Sanal Ufuk - Arduino Processing MPU6050 3DR Telemetri

Merhaba arkadaşlar,

Bu gün literatürde suni ufuk, yapay ufuk olarak da geçen ve benim ise sanal ufuk olarak adlandırmayı daha uygun bulduğum arayüzü processing ile hazırlayıp, insansız hava aracımızdan gelen sensör verilerini yere indirip bu arayüze aktarmaya çalışacağız.

Kullanacağımız sistemi anlatacak olursam, başlıca malzemeler :

• Arduino Nano
• MPU6050
• 3DR Telemetri
• Güç Kaynağı - Pil
• Bağlantı kabloları

İlk olarak Arduino Nano - MPU6050 bağlantısını yaparken dikkat etmemiz gereken pinler SDA, SCL ve INT. Bunlardan ziyade Vcc pinini 3.3 volta, Gnd ise toprağa bağlıyoruz.

• SDA - A4
• SCL - A5
• INT - 2 (Dijital)

Buraya kadar olan kısmı yapıp direkt usb port ile bağlantıyı sağlayabilirsiniz. Tabi ben sistem kablosuz olsun istediğim için telemetri kullandım. Bağlantılarında yapmamız gereken:

• 5V - 5V
• Gnd - Gnd
• Rx Tx
• Tx - Rx

Kullanacağımız arayüz yabancı bir arkadaşın tasarımı, onun kodu üzerinde haberleşme ile ilgili kısımları düzenleyerek MPU6050'ye uyumlu hale getirdim. Arduino- Processing haberleşmesi için serial event fonksiyonunu kullandık, detaylı bilgi edinmek için :

http://mfurkanbahat.blogspot.com.tr/2014/11/serial-event-arduino-processing-3-potlu.html

Kodumuza gelecek olursak öncelikle yapmanız gereken MPU6050 ve i2cdev kütüphanelerini indirmeniz gerekiyor.

Kütüphaneler : http://playground.arduino.cc/Main/MPU-6050

MPU6050 hakkında detaylı bilgi edinmek için : http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A-00v3.4.pdf


Arduino kodumuz :

// M.Furkan Bahat , Kasım 2014
// Ayrıntılı Bilgi için :  http://mfurkanbahat.blogspot.com.tr/

#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

MPU6050 mpu;
#define OUTPUT_READABLE_YAWPITCHROLL
#define LED_PIN 13 
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}

// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
    Serial.begin(57600);
    while (!Serial); // wait for Leonardo enumeration, others continue immediately
    mpu.initialize();
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        //Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        attachInterrupt(0, dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        //Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);
}

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

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

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

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

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

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

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

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

        #ifdef OUTPUT_READABLE_QUATERNION
            // display quaternion values in easy matrix form: w x y z
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            Serial.print("quat\t");
            Serial.print(q.w);
            Serial.print("\t");
            Serial.print(q.x);
            Serial.print("\t");
            Serial.print(q.y);
            Serial.print("\t");
            Serial.println(q.z);
        #endif

        #ifdef OUTPUT_READABLE_EULER
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetEuler(euler, &q);
            Serial.print("euler\t");
            Serial.print(euler[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(euler[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(euler[2] * 180/M_PI);
        #endif

        #ifdef OUTPUT_READABLE_YAWPITCHROLL
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
            //Serial.print("Phi: ");
            Serial.print(ypr[2] * 18/M_PI);
            //Serial.print("\t theta: ");
            Serial.print(" ");
            Serial.print(ypr[1] * 180/M_PI);
            //Serial.print("\t Psi: ");
            Serial.print(" ");
            Serial.println(ypr[0] * 180/M_PI);
            //delay(100);
        #endif

        #ifdef OUTPUT_READABLE_REALACCEL
            // display real acceleration, adjusted to remove gravity
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            Serial.print("areal\t");
            Serial.print(aaReal.x);
            Serial.print("\t");
            Serial.print(aaReal.y);
            Serial.print("\t");
            Serial.println(aaReal.z);
        #endif

