288 lines
11 KiB
C++
288 lines
11 KiB
C++
#pragma once
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#include "wled.h"
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/* This driver reads quaternion data from the MPU6060 and adds it to the JSON
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This example is adapted from:
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https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050/examples/MPU6050_DMP6_ESPWiFi
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Tested with a d1 mini esp-12f
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GY-521 NodeMCU
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MPU6050 devkit 1.0
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board Lolin Description
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======= ========== ====================================================
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VCC VU (5V USB) Not available on all boards so use 3.3V if needed.
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GND G Ground
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SCL D1 (GPIO05) I2C clock
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SDA D2 (GPIO04) I2C data
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XDA not connected
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XCL not connected
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AD0 not connected
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INT D8 (GPIO15) Interrupt pin
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Using usermod:
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1. Copy the usermod into the sketch folder (same folder as wled00.ino)
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2. Register the usermod by adding #include "usermod_filename.h" in the top and registerUsermod(new MyUsermodClass()) in the bottom of usermods_list.cpp
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3. I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h file
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for both classes must be in the include path of your project. To install the
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libraries add I2Cdevlib-MPU6050@fbde122cc5 to lib_deps in the platformio.ini file.
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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)
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5. Wire up the MPU6050 as detailed above.
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*/
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#include "I2Cdev.h"
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#include "MPU6050_6Axis_MotionApps20.h"
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//#include "MPU6050.h" // not necessary if using MotionApps include file
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// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
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// is used in I2Cdev.h
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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#include "Wire.h"
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#endif
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// ================================================================
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// === INTERRUPT DETECTION ROUTINE ===
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// ================================================================
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volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
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void IRAM_ATTR dmpDataReady() {
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mpuInterrupt = true;
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}
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class MPU6050Driver : public Usermod {
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private:
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MPU6050 mpu;
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bool enabled = true;
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// MPU control/status vars
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bool dmpReady = false; // set true if DMP init was successful
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uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
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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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//NOTE: some of these can be removed to save memory, processing time
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// if the measurement isn't needed
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Quaternion qat; // [w, x, y, z] quaternion container
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float euler[3]; // [psi, theta, phi] Euler angle container
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float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container
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VectorInt16 aa; // [x, y, z] accel sensor measurements
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VectorInt16 gy; // [x, y, z] gyro sensor measurements
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VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
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VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
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VectorFloat gravity; // [x, y, z] gravity vector
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static const int INTERRUPT_PIN = 15; // use pin 15 on ESP8266
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public:
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//Functions called by WLED
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/*
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* setup() is called once at boot. WiFi is not yet connected at this point.
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*/
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void setup() {
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if (i2c_scl<0 || i2c_sda<0) { enabled = false; return; }
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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Wire.setClock(400000U); // 400kHz I2C clock. Comment this line if having compilation difficulties
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#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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Fastwire::setup(400, true);
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#endif
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// initialize device
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DEBUG_PRINTLN(F("Initializing I2C devices..."));
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mpu.initialize();
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pinMode(INTERRUPT_PIN, INPUT);
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// verify connection
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DEBUG_PRINTLN(F("Testing device connections..."));
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DEBUG_PRINTLN(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
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// load and configure the DMP
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DEBUG_PRINTLN(F("Initializing DMP..."));
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devStatus = mpu.dmpInitialize();
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// supply your own gyro offsets here, scaled for min sensitivity
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mpu.setXGyroOffset(220);
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mpu.setYGyroOffset(76);
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mpu.setZGyroOffset(-85);
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mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
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// make sure it worked (returns 0 if so)
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if (devStatus == 0) {
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// turn on the DMP, now that it's ready
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DEBUG_PRINTLN(F("Enabling DMP..."));
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mpu.setDMPEnabled(true);
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// enable Arduino interrupt detection
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DEBUG_PRINTLN(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
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attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
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mpuIntStatus = mpu.getIntStatus();
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// set our DMP Ready flag so the main loop() function knows it's okay to use it
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DEBUG_PRINTLN(F("DMP ready! Waiting for first interrupt..."));
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dmpReady = true;
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// get expected DMP packet size for later comparison
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packetSize = mpu.dmpGetFIFOPacketSize();
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} else {
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// ERROR!
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// 1 = initial memory load failed
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// 2 = DMP configuration updates failed
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// (if it's going to break, usually the code will be 1)
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DEBUG_PRINT(F("DMP Initialization failed (code "));
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DEBUG_PRINT(devStatus);
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DEBUG_PRINTLN(")");
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}
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}
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/*
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* connected() is called every time the WiFi is (re)connected
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* Use it to initialize network interfaces
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*/
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void connected() {
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//DEBUG_PRINTLN("Connected to WiFi!");
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}
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/*
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* loop() is called continuously. Here you can check for events, read sensors, etc.
