Initialize default DMP for ICM20948

# Conflicts:
#	esp32/include/peripherals/imu.h

app/src/lib/components/Visualization.svelte

@@ -1,16 +1,13 @@
 <script lang="ts">
     import { onDestroy, onMount } from 'svelte'
     import {
-        BufferGeometry,
-        Line,
-        LineBasicMaterial,
         Mesh,
         MeshBasicMaterial,
         type Object3D,
         SphereGeometry,
         Vector3,
-        type NormalBufferAttributes,
-        type Object3DEventMap
+        type Object3DEventMap,
+        Color
     } from 'three'
     import {
         ModesEnum,
@@ -26,12 +23,7 @@
         walkGait,
         walkGaitToMode
     } from '$lib/stores'
-    import {
-        extractFootColor,
-        populateModelCache,
-        throttler,
-        getToeWorldPositions
-    } from '$lib/utilities'
+    import { populateModelCache, throttler, getToeWorldPositions } from '$lib/utilities'
     import SceneBuilder from '$lib/sceneBuilder'
     import { lerp, degToRad } from 'three/src/math/MathUtils'
     import { GUI } from 'three/addons/libs/lil-gui.module.min.js'
@@ -42,14 +34,20 @@
     import { get } from 'svelte/store'
 
     interface Props {
-        sky?: boolean
+        defaultColor?: string | null
         orbit?: boolean
         panel?: boolean
         debug?: boolean
         ground?: boolean
     }
 
-    let { sky = true, orbit = false, panel = true, debug = false, ground = true }: Props = $props()
+    let {
+        defaultColor = '#0091ff',
+        orbit = false,
+        panel = true,
+        debug = false,
+        ground = true
+    }: Props = $props()
 
     let sceneManager = $state(new SceneBuilder())
     let canvas: HTMLCanvasElement
@@ -108,7 +106,7 @@
         xm: 0,
         ym: 0.7,
         zm: 0,
-        Background: 'black'
+        Background: defaultColor
     }
 
     onMount(async () => {
@@ -153,7 +151,7 @@
         visibility.add(settings, 'Trace points', 1, 1000, 1)
         visibility.add(settings, 'Target position')
         visibility.add(settings, 'Smooth motion')
-        visibility.addColor(settings, 'Background')
+        visibility.addColor(settings, 'Background').onChange(setSceneBackground).listen()
     }
 
     const updateKinematicPosition = () => {
@@ -167,6 +165,8 @@
         ])
     }
 
+    const setSceneBackground = (c: string | null) => (sceneManager.scene.background = new Color(c!))
+
     const updateAngles = (name: string, angle: number) => {
         modelTargetAngles[$jointNames.indexOf(name)] = angle * (180 / Math.PI)
         Throttler.throttle(
@@ -197,13 +197,13 @@
         sceneManager.scene.add(target)
 
         if (debug) {
-            sceneManager.addDragControl((angles: Record<string, number>) => {
+            sceneManager.addDragControl(angles => {
                 Object.entries(angles).forEach(([name, angle]) => {
                     updateAngles(name, angle)
                 })
             })
         }
-        if (sky) sceneManager.addSky()
+        if (defaultColor) setSceneBackground(settings['Background'] || defaultColor)
     }
 
     const calculate_kinematics = () => {

app/src/lib/sceneBuilder.ts

@@ -17,18 +17,16 @@ import {
     MeshPhongMaterial,
     EquirectangularReflectionMapping,
     ACESFilmicToneMapping,
-    MathUtils,
     Group,
     MeshBasicMaterial,
-    RepeatWrapping
+    RepeatWrapping,
+    Object3D
 } from 'three'
-import { Sky } from 'three/addons/objects/Sky.js'
 import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
 import { TransformControls } from 'three/examples/jsm/controls/TransformControls'
 import { Reflector } from 'three/examples/jsm/objects/Reflector.js'
 import { type URDFJoint, type URDFMimicJoint, type URDFRobot } from 'urdf-loader'
 import { PointerURDFDragControls } from 'urdf-loader/src/URDFDragControls'
-import { sunCalculator } from './utilities/position-utilities'
 
 export const addScene = () => new Scene()
 
@@ -65,8 +63,6 @@ export default class SceneBuilder {
     private fog!: FogExp2
     private isLoaded: boolean = false
     public isDragging: boolean = false
-    highlightMaterial: MeshPhongMaterial
-    sky!: Sky
     transformControl: TransformControls
     public modelGroup!: Group
 
@@ -89,34 +85,6 @@ export default class SceneBuilder {
         return this
     }
 
-    public addSky = () => {
-        this.sky = new Sky()
-        this.sky.scale.setScalar(450000)
-        this.scene.add(this.sky)
-        const effectController = {
-            turbidity: 10,
-            rayleigh: 3,
-            mieCoefficient: 0.005,
-            mieDirectionalG: 0.7,
-            elevation: sunCalculator.calculateSunElevation(),
-            azimuth: 200,
-            exposure: this.renderer.toneMappingExposure
-        }
-        const uniforms = this.sky.material.uniforms
-        uniforms['turbidity'].value = effectController.turbidity
-        uniforms['rayleigh'].value = effectController.rayleigh
-        uniforms['mieCoefficient'].value = effectController.mieCoefficient
-        uniforms['mieDirectionalG'].value = effectController.mieDirectionalG
-        this.renderer.toneMappingExposure = 0.5
-        const phi = MathUtils.degToRad(90 - effectController.elevation)
-        const theta = MathUtils.degToRad(effectController.azimuth)
-        const sun = new Vector3()
-
-        sun.setFromSphericalCoords(1, phi, theta)
-        uniforms['sunPosition'].value.copy(sun)
-        return this
-    }
-
     public addPerspectiveCamera = (options: position) => {
         this.camera = new PerspectiveCamera()
         this.camera.position.set(options.x ?? 0, options.y ?? 2.7, options.z ?? 0)
@@ -334,7 +302,7 @@ export default class SceneBuilder {
         )
         dragControls.updateJoint = (joint: URDFMimicJoint, angle: number) => {
             this.setJointValue(joint.name, angle)
-            updateAngle(joint.name, angle)
+            updateAngle({ [joint.name]: angle })
         }
         dragControls.onDragStart = () => {
             this.orbit.enabled = false

app/src/lib/stores/imu.ts

@@ -1,5 +1,5 @@
 import { writable } from 'svelte/store'
-import type { IMU } from '$lib/types/models'
+import type { IMUMsg } from '$lib/types/models'
 
 const maxIMUData = 100
 
@@ -14,11 +14,24 @@ export const imu = (() => {
         bmp_temp: [] as number[]
     })
 
