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Code Issues 76 Packages Projects Releases Wiki Activity

Run CI for new boards with own defines (#443)

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* Run CI for new boards with own defines

* Do not redefine board when defined from CI or other places

* Move sensor defaults to the separate file too

* Add comment to sensor offset

* Add a way to ask for raw accel from BNO08X

* Merge fix

* Update from suggestions

* Fix typos

* Move some stuff around and apply suggestions

* Fix formatting

* Add defines for all other boards too

* Make glove buildable

* Make failed build report better
This commit is contained in:
Eiren Rain
2025-05-23 18:17:30 +02:00
committed by GitHub
parent 8017fba171
commit 94f61c7ec7
16 changed files with 305 additions and 215 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
.github/workflows/actions.yml vendored
View File

@@ -71,3 +71,4 @@ jobs:
generate_release_notes: true
files: |
./build/BOARD_SLIMEVR-firmware.bin
./build/BOARD_SLIMEVR_V1_2-firmware.bin

2
ci/build.py
View File

@@ -95,7 +95,7 @@ def build() -> int:
status = build_for_device(device)
if not status:
failed_builds.append(device.platformio_board)
failed_builds.append(device.board)
if len(failed_builds) > 0:
print(f" 🡢 {COLOR_RED}Failed!{COLOR_RESET}")

11
lib/bno080/BNO080.cpp
View File

@@ -12,7 +12,6 @@
This library handles the initialization of the BNO080 and is able to query the sensor
for different readings.
https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
Development environment specifics:
@@ -688,6 +687,16 @@ void BNO080::getAccel(float &x, float &y, float &z, uint8_t &accuracy)
hasNewAccel_ = false;
}
bool BNO080::getNewAccel(float &x, float &y, float &z, uint8_t &accuracy)
{
if (hasNewAccel_)
{
getAccel(x, y, z, accuracy);
return true;
}
return false;
}
//Return the acceleration component
float BNO080::getAccelX()
{

1
lib/bno080/BNO080.h
View File

@@ -214,6 +214,7 @@ public:
uint8_t getQuatAccuracy();
void getAccel(float &x, float &y, float &z, uint8_t &accuracy);
bool getNewAccel(float &x, float &y, float &z, uint8_t &accuracy);
float getAccelX();
float getAccelY();
float getAccelZ();

