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 fcf058921a
commit 941a2b10f7
4 changed files with 80 additions and 28 deletions
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esp32/src/peripherals/peripherals.cpp
+25 -10
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@@ -16,25 +16,40 @@ 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);
@@ -118,7 +133,7 @@ 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();
@@ -194,7 +209,7 @@ float Peripherals::leftDistance() { return _left_distance; }
float Peripherals::rightDistance() { return _right_distance; }
bool Peripherals::calibrateIMU() {
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
beginTransaction();
bool result = _imu.calibrate();
endTransaction();