new component: mpu6050

CMakeLists.txt

@@ -6,3 +6,6 @@ cmake_minimum_required(VERSION 3.5)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(Bike-Computer)
+
+# User Components
+set(EXTRA_COMPONENT_DIRS "./components")

components/mpu6050/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRCS "mpu6050.c"
+                       INCLUDE_DIRS ".")

components/mpu6050/README.md

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+# mpu6050
+
+This component is a driver for the MPU6050 6-axis motion tracking device.
+
+Author: [@MaxwellJay256](https://github.com/MaxwellJay256)
+
+Reference: [*esp32系列(10)：mpu6050驱动 - CSDN*](http://t.csdnimg.cn/vPGnV)
+
+## Content
+
+This component only has two source files, plus a `CMakeLists.txt` file.
+- [mpu6050.h](./mpu6050.h): The header file of the driver.
+- [mpu6050.c](./mpu6050.c): The source file of the driver.
+- [CMakeLists.txt](./CMakeLists.txt): A CMake file registering this component.
+
+## Usage
+
+### Edit the variables and macros
+
+There are 4 macros you must notice in [`mpu6050.h`](./mpu6050.h).
+You should edit them to fit your hardware.
+The default values are suitable for `ESP32-DevKitC`.
+
+```c
+#define MPU6050_I2C_SDA 19             // MPU6050 I2C 的 SDA 引脚
+#define MPU6050_I2C_SCL 18             // MPU6050 I2C 的 SCL 引脚
+#define MPU6050_I2C_FREQ 400000        // MPU6050 I2C 的频率
+#define MPU6050_I2C_PORT_NUM I2C_NUM_0 // MPU6050 的 I2C 端口号
+```
+
+Next, in [`mpu6050.c`](./mpu6050.c), you should pay attention to the `mpu6050_init_cmd` structure, which provides the initialization commands for the MPU6050.
+
+```c
+static uint8_t mpu6050_init_cmd[MPU6050_INIT_CMD_COUNT][2] = {
+    // format: {address, data}
+    {0x6B, 0x80}, // PWR_MGMT_1, DEVICE_RESET
+    {0x6B, 0x00}, // clear SLEEP
+    {0x1B, 0x18}, // Gyroscope Full Scale Range = ± 2000 °/s
+    {0x1c, 0x00}, // Accelerometer Full Scale Range = ± 2g
+    {0x38, 0x00}, // Disable Interrupt
+    {0x6A, 0x00}, // User Control.auxiliary I2C are logically driven by the primary I2C bus
+    {0x23, 0x00}, // FIFO Enable.disable
+    {0x19, 0x63}, // Sample Rate Divider.Sample Rate = 1 kHz / (1 + 99) = 10 Hz
+    {0x1A, 0x13}, // EXT_SYNC_SET = GYRO_XOUT_L[0]; Bandwidth = 3
+    {0x6B, 0x01}, // Power Management 1.PLL with X axis gyroscope reference
+    {0x6C, 0x00}, // Power Management 2
+};
+```
+
+### Call the APIs
+
+Only two functions are provided in this component.
+
+#### `esp_err_t mpu6050_init()`
+
+This function initializes the MPU6050, with the macros and variables you have edited above.
+
+#### `mpu6050_output_t mpu6050_get_value()`
+
+This function reads the data from the MPU6050, and returns a `mpu6050_output_t` structure.
+
+The structure is defined as follows:
+
+```c
+typedef struct {
+    struct {
+        int16_t x; int16_t y; int16_t z;
+    } accel;
+    int16_t temp;
+    struct {
+        int16_t x; int16_t y; int16_t z;
+    } gyro;
+} mpu6050_output_t;
+```
+
+### Example
+
+This is an example of running this component which simply
+reads the data from the MPU6050 and prints it to the serial port.
+
+```c
+#include "mpu6050.h"
+
+void app_main(void)
+{
+    mpu6050_output_t mpu6050_out;
+    mpu6050_init();
+
+    while (1)
+    {
+        mpu6050_out = mpu6050_get_value();
+        
+        printf("accl_xout: %d\t", mpu6050_out.accel.x);
+        printf("accl_yout: %d\t", mpu6050_out.accel.y);
+        printf("accl_zout: %d\n", mpu6050_out.accel.z);
+        
+        // printf("temp_out: %d\n;", mpu6050_out.temp);
+        
+        printf("gyro_xout: %d\t", mpu6050_out.gyro.x);
+        printf("gyro_yout: %d\t", mpu6050_out.gyro.y);
+        printf("gyro_zout: %d\n", mpu6050_out.gyro.z);
+        
+        vTaskDelay(100 / portTICK_RATE_MS);
+    }
+}

