From 29174bf1f93d0c88394e28fc5219fac87caeebed Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Sat, 1 Jan 2022 17:42:50 +0100 Subject: [PATCH 01/27] Swiched to own forks of libs for better version control --- lib/mpu6050/I2Cdev.cpp | 264 ++++---- lib/mpu6050/I2Cdev.h | 62 +- lib/mpu6050/MPU6050.cpp | 1152 ++++++++++++++++++----------------- lib/mpu6050/MPU6050.h | 227 +------ lib/mpu6050/helper_3dmath.h | 216 +++++++ platformio.ini | 22 +- 6 files changed, 1014 insertions(+), 929 deletions(-) create mode 100644 lib/mpu6050/helper_3dmath.h diff --git a/lib/mpu6050/I2Cdev.cpp b/lib/mpu6050/I2Cdev.cpp index 5525624..892274b 100644 --- a/lib/mpu6050/I2Cdev.cpp +++ b/lib/mpu6050/I2Cdev.cpp @@ -3,6 +3,9 @@ // 2013-06-05 by Jeff Rowberg // // Changelog: +// 2021-09-28 - allow custom Wire object as transaction function argument +// 2020-01-20 - hardija : complete support for Teensy 3.x +// 2015-10-30 - simondlevy : support i2c_t3 for Teensy3.1 // 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications // 2013-05-05 - fix issue with writing bit values to words (Sasquatch/Farzanegan) // 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire @@ -87,11 +90,6 @@ THE SOFTWARE. #endif -#ifndef BUFFER_LENGTH -// band-aid fix for platforms without Wire-defined BUFFER_LENGTH (removed from some official implementations) -#define BUFFER_LENGTH 32 -#endif - /** Default constructor. */ I2Cdev::I2Cdev() { @@ -105,9 +103,9 @@ I2Cdev::I2Cdev() { * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { +int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout, void *wireObj) { uint8_t b; - uint8_t count = readByte(devAddr, regAddr, &b, timeout); + uint8_t count = readByte(devAddr, regAddr, &b, timeout, wireObj); *data = b & (1 << bitNum); return count; } @@ -120,9 +118,9 @@ int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { +int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout, void *wireObj) { uint16_t b; - uint8_t count = readWord(devAddr, regAddr, &b, timeout); + uint8_t count = readWord(devAddr, regAddr, &b, timeout, wireObj); *data = b & (1 << bitNum); return count; } @@ -136,14 +134,14 @@ int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { +int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout, void *wireObj) { // 01101001 read byte // 76543210 bit numbers // xxx args: bitStart=4, length=3 // 010 masked // -> 010 shifted uint8_t count, b; - if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { + if ((count = readByte(devAddr, regAddr, &b, timeout, wireObj)) != 0) { uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); b &= mask; b >>= (bitStart - length + 1); @@ -161,7 +159,7 @@ int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) */ -int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { +int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout, void *wireObj) { // 1101011001101001 read byte // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 @@ -169,7 +167,7 @@ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uin // -> 010 shifted uint8_t count; uint16_t w; - if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { + if ((count = readWord(devAddr, regAddr, &w, timeout, wireObj)) != 0) { uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); w &= mask; w >>= (bitStart - length + 1); @@ -185,8 +183,8 @@ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uin * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { - return readBytes(devAddr, regAddr, 1, data, timeout); +int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout, void *wireObj) { + return readBytes(devAddr, regAddr, 1, data, timeout, wireObj); } /** Read single word from a 16-bit device register. @@ -196,8 +194,8 @@ int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ -int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { - return readWords(devAddr, regAddr, 1, data, timeout); +int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout, void *wireObj) { + return readWords(devAddr, regAddr, 1, data, timeout, wireObj); } /** Read multiple bytes from an 8-bit device register. @@ -208,7 +206,7 @@ int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Number of bytes read (-1 indicates failure) */ -int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) { +int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -223,70 +221,72 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8 uint32_t t1 = millis(); #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; #if (ARDUINO < 100) // Arduino v00xx (before v1.0), Wire library // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.send(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->send(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH)); - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.receive(); + for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = useWire->receive(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO == 100) // Arduino v1.0.0, Wire library // Adds standardized write() and read() stream methods instead of send() and receive() // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH)); - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.read(); + for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO > 100) // Arduino v1.0.1+, Wire library // Adds official support for repeated start condition, yay! // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH)); + for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH)); - for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.read(); + for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) { + data[count] = useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -328,7 +328,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Number of words read (-1 indicates failure) */ -int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) { +int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -343,28 +343,30 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 uint32_t t1 = millis(); #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; #if (ARDUINO < 100) // Arduino v00xx (before v1.0), Wire library // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.send(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->send(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) - data[count] = Wire.receive() << 8; + data[count] = useWire->receive() << 8; } else { // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.receive(); + data[count] |= useWire->receive(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -374,30 +376,30 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 msb = !msb; } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO == 100) // Arduino v1.0.0, Wire library // Adds standardized write() and read() stream methods instead of send() and receive() // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) - data[count] = Wire.read() << 8; + data[count] = useWire->read() << 8; } else { // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.read(); + data[count] |= useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -407,30 +409,30 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 msb = !msb; } - Wire.endTransmission(); + useWire->endTransmission(); } #elif (ARDUINO > 100) // Arduino v1.0.1+, Wire library // Adds official support for repeated start condition, yay! // I2C/TWI subsystem uses internal buffer that breaks with large data requests - // so if user requests more than BUFFER_LENGTH bytes, we have to do it in + // so if user requests more than I2CDEVLIB_WIRE_BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once - for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { - Wire.beginTransmission(devAddr); - Wire.write(regAddr); - Wire.endTransmission(); - Wire.beginTransmission(devAddr); - Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes + for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->write(regAddr); + useWire->endTransmission(); + useWire->beginTransmission(devAddr); + useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes bool msb = true; // starts with MSB, then LSB - for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { + for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) - data[count] = Wire.read() << 8; + data[count] = useWire->read() << 8; } else { // second byte is bits 7-0 (LSb=0) - data[count] |= Wire.read(); + data[count] |= useWire->read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); @@ -440,7 +442,7 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 msb = !msb; } - Wire.endTransmission(); + useWire->endTransmission(); } #endif @@ -479,11 +481,11 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 * @param value New bit value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { +bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data, void *wireObj) { uint8_t b; - readByte(devAddr, regAddr, &b); + readByte(devAddr, regAddr, &b, I2Cdev::readTimeout, wireObj); b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); - return writeByte(devAddr, regAddr, b); + return writeByte(devAddr, regAddr, b, wireObj); } /** write a single bit in a 16-bit device register. @@ -493,11 +495,11 @@ bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t * @param value New bit value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { +bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data, void *wireObj) { uint16_t w; - readWord(devAddr, regAddr, &w); + readWord(devAddr, regAddr, &w, I2Cdev::readTimeout, wireObj); w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); - return writeWord(devAddr, regAddr, w); + return writeWord(devAddr, regAddr, w, wireObj); } /** Write multiple bits in an 8-bit device register. @@ -508,7 +510,7 @@ bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_ * @param data Right-aligned value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { +bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data, void *wireObj) { // 010 value to write // 76543210 bit numbers // xxx args: bitStart=4, length=3 @@ -517,13 +519,13 @@ bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8 // 10100011 original & ~mask // 10101011 masked | value uint8_t b; - if (readByte(devAddr, regAddr, &b) != 0) { + if (readByte(devAddr, regAddr, &b, I2Cdev::readTimeout, wireObj) != 0) { uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); data <<= (bitStart - length + 1); // shift data into correct position data &= mask; // zero all non-important bits in data b &= ~(mask); // zero all important bits in existing byte b |= data; // combine data with existing byte - return writeByte(devAddr, regAddr, b); + return writeByte(devAddr, regAddr, b, wireObj); } else { return false; } @@ -537,7 +539,7 @@ bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8 * @param data Right-aligned value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { +bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data, void *wireObj) { // 010 value to write // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 @@ -546,13 +548,13 @@ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint // 1010001110010110 original & ~mask // 1010101110010110 masked | value uint16_t w; - if (readWord(devAddr, regAddr, &w) != 0) { + if (readWord(devAddr, regAddr, &w, I2Cdev::readTimeout, wireObj) != 0) { uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); data <<= (bitStart - length + 1); // shift data into correct position data &= mask; // zero all non-important bits in data w &= ~(mask); // zero all important bits in existing word w |= data; // combine data with existing word - return writeWord(devAddr, regAddr, w); + return writeWord(devAddr, regAddr, w, wireObj); } else { return false; } @@ -564,8 +566,8 @@ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint * @param data New byte value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { - return writeBytes(devAddr, regAddr, 1, &data); +bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data, void *wireObj) { + return writeBytes(devAddr, regAddr, 1, &data, wireObj); } /** Write single word to a 16-bit device register. @@ -574,8 +576,8 @@ bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { * @param data New word value to write * @return Status of operation (true = success) */ -bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { - return writeWords(devAddr, regAddr, 1, &data); +bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data, void *wireObj) { + return writeWords(devAddr, regAddr, 1, &data, wireObj); } /** Write multiple bytes to an 8-bit device register. @@ -585,7 +587,7 @@ bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { * @param data Buffer to copy new data from * @return Status of operation (true = success) */ -bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) { +bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -596,14 +598,20 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_ Serial.print("..."); #endif uint8_t status = 0; + +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; +#endif + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.beginTransmission(devAddr); - Wire.send((uint8_t) regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->send((uint8_t) regAddr); // send address #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.beginTransmission(devAddr); - Wire.write((uint8_t) regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->write((uint8_t) regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); @@ -614,21 +622,21 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_ if (i + 1 < length) Serial.print(" "); #endif #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.send((uint8_t) data[i]); + useWire->send((uint8_t) data[i]); #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.write((uint8_t) data[i]); + useWire->write((uint8_t) data[i]); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::write((uint8_t) data[i]); #endif } #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.endTransmission(); + useWire->endTransmission(); #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - status = Wire.endTransmission(); + status = useWire->endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); @@ -646,7 +654,7 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_ * @param data Buffer to copy new data from * @return Status of operation (true = success) */ -bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) { +bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data, void *wireObj) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); @@ -657,14 +665,20 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 Serial.print("..."); #endif uint8_t status = 0; + +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE + TwoWire *useWire = &Wire; + if (wireObj) useWire = (TwoWire *)wireObj; +#endif + #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.beginTransmission(devAddr); - Wire.send(regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->send(regAddr); // send address #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.beginTransmission(devAddr); - Wire.write(regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->write(regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); @@ -675,13 +689,13 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 if (i + 1 < length) Serial.print(" "); #endif #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.send((uint8_t)(data[i] >> 8)); // send MSB - Wire.send((uint8_t)data[i]); // send LSB + useWire->send((uint8_t)(data[i] >> 8)); // send MSB + useWire->send((uint8_t)data[i]); // send LSB #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - Wire.write((uint8_t)(data[i] >> 8)); // send MSB - Wire.write((uint8_t)data[i]); // send LSB + useWire->write((uint8_t)(data[i] >> 8)); // send MSB + useWire->write((uint8_t)data[i]); // send LSB #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::write((uint8_t)(data[i] >> 8)); // send MSB status = Fastwire::write((uint8_t)data[i]); // send LSB @@ -689,11 +703,11 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 #endif } #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - Wire.endTransmission(); + useWire->endTransmission(); #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - status = Wire.endTransmission(); + status = useWire->endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); @@ -753,7 +767,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; #endif TWSR = 0; // no prescaler => prescaler = 1 - TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate + TWBR = F_CPU / 2000 / khz - 8; // change the I2C clock rate TWCR = 1 << TWEN; // enable twi module, no interrupt } @@ -993,7 +1007,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA); /* TWEN - TWI Enable Bit TWIE - TWI Interrupt Enable @@ -1062,7 +1076,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; } void twii_SetStart() { - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT) | (1 << TWSTA); } void twi_write01() { @@ -1145,19 +1159,19 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; void twi_reply(uint8_t ack) { // transmit master read ready signal, with or without ack if (ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWINT) | (1 << TWEA); } else { - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWINT); } } void twi_stop(void) { // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT) | (1 << TWSTO); // wait for stop condition to be exectued on bus // TWINT is not set after a stop condition! - while (TWCR & _BV(TWSTO)) { + while (TWCR & (1 << TWSTO)) { continue; } @@ -1167,7 +1181,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; void twi_releaseBus(void) { // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); + TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT); // update twi state twi_state = TWI_READY; diff --git a/lib/mpu6050/I2Cdev.h b/lib/mpu6050/I2Cdev.h index 60c3195..5b59c56 100644 --- a/lib/mpu6050/I2Cdev.h +++ b/lib/mpu6050/I2Cdev.h @@ -3,6 +3,7 @@ // 2013-06-05 by Jeff Rowberg // // Changelog: +// 2021-09-28 - allow custom Wire object as transaction function argument // 2020-01-20 - hardija : complete support for Teensy 3.x // 2015-10-30 - simondlevy : support i2c_t3 for Teensy3.1 // 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications @@ -48,6 +49,11 @@ THE SOFTWARE. #ifndef _I2CDEV_H_ #define _I2CDEV_H_ +// ----------------------------------------------------------------------------- +// Enable deprecated pgmspace typedefs in avr-libc +// ----------------------------------------------------------------------------- +#define __PROG_TYPES_COMPAT__ + // ----------------------------------------------------------------------------- // I2C interface implementation setting // ----------------------------------------------------------------------------- @@ -99,10 +105,26 @@ THE SOFTWARE. #endif #ifdef SPARK - #include + #include "application.h" #define ARDUINO 101 + #define BUFFER_LENGTH 32 #endif +#ifndef I2CDEVLIB_WIRE_BUFFER_LENGTH + #if defined(I2C_BUFFER_LENGTH) + // Arduino ESP32 core Wire uses this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH I2C_BUFFER_LENGTH + #elif defined(BUFFER_LENGTH) + // Arduino AVR core Wire and many others use this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH BUFFER_LENGTH + #elif defined(SERIAL_BUFFER_SIZE) + // Arduino SAMD core Wire uses this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH SERIAL_BUFFER_SIZE + #else + // should be a safe fallback, though possibly inefficient + #define I2CDEVLIB_WIRE_BUFFER_LENGTH 32 + #endif +#endif // 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];") #define I2CDEV_DEFAULT_READ_TIMEOUT 1000 @@ -111,23 +133,23 @@ class I2Cdev { public: I2Cdev(); - static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); + static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); - static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); - static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); - static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); - static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); - static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); - static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); - static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); - static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); + static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data, void *wireObj=0); + static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data, void *wireObj=0); + static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data, void *wireObj=0); + static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data, void *wireObj=0); + static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data, void *wireObj=0); + static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data, void *wireObj=0); + static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, void *wireObj=0); + static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, void *wireObj=0); static uint16_t readTimeout; }; @@ -240,7 +262,7 @@ class I2Cdev { /* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */ - #define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3)) + #define TW_STATUS_MASK ((1 << TWS7)|(1 << TWS6)|(1 << TWS5)|(1 << TWS4)|(1 << TWS3)) #define TW_STATUS (TWSR & TW_STATUS_MASK) #define TW_START 0x08 #define TW_REP_START 0x10 @@ -275,11 +297,11 @@ class I2Cdev { //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr)) #ifndef sbi // set bit - #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) + #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= (1 << bit)) #endif // sbi #ifndef cbi // clear bit - #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) + #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~(1 << bit)) #endif // cbi extern TwoWire Wire; diff --git a/lib/mpu6050/MPU6050.cpp b/lib/mpu6050/MPU6050.cpp index f8c127d..ecdfe04 100644 --- a/lib/mpu6050/MPU6050.cpp +++ b/lib/mpu6050/MPU6050.cpp @@ -4,6 +4,7 @@ // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: +// 2021-09-27 - split implementations out of header files, finally // 2019-07-08 - Added Auto Calibration routine // ... - ongoing debug release @@ -43,7 +44,7 @@ THE SOFTWARE. * @see MPU6050_ADDRESS_AD0_LOW * @see MPU6050_ADDRESS_AD0_HIGH */ -MPU6050::MPU6050(uint8_t address):devAddr(address) { +MPU6050_Base::MPU6050_Base(uint8_t address, void *wireObj):devAddr(address), wireObj(wireObj) { } /** Power on and prepare for general usage. @@ -53,7 +54,7 @@ MPU6050::MPU6050(uint8_t address):devAddr(address) { * the clock source to use the X Gyro for reference, which is slightly better than * the default internal clock source. */ -void MPU6050::initialize() { +void MPU6050_Base::initialize() { setClockSource(MPU6050_CLOCK_PLL_XGYRO); setFullScaleGyroRange(MPU6050_GYRO_FS_250); setFullScaleAccelRange(MPU6050_ACCEL_FS_2); @@ -64,7 +65,7 @@ void MPU6050::initialize() { * Make sure the device is connected and responds as expected. * @return True if connection is valid, false otherwise */ -bool MPU6050::testConnection() { +bool MPU6050_Base::testConnection() { return getDeviceID() == 0x34; } @@ -76,8 +77,8 @@ bool MPU6050::testConnection() { * the MPU-6000, which does not have a VLOGIC pin. * @return I2C supply voltage level (0=VLOGIC, 1=VDD) */ -uint8_t MPU6050::getAuxVDDIOLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer); +uint8_t MPU6050_Base::getAuxVDDIOLevel() { + I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the auxiliary I2C supply voltage level. @@ -86,8 +87,8 @@ uint8_t MPU6050::getAuxVDDIOLevel() { * the MPU-6000, which does not have a VLOGIC pin. * @param level I2C supply voltage level (0=VLOGIC, 1=VDD) */ -void MPU6050::setAuxVDDIOLevel(uint8_t level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level); +void MPU6050_Base::setAuxVDDIOLevel(uint8_t level) { + I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level, wireObj); } // SMPLRT_DIV register @@ -113,8 +114,8 @@ void MPU6050::setAuxVDDIOLevel(uint8_t level) { * @return Current sample rate * @see MPU6050_RA_SMPLRT_DIV */ -uint8_t MPU6050::getRate() { - I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer); +uint8_t MPU6050_Base::getRate() { + I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope sample rate divider. @@ -122,8 +123,8 @@ uint8_t MPU6050::getRate() { * @see getRate() * @see MPU6050_RA_SMPLRT_DIV */ -void MPU6050::setRate(uint8_t rate) { - I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate); +void MPU6050_Base::setRate(uint8_t rate) { + I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate, wireObj); } // CONFIG register @@ -155,8 +156,8 @@ void MPU6050::setRate(uint8_t rate) { * * @return FSYNC configuration value */ -uint8_t MPU6050::getExternalFrameSync() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer); +uint8_t MPU6050_Base::getExternalFrameSync() { + I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set external FSYNC configuration. @@ -164,8 +165,8 @@ uint8_t MPU6050::getExternalFrameSync() { * @see MPU6050_RA_CONFIG * @param sync New FSYNC configuration value */ -void MPU6050::setExternalFrameSync(uint8_t sync) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync); +void MPU6050_Base::setExternalFrameSync(uint8_t sync) { + I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync, wireObj); } /** Get digital low-pass filter configuration. * The DLPF_CFG parameter sets the digital low pass filter configuration. It @@ -195,8 +196,8 @@ void MPU6050::setExternalFrameSync(uint8_t sync) { * @see MPU6050_CFG_DLPF_CFG_BIT * @see MPU6050_CFG_DLPF_CFG_LENGTH */ -uint8_t MPU6050::getDLPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer); +uint8_t MPU6050_Base::getDLPFMode() { + I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set digital low-pass filter configuration. @@ -207,8 +208,8 @@ uint8_t MPU6050::getDLPFMode() { * @see MPU6050_CFG_DLPF_CFG_BIT * @see MPU6050_CFG_DLPF_CFG_LENGTH */ -void MPU6050::setDLPFMode(uint8_t mode) { - I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode); +void MPU6050_Base::setDLPFMode(uint8_t mode) { + I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode, wireObj); } // GYRO_CONFIG register @@ -230,8 +231,8 @@ void MPU6050::setDLPFMode(uint8_t mode) { * @see MPU6050_GCONFIG_FS_SEL_BIT * @see MPU6050_GCONFIG_FS_SEL_LENGTH */ -uint8_t MPU6050::getFullScaleGyroRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer); +uint8_t MPU6050_Base::getFullScaleGyroRange() { + I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set full-scale gyroscope range. @@ -242,8 +243,8 @@ uint8_t MPU6050::getFullScaleGyroRange() { * @see MPU6050_GCONFIG_FS_SEL_BIT * @see MPU6050_GCONFIG_FS_SEL_LENGTH */ -void MPU6050::setFullScaleGyroRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +void MPU6050_Base::setFullScaleGyroRange(uint8_t range) { + I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range, wireObj); } // SELF TEST FACTORY TRIM VALUES @@ -252,9 +253,9 @@ void MPU6050::setFullScaleGyroRange(uint8_t range) { * @return factory trim value * @see MPU6050_RA_SELF_TEST_X */ -uint8_t MPU6050::getAccelXSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0]); - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]); +uint8_t MPU6050_Base::getAccelXSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, &buffer[0], I2Cdev::readTimeout, wireObj); + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1], I2Cdev::readTimeout, wireObj); return (buffer[0]>>3) | ((buffer[1]>>4) & 0x03); } @@ -262,9 +263,9 @@ uint8_t MPU6050::getAccelXSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Y */ -uint8_t MPU6050::getAccelYSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0]); - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1]); +uint8_t MPU6050_Base::getAccelYSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, &buffer[0], I2Cdev::readTimeout, wireObj); + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_A, &buffer[1], I2Cdev::readTimeout, wireObj); return (buffer[0]>>3) | ((buffer[1]>>2) & 0x03); } @@ -272,8 +273,8 @@ uint8_t MPU6050::getAccelYSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Z */ -uint8_t MPU6050::getAccelZSelfTestFactoryTrim() { - I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer); +uint8_t MPU6050_Base::getAccelZSelfTestFactoryTrim() { + I2Cdev::readBytes(devAddr, MPU6050_RA_SELF_TEST_Z, 2, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0]>>3) | (buffer[1] & 0x03); } @@ -281,8 +282,8 @@ uint8_t MPU6050::getAccelZSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_X */ -uint8_t MPU6050::getGyroXSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer); +uint8_t MPU6050_Base::getGyroXSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_X, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0] & 0x1F); } @@ -290,8 +291,8 @@ uint8_t MPU6050::getGyroXSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Y */ -uint8_t MPU6050::getGyroYSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer); +uint8_t MPU6050_Base::getGyroYSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Y, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0] & 0x1F); } @@ -299,8 +300,8 @@ uint8_t MPU6050::getGyroYSelfTestFactoryTrim() { * @return factory trim value * @see MPU6050_RA_SELF_TEST_Z */ -uint8_t MPU6050::getGyroZSelfTestFactoryTrim() { - I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer); +uint8_t MPU6050_Base::getGyroZSelfTestFactoryTrim() { + I2Cdev::readByte(devAddr, MPU6050_RA_SELF_TEST_Z, buffer, I2Cdev::readTimeout, wireObj); return (buffer[0] & 0x1F); } @@ -310,46 +311,46 @@ uint8_t MPU6050::getGyroZSelfTestFactoryTrim() { * @return Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -bool MPU6050::getAccelXSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer); +bool MPU6050_Base::getAccelXSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get self-test enabled setting for accelerometer X axis. * @param enabled Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setAccelXSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled); +void