QMI8658 Example
This example shows how to use the espp::Qmi8658 component to initialize and
communicate with an QMI8658 6-axis IMU.
How to use example
Hardware Required
This example is designed to run on a custom board with a QMI8658 IMU. You will need to configure the I2C pins for your specific hardware.
Build and Flash
Build the project and flash it to the board, then run monitor tool to view serial output:
idf.py -p PORT flash monitor
(Replace PORT with the name of the serial port to use.)
(To exit the serial monitor, type Ctrl-].)
See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
Example Output
I (304) main_task: Calling app_main()
[QMI8658 Example/I][0.035]: Starting example!
[QMI8658 Example/I][0.041]: Creating IMU
% 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
[QMI8658 Example/I][0.075]: Starting IMU task
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Running with esp-cpp/uart-serial-plotter: