API tools faq
paste
firtel

ESP_MP6050_WebServer.ino

firtel
Feb 5th, 2022 (edited)
116
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
Arduino 24.79 KB | None | 0 0
raw download clone embed print report
  1. #include <Arduino.h>
  2. #include <WiFi.h>
  3. #include <AsyncTCP.h>
  4. #include <ESPAsyncWebServer.h>
  5. //#include <Adafruit_MPU6050.h>
  6. //#include <Adafruit_Sensor.h>
  7. #include <Arduino_JSON.h>
  8. //#include "SPIFFS.h"
  9. #include <FastLED.h>
  10. #include "MPU6050_6Axis_MotionApps20.h"
  11. #include "I2Cdev.h"
  12. #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  13.     #include "Wire.h"
  14. #endif
  15. #include <ESPmDNS.h>
  16. //#include <DNSServer.h>
  17.  
  18. CRGB leds[1];
  19.  
  20. //#include "MPU6050.h"
  21. MPU6050 mpu;
  22.  
  23. //DNSServer dnsServer;
  24.  
  25.  
  26. //#include <MadgwickAHRS.h>
  27. //Madgwick MadgwickFilter;
  28.  
  29. int16_t ax, ay, az;//加速度　int16_tは2バイトの符号付き整数
  30. int16_t gx, gy, gz;//角速度　同上
  31. float ROLL, PITCH, YAW;
  32.  
  33. #define I2C_SDA 26
  34. #define I2C_SCL 32
  35.  
  36. const char* ssid = "Buffalo-G-D6FA";
  37. const char* password = "iudcnfhdud3xk";
  38.  
  39. AsyncWebServer server(80);
  40. AsyncEventSource events("/events");
  41.  
  42. JSONVar readings;
  43. unsigned long previous_time = 0;  
  44. unsigned long previous_time_temp = 0;
  45. unsigned long previous_time_acceleration = 0;
  46. unsigned long gyro_delay  = 10;
  47. unsigned long temperature_delay  = 1000;
  48. unsigned long accelerometer_delay  = 200;
  49.  
  50. //Adafruit_MPU6050 mpu;
  51. //sensors_event_t a, g, temp;
  52.  
  53. float rotationX, rotationY, rotationZ;
  54. float accelerationX, accelerationY, accelerationZ;
  55. float temperature;
  56.  
  57. float rotationX_error = 0.05;
  58. float rotationY_error = 0.02;
  59. float rotationZ_error = 0.01;
  60.  
  61. TaskHandle_t th; //マルチタスクハンドル定義
  62.  
  63. // MPU control/status vars
  64. bool dmpReady = false;  // set true if DMP init was successful
  65. uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
  66. uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
  67. uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
  68. uint16_t fifoCount;     // count of all bytes currently in FIFO
  69. uint8_t fifoBuffer[64]; // FIFO storage buffer
  70.  
  71. // orientation/motion vars
  72. Quaternion qa;           // [w, x, y, z]         quaternion container
  73. VectorInt16 aa;         // [x, y, z]            accel sensor measurements
  74. VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
  75. VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
  76. VectorFloat gravity;    // [x, y, z]            gravity vector
  77. float euler[3];         // [psi, theta, phi]    Euler angle container
  78. float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
  79.  
  80. //gzip compressed arry
  81. //https://www.mischianti.org/online-converter-file-to-cpp-gzip-byte-array-3/
