From b4577d0f66df5d74073f80539c94d667c5703883 Mon Sep 17 00:00:00 2001
From: Thomas Farstrike <thomasverstreken@protonmail.com>
Date: Thu, 4 Dec 2025 13:51:52 +0100
Subject: [PATCH] Fix SensorManager

---
 CHANGELOG.md                                   |  1 +
 CLAUDE.md                                      |  3 ++-
 internal_filesystem/lib/mpos/board/linux.py    |  5 ++++-
 internal_filesystem/lib/mpos/sensor_manager.py | 10 ++++++++--
 4 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 05c98b1a..4dc26818 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@
 - API: restore sys.path after starting app
 - API: add AudioFlinger for audio playback (i2s DAC and buzzer)
 - API: add LightsManager for multicolor LEDs
+- API: add SensorManager for IMU/accelerometers, temperature sensors etc.
 - About app: add free, used and total storage space info
 - AppStore app: remove unnecessary scrollbar over publisher's name
 - Camera app: massive overhaul!
diff --git a/CLAUDE.md b/CLAUDE.md
index f6bacf39..e61a1e88 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -1010,8 +1010,9 @@ def update_frame(self, a, b):
 - **Units**: Standard SI (m/s² for acceleration, deg/s for gyroscope, °C for temperature)
 - **Calibration**: Persistent via SharedPreferences (`data/com.micropythonos.sensors/config.json`)
 - **Thread-safe**: Uses locks for concurrent access
-- **Auto-detection**: Identifies IMU type via chip ID registers
+- **Auto-detection**: Identifies IMU type via chip ID registers (QMI8658: chip_id=0x05 at reg=0x00, WSEN_ISDS: chip_id=0x6A at reg=0x0F)
 - **Desktop**: Functions return `None` (graceful fallback) on desktop builds
+- **Important**: Driver constants defined with `const()` cannot be imported at runtime - SensorManager uses hardcoded values instead
 
 ### Driver Locations
 
diff --git a/internal_filesystem/lib/mpos/board/linux.py b/internal_filesystem/lib/mpos/board/linux.py
index d5c3b6ee..a82a12ce 100644
--- a/internal_filesystem/lib/mpos/board/linux.py
+++ b/internal_filesystem/lib/mpos/board/linux.py
@@ -113,7 +113,10 @@ AudioFlinger.init(
 # === SENSOR HARDWARE ===
 # Note: Desktop builds have no sensor hardware
 import mpos.sensor_manager as SensorManager
-# Don't call init() - SensorManager functions will return None/False
+
+# Initialize with no I2C bus - will detect MCU temp if available
+# (On Linux desktop, this will fail gracefully but set _initialized flag)
+SensorManager.init(None)
 
 print("linux.py finished")
 
diff --git a/internal_filesystem/lib/mpos/sensor_manager.py b/internal_filesystem/lib/mpos/sensor_manager.py
index 4bca56e4..0f0d9563 100644
--- a/internal_filesystem/lib/mpos/sensor_manager.py
+++ b/internal_filesystem/lib/mpos/sensor_manager.py
@@ -98,7 +98,10 @@ def init(i2c_bus, address=0x6B):
     # Try QMI8658 first (Waveshare board)
     if i2c_bus:
         try:
-            from mpos.hardware.drivers.qmi8658 import QMI8658, _QMI8685_PARTID, _REG_PARTID
+            from mpos.hardware.drivers.qmi8658 import QMI8658
+            # QMI8658 constants (can't import const() values)
+            _QMI8685_PARTID = 0x05
+            _REG_PARTID = 0x00
             chip_id = i2c_bus.readfrom_mem(address, _REG_PARTID, 1)[0]
             if chip_id == _QMI8685_PARTID:
                 print("[SensorManager] Detected QMI8658 IMU")
@@ -308,7 +311,10 @@ class _QMI8658Driver(_IMUDriver):
     """Wrapper for QMI8658 IMU (Waveshare board)."""
 
     def __init__(self, i2c_bus, address):
-        from mpos.hardware.drivers.qmi8658 import QMI8658, _ACCELSCALE_RANGE_8G, _GYROSCALE_RANGE_256DPS
+        from mpos.hardware.drivers.qmi8658 import QMI8658
+        # QMI8658 scale constants (can't import const() values)
+        _ACCELSCALE_RANGE_8G = 0b10
+        _GYROSCALE_RANGE_256DPS = 0b100
         self.sensor = QMI8658(
             i2c_bus,
             address=address,