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for all files in lib folder
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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/Sensors/sensorData.cpp
+20 -20
View File
@@ -1,5 +1,5 @@
/**
* @file senors.cpp
* @file sensorData.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
@@ -83,32 +83,32 @@ void SensorData::enableCalcCompass()
// TODO: !!! implementieren
}
void SensorData::enableGyroskop()
void SensorData::enableGyroscope()
{
this->gyroskop = new MPU6050();
this->gyroskop->initialize();
if (!this->gyroskop->testConnection())
this->gyroscope = new MPU6050();
this->gyroscope->initialize();
if (!this->gyroscope->testConnection())
{
std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl;
std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
while (true)
{
}
}
const uint8_t deviceStatus = this->gyroskop->dmpInitialize();
const uint8_t deviceStatus = this->gyroscope->dmpInitialize();
// TODO: !!! MagicNumer 6x
this->gyroskop->setXGyroOffset(220);
this->gyroskop->setYGyroOffset(76);
this->gyroskop->setZGyroOffset(-85);
this->gyroskop->setZAccelOffset(1788);
this->gyroscope->setXGyroOffset(220);
this->gyroscope->setYGyroOffset(76);
this->gyroscope->setZGyroOffset(-85);
this->gyroscope->setZAccelOffset(1788);
if (deviceStatus == 0)
{
this->gyroskop->CalibrateAccel(6);
this->gyroskop->CalibrateGyro(6);
this->gyroskop->PrintActiveOffsets();
this->gyroskop->setDMPEnabled(true);
this->gyroscope->CalibrateAccel(6);
this->gyroscope->CalibrateGyro(6);
this->gyroscope->PrintActiveOffsets();
this->gyroscope->setDMPEnabled(true);
}
else
{
@@ -116,7 +116,7 @@ void SensorData::enableGyroskop()
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
std::cout << "SensorData::enableGyroscope: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
while (true)
{
}
@@ -236,11 +236,11 @@ void SensorData::run()
this->realAzimuth = this->realCompass->getAzimuth();
}
if (static_cast<bool>(this->gyroskop) && this->gyroskop->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
if (static_cast<bool>(this->gyroscope) && this->gyroscope->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
{
this->gyroskop->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroskop->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroskop->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
this->gyroscope->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroscope->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroscope->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
}
}
lib/Sensors/sensorData.h
+73 -6
View File
@@ -1,7 +1,7 @@
/**
* @file sensorData.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the SensorData class
* @version 0.1
* @date 2023-09-02
*
@@ -26,8 +26,12 @@
#include "ntripClient.h"
#include "point.h"
class Sensors;
/**
* @brief A class to manage all sensors
*
* Each sensor have separately to be enabled
*/
class SensorData : public Component
{
public:
@@ -35,26 +39,89 @@ public:
~SensorData();
void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
/**
* @brief Enable the gnss module over spi
*
* @param spiPort
* @param csPin
*/
void enableGnss(SPIClass *spiPort, uint8_t csPin);
/**
* @brief Enable the gnss module over i2c
*/
void enableGnss();
void enableRealCompass();
void enableCalcCompass();
void enableGyroskop();
void enableGyroscope();
// Interface Const kram
// Interface Const
/**
* @brief Get the azimuth measured by the compass module
*
* @return int16_t
*/
int16_t getRealAzimuth() const { return this->realAzimuth; }
/**
* @brief Get the azimuth calculated by CalcAzimuth
*
* Consider to call getCalcAzimuthState() to check, if the data is valid.
*
* @return int16_t
*/
int16_t getCalcAzimuth() const { return this->calcAzimuth; }
/**
* @brief Get the CalcAzimuth::State object
*
* Needed to check the quality of calculated azimuth
*
* @return CalcAzimuth::State
*/
CalcAzimuth::State getCalcAzimuthState() const;
Point getCurrentPos() const { return this->currentPosition; }
const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
NTRIPClientStates getNtripState() const;
/**
* @brief Get the data from the gyroscope
*
* The returned float pointer is an array of 3 floats
* - Yaw
* - Pitch
* - Roll
*
* @return const float*
*/
const float *getGyroData() const { return this->yawPitchRoll; }
/**
* @brief Get the CalcCompass object
* @return CalcAzimuth*
*/
CalcAzimuth *getCalcCompass() const { return this->calcCompass; }
/**
* @brief Get the RealCompass object
* @return QMC5883LCompass*
*/
QMC5883LCompass *getRealCompass() const { return this->realCompass; }
/**
* @brief Get the NTRIPClient object
* @return NTRIPClient*
*/
NTRIPClient *getNtripClient() const { return this->ntripClient; }
MPU6050 *getGyroskop() const { return this->gyroskop; }
/**
* @brief Get the Gyroscope object
* @return MPU6050*
*/
MPU6050 *getGyroscope() const { return this->gyroscope; }
// static
/**
@@ -77,7 +144,7 @@ private:
CalcAzimuth *calcCompass = nullptr;
SFE_UBLOX_GNSS *gnss = nullptr;
NTRIPClient *ntripClient = nullptr;
MPU6050 *gyroskop = nullptr;
MPU6050 *gyroscope = nullptr;
UBX_NAV_PVT_data_t *gnssData = nullptr;
Point currentPosition;