Add support for MPU-6886 (#3183)

This commit is contained in:
Fabian Affolter 2022-02-21 00:23:26 +01:00 committed by GitHub
parent 2c7b104f4a
commit ba785e29e9
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
6 changed files with 296 additions and 0 deletions

View file

@ -124,6 +124,7 @@ esphome/components/modbus_controller/select/* @martgras @stegm
esphome/components/modbus_controller/sensor/* @martgras
esphome/components/modbus_controller/switch/* @martgras
esphome/components/modbus_controller/text_sensor/* @martgras
esphome/components/mpu6886/* @fabaff
esphome/components/network/* @esphome/core
esphome/components/nextion/* @senexcrenshaw
esphome/components/nextion/binary_sensor/* @senexcrenshaw

View file

@ -0,0 +1 @@
"""Support for MPC-6886."""

View file

@ -0,0 +1,153 @@
#include "mpu6886.h"
#include "esphome/core/log.h"
namespace esphome {
namespace mpu6886 {
static const char *const TAG = "mpu6886";
const uint8_t MPU6886_REGISTER_WHO_AM_I = 0x75;
const uint8_t MPU6886_REGISTER_POWER_MANAGEMENT_1 = 0x6B;
const uint8_t MPU6886_REGISTER_GYRO_CONFIG = 0x1B;
const uint8_t MPU6886_REGISTER_ACCEL_CONFIG = 0x1C;
const uint8_t MPU6886_REGISTER_ACCEL_XOUT_H = 0x3B;
const uint8_t MPU6886_CLOCK_SOURCE_X_GYRO = 0b001;
const uint8_t MPU6886_SCALE_2000_DPS = 0b11;
const uint8_t MPU6886_WHO_AM_I_IDENTIFIER = 0x19;
const float MPU6886_SCALE_DPS_PER_DIGIT_2000 = 0.060975f;
const uint8_t MPU6886_RANGE_2G = 0b00;
const float MPU6886_RANGE_PER_DIGIT_2G = 0.000061f;
const uint8_t MPU6886_BIT_SLEEP_ENABLED = 6;
const uint8_t MPU6886_BIT_TEMPERATURE_DISABLED = 3;
const float GRAVITY_EARTH = 9.80665f;
// See https://github.com/m5stack/M5-Schematic/blob/master/datasheet/MPU-6886-000193%2Bv1.1_GHIC.PDF.pdf
// p. 43
const float TEMPERATURE_SENSITIVITY = 326.8;
const float TEMPERATURE_OFFSET = 25.0;
void MPU6886Component::setup() {
ESP_LOGCONFIG(TAG, "Setting up MPU6886...");
uint8_t who_am_i;
if (!this->read_byte(MPU6886_REGISTER_WHO_AM_I, &who_am_i) || who_am_i != MPU6886_WHO_AM_I_IDENTIFIER) {
this->mark_failed();
return;
}
ESP_LOGV(TAG, " Setting up Power Management...");
// Setup power management
uint8_t power_management;
if (!this->read_byte(MPU6886_REGISTER_POWER_MANAGEMENT_1, &power_management)) {
this->mark_failed();
return;
}
ESP_LOGV(TAG, " Input power_management: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(power_management));
// Set clock source - X-Gyro
power_management &= 0b11111000;
power_management |= MPU6886_CLOCK_SOURCE_X_GYRO;
// Disable sleep
power_management &= ~(1 << MPU6886_BIT_SLEEP_ENABLED);
// Enable temperature
power_management &= ~(1 << MPU6886_BIT_TEMPERATURE_DISABLED);
ESP_LOGV(TAG, " Output power_management: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(power_management));
if (!this->write_byte(MPU6886_REGISTER_POWER_MANAGEMENT_1, power_management)) {
this->mark_failed();
return;
}
ESP_LOGV(TAG, " Setting up Gyroscope Config...");
// Set scale - 2000DPS
uint8_t gyro_config;
if (!this->read_byte(MPU6886_REGISTER_GYRO_CONFIG, &gyro_config)) {
this->mark_failed();
return;
}
ESP_LOGV(TAG, " Input gyroscope_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_config));
gyro_config &= 0b11100111;
gyro_config |= MPU6886_SCALE_2000_DPS << 3;
ESP_LOGV(TAG, " Output gyro_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_config));
if (!this->write_byte(MPU6886_REGISTER_GYRO_CONFIG, gyro_config)) {
this->mark_failed();
return;
}
ESP_LOGV(TAG, " Setting up Accelerometer Config...");
// Set range - 2G
uint8_t accel_config;
if (!this->read_byte(MPU6886_REGISTER_ACCEL_CONFIG, &accel_config)) {
this->mark_failed();
return;
}
ESP_LOGV(TAG, " Input accelerometer_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_config));
accel_config &= 0b11100111;
accel_config |= (MPU6886_RANGE_2G << 3);
ESP_LOGV(TAG, " Output accel_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_config));
if (!this->write_byte(MPU6886_REGISTER_GYRO_CONFIG, gyro_config)) {
this->mark_failed();
return;
}
}
void MPU6886Component::dump_config() {
ESP_LOGCONFIG(TAG, "MPU6886:");
LOG_I2C_DEVICE(this);
if (this->is_failed()) {
ESP_LOGE(TAG, "Communication with MPU6886 failed!");
}
LOG_UPDATE_INTERVAL(this);
LOG_SENSOR(" ", "Acceleration X", this->accel_x_sensor_);
LOG_SENSOR(" ", "Acceleration Y", this->accel_y_sensor_);
LOG_SENSOR(" ", "Acceleration Z", this->accel_z_sensor_);
LOG_SENSOR(" ", "Gyro X", this->gyro_x_sensor_);
LOG_SENSOR(" ", "Gyro Y", this->gyro_y_sensor_);
LOG_SENSOR(" ", "Gyro Z", this->gyro_z_sensor_);
LOG_SENSOR(" ", "Temperature", this->temperature_sensor_);
}
void MPU6886Component::update() {
ESP_LOGV(TAG, " Updating MPU6886...");
uint16_t raw_data[7];
if (!this->read_bytes_16(MPU6886_REGISTER_ACCEL_XOUT_H, raw_data, 7)) {
this->status_set_warning();
return;
}
auto *data = reinterpret_cast<int16_t *>(raw_data);
float accel_x = data[0] * MPU6886_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
float accel_y = data[1] * MPU6886_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
float accel_z = data[2] * MPU6886_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
float temperature = data[3] / TEMPERATURE_SENSITIVITY + TEMPERATURE_OFFSET;
float gyro_x = data[4] * MPU6886_SCALE_DPS_PER_DIGIT_2000;
float gyro_y = data[5] * MPU6886_SCALE_DPS_PER_DIGIT_2000;
float gyro_z = data[6] * MPU6886_SCALE_DPS_PER_DIGIT_2000;
ESP_LOGD(TAG,
"Got accel={x=%.3f m/s², y=%.3f m/s², z=%.3f m/s²}, "
"gyro={x=%.3f °/s, y=%.3f °/s, z=%.3f °/s}, temp=%.3f°C",
accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, temperature);
if (this->accel_x_sensor_ != nullptr)
this->accel_x_sensor_->publish_state(accel_x);
if (this->accel_y_sensor_ != nullptr)
this->accel_y_sensor_->publish_state(accel_y);
if (this->accel_z_sensor_ != nullptr)
this->accel_z_sensor_->publish_state(accel_z);
if (this->temperature_sensor_ != nullptr)
this->temperature_sensor_->publish_state(temperature);
if (this->gyro_x_sensor_ != nullptr)
this->gyro_x_sensor_->publish_state(gyro_x);
if (this->gyro_y_sensor_ != nullptr)
this->gyro_y_sensor_->publish_state(gyro_y);
if (this->gyro_z_sensor_ != nullptr)
this->gyro_z_sensor_->publish_state(gyro_z);
this->status_clear_warning();
}
float MPU6886Component::get_setup_priority() const { return setup_priority::DATA; }
} // namespace mpu6886
} // namespace esphome

