ESP8266 Community Forum

- Sat Jun 25, 2016 10:23 pm #49783 I've been busy setting up my NodeMCU to communicate with another NodeMCU. On the first one I am running an IMU, see the code below, which I want to broadcast via UDP or Mesh Network approach the results of the IMU to the other NodeMCU. However, when I add the mesh_node.attemptScan(request); component, it interferes with the IMU outputs due to the delay in transmitting the output. Is there a better network approach to do this? Or way to speed things up - my goal is to have serial out or IMU output sent between one NodeMCU to multiple ones (hence the mesh or UDP approach) however I haven't been able to do so since it interferes with the IMU code.

Code: Select all////////////////////////////////////////////////////////////////////////////
//
//  This file is part of RTIMULib-Arduino
//
//  Copyright (c) 2014-2015, richards-tech
//
//  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 <Wire.h>
#include "I2Cdev.h"
#include "RTIMUSettings.h"
#include "RTIMU.h"
#include "RTFusionRTQF.h"
#include "CalLib.h"
#include <EEPROM.h>

// Mesh Network
#include <ESP8266WiFi.h>
#include <ESP8266WiFiMesh.h>

RTIMU *imu;                                           // the IMU object
RTFusionRTQF fusion;                                  // the fusion object
RTIMUSettings settings;                               // the settings object

//  DISPLAY_INTERVAL sets the rate at which results are displayed

#define DISPLAY_INTERVAL  300                         // interval between pose displays

//  SERIAL_PORT_SPEED defines the speed to use for the debug serial port

#define  SERIAL_PORT_SPEED  115200

unsigned long lastDisplay;
unsigned long lastRate;
int sampleCount;

// Mesh Network
unsigned int request_i = 0;
unsigned int response_i = 0;

String manageRequest(String request);

/* Create the mesh node object */
ESP8266WiFiMesh mesh_node = ESP8266WiFiMesh(ESP.getChipId(), manageRequest);

/**
   Callback for when other nodes send you data

   @request The string received from another node in the mesh
   @returns The string to send back to the other node
*/
String manageRequest(String request)
{
  /* Print out received message */
  //  Serial.print("received: ");
  //  Serial.println(request);

  /* return a string to send back */
  //char response[60];
  //sprintf(response, "Recieved #%d from Mesh_Node%d.", response_i++, ESP.getChipId());
  return response;
}

void setup()
{
  int errcode;

  Serial.begin(SERIAL_PORT_SPEED);
  Wire.begin();
  imu = RTIMU::createIMU(&settings);                        // create the imu object

  Serial.print("ArduinoIMU starting using device "); Serial.println(imu->IMUName());
  if ((errcode = imu->IMUInit()) < 0) {
    Serial.print("Failed to init IMU: "); Serial.println(errcode);
  }

  if (imu->getCalibrationValid())
    Serial.println("Using compass calibration");
  else
    Serial.println("No valid compass calibration data");

  //  // Bring MESH online
  delay(10);

  Serial.println();
  Serial.println();
  Serial.println("Setting up mesh node...");

  /* Initialise the mesh node */
  mesh_node.begin();

  lastDisplay = lastRate = millis();
  sampleCount = 0;

  // Slerp power controls the fusion and can be between 0 and 1
  // 0 means that only gyros are used, 1 means that only accels/compass are used
  // In-between gives the fusion mix.

  fusion.setSlerpPower(1);

  // use of sensors in the fusion algorithm can be controlled here
  // change any of these to false to disable that sensor

  fusion.setGyroEnable(false);
  fusion.setAccelEnable(true);
  fusion.setCompassEnable(true);
}

void loop()
{
  unsigned long now = millis();
  unsigned long delta;
  int loopCount = 1;
  String request;

  while (imu->IMURead()) {                                // get the latest data if ready yet
    // this flushes remaining data in case we are falling behind
    if (++loopCount >= 10)
      continue;
    fusion.newIMUData(imu->getGyro(), imu->getAccel(), imu->getCompass(), imu->getTimestamp());

//    if (imu->getCalibrationValid())
//      Serial.println("Using compass calibration");
//    else
//      Serial.println("No valid compass calibration data");

    if ((now - lastDisplay) >= DISPLAY_INTERVAL) {
      RTMath::displayRollPitchYaw("Pose:", (RTVector3&)fusion.getFusionPose()); // fused output
      Serial.println();
      request = String(((RTVector3&)fusion.getFusionPose()).z() * 180 / M_PI);
    }
  }
 
  mesh_node.attemptScan(request);
  //mesh_node.attemptScan(request);

}