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Merge pull request #146 from Genaker/testable

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Add MPU6050 code
This commit is contained in:
Yegor Shytikov
2025-04-27 17:41:29 -07:00
committed by GitHub
parent d38c4abad2 19505d794c
commit 00aa5e67d4
13 changed files with 1851 additions and 266 deletions
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137
lib/comms/bus.cpp
View File

@@ -1,5 +1,4 @@
#include "bus.h"
#include <Wire.h>
bool initUARTs(Config &config)
{
@@ -97,3 +96,139 @@ uint8_t _scanSupportedDevicesOnWire(TwoWire &w, int bus_num)
return res;
}
uint8_t _write_register(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t value,
bool skipValue)
{
wire.beginTransmission(addr);
size_t s = wire.write(reg);
if (s == 1 && !skipValue)
{
s = wire.write(value);
}
size_t s1 = wire.endTransmission();
if (s != 1 && s1 == 0)
{
return 1; // "data too long to fit in transmit buffer"
}
return s1;
}
uint8_t _write_registers(TwoWire &wire, uint8_t addr, uint8_t reg, size_t sz,
const uint8_t *value)
{
wire.beginTransmission(addr);
size_t s = wire.write(reg);
if (s == 1 && sz > 0)
{
s = wire.write(value, sz);
}
size_t s1 = wire.endTransmission();
if (s != sz && s1 == 0)
{
return 1; // "data too long to fit in transmit buffer"
}
return s1;
}
int8_t I2Cdev::writeBytes(TwoWire &w, uint8_t addr, uint8_t reg, size_t sz,
const uint8_t *buf)
{
return _write_registers(w, addr, reg, sz, buf);
}
int8_t I2Cdev::writeWords(TwoWire &w, uint8_t addr, uint8_t reg, size_t sz,
const uint16_t *buf16)
{
uint8_t *buf = (uint8_t *)malloc(sz * 2);
uint8_t *p = buf;
for (int i = 0; i < sz; i++)
{
*(p++) = buf16[i] >> 8;
*(p++) = (uint8_t)buf16[i];
}
uint8_t r = writeBytes(w, addr, reg, sz * 2, buf);
free(buf);
return r;
}
int8_t I2Cdev::writeBit(TwoWire &wireObj, uint8_t addr, uint8_t reg, size_t bitNum,
uint8_t data)
{
uint8_t b;
int8_t r = readBytes(wireObj, addr, reg, 1, &b, I2Cdev::readTimeout);
if (r != 1)
{
return r;
}
b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
return writeBytes(wireObj, addr, reg, 1, &b);
}
int8_t I2Cdev::writeBits(TwoWire &w, uint8_t addr, uint8_t reg, size_t bitn, size_t sz,
uint8_t v)
{
// 010 value to write
// 76543210 bit numbers
// xxx args: bitn=4, sz=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
uint8_t b;
int8_t r = readBytes(w, addr, reg, 1, &b, I2Cdev::readTimeout);
if (r != 1)
{
return r;
}
uint8_t mask = ((1 << sz) - 1) << (bitn - sz + 1);
v <<= (bitn - sz + 1); // shift data into correct position
v &= mask; // zero all non-important bits in data
b &= ~(mask); // zero all important bits in existing byte
b |= v; // combine data with existing byte
return writeBytes(w, addr, reg, 1, &b);
}
int8_t _read_registers(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t *v, size_t sz,
bool skipRegister)
{
if (!skipRegister)
{
uint8_t s = _write_registers(wire, addr, reg, 0, NULL);
if (s != 0)
{
return s;
}
}
uint8_t r = wire.requestFrom(addr, sz);
r = wire.readBytes(v, r);
return r - sz;
}
uint8_t _read_register(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t &v,
bool skipRegister)
{
uint8_t r = _read_registers(wire, addr, reg, &v, 1, skipRegister);
if (r != 0)
{
return 1;
}
return 0;
}
int8_t I2Cdev::readBytes(TwoWire &wireObj, uint8_t addr, uint8_t reg, size_t length,
uint8_t *data, uint16_t timeout)
{ // timeout is unused right now
return _read_registers(wireObj, addr, reg, data, length);
}
uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;

34
lib/comms/bus.h
View File

@@ -1,17 +1,20 @@
#pragma once
#include <Wire.h>
#include <config.h>
struct
{
String name;
uint8_t address;
} known_i2c_devices[] = {{"HMC5883L", 0x1e}, {"QMC5883L", 0x0d}, {" last record ", 0}};
} known_i2c_devices[] = {
{"HMC5883L", 0x1e}, {"QMC5883L", 0x0d}, {"MPU6050", 0x68}, {" last record ", 0}};
enum I2CDevices
{
// powers of 2
HMC5883L = 1,
QMC5883L = 2
QMC5883L = 2,
MPU6050 = 4
};
extern uint8_t wireDevices;
@@ -39,3 +42,30 @@ bool initSPIs(Config &config);
bool initUARTs(Config &config);
bool initWires(Config &config);
#define I2CDEV_DEFAULT_READ_TIMEOUT 0
struct I2Cdev
{
static uint16_t readTimeout;
static int8_t writeBit(TwoWire &w, uint8_t addr, uint8_t reg, size_t bitn, uint8_t v);
static int8_t writeBits(TwoWire &w, uint8_t addr, uint8_t reg, size_t bitn, size_t sz,
uint8_t v);
static int8_t writeBytes(TwoWire &w, uint8_t addr, uint8_t reg, size_t sz,
const uint8_t *buf);
static int8_t writeWords(TwoWire &w, uint8_t addr, uint8_t reg, size_t sz,
const uint16_t *buf);
static int8_t readBytes(TwoWire &wireObj, uint8_t addr, uint8_t reg, size_t length,
uint8_t *data, uint16_t timeout = I2Cdev::readTimeout);
};
uint8_t _read_register(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t &v,
bool skipRegister = false);
int8_t _read_registers(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t *v, size_t sz,
bool skipRegister = false);
uint8_t _write_register(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t value,
bool skipValue = false);
uint8_t _write_registers(TwoWire &wire, uint8_t addr, uint8_t reg, size_t sz,
const uint8_t *value);

6
lib/comms/comms.cpp
View File

@@ -432,12 +432,16 @@ String _wrap_str(String v)
Message::~Message()
{
if (type == SCAN_RESULT || type == SCAN_MAX_RESULT)
if (type == SCAN_RESULT || type == SCAN_MAX_RESULT || type == SCAN_HEADING_MAX)
{
if (payload.dump.sz > 0)
{
delete[] payload.dump.freqs_khz;
delete[] payload.dump.rssis;
if (payload.dump.rssis2)
{
delete[] payload.dump.rssis2;
}
payload.dump.sz = 0;
}

3
lib/comms/comms.h
View File

@@ -20,6 +20,7 @@ enum MessageType
SCAN,
SCAN_RESULT,
SCAN_MAX_RESULT,
SCAN_HEADING_MAX,
CONFIG_TASK,
HEADING,
_MAX_MESSAGE_TYPE = HEADING
@@ -53,6 +54,8 @@ struct ScanTaskResult
int16_t *rssis;
int16_t *rssis2;
int16_t prssi;
int16_t heading_min;
int16_t heading_max;
};
struct ConfigTask

53
lib/comms/radio_comms.cpp
View File

@@ -144,6 +144,32 @@ uint8_t *_serialize_scan_max_result(Message &m, size_t &p, uint8_t *msg)
return msg;
}
uint8_t *_serialize_scan_heading_max(Message &m, size_t &p, uint8_t *msg)
{
if (m.type != SCAN_HEADING_MAX)
{
return NULL;
}
size_t written = 0;
written = _write(msg, p, 0, (uint8_t *)&m.payload.dump.heading_min, 2);
written = _write(msg, p, written, (uint8_t *)&m.payload.dump.heading_max, 2);
uint8_t *sub_msg = msg + written;
p -= written;
m.type = SCAN_MAX_RESULT;
sub_msg = _serialize_scan_max_result(m, p, sub_msg);
p += written;
m.type = SCAN_HEADING_MAX;
if (sub_msg == NULL)
{
msg = NULL;
}
return msg;
}
uint8_t *_serialize_config_task(Message &m, size_t &p, uint8_t *msg)
{
if (m.type != CONFIG_TASK)
@@ -201,6 +227,10 @@ int16_t RadioComms::send(Message &m)
{
msg = _serialize_scan_max_result(m, p, msg_buf);
}
else if (m.type == MessageType::SCAN_HEADING_MAX)
{
msg = _serialize_scan_heading_max(m, p, msg_buf);
}
else if (m.type == MessageType::CONFIG_TASK)
{
msg = _serialize_config_task(m, p, msg_buf);
@@ -301,6 +331,7 @@ Message *_deserialize_scan_max_result(size_t len, size_t &p, uint8_t *packet)
message->payload.dump.sz = dump_sz;
message->payload.dump.freqs_khz = freqs;
message->payload.dump.rssis = rssis;
message->payload.dump.rssis2 = NULL;
uint32_t scale = 0;
p = _read(packet, len, p, (uint8_t *)&scale);
@@ -318,6 +349,24 @@ Message *_deserialize_scan_max_result(size_t len, size_t &p, uint8_t *packet)
return message;
}
Message *_deserialize_scan_heading_max(size_t len, size_t &p, uint8_t *packet)
{
int16_t heading_min = -999;
int16_t heading_max = 0;
p = _read(packet, len, p, (uint8_t *)&heading_min, 2);
p = _read(packet, len, p, (uint8_t *)&heading_max, 2);
Message *message = _deserialize_scan_max_result(len, p, packet);
if (message != NULL)
{
message->type = SCAN_HEADING_MAX;
message->payload.dump.heading_min = heading_min;
message->payload.dump.heading_max = heading_max;
}
return message;
}
Message *_deserialize_config_task(size_t len, size_t &p, uint8_t *packet)
{
Message *message = new Message();
@@ -439,6 +488,10 @@ Message *RadioComms::receive(uint16_t timeout_ms)
{
message = _deserialize_scan_max_result(len, p, packet);
}
else if (b == SCAN_HEADING_MAX)
{
message = _deserialize_scan_heading_max(len, p, packet);
}
else if (b == CONFIG_TASK)
{
message = _deserialize_config_task(len, p, packet);

