mirror of
https://github.com/Mercantec-GHC/h5-projekt-mst.git
synced 2026-08-27 05:37:39 +02:00
103 lines
2.7 KiB
C
103 lines
2.7 KiB
C
#include "esp_log.h"
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#include "esp_wifi.h"
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#include "freertos/idf_additions.h"
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#include "i2cdev.h"
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#include "mpu6050.h"
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#include "nvs_flash.h"
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#include "wifi.h"
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#include <stdbool.h>
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const char* TAG = "skateboard";
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#ifdef CONFIG_MPU6050_I2C_ADDRESS_LOW
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#define MPU6050_I2C_ADDRESS MPU6050_I2C_ADDRESS_LOW
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#else
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#define MPU6050_I2C_ADDRESS MPU6050_I2C_ADDRESS_HIGH
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#endif
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#define MPU6050_SDA_GPIO CONFIG_MPU6050_SDA_GPIO
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#define MPU6050_SCL_GPIO CONFIG_MPU6050_SCL_GPIO
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typedef struct App {
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AppWifi wifi;
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} App;
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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_err_t status = nvs_flash_init();
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if (status == ESP_ERR_NVS_NO_FREE_PAGES
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|| status == ESP_ERR_NVS_NEW_VERSION_FOUND) {
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ESP_ERROR_CHECK(nvs_flash_erase());
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status = nvs_flash_init();
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}
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ESP_ERROR_CHECK(status);
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App app = {
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.wifi = {
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.wifi_event_group = 0,
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.wifi_retries = 0,
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},
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};
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app_wifi_init(&app.wifi);
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ESP_ERROR_CHECK(i2cdev_init());
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mpu6050_dev_t mpu = { 0 };
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ESP_ERROR_CHECK(mpu6050_init_desc(
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&mpu, MPU6050_I2C_ADDRESS, 0, MPU6050_SDA_GPIO, MPU6050_SCL_GPIO));
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ESP_LOGI(TAG,
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"Initializing MPU6050 device. Address: 0x%02x, SDA %d, SCL: %d",
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MPU6050_I2C_ADDRESS,
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MPU6050_SDA_GPIO,
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MPU6050_SCL_GPIO);
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while (true) {
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esp_err_t res = i2c_dev_probe(&mpu.i2c_dev, I2C_DEV_WRITE);
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if (res == ESP_OK) {
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ESP_LOGI(TAG, "Found MPU6050 device");
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break;
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}
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ESP_LOGE(TAG, "MPU6050 not found");
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vTaskDelay(pdMS_TO_TICKS(1000));
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}
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ESP_ERROR_CHECK(mpu6050_init(&mpu));
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ESP_LOGI(TAG, "Acceleration range: %d", mpu.ranges.accel);
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ESP_LOGI(TAG, "Gyroscope range: %d", mpu.ranges.gyro);
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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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float temp;
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mpu6050_acceleration_t accel = { 0 };
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mpu6050_rotation_t rotation = { 0 };
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ESP_ERROR_CHECK(mpu6050_get_temperature(&mpu, &temp));
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ESP_ERROR_CHECK(mpu6050_get_motion(&mpu, &accel, &rotation));
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ESP_LOGI(TAG,
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"******************************************************************"
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"****");
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ESP_LOGI(TAG,
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"Acceleration: x=%.4f y=%.4f z=%.4f",
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accel.x,
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accel.y,
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accel.z);
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ESP_LOGI(TAG,
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"Rotation: x=%.4f y=%.4f z=%.4f",
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rotation.x,
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rotation.y,
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rotation.z);
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ESP_LOGI(TAG, "Temperature: %.1f", temp);
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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}
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