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--- pm:prj2024:vstoica:alexandru.micu1107 [2024/05/26 22:31]
alexandru.micu1107
+++ pm:prj2024:vstoica:alexandru.micu1107 [2024/05/30 08:46] (current)
alexandru.micu1107
@@ Line 48: / Line 48: @@
 <note tip>
 {{https://i.imgur.com/3iUhPRu.jpeg?600x600}}
 -Arduino UNO Rev3, ATmega328P
@@ Line 64: / Line 65: @@
-<note tip>
 {{https://i.imgur.com/ArHAzHj.png}}
-Descrierea codului aplicaţiei (firmware):
-  * mediu de dezvoltare (if any) (e.g. AVR Studio, CodeVisionAVR)
+ *Medii de dezvoltare: Arduino IDE, Processing
-  * librării şi surse 3rd-party (e.g. Procyon AVRlib)
-  * algoritmi şi structuri pe care plănuiţi să le implementaţi
+ libs:
-  * (etapa 3) surse şi funcţii implementate
+        github.com/bolderflight/invensense-imu
-</note>
+        github.com/adafruit/Adafruit_SSD1306
+        github.com/adafruit/Adafruit_BusIO
+        github.com/adafruit/Adafruit-GFX-Library
 ===== Rezultate Obţinute =====
@@ Line 79: / Line 82: @@
 ===== Concluzii =====
+Proiectul de creare a unui orizont artificial și a unei busole utilizând Arduino și Processing a fost un succes partial, demonstrând capabilitățile senzorului MPU9250 în monitorizarea orientării în spațiu. Implementarea a oferit o experiență vizuală intuitivă și interactivă, utilă atât pentru educație, cât și pentru aplicații practice în domeniul aviației. În viitor, proiectul poate fi extins pentru a include mai multe funcționalități și optimizări.
+Probleme intampinate: nu am reusit sa construiesc o busola care sa redea exact azimutul corect.
 ===== Download =====
@@ Line 86: / Line 90: @@
 Fişierele se încarcă pe wiki folosind facilitatea **Add Images or other files**. Namespace-ul în care se încarcă fişierele este de tipul **:pm:prj20??:c?** sau **:pm:prj20??:c?:nume_student** (dacă este cazul). **Exemplu:** Dumitru Alin, 331CC -> **:pm:prj2009:cc:dumitru_alin**.
+</note>
+==== cod arduino =====
+<note tip>
+#include <Wire.h>
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+#include "mpu9250.h"
+// OLED display settings
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 64
+#define OLED_RESET -1
+#define OLED_I2C_ADDRESS 0x3C
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+// MPU9250 settings
+bfs::Mpu9250 imu;
+// Calibration offsets
+float pitchOffset = 0;
+float rollOffset = 0;
+void setup() {
+    Serial.begin(115200);
+    while (!Serial); // Wait for Serial to be ready
+    Wire.begin();
+    // Initialize the MPU9250 sensor with the primary I2C address
+    imu.Config(&Wire, bfs::Mpu9250::I2C_ADDR_PRIM);
+    imu.Begin();
+    // Optionally configure sensor ranges and other settings
+    imu.ConfigAccelRange(bfs::Mpu9250::ACCEL_RANGE_2G);
+    imu.ConfigGyroRange(bfs::Mpu9250::GYRO_RANGE_250DPS);
+    imu.ConfigDlpfBandwidth(bfs::Mpu9250::DLPF_BANDWIDTH_184HZ);
+    Serial.println("MPU9250 initialized and configured.");
+    // Initialize OLED display
+    if (!display.begin(SSD1306_SWITCHCAPVCC, OLED_I2C_ADDRESS)) {
+        Serial.println(F("SSD1306 allocation failed"));
+        for (;;);
+    }
+    display.display();
+    delay(2000);
+    display.clearDisplay();
+    // Calibration step: capture initial offsets
+    if (imu.Read()) {
+        pitchOffset = atan2(imu.accel_y_mps2(), sqrt(imu.accel_x_mps2() * imu.accel_x_mps2() + imu.accel_z_mps2() * imu.accel_z_mps2())) * 180.0 / PI;
+        rollOffset = atan2(-imu.accel_x_mps2(), imu.accel_z_mps2()) * 180.0 / PI;
+    }
+}
+void loop() {
+    // Update sensor readings
+    if (!imu.Read()) {
+        Serial.println("Failed to read from MPU9250!");
+        return;
+    }
+    // Get accelerometer and gyroscope data
+    float accelX = imu.accel_x_mps2();
+    float accelY = imu.accel_y_mps2();
+    float accelZ = imu.accel_z_mps2();
+    // Get magnetometer data
+    float magX = imu.mag_x_ut();
+    float magY = imu.mag_y_ut();
+    // Calculate pitch, roll, and heading
+    float pitch = atan2(accelY, sqrt(accelX * accelX + accelZ * accelZ)) * 180.0 / PI - pitchOffset;
+    float roll = atan2(-accelX, accelZ) * 180.0 / PI - rollOffset;
+    float heading = atan2(magY, magX) * 180.0 / PI;
+    //Normalize heading between 0-360 degrees
+    if (heading < 0) {
+        heading += 360;
+    }
+    // Normalize roll to be within -180 to 180 degrees
+    if (roll > 180) {
+        roll -= 360;
+    } else if (roll < -180) {
+        roll += 360;
+    }
+    // Display the results on Serial Monitor
+    Serial.print(roll, 2);
+    Serial.print(" ");
+    Serial.print(pitch, 2);
+    Serial.print(" ");
+    Serial.print(heading, 2);
+    Serial.println();
+    // Redraw the horizon and airplane only if pitch or roll changes significantly
+    static float lastPitch = 0;
+    static float lastRoll = 0;
+    static float lastheading = 0;
+    if (abs(lastPitch - pitch) > 0.01 || abs(lastRoll - roll) > 0.01 || abs(lastheading - heading) > 0.01) {
+        display.clearDisplay();  // Clear the display only when necessary
+        drawArtificialHorizon(roll, pitch);
+        drawAirplaneSymbol();
+        drawAzimuth(heading);
+        display.display();
+        lastPitch = pitch;
+        lastRoll = roll;
+        lastheading = heading;
+    }
+}
+void drawArtificialHorizon(float roll, float pitch) {
+    int centerX = SCREEN_WIDTH / 2;
+    int centerY = SCREEN_HEIGHT / 2;
+    // Convert pitch and roll to radians
+    float pitchRad = pitch * PI / 180.0;
+    float rollRad = roll * PI / 180.0;
+    // Calculate the y-position of the horizon line based on pitch
+    int horizonY = centerY - (int)(pitchRad * 33); // scale pitch to screen coordinates
+    // Calculate the x-offset of the horizon line based on roll
+    int rollOffset = (int)(rollRad * (SCREEN_WIDTH / 2)); // scale roll to screen coordinates
+    // Draw the horizon line
+    display.drawLine(0, horizonY + rollOffset, SCREEN_WIDTH, horizonY - rollOffset, SSD1306_WHITE);
+    // Draw perspective lines
+    display.drawLine(0, horizonY + rollOffset, centerX, SCREEN_HEIGHT, SSD1306_WHITE);
+    display.drawLine(SCREEN_WIDTH, horizonY - rollOffset, centerX, SCREEN_HEIGHT, SSD1306_WHITE);
+    // Draw additional lines parallel to the horizon line for perspective effect
+}
+void drawAirplaneSymbol() {
+    int centerX = SCREEN_WIDTH / 2;
+    int centerY = SCREEN_HEIGHT / 2;
+    display.drawLine(centerX - 5, centerY, centerX + 5, centerY, SSD1306_WHITE); // Body
