🎍 Updates feature flags and adds BNO055

runeharlyk · runeharlyk · commit 5ad061f6972f · 2025-05-17T11:47:15.000+02:00
diff --git a/app/src/routes/peripherals/i2c/i2c.svelte b/app/src/routes/peripherals/i2c/i2c.svelte
@@ -8,6 +8,7 @@
 
   const i2cDevices = [
     { address: 30, part_number: 'HMC5883', name: '3-Axis Digital Compass/Magnetometer IC' },
+    { address: 41, part_number: 'BNO055', name: '9-Axis Absolute Orientation Sensor' },
     { address: 64, part_number: 'PCA9685', name: '16-channel PWM driver default address' },
     { address: 72, part_number: 'ADS1115', name: '4-channel 16-bit ADC' },
     {
diff --git a/esp32/features.ini b/esp32/features.ini
@@ -1,15 +1,16 @@
 [features]
 build_flags = 
-  -D USE_SLEEP=0
-  -D USE_UPLOAD_FIRMWARE=1
+  -D USE_SLEEP=1
+  -D USE_UPLOAD_FIRMWARE=0
   -D USE_DOWNLOAD_FIRMWARE=0
   -D USE_MOTION=1
   -D USE_MDNS=1
 
   ; Hardware specific
-  -D USE_MAG=0
-  -D USE_BMP=0
+  -D USE_HMC5883=0
+  -D USE_BMP180=0
   -D USE_MPU6050=0
   -D USE_WS2812=1
+  -D USE_BNO055=1
   -D USE_USS=0
-  -D USE_SERVO=1
+  -D USE_PCA9685=1
diff --git a/esp32/include/spot.h b/esp32/include/spot.h
@@ -61,6 +61,7 @@ class Spot {
     // act
     void updateActuators() {
         if (updatedMotion) _servoController.setAngles(_motionService.getAngles());
+        updatedMotion = false;
 
         _servoController.updateServoState();
 #if FT_ENABLED(USE_WS2812)
@@ -71,7 +72,7 @@ class Spot {
     // communicate
     void emitTelemetry() {
         if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); });
-        EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); });
+        EXECUTE_EVERY_N_MS(250, { _peripherals.emitIMU(); });
         // _peripherals.emitSonar();
     }
 
@@ -102,15 +103,14 @@ class Spot {
     bool updatedMotion = false;
 
     const char *_appName = APP_NAME;
-    const u_int16_t _numberEndpoints = 115;
+    const u_int16_t _numberEndpoints = 116;
     const u_int32_t _maxFileUpload = 2300000; // 2.3 MB
     const uint16_t _port = 80;
 
   protected:
     void loop();
     static void _loopImpl(void *_this) { static_cast<Spot *>(_this)->loop(); }
     void setupServer();
-    void setupMDNS();
     void startServices();
 };
 
diff --git a/esp32/lib/ESP32-sveltekit/features.cpp b/esp32/lib/ESP32-sveltekit/features.cpp
@@ -15,14 +15,15 @@ void printFeatureConfiguration() {
     ESP_LOGI("Features", "USE_MOTION: %s", USE_MOTION ? "enabled" : "disabled");
 
     // Sensors
+    ESP_LOGI("Features", "USE_BNO055: %s", USE_BNO055 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MPU6050: %s", USE_MPU6050 ? "enabled" : "disabled");
-    ESP_LOGI("Features", "USE_MAG: %s", USE_MAG ? "enabled" : "disabled");
-    ESP_LOGI("Features", "USE_BMP: %s", USE_BMP ? "enabled" : "disabled");
+    ESP_LOGI("Features", "USE_HMC5883: %s", USE_HMC5883 ? "enabled" : "disabled");
+    ESP_LOGI("Features", "USE_BMP180: %s", USE_BMP180 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_USS: %s", USE_USS ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_GPS: %s", USE_GPS ? "enabled" : "disabled");
 
