feat(icm42670): Add ICM42607 / ICM42670 IMU component #392
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* 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.
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✅Static analysis result - no issues found! ✅ |
…ples to use both madgwick and kalman filters and show both (text and line)
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Description
BasePeripheralto have additionalset_bits_with_maskto ensure any other bits within the mask are reset.fast_sqrtto use more modern c++23 implementation from wikipediafast_sqrtto be properly namedfast_inv_sqrtbldc_motorcomponent to properly usefast_inv_sqrtComplementaryFilter,MadgwickFilterandKalmanFilterfor use with angle / state estimation with different tradeoffsesp-boxto initialize and expose IMUMotivation and Context
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.
How has this been tested?
esp-box/exampleon ESP-BOX and ensure the IMU works by looking at the on-screen-display while moving the box around various orientations.math/exampleand make sure thefast_inv_sqrtis very close tosqrtmotorgo-mini/exampleand make sure the motor still works in position and velocity control modes.Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):
Slow rotation video:
imu-slow-compressed.mp4
Fast rotation video:
imu-fast-compressed.mp4
Pictures showing the new gravity vector pointing down from the center of the screen:
ICM42607 Example
icm42607-data.txt
Types of changes
Checklist:
Software
.github/workflows/build.ymlfile to add my new test to the automated cloud build github action.