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Initiate magnetometer based compass calibration from button presses (#5553)
* Initiate magenetometer based compass calibration from button presses - only active for BMX160 accelerometers on RAK_4631 - replace automatic calibration on power on with button triggered calibration - set 5 presses to trigger 30s calibration - set 6 presses to trigger 60s calibration (useful if unit is not handheld, ie vehicle mounted) - show calibration time remaining on calibration alert screen * Fix non RAK 4631 builds - exclude changes from non RAK 4631 builds - remove calls to screen when not present * Fix build on RAK4631_eth_gw - exclude all compass heading updates on variant without screen --------- Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
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@ -190,6 +190,20 @@ int32_t ButtonThread::runOnce()
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case 4:
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case 4:
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digitalWrite(PIN_EINK_EN, digitalRead(PIN_EINK_EN) == LOW);
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digitalWrite(PIN_EINK_EN, digitalRead(PIN_EINK_EN) == LOW);
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break;
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break;
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#endif
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#if defined(RAK_4631)
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// 5 clicks: start accelerometer/magenetometer calibration for 30 seconds
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case 5:
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if (accelerometerThread) {
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accelerometerThread->calibrate(30);
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}
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break;
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// 6 clicks: start accelerometer/magenetometer calibration for 60 seconds
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case 6:
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if (accelerometerThread) {
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accelerometerThread->calibrate(60);
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}
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break;
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#endif
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#endif
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// No valid multipress action
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// No valid multipress action
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default:
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default:
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@ -278,6 +278,10 @@ class Screen : public concurrency::OSThread
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bool hasHeading() { return hasCompass; }
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bool hasHeading() { return hasCompass; }
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long getHeading() { return compassHeading; }
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long getHeading() { return compassHeading; }
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void setEndCalibration(uint32_t _endCalibrationAt) { endCalibrationAt = _endCalibrationAt; }
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uint32_t getEndCalibration() { return endCalibrationAt; }
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// functions for display brightness
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// functions for display brightness
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void increaseBrightness();
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void increaseBrightness();
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void decreaseBrightness();
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void decreaseBrightness();
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@ -673,6 +677,8 @@ class Screen : public concurrency::OSThread
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bool hasCompass = false;
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bool hasCompass = false;
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float compassHeading;
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float compassHeading;
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uint32_t endCalibrationAt;
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/// Holds state for debug information
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/// Holds state for debug information
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DebugInfo debugInfo;
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DebugInfo debugInfo;
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@ -48,6 +48,13 @@ class AccelerometerThread : public concurrency::OSThread
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setIntervalFromNow(0);
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setIntervalFromNow(0);
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};
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};
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void calibrate(uint16_t forSeconds)
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{
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if (sensor) {
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sensor->calibrate(forSeconds);
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}
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}
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protected:
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protected:
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int32_t runOnce() override
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int32_t runOnce() override
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{
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{
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@ -25,19 +25,21 @@ bool BMX160Sensor::init()
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int32_t BMX160Sensor::runOnce()
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int32_t BMX160Sensor::runOnce()
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{
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{
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
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sBmx160SensorData_t magAccel;
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sBmx160SensorData_t magAccel;
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sBmx160SensorData_t gAccel;
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sBmx160SensorData_t gAccel;
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/* Get a new sensor event */
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/* Get a new sensor event */
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sensor.getAllData(&magAccel, NULL, &gAccel);
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sensor.getAllData(&magAccel, NULL, &gAccel);
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
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if (doCalibration) {
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// experimental calibrate routine. Limited to between 10 and 30 seconds after boot
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if (millis() > 12 * 1000 && millis() < 30 * 1000) {
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if (!showingScreen) {
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if (!showingScreen) {
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powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration
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showingScreen = true;
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showingScreen = true;
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screen->startAlert((FrameCallback)drawFrameCalibration);
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screen->startAlert((FrameCallback)drawFrameCalibration);
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}
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}
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if (magAccel.x > highestX)
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if (magAccel.x > highestX)
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highestX = magAccel.x;
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highestX = magAccel.x;
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if (magAccel.x < lowestX)
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if (magAccel.x < lowestX)
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@ -50,11 +52,19 @@ int32_t BMX160Sensor::runOnce()
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highestZ = magAccel.z;
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highestZ = magAccel.z;
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if (magAccel.z < lowestZ)