  82. //File: index.html.gz, Size: 549
  83. #define index_html_gz_len 549
  84. const uint8_t index_html_gz[] PROGMEM = {  
  85. 0x1F, 0x8B, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xAD, 0x55, 0x5D, 0x6F, 0xD3, 0x30,
  86. 0x14, 0x7D, 0x47, 0xE2, 0x3F, 0x18, 0x3F, 0x20, 0x90, 0xD6, 0x66, 0x63, 0x82, 0x87, 0xE2, 0x44,
  87. 0x9A, 0xD6, 0x0A, 0x1E, 0x98, 0xA8, 0xD6, 0x22, 0x9A, 0xBC, 0xB9, 0xCE, 0x65, 0xF1, 0x96, 0xD8,
  88. 0x91, 0x7D, 0x9B, 0xD1, 0x7F, 0x8F, 0x13, 0xA7, 0x6B, 0xD6, 0x0F, 0xDA, 0x51, 0x9E, 0x62, 0xDF,
  89. 0x73, 0xCF, 0xB9, 0x37, 0xC7, 0xCE, 0x0D, 0x7B, 0x33, 0xFC, 0x7E, 0x3D, 0x8D, 0xC7, 0x23, 0xF2,
  90. 0x75, 0x7A, 0xF3, 0x2D, 0x62, 0x19, 0x16, 0x79, 0xF4, 0xFA, 0x15, 0xCB, 0x80, 0xA7, 0xEE, 0x49,
  91. 0x08, 0x43, 0x89, 0x39, 0x44, 0xA3, 0xC9, 0x98, 0xDC, 0x8C, 0x7F, 0x7C, 0x3A, 0xFF, 0x78, 0x4E,
  92. 0x7E, 0xC2, 0x9C, 0x4C, 0xC0, 0x54, 0x60, 0x58, 0xE0, 0xD1, 0x26, 0xB1, 0x00, 0xE4, 0x44, 0xF1,
  93. 0x02, 0x42, 0x5A, 0x49, 0x78, 0x2C, 0xB5, 0x41, 0x4A, 0x84, 0x56, 0x08, 0x0A, 0x43, 0xFA, 0x28,
  94. 0x53, 0xCC, 0xC2, 0x14, 0x2A, 0x29, 0xA0, 0xD7, 0x6C, 0xCE, 0x88, 0x54, 0x12, 0x25, 0xCF, 0x7B,
  95. 0x56, 0xF0, 0x1C, 0xC2, 0x0B, 0xEA, 0x75, 0x72, 0xA9, 0x1E, 0x88, 0x81, 0x3C, 0xA4, 0xD2, 0xB1,
  96. 0x29, 0xC9, 0x0C, 0xFC, 0x0A, 0x69, 0xCA, 0x91, 0x0F, 0xCE, 0xB6, 0x52, 0x2C, 0x2E, 0x73, 0xB0,
  97. 0x19, 0x80, 0xAB, 0x85, 0xCB, 0xD2, 0xD5, 0x46, 0xF8, 0x8D, 0x81, 0xB0, 0x76, 0x45, 0x6C, 0x32,
  98. 0xFA, 0x75, 0xC0, 0x73, 0xAD, 0x30, 0xB2, 0xC4, 0x6E, 0xF2, 0x3D, 0xAF, 0xB8, 0x8F, 0x52, 0x62,
  99. 0x8D, 0x70, 0x51, 0xC7, 0x84, 0x7E, 0x21, 0x55, 0xFF, 0xDE, 0xB1, 0x58, 0xE0, 0xC1, 0xDA, 0x96,
  100. 0xA0, 0xF5, 0x85, 0xCD, 0x75, 0xBA, 0xF4, 0x7A, 0xA9, 0xAC, 0x88, 0xC8, 0xB9, 0xB5, 0x8E, 0xA7,
  101. 0x4B, 0xC5, 0x2B, 0x5F, 0xC7, 0x21, 0xD9, 0x45, 0xF4, 0xE4, 0xD9, 0x04, 0x94, 0xD5, 0x86, 0xDC,
  102. 0x3A, 0xBA, 0x54, 0x77, 0xD6, 0x09, 0x5D, 0x78, 0x7A, 0xE0, 0xF8, 0x5B, 0x42, 0xAD, 0x6B, 0x4F,
  103. 0x4A, 0x5D, 0x88, 0x9B, 0xD4, 0xAE, 0x80, 0x6D, 0x68, 0x8D, 0x38, 0xAC, 0xEC, 0x22, 0xBD, 0xE6,
  104. 0xA8, 0x68, 0xF4, 0x65, 0x69, 0xB4, 0x15, 0xBA, 0x04, 0x16, 0x94, 0xCF, 0x92, 0x23, 0x66, 0x4B,
  105. 0xAE, 0x56, 0x14, 0xE3, 0x3B, 0xA5, 0xD1, 0x6C, 0x40, 0x3C, 0x20, 0x53, 0x17, 0xD5, 0xC8, 0x51,
  106. 0x6A, 0x35, 0x6B, 0x6C, 0x71, 0xD1, 0x88, 0x18, 0x9E, 0xB6, 0xCB, 0x23, 0x05, 0xE3, 0x5D, 0x82,
  107. 0xF1, 0x09, 0x82, 0xC9, 0x2E, 0xC1, 0xE4, 0x90, 0xE0, 0xDA, 0xF9, 0x7F, 0xF3, 0xF1, 0x4A, 0x08,
  108. 0xC8, 0xC1, 0x68, 0x77, 0xED, 0xEB, 0x0F, 0xE1, 0xE5, 0x5E, 0x72, 0x2F, 0xB0, 0xE9, 0x67, 0x11,
  109. 0x58, 0x66, 0x17, 0x65, 0xF4, 0xC1, 0x05, 0xDC, 0xE3, 0x04, 0x6F, 0xBB, 0x05, 0xE2, 0xFF, 0x54,
  110. 0x20, 0xD9, 0x57, 0x20, 0x79, 0x49, 0x81, 0x53, 0xBD, 0x9F, 0x42, 0x51, 0xD6, 0x75, 0x17, 0xE6,
  111. 0xD8, 0x5B, 0xBC, 0x6E, 0x1A, 0xD7, 0xDC, 0x75, 0xCB, 0x6F, 0x53, 0xB8, 0xFB, 0x7C, 0xBD, 0xC7,
  112. 0x8A, 0x5D, 0x1D, 0x5C, 0x0E, 0xC9, 0x95, 0x92, 0x45, 0xF3, 0xEA, 0x83, 0x0D, 0xC2, 0x7C, 0x81,
