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rename mpu6050

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This commit is contained in:
sfja 2026-04-01 09:19:49 +02:00
parent 01679d6da7
commit d5b31c9232
4 changed files with 42 additions and 44 deletions
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2
skateboard/main/CMakeLists.txt
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@ -1,5 +1,5 @@
idf_component_register( idf_component_register(
SRCS skateboard.c app_wifi.c app_mqtt.c new_mpu6050.c SRCS skateboard.c app_wifi.c app_mqtt.c mpu6050.c
PRIV_REQUIRES nvs_flash esp_netif esp_wifi mqtt esp_driver_i2c esp_timer PRIV_REQUIRES nvs_flash esp_netif esp_wifi mqtt esp_driver_i2c esp_timer
INCLUDE_DIRS ".") INCLUDE_DIRS ".")

38
skateboard/main/new_mpu6050.c → skateboard/main/mpu6050.c
View File

@ -1,4 +1,4 @@
#include "new_mpu6050.h" #include "mpu6050.h"
#include "driver/i2c_master.h" #include "driver/i2c_master.h"
#include "driver/i2c_types.h" #include "driver/i2c_types.h"
#include "esp_err.h" #include "esp_err.h"
@ -13,7 +13,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
static const char* TAG = "new_mpu6050"; static const char* TAG = "mpu6050";
#define CHECK(EXPR) \ #define CHECK(EXPR) \
do { \ do { \
@ -108,7 +108,7 @@ static esp_err_t write_bits(
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_init(Mpu6050* dev) esp_err_t mpu6050_init(Mpu6050* dev)
{ {
*dev = (Mpu6050) { 0 }; *dev = (Mpu6050) { 0 };
@ -149,16 +149,16 @@ esp_err_t new_mpu6050_init(Mpu6050* dev)
vTaskDelay(pdMS_TO_TICKS(250)); vTaskDelay(pdMS_TO_TICKS(250));
CHECK(new_mpu6050_set_clock_source(dev, MPU6050_CLKSEL_PLL_GYRO_X_REF)); CHECK(mpu6050_set_clock_source(dev, MPU6050_CLKSEL_PLL_GYRO_X_REF));
CHECK(new_mpu6050_set_sleep_enabled(dev, false)); CHECK(mpu6050_set_sleep_enabled(dev, false));
CHECK(new_mpu6050_set_sample_rate_div(dev, 3)); CHECK(mpu6050_set_sample_rate_div(dev, 3));
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_get_rotation(Mpu6050* dev, float3* rotation) esp_err_t mpu6050_get_rotation(Mpu6050* dev, float3* rotation)
{ {
static const float resolution[] = { static const float resolution[] = {
[MPU6050_GYRO_RANGE_250] = 1.0f / 131.0f, [MPU6050_GYRO_RANGE_250] = 1.0f / 131.0f,
@ -183,7 +183,7 @@ esp_err_t new_mpu6050_get_rotation(Mpu6050* dev, float3* rotation)
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_get_acceleration(Mpu6050* dev, float3* accel) esp_err_t mpu6050_get_acceleration(Mpu6050* dev, float3* accel)
{ {
static const float resolution[] = { static const float resolution[] = {
[MPU6050_ACCEL_RANGE_2] = 1.0f / 16384.0f, [MPU6050_ACCEL_RANGE_2] = 1.0f / 16384.0f,
@ -208,7 +208,7 @@ esp_err_t new_mpu6050_get_acceleration(Mpu6050* dev, float3* accel)
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_read_temperature(Mpu6050* dev, float* temperature) esp_err_t mpu6050_read_temperature(Mpu6050* dev, float* temperature)
{ {
uint8_t buffer[2]; uint8_t buffer[2];
@ -219,14 +219,14 @@ esp_err_t new_mpu6050_read_temperature(Mpu6050* dev, float* temperature)
