||
#define MPU6050_RA_FF_DUR 0x1E
|
||||
#define MPU6050_RA_MOT_THR 0x1F
|
||||
#define MPU6050_RA_MOT_DUR 0x20
|
||||
#define MPU6050_RA_ZRMOT_THR 0x21
|
||||
#define MPU6050_RA_ZRMOT_DUR 0x22
|
||||
#define MPU6050_RA_FIFO_EN 0x23
|
||||
#define MPU6050_RA_I2C_MST_CTRL 0x24
|
||||
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
|
||||
#define MPU6050_RA_I2C_SLV0_REG 0x26
|
||||
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
|
||||
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
|
||||
#define MPU6050_RA_I2C_SLV1_REG 0x29
|
||||
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
|
||||
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
|
||||
#define MPU6050_RA_I2C_SLV2_REG 0x2C
|
||||
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
|
||||
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
|
||||
#define MPU6050_RA_I2C_SLV3_REG 0x2F
|
||||
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
|
||||
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
|
||||
#define MPU6050_RA_I2C_SLV4_REG 0x32
|
||||
#define MPU6050_RA_I2C_SLV4_DO 0x33
|
||||
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
|
||||
#define MPU6050_RA_I2C_SLV4_DI 0x35
|
||||
#define MPU6050_RA_I2C_MST_STATUS 0x36
|
||||
#define MPU6050_RA_INT_PIN_CFG 0x37
|
||||
#define MPU6050_RA_INT_ENABLE 0x38
|
||||
#define MPU6050_RA_DMP_INT_STATUS 0x39
|
||||
#define MPU6050_RA_INT_STATUS 0x3A
|
||||
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
|
||||
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
|
||||
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
|
||||
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
|
||||
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
|
||||
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
|
||||
#define MPU6050_RA_TEMP_OUT_H 0x41
|
||||
#define MPU6050_RA_TEMP_OUT_L 0x42
|
||||
#define MPU6050_RA_GYRO_XOUT_H 0x43
|
||||
#define MPU6050_RA_GYRO_XOUT_L 0x44
|
||||
#define MPU6050_RA_GYRO_YOUT_H 0x45
|
||||
#define MPU6050_RA_GYRO_YOUT_L 0x46
|
||||
#define MPU6050_RA_GYRO_ZOUT_H 0x47
|
||||
#define MPU6050_RA_GYRO_ZOUT_L 0x48
|
||||
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
|
||||
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
|
||||
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
|
||||
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
|
||||
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
|
||||
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
|
||||
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
|
||||
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
|
||||
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
|
||||
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
|
||||
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
|
||||
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
|
||||
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
|
||||
#define MPU6050_RA_I2C_SLV0_DO 0x63
|
||||
#define MPU6050_RA_I2C_SLV1_DO 0x64
|
||||
#define MPU6050_RA_I2C_SLV2_DO 0x65
|
||||
#define MPU6050_RA_I2C_SLV3_DO 0x66
|
||||
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
|
||||
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
|
||||
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
|
||||
#define MPU6050_RA_USER_CTRL 0x6A
|
||||
#define MPU6050_RA_PWR_MGMT_1 0x6B
|
||||
#define MPU6050_RA_PWR_MGMT_2 0x6C
|
||||
#define MPU6050_RA_BANK_SEL 0x6D
|
||||
#define MPU6050_RA_MEM_START_ADDR 0x6E
|
||||
#define MPU6050_RA_MEM_R_W 0x6F
|
||||
#define MPU6050_RA_DMP_CFG_1 0x70
|
||||
#define MPU6050_RA_DMP_CFG_2 0x71
|
||||
#define MPU6050_RA_FIFO_COUNTH 0x72
|
||||
#define MPU6050_RA_FIFO_COUNTL 0x73
|
||||
#define MPU6050_RA_FIFO_R_W 0x74
|
||||
#define MPU6050_RA_WHO_AM_I 0x75
|
||||
|
||||
#define MPU6050_TC_PWR_MODE_BIT 7
|
||||
#define MPU6050_TC_OFFSET_BIT 6
|
||||
#define MPU6050_TC_OFFSET_LENGTH 6
|
||||
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
|
||||
|
||||
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
|
||||
#define MPU6050_VDDIO_LEVEL_VDD 1
|
||||
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
|
||||
#define MPU6050_CFG_DLPF_CFG_BIT 2
|
||||
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
|
||||
|
||||
#define MPU6050_EXT_SYNC_DISABLED 0x0
|
||||
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
|
||||
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
|
||||
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
|
||||
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
|
||||
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
|
||||
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
|
||||
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
|
||||
|
||||
#define MPU6050_DLPF_BW_256 0x00
|
||||
#define MPU6050_DLPF_BW_188 0x01
|
||||
#define MPU6050_DLPF_BW_98 0x02
|
||||
#define MPU6050_DLPF_BW_42 0x03
|
||||
#define MPU6050_DLPF_BW_20 0x04
|
||||
#define MPU6050_DLPF_BW_10 0x05
|
||||
#define MPU6050_DLPF_BW_5 0x06
|
||||
|
||||
#define MPU6050_GCONFIG_FS_SEL_BIT 4
|
||||
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
|
||||
|
||||
#define MPU6050_GYRO_FS_250 0x00
|
||||
#define MPU6050_GYRO_FS_500 0x01
|
||||
#define MPU6050_GYRO_FS_1000 0x02
|
||||
#define MPU6050_GYRO_FS_2000 0x03
|
||||
|
||||
#define MPU6050_ACONFIG_XA_ST_BIT 7
|
||||
#define MPU6050_ACONFIG_YA_ST_BIT 6
|
||||
#define MPU6050_ACONFIG_ZA_ST_BIT 5
|
||||
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
|
||||
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
|
||||
|
||||
#define MPU6050_ACCEL_FS_2 0x00
|
||||
#define MPU6050_ACCEL_FS_4 0x01
|
||||
#define MPU6050_ACCEL_FS_8 0x02
|
||||
#define MPU6050_ACCEL_FS_16 0x03
|
||||
|
||||
#define MPU6050_DHPF_RESET 0x00
|
||||
#define MPU6050_DHPF_5 0x01
|
||||
#define MPU6050_DHPF_2P5 0x02
|
||||
#define MPU6050_DHPF_1P25 0x03
|
||||
#define MPU6050_DHPF_0P63 0x04
|
||||
#define MPU6050_DHPF_HOLD 0x07
|
||||
|
||||
#define MPU6050_TEMP_FIFO_EN_BIT 7
|
||||
#define MPU6050_XG_FIFO_EN_BIT 6
|
||||
#define MPU6050_YG_FIFO_EN_BIT 5
|
||||
#define MPU6050_ZG_FIFO_EN_BIT 4
