titor/mimiclaw
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #104 from IRONICBo/feat/remove-imu-device

Browse Source
This commit is contained in:
crispyberry
2026-03-01 15:10:11 +08:00
committed by GitHub
parent f1571118f0 785259d3e2
commit 6b2eb9c30f
14 changed files with 1 additions and 1002 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
main/CMakeLists.txt
View File

@@ -1,11 +1,6 @@
idf_component_register(
SRCS
"mimi.c"
"buttons/multi_button.c"
"buttons/button_driver.c"
"imu/I2C_Driver.c"
"imu/QMI8658.c"
"imu/imu_manager.c"
"bus/message_bus.c"
"wifi/wifi_manager.c"
"telegram/telegram_bot.c"
@@ -30,5 +25,5 @@ idf_component_register(
REQUIRES
nvs_flash esp_wifi esp_netif esp_http_client esp_http_server
esp_https_ota esp_event json spiffs console vfs app_update esp-tls
driver esp_timer
esp_timer
)

62
main/buttons/button_driver.c
View File

@@ -1,62 +0,0 @@
#include "buttons/button_driver.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_timer.h"
#include "driver/gpio.h"
static void ESP32_Button_init(void){
gpio_reset_pin(Button_PIN1);
gpio_set_direction(Button_PIN1, GPIO_MODE_INPUT);
gpio_set_pull_mode(Button_PIN1, GPIO_PULLUP_ONLY);
}
static void Timer_Callback(void *arg){
button_ticks();
}
struct Button BUTTON1;
PressEvent BOOT_KEY_State;
static uint8_t Read_Button_GPIO_Level(uint8_t button_id)
{
if(!button_id)
return (uint8_t)(gpio_get_level(Button_PIN1));
return 0;
}
static void Button_SINGLE_CLICK_Callback(void* btn){
struct Button *user_button = (struct Button *)btn;
if(user_button == &BUTTON1){
BOOT_KEY_State = SINGLE_CLICK;
}
}
static void Button_DOUBLE_CLICK_Callback(void* btn){
struct Button *user_button = (struct Button *)btn;
if(user_button == &BUTTON1){
BOOT_KEY_State = DOUBLE_CLICK;
}
}
static void Button_LONG_PRESS_START_Callback(void* btn){
struct Button *user_button = (struct Button *)btn;
if(user_button == &BUTTON1){
BOOT_KEY_State= LONG_PRESS_START;
}
}
void button_Init(void)
{
ESP32_Button_init();
button_init(&BUTTON1, Read_Button_GPIO_Level, 0 , 0);
button_attach(&BUTTON1, SINGLE_CLICK, Button_SINGLE_CLICK_Callback);
button_attach(&BUTTON1, DOUBLE_CLICK, Button_DOUBLE_CLICK_Callback);
button_attach(&BUTTON1, LONG_PRESS_START, Button_LONG_PRESS_START_Callback);
const esp_timer_create_args_t clock_tick_timer_args =
{
.callback = &Timer_Callback,
.name = "Timer_task",
.arg = NULL,
};
esp_timer_handle_t clock_tick_timer = NULL;
ESP_ERROR_CHECK(esp_timer_create(&clock_tick_timer_args, &clock_tick_timer));
ESP_ERROR_CHECK(esp_timer_start_periodic(clock_tick_timer, 1000 * 5));
BOOT_KEY_State = NONE_PRESS;
button_start(&BUTTON1);
}

16
main/buttons/button_driver.h
View File

@@ -1,16 +0,0 @@
#ifndef BUTTON_BSP_H
#define BUTTON_BSP_H
#include <stdio.h>
#include <stdbool.h>
#include "buttons/multi_button.h"
#define BOOT_KEY_PIN 0
#define Button_PIN1 BOOT_KEY_PIN
extern PressEvent BOOT_KEY_State;
void button_Init(void);
#endif

