Tasmota/tasmota/xsns_85_mpu6886.ino

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/*
xsns_84_tof10120.ino - TOF10120 sensor support for Tasmota
Copyright (C) 2021 Stephan Hadinger and Theo Arends
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/>.
*/
#ifdef USE_I2C
#if defined(USE_MPU6886) || defined(USE_MPU_ACCEL) // USE_MPU6886 deprecated, prefer USE_MPU_ACCEL
#include <MPU_accel.h>
/*********************************************************************************************\
* MPU6886/MPU9250
* Internal chip found in M5Stack devices, using `Wire1` internal I2C bus
*
* I2C Address: 0x68
*
\*********************************************************************************************/
#define XSNS_85 85
#define XI2C_58 58 // See I2CDEVICES.md
#define MPU_ACCEL_ADDRESS 0x68
struct {
MPU_accel Mpu;
uint32_t mpu_model;
int16_t ax=0, ay=0, az=0; // accelerator data
int16_t gyx=0, gyy=0, gyz=0; // accelerator data
uint8_t bus = 0; // I2C bus
bool ready = false;
} mpu_sensor;
/********************************************************************************************/
const char HTTP_MPU6686[] PROGMEM =
"{s}MPU%d acc_x" "{m}%3_f G" "{e}"
"{s}MPU%d acc_y" "{m}%3_f G" "{e}"
"{s}MPU%d acc_z" "{m}%3_f G" "{e}"
"{s}MPU%d gyr_x" "{m}%i dps" "{e}"
"{s}MPU%d gyr_y" "{m}%i dps" "{e}"
"{s}MPU%d gyr_z" "{m}%i dps" "{e}"
;
void MPU_Show(uint32_t json) {
if (json) {
ResponseAppend_P(PSTR(",\"MPU%d\":{\"AX\":%i,\"AY\":%i,\"AZ\":%i,\"GX\":%i,\"GY\":%i,\"GZ\":%i}"),
mpu_sensor.mpu_model,
mpu_sensor.ax, mpu_sensor.ay, mpu_sensor.az,
mpu_sensor.gyx, mpu_sensor.gyy, mpu_sensor.gyz);
} else {
float ax = mpu_sensor.ax / 1000.0f;
float ay = mpu_sensor.ay / 1000.0f;
float az = mpu_sensor.az / 1000.0f;
WSContentSend_PD(HTTP_MPU6686, mpu_sensor.mpu_model, &ax, mpu_sensor.mpu_model, &ay, mpu_sensor.mpu_model, &az,
mpu_sensor.mpu_model, mpu_sensor.gyx, mpu_sensor.mpu_model, mpu_sensor.gyy, mpu_sensor.mpu_model, mpu_sensor.gyz);
}
}
void MPU_Detect(void) {
#ifdef ESP32
if (!I2cSetDevice(MPU_ACCEL_ADDRESS, 0)) {
if (!I2cSetDevice(MPU_ACCEL_ADDRESS, 1)) { return; } // check on bus 1
mpu_sensor.bus = 1;
mpu_sensor.Mpu.setBus(mpu_sensor.bus); // switch to bus 1
}
#else
if (!I2cSetDevice(MPU_ACCEL_ADDRESS)) { return; }
#endif
if (mpu_sensor.Mpu.Init() == 0) {
char model_name[16];
mpu_sensor.mpu_model = mpu_sensor.Mpu.getModel();
snprintf_P(model_name, sizeof(model_name), PSTR("MPU%04d"), mpu_sensor.mpu_model);
I2cSetActiveFound(MPU_ACCEL_ADDRESS, model_name, mpu_sensor.bus);
mpu_sensor.ready = true;
}
}
void MPU_Every_Second(void) {
mpu_sensor.Mpu.getAccelDataInt(&mpu_sensor.ax, &mpu_sensor.ay, &mpu_sensor.az);
mpu_sensor.Mpu.getGyroDataInt(&mpu_sensor.gyx, &mpu_sensor.gyy, &mpu_sensor.gyz);
// AddLog(LOG_LEVEL_DEBUG, PSTR(">> Acc x=%i y=%i z=%i gx=%i gy=%i gz=%i"), mpu_sensor.ax, mpu_sensor.ay, mpu_sensor.az,
// mpu_sensor.gyx, mpu_sensor.gyy, mpu_sensor.gyz);
}
/*********************************************************************************************\
* Interface
\*********************************************************************************************/
bool Xsns85(uint8_t function) {
if (!I2cEnabled(XI2C_58)) { return false; }
bool result = false;
if (FUNC_INIT == function) {
MPU_Detect();
}
else if (mpu_sensor.ready) {
switch (function) {
case FUNC_EVERY_SECOND:
MPU_Every_Second();
break;
case FUNC_JSON_APPEND:
MPU_Show(1);
break;
#ifdef USE_WEBSERVER
case FUNC_WEB_SENSOR:
MPU_Show(0);
break;
#endif // USE_WEBSERVER
}
}
return result;
}
#endif // USE_MPU6886 USE_MPU_ACCEL
#endif // USE_I2C