Reverse IMU I2C address from supplement to full

SlimeVR · Dec 20, 2024 · af0cbb0 · af0cbb0
1 parent da44803
commit af0cbb0
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Showing 11 changed files with 32 additions and 37 deletions.
diff --git a/src/defines.h b/src/defines.h
@@ -35,6 +35,10 @@
 #define PRIMARY_IMU_OPTIONAL false
 #define SECONDARY_IMU_OPTIONAL true
 
+// Set I2C address here or directly in IMU_DESC_ENTRY for each IMU used
+#define PRIMARY_IMU_ADDRESS_ONE 0x4a
+#define SECONDARY_IMU_ADDRESS_TWO 0x4b
+
 #define MAX_IMU_COUNT 2
 
 // Axis mapping example

diff --git a/src/sensors/SensorManager.cpp b/src/sensors/SensorManager.cpp
@@ -29,7 +29,6 @@
 #include "icm20948sensor.h"
 #include "mpu6050sensor.h"
 #include "mpu9250sensor.h"
-#include "sensoraddresses.h"
 #include "softfusion/drivers/bmi270.h"
 #include "softfusion/drivers/icm42688.h"
 #include "softfusion/drivers/lsm6ds3trc.h"

diff --git a/src/sensors/SensorManager.h b/src/sensors/SensorManager.h
@@ -61,20 +61,19 @@ class SensorManager {
 	template <typename ImuType>
 	std::unique_ptr<Sensor> buildSensor(
 		uint8_t sensorID,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
 		bool optional = false,
 		int extraParam = 0
 	) {
-		const uint8_t address = ImuType::Address + addrSuppl;
 		m_Logger.trace(
 			"Building IMU with: id=%d,\n\
                                 address=0x%02X, rotation=%f,\n\
                                 sclPin=%d, sdaPin=%d, extraParam=%d, optional=%d",
 			sensorID,
-			address,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin,
@@ -89,21 +88,21 @@ class SensorManager {
 		I2CSCAN::clearBus(sdaPin, sclPin);
 		swapI2C(sclPin, sdaPin);
 
-		if (I2CSCAN::hasDevOnBus(address)) {
-			m_Logger.trace("Sensor %d found at address 0x%02X", sensorID + 1, address);
+		if (I2CSCAN::hasDevOnBus(i2cAddress)) {
+			m_Logger.trace("Sensor %d found at address 0x%02X", sensorID + 1, i2cAddress);
 		} else {
 			if (!optional) {
 				m_Logger.error(
 					"Mandatory sensor %d not found at address 0x%02X",
 					sensorID + 1,
-					address
+					i2cAddress
 				);
 				sensor = std::make_unique<ErroneousSensor>(sensorID, ImuType::TypeID);
 			} else {
 				m_Logger.debug(
 					"Optional sensor %d not found at address 0x%02X",
 					sensorID + 1,
-					address
+					i2cAddress
 				);
 				sensor = std::make_unique<EmptySensor>(sensorID);
 			}
@@ -113,7 +112,7 @@ class SensorManager {
 		uint8_t intPin = extraParam;
 		sensor = std::make_unique<ImuType>(
 			sensorID,
-			addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin,

diff --git a/src/sensors/bmi160sensor.h b/src/sensors/bmi160sensor.h
@@ -138,7 +138,7 @@ class BMI160Sensor : public Sensor {
 
 	BMI160Sensor(
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -148,7 +148,7 @@ class BMI160Sensor : public Sensor {
 			"BMI160Sensor",
 			ImuID::BMI160,
 			id,
-			Address + addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin

diff --git a/src/sensors/bno055sensor.h b/src/sensors/bno055sensor.h
@@ -35,7 +35,7 @@ class BNO055Sensor : public Sensor {
 
 	BNO055Sensor(
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -45,7 +45,7 @@ class BNO055Sensor : public Sensor {
 			"BNO055Sensor",
 			ImuID::BNO055,
 			id,
-			Address + addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin

diff --git a/src/sensors/bno080sensor.h b/src/sensors/bno080sensor.h
@@ -37,7 +37,7 @@ class BNO080Sensor : public Sensor {
 
