Dopolnitev dokumentacije
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#include <Wire.h>
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// Similar to https://github.com/Levi--G/IMU-WhoAmIVerifier
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//Do be aware that MPU9150's will report as 6050s, this is because a 9150 is a 6050 with a magnetometer
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//if you have a 9250 board and it reports as a 6050, it's most likely a 9150.
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//This code will check for an IMU when reset and, if one is found, it will report what it is.
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//To re run the check without resetting the Arduino, pull pin 4 to GND.
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#define NUM_IMUS 37
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bool errorflag;
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typedef struct IMU {
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uint8_t Address1;
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uint8_t Address2;
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uint8_t Register;
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uint8_t ExpectedID;
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const char* IMUName PROGMEM;
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const char* IMUCapabilities PROGMEM;
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bool LibSupported;
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};
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const IMU IMUList[NUM_IMUS] =
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{
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{0x68, 0x69, 0x75, 0x68, "MPU6050", "3A,3G", true},
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{0x68, 0x69, 0x75, 0x70, "MPU6500", "3A,3G", true},
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{0x68, 0x69, 0x75, 0x74, "MPU6515", "3A,3G", true},
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{0x68, 0x69, 0x75, 0x19, "MPU6886", "3A,3G", true},
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{0x68, 0x69, 0x75, 0x71, "MPU9250", "3A,3G,3M", true},
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{0x68, 0x69, 0x75, 0x73, "MPU9255", "3A,3G,3M", true},
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{0x69, 0x68, 0x00, 0xD1, "BMI160", "3A,3G", true},
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{0x6B, 0x6A, 0x0F, 0x69, "LSM6DS3", "3A,3G", true},
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{0x6B, 0x6A, 0x0F, 0x6A, "LSM6DSL", "3A,3G", true},
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{0x68, 0x69, 0x75, 0x98, "ICM20689", "3A,3G", true},
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{0x68, 0x69, 0x75, 0x20, "ICM20690", "3A,3G", true},
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{0x18, 0x19, 0x00, 0xFA, "BMI055 or BMX055", "3A,3G or 3A,3G,3M", true},
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{0x0D, 0x0D, 0x0D, 0xFF, "QMC5883L", "3M", true},
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{0x68, 0x69, 0x75, 0x75, "Unknown or fake IMU, proceed with caution, use 'IMU_Generic' as IMU type", "3A,3G, possibly 3M?", true},
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{0x6B, 0x6A, 0x0F, 0x6B, "LSM6DSR", "3A,3G", false},
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{0x68, 0x69, 0x75, 0x92, "ICG20330", "3G", false},
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{0x68, 0x69, 0x75, 0xB5, "IAM20380", "3A", false},
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{0x68, 0x69, 0x75, 0xB6, "IAM20381", "3G", false},
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{0x68, 0x69, 0x75, 0x11, "ICM20600", "3A,3G", false},
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{0x68, 0x69, 0x75, 0xAC, "ICM20601", "3A,3G", false},
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{0x68, 0x69, 0x75, 0x12, "ICM20602", "3A,3G", false},
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{0x68, 0x69, 0x75, 0xAF, "ICM20608-G", "3A,3G", false},
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{0x68, 0x69, 0x75, 0xA6, "ICM20609", "3A,3G", false},
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{0x68, 0x69, 0x00, 0xE0, "ICM20648", "3A,3G", false},
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{0x68, 0x69, 0x00, 0xE1, "ICM20649", "3A,3G", false},
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{0x68, 0x69, 0x75, 0xA9, "ICG20660", "3A,3G", false},
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{0x68, 0x69, 0x75, 0x91, "IAM20680", "3A,3G", false},
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{0x68, 0x69, 0x00, 0xEA, "ICM20948", "3A,3G,3M", false},
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{0x68, 0x69, 0x75, 0x6C, "IIM42351", "3A", false},
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{0x68, 0x69, 0x75, 0x6D, "IIM42352", "3A", false},
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{0x68, 0x69, 0x75, 0x4E, "ICM40627", "3A,3G", false},
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{0x68, 0x69, 0x75, 0x42, "ICM42605", "3A,3G", false},
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{0x68, 0x69, 0x75, 0x6F, "IIM42652", "3A,3G", false},
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{0x68, 0x69, 0x75, 0x67, "ICM42670-P", "3A,3G", false},
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{0x68, 0x69, 0x75, 0xDB, "ICM42688-V", "3A,3G", false},
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{0x68, 0x69, 0x00, 0x68, "MPU3050", "3G", false},
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{0x1E, 0x1E, 0x0C, 0x33, "HMC5883L", "3M", false},
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};
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void setup() {
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Serial.begin(9600);
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while (!Serial) ;
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errorflag = false;
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pinMode(4, INPUT_PULLUP);
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Wire.begin();
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#ifdef WIRE_HAS_TIMEOUT
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Wire.setWireTimeout(3000);
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#endif
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Serial.println(F("\n=========== IMU Identifier ==========="));
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}
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void loop() {
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static int a = 0;
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while (digitalRead(4) && a != 0) ; //do once
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a = 1;
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bool detected = false;
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for (int i = 0; i < NUM_IMUS; i++)
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{
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#ifdef WIRE_HAS_TIMEOUT
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if (errorflag || Wire.getWireTimeoutFlag()) {
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Serial.print(F("Error while reading address 0x"));
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Serial.print(IMUList[i].Address1, HEX);
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Serial.print(F(": "));
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if (Wire.getWireTimeoutFlag()) {
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Serial.println(F("I2C bus timed out. (Bad IMU? check wiring.)"));
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}
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else {
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Serial.println(F("Unknown error while reading/writing"));
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}
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Serial.println(F("======================================"));
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Wire.clearWireTimeoutFlag();
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errorflag = false;
