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README.md Normal file
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# esp32 teddy

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include/README Normal file
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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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lib/README Normal file
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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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platformio.ini Normal file
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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
board_build.f_cpu = 240000000L
board_build.f_flash = 80000000L
board_build.flash_mode = qio
board_build.partitions = huge_app.csv
lib_deps =
cnmat/OSC
hideakitai/MPU9250
paulstoffregen/OneWire
milesburton/DallasTemperature

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src/main.cpp Normal file
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#include "Arduino.h"
#include "MPU9250.h"
#include "WiFi.h"
#include "WiFiUdp.h"
#include "OSCBundle.h"
// SCL Pin is 22
// SDA PIN is 21
#define BL_ON 0
#if BL_ON
#include "BLEDevice.h"
#include "BLEScan.h"
// bluetooth name
#define blName "Teddy"
#endif
// WiFi stuff
#define ssid ""
#define pwd ""
// OSC
#define host "192.168.21.232"
#define port 3030
#define oneWireBus 18
WiFiUDP Udp;
MPU9250 mpu;
float ypr[3];
float acc[3];
int pr;
const float threshold = 0.7;
const int thresholdP = 50;
void set_calibration() {
mpu.setAccBias(232.00, 89.60, -581.30);
mpu.setGyroBias(14.80, 95.80, 23.00);
mpu.setMagBias(284.65, -333.85, 91.40);
mpu.setMagScale(0.59, 1.39, 1.68);
}
void get_calibration() {
Serial.println();
Serial.println("Accel Gyro calibration will start in 5sec.");
Serial.println("Please leave the device still on the flat plane.");
mpu.verbose(true);
delay(5000);
mpu.calibrateAccelGyro();
Serial.println();
Serial.println("Mag calibration will start in 5sec.");
Serial.println("Please Wave device in a figure eight until done.");
delay(5000);
mpu.calibrateMag();
Serial.println();
Serial.println("< calibration parameters >");
Serial.println("accel bias [g]: ");
Serial.print(mpu.getAccBiasX());
Serial.print(", ");
Serial.print(mpu.getAccBiasY());
Serial.print(", ");
Serial.print(mpu.getAccBiasZ());
Serial.println();
Serial.println("gyro bias [deg/s]: ");
Serial.print(mpu.getGyroBiasX());
Serial.print(", ");
Serial.print(mpu.getGyroBiasY());
Serial.print(", ");
Serial.print(mpu.getGyroBiasZ());
Serial.println();
Serial.println("mag bias [mG]: ");
Serial.print(mpu.getMagBiasX());
Serial.print(", ");
Serial.print(mpu.getMagBiasY());
Serial.print(", ");
Serial.print(mpu.getMagBiasZ());
Serial.println();
Serial.println("mag scale []: ");
Serial.print(mpu.getMagScaleX());
Serial.print(", ");
Serial.print(mpu.getMagScaleY());
Serial.print(", ");
Serial.print(mpu.getMagScaleZ());
Serial.println();
Serial.println();
mpu.verbose(false);
}
void setup() {
Serial.begin(115200);
delay(500);
Wire.begin();
delay(500);
if (!mpu.setup(0x68)) { // change to your own address
while (1) {
Serial.println("MPU failed");
delay(5000);
}
}
set_calibration();
//get_calibration();
ypr[0] = mpu.getYaw();
ypr[1] = mpu.getPitch();
ypr[2] = mpu.getRoll();
acc[0] = mpu.getAccX();
acc[1] = mpu.getAccY();
acc[2] = mpu.getAccZ();
pr = 0;
// connecting to a WiFi network
Serial.println();
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, pwd);
while (WiFi.status() != WL_CONNECTED) {
Serial.print(".");
delay(500);
}
Serial.print("WiFi connected, IP = ");
Serial.println(WiFi.localIP());
#if BL_ON
BLEDevice::init(blName);
#endif
Udp.begin(9000);
}
void loop() {
float yprNew[3];
float accNew[3];
bool send = false;
if (mpu.update()) {
yprNew[0] = mpu.getYaw();
yprNew[1] = mpu.getPitch();
yprNew[2] = mpu.getRoll();
accNew[0] = mpu.getAccX();
accNew[1] = mpu.getAccY();
accNew[2] = mpu.getAccZ();
}
for(int i = 0; i < 3; i++){
if (abs(ypr[i] - yprNew[i]) > threshold){ send = true;}
if (abs(acc[i] - accNew[i]) > threshold){ send = true;}
}
if(send == true){
OSCBundle bundle;
bundle.add("/teddy/acc").add(acc[0]).add(acc[1]).add(acc[2]);
bundle.add("/teddy/abs/acc").add(abs(acc[0])).add(abs(acc[1])).add(abs(acc[2]));
//bundle.add("/teddy/ypr").add(ypr[0]).add(ypr[1]).add(ypr[2]);
bundle.add("/teddy/abs/ypr").add(abs(ypr[0])).add(abs(ypr[1])).add(abs(ypr[2]));
Udp.beginPacket(host, port);
bundle.send(Udp);
Udp.endPacket();
bundle.empty();
}
for(int i = 0; i < 3; i++){
ypr[i] = yprNew[i];
acc[i] = accNew[i];
}
int prNew = analogRead(39);
if (abs(pr-prNew) > thresholdP){
OSCMessage msg("/teddy/druck");
msg.add(prNew);
Udp.beginPacket(host, port);
msg.send(Udp);
Udp.endPacket();
pr = prNew;
}
delay(100);
}

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This directory is intended for PlatformIO Unit Testing and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/page/plus/unit-testing.html