320
lib/heading/Compass.cpp
View File

@@ -1,4 +1,108 @@
#include "heading.h"
#include <bus.h>
enum MountingOrientation
{
XY, // X forward, Y right, Z down
X_Y, // X forward, Y left, Z up
XZ, // X forward, Z right, Y up
X_Z, // X forward, Z left, Y down
YX, // Y forward, X right, Z up
Y_X, // Y forward, X left, Z down
YZ, // Y forward, Z right, X down
Y_Z, // Y forward, Z left, X up
ZX, // Z forward, X right, Y down
Z_X, // Z forward, X left, Y up
ZY, // Z forward, Y right, X down
Z_Y // Z forward, Y left, X up
};
// Produces CompassXYZ in a canonical mounting orientation: X forward, Y left, Z up
CompassXYZ _orientation(MountingOrientation o, int16_t x, int16_t y, int16_t z)
{
CompassXYZ res;
res.status = 0;
switch (o)
{
case XY:
case X_Y:
case XZ:
case X_Z:
res.x = x;
break;
case YX:
case Y_X:
case YZ:
case Y_Z:
res.x = y;
break;
case ZY:
case Z_Y:
case ZX:
case Z_X:
res.x = z;
break;
}
switch (o)
{
case X_Y:
case Z_Y:
res.y = y;
break;
case XY:
case ZY:
res.y = -y;
break;
case Y_X:
case Z_X:
res.y = x;
break;
case YX:
case ZX:
res.y = -x;
break;
case X_Z:
case Y_Z:
res.y = z;
break;
case XZ:
case YZ:
res.y = -z;
break;
}
switch (o)
{
case X_Y:
case YX:
res.z = z;
break;
case XY:
case Y_X:
res.z = -z;
break;
case XZ:
case Z_X:
res.z = y;
break;
case X_Z:
case ZX:
res.z = -y;
break;
case Y_Z:
case Z_Y:
res.z = x;
break;
case YZ:
case ZY:
res.z = -x;
break;
}
return res;
}
/*
* QMC5883L Registers:
@@ -71,58 +175,6 @@ bool QMC5883LCompass::begin()
return true;
}
uint8_t _write_register(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t value,
bool skipValue = false)
{
wire.beginTransmission(addr);
size_t s = wire.write(reg);
if (s == 1 && !skipValue)
{
s = wire.write(value);
}
size_t s1 = wire.endTransmission();
if (s != 1 && s1 == 0)
{
return 1; // "data too long to fit in transmit buffer"
}
return s1;
}
int8_t _read_registers(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t *v, size_t sz,
bool skipRegister = false)
{
if (!skipRegister)
{
uint8_t s = _write_register(wire, addr, reg, 0, true);
if (s != 0)
{
return s;
}
}
uint8_t r = wire.requestFrom(addr, sz);
for (int i = 0; i < r; i++, v++)
{
*v = wire.read();
}
return r - sz;
}
uint8_t _read_register(TwoWire &wire, uint8_t addr, uint8_t reg, uint8_t &v,
bool skipRegister = false)
{
uint8_t r = _read_registers(wire, addr, reg, &v, 1, skipRegister);
if (r != 0)
{
return 1;
}
return 0;
}
int8_t _read_xyz(TwoWire &wire, CompassXYZ &xyz)
{
xyz.status = 0;
@@ -147,7 +199,7 @@ int8_t _read_xyz(TwoWire &wire, CompassXYZ &xyz)
int8_t r = _read_registers(wire, QMC5883_ADDR, 0, (uint8_t *)&mags, 6);
xyz.x = mags[0];
xyz.y = mags[1];
xyz.z = mags[1];
xyz.z = mags[2];
return r;
}
@@ -262,7 +314,15 @@ int16_t Compass::heading()
return -999;
}
// heading for canonical mounting orientation: X forward, Y left, Z up
float heading = atan2(xyz.y, xyz.x);
// Once you have your heading, you must then add your 'Declination Angle', which
// is the 'Error' of the magnetic field in your location. Find yours here:
// http://www.magnetic-declination.com/ Mine is: -13* 2' W, which is ~13 Degrees,
// or (which we need) 0.22 radians If you cannot find your Declination, comment
// out these two lines, your compass will be slightly off.
float declinationAngle = 0.22;
heading += declinationAngle;
@@ -279,3 +339,157 @@ int16_t Compass::heading()
return headingDegrees;
}
bool UninitializedCompass::begin()
{
_lastErr = CompassStatus::COMPASS_UNINITIALIZED;
return false;
}
String UninitializedCompass::selfTest() { return "No compass is attached"; }
uint8_t UninitializedCompass::setMode(CompassMode m) { return 4; }
int8_t UninitializedCompass::readXYZ() { return 4; }
#ifdef COMPASS_ENABLED
Adafruit_HMC5883_Unified _mag = Adafruit_HMC5883_Unified(12345);
#else
UninitializedCompass _mag;
#endif
bool HMC5883LCompass::begin()
{
_lastErr = CompassStatus::COMPASS_UNINITIALIZED;
#ifdef COMPASS_ENABLED
if (!mag.begin())
{
return false;
}
String err = selfTest();
if (!err.startsWith("OK\n"))
{
return false;
}
_lastErr = CompassStatus::COMPASS_OK;
return true;
#else
return mag.begin();
#endif
}
String HMC5883LCompass::selfTest()
{
#ifdef COMPASS_ENABLED
sensor_t sensor;
mag.getSensor(&sensor);
return "OK\nSensor: " + String(sensor.name) +
"\nDriver Ver: " + String(sensor.version) +
"\nUnique ID: " + String(sensor.sensor_id) +
"\nMax Value: " + String(sensor.max_value) + " uT" +
"\nMin Value: " + String(sensor.min_value) + " uT" +
"\nResolution: " + String(sensor.resolution) + " uT";
#else
return mag.selfTest();
#endif
}
uint8_t HMC5883LCompass::setMode(CompassMode m)
{
#ifdef COMPASS_ENABLED
_lastErr = m;
return 0;
#else
return 1;
#endif
}
int8_t HMC5883LCompass::readXYZ()
{
#ifdef COMPASS_ENABLED
if (calStart == 0)
{
calStart = millis();
}
/* Get a new sensor event */
sensors_event_t event2;
mag.getEvent(&event2);
sensors_event_t event3;
mag.getEvent(&event3);
#ifdef COMPASS_DEBUG
/* Display the results (magnetic vector values are in micro-Tesla (uT)) */
Serial.print("X: ");
Serial.print(event2.magnetic.x);
Serial.print(" ");
Serial.print("Y: ");
Serial.print(event2.magnetic.y);
Serial.print(" ");
Serial.print("Z: ");
Serial.print(event2.magnetic.z);
Serial.print(" ");
Serial.println("uT");
#endif
// Hold the module so that Z is pointing 'up' and you can measure the heading with
// x&y Calculate heading when the magnetometer is level, then correct for signs of
// axis. float heading = atan2(event.magnetic.y, event.magnetic.x); Use Y as the
// forward axis float heading = atan2(event.magnetic.x, event.magnetic.y);
/// If Z-axis is forward and Y-axis points upward:
// float heading = atan2(event.magnetic.x, event.magnetic.y);
// If Z-axis is forward and X-axis points upward:
// float heading = atan2(event.magnetic.y, -event.magnetic.x);
// heading based on the magnetic readings from the Z-axis (forward) and the X-axis
// (perpendicular to Z, horizontal).
// float heading = atan2(event.magnetic.z, event.magnetic.x);
// Dynamicly Calibrated out
// Read raw magnetometer data
float x = (event2.magnetic.x + event3.magnetic.x) / 2;
float y = (event2.magnetic.y + event3.magnetic.y) / 2;
float z = (event2.magnetic.z + event3.magnetic.z) / 2;
// Doing calibration first 1 minute
if (millis() - calStart < 60000)
{
// Update min/max values dynamically
x_min = min(x_min, x);
x_max = max(x_max, x);
y_min = min(y_min, y);
y_max = max(y_max, y);
z_min = min(z_min, z);
z_max = max(z_max, z);
}
#ifdef COMPASS_DEBUG
Serial.println("x_min:" + String(x_min) + " x_max: " + String(x_max) +
" y_min: " + String(y_min));
#endif
// Calculate offsets and scales in real-time
float x_offset = (x_max + x_min) / 2;
float y_offset = (y_max + y_min) / 2;
float z_offset = (z_max + z_min) / 2;
float x_scale = (x_max - x_min) / 2;
float y_scale = (y_max - y_min) / 2;
float z_scale = (z_max - z_min) / 2;
// Apply calibration to raw data
float calibrated_x = (x - x_offset) / x_scale;
float calibrated_y = (y - y_offset) / y_scale;
float calibrated_z = (z - z_offset) / z_scale;
xyz = _orientation(ZX, calibrated_x, calibrated_y, calibrated_z);
return 0;
#else
return mag.readXYZ();
#endif
}

31
lib/heading/DroneHeading.cpp
View File

@@ -8,3 +8,34 @@ void DroneHeading::setHeading(int64_t now, int16_t h)
int64_t DroneHeading::lastRead() { return _lastRead; }
int16_t DroneHeading::heading() { return _heading; }
int16_t meanHeading(int16_t h1, int16_t h2)
{
while (h1 < 0)
{
h1 += 360;
}
while (h2 < 0)
{
h2 += 360;
}
h1 = h1 % 360;
h2 = h2 % 360;
if (h1 > h2)
{
h1 += h2;
h2 = h1 - h2;
h1 -= h2;
}
// h1 is min, h2 is max
if (h2 - h1 > 180)
{
h1 += 360;
}
return (h1 + h2) / 2;
}

