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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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app/src/routes/peripherals/i2c/i2c.svelte
+1
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@@ -8,6 +8,7 @@
const i2cDevices = [ const i2cDevices = [
{ address: 30, part_number: 'HMC5883', name: '3-Axis Digital Compass/Magnetometer IC' }, { address: 30, part_number: 'HMC5883', name: '3-Axis Digital Compass/Magnetometer IC' },
{ address: 41, part_number: 'BNO055', name: '9-Axis Absolute Orientation Sensor' },
{ address: 64, part_number: 'PCA9685', name: '16-channel PWM driver default address' }, { address: 64, part_number: 'PCA9685', name: '16-channel PWM driver default address' },
{ address: 72, part_number: 'ADS1115', name: '4-channel 16-bit ADC' }, { address: 72, part_number: 'ADS1115', name: '4-channel 16-bit ADC' },
{ {
esp32/features.ini
+6 -5
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@@ -1,15 +1,16 @@
[features] [features]
build_flags = build_flags =
-D USE_SLEEP=0 -D USE_SLEEP=1
-D USE_UPLOAD_FIRMWARE=1 -D USE_UPLOAD_FIRMWARE=0
-D USE_DOWNLOAD_FIRMWARE=0 -D USE_DOWNLOAD_FIRMWARE=0
-D USE_MOTION=1 -D USE_MOTION=1
-D USE_MDNS=1 -D USE_MDNS=1
; Hardware specific ; Hardware specific
-D USE_MAG=0 -D USE_HMC5883=0
-D USE_BMP=0 -D USE_BMP180=0
-D USE_MPU6050=0 -D USE_MPU6050=0
-D USE_WS2812=1 -D USE_WS2812=1
-D USE_BNO055=1
-D USE_USS=0 -D USE_USS=0
-D USE_SERVO=1 -D USE_PCA9685=1
esp32/include/spot.h
+3 -3
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@@ -61,6 +61,7 @@ class Spot {
// act // act
void updateActuators() { void updateActuators() {
if (updatedMotion) _servoController.setAngles(_motionService.getAngles()); if (updatedMotion) _servoController.setAngles(_motionService.getAngles());
updatedMotion = false;
_servoController.updateServoState(); _servoController.updateServoState();
#if FT_ENABLED(USE_WS2812) #if FT_ENABLED(USE_WS2812)
@@ -71,7 +72,7 @@ class Spot {
// communicate // communicate
void emitTelemetry() { void emitTelemetry() {
if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); }); if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); });
EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); }); EXECUTE_EVERY_N_MS(250, { _peripherals.emitIMU(); });
// _peripherals.emitSonar(); // _peripherals.emitSonar();
} }
@@ -102,7 +103,7 @@ class Spot {
bool updatedMotion = false; bool updatedMotion = false;
const char *_appName = APP_NAME; const char *_appName = APP_NAME;
const u_int16_t _numberEndpoints = 115; const u_int16_t _numberEndpoints = 116;
const u_int32_t _maxFileUpload = 2300000; // 2.3 MB const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
const uint16_t _port = 80; const uint16_t _port = 80;
@@ -110,7 +111,6 @@ class Spot {
void loop(); void loop();
static void _loopImpl(void *_this) { static_cast<Spot *>(_this)->loop(); } static void _loopImpl(void *_this) { static_cast<Spot *>(_this)->loop(); }
void setupServer(); void setupServer();
void setupMDNS();
void startServices(); void startServices();
}; };
esp32/lib/ESP32-sveltekit/features.cpp
+8 -7
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@@ -15,14 +15,15 @@ void printFeatureConfiguration() {
