Squashed commit of the following:

commit f1ac5aa Author: kounocom <meia@kouno.xyz> Date: Fri Oct 11 17:02:48 2024 +0300 ...and finally, change whatever these do commit 2ef6306 Author: kounocom <meia@kouno.xyz> Date: Fri Oct 11 16:58:25 2024 +0300 ...and then light the LED when rest is detected, as a debug step commit 4950a17 Author: kounocom <meia@kouno.xyz> Date: Fri Oct 11 16:56:03 2024 +0300 ...and then make them actually work per-sensor commit 1faff26 Author: kounocom <meia@kouno.xyz> Date: Fri Oct 11 16:54:54 2024 +0300 ...and some more commit 2f2c248 Author: kounocom <meia@kouno.xyz> Date: Fri Oct 11 16:54:09 2024 +0300 Adjust VQF params more commit afb4d32 Author: gorbit99 <gorbitgames@gmail.com> Date: Tue Oct 8 18:33:54 2024 +0200 Whoops commit 3d9ad76 Author: gorbit99 <gorbitgames@gmail.com> Date: Tue Oct 8 18:27:55 2024 +0200 Zero out accel calibration commit 5222085 Author: gorbit99 <gorbitgames@gmail.com> Date: Tue Oct 8 18:25:53 2024 +0200 ACTUALLY skip accel calibration commit ea5ea1a Merge: 1e47ff7 099fd9a Author: gorbit99 <gorbitgames@gmail.com> Date: Tue Oct 8 18:06:25 2024 +0200 Merge branch 'dynamic-sfusion' of https://github.com/kounocom/SlimeVR-Tracker-ESP into dynamic-sfusion commit 1e47ff7 Author: gorbit99 <gorbitgames@gmail.com> Date: Tue Oct 8 17:56:29 2024 +0200 Increase sensitivity when gyro is calibrated + skip accel calibration for now commit 099fd9a Author: kounocom <meia@kouno.xyz> Date: Wed Oct 2 08:48:46 2024 +0300 Stuffs for dynamic commit 6f74905 Merge: 44e2aaf 6eb1ef9 Author: gorbit99 <gorbitgames@gmail.com> Date: Wed Oct 2 07:29:34 2024 +0200 Merge branch 'icm45686-firmware' into dynamic-sfusion commit 6eb1ef9 Author: kounocom <meia@kouno.xyz> Date: Wed Oct 2 07:39:19 2024 +0300 Use correct sensitivity commit b84096c Merge: 6515014 73faa41 Author: gorbit99 <gorbitgames@gmail.com> Date: Wed Oct 2 03:59:36 2024 +0200 Merge branch 'icm45686-firmware' of https://github.com/gorbit99/SlimeVR-Tracker-ESP into icm45686-firmware commit 6515014 Author: gorbit99 <gorbitgames@gmail.com> Date: Wed Oct 2 03:59:24 2024 +0200 Hires mode maybe? commit 73faa41 Author: kounocom <meia@kouno.xyz> Date: Wed Oct 2 03:11:08 2024 +0300 Sleep more commit 1aae55a Author: kounocom <meia@kouno.xyz> Date: Wed Oct 2 03:00:55 2024 +0300 Use 8KB FIFO commit bc65001 Author: kounocom <meia@kouno.xyz> Date: Wed Oct 2 02:50:59 2024 +0300 Use clock commit eec8ac6 Author: gorbit99 <gorbitgames@gmail.com> Date: Tue Oct 1 23:56:46 2024 +0200 Actually enable FIFO this time commit 44e2aaf Author: kounocom <meia@kouno.xyz> Date: Tue Oct 1 21:06:15 2024 +0300 This works better commit db71a05 Author: kounocom <meia@kouno.xyz> Date: Mon Sep 30 17:03:19 2024 +0300 change to 4g, fill in missing stuff elsewhere commit f219cc3 Author: kounocom <meia@kouno.xyz> Date: Sun Sep 29 09:58:35 2024 +0300 Always limit TPS with aux (now to 90) commit 8a63326 Author: gorbit99 <gorbitgames@gmail.com> Date: Wed Sep 25 21:09:51 2024 +0200 In theory this works? commit dbce4cb Author: Butterscotch! <bscotchvanilla@gmail.com> Date: Wed Sep 25 12:02:37 2024 -0400 Add dependabot & update workflows (SlimeVR#344) * Add dependabot & update workflows * Specify python-version & use pip cache * Add requirements.txt * Cache PIP generally instead & remove requirements commit 8b00064 Author: Ondrej Hruska <11602729+ZycaR@users.noreply.github.com> Date: Sun Sep 1 10:46:47 2024 -0700 GET.INFO Serial Command Should Returns Battery Voltage & Level (in Percentages) (SlimeVR#338) * GET.INFO serial command return also battery voltage & level in percents * move public headers together
kounocom · Oct 11, 2024 · 9d17241 · 9d17241
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diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -0,0 +1,8 @@
+version: 2
+updates:
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      # Check for updates to GitHub Actions every week
+      interval: "weekly"
diff --git a/.github/workflows/actions.yml b/.github/workflows/actions.yml
@@ -9,21 +9,29 @@ jobs:
     runs-on: ubuntu-20.04
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cache/pip
+            ~/.platformio/.cache
+          key: ${{ runner.os }}-pio
 
