Add IMU module

ports/esp32/Makefile

@@ -1,7 +1,7 @@
 # Select the board to build for: if not given on the command line,
 # then default to GENERIC.
 # BOARD ?= GENERIC
-BOARD ?= KidBrightV15i
+BOARD ?= KidBright32
 
 # If the build directory is not given, make it reflect the board name.
 BUILD ?= build-$(BOARD)
@@ -43,7 +43,7 @@ include $(TOP)/py/py.mk
 
 GIT_SUBMODULES = lib/berkeley-db-1.xx
 
-PORT ?= /dev/ttyS188
+PORT ?= /dev/ttyS10
 BAUD ?= 1152000
 FLASH_MODE ?= dio
 FLASH_FREQ ?= 40m

ports/esp32/boards/KidBright32/modules/imu.py

@@ -0,0 +1,63 @@
+# Dev by Sonthaya Nongnuch
+
+from machine import Pin, I2C
+
+MPU6050_ADDR       = const(0x68)
+LSM303AGR_ACC_ADDR = const(0x19)
+LSM303AGR_MEG_ADDR = const(0x1E)
+
+MPU6050   = const(0)
+LSM303AGR = const(1)
+
+acc  = [ 0, 0, 0 ]
+gyro = [ 0, 0, 0 ]
+mag  = [ 0, 0, 0 ]
+temp = 0.0
+
+# Check sensor on board
+i2c1 = I2C(1, scl=Pin(5), sda=Pin(4), freq=100000)
+devAddrs = i2c1.scan()
+__device = -1
+if MPU6050_ADDR in devAddrs:
+    __device = MPU6050
+elif LSM303AGR_ACC_ADDR in devAddrs:
+    __device = LSM303AGR
+
+if __device == MPU6050:
+    i2c1.writeto_mem(MPU6050_ADDR, 0x6B, b'\x00')
+    i2c1.writeto_mem(MPU6050_ADDR, 0x1C, b'\x00') # 2g
+    i2c1.writeto_mem(MPU6050_ADDR, 0x1B, b'\x00') # 250 */sec
+elif __device == LSM303AGR:
+    i2c1.writeto_mem(LSM303AGR_ACC_ADDR, 0x2E, b'\x00') # FIFO_CTRL_REG_A
+    i2c1.writeto_mem(LSM303AGR_ACC_ADDR, 0x20, b'\x57') # CTRL_REG1_A
+    i2c1.writeto_mem(LSM303AGR_ACC_ADDR, 0x23, b'\x00') # Full-scale selection, 2g
+    i2c1.writeto_mem(LSM303AGR_MEG_ADDR, 0x60, b'\x8C') # CFG_REG_A_M
+    i2c1.writeto_mem(LSM303AGR_MEG_ADDR, 0x61, b'\x01') # CFG_REG_B_M
+
+
+def b2i(x, y):
+    return (x << 8 | y) if not x & 0x80 else (-(((x ^ 255) << 8) | (y ^ 255) + 1))
+
+def update():
+    global acc, gyro, mag, temp
+    if __device == MPU6050:
+        buff = i2c1.readfrom_mem(MPU6050_ADDR, 0x3B, 14)
+        for i in range(3):
+            acc[i] = round(b2i(buff[(i * 2)], buff[(i * 2) + 1]) / 16384.0 * 1000.0, 2)
+        temp = round(b2i(buff[6], buff[7]) / 340.00 + 36.53, 2)
+        for i in range(3):
+            gyro[i] = round(b2i(buff[(i * 2) + 8], buff[(i * 2) + 9]) / 131.0, 2)
+    elif __device == LSM303AGR:
+        buff = [ 0, 0, 0, 0, 0, 0 ]
+        for i in range(6):
+            value = i2c1.readfrom_mem(LSM303AGR_ACC_ADDR, 0x28 + i, 1)[0]
+            buff[i] = value
+        for i in range(3):
+            acc[i] = b2i(buff[(i * 2) + 1], buff[(i * 2) + 0])
+            acc[i] = round(((acc[i] >> 6) * 3900 + 500) / 1000, 2)
+        buff = [ 0, 0, 0, 0, 0, 0 ]
+        for i in range(6):
+            buff[i] = i2c1.readfrom_mem(LSM303AGR_MEG_ADDR, 0x68 + i, 1)[0]
+        for i in range(3):
+            mag[i] = b2i(buff[(i * 2) + 1], buff[(i * 2) + 0])
+            mag[i] = round(mag[i] * 1.5, 2)

ports/esp32/boards/KidBright32/mpconfigboard.h

@@ -0,0 +1,2 @@
+#define MICROPY_HW_BOARD_NAME "KidBright32"
+#define MICROPY_HW_MCU_NAME "ESP32"