fix(esp32-IMU): Add MQTT/Serial toggle

2025-10-31 21:07:52 +01:00
parent 57a1dc4b7f
commit d26e428f99
4 changed files with 138 additions and 92 deletions
--- a/IMU/main/Kconfig.projbuild
+++ b/IMU/main/Kconfig.projbuild
@@ -1,7 +1,8 @@
-menu "Example Configuration"
+menu "ESP32 IMU Project Configuration"

    orsource "$IDF_PATH/examples/common_components/env_caps/$IDF_TARGET/Kconfig.env_caps"

+    menu "I2C Master Configuration"
    config I2C_MASTER_SCL
        int "SCL GPIO Num"
        range ENV_GPIO_RANGE_MIN ENV_GPIO_OUT_RANGE_MAX
@@ -21,22 +22,20 @@ menu "Example Configuration"
        default 400000
        help
            I2C Speed of Master device.
+    endmenu

-    config WIFI_SSID
-        string "WiFi SSID"
-        default "YourNetworkName"
+    config ENV_MQTT_ENABLED
+        bool "Enable MQTT Communication"
+        default y
        help
-            SSID of WiFi network to connect to.
-
-    config WIFI_PASSWORD
-        string "WiFi Password"
-        default "YourPassword"
-        help
-            Password of WiFi network to connect to.
+            Enable this option to use MQTT for communication.
+            If disabled, communication will use usb uart connection.

+    menu "MQTT Configuration"
+    depends on ENV_MQTT_ENABLED
    config MQTT_BROKER_URI
        string "MQTT Broker URI"
-        default "mqtt://192.168.178.26:1883"
+        default "mqtt://192.168.4.2:1883"
        help
            URI of the MQTT broker to connect to.

@@ -45,23 +44,43 @@ menu "Example Configuration"
        default "esp32/imu"
        help
            MQTT topic to publish IMU data to.
+    endmenu

+    menu "WiFi Access Point Configuration"
+    depends on ENV_MQTT_ENABLED
    config WIFI_AP_MODE
        bool "Enable WiFi AP Mode"
-        default n
+        default y
        help
            Enable this option to start the device in Access Point mode.
            If disabled, the device will start in Station mode.

+    config WIFI_SSID
+        string "WiFi SSID"
+        default "YourNetworkName"
+        depends on !WIFI_AP_MODE
+        help
+            SSID of WiFi network to connect to.
+
+    config WIFI_PASSWORD
+        string "WiFi Password"
+        default "YourPassword"
+        depends on !WIFI_AP_MODE
+        help
+            Password of WiFi network to connect to.
+
    config WIFI_AP_SSID
        string "WiFi AP SSID"
        default "ESP32_IMU_AP"
+        depends on WIFI_AP_MODE
        help
            SSID of the WiFi Access Point when in AP mode.

    config WIFI_AP_PASSWORD
        string "WiFi AP Password"
        default "esp32imuap"
+        depends on WIFI_AP_MODE
        help
            Password of the WiFi Access Point when in AP mode.
    endmenu
+endmenu
--- a/IMU/main/mpu6886.c
+++ b/IMU/main/mpu6886.c
@@ -2,8 +2,8 @@
 #include <string.h>


-// New: initialise WiFi in either STA or AP mode. Pass ap_mode=true to start an Access Point.
-static void wifi_init(bool ap_mode)
+#ifdef CONFIG_ENV_MQTT_ENABLED
+static void wifi_init()
 {
    ESP_ERROR_CHECK(nvs_flash_init());
    ESP_ERROR_CHECK(esp_netif_init());
@@ -12,7 +12,7 @@ static void wifi_init(bool ap_mode)
    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
    ESP_ERROR_CHECK(esp_wifi_init(&cfg));

