fix(drivers): add auto-config addresses, unique sensorID generator, swap ism330dlc to dhcx

Author: tyeth

src/components/i2c/controller.cpp

@@ -206,7 +206,7 @@ static const std::map<std::string, FnCreateI2CSensorDriver> I2cFactorySensor = {
     {"ism330dlc",
      [](TwoWire *i2c, uint16_t addr, uint32_t mux_channel,
         const char *driver_name) -> drvBase * {
-       return new drvIsm330dlc(i2c, addr, mux_channel, driver_name);
+       return new drvIsm330dhcx(i2c, addr, mux_channel, driver_name);
      }},
     {"ism330dhcx",
      [](TwoWire *i2c, uint16_t addr, uint32_t mux_channel,
@@ -457,13 +457,13 @@ static const std::unordered_map<uint16_t, std::vector<const char *>>
         {0x0B, {"lc709203f"}},
         {0x12, {"pmsa003i"}},
         {0x13, {"vncl4020"}},
-        {0x18, {"ds2484", "mcp9808", "mprls"}},
-        {0x19, {"mcp9808"}},
+        {0x18, {"ds2484", "mcp9808", "mprls", "lis3dh"}},
+        {0x19, {"mcp9808", "lis3dh", "lsm303dlh", "lsm303agr"}},
         {0x1A, {"mcp9808"}},
         {0x1B, {"mcp9808"}},
-        {0x1C, {"mcp9808"}},
+        {0x1C, {"mcp9808", "lis3mdl"}},
         {0x1D, {"mcp9808"}},
-        {0x1E, {"mcp9808"}},
+        {0x1E, {"mcp9808", "lis2mdl", "lis3mdl"}},
         {0x1F, {"mcp9808"}},
         {0x23, {"bh1750"}},
         {0x28, {"pct2075"}},
@@ -508,7 +508,11 @@ static const std::unordered_map<uint16_t, std::vector<const char *>>
         {0x62, {"scd40"}},
         {0x68, {"mcp3421"}},
         {0x69, {"sen55"}},
-        {0x6B, {"sen66"}},
+        {0x6A, {"lsm6dso32", "ism330dhcx", "lsm6ds3"}},
+        {0x6B, {"sen66", "lsm6ds3", "lsm6dso32", "ism330dhcx"}},
+        {0x6C, {"lsm303dlh"}},
+        {0x6D, {"lsm303agr"}},
+        {0x6E, {"lsm9ds1"}},
         {0x70, {"pct2075", "shtc3"}},
         {0x71, {"pct2075"}},
         {0x72, {"pct2075"}},

src/components/i2c/controller.h

@@ -40,7 +40,6 @@
 #include "drivers/drvIna238.h"
 #include "drivers/drvIna260.h"
 #include "drivers/drvIsm330dhcx.h"
-#include "drivers/drvIsm330dlc.h"
 #include "drivers/drvLc709203f.h"
 #include "drivers/drvLis2mdl.h"
 #include "drivers/drvLis3dh.h"

src/components/i2c/drivers/drvBaseAccelLsm6.cpp

@@ -39,27 +39,27 @@ bool drvBaseAccelLsm6::readAllEvents() {
     _last_shake = true;
   }
 
-  uint16_t step_change = imu->readPedometer();
-  if (step_change > 0) {
-    WS_DEBUG_PRINT("[");
-    WS_DEBUG_PRINT(_name);
-    WS_DEBUG_PRINT("] Steps detected: ");
-    WS_DEBUG_PRINTLN(step_change);
-    _last_steps += step_change;
-    imu->resetPedometer();
-  }
+//   uint16_t step_change = imu->readPedometer();
+//   if (step_change > 0) {
+//     WS_DEBUG_PRINT("[");
+//     WS_DEBUG_PRINT(_name);
+//     WS_DEBUG_PRINT("] Steps detected !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n!: ");
+//     WS_DEBUG_PRINTLN(step_change);
+//     _last_steps += step_change;
+//     imu->resetPedometer();
+//   }
 
   bool success = imu->getEvent(&_lastAccelEvent, &_lastGyroEvent, &_lastTempEvent);
   _has_last_events = success;
   return success;
 }
 
-bool drvBaseAccelLsm6::computeAccelMagnitude(float &magnitude) {
+bool drvBaseAccelLsm6::computeAccelMagnitude(float *magnitude) {
   if (!readAllEvents()) {
     return false;
   }
 
