Run CI for new boards with own defines (#443)

* Run CI for new boards with own defines

* Do not redefine board when defined from CI or other places

* Move sensor defaults to the separate file too

* Add comment to sensor offset

* Add a way to ask for raw accel from BNO08X

* Merge fix

* Update from suggestions

* Fix typos

* Move some stuff around and apply suggestions

* Fix formatting

* Add defines for all other boards too

* Make glove buildable

* Make failed build report better

Author: Eirenliel

.github/workflows/actions.yml

@@ -71,3 +71,4 @@ jobs:
           generate_release_notes: true
           files: |
             ./build/BOARD_SLIMEVR-firmware.bin
+            ./build/BOARD_SLIMEVR_V1_2-firmware.bin

ci/build.py

@@ -95,7 +95,7 @@ def build() -> int:
         status = build_for_device(device)
 
         if not status:
-            failed_builds.append(device.platformio_board)
+            failed_builds.append(device.board)
 
     if len(failed_builds) > 0:
         print(f"  🡢 {COLOR_RED}Failed!{COLOR_RESET}")

lib/bno080/BNO080.cpp

@@ -12,7 +12,6 @@
 
   This library handles the initialization of the BNO080 and is able to query the sensor
   for different readings.
-
   https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library
 
   Development environment specifics:
@@ -688,6 +687,16 @@ void BNO080::getAccel(float &x, float &y, float &z, uint8_t &accuracy)
 	hasNewAccel_ = false;
 }
 
+bool BNO080::getNewAccel(float &x, float &y, float &z, uint8_t &accuracy)
+{
+	if (hasNewAccel_)
+	{
+		getAccel(x, y, z, accuracy);
+		return true;
+	}
+	return false;
+}
+
 //Return the acceleration component
 float BNO080::getAccelX()
 {

lib/bno080/BNO080.h

@@ -214,6 +214,7 @@ class BNO080
 	uint8_t getQuatAccuracy();
 
 	void getAccel(float &x, float &y, float &z, uint8_t &accuracy);
+	bool getNewAccel(float &x, float &y, float &z, uint8_t &accuracy);
 	float getAccelX();
 	float getAccelY();
 	float getAccelZ();

platformio-tools.ini

@@ -17,40 +17,82 @@ build_unflags =
 [env:BOARD_SLIMEVR]
 platform = espressif8266 @ 4.2.1
 board = esp12e
+build_flags =
+  ${env.build_flags}
+  -D BOARD=BOARD_SLIMEVR
+
+[env:BOARD_SLIMEVR_V1_2]
+platform = espressif8266 @ 4.2.1
+board = esp12e
+build_flags =
+  ${env.build_flags}
+  -D BOARD=BOARD_SLIMEVR_V1_2
 
 [env:BOARD_SLIMEVR_DEV]
 platform = espressif8266 @ 4.2.1
 board = esp12e
+build_flags =
+  ${env.build_flags}
+  -D BOARD=BOARD_SLIMEVR_DEV
+
+[env:BOARD_GLOVE_IMU_SLIMEVR_DEV]
+platform = espressif32 @ 6.7.0
+platform_packages =
+  framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
+  framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
+build_flags = 
+  ${env.build_flags}
+  -DESP32C3
+  -D BOARD=BOARD_GLOVE_IMU_SLIMEVR_DEV
+board = lolin_c3_mini
 
 [env:BOARD_NODEMCU]
 platform = espressif8266 @ 4.2.1
 board = esp12e
+build_flags = 
+  ${env.build_flags}
+  -D BOARD=BOARD_NODEMCU
 
 [env:BOARD_WEMOSD1MINI]
 platform = espressif8266 @ 4.2.1
 board = esp12e
+build_flags = 
+  ${env.build_flags}
+  -D BOARD=BOARD_WEMOSD1MINI
 
 [env:BOARD_TTGO_TBASE]
 platform = espressif8266 @ 4.2.1
 board = esp12e
+build_flags = 
+  ${env.build_flags}
+  -D BOARD=BOARD_TTGO_TBASE
 
 [env:BOARD_WEMOSWROOM02]
 platform = espressif8266 @ 4.2.1
 board = esp12e
+build_flags = 
+  ${env.build_flags}
+  -D BOARD=BOARD_NODEMCU
 
 [env:BOARD_WROOM32]
 platform = espressif32 @ 6.7.0
 platform_packages =
   framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
   framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 board = esp32dev
+build_flags = 
+  ${env.build_flags}
+  -D BOARD=BOARD_WROOM32
 
 [env:BOARD_ESP01]
 platform = espressif32 @ 6.7.0
 platform_packages =
   framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#3.0.1
   framework-arduinoespressif32-libs @ https://github.com/espressif/arduino-esp32/releases/download/3.0.1/esp32-arduino-libs-3.0.1.zip
 board = esp32dev
+build_flags = 
+  ${env.build_flags}
+  -D BOARD=BOARD_ESP01
 
 [env:BOARD_LOLIN_C3_MINI]
 platform = espressif32 @ 6.7.0
@@ -60,6 +102,7 @@ platform_packages =
 build_flags = 
   ${env.build_flags}
   -DESP32C3
+  -D BOARD=BOARD_LOLIN_C3_MINI
 board = lolin_c3_mini
 
 [env:BOARD_BEETLE32C3]
@@ -70,6 +113,7 @@ platform_packages =
 build_flags = 
   ${env.build_flags}
   -DESP32C3
+  -D BOARD=BOARD_BEETLE32C3
 board = dfrobot_beetle_esp32c3
 
