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Merge pull request #1007 from axlan/mpu6050-usermod

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Usermod adding Mpu6050 IMU driver
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# MPU-6050 Six-Axis (Gyro + Accelerometer) Driver
This usermod-v2 modification allows the connection of a MPU-6050 IMU sensor to
allow for effects that are controlled by the orientation or motion of the WLED Device.
The MPU6050 has a built in "Digital Motion Processor" which does a lot of the heavy
lifting in integrating the gyro and accel measurements to get potentially more
useful gravity vector and orientation output.
It is pretty straightforward to comment out some of the variables being read off the device if they're not needed to save CPU/Mem/Bandwidth.
_Story:_
As a memento to a long trip I was on, I built an icosahedron globe. I put lights inside to indicate cities I travelled to.
I wanted to integrate an IMU to allow either on-board, or off-board effects that would
react to the globes orientation. See the blog post on building it <https://www.robopenguins.com/icosahedron-travel-globe/> or a video demo <https://youtu.be/zYjybxHBsHM> .
## Adding Dependencies
I2Cdev and MPU6050 must be installed.
To install them, add I2Cdevlib-MPU6050@fbde122cc5 to lib_deps in the platformio.ini file.
You also need to change lib_compat_mode from strict to soft in platformio.ini (This ignores that I2Cdevlib-MPU6050 doesn't list platform compatibility)
For example:
```
lib_compat_mode = soft
lib_deps =
FastLED@3.3.2
NeoPixelBus@2.5.7
ESPAsyncTCP@1.2.0
ESPAsyncUDP@697c75a025
AsyncTCP@1.0.3
Esp Async WebServer@1.2.0
IRremoteESP8266@2.7.3
I2Cdevlib-MPU6050@fbde122cc5
```
## Wiring
The connections needed to the MPU6050 are as follows:
```
VCC VU (5V USB) Not available on all boards so use 3.3V if needed.
GND G Ground
SCL D1 (GPIO05) I2C clock
SDA D2 (GPIO04) I2C data
XDA not connected
XCL not connected
AD0 not connected
INT D8 (GPIO15) Interrupt pin
```
You could probably modify the code not to need an interrupt, but I used the
setup directly from the example.
## JSON API
This code adds:
```json
"u":{
"IMU":{
"Quat": [w, x, y, z],
"Euler": [psi, theta, phi],
"Gyro": [x, y, z],
"Accel": [x, y, z],
"RealAccel": [x, y, z],
"WorldAccel": [x, y, z],
"Gravity": [x, y, z],
"Orientation": [yaw, pitch, roll]
}
}
```
to the info object
## Usermod installation
1. Copy the file `usermod_mpu6050_imu.h` to the `wled00` directory.
2. Register the usermod by adding `#include "usermod_mpu6050_imu.h.h"` in the top and `registerUsermod(new MPU6050Driver());` in the bottom of `usermods_list.cpp`.
Example **usermods_list.cpp**:
```cpp
#include "wled.h"
#include "usermod_mpu6050_imu.h"
void registerUsermods()
{
usermods.add(new MPU6050Driver());
}
```

