Merge pull request espressif#229 from espressif/feature/bsp-icm42670

bsp: Add support of MotionSensor to ESP-BOXes
espressif2022 · Oct 6, 2023 · 162d138 · 162d138
2 parents e124493 + b1a94ee
commit 162d138
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Showing 7 changed files with 187 additions and 41 deletions.
diff --git a/esp-box-3/idf_component.yml b/esp-box-3/idf_component.yml
@@ -1,5 +1,5 @@
 
-version: "1.1.0"
+version: "1.1.1"
 description: Board Support Package for ESP32-S3-BOX-3
 url: https://github.com/espressif/esp-bsp/tree/master/esp-box-3
 
@@ -24,6 +24,10 @@ dependencies:
     version: "^2.5"
     public: true
 
+  icm42670:
+    version: "^1"
+    public: true
+
 examples:
   - path: ../examples/display_audio_photo
   - path: ../examples/display_rotation
diff --git a/esp-box-3/include/bsp/esp-box-3.h b/esp-box-3/include/bsp/esp-box-3.h
@@ -26,6 +26,19 @@
 #else
 #include "driver/i2s_std.h"
 #endif
+/**************************************************************************************************
+ *  BSP Capabilities
+ **************************************************************************************************/
+
+#define BSP_CAPS_DISPLAY        1
+#define BSP_CAPS_TOUCH          1
+#define BSP_CAPS_BUTTONS        1
+#define BSP_CAPS_AUDIO          1
+#define BSP_CAPS_AUDIO_SPEAKER  1
+#define BSP_CAPS_AUDIO_MIC      1
+#define BSP_CAPS_SDCARD         1
+#define BSP_CAPS_IMU            1
+
 /**************************************************************************************************
  *  ESP-BOX pinout
  **************************************************************************************************/

diff --git a/esp-box-lite/idf_component.yml b/esp-box-lite/idf_component.yml
@@ -1,4 +1,4 @@
-version: "2.0.1"
+version: "2.0.2"
 description: Board Support Package for ESP32-S3-BOX-Lite
 url: https://github.com/espressif/esp-bsp/tree/master/esp-box-lite
 

diff --git a/esp-box-lite/include/bsp/esp-box-lite.h b/esp-box-lite/include/bsp/esp-box-lite.h
@@ -25,6 +25,18 @@
 #else
 #include "driver/i2s_std.h"
 #endif
+/**************************************************************************************************
+ *  BSP Capabilities
+ **************************************************************************************************/
+
+#define BSP_CAPS_DISPLAY        1
+#define BSP_CAPS_TOUCH          0
+#define BSP_CAPS_BUTTONS        1
+#define BSP_CAPS_AUDIO          1
+#define BSP_CAPS_AUDIO_SPEAKER  1
+#define BSP_CAPS_AUDIO_MIC      1
+#define BSP_CAPS_SDCARD         0
+#define BSP_CAPS_IMU            0
 
 /**************************************************************************************************
  *  ESP-BOX-Lite pinout

diff --git a/esp-box/idf_component.yml b/esp-box/idf_component.yml
@@ -1,5 +1,5 @@
 
-version: "3.0.2"
+version: "3.0.3"
 description: Board Support Package for ESP-BOX
 url: https://github.com/espressif/esp-bsp/tree/master/esp-box
 
@@ -22,6 +22,10 @@ dependencies:
     version: "^2.5"
     public: true
 
+  icm42670:
+    version: "^1"
+    public: true
+
 examples:
   - path: ../examples/display_audio_photo
   - path: ../examples/display_rotation
diff --git a/esp-box/include/bsp/esp-box.h b/esp-box/include/bsp/esp-box.h
@@ -25,6 +25,19 @@
 #else
 #include "driver/i2s_std.h"
 #endif
+/**************************************************************************************************
+ *  BSP Capabilities
+ **************************************************************************************************/
+
+#define BSP_CAPS_DISPLAY        1
+#define BSP_CAPS_TOUCH          1
+#define BSP_CAPS_BUTTONS        1
+#define BSP_CAPS_AUDIO          1
+#define BSP_CAPS_AUDIO_SPEAKER  1
+#define BSP_CAPS_AUDIO_MIC      1
+#define BSP_CAPS_SDCARD         0
+#define BSP_CAPS_IMU            1
+
 /**************************************************************************************************
  *  ESP-BOX pinout
  **************************************************************************************************/

diff --git a/examples/display_rotation/main/main.c b/examples/display_rotation/main/main.c
@@ -1,12 +1,15 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: CC0-1.0
  */
 
 #include "esp_log.h"
 #include "bsp/esp-bsp.h"
 #include "lvgl.h"
+#if BSP_CAPS_IMU
+#include "icm42670.h"
+#endif
 
 static const char *TAG = "example";
 
@@ -16,6 +19,9 @@ LV_IMG_DECLARE(esp_logo)
 static lv_disp_t *display;
 static lv_obj_t *lbl_rotation;
 static lv_disp_rot_t rotation = LV_DISP_ROT_NONE;
+#if BSP_CAPS_IMU
+static icm42670_handle_t imu = NULL;
+#endif
 