47
platformio-tools.ini
View File

@@ -17,26 +17,62 @@ build_unflags =
[env:BOARD_SLIMEVR]
platform = espressif8266 @ 4.2.1
board = esp12e
build_flags =
${env.build_flags}
-D BOARD=BOARD_SLIMEVR
[env:BOARD_SLIMEVR_V1_2]
platform = espressif8266 @ 4.2.1
board = esp12e
build_flags =
${env.build_flags}
-D BOARD=BOARD_SLIMEVR_V1_2
[env:BOARD_SLIMEVR_DEV]
platform = espressif8266 @ 4.2.1
board = esp12e
build_flags =
${env.build_flags}
-D BOARD=BOARD_SLIMEVR_DEV
[env:BOARD_GLOVE_IMU_SLIMEVR_DEV]
platform = espressif32 @ 6.7.0
platform_packages =
framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
build_flags =
${env.build_flags}
-DESP32C3
-D BOARD=BOARD_GLOVE_IMU_SLIMEVR_DEV
board = lolin_c3_mini
[env:BOARD_NODEMCU]
platform = espressif8266 @ 4.2.1
board = esp12e
build_flags =
${env.build_flags}
-D BOARD=BOARD_NODEMCU
[env:BOARD_WEMOSD1MINI]
platform = espressif8266 @ 4.2.1
board = esp12e
build_flags =
${env.build_flags}
-D BOARD=BOARD_WEMOSD1MINI
[env:BOARD_TTGO_TBASE]
platform = espressif8266 @ 4.2.1
board = esp12e
build_flags =
${env.build_flags}
-D BOARD=BOARD_TTGO_TBASE
[env:BOARD_WEMOSWROOM02]
platform = espressif8266 @ 4.2.1
board = esp12e
build_flags =
${env.build_flags}
-D BOARD=BOARD_NODEMCU
[env:BOARD_WROOM32]
platform = espressif32 @ 6.7.0
@@ -44,6 +80,9 @@ platform_packages =
framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
board = esp32dev
build_flags =
${env.build_flags}
-D BOARD=BOARD_WROOM32
[env:BOARD_ESP01]
platform = espressif32 @ 6.7.0
@@ -51,6 +90,9 @@ platform_packages =
framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
board = esp32dev
build_flags =
${env.build_flags}
-D BOARD=BOARD_ESP01
[env:BOARD_LOLIN_C3_MINI]
platform = espressif32 @ 6.7.0
@@ -60,6 +102,7 @@ platform_packages =
build_flags =
${env.build_flags}
-DESP32C3
-D BOARD=BOARD_LOLIN_C3_MINI
board = lolin_c3_mini
[env:BOARD_BEETLE32C3]
@@ -70,6 +113,7 @@ platform_packages =
build_flags =
${env.build_flags}
-DESP32C3
-D BOARD=BOARD_BEETLE32C3
board = dfrobot_beetle_esp32c3
[env:BOARD_ESP32C3DEVKITM1]
@@ -80,6 +124,7 @@ platform_packages =
build_flags =
${env.build_flags}
-DESP32C3
-D BOARD=BOARD_ESP32C3DEVKITM1
board = esp32-c3-devkitm-1
[env:BOARD_ESP32C6DEVKITC1]
@@ -87,6 +132,7 @@ platform = https://github.com/tasmota/platform-espressif32/releases/download/202
build_flags =
${env.build_flags}
-DESP32C6
-D BOARD=BOARD_ESP32C6DEVKITC1
board = esp32-c6-devkitc-1
[env:BOARD_XIAO_ESP32C3]
@@ -97,4 +143,5 @@ platform_packages =
build_flags =
${env.build_flags}
-DESP32C3
-D BOARD=BOARD_XIAO_ESP32C3
board = seeed_xiao_esp32c3

8
src/GlobalVars.h
View File

@@ -20,18 +20,16 @@
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef GLOBALVARS_H
#define GLOBALVARS_H
#pragma once
#include <arduino-timer.h>
#include "LEDManager.h"
#include "batterymonitor.h"
#include "configuration/Configuration.h"
#include "network/connection.h"
#include "network/manager.h"
#include "sensors/SensorManager.h"
#include "status/LEDManager.h"
#include "status/StatusManager.h"
extern Timer<> globalTimer;
@@ -42,5 +40,3 @@ extern SlimeVR::Sensors::SensorManager sensorManager;
extern SlimeVR::Network::Manager networkManager;
extern SlimeVR::Network::Connection networkConnection;
extern BatteryMonitor battery;
#endif

70
src/board_default.h → src/boards/boards_default.h
View File

@@ -174,3 +174,73 @@ BATTERY_R1(10)
BATTERY_R2(40.2)
#endif
// Default IMU pinouts and definitions for default tracker types
#if BOARD != BOARD_GLOVE_IMU_SLIMEVR_DEV
// Defaunlt definitions for normal 2-sensor trackers
#ifndef MAX_SENSORS_COUNT
#define MAX_SENSORS_COUNT 2
#endif
#ifndef TRACKER_TYPE
#define TRACKER_TYPE TrackerType::TRACKER_TYPE_SVR_ROTATION
#endif
// Axis mapping example
/*
#include "sensors/axisremap.h"
#define BMI160_QMC_REMAP AXIS_REMAP_BUILD(AXIS_REMAP_USE_Y, AXIS_REMAP_USE_XN,
AXIS_REMAP_USE_Z, \ AXIS_REMAP_USE_YN, AXIS_REMAP_USE_X, AXIS_REMAP_USE_Z)
SENSOR_DESC_ENTRY(IMU_BMP160, PRIMARY_IMU_ADDRESS_ONE, IMU_ROTATION, PIN_IMU_SCL,
PIN_IMU_SDA, PRIMARY_IMU_OPTIONAL, BMI160_QMC_REMAP) \
*/
#ifndef SENSOR_DESC_LIST
#if BOARD == BOARD_SLIMEVR_V1_2
#define SENSOR_DESC_LIST \
SENSOR_DESC_ENTRY( \
IMU, \
DIRECT_PIN(15), \
IMU_ROTATION, \
DIRECT_SPI(24'000'000, MSBFIRST, SPI_MODE3), \
PRIMARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT), \
0 \
) \
SENSOR_DESC_ENTRY( \
SECOND_IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
SECOND_IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
SECONDARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT_2), \
0 \
)
#else
#define SENSOR_DESC_LIST \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
PRIMARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT), \
0 \
) \
SENSOR_DESC_ENTRY( \
SECOND_IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
SECOND_IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
SECONDARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT_2), \
0 \
)
#endif
#endif
#else // BOARD == BOARD_GLOVE_IMU_SLIMEVR_DEV
#include "glove_default.h"
#endif // BOARD != BOARD_GLOVE_IMU_SLIMEVR_DEV