View file

@ -0,0 +1,39 @@
#pragma once
#include "esphome/core/component.h"
#include "esphome/components/sensor/sensor.h"
#include "esphome/components/i2c/i2c.h"
namespace esphome {
namespace mpu6886 {
class MPU6886Component : public PollingComponent, public i2c::I2CDevice {
public:
void setup() override;
void dump_config() override;
void update() override;
float get_setup_priority() const override;
void set_accel_x_sensor(sensor::Sensor *accel_x_sensor) { accel_x_sensor_ = accel_x_sensor; }
void set_accel_y_sensor(sensor::Sensor *accel_y_sensor) { accel_y_sensor_ = accel_y_sensor; }
void set_accel_z_sensor(sensor::Sensor *accel_z_sensor) { accel_z_sensor_ = accel_z_sensor; }
void set_temperature_sensor(sensor::Sensor *temperature_sensor) { temperature_sensor_ = temperature_sensor; }
void set_gyro_x_sensor(sensor::Sensor *gyro_x_sensor) { gyro_x_sensor_ = gyro_x_sensor; }
void set_gyro_y_sensor(sensor::Sensor *gyro_y_sensor) { gyro_y_sensor_ = gyro_y_sensor; }
void set_gyro_z_sensor(sensor::Sensor *gyro_z_sensor) { gyro_z_sensor_ = gyro_z_sensor; }
protected:
sensor::Sensor *accel_x_sensor_{nullptr};
sensor::Sensor *accel_y_sensor_{nullptr};
sensor::Sensor *accel_z_sensor_{nullptr};
sensor::Sensor *temperature_sensor_{nullptr};
sensor::Sensor *gyro_x_sensor_{nullptr};
sensor::Sensor *gyro_y_sensor_{nullptr};
sensor::Sensor *gyro_z_sensor_{nullptr};
};
;
} // namespace mpu6886
} // namespace esphome

