basic menu working

.gitignore

@@ -0,0 +1,23 @@
+.pytest_cache/
+__pycache__/
+
+# esp-idf built binaries
+build/
+build_*_*/
+#sdkconfig
+
+# idf-ci build run output
+build_summary_*.xml
+app_info_*.txt
+size_info_*.txt
+
+# pytest-embedded log folder
+pytest_embedded_log/
+
+# idf-component-manager output
+dependencies.lock
+
+.devcontainer
+
+managed_components
+components

.vscode/c_cpp_properties.json

@@ -0,0 +1,23 @@
+{
+    "configurations": [
+        {
+            "name": "ESP-IDF",
+            "compilerPath": "${config:idf.toolsPathWin}\\tools\\xtensa-esp-elf\\esp-13.2.0_20240530\\xtensa-esp-elf\\bin\\xtensa-esp32-elf-gcc.exe",
+            "compileCommands": "${config:idf.buildPath}/compile_commands.json",
+            "includePath": [
+                "${config:idf.espIdfPath}/components/**",
+                "${config:idf.espIdfPathWin}/components/**",
+                "${workspaceFolder}/**"
+            ],
+            "browse": {
+                "path": [
+                    "${config:idf.espIdfPath}/components",
+                    "${config:idf.espIdfPathWin}/components",
+                    "${workspaceFolder}"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            }
+        }
+    ],
+    "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "type": "gdbtarget",
+      "request": "attach",
+      "name": "Eclipse CDT GDB Adapter"
+    },
+    {
+      "type": "espidf",
+      "name": "Launch",
+      "request": "launch"
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,41 @@
+{
+    "C_Cpp.intelliSenseEngine": "default",
+    "idf.espIdfPathWin": "C:\\Users\\brent.RPX\\esp\\v5.3.1\\esp-idf",
+    "idf.openOcdConfigs": [
+        "board/esp32-wrover-kit-3.3v.cfg"
+    ],
+    "idf.portWin": "COM4",
+    "idf.toolsPathWin": "C:\\Users\\brent.RPX\\.espressif\\tools",
+    "idf.flashType": "UART",
+    "files.associations": {
+        "esp_system.h": "c",
+        "task.h": "c",
+        "bt_app_core.h": "c",
+        "math.h": "c",
+        "esp_log.h": "c",
+        "freertos.h": "c",
+        "queue.h": "c",
+        "unistd.h": "c",
+        "inttypes.h": "c",
+        "esp_idf_version.h": "c",
+        "timers.h": "c",
+        "lvgl.h": "c",
+        "esp_timer.h": "c",
+        "esp_bt_device.h": "c",
+        "esp_lvgl_port.h": "c",
+        "lv_global.h": "c",
+        "stdio.h": "c",
+        "compare": "c",
+        "cstdint": "c",
+        "spi_master.h": "c",
+        "bitset": "c",
+        "format": "c",
+        "system.h": "c",
+        "esp_lcd_panel_ops.h": "c",
+        "semphr.h": "c",
+        "lv_spinbox.h": "c",
+        "lv_slider.h": "c",
+        "lv_menu.h": "c"
+    },
+    "git.ignoreLimitWarning": true
+}

main/gui.c

@@ -25,6 +25,9 @@
 
 static const char *TAG = "gui";
 
+#define UNLOCK()    lvgl_port_unlock()
+#define LOCK()      lvgl_port_lock(0)
+
 // LCD Pin Configuration
 #define LCD_PIXEL_CLOCK_HZ     (5 * 1000 * 1000)
 #define LCD_SPI_HOST           SPI2_HOST
@@ -48,8 +51,17 @@ static lv_obj_t *imu_label = NULL;  // Label for IMU data
 
 static lv_style_t style_mono8;
 
+typedef struct
+{
+    int selected;
+    int count;
+    lv_obj_t *obj;
+} menu_context_t;
+
 static void gui_task(void);
 static void createBubble(lv_obj_t * scr);
+static void build_scrollable_menu(void);
+static void currentFocusIndex(menu_context_t *ctx);
 
