Added two screens for QMC6310 and QMI8658 data

src/graphics/Screen.cpp

@@ -1015,6 +1015,15 @@ void Screen::setFrames(FrameFocus focus)
         normalFrames[numframes++] = graphics::UIRenderer::drawCompassAndLocationScreen;
         indicatorIcons.push_back(icon_compass);
     }
+#endif
+    // After GPS, add QMC6310 and QMI8658 debug screens
+#if !MESHTASTIC_EXCLUDE_I2C
+    normalFrames[numframes++] = graphics::DebugRenderer::drawQMC6310Screen;
+    indicatorIcons.push_back(icon_compass);
+#endif
+#if defined(IMU_CS)
+    normalFrames[numframes++] = graphics::DebugRenderer::drawQMI8658Screen;
+    indicatorIcons.push_back(icon_system);
 #endif
     if (RadioLibInterface::instance && !hiddenFrames.lora) {
         fsi.positions.lora = numframes;

src/graphics/draw/DebugRenderer.cpp

@@ -30,6 +30,8 @@
 #include <DisplayFormatters.h>
 #include <RadioLibInterface.h>
 #include <target_specific.h>
+#include <math.h>
+#include "motion/SensorLiveData.h"
 
 using namespace meshtastic;
 
@@ -693,6 +695,48 @@ void drawChirpy(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int1
     display->drawString(textX, getTextPositions(display)[line++], "World!");
 }
 
+// ---------------- Additional IMU/Magnetometer debug screens ----------------
+void drawQMC6310Screen(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
+{
+    static uint32_t last = 0;
+    display->clear();
+    display->setTextAlignment(TEXT_ALIGN_LEFT);
+    display->setFont(FONT_SMALL);
+    graphics::drawCommonHeader(display, x, y, "QMC6310");
+    int line = 1;
+    if (g_qmc6310Live.initialized) {
+        if (!Throttle::isWithinTimespanMs(last, 1000)) {
+            last = millis();
+            char buf[64];
+            snprintf(buf, sizeof(buf), "Head %3.0f  offX %.0f offY %.0f", g_qmc6310Live.heading, g_qmc6310Live.offX,
+                     g_qmc6310Live.offY);
+            display->drawString(x, getTextPositions(display)[line++], buf);
+            snprintf(buf, sizeof(buf), "rawX %d rawY %d", g_qmc6310Live.rawX, g_qmc6310Live.rawY);
+            display->drawString(x, getTextPositions(display)[line++], buf);
+        }
+    } else {
+        display->drawString(x, getTextPositions(display)[line++], "No data");
+    }
+}
+
+void drawQMI8658Screen(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
+{
+    (void)state; (void)x; (void)y;
+    display->clear();
+    display->setTextAlignment(TEXT_ALIGN_LEFT);
+    display->setFont(FONT_SMALL);
+    graphics::drawCommonHeader(display, x, y, "QMI8658");
+    int line = 1;
+    if (g_qmi8658Live.initialized) {
+        char buf[64];
+        snprintf(buf, sizeof(buf), "ACC %.2f %.2f %.2f", g_qmi8658Live.acc.x, g_qmi8658Live.acc.y, g_qmi8658Live.acc.z);
+        display->drawString(x, getTextPositions(display)[line++], buf);
+        snprintf(buf, sizeof(buf), "GYR %.2f %.2f %.2f", g_qmi8658Live.gyr.x, g_qmi8658Live.gyr.y, g_qmi8658Live.gyr.z);
+        display->drawString(x, getTextPositions(display)[line++], buf);
+    } else {
+        display->drawString(x, getTextPositions(display)[line++], "No data");
+    }
+}
 } // namespace DebugRenderer
 } // namespace graphics
 #endif

src/graphics/draw/DebugRenderer.h

@@ -36,6 +36,9 @@ void drawSystemScreen(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x
 
 // Chirpy screen display
 void drawChirpy(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
+// IMU/Magnetometer debug screens
+void drawQMI8658Screen(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
+void drawQMC6310Screen(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
 } // namespace DebugRenderer
 
 } // namespace graphics

src/motion/QMC6310Sensor.cpp

@@ -1,5 +1,6 @@
 #include "QMC6310Sensor.h"
 #include <Arduino.h>
+#include "SensorLiveData.h"
 
 #if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SensorQMC6310.hpp>)
 
@@ -54,9 +55,18 @@ int32_t QMC6310Sensor::runOnce()
         int16_t ry = sensor.getRawY();
         int16_t rz = sensor.getRawZ();
 
-        if (rx < minX) minX = rx; if (rx > maxX) maxX = rx;
+        if (rx < minX)
-        if (ry < minY) minY = ry; if (ry > maxY) maxY = ry;
+            minX = rx;
-        if (rz < minZ) minZ = rz; if (rz > maxZ) maxZ = rz;
+        if (rx > maxX)
+            maxX = rx;
+        if (ry < minY)
+            minY = ry;
+        if (ry > maxY)
+            maxY = ry;
+        if (rz < minZ)
+            minZ = rz;
+        if (rz > maxZ)
+            maxZ = rz;
 
         offsetX = (maxX + minX) * 0.5f;
         offsetY = (maxY + minY) * 0.5f;
@@ -71,6 +81,16 @@ int32_t QMC6310Sensor::runOnce()
         while (heading < 0.0f) heading += 360.0f;
         while (heading >= 360.0f) heading -= 360.0f;
 
+        g_qmc6310Live.initialized = true;
+        g_qmc6310Live.rawX = rx;
+        g_qmc6310Live.rawY = ry;
+        g_qmc6310Live.rawZ = rz;
+        g_qmc6310Live.offX = offsetX;
+        g_qmc6310Live.offY = offsetY;
+        g_qmc6310Live.offZ = offsetZ;
+        g_qmc6310Live.heading = heading;
+        g_qmc6310Live.last_ms = millis();
+
 #if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
         switch (config.display.compass_orientation) {
         case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:

src/motion/QMI8658Sensor.cpp

@@ -1,5 +1,6 @@
 #include "QMI8658Sensor.h"
 #include "NodeDB.h"
+#include "SensorLiveData.h"
 
 #if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SensorQMI8658.hpp>)
 
@@ -46,7 +47,8 @@ bool QMI8658Sensor::init()
     uint8_t id = qmi.getChipID();
     LOG_DEBUG("QMI8658: chip id=0x%02x", id);
 #ifdef QMI8658_DEBUG_STREAM
-    LOG_INFO("QMI8658 debug stream enabled (10 Hz)");
+    LOG_INFO("QMI8658 debug stream enabled (1 Hz)");
+    lastLogMs = 0;
 #endif
 
     // Basic configuration similar to lewisxhe examples
@@ -78,21 +80,35 @@ bool QMI8658Sensor::init()
     LOG_DEBUG("QMI8658: dump control registers ->");
     qmi.dumpCtrlRegister();
     LOG_DEBUG("QMI8658: init ok");
+    g_qmi8658Live.initialized = true;
     return true;
 }
 
 int32_t QMI8658Sensor::runOnce()
 {
 #ifdef QMI8658_DEBUG_STREAM
-    // Always sample/log when debug stream is enabled
+    // Always sample/log when debug stream is enabled (throttle to ~1 Hz)
     IMUdata acc = {0};
     IMUdata gyr = {0};
     bool ready = qmi.getDataReady();
-    bool gotAcc = qmi.getAccelerometer(acc.x, acc.y, acc.z);
+    qmi.getAccelerometer(acc.x, acc.y, acc.z);
-    bool gotGyr = qmi.getGyroscope(gyr.x, gyr.y, gyr.z);
+    qmi.getGyroscope(gyr.x, gyr.y, gyr.z);
-    LOG_DEBUG("QMI8658: ready=%d ACC[x=%.3f y=%.3f z=%.3f] m/s^2  GYR[x=%.3f y=%.3f z=%.3f] dps",
+
-              (int)ready, acc.x, acc.y, acc.z, gyr.x, gyr.y, gyr.z);
+    uint32_t now = millis();
-    return 100; // ~10 Hz
+    g_qmi8658Live.ready = ready;
+    g_qmi8658Live.acc.x = acc.x;
+    g_qmi8658Live.acc.y = acc.y;
+    g_qmi8658Live.acc.z = acc.z;
+    g_qmi8658Live.gyr.x = gyr.x;
+    g_qmi8658Live.gyr.y = gyr.y;
+    g_qmi8658Live.gyr.z = gyr.z;
+    g_qmi8658Live.last_ms = now;
+    if (now - lastLogMs > 1000) {
+        lastLogMs = now;
+        LOG_DEBUG("QMI8658: ready=%d ACC[x=%.3f y=%.3f z=%.3f] m/s^2  GYR[x=%.3f y=%.3f z=%.3f] dps",
+                  (int)ready, acc.x, acc.y, acc.z, gyr.x, gyr.y, gyr.z);
+    }
+    return MOTION_SENSOR_CHECK_INTERVAL_MS;
 #endif
 
     if (!config.display.wake_on_tap_or_motion)

src/motion/QMI8658Sensor.h

@@ -13,6 +13,7 @@ class QMI8658Sensor : public MotionSensor
 {
   private:
     SensorQMI8658 qmi;
+    uint32_t lastLogMs = 0;
 
     // Simple motion threshold in Gs above steady 1g
     static constexpr float MOTION_THRESHOLD_G = 0.15f; // ~0.15 g

src/motion/SensorLiveData.cpp

@@ -0,0 +1,5 @@
+#include "SensorLiveData.h"
+
+QMI8658LiveData g_qmi8658Live;
+QMC6310LiveData g_qmc6310Live;
+

src/motion/SensorLiveData.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <stdint.h>
+
+struct Vec3f {
+    float x = 0;
+    float y = 0;
+    float z = 0;
+};
+
+struct QMI8658LiveData {
+    bool initialized = false;
+    bool ready = false;
+    Vec3f acc;  // m/s^2
+    Vec3f gyr;  // dps
+    uint32_t last_ms = 0;
+};
+
+struct QMC6310LiveData {
+    bool initialized = false;
+    int16_t rawX = 0, rawY = 0, rawZ = 0;
+    float offX = 0, offY = 0, offZ = 0;
+    float heading = 0; // degrees 0..360
+    uint32_t last_ms = 0;
+};
+
+extern QMI8658LiveData g_qmi8658Live;
+extern QMC6310LiveData g_qmc6310Live;
+