- 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 +1,77 @@
+/**
+ * @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