Glove

lib/bno080/BNO080.cpp

@@ -43,14 +43,14 @@
 
 //Attempt communication with the device
 //Return true if we got a 'Polo' back from Marco
-boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, uint8_t intPin)
+boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, PinInterface* intPin)
 {
 	_deviceAddress = deviceAddress; //If provided, store the I2C address from user
 	_i2cPort = &wirePort;			//Grab which port the user wants us to use
 	_int = intPin;					//Get the pin that the user wants to use for interrupts. By default, it's 255 and we'll not use it in dataAvailable() function.
-	if (_int != 255)
+	if (_int != nullptr)
 	{
-		pinMode(_int, INPUT_PULLUP);
+		_int->pinMode(INPUT_PULLUP);
 	}
 
 	//We expect caller to begin their I2C port, with the speed of their choice external to the library
@@ -99,7 +99,7 @@ boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort, uint8_t intPin)
 	return tBoardInfoReceived;
 }
 
-boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_INTPin, uint8_t user_RSTPin, uint32_t spiPortSpeed, SPIClass &spiPort)
+boolean BNO080::beginSPI(PinInterface* user_CSPin, PinInterface* user_WAKPin, PinInterface* user_INTPin, PinInterface* user_RSTPin, uint32_t spiPortSpeed, SPIClass &spiPort)
 {
 	_i2cPort = NULL; //This null tells the send/receive functions to use SPI
 
@@ -114,18 +114,18 @@ boolean BNO080::beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_I
 	_int = user_INTPin;
 	_rst = user_RSTPin;
 
-	pinMode(_cs, OUTPUT);
-	pinMode(_wake, OUTPUT);
-	pinMode(_int, INPUT_PULLUP);
-	pinMode(_rst, OUTPUT);
+	_cs->pinMode(OUTPUT);
+	_wake->pinMode(OUTPUT);
+	_int->pinMode(INPUT_PULLUP);
+	_rst->pinMode(OUTPUT);
 
-	digitalWrite(_cs, HIGH); //Deselect BNO080
+	_cs->digitalWrite(HIGH); //Deselect BNO080
 
 	//Configure the BNO080 for SPI communication
-	digitalWrite(_wake, HIGH); //Before boot up the PS0/WAK pin must be high to enter SPI mode
-	digitalWrite(_rst, LOW);   //Reset BNO080
+	_wake->digitalWrite(HIGH); //Before boot up the PS0/WAK pin must be high to enter SPI mode
+	_rst->digitalWrite(LOW);   //Reset BNO080
 	delay(2);				   //Min length not specified in datasheet?
-	digitalWrite(_rst, HIGH);  //Bring out of reset
+	_rst->digitalWrite(HIGH);  //Bring out of reset
 
 	//Wait for first assertion of INT before using WAK pin. Can take ~104ms
 	waitForSPI();
@@ -203,9 +203,9 @@ uint16_t BNO080::getReadings(void)
 	//If we have an interrupt pin connection available, check if data is available.
 	//If int pin is not set, then we'll rely on receivePacket() to timeout
 	//See issue 13: https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/issues/13
-	if (_int != 255)
+	if (_int != nullptr)
 	{
-		if (digitalRead(_int) == HIGH)
+		if (_int->digitalRead() == HIGH)
 			return 0;
 	}
 
@@ -256,6 +256,13 @@ uint16_t BNO080::parseCommandReport(void)
 		if (command == COMMAND_ME_CALIBRATE)
 		{
 			calibrationStatus = shtpData[5 + 0]; //R0 - Status (0 = success, non-zero = fail)
+			_calibrationResponseStatus = shtpData[5 + 0];
+			_accelCalEnabled = shtpData[6 + 0];
+			_gyroCalEnabled = shtpData[7 + 0];
+			_magCalEnabled = shtpData[8 + 0];
+			_planarAccelCalEnabled = shtpData[9 + 0];
+			_onTableCalEnabled = shtpData[10 + 0];
+			_hasNewCliabrationStatus = true;
 		}
 		return shtpData[0];
 	}
@@ -1381,6 +1388,7 @@ void BNO080::sendCalibrateCommand(uint8_t thingToCalibrate)
 
 	//Make the internal calStatus variable non-zero (operation failed) so that user can test while we wait
 	calibrationStatus = 1;
+	_hasNewCliabrationStatus  = false;
 
