Merge pull request #12 from senseshift/feature/mpu6050

✨ Add MPU6050

.github/workflows/ci.yml

@@ -2,35 +2,52 @@ name: PlatformIO CI
 
 on:
   pull_request:
-    branches:
-      - main
-      - master
-      - develop
-    paths-ignore:
-      - "**/*.md"
+    paths:
+      - "examples/**/*"
+      - "src/**/*"
   push:
     branches:
-      - main
       - master
+      - main
       - develop
-    paths-ignore:
-      - "**/*.md"
 
 jobs:
   platformio:
     runs-on: ${{ matrix.os }}
 
+    # env:
+    # PLATFORMIO_BUILD_DIR: ./../build
+
     strategy:
       matrix:
         os: [ ubuntu-latest ]
         example:
-          - "examples/PCA9685/Servo/Servo.ino"
-          - "examples/PCA9685/VibroPulse/VibroPulse.ino"
+          - "PCA9685/Servo"
+          - "PCA9685/VibroPulse"
+          - "MPU6050/BasicReadings"
         boards: [ [ uno, esp32dev ] ]
 
     steps:
       - uses: actions/checkout@v4
 
+      - name: Prepare metadata
+        id: metadata
+        run: |
+          # get 1st element from the example path as lowercase
+          DEVICE=$(echo "${{ matrix.example }}" | cut -d'/' -f1 | tr '[:upper:]' '[:lower:]')
+          echo "device=$DEVICE" >> "$GITHUB_OUTPUT"
+
+          # check if example folder contains a wokwi.toml file
+          SHOULD_UPLOAD_ARTIFACTS=$(test -f "examples/${{ matrix.example }}/wokwi.toml" && echo "true" || echo "false")
+          echo "upload_artifact=$SHOULD_UPLOAD_ARTIFACTS" >> "$GITHUB_OUTPUT"
+          
+          ARTIFACT_NAME=$(echo "${{ matrix.example }}" | tr '/' '-')
+          echo "artifact_name=$ARTIFACT_NAME" >> "$GITHUB_OUTPUT"
+          
+          # mkdtemp
+          # export PLATFORMIO_BUILD_DIR=$(mktemp -d)
+          # echo "PLATFORMIO_BUILD_DIR=$PLATFORMIO_BUILD_DIR" >> "$GITHUB_ENV"
+
       - name: Cache pip
         uses: actions/cache@v4
         with:
@@ -63,6 +80,67 @@ jobs:
 
       - name: Build example
         run: |
-          pio ci --lib="." --board=${{ join(matrix.boards, ' --board=') }}
+          set -o pipefail
+          
+          # for whatever reason, if we specify the build dir, it doesn't work
+          # mkdir -p ${{ env.PLATFORMIO_BUILD_DIR }}
+          pio ci --lib="." --board=${{ join(matrix.boards, ' --board=') }} --keep-build-dir 2>&1 | tee output.log
+          
+          if [ $? -ne 0 ]; then exit 1; fi
+          
+          export PLATFORMIO_BUILD_DIR=$(grep -oP 'The following files/directories have been created in \K.*' output.log)
+          echo "PLATFORMIO_BUILD_DIR=$PLATFORMIO_BUILD_DIR" >> "$GITHUB_ENV"
         env:
-          PLATFORMIO_CI_SRC: ${{ matrix.example }}
+          FORCE_COLOR: 2 # Enable color output
+          PLATFORMIO_CI_SRC: "./examples/${{ matrix.example }}/*.ino"
+          PLATFORMIO_BUILD_FLAGS: "-D CORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG"
+
+      - name: Upload artifacts
+        if: steps.metadata.outputs.upload_artifact == 'true'
+        uses: actions/upload-artifact@v4
+        with:
+          name: example-${{ steps.metadata.outputs.artifact_name }}
+          path: |
+            ${{ env.PLATFORMIO_BUILD_DIR }}/.pio/build/*/firmware.*
+          retention-days: 1
+
+  wokwi:
+    runs-on: ${{ matrix.os }}
+
+    needs: platformio
+
+    strategy:
+      matrix:
+        os: [ ubuntu-latest ]
+
+        include:
+          - example: "MPU6050/BasicReadings"
+          - board: uno
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Prepare metadata
+        id: metadata
+        run: |
+          ARTIFACT_NAME=$(echo "${{ matrix.example }}" | tr '/' '-')
+          echo "artifact_name=$ARTIFACT_NAME" >> "$GITHUB_OUTPUT"
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: example-${{ steps.metadata.outputs.artifact_name }}
+          path: build
+
+      - name: Copy compiled firmware
+        run: |
+          cp -ru build/${{ matrix.board }}/* examples/${{ matrix.example }}
+
+      - name: Run simulation
+        uses: leon0399/wokwi-ci-action@main
+        with:
+          token: ${{ secrets.WOKWI_CLI_TOKEN }}
+          timeout: 60000
+          path: ./examples/${{ matrix.example }}
+          scenario: 'scenario.yml'
+          diagram_file: 'diagram.${{ matrix.board }}.json'
+          elf: '${{ github.workspace }}/build/${{ matrix.board }}/firmware.elf'

