add guards to some defines

Should address SlimeVR#334 Make defines.h more powerfull

src/debug.h

@@ -25,70 +25,134 @@
 #include "consts.h"
 #include "logging/Level.h"
 
-#define IMU_MPU6050_RUNTIME_CALIBRATION // Comment to revert to startup/traditional-calibration
-#define BNO_USE_ARVR_STABILIZATION true // Set to false to disable stabilization for BNO085+ IMUs
-#define BNO_USE_MAGNETOMETER_CORRECTION false // Set to true to enable magnetometer correction for BNO08x IMUs. Only works with USE_6_AXIS set to true.
-#define USE_6_AXIS true // uses 9 DoF (with mag) if false (only for ICM-20948 and BNO0xx currently)
-#define LOAD_BIAS true // Loads the bias values from NVS on start
-#define SAVE_BIAS true // Periodically saves bias calibration data to NVS
-#define BIAS_DEBUG false // Printing BIAS Variables to serial (ICM20948 only)
-#define ENABLE_TAP false // monitor accel for (triple) tap events and send them. Uses more cpu, disable if problems. Server does nothing with value so disabled atm
-#define SEND_ACCELERATION true // send linear acceleration to the server
+#ifndef IMU_MPU6050_RUNTIME_CALIBRATION
+	#define IMU_MPU6050_RUNTIME_CALIBRATION true // Comment to revert to startup/traditional-calibration
+#endif
+
+#ifndef BNO_USE_ARVR_STABILIZATION
+	#define BNO_USE_ARVR_STABILIZATION true // Set to false to disable stabilization for BNO085+ IMUs
+#endif
+
+#ifndef BNO_USE_MAGNETOMETER_CORRECTION
+	#define BNO_USE_MAGNETOMETER_CORRECTION false // Set to true to enable magnetometer correction for BNO08x IMUs. Only works with USE_6_AXIS set to true.
+#endif
+
+#ifndef USE_6_AXIS
+	#define USE_6_AXIS true // uses 9 DoF (with mag) if false (only for ICM-20948 and BNO0xx currently)
+#endif
+
+#ifndef LOAD_BIAS
+	#define LOAD_BIAS true // Loads the bias values from NVS on start
+#endif
+
+#ifndef SAVE_BIAS
+	#define SAVE_BIAS true // Periodically saves bias calibration data to NVS
+#endif
+
+#ifndef BIAS_DEBUG
+	#define BIAS_DEBUG false // Printing BIAS Variables to serial (ICM20948 only)
+#endif
+
+#ifndef ENABLE_TAP
+	#define ENABLE_TAP false // monitor accel for (triple) tap events and send them. Uses more cpu, disable if problems. Server does nothing with value so disabled atm
+#endif
 
+#ifndef SEND_ACCELERATION
+	#define SEND_ACCELERATION true // send linear acceleration to the server
+#endif
 //Debug information
 
-#define LOG_LEVEL LOG_LEVEL_DEBUG
+#ifndef LOG_LEVEL
+	#define LOG_LEVEL LOG_LEVEL_DEBUG
+#endif
 
 #if LOG_LEVEL == LOG_LEVEL_TRACE
     #define DEBUG_SENSOR
     #define DEBUG_NETWORK
     #define DEBUG_CONFIGURATION
 #endif
 
-#define serialDebug false // Set to true to get Serial output for debugging
-#define serialBaudRate 115200
-#define LED_INTERVAL_STANDBY 10000
-#define PRINT_STATE_EVERY_MS 60000
+#ifndef serialDebug
+	#define serialDebug false // Set to true to get Serial output for debugging
+#endif
+#ifndef serialBaudRate
+	#define serialBaudRate 115200
+#endif
+#ifndef LED_INTERVAL_STANDBY
+	#define LED_INTERVAL_STANDBY 10000
+#endif
+#ifndef PRINT_STATE_EVERY_MS
+	#define PRINT_STATE_EVERY_MS 60000
+#endif
 
 // Determines how often we sample and send data
-#define samplingRateInMillis 10
+#ifndef samplingRateInMillis
+	#define samplingRateInMillis 10
+#endif
 