344
lib/heading/MPU6050.cpp Normal file
View File

@@ -0,0 +1,344 @@
/* ============================================
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.
===============================================
*/
#include "MPU6050.h"
#include "../comms/bus.h"
#include <pgmspace.h>
/* ================================================================ *
| Default MotionApps v6.12 28-byte FIFO packet structure: |
| |
| [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ] |
| 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 |
| |
| [ACC X][ACC Y][ACC Z][GYRO X][GYRO Y][GYRO Z] |
| 16 17 18 19 20 21 22 23 24 25 26 27 |
* ================================================================ */
// this block of memory gets written to the MPU on start-up, and it seems
// to be volatile memory, so it has to be done each time (it only takes ~1
// second though)
// this divisor is pre configured into the above image and can't be modified at this time.
#ifndef MPU6050_DMP_FIFO_RATE_DIVISOR
#define MPU6050_DMP_FIFO_RATE_DIVISOR \
0x01 // The New instance of the Firmware has this as the default
#endif
// this is the most basic initialization I can create. with the intent that we access the
// register bytes as few times as needed to get the job done. for detailed descriptins of
// all registers and there purpose google "MPU-6000/MPU-6050 Register Map and
// Descriptions"
uint8_t MPU6050::dmpInitialize()
{ // Lets get it over with fast Write everything once and set it up nicely
uint8_t val;
uint16_t ival;
// Reset procedure per instructions in the "MPU-6000/MPU-6050 Register Map and
// Descriptions" page 41
I2Cdev::writeBit(wireObj, devAddr, 0x6B, 7,
(val = 1)); // PWR_MGMT_1: reset with 100ms delay
delay(100);
I2Cdev::writeBits(wireObj, devAddr, 0x6A, 2, 3,
(val = 0b111)); // full SIGNAL_PATH_RESET: with another 100ms delay
delay(100);
I2Cdev::writeBytes(
wireObj, devAddr, 0x6B, 1,
&(val = 0x01)); // 1000 0001 PWR_MGMT_1:Clock Source Select PLL_X_gyro
I2Cdev::writeBytes(wireObj, devAddr, 0x38, 1,
&(val = 0x00)); // 0000 0000 INT_ENABLE: no Interrupt
I2Cdev::writeBytes(
wireObj, devAddr, 0x23, 1,
&(val = 0x00)); // 0000 0000 MPU FIFO_EN: (all off) Using DMP's FIFO instead
I2Cdev::writeBytes(
wireObj, devAddr, 0x1C, 1,
&(val = 0x00)); // 0000 0000 ACCEL_CONFIG: 0 = Accel Full Scale Select: 2g
I2Cdev::writeBytes(
wireObj, devAddr, 0x37, 1,
&(val = 0x80)); // 1001 0000 INT_PIN_CFG: ACTL The logic level for int pin is
// active low. and interrupt status bits are cleared on any read
I2Cdev::writeBytes(
wireObj, devAddr, 0x6B, 1,
&(val = 0x01)); // 0000 0001 PWR_MGMT_1: Clock Source Select PLL_X_gyro
I2Cdev::writeBytes(
wireObj, devAddr, 0x19, 1,
&(val = 0x04)); // 0000 0100 SMPLRT_DIV: Divides the internal sample rate 400Hz (
// Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV))
I2Cdev::writeBytes(wireObj, devAddr, 0x1A, 1,
&(val = 0x01)); // 0000 0001 CONFIG: Digital Low Pass Filter (DLPF)
// Configuration 188HZ
// //Im betting this will be the beat
if (!writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE))
return 1; // Loads the DMP image into the MPU6050 Memory // Should Never Fail
I2Cdev::writeWords(wireObj, devAddr, 0x70, 1,
&(ival = 0x0400)); // DMP Program Start Address
I2Cdev::writeBytes(wireObj, devAddr, 0x1B, 1,
&(val = 0x18)); // 0001 1000 GYRO_CONFIG: 3 = +2000 Deg/sec
I2Cdev::writeBytes(wireObj, devAddr, 0x6A, 1,
&(val = 0xC0)); // 1100 1100 USER_CTRL: Enable Fifo and Reset Fifo
I2Cdev::writeBytes(wireObj, devAddr, 0x38, 1,
&(val = 0x02)); // 0000 0010 INT_ENABLE: RAW_DMP_INT_EN on
I2Cdev::writeBit(wireObj, devAddr, 0x6A, 2,
1); // Reset FIFO one last time just for kicks. (MPUi2cWrite reads
// 0x6A first and only alters 1 bit and then saves the byte)
setDMPEnabled(false); // disable DMP for compatibility with the MPU6050 library
/*
dmpPacketSize += 16;//DMP_FEATURE_6X_LP_QUAT
dmpPacketSize += 6;//DMP_FEATURE_SEND_RAW_ACCEL
dmpPacketSize += 6;//DMP_FEATURE_SEND_RAW_GYRO
*/
dmpPacketSize = 28;
return 0;
}
void MPU6050::setDMPEnabled(bool e)
{
dmpEnabled = e;
I2Cdev::writeBit(wireObj, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT,
e);
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
* @param ax 16-bit signed integer container for accelerometer X-axis value
* @param ay 16-bit signed integer container for accelerometer Y-axis value
* @param az 16-bit signed integer container for accelerometer Z-axis value
* @param gx 16-bit signed integer container for gyroscope X-axis value
* @param gy 16-bit signed integer container for gyroscope Y-axis value
* @param gz 16-bit signed integer container for gyroscope Z-axis value
* @see getAcceleration()
* @see getRotation()
* @see MPU6050_RA_ACCEL_XOUT_H
*/
void MPU6050::getMotion6(int16_t *ax, int16_t *ay, int16_t *az, int16_t *gx, int16_t *gy,
int16_t *gz)
{
uint8_t buffer[14];
I2Cdev::readBytes(wireObj, devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer,
I2Cdev::readTimeout);
*ax = (((int16_t)buffer[0]) << 8) | buffer[1];
*ay = (((int16_t)buffer[2]) << 8) | buffer[3];
*az = (((int16_t)buffer[4]) << 8) | buffer[5];
*gx = (((int16_t)buffer[8]) << 8) | buffer[9];
*gy = (((int16_t)buffer[10]) << 8) | buffer[11];
*gz = (((int16_t)buffer[12]) << 8) | buffer[13];
}
void MPU6050::setMemoryBank(uint8_t bank)
{
bank &= 0x1F;
I2Cdev::writeBytes(wireObj, devAddr, MPU6050_RA_BANK_SEL, 1, &bank);
}
void MPU6050::setMemoryStartAddress(uint8_t address)
{
I2Cdev::writeBytes(wireObj, devAddr, MPU6050_RA_MEM_START_ADDR, 1, &address);
}
bool MPU6050::writeProgMemoryBlock(const unsigned char *dump, size_t sz, uint8_t bank,
uint8_t address, bool verify)
{
setMemoryBank(bank);
setMemoryStartAddress(address);
uint8_t chunkSize;
uint8_t *verifyBuffer = 0;
uint8_t *progBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
uint16_t i;
uint8_t j;
if (verify)
verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
for (i = 0; i < sz;)
{
// determine correct chunk size according to bank position and data size
chunkSize = min(MPU6050_DMP_MEMORY_CHUNK_SIZE, min((int)sz - i, 256 - address));
// write the chunk of data as specified
for (j = 0; j < chunkSize; j++)
progBuffer[j] = pgm_read_byte(dump + i + j);
I2Cdev::writeBytes(wireObj, devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
// verify data if needed
if (verify && verifyBuffer)
{
setMemoryBank(bank);
setMemoryStartAddress(address);
I2Cdev::readBytes(wireObj, devAddr, MPU6050_RA_MEM_R_W, chunkSize,
verifyBuffer, I2Cdev::readTimeout);
if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0)
{
free(verifyBuffer);
free(progBuffer);
return false; // uh oh.
}
}
// increase byte index by [chunkSize]
i += chunkSize;
// uint8_t automatically wraps to 0 at 256
address += chunkSize;
// if we aren't done, update bank (if necessary) and address
if (i < sz)
{
if (address == 0)
bank++;
setMemoryBank(bank);
setMemoryStartAddress(address);
}
}
if (verify)
free(verifyBuffer);
free(progBuffer);
return true;
}
/** Get timeout to get a packet from FIFO buffer.
* @return Current timeout to get a packet from FIFO buffer
* @see MPU6050_FIFO_DEFAULT_TIMEOUT
*/
uint32_t MPU6050::getFIFOTimeout() { return MPU6050_FIFO_DEFAULT_TIMEOUT; }
int8_t MPU6050::getFIFOBytes(uint8_t *data, uint8_t length)
{
if (length > 0)
{
return I2Cdev::readBytes(wireObj, devAddr, MPU6050_RA_FIFO_R_W, length, data,
I2Cdev::readTimeout);
}
*data = 0;
return 0;
}
/** Get current FIFO buffer size.
* This value indicates the number of bytes stored in the FIFO buffer. This
* number is in turn the number of bytes that can be read from the FIFO buffer
* and it is directly proportional to the number of samples available given the
* set of sensor data bound to be stored in the FIFO (register 35 and 36).
* @return Current FIFO buffer size
*/
uint16_t MPU6050::getFIFOCount()
{
uint16_t buffer;
I2Cdev::readBytes(wireObj, devAddr, MPU6050_RA_FIFO_COUNTH, 2, (uint8_t *)&buffer,
I2Cdev::readTimeout);
return (buffer << 8) | ((buffer >> 8) & 0xff);
}
/** Reset the FIFO.
* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
* bit automatically clears to 0 after the reset has been triggered.
* @see MPU6050_RA_USER_CTRL
* @see MPU6050_USERCTRL_FIFO_RESET_BIT
*/
void MPU6050::resetFIFO()
{
I2Cdev::writeBit(wireObj, devAddr, MPU6050_RA_USER_CTRL,
MPU6050_USERCTRL_FIFO_RESET_BIT, true);
}
/** Get latest byte from FIFO buffer no matter how much time has passed.
* === GetCurrentFIFOPacket ===
* ================================================================
* Returns 1) when nothing special was done
* 2) when recovering from overflow
* 0) when no valid data is available
* ================================================================ */
uint8_t MPU6050::getCurrentFIFOPacket(MPU6050Reading &v)
{
uint8_t length = dmpPacketSize;
int16_t fifoC;
// This section of code is for when we allowed more than 1 packet to be acquired
uint32_t BreakTimer = micros();
bool packetReceived = false;
do
{
if ((fifoC = getFIFOCount()) > length)
{
if (fifoC > 200)
{ // if you waited to get the FIFO buffer to > 200 bytes it will take longer
// to get the last packet in the FIFO Buffer than it will take to reset the
// buffer and wait for the next to arrive
resetFIFO(); // Fixes any overflow corruption
fifoC = 0;
while (!(fifoC = getFIFOCount()) &&
((micros() - BreakTimer) <= (getFIFOTimeout())))
; // Get Next New Packet
}
else
{ // We have more than 1 packet but less than 200 bytes of data in the FIFO
// Buffer
uint8_t Trash[I2CDEVLIB_WIRE_BUFFER_LENGTH];
while ((fifoC = getFIFOCount()) > length)
{ // Test each time just in case the MPU is writing to the FIFO Buffer
fifoC = fifoC - length; // Save the last packet
uint16_t RemoveBytes;
while (fifoC)
{ // fifo count will reach zero so this is safe
RemoveBytes =
(fifoC < I2CDEVLIB_WIRE_BUFFER_LENGTH)
? fifoC
: I2CDEVLIB_WIRE_BUFFER_LENGTH; // Buffer Length is
// different than the
// packet length this will
// efficiently clear the
// buffer
getFIFOBytes(Trash, (uint8_t)RemoveBytes);
fifoC -= RemoveBytes;
}
}
}
}
if (!fifoC)
return 0; // Called too early no data or we timed out after FIFO Reset
// We have 1 packet
packetReceived = fifoC == length;
if (!packetReceived && (micros() - BreakTimer) > (getFIFOTimeout()))
return 0;
} while (!packetReceived);
getFIFOBytes(fifoPacket, length); // Get 1 packet
v.q.w = (((uint32_t)fifoPacket[0] << 24) | ((uint32_t)fifoPacket[1] << 16) |
((uint32_t)fifoPacket[2] << 8) | fifoPacket[3]);
v.q.x = (((uint32_t)fifoPacket[4] << 24) | ((uint32_t)fifoPacket[5] << 16) |
((uint32_t)fifoPacket[6] << 8) | fifoPacket[7]);
v.q.y = (((uint32_t)fifoPacket[8] << 24) | ((uint32_t)fifoPacket[9] << 16) |
((uint32_t)fifoPacket[10] << 8) | fifoPacket[11]);
v.q.z = (((uint32_t)fifoPacket[12] << 24) | ((uint32_t)fifoPacket[13] << 16) |
((uint32_t)fifoPacket[14] << 8) | fifoPacket[15]);
v.a.x = (fifoPacket[16] << 8) | fifoPacket[17];
v.a.y = (fifoPacket[18] << 8) | fifoPacket[19];
v.a.z = (fifoPacket[20] << 8) | fifoPacket[21];
v.g.x = (fifoPacket[22] << 8) | fifoPacket[23];
v.g.y = (fifoPacket[24] << 8) | fifoPacket[25];
v.g.z = (fifoPacket[26] << 8) | fifoPacket[27];
return 1;
}

448
lib/heading/MPU6050.h Normal file
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#pragma once
#include "heading.h"
#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_SELF_TEST_X 0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Y 0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Z 0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_A \
0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
#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_SELF_TEST_XA_1_BIT 0x07
#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_XA_2_BIT 0x05
#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_YA_1_BIT 0x07
#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_YA_2_BIT 0x03
#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_ZA_1_BIT 0x07
#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_ZA_2_BIT 0x01
#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_XG_1_BIT 0x04
#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_YG_1_BIT 0x04
#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_ZG_1_BIT 0x04
#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05
#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
#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
#define MPU6050_FIFO_DEFAULT_TIMEOUT 11000
struct VectorI16
{
int16_t x;
int16_t y;
int16_t z;
};
struct Quaternion
{
float w;
float x;
float y;
float z;
};
struct MPU6050Reading
{
struct
{
int32_t w;
int32_t x;
int32_t y;
int32_t z;
} q; // quaternion
VectorI16 a; // acceleration
VectorI16 g; // gyro
};
struct MPU6050
{
TwoWire wireObj;
uint8_t devAddr;
bool dmpEnabled;
uint8_t dmpPacketSize;
uint8_t *fifoPacket;
MPU6050(TwoWire w)
: devAddr(0x68), dmpPacketSize(28), wireObj(w), dmpEnabled(false),
fifoPacket((uint8_t *)malloc(dmpPacketSize)) {};
uint8_t dmpInitialize();
void setDMPEnabled(bool e);
// BANK_SEL register
void setMemoryBank(uint8_t bank);
// MEM_START_ADDR register
void setMemoryStartAddress(uint8_t address);
bool writeProgMemoryBlock(const unsigned char *dump, size_t sz, uint8_t bank = 0,
uint8_t address = 0, bool verify = true);
void getMotion6(int16_t *ax, int16_t *ay, int16_t *az, int16_t *gx, int16_t *gy,
int16_t *gz);
uint8_t getCurrentFIFOPacket(MPU6050Reading &v);
uint32_t getFIFOTimeout();
int8_t getFIFOBytes(uint8_t *data, uint8_t length);
uint16_t getFIFOCount();
void resetFIFO();
};
#define I2CDEVLIB_WIRE_BUFFER_LENGTH I2C_BUFFER_LENGTH
#define MPU6050_DMP_CODE_SIZE 3062 // dmpMemory[]
extern const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE];

