mirror of https://github.com/esphome/esphome.git
Add support for MPU-6886 (#3183)
This commit is contained in:
Fabian Affolter
GitHub
parent
2c7b104f4a
commit
ba785e29e9
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@ -124,6 +124,7 @@ esphome/components/modbus_controller/select/* @martgras @stegm
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esphome/components/modbus_controller/sensor/* @martgras
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esphome/components/modbus_controller/switch/* @martgras
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esphome/components/modbus_controller/text_sensor/* @martgras
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esphome/components/mpu6886/* @fabaff
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esphome/components/network/* @esphome/core
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esphome/components/nextion/* @senexcrenshaw
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esphome/components/nextion/binary_sensor/* @senexcrenshaw
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@ -0,0 +1 @@
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"""Support for MPC-6886."""
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@ -0,0 +1,153 @@
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#include "mpu6886.h"
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#include "esphome/core/log.h"
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namespace esphome {
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namespace mpu6886 {
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static const char *const TAG = "mpu6886";
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const uint8_t MPU6886_REGISTER_WHO_AM_I = 0x75;
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const uint8_t MPU6886_REGISTER_POWER_MANAGEMENT_1 = 0x6B;
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const uint8_t MPU6886_REGISTER_GYRO_CONFIG = 0x1B;
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const uint8_t MPU6886_REGISTER_ACCEL_CONFIG = 0x1C;
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const uint8_t MPU6886_REGISTER_ACCEL_XOUT_H = 0x3B;
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const uint8_t MPU6886_CLOCK_SOURCE_X_GYRO = 0b001;
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const uint8_t MPU6886_SCALE_2000_DPS = 0b11;
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const uint8_t MPU6886_WHO_AM_I_IDENTIFIER = 0x19;
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const float MPU6886_SCALE_DPS_PER_DIGIT_2000 = 0.060975f;
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const uint8_t MPU6886_RANGE_2G = 0b00;
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const float MPU6886_RANGE_PER_DIGIT_2G = 0.000061f;
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const uint8_t MPU6886_BIT_SLEEP_ENABLED = 6;
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const uint8_t MPU6886_BIT_TEMPERATURE_DISABLED = 3;
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const float GRAVITY_EARTH = 9.80665f;
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// See https://github.com/m5stack/M5-Schematic/blob/master/datasheet/MPU-6886-000193%2Bv1.1_GHIC.PDF.pdf
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// p. 43
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const float TEMPERATURE_SENSITIVITY = 326.8;
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const float TEMPERATURE_OFFSET = 25.0;
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void MPU6886Component::setup() {
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ESP_LOGCONFIG(TAG, "Setting up MPU6886...");
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uint8_t who_am_i;
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if (!this->read_byte(MPU6886_REGISTER_WHO_AM_I, &who_am_i) || who_am_i != MPU6886_WHO_AM_I_IDENTIFIER) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Setting up Power Management...");
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// Setup power management
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uint8_t power_management;
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if (!this->read_byte(MPU6886_REGISTER_POWER_MANAGEMENT_1, &power_management)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Input power_management: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(power_management));
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// Set clock source - X-Gyro
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power_management &= 0b11111000;
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power_management |= MPU6886_CLOCK_SOURCE_X_GYRO;
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// Disable sleep
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power_management &= ~(1 << MPU6886_BIT_SLEEP_ENABLED);
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// Enable temperature
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power_management &= ~(1 << MPU6886_BIT_TEMPERATURE_DISABLED);
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ESP_LOGV(TAG, " Output power_management: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(power_management));
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if (!this->write_byte(MPU6886_REGISTER_POWER_MANAGEMENT_1, power_management)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Setting up Gyroscope Config...");
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// Set scale - 2000DPS
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uint8_t gyro_config;
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if (!this->read_byte(MPU6886_REGISTER_GYRO_CONFIG, &gyro_config)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Input gyroscope_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_config));
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gyro_config &= 0b11100111;
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gyro_config |= MPU6886_SCALE_2000_DPS << 3;
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ESP_LOGV(TAG, " Output gyro_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_config));
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if (!this->write_byte(MPU6886_REGISTER_GYRO_CONFIG, gyro_config)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Setting up Accelerometer Config...");
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// Set range - 2G
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uint8_t accel_config;
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if (!this->read_byte(MPU6886_REGISTER_ACCEL_CONFIG, &accel_config)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Input accelerometer_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_config));
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accel_config &= 0b11100111;
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accel_config |= (MPU6886_RANGE_2G << 3);
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ESP_LOGV(TAG, " Output accel_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_config));
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if (!this->write_byte(MPU6886_REGISTER_GYRO_CONFIG, gyro_config)) {
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this->mark_failed();
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return;
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}
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}
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void MPU6886Component::dump_config() {
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ESP_LOGCONFIG(TAG, "MPU6886:");
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LOG_I2C_DEVICE(this);
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if (this->is_failed()) {
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ESP_LOGE(TAG, "Communication with MPU6886 failed!");
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}