+    display.drawLine(centerX - 10, centerY, centerX - 5, centerY - 3, SSD1306_WHITE); // Left wing up
+    display.drawLine(centerX + 10, centerY, centerX + 5, centerY - 3, SSD1306_WHITE); // Right wing up
+    display.drawLine(centerX - 10, centerY, centerX - 5, centerY + 3, SSD1306_WHITE); // Left wing down
+    display.drawLine(centerX + 10, centerY, centerX + 5, centerY + 3, SSD1306_WHITE); // Right wing down
+    display.drawLine(centerX, centerY - 2, centerX, centerY - 7, SSD1306_WHITE); // Vertical tail
+}
+void drawAzimuth(float heading) {
+    display.setTextSize(1);
+    display.setTextColor(SSD1306_WHITE);
+    display.setCursor(32, 0); // Top center
+    display.print("Bearing: ");
+    display.print(heading, 1);
+}
+</note>
+==== cod processing ====
+<note tip>
+import processing.serial.*;
+float Pitch;
+float Bank;
+float Azimuth;
+float ArtificialHoizonMagnificationFactor = 0.7;
+float CompassMagnificationFactor = 0.85;
+float SpanAngle = 120;
+int NumberOfScaleMajorDivisions;
+int NumberOfScaleMinorDivisions;
+PVector v1, v2;
+Serial port;
+float Phi;
+float Theta;
+float Psi;
+void setup()
+{
+  size(1366, 768);
+  rectMode(CENTER);
+  smooth();
+  strokeCap(SQUARE);
+  println(Serial.list());
+  port = new Serial(this, Serial.list()[0], 115200);
+  port.bufferUntil('\n');
+}
+void draw()
+{
+  background(0, 0, 102); // Dark blue background
+  translate(W / 4, H / 2.1);
+  MakeAnglesDependentOnMPU9250();
+  Horizon();
+  rotate(-Bank);
+  PitchScale();
+  Axis();
+  rotate(Bank);
+  Borders();
+  Plane();
+  Compass();
+}
+void serialEvent(Serial port) // Reading the data by Processing.
+{
+   String input = port.readStringUntil('\n');
+   if (input != null) {
+     input = trim(input);
+     String[] values = split(input, " ");
+     if (values.length == 3) {
+       try {
+         float phi = float(values[0]);
+         float theta = float(values[1]);
+         float psi = float(values[2]);
+         println(phi, theta, psi);
+         Phi = phi;
+         Theta = theta;
+         Psi = psi;
+       } catch (Exception e) {
+         println("Error parsing values: " + e.getMessage());
+       }
+     }
+   }
+}
+void MakeAnglesDependentOnMPU9250()
+{
+  Bank = radians(-Phi); // Convert degrees to radians for Processing
+  Pitch = Theta;
+  Azimuth = Psi;
+}
+void Horizon()
+{
+  scale(ArtificialHoizonMagnificationFactor);
+  noStroke();
+  fill(0, 180, 255);
+  rect(0, -100, 900, 1000);
+  fill(95, 55, 40);
+  pushMatrix(); // Save the current transformation matrix
+  rotate(Bank);
+  rect(0, 400 + Pitch * 10, 900, 800);
+  popMatrix(); // Restore the previous transformation matrix
+  rotate(-PI - PI / 6);
+  SpanAngle = 120;
+  NumberOfScaleMajorDivisions = 12;
+  NumberOfScaleMinorDivisions = 24;
+  CircularScale();
+  rotate(PI + PI / 6);
+  rotate(-PI / 6);
+  CircularScale();
+  rotate(PI / 6);
+}
+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("W", -375, 0, 100, 80);
+  text("E", 370, 0, 100, 80);
+  text("N", 0, -365, 100, 80);
+  text("S", 0, 375, 100, 80);
+  textSize(30);
+  text("COMPASS", 0, -130, 500, 80);
+  rotate(PI / 4);
+  textSize(40);
+  text("NW", -370, 0, 100, 50);
+  text("SE", 365, 0, 100, 50);
+  text("NE", 0, -355, 100, 50);
