wip

input_devices/imu/6050/hello.MPU-6050.ino

+//
+// hello.MPU-6050.ino
+//
+// MPU-6050 IMU hello-world
+//    based on https://github.com/ElectronicCats/imu6050/blob/master/examples/MPU6050_DMP6/MPU6050_DMP6.ino
+//
+// Neil Gershenfeld 10/20/24
+//
+// This work may be reproduced, modified, distributed,
+// performed, and displayed for any purpose, but must
+// acknowledge this project. Copyright is retained and
+// must be preserved. The work is provided as is; no
+// warranty is provided, and users accept all liability.
+//
+
+#include "MPU6050_6Axis_MotionApps20.h"
+
+MPU6050 imu;
+
+uint8_t status;
+uint16_t size;
+uint8_t buffer[64];
+Quaternion q;
+VectorInt16 accel;
+VectorInt16 realaccel;
+VectorInt16 gyro;
+VectorFloat gravity;
+float angles[3];
+
+void setup() {
+  Wire.begin();
+  Wire.setClock(400000);
+  Serial.begin(115200);
+  while (!Serial);
+  Serial.println(F("initialize IMU"));
+  imu.initialize();
+  Serial.println(F("test connection"));
+  if (imu.testConnection() == false){
+    Serial.println("connection failed");
+    while(true);
+    }
+  else {
+    Serial.println("connection successful");
+    }
+  Serial.println(F("initialize DMP"));
+  status = imu.dmpInitialize();
+  imu.setXGyroOffset(0);
+  imu.setYGyroOffset(0);
+  imu.setZGyroOffset(0);
+  imu.setXAccelOffset(0);
+  imu.setYAccelOffset(0);
+  imu.setZAccelOffset(0);
+  if (status == 0) {
+    imu.CalibrateAccel(6);
+    imu.CalibrateGyro(6);
+    Serial.println(F("active offsets: "));
+    imu.PrintActiveOffsets();
+    Serial.println(F("enable DMP"));
+    imu.setDMPEnabled(true);
+    Serial.println(F("DMP ready"));
+    size = imu.dmpGetFIFOPacketSize();
+    } 
+  else {
+    Serial.print(F("DMP initialization failed (code "));
+    Serial.print(status);
+    Serial.println(F(")"));
+    }
+  }
+
+void loop() {
+  if (imu.dmpGetCurrentFIFOPacket(buffer)) {
+      imu.dmpGetQuaternion(&q,buffer);
+      imu.dmpGetGravity(&gravity,&q);
+      imu.dmpGetYawPitchRoll(angles,&q,&gravity);
+      imu.dmpGetAccel(&accel,buffer);
+      imu.dmpGetLinearAccel(&realaccel,&accel,&gravity);
+      Serial.print(angles[0]*180/M_PI);
+      Serial.print(",");
+      Serial.print(angles[1]*180/M_PI);
+      Serial.print(",");
+      Serial.print(angles[2]*180/M_PI);        
+      Serial.print(",");
+      Serial.print(realaccel.x);
+      Serial.print(",");
+      Serial.print(realaccel.y);
+      Serial.print(",");
+      Serial.println(realaccel.z);
+  }
+}
\ No newline at end of file

input_devices/imu/6050/hello.MPU-6050.py

+#
+# hello.MPU-6050.py
+#
+# MPU-6050 IMU hello-world
+#
+# Neil Gershenfeld 10/20/24
+#
+# This work may be reproduced, modified, distributed,
+# performed, and displayed for any purpose, but must
+# acknowledge this project. Copyright is retained and
+# must be preserved. The work is provided as is; no
+# warranty is provided, and users accept all liability.
