docs: 更新 README.md，添加触摸控制芯片与 IMU 传感器的 I2C 总线共享信息

- 修改触摸控制芯片 CST816 和六轴惯性测量单元 QMI8658A 的描述，说明它们共用 I2C 总线（IO47/IO48）
- 更新触摸屏和 IMU 传感器的引脚信息，确保文档准确反映硬件配置
- 添加 I2C 设备与固件配置部分，提供设备地址和说明

README.md

@@ -13,12 +13,12 @@
 |                    | 叠封 PSRAM       | **8MB**                            | 用于运行代码，性能优异           |
 |                    | 外接 Flash       | **16MB** (W25Q128)                 | 存储程序和数据                   |
 | **显示与触摸**     | LCD 屏幕         | 1.9英寸，170×320分辨率，262K彩色   | 驱动IC为ST7789V2                 |
-|                    | 触摸控制芯片     | **CST816** (电容式)                | **触控版特有**，通过I2C接口      |
+|                    | 触摸控制芯片     | **CST816** (电容式)                | **触控版特有**，I2C 与 IMU 共用 IO47/IO48 |
 | **无线通信**       | Wi-Fi            | 2.4GHz, 802.11 b/g/n               |                                  |
 |                    | 蓝牙             | Bluetooth 5 (BLE)                  |                                  |
 |                    | 板载天线         | 贴片陶瓷天线                       |                                  |
 |                    | 外部天线接口     | **IPEX-1 连接器**                  | **触控版特有**，需修改焊盘启用   |
-| **传感器**         | 六轴惯性测量单元 | **QMI8658**                        | 包含3轴加速度计和3轴陀螺仪       |
+| **传感器**         | 六轴惯性测量单元 | **QMI8658A**                       | 与 CST816 共用 I2C 总线（IO47/IO48） |
 | **存储扩展**       | Micro SD 卡槽    | 支持Micro SD卡                     | 位于PCB背面                      |
 | **电源管理**       | 电池接口         | MX1.25 连接器                      | 支持3.7V锂电池**充放电**         |
 |                    | USB供电          | USB Type-C 接口                    | 同时用于下载调试                 |
@@ -37,18 +37,18 @@
 |                   |          | IO12           | LCD\_CS（片选）            |
 |                   |          | IO13           | LCD\_DIN（数据输入）       |
 |                   |          | IO14           | LCD\_BL（背光控制，PWM）   |
-| **触摸屏**        | I2C      | IO47           | TP\_SDA（数据线）          |
+| **触摸屏 / I2C 总线** | I2C   | IO47           | TP\_SDA / IMU\_SDA（与 IMU 共用） |
-|                   |          | IO48           | TP\_SCL（时钟线）          |
+| (CST816 + QMI8658)    |       | IO48           | TP\_SCL / IMU\_SCL（与 IMU 共用） |
-|                   | GPIO     | IO17           | TP\_RESET（复位）          |
+|                       | GPIO  | IO17           | TP\_RESET（复位）                 |
-|                   |          | IO21           | TP\_INT（中断）            |
+|                       |       | IO21           | TP\_INT（中断）                   |
 | **SD 卡**         | SPI      | IO5            | SD\_CS（片选）             |
 |                   |          | IO39           | SD\_CLK（时钟）            |
 |                   |          | IO40           | SD\_MISO（主入从出）       |
 |                   |          | IO41           | SD\_MOSI（主出从入）       |
-| **IMU 传感器**    | I2C      | IO8            | IMU\_SDA（数据线）         |
+| **IMU 传感器**    | I2C      | IO47           | IMU\_SDA（与 TP 共用，见上） |
-| (QMI8658A)        |          | IO7            | IMU\_SCL（时钟线）         |
+| (QMI8658A)        |          | IO48           | IMU\_SCL（与 TP 共用，见上） |
-|                   | GPIO     | IO6            | IMU\_INT1（中断1）         |
+|                   | GPIO     | IO8            | IMU\_INT1（中断1）         |
-|                   |          | IO15           | IMU\_INT2（中断2）         |
+|                   |          | IO7            | IMU\_INT2（中断2）         |
 | **UART0 串口**    | UART     | IO43           | U0\_TX（发送）             |
 |                   |          | IO44           | U0\_RX（接收）             |
 | **用户按键**      | GPIO     | IO0            | BOOT0（启动/下载模式）     |
@@ -63,6 +63,17 @@
 | **扩展排针 J3**   | 混合     | IO0~IO14       | 20Pin 排针，引出主要 GPIO  |
 | **扩展排针 J4**   | 混合     | IO14~IO48等    | 20Pin 排针，含 USB/3V3/地  |
 
