BMI323 and BMM350 implementation

src/configuration/CalibrationConfig.cpp

@@ -31,6 +31,8 @@ namespace SlimeVR {
                 return "NONE";
             case BMI160:
                 return "BMI160";
+            case BMI323:
+                return "BMI323";
             case MPU6050:
                 return "MPU6050";
             case MPU9250:

src/configuration/CalibrationConfig.h

@@ -44,6 +44,22 @@ namespace SlimeVR {
             float temperature;
         };
 
+        struct BMI323CalibrationConfig {
+            // accelerometer offsets and gain
+            uint16_t G_O[3];
+            uint8_t G_G[3];
+
+            // magnetometer offsets and correction matrix
+            float M_B[3];
+            float M_Ainv[3][3];
+
+            // raw offsets, determined from gyro at rest
+            float G_off[3];
+
+            // calibration temperature for dynamic compensation
+            float temperature;
+        };
+
         struct MPU6050CalibrationConfig {
             // accelerometer offsets and correction matrix
             float A_B[3];
@@ -89,7 +105,7 @@ namespace SlimeVR {
             float G_off[3];
         };
 
-        enum CalibrationConfigType { NONE, BMI160, MPU6050, MPU9250, ICM20948, ICM42688 };
+        enum CalibrationConfigType { NONE, BMI160, MPU6050, MPU9250, ICM20948, ICM42688, BMI323 };
 
         const char* calibrationConfigTypeToString(CalibrationConfigType type);
 
@@ -98,6 +114,7 @@ namespace SlimeVR {
 
             union {
                 BMI160CalibrationConfig bmi160;
+                BMI323CalibrationConfig bmi323;
                 MPU6050CalibrationConfig mpu6050;
                 MPU9250CalibrationConfig mpu9250;
                 ICM20948CalibrationConfig icm20948;

src/configuration/Configuration.cpp

@@ -272,6 +272,13 @@ namespace SlimeVR {
 
                     break;
 
+                case CalibrationConfigType::BMI323:
+                    m_Logger.info("            G_O: %d, %d, %d", UNPACK_VECTOR_ARRAY(c.data.bmi323.G_O));
+
+                    m_Logger.info("            G_G: %d, %d, %d", UNPACK_VECTOR_ARRAY(c.data.bmi323.G_G));
+
+                    break;
+
                 case CalibrationConfigType::ICM20948:
                     m_Logger.info("            G: %d, %d, %d", UNPACK_VECTOR_ARRAY(c.data.icm20948.G));
                     m_Logger.info("            A: %d, %d, %d", UNPACK_VECTOR_ARRAY(c.data.icm20948.A));

src/consts.h

@@ -35,6 +35,7 @@
 #define IMU_BMI160 8
 #define IMU_ICM20948 9
 #define IMU_ICM42688 10
+#define IMU_BMI323 11
 #define IMU_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
 
 #define BOARD_UNKNOWN 0

src/debug.h

@@ -34,6 +34,9 @@
 #define BIAS_DEBUG false // Printing BIAS Variables to serial (ICM20948 only)
 #define ENABLE_TAP false // monitor accel for (triple) tap events and send them. Uses more cpu, disable if problems. Server does nothing with value so disabled atm
 #define SEND_ACCELERATION true // send linear acceleration to the server
+#define BMI323_USE_BMM350 false // Set to true to use the data of a BMM350 magnetometer in combination with a BMI323
+#define BMI323_USE_TEMP_CAL true // Set to true to enable temperature compensation for BMI323
+#define BMI323_USE_SENSCAL true // Set to true to enable spin scale compensation
 
 //Debug information
 

src/sensors/SensorManager.cpp

@@ -28,6 +28,7 @@
 #include "mpu9250sensor.h"
 #include "mpu6050sensor.h"
 #include "bmi160sensor.h"
+#include "bmi323sensor.h"
 #include "icm20948sensor.h"
 #include "icm42688sensor.h"
 #include "ErroneousSensor.h"
@@ -99,6 +100,9 @@ namespace SlimeVR
                 }
                 }
                 break;
+            case IMU_BMI323:
+                sensor = new BMI323Sensor(sensorID, address, rotation, sclPin, sdaPin);
+                break;
             case IMU_MPU6500: case IMU_MPU6050:
                 sensor = new MPU6050Sensor(sensorID, imuType, address, rotation, sclPin, sdaPin);
                 break;