IMU Updates (#694)

* IMU Updates

Updated BMI270 and MPU6886 with the mount-matrix.
Updated devices i can test with the mount-matrix. papers3, stackchan (cores3), sticks3, tab5, waveshare-s3-lcd-13, waveshare-s3-lcd-128
Devices not changed and not tested because i don't own them are:

MPU6886 - core2, stickc-plus2.
BMI270 - cardputer-adv

* Update device.properties

* No USB here! CH343P

Devices/m5stack-cores3/m5stack,cores3.dts

@@ -65,7 +65,9 @@
 		bmi270 {
 			compatible = "bosch,bmi270";
 			reg = <0x69>;
-			invert-x;
+			mount-matrix = <1 0 0
+							0 1 0
+							0 0 1>;
 		};
 
 		bm8563 {

Devices/m5stack-papers3/m5stack,papers3.dts

@@ -44,6 +44,9 @@
 		bmi270 {
 			compatible = "bosch,bmi270";
 			reg = <0x68>;
+			mount-matrix = <0 1 0
+							1 0 0
+							0 0 -1>;
 		};
 
 		bm8563 {

Devices/m5stack-stackchan/m5stack,stackchan.dts

@@ -70,7 +70,9 @@
 		bmi270 {
 			compatible = "bosch,bmi270";
 			reg = <0x69>;
-			invert-x;
+			mount-matrix = <1 0 0
+							0 1 0
+							0 0 1>;
 		};
 
 		bm8563 {

Devices/m5stack-sticks3/m5stack,sticks3.dts

@@ -63,6 +63,9 @@
 		bmi270 {
 			compatible = "bosch,bmi270";
 			reg = <0x68>;
+			mount-matrix = <0 1 0
+							-1 0 0
+							0 0 1>;
 		};
 
 		es8311 {

Devices/m5stack-tab5/m5stack,tab5.dts

@@ -83,6 +83,9 @@
 		bmi270 {
 			compatible = "bosch,bmi270";
 			reg = <0x68>;
+			mount-matrix = <-1 0 0
+							0 1 0
+							0 0 -1>;
 		};
 
 		es8388 {

Devices/waveshare-s3-lcd-13/device.properties

@@ -8,7 +8,6 @@ hardware.flashSize=16MB
 hardware.spiRam=true
 hardware.spiRamMode=OCT
 hardware.spiRamSpeed=120M
-hardware.tinyUsbMsc=true
 hardware.esptoolFlashFreq=120M
 hardware.bluetooth=true
 

Devices/waveshare-s3-lcd-13/waveshare,s3-lcd-13.dts

@@ -9,7 +9,6 @@
 #include <bindings/qmi8658.h>
 #include <tactility/bindings/esp32_sdspi.h>
 #include <tactility/bindings/esp32_pwm_ledc.h>
-#include <tactility/bindings/esp32_usbdevice.h>
 #include <tactility/bindings/pwm_backlight.h>
 #include <bindings/st7789.h>
 
@@ -41,6 +40,9 @@
 		qmi8658 {
 			compatible = "qst,qmi8658";
 			reg = <0x6B>;
+			mount-matrix = <-1 0 0
+							0 -1 0
+							0 0 -1>;
 		};
 	};
 
@@ -89,12 +91,4 @@
 			frequency-khz = <20000>;
 		};
 	};
-
-	usbdevice0 {
-		compatible = "espressif,esp32-usbdevice";
-
-		usbdevicemsc0 {
-			compatible = "espressif,esp32-usbdevice-msc";
-		};
-	};
 };

Devices/waveshare-s3-touch-lcd-128/device.properties

@@ -9,7 +9,6 @@ hardware.spiRam=true
 hardware.spiRamMode=QUAD
 hardware.spiRamSpeed=120M
 hardware.spiRamXipDisabled=true
-hardware.tinyUsbMsc=true
 hardware.esptoolFlashFreq=120M
 hardware.bluetooth=true
 