208
main/buttons/multi_button.c
View File

@@ -1,208 +0,0 @@
/*
* Copyright (c) 2016 Zibin Zheng <znbin@qq.com>
* All rights reserved
*/
#include "multi_button.h"
#define EVENT_CB(ev) if(handle->cb[ev])handle->cb[ev]((void*)handle)
#define PRESS_REPEAT_MAX_NUM 15 /*!< The maximum value of the repeat counter */
//button handle list head.
static struct Button* head_handle = NULL;
static void button_handler(struct Button* handle);
/**
* @brief Initializes the button struct handle.
* @param handle: the button handle struct.
* @param pin_level: read the HAL GPIO of the connected button level.
* @param active_level: pressed GPIO level.
* @param button_id: the button id.
* @retval None
*/
void button_init(struct Button* handle, uint8_t(*pin_level)(uint8_t), uint8_t active_level, uint8_t button_id)
{
memset(handle, 0, sizeof(struct Button));
handle->event = (uint8_t)NONE_PRESS;
handle->hal_button_Level = pin_level;
handle->button_level = !active_level;
handle->active_level = active_level;
handle->button_id = button_id;
}
/**
* @brief Attach the button event callback function.
* @param handle: the button handle struct.
* @param event: trigger event type.
* @param cb: callback function.
* @retval None
*/
void button_attach(struct Button* handle, PressEvent event, BtnCallback cb)
{
handle->cb[event] = cb;
}
/**
* @brief Inquire the button event happen.
* @param handle: the button handle struct.
* @retval button event.
*/
PressEvent get_button_event(struct Button* handle)
{
return (PressEvent)(handle->event);
}
/**
* @brief Button driver core function, driver state machine.
* @param handle: the button handle struct.
* @retval None
*/
static void button_handler(struct Button* handle)
{
uint8_t read_gpio_level = handle->hal_button_Level(handle->button_id);
//ticks counter working..
if((handle->state) > 0) handle->ticks++;
/*------------button debounce handle---------------*/
if(read_gpio_level != handle->button_level) { //not equal to prev one
//continue read 3 times same new level change
if(++(handle->debounce_cnt) >= DEBOUNCE_TICKS) {
handle->button_level = read_gpio_level;
handle->debounce_cnt = 0;
}
} else { //level not change ,counter reset.
handle->debounce_cnt = 0;
}
/*-----------------State machine-------------------*/
switch (handle->state) {
case 0:
if(handle->button_level == handle->active_level) { //start press down
handle->event = (uint8_t)PRESS_DOWN;
EVENT_CB(PRESS_DOWN);
handle->ticks = 0;
handle->repeat = 1;
handle->state = 1;
} else {
handle->event = (uint8_t)NONE_PRESS;
}
break;
case 1:
if(handle->button_level != handle->active_level) { //released press up
handle->event = (uint8_t)PRESS_UP;
EVENT_CB(PRESS_UP);
handle->ticks = 0;
handle->state = 2;
} else if(handle->ticks > LONG_TICKS) {
handle->event = (uint8_t)LONG_PRESS_START;
EVENT_CB(LONG_PRESS_START);
handle->state = 5;
}
break;
case 2:
if(handle->button_level == handle->active_level) { //press down again
handle->event = (uint8_t)PRESS_DOWN;
EVENT_CB(PRESS_DOWN);
if(handle->repeat != PRESS_REPEAT_MAX_NUM) {
handle->repeat++;
}
EVENT_CB(PRESS_REPEAT); // repeat hit
handle->ticks = 0;
handle->state = 3;
} else if(handle->ticks > SHORT_TICKS) { //released timeout
if(handle->repeat == 1) {
handle->event = (uint8_t)SINGLE_CLICK;
EVENT_CB(SINGLE_CLICK);
} else if(handle->repeat == 2) {
handle->event = (uint8_t)DOUBLE_CLICK;
EVENT_CB(DOUBLE_CLICK); // repeat hit
}
handle->state = 0;
}
break;
case 3:
if(handle->button_level != handle->active_level) { //released press up
handle->event = (uint8_t)PRESS_UP;
EVENT_CB(PRESS_UP);
if(handle->ticks < SHORT_TICKS) {
handle->ticks = 0;
handle->state = 2; //repeat press
} else {
handle->state = 0;
}
} else if(handle->ticks > SHORT_TICKS) { // SHORT_TICKS < press down hold time < LONG_TICKS
handle->state = 1;
}
break;
case 5:
if(handle->button_level == handle->active_level) {
//continue hold trigger
handle->event = (uint8_t)LONG_PRESS_HOLD;
EVENT_CB(LONG_PRESS_HOLD);
} else { //released
handle->event = (uint8_t)PRESS_UP;
EVENT_CB(PRESS_UP);
handle->state = 0; //reset
}
break;
default:
handle->state = 0; //reset
break;
}
}
/**
* @brief Start the button work, add the handle into work list.
* @param handle: target handle struct.
* @retval 0: succeed. -1: already exist.
*/
int button_start(struct Button* handle)
{
struct Button* target = head_handle;
while(target) {
if(target == handle) return -1; //already exist.
target = target->next;
}
handle->next = head_handle;
head_handle = handle;
return 0;
}
/**
* @brief Stop the button work, remove the handle off work list.
* @param handle: target handle struct.
* @retval None
*/
void button_stop(struct Button* handle)
{
struct Button** curr;
for(curr = &head_handle; *curr; ) {
struct Button* entry = *curr;
if(entry == handle) {
*curr = entry->next;
// free(entry);
return;//glacier add 2021-8-18
} else {
curr = &entry->next;
}
}
}
/**
* @brief background ticks, timer repeat invoking interval 5ms.
* @param None.
* @retval None
*/
void button_ticks(void)
{
struct Button* target;
for(target=head_handle; target; target=target->next) {
button_handler(target);
}
}