211
lib/heading/MPU6050_612_dump.cpp Normal file
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// DON'T OPEN THIS FILE, OR VSCODE IS GOING TO MAKE A MESS OF IT
#include "MPU6050.h"
// *** this is a capture of the DMP Firmware V6.1.2 after all the messy changes were made
// so we can just load it
const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
/* bank # 0 */
0x00, 0xF8, 0xF6, 0x2A, 0x3F, 0x68, 0xF5, 0x7A, 0x00, 0x06, 0xFF, 0xFE, 0x00, 0x03, 0x00, 0x00,
0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
0x03, 0x0C, 0x30, 0xC3, 0x0A, 0x74, 0x56, 0x2D, 0x0D, 0x62, 0xDB, 0xC7, 0x16, 0xF4, 0xBA, 0x02,
0x38, 0x83, 0xF8, 0x83, 0x30, 0x00, 0xF8, 0x83, 0x25, 0x8E, 0xF8, 0x83, 0x30, 0x00, 0xF8, 0x83,
0xFF, 0xFF, 0xFF, 0xFF, 0x0C, 0xBD, 0xD8, 0x11, 0x24, 0x00, 0x04, 0x00, 0x1A, 0x82, 0x79, 0xA1,
0x00, 0x36, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6F, 0xA2,
0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
0x1F, 0xA4, 0xE8, 0xE4, 0xFF, 0xF5, 0xDC, 0xB9, 0x00, 0x5B, 0x79, 0xCF, 0x1F, 0x3F, 0x78, 0x76,
0x00, 0x86, 0x7C, 0x5A, 0x00, 0x86, 0x23, 0x47, 0xFA, 0xB9, 0x86, 0x31, 0x00, 0x74, 0x87, 0x8A,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x43, 0x05, 0xFF, 0xFF, 0xE9, 0xA8, 0x00, 0x00, 0x21, 0x82,
0xFA, 0xB8, 0x4D, 0x46, 0xFF, 0xFA, 0xDF, 0x3D, 0xFF, 0xFF, 0xB2, 0xB3, 0x00, 0x00, 0x00, 0x00,
0x3F, 0xFF, 0xBA, 0x98, 0x00, 0x5D, 0xAC, 0x08, 0x00, 0x0A, 0x63, 0x78, 0x00, 0x01, 0x46, 0x21,
0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x42, 0xB5, 0x00, 0x06, 0x00, 0x64, 0x00, 0x64, 0x00, 0x06,
0x14, 0x06, 0x02, 0x9F, 0x0F, 0x47, 0x91, 0x32, 0xD9, 0x0E, 0x9F, 0xC9, 0x1D, 0xCF, 0x4C, 0x34,
0x3B, 0xB6, 0x7A, 0xE8, 0x00, 0x64, 0x00, 0x06, 0x00, 0xC8, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFE,
/* bank # 1 */
0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x00, 0x00, 0xFF, 0xF1, 0x00, 0x00, 0xFA, 0x46, 0x00, 0x00, 0xA2, 0xB8, 0x00, 0x00,
0x10, 0x00, 0x00, 0x00, 0x04, 0xD6, 0x00, 0x00, 0x04, 0xCC, 0x00, 0x00, 0x04, 0xCC, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00,
0x00, 0x00, 0x00, 0x32, 0xF8, 0x98, 0x00, 0x00, 0xFF, 0x65, 0x00, 0x00, 0x83, 0x0F, 0x00, 0x00,
0x00, 0x06, 0x00, 0x00, 0xFF, 0xF1, 0x00, 0x00, 0xFA, 0x46, 0x00, 0x00, 0xA2, 0xB8, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0D, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x02, 0x00, 0x00,
0x00, 0x01, 0xFB, 0x83, 0x00, 0x7C, 0x00, 0x00, 0xFB, 0x15, 0xFC, 0x00, 0x1F, 0xB4, 0xFF, 0x83,
0x00, 0x00, 0x00, 0x01, 0x00, 0x65, 0x00, 0x07, 0x00, 0x64, 0x03, 0xE8, 0x00, 0x64, 0x00, 0x28,
0x00, 0x00, 0xFF, 0xFD, 0x00, 0x00, 0x00, 0x00, 0x16, 0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x10, 0x00, 0x00, 0x2F, 0x00, 0x00, 0x00, 0x00, 0x01, 0xF4, 0x00, 0x00, 0x10, 0x00,
/* bank # 2 */
0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x01, 0x00, 0x05, 0xBA, 0xC6, 0x00, 0x47, 0x78, 0xA2,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
0x00, 0x00, 0x23, 0xBB, 0x00, 0x2E, 0xA2, 0x5B, 0x00, 0x00, 0x05, 0x68, 0x00, 0x0B, 0xCF, 0x49,
0x00, 0x04, 0xFF, 0xFD, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00,
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x64, 0x00, 0x07, 0x00, 0x08, 0x00, 0x06, 0x00, 0x06, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x2E, 0xA2, 0x5B, 0x00, 0x00, 0x05, 0x68, 0x00, 0x0B, 0xCF, 0x49, 0x00, 0x00, 0x00, 0x00,
0x00, 0xF8, 0xF6, 0x2A, 0x3F, 0x68, 0xF5, 0x7A, 0x00, 0x04, 0xFF, 0xFD, 0x00, 0x02, 0x00, 0x00,
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x0E,
0xFF, 0xFF, 0xFF, 0xCF, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xFF, 0xFF, 0xFF, 0x9C,
0x00, 0x00, 0x43, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64,
0xFF, 0xE5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
/* bank # 3 */
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xD3,
0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3C,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x9E, 0x65, 0x5D,
0x0C, 0x0A, 0x4E, 0x68, 0xCD, 0xCF, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xC6, 0x19, 0xCE, 0x82,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x71, 0x1C,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xD7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00,
0x00, 0x11, 0xDC, 0x47, 0x03, 0x00, 0x00, 0x00, 0xC7, 0x93, 0x8F, 0x9D, 0x1E, 0x1B, 0x1C, 0x19,
0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0E, 0xDF, 0xA4, 0x38, 0x1F, 0x9E, 0x65, 0x5D,
0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x71, 0x1C, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x3F, 0xFF, 0xFF, 0xFD, 0xFF, 0xFF, 0xF4, 0xC9, 0xFF, 0xFF, 0xBC, 0xF0, 0x00, 0x01, 0x0C, 0x0F,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xF5, 0xB7, 0xBA, 0xB3, 0x67, 0x7D, 0xDF, 0x7E, 0x72, 0x90, 0x2E, 0x55, 0x4C, 0xF6, 0xE6, 0x88,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
/* bank # 4 */
0xD8, 0xDC, 0xB4, 0xB8, 0xB0, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xB3, 0xB7, 0xBB, 0x8E, 0x9E,
0xAE, 0xF1, 0x32, 0xF5, 0x1B, 0xF1, 0xB4, 0xB8, 0xB0, 0x80, 0x97, 0xF1, 0xA9, 0xDF, 0xDF, 0xDF,
0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0x4C, 0xCD, 0x6C, 0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0xF1, 0xA9,
0x89, 0x26, 0x46, 0x66, 0xB2, 0x89, 0x99, 0xA9, 0x2D, 0x55, 0x7D, 0xB0, 0xB0, 0x8A, 0xA8, 0x96,
0x36, 0x56, 0x76, 0xF1, 0xBA, 0xA3, 0xB4, 0xB2, 0x80, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB2, 0x83,
0x98, 0xBA, 0xA3, 0xF0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xB2, 0xB9, 0xB4, 0x98, 0x83, 0xF1,
0xA3, 0x29, 0x55, 0x7D, 0xBA, 0xB5, 0xB1, 0xA3, 0x83, 0x93, 0xF0, 0x00, 0x28, 0x50, 0xF5, 0xB2,
0xB6, 0xAA, 0x83, 0x93, 0x28, 0x54, 0x7C, 0xF1, 0xB9, 0xA3, 0x82, 0x93, 0x61, 0xBA, 0xA2, 0xDA,
0xDE, 0xDF, 0xDB, 0x81, 0x9A, 0xB9, 0xAE, 0xF5, 0x60, 0x68, 0x70, 0xF1, 0xDA, 0xBA, 0xA2, 0xDF,
0xD9, 0xBA, 0xA2, 0xFA, 0xB9, 0xA3, 0x82, 0x92, 0xDB, 0x31, 0xBA, 0xA2, 0xD9, 0xBA, 0xA2, 0xF8,
0xDF, 0x85, 0xA4, 0xD0, 0xC1, 0xBB, 0xAD, 0x83, 0xC2, 0xC5, 0xC7, 0xB8, 0xA2, 0xDF, 0xDF, 0xDF,
0xBA, 0xA0, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xAA, 0xB3, 0x8D, 0xB4, 0x98, 0x0D, 0x35,
0x5D, 0xB2, 0xB6, 0xBA, 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A,
0xB8, 0xAA, 0x87, 0x2C, 0x54, 0x7C, 0xBA, 0xA4, 0xB0, 0x8A, 0xB6, 0x91, 0x32, 0x56, 0x76, 0xB2,
0x84, 0x94, 0xA4, 0xC8, 0x08, 0xCD, 0xD8, 0xB8, 0xB4, 0xB0, 0xF1, 0x99, 0x82, 0xA8, 0x2D, 0x55,
0x7D, 0x98, 0xA8, 0x0E, 0x16, 0x1E, 0xA2, 0x2C, 0x54, 0x7C, 0x92, 0xA4, 0xF0, 0x2C, 0x50, 0x78,
/* bank # 5 */
0xF1, 0x84, 0xA8, 0x98, 0xC4, 0xCD, 0xFC, 0xD8, 0x0D, 0xDB, 0xA8, 0xFC, 0x2D, 0xF3, 0xD9, 0xBA,
0xA6, 0xF8, 0xDA, 0xBA, 0xA6, 0xDE, 0xD8, 0xBA, 0xB2, 0xB6, 0x86, 0x96, 0xA6, 0xD0, 0xF3, 0xC8,
0x41, 0xDA, 0xA6, 0xC8, 0xF8, 0xD8, 0xB0, 0xB4, 0xB8, 0x82, 0xA8, 0x92, 0xF5, 0x2C, 0x54, 0x88,
0x98, 0xF1, 0x35, 0xD9, 0xF4, 0x18, 0xD8, 0xF1, 0xA2, 0xD0, 0xF8, 0xF9, 0xA8, 0x84, 0xD9, 0xC7,
0xDF, 0xF8, 0xF8, 0x83, 0xC5, 0xDA, 0xDF, 0x69, 0xDF, 0x83, 0xC1, 0xD8, 0xF4, 0x01, 0x14, 0xF1,
0xA8, 0x82, 0x4E, 0xA8, 0x84, 0xF3, 0x11, 0xD1, 0x82, 0xF5, 0xD9, 0x92, 0x28, 0x97, 0x88, 0xF1,
0x09, 0xF4, 0x1C, 0x1C, 0xD8, 0x84, 0xA8, 0xF3, 0xC0, 0xF9, 0xD1, 0xD9, 0x97, 0x82, 0xF1, 0x29,
0xF4, 0x0D, 0xD8, 0xF3, 0xF9, 0xF9, 0xD1, 0xD9, 0x82, 0xF4, 0xC2, 0x03, 0xD8, 0xDE, 0xDF, 0x1A,
0xD8, 0xF1, 0xA2, 0xFA, 0xF9, 0xA8, 0x84, 0x98, 0xD9, 0xC7, 0xDF, 0xF8, 0xF8, 0xF8, 0x83, 0xC7,
0xDA, 0xDF, 0x69, 0xDF, 0xF8, 0x83, 0xC3, 0xD8, 0xF4, 0x01, 0x14, 0xF1, 0x98, 0xA8, 0x82, 0x2E,
0xA8, 0x84, 0xF3, 0x11, 0xD1, 0x82, 0xF5, 0xD9, 0x92, 0x50, 0x97, 0x88, 0xF1, 0x09, 0xF4, 0x1C,
0xD8, 0x84, 0xA8, 0xF3, 0xC0, 0xF8, 0xF9, 0xD1, 0xD9, 0x97, 0x82, 0xF1, 0x49, 0xF4, 0x0D, 0xD8,
0xF3, 0xF9, 0xF9, 0xD1, 0xD9, 0x82, 0xF4, 0xC4, 0x03, 0xD8, 0xDE, 0xDF, 0xD8, 0xF1, 0xAD, 0x88,
0x98, 0xCC, 0xA8, 0x09, 0xF9, 0xD9, 0x82, 0x92, 0xA8, 0xF5, 0x7C, 0xF1, 0x88, 0x3A, 0xCF, 0x94,
0x4A, 0x6E, 0x98, 0xDB, 0x69, 0x31, 0xDA, 0xAD, 0xF2, 0xDE, 0xF9, 0xD8, 0x87, 0x95, 0xA8, 0xF2,
0x21, 0xD1, 0xDA, 0xA5, 0xF9, 0xF4, 0x17, 0xD9, 0xF1, 0xAE, 0x8E, 0xD0, 0xC0, 0xC3, 0xAE, 0x82,
/* bank # 6 */
0xC6, 0x84, 0xC3, 0xA8, 0x85, 0x95, 0xC8, 0xA5, 0x88, 0xF2, 0xC0, 0xF1, 0xF4, 0x01, 0x0E, 0xF1,
0x8E, 0x9E, 0xA8, 0xC6, 0x3E, 0x56, 0xF5, 0x54, 0xF1, 0x88, 0x72, 0xF4, 0x01, 0x15, 0xF1, 0x98,
0x45, 0x85, 0x6E, 0xF5, 0x8E, 0x9E, 0x04, 0x88, 0xF1, 0x42, 0x98, 0x5A, 0x8E, 0x9E, 0x06, 0x88,
0x69, 0xF4, 0x01, 0x1C, 0xF1, 0x98, 0x1E, 0x11, 0x08, 0xD0, 0xF5, 0x04, 0xF1, 0x1E, 0x97, 0x02,
0x02, 0x98, 0x36, 0x25, 0xDB, 0xF9, 0xD9, 0x85, 0xA5, 0xF3, 0xC1, 0xDA, 0x85, 0xA5, 0xF3, 0xDF,
0xD8, 0x85, 0x95, 0xA8, 0xF3, 0x09, 0xDA, 0xA5, 0xFA, 0xD8, 0x82, 0x92, 0xA8, 0xF5, 0x78, 0xF1,
0x88, 0x1A, 0x84, 0x9F, 0x26, 0x88, 0x98, 0x21, 0xDA, 0xF4, 0x1D, 0xF3, 0xD8, 0x87, 0x9F, 0x39,
