mirror of https://github.com/arendst/Tasmota.git
Merge branch 'arendst/development' into development
This commit is contained in:
reloxx13
commit
daac8999a1
|
|
@ -0,0 +1,372 @@
|
|||
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
|
||||
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// 2013-05-08 - added seamless Fastwire support
|
||||
// - added note about gyro calibration
|
||||
// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
|
||||
// 2012-06-20 - improved FIFO overflow handling and simplified read process
|
||||
// 2012-06-19 - completely rearranged DMP initialization code and simplification
|
||||
// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
|
||||
// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
|
||||
// 2012-06-05 - add gravity-compensated initial reference frame acceleration output
|
||||
// - add 3D math helper file to DMP6 example sketch
|
||||
// - add Euler output and Yaw/Pitch/Roll output formats
|
||||
// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
|
||||
// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
|
||||
// 2012-05-30 - basic DMP initialization working
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
|
||||
// for both classes must be in the include path of your project
|
||||
#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
|
||||
|
||||
// class default I2C address is 0x68
|
||||
// specific I2C addresses may be passed as a parameter here
|
||||
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
|
||||
// AD0 high = 0x69
|
||||
MPU6050 mpu;
|
||||
//MPU6050 mpu(0x69); // <-- use for AD0 high
|
||||
|
||||
/* =========================================================================
|
||||
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
|
||||
depends on the MPU-6050's INT pin being connected to the Arduino's
|
||||
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
|
||||
digital I/O pin 2.
|
||||
* ========================================================================= */
|
||||
|
||||
/* =========================================================================
|
||||
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
|
||||
when using Serial.write(buf, len). The Teapot output uses this method.
|
||||
The solution requires a modification to the Arduino USBAPI.h file, which
|
||||
is fortunately simple, but annoying. This will be fixed in the next IDE
|
||||
release. For more info, see these links:
|
||||
|
||||
http://arduino.cc/forum/index.php/topic,109987.0.html
|
||||
http://code.google.com/p/arduino/issues/detail?id=958
|
||||
* ========================================================================= */
|
||||
|
||||
|
||||
|
||||
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
|
||||
// quaternion components in a [w, x, y, z] format (not best for parsing
|
||||
// on a remote host such as Processing or something though)
|
||||
//#define OUTPUT_READABLE_QUATERNION
|
||||
|
||||
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
|
||||
// (in degrees) calculated from the quaternions coming from the FIFO.
|
||||
// Note that Euler angles suffer from gimbal lock (for more info, see
|
||||
// http://en.wikipedia.org/wiki/Gimbal_lock)
|
||||
//#define OUTPUT_READABLE_EULER
|
||||
|
||||
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
|
||||
// pitch/roll angles (in degrees) calculated from the quaternions coming
|
||||
// from the FIFO. Note this also requires gravity vector calculations.
|
||||
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
|
||||
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
|
||||
#define OUTPUT_READABLE_YAWPITCHROLL
|
||||
|
||||
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
|
||||
// components with gravity removed. This acceleration reference frame is
|
||||
// not compensated for orientation, so +X is always +X according to the
|
||||
// sensor, just without the effects of gravity. If you want acceleration
|
||||
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
|
||||
//#define OUTPUT_READABLE_REALACCEL
|
||||
|
||||
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
|
||||
// components with gravity removed and adjusted for the world frame of
|
||||
// reference (yaw is relative to initial orientation, since no magnetometer
|
||||
// is present in this case). Could be quite handy in some cases.
|
||||
//#define OUTPUT_READABLE_WORLDACCEL
|
||||
|
||||
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
|
||||
// format used for the InvenSense teapot demo
|
||||
//#define OUTPUT_TEAPOT
|
||||
|
||||
|
||||
|
||||
#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
|
||||
|
||||
// packet structure for InvenSense teapot demo
|
||||
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === INTERRUPT DETECTION ROUTINE ===
|
||||
// ================================================================
|
||||
|
||||
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
|
||||
void dmpDataReady() {
|
||||
mpuInterrupt = true;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === INITIAL SETUP ===
|
||||
// ================================================================
|
||||
|
||||
void setup() {
|
||||
// join I2C bus (I2Cdev library doesn't do this automatically)
|
||||
#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
|
||||
|
||||
// initialize serial communication
|
||||
// (115200 chosen because it is required for Teapot Demo output, but it's
|
||||
// really up to you depending on your project)
|
||||
Serial.begin(115200);
|
||||
while (!Serial); // wait for Leonardo enumeration, others continue immediately
|
||||
|
||||
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
|
||||
// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
|
||||
// the baud timing being too misaligned with processor ticks. You must use
|
||||
// 38400 or slower in these cases, or use some kind of external separate
|
||||
// crystal solution for the UART timer.
|
||||
|
||||
// initialize device
|
||||
Serial.println(F("Initializing I2C devices..."));
|
||||
mpu.initialize();
|
||||
|
||||
// verify connection
|
||||
Serial.println(F("Testing device connections..."));
|
||||
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
|
||||
|
||||
// wait for ready
|
||||
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
|
||||
while (Serial.available() && Serial.read()); // empty buffer
|
||||
while (!Serial.available()); // wait for data
|
||||
while (Serial.available() && Serial.read()); // empty buffer again
|
||||
|
||||
// load and configure the DMP
|
||||
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
|
||||
|
||||
// make sure it worked (returns 0 if so)
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// ================================================================
|
||||
// === MAIN PROGRAM LOOP ===
|
||||
// ================================================================
|
||||
|
||||
void loop() {
|
||||
// if programming failed, don't try to do anything
|
||||
if (!dmpReady) return;
|
||||
|
||||
// wait for MPU interrupt or extra packet(s) available
|
||||
while (!mpuInterrupt && fifoCount < packetSize) {
|
||||
// other program behavior stuff here
|
||||
// .
|
||||
// .
|
||||
// .
|
||||
// if you are really paranoid you can frequently test in between other
|
||||
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
|
||||
// while() loop to immediately process the MPU data
|
||||
// .
|
||||
// .
|
||||
// .
|
||||
}
|
||||
|
||||
// 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)
|
||||
} 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;
|
||||
|
||||
#ifdef OUTPUT_READABLE_QUATERNION
|
||||
// display quaternion values in easy matrix form: w x y z
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
Serial.print("quat\t");
|
||||
Serial.print(q.w);
|
||||
Serial.print("\t");
|
||||
Serial.print(q.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(q.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(q.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_EULER
|
||||
// display Euler angles in degrees
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetEuler(euler, &q);
|
||||
Serial.print("euler\t");
|
||||
Serial.print(euler[0] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.print(euler[1] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.println(euler[2] * 180/M_PI);
|
||||
#endif
|
||||
|
||||
#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(ypr[0] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.print(ypr[1] * 180/M_PI);
|
||||
Serial.print("\t");
|
||||
Serial.println(ypr[2] * 180/M_PI);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_REALACCEL
|
||||
// display real acceleration, adjusted to remove gravity
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetAccel(&aa, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
|
||||
Serial.print("areal\t");
|
||||
Serial.print(aaReal.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(aaReal.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(aaReal.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_READABLE_WORLDACCEL
|
||||
// display initial world-frame acceleration, adjusted to remove gravity
|
||||
// and rotated based on known orientation from quaternion
|
||||
mpu.dmpGetQuaternion(&q, fifoBuffer);
|
||||
mpu.dmpGetAccel(&aa, fifoBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
|
||||
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
|
||||
Serial.print("aworld\t");
|
||||
Serial.print(aaWorld.x);
|
||||
Serial.print("\t");
|
||||
Serial.print(aaWorld.y);
|
||||
Serial.print("\t");
|
||||
Serial.println(aaWorld.z);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_TEAPOT
|
||||
// display quaternion values in InvenSense Teapot demo format:
|
||||
teapotPacket[2] = fifoBuffer[0];
|
||||
teapotPacket[3] = fifoBuffer[1];
|
||||
teapotPacket[4] = fifoBuffer[4];
|
||||
teapotPacket[5] = fifoBuffer[5];
|
||||
teapotPacket[6] = fifoBuffer[8];
|
||||
teapotPacket[7] = fifoBuffer[9];
|
||||
teapotPacket[8] = fifoBuffer[12];
|
||||
teapotPacket[9] = fifoBuffer[13];
|
||||
Serial.write(teapotPacket, 14);
|
||||
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
|
||||
#endif
|
||||
|
||||
// blink LED to indicate activity
|
||||
blinkState = !blinkState;
|
||||
digitalWrite(LED_PIN, blinkState);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,247 @@
|
|||
// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output
|
||||
// 6/20/2012 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// 2012-06-20 - initial release
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
import processing.serial.*;
|
||||
import processing.opengl.*;
|
||||
import toxi.geom.*;
|
||||
import toxi.processing.*;
|
||||
|
||||
// NOTE: requires ToxicLibs to be installed in order to run properly.
|
||||
// 1. Download from http://toxiclibs.org/downloads
|
||||
// 2. Extract into [userdir]/Processing/libraries
|
||||
// (location may be different on Mac/Linux)
|
||||
// 3. Run and bask in awesomeness
|
||||
|
||||
ToxiclibsSupport gfx;
|
||||
|
||||
Serial port; // The serial port
|
||||
char[] teapotPacket = new char[14]; // InvenSense Teapot packet
|
||||
int serialCount = 0; // current packet byte position
|
||||
int aligned = 0;
|
||||
int interval = 0;
|
||||
|
||||
float[] q = new float[4];
|
||||
Quaternion quat = new Quaternion(1, 0, 0, 0);
|
||||
|
||||
float[] gravity = new float[3];
|
||||
float[] euler = new float[3];
|
||||
float[] ypr = new float[3];
|
||||
|
||||
void setup() {
|
||||
// 300px square viewport using OpenGL rendering
|
||||
size(300, 300, OPENGL);
|
||||
gfx = new ToxiclibsSupport(this);
|
||||
|
||||
// setup lights and antialiasing
|
||||
lights();
|
||||
smooth();
|
||||
|
||||
// display serial port list for debugging/clarity
|
||||
println(Serial.list());
|
||||
|
||||
// get the first available port (use EITHER this OR the specific port code below)
|
||||
String portName = "/dev/ttyUSB1";
|
||||
|
||||
// get a specific serial port (use EITHER this OR the first-available code above)
|
||||
//String portName = "COM4";
|
||||
|
||||
// open the serial port
|
||||
port = new Serial(this, portName, 115200);
|
||||
|
||||
// send single character to trigger DMP init/start
|
||||
// (expected by MPU6050_DMP6 example Arduino sketch)
|
||||
port.write('r');
|
||||
}
|
||||
|
||||
void draw() {
|
||||
if (millis() - interval > 1000) {
|
||||
// resend single character to trigger DMP init/start
|
||||
// in case the MPU is halted/reset while applet is running
|
||||
port.write('r');
|
||||
interval = millis();
|
||||
}
|
||||
|
||||
// black background
|
||||
background(0);
|
||||
|
||||
// translate everything to the middle of the viewport
|
||||
pushMatrix();
|
||||
translate(width / 2, height / 2);
|
||||
|
||||
// 3-step rotation from yaw/pitch/roll angles (gimbal lock!)
|
||||
// ...and other weirdness I haven't figured out yet
|
||||
//rotateY(-ypr[0]);
|
||||
//rotateZ(-ypr[1]);
|
||||
//rotateX(-ypr[2]);
|
||||
|
||||
// toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!)
|
||||
// (axis order [1, 3, 2] and inversion [-1, +1, +1] is a consequence of
|
||||
// different coordinate system orientation assumptions between Processing
|
||||
// and InvenSense DMP)
|
||||
float[] axis = quat.toAxisAngle();
|
||||
rotate(axis[0], -axis[1], axis[3], axis[2]);
|
||||
|
||||
// draw main body in red
|
||||
fill(255, 0, 0, 200);
|
||||
box(10, 10, 200);
|
||||
|
||||
// draw front-facing tip in blue
|
||||
fill(0, 0, 255, 200);
|
||||
pushMatrix();
|
||||
translate(0, 0, -120);
|
||||
rotateX(PI/2);
|
||||
drawCylinder(0, 20, 20, 8);
|
||||
popMatrix();
|
||||
|
||||
// draw wings and tail fin in green
|
||||
fill(0, 255, 0, 200);
|
||||
beginShape(TRIANGLES);
|
||||
vertex(-100, 2, 30); vertex(0, 2, -80); vertex(100, 2, 30); // wing top layer
|
||||
vertex(-100, -2, 30); vertex(0, -2, -80); vertex(100, -2, 30); // wing bottom layer
|
||||
vertex(-2, 0, 98); vertex(-2, -30, 98); vertex(-2, 0, 70); // tail left layer
|
||||
vertex( 2, 0, 98); vertex( 2, -30, 98); vertex( 2, 0, 70); // tail right layer
|
||||
endShape();
|
||||
beginShape(QUADS);
|
||||
vertex(-100, 2, 30); vertex(-100, -2, 30); vertex( 0, -2, -80); vertex( 0, 2, -80);
|
||||
vertex( 100, 2, 30); vertex( 100, -2, 30); vertex( 0, -2, -80); vertex( 0, 2, -80);
|
||||
vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(100, -2, 30); vertex(100, 2, 30);
|
||||
vertex(-2, 0, 98); vertex(2, 0, 98); vertex(2, -30, 98); vertex(-2, -30, 98);
|
||||
vertex(-2, 0, 98); vertex(2, 0, 98); vertex(2, 0, 70); vertex(-2, 0, 70);
|
||||
vertex(-2, -30, 98); vertex(2, -30, 98); vertex(2, 0, 70); vertex(-2, 0, 70);
|
||||
endShape();
|
||||
|
||||
popMatrix();
|
||||
}
|
||||
|
||||
void serialEvent(Serial port) {
|
||||
interval = millis();
|
||||
while (port.available() > 0) {
|
||||
int ch = port.read();
|
||||
print((char)ch);
|
||||
if (ch == '$') {serialCount = 0;} // this will help with alignment
|
||||
if (aligned < 4) {
|
||||
// make sure we are properly aligned on a 14-byte packet
|
||||
if (serialCount == 0) {
|
||||
if (ch == '$') aligned++; else aligned = 0;
|
||||
} else if (serialCount == 1) {
|
||||
if (ch == 2) aligned++; else aligned = 0;
|
||||
} else if (serialCount == 12) {
|
||||
if (ch == '\r') aligned++; else aligned = 0;
|
||||
} else if (serialCount == 13) {
|
||||
if (ch == '\n') aligned++; else aligned = 0;
|
||||
}
|
||||
//println(ch + " " + aligned + " " + serialCount);
|
||||
serialCount++;
|
||||
if (serialCount == 14) serialCount = 0;
|
||||
} else {
|
||||
if (serialCount > 0 || ch == '$') {
|
||||
teapotPacket[serialCount++] = (char)ch;
|
||||
if (serialCount == 14) {
|
||||
serialCount = 0; // restart packet byte position
|
||||
|
||||
// get quaternion from data packet
|
||||
q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f;
|
||||
q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f;
|
||||
q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f;
|
||||
q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f;
|
||||
for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i];
|
||||
|
||||
// set our toxilibs quaternion to new data
|
||||
quat.set(q[0], q[1], q[2], q[3]);
|
||||
|
||||
/*
|
||||
// below calculations unnecessary for orientation only using toxilibs
|
||||
|
||||
// calculate gravity vector
|
||||
gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]);
|
||||
gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
|
||||
gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];
|
||||
|
||||
// calculate Euler angles
|
||||
euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
|
||||
euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
|
||||
euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1);
|
||||
|
||||
// calculate yaw/pitch/roll angles
|
||||
ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
|
||||
ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
|
||||
ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));
|
||||
|
||||
// output various components for debugging
|
||||
//println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f);
|
||||
//println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI);
|
||||
//println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI);
|
||||
*/
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
|
||||
float angle = 0;
|
||||
float angleIncrement = TWO_PI / sides;
|
||||
beginShape(QUAD_STRIP);
|
||||
for (int i = 0; i < sides + 1; ++i) {
|
||||
vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
|
||||
vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
|
||||
angle += angleIncrement;
|
||||
}
|
||||
endShape();
|
||||
|
||||
// If it is not a cone, draw the circular top cap
|
||||
if (topRadius != 0) {
|
||||
angle = 0;
|
||||
beginShape(TRIANGLE_FAN);
|
||||
|
||||
// Center point
|
||||
vertex(0, 0, 0);
|
||||
for (int i = 0; i < sides + 1; i++) {
|
||||
vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
|
||||
angle += angleIncrement;
|
||||
}
|
||||
endShape();
|
||||
}
|
||||
|
||||
// If it is not a cone, draw the circular bottom cap
|
||||
if (bottomRadius != 0) {
|
||||
angle = 0;
|
||||
beginShape(TRIANGLE_FAN);
|
||||
|
||||
// Center point
|
||||
vertex(0, tall, 0);
|
||||
for (int i = 0; i < sides + 1; i++) {
|
||||
vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
|
||||
angle += angleIncrement;
|
||||
}
|
||||
endShape();
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,151 @@
|
|||
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
|
||||
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Changelog:
|
||||
// 2013-05-08 - added multiple output formats
|
||||
// - added seamless Fastwire support
|
||||
// 2011-10-07 - initial release
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2011 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
|
||||
// for both classes must be in the include path of your project
|
||||
#include "I2Cdev.h"
|
||||
#include "MPU6050.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
|
||||
|
||||
// class default I2C address is 0x68
|
||||
// specific I2C addresses may be passed as a parameter here
|
||||
// AD0 low = 0x68 (default for InvenSense evaluation board)
|
||||
// AD0 high = 0x69
|
||||
MPU6050 accelgyro;
|
||||
//MPU6050 accelgyro(0x69); // <-- use for AD0 high
|
||||
|
||||
int16_t ax, ay, az;
|
||||
int16_t gx, gy, gz;
|
||||
|
||||
|
||||
|
||||
// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
|
||||
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
|
||||
// not so easy to parse, and slow(er) over UART.
|
||||
#define OUTPUT_READABLE_ACCELGYRO
|
||||
|
||||
// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
|
||||
// binary, one right after the other. This is very fast (as fast as possible
|
||||
// without compression or data loss), and easy to parse, but impossible to read
|
||||
// for a human.
|
||||
//#define OUTPUT_BINARY_ACCELGYRO
|
||||
|
||||
|
||||
#define LED_PIN 13
|
||||
bool blinkState = false;
|
||||
|
||||
void setup() {
|
||||
// join I2C bus (I2Cdev library doesn't do this automatically)
|
||||
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
|
||||
Wire.begin();
|
||||
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
|
||||
Fastwire::setup(400, true);
|
||||
#endif
|
||||
|
||||
// initialize serial communication
|
||||
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
|
||||
// it's really up to you depending on your project)
|
||||
Serial.begin(38400);
|
||||
|
||||
// initialize device
|
||||
Serial.println("Initializing I2C devices...");
|
||||
accelgyro.initialize();
|
||||
|
||||
// verify connection
|
||||
Serial.println("Testing device connections...");
|
||||
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
|
||||
|
||||
// use the code below to change accel/gyro offset values
|
||||
/*
|
||||
Serial.println("Updating internal sensor offsets...");
|
||||
// -76 -2359 1688 0 0 0
|
||||
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
|
||||
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
|
||||
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
|
||||
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
|
||||
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
|
||||
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
|
||||
Serial.print("\n");
|
||||
accelgyro.setXGyroOffset(220);
|
||||
accelgyro.setYGyroOffset(76);
|
||||
accelgyro.setZGyroOffset(-85);
|
||||
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
|
||||
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
|
||||
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
|
||||
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
|
||||
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
|
||||
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
|
||||
Serial.print("\n");
|
||||
*/
|
||||
|
||||
// configure Arduino LED for
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// read raw accel/gyro measurements from device
|
||||
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
|
||||
|
||||
// these methods (and a few others) are also available
|
||||
//accelgyro.getAcceleration(&ax, &ay, &az);
|
||||
//accelgyro.getRotation(&gx, &gy, &gz);
|
||||
|
||||
#ifdef OUTPUT_READABLE_ACCELGYRO
|
||||
// display tab-separated accel/gyro x/y/z values
|
||||
Serial.print("a/g:\t");
|
||||
Serial.print(ax); Serial.print("\t");
|
||||
Serial.print(ay); Serial.print("\t");
|
||||
Serial.print(az); Serial.print("\t");
|
||||
Serial.print(gx); Serial.print("\t");
|
||||
Serial.print(gy); Serial.print("\t");
|
||||
Serial.println(gz);
|
||||
#endif
|
||||
|
||||
#ifdef OUTPUT_BINARY_ACCELGYRO
|
||||
Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
|
||||
Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
|
||||
Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
|
||||
Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
|
||||
Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
|
||||
Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
|
||||
#endif
|
||||
|
||||
// blink LED to indicate activity
|
||||
blinkState = !blinkState;
|
||||
digitalWrite(LED_PIN, blinkState);
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,993 @@
|
|||
// I2Cdev library collection - MPU6050 I2C device class
|
||||
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||
// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
|
||||
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Adapted for Sonoff-Tasmota by Oliver Welter <contact@verbotene.zone> 02-04-2018
|
||||
//
|
||||
// Changelog:
|
||||
// ... - ongoing debug release
|
||||
|
||||
// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
|
||||
// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
|
||||
// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _MPU6050_H_
|
||||
#define _MPU6050_H_
|
||||
|
||||
#include "I2Cdev.h"
|
||||
//#include <avr/pgmspace.h>
|
||||
|
||||
|
||||
|
||||
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
|
||||
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
|
||||
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
|
||||
|
||||
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
|
||||
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
|
||||
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
|
||||
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
|
||||
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
|
||||
#define MPU6050_RA_XA_OFFS_L_TC 0x07
|
||||
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
|
||||
#define MPU6050_RA_YA_OFFS_L_TC 0x09
|
||||
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
|
||||
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
|
||||
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
|
||||
#define MPU6050_RA_XG_OFFS_USRL 0x14
|
||||
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
|
||||
#define MPU6050_RA_YG_OFFS_USRL 0x16
|
||||
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
|
||||
#define MPU6050_RA_ZG_OFFS_USRL 0x18
|
||||
#define MPU6050_RA_SMPLRT_DIV 0x19
|
||||
#define MPU6050_RA_CONFIG 0x1A
|
||||
#define MPU6050_RA_GYRO_CONFIG 0x1B
|
||||
#define MPU6050_RA_ACCEL_CONFIG 0x1C
|
||||
#define MPU6050_RA_FF_THR 0x1D
|
||||
#define MPU6050_RA_FF_DUR 0x1E
|
||||
#define MPU6050_RA_MOT_THR 0x1F
|
||||
#define MPU6050_RA_MOT_DUR 0x20
|
||||
#define MPU6050_RA_ZRMOT_THR 0x21
|
||||
#define MPU6050_RA_ZRMOT_DUR 0x22
|
||||
#define MPU6050_RA_FIFO_EN 0x23
|
||||
#define MPU6050_RA_I2C_MST_CTRL 0x24
|
||||
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
|
||||
#define MPU6050_RA_I2C_SLV0_REG 0x26
|
||||
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
|
||||
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
|
||||
#define MPU6050_RA_I2C_SLV1_REG 0x29
|
||||
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
|
||||
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
|
||||
#define MPU6050_RA_I2C_SLV2_REG 0x2C
|
||||
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
|
||||
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
|
||||
#define MPU6050_RA_I2C_SLV3_REG 0x2F
|
||||
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
|
||||
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
|
||||
#define MPU6050_RA_I2C_SLV4_REG 0x32
|
||||
#define MPU6050_RA_I2C_SLV4_DO 0x33
|
||||
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
|
||||
#define MPU6050_RA_I2C_SLV4_DI 0x35
|
||||
#define MPU6050_RA_I2C_MST_STATUS 0x36
|
||||
#define MPU6050_RA_INT_PIN_CFG 0x37
|
||||
#define MPU6050_RA_INT_ENABLE 0x38
|
||||
#define MPU6050_RA_DMP_INT_STATUS 0x39
|
||||
#define MPU6050_RA_INT_STATUS 0x3A
|
||||
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
|
||||
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
|
||||
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
|
||||
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
|
||||
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
|
||||
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
|
||||
#define MPU6050_RA_TEMP_OUT_H 0x41
|
||||
#define MPU6050_RA_TEMP_OUT_L 0x42
|
||||
#define MPU6050_RA_GYRO_XOUT_H 0x43
|
||||
#define MPU6050_RA_GYRO_XOUT_L 0x44
|
||||
#define MPU6050_RA_GYRO_YOUT_H 0x45
|
||||
#define MPU6050_RA_GYRO_YOUT_L 0x46
|
||||
#define MPU6050_RA_GYRO_ZOUT_H 0x47
|
||||
#define MPU6050_RA_GYRO_ZOUT_L 0x48
|
||||
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
|
||||
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
|
||||
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
|
||||
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
|
||||
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
|
||||
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
|
||||
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
|
||||
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
|
||||
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
|
||||
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
|
||||
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
|
||||
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
|
||||
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
|
||||
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
|
||||
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
|
||||
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
|
||||
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
|
||||
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
|
||||
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
|
||||
#define MPU6050_RA_I2C_SLV0_DO 0x63
|
||||
#define MPU6050_RA_I2C_SLV1_DO 0x64
|
||||
#define MPU6050_RA_I2C_SLV2_DO 0x65
|
||||
#define MPU6050_RA_I2C_SLV3_DO 0x66
|
||||
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
|
||||
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
|
||||
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
|
||||
#define MPU6050_RA_USER_CTRL 0x6A
|
||||
#define MPU6050_RA_PWR_MGMT_1 0x6B
|
||||
#define MPU6050_RA_PWR_MGMT_2 0x6C
|
||||
#define MPU6050_RA_BANK_SEL 0x6D
|
||||
#define MPU6050_RA_MEM_START_ADDR 0x6E
|
||||
#define MPU6050_RA_MEM_R_W 0x6F
|
||||
#define MPU6050_RA_DMP_CFG_1 0x70
|
||||
#define MPU6050_RA_DMP_CFG_2 0x71
|
||||
#define MPU6050_RA_FIFO_COUNTH 0x72
|
||||
#define MPU6050_RA_FIFO_COUNTL 0x73
|
||||
#define MPU6050_RA_FIFO_R_W 0x74
|
||||
#define MPU6050_RA_WHO_AM_I 0x75
|
||||
|
||||
#define MPU6050_TC_PWR_MODE_BIT 7
|
||||
#define MPU6050_TC_OFFSET_BIT 6
|
||||
#define MPU6050_TC_OFFSET_LENGTH 6
|
||||
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
|
||||
|
||||
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
|
||||
#define MPU6050_VDDIO_LEVEL_VDD 1
|
||||
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
