more debugging

Author: ericthegeorge

main/imu/imu_icm20948_driver.c

@@ -302,7 +302,7 @@ biodyn_imu_err_t biodyn_imu_icm20948_init()
 	if (err != ESP_OK)
 	{
 		biodyn_imu_icm20948_add_error_to_subsystem(err, "ICM_20948_INIT: error in completing self-test. Further investigation into self-test part functions likely required.");
-		ESP_LOGE(TAG, "Failed to initialize and start AK09916 (magnetometer) device, error %d", err);
+		ESP_LOGE(TAG, "Failed self_test for icm20948, investiage into composite function parts of self_test, error: %d", err);
 		return BIODYN_IMU_ERR_COULDNT_INIT_SPI_DEV;
 	}
 	// TODO: write self_tests for magnetometer
@@ -831,6 +831,8 @@ biodyn_imu_err_t biodyn_imu_icm20948_self_test()
 		ESP_LOGE(TAG, "Self test failed - whoami (%x)", err);
 		return err;
 	}
+	ESP_LOGI(TAG, "Correct WHOAMI");
+
 	// Check that user bank selection works
 	if ((err = self_test_user_banks()))
 	{

main/main.c

@@ -24,6 +24,7 @@
 // void test_all_registers_imu_icm20948();
 // void test_accel_gyro_imu_icm20948();
 void test_imu_icm20948();
+void test_accel_gyro_mag_imu_icm20948();
 
 // APP ENTRY POINT
 void app_main(void)
@@ -70,7 +71,8 @@ void app_main(void)
 	// 	test_accel_imu_icm20948();
 	// 	test_accel_gyro_imu_icm20948();
 
-	test_imu_icm20948();
+	// test_imu_icm20948();
+	test_accel_gyro_mag_imu_icm20948();
 }
 
 void test_imu_icm20948()
@@ -142,15 +144,15 @@ void test_accel_gyro_mag_imu_icm20948()
 	for (int i = 0; i < 2000; ++i)
 	{
 		biodyn_imu_icm20948_read_accel_gyro_mag(&data);
-		ESP_LOGI(MAIN_TAG, "ACCEL X: %.3f %s", data.accel_x, IMU_ACCEL_UNIT);
-		ESP_LOGI(MAIN_TAG, "ACCEL Y: %.3f %s", data.accel_y, IMU_ACCEL_UNIT);
-		ESP_LOGI(MAIN_TAG, "ACCEL Z: %.3f %s", data.accel_z, IMU_ACCEL_UNIT);
-		ESP_LOGI(MAIN_TAG, "GYRO X: %.3f %s", data.gyro_x, IMU_GYRO_UNIT);
-		ESP_LOGI(MAIN_TAG, "GYRO Y: %.3f %s", data.gyro_y, IMU_GYRO_UNIT);
-		ESP_LOGI(MAIN_TAG, "GYRO Z: %.3f %s", data.gyro_z, IMU_GYRO_UNIT);
-		ESP_LOGI(MAIN_TAG, "MAG X: %.3f %s", data.mag_x, IMU_MAG_UNIT);
-		ESP_LOGI(MAIN_TAG, "MAG Y: %.3f %s", data.mag_y, IMU_MAG_UNIT);
-		ESP_LOGI(MAIN_TAG, "MAG Z: %.3f %s", data.mag_z, IMU_MAG_UNIT);
+		ESP_LOGI(MAIN_TAG, "ACCEL X: %.6f %s", data.accel_x, IMU_ACCEL_UNIT);
+		ESP_LOGI(MAIN_TAG, "ACCEL Y: %.6f %s", data.accel_y, IMU_ACCEL_UNIT);
+		ESP_LOGI(MAIN_TAG, "ACCEL Z: %.6f %s", data.accel_z, IMU_ACCEL_UNIT);
+		ESP_LOGI(MAIN_TAG, "GYRO X: %.6f %s", data.gyro_x, IMU_GYRO_UNIT);
+		ESP_LOGI(MAIN_TAG, "GYRO Y: %.6f %s", data.gyro_y, IMU_GYRO_UNIT);
+		ESP_LOGI(MAIN_TAG, "GYRO Z: %.6f %s", data.gyro_z, IMU_GYRO_UNIT);
+		ESP_LOGI(MAIN_TAG, "MAG X: %.6f %s", data.mag_x, IMU_MAG_UNIT);
+		ESP_LOGI(MAIN_TAG, "MAG Y: %.6f %s", data.mag_y, IMU_MAG_UNIT);
+		ESP_LOGI(MAIN_TAG, "MAG Z: %.6f %s", data.mag_z, IMU_MAG_UNIT);
 		vTaskDelay(pdMS_TO_TICKS(100)); // Sleep for 100 ms (0.1 second)
 	}
 }