62
main/buttons/multi_button.h
View File

@@ -1,62 +0,0 @@
/*
* Copyright (c) 2016 Zibin Zheng <znbin@qq.com>
* All rights reserved
*/
#ifndef _MULTI_BUTTON_H_
#define _MULTI_BUTTON_H_
#include <stdint.h>
#include <string.h>
//According to your need to modify the constants.
#define TICKS_INTERVAL 5 //ms
#define DEBOUNCE_TICKS 3 //MAX 7 (0 ~ 7)
#define SHORT_TICKS (300 /TICKS_INTERVAL)
#define LONG_TICKS (1000 /TICKS_INTERVAL)
typedef void (*BtnCallback)(void*);
typedef enum {
PRESS_DOWN = 0,
PRESS_UP,
PRESS_REPEAT,
SINGLE_CLICK,
DOUBLE_CLICK,
LONG_PRESS_START,
LONG_PRESS_HOLD,
number_of_event,
NONE_PRESS
}PressEvent;
typedef struct Button {
uint16_t ticks;
uint8_t repeat : 4;
uint8_t event : 4;
uint8_t state : 3;
uint8_t debounce_cnt : 3;
uint8_t active_level : 1;
uint8_t button_level : 1;
uint8_t button_id;
uint8_t (*hal_button_Level)(uint8_t button_id_);
BtnCallback cb[number_of_event];
struct Button* next;
}Button;
#ifdef __cplusplus
extern "C" {
#endif
void button_init(struct Button* handle, uint8_t(*pin_level)(uint8_t), uint8_t active_level, uint8_t button_id);
void button_attach(struct Button* handle, PressEvent event, BtnCallback cb);
PressEvent get_button_event(struct Button* handle);
int button_start(struct Button* handle);
void button_stop(struct Button* handle);
void button_ticks(void);
#ifdef __cplusplus
}
#endif
#endif

54
main/imu/I2C_Driver.c
View File

@@ -1,54 +0,0 @@
#include "I2C_Driver.h"
#define I2C_TRANS_BUF_MINIMUM_SIZE (sizeof(i2c_cmd_desc_t) + \
sizeof(i2c_cmd_link_t) * 8) /* It is required to have allocate one i2c_cmd_desc_t per command:
* start + write (device address) + write buffer +
* start + write (device address) + read buffer + read buffer for NACK +
* stop */
static const char *I2C_TAG = "I2C";
/**
* @brief i2c master initialization
*/
static esp_err_t i2c_master_init(void)
{
int i2c_master_port = I2C_MASTER_NUM;
i2c_config_t conf = {
.mode = I2C_MODE_MASTER,
.sda_io_num = I2C_Touch_SDA_IO,
.scl_io_num = I2C_Touch_SCL_IO,
.sda_pullup_en = GPIO_PULLUP_ENABLE,
.scl_pullup_en = GPIO_PULLUP_ENABLE,
.master.clk_speed = I2C_MASTER_FREQ_HZ,
};
i2c_param_config(i2c_master_port, &conf);
return i2c_driver_install(i2c_master_port, conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0);
}
void I2C_Init(void)
{
/********************* I2C *********************/
ESP_ERROR_CHECK(i2c_master_init());
ESP_LOGI(I2C_TAG, "I2C initialized successfully");
}
// Reg addr is 8 bit
esp_err_t I2C_Write(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length)
{
uint8_t buf[Length+1];
buf[0] = Reg_addr;
// Copy Reg_data to buf starting at buf[1]
memcpy(&buf[1], Reg_data, Length);
return i2c_master_write_to_device(I2C_MASTER_NUM, Driver_addr, buf, Length+1, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
}
esp_err_t I2C_Read(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length)
{
return i2c_master_write_read_device(I2C_MASTER_NUM, Driver_addr, &Reg_addr, 1, Reg_data, Length, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
}

