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ThomasFarstrikeThomasFarstrike
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Fix unit tests
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‎CLAUDE.md‎

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@@ -449,6 +449,8 @@ Current stable version: 0.3.3 (as of latest CHANGELOG entry)
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- Config/preferences: `internal_filesystem/lib/mpos/config.py`
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- Top menu/drawer: `internal_filesystem/lib/mpos/ui/topmenu.py`
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- Activity navigation: `internal_filesystem/lib/mpos/activity_navigator.py`
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- Sensor management: `internal_filesystem/lib/mpos/sensor_manager.py`
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- IMU drivers: `internal_filesystem/lib/mpos/hardware/drivers/qmi8658.py` and `wsen_isds.py`
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## Common Utilities and Helpers
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@@ -642,6 +644,7 @@ def defocus_handler(self, obj):
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- `mpos.sdcard.SDCardManager`: SD card mounting and management
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- `mpos.clipboard`: System clipboard access
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- `mpos.battery_voltage`: Battery level reading (ESP32 only)
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- `mpos.sensor_manager`: Unified sensor access (accelerometer, gyroscope, temperature)
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## Audio System (AudioFlinger)
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@@ -849,6 +852,173 @@ class LEDAnimationActivity(Activity):
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- **Thread-safe**: No locking (single-threaded usage recommended)
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- **Desktop**: Functions return `False` (no-op) on desktop builds
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## Sensor System (SensorManager)
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MicroPythonOS provides a unified sensor framework called **SensorManager** (Android-inspired) that provides easy access to motion sensors (accelerometer, gyroscope) and temperature sensors across different hardware platforms.
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### Supported Sensors
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**IMU Sensors:**
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- **QMI8658** (Waveshare ESP32-S3): Accelerometer, Gyroscope, Temperature
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- **WSEN_ISDS** (Fri3d Camp 2024 Badge): Accelerometer, Gyroscope
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**Temperature Sensors:**
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- **ESP32 MCU Temperature**: Internal SoC temperature sensor
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- **IMU Chip Temperature**: QMI8658 chip temperature
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### Basic Usage
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**Check availability and read sensors**:
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```python
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import mpos.sensor_manager as SensorManager
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# Check if sensors are available
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if SensorManager.is_available():
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# Get sensors
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
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temp = SensorManager.get_default_sensor(SensorManager.TYPE_SOC_TEMPERATURE)
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# Read data (returns standard SI units)
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accel_data = SensorManager.read_sensor(accel) # Returns (x, y, z) in m/s²
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gyro_data = SensorManager.read_sensor(gyro) # Returns (x, y, z) in deg/s
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temperature = SensorManager.read_sensor(temp) # Returns °C
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if accel_data:
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ax, ay, az = accel_data
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print(f"Acceleration: {ax:.2f}, {ay:.2f}, {az:.2f} m/s²")
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```
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### Sensor Types
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```python
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# Motion sensors
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SensorManager.TYPE_ACCELEROMETER # m/s² (meters per second squared)
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SensorManager.TYPE_GYROSCOPE # deg/s (degrees per second)
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# Temperature sensors
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SensorManager.TYPE_SOC_TEMPERATURE # °C (MCU internal temperature)
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SensorManager.TYPE_IMU_TEMPERATURE # °C (IMU chip temperature)
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```
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### Tilt-Controlled Game Example
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```python
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from mpos.app.activity import Activity
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import mpos.sensor_manager as SensorManager
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import mpos.ui
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import time
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class TiltBallActivity(Activity):
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def onCreate(self):
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self.screen = lv.obj()
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# Get accelerometer
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self.accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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# Create ball UI
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self.ball = lv.obj(self.screen)
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self.ball.set_size(20, 20)
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self.ball.set_style_radius(10, 0)
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# Physics state
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self.ball_x = 160.0
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self.ball_y = 120.0
