Working IMU with polling

main/bbot.c

@@ -0,0 +1,79 @@
+#include <stdio.h>
+
+#include "driver/gpio.h"
+#include "driver/i2c.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.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_I2C_PORT I2C_NUM_0
+#define BBOT_I2C_SCL_IO GPIO_NUM_3
+#define BBOT_I2C_SDA_IO GPIO_NUM_2
+#define BBOT_I2C_FREQ_HZ 100000
+
+static bmi160_t imu;
+
+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(){
+    const i2c_config_t i2c_conf = {
+        .mode = I2C_MODE_MASTER,
+        .sda_io_num = BBOT_I2C_SDA_IO,
+        .scl_io_num = BBOT_I2C_SCL_IO,
+        .sda_pullup_en = GPIO_PULLUP_ENABLE,
+        .scl_pullup_en = GPIO_PULLUP_ENABLE,
+        .master.clk_speed = BBOT_I2C_FREQ_HZ,
+    };
+
+    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));
+}
+
+void app_main(void){
+
+    init_input_gpio();
+    init_blink_gpio();
+    
+    init_motors();
+
+    init_i2c();
+    imu_init(&imu, BBOT_I2C_PORT);
+
+    while (1) {
+        vTaskDelay(pdMS_TO_TICKS(10));
+        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);
+    }
+}