add eim-idf project

skateboard-firmware/.clang-format

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+BasedOnStyle: WebKit
+IndentWidth: 4
+ColumnLimit: 80
+
+IndentCaseLabels: true
+InsertNewlineAtEOF: true
+AllowShortFunctionsOnASingleLine: None
+
+BinPackArguments: false
+# BinPackLongBracedList: false
+# BinPackParameters: OnePerLine
+BinPackParameters: true
+
+AllowAllArgumentsOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+

skateboard-firmware/.gitignore

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+build

skateboard-firmware/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+idf_build_set_property(MINIMAL_BUILD ON)
+project(hello_world)
+

skateboard-firmware/build.sh

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+#!/bin/bash
+
+set -xe
+
+docker run --rm -v $PWD:/project -w /project -u $UID -e HOME=/tmp espressif/idf idf.py build
+

skateboard-firmware/dependencies.lock

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+dependencies:
+  espressif/mpu6050:
+    component_hash: 3370b55e3c1337c0a80c8cd833bf48c0ba61cf9f7d226856ae88abb61eba1d67
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.0'
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 1.2.1
+  idf:
+    source:
+      type: idf
+    version: 5.5.3
+direct_dependencies:
+- espressif/mpu6050
+- idf
+manifest_hash: 389fcce1891f49698e26c9e67ecf8cf7d8e6b2bf9fd10bb2f55ae4003ec75013
+target: esp32s3
+version: 2.0.0

skateboard-firmware/flash.sh

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+#!/bin/bash
+
+set -xe
+
+# run this on the host: esp_rfc2217_server -v -p 4000 /dev/ttyACM0
+
+docker run --rm -v $PWD:/project -w /project -u $UID -e HOME=/tmp espressif/idf idf.py -p 4000:4000 flash
+

skateboard-firmware/main/CMakeLists.txt

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+idf_component_register(SRCS "main.c"
+                       PRIV_REQUIRES spi_flash "driver" mpu6050
+                       INCLUDE_DIRS "")
+

skateboard-firmware/main/idf_component.yml

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+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: '>=4.1.0'
+  # # Put list of dependencies here
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true
+  espressif/mpu6050: ^1.2.1

skateboard-firmware/main/main.c

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+#include "esp_chip_info.h"
+#include "esp_flash.h"
+#include "esp_system.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "mpu6050.h"
+#include "sdkconfig.h"
+#include <inttypes.h>
+#include <stdio.h>
+
+static mpu6050_handle_t mpu6050_dev = NULL;
+
+static mpu6050_acce_value_t acce;
+static mpu6050_gyro_value_t gyro;
+
+static void mpu6050_init()
+{
+    mpu6050_dev = mpu6050_create(BSP_I2C_NUM, MPU6050_I2C_ADDRESS);
+    mpu6050_config(mpu6050_dev, ACCE_FS_4G, GYRO_FS_500DPS);
+    mpu6050_wake_up(mpu6050_dev);
+}
+
+static void mpu6050_read(void* pvParameters)
+{
+    mpu6050_get_acce(mpu6050_dev, &acce);
+    mpu6050_get_gyro(mpu6050_dev, &gyro);
+    mpu6050_complimentory_filter(
+        mpu6050_dev, &acce, &gyro, &complimentary_angle);
+}
+
+void app_main(void)
+{
+    mpu6050_init();
+
+    printf("Hello world!\n");
+
+    for (size_t i = 0; i < 10000) {
+        printf("acce_x:%.2f, acce_y:%.2f, acce_z:%.2f\n",
+            acce.acce_x,
+            acce.acce_y,
+            acce.acce_z);
+        printf("gyro_x:%.2f, gyro_y:%.2f, gyro_z:%.2f",
+            gyro.gyro_x,
+            gyro.gyro_y,
+            gyro.gyro_z);
+    }
+
+    /* Print chip information */
+    esp_chip_info_t chip_info;
+    uint32_t flash_size;
+    esp_chip_info(&chip_info);
+    printf("This is %s chip with %d CPU core(s), %s%s%s%s, ",
+        CONFIG_IDF_TARGET,
+        chip_info.cores,
+        (chip_info.features & CHIP_FEATURE_WIFI_BGN) ? "WiFi/" : "",
+        (chip_info.features & CHIP_FEATURE_BT) ? "BT" : "",
+        (chip_info.features & CHIP_FEATURE_BLE) ? "BLE" : "",
+        (chip_info.features & CHIP_FEATURE_IEEE802154)
+            ? ", 802.15.4 (Zigbee/Thread)"
+            : "");
+
+    unsigned major_rev = chip_info.revision / 100;
+    unsigned minor_rev = chip_info.revision % 100;
+    printf("silicon revision v%d.%d, ", major_rev, minor_rev);
+    if (esp_flash_get_size(NULL, &flash_size) != ESP_OK) {
+        printf("Get flash size failed");
+        return;
+    }
+
+    printf("%" PRIu32 "MB %s flash\n",
+        flash_size / (uint32_t)(1024 * 1024),
+        (chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded"
+                                                      : "external");
+
+    printf("Minimum free heap size: %" PRIu32 " bytes\n",
+        esp_get_minimum_free_heap_size());
+
+    for (int i = 10; i >= 0; i--) {
+        printf("Restarting in %d seconds...\n", i);
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+    printf("Restarting now.\n");
+    fflush(stdout);
+    esp_restart();
+}