now compatible with idf v5.1.2

Author: ShellAddicted

.github/workflows/build.yml

@@ -28,7 +28,7 @@ jobs:
         run: |
           mkdir -p ~/esp
           cd ~/esp
-          git clone -b v4.4 --recursive https://github.com/espressif/esp-idf.git
+          git clone -b v5.1.2 --recursive https://github.com/espressif/esp-idf.git
           cd esp-idf
           ./install.sh esp32
 

BNO055ESP32.cpp

@@ -170,7 +170,7 @@ void BNO055::uart_readLen(bno055_reg_t reg, uint8_t *buffer, uint8_t len, uint32
                 data = (uint8_t *)malloc(len + 2);
                 if (data == NULL) throw std::bad_alloc();  // malloc failed
             }
-            rxBytes = uart_read_bytes(_uartPort, data, (len + 2), timeoutMS / portTICK_RATE_MS);
+            rxBytes = uart_read_bytes(_uartPort, data, (len + 2), timeoutMS / portTICK_PERIOD_MS);
             if (rxBytes > 0) {
 #ifndef BNO055_DEBUG_OFF
                 ESP_LOGD(BNO055_LOG_TAG, "(RL) Read %d bytes", rxBytes);
@@ -231,7 +231,7 @@ void BNO055::uart_writeLen(bno055_reg_t reg, uint8_t *data2write, uint8_t len, u
 #endif
 
         if (timeoutMS > 0) {  // check response (if expected)
-            rxBytes = uart_read_bytes(_uartPort, data, 2, timeoutMS / portTICK_RATE_MS);
+            rxBytes = uart_read_bytes(_uartPort, data, 2, timeoutMS / portTICK_PERIOD_MS);
             if (rxBytes > 0) {
 #ifndef BNO055_DEBUG_OFF
                 ESP_LOGD(BNO055_LOG_TAG, "(WL) Read %d bytes", rxBytes);  // DEBUG
@@ -406,7 +406,7 @@ void BNO055::reset() {
 #ifndef BNO055_DEBUG_OFF
         ESP_LOGD(BNO055_LOG_TAG, "RST -> using hardware pin");  // DEBUG
 #endif
-        gpio_pad_select_gpio(_rstPin);
+        gpio_reset_pin(_rstPin);
         gpio_set_direction(_rstPin, GPIO_MODE_OUTPUT);
         gpio_set_level(_rstPin, 0);  // turn OFF
         vTaskDelay(1 / portTICK_PERIOD_MS);
@@ -790,7 +790,7 @@ void BNO055::begin() {
     }
 
     if (_intPin != GPIO_NUM_MAX) {
-        gpio_pad_select_gpio(_intPin);
+        gpio_reset_pin(_intPin);
         gpio_set_direction(_intPin, GPIO_MODE_INPUT);
         gpio_set_intr_type(_intPin, GPIO_INTR_POSEDGE);
         gpio_set_pull_mode(_intPin, GPIO_PULLDOWN_ONLY);

CMakeLists.txt

@@ -1 +1 @@
-idf_component_register(SRCS "BNO055ESP32.cpp" INCLUDE_DIRS "include")
+idf_component_register(SRCS "BNO055ESP32.cpp" INCLUDE_DIRS "include" REQUIRES driver)

Dockerfile.test_build

@@ -1,4 +1,4 @@
-ARG IDF_VER=v4.4
+ARG IDF_VER=v5.1.2
 FROM espressif/idf:${IDF_VER}
 
 SHELL ["/bin/bash", "-c"]

idf_component.yml

@@ -1,5 +1,5 @@
-version: "1.2.1"
+version: "1.3.0"
 description: A C++ Interface for Bosch-Sensortec's BNO055 IMU
 url: https://github.com/ShellAddicted/BNO055ESP32.git
 dependencies:
-  idf: ">=4.1"
+  idf: ">=5.1"

include/BNO055ESP32.h

@@ -663,7 +663,7 @@ class BNO055 {
                                        .stop_bits = UART_STOP_BITS_1,
                                        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
                                        .rx_flow_ctrl_thresh = 0,
-                                       .use_ref_tick = false};
+                                       .source_clk = UART_SCLK_DEFAULT};
 
     typedef enum {
         BNO055_VECTOR_ACCELEROMETER = 0x08,  // Default: m/s²