0xD1, 0xAF, 0xD9, 0xDF, 0xDF, 0xFB, 0xF9, 0xF4, 0x0C, 0xF3, 0xD8, 0xFA, 0xD0, 0xF8, 0xDA, 0xF9,
0xF9, 0xD0, 0xDF, 0xD9, 0xF9, 0xD8, 0xF4, 0x0B, 0xD8, 0xF3, 0x87, 0x9F, 0x39, 0xD1, 0xAF, 0xD9,
0xDF, 0xDF, 0xF4, 0x1D, 0xF3, 0xD8, 0xFA, 0xFC, 0xA8, 0x69, 0xF9, 0xF9, 0xAF, 0xD0, 0xDA, 0xDE,
0xFA, 0xD9, 0xF8, 0x8F, 0x9F, 0xA8, 0xF1, 0xCC, 0xF3, 0x98, 0xDB, 0x45, 0xD9, 0xAF, 0xDF, 0xD0,
0xF8, 0xD8, 0xF1, 0x8F, 0x9F, 0xA8, 0xCA, 0xF3, 0x88, 0x09, 0xDA, 0xAF, 0x8F, 0xCB, 0xF8, 0xD8,
0xF2, 0xAD, 0x97, 0x8D, 0x0C, 0xD9, 0xA5, 0xDF, 0xF9, 0xBA, 0xA6, 0xF3, 0xFA, 0xF4, 0x12, 0xF2,
0xD8, 0x95, 0x0D, 0xD1, 0xD9, 0xBA, 0xA6, 0xF3, 0xFA, 0xDA, 0xA5, 0xF2, 0xC1, 0xBA, 0xA6, 0xF3,
0xDF, 0xD8, 0xF1, 0xBA, 0xB2, 0xB6, 0x86, 0x96, 0xA6, 0xD0, 0xCA, 0xF3, 0x49, 0xDA, 0xA6, 0xCB,
0xF8, 0xD8, 0xB0, 0xB4, 0xB8, 0xD8, 0xAD, 0x84, 0xF2, 0xC0, 0xDF, 0xF1, 0x8F, 0xCB, 0xC3, 0xA8,
/* bank # 7 */
0xB2, 0xB6, 0x86, 0x96, 0xC8, 0xC1, 0xCB, 0xC3, 0xF3, 0xB0, 0xB4, 0x88, 0x98, 0xA8, 0x21, 0xDB,
0x71, 0x8D, 0x9D, 0x71, 0x85, 0x95, 0x21, 0xD9, 0xAD, 0xF2, 0xFA, 0xD8, 0x85, 0x97, 0xA8, 0x28,
0xD9, 0xF4, 0x08, 0xD8, 0xF2, 0x8D, 0x29, 0xDA, 0xF4, 0x05, 0xD9, 0xF2, 0x85, 0xA4, 0xC2, 0xF2,
0xD8, 0xA8, 0x8D, 0x94, 0x01, 0xD1, 0xD9, 0xF4, 0x11, 0xF2, 0xD8, 0x87, 0x21, 0xD8, 0xF4, 0x0A,
0xD8, 0xF2, 0x84, 0x98, 0xA8, 0xC8, 0x01, 0xD1, 0xD9, 0xF4, 0x11, 0xD8, 0xF3, 0xA4, 0xC8, 0xBB,
0xAF, 0xD0, 0xF2, 0xDE, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xD8, 0xF1, 0xB8, 0xF6,
0xB5, 0xB9, 0xB0, 0x8A, 0x95, 0xA3, 0xDE, 0x3C, 0xA3, 0xD9, 0xF8, 0xD8, 0x5C, 0xA3, 0xD9, 0xF8,
0xD8, 0x7C, 0xA3, 0xD9, 0xF8, 0xD8, 0xF8, 0xF9, 0xD1, 0xA5, 0xD9, 0xDF, 0xDA, 0xFA, 0xD8, 0xB1,
0x85, 0x30, 0xF7, 0xD9, 0xDE, 0xD8, 0xF8, 0x30, 0xAD, 0xDA, 0xDE, 0xD8, 0xF2, 0xB4, 0x8C, 0x99,
0xA3, 0x2D, 0x55, 0x7D, 0xA0, 0x83, 0xDF, 0xDF, 0xDF, 0xB5, 0x91, 0xA0, 0xF6, 0x29, 0xD9, 0xFB,
0xD8, 0xA0, 0xFC, 0x29, 0xD9, 0xFA, 0xD8, 0xA0, 0xD0, 0x51, 0xD9, 0xF8, 0xD8, 0xFC, 0x51, 0xD9,
0xF9, 0xD8, 0x79, 0xD9, 0xFB, 0xD8, 0xA0, 0xD0, 0xFC, 0x79, 0xD9, 0xFA, 0xD8, 0xA1, 0xF9, 0xF9,
0xF9, 0xF9, 0xF9, 0xA0, 0xDA, 0xDF, 0xDF, 0xDF, 0xD8, 0xA1, 0xF8, 0xF8, 0xF8, 0xF8, 0xF8, 0xAC,
0xDE, 0xF8, 0xAD, 0xDE, 0x83, 0x93, 0xAC, 0x2C, 0x54, 0x7C, 0xF1, 0xA8, 0xDF, 0xDF, 0xDF, 0xF6,
0x9D, 0x2C, 0xDA, 0xA0, 0xDF, 0xD9, 0xFA, 0xDB, 0x2D, 0xF8, 0xD8, 0xA8, 0x50, 0xDA, 0xA0, 0xD0,
0xDE, 0xD9, 0xD0, 0xF8, 0xF8, 0xF8, 0xDB, 0x55, 0xF8, 0xD8, 0xA8, 0x78, 0xDA, 0xA0, 0xD0, 0xDF,
/* bank # 8 */
0xD9, 0xD0, 0xFA, 0xF8, 0xF8, 0xF8, 0xF8, 0xDB, 0x7D, 0xF8, 0xD8, 0x9C, 0xA8, 0x8C, 0xF5, 0x30,
0xDB, 0x38, 0xD9, 0xD0, 0xDE, 0xDF, 0xA0, 0xD0, 0xDE, 0xDF, 0xD8, 0xA8, 0x48, 0xDB, 0x58, 0xD9,
0xDF, 0xD0, 0xDE, 0xA0, 0xDF, 0xD0, 0xDE, 0xD8, 0xA8, 0x68, 0xDB, 0x70, 0xD9, 0xDF, 0xDF, 0xA0,
0xDF, 0xDF, 0xD8, 0xF1, 0xA8, 0x88, 0x90, 0x2C, 0x54, 0x7C, 0x98, 0xA8, 0xD0, 0x5C, 0x38, 0xD1,
0xDA, 0xF2, 0xAE, 0x8C, 0xDF, 0xF9, 0xD8, 0xB0, 0x87, 0xA8, 0xC1, 0xC1, 0xB1, 0x88, 0xA8, 0xC6,
0xF9, 0xF9, 0xDA, 0x36, 0xD8, 0xA8, 0xF9, 0xDA, 0x36, 0xD8, 0xA8, 0xF9, 0xDA, 0x36, 0xD8, 0xA8,
0xF9, 0xDA, 0x36, 0xD8, 0xA8, 0xF9, 0xDA, 0x36, 0xD8, 0xF7, 0x8D, 0x9D, 0xAD, 0xF8, 0x18, 0xDA,
0xF2, 0xAE, 0xDF, 0xD8, 0xF7, 0xAD, 0xFA, 0x30, 0xD9, 0xA4, 0xDE, 0xF9, 0xD8, 0xF2, 0xAE, 0xDE,
0xFA, 0xF9, 0x83, 0xA7, 0xD9, 0xC3, 0xC5, 0xC7, 0xF1, 0x88, 0x9B, 0xA7, 0x7A, 0xAD, 0xF7, 0xDE,
0xDF, 0xA4, 0xF8, 0x84, 0x94, 0x08, 0xA7, 0x97, 0xF3, 0x00, 0xAE, 0xF2, 0x98, 0x19, 0xA4, 0x88,
0xC6, 0xA3, 0x94, 0x88, 0xF6, 0x32, 0xDF, 0xF2, 0x83, 0x93, 0xDB, 0x09, 0xD9, 0xF2, 0xAA, 0xDF,
0xD8, 0xD8, 0xAE, 0xF8, 0xF9, 0xD1, 0xDA, 0xF3, 0xA4, 0xDE, 0xA7, 0xF1, 0x88, 0x9B, 0x7A, 0xD8,
0xF3, 0x84, 0x94, 0xAE, 0x19, 0xF9, 0xDA, 0xAA, 0xF1, 0xDF, 0xD8, 0xA8, 0x81, 0xC0, 0xC3, 0xC5,
0xC7, 0xA3, 0x92, 0x83, 0xF6, 0x28, 0xAD, 0xDE, 0xD9, 0xF8, 0xD8, 0xA3, 0x50, 0xAD, 0xD9, 0xF8,
0xD8, 0xA3, 0x78, 0xAD, 0xD9, 0xF8, 0xD8, 0xF8, 0xF9, 0xD1, 0xA1, 0xDA, 0xDE, 0xC3, 0xC5, 0xC7,
0xD8, 0xA1, 0x81, 0x94, 0xF8, 0x18, 0xF2, 0xB0, 0x89, 0xAC, 0xC3, 0xC5, 0xC7, 0xF1, 0xD8, 0xB8,
/* bank # 9 */
0xB4, 0xB0, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, 0x28, 0x88, 0x9B, 0xF0,
0x0C, 0x20, 0x14, 0x40, 0xB0, 0xB4, 0xB8, 0xF0, 0xA8, 0x8A, 0x9A, 0x28, 0x50, 0x78, 0xB7, 0x9B,
0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xF1, 0xBB, 0xAB,
0x88, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0xB3, 0x8B, 0xB8, 0xA8, 0x04, 0x28, 0x50, 0x78, 0xF1, 0xB0,
0x88, 0xB4, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xBB, 0xAB, 0xB3, 0x8B, 0x02, 0x26, 0x46, 0x66, 0xB0,
0xB8, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79, 0x8A, 0x24, 0x70, 0x59,
0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68, 0x8A, 0x64, 0x48, 0x31,
0x8B, 0x30, 0x49, 0x60, 0x88, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04, 0x28,
0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66, 0xF0,
0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xA9,
0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60, 0x8C,
0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76, 0x7E,
0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0xD8, 0xB1, 0xB5, 0xB9, 0xA3, 0xDF, 0xDF, 0xDF, 0xAE, 0xD0,
0xDF, 0xAA, 0xD0, 0xDE, 0xF2, 0xAB, 0xF8, 0xF9, 0xD9, 0xB0, 0x87, 0xC4, 0xAA, 0xF1, 0xDF, 0xDF,
0xBB, 0xAF, 0xDF, 0xDF, 0xB9, 0xD8, 0xB1, 0xF1, 0xA3, 0x97, 0x8E, 0x60, 0xDF, 0xB0, 0x84, 0xF2,
0xC8, 0xF8, 0xF9, 0xD9, 0xDE, 0xD8, 0x93, 0x85, 0xF1, 0x4A, 0xB1, 0x83, 0xA3, 0x08, 0xB5, 0x83,
/* bank # 10 */
0x9A, 0x08, 0x10, 0xB7, 0x9F, 0x10, 0xD8, 0xF1, 0xB0, 0xBA, 0xAE, 0xB0, 0x8A, 0xC2, 0xB2, 0xB6,
0x8E, 0x9E, 0xF1, 0xFB, 0xD9, 0xF4, 0x1D, 0xD8, 0xF9, 0xD9, 0x0C, 0xF1, 0xD8, 0xF8, 0xF8, 0xAD,
0x61, 0xD9, 0xAE, 0xFB, 0xD8, 0xF4, 0x0C, 0xF1, 0xD8, 0xF8, 0xF8, 0xAD, 0x19, 0xD9, 0xAE, 0xFB,
0xDF, 0xD8, 0xF4, 0x16, 0xF1, 0xD8, 0xF8, 0xAD, 0x8D, 0x61, 0xD9, 0xF4, 0xF4, 0xAC, 0xF5, 0x9C,
0x9C, 0x8D, 0xDF, 0x2B, 0xBA, 0xB6, 0xAE, 0xFA, 0xF8, 0xF4, 0x0B, 0xD8, 0xF1, 0xAE, 0xD0, 0xF8,
0xAD, 0x51, 0xDA, 0xAE, 0xFA, 0xF8, 0xF1, 0xD8, 0xB9, 0xB1, 0xB6, 0xA3, 0x83, 0x9C, 0x08, 0xB9,
0xB1, 0x83, 0x9A, 0xB5, 0xAA, 0xC0, 0xFD, 0x30, 0x83, 0xB7, 0x9F, 0x10, 0xB5, 0x8B, 0x93, 0xF2,
0x02, 0x02, 0xD1, 0xAB, 0xDA, 0xDE, 0xD8, 0xF1, 0xB0, 0x80, 0xBA, 0xAB, 0xC0, 0xC3, 0xB2, 0x84,
0xC1, 0xC3, 0xD8, 0xB1, 0xB9, 0xF3, 0x8B, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xB0,
0x87, 0x9C, 0xB9, 0xA3, 0xDD, 0xF1, 0xB3, 0x8B, 0x8B, 0x8B, 0x8B, 0x8B, 0xB0, 0x87, 0x20, 0x28,
0x30, 0x38, 0xB2, 0x8B, 0xB6, 0x9B, 0xF2, 0xA3, 0xC0, 0xC8, 0xC2, 0xC4, 0xCC, 0xC6, 0xA3, 0xA3,
0xA3, 0xF1, 0xB0, 0x87, 0xB5, 0x9A, 0xD8, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC, 0xBA, 0xAC, 0xDF, 0xB9, //Reverted back as packet size changes causing isues... TODO:change 2742 from 0xD8 to 0x20 Including the DMP_FEATURE_TAP -- known issue in which if you do not enable DMP_FEATURE_TAP then the interrupts will be at 200Hz even if fifo rate
0xA3, 0xFE, 0xF2, 0xAB, 0xC4, 0xAA, 0xF1, 0xDF, 0xDF, 0xBB, 0xAF, 0xDF, 0xDF, 0xA3, 0xA3, 0xA3,
0xD8, 0xD8, 0xD8, 0xBB, 0xB3, 0xB7, 0xF1, 0xAA, 0xF9, 0xDA, 0xFF, 0xD9, 0x80, 0x9A, 0xAA, 0x28,
0xB4, 0x80, 0x98, 0xA7, 0x20, 0xB7, 0x97, 0x87, 0xA8, 0x66, 0x88, 0xF0, 0x79, 0x51, 0xF1, 0x90,
0x2C, 0x87, 0x0C, 0xA7, 0x81, 0x97, 0x62, 0x93, 0xF0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29,
/* bank # 11 */
0x51, 0x79, 0x90, 0xA5, 0xF1, 0x28, 0x4C, 0x6C, 0x87, 0x0C, 0x95, 0x18, 0x85, 0x78, 0xA3, 0x83,
0x90, 0x28, 0x4C, 0x6C, 0x88, 0x6C, 0xD8, 0xF3, 0xA2, 0x82, 0x00, 0xF2, 0x10, 0xA8, 0x92, 0x19,
0x80, 0xA2, 0xF2, 0xD9, 0x26, 0xD8, 0xF1, 0x88, 0xA8, 0x4D, 0xD9, 0x48, 0xD8, 0x96, 0xA8, 0x39,
0x80, 0xD9, 0x3C, 0xD8, 0x95, 0x80, 0xA8, 0x39, 0xA6, 0x86, 0x98, 0xD9, 0x2C, 0xDA, 0x87, 0xA7,
0x2C, 0xD8, 0xA8, 0x89, 0x95, 0x19, 0xA9, 0x80, 0xD9, 0x38, 0xD8, 0xA8, 0x89, 0x39, 0xA9, 0x80,
0xDA, 0x3C, 0xD8, 0xA8, 0x2E, 0xA8, 0x39, 0x90, 0xD9, 0x0C, 0xD8, 0xA8, 0x95, 0x31, 0x98, 0xD9,
0x0C, 0xD8, 0xA8, 0x09, 0xD9, 0xFF, 0xD8, 0x01, 0xDA, 0xFF, 0xD8, 0x95, 0x39, 0xA9, 0xDA, 0x26,
0xFF, 0xD8, 0x90, 0xA8, 0x0D, 0x89, 0x99, 0xA8, 0x10, 0x80, 0x98, 0x21, 0xDA, 0x2E, 0xD8, 0x89,
0x99, 0xA8, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8, 0x86, 0x96, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8,
0x87, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8, 0x82, 0x92, 0xF3, 0x41, 0x80, 0xF1, 0xD9, 0x2E, 0xD8,
0xA8, 0x82, 0xF3, 0x19, 0x80, 0xF1, 0xD9, 0x2E, 0xD8, 0x82, 0xAC, 0xF3, 0xC0, 0xA2, 0x80, 0x22,
0xF1, 0xA6, 0x2E, 0xA7, 0x2E, 0xA9, 0x22, 0x98, 0xA8, 0x29, 0xDA, 0xAC, 0xDE, 0xFF, 0xD8, 0xA2,
0xF2, 0x2A, 0xF1, 0xA9, 0x2E, 0x82, 0x92, 0xA8, 0xF2, 0x31, 0x80, 0xA6, 0x96, 0xF1, 0xD9, 0x00,
0xAC, 0x8C, 0x9C, 0x0C, 0x30, 0xAC, 0xDE, 0xD0, 0xDE, 0xFF, 0xD8, 0x8C, 0x9C, 0xAC, 0xD0, 0x10,
0xAC, 0xDE, 0x80, 0x92, 0xA2, 0xF2, 0x4C, 0x82, 0xA8, 0xF1, 0xCA, 0xF2, 0x35, 0xF1, 0x96, 0x88,
0xA6, 0xD9, 0x00, 0xD8, 0xF1, 0xFF,
};

