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Add BNO to automatic detection, remove a bunch of others

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Not all IMU types are enabled right now due to code size optimization, but it could be expanded in the future with optimization of Softfusion.
This commit is contained in:
Eiren Rain
2025-02-27 12:29:39 +01:00
parent 34bf42ee9c
commit 9544cdcd76
3 changed files with 91 additions and 104 deletions
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170
src/sensors/SensorManager.cpp
View File

@@ -333,56 +333,56 @@ std::unique_ptr<::Sensor> SensorManager::buildSensorDynamically(
int extraParam
) {
switch (type) {
case SensorTypeID::MPU9250:
return buildSensor<MPU9250Sensor, RegInterface>(BUILD_SENSOR_ARGS);
case SensorTypeID::BNO080:
return buildSensor<MPU9250Sensor, RegInterface>(BUILD_SENSOR_ARGS);
// case SensorTypeID::MPU9250:
// return buildSensor<MPU9250Sensor, RegInterface>(BUILD_SENSOR_ARGS);
// case SensorTypeID::BNO080:
// return buildSensor<BNO080Sensor, RegInterface>(BUILD_SENSOR_ARGS);
case SensorTypeID::BNO085:
return buildSensor<MPU9250Sensor, RegInterface>(BUILD_SENSOR_ARGS);
case SensorTypeID::BNO055:
return buildSensor<MPU9250Sensor, RegInterface>(BUILD_SENSOR_ARGS);
case SensorTypeID::MPU6050:
return buildSensor<SoftFusionMPU6050<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
case SensorTypeID::BNO086:
return buildSensor<MPU9250Sensor, RegInterface>(BUILD_SENSOR_ARGS);
case SensorTypeID::BMI160:
return buildSensor<BMI160Sensor, RegInterface>(BUILD_SENSOR_ARGS);
case SensorTypeID::ICM20948:
return buildSensor<ICM20948Sensor, RegInterface>(BUILD_SENSOR_ARGS);
case SensorTypeID::ICM42688:
return buildSensor<SoftFusionICM42688<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
return buildSensor<BNO085Sensor, RegInterface>(BUILD_SENSOR_ARGS);
// case SensorTypeID::BNO055:
// return buildSensor<BNO055Sensor, RegInterface>(BUILD_SENSOR_ARGS);
// case SensorTypeID::MPU6050:
// return buildSensor<SoftFusionMPU6050<RegInterface>, RegInterface>(
// BUILD_SENSOR_ARGS
// );
// case SensorTypeID::BNO086:
// return buildSensor<BNO086Sensor, RegInterface>(BUILD_SENSOR_ARGS);
// case SensorTypeID::BMI160:
// return buildSensor<BMI160Sensor, RegInterface>(BUILD_SENSOR_ARGS);
// case SensorTypeID::ICM20948:
// return buildSensor<ICM20948Sensor, RegInterface>(BUILD_SENSOR_ARGS);
// case SensorTypeID::ICM42688:
// return buildSensor<SoftFusionICM42688<RegInterface>, RegInterface>(
// BUILD_SENSOR_ARGS
// );
case SensorTypeID::BMI270:
return buildSensor<SoftFusionBMI270<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
case SensorTypeID::LSM6DS3TRC:
return buildSensor<SoftFusionLSM6DS3TRC<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
// case SensorTypeID::LSM6DS3TRC:
// return buildSensor<SoftFusionLSM6DS3TRC<RegInterface>, RegInterface>(
// BUILD_SENSOR_ARGS
// );
case SensorTypeID::LSM6DSV:
return buildSensor<SoftFusionLSM6DSV<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
case SensorTypeID::LSM6DSO:
return buildSensor<SoftFusionLSM6DSO<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
case SensorTypeID::LSM6DSR:
return buildSensor<SoftFusionLSM6DSR<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
// case SensorTypeID::LSM6DSO:
// return buildSensor<SoftFusionLSM6DSO<RegInterface>, RegInterface>(
// BUILD_SENSOR_ARGS
// );
// case SensorTypeID::LSM6DSR:
// return buildSensor<SoftFusionLSM6DSR<RegInterface>, RegInterface>(
// BUILD_SENSOR_ARGS
// );
case SensorTypeID::ICM45686:
return buildSensor<SoftFusionICM45686<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
case SensorTypeID::ICM45605:
return buildSensor<SoftFusionICM45605<RegInterface>, RegInterface>(
BUILD_SENSOR_ARGS
);
// case SensorTypeID::ICM45605:
// return buildSensor<SoftFusionICM45605<RegInterface>, RegInterface>(
// BUILD_SENSOR_ARGS
// );
default:
m_Logger.error(
"Unable to create sensor with type %s (%d)",
@@ -393,18 +393,6 @@ std::unique_ptr<::Sensor> SensorManager::buildSensorDynamically(
return std::make_unique<EmptySensor>(sensorID);
}
template <typename SensorType, typename RegInterface>
bool checkSfusion(uint8_t sensorID, std::optional<RegInterface> imuInterface) {
RegInterface interface = imuInterface.value_or(
RegInterface(SensorType::Address + sensorID)
);
auto value = interface.readReg(SensorType::Regs::WhoAmI::reg);
if (SensorType::Regs::WhoAmI::value == value) {
return true;
}
return false;
}
template <typename RegInterface>
SensorTypeID SensorManager::findSensorType(
uint8_t sensorID,
@@ -415,62 +403,36 @@ SensorTypeID SensorManager::findSensorType(
PinInterface* intPin,
int extraParam
) {
{
if (checkSfusion<SoftFusion::Drivers::LSM6DS3TRC<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::LSM6DS3TRC;
}
if (checkSfusion<SoftFusion::Drivers::ICM42688<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::ICM42688;
}
if (checkSfusion<SoftFusion::Drivers::BMI270<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::BMI270;
}
if (checkSfusion<SoftFusion::Drivers::LSM6DSV<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::LSM6DSV;
}
if (checkSfusion<SoftFusion::Drivers::LSM6DSO<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::LSM6DSO;
}
if (checkSfusion<SoftFusion::Drivers::LSM6DSR<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::LSM6DSR;
}
if (checkSfusion<SoftFusion::Drivers::MPU6050<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::MPU6050;
}
if (checkSfusion<SoftFusion::Drivers::ICM45686<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::ICM45686;
}
if (checkSfusion<SoftFusion::Drivers::ICM45605<RegInterface>, RegInterface>(
sensorID,
imuInterface
)) {
return SensorTypeID::ICM45605;
}
sensorInterface->init();
sensorInterface->swapIn();
// if (SoftFusionLSM6DS3TRC<RegInterface>::checkPresent(sensorID, imuInterface))
// { return SensorTypeID::LSM6DS3TRC;
// }
// if (SoftFusionICM42688<RegInterface>::checkPresent(sensorID, imuInterface)) {
// return SensorTypeID::ICM42688;
//}
if (SoftFusionBMI270<RegInterface>::checkPresent(sensorID, imuInterface)) {
return SensorTypeID::BMI270;
}
if (SoftFusionLSM6DSV<RegInterface>::checkPresent(sensorID, imuInterface)) {
return SensorTypeID::LSM6DSV;
}
// if (SoftFusionLSM6DSO<RegInterface>::checkPresent(sensorID, imuInterface)) {
// return SensorTypeID::LSM6DSO;
// }
// if (SoftFusionLSM6DSR<RegInterface>::checkPresent(sensorID, imuInterface)) {
// return SensorTypeID::LSM6DSR;
// }
// if (SoftFusionMPU6050<RegInterface>::checkPresent(sensorID, imuInterface)) {
// return SensorTypeID::MPU6050;
// }
if (SoftFusionICM45686<RegInterface>::checkPresent(sensorID, imuInterface)) {
return SensorTypeID::ICM45686;
}
return BNO080Sensor::checkIfPresent(sensorID, sensorInterface, intPin);
// if (SoftFusionICM45605<RegInterface>::checkPresent(sensorID, imuInterface)) {
// return SensorTypeID::ICM45605;
// }
return SensorTypeID::Unknown;
}

