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feat(qmi8658): Add QMI8658 6-axis IMU component (#473)
* feat(qmi8658): Add QMI8658 6-axis IMU component * remove unused * readme: update * add missing format cases
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‎.github/workflows/build.yml

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target: esp32s3
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- path: 'components/pid/example'
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target: esp32
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- path: 'components/qmi8658/example'
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target: esp32s3
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- path: 'components/qtpy/example'
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target: esp32
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- path: 'components/qtpy/example'

‎.github/workflows/upload_components.yml

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components/neopixel
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components/nvs
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components/pid
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components/qmi8658
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components/qtpy
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components/qwiicnes
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components/rmt

‎components/qmi8658/CMakeLists.txt

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idf_component_register(
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INCLUDE_DIRS "include"
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REQUIRES "base_peripheral" "math"
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)

‎components/qmi8658/README.md

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# QMI8658 Example
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[![Badge](https://components.espressif.com/components/espp/qmi8658/badge.svg)](https://components.espressif.com/components/espp/qmi8658)
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The `Qmi8658` component provides a driver for the QMI8658 6-Axis
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Inertial Measurement Units (IMUs).
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It supports configuring and reading:
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* 3-axis acceleration data
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* 3-axis gyroscope data
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It also supports providing a filter function for computing orientation data from
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the raw sensor data.
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## Example
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The [example](./example) shows how to use the `espp::Qmi8658` component to initialize and
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communicate with an QMI8658 6-axis IMU.
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‎components/qmi8658/example/CMakeLists.txt

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# The following lines of boilerplate have to be in your project's CMakeLists
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# in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.20)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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# add the component directories that we want to use
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set(EXTRA_COMPONENT_DIRS
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"../../../components/"
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)
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set(
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COMPONENTS
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"main esptool_py i2c qmi8658 filters"
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CACHE STRING
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"List of components to include"
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)
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project(qmi8658_example)
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set(CMAKE_CXX_STANDARD 20)

