- broke nearly everthing

- create Sensor Manager
2023-09-02 18:30:33 +02:00
parent daeccf7288
commit b6764e54da
6 changed files with 212 additions and 158 deletions
@@ -0,0 +1,129 @@
+/**
+ * @file senors.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-02
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "sensors.h"
+
+void Sensors::run() {
+    this->compass->read();
+    this->realAzimuth = this->compass->getAzimuth();
+}
+
+void Sensors::runAsChild() {
+    this->gnss->checkUblox();
+    this->gnss->checkCallbacks();
+
+    if (Sensors::newData)
+        Sensors::newData = false;
+}
+
+void Sensors::enableGnss(SPIClass* spiPort, uint8_t csPin) {
+    this->gnss = new SFE_UBLOX_GNSS();
+    if (this->gnss->begin(*spiPort, csPin, 4000000) == false) {
+        std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
+        while (1);
+    }
+    this->initGnss();
+}
+
+void Sensors::enableGnss() {
+    this->gnss = new SFE_UBLOX_GNSS();
+    if (this->gnss->begin() == false) {
+        std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
+        while (1);
+    }
+    this->initGnss();
+}
+
+void Sensors::enableCompass() {
+    this->compass = new QMC5883LCompass();
+    // Init Compass
+    Wire.beginTransmission(0x0d);
+    Wire.write(0x0b);
+    Wire.write(0x01);
+    Wire.endTransmission();
+    this->compass->setMode(0x01,0x0C,0x10,0X00);
+    CalibrateCompass caliCompass(this->compass);
+    caliCompass.loadData();
+    caliCompass.useData();
+}
+
+void Sensors::setOutputStatusPrintPVTdata(bool status) {
+    Sensors::outputStatusPrintPVTdata = status;
+}
+
+void Sensors::initGnss() {
+    uint8_t versionHigh = this->gnss->getProtocolVersionHigh();
+    uint8_t versionLow = this->gnss->getProtocolVersionLow();
+    std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
+
+    this->gnss->setSPIOutput(COM_TYPE_UBX);
+    this->gnss->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
+    this->gnss->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
+    this->gnss->setAutoPVTcallbackPtr(&(Sensors::savePVTdata));
+    // Sensors::setOutputStatusPrintPVTdata(true);
+    this->gnss->setNavigationFrequency(1);
+    this->gnss->setAutoPVT(true);
+}
+
+void Sensors::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
+    if (!Sensors::outputStatusPrintPVTdata)
+        return;
+
+    double latitude = (double) ubxDataStruct->lat / 10000000.0;
+    double longitude = (double) ubxDataStruct->lon / 10000000.0;
+    double altitude = (double) ubxDataStruct->hMSL / 1000.0;
+
+    uint8_t fixType = ubxDataStruct->fixType;
+    char fixTypeString[32];
+    if (fixType == 0)
+        strcpy(fixTypeString, "None");
+    else if (fixType == 1)
+        strcpy(fixTypeString, "Dead Reckoning");
+    else if (fixType == 2)
+        strcpy(fixTypeString, "2D");
+    else if (fixType == 3)
+        strcpy(fixTypeString, "3D");
+    else if (fixType == 3)
+        strcpy(fixTypeString, "GNSS + Dead Reckoning");
+    else if (fixType == 5)
+        strcpy(fixTypeString, "Time Only");
+    else
+        strcpy(fixTypeString, "UNKNOWN");
+
+    uint8_t carrSoln = ubxDataStruct->flags.bits.carrSoln;
+    char carrSolnString[16];
+    if (carrSoln == 0)
+        strcpy(carrSolnString, "None");
+    else if (carrSoln == 1)
+        strcpy(carrSolnString, "Floating");
+    else if (carrSoln == 2)
+        strcpy(carrSolnString, "Fixed");
+    else
+        strcpy(carrSolnString, "UNKNOWN");
+
+    uint32_t hAcc = ubxDataStruct->hAcc;
+
+    std::cout << "Lat: " << latitude
+              << " Lng: " << longitude
+              << " Alt: " << altitude << std::endl;
+
+    std::cout << "Fix: " << fixTypeString
+              << " Carrier Solution: " << carrSolnString
+              << " Horizontal Accuracy Estimate: " << hAcc << " mm" << std::endl;
+}
+
+void Sensors::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
+    Sensors::printPVTdata(ubxDataStruct);
+
+    Sensors::newData = true;
+    Sensors::ubxDataStatic = ubxDataStruct;
+    Sensors::ubxUpdateTimeStatic = millis();
+}
@@ -0,0 +1,77 @@
+/**
+ * @file sensors.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-02
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#ifndef SENSORS_H
+#define SENSORS_H
+
+#include <SPI.h>
+#include <iostream>
+//Sensors
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
+#include <QMC5883LCompass.h>
+// Gyroskop
+
+#include "component.h"
+#include "sensorData.h"
+#include "calibrateCompass.h"
+
+class Sensors : public Component {
+    public:
+        enum CalcAzimuthState {
+            Invalid,
+            Bad,
+            Ok,
+            Good,
+            Super
+        };
+
+        Sensors();
+
+        void run() override;
+        void runAsChild() override;
+
+        void enableGnss(SPIClass* spiPort, uint8_t csPin);
+        void enableGnss();
+        void enableCompass();
+        void enableGyroskop();
+
+        /**
+         * @brief Set the output status for PVTdata.
+         * 
+         * If this is true, a lot of information from the gnss module will be printed in
+         * the interval of navigation frequency.
+         * 
+         * @param status 
+         */
+        static void setOutputStatusPrintPVTdata(bool status);
+
+    private:
+        void initGnss();
+
+        QMC5883LCompass* compass = nullptr;
+        SFE_UBLOX_GNSS* gnss = nullptr;
+
+        CalcAzimuthState calcAzimuthState = CalcAzimuthState::Invalid;
+
+        int16_t realAzimuth = INT16_MAX;
+
+        static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
+        static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
+
+        static UBX_NAV_PVT_data_t* ubxDataStatic;
+
+        static uint32_t ubxUpdateTimeStatic;
+
+        static bool outputStatusPrintPVTdata;
+        static bool newData;
+};
+
+#endif // SENSORS_H