     // Peripherals
-    ESP_LOGI("Features", "USE_SERVO: %s", USE_SERVO ? "enabled" : "disabled");
+    ESP_LOGI("Features", "USE_PCA9685: %s", USE_PCA9685 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_WS2812: %s", USE_WS2812 ? "enabled" : "disabled");
 
     // Web services
@@ -38,12 +39,12 @@ void features(JsonObject &root) {
     root["download_firmware"] = USE_DOWNLOAD_FIRMWARE;
     root["sleep"] = USE_SLEEP;
     root["camera"] = USE_CAMERA;
-    root["imu"] = USE_MPU6050;
-    root["mag"] = USE_MAG;
-    root["bmp"] = USE_BMP;
+    root["imu"] = USE_MPU6050 || USE_BNO055;
+    root["mag"] = USE_HMC5883 || USE_BNO055;
+    root["bmp"] = USE_BMP180;
     root["sonar"] = USE_USS;
     root["motion"] = USE_MOTION;
-    root["servo"] = USE_SERVO;
+    root["servo"] = USE_PCA9685;
     root["ws2812"] = USE_WS2812;
     root["mdns"] = USE_MDNS;
     root["embed_www"] = EMBED_WWW;
diff --git a/esp32/lib/ESP32-sveltekit/features.h b/esp32/lib/ESP32-sveltekit/features.h
@@ -29,24 +29,34 @@
 
 // ESP32 IMU on by default
 #ifndef USE_MPU6050
-#define USE_MPU6050 1
+#define USE_MPU6050 0
+#endif
+
+// ESP32 IMU on by default
+#ifndef USE_BNO055
+#define USE_BNO055 1
 #endif
 
 // ESP32 magnetometer on by default
-#ifndef USE_MAG
-#define USE_MAG 0
+#ifndef USE_HMC5883
+#define USE_HMC5883 0
 #endif
 
 // ESP32 barometer off by default
-#ifndef USE_BMP
-#define USE_BMP 0
+#ifndef USE_BMP180
+#define USE_BMP180 0
 #endif
 
 // ESP32 SONAR off by default
 #ifndef USE_USS
 #define USE_USS 0
 #endif
 
+// PCA9685 Servo controller on by default
+#ifndef USE_PCA9685
+#define USE_PCA9685 1
+#endif
+
 // ESP32 GPS off by default
 #ifndef USE_GPS
 #define USE_GPS 0
diff --git a/esp32/lib/ESP32-sveltekit/peripherals/imu.h b/esp32/lib/ESP32-sveltekit/peripherals/imu.h
@@ -7,10 +7,16 @@
 #include <utils/math_utils.h>
 
 #include <MPU6050_6Axis_MotionApps612.h>
+#include <Adafruit_BNO055.h>
 
 class IMU {
   public:
-    IMU() {}
+    IMU()
+#if FT_ENABLED(USE_BNO055)
+        : _imu(55, 0x29)
+#endif
+    {
+    }
     bool initialize() {
 #if FT_ENABLED(USE_MPU6050)
         _imu.initialize();
@@ -21,6 +27,13 @@ class IMU {
         _imu.setI2CMasterModeEnabled(false);
         _imu.setI2CBypassEnabled(true);
         _imu.setSleepEnabled(false);
+#endif
+#if FT_ENABLED(USE_BNO055)
+        imu_success = _imu.begin();
+        if (!imu_success) {
+            return false;
+        }
+        _imu.setExtCrystalUse(true);
 #endif
         return true;
     }
@@ -34,6 +47,14 @@ class IMU {
         _imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
         return updated;
 #endif
+#if FT_ENABLED(USE_BNO055)
+        sensors_event_t event;
+        _imu.getEvent(&event);
+        ypr[0] = (float)event.orientation.x;
+        ypr[1] = (float)event.orientation.y;
+        ypr[2] = (float)event.orientation.z;
+#endif
+        return true;
     }
 
     float getTemperature() { return imu_success ? imu_temperature : -1; }
@@ -60,6 +81,9 @@ class IMU {
     Quaternion q;
     uint8_t fifoBuffer[64];
     VectorFloat gravity;
+#endif
+#if FT_ENABLED(USE_BNO055)
+    Adafruit_BNO055 _imu;
 #endif
     bool imu_success {false};
     float ypr[3];
diff --git a/esp32/lib/ESP32-sveltekit/peripherals/peripherals.h b/esp32/lib/ESP32-sveltekit/peripherals/peripherals.h
@@ -67,13 +67,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
         updatePins();
 