23
main/imu/I2C_Driver.h
View File

@@ -1,23 +0,0 @@
#pragma once
#include <stdint.h>
#include <string.h> // For memcpy
#include "esp_log.h"
#include "driver/gpio.h"
#include "driver/i2c.h"
/********************* I2C *********************/
#define I2C_Touch_SCL_IO 47 /*!< GPIO number used for I2C master clock */
#define I2C_Touch_SDA_IO 48 /*!< GPIO number used for I2C master data */
#define I2C_MASTER_NUM 0 /*!< I2C master i2c port number, the number of i2c peripheral interfaces available will depend on the chip */
#define I2C_MASTER_FREQ_HZ 400000 /*!< I2C master clock frequency */
#define I2C_MASTER_TX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
#define I2C_MASTER_RX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
#define I2C_MASTER_TIMEOUT_MS 1000
void I2C_Init(void);
// Reg addr is 8 bit
esp_err_t I2C_Write(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length);
esp_err_t I2C_Read(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length);

303
main/imu/QMI8658.c
View File

@@ -1,303 +0,0 @@
#include "QMI8658.h"
IMUdata Accel;
IMUdata Gyro;
uint8_t Device_addr ; // default for SD0/SA0 low, 0x6A if high
acc_scale_t acc_scale = ACC_RANGE_4G;
gyro_scale_t gyro_scale = GYR_RANGE_64DPS;
acc_odr_t acc_odr = acc_odr_norm_8000;
gyro_odr_t gyro_odr = gyro_odr_norm_8000;
sensor_state_t sensor_state = sensor_default;
lpf_t acc_lpf;
float accelScales, gyroScales;
float accelScales = 0;
uint8_t readings[12];
uint32_t reading_timestamp_us; // timestamp in arduino micros() time
/**
* Inialize Wire and send default configs
* @param addr I2C address of sensor, typically 0x6A or 0x6B
*/
void QMI8658_Init(void)
{
uint8_t buf[1];
Device_addr = QMI8658_L_SLAVE_ADDRESS;
I2C_Read(Device_addr, QMI8658_REVISION_ID, buf, 1);
printf("QMI8658 Device ID: %x\r\n",buf[0]); // Get chip id
setState(sensor_running);
setAccScale(acc_scale);
setAccODR(acc_odr);
setAccLPF(LPF_MODE_0);
switch (acc_scale) {
// Possible accelerometer scales (and their register bit settings) are:
// 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that
// 2-bit value:
case ACC_RANGE_2G: accelScales = 2.0 / 32768.0; break;
case ACC_RANGE_4G: accelScales = 4.0 / 32768.0; break;
case ACC_RANGE_8G: accelScales = 8.0 / 32768.0; break;
case ACC_RANGE_16G: accelScales = 16.0 / 32768.0; break;
}
setGyroScale(gyro_scale);
setGyroODR(gyro_odr);
setGyroLPF(LPF_MODE_3);
switch (gyro_scale) {
// Possible gyro scales (and their register bit settings) are:
// 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that
// 2-bit value:
case GYR_RANGE_16DPS: gyroScales = 16.0 / 32768.0; break;
case GYR_RANGE_32DPS: gyroScales = 32.0 / 32768.0; break;
case GYR_RANGE_64DPS: gyroScales = 64.0 / 32768.0; break;
case GYR_RANGE_128DPS: gyroScales = 128.0 / 32768.0; break;
case GYR_RANGE_256DPS: gyroScales = 256.0 / 32768.0; break;