MPU6050_Base::setAccelXSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled, wireObj); } /** Get self-test enabled value for accelerometer Y axis. * @return Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -bool MPU6050::getAccelYSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer); +bool MPU6050_Base::getAccelYSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get self-test enabled value for accelerometer Y axis. * @param enabled Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setAccelYSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled); +void MPU6050_Base::setAccelYSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled, wireObj); } /** Get self-test enabled value for accelerometer Z axis. * @return Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -bool MPU6050::getAccelZSelfTest() { - I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer); +bool MPU6050_Base::getAccelZSelfTest() { + I2Cdev::readBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set self-test enabled value for accelerometer Z axis. * @param enabled Self-test enabled value * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setAccelZSelfTest(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled); +void MPU6050_Base::setAccelZSelfTest(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled, wireObj); } /** Get full-scale accelerometer range. * The FS_SEL parameter allows setting the full-scale range of the accelerometer @@ -368,16 +369,16 @@ void MPU6050::setAccelZSelfTest(bool enabled) { * @see MPU6050_ACONFIG_AFS_SEL_BIT * @see MPU6050_ACONFIG_AFS_SEL_LENGTH */ -uint8_t MPU6050::getFullScaleAccelRange() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer); +uint8_t MPU6050_Base::getFullScaleAccelRange() { + I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set full-scale accelerometer range. * @param range New full-scale accelerometer range setting * @see getFullScaleAccelRange() */ -void MPU6050::setFullScaleAccelRange(uint8_t range) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +void MPU6050_Base::setFullScaleAccelRange(uint8_t range) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range, wireObj); } /** Get the high-pass filter configuration. * The DHPF is a filter module in the path leading to motion detectors (Free @@ -414,8 +415,8 @@ void MPU6050::setFullScaleAccelRange(uint8_t range) { * @see MPU6050_DHPF_RESET * @see MPU6050_RA_ACCEL_CONFIG */ -uint8_t MPU6050::getDHPFMode() { - I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer); +uint8_t MPU6050_Base::getDHPFMode() { + I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the high-pass filter configuration. @@ -424,8 +425,8 @@ uint8_t MPU6050::getDHPFMode() { * @see MPU6050_DHPF_RESET * @see MPU6050_RA_ACCEL_CONFIG */ -void MPU6050::setDHPFMode(uint8_t bandwidth) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth); +void MPU6050_Base::setDHPFMode(uint8_t bandwidth) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth, wireObj); } // FF_THR register @@ -445,8 +446,8 @@ void MPU6050::setDHPFMode(uint8_t bandwidth) { * @return Current free-fall acceleration threshold value (LSB = 2mg) * @see MPU6050_RA_FF_THR */ -uint8_t MPU6050::getFreefallDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer); +uint8_t MPU6050_Base::getFreefallDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_FF_THR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get free-fall event acceleration threshold. @@ -454,8 +455,8 @@ uint8_t MPU6050::getFreefallDetectionThreshold() { * @see getFreefallDetectionThreshold() * @see MPU6050_RA_FF_THR */ -void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold); +void MPU6050_Base::setFreefallDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FF_THR, threshold, wireObj); } // FF_DUR register @@ -477,8 +478,8 @@ void MPU6050::setFreefallDetectionThreshold(uint8_t threshold) { * @return Current free-fall duration threshold value (LSB = 1ms) * @see MPU6050_RA_FF_DUR */ -uint8_t MPU6050::getFreefallDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer); +uint8_t MPU6050_Base::getFreefallDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_FF_DUR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get free-fall event duration threshold. @@ -486,8 +487,8 @@ uint8_t MPU6050::getFreefallDetectionDuration() { * @see getFreefallDetectionDuration() * @see MPU6050_RA_FF_DUR */ -void MPU6050::setFreefallDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration); +void MPU6050_Base::setFreefallDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FF_DUR, duration, wireObj); } // MOT_THR register @@ -511,8 +512,8 @@ void MPU6050::setFreefallDetectionDuration(uint8_t duration) { * @return Current motion detection acceleration threshold value (LSB = 2mg) * @see MPU6050_RA_MOT_THR */ -uint8_t MPU6050::getMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer); +uint8_t MPU6050_Base::getMotionDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_THR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set motion detection event acceleration threshold. @@ -520,8 +521,8 @@ uint8_t MPU6050::getMotionDetectionThreshold() { * @see getMotionDetectionThreshold() * @see MPU6050_RA_MOT_THR */ -void MPU6050::setMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold); +void MPU6050_Base::setMotionDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_THR, threshold, wireObj); } // MOT_DUR register @@ -541,8 +542,8 @@ void MPU6050::setMotionDetectionThreshold(uint8_t threshold) { * @return Current motion detection duration threshold value (LSB = 1ms) * @see MPU6050_RA_MOT_DUR */ -uint8_t MPU6050::getMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer); +uint8_t MPU6050_Base::getMotionDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DUR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set motion detection event duration threshold. @@ -550,8 +551,8 @@ uint8_t MPU6050::getMotionDetectionDuration() { * @see getMotionDetectionDuration() * @see MPU6050_RA_MOT_DUR */ -void MPU6050::setMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration); +void MPU6050_Base::setMotionDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MOT_DUR, duration, wireObj); } // ZRMOT_THR register @@ -581,8 +582,8 @@ void MPU6050::setMotionDetectionDuration(uint8_t duration) { * @return Current zero motion detection acceleration threshold value (LSB = 2mg) * @see MPU6050_RA_ZRMOT_THR */ -uint8_t MPU6050::getZeroMotionDetectionThreshold() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer); +uint8_t MPU6050_Base::getZeroMotionDetectionThreshold() { + I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_THR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set zero motion detection event acceleration threshold. @@ -590,8 +591,8 @@ uint8_t MPU6050::getZeroMotionDetectionThreshold() { * @see getZeroMotionDetectionThreshold() * @see MPU6050_RA_ZRMOT_THR */ -void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold); +void MPU6050_Base::setZeroMotionDetectionThreshold(uint8_t threshold) { + I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_THR, threshold, wireObj); } // ZRMOT_DUR register @@ -612,8 +613,8 @@ void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) { * @return Current zero motion detection duration threshold value (LSB = 64ms) * @see MPU6050_RA_ZRMOT_DUR */ -uint8_t MPU6050::getZeroMotionDetectionDuration() { - I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer); +uint8_t MPU6050_Base::getZeroMotionDetectionDuration() { + I2Cdev::readByte(devAddr, MPU6050_RA_ZRMOT_DUR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set zero motion detection event duration threshold. @@ -621,8 +622,8 @@ uint8_t MPU6050::getZeroMotionDetectionDuration() { * @see getZeroMotionDetectionDuration() * @see MPU6050_RA_ZRMOT_DUR */ -void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) { - I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration); +void MPU6050_Base::setZeroMotionDetectionDuration(uint8_t duration) { + I2Cdev::writeByte(devAddr, MPU6050_RA_ZRMOT_DUR, duration, wireObj); } // FIFO_EN register @@ -633,8 +634,8 @@ void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) { * @return Current temperature FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getTempFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getTempFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set temperature FIFO enabled value. @@ -642,8 +643,8 @@ bool MPU6050::getTempFIFOEnabled() { * @see getTempFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setTempFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled); +void MPU6050_Base::setTempFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled, wireObj); } /** Get gyroscope X-axis FIFO enabled value. * When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and @@ -651,8 +652,8 @@ void MPU6050::setTempFIFOEnabled(bool enabled) { * @return Current gyroscope X-axis FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getXGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getXGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope X-axis FIFO enabled value. @@ -660,8 +661,8 @@ bool MPU6050::getXGyroFIFOEnabled() { * @see getXGyroFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setXGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled); +void MPU6050_Base::setXGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled, wireObj); } /** Get gyroscope Y-axis FIFO enabled value. * When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and @@ -669,8 +670,8 @@ void MPU6050::setXGyroFIFOEnabled(bool enabled) { * @return Current gyroscope Y-axis FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getYGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getYGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope Y-axis FIFO enabled value. @@ -678,8 +679,8 @@ bool MPU6050::getYGyroFIFOEnabled() { * @see getYGyroFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setYGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled); +void MPU6050_Base::setYGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled, wireObj); } /** Get gyroscope Z-axis FIFO enabled value. * When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and @@ -687,8 +688,8 @@ void MPU6050::setYGyroFIFOEnabled(bool enabled) { * @return Current gyroscope Z-axis FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getZGyroFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getZGyroFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set gyroscope Z-axis FIFO enabled value. @@ -696,8 +697,8 @@ bool MPU6050::getZGyroFIFOEnabled() { * @see getZGyroFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setZGyroFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled); +void MPU6050_Base::setZGyroFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled, wireObj); } /** Get accelerometer FIFO enabled value. * When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, @@ -706,8 +707,8 @@ void MPU6050::setZGyroFIFOEnabled(bool enabled) { * @return Current accelerometer FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getAccelFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getAccelFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set accelerometer FIFO enabled value. @@ -715,8 +716,8 @@ bool MPU6050::getAccelFIFOEnabled() { * @see getAccelFIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setAccelFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled); +void MPU6050_Base::setAccelFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, enabled, wireObj); } /** Get Slave 2 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -724,8 +725,8 @@ void MPU6050::setAccelFIFOEnabled(bool enabled) { * @return Current Slave 2 FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getSlave2FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave2FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 2 FIFO enabled value. @@ -733,8 +734,8 @@ bool MPU6050::getSlave2FIFOEnabled() { * @see getSlave2FIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setSlave2FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave2FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, enabled, wireObj); } /** Get Slave 1 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -742,8 +743,8 @@ void MPU6050::setSlave2FIFOEnabled(bool enabled) { * @return Current Slave 1 FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getSlave1FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave1FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 1 FIFO enabled value. @@ -751,8 +752,8 @@ bool MPU6050::getSlave1FIFOEnabled() { * @see getSlave1FIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setSlave1FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave1FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled, wireObj); } /** Get Slave 0 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -760,8 +761,8 @@ void MPU6050::setSlave1FIFOEnabled(bool enabled) { * @return Current Slave 0 FIFO enabled value * @see MPU6050_RA_FIFO_EN */ -bool MPU6050::getSlave0FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave0FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 0 FIFO enabled value. @@ -769,8 +770,8 @@ bool MPU6050::getSlave0FIFOEnabled() { * @see getSlave0FIFOEnabled() * @see MPU6050_RA_FIFO_EN */ -void MPU6050::setSlave0FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave0FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled, wireObj); } // I2C_MST_CTRL register @@ -790,8 +791,8 @@ void MPU6050::setSlave0FIFOEnabled(bool enabled) { * @return Current multi-master enabled value * @see MPU6050_RA_I2C_MST_CTRL */ -bool MPU6050::getMultiMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer); +bool MPU6050_Base::getMultiMasterEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set multi-master enabled value. @@ -799,8 +800,8 @@ bool MPU6050::getMultiMasterEnabled() { * @see getMultiMasterEnabled() * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setMultiMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled); +void MPU6050_Base::setMultiMasterEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled, wireObj); } /** Get wait-for-external-sensor-data enabled value. * When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be @@ -813,8 +814,8 @@ void MPU6050::setMultiMasterEnabled(bool enabled) { * @return Current wait-for-external-sensor-data enabled value * @see MPU6050_RA_I2C_MST_CTRL */ -bool MPU6050::getWaitForExternalSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer); +bool MPU6050_Base::getWaitForExternalSensorEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set wait-for-external-sensor-data enabled value. @@ -822,8 +823,8 @@ bool MPU6050::getWaitForExternalSensorEnabled() { * @see getWaitForExternalSensorEnabled() * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setWaitForExternalSensorEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled); +void MPU6050_Base::setWaitForExternalSensorEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled, wireObj); } /** Get Slave 