 
 /*******************************************************************************
@@ -47,8 +53,10 @@ static void app_lvgl_btn_right_cb(lv_event_t *e)
     }
 
     /* Rotate display */
+    bsp_display_lock(0);
     bsp_display_rotate(display, rotation);
     lv_label_set_text_fmt(lbl_rotation, "Rotation %d°", app_lvgl_get_rotation_degrees(rotation));
+    bsp_display_unlock();
 
 }
 
@@ -61,8 +69,10 @@ static void app_lvgl_btn_left_cb(lv_event_t *e)
     }
 
     /* Rotate display */
+    bsp_display_lock(0);
     bsp_display_rotate(display, rotation);
     lv_label_set_text_fmt(lbl_rotation, "Rotation %d°", app_lvgl_get_rotation_degrees(rotation));
+    bsp_display_unlock();
 }
 
 static void app_lvgl_display(void)
@@ -80,48 +90,128 @@ static void app_lvgl_display(void)
     lv_label_set_text(lbl_rotation, "Rotation 0°");
     lv_obj_align(lbl_rotation, LV_ALIGN_CENTER, 0, 20);
 
-    lv_obj_t *cont_row = lv_obj_create(scr);
-    lv_obj_set_size(cont_row, BSP_LCD_V_RES - 10, 50);
-    lv_obj_align(cont_row, LV_ALIGN_BOTTOM_MID, 0, -20);
-    lv_obj_set_flex_flow(cont_row, LV_FLEX_FLOW_ROW);
-    lv_obj_set_style_pad_top(cont_row, 5, 0);
-    lv_obj_set_style_pad_bottom(cont_row, 5, 0);
-    lv_obj_set_style_pad_left(cont_row, 5, 0);
-    lv_obj_set_style_pad_right(cont_row, 5, 0);
-    lv_obj_set_flex_align(cont_row, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
-
-    /* Button rotate left */
-    lv_obj_t *btn_left = lv_btn_create(cont_row);
-    lbl = lv_label_create(btn_left);
-    lv_label_set_text_static(lbl, LV_SYMBOL_LEFT" Left");
-    lv_obj_align(btn_left, LV_ALIGN_BOTTOM_LEFT, 30, -30);
-    /* Button event */
-    lv_obj_add_event_cb(btn_left, app_lvgl_btn_left_cb, LV_EVENT_CLICKED, scr);
-
-    lbl = lv_label_create(cont_row);
-    lv_label_set_text_static(lbl, " rotate ");
-
-    /* Button rotate right */
-    lv_obj_t *btn_right = lv_btn_create(cont_row);
-    lbl = lv_label_create(btn_right);
-    lv_label_set_text_static(lbl, "Right "LV_SYMBOL_RIGHT);
-    lv_obj_align(btn_right, LV_ALIGN_BOTTOM_LEFT, 30, -30);
-    /* Button event */
-    lv_obj_add_event_cb(btn_right, app_lvgl_btn_right_cb, LV_EVENT_CLICKED, scr);
-
-    /* Input device group */
-    lv_indev_t *indev = bsp_display_get_input_dev();
-    if (indev && indev->driver && indev->driver->type == LV_INDEV_TYPE_ENCODER) {
-        lv_group_t *main_group = lv_group_create();
-        lv_group_add_obj(main_group, btn_left);
-        lv_group_add_obj(main_group, btn_right);
-        lv_indev_set_group(indev, main_group);
-        ESP_LOGI(TAG, "Input device group was set.");
+#if BSP_CAPS_IMU
+    if (!imu)
+#endif
+    {
+        lv_obj_t *cont_row = lv_obj_create(scr);
+        lv_obj_set_size(cont_row, BSP_LCD_V_RES - 10, 50);
+        lv_obj_align(cont_row, LV_ALIGN_BOTTOM_MID, 0, -20);
+        lv_obj_set_flex_flow(cont_row, LV_FLEX_FLOW_ROW);
+        lv_obj_set_style_pad_top(cont_row, 5, 0);
+        lv_obj_set_style_pad_bottom(cont_row, 5, 0);
+        lv_obj_set_style_pad_left(cont_row, 5, 0);
+        lv_obj_set_style_pad_right(cont_row, 5, 0);
+        lv_obj_set_flex_align(cont_row, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
+
+        /* Button rotate left */
+        lv_obj_t *btn_left = lv_btn_create(cont_row);
+        lbl = lv_label_create(btn_left);
+        lv_label_set_text_static(lbl, LV_SYMBOL_LEFT" Left");
+        lv_obj_align(btn_left, LV_ALIGN_BOTTOM_LEFT, 30, -30);
+        /* Button event */
+        lv_obj_add_event_cb(btn_left, app_lvgl_btn_left_cb, LV_EVENT_CLICKED, scr);
+
+        lbl = lv_label_create(cont_row);
+        lv_label_set_text_static(lbl, " rotate ");
+
+        /* Button rotate right */
+        lv_obj_t *btn_right = lv_btn_create(cont_row);
+        lbl = lv_label_create(btn_right);
+        lv_label_set_text_static(lbl, "Right "LV_SYMBOL_RIGHT);
+        lv_obj_align(btn_right, LV_ALIGN_BOTTOM_LEFT, 30, -30);
+        /* Button event */
+        lv_obj_add_event_cb(btn_right, app_lvgl_btn_right_cb, LV_EVENT_CLICKED, scr);
+
+        /* Input device group */
+        lv_indev_t *indev = bsp_display_get_input_dev();
+        if (indev && indev->driver && indev->driver->type == LV_INDEV_TYPE_ENCODER) {
+            lv_group_t *main_group = lv_group_create();
+            lv_group_add_obj(main_group, btn_left);
+            lv_group_add_obj(main_group, btn_right);
+            lv_indev_set_group(indev, main_group);
+            ESP_LOGI(TAG, "Input device group was set.");
+        }
     }
 
