Fixed mistakes with mosfets on PCB my bad UwU

Added exmaple code of lsm6do to quickly test imu
2026-05-11 21:22:06 +12:00 · 2026-05-11 21:21:45 +12:00
14 changed files with 44451 additions and 39549 deletions
--- a/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym
+++ b/hardware/esp32-racer-lib/esp32-racer-lib.kicad_sym
@@ -1,7 +1,7 @@
 (kicad_symbol_lib
-	(version 20241209)
+	(version 20251024)
 	(generator "kicad_symbol_editor")
-	(generator_version "9.0")
+	(generator_version "10.0")
 	(symbol "DOZ50N03"
 		(pin_names
 			(offset 0)
@@ -10,8 +10,12 @@
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
+		(in_pos_files yes)
+		(duplicate_pin_numbers_are_jumpers no)
 		(property "Reference" "Q4"
 			(at 6.35 1.2701 0)
+			(show_name no)
+			(do_not_autoplace no)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -21,6 +25,8 @@
 		)
 		(property "Value" "DOZ50N03"
 			(at 6.35 -1.2699 0)
+			(show_name no)
+			(do_not_autoplace no)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -30,74 +36,90 @@
 		)
 		(property "Footprint" "Package_SON:VSON-8_3.3x3.3mm_P0.65mm_NexFET"
 			(at 5.08 2.54 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(property "Datasheet" "https://www.lcsc.com/datasheet/C36499165.pdf"
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(property "Description" "C36499165"
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(property "NOTES" ""
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(property "Part Number" ""
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(property "Supplier PN" ""
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(property "Supplier link" ""
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(property "ki_keywords" "transistor NMOS N-MOS N-MOSFET"
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(symbol "DOZ50N03_0_1"
@@ -268,6 +290,62 @@
 			)
 		)
 		(symbol "DOZ50N03_1_1"
+			(pin passive line
+				(at 2.54 -5.08 90)
+				(length 2.54)
+				(name "D"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+				(number "1"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+			)
+			(pin passive line
+				(at 2.54 -5.08 90)
+				(length 2.54)
+				(hide yes)
+				(name "D"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+				(number "2"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+			)
+			(pin passive line
+				(at 2.54 -5.08 90)
+				(length 2.54)
+				(hide yes)
+				(name "D"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+				(number "3"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+			)
 			(pin input line
 				(at -5.08 0 0)
 				(length 5.08)
@@ -289,62 +367,6 @@
 			(pin passive line
 				(at 2.54 5.08 270)
 				(length 2.54)
-				(name "D"
-					(effects
-						(font
-							(size 1.27 1.27)
-						)
-					)
-				)
-				(number "1"
-					(effects
-						(font
-							(size 1.27 1.27)
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-			(pin passive line
-				(at 2.54 5.08 270)
-				(length 2.54)
-				(hide yes)
-				(name "D"
-					(effects
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-						)
-					)
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-				(number "2"
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-			(pin passive line
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-				(hide yes)
-				(name "D"
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-				(number "3"
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-			(pin passive line
-				(at 2.54 -5.08 90)
-				(length 2.54)
 				(name "S"
 					(effects
 						(font
@@ -367,8 +389,12 @@
 		(exclude_from_sim no)
 		(in_bom yes)
 		(on_board yes)
+		(in_pos_files yes)
+		(duplicate_pin_numbers_are_jumpers no)
 		(property "Reference" "U"
 			(at 13.208 -26.67 0)
+			(show_name no)
+			(do_not_autoplace no)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -377,6 +403,8 @@
 		)
 		(property "Value" "TI DRV8701ERGER"
 			(at -10.922 26.924 0)
+			(show_name no)
+			(do_not_autoplace no)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -385,31 +413,37 @@
 		)
 		(property "Footprint" "Package_DFN_QFN:VQFN-24-1EP_4x4mm_P0.5mm_EP2.45x2.45mm_ThermalVias"
 			(at 9.144 -28.956 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
 				(justify left)
-				(hide yes)
