mirror of
https://github.com/SlimeVR/SlimeVR-Tracker-ESP.git
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ea00bebedd
* 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>
64 lines
2.5 KiB
C++
64 lines
2.5 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_MPU6050SENSOR_H
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#define SENSORS_MPU6050SENSOR_H
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#include "sensor.h"
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#include <MPU6050.h>
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#include "SensorFusionDMP.h"
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class MPU6050Sensor : public Sensor
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{
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public:
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static constexpr auto TypeID = ImuID::MPU6050;
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static constexpr uint8_t Address = 0x68;
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MPU6050Sensor(uint8_t id, uint8_t addrSuppl, float rotation, uint8_t sclPin, uint8_t sdaPin, uint8_t)
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: Sensor("MPU6050Sensor", ImuID::MPU6050, id, Address+addrSuppl, rotation, sclPin, sdaPin){};
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~MPU6050Sensor(){};
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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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MPU6050 imu{};
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Quaternion rawQuat{};
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VectorInt16 rawAccel{};
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// MPU dmp control/status vars
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bool dmpReady = false; // set true if DMP init was successful
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uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
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uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
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uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
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uint16_t fifoCount; // count of all bytes currently in FIFO
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uint8_t fifoBuffer[64]{}; // FIFO storage buffer
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SlimeVR::Sensors::SensorFusionDMP sfusion;
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#ifndef IMU_MPU6050_RUNTIME_CALIBRATION
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SlimeVR::Configuration::MPU6050CalibrationConfig m_Calibration = {};
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#endif
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};
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#endif
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