LuatOS/demo/i2c/mpu6xxx.lua

--- 模块功能：mpu6xxx
-- @module mpu6xxx
-- @author Dozingfiretruck
-- @license MIT
-- @copyright OpenLuat.com
-- @release 2020.12.22

--支持mpu6500，mpu6050，mpu9250，icm2068g，icm20608d，自动判断器件id，只需要配置i2c id就可以


local sys = require "sys"

--pm.wake("mpu6xxx")

local i2cid = 0 --i2cid

local i2cslaveaddr
local deviceid

local MPU6XXX_ADDRESS_AD0_LOW     =   0x68 -- address pin low (GND), default for InvenSense evaluation board
local MPU6XXX_ADDRESS_AD0_HIGH    =   0x69 -- address pin high (VCC)

---器件通讯地址
local MPU6050_WHO_AM_I            =   0x68 -- mpu6050
local MPU6500_WHO_AM_I            =   0x70 -- mpu6500
local MPU9250_WHO_AM_I            =   0x71 -- mpu9250
local ICM20608G_WHO_AM_I          =   0xAF -- icm20608G
local ICM20608D_WHO_AM_I          =   0xAE -- icm20608D

local MPU6XXX_ACCEL_SEN           =   16384
local MPU6XXX_GYRO_SEN            =   1310

local MPU60X0_TEMP_SEN            =   340
local MPU60X0_TEMP_OFFSET         =   36.5

local MPU6500_TEMP_SEN            =   333.87
local MPU6500_TEMP_OFFSET         =   21

---MPU6XXX所用地址
local MPU6XXX_RA_ACCEL_XOUT_H     =   0x3B
local MPU6XXX_RA_ACCEL_XOUT_L     =   0x3C
local MPU6XXX_RA_ACCEL_YOUT_H     =   0x3D
local MPU6XXX_RA_ACCEL_YOUT_L     =   0x3E
local MPU6XXX_RA_ACCEL_ZOUT_H     =   0x3F
local MPU6XXX_RA_ACCEL_ZOUT_L     =   0x40
local MPU6XXX_RA_TEMP_OUT_H       =   0x41
local MPU6XXX_RA_TEMP_OUT_L       =   0x42
local MPU6XXX_RA_GYRO_XOUT_H      =   0x43
local MPU6XXX_RA_GYRO_XOUT_L      =   0x44
local MPU6XXX_RA_GYRO_YOUT_H      =   0x45
local MPU6XXX_RA_GYRO_YOUT_L      =   0x46
local MPU6XXX_RA_GYRO_ZOUT_H      =   0x47
local MPU6XXX_RA_GYRO_ZOUT_L      =   0x48

local MPU6XXX_RA_SMPLRT_DIV     =   0x19   --陀螺仪采样率，典型值：0x07(125Hz)
local MPU6XXX_RA_CONFIG         =   0x1A   --低通滤波频率，典型值：0x06(5Hz)
local MPU6XXX_RA_GYRO_CONFIG    =   0x1B   --陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
local MPU6XXX_RA_ACCEL_CONFIG   =   0x1C   --加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
local MPU6XXX_RA_FIFO_EN        =   0x23   --fifo使能
local MPU6XXX_RA_INT_PIN_CFG    =   0x37   --int引脚有效电平
local MPU6XXX_RA_INT_ENABLE     =   0x38   --中断使能
local MPU6XXX_RA_USER_CTRL      =   0x6A
local MPU6XXX_RA_PWR_MGMT_1     =   0x6B   --电源管理，典型值：0x00(正常启用)
local MPU6XXX_RA_PWR_MGMT_2     =   0x6C
local MPU6XXX_RA_WHO_AM_I       =   0x75
--器件ID检测
local function mpu6xxx_check()
    i2c.send(i2cid, MPU6XXX_ADDRESS_AD0_LOW, MPU6XXX_RA_WHO_AM_I)--读器件地址
    sys.wait(50)
    local revData = i2c.recv(i2cid, MPU6XXX_ADDRESS_AD0_LOW, 1)
    if revData:byte() ~= nil then
        i2cslaveaddr = MPU6XXX_ADDRESS_AD0_LOW
    else
        i2c.send(i2cid, MPU6XXX_ADDRESS_AD0_HIGH, MPU6XXX_RA_WHO_AM_I)--读器件地址
        sys.wait(50)
        local revData = i2c.recv(i2cid, MPU6XXX_ADDRESS_AD0_HIGH, 1)
        if revData:byte() ~= nil then
            i2cslaveaddr = MPU6XXX_ADDRESS_AD0_HIGH
        else
            log.info("i2c", "Can't find device")
            return 1
        end
    end
    i2c.send(i2cid, i2cslaveaddr, MPU6XXX_RA_WHO_AM_I)--读器件地址
    sys.wait(50)
    local revData = i2c.recv(i2cid, i2cslaveaddr, 1)
    log.info("Device i2c address is#:", revData:toHex())
    if revData:byte() == MPU6050_WHO_AM_I then
        deviceid = MPU6050_WHO_AM_I
        log.info("Device i2c id is: MPU6050")
    elseif revData:byte() == MPU6500_WHO_AM_I then
        deviceid = MPU6500_WHO_AM_I
        log.info("Device i2c id is: MPU6500")
    elseif revData:byte() == MPU9250_WHO_AM_I then
        deviceid = MPU9250_WHO_AM_I
        log.info("Device i2c id is: MPU9250")
    elseif revData:byte() == ICM20608G_WHO_AM_I then
        deviceid = ICM20608G_WHO_AM_I
        log.info("Device i2c id is: ICM20608G")
    elseif revData:byte() == ICM20608D_WHO_AM_I then
        deviceid = ICM20608D_WHO_AM_I
        log.info("Device i2c id is: ICM20608D")
    else
        log.info("i2c", "Can't find device")
        return 1
    end
    return 0
end

