add IMU sensor to ws_round

build/devices/pico/targets/ws_round/host/provider.js

@@ -26,6 +26,7 @@ import PulseCount from "embedded:io/pulsecount";
 import PWM from "embedded:io/pwm";
 import SMBus from "embedded:io/smbus";
 import SPI from "embedded:io/spi";
+import QMI8658 from "embedded:sensor/Accelerometer-Gyroscope/QMI8658";
 
 class Backlight {
 	#io;
@@ -92,6 +93,27 @@ const device = {
 					return new Backlight({pin: device.pin.backlight });
 			}
 		}
+	},
+	sensor: {
+		IMU: class extends QMI8658 {
+			constructor(options) {
+				super({
+					...options,
+					sensor: {
+						...device.I2C.default,
+						io: device.io.SMBus
+					}
+				});
+			}
+			sample() {
+				const sample = super.sample();
+				[sample.accelerometer.x, sample.accelerometer.y] = [sample.accelerometer.y, sample.accelerometer.x];
+				sample.accelerometer.z *= -1;
+				[sample.gyroscope.x, sample.gyroscope.y] = [sample.gyroscope.y, sample.gyroscope.x];
+				sample.gyroscope.z *= -1;
+				return sample;
+			}
+		}
 	}
 };
 

build/devices/pico/targets/ws_round/manifest.json

@@ -2,9 +2,7 @@
 	"include": [
 		"$(MODDABLE)/modules/io/manifest.json",
 		"$(MODDABLE)/modules/drivers/gc9a01/manifest.json",
-		"$(MODULES)/drivers/led/manifest.json",
-		"$(MODULES)/drivers/button/manifest.json",
-		"$(MODULES)/pins/pwm/manifest.json"
+		"$(MODDABLE)/modules/drivers/sensors/qmi8658/manifest.json"
 	],
 	"modules": {
 		"setup/target": "./setup-target"
@@ -19,11 +17,6 @@
 		"lcd_cs_pin": 9
 	},
 	"defines": {
-		"i2c": {
-			"sda_pin": 6,
-			"scl_pin": 7,
-			"port": 1
-		},
 		"spi": {
 			"mosi_pin": 11,
 			"sck_pin": 10

build/devices/pico/targets/ws_round/setup-target.js

@@ -1,45 +1,20 @@
-import Digital from "pins/digital";
 import config from "mc/config";
 import Timer from "timer";
-import PWM from "pins/pwm";
-
-class Backlight extends PWM {
-	constructor(brightness = 100) {
-		super({pin: config.backlight});
-		this.write(brightness);
-	}
-	write(value) {
-		if (value <= 0)
-			value = 0;
-		else if (value >= 100)
-			value = 1023;
-		else
-			value = (value / 100) * 1023;
-		super.write(value);
-	}
-}
-
-globalThis.Host = Object.freeze({
-	Backlight
-}, true);
 
 export default function (done) {
-	if ((undefined == config.brightness) || ("none" === config.brightness))
-		Digital.write(config.backlight, 0);
-	else if ("off" === config.backlight)
-		Digital.write(config.backlight, 1);
-	else {
-		globalThis.backlight = new device.peripheral.Backlight;
-		backlight.brightness = parseInt(config.brigtness) / 100;
-	}
+	const Digital = device.io.Digital;
+
+	const displayResetPin = new Digital({ pin: config.lcd_rst_pin, mode: Digital.Output });
+	const displayCSPin = new Digital({ pin: config.lcd_cs_pin, mode: Digital.Output });
 
-	Digital.write(config.lcd_rst_pin, 1);
+	displayResetPin.write(1);
 	Timer.delay(100);
-	Digital.write(config.lcd_rst_pin, 0);
+	displayResetPin.write(0);
 	Timer.delay(100);
-	Digital.write(config.lcd_rst_pin, 0);
-	Digital.write(config.lcd_cs_pin, 0);
+	displayCSPin.write(0);
 	Timer.delay(100);
+	displayResetPin.close();
+	displayCSPin.close();
 
 	done();
 }

build/devices/pico/targets/ws_round_touch/host/provider.js

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022-2025  Moddable Tech, Inc.
+ * Copyright (c) 2022-2026  Moddable Tech, Inc.
  *
  *   This file is part of the Moddable SDK Runtime.
  *
@@ -27,6 +27,7 @@ import PWM from "embedded:io/pwm";
 import SMBus from "embedded:io/smbus";
 import SPI from "embedded:io/spi";
 import Touch from "embedded:sensor/Touch/CST816";
+import QMI8658 from "embedded:sensor/Accelerometer-Gyroscope/QMI8658";
 
