ui.ui_imu module

IMU submenu for the Romi robot serial UI.

Presents a looping menu over the serial terminal for interacting with the BNO055 IMU task. Each menu option sends a mode command to the IMU task via a shared queue and then blocks (cooperatively, with yield) until the IMU task clears the queue to signal completion.

Menu options:

1 – Load calibration from persistent storage 2 – Save current calibration to persistent storage 3 – Tare (zero) accelerometer and gyroscope readings 4 – Read and display current heading and heading rate 5 – Display calibration status for all sensor axes (0 = uncal, 3 = fully cal) 0 – Exit submenu

ui.ui_imu.run(ui)

Generator implementing the IMU submenu interaction loop.

Draws the menu, reads a single-character command, sends it to the IMU task, waits for acknowledgement, and redraws. Exits when the user selects 0.

Synchronisation: the UI puts a command code (1–5) into ui._imuMode; the IMU task executes the command and writes 0 back when done. The UI spins with yield until it reads 0.

Calibration status (option 5) is returned as a packed byte from the BNO055 register: bits [7:6] = system, [5:4] = gyro, [3:2] = accel, [1:0] = magnetometer.

Args:

ui: UI context object exposing _ser, _imuMode, _imuHeading,

_imuHeadingRate, and _imuCalib shares/queues.

Yields:

None: On every serial poll and while waiting for the IMU task to finish.