IMU/main/Kconfig.projbuild

@@ -6,33 +6,25 @@ menu "ESP32 IMU Project Configuration"
     config I2C_MASTER_SCL
         int "SCL GPIO Num"
         range ENV_GPIO_RANGE_MIN ENV_GPIO_OUT_RANGE_MAX
-        default 4
+        default 22
         help
             GPIO number for I2C Master clock line.
 
     config I2C_MASTER_SDA
         int "SDA GPIO Num"
         range ENV_GPIO_RANGE_MIN ENV_GPIO_OUT_RANGE_MAX
-        default 5
+        default 21
         help
             GPIO number for I2C Master data line.
 
     config I2C_MASTER_FREQUENCY
         int "Master Frequency"
-        default 400000
+        default 100000
         help
             I2C Speed of Master device.
     endmenu
 
-    config ENV_MQTT_ENABLED
-        bool "Enable MQTT Communication"
-        default y
-        help
-            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://192.168.4.2:1883"
@@ -47,7 +39,6 @@ menu "ESP32 IMU Project Configuration"
     endmenu
 
     menu "WiFi Access Point Configuration"
-    depends on ENV_MQTT_ENABLED
     config WIFI_AP_MODE
         bool "Enable WiFi AP Mode"
         default y

IMU/main/mpu6886.c

@@ -1,6 +1,29 @@
 #include "mpu6886.h"
 
-#ifdef CONFIG_ENV_MQTT_ENABLED
+
+static void IRAM_ATTR button_isr_handler(void* arg) {
+    uint32_t gpio_num = (uint32_t)arg;
+    // Keep it short — avoid delays, logging, malloc, etc.
+    mqtt_toggle = !mqtt_toggle;
+    toggle_completed = false;
+    esp_rom_printf("Button pressed! GPIO: %lu\n", gpio_num);
+}
+
+static void init_button(void) {
+    gpio_config_t io_conf = {
+        .intr_type = GPIO_INTR_NEGEDGE,   // Trigger on falling edge
+        .mode = GPIO_MODE_INPUT,
+        .pin_bit_mask = (1ULL << BOOT_BUTTON_GPIO),
+        .pull_up_en = GPIO_PULLUP_ENABLE, // Use pull-up since button pulls low
+        .pull_down_en = GPIO_PULLDOWN_DISABLE
+    };
+    gpio_config(&io_conf);
+
+    // Install GPIO ISR service
+    gpio_install_isr_service(0); // Pass 0 for default interrupt flags
+    // Attach the interrupt handler
+    gpio_isr_handler_add(BOOT_BUTTON_GPIO, button_isr_handler, (void*)BOOT_BUTTON_GPIO);
+}
 
 static void wifi_init()
 {
@@ -12,7 +35,7 @@
     ESP_ERROR_CHECK(esp_wifi_init(&cfg));
 
 #ifdef CONFIG_WIFI_AP_MODE
-        esp_netif_create_default_wifi_ap();
+    wifi_netif = esp_netif_create_default_wifi_ap();
 
     wifi_config_t wifi_config = { 0 };
     strncpy((char*)wifi_config.ap.ssid, CONFIG_WIFI_AP_SSID, sizeof(wifi_config.ap.ssid));
@@ -30,7 +53,7 @@
     ESP_ERROR_CHECK(esp_wifi_start());
     ESP_LOGI("WIFI", "AP started SSID:%s", CONFIG_WIFI_AP_SSID);
 #else
-        esp_netif_create_default_wifi_sta();
+    wifi_netif = esp_netif_create_default_wifi_sta();
 
     wifi_config_t wifi_config = {
         .sta = {
@@ -45,6 +68,24 @@
     ESP_ERROR_CHECK(esp_wifi_connect());
     ESP_LOGI("WIFI", "STA started, connecting to: %s", CONFIG_WIFI_SSID);
 #endif
+    wifi_initialized = true;
+}
+
+static void wifi_deinit(void)
+{
+    ESP_ERROR_CHECK(esp_wifi_stop());
+    ESP_ERROR_CHECK(esp_wifi_deinit());
+
+    if (wifi_netif != NULL) {
+    esp_netif_destroy_default_wifi(wifi_netif);
+    wifi_netif = NULL;
+    }
+
+    ESP_ERROR_CHECK(esp_event_loop_delete_default());
+    // ESP_ERROR_CHECK(esp_netif_deinit());
+    ESP_ERROR_CHECK(nvs_flash_deinit());
+    ESP_LOGI("WIFI", "Wi-Fi stopped and deinitialized");
+    wifi_initialized = false;
 }
 
 static void mqtt_app_start(void)
@@ -61,7 +102,14 @@
     esp_mqtt_client_start(s_mqtt_client);
 }
 