 			)
 		)
 		(property "Datasheet" "kicad-embed://drv8701.pdf"
 			(at 9.398 -30.734 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
 				(justify left)
-				(hide yes)
 			)
 		)
 		(property "Description" ""
 			(at 0 0 0)
+			(show_name no)
+			(do_not_autoplace no)
+			(hide yes)
 			(effects
 				(font
 					(size 1.27 1.27)
 				)
-				(hide yes)
 			)
 		)
 		(symbol "DRV8701E_1_1"
@@ -424,6 +458,24 @@
 					(type background)
 				)
 			)
+			(pin power_in line
+				(at 0 27.94 270)
+				(length 2.54)
+				(name "VM"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+				(number "1"
+					(effects
+						(font
+							(size 1.27 1.27)
+						)
+					)
+				)
+			)
 			(pin power_out line
 				(at -16.51 22.86 0)
 				(length 2.54)
@@ -478,17 +530,35 @@
 					)
 				)
 			)
-			(pin power_out line
-				(at -16.51 12.7 0)
+			(pin power_in line
+				(at 0 -27.94 90)
 				(length 2.54)
-				(name "DVDD"
+				(name "GND"
 					(effects
 						(font
 							(size 1.27 1.27)
 						)
 					)
 				)
-				(number "8"
+				(number "5"
+					(effects
+						(font
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+			(pin input line
+				(at -16.51 7.62 0)
+				(length 2.54)
+				(name "VREF"
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+						(font
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+						)
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+				(number "6"
 					(effects
 						(font
 							(size 1.27 1.27)
@@ -514,17 +584,107 @@
 					)
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 			)
-			(pin input line
-				(at -16.51 7.62 0)
+			(pin power_out line
+				(at -16.51 12.7 0)
 				(length 2.54)
-				(name "VREF"
+				(name "DVDD"
 					(effects
 						(font
 							(size 1.27 1.27)
 						)
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 				)
-				(number "6"
+				(number "8"
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+			(pin open_collector line
+				(at -16.51 -22.86 0)
+				(length 2.54)
+				(name "nFAULT"
+					(effects
+						(font
+							(size 1.27 1.27)
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+			(pin open_collector line
+				(at -16.51 -20.32 0)
+				(length 2.54)
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+				(length 2.54)
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@@ -568,114 +728,6 @@
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-				(at -16.51 -22.86 0)
-				(length 2.54)
-				(name "nFAULT"
-					(effects
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-							(size 1.27 1.27)
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-					)
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-				(number "9"
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-							(size 1.27 1.27)
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-			(pin power_in line
-				(at 0 27.94 270)
-				(length 2.54)
-				(name "VM"
-					(effects
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-							(size 1.27 1.27)
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@@ -695,43 +747,6 @@
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-			(pin power_in line
-				(at 0 -27.94 90)
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-				(hide yes)
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 				(at 16.51 17.78 180)
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@@ -786,17 +801,17 @@
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+			(pin input line
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@@ -805,16 +820,16 @@
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+				(at 16.51 -12.7 180)
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@@ -841,16 +856,16 @@
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@@ -858,17 +873,36 @@
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+				(hide yes)
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+				(number "25"
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--- a/hardware/esp32-racer/MOTOR_DRIVER.kicad_sch
+++ b/hardware/esp32-racer/MOTOR_DRIVER.kicad_sch
@@ -1168,7 +1168,7 @@
 			)
 			(symbol "DOZ50N03_1_1"
 				(pin passive line
-					(at 2.54 5.08 270)
+					(at 2.54 -5.08 90)
 					(length 2.54)
 					(name "D"
 						(effects
