SoftFusion sensor framework with BMI, ICM, LSM6, MPU sensor implementations

README.md

@@ -35,6 +35,12 @@ The following IMUs and their corresponding `IMU` values are supported by the fir
   * Using fusion in internal DMP for 6Dof or 9DoF, 9DoF mode requires good magnetic environment.
   * Comment out `USE_6DOF` in `debug.h` for 9DoF mode.
   * Experimental support!
+* BMI270 (IMU_BMI270), ICM-42688 (IMU_ICM42688), LSM6DS3TR-C (IMU_LSM6DS3TRC), LSM6DSV (IMU_LSM6DSV), LSM6DSO (IMU_LSM6DSO), LSM6DSR (IMU_LSM6DSR), MPU-6050 (IMU_MPU6050_SF)
+  * Using common code: SoftFusionSensor for sensor fusion of Gyroscope and Accelerometer.
+  * Gyro&Accel sample rate, gyroscope offset and 6-side accelerometer calibration supported.
+  * In case of BMI270, gyroscope sensitivity auto-calibration (CRT) is additionally performed.
+  * Support for magnetometers is currently not implemented.
+  * VERY experimental support!
 
 Firmware can work with both ESP8266 and ESP32. Please edit `defines.h` and set your pinout properly according to how you connected the IMU.
 

platformio-tools.ini

@@ -7,66 +7,84 @@ framework = arduino
 build_flags =
   !python scripts/get_git_commit.py
   -O2
-  -std=gnu++17
+  -std=gnu++2a
 build_unflags =
   -Os
-  -std=gnu++11
+  -std=gnu++11 -std=gnu++17
 
 [env:BOARD_SLIMEVR]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_SLIMEVR_DEV]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_NODEMCU]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_WEMOSD1MINI]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_TTGO_TBASE]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_WEMOSWROOM02]
-platform = espressif8266 @ 4.2.0
+platform = espressif8266 @ 4.2.1
 board = esp12e
 
 [env:BOARD_WROOM32]
-platform = espressif32 @ 6.1.0
+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
 
 [env:BOARD_ESP01]
-platform = espressif32 @ 6.1.0
+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
 
 [env:BOARD_LOLIN_C3_MINI]
-platform = espressif32 @ 6.1.0
+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
 board = lolin_c3_mini
 
 [env:BOARD_BEETLE32C3]
-platform = espressif32 @ 6.1.0
+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
 board = dfrobot_beetle_esp32c3
 
 [env:BOARD_ES32C3DEVKITM1]
-platform = espressif32 @ 6.1.0
+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
 board = esp32-c3-devkitm-1
 
 [env:BOARD_XIAO_ESP32C3]
-platform = espressif32 @ 6.1.0
+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