feat(esp32-IMU): Upload IMU program progress

MQTT - functions TODO: - Fix Serial
2025-10-29 16:26:59 +01:00
parent 2cd95173d3
commit 5bdd2a2b94
11 changed files with 4873 additions and 0 deletions
--- a/IMU/main/mpu6886.h
+++ b/IMU/main/mpu6886.h
@@ -0,0 +1,80 @@
+#ifndef MPU6886_H
+#define MPU6886_H
+
+#include "driver/i2c.h"
+#include "esp_err.h"
+#include "esp_wifi.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "nvs_flash.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include <math.h>
+#include "mqtt_client.h"
+#include <string.h>
+#include <stdio.h>
+
+
+#define I2C_MASTER_SCL_IO           CONFIG_I2C_MASTER_SCL       /*!< GPIO number used for I2C master clock */
+#define I2C_MASTER_SDA_IO           CONFIG_I2C_MASTER_SDA       /*!< GPIO number used for I2C master data  */
+#define I2C_MASTER_NUM              I2C_NUM_0                   /*!< I2C port number for master dev */
+#define I2C_MASTER_FREQ_HZ          CONFIG_I2C_MASTER_FREQUENCY /*!< I2C master clock frequency */
+#define I2C_MASTER_TX_BUF_DISABLE   0                           /*!< I2C master doesn't need buffer */
+#define I2C_MASTER_RX_BUF_DISABLE   0                           /*!< I2C master doesn't need buffer */
+#define I2C_MASTER_TIMEOUT_MS       1000
+
+#define MPU6886_ADDR 0x68
+
+// MPU6886 Registers
+#define MPU6886_PWR_MGMT_1     0x6B
+#define MPU6886_WHO_AM_I       0x75
+#define MPU6886_ACCEL_XOUT_H   0x3B
+#define MPU6886_GYRO_XOUT_H    0x43
+#define MPU6886_TEMP_OUT_H     0x41
+#define MPU6886_ACCEL_CONFIG   0x1C
+#define MPU6886_GYRO_CONFIG    0x1B
+
+// Sensitivity scales
+#define ACCEL_SO_2G  16384.0f
+#define ACCEL_SO_4G   8192.0f
+#define ACCEL_SO_8G   4096.0f
+#define ACCEL_SO_16G  2048.0f
+
+#define GYRO_SO_250DPS  131.0f
+#define GYRO_SO_500DPS   65.5f
+#define GYRO_SO_1000DPS  32.8f
+#define GYRO_SO_2000DPS  16.4f
+
+#define TEMP_SO 326.8f
+#define TEMP_OFFSET 25.0f
+
+// Scale factors
+#define SF_M_S2 9.80665f
+#define SF_RAD_S 0.017453292519943f
+
+typedef struct {
+    float x;
+    float y;
+    float z;
+} vec3_t;
+
+typedef struct {
+    i2c_port_t i2c_port;
+    uint8_t address;
+    float accel_div;
+    float gyro_div;
+    vec3_t gyro_offset;
+    vec3_t accel_offset;
+} mpu6886_t;
+
+static esp_mqtt_client_handle_t s_mqtt_client = NULL;
+
+// Function declarations
+esp_err_t mpu6886_init(mpu6886_t *dev, i2c_port_t i2c_port);
+esp_err_t mpu6886_read_accel(mpu6886_t *dev, vec3_t *accel);
+esp_err_t mpu6886_read_gyro(mpu6886_t *dev, vec3_t *gyro);
+esp_err_t mpu6886_read_temp(mpu6886_t *dev, float *temp);
+esp_err_t mpu6886_calibrate_gyro(mpu6886_t *dev, int samples, int delay_ms);
+esp_err_t mpu6886_calibrate_accel(mpu6886_t *dev, int samples, int delay_ms);
+
+#endif