adds IMU= to the build command

Added the first IMU sensor driver to the build system. This driver is a 6dof sensor that is able to sense roll and pitch. This sensor will allow for automatic rotation of a display depending on how the user has it orientated. IMU/MEMS sensors do not provide data that you can read and easily know what the roll and pitch is so I also wrote a fusion math driver as a C extension module. The math involved in reading the IMU data and turning it into roll pitch and yaw is some pretty heavy lifting which is the reason why I wrote it in C code. All of the math involved is floating point math which no increase in performance is given above python code if I used the viper code emitter which is why it is written in C code.

There is also an additional driver that is frozen into the firmware if an IMU driver is added and that is "auto_rotate". This driver handles the reading of the IMU sensor data from a driver that gets passed to it. It does the calculations to figure out which way the display needs to be rotated depending on the orientation that the display is being held in. This driver has 2 modes, a locked rotation mode which will lock rotation angles at 0, 90, 180 and 27o. This mode will use a display hardware rotation if it is available. The other mode would work best on small displays like the ones used on smart watches. The round display also lends to this feature working best as well. The rotation is a free rotation and will adjust as the roll changes so the UI will always be display in the correct position no matter what angle the display is being held at. Not everyone holds their arm perfectly horizontal when looking at a watch. There is one thing I have to get someone to test out and that is when showing the watch to another person which involves the pitch angle. I want the display to roll 180 degrees if the pitch angle is less than zero. I will add that feature and tweak how it works when I get someone to test it with.

Author: kdschlosser

builder/__init__.py

@@ -217,7 +217,7 @@ def update_mphalport(target):
 
 def generate_manifest(
     script_dir, lvgl_api, manifest_path, displays,
-    indevs, io_expanders, frozen_manifest, *addl_manifest_files
+    indevs, io_expanders, imus, frozen_manifest, *addl_manifest_files
 ):
     addl_manifest_files = list(addl_manifest_files)
 
@@ -256,6 +256,12 @@ def generate_manifest(
         )
     ]
 
+    if imus:
+        frozen_manifest_files.extend([
+            f'{script_dir}/api_drivers/common_api_drivers/frozen/other/auto_rotation.py',
+            f'{api_path}/frozen/imu_sensor/imu_sensor_framework.py'
+        ])
+
     toml_gen_driver = f'{script_dir}/build/display.py'
     if os.path.exists(toml_gen_driver):
         print(toml_gen_driver)
@@ -324,6 +330,17 @@ def generate_manifest(
 
             displays.append(file)
 
+    if 'all' in imus:
+        imus.remove('all')
+        path = f'{script_dir}/api_drivers/common_api_drivers/imu_sensor'
+        for file in os.listdir(path):
+            if '.wip' in file:
+                continue
+
+            if file.endswith('.py'):
+                name = file[:-3]
+                imus.append(name)
+
     for file in io_expanders:
         if not os.path.exists(file):
             tmp_file = (
@@ -346,6 +363,28 @@ def generate_manifest(
         if entry not in manifest_files:
             manifest_files.append(entry)
 
+    for file in imus:
+        if not os.path.exists(file):
+            tmp_file = (
+                f'{script_dir}/api_drivers/common_api_drivers'
+                f'/imu_sensor/{file.lower()}.py'
+            )
+
+            if not os.path.exists(tmp_file):
+                raise RuntimeError(f'IMU sensor not found "{file}"')
+
+            print(tmp_file)
+
+            file_path, file_name = os.path.split(tmp_file)
+            entry = f"freeze('{file_path}', '{file_name}')"
+        else:
+            print(file)
+            file_path, file_name = os.path.split(file)
+            entry = f"freeze('{file_path}', '{file_name}')"
+
+        if entry not in manifest_files:
+            manifest_files.append(entry)
+
     for file in indevs:
         if not os.path.exists(file):
             tmp_file = (
@@ -781,7 +820,7 @@ def mpy_cross():
 
 
 def build_manifest(
-    target, script_dir, lvgl_api, displays, indevs, expanders, frozen_manifest
+    target, script_dir, lvgl_api, displays, indevs, expanders, imus, frozen_manifest
 ):
     update_mphalport(target)
     if target == 'teensy':
@@ -793,7 +832,7 @@ def build_manifest(
 
     generate_manifest(
         script_dir, lvgl_api, manifest_path,
-        displays, indevs, expanders, frozen_manifest
+        displays, indevs, expanders, imus, frozen_manifest
     )
 
 

builder/esp32.py

@@ -639,7 +639,7 @@ def has_correct_idf():
 
 
 def build_manifest(
-    target, script_dir, lvgl_api, displays, indevs, expanders, frozen_manifest
+    target, script_dir, lvgl_api, displays, indevs, expanders, imus, frozen_manifest
 ):
     _update_mphalport(target)
 