 #define MAX_ITEMS 10
 #define VISIBLE_ITEMS 3
@@ -65,72 +77,19 @@ static lv_obj_t *list;
 static lv_obj_t *buttons[MAX_ITEMS];
 static int selected_index = 0;
 static lv_obj_t *_bubble = NULL;
+static lv_obj_t * _menu = NULL;
+static lv_obj_t *_currentPage = NULL;
+
+static GuiMode_t _mode = GUI_BUBBLE;
+
+/* 1. Prepare a default (unfocused) style */
+static lv_style_t _styleUnfocusedBtn;
 
 
+/* 2. Prepare a focus style */
+static lv_style_t _styleFocusedBtn;
 
-// Update highlight based on selected_index
+static menu_context_t _menuContext;
-void update_highlight() {
-
-    lvgl_port_lock(0);
-    for (int i = 0; i < MAX_ITEMS; i++) {
-        if (buttons[i]) {
-            lv_obj_remove_state(buttons[i], LV_STATE_FOCUSED);
-        }
-    }
-    //if (buttons[selected_index]) 
-    {
-        lv_obj_add_state(buttons[selected_index], LV_STATE_FOCUSED);
-        lv_obj_scroll_to_view(buttons[selected_index], LV_ANIM_ON);
-    }
-    
-    lvgl_port_unlock();
-}
-
-// Called when the GPIO button is pressed
-void scroll_down() {
-    if (selected_index < MAX_ITEMS - 1) {
-        selected_index++;
-        update_highlight();
-    }
-}
-
-void scroll_up() {
-    if (selected_index > 0) {
-        selected_index--;
-        update_highlight();
-    }
-}
-
-static void create_menu(lv_obj_t *parent) 
-{
-    lvgl_port_lock(0);
-
-    list = lv_list_create(parent);
-    lv_obj_set_size(list, 160, 80);
-    lv_obj_center(list);
-    lv_obj_set_style_pad_row(list, 2, 0);
-    lv_obj_set_scroll_dir(list, LV_DIR_VER);
-    lv_obj_set_scrollbar_mode(list, LV_SCROLLBAR_MODE_AUTO);
-
-    for (int i = 0; i < MAX_ITEMS; i++) {
-        buttons[i] = lv_list_add_btn(list, NULL, menu_items[i]);
-    }
-
-    // Apply style to show selection highlight
-    static lv_style_t style_focus;
-    lv_style_init(&style_focus);
-    lv_style_set_bg_color(&style_focus, lv_palette_main(LV_PALETTE_RED));
-    lv_style_set_bg_opa(&style_focus, LV_OPA_COVER);
-    lv_style_set_text_color(&style_focus, lv_color_white());
-
-    for (int i = 0; i < MAX_ITEMS; i++) {
-        lv_obj_add_style(buttons[i], &style_focus, LV_STATE_FOCUSED);
-    }
-
-    update_highlight();
-
-    lvgl_port_unlock();
-}
 
 static bool notify_lvgl_flush_ready(void *user_ctx) {
     if (disp) {
@@ -146,40 +105,13 @@ static void create_lvgl_demo(void)
     lvgl_port_lock(0);
     // Create a screen with black background
     lv_obj_t *scr = lv_scr_act();
-    //lv_obj_set_style_bg_color(scr, lv_color_black(), LV_PART_MAIN);
-    //lv_obj_set_style_bg_color(scr, lv_palette_main(LV_PALETTE_RED), LV_PART_MAIN);
-
-    //lv_style_init(&style_mono8);
-    //lv_style_set_text_font(&style_mono8, &lv_font_unscii_8);
-
     //create_menu(scr);
     createBubble(scr);
+    build_scrollable_menu();
 
     lvgl_port_unlock();
 
