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This commit is contained in:
Bruno Rybársky
2026-05-08 23:46:39 +02:00
parent 469177e5cb
commit 0a7e80a16a
9 changed files with 1855 additions and 144 deletions
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main/drivers/bmi270.c
+1560 -27
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File diff suppressed because it is too large Load Diff
main/drivers/bmi270.h
+55 -19
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@@ -2,12 +2,18 @@
// --- Core IDs ---
#include <stdint.h>
#define BMI270_CHIP_ID 0x00
#define BMI270_REV_ID 0x01
#define BMI270_ERR_REG 0x02
#define BMI270_STATUS 0x03
// --- Power / system ---
#define BMI270_PWR_CONF 0x7C
#define BMI270_PWR_CTRL 0x7D
#define BMI270_CMD 0x7E
#define BMI270_INIT_CTRL 0x59
#define BMI270_INIT_ADDR_0 0x5B
#define BMI270_INIT_ADDR_1 0x5C
#define BMI270_INIT_DATA 0x5E
#define BMI270_INTERNAL_STAT 0x21
// --- Accel config ---
#define BMI270_ACC_CONF 0x40
@@ -18,37 +24,67 @@
#define BMI270_GYR_RANGE 0x43
// --- Data registers ---
#define BMI270_ACC_X_L 0x0C
#define BMI270_ACC_X_H 0x0D
#define BMI270_ACC_Y_L 0x0E
#define BMI270_ACC_Y_H 0x0F
#define BMI270_ACC_Z_L 0x10
#define BMI270_ACC_Z_H 0x11
#define BMI270_ACC_DATA_X_LSB 0x0C
#define BMI270_ACC_DATA_X_HSB 0x0D
#define BMI270_ACC_DATA_Y_LSB 0x0E
#define BMI270_ACC_DATA_Y_HSB 0x0F
#define BMI270_ACC_DATA_Z_LSB 0x10
#define BMI270_ACC_DATA_Z_HSB 0x11
#define BMI270_GYR_X_L 0x12
#define BMI270_GYR_X_H 0x13
#define BMI270_GYR_Y_L 0x14
#define BMI270_GYR_Y_H 0x15
#define BMI270_GYR_Z_L 0x16
#define BMI270_GYR_Z_H 0x17
#define BMI270_GYR_DATA_X_LSB 0x12
#define BMI270_GYR_DATA_X_HSB 0x13
#define BMI270_GYR_DATA_Y_LSB 0x14
#define BMI270_GYR_DATA_Y_HSB 0x15
#define BMI270_GYR_DATA_Z_LSB 0x16
#define BMI270_GYR_DATA_Z_HSB 0x17
#define BMI270_FIFO_LENGTH_0 0x24
#define BMI270_FIFO_DATA 0x26
#define BMI270_FIFO_CONFIG_0 0x48
#define BMI270_FIFO_CONFIG_1 0x49
// --- Commands ---
#define BMI270_CMD_SOFTRESET 0xB6
#define BMI270_CMD_FIFO_FLUSH 0xB0
// --- Power bits ---
#define BMI270_PWR_ACCEL_EN (1 << 3)
#define BMI270_PWR_GYRO_EN (1 << 2)
#define BMI270_PWR_TEMP_EN (1 << 3) // 0x08
#define BMI270_PWR_ACCEL_EN (1 << 2) // 0x04
#define BMI270_PWR_GYRO_EN (1 << 1) // 0x02
#define BMI270_PWR_AUX_EN (1 << 0) // 0x01
// --- Config presets (minimal usable defaults) ---
#define BMI270_ACC_CONF_100HZ 0xA8
#define BMI270_GYR_CONF_100HZ 0xA9
#define ACC_SCALE (4.0f / 32768.0f)
#define G_TO_MS2 9.80665f
#define GYR_SCALE (2000.0f / 32768.0f)
#define DEG_TO_RAD 0.01745329251f
typedef struct {
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t ax_raw;
int16_t ay_raw;
int16_t az_raw;
int16_t gx_raw;
int16_t gy_raw;
int16_t gz_raw;
float ax;
float ay;
float az;
float gx;
float gy;
float gz;
uint32_t timestamp_ms;
} bmi270_data_t;
void bmi270_init(void);
bool bmi270_init(void);
void bmi270_read(bmi270_data_t *d);
bool bmi270_read(bmi270_data_t *d);
extern const uint8_t bmi270_config_file[8192];
main/drivers/es8311.c
+117 -24
View File
@@ -8,10 +8,19 @@
#include "i2c.h"
#include "pins.h"
#include <math.h>
void es8311_write(uint8_t reg, uint8_t val) {
i2c_write_reg(ES8311_I2C_ADDR, reg, val);
i2c_master_dev_handle_t es8311_i2c_dev;
int es8311_write(uint8_t reg, uint8_t val) {
esp_err_t ret = i2c_write_reg(es8311_i2c_dev, reg, val);
if (ret != ESP_OK) {
printf("ES8311 write failed: reg=0x%02X, ret=%d\n", reg, ret);
return -1;
}
return 0;
}
void es8311_set_dac_volume(uint8_t vol) {
es8311_write(ES8311_DAC_VOL_L, vol);
@@ -20,35 +29,92 @@ void es8311_set_dac_volume(uint8_t vol) {
void es8311_set_adc_volume(uint8_t vol) { es8311_write(ES8311_ADC_VOL, vol); }
uint8_t es8311_read(uint8_t reg) {
uint8_t val;
esp_err_t ret = i2c_read_reg(es8311_i2c_dev, reg, &val);
if (ret != ESP_OK) {
printf("ES8311 read failed: reg=0x%02X, ret=%d\n", reg, ret);
return 0xFF;
}
return val;
}
void es8311_verify_init(void) {
printf("ES8311 Register Dump:\n");
printf("PWR_UP_DOWN (0x0C): 0x%02X\n", es8311_read(0x0C));
printf("PWR_ANALOG (0x0D): 0x%02X\n", es8311_read(0x0D));
printf("SER_FMT (0x10): 0x%02X\n", es8311_read(0x10));
printf("DAC_VOL_L (0x33): 0x%02X\n", es8311_read(0x33));
printf("DAC_VOL_R (0x34): 0x%02X\n", es8311_read(0x34));
}
void es8311_init(void) {
printf("ES8311: Starting initialization...\n");
i2c_device_config_t dev_cfg = {
.device_address = ES8311_I2C_ADDR,
.scl_speed_hz = 400000,
};
esp_err_t ret = i2c_master_bus_add_device(bus, &dev_cfg, &es8311_i2c_dev);
if (ret != ESP_OK) {
printf("ES8311: Failed to add I2C device: %d\n", ret);
return;
}
// Reset chip
printf("ES8311: Resetting...\n");
es8311_write(ES8311_RESET, ES8311_RESET_CMD);
vTaskDelay(pdMS_TO_TICKS(ES8311_RESET_DELAY_MS));
vTaskDelay(pdMS_TO_TICKS(20));
// Configure clock
printf("ES8311: Configuring clocks...\n");
es8311_write(ES8311_CLK_MANAGE, ES8311_CLK_ALL_EN);
es8311_write(ES8311_CLK_DIV, ES8311_CLK_DIV_DEFAULT);
// enable ADC + DAC
es8311_write(ES8311_PWR_UP_DOWN, ES8311_PWR_DAC_EN | ES8311_PWR_ADC_EN);
// Power up sequence
printf("ES8311: Powering up...\n");
es8311_write(ES8311_PWR_ANALOG, ES8311_PWR_ANALOG_OFF);
vTaskDelay(pdMS_TO_TICKS(ES8311_POWER_DELAY_MS));
es8311_write(ES8311_PWR_ANALOG, ES8311_ALL_ON);
es8311_write(ES8311_PWR_ANALOG, ES8311_PWR_ANALOG_ON);
vTaskDelay(pdMS_TO_TICKS(ES8311_POWER_DELAY_MS));
// I2S 16-bit
// I2S format
printf("ES8311: Configuring I2S format...\n");
es8311_write(ES8311_SER_FMT, ES8311_FMT_I2S | ES8311_WORD_LEN_16);
// ADC config
es8311_write(ES8311_ADC_CTRL1, 0x44);
// ADC configuration
printf("ES8311: Configuring ADC...\n");
es8311_write(ES8311_ADC_CTRL1, ES8311_ADC_CTRL1_DEFAULT);
es8311_write(ES8311_ADC_CTRL2, ES8311_ADC_CTRL2_DEFAULT);
es8311_set_adc_volume(ES8311_ADC_VOL_DEFAULT);
es8311_write(ES8311_ADC_CTRL2, 0x0C);
// DAC configuration
printf("ES8311: Configuring DAC...\n");
es8311_write(ES8311_DAC_CTRL1, ES8311_DAC_CTRL1_DEFAULT);
es8311_write(ES8311_DAC_CTRL2, ES8311_DAC_CTRL2_DEFAULT);
es8311_set_dac_volume(ES8311_DAC_VOL_DEFAULT);
// DAC config
es8311_write(ES8311_DAC_CTRL1, 0x04);
// Output configuration