case GYR_RANGE_512DPS: gyroScales = 512.0 / 32768.0; break;
case GYR_RANGE_1024DPS: gyroScales = 1024.0 / 32768.0; break;
}
}
void QMI8658_Loop(void)
{
getAccelerometer();
}
/**
* Transmit one uint8_t of data to QMI8658.
* @param addr address of data to be written
* @param data the data to be written
*/
void QMI8658_transmit(uint8_t addr, uint8_t data)
{
I2C_Write(Device_addr, addr, &data, 1);
}
/**
* Receive one uint8_t of data from QMI8658.
* @param addr address of data to be read
* @return the uint8_t of data that was read
*/
uint8_t QMI8658_receive(uint8_t addr)
{
uint8_t retval;
I2C_Read(Device_addr, addr, &retval, 1);
return retval;
}
/**
* Writes data to CTRL9 (command register) and waits for ACK.
* @param command the command to be executed
*/
void QMI8658_CTRL9_Write(uint8_t command)
{
// transmit command
QMI8658_transmit(QMI8658_CTRL9, command);
// wait for command to be done
while (((QMI8658_receive(QMI8658_STATUSINT)) & 0x80) == 0x00);
}
/**
* Set output data rate (ODR) of accelerometer.
* @param odr acc_odr_t variable representing new data rate
*/
void setAccODR(acc_odr_t odr)
{
if (sensor_state != sensor_default) // If the device is not in the default state
{
uint8_t ctrl2 = QMI8658_receive(QMI8658_CTRL2);
ctrl2 &= ~QMI8658_AODR_MASK; // clear previous setting
ctrl2 |= odr; // OR in new setting
QMI8658_transmit(QMI8658_CTRL2, ctrl2);
}
acc_odr = odr;
}
/**
* Set output data rate (ODR) of gyro.
* @param odr gyro_odr_t variable representing new data rate
*/
void setGyroODR(gyro_odr_t odr)
{
if (sensor_state != sensor_default)
{
uint8_t ctrl3 = QMI8658_receive(QMI8658_CTRL3);
ctrl3 &= ~QMI8658_GODR_MASK; // clear previous setting
ctrl3 |= odr; // OR in new setting
QMI8658_transmit(QMI8658_CTRL3, ctrl3);
}
gyro_odr = odr;
}
/**
* Set scale of accelerometer output.
* @param scale acc_scale_t variable representing new scale
*/
void setAccScale(acc_scale_t scale)
{
if (sensor_state != sensor_default)
{
uint8_t ctrl2 = QMI8658_receive(QMI8658_CTRL2);
ctrl2 &= ~QMI8658_ASCALE_MASK; // clear previous setting
ctrl2 |= scale << QMI8658_ASCALE_OFFSET; // OR in new setting
QMI8658_transmit(QMI8658_CTRL2, ctrl2);
}
acc_scale = scale;
}
/**
* Set scale of gyro output.
* @param scale gyro_scale_t variable representing new scale
*/
void setGyroScale(gyro_scale_t scale)
{
if (sensor_state != sensor_default)
{
uint8_t ctrl3 = QMI8658_receive(QMI8658_CTRL3);
ctrl3 &= ~QMI8658_GSCALE_MASK; // clear previous setting
ctrl3 |= scale << QMI8658_GSCALE_OFFSET; // OR in new setting
QMI8658_transmit(QMI8658_CTRL3, ctrl3);
}
gyro_scale = scale;
}
/**
* Set new low-pass filter value for accelerometer
* @param lp lpf_t variable representing new low-pass filter value
*/
void setAccLPF(lpf_t lpf)
{
if (sensor_state != sensor_default)
{
