20948 compass support (#6707)

* 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

platformio.ini

@@ -161,8 +161,10 @@ lib_deps =
 	robtillaart/INA226@0.6.4
 	# renovate: datasource=custom.pio depName=SparkFun MAX3010x packageName=sparkfun/library/SparkFun MAX3010x Pulse and Proximity Sensor Library
 	sparkfun/SparkFun MAX3010x Pulse and Proximity Sensor Library@1.1.2
-
+	# renovate: datasource=custom.pio depName=SparkFun 9DoF IMU Breakout ICM 20948 packageName=sparkfun/library/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-; (not included in native / portduino)
+	sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@1.3.2
+  
+  ; (not included in native / portduino)
 [environmental_extra]
 lib_deps =
 	# renovate: datasource=custom.pio depName=Adafruit BMP3XX packageName=adafruit/library/Adafruit BMP3XX Library
@@ -181,8 +183,6 @@ lib_deps =
 	adafruit/Adafruit SHT4x Library@1.0.5
 	# renovate: datasource=custom.pio depName=SparkFun Qwiic Scale NAU7802 packageName=sparkfun/library/SparkFun Qwiic Scale NAU7802 Arduino Library
 	sparkfun/SparkFun Qwiic Scale NAU7802 Arduino Library@1.0.6
-	# renovate: datasource=custom.pio depName=SparkFun 9DoF IMU Breakout ICM 20948 packageName=sparkfun/library/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library
-	sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@1.3.2
 	# renovate: datasource=custom.pio depName=ClosedCube OPT3001 packageName=closedcube/library/ClosedCube OPT3001
 	ClosedCube OPT3001@1.1.2
 	# renovate: datasource=git-refs depName=Bosch BSEC2 packageName=https://github.com/meshtastic/Bosch-BSEC2-Library gitBranch=extra_script

src/ButtonThread.cpp

@@ -255,7 +255,7 @@ int32_t ButtonThread::runOnce()
                 digitalWrite(PIN_EINK_EN, digitalRead(PIN_EINK_EN) == LOW);
                 break;
 #endif
-#if defined(RAK_4631)
+#if !MESHTASTIC_EXCLUDE_SCREEN && HAS_SCREEN
             // 5 clicks: start accelerometer/magenetometer calibration for 30 seconds
             case 5:
                 if (accelerometerThread) {

src/main.cpp

@@ -105,7 +105,7 @@ NRF52Bluetooth *nrf52Bluetooth = nullptr;
 #include "AmbientLightingThread.h"
 #include "PowerFSMThread.h"
 
-#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
 #include "motion/AccelerometerThread.h"
 AccelerometerThread *accelerometerThread = nullptr;
 #endif
@@ -692,7 +692,7 @@ void setup()
     }
 #endif
 
-#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL)
+#if !defined(ARCH_STM32WL)
     auto acc_info = i2cScanner->firstAccelerometer();
     accelerometer_found = acc_info.type != ScanI2C::DeviceType::NONE ? acc_info.address : accelerometer_found;
     LOG_DEBUG("acc_info = %i", acc_info.type);
@@ -807,7 +807,7 @@ void setup()
 #endif
 
 #if !MESHTASTIC_EXCLUDE_I2C
-#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL)
+#if !defined(ARCH_STM32WL)
     if (acc_info.type != ScanI2C::DeviceType::NONE) {
         accelerometerThread = new AccelerometerThread(acc_info.type);
     }
@@ -1300,7 +1300,12 @@ void setup()
     LOG_DEBUG("Free heap  : %7d bytes", ESP.getFreeHeap());
     LOG_DEBUG("Free PSRAM : %7d bytes", ESP.getFreePsram());
 #endif
+#if !defined(ARCH_STM32WL)
+    if (accelerometerThread)
+        accelerometerThread->calibrate(30);
+#endif
 }
+
 #endif
 uint32_t rebootAtMsec;   // If not zero we will reboot at this time (used to reboot shortly after the update completes)
 uint32_t shutdownAtMsec; // If not zero we will shutdown at this time (used to shutdown from python or mobile client)

src/main.h

@@ -58,7 +58,7 @@ extern UdpMulticastHandler *udpHandler;
 // Global Screen singleton.
 extern graphics::Screen *screen;
 
-#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
 #include "motion/AccelerometerThread.h"
 extern AccelerometerThread *accelerometerThread;
 #endif

src/modules/AdminModule.cpp

@@ -38,7 +38,7 @@
 #include "modules/PositionModule.h"
 #endif
 
-#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
 #include "motion/AccelerometerThread.h"
 #endif
 

src/motion/AccelerometerThread.h

@@ -4,7 +4,7 @@
 
 #include "configuration.h"
 
-#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
 
 #include "../concurrency/OSThread.h"
 #ifdef HAS_BMA423
@@ -81,14 +81,6 @@ class AccelerometerThread : public concurrency::OSThread
             return;
         }
 
-#ifndef RAK_4631
-        if (!config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
-            LOG_DEBUG("AccelerometerThread Disable due to no interested configurations");
-            disable();
-            return;
-        }
-#endif
-
         switch (device.type) {
 #ifdef HAS_BMA423
         case ScanI2C::DeviceType::BMA423:

src/motion/BMX160Sensor.cpp

@@ -4,7 +4,7 @@
 
 BMX160Sensor::BMX160Sensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
 
-#if defined(RAK_4631) && !defined(RAK2560) && __has_include(<Rak_BMX160.h>)
+#if !defined(RAK2560) && __has_include(<Rak_BMX160.h>)
 #if !defined(MESHTASTIC_EXCLUDE_SCREEN)
 
 // screen is defined in main.cpp

src/motion/ICM20948Sensor.cpp

@@ -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

src/motion/ICM20948Sensor.h

@@ -6,6 +6,7 @@
 
 #if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<ICM_20948.h>)
 
+#include "Fusion/Fusion.h"
 #include <ICM_20948.h>
 
 // Set the default gyro scale - dps250, dps500, dps1000, dps2000
@@ -80,6 +81,8 @@ class ICM20948Sensor : public MotionSensor
 {
   private:
     ICM20948Singleton *sensor = nullptr;
+    bool showingScreen = false;
+    float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
 
   public:
     explicit ICM20948Sensor(ScanI2C::FoundDevice foundDevice);
@@ -89,6 +92,7 @@ class ICM20948Sensor : public MotionSensor
 
     // Called each time our sensor gets a chance to run
     virtual int32_t runOnce() override;
+    virtual void calibrate(uint16_t forSeconds) override;
 };
 
 #endif

src/motion/MotionSensor.cpp

@@ -31,7 +31,7 @@ ScanI2C::I2CPort MotionSensor::devicePort()
     return device.address.port;
 }
 
-#if defined(RAK_4631) & !MESHTASTIC_EXCLUDE_SCREEN
+#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
 void MotionSensor::drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
 {
     // int x_offset = display->width() / 2;

src/motion/MotionSensor.h

@@ -49,7 +49,7 @@ class MotionSensor
     // Register a button press when a double-tap is detected
     virtual void buttonPress();
 
-#if defined(RAK_4631) & !MESHTASTIC_EXCLUDE_SCREEN
+#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
     // draw an OLED frame (currently only used by the RAK4631 BMX160 sensor)
     static void drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
 #endif