-#if 0
-   // Create a label for IMU data
-    imu_label = lv_label_create(scr);
-    lv_obj_set_style_text_font(imu_label, &lv_font_montserrat_20, LV_PART_MAIN);
-    lv_obj_set_style_text_color(imu_label, lv_color_white(), LV_PART_MAIN);
-    lv_obj_align(imu_label, LV_ALIGN_CENTER, 0, 0);
-    lv_label_set_text(imu_label, "SOUNDSHOT!");
 
-    // // Create a button
-    // lv_obj_t *btn = lv_btn_create(scr);
-    // lv_obj_align(btn, LV_ALIGN_CENTER, 0, 0);
-    // lv_obj_set_size(btn, 70, 30);
-    
-    // // Add label to button
-    // label = lv_label_create(btn);
-    // lv_label_set_text(label, "Button");
-    // lv_obj_center(label);
-
-    // // Create a slider
-    // lv_obj_t *slider = lv_slider_create(scr);
-    // lv_obj_align(slider, LV_ALIGN_BOTTOM_MID, 0, -20);
-    // lv_obj_set_width(slider, 70);
-#endif    
 }
 
 static void lcd_init(void)
@@ -206,7 +138,6 @@ static void lcd_init(void)
         .lcd_param_bits = LCD_PARAM_BITS,
         .spi_mode = 3,
         .trans_queue_depth = 10,
-        //.on_color_trans_done = notify_lvgl_flush_ready,
         .user_ctx = NULL,
     };
     ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi((esp_lcd_spi_bus_handle_t)LCD_SPI_HOST, &io_config, &io_handle));
@@ -313,8 +244,6 @@ void gui_start(void)
 
     xTaskCreate(gui_task, "gui_task", 4096, NULL, 5, NULL);
 
-    system_notifyAll(EM_EVENT_NEW_DATA);
-
 }
 
 static uint32_t waitForKeyPress(void)
@@ -341,6 +270,299 @@ static void handleMainMenu(void)
     lvgl_port_unlock();
 }
 
