mirror of https://github.com/arendst/Tasmota.git
283 lines
11 KiB
C++
283 lines
11 KiB
C++
/*
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xsns_32_mpu6050.ino - MPU6050 gyroscope and temperature sensor support for Tasmota
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Copyright (C) 2021 Oliver Welter
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifdef USE_I2C
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#ifdef USE_MPU6050
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/*********************************************************************************************\
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* MPU6050 3 axis gyroscope and temperature sensor
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*
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* Source: Oliver Welter, with special thanks to Jeff Rowberg
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*
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* I2C Address: 0x68 or 0x69 with AD0 HIGH
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\*********************************************************************************************/
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#define XSNS_32 32
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#define XI2C_25 25 // See I2CDEVICES.md
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#define D_SENSOR_MPU6050 "MPU6050"
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#define MPU_6050_ADDR_AD0_LOW 0x68
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#define MPU_6050_ADDR_AD0_HIGH 0x69
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uint8_t MPU_6050_address;
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uint8_t MPU_6050_addresses[] = { MPU_6050_ADDR_AD0_LOW, MPU_6050_ADDR_AD0_HIGH };
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uint8_t MPU_6050_found;
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int16_t MPU_6050_ax = 0, MPU_6050_ay = 0, MPU_6050_az = 0;
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int16_t MPU_6050_gx = 0, MPU_6050_gy = 0, MPU_6050_gz = 0;
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int16_t MPU_6050_temperature = 0;
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#ifdef USE_MPU6050_DMP
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#include "MPU6050_6Axis_MotionApps20.h"
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#include "I2Cdev.h"
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#include <helper_3dmath.h>
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typedef struct MPU6050_DMP{
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uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
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uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
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uint16_t fifoCount; // count of all bytes currently in FIFO
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uint8_t fifoBuffer[64]; // FIFO storage buffer
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Quaternion q; // [w, x, y, z] quaternion container
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VectorInt16 aa; // [x, y, z] accel sensor measurements
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VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
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VectorFloat gravity; // [x, y, z] gravity vector
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float euler[3]; // [psi, theta, phi] Euler angle container
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float yawPitchRoll[3]; // [yaw, pitch roll] Yaw-pitch-roll container
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} MPU6050_DMP;
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MPU6050_DMP MPU6050_dmp;
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#else
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#include <MPU6050.h>
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#endif //USE_MPU6050_DMP
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MPU6050 mpu6050;
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void MPU_6050PerformReading(void)
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{
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#ifdef USE_MPU6050_DMP
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mpu6050.resetFIFO(); // with a default sampling rate of 200Hz, we create a delay of approx. 5ms with a complete read cycle
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MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
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while (MPU6050_dmp.fifoCount < MPU6050_dmp.packetSize) MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
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mpu6050.getFIFOBytes(MPU6050_dmp.fifoBuffer, MPU6050_dmp.packetSize);
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MPU6050_dmp.fifoCount -= MPU6050_dmp.packetSize;
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// calculate euler and acceleration with the DMP
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mpu6050.dmpGetQuaternion(&MPU6050_dmp.q, MPU6050_dmp.fifoBuffer);
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mpu6050.dmpGetEuler(MPU6050_dmp.euler, &MPU6050_dmp.q);
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mpu6050.dmpGetAccel(&MPU6050_dmp.aa, MPU6050_dmp.fifoBuffer);
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mpu6050.dmpGetGravity(&MPU6050_dmp.gravity, &MPU6050_dmp.q);
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mpu6050.dmpGetLinearAccel(&MPU6050_dmp.aaReal, &MPU6050_dmp.aa, &MPU6050_dmp.gravity);
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mpu6050.dmpGetYawPitchRoll(MPU6050_dmp.yawPitchRoll, &MPU6050_dmp.q, &MPU6050_dmp.gravity);
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MPU_6050_gx = MPU6050_dmp.euler[0] * 180/M_PI;
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MPU_6050_gy = MPU6050_dmp.euler[1] * 180/M_PI;
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MPU_6050_gz = MPU6050_dmp.euler[2] * 180/M_PI;
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MPU_6050_ax = MPU6050_dmp.aaReal.x;
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MPU_6050_ay = MPU6050_dmp.aaReal.y;
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MPU_6050_az = MPU6050_dmp.aaReal.z;
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#else
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mpu6050.getMotion6(
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&MPU_6050_ax,
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&MPU_6050_ay,
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&MPU_6050_az,
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&MPU_6050_gx,
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&MPU_6050_gy,
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&MPU_6050_gz
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);
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#endif //USE_MPU6050_DMP
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MPU_6050_temperature = mpu6050.getTemperature();
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}
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/* Work in progress - not yet fully functional
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void MPU_6050SetGyroOffsets(int x, int y, int z)