+#
+
+from tkinter import *
+import serial,sys
+
+WINDOW = 1000 # window size
+
+def idle(parent,canvas):
+   roll = pitch= yaw = ax = ay = az = 0
+   #
+   # read data
+   #
+   s = ser.readline().decode('utf-8')
+   try:
+      yaw = float(s.split(',')[0])
+      pitch = float(s.split(',')[1])
+      roll = float(s.split(',')[2])
+      ax = float(s.split(',')[3])
+      ay = float(s.split(',')[4])
+      az = float(s.split(',')[5])
+   except:
+      pass
+   #
+   #
+   # plot
+   #
+   canvas.itemconfigure("roll",text=f"roll: {roll:.1f}")
+   x = int(.3*WINDOW + (.9-.3)*WINDOW*(0.5+0.5*roll/180))
+   canvas.coords('roll1',.3*WINDOW,.05*WINDOW,x,.2*WINDOW)
+   canvas.coords('roll2',x,.05*WINDOW,.9*WINDOW,.2*WINDOW)
+   canvas.itemconfigure("pitch",text=f"pitch: {pitch:.1f}")
+   x = int(.3*WINDOW + (.9-.3)*WINDOW*(0.5+0.5*pitch/180))
+   canvas.coords('pitch1',.3*WINDOW,.25*WINDOW,x,.4*WINDOW)
+   canvas.coords('pitch2',x,.25*WINDOW,.9*WINDOW,.4*WINDOW)
+   canvas.itemconfigure("yaw",text=f"yaw: {yaw:.1f}")
+   x = int(.3*WINDOW + (.9-.3)*WINDOW*(0.5+0.5*yaw/180))
+   canvas.coords('yaw1',.3*WINDOW,.45*WINDOW,x,.6*WINDOW)
+   canvas.coords('yaw2',x,.45*WINDOW,.9*WINDOW,.6*WINDOW)
+   canvas.itemconfigure("ax",text=f"ax: {ax:.0f}")
+   x = int(.3*WINDOW + (.9-.3)*WINDOW*(0.5+0.5*ax/12000))
+   canvas.coords('ax1',.3*WINDOW,.65*WINDOW,x,.8*WINDOW)
+   canvas.coords('ax2',x,.65*WINDOW,.9*WINDOW,.8*WINDOW)
+   canvas.itemconfigure("ay",text=f"ay: {ay:.0f}")
+   x = int(.3*WINDOW + (.9-.3)*WINDOW*(0.5+0.5*ay/12000))
+   canvas.coords('ay1',.3*WINDOW,.85*WINDOW,x,1*WINDOW)
+   canvas.coords('ay2',x,.85*WINDOW,.9*WINDOW,1*WINDOW)
+   canvas.itemconfigure("az",text=f"az: {az:.0f}")
+   x = int(.3*WINDOW + (.9-.3)*WINDOW*(0.5+0.5*az/12000))
+   canvas.coords('az1',.3*WINDOW,1.05*WINDOW,x,1.2*WINDOW)
+   canvas.coords('az2',x,1.05*WINDOW,.9*WINDOW,1.2*WINDOW)
+   #
+   # update
+   #
+   canvas.update()
+   parent.after_idle(idle,parent,canvas)
+
+#
+#  check command line arguments
+#
+if (len(sys.argv) != 2):
+   print("command line: hello.MPU-6050.py serial_port")
+   sys.exit()
+port = sys.argv[1]
+#
+# open serial port
+#
+ser = serial.Serial(port,115200)
+#
+# set up GUI
+#
+root = Tk()
+root.title('hello.MPU-6050.py (q to exit)')
+root.bind('q','exit')
+canvas = Canvas(root,width=WINDOW,height=1.25*WINDOW,background='white')
+#
+canvas.create_text(.025*WINDOW,.125*WINDOW,text="1",font=("Helvetica",28),tags="roll",fill="#0000b0",anchor=SW)
+canvas.create_rectangle(.3*WINDOW,.05*WINDOW,.4*WINDOW,.2*WINDOW,tags='roll1', fill='#b00000')
+canvas.create_rectangle(.4*WINDOW,.05*WINDOW,.9*WINDOW,.2*WINDOW,tags='roll2', fill='#0000b0')
+#
+canvas.create_text(.025*WINDOW,.325*WINDOW,text="1",font=("Helvetica",28),tags="pitch",fill="#0000b0",anchor=SW)
+canvas.create_rectangle(.3*WINDOW,.25*WINDOW,.4*WINDOW,.4*WINDOW,tags='pitch1', fill='#b00000')
+canvas.create_rectangle(.4*WINDOW,.25*WINDOW,.9*WINDOW,.4*WINDOW,tags='pitch2', fill='#0000b0')
+#
+canvas.create_text(.025*WINDOW,.525*WINDOW,text="1",font=("Helvetica",28),tags="yaw",fill="#0000b0",anchor=SW)