+
+// ───── MENU CONFIG ─────
+#define ROW_H      20                                      // height of each row
+static const char * items[] = {                          // your menu entries
+    "VMode Crossmade",
+    "Second Choice",
+    "Another Option",
+    "Yet Another",
+    "Yet Another",
+    "Last One"
+};
+#define ITEM_COUNT (sizeof(items)/sizeof(items[0]))
+
+// ───── STATE & HELPERS ─────
+static lv_obj_t * btn_array[ITEM_COUNT];
+static int        selected_idx = 0;
+
+// Called whenever a button is “activated” (Enter/Click)
+static void btn_click_cb(lv_event_t * e) {
+    lv_obj_t * btn = lv_event_get_target(e);
+    const char * txt = lv_label_get_text(lv_obj_get_child(btn, 0));
+    ESP_LOGI(TAG, "Activated: %s\n", txt);
+}
+
+// Repaint all rows so only btn_array[selected_idx] is highlighted
+static void refresh_highlight(void) {
+
+    return;
+    lvgl_port_lock(0);
+
+    int index = 0;
+
+    lv_obj_t *page = _currentPage;
+
+    lv_obj_t * child = NULL;
+    lv_obj_t * next = lv_obj_get_child(page, index);
+    lv_obj_t * selected = NULL;
+    while(next) {
+        child = next;
+
+        ESP_LOGI(TAG, "Child: %p", child);
+        
+
+        if (lv_obj_has_flag(child, LV_OBJ_FLAG_USER_1))
+        {
+            lv_obj_set_style_bg_color(child, lv_color_hex(0xFF8800), 0);
+                lv_obj_set_style_text_color(lv_obj_get_child(child,0),
+                                            lv_color_white(), 0);
+
+            selected = child;
+            ESP_LOGI(TAG, "Selected");
+        }
+        else 
+        {
+            lv_obj_set_style_bg_color(child, lv_color_white(), 0);
+            lv_obj_set_style_text_color(lv_obj_get_child(child,0),
+                                        lv_color_black(), 0);
+        }
+
+        index++;
+        next = lv_obj_get_child(page, index);
+    }
+
+    // for(int i = 0; i < ITEM_COUNT; i++) {
+    //     if(i == selected_idx) {
+    //         lv_obj_set_style_bg_color(btn_array[i], lv_color_hex(0xFF8800), 0);
+    //         lv_obj_set_style_text_color(lv_obj_get_child(btn_array[i],0),
+    //                                     lv_color_white(), 0);
+    //     } else {
+    //         lv_obj_set_style_bg_color(btn_array[i], lv_color_white(), 0);
+    //         lv_obj_set_style_text_color(lv_obj_get_child(btn_array[i],0),
+    //                                     lv_color_black(), 0);
+    //     }
+    // }
+
+    if (selected)
+    {
+    lv_obj_scroll_to_view(selected, LV_ANIM_ON);
+    }
+
+    lvgl_port_unlock();
+}
+
+
+static void menuInc(int inc)
+{
+    LOCK();
+
+    currentFocusIndex(&_menuContext);
+
+    ESP_LOGI(TAG, "Current Index: %d", _menuContext.selected);
+
+    lv_obj_t *next = NULL;
+
+    // check if we are at the first or last in the page
+    lv_obj_t *test = lv_obj_get_child(_currentPage, (inc > 0 ? -1 : 0));
+
+    if (_menuContext.obj != test)
+    {
+        next = lv_obj_get_child(_currentPage, _menuContext.selected + inc);
+        lv_obj_add_state(next, LV_STATE_FOCUSED);
+        lv_obj_clear_state(_menuContext.obj, LV_STATE_FOCUSED);
+        lv_obj_scroll_to_view(next, LV_ANIM_ON);
+
+        _menuContext.obj = next;
+        _menuContext.selected += inc;
+    }
+    
+    UNLOCK();
+}
+
+static void menuNext(void) 
+{
+    menuInc(1);
+}
+
+
+static void menuPrevious(void) 
+{
+    menuInc(-1);
+}
+
+// Fire the “clicked” event on the selected row
+static void activate_selected(void) 
+{
+    LOCK();
+    lv_obj_send_event(_menuContext.obj, LV_EVENT_CLICKED, NULL);
+    UNLOCK();
+}
+
+static lv_obj_t * addMenuItem(lv_obj_t *page, const char *text)
+{
+    lv_obj_t * btn = lv_btn_create(page);
+    lv_obj_set_size(btn, LV_PCT(100), ROW_H);
+
+
+    lv_obj_add_style(btn, &_styleUnfocusedBtn,   LV_PART_MAIN | LV_STATE_DEFAULT);
+    lv_obj_add_style(btn, &_styleFocusedBtn, LV_PART_MAIN | LV_STATE_FOCUSED);
+
+    lv_obj_add_state(btn, LV_STATE_DEFAULT);
+
+
+    // style it just like your old list
+//    lv_obj_set_style_bg_color(btn, lv_color_white(), 0);
+    lv_obj_set_style_radius(btn, 0, LV_PART_MAIN); 
+    lv_obj_set_style_border_width(btn, 0, LV_PART_MAIN);
+    lv_obj_clear_flag(btn, LV_OBJ_FLAG_SCROLLABLE);
+
+    // label & center
+    lv_obj_t * lbl = lv_label_create(btn);
+    lv_label_set_text(lbl, text);
+    lv_obj_set_style_radius(lbl, 0, LV_PART_MAIN | LV_STATE_ANY); 
