IMU support in firmware#42
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Two step calibration, independent from sensor orientation on bike. First finds the direction of gravity is found with the bike standing on level ground. Then the bike is lifted on its rear tire with the front in the air and the forward direction is calculated. Take care in this step not to tilt the bike to the sides
My unit's SPI is broken and gives garbage data, so tested only over I2C
It's an old design so sensitivity is low, it is noisy, temp stability is bad and temp calibration is hard, but hey, it is very cheap!
Define optional fork, frame & rear IMUs over I2C/SPI
… for the required hardware in debug & release
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This also introduces an interactive The generator builds debug & release presets just for the hardware combination that the user picks hardware by hardware. 
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Also make the IMU buffer size dynamic, based on the number of enabled IMUs, as each entry is 6 int16
…, number of records, sample rates
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This PR implements support for IMUs with a generic interface in
imu_sensorand hardware specific implementations for LSM6DSO & MPU6050.It defines 3 IMU positions - fork lowers, frame, rear axle.
It has the firmware changes from https://github.com/MoridinBG/sst/tree/firmware/tlv-file with some additional comments and renamings, without the dashboard changes.
It implements the same two step IMU calibration flow as described in the issue:
After these two steps, the sensor is oriented so that when the bike is static:
With this implementation, gravity is not removed - when bike is static on level ground the Z vector will read 1.00 (+/- noise), while X & Y are 0.00
There is an implementation for readings interpretation that is useful for debugging, but the forces from the ground, pedalling, breaking, shifting weight make it very unstable.
Data while in motion needs a very different approach.