+canvas.create_rectangle(.3*WINDOW,.45*WINDOW,.4*WINDOW,.6*WINDOW,tags='yaw1', fill='#b00000')
+canvas.create_rectangle(.4*WINDOW,.45*WINDOW,.9*WINDOW,.6*WINDOW,tags='yaw2', fill='#0000b0')
+#
+canvas.create_text(.025*WINDOW,.725*WINDOW,text="1",font=("Helvetica",28),tags="ax",fill="#0000b0",anchor=SW)
+canvas.create_rectangle(.3*WINDOW,.65*WINDOW,.4*WINDOW,.8*WINDOW,tags='ax1', fill='#b00000')
+canvas.create_rectangle(.4*WINDOW,.65*WINDOW,.9*WINDOW,.8*WINDOW,tags='ax2', fill='#0000b0')
+#
+canvas.create_text(.025*WINDOW,.925*WINDOW,text="1",font=("Helvetica",28),tags="ay",fill="#0000b0",anchor=SW)
+canvas.create_rectangle(.3*WINDOW,.85*WINDOW,.4*WINDOW,1*WINDOW,tags='ay1', fill='#b00000')
+canvas.create_rectangle(.4*WINDOW,.85*WINDOW,.9*WINDOW,1*WINDOW,tags='ay2', fill='#0000b0')
+#
+canvas.create_text(.025*WINDOW,1.125*WINDOW,text="1",font=("Helvetica",28),tags="az",fill="#0000b0",anchor=SW)
+canvas.create_rectangle(.3*WINDOW,1.05*WINDOW,.4*WINDOW,1.2*WINDOW,tags='az1', fill='#b00000')
+canvas.create_rectangle(.4*WINDOW,1.05*WINDOW,.9*WINDOW,1.2*WINDOW,tags='az2', fill='#0000b0')
+#
+canvas.pack()
+#
+# start idle loop
+#
+root.after(100,idle,root,canvas)
+root.mainloop()

input_devices/index.html

@@ -114,7 +114,6 @@
          <a href=tof/hello.VL53L1X.t1614>hello.VL53L1X.t1614</a> <a href=tof/hello.VL53L1X.t1614.png>board</a> <a href=tof/hello.VL53L1X.t1614.jpg>components</a> <a href=tof/hello.VL53L1X.t1614.traces.png>traces</a> <a href=tof/hello.VL53L1X.t1614.traces_exterior.png>traces+exterior</a> <a href=tof/hello.VL53L1X.t1614.interior.png>interior</a>
          <a href=tof/hello.VL53L1X.ino>hello.VL53L1X.ino</a> <a href=tof/hello.VL53L1X.py>hello.VL53L1X.py</a> <a href=tof/hello.VL53L1X.mp4>video</a>
       <a href=https://www.digikey.com/en/products/detail/stmicroelectronics/VL53L5CXV0GC-1/14552424>VL53L5CX</a> <a href=https://www.pololu.com/product/3417>module</a>
-         coming
    <a href=http://www.amazon.com/SunFounder-Ultrasonic-Distance-Mega2560-Duemilanove/dp/B00E0NXTJW>sonar</a>
       <A href=sonar/hello.HC-SR04>hello.HC-SR04</A> <A href=sonar/hello.HC-SR04.png>board</A> <A href=sonar/hello.HC-SR04.jpg>components</A> <a href=sonar/hello.HC-SR04.traces.png>traces</a> <a href=sonar/hello.HC-SR04.traces_exterior.png>traces+exterior</a> <a href=sonar/hello.HC-SR04.interior.png>interior</a>
       <A href=sonar/hello.HC-SR04.c>hello.HC-SR04.c</A> <A href=sonar/hello.HC-SR04.make>makefile</A>
@@ -126,30 +125,29 @@
    <a href=GPS/hello.GPS.t1614>hello.GPS.t1614</a> <a href=GPS/hello.GPS.t1614.png>board</a> <a href=GPS/hello.GPS.t1614.jpg>components</a> <a href=GPS/hello.GPS.t1614.traces.png>traces</a> <a href=GPS/hello.GPS.t1614.traces_exterior.png>traces+exterior</a> <a href=GPS/hello.GPS.t1614.interior.png>interior</a>
       <a href=GPS/hello.GPS.t1614.ino>hello.GPS.t1614.ino</a> <a href=GPS/hello.GPS.t1614.mp4>video</a>
 
-<b>acceleration, orientation, rotation</b>
-   <a href=https://www.digikey.com/en/products/detail/ceva-technologies-inc/BNO085/9445940>9 axis accelerometer+gyroscope+magnetometer</a> <a href=https://www.adafruit.com/product/4754>module</a>