+    lv_obj_set_style_border_width(lbl, 0, LV_PART_MAIN | LV_STATE_ANY);
+
+    // click callback
+    lv_obj_add_event_cb(btn, btn_click_cb, LV_EVENT_CLICKED, NULL);
+
+    return btn;
+}
+
+static int getSelectedIndex(lv_obj_t *page)
+{
+    return -1;
+}
+
+
+
+static void currentFocusIndex(menu_context_t *ctx)
+{
+    ctx->count = lv_obj_get_child_cnt(_currentPage);
+    ctx->obj = NULL;
+    ctx->selected = -1;
+
+    // return the index of the currently focused object
+    for(int i = 0; i < ctx->count; i++) {
+        lv_obj_t * child = lv_obj_get_child(_currentPage, i);
+        
+        if (lv_obj_has_state(child, LV_STATE_FOCUSED))
+        {
+            ctx->obj = child;
+            ctx->selected = i;
+
+            return;
+        }
+    }
+
+    
+
+}
+// ───── BUILD THE MENU ─────
+static void build_scrollable_menu(void) {
+
+
+    lv_style_init(&_styleFocusedBtn);
+    lv_style_init(&_styleUnfocusedBtn);
+
+    lv_style_set_bg_color(&_styleUnfocusedBtn, lv_color_make(0xff,0xff,0xff));  // gray bg
+    lv_style_set_text_color(&_styleUnfocusedBtn, lv_color_hex(0xFF8800));
+
+    lv_style_set_bg_color(&_styleFocusedBtn, lv_color_make(0x33,0x99,0xFF)); // blue bg
+    lv_style_set_text_color(&_styleUnfocusedBtn,lv_color_black());
+
+
+    // 2) Inside it, create the lv_menu and hide its sidebar/header
+    lv_obj_t *menu = lv_menu_create(lv_scr_act());
+    _menu = menu;
+    
+    lv_obj_set_style_radius(menu, 0, LV_PART_MAIN | LV_STATE_ANY);
+    lv_obj_set_style_border_width(menu, 0, LV_PART_MAIN | LV_STATE_ANY);
+    lv_obj_set_size(menu, lv_pct(100), lv_pct(100));
+    lv_obj_center(menu);
+
+    lv_obj_set_scrollbar_mode(menu, LV_SCROLLBAR_MODE_AUTO);
+
+
+    lv_obj_t    * main = lv_menu_page_create(menu, NULL);
+    lv_obj_set_style_radius(main,       0, LV_PART_MAIN | LV_STATE_ANY);
+    lv_obj_set_style_border_width(main, 0, LV_PART_MAIN | LV_STATE_ANY);
+    lv_obj_set_scrollbar_mode(main, LV_SCROLLBAR_MODE_AUTO);
+    lv_obj_set_size(main, lv_pct(100), lv_pct(100));
+
+    lv_menu_set_page(menu, main);
+
+    lv_obj_t    * tmpObj;
+
+
+
+    lv_obj_t    * calMenu = lv_menu_page_create(menu, NULL);
+    lv_obj_set_style_radius(calMenu,       0, LV_PART_MAIN | LV_STATE_ANY);
+    lv_obj_set_style_border_width(calMenu, 0, LV_PART_MAIN | LV_STATE_ANY);
+    lv_obj_set_scrollbar_mode(calMenu, LV_SCROLLBAR_MODE_AUTO);
+
+    tmpObj = addMenuItem(main, "Bluetooth");
+    lv_obj_add_state(tmpObj, LV_STATE_FOCUSED);
+    //lv_obj_add_flag(tmpObj, LV_OBJ_FLAG_USER_1);
+        
+    tmpObj = addMenuItem(main, "Calibration");
+    lv_menu_set_load_page_event(menu, tmpObj, calMenu);
+    
+
+    tmpObj = addMenuItem(main, "Volume");
+    
+    addMenuItem(main, "About");
+    addMenuItem(main, "Exit");
+
+    
+    addMenuItem(calMenu, "Calibrate Level");
+    addMenuItem(calMenu, "Reset Calibration");
+    addMenuItem(calMenu, "Exit");
+
+    _currentPage = main;
+    
+
+    
+#if 0
+    for(int i = 0; i < ITEM_COUNT; i++) {
+        // create a full-width button in that section
+        lv_obj_t * btn = lv_btn_create(main);
+        lv_obj_set_size(btn, LV_PCT(100), ROW_H);
+
+        // style it just like your old list
+        lv_obj_set_style_bg_color(btn, lv_color_white(), 0);
+        lv_obj_set_style_radius(btn, 0, LV_PART_MAIN); 
+        lv_obj_set_style_border_width(btn, 0, LV_PART_MAIN);
+        lv_obj_clear_flag(btn, LV_OBJ_FLAG_SCROLLABLE);
+        
+
+        // label & center
+        lv_obj_t * lbl = lv_label_create(btn);
+        lv_label_set_text(lbl, items[i]);
+        lv_obj_set_style_radius(lbl, 0, LV_PART_MAIN | LV_STATE_ANY); 
+        lv_obj_set_style_border_width(lbl, 0, LV_PART_MAIN | LV_STATE_ANY);
+        //lv_obj_center(lbl);
+
+        // click callback
+        lv_obj_add_event_cb(btn, btn_click_cb, LV_EVENT_CLICKED, NULL);
+
+        // save for highlight/scroll
+        btn_array[i] = btn;
+    }
+
+//     lv_obj_t * content = lv_obj_get_child(page, 0);  
+// lv_obj_set_style_radius(content, 0, LV_PART_MAIN | LV_STATE_ANY);
+// lv_obj_set_style_border_width(content, 0, LV_PART_MAIN | LV_STATE_ANY);
+#endif
+    // 6) Initial highlight
+    selected_idx = 0;
+    refresh_highlight();
+
+    
+
+}
+
 static void gui_task(void)
 {
     system_subscribe(xTaskGetCurrentTaskHandle());
@@ -349,24 +571,50 @@ static void gui_task(void)
     QueueHandle_t q = keypad_getQueue();
     uint32_t ev = 0;
 