        #ifdef OUTPUT_READABLE_WORLDACCEL
            // display initial world-frame acceleration, adjusted to remove gravity
            // and rotated based on known orientation from quaternion
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
            Serial.print("aworld\t");
            Serial.print(aaWorld.x);
            Serial.print("\t");
            Serial.print(aaWorld.y);
            Serial.print("\t");
            Serial.println(aaWorld.z);
        #endif
    
        #ifdef OUTPUT_TEAPOT
            // display quaternion values in InvenSense Teapot demo format:
            teapotPacket[2] = fifoBuffer[0];
            teapotPacket[3] = fifoBuffer[1];
            teapotPacket[4] = fifoBuffer[4];
            teapotPacket[5] = fifoBuffer[5];
            teapotPacket[6] = fifoBuffer[8];
            teapotPacket[7] = fifoBuffer[9];
            teapotPacket[8] = fifoBuffer[12];
            teapotPacket[9] = fifoBuffer[13];
            Serial.write(teapotPacket, 14);
            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
        #endif

        // blink LED to indicate activity
        blinkState = !blinkState;
        digitalWrite(LED_PIN, blinkState);
    }
}

Processing kodumuz :

//Adrian Fernandez'e teşekkürler.
//Haberleşme bölümü güncellendi. M.Furkan Bahat-Kasım 2014
//Ayrıntılı bilgi için :  http://mfurkanbahat.blogspot.com.tr/

import processing.serial.*;
import cc.arduino.*;


int W=1400; //Ekranımızın uzunluğu 
int H=700;  //Ekranımızın genişliği
float Egim; 
float Yatma; 
float GuneyAcisi; 
float ArtificialHoizonMagnificationFactor=0.7; 
float CompassMagnificationFactor=0.85; 
float SpanAngle=120; 
int NumberOfScaleMajorDivisions; 
int NumberOfScaleMinorDivisions; 
PVector v1, v2; 


Serial port;
float Phi;    //Dimensional axis
float Theta;
float Psi;

void setup() 
{ 
  size(W, H); 
  rectMode(CENTER); 
  smooth(); 
  //strokeCap(SQUARE);//Optional 
  
  println(Serial.list()); //Shows your connected serial ports
  //port = new Serial(this, "COM20", 57600); 
  port = new Serial(this, Serial.list()[0], 57600); 
  //Up there you should select port which arduino connected and same baud rate.
  port.bufferUntil('\n'); 
}
void draw() 
{ 
  background(0); 
  translate(W/4, H/2.1);  
  MakeAnglesDependentOnMPU6050(); 
  Horizon(); 
  rotate(-Yatma); 
  EgimScale(); 
  Axis(); 
  rotate(Yatma); 
  Borders(); 
  Plane(); 
  ShowAngles(); 
  Compass(); 
  ShowGuneyAcisi(); 
}
void serialEvent(Serial port) //Reading the datas by Processing.
{
   String input = port.readStringUntil('\n');
  if(input != null){
   input = trim(input);
  String[] values = split(input, " ");
 if(values.length == 3){
  float phi = float(values[0]);
  float theta = float(values[1]); 
  float psi = float(values[2]); 
  print(phi);
  print(theta);
  println(psi);
  Phi = phi;
  Theta = theta;
  Psi = psi;
  
