add skateboard

skateboard/.clang-format

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

skateboard/.clangd

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+CompileFlags:
+  Remove:
+    [
+      "-mlongcalls",
+      "-fno-shrink-wrap",
+      "-fstrict-volatile-bitfields",
+      "-fno-tree-switch-conversion",
+    ]
+

skateboard/.gitignore

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+build/
+managed_components/
+sdkconfig
+sdkconfig.old
+.cache/
+

skateboard/CMakeLists.txt

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+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(skateboard)

skateboard/dependencies.lock

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+dependencies:
+  esp-idf-lib/esp_idf_lib_helpers:
+    component_hash: 689853bb8993434f9556af0f2816e808bf77b5d22100144b21f3519993daf237
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    targets:
+    - esp32
+    - esp32c2
+    - esp32c3
+    - esp32c5
+    - esp32c6
+    - esp32c61
+    - esp32h2
+    - esp32p4
+    - esp32s2
+    - esp32s3
+    version: 1.4.0
+  esp-idf-lib/i2cdev:
+    component_hash: 9e22a91420695242ceac2c00788820ae45826224d38ef003a1a894367c55ede4
+    dependencies:
+    - name: esp-idf-lib/esp_idf_lib_helpers
+      registry_url: https://components.espressif.com
+      require: private
+      version: '*'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    targets:
+    - esp32
+    - esp32c2
+    - esp32c3
+    - esp32c5
+    - esp32c6
+    - esp32c61
+    - esp32h2
+    - esp32p4
+    - esp32s2
+    - esp32s3
+    version: 2.1.1
+  esp-idf-lib/mpu6050:
+    component_hash: 2d4c6db42322162aeadded002cb811028f05115d969e143bad6470822cc75a8a
+    dependencies:
+    - name: esp-idf-lib/esp_idf_lib_helpers
+      registry_url: https://components.espressif.com
+      require: private
+      version: '*'
+    - name: esp-idf-lib/i2cdev
+      registry_url: https://components.espressif.com
+      require: private
+      version: '*'
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    targets:
+    - esp32
+    - esp32c2
+    - esp32c3
+    - esp32c5
+    - esp32c6
+    - esp32c61
+    - esp32h2
+    - esp32p4
+    - esp32s2
+    - esp32s3
+    version: 2.1.9
+  idf:
+    source:
+      type: idf
+    version: 5.5.3
+direct_dependencies:
+- esp-idf-lib/mpu6050
+- idf
+manifest_hash: 555befbc35f7160bcfad0b8961e2bbca4bfb6b90242eecc7749fe036d221aa41
+target: esp32s3
+version: 2.0.0

skateboard/main/CMakeLists.txt

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+idf_component_register(
+    SRCS skateboard.c wifi.c
+    PRIV_REQUIRES nvs_flash esp_wifi
+    INCLUDE_DIRS ".")
+

skateboard/main/Kconfig.projbuild

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+menu "Skateboard config"
+
+    config SKATEBOARD_WIFI_SSID
+        string "WIFI SSID"
+        default "myssid"
+
+    config SKATEBOARD_WIFI_PASSWORD
+        string "WIFI password"
+        default "mypassword"
+
+    config SKATEBOARD_WIFI_MAXIMUM_RETRIES
+        int "WIFI maximum connection retries"
+        default 5
+
+    choice MPU6050_I2C_ADDRESS
+        prompt "Select I2C address"
+        default MPU6050_I2C_ADDRESS_LOW
+        help
+            Select I2C address
+
+        config MPU6050_I2C_ADDRESS_LOW
+            bool "MPU6050_I2C_ADDRESS_LOW"
+            help
+                Choose this when ADDR pin is disconnected or connected to ground
+        config MPU6050_I2C_ADDRESS_HIGH
+            bool "MPU6050_I2C_ADDRESS_HIGH"
+            help
+                Choose this when ADDR pin is connected to VCC
+    endchoice
+
+    config MPU6050_SCL_GPIO
+        int "MPU6050 SCL GPIO Number"
+        default 12
+        help
+            GPIO number for I2C Master clock line.
+
+    config MPU6050_SDA_GPIO
+        int "MPU6050 SDA GPIO Number"
+        default 11
+        help
+            GPIO number for I2C Master data line.
+
+endmenu