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self.ball_vx = 0.0
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self.ball_vy = 0.0
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self.last_time = time.ticks_ms()
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self.setContentView(self.screen)
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def onResume(self, screen):
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self.last_time = time.ticks_ms()
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mpos.ui.task_handler.add_event_cb(self.update_physics, 1)
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def onPause(self, screen):
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mpos.ui.task_handler.remove_event_cb(self.update_physics)
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def update_physics(self, a, b):
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current_time = time.ticks_ms()
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delta_time = time.ticks_diff(current_time, self.last_time) / 1000.0
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self.last_time = current_time
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# Read accelerometer
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accel = SensorManager.read_sensor(self.accel)
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if accel:
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ax, ay, az = accel
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# Apply acceleration to velocity
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self.ball_vx += (ax * 5.0) * delta_time
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self.ball_vy -= (ay * 5.0) * delta_time # Flip Y
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# Update position
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self.ball_x += self.ball_vx
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self.ball_y += self.ball_vy
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# Update ball position
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self.ball.set_pos(int(self.ball_x), int(self.ball_y))
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```
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### Calibration
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Calibration removes sensor drift and improves accuracy. The device must be **stationary** during calibration.
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```python
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# Calibrate accelerometer and gyroscope
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
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# Calibrate (100 samples, device must be flat and still)
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accel_offsets = SensorManager.calibrate_sensor(accel, samples=100)
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gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=100)
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# Calibration is automatically saved to SharedPreferences
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# and loaded on next boot
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```
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### Performance Recommendations
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**Polling rate recommendations:**
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- **Games**: 20-30 Hz (responsive but not excessive)
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- **UI feedback**: 10-15 Hz (smooth for tilt UI)
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- **Background monitoring**: 1-5 Hz (screen rotation, pedometer)
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```python
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# ❌ BAD: Poll every frame (60 Hz)
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def update_frame(self, a, b):
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accel = SensorManager.read_sensor(self.accel) # Too frequent!
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# ✅ GOOD: Poll every other frame (30 Hz)
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def update_frame(self, a, b):
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self.frame_count += 1
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if self.frame_count % 2 == 0:
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accel = SensorManager.read_sensor(self.accel)
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```
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### Hardware Support Matrix
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| Platform | Accelerometer | Gyroscope | IMU Temp | MCU Temp |
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|----------|---------------|-----------|----------|----------|
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| Waveshare ESP32-S3 | ✅ QMI8658 | ✅ QMI8658 | ✅ QMI8658 | ✅ ESP32 |
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| Fri3d 2024 Badge | ✅ WSEN_ISDS | ✅ WSEN_ISDS | ❌ | ✅ ESP32 |
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| Desktop/Linux | ❌ | ❌ | ❌ | ❌ |
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### Implementation Details
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- **Location**: `lib/mpos/sensor_manager.py`
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- **Pattern**: Module-level singleton (similar to `battery_voltage.py`)
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- **Units**: Standard SI (m/s² for acceleration, deg/s for gyroscope, °C for temperature)
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- **Calibration**: Persistent via SharedPreferences (`data/com.micropythonos.sensors/config.json`)
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- **Thread-safe**: Uses locks for concurrent access
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- **Auto-detection**: Identifies IMU type via chip ID registers
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- **Desktop**: Functions return `None` (graceful fallback) on desktop builds
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### Driver Locations
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- **QMI8658**: `lib/mpos/hardware/drivers/qmi8658.py`
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- **WSEN_ISDS**: `lib/mpos/hardware/drivers/wsen_isds.py`
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- **Board init**: `lib/mpos/board/waveshare_esp32_s3_touch_lcd_2.py` and `lib/mpos/board/fri3d_2024.py`
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## Animations and Game Loops
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MicroPythonOS supports frame-based animations and game loops using the TaskHandler event system. This pattern is used for games, particle effects, and smooth animations.

