Jeetrohan mpu60xx 1 (BSP-568)

components/mpu60xx/CMakeLists.txt

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+idf_component_register(SRCS "mpu60xx.c"
+                    INCLUDE_DIRS "include")

components/mpu60xx/README.md

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+# mpu60xx
+I2C driver for MPU60xx family IMU. 
+
+## Features  
+  - Read Accelerometer, Gyrometer and Temperature sensor as raw or floating values.
+  - Use in-buit Motion Detection feature using either interrupt or polling.
+
+## Limitations
+  - Does NOT support esp-idf Legacy I2C driver (documentation indicates it'll be removed in future releases).
+  - Not tested with MPU6000. ( TRM indicates it should also work, same register set as MPU6050.)
+  - Supports only I2C protocol ( Only MPU6000 has SPI capability.)
+
+## Important Note
+  - Use deferred processing to handle interrupts from MPU60xx, I2C driver require interrupt to read/write (see example).
+  - INT pin of MPU60xx is required to be connected to esp32 gpio for interrupt. 
+
+## Feature for next release (planned)
+  MPU60xx has many more features which haven't been implemented in this library currently, but are planned to be added in further releases. The next intended feature is
+ - Zero motion detection.
+
+
+

components/mpu60xx/examples/mpu_motion_detect/CmakeLists.txt

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+# For more information about build system see
+# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+set(COMPONENTS main)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(mpu60xx_motion_detect)

components/mpu60xx/examples/mpu_motion_detect/main/CMakeLists.txt

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+idf_component_register(SRCS "mpu60xx_motion_detect.c"
+                    INCLUDE_DIRS ".")

components/mpu60xx/examples/mpu_motion_detect/main/idf_component.yml

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+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: ">=4.1.0"
+  # # Put list of dependencies here
+  mpu60xx:
+    version: "*"
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true

components/mpu60xx/examples/mpu_motion_detect/main/mpu_motion_detect.c

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+/*
+ * mpu60xx.h
+ *
+ *  Created on: 15-Oct-2024
+ *      Author: rohan
+ */
+
+#include "freertos/FreeRTOS.h"
+#include "mpu60xx.h"
+
+
+
+//i2c configuration values
+#define I2C_MASTER_SCL_IO           (22)    // SCL pin
+#define I2C_MASTER_SDA_IO           (21)    // SDA pin
+#define I2C_MASTER_NUM              I2C_NUM_0 
+#define I2C_MASTER_FREQ_HZ          (100000)  // I2C frequency
+
+#define MPU_INTERRUPT_PIN           (23)
+
+
+
+i2c_master_bus_handle_t my_bus_handle;
+i2c_master_dev_handle_t my_mpu_60xx_handle;
+
+TaskHandle_t handler_task;
+static SemaphoreHandle_t s_bin_sem;
+
+#define ESP_INTR_FLAG_DEFAULT 0
+
+
+
+ void i2c_master_init(void) {
+	i2c_master_bus_config_t i2c_mst_config = {
+    .clk_source = I2C_CLK_SRC_DEFAULT,
+    .i2c_port = I2C_MASTER_NUM ,
+    .scl_io_num = I2C_MASTER_SCL_IO,
+    .sda_io_num = I2C_MASTER_SDA_IO,
+    .glitch_ignore_cnt = 7,
+    .flags.enable_internal_pullup = true,
+};
+	printf("requesting i2c bus handle\n");
+ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_mst_config, &my_bus_handle));
+	printf("i2c bus handle acquired\n");
+
+
+}
+
+ volatile uint32_t count =0;
+ void intr_isr_handler(void * arg)
+{
+    //vTaskResume(handler_task);
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+	xSemaphoreGiveFromISR(s_bin_sem, &xHigherPriorityTaskWoken);
+}
+
+void read_data(void * mpu_handle){
+
+    mpu60xx_reading_t sensor_data;
+    mpu60xx_handle_t my_dev_handle = *(mpu60xx_handle_t*)mpu_handle; 
+    bool status;
+    while (1) {
+
+        if(xSemaphoreTake(s_bin_sem, 20/portTICK_PERIOD_MS) == pdPASS){
+            ESP_ERROR_CHECK( mpu60xx_read_sensor (my_dev_handle , &sensor_data ));
+            printf("aX = %.3f m/s, aY = %.3f m/s, aZ = %.3f m/s, t=%.3f C, gX = %.3f dps gY = %.3f dps gZ = %.3f dps\n", sensor_data.accX, sensor_data.accY, sensor_data.accZ, sensor_data.temperature,sensor_data.gyroX, sensor_data.gyroY, sensor_data.gyroZ); 
+            ESP_ERROR_CHECK(mpu60xx_getMotionInterruptStatus(my_dev_handle,&status));
+        }         
+    } 
+}
+
+
+void app_main(void) {
+
+    //static const mpu60xx_reading sensor_data;
+    i2c_master_init();
+
+    mpu60xx_init_config_t mpu_6050_config =
+    {
+		.scl_speed_hz = I2C_MASTER_FREQ_HZ,
+	 	.gyro_res= MPU60XX_RANGE_500_DEG,
+		.accel_res = MPU60XX_RANGE_8_G,
+		.temp_sensor=true,
+		.dlpf_bw =MPU60XX_BAND_94_HZ,
+		.sample_rate= 200
+	};
+
+	mpu60xx_handle_t dev_6050_handle = {
+        .bus_handle = &my_bus_handle,
+        .dev_handle = &my_mpu_60xx_handle
+        };
+
+	printf("requesting mpu handle\n");
+	while (mpu60xx_init(mpu_6050_config, dev_6050_handle) != ESP_OK)
+				vTaskDelay(200/portTICK_PERIOD_MS);
+	printf("mpu handle acquired\n");
+
+
+
+	mpu60xx_motion_detect_config_t mot_det=
+	{
+		.motion_threshold=2,
+		.motion_duration=10,
+		.dhpf_bw=MPU60XX_HIGHPASS_0_63_HZ
+	};
+
+	mpu60xx_intrpt_config_t md_intr_conf =	{
+		.interrupt_pin =(gpio_num_t)MPU_INTERRUPT_PIN,
+		.active_level = MPU60XX_INTERRUPT_PIN_ACTIVE_LOW,
+		.pin_mode = MPU60XX_INTERRUPT_PIN_PUSH_PULL,
+		.interrupt_latch = MPU60XX_INTERRUPT_LATCH_UNTIL_CLEARED,
+		.interrupt_clear_behavior = MPU60XX_INTERRUPT_CLEAR_ON_STATUS_READ,
+		.isr = intr_isr_handler
+	};
+
+	vTaskDelay(200/portTICK_PERIOD_MS);
+	mpu60xx_en_MotionDetection(&dev_6050_handle,&mot_det,&md_intr_conf);
+	s_bin_sem=xSemaphoreCreateBinary();
+
+  xTaskCreate(read_data, "apna_imu_tester", 2500, &dev_6050_handle, 5, &handler_task);    
+}
+

components/mpu60xx/idf_component.yml

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+## IDF Component Manager Manifest File
+
+description: MPU60xx I2C driver
+
+maintainers: 
+  - "Rohan Jeet <[email protected]>"
+
+dependencies:
+  ## Required IDF version
+  idf:
+    version: ">=4.1.0"
+  # # Put list of dependencies here
+  #
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  #
+  esp_driver_i2c: "*"
+  esp_driver_gpio: "*"
+  #
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true