  113. 0xA8, 0xDB, 0xDB, 0x08, 0xB6, 0x9E, 0x4C, 0x5A, 0x89, 0x5C, 0x8A, 0x87, 0x76, 0x3F, 0xD6, 0x56,
  114. 0xD6, 0xBC, 0x77, 0x98, 0x49, 0xFB, 0x9E, 0x46, 0xB7, 0xA3, 0xC9, 0x68, 0xCA, 0x02, 0x4F, 0xFB,
  115. 0x9B, 0xD0, 0xEC, 0x90, 0xD2, 0xEC, 0x18, 0x95, 0xF8, 0x90, 0x4A, 0x7C, 0x8C, 0x4A, 0x72, 0x48,
  116. 0x25, 0xD9, 0x52, 0xE9, 0x9E, 0xFA, 0xB3, 0x75, 0xF7, 0xFC, 0x17, 0x73, 0xE8, 0x6D, 0x8C, 0xBF,
  117. 0x36, 0xA3, 0x2E, 0x7D, 0x39, 0xAC, 0x13, 0xEA, 0x73, 0xDB, 0x21, 0xB5, 0x5A, 0x1C, 0x33, 0xE2,
  118. 0xFD, 0x66, 0xFF, 0x7C, 0x0F, 0xDA, 0x01, 0xEF, 0x22, 0xF5, 0x1F, 0xF1, 0x0F, 0x9C, 0x9A, 0x8D,
  119. 0x6D, 0x27, 0x07, 0x00, 0x00
  120. };
  121. //File: script.js.gz, Size: 937
  122. #define script_js_gz_len 937
  123. const uint8_t script_js_gz[] PROGMEM = {  
  124. 0x1F, 0x8B, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xC5, 0x57, 0x51, 0x4F, 0x1B, 0x39,
  125. 0x10, 0x7E, 0x47, 0xE2, 0x3F, 0x98, 0x7D, 0x89, 0x57, 0x5D, 0x6D, 0x82, 0x20, 0xD7, 0x53, 0x51,
  126. 0x5F, 0x80, 0x1C, 0xDC, 0x09, 0x5A, 0x44, 0x90, 0x68, 0x7B, 0xAA, 0x2A, 0x67, 0x77, 0x48, 0xDC,
  127. 0x4B, 0xD6, 0x39, 0xDB, 0x0B, 0x09, 0x28, 0xFF, 0xFD, 0xC6, 0x5E, 0xEF, 0x12, 0x27, 0x1B, 0xC8,
  128. 0xAA, 0x6A, 0x8F, 0x17, 0x12, 0x7B, 0xE6, 0x9B, 0x6F, 0xBE, 0x19, 0x8F, 0x9D, 0x31, 0x68, 0xA2,
  129. 0x12, 0xC8, 0x20, 0x22, 0x09, 0x9B, 0x80, 0x64, 0x11, 0x91, 0x90, 0xA5, 0x20, 0x21, 0xC5, 0x95,
  130. 0x7C, 0x00, 0x47, 0xBB, 0x3B, 0xBB, 0x3B, 0x77, 0x79, 0x96, 0x68, 0x2E, 0x32, 0x32, 0x65, 0xB8,
  131. 0xAB, 0x6F, 0x79, 0xAA, 0x47, 0x14, 0xC6, 0x30, 0x09, 0xC9, 0xD3, 0xEE, 0x0E, 0x41, 0x17, 0x9D,
  132. 0xCB, 0x8C, 0x98, 0x95, 0xB8, 0x30, 0xE9, 0xE1, 0x47, 0xFC, 0x17, 0x27, 0x63, 0x5E, 0x3A, 0x20,
  133. 0xD2, 0xA2, 0x06, 0xEC, 0x1C, 0xF8, 0x70, 0xA4, 0x9B, 0xA0, 0x15, 0x1E, 0x6B, 0x70, 0x3C, 0xE3,
  134. 0x9A, 0xB3, 0x31, 0x7F, 0x84, 0x6F, 0x07, 0xA7, 0x34, 0xB4, 0x50, 0x36, 0x35, 0xF2, 0x9E, 0x64,
  135. 0xF0, 0x40, 0x6E, 0xCE, 0xAF, 0x7B, 0xBD, 0xB8, 0x6F, 0x56, 0x68, 0x78, 0x54, 0xED, 0xC6, 0x03,
  136. 0x96, 0xFC, 0x33, 0x94, 0x22, 0xCF, 0x52, 0xCF, 0xF0, 0x44, 0x8C, 0x85, 0xA4, 0x9D, 0xD9, 0x9D,
  137. 0xFD, 0x0B, 0xAD, 0x0E, 0xC4, 0x89, 0xE4, 0x19, 0x5E, 0x81, 0x54, 0x53, 0x40, 0x0E, 0xF7, 0x70,
  138. 0x62, 0x77, 0xE9, 0xDB, 0x6E, 0xE4, 0x29, 0x95, 0x8A, 0x24, 0xB7, 0xFC, 0x87, 0x50, 0xA6, 0x72,
  139. 0x3C, 0xFF, 0x33, 0xA5, 0xC1, 0xC1, 0xA9, 0x91, 0x38, 0x08, 0x43, 0xD2, 0xF6, 0xD5, 0x78, 0xDD,
  140. 0x23, 0x22, 0x9D, 0x78, 0x3F, 0x22, 0xFB, 0x9D, 0x4E, 0xA7, 0xE4, 0xE6, 0x0A, 0x27, 0x3D, 0x76,
  141. 0xB7, 0x30, 0x38, 0xBB, 0xB8, 0x76, 0x3B, 0xF4, 0x89, 0xB0, 0xCC, 0x8A, 0xC4, 0xD4, 0x3B, 0xA2,
  142. 0x65, 0x0E, 0x64, 0x51, 0x48, 0x51, 0xFA, 0xC6, 0x0A, 0x74, 0x1F, 0x25, 0xA4, 0xCD, 0xF8, 0x47,
  143. 0x4D, 0xE9, 0x97, 0x9C, 0x37, 0x59, 0xB6, 0x0A, 0xCB, 0x56, 0x18, 0xB3, 0xE9, 0x14, 0xB9, 0x9D,
  144. 0x8C, 0xF8, 0x38, 0xA5, 0x15, 0xCB, 0x54, 0x4C, 0x9C, 0x75, 0x55, 0x18, 0x91, 0x29, 0x4D, 0x86,