-    const addData = (content: IMU) => {
+    const addData = (content: IMUMsg) => {
         update(data => {
-            ;(Object.keys(content) as (keyof IMU)[]).forEach(key => {
-                data[key] = [...data[key], content[key]].slice(-maxIMUData)
-            })
+            if (content.imu && content.imu[4]) {
+                data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
+                data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
+                data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
+            }
+
+            if (content.mag && content.mag[4]) {
+                data.heading = [...data.heading, content.mag[3]].slice(-maxIMUData)
+            }
+
+            if (content.bmp && content.bmp[3]) {
+                data.pressure = [...data.pressure, content.bmp[0]].slice(-maxIMUData)
+                data.altitude = [...data.altitude, content.bmp[1]].slice(-maxIMUData)
+                data.bmp_temp = [...data.bmp_temp, content.bmp[2]].slice(-maxIMUData)
+            }
+
             return data
         })
     }

app/src/lib/types/models.ts

@@ -154,6 +154,12 @@ export type IMU = {
     pressure: number
 }
 
+export type IMUMsg = {
+    imu: [number, number, number, number, boolean]
+    mag: [number, number, number, number, boolean]
+    bmp: [number, number, number, boolean]
+}
+
 export interface I2CDevice {
     address: number
     part_number: string

app/src/lib/utilities/index.ts

@@ -4,6 +4,5 @@ export * from './svelte-utilities'
 export * from './math-utilities'
 export * from './buffer-utilities'
 export * from './model-utilities'
-export * from './position-utilities'
 export * from './string-utilities'
 export * from './color-utilities'

app/src/lib/utilities/position-utilities.ts

@@ -1,86 +0,0 @@
-class SunCalculator {
-    calculateSunElevation(lat: number = 55, lon: number = 12) {
-        const now = new Date()
-        const JD = this.getJulianDate(now)
-        const solarDec = this.getSolarDeclination(JD)
-        const solarTime = this.getSolarTime(now, lon)
-
-        const hourAngle = (solarTime - 12) * 15
-        const elevation = Math.asin(
-            Math.sin(this.degToRad(lat)) * Math.sin(solarDec) +
-                Math.cos(this.degToRad(lat)) *
-                    Math.cos(solarDec) *
-                    Math.cos(this.degToRad(hourAngle))
-        )
-
-        return this.radToDeg(elevation)
-    }
-
-    getJulianDate(date: Date) {
-        const Y = date.getUTCFullYear()
-        const M = date.getUTCMonth() + 1
-        const D =
-            date.getUTCDate() +
-            date.getUTCHours() / 24 +
-            date.getUTCMinutes() / 1440 +
-            date.getUTCSeconds() / 86400
-        const A = Math.floor((14 - M) / 12)
-        const Y1 = Y + 4800 - A
-        const M1 = M + 12 * A - 3
-        return (
-            D +
-            Math.floor((153 * M1 + 2) / 5) +
-            365 * Y1 +
-            Math.floor(Y1 / 4) -
-            Math.floor(Y1 / 100) +
-            Math.floor(Y1 / 400) -
-            32045
-        )
-    }
-
-    getSolarDeclination(JulianDate: number) {
-        const n = JulianDate - 2451545
-        const L = (280.46 + 0.9856474 * n) % 360
-        const g = this.degToRad((357.528 + 0.9856003 * n) % 360)
-        const lambda = this.degToRad(L + 1.915 * Math.sin(g) + 0.02 * Math.sin(2 * g))
-        return Math.asin(Math.sin(lambda) * Math.sin(this.degToRad(23.44)))
-    }
-
-    getSolarTime(date: Date, lon: number) {
-        const EoT = this.getEquationOfTime(date)
-        const offset = date.getTimezoneOffset() / 60
-        const standardMeridian = Math.round(lon / 15) * 15
-        const solarTime =
-            date.getUTCHours() +
-            (date.getUTCMinutes() + (4 * (standardMeridian - lon) + EoT)) / 60 -
-            offset
-        return (solarTime + 24) % 24
-    }
-
-    getEquationOfTime(date: Date) {
-        const JD = this.getJulianDate(date)
-        const n = JD - 2451545
-        const g = this.degToRad((357.528 + 0.9856003 * n) % 360)
-        const q = this.degToRad((280.46 + 0.9856474 * n) % 360)
-        return (
-            4 *
-            this.radToDeg(
-                0.000075 +
-                    0.001868 * Math.cos(q) -
-                    0.032077 * Math.sin(g) -
-                    0.014615 * Math.cos(2 * q) -
-                    0.040849 * Math.sin(2 * g)
-            )
-        )
-    }
-
-    degToRad(deg: number) {
-        return deg * (Math.PI / 180)
-    }
-
-    radToDeg(rad: number) {
-        return rad * (180 / Math.PI)
-    }
-}
-
-export const sunCalculator = new SunCalculator()

app/src/routes/+page.svelte

@@ -17,7 +17,7 @@
 <div class="hero bg-base-100 h-screen">
     <div class="card md:card-side bg-base-200 shadow-2xl flex justify-center items-center">
         <div class="w-64 h-64">
-            <Visualization sky={false} orbit panel={false} ground={false} />
+            <Visualization defaultColor={null} orbit panel={false} ground={false} />
         </div>
         <div class="card-body w-80">
             <h2 class="card-title text-center text-2xl">Begin you journey</h2>

app/src/routes/peripherals/i2c/i2c.svelte

@@ -16,6 +16,11 @@
             part_number: 'MPU6050',
             name: 'Six-Axis (Gyro + Accelerometer) MEMS MotionTracking™ Devices'
         },
+        {
+            address: 105,
+            part_number: 'ICM20948',
+            name: 'Nine-Axis (Gyro + Accelerometer + Magnetometer) MEMS MotionTracking™ Device'
+        },
         { address: 115, part_number: 'PAJ7620U2', name: 'Gesture sensor' },
         { address: 119, part_number: 'BMP085', name: 'Temp/Barometric' }
     ]

app/src/routes/peripherals/imu/imu.svelte

@@ -6,7 +6,7 @@
     import { slide } from 'svelte/transition'
     import { onDestroy, onMount } from 'svelte'
     import { socket } from '$lib/stores'
-    import { MessageTopic, type IMU } from '$lib/types/models'
+    import { MessageTopic, type IMUMsg } from '$lib/types/models'
     import { useFeatureFlags } from '$lib/stores/featureFlags'
     import { Rotate3d } from '$lib/components/icons'
 
@@ -18,10 +18,12 @@
     let angleChartElement: HTMLCanvasElement
     let tempChartElement: HTMLCanvasElement
     let altitudeChartElement: HTMLCanvasElement
+    let magnetometerChartElement: HTMLCanvasElement
 
     let angleChart: Chart
     let tempChart: Chart
     let altitudeChart: Chart
+    let magnetometerChart: Chart
 
     const getChartColors = () => {
         const style = getComputedStyle(document.body)
@@ -171,6 +173,37 @@
                 }
             }
         })
+
+        magnetometerChart = new Chart(magnetometerChartElement, {
+            type: 'line',
+            data: {
+                datasets: [
+                    {
+                        label: 'Heading',
+                        borderColor: colors.primary,
+                        backgroundColor: colors.primary,
+                        borderWidth: 2,
+                        data: $imu.heading,
+                        yAxisID: 'y'
+                    }
+                ]
+            },
+            options: {
+                ...baseConfig,
+                scales: {
+                    ...baseConfig.scales,
+                    y: {
+                        ...baseConfig.scales.y,
+                        title: {
+                            display: true,
+                            text: 'Heading [°]',
+                            color: colors.background,
+                            font: { size: 16, weight: 'bold' }
+                        }
+                    }
+                }
+            }
+        })
     }
 
     const updateChartData = (chart: Chart, data: number[]) => {
@@ -194,6 +227,10 @@
             angleChart.update('none')
         }
 
