Add MPU6050 library and sample code #2655

xeonqq · 2023-07-28T10:26:02Z

No description provided.

what-the-diff · 2023-07-28T10:26:37Z

PR Summary

Introduction of MPU6050 library
This version adds a new directory for the MPU6050 library. It removes redundant functionalities and includes process simplifications in the form of using built-in functions.
Dependency on I2Cdev component
The MPU6050 library now relies on the I2Cdev component, which means they work together and changes in one could impact the other.
3D Math Calculations Enhancement
Additionally, we have implemented helper math functions and classes to boost our 3D math calculations.
Accelerometer and Gyroscope Reader Sample
A new sample module for reading and printing the accelerometer and gyroscope values from MPU6050 has been added which should serve as a practical reference for usage.
Sample Module Dependencies and Configuration
The sample module is dependent on our new MPU6050 library and specifically excludes network functionalities.
Visual Context
For a better understanding, an image file of the MPU6050 sensor has been included.

mikee47

A few thoughts

mikee47 · 2023-07-28T11:01:16Z

samples/Accel_Gyro_MPU6050/app/application.cpp

+	Serial.print("a/g:\t");
+	Serial.print(ax);
+	Serial.print("\t");
+	Serial.print(ay);
+	Serial.print("\t");
+	Serial.print(az);
+	Serial.print("\t");
+	Serial.print(gx);
+	Serial.print("\t");
+	Serial.print(gy);
+	Serial.print("\t");
+	Serial.println(gz);


Or Serial << "a/g:\t" << ax << "\t" << ay << "\t" << az << "\t" << gx << "\t" << gy << "\t" << gz << endl;

mikee47 · 2023-07-28T11:06:04Z

Sming/Libraries/MPU6050/helper_3dmath.h

+		z /= m;
+	}
+
+	VectorFloat getNormalized()


mikee47 · 2023-07-28T11:17:18Z

Sming/Libraries/MPU6050/helper_3dmath.h

+	}
+};
+
+class VectorInt16


VectorInt16 and VectorFloat are essentially duplicates; use class template.

template <typename T> class Vector { public: T x; T y; T z; Vector(): x{}, y{}, z{} { } Vector(T nx, T ny, T nz): x(nx), y(ny), z(nz) { } // Explicit copy constructor Vector(const Vector& other): x(other.x), y(other.y), z(other.z) { } float getMagnitude() { return sqrt(x * x + y * y + z * z); } void normalize() { auto m = getMagnitude(); // MUST check for divide-by-zero if(m) { x /= m; y /= m; z /= m; } } Vector getNormalized() { Vector r(*this); r.normalize(); return r; } // NOTE: Use reference parameter, not pointer void rotate(const Quaternion& q) { // http://www.cprogramming.com/tutorial/3d/quaternions.html // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm // http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation // ^ or: // http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1 // P_out = q * P_in * conj(q) // - P_out is the output vector // - q is the orientation quaternion // - P_in is the input vector (a*aReal) // - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], // q*=[w,-x,-y,-z]) Quaternion p(0, x, y, z); // quaternion multiplication: q * p, stored back in p p = q.getProduct(p); // quaternion multiplication: p * conj(q), stored back in p p = p.getProduct(q.getConjugate()); // p quaternion is now [0, x', y', z'] x = p.x; y = p.y; z = p.z; } Vector getRotated(const Quaternion& q) const { Vector r(*this); r.rotate(q); return r; } }; using VectorInt16 = Vector<int16_t>; using VectorFloat = Vector<float>;

mikee47 · 2023-07-28T11:24:44Z

Sming/Libraries/MPU6050/helper_3dmath.h

+						  w * q.z + x * q.y - y * q.x + z * q.w); // new z
+	}
+
+	Quaternion getConjugate()


Quaternion getConjugate() const

mikee47 · 2023-07-28T11:25:12Z

Sming/Libraries/MPU6050/helper_3dmath.h

+		z = nz;
+	}
+
+	Quaternion getProduct(Quaternion q)