42
lib/heading/heading.h
View File

@@ -68,12 +68,50 @@ struct QMC5883LCompass : Compass
int8_t readXYZ() override;
};
struct UninitializedCompass : Compass
{
UninitializedCompass() : Compass() {}
bool begin() override;
String selfTest() override;
uint8_t setMode(CompassMode m) override;
int8_t readXYZ() override;
};
#ifdef COMPASS_ENABLED
#include <Adafruit_HMC5883_U.h>
#include <Adafruit_Sensor.h>
#define HMC5883Type Adafruit_HMC5883_Unified
#else
#define HMC5883Type UninitializedCompass
#endif
extern HMC5883Type _mag;
struct HMC5883LCompass : Compass
{
HMC5883Type &mag;
long calStart = 0;
// Variables for dynamic calibration
float x_min = 1000, x_max = -1000;
float y_min = 1000, y_max = -1000;
float z_min = 1000, z_max = -1000;
HMC5883LCompass() : Compass(), mag(_mag) {}
bool begin() override;
String selfTest() override;
uint8_t setMode(CompassMode m) override;
int8_t readXYZ() override;
};
struct DroneHeading : HeadingSensor
{
int64_t _lastRead;
int16_t _heading;
DroneHeading() : HeadingSensor(), _lastRead(-1) {}
DroneHeading() : HeadingSensor(), _lastRead(-1), _heading(-999) {}
void setHeading(int64_t now, int16_t heading);
@@ -81,6 +119,8 @@ struct DroneHeading : HeadingSensor
int16_t heading() override;
};
int16_t meanHeading(int16_t m, int16_t mm);
#define QMC5883_ADDR 0xD
#define QMC5883_X_LSB_REG 0
#define QMC5883_X_MSB_REG 1