+        if ($features.mag) {
+            updateChartData(magnetometerChart, $imu.heading)
+        }
+
         if ($features.bmp) {
             updateChartData(tempChart, $imu.bmp_temp)
             updateChartData(altitudeChart, $imu.altitude)
@@ -201,7 +238,7 @@
     }
 
     onMount(() => {
-        socket.on(MessageTopic.imu, (data: IMU) => {
+        socket.on(MessageTopic.imu, (data: IMUMsg) => {
             console.log(data)
             imu.addData(data)
         })
@@ -235,6 +272,17 @@
         </div>
     {/if}
 
+    {#if $features.mag}
+        <div class="w-full overflow-x-auto">
+            <div
+                class="flex w-full flex-col space-y-1 h-60"
+                transition:slide|local={{ duration: 300, easing: cubicOut }}
+            >
+                <canvas bind:this={magnetometerChartElement}></canvas>
+            </div>
+        </div>
+    {/if}
+
     {#if $features.bmp}
         <div class="w-full overflow-x-auto">
             <div

docs/5_running.md

@@ -1,5 +1,22 @@
 # Running the spot
 
+### Start the Development Server
+
+Use the following commands to launch the development server with Vite, enabling instant updates:
+
+```sh
+cd app
+pnpm run dev
+```
+
+Please note that this example uses the `pnpm` package manager. For any other package manager such as `npm` or `yarn`, please adjust the command accordingly to run the dev command.
+
+[Download the pnpm package manager from pnpm.io](https://pnpm.io/installation)
+### Access the Vite server
+
+Access the frontend via the browser link provided by Vite.<br>
+Vite typically runs on port 5173, and can be accessed locally at [localhost:5173](http://localhost:5173/)
+
 > *Prerequsition*: You have successfully built, flashed, and configured your robot.
 
 Navigate to `/controller`

docs/6_developing.md

@@ -22,13 +22,4 @@ server: {
 
 > Changes require a restart of the development server.
 
-### Start the Development Server
 
-Use the following commands to launch the development server with Vite, enabling instant updates:
-
-```sh
-cd app
-pnpm run dev
-```
-
-Access the frontend via the provided browser link.

esp32/features.ini

@@ -13,6 +13,8 @@ build_flags =
   -D USE_HMC5883=0
   -D USE_BMP180=0
   -D USE_MPU6050=0
+  -D USE_ICM20948=1
+  -D USE_ICM20948_SPIMODE=1
   -D USE_WS2812=1
   -D USE_BNO055=0
   -D USE_USS=0

esp32/include/communication/comm_base.hpp

@@ -38,16 +38,16 @@ class CommAdapterBase {
         array.add(event);
         array.add(payload);
 
-        // TODO: Only send to subscribed
-
 #if USE_MSGPACK
         std::string bin;
         serializeMsgPack(doc, bin);
-        send(reinterpret_cast<const uint8_t *>(bin.data()), bin.size(), -1); // TODO: Make CID dynamic
+        xSemaphoreGive(mutex_);
+        send(reinterpret_cast<const uint8_t *>(bin.data()), bin.size(), -1);
 #else
         String out;
         serializeJson(doc, out);
-        send(out.c_str(), cid);
+        xSemaphoreGive(mutex_);
+        send(out.c_str(), -1);
 #endif
     }
 

esp32/include/communication/websocket_adapter.h

@@ -10,7 +10,7 @@
 
 #include <communication/comm_base.hpp>
 
-class Websocket : CommAdapterBase {
+class Websocket : public CommAdapterBase {
   public:
     Websocket(PsychicHttpServer &server, const char *route = "/api/ws");
 

esp32/include/features.h

@@ -12,7 +12,7 @@
 #define USE_CAMERA 0
 #endif
 
-// ESP32 IMU on by default
+// ESP32 IMU off by default
 #ifndef USE_MPU6050
 #define USE_MPU6050 0
 #endif
@@ -22,6 +22,14 @@
 #define USE_BNO055 1
 #endif
 
+// ESP32 IMU off by default
+#ifndef USE_ICM20948
+#define USE_ICM20948 0
+#endif
+#ifndef USE_ICM20948_SPIMODE // I2C on by default
+#define USE_ICM20948_SPIMODE 0
+#endif
+
 // ESP32 magnetometer on by default
 #ifndef USE_HMC5883
 #define USE_HMC5883 0

esp32/include/peripherals/barometer.h

@@ -36,37 +36,33 @@ struct BarometerMsg : public SensorMessageBase {
     friend void toJson(JsonVariant v, BarometerMsg const& a) { a.toJson(v); }
 };
 
-class Barometer {
+class Barometer : public SensorBase<BarometerMsg> {
   public:
-    bool initialize() {
-        bmp_success = _bmp.begin();
-        return bmp_success;
+    bool initialize(void* _) override {
+        _msg.success = _bmp.begin();
+        return _msg.success;
     }
 
-    bool readBarometer() {
-        if (!bmp_success) return false;
-        _bmp.getTemperature(&temperature);
+    bool update() override {
+        if (!_msg.success) return false;
+        _bmp.getTemperature(&_msg.temperature);
         sensors_event_t event;
         _bmp.getEvent(&event);
-        pressure = event.pressure;
-        altitude = _bmp.pressureToAltitude(seaLevelPressure, pressure);
+        _msg.pressure = event.pressure;
+        _msg.altitude = _bmp.pressureToAltitude(seaLevelPressure, _msg.pressure);
         return true;
     }
 
-    float getPressure() { return pressure; }
+    float getPressure() { return _msg.pressure; }
 
-    float getAltitude() { return altitude; }
+    float getAltitude() { return _msg.altitude; }
 
-    float getTemperature() { return temperature; }
+    float getTemperature() { return _msg.temperature; }
 
-    bool active() { return bmp_success; }
+    bool active() { return _msg.success; }
 
   private:
     Adafruit_BMP085_Unified _bmp {10085};
-    bool bmp_success {false};
-    float pressure {0};
-    float altitude {0};
-    float temperature {0};
 
     const float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
 };

esp32/include/peripherals/imu.h

@@ -6,6 +6,10 @@
 #include <ArduinoJson.h>
 #include <utils/math_utils.h>
 
+#if FT_ENABLED(USE_ICM20948)
+#include "ICM_20948.h"
+#endif
+
 #if FT_ENABLED(USE_MPU6050)
 #include <MPU6050_6Axis_MotionApps612.h>
 #endif
@@ -44,46 +48,112 @@ struct IMUAnglesMsg : public SensorMessageBase {
 