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{
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mpu050.setXGyroOffset(x);
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mpu6050.setYGyroOffset(y);
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mpu6050.setZGyroOffset(z);
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}
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void MPU_6050SetAccelOffsets(int x, int y, int z)
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{
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mpu6050.setXAccelOffset(x);
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mpu6050.setYAccelOffset(y);
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mpu6050.setZAccelOffset(z);
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}
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*/
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void MPU_6050Detect(void)
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{
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for (uint32_t i = 0; i < sizeof(MPU_6050_addresses); i++)
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{
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MPU_6050_address = MPU_6050_addresses[i];
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if (!I2cSetDevice(MPU_6050_address)) { break; }
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mpu6050.setAddr(MPU_6050_addresses[i]);
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#ifdef USE_MPU6050_DMP
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MPU6050_dmp.devStatus = mpu6050.dmpInitialize();
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mpu6050.setXGyroOffset(220);
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mpu6050.setYGyroOffset(76);
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mpu6050.setZGyroOffset(-85);
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mpu6050.setZAccelOffset(1788);
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if (MPU6050_dmp.devStatus == 0) {
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mpu6050.setDMPEnabled(true);
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MPU6050_dmp.packetSize = mpu6050.dmpGetFIFOPacketSize();
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MPU_6050_found = true;
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}
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#else
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mpu6050.initialize();
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MPU_6050_found = mpu6050.testConnection();
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#endif //USE_MPU6050_DMP
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Settings->flag2.axis_resolution = 2; // Need to be services by command Sensor32
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}
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if (MPU_6050_found) {
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I2cSetActiveFound(MPU_6050_address, D_SENSOR_MPU6050);
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}
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}
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#define D_YAW "Yaw"
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#define D_PITCH "Pitch"
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#define D_ROLL "Roll"
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#ifdef USE_WEBSERVER
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const char HTTP_SNS_AXIS[] PROGMEM =
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"{s}" D_SENSOR_MPU6050 " " D_AX_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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"{s}" D_SENSOR_MPU6050 " " D_AY_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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"{s}" D_SENSOR_MPU6050 " " D_AZ_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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"{s}" D_SENSOR_MPU6050 " " D_GX_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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"{s}" D_SENSOR_MPU6050 " " D_GY_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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"{s}" D_SENSOR_MPU6050 " " D_GZ_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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#ifdef USE_MPU6050_DMP
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const char HTTP_SNS_YPR[] PROGMEM =
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"{s}" D_SENSOR_MPU6050 " " D_YAW "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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"{s}" D_SENSOR_MPU6050 " " D_PITCH "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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"{s}" D_SENSOR_MPU6050 " " D_ROLL "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
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#endif // USE_MPU6050_DMP
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#endif // USE_WEBSERVER
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#define D_JSON_AXIS_AX "AccelXAxis"
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#define D_JSON_AXIS_AY "AccelYAxis"
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#define D_JSON_AXIS_AZ "AccelZAxis"
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#define D_JSON_AXIS_GX "GyroXAxis"
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#define D_JSON_AXIS_GY "GyroYAxis"
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#define D_JSON_AXIS_GZ "GyroZAxis"
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#define D_JSON_YAW "Yaw"
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#define D_JSON_PITCH "Pitch"
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#define D_JSON_ROLL "Roll"
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void MPU_6050Show(bool json)
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{
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MPU_6050PerformReading();
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float tempConv = ConvertTemp(MPU_6050_temperature / 340.0 + 35.53);
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char axis_ax[33];
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dtostrfd(MPU_6050_ax, Settings->flag2.axis_resolution, axis_ax);
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char axis_ay[33];
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dtostrfd(MPU_6050_ay, Settings->flag2.axis_resolution, axis_ay);
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char axis_az[33];
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dtostrfd(MPU_6050_az, Settings->flag2.axis_resolution, axis_az);
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char axis_gx[33];
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dtostrfd(MPU_6050_gx, Settings->flag2.axis_resolution, axis_gx);
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char axis_gy[33];
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dtostrfd(MPU_6050_gy, Settings->flag2.axis_resolution, axis_gy);
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char axis_gz[33];
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dtostrfd(MPU_6050_gz, Settings->flag2.axis_resolution, axis_gz);
