diff --git a/platformio.ini b/platformio.ini index 706e01b44..1673dfc78 100644 --- a/platformio.ini +++ b/platformio.ini @@ -161,8 +161,10 @@ lib_deps = robtillaart/INA226@0.6.4 # renovate: datasource=custom.pio depName=SparkFun MAX3010x packageName=sparkfun/library/SparkFun MAX3010x Pulse and Proximity Sensor Library sparkfun/SparkFun MAX3010x Pulse and Proximity Sensor Library@1.1.2 - -; (not included in native / portduino) + # renovate: datasource=custom.pio depName=SparkFun 9DoF IMU Breakout ICM 20948 packageName=sparkfun/library/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library + sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@1.3.2 + + ; (not included in native / portduino) [environmental_extra] lib_deps = # renovate: datasource=custom.pio depName=Adafruit BMP3XX packageName=adafruit/library/Adafruit BMP3XX Library @@ -181,8 +183,6 @@ lib_deps = adafruit/Adafruit SHT4x Library@1.0.5 # renovate: datasource=custom.pio depName=SparkFun Qwiic Scale NAU7802 packageName=sparkfun/library/SparkFun Qwiic Scale NAU7802 Arduino Library sparkfun/SparkFun Qwiic Scale NAU7802 Arduino Library@1.0.6 - # renovate: datasource=custom.pio depName=SparkFun 9DoF IMU Breakout ICM 20948 packageName=sparkfun/library/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library - sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@1.3.2 # renovate: datasource=custom.pio depName=ClosedCube OPT3001 packageName=closedcube/library/ClosedCube OPT3001 ClosedCube OPT3001@1.1.2 # renovate: datasource=git-refs depName=Bosch BSEC2 packageName=https://github.com/meshtastic/Bosch-BSEC2-Library gitBranch=extra_script diff --git a/src/ButtonThread.cpp b/src/ButtonThread.cpp index 04200a7df..352885dbe 100644 --- a/src/ButtonThread.cpp +++ b/src/ButtonThread.cpp @@ -255,7 +255,7 @@ int32_t ButtonThread::runOnce() digitalWrite(PIN_EINK_EN, digitalRead(PIN_EINK_EN) == LOW); break; #endif -#if defined(RAK_4631) +#if !MESHTASTIC_EXCLUDE_SCREEN && HAS_SCREEN // 5 clicks: start accelerometer/magenetometer calibration for 30 seconds case 5: if (accelerometerThread) { diff --git a/src/main.cpp b/src/main.cpp index 9ef944e65..452cb3526 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -105,7 +105,7 @@ NRF52Bluetooth *nrf52Bluetooth = nullptr; #include "AmbientLightingThread.h" #include "PowerFSMThread.h" -#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C +#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C #include "motion/AccelerometerThread.h" AccelerometerThread *accelerometerThread = nullptr; #endif @@ -692,7 +692,7 @@ void setup() } #endif -#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) +#if !defined(ARCH_STM32WL) auto acc_info = i2cScanner->firstAccelerometer(); accelerometer_found = acc_info.type != ScanI2C::DeviceType::NONE ? acc_info.address : accelerometer_found; LOG_DEBUG("acc_info = %i", acc_info.type); @@ -807,7 +807,7 @@ void setup() #endif #if !MESHTASTIC_EXCLUDE_I2C -#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) +#if !defined(ARCH_STM32WL) if (acc_info.type != ScanI2C::DeviceType::NONE) { accelerometerThread = new AccelerometerThread(acc_info.type); } @@ -1300,7 +1300,12 @@ void setup() LOG_DEBUG("Free heap : %7d bytes", ESP.getFreeHeap()); LOG_DEBUG("Free PSRAM : %7d bytes", ESP.getFreePsram()); #endif +#if !defined(ARCH_STM32WL) + if (accelerometerThread) + accelerometerThread->calibrate(30); +#endif } + #endif uint32_t rebootAtMsec; // If not zero we will reboot at this time (used to reboot shortly after the update completes) uint32_t shutdownAtMsec; // If not zero we will shutdown at this time (used to shutdown from python or mobile client) diff --git a/src/main.h b/src/main.h index c3807cfd5..beeb1f940 100644 --- a/src/main.h +++ b/src/main.h @@ -58,7 +58,7 @@ extern UdpMulticastHandler *udpHandler; // Global Screen singleton. extern