|
||||
#define MPU6050_ACCEL_FIFO_EN_BIT 3
|
||||
#define MPU6050_SLV2_FIFO_EN_BIT 2
|
||||
#define MPU6050_SLV1_FIFO_EN_BIT 1
|
||||
#define MPU6050_SLV0_FIFO_EN_BIT 0
|
||||
|
||||
#define MPU6050_MULT_MST_EN_BIT 7
|
||||
#define MPU6050_WAIT_FOR_ES_BIT 6
|
||||
#define MPU6050_SLV_3_FIFO_EN_BIT 5
|
||||
#define MPU6050_I2C_MST_P_NSR_BIT 4
|
||||
#define MPU6050_I2C_MST_CLK_BIT 3
|
||||
#define MPU6050_I2C_MST_CLK_LENGTH 4
|
||||
|
||||
#define MPU6050_CLOCK_DIV_348 0x0
|
||||
#define MPU6050_CLOCK_DIV_333 0x1
|
||||
#define MPU6050_CLOCK_DIV_320 0x2
|
||||
#define MPU6050_CLOCK_DIV_308 0x3
|
||||
#define MPU6050_CLOCK_DIV_296 0x4
|
||||
#define MPU6050_CLOCK_DIV_286 0x5
|
||||
#define MPU6050_CLOCK_DIV_276 0x6
|
||||
#define MPU6050_CLOCK_DIV_267 0x7
|
||||
#define MPU6050_CLOCK_DIV_258 0x8
|
||||
#define MPU6050_CLOCK_DIV_500 0x9
|
||||
#define MPU6050_CLOCK_DIV_471 0xA
|
||||
#define MPU6050_CLOCK_DIV_444 0xB
|
||||
#define MPU6050_CLOCK_DIV_421 0xC
|
||||
#define MPU6050_CLOCK_DIV_400 0xD
|
||||
#define MPU6050_CLOCK_DIV_381 0xE
|
||||
#define MPU6050_CLOCK_DIV_364 0xF
|
||||
|
||||
#define MPU6050_I2C_SLV_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
|
||||
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV_GRP_BIT 4
|
||||
#define MPU6050_I2C_SLV_LEN_BIT 3
|
||||
#define MPU6050_I2C_SLV_LEN_LENGTH 4
|
||||
|
||||
#define MPU6050_I2C_SLV4_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV4_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV4_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
|
||||
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
|
||||
|
||||
#define MPU6050_MST_PASS_THROUGH_BIT 7
|
||||
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
|
||||
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
|
||||
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
|
||||
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
|
||||
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
|
||||
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
|
||||
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
|
||||
|
||||
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
|
||||
#define MPU6050_INTCFG_INT_OPEN_BIT 6
|
||||
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
|
||||
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
|
||||
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
|
||||
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
|
||||
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
|
||||
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
|
||||
|
||||
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
|
||||
#define MPU6050_INTMODE_ACTIVELOW 0x01
|
||||
|
||||
#define MPU6050_INTDRV_PUSHPULL 0x00
|
||||
#define MPU6050_INTDRV_OPENDRAIN 0x01
|
||||
|
||||
#define MPU6050_INTLATCH_50USPULSE 0x00
|
||||
#define MPU6050_INTLATCH_WAITCLEAR 0x01
|
||||
|
||||
#define MPU6050_INTCLEAR_STATUSREAD 0x00
|
||||
#define MPU6050_INTCLEAR_ANYREAD 0x01
|
||||
|
||||
#define MPU6050_INTERRUPT_FF_BIT 7
|
||||
#define MPU6050_INTERRUPT_MOT_BIT 6
|
||||
#define MPU6050_INTERRUPT_ZMOT_BIT 5
|
||||
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
|
||||
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
|
||||
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
|
||||
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
|
||||
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
|
||||
|
||||
// TODO: figure out what these actually do
|
||||
// UMPL source code is not very obivous
|
||||
#define MPU6050_DMPINT_5_BIT 5
|
||||
#define MPU6050_DMPINT_4_BIT 4
|
||||
#define MPU6050_DMPINT_3_BIT 3
|
||||
#define MPU6050_DMPINT_2_BIT 2
|
||||
#define MPU6050_DMPINT_1_BIT 1
|
||||
#define MPU6050_DMPINT_0_BIT 0
|
||||
|
||||
#define MPU6050_MOTION_MOT_XNEG_BIT 7
|
||||
#define MPU6050_MOTION_MOT_XPOS_BIT 6
|
||||
#define MPU6050_MOTION_MOT_YNEG_BIT 5
|
||||
#define MPU6050_MOTION_MOT_YPOS_BIT 4
|
||||
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
|
||||
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
|
||||
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
|
||||
|
||||
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
|
||||
|
||||
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
|
||||
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
|
||||
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
|
||||
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
|
||||
#define MPU6050_DETECT_FF_COUNT_BIT 3
|
||||
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
|
||||
#define MPU6050_DETECT_MOT_COUNT_BIT 1
|
||||
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
|
||||
|
||||
#define MPU6050_DETECT_DECREMENT_RESET 0x0
|
||||
#define MPU6050_DETECT_DECREMENT_1 0x1
|
||||
#define MPU6050_DETECT_DECREMENT_2 0x2
|
||||
#define MPU6050_DETECT_DECREMENT_4 0x3
|
||||
|
||||
#define MPU6050_USERCTRL_DMP_EN_BIT 7
|
||||
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
|
||||
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
|
||||
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
|
||||
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
|
||||
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
|
||||
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
|
||||
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
|
||||
|
||||
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
|
||||
#define MPU6050_PWR1_SLEEP_BIT 6
|
||||
#define MPU6050_PWR1_CYCLE_BIT 5
|
||||
#define MPU6050_PWR1_TEMP_DIS_BIT 3
|
||||
#define MPU6050_PWR1_CLKSEL_BIT 2
|
||||
#define MPU6050_PWR1_CLKSEL_LENGTH 3
|
||||
|
||||
#define MPU6050_CLOCK_INTERNAL 0x00
|
||||
#define MPU6050_CLOCK_PLL_XGYRO 0x01
|
||||
#define MPU6050_CLOCK_PLL_YGYRO 0x02
|
||||
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
|
||||
#define MPU6050_CLOCK_PLL_EXT32K 0x04
|
||||
#define MPU6050_CLOCK_PLL_EXT19M 0x05
|
||||
#define MPU6050_CLOCK_KEEP_RESET 0x07
|
||||
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
|
||||
#define MPU6050_PWR2_STBY_XA_BIT 5
|
||||
#define MPU6050_PWR2_STBY_YA_BIT 4
