SoftFusion sensor framework with BMI, ICM, LSM6, MPU sensor implementations

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.
 

platformio-tools.ini

@@ -7,10 +7,10 @@ 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
@@ -37,36 +37,54 @@ platform = espressif8266 @ 4.2.0
 board = esp12e
 
 [env:BOARD_WROOM32]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 board = esp32dev
 
 [env:BOARD_ESP01]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 board = esp32dev
 
 [env:BOARD_LOLIN_C3_MINI]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = lolin_c3_mini
 
 [env:BOARD_BEETLE32C3]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = dfrobot_beetle_esp32c3
 
 [env:BOARD_ES32C3DEVKITM1]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = esp32-c3-devkitm-1
 
 [env:BOARD_XIAO_ESP32C3]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3

platformio.ini

@@ -43,9 +43,9 @@ build_flags =
 
 ; Enable -O2 GCC optimization
   -O2
-  -std=gnu++17
+  -std=gnu++2a
 
-build_unflags = -Os -std=gnu++11
+build_unflags = -Os -std=gnu++11 -std=gnu++17
 
 ; If you want to enable OTA Updates, uncomment and set OTA password here and in credentials.h
 ; You can set upload_port to device's ip after it's set up for the first time
@@ -80,7 +80,10 @@ upload_speed = 921600
 ; Uncomment below if you want to build for esp32
 ; Check your board name at https://docs.platformio.org/en/latest/platforms/espressif32.html#boards
 ; [env:esp32]
-; platform = espressif32 @ 6.1.0
+; platform = espressif32 @ 6.5.0
+; platform_packages =
+;  platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+;  platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 ; board = esp32dev
 ; Comment out this line below if you have any trouble uploading the firmware - and if it has a CP2102 on it (a square chip next to the usb port): change to 3000000 (3 million) for even faster upload speed
 ;upload_speed = 921600
@@ -95,7 +98,10 @@ upload_speed = 921600
 ;    -DARDUINO_USB_CDC_ON_BOOT=1
 
 ;[env:esp32c3]
-;platform = espressif32 @ 6.1.0
+;platform = espressif32 @ 6.5.0
+;platform_packages =
+;  platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+;  platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 ;build_flags =
 ;  ${env.build_flags}
 ;  -DESP32C3