This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new 36a9ccc3a Makefile - library download and compilation ok
36a9ccc3a is described below
commit 36a9ccc3a82975677c556f270296613baf0fb156
Author: Filipe Cavalcanti <filipedo...@gmail.com>
AuthorDate: Sat Oct 7 15:29:01 2023 -0300
Makefile - library download and compilation ok
Working read from mpu6050 - fixed makefile issues
Succesfull yaw pitch roll reads
Linter fixes - still erroring on mixed case
Added inertial lib
Fixed makefile to use inertial lib
Kconfig fix
---
examples/sensor_fusion/Kconfig | 38 +++++++
examples/sensor_fusion/Make.defs | 24 +++++
examples/sensor_fusion/Makefile | 30 ++++++
examples/sensor_fusion/sensor_fusion_main.c | 162 ++++++++++++++++++++++++++++
inertial/.gitignore | 1 +
inertial/CMakeLists.txt | 21 ++++
inertial/Make.defs | 21 ++++
inertial/Makefile | 23 ++++
inertial/madgwick/Kconfig | 21 ++++
inertial/madgwick/Make.defs | 26 +++++
inertial/madgwick/Makefile | 47 ++++++++
11 files changed, 414 insertions(+)
diff --git a/examples/sensor_fusion/Kconfig b/examples/sensor_fusion/Kconfig
new file mode 100644
index 000000000..ba1fd6674
--- /dev/null
+++ b/examples/sensor_fusion/Kconfig
@@ -0,0 +1,38 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_SENSOR_FUSION
+ bool "Sensor Fusion Example"
+ default n
+ ---help---
+ Sensor fusion example that combines gyro and accelerometer data
+ using the Madgwick algorithm to provide yaw, pitch and roll
angles.
+
+if EXAMPLES_SENSOR_FUSION
+
+config EXAMPLES_SENSOR_FUSION_SAMPLES
+ int "Number of samples to acquire"
+ default 100
+
+config EXAMPLES_SENSOR_FUSION_SAMPLE_RATE
+ int "Sample rate in ms"
+ default 100
+
+config EXAMPLES_SENSOR_FUSION_PROGNAME
+ string "Program name"
+ default "sensor_fusion"
+ ---help---
+ This is the name of the program that will be used when the NSH
ELF
+ program is installed.
+
+config EXAMPLES_SENSOR_FUSION_PRIORITY
+ int "Sensor Fusion task priority"
+ default 100
+
+config EXAMPLES_SENSOR_FUSION_STACKSIZE
+ int "Sensor Fusion stack size"
+ default DEFAULT_TASK_STACKSIZE
+
+endif
diff --git a/examples/sensor_fusion/Make.defs b/examples/sensor_fusion/Make.defs
new file mode 100644
index 000000000..f7499a972
--- /dev/null
+++ b/examples/sensor_fusion/Make.defs
@@ -0,0 +1,24 @@
+############################################################################
+# apps/examples/sensor_fusion/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_SENSOR_FUSION),)
+CONFIGURED_APPS += $(APPDIR)/examples/sensor_fusion
+
+endif
diff --git a/examples/sensor_fusion/Makefile b/examples/sensor_fusion/Makefile
new file mode 100644
index 000000000..ce17e69df
--- /dev/null
+++ b/examples/sensor_fusion/Makefile
@@ -0,0 +1,30 @@
+############################################################################
+# apps/examples/sensor_fusion/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+PROGNAME = $(CONFIG_EXAMPLES_SENSOR_FUSION_PROGNAME)
+PRIORITY = $(CONFIG_EXAMPLES_SENSOR_FUSION_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_SENSOR_FUSION_STACKSIZE)
+MODULE = $(CONFIG_EXAMPLES_SENSOR_FUSION)
+
+MAINSRC = sensor_fusion_main.c
+
+include $(APPDIR)/Application.mk
diff --git a/examples/sensor_fusion/sensor_fusion_main.c
b/examples/sensor_fusion/sensor_fusion_main.c
new file mode 100644
index 000000000..a603c3c82
--- /dev/null
+++ b/examples/sensor_fusion/sensor_fusion_main.c
@@ -0,0 +1,162 @@
+/****************************************************************************
+ * apps/examples/sensor_fusion/sensor_fusion_main.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <nuttx/sensors/sensor.h>
+#include "Fusion/Fusion.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define REG_LOW_MASK 0xFF00
+#define REG_HIGH_MASK 0x00FF
+#define MPU6050_FS_SEL 32.8f
+#define MPU6050_AFS_SEL 4096.0f
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct mpu6050_imu_msg
+{
+ int16_t acc_x;
+ int16_t acc_y;
+ int16_t acc_z;
+ int16_t temp;
+ int16_t gyro_x;
+ int16_t gyro_y;
+ int16_t gyro_z;
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void read_mpu6050(int fd, struct sensor_accel *acc_data,
+ struct sensor_gyro *gyro_data);
+
+/****************************************************************************
+ * sensor_fusion_main
+ ****************************************************************************/
+
+int main(int argc, char *argv[])
+{
+ int fd;
+ int iterations = CONFIG_EXAMPLES_SENSOR_FUSION_SAMPLES;
+ float acq_period = CONFIG_EXAMPLES_SENSOR_FUSION_SAMPLE_RATE / 1000.0f;
+
+ /* Minimal required data for Fusion library. Use of magnetometer data
+ * is optional and can improve performance.
