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Added license to most files

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Eiren Rain
2021-03-07 06:21:32 +03:00
parent c7ae8b3c8a
commit ca73b8a6fb
18 changed files with 368 additions and 178 deletions
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19
lib/bno080/BNO080.cpp
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@@ -19,7 +19,24 @@
Arduino IDE 1.8.5
SparkFun code, firmware, and software is released under the MIT License.
Please see LICENSE.md for further details.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "BNO080.h"

21
lib/bno080/BNO080.h
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@@ -18,8 +18,25 @@
Development environment specifics:
Arduino IDE 1.8.3
SparkFun code, firmware, and software is released under the MIT License.
Please see LICENSE.md for further details.
SparkFun code, firmware, and software is released under the MIT License.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#pragma once

23
lib/ota/ota.cpp
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "ota.h"
void otaSetup(const char * const otaPassword) {

23
lib/ota/ota.h
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef _OTA_H_
#define _OTA_H 1

23
src/bno080sensor.cpp
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "BNO080.h"
#include "sensor.h"
#include "udpclient.h"

23
src/configuration.cpp
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include <EEPROM.h>
#include "configuration.h"

23
src/configuration.h
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef _OWO_CONFIG_H_
#define _OWO_CONFIG_H_

25
src/credentials.h
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@@ -1 +1,24 @@
const char* otaPassword = ""; // YOUR OTA PASSWORD HERE, LEAVE EMPTY FRO NO OTA UPDATES
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
const char* otaPassword = ""; // YOUR OTA PASSWORD HERE, LEAVE EMPTY TO DISABLE OTA UPDATES

41
src/defines.h
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@@ -1,17 +1,24 @@
/*
Hardware setup:
MPU9250 Breakout --------- Adafruit Huzzah
VDD ---------------------- 3.3V
VDDI --------------------- 3.3V
SDA ----------------------- Pin4
SCL ----------------------- Pin5
GND ---------------------- GND
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
EEPROM
Vcc to 3.3V
GND to GND
AO, A1, A2 to GND (on 24LC256 this gives an i2c slave address as 1010000 which is 0x50)
SDA/SCL to Pin4 and Pin5 of Adafruit Huzzah, respectively
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#define IMU_MPU9250 1
@@ -37,21 +44,15 @@
#define IMU_HAS_MAG false
#endif
///////////////////////////////////////////////////////////////////
//Debug information
///////////////////////////////////////////////////////////////////
#define serialDebug false // Set to true to get Serial output for debugging
#define serialBaudRate 115200
///////////////////////////////////////////////////////////////////
//Determines how often we sample and send data
///////////////////////////////////////////////////////////////////
// Determines how often we sample and send data
#define samplingRateInMillis 10
#define batterySampleRate 10000
///////////////////////////////////////////////////////////////////
//Setup for the Magnetometer
///////////////////////////////////////////////////////////////////
// Setup for the Magnetometer
#define useFullCalibrationMatrix true
#define sensorIdTime 1000

37
src/main.cpp
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@@ -1,22 +1,25 @@
//
// MPU-9250 Mahony AHRS S.J. Remington 3/2020
// last update 12/17/2020
// added full matrix calibration for accel and mag
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
// ***Standard orientation defined by gyro/accel: X North Y West Z Up***
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
// VERY VERY IMPORTANT!
// Both the accelerometer and magnetometer MUST be properly calibrated for this program to work, and the gyro offset must be determned.
// Follow the procedure described in http://sailboatinstruments.blogspot.com/2011/08/improved-magnetometer-calibration.html
// or in more detail, the tutorial https://thecavepearlproject.org/2015/05/22/calibrating-any-compass-or-accelerometer-for-arduino/
//
// To collect data for calibration, use the companion programs MPU9250_cal and Magneto 1.2 from sailboatinstruments.blogspot.com
//
// For correcting the data, below I use the diagonal element of matrix A and ignore
// the off diagonal components. If those terms are large, (most likely only for the magnetometer)
// add them in to the corrections in function get_MPU_scaled()
//
// This version must be compiled with library routines in subfolder "libs"
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "Wire.h"
#include "ota.h"

23
src/mpu6050sensor.cpp
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "MPU9250.h"
#include "sensor.h"
#include "udpclient.h"

23
src/mpu9250sensor.cpp
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain, S.J. Remington
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "MPU9250.h"
#include "sensor.h"
#include "udpclient.h"

23
src/sensor.h
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef _SENSOR_H_
#define _SENSOR_H_ 1

23
src/udpclient.cpp
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "udpclient.h"
#include "configuration.h"
#include "defines.h"

23
src/udpclient.h
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@@ -1,3 +1,26 @@
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef _UDP_CLIENT_H_
#define _UDP_CLIENT_H_

