Lesson11 (mpu6050) scripts: Eugene.Ovdiyuk

mpu6050/Makefile

@@ -0,0 +1,18 @@
+#
+# mpu6050 accelerometer & gyroscope
+#
+KERNELDIR+=/lib/modules/4.14.84-sunxi/build
+CURDIR:=$(shell pwd)
+obj-m := mpu6050.o
+
+# export ARCH = arm
+# export CROSS_COMPILE ?= arm-linux-gnueabihf-
+
+.PHONY: all clean
+
+all:
+	$(MAKE) -C $(KERNELDIR) M=$(CURDIR) modules
+
+clean:
+	$(MAKE) -C $(KERNELDIR) M=$(CURDIR) clean
+

mpu6050/gui_mpu6050.sh

@@ -0,0 +1,142 @@
+ # !/bin/sh
+# xxxxx$ reset<CR>  And all will be corrected...
+
+draw_ui () {
+       # Set up the screen per scan and prepare for the bargraph.
+    clear
+    printf $WOB" GYRO \n"
+    printf $WOB"    -30        -20       -10        0         10        20        30    x1000\n"
+    printf $WOB"   ---+----+----+----+----+----+----+----+----+----+----+----+----+---\n"
+    printf $YOB"X(|                                                                   |) $GYRO_X\n"
+    printf $GOB"Y(|                                                                   |) $GYRO_Y\n"
+    printf $ROB"Z(|                                                                   |) $GYRO_Z\n"
+    printf $WOB"   ---+----+----+----+----+----+----+----+----+----+----+----+----+---\n\n"
+    printf $WOB" ACCEL \n"
+    printf $WOB"    -30        -20       -10        0         10        20        30    x1000\n"
+    printf $WOB"   ---+----+----+----+----+----+----+----+----+----+----+----+----+---\n"
+    printf $YOB"X(|                                                                   |) $ACCEL_X\n"
+    printf $GOB"Y(|                                                                   |) $ACCEL_Y\n"
+    printf $ROB"Z(|                                                                   |) $ACCEL_Z\n"
+    printf $WOB"   ---+----+----+----+----+----+----+----+----+----+----+----+----+---\n\n"
+    printf $WOB" TEMP \n"
+    printf $WOB"    -20         0         20        40        60        80        100   x1\n"
+    printf $WOB"   ---+----+----+----+----+----+----+----+----+----+----+----+----+---\n"
+    printf $WOB"T(|                                                                   |) $TEMP\n"
+    printf $WOB"   ---+----+----+----+----+----+----+----+----+----+----+----+----+---\n\n"
+}
+
+random_data () {
+    # Mock data for tests
+    GYRO_X=$[($RANDOM % (64/1))]
+    GYRO_X=$(( ($GYRO_X-32)*1000 ))
+
+    GYRO_Y=$[($RANDOM % (64/1))]
+    GYRO_Y=$(( ($GYRO_Y-32)*1000 ))
+
+    GYRO_Z=$[($RANDOM % (64/1))]
+    GYRO_Z=$(( ($GYRO_Z-32)*1000 ))
+
+    ACCEL_X=$[($RANDOM % (64/1))]
+    ACCEL_X=$(( ($ACCEL_X-32)*1000 ))
+
+    ACCEL_Y=$[($RANDOM % (64/1))]
+    ACCEL_Y=$(( ($ACCEL_Y-32)*1000 ))
+
+    ACCEL_Z=$[($RANDOM % (64/1))]
+    ACCEL_Z=$(( ($ACCEL_Z-32)*1000 ))
+
+    TEMP=$[($RANDOM % (64/1))]
+    TEMP=$(( ($TEMP-13)*2 ))
+}
+
+read_data () {
+    GYRO_X=$(cat /sys/class/mpu6050/gyro_x)
+    GYRO_Y=$(cat /sys/class/mpu6050/gyro_y)
+    GYRO_Z=$(cat /sys/class/mpu6050/gyro_z)
+
+    ACCEL_X=$(cat /sys/class/mpu6050/accel_x)
+    ACCEL_Y=$(cat /sys/class/mpu6050/accel_y)
+    ACCEL_Z=$(cat /sys/class/mpu6050/accel_z)
+
+    TEMP=$(cat /sys/class/mpu6050/temp)
+}
+
+draw_graph () {
+    GYRO_VAL=$1
+    LINE_NUM=$2
+    COLOR1=$3
+    COLOR2=$4
+
+    BARGRAPH_GYRO=$COLOR1"\x1B[$LINE_NUM;2f(|"$COLOR2
+    for color in $(seq 1 "$GYRO_VAL")
+    do
+        BARGRAPH_GYRO=$BARGRAPH_GYRO" "
+    done
+    printf "$BARGRAPH_GYRO"$COLOR1"\n"
+}
+
+###############
+# GLOBAL VARs #
+###############
+
+# White On Black.
+WOB="\x1B[1;37;40m"
+#Bleck on white
+BOW="\x1B[1;30;47m"
+# Black On Green.
+BOG="\x1B[1;30;42m"
+# Black On Yellow.
+BOY="\x1B[1;30;43m"
+# Black On red.
+BOR="\x1B[1;30;41m"
+# Green On Black.
+GOB="\x1B[1;32;40m"
+# Yellow On Black.
+YOB="\x1B[1;33;40m"
+# Red On Black.
+ROB="\x1B[1;31;40m"
+
+# Set the pseudo value to zero.
+DEPTH=0
+GYRO_X=0
+GYRO_Y=0
+GYRO_Z=0
+ACCEL_X=0
+ACCEL_Y=0
+ACCEL_Z=0
+TEMP=0
+
+################
+# Main Script ##
+################
+
+# Do a clear screen to White On Black.
+printf $WOB
+clear
+
+while true
+do
+    # random_data # mock random data generating
+    read_data # real data read
+    draw_ui
+
+    #Scale values to bar size
+    GYRO_X=$(( ${GYRO_X%%.*}/1000+33 ))
+    GYRO_Y=$(( ${GYRO_Y%%.*}/1000+33 ))
+    GYRO_Z=$(( ${GYRO_Z%%.*}/1000+33 ))
+    ACCEL_X=$(( ${ACCEL_X%%.*}/1000+33 ))
+    ACCEL_Y=$(( ${ACCEL_Y%%.*}/1000+33 ))
+    ACCEL_Z=$(( ${ACCEL_Z%%.*}/1000+33 ))
+    TEMP=$(( ${TEMP%%.*}/2+13 ))
+
+    #Draw bars
+    draw_graph $GYRO_X 4 $YOB $BOY
+    draw_graph $GYRO_Y 5 $GOB $BOG
+    draw_graph $GYRO_Z 6 $ROB $BOR
+    draw_graph $ACCEL_X 12 $YOB $BOY
+    draw_graph $ACCEL_Y 13 $GOB $BOG
+    draw_graph $ACCEL_Z 14 $ROB $BOR
+    draw_graph $TEMP 20 $WOB $BOW
+
+    sleep 0.05
+done

