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merge persist compass calibration branch

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This commit is contained in:
Dan Welch 2024-12-14 09:49:08 -07:00
commit 66769527be
2 changed files with 99 additions and 24 deletions
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100
src/motion/BMX160Sensor.cpp
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@ -1,4 +1,5 @@
#include "BMX160Sensor.h" #include "BMX160Sensor.h"
#include "FSCommon.h"
#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C #if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
@ -16,7 +17,13 @@ bool BMX160Sensor::init()
if (sensor.begin()) { if (sensor.begin()) {
// set output data rate // set output data rate
sensor.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ); sensor.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ);
LOG_DEBUG("BMX160 init ok");
loadState();
LOG_DEBUG("BMX160 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f",
bmx160Config.mAccel.min.x, bmx160Config.mAccel.max.x, bmx160Config.mAccel.min.y, bmx160Config.mAccel.max.y,
bmx160Config.mAccel.min.z, bmx160Config.mAccel.max.z);
return true; return true;
} }
LOG_DEBUG("BMX160 init failed"); LOG_DEBUG("BMX160 init failed");
@ -41,26 +48,26 @@ int32_t BMX160Sensor::runOnce()
} }
if (firstCalibrationRead) { if (firstCalibrationRead) {
highestX = magAccel.x; bmx160Config.mAccel.min.x = magAccel.x;
lowestX = magAccel.x; bmx160Config.mAccel.max.x = magAccel.x;
highestY = magAccel.y; bmx160Config.mAccel.min.y = magAccel.y;
lowestY = magAccel.y; bmx160Config.mAccel.max.y = magAccel.y;
highestZ = magAccel.z; bmx160Config.mAccel.min.z = magAccel.z;
lowestZ = magAccel.z; bmx160Config.mAccel.max.z = magAccel.z;
firstCalibrationRead = false; firstCalibrationRead = false;
} else { } else {
if (magAccel.x > highestX) if (magAccel.x > bmx160Config.mAccel.max.x)
highestX = magAccel.x; bmx160Config.mAccel.max.x = magAccel.x;
if (magAccel.x < lowestX) if (magAccel.x < bmx160Config.mAccel.min.x)
lowestX = magAccel.x; bmx160Config.mAccel.min.x = magAccel.x;
if (magAccel.y > highestY) if (magAccel.y > bmx160Config.mAccel.max.y)
highestY = magAccel.y; bmx160Config.mAccel.max.y = magAccel.y;
if (magAccel.y < lowestY) if (magAccel.y < bmx160Config.mAccel.min.y)
lowestY = magAccel.y; bmx160Config.mAccel.min.y = magAccel.y;
if (magAccel.z > highestZ) if (magAccel.z > bmx160Config.mAccel.max.z)
highestZ = magAccel.z; bmx160Config.mAccel.max.z = magAccel.z;
if (magAccel.z < lowestZ) if (magAccel.z < bmx160Config.mAccel.min.z)
lowestZ = magAccel.z; bmx160Config.mAccel.min.z = magAccel.z;
} }
uint32_t now = millis(); uint32_t now = millis();
@ -69,17 +76,19 @@ int32_t BMX160Sensor::runOnce()
endCalibrationAt = 0; endCalibrationAt = 0;
showingScreen = false; showingScreen = false;
screen->endAlert(); screen->endAlert();
saveState();
} }
// LOG_DEBUG("BMX160 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX, highestX, // LOG_DEBUG("BMX160 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX, highestX,
// lowestY, highestY, lowestZ, highestZ); // lowestY, highestY, lowestZ, highestZ);
} }
int highestRealX = highestX - (highestX + lowestX) / 2; int highestRealX = bmx160Config.mAccel.max.x - (bmx160Config.mAccel.max.x + bmx160Config.mAccel.min.x) / 2;
magAccel.x -= (highestX + lowestX) / 2; magAccel.x -= (bmx160Config.mAccel.max.x + bmx160Config.mAccel.min.x) / 2;
magAccel.y -= (highestY + lowestY) / 2; magAccel.y -= (bmx160Config.mAccel.max.y + bmx160Config.mAccel.min.y) / 2;
magAccel.z -= (highestZ + lowestZ) / 2; magAccel.z -= (bmx160Config.mAccel.max.z + bmx160Config.mAccel.min.z) / 2;
FusionVector ga, ma; FusionVector ga, ma;
ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board
ga.axis.y = -gAccel.y; ga.axis.y = -gAccel.y;
@ -133,6 +142,51 @@ void BMX160Sensor::calibrate(uint16_t forSeconds)
#endif #endif
} }
void BMX160Sensor::loadState()
{
#ifdef FSCom
auto file = FSCom.open(bmx160ConfigFileName, FILE_O_READ);
if (file) {
file.read((uint8_t *)&bmx160State, BMX160_MAX_STATE_BLOB_SIZE);
file.close();
memcpy(&bmx160Config, &bmx160State, sizeof(BMX160Config));
LOG_INFO("BMX160 config state read from %s", bmx160ConfigFileName);
} else {
LOG_INFO("No BMX160 config state found (File: %s)", bmx160ConfigFileName);
}
#else
LOG_ERROR("ERROR: Filesystem not implemented");
#endif
}
void BMX160Sensor::saveState()
{
#ifdef FSCom
memcpy(&bmx160State, &bmx160Config, sizeof(BMX160Config));
LOG_DEBUG("BMX160 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", bmx160Config.mAccel.min.x,
bmx160Config.mAccel.max.x, bmx160Config.mAccel.min.y, bmx160Config.mAccel.max.y, bmx160Config.mAccel.min.z,
bmx160Config.mAccel.max.z);
if (FSCom.exists(bmx160ConfigFileName) && !FSCom.remove(bmx160ConfigFileName)) {
LOG_WARN("Can't remove old state file");
}
auto file = FSCom.open(bmx160ConfigFileName, FILE_O_WRITE);
if (file) {
LOG_INFO("Write BMX160 config state to %s", bmx160ConfigFileName);
file.write((uint8_t *)&bmx160State, BMX160_MAX_STATE_BLOB_SIZE);
file.flush();
file.close();
} else {
LOG_INFO("Can't write BMX160 config state (File: %s)", bmx160ConfigFileName);
}
#else
LOG_ERROR("ERROR: Filesystem not implemented");
#endif
}
#endif #endif
#endif #endif

23
src/motion/BMX160Sensor.h
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@ -12,12 +12,33 @@
#include "Fusion/Fusion.h" #include "Fusion/Fusion.h"
#include <Rak_BMX160.h> #include <Rak_BMX160.h>
#define BMX160_MAX_STATE_BLOB_SIZE (256) // pad size to allow for additional saved config parameters (accel, gyro, etc)
struct xyzFloat {
float x;
float y;
float z;
};
struct minMaxXYZ {
xyzFloat min;
xyzFloat max;
};
struct BMX160Config {
minMaxXYZ mAccel;
};
class BMX160Sensor : public MotionSensor class BMX160Sensor : public MotionSensor
{ {
private: private:
RAK_BMX160 sensor; RAK_BMX160 sensor;
bool showingScreen = false; bool showingScreen = false;
float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0; BMX160Config bmx160Config;
protected:
const char *bmx160ConfigFileName = "/prefs/bmx160.dat";
uint8_t bmx160State[BMX160_MAX_STATE_BLOB_SIZE] = {0};
void loadState();
void saveState();
public: public:
explicit BMX160Sensor(ScanI2C::FoundDevice foundDevice); explicit BMX160Sensor(ScanI2C::FoundDevice foundDevice);