Resources:

1. ESP32 and IMU: https://github.com/tuupola/micropython-mpu9250
2. Calibration: https://github.com/michaelwro/accelerometer-calibration
3. Madgwick: https://github.com/micropython-IMU/micropython-fusion
4. PC visualization: https://github.com/nagyf/mpu9250-visualization : https://github.com/nagyf/mpu9250-arduino

1. Sensor Design
   1.1 Calibration
2. Sensor software
   2.1. Bluetooth
3. PC Visualization
   3.1. Installation Dependencies
   3.2 Running the Application

Description and details of the circuit diagram.

The magentometer, gyro and accelerometer require calibration.

Before and After calibration.

Magnetometer	Accelerometer

The simplest setup involves using an ESP32 connected to a PC via USB. The gait sensor sends data to the ESP32 using Bluetooth.

-sensor folder consisted the software for the gait sensor. -receiverfolder consisted the software to receive the bluetooth data and send to PC.

Execute these commands to run the application:

> python -m venv myenv
> \myenv\Scripts\activate
> pip install -r requirements.txt

> myenv\Scripts\deactivate.bat

The command is: python main.py -d <device_id> -b <data_rate> -o <test_csv_file> python main.py -d COM10 -b 115200 -o text_20-5-2023.cvs Noting that you need to go to Thonny and check what <device_id> is it.

Where:

• device_id is the name of the serial port on which the arduino is connected. The easiest way to find it out is to launch the Arduino IDE and in the you search for it Tools -> Port menu, it will be something like /dev/cu.usbmodem14411 on a Mac.
• baud_rate is the data rate used to communicate on the serial port
• test_csv_file is the filename of a file to write data to (this parameter is optional).