@@ -1186,7 +1186,7 @@
 					)
 				)
 				(pin passive line
-					(at 2.54 5.08 270)
+					(at 2.54 -5.08 90)
 					(length 2.54)
 					(hide yes)
 					(name "D"
@@ -1205,7 +1205,7 @@
 					)
 				)
 				(pin passive line
-					(at 2.54 5.08 270)
+					(at 2.54 -5.08 90)
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 					(hide yes)
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@@ -1242,7 +1242,7 @@
 					)
 				)
 				(pin passive line
-					(at 2.54 -5.08 90)
+					(at 2.54 5.08 270)
 					(length 2.54)
 					(name "S"
 						(effects
--- a/hardware/esp32-racer/POWER_CONNECTORS.kicad_sc.kicad_sch
+++ b/hardware/esp32-racer/POWER_CONNECTORS.kicad_sc.kicad_sch
@@ -660,411 +660,6 @@
 			)
 			(embedded_fonts no)
 		)
-		(symbol "DOZ50N03_1"
-			(pin_names
-				(offset 0)
-				(hide yes)
-			)
-			(exclude_from_sim no)
-			(in_bom yes)
-			(on_board yes)
-			(in_pos_files yes)
-			(duplicate_pin_numbers_are_jumpers no)
-			(property "Reference" "Q18"
-				(at -2.794 1.27 90)
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-				(at 6.35 -1.2699 0)
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 		(lib_id "esp32-racer-lib:DOZ50N03")
 		(at 134.62 109.22 270)
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--- a/hardware/esp32-racer/esp32-racer.kicad_pcb
+++ b/hardware/esp32-racer/esp32-racer.kicad_pcb
--- a/hardware/esp32-racer/esp32-racer.kicad_prl
+++ b/hardware/esp32-racer/esp32-racer.kicad_prl
@@ -1,6 +1,6 @@
 {
  "board": {
-    "active_layer": 6,
+    "active_layer": 0,
    "active_layer_preset": "",
    "auto_track_width": true,
    "hidden_netclasses": [],
--- a/hardware/esp32-racer/esp32-racer.kicad_pro
+++ b/hardware/esp32-racer/esp32-racer.kicad_pro
@@ -40,8 +40,8 @@
        "other_text_upright": false,
        "pads": {
          "drill": 0.0,
-          "height": 0.95,
-          "width": 0.8
+          "height": 0.5,
+          "width": 0.63
        },
        "silk_line_width": 0.1,
        "silk_text_italic": false,
@@ -60,12 +60,7 @@
          "width": 0.0
        }
      ],
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-        [
-          "courtyards_overlap|39255000|68870000|e06bdfe1-53ae-4fc2-b728-570ca465444f|e2dcf49c-eee1-4d66-a3a4-d1ffe470ec14",
-          "no they dont"
-        ]
-      ],
+      "drc_exclusions": [],
      "meta": {
        "version": 2
      },
--- a/software/lsm6dso_example/CMakeLists.txt
+++ b/software/lsm6dso_example/CMakeLists.txt
@@ -0,0 +1,22 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.20)
+
+set(ENV{IDF_COMPONENT_MANAGER} "0")
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+# add the component directories that we want to use
+set(EXTRA_COMPONENT_DIRS
+  "components/"
+)
+
+set(
+  COMPONENTS
+  "main esptool_py i2c lsm6dso filters"
+  CACHE STRING
+  "List of components to include"
+  )
+
+project(lsm6dso_example)
+
+set(CMAKE_CXX_STANDARD 20)
--- a/software/lsm6dso_example/README.md
+++ b/software/lsm6dso_example/README.md
@@ -0,0 +1,50 @@
+# LSM6DSO Example
+
+This example demonstrates how to use the espp LSM6DSO 6-axis IMU driver with the
+ESP-IDF. The example is modeled after the ICM42607 example and shows how to
+configure the IMU, read accelerometer and gyroscope data, and use orientation
+filtering (e.g., Madgwick filter).
+
+![CleanShot 2025-06-18 at 14 16 01](https://github.com/user-attachments/assets/10b15539-688b-4711-b1ce-e7bb33f7e343)
+
+## Features
+- I2C communication with the LSM6DSO
+- Configurable accelerometer and gyroscope range and output data rate
+- Periodic reading of accelerometer, gyroscope, and temperature data
+- Orientation filtering using Madgwick filter
+
+## Usage
+- Configure the I2C pins and address in `sdkconfig` or via Kconfig options
+- Build and flash the example to your ESP32/ESP-IDF target
+- The example will print IMU data and orientation to the serial console
+
+### 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
+
+![CleanShot 2025-06-18 at 14 15 13](https://github.com/user-attachments/assets/26b07fa0-4e4a-4025-a5a7-135322da8d3b)
+![CleanShot 2025-06-18 at 14 16 01](https://github.com/user-attachments/assets/10b15539-688b-4711-b1ce-e7bb33f7e343)
+
+## Example Code
+See `main/lsm6dso_example.cpp` for the full example source code.
