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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
View File

@ -1,5 +1,5 @@
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
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_types.h"
#include "esp_err.h"
@ -13,7 +13,7 @@
#include <stdlib.h>
#include <string.h>
static const char* TAG = "new_mpu6050";
static const char* TAG = "mpu6050";
#define CHECK(EXPR) \
do { \
@ -108,7 +108,7 @@ static esp_err_t write_bits(
return ESP_OK;
}
esp_err_t new_mpu6050_init(Mpu6050* dev)
esp_err_t mpu6050_init(Mpu6050* dev)
{
*dev = (Mpu6050) { 0 };
@ -149,16 +149,16 @@ esp_err_t new_mpu6050_init(Mpu6050* dev)
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;
}
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[] = {
[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;
}
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[] = {
[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;
}
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];
@ -219,14 +219,14 @@ esp_err_t new_mpu6050_read_temperature(Mpu6050* dev, float* temperature)
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_del_master_bus(dev->i2c_bus));
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,
REG_PWR_MGMT_1,
@ -235,7 +235,7 @@ esp_err_t new_mpu6050_set_clock_source(Mpu6050* dev, Mpu6050_ClockSource 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,
REG_GYRO_CONFIG,
@ -246,7 +246,7 @@ esp_err_t new_mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range)
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,
REG_ACCEL_CONFIG,
@ -257,17 +257,17 @@ esp_err_t new_mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range)
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);
}
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);
}
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(
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;
float3 accel;
calib->status = new_mpu6050_get_acceleration(calib->dev, &accel);
calib->status = mpu6050_get_acceleration(calib->dev, &accel);
if (calib->status != ESP_OK)
goto loop_break;
float3 rotation;
calib->status = new_mpu6050_get_rotation(calib->dev, &rotation);
calib->status = mpu6050_get_rotation(calib->dev, &rotation);
if (calib->status != ESP_OK)
goto loop_break;
@ -318,7 +318,7 @@ loop_break:
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 = {

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

@ -60,29 +60,28 @@ typedef struct {
float3 accel_bias;
} Mpu6050;
esp_err_t new_mpu6050_init(Mpu6050* dev);
esp_err_t new_mpu6050_deinit(Mpu6050* dev);
esp_err_t mpu6050_init(Mpu6050* dev);
esp_err_t mpu6050_deinit(Mpu6050* dev);
esp_err_t new_mpu6050_get_rotation(Mpu6050* dev, float3* rotation);
esp_err_t new_mpu6050_get_acceleration(Mpu6050* dev, float3* accel);
esp_err_t new_mpu6050_read_temperature(Mpu6050* dev, float* temperature);
esp_err_t mpu6050_get_rotation(Mpu6050* dev, float3* rotation);
esp_err_t mpu6050_get_acceleration(Mpu6050* dev, float3* accel);
esp_err_t mpu6050_read_temperature(Mpu6050* dev, float* temperature);
esp_err_t new_mpu6050_set_clock_source(
Mpu6050* dev, Mpu6050_ClockSource source);
esp_err_t new_mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range);
esp_err_t new_mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range);
esp_err_t new_mpu6050_set_sleep_enabled(Mpu6050* dev, bool enabled);
esp_err_t mpu6050_set_clock_source(Mpu6050* dev, Mpu6050_ClockSource source);
esp_err_t mpu6050_set_gyro_range(Mpu6050* dev, Mpu6050_GyroRange range);
esp_err_t mpu6050_set_accel_range(Mpu6050* dev, Mpu6050_AccelRange range);
esp_err_t 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))
#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))
// Sample rate = Gyro output rate / (1 + Sample rate divier)
// Optionally use
// - `NEW_MPU6050_SAMPLE_RATE_TO_DIV_1KHZ()`, if DLPF is enabled
// - `NEW_MPU6050_SAMPLE_RATE_TO_DIV_8KHZ()`, if DLPF is disabled
esp_err_t new_mpu6050_set_sample_rate_div(Mpu6050* dev, uint8_t div);
// - `MPU6050_SAMPLE_RATE_TO_DIV_1KHZ()`, if DLPF is enabled
// - `MPU6050_SAMPLE_RATE_TO_DIV_8KHZ()`, if DLPF is disabled
esp_err_t mpu6050_set_sample_rate_div(Mpu6050* dev, uint8_t div);
typedef enum : uint8_t {
// Accelerometer: bandwidth = 260Hz, delay = 0.0ms
@ -117,6 +116,6 @@ typedef enum : uint8_t {
// Digital low pass filter (DLPF)
// 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_timer.h"
#include "freertos/idf_additions.h"
#include "mpu6050.h"
#include "nvs_flash.h"
#include <stdbool.h>
#include <stdio.h>
#include "new_mpu6050.h"
const char* TAG = "skateboard";
typedef struct App {
@ -69,13 +68,13 @@ static void mpu_timer_cb(void* arg)
(void)app;
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 };
ESP_ERROR_CHECK(new_mpu6050_get_rotation(&app->mpu, &rotation));
ESP_ERROR_CHECK(mpu6050_get_rotation(&app->mpu, &rotation));
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.y = accel.y;
@ -109,11 +108,11 @@ void app_main(void)
// app_wifi_init(&app.wifi);
// 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_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_ERROR_CHECK(esp_timer_start_periodic(mpu_timer, 40000));