109 lines
2.4 KiB
C++
109 lines
2.4 KiB
C++
/**
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* @file sensorData.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Contains the SensorData class
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* @version 0.1
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* @date 2023-09-02
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*
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* @copyright Copyright (c) 2023
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*
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*/
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#ifndef SENSOR_DATA_H
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#define SENSOR_DATA_H
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#include <SPI.h>
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#include <I2Cdev.h>
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#include <iostream>
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#include "component.h"
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#include "calibrateCompass.h"
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
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#include <QMC5883LCompass.h>
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#include "point.h"
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/**
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* @brief A class to manage all sensors
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*
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* Each sensor have separately to be enabled
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*/
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class SensorData : public Component
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{
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public:
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SensorData();
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~SensorData();
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/**
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* @brief Enable the gnss module over spi
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*
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* @param spiPort
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* @param csPin
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*/
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void enableGnss(SPIClass *spiPort, uint8_t csPin);
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/**
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* @brief Enable the gnss module over i2c
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*/
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void enableGnss();
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void enableRealCompass();
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void enableCalcCompass();
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// Interface Const
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/**
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* @brief Get the azimuth measured by the compass module
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*
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* @return int16_t
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*/
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int16_t getRealAzimuth() const { return this->realAzimuth; }
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Point getCurrentPos() const { return this->currentPosition; }
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const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
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/**
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* @brief Get the RealCompass object
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* @return QMC5883LCompass*
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*/
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QMC5883LCompass *getRealCompass() const { return this->realCompass; }
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// static
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/**
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* @brief Set the output status for PVTdata.
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*
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* If this is true, a lot of information from the gnss module will be printed in
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* the interval of navigation frequency.
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*
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* @param status
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*/
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static void setOutputStatusPrintPVTdata(bool status);
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private:
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void run() override;
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void runAsChild() override;
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void initGnss();
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void updateUbxData();
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QMC5883LCompass *realCompass = nullptr;
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SFE_UBLOX_GNSS *gnss = nullptr;
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UBX_NAV_PVT_data_t *gnssData = nullptr;
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Point currentPosition;
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int16_t realAzimuth = INT16_MAX;
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uint32_t lastUbxUpdate = 0;
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// static
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static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
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static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
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static UBX_NAV_PVT_data_t *ubxDataStatic;
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static uint32_t ubxUpdateTimeStatic;
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static bool outputStatusPrintPVTdata;
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static constexpr uint8_t loopDelay = 50;
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};
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#endif // SENSOR_DATA_H
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