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delay(2000);
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return;
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}
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#endif
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if (readByte(IMUList[i].Address1, IMUList[i].Register) == IMUList[i].ExpectedID)
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{
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detected = true;
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Serial.print(F("IMU Found: "));
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Serial.print(IMUList[i].IMUName);
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Serial.print(F(" On address: 0x"));
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Serial.println(IMUList[i].Address1, HEX);
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Serial.print(F("This IMU is capable of the following axis: "));
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Serial.println(IMUList[i].IMUCapabilities);
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if (IMUList[i].LibSupported) {
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Serial.println(F("This IMU is supported by the FastIMU library."));
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}
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else
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{
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Serial.println(F("This IMU is not supported by the FastIMU library."));
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}
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Serial.println(F("======================================"));
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}
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else if (readByte(IMUList[i].Address2, IMUList[i].Register) == IMUList[i].ExpectedID)
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{
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detected = true;
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Serial.print(F("IMU Found: "));
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Serial.print(IMUList[i].IMUName);
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Serial.print(F(" On address: 0x"));
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Serial.println(IMUList[i].Address2, HEX);
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Serial.print(F("This IMU is capable of the following axis: "));
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Serial.println(IMUList[i].IMUCapabilities);
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if (IMUList[i].LibSupported) {
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Serial.println(F("This IMU is supported by the FastIMU library."));
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}
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else
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{
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Serial.println(F(" This IMU is not supported by the FastIMU library."));
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}
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Serial.println(F("======================================"));
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}
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}
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if (!detected) {
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Serial.println(F("No IMU detected"));
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Serial.println(F("======================================"));
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}
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delay(1000);
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}
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uint8_t readByte(uint8_t address, uint8_t subAddress)
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{
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uint8_t data; // `data` will store the register data
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Wire.beginTransmission(address); // Initialize the Tx buffer
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Wire.write(subAddress); // Put slave register address in Tx buffer
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int i = Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
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if (i == 5) {
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return 0;
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errorflag = true;
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}
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i = Wire.requestFrom(address, (uint8_t) 1, true); // Read one byte from slave register address
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if (i == 0) {
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return 0;
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errorflag = true;
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}
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if (Wire.available()) {
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data = Wire.read(); // Fill Rx buffer with result
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}
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return data; // Return data read from slave register
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}
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# SPDX-License-Identifier: GPL-2.0-or-later
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#
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# Example OpenOCD configuration file for ESP32-WROVER-KIT board.
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#
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# For example, OpenOCD can be started for ESP32 debugging on
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#
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# openocd -f board/esp32-wrover-kit-3.3v.cfg
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#
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# Source the JTAG interface configuration file
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source [find interface/ftdi/esp32_devkitj_v1.cfg]
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set ESP32_FLASH_VOLTAGE 3.3
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# Source the ESP32 configuration file
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source [find target/esp32.cfg]
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File diff suppressed because it is too large
Load Diff
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{
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"name":"Arduino on ESP32",
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"toolchainPrefix":"xtensa-esp32-elf",
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"svdFile":"debug.svd",
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"request":"attach",
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"postAttachCommands":[
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"set remote hardware-watchpoint-limit 2",
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"monitor reset halt",
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"monitor gdb_sync",
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"thb setup",
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"c"
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],
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"overrideRestartCommands":[
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"monitor reset halt",
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"monitor gdb_sync",
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"thb setup",
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"c"
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]
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}
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12
README.org
12
README.org
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@ -4,7 +4,7 @@
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Kiber kegli so del [[https://mismonismo.org/shows/music-table-glasbena-miza/][glasbene mize]].