@@ -659,7 +659,7 @@ def build_manifest(
 
     set_displays.extend(generate_manifest(
         script_dir, lvgl_api, manifest_path,
-        displays, indevs, expanders, frozen_manifest
+        displays, indevs, expanders, imus, frozen_manifest
         # f'{script_dir}/api_drivers/common_api_drivers/frozen/other/spi3wire.py'
     ))
 

builder/macOS.py

@@ -37,10 +37,11 @@ def build_manifest(
     displays,
     indevs,
     expanders,
+    imus,
     frozen_manifest
 ):
     _build_manifest(target, script_dir, lvgl_api, displays,
-                    indevs, expanders, frozen_manifest)
+                    indevs, expanders, imus, frozen_manifest)
 
 
 def clean():

builder/nrf.py

@@ -63,14 +63,15 @@ def build_manifest(
     displays,
     indevs,
     expanders,
+    imus,
     frozen_manifest
 ):
     update_mphalport(target)
     manifest_path = 'lib/micropython/ports/nrf/modules/manifest.py'
 
     generate_manifest(
         script_dir, lvgl_api, manifest_path,
-        displays, indevs, expanders, frozen_manifest
+        displays, indevs, expanders, imus, frozen_manifest
     )
 
 

builder/raspberry_pi.py

@@ -39,10 +39,11 @@ def build_manifest(
     displays,
     indevs,
     expanders,
+    imus,
     frozen_manifest
 ):
     _build_manifest(target, script_dir, lvgl_api, displays,
-                    indevs, expanders, frozen_manifest)
+                    indevs, expanders, imus, frozen_manifest)
 
 
 def clean():

builder/renesas.py

@@ -63,14 +63,15 @@ def build_manifest(
     displays,
     indevs,
     expanders,
+    imus,
     frozen_manifest
 ):
     update_mphalport(target)
     manifest_path = 'lib/micropython/ports/renesas-ra/boards/manifest.py'
 
     generate_manifest(
         script_dir, lvgl_api, manifest_path,
-        displays, indevs, expanders, frozen_manifest
+        displays, indevs, expanders, imus, frozen_manifest
     )
 
 

builder/rp2.py

@@ -85,15 +85,15 @@ def build_commands(_, extra_args, __, lv_cflags, brd):
 
 
 def build_manifest(
-    target, script_dir, lvgl_api, displays, indevs, expanders, frozen_manifest
+    target, script_dir, lvgl_api, displays, indevs, expanders, imus, frozen_manifest
 ):
     update_mphalport(target)
 
     manifest_path = 'lib/micropython/ports/rp2/boards/manifest.py'
 
     generate_manifest(
         script_dir, lvgl_api, manifest_path,
-        displays, indevs, expanders, frozen_manifest
+        displays, indevs, expanders, imus, frozen_manifest
     )
 
 

builder/stm32.py

@@ -70,14 +70,15 @@ def build_manifest(
     displays,
     indevs,
     expanders,
+    imus,
     frozen_manifest
 ):
     update_mphalport(target)
 
     manifest_path = 'lib/micropython/ports/stm32/boards/manifest.py'
 
     generate_manifest(script_dir, lvgl_api, manifest_path, displays,
-                      indevs, expanders, frozen_manifest)
+                      indevs, expanders, imus, frozen_manifest)
 
 
 def force_clean(clean_mpy_cross):

builder/unix.py

@@ -121,6 +121,7 @@ def build_manifest(
     displays,
     indevs,
     expanders,
+    imus,
     frozen_manifest
 ):
     global SCRIPT_PATH
@@ -132,7 +133,7 @@ def build_manifest(
     manifest_path = 'lib/micropython/ports/unix/variants/manifest.py'
 
     generate_manifest(script_dir, lvgl_api, manifest_path, displays,
-                      indevs, expanders, frozen_manifest)
+                      indevs, expanders, imus, frozen_manifest)
 
 
 def force_clean(clean_mpy_cross):

builder/windows.py

@@ -111,6 +111,7 @@ def build_manifest(
     displays,
     indevs,
     expanders,
+    imus,
     frozen_manifest
 ):
     global SCRIPT_PATH
@@ -122,7 +123,7 @@ def build_manifest(
     manifest_path = 'lib/micropython/ports/windows/variants/manifest.py'
 
     generate_manifest(script_dir, lvgl_api, manifest_path, displays,
-                      indevs, expanders, frozen_manifest)
+                      indevs, expanders, imus, frozen_manifest)
 
 
 def force_clean(clean_mpy_cross):

ext_mod/imu_fusion/include/fusion.h

@@ -0,0 +1,20 @@
+#include "py/obj.h"
+
+#ifndef __FUSION_H__
+    #define __FUSION_H__
+
+    typedef struct {
+        mp_obj_base_t base;
+
+        uint32_t start_ts;
+        float mag_bias[3];
+        float beta;  // 0.6045997880780725842169464404f
+        float declination;
+        float q[4];
+
+    } mp_fusion_obj_t;
+
+
+    extern const mp_obj_type_t mp_spi3wire_type;
+
+#endif

ext_mod/imu_fusion/micropython.cmake

@@ -0,0 +1,22 @@
+# Copyright (c) 2024 - 2025 Kevin G. Schlosser
+
+# Create an INTERFACE library for our C module.
+add_library(usermod_fusion INTERFACE)
+
+set(FUSION_INCLUDES
+    ${CMAKE_CURRENT_LIST_DIR}/include
+)
+
+set(FUSION_SOURCES
+    ${CMAKE_CURRENT_LIST_DIR}/src/fusion.c
+)
+
+
+# Add our source files to the lib
+target_sources(usermod_fusion INTERFACE ${FUSION_SOURCES})
+
+# Add include directories.
+target_include_directories(usermod_fusion INTERFACE ${FUSION_INCLUDES})
+
+# Link our INTERFACE library to the usermod target.
+target_link_libraries(usermod INTERFACE usermod_fusion)