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MPU6050 #35

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MPU6050 #35

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c2fa25c
Driver to sensor MPU6050 accelerometer/gyroscope
oliveiraallex Aug 6, 2019
5636973
Changed the word 'skaliert' to 'scaled'
oliveiraallex Aug 7, 2019
db4d399
initializing with wakeUpSensor method
oliveiraallex Aug 7, 2019
b64f805
waking up the sensor while reading the registers
oliveiraallex Aug 8, 2019
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3 changes: 2 additions & 1 deletion src/BaselineOfPharoThings.package/BaselineOfPharoThings.class/instance/devices.st
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Expand Up @@ -9,5 +9,6 @@ devices
#'PharoThings-Devices-ADXL345' -> #(#'PharoThings-Devices-I2C').
#'PharoThings-Devices-MCP9808' -> #(#'PharoThings-Devices-I2C').
#'PharoThings-Devices-BME280' -> #(#'PharoThings-Devices-I2C').
#'PharoThings-Devices-HD44780' -> #(#'PharoThings-Devices-I2C')
#'PharoThings-Devices-HD44780' -> #(#'PharoThings-Devices-I2C').
#'PharoThings-Devices-MPU6050' -> #(#'PharoThings-Devices-I2C')
}
5 changes: 5 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/.filetree
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{
"separateMethodMetaAndSource" : false,
"noMethodMetaData" : true,
"useCypressPropertiesFile" : true
}
24 changes: 24 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/README.md
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I provide implementation of Gyroscope/Accelerator I2C sensor MPU6050.

The code for initialization and sensors reading is based from example:
https://tutorials-raspberrypi.com/measuring-rotation-and-acceleration-raspberry-pi/

Register map:
https://www.i2cdevlib.com/devices/mpu6050#registers

To use it:
sensor := (RpiBoard3B current) installDevice: PotMPU6050Device new.
or on inspector:
sensor := board installDevice: PotMPU6050Device new.

API:
readGyroscope. "#(1540 -9 -211)"
readGyroscopeSkaliert. "#(13.526718 -1.916031 -1.526718)"
readAccelerometer. "#(748 -892 15676)"
readAccelerometerSkaliert. "#(0.033691 -0.051025 0.974121)"
readRotationXY. "#(-3.224775339993247 -2.4755961852044157)"

sensor := (RpiBoard3B current) installDevice: PotMPU6050Device new.
sensor readRollPitchYaw
sensor printRollPitchYaw.
sensor finishRollPitchYaw.
3 changes: 3 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/class/defaultI2CAddress.st
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instance creation
defaultI2CAddress
^16r68
3 changes: 3 additions & 0 deletions ...roThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateDistanceA.B..st
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controlling
calculateDistanceA: anAccelerometerScaledA B: anAccelerometerScaledB
^ ((anAccelerometerScaledA*anAccelerometerScaledA)+(anAccelerometerScaledB*anAccelerometerScaledB)) sqrt
8 changes: 8 additions & 0 deletions ...Things-Devices-MPU6050.package/PotMPU6050Device.class/instance/calculateRotationX.Y.Z..st
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controlling
calculateRotationX: anAccelerometerScaledX Y: anAccelerometerScaledY Z: anAccelerometerScaledZ
| radiansX radiansY rotationX rotationY |
radiansX := anAccelerometerScaledY arcTan: (self calculateDistanceA: anAccelerometerScaledX B: anAccelerometerScaledZ).
radiansY := anAccelerometerScaledX arcTan: (self calculateDistanceA: anAccelerometerScaledY B: anAccelerometerScaledZ).
rotationX := radiansX radiansToDegrees.
rotationY := radiansY radiansToDegrees * -1.
^ { rotationX . rotationY }
5 changes: 5 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/connect.st
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controlling
connect
super connect.
self wakeUpSensor