       - name: Set up Python
-        uses: actions/setup-python@v1
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
 
-      - name: Install pio and its dependencies
+      - name: Install PlatformIO and its dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install platformio
+          pip install --upgrade platformio
 
       - name: Run builds
         run: python ./ci/build.py
 
       - name: Upload binaries
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: binaries
           path: ./build/*.bin
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -1,6 +1,6 @@
 name: Releases
 
-on: 
+on:
   push:
     tags:
     - '*'
@@ -12,9 +12,9 @@ jobs:
     permissions:
       contents: write
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - uses: ncipollo/release-action@v1
       with:
         artifacts: "./build/*.bin"
         draft: true
-        token: ${{ secrets.GITHUB_TOKEN }}
+        token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/lib/vqf/vqf.h b/lib/vqf/vqf.h
@@ -125,7 +125,7 @@ struct VQFParams
      *
      * Default value: 0.1 °/s
      */
-    vqf_real_t biasSigmaMotion = 0.1;
+    vqf_real_t biasSigmaMotion = 0.1125;
     /**
      * @brief Forgetting factor for unobservable bias in vertical direction during motion.
      *
@@ -153,7 +153,7 @@ struct VQFParams
      *
      * Default value: 1.5 s
      */
-    vqf_real_t restMinT = 1.0;
+    vqf_real_t restMinT = 0.5;
     /**
      * @brief Time constant for the low-pass filter used in rest detection (in seconds).
      *
@@ -162,7 +162,7 @@ struct VQFParams
      *
      * Default value: 0.5 s
      */
-    vqf_real_t restFilterTau = 0.25;
+    vqf_real_t restFilterTau = 0.5;
     /**
      * @brief Angular velocity threshold for rest detection (in °/s).
      *

diff --git a/src/GlobalVars.h b/src/GlobalVars.h
@@ -32,6 +32,7 @@
 #include "network/manager.h"
 #include "sensors/SensorManager.h"
 #include "status/StatusManager.h"
+#include "batterymonitor.h"
 
 extern Timer<> globalTimer;
 extern SlimeVR::LEDManager ledManager;
@@ -40,5 +41,6 @@ extern SlimeVR::Configuration::Configuration configuration;
 extern SlimeVR::Sensors::SensorManager sensorManager;
 extern SlimeVR::Network::Manager networkManager;
 extern SlimeVR::Network::Connection networkConnection;
+extern BatteryMonitor battery;
 
 #endif
diff --git a/src/batterymonitor.h b/src/batterymonitor.h
@@ -72,6 +72,9 @@ class BatteryMonitor
     void Setup();
     void Loop();
 
