361 lines
11 KiB
C++
361 lines
11 KiB
C++
#include <Arduino.h>
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#include <lcdgfx.h>
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#include <FastTrig.h>
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#include "I2Cdev.h"
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// #include "MPU6050_6Axis_MotionApps20.h"
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#include "MPU6050_6Axis_MotionApps612.h"
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DisplaySSD1306_128x64_I2C display(-1);
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MPU6050 mpu;
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// Simulation constants
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#define SIM_WIDTH 128
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#define SIM_HEIGHT 64
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#define NUM_PARTICLES 1000
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#define PARTICLE_RADIUS 2
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#define GRAVITY 1.0f
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#define DAMPING 0.4f
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#define PRESSURE_RADIUS 3.5f
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#define PRESSURE_FORCE 0.9f
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#define MAX_VEL 1.0f
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#define IMU_ADDRESS 0x68
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#define OUTPUT_READABLE_YAWPITCHROLL
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#define LED 2
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// I2C device found at address 0x3C ! // OLED
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// I2C device found at address 0x68 ! // IMU
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typedef float f32 __attribute__((aligned(4)));
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struct Particle {
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f32 x, y;
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f32 vx, vy;
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};
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inline float fast_sqrt(float x) {
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union { float f; uint32_t i; } u;
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u.f = x;
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u.i = 0x5f375a86 - (u.i >> 1);
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return u.f * (1.5f - 0.5f * x * u.f * u.f);
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}
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Particle particles[NUM_PARTICLES];
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uint8_t canvasData[SIM_WIDTH*(SIM_HEIGHT/8)]; // because of 1bit display, not RGB
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NanoCanvas1 canvas(SIM_WIDTH, SIM_HEIGHT, canvasData);
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#define GRID_SIZE 16
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#define CELL_SIZE (SIM_WIDTH/GRID_SIZE)
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int const INTERRUPT_PIN = 18;
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/*---MPU6050 Control/Status Variables---*/
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bool DMPReady = false; // Set true if DMP init was successful
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uint8_t MPUIntStatus; // Holds actual interrupt status byte from MPU
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uint8_t devStatus; // Return status after each device operation (0 = success, !0 = error)
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uint16_t packetSize; // Expected DMP packet size (default is 42 bytes)
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uint8_t FIFOBuffer[64]; // FIFO storage buffer
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/*---Orientation/Motion Variables---*/
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Quaternion q; // [w, x, y, z] Quaternion container
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VectorInt16 aa; // [x, y, z] Accel sensor measurements
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VectorInt16 gy; // [x, y, z] Gyro sensor measurements
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VectorInt16 aaReal; // [x, y, z] Gravity-free accel sensor measurements
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VectorInt16 aaWorld; // [x, y, z] World-frame accel sensor measurements
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VectorFloat gravity; // [x, y, z] Gravity vector
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uint16_t fifoCount;
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float euler[3]; // [psi, theta, phi] Euler angle container
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float ypr[3]; // [yaw, pitch, roll] Yaw/Pitch/Roll container and gravity vector
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/*------Interrupt detection routine------*/
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volatile bool MPUInterrupt = true; // Indicates whether MPU6050 interrupt pin has gone high
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void DMPDataReady() {
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MPUInterrupt = true;
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}
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struct GridCell {
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uint8_t particles[10];
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uint8_t count;
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};
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GridCell grid[GRID_SIZE][GRID_SIZE];
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bool blinkState;
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void buildSpatialGrid() {
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memset(grid, 0, sizeof(grid));
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for(int i=0; i<NUM_PARTICLES; i++) {
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#ifdef __AVR__
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float x = TO_FLOAT(particles[i].x);
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float y = TO_FLOAT(particles[i].y);
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#else
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float x = particles[i].x;
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float y = particles[i].y;
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#endif
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int gx = constrain(x / CELL_SIZE, 0, GRID_SIZE-1);
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int gy = constrain(y / CELL_SIZE, 0, GRID_SIZE-1);
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if(grid[gx][gy].count < 10) {
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grid[gx][gy].particles[grid[gx][gy].count++] = i;
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}
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}
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}
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void setup() {
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// String str; // Hhack
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Serial.begin(38400);
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while (!Serial) {
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;
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}
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Serial.println("Initializing MPU...");
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/*--Start I2C interface--*/
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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Wire.begin();
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#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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Fastwire::setup(400, true);
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#endif
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mpu.initialize();
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pinMode(INTERRUPT_PIN, INPUT);
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pinMode(LED,OUTPUT);
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Serial.println("Testing MPU6050 connection...");
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// if(mpu.testConnection() == false){
