Mag support (Attempt 2) #458
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Eirenliel
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Jun 12, 2025
Eirenliel
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Jun 12, 2025
* Make SPI work Move sensor building logic to a separate class and file Don't use templates for RegisterInterface/I2CImpl/SPIImpl This started getting ridiculous, now we can actually maintain it. Make BNO085 work again Add BNO to automatic detection, remove a bunch of others Not all IMU types are enabled right now due to code size optimization, but it could be expanded in the future with optimization of Softfusion. Pick IMU type automatically by asking it * ESP32 spelling fix (#396) Fix: ES32 -> ESP32 * (Probably) multiply acceleration by tracker rotation offset * Remove stome stuff from softfusionsensor * Missed stuff * Undo defines changes * Undo debug.h changes * Uses32BitSensorData is unneccessary now * Remove some unnecessary variables * Cleanup some logging text * Formatting * Split SensorBuilder into a header-source file pair * Fix copyright * Fix some issues with glove after all the changes Add definitions for SlimeVR v1.2 Fix typo and add comments to quaternion sandwich function * Add NO_WIRE definition for SPI devices * Fix formatting * Minor fix * If ICM-45686 not found, ask again nicely * Fix MCP interface not building * Remove uneccessary "default" ctor from SPIImpl * Remove buildSensorReal * Invert if statement in sensorbuilder+ * Fix formatting * If ICM-45686 not found, ask again nicely * Fix MCP interface not building * Fix formatting * Various cleanup * Formattign * Fix detected logic * Remove unnecessary Self using * For some reason this fixes memory corruption issues * Formatting * This actually works this time * Small cleanup * Remove some unused includes * Formatting * Mag support (Attempt 2) (#458) * WhoAmI check working * In theory this should be setting up the mag * Not sure how that happened * Add magnetometer status to GET TEST and GET INFO * Formatting * Formatting 2 --------- Co-authored-by: Eiren Rain <[email protected]> Co-authored-by: Butterscotch! <[email protected]>
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This PR aims to lay the foundation for magnetometer support for sfusion based IMUs (ICM45, LSM6 family, BMI270, etc etc).
Currently this only means creating the base framework for mag support and adding mag detection for the ICM-45686 IMU. In the future this should be expanded to other IMUs, mag sample support should be added to each of them, and those samples should be fed into VQF.
It also adds magnetometer status to GET TEST and GET INFO in accordance to #457