documentation checked and edit

for all files in lib folder

lib/CalibrateCompass/calibrateCompass.cpp

@@ -0,0 +1,206 @@
+/**
+ * @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;
+}