+### I2C 设备与固件配置
+
+触控版 PCB 上 **CST816（触摸）** 与 **QMI8658A（IMU）** 挂载在同一条 I2C 总线（`I2C_NUM_0`，SDA=IO47，SCL=IO48）。固件在 `main/bsp/board_config.h` 中定义引脚，触摸与 IMU 驱动共用该总线句柄。
+
+| 设备     | I2C 地址（7-bit） | 说明                          |
+| :------- | :---------------- | :---------------------------- |
+| CST816S  | 由驱动自动探测    | 电容触摸                      |
+| QMI8658A | `0x6A` 或 `0x6B`  | 由 SDO 电平决定；本板实测多为 `0x6B` |
+
+IMU 中断引脚（IO8 / IO7）当前固件采用轮询采样，Phase 4 可改为中断驱动。
+
 ## Wi-Fi Station Example
 
 (See the README.md file in the upper level 'examples' directory for more information about examples.)

main/CMakeLists.txt

@@ -1,10 +1,13 @@
 idf_component_register(SRCS
                         "app/app_main.c"
                         "app/ui_handlers.c"
+                        "app/ui_nav.c"
+                        "app/motion_gesture.c"
                         "bsp/display.c"
                         "bsp/touch.c"
                         "bsp/lvgl_port.c"
                         "bsp/boot_button.c"
+                        "bsp/imu.c"
                         "services/wifi_manager.c"
                         "services/ble_manager.c"
                         "services/ble_hid.c"

main/app/app_main.c

@@ -3,11 +3,15 @@
 
 #include "board_config.h"
 #include "display.h"
+#include "imu.h"
 #include "lvgl_port.h"
+#include "motion_gesture.h"
 #include "touch.h"
 #include "ui.h"
 #include "ui_handlers.h"
+#include "ui_nav.h"
 #include "ble_manager.h"
+#include "settings/settings_store.h"
 
 #if BOARD_WIFI_ENABLED
 #include "wifi_manager.h"
@@ -38,10 +42,25 @@ void app_main(void)
 
     lvgl_port_lock();
     ui_init();
+    ui_nav_init();
     lvgl_port_unlock();
 
+    settings_store_load();
+    settings_store_apply();
+
     ui_handlers_init();
 
+    motion_gesture_init(NULL);
+
+#if BOARD_IMU_ENABLED
+    ret = imu_init();
+    if (ret == ESP_OK) {
+        imu_start_task(motion_gesture_on_sample);
+    } else {
+        ESP_LOGW(TAG, "IMU init failed, shake navigation unavailable");
+    }
+#endif
+
 #if BOARD_WIFI_ENABLED
     ESP_LOGI(TAG, "Starting WiFi");
     wifi_manager_init();

