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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;
+};