Add a way to toggle magnetometer in runtime (SlimeVR#341)

* Untested magnetometer toggle feature for BNO08X and overal packet structure for setting flags from the server

* Some build fixes

* refactor(configuration): rename `CalibrationConfig` to `SensorConfig`

* fix network package order

* typo found

* ignore clion files

* finish feature

* remove ota config that i used

* C skill issue on defines

* i have personal issues with C

* do a reset before

* reinit sensor

* Fix remaining merge errors

* remove BNO_USE_MAGNETOMETER_CORRECTION

* Update src/sensors/sensor.h

Co-authored-by: Lena <[email protected]>

* who loves tabs

* send sensorconfig instead of magdata on sensorinfo

* Bump protocol and firmware version

---------

Co-authored-by: Eiren Rain <[email protected]>
Co-authored-by: DevMiner <[email protected]>
Co-authored-by: Lena <[email protected]>

.gitignore

@@ -3,3 +3,4 @@
 build/
 venv/
 cache/
+.idea/

src/configuration/Configuration.cpp

@@ -91,7 +91,7 @@ void Configuration::setup() {
 		save();
 	}
 
-	loadCalibrations();
+	loadSensors();
 
 	m_Loaded = true;
 
@@ -103,19 +103,19 @@ void Configuration::setup() {
 }
 
 void Configuration::save() {
-	for (size_t i = 0; i < m_Calibrations.size(); i++) {
-		CalibrationConfig config = m_Calibrations[i];
-		if (config.type == CalibrationConfigType::NONE) {
+	for (size_t i = 0; i < m_Sensors.size(); i++) {
+		SensorConfig config = m_Sensors[i];
+		if (config.type == SensorConfigType::NONE) {
 			continue;
 		}
 
 		char path[17];
 		sprintf(path, DIR_CALIBRATIONS "/%d", i);
 
-		m_Logger.trace("Saving calibration data for %d", i);
+		m_Logger.trace("Saving sensor config data for %d", i);
 
 		File file = LittleFS.open(path, "w");
-		file.write((uint8_t*)&config, sizeof(CalibrationConfig));
+		file.write((uint8_t*)&config, sizeof(SensorConfig));
 		file.close();
 	}
 
@@ -131,7 +131,7 @@ void Configuration::save() {
 void Configuration::reset() {
 	LittleFS.format();
 
-	m_Calibrations.clear();
+	m_Sensors.clear();
 	m_Config.version = 1;
 	save();
 
@@ -140,28 +140,28 @@ void Configuration::reset() {
 
 int32_t Configuration::getVersion() const { return m_Config.version; }
 
-size_t Configuration::getCalibrationCount() const { return m_Calibrations.size(); }
+size_t Configuration::getSensorCount() const { return m_Sensors.size(); }
 
-CalibrationConfig Configuration::getCalibration(size_t sensorID) const {
-	if (sensorID >= m_Calibrations.size()) {
+SensorConfig Configuration::getSensor(size_t sensorID) const {
+	if (sensorID >= m_Sensors.size()) {
 		return {};
 	}
 
-	return m_Calibrations.at(sensorID);
+	return m_Sensors.at(sensorID);
 }
 
-void Configuration::setCalibration(size_t sensorID, const CalibrationConfig& config) {
-	size_t currentCalibrations = m_Calibrations.size();
+void Configuration::setSensor(size_t sensorID, const SensorConfig& config) {
+	size_t currentSensors = m_Sensors.size();
 
-	if (sensorID >= currentCalibrations) {
-		m_Calibrations.resize(sensorID + 1);
+	if (sensorID >= currentSensors) {
+		m_Sensors.resize(sensorID + 1);
 	}
 
-	m_Calibrations[sensorID] = config;
+	m_Sensors[sensorID] = config;
 }
 
-void Configuration::eraseCalibration() {
-	m_Calibrations.clear();
+void Configuration::eraseSensors() {
+	m_Sensors.clear();
 
 	SlimeVR::Utils::forEachFile(DIR_CALIBRATIONS, [&](SlimeVR::Utils::File f) {
 		char path[17];
@@ -175,19 +175,19 @@ void Configuration::eraseCalibration() {
 	save();
 }
 
