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Add a sample project for the Arduino Uno #8

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80 changes: 80 additions & 0 deletions MMC_USFS_MAX_Module_Uno_Simple_Host_Utility_v0.0/Alarms.cpp
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/*
* Copyright (c) 2020 Gregory Tomasch. All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to
* deal with 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:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimers.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimers in the
* documentation and/or other materials provided with the distribution.
* 3. The names of Gregory Tomasch and his successors
* may not be used to endorse or promote products derived from this Software
* without specific prior written permission.
*
* 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
* CONTRIBUTORS 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
* WITH THE SOFTWARE.
*/

#include "Arduino.h"
#include "Alarms.h"

Alarms::Alarms()
{
}

/**
* @fn: blink_blueLED(uint8_t num, uint8_t ontime,uint8_t repeat);
*
* @brief: Flashes red LED indicator; blocking function, do not use in main loop
*
* @params: Blinks per ccle, on time, number of cycles
* @returns: void
*/
void Alarms::blink_blueLED(uint8_t num, uint8_t ontime,uint8_t repeat)
{
uint8_t i, r;
for(r=0; r<repeat; r++)
{
for(i=0; i<num; i++)
{
Alarms::toggle_blueLED();
delay(ontime);
}
//wait 60 ms
delay(60);
}
}

/**
* @fn: LED On, off, toggle functions
*
* @brief: Fast direct manipulation functions for green/yellow LED
*
* @params: void
* @returns: void
*/
void Alarms::blueLEDon()
{
LEDPIN_ON;
}

void Alarms::blueLEDoff()
{
LEDPIN_OFF;
}

void Alarms::toggle_blueLED()
{
LEDPIN_TOGGLE;
}
51 changes: 51 additions & 0 deletions MMC_USFS_MAX_Module_Uno_Simple_Host_Utility_v0.0/Alarms.h
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/*
* Copyright (c) 2020 Gregory Tomasch. All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to
* deal with 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:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimers.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimers in the
* documentation and/or other materials provided with the distribution.
* 3. The names of Gregory Tomasch and his successors
* may not be used to endorse or promote products derived from this Software
* without specific prior written permission.
*
* 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
* CONTRIBUTORS 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
* WITH THE SOFTWARE.
*/

#ifndef Alarms_h
#define Alarms_h

#include "def.h"
#include "Types.h"

#define LEDPIN_PINMODE pinMode(LED_PIN, OUTPUT); digitalWrite(LED_PIN, HIGH); // Reverse logic for RGB LED; HIGH = OFF
#define LEDPIN_ON digitalWrite(LED_PIN, LOW);
#define LEDPIN_OFF digitalWrite(LED_PIN, HIGH);
#define LEDPIN_TOGGLE if(digitalRead(LED_PIN)) digitalWrite(LED_PIN, LOW); else digitalWrite(LED_PIN, HIGH);

class Alarms
{
public:
Alarms();
static void blink_blueLED(uint8_t num, uint8_t ontime,uint8_t repeat);
static void toggle_blueLED();
static void blueLEDon();
static void blueLEDoff();
private:
};

#endif // Alarms_h
121 changes: 121 additions & 0 deletions MMC_USFS_MAX_Module_Uno_Simple_Host_Utility_v0.0/Globals.h
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/*
* Copyright (c) 2020 Gregory Tomasch. All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to
* deal with 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:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimers.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimers in the
* documentation and/or other materials provided with the distribution.
* 3. The names of Gregory Tomasch and his successors
* may not be used to endorse or promote products derived from this Software
* without specific prior written permission.
*
* 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
* CONTRIBUTORS 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
* WITH THE SOFTWARE.
*/

#ifndef Globals_h
#define Globals_h

#include "def.h"
#include "Types.h"
#include "IMU.h"
//#include <FS.h>

// Intermediate data handling variables
float sensor_point[3];
int16_t gyroADC[2][3];
int16_t accADC[2][3];
int16_t magADC[2][3];
int32_t baroADC[2];

