added dependable build for interface choice in menuconfig

2026-05-08 20:10:37 +02:00 · 2020-12-17 10:21:10 +01:00
parent 45444bb8c5
commit 7e82c695ea
56 changed files with 483 additions and 522 deletions
@@ -0,0 +1,260 @@
+// Copyright 2020 Lukas Haubaum
+//
+// Licensed under the GNU Affero General Public License, Version 3;
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     https://www.gnu.org/licenses/agpl-3.0.html
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <stdio.h>
+#include <time.h>
+
+#include "driver/i2c.h"
+#include "esp_log.h"
+
+#include "i2c-main.h"
+
+#include "mpu6886.h"
+
+int Gyscale = GFS_2000DPS;
+int Acscale = AFS_8G;
+float aRes, gRes;
+
+void mpu6886_i2c_read_bytes(uint8_t driver_addr, uint8_t start_addr, uint8_t number_Bytes, uint8_t *read_buffer)
+{
+    i2c_cmd_handle_t cmd;
+    cmd = i2c_cmd_link_create();
+    i2c_master_start(cmd);
+    i2c_master_write_byte(cmd, (driver_addr << 1) | I2C_MASTER_WRITE, true);
+    i2c_master_write_byte(cmd, start_addr, true);
+    i2c_master_start(cmd);
+    i2c_master_write_byte(cmd, (driver_addr << 1) | I2C_MASTER_READ, true);
+    i2c_master_read(cmd, read_buffer, number_Bytes, I2C_MASTER_LAST_NACK);
+    i2c_master_stop(cmd);
+    ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS));
+    i2c_cmd_link_delete(cmd);
+}
+
+void mpu6886_i2c_write_bytes(uint8_t driver_addr, uint8_t start_addr, uint8_t number_Bytes, uint8_t *write_buffer)
+{
+    i2c_cmd_handle_t cmd;
+    cmd = i2c_cmd_link_create();
+    i2c_master_start(cmd);
+    i2c_master_write_byte(cmd, (driver_addr << 1) | I2C_MASTER_WRITE, true);
+
+    i2c_master_write_byte(cmd, start_addr, true);
+    i2c_master_write(cmd, write_buffer, number_Bytes, true);
+
+    i2c_master_stop(cmd);
+    ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS));
+    i2c_cmd_link_delete(cmd);
+}
+
+
+
+void mpu6886_getGres()
+{
+
+    switch (Gyscale)
+    {
+        // Possible gyro scales (and their register bit settings) are:
+    case GFS_250DPS:
+        gRes = 250.0 / 32768.0;
+        break;
+    case GFS_500DPS:
+        gRes = 500.0 / 32768.0;
+        break;
+    case GFS_1000DPS:
+        gRes = 1000.0 / 32768.0;
+        break;
+    case GFS_2000DPS:
+        gRes = 2000.0 / 32768.0;
+        break;
+    }
+}
+
+void mpu6886_getAres()
+{
+    switch (Acscale)
+    {
+        // Possible accelerometer scales (and their register bit settings) are:
+        // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs  (11).
+        // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+    case AFS_2G:
+        aRes = 2.0 / 32768.0;
+        break;
+    case AFS_4G:
+        aRes = 4.0 / 32768.0;
+        break;
+    case AFS_8G:
+        aRes = 8.0 / 32768.0;
+        break;
+    case AFS_16G:
+        aRes = 16.0 / 32768.0;
+        break;
+    }
+}
+
+int mpu6886_start(void)
+{
+    unsigned char tempdata[1];
+    unsigned char regdata;
+
+    if (!i2c_is_initialized())
+    {
+        i2c_main_init();
+    }
+
+    mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_WHOAMI, 1, tempdata);
+    if (tempdata[0] != 0x19)
+        return -1;
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x00;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, &regdata);
+    vTaskDelay(10 / portTICK_PERIOD_MS);;
+
+    regdata = (0x01 << 7);
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, &regdata);
+    vTaskDelay(10 / portTICK_PERIOD_MS);;
+
+    regdata = (0x01 << 0);
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, &regdata);
+    vTaskDelay(10 / portTICK_PERIOD_MS);;
+
+    regdata = 0x10;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x18;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_GYRO_CONFIG, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x01;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_CONFIG, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x05;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_SMPLRT_DIV, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x00;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_INT_ENABLE, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x00;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG2, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x00;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_USER_CTRL, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x00;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_FIFO_EN, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x22;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_INT_PIN_CFG, 1, &regdata);
