Add quadrastic/src/engine from https://github.com/flipperdevices/flipperzero-game-engine

git-subtree-dir: quadrastic/src/engine
git-subtree-mainline: 90794e87ff0417acce2cb3d58425e54279c764cf
git-subtree-split: 8946381a4f50b0130c32dc4c26856a3bf87f6f95

quadrastic/src/engine/.gitsubtree

@@ -0,0 +1 @@
+https://github.com/flipperdevices/flipperzero-game-engine 8946381a4f50b0130c32dc4c26856a3bf87f6f95 /

quadrastic/src/engine/LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
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+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.

quadrastic/src/engine/README.md

@@ -0,0 +1,13 @@
+# Flipper Zero Game Engine
+
+Welcome to the Flipper Zero game engine! This engine is designed to help you create games for the Flipper Zero device.
+
+## Example App
+
+To see the game engine in action, check out our [example app](https://github.com/flipperdevices/flipperzero-game-engine-example). This app demonstrates how to use the game engine to create a simple game.
+
+## Contributing
+
+We welcome contributions to the Flipper Zero game engine! If you have any bug reports, feature requests, or pull requests, please submit them to the [official repository](https://github.com/flipperdevices/flipperzero-game-engine).
+
+Happy game development with Flipper Zero!

quadrastic/src/engine/canvas.c

@@ -0,0 +1,63 @@
+#include <furi.h>
+#include "canvas.h"
+
+void canvas_printf(Canvas* canvas, uint8_t x, uint8_t y, const char* format, ...) {
+    FuriString* string = furi_string_alloc();
+    va_list args;
+    va_start(args, format);
+    furi_string_vprintf(string, format, args);
+    va_end(args);
+
+    canvas_draw_str(canvas, x, y, furi_string_get_cstr(string));
+
+    furi_string_free(string);
+}
+
+size_t canvas_printf_width(Canvas* canvas, const char* format, ...) {
+    FuriString* string = furi_string_alloc();
+    va_list args;
+    va_start(args, format);
+    furi_string_vprintf(string, format, args);
+    va_end(args);
+
+    size_t size = canvas_string_width(canvas, furi_string_get_cstr(string));
+
+    furi_string_free(string);
+
+    return size;
+}
+
+void canvas_printf_aligned(
+    Canvas* canvas,
+    uint8_t x,
+    uint8_t y,
+    Align h,
+    Align v,
+    const char* format,
+    ...) {
+    FuriString* string = furi_string_alloc();
+    va_list args;
+    va_start(args, format);
+    furi_string_vprintf(string, format, args);
+    va_end(args);
+
+    canvas_draw_str_aligned(canvas, x, y, h, v, furi_string_get_cstr(string));
+
+    furi_string_free(string);
+}
+
+void canvas_draw_str_aligned_outline(
+    Canvas* canvas,
+    uint8_t x,
+    uint8_t y,
+    Align h,
+    Align v,
+    const char* cstr) {
+    canvas_invert_color(canvas);
+    canvas_draw_str_aligned(canvas, x + 1, y + 0, h, v, cstr);
+    canvas_draw_str_aligned(canvas, x - 1, y - 0, h, v, cstr);
+    canvas_draw_str_aligned(canvas, x + 0, y + 1, h, v, cstr);
+    canvas_draw_str_aligned(canvas, x - 0, y - 1, h, v, cstr);
+    canvas_invert_color(canvas);
+    canvas_draw_str_aligned(canvas, x, y, h, v, cstr);
+}

quadrastic/src/engine/canvas.h

@@ -0,0 +1,72 @@
+#pragma once
+#include <stddef.h>
+#include <gui/canvas.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Print formatted string to canvas
+ * 
+ * @param canvas canvas instance
+ * @param x x position
+ * @param y y position
+ * @param format format string
+ * @param ...  arguments
+ */
+void canvas_printf(Canvas* canvas, uint8_t x, uint8_t y, const char* format, ...)
+    __attribute__((__format__(__printf__, 4, 5)));
+
+/**
+ * @brief Get width of formatted string
+ * 
+ * @param canvas canvas instance
+ * @param format format string
+ * @param ... arguments
+ * @return size_t width of formatted string
+ */
+size_t canvas_printf_width(Canvas* canvas, const char* format, ...)
+    __attribute__((__format__(__printf__, 2, 3)));
+
+/**
+ * @brief Print formatted string to canvas with alignment
+ * 
+ * @param canvas canvas instance
+ * @param x x position
+ * @param y y position
+ * @param h horizontal alignment
+ * @param v vertical alignment
+ * @param format format string
+ * @param ... arguments
+ */
+void canvas_printf_aligned(
+    Canvas* canvas,
+    uint8_t x,
+    uint8_t y,
+    Align h,
+    Align v,
+    const char* format,
+    ...) __attribute__((__format__(__printf__, 6, 7)));
+
+/**
+ * @brief Draw aligned string with outline
+ * 
+ * @param canvas 
+ * @param x 
+ * @param y 
+ * @param h 
+ * @param v 
+ * @param cstr 
+ */
+void canvas_draw_str_aligned_outline(
+    Canvas* canvas,
+    uint8_t x,
+    uint8_t y,
+    Align h,
+    Align v,
+    const char* cstr);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/clock_timer.c

@@ -0,0 +1,53 @@
+#include "clock_timer.h"
+#include <stdlib.h>
+
+#include <furi_hal_interrupt.h>
+#include <furi_hal_bus.h>
+#include <stm32wbxx_ll_tim.h>
+
+#define FURI_HAL_CLOCK_TIMER TIM2
+#define FURI_HAL_CLOCK_TIMER_BUS FuriHalBusTIM2
+#define FURI_HAL_CLOCK_TIMER_IRQ FuriHalInterruptIdTIM2
+
+typedef struct {
+    ClockTimerCallback callback;
+    void* context;
+} ClockTimer;
+
+static ClockTimer clock_timer = {
+    .callback = NULL,
+    .context = NULL,
+};
+
+static void clock_timer_isr(void* context) {
+    if(clock_timer.callback) {
+        clock_timer.callback(context);
+    }
+
+    LL_TIM_ClearFlag_UPDATE(FURI_HAL_CLOCK_TIMER);
+}
+
+void clock_timer_start(ClockTimerCallback callback, void* context, float period) {
+    clock_timer.callback = callback;
+    clock_timer.context = context;
+
+    furi_hal_bus_enable(FURI_HAL_CLOCK_TIMER_BUS);
+
+    // init timer to produce interrupts
+    LL_TIM_InitTypeDef TIM_InitStruct = {0};
+    TIM_InitStruct.Autoreload = (SystemCoreClock / period) - 1;
+    LL_TIM_Init(FURI_HAL_CLOCK_TIMER, &TIM_InitStruct);
+
+    furi_hal_interrupt_set_isr(FURI_HAL_CLOCK_TIMER_IRQ, clock_timer_isr, clock_timer.context);
+
+    LL_TIM_EnableIT_UPDATE(FURI_HAL_CLOCK_TIMER);
+    LL_TIM_EnableCounter(FURI_HAL_CLOCK_TIMER);
+}
+
+void clock_timer_stop(void) {
+    LL_TIM_DisableIT_UPDATE(FURI_HAL_CLOCK_TIMER);
+    LL_TIM_DisableCounter(FURI_HAL_CLOCK_TIMER);
+
+    furi_hal_bus_disable(FURI_HAL_CLOCK_TIMER_BUS);
+    furi_hal_interrupt_set_isr(FURI_HAL_CLOCK_TIMER_IRQ, NULL, NULL);
+}

quadrastic/src/engine/clock_timer.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef void (*ClockTimerCallback)(void* context);
+
+void clock_timer_start(ClockTimerCallback callback, void* context, float period);
+
+void clock_timer_stop(void);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/engine.h

@@ -0,0 +1,25 @@
+#pragma once
+#include <furi.h>
+#include "game_engine.h"
+#include "level.h"
+#include "entity.h"
+#include "game_manager.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    float target_fps;
+    bool show_fps;
+    bool always_backlight;
+    void (*start)(GameManager* game_manager, void* context);
+    void (*stop)(void* context);
+    size_t context_size;
+} Game;
+
+extern const Game game;
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/entity.c

@@ -0,0 +1,216 @@
+#include "entity.h"
+#include "entity_i.h"
+#include <stdlib.h>
+#include <furi.h>
+#include <math.h>
+
+#ifdef ENTITY_DEBUG
+#define ENTITY_D(...) FURI_LOG_D("Entity", __VA_ARGS__)
+#else
+#define ENTITY_D(...)
+#endif
+
+static int32_t entities_count = 0;
+
+int32_t entities_get_count(void) {
+    return entities_count;
+}
+
+Entity* entity_alloc(const EntityDescription* description) {
+    entities_count++;
+    Entity* entity = malloc(sizeof(Entity));
+    entity->position = VECTOR_ZERO;
+    entity->description = description;
+    entity->context = NULL;
+    if(description && description->context_size > 0) {
+        entity->context = malloc(description->context_size);
+    }
+    entity->collider = NULL;
+    entity->collider_offset = VECTOR_ZERO;
+    ENTITY_D("Allocated at %p", entity);
+    entity->collider_dirty = false;
+    return entity;
+}
+
+void entity_collider_add_circle(Entity* entity, float radius) {
+    furi_check(entity->collider == NULL, "Collider already added");
+    entity->collider = malloc(sizeof(Collider));
+    entity->collider->type = ColliderTypeCircle;
+    entity->collider->circle.radius = radius;
+    entity->collider_dirty = true;
+}
+
+void entity_collider_add_rect(Entity* entity, float width, float height) {
+    furi_check(entity->collider == NULL, "Collider already added");
+    entity->collider = malloc(sizeof(Collider));
+    entity->collider->type = ColliderTypeRect;
+    entity->collider->rect.half_width = width / 2;
+    entity->collider->rect.half_height = height / 2;
+    entity->collider_dirty = true;
+}
+
+void entity_collider_remove(Entity* entity) {
+    furi_check(entity->collider != NULL, "Collider not added");
+    free(entity->collider);
+    entity->collider = NULL;
+    entity->collider_dirty = false;
+}
+
+void entity_collider_offset_set(Entity* entity, Vector offset) {
+    entity->collider_offset = offset;
+    entity->collider_dirty = true;
+}
+
+Vector entity_collider_offset_get(Entity* entity) {
+    return entity->collider_offset;
+}
+
+static Vector entity_collider_position_get(Entity* entity) {
+    return (Vector){
+        .x = entity->position.x + entity->collider_offset.x,
+        .y = entity->position.y + entity->collider_offset.y,
+    };
+}
+
+void entity_free(Entity* entity) {
+    entities_count--;
+    ENTITY_D("Freeing at %p", entity);
+    if(entity->context) {
+        free(entity->context);
+    }
+    if(entity->collider) {
+        free(entity->collider);
+    }
+    free(entity);
+}
+
+const EntityDescription* entity_description_get(Entity* entity) {
+    return entity->description;
+}
+
+Vector entity_pos_get(Entity* entity) {
+    return entity->position;
+}
+
+void entity_pos_set(Entity* entity, Vector position) {
+    entity->position = position;
+    entity->collider_dirty = true;
+}
+
+void* entity_context_get(Entity* entity) {
+    return entity->context;
+}
+
+void entity_call_start(Entity* entity, GameManager* manager) {
+    if(entity->description && entity->description->start) {
+        entity->description->start(entity, manager, entity->context);
+    }
+}
+
+void entity_call_stop(Entity* entity, GameManager* manager) {
+    if(entity->description && entity->description->stop) {
+        entity->description->stop(entity, manager, entity->context);
+    }
+}
+
+void entity_call_update(Entity* entity, GameManager* manager) {
+    if(entity->description && entity->description->update) {
+        entity->description->update(entity, manager, entity->context);
+    }
+}
+
+void entity_call_render(Entity* entity, GameManager* manager, Canvas* canvas) {
+    if(entity->description && entity->description->render) {
+        entity->description->render(entity, manager, canvas, entity->context);
+    }
+}
+
+void entity_call_collision(Entity* entity, Entity* other, GameManager* manager) {
+    if(entity->description && entity->description->collision) {
+        entity->description->collision(entity, other, manager, entity->context);
+    }
+}
+
+bool entity_collider_circle_circle(Entity* entity, Entity* other) {
+    Vector pos1 = entity_collider_position_get(entity);
+    Vector pos2 = entity_collider_position_get(other);
+
+    Vector delta = vector_sub(pos1, pos2);
+    return vector_length(delta) < entity->collider->circle.radius + other->collider->circle.radius;
+}
+
+bool entity_collider_rect_rect(Entity* entity, Entity* other) {
+    Vector pos1 = entity_collider_position_get(entity);
+    Vector pos2 = entity_collider_position_get(other);
+
+    float left1 = pos1.x - entity->collider->rect.half_width;
+    float right1 = pos1.x + entity->collider->rect.half_width;
+    float top1 = pos1.y - entity->collider->rect.half_height;
+    float bottom1 = pos1.y + entity->collider->rect.half_height;
+
+    float left2 = pos2.x - other->collider->rect.half_width;
+    float right2 = pos2.x + other->collider->rect.half_width;
+    float top2 = pos2.y - other->collider->rect.half_height;
+    float bottom2 = pos2.y + other->collider->rect.half_height;
+
+    return left1 < right2 && right1 > left2 && top1 < bottom2 && bottom1 > top2;
+}
+
+bool entity_collider_circle_rect(Entity* circle, Entity* rect) {
+    Vector pos1 = entity_collider_position_get(circle);
+    Vector pos2 = entity_collider_position_get(rect);
+
+    float left = pos2.x - rect->collider->rect.half_width;
+    float right = pos2.x + rect->collider->rect.half_width;
+    float top = pos2.y - rect->collider->rect.half_height;
+    float bottom = pos2.y + rect->collider->rect.half_height;
+
+    float closestX = fmaxf(left, fminf(pos1.x, right));
+    float closestY = fmaxf(top, fminf(pos1.y, bottom));
+
+    float dx = pos1.x - closestX;
+    float dy = pos1.y - closestY;
+    float distance = sqrtf(dx * dx + dy * dy);
+    return distance < circle->collider->circle.radius;
+}
+
+bool entity_collider_check_collision(Entity* entity, Entity* other) {
+    furi_check(entity->collider);
+    furi_check(other->collider);
+
+    if(entity->collider->type == ColliderTypeCircle) {
+        Entity* circle = entity;
+        if(other->collider->type == ColliderTypeCircle) {
+            return entity_collider_circle_circle(circle, other);
+        } else {
+            return entity_collider_circle_rect(circle, other);
+        }
+    } else {
+        Entity* rect = entity;
+        if(other->collider->type == ColliderTypeCircle) {
+            return entity_collider_circle_rect(other, rect);
+        } else {
+            return entity_collider_rect_rect(rect, other);
+        }
+    }
+}
+
+bool entity_collider_exists(Entity* entity) {
+    return entity->collider != NULL;
+}
+
+void entity_send_event(
+    Entity* sender,
+    Entity* receiver,
+    GameManager* manager,
+    uint32_t type,
+    EntityEventValue value) {
+    if(receiver->description && receiver->description->event) {
+        EntityEvent event = {
+            .type = type,
+            .sender = sender,
+            .value = value,
+        };
+        receiver->description->event(receiver, manager, event, receiver->context);
+    }
+}

