From b5b6632efe3a4c02cc4f452a443a69086424b7f6 Mon Sep 17 00:00:00 2001
From: "Gabriel St. Angel" <gabrielstangel@Gabriels-MacBook-Pro.local>
Date: Sun, 2 Jun 2024 16:09:34 -0700
Subject: [PATCH] Added pin configuration for esp32-c6

---
 BNO08x.hpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/BNO08x.hpp b/BNO08x.hpp
index f703a5a..c938a80 100644
--- a/BNO08x.hpp
+++ b/BNO08x.hpp
@@ -64,6 +64,22 @@ typedef struct bno08x_config_t
             , debug_en(false)
         {
         }
+#elif defined(ESP32C6_IMU_CONFIG)
+        /// @brief Default IMU configuration settings constructor for ESP32-C6, add
+        /// add_compile_definitions("ESP32C6_IMU_CONFIG") to CMakeList to use
+        bno08x_config_t()
+            : spi_peripheral(SPI2_HOST)
+            , io_mosi(GPIO_NUM_22)
+            , io_miso(GPIO_NUM_21)
+            , io_sclk(GPIO_NUM_23)
+            , io_cs(GPIO_NUM_6)
+            , io_int(GPIO_NUM_4)
+            , io_rst(GPIO_NUM_5)
+            , io_wake(GPIO_NUM_NC)
+            , sclk_speed(2000000UL)    // 2MHz SCLK speed
+            , debug_en(false)
+        {
+        }
 #else
         /// @brief Default IMU configuration settings constructor for ESP32
         bno08x_config_t()