uint8_t ctrl5 = QMI8658_receive(QMI8658_CTRL5);
ctrl5 &= !QMI8658_ALPF_MASK;
ctrl5 |= lpf << QMI8658_ALPF_OFFSET;
ctrl5 |= 0x01; // turn on acc low pass filter
QMI8658_transmit(QMI8658_CTRL5, ctrl5);
}
acc_lpf = lpf;
}
/**
* Set new low-pass filter value for gyro
* @param lp lpf_t variable representing new low-pass filter value
*/
void setGyroLPF(lpf_t lpf)
{
if (sensor_state != sensor_default)
{
uint8_t ctrl5 = QMI8658_receive(QMI8658_CTRL5);
ctrl5 &= !QMI8658_GLPF_MASK;
ctrl5 |= lpf << QMI8658_GLPF_OFFSET;
ctrl5 |= 0x10; // turn on gyro low pass filter
QMI8658_transmit(QMI8658_CTRL5, ctrl5);
}
}
/**
* Set new state of QMI8658.
* @param state new state to transition to
*/
void setState(sensor_state_t state)
{
uint8_t ctrl1;
switch (state)
{
case sensor_running:
ctrl1 = QMI8658_receive(QMI8658_CTRL1);
// enable 2MHz oscillator
ctrl1 &= 0xFE;
// enable auto address increment for fast block reads
ctrl1 |= 0x40;
QMI8658_transmit(QMI8658_CTRL1, ctrl1);
// enable high speed internal clock,
// acc and gyro in full mode, and
// disable syncSample mode
QMI8658_transmit(QMI8658_CTRL7, 0x43);
// disable AttitudeEngine Motion On Demand
QMI8658_transmit(QMI8658_CTRL6, 0x00);
break;
case sensor_power_down:
// disable high speed internal clock,
// acc and gyro powered down
QMI8658_transmit(QMI8658_CTRL7, 0x00);
ctrl1 = QMI8658_receive(QMI8658_CTRL1);
// disable 2MHz oscillator
ctrl1|= 0x01;
QMI8658_transmit(QMI8658_CTRL1, ctrl1);
break;
case sensor_locking:
ctrl1 = QMI8658_receive(QMI8658_CTRL1);
// enable 2MHz oscillator
ctrl1 &= 0xFE;
// enable auto address increment for fast block reads
ctrl1 |= 0x40;
QMI8658_transmit(QMI8658_CTRL1, ctrl1);
// enable high speed internal clock,
// acc and gyro in full mode, and
// enable syncSample mode
QMI8658_transmit(QMI8658_CTRL7, 0x83);
// disable AttitudeEngine Motion On Demand
QMI8658_transmit(QMI8658_CTRL6, 0x00);
// disable internal AHB clock gating:
QMI8658_transmit(QMI8658_CAL1_L, 0x01);
QMI8658_CTRL9_Write(0x12);
// re-enable clock gating
QMI8658_transmit(QMI8658_CAL1_L, 0x00);
QMI8658_CTRL9_Write(0x12);
break;
default:
break;
}
sensor_state = state;
}
void getAccelerometer(void)
{
uint8_t buf[6];
I2C_Read(Device_addr, QMI8658_AX_L, buf, 6);
Accel.x = (float)((int16_t)((buf[1]<<8) | (buf[0])));
Accel.y = (float)((int16_t)((buf[3]<<8) | (buf[2])));
Accel.z = (float)((int16_t)((buf[5]<<8) | (buf[4])));
Accel.x = Accel.x * accelScales;
Accel.y = Accel.y * accelScales;
Accel.z = Accel.z * accelScales;
}
void getGyroscope(void)
{
uint8_t buf[6];
I2C_Read(Device_addr, QMI8658_GX_L, buf, 6);
Gyro.x = (float)((int16_t)((buf[1]<<8) | (buf[0])));
Gyro.y = (float)((int16_t)((buf[3]<<8) | (buf[2])));
Gyro.z = (float)((int16_t)((buf[5]<<8) | (buf[4])));
Gyro.x = Gyro.x * gyroScales;
Gyro.y = Gyro.y * gyroScales;
Gyro.z = Gyro.z * gyroScales;
}