Devices/waveshare-s3-touch-lcd-128/waveshare,s3-touch-lcd-128.dts

@@ -9,7 +9,6 @@
 #include <bindings/qmi8658.h>
 #include <tactility/bindings/esp32_sdspi.h>
 #include <tactility/bindings/esp32_pwm_ledc.h>
-#include <tactility/bindings/esp32_usbdevice.h>
 #include <tactility/bindings/pwm_backlight.h>
 #include <bindings/cst816t.h>
 #include <bindings/gc9a01.h>
@@ -42,6 +41,9 @@
 		qmi8658 {
 			compatible = "qst,qmi8658";
 			reg = <0x6B>;
+			mount-matrix = <0 1 0
+							1 0 0
+							0 0 1>;
 		};
 
 		touch0 {
@@ -93,12 +95,4 @@
 			backlight = <&display_backlight>;
 		};
 	};
-
-	usbdevice0 {
-		compatible = "espressif,esp32-usbdevice";
-
-		usbdevicemsc0 {
-			compatible = "espressif,esp32-usbdevice-msc";
-		};
-	};
 };

Drivers/bmi270-module/bindings/bosch,bmi270.yaml

@@ -5,27 +5,11 @@ include: [ "i2c-device.yaml" ]
 compatible: "bosch,bmi270"
 
 properties:
-  swap-xy:
+  mount-matrix:
-    type: boolean
+    type: values
-    default: false
+    default: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-    description: Swap the X and Y axes
+    description: >
-  swap-xz:
+      Row-major 3x3 rotation matrix that maps the sensor frame onto the device frame, following the
-    type: boolean
+      Linux IIO "mount-matrix" convention (x' = m[0]*x + m[1]*y + m[2]*z, and so on). It is applied
-    default: false
+      to the accelerometer and gyroscope readings so consumers always see the device frame,
-    description: Swap the X and Z axes
+      regardless of how the IMU is physically oriented on the PCB. Defaults to the identity matrix.
-  swap-yz:
-    type: boolean
-    default: false
-    description: Swap the Y and Z axes
-  invert-x:
-    type: boolean
-    default: false
-    description: Invert the X axis
-  invert-y:
-    type: boolean
-    default: false
-    description: Invert the Y axis
-  invert-z:
-    type: boolean
-    default: false
-    description: Invert the Z axis

Drivers/bmi270-module/include/drivers/bmi270.h

@@ -14,12 +14,12 @@ extern "C" {
 struct Bmi270Config {
     /** Address on bus */
     uint8_t address;
-    bool swap_xy;
+    /**
-    bool swap_xz;
+     * Row-major 3x3 rotation matrix mapping the sensor frame onto the device frame (Linux IIO
-    bool swap_yz;
+     * "mount-matrix" convention: `out[i] = m[i * 3] * x + m[i * 3 + 1] * y + m[i * 3 + 2] * z`).
-    bool invert_x;
+     * Identity means the sensor frame already matches the device frame.
-    bool invert_y;
+     */
-    bool invert_z;
+    int32_t mount_matrix[9];
 };
 
 /**

Drivers/bmi270-module/source/bmi270.cpp

@@ -5,8 +5,6 @@
 #include <tactility/drivers/i2c_controller.h>
 #include <tactility/log.h>
 
-#include <algorithm>
-
 #define TAG "BMI270"
 
 static constexpr uint8_t REG_CHIP_ID = 0x00; // read: expect 0x24
@@ -90,6 +88,18 @@ static bool configure(Device* i2c_controller, uint8_t address) {
 
 // region Driver lifecycle
 
+// Applies the devicetree mount matrix (sensor frame -> device frame) to a 3-axis reading.
+// Flat row-major [9]: x' = m0*x + m1*y + m2*z, y' = m3*x + m4*y + m5*z, z' = m6*x + m7*y + m8*z.
+static void applyMountMatrix(const Bmi270Config& config, float& x, float& y, float& z) {
+    const int32_t* m = config.mount_matrix;
+    const float rx = m[0] * x + m[1] * y + m[2] * z;
+    const float ry = m[3] * x + m[4] * y + m[5] * z;
+    const float rz = m[6] * x + m[7] * y + m[8] * z;
+    x = rx;
+    y = ry;
+    z = rz;
+}
+
 static error_t start(Device* device) {
     auto* i2c_controller = device_get_parent(device);
     if (device_get_type(i2c_controller) != &I2C_CONTROLLER_TYPE) {
@@ -171,13 +181,7 @@ error_t bmi270_read_accel(Device* device, ImuAccelData* data) {
         toI16(buffer[2], buffer[3]) * ACCEL_SCALE,
         toI16(buffer[4], buffer[5]) * ACCEL_SCALE,
     };
-    const auto& config = *GET_CONFIG(device);
+    applyMountMatrix(*GET_CONFIG(device), axes[0], axes[1], axes[2]);
-    if (config.swap_xy) std::swap(axes[0], axes[1]);
-    if (config.swap_xz) std::swap(axes[0], axes[2]);
-    if (config.swap_yz) std::swap(axes[1], axes[2]);
-    if (config.invert_x) axes[0] = -axes[0];
-    if (config.invert_y) axes[1] = -axes[1];
-    if (config.invert_z) axes[2] = -axes[2];
     data->ax = axes[0];
     data->ay = axes[1];
     data->az = axes[2];
@@ -197,9 +201,13 @@ error_t bmi270_read_gyro(Device* device, ImuGyroData* data) {
         return static_cast<int16_t>(static_cast<uint16_t>(hi) << 8 | lo);
     };
 
-    data->gx = toI16(buffer[0], buffer[1]) * GYRO_SCALE;
+    float gx = toI16(buffer[0], buffer[1]) * GYRO_SCALE;
-    data->gy = toI16(buffer[2], buffer[3]) * GYRO_SCALE;
+    float gy = toI16(buffer[2], buffer[3]) * GYRO_SCALE;
-    data->gz = toI16(buffer[4], buffer[5]) * GYRO_SCALE;
+    float gz = toI16(buffer[4], buffer[5]) * GYRO_SCALE;
+    applyMountMatrix(*GET_CONFIG(device), gx, gy, gz);
+    data->gx = gx;
+    data->gy = gy;
+    data->gz = gz;
 
     return ERROR_NONE;
 }

Drivers/mpu6886-module/bindings/invensense,mpu6886.yaml

@@ -5,27 +5,11 @@ include: [ "i2c-device.yaml" ]
 compatible: "invensense,mpu6886"
 
 properties:
-  swap-xy:
+  mount-matrix:
-    type: boolean
+    type: values
-    default: false
+    default: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-    description: Swap the X and Y axes
+    description: >
-  swap-xz:
+      Row-major 3x3 rotation matrix that maps the sensor frame onto the device frame, following the
-    type: boolean
+      Linux IIO "mount-matrix" convention (x' = m[0]*x + m[1]*y + m[2]*z, and so on). It is applied
-    default: false
+      to the accelerometer and gyroscope readings so consumers always see the device frame,
-    description: Swap the X and Z axes
+      regardless of how the IMU is physically oriented on the PCB. Defaults to the identity matrix.
-  swap-yz:
-    type: boolean
-    default: false
-    description: Swap the Y and Z axes
-  invert-x:
-    type: boolean
-    default: false
-    description: Invert the X axis
-  invert-y:
-    type: boolean
-    default: false
-    description: Invert the Y axis
-  invert-z:
-    type: boolean
-    default: false
-    description: Invert the Z axis

Drivers/mpu6886-module/include/drivers/mpu6886.h

@@ -14,12 +14,12 @@ extern "C" {
 struct Mpu6886Config {
     /** Address on bus */
     uint8_t address;
-    bool swap_xy;
+    /**
-    bool swap_xz;
+     * Row-major 3x3 rotation matrix mapping the sensor frame onto the device frame (Linux IIO
-    bool swap_yz;
+     * "mount-matrix" convention: `out[i] = m[i * 3] * x + m[i * 3 + 1] * y + m[i * 3 + 2] * z`).
-    bool invert_x;
+     * Identity means the sensor frame already matches the device frame.
-    bool invert_y;
+     */
-    bool invert_z;
+    int32_t mount_matrix[9];
 };
 