main/app/motion_gesture.c

@@ -0,0 +1,191 @@
+#include "motion_gesture.h"
+
+#include "ui_nav.h"
+
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+#include "freertos/task.h"
+#include "lvgl.h"
+
+#include <math.h>
+
+static const char *TAG = "motion";
+
+#define SAMPLE_RATE_HZ           100
+#define THRESHOLD_LOW_G          0.6f
+#define THRESHOLD_MED_G          0.8f
+#define THRESHOLD_HIGH_G         1.0f
+#define WINDOW_MS                300
+#define MIN_SAMPLES              5
+#define COOLDOWN_MS              800
+#define CALIBRATION_MS           500
+
+typedef enum {
+    GESTURE_IDLE = 0,
+    GESTURE_COOLDOWN,
+} gesture_state_t;
+
+static QueueHandle_t s_nav_queue;
+static bool s_enabled = true;
+static float s_threshold = THRESHOLD_MED_G;
+static gesture_state_t s_state = GESTURE_IDLE;
+
+static float s_ref_x;
+static float s_ref_y;
+static float s_ref_z;
+static bool s_calibrated;
+static int64_t s_cal_start_us;
+static int s_cal_count;
+static float s_cal_sum_x;
+static float s_cal_sum_y;
+static float s_cal_sum_z;
+
+static int s_over_count;
+static int64_t s_window_start_us;
+static int64_t s_cooldown_until_us;
+
+static void nav_handler_task(void *arg)
+{
+    (void)arg;
+    motion_nav_event_t ev;
+
+    while (xQueueReceive(s_nav_queue, &ev, portMAX_DELAY) == pdTRUE) {
+        if (ev == MOTION_NAV_NEXT) {
+            ui_nav_next();
+        }
+    }
+}
+
+static float magnitude(float ax, float ay, float az)
+{
+    return sqrtf(ax * ax + ay * ay + az * az);
+}
+
+static void post_nav_next(void)
+{
+    motion_nav_event_t ev = MOTION_NAV_NEXT;
+    if (xQueueSend(s_nav_queue, &ev, 0) != pdTRUE) {
+        ESP_LOGW(TAG, "nav queue full");
+    } else {
+        ESP_LOGI(TAG, "Shake detected -> next screen");
+    }
+}
+
+static void run_calibration(float ax, float ay, float az)
+{
+    s_cal_sum_x += ax;
+    s_cal_sum_y += ay;
+    s_cal_sum_z += az;
+    s_cal_count++;
+
+    int64_t elapsed_us = esp_timer_get_time() - s_cal_start_us;
+    if (elapsed_us >= (int64_t)CALIBRATION_MS * 1000) {
+        if (s_cal_count > 0) {
+            s_ref_x = s_cal_sum_x / (float)s_cal_count;
+            s_ref_y = s_cal_sum_y / (float)s_cal_count;
+            s_ref_z = s_cal_sum_z / (float)s_cal_count;
+        }
+        s_calibrated = true;
+        ESP_LOGI(TAG, "Baseline calibrated (ref=%.3f,%.3f,%.3f g)", s_ref_x, s_ref_y,
+                 s_ref_z);
+    }
+}
+
+static void reset_window(void)
+{
+    s_over_count = 0;
+    s_window_start_us = 0;
+}
+
+static void process_sample(float ax, float ay, float az)
+{
+    int64_t now_us = esp_timer_get_time();
+
+    if (!s_calibrated) {
+        run_calibration(ax, ay, az);
+        return;
+    }
+
+    if (s_state == GESTURE_COOLDOWN) {
+        if (now_us >= s_cooldown_until_us) {
+            s_state = GESTURE_IDLE;
+            reset_window();
+        }
+        return;
+    }
+
+    float dx = ax - s_ref_x;
+    float dy = ay - s_ref_y;
+    float dz = az - s_ref_z;
+    float mag = magnitude(dx, dy, dz);
+
+    if (mag > s_threshold) {
+        if (s_over_count == 0) {
+            s_window_start_us = now_us;
+        }
+        s_over_count++;
+
+        int64_t window_us = (int64_t)WINDOW_MS * 1000;
+        if ((now_us - s_window_start_us) > window_us) {
+            s_over_count = 1;
+            s_window_start_us = now_us;
+        }
+
+        if (s_over_count >= MIN_SAMPLES) {
+            if (s_enabled) {
+                post_nav_next();
+            }
+            s_state = GESTURE_COOLDOWN;
+            s_cooldown_until_us = now_us + (int64_t)COOLDOWN_MS * 1000;
+            reset_window();
+        }
+    } else if (s_over_count > 0) {
+        int64_t window_us = (int64_t)WINDOW_MS * 1000;
+        if ((now_us - s_window_start_us) > window_us) {
+            reset_window();
+        }
+    }
+}
+
+void motion_gesture_init(motion_nav_cb_t cb)
+{
+    (void)cb;
+
+    s_nav_queue = xQueueCreate(4, sizeof(motion_nav_event_t));
+    xTaskCreate(nav_handler_task, "nav_handler", 2048, NULL, 5, NULL);
+
+    s_cal_start_us = esp_timer_get_time();
+    ESP_LOGI(TAG, "Motion gesture ready (calibrating %d ms)", CALIBRATION_MS);
+}
+
+void motion_gesture_set_enabled(bool enabled)
+{
+    s_enabled = enabled;
+    ESP_LOGI(TAG, "Shake navigation %s", enabled ? "enabled" : "disabled");
+}
+
+void motion_gesture_set_sensitivity(shake_sensitivity_t sens)
+{
+    switch (sens) {
+    case SHAKE_SENS_LOW:
+        s_threshold = THRESHOLD_LOW_G;
+        break;
+    case SHAKE_SENS_MED:
+        s_threshold = THRESHOLD_MED_G;
+        break;
+    case SHAKE_SENS_HIGH:
+        s_threshold = THRESHOLD_HIGH_G;
+        break;
+    default:
+        LV_ASSERT_MSG(false, "unexpected shake_sensitivity_t");
+        break;
+    }
+    ESP_LOGI(TAG, "Sensitivity set (threshold=%.2f g)", s_threshold);
+}
+
+void motion_gesture_on_sample(float ax_g, float ay_g, float az_g)
+{
+    process_sample(ax_g, ay_g, az_g);
+}

main/app/motion_gesture.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include <stdbool.h>
+
+#include "settings_types.h"
+
+typedef enum {
+    MOTION_NAV_NEXT = 0,
+} motion_nav_event_t;
+
+typedef void (*motion_nav_cb_t)(motion_nav_event_t event);
+
+void motion_gesture_init(motion_nav_cb_t cb);
+void motion_gesture_set_enabled(bool enabled);
+void motion_gesture_set_sensitivity(shake_sensitivity_t sens);
+void motion_gesture_on_sample(float ax_g, float ay_g, float az_g);