|
||||
#define MPU6050_PWR2_STBY_ZA_BIT 3
|
||||
#define MPU6050_PWR2_STBY_XG_BIT 2
|
||||
#define MPU6050_PWR2_STBY_YG_BIT 1
|
||||
#define MPU6050_PWR2_STBY_ZG_BIT 0
|
||||
|
||||
#define MPU6050_WAKE_FREQ_1P25 0x0
|
||||
#define MPU6050_WAKE_FREQ_2P5 0x1
|
||||
#define MPU6050_WAKE_FREQ_5 0x2
|
||||
#define MPU6050_WAKE_FREQ_10 0x3
|
||||
|
||||
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
|
||||
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
|
||||
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
|
||||
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
|
||||
|
||||
#define MPU6050_WHO_AM_I_BIT 6
|
||||
#define MPU6050_WHO_AM_I_LENGTH 6
|
||||
|
||||
#define MPU6050_DMP_MEMORY_BANKS 8
|
||||
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
|
||||
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
|
||||
|
||||
// note: DMP code memory blocks defined at end of header file
|
||||
|
||||
class MPU6050 {
|
||||
public:
|
||||
MPU6050();
|
||||
MPU6050(uint8_t address);
|
||||
|
||||
void initialize();
|
||||
bool testConnection();
|
||||
|
||||
// AUX_VDDIO register
|
||||
uint8_t getAuxVDDIOLevel();
|
||||
void setAuxVDDIOLevel(uint8_t level);
|
||||
|
||||
// SMPLRT_DIV register
|
||||
uint8_t getRate();
|
||||
void setRate(uint8_t rate);
|
||||
|
||||
// CONFIG register
|
||||
uint8_t getExternalFrameSync();
|
||||
void setExternalFrameSync(uint8_t sync);
|
||||
uint8_t getDLPFMode();
|
||||
void setDLPFMode(uint8_t bandwidth);
|
||||
|
||||
// GYRO_CONFIG register
|
||||
uint8_t getFullScaleGyroRange();
|
||||
void setFullScaleGyroRange(uint8_t range);
|
||||
|
||||
// ACCEL_CONFIG register
|
||||
bool getAccelXSelfTest();
|
||||
void setAccelXSelfTest(bool enabled);
|
||||
bool getAccelYSelfTest();
|
||||
void setAccelYSelfTest(bool enabled);
|
||||
bool getAccelZSelfTest();
|
||||
void setAccelZSelfTest(bool enabled);
|
||||
uint8_t getFullScaleAccelRange();
|
||||
void setFullScaleAccelRange(uint8_t range);
|
||||
uint8_t getDHPFMode();
|
||||
void setDHPFMode(uint8_t mode);
|
||||
|
||||
// FF_THR register
|
||||
uint8_t getFreefallDetectionThreshold();
|
||||
void setFreefallDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// FF_DUR register
|
||||
uint8_t getFreefallDetectionDuration();
|
||||
void setFreefallDetectionDuration(uint8_t duration);
|
||||
|
||||
// MOT_THR register
|
||||
uint8_t getMotionDetectionThreshold();
|
||||
void setMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// MOT_DUR register
|
||||
uint8_t getMotionDetectionDuration();
|
||||
void setMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// ZRMOT_THR register
|
||||
uint8_t getZeroMotionDetectionThreshold();
|
||||
void setZeroMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// ZRMOT_DUR register
|
||||
uint8_t getZeroMotionDetectionDuration();
|
||||
void setZeroMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// FIFO_EN register
|
||||
bool getTempFIFOEnabled();
|
||||
void setTempFIFOEnabled(bool enabled);
|
||||
bool getXGyroFIFOEnabled();
|
||||
void setXGyroFIFOEnabled(bool enabled);
|
||||
bool getYGyroFIFOEnabled();
|
||||
void setYGyroFIFOEnabled(bool enabled);
|
||||
bool getZGyroFIFOEnabled();
|
||||
void setZGyroFIFOEnabled(bool enabled);
|
||||
bool getAccelFIFOEnabled();
|
||||
void setAccelFIFOEnabled(bool enabled);
|
||||
bool getSlave2FIFOEnabled();
|
||||
void setSlave2FIFOEnabled(bool enabled);
|
||||
bool getSlave1FIFOEnabled();
|
||||
void setSlave1FIFOEnabled(bool enabled);
|
||||
bool getSlave0FIFOEnabled();
|
||||
void setSlave0FIFOEnabled(bool enabled);
|
||||
|
||||
// I2C_MST_CTRL register
|
||||
bool getMultiMasterEnabled();
|
||||
void setMultiMasterEnabled(bool enabled);
|
||||
bool getWaitForExternalSensorEnabled();
|
||||
void setWaitForExternalSensorEnabled(bool enabled);
|
||||
bool getSlave3FIFOEnabled();
|
||||
void setSlave3FIFOEnabled(bool enabled);
|
||||
bool getSlaveReadWriteTransitionEnabled();
|
||||
void setSlaveReadWriteTransitionEnabled(bool enabled);
|
||||
uint8_t getMasterClockSpeed();
|
||||
void setMasterClockSpeed(uint8_t speed);
|
||||
|
||||
// I2C_SLV* registers (Slave 0-3)
|
||||
uint8_t getSlaveAddress(uint8_t num);
|
||||
void setSlaveAddress(uint8_t num, uint8_t address);
|
||||
uint8_t getSlaveRegister(uint8_t num);
|
||||
void setSlaveRegister(uint8_t num, uint8_t reg);
|
||||
bool getSlaveEnabled(uint8_t num);
|
||||
void setSlaveEnabled(uint8_t num, bool enabled);
|
||||
bool getSlaveWordByteSwap(uint8_t num);
|
||||
void setSlaveWordByteSwap(uint8_t num, bool enabled);
|
||||
bool getSlaveWriteMode(uint8_t num);
|
||||
void setSlaveWriteMode(uint8_t num, bool mode);
|
||||
bool getSlaveWordGroupOffset(uint8_t num);
|
||||
void setSlaveWordGroupOffset(uint8_t num, bool enabled);
|
||||
uint8_t getSlaveDataLength(uint8_t num);
|
||||
void setSlaveDataLength(uint8_t num, uint8_t length);
|
||||
|
||||
// I2C_SLV* registers (Slave 4)
|
||||
uint8_t getSlave4Address();
|
||||
void setSlave4Address(uint8_t address);
|
||||
uint8_t getSlave4Register();
|
||||
void setSlave4Register(uint8_t reg);
|
||||
void setSlave4OutputByte(uint8_t data);
|
||||
bool getSlave4Enabled();
|
||||
void setSlave4Enabled(bool enabled);
|
||||
bool getSlave4InterruptEnabled();
|
||||
void setSlave4InterruptEnabled(bool enabled);
|
||||
bool getSlave4WriteMode();
|
||||
void setSlave4WriteMode(bool mode);
|
||||
uint8_t getSlave4MasterDelay();
|
||||
void setSlave4MasterDelay(uint8_t delay);
|
||||
uint8_t getSlate4InputByte();
|
||||
|
||||
// I2C_MST_STATUS register
|
||||
bool getPassthroughStatus();
|
||||
bool getSlave4IsDone();
|
||||
bool getLostArbitration();
|
||||
bool getSlave4Nack();
|
||||
bool getSlave3Nack();
|
||||
bool getSlave2Nack();
|
||||
bool getSlave1Nack();
|
||||
bool getSlave0Nack();
|
||||
|
||||
// INT_PIN_CFG register
|
||||
bool getInterruptMode();
|
||||
void setInterruptMode(bool mode);
|
||||
bool getInterruptDrive();
|
||||
void setInterruptDrive(bool drive);
|
||||
bool getInterruptLatch();
|
||||
void setInterruptLatch(bool latch);
|
||||