+ */
+
+ struct sensor_accel imu_acc_data;
+ struct sensor_gyro imu_gyro_data;
+ FusionVector accelerometer;
+ FusionVector gyroscope;
+ FusionEuler euler;
+ FusionAhrs ahrs;
+
+ FusionAhrsInitialise(&ahrs);
+
+ printf("Sensor Fusion example\n");
+ printf("Sample Rate: %.2f Hz\n", 1.0 / acq_period);
+
+ fd = open("/dev/imu0", O_RDONLY);
+ if (fd < 0)
+ {
+ printf("Failed to open imu0\n");
+ return EXIT_FAILURE;
+ }
+
+ for (int i = 0; i < iterations; i++)
+ {
+ read_mpu6050(fd, &imu_acc_data, &imu_gyro_data);
+
+ accelerometer.axis.x = imu_acc_data.x;
+ accelerometer.axis.y = imu_acc_data.y;
+ accelerometer.axis.z = imu_acc_data.z;
+
+ gyroscope.axis.x = imu_gyro_data.x;
+ gyroscope.axis.y = imu_gyro_data.y;
+ gyroscope.axis.z = imu_gyro_data.z;
+
+ FusionAhrsUpdateNoMagnetometer(&ahrs,
+ gyroscope,
+ accelerometer,
+ acq_period);
+ euler = FusionQuaternionToEuler(FusionAhrsGetQuaternion(&ahrs));
+
+ printf("Yaw: %.3f | Pitch: %.3f | Roll: %.3f\n",
+ euler.angle.yaw, euler.angle.pitch, euler.angle.roll);
+ usleep(CONFIG_EXAMPLES_SENSOR_FUSION_SAMPLE_RATE * 1000);
+ }
+
+ close(fd);
+
+ return EXIT_SUCCESS;
+}
+
+void read_mpu6050(int fd,
+ struct sensor_accel *acc_data,
+ struct sensor_gyro *gyro_data)
+{
+ struct mpu6050_imu_msg raw_imu;
+ int16_t raw_data[7];
+ memset(&raw_imu, 0, sizeof(raw_imu));
+
+ int ret = read(fd, &raw_data, sizeof(raw_data));
+ if (ret != sizeof(raw_data))
+ {
+ printf("Failed to read accelerometer data\n");
+ }
+ else
+ {
+ raw_imu.acc_x = ((raw_data[0] & REG_HIGH_MASK) << 8) +
+ ((raw_data[0] & REG_LOW_MASK) >> 8);
+ raw_imu.acc_y = ((raw_data[1] & REG_HIGH_MASK) << 8) +
+ ((raw_data[1] & REG_LOW_MASK) >> 8);
+ raw_imu.acc_z = ((raw_data[2] & REG_HIGH_MASK) << 8) +
+ ((raw_data[2] & REG_LOW_MASK) >> 8);
+ raw_imu.gyro_x = ((raw_data[4] & REG_HIGH_MASK) << 8) +
+ ((raw_data[4] & REG_LOW_MASK) >> 8);
+ raw_imu.gyro_y = ((raw_data[5] & REG_HIGH_MASK) << 8) +
+ ((raw_data[5] & REG_LOW_MASK) >> 8);
+ raw_imu.gyro_z = ((raw_data[6] & REG_HIGH_MASK) << 8) +
+ ((raw_data[6] & REG_LOW_MASK) >> 8);
+ }
+
+ acc_data->x = raw_imu.acc_x / MPU6050_AFS_SEL;
+ acc_data->y = raw_imu.acc_y / MPU6050_AFS_SEL;
+ acc_data->z = raw_imu.acc_z / MPU6050_AFS_SEL;
+
+ /* Gyro data in ยบ/s (degrees per second) */
+
+ gyro_data->x = raw_imu.gyro_x / MPU6050_FS_SEL;
+ gyro_data->y = raw_imu.gyro_y / MPU6050_FS_SEL;
+ gyro_data->z = raw_imu.gyro_z / MPU6050_FS_SEL;
+}
diff --git a/inertial/.gitignore b/inertial/.gitignore
new file mode 100644
index 000000000..9e1d2593e
--- /dev/null
+++ b/inertial/.gitignore
@@ -0,0 +1 @@
+/Kconfig
diff --git a/inertial/CMakeLists.txt b/inertial/CMakeLists.txt
new file mode 100644
index 000000000..fb213b9ee
--- /dev/null
+++ b/inertial/CMakeLists.txt
@@ -0,0 +1,21 @@
+#
##############################################################################
+# apps/inertial/CMakeLists.txt
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
contributor
+# license agreements. See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership. The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may
not
+# use this file except in compliance with the License. You may obtain a copy