3 FIFO enabled value. * When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) @@ -831,8 +832,8 @@ void MPU6050::setWaitForExternalSensorEnabled(bool enabled) { * @return Current Slave 3 FIFO enabled value * @see MPU6050_RA_MST_CTRL */ -bool MPU6050::getSlave3FIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getSlave3FIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 3 FIFO enabled value. @@ -840,8 +841,8 @@ bool MPU6050::getSlave3FIFOEnabled() { * @see getSlave3FIFOEnabled() * @see MPU6050_RA_MST_CTRL */ -void MPU6050::setSlave3FIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled); +void MPU6050_Base::setSlave3FIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled, wireObj); } /** Get slave read/write transition enabled value. * The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave @@ -853,8 +854,8 @@ void MPU6050::setSlave3FIFOEnabled(bool enabled) { * @return Current slave read/write transition enabled value * @see MPU6050_RA_I2C_MST_CTRL */ -bool MPU6050::getSlaveReadWriteTransitionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer); +bool MPU6050_Base::getSlaveReadWriteTransitionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set slave read/write transition enabled value. @@ -862,8 +863,8 @@ bool MPU6050::getSlaveReadWriteTransitionEnabled() { * @see getSlaveReadWriteTransitionEnabled() * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled); +void MPU6050_Base::setSlaveReadWriteTransitionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, enabled, wireObj); } /** Get I2C master clock speed. * I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the @@ -894,16 +895,16 @@ void MPU6050::setSlaveReadWriteTransitionEnabled(bool enabled) { * @return Current I2C master clock speed * @see MPU6050_RA_I2C_MST_CTRL */ -uint8_t MPU6050::getMasterClockSpeed() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer); +uint8_t MPU6050_Base::getMasterClockSpeed() { + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C master clock speed. * @reparam speed Current I2C master clock speed * @see MPU6050_RA_I2C_MST_CTRL */ -void MPU6050::setMasterClockSpeed(uint8_t speed) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed); +void MPU6050_Base::setMasterClockSpeed(uint8_t speed) { + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT, MPU6050_I2C_MST_CLK_LENGTH, speed, wireObj); } // I2C_SLV* registers (Slave 0-3) @@ -949,9 +950,9 @@ void MPU6050::setMasterClockSpeed(uint8_t speed) { * @return Current address for specified slave * @see MPU6050_RA_I2C_SLV0_ADDR */ -uint8_t MPU6050::getSlaveAddress(uint8_t num) { +uint8_t MPU6050_Base::getSlaveAddress(uint8_t num) { if (num > 3) return 0; - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer); + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the I2C address of the specified slave (0-3). @@ -960,9 +961,9 @@ uint8_t MPU6050::getSlaveAddress(uint8_t num) { * @see getSlaveAddress() * @see MPU6050_RA_I2C_SLV0_ADDR */ -void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) { +void MPU6050_Base::setSlaveAddress(uint8_t num, uint8_t address) { if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_ADDR + num*3, address, wireObj); } /** Get the active internal register for the specified slave (0-3). * Read/write operations for this slave will be done to whatever internal @@ -975,9 +976,9 @@ void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) { * @return Current active register for specified slave * @see MPU6050_RA_I2C_SLV0_REG */ -uint8_t MPU6050::getSlaveRegister(uint8_t num) { +uint8_t MPU6050_Base::getSlaveRegister(uint8_t num) { if (num > 3) return 0; - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer); + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the active internal register for the specified slave (0-3). @@ -986,9 +987,9 @@ uint8_t MPU6050::getSlaveRegister(uint8_t num) { * @see getSlaveRegister() * @see MPU6050_RA_I2C_SLV0_REG */ -void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) { +void MPU6050_Base::setSlaveRegister(uint8_t num, uint8_t reg) { if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_REG + num*3, reg, wireObj); } /** Get the enabled value for the specified slave (0-3). * When set to 1, this bit enables Slave 0 for data transfer operations. When @@ -997,9 +998,9 @@ void MPU6050::setSlaveRegister(uint8_t num, uint8_t reg) { * @return Current enabled value for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveEnabled(uint8_t num) { +bool MPU6050_Base::getSlaveEnabled(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the enabled value for the specified slave (0-3). @@ -1008,9 +1009,9 @@ bool MPU6050::getSlaveEnabled(uint8_t num) { * @see getSlaveEnabled() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) { +void MPU6050_Base::setSlaveEnabled(uint8_t num, bool enabled) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_EN_BIT, enabled, wireObj); } /** Get word pair byte-swapping enabled for the specified slave (0-3). * When set to 1, this bit enables byte swapping. When byte swapping is enabled, @@ -1023,9 +1024,9 @@ void MPU6050::setSlaveEnabled(uint8_t num, bool enabled) { * @return Current word pair byte-swapping enabled value for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveWordByteSwap(uint8_t num) { +bool MPU6050_Base::getSlaveWordByteSwap(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set word pair byte-swapping enabled for the specified slave (0-3). @@ -1034,9 +1035,9 @@ bool MPU6050::getSlaveWordByteSwap(uint8_t num) { * @see getSlaveWordByteSwap() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) { +void MPU6050_Base::setSlaveWordByteSwap(uint8_t num, bool enabled) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_BYTE_SW_BIT, enabled, wireObj); } /** Get write mode for the specified slave (0-3). * When set to 1, the transaction will read or write data only. When cleared to @@ -1048,9 +1049,9 @@ void MPU6050::setSlaveWordByteSwap(uint8_t num, bool enabled) { * @return Current write mode for specified slave (0 = register address + data, 1 = data only) * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveWriteMode(uint8_t num) { +bool MPU6050_Base::getSlaveWriteMode(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set write mode for the specified slave (0-3). @@ -1059,9 +1060,9 @@ bool MPU6050::getSlaveWriteMode(uint8_t num) { * @see getSlaveWriteMode() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) { +void MPU6050_Base::setSlaveWriteMode(uint8_t num, bool mode) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_REG_DIS_BIT, mode, wireObj); } /** Get word pair grouping order offset for the specified slave (0-3). * This sets specifies the grouping order of word pairs received from registers. @@ -1074,9 +1075,9 @@ void MPU6050::setSlaveWriteMode(uint8_t num, bool mode) { * @return Current word pair grouping order offset for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -bool MPU6050::getSlaveWordGroupOffset(uint8_t num) { +bool MPU6050_Base::getSlaveWordGroupOffset(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set word pair grouping order offset for the specified slave (0-3). @@ -1085,9 +1086,9 @@ bool MPU6050::getSlaveWordGroupOffset(uint8_t num) { * @see getSlaveWordGroupOffset() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) { +void MPU6050_Base::setSlaveWordGroupOffset(uint8_t num, bool enabled) { if (num > 3) return; - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_GRP_BIT, enabled, wireObj); } /** Get number of bytes to read for the specified slave (0-3). * Specifies the number of bytes transferred to and from Slave 0. Clearing this @@ -1096,9 +1097,9 @@ void MPU6050::setSlaveWordGroupOffset(uint8_t num, bool enabled) { * @return Number of bytes to read for specified slave * @see MPU6050_RA_I2C_SLV0_CTRL */ -uint8_t MPU6050::getSlaveDataLength(uint8_t num) { +uint8_t MPU6050_Base::getSlaveDataLength(uint8_t num) { if (num > 3) return 0; - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer); + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set number of bytes to read for the specified slave (0-3). @@ -1107,9 +1108,9 @@ uint8_t MPU6050::getSlaveDataLength(uint8_t num) { * @see getSlaveDataLength() * @see MPU6050_RA_I2C_SLV0_CTRL */ -void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) { +void MPU6050_Base::setSlaveDataLength(uint8_t num, uint8_t length) { if (num > 3) return; - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length); + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV0_CTRL + num*3, MPU6050_I2C_SLV_LEN_BIT, MPU6050_I2C_SLV_LEN_LENGTH, length, wireObj); } // I2C_SLV* registers (Slave 4) @@ -1123,8 +1124,8 @@ void MPU6050::setSlaveDataLength(uint8_t num, uint8_t length) { * @see getSlaveAddress() * @see MPU6050_RA_I2C_SLV4_ADDR */ -uint8_t MPU6050::getSlave4Address() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer); +uint8_t MPU6050_Base::getSlave4Address() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the I2C address of Slave 4. @@ -1132,8 +1133,8 @@ uint8_t MPU6050::getSlave4Address() { * @see getSlave4Address() * @see MPU6050_RA_I2C_SLV4_ADDR */ -void MPU6050::setSlave4Address(uint8_t address) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address); +void MPU6050_Base::setSlave4Address(uint8_t address) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_ADDR, address, wireObj); } /** Get the active internal register for the Slave 4. * Read/write operations for this slave will be done to whatever internal @@ -1142,8 +1143,8 @@ void MPU6050::setSlave4Address(uint8_t address) { * @return Current active register for Slave 4 * @see MPU6050_RA_I2C_SLV4_REG */ -uint8_t MPU6050::getSlave4Register() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer); +uint8_t MPU6050_Base::getSlave4Register() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_REG, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the active internal register for Slave 4. @@ -1151,8 +1152,8 @@ uint8_t MPU6050::getSlave4Register() { * @see getSlave4Register() * @see MPU6050_RA_I2C_SLV4_REG */ -void MPU6050::setSlave4Register(uint8_t reg) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg); +void MPU6050_Base::setSlave4Register(uint8_t reg) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_REG, reg, wireObj); } /** Set new byte to write to Slave 4. * This register stores the data to be written into the Slave 4. If I2C_SLV4_RW @@ -1160,8 +1161,8 @@ void MPU6050::setSlave4Register(uint8_t reg) { * @param data New byte to write to Slave 4 * @see MPU6050_RA_I2C_SLV4_DO */ -void MPU6050::setSlave4OutputByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data); +void MPU6050_Base::setSlave4OutputByte(uint8_t data) { + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV4_DO, data, wireObj); } /** Get the enabled value for the Slave 4. * When set to 1, this bit enables Slave 4 for data transfer operations. When @@ -1169,8 +1170,8 @@ void MPU6050::setSlave4OutputByte(uint8_t data) { * @return Current enabled value for Slave 4 * @see MPU6050_RA_I2C_SLV4_CTRL */ -bool MPU6050::getSlave4Enabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer); +bool MPU6050_Base::getSlave4Enabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the enabled value for Slave 4. @@ -1178,8 +1179,8 @@ bool MPU6050::getSlave4Enabled() { * @see getSlave4Enabled() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4Enabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled); +void MPU6050_Base::setSlave4Enabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled, wireObj); } /** Get the enabled value for Slave 4 transaction interrupts. * When set to 1, this bit enables the generation of an interrupt signal upon @@ -1190,8 +1191,8 @@ void MPU6050::setSlave4Enabled(bool enabled) { * @return Current enabled value for Slave 4 transaction interrupts. * @see MPU6050_RA_I2C_SLV4_CTRL */ -bool MPU6050::getSlave4InterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer); +bool MPU6050_Base::getSlave4InterruptEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set the enabled value for Slave 4 transaction interrupts. @@ -1199,8 +1200,8 @@ bool MPU6050::getSlave4InterruptEnabled() { * @see getSlave4InterruptEnabled() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4InterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled); +void MPU6050_Base::setSlave4InterruptEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled, wireObj); } /** Get write mode for Slave 4. * When set to 1, the transaction will read or write data only. When cleared to @@ -1211,8 +1212,8 @@ void MPU6050::setSlave4InterruptEnabled(bool enabled) { * @return Current write mode for Slave 4 (0 = register address + data, 1 = data only) * @see MPU6050_RA_I2C_SLV4_CTRL */ -bool MPU6050::getSlave4WriteMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer); +bool MPU6050_Base::getSlave4WriteMode() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set write mode for the Slave 4. @@ -1220,8 +1221,8 @@ bool MPU6050::getSlave4WriteMode() { * @see getSlave4WriteMode() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4WriteMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode); +void MPU6050_Base::setSlave4WriteMode(bool mode) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode, wireObj); } /** Get Slave 4 master delay value. * This configures the reduced access rate of I2C slaves relative to the Sample @@ -1238,8 +1239,8 @@ void MPU6050::setSlave4WriteMode(bool mode) { * @return Current Slave 4 master delay value * @see MPU6050_RA_I2C_SLV4_CTRL */ -uint8_t MPU6050::getSlave4MasterDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer); +uint8_t MPU6050_Base::getSlave4MasterDelay() { + I2Cdev::readBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Slave 4 master delay value. @@ -1247,8 +1248,8 @@ uint8_t MPU6050::getSlave4MasterDelay() { * @see getSlave4MasterDelay() * @see MPU6050_RA_I2C_SLV4_CTRL */ -void MPU6050::setSlave4MasterDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay); +void MPU6050_Base::setSlave4MasterDelay(uint8_t delay) { + I2Cdev::writeBits(devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT, MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay, wireObj); } /** Get last available byte read from Slave 4. * This register stores the data read from Slave 4. This field is populated @@ -1256,8 +1257,8 @@ void MPU6050::setSlave4MasterDelay(uint8_t delay) { * @return Last available byte read from to Slave 4 * @see MPU6050_RA_I2C_SLV4_DI */ -uint8_t MPU6050::getSlate4InputByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer); +uint8_t MPU6050_Base::getSlate4InputByte() { + I2Cdev::readByte(devAddr, MPU6050_RA_I2C_SLV4_DI, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -1272,8 +1273,8 @@ uint8_t MPU6050::getSlate4InputByte() { * @return FSYNC interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getPassthroughStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer); +bool MPU6050_Base::getPassthroughStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 4 transaction