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Merge pull request #4581 from Staars/development 

Add DMP-use to MPU-6050
This commit is contained in:
Theo Arends 2018-12-11 11:33:51 +01:00 committed by GitHub
parent 57c2e01b40 bc30a18ade
commit 400529cd8f
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 84 additions and 18 deletions
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16
lib/I2Cdevlib-MPU6050/MPU6050_6Axis_MotionApps20.h
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@ -46,7 +46,11 @@ THE SOFTWARE.
// Tom Carpenter's conditional PROGMEM code // Tom Carpenter's conditional PROGMEM code
// http://forum.arduino.cc/index.php?topic=129407.0 // http://forum.arduino.cc/index.php?topic=129407.0
#ifndef __arm__ #ifndef __arm__
#include <avr/pgmspace.h> #if (defined(__AVR__))
#include <avr\pgmspace.h>
#else
#include <pgmspace.h>
#endif
#else #else
// Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
#ifndef __PGMSPACE_H_ #ifndef __PGMSPACE_H_
@ -109,11 +113,19 @@ THE SOFTWARE.
#define DEBUG_PRINTLN(x) Serial.println(x) #define DEBUG_PRINTLN(x) Serial.println(x)
#define DEBUG_PRINTLNF(x, y) Serial.println(x, y) #define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
#else #else
#ifndef DEBUG_PRINT
#define DEBUG_PRINT(x) #define DEBUG_PRINT(x)
#endif
#ifndef DEBUG_PRINTF
#define DEBUG_PRINTF(x, y) #define DEBUG_PRINTF(x, y)
#endif
#ifndef DEBUG_PRINTLN
#define DEBUG_PRINTLN(x) #define DEBUG_PRINTLN(x)
#endif
#ifndef DEBUG_PRINTLNF
#define DEBUG_PRINTLNF(x, y) #define DEBUG_PRINTLNF(x, y)
#endif #endif
#endif
#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[] #define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[] #define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
@ -402,7 +414,7 @@ uint8_t MPU6050::dmpInitialize() {
setIntEnabled(0x12); setIntEnabled(0x12);
DEBUG_PRINTLN(F("Setting sample rate to 200Hz...")); DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
setRate(4); // 1khz / (1 + 4) = 200 Hz setRate(1); // 1khz / (1 + 4) = 200 Hz
DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]...")); DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L); setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);

3
sonoff/my_user_config.h
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@ -313,7 +313,8 @@
// #define USE_PCA9685_FREQ 50 // Define default PWM frequency in Hz to be used (must be within 24 to 1526) - If other value is used, it will rever to 50Hz // #define USE_PCA9685_FREQ 50 // Define default PWM frequency in Hz to be used (must be within 24 to 1526) - If other value is used, it will rever to 50Hz
// #define USE_MPR121 // Enable MPR121 controller (I2C addresses 0x5A, 0x5B, 0x5C and 0x5D) in input mode for touch buttons (+1k3 code) // #define USE_MPR121 // Enable MPR121 controller (I2C addresses 0x5A, 0x5B, 0x5C and 0x5D) in input mode for touch buttons (+1k3 code)
// #define USE_CCS811 // Enable CCS811 sensor (I2C address 0x5A) (+2k2 code) // #define USE_CCS811 // Enable CCS811 sensor (I2C address 0x5A) (+2k2 code)
// #define USE_MPU6050 // Enable MPU6050 sensor (I2C address 0x68 AD0 low or 0x69 AD0 high) (+2k6 code) // #define USE_MPU6050 // Enable MPU6050 sensor (I2C address 0x68 AD0 low or 0x69 AD0 high) (+3K3 of code and 188 Bytes of RAM)
// #define USE_MPU6050_DMP // Enable in MPU6050 to use the DMP on the chip, should create better results (+8k6 of code)
