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add skateboard

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sfja 2026-03-27 18:21:35 +01:00
parent c71ce08d11
commit d8de150505
12 changed files with 395 additions and 0 deletions
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15
skateboard/.clang-format Normal file
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BasedOnStyle: WebKit
IndentWidth: 4
ColumnLimit: 80
IndentCaseLabels: true
InsertNewlineAtEOF: true
AllowShortFunctionsOnASingleLine: None
BinPackArguments: false
BinPackLongBracedList: false
BinPackParameters: OnePerLine
AllowAllArgumentsOnNextLine: true
AllowAllParametersOfDeclarationOnNextLine: true

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CompileFlags:
Remove:
[
"-mlongcalls",
"-fno-shrink-wrap",
"-fstrict-volatile-bitfields",
"-fno-tree-switch-conversion",
]

6
skateboard/.gitignore vendored Normal file
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build/
managed_components/
sdkconfig
sdkconfig.old
.cache/

6
skateboard/CMakeLists.txt Normal file
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# The following five lines of boilerplate have to be in your project's
# CMakeLists in this exact order for cmake to work correctly
cmake_minimum_required(VERSION 3.16)
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
project(skateboard)

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skateboard/dependencies.lock Normal file
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dependencies:
esp-idf-lib/esp_idf_lib_helpers:
component_hash: 689853bb8993434f9556af0f2816e808bf77b5d22100144b21f3519993daf237
dependencies: []
source:
registry_url: https://components.espressif.com
type: service
targets:
- esp32
- esp32c2
- esp32c3
- esp32c5
- esp32c6
- esp32c61
- esp32h2
- esp32p4
- esp32s2
- esp32s3
version: 1.4.0
esp-idf-lib/i2cdev:
component_hash: 9e22a91420695242ceac2c00788820ae45826224d38ef003a1a894367c55ede4
dependencies:
- name: esp-idf-lib/esp_idf_lib_helpers
registry_url: https://components.espressif.com
require: private
version: '*'
source:
registry_url: https://components.espressif.com
type: service
targets:
- esp32
- esp32c2
- esp32c3
- esp32c5
- esp32c6
- esp32c61
- esp32h2
- esp32p4
- esp32s2
- esp32s3
version: 2.1.1
esp-idf-lib/mpu6050:
component_hash: 2d4c6db42322162aeadded002cb811028f05115d969e143bad6470822cc75a8a
dependencies:
- name: esp-idf-lib/esp_idf_lib_helpers
registry_url: https://components.espressif.com
require: private
version: '*'
- name: esp-idf-lib/i2cdev
registry_url: https://components.espressif.com
require: private
version: '*'
source:
registry_url: https://components.espressif.com/
type: service
targets:
- esp32
- esp32c2
- esp32c3
- esp32c5
- esp32c6
- esp32c61
- esp32h2
- esp32p4
- esp32s2
- esp32s3
version: 2.1.9
idf:
source:
type: idf
version: 5.5.3
direct_dependencies:
- esp-idf-lib/mpu6050
- idf
manifest_hash: 555befbc35f7160bcfad0b8961e2bbca4bfb6b90242eecc7749fe036d221aa41
target: esp32s3
version: 2.0.0

5
skateboard/main/CMakeLists.txt Normal file
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idf_component_register(
SRCS skateboard.c wifi.c
PRIV_REQUIRES nvs_flash esp_wifi
INCLUDE_DIRS ".")

43
skateboard/main/Kconfig.projbuild Normal file
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menu "Skateboard config"
config SKATEBOARD_WIFI_SSID
string "WIFI SSID"
default "myssid"
config SKATEBOARD_WIFI_PASSWORD
string "WIFI password"
default "mypassword"
config SKATEBOARD_WIFI_MAXIMUM_RETRIES
int "WIFI maximum connection retries"
default 5
choice MPU6050_I2C_ADDRESS
prompt "Select I2C address"
default MPU6050_I2C_ADDRESS_LOW
help
Select I2C address
config MPU6050_I2C_ADDRESS_LOW
bool "MPU6050_I2C_ADDRESS_LOW"
help
Choose this when ADDR pin is disconnected or connected to ground
config MPU6050_I2C_ADDRESS_HIGH
bool "MPU6050_I2C_ADDRESS_HIGH"
help
Choose this when ADDR pin is connected to VCC
endchoice
config MPU6050_SCL_GPIO
int "MPU6050 SCL GPIO Number"
default 12
help
GPIO number for I2C Master clock line.
config MPU6050_SDA_GPIO
int "MPU6050 SDA GPIO Number"
default 11
help
GPIO number for I2C Master data line.
endmenu

