Darkages/SpotMicroESP32-Leika
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Early stages of magnetometer from ICM20948

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This commit is contained in:
Niklas Jensen
2025-11-29 19:44:41 +01:00
parent 5efe17c204
commit 7a27678e39
4 changed files with 76 additions and 25 deletions
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esp32/src/peripherals/peripherals.cpp
+25 -10
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@@ -15,25 +15,40 @@ void Peripherals::begin() {
updatePins();
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
#elif FT_ENABLED(USE_ICM20948)
#if FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0
ICM_20948_SPI* icm20948 = new ICM_20948_SPI;
#else
ICM_20948_I2C* icm20948 = new ICM_20948_I2C;
#endif
if (!_imu.initialize(icm20948)) ESP_LOGE("IMUService", "IMU initialize failed (ICM20948)");
#endif
#if FT_ENABLED(USE_HMC5883) // TODO: Add USE_ICM20948
if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
// --- IMU ---
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
if (!_imu.initialize(nullptr)) ESP_LOGE("Peripherals", "IMU initialize failed");
#elif FT_ENABLED(USE_ICM20948)
if (!_imu.initialize(icm20948)) ESP_LOGE("Peripherals", "IMU initialize failed (ICM20948)");
#endif
// --- MAGNETOMETER ---
#if FT_ENABLED(USE_HMC5883)
if (!_mag.initialize(nullptr)) ESP_LOGE("Peripherals", "MAG initialize failed");
#elif FT_ENABLED(USE_ICM20948)
if (!_mag.initialize(icm20948)) ESP_LOGE("Peripherals", "MAG initialize failed (ICM20948)");
#endif
// --- BMP ---
#if FT_ENABLED(USE_BMP180)
if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
if (!_bmp.initialize(nullptr)) ESP_LOGE("Peripherals", "BMP initialize failed");
#endif
// --- GESTURE ---
#if FT_ENABLED(USE_PAJ7620U2)
if (!_gesture.initialize()) ESP_LOGE("IMUService", "Gesture initialize failed");
if (!_gesture.initialize(nullptr)) ESP_LOGE("Peripherals", "Gesture initialize failed");
#endif
// --- SONAR ---
#if FT_ENABLED(USE_USS)
_left_sonar = std::make_unique<NewPing>(USS_LEFT_PIN, USS_LEFT_PIN, MAX_DISTANCE);
_right_sonar = std::make_unique<NewPing>(USS_RIGHT_PIN, USS_RIGHT_PIN, MAX_DISTANCE);
@@ -96,7 +111,7 @@ bool Peripherals::readImu() {
bool Peripherals::readMag() {
bool updated = false;
#if FT_ENABLED(USE_HMC5883) // TODO: Add USE_ICM20948
#if FT_ENABLED(USE_HMC5883 || USE_ICM20948)
beginTransaction();
updated = _mag.update();
endTransaction();
@@ -176,7 +191,7 @@ void Peripherals::getIMUResult(JsonVariant &root) {
JsonVariant imu = root["imu"].to<JsonVariant>();
_imu.getResults(imu);
#endif
#if FT_ENABLED(USE_HMC5883) // TODO: Add USE_ICM20948
#if FT_ENABLED(USE_HMC5883 || USE_ICM20948) // TODO:
JsonVariant mag = root["mag"].to<JsonVariant>();
_mag.getResults(mag);
#endif