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// Serial.println("MPU6050 connection failed");
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// while(true);
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// }
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// else{
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devStatus = mpu.dmpInitialize();
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Serial.println("MPU6050 connection successful");
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mpu.setSleepEnabled(false);
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mpu.setStandbyXAccelEnabled(false);
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mpu.setStandbyYAccelEnabled(false);
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mpu.setStandbyZAccelEnabled(false);
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mpu.setDHPFMode(0);
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mpu.setIntMotionEnabled(true);
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mpu.setMotionDetectionDuration(1);
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mpu.setMotionDetectionThreshold(20);
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mpu.setXGyroOffset(-69);
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mpu.setYGyroOffset(-48);
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mpu.setZGyroOffset(-19);
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mpu.setXAccelOffset(-5158);
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mpu.setYAccelOffset(-4576);
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mpu.setZAccelOffset(7687);
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mpu.CalibrateAccel(6); // Calibration Time: generate offsets and calibrate our MPU6050
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mpu.CalibrateGyro(6);
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Serial.println("These are the Active offsets: ");
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mpu.PrintActiveOffsets();
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Serial.println(F("Enabling DMP...")); //Turning ON DMP
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mpu.setDMPEnabled(true);
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delay(100);
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mpu.setDHPFMode(7);
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mpu.setWakeFrequency(5);
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mpu.setWakeCycleEnabled(true);
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/*Enable Arduino interrupt detection*/
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Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
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Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
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Serial.println(F(")..."));
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attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), DMPDataReady, RISING);
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MPUIntStatus = mpu.getIntStatus();
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Serial.println(MPUIntStatus);
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Serial.println(devStatus);
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/* Set the DMP Ready flag so the main loop() function knows it is okay to use it */
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Serial.println(F("DMP ready! Waiting for first interrupt..."));
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DMPReady = true;
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packetSize = mpu.dmpGetFIFOPacketSize(); //Get expected DMP packet size for later comparison
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// }
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// setup display
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display.begin();
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display.clear();
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canvas.setMode(CANVAS_MODE_TRANSPARENT);
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// Initialize particles in a droplet pattern
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float cx = SIM_WIDTH/2;
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float cy = SIM_HEIGHT/4;
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for(int i=0; i<NUM_PARTICLES; i++) {
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float angle = random(360) * PI / 180.0;
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float radius = random(10);
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particles[i].x = cx + icos(angle) * radius;
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particles[i].y = cy + isin(angle) * radius;
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particles[i].vx = random(-50,50)/25.0; // -2 to +2
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particles[i].vy = random(-25,50)/25.0; // -1 to +2
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//Serial.print("\nParticle ");
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//Serial.print(i);
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//Serial.print(" done");
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}
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}
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void applyPhysics() {
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// Build spatial grid
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buildSpatialGrid();
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// Interactions using grid
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const float PRESSURE_RADIUS_SQ = PRESSURE_RADIUS * PRESSURE_RADIUS;
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for(int i=0; i<NUM_PARTICLES; i++) {
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const int gx = particles[i].x / CELL_SIZE;
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const int gy = particles[i].y / CELL_SIZE;
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// Check 3x3 grid around particle
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for(int dx=-1; dx<=1; dx++) {
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for(int dy=-1; dy<=1; dy++) {
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if(gx+dx < 0 || gx+dx >= GRID_SIZE) continue;
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if(gy+dy < 0 || gy+dy >= GRID_SIZE) continue;
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GridCell &cell = grid[gx+dx][gy+dy];
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for(int c=0; c<cell.count; c++) {
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const int j = cell.particles[c];
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if(j <= i) continue; // Avoid duplicate pairs
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const float dx = particles[j].x - particles[i].x;
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const float dy = particles[j].y - particles[i].y;
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const float dist_sq = dx*dx + dy*dy;
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if(dist_sq < PRESSURE_RADIUS_SQ && dist_sq > 0.01f) {
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const float dist = fast_sqrt(dist_sq) + 0.001f;
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const float force = PRESSURE_FORCE * (1.0f - dist/PRESSURE_RADIUS);
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// Only apply horizontal forces to preserve gravity
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particles[i].vx -= force * dx/dist;
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particles[j].vx += force * dx/dist;
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// Reduce vertical force impact
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particles[i].vy -= force * dy/dist * 0.3f;
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particles[j].vy += force * dy/dist * 0.3f;
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}
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}
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}
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}
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}
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// Gravity and movement
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for(int i=0; i<NUM_PARTICLES; i++) {
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particles[i].vy += GRAVITY;
