/*
xsns_32_mpu6050.ino - MPU6050 gyroscope and temperature sensor support for Tasmota
Copyright (C) 2019 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 .
*/
#ifdef USE_I2C
#ifdef USE_MPU6050
/*********************************************************************************************\
* MPU6050 3 axis gyroscope and temperature sensor
*
* Source: Oliver Welter, with special thanks to Jeff Rowberg
*
* I2C Address: 0x68 or 0x69 with AD0 HIGH
\*********************************************************************************************/
#define XSNS_32 32
#define XI2C_25 25 // See I2CDEVICES.md
#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;
#ifdef USE_MPU6050_DMP
#include "MPU6050_6Axis_MotionApps20.h"
#include "I2Cdev.h"
#include
typedef struct MPU6050_DMP{
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
} MPU6050_DMP;
MPU6050_DMP MPU6050_dmp;
#else
#include
#endif //USE_MPU6050_DMP
MPU6050 mpu6050;
void MPU_6050PerformReading(void)
{
#ifdef USE_MPU6050_DMP
mpu6050.resetFIFO(); // with a default dampling rate of 200Hz, we create a delay of approx. 5ms with a complete read cycle
MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
while (MPU6050_dmp.fifoCount < MPU6050_dmp.packetSize) MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
mpu6050.getFIFOBytes(MPU6050_dmp.fifoBuffer, MPU6050_dmp.packetSize);
MPU6050_dmp.fifoCount -= MPU6050_dmp.packetSize;
// calculate euler and acceleration with the DMP
mpu6050.dmpGetQuaternion(&MPU6050_dmp.q, MPU6050_dmp.fifoBuffer);
mpu6050.dmpGetEuler(MPU6050_dmp.euler, &MPU6050_dmp.q);
mpu6050.dmpGetAccel(&MPU6050_dmp.aa, MPU6050_dmp.fifoBuffer);
mpu6050.dmpGetGravity(&MPU6050_dmp.gravity, &MPU6050_dmp.q);
mpu6050.dmpGetLinearAccel(&MPU6050_dmp.aaReal, &MPU6050_dmp.aa, &MPU6050_dmp.gravity);
MPU_6050_gx = MPU6050_dmp.euler[0] * 180/M_PI;
MPU_6050_gy = MPU6050_dmp.euler[1] * 180/M_PI;
MPU_6050_gz = MPU6050_dmp.euler[2] * 180/M_PI;
MPU_6050_ax = MPU6050_dmp.aaReal.x;
MPU_6050_ay = MPU6050_dmp.aaReal.y;
MPU_6050_az = MPU6050_dmp.aaReal.z;
#else
mpu6050.getMotion6(
&MPU_6050_ax,
&MPU_6050_ay,
&MPU_6050_az,
&MPU_6050_gx,
&MPU_6050_gy,
&MPU_6050_gz
);
#endif //USE_MPU6050_DMP
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(void)
{
if (MPU_6050_found) { return; }
for (uint32_t i = 0; i < sizeof(MPU_6050_addresses); i++)
{
MPU_6050_address = MPU_6050_addresses[i];
if (!I2cSetDevice(MPU_6050_address)) { break; }
mpu6050.setAddr(MPU_6050_addresses[i]);
#ifdef USE_MPU6050_DMP
MPU6050_dmp.devStatus = mpu6050.dmpInitialize();
mpu6050.setXGyroOffset(220);
mpu6050.setYGyroOffset(76);
mpu6050.setZGyroOffset(-85);
mpu6050.setZAccelOffset(1788);
if (MPU6050_dmp.devStatus == 0) {
mpu6050.setDMPEnabled(true);
MPU6050_dmp.packetSize = mpu6050.dmpGetFIFOPacketSize();
MPU_6050_found = true;
}
#else
mpu6050.initialize();
MPU_6050_found = mpu6050.testConnection();
#endif //USE_MPU6050_DMP
Settings.flag2.axis_resolution = 2; // Need to be services by command Sensor32
}
if (MPU_6050_found)
{
