SoftFusion sensor framework with BMI, ICM, LSM6, MPU sensor implementations #322
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… equivalent to the old driver
Bump Arduino Core to v3.0 to Match GCC12
Bring back fast pin swapping
Fix accel timescale for LSM6DSV (calibration no longer takes forever)
unlogisch04
reviewed
May 1, 2024
| @@ -40,7 +40,6 @@ enum class ImuID { | |||
| BMI270, | |||
Closed
Resolves an issue where the soft watchdog would trigger.
Reset the soft watchdog while eating or collecting calibration samples
Log FIFO overruns on LSMs
Fix missing word in comment, switch to constexpr
unlogisch04
approved these changes
Jun 19, 2024
Change add BNO085 to exeption; update esp32/esp8266
unlogisch04
approved these changes
Jun 22, 2024
Eirenliel
approved these changes
Jun 25, 2024
Spacefish
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Jun 28, 2024
…ations (SlimeVR#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 <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>
This was referenced Jul 6, 2024
ShineBrightMeow
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Jul 6, 2024
Issue:: SlimeVR#40 Discussion: SlimeVR/SlimeVR-Tracker-ESP#322 (comment) Discussion: SlimeVR/SlimeVR-Server#1100
ShineBrightMeow
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Jul 6, 2024
Discussion: SlimeVR/SlimeVR-Tracker-ESP#322 (comment) Discussion: SlimeVR/SlimeVR-Server#1100
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Hi
This change is a is a collaborative effort among developers from Slime Discord to:
Sfusion is based on a simplified version of 0.dev's BMI160 driver, providing a generic sensor framework with several calibration methods for very slim drivers focused on the low-level handling of particular IMUs.
This change adds support for the following IMUs:
All drivers were tested to be functional, some are already being used in many sets (LSM6DSV, partially BMI270).
One exception: MPU6050 sfusion driver may underperform until we find a way to change "restThGyr and restThAcc" in VQF based on the sensor. I would prefer to make this separate change, as this PR is already pretty large.
Driver code is written from scratch for Slime, so I don't expect any licensing problems. Required Bosch BMI firmware is provided in separated file and it's BSD-licensed.
Existing drivers were not affected except for the current ICM42688 implementation, which was removed as it didn't work.
Drivers are as minimal as possible to reduce code size not incorporating any external libraries and to have full control over IMU programming.
Other changes: