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rahul31124marcnause
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marcnause
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feat: Added sensor MPU6050 (#3305)
Co-authored-by: Marc Nause <marc.nause@audioattack.de>
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5 files changed

Lines changed: 722 additions & 2 deletions

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‎lib/communication/sensors/mpu6050.dart‎

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import 'package:pslab/communication/peripherals/i2c.dart';
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import 'package:pslab/communication/science_lab.dart';
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import 'package:pslab/others/logger_service.dart';
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class MPU6050 {
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static const String tag = "MPU6050";
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static const int address = 0x68;
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static const int gyroConfig = 0x1B;
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static const int accelConfig = 0x1C;
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static const int dataStart = 0x3B;
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static const List<double> gyroScaling = [131.0, 65.5, 32.8, 16.4];
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static const List<double> accelScaling = [16384.0, 8192.0, 4096.0, 2048.0];
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int arIndex = 3;
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int grIndex = 3;
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final I2C i2c;
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MPU6050._(this.i2c);
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static Future<MPU6050> create(I2C i2c, ScienceLab scienceLab) async {
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final mpu = MPU6050._(i2c);
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await mpu._initialize(scienceLab);
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return mpu;
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}
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Future<void> _initialize(ScienceLab scienceLab) async {
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if (!scienceLab.isConnected()) {
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throw Exception("ScienceLab not connected");
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}
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try {
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await i2c.write(address, [0], 0x6B);
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await setAccelerationRange(16);
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await setGyroRange(2000);
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} catch (e) {
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logger.e("Error initializing MPU6050: $e");
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rethrow;
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}
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}
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Future<void> setGyroRange(int range) async {
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List<int> validRanges = [250, 500, 1000, 2000];
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grIndex = validRanges.indexOf(range);
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if (grIndex == -1) grIndex = 3;
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await i2c.write(address, [grIndex << 3], gyroConfig);
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}
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Future<void> setAccelerationRange(int range) async {
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List<int> validRanges = [2, 4, 8, 16];
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arIndex = validRanges.indexOf(range);
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if (arIndex == -1) arIndex = 3;
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await i2c.write(address, [arIndex << 3], accelConfig);
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}
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int _toSigned16(int msb, int lsb) {
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int val = (msb << 8) | lsb;
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if (val >= 0x8000) val -= 0x10000;
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return val;
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}
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Future<Map<String, double>> getRawData() async {
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try {
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List<int> data = await i2c.readBulk(address, dataStart, 14);
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if (data.length < 14) {
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throw Exception("Expected 14 bytes but got ${data.length}");
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}
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double ax = _toSigned16(data[0], data[1]) / accelScaling[arIndex];
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double ay = _toSigned16(data[2], data[3]) / accelScaling[arIndex];
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double az = _toSigned16(data[4], data[5]) / accelScaling[arIndex];
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double temp = _toSigned16(data[6], data[7]) / 340.0 + 36.53;
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double gx = _toSigned16(data[8], data[9]) / gyroScaling[grIndex];
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double gy = _toSigned16(data[10], data[11]) / gyroScaling[grIndex];
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double gz = _toSigned16(data[12], data[13]) / gyroScaling[grIndex];
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return {
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'ax': ax,
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'ay': ay,
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'az': az,
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'gx': gx,
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'gy': gy,
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'gz': gz,
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'temperature': temp,
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};
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} catch (e) {
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logger.e("Error reading MPU6050 data: $e");
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rethrow;
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}
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}
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}

‎lib/l10n/app_en.arb‎

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"pin_dpl_name": "D+",
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"pin_dpl_desc": "Test pin for USB Data +",
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"pin_dmi_name": "D-",
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"pin_dmi_desc": "Test pin for USB Data -"
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}
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"pin_dmi_desc": "Test pin for USB Data -",
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"mpu6050" : "MPU6050",
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"gyroRange" : "Gyro Range",
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"accelerationRange" : "Acceleration Range",
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"acceleration" : "Acceleration",
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"angularVelocity" : "Angular Velocity",
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"temp" : "Temp"
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}