32
src/wificredentials.h
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@@ -1,5 +1,33 @@
// Credentials
/*
SlimeVR Code is placed under the MIT license
Copyright (c) 2021 Eiren Rain
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef _WIFICREDENTIALS_H_
#define _WIFICREDENTIALS_H_ 1
// Default wifi credentials
char* networkName = "";
char* networkPassword = "";
char* host = "";
int port = 6969;
int port = 6969;
#endif // _WIFICREDENTIALS_H_

130
test/calibrate.cpp
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@@ -1,130 +0,0 @@
// program to collect raw data from MPU9250 accel and magnetometer for later correction.
// output in form suitable for .csv file
// Use Magneto 1.2 to calculate corrections for BOTH accelerometer and magnetometer
// http://sailboatinstruments.blogspot.com/2011/09/improved-magnetometer-calibration-part.html
// S. J. Remington 3/2020
//USAGE:
// 1. Allow the sensor to sit still upon program startup for gyro bias data collection.
// 2. TURN THE SENSOR VERY SLOWLY AND CAREFULLY DURING DATA COLLECTION TO AVOID EXCESS ACCELERATION!
#include "Wire.h"
// I2Cdev and MPU9250 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.cpp"
#include "MPU9250.cpp"
#include "defines.h"
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU9250 imu;
I2Cdev I2C_M;
#define sample_num 300 //acc/mag scaling points to collect
uint8_t buffer_m[6]; //six points mag
//raw data and scaled as vector
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t mx, my, mz;
float Axyz[3] = {0};
float Gxyz[3] = {0};
float Mxyz[3] = {0};
//previously determined scale and offsets for accel and mag
float A_cal[6] = {0}; // 0..2 scale, 3..5 offsets
float M_cal[6] = {0};
void getAcc_Mag_raw(void)
{
imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
Axyz[0] = (float)ax;
Axyz[1] = (float)ay;
Axyz[2] = (float)az;
Mxyz[0] = (float)mx;
Mxyz[1] = (float)my;
Mxyz[2] = (float)mz;
}
void getGyro_scaled(void)
{
imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
Gxyz[0] = (float)gx * 250 / 32768; //250 LSB(d/s)
Gxyz[1] = (float)gy * 250 / 32768;
Gxyz[2] = (float)gz * 250 / 32768;
}
int N = sample_num;
void setup()
{
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
Serial.begin(serialBaudRate);
// initialize device
Serial.println("Initializing I2C devices...");
imu.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(imu.testConnection() ? "MPU9250 OK" : "MPU9250 ??");
Serial.println("Gyro bias collection ... KEEP SENSOR STILL");
delay(2000);
for (int i = 0; i < N; i++)
{
imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
Gxyz[0] += float(gx);
Gxyz[1] += float(gy);
Gxyz[2] += float(gz);
}
Serial.print("Done. Gyro offsets (raw) ");
Serial.print(Gxyz[0] / N, 1);
Serial.print(", ");
Serial.print(Gxyz[1] / N, 1);
Serial.print(", ");
Serial.print(Gxyz[2] / N, 1);
Serial.println();
Serial.print("Collecting ");
Serial.print(N);
Serial.println(" points for scaling, 3/second");
Serial.println("TURN SENSOR VERY SLOWLY AND CAREFULLY IN 3D");
delay(2000);
float M_mag = 0, A_mag = 0;
int i, j;
j = N;
while (j-- >= 0)
{
getAcc_Mag_raw();
for (i = 0; i < 3; i++)
{
M_mag += Mxyz[i] * Mxyz[i];
A_mag += Axyz[i] * Axyz[i];
}
Serial.print(ax);
Serial.print(" ");
Serial.print(ay);
Serial.print(" ");
Serial.print(az);
Serial.print(" ");
Serial.print(mx);
Serial.print(" ");
Serial.print(my);
Serial.print(" ");
Serial.println(mz);
delay(300);
}
Serial.print("Done. ");
Serial.print("rms Acc = ");
Serial.print(sqrt(A_mag / N));
Serial.print(", rms Mag = ");
Serial.println(sqrt(M_mag / N));
}
void loop()
{
}

11
test/i2cscan.cpp
View File

@@ -8,10 +8,11 @@
#include <Arduino.h>
#include <Wire.h>
#include "ota.cpp"
#include "configuration.cpp"
#include "util.cpp"
#include "udpclient.cpp"
#include "ota.h"
#include "configuration.h"
#include "helper_3dmath.h"
#include "udpclient.h"
#include "credentials.h"
DeviceConfig config;
@@ -115,5 +116,5 @@ void setup() {
scanPorts();
setUpWiFi(&config);
otaSetup();
otaSetup(otaPassword);
}