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_deinit(Mpu6050* dev) esp_err_t mpu6050_deinit(Mpu6050* dev)
{ {
CHECK(i2c_master_bus_rm_device(dev->i2c_dev)); CHECK(i2c_master_bus_rm_device(dev->i2c_dev));
CHECK(i2c_del_master_bus(dev->i2c_bus)); CHECK(i2c_del_master_bus(dev->i2c_bus));
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_set_clock_source(Mpu6050* dev, Mpu6050_ClockSource source) esp_err_t mpu6050_set_clock_source(Mpu6050* dev, Mpu6050_ClockSource source)
{ {
return write_bits(dev, return write_bits(dev,
REG_PWR_MGMT_1, REG_PWR_MGMT_1,
@ -235,7 +235,7 @@ esp_err_t new_mpu6050_set_clock_source(Mpu6050* dev, Mpu6050_ClockSource source)
source); source);
} }
esp_err_t new_mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range) esp_err_t mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range)
{ {
CHECK(write_bits(dev, CHECK(write_bits(dev,
REG_GYRO_CONFIG, REG_GYRO_CONFIG,
@ -246,7 +246,7 @@ esp_err_t new_mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range)
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range) esp_err_t mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range)
{ {
CHECK(write_bits(dev, CHECK(write_bits(dev,
REG_ACCEL_CONFIG, REG_ACCEL_CONFIG,
@ -257,17 +257,17 @@ esp_err_t new_mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range)
return ESP_OK; return ESP_OK;
} }
esp_err_t new_mpu6050_set_sleep_enabled(Mpu6050* dev, bool enabled) esp_err_t mpu6050_set_sleep_enabled(Mpu6050* dev, bool enabled)
{ {
return write_bits(dev, REG_PWR_MGMT_1, BIT_PWR_MGMT_1_SLEEP, 1, enabled); return write_bits(dev, REG_PWR_MGMT_1, BIT_PWR_MGMT_1_SLEEP, 1, enabled);
} }
esp_err_t new_mpu6050_set_sample_rate_div(Mpu6050* dev, uint8_t div) esp_err_t mpu6050_set_sample_rate_div(Mpu6050* dev, uint8_t div)
{ {
return write_reg(dev, REG_SMPLRT_DIV, div); return write_reg(dev, REG_SMPLRT_DIV, div);
} }
esp_err_t new_mpu6050_set_dlpf(Mpu6050* dev, Mpu6050_DLPF selector) esp_err_t mpu6050_set_dlpf(Mpu6050* dev, Mpu6050_DLPF selector)
{ {
return write_bits( return write_bits(
dev, REG_CONFIG, BIT_CONFIG_DLPF_CFG, MASK_CONFIG_DLPF_CFG, selector); dev, REG_CONFIG, BIT_CONFIG_DLPF_CFG, MASK_CONFIG_DLPF_CFG, selector);
@ -292,13 +292,13 @@ static void calibrate_measure_cb(void* arg)
goto loop_break; goto loop_break;
float3 accel; float3 accel;
calib->status = new_mpu6050_get_acceleration(calib->dev, &accel); calib->status = mpu6050_get_acceleration(calib->dev, &accel);
if (calib->status != ESP_OK) if (calib->status != ESP_OK)
goto loop_break; goto loop_break;
float3 rotation; float3 rotation;
calib->status = new_mpu6050_get_rotation(calib->dev, &rotation); calib->status = mpu6050_get_rotation(calib->dev, &rotation);
if (calib->status != ESP_OK) if (calib->status != ESP_OK)
goto loop_break; goto loop_break;
@ -318,7 +318,7 @@ loop_break:
xEventGroupSetBits(calib->event_group, 1); xEventGroupSetBits(calib->event_group, 1);
} }
esp_err_t new_mpu6050_calibrate(Mpu6050* dev, const float3* initial_rotation) esp_err_t mpu6050_calibrate(Mpu6050* dev, const float3* initial_rotation)
{ {
Calibrator calib = { Calibrator calib = {