|
||||
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
|
||||
#define MPU6050_CFG_DLPF_CFG_BIT 2
|
||||
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
|
||||
|
||||
#define MPU6050_EXT_SYNC_DISABLED 0x0
|
||||
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
|
||||
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
|
||||
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
|
||||
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
|
||||
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
|
||||
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
|
||||
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
|
||||
|
||||
#define MPU6050_DLPF_BW_256 0x00
|
||||
#define MPU6050_DLPF_BW_188 0x01
|
||||
#define MPU6050_DLPF_BW_98 0x02
|
||||
#define MPU6050_DLPF_BW_42 0x03
|
||||
#define MPU6050_DLPF_BW_20 0x04
|
||||
#define MPU6050_DLPF_BW_10 0x05
|
||||
#define MPU6050_DLPF_BW_5 0x06
|
||||
|
||||
#define MPU6050_GCONFIG_FS_SEL_BIT 4
|
||||
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
|
||||
|
||||
#define MPU6050_GYRO_FS_250 0x00
|
||||
#define MPU6050_GYRO_FS_500 0x01
|
||||
#define MPU6050_GYRO_FS_1000 0x02
|
||||
#define MPU6050_GYRO_FS_2000 0x03
|
||||
|
||||
#define MPU6050_ACONFIG_XA_ST_BIT 7
|
||||
#define MPU6050_ACONFIG_YA_ST_BIT 6
|
||||
#define MPU6050_ACONFIG_ZA_ST_BIT 5
|
||||
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
|
||||
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
|
||||
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
|
||||
|
||||
#define MPU6050_ACCEL_FS_2 0x00
|
||||
#define MPU6050_ACCEL_FS_4 0x01
|
||||
#define MPU6050_ACCEL_FS_8 0x02
|
||||
#define MPU6050_ACCEL_FS_16 0x03
|
||||
|
||||
#define MPU6050_DHPF_RESET 0x00
|
||||
#define MPU6050_DHPF_5 0x01
|
||||
#define MPU6050_DHPF_2P5 0x02
|
||||
#define MPU6050_DHPF_1P25 0x03
|
||||
#define MPU6050_DHPF_0P63 0x04
|
||||
#define MPU6050_DHPF_HOLD 0x07
|
||||
|
||||
#define MPU6050_TEMP_FIFO_EN_BIT 7
|
||||
#define MPU6050_XG_FIFO_EN_BIT 6
|
||||
#define MPU6050_YG_FIFO_EN_BIT 5
|
||||
#define MPU6050_ZG_FIFO_EN_BIT 4
|
||||
#define MPU6050_ACCEL_FIFO_EN_BIT 3
|
||||
#define MPU6050_SLV2_FIFO_EN_BIT 2
|
||||
#define MPU6050_SLV1_FIFO_EN_BIT 1
|
||||
#define MPU6050_SLV0_FIFO_EN_BIT 0
|
||||
|
||||
#define MPU6050_MULT_MST_EN_BIT 7
|
||||
#define MPU6050_WAIT_FOR_ES_BIT 6
|
||||
#define MPU6050_SLV_3_FIFO_EN_BIT 5
|
||||
#define MPU6050_I2C_MST_P_NSR_BIT 4
|
||||
#define MPU6050_I2C_MST_CLK_BIT 3
|
||||
#define MPU6050_I2C_MST_CLK_LENGTH 4
|
||||
|
||||
#define MPU6050_CLOCK_DIV_348 0x0
|
||||
#define MPU6050_CLOCK_DIV_333 0x1
|
||||
#define MPU6050_CLOCK_DIV_320 0x2
|
||||
#define MPU6050_CLOCK_DIV_308 0x3
|
||||
#define MPU6050_CLOCK_DIV_296 0x4
|
||||
#define MPU6050_CLOCK_DIV_286 0x5
|
||||
#define MPU6050_CLOCK_DIV_276 0x6
|
||||
#define MPU6050_CLOCK_DIV_267 0x7
|
||||
#define MPU6050_CLOCK_DIV_258 0x8
|
||||
#define MPU6050_CLOCK_DIV_500 0x9
|
||||
#define MPU6050_CLOCK_DIV_471 0xA
|
||||
#define MPU6050_CLOCK_DIV_444 0xB
|
||||
#define MPU6050_CLOCK_DIV_421 0xC
|
||||
#define MPU6050_CLOCK_DIV_400 0xD
|
||||
#define MPU6050_CLOCK_DIV_381 0xE
|
||||
#define MPU6050_CLOCK_DIV_364 0xF
|
||||
|
||||
#define MPU6050_I2C_SLV_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
|
||||
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV_GRP_BIT 4
|
||||
#define MPU6050_I2C_SLV_LEN_BIT 3
|
||||
#define MPU6050_I2C_SLV_LEN_LENGTH 4
|
||||
|
||||
#define MPU6050_I2C_SLV4_RW_BIT 7
|
||||
#define MPU6050_I2C_SLV4_ADDR_BIT 6
|
||||
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
|
||||
#define MPU6050_I2C_SLV4_EN_BIT 7
|
||||
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
|
||||
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
|
||||
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
|
||||
|
||||
#define MPU6050_MST_PASS_THROUGH_BIT 7
|
||||
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
|
||||
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
|
||||
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
|
||||
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
|
||||
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
|
||||
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
|
||||
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
|
||||
|
||||
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
|
||||
#define MPU6050_INTCFG_INT_OPEN_BIT 6
|
||||
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
|
||||
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
|
||||
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
|
||||
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
|
||||
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
|
||||
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
|
||||
|
||||
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
|
||||
#define MPU6050_INTMODE_ACTIVELOW 0x01
|
||||
|
||||
#define MPU6050_INTDRV_PUSHPULL 0x00
|
||||
#define MPU6050_INTDRV_OPENDRAIN 0x01
|
||||
|
||||
#define MPU6050_INTLATCH_50USPULSE 0x00
|
||||
#define MPU6050_INTLATCH_WAITCLEAR 0x01
|
||||
|
||||
#define MPU6050_INTCLEAR_STATUSREAD 0x00
|
||||
#define MPU6050_INTCLEAR_ANYREAD 0x01
|
||||
|
||||
#define MPU6050_INTERRUPT_FF_BIT 7
|
||||
#define MPU6050_INTERRUPT_MOT_BIT 6
|
||||
#define MPU6050_INTERRUPT_ZMOT_BIT 5
|
||||
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
|
||||
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
|
||||
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
|
||||
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
|
||||
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
|
||||
|
||||
// TODO: figure out what these actually do
|
||||
// UMPL source code is not very obivous
|
||||
#define MPU6050_DMPINT_5_BIT 5
|
||||
#define MPU6050_DMPINT_4_BIT 4
|
||||
#define MPU6050_DMPINT_3_BIT 3
|
||||
#define MPU6050_DMPINT_2_BIT 2
|
||||
#define MPU6050_DMPINT_1_BIT 1
|
||||
#define MPU6050_DMPINT_0_BIT 0
|
||||
|
||||
#define MPU6050_MOTION_MOT_XNEG_BIT 7
|
||||
#define MPU6050_MOTION_MOT_XPOS_BIT 6
|
||||
#define MPU6050_MOTION_MOT_YNEG_BIT 5
|
||||
#define MPU6050_MOTION_MOT_YPOS_BIT 4
|
||||
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
|
||||
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
|
||||
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
|
||||
|
||||
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
|
||||
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
|
||||
|
||||
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
|
||||
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
|
||||
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
|
||||
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
|
||||
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
|
||||
#define MPU6050_DETECT_FF_COUNT_BIT 3
|
||||
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
|
||||
#define MPU6050_DETECT_MOT_COUNT_BIT 1
|
||||
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
|
||||
|
||||
#define MPU6050_DETECT_DECREMENT_RESET 0x0
|
||||
#define MPU6050_DETECT_DECREMENT_1 0x1
|
||||
#define MPU6050_DETECT_DECREMENT_2 0x2
|
||||
#define MPU6050_DETECT_DECREMENT_4 0x3
|
||||
|
||||
#define MPU6050_USERCTRL_DMP_EN_BIT 7
|
||||
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
|
||||
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
|
||||
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
|
||||
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
|
||||
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
|
||||
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
|
||||
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
|
||||
|
||||
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
|
||||
#define MPU6050_PWR1_SLEEP_BIT 6
|
||||
#define MPU6050_PWR1_CYCLE_BIT 5
|
||||
#define MPU6050_PWR1_TEMP_DIS_BIT 3
|
||||
#define MPU6050_PWR1_CLKSEL_BIT 2
|
||||
#define MPU6050_PWR1_CLKSEL_LENGTH 3
|
||||
|
||||
#define MPU6050_CLOCK_INTERNAL 0x00
|
||||
#define MPU6050_CLOCK_PLL_XGYRO 0x01
|
||||
#define MPU6050_CLOCK_PLL_YGYRO 0x02
|
||||
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
|
||||
#define MPU6050_CLOCK_PLL_EXT32K 0x04
|
||||
#define MPU6050_CLOCK_PLL_EXT19M 0x05
|
||||
#define MPU6050_CLOCK_KEEP_RESET 0x07
|
||||
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
|
||||
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
|
||||
#define MPU6050_PWR2_STBY_XA_BIT 5
|
||||
#define MPU6050_PWR2_STBY_YA_BIT 4
|
||||
#define MPU6050_PWR2_STBY_ZA_BIT 3
|
||||
#define MPU6050_PWR2_STBY_XG_BIT 2
|
||||
#define MPU6050_PWR2_STBY_YG_BIT 1
|
||||
#define MPU6050_PWR2_STBY_ZG_BIT 0
|
||||
|
||||
#define MPU6050_WAKE_FREQ_1P25 0x0
|
||||
#define MPU6050_WAKE_FREQ_2P5 0x1
|
||||
#define MPU6050_WAKE_FREQ_5 0x2
|
||||
#define MPU6050_WAKE_FREQ_10 0x3
|
||||
|
||||
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
|
||||
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
|
||||
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
|
||||
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
|
||||
|
||||
#define MPU6050_WHO_AM_I_BIT 6
|
||||
#define MPU6050_WHO_AM_I_LENGTH 6
|
||||
|
||||
#define MPU6050_DMP_MEMORY_BANKS 8
|
||||
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
|
||||
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
|
||||
|
||||
// note: DMP code memory blocks defined at end of header file
|
||||
|
||||
class MPU6050 {
|
||||
public:
|
||||
MPU6050();
|
||||
MPU6050(uint8_t address);
|
||||
|
||||
void initialize();
|
||||
bool testConnection();
|
||||
|
||||
// Patch for Tasmota
|
||||
void setAddr(uint8_t address);
|
||||
|
||||
// AUX_VDDIO register
|
||||
uint8_t getAuxVDDIOLevel();
|
||||
void setAuxVDDIOLevel(uint8_t level);
|
||||
|
||||
// SMPLRT_DIV register
|
||||
uint8_t getRate();
|
||||
void setRate(uint8_t rate);
|
||||
|
||||
// CONFIG register
|
||||
uint8_t getExternalFrameSync();
|
||||
void setExternalFrameSync(uint8_t sync);
|
||||
uint8_t getDLPFMode();
|
||||
void setDLPFMode(uint8_t bandwidth);
|
||||
|
||||
// GYRO_CONFIG register
|
||||
uint8_t getFullScaleGyroRange();
|
||||
void setFullScaleGyroRange(uint8_t range);
|
||||
|
||||
// ACCEL_CONFIG register
|
||||
bool getAccelXSelfTest();
|
||||
void setAccelXSelfTest(bool enabled);
|
||||
bool getAccelYSelfTest();
|
||||
void setAccelYSelfTest(bool enabled);
|
||||
bool getAccelZSelfTest();
|
||||
void setAccelZSelfTest(bool enabled);
|
||||
uint8_t getFullScaleAccelRange();
|
||||
void setFullScaleAccelRange(uint8_t range);
|
||||
uint8_t getDHPFMode();
|
||||
void setDHPFMode(uint8_t mode);
|
||||
|
||||
// FF_THR register
|
||||
uint8_t getFreefallDetectionThreshold();
|
||||
void setFreefallDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// FF_DUR register
|
||||
uint8_t getFreefallDetectionDuration();
|
||||
void setFreefallDetectionDuration(uint8_t duration);
|
||||
|
||||
// MOT_THR register
|
||||
uint8_t getMotionDetectionThreshold();
|
||||
void setMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// MOT_DUR register
|
||||
uint8_t getMotionDetectionDuration();
|
||||
void setMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// ZRMOT_THR register
|
||||
uint8_t getZeroMotionDetectionThreshold();
|
||||
void setZeroMotionDetectionThreshold(uint8_t threshold);
|
||||
|
||||
// ZRMOT_DUR register
|
||||
uint8_t getZeroMotionDetectionDuration();
|
||||
void setZeroMotionDetectionDuration(uint8_t duration);
|
||||
|
||||
// FIFO_EN register
|
||||
bool getTempFIFOEnabled();
|
||||
void setTempFIFOEnabled(bool enabled);
|
||||
bool getXGyroFIFOEnabled();
|
||||
void setXGyroFIFOEnabled(bool enabled);
|
||||
bool getYGyroFIFOEnabled();
|
||||
void setYGyroFIFOEnabled(bool enabled);
|
||||
bool getZGyroFIFOEnabled();
|
||||
void setZGyroFIFOEnabled(bool enabled);
|
||||
bool getAccelFIFOEnabled();
|
||||
void setAccelFIFOEnabled(bool enabled);
|
||||
bool getSlave2FIFOEnabled();
|
||||
void setSlave2FIFOEnabled(bool enabled);
|
||||
bool getSlave1FIFOEnabled();
|
||||
void setSlave1FIFOEnabled(bool enabled);
|
||||
bool getSlave0FIFOEnabled();
|
||||
void setSlave0FIFOEnabled(bool enabled);
|
||||
|
||||
// I2C_MST_CTRL register
|
||||
bool getMultiMasterEnabled();
|
||||
void setMultiMasterEnabled(bool enabled);
|
||||
bool getWaitForExternalSensorEnabled();
|
||||
void setWaitForExternalSensorEnabled(bool enabled);
|
||||
bool getSlave3FIFOEnabled();
|
||||
void setSlave3FIFOEnabled(bool enabled);
|
||||
bool getSlaveReadWriteTransitionEnabled();
|
||||
void setSlaveReadWriteTransitionEnabled(bool enabled);
|
||||
uint8_t getMasterClockSpeed();
|
||||
void setMasterClockSpeed(uint8_t speed);
|
||||
|
||||
// I2C_SLV* registers (Slave 0-3)
|
||||
uint8_t getSlaveAddress(uint8_t num);
|
||||
void setSlaveAddress(uint8_t num, uint8_t address);
|
||||
uint8_t getSlaveRegister(uint8_t num);
|
||||
void setSlaveRegister(uint8_t num, uint8_t reg);
|
||||
bool getSlaveEnabled(uint8_t num);
|
||||
void setSlaveEnabled(uint8_t num, bool enabled);
|
||||
bool getSlaveWordByteSwap(uint8_t num);
|
||||
void setSlaveWordByteSwap(uint8_t num, bool enabled);
|
||||
bool getSlaveWriteMode(uint8_t num);
|
||||
void setSlaveWriteMode(uint8_t num, bool mode);
|
||||
bool getSlaveWordGroupOffset(uint8_t num);
|
||||
void setSlaveWordGroupOffset(uint8_t num, bool enabled);
|
||||
uint8_t getSlaveDataLength(uint8_t num);
|
||||
void setSlaveDataLength(uint8_t num, uint8_t length);
|
||||
|
||||
// I2C_SLV* registers (Slave 4)
|
||||
uint8_t getSlave4Address();
|
||||
void setSlave4Address(uint8_t address);
|
||||
uint8_t getSlave4Register();
|
||||
void setSlave4Register(uint8_t reg);
|
||||
void setSlave4OutputByte(uint8_t data);
|
||||
bool getSlave4Enabled();
|
||||
void setSlave4Enabled(bool enabled);
|
||||
bool getSlave4InterruptEnabled();
|
||||
void setSlave4InterruptEnabled(bool enabled);
|
||||
bool getSlave4WriteMode();
|
||||
void setSlave4WriteMode(bool mode);
|
||||
uint8_t getSlave4MasterDelay();
|
||||
void setSlave4MasterDelay(uint8_t delay);
|
||||
uint8_t getSlate4InputByte();
|
||||
|
||||
// I2C_MST_STATUS register
|
||||
bool getPassthroughStatus();
|
||||
bool getSlave4IsDone();
|
||||
bool getLostArbitration();
|
||||
bool getSlave4Nack();
|
||||
bool getSlave3Nack();
|
||||
bool getSlave2Nack();
|
||||
bool getSlave1Nack();
|
||||
bool getSlave0Nack();
|
||||
|
||||
// INT_PIN_CFG register
|
||||
bool getInterruptMode();
|
||||
void setInterruptMode(bool mode);
|
||||
bool getInterruptDrive();
|
||||
void setInterruptDrive(bool drive);
|
||||
bool getInterruptLatch();
|
||||
void setInterruptLatch(bool latch);
|
||||
bool getInterruptLatchClear();
|
||||
void setInterruptLatchClear(bool clear);
|
||||
bool getFSyncInterruptLevel();
|
||||
void setFSyncInterruptLevel(bool level);
|
||||
bool getFSyncInterruptEnabled();
|
||||
void setFSyncInterruptEnabled(bool enabled);
|
||||
bool getI2CBypassEnabled();
|
||||
void setI2CBypassEnabled(bool enabled);
|
||||
bool getClockOutputEnabled();
|
||||
void setClockOutputEnabled(bool enabled);
|
||||
|
||||
// INT_ENABLE register
|
||||
uint8_t getIntEnabled();
|
||||
void setIntEnabled(uint8_t enabled);
|
||||
bool getIntFreefallEnabled();
|
||||
void setIntFreefallEnabled(bool enabled);
|
||||
bool getIntMotionEnabled();
|
||||
void setIntMotionEnabled(bool enabled);
|
||||
bool getIntZeroMotionEnabled();
|
||||
void setIntZeroMotionEnabled(bool enabled);
|
||||
bool getIntFIFOBufferOverflowEnabled();
|
||||
void setIntFIFOBufferOverflowEnabled(bool enabled);
|
||||
bool getIntI2CMasterEnabled();
|
||||
void setIntI2CMasterEnabled(bool enabled);
|
||||
bool getIntDataReadyEnabled();
|
||||
void setIntDataReadyEnabled(bool enabled);
|
||||
|
||||
// INT_STATUS register
|
||||
uint8_t getIntStatus();
|
||||
bool getIntFreefallStatus();
|
||||
bool getIntMotionStatus();
|
||||
bool getIntZeroMotionStatus();
|
||||
bool getIntFIFOBufferOverflowStatus();
|
||||
bool getIntI2CMasterStatus();
|
||||
bool getIntDataReadyStatus();
|
||||
|
||||
// ACCEL_*OUT_* registers
|
||||
void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz);
|
||||
void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
|
||||
void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getAccelerationX();
|
||||
int16_t getAccelerationY();
|
||||
int16_t getAccelerationZ();
|
||||
|
||||
// TEMP_OUT_* registers
|
||||
int16_t getTemperature();
|
||||
|
||||
// GYRO_*OUT_* registers
|
||||
void getRotation(int16_t* x, int16_t* y, int16_t* z);
|
||||
int16_t getRotationX();
|
||||
int16_t getRotationY();
|
||||
int16_t getRotationZ();
|
||||
|
||||
// EXT_SENS_DATA_* registers
|
||||
uint8_t getExternalSensorByte(int position);
|
||||
uint16_t getExternalSensorWord(int position);
|
||||
uint32_t getExternalSensorDWord(int position);
|
||||
|
||||
// MOT_DETECT_STATUS register
|
||||
bool getXNegMotionDetected();
|
||||
bool getXPosMotionDetected();
|
||||
bool getYNegMotionDetected();
|
||||
bool getYPosMotionDetected();
|
||||
bool getZNegMotionDetected();
|
||||
bool getZPosMotionDetected();
|
||||
bool getZeroMotionDetected();
|
||||
|
||||
// I2C_SLV*_DO register
|
||||
void setSlaveOutputByte(uint8_t num, uint8_t data);
|
||||
|
||||
// I2C_MST_DELAY_CTRL register
|
||||
bool getExternalShadowDelayEnabled();
|
||||
void setExternalShadowDelayEnabled(bool enabled);
|
||||
bool getSlaveDelayEnabled(uint8_t num);
|
||||
void setSlaveDelayEnabled(uint8_t num, bool enabled);
|
||||
|
||||
// SIGNAL_PATH_RESET register
|
||||
void resetGyroscopePath();
|
||||
void resetAccelerometerPath();
|
||||
void resetTemperaturePath();
|
||||
|
||||
// MOT_DETECT_CTRL register
|
||||
uint8_t getAccelerometerPowerOnDelay();
|
||||
void setAccelerometerPowerOnDelay(uint8_t delay);
|
||||
uint8_t getFreefallDetectionCounterDecrement();
|
||||
void setFreefallDetectionCounterDecrement(uint8_t decrement);
|
||||
uint8_t getMotionDetectionCounterDecrement();
|
||||
void setMotionDetectionCounterDecrement(uint8_t decrement);
|
||||
|
||||
// USER_CTRL register
|
||||
bool getFIFOEnabled();
|
||||
void setFIFOEnabled(bool enabled);
|
||||
bool getI2CMasterModeEnabled();
|
||||
void setI2CMasterModeEnabled(bool enabled);
|
||||
void switchSPIEnabled(bool enabled);
|
||||
void resetFIFO();
|
||||
void resetI2CMaster();
|
||||
void resetSensors();
|
||||
|
||||
// PWR_MGMT_1 register
|
||||
void reset();
|
||||
bool getSleepEnabled();
|
||||
void setSleepEnabled(bool enabled);
|
||||
bool getWakeCycleEnabled();
|
||||
void setWakeCycleEnabled(bool enabled);
|
||||
bool getTempSensorEnabled();
|
||||
void setTempSensorEnabled(bool enabled);
|
||||
uint8_t getClockSource();
|
||||
void setClockSource(uint8_t source);
|
||||
|
||||
// PWR_MGMT_2 register
|
||||
uint8_t getWakeFrequency();
|
||||
void setWakeFrequency(uint8_t frequency);
|
||||
bool getStandbyXAccelEnabled();
|
||||
void setStandbyXAccelEnabled(bool enabled);
|
||||
bool getStandbyYAccelEnabled();
|
||||
void setStandbyYAccelEnabled(bool enabled);
|
||||
bool getStandbyZAccelEnabled();
|
||||
void setStandbyZAccelEnabled(bool enabled);
|
||||
bool getStandbyXGyroEnabled();
|
||||
void setStandbyXGyroEnabled(bool enabled);
|
||||
bool getStandbyYGyroEnabled();
|
||||
void setStandbyYGyroEnabled(bool enabled);
|
||||
bool getStandbyZGyroEnabled();
|
||||
void setStandbyZGyroEnabled(bool enabled);
|
||||
|
||||
// FIFO_COUNT_* registers
|
||||
uint16_t getFIFOCount();
|
||||
|
||||
// FIFO_R_W register
|
||||
uint8_t getFIFOByte();
|
||||
void setFIFOByte(uint8_t data);
|
||||
void getFIFOBytes(uint8_t *data, uint8_t length);
|
||||
|
||||
// WHO_AM_I register
|
||||
uint8_t getDeviceID();
|
||||
void setDeviceID(uint8_t id);
|
||||
|
||||
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
|
||||
|
||||
// XG_OFFS_TC register
|
||||
uint8_t getOTPBankValid();
|
||||
void setOTPBankValid(bool enabled);
|
||||
int8_t getXGyroOffsetTC();
|
||||
void setXGyroOffsetTC(int8_t offset);
|
||||
|
||||
// YG_OFFS_TC register
|
||||
int8_t getYGyroOffsetTC();
|
||||
void setYGyroOffsetTC(int8_t offset);
|
||||
|
||||
// ZG_OFFS_TC register
|
||||
int8_t getZGyroOffsetTC();
|
||||
void setZGyroOffsetTC(int8_t offset);
|
||||
|
||||
// X_FINE_GAIN register
|
||||
int8_t getXFineGain();
|
||||
void setXFineGain(int8_t gain);
|
||||
|
||||
// Y_FINE_GAIN register
|
||||
int8_t getYFineGain();
|
||||
void setYFineGain(int8_t gain);
|
||||
|
||||
// Z_FINE_GAIN register
|
||||
int8_t getZFineGain();
|
||||
void setZFineGain(int8_t gain);
|
||||
|
||||
// XA_OFFS_* registers
|
||||
int16_t getXAccelOffset();
|
||||
void setXAccelOffset(int16_t offset);
|
||||
|
||||
// YA_OFFS_* register
|
||||
int16_t getYAccelOffset();
|
||||
void setYAccelOffset(int16_t offset);
|
||||
|
||||
// ZA_OFFS_* register
|
||||
int16_t getZAccelOffset();
|
||||
void setZAccelOffset(int16_t offset);
|
||||
|
||||
// XG_OFFS_USR* registers
|
||||
int16_t getXGyroOffset();
|
||||
void setXGyroOffset(int16_t offset);
|
||||
|
||||
// YG_OFFS_USR* register
|
||||
int16_t getYGyroOffset();
|
||||
void setYGyroOffset(int16_t offset);
|
||||
|
||||
// ZG_OFFS_USR* register
|
||||
int16_t getZGyroOffset();
|
||||
void setZGyroOffset(int16_t offset);
|
||||
|
||||
// INT_ENABLE register (DMP functions)
|
||||
bool getIntPLLReadyEnabled();
|
||||
void setIntPLLReadyEnabled(bool enabled);
|
||||
bool getIntDMPEnabled();
|
||||
void setIntDMPEnabled(bool enabled);
|
||||
|
||||
// DMP_INT_STATUS
|
||||
bool getDMPInt5Status();
|
||||
bool getDMPInt4Status();
|
||||
bool getDMPInt3Status();
|
||||
bool getDMPInt2Status();
|
||||
bool getDMPInt1Status();
|
||||
bool getDMPInt0Status();
|
||||
|
||||
// INT_STATUS register (DMP functions)
|
||||
bool getIntPLLReadyStatus();
|
||||
bool getIntDMPStatus();
|
||||
|
||||
// USER_CTRL register (DMP functions)
|
||||
bool getDMPEnabled();
|
||||
void setDMPEnabled(bool enabled);
|
||||
void resetDMP();
|
||||
|
||||
// BANK_SEL register
|
||||
void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
|
||||
|
||||
// MEM_START_ADDR register
|
||||
void setMemoryStartAddress(uint8_t address);
|
||||
|
||||
// MEM_R_W register
|
||||
uint8_t readMemoryByte();
|
||||
void writeMemoryByte(uint8_t data);
|
||||
void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
|
||||
bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
|
||||
bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
|
||||
|
||||
bool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem=false);
|
||||
bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
|
||||
|
||||
// DMP_CFG_1 register
|
||||
uint8_t getDMPConfig1();
|
||||
void setDMPConfig1(uint8_t config);
|
||||
|
||||
// DMP_CFG_2 register
|
||||
uint8_t getDMPConfig2();
|
||||
void setDMPConfig2(uint8_t config);
|
||||
|
||||
// special methods for MotionApps 2.0 implementation
|
||||
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
|
||||
uint8_t *dmpPacketBuffer;
|
||||
uint16_t dmpPacketSize;
|
||||
|
||||
uint8_t dmpInitialize();
|
||||
bool dmpPacketAvailable();
|
||||
|
||||
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||
uint8_t dmpGetFIFORate();
|
||||
uint8_t dmpGetSampleStepSizeMS();
|
||||
uint8_t dmpGetSampleFrequency();
|
||||
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
// Register callbacks after a packet of FIFO data is processed
|
||||
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
uint8_t dmpRunFIFORateProcesses();
|
||||
|
||||
// Setup FIFO for various output
|
||||
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
// Get Fixed Point data from FIFO
|
||||
uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
|
||||
uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
|
||||
uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
|
||||
uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
|
||||
uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
|
||||
uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
|
||||
|
||||
uint8_t dmpGetEuler(float *data, Quaternion *q);
|
||||
uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
|
||||
|
||||
// Get Floating Point data from FIFO
|
||||
uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
|
||||
|
||||
uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
|
||||
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
|
||||
|
||||
uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
|
||||
|
||||
uint8_t dmpInitFIFOParam();
|
||||
uint8_t dmpCloseFIFO();
|
||||
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||
uint8_t dmpDecodeQuantizedAccel();
|
||||
uint32_t dmpGetGyroSumOfSquare();
|
||||
uint32_t dmpGetAccelSumOfSquare();
|
||||
void dmpOverrideQuaternion(long *q);
|
||||
uint16_t dmpGetFIFOPacketSize();
|
||||
#endif
|
||||
|
||||
// special methods for MotionApps 4.1 implementation
|
||||
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
|
||||
uint8_t *dmpPacketBuffer;
|
||||
uint16_t dmpPacketSize;
|
||||
|
||||
uint8_t dmpInitialize();
|
||||
bool dmpPacketAvailable();
|
||||
|
||||
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||
uint8_t dmpGetFIFORate();
|
||||
uint8_t dmpGetSampleStepSizeMS();
|
||||
uint8_t dmpGetSampleFrequency();
|
||||
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
// Register callbacks after a packet of FIFO data is processed
|
||||
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
uint8_t dmpRunFIFORateProcesses();
|
||||
|
||||
// Setup FIFO for various output
|
||||
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
// Get Fixed Point data from FIFO
|
||||
uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0);
|
||||
uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0);
|
||||
uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity);
|
||||
uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q);
|
||||
uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0);
|
||||
uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0);
|
||||
uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0);
|
||||
|
||||
uint8_t dmpGetEuler(float *data, Quaternion *q);
|
||||
uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity);
|
||||
|
||||
// Get Floating Point data from FIFO
|
||||
uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0);
|
||||
uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0);
|
||||
|
||||
uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData);
|
||||
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL);
|
||||
|
||||
uint8_t dmpSetFIFOProcessedCallback(void (*func) (void));
|
||||
|
||||
uint8_t dmpInitFIFOParam();
|
||||
uint8_t dmpCloseFIFO();
|
||||
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||
uint8_t dmpDecodeQuantizedAccel();
|
||||
uint32_t dmpGetGyroSumOfSquare();
|
||||
uint32_t dmpGetAccelSumOfSquare();
|
||||
void dmpOverrideQuaternion(long *q);
|
||||
uint16_t dmpGetFIFOPacketSize();
|
||||
#endif
|
||||
|
||||
private:
|
||||
uint8_t devAddr;
|
||||
uint8_t buffer[14];
|
||||
};
|
||||
|
||||
#endif /* _MPU6050_H_ */
|
||||
|
|
@ -0,0 +1,743 @@
|
|||
// I2Cdev library collection - MPU6050 I2C device class, 6-axis MotionApps 2.0 implementation
|
||||
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||
// 5/20/2013 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Adapted for Sonoff-Tasmota by Oliver Welter <contact@verbotene.zone> 02-04-2018
|
||||
//
|
||||
// Changelog:
|
||||
// ... - ongoing debug release
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
|
||||
#define _MPU6050_6AXIS_MOTIONAPPS20_H_
|
||||
|
||||
#include "I2Cdev.h"
|
||||
#include "helper_3dmath.h"
|
||||
|
||||
// MotionApps 2.0 DMP implementation, built using the MPU-6050EVB evaluation board
|
||||
#define MPU6050_INCLUDE_DMP_MOTIONAPPS20
|
||||
|
||||
#include "MPU6050.h"
|
||||
|
||||
// Tom Carpenter's conditional PROGMEM code
|
||||
// http://forum.arduino.cc/index.php?topic=129407.0
|
||||
#ifndef __arm__
|
||||
#include <avr/pgmspace.h>
|
||||
#else
|
||||
// Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
|
||||
#ifndef __PGMSPACE_H_
|
||||
#define __PGMSPACE_H_ 1
|
||||
#include <inttypes.h>
|
||||
|
||||
#define PROGMEM
|
||||
#define PGM_P const char *
|
||||
#define PSTR(str) (str)
|
||||
#define F(x) x
|
||||
|
||||
typedef void prog_void;
|
||||
typedef char prog_char;
|
||||
typedef unsigned char prog_uchar;
|
||||
typedef int8_t prog_int8_t;
|
||||
typedef uint8_t prog_uint8_t;
|
||||
typedef int16_t prog_int16_t;
|
||||
typedef uint16_t prog_uint16_t;
|
||||
typedef int32_t prog_int32_t;
|
||||
typedef uint32_t prog_uint32_t;
|
||||
|
||||
#define strcpy_P(dest, src) strcpy((dest), (src))
|
||||
#define strcat_P(dest, src) strcat((dest), (src))
|
||||
#define strcmp_P(a, b) strcmp((a), (b))
|
||||
|
||||
#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
|
||||
#define pgm_read_word(addr) (*(const unsigned short *)(addr))
|
||||
#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
|
||||
#define pgm_read_float(addr) (*(const float *)(addr))
|
||||
|
||||
#define pgm_read_byte_near(addr) pgm_read_byte(addr)
|
||||
#define pgm_read_word_near(addr) pgm_read_word(addr)
|
||||
#define pgm_read_dword_near(addr) pgm_read_dword(addr)
|
||||
#define pgm_read_float_near(addr) pgm_read_float(addr)
|
||||
#define pgm_read_byte_far(addr) pgm_read_byte(addr)
|
||||
#define pgm_read_word_far(addr) pgm_read_word(addr)
|
||||
#define pgm_read_dword_far(addr) pgm_read_dword(addr)
|
||||
#define pgm_read_float_far(addr) pgm_read_float(addr)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/* Source is from the InvenSense MotionApps v2 demo code. Original source is
|
||||
* unavailable, unless you happen to be amazing as decompiling binary by
|
||||
* hand (in which case, please contact me, and I'm totally serious).