 /**

Drivers/mpu6886-module/source/mpu6886.cpp

@@ -4,8 +4,6 @@
 #include <tactility/drivers/i2c_controller.h>
 #include <tactility/log.h>
 
-#include <algorithm>
-
 #define TAG "MPU6886"
 
 // Register map
@@ -48,6 +46,18 @@ static constexpr TickType_t I2C_TIMEOUT_TICKS = pdMS_TO_TICKS(10);
 
 // region Driver lifecycle
 
+// Applies the devicetree mount matrix (sensor frame -> device frame) to a 3-axis reading.
+// Flat row-major [9]: x' = m0*x + m1*y + m2*z, y' = m3*x + m4*y + m5*z, z' = m6*x + m7*y + m8*z.
+static void applyMountMatrix(const Mpu6886Config& config, float& x, float& y, float& z) {
+    const int32_t* m = config.mount_matrix;
+    const float rx = m[0] * x + m[1] * y + m[2] * z;
+    const float ry = m[3] * x + m[4] * y + m[5] * z;
+    const float rz = m[6] * x + m[7] * y + m[8] * z;
+    x = rx;
+    y = ry;
+    z = rz;
+}
+
 static error_t start(Device* device) {
     auto* i2c_controller = device_get_parent(device);
     if (device_get_type(i2c_controller) != &I2C_CONTROLLER_TYPE) {
@@ -145,13 +155,7 @@ error_t mpu6886_read_accel(Device* device, ImuAccelData* data) {
         toI16(buf[2], buf[3]) * ACCEL_SCALE,
         toI16(buf[4], buf[5]) * ACCEL_SCALE,
     };
-    const auto& config = *GET_CONFIG(device);
+    applyMountMatrix(*GET_CONFIG(device), axes[0], axes[1], axes[2]);
-    if (config.swap_xy) std::swap(axes[0], axes[1]);
-    if (config.swap_xz) std::swap(axes[0], axes[2]);
-    if (config.swap_yz) std::swap(axes[1], axes[2]);
-    if (config.invert_x) axes[0] = -axes[0];
-    if (config.invert_y) axes[1] = -axes[1];
-    if (config.invert_z) axes[2] = -axes[2];
     data->ax = axes[0];
     data->ay = axes[1];
     data->az = axes[2];
@@ -171,9 +175,13 @@ error_t mpu6886_read_gyro(Device* device, ImuGyroData* data) {
     error_t error = i2c_controller_read_register(i2c_controller, address, REG_GYRO_XOUT_H, buf, sizeof(buf), I2C_TIMEOUT_TICKS);
     if (error != ERROR_NONE) return error;
 
-    data->gx = toI16(buf[0], buf[1]) * GYRO_SCALE;
+    float gx = toI16(buf[0], buf[1]) * GYRO_SCALE;
-    data->gy = toI16(buf[2], buf[3]) * GYRO_SCALE;
+    float gy = toI16(buf[2], buf[3]) * GYRO_SCALE;
-    data->gz = toI16(buf[4], buf[5]) * GYRO_SCALE;
+    float gz = toI16(buf[4], buf[5]) * GYRO_SCALE;
+    applyMountMatrix(*GET_CONFIG(device), gx, gy, gz);
+    data->gx = gx;
+    data->gy = gy;
+    data->gz = gz;
 
     return ERROR_NONE;
 }

Modules/lvgl-module/source/symbols.c

@@ -343,6 +343,10 @@ const struct ModuleSymbol lvgl_module_symbols[] = {
     DEFINE_MODULE_SYMBOL(lv_obj_set_style_height),
     DEFINE_MODULE_SYMBOL(lv_obj_set_style_clip_corner),
     DEFINE_MODULE_SYMBOL(lv_obj_set_style_shadow_color),
+    DEFINE_MODULE_SYMBOL(lv_obj_set_parent),
+    DEFINE_MODULE_SYMBOL(lv_obj_set_style_bg_image_tiled),
+    DEFINE_MODULE_SYMBOL(lv_obj_set_style_image_recolor),
+    DEFINE_MODULE_SYMBOL(lv_obj_set_style_image_opa),
     // lv_font
     DEFINE_MODULE_SYMBOL(lv_font_get_bitmap_fmt_txt),
     DEFINE_MODULE_SYMBOL(lv_font_get_default),

