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🎍 Updates feature flags and adds BNO055

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This commit is contained in:
Rune Harlyk
2025-05-16 00:42:22 +02:00
parent e09ec81f1d
commit a9fea7fd56
9 changed files with 82 additions and 40 deletions
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esp32/lib/ESP32-sveltekit/peripherals/imu.h
+36 -4
View File
@@ -6,11 +6,22 @@
#include <ArduinoJson.h>
#include <utils/math_utils.h>
#if FT_ENABLED(USE_MPU6050)
#include <MPU6050_6Axis_MotionApps612.h>
#endif
#if FT_ENABLED(USE_BNO055)
#include <Adafruit_BNO055.h>
#endif
class IMU {
public:
IMU() {}
IMU()
#if FT_ENABLED(USE_BNO055)
: _imu(55, 0x29)
#endif
{
}
bool initialize() {
#if FT_ENABLED(USE_MPU6050)
_imu.initialize();
@@ -21,6 +32,13 @@ class IMU {
_imu.setI2CMasterModeEnabled(false);
_imu.setI2CBypassEnabled(true);
_imu.setSleepEnabled(false);
#endif
#if FT_ENABLED(USE_BNO055)
imu_success = _imu.begin();
if (!imu_success) {
return false;
}
_imu.setExtCrystalUse(true);
#endif
return true;
}
@@ -32,17 +50,28 @@ class IMU {
_imu.dmpGetQuaternion(&q, fifoBuffer);
_imu.dmpGetGravity(&gravity, &q);
_imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
ypr[0] *= 180 / M_PI;
ypr[1] *= 180 / M_PI;
ypr[2] *= 180 / M_PI;
return updated;
#endif
#if FT_ENABLED(USE_BNO055)
sensors_event_t event;
_imu.getEvent(&event);
ypr[0] = (float)event.orientation.x;
ypr[1] = (float)event.orientation.y;
ypr[2] = (float)event.orientation.z;
#endif
return true;
}
float getTemperature() { return imu_success ? imu_temperature : -1; }
float getAngleX() { return imu_success ? ypr[0] * 180 / M_PI : 0; }
float getAngleX() { return imu_success ? ypr[0] : 0; }
float getAngleY() { return imu_success ? ypr[1] * 180 / M_PI : 0; }
float getAngleY() { return imu_success ? ypr[1] : 0; }
float getAngleZ() { return imu_success ? ypr[2] * 180 / M_PI : 0; }
float getAngleZ() { return imu_success ? ypr[2] : 0; }
void readIMU(JsonObject& root) {
if (!imu_success) return;
@@ -60,6 +89,9 @@ class IMU {
Quaternion q;
uint8_t fifoBuffer[64];
VectorFloat gravity;
#endif
#if FT_ENABLED(USE_BNO055)
Adafruit_BNO055 _imu;
#endif
bool imu_success {false};
float ypr[3];