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commit f6f227b Author: unlogisch04 <[email protected]> Date: Mon May 6 22:00:58 2024 +0200 L0ud sfusion1 (#6) * Update readme to mention BMI270 support. * Soft fusion sensor initial code, wip * Soft fusion ICM-42688-P lazy WIP implementation. * sfusion: Cleanup, implemented sensor frequency calibration * icm42688: add more comments, basic driver (no hw filtering) should be working * sfustion: compilation fix * sfusion: start calibration when upside down * cleanup: remove confusing had data flag * sensor manager: use unique_ptr instead of raw pointers * sfusion: big refactoring wip * sfusion: make aux work, at least sfusion sensors should now be functional * sfusion: lightweight implementation of BMI270 sensor, no sensitivity cal yet * sfusion: BMI270: added CRT and gyro zx factor. should be functionally equivalent to the old driver * Added lsm6dsv * Trying to work around esp32c3 compilation problem, not liking that solution * sfusion: fix problems found after rebase * Update README.md * Bump Arduino core to 3.0 to match GCC12 * Remove fast pin swapping that is no longer compatible with arduino core v3 * Bring back fast pin swapping * Update platformio-tools.ini * Fix accel timescale (calibration no longer takes forever) * Fix non-sfusion sensors * Added LSM6DSO and DSR support and refactored DSV support * Removed template float param from the implementation * sfusion: port MPU6050 driver wip, not expecting to be functional yet * sfusion: add headers specifying main code owners * connection: fix warning * update README.md * fshelper: fixed ESP8266 regression caused by abstracting FS access * sfusion: fix error on merge * bno080: differentiate bno080, bno085, bno086 again * sfusion: final touches * restore hadData functionality, implementing it in every sensor, made configured flag bno-only * fix address supplement in non-sfusion sensors, do i2c bus reset for all sensors * sfusion: make MPU6050 driver use normal MPU6050 ImuID, change eatSamplesAndReturn function to take ms instead of seconds * sfusion: hotfix, don't apply sensorOffset, it's applied in sensor base --------- Co-authored-by: Przemysław Romaniak <[email protected]> Co-authored-by: Gorbit99 <[email protected]> Co-authored-by: nekomona <[email protected]> Co-authored-by: nekomona <[email protected]> Co-authored-by: kounocom <[email protected]> Co-authored-by: Przemyslaw Romaniak <[email protected]> commit 4157ab9 Author: unlogisch04 <[email protected]> Date: Mon May 6 21:34:53 2024 +0200 add macro for calculating radians (#4) * feat: add macro for calculating radians * style: silence unused variable warning * remove unnecessary float cast in macro --------- Co-authored-by: Pespiri <[email protected]> Co-authored-by: Fredrik Hatletvedt <[email protected]> commit 3ae17ab Author: Meia Kouno <[email protected]> Date: Sun May 5 02:35:22 2024 +0300 Fix enabling motion bias estimation (SlimeVR#325) commit d71c65c Author: unlogisch04 <[email protected]> Date: Sat May 4 19:04:08 2024 +0200 fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321 (SlimeVR#328) * fshelper: fixed ESP8266 regression caused by abstracting FS access SlimeVR#321 * Removing not needed ifdef l0ud spotted that this is not need. Co-Authored-By: Przemyslaw Romaniak <[email protected]> --------- Co-authored-by: Przemyslaw Romaniak <[email protected]>
unlogisch04 · May 7, 2024 · e3e381f · e3e381f
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diff --git a/README.md b/README.md
@@ -35,6 +35,12 @@ The following IMUs and their corresponding `IMU` values are supported by the fir
   * Using fusion in internal DMP for 6Dof or 9DoF, 9DoF mode requires good magnetic environment.
   * Comment out `USE_6DOF` in `debug.h` for 9DoF mode.
   * Experimental support!
+* BMI270 (IMU_BMI270), ICM-42688 (IMU_ICM42688), LSM6DS3TR-C (IMU_LSM6DS3TRC), LSM6DSV (IMU_LSM6DSV), LSM6DSO (IMU_LSM6DSO), LSM6DSR (IMU_LSM6DSR), MPU-6050 (IMU_MPU6050_SF)
+  * Using common code: SoftFusionSensor for sensor fusion of Gyroscope and Accelerometer.
+  * Gyro&Accel sample rate, gyroscope offset and 6-side accelerometer calibration supported.
+  * In case of BMI270, gyroscope sensitivity auto-calibration (CRT) is additionally performed.
+  * Support for magnetometers is currently not implemented.
+  * VERY experimental support!
 