|
||||
*
|
||||
* Also, I'd like to offer many, many thanks to Noah Zerkin for all of the
|
||||
* DMP reverse-engineering he did to help make this bit of wizardry
|
||||
* possible.
|
||||
*/
|
||||
|
||||
// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
|
||||
// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
|
||||
// after moving string constants to flash memory storage using the F()
|
||||
// compiler macro (Arduino IDE 1.0+ required).
|
||||
|
||||
//#define DEBUG
|
||||
#ifdef DEBUG
|
||||
#define DEBUG_PRINT(x) Serial.print(x)
|
||||
#define DEBUG_PRINTF(x, y) Serial.print(x, y)
|
||||
#define DEBUG_PRINTLN(x) Serial.println(x)
|
||||
#define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
|
||||
#else
|
||||
#define DEBUG_PRINT(x)
|
||||
#define DEBUG_PRINTF(x, y)
|
||||
#define DEBUG_PRINTLN(x)
|
||||
#define DEBUG_PRINTLNF(x, y)
|
||||
#endif
|
||||
|
||||
#define MPU6050_DMP_CODE_SIZE 1929 // dmpMemory[]
|
||||
#define MPU6050_DMP_CONFIG_SIZE 192 // dmpConfig[]
|
||||
#define MPU6050_DMP_UPDATES_SIZE 47 // dmpUpdates[]
|
||||
|
||||
/* ================================================================================================ *
|
||||
| Default MotionApps v2.0 42-byte FIFO packet structure: |
|
||||
| |
|
||||
| [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
|
||||
| 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
|
||||
| |
|
||||
| [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
|
||||
| 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 |
|
||||
* ================================================================================================ */
|
||||
|
||||
// this block of memory gets written to the MPU on start-up, and it seems
|
||||
// to be volatile memory, so it has to be done each time (it only takes ~1
|
||||
// second though)
|
||||
const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
|
||||
// bank 0, 256 bytes
|
||||
0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
|
||||
0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
|
||||
0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
|
||||
0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
|
||||
0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
|
||||
0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
|
||||
0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
|
||||
0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
|
||||
|
||||
// bank 1, 256 bytes
|
||||
0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
|
||||
0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
|
||||
0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
|
||||
0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
|
||||
|
||||
// bank 2, 256 bytes
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
|
||||
// bank 3, 256 bytes
|
||||
0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
|
||||
0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
|
||||
0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
|
||||
0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
|
||||
0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
|
||||
0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
|
||||
0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
|
||||
0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
|
||||
0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
|
||||
0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
|
||||
0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
|
||||
0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
|
||||
0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
|
||||
0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
|
||||
0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
|
||||
0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
|
||||
|
||||
// bank 4, 256 bytes
|
||||
0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
|
||||
0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
|
||||
0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
|
||||
0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
|
||||
0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
|
||||
0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
|
||||
0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
|
||||
0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
|
||||
0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
|
||||
0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
|
||||
0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
|
||||
0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
|
||||
|
||||
// bank 5, 256 bytes
|
||||
0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
|
||||
0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
|
||||
0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
|
||||
0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
|
||||
0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
|
||||
0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
|
||||
0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
|
||||
0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
|
||||
0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
|
||||
0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
|
||||
0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
|
||||
0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
|
||||
0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
|
||||
0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
|
||||
0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
|
||||
0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
|
||||
|
||||
// bank 6, 256 bytes
|
||||
0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
|
||||
0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
|
||||
0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
|
||||
0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
|
||||
0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
|
||||
0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
|
||||
0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
|
||||
0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
|
||||
0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
|
||||
0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
|
||||
0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
|
||||
0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
|
||||
0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
|
||||
0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
|
||||
0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
|
||||
0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
|
||||
|
||||
// bank 7, 138 bytes (remainder)
|
||||
0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
|
||||
0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
|
||||
0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
|
||||
0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
|
||||
0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
|
||||
0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
|
||||
0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
|
||||
};
|
||||
|
||||
// thanks to Noah Zerkin for piecing this stuff together!
|
||||
const unsigned char dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
|
||||
// BANK OFFSET LENGTH [DATA]
|
||||
0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
|
||||
0x03, 0xAB, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
|
||||
0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2, // D_0_104 inv_set_gyro_calibration
|
||||
0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1, // D_0_24 inv_set_gyro_calibration
|
||||
0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
|
||||
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_accel_calibration
|
||||
0x03, 0x89, 0x03, 0x26, 0x46, 0x66, // FCFG_7 inv_set_accel_calibration
|
||||
0x00, 0x6C, 0x02, 0x20, 0x00, // D_0_108 inv_set_accel_calibration
|
||||
0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
|
||||
0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_01
|
||||
0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
|
||||
0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_10
|
||||
0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
|
||||
0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
|
||||
0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
|
||||
0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
|
||||
0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_22
|
||||
0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
|
||||
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
|
||||
0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
|
||||
0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
|
||||
0x00, 0xA3, 0x01, 0x00, // D_0_163 inv_set_dead_zone
|
||||
// SPECIAL 0x01 = enable interrupts
|
||||
0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE at i=22, SPECIAL INSTRUCTION
|
||||
0x07, 0x86, 0x01, 0xFE, // CFG_6 inv_set_fifo_interupt
|
||||
0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
|
||||
0x07, 0x7E, 0x01, 0x30, // CFG_16 inv_set_footer
|
||||
0x07, 0x46, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
|
||||
0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
|
||||
0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
|
||||
0x02, 0x16, 0x02, 0x00, 0x02 //(0x07 -> 16Mhz) D_0_22 inv_set_fifo_rate (0x06 for first 8mhz board) (0x09 for 8Mhz board from Binoy)
|
||||
|
||||
// This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
|
||||
// 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
|
||||
// DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
|
||||
|
||||
// It is important to make sure the host processor can keep up with reading and processing
|
||||
// the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
|
||||
};
|
||||
|
||||
const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
|
||||
0x01, 0xB2, 0x02, 0xFF, 0xFF,
|
||||
0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,
|
||||
0x01, 0x6A, 0x02, 0x06, 0x00,
|
||||
0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
|
||||
0x01, 0x62, 0x02, 0x00, 0x00,
|
||||
0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
|
||||
};
|
||||
|
||||
uint8_t MPU6050::dmpInitialize() {
|
||||
// reset device
|
||||
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
|
||||
reset();
|
||||
delay(30); // wait after reset
|
||||
|
||||
// enable sleep mode and wake cycle
|
||||
/*Serial.println(F("Enabling sleep mode..."));
|
||||
setSleepEnabled(true);
|
||||
Serial.println(F("Enabling wake cycle..."));
|
||||
setWakeCycleEnabled(true);*/
|
||||
|
||||
// disable sleep mode
|
||||
DEBUG_PRINTLN(F("Disabling sleep mode..."));
|
||||
setSleepEnabled(false);
|
||||
|
||||
// get MPU hardware revision
|
||||
DEBUG_PRINTLN(F("Selecting user bank 16..."));
|
||||
setMemoryBank(0x10, true, true);
|
||||
DEBUG_PRINTLN(F("Selecting memory byte 6..."));
|
||||
setMemoryStartAddress(0x06);
|
||||
DEBUG_PRINTLN(F("Checking hardware revision..."));
|
||||
uint8_t hwRevision = readMemoryByte();
|
||||
DEBUG_PRINT(F("Revision @ user[16][6] = "));
|
||||
DEBUG_PRINTLNF(hwRevision, HEX);
|
||||
DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
|
||||
setMemoryBank(0, false, false);
|
||||
|
||||
// check OTP bank valid
|
||||
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
|
||||
uint8_t otpValid = getOTPBankValid();
|
||||
DEBUG_PRINT(F("OTP bank is "));
|
||||
DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
|
||||
|
||||
// get X/Y/Z gyro offsets
|
||||
DEBUG_PRINTLN(F("Reading gyro offset TC values..."));
|
||||
int8_t xgOffsetTC = getXGyroOffsetTC();
|
||||
int8_t ygOffsetTC = getYGyroOffsetTC();
|
||||
int8_t zgOffsetTC = getZGyroOffsetTC();
|
||||
DEBUG_PRINT(F("X gyro offset = "));
|
||||
DEBUG_PRINTLN(xgOffset);
|
||||
DEBUG_PRINT(F("Y gyro offset = "));
|
||||
DEBUG_PRINTLN(ygOffset);
|
||||
DEBUG_PRINT(F("Z gyro offset = "));
|
||||
DEBUG_PRINTLN(zgOffset);
|
||||
|
||||
// setup weird slave stuff (?)
|
||||
DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
|
||||
setSlaveAddress(0, 0x7F);
|
||||
DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
|
||||
setI2CMasterModeEnabled(false);
|
||||
DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
|
||||
setSlaveAddress(0, 0x68);
|
||||
DEBUG_PRINTLN(F("Resetting I2C Master control..."));
|
||||
resetI2CMaster();
|
||||
delay(20);
|
||||
|
||||
// load DMP code into memory banks
|
||||
DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
|
||||
DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
|
||||
DEBUG_PRINTLN(F(" bytes)"));
|
||||
if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
|
||||
DEBUG_PRINTLN(F("Success! DMP code written and verified."));
|
||||
|
||||
// write DMP configuration
|
||||
DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
|
||||
DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
|
||||
DEBUG_PRINTLN(F(" bytes in config def)"));
|
||||
if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
|
||||
DEBUG_PRINTLN(F("Success! DMP configuration written and verified."));
|
||||
|
||||
DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
|
||||
setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
|
||||
setIntEnabled(0x12);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
|
||||
setRate(4); // 1khz / (1 + 4) = 200 Hz
|
||||
|
||||
DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
|
||||
setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
|
||||
setDLPFMode(MPU6050_DLPF_BW_42);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
|
||||
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
|
||||
setDMPConfig1(0x03);
|
||||
setDMPConfig2(0x00);
|
||||
|
||||
DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
|
||||
setOTPBankValid(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting X/Y/Z gyro offset TCs to previous values..."));
|
||||
setXGyroOffsetTC(xgOffsetTC);
|
||||
setYGyroOffsetTC(ygOffsetTC);
|
||||
setZGyroOffsetTC(zgOffsetTC);
|
||||
|
||||
//DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
|
||||
//setXGyroOffset(0);
|
||||
//setYGyroOffset(0);
|
||||
//setZGyroOffset(0);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 1/7 (function unknown)..."));
|
||||
uint8_t dmpUpdate[16], j;
|
||||
uint16_t pos = 0;
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 2/7 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting FIFO..."));
|
||||
resetFIFO();
|
||||
|
||||
DEBUG_PRINTLN(F("Reading FIFO count..."));
|
||||
uint16_t fifoCount = getFIFOCount();
|
||||
uint8_t fifoBuffer[128];
|
||||
|
||||
DEBUG_PRINT(F("Current FIFO count="));
|
||||
DEBUG_PRINTLN(fifoCount);
|
||||
getFIFOBytes(fifoBuffer, fifoCount);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
|
||||
setMotionDetectionThreshold(2);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
|
||||
setZeroMotionDetectionThreshold(156);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
|
||||
setMotionDetectionDuration(80);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
|
||||
setZeroMotionDetectionDuration(0);
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting FIFO..."));
|
||||
resetFIFO();
|
||||
|
||||
DEBUG_PRINTLN(F("Enabling FIFO..."));
|
||||
setFIFOEnabled(true);
|
||||
|
||||
DEBUG_PRINTLN(F("Enabling DMP..."));
|
||||
setDMPEnabled(true);
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting DMP..."));
|
||||
resetDMP();
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 3/7 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 4/7 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 5/7 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
|
||||
while ((fifoCount = getFIFOCount()) < 3);
|
||||
|
||||
DEBUG_PRINT(F("Current FIFO count="));
|
||||
DEBUG_PRINTLN(fifoCount);
|
||||
DEBUG_PRINTLN(F("Reading FIFO data..."));
|
||||
getFIFOBytes(fifoBuffer, fifoCount);
|
||||
|
||||
DEBUG_PRINTLN(F("Reading interrupt status..."));
|
||||
uint8_t mpuIntStatus = getIntStatus();
|
||||
|
||||
DEBUG_PRINT(F("Current interrupt status="));
|
||||
DEBUG_PRINTLNF(mpuIntStatus, HEX);
|
||||
|
||||
DEBUG_PRINTLN(F("Reading final memory update 6/7 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Waiting for FIFO count > 2..."));
|
||||
while ((fifoCount = getFIFOCount()) < 3);
|
||||
|
||||
DEBUG_PRINT(F("Current FIFO count="));
|
||||
DEBUG_PRINTLN(fifoCount);
|
||||
|
||||
DEBUG_PRINTLN(F("Reading FIFO data..."));
|
||||
getFIFOBytes(fifoBuffer, fifoCount);
|
||||
|
||||
DEBUG_PRINTLN(F("Reading interrupt status..."));
|
||||
mpuIntStatus = getIntStatus();
|
||||
|
||||
DEBUG_PRINT(F("Current interrupt status="));
|
||||
DEBUG_PRINTLNF(mpuIntStatus, HEX);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 7/7 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("DMP is good to go! Finally."));
|
||||
|
||||
DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
|
||||
setDMPEnabled(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
|
||||
dmpPacketSize = 42;
|
||||
/*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
|
||||
return 3; // TODO: proper error code for no memory
|
||||
}*/
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
|
||||
resetFIFO();
|
||||
getIntStatus();
|
||||
} else {
|
||||
DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
|
||||
return 2; // configuration block loading failed
|
||||
}
|
||||
} else {
|
||||
DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
|
||||
return 1; // main binary block loading failed
|
||||
}
|
||||
return 0; // success
|
||||
}
|
||||
|
||||
bool MPU6050::dmpPacketAvailable() {
|
||||
return getFIFOCount() >= dmpGetFIFOPacketSize();
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
|
||||
// uint8_t MPU6050::dmpGetFIFORate();
|
||||
// uint8_t MPU6050::dmpGetSampleStepSizeMS();
|
||||
// uint8_t MPU6050::dmpGetSampleFrequency();
|
||||
// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
//uint8_t MPU6050::dmpRunFIFORateProcesses();
|
||||
|
||||
// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
|
||||
data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
|
||||
data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[28] << 8) + packet[29];
|
||||
data[1] = (packet[32] << 8) + packet[33];
|
||||
data[2] = (packet[36] << 8) + packet[37];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
v -> x = (packet[28] << 8) + packet[29];
|
||||
v -> y = (packet[32] << 8) + packet[33];
|
||||
v -> z = (packet[36] << 8) + packet[37];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
|
||||
data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
|
||||
data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
|
||||
data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[0] << 8) + packet[1]);
|
||||
data[1] = ((packet[4] << 8) + packet[5]);
|
||||
data[2] = ((packet[8] << 8) + packet[9]);
|
||||
data[3] = ((packet[12] << 8) + packet[13]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
int16_t qI[4];
|
||||
uint8_t status = dmpGetQuaternion(qI, packet);
|
||||
if (status == 0) {
|
||||
q -> w = (float)qI[0] / 16384.0f;
|
||||
q -> x = (float)qI[1] / 16384.0f;
|
||||
q -> y = (float)qI[2] / 16384.0f;
|
||||
q -> z = (float)qI[3] / 16384.0f;
|
||||
return 0;
|
||||
}
|
||||
return status; // int16 return value, indicates error if this line is reached
|
||||
}
|
||||
// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
|
||||
data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
|
||||
data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[16] << 8) + packet[17];
|
||||
data[1] = (packet[20] << 8) + packet[21];
|
||||
data[2] = (packet[24] << 8) + packet[25];
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
|
||||
// get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g)
|
||||
v -> x = vRaw -> x - gravity -> x*8192;
|
||||
v -> y = vRaw -> y - gravity -> y*8192;
|
||||
v -> z = vRaw -> z - gravity -> z*8192;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
|
||||
// rotate measured 3D acceleration vector into original state
|
||||
// frame of reference based on orientation quaternion
|
||||
memcpy(v, vReal, sizeof(VectorInt16));
|
||||
v -> rotate(q);
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
|
||||
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
|
||||
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
|
||||
v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi
|
||||
data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta
|
||||
data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
|
||||
// yaw: (about Z axis)
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
|
||||
// pitch: (nose up/down, about Y axis)
|
||||
data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
|
||||
// roll: (tilt left/right, about X axis)
|
||||
data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
|
||||
return 0;
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
|
||||
/*for (uint8_t k = 0; k < dmpPacketSize; k++) {
|
||||
if (dmpData[k] < 0x10) Serial.print("0");
|
||||
Serial.print(dmpData[k], HEX);
|
||||
Serial.print(" ");
|
||||
}
|
||||
Serial.print("\n");*/
|
||||
//Serial.println((uint16_t)dmpPacketBuffer);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
|
||||
uint8_t status;
|
||||
uint8_t buf[dmpPacketSize];
|
||||
for (uint8_t i = 0; i < numPackets; i++) {
|
||||
// read packet from FIFO
|
||||
getFIFOBytes(buf, dmpPacketSize);
|
||||
|
||||
// process packet
|
||||
if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
|
||||
|
||||
// increment external process count variable, if supplied
|
||||
if (processed != 0) *processed++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
|
||||
|
||||
// uint8_t MPU6050::dmpInitFIFOParam();
|
||||
// uint8_t MPU6050::dmpCloseFIFO();
|
||||
// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
|
||||
// uint8_t MPU6050::dmpDecodeQuantizedAccel();
|
||||
// uint32_t MPU6050::dmpGetGyroSumOfSquare();
|
||||
// uint32_t MPU6050::dmpGetAccelSumOfSquare();
|
||||
// void MPU6050::dmpOverrideQuaternion(long *q);
|
||||
uint16_t MPU6050::dmpGetFIFOPacketSize() {
|
||||
return dmpPacketSize;
|
||||
}
|
||||
|
||||
#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
|
||||
|
|
@ -0,0 +1,854 @@
|
|||
// I2Cdev library collection - MPU6050 I2C device class, 9-axis MotionApps 4.1 implementation
|
||||
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||
// 6/18/2012 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Adapted for Sonoff-Tasmota by Oliver Welter <contact@verbotene.zone> 02-04-2018
|
||||
//
|
||||
// Changelog:
|
||||
// ... - ongoing debug release
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _MPU6050_9AXIS_MOTIONAPPS41_H_
|
||||
#define _MPU6050_9AXIS_MOTIONAPPS41_H_
|
||||
|
||||
#include "I2Cdev.h"
|
||||
#include "helper_3dmath.h"
|
||||
|
||||
// MotionApps 4.1 DMP implementation, built using the MPU-9150 "MotionFit" board
|
||||
#define MPU6050_INCLUDE_DMP_MOTIONAPPS41
|
||||
|
||||
#include "MPU6050.h"
|
||||
|
||||
// Tom Carpenter's conditional PROGMEM code
|
||||
// http://forum.arduino.cc/index.php?topic=129407.0
|
||||
#ifndef __arm__
|
||||
#include <avr/pgmspace.h>
|
||||
#else
|
||||
// Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
|
||||
#ifndef __PGMSPACE_H_
|
||||
#define __PGMSPACE_H_ 1
|
||||
#include <inttypes.h>
|
||||
|
||||
#define PROGMEM
|
||||
#define PGM_P const char *
|
||||
#define PSTR(str) (str)
|
||||
#define F(x) x
|
||||
|
||||
typedef void prog_void;
|
||||
typedef char prog_char;
|
||||
typedef unsigned char prog_uchar;
|
||||
typedef int8_t prog_int8_t;
|
||||
typedef uint8_t prog_uint8_t;
|
||||
typedef int16_t prog_int16_t;
|
||||
typedef uint16_t prog_uint16_t;
|
||||
typedef int32_t prog_int32_t;
|
||||
typedef uint32_t prog_uint32_t;
|
||||
|
||||
#define strcpy_P(dest, src) strcpy((dest), (src))
|
||||
#define strcat_P(dest, src) strcat((dest), (src))
|
||||
#define strcmp_P(a, b) strcmp((a), (b))
|
||||
|
||||
#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
|
||||
#define pgm_read_word(addr) (*(const unsigned short *)(addr))
|
||||
#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
|
||||
#define pgm_read_float(addr) (*(const float *)(addr))
|
||||
|
||||
#define pgm_read_byte_near(addr) pgm_read_byte(addr)
|
||||
#define pgm_read_word_near(addr) pgm_read_word(addr)
|
||||
#define pgm_read_dword_near(addr) pgm_read_dword(addr)
|
||||
#define pgm_read_float_near(addr) pgm_read_float(addr)
|
||||
#define pgm_read_byte_far(addr) pgm_read_byte(addr)
|
||||
#define pgm_read_word_far(addr) pgm_read_word(addr)
|
||||
#define pgm_read_dword_far(addr) pgm_read_dword(addr)
|
||||
#define pgm_read_float_far(addr) pgm_read_float(addr)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// NOTE! Enabling DEBUG adds about 3.3kB to the flash program size.
|
||||
// Debug output is now working even on ATMega328P MCUs (e.g. Arduino Uno)
|
||||
// after moving string constants to flash memory storage using the F()
|
||||
// compiler macro (Arduino IDE 1.0+ required).
