mirror of
https://github.com/Mercantec-GHC/h5-projekt-mst.git
synced 2026-08-27 05:37:39 +02:00
112 lines
2.7 KiB
C
112 lines
2.7 KiB
C
#include "app_mqtt.h"
|
|
#include "app_wifi.h"
|
|
#include "esp_event.h"
|
|
#include "esp_log.h"
|
|
#include "esp_netif.h"
|
|
#include "esp_timer.h"
|
|
#include "freertos/idf_additions.h"
|
|
#include "mpu6050.h"
|
|
#include "nvs_flash.h"
|
|
#include <math.h>
|
|
#include <stdbool.h>
|
|
#include <stdio.h>
|
|
|
|
const char* TAG = "skateboard";
|
|
|
|
typedef struct App {
|
|
AppWifi wifi;
|
|
AppMqtt mqtt;
|
|
Mpu6050 mpu;
|
|
|
|
float rotation;
|
|
} App;
|
|
|
|
#define msg_buffer_capacity 1024
|
|
char msg_buffer[msg_buffer_capacity];
|
|
|
|
static void configure_cb(const char* topic,
|
|
size_t topic_size,
|
|
const void* data,
|
|
size_t data_size,
|
|
void* arg)
|
|
{
|
|
App* app = arg;
|
|
(void)app;
|
|
|
|
ESP_LOGI(TAG, "Received configure event (%.*s)", (int)topic_size, topic);
|
|
ESP_LOGI(TAG, "Data: %.*s", (int)data_size, (const char*)data);
|
|
}
|
|
|
|
static void publish_message(App* app)
|
|
{
|
|
|
|
int msg_size = snprintf(msg_buffer,
|
|
msg_buffer_capacity - 1,
|
|
"{\"rotation\":% 9.4f}",
|
|
app->rotation);
|
|
|
|
app_mqtt_publish(&app->mqtt, "/skateboard/update", msg_buffer, msg_size);
|
|
ESP_LOGI(TAG, "%.*s", (int)msg_size, msg_buffer);
|
|
}
|
|
|
|
static float calculate_accel_axis_angle(
|
|
float axis, float tangent0, float tangent1)
|
|
{
|
|
return atan(axis / sqrtf(tangent0 * tangent0 + tangent1 * tangent1))
|
|
* (1.0f / (M_PI / 180.0f));
|
|
}
|
|
|
|
static void mpu_timer_cb(void* arg)
|
|
{
|
|
App* app = arg;
|
|
(void)app;
|
|
|
|
float3 accel = { 0 };
|
|
ESP_ERROR_CHECK(mpu6050_get_acceleration(&app->mpu, &accel));
|
|
|
|
app->rotation = calculate_accel_axis_angle(accel.x, accel.y, accel.z);
|
|
}
|
|
|
|
void app_main(void)
|
|
{
|
|
ESP_LOGI(TAG, "Initializing");
|
|
ESP_LOGI(TAG, "IDF version: %s", esp_get_idf_version());
|
|
|
|
ESP_ERROR_CHECK(nvs_flash_init());
|
|
ESP_ERROR_CHECK(esp_netif_init());
|
|
ESP_ERROR_CHECK(esp_event_loop_create_default());
|
|
|
|
App app = { };
|
|
|
|
esp_timer_handle_t mpu_timer;
|
|
esp_timer_create_args_t mpu_timer_config = {
|
|
.callback = mpu_timer_cb,
|
|
.arg = &app,
|
|
};
|
|
ESP_ERROR_CHECK(esp_timer_create(&mpu_timer_config, &mpu_timer));
|
|
|
|
app_wifi_init(&app.wifi);
|
|
app_mqtt_init(&app.mqtt);
|
|
|
|
ESP_ERROR_CHECK(mpu6050_init(&app.mpu));
|
|
|
|
ESP_LOGI(TAG, "Calibrating MPU6050");
|
|
ESP_ERROR_CHECK(
|
|
mpu6050_calibrate(&app.mpu, &(float3) { 0.0f, 0.0f, -1.0f }));
|
|
ESP_LOGI(TAG, "MPU6050 calibrated");
|
|
|
|
ESP_ERROR_CHECK(esp_timer_start_periodic(mpu_timer, 40000));
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
|
|
app_mqtt_subscribe(&app.mqtt, "/skateboard/configure", configure_cb, &app);
|
|
|
|
ESP_LOGI(TAG, "Initialized");
|
|
ESP_LOGI(TAG, "Free memory: %" PRIu32 " bytes", esp_get_free_heap_size());
|
|
|
|
while (true) {
|
|
publish_message(&app);
|
|
|
|
vTaskDelay(pdMS_TO_TICKS(100));
|
|
}
|
|
}
|