X-SEER - The New Smart Mobilizer

/*

X-Seer Revision 1.3 (Released On: September 2017)

This coding uses libraries as follows:

I2Cdev Library: https://github.com/jrowberg/i2cdevlib
128-bit AES Encryption Library: https://github.com/DavyLandman/AESLib
MPU6050 Motion Processing Unit Library: https://playground.arduino.cc/Main/MPU-6050
Arduino MKR Fox 1200 Library: http://www.arduinolibraries.info/libraries/arduino-sig-fox-for-mkr-fox1200

Coding by Selvandiran Marimuthu from MV Project Clan: https://www.hackster.io/selvandiran

*/

#include <I2Cdev.h>
#include <AESLib.h>
#include <MPU6050_6Axis_MotionApps20.h>
#include <SoftwareSerial.h>

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

MPU6050 mpu;

#define OUTPUT_READABLE_YAWPITCHROLL
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
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[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [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

int operate = 0;
int operateled = 12;

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' };

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

SoftwareSerial BTserial(3, 4); // RX | TX

void(* resetFunc) (void) = 0;


const int ignitionrelay = 11;
const int powerrelay = 10;
const int alarmrelay = 9;
const int alarmrelaybackup = 8;
const int togglesigfox = 7;
 
void setup()
{

  pinMode(ignitionrelay, OUTPUT);
  pinMode(powerrelay, OUTPUT);
  pinMode(alarmrelay, OUTPUT);
  pinMode(alarmrelaybackup, OUTPUT);
  pinMode(togglesigfox, OUTPUT);

  digitalWrite(ignitionrelay, LOW);
  digitalWrite(powerrelay, LOW);
  digitalWrite(alarmrelay, LOW);
  digitalWrite(alarmrelaybackup, LOW);
  digitalWrite(togglesigfox, LOW);
  
  #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
  TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
  #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
    Fastwire::setup(400, true);
  #endif

  Serial.begin(9600);
  while (!Serial);
  BTserial.begin(9600);
  Serial.println("Arduino with HC-05 is ready");
  Serial.println("BTserial started at 9600");

  delay(500);

  Serial.println(F("Initializing I2C devices..."));
  mpu.initialize();

  Serial.println(F("Testing device connections..."));
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  Serial.println(F("Initializing DMP..."));
  devStatus = mpu.dmpInitialize();

  // supply your own gyro offsets here, scaled for min sensitivity
  mpu.setXGyroOffset(220);
  mpu.setYGyroOffset(76);
  mpu.setZGyroOffset(-85);
  mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

  if (devStatus == 0)
  {
    // turn on the DMP, now that it's ready
    Serial.println(F("Enabling DMP..."));
    mpu.setDMPEnabled(true);

    // enable Arduino interrupt detection
    Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
    attachInterrupt(0, 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(")"));
  }

  // configure LED for output
  pinMode(LED_PIN, OUTPUT);

  loop();

  uint8_t key[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15};
  char data[] = "0123456789012349"; //16 chars == 16 bytes
  aes128_enc_single(key, data);

  BTserial.write(data);
  
  while(BTserial.available())
  {
    while(1)
    {
      String inputString = "";
      char inChar = (char)BTserial.read();
      inputString += inChar;
      delay(10);
      if (inChar == '=')
      {
        if (inputString == "ZP4ZG5uD629F2jNbWe/o9dHkKEgZfpDFe02Go8+PT+4=")
        {
          break;
        }
        else
        {
          resetFunc();
        }
      }
      delay(50);
    }
  }

  uint8_t key2[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15};
  char data2[] = "0123466789012349"; //16 chars == 16 bytes
  aes128_enc_single(key, data2);

  BTserial.write(data);

  while(BTserial.available())
  {
    while(1)
    {
      String inputString = "";
      char inChar = (char)BTserial.read();
      inputString += inChar;
      delay(10);
      if (inChar == '=')
      {
        if (inputString == "ei5eqvgbLmLrWAsOxvFwzBy5OczBTErk/JPrEDBtpGs=")
        {
          break;
        }
        else
        {
          resetFunc();
        }
      }
      delay(50);
    }
  }
  digitalWrite(ignitionrelay, HIGH);
  digitalWrite(powerrelay, HIGH);

  while(BTserial);
  
}

void loop()
{
  int ypr0 = (ypr[0] * 180 / M_PI); // yaw
  int ypr1 = (ypr[1] * 180 / M_PI); // pitch
  int ypr2 = (ypr[2] * 180 / M_PI); // roll
    
  if (!dmpReady) return;

  // wait for MPU interrupt or extra packet(s) available
  while (!mpuInterrupt && fifoCount < packetSize)
  {
  }

  // reset interrupt flag and get INT_STATUS byte
  mpuInterrupt = false;
  mpuIntStatus = mpu.getIntStatus();

  // get current FIFO count
  fifoCount = mpu.getFIFOCount();

  // check for overflow (this should never happen unless our code is too inefficient)
  if ((mpuIntStatus & 0x10) || fifoCount == 1024)
  {
    // reset so we can continue cleanly
    mpu.resetFIFO();
    Serial.println(F("FIFO overflow!"));
    // otherwise, check for DMP data ready interrupt (this should happen frequently)
  }

  if (mpuIntStatus & 0x02)
  {
    // wait for correct available data length, should be a VERY short wait
    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

    // read a packet from FIFO
    mpu.getFIFOBytes(fifoBuffer, packetSize);

    // track FIFO count here in case there is > 1 packet available
    // (this lets us immediately read more without waiting for an interrupt)
    fifoCount -= packetSize;

    #ifdef OUTPUT_READABLE_YAWPITCHROLL
        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
    
        Serial.print("ypr\t");
        Serial.print(ypr0);
        Serial.print("\t");
        Serial.print(ypr1);
        Serial.print("\t");
        Serial.print(ypr2);
        Serial.println("\t");
    #endif

    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);
  }

  if (ypr2 >= 10 || ypr2 <=-10 || ypr1 >= 10 || ypr1 <=-10)
  {
    digitalWrite(ignitionrelay, LOW);
    digitalWrite(powerrelay, LOW);
    digitalWrite(alarmrelay, HIGH);
    digitalWrite(alarmrelaybackup, HIGH);
    digitalWrite(togglesigfox, HIGH);
    resetFunc();
  }
  else
  {
    digitalWrite(togglesigfox, LOW);
    digitalWrite(alarmrelay, LOW);
    digitalWrite(alarmrelaybackup, LOW);
    resetFunc();
  }

  operate = 1 + 0;
  digitalWrite(operateled, HIGH);
}