Tactility/Source/app/display/Display.cpp

@@ -84,7 +84,7 @@ struct Context {
     lv_obj_t* timeoutValueLabel = nullptr;
     lv_obj_t* screensaverValueLabel = nullptr;
     // Shown when auto-rotate is off or unavailable: the orientation label and chips
-    lv_obj_t* orientationGroup = nullptr;
+    lv_obj_t* orientationCard = nullptr;
     lv_obj_t* orientationChips = nullptr;
     lv_obj_t* autoRotateSwitch = nullptr;
 };
@@ -151,10 +151,10 @@ void setCheckedChip(lv_obj_t* chips, settings::display::Orientation orientation)
     });
 }
 
-/** Shows or hides the manual orientation chips, depending on whether auto-rotate is on */
+/** Shows or hides the manual orientation card, depending on whether auto-rotate is on */
 void updateOrientationVisibility(Context* ctx) {
     const bool auto_rotate = ctx->autoRotateSwitch != nullptr && ctx->displaySettings.autoRotateEnabled;
-    lv_obj_set_hidden(ctx->orientationGroup, auto_rotate);
+    lv_obj_set_hidden(ctx->orientationCard, auto_rotate);
 }
 
 void onOrientationChipPressed(lv_event_t* event) {
@@ -396,12 +396,12 @@ void createWidgets(lv_obj_t* parent, void* userData) {
     }
 
     // The card shows the manual orientation; auto-rotate hides it while it drives the rotation
-    auto* orientation_card = lvgl_card_create(main_wrapper);
+    ctx->orientationCard = lvgl_card_create(main_wrapper);
-    lv_obj_set_size(orientation_card, LV_PCT(100), LV_SIZE_CONTENT);
+    lv_obj_set_size(ctx->orientationCard, LV_PCT(100), LV_SIZE_CONTENT);
-    lv_obj_set_flex_flow(orientation_card, LV_FLEX_FLOW_COLUMN);
+    lv_obj_set_flex_flow(ctx->orientationCard, LV_FLEX_FLOW_COLUMN);
 
-    ctx->orientationGroup = createCardGroup(orientation_card, "Orientation");
+    auto* orientation_group = createCardGroup(ctx->orientationCard, "Orientation");
-    ctx->orientationChips = createOrientationChips(ctx->orientationGroup, ctx->displaySettings.orientation, onOrientationChipPressed, ctx);
+    ctx->orientationChips = createOrientationChips(orientation_group, ctx->displaySettings.orientation, onOrientationChipPressed, ctx);
 
     updateOrientationVisibility(ctx);
 
@@ -447,7 +447,7 @@ void destroyWidgets(void* userData) {
     ctx->timeoutCard = nullptr;
     ctx->timeoutValueLabel = nullptr;
     ctx->screensaverValueLabel = nullptr;
-    ctx->orientationGroup = nullptr;
+    ctx->orientationCard = nullptr;
     ctx->orientationChips = nullptr;
     ctx->autoRotateSwitch = nullptr;
 }

Tactility/Source/service/autorotate/OrientationMath.cpp

@@ -7,7 +7,10 @@ namespace tt::service::autorotate {
 constexpr float FLAT_THRESHOLD = 0.45F; // gravity in the screen plane below this = lying flat
 constexpr int DEBOUNCE = 5; // consecutive readings before switching
 