|
||||
|
||||
//#define DEBUG
|
||||
#ifdef DEBUG
|
||||
#define DEBUG_PRINT(x) Serial.print(x)
|
||||
#define DEBUG_PRINTF(x, y) Serial.print(x, y)
|
||||
#define DEBUG_PRINTLN(x) Serial.println(x)
|
||||
#define DEBUG_PRINTLNF(x, y) Serial.println(x, y)
|
||||
#else
|
||||
#define DEBUG_PRINT(x)
|
||||
#define DEBUG_PRINTF(x, y)
|
||||
#define DEBUG_PRINTLN(x)
|
||||
#define DEBUG_PRINTLNF(x, y)
|
||||
#endif
|
||||
|
||||
#define MPU6050_DMP_CODE_SIZE 1962 // dmpMemory[]
|
||||
#define MPU6050_DMP_CONFIG_SIZE 232 // dmpConfig[]
|
||||
#define MPU6050_DMP_UPDATES_SIZE 140 // dmpUpdates[]
|
||||
|
||||
/* ================================================================================================ *
|
||||
| Default MotionApps v4.1 48-byte FIFO packet structure: |
|
||||
| |
|
||||
| [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
|
||||
| 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
|
||||
| |
|
||||
| [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
|
||||
| 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 |
|
||||
* ================================================================================================ */
|
||||
|
||||
// this block of memory gets written to the MPU on start-up, and it seems
|
||||
// to be volatile memory, so it has to be done each time (it only takes ~1
|
||||
// second though)
|
||||
const prog_uchar dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
|
||||
// bank 0, 256 bytes
|
||||
0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
|
||||
0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
|
||||
0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
|
||||
0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
|
||||
0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
|
||||
0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
|
||||
0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
|
||||
0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
|
||||
|
||||
// bank 1, 256 bytes
|
||||
0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
|
||||
0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
|
||||
0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
|
||||
0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
|
||||
|
||||
// bank 2, 256 bytes
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x78, 0xA2,
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
|
||||
// bank 3, 256 bytes
|
||||
0xD8, 0xDC, 0xF4, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xF1, 0xBA, 0xA2, 0xDE, 0xB2, 0xB8, 0xB4,
|
||||
0xA8, 0x81, 0x98, 0xF7, 0x4A, 0x90, 0x7F, 0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA,
|
||||
0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2, 0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80,
|
||||
0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF, 0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0,
|
||||
0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C, 0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1,
|
||||
0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1, 0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3,
|
||||
0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01, 0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88,
|
||||
0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80, 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF,
|
||||
0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89,
|
||||
0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80, 0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9,
|
||||
0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E, 0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A,
|
||||
0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9, 0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11,
|
||||
0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55,
|
||||
0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xF0, 0x00, 0x28, 0x50, 0xF5, 0xBA, 0xAD, 0x8F, 0x9F, 0x28, 0x54,
|
||||
0x7C, 0xB9, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xDB, 0xB2, 0xB6, 0x8E, 0x9D,
|
||||
0xAE, 0xF5, 0x60, 0x68, 0x70, 0xB1, 0xB5, 0xF1, 0xDA, 0xA6, 0xDF, 0xD9, 0xA6, 0xFA, 0xA3, 0x86,
|
||||
|
||||
// bank 4, 256 bytes
|
||||
0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
|
||||
0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
|
||||
0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
|
||||
0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
|
||||
0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
|
||||
0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
|
||||
0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
|
||||
0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
|
||||
0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
|
||||
0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
|
||||
0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
|
||||
0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
|
||||
0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
|
||||
0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
|
||||
|
||||
// bank 5, 256 bytes
|
||||
0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
|
||||
0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
|
||||
0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
|
||||
0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
|
||||
0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
|
||||
0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
|
||||
0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
|
||||
0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
|
||||
0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
|
||||
0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
|
||||
0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0x97, 0x86,
|
||||
0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97, 0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40,
|
||||
0xB9, 0xA3, 0x8A, 0xC3, 0xC5, 0xC7, 0x9A, 0xA3, 0x28, 0x50, 0x78, 0xF1, 0xB5, 0x93, 0x01, 0xD9,
|
||||
0xDF, 0xDF, 0xDF, 0xD8, 0xB8, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04, 0x28, 0x51, 0x79, 0x1D, 0x30,
|
||||
0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78, 0x78, 0x9B, 0xF1, 0x1A, 0xB0,
|
||||
0xF0, 0xB1, 0x83, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0xB0, 0x8B, 0x29, 0x51, 0x79, 0xB1, 0x83, 0x24,
|
||||
|
||||
// bank 6, 256 bytes
|
||||
0x70, 0x59, 0xB0, 0x8B, 0x20, 0x58, 0x71, 0xB1, 0x83, 0x44, 0x69, 0x38, 0xB0, 0x8B, 0x39, 0x40,
|
||||
0x68, 0xB1, 0x83, 0x64, 0x48, 0x31, 0xB0, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71,
|
||||
0x58, 0x44, 0x68, 0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0,
|
||||
0x8C, 0xA8, 0x04, 0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02,
|
||||
0x26, 0x46, 0x66, 0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38,
|
||||
0x64, 0x48, 0x31, 0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19,
|
||||
0x31, 0x48, 0x60, 0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86,
|
||||
0xA8, 0x6E, 0x76, 0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A,
|
||||
0x6E, 0x8A, 0x56, 0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E,
|
||||
0x9D, 0xB8, 0xAD, 0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55,
|
||||
0x7D, 0x81, 0x91, 0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D,
|
||||
0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51,
|
||||
0xD9, 0x04, 0xAE, 0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19,
|
||||
0x81, 0xAD, 0xD9, 0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9,
|
||||
0xAD, 0xAD, 0xAD, 0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76,
|
||||
0xF3, 0xAC, 0x2E, 0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC,
|
||||
|
||||
// bank 7, 170 bytes (remainder)
|
||||
0x30, 0x18, 0xA8, 0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24,
|
||||
0xF2, 0xB0, 0x89, 0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9,
|
||||
0xD8, 0xD8, 0x79, 0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D,
|
||||
0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D,
|
||||
0x80, 0x25, 0xDA, 0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34,
|
||||
0x3C, 0xF3, 0xAB, 0x8B, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xB0, 0x87, 0x9C, 0xB9,
|
||||
0xA3, 0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3,
|
||||
0xA3, 0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
|
||||
0xA3, 0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3,
|
||||
0xA3, 0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3,
|
||||
0xDC, 0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
|
||||
};
|
||||
|
||||
const prog_uchar dmpConfig[MPU6050_DMP_CONFIG_SIZE] PROGMEM = {
|
||||
// BANK OFFSET LENGTH [DATA]
|
||||
0x02, 0xEC, 0x04, 0x00, 0x47, 0x7D, 0x1A, // ?
|
||||
0x03, 0x82, 0x03, 0x4C, 0xCD, 0x6C, // FCFG_1 inv_set_gyro_calibration
|
||||
0x03, 0xB2, 0x03, 0x36, 0x56, 0x76, // FCFG_3 inv_set_gyro_calibration
|
||||
0x00, 0x68, 0x04, 0x02, 0xCA, 0xE3, 0x09, // D_0_104 inv_set_gyro_calibration
|
||||
0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // D_1_152 inv_set_accel_calibration
|
||||
0x03, 0x86, 0x03, 0x0C, 0xC9, 0x2C, // FCFG_2 inv_set_accel_calibration
|
||||
0x03, 0x90, 0x03, 0x26, 0x46, 0x66, // (continued)...FCFG_2 inv_set_accel_calibration
|
||||
0x00, 0x6C, 0x02, 0x40, 0x00, // D_0_108 inv_set_accel_calibration
|
||||
|
||||
0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_00 inv_set_compass_calibration
|
||||
0x02, 0x44, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_01
|
||||
0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_02
|
||||
0x02, 0x4C, 0x04, 0x40, 0x00, 0x00, 0x00, // CPASS_MTX_10
|
||||
0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_11
|
||||
0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_12
|
||||
0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_20
|
||||
0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00, // CPASS_MTX_21
|
||||
0x02, 0xBC, 0x04, 0xC0, 0x00, 0x00, 0x00, // CPASS_MTX_22
|
||||
|
||||
0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00, // D_1_236 inv_apply_endian_accel
|
||||
0x03, 0x86, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, // FCFG_2 inv_set_mpu_sensors
|
||||
0x04, 0x22, 0x03, 0x0D, 0x35, 0x5D, // CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
|
||||
0x00, 0xA3, 0x01, 0x00, // ?
|
||||
0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D, // FCFG_5 inv_set_bias_update
|
||||
0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // CFG_8 inv_send_quaternion
|
||||
0x07, 0x9F, 0x01, 0x30, // CFG_16 inv_set_footer
|
||||
0x07, 0x67, 0x01, 0x9A, // CFG_GYRO_SOURCE inv_send_gyro
|
||||
0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_9 inv_send_gyro -> inv_construct3_fifo
|
||||
0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ?
|
||||
0x02, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, // ?
|
||||
0x07, 0x83, 0x06, 0xC2, 0xCA, 0xC4, 0xA3, 0xA3, 0xA3, // ?
|
||||
// SPECIAL 0x01 = enable interrupts
|
||||
0x00, 0x00, 0x00, 0x01, // SET INT_ENABLE, SPECIAL INSTRUCTION
|
||||
0x07, 0xA7, 0x01, 0xFE, // ?
|
||||
0x07, 0x62, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38, // ?
|
||||
0x07, 0x67, 0x01, 0x9A, // ?
|
||||
0x07, 0x68, 0x04, 0xF1, 0x28, 0x30, 0x38, // CFG_12 inv_send_accel -> inv_construct3_fifo
|
||||
0x07, 0x8D, 0x04, 0xF1, 0x28, 0x30, 0x38, // ??? CFG_12 inv_send_mag -> inv_construct3_fifo
|
||||
0x02, 0x16, 0x02, 0x00, 0x03 // D_0_22 inv_set_fifo_rate
|
||||
|
||||
// This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
|
||||
// 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.
|
||||
// DMP output frequency is calculated easily using this equation: (200Hz / (1 + value))
|
||||
|
||||
// It is important to make sure the host processor can keep up with reading and processing
|
||||
// the FIFO output at the desired rate. Handling FIFO overflow cleanly is also a good idea.
|
||||
};
|
||||
|
||||
const prog_uchar dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
|
||||
0x01, 0xB2, 0x02, 0xFF, 0xF5,
|
||||
0x01, 0x90, 0x04, 0x0A, 0x0D, 0x97, 0xC0,
|
||||
0x00, 0xA3, 0x01, 0x00,
|
||||
0x04, 0x29, 0x04, 0x87, 0x2D, 0x35, 0x3D,
|
||||
0x01, 0x6A, 0x02, 0x06, 0x00,
|
||||
0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
|
||||
0x02, 0x60, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
0x01, 0x08, 0x02, 0x01, 0x20,
|
||||
0x01, 0x0A, 0x02, 0x00, 0x4E,
|
||||
0x01, 0x02, 0x02, 0xFE, 0xB3,
|
||||
0x02, 0x6C, 0x04, 0x00, 0x00, 0x00, 0x00, // READ
|
||||
0x02, 0x6C, 0x04, 0xFA, 0xFE, 0x00, 0x00,
|
||||
0x02, 0x60, 0x0C, 0xFF, 0xFF, 0xCB, 0x4D, 0x00, 0x01, 0x08, 0xC1, 0xFF, 0xFF, 0xBC, 0x2C,
|
||||
0x02, 0xF4, 0x04, 0x00, 0x00, 0x00, 0x00,
|
||||
0x02, 0xF8, 0x04, 0x00, 0x00, 0x00, 0x00,
|
||||
0x02, 0xFC, 0x04, 0x00, 0x00, 0x00, 0x00,
|
||||
0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,
|
||||
0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00
|
||||
};
|
||||
|
||||
uint8_t MPU6050::dmpInitialize() {
|
||||
// reset device
|
||||
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
|
||||
reset();
|
||||
delay(30); // wait after reset
|
||||
|
||||
// disable sleep mode
|
||||
DEBUG_PRINTLN(F("Disabling sleep mode..."));
|
||||
setSleepEnabled(false);
|
||||
|
||||
// get MPU product ID
|
||||
DEBUG_PRINTLN(F("Getting product ID..."));
|
||||
//uint8_t productID = 0; //getProductID();
|
||||
DEBUG_PRINT(F("Product ID = "));
|
||||
DEBUG_PRINT(productID);
|
||||
|
||||
// get MPU hardware revision
|
||||
DEBUG_PRINTLN(F("Selecting user bank 16..."));
|
||||
setMemoryBank(0x10, true, true);
|
||||
DEBUG_PRINTLN(F("Selecting memory byte 6..."));
|
||||
setMemoryStartAddress(0x06);
|
||||
DEBUG_PRINTLN(F("Checking hardware revision..."));
|
||||
uint8_t hwRevision = readMemoryByte();
|
||||
DEBUG_PRINT(F("Revision @ user[16][6] = "));
|
||||
DEBUG_PRINTLNF(hwRevision, HEX);
|
||||
DEBUG_PRINTLN(F("Resetting memory bank selection to 0..."));
|
||||
setMemoryBank(0, false, false);
|
||||
|
||||
// check OTP bank valid
|
||||
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
|
||||
uint8_t otpValid = getOTPBankValid();
|
||||
DEBUG_PRINT(F("OTP bank is "));
|
||||
DEBUG_PRINTLN(otpValid ? F("valid!") : F("invalid!"));
|
||||
|
||||
// get X/Y/Z gyro offsets
|
||||
DEBUG_PRINTLN(F("Reading gyro offset values..."));
|
||||
int8_t xgOffset = getXGyroOffset();
|
||||
int8_t ygOffset = getYGyroOffset();
|
||||
int8_t zgOffset = getZGyroOffset();
|
||||
DEBUG_PRINT(F("X gyro offset = "));
|
||||
DEBUG_PRINTLN(xgOffset);
|
||||
DEBUG_PRINT(F("Y gyro offset = "));
|
||||
DEBUG_PRINTLN(ygOffset);
|
||||
DEBUG_PRINT(F("Z gyro offset = "));
|
||||
DEBUG_PRINTLN(zgOffset);
|
||||
|
||||
I2Cdev::readByte(devAddr, MPU6050_RA_USER_CTRL, buffer); // ?
|
||||
|
||||
DEBUG_PRINTLN(F("Enabling interrupt latch, clear on any read, AUX bypass enabled"));
|
||||
I2Cdev::writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x32);
|
||||
|
||||
// enable MPU AUX I2C bypass mode
|
||||
//DEBUG_PRINTLN(F("Enabling AUX I2C bypass mode..."));
|
||||
//setI2CBypassEnabled(true);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting magnetometer mode to power-down..."));
|
||||
//mag -> setMode(0);
|
||||
I2Cdev::writeByte(0x0E, 0x0A, 0x00);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting magnetometer mode to fuse access..."));
|
||||
//mag -> setMode(0x0F);
|
||||
I2Cdev::writeByte(0x0E, 0x0A, 0x0F);
|
||||
|
||||
DEBUG_PRINTLN(F("Reading mag magnetometer factory calibration..."));
|
||||
int8_t asax, asay, asaz;
|
||||
//mag -> getAdjustment(&asax, &asay, &asaz);
|
||||
I2Cdev::readBytes(0x0E, 0x10, 3, buffer);
|
||||
asax = (int8_t)buffer[0];
|
||||
asay = (int8_t)buffer[1];
|
||||
asaz = (int8_t)buffer[2];
|
||||
DEBUG_PRINT(F("Adjustment X/Y/Z = "));
|
||||
DEBUG_PRINT(asax);
|
||||
DEBUG_PRINT(F(" / "));
|
||||
DEBUG_PRINT(asay);
|
||||
DEBUG_PRINT(F(" / "));
|
||||
DEBUG_PRINTLN(asaz);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting magnetometer mode to power-down..."));
|
||||
//mag -> setMode(0);
|
||||
I2Cdev::writeByte(0x0E, 0x0A, 0x00);
|
||||
|
||||
// load DMP code into memory banks
|
||||
DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
|
||||
DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
|
||||
DEBUG_PRINTLN(F(" bytes)"));
|
||||
if (writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) {
|
||||
DEBUG_PRINTLN(F("Success! DMP code written and verified."));
|
||||
|
||||
DEBUG_PRINTLN(F("Configuring DMP and related settings..."));
|
||||
|
||||
// write DMP configuration
|
||||
DEBUG_PRINT(F("Writing DMP configuration to MPU memory banks ("));
|
||||
DEBUG_PRINT(MPU6050_DMP_CONFIG_SIZE);
|
||||
DEBUG_PRINTLN(F(" bytes in config def)"));
|
||||
if (writeProgDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
|
||||
DEBUG_PRINTLN(F("Success! DMP configuration written and verified."));
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
|
||||
setIntEnabled(0x12);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
|
||||
setRate(4); // 1khz / (1 + 4) = 200 Hz
|
||||
|
||||
DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
|
||||
setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
|
||||
setDLPFMode(MPU6050_DLPF_BW_42);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
|
||||
setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
|
||||
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting DMP configuration bytes (function unknown)..."));
|
||||
setDMPConfig1(0x03);
|
||||
setDMPConfig2(0x00);
|
||||
|
||||
DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
|
||||
setOTPBankValid(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting X/Y/Z gyro offsets to previous values..."));
|
||||
setXGyroOffset(xgOffset);
|
||||
setYGyroOffset(ygOffset);
|
||||
setZGyroOffset(zgOffset);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting X/Y/Z gyro user offsets to zero..."));
|
||||
setXGyroOffsetUser(0);
|
||||
setYGyroOffsetUser(0);
|
||||
setZGyroOffsetUser(0);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 1/19 (function unknown)..."));
|
||||
uint8_t dmpUpdate[16], j;
|
||||
uint16_t pos = 0;
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 2/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting FIFO..."));
|
||||
resetFIFO();
|
||||
|
||||
DEBUG_PRINTLN(F("Reading FIFO count..."));
|
||||
uint8_t fifoCount = getFIFOCount();
|
||||
|
||||
DEBUG_PRINT(F("Current FIFO count="));
|
||||
DEBUG_PRINTLN(fifoCount);
|
||||
uint8_t fifoBuffer[128];
|
||||
//getFIFOBytes(fifoBuffer, fifoCount);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 3/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 4/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Disabling all standby flags..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_PWR_MGMT_2, 0x00);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting accelerometer sensitivity to +/- 2g..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_ACCEL_CONFIG, 0x00);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
|
||||
setMotionDetectionThreshold(2);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
|
||||
setZeroMotionDetectionThreshold(156);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
|
||||
setMotionDetectionDuration(80);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
|
||||
setZeroMotionDetectionDuration(0);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting AK8975 to single measurement mode..."));
|
||||
//mag -> setMode(1);
|
||||
I2Cdev::writeByte(0x0E, 0x0A, 0x01);
|
||||
|
||||
// setup AK8975 (0x0E) as Slave 0 in read mode
|
||||
DEBUG_PRINTLN(F("Setting up AK8975 read slave 0..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV0_ADDR, 0x8E);
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV0_REG, 0x01);
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV0_CTRL, 0xDA);
|
||||
|
||||
// setup AK8975 (0x0E) as Slave 2 in write mode
|
||||
DEBUG_PRINTLN(F("Setting up AK8975 write slave 2..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV2_ADDR, 0x0E);
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV2_REG, 0x0A);
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV2_CTRL, 0x81);
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV2_DO, 0x01);
|
||||
|
||||
// setup I2C timing/delay control
|
||||
DEBUG_PRINTLN(F("Setting up slave access delay..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_SLV4_CTRL, 0x18);
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x05);
|
||||
|
||||
// enable interrupts
|
||||
DEBUG_PRINTLN(F("Enabling default interrupt behavior/no bypass..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_INT_PIN_CFG, 0x00);
|
||||
|
||||
// enable I2C master mode and reset DMP/FIFO
|
||||
DEBUG_PRINTLN(F("Enabling I2C master mode..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_USER_CTRL, 0x20);
|
||||
DEBUG_PRINTLN(F("Resetting FIFO..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_USER_CTRL, 0x24);
|
||||
DEBUG_PRINTLN(F("Rewriting I2C master mode enabled because...I don't know"));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_USER_CTRL, 0x20);
|
||||
DEBUG_PRINTLN(F("Enabling and resetting DMP/FIFO..."));
|
||||
I2Cdev::writeByte(0x68, MPU6050_RA_USER_CTRL, 0xE8);
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 5/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 6/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 7/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 8/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 9/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 10/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 11/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Reading final memory update 12/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
readMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
#ifdef DEBUG
|
||||
DEBUG_PRINT(F("Read bytes: "));
|
||||
for (j = 0; j < 4; j++) {
|
||||
DEBUG_PRINTF(dmpUpdate[3 + j], HEX);
|
||||
DEBUG_PRINT(" ");
|
||||
}
|
||||
DEBUG_PRINTLN("");
|
||||
#endif
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 13/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 14/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 15/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 16/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
DEBUG_PRINTLN(F("Writing final memory update 17/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Waiting for FIRO count >= 46..."));
|
||||
while ((fifoCount = getFIFOCount()) < 46);
|
||||
DEBUG_PRINTLN(F("Reading FIFO..."));
|
||||
getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes
|
||||
DEBUG_PRINTLN(F("Reading interrupt status..."));
|
||||
getIntStatus();
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 18/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Waiting for FIRO count >= 48..."));
|
||||
while ((fifoCount = getFIFOCount()) < 48);
|
||||
DEBUG_PRINTLN(F("Reading FIFO..."));
|
||||
getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes
|
||||
DEBUG_PRINTLN(F("Reading interrupt status..."));
|
||||
getIntStatus();
|
||||
DEBUG_PRINTLN(F("Waiting for FIRO count >= 48..."));
|
||||
while ((fifoCount = getFIFOCount()) < 48);
|
||||
DEBUG_PRINTLN(F("Reading FIFO..."));
|
||||
getFIFOBytes(fifoBuffer, min(fifoCount, 128)); // safeguard only 128 bytes
|
||||
DEBUG_PRINTLN(F("Reading interrupt status..."));
|
||||
getIntStatus();
|
||||
|
||||
DEBUG_PRINTLN(F("Writing final memory update 19/19 (function unknown)..."));
|
||||
for (j = 0; j < 4 || j < dmpUpdate[2] + 3; j++, pos++) dmpUpdate[j] = pgm_read_byte(&dmpUpdates[pos]);
|
||||
writeMemoryBlock(dmpUpdate + 3, dmpUpdate[2], dmpUpdate[0], dmpUpdate[1]);
|
||||
|
||||
DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
|
||||
setDMPEnabled(false);
|
||||
|
||||
DEBUG_PRINTLN(F("Setting up internal 48-byte (default) DMP packet buffer..."));
|
||||
dmpPacketSize = 48;
|
||||
/*if ((dmpPacketBuffer = (uint8_t *)malloc(42)) == 0) {
|
||||
return 3; // TODO: proper error code for no memory
|
||||
}*/
|
||||
|
||||
DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
|
||||
resetFIFO();
|
||||
getIntStatus();
|
||||
} else {
|
||||
DEBUG_PRINTLN(F("ERROR! DMP configuration verification failed."));
|
||||
return 2; // configuration block loading failed
|
||||
}
|
||||
} else {
|
||||
DEBUG_PRINTLN(F("ERROR! DMP code verification failed."));
|
||||
return 1; // main binary block loading failed
|
||||
}
|
||||
return 0; // success
|
||||
}
|
||||
|
||||
bool MPU6050::dmpPacketAvailable() {
|
||||
return getFIFOCount() >= dmpGetFIFOPacketSize();
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFORate(uint8_t fifoRate);
|
||||
// uint8_t MPU6050::dmpGetFIFORate();
|
||||
// uint8_t MPU6050::dmpGetSampleStepSizeMS();
|
||||
// uint8_t MPU6050::dmpGetSampleFrequency();
|
||||
// int32_t MPU6050::dmpDecodeTemperature(int8_t tempReg);
|
||||
|
||||
//uint8_t MPU6050::dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||
//uint8_t MPU6050::dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||
//uint8_t MPU6050::dmpRunFIFORateProcesses();
|
||||
|
||||
// uint8_t MPU6050::dmpSendQuaternion(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
// uint8_t MPU6050::dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||
|
||||
uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[34] << 24) + (packet[35] << 16) + (packet[36] << 8) + packet[37]);