ESP_LOGI("Features", "USE_MOTION: %s", USE_MOTION ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_MOTION: %s", USE_MOTION ? "enabled" : "disabled");
// Sensors // Sensors
ESP_LOGI("Features", "USE_BNO055: %s", USE_BNO055 ? "enabled" : "disabled");
ESP_LOGI("Features", "USE_MPU6050: %s", USE_MPU6050 ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_MPU6050: %s", USE_MPU6050 ? "enabled" : "disabled");
ESP_LOGI("Features", "USE_MAG: %s", USE_MAG ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_HMC5883: %s", USE_HMC5883 ? "enabled" : "disabled");
ESP_LOGI("Features", "USE_BMP: %s", USE_BMP ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_BMP180: %s", USE_BMP180 ? "enabled" : "disabled");
ESP_LOGI("Features", "USE_USS: %s", USE_USS ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_USS: %s", USE_USS ? "enabled" : "disabled");
ESP_LOGI("Features", "USE_GPS: %s", USE_GPS ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_GPS: %s", USE_GPS ? "enabled" : "disabled");
// Peripherals // Peripherals
ESP_LOGI("Features", "USE_SERVO: %s", USE_SERVO ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_PCA9685: %s", USE_PCA9685 ? "enabled" : "disabled");
ESP_LOGI("Features", "USE_WS2812: %s", USE_WS2812 ? "enabled" : "disabled"); ESP_LOGI("Features", "USE_WS2812: %s", USE_WS2812 ? "enabled" : "disabled");
// Web services // Web services
@@ -38,12 +39,12 @@ void features(JsonObject &root) {
root["download_firmware"] = USE_DOWNLOAD_FIRMWARE; root["download_firmware"] = USE_DOWNLOAD_FIRMWARE;
root["sleep"] = USE_SLEEP; root["sleep"] = USE_SLEEP;
root["camera"] = USE_CAMERA; root["camera"] = USE_CAMERA;
root["imu"] = USE_MPU6050; root["imu"] = USE_MPU6050 || USE_BNO055;
root["mag"] = USE_MAG; root["mag"] = USE_HMC5883 || USE_BNO055;
root["bmp"] = USE_BMP; root["bmp"] = USE_BMP180;
root["sonar"] = USE_USS; root["sonar"] = USE_USS;
root["motion"] = USE_MOTION; root["motion"] = USE_MOTION;
root["servo"] = USE_SERVO; root["servo"] = USE_PCA9685;
root["ws2812"] = USE_WS2812; root["ws2812"] = USE_WS2812;
root["mdns"] = USE_MDNS; root["mdns"] = USE_MDNS;
root["embed_www"] = EMBED_WWW; root["embed_www"] = EMBED_WWW;
esp32/lib/ESP32-sveltekit/features.h
+15 -5
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@@ -29,17 +29,22 @@
// ESP32 IMU on by default // ESP32 IMU on by default
#ifndef USE_MPU6050 #ifndef USE_MPU6050
#define USE_MPU6050 1 #define USE_MPU6050 0
#endif
// ESP32 IMU on by default
#ifndef USE_BNO055
#define USE_BNO055 1
#endif #endif
// ESP32 magnetometer on by default // ESP32 magnetometer on by default
#ifndef USE_MAG #ifndef USE_HMC5883
#define USE_MAG 0 #define USE_HMC5883 0
#endif #endif
// ESP32 barometer off by default // ESP32 barometer off by default
#ifndef USE_BMP #ifndef USE_BMP180
#define USE_BMP 0 #define USE_BMP180 0
#endif #endif
// ESP32 SONAR off by default // ESP32 SONAR off by default
@@ -47,6 +52,11 @@
#define USE_USS 0 #define USE_USS 0
#endif #endif
// PCA9685 Servo controller on by default
#ifndef USE_PCA9685
#define USE_PCA9685 1
#endif
// ESP32 GPS off by default // ESP32 GPS off by default
#ifndef USE_GPS #ifndef USE_GPS
#define USE_GPS 0 #define USE_GPS 0
esp32/lib/ESP32-sveltekit/peripherals/imu.h
+36 -4
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@@ -6,11 +6,22 @@