AddLog_P2(LOG_LEVEL_DEBUG, S_LOG_I2C_FOUND_AT, D_SENSOR_MPU6050, MPU_6050_address);
}
}
#ifdef USE_WEBSERVER
const char HTTP_SNS_AXIS[] PROGMEM =
"{s}" D_SENSOR_MPU6050 " " D_AX_AXIS "{m}%s{e}" // {s} = , {m} = | , {e} = |
"{s}" D_SENSOR_MPU6050 " " D_AY_AXIS "{m}%s{e}" // {s} = , {m} = | , {e} = |
"{s}" D_SENSOR_MPU6050 " " D_AZ_AXIS "{m}%s{e}" // {s} = , {m} = | , {e} = |
"{s}" D_SENSOR_MPU6050 " " D_GX_AXIS "{m}%s{e}" // {s} = , {m} = | , {e} = |
"{s}" D_SENSOR_MPU6050 " " D_GY_AXIS "{m}%s{e}" // {s} = , {m} = | , {e} = |
"{s}" D_SENSOR_MPU6050 " " D_GZ_AXIS "{m}%s{e}"; // {s} = , {m} = | , {e} = |
#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(bool json)
{
if (MPU_6050_found) {
MPU_6050PerformReading();
double tempConv = (MPU_6050_temperature / 340.0 + 35.53);
char temperature[33];
dtostrfd(tempConv, Settings.flag2.temperature_resolution, temperature);
char axis_ax[33];
dtostrfd(MPU_6050_ax, Settings.flag2.axis_resolution, axis_ax);
char axis_ay[33];
dtostrfd(MPU_6050_ay, Settings.flag2.axis_resolution, axis_ay);
char axis_az[33];
dtostrfd(MPU_6050_az, Settings.flag2.axis_resolution, axis_az);
char axis_gx[33];
dtostrfd(MPU_6050_gx, Settings.flag2.axis_resolution, axis_gx);
char axis_gy[33];
dtostrfd(MPU_6050_gy, Settings.flag2.axis_resolution, axis_gy);
char axis_gz[33];
dtostrfd(MPU_6050_gz, Settings.flag2.axis_resolution, axis_gz);
if (json) {
char json_axis_ax[25];
snprintf_P(json_axis_ax, sizeof(json_axis_ax), PSTR(",\"" D_JSON_AXIS_AX "\":%s"), axis_ax);
char json_axis_ay[25];
snprintf_P(json_axis_ay, sizeof(json_axis_ay), PSTR(",\"" D_JSON_AXIS_AY "\":%s"), axis_ay);
char json_axis_az[25];
snprintf_P(json_axis_az, sizeof(json_axis_az), PSTR(",\"" D_JSON_AXIS_AZ "\":%s"), axis_az);
char json_axis_gx[25];
snprintf_P(json_axis_gx, sizeof(json_axis_gx), PSTR(",\"" D_JSON_AXIS_GX "\":%s"), axis_gx);
char json_axis_gy[25];
snprintf_P(json_axis_gy, sizeof(json_axis_gy), PSTR(",\"" D_JSON_AXIS_GY "\":%s"), axis_gy);
char json_axis_gz[25];
snprintf_P(json_axis_gz, sizeof(json_axis_gz), PSTR(",\"" D_JSON_AXIS_GZ "\":%s"), axis_gz);
ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_TEMPERATURE "\":%s%s%s%s%s%s%s}"),
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
DomoticzSensor(DZ_TEMP, temperature);
#endif // USE_DOMOTICZ
#ifdef USE_WEBSERVER
} else {
WSContentSend_PD(HTTP_SNS_TEMP, D_SENSOR_MPU6050, temperature, TempUnit());
WSContentSend_PD(HTTP_SNS_AXIS, axis_ax, axis_ay, axis_az, axis_gx, axis_gy, axis_gz);
#endif // USE_WEBSERVER
}
}
}
/*********************************************************************************************\
* Interface
\*********************************************************************************************/
bool Xsns32(uint8_t function)
{
if (!I2cEnabled(XI2C_25)) { return false; }
bool result = false;
switch (function) {
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_SENSOR:
MPU_6050Show(0);
MPU_6050PerformReading();
break;
#endif // USE_WEBSERVER
case FUNC_INIT:
MPU_6050Detect();
break;
}
return result;
}
#endif // USE_MPU6050
#endif // USE_I2C