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Feature/LSM6DSO #112

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merged 3 commits into from
Jan 19, 2025
Merged

Feature/LSM6DSO #112

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6d18dfd
Add LSM6DSO for HW 0.9.x
Apehaenger Jan 7, 2025
2a46bbf
Add LSMDSO for HW 0.10 and 0.11
Apehaenger Jan 7, 2025
3f3ce9b
Add new LSM6DSO variants to CI
Apehaenger Jan 9, 2025
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14 changes: 13 additions & 1 deletion .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,10 @@ jobs:
cp Firmware/LowLevel/.pio/build/0_11_X_WT901/firmware.elf ./artifacts/0_11_X_WT901
cp Firmware/LowLevel/.pio/build/0_11_X_WT901/firmware.uf2 ./artifacts/0_11_X_WT901

mkdir ./artifacts/0_11_X_LSM6DSO
cp Firmware/LowLevel/.pio/build/0_11_X_LSM6DSO/firmware.elf ./artifacts/0_11_X_LSM6DSO
cp Firmware/LowLevel/.pio/build/0_11_X_LSM6DSO/firmware.uf2 ./artifacts/0_11_X_LSM6DSO

mkdir ./artifacts/0_10_X_MPU9250
cp Firmware/LowLevel/.pio/build/0_10_X_MPU9250/firmware.elf ./artifacts/0_10_X_MPU9250
cp Firmware/LowLevel/.pio/build/0_10_X_MPU9250/firmware.uf2 ./artifacts/0_10_X_MPU9250
Expand All @@ -104,6 +108,10 @@ jobs:
cp Firmware/LowLevel/.pio/build/0_10_X_WT901/firmware.elf ./artifacts/0_10_X_WT901
cp Firmware/LowLevel/.pio/build/0_10_X_WT901/firmware.uf2 ./artifacts/0_10_X_WT901

mkdir ./artifacts/0_10_X_LSM6DSO
cp Firmware/LowLevel/.pio/build/0_10_X_LSM6DSO/firmware.elf ./artifacts/0_10_X_LSM6DSO
cp Firmware/LowLevel/.pio/build/0_10_X_LSM6DSO/firmware.uf2 ./artifacts/0_10_X_LSM6DSO

mkdir ./artifacts/0_9_X_MPU9250
cp Firmware/LowLevel/.pio/build/0_9_X_MPU9250/firmware.elf ./artifacts/0_9_X_MPU9250
cp Firmware/LowLevel/.pio/build/0_9_X_MPU9250/firmware.uf2 ./artifacts/0_9_X_MPU9250
Expand All @@ -115,7 +123,11 @@ jobs:
mkdir ./artifacts/0_9_X_WT901_INSTEAD_OF_SOUND
cp Firmware/LowLevel/.pio/build/0_9_X_WT901_INSTEAD_OF_SOUND/firmware.elf ./artifacts/0_9_X_WT901_INSTEAD_OF_SOUND
cp Firmware/LowLevel/.pio/build/0_9_X_WT901_INSTEAD_OF_SOUND/firmware.uf2 ./artifacts/0_9_X_WT901_INSTEAD_OF_SOUND


mkdir ./artifacts/0_9_X_LSM6DSO
cp Firmware/LowLevel/.pio/build/0_9_X_LSM6DSO/firmware.elf ./artifacts/0_9_X_LSM6DSO
cp Firmware/LowLevel/.pio/build/0_9_X_LSM6DSO/firmware.uf2 ./artifacts/0_9_X_LSM6DSO

- name: Upload Artifacts
uses: actions/upload-artifact@v4
with:
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26 changes: 26 additions & 0 deletions Firmware/LowLevel/platformio.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,15 @@ lib_deps = ${env.lib_deps}
JY901_I2C
build_flags = ${env.build_flags} -DWT901_I2C -DHW_0_11_X -DENABLE_SOUND_MODULE

[env:0_11_X_LSM6DSO]
build_src_filter = ${env.build_src_filter} +<imu/LSM6DSO/>
lib_ignore = JY901_SERIAL,JY901_I2C
lib_deps = ${env.lib_deps}
${sound.lib_deps}
stm32duino/STM32duino LSM6DSO@^2.0.3
jpiat/PioSPI@^0.0.1
build_flags = ${env.build_flags} -DHW_0_11_X -DENABLE_SOUND_MODULE