|
||||
data[1] = ((packet[38] << 24) + (packet[39] << 16) + (packet[40] << 8) + packet[41]);
|
||||
data[2] = ((packet[42] << 24) + (packet[43] << 16) + (packet[44] << 8) + packet[45]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[34] << 8) + packet[35];
|
||||
data[1] = (packet[38] << 8) + packet[39];
|
||||
data[2] = (packet[42] << 8) + packet[43];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
v -> x = (packet[34] << 8) + packet[35];
|
||||
v -> y = (packet[38] << 8) + packet[39];
|
||||
v -> z = (packet[42] << 8) + packet[43];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
|
||||
data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
|
||||
data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
|
||||
data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[0] << 8) + packet[1]);
|
||||
data[1] = ((packet[4] << 8) + packet[5]);
|
||||
data[2] = ((packet[8] << 8) + packet[9]);
|
||||
data[3] = ((packet[12] << 8) + packet[13]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
int16_t qI[4];
|
||||
uint8_t status = dmpGetQuaternion(qI, packet);
|
||||
if (status == 0) {
|
||||
q -> w = (float)qI[0] / 16384.0f;
|
||||
q -> x = (float)qI[1] / 16384.0f;
|
||||
q -> y = (float)qI[2] / 16384.0f;
|
||||
q -> z = (float)qI[3] / 16384.0f;
|
||||
return 0;
|
||||
}
|
||||
return status; // int16 return value, indicates error if this line is reached
|
||||
}
|
||||
// uint8_t MPU6050::dmpGet6AxisQuaternion(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetRelativeQuaternion(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
|
||||
data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
|
||||
data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[16] << 8) + packet[17];
|
||||
data[1] = (packet[20] << 8) + packet[21];
|
||||
data[2] = (packet[24] << 8) + packet[25];
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetMag(int16_t *data, const uint8_t* packet) {
|
||||
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
|
||||
if (packet == 0) packet = dmpPacketBuffer;
|
||||
data[0] = (packet[28] << 8) + packet[29];
|
||||
data[1] = (packet[30] << 8) + packet[31];
|
||||
data[2] = (packet[32] << 8) + packet[33];
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpSetLinearAccelFilterCoefficient(float coef);
|
||||
// uint8_t MPU6050::dmpGetLinearAccel(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
|
||||
// get rid of the gravity component (+1g = +4096 in standard DMP FIFO packet)
|
||||
v -> x = vRaw -> x - gravity -> x*4096;
|
||||
v -> y = vRaw -> y - gravity -> y*4096;
|
||||
v -> z = vRaw -> z - gravity -> z*4096;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetLinearAccelInWorld(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
|
||||
// rotate measured 3D acceleration vector into original state
|
||||
// frame of reference based on orientation quaternion
|
||||
memcpy(v, vReal, sizeof(VectorInt16));
|
||||
v -> rotate(q);
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetGyroAndAccelSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGyroSensor(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
|
||||
uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
|
||||
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
|
||||
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
|
||||
v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
|
||||
return 0;
|
||||
}
|
||||
// uint8_t MPU6050::dmpGetUnquantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuantizedAccel(long *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetExternalSensorData(long *data, int size, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetEIS(long *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi
|
||||
data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta
|
||||
data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
|
||||
// yaw: (about Z axis)
|
||||
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
|
||||
// pitch: (nose up/down, about Y axis)
|
||||
data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
|
||||
// roll: (tilt left/right, about X axis)
|
||||
data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
|
||||
return 0;
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpGetAccelFloat(float *data, const uint8_t* packet);
|
||||
// uint8_t MPU6050::dmpGetQuaternionFloat(float *data, const uint8_t* packet);
|
||||
|
||||
uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
|
||||
/*for (uint8_t k = 0; k < dmpPacketSize; k++) {
|
||||
if (dmpData[k] < 0x10) Serial.print("0");
|
||||
Serial.print(dmpData[k], HEX);
|
||||
Serial.print(" ");
|
||||
}
|
||||
Serial.print("\n");*/
|
||||
//Serial.println((uint16_t)dmpPacketBuffer);
|
||||
return 0;
|
||||
}
|
||||
uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
|
||||
uint8_t status;
|
||||
uint8_t buf[dmpPacketSize];
|
||||
for (uint8_t i = 0; i < numPackets; i++) {
|
||||
// read packet from FIFO
|
||||
getFIFOBytes(buf, dmpPacketSize);
|
||||
|
||||
// process packet
|
||||
if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
|
||||
|
||||
// increment external process count variable, if supplied
|
||||
if (processed != 0) *processed++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
// uint8_t MPU6050::dmpSetFIFOProcessedCallback(void (*func) (void));
|
||||
|
||||
// uint8_t MPU6050::dmpInitFIFOParam();
|
||||
// uint8_t MPU6050::dmpCloseFIFO();
|
||||
// uint8_t MPU6050::dmpSetGyroDataSource(uint_fast8_t source);
|
||||
// uint8_t MPU6050::dmpDecodeQuantizedAccel();
|
||||
// uint32_t MPU6050::dmpGetGyroSumOfSquare();
|
||||
// uint32_t MPU6050::dmpGetAccelSumOfSquare();
|
||||
// void MPU6050::dmpOverrideQuaternion(long *q);
|
||||
uint16_t MPU6050::dmpGetFIFOPacketSize() {
|
||||
return dmpPacketSize;
|
||||
}
|
||||
|
||||
#endif /* _MPU6050_9AXIS_MOTIONAPPS41_H_ */
|
||||
|
|
@ -0,0 +1,218 @@
|
|||
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper
|
||||
// 6/5/2012 by Jeff Rowberg <jeff@rowberg.net>
|
||||
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||
//
|
||||
// Adapted for Sonoff-Tasmota by Oliver Welter <contact@verbotene.zone> 02-04-2018
|
||||
//
|
||||
// Changelog:
|
||||
// 2012-06-05 - add 3D math helper file to DMP6 example sketch
|
||||
|
||||
/* ============================================
|
||||
I2Cdev device library code is placed under the MIT license
|
||||
Copyright (c) 2012 Jeff Rowberg
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
===============================================
|
||||
*/
|
||||
|
||||
#ifndef _HELPER_3DMATH_H_
|
||||
#define _HELPER_3DMATH_H_
|
||||
|
||||
class Quaternion {
|
||||
public:
|
||||
float w;
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
|
||||
Quaternion() {
|
||||
w = 1.0f;
|
||||
x = 0.0f;
|
||||
y = 0.0f;
|
||||
z = 0.0f;
|
||||
}
|
||||
|
||||
Quaternion(float nw, float nx, float ny, float nz) {
|
||||
w = nw;
|
||||
x = nx;
|
||||
y = ny;
|
||||
z = nz;
|
||||
}
|
||||
|
||||
Quaternion getProduct(Quaternion q) {
|
||||
// Quaternion multiplication is defined by:
|
||||
// (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2)
|
||||
// (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2)
|
||||
// (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2)
|
||||
// (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2
|
||||
return Quaternion(
|
||||
w*q.w - x*q.x - y*q.y - z*q.z, // new w
|
||||
w*q.x + x*q.w + y*q.z - z*q.y, // new x
|
||||
w*q.y - x*q.z + y*q.w + z*q.x, // new y
|
||||
w*q.z + x*q.y - y*q.x + z*q.w); // new z
|
||||
}
|
||||
|
||||
Quaternion getConjugate() {
|
||||
return Quaternion(w, -x, -y, -z);
|
||||
}
|
||||
|
||||
float getMagnitude() {
|
||||
return sqrt(w*w + x*x + y*y + z*z);
|
||||
}
|
||||
|
||||
void normalize() {
|
||||
float m = getMagnitude();
|
||||
w /= m;
|
||||
x /= m;
|
||||
y /= m;
|
||||
z /= m;
|
||||
}
|
||||
|
||||
Quaternion getNormalized() {
|
||||
Quaternion r(w, x, y, z);
|
||||
r.normalize();
|
||||
return r;
|
||||
}
|
||||
};
|
||||
|
||||
class VectorInt16 {
|
||||
public:
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
|
||||
VectorInt16() {
|
||||
x = 0;
|
||||
y = 0;
|
||||
z = 0;
|
||||
}
|
||||
|
||||
VectorInt16(int16_t nx, int16_t ny, int16_t nz) {
|
||||
x = nx;
|
||||
y = ny;
|
||||
z = nz;
|
||||
}
|
||||
|
||||
float getMagnitude() {
|
||||
return sqrt(x*x + y*y + z*z);
|
||||
}
|
||||
|
||||
void normalize() {
|
||||
float m = getMagnitude();
|
||||
x /= m;
|
||||
y /= m;
|
||||
z /= m;
|
||||
}
|
||||
|
||||
VectorInt16 getNormalized() {
|
||||
VectorInt16 r(x, y, z);
|
||||
r.normalize();
|
||||
return r;
|
||||
}
|
||||
|
||||
void rotate(Quaternion *q) {
|
||||
// http://www.cprogramming.com/tutorial/3d/quaternions.html
|
||||
// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
|
||||
// http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
|
||||
// ^ or: http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1
|
||||
|
||||
// P_out = q * P_in * conj(q)
|
||||
// - P_out is the output vector
|
||||
// - q is the orientation quaternion
|
||||
// - P_in is the input vector (a*aReal)
|
||||
// - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], q*=[w,-x,-y,-z])
|
||||
Quaternion p(0, x, y, z);
|
||||
|
||||
// quaternion multiplication: q * p, stored back in p
|
||||
p = q -> getProduct(p);
|
||||
|
||||
// quaternion multiplication: p * conj(q), stored back in p
|
||||
p = p.getProduct(q -> getConjugate());
|
||||
|
||||
// p quaternion is now [0, x', y', z']
|
||||
x = p.x;
|
||||
y = p.y;
|
||||
z = p.z;
|
||||
}
|
||||
|
||||
VectorInt16 getRotated(Quaternion *q) {
|
||||
VectorInt16 r(x, y, z);
|
||||
r.rotate(q);
|
||||
return r;
|
||||
}
|
||||
};
|
||||
|
||||
class VectorFloat {
|
||||
public:
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
|
||||
VectorFloat() {
|
||||
x = 0;
|
||||
y = 0;
|
||||
z = 0;
|
||||
}
|
||||
|
||||
VectorFloat(float nx, float ny, float nz) {
|
||||
x = nx;
|
||||
y = ny;
|
||||
z = nz;
|
||||
}
|
||||
|
||||
float getMagnitude() {
|
||||
return sqrt(x*x + y*y + z*z);
|
||||
}
|
||||
|
||||
void normalize() {
|
||||
float m = getMagnitude();
|
||||
x /= m;
|
||||
y /= m;
|
||||
z /= m;
|
||||
}
|
||||
|
||||
VectorFloat getNormalized() {
|
||||
VectorFloat r(x, y, z);
|
||||
r.normalize();
|
||||
return r;
|
||||
}
|
||||
|
||||
void rotate(Quaternion *q) {
|
||||
Quaternion p(0, x, y, z);
|
||||
|
||||
// quaternion multiplication: q * p, stored back in p
|
||||
p = q -> getProduct(p);
|
||||
|
||||
// quaternion multiplication: p * conj(q), stored back in p
|
||||
p = p.getProduct(q -> getConjugate());
|
||||
|
||||
// p quaternion is now [0, x', y', z']
|
||||
x = p.x;
|
||||
y = p.y;
|
||||
z = p.z;
|
||||
}
|
||||
|
||||
VectorFloat getRotated(Quaternion *q) {
|
||||
VectorFloat r(x, y, z);
|
||||
r.rotate(q);
|
||||
return r;
|
||||
}
|
||||
};
|
||||
|
||||
#endif /* _HELPER_3DMATH_H_ */
|
||||
|
|
@ -1,4 +1,14 @@
|
|||
/* 6.1.1c
|
||||
* Fix sonoff-minimal from using default settings
|
||||
* Add option + to command Rule to concatenate new rule with existing rules (#3365)
|
||||
* Add initial support for sensor MPU6050 (#3352)
|
||||
* Add command SerialSend4 to send binary serial data (#3345)
|
||||
* Add rule triggers Wifi#Connected and Wifi#Disconnected (#3359)
|
||||
* Fix unsecure main webpage update
|
||||
* Add Turkish language file (#3332)
|
||||
* Fix command TimeDst/TimeStd invalid JSON (#3322)
|
||||
* Fix possible WDT due to long MQTT publish handling (#3313)
|
||||
* Fix CCS811 temperature and humidity compensation
|
||||
* Add support for CCS811 sensor (#3309)
|
||||
* Add command Timers 0/1 to globally disable or enable armed timers (#3270)
|
||||
*
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Подтвърдете рестартирането"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Конфигурация на модула"
|
||||
#define D_CONFIGURE_MCP230XX "Конфигурация на MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Конфигурация на WiFi"
|
||||
#define D_CONFIGURE_MQTT "Конфигурация на MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Конфигурация на Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Potvrzení restartu"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Nastavení modulu"
|
||||
#define D_CONFIGURE_MCP230XX "Nastavení MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Nastavení WiFi"
|
||||
#define D_CONFIGURE_MQTT "Nastavení MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Nastavení Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Wirklich neustarten?"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Gerät konfigurieren"
|
||||
#define D_CONFIGURE_MCP230XX "MCP230xx konfigurieren"
|
||||
#define D_CONFIGURE_WIFI "WLAN konfigurieren"
|
||||
#define D_CONFIGURE_MQTT "MQTT konfigurieren"
|
||||
#define D_CONFIGURE_DOMOTICZ "Domoticz konfigurieren"
|
||||
|
|
@ -437,6 +436,14 @@
|
|||
#define D_ENVIRONMENTAL_CONCENTRATION "PM" // Environmetal Particle Matter
|
||||
#define D_PARTICALS_BEYOND "Particals"
|
||||
|
||||
// xsns_32_mpu6050.ino
|
||||
#define D_AX_AXIS "Beschl. X-Achse"
|
||||
#define D_AY_AXIS "Beschl. Y-Achse"
|
||||
#define D_AZ_AXIS "Beschl. Z-Achse"
|
||||
#define D_GX_AXIS "Gyroskop X-Achse"
|
||||
#define D_GY_AXIS "Gyroskop Y-Achse"
|
||||
#define D_GZ_AXIS "Gyroskop Z-Achse"
|
||||
|
||||
// sonoff_template.h
|
||||
#define D_SENSOR_NONE "None"
|
||||
#define D_SENSOR_DHT11 "DHT11"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Επιβεβαίωση Επανεκκίνησης"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Ρύθμιση Module"
|
||||
#define D_CONFIGURE_MCP230XX "Ρύθμιση MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Ρύθμιση WiFi"
|
||||
#define D_CONFIGURE_MQTT "Ρύθμιση MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Ρύθμιση Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Confirm Restart"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Configure Module"
|
||||
#define D_CONFIGURE_MCP230XX "Configure MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Configure WiFi"
|
||||
#define D_CONFIGURE_MQTT "Configure MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Configure Domoticz"
|
||||
|
|
@ -437,6 +436,14 @@
|
|||
#define D_ENVIRONMENTAL_CONCENTRATION "PM" // Environmetal Particle Matter
|
||||
#define D_PARTICALS_BEYOND "Particals"
|
||||
|
||||
// xsns_32_mpu6050.ino
|
||||
#define D_AX_AXIS "Accel. X-Axis"
|
||||
#define D_AY_AXIS "Accel. Y-Axis"
|
||||
#define D_AZ_AXIS "Accel. Z-Axis"
|
||||
#define D_GX_AXIS "Gyro X-Axis"
|
||||
#define D_GY_AXIS "Gyro Y-Axis"
|
||||
#define D_GZ_AXIS "Gyro Z-Axis"
|
||||
|
||||
// sonoff_template.h
|
||||
#define D_SENSOR_NONE "None"
|
||||
#define D_SENSOR_DHT11 "DHT11"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Confirmar Reinicio"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Configuración del Módulo"
|
||||
#define D_CONFIGURE_MCP230XX "Configuración MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Configuración WiFi"
|
||||
#define D_CONFIGURE_MQTT "Configuración MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Configuración Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Confirmer redémarrage"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Configuration du Module"
|
||||
#define D_CONFIGURE_MCP230XX "Configuration MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Configuration WiFi"
|
||||
#define D_CONFIGURE_MQTT "Configuration MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Configuration Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Újraindítás megerősítése"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Eszköz konfiguráció"
|
||||
#define D_CONFIGURE_MCP230XX "MCP230xx konfiguráció"
|
||||
#define D_CONFIGURE_WIFI "WiFi konfiguráció"
|
||||
#define D_CONFIGURE_MQTT "MQTT konfiguráció"
|
||||
#define D_CONFIGURE_DOMOTICZ "Domoticz konfiguráció"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Conferma Riavvio"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Configurazione Modulo"
|
||||
#define D_CONFIGURE_MCP230XX "Configurazione MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Configurazione WiFi"
|
||||
#define D_CONFIGURE_MQTT "Configurazione MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Configurazione Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Bevestig herstart"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Configureer Module"
|
||||
#define D_CONFIGURE_MCP230XX "Configureer MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Configureer WiFi"
|
||||
#define D_CONFIGURE_MQTT "Configureer MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Configureer Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Potwierdź restart"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Konfiguruj moduł"
|
||||
#define D_CONFIGURE_MCP230XX "Konfiguruj MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Konfiguruj WiFi"
|
||||
#define D_CONFIGURE_MQTT "Konfiguruj MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Konfiguruj Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Confirmar o reinicio"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Configurar Módulo"
|
||||
#define D_CONFIGURE_MCP230XX "Configurar MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Configurar WiFi"
|
||||
#define D_CONFIGURE_MQTT "Configurar MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Configurar Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Confirmar o reinicio"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Configurar Módulo"
|
||||
#define D_CONFIGURE_MCP230XX "Configurar MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Configurar WiFi"
|
||||
#define D_CONFIGURE_MQTT "Configurar MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Configurar Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Подтвердить перезагрузку"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Конфигурация Модуля"
|
||||
#define D_CONFIGURE_MCP230XX "Конфигурация MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Конфигурация WiFi"
|
||||
#define D_CONFIGURE_MQTT "Конфигурация MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Конфигурация Domoticz"
|
||||
|
|
|
|||
|
|
@ -0,0 +1,530 @@
|
|||
/*
|
||||
tr-TR.h - localization for Turkish - Turkey for Sonoff-Tasmota
|
||||
|
||||
Copyright (C) 2018 Ali Sait Teke 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/>.
|
||||
*/
|
||||
|
||||
#ifndef _LANGUAGE_TR_TR_H_
|
||||
#define _LANGUAGE_TR_TR_H_
|
||||
|
||||
/*************************** ATTENTION *******************************\
|
||||
*
|
||||
* Due to memory constraints only UTF-8 is supported.
|
||||
* To save code space keep text as short as possible.
|
||||
* Time and Date provided by SDK can not be localized (yet).
|
||||
* Use online command StateText to translate ON, OFF, HOLD and TOGGLE.
|
||||
* Use online command Prefix to translate cmnd, stat and tele.
|
||||
*
|
||||
* Updated until v6.1.1
|
||||
\*********************************************************************/
|
||||
|
||||
//#define LANGUAGE_MODULE_NAME // Enable to display "Module Generic" (ie Spanish), Disable to display "Generic Module" (ie English)
|
||||
|
||||
#define LANGUAGE_LCID 1055
|
||||
// HTML (ISO 639-1) Language Code
|
||||
#define D_HTML_LANGUAGE "tr"
|
||||
|
||||
// "2017-03-07T11:08:02" - ISO8601:2004
|
||||
#define D_YEAR_MONTH_SEPARATOR "."
|
||||
#define D_MONTH_DAY_SEPARATOR "."
|
||||
#define D_DATE_TIME_SEPARATOR "T"
|
||||
#define D_HOUR_MINUTE_SEPARATOR ":"
|
||||
#define D_MINUTE_SECOND_SEPARATOR ":"
|
||||
|
||||
#define D_DAY3LIST "PazPztSalCarPerCumCmt"
|
||||
#define D_MONTH3LIST "OckSubMarNisMayHazTemAguEylEkmKasAra"
|
||||
|
||||
// Non JSON decimal separator
|
||||
#define D_DECIMAL_SEPARATOR "."
|
||||
|
||||
// Common
|
||||
#define D_ADMIN "Admin"
|
||||
#define D_AIR_QUALITY "Hava Kalitesi"
|
||||
#define D_AP "AP" // Access Point
|
||||
#define D_AS "as"
|
||||
#define D_AUTO "OTOMATIK"
|
||||
#define D_BLINK "Blink"
|
||||
#define D_BLINKOFF "BlinkOff"
|
||||
#define D_BOOT_COUNT "Yeniden başlama sayısı"
|
||||
#define D_BRIGHTLIGHT "Işık"
|
||||
#define D_BUTTON "Buton"
|
||||
#define D_BY "by" // Written by me
|
||||
#define D_BYTES "Bayt"
|
||||
#define D_CELSIUS "Derece"
|
||||
#define D_CO2 "Karbon dioksit"
|
||||
#define D_CODE "kod" // Button code
|
||||
#define D_COLDLIGHT "Soğuk"
|
||||
#define D_COMMAND "Komut"
|
||||
#define D_CONNECTED "Bağlandı"
|
||||
#define D_COUNT "Sayı"
|
||||
#define D_COUNTER "Sayaç"
|
||||
#define D_CURRENT "Current" // As in Voltage and Current
|
||||
#define D_DATA "Data"
|
||||
#define D_DARKLIGHT "Karanlık"
|
||||
#define D_DEBUG "Hata Ayıklama"
|
||||
#define D_DISABLED "Etkin Değil"
|
||||
#define D_DISTANCE "Mesage"
|
||||
#define D_DNS_SERVER "DNS Sunucu"
|
||||
#define D_DONE "Tamam"
|
||||
#define D_DST_TIME "DST"
|
||||
#define D_ECO2 "eCO2"
|
||||
#define D_EMULATION "Emülasyon"
|
||||
#define D_ENABLED "Etkin"
|
||||
#define D_ERASE "Temizle"
|
||||
#define D_ERROR "Hata"
|
||||
#define D_FAHRENHEIT "Fahrenayt"
|
||||
#define D_FAILED "Başlarısız"
|
||||
#define D_FALLBACK "Geri iletim"
|
||||
#define D_FALLBACK_TOPIC "Geri İletim Topiği"
|
||||
#define D_FALSE "False"
|
||||
#define D_FILE "Dosya"
|
||||
#define D_FREE_MEMORY "Boş Hafıza"
|
||||
#define D_FREQUENCY "Frekans"
|
||||
#define D_GAS "Gas"
|
||||
#define D_GATEWAY "Geçit"
|
||||
#define D_GROUP "Grup"
|
||||
#define D_HOST "Host"
|
||||
#define D_HOSTNAME "Host Adresi"
|
||||
#define D_HUMIDITY "Nem"
|
||||
#define D_ILLUMINANCE "Aydınlık"
|
||||
#define D_IMMEDIATE "derhal" // Button immediate
|
||||
#define D_INDEX "Index"
|
||||
#define D_INFO "Bilgi"
|
||||
#define D_INFRARED "Kızılötesi"
|
||||
#define D_INITIALIZED "Başlatıldı"
|
||||
#define D_IP_ADDRESS "IP Adresi"
|
||||
#define D_LIGHT "Işık"
|
||||
#define D_LWT "LWT"
|
||||
#define D_MODULE "Modül"
|
||||
#define D_MQTT "MQTT"
|
||||
#define D_MULTI_PRESS "multi-press"
|
||||
#define D_NOISE "Noise"
|
||||
#define D_NONE "None"
|
||||
#define D_OFF "Off"
|
||||
#define D_OFFLINE "Çevirimdışı"
|
||||
#define D_OK "Tamam"
|
||||
#define D_ON "On"
|
||||
#define D_ONLINE "Çevirimiçi"
|
||||
#define D_PASSWORD "Şifre"
|
||||
#define D_PORT "Port"
|
||||
#define D_POWER_FACTOR "Güç Faktörü"
|
||||
#define D_POWERUSAGE "Güç"
|
||||
#define D_POWERUSAGE_ACTIVE "Aktif Güç"
|
||||
#define D_POWERUSAGE_APPARENT "Görünen Güç"
|
||||
#define D_POWERUSAGE_REACTIVE "Reaktif Güç"
|
||||
#define D_PRESSURE "Basınç"
|
||||
#define D_PRESSUREATSEALEVEL "Deniz Seviyesi Basıncı"
|
||||
#define D_PROGRAM_FLASH_SIZE "Yazılım Flash Boyutu"
|
||||
#define D_PROGRAM_SIZE "Yazılım Boyutu"
|
||||
#define D_PROJECT "Proje"
|
||||
#define D_RECEIVED "Alınan"
|
||||
#define D_RESTART "Yeniden Başlat"
|
||||
#define D_RESTARTING "Yeniden Başlatılıyor"
|
||||
#define D_RESTART_REASON "Yeniden Başlatma Sebebi"
|
||||
#define D_RESTORE "restore"
|
||||
#define D_RETAINED "tutulan"
|
||||
#define D_RULE "Kural"
|
||||
#define D_SAVE "Kaydet"
|
||||
#define D_SENSOR "Sensör"
|
||||
#define D_SSID "SSId"
|
||||
#define D_START "Başlat"
|
||||
#define D_STD_TIME "STD"
|
||||
#define D_STOP "Durdur"
|
||||
#define D_SUBNET_MASK "Altağ Geçidi Maskesi"
|
||||
#define D_SUBSCRIBE_TO "Abone olunan"
|
||||
#define D_SUCCESSFUL "Başarıyla Tamamlandı"
|
||||
#define D_SUNRISE "Gün doğumu"
|
||||
#define D_SUNSET "Gün batımı"
|
||||
#define D_TEMPERATURE "Sıcaklık"
|
||||
#define D_TO "den"
|
||||
#define D_TOGGLE "Geçiş Tuşu"
|
||||
#define D_TOPIC "Başlık"
|
||||
#define D_TRANSMIT "İletim"
|
||||
#define D_TRUE "True"
|
||||
#define D_TVOC "TVOC"
|
||||
#define D_UPGRADE "yükseltme"
|
||||
#define D_UPLOAD "Yükleme"
|
||||
#define D_UPTIME "Açık Kalma Süresi"
|
||||
#define D_USER "Kullanıcı"
|
||||
#define D_UTC_TIME "UTC"
|
||||
#define D_UV_INDEX "UV Indeksi"
|
||||
#define D_UV_LEVEL "UV Seviyesi"
|
||||
#define D_VERSION "Versiyon"
|
||||
#define D_VOLTAGE "Voltaj"
|
||||
#define D_WARMLIGHT "Sıcak"
|
||||
#define D_WEB_SERVER "Web Sunucusu"
|
||||
|
||||
// sonoff.ino
|
||||
#define D_WARNING_MINIMAL_VERSION "UYARI Bu versiyon ayarların kalıcı olarak kaydedilmesine olanak sağlamıyor"
|
||||
#define D_LEVEL_10 "seviye 1-0"
|
||||
#define D_LEVEL_01 "seviye 0-1"
|
||||
#define D_SERIAL_LOGGING_DISABLED "Seri port loglaması kapalı"
|
||||
#define D_SYSLOG_LOGGING_REENABLED "Sistem loglaması tekrar aktif"
|
||||
|
||||
#define D_SET_BAUDRATE_TO "Baud hızını şu şekilde değiştir"
|
||||
#define D_RECEIVED_TOPIC "Alınan Başlık"
|
||||
#define D_DATA_SIZE "Veri Büyüklüğü"
|
||||
#define D_ANALOG_INPUT "Analog"
|
||||
|
||||
// support.ino
|
||||
#define D_OSWATCH "osWatch"
|
||||
#define D_BLOCKED_LOOP "Döngü bloke edildi"
|
||||
#define D_WPS_FAILED_WITH_STATUS "WPSconfig FAILED with status"
|
||||
#define D_ACTIVE_FOR_3_MINUTES "3 dakika aktif"
|
||||
#define D_FAILED_TO_START "başlatma başarılı olamadı"
|
||||
#define D_PATCH_ISSUE_2186 "Patch issue 2186"
|
||||
#define D_CONNECTING_TO_AP "AP'ye bağlan"
|
||||
#define D_IN_MODE "modunda"
|
||||
#define D_CONNECT_FAILED_NO_IP_ADDRESS "IP adresi alınamadığı için bağlantı kurulamadı"
|
||||
#define D_CONNECT_FAILED_AP_NOT_REACHED "Ap'ye ulaşılamadı"
|
||||
#define D_CONNECT_FAILED_WRONG_PASSWORD "Girilen parolayı AP kabul etmedi"
|
||||
#define D_CONNECT_FAILED_AP_TIMEOUT "AP'ye bağlanılırken süre aşımı oluştu"
|
||||
#define D_ATTEMPTING_CONNECTION "Yeniden bağlanılıyor..."
|
||||
#define D_CHECKING_CONNECTION "Bağlantı kontrol ediliyor..."