 [env:BOARD_ESP32C3DEVKITM1]
@@ -80,13 +124,15 @@ platform_packages =
 build_flags = 
   ${env.build_flags}
   -DESP32C3
+  -D BOARD=BOARD_ESP32C3DEVKITM1
 board = esp32-c3-devkitm-1
 
 [env:BOARD_ESP32C6DEVKITC1]
 platform = https://github.com/tasmota/platform-espressif32/releases/download/2024.06.11/platform-espressif32.zip
 build_flags =
   ${env.build_flags}
   -DESP32C6
+  -D BOARD=BOARD_ESP32C6DEVKITC1
 board = esp32-c6-devkitc-1
 
 [env:BOARD_XIAO_ESP32C3]
@@ -97,4 +143,5 @@ platform_packages =
 build_flags = 
   ${env.build_flags}
   -DESP32C3
+  -D BOARD=BOARD_XIAO_ESP32C3
 board = seeed_xiao_esp32c3

src/GlobalVars.h

@@ -20,18 +20,16 @@
 	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 	THE SOFTWARE.
 */
-
-#ifndef GLOBALVARS_H
-#define GLOBALVARS_H
+#pragma once
 
 #include <arduino-timer.h>
 
-#include "LEDManager.h"
 #include "batterymonitor.h"
 #include "configuration/Configuration.h"
 #include "network/connection.h"
 #include "network/manager.h"
 #include "sensors/SensorManager.h"
+#include "status/LEDManager.h"
 #include "status/StatusManager.h"
 
 extern Timer<> globalTimer;
@@ -42,5 +40,3 @@ extern SlimeVR::Sensors::SensorManager sensorManager;
 extern SlimeVR::Network::Manager networkManager;
 extern SlimeVR::Network::Connection networkConnection;
 extern BatteryMonitor battery;
-
-#endif

src/board_default.h src/boards/boards_default.hsrc/board_default.h renamed to src/boards/boards_default.h

@@ -174,3 +174,73 @@ BATTERY_R1(10)
 BATTERY_R2(40.2)
 
 #endif
+
+// Default IMU pinouts and definitions for default tracker types
+
+#if BOARD != BOARD_GLOVE_IMU_SLIMEVR_DEV
+// Defaunlt definitions for normal 2-sensor trackers
+#ifndef MAX_SENSORS_COUNT
+#define MAX_SENSORS_COUNT 2
+#endif
+#ifndef TRACKER_TYPE
+#define TRACKER_TYPE TrackerType::TRACKER_TYPE_SVR_ROTATION
+#endif
+
+// Axis mapping example
+/*
+#include "sensors/axisremap.h"
+#define BMI160_QMC_REMAP AXIS_REMAP_BUILD(AXIS_REMAP_USE_Y, AXIS_REMAP_USE_XN,
+AXIS_REMAP_USE_Z, \ AXIS_REMAP_USE_YN, AXIS_REMAP_USE_X, AXIS_REMAP_USE_Z)
+
+SENSOR_DESC_ENTRY(IMU_BMP160, PRIMARY_IMU_ADDRESS_ONE, IMU_ROTATION, PIN_IMU_SCL,
+PIN_IMU_SDA, PRIMARY_IMU_OPTIONAL, BMI160_QMC_REMAP) \
+*/
+
+#ifndef SENSOR_DESC_LIST
+#if BOARD == BOARD_SLIMEVR_V1_2
+#define SENSOR_DESC_LIST                             \
+	SENSOR_DESC_ENTRY(                               \
+		IMU,                                         \
+		DIRECT_PIN(15),                              \
+		IMU_ROTATION,                                \
+		DIRECT_SPI(24'000'000, MSBFIRST, SPI_MODE3), \
+		PRIMARY_IMU_OPTIONAL,                        \
+		DIRECT_PIN(PIN_IMU_INT),                     \
+		0                                            \
+	)                                                \
+	SENSOR_DESC_ENTRY(                               \
+		SECOND_IMU,                                  \
+		SECONDARY_IMU_ADDRESS_TWO,                   \
+		SECOND_IMU_ROTATION,                         \
+		DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA),       \
+		SECONDARY_IMU_OPTIONAL,                      \
+		DIRECT_PIN(PIN_IMU_INT_2),                   \
+		0                                            \
+	)
+#else
+#define SENSOR_DESC_LIST                       \
+	SENSOR_DESC_ENTRY(                         \
+		IMU,                                   \
+		PRIMARY_IMU_ADDRESS_ONE,               \
+		IMU_ROTATION,                          \
+		DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
+		PRIMARY_IMU_OPTIONAL,                  \
+		DIRECT_PIN(PIN_IMU_INT),               \
+		0                                      \
+	)                                          \
+	SENSOR_DESC_ENTRY(                         \
+		SECOND_IMU,                            \
+		SECONDARY_IMU_ADDRESS_TWO,             \
+		SECOND_IMU_ROTATION,                   \
+		DIRECT_WIRE(PIN_IMU_SCL, PIN_IMU_SDA), \
+		SECONDARY_IMU_OPTIONAL,                \
+		DIRECT_PIN(PIN_IMU_INT_2),             \
+		0                                      \
+	)
+#endif
+#endif
+#else  // BOARD == BOARD_GLOVE_IMU_SLIMEVR_DEV
+
+#include "glove_default.h"
+
+#endif  // BOARD != BOARD_GLOVE_IMU_SLIMEVR_DEV

src/defines_helpers.cpp src/boards/defines_helpers.cppsrc/defines_helpers.cpp renamed to src/boards/defines_helpers.cpp

@@ -23,7 +23,7 @@
 
 #include "defines_helpers.h"
 
-#include "consts.h"
+#include "../consts.h"
 
 #ifndef LED_BUILTIN
 #define LED_BUILTIN LED_OFF