--器件初始化
local function mpu6xxx_init()
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x80})--复位
    sys.wait(100)
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x00})--唤醒
    sys.wait(100)
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_SMPLRT_DIV, 0x07})--陀螺仪采样率，典型值：0x07(125Hz)
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_CONFIG, 0x06})--低通滤波频率，典型值：0x06(5Hz)
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_GYRO_CONFIG, 0x18})--陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_ACCEL_CONFIG, 0x01})--加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
    --i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_FIFO_EN, 0x00})--关闭fifo
    --i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_INT_ENABLE, 0x00})--关闭所有中断
    --i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_USER_CTRL, 0x00})--I2C主模式关闭
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x01})--设置x轴的pll为参考
    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_2, 0x00})--加速度计与陀螺仪开启
    log.info("i2c init_ok")
end
--获取温度的原始数据
local function mpu6xxx_get_temp_raw()
    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_TEMP_OUT_H)--获取的地址
    local buffer = i2c.recv(i2cid, i2cslaveaddr, 2)--获取2字节
    local temp = string.unpack(">h",buffer)
    --log.info("get_temp_raw type: "..type(buffer).." hex: "..buffer:toHex().." temp: "..temp)
    return temp or 0
end
--获取加速度计的原始数据
local function mpu6xxx_get_accel_raw()
    local accel={x=nil,y=nil,z=nil}
    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_XOUT_H)--获取的地址
    local x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
    accel.x = string.unpack(">h",x)
    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_YOUT_H)--获取的地址
    local y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
    accel.y = string.unpack(">h",y)
    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_ZOUT_H)--获取的地址
    local z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
    accel.z = string.unpack(">h",z)
    --log.info("get_accel_raw: x="..x:toHex().." y="..y:toHex().." z="..z:toHex())
    return accel or 0
end
--获取陀螺仪的原始数据
local function mpu6xxx_get_gyro_raw()
    local gyro={x=nil,y=nil,z=nil}
    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_XOUT_H)--获取的地址
    local x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
    gyro.x = string.unpack(">h",x)
    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_YOUT_H)--获取的地址
    local y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
    gyro.y = string.unpack(">h",y)
    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_ZOUT_H)--获取的地址
    local z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
    gyro.z = string.unpack(">h",z)
    return gyro or 0
end
--获取温度的原始数据
local function mpu6xxx_get_temp()
    local temp=nil
    local tmp = mpu6xxx_get_temp_raw()
    if deviceid == MPU6050_WHO_AM_I then
        temp = tmp / MPU60X0_TEMP_SEN + MPU60X0_TEMP_OFFSET
    else
        temp = tmp / MPU6500_TEMP_SEN + MPU6500_TEMP_OFFSET
    end
    return temp
end
--获取加速度计的数据，单位: mg
local function mpu6xxx_get_accel()
    local accel={x=nil,y=nil,z=nil}
    local tmp = mpu6xxx_get_accel_raw()
    accel.x = tmp.x*1000/MPU6XXX_ACCEL_SEN
    accel.y = tmp.y*1000/MPU6XXX_ACCEL_SEN
    accel.z = tmp.z*1000/MPU6XXX_ACCEL_SEN
    return accel
end
--获取陀螺仪的数据，单位: deg / 10s
local function mpu6xxx_get_gyro()
    local gyro={x=nil,y=nil,z=nil}
    local tmp = mpu6xxx_get_gyro_raw()
    gyro.x = tmp.x*100/MPU6XXX_GYRO_SEN
    gyro.y = tmp.y*100/MPU6XXX_GYRO_SEN
    gyro.z = tmp.z*100/MPU6XXX_GYRO_SEN
    return gyro
end
local function mpu6xxx()
    sys.wait(4000)
    if i2c.setup(i2cid,i2c.SLOW) ~= i2c.SLOW then
        log.error("testI2c.init","fail")
        return
    end
    if mpu6xxx_check()~= 0 then
        return
    end
    mpu6xxx_init()
    while true do
        local t = mpu6xxx_get_temp()
            log.info("6050temptest", t)
        local a = mpu6xxx_get_accel()
            log.info("6050acceltest", "accel.x",a.x,"accel.y",a.y,"accel.z",a.z)
        local g = mpu6xxx_get_gyro()
            log.info("6050gyrotest", "gyro.x",g.x,"gyro.y",g.y,"gyro.z",g.z)

        sys.wait(1000)
    end
end

sys.taskInit(mpu6xxx)