#include <ArduinoJson.h> #include <ArduinoJson.h>
#include <utils/math_utils.h> #include <utils/math_utils.h>
#if FT_ENABLED(USE_MPU6050)
#include <MPU6050_6Axis_MotionApps612.h> #include <MPU6050_6Axis_MotionApps612.h>
#endif
#if FT_ENABLED(USE_BNO055)
#include <Adafruit_BNO055.h>
#endif
class IMU { class IMU {
public: public:
IMU() {} IMU()
#if FT_ENABLED(USE_BNO055)
: _imu(55, 0x29)
#endif
{
}
bool initialize() { bool initialize() {
#if FT_ENABLED(USE_MPU6050) #if FT_ENABLED(USE_MPU6050)
_imu.initialize(); _imu.initialize();
@@ -21,6 +32,13 @@ class IMU {
_imu.setI2CMasterModeEnabled(false); _imu.setI2CMasterModeEnabled(false);
_imu.setI2CBypassEnabled(true); _imu.setI2CBypassEnabled(true);
_imu.setSleepEnabled(false); _imu.setSleepEnabled(false);
#endif
#if FT_ENABLED(USE_BNO055)
imu_success = _imu.begin();
if (!imu_success) {
return false;
}
_imu.setExtCrystalUse(true);
#endif #endif
return true; return true;
} }
@@ -32,17 +50,28 @@ class IMU {
_imu.dmpGetQuaternion(&q, fifoBuffer); _imu.dmpGetQuaternion(&q, fifoBuffer);
_imu.dmpGetGravity(&gravity, &q); _imu.dmpGetGravity(&gravity, &q);
_imu.dmpGetYawPitchRoll(ypr, &q, &gravity); _imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
ypr[0] *= 180 / M_PI;
ypr[1] *= 180 / M_PI;
ypr[2] *= 180 / M_PI;
return updated; return updated;
#endif #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 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) { void readIMU(JsonObject& root) {
if (!imu_success) return; if (!imu_success) return;
@@ -60,6 +89,9 @@ class IMU {
Quaternion q; Quaternion q;
uint8_t fifoBuffer[64]; uint8_t fifoBuffer[64];
VectorFloat gravity; VectorFloat gravity;
#endif
#if FT_ENABLED(USE_BNO055)
Adafruit_BNO055 _imu;
#endif #endif
bool imu_success {false}; bool imu_success {false};
float ypr[3]; float ypr[3];
esp32/lib/ESP32-sveltekit/peripherals/peripherals.h
+12 -13
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@@ -67,13 +67,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
updatePins(); updatePins();
#if FT_ENABLED(USE_MPU6050) #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed"); if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
#endif #endif
#if FT_ENABLED(USE_MAG) #if FT_ENABLED(USE_HMC5883)
if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed"); if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
#endif #endif
#if FT_ENABLED(USE_BMP) #if FT_ENABLED(USE_BMP180)
if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed"); if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
#endif #endif
#if FT_ENABLED(USE_USS) #if FT_ENABLED(USE_USS)
@@ -137,7 +137,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* IMU FUNCTIONS */ /* IMU FUNCTIONS */
bool readIMU() { bool readIMU() {
bool updated = false; bool updated = false;
#if FT_ENABLED(USE_MPU6050) #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
beginTransaction(); beginTransaction();
updated = _imu.readIMU(); updated = _imu.readIMU();
endTransaction(); endTransaction();
@@ -147,7 +147,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
bool readMag() { bool readMag() {
bool updated = false; bool updated = false;
#if FT_ENABLED(USE_MAG) #if FT_ENABLED(USE_HMC5883)
beginTransaction(); beginTransaction();
updated = _mag.readMagnetometer(); updated = _mag.readMagnetometer();