33
skateboard/main/new_mpu6050.h → skateboard/main/mpu6050.h
View File

@ -60,29 +60,28 @@ typedef struct {
float3 accel_bias; float3 accel_bias;
} Mpu6050; } Mpu6050;
esp_err_t new_mpu6050_init(Mpu6050* dev); esp_err_t mpu6050_init(Mpu6050* dev);
esp_err_t new_mpu6050_deinit(Mpu6050* dev); esp_err_t mpu6050_deinit(Mpu6050* dev);
esp_err_t new_mpu6050_get_rotation(Mpu6050* dev, float3* rotation); esp_err_t mpu6050_get_rotation(Mpu6050* dev, float3* rotation);
esp_err_t new_mpu6050_get_acceleration(Mpu6050* dev, float3* accel); esp_err_t mpu6050_get_acceleration(Mpu6050* dev, float3* accel);
esp_err_t new_mpu6050_read_temperature(Mpu6050* dev, float* temperature); esp_err_t mpu6050_read_temperature(Mpu6050* dev, float* temperature);
esp_err_t new_mpu6050_set_clock_source( esp_err_t mpu6050_set_clock_source(Mpu6050* dev, Mpu6050_ClockSource source);
Mpu6050* dev, Mpu6050_ClockSource source); esp_err_t mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range);
esp_err_t new_mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range); esp_err_t mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range);
esp_err_t new_mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range); esp_err_t mpu6050_set_sleep_enabled(Mpu6050* dev, bool enabled);
esp_err_t new_mpu6050_set_sleep_enabled(Mpu6050* dev, bool enabled);
#define NEW_MPU6050_SAMPLE_RATE_TO_DIV_1KHZ(SAMPLE_RATE) \ #define MPU6050_SAMPLE_RATE_TO_DIV_1KHZ(SAMPLE_RATE) \
((uint8_t)(1000.0f / (float)(SAMPLE_RATE) - 1.0f)) ((uint8_t)(1000.0f / (float)(SAMPLE_RATE) - 1.0f))
#define NEW_MPU6050_SAMPLE_RATE_TO_DIV_8KHZ(SAMPLE_RATE) \ #define MPU6050_SAMPLE_RATE_TO_DIV_8KHZ(SAMPLE_RATE) \
((uint8_t)(8000.0f / (float)(SAMPLE_RATE) - 1.0f)) ((uint8_t)(8000.0f / (float)(SAMPLE_RATE) - 1.0f))
// Sample rate = Gyro output rate / (1 + Sample rate divier) // Sample rate = Gyro output rate / (1 + Sample rate divier)
// Optionally use // Optionally use
// - `NEW_MPU6050_SAMPLE_RATE_TO_DIV_1KHZ()`, if DLPF is enabled // - `MPU6050_SAMPLE_RATE_TO_DIV_1KHZ()`, if DLPF is enabled
// - `NEW_MPU6050_SAMPLE_RATE_TO_DIV_8KHZ()`, if DLPF is disabled // - `MPU6050_SAMPLE_RATE_TO_DIV_8KHZ()`, if DLPF is disabled
esp_err_t new_mpu6050_set_sample_rate_div(Mpu6050* dev, uint8_t div); esp_err_t mpu6050_set_sample_rate_div(Mpu6050* dev, uint8_t div);
typedef enum : uint8_t { typedef enum : uint8_t {
// Accelerometer: bandwidth = 260Hz, delay = 0.0ms // Accelerometer: bandwidth = 260Hz, delay = 0.0ms
@ -117,6 +116,6 @@ typedef enum : uint8_t {
// Digital low pass filter (DLPF) // Digital low pass filter (DLPF)
// Note: Sampling rate is dependent on whether DLPF is enabled. // Note: Sampling rate is dependent on whether DLPF is enabled.
esp_err_t new_mpu6050_set_dlpf(Mpu6050* dev, Mpu6050_DLPF selector); esp_err_t mpu6050_set_dlpf(Mpu6050* dev, Mpu6050_DLPF selector);
esp_err_t new_mpu6050_calibrate(Mpu6050* dev, const float3* initial_rotation); esp_err_t mpu6050_calibrate(Mpu6050* dev, const float3* initial_rotation);

13
skateboard/main/skateboard.c
View File

@ -5,12 +5,11 @@
#include "esp_netif.h" #include "esp_netif.h"
#include "esp_timer.h" #include "esp_timer.h"
#include "freertos/idf_additions.h" #include "freertos/idf_additions.h"
#include "mpu6050.h"
#include "nvs_flash.h" #include "nvs_flash.h"
#include <stdbool.h> #include <stdbool.h>
#include <stdio.h> #include <stdio.h>
#include "new_mpu6050.h"
const char* TAG = "skateboard"; const char* TAG = "skateboard";
typedef struct App { typedef struct App {
@ -69,13 +68,13 @@ static void mpu_timer_cb(void* arg)
(void)app; (void)app;
float3 accel = { 0 }; float3 accel = { 0 };
ESP_ERROR_CHECK(new_mpu6050_get_acceleration(&app->mpu, &accel)); ESP_ERROR_CHECK(mpu6050_get_acceleration(&app->mpu, &accel));
float3 rotation = { 0 }; float3 rotation = { 0 };
ESP_ERROR_CHECK(new_mpu6050_get_rotation(&app->mpu, &rotation)); ESP_ERROR_CHECK(mpu6050_get_rotation(&app->mpu, &rotation));
float temp = 0; float temp = 0;
ESP_ERROR_CHECK(new_mpu6050_read_temperature(&app->mpu, &temp)); ESP_ERROR_CHECK(mpu6050_read_temperature(&app->mpu, &temp));
app->accel_acc.x = accel.x; app->accel_acc.x = accel.x;
app->accel_acc.y = accel.y; app->accel_acc.y = accel.y;
@ -109,11 +108,11 @@ void app_main(void)
// app_wifi_init(&app.wifi); // app_wifi_init(&app.wifi);
// app_mqtt_init(&app.mqtt); // app_mqtt_init(&app.mqtt);
ESP_ERROR_CHECK(new_mpu6050_init(&app.mpu)); ESP_ERROR_CHECK(mpu6050_init(&app.mpu));
ESP_LOGI(TAG, "Calibrating MPU6050"); ESP_LOGI(TAG, "Calibrating MPU6050");
ESP_ERROR_CHECK( ESP_ERROR_CHECK(
new_mpu6050_calibrate(&app.mpu, &(float3) { 0.0f, 0.0f, -1.0f })); mpu6050_calibrate(&app.mpu, &(float3) { 0.0f, 0.0f, -1.0f }));
ESP_LOGI(TAG, "MPU6050 calibrated"); ESP_LOGI(TAG, "MPU6050 calibrated");
ESP_ERROR_CHECK(esp_timer_start_periodic(mpu_timer, 40000)); ESP_ERROR_CHECK(esp_timer_start_periodic(mpu_timer, 40000));