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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

Get Started

First, setup esp-idf environment(v4.4.4) according to the official guide here

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

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.

idf.py menuconfig
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.

idf.py -p <PORT> 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

List of API

The API can be used against http://<UNIT_IP>:18888/ endpiont

NEW API PATH Type Function
system_info /v1/system/info [get] ping,id,ver,time
system_power /v1/system/power [post] restart, shutdown, #version_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