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Add wifi sketch, i2cscanner

eulerConversion
Jurij Podgoršek 3 months ago
parent
commit
b020f8cd5d
  1. 83
      i2cscanner/i2cscanner.ino
  2. 1
      osc32final/osc32final.ino
  3. 342
      osc32wifi/osc32wifi.ino

83
i2cscanner/i2cscanner.ino

@ -0,0 +1,83 @@
// --------------------------------------
// i2c_scanner
//
// Version 1
// This program (or code that looks like it)
// can be found in many places.
// For example on the Arduino.cc forum.
// The original author is not know.
// Version 2, Juni 2012, Using Arduino 1.0.1
// Adapted to be as simple as possible by Arduino.cc user Krodal
// Version 3, Feb 26 2013
// V3 by louarnold
// Version 4, March 3, 2013, Using Arduino 1.0.3
// by Arduino.cc user Krodal.
// Changes by louarnold removed.
// Scanning addresses changed from 0...127 to 1...119,
// according to the i2c scanner by Nick Gammon
// https://www.gammon.com.au/forum/?id=10896
// Version 5, March 28, 2013
// As version 4, but address scans now to 127.
// A sensor seems to use address 120.
// Version 6, November 27, 2015.
// Added waiting for the Leonardo serial communication.
//
//
// This sketch tests the standard 7-bit addresses
// Devices with higher bit address might not be seen properly.
//
#include <Wire.h>
void setup()
{
Wire.begin();
Serial.begin(9600);
while (!Serial); // Leonardo: wait for serial monitor
Serial.println("\nI2C Scanner");
}
void loop()
{
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ )
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0)
{
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.print(address,HEX);
Serial.println(" !");
nDevices++;
}
else if (error==4)
{
Serial.print("Unknown error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
delay(5000); // wait 5 seconds for next scan
}

1
osc32final/osc32final.ino

@ -141,6 +141,7 @@ void setup() {
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
Serial.println("Error: " + String(devStatus));
emsg.add("DMP Initialization failed (code " + String(devStatus) + ")");
SLIPSerial.beginPacket();
emsg.send(SLIPSerial);