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#ifdef USE_MPU6050_DMP
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char axis_yaw[33];
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dtostrfd(MPU6050_dmp.yawPitchRoll[0] / PI * 180.0, Settings->flag2.axis_resolution, axis_yaw);
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char axis_pitch[33];
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dtostrfd(MPU6050_dmp.yawPitchRoll[1] / PI * 180.0, Settings->flag2.axis_resolution, axis_pitch);
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char axis_roll[33];
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dtostrfd(MPU6050_dmp.yawPitchRoll[2] / PI * 180.0, Settings->flag2.axis_resolution, axis_roll);
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#endif // USE_MPU6050_DMP
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if (json) {
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char json_axis_ax[25];
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snprintf_P(json_axis_ax, sizeof(json_axis_ax), PSTR(",\"" D_JSON_AXIS_AX "\":%s"), axis_ax);
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char json_axis_ay[25];
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snprintf_P(json_axis_ay, sizeof(json_axis_ay), PSTR(",\"" D_JSON_AXIS_AY "\":%s"), axis_ay);
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char json_axis_az[25];
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snprintf_P(json_axis_az, sizeof(json_axis_az), PSTR(",\"" D_JSON_AXIS_AZ "\":%s"), axis_az);
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char json_axis_gx[25];
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snprintf_P(json_axis_gx, sizeof(json_axis_gx), PSTR(",\"" D_JSON_AXIS_GX "\":%s"), axis_gx);
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char json_axis_gy[25];
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snprintf_P(json_axis_gy, sizeof(json_axis_gy), PSTR(",\"" D_JSON_AXIS_GY "\":%s"), axis_gy);
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char json_axis_gz[25];
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snprintf_P(json_axis_gz, sizeof(json_axis_gz), PSTR(",\"" D_JSON_AXIS_GZ "\":%s"), axis_gz);
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#ifdef USE_MPU6050_DMP
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char json_ypr_y[25];
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snprintf_P(json_ypr_y, sizeof(json_ypr_y), PSTR(",\"" D_JSON_YAW "\":%s"), axis_yaw);
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char json_ypr_p[25];
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snprintf_P(json_ypr_p, sizeof(json_ypr_p), PSTR(",\"" D_JSON_PITCH "\":%s"), axis_pitch);
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char json_ypr_r[25];
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snprintf_P(json_ypr_r, sizeof(json_ypr_r), PSTR(",\"" D_JSON_ROLL "\":%s"), axis_roll);
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ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_TEMPERATURE "\":%*_f%s%s%s%s%s%s%s%s%s}"),
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D_SENSOR_MPU6050, Settings->flag2.temperature_resolution, &tempConv, json_axis_ax, json_axis_ay, json_axis_az, json_axis_gx, json_axis_gy, json_axis_gz,
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json_ypr_y, json_ypr_p, json_ypr_r);
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#else
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ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_TEMPERATURE "\":%*_f%s%s%s%s%s%s}"),
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D_SENSOR_MPU6050, Settings->flag2.temperature_resolution, &tempConv, json_axis_ax, json_axis_ay, json_axis_az, json_axis_gx, json_axis_gy, json_axis_gz);
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#endif // USE_MPU6050_DMP
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#ifdef USE_DOMOTICZ
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DomoticzFloatSensor(DZ_TEMP, tempConv);
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#endif // USE_DOMOTICZ
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#ifdef USE_WEBSERVER
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} else {
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WSContentSend_Temp(D_SENSOR_MPU6050, tempConv);
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WSContentSend_PD(HTTP_SNS_AXIS, axis_ax, axis_ay, axis_az, axis_gx, axis_gy, axis_gz);
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#ifdef USE_MPU6050_DMP
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WSContentSend_PD(HTTP_SNS_YPR, axis_yaw, axis_pitch, axis_roll);
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#endif // USE_MPU6050_DMP
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#endif // USE_WEBSERVER
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}
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}
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/*********************************************************************************************\
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* Interface
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\*********************************************************************************************/
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bool Xsns32(uint32_t function)
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{
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if (!I2cEnabled(XI2C_25)) { return false; }
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bool result = false;
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if (FUNC_INIT == function) {
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MPU_6050Detect();
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}
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else if (MPU_6050_found) {
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switch (function) {
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case FUNC_EVERY_SECOND:
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if (TasmotaGlobal.tele_period == Settings->tele_period -3) {
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MPU_6050PerformReading();
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}
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break;
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case FUNC_JSON_APPEND:
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MPU_6050Show(1);
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break;
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#ifdef USE_WEBSERVER
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case FUNC_WEB_SENSOR:
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MPU_6050Show(0);
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MPU_6050PerformReading();
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break;
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#endif // USE_WEBSERVER
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}
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}
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return result;
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}
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#endif // USE_MPU6050
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#endif // USE_I2C
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