add imu example (#4)

Author: jamessizeland

Cargo.lock

@@ -52,6 +52,8 @@ trouble-host = { git = "https://github.com/embassy-rs/trouble.git", features = [
   "log",
 ] }
 bt-hci = { version = "0.2.0", features = ["log"] }
+imu-fusion = "0.2.5"
+micromath = "2.1.0"
 
 
 [profile.dev]

Cargo.toml

@@ -0,0 +1,51 @@
+//! # IMU Sensor Example
+//!
+//! This example demonstrates how to read the accelerometer and gyroscope data from the onboard ICM42670 sensor.
+//! The ICM42670 sensor is a low-power sensor that can be used to measure acceleration and angular velocity.
+//! This example demonstrates how to use an actor to read the sensor every 20 seconds.
+//! The actor will read the sensor for 1 minute before stopping.
+
+#![no_std]
+#![no_main]
+
+use core::future::pending;
+
+use esp_backtrace as _;
+
+use embassy_executor::Spawner;
+use embassy_time::{Duration, Timer};
+
+use esp32c3_devkit_demo::{
+    bsp::Board,
+    imu::{self, Message},
+};
+
+#[esp_hal_embassy::main]
+async fn main(spawner: Spawner) -> ! {
+    esp_println::logger::init_logger_from_env();
+
+    let board = Board::init();
+
+    // For now we only have one element in the configuration.
+    // But we could add more elements to the configuration to pass to the actor.
+    let config = imu::Config {
+        i2c_bus: board.i2c_bus,
+    };
+    let actor = imu::spawn_actor(spawner, config).expect("failed to spawn");
+
+    // Set the power mode to normal mode.
+    actor
+        .send(Message::SetPowerMode(icm42670::PowerMode::SixAxisLowNoise))
+        .await;
+
+    Timer::after_secs(1).await;
+
+    // Start the actor to read the sensor every 20 milliseconds.
+    actor.send(Message::Start(Duration::from_millis(20))).await;
+
+    // Stop the actor after 60 seconds.
+    Timer::after_secs(60).await;
+    actor.send(Message::Stop).await;
+
+    pending().await
+}