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Code for using the MPU6050-DMP6 with the Sparkfun ESP32 Thing and UDP data sent over WiFi - Stable!
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/* ===================== TO DO ===================== | |
* - Add remote control of esp.reset()? | |
* - Add another sensor of some kind? | |
* | |
*/ | |
#include <WiFi.h> | |
#include <WiFiUdp.h> | |
#include <Wire.h> | |
// ================== USER CONFIG ================== | |
// Module ID | |
#define MODULE_ID "AFM_2" | |
// Networking setup | |
//#define COMPUTER_WIRED | |
#define COMPUTER_WIFI | |
//#define PUPSNET | |
// Which sensors used? | |
#define USE_MPU | |
// ================================================== | |
// WiFi network name and password: | |
#ifdef PUPSNET | |
const char * networkName = "PUPSnet"; | |
const char * networkPswd = "apassword"; | |
#else | |
const char * networkName = "stoatNet"; | |
const char * networkPswd = "apassword"; | |
#endif | |
//IP address to send UDP data to: | |
// either use the ip address of the server or | |
// a network broadcast address | |
//const char * udpAddress = "10.34.42.255"; | |
//const char * udpAddress = "10.34.42.184"; | |
#ifdef PUPSNET | |
const char * udpAddress = "10.34.42.18"; //Cuttlefish on pupsnet | |
#else | |
#ifdef COMPUTER_WIRED | |
const char * udpAddress = "192.168.1.2"; //Cuttlefish on stoatNet: 2 if wired | |
#endif | |
#ifdef COMPUTER_WIFI | |
const char * udpAddress = "192.168.1.3"; //Cuttlefish on stoatNet: 3 if on WiFi | |
#endif | |
#endif | |
const int udpPort = 3333; | |
// Are we currently connected to WiFi? | |
boolean connected = false; | |
int ledPin = 5; | |
//The udp library class | |
WiFiUDP udp; | |
//WiFiServer tcpServer(3335); | |
#define __PGMSPACE_H_ 1 // stop compile errors of redefined typedefs and defines with ESP32-Arduino | |
// ================================================== | |
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files | |
// for both classes must be in the include path of your project | |
#include "I2Cdev.h" | |
#include "MPU6050_6Axis_MotionApps20.h" | |
//#include "MPU6050.h" // not necessary if using MotionApps include file | |
// class default I2C address is 0x68 | |
// specific I2C addresses may be passed as a parameter here | |
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) | |
// AD0 high = 0x69 | |
MPU6050 mpu; | |
//MPU6050 mpu(0x69); // <-- use for AD0 high | |
/* ========================================================================= | |
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch | |
depends on the MPU-6050's INT pin being connected to the Arduino's | |
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is | |
digital I/O pin 2. | |
========================================================================= */ | |
// 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 | |
// uncomment "OUTPUT_TEAPOT" if you want output that matches the | |
// format used for the InvenSense teapot demo | |
//#define OUTPUT_TEAPOT | |
// 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 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 | |
#ifdef OUTPUT_TEAPOT | |
// packet structure for InvenSense teapot demo | |
volatile uint8_t teapotPacket[14] = { '$', 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' }; | |
#endif | |
// ================================================== | |
static int i2cCore = 1; | |
#define INTERRUPT_PIN_MPU 19 | |
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) | |
volatile bool mpuDataReady = false; | |
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high | |
volatile int mpuDataCounter = 0; | |
int mpuDataCounterPrev = 0; | |
bool blinkState = false; | |
// ================================================================ | |
// === INTERRUPT SERVICE ROUTINES === | |
// ================================================================ | |
void IRAM_ATTR dmpDataReady() { | |
mpuInterrupt = true; | |
} | |
// ================================================================ | |
// === INITIAL SETUP === | |
// ================================================================ | |
void setup() { | |
// initialize serial communication | |
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino | |
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to | |
// the baud timing being too misaligned with processor ticks. You must use | |
// 38400 or slower in these cases, or use some kind of external separate | |
// crystal solution for the UART timer. | |
// (115200 chosen because it is required for Teapot Demo output, but it's | |
// really up to you depending on your project) | |
Serial.begin(115200); | |
// configure LED for output | |
pinMode(ledPin, OUTPUT); | |
//Connect to the WiFi network | |
connectToWiFi(networkName, networkPswd); | |
delay(100); | |
Serial.print("Creating i2c task on core "); | |
Serial.println(i2cCore); | |
xTaskCreatePinnedToCore( | |
sensorTask, /* Function to implement the task */ | |