done status. @@ -1284,8 +1285,8 @@ bool MPU6050::getPassthroughStatus() { * @return Slave 4 transaction done status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave4IsDone() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer); +bool MPU6050_Base::getSlave4IsDone() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get master arbitration lost status. @@ -1295,8 +1296,8 @@ bool MPU6050::getSlave4IsDone() { * @return Master arbitration lost status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getLostArbitration() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer); +bool MPU6050_Base::getLostArbitration() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 4 NACK status. @@ -1306,8 +1307,8 @@ bool MPU6050::getLostArbitration() { * @return Slave 4 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave4Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer); +bool MPU6050_Base::getSlave4Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 3 NACK status. @@ -1317,8 +1318,8 @@ bool MPU6050::getSlave4Nack() { * @return Slave 3 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave3Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer); +bool MPU6050_Base::getSlave3Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 2 NACK status. @@ -1328,8 +1329,8 @@ bool MPU6050::getSlave3Nack() { * @return Slave 2 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave2Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer); +bool MPU6050_Base::getSlave2Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 1 NACK status. @@ -1339,8 +1340,8 @@ bool MPU6050::getSlave2Nack() { * @return Slave 1 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave1Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer); +bool MPU6050_Base::getSlave1Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Slave 0 NACK status. @@ -1350,8 +1351,8 @@ bool MPU6050::getSlave1Nack() { * @return Slave 0 NACK interrupt status * @see MPU6050_RA_I2C_MST_STATUS */ -bool MPU6050::getSlave0Nack() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer); +bool MPU6050_Base::getSlave0Nack() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -1363,8 +1364,8 @@ bool MPU6050::getSlave0Nack() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_LEVEL_BIT */ -bool MPU6050::getInterruptMode() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer); +bool MPU6050_Base::getInterruptMode() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt logic level mode. @@ -1373,8 +1374,8 @@ bool MPU6050::getInterruptMode() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_LEVEL_BIT */ -void MPU6050::setInterruptMode(bool mode) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode); +void MPU6050_Base::setInterruptMode(bool mode) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode, wireObj); } /** Get interrupt drive mode. * Will be set 0 for push-pull, 1 for open-drain. @@ -1382,8 +1383,8 @@ void MPU6050::setInterruptMode(bool mode) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_OPEN_BIT */ -bool MPU6050::getInterruptDrive() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer); +bool MPU6050_Base::getInterruptDrive() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt drive mode. @@ -1392,8 +1393,8 @@ bool MPU6050::getInterruptDrive() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_OPEN_BIT */ -void MPU6050::setInterruptDrive(bool drive) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive); +void MPU6050_Base::setInterruptDrive(bool drive) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive, wireObj); } /** Get interrupt latch mode. * Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared. @@ -1401,8 +1402,8 @@ void MPU6050::setInterruptDrive(bool drive) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_LATCH_INT_EN_BIT */ -bool MPU6050::getInterruptLatch() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer); +bool MPU6050_Base::getInterruptLatch() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt latch mode. @@ -1411,8 +1412,8 @@ bool MPU6050::getInterruptLatch() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_LATCH_INT_EN_BIT */ -void MPU6050::setInterruptLatch(bool latch) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch); +void MPU6050_Base::setInterruptLatch(bool latch) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch, wireObj); } /** Get interrupt latch clear mode. * Will be set 0 for status-read-only, 1 for any-register-read. @@ -1420,8 +1421,8 @@ void MPU6050::setInterruptLatch(bool latch) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT */ -bool MPU6050::getInterruptLatchClear() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer); +bool MPU6050_Base::getInterruptLatchClear() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set interrupt latch clear mode. @@ -1430,8 +1431,8 @@ bool MPU6050::getInterruptLatchClear() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_INT_RD_CLEAR_BIT */ -void MPU6050::setInterruptLatchClear(bool clear) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear); +void MPU6050_Base::setInterruptLatchClear(bool clear) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear, wireObj); } /** Get FSYNC interrupt logic level mode. * @return Current FSYNC interrupt mode (0=active-high, 1=active-low) @@ -1439,8 +1440,8 @@ void MPU6050::setInterruptLatchClear(bool clear) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT */ -bool MPU6050::getFSyncInterruptLevel() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer); +bool MPU6050_Base::getFSyncInterruptLevel() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FSYNC interrupt logic level mode. @@ -1449,8 +1450,8 @@ bool MPU6050::getFSyncInterruptLevel() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT */ -void MPU6050::setFSyncInterruptLevel(bool level) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level); +void MPU6050_Base::setFSyncInterruptLevel(bool level) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level, wireObj); } /** Get FSYNC pin interrupt enabled setting. * Will be set 0 for disabled, 1 for enabled. @@ -1458,8 +1459,8 @@ void MPU6050::setFSyncInterruptLevel(bool level) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT */ -bool MPU6050::getFSyncInterruptEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer); +bool MPU6050_Base::getFSyncInterruptEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FSYNC pin interrupt enabled setting. @@ -1468,8 +1469,8 @@ bool MPU6050::getFSyncInterruptEnabled() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_FSYNC_INT_EN_BIT */ -void MPU6050::setFSyncInterruptEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled); +void MPU6050_Base::setFSyncInterruptEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled, wireObj); } /** Get I2C bypass enabled status. * When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to @@ -1482,8 +1483,8 @@ void MPU6050::setFSyncInterruptEnabled(bool enabled) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT */ -bool MPU6050::getI2CBypassEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer); +bool MPU6050_Base::getI2CBypassEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C bypass enabled status. @@ -1497,8 +1498,8 @@ bool MPU6050::getI2CBypassEnabled() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_I2C_BYPASS_EN_BIT */ -void MPU6050::setI2CBypassEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +void MPU6050_Base::setI2CBypassEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled, wireObj); } /** Get reference clock output enabled status. * When this bit is equal to 1, a reference clock output is provided at the @@ -1509,8 +1510,8 @@ void MPU6050::setI2CBypassEnabled(bool enabled) { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_CLKOUT_EN_BIT */ -bool MPU6050::getClockOutputEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer); +bool MPU6050_Base::getClockOutputEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set reference clock output enabled status. @@ -1522,8 +1523,8 @@ bool MPU6050::getClockOutputEnabled() { * @see MPU6050_RA_INT_PIN_CFG * @see MPU6050_INTCFG_CLKOUT_EN_BIT */ -void MPU6050::setClockOutputEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled); +void MPU6050_Base::setClockOutputEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled, wireObj); } // INT_ENABLE register @@ -1535,8 +1536,8 @@ void MPU6050::setClockOutputEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -uint8_t MPU6050::getIntEnabled() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer); +uint8_t MPU6050_Base::getIntEnabled() { + I2Cdev::readByte(devAddr, MPU6050_RA_INT_ENABLE, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set full interrupt enabled status. @@ -1547,8 +1548,8 @@ uint8_t MPU6050::getIntEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -void MPU6050::setIntEnabled(uint8_t enabled) { - I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled); +void MPU6050_Base::setIntEnabled(uint8_t enabled) { + I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, enabled, wireObj); } /** Get Free Fall interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1556,8 +1557,8 @@ void MPU6050::setIntEnabled(uint8_t enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -bool MPU6050::getIntFreefallEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer); +bool MPU6050_Base::getIntFreefallEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Free Fall interrupt enabled status. @@ -1566,8 +1567,8 @@ bool MPU6050::getIntFreefallEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FF_BIT **/ -void MPU6050::setIntFreefallEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled); +void MPU6050_Base::setIntFreefallEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, enabled, wireObj); } /** Get Motion Detection interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1575,8 +1576,8 @@ void MPU6050::setIntFreefallEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_MOT_BIT **/ -bool MPU6050::getIntMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer); +bool MPU6050_Base::getIntMotionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Motion Detection interrupt enabled status. @@ -1585,8 +1586,8 @@ bool MPU6050::getIntMotionEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_MOT_BIT **/ -void MPU6050::setIntMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled); +void MPU6050_Base::setIntMotionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled, wireObj); } /** Get Zero Motion Detection interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1594,8 +1595,8 @@ void MPU6050::setIntMotionEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_ZMOT_BIT **/ -bool MPU6050::getIntZeroMotionEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer); +bool MPU6050_Base::getIntZeroMotionEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Zero Motion Detection interrupt enabled status. @@ -1604,8 +1605,8 @@ bool MPU6050::getIntZeroMotionEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_ZMOT_BIT **/ -void MPU6050::setIntZeroMotionEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled); +void MPU6050_Base::setIntZeroMotionEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled, wireObj); } /** Get FIFO Buffer Overflow interrupt enabled status. * Will be set 0 for disabled, 1 for enabled. @@ -1613,8 +1614,8 @@ void MPU6050::setIntZeroMotionEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT **/ -bool MPU6050::getIntFIFOBufferOverflowEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); +bool MPU6050_Base::getIntFIFOBufferOverflowEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FIFO Buffer Overflow interrupt enabled status. @@ -1623,8 +1624,8 @@ bool MPU6050::getIntFIFOBufferOverflowEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT **/ -void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled); +void MPU6050_Base::setIntFIFOBufferOverflowEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled, wireObj); } /** Get I2C Master interrupt enabled status. * This enables any of the I2C Master interrupt sources to generate an @@ -1633,8 +1634,8 @@ void MPU6050::setIntFIFOBufferOverflowEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT **/ -bool MPU6050::getIntI2CMasterEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); +bool MPU6050_Base::getIntI2CMasterEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C Master interrupt enabled status. @@ -1643,8 +1644,8 @@ bool MPU6050::getIntI2CMasterEnabled() { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT **/ -void MPU6050::setIntI2CMasterEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled); +void MPU6050_Base::setIntI2CMasterEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled, wireObj); } /** Get Data Ready interrupt enabled setting. * This event occurs each time a write operation to all of the sensor registers @@ -1653,8 +1654,8 @@ void MPU6050::setIntI2CMasterEnabled(bool enabled) { * @see MPU6050_RA_INT_ENABLE * @see MPU6050_INTERRUPT_DATA_RDY_BIT */ -bool MPU6050::getIntDataReadyEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); +bool MPU6050_Base::getIntDataReadyEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Data Ready interrupt enabled status. @@ -1663,8 +1664,8 @@ bool MPU6050::getIntDataReadyEnabled() { * @see MPU6050_RA_INT_CFG * @see MPU6050_INTERRUPT_DATA_RDY_BIT */ -void MPU6050::setIntDataReadyEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled); +void MPU6050_Base::setIntDataReadyEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled, wireObj); } // INT_STATUS register @@ -1676,8 +1677,8 @@ void MPU6050::setIntDataReadyEnabled(bool enabled) { * @return Current interrupt status * @see MPU6050_RA_INT_STATUS */ -uint8_t MPU6050::getIntStatus() { - I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer); +uint8_t MPU6050_Base::getIntStatus() { + I2Cdev::readByte(devAddr, MPU6050_RA_INT_STATUS, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Free Fall interrupt status. @@ -1687,8 +1688,8 @@ uint8_t MPU6050::getIntStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_FF_BIT */ -bool MPU6050::getIntFreefallStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer); +bool MPU6050_Base::getIntFreefallStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Motion Detection interrupt status. @@ -1698,8 +1699,8 @@ bool MPU6050::getIntFreefallStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_MOT_BIT */ -bool MPU6050::getIntMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer); +bool MPU6050_Base::getIntMotionStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Zero Motion Detection interrupt status. @@ -1709,8 +1710,8 @@ bool MPU6050::getIntMotionStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_ZMOT_BIT */ -bool MPU6050::getIntZeroMotionStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer); +bool MPU6050_Base::getIntZeroMotionStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get FIFO Buffer Overflow interrupt status. @@ -1720,8 +1721,8 @@ bool MPU6050::getIntZeroMotionStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_FIFO_OFLOW_BIT */ -bool MPU6050::getIntFIFOBufferOverflowStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer); +bool MPU6050_Base::getIntFIFOBufferOverflowStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get I2C Master interrupt status. @@ -1732,8 +1733,8 @@ bool MPU6050::getIntFIFOBufferOverflowStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_I2C_MST_INT_BIT */ -bool MPU6050::getIntI2CMasterStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer); +bool MPU6050_Base::getIntI2CMasterStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Data Ready interrupt status. @@ -1743,8 +1744,8 @@ bool MPU6050::getIntI2CMasterStatus() { * @see MPU6050_RA_INT_STATUS * @see MPU6050_INTERRUPT_DATA_RDY_BIT */ -bool MPU6050::getIntDataReadyStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer); +bool MPU6050_Base::getIntDataReadyStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -1766,7 +1767,11 @@ bool MPU6050::getIntDataReadyStatus() { * @see getRotation() * @see MPU6050_RA_ACCEL_XOUT_H */ -void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) { +void MPU6050_Base::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) { + (void)mx; // unused parameter + (void)my; // unused parameter + (void)mz; // unused parameter + getMotion6(ax, ay, az, gx, gy, gz); // TODO: magnetometer integration } @@ -1782,8 +1787,8 @@ void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int * @see getRotation() * @see MPU6050_RA_ACCEL_XOUT_H */ -void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer); +void MPU6050_Base::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz) { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer, I2Cdev::readTimeout, wireObj); *ax = (((int16_t)buffer[0]) << 8) | buffer[1]; *ay = (((int16_t)buffer[2]) << 8) | buffer[3]; *az = (((int16_t)buffer[4]) << 8) | buffer[5]; @@ -1816,10 +1821,10 @@ void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int * 