 // Sleeping options
-#define POWERSAVING_MODE POWER_SAVING_LEGACY  // Minimum causes sporadic data pauses
+#ifndef POWERSAVING_MODE
+	#define POWERSAVING_MODE POWER_SAVING_LEGACY  // Minimum causes sporadic data pauses
+#endif
 #if POWERSAVING_MODE >= POWER_SAVING_MINIMUM
     #define TARGET_LOOPTIME_MICROS (samplingRateInMillis * 1000)
 #endif
 
 // Packet bundling/aggregation
-#define PACKET_BUNDLING PACKET_BUNDLING_BUFFERED
+#ifndef PACKET_BUNDLING
+	#define PACKET_BUNDLING PACKET_BUNDLING_BUFFERED
+#endif
 // Extra tunable for PACKET_BUNDLING_BUFFERED (10000us = 10ms timeout, 100hz target)
-#define PACKET_BUNDLING_BUFFER_SIZE_MICROS 10000
-
+#ifndef PACKET_BUNDLING_BUFFER_SIZE_MICROS
+	#define PACKET_BUNDLING_BUFFER_SIZE_MICROS 10000
+#endif
 // Setup for the Magnetometer
-#define useFullCalibrationMatrix true
-
+#ifndef useFullCalibrationMatrix
+	#define useFullCalibrationMatrix true
+#endif
 // Battery configuration
-#define batterySampleRate 10000
-#define BATTERY_LOW_VOLTAGE_DEEP_SLEEP false
-#define BATTERY_LOW_POWER_VOLTAGE 3.3f // Voltage to raise error
+#ifndef batterySampleRate
+	#define batterySampleRate 10000
+#endif
+#ifndef BATTERY_LOW_VOLTAGE_DEEP_SLEEP
+	#define BATTERY_LOW_VOLTAGE_DEEP_SLEEP false
+#endif
+#ifndef BATTERY_LOW_POWER_VOLTAGE
+	#define BATTERY_LOW_POWER_VOLTAGE 3.3f // Voltage to raise error
+#endif
 
 // Send updates over network only when changes are substantial
 // If "false" updates are sent at the sensor update rate (usually 100 TPS)
 // If "true" updates will be less frequent in the time of little motion
 // Experimental
-#define OPTIMIZE_UPDATES true
+#ifndef OPTIMIZE_UPDATES
+	#define OPTIMIZE_UPDATES true
+#endif
 
-#define I2C_SPEED 400000
+#ifndef I2C_SPEED
+	#define I2C_SPEED 400000
+#endif
+
+#ifndef COMPLIANCE_MODE
+	#define COMPLIANCE_MODE true
+#endif
 
-#define COMPLIANCE_MODE true
 #define USE_ATTENUATION COMPLIANCE_MODE && ESP8266
-#define ATTENUATION_N 10.0 / 4.0
-#define ATTENUATION_G 14.0 / 4.0
-#define ATTENUATION_B 40.0 / 4.0
+#ifndef ATTENUATION_N
+	#define ATTENUATION_N 10.0 / 4.0
+#endif
+#ifndef ATTENUATION_G
+	#define ATTENUATION_G 14.0 / 4.0
+#endif
+#ifndef ATTENUATION_B
+	#define ATTENUATION_B 40.0 / 4.0
+#endif
 
 // Send inspection packets over the network to a profiler
 // Not recommended for production
-#define ENABLE_INSPECTION false
+#ifndef ENABLE_INSPECTION
+	#define ENABLE_INSPECTION false
+#endif
 
 #define FIRMWARE_BUILD_NUMBER 17
 #define FIRMWARE_VERSION "0.4.0"

src/defines_bmi160.h

@@ -27,24 +27,34 @@
 // If only 1 out of 2 trackers has a mag, tracker without a mag should still function normally.
 // NOT USED if USE_6_AXIS == true
 // Pick one:
-#define BMI160_MAG_TYPE BMI160_MAG_TYPE_HMC
+#ifndef BMI160_MAG_TYPE
+	#define BMI160_MAG_TYPE BMI160_MAG_TYPE_HMC
+#endif
 // #define BMI160_MAG_TYPE BMI160_MAG_TYPE_QMC
 
