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Adafruit NXP Precision Support #183

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Adafruit NXP Precision Support #183

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1686c55
Adafruit NXP Precision Support
Rosdayle Aug 3, 2022
a366647
Update CalibrationConfig.h
Rosdayle Nov 22, 2022
02b1349
Update consts.h
Rosdayle Nov 22, 2022
638120e
Update AdafruitNXPsensor.cpp
Rosdayle Nov 22, 2022
306d7fe
Update AdafruitNXPsensor.h
Rosdayle Nov 22, 2022
4ddf00f
Update sensor.cpp
Rosdayle Nov 22, 2022
1dccebd
Update CalibrationConfig.h
Rosdayle Nov 22, 2022
15b3eda
Update CalibrationConfig.h
Rosdayle Nov 22, 2022
9167bb1
Merge branch 'main' into main
Eirenliel Nov 22, 2022
be0d33a
Merge branch 'main' into main
Eirenliel Jan 8, 2023
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51 changes: 41 additions & 10 deletions src/configuration/CalibrationConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,12 @@

#include <stdint.h>

namespace SlimeVR {
namespace Configuration {
struct BMI160CalibrationConfig {
namespace SlimeVR
{
namespace Configuration
{
struct BMI160CalibrationConfig
{
// accelerometer offsets and correction matrix
float A_B[3];
float A_Ainv[3][3];
Expand All @@ -40,15 +43,17 @@ namespace SlimeVR {
float temperature;
};

struct MPU6050CalibrationConfig {
struct MPU6050CalibrationConfig
{
// accelerometer offsets and correction matrix
float A_B[3];

// raw offsets, determined from gyro at rest
float G_off[3];
};

struct MPU9250CalibrationConfig {
struct MPU9250CalibrationConfig
{
// accelerometer offsets and correction matrix
float A_B[3];
float A_Ainv[3][3];
Expand All @@ -61,7 +66,22 @@ namespace SlimeVR {
float G_off[3];
};

struct ICM20948CalibrationConfig {
struct NXPCalibrationConfig
{
// accelerometer offsets and correction matrix
float A_B[3];
float A_Ainv[3][3];

// magnetometer offsets and correction matrix
float M_B[3];
float M_Ainv[3][3];

// raw offsets, determined from gyro at rest
float G_off[3];
};

struct ICM20948CalibrationConfig
{
// gyroscope bias
int32_t G[3];

Expand All @@ -72,18 +92,29 @@ namespace SlimeVR {
int32_t C[3];
};

enum CalibrationConfigType { NONE, BMI160, MPU6050, MPU9250, ICM20948 };
enum CalibrationConfigType
{
NONE,
BMI160,
MPU6050,
MPU9250,
ICM20948,
NXP
};

const char* calibrationConfigTypeToString(CalibrationConfigType type);
const char *calibrationConfigTypeToString(CalibrationConfigType type);

struct CalibrationConfig {
struct CalibrationConfig
{
CalibrationConfigType type;

union {
union
{
BMI160CalibrationConfig bmi160;
MPU6050CalibrationConfig mpu6050;
MPU9250CalibrationConfig mpu9250;
ICM20948CalibrationConfig icm20948;
NXPCalibrationConfig nxp;
} data;
};
}
Expand Down
15 changes: 8 additions & 7 deletions src/consts.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#define IMU_BNO086 7
#define IMU_BMI160 8
#define IMU_ICM20948 9
#define IMU_NXP 10

#define BOARD_SLIMEVR_LEGACY 1
#define BOARD_SLIMEVR_DEV 2
Expand All @@ -54,23 +55,23 @@

#define LED_OFF 255

#define POWER_SAVING_LEGACY 0 // No sleeping, but PS enabled
#define POWER_SAVING_NONE 1 // No sleeping, no PS => for connection issues
#define POWER_SAVING_MINIMUM 2 // Sleeping and PS => default
#define POWER_SAVING_LEGACY 0 // No sleeping, but PS enabled
#define POWER_SAVING_NONE 1 // No sleeping, no PS => for connection issues
#define POWER_SAVING_MINIMUM 2 // Sleeping and PS => default
#define POWER_SAVING_MODERATE 3 // Sleeping and better PS => might miss broadcasts, use at own risk
#define POWER_SAVING_MAXIMUM 4 // Actual CPU sleeping, currently has issues with disconnecting
#define POWER_SAVING_MAXIMUM 4 // Actual CPU sleeping, currently has issues with disconnecting

#define DEG_0 0.f
#define DEG_90 -PI / 2
#define DEG_180 PI
#define DEG_270 PI / 2

#ifdef ESP8266
#define HARDWARE_MCU 1
#define HARDWARE_MCU 1
#elif defined(ESP32)
#define HARDWARE_MCU 2
#define HARDWARE_MCU 2
#else
#define HARDWARE_MCU 0
#define HARDWARE_MCU 0
#endif

#define CURRENT_CONFIGURATION_VERSION 1
Expand Down
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