+    float getVoltage() const { return voltage; }
+    float getLevel() const { return level; }
+
 private:
     unsigned long last_battery_sample = 0;
 #if BATTERY_MONITOR == BAT_MCP3021 || BATTERY_MONITOR == BAT_INTERNAL_MCP3021

diff --git a/src/consts.h b/src/consts.h
@@ -1,49 +1,50 @@
 /*
-    SlimeVR Code is placed under the MIT license
-    Copyright (c) 2021 Eiren Rain & SlimeVR contributors
-
-    Permission is hereby granted, free of charge, to any person obtaining a copy
-    of this software and associated documentation files (the "Software"), to deal
-    in the Software without restriction, including without limitation the rights
-    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-    copies of the Software, and to permit persons to whom the Software is
-    furnished to do so, subject to the following conditions:
-
-    The above copyright notice and this permission notice shall be included in
-    all copies or substantial portions of the Software.
-
-    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-    THE SOFTWARE.
+	SlimeVR Code is placed under the MIT license
+	Copyright (c) 2021 Eiren Rain & SlimeVR contributors
+
+	Permission is hereby granted, free of charge, to any person obtaining a copy
+	of this software and associated documentation files (the "Software"), to deal
+	in the Software without restriction, including without limitation the rights
+	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+	copies of the Software, and to permit persons to whom the Software is
+	furnished to do so, subject to the following conditions:
+
+	The above copyright notice and this permission notice shall be included in
+	all copies or substantial portions of the Software.
+
+	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+	THE SOFTWARE.
 */
 #ifndef SLIMEVR_CONSTS_H_
 #define SLIMEVR_CONSTS_H_
 
 // List of constants used in other places
 
 enum class ImuID {
-    Unknown = 0,
-    MPU9250,
-    MPU6500,
-    BNO080,
-    BNO085,
-    BNO055,
-    MPU6050,
-    BNO086,
-    BMI160,
-    ICM20948,
-    ICM42688,
-    BMI270,
-    LSM6DS3TRC,
-    LSM6DSV,
-    LSM6DSO,
-    LSM6DSR,
-    LSM6DS3,
-    Empty = 255
+	Unknown = 0,
+	MPU9250,
+	MPU6500,
+	BNO080,
+	BNO085,
+	BNO055,
+	MPU6050,
+	BNO086,
+	BMI160,
+	ICM20948,
+	ICM42688,
+	BMI270,
+	LSM6DS3TRC,
+	LSM6DSV,
+	LSM6DSO,
+	LSM6DSR,
+	LSM6DS3,
+	ICM45686,
+	Empty = 255
 };
 
 #define IMU_UNKNOWN ErroneousSensor
@@ -64,8 +65,9 @@ enum class ImuID {
 #define IMU_LSM6DSR SoftFusionLSM6DSR
 #define IMU_MPU6050_SF SoftFusionMPU6050
 #define IMU_LSM6DS3 SoftFusionLSM6DS3
+#define IMU_ICM45686 SoftFusionICM45686
 
-#define IMU_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
+#define IMU_DEV_RESERVED 250  // Reserved, should not be used in any release firmware
 
 #define BOARD_UNKNOWN 0
 #define BOARD_SLIMEVR_LEGACY 1
@@ -80,13 +82,13 @@ enum class ImuID {
 #define BOARD_LOLIN_C3_MINI 10
 #define BOARD_BEETLE32C3 11
 #define BOARD_ES32C3DEVKITM1 12
-#define BOARD_OWOTRACK 13 // Only used by owoTrack mobile app
-#define BOARD_WRANGLER 14 // Only used by wrangler app
-#define BOARD_MOCOPI 15 // Used by mocopi/moslime
+#define BOARD_OWOTRACK 13  // Only used by owoTrack mobile app
+#define BOARD_WRANGLER 14  // Only used by wrangler app
+#define BOARD_MOCOPI 15  // Used by mocopi/moslime
 #define BOARD_WEMOSWROOM02 16
 #define BOARD_XIAO_ESP32C3 17
-#define BOARD_HARITORA 18 // Used by Haritora/SlimeTora
-#define BOARD_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
+#define BOARD_HARITORA 18  // Used by Haritora/SlimeTora
+#define BOARD_DEV_RESERVED 250  // Reserved, should not be used in any release firmware
 
 #define BAT_EXTERNAL 1
 #define BAT_INTERNAL 2
@@ -95,25 +97,28 @@ enum class ImuID {
 