// #define USE_DS3231 // Enable DS3231 external RTC in case no Wifi is avaliable. See docs in the source file (+1k2 code) // #define USE_DS3231 // Enable DS3231 external RTC in case no Wifi is avaliable. See docs in the source file (+1k2 code)
// #define USE_RTC_ADDR 0x68 // Default I2C address 0x68 // #define USE_RTC_ADDR 0x68 // Default I2C address 0x68
// #define USE_MGC3130 // Enable MGC3130 Electric Field Effect Sensor (I2C address 0x42) (+2k7 code, 0k3 mem) // #define USE_MGC3130 // Enable MGC3130 Electric Field Effect Sensor (I2C address 0x42) (+2k7 code, 0k3 mem)

81
sonoff/xsns_32_mpu6050.ino
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@ -42,11 +42,49 @@ int16_t MPU_6050_ax = 0, MPU_6050_ay = 0, MPU_6050_az = 0;
int16_t MPU_6050_gx = 0, MPU_6050_gy = 0, MPU_6050_gz = 0; int16_t MPU_6050_gx = 0, MPU_6050_gy = 0, MPU_6050_gz = 0;
int16_t MPU_6050_temperature = 0; int16_t MPU_6050_temperature = 0;
#include <MPU6050.h> #ifdef USE_MPU6050_DMP
#include "MPU6050_6Axis_MotionApps20.h"
#include "I2Cdev.h"
#include <helper_3dmath.h>
typedef struct MPU6050_DMP{
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
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
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
} MPU6050_DMP;
MPU6050_DMP MPU6050_dmp;
#else
#include <MPU6050.h>
#endif //USE_MPU6050_DMP
MPU6050 mpu6050; MPU6050 mpu6050;
void MPU_6050PerformReading(void) void MPU_6050PerformReading(void)
{ {
#ifdef USE_MPU6050_DMP
mpu6050.resetFIFO(); // with a default dampling rate of 200Hz, we create a delay of approx. 5ms with a complete read cycle
MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
while (MPU6050_dmp.fifoCount < MPU6050_dmp.packetSize) MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
mpu6050.getFIFOBytes(MPU6050_dmp.fifoBuffer, MPU6050_dmp.packetSize);
MPU6050_dmp.fifoCount -= MPU6050_dmp.packetSize;
// calculate euler and acceleration with the DMP
mpu6050.dmpGetQuaternion(&MPU6050_dmp.q, MPU6050_dmp.fifoBuffer);
mpu6050.dmpGetEuler(MPU6050_dmp.euler, &MPU6050_dmp.q);
mpu6050.dmpGetAccel(&MPU6050_dmp.aa, MPU6050_dmp.fifoBuffer);
mpu6050.dmpGetGravity(&MPU6050_dmp.gravity, &MPU6050_dmp.q);
mpu6050.dmpGetLinearAccel(&MPU6050_dmp.aaReal, &MPU6050_dmp.aa, &MPU6050_dmp.gravity);
MPU_6050_gx = MPU6050_dmp.euler[0] * 180/M_PI;
MPU_6050_gy = MPU6050_dmp.euler[1] * 180/M_PI;
MPU_6050_gz = MPU6050_dmp.euler[2] * 180/M_PI;
MPU_6050_ax = MPU6050_dmp.aaReal.x;
MPU_6050_ay = MPU6050_dmp.aaReal.y;
MPU_6050_az = MPU6050_dmp.aaReal.z;
#else
mpu6050.getMotion6( mpu6050.getMotion6(
&MPU_6050_ax, &MPU_6050_ax,
&MPU_6050_ay, &MPU_6050_ay,
@ -55,7 +93,7 @@ void MPU_6050PerformReading(void)
&MPU_6050_gy, &MPU_6050_gy,
&MPU_6050_gz &MPU_6050_gz
); );
#endif //USE_MPU6050_DMP
MPU_6050_temperature = mpu6050.getTemperature(); MPU_6050_temperature = mpu6050.getTemperature();
} }
@ -84,14 +122,30 @@ void MPU_6050Detect(void)
for (byte i = 0; i < sizeof(MPU_6050_addresses); i++) for (byte i = 0; i < sizeof(MPU_6050_addresses); i++)
{ {
if(!I2cDevice(MPU_6050_addresses[i]))
{
break;
}
MPU_6050_address = MPU_6050_addresses[i]; MPU_6050_address = MPU_6050_addresses[i];
mpu6050.setAddr(MPU_6050_addresses[i]);
mpu6050.setAddr(MPU_6050_address); #ifdef USE_MPU6050_DMP
MPU6050_dmp.devStatus = mpu6050.dmpInitialize();
mpu6050.setXGyroOffset(220);
mpu6050.setYGyroOffset(76);
mpu6050.setZGyroOffset(-85);
mpu6050.setZAccelOffset(1788);