275
src/main.cpp
View File

@@ -62,9 +62,9 @@
#include <scan.h>
#include <stdlib.h>
#ifdef BT_MOBILE
bool bleDeviceConnected = false;
bool deviceConnected = false;
#ifdef BT_MOBILE
#define SERVICE_UUID "00001234-0000-1000-8000-00805f9b34fb"
#define CHARACTERISTIC_UUID "00001234-0000-1000-8000-00805f9b34ac"
@@ -80,11 +80,11 @@ BLEAdvertising *pAdvertising = NULL;
class MyServerCallbacks : public BLEServerCallbacks
{
void onConnect(BLEServer *pServer) { deviceConnected = true; };
void onConnect(BLEServer *pServer) { bleDeviceConnected = true; };
void onDisconnect(BLEServer *pServer)
{
deviceConnected = false;
bleDeviceConnected = false;
BLEDevice::startAdvertising(); // Restart advertising after disconnect
}
};
@@ -101,7 +101,7 @@ class BTServerCallbacks : public NimBLEServerCallbacks
public:
void onConnect(NimBLEServer *pServer, NimBLEConnInfo &connInfo) override
{
deviceConnected = true;
bleDeviceConnected = true;
Serial.printf("Device Connected | Free Heap: %d kByte\n",
ESP.getFreeHeap() / 1000);
Serial.printf("Client address: %s\n", connInfo.getAddress().toString().c_str());
@@ -112,7 +112,7 @@ class BTServerCallbacks : public NimBLEServerCallbacks
void onDisconnect(NimBLEServer *pServer, NimBLEConnInfo &connInfo,
int reason) override
{
deviceConnected = false;
bleDeviceConnected = false;
Serial.println("Device Disconnected");
NimBLEDevice::startAdvertising(); // Restart advertising
}
@@ -265,6 +265,8 @@ void initBT()
#endif
}
#endif
// Function to send RSSI and Heading Data
void sendBTData(float heading, float rssi)
{
@@ -274,10 +276,45 @@ void sendBTData(float heading, float rssi)
#ifdef COMPASS_DEBUG
Serial.println("Sending data: " + data);
#endif
#ifdef BT_MOBILE
pCharacteristic->setValue(data.c_str()); // Set BLE characteristic value
pCharacteristic->notify(); // Notify connected client
}
#endif
}
// Send Scan Result to BLE
void sendBTData(Message &msg)
{
if (msg.type != SCAN_HEADING_MAX && msg.type != SCAN_MAX_RESULT &&
msg.type != SCAN_RESULT)
{
Serial.println("Unsupported message type: " + String(msg.type));
return;
}
String data = "{\"SCAN_RESULT\":{\"Hmin\":" + String(msg.payload.dump.heading_min) +
",\"Hmax\":" + String(msg.payload.dump.heading_max) + ",\"Spectrum\":[";
for (int i = 0; i < msg.payload.dump.sz; i++)
{
data += String(i == 0 ? "" : ",") +
"{\"F\":" + String(msg.payload.dump.freqs_khz[i]) +
",\"R\":" + String(msg.payload.dump.rssis[i]) +
(msg.payload.dump.rssis2 == NULL
? ""
: ",\"R2\":" + String(msg.payload.dump.rssis2[i])) +
"}";
}
data += "]}}";
#ifdef COMPASS_DEBUG
Serial.println("Sending data: " + data);
#endif
#ifdef BT_MOBILE
pCharacteristic->setValue(data.c_str()); // Set BLE characteristic value
pCharacteristic->notify(); // Notify connected client
#endif
}
#ifndef LILYGO
#include <heltec_unofficial.h>
@@ -304,6 +341,7 @@ void sendBTData(float heading, float rssi)
DroneHeading droneHeading;
Compass *compass = NULL;
HeadingSensor &headingSensor = droneHeading;
RadioModule *radio2;
@@ -390,41 +428,14 @@ DFRobot_OSD osd(OSD_CS);
#include "global_config.h"
#include "ui.h"
#ifdef COMPASS_ENABLED
#include <Adafruit_HMC5883_U.h>
#include <Adafruit_Sensor.h>
/* Assign a unique ID to this sensor at the same time */
Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345);
void displaySensorDetails(void)
{
sensor_t sensor;
mag.getSensor(&sensor);
Serial.println("------------------------------------");
Serial.print("Sensor: ");
Serial.println(sensor.name);
Serial.print("Driver Ver: ");
Serial.println(sensor.version);
Serial.print("Unique ID: ");
Serial.println(sensor.sensor_id);
Serial.print("Max Value: ");
Serial.print(sensor.max_value);
Serial.println(" uT");
Serial.print("Min Value: ");
Serial.print(sensor.min_value);
Serial.println(" uT");
Serial.print("Resolution: ");
Serial.print(sensor.resolution);
Serial.println(" uT");
Serial.println("------------------------------------");
Serial.println("");
if (compass == NULL)
return;
Serial.println(compass->selfTest());
heltec_delay(500);
}
// Variables for dynamic calibration
float x_min = 1000, x_max = -1000;
float y_min = 1000, y_max = -1000;
float z_min = 1000, z_max = -1000;
#endif
// -----------------------------------------------------------------
// CONFIGURATION OPTIONS
// -----------------------------------------------------------------
@@ -1149,6 +1160,8 @@ void eventListenerForReport(void *arg, Event &e)
if (e.epoch != frequency_scan_result.last_epoch)
{
frequency_scan_result.dump.sz = 0;
frequency_scan_result.dump.heading_min = -999;
frequency_scan_result.dump.heading_max = -999;
}
if (frequency_scan_result.dump.sz >= frequency_scan_result.readings_sz)
@@ -1196,6 +1209,23 @@ void eventListenerForReport(void *arg, Event &e)
frequency_scan_result.rssi = e.detected.rssi;
}
int16_t heading = headingSensor.heading();
if (heading > -999)
{
if (frequency_scan_result.dump.heading_min == -999)
{
frequency_scan_result.dump.heading_min = heading;
frequency_scan_result.dump.heading_max = heading;
}
else
{
frequency_scan_result.dump.heading_min =
min(frequency_scan_result.dump.heading_min, heading);
frequency_scan_result.dump.heading_max =
min(frequency_scan_result.dump.heading_max, heading);
}
}
return;
}
@@ -1850,32 +1880,14 @@ void setup(void)
r.addEventListener(ALL_EVENTS, eventListenerForReport, NULL);
#ifdef COMPASS_ENABLED
Serial.println("Compass Init Start");
Wire1.end();
Wire1.begin(46, 42);
Serial.println("Compass BEGIN");
Serial.println("HMC5883 Magnetometer Test");
/* Initialise the sensor */
if (!mag.begin())
{
/* There was a problem detecting the HMC5883 ... check your connections */
Serial.println("Ooops, no HMC5883 detected ... Check your wiring!");
}
/* Display some basic information on this sensor */
displaySensorDetails();
Serial.println("Compass Success!!!");
#endif
if (wireDevices & QMC5883L || wire1Devices & QMC5883L)
{
compass = new QMC5883LCompass(wireDevices & QMC5883L ? Wire : Wire1);
}
else if (wireDevices & HMC5883L)
{
compass = new HMC5883LCompass();
}
if (compass)
{
@@ -1888,6 +1900,7 @@ void setup(void)
if (err.startsWith("OK\n"))
{
Serial.printf("Compass self-test passed: %s\n", err.c_str());
headingSensor = *compass;
}
else
{
@@ -2072,7 +2085,8 @@ void routeMessage(RoutedMessage &m)
}
if (m.message->type == MessageType::SCAN_RESULT ||
m.message->type == MessageType::SCAN_MAX_RESULT)
m.message->type == MessageType::SCAN_MAX_RESULT ||
m.message->type == MessageType::SCAN_HEADING_MAX)
{
m.to.host = 1;
return;
@@ -2266,13 +2280,24 @@ void sendMessage(RoutedMessage &m)
break;
case SCAN_RESULT:
case SCAN_MAX_RESULT:
case SCAN_HEADING_MAX:
if (config.is_host)
{
if (msg->type == SCAN_HEADING_MAX)
{
droneHeading.setHeading(millis(),
meanHeading(msg->payload.dump.heading_min,
msg->payload.dump.heading_max));
}
#ifdef DISPLAY_RAW_SCAN
display_raw_scan(m.message->payload.dump);
#else
display_scan_result(m.message->payload.dump);
#endif
if (bleDeviceConnected)
{
sendBTData(*msg);
}
}
break;
case HEADING:
@@ -2386,111 +2411,8 @@ int max_rssi_x = 999;
void doScan();
void reportScan();
long calStart = 0;
#ifdef COMPASS_ENABLED
float getCompassHeading()
{
if (calStart == 0)
{
calStart = millis();
}
/* Get a new sensor event */
sensors_event_t event2;
mag.getEvent(&event2);
sensors_event_t event3;
mag.getEvent(&event3);
#ifdef COMPASS_DEBUG
/* Display the results (magnetic vector values are in micro-Tesla (uT)) */
Serial.print("X: ");
Serial.print(event2.magnetic.x);
Serial.print(" ");
Serial.print("Y: ");
Serial.print(event2.magnetic.y);
Serial.print(" ");
Serial.print("Z: ");
Serial.print(event2.magnetic.z);
Serial.print(" ");
Serial.println("uT");
#endif
// Hold the module so that Z is pointing 'up' and you can measure the heading with
// x&y Calculate heading when the magnetometer is level, then correct for signs of
// axis. float heading = atan2(event.magnetic.y, event.magnetic.x); Use Y as the
// forward axis float heading = atan2(event.magnetic.x, event.magnetic.y);
/// If Z-axis is forward and Y-axis points upward:
// float heading = atan2(event.magnetic.x, event.magnetic.y);
// If Z-axis is forward and X-axis points upward:
// float heading = atan2(event.magnetic.y, -event.magnetic.x);
// heading based on the magnetic readings from the Z-axis (forward) and the X-axis
// (perpendicular to Z, horizontal).
// float heading = atan2(event.magnetic.z, event.magnetic.x);
// Dynamicly Calibrated out
// Read raw magnetometer data
float x = (event2.magnetic.x + event3.magnetic.x) / 2;
float y = (event2.magnetic.y + event3.magnetic.y) / 2;
float z = (event2.magnetic.z + event3.magnetic.z) / 2;
// Doing calibration first 1 minute
if (millis() - calStart < 60000)
{
// Update min/max values dynamically
x_min = min(x_min, x);
x_max = max(x_max, x);
y_min = min(y_min, y);
y_max = max(y_max, y);
z_min = min(z_min, z);
z_max = max(z_max, z);
}
#ifdef COMPASS_DEBUG
Serial.println("x_min:" + String(x_min) + " x_max: " + String(x_max) +
" y_min: " + String(y_min));
#endif
// Calculate offsets and scales in real-time
float x_offset = (x_max + x_min) / 2;
float y_offset = (y_max + y_min) / 2;
float z_offset = (z_max + z_min) / 2;
float x_scale = (x_max - x_min) / 2;
float y_scale = (y_max - y_min) / 2;
float z_scale = (z_max - z_min) / 2;
// Apply calibration to raw data
float calibrated_x = (x - x_offset) / x_scale;
float calibrated_y = (y - y_offset) / y_scale;
float calibrated_z = (z - z_offset) / z_scale;
// Calculate heading using Z-axis forward, X-axis horizontal
float heading = atan2(calibrated_z, calibrated_x);
// Once you have your heading, you must then add your 'Declination Angle', which
// is the 'Error' of the magnetic field in your location. Find yours here:
// http://www.magnetic-declination.com/ Mine is: -13* 2' W, which is ~13 Degrees,
// or (which we need) 0.22 radians If you cannot find your Declination, comment
// out these two lines, your compass will be slightly off.
float declinationAngle = 0.22;
heading += declinationAngle;
// Correct for when signs are reversed.
if (heading < 0)
heading += 2 * PI;
// Check for wrap due to addition of declination.
if (heading > 2 * PI)
heading -= 2 * PI;
// Convert radians to degrees for readability.
float headingDegrees = heading * 180 / M_PI;
return headingDegrees;
}
#endif
void processHeading();
float historicalCompassRssi[STEPS] = {999};
int compassCounter = 0;
@@ -2569,8 +2491,14 @@ void loop(void)
}
#endif
#endif
if (compass != NULL || droneHeading.lastRead() > -1)
{
processHeading();
}
}
#ifdef COMPASS_ENABLED
void processHeading()
{
#if defined(COMPASS_FREQ)
// delay(1000);
display.clear();
@@ -2587,7 +2515,7 @@ void loop(void)
{
// ToDO: fix go to;
compass:
float headingDegrees = getCompassHeading();
float headingDegrees = headingSensor.heading();
// Serial.println("Heading (degrees): " + String(headingDegrees));
#ifndef COMPASS_FREQ
t = 0;
@@ -2625,7 +2553,7 @@ void loop(void)
#else
rssi = getRssi(false);
#endif
float headingDegreesAfter = getCompassHeading();
float headingDegreesAfter = headingSensor.heading();
float compassDiff = abs(headingDegreesAfter - headingDegrees);
if (compassDiff >= 3)
{
@@ -2838,8 +2766,6 @@ void loop(void)
#if defined(COMPASS_FREQ)
display.clear();
#endif // COMPASS_FREQ
#endif // end COMPASS_ENABLED
}
void doScan()
@@ -3411,6 +3337,8 @@ void reportScan()
Message m;
m.type = SCAN_RESULT;
m.payload.dump.sz = 0;
m.payload.dump.rssis2 = NULL;
m.payload.dump.heading_min = -999;
if (config.detection_strategy.equalsIgnoreCase("RSSI"))
{
@@ -3428,6 +3356,13 @@ void reportScan()
{
m.type = SCAN_MAX_RESULT;
m.payload.dump.heading_min = frequency_scan_result.dump.heading_min;
m.payload.dump.heading_max = frequency_scan_result.dump.heading_max;
if (m.payload.dump.heading_min > -999)
{
m.type = SCAN_HEADING_MAX;
}
size_t sz = config.scan_ranges_sz;
m.payload.dump.sz = sz;
m.payload.dump.freqs_khz = new uint32_t[sz];

