10000 Thu Feb 23 14:38:07 CST 2017 · EagleSmith/esp32-snippets@d95258e · GitHub
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Commit d95258e

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kolban
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Thu Feb 23 14:38:07 CST 2017
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‎hardware/accelerometers/mpu6050.c

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#include <driver/i2c.h>
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#include <esp_log.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <math.h>
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#include "sdkconfig.h"
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#define PIN_SDA 21
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#define PIN_CLK 22
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#define I2C_ADDRESS 0x68 // I2C address of MPU6050
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#define MPU6050_ACCEL_XOUT_H 0x3B
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#define MPU6050_PWR_MGMT_1 0x6B
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/*
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* The following registers contain the primary data we are interested in
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* 0x3B MPU6050_ACCEL_XOUT_H
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* 0x3C MPU6050_ACCEL_XOUT_L
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* 0x3D MPU6050_ACCEL_YOUT_H
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* 0x3E MPU6050_ACCEL_YOUT_L
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* 0x3F MPU6050_ACCEL_ZOUT_H
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* 0x50 MPU6050_ACCEL_ZOUT_L
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* 0x41 MPU6050_TEMP_OUT_H
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* 0x42 MPU6050_TEMP_OUT_L
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* 0x43 MPU6050_GYRO_XOUT_H
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* 0x44 MPU6050_GYRO_XOUT_L
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* 0x45 MPU6050_GYRO_YOUT_H
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* 0x46 MPU6050_GYRO_YOUT_L
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* 0x47 MPU6050_GYRO_ZOUT_H
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* 0x48 MPU6050_GYRO_ZOUT_L
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*/
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static char tag[] = "mpu6050";
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#undef ESP_ERROR_CHECK
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#define ESP_ERROR_CHECK(x) do { esp_err_t rc = (x); if (rc != ESP_OK) { ESP_LOGE("err", "esp_err_t = %d", rc); assert(0 && #x);} } while(0);
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void task_mpu6050(void *ignore) {
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ESP_LOGD(tag, ">> mpu6050");
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i2c_config_t conf;
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conf.mode = I2C_MODE_MASTER;
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conf.sda_io_num = PIN_SDA;
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conf.scl_io_num = PIN_CLK;
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conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
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conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
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conf.master.clk_speed = 100000;
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ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));
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ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, I2C_MODE_MASTER, 0, 0, 0));
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i2c_cmd_handle_t cmd;
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vTaskDelay(200/portTICK_PERIOD_MS);
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1));
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i2c_master_write_byte(cmd, MPU6050_ACCEL_XOUT_H, 1);
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1));
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i2c_master_write_byte(cmd, MPU6050_PWR_MGMT_1, 1);
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i2c_master_write_byte(cmd, 0, 1);
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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uint8_t data[14];
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short accel_x;
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short accel_y;
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short accel_z;
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while(1) {
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// Tell the MPU6050 to position the internal register pointer to register
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// MPU6050_ACCEL_XOUT_H.
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, MPU6050_ACCEL_XOUT_H, 1));
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1));
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data, 0));
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data+1, 0));
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data+2, 0));
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data+3, 0));
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data+4, 0));
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data+5, 1));
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//i2c_master_read(cmd, data, sizeof(data), 1);
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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accel_x = (data[0] << 8) | data[1];
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accel_y = (data[2] << 8) | data[3];
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accel_z = (data[4] << 8) | data[5];
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ESP_LOGD(tag, "accel_x: %d, accel_y: %d, accel_z: %d", accel_x, accel_y, accel_z);
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vTaskDelay(500/portTICK_PERIOD_MS);
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}
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vTaskDelete(NULL);
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} // task_hmc5883l

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