Hello,
Can you explain me how I can translate my arduino uno code onto the arduino mega?
Thank you.
You will need to show the forum your code.
Have tried simply changing the target processor in the IDE?
Your post was MOVED to it's current location as it is more suitable.
Could you also take a few moments to Learn How To Use The Forum.
Other general help and troubleshooting advice can be found here.
It will help you get the best out of the forum in the future.
Thanks for your answer, this is my code. It's for calibrate my drone.
///////////////////////////////////////////////////////////////////////////////////////
//Terms of use
///////////////////////////////////////////////////////////////////////////////////////
//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
//AUTHORS 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 IN
//THE SOFTWARE.
//
///////////////////////////////////////////////////////////////////////////////////////
//Safety note
///////////////////////////////////////////////////////////////////////////////////////
//Always remove the propellers and stay away from the motors unless you
//are 100% certain of what you are doing.
///////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////
//The program will start in calibration mode.
//Send the following characters / numbers via the serial monitor to change the mode
//
//r = print receiver signals.
//a = print quadcopter angles.
//1 = check rotation / vibrations for motor 1 (right front CCW).
//2 = check rotation / vibrations for motor 2 (right rear CW).
//3 = check rotation / vibrations for motor 3 (left rear CCW).
//4 = check rotation / vibrations for motor 4 (left front CW).
//5 = check vibrations for all motors together.
#include <Wire.h> //Include the Wire.h library so we can communicate with the gyro.
#include <EEPROM.h> //Include the EEPROM.h library so we can store information onto the EEPROM
//Declaring global variables
byte last_channel_1, last_channel_2, last_channel_3, last_channel_4;
byte eeprom_data[36], start, data;
boolean new_function_request,first_angle;
volatile int receiver_input_channel_1, receiver_input_channel_2, receiver_input_channel_3, receiver_input_channel_4;
int esc_1, esc_2, esc_3, esc_4;
int counter_channel_1, counter_channel_2, counter_channel_3, counter_channel_4;
int receiver_input[5];
int loop_counter, gyro_address, vibration_counter;
int temperature;
long acc_x, acc_y, acc_z, acc_total_vector[20], acc_av_vector, vibration_total_result;
unsigned long timer_channel_1, timer_channel_2, timer_channel_3, timer_channel_4, esc_timer, esc_loop_timer;
unsigned long zero_timer, timer_1, timer_2, timer_3, timer_4, current_time;
int acc_axis[4], gyro_axis[4];
double gyro_pitch, gyro_roll, gyro_yaw;
float angle_roll_acc, angle_pitch_acc, angle_pitch, angle_roll;
int cal_int;
double gyro_axis_cal[4];
//Setup routine
void setup(){
Serial.begin(57600); //Start the serial port.
Wire.begin(); //Start the wire library as master
TWBR = 12; //Set the I2C clock speed to 400kHz.
//Arduino Uno pins default to inputs, so they don't need to be explicitly declared as inputs.
DDRD |= B11110000; //Configure digital poort 4, 5, 6 and 7 as output.
DDRB |= B00010000; //Configure digital poort 12 as output.
PCICR |= (1 << PCIE0); // set PCIE0 to enable PCMSK0 scan.
PCMSK0 |= (1 << PCINT0); // set PCINT0 (digital input 8) to trigger an interrupt on state change.
PCMSK0 |= (1 << PCINT1); // set PCINT1 (digital input 9)to trigger an interrupt on state change.
PCMSK0 |= (1 << PCINT2); // set PCINT2 (digital input 10)to trigger an interrupt on state change.
PCMSK0 |= (1 << PCINT3); // set PCINT3 (digital input 11)to trigger an interrupt on state change.
for(data = 0; data <= 35; data++)eeprom_data[data] = EEPROM.read(data); //Read EEPROM for faster data access
gyro_address = eeprom_data[32]; //Store the gyro address in the variable.
set_gyro_registers(); //Set the specific gyro registers.
