diff --git a/.github/workflows/clang-format-check.yml b/.github/workflows/clang-format-check.yml index ca37c23a..8a314c9f 100644 --- a/.github/workflows/clang-format-check.yml +++ b/.github/workflows/clang-format-check.yml @@ -8,7 +8,7 @@ jobs: matrix: path: - check: './' # path to include - exclude: '(Fonts|utility|RFID)' # path to exclude + exclude: '(Fonts|utility|RFID|THERMAL_MLX90640|HEART_MAX30100|Display|AC-SOCKET|BALA2)' # path to exclude # - check: 'src' # exclude: '(Fonts)' # Exclude file paths containing "Fonts" # - check: 'examples' diff --git a/README.md b/README.md index 56b56b56..5eda8d48 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,9 @@ English | [中文](docs/getting_started_cn.md) | [日本語](docs/getting_starte * **For the Detailed documentation of Basic, please [Click here](https://docs.m5stack.com/en/core/basic_v2.6)** -* **In order to buy Basic, please [Click here](https://shop.m5stack.com/collections/m5-controllers/products/esp32-basic-core-iot-development-kit-v2-6)** +* **In order to buy Gray, please [Click here](https://shop.m5stack.com/products/grey-development-core)** + +* **In order to buy Basic, please [Click here](https://shop.m5stack.com/products/esp32-basic-core-iot-development-kit-v2-6)** *We have several master M5Cores with different configurations, this is the difference between them [Compared](https://docs.m5stack.com/en/products_selector).* diff --git a/examples/Basics/IMU/IMU.ino b/examples/Basics/IMU/IMU.ino index 096c0288..e26f97ba 100644 --- a/examples/Basics/IMU/IMU.ino +++ b/examples/Basics/IMU/IMU.ino @@ -7,10 +7,10 @@ * 获取更多资料请访问: https://docs.m5stack.com/zh_CN/core/gray * * Describe: MPU6886 example. 惯性传感器 -* Date: 2021/7/21 +* Date: 2022/9/8 ******************************************************************************* */ -#define M5STACK_MPU6886 + #include float accX = 0.0F; // Define variables for storing inertial sensor data diff --git a/library.json b/library.json index d272b086..d362c5ea 100644 --- a/library.json +++ b/library.json @@ -10,7 +10,7 @@ "type": "git", "url": "https://github.com/m5stack/m5stack.git" }, - "version": "0.4.2", + "version": "0.4.3", "frameworks": "arduino", "platforms": "espressif32", "headers": "M5Stack.h" diff --git a/library.properties b/library.properties index c6d89068..37731916 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=M5Stack -version=0.4.2 +version=0.4.3 author=M5Stack maintainer=M5Stack sentence=Library for M5Stack Core development kit diff --git a/src/IMU.cpp b/src/IMU.cpp new file mode 100644 index 00000000..a2902b54 --- /dev/null +++ b/src/IMU.cpp @@ -0,0 +1,109 @@ +#include "IMU.h" + +#include +#include + +#include "M5Stack.h" +#undef IMU + +IMU::IMU() { +} + +int IMU::Init(void) { + int imu_flag = M5.Sh200Q.Init(); + Serial.printf("imu_flag:%d", imu_flag); + if (imu_flag != 0) { + imu_flag = M5.Mpu6886.Init(); + if (imu_flag == 0) { + imuType = IMU_MPU6886; + Serial.printf("IMU_MPU6886"); + } else { + imuType = IMU_UNKNOWN; + Serial.printf("IMU_UNKNOWN"); + return -1; + } + } else { + imuType = IMU_SH200Q; + } + return 0; +} + +void IMU::getGres() { + if (imuType == IMU_SH200Q) { + gRes = M5.Sh200Q.gRes; + } else if (imuType == IMU_MPU6886) { + gRes = M5.Mpu6886.gRes; + } +} + +void IMU::getAres() { + if (imuType == IMU_SH200Q) { + aRes = M5.Sh200Q.aRes; + } else if (imuType == IMU_MPU6886) { + aRes = M5.Mpu6886.aRes; + } +} + +void IMU::getAccelAdc(int16_t *ax, int16_t *ay, int16_t *az) { + if (imuType == IMU_SH200Q) { + M5.Sh200Q.getAccelAdc(ax, ay, az); + } else if (imuType == IMU_MPU6886) { + M5.Mpu6886.getAccelAdc(ax, ay, az); + } +} + +void