 class IMU : public SensorBase<IMUAnglesMsg> {
   public:
-    bool initialize() override {
+    bool initialize(void* _arg = nullptr) override {
 #if FT_ENABLED(USE_MPU6050)
         _imu.initialize();
         _msg.success = _imu.testConnection();
-        if (!_msg.success) return false;
+        if (!_msg.success) {
+            ESP_LOGE("IMU", "MPU6050 connection test failed");
+            return false;
+        }
         devStatus = _imu.dmpInitialize();
         if (devStatus == 0) {
-            _imu.setDMPEnabled(false);
-            _imu.setDMPConfig1(0x03);
-            _imu.setDMPEnabled(true);
+            _imu.setXGyroOffset(0);
+            _imu.setYGyroOffset(0);
+            _imu.setZGyroOffset(0);
+            _imu.setXAccelOffset(0);
+            _imu.setYAccelOffset(0);
+            _imu.setZAccelOffset(0);
+
             _imu.setI2CMasterModeEnabled(false);
             _imu.setI2CBypassEnabled(true);
             _imu.setSleepEnabled(false);
+            _imu.setRate(1);
+            _imu.resetFIFO();
+            _imu.setDMPEnabled(true);
+
+            ESP_LOGI("IMU", "MPU6050 DMP initialized successfully");
         } else {
-            return false;
+            ESP_LOGE("IMU", "DMP initialization failed (code %d)", devStatus);
+            _msg.success = false;
         }
 #endif
 #if FT_ENABLED(USE_BNO055)
         _msg.success = _imu.begin();
         if (!_msg.success) {
+            ESP_LOGE("IMU", "BNO055 connection test failed");
             return false;
         }
         _imu.setExtCrystalUse(true);
 #endif
-        return true;
+#if FT_ENABLED(USE_ICM20948)
+    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        #define ICM_20948_USE_DMP // TODO: Move to features.ini
+        SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
+        _imu = (ICM_20948_SPI*)_arg;
+        #ifndef ICM20948_ALIVE
+        #define ICM20948_ALIVE
+        _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode");
+        _imu->initializeDMP();
+        #endif
+    #else
+        _imu = (ICM_20948_I2C*)_arg;
+        #ifndef ICM20948_ALIVE
+        #define ICM20948_ALIVE
+        _imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode");
+        #endif
+        
+    #endif
+    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: begin failed"); return false; }
+    
+    _imu->setSampleMode((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous);
+    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set sample failed"); return false; }
+    
+    ICM_20948_fss_t myFSS;
+    myFSS.a = gpm2;
+    myFSS.g = dps250;
+    _imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
+    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set full scale failed"); return false; }
+    // TODO: Setup low pass filter config
+    _msg.success = true;
+#endif
+        return _msg.success;
     }
 
     bool update() override {
-        if (!_msg.success) return false;
 #if FT_ENABLED(USE_MPU6050)
-        if (_imu.dmpPacketAvailable()) {
-            if (_imu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
-                _imu.dmpGetQuaternion(&q, fifoBuffer);
-                _imu.dmpGetGravity(&gravity, &q);
-                _imu.dmpGetYawPitchRoll(_msg.rpy, &q, &gravity);
-                return true;
-            }
+        uint16_t fifoCount = _imu.getFIFOCount();
+        uint8_t intStatus = _imu.getIntStatus();
+
+        if (intStatus & 0x10) {
+            _imu.resetFIFO();
+            ESP_LOGW("IMU", "FIFO overflow, resetting");
+            return false;
+        }
+
+        if (_imu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
+            _imu.dmpGetQuaternion(&q, fifoBuffer);
+            _imu.dmpGetGravity(&gravity, &q);
+            _imu.dmpGetYawPitchRoll(_msg.rpy, &q, &gravity);
+            return true;
         }
         return false;
 #endif
+#if FT_ENABLED(USE_ICM20948)
+          
+        #ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        #define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        if (_imu->dataReady())
+        {
+            _imu->getAGMT();
+        } else {
+            return false;
+        }
+        #endif
+        _msg.rpy[0] = _imu->accX();
+        _msg.rpy[1] = _imu->accY();
+        _msg.rpy[2] = _imu->accZ();
+#endif
 #if FT_ENABLED(USE_BNO055)
         sensors_event_t event;
         _imu.getEvent(&event);
@@ -105,7 +175,7 @@ class IMU : public SensorBase<IMUAnglesMsg> {
   private:
 #if FT_ENABLED(USE_MPU6050)
     MPU6050 _imu;
-    uint8_t devStatus {false};
+    uint8_t devStatus {0};
     Quaternion q;
     uint8_t fifoBuffer[64];
     VectorFloat gravity;
@@ -113,4 +183,12 @@ class IMU : public SensorBase<IMUAnglesMsg> {
 #if FT_ENABLED(USE_BNO055)
     Adafruit_BNO055 _imu {55, 0x29};
 #endif
+#if FT_ENABLED(USE_ICM20948)
+    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        ICM_20948_SPI* _imu;
+    #else
+        //#define WIRE_PORT Wire 
+        ICM_20948_I2C* _imu;
+    #endif
+#endif
 };

esp32/include/peripherals/magnetometer.h

@@ -11,6 +11,7 @@
 
 #include <peripherals/sensor.hpp>
 
+
 struct MagnetometerMsg : public SensorMessageBase {
     float rpy[3] {0, 0, 0};
     float heading {-1};
@@ -38,37 +39,87 @@ struct MagnetometerMsg : public SensorMessageBase {
 
 class Magnetometer : public SensorBase<MagnetometerMsg> {
   public:
-    bool initialize() {
-        msg.success = _mag.begin();
-        return msg.success;
+    bool initialize(void* _arg) override {
+        #if FT_ENABLED(USE_ICM20948)
+            #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+                SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1);
+                _mag = (ICM_20948_SPI*)_arg;
+                #ifndef ICM20948_ALIVE
+                #define ICM20948_ALIVE
+                _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode");
+                #endif
+            #else
+                _mag = (ICM_20948_I2C*)_arg;
+                #ifndef ICM20948_ALIVE
+                #define ICM20948_ALIVE
+                if (!_mag->isConnected()) { _mag->begin(Wire, 1, 0xFF); ESP_LOGI("Magnetometer", "Beginning ICM20948 in I2C mode"); }
+                #endif
+                
+            #endif
+            if (_mag->status != ICM_20948_Stat_Ok){ return false; }
+            
+            _mag->startupMagnetometer();
+            if (_mag->status != ICM_20948_Stat_Ok){ return false; }
+            _msg.success = true;
+        #elif FT_ENABLED(USE_HMC5883)
+            _msg.success = _mag.begin();
+        #endif
+        return _msg.success;
     }
 