7 changes: 7 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometer.st
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controlling
readAccelerometer
| accX accY accZ |
accX := self readRegisters2C: 16r3b.
accY := self readRegisters2C: 16r3d.
accZ := self readRegisters2C: 16r3f.
^ { accX . accY . accZ }
8 changes: 8 additions & 0 deletions ...Things-Devices-MPU6050.package/PotMPU6050Device.class/instance/readAccelerometerScaled.st
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controlling
readAccelerometerScaled
| acc accX accY accZ |
acc := self readAccelerometer.
accX := ((acc at: 1)/16384) asFloat round: 6.
accY := ((acc at: 2)/16384) asFloat round: 6.
accZ := ((acc at: 3)/16384) asFloat round: 6.
^ { accX . accY . accZ }
7 changes: 7 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscope.st
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controlling
readGyroscope
| gyroX gyroY gyroZ |
gyroX := self readRegisters2C: 16r43.
gyroY := self readRegisters2C: 16r45.
gyroZ := self readRegisters2C: 16r47.
^ { gyroX . gyroY . gyroZ }
8 changes: 8 additions & 0 deletions ...haroThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readGyroscopeScaled.st
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controlling
readGyroscopeScaled
| gyro gyroX gyroY gyroZ |
gyro := self readGyroscope.
gyroX := (gyro at: 1)/131 asFloat round: 6.
gyroY := (gyro at: 2)/131 asFloat round: 6.
gyroZ := (gyro at: 3)/131 asFloat round: 6.
^ { gyroX . gyroY . gyroZ }
11 changes: 11 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters..st
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controlling
readRegisters: anHex
| h l value |
h := i2cConnection read8BitsAt: anHex.
l := i2cConnection read8BitsAt: anHex + 1.
(h == 0 & l == 0)
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If you have more meaningful names for h and l it would be much better.

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I'm going to improve it. I rewrote this drive from scratch, I'm just finishing some adjusts to push it again.

ifTrue: [ self wakeUpSensor. 1 milliSeconds wait.
h := i2cConnection read8BitsAt: anHex.
l := i2cConnection read8BitsAt: anHex + 1 ].
value := (h bitShift: 8) + l.
^ value
7 changes: 7 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRegisters2C..st
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controlling
readRegisters2C: anHex
| value |
value := self readRegisters: anHex.
value >= 16r8000
ifTrue: [ ^ ((65535 - value) + 1) * -1]
ifFalse: [^ value ]
8 changes: 8 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/readRotationXY.st
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controlling
readRotationXY
| accelerometerScaled rotation rotationX rotationY |
accelerometerScaled := self readAccelerometerScaled.
rotation := self calculateRotationX: (accelerometerScaled at: 1) Y: (accelerometerScaled at: 2) Z: (accelerometerScaled at: 3).
rotationX := rotation at: 1.
rotationY := rotation at: 2.
^ { rotationX . rotationY }
3 changes: 3 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/instance/wakeUpSensor.st
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controlling
wakeUpSensor
i2cConnection write8BitsAt: 16r6b data: 0
13 changes: 13 additions & 0 deletions src/PharoThings-Devices-MPU6050.package/PotMPU6050Device.class/properties.json
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{
"commentStamp" : "AllexOliveira 8/7/2019 18:28",
"super" : "PotI2CDevice",
"category" : "PharoThings-Devices-MPU6050",
"classinstvars" : [ ],
"pools" : [ ],
"classvars" : [ ],
"instvars" : [
"readProcess"
],
"name" : "PotMPU6050Device",
"type" : "normal"
}
1 change: 1 addition & 0 deletions src/PharoThings-Devices-MPU6050.package/monticello.meta/categories.st
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SystemOrganization addCategory: #'PharoThings-Devices-MPU6050'!
Empty file added src/PharoThings-Devices-MPU6050.package/monticello.meta/initializers.st
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Empty file.
1 change: 1 addition & 0 deletions src/PharoThings-Devices-MPU6050.package/monticello.meta/package
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(name 'PharoThings-Devices-MPU6050')
1 change: 1 addition & 0 deletions src/PharoThings-Devices-MPU6050.package/properties.json
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{ }