‎internal_filesystem/apps/com.micropythonos.imu/assets/imu.py‎

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@@ -1,8 +1,11 @@
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from mpos.apps import Activity
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import mpos.sensor_manager as SensorManager
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class IMU(Activity):
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sensor = None
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accel_sensor = None
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gyro_sensor = None
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temp_sensor = None
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refresh_timer = None
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# widgets:
@@ -30,12 +33,16 @@ def onCreate(self):
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self.slidergz = lv.slider(screen)
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self.slidergz.align(lv.ALIGN.CENTER, 0, 90)
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try:
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from machine import Pin, I2C
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from qmi8658 import QMI8658
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import machine
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self.sensor = QMI8658(I2C(0, sda=machine.Pin(48), scl=machine.Pin(47)))
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print("IMU sensor initialized")
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#print(f"{self.sensor.temperature=} {self.sensor.acceleration=} {self.sensor.gyro=}")
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if SensorManager.is_available():
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self.accel_sensor = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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self.gyro_sensor = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
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# Get IMU temperature (not MCU temperature)
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self.temp_sensor = SensorManager.get_default_sensor(SensorManager.TYPE_IMU_TEMPERATURE)
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print("IMU sensors initialized via SensorManager")
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print(f"Available sensors: {SensorManager.get_sensor_list()}")
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else:
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print("Warning: No IMU sensors available")
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self.templabel.set_text("No IMU sensors available")
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except Exception as e:
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warning = f"Warning: could not initialize IMU hardware:\n{e}"
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print(warning)
@@ -68,22 +75,45 @@ def convert_percentage(self, value: float) -> int:
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def refresh(self, timer):
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#print("refresh timer")
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if self.sensor:
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#print(f"{self.sensor.temperature=} {self.sensor.acceleration=} {self.sensor.gyro=}")
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temp = self.sensor.temperature
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ax = self.sensor.acceleration[0]
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axp = int((ax * 100 + 100)/2)
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ay = self.sensor.acceleration[1]
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ayp = int((ay * 100 + 100)/2)
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az = self.sensor.acceleration[2]
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azp = int((az * 100 + 100)/2)
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# values between -200 and 200 => /4 becomes -50 and 50 => +50 becomes 0 and 100
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gx = self.convert_percentage(self.sensor.gyro[0])
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gy = self.convert_percentage(self.sensor.gyro[1])
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gz = self.convert_percentage(self.sensor.gyro[2])
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self.templabel.set_text(f"IMU chip temperature: {temp:.2f}°C")
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if self.accel_sensor and self.gyro_sensor:
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# Read sensor data via SensorManager (returns m/s² for accel, deg/s for gyro)
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accel = SensorManager.read_sensor(self.accel_sensor)
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gyro = SensorManager.read_sensor(self.gyro_sensor)
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temp = SensorManager.read_sensor(self.temp_sensor) if self.temp_sensor else None
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if accel and gyro:
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# Convert m/s² to G for display (divide by 9.80665)
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# Range: ±8G → ±1G = ±10% of range → map to 0-100
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ax, ay, az = accel
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ax_g = ax / 9.80665 # Convert m/s² to G
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ay_g = ay / 9.80665
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az_g = az / 9.80665
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axp = int((ax_g * 100 + 100)/2) # Map ±1G to 0-100
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ayp = int((ay_g * 100 + 100)/2)
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azp = int((az_g * 100 + 100)/2)
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# Gyro already in deg/s, map ±200 DPS to 0-100
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gx, gy, gz = gyro
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gx = self.convert_percentage(gx)
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gy = self.convert_percentage(gy)
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gz = self.convert_percentage(gz)
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if temp is not None:
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self.templabel.set_text(f"IMU chip temperature: {temp:.2f}°C")
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else:
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self.templabel.set_text("IMU active (no temperature sensor)")
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else:
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# Sensor read failed, show random data
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import random
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randomnr = random.randint(0,100)
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axp = randomnr
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ayp = 50
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azp = 75
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gx = 45
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gy = 50
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gz = 55
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else:
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#temp = 12.34
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# No sensors available, show random data
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import random
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randomnr = random.randint(0,100)
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axp = randomnr
@@ -92,6 +122,7 @@ def refresh(self, timer):
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gx = 45
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gy = 50
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gz = 55
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self.sliderx.set_value(axp, False)
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self.slidery.set_value(ayp, False)
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self.sliderz.set_value(azp, False)

‎internal_filesystem/lib/mpos/board/fri3d_2024.py‎

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@@ -317,7 +317,15 @@ def adc_to_voltage(adc_value):
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# Initialize 5 NeoPixel LEDs (GPIO 12)
318318
LightsManager.init(neopixel_pin=12, num_leds=5)
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320-
print("Fri3d hardware: Audio and LEDs initialized")
320+
# === SENSOR HARDWARE ===
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import mpos.sensor_manager as SensorManager
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# Create I2C bus for IMU (different pins from display)
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from machine import I2C
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imu_i2c = I2C(0, sda=Pin(9), scl=Pin(18))
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SensorManager.init(imu_i2c, address=0x6B)
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print("Fri3d hardware: Audio, LEDs, and sensors initialized")
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# === STARTUP "WOW" EFFECT ===
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import time
@@ -375,7 +383,7 @@ def startup_wow_effect():
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except Exception as e:
376384
print(f"Startup effect error: {e}")
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_thread.stack_size(mpos.apps.good_stack_size())
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_thread.stack_size(mpos.apps.good_stack_size()) # default stack size won't work, crashes!
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_thread.start_new_thread(startup_wow_effect, ())
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print("boot.py finished")

‎internal_filesystem/lib/mpos/board/linux.py‎

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@@ -110,6 +110,11 @@ def adc_to_voltage(adc_value):
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# Note: Desktop builds have no LED hardware
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# LightsManager will not be initialized (functions will return False)
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# === SENSOR HARDWARE ===
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# Note: Desktop builds have no sensor hardware
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import mpos.sensor_manager as SensorManager
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# Don't call init() - SensorManager functions will return None/False
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113118
print("linux.py finished")
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‎internal_filesystem/lib/mpos/board/waveshare_esp32_s3_touch_lcd_2.py‎

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Original file line numberDiff line numberDiff line change
@@ -126,4 +126,11 @@ def adc_to_voltage(adc_value):
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# Note: Waveshare board has no NeoPixel LEDs
127127
# LightsManager will not be initialized (functions will return False)
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129+
# === SENSOR HARDWARE ===
130+
import mpos.sensor_manager as SensorManager
131+
132+
# IMU is on I2C0 (same bus as touch): SDA=48, SCL=47, addr=0x6B
133+
# i2c_bus was created on line 75 for touch, reuse it for IMU
134+
SensorManager.init(i2c_bus, address=0x6B)
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print("boot.py finished")

‎internal_filesystem/lib/mpos/hardware/drivers/__init__.py‎

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@@ -0,0 +1 @@
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# IMU and sensor drivers for MicroPythonOS

internal_filesystem/lib/qmi8658.py renamed to internal_filesystem/lib/mpos/hardware/drivers/qmi8658.py

File renamed without changes.

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