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particles[i].x += particles[i].vx;
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particles[i].y += particles[i].vy;
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particles[i].vx = constrain(particles[i].vx, -MAX_VEL, MAX_VEL);
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particles[i].vy = constrain(particles[i].vy, -MAX_VEL, MAX_VEL);
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// X-axis
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if(particles[i].x <= 0 || particles[i].x >= SIM_WIDTH-1) {
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particles[i].vx *= -DAMPING;
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particles[i].x = constrain(particles[i].x, 1, SIM_WIDTH-2);
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}
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// Y-axis
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if(particles[i].y <= 0 || particles[i].y >= SIM_HEIGHT-1) {
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particles[i].vy *= -DAMPING;
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particles[i].y = constrain(particles[i].y, 1, SIM_HEIGHT-2);
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}
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}
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}
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// Direct canvas buffer access (replace drawParticles)
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void drawParticles() {
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// Clear canvas by direct memory access
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memset(canvasData, 0, sizeof(canvasData));
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// canvas.clear();
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for(int i=0; i<NUM_PARTICLES; i++) {
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int x = constrain(static_cast<int>(particles[i].x + 0.5f), 0, SIM_WIDTH-1);
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int y = constrain(static_cast<int>(particles[i].y + 0.5f), 0, SIM_HEIGHT-1);
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#if PARTICLE_RADIUS == 1
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canvas.putPixel(x, y);
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#else
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canvas.drawCircle(x,y,PARTICLE_RADIUS-1);
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#endif
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}
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display.drawCanvas(0,0,canvas);
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}
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void reportIMU() {
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if (!DMPReady) return; // Stop the program if DMP programming fails.
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if (!MPUInterrupt) return;
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MPUIntStatus = mpu.getIntStatus();
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/* Read a packet from FIFO */
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fifoCount = mpu.getFIFOCount();
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// check for overflow (this should never happen unless our code is too inefficient)
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if ((MPUIntStatus & 0x10) || fifoCount == 1024) {
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// reset so we can continue cleanly
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mpu.resetFIFO();
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Serial.println(F("FIFO overflow!, giro descompensat!!"));
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Serial.print("&");
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// otherwise, check for DMP data ready interrupt (this should happen frequently)
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}
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else if (MPUIntStatus & 0x02) {
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if (mpu.dmpGetCurrentFIFOPacket(FIFOBuffer)) { // Get the Latest packet
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#ifdef OUTPUT_READABLE_YAWPITCHROLL
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/* Display Euler angles in degrees */
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mpu.dmpGetQuaternion(&q, FIFOBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
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Serial.print("ypr\t");
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Serial.print(ypr[0] * 180/M_PI);
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Serial.print("\t");
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Serial.print(ypr[1] * 180/M_PI);
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Serial.print("\t");
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Serial.println(ypr[2] * 180/M_PI);
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#endif
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#ifdef OUTPUT_READABLE_QUATERNION
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/* Display Quaternion values in easy matrix form: [w, x, y, z] */
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mpu.dmpGetQuaternion(&q, FIFOBuffer);
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Serial.print("quat\t");
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Serial.print(q.w);
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Serial.print("\t");
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Serial.print(q.x);
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Serial.print("\t");
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Serial.print(q.y);
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Serial.print("\t");
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Serial.println(q.z);
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#endif
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#ifdef OUTPUT_READABLE_WORLDACCEL
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/* Display initial world-frame acceleration, adjusted to remove gravity
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and rotated based on known orientation from Quaternion */
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mpu.dmpGetQuaternion(&q, FIFOBuffer);
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mpu.dmpGetAccel(&aa, FIFOBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
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Serial.print("aworld\t");
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Serial.print(aaWorld.x);
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Serial.print("\t");
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Serial.print(aaWorld.y);
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Serial.print("\t");
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Serial.println(aaWorld.z);
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#endif
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/* Blink LED to indicate activity */
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blinkState = !blinkState;
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digitalWrite(LED, blinkState);
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}
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}
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MPUInterrupt = false;
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}
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void loop() {
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static uint32_t last_frame = 0;
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//lcd_delay(5000);
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drawParticles();
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//delay(1000);
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if(millis() - last_frame >= 33) {
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last_frame = millis();
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applyPhysics();
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reportIMU();
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} else {
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lcd_delay(millis() - last_frame);
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}
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}
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