imu works

hooray!! :D

diff --git a/.gitignore b/.gitignore
index ee59353c1c2d59aba96e5c3994259138ba58ce94..d0e8a429e999a87880eed6fdce5e7fede22cf9a5 100644 (file)
--- a/.gitignore
+++ b/.gitignore
@@ -16,3 +16,6 @@ pytest_embedded_log/
 
 # idf-component-manager output
 dependencies.lock
+
+.vscode/
+managed_components/

diff --git a/README b/README
index df548341e1996a026c71044d2f7a66517f537352..b6d02092e6ed8cb83dc383b7378b355aacd71b93 100644 (file)
--- a/README
+++ b/README
@@ -7,10 +7,48 @@ Authors:
     Advaith Menon
     Anish Gajula
 
+Task List
+===========
+
+Anish 
+- Pedometer
+- Workouts App
+- Compass
+- RTC & AM/PM logic
+- Rings (Move, Exercise, and Standing) (extra)
+- Snake Game (extra)
+- Messaging (extra)
+- 2035le (extra)
+
+Advaith
+- Button Shortcuts
+- Simon Says (extra)
+- Settings
+- Wireless app
+
+
+Together:
+- Inkscape for graphics/UI
+- Color coded key for button controls 
+- Haptics
+- Battery 
+- Threads
 
 DESCRIPTION
 ===========
 
+APPS:
+Clock face
+Pedometer 
+Settings
+Compass
+Messaging
+Simon Says Color Game
+Snake Game
+Wireless App (for now)
+Wordle game from 2035
+Also have a color coded key for button controls 
+
     Startup & Watch Face UI 
 Design the startup and primary display screens on the uLCD (SPI communication).
 * Display a startup splash screen on boot.
@@ -35,6 +73,7 @@ Use IMU for activity recognition.
 * Detect basic movement for pedometer app.
 * Differentiate running, walking, and sitting/standing.
 * Display step count in pedometer app.
+* Adding a compass app into the watch
 
 Messaging App with Serial Communication 
 Enable messaging functionality between two ESP modules.
@@ -49,6 +88,7 @@ Allow user configuration.
 
 Battery & Power Efficiency 
 Design to operate using a battery power source.
+* Display the battery percentage/charge level
 * Optimize firmware for low power consumption.
 * Consider sleep modes and screen power-down.
 * Manage charging/power regulation.

diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index e300e74f23f09a66ad101f215c4cb5b8b15a2bdc..47c921fb0fb6c434c22fde1c0be64477435153b4 100644 (file)
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -1,7 +1,9 @@
 idf_component_register(SRCS "hello_world_main.c"
                             "goldeloxSerial.c"
                             "task_lcd.c"
+                            "task_imu.c"
                        INCLUDE_DIRS "."
                        PRIV_REQUIRES esp_driver_gpio
                                      esp_driver_uart
+                                     esp_driver_i2c
                        INCLUDE_DIRS "")

diff --git a/main/hello_world_main.c b/main/hello_world_main.c
index a823780ea2fcf599809f41b587ff30dcdb28c3ed..c041dfea599280f59de0925fbf16dfecf82c6bd8 100644 (file)
--- a/main/hello_world_main.c
+++ b/main/hello_world_main.c
@@ -11,6 +11,8 @@
 #include "freertos/task.h"
 #include "driver/gpio.h"
 
+/* custom headers we made!!*/
+#include "task_imu.h"
 #include "pins.h"
 #include "task_lcd.h"
 
@@ -47,8 +49,8 @@ void app_main(void)
 
     gpio_dump_io_configuration(stdout, (1ULL << PIN_VIBRATOR) | (1ULL << PIN_BUTTON_RED));
 
-    lcd_task();
-
+   // lcd_task();
+    task_imu_all(NULL);
     /*
     for (int i = 10; i >= 0; i--) {
         printf("Restarting in %d seconds...\n", i);

diff --git a/main/idf_component.yml b/main/idf_component.yml
new file mode 100644 (file)
index 0000000..e049522
--- /dev/null
+++ b/main/idf_component.yml
@@ -0,0 +1,18 @@
+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: '>=4.1.0'
+  # # Put list of dependencies here
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true
+
+  cybergear-robotics/icm20948: ^0.1.0

diff --git a/main/pins.h b/main/pins.h
index 04623f42f6bd1a7e546429c3a1cda01f381e1001..da6d148f38a561b9984a3060493354e9c22f7a09 100644 (file)
--- a/main/pins.h
+++ b/main/pins.h
@@ -15,4 +15,7 @@
 #define PIN_ULCD_RX 22
 #define PIN_ULCD_RESET 19
 