342
osc32wifi/osc32wifi.ino

@ -0,0 +1,342 @@
// ESP32 Dev Module
#include "Wire.h"
#include "MPU6050_6Axis_MotionApps20.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
// WIFI
#include <WiFi.h>
const char* ssid = "Grajski"; // your network SSID (name of wifi network)
const char* password = "nedeladanes"; // your network password
// Multicast IP / port
const IPAddress castIp = IPAddress(224,0,1,9);
const int port = 6696;
bool connected = false;
//#include "AsyncUDP.h"
//AsyncUDP udp;
#include <WiFiUdp.h>
WiFiUDP udp;
MPU6050 mpu;
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
#define OUTPUT_READABLE_WORLDACCEL
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 gy; // [x, y, z] gyro sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// Sem dobimo vrednosti
int16_t AcX,AcY,AcZ;
float GyX, GyY, GyZ;
// Keys
byte keys[] = {16, 17, 5, 18};
byte pressed[] = {0, 0, 0, 0};
byte KEYLEN = 4;
OSCMessage msg("/accel/");
OSCMessage gmsg("/gyro/");
OSCMessage emsg("/error/");
OSCMessage kmsg("/keys/");
OSCMessage qmsg("/quaternion/");
void connectToWiFi(const char * ssid, const char * pwd){
Serial.println("Connecting to WiFi network: " + String(ssid));
// delete old config
WiFi.disconnect(true);
//register event handler
WiFi.onEvent(WiFiEvent);
//Initiate connection
WiFi.begin(ssid, pwd);
Serial.println("Waiting for WIFI connection...");
}
//wifi event handler
void WiFiEvent(WiFiEvent_t event){
switch(event) {
case ARDUINO_EVENT_WIFI_STA_GOT_IP:
//When connected set
Serial.print("WiFi connected! IP address: ");
Serial.println(WiFi.localIP());
//initializes the UDP state
//This initializes the transfer buffer
udp.begin(WiFi.localIP(),6000);
connected = true;
break;
case ARDUINO_EVENT_WIFI_STA_DISCONNECTED:
connected = false;
Serial.println("\n\n\n================\nLOST WIFI CONNECTION!\n\n\nTrying again soon...\n\n\n");
delay(1000);
connectToWiFi(ssid, password);
break;
default: break;
}
}
void setup() {
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
SLIPSerial.begin(115200); // set this as high as you can reliably run on your platform
// Keys
for(int i = 0; i < KEYLEN; i++) {
pinMode(keys[i], INPUT_PULLUP);
}
mpu.initialize();
mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
// DMP init
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
// !!! Run Zero IMU to get readings
/* First proto (right hand, black&blue)
mpu.setXGyroOffset(76);
mpu.setYGyroOffset(68);
mpu.setZGyroOffset(10);
mpu.setXAccelOffset(-3527);
mpu.setYAccelOffset(-913);
mpu.setZAccelOffset(1027);
*/
/* Second proto, translucent / white */
mpu.setXGyroOffset(-3650);
mpu.setYGyroOffset(-2531);
mpu.setZGyroOffset(1131);
mpu.setXAccelOffset(162);
mpu.setYAccelOffset(-16);
mpu.setZAccelOffset(-12);
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
//Serial.println();
//mpu.PrintActiveOffsets();
// turn on the DMP, now that it's ready
//Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// set our DMP Ready flag so the main loop() function knows it's okay to use it
//Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
Serial.println("Error: " + String(devStatus));
emsg.add("DMP Initialization failed (code " + String(devStatus) + ")");
SLIPSerial.beginPacket();
emsg.send(SLIPSerial);
SLIPSerial.endPacket();
emsg.empty();
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
}
// WIFI init
Serial.print("Attempting to connect to SSID: ");
Serial.println(ssid);
connectToWiFi(ssid, password);
// attempt to connect to Wifi network:
while (WiFi.status() != WL_CONNECTED) {
Serial.print(".");
// wait 1 second for re-trying
delay(1000);
}
Serial.print("Connected to ");
Serial.println(ssid);
//Serial.print("UDP connection: ");
//Serial.println(udp.connect(castIp, port));
}
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// read a packet from FIFO
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
qmsg.add(q.w);
qmsg.add(q.x);
qmsg.add(q.y);
qmsg.add(q.z);
SLIPSerial.beginPacket();
qmsg.send(SLIPSerial);
SLIPSerial.endPacket();
udp.beginPacket(castIp, port);
qmsg.send(udp);
udp.endPacket();
qmsg.empty();
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
GyX = euler[0];
GyY = euler[1];
GyZ = euler[2];
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
GyX = ypr[0];
GyY = ypr[1];
GyZ = ypr[2];
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
AcX = aaReal.x;
AcY = aaReal.y;
AcZ = aaReal.z;
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
AcX = aaWorld.x;
AcY = aaWorld.y;
AcZ = aaWorld.z;
#endif
// Send over serial
msg.add(AcX);
msg.add(AcY);
msg.add(AcZ);
SLIPSerial.beginPacket();
msg.send(SLIPSerial);
SLIPSerial.endPacket();
udp.beginPacket(castIp, port);
msg.send(udp);
udp.endPacket();
msg.empty();
/*
gmsg.add(GyX);
gmsg.add(GyY);
gmsg.add(GyZ);
SLIPSerial.beginPacket();
gmsg.send(SLIPSerial);
SLIPSerial.endPacket();
gmsg.empty();
*/
// Send keys
for(int i = 0; i < KEYLEN; i++) {
pressed[i] = !digitalRead(keys[i]);
kmsg.add(pressed[i]);
}
SLIPSerial.beginPacket();
kmsg.send(SLIPSerial);
SLIPSerial.endPacket();
udp.beginPacket(castIp, port);
kmsg.send(udp);
udp.endPacket();
kmsg.empty();
}
}
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