kleiax/Bachelorarbeit-Rover
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fix merge bugs

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This commit is contained in:
kleiax
2023-10-12 20:50:59 +02:00
parent e511afb2a5
commit 12c338def1
6 changed files with 13 additions and 171 deletions
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.vscode/settings.json
Vendored
+1
View File
@@ -150,6 +150,7 @@
"Punica",
"RHEDE",
"Rtcm",
"Sats",
"Schalke",
"Soln",
"Systeminformation",
lib/Component/component.cpp
+1 -1
View File
@@ -19,7 +19,7 @@ void Component::loop()
(*it)->loop();
}
}
this->runAsChild();F
this->runAsChild();
if (this->onlyChilds)
{
lib/Sensors/sensorData.cpp
-56
View File
@@ -68,46 +68,6 @@ void SensorData::enableCalcCompass()
// TODO: !!! implementieren
}
void SensorData::enableGyroscope()
{
this->gyroscope = new MPU6050();
this->gyroscope->initialize();
if (!this->gyroscope->testConnection())
{
std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
while (true)
{
}
}
const uint8_t deviceStatus = this->gyroscope->dmpInitialize();
// TODO: !!! MagicNumer 6x
this->gyroscope->setXGyroOffset(220);
this->gyroscope->setYGyroOffset(76);
this->gyroscope->setZGyroOffset(-85);
this->gyroscope->setZAccelOffset(1788);
if (deviceStatus == 0)
{
this->gyroscope->CalibrateAccel(6);
this->gyroscope->CalibrateGyro(6);
this->gyroscope->PrintActiveOffsets();
this->gyroscope->setDMPEnabled(true);
}
else
{
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
std::cout << "SensorData::enableGyroscope: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
while (true)
{
}
}
}
CalcAzimuth::State SensorData::getCalcAzimuthState() const
{
if (static_cast<bool>(this->calcCompass))
@@ -117,15 +77,6 @@ CalcAzimuth::State SensorData::getCalcAzimuthState() const
return CalcAzimuth::State::Invalid;
}
NTRIPClientStates SensorData::getNtripState() const
{
if (static_cast<bool>(this->ntripClient))
{
return this->ntripClient->getClientState();
}
return NTRIPClientStates::notAvailable;
}
void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
{
static constexpr uint8_t stringSize = 32;
@@ -220,13 +171,6 @@ void SensorData::run()
this->realCompass->read();
this->realAzimuth = this->realCompass->getAzimuth();
}
if (static_cast<bool>(this->gyroscope) && this->gyroscope->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
{
this->gyroscope->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroscope->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroscope->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
}
}
void SensorData::runAsChild()
lib/Sensors/sensorData.h
-44
View File
@@ -21,7 +21,6 @@
#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
#include <QMC5883LCompass.h>
#include <MPU6050_6Axis_MotionApps20.h>
#include "calcAzimuth.h"
#include "point.h"
@@ -37,8 +36,6 @@ public:
SensorData();
~SensorData();
void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
/**
* @brief Enable the gnss module over spi
*
@@ -54,7 +51,6 @@ public:
void enableRealCompass();
void enableCalcCompass();
void enableGyroscope();
// Interface Const
/**
@@ -84,19 +80,6 @@ public:
Point getCurrentPos() const { return this->currentPosition; }
const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
NTRIPClientStates getNtripState() const;
/**
* @brief Get the data from the gyroscope
*
* The returned float pointer is an array of 3 floats
* - Yaw
* - Pitch
* - Roll
*
* @return const float*
*/
const float *getGyroData() const { return this->yawPitchRoll; }
/**
* @brief Get the CalcCompass object
@@ -110,18 +93,6 @@ public:
*/
QMC5883LCompass *getRealCompass() const { return this->realCompass; }
/**
* @brief Get the NTRIPClient object
* @return NTRIPClient*
*/
NTRIPClient *getNtripClient() const { return this->ntripClient; }
/**
* @brief Get the Gyroscope object
* @return MPU6050*
*/
MPU6050 *getGyroscope() const { return this->gyroscope; }
// static
/**
* @brief Set the output status for PVTdata.
