Console: imu prints what the motion sensor reads

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_0162FokPdvY2KsS4NBfwyWPk

README.md

@@ -241,6 +241,7 @@ The Shell App (docs/milestones/S1.md) runs the commands below on the device's ow
 | `lora capture start` / `lora capture stop` | A LoRa Capture, as `c` in the App |
 | `lora sweep on [from MHz] [to MHz] [step kHz]` / `lora sweep off` / `lora sweep dump` | Sweep a band (863 870 100 by default), with a summary every 2 s (floor, strongest, peaks), or print the latest pass |
 | `gnss quiet on` / `gnss quiet off` | The "Pause GNSS for LoRa" setting |
+| `imu` | What the motion sensor reads: g on its three axes, then degrees a second (the Compass, issue #16) |
 | `gnss status` / `gnss restart` | The receiver's state, and a restart of it |
 | `gnss track start` / `gnss track stop` | A Track, as `r` in the GNSS App (the reason is printed if it can't start) |
 | `gnss nmea on` / `gnss nmea off` | Prints each NMEA sentence the receiver sends, as `nmea: …` |

site/content/dev/debug/commands.md

@@ -26,6 +26,7 @@ lora capture start|stop   a LoRa Capture to /captures/lora (pcap, LoRaTap)
 lora sweep on [from MHz] [to MHz] [step kHz] | lora sweep off | lora sweep dump   RSSI across a band (863 870 100)
 lora custom <MHz> <BW kHz> <SF> <CR 5-8> <sync hex> [preamble]   e.g. 868.1 125 7 5 34 8 (LoRaWAN)
 gnss quiet on|off   pause the GNSS receiver while the LoRa radio listens (it costs the radio 8 dB)
+imu                 what the motion sensor reads: g on its three axes, then degrees a second
 gnss status | gnss restart | gnss track start|stop | gnss nmea on|off | gnss send <sentence without $ and checksum>
 crash             the last crash: firmware, reason, task, backtrace
 coredump erase    forget the core dump in flash
@@ -107,6 +108,7 @@ In **Safe Mode** (see [Crashes and Safe Mode](/dev/debug/crashes/)) only a few r
 | `lora capture start` / `lora capture stop` | A LoRa Capture, as `c` in the App |
 | `lora sweep on [from MHz] [to MHz] [step kHz]` / `lora sweep off` / `lora sweep dump` | Sweep a band (863 870 100 by default), with a summary every 2 s (floor, strongest, peaks), or print the latest pass |
 | `gnss quiet on` / `gnss quiet off` | The "Pause GNSS for LoRa" setting |
+| `imu` | What the motion sensor reads: g on its three axes, then degrees a second (the Compass, issue #16) |
 | `gnss status` / `gnss restart` | The receiver's state, and a restart of it |
 | `gnss track start` / `gnss track stop` | A Track, as `r` in the GNSS App (the reason is printed if it can't start) |
 | `gnss nmea on` / `gnss nmea off` | Prints each NMEA sentence the receiver sends, as `nmea: …` |

src/main.cpp

@@ -684,6 +684,7 @@ static const char* const kHelp =
     "lora sweep on [from MHz] [to MHz] [step kHz] | lora sweep off | lora sweep dump   RSSI across a band (863 870 100)\n"
     "lora custom <MHz> <BW kHz> <SF> <CR 5-8> <sync hex> [preamble]   e.g. 868.1 125 7 5 34 8 (LoRaWAN)\n"
     "gnss quiet on|off   pause the GNSS receiver while the LoRa radio listens (it costs the radio 8 dB)\n"
+    "imu                 what the motion sensor reads: g on its three axes, then degrees a second\n"
     "gnss status | gnss restart | gnss track start|stop | gnss nmea on|off | gnss send <sentence without $ and checksum>\n"
     "crash             the last crash: firmware, reason, task, backtrace\n"
     "coredump erase    forget the core dump in flash\n"
@@ -1145,6 +1146,14 @@ static void runCommand(String line, bool fromSerial = false) {
         settings.setBool(Setting::GnssQuietForLora, line.endsWith("on"));
         console.printf("gnss quiet: %s\n", line.endsWith("on") ? "GNSS pauses while the LoRa radio listens" : "GNSS stays on");
     }
+    if (line == "imu") {  // the Compass's sensor (issue #16), as it reads now
+        if (!M5.Imu.update()) console.println("imu: no reading");
+        else {
+            auto d = M5.Imu.getImuData();
+            console.printf("imu: type %d, accel %.2f %.2f %.2f g, gyro %.1f %.1f %.1f deg/s\n", static_cast<int>(M5.Imu.getType()),
+                           d.accel.x, d.accel.y, d.accel.z, d.gyro.x, d.gyro.y, d.gyro.z);
+        }
+    }
     if (line == "gnss status" && gnssService) gnssService->printStatus(console, millis());
     if ((line == "gnss nmea on" || line == "gnss nmea off") && gnssService) gnssService->setEcho(line.endsWith("on"));
     if (line == "gnss restart" && gnssService) gnssService->restart(millis());