 // Use VQF instead of mahony sensor fusion.
 // Features: rest bias estimation, magnetic distortion rejection.
-#define BMI160_USE_VQF true
+#ifndef BMI160_USE_VQF
+	#define BMI160_USE_VQF true
+#endif
 
 // Use BasicVQF instead of VQF (if BMI160_USE_VQF == true).
 // Disables the features above.
-#define BMI160_USE_BASIC_VQF false
+#ifndef BMI160_USE_BASIC_VQF
+	#define BMI160_USE_BASIC_VQF false
+#endif
 
 // Use temperature calibration.
-#define BMI160_USE_TEMPCAL true
+#ifndef BMI160_USE_TEMPCAL
+	#define BMI160_USE_TEMPCAL true
+#endif
 
 // How long to run gyro calibration for.
 // Disables this calibration step if value is 0.
 // Default: 5
-#define BMI160_CALIBRATION_GYRO_SECONDS 5
+#ifndef BMI160_CALIBRATION_GYRO_SECONDS
+	#define BMI160_CALIBRATION_GYRO_SECONDS 5
+#endif
 
 // Calibration method options:
 // - Skip: disable this calibration step;
@@ -53,24 +63,34 @@
 // Default: ACCEL_CALIBRATION_METHOD_6POINT
 // #define BMI160_ACCEL_CALIBRATION_METHOD ACCEL_CALIBRATION_METHOD_SKIP
 // #define BMI160_ACCEL_CALIBRATION_METHOD ACCEL_CALIBRATION_METHOD_ROTATION
-#define BMI160_ACCEL_CALIBRATION_METHOD ACCEL_CALIBRATION_METHOD_6POINT
+#ifndef BMI160_ACCEL_CALIBRATION_METHOD
+	#define BMI160_ACCEL_CALIBRATION_METHOD ACCEL_CALIBRATION_METHOD_6POINT
+#endif
 
 // How long to run magnetometer calibration for, if enabled and you have added a magnetometer.
 // Magnetometer not be used until you calibrate it.
 // Disables this calibration step if value is 0.
 // NOT USED if USE_6_AXIS == true
 // Default: 20
+#ifndef BMI160_CALIBRATION_MAG_SECONDS
 #define BMI160_CALIBRATION_MAG_SECONDS 20
+#endif
 
 // Send temperature to the server as AXXYY,
 // where XX is calibration progress from 0 to 60, and YY is temperature,
 // A is 1: not in calibration mode or 2: calibration in progress.
+#ifndef BMI160_TEMPCAL_DEBUG
 #define BMI160_TEMPCAL_DEBUG false
+#endif
 
 // Print debug info every second.
+#ifndef BMI160_DEBUG
 #define BMI160_DEBUG false
+#endif
 
 // Use sensitivity calibration.
+#ifndef BMI160_USE_SENSCAL
 #define BMI160_USE_SENSCAL true
+#endif
 
-#endif
+#endif

src/motionprocessing/GyroTemperatureCalibrator.h

@@ -34,24 +34,34 @@
 
 // Degrees C
 // default: 15.0f
-#define TEMP_CALIBRATION_MIN 15.0f
+#ifndef TEMP_CALIBRATION_MIN
+	#define TEMP_CALIBRATION_MIN 15.0f
+#endif
 
 // Degrees C
 // default: 45.0f
-#define TEMP_CALIBRATION_MAX 45.0f
+#ifndef TEMP_CALIBRATION_MAX
+	#define TEMP_CALIBRATION_MAX 45.0f
+#endif
 
 // Snap calibration to every 1/2 of degree: 20.00, 20.50, 21.00, etc
 // default: 0.5f
-#define TEMP_CALIBRATION_STEP 0.5f
+#ifndef TEMP_CALIBRATION_STEP
+	#define TEMP_CALIBRATION_STEP 0.5f
+#endif
 
