Adds simple display, uss and imu service

esp32/lib/ESP32-sveltekit/IMUService.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include <MPU6050_light.h>
+
+#define IMU_INTERVAL 2000
+
+class IMUService
+{
+public:
+    IMUService():_imu(Wire){};
+
+    void begin()
+    {
+        byte status = _imu.begin();
+        if(status != 0) {
+            ESP_LOGE("IMUService", "MPU initialize failed");
+            vTaskDelete(NULL);
+            return;
+        }
+        xTaskCreatePinnedToCore(this->_loopImpl, "IMU Service", 4096, this, tskIDLE_PRIORITY, NULL, ESP32SVELTEKIT_RUNNING_CORE);
+    };
+
+    float getTemp() {
+        return _imu.getTemp();
+    }
+
+    float getAngleX() {
+        return _imu.getAngleX();
+    }
+
+    float getAngleY() {
+        return _imu.getAngleX();
+    }
+
+    float getAngleZ() {
+        return _imu.getAngleZ();
+    }
+
+protected:
+    static void _loopImpl(void *_this) { static_cast<IMUService *>(_this)->_loop(); }
+    void _loop()
+    {
+        vTaskDelay(100);
+        _imu.calcOffsets(true,true);
+        TickType_t xLastWakeTime = xTaskGetTickCount();
+        while (1)
+        {
+            _imu.update();
+            vTaskDelayUntil(&xLastWakeTime, IMU_INTERVAL / portTICK_PERIOD_MS);
+        }
+    };
+
+private:
+    MPU6050 _imu;
+};