Initial commit with project description and a basic working MPU6050 c…

…ode in raspberrypi-server.

LICENSE

@@ -617,58 +617,3 @@ reviewing courts shall apply local law that most closely approximates
 an absolute waiver of all civil liability in connection with the
 Program, unless a warranty or assumption of liability accompanies a
 copy of the Program in return for a fee.
-
-                     END OF TERMS AND CONDITIONS
-
-            How to Apply These Terms to Your New Programs
-
-  If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
-  To do so, attach the following notices to the program.  It is safest
-to attach them to the start of each source file to most effectively
-state the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
-    {one line to give the program's name and a brief idea of what it does.}
-    Copyright (C) {year}  {name of author}
-
-    This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see {http://www.gnu.org/licenses/}.
-
-Also add information on how to contact you by electronic and paper mail.
-
-  If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
-    Raspcopter  Copyright (C) 2013  Florent Revest
-    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
-    This is free software, and you are welcome to redistribute it
-    under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License.  Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
-  You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-{http://www.gnu.org/licenses/}.
-
-  The GNU General Public License does not permit incorporating your program
-into proprietary programs.  If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library.  If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.  But first, please read
-{http://www.gnu.org/philosophy/why-not-lgpl.html}.

README.md

@@ -1,4 +1,27 @@
-Raspcopter
+Repository description
 ==========
 
-Source code of my Quadcopter drone powered by a Raspberry Pi.
+This git repo contains three directories,  all of them are related to the same project: A home-made quadcopter running a Raspberry Pi.
+
+ * raspberrypi-server: This software, made in C++ is a flight controller intended to be run on the R-Pi, it basically do three things:
+    - it collects the values from the accelerometer and gyroscope via i2c (magnetometer and barometer may be added later) 
+    - it filters these values via a Kallman or low-pass filter
+    - it manages the motors speed via the Pololu Maestro board according to the above values
+    - it communicates over wifi with one of the two clients below
+ * android-client: The Android smartphone is a wifi hotspot with whom the R-Pi communicates. An app (in java) will also be made to provide a handy controller.
+ * laptop-client: This client, written in C++ with Qt is intended to be a complete "ground station" with recorded logs and real-time informations on the quadcopter. The laptop will also connect to the Android smartphone to be on the same local network as the raspberry pi.
+
+## Used pieces
+ * 4 Motors: [FC 28-22 Brushless Outrunner 1200kv](vhttp://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=5354)
+ * 4 ESC(Electronic Speed Controllers): [Hobby King 20A ESC 3A UBEC](http://www.hobbyking.com/hobbyking/store/__15202__hobby_king_20a_esc_3a_ubec.html) flashed in a hacky way with [SimonK](http://www.rchacker.com/diy/simonk-esc-firmware-flashing)
+ * 1 Propellers pack (two of each directions): [Slow Fly Electric Prop 1045SF (4 pc)]( http://www.hobbyking.com/hobbyking/store/__22446__Slow_Fly_Electric_Prop_1045SF_4_pc_.html) 
+ * 1 Frame: [Hobbyking X525 V3 Glass Fiber Quadcopter Frame 600mm](http://www.hobbyking.com/hobbyking/store/__22800__hobbyking_x525_v3_glass_fiber_quadcopter_frame_600mm.html)
+ * 1 Battery: [Turnigy 2200mAh 3S 20C Lipo Pack](http://www.hobbyking.com/hobbyking/store/__8932__Turnigy_2200mAh_3S_20C_Lipo_Pack.html)
+ * 1 Battery charger: [Turnigy 2S 3S Balance Charger. Direct 110/240v Input](http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=8247)
+
+(the pieces above have been commanded at the same time from HobbyKing despit their non-professionalism... I waited this pack a month and a half)
+
+ * An ESC/servos USB communication board:  [Micro Maestro 6-Channel USB Servo Controller](http://www.pololu.com/catalog/product/1350)
+ * A low battery alarm: [Lipo Battery alarm](http://www.ebay.fr/itm/2S-4S-7-4V-14-8V-RC-Lipo-Batterie-Tension-Faible-Testeur-Buzzer-Alarme-autonomie-/130732900168?pt=FR_YO_Jeux_RadioComRobots_VehiculesRadiocommandes&hash=item1e7049bf48)
+ * Accelerometer and gyroscope: [MPU6050 board](http://www.ebay.fr/itm/MPU-6050-Module-3-Axis-Gyroscope-Accelerometer-Sensor-for-Arduino-DIY-/400487483979?pt=AU_B_I_Electrical_Test_Equipment&hash=item5d3eea0a4b#ht_3042wt_1166)
+ * Connections: [Some cables used in the SimonK flashing process and in the MPU6050 communication](http://www.ebay.fr/itm/40-Cables-pour-BreadBoard-Femelle-Femele-Arduino-Femalle-Fils-jumper-Wire-/330902593748?pt=FR_YO_MaisonJardin_Bricolage_ElectroniqueComposants&hash=item4d0b54e0d4#ht_2467wt_1406)