+    lv_obj_remove_flag(_bubble, LV_OBJ_FLAG_HIDDEN);
+    lv_obj_add_flag(_menu, LV_OBJ_FLAG_HIDDEN);
 
     while (1)
     {
+        
 
         if (xQueueReceive(q, &ev, pdMS_TO_TICKS(10)) == pdTRUE) 
         {
             switch (ev) {
             case (KEY0 << KEY_SHORT_PRESS):
-                scroll_down();
+
+                if (_mode == GUI_MENU)
+                {
+                    menuNext();
+                }
                 ESP_LOGI(TAG, "MAIN: Button 1 SHORT");
                 break;
             case (KEY0 << KEY_LONG_PRESS):
-                ESP_LOGI(TAG, "MAIN: Button 1 LONG");
+
+                if (_mode != GUI_MENU)
+                {
+                    _mode = GUI_MENU;
+                    lv_obj_remove_flag(_menu, LV_OBJ_FLAG_HIDDEN);
+                    lv_obj_add_flag(_bubble, LV_OBJ_FLAG_HIDDEN);
+                }
+                else
+                if (_mode == GUI_MENU)
+                {
+                    activate_selected();
+                    _mode = GUI_BUBBLE;
+                    // lv_obj_remove_flag(_bubble, LV_OBJ_FLAG_HIDDEN);
+                    // lv_obj_add_flag(_menu, LV_OBJ_FLAG_HIDDEN);
+                }
+
                 break;
             case (KEY1 << KEY_SHORT_PRESS):
-                scroll_up();
+            {
-                ESP_LOGI(TAG, "MAIN: Button 2 SHORT");
+                if (_mode == GUI_MENU)
+                {
+                    menuPrevious();
+                }
                 break;
+            }
             case (KEY1 << KEY_LONG_PRESS):
                 ESP_LOGI(TAG, "MAIN: Button 2 LONG");
                 gpio_set_level(PIN_NUM_nON, 0);
@@ -376,25 +624,26 @@ static void gui_task(void)
             }
         }
     