  145. 0x20, 0x26, 0xA0, 0xE5, 0xDC, 0x93, 0xE0, 0x58, 0xCC, 0xCE, 0xDC, 0x3A, 0xC5, 0xCA, 0xA0, 0x6A,
  146. 0x87, 0x85, 0xD7, 0x3D, 0x93, 0xB6, 0xC7, 0x2F, 0x99, 0x06, 0x89, 0xAA, 0x28, 0x74, 0xFB, 0x9B,
  147. 0x18, 0xB4, 0x67, 0xE7, 0x4B, 0x50, 0xA3, 0x63, 0xA6, 0x78, 0x52, 0x1A, 0xD1, 0xA7, 0xC4, 0x74,
  148. 0xC6, 0xBB, 0xCE, 0xAC, 0x73, 0xD0, 0x39, 0xEC, 0xC2, 0x22, 0x8C, 0xB6, 0xF6, 0xE8, 0xA6, 0xBF,
  149. 0x1F, 0x0E, 0x0E, 0xD1, 0x63, 0xFB, 0x20, 0x07, 0xDD, 0xDF, 0xBA, 0x6C, 0xBF, 0x49, 0x90, 0x5F,
  150. 0x4D, 0xEB, 0xEB, 0x11, 0x59, 0x2E, 0xC1, 0xC4, 0xD9, 0x7A, 0x25, 0x30, 0x48, 0x7F, 0xB0, 0xA4,
  151. 0x52, 0x9A, 0x7A, 0xB2, 0x57, 0x35, 0xC4, 0xC5, 0x35, 0x37, 0x5A, 0xD6, 0x34, 0xAA, 0xA0, 0x97,
  152. 0x4F, 0x2F, 0x4B, 0x53, 0x0B, 0x56, 0xAC, 0x15, 0xC7, 0x33, 0x9E, 0x0A, 0xC5, 0xCD, 0x4C, 0x88,
  153. 0x1F, 0x11, 0xAE, 0xEB, 0x37, 0x78, 0xF1, 0x81, 0x7A, 0x43, 0x2F, 0x5C, 0x1B, 0x26, 0x22, 0xBB,
  154. 0xE5, 0x59, 0x2A, 0x1E, 0xAE, 0x41, 0x99, 0xD3, 0x50, 0x4C, 0x13, 0x87, 0xCE, 0xEC, 0x71, 0x47,
  155. 0xE4, 0x9F, 0x7D, 0xC6, 0x2D, 0xF1, 0x76, 0x7B, 0x35, 0xEC, 0x83, 0x65, 0x16, 0xF3, 0x2C, 0x03,
  156. 0x69, 0x83, 0x23, 0xB2, 0xB7, 0x58, 0x0D, 0xC8, 0x8A, 0x72, 0x3E, 0x4D, 0x51, 0xBB, 0x2B, 0x29,
  157. 0xBE, 0x83, 0xCD, 0x0F, 0xA5, 0x97, 0x7C, 0x46, 0xCB, 0x08, 0x6B, 0xA7, 0x7F, 0x2D, 0x44, 0x54,
  158. 0x13, 0xE0, 0xFF, 0x9C, 0x1C, 0xB6, 0x5A, 0x8E, 0x12, 0xB6, 0x40, 0xEF, 0x1E, 0x0D, 0x2F, 0xB8,
  159. 0xD2, 0x58, 0x54, 0x49, 0x5B, 0xD2, 0x56, 0xAD, 0x15, 0xAD, 0x94, 0x31, 0x22, 0x77, 0xD8, 0x6D,
  160. 0x50, 0x20, 0xAC, 0x5C, 0x17, 0xC5, 0xDA, 0x1D, 0xA1, 0x7B, 0x7B, 0x0E, 0xD6, 0x62, 0xF6, 0x45,
  161. 0x2E, 0x13, 0x70, 0x17, 0x93, 0x99, 0x17, 0xCA, 0x2E, 0xB8, 0x2E, 0x5D, 0x32, 0xA1, 0xAD, 0x36,
  162. 0x98, 0x6F, 0xAA, 0x55, 0x76, 0x73, 0x61, 0x59, 0xC3, 0x4E, 0xE0, 0x40, 0x43, 0x6E, 0x65, 0xAF,
  163. 0xD1, 0x12, 0xBE, 0x38, 0x41, 0x62, 0x0C, 0xF1, 0x58, 0x0C, 0x69, 0x60, 0xBD, 0x14, 0x39, 0x11,
  164. 0xA8, 0x78, 0xA2, 0x21, 0x0D, 0x0A, 0xBD, 0x17, 0x5E, 0x16, 0x2F, 0x84, 0x01, 0x29, 0x85, 0xAC,
  165. 0x8F, 0x63, 0xF2, 0x84, 0x58, 0x33, 0x89, 0x2A, 0xE3, 0x81, 0x60, 0xE9, 0xBC, 0xAF, 0xB1, 0x3F,
  166. 0xC8, 0xDE, 0xFB, 0xE5, 0x94, 0xE2, 0x8F, 0x57, 0xBD, 0x0F, 0x95, 0x4F, 0x3D, 0xBB, 0x53, 0xAE,
  167. 0x92, 0x15, 0x82, 0x48, 0xB1, 0x11, 0xCF, 0xE1, 0x5C, 0x8A, 0x6F, 0x86, 0x04, 0xCF, 0x86, 0xAA,
  168. 0x9E, 0xAF, 0x11, 0x5E, 0x0C, 0xBE, 0xA3, 0xEA, 0x7F, 0xF5, 0x3F, 0x7E, 0x30, 0x8F, 0x02, 0x05,
  169. 0x98, 0x00, 0xF6, 0x34, 0x2B, 0x63, 0x6E, 0x6C, 0x1C, 0x29, 0x30, 0x35, 0x84, 0xFB, 0x14, 0x84,
  170. 0xAE, 0x79, 0x6F, 0x2E, 0x2F, 0x10, 0x09, 0xF1, 0xE2, 0x6A, 0x6F, 0x5B, 0x90, 0xCF, 0x2F, 0x80,
  171. 0x7C, 0xDE, 0x16, 0xE4, 0xCB, 0x0B, 0x20, 0x5F, 0x9C, 0x5A, 0xC5, 0x30, 0xAC, 0x96, 0xE3, 0xD9,
  172. 0x86, 0x60, 0xBE, 0xD5, 0xE3, 0x86, 0xBC, 0x7C, 0xAB, 0x79, 0x4D, 0x4C, 0x63, 0xF5, 0xEA, 0x88,
  173. 0x6C, 0x50, 0x54, 0x0D, 0x93, 0x29, 0x7A, 0xE1, 0x43, 0x0E, 0xCA, 0xDA, 0x6E, 0xD1, 0xF2, 0x35,
