Merge branch 'main' into qmc-mag-new

.github/workflows/release.yml

@@ -0,0 +1,20 @@
+name: Releases
+
+on: 
+  push:
+    tags:
+    - '*'
+
+jobs:
+
+  build:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ncipollo/release-action@v1
+      with:
+        artifacts: "./build/*.bin"
+        draft: true
+        token: ${{ secrets.GITHUB_TOKEN }}

src/debug.h

@@ -28,9 +28,9 @@
 #define IMU_MPU6050_RUNTIME_CALIBRATION // Comment to revert to startup/traditional-calibration
 #define BNO_USE_ARVR_STABILIZATION true // Set to false to disable stabilization for BNO085+ IMUs
 #define BNO_USE_MAGNETOMETER_CORRECTION false // Set to true to enable magnetometer correction for BNO08x IMUs. Only works with USE_6_AXIS set to true.
-#define USE_6_AXIS false // uses 9 DoF (with mag) if false (only for ICM-20948 and BNO08x currently)
-#define LOAD_BIAS 1 // Loads the bias values from NVS on start (ESP32 Only)
-#define SAVE_BIAS 1 // Periodically saves bias calibration data to NVS (ESP32 Only)
+#define USE_6_AXIS false // uses 9 DoF (with mag) if false (only for ICM-20948 and BNO0xx currently)
+#define LOAD_BIAS true // Loads the bias values from NVS on start
+#define SAVE_BIAS true // Periodically saves bias calibration data to NVS
 #define BIAS_DEBUG false // Printing BIAS Variables to serial (ICM20948 only)
 #define ENABLE_TAP false // monitor accel for (triple) tap events and send them. Uses more cpu, disable if problems. Server does nothing with value so disabled atm
 #define SEND_ACCELERATION true // send linear acceleration to the server
@@ -78,7 +78,7 @@
 // Not recommended for production
 #define ENABLE_INSPECTION false
 
-#define FIRMWARE_BUILD_NUMBER 12
-#define FIRMWARE_VERSION "0.2.3"
+#define FIRMWARE_BUILD_NUMBER 13
+#define FIRMWARE_VERSION "0.3.0"
 
 #endif // SLIMEVR_DEBUG_H_

src/main.cpp

@@ -70,9 +70,9 @@ void setup()
 
     SerialCommands::setUp();
 
-#if IMU == IMU_MPU6500 || IMU == IMU_MPU6050 || IMU == IMU_MPU9250
+#if IMU == IMU_MPU6500 || IMU == IMU_MPU6050 || IMU == IMU_MPU9250 || IMU == IMU_BNO055 || IMU == IMU_ICM20948
     I2CSCAN::clearBus(PIN_IMU_SDA, PIN_IMU_SCL); // Make sure the bus isn't stuck when resetting ESP without powering it down
-    // Do it only for MPU, cause reaction of BNO to this is not investigated yet
+    // Fixes I2C issues for certain IMUs. Only has been tested on IMUs above. Testing advised when adding other IMUs.
 #endif
     // join I2C bus
 

src/network/wifihandler.cpp

@@ -31,7 +31,7 @@
 unsigned long lastWifiReportTime = 0;
 unsigned long wifiConnectionTimeout = millis();
 bool isWifiConnected = false;
-uint8_t wifiState = 0;
+uint8_t wifiState = SLIME_WIFI_NOT_SETUP;
 bool hadWifi = false;
 unsigned long last_rssi_sample = 0;
 
@@ -64,7 +64,7 @@ void WiFiNetwork::setWiFiCredentials(const char * SSID, const char * pass) {
     WiFi.begin(SSID, pass);
     // Reset state, will get back into provisioning if can't connect
     hadWifi = false;
-    wifiState = 2;
+    wifiState = SLIME_WIFI_SERVER_CRED_ATTEMPT;
     wifiConnectionTimeout = millis();
 }
 