Quaternion getProduct(const Quaternion& q) Use pass-by-reference instead of copy

mikee47 · 2023-07-28T11:26:22Z

Sming/Libraries/MPU6050/helper_3dmath.h

+		return Quaternion(w, -x, -y, -z);
+	}
+
+	float getMagnitude()


float getMagnitude() const

mikee47 · 2023-07-28T11:27:18Z

Sming/Libraries/MPU6050/helper_3dmath.h

+	Quaternion()
+	{
+		w = 1.0f;
+		x = 0.0f;
+		y = 0.0f;
+		z = 0.0f;
+	}
+
+	Quaternion(float nw, float nx, float ny, float nz)
+	{
+		w = nw;
+		x = nx;
+		y = ny;
+		z = nz;
+	}


Use static initialization in constructors

Quaternion(): w(1), x(0), y(0), z(0) { } Quaternion(float nw, float nx, float ny, float nz): w(nw), x(nx), y(ny), z(nz) { }

Also add copy constructor:

Quaternion(const Quaternion& other): w(other.w), x(other.x), y(other.y), z(other.z) { }

mikee47 · 2023-07-28T11:29:49Z

Sming/Libraries/MPU6050/helper_3dmath.h

+		z /= m;
+	}
+
+	Quaternion getNormalized()


Quaternion getNormalized() const

mikee47 · 2023-07-28T11:30:06Z

Sming/Libraries/MPU6050/helper_3dmath.h

+
+	Quaternion getNormalized()
+	{
+		Quaternion r(w, x, y, z);


Quaternion r(*this);

mikee47 · 2023-07-28T11:31:02Z

samples/Accel_Gyro_MPU6050/app/application.cpp

+	mpu.initialize();
+	Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
+
+	mainLoopTimer.initializeMs(static_cast<int>(mainLoopInterval * 1000), mainLoop).start();


or mainLoopTimer.initializeMs<mainLoopInterval * 1000>(mainLoop).start(); as mainLoopInterval is declared constexpr

xeonqq · 2023-07-28T14:16:02Z

After a closer examination, I realized the quaternion related code is not used in this part of the library (see here). So I simply deleted it to keep the library lean.

The other comments of yours I have addressed. Thank you for the feedback. Please have a look again~

slaff · 2023-07-29T10:12:43Z

@mikee47 The build with IDF v5.0 is failing. I was able to reproduce the issue on my machine and it seems to not be related to this PR. Can you check if we have to downgrade/upgrade the pyparse version?

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen.py", line 183, in <module>
    main()
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen.py", line 159, in main
    mapping_rules = generation_model.generate(sections_infos)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/generation.py", line 514, in generate
    root_node.insert(entity, sections, target, flags, entities)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/generation.py", line 241, in insert
    self.child_placement(entity, sections, target, flags, sections_db)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/generation.py", line 233, in child_placement
    child.insert(entity, sections, target, flags, sections_db)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/generation.py", line 241, in insert
    self.child_placement(entity, sections, target, flags, sections_db)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/generation.py", line 233, in child_placement
    child.insert(entity, sections, target, flags, sections_db)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/generation.py", line 241, in insert
    self.child_placement(entity, sections, target, flags, sections_db)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/generation.py", line 296, in child_placement
    found_sections = sections_db.get_sections(self.parent.name, self.name)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/entity.py", line 197, in get_sections
    obj = self._match_obj(archive, obj)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/entity.py", line 183, in _match_obj
    objs = self.get_objects(archive)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/entity.py", line 176, in get_objects
    self._process_archive(archive)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/entity.py", line 164, in _process_archive
    parsed = self._get_infos_from_file(stored)
  File "/opt/esp-idf-5.0/tools/ldgen/ldgen/entity.py", line 154, in _get_infos_from_file
    raise ParseException('Unable to parse section info file ' + info.filename + '. ' + p.msg)
pyparsing.exceptions.ParseException: Unable to parse section info file /home/runner/work/Sming/Sming/Sming/out/Esp32/esp32/debug/build/esp32/sdk/esp-idf/esp_event/libesp_event.a. Expected end of text  (at char 0), (line:1, col:1)
ninja: build stopped: subcommand failed.
Error: Process completed with exit code 2.