raspberry-server/Accelerometer.cpp

@@ -0,0 +1,90 @@
+/* ====================================================================
+ * This file is part of Raspcopter.
+ *
+ * Copyright (C) 2013 - Florent Revest <florent.revest666@gmail.com>
+
+ * Raspcopter is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Raspcopter is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Raspcopter.  If not, see <http://www.gnu.org/licenses/>.
+ * ================================================================== */
+
+#include "Accelerometer.h"
+
+Accelerometer::Accelerometer()
+{
+	m_isConnected = true;
+    m_i2cfd = open("/dev/i2c-1", O_RDWR);
+    if(!m_i2cfd < 0)
+    	m_isConnected = false;
+    if(ioctl(m_i2cfd, I2C_SLAVE, 0x68) < 0)
+    	m_isConnected = false;
+
+    setRegisterValue(0x6B, 2, 3, 1); // Choose the XGYRO clock
+    setRegisterValue(0x1B, 4, 2, 1); // Set gyroscopes range to 500
+    setRegisterValue(0x1C, 4, 2, 2); // Set accelerometer range to 8
+    setRegisterValue(0x6B, 6, 1, 0); // Disable Sleep Mode
+}
+
+Accelerometer::~Accelerometer()
+{
+	close(m_i2cfd);
+    setRegisterValue(0x6B, 6, 1, 1); // Disable Sleep Mode
+}
+
+AccelGyroValues Accelerometer::getAccelGyroValues()
+{
+	AccelGyroValues values;
+    uint8_t buffer[14];
+    getRegisterValue(0x3B, 14, buffer);
+
+    values.ax = (((int16_t)buffer[0]) << 8) | buffer[1];
+    values.ay = (((int16_t)buffer[2]) << 8) | buffer[3];
+    values.az = (((int16_t)buffer[4]) << 8) | buffer[5];
+    values.gx = (((int16_t)buffer[8]) << 8) | buffer[9];
+    values.gy = (((int16_t)buffer[10]) << 8) | buffer[11];
+    values.gz = (((int16_t)buffer[12]) << 8) | buffer[13];
+
+    return values;
+}
+
+bool Accelerometer::isConnected()
+{
+	return m_isConnected;
+}
+
+// These two methods contain some code written by Jeff Rowberg for the I2Cdev" lib
+void Accelerometer::setRegisterValue(uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
+{
+	// Read the old value
+    uint8_t value;
+    getRegisterValue(regAddr, 1, &value);
+
+    // Mix the new bits with the new ones
+    uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+    data <<= (bitStart - length + 1);
+    data &= mask;
+    value &= ~(mask);
+    value |= data;
+
+    // Write the new value to /dev/i2c-1
+    uint8_t buffer[2] = {regAddr, value}; // The first octet is the register adress, the second contains the data
+    write(m_i2cfd, buffer, 2);
+}
+
+void Accelerometer::getRegisterValue(uint8_t regAddr, uint8_t length, uint8_t *data)
+{
+    if(write(m_i2cfd, &regAddr, 1) != 1)
+        return;
+    int8_t count = read(m_i2cfd, data, length);
+    if (count < 0 || count != 1)
+        return;
+}

raspberry-server/Accelerometer.h

@@ -0,0 +1,54 @@
+/* ====================================================================
+ * This file is part of Raspcopter.
+ *
+ * Copyright (C) 2013 - Florent Revest <florent.revest666@gmail.com>
+
+ * Raspcopter is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Raspcopter is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Raspcopter.  If not, see <http://www.gnu.org/licenses/>.
+ * ================================================================== */
+
+#ifndef _ACCELEROMETER_H_
+#define _ACCELEROMETER_H_
+
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdint.h>
+
+typedef struct AccelGyroValues {
+	int16_t ax;
+	int16_t ay;
+	int16_t az;
+	int16_t gx;
+	int16_t gy;
+	int16_t gz;
+} AccelGyroValues;
+
+class Accelerometer 
+{
+public:
+	Accelerometer();
+	~Accelerometer();
+	void setRegisterValue(uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
+	void getRegisterValue(uint8_t regAddr, uint8_t length, uint8_t *data);
+	AccelGyroValues getAccelGyroValues();
+	bool isConnected();
+
+private:
+	int m_i2cfd;
+	bool m_isConnected;
+};
+
+#endif // _ACCELEROMETER_H_

raspberry-server/Makefile

@@ -0,0 +1,18 @@
+CC=g++
+CFLAGS=-c -Wall
+LDFLAGS=
+SOURCES=main.cpp Accelerometer.cpp
+OBJECTS=$(SOURCES:.cpp=.o)
+EXECUTABLE=server
+
+all: $(SOURCES) $(EXECUTABLE)
+
+$(EXECUTABLE): $(OBJECTS) 
+	$(CC) $(LDFLAGS) $(OBJECTS) -o $@
+
+.cpp.o:
+	$(CC) $(CFLAGS) $< -o $@
+
+clean:
+	rm -rf *.o server
+

raspberry-server/main.cpp

@@ -0,0 +1,41 @@
+/* ====================================================================
+ * This file is part of Raspcopter.
+ *
+ * Copyright (C) 2013 - Florent Revest <florent.revest666@gmail.com>
+
+ * Raspcopter is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Raspcopter is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Raspcopter.  If not, see <http://www.gnu.org/licenses/>.
+ * ================================================================== */
+
+#include <iostream>
+#include "Accelerometer.h"
+
+int main(int argc, char *argv[])
+{
+    Accelerometer *accel= new Accelerometer(); // Initialize the MPU6050
+    if(accel->isConnected())
+    	std::cout << "Accelerometer initialisation successful." << std::endl;
+    else
+    {
+    	std::cout << "Accelerometer initialisation error... Abort" << std::endl;
+    	return 1;
+    }
+
+    while(1)
+    {
+   	    AccelGyroValues values = accel->getAccelGyroValues();
+    	std::cout << "accelerometer: " << values.ax << values.ay << values.az << std::endl
+    	          << "gyrometer: " << values.gx << values.gy << values.gz << std::endl;
+    }
+    return 0;
+}