quadrastic/src/engine/entity.h

@@ -0,0 +1,65 @@
+#pragma once
+#include "vector.h"
+#include "game_engine.h"
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct Entity Entity;
+
+typedef struct Level Level;
+
+typedef union {
+    uint32_t value;
+    void* pointer;
+} EntityEventValue;
+
+typedef struct {
+    uint32_t type;
+    Entity* sender;
+    EntityEventValue value;
+} EntityEvent;
+
+typedef struct Level Level;
+typedef struct GameManager GameManager;
+
+typedef struct {
+    void (*start)(Entity* self, GameManager* manager, void* context);
+    void (*stop)(Entity* self, GameManager* manager, void* context);
+    void (*update)(Entity* self, GameManager* manager, void* context);
+    void (*render)(Entity* self, GameManager* manager, Canvas* canvas, void* context);
+    void (*collision)(Entity* self, Entity* other, GameManager* manager, void* context);
+    void (*event)(Entity* self, GameManager* manager, EntityEvent event, void* context);
+    size_t context_size;
+} EntityDescription;
+
+const EntityDescription* entity_description_get(Entity* entity);
+
+Vector entity_pos_get(Entity* entity);
+
+void entity_pos_set(Entity* entity, Vector position);
+
+void* entity_context_get(Entity* entity);
+
+void entity_collider_add_circle(Entity* entity, float radius);
+
+void entity_collider_add_rect(Entity* entity, float width, float height);
+
+void entity_collider_remove(Entity* entity);
+
+void entity_collider_offset_set(Entity* entity, Vector offset);
+
+Vector entity_collider_offset_get(Entity* entity);
+
+void entity_send_event(
+    Entity* sender,
+    Entity* receiver,
+    GameManager* manager,
+    uint32_t type,
+    EntityEventValue value);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/entity_i.h

@@ -0,0 +1,58 @@
+#pragma once
+#include "entity.h"
+#include "game_manager.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    ColliderTypeCircle,
+    ColliderTypeRect,
+} ColliderType;
+
+typedef struct {
+    ColliderType type;
+    union {
+        struct {
+            float radius;
+        } circle;
+        struct {
+            float half_width;
+            float half_height;
+        } rect;
+    };
+} Collider;
+
+struct Entity {
+    Vector position;
+    const EntityDescription* description;
+    void* context;
+    Collider* collider;
+    Vector collider_offset;
+    bool collider_dirty;
+};
+
+Entity* entity_alloc(const EntityDescription* behaviour);
+
+void entity_free(Entity* entity);
+
+void entity_call_start(Entity* entity, GameManager* manager);
+
+void entity_call_stop(Entity* entity, GameManager* manager);
+
+void entity_call_update(Entity* entity, GameManager* manager);
+
+void entity_call_render(Entity* entity, GameManager* manager, Canvas* canvas);
+
+void entity_call_collision(Entity* entity, Entity* other, GameManager* manager);
+
+bool entity_collider_check_collision(Entity* entity, Entity* other);
+
+bool entity_collider_exists(Entity* entity);
+
+int32_t entities_get_count(void);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/game_engine.c

@@ -0,0 +1,221 @@
+#include "game_engine.h"
+#include <furi.h>
+#include <furi_hal_rtc.h>
+#include <gui/gui.h>
+#include <input/input.h>
+#include <notification/notification_messages.h>
+#include "clock_timer.h"
+
+typedef _Atomic uint32_t AtomicUint32;
+
+typedef struct {
+    bool lefty;
+    AtomicUint32 state;
+} InputHolder;
+
+GameEngineSettings game_engine_settings_init() {
+    GameEngineSettings settings;
+    settings.target_fps = 30.0f;
+    settings.show_fps = false;
+    settings.always_backlight = true;
+    settings.start_callback = NULL;
+    settings.frame_callback = NULL;
+    settings.stop_callback = NULL;
+    settings.context = NULL;
+    return settings;
+}
+
+struct GameEngine {
+    Gui* gui;
+    NotificationApp* notifications;
+    FuriPubSub* input_pubsub;
+    FuriThreadId thread_id;
+    GameEngineSettings settings;
+    float fps;
+};
+
+typedef enum {
+    GameThreadFlagUpdate = 1 << 0,
+    GameThreadFlagStop = 1 << 1,
+} GameThreadFlag;
+
+#define GameThreadFlagMask (GameThreadFlagUpdate | GameThreadFlagStop)
+
+GameEngine* game_engine_alloc(GameEngineSettings settings) {
+    furi_check(settings.frame_callback != NULL);
+
+    GameEngine* engine = malloc(sizeof(GameEngine));
+    engine->gui = furi_record_open(RECORD_GUI);
+    engine->notifications = furi_record_open(RECORD_NOTIFICATION);
+    engine->input_pubsub = furi_record_open(RECORD_INPUT_EVENTS);
+    engine->thread_id = furi_thread_get_current_id();
+    engine->settings = settings;
+    engine->fps = 1.0f;
+
+    return engine;
+}
+
+void game_engine_free(GameEngine* engine) {
+    furi_record_close(RECORD_GUI);
+    furi_record_close(RECORD_NOTIFICATION);
+    furi_record_close(RECORD_INPUT_EVENTS);
+    free(engine);
+}
+
+static void clock_timer_callback(void* context) {
+    GameEngine* engine = context;
+    furi_thread_flags_set(engine->thread_id, GameThreadFlagUpdate);
+}
+
+static const GameKey keys_right_hand[] = {
+    [InputKeyUp] = GameKeyUp,
+    [InputKeyDown] = GameKeyDown,
+    [InputKeyRight] = GameKeyRight,
+    [InputKeyLeft] = GameKeyLeft,
+    [InputKeyOk] = GameKeyOk,
+    [InputKeyBack] = GameKeyBack,
+};
+
+static const GameKey keys_left_hand[] = {
+    [InputKeyUp] = GameKeyDown,
+    [InputKeyDown] = GameKeyUp,
+    [InputKeyRight] = GameKeyLeft,
+    [InputKeyLeft] = GameKeyRight,
+    [InputKeyOk] = GameKeyOk,
+    [InputKeyBack] = GameKeyBack,
+};
+static_assert(
+    sizeof(keys_right_hand) == sizeof(keys_left_hand),
+    "keys_right_hand and keys_left_hand do not match!");
+
+static const size_t keys_count = sizeof(keys_right_hand) / sizeof(keys_right_hand[0]);
+
+static void input_events_callback(const void* value, void* context) {
+    InputHolder* holder = context;
+    const InputEvent* event = value;
+    const GameKey* keys = holder->lefty ? keys_left_hand : keys_right_hand;
+
+    if(event->key < keys_count) {
+        switch(event->type) {
+        case InputTypePress:
+            holder->state |= (keys[event->key]);
+            break;
+        case InputTypeRelease:
+            holder->state &= ~(keys[event->key]);
+            break;
+        default:
+            break;
+        }
+    }
+}
+
+void game_engine_run(GameEngine* engine) {
+    // input state
+    InputHolder input_state = {
+        .lefty = furi_hal_rtc_is_flag_set(FuriHalRtcFlagHandOrient),
+        .state = 0,
+    };
+    uint32_t input_prev_state = 0;
+
+    // set backlight if needed
+    if(engine->settings.always_backlight) {
+        notification_message(engine->notifications, &sequence_display_backlight_enforce_on);
+    }
+
+    // acquire gui canvas
+    Canvas* canvas = gui_direct_draw_acquire(engine->gui);
+
+    // subscribe to input events
+    FuriPubSubSubscription* input_subscription =
+        furi_pubsub_subscribe(engine->input_pubsub, input_events_callback, &input_state);
+
+    // call start callback, if any
+    if(engine->settings.start_callback) {
+        engine->settings.start_callback(engine, engine->settings.context);
+    }
+
+    // start "game update" timer
+    clock_timer_start(clock_timer_callback, engine, engine->settings.target_fps);
+
+    // init fps counter
+    uint32_t time_start = DWT->CYCCNT;
+
+    while(true) {
+        uint32_t flags =
+            furi_thread_flags_wait(GameThreadFlagMask, FuriFlagWaitAny, FuriWaitForever);
+        furi_check((flags & FuriFlagError) == 0);
+
+        if(flags & GameThreadFlagUpdate) {
+            // update fps counter
+            uint32_t time_end = DWT->CYCCNT;
+            uint32_t time_delta = time_end - time_start;
+            time_start = time_end;
+
+            // update input state
+            uint32_t input_current_state = input_state.state;
+            InputState input = {
+                .held = input_current_state,
+                .pressed = input_current_state & ~input_prev_state,
+                .released = ~input_current_state & input_prev_state,
+            };
+            input_prev_state = input_current_state;
+
+            // clear screen
+            canvas_reset(canvas);
+
+            // calculate actual fps
+            engine->fps = (float)SystemCoreClock / time_delta;
+
+            // do the work
+            engine->settings.frame_callback(engine, canvas, input, engine->settings.context);
+
+            // show fps if needed
+            if(engine->settings.show_fps) {
+                canvas_set_color(canvas, ColorXOR);
+                canvas_printf(canvas, 0, 7, "%lu", (uint32_t)roundf(engine->fps));
+            }
+
+            // and output screen buffer
+            canvas_commit(canvas);
+
+            // throttle a bit
+            furi_delay_tick(2);
+        }
+
+        if(flags & GameThreadFlagStop) {
+            break;
+        }
+    }
+
+    // stop timer
+    clock_timer_stop();
+
+    // call stop callback, if any
+    if(engine->settings.stop_callback) {
+        engine->settings.stop_callback(engine, engine->settings.context);
+    }
+
+    // release gui canvas and unsubscribe from input events
+    gui_direct_draw_release(engine->gui);
+    furi_pubsub_unsubscribe(engine->input_pubsub, input_subscription);
+
+    if(engine->settings.always_backlight) {
+        notification_message(engine->notifications, &sequence_display_backlight_enforce_auto);
+    }
+}
+
+void game_engine_stop(GameEngine* engine) {
+    furi_thread_flags_set(engine->thread_id, GameThreadFlagStop);
+}
+
+float game_engine_get_delta_time(GameEngine* engine) {
+    return 1.0f / engine->fps;
+}
+
+float game_engine_get_delta_frames(GameEngine* engine) {
+    return engine->fps / engine->settings.target_fps;
+}
+
+void game_engine_show_fps_set(GameEngine* engine, bool show_fps) {
+    engine->settings.show_fps = show_fps;
+}