|
||||
#define D_QUERY_DONE "Soru tamamlandı. MQTT servisleri bulundu"
|
||||
#define D_MQTT_SERVICE_FOUND "Üzerinden MQTT serivisi tespit edildi"
|
||||
#define D_FOUND_AT "(bulundu)"
|
||||
#define D_SYSLOG_HOST_NOT_FOUND "Syslog hostu bulunamadı"
|
||||
|
||||
// settings.ino
|
||||
#define D_SAVED_TO_FLASH_AT "Bellekten (Flash) kaydedidi:"
|
||||
#define D_LOADED_FROM_FLASH_AT "Bellekten (Flash) okundu"
|
||||
#define D_USE_DEFAULTS "Varsayılanları Kullan"
|
||||
#define D_ERASED_SECTOR "Sektör temizlendi"
|
||||
|
||||
// xdrv_02_webserver.ino
|
||||
#define D_MINIMAL_FIRMWARE_PLEASE_UPGRADE "Donanım yazılımı çok düşük, lütfen yükseltin"
|
||||
#define D_WEBSERVER_ACTIVE_ON "Web sunucusu aktif"
|
||||
#define D_WITH_IP_ADDRESS "IP adres ile"
|
||||
#define D_WEBSERVER_STOPPED "Web sunucusu durdu"
|
||||
#define D_FILE_NOT_FOUND "Dosya Bulunamadı"
|
||||
#define D_REDIRECTED "Portala yönlendirildiniz"
|
||||
#define D_WIFIMANAGER_SET_ACCESSPOINT_AND_STATION "Wifi yöneticisi AP olarak ayarlandı ve istasyon olarak bekletiliyor"
|
||||
#define D_WIFIMANAGER_SET_ACCESSPOINT "Wifi yöneticisi AP olarak ayarlandı"
|
||||
#define D_TRYING_TO_CONNECT "Cihaz ağa bağlanmaya çalışıyor"
|
||||
|
||||
#define D_RESTART_IN "Burada tekrar başlat"
|
||||
#define D_SECONDS "saniye"
|
||||
#define D_DEVICE_WILL_RESTART "Birkaç saniye içerisinde cihaz tekrar başlatılacak"
|
||||
#define D_BUTTON_TOGGLE "Toggle"
|
||||
#define D_CONFIGURATION "Konfigürasyon"
|
||||
#define D_INFORMATION "Bilgi"
|
||||
#define D_FIRMWARE_UPGRADE "Cihaz yazılımını Güncelle"
|
||||
#define D_CONSOLE "Konsol"
|
||||
#define D_CONFIRM_RESTART "Yeniden Başlatmayı Onayla"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Modül Ayarlarını Değiştir"
|
||||
#define D_CONFIGURE_WIFI "WiFi'i Ayarlarını Değiştir"
|
||||
#define D_CONFIGURE_MQTT "MQTT'yi Ayarlarını Değiştir"
|
||||
#define D_CONFIGURE_DOMOTICZ "Domoticz Ayarlarını Değiştir"
|
||||
#define D_CONFIGURE_LOGGING "Loglama Ayarlarını Değiştir"
|
||||
#define D_CONFIGURE_OTHER "Diğer Ayarları Değiştir"
|
||||
#define D_CONFIRM_RESET_CONFIGURATION "Resetleme Ayarlarını Onayla"
|
||||
#define D_RESET_CONFIGURATION "Tüm Ayarları Resetle"
|
||||
#define D_BACKUP_CONFIGURATION "Ayarları Yedekle"
|
||||
#define D_RESTORE_CONFIGURATION "Ayarları Geri Yükle"
|
||||
#define D_MAIN_MENU "Ana Menü"
|
||||
|
||||
#define D_MODULE_PARAMETERS "Modül parametreleri"
|
||||
#define D_MODULE_TYPE "Modul türü"
|
||||
#define D_GPIO "GPIO"
|
||||
#define D_SERIAL_IN "Serial In"
|
||||
#define D_SERIAL_OUT "Serial Out"
|
||||
|
||||
#define D_WIFI_PARAMETERS "Wifi parametreleri"
|
||||
#define D_SCAN_FOR_WIFI_NETWORKS "Çevredeki Wifi Networklerini Tara"
|
||||
#define D_SCAN_DONE "Tarama tamamladı"
|
||||
#define D_NO_NETWORKS_FOUND "Herhangi wifi ağı bulunamadı"
|
||||
#define D_REFRESH_TO_SCAN_AGAIN "Tekrar tarama - yenile"
|
||||
#define D_DUPLICATE_ACCESSPOINT "AP'yi çoğalt"
|
||||
#define D_SKIPPING_LOW_QUALITY "Düşük kalitedekileri dikkate alma"
|
||||
#define D_RSSI "RSSI"
|
||||
#define D_WEP "WEP"
|
||||
#define D_WPA_PSK "WPA PSK"
|
||||
#define D_WPA2_PSK "WPA2 PSK"
|
||||
#define D_AP1_SSID "AP1 SSId"
|
||||
#define D_AP1_PASSWORD "AP1 Password"
|
||||
#define D_AP2_SSID "AP2 SSId"
|
||||
#define D_AP2_PASSWORD "AP2 Password"
|
||||
|
||||
#define D_MQTT_PARAMETERS "MQTT parametreleri"
|
||||
#define D_CLIENT "İstemci"
|
||||
#define D_FULL_TOPIC "Tüm Başlık"
|
||||
|
||||
#define D_LOGGING_PARAMETERS "Loglama parametreleri"
|
||||
#define D_SERIAL_LOG_LEVEL "Serial log seviyesi"
|
||||
#define D_WEB_LOG_LEVEL "Web log seviyesi"
|
||||
#define D_SYS_LOG_LEVEL "Syslog seviyesi"
|
||||
#define D_MORE_DEBUG "Hata ayıklama devamı"
|
||||
#define D_SYSLOG_HOST "Syslog host"
|
||||
#define D_SYSLOG_PORT "Syslog port"
|
||||
#define D_TELEMETRY_PERIOD "Telemetri peryodu"
|
||||
|
||||
#define D_OTHER_PARAMETERS "Diğer parametreler"
|
||||
#define D_WEB_ADMIN_PASSWORD "Web Yönetici Şifresi"
|
||||
#define D_MQTT_ENABLE "MQTT aktif"
|
||||
#define D_FRIENDLY_NAME "Kullanıcı Dostu İsim"
|
||||
#define D_BELKIN_WEMO "Belkin WeMo"
|
||||
#define D_HUE_BRIDGE "Hue Bridge"
|
||||
#define D_SINGLE_DEVICE "tekli cihaz"
|
||||
#define D_MULTI_DEVICE "çoklu cihaz"
|
||||
|
||||
#define D_SAVE_CONFIGURATION "Ayarları Kaydet"
|
||||
#define D_CONFIGURATION_SAVED "Ayarlar kaydedildi"
|
||||
#define D_CONFIGURATION_RESET "Ayarlar resetlendi"
|
||||
|
||||
#define D_PROGRAM_VERSION "Yazılım versiyonu"
|
||||
#define D_BUILD_DATE_AND_TIME "Derleme Tarihi ve Saati"
|
||||
#define D_CORE_AND_SDK_VERSION "Core/SDK Versiyonu"
|
||||
#define D_FLASH_WRITE_COUNT "Belleğe (flash) Yazma Sayısı"
|
||||
#define D_MAC_ADDRESS "MAC Adresi"
|
||||
#define D_MQTT_HOST "MQTT Host"
|
||||
#define D_MQTT_PORT "MQTT Port"
|
||||
#define D_MQTT_CLIENT "MQTT İstemcisi"
|
||||
#define D_MQTT_USER "MQTT Kullanıcısı"
|
||||
#define D_MQTT_TOPIC "MQTT Topiği"
|
||||
#define D_MQTT_GROUP_TOPIC "MQTT Grup Topiği"
|
||||
#define D_MQTT_FULL_TOPIC "MQTT Full Topik"
|
||||
#define D_MDNS_DISCOVERY "mDNS Keşfi"
|
||||
#define D_MDNS_ADVERTISE "mDNS Yayını"
|
||||
#define D_ESP_CHIP_ID "ESP Chip Id"
|
||||
#define D_FLASH_CHIP_ID "Flash Chip Id"
|
||||
#define D_FLASH_CHIP_SIZE "Flash Boyutu"
|
||||
#define D_FREE_PROGRAM_SPACE "Boşta Yazılım Alanı Boyutu"
|
||||
|
||||
#define D_UPGRADE_BY_WEBSERVER "Web server kullanarak yükselt"
|
||||
#define D_OTA_URL "OTA Url"
|
||||
#define D_START_UPGRADE "Yükseltmeyi başlat"
|
||||
#define D_UPGRADE_BY_FILE_UPLOAD "Dosya kullanrak yükset"
|
||||
#define D_UPLOAD_STARTED "Yükleme başlatıldı"
|
||||
#define D_UPGRADE_STARTED "YÜkestlme başlatıldı"
|
||||
#define D_UPLOAD_DONE "Yükleme Tamamlandı"
|
||||
#define D_UPLOAD_ERR_1 "Dosya seçilmedi"
|
||||
#define D_UPLOAD_ERR_2 "Boş yer yok"
|
||||
#define D_UPLOAD_ERR_3 "Magic byte is not 0xE9"
|
||||
#define D_UPLOAD_ERR_4 "Yazılımın boyutu gerçek boyutundan fazla"
|
||||
#define D_UPLOAD_ERR_5 "Upload buffer miscompare"
|
||||
#define D_UPLOAD_ERR_6 "Upload failed. Enable logging 3"
|
||||
#define D_UPLOAD_ERR_7 "Upload aborted"
|
||||
#define D_UPLOAD_ERR_8 "File invalid"
|
||||
#define D_UPLOAD_ERR_9 "File too large"
|
||||
#define D_UPLOAD_ERR_10 "Failed to init RF chip"
|
||||
#define D_UPLOAD_ERR_11 "Failed to erase RF chip"
|
||||
#define D_UPLOAD_ERR_12 "Failed to write to RF chip"
|
||||
#define D_UPLOAD_ERR_13 "Failed to decode RF firmware"
|
||||
#define D_UPLOAD_ERROR_CODE "Upload error code"
|
||||
|
||||
#define D_ENTER_COMMAND "Enter command"
|
||||
#define D_ENABLE_WEBLOG_FOR_RESPONSE "Enable weblog 2 if response expected"
|
||||
#define D_NEED_USER_AND_PASSWORD "Need user=<username>&password=<password>"
|
||||
|
||||
// xdrv_01_mqtt.ino
|
||||
#define D_FINGERPRINT "Verify TLS fingerprint..."
|
||||
#define D_TLS_CONNECT_FAILED_TO "TLS Connect failed to"
|
||||
#define D_RETRY_IN "Retry in"
|
||||
#define D_VERIFIED "Verified using Fingerprint"
|
||||
#define D_INSECURE "Insecure connection due to invalid Fingerprint"
|
||||
#define D_CONNECT_FAILED_TO "Connect failed to"
|
||||
|
||||
// xplg_wemohue.ino
|
||||
#define D_MULTICAST_DISABLED "Multicast disabled"
|
||||
#define D_MULTICAST_REJOINED "Multicast (re)joined"
|
||||
#define D_MULTICAST_JOIN_FAILED "Multicast join failed"
|
||||
#define D_FAILED_TO_SEND_RESPONSE "Failed to send response"
|
||||
|
||||
#define D_WEMO "WeMo"
|
||||
#define D_WEMO_BASIC_EVENT "WeMo basic event"
|
||||
#define D_WEMO_EVENT_SERVICE "WeMo event service"
|
||||
#define D_WEMO_META_SERVICE "WeMo meta service"
|
||||
#define D_WEMO_SETUP "WeMo setup"
|
||||
#define D_RESPONSE_SENT "Response sent"
|
||||
|
||||
#define D_HUE "Hue"
|
||||
#define D_HUE_BRIDGE_SETUP "Hue setup"
|
||||
#define D_HUE_API_NOT_IMPLEMENTED "Hue API not implemented"
|
||||
#define D_HUE_API "Hue API"
|
||||
#define D_HUE_POST_ARGS "Hue POST args"
|
||||
#define D_3_RESPONSE_PACKETS_SENT "3 response packets sent"
|
||||
|
||||
// xdrv_07_domoticz.ino
|
||||
#define D_DOMOTICZ_PARAMETERS "Domoticz parameters"
|
||||
#define D_DOMOTICZ_IDX "Idx"
|
||||
#define D_DOMOTICZ_KEY_IDX "Key idx"
|
||||
#define D_DOMOTICZ_SWITCH_IDX "Switch idx"
|
||||
#define D_DOMOTICZ_SENSOR_IDX "Sensor idx"
|
||||
#define D_DOMOTICZ_TEMP "Temp"
|
||||
#define D_DOMOTICZ_TEMP_HUM "Temp,Hum"
|
||||
#define D_DOMOTICZ_TEMP_HUM_BARO "Temp,Hum,Baro"
|
||||
#define D_DOMOTICZ_POWER_ENERGY "Power,Energy"
|
||||
#define D_DOMOTICZ_ILLUMINANCE "Illuminance"
|
||||
#define D_DOMOTICZ_COUNT "Count/PM1"
|
||||
#define D_DOMOTICZ_VOLTAGE "Voltage/PM2.5"
|
||||
#define D_DOMOTICZ_CURRENT "Current/PM10"
|
||||
#define D_DOMOTICZ_AIRQUALITY "AirQuality"
|
||||
#define D_DOMOTICZ_UPDATE_TIMER "Update timer"
|
||||
|
||||
// xdrv_09_timers.ino
|
||||
#define D_CONFIGURE_TIMER "Configure Timer"
|
||||
#define D_TIMER_PARAMETERS "Timer parameters"
|
||||
#define D_TIMER_ENABLE "Enable Timers"
|
||||
#define D_TIMER_ARM "Arm"
|
||||
#define D_TIMER_TIME "Time"
|
||||
#define D_TIMER_DAYS "Days"
|
||||
#define D_TIMER_REPEAT "Repeat"
|
||||
#define D_TIMER_OUTPUT "Output"
|
||||
#define D_TIMER_ACTION "Action"
|
||||
|
||||
// xdrv_10_knx.ino
|
||||
#define D_CONFIGURE_KNX "Configure KNX"
|
||||
#define D_KNX_PARAMETERS "KNX Parameters"
|
||||
#define D_KNX_GENERAL_CONFIG "General"
|
||||
#define D_KNX_PHYSICAL_ADDRESS "Physical Address"
|
||||
#define D_KNX_PHYSICAL_ADDRESS_NOTE "( Must be unique on the KNX network )"
|
||||
#define D_KNX_ENABLE "Enable KNX"
|
||||
#define D_KNX_GROUP_ADDRESS_TO_WRITE "Data to Send to Group Addresses"
|
||||
#define D_ADD "Add"
|
||||
#define D_DELETE "Delete"
|
||||
#define D_REPLY "Reply"
|
||||
#define D_KNX_GROUP_ADDRESS_TO_READ "Group Addresses to Receive Data from"
|
||||
#define D_LOG_KNX "KNX: "
|
||||
#define D_RECEIVED_FROM "Received from"
|
||||
#define D_KNX_COMMAND_WRITE "Yaz"
|
||||
#define D_KNX_COMMAND_READ "Oku"
|
||||
#define D_KNX_COMMAND_OTHER "Diğer"
|
||||
#define D_SENT_TO "gönder"
|
||||
#define D_KNX_WARNING "The group address ( 0 / 0 / 0 ) is reserved and can not be used."
|
||||
#define D_KNX_ENHANCEMENT "Communication Enhancement"
|
||||
#define D_KNX_TX_SLOT "KNX TX"
|
||||
#define D_KNX_RX_SLOT "KNX RX"
|
||||
|
||||
// xdrv_03_energy.ino
|
||||
#define D_ENERGY_TODAY "Energy Today"
|
||||
#define D_ENERGY_YESTERDAY "Energy Yesterday"
|
||||
#define D_ENERGY_TOTAL "Energy Total"
|
||||
|
||||
// xsns_05_ds18b20.ino
|
||||
#define D_SENSOR_BUSY "Sensör başgül"
|
||||
#define D_SENSOR_CRC_ERROR "Sensor CRC hatası"
|
||||
#define D_SENSORS_FOUND "Sensörler bulundu"
|
||||
|
||||
// xsns_06_dht.ino
|
||||
#define D_TIMEOUT_WAITING_FOR "Timeout waiting for"
|
||||
#define D_START_SIGNAL_LOW "düşük sinyal başlat"
|
||||
#define D_START_SIGNAL_HIGH "yüksek sinyal başlat"
|
||||
#define D_PULSE "pulse"
|
||||
#define D_CHECKSUM_FAILURE "Checksum failure"
|
||||
|
||||
// xsns_07_sht1x.ino
|
||||
#define D_SENSOR_DID_NOT_ACK_COMMAND "Sensor did not ACK command"
|
||||
#define D_SHT1X_FOUND "SHT1X found"
|
||||
|
||||
// xsns_18_pms5003.ino
|
||||
#define D_STANDARD_CONCENTRATION "CF-1 PM" // Standard Particle CF-1 Particle Matter
|
||||
#define D_ENVIRONMENTAL_CONCENTRATION "PM" // Environmetal Particle Matter
|
||||
#define D_PARTICALS_BEYOND "Particals"
|
||||
|
||||
// sonoff_template.h
|
||||
#define D_SENSOR_NONE "None"
|
||||
#define D_SENSOR_DHT11 "DHT11"
|
||||
#define D_SENSOR_AM2301 "AM2301"
|
||||
#define D_SENSOR_SI7021 "SI7021"
|
||||
#define D_SENSOR_DS18X20 "DS18x20"
|
||||
#define D_SENSOR_I2C_SCL "I2C SCL"
|
||||
#define D_SENSOR_I2C_SDA "I2C SDA"
|
||||
#define D_SENSOR_WS2812 "WS2812"
|
||||
#define D_SENSOR_IRSEND "IRsend"
|
||||
#define D_SENSOR_SWITCH "Switch" // Suffix "1"
|
||||
#define D_SENSOR_BUTTON "Button" // Suffix "1"
|
||||
#define D_SENSOR_RELAY "Relay" // Suffix "1i"
|
||||
#define D_SENSOR_LED "Led" // Suffix "1i"
|
||||
#define D_SENSOR_PWM "PWM" // Suffix "1"
|
||||
#define D_SENSOR_COUNTER "Counter" // Suffix "1"
|
||||
#define D_SENSOR_IRRECV "IRrecv"
|
||||
#define D_SENSOR_MHZ_RX "MHZ Rx"
|
||||
#define D_SENSOR_MHZ_TX "MHZ Tx"
|
||||
#define D_SENSOR_PZEM_RX "PZEM Rx"
|
||||
#define D_SENSOR_PZEM_TX "PZEM Tx"
|
||||
#define D_SENSOR_SAIR_RX "SAir Rx"
|
||||
#define D_SENSOR_SAIR_TX "SAir Tx"
|
||||
#define D_SENSOR_SPI_CS "SPI CS"
|
||||
#define D_SENSOR_SPI_DC "SPI DC"
|
||||
#define D_SENSOR_BACKLIGHT "BkLight"
|
||||
#define D_SENSOR_PMS5003 "PMS5003"
|
||||
#define D_SENSOR_SDS0X1 "SDS0X1"
|
||||
#define D_SENSOR_SBR_RX "SerBr Rx"
|
||||
#define D_SENSOR_SBR_TX "SerBr Tx"
|
||||
#define D_SENSOR_SR04_TRIG "SR04 Tri"
|
||||
#define D_SENSOR_SR04_ECHO "SR04 Ech"
|
||||
#define D_SENSOR_SDM120_TX "SDM120 Tx"
|
||||
#define D_SENSOR_SDM120_RX "SDM120 Rx"
|
||||
#define D_SENSOR_SDM630_TX "SDM630 Tx"
|
||||
#define D_SENSOR_SDM630_RX "SDM630 Rx"
|
||||
#define D_SENSOR_TM1638_CLK "TM16 CLK"
|
||||
#define D_SENSOR_TM1638_DIO "TM16 DIO"
|
||||
#define D_SENSOR_TM1638_STB "TM16 STB"
|
||||
|
||||
// Units
|
||||
#define D_UNIT_AMPERE "A"
|
||||
#define D_UNIT_CENTIMETER "cm"
|
||||
#define D_UNIT_HOUR "Hr"
|
||||
#define D_UNIT_KILOOHM "kOhm"
|
||||
#define D_UNIT_KILOWATTHOUR "kWh"
|
||||
#define D_UNIT_LUX "lx"
|
||||
#define D_UNIT_MICROGRAM_PER_CUBIC_METER "ug/m3"
|
||||
#define D_UNIT_MICROMETER "um"
|
||||
#define D_UNIT_MICROSECOND "us"
|
||||
#define D_UNIT_MILLIAMPERE "mA"
|
||||
#define D_UNIT_MILLISECOND "ms"
|
||||
#define D_UNIT_MINUTE "Min"
|
||||
#define D_UNIT_PARTS_PER_BILLION "ppb"
|
||||
#define D_UNIT_PARTS_PER_DECILITER "ppd"
|
||||
#define D_UNIT_PARTS_PER_MILLION "ppm"
|
||||
#define D_UNIT_PRESSURE "hPa"
|
||||
#define D_UNIT_SECOND "sec"
|
||||
#define D_UNIT_SECTORS "sectors"
|
||||
#define D_UNIT_VA "VA"
|
||||
#define D_UNIT_VAR "VAr"
|
||||
#define D_UNIT_VOLT "V"
|
||||
#define D_UNIT_WATT "W"
|
||||
#define D_UNIT_WATTHOUR "Wh"
|
||||
#define D_UNIT_HERTZ "Hz"
|
||||
|
||||
// Log message prefix
|
||||
#define D_LOG_APPLICATION "APP: " // Application
|
||||
#define D_LOG_BRIDGE "BRG: " // Bridge
|
||||
#define D_LOG_CONFIG "CFG: " // Settings
|
||||
#define D_LOG_COMMAND "CMD: " // Command
|
||||
#define D_LOG_DEBUG "DBG: " // Debug
|
||||
#define D_LOG_DHT "DHT: " // DHT sensor
|
||||
#define D_LOG_DOMOTICZ "DOM: " // Domoticz
|
||||
#define D_LOG_DSB "DSB: " // DS18xB20 sensor
|
||||
#define D_LOG_HTTP "HTP: " // HTTP webserver
|
||||
#define D_LOG_I2C "I2C: " // I2C
|
||||
#define D_LOG_IRR "IRR: " // Infra Red Received
|
||||
#define D_LOG_LOG "LOG: " // Logging
|
||||
#define D_LOG_MODULE "MOD: " // Module
|
||||
#define D_LOG_MDNS "DNS: " // mDNS
|
||||
#define D_LOG_MQTT "MQT: " // MQTT
|
||||
#define D_LOG_OTHER "OTH: " // Other
|
||||
#define D_LOG_RESULT "RSL: " // Result
|
||||
#define D_LOG_RFR "RFR: " // RF Received
|
||||
#define D_LOG_SERIAL "SER: " // Serial
|
||||
#define D_LOG_SHT1 "SHT: " // SHT1x sensor
|
||||
#define D_LOG_UPLOAD "UPL: " // Upload
|
||||
#define D_LOG_UPNP "UPP: " // UPnP
|
||||
#define D_LOG_WIFI "WIF: " // Wifi
|
||||
|
||||
#endif // _LANGUAGE_TR_TR_H_
|
||||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "Підтвердити перезавантаження"
|
||||
|
||||
#define D_CONFIGURE_MODULE "Конфігурація модуля"
|
||||
#define D_CONFIGURE_MCP230XX "Конфігурація MCP230xx"
|
||||
#define D_CONFIGURE_WIFI "Конфігурація WiFi"
|
||||
#define D_CONFIGURE_MQTT "Конфігурація MQTT"
|
||||
#define D_CONFIGURE_DOMOTICZ "Конфігурація Domoticz"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "确认重启"
|
||||
|
||||
#define D_CONFIGURE_MODULE "模块设置"
|
||||
#define D_CONFIGURE_MCP230XX "MCP230xx设置"
|
||||
#define D_CONFIGURE_WIFI "WiFi设置"
|
||||
#define D_CONFIGURE_MQTT "MQTT设置"
|
||||
#define D_CONFIGURE_DOMOTICZ "Domoticz设置"
|
||||
|
|
|
|||
|
|
@ -227,7 +227,6 @@
|
|||
#define D_CONFIRM_RESTART "確認重啟"
|
||||
|
||||
#define D_CONFIGURE_MODULE "模塊設置"
|
||||
#define D_CONFIGURE_MCP230XX "MCP230xx設置"
|
||||
#define D_CONFIGURE_WIFI "WiFi設置"
|
||||
#define D_CONFIGURE_MQTT "MQTT設置"
|
||||
#define D_CONFIGURE_DOMOTICZ "Domoticz設置"
|
||||
|
|
|
|||
|
|
@ -48,7 +48,7 @@ typedef union { // Restricted by MISRA-C Rule 18.4 bu
|
|||
uint32_t not_power_linked : 1; // bit 20 (v5.11.1f)
|
||||
uint32_t no_power_on_check : 1; // bit 21 (v5.11.1i)
|
||||
uint32_t mqtt_serial : 1; // bit 22 (v5.12.0f)
|
||||
uint32_t rules_enabled : 1; // bit 23 (v5.12.0j) - free since v5.14.0b
|
||||
uint32_t mqtt_serial_raw : 1; // bit 23 (v6.1.1c)
|
||||
uint32_t rules_once : 1; // bit 24 (v5.12.0k) - free since v5.14.0b
|
||||
uint32_t knx_enabled : 1; // bit 25 (v5.12.0l) KNX
|
||||
uint32_t device_index_enable : 1; // bit 26 (v5.13.1a)
|
||||
|
|
@ -114,8 +114,7 @@ typedef union {
|
|||
uint32_t spare10 : 1;
|
||||
uint32_t spare11 : 1;
|
||||
uint32_t spare12 : 1;
|
||||
uint32_t spare13 : 1;
|
||||
uint32_t spare14 : 1;
|
||||
uint32_t axis_resolution : 2;
|
||||
uint32_t current_resolution : 2;
|
||||
uint32_t voltage_resolution : 2;
|
||||
uint32_t wattage_resolution : 2;
|
||||
|
|
@ -155,7 +154,7 @@ typedef union {
|
|||
typedef union {
|
||||
uint8_t data;
|
||||
struct {
|
||||
uint8_t pinmode : 3; // Enable INPUT
|
||||
uint8_t pinmode : 3; // Enable INPUT
|
||||
uint8_t pullup : 1; // Enable internal weak pull-up resistor
|
||||
uint8_t b4 : 1;
|
||||
uint8_t b5 : 1;
|
||||
|
|
@ -369,7 +368,7 @@ struct XDRVMAILBOX {
|
|||
char *data;
|
||||
} XdrvMailbox;
|
||||
|
||||
#define MAX_RULES_FLAG 5 // Number of bits used in RulesBitfield (tricky I know...)
|
||||
#define MAX_RULES_FLAG 7 // Number of bits used in RulesBitfield (tricky I know...)
|
||||
typedef union { // Restricted by MISRA-C Rule 18.4 but so usefull...
