kopia lustrzana https://github.com/Aircoookie/WLED
288 wiersze
11 KiB
C++
288 wiersze
11 KiB
C++
#pragma once
|
|
|
|
#include "wled.h"
|
|
|
|
/* This driver reads quaternion data from the MPU6060 and adds it to the JSON
|
|
This example is adapted from:
|
|
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050/examples/MPU6050_DMP6_ESPWiFi
|
|
|
|
Tested with a d1 mini esp-12f
|
|
|
|
GY-521 NodeMCU
|
|
MPU6050 devkit 1.0
|
|
board Lolin Description
|
|
======= ========== ====================================================
|
|
VCC VU (5V USB) Not available on all boards so use 3.3V if needed.
|
|
GND G Ground
|
|
SCL D1 (GPIO05) I2C clock
|
|
SDA D2 (GPIO04) I2C data
|
|
XDA not connected
|
|
XCL not connected
|
|
AD0 not connected
|
|
INT D8 (GPIO15) Interrupt pin
|
|
|
|
Using usermod:
|
|
1. Copy the usermod into the sketch folder (same folder as wled00.ino)
|
|
2. Register the usermod by adding #include "usermod_filename.h" in the top and registerUsermod(new MyUsermodClass()) in the bottom of usermods_list.cpp
|
|
3. I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h file
|
|
for both classes must be in the include path of your project. To install the
|
|
libraries add I2Cdevlib-MPU6050@fbde122cc5 to lib_deps in the platformio.ini file.
|
|
4. You also need to change lib_compat_mode from strict to soft in platformio.ini (This ignores that I2Cdevlib-MPU6050 doesn't list platform compatibility)
|
|
5. Wire up the MPU6050 as detailed above.
|
|
*/
|
|
|
|
#include "I2Cdev.h"
|
|
|
|
#include "MPU6050_6Axis_MotionApps20.h"
|
|
//#include "MPU6050.h" // not necessary if using MotionApps include file
|
|
|
|
// 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
|
|
|
|
// ================================================================
|
|
// === INTERRUPT DETECTION ROUTINE ===
|
|
// ================================================================
|
|
|
|
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
|
|
void IRAM_ATTR dmpDataReady() {
|
|
mpuInterrupt = true;
|
|
}
|
|
|
|
|
|
class MPU6050Driver : public Usermod {
|
|
private:
|
|
MPU6050 mpu;
|
|
bool enabled = true;
|
|
|
|
// 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
|
|
|
|
//NOTE: some of these can be removed to save memory, processing time
|
|
// if the measurement isn't needed
|
|
Quaternion qat; // [w, x, y, z] quaternion container
|
|
float euler[3]; // [psi, theta, phi] Euler angle container
|
|
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container
|
|
VectorInt16 aa; // [x, y, z] accel sensor measurements
|
|
VectorInt16 gy; // [x, y, z] gyro 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
|
|
|
|
static const int INTERRUPT_PIN = 15; // use pin 15 on ESP8266
|
|
|
|
public:
|
|
//Functions called by WLED
|
|
|
|
/*
|
|
* setup() is called once at boot. WiFi is not yet connected at this point.
|
|
*/
|
|
void setup() {
|
|
if (i2c_scl<0 || i2c_sda<0) { enabled = false; return; }
|
|
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
|
Wire.setClock(400000U); // 400kHz I2C clock. Comment this line if having compilation difficulties
|
|
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
|
Fastwire::setup(400, true);
|
|
#endif
|
|
|
|
// initialize device
|
|
DEBUG_PRINTLN(F("Initializing I2C devices..."));
|
|
mpu.initialize();
|
|
pinMode(INTERRUPT_PIN, INPUT);
|
|
|
|
// verify connection
|
|
DEBUG_PRINTLN(F("Testing device connections..."));
|
|
DEBUG_PRINTLN(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
|
|
|
|
// load and configure the DMP
|
|
DEBUG_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
|
|
|
|
// make sure it worked (returns 0 if so)
|
|
if (devStatus == 0) {
|
|
// turn on the DMP, now that it's ready
|
|
DEBUG_PRINTLN(F("Enabling DMP..."));
|
|
mpu.setDMPEnabled(true);
|
|
|
|
// enable Arduino interrupt detection
|
|
DEBUG_PRINTLN(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
|
|
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
|
|
mpuIntStatus = mpu.getIntStatus();
|
|
|
|
// set our DMP Ready flag so the main loop() function knows it's okay to use it
|
|
DEBUG_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)
|
|
DEBUG_PRINT(F("DMP Initialization failed (code "));
|
|
DEBUG_PRINT(devStatus);
|
|
DEBUG_PRINTLN(")");
|
|
}
|
|
}
|
|
|
|
/*
|
|
* connected() is called every time the WiFi is (re)connected
|
|
* Use it to initialize network interfaces
|
|
*/
|
|
void connected() {
|
|
//DEBUG_PRINTLN("Connected to WiFi!");
|
|
}
|
|
|
|
|
|
/*
|
|
* loop() is called continuously. Here you can check for events, read sensors, etc.
