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IMO support in usermod games, add 3D IMO cube effect

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- platformio: add USERMOD_MPU6050_IMU and ElectronicCats/MPU6050 @ 0.6.0 to esp32mdevums
- USERMOD_MPU6050_IMU: update readme.md and usermod_mpu650_imu.h
- usermod_v2_games: support for  USERMOD_MPU6050_IMU, add mode_IMUTest and class Frame3D and mode_3DIMUCube, remove old gyro handling
- usermods_list.cpp: add USERMOD_MPU6050_IMU
This commit is contained in:
Ewowi
2022-09-27 15:19:58 +02:00
parent 471ccf946b
commit 9414f531dd
5 changed files with 387 additions and 215 deletions
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19
usermods/mpu6050_imu/readme.md
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@@ -20,9 +20,9 @@ react to the globes orientation. See the blog post on building it <https://www.r
I2Cdev and MPU6050 must be installed.
To install them, add I2Cdevlib-MPU6050@fbde122cc5 to lib_deps in the platformio.ini file.
To install them, add ElectronicCats/MPU6050 @ 0.6.0 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)
<!-- 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:
@@ -36,7 +36,7 @@ lib_deps =
AsyncTCP@1.0.3
Esp Async WebServer@1.2.0
IRremoteESP8266@2.7.3
I2Cdevlib-MPU6050@fbde122cc5
ElectronicCats/MPU6050 @ 0.6.0
```
## Wiring
@@ -77,18 +77,19 @@ 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`.
<!-- 1. Copy the file `usermod_mpu6050_imu.h` to the `wled00` directory. -->
2. Register the usermod by adding `#include "usermod_mpu6050_imu.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"
#ifdef USERMOD_MPU6050_IMU
#include "../usermods/mpu6050_imu/usermod_mpu6050_imu.h"
#endif
void registerUsermods()
{
#ifdef USERMOD_MPU6050_IMU
usermods.add(new MPU6050Driver());
}
#endif
```

238
usermods/mpu6050_imu/usermod_mpu6050_imu.h
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@@ -2,6 +2,17 @@
#include "wled.h"
#ifdef WLED_DEBUG
#define DEBUG_PRINT_IMU(x) Serial.print(x)
#define DEBUG_PRINT_IMULN(x) Serial.println(x)
#define DEBUG_PRINT_IMUF(x...) Serial.printf(x)
#else
#define DEBUG_PRINT_IMU(x)
#define DEBUG_PRINT_IMULN(x)
#define DEBUG_PRINT_IMUF(x...)
#endif
/* 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
@@ -26,15 +37,14 @@
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)
libraries add ElectronicCats/MPU6050 @ 0.6.0 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
@@ -56,6 +66,7 @@ class MPU6050Driver : public Usermod {
private:
MPU6050 mpu;
bool enabled = true;
unsigned long lastUMRun = millis();
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
@@ -65,47 +76,61 @@ class MPU6050Driver : public Usermod {
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
public:
// orientation/motion vars
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
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and 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() {
DEBUG_PRINT_IMULN("mpu setup");
PinManagerPinType pins[2] = { { i2c_scl, true }, { i2c_sda, true } };
if (!pinManager.allocateMultiplePins(pins, 2, PinOwner::HW_I2C)) { enabled = false; return; }
// 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
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);
Fastwire::setup(400, true);
#endif
// // initialize serial communication
// // (115200 chosen because it is required for Teapot Demo output, but it's
// // really up to you depending on your project)
// Serial.begin(115200);
// while (!Serial); // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
DEBUG_PRINTLN(F("Initializing I2C devices..."));
DEBUG_PRINT_IMULN(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
DEBUG_PRINTLN(F("Testing device connections..."));
DEBUG_PRINTLN(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
DEBUG_PRINT_IMULN(F("Testing device connections..."));
DEBUG_PRINT_IMULN(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// // wait for ready
// DEBUG_PRINT_IMULN(F("\nSend any character to begin DMP programming and demo: "));
// while (Serial.available() && Serial.read()); // empty buffer
// while (!Serial.available()); // wait for data
// while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
DEBUG_PRINTLN(F("Initializing DMP..."));
DEBUG_PRINT_IMULN(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
@@ -116,77 +141,52 @@ class MPU6050Driver : public Usermod {
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
DEBUG_PRINTLN(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