2
src/defines_helpers.cpp → src/boards/defines_helpers.cpp
View File

@@ -23,7 +23,7 @@
#include "defines_helpers.h"
#include "consts.h"
#include "../consts.h"
#ifndef LED_BUILTIN
#define LED_BUILTIN LED_OFF

0
src/defines_helpers.h → src/boards/defines_helpers.h
View File

140
src/boards/glove_default.h Normal file
View File

@@ -0,0 +1,140 @@
// default definitions for the GLOVE
#ifndef MAX_SENSORS_COUNT
#define MAX_SENSORS_COUNT 10
#endif
#ifndef TRACKER_TYPE
#define TRACKER_TYPE TrackerType::TRACKER_TYPE_SVR_GLOVE_LEFT
#endif
#ifndef GLOVE_SIDE
#define GLOVE_SIDE GLOVE_LEFT
#endif
#ifndef PRIMARY_IMU_ADDRESS_ONE
#define PRIMARY_IMU_ADDRESS_ONE 0x4a
#endif
#ifndef SECONDARY_IMU_ADDRESS_TWO
#define SECONDARY_IMU_ADDRESS_TWO 0x4b
#endif
#ifndef SENSOR_DESC_LIST
#define SENSOR_DESC_LIST \
SENSOR_DESC_ENTRY( \
IMU, \
(PRIMARY_IMU_ADDRESS_ONE ^ 0x02), \
IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
false, \
MCP_PIN(MCP_GPA6), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
(SECONDARY_IMU_ADDRESS_TWO ^ 0x02), \
IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
true, \
MCP_PIN(MCP_GPA5), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 0), \
true, \
MCP_PIN(MCP_GPB0), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 0), \
true, \
MCP_PIN(MCP_GPB1), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 1), \
true, \
MCP_PIN(MCP_GPB2), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 1), \
true, \
MCP_PIN(MCP_GPB3), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 2), \
true, \
MCP_PIN(MCP_GPB4), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 2), \
true, \
MCP_PIN(MCP_GPB5), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 3), \
true, \
MCP_PIN(MCP_GPB6), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 3), \
true, \
MCP_PIN(MCP_GPA1), \
0 \
)
#endif
#ifndef SENSOR_INFO_LIST
#if GLOVE_SIDE == GLOVE_LEFT
#define SENSOR_INFO_LIST \
SENSOR_INFO_ENTRY(0, SensorPosition::POSITION_LEFT_HAND) \
SENSOR_INFO_ENTRY(1, SensorPosition::POSITION_LEFT_LITTLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(2, SensorPosition::POSITION_LEFT_RING_INTERMEDIATE) \
SENSOR_INFO_ENTRY(3, SensorPosition::POSITION_LEFT_RING_DISTAL) \
SENSOR_INFO_ENTRY(4, SensorPosition::POSITION_LEFT_MIDDLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(5, SensorPosition::POSITION_LEFT_MIDDLE_DISTAL) \
SENSOR_INFO_ENTRY(6, SensorPosition::POSITION_LEFT_INDEX_INTERMEDIATE) \
SENSOR_INFO_ENTRY(7, SensorPosition::POSITION_LEFT_INDEX_DISTAL) \
SENSOR_INFO_ENTRY(8, SensorPosition::POSITION_LEFT_THUMB_PROXIMAL) \
SENSOR_INFO_ENTRY(9, SensorPosition::POSITION_LEFT_THUMB_DISTAL)
#elif GLOVE_SDIE == GLOVE_RIGHT
#define SENSOR_INFO_LIST \
SENSOR_INFO_ENTRY(0, SensorPosition::POSITION_RIGHT_HAND) \
SENSOR_INFO_ENTRY(1, SensorPosition::POSITION_RIGHT_LITTLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(2, SensorPosition::POSITION_RIGHT_RING_INTERMEDIATE) \
SENSOR_INFO_ENTRY(3, SensorPosition::POSITION_RIGHT_RING_DISTAL) \
SENSOR_INFO_ENTRY(4, SensorPosition::POSITION_RIGHT_MIDDLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(5, SensorPosition::POSITION_RIGHT_MIDDLE_DISTAL) \
SENSOR_INFO_ENTRY(6, SensorPosition::POSITION_RIGHT_INDEX_INTERMEDIATE) \
SENSOR_INFO_ENTRY(7, SensorPosition::POSITION_RIGHT_INDEX_DISTAL) \
SENSOR_INFO_ENTRY(8, SensorPosition::POSITION_RIGHT_THUMB_PROXIMAL) \
SENSOR_INFO_ENTRY(9, SensorPosition::POSITION_RIGHT_THUMB_DISTAL)
#else // GLOVE_SIDE
#error "Glove side not defined"
#endif // GLOVE_SIDE
#endif