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LOG_UPDATE_INTERVAL(this);
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LOG_SENSOR(" ", "Acceleration X", this->accel_x_sensor_);
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LOG_SENSOR(" ", "Acceleration Y", this->accel_y_sensor_);
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LOG_SENSOR(" ", "Acceleration Z", this->accel_z_sensor_);
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LOG_SENSOR(" ", "Gyro X", this->gyro_x_sensor_);
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LOG_SENSOR(" ", "Gyro Y", this->gyro_y_sensor_);
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LOG_SENSOR(" ", "Gyro Z", this->gyro_z_sensor_);
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LOG_SENSOR(" ", "Temperature", this->temperature_sensor_);
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}
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void MPU6886Component::update() {
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ESP_LOGV(TAG, " Updating MPU6886...");
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uint16_t raw_data[7];
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if (!this->read_bytes_16(MPU6886_REGISTER_ACCEL_XOUT_H, raw_data, 7)) {
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this->status_set_warning();
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return;
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}
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auto *data = reinterpret_cast<int16_t *>(raw_data);
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float accel_x = data[0] * MPU6886_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
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float accel_y = data[1] * MPU6886_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
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float accel_z = data[2] * MPU6886_RANGE_PER_DIGIT_2G * GRAVITY_EARTH;
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float temperature = data[3] / TEMPERATURE_SENSITIVITY + TEMPERATURE_OFFSET;
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float gyro_x = data[4] * MPU6886_SCALE_DPS_PER_DIGIT_2000;
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float gyro_y = data[5] * MPU6886_SCALE_DPS_PER_DIGIT_2000;
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float gyro_z = data[6] * MPU6886_SCALE_DPS_PER_DIGIT_2000;
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ESP_LOGD(TAG,
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"Got accel={x=%.3f m/s², y=%.3f m/s², z=%.3f m/s²}, "
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"gyro={x=%.3f °/s, y=%.3f °/s, z=%.3f °/s}, temp=%.3f°C",
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accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, temperature);
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if (this->accel_x_sensor_ != nullptr)
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this->accel_x_sensor_->publish_state(accel_x);
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if (this->accel_y_sensor_ != nullptr)
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this->accel_y_sensor_->publish_state(accel_y);
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if (this->accel_z_sensor_ != nullptr)
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this->accel_z_sensor_->publish_state(accel_z);
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if (this->temperature_sensor_ != nullptr)
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this->temperature_sensor_->publish_state(temperature);
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if (this->gyro_x_sensor_ != nullptr)
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this->gyro_x_sensor_->publish_state(gyro_x);
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if (this->gyro_y_sensor_ != nullptr)
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this->gyro_y_sensor_->publish_state(gyro_y);
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if (this->gyro_z_sensor_ != nullptr)
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this->gyro_z_sensor_->publish_state(gyro_z);
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this->status_clear_warning();
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}
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float MPU6886Component::get_setup_priority() const { return setup_priority::DATA; }
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} // namespace mpu6886
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} // namespace esphome
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@ -0,0 +1,39 @@
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#pragma once
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#include "esphome/core/component.h"
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#include "esphome/components/sensor/sensor.h"
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#include "esphome/components/i2c/i2c.h"
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namespace esphome {
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namespace mpu6886 {
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class MPU6886Component : public PollingComponent, public i2c::I2CDevice {
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public:
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void setup() override;
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void dump_config() override;
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void update() override;
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float get_setup_priority() const override;
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void set_accel_x_sensor(sensor::Sensor *accel_x_sensor) { accel_x_sensor_ = accel_x_sensor; }
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void set_accel_y_sensor(sensor::Sensor *accel_y_sensor) { accel_y_sensor_ = accel_y_sensor; }
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void set_accel_z_sensor(sensor::Sensor *accel_z_sensor) { accel_z_sensor_ = accel_z_sensor; }
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void set_temperature_sensor(sensor::Sensor *temperature_sensor) { temperature_sensor_ = temperature_sensor; }
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void set_gyro_x_sensor(sensor::Sensor *gyro_x_sensor) { gyro_x_sensor_ = gyro_x_sensor; }
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void set_gyro_y_sensor(sensor::Sensor *gyro_y_sensor) { gyro_y_sensor_ = gyro_y_sensor; }
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void set_gyro_z_sensor(sensor::Sensor *gyro_z_sensor) { gyro_z_sensor_ = gyro_z_sensor; }
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protected:
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sensor::Sensor *accel_x_sensor_{nullptr};
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sensor::Sensor *accel_y_sensor_{nullptr};
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sensor::Sensor *accel_z_sensor_{nullptr};
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sensor::Sensor *temperature_sensor_{nullptr};
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sensor::Sensor *gyro_x_sensor_{nullptr};
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sensor::Sensor *gyro_y_sensor_{nullptr};
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sensor::Sensor *gyro_z_sensor_{nullptr};
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};
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;
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} // namespace mpu6886
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} // namespace esphome
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@ -0,0 +1,85 @@
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import esphome.codegen as cg
