110 lines
2.9 KiB
Arduino
110 lines
2.9 KiB
Arduino
|
// ESP32 Dev Module
|
|||
|
|
|
|||
|
|
#include "Wire.h"
|
|||
|
|
|
|||
|
|
#include <OSCBoards.h>
|
|||
|
|
#include <OSCMessage.h>
|
|||
|
|
/*
|
|||
|
|
Make an OSC message and send it over serial
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
#ifdef BOARD_HAS_USB_SERIAL
|
|||
|
|
#include <SLIPEncodedUSBSerial.h>
|
|||
|
|
SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
|
|||
|
|
#else
|
|||
|
|
#include <SLIPEncodedSerial.h>
|
|||
|
|
SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
/*
|
|||
|
|
#include <BluetoothSerial.h>
|
|||
|
|
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
|
|||
|
|
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
BluetoothSerial SerialBT;
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
const int MPU_addr=0x68; // I2C address of the MPU-6050
|
|||
|
|
|
|||
|
|
// Sem dobimo vrednosti
|
|||
|
|
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
|
|||
|
|
|
|||
|
|
void setup() {
|
|||
|
|
Wire.begin();
|
|||
|
|
SLIPSerial.begin(9600); // set this as high as you can reliably run on your platform
|
|||
|
|
|
|||
|
|
Wire.begin(21, 22, 100000); // sda, scl, clock speed
|
|||
|
|
//check_I2c(MPU_addr);
|
|||
|
|
Wire.beginTransmission(MPU_addr);
|
|||
|
|
Wire.write(0x6B); // PWR_MGMT_1 register
|
|||
|
|
Wire.write(0); // set to zero (wakes up the MPU-6050)
|
|||
|
|
Wire.endTransmission(true);
|
|||
|
|
delay(30); // Ensure gyro has enough time to power up
|
|||
|
|
/*
|
|||
|
|
SerialBT.begin("MotionGlove");
|
|||
|
|
*/
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void loop() {
|
|||
|
|
Wire.beginTransmission(MPU_addr);
|
|||
|
|
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
|
|||
|
|
Wire.endTransmission(false);
|
|||
|
|
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
|
|||
|
|
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
|
|||
|
|
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
|
|||
|
|
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
|
|||
|
|
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
|
|||
|
|
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
|
|||
|
|
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
|
|||
|
|
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
|
|||
|
|
|
|||
|
|
OSCMessage msg("/accel/");
|
|||
|
|
msg.add(AcX);
|
|||
|
|
msg.add(AcY);
|
|||
|
|
msg.add(AcZ);
|
|||
|
|
|
|||
|
|
SLIPSerial.beginPacket();
|
|||
|
|
msg.send(SLIPSerial);
|
|||
|
|
SLIPSerial.endPacket();
|
|||
|
|
msg.empty();
|
|||
|
|
|
|||
|
|
OSCMessage gmsg("/gyro/");
|
|||
|
|
gmsg.add(GyX);
|
|||
|
|
gmsg.add(GyY);
|
|||
|
|
gmsg.add(GyZ);
|
|||
|
|
|
|||
|
|
SLIPSerial.beginPacket();
|
|||
|
|
gmsg.send(SLIPSerial);
|
|||
|
|
SLIPSerial.endPacket();
|
|||
|
|
gmsg.empty();
|
|||
|
|
|
|||
|
|
OSCMessage tmsg("/temp/");
|
|||
|
|
tmsg.add(Tmp);
|
|||
|
|
|
|||
|
|
SLIPSerial.beginPacket();
|
|||
|
|
tmsg.send(SLIPSerial);
|
|||
|
|
SLIPSerial.endPacket();
|
|||
|
|
tmsg.empty();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
byte check_I2c(byte addr){
|
|||
|
|
Serial.println("Looking for sensor...");
|
|||
|
|
|
|||
|
|
// We are using the return value of
|
|||
|
|
// the Write.endTransmisstion to see if
|
|||
|
|
// a device did acknowledge to the address.
|
|||
|
|
byte error;
|
|||
|
|
Wire.beginTransmission(addr);
|
|||
|
|
error = Wire.endTransmission();
|
|||
|
|
|
|||
|
|
if (error == 0) {
|
|||
|
|
Serial.print(" Device Found at 0x");
|
|||
|
|
Serial.println(addr,HEX);
|
|||
|
|
} else {
|
|||
|
|
Serial.print(" No Device Found at 0x");
|
|||
|
|
Serial.println(addr,HEX);
|
|||
|
|
}
|
|||
|
|
return error;
|
|||
|
|
}
|