+
+## Configuration
+- Default I2C address: 0x6A (can be changed in Kconfig or via config struct)
+- Example I2C pins: SDA = 21, SCL = 22
+
+## Documentation
+See the [documentation](https://esp-cpp.github.io/espp/imu/lsm6dso.html) for
+full API details.
--- a/software/lsm6dso_example/main/CMakeLists.txt
+++ b/software/lsm6dso_example/main/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS ".")
--- a/software/lsm6dso_example/main/Kconfig.projbuild
+++ b/software/lsm6dso_example/main/Kconfig.projbuild
@@ -0,0 +1,46 @@
+menu "Example Configuration"
+
+choice EXAMPLE_HARDWARE
+  prompt "Hardware"
+  default EXAMPLE_HARDWARE_QTPYPICO
+  help
+    Select the hardware to run this example on.
+
+config EXAMPLE_HARDWARE_QTPYPICO
+  depends on IDF_TARGET_ESP32
+  bool "Qt Py PICO"
+
+config EXAMPLE_HARDWARE_QTPYS3
+  depends on IDF_TARGET_ESP32S3
+  bool "Qt Py S3"
+
+config EXAMPLE_HARDWARE_CUSTOM
+  bool "Custom"
+endchoice
+
+config EXAMPLE_I2C_SCL_GPIO
+  int "SCL GPIO Num"
+  range 0 50
+  default 19 if EXAMPLE_HARDWARE_QTPYPICO
+  default 40 if EXAMPLE_HARDWARE_QTPYS3
+  default 19 if EXAMPLE_HARDWARE_CUSTOM
+  help
+    GPIO number for I2C Master clock line.
+
+config EXAMPLE_I2C_SDA_GPIO
+  int "SDA GPIO Num"
+  range 0 50
+  default 22 if EXAMPLE_HARDWARE_QTPYPICO
+  default 41 if EXAMPLE_HARDWARE_QTPYS3
+  default 22 if EXAMPLE_HARDWARE_CUSTOM
+  help
+    GPIO number for I2C Master data line.
+
+config EXAMPLE_I2C_CLOCK_SPEED_HZ
+  int "I2C Clock Speed"
+  range 100 1000000
+  default 400000
+  help
+    I2C clock speed in Hz.
+
+endmenu
--- a/software/lsm6dso_example/main/lsm6dso_example.cpp
+++ b/software/lsm6dso_example/main/lsm6dso_example.cpp
@@ -0,0 +1,199 @@
+#include <chrono>
+#include <cmath>
+#include <vector>
+
+#include "i2c.hpp"
+#include "kalman_filter.hpp"
+#include "logger.hpp"
+#include "lsm6dso.hpp"
+#include "madgwick_filter.hpp"
+
+using namespace std::chrono_literals;
+
+extern "C" void app_main(void) {
+  espp::Logger logger({.tag = "LSM6DSO Example", .level = espp::Logger::Verbosity::INFO});
+  logger.info("Starting LSM6DSO example!");
+
+  //! [lsm6dso example]
+  using Imu = espp::Lsm6dso<espp::lsm6dso::Interface::I2C>;
+
+  // I2C config (customize as needed)
+  static constexpr auto i2c_port = I2C_NUM_0;
+  static constexpr auto i2c_clock_speed = CONFIG_EXAMPLE_I2C_CLOCK_SPEED_HZ;     // Set in sdkconfig
+  static constexpr gpio_num_t i2c_sda = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO; // Set in sdkconfig
+  static constexpr gpio_num_t i2c_scl = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO; // Set in sdkconfig
+  espp::I2c i2c({.port = i2c_port,
+                 .sda_io_num = i2c_sda,
+                 .scl_io_num = i2c_scl,
+                 .sda_pullup_en = GPIO_PULLUP_ENABLE,
+                 .scl_pullup_en = GPIO_PULLUP_ENABLE,
+                 .clk_speed = i2c_clock_speed});
+
+  // make the orientation filter to compute orientation from accel + gyro
+  static constexpr float angle_noise = 0.001f;
+  static constexpr float rate_noise = 0.1f;
+  static espp::KalmanFilter<2> kf;
+  kf.set_process_noise(rate_noise);
+  kf.set_measurement_noise(angle_noise);
+
+  auto kalman_filter_fn = [](float dt, const Imu::Value &accel,
+                             const Imu::Value &gyro) -> Imu::Value {
+    // Apply Kalman filter
+    float accelRoll = atan2(accel.y, accel.z);
+    float accelPitch = atan2(-accel.x, sqrt(accel.y * accel.y + accel.z * accel.z));
+    kf.predict({espp::deg_to_rad(gyro.x), espp::deg_to_rad(gyro.y)}, dt);
+    kf.update({accelRoll, accelPitch});
+    float roll, pitch;
+    std::tie(roll, pitch) = kf.get_state();
+    // return the computed orientation
+    Imu::Value orientation{};
+    orientation.roll = roll;
+    orientation.pitch = pitch;
+    orientation.yaw = 0.0f;
+    return orientation;
+  };