 #define LED_OFF 255
 
-#define POWER_SAVING_LEGACY 0 // No sleeping, but PS enabled
-#define POWER_SAVING_NONE 1 // No sleeping, no PS => for connection issues
-#define POWER_SAVING_MINIMUM 2 // Sleeping and PS => default
-#define POWER_SAVING_MODERATE 3 // Sleeping and better PS => might miss broadcasts, use at own risk
-#define POWER_SAVING_MAXIMUM 4 // Actual CPU sleeping, currently has issues with disconnecting
+#define POWER_SAVING_LEGACY 0  // No sleeping, but PS enabled
+#define POWER_SAVING_NONE 1  // No sleeping, no PS => for connection issues
+#define POWER_SAVING_MINIMUM 2  // Sleeping and PS => default
+#define POWER_SAVING_MODERATE \
+	3  // Sleeping and better PS => might miss broadcasts, use at own risk
+#define POWER_SAVING_MAXIMUM \
+	4  // Actual CPU sleeping, currently has issues with disconnecting
 
 // Send rotation/acceleration data as separate frames.
 // PPS: 1470 @ 5+1, 1960 @ 5+3
 #define PACKET_BUNDLING_DISABLED 0
 // Less packets. Pack data per sensor and send asap.
-// Compared to PACKET_BUNDLING_DISABLED, reduces PPS by ~54% for 5+1, by ~63% for 5+3 setups.
-// PPS: 680 @ 5+1, 740 @ 5+3
+// Compared to PACKET_BUNDLING_DISABLED, reduces PPS by ~54% for 5+1, by ~63% for 5+3
+// setups. PPS: 680 @ 5+1, 740 @ 5+3
 #define PACKET_BUNDLING_LOWLATENCY 1
-// Even less packets, if more than 1 sensor - wait for data from all sensors or until timeout, then send.
-// Compared to PACKET_BUNDLING_LOWLATENCY, reduces PPS by ~5% for 5+1, by ~15% for 5+3 setups.
-// PPS: 650 @ 5+1, 650 @ 5+3
+// Even less packets, if more than 1 sensor - wait for data from all sensors or until
+// timeout, then send. Compared to PACKET_BUNDLING_LOWLATENCY, reduces PPS by ~5% for
+// 5+1, by ~15% for 5+3 setups. PPS: 650 @ 5+1, 650 @ 5+3
 #define PACKET_BUNDLING_BUFFERED 2
 
-// Get radian for a given angle from 0° to 360° (2*PI*r, solve for r given an angle, range -180° to 180°)
+// Get radian for a given angle from 0° to 360° (2*PI*r, solve for r given an angle,
+// range -180° to 180°)
 #define DEG_X(deg) ((((deg) < 180.0f ? 0 : 360.0f) - (deg)) * PI / 180.0f)
 
 #define DEG_0 DEG_X(0.0f)
@@ -133,22 +138,22 @@ enum class ImuID {
 #define MCU_UNKNOWN 0
 #define MCU_ESP8266 1
 #define MCU_ESP32 2
-#define MCU_OWOTRACK_ANDROID 3 // Only used by owoTrack mobile app
-#define MCU_WRANGLER 4 // Only used by wrangler app
-#define MCU_OWOTRACK_IOS 5 // Only used by owoTrack mobile app
+#define MCU_OWOTRACK_ANDROID 3  // Only used by owoTrack mobile app
+#define MCU_WRANGLER 4  // Only used by wrangler app
+#define MCU_OWOTRACK_IOS 5  // Only used by owoTrack mobile app
 #define MCU_ESP32_C3 6
-#define MCU_MOCOPI 7 // Used by mocopi/moslime
-#define MCU_HARITORA 8 // Used by Haritora/SlimeTora
-#define MCU_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
+#define MCU_MOCOPI 7  // Used by mocopi/moslime
+#define MCU_HARITORA 8  // Used by Haritora/SlimeTora
+#define MCU_DEV_RESERVED 250  // Reserved, should not be used in any release firmware
 
 #ifdef ESP8266
-  #define HARDWARE_MCU MCU_ESP8266
+#define HARDWARE_MCU MCU_ESP8266
 #elif defined(ESP32)
-  #define HARDWARE_MCU MCU_ESP32
+#define HARDWARE_MCU MCU_ESP32
 #else
-  #define HARDWARE_MCU MCU_UNKNOWN
+#define HARDWARE_MCU MCU_UNKNOWN
 #endif
 
 #define CURRENT_CONFIGURATION_VERSION 1
 
-#endif // SLIMEVR_CONSTS_H_
+#endif  // SLIMEVR_CONSTS_H_