main/app/ui_handlers.c

@@ -105,6 +105,12 @@ void settings_on_value_changed(lv_event_t *e)
     case SETTINGS_FIELD_MUTE:
         buf.mute = lv_obj_has_state(target, LV_STATE_CHECKED);
         break;
+    case SETTINGS_FIELD_SHAKE_NAV:
+        buf.shake_nav_enabled = lv_obj_has_state(target, LV_STATE_CHECKED);
+        break;
+    case SETTINGS_FIELD_SHAKE_SENS:
+        buf.shake_sensitivity = (shake_sensitivity_t)lv_dropdown_get_selected(target);
+        break;
     default:
         LV_ASSERT_MSG(false, "unexpected settings_field_t");
         break;

main/app/ui_nav.c

@@ -0,0 +1,76 @@
+#include "ui_nav.h"
+
+#include "lvgl_port.h"
+#include "screens/ui_Screen1.h"
+#include "screens/ui_Screen2.h"
+#include "screens/ui_Screen3.h"
+#include "screens/ui_Settings.h"
+#include "ui_helpers.h"
+
+#include "esp_log.h"
+
+static const char *TAG = "ui_nav";
+
+static lv_obj_t *s_nav_screens[4];
+static const char *const s_nav_names[] = {
+    "Settings",
+    "Screen1",
+    "Screen2",
+    "Screen3",
+};
+
+#define NAV_SCREEN_COUNT (sizeof(s_nav_screens) / sizeof(s_nav_screens[0]))
+
+static uint8_t s_nav_index;
+
+void ui_nav_init(void)
+{
+    s_nav_screens[0] = ui_Settings;
+    s_nav_screens[1] = ui_Screen1;
+    s_nav_screens[2] = ui_Screen2;
+    s_nav_screens[3] = ui_Screen3;
+    s_nav_index = 0;
+    ESP_LOGI(TAG, "Navigation ready (%u screens, start=%s)", (unsigned)NAV_SCREEN_COUNT,
+             s_nav_names[s_nav_index]);
+}
+
+void ui_nav_goto(uint8_t index)
+{
+    if (index >= NAV_SCREEN_COUNT) {
+        return;
+    }
+
+    lvgl_port_lock();
+    s_nav_index = index;
+    lv_obj_t **target = &s_nav_screens[s_nav_index];
+    _ui_screen_change(target, LV_SCR_LOAD_ANIM_FADE_IN, 300, 0, NULL);
+    lvgl_port_unlock();
+
+    ESP_LOGI(TAG, "Goto %s (index %u)", s_nav_names[s_nav_index], s_nav_index);
+}
+
+void ui_nav_next(void)
+{
+    lvgl_port_lock();
+    s_nav_index = (s_nav_index + 1) % NAV_SCREEN_COUNT;
+    lv_obj_t **target = &s_nav_screens[s_nav_index];
+    _ui_screen_change(target, LV_SCR_LOAD_ANIM_FADE_IN, 300, 0, NULL);
+    lvgl_port_unlock();
+
+    ESP_LOGI(TAG, "Next -> %s (index %u)", s_nav_names[s_nav_index], s_nav_index);
+}
+
+lv_obj_t *ui_nav_current(void)
+{
+    return s_nav_screens[s_nav_index];
+}
+
+uint8_t ui_nav_current_index(void)
+{
+    return s_nav_index;
+}
+
+const char *ui_nav_current_name(void)
+{
+    return s_nav_names[s_nav_index];
+}

main/app/ui_nav.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "lvgl.h"
+
+void ui_nav_init(void);
+void ui_nav_next(void);
+void ui_nav_goto(uint8_t index);
+
+lv_obj_t *ui_nav_current(void);
+uint8_t ui_nav_current_index(void);
+const char *ui_nav_current_name(void);

main/bsp/board_config.h

@@ -49,6 +49,15 @@
 #define BOARD_TOUCH_I2C_FREQ_HZ  400000
 #define BOARD_TOUCH_ENABLED      1
 
+/* IMU (QMI8658) — shares I2C bus with touch on IO47/IO48 */
+#define BOARD_IMU_I2C_NUM        I2C_NUM_0
+#define BOARD_PIN_IMU_SDA        47
+#define BOARD_PIN_IMU_SCL        48
+#define BOARD_PIN_IMU_INT1       8
+#define BOARD_PIN_IMU_INT2       7
+#define BOARD_IMU_I2C_FREQ_HZ    400000
+#define BOARD_IMU_ENABLED        1
+
 /* User IO */
 #define BOARD_PIN_BOOT           0
 #define BOARD_PIN_KEY            4