-    if (ap_mode) {
+#ifdef CONFIG_WIFI_AP_MODE
    esp_netif_create_default_wifi_ap();

    wifi_config_t wifi_config = { 0 };
@@ -30,7 +30,7 @@ static void wifi_init(bool ap_mode)
    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
    ESP_ERROR_CHECK(esp_wifi_start());
    ESP_LOGI("WIFI", "AP started SSID:%s", CONFIG_WIFI_AP_SSID);
-    } else {
+#else
    esp_netif_create_default_wifi_sta();

    wifi_config_t wifi_config = {
@@ -45,21 +45,8 @@ static void wifi_init(bool ap_mode)
    ESP_ERROR_CHECK(esp_wifi_start());
    ESP_ERROR_CHECK(esp_wifi_connect());
    ESP_LOGI("WIFI", "STA started, connecting to: %s", CONFIG_WIFI_SSID);
-    }
-}

-
-static esp_err_t mpu6886_write_byte(mpu6886_t *dev, uint8_t reg, uint8_t data) {
-    uint8_t tx[2] = { reg, data };
-    return i2c_master_write_to_device(dev->i2c_port, dev->address, tx, sizeof(tx), pdMS_TO_TICKS(100));
-}
-
-static esp_err_t mpu6886_read_bytes(mpu6886_t *dev, uint8_t reg, uint8_t *data, size_t len) {
-    return i2c_master_write_read_device(dev->i2c_port, dev->address, &reg, 1, data, len, pdMS_TO_TICKS(100));
-}
-
-static int16_t bytes_to_int16(uint8_t high, uint8_t low) {
-    return (int16_t)((high << 8) | low);
+#endif
 }

 static void mqtt_app_start(void)
@@ -75,8 +62,21 @@ static void mqtt_app_start(void)
    }
    esp_mqtt_client_start(s_mqtt_client);
 }
+#endif // CONFIG_ENV_MQTT_ENABLED
+
+static esp_err_t mpu6886_write_byte(mpu6886_t* dev, uint8_t reg, uint8_t data) {
+    uint8_t tx[2] = { reg, data };
+    return i2c_master_write_to_device(dev->i2c_port, dev->address, tx, sizeof(tx), pdMS_TO_TICKS(100));
+}
+
+static esp_err_t mpu6886_read_bytes(mpu6886_t* dev, uint8_t reg, uint8_t* data, size_t len) {
+    return i2c_master_write_read_device(dev->i2c_port, dev->address, &reg, 1, data, len, pdMS_TO_TICKS(100));
+}
+
+static int16_t bytes_to_int16(uint8_t high, uint8_t low) {
+    return (int16_t)((high << 8) | low);
+}

-// new: detect accel/gyro full-scale selections and set divisors accordingly
 static esp_err_t mpu6886_update_sensitivity(mpu6886_t* dev)
 {
    uint8_t aconf = 0, gconf = 0;
@@ -244,28 +244,24 @@ void app_main(void)
    }


-    // Start WiFi: set CONFIG_WIFI_AP_MODE in sdkconfig to build in AP mode,
-    // otherwise the default is STA mode. You can also call wifi_init(true)
-    // or wifi_init(false) directly to toggle at runtime.
-#ifdef CONFIG_WIFI_AP_MODE
-    wifi_init(true);
-#else
-    wifi_init(false);
+#ifdef CONFIG_ENV_MQTT_ENABLED
+    wifi_init();
+    // Start MQTT client (will retry until network is available)
+    mqtt_app_start();
 #endif

+
    mpu6886_t mpu;
    mpu.i2c_port = I2C_NUM_0;
    mpu.address = MPU6886_ADDR;

    esp_err_t ret = mpu6886_init(&mpu, I2C_NUM_0);
    if (ret != ESP_OK) {
-        // Handle initialization error
        ESP_LOGE("MPU6886", "init failed");
        return;
    }

-    // Start MQTT client (will retry until network is available)
-    mqtt_app_start();
+

    mpu6886_calibrate_gyro(&mpu, 100, 10);
    mpu6886_calibrate_accel(&mpu, 100, 10);
@@ -276,17 +272,13 @@ void app_main(void)
        mpu6886_read_accel(&mpu, &accel);
        mpu6886_read_gyro(&mpu, &gyro);
        mpu6886_read_temp(&mpu, &temp);
-        // ESP_LOGI("MPU6886", "Accel: X=%8.2f Y=%8.2f Z=%8.2f m/s² | Gyro: X=%8.2f Y=%8.2f Z=%8.2f rad/s | Temp: %8.2f °C",
-            //  accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z, temp);
-        // printf("aX=%8.2f aY=%8.2f aZ=%8.2f m/s² | gX=%8.2f gY=%8.2f gZ=%8.2f rad/s | Temp: %8.2f °C\n",
-        //      accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z, temp);