-#endif // CONFIG_ENV_MQTT_ENABLED
+static void mqtt_app_stop(void)
+{
+    if (s_mqtt_client != NULL) {
+        esp_mqtt_client_stop(s_mqtt_client);
+        esp_mqtt_client_destroy(s_mqtt_client);
+        s_mqtt_client = NULL;
+    }
+}
 
 static esp_err_t mpu6886_write_byte(mpu6886_t* dev, uint8_t reg, uint8_t data) {
     uint8_t tx[2] = { reg, data };
@@ -141,7 +189,7 @@ esp_err_t mpu6886_init(mpu6886_t* dev, i2c_port_t i2c_port) {
     // Auto select clock
     if (mpu6886_write_byte(dev, MPU6886_PWR_MGMT_1, 0x01) != ESP_OK) return ESP_FAIL;
 
-    // Default config: set to ±2G accel, ±250DPS gyro (device may have different settings; we'll detect them)
+    // Default config: set to ±2G accel, ±250DPS gyro
     mpu6886_write_byte(dev, MPU6886_ACCEL_CONFIG, 0x00);
     mpu6886_write_byte(dev, MPU6886_GYRO_CONFIG, 0x00);
 
@@ -242,14 +290,7 @@ void app_main(void)
         return;
     }
 
-
+    init_button();
-#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;
@@ -260,25 +301,28 @@ void app_main(void)
         return;
     }
 
-
-
     mpu6886_calibrate_gyro(&mpu, 100, 10);
     mpu6886_calibrate_accel(&mpu, 100, 10);
     vec3_t accel, gyro;
     float temp;
 
     while (1) {
+        if (mqtt_toggle && !toggle_completed && !wifi_initialized) {
+            wifi_init();
+            mqtt_app_start();
+            ESP_LOGI("BOOT", "Boot button pressed: starting MQTT mode");
+            toggle_completed = true;
+        } else if (!mqtt_toggle && !toggle_completed && wifi_initialized) {
+            mqtt_app_stop();
+            wifi_deinit();
+            ESP_LOGI("BOOT", "Boot button not pressed: starting serial-only mode");
+            toggle_completed = true;
+        }
         mpu6886_read_accel(&mpu, &accel);
         mpu6886_read_gyro(&mpu, &gyro);
         mpu6886_read_temp(&mpu, &temp);
 
-#ifndef CONFIG_ENV_MQTT_ENABLED
+        if (mqtt_toggle && s_mqtt_client != NULL) {
-        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);
-#else
-        if (s_mqtt_client != NULL) {
             char payload[256];
             int n = snprintf(payload, sizeof(payload),
                 "{\"accel\":{\"x\":%8.3f,\"y\":%8.3f,\"z\":%8.3f},\"gyro\":{\"x\":%8.3f,\"y\":%8.3f,\"z\":%8.3f},\"Temp\":%8.2f}",
@@ -291,8 +335,12 @@ void app_main(void)
             } else {
                 ESP_LOGW("MQTT", "payload truncated or encoding error");
             }
+        } else {
+            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);
         }
-#endif
         vTaskDelay(pdMS_TO_TICKS(500));
     }
 }

IMU/main/mpu6886.h

@@ -13,6 +13,9 @@
 #include "mqtt_client.h"
 #include <string.h>
 #include <stdio.h>
+#include "driver/gpio.h"
+#include "esp_rom_sys.h"
+
 
 #define I2C_MASTER_SCL_IO           CONFIG_I2C_MASTER_SCL       /*!< GPIO number used for I2C master clock */
 #define I2C_MASTER_SDA_IO           CONFIG_I2C_MASTER_SDA       /*!< GPIO number used for I2C master data  */
@@ -22,6 +25,8 @@
 #define I2C_MASTER_RX_BUF_DISABLE   0                           /*!< I2C master doesn't need buffer */
 #define I2C_MASTER_TIMEOUT_MS       1000
 
+#define BOOT_BUTTON_GPIO 0 // GPIO number for boot mode selection button
+
 #define MPU6886_ADDR 0x68
 
 // MPU6886 Registers
@@ -66,6 +71,12 @@ typedef struct {
     vec3_t accel_offset;
 } mpu6886_t;
 
+bool mqtt_toggle = false;
+bool toggle_completed = false;
+bool wifi_initialized = false;
+
+esp_netif_t* wifi_netif = NULL;
+
 static esp_mqtt_client_handle_t s_mqtt_client = NULL;
 
 // Function declarations