init repo

README.md

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+# esp32 teddy

include/README

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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

lib/README

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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

platformio.ini

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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

src/main.cpp

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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);
+
+}
+

test/README

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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