  174. 0x5E, 0x41, 0x44, 0xB6, 0x2C, 0xF4, 0x92, 0xF3, 0x8A, 0xC0, 0x05, 0x40, 0xB3, 0x04, 0x58, 0x92,
  175. 0xE0, 0x03, 0x54, 0x9A, 0xAB, 0x07, 0xE4, 0x2B, 0xED, 0xE9, 0xE5, 0x50, 0xEF, 0xB8, 0x96, 0xC6,
  176. 0x8F, 0xB4, 0xB4, 0x0B, 0xB1, 0xB1, 0xAD, 0xBD, 0xFD, 0x26, 0x60, 0x75, 0xED, 0xED, 0xED, 0x37,
  177. 0x01, 0xAB, 0x6B, 0x73, 0x6F, 0x7F, 0xAD, 0x20, 0xFE, 0x15, 0x8C, 0x43, 0x1C, 0xF4, 0x95, 0xBB,
  178. 0xC9, 0xED, 0xEF, 0x03, 0xF3, 0xDC, 0xAB, 0x06, 0xF1, 0x6C, 0x54, 0x3E, 0x74, 0x3F, 0x5D, 0x5E,
  179. 0x9C, 0x6B, 0x3D, 0xBD, 0x86, 0x7F, 0x73, 0x50, 0xDA, 0x5D, 0x6A, 0xB8, 0x1D, 0x9B, 0x41, 0x4B,
  180. 0x83, 0xB3, 0xDE, 0x0D, 0xAA, 0x1F, 0xB4, 0x83, 0x37, 0x0E, 0x23, 0xE6, 0xF8, 0xDB, 0xC6, 0x3C,
  181. 0x7E, 0xDD, 0x9B, 0x61, 0xA9, 0x7A, 0xCF, 0x16, 0xCF, 0x28, 0x0A, 0x4F, 0x83, 0x05, 0x5D, 0xFC,
  182. 0x07, 0xCC, 0xC6, 0xF3, 0x34, 0x2D, 0x0D, 0x00, 0x00
  183. };
  184. //File: style.css.gz, Size: 462
  185. #define style_css_gz_len 462
  186. const uint8_t style_css_gz[] PROGMEM = {  
  187. 0x1F, 0x8B, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xAD, 0x53, 0x4D, 0x6B, 0xDC, 0x30,
  188. 0x10, 0xBD, 0x07, 0xF2, 0x1F, 0x06, 0x42, 0x20, 0x81, 0xD5, 0xA2, 0x75, 0x37, 0x10, 0xB4, 0xF7,
  189. 0x1C, 0x73, 0x28, 0x3D, 0xA4, 0xBD, 0xC9, 0xD6, 0xD8, 0x16, 0xD1, 0x87, 0x91, 0xC7, 0xF1, 0x26,
  190. 0xA5, 0xFF, 0xBD, 0xB2, 0xB5, 0xDE, 0x28, 0x5F, 0x7B, 0x69, 0x75, 0x30, 0x62, 0x66, 0xF4, 0xE6,
  191. 0xBD, 0x37, 0xE3, 0x96, 0xAC, 0x81, 0xDF, 0xE7, 0x67, 0x00, 0xB5, 0x77, 0xC4, 0x6A, 0x69, 0xB5,
  192. 0x79, 0x16, 0x70, 0x8F, 0x23, 0xFC, 0xD0, 0x16, 0x7B, 0xF8, 0xEE, 0xAD, 0x74, 0xBB, 0xA9, 0x40,
  193. 0xE9, 0xBE, 0x33, 0x32, 0x26, 0xB5, 0x33, 0xDA, 0x21, 0x2B, 0x8D, 0xAF, 0x1E, 0xE7, 0x0C, 0xE1,
  194. 0x9E, 0x98, 0x34, 0xBA, 0x71, 0x02, 0x2A, 0x74, 0x84, 0x21, 0x86, 0xFF, 0x9C, 0x9F, 0x75, 0x19,
  195. 0x72, 0xAF, 0x5F, 0x50, 0xC0, 0x66, 0x5D, 0x04, 0xB4, 0x29, 0x5B, 0x7A, 0xF5, 0x9C, 0x0A, 0xAC,
  196. 0x0C, 0x8D, 0x8E, 0x6F, 0x79, 0x4A, 0xAC, 0xC9, 0x77, 0x4E, 0x3E, 0xA5, 0x9C, 0x7F, 0xC2, 0x50,
  197. 0x1B, 0x3F, 0x0A, 0x68, 0xB5, 0x52, 0x98, 0xA8, 0x94, 0xB2, 0x7A, 0x6C, 0x82, 0x1F, 0x9C, 0x62,
  198. 0x95, 0x37, 0x3E, 0x08, 0xB8, 0x28, 0x39, 0xDF, 0xF2, 0xED, 0x9C, 0x5D, 0x42, 0xF5, 0x7C, 0x76,
  199. 0xEF, 0x29, 0x1C, 0x09, 0xAC, 0xAB, 0x18, 0x8D, 0x74, 0x53, 0xA3, 0x4E, 0x2A, 0xA5, 0x5D, 0x23,
  200. 0xA0, 0xE0, 0xDD, 0x7E, 0x29, 0x90, 0x41, 0xA5, 0xEC, 0xC7, 0x8E, 0x63, 0xAB, 0x09, 0x67, 0x70,
  201. 0x3F, 0xD0, 0x64, 0x48, 0x84, 0xEE, 0xF6, 0xD0, 0x7B, 0xA3, 0x55, 0xF6, 0x9C, 0x91, 0x26, 0x83,
  202. 0x09, 0x24, 0xBD, 0xCC, 0xA9, 0xCE, 0xBC, 0x46, 0xD4, 0x4D, 0x4B, 0x02, 0x4A, 0x6F, 0xF2, 0x97,
  203. 0xFD, 0x62, 0xCE, 0x9E, 0x8D, 0x5A, 0x51, 0x2B, 0xE0, 0x96, 0x27, 0x6A, 0x99, 0x63, 0x20, 0x07,
  204. 0xF2, 0x6F, 0xC7, 0xD3, 0x84, 0x48, 0x60, 0xFE, 0xB2, 0x46, 0x76, 0x51, 0x4F, 0x12, 0x0C, 0x29,
  205. 0x44, 0x68, 0x63, 0x19, 0xE1, 0x24, 0x63, 0xB0, 0xAE, 0x17, 0x10, 0xB0, 0x43, 0x49, 0x57, 0x13,
