Add PCA9546A support & glove imus list

src/defines.h

@@ -28,7 +28,7 @@
 // Set parameters of IMU and board used
 #define IMU IMU_BNO085
 #define SECOND_IMU IMU
-#define BOARD BOARD_SLIMEVR
+#define BOARD BOARD_GLOVE_IMU_SLIMEVR_DEV
 #define IMU_ROTATION DEG_270
 #define SECOND_IMU_ROTATION DEG_270
 
@@ -37,7 +37,7 @@
 
 #define MAX_IMU_COUNT 2
 
-#if BOARD != BOARD_GLOVE_IMU
+#if BOARD != BOARD_GLOVE_IMU_SLIMEVR_DEV
 // Axis mapping example
 /*
 #include "sensors/axisremap.h"
@@ -54,12 +54,22 @@ IMU_DESC_ENTRY(IMU_BMP160, PRIMARY_IMU_ADDRESS_ONE, IMU_ROTATION, PIN_IMU_SCL, P
 #endif
 
 #else
-	// Predefines for the GLOVE
-	#ifndef SENSOR_DESC_LIST
-	#define SENSOR_DESC_LIST \
-			IMU_DESC_ENTRY(IMU,        PRIMARY_IMU_ADDRESS_ONE,   IMU_ROTATION,        DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), PRIMARY_IMU_OPTIONAL,   DIRECT_PIN(PIN_IMU_INT), 0) \
-			IMU_DESC_ENTRY(IMU, SECONDARY_IMU_ADDRESS_TWO, SECOND_IMU_ROTATION, DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), SECONDARY_IMU_OPTIONAL, DIRECT_PIN(PIN_IMU_INT_2), 0)
-	#endif
+
+// Predefines for the GLOVE
+#ifndef SENSOR_DESC_LIST
+#define SENSOR_DESC_LIST \
+        IMU_DESC_ENTRY(IMU, 0x4a ^ 0x02, IMU_ROTATION, DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), true, MCP_PIN(MCP_GPA6), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4b ^ 0x02, IMU_ROTATION, DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), true, MCP_PIN(MCP_GPA7), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4a,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 0), true, MCP_PIN(MCP_GPA0), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4b,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 0), true, MCP_PIN(MCP_GPB1), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4a,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 1), true, MCP_PIN(MCP_GPB2), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4b,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 1), true, MCP_PIN(MCP_GPB3), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4a,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 2), true, MCP_PIN(MCP_GPB4), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4b,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 2), true, MCP_PIN(MCP_GPB5), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4a,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 3), true, MCP_PIN(MCP_GPB6), 0) \
+        IMU_DESC_ENTRY(IMU, 0x4b,        IMU_ROTATION, PCA_WIRE(PIN_IMU_SCL, PIN_IMU_SDA, PCA_ADDR, 3), true, MCP_PIN(MCP_GPB7), 0)
+#endif
+
 #endif
 
 // Battery monitoring options (comment to disable):
@@ -216,4 +226,22 @@ IMU_DESC_ENTRY(IMU_BMP160, PRIMARY_IMU_ADDRESS_ONE, IMU_ROTATION, PIN_IMU_SCL, P
   #ifndef BATTERY_SHIELD_R2
     #define BATTERY_SHIELD_R2 100
   #endif
+#elif BOARD == BOARD_GLOVE_IMU_SLIMEVR_DEV
+  #define PIN_IMU_SDA 1
+  #define PIN_IMU_SCL 0
+  #define PCA_ADDR 0x70
+  #define PIN_IMU_INT 16
+  #define PIN_IMU_INT_2 13
+  #define PIN_BATTERY_LEVEL 17
+  #define LED_PIN 2
+  #define LED_INVERTED true
+  #ifndef BATTERY_SHIELD_RESISTANCE
+    #define BATTERY_SHIELD_RESISTANCE 0
+  #endif
+  #ifndef BATTERY_SHIELD_R1
+    #define BATTERY_SHIELD_R1 10
+  #endif
+  #ifndef BATTERY_SHIELD_R2
+    #define BATTERY_SHIELD_R2 40.2
+  #endif
 #endif

src/sensorinterface/DirectPinInterface.h

@@ -26,6 +26,10 @@
 #include <PinInterface.h>
 #include <Arduino.h>
 
+/**
+ * Pin interface using direct pins
+ *
+ */
 class DirectPinInterface : public PinInterface
 {
 public:
@@ -40,4 +44,4 @@ class DirectPinInterface : public PinInterface
     uint8_t _pinNum;
 };
 
-#endif // _H_DIRECT_PIN_INTERFACE_
+#endif // _H_DIRECT_PIN_INTERFACE_

src/sensorinterface/I2CPCAInterface.cpp

@@ -0,0 +1,41 @@
+/*
+    SlimeVR Code is placed under the MIT license
+    Copyright (c) 2024 Eiren & SlimeVR Contributors
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+*/
+#include "I2CPCAInterface.h"
+
+void SlimeVR::I2CPCASensorInterface::init()
+{
+	_wire.init();
+}
+
+void SlimeVR::I2CPCASensorInterface::swapIn()
+{
+	_wire.swapIn();
+	 Wire.beginTransmission(_address);
+	Wire.write(1 << _channel);
+	Wire.endTransmission();
+	// On ESP32 we need to reconnect to I2C bus for some reason
+#if ESP32
+	_wire.disconnect();
+	_wire.swapIn();
+#endif
+}