skateboard/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
+  esp-idf-lib/mpu6050: '*'

skateboard/main/skateboard.c

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+#include "esp_log.h"
+#include "esp_wifi.h"
+#include "freertos/idf_additions.h"
+#include "i2cdev.h"
+#include "mpu6050.h"
+#include "nvs_flash.h"
+#include "wifi.h"
+#include <stdbool.h>
+
+const char* TAG = "skateboard";
+
+#ifdef CONFIG_MPU6050_I2C_ADDRESS_LOW
+#define MPU6050_I2C_ADDRESS MPU6050_I2C_ADDRESS_LOW
+#else
+#define MPU6050_I2C_ADDRESS MPU6050_I2C_ADDRESS_HIGH
+#endif
+
+#define MPU6050_SDA_GPIO CONFIG_MPU6050_SDA_GPIO
+#define MPU6050_SCL_GPIO CONFIG_MPU6050_SCL_GPIO
+
+typedef struct App {
+    AppWifi wifi;
+} App;
+
+void app_main(void)
+{
+    ESP_LOGI(TAG, "Initializing");
+    ESP_LOGI(TAG, "IDF version: %s", esp_get_idf_version());
+
+    esp_err_t status = nvs_flash_init();
+    if (status == ESP_ERR_NVS_NO_FREE_PAGES
+        || status == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        status = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(status);
+
+    App app = { 
+        .wifi = {
+            .wifi_event_group = 0,
+            .wifi_retries = 0,
+        }, 
+    };
+
+    app_wifi_init(&app.wifi);
+
+    ESP_ERROR_CHECK(i2cdev_init());
+
+    mpu6050_dev_t mpu = { 0 };
+
+    ESP_ERROR_CHECK(mpu6050_init_desc(
+        &mpu, MPU6050_I2C_ADDRESS, 0, MPU6050_SDA_GPIO, MPU6050_SCL_GPIO));
+    ESP_LOGI(TAG,
+        "Initializing MPU6050 device. Address: 0x%02x, SDA %d, SCL: %d",
+        MPU6050_I2C_ADDRESS,
+        MPU6050_SDA_GPIO,
+        MPU6050_SCL_GPIO);
+
+    while (true) {
+        esp_err_t res = i2c_dev_probe(&mpu.i2c_dev, I2C_DEV_WRITE);
+        if (res == ESP_OK) {
+            ESP_LOGI(TAG, "Found MPU6050 device");
+            break;
+        }
+        ESP_LOGE(TAG, "MPU6050 not found");
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
+
+    ESP_ERROR_CHECK(mpu6050_init(&mpu));
+
+    ESP_LOGI(TAG, "Acceleration range: %d", mpu.ranges.accel);
+    ESP_LOGI(TAG, "Gyroscope range:  %d", mpu.ranges.gyro);
+
+    ESP_LOGI(TAG, "Initialized");
+    ESP_LOGI(TAG, "Free memory: %" PRIu32 " bytes", esp_get_free_heap_size());
+
+    while (true) {
+        float temp;
+        mpu6050_acceleration_t accel = { 0 };
+        mpu6050_rotation_t rotation = { 0 };
+
+        ESP_ERROR_CHECK(mpu6050_get_temperature(&mpu, &temp));
+        ESP_ERROR_CHECK(mpu6050_get_motion(&mpu, &accel, &rotation));
+
+        ESP_LOGI(TAG,
+            "******************************************************************"
+            "****");
+        ESP_LOGI(TAG,
+            "Acceleration: x=%.4f   y=%.4f   z=%.4f",
+            accel.x,
+            accel.y,
+            accel.z);
+        ESP_LOGI(TAG,
+            "Rotation:     x=%.4f   y=%.4f   z=%.4f",
+            rotation.x,
+            rotation.y,
+            rotation.z);
+        ESP_LOGI(TAG, "Temperature:  %.1f", temp);
+
+        vTaskDelay(pdMS_TO_TICKS(100));
+    }
+}

