Add defines for different boards

Use INT pin for better reliability

src/bno080sensor.cpp

@@ -58,10 +58,10 @@ void BNO080Sensor::motionSetup(DeviceConfig * config)
             return;
         }
     }
-    #ifdef FULL_DEBUG
+#ifdef FULL_DEBUG
         imu.enableDebugging(Serial);
-    #endif
-    if(!imu.begin(addr, Wire)) {
+#endif
+    if(!imu.begin(addr, Wire, PIN_IMU_INT)) {
         Serial.print("Can't connect to ");
         Serial.println(IMU_NAME);
         signalAssert();
@@ -69,11 +69,11 @@ void BNO080Sensor::motionSetup(DeviceConfig * config)
     }
     Serial.print("Connected to ");
     Serial.println(IMU_NAME);
-    #if defined(BNO_HAS_ARVR_STABILIZATION) && BNO_HAS_ARVR_STABILIZATION
+#if defined(BNO_HAS_ARVR_STABILIZATION) && BNO_HAS_ARVR_STABILIZATION
         imu.enableARVRStabilizedGameRotationVector(13);
-    #else
+#else
         imu.enableGameRotationVector(13);
-    #endif
+#endif
     lastReset = imu.resetReason();
     lastData = millis();
 }
@@ -107,7 +107,7 @@ void BNO080Sensor::sendData() {
     if(newData) {
         newData = false;
         sendQuat(&quaternion, PACKET_ROTATION);
-        #ifdef FULL_DEBUG
+#ifdef FULL_DEBUG
             Serial.print("Quaternion: ");
             Serial.print(quaternion.x);
             Serial.print(",");
@@ -116,7 +116,7 @@ void BNO080Sensor::sendData() {
             Serial.print(quaternion.z);
             Serial.print(",");
             Serial.println(quaternion.w);
-        #endif
+#endif
     }
 }
 

src/defines.h

@@ -28,7 +28,13 @@
 #define IMU_BNO085 4
 #define IMU_BNO055 5
 
+#define BOARD_SLIMEVR 1
+#define BOARD_NODEMCU 2
+#define BOARD_CUSTOM 3 // Update pinout below if you're using custom board
+
+// Set parameters of IMU and board used
 #define IMU IMU_BNO085
+#define BOARD BOARD_SLIMEVR
 
 #if IMU == IMU_BNO085
   #define IMU_NAME "BNO085"
@@ -62,6 +68,19 @@
     #error Select IMU in defines.h
 #endif
 
+#if BOARD == BOARD_SLIMEVR
+  #define PIN_IMU_SDA 4
+  #define PIN_IMU_SCL 5
+  #define PIN_IMU_INT 10
+  #define PIN_BATTERY_LEVEL 17
+#elif BOARD == BOARD_NODEMCU
+  #define PIN_IMU_SDA D3
+  #define PIN_IMU_SCL D2
+  #define PIN_IMU_INT D1
+#elif BOARD == BOARD_CUSTOM
+  // Define pins by the examples above
+#endif
+
 //Debug information
 //#define FULL_DEBUG
 #define serialDebug false // Set to true to get Serial output for debugging

src/main.cpp

@@ -84,7 +84,7 @@ void setup()
     
     // join I2C bus
     Wire.flush();
-    Wire.begin(D2, D1);
+    Wire.begin(PIN_IMU_SDA, PIN_IMU_SCL);
     Wire.setClockStretchLimit(4000);
     Wire.setClock(100000);
     Serial.begin(serialBaudRate);
@@ -137,13 +137,13 @@ void loop()
         sensor.startCalibration(0);
         isCalibrating = false;
     }
-    #ifndef UPDATE_IMU_UNCONNECTED
+#ifndef UPDATE_IMU_UNCONNECTED
         if(isConnected()) {
-    #endif
+#endif
     sensor.motionLoop();
-    #ifndef UPDATE_IMU_UNCONNECTED
+#ifndef UPDATE_IMU_UNCONNECTED
         }
-    #endif
+#endif
     // Send updates
     now_ms = millis();
     if (now_ms - last_ms >= samplingRateInMillis)
@@ -151,19 +151,21 @@ void loop()
         last_ms = now_ms;
         processBlinking();
 
-        #ifndef SEND_UPDATES_UNCONNECTED
+#ifndef SEND_UPDATES_UNCONNECTED
             if(isConnected()) {
-        #endif
+#endif
         sensor.sendData();
-        #ifndef SEND_UPDATES_UNCONNECTED
+#ifndef SEND_UPDATES_UNCONNECTED
             }
-        #endif
+#endif
     }
+#ifdef PIN_BATTERY_LEVEL
     if(now_ms - last_battery_sample >= batterySampleRate) {
         last_battery_sample = now_ms;
-        float battery = ((float) analogRead(A0)) * batteryADCMultiplier;
+        float battery = ((float) analogRead(PIN_BATTERY_LEVEL)) * batteryADCMultiplier;
         sendFloat(battery, PACKET_BATTERY_LEVEL);
     }
+#endif
 }
 
 void processBlinking() {