{
  "id": "com.bkpt.imu-6dof",
  "name": "IMU (6-axis MEMS)",
  "version": "0.2.0",
  "domain_api": 1,
  "publisher": "BKPT Labs",
  "sampled_state": {
    "svd_device": "STM32WB55_CM4",
    "target_device_prefix": [
      "STM32WB5"
    ],
    "rate_hz": 1000,
    "coalesce_gap_bytes": 256,
    "channels": [
      {
        "name": "imu.sample_count",
        "symbol": "imu_sample_count",
        "ty": "u32",
        "note": "samples the application actually consumed; the sensor's own pace is imu.odr_hz"
      },
      {
        "name": "imu.acc_x",
        "symbol": "imu_acc_x_mg",
        "ty": "i32"
      },
      {
        "name": "imu.acc_y",
        "symbol": "imu_acc_y_mg",
        "ty": "i32"
      },
      {
        "name": "imu.acc_z",
        "symbol": "imu_acc_z_mg",
        "ty": "i32"
      },
      {
        "name": "imu.gyro_x",
        "symbol": "imu_gyro_x_mdps",
        "ty": "i32"
      },
      {
        "name": "imu.gyro_y",
        "symbol": "imu_gyro_y_mdps",
        "ty": "i32"
      },
      {
        "name": "imu.gyro_z",
        "symbol": "imu_gyro_z_mdps",
        "ty": "i32"
      },
      {
        "name": "imu.ctrl1_xl",
        "symbol": "imu_ctrl1_xl",
        "ty": "u32",
        "note": "firmware mirror of the sensor's CTRL1_XL, re-read after every config write"
      },
      {
        "name": "imu.bus_errs",
        "symbol": "imu_i2c_errs",
        "ty": "u32"
      },
      {
        "name": "app.heartbeat",
        "symbol": "app_heartbeat",
        "ty": "u32",
        "note": "liveness reference: advances while the application scheduler runs"
      },
      {
        "name": "imu.bus_cr1",
        "peripheral": "I2C3",
        "register": "CR1",
        "safety": "conditional",
        "precondition": {
          "peripheral": "RCC",
          "register": "APB1ENR1",
          "mask": "0x00800000",
          "equals": "0x00800000",
          "description": "I2C3 clock disabled: registers read zero, not data"
        }
      },
      {
        "name": "imu.whoami",
        "safety": "unsupported",
        "reason": "sensor-internal register behind the application's I2C bus; the debug port cannot address the sensor"
      },
      {
        "name": "imu.fifo_level",
        "safety": "unsupported",
        "reason": "sensor-internal FIFO status behind the application's I2C bus; observe a firmware mirror instead"
      }
    ]
  },
  "derived": [
    {
      "type": "field",
      "name": "imu.odr_code",
      "source": "imu.ctrl1_xl",
      "shift": 4,
      "mask": "0xF"
    },
    {
      "type": "map",
      "name": "imu.odr_hz",
      "source": "imu.odr_code",
      "unit": "Hz",
      "table": {
        "0": 0,
        "1": 12.5,
        "2": 26,
        "3": 52,
        "4": 104,
        "5": 208,
        "6": 416,
        "7": 833,
        "8": 1660,
        "9": 3330,
        "10": 6660
      }
    },
    {
      "type": "field",
      "name": "imu.acc_fs_code",
      "source": "imu.ctrl1_xl",
      "shift": 2,
      "mask": "0x3"
    },
    {
      "type": "map",
      "name": "imu.acc_fs_g",
      "source": "imu.acc_fs_code",
      "unit": "g",
      "table": {
        "0": 2,
        "1": 16,
        "2": 4,
        "3": 8
      }
    },
    {
      "type": "rate",
      "name": "imu.sample_rate",
      "source": "imu.sample_count",
      "unit": "samples/s"
    },
    {
      "type": "field",
      "name": "imu.bus_enabled",
      "source": "imu.bus_cr1",
      "shift": 0,
      "mask": "0x1",
      "values": {
        "0": "OFF",
        "1": "ON"
      }
    }
  ],
  "verdicts": [
    {
      "id": "imu-rate-below-odr",
      "name": "Consumer behind the sensor",
      "severity": "warning",
      "when": {
        "type": "ratio_below",
        "channel": "imu.sample_rate",
        "reference": "imu.odr_hz",
        "ratio": 0.8,
        "sustained_ms": 2000
      },
      "explain": "The application is consuming samples slower than the sensor's configured output data rate, so data is overwritten unread. Check the reader task's period and priority, and the bus bandwidth.",
      "evidence": [
        "imu.sample_rate",
        "imu.odr_hz",
        "imu.sample_count"
      ]
    },
    {
      "id": "imu-stream-stalled",
      "name": "IMU stream stalled",
      "severity": "error",
      "when": {
        "type": "counter_stalled",
        "channel": "imu.sample_count",
        "while_advances": "app.heartbeat",
        "window_ms": 1000
      },
      "explain": "Sample consumption stopped while the rest of the application kept running. Check whether the reader task is blocked, starved, or deleted, and whether the sensor still asserts data-ready.",
      "evidence": [
        "imu.sample_count",
        "app.heartbeat",
        "imu.odr_hz"
      ]
    },
    {
      "id": "imu-bus-errors",
      "name": "IMU bus errors",
      "severity": "error",
      "when": {
        "type": "counter_advanced",
        "channel": "imu.bus_errs"
      },
      "explain": "The sensor driver reported bus transaction failures. Check bus contention between tasks, pull-ups, and clock stretching tolerance.",
      "evidence": [
        "imu.bus_errs",
        "imu.sample_rate"
      ]
    }
  ],
  "channels": [
    {
      "match": {
        "ns": "poll",
        "name": "imu.acc_x"
      },
      "unit": "mg",
      "group": "Accelerometer",
      "interpolation": "step",
      "graph": true
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.acc_y"
      },
      "unit": "mg",
      "group": "Accelerometer",
      "interpolation": "step",
      "graph": true
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.acc_z"
      },
      "unit": "mg",
      "group": "Accelerometer",
      "interpolation": "step",
      "graph": true
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.gyro_x"
      },
      "unit": "mdps",
      "group": "Gyroscope",
      "interpolation": "step",
      "graph": true
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.gyro_y"