"coreTask", /* Name of the task */ | |
10000, /* Stack size in words */ | |
NULL, /* Task input parameter */ | |
20, /* Priority of the task */ | |
NULL, /* Task handle. */ | |
i2cCore); /* Core where the task should run */ | |
Serial.println("i2c task created."); | |
} | |
// ================================================================ | |
// === I2C SENSOR READ TASK (CORE 0) === | |
// ================================================================ | |
void sensorTask( void * pvParameters ) { | |
// ================== SETUP ================== | |
delay(100); | |
String taskMessage = "sensorTask running on core "; | |
taskMessage = taskMessage + xPortGetCoreID(); | |
Serial.println(taskMessage); | |
// join I2C bus (I2Cdev library doesn't do this automatically) | |
Wire.begin(); | |
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties | |
// Wire.setClock(100000); // 100kHz I2C clock. Comment this line if having compilation difficulties | |
delay(1000); | |
#ifdef USE_MPU | |
// initialize device | |
Serial.println(F("Initializing I2C devices...")); | |
mpu.initialize(); | |
delay(100); | |
mpu.reset(); //help startup reliably - doesn't always work though. | |
// maybe can also reset i2c on esp32? | |
delay(100); | |
mpu.resetI2CMaster(); | |
delay(100); | |
// initialize device | |
Serial.println(F("Initializing I2C devices...")); | |
mpu.initialize(); | |
pinMode(INTERRUPT_PIN_MPU, INPUT); | |
// verify connection | |
Serial.println(F("Testing device connections...")); | |
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); | |
// wait for ready | |
// Serial.println(F("\nSend any character to begin DMP programming and demo: ")); | |
// while (Serial.available() && Serial.read()); // empty buffer | |
// while (!Serial.available()); // wait for data | |
while (Serial.available() && Serial.read()); // empty buffer again | |
// load and configure the DMP | |
Serial.println(F("Initializing DMP...")); | |
devStatus = mpu.dmpInitialize(); | |
// supply your own gyro offsets here, scaled for min sensitivity | |
mpu.setXGyroOffset(220); | |
mpu.setYGyroOffset(76); | |
mpu.setZGyroOffset(-85); | |
mpu.setZAccelOffset(1788); // 1688 factory default for someone else's test chip | |
// mpu.setZAccelOffset(0); // 1688 factory default for someone else's test chip | |
// make sure it worked (returns 0 if so) | |
if (devStatus == 0) { | |
// turn on the DMP, now that it's ready | |
Serial.println(F("Enabling DMP...")); | |
mpu.setDMPEnabled(true); | |
// enable Arduino interrupt detection | |
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); | |
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN_MPU), dmpDataReady, RISING); | |
mpuIntStatus = mpu.getIntStatus(); | |
// 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 { | |
// ERROR! | |
// 1 = initial memory load failed | |
// 2 = DMP configuration updates failed | |
// (if it's going to break, usually the code will be 1) | |
Serial.print(F("DMP Initialization failed (code ")); | |
Serial.print(devStatus); | |
Serial.println(F(")")); | |
} | |
delay(100); | |
#endif // USE_MPU | |
// ================== LOOP ================== | |
while (true) { | |
if (connected) { | |
#ifdef USE_MPU | |
// if programming failed, don't try to do anything | |
if (!dmpReady) { | |
Serial.println("dmpNotReady"); | |
delay(100); | |
} | |
// wait for MPU interrupt or extra packet(s) available | |
while (!mpuInterrupt && fifoCount < packetSize) { | |
// other program behavior stuff here | |
// | |
// if you are really paranoid you can frequently test in between other | |
// stuff to see if mpuInterrupt is true, and if so, "break;" from the | |
// while() loop to immediately process the MPU data | |
} | |
// reset interrupt flag and get INT_STATUS byte | |
mpuInterrupt = false; | |
mpuIntStatus = mpu.getIntStatus(); | |
// get current FIFO count | |
fifoCount = mpu.getFIFOCount(); | |
// check for overflow (this should never happen unless our code is too inefficient) | |
if ((mpuIntStatus & 0x10) || fifoCount >= 1024) { | |
// reset so we can continue cleanly | |
mpu.resetFIFO(); | |
Serial.println(F("FIFO overflow!")); | |
// otherwise, check for DMP data ready interrupt (this should happen frequently) | |
} else if (mpuIntStatus & 0x02) { | |
// wait for correct available data length, should be a VERY short wait | |
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); | |
// read a packet from FIFO | |
mpu.getFIFOBytes(fifoBuffer, packetSize); | |
// track FIFO count here in case there is > 1 packet available | |
// (this lets us immediately read more without waiting for an interrupt) | |
fifoCount -= packetSize; | |
#ifdef OUTPUT_READABLE_QUATERNION | |
// display quaternion values in easy matrix form: w x y z | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
Serial.print("quat\t"); | |
Serial.print(q.w); | |
Serial.print("\t"); | |
Serial.print(q.x); | |
Serial.print("\t"); | |
Serial.print(q.y); | |
Serial.print("\t"); | |
Serial.println(q.z); | |
#endif | |
#ifdef OUTPUT_READABLE_EULER | |