-    bool update() {
-        if (!msg.success) return false;
-        sensors_event_t event;
-        bool updated = _mag.getEvent(&event);
-        if (!updated) return false;
-        msg.rpy[0] = event.magnetic.x;
-        msg.rpy[1] = event.magnetic.y;
-        msg.rpy[2] = event.magnetic.z;
-        msg.heading = atan2(event.magnetic.y, event.magnetic.x);
-        msg.heading += declinationAngle;
-        if (msg.heading < 0) msg.heading += 2 * PI;
-        if (msg.heading > 2 * PI) msg.heading -= 2 * PI;
-        msg.heading *= 180 / M_PI;
+    bool update() override {
+        if (!_msg.success) return false;
+        #if FT_ENABLED(USE_ICM20948)
+        #ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        #define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
+        if (_imu->dataReady())
+        { 
+            _imu->getAGMT();
+        } else {
+            return false;
+        }
+        #endif
+        _msg.rpy[0] = _mag->magX();
+        _msg.rpy[1] = _mag->magY();
+        _msg.rpy[2] = _mag->magZ();
+
+        #elif FT_ENABLED(USE_HMC5883)
+            sensors_event_t event;
+            bool updated = _mag.getEvent(&event);
+            if (!updated) return false;
+            _msg.rpy[0] = event.magnetic.x;
+            _msg.rpy[1] = event.magnetic.y;
+            _msg.rpy[2] = event.magnetic.z;
+        #endif
+        _msg.heading = atan2(_msg.rpy[1], _msg.rpy[0]); // atan2(y, x)
+        _msg.heading += declinationAngle;
+        if (_msg.heading < 0) _msg.heading += 2 * PI;
+        if (_msg.heading > 2 * PI) _msg.heading -= 2 * PI;
+        _msg.heading *= 180 / M_PI;
         return true;
     }
 
-    float getMagX() { return msg.rpy[0]; }
+    float getMagX() { return _msg.rpy[0]; }
 
-    float getMagY() { return msg.rpy[1]; }
+    float getMagY() { return _msg.rpy[1]; }
 
-    float getMagZ() { return msg.rpy[2]; }
+    float getMagZ() { return _msg.rpy[2]; }
 
-    float getHeading() { return msg.heading; }
+    float getHeading() { return _msg.heading; }
 
   private:
-    Adafruit_HMC5883_Unified _mag {12345};
-    MagnetometerMsg msg;
+    
+    #if FT_ENABLED(USE_ICM20948)
+        #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+            #define SPI_PORT SPI // TODO in periphearals_seetings.h
+            #define CS_PIN 2 
+            ICM_20948_SPI* _mag;
+        #else
+            //#define WIRE_PORT Wire 
+            ICM_20948_I2C* _mag;
+        #endif
+    #elif FT_ENABLED(USE_HMC5883)
+        Adafruit_HMC5883_Unified _mag {12345};
+    #endif
     const float declinationAngle = 0.22;
 };

esp32/include/peripherals/peripherals.h

@@ -87,10 +87,10 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     JsonDocument doc;
     char message[MAX_ESP_IMU_SIZE];
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     IMU _imu;
 #endif
-#if FT_ENABLED(USE_HMC5883)
+#if FT_ENABLED(USE_HMC5883) || FT_ENABLED(USE_ICM20948)
     Magnetometer _mag;
 #endif
 #if FT_ENABLED(USE_BMP180)

esp32/include/peripherals/sensor.hpp

@@ -17,7 +17,7 @@ class SensorBase {
   public:
     SensorBase() {}
 
-    virtual bool initialize() = 0;
+    virtual bool initialize(void* _arg) = 0;
 
     virtual bool update() = 0;
 

esp32/include/settings/peripherals_settings.h

@@ -15,7 +15,7 @@
 #define SCL_PIN SCL
 #endif
 #ifndef I2C_FREQUENCY
-#define I2C_FREQUENCY 1000000UL
+#define I2C_FREQUENCY 400000UL
 #endif
 
 class PinConfig {

esp32/include/system_service.h

@@ -3,7 +3,7 @@
 #include <ESPmDNS.h>
 #include <PsychicHttp.h>
 #include <WiFi.h>
-// #include <communication/websocket_adapter.h>
+#include <communication/websocket_adapter.h>
 #include <filesystem.h>
 #include <global.h>
 #include "esp_timer.h"
@@ -25,7 +25,7 @@ void sleep();
 void status(JsonObject &root);
 void metrics(JsonObject &root);
 
-void emitMetrics();
+void emitMetrics(Websocket &socket);
 
 const char *resetReason(esp_reset_reason_t reason);
 } // namespace system_service

esp32/include/utils/timing.h

@@ -39,3 +39,49 @@
         name##_count = 0;                                                    \
         last_time = esp_timer_get_time() / 1000;                             \
     }
+
+#define CALLS_PER_SECOND_TIMED_START_TICK(name, function)                        \
+    static uint64_t name##_##function##_start = 0;                           \
+    static uint64_t name##_##function##_total_time = 0;                      \
+    static uint64_t name##_##function##_call_count = 0;                      \
+    name##_##function##_start = esp_timer_get_time();
+
+#define CALLS_PER_SECOND_TIMED_END_TICK(name, function)                          \
+    name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
+    name##_##function##_call_count++;
+
+#define CALLS_PER_SECOND_TIMED_CALL(name, function, call)                        \
+    static uint64_t name##_##function##_total_time = 0;                          \
+    static uint64_t name##_##function##_call_count = 0;                          \
+    do {                                                                         \
+        uint64_t name##_##function##_start = esp_timer_get_time();               \
+        call;                                                                    \
+        name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
+        name##_##function##_call_count++;                                        \
+    } while (0)
+
+#define CALLS_PER_SECOND_TIMED_FUNC_PRINT(name, function)                        \
+    if (name##_##function##_call_count > 0) {                                    \
+        uint64_t avg = name##_##function##_total_time / name##_##function##_call_count; \
+        if (avg < 1000) {                                                        \
+            ESP_LOGI("Timing", "  %s: %llu us (avg over %llu calls)",            \
+                     #function, avg, name##_##function##_call_count);            \
+        } else {                                                                 \
+            ESP_LOGI("Timing", "  %s: %llu ms (avg over %llu calls)",            \
+                     #function, avg / 1000, name##_##function##_call_count);     \
+        }                                                                        \
+        name##_##function##_total_time = 0;                                      \
+        name##_##function##_call_count = 0;                                      \
+    }
+
+#define CALLS_PER_SECOND_TIMED(name, ...)                                        \
+    do {                                                                         \
+        static uint64_t name##_last_print = 0;                                   \
+        uint64_t name##_current_time = esp_timer_get_time() / 1000;              \
+        if (name##_current_time - name##_last_print >= 1000) {                   \
+            ESP_LOGI("Timing", "=== %s Average Timings ===", #name);             \
+            __VA_ARGS__                                                          \
+            name##_last_print = name##_current_time;                             \
+        }                                                                        \
+    } while (0)
+

esp32/scripts/pre_build.py

@@ -2,6 +2,6 @@ from pathlib import Path
 
 Import("env")
 
-filesystem_dir = env["PROJECT_DIR"] + "/data"
+filesystem_dir = env["PROJECT_DIR"] + "/esp32/data"
 
 Path(filesystem_dir).mkdir(exist_ok=True)

esp32/src/features.cpp

@@ -12,11 +12,14 @@ void printFeatureConfiguration() {
     ESP_LOGI("Features", "USE_MOTION: %s", USE_MOTION ? "enabled" : "disabled");
 
     // Sensors
+    ESP_LOGI("Features", "USE_ICM20948: %s", USE_ICM20948 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_BNO055: %s", USE_BNO055 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MPU6050: %s", USE_MPU6050 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_HMC5883: %s", USE_HMC5883 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_BMP180: %s", USE_BMP180 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_USS: %s", USE_USS ? "enabled" : "disabled");
+    ESP_LOGI("Features", "USE_PAJ7620U2: %s", USE_PAJ7620U2 ? "enabled" : "disabled");
+    
 
