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add support IMU for AtomMatrix v1.1 #246

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Merged
lovyan03 merged 1 commit into from
Apr 14, 2026
+6 −1
Merged

add support IMU for AtomMatrix v1.1 #246

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7 changes: 6 additions & 1 deletion src/utility/IMU_Class.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,12 @@ namespace m5
_imu_instance[0].reset(bmi2);
_imu = imu_t::imu_bmi270;

#if defined ( CONFIG_IDF_TARGET_ESP32S3 )
#if defined(CONFIG_IDF_TARGET_ESP32)
if (board == m5::board_t::board_M5AtomMatrix) { // AtomMatrix(new BMI270)
_internal_axisorder_fixed[sensor_index_accel] = (internal_axisorder_t)(axis_invert_x | axis_invert_z); // X軸,Z軸反転
_internal_axisorder_fixed[sensor_index_gyro ] = (internal_axisorder_t)(axis_invert_x | axis_invert_z); // X軸,Z軸反転
}
#elif defined(CONFIG_IDF_TARGET_ESP32S3)
if (board == m5::board_t::board_M5StackCoreS3 && bmi2->getAddress() == 0x69)
{ // CoreS3 では、地磁気のY軸Z軸をそれぞれ反転する
_internal_axisorder_fixed[sensor_index_mag] = (internal_axisorder_t)(axis_invert_y | axis_invert_z); // Y軸,Z軸反転
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