//Check the EEPROM signature to make sure that the setup program is executed.
while(eeprom_data[33] != 'J' || eeprom_data[34] != 'M' || eeprom_data[35] != 'B'){
delay(500); //Wait for 500ms.
digitalWrite(12, !digitalRead(12)); //Change the led status to indicate error.
}
wait_for_receiver(); //Wait until the receiver is active.
zero_timer = micros(); //Set the zero_timer for the first loop.
while(Serial.available())data = Serial.read(); //Empty the serial buffer.
data = 0; //Set the data variable back to zero.
}
//Main program loop
void loop(){
while(zero_timer + 4000 > micros()); //Start the pulse after 4000 micro seconds.
zero_timer = micros(); //Reset the zero timer.
if(Serial.available() > 0){
data = Serial.read(); //Read the incomming byte.
delay(100); //Wait for any other bytes to come in
while(Serial.available() > 0)loop_counter = Serial.read(); //Empty the Serial buffer.
new_function_request = true; //Set the new request flag.
loop_counter = 0; //Reset the loop_counter variable.
cal_int = 0; //Reset the cal_int variable to undo the calibration.
start = 0; //Set start to 0.
first_angle = false; //Set first_angle to false.
//Confirm the choice on the serial monitor.
if(data == 'r')Serial.println("Reading receiver signals.");
if(data == 'a')Serial.println("Print the quadcopter angles.");
if(data == 'a')Serial.println("Gyro calibration starts in 2 seconds (don't move the quadcopter).");
if(data == '1')Serial.println("Test motor 1 (right front CCW.)");
if(data == '2')Serial.println("Test motor 2 (right rear CW.)");
if(data == '3')Serial.println("Test motor 3 (left rear CCW.)");
if(data == '4')Serial.println("Test motor 4 (left front CW.)");
if(data == '5')Serial.println("Test all motors together");
//Let's create a small delay so the message stays visible for 2.5 seconds.
//We don't want the ESC's to beep and have to send a 1000us pulse to the ESC's.
for(vibration_counter = 0; vibration_counter < 625; vibration_counter++){ //Do this loop 625 times
delay(3); //Wait 3000us.
esc_1 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_2 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_3 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_4 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_pulse_output(); //Send the ESC control pulses.
}
vibration_counter = 0; //Reset the vibration_counter variable.
}
receiver_input_channel_3 = convert_receiver_channel(3); //Convert the actual receiver signals for throttle to the standard 1000 - 2000us.
if(receiver_input_channel_3 < 1025)new_function_request = false; //If the throttle is in the lowest position set the request flag to false.
////////////////////////////////////////////////////////////////////////////////////////////
//Run the ESC calibration program to start with.
////////////////////////////////////////////////////////////////////////////////////////////
if(data == 0 && new_function_request == false){ //Only start the calibration mode at first start.
receiver_input_channel_3 = convert_receiver_channel(3); //Convert the actual receiver signals for throttle to the standard 1000 - 2000us.
esc_1 = receiver_input_channel_3; //Set the pulse for motor 1 equal to the throttle channel.
esc_2 = receiver_input_channel_3; //Set the pulse for motor 2 equal to the throttle channel.
esc_3 = receiver_input_channel_3; //Set the pulse for motor 3 equal to the throttle channel.
esc_4 = receiver_input_channel_3; //Set the pulse for motor 4 equal to the throttle channel.
esc_pulse_output(); //Send the ESC control pulses.
}
////////////////////////////////////////////////////////////////////////////////////////////
//When user sends a 'r' print the receiver signals.
