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compass.c

+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "lib/fonts.h"
+#include "lib/st7735.h"
+#include "lib/ICM20948.h"
+
+// Based off the helpful guide from plaaosert (ct2g20)
+
+void SetupIMU() {
+   // Apparently this is important ¯\_(ツ)_/¯
+   i2c_init(i2c0, 400 * 1000);
+   gpio_set_function(4, GPIO_FUNC_I2C);
+   gpio_set_function(5, GPIO_FUNC_I2C);
+   gpio_pull_up(4);
+   gpio_pull_up(5);
+   sleep_ms(1000);
+
+   IMU_EN_SENSOR_TYPE enMotionSensorType;
+
+   imuInit(&enMotionSensorType);
+   if (IMU_EN_SENSOR_TYPE_ICM20948 != enMotionSensorType) {
+       printf("Failed to initialise IMU...");
+   }
+
+   printf("IMU initialised!");
+}
+
+int main() {
+   stdio_init_all();  // Initialise serial in/output
+   setvbuf ( stdout , NULL , _IONBF , 0 );  // Disable line and block buffering on stdout (for serial comm.)
+   sleep_ms(1000);
+
+   ST7735_Init();
+   ST7735_FillScreen(ST7735_BLACK);
+
+   SetupIMU();
+
+   // TODO: initialize variables
+  float tmp_x = 0.0f;
+  float tmp_y = 0.0f;
+  float tmp_z = 0.0f;
+  char xString[5];
+  char yString[5];
+  char zString[5];
+
+   while (true) {
+       // TODO: read from IMU
+        icm20948MagRead(&tmp_x, &tmp_y, &tmp_z);
+
+        sprintf(xString, "%.1f", tmp_x );
+        sprintf(yString, "%.1f", tmp_y );
+        sprintf(zString, "%.1f", tmp_z );
+
+       // TODO: draw something to the LCD
+        ST7735_WriteString(5,20, xString, Font_16x26, ST7735_WHITE, ST7735_BLACK);
+        ST7735_WriteString(5,45, yString, Font_16x26, ST7735_WHITE, ST7735_BLACK);
+        ST7735_WriteString(5,65, zString, Font_16x26, ST7735_WHITE, ST7735_BLACK);
+        sleep_ms(100);
+   }
+
+
+}
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