quadrastic/src/engine/game_engine.h

@@ -0,0 +1,88 @@
+#pragma once
+#include <stdbool.h>
+#include "canvas.h"
+#include <gui/canvas.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    GameKeyUp = 1 << 0,
+    GameKeyDown = 1 << 1,
+    GameKeyRight = 1 << 2,
+    GameKeyLeft = 1 << 3,
+    GameKeyOk = 1 << 4,
+    GameKeyBack = 1 << 5,
+} GameKey;
+
+typedef struct {
+    uint32_t held; // mask of GameKey held in current frame
+    uint32_t pressed; // mask of GameKey pressed in current frame
+    uint32_t released; // mask of GameKey released in current frame
+} InputState;
+
+typedef struct GameEngine GameEngine;
+
+typedef void (*GameEngineStartCallback)(GameEngine* engine, void* context);
+
+typedef void (*GameEngineStopCallback)(GameEngine* engine, void* context);
+
+typedef void (
+    *GameEngineFrameCallback)(GameEngine* engine, Canvas* canvas, InputState input, void* context);
+
+typedef struct {
+    float target_fps; // target fps
+    bool show_fps; // show fps counter
+    bool always_backlight; // keep backlight on
+    GameEngineStartCallback start_callback; // called when engine starts
+    GameEngineFrameCallback frame_callback; // frame callback, called at target fps
+    GameEngineStopCallback stop_callback; // called when engine stops
+    void* context; // user context passed to callback
+} GameEngineSettings;
+
+/** Default settings initializer */
+GameEngineSettings game_engine_settings_init(void);
+
+/** Game Engine allocator
+ * @param settings engine settings
+ * @return GameEngine*  GameEngine instance
+ */
+GameEngine* game_engine_alloc(GameEngineSettings settings);
+
+/** Run the Game Engine. Blocks until game_engine_stop() is called.
+ * @param engine GameEngine instance
+ */
+void game_engine_run(GameEngine* engine);
+
+/** Free the Game Engine
+ * @param engine GameEngine instance
+ */
+void game_engine_free(GameEngine* engine);
+
+/** Stop the Game Engine, will not block execution
+ * @param engine GameEngine instance
+ */
+void game_engine_stop(GameEngine* engine);
+
+/** Get delta time between current and previous frame
+ * @param engine GameEngine instance
+ * @return float  delta time in seconds
+ */
+float game_engine_get_delta_time(GameEngine* engine);
+
+/** Get delta frames between current and previous frame
+ * @param engine GameEngine instance
+ * @return float  delta frames
+ */
+float game_engine_get_delta_frames(GameEngine* engine);
+
+/** Enable/disable show fps counter
+ * @param engine GameEngine instance
+ * @param show_fps show fps counter
+ */
+void game_engine_show_fps_set(GameEngine* engine, bool show_fps);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/game_manager.c

@@ -0,0 +1,174 @@
+#include "game_manager.h"
+#include "level_i.h"
+#include <furi.h>
+#include <m-list.h>
+#include <storage/storage.h>
+
+typedef struct {
+    Sprite* sprite;
+    FuriString* path;
+} SpriteCache;
+
+LIST_DEF(LevelList, Level*, M_POD_OPLIST);
+LIST_DEF(SpriteCacheList, SpriteCache, M_POD_OPLIST);
+
+struct GameManager {
+    LevelList_t levels;
+    Level* current_level;
+    Level* next_level;
+
+    GameEngine* engine;
+    InputState input;
+    void* game_context;
+
+    SpriteCacheList_t sprites;
+};
+
+GameManager* game_manager_alloc() {
+    GameManager* manager = malloc(sizeof(GameManager));
+    LevelList_init(manager->levels);
+    manager->current_level = NULL;
+    manager->next_level = NULL;
+    manager->engine = NULL;
+    manager->game_context = NULL;
+    memset(&manager->input, 0, sizeof(InputState));
+    SpriteCacheList_init(manager->sprites);
+    return manager;
+}
+
+void game_manager_free(GameManager* manager) {
+    level_call_stop(manager->current_level);
+
+    // Free all levels
+    {
+        LevelList_it_t it;
+        LevelList_it(it, manager->levels);
+        while(!LevelList_end_p(it)) {
+            level_call_free(*LevelList_cref(it));
+            level_free(*LevelList_cref(it));
+            LevelList_next(it);
+        }
+    }
+
+    LevelList_clear(manager->levels);
+
+    // Free all sprites
+    {
+        SpriteCacheList_it_t it;
+        SpriteCacheList_it(it, manager->sprites);
+        while(!SpriteCacheList_end_p(it)) {
+            furi_string_free(SpriteCacheList_cref(it)->path);
+            sprite_free(SpriteCacheList_cref(it)->sprite);
+            SpriteCacheList_next(it);
+        }
+    }
+    SpriteCacheList_clear(manager->sprites);
+    free(manager);
+}
+
+Level* game_manager_add_level(GameManager* manager, const LevelBehaviour* behaviour) {
+    UNUSED(manager);
+    Level* level = level_alloc(behaviour, manager);
+    LevelList_push_back(manager->levels, level);
+    level_call_alloc(level);
+    if(!manager->current_level) {
+        manager->current_level = level;
+        level_call_start(level);
+    }
+    return level;
+}
+
+void game_manager_next_level_set(GameManager* manager, Level* next_level) {
+    manager->next_level = next_level;
+}
+
+void game_manager_game_stop(GameManager* manager) {
+    GameEngine* engine = game_manager_engine_get(manager);
+    game_engine_stop(engine);
+}
+
+Level* game_manager_current_level_get(GameManager* manager) {
+    return manager->current_level;
+}
+
+void game_manager_update(GameManager* manager) {
+    if(manager->next_level) {
+        level_call_stop(manager->current_level);
+        manager->current_level = manager->next_level;
+        level_call_start(manager->current_level);
+        manager->next_level = NULL;
+    }
+
+    level_update(manager->current_level, manager);
+}
+
+void game_manager_render(GameManager* manager, Canvas* canvas) {
+    level_render(manager->current_level, manager, canvas);
+}
+
+void game_manager_engine_set(GameManager* manager, GameEngine* engine) {
+    manager->engine = engine;
+}
+
+void game_manager_input_set(GameManager* manager, InputState input) {
+    manager->input = input;
+}
+
+void game_manager_game_context_set(GameManager* manager, void* context) {
+    manager->game_context = context;
+}
+
+GameEngine* game_manager_engine_get(GameManager* manager) {
+    return manager->engine;
+}
+
+InputState game_manager_input_get(GameManager* manager) {
+    return manager->input;
+}
+
+void* game_manager_game_context_get(GameManager* manager) {
+    return manager->game_context;
+}
+
+void game_manager_show_fps_set(GameManager* manager, bool show_fps) {
+    GameEngine* engine = game_manager_engine_get(manager);
+    game_engine_show_fps_set(engine, show_fps);
+}
+
+Sprite* game_manager_sprite_load(GameManager* manager, const char* path) {
+    SpriteCacheList_it_t it;
+    SpriteCacheList_it(it, manager->sprites);
+    while(!SpriteCacheList_end_p(it)) {
+        if(furi_string_cmp(SpriteCacheList_cref(it)->path, path) == 0) {
+            return SpriteCacheList_cref(it)->sprite;
+        }
+        SpriteCacheList_next(it);
+    }
+
+    FuriString* path_full = furi_string_alloc_set(APP_ASSETS_PATH("sprites/"));
+    furi_string_cat(path_full, path);
+
+    Sprite* sprite = sprite_alloc(furi_string_get_cstr(path_full));
+    if(sprite) {
+        SpriteCache cache = {
+            .sprite = sprite,
+            .path = furi_string_alloc_set(path),
+        };
+        SpriteCacheList_push_back(manager->sprites, cache);
+    }
+    furi_string_free(path_full);
+
+    return sprite;
+}
+
+Level* game_manager_entity_level_get(GameManager* manager, Entity* entity) {
+    LevelList_it_t it;
+    LevelList_it(it, manager->levels);
+    while(!LevelList_end_p(it)) {
+        if(level_contains_entity(*LevelList_cref(it), entity)) {
+            return *LevelList_cref(it);
+        }
+        LevelList_next(it);
+    }
+    return NULL;
+}

quadrastic/src/engine/game_manager.h

@@ -0,0 +1,59 @@
+#pragma once
+#include "level.h"
+#include "game_engine.h"
+#include "sprite.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct GameManager GameManager;
+
+Level* game_manager_add_level(GameManager* manager, const LevelBehaviour* behaviour);
+
+void game_manager_next_level_set(GameManager* manager, Level* level);
+
+/**
+ * @brief Get the current level
+ * @warning This function returns current level, but in entity start or stop callbacks, the level may be different from entity's level.
+ * For example, if an entity is added to a level_game and you currently are in level_pause, this function will return level_pause.
+ * Use game_manager_entity_level_get to get the entity's level, or save the level pointer somewhere.
+ * 
+ * @param manager game manager instance
+ * @return Level* level instance
+ */
+Level* game_manager_current_level_get(GameManager* manager);
+
+/**
+ * @brief Get the level of an entity
+ * @warning This function is kinda slow, use it only when other methods are not possible
+ * 
+ * @param manager 
+ * @param entity 
+ * @return Level* 
+ */
+Level* game_manager_entity_level_get(GameManager* manager, Entity* entity);
+
+GameEngine* game_manager_engine_get(GameManager* manager);
+
+InputState game_manager_input_get(GameManager* manager);
+
+void* game_manager_game_context_get(GameManager* manager);
+
+void game_manager_game_stop(GameManager* manager);
+
+void game_manager_show_fps_set(GameManager* manager, bool show_fps);
+
+/**
+ * @brief Load a sprite from a file
+ * Sprite will be cached and reused if the same file is loaded again
+ * 
+ * @param manager game manager instance
+ * @param path sprite file path, relative to the game's assets folder
+ * @return Sprite* or NULL if the sprite could not be loaded
+ */
+Sprite* game_manager_sprite_load(GameManager* manager, const char* path);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/game_manager_i.h

@@ -0,0 +1,24 @@
+#pragma once
+#include "game_manager.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+GameManager* game_manager_alloc(void);
+
+void game_manager_free(GameManager* manager);
+
+void game_manager_update(GameManager* manager);
+
+void game_manager_render(GameManager* manager, Canvas* canvas);
+
+void game_manager_engine_set(GameManager* manager, GameEngine* engine);
+
+void game_manager_input_set(GameManager* manager, InputState input);
+
+void game_manager_game_context_set(GameManager* manager, void* context);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/level.c