-      <a href=https://learn.adafruit.com/adafruit-9-dof-orientation-imu-fusion-breakout-bno085/overview>RVC serial</a>
-         <a href=imu/hello.4754.RP2040>hello.4754.RP2040</a> <a href=imu/hello.4754.RP2040.png>board</a> <a href=imu/hello.4754.RP2040.jpg>components</a> <a href=imu/hello.4754.RP2040.top.png>traces</a> <a href=imu/hello.4754.RP2040.holes.png>holes</a> <a href=imu/hello.4754.RP2040.interior.png>interior</a>
-         <a href=imu/hello.4754.RP2040.py>hello.4754.RP2040.py</a> <a href=imu/hello.4754.RP2040.html>hello.4754.RP2040.html</a> <a href=imu/hello.4754.RP2040.mp4>video</a>
-      <a href=https://www.ceva-ip.com/wp-content/uploads/2019/10/SH-2-Reference-Manual.pdf>SH2</a> <a href=https://github.com/ceva-dsp/sh2>library</a> <a href=https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library>I2C</a>
-         coming
-   <a href=https://www.digikey.com/en/products/detail/stmicroelectronics/LSM6DS33TR/5452393>6 axis accelerometer+gyroscope</a>
-      <a href=https://www.digikey.com/en/products/detail/pololu-corporation/2736/10451119>module</a> <a href=https://github.com/pololu/lsm6-arduino>library</a>
-         <a href=accelgyro/hello.LSM6DS33.t1614>hello.LSM6DS33.t1614</a> <a href=accelgyro/hello.LSM6DS33.t1614.png>board</a> <a href=accelgyro/hello.LSM6DS33.jpg>components</a> <a href=accelgyro/hello.LSM6DS33.t1614.traces.png>traces</a> <a href=accelgyro/hello.LSM6DS33.t1614.traces_exterior.png>traces+exterior</a> <a href=accelgyro/hello.LSM6DS33.t1614.interior.png>interior</a>
-         <a href=accelgyro/hello.LSM6DS33.ino>hello.LSM6DS33.ino</a> <a href=accelgyro/hello.LSM6DS33.py>hello.LSM6DS33.py</a> <a href=accelgyro/hello.LSM6DS33.mp4>video</a>
-      <a href=https://www.amazon.com/HiLetgo-MPU-6050-Accelerometer-Gyroscope-Converter/dp/B00LP25V1A/?th=1>module</a>
-         coming
-   <a href=https://www.digikey.com/en/products/detail/analog-devices-inc/ADXL343BCCZ/3542918>3 axis accelerometer</a>
+<b>acceleration, rotation, orientation, IMU</b>
+   3 axis accelerometer
+      <a href=https://www.digikey.com/en/products/detail/analog-devices-inc/ADXL343BCCZ/3542918>ADXL343</a>
          <A href=accel/hello.ADXL343>hello.ADXL343</A> <A href=accel/hello.ADXL343.png>board</A> <A href=accel/hello.ADXL343.jpg>components</A> <a href=accel/hello.ADXL343.reflow.jpg>reflow</a> <a href=accel/hello.ADXL343.traces.png>traces</a> <a href=accel/hello.ADXL343.traces_exterior.png>traces+exterior</a> <a href=accel/hello.ADXL343.interior.png>interior</a>
          <A href=accel/hello.ADXL343.c>hello.ADXL343.c</A> <A href=accel/hello.ADXL343.make>makefile</A> <a href=http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL343.pdf>calibration</a>
          <A href=accel/hello.ADXL343.py>hello.ADXL343.py</A> <A href=accel/hello.ADXL343.mp4>video</A> 
+   6 axis accelerometer+gyroscope
+      <a href=https://invensense.tdk.com/products/motion-tracking/6-axis/mpu-6050>MPU-6050</a> <a href=https://www.amazon.com/HiLetgo-MPU-6050-Accelerometer-Gyroscope-Converter/dp/B00LP25V1A>module</a> <a href=https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20609>ICM-20609</a>