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import esphome.config_validation as cv
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from esphome.components import i2c, sensor
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from esphome.const import (
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CONF_ID,
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CONF_TEMPERATURE,
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DEVICE_CLASS_TEMPERATURE,
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ICON_BRIEFCASE_DOWNLOAD,
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STATE_CLASS_MEASUREMENT,
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UNIT_METER_PER_SECOND_SQUARED,
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ICON_SCREEN_ROTATION,
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UNIT_DEGREE_PER_SECOND,
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UNIT_CELSIUS,
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)
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CODEOWNERS = ["@fabaff"]
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DEPENDENCIES = ["i2c"]
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CONF_ACCEL_X = "accel_x"
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CONF_ACCEL_Y = "accel_y"
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CONF_ACCEL_Z = "accel_z"
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CONF_GYRO_X = "gyro_x"
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CONF_GYRO_Y = "gyro_y"
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CONF_GYRO_Z = "gyro_z"
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mpu6886_ns = cg.esphome_ns.namespace("mpu6886")
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MPU6886Component = mpu6886_ns.class_(
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"MPU6886Component", cg.PollingComponent, i2c.I2CDevice
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)
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accel_schema = sensor.sensor_schema(
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unit_of_measurement=UNIT_METER_PER_SECOND_SQUARED,
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icon=ICON_BRIEFCASE_DOWNLOAD,
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accuracy_decimals=2,
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state_class=STATE_CLASS_MEASUREMENT,
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)
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gyro_schema = sensor.sensor_schema(
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unit_of_measurement=UNIT_DEGREE_PER_SECOND,
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icon=ICON_SCREEN_ROTATION,
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accuracy_decimals=2,
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state_class=STATE_CLASS_MEASUREMENT,
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)
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temperature_schema = sensor.sensor_schema(
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unit_of_measurement=UNIT_CELSIUS,
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accuracy_decimals=1,
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device_class=DEVICE_CLASS_TEMPERATURE,
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state_class=STATE_CLASS_MEASUREMENT,
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)
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CONFIG_SCHEMA = (
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cv.Schema(
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{
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cv.GenerateID(): cv.declare_id(MPU6886Component),
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cv.Optional(CONF_ACCEL_X): accel_schema,
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cv.Optional(CONF_ACCEL_Y): accel_schema,
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cv.Optional(CONF_ACCEL_Z): accel_schema,
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cv.Optional(CONF_GYRO_X): gyro_schema,
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cv.Optional(CONF_GYRO_Y): gyro_schema,
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cv.Optional(CONF_GYRO_Z): gyro_schema,
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cv.Optional(CONF_TEMPERATURE): temperature_schema,
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}
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)
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.extend(cv.polling_component_schema("60s"))
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.extend(i2c.i2c_device_schema(0x68))
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)
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async def to_code(config):
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var = cg.new_Pvariable(config[CONF_ID])
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await cg.register_component(var, config)
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await i2c.register_i2c_device(var, config)
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for d in ["x", "y", "z"]:
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accel_key = f"accel_{d}"
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if accel_key in config:
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sens = await sensor.new_sensor(config[accel_key])
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cg.add(getattr(var, f"set_accel_{d}_sensor")(sens))
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accel_key = f"gyro_{d}"
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if accel_key in config:
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sens = await sensor.new_sensor(config[accel_key])
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cg.add(getattr(var, f"set_gyro_{d}_sensor")(sens))
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if CONF_TEMPERATURE in config:
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sens = await sensor.new_sensor(config[CONF_TEMPERATURE])
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cg.add(var.set_temperature_sensor(sens))
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@ -724,6 +724,23 @@ sensor:
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temperature:
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name: "MPU6050 Temperature"
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i2c_id: i2c_bus
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- platform: mpu6886
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address: 0x68
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accel_x:
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name: "MPU6886 Accel X"
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accel_y:
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name: "MPU6886 Accel Y"
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accel_z:
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name: "MPU6886 Accel z"
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gyro_x:
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name: "MPU6886 Gyro X"
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gyro_y:
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name: "MPU6886 Gyro Y"
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gyro_z:
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name: "MPU6886 Gyro z"
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temperature:
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name: "MPU6886 Temperature"
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i2c_id: i2c_bus
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- platform: ms5611
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temperature:
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name: "Outside Temperature"
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