   }
  }
}
void MakeAnglesDependentOnMPU6050() 
{ 
  Yatma =-Phi/5; 
  Egim=Theta*10; 
  GuneyAcisi=Psi;
}
void Horizon() 
{ 
  scale(ArtificialHoizonMagnificationFactor); 
  noStroke(); 
  fill(0, 180, 255); 
  rect(0, -100, 900, 1000); 
  fill(95, 55, 40); 
  rotate(-Yatma); 
  rect(0, 400+Egim, 900, 800); 
  rotate(Yatma); 
  rotate(-PI-PI/6); 
  SpanAngle=120; 
  NumberOfScaleMajorDivisions=12; 
  NumberOfScaleMinorDivisions=24;  
  CircularScale(); 
  rotate(PI+PI/6); 
  rotate(-PI/6);  
  CircularScale(); 
  rotate(PI/6); 
}
void ShowGuneyAcisi() 
{ 
  fill(50); 
  noStroke(); 
  rect(20, 470, 440, 50); 
  int GuneyAcisi1=round(GuneyAcisi); 
  textAlign(CORNER); 
  textSize(35); 
  fill(255); 
  text("GuneyAcisi:  "+GuneyAcisi1+" Deg", 80, 477, 500, 60); 
  textSize(40);
  fill(25,25,150);
  text("M.Furkan Bahat", -350, 477, 500, 60); 
}
void Compass() 
{ 
  translate(2*W/3, 0); 
  scale(CompassMagnificationFactor); 
  noFill(); 
  stroke(100); 
  strokeWeight(80); 
  ellipse(0, 0, 750, 750); 
  strokeWeight(50); 
  stroke(50); 
  fill(0, 0, 40); 
  ellipse(0, 0, 610, 610); 
  for (int k=255;k>0;k=k-5) 
  { 
    noStroke(); 
    fill(0, 0, 255-k); 
    ellipse(0, 0, 2*k, 2*k); 
  } 
  strokeWeight(20); 
  NumberOfScaleMajorDivisions=18; 
  NumberOfScaleMinorDivisions=36;  
  SpanAngle=180; 
  CircularScale(); 
  rotate(PI); 
  SpanAngle=180; 
  CircularScale(); 
  rotate(-PI); 
  fill(255); 
  textSize(60); 
  textAlign(CENTER); 
  text("B", -375, 0, 100, 80); 
  text("D", 370, 0, 100, 80); 
  text("K", 0, -365, 100, 80); 
  text("G", 0, 375, 100, 80); 
  textSize(30); 
  text("PUSULA", 0, -130, 500, 80); 
  rotate(PI/4); 
  textSize(40); 
  text("KB", -370, 0, 100, 50); 
  text("GD", 365, 0, 100, 50); 
  text("KD", 0, -355, 100, 50); 
  text("GB", 0, 365, 100, 50);
  rotate(-PI/4); 
  CompassPointer(); 
}
void CompassPointer() 
{ 
  rotate(PI+radians(GuneyAcisi));  
  stroke(0); 
  strokeWeight(4); 
  fill(100, 255, 100); 
  triangle(-20, -210, 20, -210, 0, 270); 
  triangle(-15, 210, 15, 210, 0, 270); 
  ellipse(0, 0, 45, 45);   
  fill(0, 0, 50); 
  noStroke(); 
  ellipse(0, 0, 10, 10); 
  triangle(-20, -213, 20, -213, 0, -190); 
  triangle(-15, -215, 15, -215, 0, -200); 
  rotate(-PI-radians(GuneyAcisi)); 
}
void Plane() 
{ 
  fill(0); 
  strokeWeight(1); 
  stroke(0, 255, 0); 
  triangle(-20, 0, 20, 0, 0, 25); 
  rect(110, 0, 140, 20); 
  rect(-110, 0, 140, 20); 
}
void CircularScale() 
{ 
  float GaugeWidth=800;  
  textSize(GaugeWidth/30); 
  float StrokeWidth=1; 
  float an; 
  float DivxPhasorCloser; 
  float DivxPhasorDistal; 
  float DivyPhasorCloser; 
  float DivyPhasorDistal; 
  strokeWeight(2*StrokeWidth); 
  stroke(255);
  float DivCloserPhasorLenght=GaugeWidth/2-GaugeWidth/9-StrokeWidth; 
  float DivDistalPhasorLenght=GaugeWidth/2-GaugeWidth/7.5-StrokeWidth;
  for (int Division=0;Division

İyi çalışmalar dilerim (: