safety, before implementing 22_compass

exercises/11_Set_RTC2GPS/.gitignore

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+exercises/11_Set_RTC2GPS/*.log

exercises/21_six_axis/platformio.ini

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+; 20260414 ChatGPT
+; Exercise 21_six_axis
+
+[platformio]
+default_envs = guy
+
+[env]
+platform = espressif32
+framework = arduino
+board = esp32-s3-devkitc-1
+board_build.partitions = default_8MB.csv
+monitor_speed = 115200
+lib_deps =
+  Wire
+  olikraus/U8g2@^2.36.4
+  lewisxhe/XPowersLib@0.3.3
+
+build_flags =
+  -I ../../shared/boards
+  -I ../../external/microReticulum_Firmware
+  -I /usr/local/src/LilyGo-LoRa-Series/lib/SensorLib/src
+  -D BOARD_MODEL=BOARD_TBEAM_S_V1
+  -D ARDUINO_USB_MODE=1
+  -D ARDUINO_USB_CDC_ON_BOOT=1
+  -D OLED_SDA=17
+  -D OLED_SCL=18
+  -D OLED_ADDR=0x3C
+
+[env:amy]
+extends = env
+build_flags =
+  ${env.build_flags}
+  -D BOARD_ID=\"AMY\"
+  -D NODE_LABEL=\"Amy\"
+
+[env:bob]
+extends = env
+build_flags =
+  ${env.build_flags}
+  -D BOARD_ID=\"BOB\"
+  -D NODE_LABEL=\"Bob\"
+
+[env:cy]
+extends = env
+build_flags =
+  ${env.build_flags}
+  -D BOARD_ID=\"CY\"
+  -D NODE_LABEL=\"Cy\"
+
+[env:dan]
+extends = env
+build_flags =
+  ${env.build_flags}
+  -D BOARD_ID=\"DAN\"
+  -D NODE_LABEL=\"Dan\"
+
+[env:ed]
+extends = env
+build_flags =
+  ${env.build_flags}
+  -D BOARD_ID=\"ED\"
+  -D NODE_LABEL=\"Ed\"
+
+[env:flo]
+extends = env
+build_flags =
+  ${env.build_flags}
+  -D BOARD_ID=\"FLO\"
+  -D NODE_LABEL=\"Flo\"
+
+[env:guy]
+extends = env
+build_flags =
+  ${env.build_flags}
+  -D BOARD_ID=\"GUY\"
+  -D NODE_LABEL=\"Guy\"

exercises/21_six_axis/src/main.cpp

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+#include <Arduino.h>
+#include <SPI.h>
+#include <U8g2lib.h>
+#include <Wire.h>
+#include <XPowersLib.h>
+
+#include "Boards.h"
+#include "SensorQMI8658.hpp"
+#include "tbeam_supreme_adapter.h"
+
+namespace {
+
+constexpr uint32_t kUiUpdateIntervalMs = 100;
+constexpr uint32_t kSplashDelayMs = 1200;
+
+U8G2_SH1106_128X64_NONAME_F_HW_I2C g_oled(U8G2_R0, U8X8_PIN_NONE);
+XPowersLibInterface* g_pmu = nullptr;
+SensorQMI8658 g_qmi;
+IMUdata g_accel{0.0f, 0.0f, 0.0f};
+IMUdata g_gyro{0.0f, 0.0f, 0.0f};
+
+bool g_sensorReady = false;
+bool g_displayReady = false;
+
+uint32_t g_lastUiUpdateMs = 0;
+uint32_t g_lastSampleMicros = 0;
+float g_lastSamplePeriodMs = 0.0f;
+uint32_t g_sampleCount = 0;
+float g_temperatureC = 0.0f;
+uint32_t g_sensorTimestamp = 0;
+
+void initDisplay() {
+  Wire.begin(OLED_SDA, OLED_SCL);
+  g_oled.begin();
+  g_oled.setI2CAddress(OLED_ADDR << 1);
+  g_oled.setBusClock(400000);
+  g_oled.clearBuffer();
+  g_oled.setFont(u8g2_font_6x10_tf);
+  g_oled.drawStr(0, 12, "Exercise 21");
+  g_oled.drawStr(0, 28, "QMI8658 Six-Axis");
+  g_oled.drawStr(0, 44, "Starting...");
+  g_oled.sendBuffer();
+  g_displayReady = true;
+}
+
+bool initImu() {
+  pinMode(SD_CS, OUTPUT);
+  digitalWrite(SD_CS, HIGH);
+
+  SPI.begin(SD_CLK, SD_MISO, SD_MOSI, IMU_CS);
+
+  if (!g_qmi.begin(SPI, IMU_CS, SD_MOSI, SD_MISO, SD_CLK)) {
+    return false;
+  }
+
+  g_qmi.configAccelerometer(
+      SensorQMI8658::ACC_RANGE_4G,
+      SensorQMI8658::ACC_ODR_250Hz,
+      SensorQMI8658::LPF_MODE_1);
+
+  g_qmi.configGyroscope(
+      SensorQMI8658::GYR_RANGE_256DPS,
+      SensorQMI8658::GYR_ODR_224_2Hz,
+      SensorQMI8658::LPF_MODE_3);
+
+  g_qmi.enableGyroscope();
+  g_qmi.enableAccelerometer();
+  return true;
+}
+
+void drawStatus(const char* line1, const char* line2 = nullptr, const char* line3 = nullptr) {
+  if (!g_displayReady) {
+    return;
+  }
+  g_oled.clearBuffer();
+  g_oled.setFont(u8g2_font_6x10_tf);
+  g_oled.drawStr(0, 12, line1);
+  if (line2) g_oled.drawStr(0, 28, line2);
+  if (line3) g_oled.drawStr(0, 44, line3);
+  g_oled.sendBuffer();
+}
+
+void sampleImu() {
+  if (!g_sensorReady || !g_qmi.getDataReady()) {
+    return;
+  }
+
+  if (!g_qmi.getAccelerometer(g_accel.x, g_accel.y, g_accel.z)) {
+    return;
+  }
+  if (!g_qmi.getGyroscope(g_gyro.x, g_gyro.y, g_gyro.z)) {
+    return;
+  }
+
+  const uint32_t nowMicros = micros();
+  if (g_lastSampleMicros != 0) {
+    g_lastSamplePeriodMs = (nowMicros - g_lastSampleMicros) / 1000.0f;
+  }
+  g_lastSampleMicros = nowMicros;
+
+  g_temperatureC = g_qmi.getTemperature_C();
+  g_sensorTimestamp = g_qmi.getTimestamp();
+  ++g_sampleCount;
+}
+
+void printSerialFrame() {
+  Serial.printf(
+      "sample=%lu dt=%.1fms ts=%lu temp=%.2fC "
+      "acc[g]={%.4f,%.4f,%.4f} gyro[dps]={%.3f,%.3f,%.3f}\r\n",
+      static_cast<unsigned long>(g_sampleCount),
+      g_lastSamplePeriodMs,
+      static_cast<unsigned long>(g_sensorTimestamp),
+      g_temperatureC,
+      g_accel.x,
+      g_accel.y,
+      g_accel.z,
+      g_gyro.x,
+      g_gyro.y,
+      g_gyro.z);
+}
+
+void drawFrame() {
+  if (!g_displayReady) {
+    return;
+  }
+
+  char line[32];
+
+  g_oled.clearBuffer();
+  g_oled.setFont(u8g2_font_5x8_tf);
+
+  snprintf(line, sizeof(line), "QMI8658  %s", NODE_LABEL);
+  g_oled.drawStr(0, 8, line);
+
+  snprintf(line, sizeof(line), "A X:% .3f", g_accel.x);
+  g_oled.drawStr(0, 16, line);
+  snprintf(line, sizeof(line), "A Y:% .3f", g_accel.y);
+  g_oled.drawStr(64, 16, line);
+
+  snprintf(line, sizeof(line), "A Z:% .3f", g_accel.z);
+  g_oled.drawStr(0, 24, line);
+
+  snprintf(line, sizeof(line), "G X:% .1f", g_gyro.x);
+  g_oled.drawStr(0, 36, line);
+  snprintf(line, sizeof(line), "G Y:% .1f", g_gyro.y);
+  g_oled.drawStr(64, 36, line);
+
+  snprintf(line, sizeof(line), "G Z:% .1f", g_gyro.z);
+  g_oled.drawStr(0, 44, line);
+
+  snprintf(line, sizeof(line), "T:%5.2fC", g_temperatureC);
+  g_oled.drawStr(0, 56, line);
+  snprintf(line, sizeof(line), "dt:%4.1f", g_lastSamplePeriodMs);
+  g_oled.drawStr(60, 56, line);
+  snprintf(line, sizeof(line), "N:%lu", static_cast<unsigned long>(g_sampleCount));
+  g_oled.drawStr(96, 56, line);
+
+  g_oled.sendBuffer();
+}
+
+}  // namespace
+
+void setup() {
+  Serial.begin(115200);
+  delay(250);
+
+  tbeam_supreme::initPmuForPeripherals(g_pmu, &Serial);
+  initDisplay();
+
+  drawStatus("Exercise 21", "QMI8658 live view", "Init IMU...");
+
+  g_sensorReady = initImu();
+  if (!g_sensorReady) {
+    Serial.println("QMI8658 init failed");
+    drawStatus("QMI8658 init", "FAILED", "Check wiring/power");
+    return;
+  }
+
+  Serial.printf("QMI8658 device ID: 0x%02X\r\n", g_qmi.getChipID());
+  Serial.println("Streaming raw accel[g], gyro[dps], temp[C]");
+  Serial.println("UI refresh: 100 ms, sensor ODR: accel 250 Hz, gyro 224.2 Hz");
+
+  drawStatus("QMI8658 ready", "Serial + OLED live", "Move the device");
+  delay(kSplashDelayMs);
+  g_lastUiUpdateMs = millis();
+}
+
+void loop() {
+  sampleImu();
+
+  const uint32_t now = millis();
+  if (now - g_lastUiUpdateMs < kUiUpdateIntervalMs) {
+    return;
+  }
+  g_lastUiUpdateMs = now;
+
+  if (!g_sensorReady) {
+    return;
+  }
+
+  printSerialFrame();
+  drawFrame();
+}