Add support for MPU-6886 (#3183)

CODEOWNERS

@@ -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

esphome/components/mpu6886/__init__.py

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

esphome/components/mpu6886/mpu6886.cpp

@@ -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

esphome/components/mpu6886/mpu6886.h

@@ -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

esphome/components/mpu6886/sensor.py

@@ -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))

tests/test1.yaml

@@ -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"