     bsp_display_unlock();
 }
 
+#if BSP_CAPS_IMU
+static void app_imu_init(void)
+{
+    imu = icm42670_create(BSP_I2C_NUM, ICM42670_I2C_ADDRESS);
+    if (imu) {
+        /* Configuration of the acceleremeter and gyroscope */
+        const icm42670_cfg_t imu_cfg = {
+            .acce_fs = ACCE_FS_2G,
+            .acce_odr = ACCE_ODR_400HZ,
+            .gyro_fs = GYRO_FS_2000DPS,
+            .gyro_odr = GYRO_ODR_400HZ,
+        };
+        ESP_ERROR_CHECK(icm42670_config(imu, &imu_cfg));
+
+        /* Set accelerometer and gyroscope to ON */
+        icm42670_acce_set_pwr(imu, ACCE_PWR_LOWNOISE);
+        icm42670_gyro_set_pwr(imu, GYRO_PWR_LOWNOISE);
+    }
+}
+
+static void app_imu_read(void)
+{
+    icm42670_value_t acce_val;
+    icm42670_get_acce_value(imu, &acce_val);
+    ESP_LOGI(TAG, "ACCE val: %.2f, %.2f, %.2f", acce_val.x, acce_val.y, acce_val.z);
+
+    icm42670_value_t gyro_val;
+    icm42670_get_gyro_value(imu, &gyro_val);
+    ESP_LOGI(TAG, "GYRO val: %.2f, %.2f, %.2f", gyro_val.x, gyro_val.y, gyro_val.z);
+
+    float val;
+    icm42670_get_temp_value(imu, &val);
+    ESP_LOGI(TAG, "TEMP val: %.2f", val);
+
+    complimentary_angle_t angle;
+    icm42670_complimentory_filter(imu, &acce_val, &gyro_val, &angle);
+    ESP_LOGI(TAG, "Angle roll: %.2f pitch: %.2f ", angle.roll, angle.pitch);
+
+    if (acce_val.x > 5) {
+        if (rotation != LV_DISP_ROT_NONE) {
+            rotation = LV_DISP_ROT_NONE;
+            bsp_display_lock(0);
+            bsp_display_rotate(display, rotation);
+            lv_label_set_text_fmt(lbl_rotation, "Rotation %d°", app_lvgl_get_rotation_degrees(rotation));
+            bsp_display_unlock();
+        }
+    } else if (acce_val.x < -5) {
+        if (rotation != LV_DISP_ROT_180) {
+            rotation = LV_DISP_ROT_180;
+            bsp_display_lock(0);
+            bsp_display_rotate(display, rotation);
+            lv_label_set_text_fmt(lbl_rotation, "Rotation %d°", app_lvgl_get_rotation_degrees(rotation));
+            bsp_display_unlock();
+        }
+    } else if (acce_val.y > 5) {
+        if (rotation != LV_DISP_ROT_270) {
+            rotation = LV_DISP_ROT_270;
+            bsp_display_lock(0);
+            bsp_display_rotate(display, rotation);
+            lv_label_set_text_fmt(lbl_rotation, "Rotation %d°", app_lvgl_get_rotation_degrees(rotation));
+            bsp_display_unlock();
+        }
+    } else if (acce_val.y < -5) {
+        if (rotation != LV_DISP_ROT_90) {
+            rotation = LV_DISP_ROT_90;
+            bsp_display_lock(0);
+            bsp_display_rotate(display, rotation);
+            lv_label_set_text_fmt(lbl_rotation, "Rotation %d°", app_lvgl_get_rotation_degrees(rotation));
+            bsp_display_unlock();
+        }
+    }
+
+}
+#endif
+
 void app_main(void)
 {
     /* Initialize I2C (for touch and audio) */
@@ -133,9 +223,19 @@ void app_main(void)
     /* Set display brightness to 100% */
     bsp_display_backlight_on();
 
+#if BSP_CAPS_IMU
+    app_imu_init();
+#endif
+
     /* Add and show objects on display */
     app_lvgl_display();
 
     ESP_LOGI(TAG, "Example initialization done.");
 
+#if BSP_CAPS_IMU
+    while (1) {
+        app_imu_read();
+        vTaskDelay(pdMS_TO_TICKS(500));
+    }
+#endif
 }