endTransaction(); endTransaction();
@@ -157,7 +157,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
bool readBMP() { bool readBMP() {
bool updated = false; bool updated = false;
#if FT_ENABLED(USE_BMP) #if FT_ENABLED(USE_BMP180)
beginTransaction(); beginTransaction();
updated = _bmp.readBarometer(); updated = _bmp.readBarometer();
endTransaction(); endTransaction();
@@ -181,13 +181,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
void emitIMU() { void emitIMU() {
doc.clear(); doc.clear();
JsonObject root = doc.to<JsonObject>(); JsonObject root = doc.to<JsonObject>();
#if FT_ENABLED(USE_MPU6050) #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
_imu.readIMU(root); _imu.readIMU(root);
#endif #endif
#if FT_ENABLED(USE_MAG) #if FT_ENABLED(USE_HMC5883)
_mag.readMagnetometer(root); _mag.readMagnetometer(root);
#endif #endif
#if FT_ENABLED(USE_BMP) #if FT_ENABLED(USE_BMP180)
_bmp.readBarometer(root); _bmp.readBarometer(root);
#endif #endif
serializeJson(doc, message); serializeJson(doc, message);
@@ -196,7 +196,6 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
void emitSonar() { void emitSonar() {
#if FT_ENABLED(USE_USS) #if FT_ENABLED(USE_USS)
char output[16]; char output[16];
snprintf(output, sizeof(output), "[%.1f,%.1f]", _left_distance, _right_distance); snprintf(output, sizeof(output), "[%.1f,%.1f]", _left_distance, _right_distance);
socket.emit("sonar", output); socket.emit("sonar", output);
@@ -214,13 +213,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
JsonDocument doc; JsonDocument doc;
char message[MAX_ESP_IMU_SIZE]; char message[MAX_ESP_IMU_SIZE];
#if FT_ENABLED(USE_MPU6050) #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
IMU _imu; IMU _imu;
#endif #endif
#if FT_ENABLED(USE_MAG) #if FT_ENABLED(USE_HMC5883)
Magnetometer _mag; Magnetometer _mag;
#endif #endif
#if FT_ENABLED(USE_BMP) #if FT_ENABLED(USE_BMP180)
Barometer _bmp; Barometer _bmp;
#endif #endif
#if FT_ENABLED(USE_USS) #if FT_ENABLED(USE_USS)
esp32/lib/ESP32-sveltekit/peripherals/servo_controller.h
-1
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@@ -111,7 +111,6 @@ class ServoController : public StatefulService<ServoSettings> {
float angle = servo.direction * angles[i] + servo.centerAngle; float angle = servo.direction * angles[i] + servo.centerAngle;
uint16_t pwm = angle * servo.conversion + servo.centerPwm; uint16_t pwm = angle * servo.conversion + servo.centerPwm;
if (pwm < 125 || pwm > 600) { if (pwm < 125 || pwm > 600) {
ESP_LOGE("ServoController", "Servo %d, Invalid PWM value %d", i, pwm);
continue; continue;
} }
pwms[i] = pwm; pwms[i] = pwm;
platformio.ini
+1 -2
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@@ -14,6 +14,7 @@ data_dir = esp32/data
src_dir = esp32/src src_dir = esp32/src
include_dir = esp32/include include_dir = esp32/include
lib_dir = esp32/lib lib_dir = esp32/lib
test_dir = esp32/test
extra_configs = extra_configs =
esp32/factory_settings.ini esp32/factory_settings.ini
esp32/features.ini esp32/features.ini
@@ -64,8 +65,6 @@ build_flags =
${env.build_flags} ${env.build_flags}
-D USE_CAMERA=1 -D USE_CAMERA=1
-D CAMERA_MODEL_XIAO_ESP32S3=1 -D CAMERA_MODEL_XIAO_ESP32S3=1
;-D USS_LEFT_PIN=1
;-D USS_RIGHT_PIN=14
-D SDA_PIN=5 -D SDA_PIN=5
-D SCL_PIN=6 -D SCL_PIN=6