mirror of
https://github.com/Mercantec-GHC/h5-projekt-mst.git
synced 2026-08-26 21:27:38 +02:00
112 lines
2.7 KiB
C
112 lines
2.7 KiB
C
#include "app_mqtt.h"
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#include "app_wifi.h"
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#include "esp_event.h"
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#include "esp_log.h"
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#include "esp_netif.h"
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#include "esp_timer.h"
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#include "freertos/idf_additions.h"
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#include "mpu6050.h"
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#include "nvs_flash.h"
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#include <math.h>
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#include <stdbool.h>
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#include <stdio.h>
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const char* TAG = "skateboard";
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typedef struct App {
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AppWifi wifi;
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AppMqtt mqtt;
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Mpu6050 mpu;
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float rotation;
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} App;
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#define msg_buffer_capacity 1024
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char msg_buffer[msg_buffer_capacity];
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static void configure_cb(const char* topic,
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size_t topic_size,
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const void* data,
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size_t data_size,
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void* arg)
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{
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App* app = arg;
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(void)app;
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ESP_LOGI(TAG, "Received configure event (%.*s)", (int)topic_size, topic);
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ESP_LOGI(TAG, "Data: %.*s", (int)data_size, (const char*)data);
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}
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static void publish_message(App* app)
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{
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int msg_size = snprintf(msg_buffer,
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msg_buffer_capacity - 1,
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"{\"rotation\":% 9.4f}",
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app->rotation);
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app_mqtt_publish(&app->mqtt, "/skateboard/update", msg_buffer, msg_size);
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ESP_LOGI(TAG, "%.*s", (int)msg_size, msg_buffer);
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}
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static float calculate_accel_axis_angle(
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float axis, float tangent0, float tangent1)
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{
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return atan(axis / sqrtf(tangent0 * tangent0 + tangent1 * tangent1))
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* (1.0f / (M_PI / 180.0f));
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}
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static void mpu_timer_cb(void* arg)
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{
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App* app = arg;
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(void)app;
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float3 accel = { 0 };
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ESP_ERROR_CHECK(mpu6050_get_acceleration(&app->mpu, &accel));
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app->rotation = calculate_accel_axis_angle(accel.x, accel.y, accel.z);
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "Initializing");
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ESP_LOGI(TAG, "IDF version: %s", esp_get_idf_version());
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ESP_ERROR_CHECK(nvs_flash_init());
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ESP_ERROR_CHECK(esp_netif_init());
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ESP_ERROR_CHECK(esp_event_loop_create_default());
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App app = { };
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esp_timer_handle_t mpu_timer;
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esp_timer_create_args_t mpu_timer_config = {
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.callback = mpu_timer_cb,
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.arg = &app,
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};
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ESP_ERROR_CHECK(esp_timer_create(&mpu_timer_config, &mpu_timer));
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app_wifi_init(&app.wifi);
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app_mqtt_init(&app.mqtt);
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ESP_ERROR_CHECK(mpu6050_init(&app.mpu));
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ESP_LOGI(TAG, "Calibrating MPU6050");
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ESP_ERROR_CHECK(
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mpu6050_calibrate(&app.mpu, &(float3) { 0.0f, 0.0f, -1.0f }));
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ESP_LOGI(TAG, "MPU6050 calibrated");
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ESP_ERROR_CHECK(esp_timer_start_periodic(mpu_timer, 40000));
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vTaskDelay(pdMS_TO_TICKS(100));
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app_mqtt_subscribe(&app.mqtt, "/skateboard/configure", configure_cb, &app);
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ESP_LOGI(TAG, "Initialized");
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ESP_LOGI(TAG, "Free memory: %" PRIu32 " bytes", esp_get_free_heap_size());
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while (true) {
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publish_message(&app);
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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}
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