@@ -0,0 +1,309 @@
+#include "level.h"
+#include "level_i.h"
+#include "entity_i.h"
+#include <m-list.h>
+#include <furi.h>
+
+LIST_DEF(EntityList, Entity*, M_POD_OPLIST);
+#define M_OPL_EntityList_t() LIST_OPLIST(EntityList)
+#define FOREACH(name, list) for \
+    M_EACH(name, list, EntityList_t)
+
+#define LEVEL_DEBUG(...) FURI_LOG_D("Level", __VA_ARGS__)
+#define LEVEL_INFO(...) FURI_LOG_I("Level", __VA_ARGS__)
+#define LEVEL_ERROR(...) FURI_LOG_E("Level", __VA_ARGS__)
+
+struct Level {
+    EntityList_t entities;
+    EntityList_t to_add;
+    EntityList_t to_remove;
+    const LevelBehaviour* behaviour;
+    void* context;
+    GameManager* manager;
+
+    bool clear;
+    LevelClearCallback clear_callback;
+    void* clear_context;
+};
+
+Level* level_alloc(const LevelBehaviour* behaviour, GameManager* manager) {
+    Level* level = malloc(sizeof(Level));
+    level->manager = manager;
+    level->clear = false;
+    EntityList_init(level->entities);
+    EntityList_init(level->to_add);
+    EntityList_init(level->to_remove);
+    level->behaviour = behaviour;
+    if(behaviour->context_size > 0) {
+        level->context = malloc(behaviour->context_size);
+    } else {
+        level->context = NULL;
+    }
+    LEVEL_DEBUG("Allocated level at %p", level);
+    return level;
+}
+
+static void level_process_add(Level* level) {
+    // move entities from to_add to entities
+    FOREACH(item, level->to_add) {
+        EntityList_push_back(level->entities, *item);
+    }
+    EntityList_clear(level->to_add);
+}
+
+static void level_process_remove(Level* level) {
+    // remove entities in to_remove from entities and free them
+    FOREACH(item, level->to_remove) {
+        entity_free(*item);
+        EntityList_it_t it;
+
+        // find and remove the entity from the entities list
+        for(EntityList_it(it, level->entities); !EntityList_end_p(it); EntityList_next(it)) {
+            if(*EntityList_ref(it) == *item) {
+                EntityList_remove(level->entities, it);
+                break;
+            }
+        }
+    }
+    EntityList_clear(level->to_remove);
+}
+
+static bool level_entity_in_list_p(const EntityList_t list, Entity* entity) {
+    FOREACH(item, list) {
+        if(*item == entity) {
+            return true;
+        }
+    }
+    return false;
+}
+
+static void level_clear_entities(Level* level) {
+    size_t iterations = 0;
+
+    do {
+        // process to_add and to_remove
+        level_process_add(level);
+        level_process_remove(level);
+
+        // remove entities from entities list
+        FOREACH(item, level->entities) {
+            if(!level_entity_in_list_p(level->to_remove, *item)) {
+                level_remove_entity(level, *item);
+            }
+        }
+
+        // check if we are looping too many times
+        iterations++;
+        if(iterations >= 100) {
+            LEVEL_ERROR("Level free looped too many times");
+        }
+
+        // entity_call_stop can call level_remove_entity or level_add_entity
+        // so we need to process to_add and to_remove again
+    } while(!EntityList_empty_p(level->to_add) || !EntityList_empty_p(level->to_remove) ||
+            !EntityList_empty_p(level->entities));
+}
+
+void level_free(Level* level) {
+    level_clear_entities(level);
+
+    EntityList_clear(level->entities);
+    EntityList_clear(level->to_add);
+    EntityList_clear(level->to_remove);
+
+    if(level->behaviour->context_size > 0) {
+        free(level->context);
+    }
+
+    LEVEL_DEBUG("Freeing level at %p", level);
+    free(level);
+}
+
+Entity* level_add_entity(Level* level, const EntityDescription* description) {
+    Entity* entity = entity_alloc(description);
+    EntityList_push_back(level->to_add, entity);
+    entity_call_start(entity, level->manager);
+    return entity;
+}
+
+void level_remove_entity(Level* level, Entity* entity) {
+    EntityList_push_back(level->to_remove, entity);
+    entity_call_stop(entity, level->manager);
+}
+
+void level_send_event(
+    Level* level,
+    Entity* sender,
+    const EntityDescription* receiver_desc,
+    uint32_t type,
+    EntityEventValue value) {
+    FOREACH(item, level->entities) {
+        if(receiver_desc == entity_description_get(*item) || receiver_desc == NULL) {
+            entity_send_event(sender, *item, level->manager, type, value);
+        }
+    }
+
+    FOREACH(item, level->to_add) {
+        if(receiver_desc == entity_description_get(*item) || receiver_desc == NULL) {
+            entity_send_event(sender, *item, level->manager, type, value);
+        }
+    }
+}
+
+static void level_process_update(Level* level, GameManager* manager) {
+    FOREACH(item, level->entities) {
+        entity_call_update(*item, manager);
+    }
+}
+
+static void level_process_collision(Level* level, GameManager* manager) {
+    EntityList_it_t it_first;
+    EntityList_it_t it_second;
+
+    EntityList_it(it_first, level->entities);
+    while(!EntityList_end_p(it_first)) {
+        Entity* first = *EntityList_ref(it_first);
+        if(entity_collider_exists(first)) {
+            // start second iterator at the next entity,
+            // so we don't check the same pair twice
+            EntityList_it_set(it_second, it_first);
+            EntityList_next(it_second);
+            while(!EntityList_end_p(it_second)) {
+                Entity* second = *EntityList_ref(it_second);
+                if(first->collider_dirty || second->collider_dirty) {
+                    if(entity_collider_exists(second)) {
+                        if(entity_collider_check_collision(first, second)) {
+                            entity_call_collision(first, second, manager);
+                            entity_call_collision(second, first, manager);
+                        }
+                    }
+                }
+                EntityList_next(it_second);
+            }
+        }
+        EntityList_next(it_first);
+    }
+
+    FOREACH(item, level->entities) {
+        (*item)->collider_dirty = false;
+    }
+}
+
+void level_clear(Level* level, LevelClearCallback callback, void* context) {
+    level->clear_callback = callback;
+    level->clear_context = context;
+    level->clear = true;
+}
+
+void level_update(Level* level, GameManager* manager) {
+    if(level->clear) {
+        level_clear_entities(level);
+        level->clear_callback(level, level->clear_context);
+        level->clear = false;
+    }
+
+    level_process_add(level);
+    level_process_remove(level);
+    level_process_update(level, manager);
+    level_process_collision(level, manager);
+}
+
+void level_render(Level* level, GameManager* manager, Canvas* canvas) {
+    FOREACH(item, level->entities) {
+        entity_call_render(*item, manager, canvas);
+    }
+}
+
+void level_call_start(Level* level) {
+    if(level->behaviour->start) {
+        level->behaviour->start(level, level->manager, level->context);
+    }
+}
+
+void level_call_stop(Level* level) {
+    if(level->behaviour->stop) {
+        level->behaviour->stop(level, level->manager, level->context);
+    }
+}
+
+void level_call_alloc(Level* level) {
+    if(level->behaviour->alloc) {
+        level->behaviour->alloc(level, level->manager, level->context);
+    }
+}
+
+void level_call_free(Level* level) {
+    if(level->behaviour->free) {
+        level->behaviour->free(level, level->manager, level->context);
+    }
+}
+
+size_t level_entity_count(const Level* level, const EntityDescription* description) {
+    size_t count = 0;
+    FOREACH(item, level->entities) {
+        if(description == NULL || description == entity_description_get(*item)) {
+            count++;
+        }
+    }
+
+    // subtract entities that are in to_remove
+    FOREACH(item, level->to_remove) {
+        if(description == NULL || description == entity_description_get(*item)) {
+            count--;
+        }
+    }
+
+    // add entities that are in to_add
+    FOREACH(item, level->to_add) {
+        if(description == NULL || description == entity_description_get(*item)) {
+            count++;
+        }
+    }
+
+    return count;
+}
+
+Entity* level_entity_get(const Level* level, const EntityDescription* description, size_t index) {
+    size_t count = 0;
+    FOREACH(item, level->entities) {
+        if(description == NULL || description == entity_description_get(*item)) {
+            if(!level_entity_in_list_p(level->to_remove, *item)) {
+                if(count == index) {
+                    return *item;
+                }
+                count++;
+            }
+        }
+    }
+
+    FOREACH(item, level->to_add) {
+        if(description == NULL || description == entity_description_get(*item)) {
+            if(!level_entity_in_list_p(level->to_remove, *item)) {
+                if(count == index) {
+                    return *item;
+                }
+                count++;
+            }
+        }
+    }
+
+    return NULL;
+}
+
+void* level_context_get(Level* level) {
+    return level->context;
+}
+
+bool level_contains_entity(const Level* level, const Entity* entity) {
+    FOREACH(item, level->entities) {
+        if(*item == entity) {
+            return true;
+        }
+    }
+    FOREACH(item, level->to_add) {
+        if(*item == entity) {
+            return true;
+        }
+    }
+    return false;
+}

quadrastic/src/engine/level.h

@@ -0,0 +1,103 @@
+#pragma once
+#include <stddef.h>
+#include "entity.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct GameManager GameManager;
+
+typedef struct {
+    void (*alloc)(Level* level, GameManager* manager, void* context);
+    void (*free)(Level* level, GameManager* manager, void* context);
+    void (*start)(Level* level, GameManager* manager, void* context);
+    void (*stop)(Level* level, GameManager* manager, void* context);
+    size_t context_size;
+} LevelBehaviour;
+
+/** Level reset callback */
+typedef void (*LevelClearCallback)(Level* level, void* context);
+
+/**
+ * @brief Clear entities and call callback at the start of the next update
+ * 
+ * @param level level instance
+ * @param callback callback
+ * @param context context
+ */
+void level_clear(Level* level, LevelClearCallback callback, void* context);
+
+/**
+ * @brief Add an entity to the level
+ * 
+ * @param level level instance
+ * @param behaviour entity behaviour
+ * @return Entity* 
+ */
+Entity* level_add_entity(Level* level, const EntityDescription* behaviour);
+
+/**
+ * @brief Remove an entity from the level
+ * 
+ * @param level level instance
+ * @param entity entity to remove
+ */
+void level_remove_entity(Level* level, Entity* entity);
+
+/**
+ * @brief Send an event to all entities of a certain type in the level
+ * 
+ * @param level level instance
+ * @param sender entity that sends the event
+ * @param receiver_desc entity description that will receive the event, NULL for all entities
+ * @param type event type
+ * @param value event value
+ */
+void level_send_event(
+    Level* level,
+    Entity* sender,
+    const EntityDescription* receiver_desc,
+    uint32_t type,
+    EntityEventValue value);
+
+/**
+ * @brief Get the count of entities of a certain type in the level, or all entities if description is NULL
+ * 
+ * @param level level instance
+ * @param description entity description, NULL for all entities
+ * @return size_t entity count 
+ */
+size_t level_entity_count(const Level* level, const EntityDescription* description);
+
+/**
+ * @brief Get an entity of a certain type in the level
+ * Returns NULL if the index is out of bounds
+ * 
+ * @param level level instance
+ * @param description entity description, NULL for all entities
+ * @param index entity index
+ * @return Entity* entity
+ */
+Entity* level_entity_get(const Level* level, const EntityDescription* description, size_t index);
+
+/**
+ * @brief Get the context of the level
+ * 
+ * @param level level instance
+ * @return void* context
+ */
+void* level_context_get(Level* level);
+
+/**
+ * @brief Check if the level contains an entity
+ * 
+ * @param level level instance
+ * @param entity entity
+ * @return true if the level contains the entity
+ */
+bool level_contains_entity(const Level* level, const Entity* entity);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/level_i.h

@@ -0,0 +1,26 @@
+#pragma once
+#include "level.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+Level* level_alloc(const LevelBehaviour* behaviour, GameManager* manager);
+
+void level_free(Level* level);
+
+void level_update(Level* level, GameManager* manager);
+
+void level_render(Level* level, GameManager* manager, Canvas* canvas);
+
+void level_call_alloc(Level* level);
+
+void level_call_free(Level* level);
+
+void level_call_start(Level* level);
+
+void level_call_stop(Level* level);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/main.c

@@ -0,0 +1,54 @@
+#include <furi.h>
+#include "engine.h"
+#include "game_engine.h"
+#include "game_manager_i.h"
+#include "level_i.h"
+#include "entity_i.h"
+
+static void frame_cb(GameEngine* engine, Canvas* canvas, InputState input, void* context) {
+    UNUSED(engine);
+    GameManager* game_manager = context;
+    game_manager_input_set(game_manager, input);
+    game_manager_update(game_manager);
+    game_manager_render(game_manager, canvas);
+}
+
+int32_t game_app(void* p) {
+    UNUSED(p);
+    GameManager* game_manager = game_manager_alloc();
+
+    GameEngineSettings settings = game_engine_settings_init();
+    settings.target_fps = game.target_fps;
+    settings.show_fps = game.show_fps;
+    settings.always_backlight = game.always_backlight;
+    settings.frame_callback = frame_cb;
+    settings.context = game_manager;
+
+    GameEngine* engine = game_engine_alloc(settings);
+    game_manager_engine_set(game_manager, engine);
+
+    void* game_context = NULL;
+    if(game.context_size > 0) {
+        game_context = malloc(game.context_size);
+        game_manager_game_context_set(game_manager, game_context);
+    }
+    game.start(game_manager, game_context);
+
+    game_engine_run(engine);
+    game_engine_free(engine);
+
+    game_manager_free(game_manager);
+
+    game.stop(game_context);
+    if(game_context) {
+        free(game_context);
+    }
+
+    int32_t entities = entities_get_count();
+    if(entities != 0) {
+        FURI_LOG_E("Game", "Memory leak detected: %ld entities still allocated", entities);
+        return -1;
+    }
+
+    return 0;
+}