 class Backlight {
 	#io;
@@ -117,6 +118,25 @@ const device = {
 				result.configure({ });
 				return result;
 			}
+		},
+		IMU: class extends QMI8658 {
+		constructor(options) {
+			super({
+				...options,
+				sensor: {
+					...device.I2C.default,
+					io: device.io.SMBus
+				}
+			});
+		}
+		sample() {
+			const sample = super.sample();
+			[sample.accelerometer.x, sample.accelerometer.y] = [sample.accelerometer.y, sample.accelerometer.x];
+			sample.accelerometer.z *= -1;
+			[sample.gyroscope.x, sample.gyroscope.y] = [sample.gyroscope.y, sample.gyroscope.x];
+			sample.gyroscope.z *= -1;
+			return sample;
+		}
 		}
 	}
 };

build/devices/pico/targets/ws_round_touch/manifest.json

@@ -1,10 +1,8 @@
 {
 	"include": [
 		"$(MODDABLE)/modules/io/manifest.json",
-		"$(MODDABLE)/modules/drivers/gc9a01/manifest.json",
-		"$(MODULES)/drivers/led/manifest.json",
-		"$(MODULES)/drivers/button/manifest.json",
-		"$(MODULES)/pins/pwm/manifest.json",
+		"$(MODULES)/drivers/gc9a01/manifest.json",
+		"$(MODULES)/drivers/sensors/qmi8658/manifest.json",
 		"$(MODULES)/drivers/sensors/cst816/manifest.json"
 	],
 	"modules": {
@@ -20,11 +18,6 @@
 		"lcd_cs_pin": 9
 	},
 	"defines": {
-		"i2c": {
-			"sda_pin": 26,
-			"scl_pin": 27,
-			"port": 1
-		},
 		"spi": {
 			"mosi_pin": 11,
 			"sck_pin": 10

documentation/devices/pico.md

@@ -88,7 +88,7 @@ The Moddable SDK supports devices built with the Pico. The following table lists
 | <img src="../assets/devices/pico-adafruit-qt-py-rp2040.png" width=150></a><br>Adafruit<br>QT Py | `pico/qtpy` | STEMMA/Qwiic connector, Neopixel, 1 button | <li>[Adafruit product page](https://www.adafruit.com/product/4900)</li> |
 | <img src="../assets/devices/pico-adafruit-qt-trinkey.png" width=150></a><br>Adafruit<br>Trinkey QT2040 | `pico/qt_trinkey` | STEMMA/Qwiic connector, Neopixel, 1 button | <li>[Adafruit product page](https://www.adafruit.com/product/5056)</li> |
 | <img src="../assets/devices/pico-pimoroni-tiny-2040.png" width=150></a><br>Pimoroni<br>Tiny 2040 | `pico/tiny2040` | RGB LED, 1 button| <li>[Pimoroni product page](https://shop.pimoroni.com/products/tiny-2040?variant=39560012234835)</li> |
-| <img src="../assets/devices/ws_round.png" width=150></a><br>WAVESHARE<br>1.28inch Round LCD | `pico/ws_round`<BR>`pico/ws_round_touch` | 1.28" IPS 240×240 Round Display| <li>[WAVESHARE product page](https://www.waveshare.com/rp2040-lcd-1.28.htm)</li><li>[touch LCD version](https://www.waveshare.com/product/rp2040-touch-lcd-1.28.htm)</li> |
+| <img src="../assets/devices/ws_round.png" width=150></a><br>WAVESHARE<br>1.28inch Round LCD | `pico/ws_round`<BR>`pico/ws_round_touch` | 1.28" IPS 240×240 Round Display<BR>IMU| <li>[WAVESHARE product page](https://www.waveshare.com/rp2040-lcd-1.28.htm)</li><li>[touch LCD version](https://www.waveshare.com/product/rp2040-touch-lcd-1.28.htm)</li> |
 | <img src="../assets/devices/pico-seeed-studio-xiao-rf2040.png" width=150></a><br>Seeed Studio<br>XIAO RP2040 | `pico/xiao_rp2040` | Neopixel | <li>[Seeed Studio product page](https://www.seeedstudio.com/XIAO-RP2040-v1-0-p-5026.html)</li> |
 | <img src="../assets/devices/pico-xiao-ili9341.png" width=140></a><BR>ili9341 | `pico/xiao_ili9341` | ili9341 QVGA display<BR>320 x 240<BR>16-bit color | <li>[Wiring Guide - Pico](../displays/images/xiao-qtpy-ili9341-wiring.png)</li> |
 | <img src="../assets/devices/pico-ili9341.png" width=140></a><BR>ili9341 | `pico/ili9341` | ili9341 QVGA display<BR>320 x 240<BR>16-bit color | <li>[Generic 2.4" & 2.8" Displays (Resistive Touch) Wiring Guide - Pico](../displays/wiring-guide-generic-2.4-spi-pico.md)</li> |