  206. 0x10, 0xAB, 0x35, 0xAD, 0xC0, 0x6A, 0x17, 0x9B, 0x5E, 0x15, 0x53, 0xB7, 0x15, 0x6C, 0xEA, 0x70,
  207. 0x7D, 0x7D, 0xA0, 0x15, 0x50, 0x4E, 0x1E, 0x9D, 0x1C, 0xEB, 0xBA, 0x1A, 0xCA, 0x09, 0x7D, 0xB6,
  208. 0x76, 0x2E, 0x3C, 0xB0, 0xDF, 0x70, 0x7E, 0xF9, 0xC5, 0xF4, 0x5E, 0xBD, 0x6C, 0x0F, 0x5E, 0x7C,
  209. 0x9B, 0xA5, 0x1E, 0x75, 0x1E, 0x55, 0x1E, 0xA6, 0xC4, 0xE2, 0x8A, 0x88, 0xE2, 0x32, 0x75, 0xBC,
  210. 0x08, 0xD8, 0x63, 0x6A, 0x55, 0xFA, 0xA0, 0x30, 0x02, 0x3A, 0xEF, 0xF0, 0xAB, 0x5D, 0xF8, 0x64,
  211. 0x79, 0x78, 0x3C, 0x77, 0x77, 0xBB, 0x37, 0x6B, 0xB0, 0x59, 0xBC, 0xFE, 0x74, 0xBB, 0x4F, 0xFD,
  212. 0x0E, 0xB9, 0x31, 0xDB, 0x49, 0xC5, 0x62, 0xC0, 0xCD, 0x02, 0x99, 0x68, 0xB2, 0x10, 0xDD, 0x1C,
  213. 0xE2, 0x04, 0xB6, 0xCB, 0xC2, 0x25, 0x25, 0x0F, 0x2B, 0x48, 0x97, 0x9F, 0xCB, 0xE5, 0xD7, 0xBF,
  214. 0x88, 0xCB, 0xD6, 0x2D, 0x77, 0xEF, 0x55, 0xE0, 0x12, 0x2D, 0x3D, 0x91, 0xB7, 0xFF, 0x53, 0x79,
  215. 0x36, 0xFD, 0xE2, 0xB4, 0xF6, 0xBF, 0x7D, 0x1E, 0xFF, 0x94, 0x88, 0x04, 0x00, 0x00
  216. };
  217. //File: three.min.js.gz, Size: 144223
  218. #define three_min_js_gz_len 144223
  219. const uint8_t three_min_js_gz[] PROGMEM = {  
  220.  
  221. };
  222.  
  223.  
  224.  
  225. String getGyroscopeReadings(){
  226.   /*mpu.getEvent(&a, &g, &temp);
  227.  
  228.   float rotationX_temporary = g.gyro.x;
  229.   if(abs(rotationX_temporary) > rotationX_error)  {
  230.     rotationX += rotationX_temporary*0.01;
  231.   }
  232.  
  233.   float rotationY_temporary = g.gyro.y;
  234.   if(abs(rotationY_temporary) > rotationY_error) {
  235.     rotationY += rotationY_temporary*0.01;
  236.   }
  237.  
  238.   float rotationZ_temporary = g.gyro.z;
  239.   if(abs(rotationZ_temporary) > rotationZ_error) {
  240.     rotationZ += rotationZ_temporary*0.01;
  241.   }*/
  242.   //rotationX = ROLL*(3.14/180);
  243.   //rotationY = PITCH*(3.14/180);
  244.   //rotationZ = YAW*(3.14/180);
  245.  
  246.   rotationX = euler[2];
  247.   rotationY = -1 * euler[1];
  248.   rotationZ = -1 * euler[0];
  249.  
  250.   readings["rotationX"] = String(rotationX);
  251.   readings["rotationY"] = String(rotationY);
  252.   readings["rotationZ"] = String(rotationZ);
  253.  
  254.   String jsonString = JSON.stringify(readings);
  255.   return jsonString;
  256. }
  257.  
  258. String getAccelerationReadings() {
  259.   //mpu.getEvent(&a, &g, &temp);
  260.   //accelerationX = a.acceleration.x;
  261.   //accelerationY = a.acceleration.y;
  262.   //accelerationZ = a.acceleration.z;
  263.   readings["accelerationX"] = String(accelerationX);
  264.   readings["accelerationY"] = String(accelerationY);
  265.   readings["accelerationZ"] = String(accelerationZ);
  266.   String accString = JSON.stringify (readings);
  267.   return accString;
  268. }
  269.  
  270. String getTemperatureReadings(){
  271.   //mpu.getEvent(&a, &g, &temp);
  272.   //temperature = temp.temperature;
  273.   return String(temperature);
  274. }
  275.  