@@ -76,12 +76,15 @@ void WiFiNetwork::setUp() {
     wifiHandlerLogger.info("Setting up WiFi");
     WiFi.persistent(true);
     WiFi.mode(WIFI_STA);
+    #if ESP8266
+    WiFi.setPhyMode(WIFI_PHY_MODE_11N);
+    #endif
     WiFi.hostname("SlimeVR FBT Tracker");
     wifiHandlerLogger.info("Loaded credentials for SSID %s and pass length %d", WiFi.SSID().c_str(), WiFi.psk().length());
     setStaticIPIfDefined();
     wl_status_t status = WiFi.begin(); // Should connect to last used access point, see https://arduino-esp8266.readthedocs.io/en/latest/esp8266wifi/station-class.html#begin
     wifiHandlerLogger.debug("Status: %d", status);
-    wifiState = 1;
+    wifiState = SLIME_WIFI_SAVED_ATTEMPT;
     wifiConnectionTimeout = millis();
 
 #if ESP8266
@@ -135,26 +138,74 @@ void WiFiNetwork::upkeep() {
         reportWifiError();
         if(wifiConnectionTimeout + 11000 < millis()) {
             switch(wifiState) {
-                case 0: // Wasn't set up
+                case SLIME_WIFI_NOT_SETUP: // Wasn't set up
                 return;
-                case 1: // Couldn't connect with first set of credentials
+                case SLIME_WIFI_SAVED_ATTEMPT: // Couldn't connect with first set of credentials
+                    #if ESP8266
+                        // Try again but with 11G
+                        // But only if there are credentials, otherwise we just waste time before
+                        // switching to hardcoded credentials.
+                        if (WiFi.SSID().length() > 0) {
+                            WiFi.setPhyMode(WIFI_PHY_MODE_11G);
+                            setStaticIPIfDefined();
+                            WiFi.begin();
+                            wifiConnectionTimeout = millis();
+                            wifiHandlerLogger.error("Can't connect from saved credentials, status: %d.", WiFi.status());
+                            wifiHandlerLogger.debug("Trying saved credentials with PHY Mode G...");
+                        } else {
+                            wifiHandlerLogger.debug("Skipping PHY Mode G attempt on 0-length SSID...");
+                        }
+                    #endif
+                    wifiState = SLIME_WIFI_SAVED_G_ATTEMPT;
+                return;
+                case SLIME_WIFI_SAVED_G_ATTEMPT: // Couldn't connect with first set of credentials with PHY Mode G
                     #if defined(WIFI_CREDS_SSID) && defined(WIFI_CREDS_PASSWD)
                         // Try hardcoded credentials now
+                        #if ESP8266
+                            WiFi.setPhyMode(WIFI_PHY_MODE_11N);
+                        #endif
                         setStaticIPIfDefined();
                         WiFi.begin(WIFI_CREDS_SSID, WIFI_CREDS_PASSWD);
                         wifiConnectionTimeout = millis();
                         wifiHandlerLogger.error("Can't connect from saved credentials, status: %d.", WiFi.status());
                         wifiHandlerLogger.debug("Trying hardcoded credentials...");
                     #endif
-                    wifiState = 2;
+                    wifiState = SLIME_WIFI_HARDCODE_ATTEMPT;
+                return;
+                case SLIME_WIFI_HARDCODE_ATTEMPT: // Couldn't connect with second set of credentials
+                    #if defined(WIFI_CREDS_SSID) && defined(WIFI_CREDS_PASSWD) && ESP8266
+                        // Try hardcoded credentials again, but with PHY Mode G
+                        WiFi.setPhyMode(WIFI_PHY_MODE_11G);
+                        setStaticIPIfDefined();
+                        WiFi.begin(WIFI_CREDS_SSID, WIFI_CREDS_PASSWD);
+                        wifiConnectionTimeout = millis();
+                        wifiHandlerLogger.error("Can't connect from saved credentials, status: %d.", WiFi.status());
+                        wifiHandlerLogger.debug("Trying hardcoded credentials with WiFi PHY Mode G...");
+                    #endif
+                    wifiState = SLIME_WIFI_HARDCODE_G_ATTEMPT;
                 return;
-                case 2: // Couldn't connect with second set of credentials
+                case SLIME_WIFI_SERVER_CRED_ATTEMPT: // Couldn't connect with server-sent credentials. 
+                    #if ESP8266
+                        // Try again silently but with 11G
+                        WiFi.setPhyMode(WIFI_PHY_MODE_11G);
+                        setStaticIPIfDefined();
+                        WiFi.begin();
+                        wifiConnectionTimeout = millis();
+                        wifiState = SLIME_WIFI_SERVER_CRED_G_ATTEMPT;
+                    #endif
+                return;                
+                case SLIME_WIFI_HARDCODE_G_ATTEMPT: // Couldn't connect with second set of credentials with PHY Mode G.
+                case SLIME_WIFI_SERVER_CRED_G_ATTEMPT: // Or if couldn't connect with server-sent credentials
                     // Start smart config
                     if(!hadWifi && !WiFi.smartConfigDone() && wifiConnectionTimeout + 11000 < millis()) {
                         if(WiFi.status() != WL_IDLE_STATUS) {
                             wifiHandlerLogger.error("Can't connect from any credentials, status: %d.", WiFi.status());
                             wifiConnectionTimeout = millis();
                         }
+                        // Return to the default PHY Mode N.
+                        #if ESP8266
+                            WiFi.setPhyMode(WIFI_PHY_MODE_11N);
+                        #endif
                         startProvisioning();
                     }
                 return;