printf("ES8311: Configuring outputs...\n");
es8311_write(ES8311_HP_CTRL, ES8311_HP_CTRL_DEFAULT);
es8311_write(ES8311_SPK_CTRL, ES8311_SPK_CTRL_MAX);
es8311_write(ES8311_DAC_CTRL2, 0x0C);
es8311_set_dac_volume(0xBF);
es8311_set_adc_volume(0x88);
es8311_write(ES8311_SPK_CTRL, 0xFF);
// Enable ADC and DAC
printf("ES8311: Enabling ADC/DAC...\n");
es8311_write(ES8311_PWR_UP_DOWN, ES8311_PWR_DAC_EN | ES8311_PWR_ADC_EN);
vTaskDelay(pdMS_TO_TICKS(ES8311_STARTUP_DELAY_MS));
printf("ES8311: Initializing I2S...\n");
audio_i2s_init();
printf("ES8311: Initialization complete\n");
es8311_verify_init();
}
int audio_write(const int16_t *samples, size_t count) {
@@ -76,14 +142,41 @@ int audio_read(int16_t *samples, size_t count) {
}
void audio_beep(void) {
static int16_t buf[4410];
// ES8311 expects stereo I2S (left + right channels)
static int16_t buf[ES8311_BEEP_DURATION_SAMPLES * 2]; // *2 for stereo
for (int i = 0; i < 4410; i++) {
for (int i = 0; i < ES8311_BEEP_DURATION_SAMPLES; i++) {
int phase = (i / ES8311_BEEP_HALF_PERIOD) & 1;
int16_t sample = phase ? ES8311_BEEP_AMPLITUDE : -ES8311_BEEP_AMPLITUDE;
int phase = (i / 20) & 1;
buf[i] = phase ? 12000 : -12000;
buf[i * 2] = sample; // Left channel
buf[i * 2 + 1] = sample; // Right channel (same as left for mono)
}
audio_write(buf, 4410);
int written = audio_write(buf, ES8311_BEEP_DURATION_SAMPLES * 2);
printf("Beep: wrote %d samples\n", written);
}
void audio_test_tone(void) {
const int sample_rate = 44100;
const int duration_ms = 1000;
const int freq_hz = 440; // A4 note
const int num_samples = (sample_rate * duration_ms) / 1000;
int16_t *buf = malloc(num_samples * 2 * sizeof(int16_t));
if (!buf) {
printf("Failed to allocate tone buffer\n");
return;
}
for (int i = 0; i < num_samples; i++) {
float t = (float)i / sample_rate;
int16_t sample = (int16_t)(sin(2.0f * M_PI * freq_hz * t) * 8000.0f);
buf[i * 2] = sample; // Left
buf[i * 2 + 1] = sample; // Right
}
printf("Playing 440Hz tone for 1 second...\n");
audio_write(buf, num_samples * 2);
free(buf);
}
main/drivers/es8311.h
+60 -1
View File
@@ -6,7 +6,6 @@
// ----------------------
// I2C
// ----------------------
#define ES8311_I2C_ADDR 0x18
// ----------------------
// System
@@ -64,6 +63,58 @@
#define ES8311_RESET_CMD 0x1F
#define ES8311_ALL_ON 0xFF
// ----------------------
// Clock Management Values
// ----------------------
#define ES8311_CLK_ALL_EN 0x3F // Enable all clocks
#define ES8311_CLK_DIV_DEFAULT 0x00 // Default divider
// ----------------------
// Power Analog Values
// ----------------------
#define ES8311_PWR_ANALOG_OFF 0x00 // All analog blocks off
#define ES8311_PWR_ANALOG_ON 0xBF // Power up analog circuits
// ----------------------
// ADC Control Values
// ----------------------
#define ES8311_ADC_CTRL1_DEFAULT 0x44 // TODO: Document bit meanings
#define ES8311_ADC_CTRL2_DEFAULT 0x0C // TODO: Document bit meanings
// ----------------------
// DAC Control Values
// ----------------------
#define ES8311_DAC_CTRL1_DEFAULT 0x04 // TODO: Document bit meanings
#define ES8311_DAC_CTRL2_DEFAULT 0x0C // TODO: Document bit meanings
// ----------------------
// Output Control Values
// ----------------------
#define ES8311_HP_CTRL_DEFAULT 0xF0 // TODO: Document bit meanings
#define ES8311_SPK_CTRL_MAX 0xFF // Maximum speaker output
// ----------------------
// Volume Defaults
// ----------------------
#define ES8311_DAC_VOL_DEFAULT 0xBF // ~75% volume
#define ES8311_ADC_VOL_DEFAULT 0x88 // ~50% gain
// ----------------------
// Timing Constants (milliseconds)
// ----------------------
#define ES8311_RESET_DELAY_MS 20
#define ES8311_POWER_DELAY_MS 10
#define ES8311_STARTUP_DELAY_MS 50
// ----------------------
// Beep Configuration
// ----------------------
#define ES8311_BEEP_DURATION_SAMPLES 4410 // 100ms at 44.1kHz
#define ES8311_BEEP_AMPLITUDE 12000 // ~36% of 16-bit max
#define ES8311_BEEP_HALF_PERIOD 20 // ~2.2kHz tone
void es8311_init(void);
void es8311_set_dac_volume(uint8_t vol);
@@ -74,3 +125,11 @@ int audio_write(const int16_t *samples, size_t count);
int audio_read(int16_t *samples, size_t count);
void audio_beep(void);
void audio_test_tone(void);
int es8311_write(uint8_t reg, uint8_t val);
uint8_t es8311_read(uint8_t reg);
void es8311_verify_init(void);
main/drivers/i2c.c
+17 -41
View File
@@ -1,4 +1,5 @@
#include "i2c.h"
#include "driver/i2c_types.h"
#include "esp_err.h"
#include <string.h>
@@ -17,71 +18,46 @@ void i2c_init(int sda, int scl) {
i2c_new_master_bus(&cfg, &bus);
}
esp_err_t i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t val) {
esp_err_t i2c_write_reg(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t val) {
uint8_t data[2] = {reg, val};
i2c_master_dev_handle_t dev;
i2c_device_config_t dev_cfg = {
.device_address = addr,
.scl_speed_hz = 400000,
};
i2c_master_bus_add_device(bus, &dev_cfg, &dev);
esp_err_t r = i2c_master_transmit(dev, data, 2, -1);
i2c_master_bus_rm_device(dev);
return r;
}
esp_err_t i2c_read_reg(uint8_t addr, uint8_t reg, uint8_t *val) {
i2c_master_dev_handle_t dev;
i2c_device_config_t dev_cfg = {
.device_address = addr,
.scl_speed_hz = 400000,
};
esp_err_t i2c_write_reg_multi(i2c_master_dev_handle_t dev, uint8_t reg, const uint8_t *data,
size_t len) {
i2c_master_bus_add_device(bus, &dev_cfg, &dev);
esp_err_t err;
// reg + payload
uint8_t buf[len + 1];
buf[0] = reg;
memcpy(&buf[1], data, len);
err = i2c_master_transmit(dev, buf, len + 1, -1);
return err;
}
esp_err_t i2c_read_reg(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t *val) {
i2c_master_transmit_receive(dev, &reg, 1, val, 1, -1);
i2c_master_bus_rm_device(dev);
return ESP_OK;
}
esp_err_t i2c_read_multi(uint8_t addr, uint8_t reg, uint8_t *buf, int len) {
i2c_master_dev_handle_t dev;
i2c_device_config_t dev_cfg = {
.device_address = addr,
.scl_speed_hz = 400000,
};
i2c_master_bus_add_device(bus, &dev_cfg, &dev);
esp_err_t i2c_read_multi(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t *buf, int len) {
i2c_master_transmit_receive(dev, &reg, 1, buf, len, -1);
i2c_master_bus_rm_device(dev);
return ESP_OK;
}
esp_err_t i2c_read_reg_multi(uint8_t addr, uint8_t reg, uint8_t *buf,
esp_err_t i2c_read_reg_multi(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t *buf,
size_t len) {
i2c_master_dev_handle_t dev;
i2c_device_config_t cfg = {
.device_address = addr,
.scl_speed_hz = 400000,
};
esp_err_t err;
err = i2c_master_bus_add_device(bus, &cfg, &dev);
if (err != ESP_OK)
return err;
err = i2c_master_transmit_receive(dev, &reg, 1, buf, len, -1);
i2c_master_bus_rm_device(dev);
return err;
}
main/drivers/i2c.h
+6 -4
View File
@@ -8,9 +8,11 @@ extern i2c_master_bus_handle_t bus;
void i2c_init(int sda, int scl);
esp_err_t i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t val);
esp_err_t i2c_read_reg(uint8_t addr, uint8_t reg, uint8_t *val);
esp_err_t i2c_read_multi(uint8_t addr, uint8_t reg, uint8_t *buf, int len);
esp_err_t i2c_write_reg(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t val);
esp_err_t i2c_write_reg_multi(i2c_master_dev_handle_t dev, uint8_t reg, const uint8_t *data,
size_t len);
esp_err_t i2c_read_reg(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t *val);
esp_err_t i2c_read_multi(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t *buf, int len);
esp_err_t i2c_read_reg_multi(uint8_t addr, uint8_t reg, uint8_t *buf,
esp_err_t i2c_read_reg_multi(i2c_master_dev_handle_t dev, uint8_t reg, uint8_t *buf,
size_t len);
main/drivers/st7789.c
+1 -1
View File
@@ -281,7 +281,7 @@ void st7789_draw_string(uint16_t xOld, uint16_t yOld, const char *s,
uint16_t y = yOld;
while (*s) {
if (*s == '\n') {
y += 5;
y += 9;
x = xOld;
s++;
continue;
main/drivers/tca8418.c
+18 -12
View File
@@ -4,21 +4,28 @@
#include <stdint.h>
#include <string.h>
i2c_master_dev_handle_t tca8418_i2c_dev;
KeyboardState_t keyboardState;
void tca8418_init(void) {
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_KP_GPIO1, 0x7F);
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_KP_GPIO2, 0xFF);
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_KP_GPIO3, 0x00);
i2c_device_config_t dev_cfg = {
.device_address = KEYBOARD_I2C_ADDRESS,
.scl_speed_hz = 400000,
};
i2c_master_bus_add_device(bus, &dev_cfg, &tca8418_i2c_dev);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_KP_GPIO1, 0x7F);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_KP_GPIO2, 0xFF);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_KP_GPIO3, 0x00);
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_CFG,
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_CFG,
TCA8418_CFG_INT_ENABLE | TCA8418_CFG_OVERFLOW_MODE);
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_UNLOCK1, 0x00);
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_UNLOCK2, 0x00);
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_KP_LCK_TIMER, 0x00);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_UNLOCK1, 0x00);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_UNLOCK2, 0x00);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_KP_LCK_TIMER, 0x00);
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_INT_STAT, 0xFF);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_INT_STAT, 0xFF);
memset(&keyboardState, 0, sizeof(keyboardState));
}
@@ -26,7 +33,7 @@ int tca8418_read(uint8_t *key, uint8_t *pressed) {
uint8_t count;
// read event counter
i2c_read_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_KEY_LCK_EC, &count);
i2c_read_reg(tca8418_i2c_dev, TCA8418_REG_KEY_LCK_EC, &count);
count &= 0x0F;
@@ -37,7 +44,7 @@ int tca8418_read(uint8_t *key, uint8_t *pressed) {
uint8_t ev;
// reading this register POPS one FIFO event
i2c_read_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_KEY_EVENT_A, &ev);
i2c_read_reg(tca8418_i2c_dev, TCA8418_REG_KEY_EVENT_A, &ev);
// bit7:
// 0 = press
@@ -52,8 +59,7 @@ int tca8418_read(uint8_t *key, uint8_t *pressed) {
return 0;
// clear ONLY key event interrupt
i2c_write_reg(KEYBOARD_I2C_ADDRESS, TCA8418_REG_INT_STAT,
TCA8418_INT_KEY_EVENT);
i2c_write_reg(tca8418_i2c_dev, TCA8418_REG_INT_STAT, TCA8418_INT_KEY_EVENT);
// update key state table
keyboardState.pressedKeys[*key] = *pressed;
main/main.c
+20 -14
View File
@@ -12,9 +12,9 @@
#include "drivers/bmi270.h"
#include "drivers/es8311.h"
#include "drivers/sdcard.h"
#include "drivers/irled.h"
#include "drivers/i2s.h"
#include "drivers/irled.h"
#include "drivers/sdcard.h"
#include "drivers/st7789.h"
#include "drivers/tca8418.h"
#include "drivers/ws2812.h"
@@ -28,11 +28,14 @@ printf("boot\n");
i2c_init(BUS_I2C_SDA, BUS_I2C_SCL);
ws2812_init();
bmi270_init();
es8311_init();
tca8418_init();
if (!bmi270_init()) {
printf("BMI Init failed\n");
}
ir_pwm_init();
ir_carrier_off();
initSD();
st7789_init();
printf("init done");
@@ -48,7 +51,6 @@ printf("boot\n");
*/
audio_beep();
while (1) {
@@ -56,9 +58,10 @@ printf("boot\n");
uint8_t key;
uint8_t pressed;
char buf[64];
char buf[256];
st7789_fill_rect(1, 1, LCD_WIDTH - 2, LCD_HEIGHT - 2, 0x0000);
st7789_draw_string(10, 10, "CARDPUTER TEST", 0xFFFF, 0x0000, false, font5x7);
st7789_draw_string(10, 10, "CARDPUTER TEST", 0xFFFF, 0x0000, false,
font5x7);
while (tca8418_read(&key, &pressed)) {
snprintf(buf, sizeof(buf), "key=%c %s %d %s", getKeyboardChar(key),
@@ -66,20 +69,23 @@ printf("boot\n");
printf("%s\n", buf);
st7789_draw_string(30, 30, buf, 0x07E0, 0x0000, true, fontHitachi);
audio_beep();
}
bmi270_data_t bmiData;
bmi270_read(&bmiData);
snprintf(buf, sizeof(buf), "acc %d %d %d gyro %d %d %d\n",
bmiData.ax, bmiData.ay, bmiData.az,
bmiData.gx, bmiData.gy, bmiData.gz);
if (!bmi270_read(&bmiData)) {
printf("BMI read failed\n");
} else {
snprintf(buf, sizeof(buf), "acc %f %f %f\ngyro %f %f %f\n", bmiData.ax,
bmiData.ay, bmiData.az, bmiData.gx, bmiData.gy, bmiData.gz);
st7789_draw_string(30, 60, buf, 0x07E0, 0x0000, true, fontHitachi);
}
snprintf(buf, sizeof(buf), "Battery: %d%%(%.3fV)", getBatteryPercentage(), getBatteryVoltage());
st7789_draw_string(100, 10, buf, 0x07E0, 0x0000, true, fontHitachi);
snprintf(buf, sizeof(buf), "BAT: %d%%(%.3fV)", getBatteryPercentage(),
getBatteryVoltage());
st7789_draw_string(150, 10, buf, 0x07E0, 0x0000, true, fontHitachi);
st7789_flush();
vTaskDelay(pdMS_TO_TICKS(20)); // 50 fps max