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ros2-assignments/IMU/main/mpu6886.c

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#include "mpu6886.h"
#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)
{
ESP_ERROR_CHECK(nvs_flash_init());
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_wifi_init(&cfg));
if (ap_mode) {
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));
wifi_config.ap.ssid_len = strlen(CONFIG_WIFI_AP_SSID);
strncpy((char *)wifi_config.ap.password, CONFIG_WIFI_AP_PASSWORD, sizeof(wifi_config.ap.password));
wifi_config.ap.max_connection = 4;
if (strlen(CONFIG_WIFI_AP_PASSWORD) == 0) {
wifi_config.ap.authmode = WIFI_AUTH_OPEN;
} else {
wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
}
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
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 {
esp_netif_create_default_wifi_sta();
wifi_config_t wifi_config = {
.sta = {
.ssid = CONFIG_WIFI_SSID,
.password = CONFIG_WIFI_PASSWORD,
},
};
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
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);
}
static void mqtt_app_start(void)
{
esp_mqtt_client_config_t mqtt_cfg = { 0 };
mqtt_cfg.broker.address.uri = CONFIG_MQTT_BROKER_URI;
s_mqtt_client = esp_mqtt_client_init(&mqtt_cfg);
if (s_mqtt_client == NULL) {
ESP_LOGW("MQTT", "failed to init mqtt client");
return;
}
esp_mqtt_client_start(s_mqtt_client);
}
// 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;
esp_err_t err;
err = mpu6886_read_bytes(dev, MPU6886_ACCEL_CONFIG, &aconf, 1);
if (err != ESP_OK) return err;
err = mpu6886_read_bytes(dev, MPU6886_GYRO_CONFIG, &gconf, 1);
if (err != ESP_OK) return err;
uint8_t a_fs = (aconf >> 3) & 0x03; // AFS_SEL bits [4:3]
switch (a_fs) {
case 0: dev->accel_div = ACCEL_SO_2G; break; // ±2g
case 1: dev->accel_div = ACCEL_SO_4G; break; // ±4g
case 2: dev->accel_div = ACCEL_SO_8G; break; // ±8g
case 3: dev->accel_div = ACCEL_SO_16G; break; // ±16g
default: dev->accel_div = ACCEL_SO_2G; break;
}
uint8_t g_fs = (gconf >> 3) & 0x03; // FS_SEL bits [4:3]
switch (g_fs) {
case 0: dev->gyro_div = GYRO_SO_250DPS; break; // ±250 dps
case 1: dev->gyro_div = GYRO_SO_500DPS; break; // ±500 dps
case 2: dev->gyro_div = GYRO_SO_1000DPS; break; // ±1000 dps
case 3: dev->gyro_div = GYRO_SO_2000DPS; break; // ±2000 dps
default: dev->gyro_div = GYRO_SO_250DPS; break;
}
return ESP_OK;
}
static esp_err_t i2c_master_init(i2c_port_t i2c_num, gpio_num_t sda_io, gpio_num_t scl_io, uint32_t clk_speed_hz)
{
i2c_config_t conf = {
.mode = I2C_MODE_MASTER,
.sda_io_num = sda_io,
.sda_pullup_en = GPIO_PULLUP_ENABLE,
.scl_io_num = scl_io,
.scl_pullup_en = GPIO_PULLUP_ENABLE,
.master.clk_speed = clk_speed_hz,
};
esp_err_t err = i2c_param_config(i2c_num, &conf);
if (err != ESP_OK) return err;
return i2c_driver_install(i2c_num, I2C_MODE_MASTER, 0, 0, 0);
}
esp_err_t mpu6886_init(mpu6886_t *dev, i2c_port_t i2c_port) {
dev->i2c_port = i2c_port;
dev->address = MPU6886_ADDR;
uint8_t who_am_i = 0;
if (mpu6886_read_bytes(dev, MPU6886_WHO_AM_I, &who_am_i, 1) != ESP_OK) {
return ESP_FAIL;
}
if (who_am_i != 0x19) {
return ESP_FAIL;
}
// Reset
if (mpu6886_write_byte(dev, MPU6886_PWR_MGMT_1, 0x80) != ESP_OK) return ESP_FAIL;
vTaskDelay(pdMS_TO_TICKS(100));
// 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)
mpu6886_write_byte(dev, MPU6886_ACCEL_CONFIG, 0x00);
mpu6886_write_byte(dev, MPU6886_GYRO_CONFIG, 0x00);
dev->gyro_offset = (vec3_t){0, 0, 0};
dev->accel_offset = (vec3_t){0, 0, 0};
// detect actual sensitivities from device registers and set divisors
if (mpu6886_update_sensitivity(dev) != ESP_OK) {
// fallback to defaults if read fails
dev->accel_div = ACCEL_SO_2G;
dev->gyro_div = GYRO_SO_250DPS;
}
return ESP_OK;
}
esp_err_t mpu6886_read_accel(mpu6886_t *dev, vec3_t *accel) {
uint8_t buf[6];
esp_err_t ret = mpu6886_read_bytes(dev, MPU6886_ACCEL_XOUT_H, buf, 6);
