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RSDK-6254: Add model for mpu9250 to tdk-sense module #3

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RSDK-6254: Add model for mpu9250 to tdk-sense module #3

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d3f6716
add mpu9250 model, no magnetometer
martha-johnston Dec 6, 2024
705ae48
lint fix
martha-johnston Dec 6, 2024
0b132f9
pause mpu9250 implementation, currently missing magnetometer support
martha-johnston Dec 9, 2024
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8 changes: 6 additions & 2 deletions main.go
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ package main
import (
"context"

"tdk-invensense/mpu6050"
"tdk-invensense/mpu"

"go.viam.com/rdk/components/movementsensor"
"go.viam.com/rdk/logging"
Expand All @@ -22,7 +22,11 @@ func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) err
return err
}

if err = module.AddModelFromRegistry(ctx, movementsensor.API, mpu6050.Model); err != nil {
if err = module.AddModelFromRegistry(ctx, movementsensor.API, mpu.Model6050); err != nil {
return err
}

if err = module.AddModelFromRegistry(ctx, movementsensor.API, mpu.Model9250); err != nil {
return err
}

Expand Down
37 changes: 19 additions & 18 deletions mpu6050/mpu6050.go → mpu/mpu6050.go
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
//
// If you use the alternate address, your config file for this component must set its
// "use_alternate_i2c_address" boolean to true.
package mpu6050
package mpu

import (
"context"
Expand All @@ -39,7 +39,7 @@ import (
)

// Model for viam supported tdk-invensense mpu6050 movement sensor.
var Model = resource.NewModel("viam", "tdk-invensense", "mpu6050")
var Model6050 = resource.NewModel("viam", "tdk-invensense", "mpu6050")

const (
defaultAddressRegister = 117
Expand All @@ -65,16 +65,17 @@ func (conf *Config) Validate(path string) ([]string, error) {
}

func init() {
resource.RegisterComponent(movementsensor.API, Model, resource.Registration[movementsensor.MovementSensor, *Config]{
resource.RegisterComponent(movementsensor.API, Model6050, resource.Registration[movementsensor.MovementSensor, *Config]{
Constructor: newMpu6050,
})
}

type mpu6050 struct {
type mpu struct {
resource.Named
resource.AlwaysRebuild
bus buses.I2C
i2cAddress byte
magAddress byte
mu sync.Mutex

// The 3 things we can measure: lock the mutex before reading or writing these.
Expand Down Expand Up @@ -138,7 +139,7 @@ func makeMpu6050(
}
logger.CDebugf(ctx, "Using address %d for MPU6050 sensor", address)

sensor := &mpu6050{
sensor := &mpu{
Named: conf.ResourceName().AsNamed(),
bus: bus,
i2cAddress: address,
Expand Down Expand Up @@ -206,15 +207,15 @@ func makeMpu6050(
return sensor, nil
}

func (mpu *mpu6050) readByte(ctx context.Context, register byte) (byte, error) {
func (mpu *mpu) readByte(ctx context.Context, register byte) (byte, error) {
result, err := mpu.readBlock(ctx, register, 1)
if err != nil {
return 0, err
}
return result[0], err
}

func (mpu *mpu6050) readBlock(ctx context.Context, register byte, length uint8) ([]byte, error) {
func (mpu *mpu) readBlock(ctx context.Context, register byte, length uint8) ([]byte, error) {
handle, err := mpu.bus.OpenHandle(mpu.i2cAddress)
if err != nil {
return nil, err
Expand All @@ -230,7 +231,7 @@ func (mpu *mpu6050) readBlock(ctx context.Context, register byte, length uint8)
return results, err
}

func (mpu *mpu6050) writeByte(ctx context.Context, register, value byte) error {
func (mpu *mpu) writeByte(ctx context.Context, register, value byte) error {
handle, err := mpu.bus.OpenHandle(mpu.i2cAddress)
if err != nil {
return err
Expand Down Expand Up @@ -280,17 +281,17 @@ func toLinearAcceleration(data []byte) r3.Vector {
}
}

func (mpu *mpu6050) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) {
func (mpu *mpu) AngularVelocity(ctx context.Context, extra map[string]interface{}) (spatialmath.AngularVelocity, error) {
mpu.mu.Lock()
defer mpu.mu.Unlock()
return mpu.angularVelocity, mpu.err.Get()
}

func (mpu *mpu6050) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
func (mpu *mpu) LinearVelocity(ctx context.Context, extra map[string]interface{}) (r3.Vector, error) {
return r3.Vector{}, movementsensor.ErrMethodUnimplementedLinearVelocity
}

func (mpu *mpu6050) LinearAcceleration(ctx context.Context, exta map[string]interface{}) (r3.Vector, error) {
func (mpu *mpu) LinearAcceleration(ctx context.Context, exta map[string]interface{}) (r3.Vector, error) {
mpu.mu.Lock()
defer mpu.mu.Unlock()

Expand All @@ -301,23 +302,23 @@ func (mpu *mpu6050) LinearAcceleration(ctx context.Context, exta map[string]inte
return mpu.linearAcceleration, nil
}

func (mpu *mpu6050) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) {
func (mpu *mpu) Orientation(ctx context.Context, extra map[string]interface{}) (spatialmath.Orientation, error) {
return spatialmath.NewOrientationVector(), movementsensor.ErrMethodUnimplementedOrientation
}

func (mpu *mpu6050) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) {
func (mpu *mpu) CompassHeading(ctx context.Context, extra map[string]interface{}) (float64, error) {
return 0, movementsensor.ErrMethodUnimplementedCompassHeading
}

func (mpu *mpu6050) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) {
func (mpu *mpu) Position(ctx context.Context, extra map[string]interface{}) (*geo.Point, float64, error) {
return geo.NewPoint(0, 0), 0, movementsensor.ErrMethodUnimplementedPosition
}

func (mpu *mpu6050) Accuracy(ctx context.Context, extra map[string]interface{}) (*movementsensor.Accuracy, error) {
func (mpu *mpu) Accuracy(ctx context.Context, extra map[string]interface{}) (*movementsensor.Accuracy, error) {
return movementsensor.UnimplementedOptionalAccuracies(), nil
}

func (mpu *mpu6050) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error) {
func (mpu *mpu) Readings(ctx context.Context, extra map[string]interface{}) (map[string]interface{}, error) {
mpu.mu.Lock()
defer mpu.mu.Unlock()

Expand All @@ -329,14 +330,14 @@ func (mpu *mpu6050) Readings(ctx context.Context, extra map[string]interface{})
return readings, mpu.err.Get()
}

func (mpu *mpu6050) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error) {
func (mpu *mpu) Properties(ctx context.Context, extra map[string]interface{}) (*movementsensor.Properties, error) {
return &movementsensor.Properties{
AngularVelocitySupported: true,
LinearAccelerationSupported: true,
}, nil
}

func (mpu *mpu6050) Close(ctx context.Context) error {
func (mpu *mpu) Close(ctx context.Context) error {
mpu.workers.Stop()

mpu.mu.Lock()
Expand Down
2 changes: 1 addition & 1 deletion mpu6050/mpu6050_test.go → mpu/mpu6050_test.go
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
//go:build linux

package mpu6050
package mpu

import (
"context"
Expand Down
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