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Fri3d 2024 Board: add support for WSEN ISDS IMU

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This commit is contained in:
Thomas Farstrike
2025-12-06 11:03:15 +01:00
parent 56b7cc17e9
commit 0f2bbd5fa9
5 changed files with 251 additions and 78 deletions
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internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py
+25
View File
@@ -256,57 +256,78 @@ class CalibrateIMUActivity(Activity):
def calibration_thread_func(self):
"""Background thread for calibration process."""
try:
print("[CalibrateIMU] === Calibration thread started ===")
# Step 1: Check stationarity
print("[CalibrateIMU] Step 1: Checking stationarity...")
if self.is_desktop:
stationarity = {'is_stationary': True, 'message': 'Mock: Stationary'}
else:
print("[CalibrateIMU] Calling SensorManager.check_stationarity(samples=30)...")
stationarity = SensorManager.check_stationarity(samples=30)
print(f"[CalibrateIMU] Stationarity result: {stationarity}")
if stationarity is None or not stationarity['is_stationary']:
msg = stationarity['message'] if stationarity else "Stationarity check failed"
print(f"[CalibrateIMU] Device not stationary: {msg}")
self.update_ui_threadsafe_if_foreground(self.handle_calibration_error,
f"Device not stationary!\n\n{msg}\n\nPlace on flat surface and try again.")
return
print("[CalibrateIMU] Device is stationary, proceeding to calibration")
# Step 2: Perform calibration
print("[CalibrateIMU] Step 2: Performing calibration...")
self.update_ui_threadsafe_if_foreground(lambda: self.set_state(CalibrationState.CALIBRATING))
time.sleep(0.5) # Brief pause for user to see status change
if self.is_desktop:
# Mock calibration
print("[CalibrateIMU] Mock calibration (desktop)")
time.sleep(2)
accel_offsets = (0.1, -0.05, 0.15)
gyro_offsets = (0.2, -0.1, 0.05)
else:
# Real calibration
print("[CalibrateIMU] Real calibration (hardware)")
accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
print(f"[CalibrateIMU] Accel sensor: {accel}, Gyro sensor: {gyro}")
if accel:
print("[CalibrateIMU] Calibrating accelerometer (100 samples)...")
accel_offsets = SensorManager.calibrate_sensor(accel, samples=100)
print(f"[CalibrateIMU] Accel offsets: {accel_offsets}")
else:
accel_offsets = None
if gyro:
print("[CalibrateIMU] Calibrating gyroscope (100 samples)...")
gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=100)
print(f"[CalibrateIMU] Gyro offsets: {gyro_offsets}")
else:
gyro_offsets = None
# Step 3: Verify results
print("[CalibrateIMU] Step 3: Verifying calibration...")
self.update_ui_threadsafe_if_foreground(lambda: self.set_state(CalibrationState.VERIFYING))
time.sleep(0.5)
if self.is_desktop:
verify_quality = self.get_mock_quality(good=True)
else:
print("[CalibrateIMU] Checking calibration quality (50 samples)...")
verify_quality = SensorManager.check_calibration_quality(samples=50)
print(f"[CalibrateIMU] Verification quality: {verify_quality}")
if verify_quality is None:
print("[CalibrateIMU] Verification failed")
self.update_ui_threadsafe_if_foreground(self.handle_calibration_error,
"Calibration completed but verification failed")
return
# Step 4: Show results
print("[CalibrateIMU] Step 4: Showing results...")
rating = verify_quality['quality_rating']
score = verify_quality['quality_score']
@@ -316,10 +337,14 @@ class CalibrateIMUActivity(Activity):
if gyro_offsets:
result_msg += f"\n\nGyro offsets:\nX:{gyro_offsets[0]:.3f} Y:{gyro_offsets[1]:.3f} Z:{gyro_offsets[2]:.3f}"
print(f"[CalibrateIMU] Calibration complete! Result: {result_msg[:80]}")
self.update_ui_threadsafe_if_foreground(self.show_calibration_complete, result_msg)
print("[CalibrateIMU] === Calibration thread finished ===")
except Exception as e:
print(f"[CalibrateIMU] Calibration error: {e}")
import sys
sys.print_exception(e)
self.update_ui_threadsafe_if_foreground(self.handle_calibration_error, str(e))
def show_calibration_complete(self, result_msg):
internal_filesystem/builtin/apps/com.micropythonos.settings/assets/check_imu_calibration.py
+2 -1
View File
@@ -151,7 +151,8 @@ class CheckIMUCalibrationActivity(Activity):
if self.is_desktop:
quality = self.get_mock_quality()
else:
quality = SensorManager.check_calibration_quality(samples=30)
# Use only 5 samples for real-time display (faster, less blocking)
quality = SensorManager.check_calibration_quality(samples=5)
if quality is None:
self.status_label.set_text("Error reading IMU")