      },
      "unit": "mdps",
      "group": "Gyroscope",
      "interpolation": "step",
      "graph": true
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.gyro_z"
      },
      "unit": "mdps",
      "group": "Gyroscope",
      "interpolation": "step",
      "graph": true
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.sample_count"
      },
      "display": "counter",
      "group": "Stream",
      "graph": false
    },
    {
      "match": {
        "ns": "poll",
        "name": "app.heartbeat"
      },
      "display": "counter",
      "group": "Stream",
      "graph": false
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.bus_errs"
      },
      "display": "counter",
      "group": "Bus",
      "graph": true
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.bus_cr1"
      },
      "display": "register",
      "group": "Bus",
      "graph": false
    },
    {
      "match": {
        "ns": "poll",
        "name": "imu.ctrl1_xl"
      },
      "display": "register",
      "group": "Config",
      "graph": false
    },
    {
      "match": {
        "ns": "derived",
        "name": "imu.sample_rate"
      },
      "unit": "samples/s",
      "group": "Stream",
      "graph": true
    },
    {
      "match": {
        "ns": "derived",
        "name": "imu.odr_hz"
      },
      "unit": "Hz",
      "group": "Config",
      "interpolation": "step",
      "graph": false
    },
    {
      "match": {
        "ns": "derived",
        "name": "imu.acc_fs_g"
      },
      "unit": "g",
      "group": "Config",
      "interpolation": "step",
      "graph": false
    },
    {
      "match": {
        "ns": "derived",
        "name": "imu.bus_enabled"
      },
      "display": "enum",
      "group": "Bus",
      "graph": false
    },
    {
      "match": {
        "ns": "derived",
        "name_prefix": "imu."
      },
      "group": "Config",
      "interpolation": "step",
      "graph": false
    }
  ],
  "series_kinds": [],
  "namespaces": [],
  "presentation": {
    "sections": [
      {
        "title": "Motion",
        "view": "cards",
        "description": "Firmware-retained sensor samples. The six axes start graphed; each can be selected independently.",
        "fields": [
          {
            "channel": "imu.acc_x",
            "label": "Acceleration X",
            "unit": "mg"
          },
          {
            "channel": "imu.acc_y",
            "label": "Acceleration Y",
            "unit": "mg"
          },
          {
            "channel": "imu.acc_z",
            "label": "Acceleration Z",
            "unit": "mg"
          },
          {
            "channel": "imu.gyro_x",
            "label": "Angular velocity X",
            "unit": "mdps"
          },
          {
            "channel": "imu.gyro_y",
            "label": "Angular velocity Y",
            "unit": "mdps"
          },
          {
            "channel": "imu.gyro_z",
            "label": "Angular velocity Z",
            "unit": "mdps"
          }
        ]
      },
      {
        "title": "Stream",
        "view": "cards",
        "description": "Host observation rate and sensor output rate differ. A lower achieved poll rate cannot reconstruct intermediate motion samples.",
        "fields": [
          {
            "channel": "imu.sample_rate",
            "label": "Observed consumption rate",
            "unit": "samples/s"
          },
          {
            "channel": "imu.odr_hz",
            "label": "Configured sensor output rate",
            "unit": "Hz"
          },
          {
            "channel": "imu.sample_count",
            "label": "Samples consumed"
          },
          {
            "channel": "app.heartbeat",
            "label": "Application heartbeat"
          }
        ],
        "checks": [
          "imu-rate-below-odr",
          "imu-stream-stalled"
        ]
      },
      {
        "title": "Sensor configuration",
        "view": "table",
        "description": "Decoded configuration and raw codes. Firmware owns the I2C sensor and refreshes this mirror.",
        "fields": [
          {
            "channel": "imu.acc_fs_g",
            "label": "Accelerometer full scale",
            "unit": "g"
          },
          {
            "channel": "imu.ctrl1_xl",
            "label": "CTRL1_XL firmware mirror",
            "group": [
              "Raw configuration"
            ]
          },
          {
            "channel": "imu.odr_code",
            "label": "Output data rate code",
            "group": [
              "Raw configuration"
            ]
          },
          {
            "channel": "imu.acc_fs_code",
            "label": "Full scale code",
            "group": [
              "Raw configuration"
            ]
          }
        ]
      },
      {
        "title": "Bus and access limits",
        "view": "table",
        "description": "Only guarded I2C controller state and existing firmware values are sampled. Sensor identity and FIFO status remain unsupported through the debug port.",
        "fields": [
          {
            "channel": "imu.bus_enabled",
            "label": "I2C peripheral enabled"
          },
          {
            "channel": "imu.bus_errs",
            "label": "Bus errors"
          },
          {
            "channel": "imu.bus_cr1",
            "label": "I2C control register",
            "group": [
              "Raw register"
            ]
          },
          {
            "channel": "imu.whoami",
            "label": "Sensor identity (not directly accessible)",
            "group": [
              "Unavailable through debug port"
            ]
          },
          {
            "channel": "imu.fifo_level",
            "label": "Sensor FIFO level (not directly accessible)",
            "group": [
              "Unavailable through debug port"
            ]
          }
        ],
        "checks": [
          "imu-bus-errors"
        ]
      }
    ]
  }
}