src/sensorinterface/I2CPCAInterface.h

@@ -0,0 +1,51 @@
+/*
+    SlimeVR Code is placed under the MIT license
+    Copyright (c) 2024 Eiren & SlimeVR Contributors
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+*/
+#ifndef I2C_PCA_INTERFACE_H
+#define I2C_PCA_INTERFACE_H
+
+#include "I2CWireSensorInterface.h"
+
+namespace SlimeVR
+{
+	/**
+	 * I2C Sensor interface for use with PCA9547 (8-channel I2C-buss multiplexer)
+	 * or PCA9546A (4-channel I2C-bus multiplexer) or analogs
+	 */
+	class I2CPCASensorInterface : public SensorInterface {
+		public:
+			I2CPCASensorInterface(uint8_t sda, uint8_t scl, uint8_t address, uint8_t channel) :
+				_wire(I2CWireSensorInterface(sda, scl)), _address(address), _channel(channel){};
+			~I2CPCASensorInterface(){};
+
+			void init() override final;
+			void swapIn() override final;
+		protected:
+			uint8_t _address;
+			uint8_t _channel;
+			I2CWireSensorInterface _wire;
+	};
+
+
+}
+
+#endif

src/sensorinterface/I2CWireSensorInterface.cpp

@@ -62,4 +62,12 @@ namespace SlimeVR
 			isI2CActive = true;
 		}
 	}
+
+	void disconnectI2C()
+	{
+		isI2CActive = false;
+		#if ESP32
+			Wire.end();
+		#endif
+	}
 }

src/sensorinterface/I2CWireSensorInterface.h

@@ -25,29 +25,37 @@
 #define SENSORINTERFACE_I2CWIRE_H
 
 #include "globals.h"
-#include <Wire.h>
+#include <Arduino.h>
 #include "SensorInterface.h"
 #include <i2cscan.h>
 
 namespace SlimeVR
 {
 	void swapI2C(uint8_t sclPin, uint8_t sdaPin);
+	void disconnectI2C();
 
+	/**
+	 * I2C Sensor interface using direct arduino Wire on provided pins
+	 *
+	 */
 	class I2CWireSensorInterface : public SensorInterface {
 		public:
 			I2CWireSensorInterface(uint8_t sdapin, uint8_t sclpin) :
-				sdaPin(sdapin), sclPin(sclpin){};
+				_sdaPin(sdapin), _sclPin(sclpin){};
 			~I2CWireSensorInterface(){};
 
 			void init() override final {
-				I2CSCAN::clearBus(sdaPin, sclPin);
+				I2CSCAN::clearBus(_sdaPin, _sclPin);
 			}
 			void swapIn() override final {
-				swapI2C(sclPin, sdaPin);
+				swapI2C(_sclPin, _sdaPin);
+			}
+			void disconnect() {
+				disconnectI2C();
 			}
 		protected:
-			uint8_t sdaPin;
-			uint8_t sclPin;
+			uint8_t _sdaPin;
+			uint8_t _sclPin;
 	};
 
 

src/sensorinterface/MCP23X17PinInterface.h

@@ -26,6 +26,26 @@
 #include <PinInterface.h>
 #include <Adafruit_MCP23X17.h>
 
+#define MCP_GPA0 0
+#define MCP_GPA1 1
+#define MCP_GPA2 2
+#define MCP_GPA3 3
+#define MCP_GPA4 4
+#define MCP_GPA5 5
+#define MCP_GPA6 6
+#define MCP_GPA7 7
+#define MCP_GPB0 8
+#define MCP_GPB1 9
+#define MCP_GPB2 10
+#define MCP_GPB3 11
+#define MCP_GPB4 12
+#define MCP_GPB5 13
+#define MCP_GPB6 14
+#define MCP_GPB7 15
+
+/**
+ * Pin interface to use MCP23008/17 I2C GPIO port extenders
+ */
 class MCP23X17PinInterface: public PinInterface
 {
 
@@ -42,4 +62,4 @@ class MCP23X17PinInterface: public PinInterface
     uint8_t _pinNum;
 };
 
-#endif // _H_MCP23X17PinInterface_
+#endif // _H_MCP23X17PinInterface_

src/sensors/SensorManager.cpp

@@ -40,6 +40,8 @@
 #include "softfusion/drivers/mpu6050.h"
 
 #include "softfusion/i2cimpl.h"
+#include "sensorinterface/MCP23X17PinInterface.h"
+#include "sensorinterface/I2CPCAInterface.h"
 
 namespace SlimeVR
 {
@@ -53,15 +55,20 @@ namespace SlimeVR
         using SoftFusionLSM6DSR = SoftFusionSensor<SoftFusion::Drivers::LSM6DSR, SoftFusion::I2CImpl>;
         using SoftFusionMPU6050 = SoftFusionSensor<SoftFusion::Drivers::MPU6050, SoftFusion::I2CImpl>;
 
+		Adafruit_MCP23X17 mcp;
+
         void SensorManager::setup()
         {
 
             uint8_t sensorID = 0;
             uint8_t activeSensorCount = 0;
+			mcp.begin_I2C();
 
 #define NO_PIN nullptr
 #define DIRECT_PIN(pin) std::make_shared<DirectPinInterface>(pin)
 #define DIRECT_WIRE(scl, sda) std::make_shared<I2CWireSensorInterface>(sda, scl)
+#define MCP_PIN(pin) std::make_shared<MCP23X17PinInterface>(&mcp, pin)
+#define PCA_WIRE(scl, sda, addr, ch) std::make_shared<I2CPCASensorInterface>(scl, sda, addr, ch)
 
 #define IMU_DESC_ENTRY(ImuType, ...)                                  \
             {                                                         \