-  magnitude = sqrtf(_lastAccelEvent.acceleration.x *
+  *magnitude = sqrtf(_lastAccelEvent.acceleration.x *
                         _lastAccelEvent.acceleration.x +
                     _lastAccelEvent.acceleration.y *
                         _lastAccelEvent.acceleration.y +
@@ -72,12 +72,19 @@ bool drvBaseAccelLsm6::getEventRaw(sensors_event_t *rawEvent) {
   if (!readAllEvents()) {
     return false;
   }
+  return computeAccelMagnitude(&(rawEvent->data[0]));
+}
+
+bool drvBaseAccelLsm6::getEventAmbientTemp(sensors_event_t *temperatureEvent) {
+  if (!readAllEvents()) {
+    return false;
+  }
 
-  rawEvent->data[0] = static_cast<float>(_last_steps);
-  _last_steps = 0;
+  *temperatureEvent = _lastTempEvent;
   return true;
 }
 
+// NO Shake/tap/wakeup for now, using pedometer steps instead on INT1
 bool drvBaseAccelLsm6::getEventBoolean(sensors_event_t *booleanEvent) {
   if (!readAllEvents()) {
     return false;

src/components/i2c/drivers/drvBaseAccelLsm6.h

@@ -21,23 +21,34 @@ class drvBaseAccelLsm6 : public drvBase {
   bool getEventRaw(sensors_event_t *rawEvent) override;
   bool getEventAccelerometer(sensors_event_t *accelEvent) override;
   bool getEventGyroscope(sensors_event_t *gyroEvent) override;
+  bool getEventAmbientTemp(sensors_event_t *temperatureEvent) override;
 
   void ConfigureDefaultSensorTypes() override;
 
   void setInternalPollingInterval(uint32_t interval_ms);
 
 protected:
   virtual Adafruit_LSM6DS *getLSM6Sensor() const = 0;
+  
+  uint32_t getLsmSensorID() {
+    // allow 4 ids per sensor (acc/mag/gyro/temp)
+    uint32_t sensor_id = 10 * GetAddress();
+    if (GetMuxAddress() != 0x0) {
+      sensor_id += 10000 + GetMuxAddress();
+      sensor_id += 1000 + (1000 * GetMuxChannel());
+    }
+    return sensor_id;
+  }
 
   bool readAllEvents();
-  bool computeAccelMagnitude(float &magnitude);
+  bool computeAccelMagnitude(float *magnitude);
 
   bool _has_last_events = false;   ///< Flag to track if last events are stored
   bool _last_shake = false;        ///< Last state of shake / tap detection
   sensors_event_t _lastAccelEvent; ///< Last accelerometer event
   sensors_event_t _lastGyroEvent;  ///< Last gyroscope event
   sensors_event_t _lastTempEvent;  ///< Last temperature event (raw)
-  uint16_t _last_steps = 0;        ///< Last step count
+//   uint16_t _last_steps = 0;        ///< Last step count
   uint32_t _lastPoll = 0;          ///< Last poll time
   uint32_t _internalPollPeriod = 200; ///< Internal Polling interval in ms
 };

src/components/i2c/drivers/drvIsm330dlc.cpp

@@ -39,13 +39,14 @@ bool drvLsm6dso32::begin() {
   }
 
   _imu->setAccelRange(LSM6DSO32_ACCEL_RANGE_8_G);
-  _imu->setAccelDataRate(LSM6DS_RATE_104_HZ);
-  _imu->setGyroRange(LSM6DS_GYRO_RANGE_500_DPS);
-  _imu->setGyroDataRate(LSM6DS_RATE_104_HZ);
-  _imu->configInt1(false, false, false, true, true);
-  _imu->configInt2(false, false, false);
-  _imu->enablePedometer(true);
+  _imu->setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
+  _imu->setAccelDataRate(LSM6DS_RATE_416_HZ);
+  _imu->setGyroDataRate(LSM6DS_RATE_416_HZ);
+  // _imu->highPassFilter(true, LSM6DS_HPF_ODR_DIV_100);
+  _imu->configInt1(false, false, false, false, true);
+  // _imu->configInt2(false, false, false);
   _imu->enableWakeup(true);
+  // _imu->enablePedometer(true);
 
   WS_DEBUG_PRINTLN("[drvLsm6dso32] Sensor initialised successfully");
   return true;