////////////////////////////////////////////////////////////////////////////////////////////
if(data == 'r'){
loop_counter ++; //Increase the loop_counter variable.
receiver_input_channel_1 = convert_receiver_channel(1); //Convert the actual receiver signals for pitch to the standard 1000 - 2000us.
receiver_input_channel_2 = convert_receiver_channel(2); //Convert the actual receiver signals for roll to the standard 1000 - 2000us.
receiver_input_channel_3 = convert_receiver_channel(3); //Convert the actual receiver signals for throttle to the standard 1000 - 2000us.
receiver_input_channel_4 = convert_receiver_channel(4); //Convert the actual receiver signals for yaw to the standard 1000 - 2000us.
if(loop_counter == 125){ //Print the receiver values when the loop_counter variable equals 250.
print_signals(); //Print the receiver values on the serial monitor.
loop_counter = 0; //Reset the loop_counter variable.
}
//For starting the motors: throttle low and yaw left (step 1).
if(receiver_input_channel_3 < 1050 && receiver_input_channel_4 < 1050)start = 1;
//When yaw stick is back in the center position start the motors (step 2).
if(start == 1 && receiver_input_channel_3 < 1050 && receiver_input_channel_4 > 1450)start = 2;
//Stopping the motors: throttle low and yaw right.
if(start == 2 && receiver_input_channel_3 < 1050 && receiver_input_channel_4 > 1950)start = 0;
esc_1 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_2 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_3 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_4 = 1000; //Set the pulse for ESC 1 to 1000us.
esc_pulse_output(); //Send the ESC control pulses.
}
///////////////////////////////////////////////////////////////////////////////////////////
//When user sends a '1, 2, 3, 4 or 5 test the motors.
////////////////////////////////////////////////////////////////////////////////////////////
if(data == '1' || data == '2' || data == '3' || data == '4' || data == '5'){ //If motor 1, 2, 3 or 4 is selected by the user.
loop_counter ++; //Add 1 to the loop_counter variable.
if(new_function_request == true && loop_counter == 250){ //Wait for the throttle to be set to 0.
Serial.print("Set throttle to 1000 (low). It's now set to: "); //Print message on the serial monitor.
Serial.println(receiver_input_channel_3); //Print the actual throttle position.
loop_counter = 0; //Reset the loop_counter variable.
}
if(new_function_request == false){ //When the throttle was in the lowest position do this.
receiver_input_channel_3 = convert_receiver_channel(3); //Convert the actual receiver signals for throttle to the standard 1000 - 2000us.
if(data == '1' || data == '5')esc_1 = receiver_input_channel_3; //If motor 1 is requested set the pulse for motor 1 equal to the throttle channel.
else esc_1 = 1000; //If motor 1 is not requested set the pulse for the ESC to 1000us (off).
if(data == '2' || data == '5')esc_2 = receiver_input_channel_3; //If motor 2 is requested set the pulse for motor 1 equal to the throttle channel.
else esc_2 = 1000; //If motor 2 is not requested set the pulse for the ESC to 1000us (off).
if(data == '3' || data == '5')esc_3 = receiver_input_channel_3; //If motor 3 is requested set the pulse for motor 1 equal to the throttle channel.
else esc_3 = 1000; //If motor 3 is not requested set the pulse for the ESC to 1000us (off).
if(data == '4' || data == '5')esc_4 = receiver_input_channel_3; //If motor 4 is requested set the pulse for motor 1 equal to the throttle channel.
else esc_4 = 1000; //If motor 4 is not requested set the pulse for the ESC to 1000us (off).
esc_pulse_output(); //Send the ESC control pulses.
//For balancing the propellors it's possible to use the accelerometer to measure the vibrations.
if(eeprom_data[31] == 1){ //The MPU-6050 is installed
Wire.beginTransmission(gyro_address); //Start communication with the gyro.
Wire.write(0x3B); //Start reading @ register 43h and auto increment with every read.
Wire.endTransmission(); //End the transmission.