|
||||
uint16_t data; // Allow bit manipulation
|
||||
struct {
|
||||
|
|
@ -378,8 +377,8 @@ typedef union { // Restricted by MISRA-C Rule 18.4 bu
|
|||
uint16_t time_set : 1;
|
||||
uint16_t mqtt_connected : 1;
|
||||
uint16_t mqtt_disconnected : 1;
|
||||
uint16_t spare05 : 1;
|
||||
uint16_t spare06 : 1;
|
||||
uint16_t wifi_connected : 1;
|
||||
uint16_t wifi_disconnected : 1;
|
||||
uint16_t spare07 : 1;
|
||||
uint16_t spare08 : 1;
|
||||
uint16_t spare09 : 1;
|
||||
|
|
|
|||
|
|
@ -286,8 +286,10 @@ void SettingsLoad()
|
|||
snprintf_P(log_data, sizeof(log_data), PSTR(D_LOG_CONFIG D_LOADED_FROM_FLASH_AT " %X, " D_COUNT " %d"), settings_location, Settings.save_flag);
|
||||
AddLog(LOG_LEVEL_DEBUG);
|
||||
|
||||
#ifndef BE_MINIMAL
|
||||
if (bad_crc || (Settings.cfg_holder != (uint16_t)CFG_HOLDER)) { SettingsDefault(); }
|
||||
settings_crc = GetSettingsCrc();
|
||||
#endif // BE_MINIMAL
|
||||
|
||||
RtcSettingsLoad();
|
||||
}
|
||||
|
|
@ -756,7 +758,7 @@ void SettingsDelta()
|
|||
}
|
||||
if (Settings.version < 0x050E0002) {
|
||||
for (byte i = 1; i < MAX_RULE_SETS; i++) { Settings.rules[i][0] = '\0'; }
|
||||
Settings.rule_enabled = Settings.flag.rules_enabled;
|
||||
Settings.rule_enabled = Settings.flag.mqtt_serial_raw;
|
||||
Settings.rule_once = Settings.flag.rules_once;
|
||||
}
|
||||
if (Settings.version < 0x06000000) {
|
||||
|
|
@ -778,7 +780,7 @@ void SettingsDelta()
|
|||
}
|
||||
}
|
||||
if (Settings.version < 0x06000003) {
|
||||
Settings.flag.rules_enabled = 0;
|
||||
Settings.flag.mqtt_serial_raw = 0;
|
||||
Settings.flag.rules_once = 0;
|
||||
Settings.flag3.data = 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -68,6 +68,7 @@ typedef unsigned long power_t; // Power (Relay) type
|
|||
#define HLW_IREF_PULSE 3500 // was 1666us = 600Hz = 4.545A
|
||||
|
||||
#define MQTT_RETRY_SECS 10 // Minimum seconds to retry MQTT connection
|
||||
#define GLOBAL_VALUES_VALID 300 // Max number of seconds to keep last received values
|
||||
#define APP_POWER 0 // Default saved power state Off
|
||||
#define WS2812_MAX_LEDS 512 // Max number of LEDs
|
||||
|
||||
|
|
|
|||
|
|
@ -188,8 +188,9 @@ uint8_t ntp_force_sync = 0; // Force NTP sync
|
|||
StateBitfield global_state;
|
||||
RulesBitfield rules_flag;
|
||||
|
||||
uint8_t glob_humidity = 0;
|
||||
sint16_t glob_temperature = -9999;
|
||||
uint32_t global_update = 0;
|
||||
float global_temperature = 0;
|
||||
float global_humidity = 0;
|
||||
|
||||
char my_version[33]; // Composed version string
|
||||
char my_hostname[33]; // Composed Wifi hostname
|
||||
|
|
@ -677,6 +678,7 @@ void MqttDataHandler(char* topic, byte* data, unsigned int data_len)
|
|||
case 7: // mqtt_switch_retain (CMND_SWITCHRETAIN)
|
||||
case 9: // mqtt_sensor_retain (CMND_SENSORRETAIN)
|
||||
case 22: // mqtt_serial (SerialSend and SerialLog)
|
||||
case 23: // mqtt_serial_raw (SerialSend)
|
||||
case 25: // knx_enabled (Web config)
|
||||
case 27: // knx_enable_enhancement (Web config)
|
||||
ptype = 99; // Command Error
|
||||
|
|
@ -914,15 +916,18 @@ void MqttDataHandler(char* topic, byte* data, unsigned int data_len)
|
|||
}
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), S_JSON_COMMAND_NVALUE, command, Settings.baudrate * 1200);
|
||||
}
|
||||
else if ((CMND_SERIALSEND == command_code) && (index > 0) && (index <= 3)) {
|
||||
else if ((CMND_SERIALSEND == command_code) && (index > 0) && (index <= 4)) {
|
||||
SetSeriallog(LOG_LEVEL_NONE);
|
||||
Settings.flag.mqtt_serial = 1;
|
||||
Settings.flag.mqtt_serial_raw = (4 == index) ? 1 : 0;
|
||||
if (data_len > 0) {
|
||||
if (1 == index) {
|
||||
Serial.printf("%s\n", dataBuf);
|
||||
}
|
||||
else if (2 == index) {
|
||||
Serial.printf("%s", dataBuf);
|
||||
else if (2 == index || 4 == index) {
|
||||
for (int i = 0; i < data_len; i++) {
|
||||
Serial.write(dataBuf[i]);
|
||||
}
|
||||
}
|
||||
else if (3 == index) {
|
||||
uint16_t dat_len = data_len;
|
||||
|
|
@ -1116,7 +1121,7 @@ void MqttDataHandler(char* topic, byte* data, unsigned int data_len)
|
|||
ntp_force_sync = 1;
|
||||
}
|
||||
}
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"%s\":{\"Hemisphere\":%d,\"Week\":%d,\"Month\":%d,\"Day\":%d,\"Hour\":%d,\"Offset\":%d\"}}"),
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"%s\":{\"Hemisphere\":%d,\"Week\":%d,\"Month\":%d,\"Day\":%d,\"Hour\":%d,\"Offset\":%d}}"),
|
||||
command, Settings.tflag[ts].hemis, Settings.tflag[ts].week, Settings.tflag[ts].month, Settings.tflag[ts].dow, Settings.tflag[ts].hour, Settings.toffset[ts]);
|
||||
}
|
||||
else if (CMND_ALTITUDE == command_code) {
|
||||
|
|
@ -1370,8 +1375,8 @@ void PublishStatus(uint8_t payload)
|
|||
}
|
||||
|
||||
if ((0 == payload) || (3 == payload)) {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_CMND_STATUS D_STATUS3_LOGGING "\":{\"" D_CMND_SERIALLOG "\":%d,\"" D_CMND_WEBLOG "\":%d,\"" D_CMND_SYSLOG "\":%d,\"" D_CMND_LOGHOST "\":\"%s\",\"" D_CMND_LOGPORT "\":%d,\"" D_CMND_SSID "\":[\"%s\",\"%s\"],\"" D_CMND_TELEPERIOD "\":%d,\"" D_CMND_SETOPTION "\":[\"%08X\",\"%08X\"]}}"),
|
||||
Settings.seriallog_level, Settings.weblog_level, Settings.syslog_level, Settings.syslog_host, Settings.syslog_port, Settings.sta_ssid[0], Settings.sta_ssid[1], Settings.tele_period, Settings.flag.data, Settings.flag2.data);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_CMND_STATUS D_STATUS3_LOGGING "\":{\"" D_CMND_SERIALLOG "\":%d,\"" D_CMND_WEBLOG "\":%d,\"" D_CMND_SYSLOG "\":%d,\"" D_CMND_LOGHOST "\":\"%s\",\"" D_CMND_LOGPORT "\":%d,\"" D_CMND_SSID "\":[\"%s\",\"%s\"],\"" D_CMND_TELEPERIOD "\":%d,\"" D_CMND_SETOPTION "\":[\"%08X\",\"%08X\",\"%08X\"]}}"),
|
||||
Settings.seriallog_level, Settings.weblog_level, Settings.syslog_level, Settings.syslog_host, Settings.syslog_port, Settings.sta_ssid[0], Settings.sta_ssid[1], Settings.tele_period, Settings.flag.data, Settings.flag2.data, Settings.flag3.data);
|
||||
MqttPublishPrefixTopic_P(option, PSTR(D_CMND_STATUS "3"));
|
||||
}
|
||||
|
||||
|
|
@ -1544,6 +1549,8 @@ void PerformEverySecond()
|
|||
}
|
||||
}
|
||||
|
||||
ResetGlobalValues();
|
||||
|
||||
if (Settings.tele_period) {
|
||||
tele_period++;
|
||||
if (tele_period == Settings.tele_period -1) {
|
||||
|
|
@ -2173,7 +2180,7 @@ void SerialInput()
|
|||
#endif // USE_ENERGY_SENSOR
|
||||
/*-------------------------------------------------------------------------------------------*/
|
||||
|
||||
if (serial_in_byte > 127) { // binary data...
|
||||
if (serial_in_byte > 127 && !Settings.flag.mqtt_serial_raw) { // binary data...
|
||||
serial_in_byte_counter = 0;
|
||||
Serial.flush();
|
||||
return;
|
||||
|
|
@ -2187,8 +2194,9 @@ void SerialInput()
|
|||
}
|
||||
}
|
||||
} else {
|
||||
if (serial_in_byte) {
|
||||
if ((serial_in_byte_counter < INPUT_BUFFER_SIZE -1) && (serial_in_byte != Settings.serial_delimiter)) { // add char to string if it still fits
|
||||
if (serial_in_byte || Settings.flag.mqtt_serial_raw) {
|
||||
if ((serial_in_byte_counter < INPUT_BUFFER_SIZE -1) &&
|
||||
((serial_in_byte != Settings.serial_delimiter) || Settings.flag.mqtt_serial_raw)) { // add char to string if it still fits
|
||||
serial_in_buffer[serial_in_byte_counter++] = serial_in_byte;
|
||||
serial_polling_window = millis();
|
||||
} else {
|
||||
|
|
@ -2228,7 +2236,15 @@ void SerialInput()
|
|||
|
||||
if (Settings.flag.mqtt_serial && serial_in_byte_counter && (millis() > (serial_polling_window + SERIAL_POLLING))) {
|
||||
serial_in_buffer[serial_in_byte_counter] = 0; // serial data completed
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_JSON_SERIALRECEIVED "\":\"%s\"}"), serial_in_buffer);
|
||||
if (!Settings.flag.mqtt_serial_raw) {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_JSON_SERIALRECEIVED "\":\"%s\"}"), serial_in_buffer);
|
||||
} else {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_JSON_SERIALRECEIVED "\":\""));
|
||||
for (int i = 0; i < serial_in_byte_counter; i++) {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s%02x"), mqtt_data, serial_in_buffer[i]);
|
||||
}
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s\"}"), mqtt_data);
|
||||
}
|
||||
MqttPublishPrefixTopic_P(RESULT_OR_TELE, PSTR(D_JSON_SERIALRECEIVED));
|
||||
// XdrvRulesProcess();
|
||||
serial_in_byte_counter = 0;
|
||||
|
|
|
|||
|
|
@ -414,6 +414,22 @@ char TempUnit()
|
|||
return (Settings.flag.temperature_conversion) ? 'F' : 'C';
|
||||
}
|
||||
|
||||
void SetGlobalValues(float temperature, float humidity)
|
||||
{
|
||||
global_update = uptime;
|
||||
global_temperature = temperature;
|
||||
global_humidity = humidity;
|
||||
}
|
||||
|
||||
void ResetGlobalValues()
|
||||
{
|
||||
if ((uptime - global_update) > GLOBAL_VALUES_VALID) { // Reset after 5 minutes
|
||||
global_update = 0;
|
||||
global_temperature = 0;
|
||||
global_humidity = 0;
|
||||
}
|
||||
}
|
||||
|
||||
double FastPrecisePow(double a, double b)
|
||||
{
|
||||
// https://martin.ankerl.com/2012/01/25/optimized-approximative-pow-in-c-and-cpp/
|
||||
|
|
@ -903,6 +919,19 @@ void GetFeatures()
|
|||
/*********************************************************************************************/
|
||||
|
||||
feature_sns2 = 0x00000000;
|
||||
|
||||
#ifdef USE_MCP230xx
|
||||
feature_sns2 |= 0x00000001; // xsns_29_mcp230xx.ino
|
||||
#endif
|
||||
#ifdef USE_MPR121
|
||||
feature_sns2 |= 0x00000002; // xsns_30_mpr121.ino
|
||||
#endif
|
||||
#ifdef USE_CCS811
|
||||
feature_sns2 |= 0x00000004; // xsns_31_ccs811.ino
|
||||
#endif
|
||||
#ifdef USE_MPU6050
|
||||
feature_sns2 |= 0x00000008; // xsns_32_mpu6050.ino
|
||||
#endif
|
||||
}
|
||||
|
||||
/*********************************************************************************************\
|
||||
|
|
@ -1080,10 +1109,22 @@ void WifiBegin(uint8_t flag)
|
|||
AddLog(LOG_LEVEL_INFO);
|
||||
}
|
||||
|
||||
void WifiState(uint8_t state)
|
||||
{
|
||||
if (state == global_state.wifi_down) {
|
||||
if (state) {
|
||||
rules_flag.wifi_connected = 1;
|
||||
} else {
|
||||
rules_flag.wifi_disconnected = 1;
|
||||
}
|
||||
}
|
||||
global_state.wifi_down = state ^1;
|
||||
}
|
||||
|
||||
void WifiCheckIp()
|
||||
{
|
||||
if ((WL_CONNECTED == WiFi.status()) && (static_cast<uint32_t>(WiFi.localIP()) != 0)) {
|
||||
global_state.wifi_down = 0;
|
||||
WifiState(1);
|
||||
wifi_counter = WIFI_CHECK_SEC;
|
||||
wifi_retry = wifi_retry_init;
|
||||
AddLog_P((wifi_status != WL_CONNECTED) ? LOG_LEVEL_INFO : LOG_LEVEL_DEBUG_MORE, S_LOG_WIFI, PSTR(D_CONNECTED));
|
||||
|
|
@ -1095,7 +1136,7 @@ void WifiCheckIp()
|
|||
}
|
||||
wifi_status = WL_CONNECTED;
|
||||
} else {
|
||||
global_state.wifi_down = 1;
|
||||
WifiState(0);
|
||||
uint8_t wifi_config_tool = Settings.sta_config;
|
||||
wifi_status = WiFi.status();
|
||||
switch (wifi_status) {
|
||||
|
|
@ -1206,7 +1247,7 @@ void WifiCheck(uint8_t param)
|
|||
WifiCheckIp();
|
||||
}
|
||||
if ((WL_CONNECTED == WiFi.status()) && (static_cast<uint32_t>(WiFi.localIP()) != 0) && !wifi_config_type) {
|
||||
global_state.wifi_down = 0;
|
||||
WifiState(1);
|
||||
#ifdef BE_MINIMAL
|
||||
if (1 == RtcSettings.ota_loader) {
|
||||
RtcSettings.ota_loader = 0;
|
||||
|
|
@ -1242,7 +1283,7 @@ void WifiCheck(uint8_t param)
|
|||
}
|
||||
#endif // USE_KNX
|
||||
} else {
|
||||
global_state.wifi_down = 1;
|
||||
WifiState(0);
|
||||
#if defined(USE_WEBSERVER) && defined(USE_EMULATION)
|
||||
UdpDisconnect();
|
||||
#endif // USE_EMULATION
|
||||
|
|
|
|||
|
|
@ -199,6 +199,7 @@
|
|||
//#define MY_LANGUAGE pt-BR // Portuguese in Brazil
|
||||
//#define MY_LANGUAGE pt-PT // Portuguese in Portugal
|
||||
//#define MY_LANGUAGE ru-RU // Russian in Russia
|
||||
//#define MY_LANGUAGE tr-TR // Turkish in Turkey
|
||||
//#define MY_LANGUAGE uk-UK // Ukrainian in Ukrain
|
||||
//#define MY_LANGUAGE zh-CN // Chinese (Simplified) in China
|
||||
//#define MY_LANGUAGE zh-TW // Chinese (Traditional) in Taiwan
|
||||
|
|
@ -274,7 +275,7 @@
|
|||
#define USE_SHT // Enable SHT1X sensor (+1k4 code)
|
||||
#define USE_HTU // Enable HTU21/SI7013/SI7020/SI7021 sensor (I2C address 0x40) (+1k5 code)
|
||||
#define USE_BMP // Enable BMP085/BMP180/BMP280/BME280 sensor (I2C address 0x76 or 0x77) (+4k code)
|
||||
#define USE_BME680 // Enable support for BME680 sensor using Bosch BME680 library (+4k code)
|
||||
// #define USE_BME680 // Enable support for BME680 sensor using Bosch BME680 library (+4k code)
|
||||
#define USE_BH1750 // Enable BH1750 sensor (I2C address 0x23 or 0x5C) (+0k5 code)
|
||||
// #define USE_VEML6070 // Enable VEML6070 sensor (I2C addresses 0x38 and 0x39) (+0k5 code)
|
||||
// #define USE_ADS1115 // Enable ADS1115 16 bit A/D converter (I2C address 0x48, 0x49, 0x4A or 0x4B) based on Adafruit ADS1x15 library (no library needed) (+0k7 code)
|
||||
|
|
@ -291,6 +292,7 @@
|
|||
// #define USE_MCP230xx // Enable MCP23008/MCP23017 for GP INPUT ONLY (I2C addresses 0x20 - 0x27) providing command Sensor29 for configuration (+2k2 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_MPU6050 // Enable MPU6050 sensor (I2C address 0x68 AD0 low or 0x69 AD0 high) (+2k6 code)
|
||||
#endif // USE_I2C
|
||||
|
||||
// -- SPI sensors ---------------------------------
|
||||
|
|
|
|||
|
|
@ -92,7 +92,9 @@ void MqttSubscribeLib(char *topic)
|
|||
|
||||
bool MqttPublishLib(const char* topic, boolean retained)
|
||||
{
|
||||
return MqttClient.publish(topic, mqtt_data, retained);
|
||||
bool result = MqttClient.publish(topic, mqtt_data, retained);
|
||||
yield(); // #3313
|
||||
return result;
|
||||
}
|
||||
|
||||
void MqttLoop()
|
||||
|
|
|
|||
|
|
@ -29,6 +29,8 @@
|
|||
uint8_t *efm8bb1_update = NULL;
|
||||
#endif // USE_RF_FLASH
|
||||
|
||||
#define D_TASMOTA_TOKEN "Tasmota-Token"
|
||||
|
||||
enum UploadTypes { UPL_TASMOTA, UPL_SETTINGS, UPL_EFM8BB1 };
|
||||
|
||||
const char HTTP_HEAD[] PROGMEM =
|
||||
|
|
@ -39,7 +41,7 @@ const char HTTP_HEAD[] PROGMEM =
|
|||
"<title>{h} - {v}</title>"
|
||||
|
||||
"<script>"
|
||||
"var cn,x,lt;"
|
||||
"var cn,x,lt,to,tp,pc='';"
|
||||
"cn=180;"
|
||||
"x=null;" // Allow for abortion
|
||||
"function eb(s){"
|
||||
|
|
@ -56,13 +58,17 @@ const char HTTP_HEAD[] PROGMEM =
|
|||
"eb('s1').value=l.innerText||l.textContent;"
|
||||
"eb('p1').focus();"
|
||||
"}"
|
||||
"function la(p){"
|
||||
"var a='';"
|
||||
"if(la.arguments.length==1){"
|
||||
"a=p;"
|
||||
"clearTimeout(lt);"
|
||||
"function lx(){"
|
||||
"if(to==1){"
|
||||
"if(tp<30){"
|
||||
"tp++;"
|
||||
"lt=setTimeout(lx,33);" // Wait for token from server
|
||||
"}else{"
|
||||
"lt=setTimeout(la,1355);" // Discard action and retry
|
||||
"}"
|
||||
"return;"
|
||||
"}"
|
||||
"if(x!=null){x.abort();}" // Abort if no response within 2 seconds (happens on restart 1)
|
||||
"if(x!=null){x.abort();}" // Abort if no response within 2 seconds (happens on restart 1)
|
||||
"x=new XMLHttpRequest();"
|
||||
"x.onreadystatechange=function(){"
|
||||
"if(x.readyState==4&&x.status==200){"
|
||||
|
|
@ -70,15 +76,32 @@ const char HTTP_HEAD[] PROGMEM =
|
|||
"eb('l1').innerHTML=s;"
|
||||
"}"
|
||||
"};"
|
||||
"x.open('GET','ay'+a,true);"
|
||||
"x.send();"
|
||||
"lt=setTimeout(la,2345);"
|
||||
"x.open('GET','ay'+pc,true);" // Async request
|
||||
"x.setRequestHeader('" D_TASMOTA_TOKEN "',to);"
|
||||
"x.send();" // Perform command if available and get updated information
|
||||
"pc='';"
|
||||
"lt=setTimeout(la,2345-(tp*33));"
|
||||
"}"
|
||||
"function la(p){"
|
||||
"if(la.arguments.length==1){"
|
||||
"pc='?'+p;"
|
||||
"clearTimeout(lt);"
|
||||
"}else{pc='';}"
|
||||
"to=1;tp=0;"
|
||||
"if(x!=null){x.abort();}" // Abort if no response within 2 seconds (happens on restart 1)
|
||||
"x=new XMLHttpRequest();"
|
||||
"x.onreadystatechange=function(){"
|
||||
"if(x.readyState==4&&x.status==200){to=x.getResponseHeader('" D_TASMOTA_TOKEN "');}else{to=1;}"
|
||||
"};"
|
||||
"x.open('GET','az',true);" // Async request
|
||||
"x.send();" // Get token from server
|
||||
"lx();"
|
||||
"}"
|
||||
"function lb(p){"
|
||||
"la('?d='+p);"
|
||||
"la('d='+p);"
|
||||
"}"
|
||||
"function lc(p){"
|
||||
"la('?t='+p);"
|
||||
"la('c='+p);"
|
||||
"}";
|
||||
|
||||
const char HTTP_HEAD_STYLE[] PROGMEM =
|
||||
|
|
@ -315,7 +338,7 @@ const char HTTP_END[] PROGMEM =
|
|||
"</body>"
|
||||
"</html>";
|
||||
|
||||
const char HTTP_DEVICE_CONTROL[] PROGMEM = "<td style='width:%d%%'><button onclick='la(\"?o=%d\");'>%s%s</button></td>";
|
||||
const char HTTP_DEVICE_CONTROL[] PROGMEM = "<td style='width:%d%%'><button onclick='la(\"o=%d\");'>%s%s</button></td>";
|
||||
const char HTTP_DEVICE_STATE[] PROGMEM = "%s<td style='width:%d{c}%s;font-size:%dpx'>%s</div></td>"; // {c} = %'><div style='text-align:center;font-weight:
|
||||
|
||||
const char HDR_CTYPE_PLAIN[] PROGMEM = "text/plain";
|
||||
|
|
@ -324,6 +347,8 @@ const char HDR_CTYPE_XML[] PROGMEM = "text/xml";
|
|||
const char HDR_CTYPE_JSON[] PROGMEM = "application/json";
|
||||
const char HDR_CTYPE_STREAM[] PROGMEM = "application/octet-stream";
|
||||
|
||||
const char HDR_TASMOTA_TOKEN[] PROGMEM = D_TASMOTA_TOKEN;
|
||||
|
||||
#define DNS_PORT 53
|
||||
enum HttpOptions {HTTP_OFF, HTTP_USER, HTTP_ADMIN, HTTP_MANAGER};
|
||||
|
||||
|
|
@ -339,6 +364,7 @@ uint8_t upload_progress_dot_count;
|
|||
uint8_t config_block_count = 0;
|
||||
uint8_t config_xor_on = 0;
|
||||
uint8_t config_xor_on_set = CONFIG_FILE_XOR;
|
||||
long ajax_token = 1;
|
||||
|
||||
// Helper function to avoid code duplication (saves 4k Flash)
|
||||
static void WebGetArg(const char* arg, char* out, size_t max)
|
||||
|
|
@ -375,6 +401,7 @@ void StartWebserver(int type, IPAddress ipweb)
|
|||
WebServer->on("/cs", HandleConsole);
|
||||
WebServer->on("/ax", HandleAjaxConsoleRefresh);
|
||||
WebServer->on("/ay", HandleAjaxStatusRefresh);
|
||||
WebServer->on("/az", HandleToken);
|
||||
WebServer->on("/u2", HTTP_OPTIONS, HandlePreflightRequest);
|
||||
WebServer->on("/cm", HandleHttpCommand);
|
||||
WebServer->on("/rb", HandleRestart);
|
||||
|
|
@ -590,7 +617,7 @@ void HandleRoot()
|
|||
if (idx > 0) { page += F("</tr><tr>"); }
|
||||
for (byte j = 0; j < 4; j++) {
|
||||
idx++;
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("<td style='width:25%'><button onclick='la(\"?k=%d\");'>%d</button></td>"), idx, idx);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("<td style='width:25%'><button onclick='la(\"k=%d\");'>%d</button></td>"), idx, idx);
|
||||
page += mqtt_data;
|
||||
}
|
||||
}
|
||||
|
|
@ -605,11 +632,34 @@ void HandleRoot()
|
|||
}
|
||||
}
|
||||
|
||||
void HandleToken()
|
||||
{
|
||||
char token[11];
|
||||
|
||||
ajax_token = random(2, 0x7FFFFFFF);
|
||||
snprintf_P(token, sizeof(token), PSTR("%u"), ajax_token);
|
||||
SetHeader();
|
||||
WebServer->sendHeader(FPSTR(HDR_TASMOTA_TOKEN), token);
|
||||
snprintf_P(token, sizeof(token), PSTR("%u"), random(0x7FFFFFFF));
|
||||
WebServer->send(200, FPSTR(HDR_CTYPE_HTML), token);
|
||||
|
||||
const char* header_key[] = { D_TASMOTA_TOKEN };
|
||||
WebServer->collectHeaders(header_key, 1);
|
||||
}
|
||||
|
||||
void HandleAjaxStatusRefresh()
|
||||
{
|
||||
char svalue[80];
|
||||
char tmp[100];
|
||||
|
||||
if (WebServer->header(FPSTR(HDR_TASMOTA_TOKEN)).toInt() != ajax_token) {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR(D_FILE_NOT_FOUND));
|
||||
SetHeader();
|
||||
WebServer->send(404, FPSTR(HDR_CTYPE_PLAIN), mqtt_data);
|
||||
return;
|
||||
}
|
||||
ajax_token = 1;
|
||||
|
||||
WebGetArg("o", tmp, sizeof(tmp));
|
||||
if (strlen(tmp)) {
|
||||
ShowWebSource(SRC_WEBGUI);
|
||||
|
|
@ -630,7 +680,7 @@ void HandleAjaxStatusRefresh()
|
|||
snprintf_P(svalue, sizeof(svalue), PSTR(D_CMND_DIMMER " %s"), tmp);
|
||||
ExecuteWebCommand(svalue, SRC_WEBGUI);
|
||||
}
|
||||
WebGetArg("t", tmp, sizeof(tmp));
|
||||
WebGetArg("c", tmp, sizeof(tmp));
|
||||
if (strlen(tmp)) {
|
||||
snprintf_P(svalue, sizeof(svalue), PSTR(D_CMND_COLORTEMPERATURE " %s"), tmp);
|
||||
ExecuteWebCommand(svalue, SRC_WEBGUI);
|
||||
|
|
@ -1944,7 +1994,7 @@ int WebSend(char *buffer)
|
|||
/*********************************************************************************************/
|
||||
|
||||
enum WebCommands { CMND_WEBSERVER, CMND_WEBPASSWORD, CMND_WEBLOG, CMND_WEBSEND, CMND_EMULATION };
|
||||
const char kWebCommands[] PROGMEM = D_CMND_WEBSERVER "|" D_CMND_WEBPASSWORD "|" D_CMND_WEBLOG "|" D_CMND_WEBSEND "|" D_CMND_EMULATION ;
|
||||
const char kWebCommands[] PROGMEM = D_CMND_WEBSERVER "|" D_CMND_WEBPASSWORD "|" D_CMND_WEBLOG "|" D_CMND_WEBSEND "|" D_CMND_EMULATION ;
|
||||
const char kWebSendStatus[] PROGMEM = D_JSON_DONE "|" D_JSON_WRONG_PARAMETERS "|" D_JSON_CONNECT_FAILED "|" D_JSON_HOST_NOT_FOUND ;
|
||||
|
||||
bool WebCommand()
|
||||
|
|
|
|||
|
|
@ -432,6 +432,8 @@ void RulesEvery50ms()
|
|||
case 2: snprintf_P(json_event, sizeof(json_event), PSTR("{\"Time\":{\"Set\":%d}}"), GetMinutesPastMidnight()); break;
|
||||
case 3: strncpy_P(json_event, PSTR("{\"MQTT\":{\"Connected\":1}}"), sizeof(json_event)); break;
|
||||
case 4: strncpy_P(json_event, PSTR("{\"MQTT\":{\"Disconnected\":1}}"), sizeof(json_event)); break;
|
||||
case 5: strncpy_P(json_event, PSTR("{\"WIFI\":{\"Connected\":1}}"), sizeof(json_event)); break;
|
||||
case 6: strncpy_P(json_event, PSTR("{\"WIFI\":{\"Disconnected\":1}}"), sizeof(json_event)); break;
|
||||
}
|
||||
if (json_event[0]) {
|
||||
RulesProcessEvent(json_event);
|
||||
|
|
@ -525,7 +527,18 @@ boolean RulesCommand()
|
|||
break;
|
||||
}
|
||||
} else {
|
||||
strlcpy(Settings.rules[index -1], ('"' == XdrvMailbox.data[0]) ? "" : XdrvMailbox.data, sizeof(Settings.rules[index -1]));
|
||||
int offset = 0;
|
||||
if ('+' == XdrvMailbox.data[0]) {
|
||||
offset = strlen(Settings.rules[index -1]);
|
||||
if (XdrvMailbox.data_len < (sizeof(Settings.rules[index -1]) - offset -1)) { // Check free space
|
||||
XdrvMailbox.data[0] = ' '; // Remove + and make sure at least one space is inserted
|
||||
} else {
|
||||
offset = -1; // Not enough space so skip it
|
||||
}
|
||||
}
|
||||
if (offset != -1) {
|
||||
strlcpy(Settings.rules[index -1] + offset, ('"' == XdrvMailbox.data[0]) ? "" : XdrvMailbox.data, sizeof(Settings.rules[index -1]));
|
||||
}
|
||||
}
|
||||
rules_triggers[index -1] = 0; // Reset once flag