bool getInterruptLatchClear();
|
||||
void setInterruptLatchClear(bool clear);
|
||||
bool getFSyncInterruptLevel();
|
||||
void setFSyncInterruptLevel(bool level);
|
||||
bool getFSyncInterruptEnabled();
|
||||
void setFSyncInterruptEnabled(bool enabled);
|
||||
bool getI2CBypassEnabled();
|
||||
void setI2CBypassEnabled(bool enabled);
|
||||
bool getClockOutputEnabled();
|
||||
void setClockOutputEnabled(bool enabled);
|
||||
|
||||
// INT_ENABLE register
|
||||
uint8_t getIntEnabled();
|
||||
void setIntEnabled(uint8_t enabled);
|
||||
bool getIntFreefallEnabled();
|
||||
void setIntFreefallEnabled(bool enabled);
|
||||
bool getIntMotionEnabled();
|
||||
void setIntMotionEnabled(bool enabled);
|
||||
bool getIntZeroMotionEnabled();
|
||||
void setIntZeroMotionEnabled(bool enabled);
|
||||
bool getIntFIFOBufferOverflowEnabled();
|
||||
void setIntFIFOBufferOverflowEnabled(bool enabled);
|
||||
bool getIntI2CMasterEnabled();
|
||||
void setIntI2CMasterEnabled(bool enabled);
|
||||
bool getIntDataReadyEnabled();
|
||||
void setIntDataReadyEnabled(bool enabled);
|
||||
|
||||
// INT_STATUS register
|
||||
uint8_t getIntStatus();
|
||||
bool getIntFreefallStatus();
|
||||
bool getIntMotionStatus();
|
||||
bool getIntZeroMotionStatus();
|
||||
bool getIntFIFOBufferOverflowStatus();
|
||||
bool getIntI2CMasterStatus();
|
||||
bool getIntDataReadyStatus();
|
||||
|
||||
// ACCEL_*OUT_* registers
|
||||
void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my,
|
||||
int16_t* mz);
|
||||
void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
|
||||
void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getAccelerationX();
|
||||
int16_t getAccelerationY();
|
||||
int16_t getAccelerationZ();
|
||||
|
||||
// TEMP_OUT_* registers
|
||||
int16_t getTemperature();
|
||||
|
||||
// GYRO_*OUT_* registers
|
||||
void getRotation(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getRotationX();
|
||||
int16_t getRotationY();
|
||||
int16_t getRotationZ();
|
||||
|
||||
// EXT_SENS_DATA_* registers
|
||||
uint8_t getExternalSensorByte(int position);
|
||||
uint16_t getExternalSensorWord(int position);
|
||||
uint32_t getExternalSensorDWord(int position);
|
||||
|
||||
// MOT_DETECT_STATUS register
|
||||
bool getXNegMotionDetected();
|
||||
bool getXPosMotionDetected();
|
||||
bool getYNegMotionDetected();
|
||||
bool getYPosMotionDetected();
|
||||
bool getZNegMotionDetected();
|
||||
bool getZPosMotionDetected();
|
||||
bool getZeroMotionDetected();
|
||||
|
||||
// I2C_SLV*_DO register
|
||||
void setSlaveOutputByte(uint8_t num, uint8_t data);
|
||||
|
||||
// I2C_MST_DELAY_CTRL register
|
||||
bool getExternalShadowDelayEnabled();
|
||||
void setExternalShadowDelayEnabled(bool enabled);
|
||||
bool getSlaveDelayEnabled(uint8_t num);
|
||||
void setSlaveDelayEnabled(uint8_t num, bool enabled);
|
||||
|
||||
// SIGNAL_PATH_RESET register
|
||||
void resetGyroscopePath();
|
||||
void resetAccelerometerPath();
|
||||
void resetTemperaturePath();
|
||||
|
||||
// MOT_DETECT_CTRL register
|
||||
uint8_t getAccelerometerPowerOnDelay();
|
||||
void setAccelerometerPowerOnDelay(uint8_t delay);
|
||||
uint8_t getFreefallDetectionCounterDecrement();
|
||||
void setFreefallDetectionCounterDecrement(uint8_t decrement);
|
||||
uint8_t getMotionDetectionCounterDecrement();
|
||||
void setMotionDetectionCounterDecrement(uint8_t decrement);
|
||||
|
||||
// USER_CTRL register
|
||||
bool getFIFOEnabled();
|
||||
void setFIFOEnabled(bool enabled);
|
||||
bool getI2CMasterModeEnabled();
|
||||
void setI2CMasterModeEnabled(bool enabled);
|
||||
void switchSPIEnabled(bool enabled);
|
||||
void resetFIFO();
|
||||
void resetI2CMaster();
|
||||
void resetSensors();
|
||||
|
||||
// PWR_MGMT_1 register
|
||||
void reset();
|
||||
bool getSleepEnabled();
|
||||
void setSleepEnabled(bool enabled);
|
||||
bool getWakeCycleEnabled();
|
||||
void setWakeCycleEnabled(bool enabled);
|
||||
bool getTempSensorEnabled();
|
||||
void setTempSensorEnabled(bool enabled);
|
||||
uint8_t getClockSource();
|
||||
void setClockSource(uint8_t source);
|
||||
|
||||
// PWR_MGMT_2 register
|
||||
uint8_t getWakeFrequency();
|
||||
void setWakeFrequency(uint8_t frequency);
|
||||
bool getStandbyXAccelEnabled();
|
||||
void setStandbyXAccelEnabled(bool enabled);
|
||||
bool getStandbyYAccelEnabled();
|
||||
void setStandbyYAccelEnabled(bool enabled);
|
||||
bool getStandbyZAccelEnabled();
|
||||
void setStandbyZAccelEnabled(bool enabled);
|
||||
bool getStandbyXGyroEnabled();
|
||||
void setStandbyXGyroEnabled(bool enabled);
|
||||
bool getStandbyYGyroEnabled();
|
||||
void setStandbyYGyroEnabled(bool enabled);
|
||||
bool getStandbyZGyroEnabled();
|
||||
void setStandbyZGyroEnabled(bool enabled);
|
||||
|
||||
// FIFO_COUNT_* registers
|
||||
uint16_t getFIFOCount();
|
||||
|
||||
// FIFO_R_W register
|
||||
uint8_t getFIFOByte();
|
||||
void setFIFOByte(uint8_t data);
|
||||
void getFIFOBytes(uint8_t* data, uint8_t length);
|
||||
|
||||
// WHO_AM_I register
|
||||
uint8_t getDeviceID();
|
||||
void setDeviceID(uint8_t id);
|
||||
|
||||
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
|
||||
|
||||
// XG_OFFS_TC register
|
||||
uint8_t getOTPBankValid();
|
||||
void setOTPBankValid(bool enabled);
|
||||
int8_t getXGyroOffset();
|
||||
void setXGyroOffset(int8_t offset);
|
||||
|
||||
// YG_OFFS_TC register
|
||||
int8_t getYGyroOffset();
|
||||
void setYGyroOffset(int8_t offset);
|
||||
|
||||
// ZG_OFFS_TC register
|
||||
int8_t getZGyroOffset();
|
||||
void setZGyroOffset(int8_t offset);
|
||||
|
||||
// X_FINE_GAIN register
|
||||
int8_t getXFineGain();
|
||||
void setXFineGain(int8_t gain);
|
||||
|
||||
// Y_FINE_GAIN register
|
||||
int8_t getYFineGain();
|
||||
void setYFineGain(int8_t gain);
|
||||
|
||||
// Z_FINE_GAIN register
|
||||
int8_t getZFineGain();
|
||||
void setZFineGain(int8_t gain);
|
||||
|
||||
// XA_OFFS_* registers
|
||||
int16_t getXAccelOffset();
|
||||
void setXAccelOffset(int16_t offset);
|
||||
|
||||
// YA_OFFS_* register
|
||||
int16_t getYAccelOffset();
|
||||
void setYAccelOffset(int16_t offset);
|
||||
|
||||
// ZA_OFFS_* register
|
||||
int16_t getZAccelOffset();
|
||||
void setZAccelOffset(int16_t offset);
|
||||
|
||||
// XG_OFFS_USR* registers
|
||||
int16_t getXGyroOffsetUser();
|
||||
void setXGyroOffsetUser(int16_t offset);
|
||||
|
||||
// YG_OFFS_USR* register
|
||||
int16_t getYGyroOffsetUser();
|
||||
void setYGyroOffsetUser(int16_t offset);
|
||||
|
||||
// ZG_OFFS_USR* register
|
||||
int16_t getZGyroOffsetUser();
|
||||
void setZGyroOffsetUser(int16_t offset);
|
||||
|
||||
// INT_ENABLE register (DMP functions)
|
||||
bool getIntPLLReadyEnabled();
|
||||
void setIntPLLReadyEnabled(bool enabled);
|
||||
bool getIntDMPEnabled();
|
||||
void setIntDMPEnabled(bool enabled);
|
||||
|
||||
// DMP_INT_STATUS
|
||||
bool getDMPInt5Status();
|
||||
bool getDMPInt4Status();
|
||||
bool getDMPInt3Status();
|
||||
bool getDMPInt2Status();
|
||||
bool getDMPInt1Status();
|
||||
bool getDMPInt0Status();
|
||||
|
||||
// INT_STATUS register (DMP functions)
|
||||
bool getIntPLLReadyStatus();
|
||||
bool getIntDMPStatus();
|
||||
|
||||
// USER_CTRL register (DMP functions)
|
||||
bool getDMPEnabled();
|
||||
void setDMPEnabled(bool enabled);
|
||||
void resetDMP();
|
||||
|
||||
// BANK_SEL register
|
||||
void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false);
|
||||
|
||||
// MEM_START_ADDR register
|
||||
void setMemoryStartAddress(uint8_t address);
|
||||
|
||||
// MEM_R_W register
|
||||
uint8_t readMemoryByte();
|
||||
void writeMemoryByte(uint8_t data);
|
||||
void readMemoryBlock(uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0);
|
||||
bool writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = true,
|
||||
bool useProgMem = false);
|
||||
bool writeProgMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0,
|
||||
bool verify = true);
|
||||
|
||||
bool writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem = false);
|
||||
bool writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize);
|
||||
|
||||
// DMP_CFG_1 register
|
||||
uint8_t getDMPConfig1();
|
||||
void setDMPConfig1(uint8_t config);
|
||||
|
||||
// DMP_CFG_2 register
|
||||
uint8_t getDMPConfig2();
|
||||
void setDMPConfig2(uint8_t config);
|
||||
|
||||
// special methods for MotionApps 2.0 implementation
|
||||
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
|
||||
uint8_t* dmpPacketBuffer;
|
||||
uint16_t dmpPacketSize;
|
||||
|
||||
uint8_t dmpInitialize();
|
||||
bool dmpPacketAvailable();
|
||||
|
||||
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||
uint8_t dmpGetFIFORate();
|
||||
uint8_t dmpGetSampleStepSizeMS();
|
||||
uint8_t dmpGetSampleFrequency();
|
||||
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
// Register callbacks after a packet of FIFO data is processed
|
||||
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
uint8_t dmpRunFIFORateProcesses();
|
||||
|
||||
// Setup FIFO for various output
|
||||
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
// Get Fixed Point data from FIFO
|
||||
uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
|
||||
uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
|
||||
uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpGetEuler(float* data, Quaternion* q);
|
||||
uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
|
||||
|
||||
// Get Floating Point data from FIFO
|
||||
uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
|
||||
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
|
||||
|
||||
uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
|
||||
|
||||
uint8_t dmpInitFIFOParam();
|
||||
uint8_t dmpCloseFIFO();
|
||||
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||
uint8_t dmpDecodeQuantizedAccel();
|
||||
uint32_t dmpGetGyroSumOfSquare();
|
||||
uint32_t dmpGetAccelSumOfSquare();
|
||||
void dmpOverrideQuaternion(long* q);
|
||||
uint16_t dmpGetFIFOPacketSize();
|
||||
#endif
|
||||
|
||||
// special methods for MotionApps 4.1 implementation
|
||||
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
|
||||
uint8_t* dmpPacketBuffer;
|
||||
uint16_t dmpPacketSize;
|
||||
|
||||
uint8_t dmpInitialize();
|
||||
bool dmpPacketAvailable();
|
||||
|
||||
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||
uint8_t dmpGetFIFORate();
|
||||
uint8_t dmpGetSampleStepSizeMS();
|
||||
uint8_t dmpGetSampleFrequency();
|
||||
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
// Register callbacks after a packet of FIFO data is processed
|
||||
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
uint8_t dmpRunFIFORateProcesses();
|
||||
|
||||
// Setup FIFO for various output
|
||||
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
// Get Fixed Point data from FIFO
|
||||
uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetMag(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
|
||||
uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
|
||||
uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpGetEuler(float* data, Quaternion* q);
|
||||
uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
|
||||
|
||||
// Get Floating Point data from FIFO
|
||||
uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
|
||||
uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
|
||||
|
||||
uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
|
||||
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
|
||||
|
||||
uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
|
||||
|
||||
uint8_t dmpInitFIFOParam();
|
||||
uint8_t dmpCloseFIFO();
|
||||
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||
uint8_t dmpDecodeQuantizedAccel();
|
||||
uint32_t dmpGetGyroSumOfSquare();
|
||||
uint32_t dmpGetAccelSumOfSquare();
|
||||
void dmpOverrideQuaternion(long* q);
|
||||
uint16_t dmpGetFIFOPacketSize();
|
||||
#endif
|
||||
|
||||
private:
|
||||
uint8_t devAddr;
|
||||
uint8_t buffer[14];
|
||||
};
|
||||
|
||||
#endif /* _MPU6050_H_ */
|
||||
@ -0,0 +1,198 @@
|
||||
/*
|
||||
Seeed_Font.h
|
||||
A font library for Grove - Grove - LED Matrix Driver(HT16K33 with 8x8 LED Matrix)
|
||||
|
||||
Copyright (c) 2018 seeed technology inc.
