SoftFusion sensor framework with BMI, ICM, LSM6, MPU sensor implement…

…ations (#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 <[email protected]> Co-authored-by: nekomona <[email protected]> Co-authored-by: nekomona <[email protected]> Co-authored-by: unlogisch04 <[email protected]> Co-authored-by: kounocom <[email protected]> Co-authored-by: Kubuxu <[email protected]>
SlimeVR · Jun 28, 2024 · 02bb9d3 · 02bb9d3
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diff --git a/README.md b/README.md
@@ -35,6 +35,12 @@ The following IMUs and their corresponding `IMU` values are supported by the fir
   * Using fusion in internal DMP for 6Dof or 9DoF, 9DoF mode requires good magnetic environment.
   * Comment out `USE_6DOF` in `debug.h` for 9DoF mode.
   * Experimental support!
+* BMI270 (IMU_BMI270), ICM-42688 (IMU_ICM42688), LSM6DS3TR-C (IMU_LSM6DS3TRC), LSM6DSV (IMU_LSM6DSV), LSM6DSO (IMU_LSM6DSO), LSM6DSR (IMU_LSM6DSR), MPU-6050 (IMU_MPU6050_SF)
+  * Using common code: SoftFusionSensor for sensor fusion of Gyroscope and Accelerometer.
+  * Gyro&Accel sample rate, gyroscope offset and 6-side accelerometer calibration supported.
+  * In case of BMI270, gyroscope sensitivity auto-calibration (CRT) is additionally performed.
+  * Support for magnetometers is currently not implemented.
+  * VERY experimental support!
 
 Firmware can work with both ESP8266 and ESP32. Please edit `defines.h` and set your pinout properly according to how you connected the IMU.
 

diff --git a/lib/ICM42688/ICM42688.h b/lib/ICM42688/ICM42688.h
diff --git a/lib/ICM42688/MMC5983MA.h b/lib/ICM42688/MMC5983MA.h
diff --git a/platformio-tools.ini b/platformio-tools.ini
@@ -7,59 +7,74 @@ framework = arduino
 build_flags =
   !python scripts/get_git_commit.py
   -O2
-  -std=gnu++17
+  -std=gnu++2a
 build_unflags =
   -Os
-  -std=gnu++11
+  -std=gnu++11 -std=gnu++17
 
 [env:BOARD_SLIMEVR]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_SLIMEVR_DEV]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_NODEMCU]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_WEMOSD1MINI]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_TTGO_TBASE]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_WEMOSWROOM02]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_WROOM32]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.7.0
+platform_packages =
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 board = esp32dev
 
 [env:BOARD_ESP01]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.7.0
+platform_packages =
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 board = esp32dev
 
 [env:BOARD_LOLIN_C3_MINI]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.7.0
+platform_packages =
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = lolin_c3_mini
 
 [env:BOARD_BEETLE32C3]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.7.0
+platform_packages =
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = dfrobot_beetle_esp32c3
 
 [env:BOARD_ES32C3DEVKITM1]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.7.0
+platform_packages =
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 build_flags = 
   ${env.build_flags}
   -DESP32C3
@@ -73,7 +88,10 @@ build_flags =
 board = esp32-c6-devkitc-1
 
 [env:BOARD_XIAO_ESP32C3]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.7.0
+platform_packages =
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 build_flags = 
   ${env.build_flags}
   -DESP32C3