main/bsp/imu.c

@@ -0,0 +1,308 @@
+#include "imu.h"
+
+#include "board_config.h"
+#include "touch.h"
+
+#include "driver/i2c_master.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include <math.h>
+
+static const char *TAG = "imu";
+
+#if BOARD_IMU_ENABLED
+
+#define QMI8658_ADDR_SDO_LOW     0x6A
+#define QMI8658_ADDR_SDO_HIGH    0x6B
+#define QMI8658_WHO_AM_I         0x00
+#define QMI8658_WHO_AM_I_ID      0x05
+#define QMI8658_CTRL1            0x02
+#define QMI8658_CTRL2            0x03
+#define QMI8658_CTRL3            0x04
+#define QMI8658_CTRL5            0x06
+#define QMI8658_CTRL6            0x07
+#define QMI8658_CTRL7            0x08
+#define QMI8658_RESET            0x60
+#define QMI8658_ACC_X_L          0x35
+
+#define QMI8658_RESET_VALUE      0xB0
+/* Little-endian + address auto-increment (matches int16 parse below) */
+#define QMI8658_CTRL1_VALUE      0x40
+/* ±8g, 1000 Hz ODR */
+#define QMI8658_CTRL2_VALUE      0x23
+/* Gyro ±512 dps, 1000 Hz — required even when only reading accel */
+#define QMI8658_CTRL3_VALUE      0x53
+#define QMI8658_CTRL5_VALUE      0x11
+#define QMI8658_CTRL6_VALUE      0x00
+#define QMI8658_CTRL7_VALUE      0x03
+
+#define QMI8658_ACCEL_SENS_8G    4096.0f
+
+#define IMU_SAMPLE_PERIOD_MS     10
+#define IMU_DEBUG_LOG_INTERVAL_MS 1000
+
+static i2c_master_bus_handle_t s_imu_bus;
+static i2c_master_dev_handle_t s_imu_dev;
+static imu_sample_cb_t s_sample_cb;
+
+static esp_err_t imu_read_raw(int16_t *rx, int16_t *ry, int16_t *rz);
+
+static int16_t imu_raw16_le(const uint8_t *lo, const uint8_t *hi)
+{
+    return (int16_t)((*hi << 8) | *lo);
+}
+
+static esp_err_t imu_write_u8(uint8_t reg, uint8_t val)
+{
+    uint8_t buf[2] = {reg, val};
+    return i2c_master_transmit(s_imu_dev, buf, sizeof(buf), 100);
+}
+
+static esp_err_t imu_read_u8(uint8_t reg, uint8_t *val)
+{
+    return i2c_master_transmit_receive(s_imu_dev, &reg, 1, val, 1, 100);
+}
+
+static esp_err_t imu_read_bytes(uint8_t reg, uint8_t *data, size_t len)
+{
+    return i2c_master_transmit_receive(s_imu_dev, &reg, 1, data, len, 100);
+}
+
+static esp_err_t imu_probe_device(uint8_t addr)
+{
+    i2c_device_config_t dev_cfg = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = addr,
+        .scl_speed_hz = BOARD_IMU_I2C_FREQ_HZ,
+    };
+
+    esp_err_t err = i2c_master_bus_add_device(s_imu_bus, &dev_cfg, &s_imu_dev);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    uint8_t who_am_i = 0;
+    err = imu_read_u8(QMI8658_WHO_AM_I, &who_am_i);
+    if (err != ESP_OK || who_am_i != QMI8658_WHO_AM_I_ID) {
+        i2c_master_bus_rm_device(s_imu_dev);
+        s_imu_dev = NULL;
+        if (err == ESP_OK) {
+            ESP_LOGW(TAG, "WHO_AM_I mismatch at 0x%02X: 0x%02X", addr, who_am_i);
+            return ESP_ERR_NOT_FOUND;
+        }
+        return err;
+    }
+
+    ESP_LOGI(TAG, "QMI8658 found at 0x%02X (WHO_AM_I=0x%02X)", addr, who_am_i);
+    return ESP_OK;
+}
+
+static esp_err_t imu_configure(void)
+{
+    esp_err_t err = imu_write_u8(QMI8658_RESET, QMI8658_RESET_VALUE);
+    if (err != ESP_OK) {
+        return err;
+    }
+    vTaskDelay(pdMS_TO_TICKS(50));
+
+    err = imu_write_u8(QMI8658_CTRL1, QMI8658_CTRL1_VALUE);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    err = imu_write_u8(QMI8658_CTRL2, QMI8658_CTRL2_VALUE);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    err = imu_write_u8(QMI8658_CTRL3, QMI8658_CTRL3_VALUE);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    err = imu_write_u8(QMI8658_CTRL5, QMI8658_CTRL5_VALUE);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    err = imu_write_u8(QMI8658_CTRL6, QMI8658_CTRL6_VALUE);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    err = imu_write_u8(QMI8658_CTRL7, QMI8658_CTRL7_VALUE);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    vTaskDelay(pdMS_TO_TICKS(50));
+    return ESP_OK;
+}
+
+static void imu_log_sample(const char *label, float ax, float ay, float az,
+                           int16_t rx, int16_t ry, int16_t rz)
+{
+    float mag = sqrtf(ax * ax + ay * ay + az * az);
+    ESP_LOGI(TAG, "%s raw=(%d,%d,%d) g=(%.3f,%.3f,%.3f) |mag|=%.3f",
