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Formatted and added bmi task

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This commit is contained in:
Joppe Blondel
2026-03-19 19:27:06 +01:00
parent f5f47c26fd
commit 00e354c2b3
7 changed files with 284 additions and 151 deletions
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59
main/bbot.c
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@@ -5,14 +5,13 @@
#include "esp_err.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "freertos/task.h"
#include "motors.h"
#include "bmi160.h"
#define BBOT_INPUT_PIN GPIO_NUM_1
#define BBOT_BLINK_PIN GPIO_NUM_8
#define BBOT_BLINK_DELAY_MS 500
#define BBOT_DRDY_INPUT_PIN GPIO_NUM_1
#define BBOT_I2C_PORT I2C_NUM_0
#define BBOT_I2C_SCL_IO GPIO_NUM_3
@@ -20,33 +19,10 @@
#define BBOT_I2C_FREQ_HZ 100000
static bmi160_t imu;
static QueueHandle_t imu_queue;
static void init_blink_gpio(){
const gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << BBOT_BLINK_PIN),
.mode = GPIO_MODE_OUTPUT,
.pull_up_en = GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE,
};
gpio_config(&io_conf);
gpio_set_level(BBOT_BLINK_PIN, 0);
}
static void init_input_gpio(){
const gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << BBOT_INPUT_PIN),
.mode = GPIO_MODE_INPUT,
.pull_up_en = GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE,
};
gpio_config(&io_conf);
}
static void init_i2c(){
static esp_err_t init_i2c()
{
const i2c_config_t i2c_conf = {
.mode = I2C_MODE_MASTER,
.sda_io_num = BBOT_I2C_SDA_IO,
@@ -58,22 +34,21 @@ static void init_i2c(){
ESP_ERROR_CHECK(i2c_param_config(BBOT_I2C_PORT, &i2c_conf));
ESP_ERROR_CHECK(i2c_driver_install(BBOT_I2C_PORT, i2c_conf.mode, 0, 0, 0));
return ESP_OK;
}
void app_main(void){
void app_main(void)
{
ESP_ERROR_CHECK(init_motors());
ESP_ERROR_CHECK(init_i2c());
ESP_ERROR_CHECK(imu_init(&imu, BBOT_I2C_PORT, BBOT_DRDY_INPUT_PIN, &imu_queue));
init_input_gpio();
init_blink_gpio();
init_motors();
init_i2c();
imu_init(&imu, BBOT_I2C_PORT);
while (1) {
vTaskDelay(pdMS_TO_TICKS(10));
while (1)
{
bmi160_value_t v;
imu_read(&imu, &v);
ESP_LOGI("[<IMU>]", "%d %d %d %d %d %d", v.acc.x, v.acc.y, v.acc.z, v.gyr.x, v.gyr.y, v.gyr.z);
while (xQueueReceive(imu_queue, &v, pdMS_TO_TICKS(1000)) == pdTRUE)
{
ESP_LOGI("[<IMU>]", "%d %d %d %d %d %d %d", v.time, v.acc.x, v.acc.y, v.acc.z, v.gyr.x, v.gyr.y, v.gyr.z);
}
}
}