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This code is setting up an ESP8266 microcontroller to read sensor data from an MPU-6050 IMU and DHT22 humidity and temperature sensor. It includes libraries for WiFi, OTA updates, and an AsyncWebServer. The sensor data is read periodically, stored in an array, and transmitted via nRF24L01 radio. Orientation data from the IMU is calculated, and humidity, temperature, and sensor values are made available over WiFi.

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Thinh Hoang
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49 views5 pages

Last

This code is setting up an ESP8266 microcontroller to read sensor data from an MPU-6050 IMU and DHT22 humidity and temperature sensor. It includes libraries for WiFi, OTA updates, and an AsyncWebServer. The sensor data is read periodically, stored in an array, and transmitted via nRF24L01 radio. Orientation data from the IMU is calculated, and humidity, temperature, and sensor values are made available over WiFi.

Uploaded by

Thinh Hoang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <Arduino.

h>
#include <ESP8266WiFi.h>
#include <ESPAsyncTCP.h>
#include <ESPAsyncWebServer.h>
#include <AsyncElegantOTA.h>
#include "DHT.h"
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Wire.h>
#include "I2Cdev.h"
// #include "MPU6050.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
#define yaw_ 0
#define pitch_ 1
#define roll_ 2
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

// class default I2C address is 0x68


// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success,
!0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
unsigned int esc_value[4];
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor
measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity
vector
int16_t gyro[3];
const int MPU = 0x68;
int16_t ax, ay, az;
int16_t gx, gy, gz;
//SPIClass* hspi = NULL;
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
float roll, pitch, yaw;
float AccErrorX, AccErrorY, GyroErrorX, GyroErrorY, GyroErrorZ;
float elapsedTime, currentTime, previousTime;
int16_t gyro_x, gyro_y, gyro_z, temperature;
float angle_pitch, angle_roll, angle_yaw;
boolean set_gyro_angles;
float angle_roll_acc, angle_pitch_acc;
float angle_pitch_output, angle_roll_output;
long Time, timePrev, time2;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
int c = 0;
float acc_total;
#define csn 15
#define mosi 13 //hspi
#define miso 12
#define clk 14
#define ce 1
float giatri[6] = { 1, 2, 3, 0, 0, 2 }; // gia tri cua cam
bien // CE, CSN
const uint64_t address = 0xF0F0F0F0E1LL;
const char* ssid = "Redmi Note 11"; //replace with your SSID
const char* password = "12345678"; //replace with your password
AsyncWebServer server(80);
#define DHTPIN 2
#define DHTTYPE DHT22
DHT dht(DHTPIN, DHTTYPE);
RF24 radio(1, 15); // CE, CSN
void imu_cal2() {
}
MPU6050 accelgyro;

bool connect_wifi = 1;
float acc_total_first;
void get_mpu() {
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.getRotation(&gyro[roll_], &gyro[pitch_], &gyro[yaw_]);
// 131.0
float acc_total_vector = sqrt((aaReal.x * aaReal.x) + (aaReal.y * aaReal.y) +
(aaReal.z * aaReal.z)); //Calculate the total accelerometer vector
if (abs(aaReal.y) < acc_total_vector) {
//Prevent the asin function to produce a NaN
angle_pitch_acc = asin((float)aaReal.y / acc_total_vector);
//Calculate the pitch angle.
}
if (abs(aaReal.x) < acc_total_vector) { //Prevent
the asin function to produce a NaN
angle_roll_acc = asin((float)aaReal.x / acc_total_vector) * -1; //Calculate
the roll angle.
}
ypr[1] = ypr[1] * 0.97 + angle_pitch_acc * 0.03;
ypr[2] = ypr[2] * 0.97 + angle_roll_acc * 0.03;
//Serial.println(ypr[1]);
/*
static unsigned long time_mpu = millis();
unsigned long time_bw = millis() - time_mpu;
time_mpu = millis();
Serial.println("mpu:" + String(time_bw));

*/

accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);


float cvt_ax = (float)ax / 16384.0;
float cvt_ay = (float)ay / 16384.0;
float cvt_az = (float)az / 16384.0;
cvt_ax = cvt_ax * 9.8;
cvt_ay = cvt_ay * 9.8;
cvt_az = cvt_az * 9.8;
acc_total = sqrt(pow(cvt_ax, 2) + pow(cvt_ay, 2) + pow(cvt_az, 2));
giatri[0] = acc_total;
giatri[3] = ypr[1];
giatri[4] = ypr[2];
}
}
void acc_setup() {
/*
Wire.beginTransmission(0x68); //Start communicating with the MPU-6050
Wire.write(0x6B); //Send the requested starting register
Wire.write(0x00); //Set the requested starting register
Wire.endTransmission(); //End the transmission
//Configure the accelerometer (+/-8g)
Wire.beginTransmission(0x68); //Start communicating with the MPU-6050
Wire.write(0x1C); //Send the requested starting register
Wire.write(0x10); //Set the requested starting register
Wire.endTransmission();
*/

Wire.begin();

// initialize device
mpu.initialize();
accelgyro.initialize();
devStatus = mpu.dmpInitialize();
mpu.setXGyroOffset(10);
mpu.setYGyroOffset(-13);
mpu.setZGyroOffset(29);
mpu.setZAccelOffset(1556);
if (devStatus == 0) {
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
//mpu.PrintActiveOffsets();
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection

// attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady,
RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
}
}
void setup(void) {
Serial.begin(9600);
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
Serial.println("");
uint16_t count_delay = 0;
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
count_delay++;
if (count_delay >= 30) {
yield();
connect_wifi = 0;
dht.begin();
acc_setup();
radio.begin();
radio.openWritingPipe(address);
radio.setPALevel(RF24_PA_MIN);
radio.stopListening();
return;
}
}
Serial.println("");
Serial.print("IP address: ");
Serial.println(WiFi.localIP());

//or use this for auto generated name ESP + ChipID


//wifiManager.autoConnect();
//if you get here you have connected to the WiFi
Serial.println("connected...yeey :)");
server.on("/", HTTP_GET, [](AsyncWebServerRequest* request) {
request->send(200, "text/plain", "Hello! This is a simple text message sent
from ESP8266. Microcontrollerslab");
});

AsyncElegantOTA.begin(&server); // Start ElegantOTA


server.begin();
Serial.println("HTTP server started!");
// dht.begin();
dht.begin();
acc_setup();
radio.begin();
radio.openWritingPipe(address);
radio.setPALevel(RF24_PA_MIN);
radio.stopListening();
delay(20);
}

void loop(void) {
if (connect_wifi == 1) AsyncElegantOTA.loop();
static uint8_t state = 0;
static unsigned long time_ = millis();
get_mpu();
if (millis() - time_ > 300) {
time_ = millis();

float humi = dht.readHumidity();


float temp = dht.readTemperature();
if (isnan(humi) || isnan(temp)) {
// Serial.println(F("Failed to read from DHT sensor!"));
return;
}
// Serial.println(temp); // in ra mh nhiet do
// Serial.println(humi); // in ra mh do am
/// temp = 2 hum =1; angle_x=0;angle_y=3 angle_z=4;
giatri[1] = humi;
giatri[2] = temp;
}
static unsigned long time_2 = millis();
if (millis() - time_2 > 150) {
radio.write(giatri, sizeof(giatri));
// for(int i = 0 ;i<6;i++)
// {
// Serial.print(giatri[i]);
// Serial.print(".");
// }
// Serial.println();
time_2 = millis();
}
}

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