     // Peripherals
     ESP_LOGI("Features", "USE_PCA9685: %s", USE_PCA9685 ? "enabled" : "disabled");
@@ -31,8 +34,8 @@ void printFeatureConfiguration() {
 
 void features(JsonObject &root) {
     root["camera"] = USE_CAMERA ? true : false;
-    root["imu"] = (USE_MPU6050 || USE_BNO055) ? true : false;
-    root["mag"] = (USE_HMC5883 || USE_BNO055) ? true : false;
+    root["imu"] = (USE_MPU6050 || USE_BNO055 || USE_ICM20948) ? true : false;
+    root["mag"] = (USE_HMC5883 || USE_BNO055 || USE_ICM20948) ? true : false;
     root["bmp"] = USE_BMP180 ? true : false;
     root["sonar"] = USE_USS ? true : false;
     root["servo"] = USE_PCA9685 ? true : false;

esp32/src/main.cpp

@@ -124,15 +124,20 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
     motionService.begin();
 
     for (;;) {
-        CALLS_PER_SECOND(SpotControlLoopEntry);
-        peripherals.update();
-        motionService.update(&peripherals);
-        servoController.setAngles(motionService.getAngles());
-        servoController.update();
+        CALLS_PER_SECOND_TIMED_CALL(SpotControlLoopEntry, peripherals_update, peripherals.update());
+        CALLS_PER_SECOND_TIMED_CALL(SpotControlLoopEntry, motionService_update, motionService.update(&peripherals));
+        CALLS_PER_SECOND_TIMED_CALL(SpotControlLoopEntry, servoController_setAngles, servoController.setAngles(motionService.getAngles()));
+        CALLS_PER_SECOND_TIMED_CALL(SpotControlLoopEntry, servoController_update, servoController.update());
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
-        vTaskDelayUntil(&xLastWakeTime, xFrequency);
+        // CALLS_PER_SECOND_TIMED(SpotControlLoopEntry,
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, peripherals_update)
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, motionService_update)
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_setAngles)
+        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_update)
+        // );
+        // vTaskDelayUntil(&xLastWakeTime, xFrequency);
     }
 }
 
@@ -144,6 +149,10 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     MDNS.setInstanceName(APP_NAME);
     apService.begin();
 
+#if FT_ENABLED(USE_CAMERA)
+    cameraService.begin();
+#endif
+
     setupServer();
 
     socket.begin();
@@ -153,7 +162,13 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     for (;;) {
         wifiService.loop();
         apService.loop();
-        EXECUTE_EVERY_N_MS(2000, system_service::emitMetrics());
+        EXECUTE_EVERY_N_MS(2000, system_service::emitMetrics(socket));
+        EXECUTE_EVERY_N_MS(500, {
+            JsonDocument doc;
+            JsonVariant results = doc.to<JsonVariant>();
+            peripherals.getIMUResult(results);
+            socket.emit(EVENT_IMU, results);
+        });
 
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }

esp32/src/peripherals/peripherals.cpp

@@ -15,18 +15,40 @@ void Peripherals::begin() {
 
     updatePins();
 
+#if FT_ENABLED(USE_ICM20948)
+    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        ICM_20948_SPI* icm20948 = new ICM_20948_SPI;
+    #else
+        ICM_20948_I2C* icm20948 = new ICM_20948_I2C;
+    #endif
+#endif
+
+// --- IMU ---
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
-    if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
+    if (!_imu.initialize(nullptr)) ESP_LOGE("Peripherals", "IMU initialize failed");
+#elif FT_ENABLED(USE_ICM20948)
+    if (!_imu.initialize(icm20948)) ESP_LOGE("Peripherals", "IMU initialize failed (ICM20948)");
 #endif
+
+// --- MAGNETOMETER ---
 #if FT_ENABLED(USE_HMC5883)
-    if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
+    if (!_mag.initialize(nullptr)) ESP_LOGE("Peripherals", "MAG initialize failed");
+#elif FT_ENABLED(USE_ICM20948)
+    if (!_mag.initialize(icm20948)) ESP_LOGE("Peripherals", "MAG initialize failed (ICM20948)");
 #endif
+
+// --- BMP ---
 #if FT_ENABLED(USE_BMP180)
-    if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
+    if (!_bmp.initialize(nullptr)) ESP_LOGE("Peripherals", "BMP initialize failed");
 #endif
+
+
+// --- GESTURE ---
 #if FT_ENABLED(USE_PAJ7620U2)
-    if (!_gesture.initialize()) ESP_LOGE("IMUService", "Gesture initialize failed");
+    if (!_gesture.initialize(nullptr)) ESP_LOGE("Peripherals", "Gesture initialize failed");
 #endif
+
+// --- SONAR ---
 #if FT_ENABLED(USE_USS)
     _left_sonar = std::make_unique<NewPing>(USS_LEFT_PIN, USS_LEFT_PIN, MAX_DISTANCE);
     _right_sonar = std::make_unique<NewPing>(USS_RIGHT_PIN, USS_RIGHT_PIN, MAX_DISTANCE);
@@ -34,11 +56,25 @@ void Peripherals::begin() {
 };
 
 void Peripherals::update() {
-    readImu();
-    readMag();
-    EXECUTE_EVERY_N_MS(100, { readGesture(); });
-    EXECUTE_EVERY_N_MS(500, { readBMP(); });
-    EXECUTE_EVERY_N_MS(500, { readSonar(); });
+    bool res = true;
+    CALLS_PER_SECOND_TIMED_CALL(Peripherals_update, read_imu, res = readImu());
+    #ifdef FT_ENABLED(USE_ICM20948)
+        // IF ICM_20948 fails to get IMU, it means that mag also does not have new data
+        CALLS_PER_SECOND_TIMED_CALL(Peripherals_update, read_mag, if (res) { res = readMag(); } );
+    #else
+        CALLS_PER_SECOND_TIMED_CALL(Peripherals_update, read_mag, res = readMag());
+    #endif
+    CALLS_PER_SECOND_TIMED_CALL(Peripherals_update, read_gesture, EXECUTE_EVERY_N_MS(100, { readGesture(); }) );
+    CALLS_PER_SECOND_TIMED_CALL(Peripherals_update, read_bmp, EXECUTE_EVERY_N_MS(500, { readBMP(); }) );
+    CALLS_PER_SECOND_TIMED_CALL(Peripherals_update, read_sonar, EXECUTE_EVERY_N_MS(500, { readSonar(); }) );
+
+    CALLS_PER_SECOND_TIMED(Peripherals_update,
+        CALLS_PER_SECOND_TIMED_FUNC_PRINT(Peripherals_update, read_imu)
+        CALLS_PER_SECOND_TIMED_FUNC_PRINT(Peripherals_update, read_mag)
+        CALLS_PER_SECOND_TIMED_FUNC_PRINT(Peripherals_update, read_gesture)
+        CALLS_PER_SECOND_TIMED_FUNC_PRINT(Peripherals_update, read_bmp)
+        CALLS_PER_SECOND_TIMED_FUNC_PRINT(Peripherals_update, read_sonar)
+    );
 }
 
