mirror of
https://github.com/meshtastic/firmware.git
synced 2025-08-22 21:18:00 +00:00
973b453d43
* * Update RAK9154 sensor to tx remote power telemetry * remove uf2 script, pio run does that inline * move sensor module to correct position * disable LED and Accelerometer code on rak2560 * trunk fmt * mention epaper variant * attention, revert, revert * Enable Environment Telemetry of these values * fix float values
127 lines
4.0 KiB
C++
Executable File
127 lines
4.0 KiB
C++
Executable File
#include "BMX160Sensor.h"
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#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
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BMX160Sensor::BMX160Sensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
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#if defined(RAK_4631) && !defined(RAK2560)
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
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// screen is defined in main.cpp
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extern graphics::Screen *screen;
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#endif
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bool BMX160Sensor::init()
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{
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if (sensor.begin()) {
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// set output data rate
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sensor.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ);
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LOG_DEBUG("BMX160 init ok");
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return true;
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}
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LOG_DEBUG("BMX160 init failed");
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return false;
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}
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int32_t BMX160Sensor::runOnce()
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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 gAccel;
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/* Get a new sensor event */
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sensor.getAllData(&magAccel, NULL, &gAccel);
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if (doCalibration) {
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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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screen->startAlert((FrameCallback)drawFrameCalibration);
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}
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if (magAccel.x > highestX)
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highestX = magAccel.x;
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if (magAccel.x < lowestX)
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lowestX = magAccel.x;
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if (magAccel.y > highestY)
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highestY = magAccel.y;
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if (magAccel.y < lowestY)
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lowestY = magAccel.y;
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if (magAccel.z > highestZ)
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highestZ = magAccel.z;
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if (magAccel.z < lowestZ)
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lowestZ = magAccel.z;
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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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screen->endAlert();
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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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magAccel.x -= (highestX + lowestX) / 2;
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magAccel.y -= (highestY + lowestY) / 2;
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magAccel.z -= (highestZ + lowestZ) / 2;
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FusionVector ga, ma;
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ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board
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ga.axis.y = -gAccel.y;
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ga.axis.z = gAccel.z;
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ma.axis.x = -magAccel.x;
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ma.axis.y = -magAccel.y;
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ma.axis.z = magAccel.z * 3;
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// If we're set to one of the inverted positions
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if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
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ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
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ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
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}
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float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
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switch (config.display.compass_orientation) {
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
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heading += 90;
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
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heading += 180;
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
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heading += 270;
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break;
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}
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screen->setHeading(heading);
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#endif
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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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 |