mpu6050/ins_mod.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+ sudo insmod mpu6050.ko
+ sudo sh -c "echo mpu6050 0x68 > /sys/bus/i2c/devices/i2c-0/new_device"
+

mpu6050/mpu6050-regs.h

@@ -0,0 +1,33 @@
+#ifndef _MPU6050_REGS_H
+#define _MPU6050_REGS_H
+
+/* Registed addresses */
+#define REG_CONFIG			0x1A
+#define REG_GYRO_CONFIG		0x1B
+#define REG_ACCEL_CONFIG	0x1C
+#define REG_FIFO_EN			0x23
+#define REG_INT_PIN_CFG		0x37
+#define REG_INT_ENABLE		0x38
+#define REG_ACCEL_XOUT_H	0x3B
+#define REG_ACCEL_XOUT_L	0x3C
+#define REG_ACCEL_YOUT_H	0x3D
+#define REG_ACCEL_YOUT_L	0x3E
+#define REG_ACCEL_ZOUT_H	0x3F
+#define REG_ACCEL_ZOUT_L	0x40
+#define REG_TEMP_OUT_H		0x41
+#define REG_TEMP_OUT_L		0x42
+#define REG_GYRO_XOUT_H		0x43
+#define REG_GYRO_XOUT_L		0x44
+#define REG_GYRO_YOUT_H		0x45
+#define REG_GYRO_YOUT_L		0x46
+#define REG_GYRO_ZOUT_H		0x47
+#define REG_GYRO_ZOUT_L		0x48
+#define REG_USER_CTRL		0x6A
+#define REG_PWR_MGMT_1		0x6B
+#define REG_PWR_MGMT_2		0x6C
+#define REG_WHO_AM_I		0x75
+
+/* Register values */
+#define MPU6050_WHO_AM_I	0x68
+
+#endif /* _MPU6050_REGS_H */