components/mpu6050/mpu6050.c

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+/**
+ * @file mpu6050.c
+ * @brief MPU6050 driver source file
+ * @author @MaxwellJay256
+*/
+#include "mpu6050.h"
+
+#define MPU6050_INIT_CMD_COUNT 11 // MPU6050 初始化指令的长度
+/// @brief MPU6050 的初始化指令数组
+static uint8_t mpu6050_init_cmd[MPU6050_INIT_CMD_COUNT][2] = {
+    // 格式：{寄存器地址, 值}
+    {0x6B, 0x80}, // PWR_MGMT_1，复位后 DEVICE_RESET 自动清零
+    // 此处需要等待，见 mpu6050_init() 函数的 for 循环
+    {0x6B, 0x00}, // 清除睡眠模式
+    {0x1B, 0x18}, // 陀螺仪满量程配置 = ± 2000 °/s
+    {0x1c, 0x00}, // 加速度计满量程配置 = ± 2g
+    {0x38, 0x00}, // 禁用中断
+    {0x6A, 0x00}, // 设置 AUX I2C 接口
+    {0x23, 0x00}, // 设置 FIFO
+    {0x19, 0x63}, // 设置采样率为 1 kHz / (1 + 99) = 10 Hz
+    {0x1A, 0x13}, // 设置数字低通滤波器，带宽为 44 Hz
+    {0x6B, 0x01}, // 设置系统时钟源为 X 轴陀螺仪 PLL 参考时钟
+    {0x6C, 0x00}, // 使能传感器
+};
+
+#define ACK_CHECK_EN 0x1  // I2C 主机检查从机的 ACK
+#define ACK_CHECK_DIS 0x0 // I2C 主机不检查从机的 ACK
+#define ACK_VAL 0x0       // I2C 主机发送 ACK
+#define NACK_VAL 0x1      // I2C 主机发送 NACK
+
+/// @brief 从 MPU6050 的寄存器读取数据
+/// @param i2c_num I2C 端口号
+/// @param reg_addr 要读取的寄存器地址
+/// @param data_rd 用于存储读取数据的缓冲区
+/// @param size 要读取的数据长度
+/// @return ESP_OK: Execute success
+static esp_err_t mpu6050_i2c_read(
+    i2c_port_t i2c_num, uint8_t *reg_addr, uint8_t *data_rd, size_t size)
+{
+    if (size == 0)
+        return ESP_OK;
+
+    i2c_cmd_handle_t cmd = i2c_cmd_link_create(); // 创建 I2C 指令
+    i2c_master_start(cmd);
+    i2c_master_write_byte(cmd, (MPU6050_ADDR << 1) | I2C_MASTER_WRITE, ACK_CHECK_EN); // 发送 MPU6050 地址和写入位
+    i2c_master_write_byte(cmd, *reg_addr, ACK_CHECK_EN); // 发送寄存器地址
+    i2c_master_start(cmd);
+    i2c_master_write_byte(cmd, (MPU6050_ADDR << 1) | I2C_MASTER_READ, ACK_CHECK_EN); // 发送 MPU6050 地址和读取位
+    if (size > 1)
+        i2c_master_read(cmd, data_rd, size - 1, ACK_VAL);
+    i2c_master_read_byte(cmd, data_rd + size - 1, NACK_VAL); // 读取最后一个字节
+    i2c_master_stop(cmd);
+
+    esp_err_t ret = i2c_master_cmd_begin(i2c_num, cmd, 1000 / portTICK_RATE_MS); // 发送 I2C 指令
+    i2c_cmd_link_delete(cmd); // 删除 I2C 指令
+    return ret;
+}
+
+/// @brief 向 MPU6050 写入数据
+/// @param i2c_num I2C 端口号
+/// @param data_wr 要写入的数据
+/// @param size 要写入的数据长度
+/// @return ESP_OK: Execute success
+static esp_err_t mpu6050_i2c_write(i2c_port_t i2c_num, uint8_t *data_wr, size_t size)
+{
+    i2c_cmd_handle_t cmd = i2c_cmd_link_create(); // 创建 I2C 指令
+    i2c_master_start(cmd);
+    i2c_master_write_byte(cmd, (MPU6050_ADDR << 1) | I2C_MASTER_WRITE, ACK_CHECK_EN); // 发送 MPU6050 地址和写入位
+    i2c_master_write(cmd, data_wr, size, ACK_CHECK_EN); // 发送数据
+    i2c_master_stop(cmd);
+
+    esp_err_t ret = i2c_master_cmd_begin(i2c_num, cmd, 1000 / portTICK_RATE_MS); // 发送 I2C 指令
+    i2c_cmd_link_delete(cmd); // 删除 I2C 指令
+    return ret;
+}
+
+static const char *TAG = "MPU6050";
+esp_err_t mpu6050_init()
+{
+    ESP_LOGI(TAG, "MPU6050 Initializing...");
+    esp_err_t esp_err;
+    i2c_config_t conf = {
+        .mode = I2C_MODE_MASTER,
+        .sda_io_num = MPU6050_I2C_SDA,
+        .sda_pullup_en = GPIO_PULLUP_ENABLE,
+        .scl_io_num = MPU6050_I2C_SCL,
+        .scl_pullup_en = GPIO_PULLUP_ENABLE,
+        .master.clk_speed = MPU6050_I2C_FREQ,
+    };
+
+    esp_err = i2c_param_config(MPU6050_I2C_PORT_NUM, &conf);
+    ESP_LOGI(TAG, "i2c_param_config: %d", esp_err);
+
+    esp_err = i2c_driver_install(MPU6050_I2C_PORT_NUM, conf.mode, 0, 0, 0);
+    ESP_LOGI(TAG, "i2c_driver_install: %d", esp_err);
+
+    for (size_t i = 0; i < MPU6050_INIT_CMD_COUNT; i++)
+    {
+        esp_err = mpu6050_i2c_write(MPU6050_I2C_PORT_NUM, mpu6050_init_cmd[i], 2);
+        if (i == 0)
+            vTaskDelay(500 / portTICK_RATE_MS); // 等待复位完成
+    }
+    ESP_LOGI(TAG, "mpu6050_init_cmd: %d", esp_err);
+    return esp_err;
+}
+
+mpu6050_output_t mpu6050_get_value()
+{
+    uint8_t *measurement_bytes_out = (uint8_t *)malloc(14);
+    uint8_t reg_addr = 0x3B;
+    mpu6050_i2c_read(MPU6050_I2C_PORT_NUM, &reg_addr, measurement_bytes_out, 14);
+    mpu6050_output_t measurement_out = {
+        .accel = {
+            .x = (int16_t)(measurement_bytes_out[0] << 8) | measurement_bytes_out[1],
+            .y = (int16_t)(measurement_bytes_out[2] << 8) | measurement_bytes_out[3],
+            .z = (int16_t)(measurement_bytes_out[4] << 8) | measurement_bytes_out[5],
+        },
+        .temp = (int16_t)(measurement_bytes_out[6] << 8) | measurement_bytes_out[7],
+        .gyro = {
+            .x = (int16_t)(measurement_bytes_out[8] << 8) | measurement_bytes_out[9],
+            .y = (int16_t)(measurement_bytes_out[10] << 8) | measurement_bytes_out[11],
+            .z = (int16_t)(measurement_bytes_out[12] << 8) | measurement_bytes_out[13],
+        },
+    };
+
+    return measurement_out;
+}