quadrastic/src/engine/scripts/sprite_builder.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+import argparse
+import io
+import logging
+import os
+import struct
+
+from PIL import Image, ImageOps
+
+# XBM flipper sprite (.fxbm) is 1-bit depth, width-padded to 8 bits
+# file format:
+#   uint32 size of the rest of the file in bytes
+#   uint32 width in px
+#   uint32 height in px
+#   uint8[] pixel data, every row is padded to 8 bits (like XBM)
+
+def image2xbm(input_file_path):
+    with Image.open(input_file_path) as im:
+        with io.BytesIO() as output:
+            bw = im.convert("1")
+            bw = ImageOps.invert(bw)
+            bw.save(output, format="XBM")
+            return output.getvalue()
+
+def xbm2fxbm(data):
+    # hell as it is, but it works
+    f = io.StringIO(data.decode().strip())
+    width = int(f.readline().strip().split(" ")[2])
+    height = int(f.readline().strip().split(" ")[2])
+    data = f.read().strip().replace("\n", "").replace(" ", "").split("=")[1][:-1]
+    data_str = data[1:-1].replace(",", " ").replace("0x", "")
+    image_bin = bytearray.fromhex(data_str)
+
+    output = struct.pack("<I", len(image_bin) + 8)
+    output += struct.pack("<II", width, height)
+    output += image_bin
+    return output
+
+def process_sprites(input_dir, output_dir):
+    for root, dirs, files in os.walk(input_dir):
+        for file in files:
+            if file.startswith('.'):
+                continue
+            
+            try:
+                input_file_path = os.path.join(root, file)
+                rel_path = os.path.relpath(input_file_path, input_dir)
+                new_rel_path = os.path.splitext(rel_path)[0] + ".fxbm"
+                output_file_path = os.path.join(output_dir, new_rel_path)
+
+                os.makedirs(os.path.dirname(output_file_path), exist_ok=True)
+
+                print(f"Converting '{rel_path}' to '{new_rel_path}'")
+                xbm = image2xbm(input_file_path)
+                img_data = xbm2fxbm(xbm)
+                with open(output_file_path, "wb") as f:
+                    f.write(img_data)
+            except Exception as e:
+                print(f"Cannot convert '{rel_path}': {e}")
+
+def clear_directory(directory):
+    for root, dirs, files in os.walk(directory, topdown=False):
+        for name in files:
+            os.remove(os.path.join(root, name))
+        for name in dirs:
+            os.rmdir(os.path.join(root, name))
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("source", help="Source directory")
+    parser.add_argument("target", help="Target directory")
+    args = parser.parse_args()
+
+    logging.basicConfig(level=logging.ERROR)
+    logger = logging.getLogger(__name__)
+    logger.debug(f"Building sprites from {args.source} to {args.target}")
+
+    clear_directory(args.target)
+    process_sprites(args.source, args.target)
+
+    return 0
+
+if __name__ == "__main__":
+    main()

quadrastic/src/engine/sensors/ICM42688P/ICM42688P.c

@@ -0,0 +1,297 @@
+#include "ICM42688P_regs.h"
+#include "ICM42688P.h"
+
+#define TAG "ICM42688P"
+
+#define ICM42688P_TIMEOUT 100
+
+struct ICM42688P {
+    FuriHalSpiBusHandle* spi_bus;
+    const GpioPin* irq_pin;
+    float accel_scale;
+    float gyro_scale;
+};
+
+static const struct AccelFullScale {
+    float value;
+    uint8_t reg_mask;
+} accel_fs_modes[] = {
+    [AccelFullScale16G] = {16.f, ICM42688_AFS_16G},
+    [AccelFullScale8G] = {8.f, ICM42688_AFS_8G},
+    [AccelFullScale4G] = {4.f, ICM42688_AFS_4G},
+    [AccelFullScale2G] = {2.f, ICM42688_AFS_2G},
+};
+
+static const struct GyroFullScale {
+    float value;
+    uint8_t reg_mask;
+} gyro_fs_modes[] = {
+    [GyroFullScale2000DPS] = {2000.f, ICM42688_GFS_2000DPS},
+    [GyroFullScale1000DPS] = {1000.f, ICM42688_GFS_1000DPS},
+    [GyroFullScale500DPS] = {500.f, ICM42688_GFS_500DPS},
+    [GyroFullScale250DPS] = {250.f, ICM42688_GFS_250DPS},
+    [GyroFullScale125DPS] = {125.f, ICM42688_GFS_125DPS},
+    [GyroFullScale62_5DPS] = {62.5f, ICM42688_GFS_62_5DPS},
+    [GyroFullScale31_25DPS] = {31.25f, ICM42688_GFS_31_25DPS},
+    [GyroFullScale15_625DPS] = {15.625f, ICM42688_GFS_15_625DPS},
+};
+
+static bool icm42688p_write_reg(FuriHalSpiBusHandle* spi_bus, uint8_t addr, uint8_t value) {
+    bool res = false;
+    furi_hal_spi_acquire(spi_bus);
+    do {
+        uint8_t cmd_data[2] = {addr & 0x7F, value};
+        if(!furi_hal_spi_bus_tx(spi_bus, cmd_data, 2, ICM42688P_TIMEOUT)) break;
+        res = true;
+    } while(0);
+    furi_hal_spi_release(spi_bus);
+    return res;
+}
+
+static bool icm42688p_read_reg(FuriHalSpiBusHandle* spi_bus, uint8_t addr, uint8_t* value) {
+    bool res = false;
+    furi_hal_spi_acquire(spi_bus);
+    do {
+        uint8_t cmd_byte = addr | (1 << 7);
+        if(!furi_hal_spi_bus_tx(spi_bus, &cmd_byte, 1, ICM42688P_TIMEOUT)) break;
+        if(!furi_hal_spi_bus_rx(spi_bus, value, 1, ICM42688P_TIMEOUT)) break;
+        res = true;
+    } while(0);
+    furi_hal_spi_release(spi_bus);
+    return res;
+}
+
+static bool
+    icm42688p_read_mem(FuriHalSpiBusHandle* spi_bus, uint8_t addr, uint8_t* data, uint8_t len) {
+    bool res = false;
+    furi_hal_spi_acquire(spi_bus);
+    do {
+        uint8_t cmd_byte = addr | (1 << 7);
+        if(!furi_hal_spi_bus_tx(spi_bus, &cmd_byte, 1, ICM42688P_TIMEOUT)) break;
+        if(!furi_hal_spi_bus_rx(spi_bus, data, len, ICM42688P_TIMEOUT)) break;
+        res = true;
+    } while(0);
+    furi_hal_spi_release(spi_bus);
+    return res;
+}
+
+bool icm42688p_accel_config(
+    ICM42688P* icm42688p,
+    ICM42688PAccelFullScale full_scale,
+    ICM42688PDataRate rate) {
+    icm42688p->accel_scale = accel_fs_modes[full_scale].value;
+    uint8_t reg_value = accel_fs_modes[full_scale].reg_mask | rate;
+    return icm42688p_write_reg(icm42688p->spi_bus, ICM42688_ACCEL_CONFIG0, reg_value);
+}
+
+float icm42688p_accel_get_full_scale(ICM42688P* icm42688p) {
+    return icm42688p->accel_scale;
+}
+
+bool icm42688p_gyro_config(
+    ICM42688P* icm42688p,
+    ICM42688PGyroFullScale full_scale,
+    ICM42688PDataRate rate) {
+    icm42688p->gyro_scale = gyro_fs_modes[full_scale].value;
+    uint8_t reg_value = gyro_fs_modes[full_scale].reg_mask | rate;
+    return icm42688p_write_reg(icm42688p->spi_bus, ICM42688_GYRO_CONFIG0, reg_value);
+}
+
+float icm42688p_gyro_get_full_scale(ICM42688P* icm42688p) {
+    return icm42688p->gyro_scale;
+}
+
+bool icm42688p_read_accel_raw(ICM42688P* icm42688p, ICM42688PRawData* data) {
+    bool ret = icm42688p_read_mem(
+        icm42688p->spi_bus, ICM42688_ACCEL_DATA_X1, (uint8_t*)data, sizeof(ICM42688PRawData));
+    return ret;
+}
+
+bool icm42688p_read_gyro_raw(ICM42688P* icm42688p, ICM42688PRawData* data) {
+    bool ret = icm42688p_read_mem(
+        icm42688p->spi_bus, ICM42688_GYRO_DATA_X1, (uint8_t*)data, sizeof(ICM42688PRawData));
+    return ret;
+}
+
+bool icm42688p_write_gyro_offset(ICM42688P* icm42688p, ICM42688PScaledData* scaled_data) {
+    if((fabsf(scaled_data->x) > 64.f) || (fabsf(scaled_data->y) > 64.f) ||
+       (fabsf(scaled_data->z) > 64.f)) {
+        return false;
+    }
+
+    uint16_t offset_x = (uint16_t)(-(int16_t)(scaled_data->x * 32.f) * 16) >> 4;
+    uint16_t offset_y = (uint16_t)(-(int16_t)(scaled_data->y * 32.f) * 16) >> 4;
+    uint16_t offset_z = (uint16_t)(-(int16_t)(scaled_data->z * 32.f) * 16) >> 4;
+
+    uint8_t offset_regs[9];
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 4);
+    icm42688p_read_mem(icm42688p->spi_bus, ICM42688_OFFSET_USER0, offset_regs, 5);
+
+    offset_regs[0] = offset_x & 0xFF;
+    offset_regs[1] = (offset_x & 0xF00) >> 8;
+    offset_regs[1] |= (offset_y & 0xF00) >> 4;
+    offset_regs[2] = offset_y & 0xFF;
+    offset_regs[3] = offset_z & 0xFF;
+    offset_regs[4] &= 0xF0;
+    offset_regs[4] |= (offset_z & 0x0F00) >> 8;
+
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER0, offset_regs[0]);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER1, offset_regs[1]);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER2, offset_regs[2]);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER3, offset_regs[3]);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_OFFSET_USER4, offset_regs[4]);
+
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0);
+    return true;
+}
+
+void icm42688p_apply_scale(ICM42688PRawData* raw_data, float full_scale, ICM42688PScaledData* data) {
+    data->x = ((float)(raw_data->x)) / 32768.f * full_scale;
+    data->y = ((float)(raw_data->y)) / 32768.f * full_scale;
+    data->z = ((float)(raw_data->z)) / 32768.f * full_scale;
+}
+
+void icm42688p_apply_scale_fifo(
+    ICM42688P* icm42688p,
+    ICM42688PFifoPacket* fifo_data,
+    ICM42688PScaledData* accel_data,
+    ICM42688PScaledData* gyro_data) {
+    float full_scale = icm42688p->accel_scale;
+    accel_data->x = ((float)(fifo_data->a_x)) / 32768.f * full_scale;
+    accel_data->y = ((float)(fifo_data->a_y)) / 32768.f * full_scale;
+    accel_data->z = ((float)(fifo_data->a_z)) / 32768.f * full_scale;
+
+    full_scale = icm42688p->gyro_scale;
+    gyro_data->x = ((float)(fifo_data->g_x)) / 32768.f * full_scale;
+    gyro_data->y = ((float)(fifo_data->g_y)) / 32768.f * full_scale;
+    gyro_data->z = ((float)(fifo_data->g_z)) / 32768.f * full_scale;
+}
+
+float icm42688p_read_temp(ICM42688P* icm42688p) {
+    uint8_t reg_val[2];
+
+    icm42688p_read_mem(icm42688p->spi_bus, ICM42688_TEMP_DATA1, reg_val, 2);
+    int16_t temp_int = (reg_val[0] << 8) | reg_val[1];
+    return ((float)temp_int / 132.48f) + 25.f;
+}
+
+void icm42688_fifo_enable(
+    ICM42688P* icm42688p,
+    ICM42688PIrqCallback irq_callback,
+    void* irq_context) {
+    // FIFO mode: stream
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG, (1 << 6));
+    // Little-endian data, FIFO count in records
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INTF_CONFIG0, (1 << 7) | (1 << 6));
+    // FIFO partial read, FIFO packet: gyro + accel TODO: 20bit
+    icm42688p_write_reg(
+        icm42688p->spi_bus, ICM42688_FIFO_CONFIG1, (1 << 6) | (1 << 5) | (1 << 1) | (1 << 0));
+    // FIFO irq watermark
+    uint16_t fifo_watermark = 1;
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG2, fifo_watermark & 0xFF);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG3, fifo_watermark >> 8);
+
+    // IRQ1: push-pull, active high
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_CONFIG, (1 << 1) | (1 << 0));
+    // Clear IRQ on status read
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_CONFIG0, 0);
+    // IRQ pulse duration
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_CONFIG1, (1 << 6) | (1 << 5));
+
+    uint8_t reg_data = 0;
+    icm42688p_read_reg(icm42688p->spi_bus, ICM42688_INT_STATUS, &reg_data);
+
+    furi_hal_gpio_init(icm42688p->irq_pin, GpioModeInterruptRise, GpioPullDown, GpioSpeedVeryHigh);
+    furi_hal_gpio_remove_int_callback(icm42688p->irq_pin);
+    furi_hal_gpio_add_int_callback(icm42688p->irq_pin, irq_callback, irq_context);
+
+    // IRQ1 source: FIFO threshold
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE0, (1 << 2));
+}
+
+void icm42688_fifo_disable(ICM42688P* icm42688p) {
+    furi_hal_gpio_remove_int_callback(icm42688p->irq_pin);
+    furi_hal_gpio_init(icm42688p->irq_pin, GpioModeAnalog, GpioPullNo, GpioSpeedLow);
+
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE0, 0);
+
+    // FIFO mode: bypass
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_FIFO_CONFIG, 0);
+}
+
+uint16_t icm42688_fifo_get_count(ICM42688P* icm42688p) {
+    uint16_t reg_val = 0;
+    icm42688p_read_mem(icm42688p->spi_bus, ICM42688_FIFO_COUNTH, (uint8_t*)&reg_val, 2);
+    return reg_val;
+}
+
+bool icm42688_fifo_read(ICM42688P* icm42688p, ICM42688PFifoPacket* data) {
+    icm42688p_read_mem(
+        icm42688p->spi_bus, ICM42688_FIFO_DATA, (uint8_t*)data, sizeof(ICM42688PFifoPacket));
+    return (data->header) & (1 << 7);
+}
+
+ICM42688P* icm42688p_alloc(FuriHalSpiBusHandle* spi_bus, const GpioPin* irq_pin) {
+    ICM42688P* icm42688p = malloc(sizeof(ICM42688P));
+    icm42688p->spi_bus = spi_bus;
+    icm42688p->irq_pin = irq_pin;
+    return icm42688p;
+}
+
+void icm42688p_free(ICM42688P* icm42688p) {
+    free(icm42688p);
+}
+
+bool icm42688p_init(ICM42688P* icm42688p) {
+    furi_hal_spi_bus_handle_init(icm42688p->spi_bus);
+
+    // Software reset
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0); // Set reg bank to 0
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_DEVICE_CONFIG, 0x01); // SPI Mode 0, SW reset
+    furi_delay_ms(1);
+
+    uint8_t reg_value = 0;
+    bool read_ok = icm42688p_read_reg(icm42688p->spi_bus, ICM42688_WHO_AM_I, &reg_value);
+    if(!read_ok) {
+        FURI_LOG_E(TAG, "Chip ID read failed");
+        return false;
+    } else if(reg_value != ICM42688_WHOAMI) {
+        FURI_LOG_E(
+            TAG, "Sensor returned wrong ID 0x%02X, expected 0x%02X", reg_value, ICM42688_WHOAMI);
+        return false;
+    }
+
+    // Disable all interrupts
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE0, 0);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE1, 0);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE3, 0);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE4, 0);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 4);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE6, 0);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INT_SOURCE7, 0);
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0);
+
+    // Data format: little endian
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_INTF_CONFIG0, 0);
+
+    // Enable all sensors
+    icm42688p_write_reg(
+        icm42688p->spi_bus,
+        ICM42688_PWR_MGMT0,
+        ICM42688_PWR_TEMP_ON | ICM42688_PWR_GYRO_MODE_LN | ICM42688_PWR_ACCEL_MODE_LN);
+    furi_delay_ms(45);
+
+    icm42688p_accel_config(icm42688p, AccelFullScale16G, DataRate1kHz);
+    icm42688p_gyro_config(icm42688p, GyroFullScale2000DPS, DataRate1kHz);
+
+    return true;
+}
+
+bool icm42688p_deinit(ICM42688P* icm42688p) {
+    // Software reset
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_REG_BANK_SEL, 0); // Set reg bank to 0
+    icm42688p_write_reg(icm42688p->spi_bus, ICM42688_DEVICE_CONFIG, 0x01); // SPI Mode 0, SW reset
+
+    furi_hal_spi_bus_handle_deinit(icm42688p->spi_bus);
+    return true;
+}

