Add BNO055

.github/workflows/firmware-ci.yml

@@ -39,7 +39,6 @@ jobs:
     strategy:
       matrix:
         mcu: [mcu-esp32c3, mcu-esp32, mcu-nrf52840, mcu-nrf52832]
-        imu: [imu-stubbed] # dont add IMUs here
         net: [net-stubbed, net-wifi]
         log: [log-rtt, log-usb-serial, log-uart]
         include:
@@ -59,18 +58,10 @@ jobs:
             net: net-stubbed
             log: log-uart
             target: riscv32imc-unknown-none-elf
-            imu: imu-mpu6050
           - mcu: mcu-esp32c3
             net: net-stubbed
             log: log-uart
             target: riscv32imc-unknown-none-elf
-            imu: imu-bmi160
-          # add IMUs inside the include so they are only ran once
-          # - mcu: mcu-esp32c3
-            # net: net-stubbed
-            # log: log-uart
-            # target: riscv32imc-unknown-none-elf
-            # imu: imu-bno08x
         exclude:
           - mcu: mcu-esp32
             log: log-usb-serial
@@ -85,7 +76,7 @@ jobs:
             net: net-wifi
 
     env:
-      FEATURES: ${{ format('{0},{1},{2},{3},{4}', matrix.mcu, matrix.imu, matrix.net, matrix.log, matrix.boot) }}
+      FEATURES: ${{ format('{0},{1},{2},{3}', matrix.mcu, matrix.net, matrix.log, matrix.boot) }}
     defaults:
       run:
         working-directory: ./firmware

firmware/Cargo.toml

@@ -14,7 +14,7 @@ rust-version.workspace = true
 
 
 [features]
-default = ["mcu-esp32c3", "imu-mpu6050", "log-rtt", "net-wifi"]
+default = ["mcu-esp32c3", "log-rtt", "net-wifi"]
 # default = [
 #   "mcu-nrf52840",
 #   "imu-stubbed",
@@ -64,11 +64,6 @@ net-wifi = ["esp-wifi/wifi", "dep:smoltcp"] # use wifi
 net-ble = ["esp-wifi/ble", "dep:bleps"]
 net-stubbed = []                            # Stubs out network
 
-# Supported IMUs
-imu-bmi160 = ["dep:bmi160"]
-imu-mpu6050 = ["dep:mpu6050-dmp"]
-imu-stubbed = []                  # Stubs out the IMU
-
 # Supported defmt loggers
 log-rtt = ["dep:defmt-rtt"]
 log-usb-serial = ["defmt_esp_println?/jtag_serial"]
@@ -191,15 +186,17 @@ panic_defmt = { path = "crates/panic_defmt" }
 defmt-bbq = { version = "0.1", optional = true }
 
 # Peripheral drivers
-mpu6050-dmp = { version = "0.2", optional = true }
-bmi160 = { version = "0.1", optional = true }
+mpu6050-dmp = "0.2"
+bmi160 = "0.1"
+bno055 = "0.3"
 
 # Other crates
 static_cell = "1"
 nb = "1"
 nalgebra = { version = "0.31", default-features = false, features = [
   "macros",
   "libm",
+  "mint",
 ] }
 fugit = "0.3"
 firmware_protocol = { path = "../networking/firmware_protocol", features = [

firmware/build.rs

@@ -8,7 +8,6 @@ use std::{
 };
 
 mandatory_and_unique!("mcu-esp32", "mcu-esp32c3", "mcu-nrf52832", "mcu-nrf52840");
-mandatory_and_unique!("imu-stubbed", "imu-mpu6050", "imu-bmi160");
 mandatory_and_unique!("log-rtt", "log-usb-serial", "log-uart");
 mandatory_and_unique!("net-wifi", "net-ble", "net-stubbed");