of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+#
##############################################################################
+
+nuttx_generate_kconfig(MENUDESC "Inertial Libraries Support")
diff --git a/inertial/Make.defs b/inertial/Make.defs
new file mode 100644
index 000000000..03113ac85
--- /dev/null
+++ b/inertial/Make.defs
@@ -0,0 +1,21 @@
+############################################################################
+# apps/inertial/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(wildcard $(APPDIR)/inertial/*/Make.defs)
diff --git a/inertial/Makefile b/inertial/Makefile
new file mode 100644
index 000000000..e05b10cd2
--- /dev/null
+++ b/inertial/Makefile
@@ -0,0 +1,23 @@
+############################################################################
+# apps/inertial/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+MENUDESC = "Inertial Libraries Support"
+
+include $(APPDIR)/Directory.mk
diff --git a/inertial/madgwick/Kconfig b/inertial/madgwick/Kconfig
new file mode 100644
index 000000000..590f51724
--- /dev/null
+++ b/inertial/madgwick/Kconfig
@@ -0,0 +1,21 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config LIB_MADGWICK
+ bool "Madgwick Fusion Algorithm"
+ default n
+ depends on ALLOW_MIT_COMPONENTS
+ ---help---
+ Enable madgwick fusion algorithm.
+ Madgwick is a quick fusion algorithm use integrate
+ accelerometer, gyroscope and magnotomer (compass).
+
+if LIB_MADGWICK
+
+config LIB_MADGWICK_VER
+ string "Lib Madgwick version"
+ default "1.2.1"
+
+endif # LIB_MADGWICK
diff --git a/inertial/madgwick/Make.defs b/inertial/madgwick/Make.defs
new file mode 100644
index 000000000..814fb83af
--- /dev/null
+++ b/inertial/madgwick/Make.defs
@@ -0,0 +1,26 @@
+############################################################################
+# apps/inertial/madgwick/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_LIB_MADGWICK),)
+CONFIGURED_APPS += $(APPDIR)/inertial/madgwick
+
+CFLAGS += ${INCDIR_PREFIX}$(APPDIR)/inertial/madgwick/fusion
+CXXFLAGS += ${INCDIR_PREFIX}$(APPDIR)/inertial/madgwick/fusion
+endif
diff --git a/inertial/madgwick/Makefile b/inertial/madgwick/Makefile
new file mode 100644
index 000000000..936d28219
--- /dev/null
+++ b/inertial/madgwick/Makefile
@@ -0,0 +1,47 @@
+############################################################################
+# apps/inertial/madgwick/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+SRC = fusion/Fusion
+
+CSRCS += $(SRC)/FusionAhrs.c
+CSRCS += $(SRC)/FusionCompass.c
+CSRCS += $(SRC)/FusionOffset.c
+
+CFLAGS += -Wno-shadow -Wno-strict-prototypes -Wno-unknown-pragmas
+
+MODULE = $(CONFIG_LIB_MADGWICK)
+
+libmadgwick.tar.gz:
+ $(Q) curl -L
https://github.com/xioTechnologies/Fusion/archive/refs/tags/v$(CONFIG_LIB_MADGWICK_VER).tar.gz
-o libmadgwick.tar.gz
+ $(Q) tar xf libmadgwick.tar.gz
+ $(Q) mv Fusion-$(CONFIG_LIB_MADGWICK_VER) fusion
+
+# Download and unpack tarball if no git repo found
+ifeq ($(wildcard madgwick/fusion),)
+context:: libmadgwick.tar.gz
+
+distclean::
+ $(call DELDIR, fusion)
+ $(call DELFILE, libmadgwick.tar.gz)
+endif
+
+include $(APPDIR)/Application.mk