+         <a href=imu/6050/hello.MPU-6050.RP2040>hello.MPU-6050.RP2040</a> <a href=imu/6050/hello.MPU-6050.RP2040.png>board</a> <a href=imu/6050/hello.MPU-6050.RP2040.jpg>components</a> <a href=imu/6050/hello.MPU-6050.RP2040.top.png>top</a> <a href=imu/6050/hello.MPU-6050.RP2040.holes.png>holes</a> <a href=imu/6050/hello.MPU-6050.RP2040.interior.png>interior</a>
+            <a href=imu/6050/hello.MPU-6050.ino>hello.MPU-6050.ino</a> <a href=imu/6050/hello.MPU-6050.py>hello.MPU-6050.py</a> <a href=imu/6050/hello.MPU-6050.RP2040.mp4>video</a>
+   9 axis accelerometer+gyroscope+magnetometer
+      <a href=https://www.digikey.com/en/products/detail/ceva-technologies-inc/BNO085/9445940>BNO085</a> <a href=https://www.adafruit.com/product/4754>module</a> <a href=https://www.digikey.com/en/products/detail/ceva-technologies-inc/BNO086/14114190>BNO086</a>
+         <a href=https://learn.adafruit.com/adafruit-9-dof-orientation-imu-fusion-breakout-bno085?view=all>RVC serial</a>
+            <a href=imu/hello.4754.RP2040>hello.4754.RP2040</a> <a href=imu/hello.4754.RP2040.png>board</a> <a href=imu/hello.4754.RP2040.jpg>components</a> <a href=imu/hello.4754.RP2040.top.png>traces</a> <a href=imu/hello.4754.RP2040.holes.png>holes</a> <a href=imu/hello.4754.RP2040.interior.png>interior</a>
+            <a href=imu/hello.4754.RP2040.py>hello.4754.RP2040.py</a> <a href=imu/hello.4754.RP2040.html>hello.4754.RP2040.html</a> <a href=imu/hello.4754.RP2040.mp4>video</a>
+         <a href=https://www.ceva-ip.com/wp-content/uploads/2019/10/SH-2-Reference-Manual.pdf>SH2</a> <a href=https://github.com/ceva-dsp/sh2>library</a> <a href=https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library>I2C</a>
+      <a href=https://invensense.tdk.com/products/motion-tracking/9-axis/mpu-9250>MPU-9250</a> <a href=https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/>ICM-20948</a> <a href=https://www.adafruit.com/product/4554>module</a>
 
 <b>sound</b>
    MEMS
       digital
          <a href=https://www.sparkfun.com/datasheets/BreakoutBoards/I2SBUS.pdf>I2S</a> <a href=https://www.arduino.cc/en/Reference/I2S>Arduino</a> <a href=https://docs.micropython.org/en/latest/library/machine.I2S.html>MicroPython</a>
          <a href=https://www.digikey.com/en/products/detail/knowles/SPH0645LM4H-B/5332440>bottom port</a>
-            coming
          <a href=https://www.digikey.com/en/products/detail/cui-devices/CMM-4030D-261-I2S-TR/13164051>top port</a>
             <a href=mic/hello.CMM-4030D-261-I2S-TR.t1614>hello.CMM-4030D-261-I2S-TR.t1614</a> <a href=mic/hello.CMM-4030D-261-I2S-TR.t1614.png>board</a> <a href=mic/hello.CMM-4030D-261-I2S-TR.jpg>components</a> <a href=mic/hello.CMM-4030D-261-I2S-TR.t1614.traces.png>traces</a> <a href=mic/hello.CMM-4030D-261-I2S-TR.t1614.traces_exterior.png>traces+exterior</a> <a href=mic/hello.CMM-4030D-261-I2S-TR.t1614.interior.png>interior</a>
             <a href=mic/hello.CMM-4030D-261-I2S-TR.ino>hello.CMM-4030D-261-I2S-TR.ino</a> <a href=mic/hello.CMM-4030D-261-I2S-TR.py>hello.CMM-4030D-261-I2S-TR.py</a> <a href=mic/hello.CMM-4030D-261-I2S-TR.mp4>video</a>