 	//Using this shtpData packet, send a command
 	sendCommand(COMMAND_ME_CALIBRATE);
@@ -1404,7 +1412,7 @@ void BNO080::requestCalibrationStatus()
 		shtpData[x] = 0;
 
 	shtpData[6] = 0x01; //P3 - 0x01 - Subcommand: Get ME Calibration
-
+	_hasNewCliabrationStatus  = false;
 	//Using this shtpData packet, send a command
 	sendCommand(COMMAND_ME_CALIBRATE);
 }
@@ -1430,6 +1438,43 @@ void BNO080::saveCalibration()
 	sendCommand(COMMAND_DCD); //Save DCD command
 }
 
+void BNO080::saveCalibrationPeriodically(bool save)
+{
+	/*shtpData[3] = 0; //P0 - Enable/Disable Periodic DCD Save
+	shtpData[4] = 0; //P1 - Reserved
+	shtpData[5] = 0; //P2 - Reserved
+	shtpData[6] = 0; //P3 - Reserved
+	shtpData[7] = 0; //P4 - Reserved
+	shtpData[8] = 0; //P5 - Reserved
+	shtpData[9] = 0; //P6 - Reserved
+	shtpData[10] = 0; //P7 - Reserved
+	shtpData[11] = 0; //P8 - Reserved*/
+
+	for (uint8_t x = 3; x < 12; x++) //Clear this section of the shtpData array
+		shtpData[x] = 0;
+	shtpData[3] = save ? 1 : 0;
+
+	//Using this shtpData packet, send a command
+	sendCommand(COMMAND_DCD_PERIOD_SAVE); //Save DCD command
+}
+
+bool BNO080::hasNewCliabrationStatus()
+{
+	return _hasNewCliabrationStatus;
+}
+
+void BNO080::getCalibrationStatus(uint8_t &calibrationResponseStatus, uint8_t &accelCalEnabled, uint8_t &gyroCalEnabled, uint8_t &magCalEnabled, uint8_t &planarAccelCalEnabled, uint8_t &onTableCalEnabled)
+{
+	_hasNewCliabrationStatus = false;
+	calibrationResponseStatus = _calibrationResponseStatus;
+	accelCalEnabled = _accelCalEnabled;
+	gyroCalEnabled = _gyroCalEnabled;
+	magCalEnabled = _magCalEnabled;
+	planarAccelCalEnabled = _planarAccelCalEnabled;
+	onTableCalEnabled = _onTableCalEnabled;
+}
+
+
 //Wait a certain time for incoming I2C bytes before giving up
 //Returns false if failed
 boolean BNO080::waitForI2C()
@@ -1460,7 +1505,7 @@ boolean BNO080::waitForSPI()
 {
 	for (uint8_t counter = 0; counter < 125; counter++) //Don't got more than 255
 	{
-		if (digitalRead(_int) == LOW)
+		if (_int->digitalRead() == LOW)
 			return (true);
 		if (_printDebug == true)
 			_debugPort->println(F("SPI Wait"));
@@ -1478,15 +1523,15 @@ boolean BNO080::receivePacket(void)
 {
 	if (_i2cPort == NULL) //Do SPI
 	{
-		if (digitalRead(_int) == HIGH)
+		if (_int->digitalRead() == HIGH)
 			return (false); //Data is not available
 
 		//Old way: if (waitForSPI() == false) return (false); //Something went wrong
 
 		//Get first four bytes to find out how much data we need to read
 
 		_spiPort->beginTransaction(SPISettings(_spiPortSpeed, MSBFIRST, SPI_MODE3));
-		digitalWrite(_cs, LOW);
+		_cs->digitalWrite(LOW);
 
 		//Get the first four bytes, aka the packet header
 		uint8_t packetLSB = _spiPort->transfer(0);
@@ -1521,7 +1566,7 @@ boolean BNO080::receivePacket(void)
 				shtpData[dataSpot] = incoming; //Store data into the shtpData array
 		}
 
-		digitalWrite(_cs, HIGH); //Release BNO080
+		_cs->digitalWrite(HIGH); //Release BNO080
 
 		_spiPort->endTransaction();
 		printPacket();
@@ -1627,7 +1672,7 @@ boolean BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength)
 		//BNO080 has max CLK of 3MHz, MSB first,
 		//The BNO080 uses CPOL = 1 and CPHA = 1. This is mode3
 		_spiPort->beginTransaction(SPISettings(_spiPortSpeed, MSBFIRST, SPI_MODE3));
-		digitalWrite(_cs, LOW);
+		_cs->digitalWrite(LOW);
 