examples/drivers/sensors/qmi8658/bounce/main.js

@@ -0,0 +1,132 @@
+/*
+ * Copyright (c) 2016-2017  Moddable Tech, Inc.
+ *
+ *   This file is part of the Moddable SDK.
+ * 
+ *   This work is licensed under the
+ *       Creative Commons Attribution 4.0 International License.
+ *   To view a copy of this license, visit
+ *       <http://creativecommons.org/licenses/by/4.0>.
+ *   or send a letter to Creative Commons, PO Box 1866,
+ *   Mountain View, CA 94042, USA.
+ *
+ */
+
+import config from "mc/config";
+import Timer from "timer";
+import parseBMF from "commodetto/parseBMF";
+import parseBMP from "commodetto/parseBMP";
+import Poco from "commodetto/Poco";
+import Resource from "Resource";
+import ILI9341 from "ili9341";
+import device from "embedded:provider/builtin";
+import Accelerometer from "embedded:sensor/Accelerometer-Gyroscope/MPU6050";
+
+let pixelsOut = new ILI9341({});
+const width = pixelsOut.width;
+const height = pixelsOut.height;
+
+let render = new Poco(pixelsOut);
+let font = parseBMF(new Resource("OpenSans-Semibold-18.bf4"));
+
+let ball = parseBMP(new Resource("ball-color.bmp"));
+ball.alpha = parseBMP(new Resource("ball-alpha.bmp"));
+ball.x = width >> 1;
+ball.y = height >> 1;
+ball.vx = 0;
+ball.vy = 0;
+ball.yMin = font.height * 3;
+ball.backGroundColor = render.makeColor(0, 0, 0);
+
+const textColor = render.makeColor(255, 255, 255);
+const backgroundColor = render.makeColor(64, 64, 64);
+const barColor = render.makeColor(128, 128, 128);
+
+render.begin();
+	render.fillRectangle(backgroundColor, 0, 0, width, ball.yMin);
+	render.fillRectangle(ball.backgroundColor, 0, ball.yMin, width, height);
+render.end();
+
+let sensor = new Accelerometer({
+	sensor: {
+		...device.I2C.default,
+		io: device.io.SMBus
+	}
+});
+
+Timer.repeat(() => {
+	let values = sensor.sample();
+
+	if (180 === parseInt(config.orientation)) {
+		values.accelerometer.x = -values.accelerometer.x;
+	}
+
+	render.begin(0, 0, width, ball.yMin);
+		render.fillRectangle(backgroundColor, 0, 0, width, height);
+
+		drawBar("X", values.accelerometer.x, 0, 0, width, font.height);
+		drawBar("Y", values.accelerometer.y, 0, font.height, width, font.height);
+		drawBar("Z", values.accelerometer.z, 0, font.height * 2, width, font.height);
+	render.end();
+
+	ball.vx = (ball.vx + values.accelerometer.y) * 0.98;
+	ball.vy = (ball.vy + values.accelerometer.x) * 0.98;
+	let x = ball.x + ball.vx;
+	let y = ball.y + ball.vy;
+	if (x < 0) {
+		x = -x;
+		ball.vx = -ball.vx;
+	}
+	else if (x > (width - ball.width)) {
+		x = width - ball.width;
+		ball.vx = -ball.vx;
+	}
+	if (y < ball.yMin) {
+		y = ball.yMin;
+		ball.vy = -ball.vy;
+	}
+	else if (y > (height - ball.height)) {
+		y = height - ball.height;
+		ball.vy = -ball.vy;
+	}
+	moveBallTo(x, y)
+}, 17);
+
+function formatValue(value) {
+	if (!value)
+		return value;
+	if (value < 0)
+		return value.toFixed(3);
+	return "+" + value.toFixed(3);
+}
+
+function drawBar(label, value, x, y, width, height) {
+	const halfWidth = width >> 1;
+	const barWidth = (value * halfWidth) | 0;
+
+	if (value > 0)
+		render.fillRectangle(barColor, x + halfWidth, y, barWidth, height);
+	else
+		render.fillRectangle(barColor, x + halfWidth + barWidth, y, -barWidth, height);
+
+	render.drawText(label + " " + formatValue(value), font, textColor, x + 50, y);
+}
+
+function moveBallTo(x, y) {
+	const w = ball.width, h = ball.height;
+
+	if ((Math.abs(ball.x - x) <= w) && (Math.abs(ball.y - y) <= h))
+		render.begin(Math.min(ball.x, x), Math.min(ball.y, y), w << 1, h << 1);		// often overdrawing
+	else {
+		render.begin(ball.x, ball.y, w, h);
+		render.fillRectangle(ball.backgroundColor, 0, 0, width, height);
+		render.continue(x, y, w, h);
+	}
+
+	render.fillRectangle(ball.backgroundColor, 0, 0, width, height);
+	render.drawMasked(ball, x, y, 0, 0, w, h, ball.alpha, 0, 0);
+	render.end();
+
+	ball.x = x;
+	ball.y = y;
+}

