From ad2c64625cc2a920c27355b55a106cef118ea8c4 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 31 Oct 2024 10:24:00 +0300
Subject: [PATCH] Print the IMU information in imu command

---
 flix/cli.ino | 1 +
 flix/imu.ino | 5 +++++
 2 files changed, 6 insertions(+)

diff --git a/flix/cli.ino b/flix/cli.ino
index ab7ae8c..f414967 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -70,6 +70,7 @@ void doCommand(String& command, String& value) {
 	} else if (command == "psq") {
 		Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
 	} else if (command == "imu") {
+		printIMUInfo();
 		Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
 		Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 		printIMUCal();
diff --git a/flix/imu.ino b/flix/imu.ino
index e58460e..4caceed 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -122,3 +122,8 @@ void printIMUCal() {
 	Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
 	Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
 }
+
+void printIMUInfo() {
+	Serial.printf("type: %s\n", IMU.getType());
+	Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
+}