Merge branch 'main' into new-bat

SlimeVR · Feb 9, 2024 · 626498c · 626498c
2 parents e909f27 + 44c4c25
commit 626498c
Show file tree

Hide file tree

Showing 5 changed files with 28 additions and 4 deletions.
diff --git a/platformio-tools.ini b/platformio-tools.ini
@@ -64,3 +64,10 @@ build_flags =
   ${env.build_flags}
   -DESP32C3
 board = esp32-c3-devkitm-1
+
+[env:BOARD_XIAO_ESP32C3]
+platform = espressif32 @ 6.1.0
+build_flags = 
+  ${env.build_flags}
+  -DESP32C3
+board = seeed_xiao_esp32c3
diff --git a/src/consts.h b/src/consts.h
@@ -54,6 +54,7 @@
 #define BOARD_WRANGLER 14 // Only used by wrangler app
 #define BOARD_MOCOPI 15 // Used by mocopi/moslime
 #define BOARD_WEMOSWROOM02 16
+#define BOARD_XIAO_ESP32C3 17
 #define BOARD_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
 
 #define BAT_EXTERNAL 1

diff --git a/src/defines.h b/src/defines.h
@@ -198,4 +198,21 @@ IMU_DESC_ENTRY(IMU_BMP160, PRIMARY_IMU_ADDRESS_ONE, IMU_ROTATION, PIN_IMU_SCL, P
   #define PIN_BATTERY_LEVEL A0
   #define LED_PIN 16
   #define LED_INVERTED true
+#elif BOARD == BOARD_XIAO_ESP32C3
+  #define PIN_IMU_SDA 6 // D4
+  #define PIN_IMU_SCL 7 // D5
+  #define PIN_IMU_INT 5 // D3
+  #define PIN_IMU_INT_2 10 // D10
+  #define LED_PIN 4 // D2
+  #define LED_INVERTED false
+  #define PIN_BATTERY_LEVEL 2 // D0 / A0
+  #ifndef BATTERY_SHIELD_RESISTANCE
+    #define BATTERY_SHIELD_RESISTANCE 0
+  #endif
+  #ifndef BATTERY_SHIELD_R1
+    #define BATTERY_SHIELD_R1 100
+  #endif
+  #ifndef BATTERY_SHIELD_R2
+    #define BATTERY_SHIELD_R2 100
+  #endif
 #endif
diff --git a/src/sensors/icm20948sensor.cpp b/src/sensors/icm20948sensor.cpp
@@ -79,7 +79,7 @@ void ICM20948Sensor::motionLoop()
         cntbuf = 0;
         cntrounds = 0;
     }
-*/  
+*/
 }
 
 void ICM20948Sensor::readFIFOToEnd()
@@ -104,9 +104,8 @@ void ICM20948Sensor::readFIFOToEnd()
 
 void ICM20948Sensor::sendData()
 {
-    if(newFusedRotation && lastDataSent + 7 < millis())
+    if(newFusedRotation)
     {
-        lastDataSent = millis();
         newFusedRotation = false;
 
         #if(USE_6_AXIS)
@@ -320,6 +319,7 @@ void ICM20948Sensor::startMotionLoop()
 {
     lastData = millis();
     working = true;
+	hadData = true;
 }
 
 void ICM20948Sensor::checkSensorTimeout()

diff --git a/src/sensors/icm20948sensor.h b/src/sensors/icm20948sensor.h
@@ -45,7 +45,6 @@ class ICM20948Sensor : public Sensor
 private:
     void calculateAccelerationWithoutGravity(Quat *quaternion);
     unsigned long lastData = 0;
-    unsigned long lastDataSent = 0;
     int bias_save_counter = 0;
     bool hasdata = false;
 // Performance test