  * AFS_SEL | Full Scale Range | LSB Sensitivity
  * --------+------------------+----------------
- * 0       | +/- 2g           | 8192 LSB/mg
- * 1       | +/- 4g           | 4096 LSB/mg
- * 2       | +/- 8g           | 2048 LSB/mg
- * 3       | +/- 16g          | 1024 LSB/mg
+ * 0       | +/- 2g           | 16384 LSB/mg
+ * 1       | +/- 4g           | 8192 LSB/mg
+ * 2       | +/- 8g           | 4096 LSB/mg
+ * 3       | +/- 16g          | 2048 LSB/mg
  *
* * @param x 16-bit signed integer container for X-axis acceleration @@ -1827,8 +1832,8 @@ void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int * @param z 16-bit signed integer container for Z-axis acceleration * @see MPU6050_RA_GYRO_XOUT_H */ -void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer); +void MPU6050_Base::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer, I2Cdev::readTimeout, wireObj); *x = (((int16_t)buffer[0]) << 8) | buffer[1]; *y = (((int16_t)buffer[2]) << 8) | buffer[3]; *z = (((int16_t)buffer[4]) << 8) | buffer[5]; @@ -1838,8 +1843,8 @@ void MPU6050::getAcceleration(int16_t* x, int16_t* y, int16_t* z) { * @see getMotion6() * @see MPU6050_RA_ACCEL_XOUT_H */ -int16_t MPU6050::getAccelerationX() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer); +int16_t MPU6050_Base::getAccelerationX() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Y-axis accelerometer reading. @@ -1847,8 +1852,8 @@ int16_t MPU6050::getAccelerationX() { * @see getMotion6() * @see MPU6050_RA_ACCEL_YOUT_H */ -int16_t MPU6050::getAccelerationY() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer); +int16_t MPU6050_Base::getAccelerationY() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Z-axis accelerometer reading. @@ -1856,8 +1861,8 @@ int16_t MPU6050::getAccelerationY() { * @see getMotion6() * @see MPU6050_RA_ACCEL_ZOUT_H */ -int16_t MPU6050::getAccelerationZ() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer); +int16_t MPU6050_Base::getAccelerationZ() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } @@ -1867,8 +1872,8 @@ int16_t MPU6050::getAccelerationZ() { * @return Temperature reading in 16-bit 2's complement format * @see MPU6050_RA_TEMP_OUT_H */ -int16_t MPU6050::getTemperature() { - I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer); +int16_t MPU6050_Base::getTemperature() { + I2Cdev::readBytes(devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } @@ -1906,8 +1911,8 @@ int16_t MPU6050::getTemperature() { * @see getMotion6() * @see MPU6050_RA_GYRO_XOUT_H */ -void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer); +void MPU6050_Base::getRotation(int16_t* x, int16_t* y, int16_t* z) { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer, I2Cdev::readTimeout, wireObj); *x = (((int16_t)buffer[0]) << 8) | buffer[1]; *y = (((int16_t)buffer[2]) << 8) | buffer[3]; *z = (((int16_t)buffer[4]) << 8) | buffer[5]; @@ -1917,8 +1922,8 @@ void MPU6050::getRotation(int16_t* x, int16_t* y, int16_t* z) { * @see getMotion6() * @see MPU6050_RA_GYRO_XOUT_H */ -int16_t MPU6050::getRotationX() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer); +int16_t MPU6050_Base::getRotationX() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Y-axis gyroscope reading. @@ -1926,8 +1931,8 @@ int16_t MPU6050::getRotationX() { * @see getMotion6() * @see MPU6050_RA_GYRO_YOUT_H */ -int16_t MPU6050::getRotationY() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer); +int16_t MPU6050_Base::getRotationY() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } /** Get Z-axis gyroscope reading. @@ -1935,8 +1940,8 @@ int16_t MPU6050::getRotationY() { * @see getMotion6() * @see MPU6050_RA_GYRO_ZOUT_H */ -int16_t MPU6050::getRotationZ() { - I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer); +int16_t MPU6050_Base::getRotationZ() { + I2Cdev::readBytes(devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } @@ -2016,8 +2021,8 @@ int16_t MPU6050::getRotationZ() { * @param position Starting position (0-23) * @return Byte read from register */ -uint8_t MPU6050::getExternalSensorByte(int position) { - I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer); +uint8_t MPU6050_Base::getExternalSensorByte(int position) { + I2Cdev::readByte(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Read word (2 bytes) from external sensor data registers. @@ -2025,8 +2030,8 @@ uint8_t MPU6050::getExternalSensorByte(int position) { * @return Word read from register * @see getExternalSensorByte() */ -uint16_t MPU6050::getExternalSensorWord(int position) { - I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer); +uint16_t MPU6050_Base::getExternalSensorWord(int position) { + I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer, I2Cdev::readTimeout, wireObj); return (((uint16_t)buffer[0]) << 8) | buffer[1]; } /** Read double word (4 bytes) from external sensor data registers. @@ -2034,8 +2039,8 @@ uint16_t MPU6050::getExternalSensorWord(int position) { * @return Double word read from registers * @see getExternalSensorByte() */ -uint32_t MPU6050::getExternalSensorDWord(int position) { - I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer); +uint32_t MPU6050_Base::getExternalSensorDWord(int position) { + I2Cdev::readBytes(devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer, I2Cdev::readTimeout, wireObj); return (((uint32_t)buffer[0]) << 24) | (((uint32_t)buffer[1]) << 16) | (((uint16_t)buffer[2]) << 8) | buffer[3]; } @@ -2045,8 +2050,8 @@ uint32_t MPU6050::getExternalSensorDWord(int position) { * @return Motion detection status byte * @see MPU6050_RA_MOT_DETECT_STATUS */ -uint8_t MPU6050::getMotionStatus() { - I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer); +uint8_t MPU6050_Base::getMotionStatus() { + I2Cdev::readByte(devAddr, MPU6050_RA_MOT_DETECT_STATUS, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get X-axis negative motion detection interrupt status. @@ -2054,8 +2059,8 @@ uint8_t MPU6050::getMotionStatus() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_XNEG_BIT */ -bool MPU6050::getXNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer); +bool MPU6050_Base::getXNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get X-axis positive motion detection interrupt status. @@ -2063,8 +2068,8 @@ bool MPU6050::getXNegMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_XPOS_BIT */ -bool MPU6050::getXPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer); +bool MPU6050_Base::getXPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Y-axis negative motion detection interrupt status. @@ -2072,8 +2077,8 @@ bool MPU6050::getXPosMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_YNEG_BIT */ -bool MPU6050::getYNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer); +bool MPU6050_Base::getYNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Y-axis positive motion detection interrupt status. @@ -2081,8 +2086,8 @@ bool MPU6050::getYNegMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_YPOS_BIT */ -bool MPU6050::getYPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer); +bool MPU6050_Base::getYPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Z-axis negative motion detection interrupt status. @@ -2090,8 +2095,8 @@ bool MPU6050::getYPosMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_ZNEG_BIT */ -bool MPU6050::getZNegMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer); +bool MPU6050_Base::getZNegMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get Z-axis positive motion detection interrupt status. @@ -2099,8 +2104,8 @@ bool MPU6050::getZNegMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_ZPOS_BIT */ -bool MPU6050::getZPosMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer); +bool MPU6050_Base::getZPosMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Get zero motion detection interrupt status. @@ -2108,8 +2113,8 @@ bool MPU6050::getZPosMotionDetected() { * @see MPU6050_RA_MOT_DETECT_STATUS * @see MPU6050_MOTION_MOT_ZRMOT_BIT */ -bool MPU6050::getZeroMotionDetected() { - I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer); +bool MPU6050_Base::getZeroMotionDetected() { + I2Cdev::readBit(devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } @@ -2123,9 +2128,9 @@ bool MPU6050::getZeroMotionDetected() { * @param data Byte to write * @see MPU6050_RA_I2C_SLV0_DO */ -void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) { +void MPU6050_Base::setSlaveOutputByte(uint8_t num, uint8_t data) { if (num > 3) return; - I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data); + I2Cdev::writeByte(devAddr, MPU6050_RA_I2C_SLV0_DO + num, data, wireObj); } // I2C_MST_DELAY_CTRL register @@ -2138,8 +2143,8 @@ void MPU6050::setSlaveOutputByte(uint8_t num, uint8_t data) { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT */ -bool MPU6050::getExternalShadowDelayEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer); +bool MPU6050_Base::getExternalShadowDelayEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set external data shadow delay enabled status. @@ -2148,8 +2153,8 @@ bool MPU6050::getExternalShadowDelayEnabled() { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT */ -void MPU6050::setExternalShadowDelayEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled); +void MPU6050_Base::setExternalShadowDelayEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled, wireObj); } /** Get slave delay enabled status. * When a particular slave delay is enabled, the rate of access for the that @@ -2169,10 +2174,10 @@ void MPU6050::setExternalShadowDelayEnabled(bool enabled) { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT */ -bool MPU6050::getSlaveDelayEnabled(uint8_t num) { +bool MPU6050_Base::getSlaveDelayEnabled(uint8_t num) { // MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc. if (num > 4) return 0; - I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer); + I2Cdev::readBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set slave delay enabled status. @@ -2181,8 +2186,8 @@ bool MPU6050::getSlaveDelayEnabled(uint8_t num) { * @see MPU6050_RA_I2C_MST_DELAY_CTRL * @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT */ -void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled); +void MPU6050_Base::setSlaveDelayEnabled(uint8_t num, bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled, wireObj); } // SIGNAL_PATH_RESET register @@ -2193,8 +2198,8 @@ void MPU6050::setSlaveDelayEnabled(uint8_t num, bool enabled) { * @see MPU6050_RA_SIGNAL_PATH_RESET * @see MPU6050_PATHRESET_GYRO_RESET_BIT */ -void MPU6050::resetGyroscopePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true); +void MPU6050_Base::resetGyroscopePath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, true, wireObj); } /** Reset accelerometer signal path. * The reset will revert the signal path analog to digital converters and @@ -2202,8 +2207,8 @@ void MPU6050::resetGyroscopePath() { * @see MPU6050_RA_SIGNAL_PATH_RESET * @see MPU6050_PATHRESET_ACCEL_RESET_BIT */ -void MPU6050::resetAccelerometerPath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true); +void MPU6050_Base::resetAccelerometerPath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, true, wireObj); } /** Reset temperature sensor signal path. * The reset will revert the signal path analog to digital converters and @@ -2211,8 +2216,8 @@ void MPU6050::resetAccelerometerPath() { * @see MPU6050_RA_SIGNAL_PATH_RESET * @see MPU6050_PATHRESET_TEMP_RESET_BIT */ -void MPU6050::resetTemperaturePath() { - I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true); +void MPU6050_Base::resetTemperaturePath() { + I2Cdev::writeBit(devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, true, wireObj); } // MOT_DETECT_CTRL register @@ -2231,8 +2236,8 @@ void MPU6050::resetTemperaturePath() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT */ -uint8_t MPU6050::getAccelerometerPowerOnDelay() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer); +uint8_t MPU6050_Base::getAccelerometerPowerOnDelay() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set accelerometer power-on delay. @@ -2241,8 +2246,8 @@ uint8_t MPU6050::getAccelerometerPowerOnDelay() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_ACCEL_ON_DELAY_BIT */ -void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay); +void MPU6050_Base::setAccelerometerPowerOnDelay(uint8_t delay) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT, MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay, wireObj); } /** Get Free Fall detection counter decrement configuration. * Detection is registered by the Free Fall detection module after accelerometer @@ -2270,8 +2275,8 @@ void MPU6050::setAccelerometerPowerOnDelay(uint8_t delay) { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_FF_COUNT_BIT */ -uint8_t MPU6050::getFreefallDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer); +uint8_t MPU6050_Base::getFreefallDetectionCounterDecrement() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Free Fall detection counter decrement configuration. @@ -2280,8 +2285,8 @@ uint8_t