-#if FT_ENABLED(USE_MPU6050)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
         if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
 #endif
-#if FT_ENABLED(USE_MAG)
+#if FT_ENABLED(USE_HMC5883)
         if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
 #endif
-#if FT_ENABLED(USE_BMP)
+#if FT_ENABLED(USE_BMP180)
         if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
 #endif
 #if FT_ENABLED(USE_USS)
@@ -137,7 +137,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
     /* IMU FUNCTIONS */
     bool readIMU() {
         bool updated = false;
-#if FT_ENABLED(USE_MPU6050)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
         beginTransaction();
         updated = _imu.readIMU();
         endTransaction();
@@ -147,7 +147,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     bool readMag() {
         bool updated = false;
-#if FT_ENABLED(USE_MAG)
+#if FT_ENABLED(USE_HMC5883)
         beginTransaction();
         updated = _mag.readMagnetometer();
         endTransaction();
@@ -157,7 +157,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     bool readBMP() {
         bool updated = false;
-#if FT_ENABLED(USE_BMP)
+#if FT_ENABLED(USE_BMP180)
         beginTransaction();
         updated = _bmp.readBarometer();
         endTransaction();
@@ -181,13 +181,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
     void emitIMU() {
         doc.clear();
         JsonObject root = doc.to<JsonObject>();
-#if FT_ENABLED(USE_MPU6050)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
         _imu.readIMU(root);
 #endif
-#if FT_ENABLED(USE_MAG)
+#if FT_ENABLED(USE_HMC5883)
         _mag.readMagnetometer(root);
 #endif
-#if FT_ENABLED(USE_BMP)
+#if FT_ENABLED(USE_BMP180)
         _bmp.readBarometer(root);
 #endif
         serializeJson(doc, message);
@@ -214,13 +214,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     JsonDocument doc;
     char message[MAX_ESP_IMU_SIZE];
-#if FT_ENABLED(USE_MPU6050)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
     IMU _imu;
 #endif
-#if FT_ENABLED(USE_MAG)
+#if FT_ENABLED(USE_HMC5883)
     Magnetometer _mag;
 #endif
-#if FT_ENABLED(USE_BMP)
+#if FT_ENABLED(USE_BMP180)
     Barometer _bmp;
 #endif
 #if FT_ENABLED(USE_USS)
diff --git a/platformio.ini b/platformio.ini
@@ -14,6 +14,7 @@ data_dir = esp32/data
 src_dir = esp32/src
 include_dir = esp32/include
 lib_dir = esp32/lib
+test_dir = esp32/test
 extra_configs = 
 	esp32/factory_settings.ini
 	esp32/features.ini
@@ -64,8 +65,6 @@ build_flags =
 	${env.build_flags}
 	-D USE_CAMERA=1
 	-D CAMERA_MODEL_XIAO_ESP32S3=1
-	;-D USS_LEFT_PIN=1
-	;-D USS_RIGHT_PIN=14
 	-D SDA_PIN=5
 	-D SCL_PIN=6
 

Original file line number	Diff line number	Diff line change
`@@ -8,6 +8,7 @@`
`8`	`8`
`9`	`9`	`const i2cDevices = [`
`10`	`10`	`{ address: 30, part_number: 'HMC5883', name: '3-Axis Digital Compass/Magnetometer IC' },`
	`11`	`+ { address: 41, part_number: 'BNO055', name: '9-Axis Absolute Orientation Sensor' },`
`11`	`12`	`{ address: 64, part_number: 'PCA9685', name: '16-channel PWM driver default address' },`
`12`	`13`	`{ address: 72, part_number: 'ADS1115', name: '4-channel 16-bit ADC' },`
`13`	`14`	`{`