|
||||
Website : www.seeed.cc
|
||||
Author : Jerry Yip
|
||||
Create Time: 2018-06
|
||||
Version : 0.1
|
||||
Change Log :
|
||||
|
||||
The MIT License (MIT)
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
// start at ascii 32(dec), for example, '0' = ASCII[48-32]
|
||||
const uint64_t ASCII[] = {
|
||||
0x0000000000000000, // space
|
||||
0x180018183c3c1800, // !
|
||||
0x00000000286c6c00, // "
|
||||
0x6c6cfe6cfe6c6c00, // #
|
||||
0x103c403804781000, // $
|
||||
0x60660c1830660600, // %
|
||||
0xfc66a6143c663c00, // &
|
||||
0x0000000c18181800, // '
|
||||
0x6030181818306000, // (
|
||||
0x060c1818180c0600, // )
|
||||
0x006c38fe386c0000, // *
|
||||
0x0010107c10100000, // +
|
||||
0x060c0c0c00000000, // ,
|
||||
0x0000003c00000000, // -
|
||||
0x0606000000000000, // .
|
||||
0x00060c1830600000, // /
|
||||
0x1c2222222222221c, // 0
|
||||
0x1c08080808080c08, // 1
|
||||
0x3e0408102020221c, // 2
|
||||
0x1c2220201820221c, // 3
|
||||
0x20203e2224283020, // 4
|
||||
0x1c2220201e02023e, // 5
|
||||
0x1c2222221e02221c, // 6
|
||||
0x040404081020203e, // 7
|
||||
0x1c2222221c22221c, // 8
|
||||
0x1c22203c2222221c, // 9
|
||||
0x0018180018180000, // :
|
||||
0x0c18180018180000, // ;
|
||||
0x6030180c18306000, // <
|
||||
0x00003c003c000000, // =
|
||||
0x060c1830180c0600, // >
|
||||
0x1800183860663c00, // ?
|
||||
0x003c421a3a221c00, // @
|
||||
0x0033333f33331e0c, // A
|
||||
0x003f66663e66663f, // B
|
||||
0x003c66030303663c, // C
|
||||
0x001f36666666361f, // D
|
||||
0x007f46161e16467f, // E
|
||||
0x000f06161e16467f, // F
|
||||
0x007c66730303663c, // G
|
||||
0x003333333f333333, // H
|
||||
0x001e0c0c0c0c0c1e, // I
|
||||
0x001e333330303078, // J
|
||||
0x006766361e366667, // K
|
||||
0x007f66460606060f, // L
|
||||
0x0063636b7f7f7763, // M
|
||||
0x006363737b6f6763, // N
|
||||
0x001c36636363361c, // O
|
||||
0x000f06063e66663f, // P
|
||||
0x00381e3b3333331e, // Q
|
||||
0x006766363e66663f, // R
|
||||
0x001e33380e07331e, // S
|
||||
0x001e0c0c0c0c2d3f, // T
|
||||
0x003f333333333333, // U
|
||||
0x000c1e3333333333, // V
|
||||
0x0063777f6b636363, // W
|
||||
0x0063361c1c366363, // X
|
||||
0x001e0c0c1e333333, // Y
|
||||
0x007f664c1831637f, // Z
|
||||
0x7818181818187800, // [
|
||||
0x006030180c060000, // '\'
|
||||
0x1e18181818181e00, // ]
|
||||
0x0000008244281000, // ^
|
||||
0x7e00000000000000, // _
|
||||
0x0000000060303000, // `
|
||||
0x006e333e301e0000, // a
|
||||
0x003b66663e060607, // b
|
||||
0x001e3303331e0000, // c
|
||||
0x006e33333e303038, // d
|
||||
0x001e033f331e0000, // e
|
||||
0x000f06060f06361c, // f
|
||||
0x1f303e33336e0000, // g
|
||||
0x006766666e360607, // h
|
||||
0x001e0c0c0c0e000c, // i
|
||||
0x1e33333030300030, // j
|
||||
0x0067361e36660607, // k
|
||||
0x001e0c0c0c0c0c0e, // l
|
||||
0x00636b7f7f330000, // m
|
||||
0x00333333331f0000, // n
|
||||
0x001e3333331e0000, // o
|
||||
0x0f063e66663b0000, // p
|
||||
0x78303e33336e0000, // q
|
||||
0x000f06666e3b0000, // r
|
||||
0x001f301e033e0000, // s
|
||||
0x00182c0c0c3e0c08, // t
|
||||
0x006e333333330000, // u
|
||||
0x000c1e3333330000, // v
|
||||
0x00367f7f6b630000, // w
|
||||
0x0063361c36630000, // x
|
||||
0x1f303e3333330000, // y
|
||||
0x003f260c193f0000, // z
|
||||
0x7018180c18187000, // {
|
||||
0x0008080808080800, // |
|
||||
0x0e18183018180e00, // }
|
||||
0x000000365c000000 // ~
|
||||
};
|
||||
|
||||
const uint64_t ICONS[] = {
|
||||
0xffffffffffffffff, // 0 full screen
|
||||
0x383838fe7c381000, // 1 arrow_up
|
||||
0x10387cfe38383800, // 2 arrow_down
|
||||
0x10307efe7e301000, // 3 arrow_right
|
||||
0x1018fcfefc181000, // 4 arrow_left
|
||||
0xfefe7c7c38381000, // 5 triangle_up
|
||||
0x1038387c7cfefe00, // 6 triangle_down
|
||||
0x061e7efe7e1e0600, // 7 triangle_right
|
||||
0xc0f0fcfefcf0c000, // 8 triangel_left
|
||||
0x7c92aa82aa827c00, // 9 smile_face_1
|
||||
0x003c420000660000, // 10 smile_face_2
|
||||
0x10387cfefeee4400, // 11 hearts
|
||||
0x10387cfe7c381000, // 12 diamonds
|
||||
0x381054fe54381000, // 13 clubs
|
||||
0x38107cfe7c381000, // 14 spades
|
||||
0x00387c7c7c380000, // 15 circle1
|
||||
0xffc7838383c7ffff, // 16 circle2
|
||||
0x0038444444380000, // 17 circle3
|
||||
0xffc7bbbbbbc7ffff, // 18 circle4
|
||||
0x0c12129ca0c0f000, // 19 man
|
||||
0x38444438107c1000, // 20 woman
|
||||
0x060e0c0808281800, // 21 musical_note_1
|
||||
0x066eecc88898f000, // 22 musical_note_2
|
||||
0x105438ee38541000, // 23 snow
|
||||
0x1038541054381000, // 24 up_down
|
||||
0x6666006666666600, // 25 double_!