17
skateboard/main/idf_component.yml Normal file
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## IDF Component Manager Manifest File
dependencies:
## Required IDF version
idf:
version: '>=4.1.0'
# # Put list of dependencies here
# # For components maintained by Espressif:
# component: "~1.0.0"
# # For 3rd party components:
# username/component: ">=1.0.0,<2.0.0"
# username2/component2:
# version: "~1.0.0"
# # For transient dependencies `public` flag can be set.
# # `public` flag doesn't have an effect dependencies of the `main` component.
# # All dependencies of `main` are public by default.
# public: true
esp-idf-lib/mpu6050: '*'

102
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#include "esp_log.h"
#include "esp_wifi.h"
#include "freertos/idf_additions.h"
#include "i2cdev.h"
#include "mpu6050.h"
#include "nvs_flash.h"
#include "wifi.h"
#include <stdbool.h>
const char* TAG = "skateboard";
#ifdef CONFIG_MPU6050_I2C_ADDRESS_LOW
#define MPU6050_I2C_ADDRESS MPU6050_I2C_ADDRESS_LOW
#else
#define MPU6050_I2C_ADDRESS MPU6050_I2C_ADDRESS_HIGH
#endif
#define MPU6050_SDA_GPIO CONFIG_MPU6050_SDA_GPIO
#define MPU6050_SCL_GPIO CONFIG_MPU6050_SCL_GPIO
typedef struct App {
AppWifi wifi;
} App;
void app_main(void)
{
ESP_LOGI(TAG, "Initializing");
ESP_LOGI(TAG, "IDF version: %s", esp_get_idf_version());
esp_err_t status = nvs_flash_init();
if (status == ESP_ERR_NVS_NO_FREE_PAGES
|| status == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK(nvs_flash_erase());
status = nvs_flash_init();
}
ESP_ERROR_CHECK(status);
App app = {
.wifi = {
.wifi_event_group = 0,
.wifi_retries = 0,
},
};
app_wifi_init(&app.wifi);
ESP_ERROR_CHECK(i2cdev_init());
mpu6050_dev_t mpu = { 0 };
ESP_ERROR_CHECK(mpu6050_init_desc(
&mpu, MPU6050_I2C_ADDRESS, 0, MPU6050_SDA_GPIO, MPU6050_SCL_GPIO));
ESP_LOGI(TAG,
"Initializing MPU6050 device. Address: 0x%02x, SDA %d, SCL: %d",
MPU6050_I2C_ADDRESS,
MPU6050_SDA_GPIO,
MPU6050_SCL_GPIO);
while (true) {
esp_err_t res = i2c_dev_probe(&mpu.i2c_dev, I2C_DEV_WRITE);
if (res == ESP_OK) {
ESP_LOGI(TAG, "Found MPU6050 device");
break;
}
ESP_LOGE(TAG, "MPU6050 not found");
vTaskDelay(pdMS_TO_TICKS(1000));
}
ESP_ERROR_CHECK(mpu6050_init(&mpu));
ESP_LOGI(TAG, "Acceleration range: %d", mpu.ranges.accel);
ESP_LOGI(TAG, "Gyroscope range: %d", mpu.ranges.gyro);
ESP_LOGI(TAG, "Initialized");
ESP_LOGI(TAG, "Free memory: %" PRIu32 " bytes", esp_get_free_heap_size());
while (true) {
float temp;
mpu6050_acceleration_t accel = { 0 };
mpu6050_rotation_t rotation = { 0 };
ESP_ERROR_CHECK(mpu6050_get_temperature(&mpu, &temp));
ESP_ERROR_CHECK(mpu6050_get_motion(&mpu, &accel, &rotation));
ESP_LOGI(TAG,
"******************************************************************"
"****");
ESP_LOGI(TAG,
"Acceleration: x=%.4f y=%.4f z=%.4f",
accel.x,
accel.y,
accel.z);
ESP_LOGI(TAG,
"Rotation: x=%.4f y=%.4f z=%.4f",
rotation.x,
rotation.y,
rotation.z);
ESP_LOGI(TAG, "Temperature: %.1f", temp);
vTaskDelay(pdMS_TO_TICKS(100));
}
}

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skateboard/main/wifi.c Normal file
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#include "wifi.h"
#include "esp_log.h"
#include "esp_wifi.h"
#include "freertos/idf_additions.h"
extern const char* TAG;
#define WIFI_SSID CONFIG_SKATEBOARD_WIFI_SSID
#define WIFI_PASSWORD CONFIG_SKATEBOARD_WIFI_PASSWORD
#define WIFI_MAXIMUM_RETRIES CONFIG_SKATEBOARD_WIFI_MAXIMUM_RETRIES
enum {
Ev_Connected = 1 << 0,
Ev_Failed = 1 << 1,
};
static void event_handler(
void* arg, esp_event_base_t base, int32_t id, void* data)
{
AppWifi* app = arg;
if (base == WIFI_EVENT && id == WIFI_EVENT_STA_START) {
esp_wifi_connect();
return;
}
if (base == WIFI_EVENT && id == WIFI_EVENT_STA_DISCONNECTED) {
esp_wifi_connect();
if (app->wifi_retries < WIFI_MAXIMUM_RETRIES) {
esp_wifi_connect();
app->wifi_retries += 1;
ESP_LOGE(TAG,
"WIFI connection failed. Retrying (%d/%d)",
app->wifi_retries + 1,
WIFI_MAXIMUM_RETRIES);
return;
}
xEventGroupSetBits(app->wifi_event_group, Ev_Failed);
return;
}
if (base == IP_EVENT && id == IP_EVENT_STA_GOT_IP) {
ip_event_got_ip_t* ip_event = (ip_event_got_ip_t*)data;
app->wifi_retries = 0;
ESP_LOGI(TAG,
"WIFI connected with IP " IPSTR,
IP2STR(&ip_event->ip_info.ip));
xEventGroupSetBits(app->wifi_event_group, Ev_Connected);
return;
}
}
void app_wifi_init(AppWifi* wifi)
{
wifi->wifi_event_group = xEventGroupCreate();
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
esp_netif_create_default_wifi_sta();
wifi_init_config_t init_config = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_wifi_init(&init_config));
ESP_ERROR_CHECK(esp_event_handler_instance_register(
WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, wifi, NULL));
ESP_ERROR_CHECK(esp_event_handler_instance_register(
IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, wifi, NULL));
wifi_config_t config = {
.sta = {
.ssid = WIFI_SSID,
.password = WIFI_PASSWORD,
.threshold.authmode = WIFI_AUTH_WPA2_PSK,
},
};
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &config));
ESP_ERROR_CHECK(esp_wifi_start());
ESP_LOGI(TAG, "WIFI started");
EventBits_t event_bits = xEventGroupWaitBits(wifi->wifi_event_group,
Ev_Connected | Ev_Failed,
pdFALSE,
pdFALSE,
portMAX_DELAY);
if (event_bits & Ev_Connected) {
ESP_LOGI(TAG, "WIFI connected to %s / '%s'", WIFI_SSID, WIFI_PASSWORD);
} else if (event_bits & Ev_Failed) {
ESP_LOGE(TAG,
"WIFI failed connecting to %s / '%s'",
WIFI_SSID,
WIFI_PASSWORD);
} else {
ESP_LOGE(TAG, "Unexpected event");
}
}

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#pragma once
#include "freertos/idf_additions.h"
typedef struct AppWifi {
EventGroupHandle_t wifi_event_group;
int wifi_retries;
} AppWifi;
void app_wifi_init(AppWifi* wifi);

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skateboard/sdkconfig.defaults Normal file
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# This file was generated using idf.py save-defconfig. It can be edited manually.
# Espressif IoT Development Framework (ESP-IDF) 5.5.3 Project Minimal Configuration
#
CONFIG_IDF_TARGET="esp32s3"