ESP32-C6 Multi-Sensor
IMU Module

System Architecture Kiến trúc hệ thống

Use Cases Ứng dụng

MCU Specifications — ESP32-C6 Thông số MCU

GPIO Pin Map Bản đồ chân GPIO

Sensor Register Quick Reference Tham chiếu thanh ghi nhanh

Firmware Selection Guide Hướng dẫn chọn firmware

Recommended Task Architecture Kiến trúc task gợi ý

FIFO & DMA Data Flow Luồng dữ liệu FIFO & DMA

// ── SENSOR TASK CREATION ────────────────────────────────────
// [VI] Khởi tạo task cảm biến với ưu tiên và stack hợp lý

static RingbufHandle_t sensor_ring_buf;

void app_main(void) {
    // Create shared ring buffer (4096 bytes)
    sensor_ring_buf = xRingbufferCreate(4096, RINGBUF_TYPE_BYTEBUF);

    // IIS3DWB high-speed task — highest priority
    xTaskCreatePinnedToCore(
        iis3dwb_task,        // task function
        "iis3dwb",           // task name
        4096,                // stack bytes
        NULL,                // parameters
        5,                   // priority (5 = highest)
        NULL,                // task handle
        0                    // core 0
    );

    // WebSocket server — low priority, core 1
    xTaskCreatePinnedToCore(
        ws_server_task, "ws_srv", 8192, NULL, 2, NULL, 1
    );
}

// ── FIFO READ with DMA ───────────────────────────────────────
void iis3dwb_task(void *arg) {
    uint8_t fifo_data[512];
    while(1) {
        ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // Wait for FIFO watermark IRQ
        uint16_t fifo_count = iis3dwb_get_fifo_num_samples();
        iis3dwb_spi_dma_read(fifo_data, fifo_count * 2);
        xRingbufferSend(sensor_ring_buf, fifo_data, fifo_count * 2, 0);
    }
}

Step 1 — Prerequisites Điều kiện tiên quyết

# [VI] Bước 1: Clone ESP-IDF v5.4
git clone --recursive https://github.com/espressif/esp-idf.git
cd esp-idf
git checkout v5.4
./install.sh esp32c6          # Install tools for ESP32-C6 target
source ./export.sh              # Activate IDF environment

# [VI] Bước 2: Clone dự án IMU
git clone https://github.com/hbqtechnologycompany/ESP32-C6-Multi-Sensor-IMU-Module.git
cd ESP32-C6-Multi-Sensor-IMU-Module

# [VI] Bước 3: Cấu hình WiFi trong main.c
# Edit: #define WIFI_SSID "YOUR_SSID" / #define WIFI_PASS "YOUR_PASS"

# ── Web Monitor (WiFi + BLE) ─────────────────────────────────
cd ESP32C6_IMU_WebMonitor
idf.py set-target esp32c6      # Set target chip
idf.py menuconfig               # Optional: adjust config (WiFi, log levels)
idf.py build                    # Compile (~2-5 min first build)
idf.py -p /dev/ttyUSB0 flash   # Flash via USB (Linux; use COMx on Windows)
idf.py -p /dev/ttyUSB0 monitor # Open serial monitor (Ctrl+] to exit)

# ── High-Speed Vibration (IIS3DWB only) ──────────────────────
cd ../ESP32C6_IIS3_WebMonitor_HighSpeed
idf.py build flash monitor -p /dev/ttyUSB0

# ── BLE Streamer ─────────────────────────────────────────────
cd ../ESP32C6_IMU_BLEStreamer
idf.py build flash monitor -p /dev/ttyUSB0

WiFi Configuration Cấu hình WiFi

// [VI] Cập nhật thông tin WiFi trước khi build
#define WIFI_SSID      "YOUR_WIFI_SSID"    // 2.4GHz only for ESP32-C6
#define WIFI_PASS      "YOUR_WIFI_PASSWORD"
#define WIFI_MAX_RETRY 5                    // Retry before AP mode fallback

// After flash, open browser: http://<ESP_IP_ADDRESS>
// Find IP in serial monitor after connection:
// I (3421) wifi: connected to AP, IP: 192.168.x.x

REST Endpoints Các endpoint REST

JSON Data Format Định dạng dữ liệu JSON

{
  "timestamp_ms": 1735000000123,
  "iis2mdc": {
    "mx_gauss": 0.042, "my_gauss": -0.018, "mz_gauss": 0.391,
    "temp_c": 25.3, "data_ready": true
  },
  "iis3dwb": {
    "ax_g": -0.012, "ay_g": 0.003, "az_g": 0.981,
    "odr_hz": 26667, "fifo_samples": 512
  },
  "icm45686": {
    "ax_g": -0.011, "ay_g": 0.002, "az_g": 0.979,
    "gx_dps": 0.12, "gy_dps": -0.08, "gz_dps": 0.21,
    "apex_tap": false, "apex_wom": false
  },
  "scl3300": {
    "angle_x_deg": 1.24, "angle_y_deg": -0.31,
    "angle_z_deg": 89.97, "crc_ok": true, "mode": 1
  }
}