205
src/defines.h
View File

@@ -26,214 +26,41 @@
// ================================================
// Set parameters of IMU and board used
#ifndef IMU
#define IMU IMU_AUTO
#endif
#ifndef SECOND_IMU
#define SECOND_IMU IMU_AUTO
#endif
#ifndef BOARD
#define BOARD BOARD_SLIMEVR_V1_2
#endif
#ifndef IMU_ROTATION
#define IMU_ROTATION DEG_270
#endif
#ifndef SECOND_IMU_ROTATION
#define SECOND_IMU_ROTATION DEG_270
#endif
#ifndef PRIMARY_IMU_OPTIONAL
#define PRIMARY_IMU_OPTIONAL false
#endif
#ifndef SECONDARY_IMU_OPTIONAL
#define SECONDARY_IMU_OPTIONAL true
#endif
#if BOARD != BOARD_GLOVE_IMU_SLIMEVR_DEV
#define MAX_SENSORS_COUNT 2
#define TRACKER_TYPE TrackerType::TRACKER_TYPE_SVR_ROTATION
// Set I2C address here or directly in IMU_DESC_ENTRY for each IMU used
// If not set, default address is used based on the IMU and Sensor ID
// #define PRIMARY_IMU_ADDRESS_ONE 0x4a
// #define SECONDARY_IMU_ADDRESS_TWO 0x4b
// Axis mapping example
/*
#include "sensors/axisremap.h"
#define BMI160_QMC_REMAP AXIS_REMAP_BUILD(AXIS_REMAP_USE_Y, AXIS_REMAP_USE_XN,
AXIS_REMAP_USE_Z, \ AXIS_REMAP_USE_YN, AXIS_REMAP_USE_X, AXIS_REMAP_USE_Z)
SENSOR_DESC_ENTRY(IMU_BMP160, PRIMARY_IMU_ADDRESS_ONE, IMU_ROTATION, PIN_IMU_SCL,
PIN_IMU_SDA, PRIMARY_IMU_OPTIONAL, BMI160_QMC_REMAP) \
*/
#ifndef SENSOR_DESC_LIST
#if BOARD == BOARD_SLIMEVR_V1_2
#define SENSOR_DESC_LIST \
SENSOR_DESC_ENTRY( \
IMU, \
DIRECT_PIN(15), \
IMU_ROTATION, \
DIRECT_SPI(24'000'000, MSBFIRST, SPI_MODE3), \
PRIMARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT), \
0 \
) \
SENSOR_DESC_ENTRY( \
SECOND_IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
SECOND_IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
SECONDARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT_2), \
0 \
)
#else
#define SENSOR_DESC_LIST \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
PRIMARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT), \
0 \
) \
SENSOR_DESC_ENTRY( \
SECOND_IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
SECOND_IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
SECONDARY_IMU_OPTIONAL, \
DIRECT_PIN(PIN_IMU_INT_2), \
0 \
)
#endif
#endif
#else
// Predefines for the GLOVE
#ifndef SENSOR_DESC_LIST
#define MAX_SENSORS_COUNT 10
#define TRACKER_TYPE TrackerType::TRACKER_TYPE_SVR_GLOVE_LEFT
#define GLOVE_SIDE GLOVE_LEFT
#define PRIMARY_IMU_ADDRESS_ONE 0x4a
#define SECONDARY_IMU_ADDRESS_TWO 0x4b
#define SENSOR_DESC_LIST \
SENSOR_DESC_ENTRY( \
IMU, \
(PRIMARY_IMU_ADDRESS_ONE ^ 0x02), \
IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
false, \
MCP_PIN(MCP_GPA6), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
(SECONDARY_IMU_ADDRESS_TWO ^ 0x02), \
IMU_ROTATION, \
DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
true, \
MCP_PIN(MCP_GPA5), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 0), \
