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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
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GPG Key ID: B5690EEEBB952194
11 changed files with 126 additions and 22 deletions
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4
platformio.ini
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@ -161,6 +161,8 @@ 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
sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@1.3.2
; (not included in native / portduino)
[environmental_extra]
@ -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

2
src/ButtonThread.cpp
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@ -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) {

11
src/main.cpp
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@ -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)

2
src/main.h
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@ -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

2
src/modules/AdminModule.cpp
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@ -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

10
src/motion/AccelerometerThread.h
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@ -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:

2
src/motion/BMX160Sensor.cpp
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@ -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

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

4
src/motion/ICM20948Sensor.h
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@ -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

2
src/motion/MotionSensor.cpp
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@ -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;

2
src/motion/MotionSensor.h
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@ -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