-// gx toward +Y -> rotation 0; each +90 degrees of gx/gy angle is one more quarter-turn.
+// ax/ay is the accelerometer support-force vector (points up, opposite gravity).
+// The UI top should point along (ax,ay): +Y -> rotation 0.
+// LVGL ROT90 is 90 deg counter-clockwise (UI top -> device left, -X), ROT270 is
+// 90 deg clockwise (UI top -> device right, +X), so +X maps to 270, not 90.
 static lv_display_rotation_t gravityToRotation(float gx, float gy, lv_display_rotation_t fallback) {
     float plane = sqrtf((gx * gx) + (gy * gy));
     if (plane < FLAT_THRESHOLD) {
@@ -22,9 +25,9 @@ static lv_display_rotation_t gravityToRotation(float gx, float gy, lv_display_ro
     int idx = (int)((ang + 45.0F) / 90.0F) % 4;
     static constexpr lv_display_rotation_t map[4] = {
         LV_DISPLAY_ROTATION_0,
-        LV_DISPLAY_ROTATION_90,
-        LV_DISPLAY_ROTATION_180,
         LV_DISPLAY_ROTATION_270,
+        LV_DISPLAY_ROTATION_180,
+        LV_DISPLAY_ROTATION_90,
     };
     return map[idx];
 }

Tactility/Tests/Source/OrientationMathTest.cpp

@@ -9,7 +9,7 @@ TEST_CASE("a flat reading below the threshold keeps the current rotation") {
     CHECK_EQ(math.update(0.1F, 0.1F), LV_DISPLAY_ROTATION_0);
 }
 
-TEST_CASE("gravity toward +X classifies as rotation 90 when no debounce is needed yet") {
+TEST_CASE("accel toward +X classifies as rotation 270 when no debounce is needed yet") {
     OrientationMath math;
     math.reset(LV_DISPLAY_ROTATION_0);
     // A single reading only sets the debounce target - the previous rotation is still returned.
@@ -27,32 +27,34 @@ TEST_CASE("a new rotation is only applied after enough consecutive stable readin
         CHECK_EQ(last, LV_DISPLAY_ROTATION_0); // not yet debounced
     }
     last = math.update(1.0F, 0.0F);
-    CHECK_EQ(last, LV_DISPLAY_ROTATION_90); // 6th call (5th consecutive stable reading) switches
+    CHECK_EQ(last, LV_DISPLAY_ROTATION_270); // 6th call (5th consecutive stable reading) switches
 }
 
-TEST_CASE("all four gravity directions map to the expected rotation") {
+TEST_CASE("all four accel directions map to the expected rotation") {
     OrientationMath math;
     math.reset(LV_DISPLAY_ROTATION_0);
 
-    auto settle = [&](float gx, float gy) {
+    auto settle = [&](float ax, float ay) {
         lv_display_rotation_t result = LV_DISPLAY_ROTATION_0;
         for (int i = 0; i < 6; i++) {
-            result = math.update(gx, gy);
+            result = math.update(ax, ay);
         }
         return result;
     };
 
+    // Accel points up (opposite gravity); UI top follows it.
+    // LVGL ROT90 is CCW (top -> -X), ROT270 is CW (top -> +X).
     CHECK_EQ(settle(0.0F, 1.0F), LV_DISPLAY_ROTATION_0);
-    CHECK_EQ(settle(1.0F, 0.0F), LV_DISPLAY_ROTATION_90);
+    CHECK_EQ(settle(1.0F, 0.0F), LV_DISPLAY_ROTATION_270);
     CHECK_EQ(settle(0.0F, -1.0F), LV_DISPLAY_ROTATION_180);
-    CHECK_EQ(settle(-1.0F, 0.0F), LV_DISPLAY_ROTATION_270);
+    CHECK_EQ(settle(-1.0F, 0.0F), LV_DISPLAY_ROTATION_90);
 }
 
 TEST_CASE("an unstable target resets the debounce counter") {
     OrientationMath math;
     math.reset(LV_DISPLAY_ROTATION_0);
 
-    // Get close to switching to rotation 90...
+    // Get close to switching to rotation 270...
     for (int i = 0; i < 4; i++) {
         math.update(1.0F, 0.0F);
     }