Wire.requestFrom(gyro_address,6); //Request 6 bytes from the gyro.
while(Wire.available() < 6); //Wait until the 6 bytes are received.
acc_x = Wire.read()<<8|Wire.read(); //Add the low and high byte to the acc_x variable.
acc_y = Wire.read()<<8|Wire.read(); //Add the low and high byte to the acc_y variable.
acc_z = Wire.read()<<8|Wire.read(); //Add the low and high byte to the acc_z variable.
acc_total_vector[0] = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z)); //Calculate the total accelerometer vector.
acc_av_vector = acc_total_vector[0]; //Copy the total vector to the accelerometer average vector variable.
for(start = 16; start > 0; start--){ //Do this loop 16 times to create an array of accelrometer vectors.
acc_total_vector[start] = acc_total_vector[start - 1]; //Shift every variable one position up in the array.
acc_av_vector += acc_total_vector[start]; //Add the array value to the acc_av_vector variable.
}
acc_av_vector /= 17; //Divide the acc_av_vector by 17 to get the avarage total accelerometer vector.
if(vibration_counter < 20){ //If the vibration_counter is less than 20 do this.
vibration_counter ++; //Increment the vibration_counter variable.
vibration_total_result += abs(acc_total_vector[0] - acc_av_vector); //Add the absolute difference between the avarage vector and current vector to the vibration_total_result variable.
}
else{
vibration_counter = 0; //If the vibration_counter is equal or larger than 20 do this.
Serial.println(vibration_total_result/50); //Print the total accelerometer vector divided by 50 on the serial monitor.
vibration_total_result = 0; //Reset the vibration_total_result variable.
}
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////
//When user sends a 'a' display the quadcopter angles.
////////////////////////////////////////////////////////////////////////////////////////////
if(data == 'a'){
if(cal_int != 2000){
Serial.print("Calibrating the gyro");
//Let's take multiple gyro data samples so we can determine the average gyro offset (calibration).
for (cal_int = 0; cal_int < 2000 ; cal_int ++){ //Take 2000 readings for calibration.
if(cal_int % 125 == 0){
digitalWrite(12, !digitalRead(12)); //Change the led status to indicate calibration.
Serial.print(".");
}
gyro_signalen(); //Read the gyro output.
gyro_axis_cal[1] += gyro_axis[1]; //Ad roll value to gyro_roll_cal.
gyro_axis_cal[2] += gyro_axis[2]; //Ad pitch value to gyro_pitch_cal.
gyro_axis_cal[3] += gyro_axis[3]; //Ad yaw value to gyro_yaw_cal.
//We don't want the esc's to be beeping annoyingly. So let's give them a 1000us puls while calibrating the gyro.
PORTD |= B11110000; //Set digital poort 4, 5, 6 and 7 high.
delayMicroseconds(1000); //Wait 1000us.
PORTD &= B00001111; //Set digital poort 4, 5, 6 and 7 low.
delay(3); //Wait 3 milliseconds before the next loop.
}
Serial.println(".");
//Now that we have 2000 measures, we need to devide by 2000 to get the average gyro offset.
gyro_axis_cal[1] /= 2000; //Divide the roll total by 2000.
gyro_axis_cal[2] /= 2000; //Divide the pitch total by 2000.
gyro_axis_cal[3] /= 2000; //Divide the yaw total by 2000.
}
else{
///We don't want the esc's to be beeping annoyingly. So let's give them a 1000us puls while calibrating the gyro.
PORTD |= B11110000; //Set digital poort 4, 5, 6 and 7 high.
delayMicroseconds(1000); //Wait 1000us.
PORTD &= B00001111; //Set digital poort 4, 5, 6 and 7 low.
//Let's get the current gyro data.
gyro_signalen();
//Gyro angle calculations
//0.0000611 = 1 / (250Hz / 65.5)
angle_pitch += gyro_pitch * 0.0000611; //Calculate the traveled pitch angle and add this to the angle_pitch variable.
angle_roll += gyro_roll * 0.0000611; //Calculate the traveled roll angle and add this to the angle_roll variable.
