Spi support (2) #99

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MrUnknownDE · 2026-04-05T17:51:49+02:00

MrUnknownDE commented

2026-04-05 17:51:49 +02:00

Originally created by @Eirenliel on 4/23/2025

Imagine if we supported SPI twice?

Adds another RegisterInterface abstraction layer to communicate with Sensor that can be either I2C or SPI
Separates sensor building factory into separte file to reduce clutter
Adds support for SPI connection to an IMU, combinding I2C and SPI is also allowed
Adds IMU_AUTO imu, which does a search of IMUs on the provided bus and creates the sensor based on what's found
- Only a few IMU models get checked by default: BNO085, ICM-45686, LSM6DSV and BMI270 - the best ones currently supported and the ones used on official trackers. Adding support for more will inflate the binary size and won't fit into ESP12-F. Maybe if we use less templates, we could fit more in the future.
Aligns axelerometer readings to IMU_ROTATION

TODO:

Return pinout for SlimeVR board definition back and add new one for SlimeVR v1.2
Test ICM-45686 in the CI along with BNO
Whatever cleanup @gorbit99 wanted to do
Fix MCP23X17 being improssible to build fw with

@loucass003 this PR adds new board definition BOARD_SLIMEVR_V1_2 with new default pinouts and IMU settings. Also the fw builder for BOARD_SLIMEVR should use IMU_AUTO as default instead of IMU_BNO085 now.

*Originally created by @Eirenliel on 4/23/2025* Imagine if we supported SPI twice? * Adds another RegisterInterface abstraction layer to communicate with Sensor that can be either I2C or SPI * Separates sensor building factory into separte file to reduce clutter * Adds support for SPI connection to an IMU, combinding I2C and SPI is also allowed * Adds IMU_AUTO imu, which does a search of IMUs on the provided bus and creates the sensor based on what's found * Only a few IMU models get checked by default: BNO085, ICM-45686, LSM6DSV and BMI270 - the best ones currently supported and the ones used on official trackers. Adding support for more will inflate the binary size and won't fit into ESP12-F. Maybe if we use less templates, we could fit more in the future. * Aligns axelerometer readings to IMU_ROTATION TODO: * [x] Return pinout for SlimeVR board definition back and add new one for SlimeVR v1.2 * [x] Test ICM-45686 in the CI along with BNO * [x] Whatever cleanup @gorbit99 wanted to do * [x] Fix MCP23X17 being improssible to build fw with @loucass003 this PR adds new board definition BOARD_SLIMEVR_V1_2 with new default pinouts and IMU settings. Also the fw builder for BOARD_SLIMEVR should use IMU_AUTO as default instead of IMU_BNO085 now.

MrUnknownDE closed this issue

2026-04-05 17:51:50 +02:00

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Reference: github/SlimeVR-Tracker-ESP#99