+             label, rx, ry, rz, ax, ay, az, mag);
+}
+
+static void imu_task(void *arg)
+{
+    (void)arg;
+
+    int64_t last_log_us = esp_timer_get_time();
+
+    while (1) {
+        float ax = 0.0f;
+        float ay = 0.0f;
+        float az = 0.0f;
+        int16_t rx = 0;
+        int16_t ry = 0;
+        int16_t rz = 0;
+
+        esp_err_t err = imu_read_raw(&rx, &ry, &rz);
+        if (err == ESP_OK) {
+            ax = (float)rx / QMI8658_ACCEL_SENS_8G;
+            ay = (float)ry / QMI8658_ACCEL_SENS_8G;
+            az = (float)rz / QMI8658_ACCEL_SENS_8G;
+
+            int64_t now_us = esp_timer_get_time();
+            if ((now_us - last_log_us) >= (int64_t)IMU_DEBUG_LOG_INTERVAL_MS * 1000) {
+                imu_log_sample("sample", ax, ay, az, rx, ry, rz);
+                last_log_us = now_us;
+            }
+
+            if (s_sample_cb != NULL) {
+                s_sample_cb(ax, ay, az);
+            }
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(IMU_SAMPLE_PERIOD_MS));
+    }
+}
+
+esp_err_t imu_init(void)
+{
+#if BOARD_TOUCH_ENABLED
+    s_imu_bus = touch_get_i2c_bus();
+    if (s_imu_bus == NULL) {
+        ESP_LOGE(TAG, "Shared I2C bus not ready (touch not initialized?)");
+        return ESP_ERR_INVALID_STATE;
+    }
+    ESP_LOGI(TAG, "Using shared I2C bus (SDA=%d SCL=%d)", BOARD_PIN_IMU_SDA,
+             BOARD_PIN_IMU_SCL);
+#else
+    ESP_LOGI(TAG, "Initialize dedicated I2C for IMU");
+    i2c_master_bus_config_t bus_config = {
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .i2c_port = BOARD_IMU_I2C_NUM,
+        .sda_io_num = BOARD_PIN_IMU_SDA,
+        .scl_io_num = BOARD_PIN_IMU_SCL,
+        .glitch_ignore_cnt = 7,
+        .flags.enable_internal_pullup = true,
+    };
+    esp_err_t bus_err = i2c_new_master_bus(&bus_config, &s_imu_bus);
+    if (bus_err != ESP_OK) {
+        return bus_err;
+    }
+#endif
+
+    esp_err_t err = imu_probe_device(QMI8658_ADDR_SDO_LOW);
+    if (err != ESP_OK) {
+        err = imu_probe_device(QMI8658_ADDR_SDO_HIGH);
+    }
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "QMI8658 not found");
+        return err;
+    }
+
+    err = imu_configure();
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "IMU configure failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    float ax = 0.0f;
+    float ay = 0.0f;
+    float az = 0.0f;
+    int16_t rx = 0;
+    int16_t ry = 0;
+    int16_t rz = 0;
+    if (imu_read_accel(&ax, &ay, &az) == ESP_OK) {
+        imu_read_raw(&rx, &ry, &rz);
+        imu_log_sample("init check", ax, ay, az, rx, ry, rz);
+    } else {
+        ESP_LOGW(TAG, "Init check read failed");
+    }
+
+    ESP_LOGI(TAG, "IMU initialized (±8g, 1000 Hz ODR)");
+    return ESP_OK;
+}
+
+static esp_err_t imu_read_raw(int16_t *rx, int16_t *ry, int16_t *rz)
+{
+    if (s_imu_dev == NULL || rx == NULL || ry == NULL || rz == NULL) {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    uint8_t raw[6];
+    esp_err_t err = imu_read_bytes(QMI8658_ACC_X_L, raw, sizeof(raw));
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    *rx = imu_raw16_le(&raw[0], &raw[1]);
+    *ry = imu_raw16_le(&raw[2], &raw[3]);
+    *rz = imu_raw16_le(&raw[4], &raw[5]);
+    return ESP_OK;
+}
+
+esp_err_t imu_read_accel(float *ax, float *ay, float *az)
+{
+    int16_t rx = 0;
+    int16_t ry = 0;
+    int16_t rz = 0;
+
+    esp_err_t err = imu_read_raw(&rx, &ry, &rz);
+    if (err != ESP_OK) {
+        return err;
+    }
+
+    *ax = (float)rx / QMI8658_ACCEL_SENS_8G;
+    *ay = (float)ry / QMI8658_ACCEL_SENS_8G;
+    *az = (float)rz / QMI8658_ACCEL_SENS_8G;
+    return ESP_OK;
+}
+
+void imu_start_task(imu_sample_cb_t cb)
+{
+    s_sample_cb = cb;
+    xTaskCreate(imu_task, "imu_task", 3072, NULL, 4, NULL);
+    ESP_LOGI(TAG, "IMU sample task started");
+}
+
+#else
+
+esp_err_t imu_init(void)
+{
+    return ESP_OK;
+}
+
+esp_err_t imu_read_accel(float *ax, float *ay, float *az)
+{
+    (void)ax;
+    (void)ay;
+    (void)az;
+    return ESP_ERR_NOT_SUPPORTED;
+}
+
+void imu_start_task(imu_sample_cb_t cb)
+{
+    (void)cb;
+}
+
+#endif

