#include <Arduino.h> #include "I2Cdev.h" #include "MPU6050.h" #include "Wire.h" #include "WiFi.h" #include "HTTPClient.h" #include "freertos/FreeRTOS.h" #include <string.h> #define CORE_DEBUG_LEVEL (5) //FROM 1 TO 5 #define READ_DELAY 20 //20 ms means 50hz #define POST_DELAY 10000 #define SEND_POST 1 MPU6050 accel(0x69); // SSID and Password static const char* ssid = "G"; static const char* password = "f1"; static const char* url = "https://hooks.zapier.com/hooks"; //data String x_buf, y_buf, z_buf; bool read_en; //rtos static TaskHandle_t xTaskPost = NULL, xTaskData = NULL; static SemaphoreHandle_t xMutex; // Establish a Wi-Fi connection with your router void initWifi() {	Serial.print("Connecting to: ");	Serial.print(ssid);	WiFi.begin(ssid, password); int timeout = 10 * 4; // 10 seconds while(WiFi.status() != WL_CONNECTED && (timeout-- > 0)) { delay(250);	Serial.print(".");	}	Serial.println(""); if(WiFi.status() != WL_CONNECTED) {	Serial.println("Failed to connect to WIFI"); while(1);	}	Serial.print("WiFi connected in: ");	Serial.print(millis());	Serial.print(", IP address: ");	Serial.println(WiFi.localIP()); } void initMPU(){	Serial.print("Waiting MPU....."); while (!accel.testConnection()){	Serial.print(accel.getDeviceID());	Serial.print("."); delay(300);	}	Serial.println(".");	Serial.println("MPU6050 connection successful");	accel.initialize(); delay(1000); // set offsets	accel.calibrate(-5109, -5497, 9133, 38, -152, 29); //low pass filter	Serial.println("Low-pass filter at 42Hz");	accel.setDLPFMode(MPU6050_DLPF_BW_42); } // Make an HTTP request to the web service void postRequest(void * pvParameters ) {	String jsonObject; while(1){ while(xSemaphoreTake(xMutex, (TickType_t) 1) != pdTRUE); if (read_en && xPortGetFreeHeapSize()>150000){ //if not reading, or not enough space, do not concatenate anymore	Serial.println(String("Heap size free: ") + xPortGetFreeHeapSize());	jsonObject.concat(String("{\"value1\":\"") + x_buf);	x_buf = (char*) NULL; //invalidate	jsonObject.concat(String("\",\"value2\":\"") + y_buf);	y_buf = (char*) NULL; //invalidate	jsonObject.concat(String("\",\"value3\":\"") + z_buf + "\"}\n");	z_buf = (char*) NULL; //invalidate	} else{	Serial.println("Not enough space, waiting to POST successfully...");	Serial.println(String("Heap size: ") + xPortGetFreeHeapSize());	Serial.println(String("Reading accelerations: ") + (read_en?"enabled":"disabled"));	} xSemaphoreGive(xMutex);	Serial.println(String("Connecting to ") + url);	HTTPClient http;	http.begin(url); //http.addHeader("authorization: Bearer ", auth_token);	http.addHeader("content-type:", "application/json");	#if SEND_POST int httpResponseCode = http.POST((uint8_t *)jsonObject.c_str(),jsonObject.length());	#else int httpResponseCode = 0;	Serial.println(jsonObject);	#endif //Serial.println(jsonObject); if(httpResponseCode > 0){	String response = http.getString(); //Get the response to the request	Serial.println(httpResponseCode); //Print return code	Serial.println(response); //Print request answer	jsonObject = (char*) NULL; while(xSemaphoreTake(xMutex, (TickType_t) 1) != pdTRUE); if (!read_en){	read_en = true;	Serial.println("Read now enabled again");	} xSemaphoreGive(xMutex);	Serial.println("json empty!");	Serial.println(String("Heap size: ") + xPortGetFreeHeapSize());	} else{	Serial.print("Error on sending POST: ");	Serial.println(httpResponseCode);	}	http.end(); //Free resources vTaskDelay(POST_DELAY);	} } void readData(void * pvParameters ) { for(;;){ int16_t ax, ay, az;	accel.getAcceleration(&ax, &ay, &az); while (xSemaphoreTake(xMutex, (TickType_t) 1) != pdTRUE); if (read_en){ bool read_x = x_buf.concat(ax + String(" ")); bool read_y = y_buf.concat(ay + String(" ")); bool read_z = z_buf.concat(az + String(" "));	read_en = read_x && read_y && read_z; if (!read_en){	Serial.println("READ NOW DISABLED");	}	} xSemaphoreGive(xMutex); vTaskDelay(READ_DELAY);	} } void setup() { // join I2C bus (I2Cdev library doesn't do this automatically)	Wire.begin(); delay(1000); // initialize serial communication	Serial.begin(115200); //mpu initMPU(); //wifi delay(4000); initWifi();	read_en = true;	xMutex = xSemaphoreCreateMutex(); xTaskCreate(	postRequest, /* Function that implements the task. */ "PostReqTask", /* Text name for the task. */ 4096, /* Stack size in words, not bytes. */	( void * ) 1, /* Parameter passed into the task. */	tskIDLE_PRIORITY,/* Priority at which the task is created. */	&xTaskPost ); /* Used to pass out the created task's handle. */ xTaskCreate(	readData, /* Function that implements the task. */ "ReadDataTask", /* Text name for the task. */ 4096, /* Stack size in words, not bytes. */	( void * ) 1, /* Parameter passed into the task. */	tskIDLE_PRIORITY,/* Priority at which the task is created. */	&xTaskData ); /* Used to pass out the created task's handle. */ } void loop(){}