feat(icm42670): Add ICM42607 / ICM42670 IMU component

* Add new component for IMU
* Add IMU to esp-box component and test it in the example

IMUs are nice, and exposing the IMU via the hardware component / bsp (esp-box in this case) is even better. Testing / showcasing the IMU in the bsp example is _even_ better.

Build and run `esp-box/example` on ESP-BOX and ensure the IMU works by looking at the on-screen-display while moving the box around various orientations.

Author: finger563

components/esp-box/CMakeLists.txt

@@ -1,6 +1,6 @@
 idf_component_register(
   INCLUDE_DIRS "include"
   SRC_DIRS "src"
-  REQUIRES driver base_component codec display display_drivers i2c input_drivers interrupt gt911 task tt21100
+  REQUIRES driver base_component codec display display_drivers i2c input_drivers interrupt gt911 task tt21100 icm42607
   REQUIRED_IDF_TARGETS "esp32s3"
   )

components/esp-box/example/main/esp_box_example.cpp

@@ -80,6 +80,12 @@ extern "C" void app_main(void) {
     return;
   }
 
+  // initialize the IMU
+  if (!box.initialize_imu()) {
+    logger.error("Failed to initialize IMU!");
+    return;
+  }
+
   // set the background color to black
   lv_obj_t *bg = lv_obj_create(lv_screen_active());
   lv_obj_set_size(bg, box.lcd_width(), box.lcd_height());
@@ -143,6 +149,60 @@ extern "C" void app_main(void) {
   // set the display brightness to be 75%
   box.brightness(75.0f);
 
+  // make a task to read out the IMU data and print it to console
+  espp::Task imu_task(
+      {.callback = [&label](std::mutex &m, std::condition_variable &cv) -> bool {
+         // sleep first in case we don't get IMU data and need to exit early
+         {
+           std::unique_lock<std::mutex> lock(m);
+           cv.wait_for(lock, 100ms);
+         }
+         static auto &box = espp::EspBox::get();
+         static auto imu = box.imu();
+
+         auto now = std::chrono::steady_clock::now();
+         static auto t0 = now;
+         auto t1 = now;
+         float dt = std::chrono::duration<float>(t1 - t0).count();
+         t0 = t1;
+
+         std::error_code ec;
+         // get accel
+         auto accel = imu->get_accelerometer(ec);
+         if (ec) {
+           return false;
+         }
+         auto gyro = imu->get_gyroscope(ec);
+         if (ec) {
+           return false;
+         }
+         auto temp = imu->get_temperature(ec);
+         if (ec) {
+           return false;
+         }
+
+         static espp::icm42607::ComplimentaryAngle angle{};
+         angle = imu->complimentary_filter(dt, angle, accel, gyro);
+
+         std::string text = "Touch the screen!\nPress the home button to clear circles.\n";
+         text += fmt::format("Accel: {:02.2f} {:02.2f} {:02.2f}\n", accel.x, accel.y, accel.z);
+         text += fmt::format("Gyro: {:03.2f} {:03.2f} {:03.2f}\n", gyro.x, gyro.y, gyro.z);
+         text += fmt::format("Angle: {:03.2f} {:03.2f}\n", angle.roll, angle.pitch);
+         text += fmt::format("Temp: {:02.1f} C\n", temp);
+
+         std::lock_guard<std::recursive_mutex> lock(lvgl_mutex);
+         lv_label_set_text(label, text.c_str());
+
+         return false;
+       },
+       .task_config = {
+           .name = "IMU",
+           .stack_size_bytes = 6 * 1024,
+           .priority = 10,
+           .core_id = 0,
+       }});
+  imu_task.start();
+
   // loop forever
   while (true) {
     std::this_thread::sleep_for(1s);

components/esp-box/include/esp-box.hpp

@@ -19,6 +19,7 @@
 #include "es8311.hpp"
 #include "gt911.hpp"
 #include "i2c.hpp"
+#include "icm42607.hpp"
 #include "interrupt.hpp"
 #include "st7789.hpp"
 #include "touchpad_input.hpp"
@@ -32,6 +33,9 @@ namespace espp {
 /// - Touchpad
 /// - Display
 /// - Audio
+/// - Interrupts
+/// - I2C
+/// - IMU (Inertial Measurement Unit)
 ///
 /// The class is a singleton and can be accessed using the get() method.
 ///
@@ -44,8 +48,13 @@ class EspBox : public BaseComponent {
 
   /// Alias for the display driver used by the ESP-Box display
   using DisplayDriver = espp::St7789;
+
+  /// Alias for the touchpad data used by the ESP-Box touchpad
   using TouchpadData = espp::TouchpadData;
 
+  /// Alias the IMU used by the ESP-Box
+  using Imu = espp::Icm42607<icm42607::Interface::I2C>;
+
   /// The type of the box
   enum class BoxType {
     UNKNOWN, ///< unknown box
@@ -286,6 +295,18 @@ class EspBox : public BaseComponent {
   /// \param num_bytes The number of bytes to play
   void play_audio(const uint8_t *data, uint32_t num_bytes);
 
+  /////////////////////////////////////////////////////////////////////////////
+  // IMU
+  /////////////////////////////////////////////////////////////////////////////
+
+  /// Initialize the IMU
+  /// \return true if the IMU was successfully initialized, false otherwise
+  bool initialize_imu();
+
+  /// Get the IMU
+  /// \return A shared pointer to the IMU
+  std::shared_ptr<Imu> imu() const;
+
 protected:
   EspBox();
   void detect();
@@ -440,6 +461,9 @@ class EspBox : public BaseComponent {
   i2s_std_config_t audio_std_cfg;
   i2s_event_callbacks_t audio_tx_callbacks_;
   std::atomic<bool> has_sound{false};
+
+  // IMU
+  std::shared_ptr<Imu> imu_;
 }; // class EspBox
 } // namespace espp
 

components/esp-box/src/imu.cpp

@@ -0,0 +1,33 @@
+#include "esp-box.hpp"
+
+using namespace espp;
+
+bool EspBox::initialize_imu() {
+  if (imu_) {
+    logger_.warn("IMU already initialized, not initializing again!");
+    return false;
+  }
+
+  Imu::Config config{
+      .device_address = Imu::DEFAULT_ADDRESS,
+      .write = std::bind(&espp::I2c::write, &internal_i2c_, std::placeholders::_1,
+                         std::placeholders::_2, std::placeholders::_3),
+      .read = std::bind(&espp::I2c::read, &internal_i2c_, std::placeholders::_1,
+                        std::placeholders::_2, std::placeholders::_3),
+      .imu_config =
+          {
+              .accelerometer_range = Imu::AccelerometerRange::RANGE_2G,
+              .accelerometer_odr = Imu::AccelerometerODR::ODR_400_HZ,
+              .gyroscope_range = Imu::GyroscopeRange::RANGE_2000DPS,
+              .gyroscope_odr = Imu::GyroscopeODR::ODR_400_HZ,
+          },
+      .auto_init = true,
+  };
+
+  logger_.info("Initializing IMU with default configuration");
+  imu_ = std::make_shared<Imu>(config);
+
+  return true;
+}
+
+std::shared_ptr<EspBox::Imu> EspBox::imu() const { return imu_; }

components/icm42607/CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(
+  INCLUDE_DIRS "include"
+  REQUIRES "base_peripheral" "math"
+  )