[env:0_10_X_MPU9250]
lib_ignore = JY901_SERIAL,JY901_I2C
Expand All @@ -98,6 +107,15 @@ lib_deps = ${env.lib_deps}
JY901_I2C
build_flags = ${env.build_flags} -DWT901_I2C -DHW_0_10_X -DENABLE_SOUND_MODULE

[env:0_10_X_LSM6DSO]
build_src_filter = ${env.build_src_filter} +<imu/LSM6DSO/>
lib_ignore = JY901_SERIAL,JY901_I2C
lib_deps = ${env.lib_deps}
${sound.lib_deps}
stm32duino/STM32duino LSM6DSO@^2.0.3
jpiat/PioSPI@^0.0.1
build_flags = ${env.build_flags} -DHW_0_10_X -DENABLE_SOUND_MODULE


[env:0_9_X_MPU9250]
lib_ignore = JY901_SERIAL,JY901_I2C
Expand All @@ -121,3 +139,11 @@ lib_deps = ${env.lib_deps}
${sound.lib_deps}
JY901_SERIAL
build_flags = ${env.build_flags} -DWT901 -DHW_0_9_X -DENABLE_SOUND_MODULE

[env:0_9_X_LSM6DSO]
lib_ignore = JY901_SERIAL,JY901_I2C
build_src_filter = ${env.build_src_filter} +<imu/LSM6DSO/>
lib_deps = ${env.lib_deps}
${sound.lib_deps}
stm32duino/STM32duino LSM6DSO@^2.0.3
build_flags = ${env.build_flags} -DHW_0_9_X -DENABLE_SOUND_MODULE
6 changes: 3 additions & 3 deletions Firmware/LowLevel/src/imu/LSM6DSO/imu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
#include "pins.h"
#include <LSM6DSOSensor.h>

#ifdef HW_0_12_X
// Needs software UART because pins were messed up in 0.12
#if defined(HW_0_10_X) || defined(HW_0_11_X) || defined(HW_0_12_X)
// Needs software SPI because pins were messed up in 0.10-0.12
#include <PioSPI.h>
PioSPI spiBus(PIN_IMU_MOSI, PIN_IMU_MISO, PIN_IMU_SCK, PIN_IMU_CS, SPI_MODE3, 1000000);
#else
Expand All @@ -16,7 +16,7 @@ int32_t accelerometer[3];
int32_t gyroscope[3];

bool init_imu() {
#ifdef HW_0_12_X
#if defined(HW_0_10_X) || defined(HW_0_11_X) || defined(HW_0_12_X)
spiBus.begin();
#else
spiBus.setCS(PIN_IMU_CS);
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11 changes: 8 additions & 3 deletions Firmware/LowLevel/src/pins.h
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
#pragma once

#ifdef HW_0_9_X
#define PIN_IMU_CS 17
#define PIN_ANALOG_BATTERY_VOLTAGE 27
#define PIN_ANALOG_CHARGE_VOLTAGE 26
#define PIN_ANALOG_CHARGE_CURRENT 28
Expand Down Expand Up @@ -32,15 +31,21 @@
#define PIN_SOUND_RX 9
#endif

#ifdef WT901_INSTEAD_OF_SOUND
// IMU Variants
#ifdef WT901_INSTEAD_OF_SOUND // WT901 via HardwareSerial
#ifdef ENABLE_SOUND_MODULE
#error you can not enable sound and have wt901 on sound port at the same time.
#endif
#define PIN_WT901_TX 8
#define PIN_WT901_RX 9
#elif WT901 //This is to use WT901 on MPU9250 Slot via Serial.
#elif WT901 // WT901 on MPU9250 Slot via SerialPIO.
#define PIN_WT901_TX 17
#define PIN_WT901_RX 16
#else
#define PIN_IMU_CS 17 // MPU9250
#define PIN_IMU_RX 16 // LSM6DSx
#define PIN_IMU_TX 19 // LSM6DSx
#define PIN_IMU_SCK 18 // LSM6DSx
#endif

#elif HW_0_10_X || HW_0_11_X || HW_0_12_X
Expand Down
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