+    vTaskDelay(1 / portTICK_PERIOD_MS);;
+
+    regdata = 0x01;
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_INT_ENABLE, 1, &regdata);
+
+    vTaskDelay(100 / portTICK_PERIOD_MS);;
+    mpu6886_getGres();
+    mpu6886_getAres();
+    return 0;
+}
+
+void mpu6886_get_accel_adc(int16_t *ax, int16_t *ay, int16_t *az)
+{
+
+    uint8_t buf[6];
+    mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_XOUT_H, 6, buf);
+
+    *ax = ((int16_t)buf[0] << 8) | buf[1];
+    *ay = ((int16_t)buf[2] << 8) | buf[3];
+    *az = ((int16_t)buf[4] << 8) | buf[5];
+}
+void mpu6886_get_gyro_adc(int16_t *gx, int16_t *gy, int16_t *gz)
+{
+
+    uint8_t buf[6];
+    mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_GYRO_XOUT_H, 6, buf);
+
+    *gx = ((uint16_t)buf[0] << 8) | buf[1];
+    *gy = ((uint16_t)buf[2] << 8) | buf[3];
+    *gz = ((uint16_t)buf[4] << 8) | buf[5];
+}
+
+void mpu6886_get_temp_adc(int16_t *t)
+{
+
+    uint8_t buf[2];
+    mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_TEMP_OUT_H, 2, buf);
+
+    *t = ((uint16_t)buf[0] << 8) | buf[1];
+}
+
+void mpu6886_set_gyro_fsr(int scale)
+{
+    //return IIC_Write_Byte(MPU_GYRO_CFG_REG,scale<<3);//设置陀螺仪满量程范围
+    unsigned char regdata;
+    regdata = (scale << 3);
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_GYRO_CONFIG, 1, &regdata);
+    vTaskDelay(10 / portTICK_PERIOD_MS);;
+
+    Gyscale = scale;
+    mpu6886_getGres();
+}
+
+void mpu6886_set_accel_fsr(int scale)
+{
+    unsigned char regdata;
+    regdata = (scale << 3);
+    mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG, 1, &regdata);
+    vTaskDelay(10 / portTICK_PERIOD_MS);;
+
+    Acscale = scale;
+    mpu6886_getAres();
+}
+
+void mpu6886_get_accel_data(float *ax, float *ay, float *az)
+{
+
+    int16_t accX = 0;
+    int16_t accY = 0;
+    int16_t accZ = 0;
+    mpu6886_get_accel_adc(&accX, &accY, &accZ);
+
+    *ax = (float)accX * aRes;
+    *ay = (float)accY * aRes;
+    *az = (float)accZ * aRes;
+}
+
+void mpu6886_get_gyro_data(float *gx, float *gy, float *gz)
+{
+    int16_t gyroX = 0;
+    int16_t gyroY = 0;
+    int16_t gyroZ = 0;
+    mpu6886_get_gyro_adc(&gyroX, &gyroY, &gyroZ);
+
+    *gx = (float)gyroX * gRes;
+    *gy = (float)gyroY * gRes;
+    *gz = (float)gyroZ * gRes;
+}
+
+void mpu6886_get_temp_data(float *t)
+{
+
+    int16_t temp = 0;
+    mpu6886_get_temp_adc(&temp);
+
+    *t = (float)temp / 326.8 + 25.0;
+}
@@ -0,0 +1,78 @@
+/*
+ Note: The MPU6886 is an I2C sensor and uses the Arduino Wire library.
+ Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or
+ a 3.3 V Teensy 3.1. We have disabled the internal pull-ups used by the Wire
+ library in the Wire.h/twi.c utility file. We are also using the 400 kHz fast
+ I2C mode by setting the TWI_FREQ  to 400000L /twi.h utility file.
+ */
+#ifndef _IMU_MPU6886_H_
+#define _IMU_MPU6886_H_
+
+#include "stdio.h"
+
+#define MPU6886_ADDRESS 0x68
+#define MPU6886_WHOAMI 0x75
+#define MPU6886_ACCEL_INTEL_CTRL 0x69
+#define MPU6886_SMPLRT_DIV 0x19
+#define MPU6886_INT_PIN_CFG 0x37
+#define MPU6886_INT_ENABLE 0x38
+#define MPU6886_ACCEL_XOUT_H 0x3B
+#define MPU6886_ACCEL_XOUT_L 0x3C
+#define MPU6886_ACCEL_YOUT_H 0x3D
+#define MPU6886_ACCEL_YOUT_L 0x3E
+#define MPU6886_ACCEL_ZOUT_H 0x3F
+#define MPU6886_ACCEL_ZOUT_L 0x40
+
+#define MPU6886_TEMP_OUT_H 0x41
+#define MPU6886_TEMP_OUT_L 0x42
+
+#define MPU6886_GYRO_XOUT_H 0x43
+#define MPU6886_GYRO_XOUT_L 0x44
+#define MPU6886_GYRO_YOUT_H 0x45
+#define MPU6886_GYRO_YOUT_L 0x46
+#define MPU6886_GYRO_ZOUT_H 0x47
+#define MPU6886_GYRO_ZOUT_L 0x48
+
+#define MPU6886_USER_CTRL 0x6A
+#define MPU6886_PWR_MGMT_1 0x6B
+#define MPU6886_PWR_MGMT_2 0x6C
+#define MPU6886_CONFIG 0x1A
+#define MPU6886_GYRO_CONFIG 0x1B
+#define MPU6886_ACCEL_CONFIG 0x1C
+#define MPU6886_ACCEL_CONFIG2 0x1D
+#define MPU6886_FIFO_EN 0x23
+
+//#define G (9.8)
+#define RtA 57.324841
+#define AtR 0.0174533
+#define Gyro_Gr 0.0010653
+
+enum Ascale
+{
+    AFS_2G = 0,
+    AFS_4G,
+    AFS_8G,
+    AFS_16G
+} ;
+
+enum Gscale
+{
+    GFS_250DPS = 0,
+    GFS_500DPS,
+    GFS_1000DPS,
+    GFS_2000DPS
+};
+
+int mpu6886_start(void);
+void mpu6886_get_accel_adc(int16_t *ax, int16_t *ay, int16_t *az);
+void mpu6886_get_gyro_adc(int16_t *gx, int16_t *gy, int16_t *gz);
+void mpu6886_get_temp_adc(int16_t *t);
+
+void mpu6886_get_accel_data(float *ax, float *ay, float *az);
+void mpu6886_get_gyro_data(float *gx, float *gy, float *gz);
+void mpu6886_get_temp_data(float *t);
+
+void mpu6886_set_gyro_fsr(int scale);
+void mpu6886_set_accel_fsr(int scale);
+
+#endif