quadrastic/src/engine/sensors/ICM42688P/ICM42688P.h

@@ -0,0 +1,127 @@
+#pragma once
+
+#include <furi.h>
+#include <furi_hal.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    DataRate32kHz = 0x01,
+    DataRate16kHz = 0x02,
+    DataRate8kHz = 0x03,
+    DataRate4kHz = 0x04,
+    DataRate2kHz = 0x05,
+    DataRate1kHz = 0x06,
+    DataRate200Hz = 0x07,
+    DataRate100Hz = 0x08,
+    DataRate50Hz = 0x09,
+    DataRate25Hz = 0x0A,
+    DataRate12_5Hz = 0x0B,
+    DataRate6_25Hz = 0x0C, // Accelerometer only
+    DataRate3_125Hz = 0x0D, // Accelerometer only
+    DataRate1_5625Hz = 0x0E, // Accelerometer only
+    DataRate500Hz = 0x0F,
+} ICM42688PDataRate;
+
+typedef enum {
+    AccelFullScale16G = 0,
+    AccelFullScale8G,
+    AccelFullScale4G,
+    AccelFullScale2G,
+    AccelFullScaleTotal,
+} ICM42688PAccelFullScale;
+
+typedef enum {
+    GyroFullScale2000DPS = 0,
+    GyroFullScale1000DPS,
+    GyroFullScale500DPS,
+    GyroFullScale250DPS,
+    GyroFullScale125DPS,
+    GyroFullScale62_5DPS,
+    GyroFullScale31_25DPS,
+    GyroFullScale15_625DPS,
+    GyroFullScaleTotal,
+} ICM42688PGyroFullScale;
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+} __attribute__((packed)) ICM42688PRawData;
+
+typedef struct {
+    uint8_t header;
+    int16_t a_x;
+    int16_t a_y;
+    int16_t a_z;
+    int16_t g_x;
+    int16_t g_y;
+    int16_t g_z;
+    uint8_t temp;
+    uint16_t ts;
+} __attribute__((packed)) ICM42688PFifoPacket;
+
+typedef struct {
+    float x;
+    float y;
+    float z;
+} ICM42688PScaledData;
+
+typedef struct ICM42688P ICM42688P;
+
+typedef void (*ICM42688PIrqCallback)(void* ctx);
+
+ICM42688P* icm42688p_alloc(FuriHalSpiBusHandle* spi_bus, const GpioPin* irq_pin);
+
+bool icm42688p_init(ICM42688P* icm42688p);
+
+bool icm42688p_deinit(ICM42688P* icm42688p);
+
+void icm42688p_free(ICM42688P* icm42688p);
+
+bool icm42688p_accel_config(
+    ICM42688P* icm42688p,
+    ICM42688PAccelFullScale full_scale,
+    ICM42688PDataRate rate);
+
+float icm42688p_accel_get_full_scale(ICM42688P* icm42688p);
+
+bool icm42688p_gyro_config(
+    ICM42688P* icm42688p,
+    ICM42688PGyroFullScale full_scale,
+    ICM42688PDataRate rate);
+
+float icm42688p_gyro_get_full_scale(ICM42688P* icm42688p);
+
+bool icm42688p_read_accel_raw(ICM42688P* icm42688p, ICM42688PRawData* data);
+
+bool icm42688p_read_gyro_raw(ICM42688P* icm42688p, ICM42688PRawData* data);
+
+bool icm42688p_write_gyro_offset(ICM42688P* icm42688p, ICM42688PScaledData* scaled_data);
+
+void icm42688p_apply_scale(ICM42688PRawData* raw_data, float full_scale, ICM42688PScaledData* data);
+
+void icm42688p_apply_scale_fifo(
+    ICM42688P* icm42688p,
+    ICM42688PFifoPacket* fifo_data,
+    ICM42688PScaledData* accel_data,
+    ICM42688PScaledData* gyro_data);
+
+float icm42688p_read_temp(ICM42688P* icm42688p);
+
+void icm42688_fifo_enable(
+    ICM42688P* icm42688p,
+    ICM42688PIrqCallback irq_callback,
+    void* irq_context);
+
+void icm42688_fifo_disable(ICM42688P* icm42688p);
+
+uint16_t icm42688_fifo_get_count(ICM42688P* icm42688p);
+
+bool icm42688_fifo_read(ICM42688P* icm42688p, ICM42688PFifoPacket* data);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/sensors/ICM42688P/ICM42688P_regs.h

