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Mesh node t1 fixes (#10602)

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* Fixes

* Remove BATTERY_LPCOMP_THRESHOLD

BATTERY_LPCOMP_THRESHOLD is dead code — in main-nrf52.cpp it's inside #ifdef BATTERY_LPCOMP_INPUT, which this board intentionally doesn't define. The threshold value is never reached.

* Trunk fix

* Update MotionSensor.cpp

* fix

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
Co-authored-by: Jonathan Bennett <jbennett@incomsystems.biz>
This commit is contained in:
HarukiToreda
2026-06-13 19:57:28 -05:00
committed by GitHub
co-authored by Ben Meadors Jonathan Bennett
parent b938b63e8a
commit 745b53698a
8 changed files with 181 additions and 99 deletions
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src/motion/ICM42607PSensor.cpp
+25 -7
View File
@@ -4,10 +4,16 @@
#include "detect/ScanI2CTwoWire.h"
#include <ICM42670P.h>
#include <math.h>
static constexpr uint16_t ICM42607P_ACCEL_ODR_HZ = 50;
static constexpr uint16_t ICM42607P_ACCEL_FSR_G = 2;
static constexpr float ICM42607P_COUNTS_PER_G = 32768.0f / ICM42607P_ACCEL_FSR_G;
static constexpr float ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE =
#ifdef ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG
ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG;
#else
0.0f;
#endif
#ifdef ICM_42607P_INT_PIN
volatile static bool ICM42607P_IRQ = false;
@@ -18,10 +24,7 @@ void ICM42607PSetInterrupt()
}
#endif
ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice)
{
wire = ScanI2CTwoWire::fetchI2CBus(foundDevice.address);
}
ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
ICM42607PSensor::~ICM42607PSensor() = default;
@@ -30,6 +33,7 @@ bool ICM42607PSensor::init()
bool addressLsb = deviceAddress() == ICM42607P_ADDR_ALT;
LOG_DEBUG("ICM-42607-P begin on addr 0x%02X (port=%d)", deviceAddress(), devicePort());
TwoWire *wire = ScanI2CTwoWire::fetchI2CBus(device.address);
sensor.reset();
auto newSensor = std::make_unique<ICM42670>(*wire, addressLsb);
@@ -82,8 +86,22 @@ int32_t ICM42607PSensor::runOnce()
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
// LOG_DEBUG("ICM-42607-P accel read x=%.3fg y=%.3fg z=%.3fg", (float)event.accel[0] / ICM42607P_COUNTS_PER_G,
// (float)event.accel[1] / ICM42607P_COUNTS_PER_G, (float)event.accel[2] / ICM42607P_COUNTS_PER_G);
float ax = static_cast<float>(event.accel[0]);
float ay = static_cast<float>(event.accel[1]);
const float az = static_cast<float>(event.accel[2]);
if (ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE != 0.0f) {
static const float rotRad = ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE * DEG_TO_RAD;
static const float cosTheta = cosf(rotRad);
static const float sinTheta = sinf(rotRad);
const float rotatedX = (ax * cosTheta) - (ay * sinTheta);
const float rotatedY = (ax * sinTheta) + (ay * cosTheta);
ax = rotatedX;
ay = rotatedY;
}
// Match the accel sign convention used by other FusionCompass sensor paths.
publishCompassAccelSample(ax, -ay, -az);
return MOTION_SENSOR_CHECK_INTERVAL_MS;
#endif