//0.000001066 = 0.0000611 * (3.142(PI) / 180degr) The Arduino sin function is in radians
angle_pitch -= angle_roll * sin(gyro_yaw * 0.000001066); //If the IMU has yawed transfer the roll angle to the pitch angel.
angle_roll += angle_pitch * sin(gyro_yaw * 0.000001066); //If the IMU has yawed transfer the pitch angle to the roll angel.
//Accelerometer angle calculations
acc_total_vector[0] = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z)); //Calculate the total accelerometer vector.
//57.296 = 1 / (3.142 / 180) The Arduino asin function is in radians
angle_pitch_acc = asin((float)acc_y/acc_total_vector[0])* 57.296; //Calculate the pitch angle.
angle_roll_acc = asin((float)acc_x/acc_total_vector[0])* -57.296; //Calculate the roll angle.
if(!first_angle){
angle_pitch = angle_pitch_acc; //Set the pitch angle to the accelerometer angle.
angle_roll = angle_roll_acc; //Set the roll angle to the accelerometer angle.
first_angle = true;
}
else{
angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004; //Correct the drift of the gyro pitch angle with the accelerometer pitch angle.
angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004; //Correct the drift of the gyro roll angle with the accelerometer roll angle.
}
//We can't print all the data at once. This takes to long and the angular readings will be off.
if(loop_counter == 0)Serial.print("Pitch: ");
if(loop_counter == 1)Serial.print(angle_pitch ,0);
if(loop_counter == 2)Serial.print(" Roll: ");
if(loop_counter == 3)Serial.print(angle_roll ,0);
if(loop_counter == 4)Serial.print(" Yaw: ");
if(loop_counter == 5)Serial.println(gyro_yaw / 65.5 ,0);
loop_counter ++;
if(loop_counter == 60)loop_counter = 0;
}
}
}
//This routine is called every time input 8, 9, 10 or 11 changed state.
ISR(PCINT0_vect){
current_time = micros();
//Channel 1=========================================
if(PINB & B00000001){ //Is input 8 high?
if(last_channel_1 == 0){ //Input 8 changed from 0 to 1.
last_channel_1 = 1; //Remember current input state.
timer_1 = current_time; //Set timer_1 to current_time.
}
}
else if(last_channel_1 == 1){ //Input 8 is not high and changed from 1 to 0.
last_channel_1 = 0; //Remember current input state.
receiver_input[1] = current_time - timer_1; //Channel 1 is current_time - timer_1.
}
//Channel 2=========================================
if(PINB & B00000010 ){ //Is input 9 high?
if(last_channel_2 == 0){ //Input 9 changed from 0 to 1.
last_channel_2 = 1; //Remember current input state.
timer_2 = current_time; //Set timer_2 to current_time.
}
}
else if(last_channel_2 == 1){ //Input 9 is not high and changed from 1 to 0.
last_channel_2 = 0; //Remember current input state.
receiver_input[2] = current_time - timer_2; //Channel 2 is current_time - timer_2.
}
//Channel 3=========================================
if(PINB & B00000100 ){ //Is input 10 high?
if(last_channel_3 == 0){ //Input 10 changed from 0 to 1.
last_channel_3 = 1; //Remember current input state.
timer_3 = current_time; //Set timer_3 to current_time.
}
}
else if(last_channel_3 == 1){ //Input 10 is not high and changed from 1 to 0.
last_channel_3 = 0; //Remember current input state.
receiver_input[3] = current_time - timer_3; //Channel 3 is current_time - timer_3.
}
//Channel 4=========================================
if(PINB & B00001000 ){ //Is input 11 high?
if(last_channel_4 == 0){ //Input 11 changed from 0 to 1.
last_channel_4 = 1; //Remember current input state.
timer_4 = current_time; //Set timer_4 to current_time.
