From e581843469b47b06d45265f064ee0a5e584433f6 Mon Sep 17 00:00:00 2001 From: Thomas Farstrike Date: Sun, 7 Dec 2025 14:43:22 +0100 Subject: [PATCH] SensorManager: add mounted_position to IMUs --- .../assets/calibrate_imu.py | 10 ++- .../assets/check_imu_calibration.py | 63 +++++++++++++------ .../lib/mpos/board/fri3d_2024.py | 2 +- .../lib/mpos/sensor_manager.py | 14 ++++- 4 files changed, 63 insertions(+), 26 deletions(-) diff --git a/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py b/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py index 45d67c16..a0b67a89 100644 --- a/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py +++ b/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py @@ -49,16 +49,19 @@ class CalibrateIMUActivity(Activity): screen.set_style_pad_all(mpos.ui.pct_of_display_width(3), 0) screen.set_flex_flow(lv.FLEX_FLOW.COLUMN) screen.set_flex_align(lv.FLEX_ALIGN.CENTER, lv.FLEX_ALIGN.START, lv.FLEX_ALIGN.CENTER) + focusgroup = lv.group_get_default() + if focusgroup: + focusgroup.add_obj(screen) # Title self.title_label = lv.label(screen) self.title_label.set_text("IMU Calibration") - self.title_label.set_style_text_font(lv.font_montserrat_20, 0) + self.title_label.set_style_text_font(lv.font_montserrat_16, 0) # Status label self.status_label = lv.label(screen) self.status_label.set_text("Initializing...") - self.status_label.set_style_text_font(lv.font_montserrat_16, 0) + self.status_label.set_style_text_font(lv.font_montserrat_12, 0) self.status_label.set_long_mode(lv.label.LONG_MODE.WRAP) self.status_label.set_width(lv.pct(90)) @@ -71,7 +74,7 @@ class CalibrateIMUActivity(Activity): # Detail label (for additional info) self.detail_label = lv.label(screen) self.detail_label.set_text("") - self.detail_label.set_style_text_font(lv.font_montserrat_12, 0) + self.detail_label.set_style_text_font(lv.font_montserrat_10, 0) self.detail_label.set_style_text_color(lv.color_hex(0x888888), 0) self.detail_label.set_long_mode(lv.label.LONG_MODE.WRAP) self.detail_label.set_width(lv.pct(90)) @@ -82,6 +85,7 @@ class CalibrateIMUActivity(Activity): btn_cont.set_height(lv.SIZE_CONTENT) btn_cont.set_style_border_width(0, 0) btn_cont.set_flex_flow(lv.FLEX_FLOW.ROW) + btn_cont.set_style_pad_all(1,0) btn_cont.set_style_flex_main_place(lv.FLEX_ALIGN.SPACE_BETWEEN, 0) # Action button diff --git a/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/check_imu_calibration.py b/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/check_imu_calibration.py index d727cb28..097aa75e 100644 --- a/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/check_imu_calibration.py +++ b/internal_filesystem/builtin/apps/com.micropythonos.settings/assets/check_imu_calibration.py @@ -36,8 +36,12 @@ class CheckIMUCalibrationActivity(Activity): def onCreate(self): screen = lv.obj() - screen.set_style_pad_all(mpos.ui.pct_of_display_width(2), 0) + screen.set_style_pad_all(mpos.ui.pct_of_display_width(1), 0) + #screen.set_style_pad_all(0, 0) screen.set_flex_flow(lv.FLEX_FLOW.COLUMN) + focusgroup = lv.group_get_default() + if focusgroup: + focusgroup.add_obj(screen) self.setContentView(screen) def onResume(self, screen): @@ -50,11 +54,6 @@ class CheckIMUCalibrationActivity(Activity): self.accel_labels = [] self.gyro_labels = [] - # Title - title = lv.label(screen) - title.set_text("IMU Calibration Check") - title.set_style_text_font(lv.font_montserrat_20, 0) - # Status label self.status_label = lv.label(screen) self.status_label.set_text("Checking...") @@ -68,34 +67,57 @@ class CheckIMUCalibrationActivity(Activity): # Quality score (large, prominent) self.quality_score_label = lv.label(screen) self.quality_score_label.set_text("Quality: --") - self.quality_score_label.set_style_text_font(lv.font_montserrat_20, 0) + self.quality_score_label.set_style_text_font(lv.font_montserrat_16, 0) + + data_cont = lv.obj(screen) + data_cont.set_width(lv.pct(100)) + data_cont.set_height(lv.SIZE_CONTENT) + data_cont.set_style_pad_all(0, 0) + data_cont.set_style_bg_opa(lv.OPA.TRANSP, 0) + data_cont.set_style_border_width(0, 0) + data_cont.set_flex_flow(lv.FLEX_FLOW.ROW) + data_cont.set_style_flex_main_place(lv.FLEX_ALIGN.SPACE_BETWEEN, 0) # Accelerometer section - accel_title = lv.label(screen) - accel_title.set_text("Accelerometer (m/s²)") - accel_title.set_style_text_font(lv.font_montserrat_14, 0) + acc_cont = lv.obj(data_cont) + acc_cont.set_height(lv.SIZE_CONTENT) + acc_cont.set_width(lv.pct(45)) + acc_cont.set_style_border_width(0, 