if (MPU6050_dmp.devStatus == 0) {
mpu6050.setDMPEnabled(true);
MPU6050_dmp.packetSize = mpu6050.dmpGetFIFOPacketSize();
MPU_6050_found = true;
}
#else
mpu6050.initialize(); mpu6050.initialize();
MPU_6050_found = mpu6050.testConnection();
#endif //USE_MPU6050_DMP
Settings.flag2.axis_resolution = 2; // Need to be services by command Sensor32 Settings.flag2.axis_resolution = 2; // Need to be services by command Sensor32
MPU_6050_found = mpu6050.testConnection();
} }
if (MPU_6050_found) if (MPU_6050_found)
@ -119,11 +173,10 @@ const char HTTP_SNS_GZ_AXIS[] PROGMEM = "%s{s}%s " D_GZ_AXIS "{m}%s{e}";
void MPU_6050Show(boolean json) void MPU_6050Show(boolean json)
{ {
double tempConv = (MPU_6050_temperature / 340.0 + 35.53);
if (MPU_6050_found) { if (MPU_6050_found) {
MPU_6050PerformReading(); MPU_6050PerformReading();
double tempConv = (MPU_6050_temperature / 340.0 + 35.53);
char temperature[10]; char temperature[10];
dtostrfd(tempConv, Settings.flag2.temperature_resolution, temperature); dtostrfd(tempConv, Settings.flag2.temperature_resolution, temperature);
char axis_ax[10]; char axis_ax[10];
@ -140,22 +193,22 @@ void MPU_6050Show(boolean json)
dtostrfd(MPU_6050_gz, Settings.flag2.axis_resolution, axis_gz); dtostrfd(MPU_6050_gz, Settings.flag2.axis_resolution, axis_gz);
if (json) { if (json) {
char json_axis_ax[40]; char json_axis_ax[25];
snprintf_P(json_axis_ax, sizeof(json_axis_ax), PSTR(",\"" D_JSON_AXIS_AX "\":%s"), axis_ax); snprintf_P(json_axis_ax, sizeof(json_axis_ax), PSTR(",\"" D_JSON_AXIS_AX "\":%s"), axis_ax);
char json_axis_ay[40]; char json_axis_ay[25];
snprintf_P(json_axis_ay, sizeof(json_axis_ay), PSTR(",\"" D_JSON_AXIS_AY "\":%s"), axis_ay); snprintf_P(json_axis_ay, sizeof(json_axis_ay), PSTR(",\"" D_JSON_AXIS_AY "\":%s"), axis_ay);
char json_axis_az[40]; char json_axis_az[25];
snprintf_P(json_axis_az, sizeof(json_axis_az), PSTR(",\"" D_JSON_AXIS_AZ "\":%s"), axis_az); snprintf_P(json_axis_az, sizeof(json_axis_az), PSTR(",\"" D_JSON_AXIS_AZ "\":%s"), axis_az);
char json_axis_gx[40]; char json_axis_gx[25];
snprintf_P(json_axis_gx, sizeof(json_axis_gx), PSTR(",\"" D_JSON_AXIS_GX "\":%s"), axis_gx); snprintf_P(json_axis_gx, sizeof(json_axis_gx), PSTR(",\"" D_JSON_AXIS_GX "\":%s"), axis_gx);
char json_axis_gy[40]; char json_axis_gy[25];
snprintf_P(json_axis_gy, sizeof(json_axis_gy), PSTR(",\"" D_JSON_AXIS_GY "\":%s"), axis_gy); snprintf_P(json_axis_gy, sizeof(json_axis_gy), PSTR(",\"" D_JSON_AXIS_GY "\":%s"), axis_gy);
char json_axis_gz[40]; char json_axis_gz[25];
snprintf_P(json_axis_gz, sizeof(json_axis_gz), PSTR(",\"" D_JSON_AXIS_GZ "\":%s"), axis_gz); snprintf_P(json_axis_gz, sizeof(json_axis_gz), PSTR(",\"" D_JSON_AXIS_GZ "\":%s"), axis_gz);
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"%s\":{\"" D_JSON_TEMPERATURE "\":%s%s%s%s%s%s%s}"), snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"%s\":{\"" D_JSON_TEMPERATURE "\":%s%s%s%s%s%s%s}"),
mqtt_data, D_SENSOR_MPU6050, temperature, json_axis_ax, json_axis_ay, json_axis_az, json_axis_gx, json_axis_gy, json_axis_gz); mqtt_data, D_SENSOR_MPU6050, temperature, json_axis_ax, json_axis_ay, json_axis_az, json_axis_gx, json_axis_gy, json_axis_gz);
#ifdef USE_DOMOTICZ #ifdef USE_DOMOTICZ
DomoticzTempHumSensor(temperature, 0); DomoticzSensor(DZ_TEMP, temperature);
#endif // USE_DOMOTICZ #endif // USE_DOMOTICZ
#ifdef USE_WEBSERVER #ifdef USE_WEBSERVER
} else { } else {