- broke nearly everthing

- create Sensor Manager

doc/TODO allgemein.txt

@@ -34,6 +34,7 @@ Code:
     battery bruch mit R werten nur einmal berechnen
     lange kein daten von fernbedienung dann?
     compass calibrieren eigener Betriebsmodus
+    Input pointer von fernbedienung nicht veränderbar doppel const
 
 Latex:
     Genaue Beschreibung von PulseCounter HardwareUnit wenn möglich

lib/Navigation/navigation.cpp

@@ -17,58 +17,21 @@ uint32_t Navigation::ubxUpdateTimeStatic = 0;
 UBX_NAV_PVT_data_t* Navigation::ubxDataStatic = nullptr;
 
 Navigation::Navigation(Route* route) {
-    this->gps = new SFE_UBLOX_GNSS();
-    if (this->gps->begin() == false) {
-        std::cout << "u-blox GNSS not detected at default I2C address. Please check wiring. Freezing." << std::endl;
-        while (1);
-    }
-    this->init(route);
-}
-
-Navigation::Navigation(SPIClass* spiPort, uint8_t csPin, Route* route) {
-    this->gps = new SFE_UBLOX_GNSS();
-    if (this->gps->begin(*spiPort, csPin, 4000000) == false) {
-        std::cout << "u-blox GNSS not detected on SPI bus. Please check wiring. Freezing." << std::endl;
-        while (1);
-    }
     this->init(route);
 }
 
 void Navigation::init(Route* route) {
-    uint8_t versionHigh = this->gps->getProtocolVersionHigh();
-    uint8_t versionLow = this->gps->getProtocolVersionLow();
-    std::cout << "u-blox protocol version: " << unsigned(versionHigh) << "." << unsigned(versionLow) << std::endl;
     
-    this->gps->setSPIOutput(COM_TYPE_UBX);
-    this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
-    this->gps->setUSBOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
-    this->gps->setAutoPVTcallbackPtr(&(Navigation::savePVTdata));
-    // Navigation::setOutputStatusPrintPVTdata(true);
-    this->gps->setNavigationFrequency(1);
-    this->gps->setAutoPVT(true);
 
     if (route)
         this->route = route;
     else
         this->route = new Route();
 
-    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();
-
     Component::loopDelay = Navigation::loopDelay;
 }
 
 Navigation::~Navigation() {
-    delete this->gps;
-    delete this->compass;
     delete this->route;
     if (this->ntripClient)
         delete this->ntripClient;
@@ -84,21 +47,9 @@ void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String
 }
 
 void Navigation::run() {
-    this->compass->read();
-    this->realAzimuth = this->compass->getAzimuth();
-
     this->updateMagneticDeclination();
 }
 
-void Navigation::runAsChild() {
-    this->gps->checkUblox();
-    this->gps->checkCallbacks();
-
-    if (Navigation::newData) {
-        this->updateCurrentLocation();
-        Navigation::newData = false;
-    }
-}
 
 void Navigation::newRoute() {
     if (this->route)
@@ -276,10 +227,6 @@ bool Navigation::setTargetPoint(Point target) {
     return false;
 }
 
-void Navigation::setOutputStatusPrintPVTdata(bool status) {
-    Navigation::outputStatusPrintPVTdata = status;
-}
-
 int16_t Navigation::fixDegree(int16_t degree) {
     while (degree < -180 || degree > 180) {
         if (degree > 180)
@@ -289,59 +236,3 @@ int16_t Navigation::fixDegree(int16_t degree) {
     }
     return degree;
 }
-
-void Navigation::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
-    if (!Navigation::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 Navigation::savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct) {
-    Navigation::printPVTdata(ubxDataStruct);
-
-    Navigation::newData = true;
-    Navigation::ubxDataStatic = ubxDataStruct;
-    Navigation::ubxUpdateTimeStatic = millis();
-}
-

lib/Navigation/navigation.h

@@ -12,15 +12,12 @@
 #ifndef NAVIGATION_H
 #define NAVIGATION_H
 
-#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
-#include <QMC5883LCompass.h>
 #include <Arduino.h>
 #include <iostream>
-#include <SPI.h>
 
 #include "route.h"
 #include "NTRIPClient.h"
-#include "calibrateCompass.h"
+
 #include "component.h"
 
 /**
@@ -52,15 +49,6 @@ class Navigation : public Component {
             Complete
         };
 
-        enum CalcAzimuthState {
-            Invalid,
-            Bad,
-            Ok,
-            Good,
-            Super
-        };
-
-
         /**
          * @brief Construct a new Navigation object and using I2C
          * 
@@ -68,13 +56,6 @@ class Navigation : public Component {
          */
         Navigation(Route* route = nullptr);
 
-        /**
-         * @brief Construct a new Navigation object and using SPI
-         * 
-         * @param route with which to navigate
-         */
-        Navigation(SPIClass* spiPort, uint8_t csPin, Route* route = nullptr);
-
         /**
          * @brief Destroy the Navigation object
          * 
@@ -139,9 +120,6 @@ class Navigation : public Component {
          */
         Status addCurrentPosToRoute();
         
-    	// TODO: can be deleted?
-        // bool setPointBeforeTurn();
-        
         /**
          * @brief Get the Ubx Data object
          * 
@@ -187,22 +165,11 @@ class Navigation : public Component {
         Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
         void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
 
-        /**
-         * @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);
         // map input in range from -180 to 180 degree
         static int16_t fixDegree(int16_t degree);
 
     private:
         void run() override;
-        void runAsChild() override;
-        void updateCurrentLocation();
         void updateMagneticDeclination();
         void init(Route* route);
         bool nextPoint();
@@ -213,11 +180,11 @@ class Navigation : public Component {
         static constexpr uint8_t maxDisBetweenPoints = 10;
         static constexpr float minDisBetweenPoints = 0.3;
 
-        SFE_UBLOX_GNSS* gps;
+        
         UBX_NAV_PVT_data_t* ubxData = nullptr;
         Route* route = nullptr;
         NTRIPClient* ntripClient = nullptr;
-        QMC5883LCompass* compass;
+        
 
         Point lastPointRouteInsert;
         Point lastPointCalcCorrection;
@@ -225,7 +192,7 @@ class Navigation : public Component {
         Point targetPoint;
         Point currentPosition;
         Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
-        CalcAzimuthState calcAzimuthState = CalcAzimuthState::Invalid;
+        
 
         bool navigationStarted = false;
         bool navigationFinished = false;
@@ -239,7 +206,6 @@ class Navigation : public Component {
         char* user;
         char* password;
 
-        int16_t realAzimuth = INT16_MAX;
         int16_t calcAzimuth = INT16_MAX;
 
         uint8_t timeToWait = 200;
@@ -248,16 +214,6 @@ class Navigation : public Component {
         uint32_t ubxUpdateTime = 0;
 
         double minDistanceToReachPoint = 0.5;
-
-        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 // NAVIGATION_H

lib/Sensors/senors.cpp

@@ -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();
+}

lib/Sensors/sensors.h

@@ -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