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20948 compass support (#6707)

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* Add __has_include blocks for sensors

* Put BMP and BME back in the right sensors

* Split environmental_base to environmental_extra, to compile the working sensor libs for Native

* Remove hard-coded checks for ARCH_PORTDUINO

* Un-clobber bmx160

* Move BusIO to environmental_extra due to Armv7 compile error

* Move to forked BusIO for the moment

* Switch to Meshtastic ICM-20948 lib for Portduino support

* Use 20948 for compass direction

* Compass is more than just RAK4631

* Cleanup for 20948 compass

* use Meshtastic branch of 20948 lib

* Check for HAS_SCREEN for showing calibration screen

* No accelerometerThread on STM32
This commit is contained in:
Jonathan Bennett
2025-05-07 18:38:42 -05:00
committed by GitHub
parent b657ba1abb
commit 3a6fc668d8
11 changed files with 126 additions and 22 deletions
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103
src/motion/ICM20948Sensor.cpp
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@@ -1,6 +1,11 @@
#include "ICM20948Sensor.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<ICM_20948.h>)
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
// screen is defined in main.cpp
extern graphics::Screen *screen;
#endif
// Flag when an interrupt has been detected
volatile static bool ICM20948_IRQ = false;
@@ -41,6 +46,88 @@ int32_t ICM20948Sensor::runOnce()
int32_t ICM20948Sensor::runOnce()
{
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
float magX = 0, magY = 0, magZ = 0;
if (sensor->dataReady()) {
sensor->getAGMT();
magX = sensor->agmt.mag.axes.x;
magY = sensor->agmt.mag.axes.y;
magZ = sensor->agmt.mag.axes.z;
}
if (doCalibration) {
if (!showingScreen) {
powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration
showingScreen = true;
screen->startAlert((FrameCallback)drawFrameCalibration);
}
if (magX > highestX)
highestX = magX;
if (magX < lowestX)
lowestX = magX;
if (magY > highestY)
highestY = magY;
if (magY < lowestY)
lowestY = magY;
if (magZ > highestZ)
highestZ = magZ;
if (magZ < lowestZ)
lowestZ = magZ;
uint32_t now = millis();
if (now > endCalibrationAt) {
doCalibration = false;
endCalibrationAt = 0;
showingScreen = false;
screen->endAlert();
}
// LOG_DEBUG("ICM20948 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX, highestX,
// lowestY, highestY, lowestZ, highestZ);
}
magX -= (highestX + lowestX) / 2;
magY -= (highestY + lowestY) / 2;
magZ -= (highestZ + lowestZ) / 2;
FusionVector ga, ma;
ga.axis.x = (sensor->agmt.acc.axes.x);
ga.axis.y = -(sensor->agmt.acc.axes.y);
ga.axis.z = -(sensor->agmt.acc.axes.z);
ma.axis.x = magX;
ma.axis.y = magY;
ma.axis.z = magZ;
// If we're set to one of the inverted positions
if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
}
float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
switch (config.display.compass_orientation) {
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
heading += 90;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
heading += 180;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
heading += 270;
break;
}
screen->setHeading(heading);
#endif
// Wake on motion using polling - this is not as efficient as using hardware interrupt pin (see above)
auto status = sensor->setBank(0);
if (sensor->status != ICM_20948_Stat_Ok) {
@@ -64,6 +151,17 @@ int32_t ICM20948Sensor::runOnce()
#endif
void ICM20948Sensor::calibrate(uint16_t forSeconds)
{
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
doCalibration = true;
uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided
endCalibrationAt = millis() + calibrateFor;
screen->setEndCalibration(endCalibrationAt);
#endif
}
// ----------------------------------------------------------------------
// ICM20948Singleton
// ----------------------------------------------------------------------
@@ -121,6 +219,11 @@ bool ICM20948Singleton::init(ScanI2C::FoundDevice device)
return false;
}
if (startupMagnetometer(false) != ICM_20948_Stat_Ok) {
LOG_DEBUG("ICM20948 init magnetometer - %s", statusString());
return false;
}
#ifdef ICM_20948_INT_PIN
// Active low