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*/
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void loop() {
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// if programming failed, don't try to do anything
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if (!enabled || !dmpReady || strip.isUpdating()) return;
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// wait for MPU interrupt or extra packet(s) available
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if (!mpuInterrupt && fifoCount < packetSize) return;
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// reset interrupt flag and get INT_STATUS byte
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mpuInterrupt = false;
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mpuIntStatus = mpu.getIntStatus();
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// get current FIFO count
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fifoCount = mpu.getFIFOCount();
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// check for overflow (this should never happen unless our code is too inefficient)
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if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
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// reset so we can continue cleanly
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mpu.resetFIFO();
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DEBUG_PRINTLN(F("FIFO overflow!"));
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// otherwise, check for DMP data ready interrupt (this should happen frequently)
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} else if (mpuIntStatus & 0x02) {
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// wait for correct available data length, should be a VERY short wait
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while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
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// read a packet from FIFO
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mpu.getFIFOBytes(fifoBuffer, packetSize);
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// track FIFO count here in case there is > 1 packet available
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// (this lets us immediately read more without waiting for an interrupt)
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fifoCount -= packetSize;
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//NOTE: some of these can be removed to save memory, processing time
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// if the measurement isn't needed
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mpu.dmpGetQuaternion(&qat, fifoBuffer);
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mpu.dmpGetEuler(euler, &qat);
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mpu.dmpGetGravity(&gravity, &qat);
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mpu.dmpGetGyro(&gy, fifoBuffer);
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &qat);
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mpu.dmpGetYawPitchRoll(ypr, &qat, &gravity);
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}
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}
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void addToJsonInfo(JsonObject& root)
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{
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int reading = 20;
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//this code adds "u":{"Light":[20," lux"]} to the info object
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JsonObject user = root["u"];
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if (user.isNull()) user = root.createNestedObject("u");
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JsonObject imu_meas = user.createNestedObject("IMU");
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JsonArray quat_json = imu_meas.createNestedArray("Quat");
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quat_json.add(qat.w);
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quat_json.add(qat.x);
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quat_json.add(qat.y);
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quat_json.add(qat.z);
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JsonArray euler_json = imu_meas.createNestedArray("Euler");
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euler_json.add(euler[0]);
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euler_json.add(euler[1]);
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euler_json.add(euler[2]);
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JsonArray accel_json = imu_meas.createNestedArray("Accel");
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accel_json.add(aa.x);
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accel_json.add(aa.y);
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accel_json.add(aa.z);
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JsonArray gyro_json = imu_meas.createNestedArray("Gyro");
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gyro_json.add(gy.x);
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gyro_json.add(gy.y);
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gyro_json.add(gy.z);
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JsonArray world_json = imu_meas.createNestedArray("WorldAccel");
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world_json.add(aaWorld.x);
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world_json.add(aaWorld.y);
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world_json.add(aaWorld.z);
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JsonArray real_json = imu_meas.createNestedArray("RealAccel");
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real_json.add(aaReal.x);
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real_json.add(aaReal.y);
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real_json.add(aaReal.z);
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JsonArray grav_json = imu_meas.createNestedArray("Gravity");
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grav_json.add(gravity.x);
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grav_json.add(gravity.y);
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grav_json.add(gravity.z);
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JsonArray orient_json = imu_meas.createNestedArray("Orientation");
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orient_json.add(ypr[0]);
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orient_json.add(ypr[1]);
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orient_json.add(ypr[2]);
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}
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/*
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* addToJsonState() can be used to add custom entries to the /json/state part of the JSON API (state object).
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* Values in the state object may be modified by connected clients
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*/
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//void addToJsonState(JsonObject& root)
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//{
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//root["user0"] = userVar0;
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//}
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/*
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* readFromJsonState() can be used to receive data clients send to the /json/state part of the JSON API (state object).
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* Values in the state object may be modified by connected clients
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*/
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//void readFromJsonState(JsonObject& root)
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//{
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//if (root["bri"] == 255) DEBUG_PRINTLN(F("Don't burn down your garage!"));
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//}
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/*
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* addToConfig() can be used to add custom persistent settings to the cfg.json file in the "um" (usermod) object.
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* It will be called by WLED when settings are actually saved (for example, LED settings are saved)
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* I highly recommend checking out the basics of ArduinoJson serialization and deserialization in order to use custom settings!
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*/
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// void addToConfig(JsonObject& root)
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// {
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// JsonObject top = root.createNestedObject("MPU6050_IMU");
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// JsonArray pins = top.createNestedArray("pin");
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// pins.add(HW_PIN_SCL);
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// pins.add(HW_PIN_SDA);
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// }
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/*
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* getId() allows you to optionally give your V2 usermod an unique ID (please define it in const.h!).
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*/
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uint16_t getId()
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{
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return USERMOD_ID_IMU;
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}
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};
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