components/mpu6050/mpu6050.h

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+/**
+ * @file mpu6050.h
+ * @brief MPU6050 driver header file
+ * @author @MaxwellJay256
+*/
+#ifndef _MPU6050_H_
+#define _MPU6050_H_
+#include <stdio.h>
+#include <stdint.h>
+#include "esp_err.h"
+#include "driver/i2c.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+// 以下宏定义待修改
+#define MPU6050_I2C_SDA 19             // MPU6050 I2C 的 SDA 引脚
+#define MPU6050_I2C_SCL 18             // MPU6050 I2C 的 SCL 引脚
+#define MPU6050_I2C_FREQ 400000        // MPU6050 I2C 的频率
+#define MPU6050_I2C_PORT_NUM I2C_NUM_0 // MPU6050 的 I2C 端口号
+#define MPU6050_ADDR 0x68              // MPU6050 I2C 的地址 b110100(AD0)
+
+/// @brief 初始化 MPU6050
+/// @return ESP_OK: Init success
+esp_err_t mpu6050_init();
+
+typedef struct {
+    struct {
+        int16_t x;
+        int16_t y;
+        int16_t z;
+    } accel;
+    int16_t temp;
+    struct {
+        int16_t x;
+        int16_t y;
+        int16_t z;
+    } gyro;
+} mpu6050_output_t;
+
+/// @brief 读取 MPU6050 的加速度计、陀螺仪和温度计数据
+/// @return mpu6050_output_t 结构体，包含加速度计、陀螺仪和温度计数据
+mpu6050_output_t mpu6050_get_value();
+
+#endif // _MPU6050_H_