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Jurij Podgoršek 2024-02-01 01:26:20 +01:00
parent b24f4689a1
commit a58289cddc
5 changed files with 46293 additions and 4 deletions
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165
IMUIdentifier/IMUIdentifier.ino 100644
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#include <Wire.h>
// Similar to https://github.com/Levi--G/IMU-WhoAmIVerifier
//Do be aware that MPU9150's will report as 6050s, this is because a 9150 is a 6050 with a magnetometer
//if you have a 9250 board and it reports as a 6050, it's most likely a 9150.
//This code will check for an IMU when reset and, if one is found, it will report what it is.
//To re run the check without resetting the Arduino, pull pin 4 to GND.
#define NUM_IMUS 37
bool errorflag;
typedef struct IMU {
uint8_t Address1;
uint8_t Address2;
uint8_t Register;
uint8_t ExpectedID;
const char* IMUName PROGMEM;
const char* IMUCapabilities PROGMEM;
bool LibSupported;
};
const IMU IMUList[NUM_IMUS] =
{
{0x68, 0x69, 0x75, 0x68, "MPU6050", "3A,3G", true},
{0x68, 0x69, 0x75, 0x70, "MPU6500", "3A,3G", true},
{0x68, 0x69, 0x75, 0x74, "MPU6515", "3A,3G", true},
{0x68, 0x69, 0x75, 0x19, "MPU6886", "3A,3G", true},
{0x68, 0x69, 0x75, 0x71, "MPU9250", "3A,3G,3M", true},
{0x68, 0x69, 0x75, 0x73, "MPU9255", "3A,3G,3M", true},
{0x69, 0x68, 0x00, 0xD1, "BMI160", "3A,3G", true},
{0x6B, 0x6A, 0x0F, 0x69, "LSM6DS3", "3A,3G", true},
{0x6B, 0x6A, 0x0F, 0x6A, "LSM6DSL", "3A,3G", true},
{0x68, 0x69, 0x75, 0x98, "ICM20689", "3A,3G", true},
{0x68, 0x69, 0x75, 0x20, "ICM20690", "3A,3G", true},
{0x18, 0x19, 0x00, 0xFA, "BMI055 or BMX055", "3A,3G or 3A,3G,3M", true},
{0x0D, 0x0D, 0x0D, 0xFF, "QMC5883L", "3M", true},
{0x68, 0x69, 0x75, 0x75, "Unknown or fake IMU, proceed with caution, use 'IMU_Generic' as IMU type", "3A,3G, possibly 3M?", true},
{0x6B, 0x6A, 0x0F, 0x6B, "LSM6DSR", "3A,3G", false},
{0x68, 0x69, 0x75, 0x92, "ICG20330", "3G", false},
{0x68, 0x69, 0x75, 0xB5, "IAM20380", "3A", false},
{0x68, 0x69, 0x75, 0xB6, "IAM20381", "3G", false},
{0x68, 0x69, 0x75, 0x11, "ICM20600", "3A,3G", false},
{0x68, 0x69, 0x75, 0xAC, "ICM20601", "3A,3G", false},
{0x68, 0x69, 0x75, 0x12, "ICM20602", "3A,3G", false},
{0x68, 0x69, 0x75, 0xAF, "ICM20608-G", "3A,3G", false},
{0x68, 0x69, 0x75, 0xA6, "ICM20609", "3A,3G", false},
{0x68, 0x69, 0x00, 0xE0, "ICM20648", "3A,3G", false},
{0x68, 0x69, 0x00, 0xE1, "ICM20649", "3A,3G", false},
{0x68, 0x69, 0x75, 0xA9, "ICG20660", "3A,3G", false},
{0x68, 0x69, 0x75, 0x91, "IAM20680", "3A,3G", false},
{0x68, 0x69, 0x00, 0xEA, "ICM20948", "3A,3G,3M", false},
{0x68, 0x69, 0x75, 0x6C, "IIM42351", "3A", false},
{0x68, 0x69, 0x75, 0x6D, "IIM42352", "3A", false},
{0x68, 0x69, 0x75, 0x4E, "ICM40627", "3A,3G", false},
{0x68, 0x69, 0x75, 0x42, "ICM42605", "3A,3G", false},
{0x68, 0x69, 0x75, 0x6F, "IIM42652", "3A,3G", false},
{0x68, 0x69, 0x75, 0x67, "ICM42670-P", "3A,3G", false},
{0x68, 0x69, 0x75, 0xDB, "ICM42688-V", "3A,3G", false},
{0x68, 0x69, 0x00, 0x68, "MPU3050", "3G", false},
{0x1E, 0x1E, 0x0C, 0x33, "HMC5883L", "3M", false},
};
void setup() {
Serial.begin(9600);
while (!Serial) ;
errorflag = false;
pinMode(4, INPUT_PULLUP);
Wire.begin();
#ifdef WIRE_HAS_TIMEOUT
Wire.setWireTimeout(3000);
#endif
Serial.println(F("\n=========== IMU Identifier ==========="));
}
void loop() {
static int a = 0;
while (digitalRead(4) && a != 0) ; //do once
a = 1;
bool detected = false;
for (int i = 0; i < NUM_IMUS; i++)
{
#ifdef WIRE_HAS_TIMEOUT
if (errorflag || Wire.getWireTimeoutFlag()) {
Serial.print(F("Error while reading address 0x"));
Serial.print(IMUList[i].Address1, HEX);
Serial.print(F(": "));
if (Wire.getWireTimeoutFlag()) {
Serial.println(F("I2C bus timed out. (Bad IMU? check wiring.)"));
}
else {
Serial.println(F("Unknown error while reading/writing"));
}
Serial.println(F("======================================"));
Wire.clearWireTimeoutFlag();
errorflag = false;
delay(2000);
return;
}
#endif
if (readByte(IMUList[i].Address1, IMUList[i].Register) == IMUList[i].ExpectedID)
{
detected = true;
Serial.print(F("IMU Found: "));
Serial.print(IMUList[i].IMUName);
Serial.print(F(" On address: 0x"));
Serial.println(IMUList[i].Address1, HEX);
Serial.print(F("This IMU is capable of the following axis: "));
Serial.println(IMUList[i].IMUCapabilities);
if (IMUList[i].LibSupported) {
Serial.println(F("This IMU is supported by the FastIMU library."));
}
else
{
Serial.println(F("This IMU is not supported by the FastIMU library."));
}
Serial.println(F("======================================"));
}
else if (readByte(IMUList[i].Address2, IMUList[i].Register) == IMUList[i].ExpectedID)
{
detected = true;
Serial.print(F("IMU Found: "));
Serial.print(IMUList[i].IMUName);
Serial.print(F(" On address: 0x"));
Serial.println(IMUList[i].Address2, HEX);
Serial.print(F("This IMU is capable of the following axis: "));
Serial.println(IMUList[i].IMUCapabilities);
if (IMUList[i].LibSupported) {
Serial.println(F("This IMU is supported by the FastIMU library."));
}
else
{
Serial.println(F(" This IMU is not supported by the FastIMU library."));
}
Serial.println(F("======================================"));
}
}
if (!detected) {
Serial.println(F("No IMU detected"));
Serial.println(F("======================================"));
}
delay(1000);
}
uint8_t readByte(uint8_t address, uint8_t subAddress)
{
uint8_t data; // `data` will store the register data
Wire.beginTransmission(address); // Initialize the Tx buffer
Wire.write(subAddress); // Put slave register address in Tx buffer
int i = Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
if (i == 5) {
return 0;
errorflag = true;
}
i = Wire.requestFrom(address, (uint8_t) 1, true); // Read one byte from slave register address
if (i == 0) {
return 0;
errorflag = true;
}
if (Wire.available()) {
data = Wire.read(); // Fill Rx buffer with result
}
return data; // Return data read from slave register
}

