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kleiax
2023-10-12 18:45:12 +02:00
parent 61a95e4601
commit db74898b72
41 changed files with 1030 additions and 569 deletions
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lib/CalibrateCompass/calibrateCompass.cpp
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/**
* @file calibrateCompass.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2023-05-23
*
* @copyright Copyright (c) 2023
*
*/
#include "calibrateCompass.h"
CalibrateCompass::CalibrateCompass(QMC5883LCompass *compass)
: compass{compass}
{
this->state = State::Ready;
this->clearData();
this->activateOnlyChilds();
}
void CalibrateCompass::runAsChild()
{
if (this->state != State::Calibrating)
{
return;
}
bool changed = false;
this->compass->read();
const int xAxis = this->compass->getX();
const int yAxis = this->compass->getY();
const int zAxis = this->compass->getZ();
if (xAxis < this->data.data[0][0])
{
this->data.data[0][0] = xAxis;
changed = true;
}
if (xAxis > this->data.data[0][1])
{
this->data.data[0][1] = xAxis;
changed = true;
}
if (yAxis < this->data.data[1][0])
{
this->data.data[1][0] = yAxis;
changed = true;
}
if (yAxis > this->data.data[1][1])
{
this->data.data[1][1] = yAxis;
changed = true;
}
if (zAxis < this->data.data[2][0])
{
this->data.data[2][0] = zAxis;
changed = true;
}
if (zAxis > this->data.data[2][1])
{
this->data.data[2][1] = zAxis;
changed = true;
}
if (changed)
{
this->lastChange = millis();
}
if (millis() - this->lastChange > this->maxTimeWithoutChange)
{
this->state = State::Finished;
this->checkDataValidity();
}
}
void CalibrateCompass::run() {}
void CalibrateCompass::start()
{
if (this->state != State::Ready)
{
return;
}
this->clearData();
this->state = State::Calibrating;
this->compass->clearCalibration();
this->lastChange = millis();
}
void CalibrateCompass::useData()
{
if (!this->dataValid)
{
std::cout << "CalibrateCompass::useData - Data not valid" << std::endl;
return;
}
this->compass->setCalibration(this->data.data[0][0],
this->data.data[0][1],
this->data.data[1][0],
this->data.data[1][1],
this->data.data[2][0],
this->data.data[2][1]);
std::cout << "CalibrateCompass::useData " << *this << std::endl;
}
void CalibrateCompass::removeCalibration()
{
this->compass->clearCalibration();
}
void CalibrateCompass::reset()
{
this->clearData();
this->state = State::Ready;
}
void CalibrateCompass::saveData()
{
if (!this->dataValid)
{
return;
}
Preferences preferences;
preferences.begin("compass", false);
preferences.putInt("xLow", this->data.data[0][0]);
preferences.putInt("xHigh", this->data.data[0][1]);
preferences.putInt("yLow", this->data.data[1][0]);
preferences.putInt("yHigh", this->data.data[1][1]);
preferences.putInt("zLow", this->data.data[2][0]);
preferences.putInt("zHigh", this->data.data[2][1]);
preferences.end();
}
void CalibrateCompass::loadData()
{
Preferences preferences;
preferences.begin("compass", true);
this->data.data[0][0] = preferences.getInt("xLow", 0);
this->data.data[0][1] = preferences.getInt("xHigh", 0);
this->data.data[1][0] = preferences.getInt("yLow", 0);
this->data.data[1][1] = preferences.getInt("yHigh", 0);
this->data.data[2][0] = preferences.getInt("zLow", 0);
this->data.data[2][1] = preferences.getInt("zHigh", 0);
preferences.end();
this->checkDataValidity();
}
void CalibrateCompass::clearData()
{
for (uint8_t i = 0; i < 3; i++)
{
this->data.data[i][0] = 0;
this->data.data[i][1] = 0;
}
this->dataValid = false;
}
void CalibrateCompass::checkDataValidity()
{
int sum = 0;
for (uint8_t i = 0; i < 3; i++)
{
if (this->data.data[i][0] > INT16_MAX || this->data.data[i][0] < INT16_MIN || this->data.data[i][1] > INT16_MAX || this->data.data[i][1] < INT16_MIN)
{
this->dataValid = false;
return;
}
sum += this->data.data[i][0];
sum += this->data.data[i][1];
}
this->dataValid = static_cast<bool>(sum);
}
std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp)
{
stream << "(";
stream << caliComp.data.data[0][0];
stream << ", ";
stream << caliComp.data.data[0][1];
stream << ", ";
stream << caliComp.data.data[1][0];
stream << ", ";
stream << caliComp.data.data[1][1];
stream << ", ";
stream << caliComp.data.data[2][0];
stream << ", ";
stream << caliComp.data.data[2][1];
stream << ")";
return stream;
}
lib/CalibrateCompass/calibrateCompass.h
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/**
* @file calibrateCompass.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains a class to calibrate the compass module
* @version 0.1
* @date 2023-05-23
*
* @copyright Copyright (c) 2023
*
*/
#pragma once
#include <QMC5883LCompass.h>
#include <Preferences.h>
#include <iostream>
#include "component.h"
/**
* @brief A Class to calibrate the compass
*
* This class reads the raw values of the compass while
* the rove have to be moved. The lowest and highest values
* are used to calibrate the compass to the current location.
*/
class CalibrateCompass : public Component
{
public:
/**
* @brief State of the calibration process
*/
enum State
{
Ready,
Calibrating,
Finished
};
/**
* @brief Type for calibration data
*
* The data consist of 6 values. For each for the 3 axis
* are to integer needed.
*/
struct CalibrationData
{
int data[3][2];
};
CalibrateCompass(QMC5883LCompass *compass);
/**
* @brief Starts the calibration
*/
void start();
/**
* @brief Use the measured calibration data
*/
void useData();
/**
* @brief Remove the measured calibration data
*/
void removeCalibration();
/**
* @brief Reset the calibration process to start again
*/
void reset();
/**
* @brief Save the measured calibration data to the flash
*/
void saveData();
/**
* @brief Load the measured calibration data from the flash
*
*/
void loadData();
State getState() const { return this->state; }
CalibrationData getCalibrationData() const { return this->data; }
/**
* @brief Makes the calibration data printable with std::cout()
*
* @param stream
* @param caliComp
* @return std::ostream&
*/
friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);
private:
void runAsChild() override;
void run() override;
void checkDataValidity();
QMC5883LCompass *compass;
State state = State::Ready;
CalibrationData data{};
void clearData();
bool dataValid = false;
const uint16_t maxTimeWithoutChange = 10000;
uint32_t lastChange = 0;
};