true, \
MCP_PIN(MCP_GPB0), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 0), \
true, \
MCP_PIN(MCP_GPB1), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 1), \
true, \
MCP_PIN(MCP_GPB2), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 1), \
true, \
MCP_PIN(MCP_GPB3), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 2), \
true, \
MCP_PIN(MCP_GPB4), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 2), \
true, \
MCP_PIN(MCP_GPB5), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
PRIMARY_IMU_ADDRESS_ONE, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 3), \
true, \
MCP_PIN(MCP_GPB6), \
0 \
) \
SENSOR_DESC_ENTRY( \
IMU, \
SECONDARY_IMU_ADDRESS_TWO, \
IMU_ROTATION, \
PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 3), \
true, \
MCP_PIN(MCP_GPA1), \
0 \
)
#if GLOVE_SIDE == GLOVE_LEFT
#define SENSOR_INFO_LIST \
SENSOR_INFO_ENTRY(0, SensorPosition::POSITION_LEFT_HAND) \
SENSOR_INFO_ENTRY(1, SensorPosition::POSITION_LEFT_LITTLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(2, SensorPosition::POSITION_LEFT_RING_INTERMEDIATE) \
SENSOR_INFO_ENTRY(3, SensorPosition::POSITION_LEFT_RING_DISTAL) \
SENSOR_INFO_ENTRY(4, SensorPosition::POSITION_LEFT_MIDDLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(5, SensorPosition::POSITION_LEFT_MIDDLE_DISTAL) \
SENSOR_INFO_ENTRY(6, SensorPosition::POSITION_LEFT_INDEX_INTERMEDIATE) \
SENSOR_INFO_ENTRY(7, SensorPosition::POSITION_LEFT_INDEX_DISTAL) \
SENSOR_INFO_ENTRY(8, SensorPosition::POSITION_LEFT_THUMB_PROXIMAL) \
SENSOR_INFO_ENTRY(9, SensorPosition::POSITION_LEFT_THUMB_DISTAL)
#elif GLOVE_SIDE == GLOVE_RIGHT
#define SENSOR_INFO_LIST \
SENSOR_INFO_ENTRY(0, SensorPosition::POSITION_RIGHT_HAND) \
SENSOR_INFO_ENTRY(1, SensorPosition::POSITION_RIGHT_LITTLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(2, SensorPosition::POSITION_RIGHT_RING_INTERMEDIATE) \
SENSOR_INFO_ENTRY(3, SensorPosition::POSITION_RIGHT_RING_DISTAL) \
SENSOR_INFO_ENTRY(4, SensorPosition::POSITION_RIGHT_MIDDLE_INTERMEDIATE) \
SENSOR_INFO_ENTRY(5, SensorPosition::POSITION_RIGHT_MIDDLE_DISTAL) \
SENSOR_INFO_ENTRY(6, SensorPosition::POSITION_RIGHT_INDEX_INTERMEDIATE) \
SENSOR_INFO_ENTRY(7, SensorPosition::POSITION_RIGHT_INDEX_DISTAL) \
SENSOR_INFO_ENTRY(8, SensorPosition::POSITION_RIGHT_THUMB_PROXIMAL) \
SENSOR_INFO_ENTRY(9, SensorPosition::POSITION_RIGHT_THUMB_DISTAL)
#else // GLOVE_SIDE
#error "Glove side not defined"
#endif // GLOVE_SIDE
#endif // SENSOR_DESC_LIST
#endif // BOARD != BOARD_GLOVE_IMU_SLIMEVR_DEV
#ifndef BATTERY_MONITOR
// Battery monitoring options (comment to disable):
// BAT_EXTERNAL for ADC pin,
// BAT_INTERNAL for internal - can detect only low battery,
// BAT_MCP3021 for external ADC connected over I2C
#define BATTERY_MONITOR BAT_EXTERNAL
#endif
// --- OVERRIDES FOR DEFAULT PINS