 void Peripherals::updatePins() {
@@ -48,6 +84,7 @@ void Peripherals::updatePins() {
 
     if (state().sda != -1 && state().scl != -1) {
         Wire.begin(state().sda, state().scl, state().frequency);
+        ESP_LOGI("Peripherals", "Starting Wire with SDA=%d, SCL=%d, FREQ=%d", state().sda, state().scl, state().frequency);
         i2c_active = true;
     }
 }
@@ -79,7 +116,7 @@ void Peripherals::scanI2C(uint8_t lower, uint8_t higher) {
 /* IMU FUNCTIONS */
 bool Peripherals::readImu() {
     bool updated = false;
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     beginTransaction();
     updated = _imu.update();
     endTransaction();
@@ -89,7 +126,7 @@ bool Peripherals::readImu() {
 
 bool Peripherals::readMag() {
     bool updated = false;
-#if FT_ENABLED(USE_HMC5883)
+#if FT_ENABLED(USE_HMC5883 || USE_ICM20948)
     beginTransaction();
     updated = _mag.update();
     endTransaction();
@@ -101,7 +138,7 @@ bool Peripherals::readBMP() {
     bool updated = false;
 #if FT_ENABLED(USE_BMP180)
     beginTransaction();
-    updated = _bmp.readBarometer();
+    updated = _bmp.update();
     endTransaction();
 #endif
     return updated;
@@ -127,7 +164,7 @@ void Peripherals::readSonar() {
 
 float Peripherals::angleX() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleX();
 #else
         0;
@@ -136,7 +173,7 @@ float Peripherals::angleX() {
 
 float Peripherals::angleY() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleY();
 #else
         0;
@@ -145,7 +182,7 @@ float Peripherals::angleY() {
 
 float Peripherals::angleZ() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
         _imu.getAngleZ();
 #else
         0;
@@ -165,14 +202,17 @@ float Peripherals::leftDistance() { return _left_distance; }
 float Peripherals::rightDistance() { return _right_distance; }
 
 void Peripherals::getIMUResult(JsonVariant &root) {
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
-    _imu.getResults(root);
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+    JsonVariant imu = root["imu"].to<JsonVariant>();
+    _imu.getResults(imu);
 #endif
-#if FT_ENABLED(USE_HMC5883)
-    _mag.getResults(root);
+#if FT_ENABLED(USE_HMC5883 || USE_ICM20948) // TODO:
+    JsonVariant mag = root["mag"].to<JsonVariant>();
+    _mag.getResults(mag);
 #endif
 #if FT_ENABLED(USE_BMP180)
-    _bmp.getResults(root);
+    JsonVariant bmp = root["bmp"].to<JsonVariant>();
+    _bmp.getResults(bmp);
 #endif
 }
 

esp32/src/system_service.cpp

@@ -121,13 +121,14 @@ void metrics(JsonObject &root) {
     root["core_temp"] = temperatureRead();
 }
 
-void emitMetrics() {
-    // if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
-    // analyticsDoc.clear();
-    // JsonObject root = analyticsDoc.to<JsonObject>();
-    // system_service::metrics(root);
-    // JsonVariant data = analyticsDoc.as<JsonVariant>();
-    // socket.emit(EVENT_ANALYTICS, data);
+void emitMetrics(Websocket &socket) {
+    if (!socket.hasSubscribers(EVENT_ANALYTICS)) return;
+
+    JsonDocument doc;
+    JsonObject root = doc.to<JsonObject>();
+    system_service::metrics(root);
+    JsonVariant data = doc.as<JsonVariant>();
+    socket.emit(EVENT_ANALYTICS, data);
 }
 
 const char *resetReason(esp_reset_reason_t reason) {

platformio.ini

@@ -55,6 +55,10 @@ build_flags =
 	-D USS_RIGHT_PIN=14
 	-D SDA_PIN=47
 	-D SCL_PIN=21
+    -D SPI_SCK=41
+    -D SPI_MISO=19
+    -D SPI_MOSI=20
+    -D ICM20948_SPI_CS=2 # Only needed if ICM20948 is in SPI mode
 
 [env:seeed-xiao-esp32s3]
 platform = espressif32
@@ -90,6 +94,7 @@ build_flags =
 	${factory_settings.build_flags}
     ${features.build_flags}
 	${build_settings.build_flags}
+    -D SPI_PORT=SPI # Define which spi port to use for external components
 	-D CORE_DEBUG_LEVEL=4
 	-D register=
 	-std=gnu++2a
@@ -116,6 +121,7 @@ lib_deps =
 	adafruit/Adafruit Unified Sensor@^1.1.14
     adafruit/Adafruit BNO055@^1.6.4
 	FastLED@3.5.0
+    sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@^1.3.2
 extra_scripts = 
 	pre:esp32/scripts/pre_build.py
     pre:esp32/scripts/build_app.py

simulation/play.py

@@ -15,7 +15,11 @@ from src.controllers import Controller, GUIController, WebSocketController
 
 class SpotMicroSimulation:
     def __init__(
-        self, controller: Controller, env: Optional[QuadrupedEnv] = None, terrain_type: TerrainType = TerrainType.FLAT
+        self,
+        controller: Controller,
+        env: Optional[QuadrupedEnv] = None,
+        terrain_type: TerrainType = TerrainType.FLAT,
+        dt: float = 1.0 / 240,
     ):
         print("Initializing Spot Micro simulation...")
         try:
@@ -23,7 +27,7 @@ class SpotMicroSimulation:
                 self.env = env
                 print("Using existing environment")
             else:
-                self.env = QuadrupedEnv(terrain_type=terrain_type)
+                self.env = QuadrupedEnv(terrain_type=terrain_type, dt=dt)
                 print("Environment created successfully")
 
             print(f"Robot ID: {self.env.robot.robot_id}")
@@ -78,7 +82,7 @@ class SpotMicroSimulation:
         )
 
         self.gait = GaitController(standby)
-        self.dt = 1.0 / 240
+        self.dt = dt
 
     def step(self):
         self.controller.update(self.body_state, self.gait_state, self.dt)
@@ -87,10 +91,24 @@ class SpotMicroSimulation:
         joints = self.kinematics.inverse_kinematics(self.body_state)
         joints = joints * self.joint_directions
 