#ifdef WLED_DEBUG
mpu.PrintActiveOffsets();
#endif
// turn on the DMP, now that it's ready
DEBUG_PRINT_IMULN(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
DEBUG_PRINTLN(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// enable Arduino interrupt detection
DEBUG_PRINT_IMU(F("Enabling interrupt detection (Arduino external interrupt "));
DEBUG_PRINT_IMU(digitalPinToInterrupt(INTERRUPT_PIN));
DEBUG_PRINT_IMULN(F(")..."));
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
DEBUG_PRINTLN(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// set our DMP Ready flag so the main loop() function knows it's okay to use it
DEBUG_PRINT_IMULN(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
// 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)
DEBUG_PRINT(F("DMP Initialization failed (code "));
DEBUG_PRINT(devStatus);
DEBUG_PRINTLN(F(")"));
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
DEBUG_PRINT_IMU(F("DMP Initialization failed (code "));
DEBUG_PRINT_IMU(devStatus);
DEBUG_PRINT_IMULN(F(")"));
}
}
/*
* connected() is called every time the WiFi is (re)connected
* Use it to initialize network interfaces
*/
void connected() {
//DEBUG_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 (!enabled || !dmpReady || strip.isUpdating()) 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();
DEBUG_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;
if (!enabled || (strip.isUpdating() && (millis() - lastUMRun < 2))) return; // be nice, but not too nice
lastUMRun = millis(); // update time keeping
if (!dmpReady) return;
// read a packet from FIFO
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
//NOTE: some of these can be removed to save memory, processing time
// if the measurement isn't needed
mpu.dmpGetQuaternion(&qat, fifoBuffer);
@@ -200,25 +200,24 @@ class MPU6050Driver : public Usermod {
}
}
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");
StaticJsonDocument<600> doc; //measured 528
JsonObject imu_meas = doc.createNestedObject("IMU");
#ifdef WLED_DEBUG
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]);
euler_json.add(euler[0] * 180/M_PI);
euler_json.add(euler[1] * 180/M_PI);
euler_json.add(euler[2] * 180/M_PI);
JsonArray accel_json = imu_meas.createNestedArray("Accel");
accel_json.add(aa.x);
accel_json.add(aa.y);
@@ -227,10 +226,6 @@ class MPU6050Driver : public Usermod {
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);
@@ -239,49 +234,54 @@ class MPU6050Driver : public Usermod {
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]);
#endif
JsonArray world_json = imu_meas.createNestedArray("WorldAccel");
world_json.add(aaWorld.x);
world_json.add(aaWorld.y);
world_json.add(aaWorld.z);
JsonArray orient_json = imu_meas.createNestedArray("YPR");
orient_json.add(ypr[0] * 180/M_PI);
orient_json.add(ypr[1] * 180/M_PI);
orient_json.add(ypr[2] * 180/M_PI);
char stringBuffer[300]; // measured 266
serializeJson(imu_meas, stringBuffer);
JsonArray mainObject = user.createNestedArray("IMU");
mainObject.add(stringBuffer);
// Serial.printf("imu_meas %u (%u %u) stringBuffer %u\n", (unsigned int)imu_meas.memoryUsage(), (unsigned int)imu_meas.size(), (unsigned int)imu_meas.nesting(), strlen(stringBuffer));
}
/*
* 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) DEBUG_PRINTLN(F("Don't burn down your garage!"));
//}
// void addToConfig(JsonObject& root)
// {
// JsonObject top = root.createNestedObject("MPU6050");
// top[FPSTR("enabled")] = enabled;
/*
* addToConfig() can be used to add custom persistent settings to the cfg.json file in the "um" (usermod) object.
* It will be called by WLED when settings are actually saved (for example, LED settings are saved)
* I highly recommend checking out the basics of ArduinoJson serialization and deserialization in order to use custom settings!
*/
// void addToConfig(JsonObject& root)
// {
// JsonObject top = root.createNestedObject("MPU6050_IMU");
// JsonArray pins = top.createNestedArray("pin");
// pins.add(HW_PIN_SCL);
// pins.add(HW_PIN_SDA);
// }
// JsonObject interruptPin = top.createNestedObject(FPSTR("interruptPin"));
// interruptPin["pin"] = interruptPin;
// }
// bool readFromConfig(JsonObject& root)
// {
// JsonObject top = root[FPSTR("MPU6050")];
// bool configComplete = !top.isNull();
// configComplete &= getJsonValue(top[FPSTR("enabled")], enabled);
// configComplete &= getJsonValue(top[FPSTR("interruptPin")]["pin"], interruptPin);
// return configComplete;
// }
/*
* 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;