mirror of
https://github.com/SlimeVR/SlimeVR-Tracker-ESP.git
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0b882db74f
* Enforce clang-format on the repo * improve CI config * fix build error * undo src format * apply format by hand * fix last one * fix build error * wat
64 lines
1.8 KiB
C++
64 lines
1.8 KiB
C++
/*
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SlimeVR Code is placed under the MIT license
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Copyright (c) 2021 Eiren Rain & SlimeVR contributors
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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#ifndef SENSORS_BNO055SENSOR_H
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#define SENSORS_BNO055SENSOR_H
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#include <Adafruit_BNO055.h>
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#include "sensor.h"
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class BNO055Sensor : public Sensor {
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public:
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static constexpr auto TypeID = ImuID::BNO055;
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static constexpr uint8_t Address = 0x28;
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BNO055Sensor(
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uint8_t id,
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uint8_t addrSuppl,
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float rotation,
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uint8_t sclPin,
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uint8_t sdaPin,
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uint8_t
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)
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: Sensor(
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"BNO055Sensor",
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ImuID::BNO055,
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id,
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Address + addrSuppl,
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rotation,
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sclPin,
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sdaPin
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){};
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~BNO055Sensor(){};
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void motionSetup() override final;
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void motionLoop() override final;
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void startCalibration(int calibrationType) override final;
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private:
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Adafruit_BNO055 imu;
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SlimeVR::Configuration::BNO0XXSensorConfig m_Config = {};
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};
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#endif
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