 // Record debug samples if current temperature is off by no more than this value;
 // if snapping point is 20.00 - samples will be recorded in range of 19.80 - 20.20
 // default: 0.2f
-#define TEMP_CALIBRATION_MAX_DEVIATION_FROM_STEP 0.2f
+#ifndef TEMP_CALIBRATION_MAX_DEVIATION_FROM_STEP
+	#define TEMP_CALIBRATION_MAX_DEVIATION_FROM_STEP 0.2f
+#endif
 
 // How long to average gyro samples for before saving a data point
 // default: 0.2f
-#define TEMP_CALIBRATION_SECONDS_PER_STEP 0.2f
+#ifndef TEMP_CALIBRATION_SECONDS_PER_STEP
+	#define TEMP_CALIBRATION_SECONDS_PER_STEP 0.2f
+#endif
 
 #if IMU == IMU_ICM20948
     // 16 bit 333 lsb/K, ~0.00508 degrees per bit
@@ -121,7 +131,7 @@ struct GyroTemperatureCalibrationConfig {
         minTemperatureRange(1000),
         maxTemperatureRange(-1000)
     { }
-    
+
     bool hasData() {
         return minTemperatureRange != 1000;
     }
@@ -164,7 +174,7 @@ class GyroTemperatureCalibrator {
 public:
     uint8_t sensorId;
     GyroTemperatureCalibrationConfig config;
-    
+
     // set when config is fully calibrated is saved OR on startup when loaded config is fully calibrated;
     // left unset when sending saving command over serial so it can continue calibration and autosave later
     bool configSaved = false;
@@ -200,7 +210,7 @@ class GyroTemperatureCalibrator {
     GyroTemperatureCalibrationState state;
     uint32_t samplesPerStep;
     SlimeVR::Logging::Logger m_Logger;
-    
+
     float lastApproximatedTemperature = 0.0f;
     float lastApproximatedOffsets[3];
 
@@ -216,4 +226,4 @@ class GyroTemperatureCalibrator {
     void resetCurrentTemperatureState();
 };
 
-#endif
+#endif

src/motionprocessing/RestDetection.h

@@ -8,7 +8,9 @@
 #ifndef REST_DETECTION_H
 #define REST_DETECTION_H
 
-// #define REST_DETECTION_DISABLE_LPF
+#ifndef REST_DETECTION_DISABLE_LPF
+	#define REST_DETECTION_DISABLE_LPF false
+#endif
 
 #include <Arduino.h>
 #include <vqf.h>
@@ -50,7 +52,7 @@ class RestDetection {
         setup();
     }
 
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
     void filterInitialState(sensor_real_t x0, const double b[3], const double a[2], double out[])
     {
         // initial state for steady state (equivalent to scipy.signal.lfilter_zi, obtained by setting y=x=x0 in the filter
@@ -104,7 +106,7 @@ class RestDetection {
 #endif
 
     void updateGyr(const sensor_real_t gyr[3]) {
-#ifdef REST_DETECTION_DISABLE_LPF
+#if REST_DETECTION_DISABLE_LPF
         gyrLastSquaredDeviation =
             square(gyr[0] - lastSample.gyr[0]) +
             square(gyr[1] - lastSample.gyr[1]) +
@@ -145,7 +147,7 @@ class RestDetection {
             return;
         }
 
-#ifdef REST_DETECTION_DISABLE_LPF
+#if REST_DETECTION_DISABLE_LPF
         accLastSquaredDeviation =
             square(acc[0] - lastSample.acc[0]) +
             square(acc[1] - lastSample.acc[1]) +
@@ -189,7 +191,7 @@ class RestDetection {
         return restDetected;
     }
 
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
     void resetState() {
         restDetected = false;
 
@@ -220,7 +222,7 @@ class RestDetection {
 #endif
 
     void setup() {
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
         assert(gyrTs > 0);
         assert(accTs > 0);
 
@@ -241,7 +243,7 @@ class RestDetection {
 
     sensor_real_t gyrTs;
     sensor_real_t accTs;
-#ifndef REST_DETECTION_DISABLE_LPF
+#if !REST_DETECTION_DISABLE_LPF
     sensor_real_t restLastGyrLp[3];
     double restGyrLpState[3*2];
     double restGyrLpB[3];
@@ -259,4 +261,4 @@ class RestDetection {
 };
 
 
-#endif
+#endif