 Firmware can work with both ESP8266 and ESP32. Please edit `defines.h` and set your pinout properly according to how you connected the IMU.
 

diff --git a/lib/ICM42688/ICM42688.h b/lib/ICM42688/ICM42688.h
diff --git a/lib/ICM42688/MMC5983MA.h b/lib/ICM42688/MMC5983MA.h
diff --git a/platformio-tools.ini b/platformio-tools.ini
@@ -7,10 +7,10 @@ framework = arduino
 build_flags =
   !python scripts/get_git_commit.py
   -O2
-  -std=gnu++17
+  -std=gnu++2a
 build_unflags =
   -Os
-  -std=gnu++11
+  -std=gnu++11 -std=gnu++17
 
 [env:BOARD_SLIMEVR]
 platform = espressif8266 @ 4.2.0
@@ -37,36 +37,54 @@ platform = espressif8266 @ 4.2.0
 board = esp12e
 
 [env:BOARD_WROOM32]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 board = esp32dev
 
 [env:BOARD_ESP01]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 board = esp32dev
 
 [env:BOARD_LOLIN_C3_MINI]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = lolin_c3_mini
 
 [env:BOARD_BEETLE32C3]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = dfrobot_beetle_esp32c3
 
 [env:BOARD_ES32C3DEVKITM1]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3
 board = esp32-c3-devkitm-1
 
 [env:BOARD_XIAO_ESP32C3]
-platform = espressif32 @ 6.1.0
+platform = espressif32 @ 6.5.0
+platform_packages =
+ platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+ platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 build_flags = 
   ${env.build_flags}
   -DESP32C3

diff --git a/platformio.ini b/platformio.ini
@@ -43,9 +43,9 @@ build_flags =
 
 ; Enable -O2 GCC optimization
   -O2
-  -std=gnu++17
+  -std=gnu++2a
 
-build_unflags = -Os -std=gnu++11
+build_unflags = -Os -std=gnu++11 -std=gnu++17
 
 ; If you want to enable OTA Updates, uncomment and set OTA password here and in credentials.h
 ; You can set upload_port to device's ip after it's set up for the first time
@@ -80,7 +80,10 @@ upload_speed = 921600
 ; Uncomment below if you want to build for esp32
 ; Check your board name at https://docs.platformio.org/en/latest/platforms/espressif32.html#boards
 ; [env:esp32]
-; platform = espressif32 @ 6.1.0
+; platform = espressif32 @ 6.5.0
+; platform_packages =
+;  platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+;  platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 ; board = esp32dev
 ; Comment out this line below if you have any trouble uploading the firmware - and if it has a CP2102 on it (a square chip next to the usb port): change to 3000000 (3 million) for even faster upload speed
 ;upload_speed = 921600
@@ -95,7 +98,10 @@ upload_speed = 921600
 ;    -DARDUINO_USB_CDC_ON_BOOT=1
 
 ;[env:esp32c3]
-;platform = espressif32 @ 6.1.0
+;platform = espressif32 @ 6.5.0
+;platform_packages =
+;  platformio/framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.0-alpha3
+;  platformio/framework-arduinoespressif32-libs @ https://github.com/espressif/esp32-arduino-libs.git#idf-release/v5.1
 ;build_flags =
 ;  ${env.build_flags}
 ;  -DESP32C3

diff --git a/src/FSHelper.cpp b/src/FSHelper.cpp
@@ -37,14 +37,9 @@ bool ensureDirectory(const char* directory) {
 		}
 	}
 
-#ifdef ESP32
-	auto dir = LittleFS.open(directory);
+	auto dir = LittleFS.open(directory, "r");
 	auto isDirectory = dir.isDirectory();
 	dir.close();
-#else
-	auto dir = LittleFS.openDir(directory);
-	auto isDirectory = dir.isDirectory();
-#endif
 
 	if (!isDirectory) {
 		if (!LittleFS.remove(directory)) {