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if (magAccel.z < lowestZ)
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lowestZ = magAccel.z;
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lowestZ = magAccel.z;
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} else if (showingScreen && millis() >= 30 * 1000) {
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uint32_t now = millis();
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if (now > endCalibrationAt) {
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doCalibration = false;
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endCalibrationAt = 0;
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showingScreen = false;
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showingScreen = false;
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screen->endAlert();
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screen->endAlert();
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}
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}
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// LOG_DEBUG("BMX160 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX, highestX,
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// lowestY, highestY, lowestZ, highestZ);
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}
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int highestRealX = highestX - (highestX + lowestX) / 2;
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int highestRealX = highestX - (highestX + lowestX) / 2;
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magAccel.x -= (highestX + lowestX) / 2;
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magAccel.x -= (highestX + lowestX) / 2;
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@ -93,12 +103,25 @@ int32_t BMX160Sensor::runOnce()
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heading += 270;
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heading += 270;
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break;
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break;
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}
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}
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screen->setHeading(heading);
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screen->setHeading(heading);
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#endif
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#endif
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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}
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void BMX160Sensor::calibrate(uint16_t forSeconds)
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{
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
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LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
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doCalibration = true;
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uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided
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endCalibrationAt = millis() + calibrateFor;
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screen->setEndCalibration(endCalibrationAt);
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#endif
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}
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#endif
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#endif
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#endif
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#endif
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@ -23,6 +23,7 @@ class BMX160Sensor : public MotionSensor
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explicit BMX160Sensor(ScanI2C::FoundDevice foundDevice);
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explicit BMX160Sensor(ScanI2C::FoundDevice foundDevice);
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virtual bool init() override;
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virtual bool init() override;
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virtual int32_t runOnce() override;
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virtual int32_t runOnce() override;
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virtual void calibrate(uint16_t forSeconds) override;
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};
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};
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#else
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#else
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@ -2,6 +2,8 @@
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#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
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#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
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char timeRemainingBuffer[12];
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// screen is defined in main.cpp
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// screen is defined in main.cpp
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extern graphics::Screen *screen;
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extern graphics::Screen *screen;
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@ -37,6 +39,12 @@ void MotionSensor::drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState
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display->setTextAlignment(TEXT_ALIGN_LEFT);
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display->setTextAlignment(TEXT_ALIGN_LEFT);
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display->setFont(FONT_MEDIUM);
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display->setFont(FONT_MEDIUM);
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display->drawString(x, y, "Calibrating\nCompass");
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display->drawString(x, y, "Calibrating\nCompass");
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uint8_t timeRemaining = (screen->getEndCalibration() - millis()) / 1000;
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sprintf(timeRemainingBuffer, "( %02d )", timeRemaining);
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display->setFont(FONT_SMALL);
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display->drawString(x, y + 40, timeRemainingBuffer);
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int16_t compassX = 0, compassY = 0;
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int16_t compassX = 0, compassY = 0;
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uint16_t compassDiam = graphics::Screen::getCompassDiam(display->getWidth(), display->getHeight());
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uint16_t compassDiam = graphics::Screen::getCompassDiam(display->getWidth(), display->getHeight());
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@ -40,6 +40,8 @@ class MotionSensor
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// Refer to /src/concurrency/OSThread.h for more information
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// Refer to /src/concurrency/OSThread.h for more information
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inline virtual int32_t runOnce() { return MOTION_SENSOR_CHECK_INTERVAL_MS; };
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inline virtual int32_t runOnce() { return MOTION_SENSOR_CHECK_INTERVAL_MS; };
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virtual void calibrate(uint16_t forSeconds){};
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protected:
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protected:
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// Turn on the screen when a tap or motion is detected
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// Turn on the screen when a tap or motion is detected
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virtual void wakeScreen();
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virtual void wakeScreen();
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@ -53,6 +55,10 @@ class MotionSensor
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#endif
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#endif
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ScanI2C::FoundDevice device;
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ScanI2C::FoundDevice device;
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// Do calibration if true
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bool doCalibration = false;
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uint32_t endCalibrationAt = 0;
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};
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};
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namespace MotionSensorI2C
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namespace MotionSensorI2C
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