|
|
*/
|
|
void loop() {
|
|
// if programming failed, don't try to do anything
|
|
if (!enabled || !dmpReady || strip.isUpdating()) return;
|
|
|
|
// wait for MPU interrupt or extra packet(s) available
|
|
if (!mpuInterrupt && fifoCount < packetSize) return;
|
|
|
|
// 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();
|
|
DEBUG_PRINTLN(F("FIFO overflow!"));
|
|
|
|
// otherwise, check for DMP data ready interrupt (this should happen frequently)
|
|
} else 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;
|
|
|
|
|
|
//NOTE: some of these can be removed to save memory, processing time
|
|
// if the measurement isn't needed
|
|
mpu.dmpGetQuaternion(&qat, fifoBuffer);
|
|
mpu.dmpGetEuler(euler, &qat);
|
|
mpu.dmpGetGravity(&gravity, &qat);
|
|
mpu.dmpGetGyro(&gy, fifoBuffer);
|
|
mpu.dmpGetAccel(&aa, fifoBuffer);
|
|
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
|
|
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &qat);
|
|
mpu.dmpGetYawPitchRoll(ypr, &qat, &gravity);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void addToJsonInfo(JsonObject& root)
|
|
{
|
|
int reading = 20;
|
|
//this code adds "u":{"Light":[20," lux"]} to the info object
|
|
JsonObject user = root["u"];
|
|
if (user.isNull()) user = root.createNestedObject("u");
|
|
|
|
JsonObject imu_meas = user.createNestedObject("IMU");
|
|
JsonArray quat_json = imu_meas.createNestedArray("Quat");
|
|
quat_json.add(qat.w);
|
|
quat_json.add(qat.x);
|
|
quat_json.add(qat.y);
|
|
quat_json.add(qat.z);
|
|
JsonArray euler_json = imu_meas.createNestedArray("Euler");
|
|
euler_json.add(euler[0]);
|
|
euler_json.add(euler[1]);
|
|
euler_json.add(euler[2]);
|
|
JsonArray accel_json = imu_meas.createNestedArray("Accel");
|
|
accel_json.add(aa.x);
|
|
accel_json.add(aa.y);
|
|
accel_json.add(aa.z);
|
|
JsonArray gyro_json = imu_meas.createNestedArray("Gyro");
|
|
gyro_json.add(gy.x);
|
|
gyro_json.add(gy.y);
|
|
gyro_json.add(gy.z);
|
|
JsonArray world_json = imu_meas.createNestedArray("WorldAccel");
|
|
world_json.add(aaWorld.x);
|
|
world_json.add(aaWorld.y);
|
|
world_json.add(aaWorld.z);
|
|
JsonArray real_json = imu_meas.createNestedArray("RealAccel");
|
|
real_json.add(aaReal.x);
|
|
real_json.add(aaReal.y);
|
|
real_json.add(aaReal.z);
|
|
JsonArray grav_json = imu_meas.createNestedArray("Gravity");
|
|
grav_json.add(gravity.x);
|
|
grav_json.add(gravity.y);
|
|
grav_json.add(gravity.z);
|
|
JsonArray orient_json = imu_meas.createNestedArray("Orientation");
|
|
orient_json.add(ypr[0]);
|
|
orient_json.add(ypr[1]);
|
|
orient_json.add(ypr[2]);
|
|
}
|
|
|
|
|
|
/*
|
|
* addToJsonState() can be used to add custom entries to the /json/state part of the JSON API (state object).
|
|
* Values in the state object may be modified by connected clients
|
|
*/
|
|
//void addToJsonState(JsonObject& root)
|
|
//{
|
|
//root["user0"] = userVar0;
|
|
//}
|
|
|
|
|
|
/*
|
|
* readFromJsonState() can be used to receive data clients send to the /json/state part of the JSON API (state object).
|
|
* Values in the state object may be modified by connected clients
|
|
*/
|
|
//void readFromJsonState(JsonObject& root)
|
|
//{
|
|
//if (root["bri"] == 255) DEBUG_PRINTLN(F("Don't burn down your garage!"));
|
|
//}
|
|
|
|
|
|
/*
|
|
* addToConfig() can be used to add custom persistent settings to the cfg.json file in the "um" (usermod) object.
|
|
* It will be called by WLED when settings are actually saved (for example, LED settings are saved)
|
|
* I highly recommend checking out the basics of ArduinoJson serialization and deserialization in order to use custom settings!
|
|
*/
|
|
// void addToConfig(JsonObject& root)
|
|
// {
|
|
// JsonObject top = root.createNestedObject("MPU6050_IMU");
|
|
// JsonArray pins = top.createNestedArray("pin");
|
|
// pins.add(HW_PIN_SCL);
|
|
// pins.add(HW_PIN_SDA);
|
|
// }
|
|
|
|
/*
|
|
* getId() allows you to optionally give your V2 usermod an unique ID (please define it in const.h!).
|
|
*/
|
|
uint16_t getId()
|
|
{
|
|
return USERMOD_ID_IMU;
|
|
}
|
|
|
|
};
|