MPU6050::getFreefallDetectionCounterDecrement() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_FF_COUNT_BIT */ -void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement); +void MPU6050_Base::setFreefallDetectionCounterDecrement(uint8_t decrement) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT, MPU6050_DETECT_FF_COUNT_LENGTH, decrement, wireObj); } /** Get Motion detection counter decrement configuration. * Detection is registered by the Motion detection module after accelerometer @@ -2306,8 +2311,8 @@ void MPU6050::setFreefallDetectionCounterDecrement(uint8_t decrement) { * please refer to Registers 29 to 32. * */ -uint8_t MPU6050::getMotionDetectionCounterDecrement() { - I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer); +uint8_t MPU6050_Base::getMotionDetectionCounterDecrement() { + I2Cdev::readBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Motion detection counter decrement configuration. @@ -2316,8 +2321,8 @@ uint8_t MPU6050::getMotionDetectionCounterDecrement() { * @see MPU6050_RA_MOT_DETECT_CTRL * @see MPU6050_DETECT_MOT_COUNT_BIT */ -void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) { - I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement); +void MPU6050_Base::setMotionDetectionCounterDecrement(uint8_t decrement) { + I2Cdev::writeBits(devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT, MPU6050_DETECT_MOT_COUNT_LENGTH, decrement, wireObj); } // USER_CTRL register @@ -2330,8 +2335,8 @@ void MPU6050::setMotionDetectionCounterDecrement(uint8_t decrement) { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_FIFO_EN_BIT */ -bool MPU6050::getFIFOEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer); +bool MPU6050_Base::getFIFOEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set FIFO enabled status. @@ -2340,8 +2345,8 @@ bool MPU6050::getFIFOEnabled() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_FIFO_EN_BIT */ -void MPU6050::setFIFOEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled); +void MPU6050_Base::setFIFOEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled, wireObj); } /** Get I2C Master Mode enabled status. * When this mode is enabled, the MPU-60X0 acts as the I2C Master to the @@ -2354,8 +2359,8 @@ void MPU6050::setFIFOEnabled(bool enabled) { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_I2C_MST_EN_BIT */ -bool MPU6050::getI2CMasterModeEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer); +bool MPU6050_Base::getI2CMasterModeEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set I2C Master Mode enabled status. @@ -2364,15 +2369,15 @@ bool MPU6050::getI2CMasterModeEnabled() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_I2C_MST_EN_BIT */ -void MPU6050::setI2CMasterModeEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +void MPU6050_Base::setI2CMasterModeEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled, wireObj); } /** Switch from I2C to SPI mode (MPU-6000 only) * If this is set, the primary SPI interface will be enabled in place of the * disabled primary I2C interface. */ -void MPU6050::switchSPIEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled); +void MPU6050_Base::switchSPIEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled, wireObj); } /** Reset the FIFO. * This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This @@ -2380,8 +2385,8 @@ void MPU6050::switchSPIEnabled(bool enabled) { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_FIFO_RESET_BIT */ -void MPU6050::resetFIFO() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true); +void MPU6050_Base::resetFIFO() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, true, wireObj); } /** Reset the I2C Master. * This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. @@ -2389,8 +2394,8 @@ void MPU6050::resetFIFO() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_I2C_MST_RESET_BIT */ -void MPU6050::resetI2CMaster() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true); +void MPU6050_Base::resetI2CMaster() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, true, wireObj); } /** Reset all sensor registers and signal paths. * When set to 1, this bit resets the signal paths for all sensors (gyroscopes, @@ -2404,8 +2409,8 @@ void MPU6050::resetI2CMaster() { * @see MPU6050_RA_USER_CTRL * @see MPU6050_USERCTRL_SIG_COND_RESET_BIT */ -void MPU6050::resetSensors() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true); +void MPU6050_Base::resetSensors() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, true, wireObj); } // PWR_MGMT_1 register @@ -2415,8 +2420,8 @@ void MPU6050::resetSensors() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_DEVICE_RESET_BIT */ -void MPU6050::reset() { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true); +void MPU6050_Base::reset() { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, true, wireObj); } /** Get sleep mode status. * Setting the SLEEP bit in the register puts the device into very low power @@ -2429,8 +2434,8 @@ void MPU6050::reset() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_SLEEP_BIT */ -bool MPU6050::getSleepEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer); +bool MPU6050_Base::getSleepEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set sleep mode status. @@ -2439,8 +2444,8 @@ bool MPU6050::getSleepEnabled() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_SLEEP_BIT */ -void MPU6050::setSleepEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +void MPU6050_Base::setSleepEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled, wireObj); } /** Get wake cycle enabled status. * When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle @@ -2450,8 +2455,8 @@ void MPU6050::setSleepEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_CYCLE_BIT */ -bool MPU6050::getWakeCycleEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer); +bool MPU6050_Base::getWakeCycleEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set wake cycle enabled status. @@ -2460,8 +2465,8 @@ bool MPU6050::getWakeCycleEnabled() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_CYCLE_BIT */ -void MPU6050::setWakeCycleEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled); +void MPU6050_Base::setWakeCycleEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled, wireObj); } /** Get temperature sensor enabled status. * Control the usage of the internal temperature sensor. @@ -2474,8 +2479,8 @@ void MPU6050::setWakeCycleEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_TEMP_DIS_BIT */ -bool MPU6050::getTempSensorEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer); +bool MPU6050_Base::getTempSensorEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0] == 0; // 1 is actually disabled here } /** Set temperature sensor enabled status. @@ -2488,9 +2493,9 @@ bool MPU6050::getTempSensorEnabled() { * @see MPU6050_RA_PWR_MGMT_1 * @see MPU6050_PWR1_TEMP_DIS_BIT */ -void MPU6050::setTempSensorEnabled(bool enabled) { +void MPU6050_Base::setTempSensorEnabled(bool enabled) { // 1 is actually disabled here - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled); + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled, wireObj); } /** Get clock source setting. * @return Current clock source setting @@ -2498,8 +2503,8 @@ void MPU6050::setTempSensorEnabled(bool enabled) { * @see MPU6050_PWR1_CLKSEL_BIT * @see MPU6050_PWR1_CLKSEL_LENGTH */ -uint8_t MPU6050::getClockSource() { - I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer); +uint8_t MPU6050_Base::getClockSource() { + I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set clock source setting. @@ -2532,8 +2537,8 @@ uint8_t MPU6050::getClockSource() { * @see MPU6050_PWR1_CLKSEL_BIT * @see MPU6050_PWR1_CLKSEL_LENGTH */ -void MPU6050::setClockSource(uint8_t source) { - I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); +void MPU6050_Base::setClockSource(uint8_t source) { + I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source, wireObj); } // PWR_MGMT_2 register @@ -2561,16 +2566,16 @@ void MPU6050::setClockSource(uint8_t source) { * @return Current wake frequency * @see MPU6050_RA_PWR_MGMT_2 */ -uint8_t MPU6050::getWakeFrequency() { - I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer); +uint8_t MPU6050_Base::getWakeFrequency() { + I2Cdev::readBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set wake frequency in Accel-Only Low Power Mode. * @param frequency New wake frequency * @see MPU6050_RA_PWR_MGMT_2 */ -void MPU6050::setWakeFrequency(uint8_t frequency) { - I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency); +void MPU6050_Base::setWakeFrequency(uint8_t frequency) { + I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT, MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency, wireObj); } /** Get X-axis accelerometer standby enabled status. @@ -2579,8 +2584,8 @@ void MPU6050::setWakeFrequency(uint8_t frequency) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XA_BIT */ -bool MPU6050::getStandbyXAccelEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer); +bool MPU6050_Base::getStandbyXAccelEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set X-axis accelerometer standby enabled status. @@ -2589,8 +2594,8 @@ bool MPU6050::getStandbyXAccelEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XA_BIT */ -void MPU6050::setStandbyXAccelEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled); +void MPU6050_Base::setStandbyXAccelEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled, wireObj); } /** Get Y-axis accelerometer standby enabled status. * If enabled, the Y-axis will not gather or report data (or use power). @@ -2598,8 +2603,8 @@ void MPU6050::setStandbyXAccelEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YA_BIT */ -bool MPU6050::getStandbyYAccelEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer); +bool MPU6050_Base::getStandbyYAccelEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Y-axis accelerometer standby enabled status. @@ -2608,8 +2613,8 @@ bool MPU6050::getStandbyYAccelEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YA_BIT */ -void MPU6050::setStandbyYAccelEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled); +void MPU6050_Base::setStandbyYAccelEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled, wireObj); } /** Get Z-axis accelerometer standby enabled status. * If enabled, the Z-axis will not gather or report data (or use power). @@ -2617,8 +2622,8 @@ void MPU6050::setStandbyYAccelEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZA_BIT */ -bool MPU6050::getStandbyZAccelEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer); +bool MPU6050_Base::getStandbyZAccelEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Z-axis accelerometer standby enabled status. @@ -2627,8 +2632,8 @@ bool MPU6050::getStandbyZAccelEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZA_BIT */ -void MPU6050::setStandbyZAccelEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled); +void MPU6050_Base::setStandbyZAccelEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled, wireObj); } /** Get X-axis gyroscope standby enabled status. * If enabled, the X-axis will not gather or report data (or use power). @@ -2636,8 +2641,8 @@ void MPU6050::setStandbyZAccelEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XG_BIT */ -bool MPU6050::getStandbyXGyroEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer); +bool MPU6050_Base::getStandbyXGyroEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set X-axis gyroscope standby enabled status. @@ -2646,8 +2651,8 @@ bool MPU6050::getStandbyXGyroEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_XG_BIT */ -void MPU6050::setStandbyXGyroEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled); +void MPU6050_Base::setStandbyXGyroEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled, wireObj); } /** Get Y-axis gyroscope standby enabled status. * If enabled, the Y-axis will not gather or report data (or use power). @@ -2655,8 +2660,8 @@ void MPU6050::setStandbyXGyroEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YG_BIT */ -bool MPU6050::getStandbyYGyroEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer); +bool MPU6050_Base::getStandbyYGyroEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Y-axis gyroscope standby enabled status. @@ -2665,8 +2670,8 @@ bool MPU6050::getStandbyYGyroEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_YG_BIT */ -void MPU6050::setStandbyYGyroEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled); +void MPU6050_Base::setStandbyYGyroEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled, wireObj); } /** Get Z-axis gyroscope standby enabled status. * If enabled, the Z-axis will not gather or report data (or use power). @@ -2674,8 +2679,8 @@ void MPU6050::setStandbyYGyroEnabled(bool enabled) { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZG_BIT */ -bool MPU6050::getStandbyZGyroEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer); +bool MPU6050_Base::getStandbyZGyroEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Z-axis gyroscope standby enabled status. @@ -2684,8 +2689,8 @@ bool MPU6050::getStandbyZGyroEnabled() { * @see MPU6050_RA_PWR_MGMT_2 * @see MPU6050_PWR2_STBY_ZG_BIT */ -void MPU6050::setStandbyZGyroEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled); +void MPU6050_Base::setStandbyZGyroEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled, wireObj); } // FIFO_COUNT* registers @@ -2697,8 +2702,8 @@ void MPU6050::setStandbyZGyroEnabled(bool enabled) { * set of sensor data bound to be stored in the FIFO (register 35 and 36). * @return Current FIFO buffer size */ -uint16_t MPU6050::getFIFOCount() { - I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer); +uint16_t MPU6050_Base::getFIFOCount() { + I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((uint16_t)buffer[0]) << 8) | buffer[1]; } @@ -2729,18 +2734,34 @@ uint16_t MPU6050::getFIFOCount() { * * @return Byte from FIFO buffer */ -uint8_t MPU6050::getFIFOByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer); +uint8_t MPU6050_Base::getFIFOByte() { + I2Cdev::readByte(devAddr, MPU6050_RA_FIFO_R_W, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { +void MPU6050_Base::getFIFOBytes(uint8_t *data, uint8_t length) { if(length > 0){ - I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data); + I2Cdev::readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, data, I2Cdev::readTimeout, wireObj); } else { *data = 0; } } +/** Get timeout to get a packet from FIFO buffer. + * @return Current timeout to get a packet from FIFO buffer + * @see MPU6050_FIFO_DEFAULT_TIMEOUT + */ +uint32_t MPU6050_Base::getFIFOTimeout() { + return fifoTimeout; +} + +/** Set timeout to get a packet from FIFO buffer. + * @param New timeout to get a packet from FIFO buffer + * @see MPU6050_FIFO_DEFAULT_TIMEOUT + */ +void MPU6050_Base::setFIFOTimeout(uint32_t fifoTimeout) { + this->fifoTimeout = fifoTimeout; +} + /** Get latest byte from FIFO buffer no matter how much time has passed. * === GetCurrentFIFOPacket === * ================================================================ @@ -2748,24 +2769,25 @@ void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { * 2) when recovering from overflow * 0) when no valid data is available * ================================================================ */ - int8_t MPU6050::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflow proof + int8_t MPU6050_Base::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflow proof int16_t fifoC; // This section of code is for when we allowed more than 1 packet to be acquired uint32_t BreakTimer = micros(); + bool packetReceived = false; do { if ((fifoC = getFIFOCount()) > length) { if (fifoC > 200) { // if you waited to get the FIFO buffer to > 200 bytes it will take longer to get the last packet in the FIFO Buffer than it will take to reset the buffer and wait for the next to arrive resetFIFO(); // Fixes any overflow corruption fifoC = 0; - while (!