skateboard/main/wifi.c

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+#include "wifi.h"
+#include "esp_log.h"
+#include "esp_wifi.h"
+#include "freertos/idf_additions.h"
+
+extern const char* TAG;
+
+#define WIFI_SSID CONFIG_SKATEBOARD_WIFI_SSID
+#define WIFI_PASSWORD CONFIG_SKATEBOARD_WIFI_PASSWORD
+#define WIFI_MAXIMUM_RETRIES CONFIG_SKATEBOARD_WIFI_MAXIMUM_RETRIES
+
+enum {
+    Ev_Connected = 1 << 0,
+    Ev_Failed = 1 << 1,
+};
+
+static void event_handler(
+    void* arg, esp_event_base_t base, int32_t id, void* data)
+{
+    AppWifi* app = arg;
+
+    if (base == WIFI_EVENT && id == WIFI_EVENT_STA_START) {
+        esp_wifi_connect();
+        return;
+    }
+
+    if (base == WIFI_EVENT && id == WIFI_EVENT_STA_DISCONNECTED) {
+        esp_wifi_connect();
+
+        if (app->wifi_retries < WIFI_MAXIMUM_RETRIES) {
+            esp_wifi_connect();
+            app->wifi_retries += 1;
+            ESP_LOGE(TAG,
+                "WIFI connection failed. Retrying (%d/%d)",
+                app->wifi_retries + 1,
+                WIFI_MAXIMUM_RETRIES);
+            return;
+        }
+
+        xEventGroupSetBits(app->wifi_event_group, Ev_Failed);
+        return;
+    }
+
+    if (base == IP_EVENT && id == IP_EVENT_STA_GOT_IP) {
+        ip_event_got_ip_t* ip_event = (ip_event_got_ip_t*)data;
+        app->wifi_retries = 0;
+        ESP_LOGI(TAG,
+            "WIFI connected with IP " IPSTR,
+            IP2STR(&ip_event->ip_info.ip));
+        xEventGroupSetBits(app->wifi_event_group, Ev_Connected);
+        return;
+    }
+}
+
+void app_wifi_init(AppWifi* wifi)
+{
+    wifi->wifi_event_group = xEventGroupCreate();
+
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    esp_netif_create_default_wifi_sta();
+
+    wifi_init_config_t init_config = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&init_config));
+
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(
+        WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, wifi, NULL));
+
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(
+        IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, wifi, NULL));
+
+    wifi_config_t config = {
+        .sta = {
+            .ssid = WIFI_SSID,
+            .password = WIFI_PASSWORD,
+            .threshold.authmode = WIFI_AUTH_WPA2_PSK,
+        },
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &config));
+    ESP_ERROR_CHECK(esp_wifi_start());
+
+    ESP_LOGI(TAG, "WIFI started");
+
+    EventBits_t event_bits = xEventGroupWaitBits(wifi->wifi_event_group,
+        Ev_Connected | Ev_Failed,
+        pdFALSE,
+        pdFALSE,
+        portMAX_DELAY);
+
+    if (event_bits & Ev_Connected) {
+        ESP_LOGI(TAG, "WIFI connected to %s / '%s'", WIFI_SSID, WIFI_PASSWORD);
+    } else if (event_bits & Ev_Failed) {
+        ESP_LOGE(TAG,
+            "WIFI failed connecting to %s / '%s'",
+            WIFI_SSID,
+            WIFI_PASSWORD);
+    } else {
+        ESP_LOGE(TAG, "Unexpected event");
+    }
+}

skateboard/main/wifi.h

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+#pragma once
+
+#include "freertos/idf_additions.h"
+
+typedef struct AppWifi {
+    EventGroupHandle_t wifi_event_group;
+    int wifi_retries;
+} AppWifi;
+
+void app_wifi_init(AppWifi* wifi);

skateboard/sdkconfig.defaults

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+# This file was generated using idf.py save-defconfig. It can be edited manually.
+# Espressif IoT Development Framework (ESP-IDF) 5.5.3 Project Minimal Configuration
+#
+CONFIG_IDF_TARGET="esp32s3"