BMI323 sfusion implementation

src/consts.h

@@ -42,6 +42,7 @@ enum class ImuID {
     LSM6DSV,
     LSM6DSO,
     LSM6DSR,
+    BMI323,
     Empty = 255
 };
 
@@ -61,6 +62,7 @@ enum class ImuID {
 #define IMU_LSM6DSV SoftFusionLSM6DSV
 #define IMU_LSM6DSO SoftFusionLSM6DSO
 #define IMU_LSM6DSR SoftFusionLSM6DSR
+#define IMU_BMI323 SoftFusionBMI323
 #define IMU_MPU6050_SF SoftFusionMPU6050
 
 #define IMU_DEV_RESERVED 250 // Reserved, should not be used in any release firmware

src/defines.h

@@ -26,9 +26,9 @@
 // ================================================
 
 // Set parameters of IMU and board used
-#define IMU IMU_BNO085
-#define SECOND_IMU IMU
-#define BOARD BOARD_SLIMEVR
+#define IMU IMU_BMI323
+#define SECOND_IMU IMU_BMI323
+#define BOARD BOARD_CUSTOM
 #define IMU_ROTATION DEG_270
 #define SECOND_IMU_ROTATION DEG_270
 
@@ -149,6 +149,24 @@ IMU_DESC_ENTRY(IMU_BMP160, PRIMARY_IMU_ADDRESS_ONE, IMU_ROTATION, PIN_IMU_SCL, P
 //  #define LED_INVERTED false
 #elif BOARD == BOARD_CUSTOM
   // Define pins by the examples above
+  #define PIN_IMU_SDA 4
+  #define PIN_IMU_SCL 5
+  #define PIN_IMU_INT 14
+  #define PIN_IMU_INT_2 12
+  #define PIN_BATTERY_LEVEL A0
+  #define LED_PIN 15
+  #define LED_INVERTED false
+  // The Wemos D1 mini has an internal voltage divider that I don't have on my custom board
+  // Therefor, BATTERY_SHIELD_RESISTANCE is set to 0 and SHIELD_R1 and R2 are adjusted instead
+  #ifndef BATTERY_SHIELD_RESISTANCE
+    #define BATTERY_SHIELD_RESISTANCE 0
+  #endif
+  #ifndef BATTERY_SHIELD_R1 
+    #define BATTERY_SHIELD_R1 36
+  #endif
+  #ifndef BATTERY_SHIELD_R2
+    #define BATTERY_SHIELD_R2 123.5
+  #endif
 #elif BOARD == BOARD_WROOM32
   #define PIN_IMU_SDA 21
   #define PIN_IMU_SCL 22

src/sensors/SensorManager.cpp

@@ -38,6 +38,7 @@
 #include "softfusion/drivers/lsm6dso.h"
 #include "softfusion/drivers/lsm6dsr.h"
 #include "softfusion/drivers/mpu6050.h"
+#include "softfusion/drivers/bmi323.h"
 
 #include "softfusion/i2cimpl.h"
 
@@ -56,6 +57,7 @@ namespace SlimeVR
         using SoftFusionLSM6DSO = SoftFusionSensor<SoftFusion::Drivers::LSM6DSO, SoftFusion::I2CImpl>;
         using SoftFusionLSM6DSR = SoftFusionSensor<SoftFusion::Drivers::LSM6DSR, SoftFusion::I2CImpl>;
         using SoftFusionMPU6050 = SoftFusionSensor<SoftFusion::Drivers::MPU6050, SoftFusion::I2CImpl>;
+        using SoftFusionBMI323 = SoftFusionSensor<SoftFusion::Drivers::BMI323, SoftFusion::I2CImpl>;
 
         // TODO Make it more generic in the future and move another place (abstract sensor interface)
         void SensorManager::swapI2C(uint8_t sclPin, uint8_t sdaPin)