if (ret != ESP_OK) return ret;
// convert raw -> m/s^2 and apply stored offsets
accel->x = (float)bytes_to_int16(buf[0], buf[1]) / dev->accel_div * SF_M_S2 - dev->accel_offset.x;
accel->y = (float)bytes_to_int16(buf[2], buf[3]) / dev->accel_div * SF_M_S2 - dev->accel_offset.y;
accel->z = (float)bytes_to_int16(buf[4], buf[5]) / dev->accel_div * SF_M_S2 - dev->accel_offset.z;
return ESP_OK;
}
esp_err_t mpu6886_read_gyro(mpu6886_t *dev, vec3_t *gyro) {
uint8_t buf[6];
esp_err_t ret = mpu6886_read_bytes(dev, MPU6886_GYRO_XOUT_H, buf, 6);
if (ret != ESP_OK) return ret;
gyro->x = (float)bytes_to_int16(buf[0], buf[1]) / dev->gyro_div * SF_RAD_S - dev->gyro_offset.x;
gyro->y = (float)bytes_to_int16(buf[2], buf[3]) / dev->gyro_div * SF_RAD_S - dev->gyro_offset.y;
gyro->z = (float)bytes_to_int16(buf[4], buf[5]) / dev->gyro_div * SF_RAD_S - dev->gyro_offset.z;
return ESP_OK;
}
esp_err_t mpu6886_read_temp(mpu6886_t *dev, float *temp) {
static uint8_t buf[2];
esp_err_t ret = mpu6886_read_bytes(dev, MPU6886_TEMP_OUT_H, buf, 2);
if (ret != ESP_OK) return ret;
int16_t raw = bytes_to_int16(buf[0], buf[1]);
*temp = ((float)raw / TEMP_SO) + TEMP_OFFSET;
return ESP_OK;
}
esp_err_t mpu6886_calibrate_gyro(mpu6886_t *dev, int samples, int delay_ms) {
vec3_t sum = {0, 0, 0}, g;
for (int i = 0; i < samples; i++) {
if (mpu6886_read_gyro(dev, &g) != ESP_OK) return ESP_FAIL;
sum.x += g.x;
sum.y += g.y;
sum.z += g.z;
vTaskDelay(pdMS_TO_TICKS(delay_ms));
}
dev->gyro_offset.x = sum.x / samples;
dev->gyro_offset.y = sum.y / samples;
dev->gyro_offset.z = sum.z / samples;
return ESP_OK;
}
esp_err_t mpu6886_calibrate_accel(mpu6886_t *dev, int samples, int delay_ms)
{
// Calibrate accelerometer offsets while the device is stationary.
// The function will detect the device full-scale and compute offsets in m/s^2.
vec3_t sum = {0, 0, 0}, a;
for (int i = 0; i < samples; i++) {
if (mpu6886_read_accel(dev, &a) != ESP_OK) {
return ESP_FAIL;
}
sum.x += a.x;
sum.y += a.y;
sum.z += a.z;
vTaskDelay(pdMS_TO_TICKS(delay_ms));
}
vec3_t avg = { sum.x / samples, sum.y / samples, sum.z / samples };
// For X/Y expect ~0 m/s^2 when stationary; offset = measured average
dev->accel_offset.x = avg.x;
dev->accel_offset.y = avg.y;
// For Z expect ~+1g (SF_M_S2) if +Z points up. If device is flipped you'll get -1g.
// Compute expected gravity sign from measured avg.z magnitude and sign.
float expected_g = (avg.z < 0) ? -SF_M_S2 : SF_M_S2;
dev->accel_offset.z = avg.z - expected_g;
return ESP_OK;
}
void app_main(void)
{
esp_err_t err = i2c_master_init(I2C_NUM_0, CONFIG_I2C_MASTER_SDA, CONFIG_I2C_MASTER_SCL, CONFIG_I2C_MASTER_FREQUENCY); // adjust pins if needed
if (err != ESP_OK) {
ESP_LOGE("MPU6886", "I2C init failed: %d", err);
return;
}
// 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);
#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);
vec3_t accel, gyro;
float temp;
while (1) {
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);
printf("{\"accel\":{\"aX\":%8.3f,\"aY\":%8.3f,\"aZ\":%8.3f},\"gyro\":{\"gX\":%8.3f,\"gY\":%8.3f,\"gZ\":%8.3f},\"Temp\":%8.2f}",
accel.x, accel.y, accel.z,
gyro.x, gyro.y, gyro.z,
temp);
// Publish readings as JSON over MQTT if client available
if (s_mqtt_client != NULL) {
char payload[256];
int n = snprintf(payload, sizeof(payload),
"{\"accel\":{\"aX\":%8.3f,\"aY\":%8.3f,\"aZ\":%8.3f},\"gyro\":{\"gX\":%8.3f,\"gY\":%8.3f,\"gZ\":%8.3f},\"Temp\":%8.2f}",
accel.x, accel.y, accel.z,
gyro.x, gyro.y, gyro.z,
temp);
if (n > 0 && n < (int)sizeof(payload)) {
int msg_id = esp_mqtt_client_publish(s_mqtt_client, CONFIG_MQTT_TOPIC, payload, 0, 1, 0);
ESP_LOGD("MQTT", "published msg_id=%d payload_len=%d", msg_id, n);
} else {
ESP_LOGW("MQTT", "payload truncated or encoding error");
}
}
vTaskDelay(pdMS_TO_TICKS(500));
}
}
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