|
||||
}
|
||||
|
|
|
|||
|
|
@ -147,6 +147,8 @@ boolean ShtRead()
|
|||
sht_humidity = (sht_temperature - 25) * (t1 + t2 * humRaw) + rhLinear;
|
||||
sht_temperature = ConvertTemp(sht_temperature);
|
||||
|
||||
SetGlobalValues(sht_temperature, sht_humidity);
|
||||
|
||||
sht_valid = SENSOR_MAX_MISS;
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -185,6 +185,8 @@ boolean HtuRead()
|
|||
htu_humidity = (-0.15) * (25 - htu_temperature) + htu_humidity;
|
||||
}
|
||||
|
||||
SetGlobalValues(htu_temperature, htu_humidity);
|
||||
|
||||
htu_valid = SENSOR_MAX_MISS;
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -460,8 +460,7 @@ void BmpRead()
|
|||
}
|
||||
if (bmp_temperature != 0.0) { bmp_temperature = ConvertTemp(bmp_temperature); }
|
||||
|
||||
glob_humidity = bmp_humidity;
|
||||
glob_temperature = bmp_temperature;
|
||||
SetGlobalValues(bmp_temperature, bmp_humidity);
|
||||
}
|
||||
|
||||
void BmpEverySecond()
|
||||
|
|
|
|||
|
|
@ -102,10 +102,7 @@ void Sht3xShow(boolean json)
|
|||
for (byte i = 0; i < sht3x_count; i++) {
|
||||
if (Sht3xRead(t, h, sht3x_sensors[i].address)) {
|
||||
|
||||
if (0 == i) {
|
||||
glob_humidity = h;
|
||||
glob_temperature = t;
|
||||
}
|
||||
if (0 == i) { SetGlobalValues(t, h); }
|
||||
|
||||
dtostrfd(t, Settings.flag2.temperature_resolution, temperature);
|
||||
dtostrfd(h, Settings.flag2.humidity_resolution, humidity);
|
||||
|
|
|
|||
|
|
@ -58,61 +58,38 @@ uint8_t mcp230xx_addresses[] = { MCP230xx_ADDRESS1, MCP230xx_ADDRESS2, MCP230xx_
|
|||
uint8_t mcp230xx_pincount = 0;
|
||||
uint8_t mcp230xx_int_en = 0;
|
||||
|
||||
const char MCP230XX_SENSOR_RESPONSE[] PROGMEM = "{\"Sensor29\":{\"D\":%i,\"MODE\":%i,\"PULL-UP\":%i}}";
|
||||
const char MCP230XX_SENSOR_RESPONSE[] PROGMEM = "{\"Sensor29\":{\"D\":%i,\"MODE\":%i,\"PULL-UP\":%i,\"STATE\":%i}}";
|
||||
|
||||
uint8_t MCP230xx_readGPIO(uint8_t port) {
|
||||
return I2cRead8(mcp230xx_address, MCP230xx_GPIO + port);
|
||||
}
|
||||
|
||||
void MCP230xx_ApplySettings(void) {
|
||||
uint8_t reg_gppu = 0;
|
||||
uint8_t reg_gpinten = 0;
|
||||
uint8_t reg_iodir = 0xFF;
|
||||
uint8_t int_en = 0;
|
||||
for (uint8_t idx = 0; idx < 8; idx++) {
|
||||
switch (Settings.mcp230xx_config[idx].pinmode) {
|
||||
case 0 ... 1:
|
||||
reg_iodir |= (1 << idx);
|
||||
break;
|
||||
case 2 ... 4:
|
||||
reg_iodir |= (1 << idx);
|
||||
reg_gpinten |= (1 << idx);
|
||||
int_en=1;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (Settings.mcp230xx_config[idx].pullup) {
|
||||
reg_gppu |= (1 << idx);
|
||||
}
|
||||
}
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_GPPU, reg_gppu);
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_GPINTEN, reg_gpinten);
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_IODIR, reg_iodir);
|
||||
if (mcp230xx_type == 2) { // We have a MCP23017
|
||||
reg_gppu = 0;
|
||||
reg_gpinten = 0;
|
||||
reg_iodir = 0xFF;
|
||||
for (uint8_t idx = 8; idx < 16; idx++) {
|
||||
switch (Settings.mcp230xx_config[idx].pinmode) {
|
||||
for (uint8_t mcp230xx_port=0;mcp230xx_port<mcp230xx_type;mcp230xx_port++) {
|
||||
uint8_t reg_gppu = 0;
|
||||
uint8_t reg_gpinten = 0;
|
||||
uint8_t reg_iodir = 0xFF;
|
||||
for (uint8_t idx = 0; idx < 8; idx++) {
|
||||
switch (Settings.mcp230xx_config[idx+(mcp230xx_port*8)].pinmode) {
|
||||
case 0 ... 1:
|
||||
reg_iodir |= (1 << idx - 8);
|
||||
reg_iodir |= (1 << idx);
|
||||
break;
|
||||
case 2 ... 4:
|
||||
reg_iodir |= (1 << idx - 8);
|
||||
reg_gpinten |= (1 << idx - 8);
|
||||
reg_iodir |= (1 << idx);
|
||||
reg_gpinten |= (1 << idx);
|
||||
int_en=1;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (Settings.mcp230xx_config[idx].pullup) {
|
||||
reg_gppu |= (1 << idx - 8);
|
||||
if (Settings.mcp230xx_config[idx+(mcp230xx_port*8)].pullup) {
|
||||
reg_gppu |= (1 << idx);
|
||||
}
|
||||
}
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_GPPU + 1, reg_gppu);
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_GPINTEN + 1, reg_gpinten);
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_IODIR + 1, reg_iodir);
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_GPPU+mcp230xx_port, reg_gppu);
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_GPINTEN+mcp230xx_port, reg_gpinten);
|
||||
I2cWrite8(mcp230xx_address, MCP230xx_IODIR+mcp230xx_port, reg_iodir);
|
||||
}
|
||||
mcp230xx_int_en=int_en;
|
||||
}
|
||||
|
|
@ -161,48 +138,15 @@ bool MCP230xx_CheckForInterrupt(void) {
|
|||
uint8_t intf;
|
||||
uint8_t mcp230xx_intcap = 0;
|
||||
uint8_t report_int;
|
||||
|
||||
if (I2cValidRead8(&intf, mcp230xx_address, MCP230xx_INTF)) {
|
||||
if (intf > 0) {
|
||||
if (I2cValidRead8(&mcp230xx_intcap, mcp230xx_address, MCP230xx_INTCAP)) {
|
||||
for (uint8_t intp = 0; intp < 8; intp++) {
|
||||
if ((intf >> intp) & 0x01) { // we know which pin caused interrupt
|
||||
report_int = 0;
|
||||
if (Settings.mcp230xx_config[intp].pinmode > 1) {
|
||||
switch (Settings.mcp230xx_config[intp].pinmode) {
|
||||
case 2:
|
||||
report_int = 1;
|
||||
break;
|
||||
case 3:
|
||||
if (((mcp230xx_intcap >> intp) & 0x01) == 0) report_int = 1; // Int on LOW
|
||||
break;
|
||||
case 4:
|
||||
if (((mcp230xx_intcap >> intp) & 0x01) == 1) report_int = 1; // Int on HIGH
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (report_int) {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_JSON_TIME "\":\"%s\""), GetDateAndTime(DT_LOCAL).c_str());
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"MCP230XX_INT\":{\"Pin\":\"D%i\", \"State\":%i}"), mqtt_data, intp, ((mcp230xx_intcap >> intp) & 0x01));
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s}"), mqtt_data);
|
||||
MqttPublishPrefixTopic_P(RESULT_OR_STAT, mqtt_data);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (mcp230xx_type == 2) { // We have a MCP23017 so we need to check the other 8 bits also
|
||||
if (I2cValidRead8(&intf, mcp230xx_address, MCP230xx_INTF+1)) {
|
||||
for (uint8_t mcp230xx_port=0;mcp230xx_port<mcp230xx_type;mcp230xx_port++) {
|
||||
if (I2cValidRead8(&intf,mcp230xx_address,MCP230xx_INTF+mcp230xx_port)) {
|
||||
if (intf > 0) {
|
||||
if (I2cValidRead8(&mcp230xx_intcap, mcp230xx_address, MCP230xx_INTCAP+1)) {
|
||||
if (I2cValidRead8(&mcp230xx_intcap, mcp230xx_address, MCP230xx_INTCAP+mcp230xx_port)) {
|
||||
for (uint8_t intp = 0; intp < 8; intp++) {
|
||||
if ((intf >> intp) & 0x01) { // we know which pin caused interrupt
|
||||
report_int = 0;
|
||||
if (Settings.mcp230xx_config[intp+8].pinmode > 1) { // change on INT
|
||||
switch (Settings.mcp230xx_config[intp+8].pinmode) {
|
||||
if (Settings.mcp230xx_config[intp+(mcp230xx_port*8)].pinmode > 1) {
|
||||
switch (Settings.mcp230xx_config[intp+(mcp230xx_port*8)].pinmode) {
|
||||
case 2:
|
||||
report_int = 1;
|
||||
break;
|
||||
|
|
@ -215,12 +159,12 @@ bool MCP230xx_CheckForInterrupt(void) {
|
|||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (report_int) {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_JSON_TIME "\":\"%s\""), GetDateAndTime(DT_LOCAL).c_str());
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"MCP230XX_INT\":{\"Pin\":\"D%i\", \"State\":%i}"), mqtt_data, intp+8, ((mcp230xx_intcap >> intp) & 0x01));
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s}"), mqtt_data);
|
||||
MqttPublishPrefixTopic_P(RESULT_OR_STAT, mqtt_data);
|
||||
if (report_int) {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("{\"" D_JSON_TIME "\":\"%s\""), GetDateAndTime(DT_LOCAL).c_str());
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"MCP230XX_INT\":{\"D%i\":%i}"), mqtt_data, intp+(mcp230xx_port*8), ((mcp230xx_intcap >> intp) & 0x01));
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s}"), mqtt_data);
|
||||
MqttPublishPrefixTopic_P(RESULT_OR_STAT, mqtt_data);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -234,16 +178,16 @@ void MCP230xx_Show(boolean json)
|
|||
{
|
||||
if (mcp230xx_type) {
|
||||
if (json) {
|
||||
if (mcp230xx_type == 1) {
|
||||
if (mcp230xx_type > 0) { // we have at least 8 pins
|
||||
uint8_t gpio = MCP230xx_readGPIO(0);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"MCP23008\":{\"D0\":%i,\"D1\":%i,\"D2\":%i,\"D3\":%i,\"D4\":%i,\"D5\":%i,\"D6\":%i,\"D7\":%i}"),
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"MCP230XX\":{\"D0\":%i,\"D1\":%i,\"D2\":%i,\"D3\":%i,\"D4\":%i,\"D5\":%i,\"D6\":%i,\"D7\":%i"),
|
||||
mqtt_data,(gpio>>0)&1,(gpio>>1)&1,(gpio>>2)&1,(gpio>>3)&1,(gpio>>4)&1,(gpio>>5)&1,(gpio>>6)&1,(gpio>>7)&1);
|
||||
}
|
||||
if (mcp230xx_type == 2) {
|
||||
uint8_t gpio1 = MCP230xx_readGPIO(0);
|
||||
uint8_t gpio2 = MCP230xx_readGPIO(1);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"MCP23017\":{\"D0\":%i,\"D1\":%i,\"D2\":%i,\"D3\":%i,\"D4\":%i,\"D5\":%i,\"D6\":%i,\"D7\":%i,\"D8\":%i,\"D9\":%i,\"D10\":%i,\"D11\":%i,\"D12\":%i,\"D13\":%i,\"D14\":%i,\"D15\":%i}"),
|
||||
mqtt_data, (gpio1>>0)&1,(gpio1>>1)&1,(gpio1>>2)&1,(gpio1>>3)&1,(gpio1>>4)&1,(gpio1>>5)&1,(gpio1>>6)&1,(gpio1>>7)&1,(gpio2>>0)&1,(gpio2>>1)&1,(gpio2>>2)&1,(gpio2>>3)&1,(gpio2>>4)&1,(gpio2>>5)&1,(gpio2>>6)&1,(gpio2>>7)&1);
|
||||
if (mcp230xx_type == 2) {
|
||||
gpio = MCP230xx_readGPIO(1);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s,\"D8\":%i,\"D9\":%i,\"D10\":%i,\"D11\":%i,\"D12\":%i,\"D13\":%i,\"D14\":%i,\"D15\":%i"),
|
||||
mqtt_data,(gpio>>0)&1,(gpio>>1)&1,(gpio>>2)&1,(gpio>>3)&1,(gpio>>4)&1,(gpio>>5)&1,(gpio>>6)&1,(gpio>>7)&1);
|
||||
}
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), PSTR("%s%s"),mqtt_data,"}");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -265,7 +209,7 @@ bool MCP230xx_Command(void) {
|
|||
Settings.mcp230xx_config[pinx].b7=0;
|
||||
}
|
||||
MCP230xx_ApplySettings();
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), MCP230XX_SENSOR_RESPONSE,99,99,99);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), MCP230XX_SENSOR_RESPONSE,99,99,99,99);
|
||||
return serviced;
|
||||
}
|
||||
_a = data.indexOf(",");
|
||||
|
|
@ -273,7 +217,10 @@ bool MCP230xx_Command(void) {
|
|||
if (pin < mcp230xx_pincount) {
|
||||
String cmnd = data.substring(_a+1);
|
||||
if (cmnd == "?") {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), MCP230XX_SENSOR_RESPONSE,pin,Settings.mcp230xx_config[pin].pinmode,Settings.mcp230xx_config[pin].pullup);
|
||||
uint8_t port = 0;
|
||||
if (pin > 7) port = 1;
|
||||
uint8_t portdata = MCP230xx_readGPIO(port);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), MCP230XX_SENSOR_RESPONSE,pin,Settings.mcp230xx_config[pin].pinmode,Settings.mcp230xx_config[pin].pullup,portdata>>(pin-(port*8))&1);
|
||||
return serviced;
|
||||
}
|
||||
}
|
||||
|
|
@ -286,7 +233,10 @@ bool MCP230xx_Command(void) {
|
|||
Settings.mcp230xx_config[pin].pinmode=pinmode;
|
||||
Settings.mcp230xx_config[pin].pullup=pullup;
|
||||
MCP230xx_ApplySettings();
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), MCP230XX_SENSOR_RESPONSE,pin,pinmode,pullup);
|
||||
uint8_t port = 0;
|
||||
if (pin > 7) port = 1;
|
||||
uint8_t portdata = MCP230xx_readGPIO(port);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), MCP230XX_SENSOR_RESPONSE,pin,pinmode,pullup,portdata>>(pin-(port*8))&1);
|
||||
} else {
|
||||
serviced = false;
|
||||
}
|
||||
|
|
@ -334,3 +284,4 @@ boolean Xsns29(byte function)
|
|||
|
||||
#endif // USE_MCP230xx
|
||||
#endif // USE_I2C
|
||||
|
||||
|
|
|
|||
|
|
@ -62,10 +62,7 @@ void CCS811Update() // Perform every n second
|
|||
TVOC = ccs.getTVOC();
|
||||
eCO2 = ccs.geteCO2();
|
||||
CCS811_ready = 1;
|
||||
if ((glob_humidity != 0) && (glob_temperature != -9999)) {
|
||||
double gtmp = glob_temperature * 4;
|
||||
ccs.setEnvironmentalData(glob_humidity, gtmp / 4);
|
||||
}
|
||||
if (global_update) { ccs.setEnvironmentalData((uint8_t)global_humidity, global_temperature); }
|
||||
ecnt = 0;
|
||||
}
|
||||
} else {
|
||||
|
|
|
|||
|
|
@ -0,0 +1,207 @@
|
|||
/*
|
||||
xsns_32_MPU_6050.ino - MPU_6050 gyroscope and temperature sensor support for Sonoff-Tasmota
|
||||
|
||||
Copyright (C) 2018 Oliver Welter
|
||||
|
||||
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
|
||||
#ifdef USE_MPU6050
|
||||
/*********************************************************************************************\
|
||||
* MPU_6050 3 axis gyroscope and temperature sensor
|
||||
*
|
||||
* Source: Oliver Welter, with special thanks to Jeff Rowberg
|
||||
*
|
||||
* I2C Address: 0x68 or 0x69 with AD0 HIGH
|
||||
\*********************************************************************************************/
|
||||
|
||||
#define D_SENSOR_MPU6050 "MPU6050"
|
||||
|
||||
#define MPU_6050_ADDR_AD0_LOW 0x68
|
||||
#define MPU_6050_ADDR_AD0_HIGH 0x69
|
||||
|
||||
uint8_t MPU_6050_address;
|
||||
uint8_t MPU_6050_addresses[] = { MPU_6050_ADDR_AD0_LOW, MPU_6050_ADDR_AD0_HIGH };
|
||||
uint8_t MPU_6050_found;
|
||||
|
||||
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_temperature = 0;
|
||||
|
||||
#include <MPU6050.h>
|
||||
MPU6050 mpu6050;
|
||||
|
||||
void MPU_6050PerformReading()
|
||||
{
|
||||
mpu6050.getMotion6(
|
||||
&MPU_6050_ax,
|
||||
&MPU_6050_ay,
|
||||
&MPU_6050_az,
|
||||
&MPU_6050_gx,
|
||||
&MPU_6050_gy,
|
||||
&MPU_6050_gz
|
||||
);
|
||||
|
||||
MPU_6050_temperature = mpu6050.getTemperature();
|
||||
}
|
||||
|
||||
/* Work in progress - not yet fully functional
|
||||
void MPU_6050SetGyroOffsets(int x, int y, int z)
|
||||
{
|
||||
mpu050.setXGyroOffset(x);
|
||||
mpu6050.setYGyroOffset(y);
|
||||
mpu6050.setZGyroOffset(z);
|
||||
}
|
||||
|
||||
void MPU_6050SetAccelOffsets(int x, int y, int z)
|
||||
{
|
||||
mpu6050.setXAccelOffset(x);
|
||||
mpu6050.setYAccelOffset(y);
|
||||
mpu6050.setZAccelOffset(z);
|
||||
}
|
||||
*/
|
||||
|
||||
void MPU_6050Detect()
|
||||
{
|
||||
if (MPU_6050_found)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
for (byte i = 0; i < sizeof(MPU_6050_addresses); i++)
|
||||
{
|
||||
MPU_6050_address = MPU_6050_addresses[i];
|
||||
|
||||
mpu6050.setAddr(MPU_6050_address);
|
||||
mpu6050.initialize();
|
||||
|
||||
Settings.flag2.axis_resolution = 2; // Need to be services by command Sensor32
|
||||
|
||||
MPU_6050_found = mpu6050.testConnection();
|
||||
}
|
||||
|
||||
if (MPU_6050_found)
|
||||
{
|
||||
snprintf_P(log_data, sizeof(log_data), S_LOG_I2C_FOUND_AT, D_SENSOR_MPU6050, MPU_6050_address);
|
||||
AddLog(LOG_LEVEL_DEBUG);
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef USE_WEBSERVER
|
||||
const char HTTP_SNS_AX_AXIS[] PROGMEM = "%s{s}%s " D_AX_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
|
||||
const char HTTP_SNS_AY_AXIS[] PROGMEM = "%s{s}%s " D_AY_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
|
||||
const char HTTP_SNS_AZ_AXIS[] PROGMEM = "%s{s}%s " D_AZ_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
|
||||
const char HTTP_SNS_GX_AXIS[] PROGMEM = "%s{s}%s " D_GX_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
|
||||
const char HTTP_SNS_GY_AXIS[] PROGMEM = "%s{s}%s " D_GY_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
|
||||
const char HTTP_SNS_GZ_AXIS[] PROGMEM = "%s{s}%s " D_GZ_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
|
||||
#endif // USE_WEBSERVER
|
||||
|
||||
#define D_JSON_AXIS_AX "AccelXAxis"
|
||||
#define D_JSON_AXIS_AY "AccelYAxis"
|
||||
#define D_JSON_AXIS_AZ "AccelZAxis"
|
||||
#define D_JSON_AXIS_GX "GyroXAxis"
|
||||
#define D_JSON_AXIS_GY "GyroYAxis"
|
||||
#define D_JSON_AXIS_GZ "GyroZAxis"
|
||||
|
||||
void MPU_6050Show(boolean json)
|
||||
{
|
||||
double tempConv = (MPU_6050_temperature / 340.0 + 35.53);
|
||||
|
||||
if (MPU_6050_found) {
|
||||
MPU_6050PerformReading();
|
||||
|
||||
char temperature[10];
|
||||
dtostrfd(tempConv, Settings.flag2.temperature_resolution, temperature);
|
||||
char axis_ax[10];
|
||||
dtostrfd(MPU_6050_ax, Settings.flag2.axis_resolution, axis_ax);
|
||||
char axis_ay[10];
|
||||
dtostrfd(MPU_6050_ay, Settings.flag2.axis_resolution, axis_ay);
|
||||
char axis_az[10];
|
||||
dtostrfd(MPU_6050_az, Settings.flag2.axis_resolution, axis_az);
|
||||
char axis_gx[10];
|
||||
dtostrfd(MPU_6050_gx, Settings.flag2.axis_resolution, axis_gx);
|
||||
char axis_gy[10];
|
||||
dtostrfd(MPU_6050_gy, Settings.flag2.axis_resolution, axis_gy);
|
||||
char axis_gz[10];
|
||||
dtostrfd(MPU_6050_gz, Settings.flag2.axis_resolution, axis_gz);
|
||||
|
||||
if (json) {
|
||||
char json_axis_ax[40];
|
||||
snprintf_P(json_axis_ax, sizeof(json_axis_ax), PSTR(",\"" D_JSON_AXIS_AX "\":%s"), axis_ax);
|
||||
char json_axis_ay[40];
|
||||
snprintf_P(json_axis_ay, sizeof(json_axis_ay), PSTR(",\"" D_JSON_AXIS_AY "\":%s"), axis_ay);
|
||||
char json_axis_az[40];
|
||||
snprintf_P(json_axis_az, sizeof(json_axis_az), PSTR(",\"" D_JSON_AXIS_AZ "\":%s"), axis_az);
|
||||
char json_axis_gx[40];
|
||||
snprintf_P(json_axis_gx, sizeof(json_axis_gx), PSTR(",\"" D_JSON_AXIS_GX "\":%s"), axis_gx);
|
||||
char json_axis_gy[40];
|
||||
snprintf_P(json_axis_gy, sizeof(json_axis_gy), PSTR(",\"" D_JSON_AXIS_GY "\":%s"), axis_gy);
|
||||
char json_axis_gz[40];
|
||||
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,\"}"),
|
||||
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
|
||||
DomoticzTempHumSensor(temperature, 0);
|
||||
#endif // USE_DOMOTICZ
|
||||
#ifdef USE_WEBSERVER
|
||||
} else {
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), HTTP_SNS_TEMP, mqtt_data, D_SENSOR_MPU6050, temperature, TempUnit());
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), HTTP_SNS_AX_AXIS, mqtt_data, D_SENSOR_MPU6050, axis_ax);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), HTTP_SNS_AY_AXIS, mqtt_data, D_SENSOR_MPU6050, axis_ay);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), HTTP_SNS_AZ_AXIS, mqtt_data, D_SENSOR_MPU6050, axis_az);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), HTTP_SNS_GX_AXIS, mqtt_data, D_SENSOR_MPU6050, axis_gx);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), HTTP_SNS_GY_AXIS, mqtt_data, D_SENSOR_MPU6050, axis_gy);
|
||||
snprintf_P(mqtt_data, sizeof(mqtt_data), HTTP_SNS_GZ_AXIS, mqtt_data, D_SENSOR_MPU6050, axis_gz);
|
||||
#endif // USE_WEBSERVER
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*********************************************************************************************\
|
||||
* Interface
|
||||
\*********************************************************************************************/
|
||||
|
||||
#define XSNS_32
|
||||
|
||||
boolean Xsns32(byte function)
|
||||
{
|
||||
boolean result = false;
|
||||
|
||||
if (i2c_flg) {
|
||||
switch (function) {
|
||||
case FUNC_PREP_BEFORE_TELEPERIOD:
|
||||
MPU_6050Detect();
|
||||
break;
|
||||
case FUNC_EVERY_SECOND:
|
||||
if (tele_period == Settings.tele_period -3) {
|
||||
MPU_6050PerformReading();
|
||||
}
|
||||
break;
|
||||
case FUNC_JSON_APPEND:
|
||||
MPU_6050Show(1);
|
||||
break;
|
||||
#ifdef USE_WEBSERVER
|
||||
case FUNC_WEB_APPEND:
|
||||
MPU_6050Show(0);
|
||||
MPU_6050PerformReading();
|
||||
break;
|
||||
#endif // USE_WEBSERVER
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
#endif // USE_MPU6050
|
||||
#endif // USE_I2C
|
||||
|
|
@ -48,11 +48,11 @@ from StringIO import StringIO
|
|||
|
||||
a_on_off = ["OFF","ON "]
|
||||
|
||||
a_setoption = [
|
||||
a_setoption = [[
|
||||
"Save power state and use after restart",
|
||||
"Restrict button actions to single, double and hold",
|
||||
"Show value units in JSON messages",
|
||||
"MQTT",
|
||||
"MQTT enabled",
|
||||
"Respond as Command topic instead of RESULT",
|
||||
"MQTT retain on Power",
|
||||
"MQTT retain on Button",
|
||||
|
|
@ -72,15 +72,26 @@ a_setoption = [
|
|||
"Do not control Power with Dimmer",
|
||||
"Energy monitoring while powered off",
|
||||
"MQTT serial",
|
||||
"Rules until 5.14.0b",
|
||||
"MQTT serial binary",
|
||||
"Rules once mode until 5.14.0b",
|
||||
"KNX",
|
||||
"KNX enabled",
|
||||
"Use Power device index on single relay devices",
|
||||
"KNX enhancement",
|
||||
"RF receive decimal",
|
||||
"IR receive decimal",
|
||||
"Enforce HASS light group",
|
||||
"Do not show Wifi and Mqtt state using Led"]
|
||||
"Do not show Wifi and Mqtt state using Led"
|
||||
],[
|
||||
"Timers enabled",
|
||||
"","","",
|
||||
"","","","",
|
||||
"","","","",
|
||||
"","","","",
|
||||
"","","","",
|
||||
"","","","",
|
||||
"","","","",
|
||||
"","","",""
|
||||
]]
|
||||
|
||||
a_features = [[
|
||||
"","","USE_I2C","USE_SPI",
|
||||
|
|
@ -110,7 +121,7 @@ a_features = [[
|
|||
"USE_SGP30","USE_SR04","USE_SDM120","USE_SI1145",
|
||||
"USE_SDM630","USE_LM75AD","USE_APDS9960","USE_TM1638"
|
||||
],[
|
||||
"","","","",
|
||||
"USE_MCP230xx","USE_MPR121","USE_CCS811","USE_MPU6050",
|
||||
"","","","",
|
||||
"","","","",
|
||||
"","","","",
|
||||
|
|
@ -144,6 +155,8 @@ else:
|
|||
fp.close()
|
||||
|
||||
def StartDecode():
|
||||
print ("\n*** decode-status.py v20180730 by Theo Arends ***")
|
||||
|
||||
# print("Decoding\n{}".format(obj))
|
||||
|
||||
if ("StatusSNS" in obj):
|
||||
|
|
@ -152,17 +165,29 @@ def StartDecode():
|
|||
|
||||
if ("Status" in obj):
|
||||
if ("FriendlyName" in obj["Status"]):
|
||||
print("\nDecoding information for device {}{}".format(obj["Status"]["FriendlyName"][0], time))
|
||||
print("Decoding information for device {}{}".format(obj["Status"]["FriendlyName"][0], time))
|
||||
|
||||
if ("StatusLOG" in obj):
|
||||
if ("SetOption" in obj["StatusLOG"]):
|
||||
options = []
|
||||
option = obj["StatusLOG"]["SetOption"][0]
|
||||
i_option = int(option,16)
|
||||
for i in range(len(a_setoption)):
|
||||
if (a_setoption[i]):
|
||||
state = (i_option >> i) & 1
|
||||
options.append(str("{0:2d} ({1}) {2}".format(i, a_on_off[state], a_setoption[i])))
|
||||
o = 0
|
||||
p = 0
|
||||
|
||||
r = 1
|
||||
if (len(obj["StatusLOG"]["SetOption"]) == 3):
|
||||
r = 2
|
||||
|
||||
for f in range(r):
|
||||
if (f == 1):
|
||||
o = 2
|
||||
p = 50
|
||||
|
||||
option = obj["StatusLOG"]["SetOption"][o]
|
||||
i_option = int(option,16)
|
||||
for i in range(len(a_setoption[f])):
|
||||
if (a_setoption[f][i]):
|
||||
state = (i_option >> i) & 1
|
||||
options.append(str("{0:2d} ({1}) {2}".format(i + p, a_on_off[state], a_setoption[f][i])))
|
||||
|
||||
print("\nOptions")
|
||||
for i in range(len(options)):
|
||||
|
|
|
|||
Loading…
Reference in New Issue