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h5-projekt-mst/skateboard-firmware/main/main.c
sfja 3b5fb9db1b mpu6050 + mqtt pub
2026-03-24 15:56:28 +01:00

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#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 <esp_err.h>
#include <esp_log.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <mpu6050.h>
#include <stdio.h>
#include <string.h>
#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();
}
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