IMU::getAccelData(float *ax, float *ay, float *az) { + if (imuType == IMU_SH200Q) { + M5.Sh200Q.getAccelData(ax, ay, az); + } else if (imuType == IMU_MPU6886) { + M5.Mpu6886.getAccelData(ax, ay, az); + } +} + +void IMU::getGyroAdc(int16_t *gx, int16_t *gy, int16_t *gz) { + if (imuType == IMU_SH200Q) { + M5.Sh200Q.getGyroAdc(gx, gy, gz); + } else if (imuType == IMU_MPU6886) { + M5.Mpu6886.getGyroAdc(gx, gy, gz); + } +} + +void IMU::getGyroData(float *gx, float *gy, float *gz) { + if (imuType == IMU_SH200Q) { + M5.Sh200Q.getGyroData(gx, gy, gz); + } else if (imuType == IMU_MPU6886) { + M5.Mpu6886.getGyroData(gx, gy, gz); + } +} + +void IMU::getTempAdc(int16_t *t) { + if (imuType == IMU_SH200Q) { + M5.Sh200Q.getTempAdc(t); + } else if (imuType == IMU_MPU6886) { + M5.Mpu6886.getTempAdc(t); + } +} + +void IMU::getTempData(float *t) { + if (imuType == IMU_SH200Q) { + M5.Sh200Q.getTempData(t); + } else if (imuType == IMU_MPU6886) { + M5.Mpu6886.getTempData(t); + } +} + +void IMU::getAhrsData(float *pitch, float *roll, float *yaw) { + float accX = 0; + float accY = 0; + float accZ = 0; + + float gyroX = 0; + float gyroY = 0; + float gyroZ = 0; + + getGyroData(&gyroX, &gyroY, &gyroZ); + getAccelData(&accX, &accY, &accZ); + + MahonyAHRSupdateIMU(gyroX * DEG_TO_RAD, gyroY * DEG_TO_RAD, + gyroZ * DEG_TO_RAD, accX, accY, accZ, pitch, roll, yaw); +} diff --git a/src/IMU.h b/src/IMU.h new file mode 100644 index 00000000..ebd4bb53 --- /dev/null +++ b/src/IMU.h @@ -0,0 +1,34 @@ +#ifndef __IMU_H__ +#define __IMU_H__ + +#include +#include + +#include "utility/MahonyAHRS.h" + +class IMU { + public: + enum ImuType { IMU_UNKNOWN = 0, IMU_SH200Q, IMU_MPU6886 }; + + IMU(); + + int Init(void); + + void getGres(); + void getAres(); + + void getAccelAdc(int16_t *ax, int16_t *ay, int16_t *az); + void getGyroAdc(int16_t *gx, int16_t *gy, int16_t *gz); + void getTempAdc(int16_t *t); + + void getAccelData(float *ax, float *ay, float *az); + void getGyroData(float *gx, float *gy, float *gz); + void getTempData(float *t); + + void getAhrsData(float *pitch, float *roll, float *yaw); + + ImuType imuType; + float aRes, gRes; +}; + +#endif diff --git a/src/M5Stack.h b/src/M5Stack.h index f3cc0197..8a538e3a 100644 --- a/src/M5Stack.h +++ b/src/M5Stack.h @@ -111,18 +111,14 @@ #include "M5Display.h" #include "SD.h" #include "gitTagVersion.h" +#include "IMU.h" #include "utility/Button.h" #include "utility/CommUtil.h" #include "utility/Config.h" #include "utility/Power.h" #include "utility/Speaker.h" - -#if defined(M5STACK_MPU6886) || defined(M5STACK_MPU9250) || \ - defined(M5STACK_MPU6050) #include "utility/MPU6886.h" -#elif defined M5STACK_200Q #include "utility/SH200Q.h" -#endif class M5Stack { public: @@ -131,6 +127,12 @@ class M5Stack { bool SerialEnable = true, bool I2CEnable = false); void update(); + // LCD + M5Display Lcd = M5Display(); + + // Power + POWER Power; + // Button API #define DEBOUNCE_MS 10 Button BtnA = Button(BUTTON_A_PIN, true, DEBOUNCE_MS); @@ -140,26 +142,17 @@ class M5Stack { // SPEAKER SPEAKER Speaker; - // LCD - M5Display Lcd = M5Display(); - - // Power - POWER Power; - // UART // HardwareSerial Serial0 = HardwareSerial(0); // HardwareSerial Serial2 = HardwareSerial(2); -#if defined(M5STACK_MPU6886) || defined(M5STACK_MPU9250) || \ - defined(M5STACK_MPU6050) - MPU6886 IMU = MPU6886(); -#elif defined M5STACK_200Q - SH200Q IMU = SH200Q(); -#endif - // I2C + IMU Imu; CommUtil I2C = CommUtil(); + MPU6886 Mpu6886; + SH200Q Sh200Q; + /** * Function has been move to Power class.