Merge branch 'dev'

examples/README.md

@@ -0,0 +1,6 @@
+# Examples
+
+To run this examples, do not forget to add `I2Cbus/SPIbus` library path in the Makefile of each example.
+
++ **MPU-I2C**: Setup MPU through I2C for basic usage.
++ **MPU-SPI**: Setup MPU through SPI for basic usage.

examples/mpu_i2c/Makefile

@@ -0,0 +1,11 @@
+# Project Makefile #
+
+PROJECT_NAME := mpu-i2c
+
+# Path to MPU Driver
+EXTRA_COMPONENT_DIRS += $(abspath ../..)
+# Path to I2Cbus
+EXTRA_COMPONENT_DIRS += ${HOME}/esp/libraries/I2Cbus
+
+
+include $(IDF_PATH)/make/project.mk

examples/mpu_i2c/main/mpu_i2c.cpp

@@ -0,0 +1,94 @@
+// =========================================================================
+// Released under the MIT License
+// Copyright 2017-2018 Natanael Josue Rabello. All rights reserved.
+// For the license information refer to LICENSE file in root directory.
+// =========================================================================
+
+/**
+ * @file mpu_i2c.cpp
+ * Example on how to setup MPU through I2C for basic usage.
+ */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "driver/gpio.h"
+#include "driver/i2c.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/portmacro.h"
+#include "freertos/task.h"
+#include "sdkconfig.h"
+
+#include "I2Cbus.hpp"
+#include "MPU.hpp"
+#include "mpu/math.hpp"
+#include "mpu/types.hpp"
+
+static const char* TAG = "example";
+
+static constexpr gpio_num_t SDA = GPIO_NUM_22;
+static constexpr gpio_num_t SCL = GPIO_NUM_23;
+static constexpr uint32_t CLOCK_SPEED = 400000;  // range from 100 KHz ~ 400Hz
+
+extern "C" void app_main() {
+    printf("$ MPU Driver Example: MPU-I2C\n");
+    fflush(stdout);
+
+    // Initialize I2C on port 0 using I2Cbus interface
+    i2c0.begin(SDA, SCL, CLOCK_SPEED);
+
+    // Or directly with esp-idf API
+    /*
+    i2c_config_t conf;
+    conf.mode = I2C_MODE_MASTER;
+    conf.sda_io_num = SDA;
+    conf.scl_io_num = SCL;
+    conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
+    conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
+    conf.master.clk_speed = CLOCK_SPEED;
+    ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));
+    ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, conf.mode, 0, 0, 0));
+    */
+
+    MPU_t MPU;  // create a default MPU object
+    MPU.setBus(i2c0);  // set bus port, not really needed since default is i2c0
+    MPU.setAddr(mpud::MPU_I2CADDRESS_AD0_LOW);  // set address, default is AD0_LOW
+
+    // Great! Let's verify the communication
+    // (this also check if the connected MPU supports the implementation of chip selected in the component menu)
+    while (esp_err_t err = MPU.testConnection()) {
+        ESP_LOGE(TAG, "Failed to connect to the MPU, error=%#X", err);
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+    ESP_LOGI(TAG, "MPU connection successful!");
+
+    // Initialize
+    ESP_ERROR_CHECK(MPU.initialize());  // initialize the chip and set initial configurations
+    // Setup with your configurations
+    // ESP_ERROR_CHECK(MPU.setSampleRate(50));  // set sample rate to 50 Hz
+    // ESP_ERROR_CHECK(MPU.setGyroFullScale(mpud::GYRO_FS_500DPS));
+    // ESP_ERROR_CHECK(MPU.setAccelFullScale(mpud::ACCEL_FS_4G));
+
+    // Reading sensor data
+    printf("Reading sensor data:\n");
+    mpud::raw_axes_t accelRaw;   // x, y, z axes as int16
+    mpud::raw_axes_t gyroRaw;    // x, y, z axes as int16
+    mpud::float_axes_t accelG;   // accel axes in (g) gravity format
+    mpud::float_axes_t gyroDPS;  // gyro axes in (DPS) º/s format
+    while (true) {
+        // Read
+        MPU.acceleration(&accelRaw);  // fetch raw data from the registers
+        MPU.rotation(&gyroRaw);       // fetch raw data from the registers
+        // MPU.motion(&accelRaw, &gyroRaw);  // read both in one shot
+        // Convert
+        accelG = mpud::accelGravity(accelRaw, mpud::ACCEL_FS_4G);
+        gyroDPS = mpud::gyroDegPerSec(gyroRaw, mpud::GYRO_FS_500DPS);
+        // Debug
+        printf("accel: [%+6.2f %+6.2f %+6.2f ] (G) \t", accelG.x, accelG.y, accelG.z);
+        printf("gyro: [%+7.2f %+7.2f %+7.2f ] (º/s)\n", gyroDPS[0], gyroDPS[1], gyroDPS[2]);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}