}
}
else if(last_channel_4 == 1){ //Input 11 is not high and changed from 1 to 0.
last_channel_4 = 0; //Remember current input state.
receiver_input[4] = current_time - timer_4; //Channel 4 is current_time - timer_4.
}
}
//Checck if the receiver values are valid within 10 seconds
void wait_for_receiver(){
byte zero = 0; //Set all bits in the variable zero to 0
while(zero < 15){ //Stay in this loop until the 4 lowest bits are set
if(receiver_input[1] < 2100 && receiver_input[1] > 900)zero |= 0b00000001; //Set bit 0 if the receiver pulse 1 is within the 900 - 2100 range
if(receiver_input[2] < 2100 && receiver_input[2] > 900)zero |= 0b00000010; //Set bit 1 if the receiver pulse 2 is within the 900 - 2100 range
if(receiver_input[3] < 2100 && receiver_input[3] > 900)zero |= 0b00000100; //Set bit 2 if the receiver pulse 3 is within the 900 - 2100 range
if(receiver_input[4] < 2100 && receiver_input[4] > 900)zero |= 0b00001000; //Set bit 3 if the receiver pulse 4 is within the 900 - 2100 range
delay(500); //Wait 500 milliseconds
}
}
//This part converts the actual receiver signals to a standardized 1000 – 1500 – 2000 microsecond value.
//The stored data in the EEPROM is used.
int convert_receiver_channel(byte function){
byte channel, reverse; //First we declare some local variables
int low, center, high, actual;
int difference;
channel = eeprom_data[function + 23] & 0b00000111; //What channel corresponds with the specific function
if(eeprom_data[function + 23] & 0b10000000)reverse = 1; //Reverse channel when most significant bit is set
else reverse = 0; //If the most significant is not set there is no reverse
actual = receiver_input[channel]; //Read the actual receiver value for the corresponding function
low = (eeprom_data[channel * 2 + 15] << 8) | eeprom_data[channel * 2 + 14]; //Store the low value for the specific receiver input channel
center = (eeprom_data[channel * 2 - 1] << 8) | eeprom_data[channel * 2 - 2]; //Store the center value for the specific receiver input channel
high = (eeprom_data[channel * 2 + 7] << 8) | eeprom_data[channel * 2 + 6]; //Store the high value for the specific receiver input channel
if(actual < center){ //The actual receiver value is lower than the center value
if(actual < low)actual = low; //Limit the lowest value to the value that was detected during setup
difference = ((long)(center - actual) * (long)500) / (center - low); //Calculate and scale the actual value to a 1000 - 2000us value
if(reverse == 1)return 1500 + difference; //If the channel is reversed
else return 1500 - difference; //If the channel is not reversed
}
else if(actual > center){ //The actual receiver value is higher than the center value
if(actual > high)actual = high; //Limit the lowest value to the value that was detected during setup
difference = ((long)(actual - center) * (long)500) / (high - center); //Calculate and scale the actual value to a 1000 - 2000us value
if(reverse == 1)return 1500 - difference; //If the channel is reversed
else return 1500 + difference; //If the channel is not reversed
}
else return 1500;
}
void print_signals(){
Serial.print("Start:");
Serial.print(start);
Serial.print(" Roll:");
if(receiver_input_channel_1 - 1480 < 0)Serial.print("<<<");
else if(receiver_input_channel_1 - 1520 > 0)Serial.print(">>>");
else Serial.print("-+-");
Serial.print(receiver_input_channel_1);
Serial.print(" Pitch:");
if(receiver_input_channel_2 - 1480 < 0)Serial.print("^^^");
else if(receiver_input_channel_2 - 1520 > 0)Serial.print("vvv");
else Serial.print("-+-");
Serial.print(receiver_input_channel_2);
Serial.print(" Throttle:");
if(receiver_input_channel_3 - 1480 < 0)Serial.print("vvv");
else if(receiver_input_channel_3 - 1520 > 0)Serial.print("^^^");
else Serial.print("-+-");
Serial.print(receiver_input_channel_3);
Serial.print(" Yaw:");
if(receiver_input_channel_4 - 1480 < 0)Serial.print("<<<");
else if(receiver_input_channel_4 - 1520 > 0)Serial.print(">>>");
else Serial.print("-+-");
Serial.println(receiver_input_channel_4);
}
void esc_pulse_output(){
zero_timer = micros();
PORTD |= B11110000; //Set port 4, 5, 6 and 7 high at once
timer_channel_1 = esc_1 + zero_timer; //Calculate the time when digital port 4 is set low.