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#pragma once
#include "wled.h"
/* This driver reads quaternion data from the MPU6060 and adds it to the JSON
This example is adapted from:
https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050/examples/MPU6050_DMP6_ESPWiFi
Tested with a d1 mini esp-12f
GY-521 NodeMCU
MPU6050 devkit 1.0
board Lolin Description
======= ========== ====================================================
VCC VU (5V USB) Not available on all boards so use 3.3V if needed.
GND G Ground
SCL D1 (GPIO05) I2C clock
SDA D2 (GPIO04) I2C data
XDA not connected
XCL not connected
AD0 not connected
INT D8 (GPIO15) Interrupt pin
Using usermod:
1. Copy the usermod into the sketch folder (same folder as wled00.ino)
2. Register the usermod by adding #include "usermod_filename.h" in the top and registerUsermod(new MyUsermodClass()) in the bottom of usermods_list.cpp
3. I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h file
for both classes must be in the include path of your project. To install the
libraries add I2Cdevlib-MPU6050@fbde122cc5 to lib_deps in the platformio.ini file.
4. You also need to change lib_compat_mode from strict to soft in platformio.ini (This ignores that I2Cdevlib-MPU6050 doesn't list platform compatibility)
5. Wire up the MPU6050 as detailed above.
*/
#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
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void IRAM_ATTR dmpDataReady() {
mpuInterrupt = true;
}
class MPU6050Driver : public Usermod {
private:
MPU6050 mpu;
// 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
//NOTE: some of these can be removed to save memory, processing time
// if the measurement isn't needed
Quaternion qat; // [w, x, y, z] quaternion container
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 gy; // [x, y, z] gyro 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
static const int INTERRUPT_PIN = 15; // use pin 15 on ESP8266
public:
//Functions called by WLED
/*
* setup() is called once at boot. WiFi is not yet connected at this point.
*/
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// 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(digitalPinToInterrupt(INTERRUPT_PIN), 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(")"));
}
}
/*
* connected() is called every time the WiFi is (re)connected
* Use it to initialize network interfaces
*/
void connected() {
//Serial.println("Connected to WiFi!");
}
/*
* loop() is called continuously. Here you can check for events, read sensors, etc.
*/
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
if (!mpuInterrupt && fifoCount < packetSize) return;
// 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;
//NOTE: some of these can be removed to save memory, processing time
// if the measurement isn't needed
mpu.dmpGetQuaternion(&qat, fifoBuffer);
mpu.dmpGetEuler(euler, &qat);
mpu.dmpGetGravity(&gravity, &qat);
mpu.dmpGetGyro(&gy, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &qat);
mpu.dmpGetYawPitchRoll(ypr, &qat, &gravity);
}
}
void addToJsonInfo(JsonObject& root)
{
int reading = 20;
//this code adds "u":{"Light":[20," lux"]} to the info object
JsonObject user = root["u"];
if (user.isNull()) user = root.createNestedObject("u");
JsonArray imu_meas = user.createNestedObject("IMU");
JsonArray quat_json = imu_meas.createNestedArray("Quat");
quat_json.add(qat.w);
quat_json.add(qat.x);
quat_json.add(qat.y);
quat_json.add(qat.z);
JsonArray euler_json = imu_meas.createNestedArray("Euler");
euler_json.add(euler[0]);
euler_json.add(euler[1]);
euler_json.add(euler[2]);
JsonArray accel_json = imu_meas.createNestedArray("Accel");
accel_json.add(aa.x);
accel_json.add(aa.y);
accel_json.add(aa.z);
JsonArray gyro_json = imu_meas.createNestedArray("Gyro");
gyro_json.add(gy.x);
gyro_json.add(gy.y);
gyro_json.add(gy.z);
JsonArray world_json = imu_meas.createNestedArray("WorldAccel");
world_json.add(aaWorld.x);
world_json.add(aaWorld.y);
world_json.add(aaWorld.z);
JsonArray real_json = imu_meas.createNestedArray("RealAccel");
real_json.add(aaReal.x);
real_json.add(aaReal.y);
real_json.add(aaReal.z);
JsonArray grav_json = imu_meas.createNestedArray("Gravity");
grav_json.add(gravity.x);
grav_json.add(gravity.y);
grav_json.add(gravity.z);
JsonArray orient_json = imu_meas.createNestedArray("Orientation");
orient_json.add(ypr[0]);
orient_json.add(ypr[1]);
orient_json.add(ypr[2]);
}
/*
* addToJsonState() can be used to add custom entries to the /json/state part of the JSON API (state object).
* Values in the state object may be modified by connected clients
*/
void addToJsonState(JsonObject& root)
{
//root["user0"] = userVar0;
}
/*
* readFromJsonState() can be used to receive data clients send to the /json/state part of the JSON API (state object).
* Values in the state object may be modified by connected clients
*/
void readFromJsonState(JsonObject& root)
{
//if (root["bri"] == 255) Serial.println(F("Don't burn down your garage!"));
}
/*
* getId() allows you to optionally give your V2 usermod an unique ID (please define it in const.h!).
*/
uint16_t getId()
{
return USERMOD_ID_IMU;
}
};

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#define USERMOD_ID_TEMPERATURE 3 //Usermod "usermod_temperature.h"
#define USERMOD_ID_FIXNETSERVICES 4 //Usermod "usermod_Fix_unreachable_netservices.h"
#define USERMOD_ID_PIRSWITCH 5 //Usermod "usermod_PIR_sensor_switch.h"
#define USERMOD_ID_IMU 6 //Usermod "usermod_mpu6050_imu.h"
//Access point behavior
#define AP_BEHAVIOR_BOOT_NO_CONN 0 //Open AP when no connection after boot