‎components/qmi8658/example/README.md

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# QMI8658 Example
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This example shows how to use the `espp::Qmi8658` component to initialize and
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communicate with an QMI8658 6-axis IMU.
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<img width="3952" height="2247" alt="CleanShot 2025-07-12 at 18 18 49" src="https://github.com/user-attachments/assets/d9e09dae-2568-46c5-b500-104714704e4c" />
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## How to use example
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### Hardware Required
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This example is designed to run on a custom board with a QMI8658 IMU.
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You will need to configure the I2C pins for your specific hardware.
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### Build and Flash
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Build the project and flash it to the board, then run monitor tool to view
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serial output:
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```
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idf.py -p PORT flash monitor
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```
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(Replace PORT with the name of the serial port to use.)
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
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## Example Output
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<img width="2032" height="1179" alt="CleanShot 2025-07-12 at 18 19 39" src="https://github.com/user-attachments/assets/b8c1ebb2-8516-4d22-a36e-3cc56cbf3f63" />
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```console
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I (304) main_task: Calling app_main()
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[QMI8658 Example/I][0.035]: Starting example!
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[QMI8658 Example/I][0.041]: Creating IMU
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% Time (s), Accel X (m/s^2), Accel Y (m/s^2), Accel Z (m/s^2), Gyro X (rad/s), Gyro Y (rad/s), Gyro Z (rad/s), Temp (C), Kalman Roll (rad), Kalman Pitch (rad), Kalman Yaw (rad), Kalman Gravity X, Kalman Gravity Y, Kalman Gravity Z, Madgwick Roll (rad), Madgwick Pitch (rad), Magwick Yaw (rad), Madgwick Gravity X, Madgwick Gravity Y, Madgwick Gravity Z
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[QMI8658 Example/I][0.075]: Starting IMU task
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0.091,0.969,0.141,0.069,0.984,-1.484,0.891,38.6,1.115,-1.409,0.000,-0.987,-0.144,-0.071,0.000,-0.000,0.000,-0.000,-0.000,-1.000
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0.104,0.983,0.141,0.072,1.359,-1.969,0.953,38.6,1.099,-1.412,0.000,-0.987,-0.141,-0.072,0.001,-0.003,0.000,-0.003,-0.001,-1.000
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0.117,0.990,0.140,0.069,1.078,-2.812,1.047,38.6,1.115,-1.414,0.000,-0.988,-0.140,-0.069,0.001,-0.006,0.000,-0.006,-0.001,-1.000
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0.130,0.979,0.143,0.068,0.750,-0.984,0.625,38.6,1.129,-1.411,0.000,-0.987,-0.144,-0.068,0.002,-0.009,0.001,-0.009,-0.002,-1.000
44+
0.143,0.966,0.146,0.070,0.656,0.906,-0.312,38.6,1.122,-1.405,0.000,-0.986,-0.149,-0.072,0.002,-0.011,0.001,-0.011,-0.002,-1.000
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0.156,0.957,0.146,0.073,0.562,1.031,-0.828,38.6,1.107,-1.401,0.000,-0.986,-0.151,-0.075,0.003,-0.014,0.000,-0.014,-0.003,-1.000
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0.169,0.965,0.144,0.075,1.297,-2.125,1.016,38.6,1.089,-1.404,0.000,-0.986,-0.147,-0.077,0.004,-0.017,0.001,-0.017,-0.004,-1.000
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0.182,0.979,0.142,0.068,1.750,-5.609,3.156,38.6,1.125,-1.411,0.000,-0.987,-0.143,-0.069,0.004,-0.021,0.001,-0.021,-0.004,-1.000
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0.195,0.985,0.137,0.063,1.859,-6.734,4.016,38.6,1.139,-1.418,0.000,-0.988,-0.138,-0.064,0.005,-0.025,0.002,-0.025,-0.005,-1.000
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0.208,0.979,0.135,0.057,1.281,-3.359,2.359,38.6,1.170,-1.422,0.000,-0.989,-0.137,-0.058,0.006,-0.028,0.003,-0.028,-0.006,-1.000
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0.221,0.969,0.137,0.059,0.203,2.172,-0.594,38.6,1.163,-1.418,0.000,-0.988,-0.140,-0.061,0.006,-0.030,0.003,-0.030,-0.006,-1.000
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0.234,0.960,0.139,0.065,-0.109,5.188,-2.547,38.6,1.133,-1.413,0.000,-0.988,-0.143,-0.067,0.006,-0.031,0.002,-0.031,-0.006,-0.999
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0.247,0.965,0.142,0.074,0.125,4.453,-3.250,38.6,1.091,-1.406,0.000,-0.987,-0.145,-0.076,0.007,-0.033,0.001,-0.033,-0.007,-0.999
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0.260,0.981,0.145,0.074,1.000,0.812,-0.594,38.6,1.098,-1.407,0.000,-0.987,-0.146,-0.074,0.008,-0.035,0.001,-0.035,-0.008,-0.999
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0.273,0.990,0.146,0.075,1.266,-3.250,1.234,38.6,1.095,-1.407,0.000,-0.987,-0.145,-0.075,0.008,-0.039,0.001,-0.039,-0.008,-0.999
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0.286,0.986,0.146,0.072,1.125,-2.641,1.500,38.6,1.110,-1.407,0.000,-0.987,-0.146,-0.072,0.009,-0.042,0.002,-0.042,-0.009,-0.999
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0.299,0.973,0.147,0.073,0.531,-0.516,0.031,38.6,1.111,-1.404,0.000,-0.986,-0.149,-0.074,0.009,-0.045,0.002,-0.044,-0.009,-0.999
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0.312,0.965,0.146,0.073,0.188,1.625,-0.812,38.6,1.110,-1.403,0.000,-0.986,-0.150,-0.074,0.010,-0.047,0.001,-0.047,-0.010,-0.999
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0.325,0.965,0.146,0.076,0.594,0.359,-0.500,38.6,1.089,-1.402,0.000,-0.986,-0.149,-0.078,0.010,-0.049,0.001,-0.049,-0.010,-0.999
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0.338,0.972,0.145,0.076,1.328,-3.547,1.969,38.6,1.088,-1.404,0.000,-0.986,-0.147,-0.077,0.011,-0.053,0.002,-0.053,-0.011,-0.999
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0.351,0.976,0.142,0.070,1.750,-5.719,3.656,38.6,1.115,-1.410,0.000,-0.987,-0.144,-0.070,0.012,-0.056,0.003,-0.056,-0.012,-0.998
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0.364,0.979,0.138,0.066,1.656,-5.156,3.219,38.6,1.123,-1.415,0.000,-0.988,-0.140,-0.067,0.012,-0.060,0.003,-0.060,-0.012,-0.998
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0.377,0.980,0.137,0.063,1.203,-2.859,1.109,38.6,1.141,-1.418,0.000,-0.988,-0.138,-0.063,0.013,-0.063,0.003,-0.063,-0.013,-0.998
63+
0.390,0.978,0.141,0.061,0.891,-0.547,-3.969,38.6,1.161,-1.415,0.000,-0.988,-0.143,-0.062,0.014,-0.066,0.002,-0.066,-0.014,-0.998
64+
0.403,0.973,0.144,0.064,-0.062,2.141,-1.172,38.6,1.150,-1.410,0.000,-0.987,-0.146,-0.065,0.014,-0.068,0.002,-0.068,-0.014,-0.998
65+
0.416,0.972,0.145,0.073,0.516,3.078,-1.188,38.6,1.104,-1.405,0.000,-0.986,-0.147,-0.074,0.015,-0.070,0.002,-0.070,-0.014,-0.997
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0.429,0.969,0.148,0.076,0.594,0.828,-0.500,38.6,1.095,-1.400,0.000,-0.986,-0.151,-0.078,0.015,-0.072,0.002,-0.072,-0.015,-0.997
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0.442,0.969,0.145,0.075,1.094,-2.031,1.484,38.6,1.090,-1.404,0.000,-0.986,-0.147,-0.077,0.016,-0.075,0.002,-0.075,-0.016,-0.997
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0.455,0.968,0.141,0.073,1.656,-5.109,3.062,38.6,1.095,-1.409,0.000,-0.987,-0.144,-0.074,0.016,-0.079,0.003,-0.079,-0.016,-0.997
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0.468,0.972,0.139,0.066,2.234,-6.969,4.094,38.6,1.130,-1.414,0.000,-0.988,-0.141,-0.067,0.017,-0.083,0.004,-0.083,-0.017,-0.996
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0.481,0.977,0.136,0.056,1.859,-5.938,3.375,38.6,1.179,-1.421,0.000,-0.989,-0.138,-0.057,0.018,-0.087,0.004,-0.087,-0.018,-0.996
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0.494,0.982,0.137,0.055,1.078,-1.797,1.328,38.6,1.190,-1.422,0.000,-0.989,-0.138,-0.055,0.018,-0.090,0.005,-0.090,-0.018,-0.996
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0.507,0.978,0.137,0.060,0.141,4.328,-2.516,38.6,1.159,-1.419,0.000,-0.989,-0.138,-0.060,0.019,-0.092,0.004,-0.092,-0.019,-0.996
73+
0.520,0.969,0.142,0.071,-0.781,8.203,-4.453,38.6,1.106,-1.409,0.000,-0.987,-0.144,-0.072,0.019,-0.092,0.003,-0.092,-0.019,-0.996
74+
0.533,0.968,0.148,0.084,-0.656,7.719,-3.906,38.6,1.057,-1.397,0.000,-0.985,-0.151,-0.085,0.020,-0.093,0.002,-0.093,-0.019,-0.995
75+
0.546,0.971,0.150,0.088,0.844,0.750,-1.594,38.6,1.042,-1.394,0.000,-0.984,-0.152,-0.089,0.020,-0.095,0.002,-0.095,-0.020,-0.995
76+
0.559,0.980,0.154,0.086,1.969,-5.188,1.484,38.6,1.059,-1.393,0.000,-0.984,-0.154,-0.087,0.021,-0.099,0.002,-0.099,-0.021,-0.995
77+
0.572,0.977,0.150,0.073,2.562,-9.938,5.984,38.6,1.121,-1.401,0.000,-0.986,-0.152,-0.073,0.022,-0.104,0.003,-0.104,-0.022,-0.994
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0.585,0.970,0.141,0.064,2.391,-9.188,6.594,38.6,1.141,-1.412,0.000,-0.987,-0.144,-0.066,0.023,-0.109,0.005,-0.108,-0.022,-0.994
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0.598,0.969,0.135,0.059,1.562,-4.500,3.219,38.6,1.157,-1.420,0.000,-0.989,-0.138,-0.061,0.023,-0.112,0.005,-0.112,-0.023,-0.993
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0.611,0.974,0.135,0.058,0.672,-0.047,-0.219,38.6,1.167,-1.421,0.000,-0.989,-0.138,-0.059,0.024,-0.115,0.005,-0.115,-0.024,-0.993
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```
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Running with `esp-cpp/uart-serial-plotter`:
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<img width="3952" height="2247" alt="CleanShot 2025-07-12 at 18 18 49" src="https://github.com/user-attachments/assets/d9e09dae-2568-46c5-b500-104714704e4c" />
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‎components/qmi8658/example/main/CMakeLists.txt

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idf_component_register(SRC_DIRS "."
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INCLUDE_DIRS ".")

‎components/qmi8658/example/main/Kconfig.projbuild

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menu "Example Configuration"
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choice EXAMPLE_HARDWARE
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prompt "Hardware"
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default EXAMPLE_HARDWARE_ESP_BOX
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help
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Select the hardware to run this example on.
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config EXAMPLE_HARDWARE_ESP_BOX
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depends on IDF_TARGET_ESP32S3
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bool "ESP32-S3-BOX or ESP32-S3-BOX-3"
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config EXAMPLE_HARDWARE_CUSTOM
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bool "Custom"
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endchoice
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config EXAMPLE_I2C_SCL_GPIO
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int "SCL GPIO Num"
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range 0 50
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default 18 if EXAMPLE_HARDWARE_ESP_BOX
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default 19 if EXAMPLE_HARDWARE_CUSTOM
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help
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GPIO number for I2C Master clock line.
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config EXAMPLE_I2C_SDA_GPIO
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int "SDA GPIO Num"
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range 0 50
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default 8 if EXAMPLE_HARDWARE_ESP_BOX
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default 22 if EXAMPLE_HARDWARE_CUSTOM
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help
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GPIO number for I2C Master data line.
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config EXAMPLE_I2C_CLOCK_SPEED_HZ
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int "I2C Clock Speed"
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range 100 1000000
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default 400000
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help
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I2C clock speed in Hz.
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endmenu

