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| 1 | +from mpos.apps import Activity |
| 2 | + |
| 3 | +class IMU(Activity): |
| 4 | + |
| 5 | + sensor = None |
| 6 | + refresh_timer = None |
| 7 | + |
| 8 | + # widgets: |
| 9 | + sliderx = None |
| 10 | + slidery = None |
| 11 | + sliderz = None |
| 12 | + slidergx = None |
| 13 | + slidergy = None |
| 14 | + slidergz = None |
| 15 | + |
| 16 | + def onCreate(self): |
| 17 | + screen = lv.obj() |
| 18 | + self.templabel = lv.label(screen) |
| 19 | + self.templabel.align(lv.ALIGN.TOP_MID, 0, 10) |
| 20 | + self.sliderx = lv.slider(screen) |
| 21 | + self.sliderx.align(lv.ALIGN.CENTER, 0, -60) |
| 22 | + self.slidery = lv.slider(screen) |
| 23 | + self.slidery.align(lv.ALIGN.CENTER, 0, -30) |
| 24 | + self.sliderz = lv.slider(screen) |
| 25 | + self.sliderz.align(lv.ALIGN.CENTER, 0, 0) |
| 26 | + self.slidergx = lv.slider(screen) |
| 27 | + self.slidergx.align(lv.ALIGN.CENTER, 0, 30) |
| 28 | + self.slidergy = lv.slider(screen) |
| 29 | + self.slidergy.align(lv.ALIGN.CENTER, 0, 60) |
| 30 | + self.slidergz = lv.slider(screen) |
| 31 | + self.slidergz.align(lv.ALIGN.CENTER, 0, 90) |
| 32 | + try: |
| 33 | + from machine import Pin, I2C |
| 34 | + from qmi8658 import QMI8658 |
| 35 | + import machine |
| 36 | + self.sensor = QMI8658(I2C(0, sda=machine.Pin(48), scl=machine.Pin(47))) |
| 37 | + except Exception as e: |
| 38 | + warning = f"Warning: could not initialize IMU hardware:\n{e}" |
| 39 | + print(warning) |
| 40 | + self.templabel.set_text(warning) |
| 41 | + self.setContentView(screen) |
| 42 | + |
| 43 | + def onStart(self, screen): |
| 44 | + self.refresh_timer = lv.timer_create(self.refresh, 100, None) |
| 45 | + |
| 46 | + def onStop(self, screen): |
| 47 | + if self.refresh_timer: |
| 48 | + self.refresh_timer.delete() |
| 49 | + |
| 50 | + |
| 51 | + def map_nonlinear(self, value: float) -> int: |
| 52 | + # Preserve sign and work with absolute value |
| 53 | + sign = 1 if value >= 0 else -1 |
| 54 | + abs_value = abs(value) |
| 55 | + # Apply non-linear transformation (square root) to absolute value |
| 56 | + # Scale input range [0, 200] to [0, sqrt(200)] first |
| 57 | + sqrt_value = (abs_value ** 0.5) |
| 58 | + # Scale to output range [0, 100] |
| 59 | + # Map [0, sqrt(200)] to [50, 100] for positive, [0, 50] for negative |
| 60 | + max_sqrt = 200.0 ** 0.5 # Approx 14.142 |
| 61 | + scaled = (sqrt_value / max_sqrt) * 50.0 # Scale to [0, 50] |
| 62 | + return int(50.0 + (sign * scaled)) # Shift to [0, 100] |
| 63 | + |
| 64 | + def refresh(self, timer): |
| 65 | + if self.sensor: |
| 66 | + #print(f"""{sensor.temperature=} {sensor.acceleration=} {sensor.gyro=}""") |
| 67 | + temp = self.sensor.temperature |
| 68 | + ax = self.sensor.acceleration[0] |
| 69 | + axp = int((ax * 100 + 100)/2) |
| 70 | + ay = self.sensor.acceleration[1] |
| 71 | + ayp = int((ay * 100 + 100)/2) |
| 72 | + az = self.sensor.acceleration[2] |
| 73 | + azp = int((az * 100 + 100)/2) |
| 74 | + # values between -200 and 200 => /4 becomes -50 and 50 => +50 becomes 0 and 100 |
| 75 | + gx = self.map_nonlinear(self.sensor.gyro[0]) |
| 76 | + gy = self.map_nonlinear(self.sensor.gyro[1]) |
| 77 | + gz = self.map_nonlinear(self.sensor.gyro[2]) |
| 78 | + self.templabel.set_text(f"IMU chip temperature: {temp:.2f}°C") |
| 79 | + else: |
| 80 | + #temp = 12.34 |
| 81 | + import random |
| 82 | + randomnr = random.randint(0,100) |
| 83 | + axp = randomnr |
| 84 | + ayp = 50 |
| 85 | + azp = 75 |
| 86 | + gx = 45 |
| 87 | + gy = 50 |
| 88 | + gz = 55 |
| 89 | + self.sliderx.set_value(axp, lv.ANIM.OFF) |
| 90 | + self.slidery.set_value(ayp, lv.ANIM.OFF) |
| 91 | + self.sliderz.set_value(azp, lv.ANIM.OFF) |
| 92 | + self.slidergx.set_value(gx, lv.ANIM.OFF) |
| 93 | + self.slidergy.set_value(gy, lv.ANIM.OFF) |
| 94 | + self.slidergz.set_value(gz, lv.ANIM.OFF) |
| 95 | + |
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