  276. void SoftAPmode(){
  277.   uint8_t macWifi[6];
  278.   #ifdef ESP32
  279.   esp_read_mac(macWifi, ESP_MAC_WIFI_STA);
  280.   char wifiname[11];
  281.   sprintf(wifiname,"ESP32-%02X%02X",macWifi[4],macWifi[5]);
  282.   #elif defined(ESP8266)
  283.   WiFi.begin();
  284.   WiFi.macAddress(macWifi);
  285.   char wifiname[9];
  286.   sprintf(wifiname,"ESP-%02X%02X",macWifi[4],macWifi[5]);
  287.   #endif
  288.   WiFi.mode(WIFI_AP);
  289.   WiFi.softAP(wifiname);
  290.   WiFi.begin();
  291. }
  292.  
  293. void setup() {
  294.   FastLED.addLeds<NEOPIXEL, 27>(leds, 1);
  295.   FastLED.setBrightness(5);
  296.   leds[0] = CRGB::Red;
  297.   FastLED.show();
  298.   Wire.begin(26,32);
  299.   Wire.setClock(400000);
  300.   Serial.begin(115200);
  301.   boolean SoftAP = false;
  302.  
  303.   if(WiFi.SSID() != NULL){
  304.     WiFi.mode(WIFI_STA);
  305.     WiFi.begin();
  306.   }else{
  307.     SoftAP = true;
  308.   }
  309.   unsigned int cnt = 0;
  310.   while (WiFi.status() != WL_CONNECTED) {
  311.     cnt++;
  312.     delay(100);
  313.     //led_toggle();//LED点滅
  314.     //Wifiアクセスポイントに接続できない場合Soft APモードに変更する
  315.     if(cnt >= 100 || digitalRead(39) == LOW || SoftAP == true){//接続トライ100カウント以上もしくは書き込みボタンを押すとSoft APモードに変更
  316.       SoftAP = true;
  317.       leds[0] = CRGB::Pink;
  318.       FastLED.show();
  319.       SoftAPmode();
  320.       //dnsServer.start(53, "*", WiFi.softAPIP());
  321.       break;//Soft APにしてもbreakしないと抜けられない
  322.     }
  323.  
  324.    
  325.     Serial.print(".");
  326.    
  327.   }
  328.   Serial.println("");
  329.   Serial.println("WiFi connected");  
  330.   Serial.println("IP address: ");
  331.   if(SoftAP == false){
  332.     Serial.println(WiFi.localIP());
  333.   }else{
  334.     Serial.println(WiFi.softAPIP());
  335.   }
  336.  
  337.   if (!MDNS.begin("esp")) {
  338.    
  339.     Serial.println("Error setting up MDNS responder!");
  340.    
  341.   }
  342.   MDNS.addService("http", "tcp", 80);
  343.  
  344.   //if (!SPIFFS.begin()) {
  345.   //  Serial.println("An error has occurred while mounting SPIFFS");
  346.   //}
  347.   //Serial.println("SPIFFS mounted successfully");
  348.  
  349.   //if (!mpu.begin()) {
  350.   //  Serial.println("MPU6050 is not properly connected. Check circuit!");
  351.   //  while (1) {
  352.   //    delay(10);
  353.   //  }
  354.   //}
  355.   //Serial.println("MPU6050 Found");
  356.   /*
  357.   server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
  358.     request->send(SPIFFS, "/index.html", "text/html");
  359.   });
  360.  
  361.   server.serveStatic("/", SPIFFS, "/");*/
  362.  
  363.   server.on("/", HTTP_GET, [](AsyncWebServerRequest *request){
  364.     AsyncWebServerResponse *response = request->beginResponse_P(200, "text/html", index_html_gz, index_html_gz_len);
  365.     response->addHeader(F("Content-Encoding"), F("gzip"));
  366.     request->send(response);
  367.   });
  368.   server.on("/script.js", HTTP_GET, [](AsyncWebServerRequest *request){
  369.     AsyncWebServerResponse *response = request->beginResponse_P(200, "text/javascript", script_js_gz, script_js_gz_len);
  370.     response->addHeader(F("Content-Encoding"), F("gzip"));
  371.     request->send(response);
  372.   });
  373.   server.on("/style.css", HTTP_GET, [](AsyncWebServerRequest *request){
  374.     AsyncWebServerResponse *response = request->beginResponse_P(200, "text/css", style_css_gz, style_css_gz_len);
  375.     response->addHeader(F("Content-Encoding"), F("gzip"));
  376.     request->send(response);
  377.   });
  378.   server.on("/three.min.js", HTTP_GET, [](AsyncWebServerRequest *request){
  379.     AsyncWebServerResponse *response = request->beginResponse_P(200, "text/javascript", three_min_js_gz, three_min_js_gz_len);
  380.     response->addHeader(F("Content-Encoding"), F("gzip"));
  381.     request->send(response);
  382.   });
  383.   server.on("/reset", HTTP_GET, [](AsyncWebServerRequest *request){
  384.     rotationX=0;
  385.     rotationY=0;
  386.     rotationZ=0;
  387.     request->send(200, "text/plain", "OK");
  388.   });
  389.  
  390.   server.on("/resetX", HTTP_GET, [](AsyncWebServerRequest *request){
  391.     rotationX=0;
  392.     request->send(200, "text/plain", "OK");
  393.   });
  394.  
  395.   server.on("/resetY", HTTP_GET, [](AsyncWebServerRequest *request){
  396.     rotationY=0;
  397.     request->send(200, "text/plain", "OK");
  398.   });
  399.  
  400.   server.on("/resetZ", HTTP_GET, [](AsyncWebServerRequest *request){
  401.     rotationZ=0;
  402.     request->send(200, "text/plain", "OK");
  403.   });
  404.  
  405.   events.onConnect([](AsyncEventSourceClient *client){
  406.     if(client->lastId()){
  407.       Serial.printf("Client reconnected! Last message ID that it got is: %u\n", client->lastId());
  408.     }
  409.     client->send("hello!", NULL, millis(), 10000);
  410.   });
  411.  
  412.  
  413.   server.addHandler(&events);
  414.  
  415.   server.begin();
  416.  