-void Configuration::loadCalibrations() {
+void Configuration::loadSensors() {
 	SlimeVR::Utils::forEachFile(DIR_CALIBRATIONS, [&](SlimeVR::Utils::File f) {
-		CalibrationConfig calibrationConfig;
-		f.read((uint8_t*)&calibrationConfig, sizeof(CalibrationConfig));
+		SensorConfig sensorConfig;
+		f.read((uint8_t*)&sensorConfig, sizeof(SensorConfig));
 
 		uint8_t sensorId = strtoul(f.name(), nullptr, 10);
 		m_Logger.debug(
 			"Found sensor calibration for %s at index %d",
-			calibrationConfigTypeToString(calibrationConfig.type),
+			calibrationConfigTypeToString(sensorConfig.type),
 			sensorId
 		);
 
-		setCalibration(sensorId, calibrationConfig);
+		setSensor(sensorId, sensorConfig);
 	});
 }
 
@@ -220,8 +220,8 @@ bool Configuration::loadTemperatureCalibration(
 		return false;
 	}
 
-	CalibrationConfigType storedConfigType;
-	f.read((uint8_t*)&storedConfigType, sizeof(CalibrationConfigType));
+	SensorConfigType storedConfigType;
+	f.read((uint8_t*)&storedConfigType, sizeof(SensorConfigType));
 
 	if (storedConfigType != config.type) {
 		m_Logger.debug(
@@ -248,7 +248,7 @@ bool Configuration::saveTemperatureCalibration(
 	uint8_t sensorId,
 	const GyroTemperatureCalibrationConfig& config
 ) {
-	if (config.type == CalibrationConfigType::NONE) {
+	if (config.type == SensorConfigType::NONE) {
 		return false;
 	}
 
@@ -270,17 +270,17 @@ bool Configuration::runMigrations(int32_t version) { return true; }
 void Configuration::print() {
 	m_Logger.info("Configuration:");
 	m_Logger.info("  Version: %d", m_Config.version);
-	m_Logger.info("  %d Calibrations:", m_Calibrations.size());
+	m_Logger.info("  %d Sensors:", m_Sensors.size());
 
-	for (size_t i = 0; i < m_Calibrations.size(); i++) {
-		const CalibrationConfig& c = m_Calibrations[i];
+	for (size_t i = 0; i < m_Sensors.size(); i++) {
+		const SensorConfig& c = m_Sensors[i];
 		m_Logger.info("    - [%3d] %s", i, calibrationConfigTypeToString(c.type));
 
 		switch (c.type) {
-			case CalibrationConfigType::NONE:
+			case SensorConfigType::NONE:
 				break;
 
-			case CalibrationConfigType::BMI160:
+			case SensorConfigType::BMI160:
 				m_Logger.info(
 					"            A_B        : %f, %f, %f",
 					UNPACK_VECTOR_ARRAY(c.data.bmi160.A_B)
@@ -302,7 +302,7 @@ void Configuration::print() {
 
 				break;
 
-			case CalibrationConfigType::SFUSION:
+			case SensorConfigType::SFUSION:
 				m_Logger.info(
 					"            A_B        : %f, %f, %f",
 					UNPACK_VECTOR_ARRAY(c.data.sfusion.A_B)
@@ -326,7 +326,7 @@ void Configuration::print() {
 				);
 				break;
 
-			case CalibrationConfigType::ICM20948:
+			case SensorConfigType::ICM20948:
 				m_Logger.info(
 					"            G: %d, %d, %d",
 					UNPACK_VECTOR_ARRAY(c.data.icm20948.G)
@@ -342,7 +342,7 @@ void Configuration::print() {
 
 				break;
 
-			case CalibrationConfigType::MPU9250:
+			case SensorConfigType::MPU9250:
 				m_Logger.info(
 					"            A_B   : %f, %f, %f",
 					UNPACK_VECTOR_ARRAY(c.data.mpu9250.A_B)
@@ -376,7 +376,7 @@ void Configuration::print() {
 
 				break;
 
-			case CalibrationConfigType::MPU6050:
+			case SensorConfigType::MPU6050:
 				m_Logger.info(
 					"            A_B  : %f, %f, %f",
 					UNPACK_VECTOR_ARRAY(c.data.mpu6050.A_B)
@@ -387,7 +387,13 @@ void Configuration::print() {
 				);
 
 				break;
-			case CalibrationConfigType::NONBLOCKING:
+
+			case SensorConfigType::BNO0XX:
+				m_Logger.info("            magEnabled: %d", c.data.bno0XX.magEnabled);
+
+				break;
+
+			case SensorConfigType::NONBLOCKING:
 				if (c.data.nonblocking.sensorTimestepsCalibrated) {
 					m_Logger.info(
 						"            Calibrated timesteps: Accel %f, Gyro %f, "

src/configuration/Configuration.h

@@ -43,10 +43,10 @@ class Configuration {
 
 	int32_t getVersion() const;
 
-	size_t getCalibrationCount() const;
-	CalibrationConfig getCalibration(size_t sensorID) const;
-	void setCalibration(size_t sensorID, const CalibrationConfig& config);
-	void eraseCalibration();
+	size_t getSensorCount() const;
+	SensorConfig getSensor(size_t sensorID) const;
+	void setSensor(size_t sensorID, const SensorConfig& config);
+	void eraseSensors();
 
 	bool loadTemperatureCalibration(
 		uint8_t sensorId,
@@ -58,13 +58,13 @@ class Configuration {
 	);
 
 private:
-	void loadCalibrations();
+	void loadSensors();
 	bool runMigrations(int32_t version);
 
 	bool m_Loaded = false;
 
 	DeviceConfig m_Config{};
-	std::vector<CalibrationConfig> m_Calibrations;
+	std::vector<SensorConfig> m_Sensors;
 
 	Logging::Logger m_Logger = Logging::Logger("Configuration");
 };

src/configuration/DeviceConfig.h

@@ -1,37 +1,33 @@
 /*
-    SlimeVR Code is placed under the MIT license
-    Copyright (c) 2022 TheDevMinerTV
+	SlimeVR Code is placed under the MIT license
+	Copyright (c) 2022 TheDevMinerTV
 
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
+	Permission is hereby granted, free of charge, to any person obtaining a copy
+	of this software and associated documentation files (the "Software"), to deal
+	in the Software without restriction, including without limitation the rights
+	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+	copies of the Software, and to permit persons to whom the Software is
+	furnished to do so, subject to the following conditions:
 
-    The above copyright notice and this permission notice shall be included in
-    all copies or substantial portions of the Software.
+	The above copyright notice and this permission notice shall be included in
+	all copies or substantial portions of the Software.
 
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-    THE SOFTWARE.
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+	THE SOFTWARE.
 */
 
 #ifndef SLIMEVR_CONFIGURATION_DEVICECONFIG_H
 #define SLIMEVR_CONFIGURATION_DEVICECONFIG_H
 
-#include "CalibrationConfig.h"
-
-namespace SlimeVR {
-    namespace Configuration {
-        struct DeviceConfig {
-            int32_t version;
-        };
-    }
-}
+namespace SlimeVR::Configuration {
+struct DeviceConfig {
+	int32_t version;
+};
+}  // namespace SlimeVR::Configuration
 
 #endif

src/configuration/CalibrationConfig.cpp → src/configuration/SensorConfig.cpp

@@ -21,29 +21,46 @@
 	THE SOFTWARE.
 */
 
-#include "CalibrationConfig.h"
+#include "SensorConfig.h"
 
 namespace SlimeVR {
 namespace Configuration {
-const char* calibrationConfigTypeToString(CalibrationConfigType type) {
+const char* calibrationConfigTypeToString(SensorConfigType type) {
 	switch (type) {
-		case NONE:
+		case SensorConfigType::NONE:
 			return "NONE";
-		case BMI160:
+		case SensorConfigType::BMI160:
 			return "BMI160";
-		case MPU6050:
+		case SensorConfigType::MPU6050:
 			return "MPU6050";
-		case MPU9250:
+		case SensorConfigType::MPU9250:
 			return "MPU9250";
-		case ICM20948:
+		case SensorConfigType::ICM20948:
 			return "ICM20948";
-		case SFUSION:
+		case SensorConfigType::SFUSION:
 			return "SoftFusion (common)";
-		case NONBLOCKING:
+		case SensorConfigType::BNO0XX:
+			return "BNO0XX";
+		case SensorConfigType::NONBLOCKING:
 			return "Non Blocking (common)";
 		default:
 			return "UNKNOWN";
 	}
 }
+
+uint16_t configDataToNumber(SensorConfig sensorConfig) {
+	uint16_t data = 0;
+	switch (sensorConfig.type) {
+		case SensorConfigType::BNO0XX: {
+			auto config = &sensorConfig.data.bno0XX;
+			data += config->magEnabled;
+			break;
+		}
+		case SensorConfigType::NONE:
+		default:
+			break;
+	}
+	return data;
+}
 }  // namespace Configuration
 }  // namespace SlimeVR