#include "esp_event.h" #include "esp_log.h" #include "esp_netif.h" #include "esp_system.h" #include "esp_wifi.h" #include "freertos/event_groups.h" #include "freertos/task.h" #include "nvs_flash.h" #include #include #include #include #include #include #include #include "esp_log.h" #include "mqtt_client.h" #ifdef CONFIG_EXAMPLE_I2C_ADDRESS_LOW #define ADDR MPU6050_I2C_ADDRESS_LOW #else #define ADDR MPU6050_I2C_ADDRESS_HIGH #endif #define EXAMPLE_ESP_WIFI_SSID CONFIG_ESP_WIFI_SSID #define EXAMPLE_ESP_WIFI_PASS CONFIG_ESP_WIFI_PASSWORD #define EXAMPLE_ESP_MAXIMUM_RETRY CONFIG_ESP_MAXIMUM_RETRY #if CONFIG_ESP_STATION_EXAMPLE_WPA3_SAE_PWE_HUNT_AND_PECK #define ESP_WIFI_SAE_MODE WPA3_SAE_PWE_HUNT_AND_PECK #define EXAMPLE_H2E_IDENTIFIER "" #elif CONFIG_ESP_STATION_EXAMPLE_WPA3_SAE_PWE_HASH_TO_ELEMENT #define ESP_WIFI_SAE_MODE WPA3_SAE_PWE_HASH_TO_ELEMENT #define EXAMPLE_H2E_IDENTIFIER CONFIG_ESP_WIFI_PW_ID #elif CONFIG_ESP_STATION_EXAMPLE_WPA3_SAE_PWE_BOTH #define ESP_WIFI_SAE_MODE WPA3_SAE_PWE_BOTH #define EXAMPLE_H2E_IDENTIFIER CONFIG_ESP_WIFI_PW_ID #endif #if CONFIG_ESP_WIFI_AUTH_OPEN #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_OPEN #elif CONFIG_ESP_WIFI_AUTH_WEP #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_WEP #elif CONFIG_ESP_WIFI_AUTH_WPA_PSK #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_WPA_PSK #elif CONFIG_ESP_WIFI_AUTH_WPA2_PSK #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_WPA2_PSK #elif CONFIG_ESP_WIFI_AUTH_WPA_WPA2_PSK #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_WPA_WPA2_PSK #elif CONFIG_ESP_WIFI_AUTH_WPA3_PSK #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_WPA3_PSK #elif CONFIG_ESP_WIFI_AUTH_WPA2_WPA3_PSK #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_WPA2_WPA3_PSK #elif CONFIG_ESP_WIFI_AUTH_WAPI_PSK #define ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD WIFI_AUTH_WAPI_PSK #endif static EventGroupHandle_t s_wifi_event_group; #define WIFI_CONNECTED_BIT BIT0 #define WIFI_FAIL_BIT BIT1 static int s_retry_num = 0; static const char* TAG = "skateboard"; static void event_handler( void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) { if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) { esp_wifi_connect(); } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) { if (s_retry_num < EXAMPLE_ESP_MAXIMUM_RETRY) { esp_wifi_connect(); s_retry_num++; ESP_LOGI(TAG, "retry to connect to the AP"); } else { xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT); } ESP_LOGI(TAG, "connect to the AP fail"); } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) { ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data; ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip)); s_retry_num = 0; xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT); } } void wifi_init_sta(void) { s_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 cfg = WIFI_INIT_CONFIG_DEFAULT(); ESP_ERROR_CHECK(esp_wifi_init(&cfg)); esp_event_handler_instance_t instance_any_id; esp_event_handler_instance_t instance_got_ip; ESP_ERROR_CHECK(esp_event_handler_instance_register( WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, NULL, &instance_any_id)); ESP_ERROR_CHECK(esp_event_handler_instance_register( IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, NULL, &instance_got_ip)); wifi_config_t wifi_config = { .sta = { .ssid = EXAMPLE_ESP_WIFI_SSID, .password = EXAMPLE_ESP_WIFI_PASS, /* Authmode threshold resets to WPA2 as default if password matches WPA2 standards (password len => 8). * If you want to connect the device to deprecated WEP/WPA networks, Please set the threshold value * to WIFI_AUTH_WEP/WIFI_AUTH_WPA_PSK and set the password with length and format matching to * WIFI_AUTH_WEP/WIFI_AUTH_WPA_PSK standards. */ .threshold.authmode = ESP_WIFI_SCAN_AUTH_MODE_THRESHOLD, .sae_pwe_h2e = ESP_WIFI_SAE_MODE, .sae_h2e_identifier = EXAMPLE_H2E_IDENTIFIER, #ifdef CONFIG_ESP_WIFI_WPA3_COMPATIBLE_SUPPORT .disable_wpa3_compatible_mode = 0, #endif }, }; ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA)); ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config)); ESP_ERROR_CHECK(esp_wifi_start()); ESP_LOGI(TAG, "wifi_init_sta finished."); /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) * or connection failed for the maximum number of re-tries (WIFI_FAIL_BIT). * The bits are set by event_handler() (see above) */ EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group, WIFI_CONNECTED_BIT | WIFI_FAIL_BIT, pdFALSE, pdFALSE, portMAX_DELAY); /* xEventGroupWaitBits() returns the bits before the call returned, hence we * can test which event actually happened. */ if (bits & WIFI_CONNECTED_BIT) { ESP_LOGI(TAG, "connected to ap SSID:%s password:%s", EXAMPLE_ESP_WIFI_SSID, EXAMPLE_ESP_WIFI_PASS); } else if (bits & WIFI_FAIL_BIT) { ESP_LOGI(TAG, "Failed to connect to SSID:%s, password:%s", EXAMPLE_ESP_WIFI_SSID, EXAMPLE_ESP_WIFI_PASS); } else { ESP_LOGE(TAG, "UNEXPECTED EVENT"); } } static void log_error_if_nonzero(const char* message, int error_code) { if (error_code != 0) { ESP_LOGE(TAG, "Last error %s: 0x%x", message, error_code); } } static esp_mqtt_client_handle_t connected_client = NULL; static void mqtt_event_handler(void* handler_args, esp_event_base_t base, int32_t event_id, void* event_data) { ESP_LOGD(TAG, "Event dispatched from event loop base=%s, event_id=%" PRIi32 "", base, event_id); esp_mqtt_event_handle_t event = event_data; esp_mqtt_client_handle_t client = event->client; int msg_id; switch ((esp_mqtt_event_id_t)event_id) { case MQTT_EVENT_CONNECTED: ESP_LOGI(TAG, "MQTT_EVENT_CONNECTED"); msg_id = esp_mqtt_client_publish( client, "/h5-mst/qos1", "helloooo:3", 0, 1, 0); ESP_LOGI(TAG, "sent publish successful, msg_id=%d", msg_id); msg_id = esp_mqtt_client_subscribe(client, "/h5-mst/qos0", 0); ESP_LOGI(TAG, "sent subscribe successful, msg_id=%d", msg_id); msg_id = esp_mqtt_client_subscribe(client, "/h5-mst/qos1", 1); ESP_LOGI(TAG, "sent subscribe successful, msg_id=%d", msg_id); msg_id = esp_mqtt_client_unsubscribe(client, "/h5-mst/qos1"); ESP_LOGI(TAG, "sent unsubscribe successful, msg_id=%d", msg_id); connected_client = client; break; case MQTT_EVENT_DISCONNECTED: connected_client = NULL; ESP_LOGI(TAG, "MQTT_EVENT_DISCONNECTED"); break; case MQTT_EVENT_SUBSCRIBED: ESP_LOGI(TAG, "MQTT_EVENT_SUBSCRIBED, msg_id=%d, return code=0x%02x ", event->msg_id, (uint8_t)*event->data); msg_id = esp_mqtt_client_publish( client, "/topic/qos0", "data", 0, 0, 0); ESP_LOGI(TAG, "sent publish successful, msg_id=%d", msg_id); break; case MQTT_EVENT_UNSUBSCRIBED: ESP_LOGI(TAG, "MQTT_EVENT_UNSUBSCRIBED, msg_id=%d", event->msg_id); break; case MQTT_EVENT_PUBLISHED: ESP_LOGI(TAG, "MQTT_EVENT_PUBLISHED, msg_id=%d", event->msg_id); break; case MQTT_EVENT_DATA: ESP_LOGI(TAG, "MQTT_EVENT_DATA"); printf("TOPIC=%.*s\r\n", event->topic_len, event->topic); printf("DATA=%.*s\r\n", event->data_len, event->data); break; case MQTT_EVENT_ERROR: ESP_LOGI(TAG, "MQTT_EVENT_ERROR"); if (event->error_handle->error_type == MQTT_ERROR_TYPE_TCP_TRANSPORT) { log_error_if_nonzero("reported from esp-tls", event->error_handle->esp_tls_last_esp_err); log_error_if_nonzero("reported from tls stack", event->error_handle->esp_tls_stack_err); log_error_if_nonzero("captured as transport's socket errno", event->error_handle->esp_transport_sock_errno); ESP_LOGI(TAG, "Last errno string (%s)", strerror(event->error_handle->esp_transport_sock_errno)); } break; default: ESP_LOGI(TAG, "Other event id:%d", event->event_id); break; } } static void mqtt_app_start(void) { esp_mqtt_client_config_t mqtt_cfg = { .broker.address.uri = CONFIG_BROKER_URL, }; #if CONFIG_BROKER_URL_FROM_STDIN char line[128]; if (strcmp(mqtt_cfg.broker.address.uri, "FROM_STDIN") == 0) { int count = 0; printf("Please enter url of mqtt broker\n"); while (count < 128) { int c = fgetc(stdin); if (c == '\n') { line[count] = '\0'; break; } else if (c > 0 && c < 127) { line[count] = c; ++count; } vTaskDelay(10 / portTICK_PERIOD_MS); } mqtt_cfg.broker.address.uri = line; printf("Broker url: %s\n", line); } else { ESP_LOGE(TAG, "Configuration mismatch: wrong broker url"); abort(); } #endif /* CONFIG_BROKER_URL_FROM_STDIN */ esp_mqtt_client_handle_t client = esp_mqtt_client_init(&mqtt_cfg); /* The last argument may be used to pass data to the event handler, in this * example mqtt_event_handler */ esp_mqtt_client_register_event( client, ESP_EVENT_ANY_ID, mqtt_event_handler, NULL); esp_mqtt_client_start(client); } void mpu6050_test(void* pvParameters) { mpu6050_dev_t dev = { 0 }; ESP_ERROR_CHECK(mpu6050_init_desc( &dev, ADDR, 0, CONFIG_EXAMPLE_SDA_GPIO, CONFIG_EXAMPLE_SCL_GPIO)); while (1) { esp_err_t res = i2c_dev_probe(&dev.i2c_dev, I2C_DEV_WRITE); if (res == ESP_OK) { ESP_LOGI(TAG, "Found MPU60x0 device"); break; } ESP_LOGE(TAG, "MPU60x0 not found"); vTaskDelay(pdMS_TO_TICKS(1000)); } ESP_ERROR_CHECK(mpu6050_init(&dev)); ESP_LOGI(TAG, "Accel range: %d", dev.ranges.accel); ESP_LOGI(TAG, "Gyro range: %d", dev.ranges.gyro); while (1) { float temp; mpu6050_acceleration_t accel = { 0 }; mpu6050_rotation_t rotation = { 0 }; ESP_ERROR_CHECK(mpu6050_get_temperature(&dev, &temp)); ESP_ERROR_CHECK(mpu6050_get_motion(&dev, &accel, &rotation)); if (connected_client) { char buf[200] = ""; snprintf(buf, 200 - 1, "{\"acceleration\":[% 8.2f, % 8.2f, % 8.2f]," "\"rotation\":[% 8.2f, % 8.2f, % 8.2f]," "\"temp\":% 8.2f}", accel.x, accel.y, accel.z, rotation.x, rotation.y, rotation.z, temp); esp_mqtt_client_publish( connected_client, "/h5-mst/qos1", buf, 0, 1, 0); } ESP_LOGI(TAG, "{\"acceleration\":[% 8.2f, % 8.2f, % 8.2f]," "\"rotation\":[% 8.2f, % 8.2f, % 8.2f]," "\"temp\":% 8.2f}", accel.x, accel.y, accel.z, rotation.x, rotation.y, rotation.z, temp); vTaskDelay(pdMS_TO_TICKS(1000)); } } void app_main() { ESP_LOGI(TAG, "[APP] Startup.."); ESP_LOGI( TAG, "[APP] Free memory: %" PRIu32 " bytes", esp_get_free_heap_size()); ESP_LOGI(TAG, "[APP] IDF version: %s", esp_get_idf_version()); // Initialize NVS esp_err_t ret = nvs_flash_init(); if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { ESP_ERROR_CHECK(nvs_flash_erase()); ret = nvs_flash_init(); } ESP_ERROR_CHECK(ret); if (CONFIG_LOG_MAXIMUM_LEVEL > CONFIG_LOG_DEFAULT_LEVEL) { /* If you only want to open more logs in the wifi module, you need to * make the max level greater than the default level, and call * esp_log_level_set() before esp_wifi_init() to improve the log level * of the wifi module. */ esp_log_level_set("wifi", CONFIG_LOG_MAXIMUM_LEVEL); } ESP_LOGI(TAG, "ESP_WIFI_MODE_STA"); wifi_init_sta(); esp_log_level_set("*", ESP_LOG_INFO); esp_log_level_set("mqtt_client", ESP_LOG_VERBOSE); esp_log_level_set("mqtt_example", ESP_LOG_VERBOSE); esp_log_level_set("transport_base", ESP_LOG_VERBOSE); esp_log_level_set("esp-tls", ESP_LOG_VERBOSE); esp_log_level_set("transport", ESP_LOG_VERBOSE); esp_log_level_set("outbox", ESP_LOG_VERBOSE); ESP_ERROR_CHECK(nvs_flash_init()); ESP_ERROR_CHECK(esp_netif_init()); // ESP_ERROR_CHECK(esp_event_loop_create_default()); ESP_ERROR_CHECK(i2cdev_init()); xTaskCreate(mpu6050_test, "mpu6050_test", configMINIMAL_STACK_SIZE * 6, NULL, 5, NULL); mqtt_app_start(); }