‎components/qmi8658/example/main/qmi8658_example.cpp

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#include <chrono>
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#include <vector>
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#include "i2c.hpp"
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#include "kalman_filter.hpp"
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#include "madgwick_filter.hpp"
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#include "qmi8658.hpp"
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using namespace std::chrono_literals;
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extern "C" void app_main(void) {
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espp::Logger logger({.tag = "QMI8658 Example", .level = espp::Logger::Verbosity::INFO});
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logger.info("Starting example!");
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//! [qmi8658 example]
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using Imu = espp::Qmi8658<espp::qmi8658::Interface::I2C>;
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// make the i2c we'll use to communicate
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static constexpr auto i2c_port = I2C_NUM_0;
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static constexpr auto i2c_clock_speed = CONFIG_EXAMPLE_I2C_CLOCK_SPEED_HZ;
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static constexpr gpio_num_t i2c_sda = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO;
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static constexpr gpio_num_t i2c_scl = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO;
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espp::I2c i2c({.port = i2c_port,
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.sda_io_num = i2c_sda,
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.scl_io_num = i2c_scl,
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.sda_pullup_en = GPIO_PULLUP_ENABLE,
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.scl_pullup_en = GPIO_PULLUP_ENABLE,
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.clk_speed = i2c_clock_speed});
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// make the orientation filter to compute orientation from accel + gyro
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static constexpr float angle_noise = 0.001f;
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static constexpr float rate_noise = 0.1f;
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static espp::KalmanFilter<2> kf;
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kf.set_process_noise(rate_noise);
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kf.set_measurement_noise(angle_noise);
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auto kalman_filter_fn = [](float dt, const Imu::Value &accel,
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const Imu::Value &gyro) -> Imu::Value {
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// Apply Kalman filter
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float accelRoll = atan2(accel.y, accel.z);
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float accelPitch = atan2(-accel.x, sqrt(accel.y * accel.y + accel.z * accel.z));
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kf.predict({espp::deg_to_rad(gyro.x), espp::deg_to_rad(gyro.y)}, dt);
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kf.update({accelRoll, accelPitch});
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float roll, pitch;
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std::tie(roll, pitch) = kf.get_state();
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// return the computed orientation
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Imu::Value orientation{};
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orientation.roll = roll;
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orientation.pitch = pitch;
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orientation.yaw = 0.0f;
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return orientation;
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};
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static constexpr float beta = 0.1f;
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static espp::MadgwickFilter madgwick(beta);
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auto madgwick_filter_fn = [](float dt, const Imu::Value &accel,
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const Imu::Value &gyro) -> Imu::Value {
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// Apply Madgwick filter
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madgwick.update(dt, accel.x, accel.y, accel.z, espp::deg_to_rad(gyro.x),
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espp::deg_to_rad(gyro.y), espp::deg_to_rad(gyro.z));
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float roll, pitch, yaw;
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madgwick.get_euler(roll, pitch, yaw);
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// return the computed orientation
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Imu::Value orientation{};
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orientation.pitch = espp::deg_to_rad(pitch);
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orientation.roll = espp::deg_to_rad(roll);
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orientation.yaw = espp::deg_to_rad(yaw);
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return orientation;
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};
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// make the IMU config
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Imu::Config config{
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.device_address = Imu::DEFAULT_ADDRESS,
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.write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3),
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.read = std::bind(&espp::I2c::read, &i2c, std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3),
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.imu_config =
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{
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.accelerometer_range = Imu::AccelerometerRange::RANGE_8G,
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.accelerometer_odr = Imu::ODR::ODR_250_HZ,
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.gyroscope_range = Imu::GyroscopeRange::RANGE_512_DPS,
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.gyroscope_odr = Imu::ODR::ODR_250_HZ,
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},
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.orientation_filter = kalman_filter_fn,
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.auto_init = true,
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};
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// create the IMU
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logger.info("Creating IMU");
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Imu imu(config);
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// make a task to read out the IMU data and print it to console
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espp::Task imu_task({.callback = [&](std::mutex &m, std::condition_variable &cv) -> bool {
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// sleep first in case we don't get IMU data and need to exit early
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{
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std::unique_lock<std::mutex> lock(m);
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cv.wait_for(lock, 10ms);
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}
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auto now = esp_timer_get_time(); // time in microseconds
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static auto t0 = now;
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auto t1 = now;
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float dt = (t1 - t0) / 1'000'000.0f; // convert us to s
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t0 = t1;
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std::error_code ec;
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// update the imu data
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if (!imu.update(dt, ec)) {
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return false;
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}
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// get accel
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auto accel = imu.get_accelerometer();
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auto gyro = imu.get_gyroscope();
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auto temp = imu.get_temperature();
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auto orientation = imu.get_orientation();
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auto gravity_vector = imu.get_gravity_vector();
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// print time and raw IMU data
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std::string text = "";
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text += fmt::format("{:.3f},", now / 1'000'000.0f);
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text += fmt::format("{:02.3f},{:02.3f},{:02.3f},", (float)accel.x,
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(float)accel.y, (float)accel.z);
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text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)gyro.x,
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(float)gyro.y, (float)gyro.z);
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text += fmt::format("{:02.1f},", temp);
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// print kalman filter outputs
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text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)orientation.x,
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(float)orientation.y, (float)orientation.z);
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text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)gravity_vector.x,
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(float)gravity_vector.y, (float)gravity_vector.z);
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auto madgwick_orientation = madgwick_filter_fn(dt, accel, gyro);
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float roll = madgwick_orientation.roll;
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float pitch = madgwick_orientation.pitch;
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float yaw = madgwick_orientation.yaw;
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float vx = sin(pitch);
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float vy = -cos(pitch) * sin(roll);
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float vz = -cos(pitch) * cos(roll);
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// print madgwick filter outputs
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text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", roll, pitch, yaw);
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text += fmt::format("{:03.3f},{:03.3f},{:03.3f}", vx, vy, vz);
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fmt::print("{}\n", text);
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return false;
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},
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.task_config = {
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.name = "IMU",
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.stack_size_bytes = 6 * 1024,
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.priority = 10,
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.core_id = 0,
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}});
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// print the header for the IMU data (for plotting)
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fmt::print("% Time (s), "
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// raw IMU data (accel, gyro, temp)
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"Accel X (m/s^2), Accel Y (m/s^2), Accel Z (m/s^2), "
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"Gyro X (rad/s), Gyro Y (rad/s), Gyro Z (rad/s), "
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"Temp (C), "
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// kalman filter outputs
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"Kalman Roll (rad), Kalman Pitch (rad), Kalman Yaw (rad), "
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"Kalman Gravity X, Kalman Gravity Y, Kalman Gravity Z, "
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// madgwick filter outputs
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"Madgwick Roll (rad), Madgwick Pitch (rad), Magwick Yaw (rad), "
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"Madgwick Gravity X, Madgwick Gravity Y, Madgwick Gravity Z\n");
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logger.info("Starting IMU task");
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imu_task.start();
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// loop forever
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while (true) {
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std::this_thread::sleep_for(1s);
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}
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//! [qmi8658 example]
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}

‎components/qmi8658/example/sdkconfig.defaults

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CONFIG_IDF_TARGET="esp32s3"
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CONFIG_FREERTOS_HZ=1000
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# set compiler optimization level to -O2 (compile for performance)
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CONFIG_COMPILER_OPTIMIZATION_PERF=y
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CONFIG_ESPTOOLPY_FLASHSIZE_16MB=y
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CONFIG_ESPTOOLPY_FLASHSIZE="16MB"
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# over twice as fast as DIO
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CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
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# ESP32-specific
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#
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CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
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CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
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# Common ESP-related
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#
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CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
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CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384
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# Set esp-timer task stack size to 6KB
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CONFIG_ESP_TIMER_TASK_STACK_SIZE=6144
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# set the functions into IRAM
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CONFIG_SPI_MASTER_IN_IRAM=y

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