+
+  // Madgwick filter for orientation
+  static constexpr float beta = 0.1f;
+  static espp::MadgwickFilter madgwick(beta);
+  auto madgwick_filter_fn = [](float dt, const Imu::Value &accel,
+                               const Imu::Value &gyro) -> Imu::Value {
+    madgwick.update(dt, accel.x, accel.y, accel.z, espp::deg_to_rad(gyro.x),
+                    espp::deg_to_rad(gyro.y), espp::deg_to_rad(gyro.z));
+    float roll, pitch, yaw;
+    madgwick.get_euler(roll, pitch, yaw);
+    Imu::Value orientation{};
+    orientation.roll = espp::deg_to_rad(roll);
+    orientation.pitch = espp::deg_to_rad(pitch);
+    orientation.yaw = espp::deg_to_rad(yaw);
+    return orientation;
+  };
+
+  // IMU config
+  Imu::Config config{
+      .device_address = Imu::DEFAULT_I2C_ADDRESS,
+      .write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1, std::placeholders::_2,
+                         std::placeholders::_3),
+      .read = std::bind(&espp::I2c::read, &i2c, std::placeholders::_1, std::placeholders::_2,
+                        std::placeholders::_3),
+      .imu_config =
+          {
+              .accel_range = Imu::AccelRange::RANGE_2G,
+              .accel_odr = Imu::AccelODR::ODR_416_HZ,
+              .gyro_range = Imu::GyroRange::DPS_2000,
+              .gyro_odr = Imu::GyroODR::ODR_416_HZ,
+          },
+      .orientation_filter = kalman_filter_fn,
+      .auto_init = true,
+      .log_level = espp::Logger::Verbosity::INFO,
+  };
+
+  logger.info("Creating LSM6DSO IMU");
+  Imu imu(config);
+
+  std::error_code ec;
+
+  // set the accel / gyro on-chip filters
+  static constexpr uint8_t accel_filter_bandwidth = 0b001; // ODR / 10
+  static constexpr uint8_t gyro_lpf_bandwidth = 0b001;     // ODR / 3
+  static constexpr bool gyro_hpf_enabled = false;          // disable high-pass filter on gyro
+  static constexpr auto gyro_hpf_bandwidth = Imu::GyroHPF::HPF_0_26_HZ; // 0.26Hz
+  if (!imu.set_accelerometer_filter(accel_filter_bandwidth, Imu::AccelFilter::LOWPASS, ec)) {
+    logger.error("Failed to set accelerometer filter: {}", ec.message());
+  }
+  // set the gyroscope filter to have lowpass
+  if (!imu.set_gyroscope_filter(gyro_lpf_bandwidth, gyro_hpf_enabled, gyro_hpf_bandwidth, ec)) {
+    logger.error("Failed to set gyroscope filter: {}", ec.message());
+  }
+
+  // make a task to read out the IMU data and print it to console
+  espp::Task imu_task({.callback = [&](std::mutex &m, std::condition_variable &cv) -> bool {
+                         static auto start = std::chrono::steady_clock::now();
+
+                         auto now = esp_timer_get_time(); // time in microseconds
+                         static auto t0 = now;
+                         auto t1 = now;
+                         float dt = (t1 - t0) / 1'000'000.0f; // convert us to s
+                         t0 = t1;
+
+                         std::error_code ec;
+                         // update the imu data
+                         if (!imu.update(dt, ec)) {
+                           return false;
+                         }
+
+                         // get accel
+                         auto accel = imu.get_accelerometer();
+                         auto gyro = imu.get_gyroscope();
+                         auto temp = imu.get_temperature();
+                         auto orientation = imu.get_orientation();
+                         auto gravity_vector = imu.get_gravity_vector();
+
+                         [[maybe_unused]] auto t2 = esp_timer_get_time(); // time in microseconds
+
+                         auto madgwick_orientation = madgwick_filter_fn(dt, accel, gyro);
+                         float roll = madgwick_orientation.roll;
+                         float pitch = madgwick_orientation.pitch;
+                         float yaw = madgwick_orientation.yaw;