examples/drivers/sensors/qmi8658/bounce/manifest.json

@@ -0,0 +1,24 @@
+{
+	"include": [
+		"$(MODDABLE)/examples/manifest_base.json",
+		"$(MODDABLE)/examples/manifest_commodetto.json",
+		"$(MODDABLE)/modules/drivers/ili9341/manifest.json",
+		"$(MODDABLE)/modules/drivers/sensors/mpu6050/manifest.json",
+		"$(MODDABLE)/modules/io/manifest.json"
+	],
+	"modules": {
+		"*": [
+			"./main"
+		]
+	},
+	"config": {
+		"orientation": "180"
+	},
+	"preload": [
+		"pins/*"
+	],
+	"resources": {
+		"*": "./ball",
+		"*-mask": "$(MODDABLE)/examples/assets/fonts/OpenSans-Semibold-18"
+	}
+}

examples/drivers/sensors/qmi8658/poll/main.js

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2026 Moddable Tech, Inc. ,Satoshi Tanaka
+ *
+ *   This file is part of the Moddable SDK.
+ * 
+ *   This work is licensed under the
+ *       Creative Commons Attribution 4.0 International License.
+ *   To view a copy of this license, visit
+ *       <http://creativecommons.org/licenses/by/4.0>.
+ *   or send a letter to Creative Commons, PO Box 1866,
+ *   Mountain View, CA 94042, USA.
+ *
+ */
+
+import QMI8658 from "embedded:sensor/Accelerometer-Gyroscope/QMI8658";
+import Timer from "timer";
+
+const sensor = new QMI8658({
+	sensor: {
+		...device.I2C.default,
+		io: device.io.SMBus
+	}
+});
+
+sensor.configure({
+	ACCEL_SCALE: 8.0 / 32768.0,		// AFS_8G
+	GYRO_SCALE: 1024.0 / 32768.0	// GFS_1024DPS
+});
+
+Timer.repeat(() => {
+	const sample = sensor.sample();
+	trace(`Accel: [${sample.accelerometer.x?.toFixed(2)}, ${sample.accelerometer.y?.toFixed(2)}, ${sample.accelerometer.z?.toFixed(2)}] - `);
+	trace(`Gyro: [${sample.gyroscope.x?.toFixed(2)}, ${sample.gyroscope.y?.toFixed(2)}, ${sample.gyroscope.z?.toFixed(2)}]\n`);
+}, 2000);
+

examples/drivers/sensors/qmi8658/poll/manifest.json

@@ -0,0 +1,9 @@
+{
+	"include": [
+		"$(MODDABLE)/examples/manifest_base.json",
+		"$(MODDABLE)/modules/drivers/sensors/qmi8658/manifest.json"
+	],
+	"modules": {
+		"*": "./main"
+	}
+}