Merge pull request #246 from TinyuZhao/develop

add support IMU for AtomMatrix v1.1

Author: lovyan03

src/utility/IMU_Class.cpp

@@ -86,7 +86,12 @@ namespace m5
         _imu_instance[0].reset(bmi2);
         _imu = imu_t::imu_bmi270;
 
-#if defined ( CONFIG_IDF_TARGET_ESP32S3 )
+#if defined(CONFIG_IDF_TARGET_ESP32)
+        if (board == m5::board_t::board_M5AtomMatrix) {  // AtomMatrix(new BMI270)
+          _internal_axisorder_fixed[sensor_index_accel] = (internal_axisorder_t)(axis_invert_x | axis_invert_z); // X軸,Z軸反転
+          _internal_axisorder_fixed[sensor_index_gyro ] = (internal_axisorder_t)(axis_invert_x | axis_invert_z); // X軸,Z軸反転
+        }
+#elif defined(CONFIG_IDF_TARGET_ESP32S3)
         if (board == m5::board_t::board_M5StackCoreS3 && bmi2->getAddress() == 0x69)
         {  // CoreS3 では、地磁気のY軸Z軸をそれぞれ反転する
           _internal_axisorder_fixed[sensor_index_mag] = (internal_axisorder_t)(axis_invert_y | axis_invert_z); // Y軸,Z軸反転