  417.   mpu.initialize();//I2Cデバイスの初期化
  418.   //delay(300);
  419.   //MadgwickFilter.begin(200);//フィルタのサンプリングを100Hzで
  420.   pinMode(39,INPUT_PULLUP);
  421.   //mpu.CalibrateAccel(1);
  422.   //mpu.CalibrateGyro(1);
  423.   devStatus = mpu.dmpInitialize();
  424.   //OFFSETS -2429, -1480, 1505, 94, -17, 41
  425.   mpu.setXAccelOffset(-2429);
  426.   mpu.setYAccelOffset(-1480);
  427.   mpu.setZAccelOffset(1505);// 1688 factory default for my test chip
  428.   mpu.setXGyroOffset(94);
  429.   mpu.setYGyroOffset(-17);
  430.   mpu.setZGyroOffset(41);
  431.         // make sure it worked (returns 0 if so)
  432.     if (devStatus == 0) {
  433.         // Calibration Time: generate offsets and calibrate our MPU6050
  434.         mpu.CalibrateAccel(6);
  435.         mpu.CalibrateGyro(6);
  436.         mpu.PrintActiveOffsets();
  437.         // turn on the DMP, now that it's ready
  438.         Serial.println(F("Enabling DMP..."));
  439.         mpu.setDMPEnabled(true);
  440.         // enable Arduino interrupt detection
  441.         Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
  442.         //Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
  443.         Serial.println(F(")..."));
  444.         //attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
  445.         mpuIntStatus = mpu.getIntStatus();
  446.  
  447.         // set our DMP Ready flag so the main loop() function knows it's okay to use it
  448.         Serial.println(F("DMP ready! Waiting for first interrupt..."));
  449.         dmpReady = true;
  450.  
  451.         // get expected DMP packet size for later comparison
  452.         packetSize = mpu.dmpGetFIFOPacketSize();
  453.     } else {
  454.         // ERROR!
  455.         // 1 = initial memory load failed
  456.         // 2 = DMP configuration updates failed
  457.         // (if it's going to break, usually the code will be 1)
  458.         Serial.print(F("DMP Initialization failed (code "));
  459.         Serial.print(devStatus);
  460.         Serial.println(F(")"));
  461.     }
  462.  
  463.   xTaskCreatePinnedToCore(Task1, "Task1", 8144, NULL, 5, &th, 0); //マルチタスク起動
  464.  
  465.   leds[0] = CRGB::Green;
  466.   FastLED.show();
  467. }
  468.  
  469. void loop() {
  470.   if ((millis() - previous_time) > gyro_delay ) {
  471.     events.send(getGyroscopeReadings().c_str(),"gyro_readings",millis());
  472.     previous_time = millis();
  473.   }
  474.   if ((millis() - previous_time_acceleration) > accelerometer_delay ) {
  475.     events.send(getAccelerationReadings().c_str(),"accelerometer_readings",millis());
  476.     previous_time_acceleration = millis();
  477.   }
  478.   if ((millis() - previous_time_temp) > temperature_delay ) {
  479.     events.send(getTemperatureReadings().c_str(),"temperature_reading",millis());
  480.     previous_time_temp = millis();
  481.   }
  482.   //dnsServer.processNextRequest();
  483. }
  484. void Task1(void *pvParameters){
  485.   //別タスクで実行
  486.   while(1){
  487.   //mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  488.   //MadgwickFilter.updateIMU(gx / 131.0, gy / 131.0, gz / 131.0, ax / 16384.0, ay / 16384.0, az / 16384.0);
  489.   //ROLL = MadgwickFilter.getRoll();
  490.   //PITCH = MadgwickFilter.getPitch();
  491.   //YAW  = MadgwickFilter.getYaw();
  492.   if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
  493.     mpu.dmpGetQuaternion(&qa, fifoBuffer);
  494.     mpu.dmpGetEuler(euler, &qa);
  495.   }
  496.   //ROLL = euler[0]
  497.   //PITCH = euler[1]
  498.   //YAW  = euler[2]
  499.   //Serial.print(ROLL); Serial.print(",");
  500.   //Serial.print(PITCH); Serial.print(",");
  501.   //Serial.print(YAW);
  502.   //Serial.print("\n");
  503.   vTaskDelay(10);
  504.   if(digitalRead(39) == LOW){
  505.         leds[0] = CRGB::Yellow;
  506.         FastLED.show();
  507.         mpu.CalibrateAccel(6);
  508.         mpu.CalibrateGyro(6);
  509.         Serial.println("\nat 600 Readings");
  510.         mpu.PrintActiveOffsets();
  511.         Serial.println();
  512.         mpu.CalibrateAccel(1);
  513.         mpu.CalibrateGyro(1);
  514.         Serial.println("700 Total Readings");
  515.         mpu.PrintActiveOffsets();
  516.         Serial.println();
  517.         mpu.CalibrateAccel(1);
  518.         mpu.CalibrateGyro(1);
  519.         Serial.println("800 Total Readings");
  520.         mpu.PrintActiveOffsets();
  521.         Serial.println();
  522.         mpu.CalibrateAccel(1);
  523.         mpu.CalibrateGyro(1);
  524.         Serial.println("900 Total Readings");
  525.         mpu.PrintActiveOffsets();
  526.         Serial.println();    
  527.         mpu.CalibrateAccel(1);
  528.         mpu.CalibrateGyro(1);
  529.         Serial.println("1000 Total Readings");
  530.         mpu.PrintActiveOffsets();
  531.         Serial.println("\n\n Any of the above offsets will work nice \n\n Lets proof the PID tuning using another method:");
  532.         leds[0] = CRGB::Green;
  533.         FastLED.show();
  534.   }
  535.   }
  536.   vTaskDelete(NULL);
  537. }
Add Comment
Please, Sign In to add comment
Public Pastes
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!