+#ifndef CONFIG_ENV_MQTT_ENABLED
        printf("{\"accel\":{\"x\":%8.3f,\"y\":%8.3f,\"z\":%8.3f},\"gyro\":{\"x\":%8.3f,\"y\":%8.3f,\"z\":%8.3f},\"Temp\":%8.2f}\n",
           accel.x, accel.y, accel.z,
           gyro.x, gyro.y, gyro.z,
           temp);
-
-        // Publish readings as JSON over MQTT if client available
+#else
        if (s_mqtt_client != NULL) {
            char payload[256];
            int n = snprintf(payload, sizeof(payload),
@@ -301,6 +293,7 @@ void app_main(void)
                ESP_LOGW("MQTT", "payload truncated or encoding error");
            }
        }
+#endif
        vTaskDelay(pdMS_TO_TICKS(500));
    }
 }
--- a/IMU/sdkconfig
+++ b/IMU/sdkconfig
@@ -433,21 +433,38 @@ CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table

 #
-# Example Configuration
+# ESP32 IMU Project Configuration
 #
 CONFIG_ENV_GPIO_RANGE_MIN=0
 CONFIG_ENV_GPIO_RANGE_MAX=39
 CONFIG_ENV_GPIO_IN_RANGE_MAX=39
 CONFIG_ENV_GPIO_OUT_RANGE_MAX=33
+
+#
+# I2C Master Configuration
+#
 CONFIG_I2C_MASTER_SCL=22
 CONFIG_I2C_MASTER_SDA=21
 CONFIG_I2C_MASTER_FREQUENCY=100000
+# end of I2C Master Configuration
+
+CONFIG_ENV_MQTT_ENABLED=y
+
+#
+# MQTT Configuration
+#
 CONFIG_MQTT_BROKER_URI="mqtt://192.168.4.2:1883"
 CONFIG_MQTT_TOPIC="esp32/imu"
+# end of MQTT Configuration
+
+#
+# WiFi Access Point Configuration
+#
 CONFIG_WIFI_AP_MODE=y
 CONFIG_WIFI_AP_SSID="ESP32_IMU_AP"
 CONFIG_WIFI_AP_PASSWORD="esp32imuap"
-# end of Example Configuration
+# end of WiFi Access Point Configuration
+# end of ESP32 IMU Project Configuration

 #
 # Compiler options
--- a/IMU/sdkconfig.old
+++ b/IMU/sdkconfig.old
@@ -433,21 +433,38 @@ CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table

 #
-# Example Configuration
+# ESP32 IMU Project Configuration
 #
 CONFIG_ENV_GPIO_RANGE_MIN=0
 CONFIG_ENV_GPIO_RANGE_MAX=39
 CONFIG_ENV_GPIO_IN_RANGE_MAX=39
 CONFIG_ENV_GPIO_OUT_RANGE_MAX=33
+
+#
+# I2C Master Configuration
+#
 CONFIG_I2C_MASTER_SCL=22
 CONFIG_I2C_MASTER_SDA=21
 CONFIG_I2C_MASTER_FREQUENCY=100000
-CONFIG_MQTT_BROKER_URI="mqtt://192.168.178.200:1883"
+# end of I2C Master Configuration
+
+CONFIG_ENV_MQTT_ENABLED=y
+
+#
+# MQTT Configuration
+#
+CONFIG_MQTT_BROKER_URI="mqtt://192.168.4.2:1883"
 CONFIG_MQTT_TOPIC="esp32/imu"
+# end of MQTT Configuration
+
+#
+# WiFi Access Point Configuration
+#
 CONFIG_WIFI_AP_MODE=y
 CONFIG_WIFI_AP_SSID="ESP32_IMU_AP"
 CONFIG_WIFI_AP_PASSWORD="esp32imuap"
-# end of Example Configuration
+# end of WiFi Access Point Configuration
+# end of ESP32 IMU Project Configuration

 #
 # Compiler options