161
main/imu/QMI8658.h
View File

@@ -1,161 +0,0 @@
#pragma once
#include "I2C_Driver.h"
//device address
#define QMI8658_L_SLAVE_ADDRESS (0x6B)
#define QMI8658_H_SLAVE_ADDRESS (0x6A)
#define QMI8658_WHO_AM_I 0x00 // devide identifier
#define QMI8658_REVISION_ID 0x01
#define QMI8658_CTRL1 0x02 // SPI interface and sensor enable
#define QMI8658_CTRL2 0x03 // Accelerometer settings
#define QMI8658_CTRL3 0x04 // Gyro settings
#define QMI8658_CTRL4 0x05 // reserved (we don't use this)
#define QMI8658_CTRL5 0x06 // Low-pass filter settings
#define QMI8658_CTRL6 0x07 // AttitudeEngine settings (we don't use these)
#define QMI8658_CTRL7 0x08 // Sensor enable
#define QMI8658_CTRL8 0x09 // Motion detection control (not in current lib version)
#define QMI8658_CTRL9 0x0A // Host commands (not in current lib version)
#define QMI8658_CAL1_L 0x0B // calibration 1 register, lower bits
#define QMI8658_CAL1_H 0x0C // calibration 1 register, higher bits
#define QMI8658_CAL2_L 0x0D // calibration 2 register, lower bits
#define QMI8658_CAL2_H 0x0E // calibration 2 register, higher bits
#define QMI8658_CAL3_L 0x0F // calibration 3 register, lower bits
#define QMI8658_CAL3_H 0x10 // calibration 3 register, higher bits
#define QMI8658_CAL4_L 0x11 // calibration 4 register, lower bits
#define QMI8658_CAL4_H 0x12 // calibration 4 register, higher bits
#define QMI8658_TEMP_L 0x33 // lower bits of temperature data
#define QMI8658_TEMP_H 0x34 // upper bits of temperature data
#define QMI8658_STATUSINT 0x2D // status + interrupt register
#define QMI8658_AX_L 0x35 // lower bits of x-axis acceleration
#define QMI8658_AX_H 0x36 // upper bits of x-axis acceleration
#define QMI8658_AY_L 0x37 // lower bits of y-axis acceleration
#define QMI8658_AY_H 0x38 // upper bits of y-axis acceleration
#define QMI8658_AZ_L 0x39
#define QMI8658_AZ_H 0x3A
#define QMI8658_GX_L 0x3B // lower bits of x-axis angular velocity
#define QMI8658_GX_H 0x3C // upper bits of x-axis angular velocity
#define QMI8658_GY_L 0x3D
#define QMI8658_GY_H 0x3E
#define QMI8658_GZ_L 0x3F
#define QMI8658_GZ_H 0x40
#define QMI8658_AODR_MASK 0x0F // bits in acc data rate are 1, rest are 0 (CTRL2)
#define QMI8658_GODR_MASK 0x0F // bits in gyro data rate are 1, rest are 0 (CTRL3)
#define QMI8658_ASCALE_MASK 0x70 // bits in acc scale are 1, rest are 0
#define QMI8658_GSCALE_MASK 0x70 // bits in gyro scale are 1, rest are 0
#define QMI8658_ALPF_MASK 0x06 // bits in acc low pass filter setting
#define QMI8658_GLPF_MASK 0x60 // bits in gyro low pass filter setting
#define QMI8658_ASCALE_OFFSET 4 // offset to acc scale bits
#define QMI8658_GSCALE_OFFSET 4 // offset to gyro scale bits
#define QMI8658_ALPF_OFFSET 1 // offset to acc low pass filter bits
#define QMI8658_GLPF_OFFSET 5 // offset to gyro low pass filter bits
#define QMI8658_COMM_TIMEOUT 50 // communication timeout, in ms
// delay between refreshes of sensor data in us
// applies to individual sensor readings while in locking mode
// has no effect in running mode
#define QMI8658_REFRESH_DELAY 2000
// control clock gating (necessary to use data locking)
#define QMI8658_CTRL_CMD_AHB_CLOCK_GATING 0x12
typedef enum {
acc_odr_norm_8000 = 0x0,
acc_odr_norm_4000,
acc_odr_norm_2000,
acc_odr_norm_1000,
acc_odr_norm_500,
acc_odr_norm_250,
acc_odr_norm_120,
acc_odr_norm_60,
acc_odr_norm_30,
acc_odr_lp_128 = 0xC,
acc_odr_lp_21,
acc_odr_lp_11,
acc_odr_lp_3,
} acc_odr_t;
typedef enum {
gyro_odr_norm_8000 = 0x0,
gyro_odr_norm_4000,
gyro_odr_norm_2000,
gyro_odr_norm_1000,
gyro_odr_norm_500,
gyro_odr_norm_250,
gyro_odr_norm_120,
gyro_odr_norm_60,
gyro_odr_norm_30
} gyro_odr_t;
typedef enum {
ACC_RANGE_2G = 0x0,
ACC_RANGE_4G,
ACC_RANGE_8G,
ACC_RANGE_16G
} acc_scale_t;
typedef enum {
GYR_RANGE_16DPS = 0x0,
GYR_RANGE_32DPS,
GYR_RANGE_64DPS,
GYR_RANGE_128DPS,
GYR_RANGE_256DPS,
GYR_RANGE_512DPS,
GYR_RANGE_1024DPS
} gyro_scale_t;
typedef enum {
LPF_MODE_0 = 0x0, //2.66% of ODR
LPF_MODE_1 = 0x2, //3.63% of ODR
LPF_MODE_2 = 0x4, //5.39% of ODR
LPF_MODE_3 = 0x6 //13.37% of ODR
} lpf_t;
typedef enum {
sensor_default,
sensor_power_down,
sensor_running,
sensor_locking
} sensor_state_t;
typedef struct __IMUdata {
float x;
float y;
float z;
} IMUdata;
extern IMUdata Accel;
extern IMUdata Gyro;
void QMI8658_Init(void);
void QMI8658_Loop(void);
void QMI8658_transmit(uint8_t addr, uint8_t data);
uint8_t QMI8658_receive(uint8_t addr);
void QMI8658_CTRL9_Write(uint8_t command);
void QMI8658_sensor_update();
void QMI8658_update_if_needed();
void setAccODR(acc_odr_t odr);
void setGyroODR(gyro_odr_t odr);
void setAccScale(acc_scale_t scale);
void setGyroScale(gyro_scale_t scale);
void setAccLPF(lpf_t lpf);
void setGyroLPF(lpf_t lpf);
void setState(sensor_state_t state);
void getRawReadings(int16_t* buf);
float getAccX();
float getAccY();
float getAccZ();
float getGyroX();
float getGyroY();
float getGyroZ();
void getAccelerometer(void);
void getGyroscope(void);