main/bsp/imu.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "esp_err.h"
+
+typedef void (*imu_sample_cb_t)(float ax_g, float ay_g, float az_g);
+
+esp_err_t imu_init(void);
+esp_err_t imu_read_accel(float *ax, float *ay, float *az);
+void imu_start_task(imu_sample_cb_t cb);

main/bsp/touch.c

@@ -103,6 +103,11 @@ esp_err_t touch_init(lv_display_t *display)
     return ESP_OK;
 }
 
+i2c_master_bus_handle_t touch_get_i2c_bus(void)
+{
+    return s_touch_i2c_bus;
+}
+
 #else
 
 esp_err_t touch_init(lv_display_t *display)
@@ -111,4 +116,9 @@ esp_err_t touch_init(lv_display_t *display)
     return ESP_OK;
 }
 
+i2c_master_bus_handle_t touch_get_i2c_bus(void)
+{
+    return NULL;
+}
+
 #endif

main/bsp/touch.h

@@ -1,6 +1,8 @@
 #pragma once
 
+#include "driver/i2c_master.h"
 #include "esp_err.h"
 #include "lvgl.h"
 
 esp_err_t touch_init(lv_display_t *display);
+i2c_master_bus_handle_t touch_get_i2c_bus(void);

main/ui/settings/settings_store.c

@@ -1,6 +1,7 @@
 #include "settings_store.h"
 
 #include "display.h"
+#include "motion_gesture.h"
 
 #include "esp_log.h"
 #include "nvs.h"
@@ -15,6 +16,8 @@ static const settings_data_t SETTINGS_DEFAULTS = {
     .brightness_pct = 70,
     .volume_pct = 50,
     .mute = false,
+    .shake_nav_enabled = true,
+    .shake_sensitivity = SHAKE_SENS_MED,
 };
 
 static settings_data_t s_data;
@@ -48,6 +51,10 @@ void settings_store_load(void)
     load_key_u8(handle, "vol", &s_data.volume_pct, SETTINGS_DEFAULTS.volume_pct);
     load_key_u8(handle, "mute", &val, SETTINGS_DEFAULTS.mute);
     s_data.mute = val != 0;
+    load_key_u8(handle, "shake_en", &val, SETTINGS_DEFAULTS.shake_nav_enabled);
+    s_data.shake_nav_enabled = val != 0;
+    load_key_u8(handle, "shake_sens", &val, SETTINGS_DEFAULTS.shake_sensitivity);
+    s_data.shake_sensitivity = (shake_sensitivity_t)val;
 
     nvs_close(handle);
     ESP_LOGI(TAG, "Settings loaded (bright=%u vol=%u)", s_data.brightness_pct,
@@ -83,6 +90,12 @@ esp_err_t settings_store_commit(void)
     if (err == ESP_OK) {
         err = nvs_set_u8(handle, "mute", s_data.mute ? 1 : 0);
     }
+    if (err == ESP_OK) {
+        err = nvs_set_u8(handle, "shake_en", s_data.shake_nav_enabled ? 1 : 0);
+    }
+    if (err == ESP_OK) {
+        err = nvs_set_u8(handle, "shake_sens", (uint8_t)s_data.shake_sensitivity);
+    }
     if (err == ESP_OK) {
         err = nvs_commit(handle);
     }
@@ -118,4 +131,7 @@ void settings_store_apply(void)
 {
     uint16_t duty = (uint16_t)((s_data.brightness_pct * 1023U) / 100U);
     display_backlight_set_brightness(duty);
+
+    motion_gesture_set_enabled(s_data.shake_nav_enabled);
+    motion_gesture_set_sensitivity(s_data.shake_sensitivity);
 }

main/ui/settings/settings_tabs.c

@@ -3,6 +3,8 @@
 #include "ui_handlers.h"
 