timer_channel_2 = esc_2 + zero_timer; //Calculate the time when digital port 5 is set low.
timer_channel_3 = esc_3 + zero_timer; //Calculate the time when digital port 6 is set low.
timer_channel_4 = esc_4 + zero_timer; //Calculate the time when digital port 7 is set low.
while(PORTD >= 16){ //Execute the loop until digital port 4 to 7 is low.
esc_loop_timer = micros(); //Check the current time.
if(timer_channel_1 <= esc_loop_timer)PORTD &= B11101111; //When the delay time is expired, digital port 4 is set low.
if(timer_channel_2 <= esc_loop_timer)PORTD &= B11011111; //When the delay time is expired, digital port 5 is set low.
if(timer_channel_3 <= esc_loop_timer)PORTD &= B10111111; //When the delay time is expired, digital port 6 is set low.
if(timer_channel_4 <= esc_loop_timer)PORTD &= B01111111; //When the delay time is expired, digital port 7 is set low.
}
}
void set_gyro_registers(){
//Setup the MPU-6050
if(eeprom_data[31] == 1){
Wire.beginTransmission(gyro_address); //Start communication with the address found during search.
Wire.write(0x6B); //We want to write to the PWR_MGMT_1 register (6B hex)
Wire.write(0x00); //Set the register bits as 00000000 to activate the gyro
Wire.endTransmission(); //End the transmission with the gyro.
Wire.beginTransmission(gyro_address); //Start communication with the address found during search.
Wire.write(0x1B); //We want to write to the GYRO_CONFIG register (1B hex)
Wire.write(0x08); //Set the register bits as 00001000 (500dps full scale)
Wire.endTransmission(); //End the transmission with the gyro
Wire.beginTransmission(gyro_address); //Start communication with the address found during search.
Wire.write(0x1C); //We want to write to the ACCEL_CONFIG register (1A hex)
Wire.write(0x10); //Set the register bits as 00010000 (+/- 8g full scale range)
Wire.endTransmission(); //End the transmission with the gyro
//Let's perform a random register check to see if the values are written correct
Wire.beginTransmission(gyro_address); //Start communication with the address found during search
Wire.write(0x1B); //Start reading @ register 0x1B
Wire.endTransmission(); //End the transmission
Wire.requestFrom(gyro_address, 1); //Request 1 bytes from the gyro
while(Wire.available() < 1); //Wait until the 6 bytes are received
if(Wire.read() != 0x08){ //Check if the value is 0x08
digitalWrite(12,HIGH); //Turn on the warning led
while(1)delay(10); //Stay in this loop for ever
}
Wire.beginTransmission(gyro_address); //Start communication with the address found during search
Wire.write(0x1A); //We want to write to the CONFIG register (1A hex)
Wire.write(0x03); //Set the register bits as 00000011 (Set Digital Low Pass Filter to ~43Hz)
Wire.endTransmission(); //End the transmission with the gyro
}
}
void gyro_signalen(){
//Read the MPU-6050
if(eeprom_data[31] == 1){
Wire.beginTransmission(gyro_address); //Start communication with the gyro.
Wire.write(0x3B); //Start reading @ register 43h and auto increment with every read.
Wire.endTransmission(); //End the transmission.
