ESP32-C6 support (#327)

* Designate all initializer clauses to fix compiler errors with newer
compilers

* ESP32C6 support

* fshelper: fixed ESP8266 regression caused by abstracting FS access #321 (#328)

* fshelper: fixed ESP8266 regression caused by abstracting FS access #321

* Removing not needed ifdef

l0ud spotted that this is not need.

Co-Authored-By: Przemyslaw Romaniak <przemyslaw.romaniak@intel.com>

---------

Co-authored-by: Przemyslaw Romaniak <przemyslaw.romaniak@intel.com>

* Fix enabling motion bias estimation (#325)

* fix pre-processor warning

* add macro for calculating radians (#317)

* feat: add macro for calculating radians

* style: silence unused variable warning

* remove unnecessary float cast in macro

* SoftFusion sensor framework with BMI, ICM, LSM6, MPU sensor implementations (#322)

* Update readme to mention BMI270 support.

* Soft fusion sensor initial code, wip

* Soft fusion ICM-42688-P lazy WIP implementation.

* sfusion: Cleanup, implemented sensor frequency calibration

* icm42688: add more comments, basic driver (no hw filtering) should be working

* sfustion: compilation fix

* sfusion: start calibration when upside down

* cleanup: remove confusing had data flag

* sensor manager: use unique_ptr instead of raw pointers

* sfusion: big refactoring wip

* sfusion: make aux work, at least sfusion sensors should now be functional

* sfusion: lightweight implementation of BMI270 sensor, no sensitivity cal yet

* sfusion: BMI270: added CRT and gyro zx factor. should be functionally equivalent to the old driver

* Added lsm6dsv

* Trying to work around esp32c3 compilation problem, not liking that solution

* sfusion: fix problems found after rebase

* Update README.md

* Bump Arduino core to 3.0 to match GCC12

* Remove fast pin swapping that is no longer compatible with arduino core v3

* Bring back fast pin swapping

* Update platformio-tools.ini

* Fix accel timescale (calibration no longer takes forever)

* Fix non-sfusion sensors

* Added LSM6DSO and DSR support and refactored DSV support

* Removed template float param from the implementation

* sfusion: port MPU6050 driver wip, not expecting to be functional yet

* sfusion: add headers specifying main code owners

* connection: fix warning

* update README.md

* fshelper: fixed ESP8266 regression caused by abstracting FS access

* sfusion: fix error on merge

* bno080: differentiate bno080, bno085, bno086 again

* sfusion: final touches

* restore hadData functionality, implementing it in every sensor, made configured flag bno-only

* fix address supplement in non-sfusion sensors, do i2c bus reset for all sensors

* sfusion: make MPU6050 driver use normal MPU6050 ImuID, change eatSamplesAndReturn function to take ms instead of seconds

* sfusion: hotfix, don't apply sensorOffset, it's applied in sensor base

* Log FIFO overruns on LSMs

* Reset the soft watchdog while eating or collecting calibration samples

Resolves an issue where the soft watchdog would trigger.

* Fix missing word in comment, switch to constexpr

* Update esp32/esp8266

---------

Co-authored-by: Gorbit99 <gorbitgames@gmail.com>
Co-authored-by: nekomona <nekomona@nekomona.com>
Co-authored-by: nekomona <nekomona@163.com>
Co-authored-by: unlogisch04 <98281608+unlogisch04@users.noreply.github.com>
Co-authored-by: kounocom <meia@kouno.xyz>
Co-authored-by: Kubuxu <oss@kubuxu.com>

* Add Haritora to consts (#333)

Add haritora consts, fix misspelling

* dont double scan i2c address on bus for ESP32C6

* add custom portmap for ESP32C6

* update to latest tasmota tools for ESP32C6

* serial over USB

* remove change that does nothing

* remove 2s wait in main.cpp it´s not required

* make it change neutral

* more change neutrality

---------

Co-authored-by: unlogisch04 <98281608+unlogisch04@users.noreply.github.com>
Co-authored-by: Przemyslaw Romaniak <przemyslaw.romaniak@intel.com>
Co-authored-by: Meia Kouno <71262281+kounocom@users.noreply.github.com>
Co-authored-by: Fredrik Hatletvedt <32248439+Pespiri@users.noreply.github.com>
Co-authored-by: Przemyslaw Romaniak <loudpl@gmail.com>
Co-authored-by: Gorbit99 <gorbitgames@gmail.com>
Co-authored-by: nekomona <nekomona@nekomona.com>
Co-authored-by: nekomona <nekomona@163.com>
Co-authored-by: kounocom <meia@kouno.xyz>
Co-authored-by: Kubuxu <oss@kubuxu.com>
Co-authored-by: JovannMC <jovannmc@femboyfurry.net>
Co-authored-by: Eiren Rain <Eirenliel@users.noreply.github.com>