 static lv_obj_t *s_notif_switch;
+static lv_obj_t *s_shake_nav_switch;
+static lv_obj_t *s_shake_sens_dropdown;
 static lv_obj_t *s_brightness_slider;
 static lv_obj_t *s_brightness_pct_label;
 static lv_obj_t *s_volume_slider;
@@ -43,6 +45,8 @@ static lv_obj_t *create_settings_body(lv_obj_t *content)
 void load_system_settings(lv_obj_t *content, const settings_data_t *data)
 {
     s_notif_switch = NULL;
+    s_shake_nav_switch = NULL;
+    s_shake_sens_dropdown = NULL;
 
     create_status_bar(content, "System Settings");
     lv_obj_t *body = create_settings_body(content);
@@ -62,6 +66,35 @@ void load_system_settings(lv_obj_t *content, const settings_data_t *data)
                         LV_EVENT_VALUE_CHANGED,
                         (void *)(intptr_t)SETTINGS_FIELD_NOTIFICATION);
 
+    lv_obj_t *shake_nav_label = lv_label_create(body);
+    lv_label_set_text(shake_nav_label, "Shake Navigation");
+    lv_obj_set_pos(shake_nav_label, 4, 40);
+    lv_obj_set_size(shake_nav_label, 120, 28);
+
+    s_shake_nav_switch = lv_switch_create(body);
+    lv_obj_set_pos(s_shake_nav_switch, 180, 40);
+    lv_obj_set_size(s_shake_nav_switch, 40, 28);
+    if (data->shake_nav_enabled) {
+        lv_obj_add_state(s_shake_nav_switch, LV_STATE_CHECKED);
+    }
+    lv_obj_add_event_cb(s_shake_nav_switch, settings_on_value_changed,
+                        LV_EVENT_VALUE_CHANGED,
+                        (void *)(intptr_t)SETTINGS_FIELD_SHAKE_NAV);
+
+    lv_obj_t *shake_sens_label = lv_label_create(body);
+    lv_label_set_text(shake_sens_label, "Shake Sensitivity");
+    lv_obj_set_pos(shake_sens_label, 4, 76);
+    lv_obj_set_size(shake_sens_label, 120, 28);
+
+    s_shake_sens_dropdown = lv_dropdown_create(body);
+    lv_obj_set_pos(s_shake_sens_dropdown, 120, 76);
+    lv_obj_set_size(s_shake_sens_dropdown, 100, 28);
+    lv_dropdown_set_options(s_shake_sens_dropdown, "Low\nMed\nHigh");
+    lv_dropdown_set_selected(s_shake_sens_dropdown, data->shake_sensitivity);
+    lv_obj_add_event_cb(s_shake_sens_dropdown, settings_on_value_changed,
+                        LV_EVENT_VALUE_CHANGED,
+                        (void *)(intptr_t)SETTINGS_FIELD_SHAKE_SENS);
+
     lv_obj_t *reset_btn = lv_button_create(body);
     lv_obj_set_pos(reset_btn, 4, 112);
     lv_obj_set_size(reset_btn, 100, 28);
@@ -170,6 +203,14 @@ void settings_tabs_collect(settings_tab_t tab, settings_data_t *out)
             out->notification_enabled =
                 lv_obj_has_state(s_notif_switch, LV_STATE_CHECKED);
         }
+        if (s_shake_nav_switch != NULL) {
+            out->shake_nav_enabled =
+                lv_obj_has_state(s_shake_nav_switch, LV_STATE_CHECKED);
+        }
+        if (s_shake_sens_dropdown != NULL) {
+            out->shake_sensitivity =
+                (shake_sensitivity_t)lv_dropdown_get_selected(s_shake_sens_dropdown);
+        }
         break;
     case SETTINGS_TAB_DISPLAY:
         if (s_brightness_slider != NULL) {

main/ui/settings/settings_tabs.h

@@ -7,6 +7,8 @@ typedef enum {
     SETTINGS_FIELD_NOTIFICATION = 0,
     SETTINGS_FIELD_VOLUME,
     SETTINGS_FIELD_MUTE,
+    SETTINGS_FIELD_SHAKE_NAV,
+    SETTINGS_FIELD_SHAKE_SENS,
 } settings_field_t;
 
 void load_system_settings(lv_obj_t *content, const settings_data_t *data);

main/ui/settings/settings_types.h

@@ -10,9 +10,17 @@ typedef enum {
     SETTINGS_TAB_NETWORK,
 } settings_tab_t;
 
+typedef enum {
+    SHAKE_SENS_LOW = 0,
+    SHAKE_SENS_MED,
+    SHAKE_SENS_HIGH,
+} shake_sensitivity_t;
+
 typedef struct {
     bool notification_enabled;
     uint8_t brightness_pct;
     uint8_t volume_pct;
     bool mute;
+    bool shake_nav_enabled;
+    shake_sensitivity_t shake_sensitivity;
 } settings_data_t;