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