0) + acc_cont.set_style_pad_all(0, 0) + acc_cont.set_flex_flow(lv.FLEX_FLOW.COLUMN) + + accel_title = lv.label(acc_cont) + accel_title.set_text("Accel. (m/s^2)") + accel_title.set_style_text_font(lv.font_montserrat_12, 0) for axis in ['X', 'Y', 'Z']: - label = lv.label(screen) + label = lv.label(acc_cont) label.set_text(f"{axis}: --") - label.set_style_text_font(lv.font_montserrat_12, 0) + label.set_style_text_font(lv.font_montserrat_10, 0) self.accel_labels.append(label) # Gyroscope section - gyro_title = lv.label(screen) - gyro_title.set_text("Gyroscope (deg/s)") - gyro_title.set_style_text_font(lv.font_montserrat_14, 0) + gyro_cont = lv.obj(data_cont) + gyro_cont.set_width(mpos.ui.pct_of_display_width(45)) + gyro_cont.set_height(lv.SIZE_CONTENT) + gyro_cont.set_style_border_width(0, 0) + gyro_cont.set_style_pad_all(0, 0) + gyro_cont.set_flex_flow(lv.FLEX_FLOW.COLUMN) + + gyro_title = lv.label(gyro_cont) + gyro_title.set_text("Gyro (deg/s)") + gyro_title.set_style_text_font(lv.font_montserrat_12, 0) for axis in ['X', 'Y', 'Z']: - label = lv.label(screen) + label = lv.label(gyro_cont) label.set_text(f"{axis}: --") - label.set_style_text_font(lv.font_montserrat_12, 0) + label.set_style_text_font(lv.font_montserrat_10, 0) self.gyro_labels.append(label) # Separator - sep2 = lv.obj(screen) - sep2.set_size(lv.pct(100), 2) - sep2.set_style_bg_color(lv.color_hex(0x666666), 0) + #sep2 = lv.obj(screen) + #sep2.set_size(lv.pct(100), 2) + #sep2.set_style_bg_color(lv.color_hex(0x666666), 0) # Issues label self.issues_label = lv.label(screen) @@ -107,6 +129,7 @@ class CheckIMUCalibrationActivity(Activity): # Button container btn_cont = lv.obj(screen) + btn_cont.set_style_pad_all(5, 0) btn_cont.set_width(lv.pct(100)) btn_cont.set_height(lv.SIZE_CONTENT) btn_cont.set_style_border_width(0, 0) diff --git a/internal_filesystem/lib/mpos/board/fri3d_2024.py b/internal_filesystem/lib/mpos/board/fri3d_2024.py index 0a510c44..88f7e131 100644 --- a/internal_filesystem/lib/mpos/board/fri3d_2024.py +++ b/internal_filesystem/lib/mpos/board/fri3d_2024.py @@ -323,7 +323,7 @@ import mpos.sensor_manager as SensorManager # Create I2C bus for IMU (different pins from display) from machine import I2C imu_i2c = I2C(0, sda=Pin(9), scl=Pin(18)) -SensorManager.init(imu_i2c, address=0x6B) +SensorManager.init(imu_i2c, address=0x6B, mounted_position=SensorManager.FACING_EARTH) print("Fri3d hardware: Audio, LEDs, and sensors initialized") diff --git a/internal_filesystem/lib/mpos/sensor_manager.py b/internal_filesystem/lib/mpos/sensor_manager.py index b71a382a..ce9cf6b8 100644 --- a/internal_filesystem/lib/mpos/sensor_manager.py +++ b/internal_filesystem/lib/mpos/sensor_manager.py @@ -25,6 +25,7 @@ try: except ImportError: _lock = None + # Sensor type constants (matching Android SensorManager) TYPE_ACCELEROMETER = 1 # Units: m/s² (meters per second squared) TYPE_GYROSCOPE = 4 # Units: deg/s (degrees per second) @@ -32,6 +33,10 @@ TYPE_TEMPERATURE = 13 # Units: °C (generic, returns first available - dep TYPE_IMU_TEMPERATURE = 14 # Units: °C (IMU chip temperature) TYPE_SOC_TEMPERATURE = 15 # Units: °C (MCU/SoC internal temperature) +# mounted_position: +FACING_EARTH = 20 # underside of PCB, like fri3d_2024 +FACING_SKY = 21 # top of PCB, like waveshare_esp32_s3_lcd_touch_2 (default) + # Gravity constant for unit conversions _GRAVITY = 9.80665 # m/s² @@ -41,6 +46,7 @@ _imu_driver = None _sensor_list = [] _i2c_bus = None _i2c_address = None +_mounted_position = FACING_SKY _has_mcu_temperature = False @@ -71,7 +77,7 @@ class Sensor: return f"Sensor({self.name}, type={self.type})" -def init(i2c_bus, address=0x6B): +def init(i2c_bus, address=0x6B, mounted_position=FACING_SKY): """Initialize SensorManager. MCU temperature initializes immediately, IMU initializes on first use. Args: @@ -85,6 +91,7 @@ def init(i2c_bus, address=0x6B): _i2c_bus = i2c_bus _i2c_address = address + _mounted_position = mounted_position # Initialize MCU temperature sensor immediately (fast, no I2C needed) try: @@ -218,7 +225,10 @@ def read_sensor(sensor): try: if sensor.type == TYPE_ACCELEROMETER: if _imu_driver: - return _imu_driver.read_acceleration() + ax, ay, az = _imu_driver.read_acceleration() + if _mounted_position == SensorManager.FACING_EARTH: + az += _GRAVITY + return (ax, ay, az) elif sensor.type == TYPE_GYROSCOPE: if _imu_driver: return _imu_driver.read_gyroscope()