hello_imu_mag

# hello_imu_mag

Reads the on-board LSM6DSO IMU (accelerometer, gyroscope, temperature) and the LIS3MDL magnetometer at about 10 Hz and shows the values live on an LVGL dark-theme screen and on the console.

## Features

- **Accelerometer** (g): X/Y/Z values with a bar graph for each axis
- **Gyroscope** (dps): X/Y/Z values
- **Magnetometer** (gauss): X/Y/Z values
- **Temperature** from the IMU, in °C
- **Sensor detection**: logs the `WHO_AM_I` register of each sensor at start-up; a sensor that is missing is reported and skipped
- **Console fallback**: when LVGL is disabled the same data is printed to the console
- **Independent sensors**: the IMU and magnetometer parts are compiled only when `CONFIG_CUBE32_IMU_ENABLED` / `CONFIG_CUBE32_MAG_ENABLED` are set

## Hardware

- CUBE32 board (ESP32-S3) with a supported display
- LSM6DSO IMU and LIS3MDL magnetometer (on the board)

## Configuration

`sdkconfig.defaults` of the release example already has what the demo needs:

| Setting | Why |
|---------|-----|
| `CONFIG_CUBE32_LVGL_ENABLED=y` | LVGL display driver |
| `CONFIG_CUBE32_TOUCH_ENABLED=y` | Touch input (standard LVGL setup of the examples) |
| `CONFIG_CUBE32_IMU_ENABLED=y` | Accelerometer, gyroscope, temperature |
| `CONFIG_CUBE32_MAG_ENABLED=y` | Magnetometer |
| `CONFIG_LV_FONT_MONTSERRAT_14=y` | Axis labels |
| `CONFIG_LV_FONT_MONTSERRAT_10/20/24=y` | Required by the BLE OTA UI whenever LVGL is on |

In the BSP dev project select the demo with `idf.py menuconfig` → `CUBE32 Application Selection` → `Hello IMU/MAG Example` (it is listed when the IMU or the magnetometer is enabled).

## Build and run

```bash
idf.py set-target esp32s3
idf.py build
idf.py -p <port> flash monitor
```

Run `idf.py set-target esp32s3` again after deleting `sdkconfig`; otherwise the target falls back to `esp32`.

## Usage

1. Flash the example; the screen shows **CUBE32 IMU / MAG** with three sections: `Accel (g)`, `Gyro (dps)` and `Mag (gauss)`, and the temperature at the bottom.
2. Tilt the board: the accelerometer values and bars change; at rest the total is about 1 g.
3. Rotate the board: the gyroscope values change while it moves and return to about 0 at rest.
4. Move the board near a magnet or a piece of iron: the magnetometer values change. The Earth's field is about 0.25 – 0.65 gauss.

## Console output

```
I (xxxx) hello_imu_mag: ========================================
I (xxxx) hello_imu_mag: CUBE32 Hello IMU/MAG Example
I (xxxx) hello_imu_mag: ========================================
I (xxxx) hello_imu_mag: IMU: LSM6DSO ready (WHO_AM_I = 0x6C)
I (xxxx) hello_imu_mag: MAG: LIS3MDL ready (WHO_AM_I = 0x3D)
I (xxxx) hello_imu_mag: LVGL display ready (240x320)
I (xxxx) hello_imu_mag: Starting sensor polling at ~10 Hz...
IMU | Accel(g): X= +0.012  Y= -0.034  Z= +0.998  |  Gyro(dps): X=   +0.12  Y=   -0.05  Z=   +0.01  |  T=27.5°C
MAG | Field(gauss): X= +0.123  Y= -0.241  Z= +0.402
```