+                         float vx = sin(pitch);
+                         float vy = -cos(pitch) * sin(roll);
+                         float vz = -cos(pitch) * cos(roll);
+
+                         // print time and raw IMU data
+                         std::string text = "";
+                         text += fmt::format("{:.3f},", now / 1'000'000.0f);
+                         text += fmt::format("{:02.3f},{:02.3f},{:02.3f},", (float)accel.x,
+                                             (float)accel.y, (float)accel.z);
+                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)gyro.x,
+                                             (float)gyro.y, (float)gyro.z);
+                         text += fmt::format("{:02.1f},", temp);
+                         // print kalman filter outputs
+                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)orientation.x,
+                                             (float)orientation.y, (float)orientation.z);
+                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", (float)gravity_vector.x,
+                                             (float)gravity_vector.y, (float)gravity_vector.z);
+                         // print madgwick filter outputs
+                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f},", roll, pitch, yaw);
+                         text += fmt::format("{:03.3f},{:03.3f},{:03.3f}", vx, vy, vz);
+
+                         fmt::print("{}\n", text);
+
+                         // fmt::print("IMU update took {:.3f} ms\n", (t2 - t0) / 1000.0f);
+
+                         // sleep first in case we don't get IMU data and need to exit early
+                         {
+                           std::unique_lock<std::mutex> lock(m);
+                           cv.wait_until(lock, start + 10ms);
+                         }
+
+                         return false;
+                       },
+                       .task_config = {
+                           .name = "IMU",
+                           .stack_size_bytes = 6 * 1024,
+                           .priority = 10,
+                           .core_id = 0,
+                       }});
+
+  // print the header for the IMU data (for plotting)
+  fmt::print("% Time (s), "
+             // raw IMU data (accel, gyro, temp)
+             "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 filter outputs
+             "Kalman Roll (rad), Kalman Pitch (rad), Kalman Yaw (rad), "
+             "Kalman Gravity X, Kalman Gravity Y, Kalman Gravity Z, "
+             // madgwick filter outputs
+             "Madgwick Roll (rad), Madgwick Pitch (rad), Madgwick Yaw (rad), "
+             "Madgwick Gravity X, Madgwick Gravity Y, Madgwick Gravity Z\n");
+
+  logger.info("Starting IMU task");
+  imu_task.start();
+
+  // loop forever
+  while (true) {
+    std::this_thread::sleep_for(1s);
+  }
+  //! [lsm6dso example]
+}
--- a/software/lsm6dso_example/sdkconfig
+++ b/software/lsm6dso_example/sdkconfig
--- a/software/lsm6dso_example/sdkconfig.defaults
+++ b/software/lsm6dso_example/sdkconfig.defaults
@@ -0,0 +1,20 @@
+CONFIG_FREERTOS_HZ=1000
+
+# set compiler optimization level to -O2 (compile for performance)
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+# ESP32-specific
+#
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
+
+# Common ESP-related
+#
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384
+
+# Set esp-timer task stack size to 6KB
+CONFIG_ESP_TIMER_TASK_STACK_SIZE=6144
+
+# set the functions into IRAM
+CONFIG_SPI_MASTER_IN_IRAM=y
--- a/software/lsm6dso_example/sdkconfig.old
+++ b/software/lsm6dso_example/sdkconfig.old
Author	SHA1	Message	Date
Zekkos	e239240178	Fixed mistakes with mosfets on PCB my bad UwU	2026-05-11 21:22:06 +12:00
Zekkos	3f4bef7cbf	Added exmaple code of lsm6do to quickly test imu	2026-05-11 21:21:45 +12:00