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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/peripherals.h
+12 -13
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@@ -67,13 +67,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
updatePins();
#if FT_ENABLED(USE_MPU6050)
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
#endif
#if FT_ENABLED(USE_MAG)
#if FT_ENABLED(USE_HMC5883)
if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
#endif
#if FT_ENABLED(USE_BMP)
#if FT_ENABLED(USE_BMP180)
if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
#endif
#if FT_ENABLED(USE_USS)
@@ -137,7 +137,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* IMU FUNCTIONS */
bool readIMU() {
bool updated = false;
#if FT_ENABLED(USE_MPU6050)
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
beginTransaction();
updated = _imu.readIMU();
endTransaction();
@@ -147,7 +147,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
bool readMag() {
bool updated = false;
#if FT_ENABLED(USE_MAG)
#if FT_ENABLED(USE_HMC5883)
beginTransaction();
updated = _mag.readMagnetometer();
endTransaction();
@@ -157,7 +157,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
bool readBMP() {
bool updated = false;
#if FT_ENABLED(USE_BMP)
#if FT_ENABLED(USE_BMP180)
beginTransaction();
updated = _bmp.readBarometer();
endTransaction();
@@ -181,13 +181,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
void emitIMU() {
doc.clear();
JsonObject root = doc.to<JsonObject>();
#if FT_ENABLED(USE_MPU6050)
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
_imu.readIMU(root);
#endif
#if FT_ENABLED(USE_MAG)
#if FT_ENABLED(USE_HMC5883)
_mag.readMagnetometer(root);
#endif
#if FT_ENABLED(USE_BMP)
#if FT_ENABLED(USE_BMP180)
_bmp.readBarometer(root);
#endif
serializeJson(doc, message);
@@ -196,7 +196,6 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
void emitSonar() {
#if FT_ENABLED(USE_USS)
char output[16];
snprintf(output, sizeof(output), "[%.1f,%.1f]", _left_distance, _right_distance);
socket.emit("sonar", output);
@@ -214,13 +213,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
JsonDocument doc;
char message[MAX_ESP_IMU_SIZE];
#if FT_ENABLED(USE_MPU6050)
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
IMU _imu;
#endif
#if FT_ENABLED(USE_MAG)
#if FT_ENABLED(USE_HMC5883)
Magnetometer _mag;
#endif
#if FT_ENABLED(USE_BMP)
#if FT_ENABLED(USE_BMP180)
Barometer _bmp;
#endif
#if FT_ENABLED(USE_USS)