RP2040 Light MPU based NeoPixel Controller

gistfile1.txt

#include <Arduino.h>
#include <Adafruit_NeoPixel.h>
// #include <I2Cdev.h>
// #include <Wire.h>
#include <MPU6050_6Axis_MotionApps20.h>

// MPU Constants
#define I2C_SCL_PIN 13
#define I2C_SDA_PIN 12
#define MPU_PWR_PIN 15
#define MPU_GND_PIN 14
#define MPU_INT_PIN 11
#define BUFFER_LENGTH 64

#define LED_PIN 9
#define LED_COUNT 10


// Parameter 1 = number of pixels in strip
// Parameter 2 = Arduino pin number (most are valid)
// Parameter 3 = pixel type flags, add together as needed:
//   NEO_KHZ800  800 KHz bitstream (most NeoPixel products w/WS2812 LEDs)
//   NEO_KHZ400  400 KHz (classic 'v1' (not v2) FLORA pixels, WS2811 drivers)
//   NEO_GRB     Pixels are wired for GRB bitstream (most NeoPixel products)
//   NEO_RGB     Pixels are wired for RGB bitstream (v1 FLORA pixels, not v2)
//   NEO_RGBW    Pixels are wired for RGBW bitstream (NeoPixel RGBW products)
Adafruit_NeoPixel strip = Adafruit_NeoPixel(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);

uint8_t brightnessFader = 0;
int lastFade = 0;

// IMPORTANT: To reduce NeoPixel burnout risk, add 1000 uF capacitor across
// pixel power leads, add 300 - 500 Ohm resistor on first pixel's data input
// and minimize distance between Arduino and first pixel.  Avoid connecting
// on a live circuit...if you must, connect GND first.


// MPU Variable/init
MPU6050 mpu;
bool dmpReady = false;
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[BUFFER_LENGTH];
uint32_t frameCounter = 0;

// orientation/motion vars
Quaternion qt;        // [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
float lastReading = 0.0;
uint8_t lastMotion = 0;

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

uint32_t Wheel(byte WheelPos) {
  WheelPos = 255 - WheelPos;
  if(WheelPos < 85) {
    return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
  }
  if(WheelPos < 170) {
    WheelPos -= 85;
    return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
  }
  WheelPos -= 170;
  return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);
}

// Fill the dots one after the other with a color
void colorWipe(uint32_t c, uint8_t wait) {
  for(uint16_t i=0; i<strip.numPixels(); i++) {
    strip.setPixelColor(i, c);
    strip.show();
    delay(wait);
  }
}

void rainbow(uint8_t wait) {
  uint16_t i, j;

  for(j=0; j<256; j++) {
    for(i=0; i<strip.numPixels(); i++) {
      strip.setPixelColor(i, Wheel((i+j) & 255));
    }
    strip.show();
    delay(wait);
  }
}

// Slightly different, this makes the rainbow equally distributed throughout
void rainbowCycle(uint8_t wait) {
  uint16_t i, j;

  for(j=0; j<256*5; j++) { // 5 cycles of all colors on wheel
    for(i=0; i< strip.numPixels(); i++) {
      strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255));
    }
    strip.show();
    delay(wait);
  }
}

//Theatre-style crawling lights.
void theaterChase(uint32_t c, uint8_t wait) {
  for (int j=0; j<10; j++) {  //do 10 cycles of chasing
    for (int q=0; q < 3; q++) {
      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, c);    //turn every third pixel on
      }
      strip.show();

      delay(wait);

      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, 0);        //turn every third pixel off
      }
    }
  }
}

//Theatre-style crawling lights with rainbow effect
void theaterChaseRainbow(uint8_t wait) {
  for (int j=0; j < 256; j++) {     // cycle all 256 colors in the wheel
    for (int q=0; q < 3; q++) {
      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, Wheel( (i+j) % 255));    //turn every third pixel on
      }
      strip.show();

      delay(wait);

      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, 0);        //turn every third pixel off
      }
    }
  }
}

// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
void setup() {
  Serial.begin(115200);
  pinMode(MPU_PWR_PIN, OUTPUT_12MA);
  digitalWrite(MPU_PWR_PIN, LOW);
  pinMode(MPU_GND_PIN, OUTPUT_12MA);
  digitalWrite(MPU_GND_PIN, LOW);
  delay(10);
  digitalWrite(MPU_PWR_PIN, HIGH);
  delay(10);
  Wire.setSDA(I2C_SDA_PIN);
  Wire.setSCL(I2C_SCL_PIN);
  Wire.begin();
  Wire.setClock(400000);
  mpu.initialize();
  // pinMode(INTERRUPT_PIN, INPUT);
  devStatus = mpu.dmpInitialize();
  if (devStatus == 0)
  {
    // Calibration Time: generate offsets and calibrate our MPU6050
    mpu.setFullScaleAccelRange(16);
    mpu.setRate(5);
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(0); 
    // mpu.CalibrateAccel(6);
    // mpu.CalibrateGyro(6);
    mpu.PrintActiveOffsets();
    // turn on the DMP, now that it's ready
    Serial.println(F("Enabling DMP..."));
    mpu.setDMPEnabled(true);

    // enable Arduino interrupt detection
    Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
    // Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
    Serial.println(F(")..."));
    attachInterrupt(digitalPinToInterrupt(MPU_INT_PIN), 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
  {
    // ERROR!
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    // (if it's going to break, usually the code will be 1)
    Serial.print(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
  }

  



  strip.begin();
  strip.setBrightness(128);
  strip.show(); // Initialize all pixels to 'off'
}

void loop() {
    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { 
    mpu.dmpGetQuaternion(&qt, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &qt);
    mpu.dmpGetYawPitchRoll(ypr, &qt, &gravity);
    mpu.dmpGetAccel(&aa, fifoBuffer);
    // Serial.print("\n");
    // Serial.print(qt.w);
    // Serial.print(" ");
    // Serial.print(qt.x);
    // Serial.print(" ");
    // Serial.print(qt.y);
    // Serial.print(" ");
    // Serial.print(qt.z);
    // Serial.print("\t");
    // Serial.print(ypr[1] * 180 / PI);
    // Serial.print("\t");
    // Serial.print(ypr[2] * 180 / PI);
    // Serial.println("");
    }
  // put your main code here, to run repeatedly:
    // Fire2012WithPalette((uint8_t)(abs(qt.w*255)));
  // Some example procedures showing how to display to the pixels:
  // colorWipe(strip.Color((uint8_t)(abs(qt.w*255)), (uint8_t)(abs(qt.x*255)), (uint8_t)(abs(qt.y*255))), 10); // Red
if (brightnessFader > lastMotion && millis() - lastFade > 2) {
  lastFade = millis();
  brightnessFader -= (uint8_t)(pow(brightnessFader, 0.5));
} else {
  brightnessFader = lastMotion;
}
// lastMotion = max((uint8_t)((max(max(abs(aa.x), abs(aa.y)), abs(aa.z)) - 5800) / 32.0), random(4,12));
lastMotion = max((uint8_t)((max(max(abs(aa.x), abs(aa.y)), abs(aa.z)) - 1) / 32.0), random(4,12));
colorWipe(strip.ColorHSV((uint16_t)abs(qt.w*255*255), 255, max(lastMotion, brightnessFader)), 10);
//   colorWipe(strip.Color(0, 255, 0), 50); // Green
//   colorWipe(strip.Color(0, 0, 255), 50); // Blue
// //colorWipe(strip.Color(0, 0, 0, 255), 50); // White RGBW
//   // Send a theater pixel chase in...
//   theaterChase(strip.Color(127, 127, 127), 50); // White
//   theaterChase(strip.Color(127, 0, 0), 50); // Red
//   theaterChase(strip.Color(0, 0, 127), 50); // Blue

//   rainbow(20);
//   rainbowCycle(20);
//   theaterChaseRainbow(50);
}