src/network/wifihandler.h

@@ -37,4 +37,15 @@ namespace WiFiNetwork {
     IPAddress getAddress();
 }
 
-#endif // SLIMEVR_WIFI_H_
+/** Wifi Reconnection Statuses **/
+typedef enum {
+    SLIME_WIFI_NOT_SETUP = 0,
+    SLIME_WIFI_SAVED_ATTEMPT,
+    SLIME_WIFI_SAVED_G_ATTEMPT,
+    SLIME_WIFI_HARDCODE_ATTEMPT,
+    SLIME_WIFI_HARDCODE_G_ATTEMPT,
+    SLIME_WIFI_SERVER_CRED_ATTEMPT,
+    SLIME_WIFI_SERVER_CRED_G_ATTEMPT
+} wifi_reconnection_statuses;
+
+#endif // SLIMEVR_WIFI_H_

src/sensors/bmi160sensor.cpp

@@ -142,12 +142,12 @@ void BMI160Sensor::motionLoop() {
     mahonyQuaternionUpdate(q, Axyz[0], Axyz[1], Axyz[2], Gxyz[0], Gxyz[1], Gxyz[2], Mxyz[0], Mxyz[1], Mxyz[2], deltat * 1.0e-6f);
     #endif
     quaternion.set(-q[2], q[1], q[3], q[0]);
-    quaternion *= sensorOffset;
 
 #if SEND_ACCELERATION
     {
-        this->acceleration[0] = Axyz[0];
-        this->acceleration[1] = Axyz[1];
+        // Use the same mapping as in quaternion.set(-q[2], q[1], q[3], q[0]);
+        this->acceleration[0] = -Axyz[1];
+        this->acceleration[1] = Axyz[0];
         this->acceleration[2] = Axyz[2];
 
         // get the component of the acceleration that is gravity
@@ -168,6 +168,8 @@ void BMI160Sensor::motionLoop() {
     }
 #endif
 
+    quaternion *= sensorOffset;
+
 #if ENABLE_INSPECTION
     {
         Network::sendInspectionFusedIMUData(sensorId, quaternion);

src/sensors/bno055sensor.cpp

@@ -28,17 +28,23 @@
 void BNO055Sensor::motionSetup() {
     imu = Adafruit_BNO055(sensorId, addr);
     delay(3000);
+#if USE_6_AXIS
     if (!imu.begin(Adafruit_BNO055::OPERATION_MODE_IMUPLUS))
+#else
+    if (!imu.begin(Adafruit_BNO055::OPERATION_MODE_NDOF))
+#endif
     {
         m_Logger.fatal("Can't connect to BNO055 at address 0x%02x", addr);
         ledManager.pattern(50, 50, 200);
         return;
     }
 
     delay(1000);
+    imu.setExtCrystalUse(true); //Adafruit BNO055's use external crystal. Enable it, otherwise it does not work.
     imu.setAxisRemap(Adafruit_BNO055::REMAP_CONFIG_P0);
     imu.setAxisSign(Adafruit_BNO055::REMAP_SIGN_P0);
     m_Logger.info("Connected to BNO055 at address 0x%02x", addr);
+
     working = true;
     configured = true;
 }