Code of Flight Rocket Computer

FlightComputerCode

#define ALTITUDE_START

#include <Wire.h>
#include <SoftwareSerial.h>
#include <SPI.h>

// Gyro globals
const int MPU_addr=0x68;  // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

// buzzer globals;
const int PIN_BUZZER = 6;


void setup()
{
  Serial.begin(9600);
  init_buzzer();
  init_gyro();
  // beep(frequency, standard_delay); // make beep, mark init completed
  Serial.println("Init completed, waiting for rocket start");
}


/* Init functions */
void init_gyro()
{
  // Wire.write(0x6B);  // PWR_MGMT_1 register
  // Wire.write(0x80); --> 0x80 SLEEP
  // Wire.write(0);     // set to zero (wakes up the MPU-6050)
  // Configure Accelerometer Sensitivity - Full Scale Range (default +/- 2g)
  // 2g --> 0x00, 4g --> 0x08, 8g --> 0x10, 16g --> 0x18
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x1C); // Talk to the ACCEL_CONFIG register (1C hex)
  Wire.write(0x18);
  Wire.endTransmission(true);
  Serial.println("Gyro start");
}

void init_buzzer()
{
  pinMode(PIN_BUZZER, INPUT);
  Serial.println("Buzzer pin set");
}


/* Execution functions */
void init_flight()
{
  // rescue_beep();
  /* Serial.print(millis());
  Serial.print(","); */
  Serial.print(get_gyro_data());
  Serial.print("\n");
}


String get_gyro_data() {
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers
  // AcX=Wire.read()<<8|Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
  // AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  // AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  // GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  // GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  String retVal = "90, " + String(AcX) + "°," + String(AcY) + "°," + String(AcZ) + "°," + String(GyX) + "," + String(GyY) + "," + String(GyZ) + ", -90";z
  return retVal;
}

void rescue_beep() {
  tone(PIN_BUZZER, 1100);
  delay(70);

  noTone(PIN_BUZZER);
  delay(135);

  tone(PIN_BUZZER, 1100);
  delay(70);

  noTone(PIN_BUZZER);
  delay(135);

  tone(PIN_BUZZER, 1300);
  delay(70);

  noTone(PIN_BUZZER);
  delay(190);

  tone(PIN_BUZZER, 1300);
  delay(70);

  noTone(PIN_BUZZER);
  delay(260);
}

void loop() {
  init_flight();
  // stop_flight();
}

void stop_flight()
{
    Serial.println("Landed, saving data and call for recovery");
}