@@ -0,0 +1,176 @@
+#pragma once
+
+#define ICM42688_WHOAMI 0x47
+
+// Bank 0
+#define ICM42688_DEVICE_CONFIG 0x11
+#define ICM42688_DRIVE_CONFIG 0x13
+#define ICM42688_INT_CONFIG 0x14
+#define ICM42688_FIFO_CONFIG 0x16
+#define ICM42688_TEMP_DATA1 0x1D
+#define ICM42688_TEMP_DATA0 0x1E
+#define ICM42688_ACCEL_DATA_X1 0x1F
+#define ICM42688_ACCEL_DATA_X0 0x20
+#define ICM42688_ACCEL_DATA_Y1 0x21
+#define ICM42688_ACCEL_DATA_Y0 0x22
+#define ICM42688_ACCEL_DATA_Z1 0x23
+#define ICM42688_ACCEL_DATA_Z0 0x24
+#define ICM42688_GYRO_DATA_X1 0x25
+#define ICM42688_GYRO_DATA_X0 0x26
+#define ICM42688_GYRO_DATA_Y1 0x27
+#define ICM42688_GYRO_DATA_Y0 0x28
+#define ICM42688_GYRO_DATA_Z1 0x29
+#define ICM42688_GYRO_DATA_Z0 0x2A
+#define ICM42688_TMST_FSYNCH 0x2B
+#define ICM42688_TMST_FSYNCL 0x2C
+#define ICM42688_INT_STATUS 0x2D
+#define ICM42688_FIFO_COUNTH 0x2E
+#define ICM42688_FIFO_COUNTL 0x2F
+#define ICM42688_FIFO_DATA 0x30
+#define ICM42688_APEX_DATA0 0x31
+#define ICM42688_APEX_DATA1 0x32
+#define ICM42688_APEX_DATA2 0x33
+#define ICM42688_APEX_DATA3 0x34
+#define ICM42688_APEX_DATA4 0x35
+#define ICM42688_APEX_DATA5 0x36
+#define ICM42688_INT_STATUS2 0x37
+#define ICM42688_INT_STATUS3 0x38
+#define ICM42688_SIGNAL_PATH_RESET 0x4B
+#define ICM42688_INTF_CONFIG0 0x4C
+#define ICM42688_INTF_CONFIG1 0x4D
+#define ICM42688_PWR_MGMT0 0x4E
+#define ICM42688_GYRO_CONFIG0 0x4F
+#define ICM42688_ACCEL_CONFIG0 0x50
+#define ICM42688_GYRO_CONFIG1 0x51
+#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
+#define ICM42688_ACCEL_CONFIG1 0x53
+#define ICM42688_TMST_CONFIG 0x54
+#define ICM42688_APEX_CONFIG0 0x56
+#define ICM42688_SMD_CONFIG 0x57
+#define ICM42688_FIFO_CONFIG1 0x5F
+#define ICM42688_FIFO_CONFIG2 0x60
+#define ICM42688_FIFO_CONFIG3 0x61
+#define ICM42688_FSYNC_CONFIG 0x62
+#define ICM42688_INT_CONFIG0 0x63
+#define ICM42688_INT_CONFIG1 0x64
+#define ICM42688_INT_SOURCE0 0x65
+#define ICM42688_INT_SOURCE1 0x66
+#define ICM42688_INT_SOURCE3 0x68
+#define ICM42688_INT_SOURCE4 0x69
+#define ICM42688_FIFO_LOST_PKT0 0x6C
+#define ICM42688_FIFO_LOST_PKT1 0x6D
+#define ICM42688_SELF_TEST_CONFIG 0x70
+#define ICM42688_WHO_AM_I 0x75
+#define ICM42688_REG_BANK_SEL 0x76
+
+// Bank 1
+#define ICM42688_SENSOR_CONFIG0 0x03
+#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
+#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
+#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
+#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
+#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
+#define ICM42688_GYRO_CONFIG_STATIC7 0x10
+#define ICM42688_GYRO_CONFIG_STATIC8 0x11
+#define ICM42688_GYRO_CONFIG_STATIC9 0x12
+#define ICM42688_GYRO_CONFIG_STATIC10 0x13
+#define ICM42688_XG_ST_DATA 0x5F
+#define ICM42688_YG_ST_DATA 0x60
+#define ICM42688_ZG_ST_DATA 0x61
+#define ICM42688_TMSTVAL0 0x62
+#define ICM42688_TMSTVAL1 0x63
+#define ICM42688_TMSTVAL2 0x64
+#define ICM42688_INTF_CONFIG4 0x7A
+#define ICM42688_INTF_CONFIG5 0x7B
+#define ICM42688_INTF_CONFIG6 0x7C
+
+// Bank 2
+#define ICM42688_ACCEL_CONFIG_STATIC2 0x03
+#define ICM42688_ACCEL_CONFIG_STATIC3 0x04
+#define ICM42688_ACCEL_CONFIG_STATIC4 0x05
+#define ICM42688_XA_ST_DATA 0x3B
+#define ICM42688_YA_ST_DATA 0x3C
+#define ICM42688_ZA_ST_DATA 0x3D
+
+// Bank 4
+#define ICM42688_APEX_CONFIG1 0x40
+#define ICM42688_APEX_CONFIG2 0x41
+#define ICM42688_APEX_CONFIG3 0x42
+#define ICM42688_APEX_CONFIG4 0x43
+#define ICM42688_APEX_CONFIG5 0x44
+#define ICM42688_APEX_CONFIG6 0x45
+#define ICM42688_APEX_CONFIG7 0x46
+#define ICM42688_APEX_CONFIG8 0x47
+#define ICM42688_APEX_CONFIG9 0x48
+#define ICM42688_ACCEL_WOM_X_THR 0x4A
+#define ICM42688_ACCEL_WOM_Y_THR 0x4B
+#define ICM42688_ACCEL_WOM_Z_THR 0x4C
+#define ICM42688_INT_SOURCE6 0x4D
+#define ICM42688_INT_SOURCE7 0x4E
+#define ICM42688_INT_SOURCE8 0x4F
+#define ICM42688_INT_SOURCE9 0x50
+#define ICM42688_INT_SOURCE10 0x51
+#define ICM42688_OFFSET_USER0 0x77
+#define ICM42688_OFFSET_USER1 0x78
+#define ICM42688_OFFSET_USER2 0x79
+#define ICM42688_OFFSET_USER3 0x7A
+#define ICM42688_OFFSET_USER4 0x7B
+#define ICM42688_OFFSET_USER5 0x7C
+#define ICM42688_OFFSET_USER6 0x7D
+#define ICM42688_OFFSET_USER7 0x7E
+#define ICM42688_OFFSET_USER8 0x7F
+
+// PWR_MGMT0
+#define ICM42688_PWR_TEMP_ON (0 << 5)
+#define ICM42688_PWR_TEMP_OFF (1 << 5)
+#define ICM42688_PWR_IDLE (1 << 4)
+#define ICM42688_PWR_GYRO_MODE_OFF (0 << 2)
+#define ICM42688_PWR_GYRO_MODE_LN (3 << 2)
+#define ICM42688_PWR_ACCEL_MODE_OFF (0 << 0)
+#define ICM42688_PWR_ACCEL_MODE_LP (2 << 0)
+#define ICM42688_PWR_ACCEL_MODE_LN (3 << 0)
+
+// GYRO_CONFIG0
+#define ICM42688_GFS_2000DPS (0x00 << 5)
+#define ICM42688_GFS_1000DPS (0x01 << 5)
+#define ICM42688_GFS_500DPS (0x02 << 5)
+#define ICM42688_GFS_250DPS (0x03 << 5)
+#define ICM42688_GFS_125DPS (0x04 << 5)
+#define ICM42688_GFS_62_5DPS (0x05 << 5)
+#define ICM42688_GFS_31_25DPS (0x06 << 5)
+#define ICM42688_GFS_15_625DPS (0x07 << 5)
+
+#define ICM42688_GODR_32kHz 0x01
+#define ICM42688_GODR_16kHz 0x02
+#define ICM42688_GODR_8kHz 0x03
+#define ICM42688_GODR_4kHz 0x04
+#define ICM42688_GODR_2kHz 0x05
+#define ICM42688_GODR_1kHz 0x06
+#define ICM42688_GODR_200Hz 0x07
+#define ICM42688_GODR_100Hz 0x08
+#define ICM42688_GODR_50Hz 0x09
+#define ICM42688_GODR_25Hz 0x0A
+#define ICM42688_GODR_12_5Hz 0x0B
+#define ICM42688_GODR_500Hz 0x0F
+
+// ACCEL_CONFIG0
+#define ICM42688_AFS_16G (0x00 << 5)
+#define ICM42688_AFS_8G (0x01 << 5)
+#define ICM42688_AFS_4G (0x02 << 5)
+#define ICM42688_AFS_2G (0x03 << 5)
+
+#define ICM42688_AODR_32kHz 0x01
+#define ICM42688_AODR_16kHz 0x02
+#define ICM42688_AODR_8kHz 0x03
+#define ICM42688_AODR_4kHz 0x04
+#define ICM42688_AODR_2kHz 0x05
+#define ICM42688_AODR_1kHz 0x06
+#define ICM42688_AODR_200Hz 0x07
+#define ICM42688_AODR_100Hz 0x08
+#define ICM42688_AODR_50Hz 0x09
+#define ICM42688_AODR_25Hz 0x0A
+#define ICM42688_AODR_12_5Hz 0x0B
+#define ICM42688_AODR_6_25Hz 0x0C
+#define ICM42688_AODR_3_125Hz 0x0D
+#define ICM42688_AODR_1_5625Hz 0x0E
+#define ICM42688_AODR_500Hz 0x0F

quadrastic/src/engine/sensors/imu.c

@@ -0,0 +1,328 @@
+#include <furi.h>
+#include "imu.h"
+#include "ICM42688P/ICM42688P.h"
+
+#define TAG "IMU"
+
+#define ACCEL_GYRO_RATE DataRate100Hz
+
+#define FILTER_SAMPLE_FREQ 100.f
+#define FILTER_BETA 0.08f
+
+#define SAMPLE_RATE_DIV 5
+
+#define SENSITIVITY_K 30.f
+#define EXP_RATE 1.1f
+
+#define IMU_CALI_AVG 64
+
+typedef enum {
+    ImuStop = (1 << 0),
+    ImuNewData = (1 << 1),
+} ImuThreadFlags;
+
+#define FLAGS_ALL (ImuStop | ImuNewData)
+
+typedef struct {
+    float q0;
+    float q1;
+    float q2;
+    float q3;
+    float roll;
+    float pitch;
+    float yaw;
+} ImuProcessedData;
+
+typedef struct {
+    FuriThread* thread;
+    ICM42688P* icm42688p;
+    ImuProcessedData processed_data;
+    bool lefty;
+} ImuThread;
+
+static void imu_madgwick_filter(
+    ImuProcessedData* out,
+    ICM42688PScaledData* accel,
+    ICM42688PScaledData* gyro);
+
+static void imu_irq_callback(void* context) {
+    furi_assert(context);
+    ImuThread* imu = context;
+    furi_thread_flags_set(furi_thread_get_id(imu->thread), ImuNewData);
+}
+
+static void imu_process_data(ImuThread* imu, ICM42688PFifoPacket* in_data) {
+    ICM42688PScaledData accel_data;
+    ICM42688PScaledData gyro_data;
+
+    // Get accel and gyro data in g and degrees/s
+    icm42688p_apply_scale_fifo(imu->icm42688p, in_data, &accel_data, &gyro_data);
+
+    // Gyro: degrees/s to rads/s
+    gyro_data.x = gyro_data.x / 180.f * M_PI;
+    gyro_data.y = gyro_data.y / 180.f * M_PI;
+    gyro_data.z = gyro_data.z / 180.f * M_PI;
+
+    // Sensor Fusion algorithm
+    ImuProcessedData* out = &imu->processed_data;
+    imu_madgwick_filter(out, &accel_data, &gyro_data);
+
+    // Quaternion to euler angles
+    float roll = atan2f(
+        out->q0 * out->q1 + out->q2 * out->q3, 0.5f - out->q1 * out->q1 - out->q2 * out->q2);
+    float pitch = asinf(-2.0f * (out->q1 * out->q3 - out->q0 * out->q2));
+    float yaw = atan2f(
+        out->q1 * out->q2 + out->q0 * out->q3, 0.5f - out->q2 * out->q2 - out->q3 * out->q3);
+
+    // Euler angles: rads to degrees
+    out->roll = roll / M_PI * 180.f;
+    out->pitch = pitch / M_PI * 180.f;
+    out->yaw = yaw / M_PI * 180.f;
+}
+
+static void calibrate_gyro(ImuThread* imu) {
+    ICM42688PRawData data;
+    ICM42688PScaledData offset_scaled = {.x = 0.f, .y = 0.f, .z = 0.f};
+
+    icm42688p_write_gyro_offset(imu->icm42688p, &offset_scaled);
+    furi_delay_ms(10);
+
+    int32_t avg_x = 0;
+    int32_t avg_y = 0;
+    int32_t avg_z = 0;
+
+    for(uint8_t i = 0; i < IMU_CALI_AVG; i++) {
+        icm42688p_read_gyro_raw(imu->icm42688p, &data);
+        avg_x += data.x;
+        avg_y += data.y;
+        avg_z += data.z;
+        furi_delay_ms(2);
+    }
+
+    data.x = avg_x / IMU_CALI_AVG;
+    data.y = avg_y / IMU_CALI_AVG;
+    data.z = avg_z / IMU_CALI_AVG;
+
+    icm42688p_apply_scale(&data, icm42688p_gyro_get_full_scale(imu->icm42688p), &offset_scaled);
+    FURI_LOG_I(
+        TAG,
+        "Offsets: x %f, y %f, z %f",
+        (double)offset_scaled.x,
+        (double)offset_scaled.y,
+        (double)offset_scaled.z);
+    icm42688p_write_gyro_offset(imu->icm42688p, &offset_scaled);
+}
+
+// static float imu_angle_diff(float a, float b) {
+//     float diff = a - b;
+//     if(diff > 180.f)
+//         diff -= 360.f;
+//     else if(diff < -180.f)
+//         diff += 360.f;
+
+//     return diff;
+// }
+
+static int32_t imu_thread(void* context) {
+    furi_assert(context);
+    ImuThread* imu = context;
+
+    // float yaw_last = 0.f;
+    // float pitch_last = 0.f;
+    // float diff_x = 0.f;
+    // float diff_y = 0.f;
+
+    calibrate_gyro(imu);
+
+    icm42688p_accel_config(imu->icm42688p, AccelFullScale16G, ACCEL_GYRO_RATE);
+    icm42688p_gyro_config(imu->icm42688p, GyroFullScale2000DPS, ACCEL_GYRO_RATE);
+
+    imu->processed_data.q0 = 1.f;
+    imu->processed_data.q1 = 0.f;
+    imu->processed_data.q2 = 0.f;
+    imu->processed_data.q3 = 0.f;
+    icm42688_fifo_enable(imu->icm42688p, imu_irq_callback, imu);
+
+    while(1) {
+        uint32_t events = furi_thread_flags_wait(FLAGS_ALL, FuriFlagWaitAny, FuriWaitForever);
+
+        if(events & ImuStop) {
+            break;
+        }
+
+        if(events & ImuNewData) {
+            uint16_t data_pending = icm42688_fifo_get_count(imu->icm42688p);
+            ICM42688PFifoPacket data;
+            while(data_pending--) {
+                icm42688_fifo_read(imu->icm42688p, &data);
+                imu_process_data(imu, &data);
+            }
+        }
+    }
+
+    icm42688_fifo_disable(imu->icm42688p);
+
+    return 0;
+}
+
+ImuThread* imu_start(ICM42688P* icm42688p) {
+    ImuThread* imu = malloc(sizeof(ImuThread));
+    imu->icm42688p = icm42688p;
+    imu->thread = furi_thread_alloc_ex("ImuThread", 4096, imu_thread, imu);
+    imu->lefty = furi_hal_rtc_is_flag_set(FuriHalRtcFlagHandOrient);
+    furi_thread_start(imu->thread);
+
+    return imu;
+}
+
+void imu_stop(ImuThread* imu) {
+    furi_assert(imu);
+
+    furi_thread_flags_set(furi_thread_get_id(imu->thread), ImuStop);
+
+    furi_thread_join(imu->thread);
+    furi_thread_free(imu->thread);
+
+    free(imu);
+}
+
+static float imu_inv_sqrt(float number) {
+    union {
+        float f;
+        uint32_t i;
+    } conv = {.f = number};
+    conv.i = 0x5F3759Df - (conv.i >> 1);
+    conv.f *= 1.5f - (number * 0.5f * conv.f * conv.f);
+    return conv.f;
+}
+
+/* Simple madgwik filter, based on: https://github.com/arduino-libraries/MadgwickAHRS/ */
+
+static void imu_madgwick_filter(
+    ImuProcessedData* out,
+    ICM42688PScaledData* accel,
+    ICM42688PScaledData* gyro) {
+    float recipNorm;
+    float s0, s1, s2, s3;
+    float qDot1, qDot2, qDot3, qDot4;
+    float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2, q3q3;
+
+    // Rate of change of quaternion from gyroscope
+    qDot1 = 0.5f * (-out->q1 * gyro->x - out->q2 * gyro->y - out->q3 * gyro->z);
+    qDot2 = 0.5f * (out->q0 * gyro->x + out->q2 * gyro->z - out->q3 * gyro->y);
+    qDot3 = 0.5f * (out->q0 * gyro->y - out->q1 * gyro->z + out->q3 * gyro->x);
+    qDot4 = 0.5f * (out->q0 * gyro->z + out->q1 * gyro->y - out->q2 * gyro->x);
+
+    // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
+    if(!((accel->x == 0.0f) && (accel->y == 0.0f) && (accel->z == 0.0f))) {
+        // Normalise accelerometer measurement
+        recipNorm = imu_inv_sqrt(accel->x * accel->x + accel->y * accel->y + accel->z * accel->z);
+        accel->x *= recipNorm;
+        accel->y *= recipNorm;
+        accel->z *= recipNorm;
+
+        // Auxiliary variables to avoid repeated arithmetic
+        _2q0 = 2.0f * out->q0;
+        _2q1 = 2.0f * out->q1;
+        _2q2 = 2.0f * out->q2;
+        _2q3 = 2.0f * out->q3;
+        _4q0 = 4.0f * out->q0;
+        _4q1 = 4.0f * out->q1;
+        _4q2 = 4.0f * out->q2;
+        _8q1 = 8.0f * out->q1;
+        _8q2 = 8.0f * out->q2;
+        q0q0 = out->q0 * out->q0;
+        q1q1 = out->q1 * out->q1;
+        q2q2 = out->q2 * out->q2;
+        q3q3 = out->q3 * out->q3;
+
+        // Gradient decent algorithm corrective step
+        s0 = _4q0 * q2q2 + _2q2 * accel->x + _4q0 * q1q1 - _2q1 * accel->y;
+        s1 = _4q1 * q3q3 - _2q3 * accel->x + 4.0f * q0q0 * out->q1 - _2q0 * accel->y - _4q1 +
+             _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * accel->z;
+        s2 = 4.0f * q0q0 * out->q2 + _2q0 * accel->x + _4q2 * q3q3 - _2q3 * accel->y - _4q2 +
+             _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * accel->z;
+        s3 = 4.0f * q1q1 * out->q3 - _2q1 * accel->x + 4.0f * q2q2 * out->q3 - _2q2 * accel->y;
+        recipNorm =
+            imu_inv_sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
+        s0 *= recipNorm;
+        s1 *= recipNorm;
+        s2 *= recipNorm;
+        s3 *= recipNorm;
+
+        // Apply feedback step
+        qDot1 -= FILTER_BETA * s0;
+        qDot2 -= FILTER_BETA * s1;
+        qDot3 -= FILTER_BETA * s2;
+        qDot4 -= FILTER_BETA * s3;
+    }
+
+    // Integrate rate of change of quaternion to yield quaternion
+    out->q0 += qDot1 * (1.0f / FILTER_SAMPLE_FREQ);
+    out->q1 += qDot2 * (1.0f / FILTER_SAMPLE_FREQ);
+    out->q2 += qDot3 * (1.0f / FILTER_SAMPLE_FREQ);
+    out->q3 += qDot4 * (1.0f / FILTER_SAMPLE_FREQ);
+
+    // Normalise quaternion
+    recipNorm = imu_inv_sqrt(
+        out->q0 * out->q0 + out->q1 * out->q1 + out->q2 * out->q2 + out->q3 * out->q3);
+    out->q0 *= recipNorm;
+    out->q1 *= recipNorm;
+    out->q2 *= recipNorm;
+    out->q3 *= recipNorm;
+}
+
+/* IMU API */
+
+struct Imu {
+    FuriHalSpiBusHandle* icm42688p_device;
+    ICM42688P* icm42688p;
+    ImuThread* thread;
+    bool present;
+};
+
+Imu* imu_alloc(void) {
+    Imu* imu = malloc(sizeof(Imu));
+    imu->icm42688p_device = malloc(sizeof(FuriHalSpiBusHandle));
+    memcpy(imu->icm42688p_device, &furi_hal_spi_bus_handle_external, sizeof(FuriHalSpiBusHandle));
+    imu->icm42688p_device->cs = &gpio_ext_pc3;
+
+    imu->icm42688p = icm42688p_alloc(imu->icm42688p_device, &gpio_ext_pb2);
+    imu->present = icm42688p_init(imu->icm42688p);
+
+    if(imu->present) {
+        imu->thread = imu_start(imu->icm42688p);
+    }
+
+    return imu;
+}
+
+void imu_free(Imu* imu) {
+    if(imu->present) {
+        imu_stop(imu->thread);
+    }
+    icm42688p_deinit(imu->icm42688p);
+    icm42688p_free(imu->icm42688p);
+    free(imu->icm42688p_device);
+    free(imu);
+}
+
+bool imu_present(Imu* imu) {
+    return imu->present;
+}
+
+float imu_pitch_get(Imu* imu) {
+    // we pretend that reading a float is an atomic operation
+    return imu->thread->lefty ? -imu->thread->processed_data.pitch :
+                                imu->thread->processed_data.pitch;
+}
+
+float imu_roll_get(Imu* imu) {
+    // we pretend that reading a float is an atomic operation
+    return imu->thread->processed_data.roll;
+}
+
+float imu_yaw_get(Imu* imu) {
+    // we pretend that reading a float is an atomic operation
+    return imu->thread->lefty ? -imu->thread->processed_data.yaw : imu->thread->processed_data.yaw;
+}

