262 lines
7.9 KiB
C++
262 lines
7.9 KiB
C++
// ESP32 Dev Module
|
|
|
|
#include "Wire.h"
|
|
#include "MPU6050_6Axis_MotionApps20.h"
|
|
|
|
#include "BluetoothSerial.h"
|
|
#include <SLIPEncodedSerial.h>
|
|
#include "SLIPEncodedBluetoothSerial.h"
|
|
|
|
#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
|
|
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
|
|
#endif
|
|
|
|
#include <OSCMessage.h>
|
|
|
|
BluetoothSerial SerialBT;
|
|
SLIPEncodedBluetoothSerial SLIPBTSerial(SerialBT);
|
|
SLIPEncodedSerial SLIPSerial(Serial);
|
|
|
|
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 setup() {
|
|
Wire.begin();
|
|
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
|
|
|
|
// Keys
|
|
for(int i = 0; i < KEYLEN; i++) {
|
|
pinMode(keys[i], INPUT_PULLUP);
|
|
}
|
|
|
|
Serial.begin(115200); // set this as high as you can reliably run on your platform
|
|
SerialBT.begin("wavey wind");
|
|
|
|
// Motion processor init
|
|
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("DMP Initialization failed (code " + String(devStatus) + ")");
|
|
// ERROR!
|
|
// 1 = initial memory load failed
|
|
// 2 = DMP configuration updates failed
|
|
// (if it's going to break, usually the code will be 1)
|
|
}
|
|
}
|
|
|
|
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);
|
|
|
|
//oscmsg = qOSC(q.w, q.x, q.y, q.z);
|
|
|
|
qmsg.add(q.w);
|
|
qmsg.add(q.x);
|
|
qmsg.add(q.y);
|
|
qmsg.add(q.z);
|
|
|
|
SLIPBTSerial.beginPacket();
|
|
qmsg.send(SLIPBTSerial);
|
|
SLIPBTSerial.endPacket();
|
|
|
|
SLIPSerial.beginPacket();
|
|
qmsg.send(SLIPSerial);
|
|
SLIPSerial.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 (accel) over serial
|
|
msg.add(AcX);
|
|
msg.add(AcY);
|
|
msg.add(AcZ);
|
|
|
|
SLIPSerial.beginPacket();
|
|
msg.send(SLIPSerial);
|
|
SLIPSerial.endPacket();
|
|
|
|
SLIPBTSerial.beginPacket();
|
|
msg.send(SLIPBTSerial);
|
|
SLIPBTSerial.endPacket();
|
|
|
|
msg.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();
|
|
|
|
SLIPBTSerial.beginPacket();
|
|
kmsg.send(SLIPBTSerial);
|
|
SLIPBTSerial.endPacket();
|
|
|
|
kmsg.empty();
|
|
}
|
|
}
|