|
||||
0x002844fe44280000, // 26 left_right
|
||||
0xfe8282c66c381000, // 27 house
|
||||
0x002400e7a5bde700 // 28 glasses
|
||||
};
|
||||
|
||||
const uint64_t BARS[] = {
|
||||
0x0000000000000000,
|
||||
0x1800000000000000,
|
||||
0x3c00000000000000,
|
||||
0x7e00000000000000,
|
||||
0xff00000000000000,
|
||||
0xff18000000000000,
|
||||
0xff3c000000000000,
|
||||
0xff7e000000000000,
|
||||
0xffff000000000000,
|
||||
0xffff180000000000,
|
||||
0xffff3c0000000000,
|
||||
0xffff7e0000000000,
|
||||
0xffffff0000000000,
|
||||
0xffffff1800000000,
|
||||
0xffffff3c00000000,
|
||||
0xffffff7e00000000,
|
||||
0xffffffff00000000,
|
||||
0xffffffff18000000,
|
||||
0xffffffff3c000000,
|
||||
0xffffffff7e000000,
|
||||
0xffffffffff000000,
|
||||
0xffffffffff180000,
|
||||
0xffffffffff3c0000,
|
||||
0xffffffffff7e0000,
|
||||
0xffffffffffff0000,
|
||||
0xffffffffffff1800,
|
||||
0xffffffffffff3c00,
|
||||
0xffffffffffff7e00,
|
||||
0xffffffffffffff00,
|
||||
0xffffffffffffff18,
|
||||
0xffffffffffffff3c,
|
||||
0xffffffffffffff7e,
|
||||
0xffffffffffffffff
|
||||
};
|
||||
Binary file not shown.
Binary file not shown.
@ -0,0 +1,13 @@
|
||||
## Bibliothèques pour Arduino
|
||||
|
||||
### Grove_IMU_9DOF :
|
||||
- Wiki : https://wiki.seeedstudio.com/Grove-IMU_9DOF_v2.0/
|
||||
- Forge : https://github.com/Seeed-Studio/Grove_IMU_9DOF
|
||||
- Licence : MIT
|
||||
|
||||
### Grove_LED_Matrix_Driver_HT16K33 :
|
||||
- Wiki : https://wiki.seeedstudio.com/Grove-Red_LED_Matrix_w_Driver
|
||||
- Forge : https://github.com/Seeed-Studio/Grove_LED_Matrix_Driver_HT16K33
|
||||
- Outil en ligne pour générer des caractères : https://xantorohara.github.io/led-matrix-editor/#
|
||||
- Licence : MIT
|
||||
|
||||
BIN
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe.blend
Normal file
BIN
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe.blend
Normal file
Binary file not shown.
178
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe.py
Normal file
178
labyrinthe/4-arduino_pyserial - etape1/4-labyrinthe.py
Normal file
@ -0,0 +1,178 @@
|
||||
import bge # Bibliothèque Blender Game Engine (BGE)
|
||||
import serial # Liaison série
|
||||
|
||||
###############################################################################
|
||||
# 4-labyrinthe.py
|
||||
# @title: Module (unique) de la scène 3D du labyrinthe à bille pilotable avec une centrale inertielle (capteur IMU)
|
||||
# @project: Blender-EduTech - Tutoriel 3 : Labyrinthe à bille - Interfacer avec une carte Arduino par la liaision série
|
||||
# @lang: fr
|
||||
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||||
# @copyright: Copyright (C) 2023 Philippe Roy
|
||||
# @license: GNU GPL
|
||||
#
|
||||
# Commandes déclenchées par UPBGE pour le scène du labyrinthe
|
||||
#
|
||||
###############################################################################
|
||||
|
||||
# Récupérer la scène 3D
|
||||
scene = bge.logic.getCurrentScene()
|
||||
# print("Objets de la scene : ", scene.objects) # Lister les objets de la scène
|
||||
|
||||
# Constantes
|
||||
|
||||
JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
|
||||
JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
|
||||
ACTIVATE = bge.logic.KX_INPUT_ACTIVE
|
||||
|
||||
###############################################################################
|
||||
# Communication avec la carte Arduino
|
||||
###############################################################################
|
||||
|
||||
serial_baud=115200
|
||||
# serial_comm = serial.Serial('COM4',serial_baud, timeout=0.016) # Windows
|
||||
serial_comm = serial.Serial('/dev/ttyACM1',serial_baud, timeout=0.016) # GNU/Linux
|
||||
print (serial_comm)
|
||||
|
||||
###############################################################################
|
||||
# Gestion de la centrale inertielle (capteur IMU (inertial measurement unit))
|
||||
###############################################################################
|
||||
|
||||
# Extraction d'un texte compris entre deux bornes textuelles
|
||||
def txt_extrac(txt, borne_avant, borne_apres):
|
||||
if txt.find(borne_avant)>0 and txt.find(borne_apres)>0:
|
||||
txt1 = txt.split(borne_avant, 2)
|
||||
txt2 = txt1[1].split(borne_apres, 2)
|
||||
return (txt2[0])
|
||||
else:
|
||||
return ("")
|
||||
|
||||
# Atteindre une orientation (bas niveau)
|
||||
def applyRotationTo(obj, rx=None, ry=None, rz=None, Local=True):
|
||||
rres=0.001 # Résolution rotation
|
||||
|
||||
# x
|
||||
if rx is not None:
|
||||
while (abs(rx-obj.worldOrientation.to_euler().x) > rres) :
|
||||
if obj.worldOrientation.to_euler().x-rx > rres:
|
||||
obj.applyRotation((-rres, 0, 0), Local)
|
||||
if rx-obj.worldOrientation.to_euler().x > rres:
|
||||
obj.applyRotation((rres, 0, 0), Local)
|
||||
# print ("delta x ",rx-obj.worldOrientation.to_euler().x)
|
||||
|
||||
# y
|
||||
if ry is not None:
|
||||
while (abs(ry-obj.worldOrientation.to_euler().y) > rres) :
|
||||
if obj.worldOrientation.to_euler().y-ry > rres:
|
||||
obj.applyRotation((0, -rres, 0), Local)
|
||||
if ry-obj.worldOrientation.to_euler().y > rres:
|
||||
obj.applyRotation((0, rres, 0), Local)
|
||||
# print ("delta y ",ry-obj.worldOrientation.to_euler().y)
|
||||
|
||||
# z
|
||||
if rz is not None:
|
||||
while (abs(rz-obj.worldOrientation.to_euler().z) > rres) :
|
||||
if obj.worldOrientation.to_euler().z-rz > rres:
|
||||
obj.applyRotation((0, 0, -rres), Local)
|
||||
if rz-obj.worldOrientation.to_euler().z > rres:
|
||||