lib/i2cscan/i2cscan.cpp

@@ -10,6 +10,11 @@ String portMap[] = {"D0", "D1", "D2", "D4", "D5", "D6", "D7"};
 uint8_t portArray[] = {2, 3, 4, 5, 6, 7, 8, 9, 10};
 uint8_t portExclude[] = {18, 19, 20, 21, LED_PIN};
 String portMap[] = {"2", "3", "4", "5", "6", "7", "8", "9", "10"};
+// this is for the ESP32C6 has a lot of pins (10/11 only availiable on the WROOM modules but not on the "mini")
+#elif defined(ESP32C6)
+uint8_t portArray[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 14, 15, 18, 19, 20, 21, 22, 23};
+String portMap[] = {"0", "1", "2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "14", "15", "18", "19", "20", "21", "22", "23"};
+uint8_t portExclude[] = {12, 13, 16, 17, LED_PIN}; // exclude USB D+,D- and serial TX/RX
 #elif defined(ESP32)
 uint8_t portArray[] = {4, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 25, 26, 27, 32, 33};
 String portMap[] = {"4", "13", "14", "15", "16", "17", "18", "19", "21", "22", "23", "25", "26", "27", "32", "33"};

platformio-tools.ini

@@ -80,6 +80,13 @@ build_flags =
   -DESP32C3
 board = esp32-c3-devkitm-1
 
+[env:BOARD_ES32C6DEVKITC1]
+platform = https://github.com/tasmota/platform-espressif32/releases/download/2024.06.11/platform-espressif32.zip
+build_flags =
+  ${env.build_flags}
+  -DESP32C6
+board = esp32-c6-devkitc-1
+
 [env:BOARD_XIAO_ESP32C3]
 platform = espressif32 @ 6.7.0
 platform_packages =

platformio.ini

@@ -109,3 +109,13 @@ upload_speed = 921600
 ;  ${env.build_flags}
 ;  -DESP32C3
 ;board = lolin_c3_mini
+
+; If you want to use a ESP32C6, you can use this (experimental)
+;[env:esp32c6]
+;platform =  https://github.com/tasmota/platform-espressif32/releases/download/2024.06.11/platform-espressif32.zip
+;board = esp32-c6-devkitc-1
+;build_flags =
+;  ${env.build_flags}
+;  -DESP32C6
+;  -DARDUINO_USB_MODE=1
+;  -DARDUINO_USB_CDC_ON_BOOT=1

src/consts.h

@@ -83,8 +83,9 @@ enum class ImuID {
 #define BOARD_MOCOPI 15  // Used by mocopi/moslime
 #define BOARD_WEMOSWROOM02 16
 #define BOARD_XIAO_ESP32C3 17
-#define BOARD_HARITORA 18  // Used by Haritora/SlimeTora
-#define BOARD_DEV_RESERVED 250  // Reserved, should not be used in any release firmware
+#define BOARD_HARITORA 18 // Used by Haritora/SlimeTora
+#define BOARD_ES32C6DEVKITC1 19
+#define BOARD_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
 
 #define BAT_EXTERNAL 1
 #define BAT_INTERNAL 2

src/defines.h

@@ -192,7 +192,7 @@ PIN_IMU_SDA, PRIMARY_IMU_OPTIONAL, BMI160_QMC_REMAP) \
 #define PIN_BATTERY_LEVEL 3
 #define LED_PIN 10
 #define LED_INVERTED false
-#elif BOARD == BOARD_ES32C3DEVKITM1
+#elif BOARD == BOARD_ES32C3DEVKITM1 || BOARD == BOARD_ES32C6DEVKITC1
 #define PIN_IMU_SDA 5
 #define PIN_IMU_SCL 4
 #define PIN_IMU_INT 6