213
web_app/compass/index.html
View File

@@ -160,36 +160,77 @@
ctx.stroke();
}
// rotate everything relative to angleOffset, in radians
const angleOffset = -Math.round(currentPoint.angle / 5) * 5 * Math.PI / 180;
// Compass lines
for (let angle = 0; angle < 360; angle += 45) {
const rad = (angle * Math.PI) / 180;
ctx.beginPath();
ctx.moveTo(centerX, centerY);
ctx.lineTo(centerX + radius * Math.cos(rad), centerY + radius * Math.sin(rad));
ctx.strokeStyle = "#e0ffe0";
ctx.lineWidth = 1;
ctx.lineTo(centerX + radius * Math.sin(rad + angleOffset), centerY - radius * Math.cos(rad + angleOffset));
ctx.strokeStyle = angle % 90 == 0 ? "white" : "green";
ctx.lineWidth = angle == 0 ? 3 : 1;
ctx.stroke();
}
let lineCoef = 2.5;
var minf = -1, maxf = -1;
dataPoints.forEach(({ spectrum }) => {
if (!spectrum) return;
spectrum.forEach(({ F }) => {
if (minf < 0 || minf > F) minf = F;
maxf = Math.max(maxf, F);
});
});
// Draw data points
dataPoints.forEach(({ angle, rssi }) => {
dataPoints.forEach(({ angle, rssi, t0, spectrum }) => {
if (!currentPoint.spectrum || !spectrum) return;
const rad = (angle * Math.PI) / 180;
//const length = (120 + rssi) / (radius / 2) * radius;
const length = ((120 - 90) + (rssi + 90)) * lineCoef; // Scale RSSI to fit within radar
if (length > radius) {
length = radius;
}
console.log("Length: " + length);
const x = centerX + length * Math.cos(rad);
const y = centerY + length * Math.sin(rad);
if (minf == maxf) {
const length = Math.max(radius - 10, ((120 - 90) + (rssi + 90)) * lineCoef); // Scale RSSI to fit within radar
ctx.beginPath();
ctx.moveTo(centerX, centerY);
ctx.lineTo(x, y);
ctx.strokeStyle = "red";
ctx.lineWidth = 2;
ctx.stroke();
//console.log("Length: " + length);
const x = centerX + length * Math.sin(rad + angleOffset);
const y = centerY - length * Math.cos(rad + angleOffset);
ctx.beginPath();
ctx.moveTo(centerX, centerY);
ctx.lineTo(x, y);
// calculating linear decay factor:
// for 5000 < dt < 45000 - linear decay from 1.0 to 0.5
// for dt outside those - flat 1.0, or flat 0.5
const colorDecay = 1 - Math.min(Math.max((currentPoint.t0 - t0 - 5000) / (2 * 40000), 0), 0.5);
ctx.strokeStyle = `rgba(${Math.trunc(255 * colorDecay)}, ${Math.trunc((1 - colorDecay) * 255)}, ${Math.trunc((1 - colorDecay) * 255)}, 1)`;
ctx.lineWidth = 2;
ctx.stroke();
} else {
// now, here's radical new view:
// colour: the redder it is, the more recent the reading is
// intensity: the more intense it is, the higher the RSSI
// radius: the distance from centre represents frequency for which the reading was made
// angle: direction
spectrum.forEach(({ F, R }) => {
const length = (F - minf) / (maxf - minf) * (radius - 20 - 10) + 20;
ctx.beginPath();
ctx.arc(centerX, centerY, length, rad + angleOffset - 0.5 * Math.PI / 180 - Math.PI / 2, rad + angleOffset + 0.5 * Math.PI / 180 - Math.PI / 2, false);
// calculating linear decay factor:
// for 5000 < dt < 45000 - linear decay from 1.0 to 0.5
// for dt outside those - flat 1.0, or flat 0.5
const colorDecay = 1 - Math.min(Math.max((currentPoint.t0 - t0 - 5000) / (2 * 40000), 0), 0.5);
const colorIntensity = 1 + Math.max(-1, Math.min(0, R + 20) / (70 - 20));
ctx.strokeStyle = `rgba(${Math.trunc(255 * colorDecay)}, ${Math.trunc((1 - colorDecay) * 255)}, ${Math.trunc((1 - colorDecay) * 255)}, ${colorIntensity})`;
ctx.lineWidth = 5;
ctx.stroke();
});
}
});
const maxPoint = dataPoints.reduce((max, point) => (point.rssi > max.rssi ? point : max), { angle: 0, rssi: -120 });
@@ -198,8 +239,8 @@
headingDisplayMAX.textContent = `${maxPoint.angle.toFixed(1)}°`;
rssiDisplayMAX.textContent = `${maxPoint.rssi.toFixed(1)} dBm`;
const maxX = centerX + maxLength * Math.cos(maxRad);
const maxY = centerY + maxLength * Math.sin(maxRad);
const maxX = centerX + maxLength * Math.sin(maxRad + angleOffset);
const maxY = centerY - maxLength * Math.cos(maxRad + angleOffset);
ctx.beginPath();
ctx.moveTo(centerX, centerY);
@@ -212,11 +253,11 @@
const arrowHeadLength = 10;
const arrowAngle = Math.PI / 6; // 30 degrees for the arrowhead
const arrowX1 = maxX - arrowHeadLength * Math.cos(maxRad - arrowAngle);
const arrowY1 = maxY - arrowHeadLength * Math.sin(maxRad - arrowAngle);
const arrowX1 = maxX - arrowHeadLength * Math.sin(maxRad - arrowAngle + angleOffset);
const arrowY1 = maxY + arrowHeadLength * Math.cos(maxRad - arrowAngle + angleOffset);
const arrowX2 = maxX - arrowHeadLength * Math.cos(maxRad + arrowAngle);
const arrowY2 = maxY - arrowHeadLength * Math.sin(maxRad + arrowAngle);
const arrowX2 = maxX - arrowHeadLength * Math.sin(maxRad + arrowAngle + angleOffset);
const arrowY2 = maxY + arrowHeadLength * Math.cos(maxRad + arrowAngle + angleOffset);
ctx.beginPath();
ctx.moveTo(maxX, maxY);
@@ -231,8 +272,8 @@
const currentRad = (currentPoint.angle * Math.PI) / 180;
const currentLength = ((120 + currentPoint.rssi) / (radius / 2)) * radius * 1.2;
const currentX = centerX + currentLength * Math.cos(currentRad);
const currentY = centerY + currentLength * Math.sin(currentRad);
const currentX = centerX + currentLength * Math.sin(currentRad + angleOffset);
const currentY = centerY - currentLength * Math.cos(currentRad + angleOffset);
ctx.beginPath();
ctx.moveTo(centerX, centerY);
@@ -240,6 +281,27 @@
ctx.strokeStyle = "yellow";
ctx.lineWidth = 3;
ctx.stroke();
const headingString = `${currentPoint.angle.toFixed(1)}°`;
const rssiString = `${currentPoint.rssi.toFixed(1)} dBm`;
ctx.fillStyle = "white";
ctx.font = "20px Arial";
const m = ctx.measureText(headingString);
ctx.fillText(headingString, centerX - m.width / 2, 30);
const m1 = ctx.measureText(rssiString);
ctx.fillText(rssiString, centerX - m1.width / 2, 60);
const maxHeadingString = `${maxPoint.angle.toFixed(1)}°`;
const maxRssiString = `${maxPoint.rssi.toFixed(1)} dBm`;
ctx.fillStyle = "blue";
ctx.font = "20px Arial";
const maxOffset = Math.max(m.width, m1.width) * ((currentPoint.angle - maxPoint.angle + 360) % 360 > 180 ? -1 : 1);
const m2 = ctx.measureText(maxHeadingString);
ctx.fillText(maxHeadingString, centerX - m2.width / 2 - maxOffset, 60);
const m3 = ctx.measureText(maxRssiString);
ctx.fillText(maxRssiString, centerX - m3.width / 2 - maxOffset, 90);
}
// Handle canvas hover for pointer change
@@ -327,6 +389,42 @@
document.body.appendChild(promptDiv);
}
function angleDiff(a, b) {
a = (a + 360) % 360;
b = (b + 360) % 360;
if (b < a) {
a += b;
b = a - b;
a -= b;
}
return b - a > 180 ? a + 360 - b : b - a;
}
function simulateRssi(foxes, h_angle) {
const rssis = foxes.map(({ angle, f_mhz, rssi }, i) => {
const fox = angleDiff(angle, h_angle);
return {
f_mhz: f_mhz,
rssi: Math.max(-90, (fox > 35 ? 0 : Math.cos((Math.PI / 2) * fox / 35) * (rssi + 90)) - Math.random() * 3 - 90)
};
});
rssis.sort((a, b) => a.f_mhz - b.f_mhz);
return rssis.reduce((v, fox) => {
if (v.length == 0 || v[v.length - 1].f_mhz != fox.f_mhz) {
v.push(fox);
return v;
}
const prev = v[v.length - 1];
prev.rssi = Math.log(Math.exp(prev.rssi) + Math.exp(fox.rssi));
return v;
}, []);
}
// Parse Bluetooth data
function parseBTData(data) {
// Match the data format and extract the heading and RSSI values
@@ -336,8 +434,33 @@
const heading = parseInt(match[1]);
const rssi = parseFloat(match[2]);
console.log("H:" + heading + " R:" + rssi);
dataPoints[parseInt(heading)] = { angle: parseInt(heading), rssi: rssi };
currentPoint = { angle: parseInt(heading), rssi: rssi };
data = '{"SCAN_RESULT":{"Hmin":' + match[1] + ',"Hmax":' + match[1] + ',"Spectrum":[{"F":0,"R":' + match[2] + '}]}}';
}
try {
data = JSON.parse(data);
} catch (e) {
console.log("Skipping broken JSON:", e, "in", data);
return;
}
if (data["SCAN_RESULT"]) {
scanResult = data["SCAN_RESULT"];
const spectrum = scanResult["Spectrum"];
if (spectrum.length == 0) {
console.log("Skipping scan result with no spectrum:", data);
return;
}
const headingMin = scanResult.Hmin;
const headingMax = scanResult.Hmax;
const heading = ((headingMax + headingMin + 720 + (headingMax - headingMin > 180 ? 360 : 0)) / 2) % 360;
const rssi = spectrum[0]["R"];
const t0 = Date.now();
dataPoints[Math.trunc(heading)] = { angle: heading, rssi: rssi, t0: t0, spectrum: spectrum };
currentPoint = { angle: heading, rssi: rssi, t0: t0, spectrum: spectrum };
//if (dataPoints.length > 50) dataPoints.shift(); // Keep only the last 50 points
headingDisplay.textContent = `${heading.toFixed(1)}°`;
rssiDisplay.textContent = `${rssi.toFixed(1)} dBm`;
@@ -385,18 +508,32 @@
isSimulating = true;
simulateBtn.textContent = "Stop Simulation";
(function simulate() {
dataPoints = [];
for (i = 0; i < 360; i++) {
dataPoints[i] = { angle: i, rssi: -120 };
}
const foxes = [
{ angle: Math.random() * 360, f_mhz: 240, rssi: -60 },
{ angle: Math.random() * 360, f_mhz: 320, rssi: -45 },
{ angle: Math.random() * 360, f_mhz: 120, rssi: -20 },
{ angle: Math.random() * 360, f_mhz: 120, rssi: -35 }
];
(function simulate(foxes, prevAngle, prevRssi) {
if (!isSimulating) return;
const angle = Math.random() * 360;
const rssi = -70 + Math.random() * 30;
dataPoints.push({ angle, rssi });
currentPoint = { angle, rssi };
if (dataPoints.length > 360 * 5) dataPoints.shift();
headingDisplay.textContent = `${angle.toFixed(1)}°`;
rssiDisplay.textContent = `${rssi.toFixed(1)} dBm`;
drawRadar();
setTimeout(simulate, 100);
})();
const angle = (prevAngle - 3 + Math.random() * 7.5) % 360; // bias slightly to scan on
const spectrum = simulateRssi(foxes, angle);
const data = spectrum.length == 1 ? "RSSI_HEADING: '{H:" + angle + ",RSSI:" + spectrum[0].rssi + "}'" : JSON.stringify({
SCAN_RESULT: {
Hmin: Math.min(prevAngle, angle),
Hmax: Math.max(prevAngle, angle),
Spectrum: spectrum.map(({ f_mhz, rssi }) => ({ F: f_mhz, R: rssi }))
}
});
parseBTData(data); // test actual BT data processing
setTimeout(simulate, 100, foxes, angle, rssi);
})(foxes, Math.random() * 360, -70 + Math.random() * 30);
}
});