Update to 2.0.1

main/boards/esp32s3-smart-speaker/imu_manager.cc

@@ -0,0 +1,139 @@
+#include "imu_manager.h"
+#include <esp_log.h>
+
+#define TAG "ImuManager"
+
+ImuManager& ImuManager::GetInstance() {
+    static ImuManager instance;
+    return instance;
+}
+
+bool ImuManager::Initialize() {
+    if (initialized_) {
+        ESP_LOGW(TAG, "ImuManager already initialized");
+        return true;
+    }
+    
+    ESP_LOGI(TAG, "Initializing ImuManager...");
+    
+    InitializeImu();
+    
+    // 启动IMU任务
+    StartImuTask();
+    
+    initialized_ = true;
+    ESP_LOGI(TAG, "ImuManager initialized successfully");
+    return true;
+}
+
+void ImuManager::InitializeImu() {
+    ESP_LOGI(TAG, "Initializing MPU6050 IMU sensor...");
+
+    // IMU传感器I2C总线
+    i2c_master_bus_config_t imu_i2c_cfg = {
+        .i2c_port = I2C_NUM_1,
+        .sda_io_num = IMU_I2C_SDA_PIN,
+        .scl_io_num = IMU_I2C_SCL_PIN,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .glitch_ignore_cnt = 7,
+        .intr_priority = 0,
+        .trans_queue_depth = 0,
+        .flags = {
+            .enable_internal_pullup = 1,
+            .allow_pd = false,
+        },
+    };
+    ESP_ERROR_CHECK(i2c_new_master_bus(&imu_i2c_cfg, &imu_i2c_bus_));
+
+    // 初始化MPU6050传感器
+    mpu6050_sensor_ = std::make_unique<Mpu6050Sensor>(imu_i2c_bus_);
+
+    if (mpu6050_sensor_) {
+        uint8_t device_id;
+        if (mpu6050_sensor_->GetDeviceId(&device_id)) {
+            ESP_LOGI(TAG, "MPU6050 device ID: 0x%02X", device_id);
+            if (device_id == MPU6050_WHO_AM_I_VAL) {
+                if (mpu6050_sensor_->Initialize(ACCE_FS_4G, GYRO_FS_500DPS)) {
+                    if (mpu6050_sensor_->WakeUp()) {
+                        initialized_ = true;
+                        ESP_LOGI(TAG, "MPU6050 sensor initialized successfully");
+                    } else {
+                        ESP_LOGE(TAG, "Failed to wake up MPU6050");
+                    }
+                } else {
+                    ESP_LOGE(TAG, "Failed to initialize MPU6050");
+                }
+            } else {
+                ESP_LOGE(TAG, "MPU6050 device ID mismatch: expected 0x%02X, got 0x%02X",
+                         MPU6050_WHO_AM_I_VAL, device_id);
+            }
+        } else {
+            ESP_LOGE(TAG, "Failed to read MPU6050 device ID");
+        }
+    } else {
+        ESP_LOGE(TAG, "Failed to create MPU6050 sensor instance");
+    }
+
+    if (!initialized_) {
+        ESP_LOGW(TAG, "IMU sensor initialization failed - continuing without IMU");
+    }
+}
+
+void ImuManager::StartImuTask() {
+    if (!initialized_) {
+        ESP_LOGW(TAG, "ImuManager not initialized, skipping IMU task creation");
+        return;
+    }
+    
+    BaseType_t ret = xTaskCreate(ImuDataTask, "imu_data_task", 4096, this, 5, &imu_task_handle_);
+    if (ret != pdPASS) {
+        ESP_LOGE(TAG, "Failed to create IMU data task");
+    } else {
+        ESP_LOGI(TAG, "IMU data task created successfully");
+    }
+}
+
+void ImuManager::StopImuTask() {
+    if (imu_task_handle_) {
+        vTaskDelete(imu_task_handle_);
+        imu_task_handle_ = nullptr;
+    }
+}
+
+void ImuManager::ImuDataTask(void *pvParameters) {
+    ImuManager *manager = static_cast<ImuManager *>(pvParameters);
+    ESP_LOGI(TAG, "IMU data task started");
+
+    mpu6050_acce_value_t acce;
+    mpu6050_gyro_value_t gyro;
+    mpu6050_temp_value_t temp;
+    complimentary_angle_t angle;
+
+    while (true) {
+        if (manager->mpu6050_sensor_ && manager->initialized_) {
+            // 读取加速度计数据
+            if (manager->mpu6050_sensor_->GetAccelerometer(&acce)) {
+                ESP_LOGI(TAG, "Accelerometer - X:%.2f, Y:%.2f, Z:%.2f", acce.acce_x,
+                         acce.acce_y, acce.acce_z);
+            }
+
+            // 读取陀螺仪数据
+            if (manager->mpu6050_sensor_->GetGyroscope(&gyro)) {
+                ESP_LOGI(TAG, "Gyroscope - X:%.2f, Y:%.2f, Z:%.2f", gyro.gyro_x,
+                         gyro.gyro_y, gyro.gyro_z);
+            }
+
+            // 读取温度数据
+            if (manager->mpu6050_sensor_->GetTemperature(&temp)) {
+                ESP_LOGI(TAG, "Temperature: %.2f°C", temp.temp);
+            }
+
+            // 计算姿态角
+            if (manager->mpu6050_sensor_->ComplimentaryFilter(&acce, &gyro, &angle)) {
+                ESP_LOGI(TAG, "Attitude - Pitch:%.2f°, Roll:%.2f°, Yaw:%.2f°",
+                         angle.pitch, angle.roll, angle.yaw);
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(50));
+    }
+}