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Add a way to toggle magnetometer in runtime (#341)
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* Untested magnetometer toggle feature for BNO08X and overal packet structure for setting flags from the server

* Some build fixes

* refactor(configuration): rename `CalibrationConfig` to `SensorConfig`

* fix network package order

* typo found

* ignore clion files

* finish feature

* remove ota config that i used

* C skill issue on defines

* i have personal issues with C

* do a reset before

* reinit sensor

* Fix remaining merge errors

* remove BNO_USE_MAGNETOMETER_CORRECTION

* Update src/sensors/sensor.h

Co-authored-by: Lena <[email protected]>

* who loves tabs

* send sensorconfig instead of magdata on sensorinfo

* Bump protocol and firmware version

---------

Co-authored-by: Eiren Rain <[email protected]>
Co-authored-by: DevMiner <[email protected]>
Co-authored-by: Lena <[email protected]>
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@ImUrX @Eirenliel
@TheDevMinerTV @Vyolex
4 people authored Oct 30, 2024
1 parent 85dead2 commit a9f5b1a
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Showing 28 changed files with 745 additions and 635 deletions.
1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -3,3 +3,4 @@
build/
venv/
cache/
.idea/
47 changes: 0 additions & 47 deletions src/configuration/CalibrationConfig.cpp
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141 changes: 0 additions & 141 deletions src/configuration/CalibrationConfig.h
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73 changes: 39 additions & 34 deletions src/configuration/Configuration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ namespace SlimeVR {
save();
}

loadCalibrations();
loadSensors();

m_Loaded = true;

Expand All @@ -94,19 +94,19 @@ namespace SlimeVR {
}

void Configuration::save() {
for (size_t i = 0; i < m_Calibrations.size(); i++) {
CalibrationConfig config = m_Calibrations[i];
if (config.type == CalibrationConfigType::NONE) {
for (size_t i = 0; i < m_Sensors.size(); i++) {
SensorConfig config = m_Sensors[i];
if (config.type == SensorConfigType::NONE) {
continue;
}

char path[17];
sprintf(path, DIR_CALIBRATIONS"/%d", i);

m_Logger.trace("Saving calibration data for %d", i);
m_Logger.trace("Saving sensor config data for %d", i);

File file = LittleFS.open(path, "w");
file.write((uint8_t*)&config, sizeof(CalibrationConfig));
file.write((uint8_t*)&config, sizeof(SensorConfig));
file.close();
}

Expand All @@ -122,7 +122,7 @@ namespace SlimeVR {
void Configuration::reset() {
LittleFS.format();

m_Calibrations.clear();
m_Sensors.clear();
m_Config.version = 1;
save();

Expand All @@ -133,41 +133,41 @@ namespace SlimeVR {
return m_Config.version;
}

size_t Configuration::getCalibrationCount() const {
return m_Calibrations.size();
size_t Configuration::getSensorCount() const {
return m_Sensors.size();
}

CalibrationConfig Configuration::getCalibration(size_t sensorID) const {
if (sensorID >= m_Calibrations.size()) {
SensorConfig Configuration::getSensor(size_t sensorID) const {
if (sensorID >= m_Sensors.size()) {
return {};
}

return m_Calibrations.at(sensorID);
return m_Sensors.at(sensorID);
}

void Configuration::setCalibration(size_t sensorID, const CalibrationConfig& config) {
size_t currentCalibrations = m_Calibrations.size();
void Configuration::setSensor(size_t sensorID, const SensorConfig& config) {
size_t currentSensors = m_Sensors.size();

if (sensorID >= currentCalibrations) {
m_Calibrations.resize(sensorID + 1);
if (sensorID >= currentSensors) {
m_Sensors.resize(sensorID + 1);
}

m_Calibrations[sensorID] = config;
m_Sensors[sensorID] = config;
}

void Configuration::loadCalibrations() {
void Configuration::loadSensors() {
SlimeVR::Utils::forEachFile(DIR_CALIBRATIONS, [&](SlimeVR::Utils::File f) {
CalibrationConfig calibrationConfig;
f.read((uint8_t*)&calibrationConfig, sizeof(CalibrationConfig));
SensorConfig sensorConfig;
f.read((uint8_t*)&sensorConfig, sizeof(SensorConfig));

uint8_t sensorId = strtoul(f.name(), nullptr, 10);
m_Logger.debug(
"Found sensor calibration for %s at index %d",
calibrationConfigTypeToString(calibrationConfig.type),
calibrationConfigTypeToString(sensorConfig.type),
sensorId
);

setCalibration(sensorId, calibrationConfig);
setSensor(sensorId, sensorConfig);
});
}