-
+        
-        uint32_t notifiedBits = 0;
+        if (_mode == GUI_BUBBLE)
-            // clear on entry (first param), wait for any bit, block forever
-        xTaskNotifyWait(
-            0xFFFFFFFF,        // clear any old bits on entry
-            0xFFFFFFFF,        // clear bits on exit
-            &notifiedBits,
-            portMAX_DELAY);
-
-        if (notifiedBits & EM_EVENT_NEW_DATA) 
         {
-            ImuData_t d = system_getImuData();
+            uint32_t notifiedBits = 0;
-
+                // clear on entry (first param), wait for any bit, block forever
-            //ESP_LOGI(TAG, "Angle: %.2f", a);
+            xTaskNotifyWait(
-            bubble_setValue(_bubble, -d.filtered[ANGLE_XY]);
+                0xFFFFFFFF,        // clear any old bits on entry
+                0xFFFFFFFF,        // clear bits on exit
+                &notifiedBits,
+                pdMS_TO_TICKS(10));
 
+            if (notifiedBits & EM_EVENT_NEW_DATA) 
+            {
+                ImuData_t d = system_getImuData();
+                bubble_setValue(_bubble, -d.angle);
+            }
         }
 
     }
+    
 
     
 }

main/gui.h

@@ -1,6 +1,12 @@
 #ifndef GUI_H
 #define GUI_H
 
+typedef enum
+{
+    GUI_MAIN = 0,
+    GUI_MENU,
+    GUI_BUBBLE
+} GuiMode_t;
 
 void gui_start(void);
 

main/main.c

@@ -168,8 +168,25 @@ static void imu_task(void *pvParameters) {
             imu.raw[ANGLE_XY] = atan2f((float)imu_data.acc_x, (float)imu_data.acc_y) * 180 / M_PI;
 
             
+            float angle;
 
-            imu.filtered[ANGLE_XY] = LPF_Update(&lpf, imu.raw[ANGLE_XY]);
+            if (imu.raw[ANGLE_XY] > MAX_INDICATION_ANGLE)
+            {
+                angle = MAX_INDICATION_ANGLE;
+            }
+            else
+            if (imu.raw[ANGLE_XY] > MAX_INDICATION_ANGLE)
+            {
+                angle = -MAX_INDICATION_ANGLE;
+            }
+            else
+            {
+                angle = imu.raw[ANGLE_XY];
+            }
+            
+            imu.angle = LPF_Update(&lpf, angle);
+
+            //imu.filtered[ANGLE_XY] = LPF_Update(&lpf, imu.raw[ANGLE_XY]);
 
             system_setImuData(imu);
 

main/system.c

@@ -94,7 +94,7 @@ void system_notifyAll(uint32_t eventBits) {
     if (xSemaphoreTake(em->mutex, portMAX_DELAY) == pdTRUE) {
         for (size_t i = 0; i < em->count; ++i) {
             // set the bits in each task's notification value
-            ESP_LOGI("g", "Notify: %p", em->subscribers[i]);
+            //ESP_LOGI("g", "Notify: %p", em->subscribers[i]);
             xTaskNotify(em->subscribers[i],
                         eventBits,
                         eSetBits);

main/system.h

@@ -12,10 +12,13 @@ enum
     ANGLE_YZ,
 };
 
+
+
 typedef struct
 {
     float raw[3];
     float filtered[3];
+    float angle;
 } ImuData_t;
 
 typedef struct SystemState_s
@@ -23,9 +26,12 @@ typedef struct SystemState_s
 	ImuData_t imu;
 
 	EventGroupHandle_t event;
+
+
 } SystemState_t;
 
 
+#define MAX_INDICATION_ANGLE    10.0f
 
 #define EM_MAX_SUBSCRIBERS 8    // tweak as needed
 #define EM_EVENT_NEW_DATA   (1UL<<0)