14
IMUIdentifier/debug.cfg 100644
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# SPDX-License-Identifier: GPL-2.0-or-later
#
# Example OpenOCD configuration file for ESP32-WROVER-KIT board.
#
# For example, OpenOCD can be started for ESP32 debugging on
#
# openocd -f board/esp32-wrover-kit-3.3v.cfg
#
# Source the JTAG interface configuration file
source [find interface/ftdi/esp32_devkitj_v1.cfg]
set ESP32_FLASH_VOLTAGE 3.3
# Source the ESP32 configuration file
source [find target/esp32.cfg]

46087
IMUIdentifier/debug.svd 100644
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19
IMUIdentifier/debug_custom.json 100644
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{
"name":"Arduino on ESP32",
"toolchainPrefix":"xtensa-esp32-elf",
"svdFile":"debug.svd",
"request":"attach",
"postAttachCommands":[
"set remote hardware-watchpoint-limit 2",
"monitor reset halt",
"monitor gdb_sync",
"thb setup",
"c"
],
"overrideRestartCommands":[
"monitor reset halt",
"monitor gdb_sync",
"thb setup",
"c"
]
}

12
README.org
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@ -4,7 +4,7 @@
Kiber kegli so del [[https://mismonismo.org/shows/music-table-glasbena-miza/][glasbene mize]]. Kiber kegli so del [[https://mismonismo.org/shows/music-table-glasbena-miza/][glasbene mize]].
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. 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.
* Strojni del - telo * Strojni del - telo
** Mere kegla ** Mere kegla
@ -34,14 +34,14 @@ Zapečemo ga s strani (izrez + prispajk nazaj). Kasneje sva se raje odločila za
| SCL | 22 | | SCL | 22 |
| SDA | 21 | | SDA | 21 |
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. 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.
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. 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.
#+CAPTION: Kegel znotraj #+CAPTION: Kegel znotraj
[[./slike/IMG_20230618_131305.jpg]] [[./slike/IMG_20230618_131305.jpg]]
USB priklop baterijskega shielda je speljan za rob kegla za lažje polnjenje preko robustnejšega vtikača USB tipa B. USB priklop baterijskega ščita je speljan za rob kegla za lažje polnjenje preko robustnejšega vtikača USB tipa B.
#+CAPTION: Kegel znotraj 2 #+CAPTION: Kegel znotraj 2
[[./slike/IMG_20230618_130022.jpg]] [[./slike/IMG_20230618_130022.jpg]]
@ -52,6 +52,10 @@ S pomočjo [[https://github.com/thomasfla/Linux-ESPNOW][tega projekta]] bi moral
TODO slika sprejemnika. TODO slika sprejemnika.
** Napačen gibalni senzor
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]].
* Koda * Koda
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. 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.