 		//Send the 4 byte packet header
 		_spiPort->transfer(packetLength & 0xFF);			 //Packet length LSB
@@ -1641,7 +1686,7 @@ boolean BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength)
 			_spiPort->transfer(shtpData[i]);
 		}
 
-		digitalWrite(_cs, HIGH);
+		_cs->digitalWrite(HIGH);
 		_spiPort->endTransaction();
 	}
 	else //Do I2C

lib/bno080/BNO080.h

@@ -49,6 +49,8 @@
 
 #include <Wire.h>
 #include <SPI.h>
+#include <memory>
+#include "PinInterface.h"
 
 //The default I2C address for the BNO080 on the SparkX breakout is 0x4B. 0x4A is also possible.
 #define BNO080_DEFAULT_ADDRESS 0x4B
@@ -150,8 +152,8 @@ struct BNO080Error {
 class BNO080
 {
 public:
-	boolean begin(uint8_t deviceAddress = BNO080_DEFAULT_ADDRESS, TwoWire &wirePort = Wire, uint8_t intPin = 255); //By default use the default I2C addres, and use Wire port, and don't declare an INT pin
-	boolean beginSPI(uint8_t user_CSPin, uint8_t user_WAKPin, uint8_t user_INTPin, uint8_t user_RSTPin, uint32_t spiPortSpeed = 3000000, SPIClass &spiPort = SPI);
+	boolean begin(uint8_t deviceAddress = BNO080_DEFAULT_ADDRESS, TwoWire &wirePort = Wire, PinInterface* intPin = nullptr); //By default use the default I2C addres, and use Wire port, and don't declare an INT pin
+	boolean beginSPI(PinInterface* user_CSPin, PinInterface* user_WAKPin, PinInterface* user_INTPin, PinInterface* user_RSTPin, uint32_t spiPortSpeed = 3000000, SPIClass &spiPort = SPI);
 
 	void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used.
 
@@ -237,11 +239,13 @@ class BNO080
 	float getMagY();
 	float getMagZ();
 	uint8_t getMagAccuracy();
-	
+
 	void endCalibration();
 	void saveCalibration();
 	void requestCalibrationStatus(); //Sends command to get status
-	boolean calibrationComplete();   //Checks ME Cal response for byte 5, R0 - Status
+	bool calibrationComplete();   //Checks ME Cal response for byte 5, R0 - Status
+	bool hasNewCliabrationStatus();
+	void getCalibrationStatus(uint8_t &calibrationResponseStatus, uint8_t &accelCalEnabled, uint8_t &gyroCalEnabled, uint8_t &magCalEnabled, uint8_t &planarAccelCalEnabled, uint8_t &onTableCalEnabled);
 
 	uint8_t getTapDetector();
 	bool getTapDetected();
@@ -270,6 +274,7 @@ class BNO080
 	void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig);
 	void sendCommand(uint8_t command);
 	void sendCalibrateCommand(uint8_t thingToCalibrate);
+	void saveCalibrationPeriodically(bool save);
 
 	//Metadata functions
 	int16_t getQ1(uint16_t recordID);
@@ -308,10 +313,10 @@ class BNO080
 
 	SPIClass *_spiPort;			 //The generic connection to user's chosen SPI hardware
 	unsigned long _spiPortSpeed; //Optional user defined port speed
-	uint8_t _cs;				 //Pins needed for SPI
-	uint8_t _wake;
-	uint8_t _int;
-	uint8_t _rst;
+	PinInterface* _cs;				 //Pins needed for SPI
+	PinInterface* _wake;
+	PinInterface* _int;
+	PinInterface* _rst;
 
 	//These are the raw sensor values (without Q applied) pulled from the user requested Input Report
 	uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy;
@@ -344,4 +349,7 @@ class BNO080
 	int16_t gyro_Q1 = 9;
 	int16_t magnetometer_Q1 = 4;
 	int16_t angular_velocity_Q1 = 10;
+
+	bool _hasNewCliabrationStatus = false;
+	uint8_t _calibrationResponseStatus, _accelCalEnabled, _gyroCalEnabled, _magCalEnabled, _planarAccelCalEnabled, _onTableCalEnabled;
 };

