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Merge pull request #7058 from claybar/mpu6050_full_output

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Add Yaw Pitch Roll to MPU6050 output
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Theo Arends 2019-12-08 21:34:11 +01:00 committed by GitHub
commit 065ed79c61
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1 changed files with 39 additions and 1 deletions
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40
tasmota/xsns_32_mpu6050.ino
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@ -57,6 +57,7 @@ int16_t MPU_6050_temperature = 0;
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float yawPitchRoll[3]; // [yaw, pitch roll] Yaw-pitch-roll container
} MPU6050_DMP;
MPU6050_DMP MPU6050_dmp;
@ -68,7 +69,7 @@ MPU6050 mpu6050;
void MPU_6050PerformReading(void)
{
#ifdef USE_MPU6050_DMP
mpu6050.resetFIFO(); // with a default dampling rate of 200Hz, we create a delay of approx. 5ms with a complete read cycle
mpu6050.resetFIFO(); // with a default sampling rate of 200Hz, we create a delay of approx. 5ms with a complete read cycle
MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
while (MPU6050_dmp.fifoCount < MPU6050_dmp.packetSize) MPU6050_dmp.fifoCount = mpu6050.getFIFOCount();
mpu6050.getFIFOBytes(MPU6050_dmp.fifoBuffer, MPU6050_dmp.packetSize);
@ -79,6 +80,7 @@ void MPU_6050PerformReading(void)
mpu6050.dmpGetAccel(&MPU6050_dmp.aa, MPU6050_dmp.fifoBuffer);
mpu6050.dmpGetGravity(&MPU6050_dmp.gravity, &MPU6050_dmp.q);
mpu6050.dmpGetLinearAccel(&MPU6050_dmp.aaReal, &MPU6050_dmp.aa, &MPU6050_dmp.gravity);
mpu6050.dmpGetYawPitchRoll(MPU6050_dmp.yawPitchRoll, &MPU6050_dmp.q, &MPU6050_dmp.gravity);
MPU_6050_gx = MPU6050_dmp.euler[0] * 180/M_PI;
MPU_6050_gy = MPU6050_dmp.euler[1] * 180/M_PI;
MPU_6050_gz = MPU6050_dmp.euler[2] * 180/M_PI;
@ -145,6 +147,10 @@ void MPU_6050Detect(void)
}
}
#define D_YAW "Yaw"
#define D_PITCH "Pitch"
#define D_ROLL "Roll"
#ifdef USE_WEBSERVER
const char HTTP_SNS_AXIS[] PROGMEM =
"{s}" D_SENSOR_MPU6050 " " D_AX_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
@ -153,6 +159,12 @@ const char HTTP_SNS_AXIS[] PROGMEM =
"{s}" D_SENSOR_MPU6050 " " D_GX_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_GY_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_GZ_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
#ifdef USE_MPU6050_DMP
const char HTTP_SNS_YPR[] PROGMEM =
"{s}" D_SENSOR_MPU6050 " " D_YAW "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_PITCH "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_ROLL "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
#endif // USE_MPU6050_DMP
#endif // USE_WEBSERVER
#define D_JSON_AXIS_AX "AccelXAxis"
@ -161,6 +173,9 @@ const char HTTP_SNS_AXIS[] PROGMEM =
#define D_JSON_AXIS_GX "GyroXAxis"
#define D_JSON_AXIS_GY "GyroYAxis"
#define D_JSON_AXIS_GZ "GyroZAxis"
#define D_JSON_YAW "Yaw"
#define D_JSON_PITCH "Pitch"
#define D_JSON_ROLL "Roll"
void MPU_6050Show(bool json)
{
@ -181,6 +196,14 @@ void MPU_6050Show(bool json)
dtostrfd(MPU_6050_gy, Settings.flag2.axis_resolution, axis_gy);
char axis_gz[33];
dtostrfd(MPU_6050_gz, Settings.flag2.axis_resolution, axis_gz);
#ifdef USE_MPU6050_DMP
char axis_yaw[33];
dtostrfd(MPU6050_dmp.yawPitchRoll[0] / PI * 180.0, Settings.flag2.axis_resolution, axis_yaw);
char axis_pitch[33];
dtostrfd(MPU6050_dmp.yawPitchRoll[1] / PI * 180.0, Settings.flag2.axis_resolution, axis_pitch);
char axis_roll[33];
dtostrfd(MPU6050_dmp.yawPitchRoll[2] / PI * 180.0, Settings.flag2.axis_resolution, axis_roll);
#endif // USE_MPU6050_DMP
if (json) {
char json_axis_ax[25];
@ -195,8 +218,20 @@ void MPU_6050Show(bool json)
snprintf_P(json_axis_gy, sizeof(json_axis_gy), PSTR(",\"" D_JSON_AXIS_GY "\":%s"), axis_gy);
char json_axis_gz[25];
snprintf_P(json_axis_gz, sizeof(json_axis_gz), PSTR(",\"" D_JSON_AXIS_GZ "\":%s"), axis_gz);
#ifdef USE_MPU6050_DMP
char json_ypr_y[25];
snprintf_P(json_ypr_y, sizeof(json_ypr_y), PSTR(",\"" D_JSON_YAW "\":%s"), axis_yaw);
char json_ypr_p[25];
snprintf_P(json_ypr_p, sizeof(json_ypr_p), PSTR(",\"" D_JSON_PITCH "\":%s"), axis_pitch);
char json_ypr_r[25];
snprintf_P(json_ypr_r, sizeof(json_ypr_r), PSTR(",\"" D_JSON_ROLL "\":%s"), axis_roll);
ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_TEMPERATURE "\":%s%s%s%s%s%s%s%s%s%s}"),
D_SENSOR_MPU6050, temperature, json_axis_ax, json_axis_ay, json_axis_az, json_axis_gx, json_axis_gy, json_axis_gz,
json_ypr_y, json_ypr_p, json_ypr_r);
#else
ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_TEMPERATURE "\":%s%s%s%s%s%s%s}"),
D_SENSOR_MPU6050, temperature, json_axis_ax, json_axis_ay, json_axis_az, json_axis_gx, json_axis_gy, json_axis_gz);
#endif // USE_MPU6050_DMP
#ifdef USE_DOMOTICZ
DomoticzSensor(DZ_TEMP, temperature);
#endif // USE_DOMOTICZ
@ -204,6 +239,9 @@ void MPU_6050Show(bool json)
} else {
WSContentSend_PD(HTTP_SNS_TEMP, D_SENSOR_MPU6050, temperature, TempUnit());
WSContentSend_PD(HTTP_SNS_AXIS, axis_ax, axis_ay, axis_az, axis_gx, axis_gy, axis_gz);
#ifdef USE_MPU6050_DMP
WSContentSend_PD(HTTP_SNS_YPR, axis_yaw, axis_pitch, axis_roll);
#endif // USE_MPU6050_DMP
#endif // USE_WEBSERVER
}
}