mirror of
https://github.com/SlimeVR/SlimeVR-Tracker-ESP.git
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96b6b7acec
* Adjust IMU parameters * Format * Forgot a comment * Use v2 optimized VQFParams GLOBALLY * Always calibrate sensor timesteps on startup * Formatting --------- Co-authored-by: gorbit99 <gorbitgames@gmail.com>
61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
/*
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SlimeVR Code is placed under the MIT license
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Copyright (c) 2024 Gorbit99 & 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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#pragma once
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#include "icm45base.h"
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#include "vqf.h"
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namespace SlimeVR::Sensors::SoftFusion::Drivers {
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// Driver uses acceleration range at 32g
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// and gyroscope range at 4000dps
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// using high resolution mode
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// Uses 32.768kHz clock
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// Gyroscope ODR = 204.8Hz, accel ODR = 102.4Hz
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// Timestamps reading not used, as they're useless (constant predefined increment)
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struct ICM45605 : public ICM45Base {
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static constexpr auto Name = "ICM-45605";
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static constexpr auto Type = SensorTypeID::ICM45605;
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static constexpr VQFParams SensorVQFParams{};
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ICM45605(RegisterInterface& registerInterface, SlimeVR::Logging::Logger& logger)
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: ICM45Base{registerInterface, logger} {}
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struct Regs {
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struct WhoAmI {
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static constexpr uint8_t reg = 0x72;
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static constexpr uint8_t value = 0xe5;
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};
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};
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bool initialize() {
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ICM45Base::softResetIMU();
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return ICM45Base::initializeBase();
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}
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};
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} // namespace SlimeVR::Sensors::SoftFusion::Drivers
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