55
main/imu/imu_manager.c
View File

@@ -1,55 +0,0 @@
#include "imu/imu_manager.h"
#include <math.h>
#include "esp_log.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "imu/I2C_Driver.h"
#include "imu/QMI8658.h"
static const char *TAG = "imu";
static imu_shake_cb_t s_shake_cb = NULL;
static int64_t s_last_shake_us = 0;
static void imu_task(void *arg)
{
(void)arg;
const float threshold_g = 1.6f;
const int64_t min_interval_us = 800000;
while (1) {
QMI8658_Loop();
float ax = Accel.x;
float ay = Accel.y;
float az = Accel.z;
float mag = sqrtf(ax * ax + ay * ay + az * az);
float delta = fabsf(mag - 1.0f);
if (delta > threshold_g) {
int64_t now = esp_timer_get_time();
if (now - s_last_shake_us > min_interval_us) {
s_last_shake_us = now;
ESP_LOGI(TAG, "Shake detected (delta=%.2f)", delta);
if (s_shake_cb) {
s_shake_cb();
}
}
}
vTaskDelay(pdMS_TO_TICKS(50));
}
}
void imu_manager_init(void)
{
I2C_Init();
QMI8658_Init();
xTaskCreatePinnedToCore(imu_task, "imu_task", 4096, NULL, 4, NULL, 0);
}
void imu_manager_set_shake_callback(imu_shake_cb_t cb)
{
s_shake_cb = cb;
}

8
main/imu/imu_manager.h
View File

@@ -1,8 +0,0 @@
#pragma once
#include <stdbool.h>
typedef void (*imu_shake_cb_t)(void);
void imu_manager_init(void);
void imu_manager_set_shake_callback(imu_shake_cb_t cb);

7
main/mimi.c
View File

@@ -23,8 +23,6 @@
#include "tools/tool_registry.h"
#include "cron/cron_service.h"
#include "heartbeat/heartbeat.h"
#include "buttons/button_driver.h"
#include "imu/imu_manager.h"
#include "skills/skill_loader.h"
static const char *TAG = "mimi";
@@ -110,11 +108,6 @@ void app_main(void)
ESP_LOGI(TAG, "PSRAM free: %d bytes",
(int)heap_caps_get_free_size(MALLOC_CAP_SPIRAM));
/* Input */
button_Init();
imu_manager_init();
imu_manager_set_shake_callback(NULL);
/* Phase 1: Core infrastructure */
ESP_ERROR_CHECK(init_nvs());
ESP_ERROR_CHECK(esp_event_loop_create_default());

29
main/ui/config_screen.c
View File

@@ -1,29 +0,0 @@
#include "ui/config_screen.h"
#include "esp_log.h"
static const char *TAG = "config_screen";
static bool s_active = false;
void config_screen_init(void)
{
s_active = false;
}
void config_screen_toggle(void)
{
s_active = !s_active;
ESP_LOGI(TAG, "Config screen is disabled (active=%s)", s_active ? "true" : "false");
}
bool config_screen_is_active(void)
{
return s_active;
}
void config_screen_scroll_down(void)
{
if (s_active) {
ESP_LOGI(TAG, "Config screen scrolling is disabled");
}
}

8
main/ui/config_screen.h
View File

@@ -1,8 +0,0 @@
#pragma once
#include <stdbool.h>
void config_screen_init(void);
void config_screen_toggle(void);
bool config_screen_is_active(void);
void config_screen_scroll_down(void);