(for compatibility) * This name will be removed in a future release. @@ -173,8 +166,14 @@ class M5Stack { }; extern M5Stack M5; -#define m5 M5 -#define lcd Lcd +#define m5 M5 +#define lcd Lcd +#define imu Imu +#define IMU Imu +#define MPU6886 Mpu6886 +#define mpu6886 Mpu6886 +#define SH200Q Sh200Q +#define sh200q Sh200Q #else #error "This library only supports boards with ESP32 processor." #endif diff --git a/src/utility/MPU6886.cpp b/src/utility/MPU6886.cpp index e26ae68e..2b8bca65 100644 --- a/src/utility/MPU6886.cpp +++ b/src/utility/MPU6886.cpp @@ -3,20 +3,29 @@ #include #include -#include "../M5Stack.h" -#include "MahonyAHRS.h" - MPU6886::MPU6886() { } void MPU6886::I2C_Read_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t* read_Buffer) { - M5.I2C.readBytes(driver_Addr, start_Addr, number_Bytes, read_Buffer); + Wire.beginTransmission(driver_Addr); + Wire.write(start_Addr); + Wire.endTransmission(false); + uint8_t i = 0; + Wire.requestFrom(driver_Addr, number_Bytes); + + //! Put read results in the Rx buffer + while (Wire.available()) { + read_Buffer[i++] = Wire.read(); + } } void MPU6886::I2C_Write_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t* write_Buffer) { - M5.I2C.writeBytes(driver_Addr, start_Addr, write_Buffer, number_Bytes); + Wire.beginTransmission(driver_Addr); + Wire.write(start_Addr); + Wire.write(*write_Buffer); + Wire.endTransmission(); } int MPU6886::Init(void) { @@ -113,10 +122,10 @@ void MPU6886::getGyroAdc(int16_t* gx, int16_t* gy, int16_t* gz) { } void MPU6886::getTempAdc(int16_t* t) { - uint8_t buf[2]; - I2C_Read_NBytes(MPU6886_ADDRESS, MPU6886_TEMP_OUT_H, 2, buf); + uint8_t buf[14]; + I2C_Read_NBytes(MPU6886_ADDRESS, MPU6886_TEMP_OUT_H, 14, buf); - *t = ((uint16_t)buf[0] << 8) | buf[1]; + *t = ((uint16_t)buf[6] << 8) | buf[7]; } //!俯仰，航向，横滚: pitch，yaw，roll，指三维空间中飞行器的旋转状态。 diff --git a/src/utility/MPU6886.h b/src/utility/MPU6886.h index a70a6cfe..a157d756 100644 --- a/src/utility/MPU6886.h +++ b/src/utility/MPU6886.h @@ -11,6 +11,8 @@ #include #include +#include "MahonyAHRS.h" + #define MPU6886_ADDRESS 0x68 #define MPU6886_WHOAMI 0x75 #define MPU6886_ACCEL_INTEL_CTRL 0x69 diff --git a/src/utility/SH200Q.cpp b/src/utility/SH200Q.cpp index c3286c2d..e65f6020 100644 --- a/src/utility/SH200Q.cpp +++ b/src/utility/SH200Q.cpp @@ -3,20 +3,32 @@ #include #include -#include "../M5Stack.h" -#include "MahonyAHRS.h" - SH200Q::SH200Q() { } void SH200Q::I2C_Read_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t* read_Buffer) { - M5.I2C.readBytes(driver_Addr, start_Addr, number_Bytes, read_Buffer); + Wire.beginTransmission(driver_Addr); + Wire.write(start_Addr); + Wire.endTransmission(); + uint8_t i = 0; + Wire.requestFrom(driver_Addr, number_Bytes); + // byte buf = Wire1.read(); + //*read_Buffer = buf; + //! Put read results in the Rx buffer + while (Wire.available()) { + read_Buffer[i++] = Wire1.read(); + } } void SH200Q::I2C_Write_NBytes(uint8_t driver_Addr, uint8_t start_Addr, uint8_t number_Bytes, uint8_t* write_Buffer) { - M5.I2C.writeBytes(driver_Addr, start_Addr, write_Buffer, number_Bytes); + Wire.beginTransmission(driver_Addr); + Wire.write(start_Addr); + Wire.write(*write_Buffer); + Wire.endTransmission(); + // Serial.printf("I2C Write OP, ADDR: 0x%02x, ADS: 0x%02x, NumBytes: %u, + // Data: 0x%02x\n\r", driver_Addr, start_Addr, number_Bytes, *write_Buffer); } void SH200Q::sh200i_ADCReset(void) { diff --git a/src/utility/SH200Q.h b/src/utility/SH200Q.h index 3e66fe35..66b0de8c 100644 --- a/src/utility/SH200Q.h +++ b/src/utility/SH200Q.h @@ -4,6 +4,8 @@ #include #include +#include "MahonyAHRS.h" + #define SH200I_ADDRESS 0x6C // 7bit i2c address #define SH200I_WHOAMI 0x30 #define SH200I_ACC_CONFIG 0x0E