// display Euler angles in degrees | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
mpu.dmpGetEuler(euler, &q); | |
Serial.print("euler\t"); | |
Serial.print(euler[0] * 180 / M_PI); | |
Serial.print("\t"); | |
Serial.print(euler[1] * 180 / M_PI); | |
Serial.print("\t"); | |
Serial.println(euler[2] * 180 / M_PI); | |
#endif | |
#ifdef OUTPUT_READABLE_YAWPITCHROLL | |
// display Euler angles in degrees | |
mpu.dmpGetQuaternion(&q, fifoBuffer); | |
mpu.dmpGetGravity(&gravity, &q); | |
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); | |
// full -180 to 180 deg Pitch, but other od behavior | |
// mpu.dmpGetYawPitchRollBeng27(ypr, &q, &gravity); | |
// for different board orientation. But Yaw doesn't work properly with this. | |
// mpu.dmpGetYawPitchRollVertical(ypr, &q, &gravity); | |
// Serial.print("ypr\t"); | |
// Serial.print(ypr[0] * 180 / M_PI); | |
// Serial.print("\t"); | |
// Serial.print(ypr[1] * 180 / M_PI); | |
// Serial.print("\t"); | |
// Serial.println(ypr[2] * 180 / M_PI); | |
// reportYpr = true; | |
#endif | |
#ifdef OUTPUT_READABLE_REALACCEL | |
// display real acceleration, adjusted to remove gravity | |
// mpu.dmpGetQuaternion(&q, fifoBuffer); // already got above | |
mpu.dmpGetAccel(&aa, fifoBuffer); | |
// mpu.dmpGetGravity(&gravity, &q); // already got above | |
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); | |
// Serial.print("areal\t"); | |
// Serial.print(aaReal.x); | |
// Serial.print("\t"); | |
// Serial.print(aaReal.y); | |
// Serial.print("\t"); | |
// Serial.println(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); // already got above | |
// mpu.dmpGetAccel(&aa, fifoBuffer); // already got above | |
// mpu.dmpGetGravity(&gravity, &q); // already got above | |
// mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); // already got above | |
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); | |
// Serial.print("aworld\t"); | |
// Serial.print(aaWorld.x); | |
// Serial.print("\t"); | |
// Serial.print(aaWorld.y); | |
// Serial.print("\t"); | |
// Serial.println(aaWorld.z); | |
#endif | |
#ifdef OUTPUT_TEAPOT | |
// display quaternion values in InvenSense Teapot demo format: | |
teapotPacket[2] = fifoBuffer[0]; | |
teapotPacket[3] = fifoBuffer[1]; | |
teapotPacket[4] = fifoBuffer[4]; | |
teapotPacket[5] = fifoBuffer[5]; | |
teapotPacket[6] = fifoBuffer[8]; | |
teapotPacket[7] = fifoBuffer[9]; | |
teapotPacket[8] = fifoBuffer[12]; | |
teapotPacket[9] = fifoBuffer[13]; | |
Serial.write(teapotPacket, 14); | |
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose | |
#endif | |
mpuDataCounter++; | |
// blink LED to indicate activity - need to move this elsewhere | |
blinkState = !blinkState; | |
digitalWrite(LED_PIN, blinkState); | |
} | |
#endif // USE_MPU | |
} else { // not connected | |
vTaskDelay(10); // wait and feed the watchdog timer | |
} | |
} // end of loop | |
} // end sensorTask | |
// ================================================================ | |
// === MAIN PROGRAM LOOP === | |
// ================================================================ | |
void loop() { | |
if (connected) { | |
// UDP | |
// improve to only xmit when changed | |
// either compare to last, or keep track of when new data has been read | |
// when new data increment a global counter. check here if different from last read | |
// if so, send packet and update previousCounter val. | |
// use separate counters for each sensor. | |
#ifdef USE_MPU | |
if (mpuDataCounter != mpuDataCounterPrev) { | |
// format: MODULE_ID mpu yaw pitch roll wx wy wz rx ry rz gravx gravy gravz | |
udp.beginPacket(udpAddress, udpPort); | |
udp.print(MODULE_ID); | |
udp.print(" mpu "); | |
// udp.print(" ypr "); | |
udp.print(ypr[0] * 180 / M_PI); | |
udp.print(" "); | |
udp.print(ypr[1] * 180 / M_PI); | |
udp.print(" "); | |
udp.print(ypr[2] * 180 / M_PI); | |
udp.print(" "); | |
// udp.print(" aworld "); | |
udp.print(aaWorld.x); | |
udp.print(" "); | |
udp.print(aaWorld.y); | |
udp.print(" "); | |
udp.print(aaWorld.z); | |
udp.print(" "); | |
// udp.print(" areal "); | |
udp.print(aaReal.x); | |
udp.print(" "); | |
udp.print(aaReal.y); | |
udp.print(" "); | |
udp.println(aaReal.z); | |
udp.print(" "); | |
udp.print(gravity.x); | |
udp.print(" "); | |
udp.print(gravity.y); | |
udp.print(" "); | |
udp.print(gravity.z); | |
udp.endPacket(); | |
mpuDataCounterPrev = mpuDataCounter; | |
} | |
#endif // USE_MPU | |
} else { // not connected | |
vTaskDelay(10); // wait and feed the watchdog timer. | |
} | |
} | |
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 SYSTEM_EVENT_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(), udpPort); | |
// tcpServer.begin(); | |
Serial.printf("Wifi Event running on core %d", (int)xPortGetCoreID()); | |
Serial.println(); | |
connected = true; | |
break; | |
case SYSTEM_EVENT_STA_DISCONNECTED: | |
Serial.println("WiFi lost connection"); | |
connected = false; | |
break; | |
} | |
} |
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