@@ -142,29 +113,14 @@ private:
QMC5883LCompass *realCompass = nullptr;
CalcAzimuth *calcCompass = nullptr;
SFE_UBLOX_GNSS *gnss = nullptr;
NTRIPClient *ntripClient = nullptr;
MPU6050 *gyroscope = nullptr;
UBX_NAV_PVT_data_t *gnssData = nullptr;
Point currentPosition;
Quaternion quaternion;
VectorFloat gravity;
char *host = nullptr;
char *mountPoint = nullptr;
char *user = nullptr;
char *password = nullptr;
bool isNtripInit = false;
uint8_t gyroBuffer[64];
uint16_t port = 0;
int16_t realAzimuth = INT16_MAX;
int16_t calcAzimuth = INT16_MAX;
uint32_t lastUbxUpdate = 0;
float yawPitchRoll[3]{0, 0, 0};
// static
static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
src/SpecialMenus/SensorData/menuSensorData.cpp
-46
View File
@@ -30,15 +30,6 @@ void MenuSensorData::printPage() const
switch (this->getCurrentPage())
{
case 0:
lineOne = " Y P R :";
lineTwo.concat(this->sensorData->getGyroData()[0]);
lineTwo.concat(" ");
lineTwo.concat(this->sensorData->getGyroData()[1]);
lineTwo.concat(" ");
lineTwo.concat(this->sensorData->getGyroData()[2]);
break;
case 1:
lineOne = "Real Azimuth:";
lineTwo.concat(this->sensorData->getRealAzimuth());
@@ -91,43 +82,6 @@ void MenuSensorData::printPage() const
break;
case 5:
{
lineOne = "CarSol: ";
lineTwo = "Ntrip: ";
const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
if (carrSoln == 0)
{
lineOne.concat("None");
}
else if (carrSoln == 1)
{
lineOne.concat("Floating");
}
else if (carrSoln == 2)
{
lineOne.concat("Fixed");
}
else
{
lineOne = "UNKNOWN";
}
const NTRIPClientStates status = this->sensorData->getNtripState();
if (status == NTRIPClientStates::pushData)
{
lineTwo.concat("enabled");
}
else if (status == NTRIPClientStates::notAvailable)
{
lineTwo.concat(" N/A");
}
else
{
lineTwo.concat("disabled");
}
}
break;
case 6:
lineOne = "HAcc: ";
lineTwo = "Sats: ";
src/main.cpp
+11 -24
View File
@@ -43,7 +43,6 @@
#include "SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h"
#include "SpecialMenus/Systeminformation/menuSysteminformation.h"
#include "SpecialMenus/PID/menuPidSettings.h"
#include "SpecialMenus/Route/menuRoute.h"
#include "SpecialMenus/SensorData/menuSensorData.h"
#include "SpecialMenus/CalibrateBattery/menuCalibrateBattery.h"
@@ -123,12 +122,6 @@ void setup()
sensorData = new SensorData();
sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
sensorData->enableRealCompass();
sensorData->enableNtrip(static_cast<const char *>(NtripConfig::host),
NtripConfig::port,
static_cast<const char *>(NtripConfig::mountPoint),
static_cast<const char *>(NtripConfig::user),
static_cast<const char *>(NtripConfig::password));
// sensorData->enableGyroscope();
driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
char wifiIndicator = 'X';
@@ -158,7 +151,7 @@ void loop()
lcdWrapper->loop();
mainBattery->loop();
// new Value ervery 0.5s
// new Value every 0.5s
if (mainBattery->isNewValue())
{
static uint8_t batteryLowCounter = 0;
@@ -191,14 +184,14 @@ void loop()
void i2cScanner()
{
constexpr uint8_t checkForLength = 16;
constexpr uint8_t maxAdresses = UINT8_MAX / 2;
constexpr uint8_t maxAddresses = UINT8_MAX / 2;
std::cout << "\nI2C Scanner" << std::endl;
byte error = 0;
byte address = 0;
int nDevices = 0;
std::cout << "Scanning..." << std::endl;
for (address = 1; address < maxAdresses; address++)
for (address = 1; address < maxAddresses; address++)
{
Wire.beginTransmission(address);
error = Wire.endTransmission();
@@ -252,24 +245,18 @@ void makeMenu()
auto *pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
auto *speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef()));
auto *man_m = new MenuManualControl(driveManager);
auto *cap_m = new MenuCaptureRoute(driveManager);
auto *auto_m = new MenuAutopilot(driveManager);
auto *testM_m = new MenuTestMode(driveManager);
auto *comp_m = new MenuCalibrateCompass(driveManager);
auto *sys_m = new MenuSysteminformation(mainBattery);
auto *sen_m = new MenuSensorData(sensorData);
// TODO: Wie bekommt jeder die dumme Route?
auto *rout_m = new MenuRoute(new Route());
auto *bat_m = new MenuCalibrateBattery(mainBattery);
auto_m->setUpdateDelay(displayUpdateDelay);
sys_m->setUpdateDelay(displayUpdateDelay);
sen_m->setUpdateDelay(displayUpdateDelay);
// Entry for the main menu
main_m->addEntry(new MenuAction("Mode", mode_m));
main_m->addEntry(new MenuAction("Sensor", sen_m));
main_m->addEntry(new MenuAction("Route", rout_m));
main_m->addEntry(new MenuAction("Settings", set_m));
main_m->addEntry(new MenuAction("Systeminfo", sys_m));
main_m->addEntry(new MenuAction("Restart", restart));
@@ -353,16 +340,16 @@ void lcdWrapperCallback(const char data[][LcdWrapper::totalRows], uint8_t lines,
NetworkAddresses setIPs()
{
NetworkAddresses adresses;
adresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
adresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
adresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));
adresses.dnsServer.fromString(static_cast<const char *>(NetworkConfig::dns));
NetworkAddresses addresses;
addresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
addresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
addresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));
addresses.dnsServer.fromString(static_cast<const char *>(NetworkConfig::dns));
if (NetworkConfig::mqtt)
{
adresses.mqttServer.fromString(static_cast<const char *>(MqttConfig::server));
adresses.mqttPort = MqttConfig::port;
addresses.mqttServer.fromString(static_cast<const char *>(MqttConfig::server));
addresses.mqttPort = MqttConfig::port;
}
return adresses;
return addresses;
}