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/*************************************************************************
* Testing sketch for Freematics OBD-II UART Adapter V2.1
* Reads and prints motion sensor data and computed orientation data
* Distributed under BSD
* Visit https://freematics.com/products for more product information
* Written by Stanley Huang <stanley@freematics.com.au>
*************************************************************************/
#include <OBD2UART.h>
// On Arduino Leonardo, Micro, MEGA or DUE, hardware serial can be used for output as the adapter occupies Serial1
// On Arduino UNO and those have no Serial1, we use software serial for output as the adapter uses Serial
#ifdef ARDUINO_AVR_UNO
#include <SoftwareSerial.h>
SoftwareSerial mySerial(A2, A3);
#else
#define mySerial Serial
#endif
#if defined(ESP32) && !defined(Serial1)
HardwareSerial Serial1(1);
#endif
COBD obd;
bool hasMEMS;
void setup()
{
mySerial.begin(115200);
while (!mySerial);
// this will begin serial
for (;;) {
delay(1000);
byte version = obd.begin();
mySerial.print("Freematics OBD-II Adapter ");
if (version > 0) {
mySerial.println("detected");
break;
} else {
mySerial.println("not detected");
}
}
// initialize MEMS with sensor fusion enabled
hasMEMS = obd.memsInit(true);
mySerial.print("MEMS:");
mySerial.println(hasMEMS ? "OK" : "NO");
if (!hasMEMS) {
for (;;);
}
}
void loop()
{
int16_t acc[3] = {0};
int16_t gyro[3] = {0};
int16_t mag[3] = {0};
if (!obd.memsRead(acc, gyro, mag)) return;
mySerial.print("ACC:");
mySerial.print(acc[0]);
mySerial.print('/');
mySerial.print(acc[1]);
mySerial.print('/');
mySerial.print(acc[2]);
mySerial.print(" GYRO:");
mySerial.print(gyro[0]);
mySerial.print('/');
mySerial.print(gyro[1]);
mySerial.print('/');
mySerial.print(gyro[2]);
mySerial.print(" MAG:");
mySerial.print(mag[0]);
mySerial.print('/');
mySerial.print(mag[1]);
mySerial.print('/');
mySerial.print(mag[2]);
mySerial.println();
float yaw, pitch, roll;
if (obd.memsOrientation(yaw, pitch, roll)) {
mySerial.print("Orientation: ");
mySerial.print(yaw, 2);
mySerial.print(' ');
mySerial.print(pitch, 2);
mySerial.print(' ');
mySerial.println(roll, 2);
}
delay(100);
}
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