lib/bno080/PinInterface.h

@@ -0,0 +1,37 @@
+/*
+    SlimeVR Code is placed under the MIT license
+    Copyright (c) 2024 Eiren Rain & SlimeVR contributors
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+*/
+#ifndef _H_PIN_INTERFACE_
+#define _H_PIN_INTERFACE_
+
+#include <Arduino.h>
+
+class PinInterface
+{
+public:
+    virtual int digitalRead();
+    virtual void pinMode(uint8_t mode);
+    virtual void digitalWrite(uint8_t val);
+
+};
+
+#endif // _H_PIN_INTERFACE_

platformio-tools.ini

@@ -2,6 +2,8 @@
 lib_deps=
   https://github.com/SlimeVR/CmdParser.git
   https://github.com/SlimeVR/base64_arduino.git
+  https://github.com/adafruit/Adafruit-MCP23017-Arduino-Library.git
+  https://github.com/hideakitai/PCA9547.git
 monitor_speed = 115200
 framework = arduino
 build_flags =

platformio.ini

@@ -18,6 +18,8 @@ build_cache_dir = cache
 lib_deps=
   https://github.com/SlimeVR/CmdParser.git
   https://github.com/SlimeVR/base64_arduino.git
+  https://github.com/adafruit/Adafruit-MCP23017-Arduino-Library.git
+  https://github.com/hideakitai/PCA9547.git
 monitor_speed = 115200
 monitor_echo = yes
 monitor_filters = colorize
@@ -109,6 +111,7 @@ upload_speed = 921600
 ;  ${env.build_flags}
 ;  -DESP32C3
 ;board = lolin_c3_mini
+;monitor_filters = colorize, esp32_exception_decoder
 
 ; If you want to use a ESP32C6, you can use this (experimental)
 ;[env:esp32c6]
@@ -118,4 +121,4 @@ upload_speed = 921600
 ;  ${env.build_flags}
 ;  -DESP32C6
 ;  -DARDUINO_USB_MODE=1
-;  -DARDUINO_USB_CDC_ON_BOOT=1
+;  -DARDUINO_USB_CDC_ON_BOOT=1

src/consts.h

@@ -42,6 +42,7 @@ enum class ImuID {
 	LSM6DSV,
 	LSM6DSO,
 	LSM6DSR,
+	ADC_RESISTANCE,
 	Empty = 255
 };
 
@@ -83,9 +84,10 @@ enum class ImuID {
 #define BOARD_MOCOPI 15  // Used by mocopi/moslime
 #define BOARD_WEMOSWROOM02 16
 #define BOARD_XIAO_ESP32C3 17
-#define BOARD_HARITORA 18 // Used by Haritora/SlimeTora
+#define BOARD_HARITORA 18  // Used by Haritora/SlimeTora
 #define BOARD_ES32C6DEVKITC1 19
-#define BOARD_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
+#define BOARD_GLOVE_IMU_SLIMEVR_DEV 20  // IMU Glove
+#define BOARD_DEV_RESERVED 250  // Reserved, should not be used in any release firmware
 
 #define BAT_EXTERNAL 1
 #define BAT_INTERNAL 2
@@ -143,6 +145,14 @@ enum class ImuID {
 #define MCU_HARITORA 8  // Used by Haritora/SlimeTora
 #define MCU_DEV_RESERVED 250  // Reserved, should not be used in any release firmware
 
+#define SENSOR_DATATYPE_ROTATION 0
+#define SENSOR_DATATYPE_FLEX_RESISTANCE 1
+#define SENSOR_DATATYPE_FLEX_ANGLE 2
+
+#define TRACKER_TYPE_SVR_ROTATION 0
+#define TRACKER_TYPE_SVR_GLOVE_LEFT 1
+#define TRACKER_TYPE_SVR_GLOVE_RIGHT 1
+
 #ifdef ESP8266
 #define HARDWARE_MCU MCU_ESP8266
 #elif defined(ESP32)
@@ -153,4 +163,6 @@ enum class ImuID {
 
 #define CURRENT_CONFIGURATION_VERSION 1
 
+#include "sensors/sensorposition.h"
+
 #endif  // SLIMEVR_CONSTS_H_

src/debug.h

@@ -94,7 +94,7 @@
 // Not recommended for production
 #define ENABLE_INSPECTION false
 
-#define PROTOCOL_VERSION 18
+#define PROTOCOL_VERSION 19
 
 #ifndef FIRMWARE_VERSION
 #define FIRMWARE_VERSION "UNKNOWN"