 	BNO080Sensor(
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -47,7 +47,7 @@ class BNO080Sensor : public Sensor {
 			"BNO080Sensor",
 			ImuID::BNO080,
 			id,
-			Address + addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin
@@ -69,13 +69,13 @@ class BNO080Sensor : public Sensor {
 		const char* sensorName,
 		ImuID imuId,
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
 		uint8_t intPin
 	)
-		: Sensor(sensorName, imuId, id, Address + addrSuppl, rotation, sclPin, sdaPin)
+		: Sensor(sensorName, imuId, id, i2cAddress, rotation, sclPin, sdaPin)
 		, m_IntPin(intPin){};
 
 private:
@@ -102,7 +102,7 @@ class BNO085Sensor : public BNO080Sensor {
 	static constexpr auto TypeID = ImuID::BNO085;
 	BNO085Sensor(
 		uint8_t id,
-		uint8_t address,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -112,7 +112,7 @@ class BNO085Sensor : public BNO080Sensor {
 			"BNO085Sensor",
 			ImuID::BNO085,
 			id,
-			address,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin,
@@ -125,7 +125,7 @@ class BNO086Sensor : public BNO080Sensor {
 	static constexpr auto TypeID = ImuID::BNO086;
 	BNO086Sensor(
 		uint8_t id,
-		uint8_t address,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -135,7 +135,7 @@ class BNO086Sensor : public BNO080Sensor {
 			"BNO086Sensor",
 			ImuID::BNO086,
 			id,
-			address,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin,

diff --git a/src/sensors/icm20948sensor.h b/src/sensors/icm20948sensor.h
@@ -35,7 +35,7 @@ class ICM20948Sensor : public Sensor {
 
 	ICM20948Sensor(
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -45,7 +45,7 @@ class ICM20948Sensor : public Sensor {
 			"ICM20948Sensor",
 			ImuID::ICM20948,
 			id,
-			Address + addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin

diff --git a/src/sensors/mpu6050sensor.h b/src/sensors/mpu6050sensor.h
@@ -36,7 +36,7 @@ class MPU6050Sensor : public Sensor {
 
 	MPU6050Sensor(
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -46,7 +46,7 @@ class MPU6050Sensor : public Sensor {
 			"MPU6050Sensor",
 			ImuID::MPU6050,
 			id,
-			Address + addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin

diff --git a/src/sensors/mpu9250sensor.h b/src/sensors/mpu9250sensor.h
@@ -49,7 +49,7 @@ class MPU9250Sensor : public Sensor {
 
 	MPU9250Sensor(
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -59,7 +59,7 @@ class MPU9250Sensor : public Sensor {
 			"MPU9250Sensor",
 			ImuID::MPU9250,
 			id,
-			Address + addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin

diff --git a/src/sensors/sensoraddresses.h b/src/sensors/sensoraddresses.h
diff --git a/src/sensors/softfusion/softfusionsensor.h b/src/sensors/softfusion/softfusionsensor.h
@@ -181,7 +181,7 @@ class SoftFusionSensor : public Sensor {
 
 	SoftFusionSensor(
 		uint8_t id,
-		uint8_t addrSuppl,
+		uint8_t i2cAddress,
 		float rotation,
 		uint8_t sclPin,
 		uint8_t sdaPin,
@@ -191,13 +191,13 @@ class SoftFusionSensor : public Sensor {
 			imu::Name,
 			imu::Type,
 			id,
-			imu::Address + addrSuppl,
+			i2cAddress,
 			rotation,
 			sclPin,
 			sdaPin
 		)
 		, m_fusion(imu::GyrTs, imu::AccTs, imu::MagTs)
-		, m_sensor(I2CImpl(imu::Address + addrSuppl), m_Logger) {}
+		, m_sensor(I2CImpl(i2cAddress), m_Logger) {}
 	~SoftFusionSensor() {}
 
 	void motionLoop() override final {