obj.applyRotation((0, 0, rres), Local)
|
||||
# print ("delta z ",rz-obj.worldOrientation.to_euler().z)
|
||||
|
||||
# Lecture du capteur IMU
|
||||
def capteur(cont):
|
||||
obj = cont.owner # obj est l'objet associé au contrôleur donc 'Plateau'
|
||||
obj_bille = scene.objects['Bille']
|
||||
resolution = 0.2
|
||||
|
||||
# Touche ESC -> Quitter
|
||||
keyboard = bge.logic.keyboard
|
||||
if keyboard.inputs[bge.events.ESCKEY].status[0] == ACTIVATE:
|
||||
serial_comm.close()
|
||||
bge.logic.endGame()
|
||||
|
||||
# Lecture de la liaison série : programme Arduino : 3-labyrinthe-imu.ino
|
||||
serial_msg_in = str(serial_comm.readline())
|
||||
|
||||
# Roll et Pitch
|
||||
if serial_msg_in.find(",")>0:
|
||||
txt = serial_msg_in.split(',',2)
|
||||
x_txt = txt[0][2:]
|
||||
y_txt = txt[1][:-5]
|
||||
x=-(float(x_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
|
||||
y=-(float(y_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
|
||||
applyRotationTo(scene.objects['Plateau'], x,y, 0)
|
||||
|
||||
###############################################################################
|
||||
# Gameplay
|
||||
###############################################################################
|
||||
|
||||
# Initialisation de la scène
|
||||
def init(cont):
|
||||
obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
|
||||
|
||||
# Mémorisation de la position de départ de la bille
|
||||
obj['init_x']=obj.worldPosition.x
|
||||
obj['init_y']=obj.worldPosition.y
|
||||
obj['init_z']=obj.worldPosition.z
|
||||
|
||||
# Cacher le panneau de la victoire et suspendre la physique du panneau cliquable
|
||||
scene.objects['Panneau victoire'].setVisible(False,True)
|
||||
scene.objects['Panneau victoire - plan'].suspendPhysics (True)
|
||||
scene.objects['Bouton fermer'].color = (0, 0, 0, 1) # Noir
|
||||
|
||||
# Cycle (boucle de contrôle de la bille)
|
||||
def cycle(cont):
|
||||
obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
|
||||
obj['z']=obj.worldPosition.z # la propriété z est mis à jour avec la position globale en z de la bille
|
||||
obj_plateau = scene.objects['Plateau'] # obj_plateau est l'objet 'Plateau'
|
||||
obj_plateau['rot_x']=obj_plateau.worldOrientation.to_euler().x # propriété 'rot_x' mis à jour avec l'orientation globale en x du plateau
|
||||
obj_plateau['rot_y']=obj_plateau.worldOrientation.to_euler().y # propriété 'rot_y' mis à jour avec l'orientation globale en y du plateau
|
||||
obj_plateau['rot_z']=obj_plateau.worldOrientation.to_euler().z # propriété 'rot_z' mis à jour avec l'orientation globale en z du plateau
|
||||
|
||||
# Redémarrer la partie si la bille a chuté et si la panneau victoire n'est pas visible
|
||||
if obj['z'] < -20 and scene.objects['Panneau victoire'].visible == False:
|
||||
print ("Chuuuu.....te")
|
||||
|
||||
# Replacement du plateau (tous les angles à 0 en plusieurs fois)
|
||||
while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 :
|
||||
obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False)
|
||||
|
||||
# Mettre la bille à la position de départ avec une vitesse nulle
|
||||
obj.worldLinearVelocity=(0, 0, 0)
|
||||
obj.worldAngularVelocity=(0, 0, 0)
|
||||
obj.worldPosition.x = obj['init_x']
|
||||
obj.worldPosition.y = obj['init_y']
|
||||
obj.worldPosition.z = obj['init_z']+0.5 # On repose la bille
|
||||
|
||||
# Victoire (colision de la bille avec l'arrivée)
|
||||
def victoire(cont):
|
||||
scene.objects['Panneau victoire'].setVisible(True,True) # Afficher le panneau de la victoire
|
||||
scene.objects['Panneau victoire - plan'].restorePhysics() # Restaurer la physique du panneau cliquable
|
||||
start = 1
|
||||
end = 100
|
||||
layer = 0
|
||||
priority = 1
|
||||
blendin = 1.0
|
||||
mode = bge.logic.KX_ACTION_MODE_PLAY
|
||||
layerWeight = 0.0
|
||||
ipoFlags = 0
|
||||
speed = 1
|
||||
scene.objects['Panneau victoire'].playAction('Panneau victoireAction', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
|
||||
|
||||
# Highlight du bouton Fermer
|
||||
def victoire_fermer_hl(cont):
|
||||
obj = cont.owner
|
||||
|
||||
# Activation
|
||||
if cont.sensors['MO'].status == JUST_ACTIVATED:
|
||||
obj.color = (1, 1, 1, 1) # Blanc
|
||||
|
||||
# Désactivation
|
||||
if cont.sensors['MO'].status == JUST_RELEASED:
|
||||
obj.color = (0, 0, 0, 1) # Noir
|
||||
|
||||
# Fermer le panneau de la victoire (clic)
|
||||
def victoire_fermer(cont):
|
||||
if cont.sensors['Click'].status == JUST_ACTIVATED and cont.sensors['MO'].positive:
|
||||
scene.objects['Panneau victoire'].setVisible(False,True) # Cacher le panneau de la victoire
|
||||
scene.objects['Panneau victoire - plan'].suspendPhysics (True) # Suspendre la physique du panneau cliquable
|
||||
scene.objects['Bille']['z']= -21 # On provoque le redémarrage si la bille est ressortie
|
||||
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@ -1,6 +1,5 @@
|
||||
import bge # Bibliothèque Blender Game Engine (BGE)
|
||||
import serial # Liaison série
|
||||
import time
|
||||
|
||||
###############################################################################
|
||||
# 4-labyrinthe.py
|
||||
@ -50,7 +49,7 @@ def txt_extrac(txt, borne_avant, borne_apres):
|
||||
|
||||
# Atteindre une orientation (bas niveau)
|
||||
def applyRotationTo(obj, rx=None, ry=None, rz=None, Local=True):
|
||||
rres=0.001 # resolution rotation
|
||||
rres=0.001 # Résolution rotation
|
||||
|
||||
# x
|
||||
if rx is not None:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user