mikee47

This is an example of code which got written with a 'C' viewpoint rather than C++. More robust, easier to manage and safer to use references instead of pointers, structures instead of long parameter lists, etc. Hopefully this all makes sense?

mikee47 · 2023-07-29T09:42:25Z

Sming/Libraries/MPU6050/MPU6050.cpp

+/** Default constructor, uses default I2C address.
+ * @see MPU6050_DEFAULT_ADDRESS
+ */
+MPU6050::MPU6050() : devAddr{MPU6050_DEFAULT_ADDRESS}


Trivial methods should be moved to header (compiler cannot optimise what it cannot see)

mikee47 · 2023-07-29T09:42:38Z

Sming/Libraries/MPU6050/MPU6050.cpp

+ * @see MPU6050_ADDRESS_AD0_LOW
+ * @see MPU6050_ADDRESS_AD0_HIGH
+ */
+MPU6050::MPU6050(uint8_t address) : devAddr{address}


Move to header

mikee47 · 2023-07-29T09:42:51Z

Sming/Libraries/MPU6050/MPU6050.cpp

+bool MPU6050::testConnection()
+{
+	return getDeviceID() == 0x34;
+}
+


Move to header ?

mikee47 · 2023-07-29T09:44:42Z

Sming/Libraries/MPU6050/MPU6050.cpp

+	if(num > 3)
+		return 0;


Use braces for conditionals:

if(num > 3) { return 0; }

mikee47 · 2023-07-29T09:44:54Z

Sming/Libraries/MPU6050/MPU6050.cpp

+	if(num > 3)
+		return;


mikee47 · 2023-07-29T11:42:34Z

Sming/Libraries/MPU6050/MPU6050.cpp

+	I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+	return buffer[0];


Using helper

return readBits(MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH);

mikee47 · 2023-07-29T11:45:24Z

Sming/Libraries/MPU6050/MPU6050.cpp

+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]);
+	I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]);
+	return (buffer[0] >> 3) | ((buffer[1] >> 2) & 0x03);


Using helpers:

uint8_t y = readByte(MPU6050_RA_SELF_TEST_Y); uint8_t a = readByte(MPU6050_RA_SELF_TEST_A); return (y >> 3) | ((a >> 2) & 0x03);

Sming/Libraries/MPU6050/component.mk

@@ -0,0 +1 @@
+COMPONENT_DEPENDS := I2Cdev


mikee47 · 2023-07-29T11:49:49Z

Sming/Libraries/MPU6050/MPU6050.h

+#define MPU6050_DMP_MEMORY_BANK_SIZE 256
+#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
+
+// note: DMP code memory blocks defined at end of header file


Remove comment (or edit to make sense)

mikee47 · 2023-07-29T11:51:23Z

Sming/Libraries/MPU6050/MPU6050.h

+	uint8_t buffer[14] = {0};
+};
+
+#endif /* _MPU6050_H_ */


Remove (#pragma once)

xeonqq · 2023-08-01T17:20:10Z

Thanks for the review, I agree the code which I copy/paste is not to the standard of Sming. I will do the refactoring when I find time. Currently I want to first prototype the balance robot I am working on:)

slaff · 2023-09-12T09:37:21Z

@xeonqq are you ready with all changes to this PR?

xeonqq · 2023-09-13T11:45:04Z

@xeonqq are you ready with all changes to this PR?

No, not yet, there are still many comments I didn't address yet. Quite some workload. I will remove the wip tag in the PR title once I am ready for another review.