quadrastic/src/engine/sensors/imu.h

@@ -0,0 +1,15 @@
+#pragma once
+
+typedef struct Imu Imu;
+
+Imu* imu_alloc(void);
+
+void imu_free(Imu* imu);
+
+bool imu_present(Imu* imu);
+
+float imu_pitch_get(Imu* imu);
+
+float imu_roll_get(Imu* imu);
+
+float imu_yaw_get(Imu* imu);

quadrastic/src/engine/sprite.c

@@ -0,0 +1,69 @@
+#include "sprite.h"
+#include <storage/storage.h>
+
+#ifdef SPRITE_DEBUG
+#define SPRITE_D(...) FURI_LOG_D("Sprite", __VA_ARGS__)
+#define SPRITE_E(...) FURI_LOG_E("Sprite", __VA_ARGS__)
+#else
+#define SPRITE_D(...)
+#define SPRITE_E(...)
+#endif
+
+struct Sprite {
+    uint32_t width;
+    uint32_t height;
+    uint8_t data[];
+};
+
+Sprite* sprite_alloc(const char* path) {
+    Storage* storage = furi_record_open(RECORD_STORAGE);
+    File* file = storage_file_alloc(storage);
+    Sprite* sprite = NULL;
+
+    do {
+        if(!storage_file_open(file, path, FSAM_READ, FSOM_OPEN_EXISTING)) {
+            SPRITE_E("Failed to open file: %s", path);
+            break;
+        }
+
+        uint32_t size = 0;
+        if(storage_file_read(file, &size, sizeof(size)) != sizeof(size)) {
+            SPRITE_E("Failed to read file size: %s", path);
+            break;
+        }
+
+        sprite = malloc(size);
+        if(storage_file_read(file, sprite, size) != size) {
+            SPRITE_E("Failed to read file: %s", path);
+            free(sprite);
+            sprite = NULL;
+            break;
+        }
+
+        SPRITE_D(
+            "Loaded sprite: %s, width: %lu, height: %lu", path, sprite->width, sprite->height);
+    } while(false);
+
+    storage_file_free(file);
+
+    return sprite;
+}
+
+void sprite_free(Sprite* sprite) {
+    free(sprite);
+}
+
+size_t sprite_get_width(Sprite* sprite) {
+    return sprite->width;
+}
+
+size_t sprite_get_height(Sprite* sprite) {
+    return sprite->height;
+}
+
+void canvas_draw_sprite(Canvas* canvas, Sprite* sprite, int32_t x, int32_t y) {
+    furi_check(sprite->width);
+    furi_check(sprite->height);
+    furi_check(sprite->data);
+    canvas_draw_xbm(canvas, x, y, sprite->width, sprite->height, sprite->data);
+}

quadrastic/src/engine/sprite.h

@@ -0,0 +1,44 @@
+#pragma once
+#include <stdbool.h>
+#include <stddef.h>
+#include <gui/canvas.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct Sprite Sprite;
+
+/** Sprite allocator
+ * @return Sprite*  Sprite instance or NULL, if failed
+ */
+Sprite* sprite_alloc(const char* path);
+
+/** Sprite deallocator
+ * @param sprite Sprite instance
+ */
+void sprite_free(Sprite* sprite);
+
+/** Get sprite width
+ * @param sprite Sprite instance
+ * @return size_t sprite width
+ */
+size_t sprite_get_width(Sprite* sprite);
+
+/** Get sprite height
+ * @param sprite Sprite instance
+ * @return size_t sprite height
+ */
+size_t sprite_get_height(Sprite* sprite);
+
+/** Draw sprite on canvas
+ * @param canvas Canvas instance
+ * @param sprite Sprite instance
+ * @param x x coordinate
+ * @param y y coordinate
+ */
+void canvas_draw_sprite(Canvas* canvas, Sprite* sprite, int32_t x, int32_t y);
+
+#ifdef __cplusplus
+}
+#endif

quadrastic/src/engine/vector.c

@@ -0,0 +1,62 @@
+#include "vector.h"
+#include <math.h>
+#include <float.h>
+
+#undef vector_add
+#undef vector_sub
+#undef vector_mul
+#undef vector_div
+
+Vector vector_add(Vector a, Vector b) {
+    return (Vector){.x = a.x + b.x, .y = a.y + b.y};
+}
+
+Vector vector_sub(Vector a, Vector b) {
+    return (Vector){.x = a.x - b.x, .y = a.y - b.y};
+}
+
+Vector vector_mul(Vector a, Vector b) {
+    return (Vector){.x = a.x * b.x, .y = a.y * b.y};
+}
+
+Vector vector_div(Vector a, Vector b) {
+    return (Vector){.x = a.x / b.x, .y = a.y / b.y};
+}
+
+Vector vector_addf(Vector a, float b) {
+    return (Vector){.x = a.x + b, .y = a.y + b};
+}
+
+Vector vector_subf(Vector a, float b) {
+    return (Vector){.x = a.x - b, .y = a.y - b};
+}
+
+Vector vector_mulf(Vector a, float b) {
+    return (Vector){.x = a.x * b, .y = a.y * b};
+}
+
+Vector vector_divf(Vector a, float b) {
+    return (Vector){.x = a.x / b, .y = a.y / b};
+}
+
+float vector_length(Vector v) {
+    return sqrtf(v.x * v.x + v.y * v.y);
+}
+
+Vector vector_normalize(Vector v) {
+    float length = vector_length(v);
+    if(length < FLT_EPSILON) {
+        return (Vector){0, 0};
+    }
+    return (Vector){v.x / length, v.y / length};
+}
+
+float vector_dot(Vector a, Vector b) {
+    return a.x * b.x + a.y * b.y;
+}
+
+Vector vector_rand() {
+    float x = (rand() % __INT_MAX__) / (float)__INT_MAX__;
+    float y = (rand() % __INT_MAX__) / (float)__INT_MAX__;
+    return (Vector){x, y};
+}

quadrastic/src/engine/vector.h

@@ -0,0 +1,56 @@
+#pragma once
+#include <m-core.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    float x;
+    float y;
+} Vector;
+
+#define VECTOR_ZERO ((Vector){0, 0})
+
+Vector vector_add(Vector a, Vector b);
+
+Vector vector_sub(Vector a, Vector b);
+
+Vector vector_mul(Vector a, Vector b);
+
+Vector vector_div(Vector a, Vector b);
+
+Vector vector_addf(Vector a, float b);
+
+Vector vector_subf(Vector a, float b);
+
+Vector vector_mulf(Vector a, float b);
+
+Vector vector_divf(Vector a, float b);
+
+float vector_length(Vector v);
+
+Vector vector_normalize(Vector v);
+
+float vector_dot(Vector a, Vector b);
+
+Vector vector_rand();
+
+#define VECTOR_SELECT(func1, func2, a, b) \
+    _Generic(                             \
+        (b),                              \
+        float: func2,                     \
+        const float: func2,               \
+        int: func2,                       \
+        const int: func2,                 \
+        Vector: func1,                    \
+        const Vector: func1)(a, b)
+
+#define vector_add(a, b) VECTOR_SELECT(vector_add, vector_addf, a, b)
+#define vector_sub(a, b) VECTOR_SELECT(vector_sub, vector_subf, a, b)
+#define vector_mul(a, b) VECTOR_SELECT(vector_mul, vector_mulf, a, b)
+#define vector_div(a, b) VECTOR_SELECT(vector_div, vector_divf, a, b)
+
+#ifdef __cplusplus
+}
+#endif