From 6c61227623e0171087ef63b781b50d511f47ed7c Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 27 Nov 2025 17:38:37 +0100
Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20Emit=20imu,=20mag=20and=20bmp=20dat?=
 =?UTF-8?q?a?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app/src/lib/stores/imu.ts                 | 23 ++++++++++++++++++-----
 app/src/lib/types/models.ts               |  6 ++++++
 app/src/routes/peripherals/imu/imu.svelte |  4 ++--
 esp32/src/main.cpp                        |  6 ++++++
 esp32/src/peripherals/peripherals.cpp     |  9 ++++++---
 5 files changed, 38 insertions(+), 10 deletions(-)

diff --git a/app/src/lib/stores/imu.ts b/app/src/lib/stores/imu.ts
index 12ee5e1..3bf1491 100644
--- a/app/src/lib/stores/imu.ts
+++ b/app/src/lib/stores/imu.ts
@@ -1,5 +1,5 @@
 import { writable } from 'svelte/store'
-import type { IMU } from '$lib/types/models'
+import type { IMUMsg } from '$lib/types/models'
 
 const maxIMUData = 100
 
@@ -14,11 +14,24 @@ export const imu = (() => {
         bmp_temp: [] as number[]
     })
 
-    const addData = (content: IMU) => {
+    const addData = (content: IMUMsg) => {
         update(data => {
-            ;(Object.keys(content) as (keyof IMU)[]).forEach(key => {
-                data[key] = [...data[key], content[key]].slice(-maxIMUData)
-            })
+            if (content.imu && content.imu[3]) {
+                data.x = [...data.x, content.imu[0]].slice(-maxIMUData)
+                data.y = [...data.y, content.imu[1]].slice(-maxIMUData)
+                data.z = [...data.z, content.imu[2]].slice(-maxIMUData)
+            }
+
+            if (content.mag && content.mag[4]) {
+                data.heading = [...data.heading, content.mag[3]].slice(-maxIMUData)
+            }
+
+            if (content.bmp && content.bmp[3]) {
+                data.pressure = [...data.pressure, content.bmp[0]].slice(-maxIMUData)
+                data.altitude = [...data.altitude, content.bmp[1]].slice(-maxIMUData)
+                data.bmp_temp = [...data.bmp_temp, content.bmp[2]].slice(-maxIMUData)
+            }
+
             return data
         })
     }
diff --git a/app/src/lib/types/models.ts b/app/src/lib/types/models.ts
index 616b222..85ab164 100644
--- a/app/src/lib/types/models.ts
+++ b/app/src/lib/types/models.ts
@@ -154,6 +154,12 @@ export type IMU = {
     pressure: number
 }
 
+export type IMUMsg = {
+    imu: [number, number, number, boolean]
+    mag: [number, number, number, number, boolean]
+    bmp: [number, number, number, boolean]
+}
+
 export interface I2CDevice {
     address: number
     part_number: string
diff --git a/app/src/routes/peripherals/imu/imu.svelte b/app/src/routes/peripherals/imu/imu.svelte
index f038a8e..38b75d0 100644
--- a/app/src/routes/peripherals/imu/imu.svelte
+++ b/app/src/routes/peripherals/imu/imu.svelte
@@ -6,7 +6,7 @@
     import { slide } from 'svelte/transition'
     import { onDestroy, onMount } from 'svelte'
     import { socket } from '$lib/stores'
-    import { MessageTopic, type IMU } from '$lib/types/models'
+    import { MessageTopic, type IMUMsg } from '$lib/types/models'
     import { useFeatureFlags } from '$lib/stores/featureFlags'
     import { Rotate3d } from '$lib/components/icons'
 
@@ -201,7 +201,7 @@
     }
 
     onMount(() => {
-        socket.on(MessageTopic.imu, (data: IMU) => {
+        socket.on(MessageTopic.imu, (data: IMUMsg) => {
             console.log(data)
             imu.addData(data)
         })
diff --git a/esp32/src/main.cpp b/esp32/src/main.cpp
index 13afab8..7dad36a 100644
--- a/esp32/src/main.cpp
+++ b/esp32/src/main.cpp
@@ -132,6 +132,12 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
+        EXECUTE_EVERY_N_MS(250, [&]() {
+            JsonDocument doc;
+            JsonVariant results = doc.to<JsonVariant>();
+            peripherals.getIMUResult(results);
+            socket.emit(EVENT_IMU, results);
+        });
         vTaskDelayUntil(&xLastWakeTime, xFrequency);
     }
 }
diff --git a/esp32/src/peripherals/peripherals.cpp b/esp32/src/peripherals/peripherals.cpp
index 3048d8d..fc8fbbd 100644
--- a/esp32/src/peripherals/peripherals.cpp
+++ b/esp32/src/peripherals/peripherals.cpp
@@ -166,13 +166,16 @@ float Peripherals::rightDistance() { return _right_distance; }
 
 void Peripherals::getIMUResult(JsonVariant &root) {
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
-    _imu.getResults(root);
+    JsonVariant imu = root["imu"].to<JsonVariant>();
+    _imu.getResults(imu);
 #endif
 #if FT_ENABLED(USE_HMC5883)
-    _mag.getResults(root);
+    JsonVariant mag = root["mag"].to<JsonVariant>();
+    _mag.getResults(mag);
 #endif
 #if FT_ENABLED(USE_BMP180)
-    _bmp.getResults(root);
+    JsonVariant bmp = root["bmp"].to<JsonVariant>();
+    _bmp.getResults(bmp);
 #endif
 }