examples/mpu_spi/Makefile

@@ -0,0 +1,11 @@
+# Project Makefile #
+
+PROJECT_NAME := mpu-spi
+
+# Path to MPU Driver
+EXTRA_COMPONENT_DIRS += $(abspath ../..)
+# Path to SPIbus
+EXTRA_COMPONENT_DIRS += ${HOME}/esp/libraries/SPIbus
+
+
+include $(IDF_PATH)/make/project.mk

examples/mpu_spi/main/mpu_spi.cpp

@@ -0,0 +1,112 @@
+// =========================================================================
+// Released under the MIT License
+// Copyright 2017-2018 Natanael Josue Rabello. All rights reserved.
+// For the license information refer to LICENSE file in root directory.
+// =========================================================================
+
+/**
+ * @file mpu_spi.cpp
+ * Example on how to setup MPU through SPI for basic usage.
+ */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/portmacro.h"
+#include "freertos/task.h"
+#include "sdkconfig.h"
+
+#include "MPU.hpp"
+#include "SPIbus.hpp"
+#include "mpu/math.hpp"
+#include "mpu/types.hpp"
+
+static const char* TAG = "example";
+
+static constexpr int MOSI = 22;
+static constexpr int MISO = 21;
+static constexpr int SCLK = 23;
+static constexpr int CS = 16;
+static constexpr uint32_t CLOCK_SPEED = 1000000;  // up to 1MHz for all registers, and 20MHz for sensor data registers only
+
+extern "C" void app_main() {
+    printf("$ MPU Driver Example: MPU-SPI\n");
+    fflush(stdout);
+
+    spi_device_handle_t mpu_spi_handle;
+    // Initialize SPI on HSPI host through SPIbus interface:
+    hspi.begin(MOSI, MISO, SCLK);
+    hspi.addDevice(0, CLOCK_SPEED, CS, &mpu_spi_handle);
+
+    // Or directly with esp-idf API:
+    /*
+    spi_bus_config_t spi_config;
+    spi_config.mosi_io_num = MOSI;
+    spi_config.miso_io_num = MISO;
+    spi_config.sclk_io_num = SCLK;
+    spi_config.quadwp_io_num = -1;
+    spi_config.quadhd_io_num = -1;
+    spi_config.max_transfer_sz = SPI_MAX_DMA_LEN;
+    ESP_ERROR_CHECK(spi_bus_initialize(HSPI_HOST, &spi_config, 0));
+    spi_device_interface_config_t dev_config;
+    dev_config.command_bits = 0;
+    dev_config.address_bits = 8;
+    dev_config.dummy_bits = 0;
+    dev_config.mode = 0;
+    dev_config.duty_cycle_pos = 128;
+    dev_config.cs_ena_pretrans = 0; 
+    dev_config.cs_ena_posttrans = 0;
+    dev_config.clock_speed_hz = CLOCK_SPEED;
+    dev_config.spics_io_num = CS;
+    dev_config.flags = 0;
+    dev_config.queue_size = 1;
+    dev_config.pre_cb = NULL;
+    dev_config.post_cb = NULL;
+    ESP_ERROR_CHECK(spi_bus_add_device(HSPI_HOST, &dev_config, &mpu_spi_handle));
+    */
+
+    MPU_t MPU;  // create a default MPU object
+    MPU.setBus(hspi);  // set bus port, not really needed here since default is HSPI