View file

@ -0,0 +1,85 @@
import esphome.codegen as cg
import esphome.config_validation as cv
from esphome.components import i2c, sensor
from esphome.const import (
CONF_ID,
CONF_TEMPERATURE,
DEVICE_CLASS_TEMPERATURE,
ICON_BRIEFCASE_DOWNLOAD,
STATE_CLASS_MEASUREMENT,
UNIT_METER_PER_SECOND_SQUARED,
ICON_SCREEN_ROTATION,
UNIT_DEGREE_PER_SECOND,
UNIT_CELSIUS,
)
CODEOWNERS = ["@fabaff"]
DEPENDENCIES = ["i2c"]
CONF_ACCEL_X = "accel_x"
CONF_ACCEL_Y = "accel_y"
CONF_ACCEL_Z = "accel_z"
CONF_GYRO_X = "gyro_x"
CONF_GYRO_Y = "gyro_y"
CONF_GYRO_Z = "gyro_z"
mpu6886_ns = cg.esphome_ns.namespace("mpu6886")
MPU6886Component = mpu6886_ns.class_(
"MPU6886Component", cg.PollingComponent, i2c.I2CDevice
)
accel_schema = sensor.sensor_schema(
unit_of_measurement=UNIT_METER_PER_SECOND_SQUARED,
icon=ICON_BRIEFCASE_DOWNLOAD,
accuracy_decimals=2,
state_class=STATE_CLASS_MEASUREMENT,
)
gyro_schema = sensor.sensor_schema(
unit_of_measurement=UNIT_DEGREE_PER_SECOND,
icon=ICON_SCREEN_ROTATION,
accuracy_decimals=2,
state_class=STATE_CLASS_MEASUREMENT,
)
temperature_schema = sensor.sensor_schema(
unit_of_measurement=UNIT_CELSIUS,
accuracy_decimals=1,
device_class=DEVICE_CLASS_TEMPERATURE,
state_class=STATE_CLASS_MEASUREMENT,
)
CONFIG_SCHEMA = (
cv.Schema(
{
cv.GenerateID(): cv.declare_id(MPU6886Component),
cv.Optional(CONF_ACCEL_X): accel_schema,
cv.Optional(CONF_ACCEL_Y): accel_schema,
cv.Optional(CONF_ACCEL_Z): accel_schema,
cv.Optional(CONF_GYRO_X): gyro_schema,
cv.Optional(CONF_GYRO_Y): gyro_schema,
cv.Optional(CONF_GYRO_Z): gyro_schema,
cv.Optional(CONF_TEMPERATURE): temperature_schema,
}
)
.extend(cv.polling_component_schema("60s"))
.extend(i2c.i2c_device_schema(0x68))
)
async def to_code(config):
var = cg.new_Pvariable(config[CONF_ID])
await cg.register_component(var, config)
await i2c.register_i2c_device(var, config)
for d in ["x", "y", "z"]:
accel_key = f"accel_{d}"
if accel_key in config:
sens = await sensor.new_sensor(config[accel_key])
cg.add(getattr(var, f"set_accel_{d}_sensor")(sens))
accel_key = f"gyro_{d}"
if accel_key in config:
sens = await sensor.new_sensor(config[accel_key])
cg.add(getattr(var, f"set_gyro_{d}_sensor")(sens))
if CONF_TEMPERATURE in config:
sens = await sensor.new_sensor(config[CONF_TEMPERATURE])
cg.add(var.set_temperature_sensor(sens))

View file

@ -724,6 +724,23 @@ sensor:
temperature:
name: "MPU6050 Temperature"
i2c_id: i2c_bus
- platform: mpu6886
address: 0x68
accel_x:
name: "MPU6886 Accel X"
accel_y:
name: "MPU6886 Accel Y"
accel_z:
name: "MPU6886 Accel z"
gyro_x:
name: "MPU6886 Gyro X"
gyro_y:
name: "MPU6886 Gyro Y"
gyro_z:
name: "MPU6886 Gyro z"
temperature:
name: "MPU6886 Temperature"
i2c_id: i2c_bus
- platform: ms5611
temperature:
name: "Outside Temperature"