BMI220 firmware support

src/consts.h

@@ -42,6 +42,7 @@ enum class ImuID {
     LSM6DSV,
     LSM6DSO,
     LSM6DSR,
+    BMI220,
     Empty = 255
 };
 
@@ -62,6 +63,7 @@ enum class ImuID {
 #define IMU_LSM6DSO SoftFusionLSM6DSO
 #define IMU_LSM6DSR SoftFusionLSM6DSR
 #define IMU_MPU6050_SF SoftFusionMPU6050
+#define IMU_BMI220 SoftFusionBMI220
 
 #define IMU_DEV_RESERVED 250 // Reserved, should not be used in any release firmware
 

src/sensors/SensorManager.cpp

@@ -38,6 +38,7 @@
 #include "softfusion/drivers/lsm6dso.h"
 #include "softfusion/drivers/lsm6dsr.h"
 #include "softfusion/drivers/mpu6050.h"
+#include "softfusion/drivers/bmi220.h"
 
 #include "softfusion/i2cimpl.h"
 
@@ -56,6 +57,7 @@ namespace SlimeVR
         using SoftFusionLSM6DSO = SoftFusionSensor<SoftFusion::Drivers::LSM6DSO, SoftFusion::I2CImpl>;
         using SoftFusionLSM6DSR = SoftFusionSensor<SoftFusion::Drivers::LSM6DSR, SoftFusion::I2CImpl>;
         using SoftFusionMPU6050 = SoftFusionSensor<SoftFusion::Drivers::MPU6050, SoftFusion::I2CImpl>;
+        using SoftFusionBMI220 = SoftFusionSensor<SoftFusion::Drivers::BMI220, SoftFusion::I2CImpl>;
 
         // TODO Make it more generic in the future and move another place (abstract sensor interface)
         void SensorManager::swapI2C(uint8_t sclPin, uint8_t sdaPin)

src/sensors/sensor.cpp

@@ -109,6 +109,8 @@ const char * getIMUNameByType(ImuID imuType) {
             return "LSM6DSO";
         case ImuID::LSM6DSR:
             return "LSM6DSR";
+        case ImuID::BMI220:
+            return "BMI220";
         case ImuID::Unknown:
         case ImuID::Empty:
             return "UNKNOWN";