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esp32_BNO08x
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Added esp32c3 support

This commit is contained in:
myles-parfeniuk 2024-02-01 00:07:36 -08:00
parent 8f89501e17
commit 62da810dbc
1 changed files with 18 additions and 4 deletions
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22
BNO08x.hpp
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@ -1,5 +1,4 @@
#pragma once #pragma once
#include <driver/gpio.h> #include <driver/gpio.h>
#include <driver/spi_common.h> #include <driver/spi_common.h>
#include <driver/spi_master.h> #include <driver/spi_master.h>
@ -43,6 +42,21 @@ typedef struct bno08x_config_t {
bool debug_en; ///<Whether or not debugging print statements are enabled bool debug_en; ///<Whether or not debugging print statements are enabled
/// @brief Default IMU configuration settings /// @brief Default IMU configuration settings
#ifdef ESP32C3_IMU_CONFIG
/// @brief Default IMU configuration settings for ESP32-C3
bno08x_config_t()
: spi_peripheral(SPI2_HOST)
, io_mosi(GPIO_NUM_4)
, io_miso(GPIO_NUM_19)
, io_sclk(GPIO_NUM_18)
, io_cs(GPIO_NUM_5)
, io_int(GPIO_NUM_6)
, io_rst(GPIO_NUM_7)
, io_wake(GPIO_NUM_8)
, sclk_speed(2000000UL) // 1MHz SCLK speed
, debug_en(false)
{}
#else
bno08x_config_t() bno08x_config_t()
: spi_peripheral(SPI3_HOST) : spi_peripheral(SPI3_HOST)
, io_mosi(GPIO_NUM_23) , io_mosi(GPIO_NUM_23)
@ -54,12 +68,12 @@ typedef struct bno08x_config_t {
, io_wake(GPIO_NUM_4) , io_wake(GPIO_NUM_4)
, ,
// sclk_speed(10000U), //clock slowed to see on AD2 // sclk_speed(10000U), //clock slowed to see on AD2
sclk_speed(2000000U) sclk_speed(2000000UL) // 1MHz SCLK speed
, // 1MHz SCLK speed ,
debug_en(false) debug_en(false)
{} {}
#endif
} bno08x_config_t; } bno08x_config_t;
class BNO08x { class BNO08x {