‎lib/providers/mpu6050_state_provider.dart‎

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import 'dart:async';
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import 'package:flutter/material.dart';
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import 'package:pslab/communication/peripherals/i2c.dart';
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import 'package:pslab/communication/science_lab.dart';
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import '../communication/sensors/mpu6050.dart';
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import '../models/chart_data_points.dart';
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import 'package:pslab/others/logger_service.dart';
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class MPU6050Provider extends ChangeNotifier {
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MPU6050? _mpu6050;
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Timer? _dataTimer;
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Map<String, double> _currentValues = {
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'ax': 0.0,
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'ay': 0.0,
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'az': 0.0,
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'gx': 0.0,
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'gy': 0.0,
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'gz': 0.0,
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'temperature': 0.0,
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};
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final List<ChartDataPoint> _axData = [];
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final List<ChartDataPoint> _ayData = [];
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final List<ChartDataPoint> _azData = [];
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final List<ChartDataPoint> _gxData = [];
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final List<ChartDataPoint> _gyData = [];
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final List<ChartDataPoint> _gzData = [];
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bool _isRunning = false;
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bool _isLooping = false;
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int _timegapMs = 500;
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int _numberOfReadings = 100;
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int _collectedReadings = 0;
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double _currentTime = 0.0;
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int _selectedAccelRange = 16;
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int _selectedGyroRange = 2000;
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double? _selectedFilter; // null means OFF
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final String _selectedHighPassFilter = 'OFF';
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Map<String, double> get currentValues => _currentValues;
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List<ChartDataPoint> get axData => List.unmodifiable(_axData);
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List<ChartDataPoint> get ayData => List.unmodifiable(_ayData);
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List<ChartDataPoint> get azData => List.unmodifiable(_azData);
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List<ChartDataPoint> get gxData => List.unmodifiable(_gxData);
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List<ChartDataPoint> get gyData => List.unmodifiable(_gyData);
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List<ChartDataPoint> get gzData => List.unmodifiable(_gzData);
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bool get isRunning => _isRunning;
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bool get isLooping => _isLooping;
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int get timegapMs => _timegapMs;
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int get numberOfReadings => _numberOfReadings;
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int get selectedAccelRange => _selectedAccelRange;
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int get selectedGyroRange => _selectedGyroRange;
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double? get selectedFilter => _selectedFilter;
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String get selectedHighPassFilter => _selectedHighPassFilter;
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Future<void> initializeSensors({
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required Function(String) onError,
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required I2C? i2c,
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required ScienceLab? scienceLab,
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}) async {
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try {
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if (i2c == null || scienceLab == null || !scienceLab.isConnected()) {
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onError("PSLab not connected");
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return;
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}
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_mpu6050 = await MPU6050.create(i2c, scienceLab);
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notifyListeners();
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} catch (e) {
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logger.e('Error initializing MPU6050: $e');
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}
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}
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Future<void> updateAccelRange(int range) async {
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_selectedAccelRange = range;
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await _mpu6050?.setAccelerationRange(range);
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notifyListeners();
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}
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Future<void> updateGyroRange(int range) async {
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_selectedGyroRange = range;
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await _mpu6050?.setGyroRange(range);
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notifyListeners();
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}
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void toggleDataCollection() {
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_isRunning ? _stopDataCollection() : _startDataCollection();
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}
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void _startDataCollection() {
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if (_mpu6050 == null) return;
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_isRunning = true;
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_collectedReadings = 0;
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_dataTimer =
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Timer.periodic(Duration(milliseconds: _timegapMs), (timer) async {
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try {
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await _fetchSensorData();
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_collectedReadings++;
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if (!_isLooping && _collectedReadings >= _numberOfReadings) {
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_stopDataCollection();
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}
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if (_isLooping && _axData.length >= 1000) {
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_removeOldestDataPoints();
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}
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} catch (e) {
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logger.e('Error fetching MPU6050 data: $e');
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}
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});
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notifyListeners();
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}
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void _stopDataCollection() {
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_isRunning = false;
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_dataTimer?.cancel();
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notifyListeners();
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}
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Future<void> _fetchSensorData() async {
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if (_mpu6050 == null) return;
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try {
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_currentValues = await _mpu6050!.getRawData();
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_currentTime += _timegapMs / 1000.0;
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_addDataPoint(_axData, _currentValues['ax']!);
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_addDataPoint(_ayData, _currentValues['ay']!);
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_addDataPoint(_azData, _currentValues['az']!);
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_addDataPoint(_gxData, _currentValues['gx']!);
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_addDataPoint(_gyData, _currentValues['gy']!);
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_addDataPoint(_gzData, _currentValues['gz']!);
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notifyListeners();
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} catch (e) {
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logger.e('Error in _fetchSensorData: $e');
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}
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}
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void _addDataPoint(List<ChartDataPoint> dataList, double value) {
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dataList.add(ChartDataPoint(_currentTime, value));
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if (dataList.length > 50) dataList.removeAt(0);
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}
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void _removeOldestDataPoints() {
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final removeCount = _axData.length - 800;
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_axData.removeRange(0, removeCount);
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_ayData.removeRange(0, removeCount);
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_azData.removeRange(0, removeCount);
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_gxData.removeRange(0, removeCount);
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_gyData.removeRange(0, removeCount);
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_gzData.removeRange(0, removeCount);
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}
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void toggleLooping() {
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_isLooping = !_isLooping;
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notifyListeners();
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}
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void setTimegap(int ms) {
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_timegapMs = ms;
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if (_isRunning) {
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_stopDataCollection();
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_startDataCollection();
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}
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notifyListeners();
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}
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void setNumberOfReadings(int val) {
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_numberOfReadings = val;
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notifyListeners();
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}
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void clearData() {
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_axData.clear();
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_ayData.clear();
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_azData.clear();
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_gxData.clear();
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_gyData.clear();
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_gzData.clear();
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_currentTime = 0.0;
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_collectedReadings = 0;
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_currentValues.updateAll((key, value) => 0.0);
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notifyListeners();
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}
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@override
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void dispose() {
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_stopDataCollection();
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super.dispose();
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}
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}

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