7
src/globals.h
View File

@@ -20,8 +20,7 @@
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef SLIMEVR_GLOBALS_H_
#define SLIMEVR_GLOBALS_H_
#pragma once
#include <Arduino.h>
@@ -30,7 +29,7 @@
#include "defines.h"
// clang-format off
#include "board_default.h"
#include "boards/boards_default.h"
// clang-format on
#ifndef SECOND_IMU
@@ -53,5 +52,3 @@
#ifndef EXPERIMENTAL_BNO_DISABLE_ACCEL_CALIBRATION
#define EXPERIMENTAL_BNO_DISABLE_ACCEL_CALIBRATION true
#endif
#endif // SLIMEVR_GLOBALS_H_

14
src/sensors/SensorBuilder.cpp
View File

@@ -32,6 +32,9 @@ SensorBuilder::SensorBuilder(SensorManager* sensorManager)
activeSensorCount += sensorDescEntry<ImuType>(sensorID, __VA_ARGS__) ? 1 : 0; \
sensorID++;
#define SENSOR_INFO_ENTRY(ImuID, SensorPosition) \
m_Manager->m_Sensors[ImuID]->setSensorInfo(SensorPosition);
uint8_t SensorBuilder::buildAllSensors() {
uint8_t sensorID = 0;
uint8_t activeSensorCount = 0;
@@ -59,15 +62,10 @@ uint8_t SensorBuilder::buildAllSensors() {
};
// Apply descriptor list and expand to entries
SENSOR_DESC_LIST;
SENSOR_DESC_LIST
[[maybe_unused]] const auto SENSOR_INFO_ENTRY
= [&](uint8_t ImuID, SensorPosition position) {
m_Manager->m_Sensors[ImuID]->setSensorInfo(position);
};
// Apply sensor info list
SENSOR_INFO_LIST;
// Apply sensor info list and expand to entries
SENSOR_INFO_LIST
return activeSensorCount;
}

4
src/sensors/sensor.h
View File

@@ -122,6 +122,10 @@ protected:
bool working = false;
bool hadData = false;
uint8_t calibrationAccuracy = 0;
/**
* Apply sensor offset to align it with tracker's axises
* (Y to top of the tracker, Z to front, X to left)
*/
Quat sensorOffset;
bool newFusedRotation = false;

4
src/LEDManager.cpp → src/status/LEDManager.cpp
View File

@@ -23,8 +23,8 @@
#include "LEDManager.h"
#include "GlobalVars.h"
#include "status/Status.h"
#include "../GlobalVars.h"
#include "Status.h"
namespace SlimeVR {
void LEDManager::setup() {

4
src/LEDManager.h → src/status/LEDManager.h
View File

@@ -25,8 +25,8 @@
#include <Arduino.h>
#include "globals.h"
#include "logging/Logger.h"
#include "../globals.h"
#include "../logging/Logger.h"
#define DEFAULT_LENGTH 300
#define DEFAULT_GAP 500