14
src/sensors/bno080sensor.h
View File

@@ -25,6 +25,7 @@
#define SENSORS_BNO080SENSOR_H
#include <BNO080.h>
#include <i2cscan.h>
#include "sensor.h"
@@ -62,6 +63,19 @@ public:
SensorStatus getSensorState() override final;
void setFlag(uint16_t flagId, bool state) override final;
static SensorTypeID checkIfPresent(
uint8_t sensorID,
SlimeVR::SensorInterface* sensorInterface,
PinInterface* intPin
) {
// Lazy check for if BNO is present, we only check if I2C has an address here
if (I2CSCAN::hasDevOnBus(Address + sensorID)) {
return SensorTypeID::BNO085; // Assume it's 085, more precise diff will
// require talking to it
}
return SensorTypeID::Unknown;
}
protected:
// forwarding constructor
BNO080Sensor(

11
src/sensors/softfusion/softfusionsensor.h
View File

@@ -427,6 +427,17 @@ public:
uint32_t m_lastTemperaturePacketSent = 0;
RestCalibrationDetector calibrationDetector;
static bool
checkPresent(uint8_t sensorID, std::optional<RegInterface> imuInterface) {
RegInterface interface = imuInterface.value_or(RegInterface(Address + sensorID)
);
auto value = interface.readReg(SensorType::Regs::WhoAmI::reg);
if (SensorType::Regs::WhoAmI::value == value) {
return true;
}
return false;
}
};
} // namespace SlimeVR::Sensors