Wire.requestFrom(gyro_address,14); //Request 14 bytes from the gyro.
while(Wire.available() < 14); //Wait until the 14 bytes are received.
acc_axis[1] = Wire.read()<<8|Wire.read(); //Add the low and high byte to the acc_x variable.
acc_axis[2] = Wire.read()<<8|Wire.read(); //Add the low and high byte to the acc_y variable.
acc_axis[3] = Wire.read()<<8|Wire.read(); //Add the low and high byte to the acc_z variable.
temperature = Wire.read()<<8|Wire.read(); //Add the low and high byte to the temperature variable.
gyro_axis[1] = Wire.read()<<8|Wire.read(); //Read high and low part of the angular data.
gyro_axis[2] = Wire.read()<<8|Wire.read(); //Read high and low part of the angular data.
gyro_axis[3] = Wire.read()<<8|Wire.read(); //Read high and low part of the angular data.
}
if(cal_int == 2000){
gyro_axis[1] -= gyro_axis_cal[1]; //Only compensate after the calibration.
gyro_axis[2] -= gyro_axis_cal[2]; //Only compensate after the calibration.
gyro_axis[3] -= gyro_axis_cal[3]; //Only compensate after the calibration.
}
gyro_roll = gyro_axis[eeprom_data[28] & 0b00000011]; //Set gyro_roll to the correct axis that was stored in the EEPROM.
if(eeprom_data[28] & 0b10000000)gyro_roll *= -1; //Invert gyro_roll if the MSB of EEPROM bit 28 is set.
gyro_pitch = gyro_axis[eeprom_data[29] & 0b00000011]; //Set gyro_pitch to the correct axis that was stored in the EEPROM.
if(eeprom_data[29] & 0b10000000)gyro_pitch *= -1; //Invert gyro_pitch if the MSB of EEPROM bit 29 is set.
gyro_yaw = gyro_axis[eeprom_data[30] & 0b00000011]; //Set gyro_yaw to the correct axis that was stored in the EEPROM.
if(eeprom_data[30] & 0b10000000)gyro_yaw *= -1; //Invert gyro_yaw if the MSB of EEPROM bit 30 is set.
acc_x = acc_axis[eeprom_data[29] & 0b00000011]; //Set acc_x to the correct axis that was stored in the EEPROM.
if(eeprom_data[29] & 0b10000000)acc_x *= -1; //Invert acc_x if the MSB of EEPROM bit 29 is set.
acc_y = acc_axis[eeprom_data[28] & 0b00000011]; //Set acc_y to the correct axis that was stored in the EEPROM.
if(eeprom_data[28] & 0b10000000)acc_y *= -1; //Invert acc_y if the MSB of EEPROM bit 28 is set.
acc_z = acc_axis[eeprom_data[30] & 0b00000011]; //Set acc_z to the correct axis that was stored in the EEPROM.
if(eeprom_data[30] & 0b10000000)acc_z *= -1; //Invert acc_z if the MSB of EEPROM bit 30 is set.
}
I'm actually using an arduino uno but to include wifi and GPS I need a Arduino mega so I have to translate the code.
How far have you got?
What have you tried?
(I think the Mega has more external interrupts, so pin change interrupts may not be needed. Or available.)
Please remember to use code tags when posting code
the drone can fly with the arduino uno, I have no probleme with that one. I want to add wifi and gps but the uno is too weak. My probleme come from the defintion of the pin in the code to transforme them into "OUTPUT".
We don't know which pins you want to use, so translating a block of code using direct port manipulation, without knowing the ports is going to be difficult
we want to uses the PORTA pin 22 to 29
we wrote DDRA |= B11110000 to put in OUTPUT pin 22 to 25.
Then just use pinMode(22, OUTPUT); pinMode(23, OUTPUT);...
Things will get more complex translating the Pin Change Interrupt register manipulation. I recommend you find a Pin Change Interrupt library to do the work so you can use pin numbers instead of ports and bits.
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