https://github.com/robotflow-initiative/rfmarkit-esp-node
Firmware of an IMU tag
https://github.com/robotflow-initiative/rfmarkit-esp-node
embodied-ai esp32 imu mocap
Last synced: 3 months ago
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Firmware of an IMU tag
- Host: GitHub
- URL: https://github.com/robotflow-initiative/rfmarkit-esp-node
- Owner: robotflow-initiative
- Created: 2022-02-11T15:44:00.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2025-05-06T11:26:53.000Z (about 1 year ago)
- Last Synced: 2025-05-06T12:48:45.043Z (about 1 year ago)
- Topics: embodied-ai, esp32, imu, mocap
- Language: C
- Homepage:
- Size: 4.71 MB
- Stars: 3
- Watchers: 0
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# RFMarkIt Firmware
This is the firmware for RFMarkIt project, which is a project for a active marker system for motion capture / 6DOF tracking.
For more details, visit [our website](https://sites.google.com/view/markit-virat/home)
## Get Started
First, setup esp-idf environment(v4.4.4) according to the official guide [here](https://docs.espressif.com/projects/esp-idf/zh_CN/v4.4.4/esp32/get-started/)
Now, you need to choose from hardware v1.0 and v2.0. v1.0 uses esp32 and hi229, while v2.0 uses esp32s3 and bno085
```shell
make set_hardware_v1
make set_hardware_v2
```
If you want to change other settings (e.g. use linear acceleration), you can run `idf.py menuconfig` in the project root directory.
```shell
idf.py menuconfig
```
```shell
Then, build the project by running `idf.py build` in the project root directory.
```shell
idf.py build
```
To flash an node, run `idf.py flash monitor` in the project root directory.
```shell
idf.py -p flash monitor
```
## Developers' Guide
The project is organized as follows:
- `components` system components
- `components/apps` applications that runs with RTOS
- `components/ble` Bluetooth Low Energy(BLE) components
- `components/blink` functions to operate LED
- `components/imu` imu interface
- `components/rest_controller` RESTful API controller
- `components/sys` supporting modules for system
- `docs` documents
- `include` global headers
- `lib` common libraries
- `lib/battery` battery
- `lib/bno085` bno085 library
- `lib/hi229` hi229 library
- `lib/libtcp` tcp library
- `lib/libudp` udp library
- `lib/ring_buf` ring buffer library
- `lib/spatial` spatial math library
- `main` entrypoint of firmware
- `scripts` helper scripts
- `tests` function tests
## Operators' Guide
The detailed guide can be found in [docs/manual.md](docs/manual.md)
### List of API
The API can be used against `http://:18888/` endpiont
| NEW API | PATH | Type | Function |
|-------------------|-------------------------|-----------------|----------------------------------------------------------|
| system_info | /v1/system/info | `[get] ` | ping,id,ver,time |
| system_power | /v1/system/power | `[post] ` | reboot, shutdown, |
| system_upgrade | /v1/system/upgrade | `[get\|post] ` | update |
| system_selftest | /v1/system/selftest | `[post] ` | self_test |
| system_power_mgmt | /v1/system/power_mgmt | `[post] ` | always_on, cancel_always_on |
| nvs_variable | /v1/nvs/variable/ | `[get\|post] ` | varset,varget |
| imu_calibrate | /v1/imu/calibrate | `[post] ` | imu_cali_reset, imu_cali_acc, imu_cali_mag |
| imu_toggle | /v1/imu/toggle | `[post] ` | imu_enable,imu_disable, |
| imu_status | /v1/imu/status | `[get] ` | imu_status imu_imm |
| imu_debug_toggle | /v1/imu/debug/toggle | `[post] ` | toggle debug mode and disconnect monitor |
| imu_debug_socket | /v1/imu/debug/socket | `[ws] ` | imu_debug imu_setup |
| blink_configure | /v1/blink/configure | `[get\|post] ` | blink_set, blink_get, auto/manual |
| blink_toggle | /v1/blink/toggle | `[get\|post] ` | blink_start, blink_stop, blink_mute, also get led status |
| operation_mode | /v1/operation/mode | `[get\|post] ` | start stop |