+#define PIN_I2C_SDA 4
+#define PIN_I2C_SCL 5
+
 #endif

diff --git a/main/task_imu.c b/main/task_imu.c
new file mode 100644 (file)
index 0000000..d9435c8
--- /dev/null
+++ b/main/task_imu.c
@@ -0,0 +1,117 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/timers.h"
+
+#include "esp_log.h"
+#include "esp_system.h"
+
+#include "icm20948.h"
+#include "icm20948_i2c.h"
+#include "pins.h"
+#define TAG "i2c_agmt"
+
+/* i2c bus configuration */
+i2c_config_t conf = {
+       .mode = I2C_MODE_MASTER,
+       .sda_io_num = PIN_I2C_SDA,
+       .sda_pullup_en = GPIO_PULLUP_ENABLE,
+       .scl_io_num = PIN_I2C_SCL,
+       .scl_pullup_en = GPIO_PULLUP_ENABLE,
+       .master.clk_speed = 400000,
+       .clk_flags = I2C_SCLK_SRC_FLAG_FOR_NOMAL
+};
+
+/* ICM 20948 configuration */
+icm0948_config_i2c_t icm_config = {
+       .i2c_port = I2C_NUM_0,
+       .i2c_addr = ICM_20948_I2C_ADDR_AD1
+};
+
+
+void print_agmt(icm20948_agmt_t agmt)
+{
+       ESP_LOGI(TAG, "Acc: [ %d, %d, %d ] Gyr: [ %d, %d, %d ] Mag: [ %d, %d, %d ] Tmp: [ %d ]", 
+               agmt.acc.axes.x, agmt.acc.axes.y, agmt.acc.axes.z,
+               agmt.gyr.axes.x, agmt.gyr.axes.y, agmt.gyr.axes.z,
+               agmt.mag.axes.x, agmt.mag.axes.y, agmt.mag.axes.z,
+               agmt.tmp.val
+       );
+}
+
+void task_imu_all(void *)
+{
+       icm20948_device_t icm;
+
+       /* setup i2c */
+       ESP_ERROR_CHECK(i2c_param_config(icm_config.i2c_port, &conf));
+       ESP_ERROR_CHECK(i2c_driver_install(icm_config.i2c_port, conf.mode, 0, 0, 0));
+       
+       /* setup ICM20948 device */
+       icm20948_init_i2c(&icm, &icm_config);
+               
+       /* check ID */
+    while (icm20948_check_id(&icm) != ICM_20948_STAT_OK)
+       {
+               ESP_LOGE(TAG, "check id failed");
+               vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+       ESP_LOGI(TAG, "check id passed");
+
+       /* check whoami */
+       icm20948_status_e stat = ICM_20948_STAT_ERR;
+       uint8_t whoami = 0x00;
+       while ((stat != ICM_20948_STAT_OK) || (whoami != ICM_20948_WHOAMI))
+       {
+               whoami = 0x00;
+               stat = icm20948_get_who_am_i(&icm, &whoami);
+               ESP_LOGE(TAG, "whoami does not match (0x %d). Halting...", whoami);
+               vTaskDelay(1000 / portTICK_PERIOD_MS);
+       }
+
+       /* Here we are doing a SW reset to make sure the device starts in a known state */
+       icm20948_sw_reset(&icm);
+       vTaskDelay(250 / portTICK_PERIOD_MS);
+
+       icm20948_internal_sensor_id_bm sensors = (icm20948_internal_sensor_id_bm)(ICM_20948_INTERNAL_ACC | ICM_20948_INTERNAL_GYR);
+
+       // Set Gyro and Accelerometer to a particular sample mode
+       // optiona: SAMPLE_MODE_CONTINUOUS. SAMPLE_MODE_CYCLED
+       icm20948_set_sample_mode(&icm, sensors, SAMPLE_MODE_CONTINUOUS); 
+
+       // Set full scale ranges for both acc and gyr
+       icm20948_fss_t myfss;
+       myfss.a = GPM_2;   // (icm20948_accel_config_fs_sel_e)
+       myfss.g = DPS_250; // (icm20948_gyro_config_1_fs_sel_e)
+       icm20948_set_full_scale(&icm, sensors, myfss);
+
+       // Set up DLPF configuration
+       icm20948_dlpcfg_t myDLPcfg;
+       myDLPcfg.a = ACC_D473BW_N499BW;
+       myDLPcfg.g = GYR_D361BW4_N376BW5;
+       icm20948_set_dlpf_cfg(&icm, sensors, myDLPcfg);
+
+       // Choose whether or not to use DLPF
+       icm20948_enable_dlpf(&icm, ICM_20948_INTERNAL_ACC, false);
+       icm20948_enable_dlpf(&icm, ICM_20948_INTERNAL_GYR, false);
+
+       // Now wake the sensor up
+       icm20948_sleep(&icm, false);
+       icm20948_low_power(&icm, false);
+
+    /* loop */
+    while(1)
+       {
+               vTaskDelay(100 / portTICK_PERIOD_MS);
+
+               icm20948_agmt_t agmt; // = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0}};
+               if (icm20948_get_agmt(&icm, &agmt) == ICM_20948_STAT_OK) {
+                       print_agmt(agmt);
+               } else {
+                       ESP_LOGE(TAG, "Uh oh");
+               }        
+    }
+}
\ No newline at end of file

diff --git a/main/task_imu.h b/main/task_imu.h
new file mode 100644 (file)
index 0000000..9bcd14d
--- /dev/null
+++ b/main/task_imu.h
@@ -0,0 +1,8 @@
+#pragma once
+
+#ifndef __TASK_IMU_H__
+#define __TASK_IMU_H__
+
+void task_imu_all(void *pvParams);
+
+#endif
\ No newline at end of file