WebSocket Protocol Giao thức WebSocket

// [VI] Kết nối WebSocket để nhận dữ liệu cảm biến realtime
const ws = new WebSocket('ws://192.168.1.x/ws');

ws.onopen = () => console.log('Connected to ESP32-C6 IMU');

ws.onmessage = (event) => {
  const data = JSON.parse(event.data);
  // Access sensor values
  console.log('Accel Z:', data.iis3dwb.az_g, 'g');
  console.log('Tilt X:',  data.scl3300.angle_x_deg, '°');
};

ws.onerror = (err) => console.error('WS Error:', err);

GATT Service Layout Cấu trúc GATT Service

BLE Frame Format Định dạng frame BLE

// [VI] Cấu trúc frame BLE 40 bytes (little-endian)
typedef struct __attribute__((packed)) {
    uint32_t timestamp_ms;     // bytes 0-3:   ESP32 uptime ms
    int16_t  iis3_ax;          // bytes 4-5:   IIS3DWB accel X (raw LSB)
    int16_t  iis3_ay;          // bytes 6-7:   IIS3DWB accel Y
    int16_t  iis3_az;          // bytes 8-9:   IIS3DWB accel Z
    int16_t  icm_ax, icm_ay, icm_az;  // bytes 10-15: ICM45686 accel
    int16_t  icm_gx, icm_gy, icm_gz;  // bytes 16-21: ICM45686 gyro
    int16_t  mag_x, mag_y, mag_z;     // bytes 22-27: IIS2MDC mag
    int16_t  tilt_x, tilt_y, tilt_z;  // bytes 28-33: SCL3300 tilt (0.01°/LSB)
    uint8_t  status;           // byte  34:    bit flags [CRC_OK | WOM | TAP...]
    uint8_t  reserved[5];     // bytes 35-39: future use / padding
} imu_ble_frame_t;             // Total: 40 bytes

Dashboard Features Tính năng Dashboard

# [VI] Cài đặt dashboard Python BLE
cd ble-imu-dashboard
pip install -r requirements.txt   # bleak, matplotlib, numpy, PyQt6
python main.py                     # Launch dashboard

# [VI] Build file .exe standalone (Windows)
.\build_exe.ps1                    # Output: dist\ESP32-IMU-Dashboard.exe

# [VI] Chạy trên Linux/macOS (cần Bluetooth adapter)
sudo python main.py                # sudo required for BLE access on some distros

Power States Các chế độ nguồn

Battery Life Estimate Ước tính tuổi thọ pin

// [VI] Kích hoạt Light Sleep giữa các chu kỳ đọc cảm biến
#include "esp_sleep.h"

void enter_light_sleep_ms(uint32_t ms) {
    esp_sleep_enable_timer_wakeup(ms * 1000ULL); // µs units
    esp_light_sleep_start();
    // Execution resumes here after wakeup
}

// Usage in sensor task (read every 100ms, sleep between):
while(1) {
    read_all_sensors();
    publish_data();
    enter_light_sleep_ms(90);    // 90ms sleep, ~10Hz effective rate
}

Fusion Options Các thuật toán fusion

// [VI] Bộ lọc bù đơn giản kết hợp Accel + Gyro
#define ALPHA  0.98f          // Trust gyro 98%, accel 2%
#define DT     0.001f         // 1ms sample period (1kHz)

float angle_x = 0.0f;

void complementary_filter_update(
    float accel_x, float accel_z,
    float gyro_x_dps
) {
    float accel_angle = atan2f(accel_x, accel_z) * 57.2958f; // rad→deg
    float gyro_delta  = gyro_x_dps * DT;

    angle_x = ALPHA * (angle_x + gyro_delta) + (1.0f - ALPHA) * accel_angle;
    // Result: angle_x in degrees, drift-corrected
}

Debug Log Levels Cấp độ log debug

# [VI] Bật verbose logging để debug
idf.py menuconfig
# → Component Config → Log Output → Default log verbosity → VERBOSE

# Or set at runtime in code:
esp_log_level_set("IIS3DWB", ESP_LOG_DEBUG);
esp_log_level_set("ICM45686", ESP_LOG_DEBUG);
esp_log_level_set("WIFI", ESP_LOG_WARN);   // Reduce WiFi noise