+    MPU.setAddr(mpu_spi_handle);  // set spi_device_handle, always needed!
+
+    // Great! Let's verify the communication
+    // (this also check if the connected MPU supports the implementation of chip selected in the component menu)
+    while (esp_err_t err = MPU.testConnection()) {
+        ESP_LOGE(TAG, "Failed to connect to the MPU, error=%#X", err);
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+    ESP_LOGI(TAG, "MPU connection successful!");
+
+    // Initialize
+    ESP_ERROR_CHECK(MPU.initialize());  // initialize the chip and set initial configurations
+    // Setup with your configurations
+    // ESP_ERROR_CHECK(MPU.setSampleRate(50));  // set sample rate to 50 Hz
+    // ESP_ERROR_CHECK(MPU.setGyroFullScale(mpud::GYRO_FS_500DPS));
+    // ESP_ERROR_CHECK(MPU.setAccelFullScale(mpud::ACCEL_FS_4G));
+
+    // Reading sensor data
+    printf("Reading sensor data:\n");
+    mpud::raw_axes_t accelRaw;   // x, y, z axes as int16
+    mpud::raw_axes_t gyroRaw;    // x, y, z axes as int16
+    mpud::float_axes_t accelG;   // accel axes in (g) gravity format
+    mpud::float_axes_t gyroDPS;  // gyro axes in (DPS) º/s format
+    while (true) {
+        // Read
+        MPU.acceleration(&accelRaw);  // fetch raw data from the registers
+        MPU.rotation(&gyroRaw);       // fetch raw data from the registers
+        // MPU.motion(&accelRaw, &gyroRaw);  // read both in one shot
+        // Convert
+        accelG = mpud::accelGravity(accelRaw, mpud::ACCEL_FS_4G);
+        gyroDPS = mpud::gyroDegPerSec(gyroRaw, mpud::GYRO_FS_500DPS);
+        // Debug
+        printf("accel: [%+6.2f %+6.2f %+6.2f ] (G) \t", accelG.x, accelG.y, accelG.z);
+        printf("gyro: [%+7.2f %+7.2f %+7.2f ] (º/s)\n", gyroDPS[0], gyroDPS[1], gyroDPS[2]);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}

include/mpu/types.hpp

@@ -533,9 +533,11 @@ static constexpr mag_stat1_t MAG_STAT1_DATA_OVERRUN{1 << regs::mag::STATUS1_DATA
 
 /*! Magnetometer sensor status 2 */
 typedef uint8_t mag_stat2_t;
-static constexpr mag_stat2_t MAG_STAT1_SENSOR_OVERFLOW{1 << regs::mag::STATUS2_OVERFLOW_BIT};
-#ifdef CONFIG_MPU_AK8975
-static constexpr mag_stat2_t MAG_STAT1_DATA_OVERRUN{1 << regs::mag::STATUS1_DATA_OVERRUN_BIT};
+static constexpr mag_stat2_t MAG_STAT2_SENSOR_OVERFLOW{1 << regs::mag::STATUS2_OVERFLOW_BIT};
+#ifdef CONFIG_MPU_AK8963
+static constexpr mag_stat2_t MAG_STAT2_BIT_OUTPUT_SETTING{1 << regs::mag::STATUS2_BIT_OUTPUT_M_BIT};
+#elif CONFIG_MPU_AK8975
+static constexpr mag_stat2_t MAG_STAT2_DATA_ERROR{1 << regs::mag::STATUS2_DATA_ERROR_BIT};
 #endif
 
 #ifdef CONFIG_MPU_AK8963