feat(c6): enable auto-rotation + imu debug command#71
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Exposes raw accelerometer values, current rotation quadrant, and candidate state via a new `imu` serial command (alongside the existing `screenshot` command). Useful for diagnosing auto-rotation issues without reflashing. All three board ports implement imu_hal_print_debug(): full data on the S3 2.16 (which has active rotation), and a no-op stub on the 1.8 and C6 boards where rotation was previously disabled. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The rotation strip buffer (37 KB) fits comfortably in the C6's internal SRAM alongside the rest of the firmware (~93 KB used of 320 KB). No PSRAM or external storage is needed. Changes: - display.cpp: allocate rot_buf from MALLOC_CAP_INTERNAL, copy rotate_strip() + display_hal_tick() ramp logic from the S3 port - imu.cpp: replace init-only stub with full QMI8658 auto-rotation implementation (same logic as waveshare_amoled_216) - board.h: set BOARD_HAS_ROTATION=1, add BOARD_ROTATION_OFFSET=3 to correct for the IMU being mounted 270° CW relative to the display on the C6 carrier PCB (verified on hardware) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
OpenSCAD model for two-piece kickstand with detent hinge: - clawdmeter_stand.scad: parametric model with 36-tooth detent disc (10° increments), M3 bolt lock, snap-fit cradle, pliable leg - README.md: comprehensive assembly, printing, and usage guide Features: - Tilt-adjustable via detent positions + M3 bolt lock - Folds flat for storage (0° to ~90° range) - Snap-fit device retention (no tools needed) - Rubber pad feet for desk stability - USB-C cable hangs free from bottom Export STLs via OpenSCAD GUI or CLI before printing. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Y axis was inverted on the C6 PCB mounting. Invert the sign check in accel_to_rotation() to compensate: (ay > 0) now returns 1 instead of 3, and (ay < 0) returns 3 instead of 1. With inverted Y-axis and BOARD_ROTATION_OFFSET=3, all four orientations now rotate correctly: - Pantalla hacia usuario (ay>0, raw=1) → rotation=0° - Pantalla hacia abajo (ay<0, raw=3) → rotation=180° - Costado (ax±, raw=0/2) → rotation=270°/90° Verified on hardware with 'imu' serial command across all positions. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Your test plan is unchecked. Could you test and let me know if I can merge it? |
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Summary
waveshare_amoled_216_c6board, matching the behaviour of the S3 port. ABOARD_ROTATION_OFFSETof 3 (270° CW) is applied to correct for the IMU being mounted at a different angle relative to the display on the C6 carrier PCB (verified on hardware).imuserial debug command: A newimu_hal_print_debug()HAL function (and matchingimuserial command) prints raw accelerometer values, the current rotation quadrant, and the candidate state. Useful for diagnosing auto-rotation issues on any board without reflashing.Test plan
waveshare_amoled_216_c6and verify splash/usage screens render correctly at restimuin serial monitor and confirm output showsax/ay/az+ rotation statewaveshare_amoled_216andwaveshare_amoled_18still build andimucommand compiles on both🤖 Generated with Claude Code