Expand Down Expand Up @@ -200,8 +200,8 @@ namespace SlimeVR {
return false;
}

CalibrationConfigType storedConfigType;
f.read((uint8_t*)&storedConfigType, sizeof(CalibrationConfigType));
SensorConfigType storedConfigType;
f.read((uint8_t*)&storedConfigType, sizeof(SensorConfigType));

if (storedConfigType != config.type) {
m_Logger.debug(
Expand All @@ -225,7 +225,7 @@ namespace SlimeVR {
}

bool Configuration::saveTemperatureCalibration(uint8_t sensorId, const GyroTemperatureCalibrationConfig& config) {
if (config.type == CalibrationConfigType::NONE) {
if (config.type == SensorConfigType::NONE) {
return false;
}

Expand All @@ -249,17 +249,17 @@ namespace SlimeVR {
void Configuration::print() {
m_Logger.info("Configuration:");
m_Logger.info(" Version: %d", m_Config.version);
m_Logger.info(" %d Calibrations:", m_Calibrations.size());
m_Logger.info(" %d Sensors:", m_Sensors.size());

for (size_t i = 0; i < m_Calibrations.size(); i++) {
const CalibrationConfig& c = m_Calibrations[i];
for (size_t i = 0; i < m_Sensors.size(); i++) {
const SensorConfig& c = m_Sensors[i];
m_Logger.info(" - [%3d] %s", i, calibrationConfigTypeToString(c.type));

switch (c.type) {
case CalibrationConfigType::NONE:
case SensorConfigType::NONE:
break;

case CalibrationConfigType::BMI160:
case SensorConfigType::BMI160:
m_Logger.info(" A_B : %f, %f, %f", UNPACK_VECTOR_ARRAY(c.data.bmi160.A_B));

m_Logger.info(" A_Ainv :");
Expand All @@ -272,7 +272,7 @@ namespace SlimeVR {

break;

case CalibrationConfigType::SFUSION:
case SensorConfigType::SFUSION:
m_Logger.info(" A_B : %f, %f, %f", UNPACK_VECTOR_ARRAY(c.data.sfusion.A_B));

m_Logger.info(" A_Ainv :");
Expand All @@ -284,14 +284,14 @@ namespace SlimeVR {
m_Logger.info(" Temperature: %f", c.data.sfusion.temperature);
break;

case CalibrationConfigType::ICM20948:
case SensorConfigType::ICM20948:
m_Logger.info(" G: %d, %d, %d", UNPACK_VECTOR_ARRAY(c.data.icm20948.G));
m_Logger.info(" A: %d, %d, %d", UNPACK_VECTOR_ARRAY(c.data.icm20948.A));
m_Logger.info(" C: %d, %d, %d", UNPACK_VECTOR_ARRAY(c.data.icm20948.C));

break;

case CalibrationConfigType::MPU9250:
case SensorConfigType::MPU9250:
m_Logger.info(" A_B : %f, %f, %f", UNPACK_VECTOR_ARRAY(c.data.mpu9250.A_B));

m_Logger.info(" A_Ainv:");
Expand All @@ -310,11 +310,16 @@ namespace SlimeVR {

break;

case CalibrationConfigType::MPU6050:
case SensorConfigType::MPU6050:
m_Logger.info(" A_B : %f, %f, %f", UNPACK_VECTOR_ARRAY(c.data.mpu6050.A_B));
m_Logger.info(" G_off: %f, %f, %f", UNPACK_VECTOR_ARRAY(c.data.mpu6050.G_off));

break;

case SensorConfigType::BNO0XX:
m_Logger.info(" magEnabled: %d", c.data.bno0XX.magEnabled);

break;
}
}
}
Expand Down
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