.gitignore

@@ -3,3 +3,5 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+
+build/

examples/MPU6050/BasicReadings/BasicReadings.ino

@@ -0,0 +1,46 @@
+#include <I2CDevLib.h>
+#include <i2cdev/mpu6050.hpp>
+
+i2cdev::MPU6050 mpu6050;
+
+void setup(void) {
+    Serial.begin(115200);
+    while (!Serial)
+        delay(10); // will pause Zero, Leonardo, etc until serial console opens
+
+    Wire.begin();
+
+    Serial.println("I2CDevLibContrib MPU6050 test!");
+
+    // Wait for the MPU6050 to be ready
+    delay(1000);
+
+    if (mpu6050.check() != I2CDEV_RESULT_OK) {
+        Serial.println("Failed to find MPU6050 chip");
+        while (true) {}
+    }
+    Serial.println("MPU6050 Found!");
+
+    if (mpu6050.reset() != I2CDEV_RESULT_OK) {
+        Serial.println("Failed to reset MPU6050 chip");
+        while (true) {}
+    }
+
+    mpu6050.setAccelerometerRange(MPU6050_ACCEL_RANGE_8G);
+    mpu6050.setGyroscopeRange(MPU6050_GYRO_RANGE_500_DEG);
+    mpu6050.setFilterBandwidth(MPU6050_BANDWIDTH_21_HZ);
+
+    Serial.println("");
+    delay(100);
+}
+
+void loop() {
+    auto measurements = mpu6050.getAllMeasurements();
+
+    Serial.print("Accelerometer X: "); Serial.print(measurements.accel.x); Serial.print(" Y: "); Serial.print(measurements.accel.y); Serial.print(" Z: "); Serial.println(measurements.accel.z);
+    Serial.print("Gyroscope     X: "); Serial.print(measurements.gyro.x); Serial.print(" Y: "); Serial.print(measurements.gyro.y); Serial.print(" Z: "); Serial.println(measurements.gyro.z);
+    Serial.print("Temperature:     "); Serial.print(measurements.temperature); Serial.println(" C");
+    Serial.println("");
+
+    delay(500);
+}

examples/MPU6050/BasicReadings/diagram.uno.json

@@ -0,0 +1,18 @@
+{
+  "version": 1,
+  "author": "Leonid Meleshin",
+  "editor": "wokwi",
+  "parts": [
+    { "type": "wokwi-arduino-uno", "id": "uno", "top": 0.6, "left": -0.6, "attrs": {} },
+    {
+      "type": "wokwi-mpu6050",
+      "id": "imu1",
+      "top": -131.42,
+      "left": 166.12,
+      "rotate": -90,
+      "attrs": {}
+    }
+  ],
+  "connections": [ [ "uno:A4.2", "imu1:SDA", "green", [ "v0" ] ], [ "uno:A5.2", "imu1:SCL", "green", [ "v0" ] ] ],
+  "dependencies": {}
+}

examples/MPU6050/BasicReadings/scenario.yml

@@ -0,0 +1,10 @@
+name: Test MPU6050/BasicReadings
+version: 1
+author: Leonid Meleshin
+
+steps:
+  - wait-serial: "MPU6050 Found!"
+
+  - wait-serial: "Accelerometer X: 0.00 Y: 0.00 Z: 1.00"
+  - wait-serial: "Gyroscope     X: 0.00 Y: 0.00 Z: 0.00"
+  - wait-serial: "Temperature:     24.00 C"

examples/MPU6050/BasicReadings/wokwi.toml

@@ -0,0 +1,6 @@
+[wokwi]
+version = 1
+firmware = "./firmware.hex"
+elf = "./firmware.elf"
+
+gdbServerPort=3333

platformio.ini

@@ -8,6 +8,11 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
+[env:arduino_uno]
+platform = atmelavr
+board = uno
+framework = arduino
+
 [env:esp32dev]
 platform = espressif32
 board = esp32dev

src/hal/I2CDevBus_ArduinoWire.hpp

@@ -4,6 +4,16 @@
 #include "i2cdevbus.hpp"
 #include <Wire.h>
 
+inline __attribute__((always_inline)) void i2cdev_platform_sleep_us(uint32_t us) {
+    if (us > 1000) {
+        // delay in ms, then in us
+        delay(us / 1000);
+        delayMicroseconds(us % 1000);
+    } else {
+        delayMicroseconds(us);
+    }
+}
+
 class ArduinoI2CDevBus : public I2CDevBus {
 public:
     explicit ArduinoI2CDevBus(TwoWire* wire = &Wire) : wire_(wire) {}
@@ -19,7 +29,7 @@ class ArduinoI2CDevBus : public I2CDevBus {
             uint16_t timeout = DEFAULT_READ_TIMEOUT_MS
     ) -> i2cdev_result_t override
     {
-        I2CDEVLIB_LOG_D("readReg8: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
+        I2CDEVLIB_LOG_D("readReg8: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length));
 
         this->wire_->beginTransmission(devAddr);
         this->wire_->write(regAddr);
@@ -58,7 +68,7 @@ class ArduinoI2CDevBus : public I2CDevBus {
             uint16_t timeout = DEFAULT_READ_TIMEOUT_MS
     ) -> i2cdev_result_t override
     {
-        I2CDEVLIB_LOG_D("readReg16: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
+        I2CDEVLIB_LOG_D("readReg16: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length));
 
         this->wire_->beginTransmission(devAddr);
         this->wire_->write(regAddr);
@@ -92,7 +102,7 @@ class ArduinoI2CDevBus : public I2CDevBus {
     auto writeReg8(uint8_t devAddr, uint8_t regAddr, size_t length, const uint8_t* data)
     -> i2cdev_result_t override
     {
-        I2CDEVLIB_LOG_D("writeReg8: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
+        I2CDEVLIB_LOG_D("writeReg8: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length));
 
         this->wire_->beginTransmission(devAddr);
 
@@ -116,7 +126,7 @@ class ArduinoI2CDevBus : public I2CDevBus {
     auto writeReg16(uint8_t devAddr, uint8_t regAddr, size_t length, const uint16_t* data)
     -> i2cdev_result_t override
     {
-        I2CDEVLIB_LOG_D("writeReg16: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
+        I2CDEVLIB_LOG_D("writeReg16: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length));
 
         this->wire_->beginTransmission(devAddr);