kopia lustrzana https://github.com/meshtastic/firmware
104 wiersze
3.3 KiB
C++
Executable File
104 wiersze
3.3 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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#ifdef RAK_4631
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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("BMX160Sensor::init ok\n");
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return true;
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}
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LOG_DEBUG("BMX160Sensor::init failed\n");
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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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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 !defined(MESHTASTIC_EXCLUDE_SCREEN)
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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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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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} else if (showingScreen && millis() >= 30 * 1000) {
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showingScreen = false;
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screen->endAlert();
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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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#endif
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#endif |