The code is not used, since MPU6050_6Axis_MotionApps20.h and MPU6050_9Axis_MotionApps41.h due to deps to freeRTOS are not included

Move trival functions to header

For simplicity and code quality, they are deleted at the moment

xeonqq · 2023-11-04T15:39:21Z

@mikee47 ready for review again. Sorry for the delayed PR.
I in the end deleted Calibration and Memory Block related code for simplicity and code quality reason, anyway that is not frequently used functionality.
I fail one of the CI checks, it's about some clock cycles I am not sure if it's related to my change.

mikee47 · 2023-11-07T11:17:25Z

I fail one of the CI checks, it's about some clock cycles I am not sure if it's related to my change.

Does that sometimes, host emulator isn't perfect :-( Re-running the test

Sming/Libraries/MPU6050/MPU6050.cpp

Sming/Libraries/MPU6050/MPU6050.h

mikee47 · 2023-11-07T11:54:37Z

Sming/Libraries/MPU6050/README.rst

+API Documentation
+-----------------
+
+.. doxygenclass:: MPU6050
+   :members:
+
+# MPU6050 Six-Axis (Gyro + Accelerometer)
+Based on code from [jrowberg/i2cdevlib](https://github.com/jrowberg/i2cdevlib/tree/master/ESP32_ESP-IDF/components/MPU6050) @ 605a740. Most of the code is the same, except:
+
+-   Removed MPU6050::ReadRegister function due to incompatibility. It is also not used anywhere in the original code.
+-   MPU6050_6Axis_MotionApps20.h and MPU6050_9Axis_MotionApps41.h are not included due to deps to freeRTOS. helper_3dmath.h is also not included since it is only used in the above mentioned files.
+-   Removed map function in favor of the Sming built-in one.
+-   Adapted include path, coding style and applied clangformat
+-   Deleted Calibration and Memory Block related code for code quality reason


Have a look at other libraries/Components for general layout. Heading must be double-underlined (level 1) and give a good name for the library. For example:

MPU6050 Gyro / Accelerometer ============================

Follow this with the description. Note that .rst files (restructured text) syntax differs from markdown so remember to fix links, e.g.

`jrowberg/i2cdevlib<https://github.com/jrowberg/i2cdevlib/tree/master/ESP32_ESP-IDF/components/MPU6050>`

And put the API section last.

I took look of some, but they are not very consistent. I do get confused on how to write it properly

Yeah, takes a bit of getting used to but has advantages to markdown! See https://sming.readthedocs.io/en/latest/information/develop/documentation.html

mikee47

You've inadvertently reverted the FlashString and IFS libraries! Other than that, and the documentation change, looks great! I assume it's all working and tested on actual hardware?

xeonqq · 2023-11-07T14:36:55Z

You've inadvertently reverted the FlashString and IFS libraries! Other than that, and the documentation change, looks great! I assume it's all working and tested on actual hardware?

I just realized that too, and reverted the unintended change of the submodules.

I tested on esp8266 and mpu6050, but only the functions used in the sample program. So I can't say for sure it is bullet proof.
And tested assertion is working as expected.

mikee47 · 2023-11-07T20:30:31Z

Sming/Libraries/MPU6050/README.rst

+   :members:
+
+# MPU6050 Six-Axis (Gyro + Accelerometer)
+Based on code from `jrowberg/i2cdevlib <https://github.com/jrowberg/i2cdevlib/tree/master/ESP32_ESP-IDF/components/MPU6050>` @ 605a740. Most of the code is the same, except:
+


Almost... remove :members: and line starting '#'. Also the URL requires __ at the end!

Based on code from `jrowberg/i2cdevlib <https://github.com/jrowberg/i2cdevlib/tree/master/ESP32_ESP-IDF/components/MPU6050>`__ @ 605a740. Most of the code is the same, except:

slaff

Fix small typos.

slaff · 2023-11-08T09:35:50Z

Sming/Libraries/MPU6050/MPU6050.cpp

+// Changelog:
+//     ... - ongoing debug release
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY


Fix typo, replace PARIAL with PARTIAL.

slaff · 2023-11-08T09:36:13Z

Sming/Libraries/MPU6050/MPU6050.h

+// (RM-MPU-6000A-00)
+// Based On https://github.com/jrowberg/i2cdevlib
+
+// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY


Fix typo, replace PARIAL with PARTIAL.

slaff · 2023-11-08T09:37:16Z

Sming/Libraries/MPU6050/MPU6050.h

+
+	const auto sz = sizeof(T);
+	uint8_t buffer[sz] = {0};
+	//data follow big endien convention


Fix typo, replace endien with endian.

xeonqq force-pushed the feature/mpu6050_library branch from 0f7ed88 to dbbb278 Compare July 28, 2023 10:50

mikee47 reviewed Jul 28, 2023

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xeonqq force-pushed the feature/mpu6050_library branch from 4bc6dfc to ad9fe43 Compare July 28, 2023 14:05

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xeonqq force-pushed the feature/mpu6050_library branch from ad9fe43 to d22c2c8 Compare July 29, 2023 09:03

xeonqq changed the title ~~Add MPU6050 library and sample code~~ {WIP} Add MPU6050 library and sample code Jul 29, 2023

xeonqq force-pushed the feature/mpu6050_library branch from d22c2c8 to bc9f997 Compare July 29, 2023 09:21

xeonqq changed the title ~~{WIP} Add MPU6050 library and sample code~~ Add MPU6050 library and sample code Jul 29, 2023

mikee47 reviewed Jul 29, 2023

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slaff added this to the 5.1.0 milestone Aug 1, 2023

slaff added the 3 - Review label Aug 1, 2023

xeonqq changed the title ~~Add MPU6050 library and sample code~~ [WIP] Add MPU6050 library and sample code Sep 10, 2023

xeonqq added 12 commits November 4, 2023 10:47

Add MPU6050 library and sample code

4edcf6b

Adapt coding style

d38f5c3

Refactor application.cpp for MPU6050 sample

1a1c3ce

Delete quaternion related code

271296a

The code is not used, since MPU6050_6Axis_MotionApps20.h and MPU6050_9Axis_MotionApps41.h due to deps to freeRTOS are not included

Refactor coding style in MPU6050 library

7e86618

Introduce readByte and readBits helpers

9ec0afb

Move trival functions to header

Refactor braces and make helpers private

0adb5b2

Add readBit helper

3ee7765

Introduce Motion3/6 and overload printTo func

84d86c0

Remove redefinition of pgm_read_byte and some deadcode

7094ede

Add doxygen enabler in README.rst

fa1612d

Introduce readReg function and remove buffer member from class

60a96d4

xeonqq added 2 commits November 4, 2023 10:47

Move one liner functions to header

d970ee2

Delete Calibration and Memory Block related code

c5a7909

For simplicity and code quality, they are deleted at the moment

xeonqq force-pushed the feature/mpu6050_library branch from 6d6c6c4 to c5a7909 Compare November 4, 2023 09:47

Update readme

5fd6c61

xeonqq changed the title ~~[WIP] Add MPU6050 library and sample code~~ Add MPU6050 library and sample code Nov 4, 2023

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Refactor to use ASSERT_SLAVE_ID_VALID

0327384

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Update readme format

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README format

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Fix typos

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slaff added 3.5 - Approved - Waiting for CI results and removed 3 - Review labels Nov 8, 2023

slaff merged commit 9f55c7a into SmingHub:develop Nov 9, 2023
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sreggy mentioned this pull request Nov 14, 2023

ESP32 on MacOS M2 (ARM) #2682

Closed

slaff mentioned this pull request Dec 12, 2023

Preparation for Release 5.1.0 #2650

Closed

5 tasks

		I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
		return buffer[0];

Add MPU6050 library and sample code #2655

Add MPU6050 library and sample code #2655

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xeonqq commented Jul 28, 2023

what-the-diff bot commented Jul 28, 2023

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xeonqq commented Jul 28, 2023

slaff commented Jul 29, 2023

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mikee47 Jul 29, 2023 •

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xeonqq commented Aug 1, 2023 •

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