* Cleanup scanI2C library
* Fixed formatting issues
* First round of changes based on feedback
* Fixed a fat fingered mistake
* Actually fix the formatting issues
* fix debugbuild
* make all esp32 define the same
only check if ESP32 is defined. The value changed from "1" to "ESP32" in pioarduino and tasmota in newer versions.
* 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
* Make SPI work
Move sensor building logic to a separate class and file
Don't use templates for RegisterInterface/I2CImpl/SPIImpl
This started getting ridiculous, now we can actually maintain it.
Make BNO085 work again
Add BNO to automatic detection, remove a bunch of others
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.
Pick IMU type automatically by asking it
* ESP32 spelling fix (#396)
Fix: ES32 -> ESP32
* (Probably) multiply acceleration by tracker rotation offset
* Split SensorBuilder into a header-source file pair
* Fix copyright
* Fix some issues with glove after all the changes
Add definitions for SlimeVR v1.2
Fix typo and add comments to quaternion sandwich function
* Add NO_WIRE definition for SPI devices
* Fix formatting
* Minor fix
* If ICM-45686 not found, ask again nicely
* Fix MCP interface not building
* Remove uneccessary "default" ctor from SPIImpl
* Remove buildSensorReal
* Invert if statement in sensorbuilder+
* Fix formatting
* If ICM-45686 not found, ask again nicely
* Fix MCP interface not building
* Fix formatting
* Various cleanup
* Formattign
---------
Co-authored-by: Butterscotch! <bscotchvanilla@gmail.com>
Co-authored-by: gorbit99 <gorbitgames@gmail.com>
* BNO085 add more Features and Readouts to the lib
* BNO085 add
- Experimental compiler flags for disable Calibration
- Temp Readout (all 1 sec)
- Inspection only send when updated
- added conginue as 1 imu.dataAvailable() only reads out 1 packet of data
* BNO085 add source of info
* Move temperature reading into the FIFO whenever possible (no love for MPU)
* Calculate gradient and feed into VQF
* Per sensor VQF params
* Split out classic softfusion calibration
* Cleanup
* Nonblocking calibration implemented
* Oops
* Formatting
* Make sure it actually compiles
* Use calibrated ZRO values
* Fix compilation errors and warnings
* Send temperature in correct place
* Add DELCAL command
* Slightly optimize ICM45 fifo handling
* Implement time taken measurer
* Precalculate nonblocking zro change
* Adjusted debug.h
* Reduced ICM45 accel rate to 102.4Hz
* Poll sensor at the same time we send data
* I hate git again
* Undo icm45 optimization
* Don't copy memory on ICM45 reads
* Change relevant doubles to floats
* Remove unnecessary union
* Fix guards to profiler
* Move temperature reading into the FIFO whenever possible (no love for MPU)
* Calculate gradient and feed into VQF
* Per sensor VQF params
* Split out classic softfusion calibration
* Cleanup
* Nonblocking calibration implemented
* Oops
* Formatting
* Make sure it actually compiles
* Use calibrated ZRO values
* Fix compilation errors and warnings
* Send temperature in correct place
* Add DELCAL command
* Slightly optimize ICM45 fifo handling
* Implement time taken measurer
* Precalculate nonblocking zro change
* Adjusted debug.h
* Reduced ICM45 accel rate to 102.4Hz
* Poll sensor at the same time we send data
* Undo icm45 optimization
* Don't copy memory on ICM45 reads
* Change relevant doubles to floats
* Remove unnecessary union
* Fix guards to profiler
* Fixes after rebase
* Fix after rebase
* Fix formatting
* Make SPI work
* Revert "Make SPI work"
This reverts commit 92bc946eaa.
* Rename to RuntimeCalibration
* Disable profiling
---------
Co-authored-by: Eiren Rain <Eirenliel@users.noreply.github.com>
* Add calibration reading commands for BNO08X
* Disable accelerometer calibration 1 minute after start up on BNO08X
Also save dynamic calibration periodically
* Work on new sensor interface to abstract I2C hardware
* Fix compile errors
* Abstract int pin and add multiplexer libraries
* Update IMU list to use new interfaces
* Make other IMUs definable, not only BNOx
* Fix build for ESP32
* Add TPS tracking code
Rename IMU_DESC_LIST to SENSOR_DESC_LIST
Start work on many-imu glove support
* Add PCA9546A support & glove imus list
* WIP use pointers properly
* I love C++ <3
* c++ is magic
* Fix build error because of typo
* Fix warnings
* Fix pinouts and some other issues
* Fix I2C with multiplexer
* Implement sending bone position
Implement sending flex data,
Minor refactoring
* Add tracker type to the protocol
* Work on analog sensors support
* Fix build errors
* Fix rebase conflict
* Apply formatting
* Update protocol to match server
* Fix thumb bone names
* Add an important comment
* Fix protocol compatibility
* Update defines for default configuration
* Minor comments and cleanups
* Format defines
* Formatting
* Formatting with proper clang
* Fucking clang
* Minor fixes after merge
* Fix formatting
* Remove unnecessary virtual keyword
* Remove delay on I2C clear error so OTA doesn't break
* Address some of the review comments
* Fix formatting
* Minor include imporvement
* Make new defines enums
* Fix build for sfusion
* Make I2Cscan non-blocking
* Address suggestions
* Use portExclude again
* Re-add some comments
* It's 8 AM and I'm allowed to be stupid
* No more while(true)
* More cleanup
* ...and more
* even more!
* Thanks clang-format
* Do not scan the same port twice
---------
Co-authored-by: Eiren Rain <Eirenliel@users.noreply.github.com>
* 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>
* 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>
* Allocate long-living arrays on heap and deallocate them ASAP
* Scope short-living arrays and variables to deallocate them from stack ASAP
* Refactor code to avoid unused variables and better variables reuse