graphics::Screen *screen; -#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C +#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C #include "motion/AccelerometerThread.h" extern AccelerometerThread *accelerometerThread; #endif diff --git a/src/modules/AdminModule.cpp b/src/modules/AdminModule.cpp index 650910542..0e1e1555b 100644 --- a/src/modules/AdminModule.cpp +++ b/src/modules/AdminModule.cpp @@ -38,7 +38,7 @@ #include "modules/PositionModule.h" #endif -#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C +#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C #include "motion/AccelerometerThread.h" #endif diff --git a/src/motion/AccelerometerThread.h b/src/motion/AccelerometerThread.h index dd6413d64..02e5b0bd4 100755 --- a/src/motion/AccelerometerThread.h +++ b/src/motion/AccelerometerThread.h @@ -4,7 +4,7 @@ #include "configuration.h" -#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C +#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C #include "../concurrency/OSThread.h" #ifdef HAS_BMA423 @@ -81,14 +81,6 @@ class AccelerometerThread : public concurrency::OSThread return; } -#ifndef RAK_4631 - if (!config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) { - LOG_DEBUG("AccelerometerThread Disable due to no interested configurations"); - disable(); - return; - } -#endif - switch (device.type) { #ifdef HAS_BMA423 case ScanI2C::DeviceType::BMA423: diff --git a/src/motion/BMX160Sensor.cpp b/src/motion/BMX160Sensor.cpp index 39bc04ea1..a3909ea3a 100755 --- a/src/motion/BMX160Sensor.cpp +++ b/src/motion/BMX160Sensor.cpp @@ -4,7 +4,7 @@ BMX160Sensor::BMX160Sensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {} -#if defined(RAK_4631) && !defined(RAK2560) && __has_include() +#if !defined(RAK2560) && __has_include() #if !defined(MESHTASTIC_EXCLUDE_SCREEN) // screen is defined in main.cpp diff --git a/src/motion/ICM20948Sensor.cpp b/src/motion/ICM20948Sensor.cpp index 946390ddb..d03633124 100755 --- a/src/motion/ICM20948Sensor.cpp +++ b/src/motion/ICM20948Sensor.cpp @@ -1,6 +1,11 @@ #include "ICM20948Sensor.h" #if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include() +#if !defined(MESHTASTIC_EXCLUDE_SCREEN) + +// screen is defined in main.cpp +extern graphics::Screen *screen; +#endif // Flag when an interrupt has been detected volatile static bool ICM20948_IRQ = false; @@ -41,6 +46,88 @@ int32_t ICM20948Sensor::runOnce() int32_t ICM20948Sensor::runOnce() { +#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN + float magX = 0, magY = 0, magZ = 0; + if (sensor->dataReady()) { + sensor->getAGMT(); + magX = sensor->agmt.mag.axes.x; + magY = sensor->agmt.mag.axes.y; + magZ = sensor->agmt.mag.axes.z; + } + + if (doCalibration) { + + if (!showingScreen) { + powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration + showingScreen = true; + screen->startAlert((FrameCallback)drawFrameCalibration); + } + + if (magX > highestX) + highestX = magX; + if (magX < lowestX) + lowestX = magX; + if (magY > highestY) + highestY = magY; + if (magY < lowestY) + lowestY = magY; + if (magZ > highestZ) + highestZ = magZ; + if (magZ < lowestZ) + lowestZ = magZ; + + uint32_t now = millis(); + if (now > endCalibrationAt) { + doCalibration = false; + endCalibrationAt = 0; + showingScreen = false; + screen->endAlert(); + } + + // LOG_DEBUG("ICM20948 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX, highestX, + // lowestY, highestY, lowestZ, highestZ); + } + + magX -= (highestX + lowestX) / 2; + magY -= (highestY + lowestY) / 2; + magZ -= (highestZ + lowestZ) / 2; + FusionVector ga, ma; + ga.axis.x = (sensor->agmt.acc.axes.x); + ga.axis.y = -(sensor->agmt.acc.axes.y); + ga.axis.z = -(sensor->agmt.acc.axes.z); + ma.axis.x = magX; + ma.axis.y = magY; + ma.axis.z = magZ; + + // If we're set to one of the inverted positions + if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) { + ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ); + ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ); + } + + float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma); + + switch (config.display.compass_orientation) { + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED: + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0: + break; + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90: + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED: + heading += 90; + break; + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180: + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED: + heading += 180; + break; + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270: + case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED: + heading += 270; + break; + } + + screen->setHeading(heading); +#endif + // Wake on motion using polling - this is not as efficient as using hardware interrupt pin (see above) auto status = sensor->setBank(0); if (sensor->status != ICM_20948_Stat_Ok) { @@ -64,6 +151,17 @@ int32_t ICM20948Sensor::runOnce() #endif +void ICM20948Sensor::calibrate(uint16_t forSeconds) +{ +#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN + LOG_DEBUG("BMX160 calibration started for %is", forSeconds); + + doCalibration = true; + uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided + endCalibrationAt = millis() + calibrateFor; + screen->setEndCalibration(endCalibrationAt); +#endif +} // ---------------------------------------------------------------------- // ICM20948Singleton // ---------------------------------------------------------------------- @@ -121,6 +219,11 @@ bool ICM20948Singleton::init(ScanI2C::FoundDevice device) return false; } + if (startupMagnetometer(false) != ICM_20948_Stat_Ok) { + LOG_DEBUG("ICM20948 init magnetometer - %s", statusString()); + return false; + } + #ifdef ICM_20948_INT_PIN // Active low diff --git a/src/motion/ICM20948Sensor.h b/src/motion/ICM20948Sensor.h index 8344b0703..27ce4f451 100755 --- a/src/motion/ICM20948Sensor.h +++ b/src/motion/ICM20948Sensor.h @@ -6,6 +6,7 @@ #if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include() +#include "Fusion/Fusion.h" #include // Set the default gyro scale - dps250, dps500, dps1000, dps2000 @@ -80,6 +81,8 @@ class ICM20948Sensor : public MotionSensor { private: ICM20948Singleton *sensor = nullptr; + bool showingScreen = false; + float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0; public: explicit ICM20948Sensor(ScanI2C::FoundDevice foundDevice); @@ -89,6 +92,7 @@ class ICM20948Sensor : public MotionSensor // Called each time our sensor gets a chance to run virtual int32_t runOnce() override; + virtual void calibrate(uint16_t forSeconds) override; }; #endif diff --git a/src/motion/MotionSensor.cpp b/src/motion/MotionSensor.cpp index 54a2f883a..56738d355 100755 --- a/src/motion/MotionSensor.cpp +++ b/src/motion/MotionSensor.cpp @@ -31,7 +31,7 @@ ScanI2C::I2CPort MotionSensor::devicePort() return device.address.port; } -#if defined(RAK_4631) & !MESHTASTIC_EXCLUDE_SCREEN +#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN void MotionSensor::drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y) { // int x_offset = display->width() / 2; diff --git a/src/motion/MotionSensor.h b/src/motion/MotionSensor.h index 90080577f..5039f2551 100755 --- a/src/motion/MotionSensor.h +++ b/src/motion/MotionSensor.h @@ -49,7 +49,7 @@ class MotionSensor // Register a button press when a double-tap is detected virtual void buttonPress(); -#if defined(RAK_4631) & !MESHTASTIC_EXCLUDE_SCREEN +#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN // draw an OLED frame (currently only used by the RAK4631 BMX160 sensor) static void drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y); #endif