+  text("SW", 0, 365, 100, 50);
+  rotate(-PI / 4);
+  CompassPointer();
+}
+void CompassPointer()
+{
+  rotate(PI + radians(Azimuth));
+  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(Azimuth));
+}
+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 < NumberOfScaleMinorDivisions + 1; Division++)
+  {
+    an = SpanAngle / 2 + Division * SpanAngle / NumberOfScaleMinorDivisions;
+    DivxPhasorCloser = DivCloserPhasorLenght * cos(radians(an));
+    DivxPhasorDistal = DivDistalPhasorLenght * cos(radians(an));
+    DivyPhasorCloser = DivCloserPhasorLenght * sin(radians(an));
+    DivyPhasorDistal = DivDistalPhasorLenght * sin(radians(an));
+    line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
+  }
+  DivCloserPhasorLenght = GaugeWidth / 2 - GaugeWidth / 10 - StrokeWidth;
+  DivDistalPhasorLenght = GaugeWidth / 2 - GaugeWidth / 7.4 - StrokeWidth;
+  for (int Division = 0; Division < NumberOfScaleMajorDivisions + 1; Division++)
+  {
+    an = SpanAngle / 2 + Division * SpanAngle / NumberOfScaleMajorDivisions;
+    DivxPhasorCloser = DivCloserPhasorLenght * cos(radians(an));
+    DivxPhasorDistal = DivDistalPhasorLenght * cos(radians(an));
+    DivyPhasorCloser = DivCloserPhasorLenght * sin(radians(an));
+    DivyPhasorDistal = DivDistalPhasorLenght * sin(radians(an));
+    if (Division == NumberOfScaleMajorDivisions / 2 || Division == 0 || Division == NumberOfScaleMajorDivisions)
+    {
+      strokeWeight(15);
+      stroke(0);
+      line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
+      strokeWeight(8);
+      stroke(100, 255, 100);
+      line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
+    }
+    else
+    {
+      strokeWeight(3);
+      stroke(255);
+      line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal);
+    }
+  }
+}
+void Axis()
+{
+  stroke(255, 0, 0);
+  strokeWeight(3);
+  line(-115, 0, 115, 0);
+  line(0, 280, 0, -280);
+  fill(100, 255, 100);
+  stroke(0);
+  triangle(0, -285, -10, -255, 10, -255);
+  triangle(0, 285, -10, 255, 10, 255);
+}
+void Borders()
+{
+  noFill();
+  stroke(0);
+  strokeWeight(400);
+  rect(0, 0, 1100, 1100);
+  strokeWeight(200);
+  ellipse(0, 0, 1000, 1000);
+  fill(0);
+  noStroke();
+  rect(4 * W / 5, 0, W, 2 * H);
+  rect(-4 * W / 5, 0, W, 2 * H);
+}
+void PitchScale()
+{
+  stroke(255);
+  fill(255);
+  strokeWeight(3);
+  textSize(24);
+  textAlign(CENTER);
+  for (int i = -4; i < 5; i++)
+  {
+    if ((i == 0) == false)
+    {
+      line(110, 50 * i, -110, 50 * i);
+    }
+    text("" + i * 10, 140, 50 * i, 100, 30);
+    text("" + i * 10, -140, 50 * i, 100, 30);
+  }
+  textAlign(CORNER);
+  strokeWeight(2);
+  for (int i = -9; i < 10; i++)
+  {
+    if ((i == 0) == false)
+    {
+      line(25, 25 * i, -25, 25 * i);
+    }
+  }
+}
 </note>
@@ Line 98: / Line 534: @@
 <note>
 Listă cu documente, datasheet-uri, resurse Internet folosite, eventual grupate pe **Resurse Software** şi **Resurse Hardware**.
+Insipiratie: https://mfurkanbahat.blogspot.com/2014/11/artificial-horizon-and-compass-using.html
+Datasheet mpu9250: https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf
 </note>
 <html><a class="media mediafile mf_pdf" href="?do=export_pdf">Export to PDF</a></html>