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Ta zbirka kode vsebuje načrte, dokumentacijo in kodo za nadgradnjo keglov v glasbene inštrumente. Preko brezžičnega mikrokrmilnika (ESP32) pošiljajo spremembe rotacij in pospeškov gibalnega senzorja (MPU9255) v računalnik, ki podatke v obliki OSC pretvori v MIDI signale.
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Ta zbirka kode vsebuje načrte, dokumentacijo in kodo za nadgradnjo keglov v glasbene inštrumente. Preko brezžičnega mikrokrmilnika (~ESP32~) pošiljajo spremembe rotacij in pospeškov gibalnega senzorja (~MPU9255~) v računalnik, ki podatke v obliki OSC pretvori v MIDI signale.
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* Strojni del - telo
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** Mere kegla
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@ -34,14 +34,14 @@ Zapečemo ga s strani (izrez + prispajk nazaj). Kasneje sva se raje odločila za
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| SCL | 22 |
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| SDA | 21 |
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Baterijski priklop omogoča [[https://docs.wemos.cc/en/latest/d1_mini_shield/battery.html][baterijski shield]] za [[https://docs.wemos.cc/en/latest/d1/index.html][wemos d1 mini]] (esp32 varjanta). Lahko bi imeli tudi kakšno esp32 krmilnik z vgrajenim regulatorjem napetosti in priklopom na baterijo.
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Baterijski priklop omogoča [[https://docs.wemos.cc/en/latest/d1_mini_shield/battery.html][baterijski ščit]] za [[https://docs.wemos.cc/en/latest/d1/index.html][wemos d1 mini]] (esp32 varjanta). Lahko bi imeli tudi kakšno esp32 krmilnik z vgrajenim regulatorjem napetosti in priklopom na baterijo.
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Ena žica baterije (+ pol?) je vezana preko stikala, speljanega na rob kegla, da ga je mogoče ugansniti. ~POZOR~ pri priklopu baterije na baterijski shield moramo pazit na polariteto; barve baterijskih kablov se ne skladajo nujno s +/- poli na shieldu, napačen priklop lahko skuri tuljavo.
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Ena žica baterije (+ pol?) je vezana preko stikala, speljanega na rob kegla, da ga je mogoče ugansniti. ~POZOR~ pri priklopu baterije na baterijski ščit moramo pazit na polariteto; barve baterijskih kablov se ne skladajo nujno s +/- poli na ščitu, napačen priklop lahko skuri tuljavo.
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#+CAPTION: Kegel znotraj
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[[./slike/IMG_20230618_131305.jpg]]
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USB priklop baterijskega shielda je speljan za rob kegla za lažje polnjenje preko robustnejšega vtikača USB tipa B.
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USB priklop baterijskega ščita je speljan za rob kegla za lažje polnjenje preko robustnejšega vtikača USB tipa B.
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#+CAPTION: Kegel znotraj 2
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[[./slike/IMG_20230618_130022.jpg]]
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@ -52,6 +52,10 @@ S pomočjo [[https://github.com/thomasfla/Linux-ESPNOW][tega projekta]] bi moral
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TODO slika sprejemnika.
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** Napačen gibalni senzor
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Rado se zgodi, da naročen senzor ni ~MPU-9255~, ampak ~MPU-6500~ ali ~MPU-6150~. Problem teh dveh je, da sta 6-osna in tako ne vključujeta magnetometra. Tako ni mogoče določiti gravitacijske osi in postanejo odčitki pospeškov za naš željen namen precej neuporabni. Gibalni senzor nam pomaga identificirati [[file:IMUIdentifier/IMUIdentifier.ino][ta skica]].
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* Koda
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Poganjanje projekta omogoča tudi koda, ki se nahaja na več mestih; arduino koda za krmilnik je tako v keglu kot v sprejemniku, potem imamo pretvornik brezžično prejetih signalov v midi (neposredno oz. pretvorjeno). Opcionalno tudi vizualiziramo zadevo.
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