// Timing variables
uint32_t Begin;
uint32_t Acq_time;
uint32_t Start_time = 0;
float TimeStamp = 0.0f;
uint32_t currentTime = 0;
uint32_t previousTime = 0;
uint8_t serial_input = 0;
uint32_t last_refresh = 0;
uint32_t delt_t = 0;
uint32_t cycleTime = 0; // Main loop time (us)

// Interrupt/state flags
volatile uint8_t data_ready[2] = {1, 1};
volatile uint16_t calibratingG[2] = {0, 0};

// Calibration-related variables
full_adv_cal_t gyrocal[2];
full_adv_cal_t ellipsoid_magcal[2];
full_adv_cal_t accelcal[2];
full_adv_cal_t final_magcal[2];
uint8_t GyroCal_buff[sizeof(full_adv_cal_t)];
uint8_t EllipMagCal_buff[sizeof(full_adv_cal_t)];
uint8_t AccelCal_buff[sizeof(full_adv_cal_t)];
uint8_t FineMagCal_buff[sizeof(full_adv_cal_t)];
float mag_calData[2][3];
float dps_per_count = DPS_PER_COUNT;
float g_per_count = G_PER_COUNT;
float UT_per_Count = MMC5983MA_UT_PER_COUNT;
float Mv_Cal = 0.0f;
float Mh_Cal = 0.0f;
float M_Cal = 0.0f;
float Del_Cal = 0.0f;
uint8_t cube_face = 0;
uint8_t face_rotation = 0;

// USFSMAX-related variables
CoProcessorConfig_t Cfg[2];
uint8_t algostatus[2];
uint8_t eventStatus[2];
int16_t QT_Timestamp[2]; // USFSMAX Quaternion timestamps
uint8_t cfg_buff[sizeof(CoProcessorConfig_t)];
uint8_t EulerQuatFlag = OUTPUT_EULER_ANGLES;
uint8_t ScaledSensorDataFlag = SCALED_SENSOR_DATA;
uint8_t cal_status[2] = {0, 0};
uint8_t gyroCalActive[2] = {0, 0};
uint8_t Quat_flag[2] = {0, 0}; // USFSMAX data ready flags
uint8_t Gyro_flag[2] = {0, 0};
uint8_t Acc_flag[2] = {0, 0};
uint8_t Mag_flag[2] = {0, 0};
uint8_t Baro_flag[2] = {0, 0};
float Rsq = 0.0f;

// IMU-related variables
int16_t accLIN[2][3]; // USFSMAX linear acceleration
int16_t grav[2][3];
float acc_LIN[2][3]; // 9DOF linear acceleration
float Mx[2], My[2]; // Tilt-corrected horizontal magnetic components
float gyroData[2][3] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
float accData[2][3] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
float magData[2][3] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
float qt[2][4] = {1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f}; // USFSMAX quaternions
float QT[2][4] = {1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f}; // 9DOF quaternions
float angle[2][2] = {0.0f, 0.0f, 0.0f, 0.0f}; // USFSMAX P,R Euler angles
float ANGLE[2][2] = {0.0f, 0.0f, 0.0f, 0.0f}; // 9DOF P,R Euler angles
float heading[2] = {0.0f, 0.0f}; // USFSMAX Heading Euler angle
float HEADING[2] = {0.0f, 0.0f}; // 9DOF Heading Euler angle
float GyroMeasError = GYRO_MEAS_ERR*0.01745329252f; // Madgewick fliter (RPS)
float GyroMeasDrift = GYRO_MEAS_ERR*0.01745329252f; // Madgewick filter (RPS/s)
float beta = sqrt(3.0f/4.0f)*GyroMeasError; // Madgewick fliter compute beta
float zeta = sqrt(3.0f/4.0f)*GyroMeasDrift; // Madgewick fliter Compute zeta (Small or zero)
float twoKp = 2.0f*KP_DEF; // Mahony filter 2X proportional gain (Kp)
float twoKi = 2.0f*KI_DEF; // Mahony filter 2X integral gain (Ki)
float integralFBx = 0.0f; // Mahony filter integral error terms
float integralFBy = 0.0f;
float integralFBz = 0.0f;

#endif // Globals_h
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