-        _, _, done, truncated, _ = self.env.step(joints)
+        obs, _, done, truncated, _ = self.env.step(joints)
+
+        self._print_mpu6050_data(obs)
 
         return joints, done, truncated
 
+    def _print_mpu6050_data(self, obs):
+        accel = obs[0:3]
+        gyro = obs[3:6]
+        heading = obs[6]
+        altitude = obs[7]
+
+        print(
+            f"MPU6050: Accel({accel[0]:8.3f}, {accel[1]:8.3f}, {accel[2]:8.3f}) "
+            f"Gyro({gyro[0]:8.3f}, {gyro[1]:8.3f}, {gyro[2]:8.3f}) "
+            f"Mag({heading:8.3f}) Baro({altitude:8.3f})"
+        )
+
     def run_sync(self):
         try:
             while self.controller.is_running():

simulation/src/envs/quadruped_env.py

@@ -38,22 +38,31 @@ class QuadrupedRobot:
         return [p.getJointInfo(self.robot_id, idx)[1].decode("utf-8") for idx in self.movable_joint_indices]
 
     def get_observation(self):
-        position, orientation = p.getBasePositionAndOrientation(self.robot_id)
-        orientation = p.getEulerFromQuaternion(orientation)
-        velocity, angular_velocity = p.getBaseVelocity(self.robot_id)
-        joint_states = p.getJointStates(self.robot_id, self.movable_joint_indices)
-        joint_positions = [state[0] for state in joint_states]
-        joint_velocities = [state[1] for state in joint_states]
-        return np.concatenate(
-            [
-                position,
-                orientation,
-                velocity,
-                angular_velocity,
-                joint_positions,
-                joint_velocities,
-            ]
-        ).astype(np.float32)
+        pos_w, quat_wb = p.getBasePositionAndOrientation(self.robot_id)
+        v_w, w_w = p.getBaseVelocity(self.robot_id)
+
+        R = np.array(p.getMatrixFromQuaternion(quat_wb), dtype=np.float32).reshape(3, 3)
+
+        if hasattr(self, "prev_velocity") and self.prev_velocity is not None:
+            dt = 1.0 / 240.0
+            accel_world = (v_w - self.prev_velocity) / dt
+        else:
+            accel_world = np.array([0.0, 0.0, 0.0])
+
+        accel_body = R.T @ np.asarray(accel_world, dtype=np.float32)
+        gravity_body = R.T @ np.array([0, 0, -9.81], dtype=np.float32)
+        accel_body += gravity_body
+
+        gyro_body = np.degrees(R.T @ np.asarray(w_w, dtype=np.float32))
+
+        euler = p.getEulerFromQuaternion(quat_wb)
+        heading = np.degrees(euler[2])
+
+        altitude = np.array([pos_w[2]], dtype=np.float32)
+
+        self.prev_velocity = np.array(v_w)
+
+        return np.concatenate([accel_body, gyro_body, [heading], altitude]).astype(np.float32)
 
     def apply_action(self, action):
         for i, position in enumerate(action):
@@ -78,6 +87,7 @@ class QuadrupedEnv(gym.Env):
         target_velocity: float = 0.5,
         max_steps: int = 1000,
         distance_limit: float = 10.0,
+        dt: float = 1.0 / 240,
     ):
         super().__init__()
         if render_mode == "human":
@@ -85,7 +95,7 @@ class QuadrupedEnv(gym.Env):
         else:
             p.connect(p.DIRECT)
 
-        self.observation_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(36,), dtype=np.float32)
+        self.observation_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(8,), dtype=np.float32)
         self.action_space = gym.spaces.Box(low=-1, high=1, shape=(12,), dtype=np.float32)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
@@ -93,9 +103,10 @@ class QuadrupedEnv(gym.Env):
         self.render_mode = render_mode
         self.target_velocity = target_velocity
         self.max_steps = max_steps
+        self.prev_accel = np.zeros(3)
+        self.estimated_velocity = np.zeros(3)
         self.current_step = 0
-
-        self.prev_velocity = None
+        self.dt = dt
 
         self._setup_world()
         if render_mode == "human":
@@ -107,7 +118,7 @@ class QuadrupedEnv(gym.Env):
         self.robot = QuadrupedRobot("src/resources/spot.urdf")
         self._load_terrain(self.terrain_type)
         p.setGravity(0, 0, -9.8)
-        p.setTimeStep(1 / 240)
+        p.setTimeStep(self.dt)
         if self.render_mode == "human":
             self.gui = GUI(self.robot.robot_id)
         else:
@@ -157,7 +168,7 @@ class QuadrupedEnv(gym.Env):
 
         obs = self.robot.get_observation()
         reward = self.calculate_reward(obs)
-        done = self.is_done(obs)
+        done = self.is_done()
         truncated = self.current_step >= self.max_steps
 
         return obs, reward, done, truncated, {}
@@ -167,48 +178,42 @@ class QuadrupedEnv(gym.Env):
         # p.disconnect()
 
     def calculate_reward(self, obs):
-        position = obs[:3]
-        orientation = obs[3:6]
-        velocity = obs[6:9]
-        angular_velocity = obs[9:12]
+        accel = obs[0:3]
+        gyro = obs[3:6]
+        heading = obs[6]
+        altitude = obs[7]
 
-        forward_velocity = velocity[0]
+        self.estimated_velocity = self.estimated_velocity + self.prev_accel * self.dt
+
+        self.prev_accel = accel.copy()
+
+        forward_velocity = self.estimated_velocity[0]
         velocity_reward = -abs(forward_velocity - self.target_velocity)
 
-        height_penalty = -abs(position[2] - 0.3) * 0.5
+        height_penalty = -abs(altitude - 0.3) * 0.5
 
-        roll, pitch, yaw = orientation
-        orientation_penalty = -(abs(roll) + abs(pitch)) * 1.0
+        orientation_penalty = -(abs(gyro[0]) + abs(gyro[1])) * 0.1
 
-        angular_penalty = -np.sum(np.square(angular_velocity)) * 0.05
+        angular_penalty = -np.sum(np.square(gyro)) * 0.01
 
-        sideways_velocity_penalty = -abs(velocity[1]) * 0.3
+        lateral_acc_penalty = -abs(accel[1]) * 0.01
 
-        if self.prev_velocity is not None:
-            dt = 1.0 / 240.0
-            acceleration = (velocity - self.prev_velocity) / dt
-            lateral_acc_penalty = -abs(acceleration[1]) * 0.01
-            vertical_acc_penalty = -abs(acceleration[2]) * 0.01
-        else:
-            lateral_acc_penalty = 0
-            vertical_acc_penalty = 0
-
-        self.prev_velocity = velocity.copy()
+        vertical_acc_penalty = -abs(accel[2] + 9.81) * 0.01
 
         total_reward = (
             velocity_reward
             + height_penalty
             + orientation_penalty
             + angular_penalty
-            + sideways_velocity_penalty
             + lateral_acc_penalty
             + vertical_acc_penalty
         )
         return total_reward
 
-    def is_done(self, obs):
-        position = obs[:3]
-        orientation = obs[3:6]
+    def is_done(self):
+        position, orientation = p.getBasePositionAndOrientation(self.robot.robot_id)
+        orientation = p.getEulerFromQuaternion(orientation)
+
         return self._is_fallen(orientation) or self._is_distance_limit_exceeded(position)
 
     def _is_distance_limit_exceeded(self, position):
@@ -216,9 +221,4 @@ class QuadrupedEnv(gym.Env):
         return distance > self._distance_limit
 
     def _is_fallen(self, orientation):
-        # orientation = self.spot.GetBaseOrientation()
-        # rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation)
-        # local_up = rot_mat[6:]
-        # pos = self.spot.GetBasePosition()
-        # return (np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.55)
         return abs(orientation[0]) > 0.85 or abs(orientation[1]) > 0.85