(fifoC = getFIFOCount()) && ((micros() - BreakTimer) <= (11000))); // Get Next New Packet + while (!(fifoC = getFIFOCount()) && ((micros() - BreakTimer) <= (getFIFOTimeout()))); // Get Next New Packet } else { //We have more than 1 packet but less than 200 bytes of data in the FIFO Buffer - uint8_t Trash[BUFFER_LENGTH]; + uint8_t Trash[I2CDEVLIB_WIRE_BUFFER_LENGTH]; while ((fifoC = getFIFOCount()) > length) { // Test each time just in case the MPU is writing to the FIFO Buffer fifoC = fifoC - length; // Save the last packet uint16_t RemoveBytes; while (fifoC) { // fifo count will reach zero so this is safe - RemoveBytes = min((int)fifoC, BUFFER_LENGTH); // Buffer Length is different than the packet length this will efficiently clear the buffer + RemoveBytes = (fifoC < I2CDEVLIB_WIRE_BUFFER_LENGTH) ? fifoC : I2CDEVLIB_WIRE_BUFFER_LENGTH; // Buffer Length is different than the packet length this will efficiently clear the buffer getFIFOBytes(Trash, (uint8_t)RemoveBytes); fifoC -= RemoveBytes; } @@ -2774,8 +2796,9 @@ void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { } if (!fifoC) return 0; // Called too early no data or we timed out after FIFO Reset // We have 1 packet - if ((micros() - BreakTimer) > (11000)) return 0; - } while (fifoC != length); + packetReceived = fifoC == length; + if (!packetReceived && (micros() - BreakTimer) > (getFIFOTimeout())) return 0; + } while (!packetReceived); getFIFOBytes(data, length); //Get 1 packet return 1; } @@ -2785,8 +2808,8 @@ void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) { * @see getFIFOByte() * @see MPU6050_RA_FIFO_R_W */ -void MPU6050::setFIFOByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data); +void MPU6050_Base::setFIFOByte(uint8_t data) { + I2Cdev::writeByte(devAddr, MPU6050_RA_FIFO_R_W, data, wireObj); } // WHO_AM_I register @@ -2798,8 +2821,8 @@ void MPU6050::setFIFOByte(uint8_t data) { * @see MPU6050_WHO_AM_I_BIT * @see MPU6050_WHO_AM_I_LENGTH */ -uint8_t MPU6050::getDeviceID() { - I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer); +uint8_t MPU6050_Base::getDeviceID() { + I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } /** Set Device ID. @@ -2811,238 +2834,238 @@ uint8_t MPU6050::getDeviceID() { * @see MPU6050_WHO_AM_I_BIT * @see MPU6050_WHO_AM_I_LENGTH */ -void MPU6050::setDeviceID(uint8_t id) { - I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id); +void MPU6050_Base::setDeviceID(uint8_t id) { + I2Cdev::writeBits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, id, wireObj); } // ======== UNDOCUMENTED/DMP REGISTERS/METHODS ======== // XG_OFFS_TC register -uint8_t MPU6050::getOTPBankValid() { - I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer); +uint8_t MPU6050_Base::getOTPBankValid() { + I2Cdev::readBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setOTPBankValid(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled); +void MPU6050_Base::setOTPBankValid(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled, wireObj); } -int8_t MPU6050::getXGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); +int8_t MPU6050_Base::getXGyroOffsetTC() { + I2Cdev::readBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setXGyroOffsetTC(int8_t offset) { - I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +void MPU6050_Base::setXGyroOffsetTC(int8_t offset) { + I2Cdev::writeBits(devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset, wireObj); } // YG_OFFS_TC register -int8_t MPU6050::getYGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); +int8_t MPU6050_Base::getYGyroOffsetTC() { + I2Cdev::readBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setYGyroOffsetTC(int8_t offset) { - I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +void MPU6050_Base::setYGyroOffsetTC(int8_t offset) { + I2Cdev::writeBits(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset, wireObj); } // ZG_OFFS_TC register -int8_t MPU6050::getZGyroOffsetTC() { - I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer); +int8_t MPU6050_Base::getZGyroOffsetTC() { + I2Cdev::readBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setZGyroOffsetTC(int8_t offset) { - I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset); +void MPU6050_Base::setZGyroOffsetTC(int8_t offset) { + I2Cdev::writeBits(devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT, MPU6050_TC_OFFSET_LENGTH, offset, wireObj); } // X_FINE_GAIN register -int8_t MPU6050::getXFineGain() { - I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer); +int8_t MPU6050_Base::getXFineGain() { + I2Cdev::readByte(devAddr, MPU6050_RA_X_FINE_GAIN, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setXFineGain(int8_t gain) { - I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain); +void MPU6050_Base::setXFineGain(int8_t gain) { + I2Cdev::writeByte(devAddr, MPU6050_RA_X_FINE_GAIN, gain, wireObj); } // Y_FINE_GAIN register -int8_t MPU6050::getYFineGain() { - I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer); +int8_t MPU6050_Base::getYFineGain() { + I2Cdev::readByte(devAddr, MPU6050_RA_Y_FINE_GAIN, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setYFineGain(int8_t gain) { - I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain); +void MPU6050_Base::setYFineGain(int8_t gain) { + I2Cdev::writeByte(devAddr, MPU6050_RA_Y_FINE_GAIN, gain, wireObj); } // Z_FINE_GAIN register -int8_t MPU6050::getZFineGain() { - I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer); +int8_t MPU6050_Base::getZFineGain() { + I2Cdev::readByte(devAddr, MPU6050_RA_Z_FINE_GAIN, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setZFineGain(int8_t gain) { - I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain); +void MPU6050_Base::setZFineGain(int8_t gain) { + I2Cdev::writeByte(devAddr, MPU6050_RA_Z_FINE_GAIN, gain, wireObj); } // XA_OFFS_* registers -int16_t MPU6050::getXAccelOffset() { +int16_t MPU6050_Base::getXAccelOffset() { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); + I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setXAccelOffset(int16_t offset) { +void MPU6050_Base::setXAccelOffset(int16_t offset) { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); + I2Cdev::writeWord(devAddr, SaveAddress, offset, wireObj); } // YA_OFFS_* register -int16_t MPU6050::getYAccelOffset() { +int16_t MPU6050_Base::getYAccelOffset() { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_YA_OFFS_H:0x7A); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); + I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setYAccelOffset(int16_t offset) { +void MPU6050_Base::setYAccelOffset(int16_t offset) { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_YA_OFFS_H:0x7A); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); + I2Cdev::writeWord(devAddr, SaveAddress, offset, wireObj); } // ZA_OFFS_* register -int16_t MPU6050::getZAccelOffset() { +int16_t MPU6050_Base::getZAccelOffset() { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_ZA_OFFS_H:0x7D); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer); + I2Cdev::readBytes(devAddr, SaveAddress, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setZAccelOffset(int16_t offset) { +void MPU6050_Base::setZAccelOffset(int16_t offset) { uint8_t SaveAddress = ((getDeviceID() < 0x38 )? MPU6050_RA_ZA_OFFS_H:0x7D); // MPU6050,MPU9150 Vs MPU6500,MPU9250 - I2Cdev::writeWord(devAddr, SaveAddress, offset); + I2Cdev::writeWord(devAddr, SaveAddress, offset, wireObj); } // XG_OFFS_USR* registers -int16_t MPU6050::getXGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer); +int16_t MPU6050_Base::getXGyroOffset() { + I2Cdev::readBytes(devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setXGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset); +void MPU6050_Base::setXGyroOffset(int16_t offset) { + I2Cdev::writeWord(devAddr, MPU6050_RA_XG_OFFS_USRH, offset, wireObj); } // YG_OFFS_USR* register -int16_t MPU6050::getYGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer); +int16_t MPU6050_Base::getYGyroOffset() { + I2Cdev::readBytes(devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setYGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset); +void MPU6050_Base::setYGyroOffset(int16_t offset) { + I2Cdev::writeWord(devAddr, MPU6050_RA_YG_OFFS_USRH, offset, wireObj); } // ZG_OFFS_USR* register -int16_t MPU6050::getZGyroOffset() { - I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer); +int16_t MPU6050_Base::getZGyroOffset() { + I2Cdev::readBytes(devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer, I2Cdev::readTimeout, wireObj); return (((int16_t)buffer[0]) << 8) | buffer[1]; } -void MPU6050::setZGyroOffset(int16_t offset) { - I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset); +void MPU6050_Base::setZGyroOffset(int16_t offset) { + I2Cdev::writeWord(devAddr, MPU6050_RA_ZG_OFFS_USRH, offset, wireObj); } // INT_ENABLE register (DMP functions) -bool MPU6050::getIntPLLReadyEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer); +bool MPU6050_Base::getIntPLLReadyEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setIntPLLReadyEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled); +void MPU6050_Base::setIntPLLReadyEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled, wireObj); } -bool MPU6050::getIntDMPEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer); +bool MPU6050_Base::getIntDMPEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setIntDMPEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled); +void MPU6050_Base::setIntDMPEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled, wireObj); } // DMP_INT_STATUS -bool MPU6050::getDMPInt5Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer); +bool MPU6050_Base::getDMPInt5Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt4Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer); +bool MPU6050_Base::getDMPInt4Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt3Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer); +bool MPU6050_Base::getDMPInt3Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt2Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer); +bool MPU6050_Base::getDMPInt2Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt1Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer); +bool MPU6050_Base::getDMPInt1Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getDMPInt0Status() { - I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer); +bool MPU6050_Base::getDMPInt0Status() { + I2Cdev::readBit(devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } // INT_STATUS register (DMP functions) -bool MPU6050::getIntPLLReadyStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer); +bool MPU6050_Base::getIntPLLReadyStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -bool MPU6050::getIntDMPStatus() { - I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer); +bool MPU6050_Base::getIntDMPStatus() { + I2Cdev::readBit(devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } // USER_CTRL register (DMP functions) -bool MPU6050::getDMPEnabled() { - I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer); +bool MPU6050_Base::getDMPEnabled() { + I2Cdev::readBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setDMPEnabled(bool enabled) { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled); +void MPU6050_Base::setDMPEnabled(bool enabled) { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled, wireObj); } -void MPU6050::resetDMP() { - I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true); +void MPU6050_Base::resetDMP() { + I2Cdev::writeBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, true, wireObj); } // BANK_SEL register -void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) { +void MPU6050_Base::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) { bank &= 0x1F; if (userBank) bank |= 0x20; if (prefetchEnabled) bank |= 0x40; - I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank); + I2Cdev::writeByte(devAddr, MPU6050_RA_BANK_SEL, bank, wireObj); } // MEM_START_ADDR register -void MPU6050::setMemoryStartAddress(uint8_t address) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address); +void MPU6050_Base::setMemoryStartAddress(uint8_t address) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_START_ADDR, address, wireObj); } // MEM_R_W register -uint8_t MPU6050::readMemoryByte() { - I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer); +uint8_t MPU6050_Base::readMemoryByte() { + I2Cdev::readByte(devAddr, MPU6050_RA_MEM_R_W, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::writeMemoryByte(uint8_t data) { - I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data); +void MPU6050_Base::writeMemoryByte(uint8_t data) { + I2Cdev::writeByte(devAddr, MPU6050_RA_MEM_R_W, data, wireObj); } -void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) { +void MPU6050_Base::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) { setMemoryBank(bank); setMemoryStartAddress(address); uint8_t chunkSize; @@ -3057,7 +3080,7 @@ void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, ui if (chunkSize > 256 - address) chunkSize = 256 - address; // read the chunk of data as specified - I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i); + I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i, I2Cdev::readTimeout, wireObj); // increase byte index by [chunkSize] i += chunkSize; @@ -3073,7 +3096,7 @@ void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, ui } } } -bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) { +bool MPU6050_Base::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) { setMemoryBank(bank); setMemoryStartAddress(address); uint8_t chunkSize; @@ -3101,13 +3124,13 @@ bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t b progBuffer = (uint8_t *)data + i; } - I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer); + I2Cdev::writeBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer, wireObj); // verify data if needed if (verify && verifyBuffer) { setMemoryBank(bank); setMemoryStartAddress(address); - I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer); + I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer, I2Cdev::readTimeout, wireObj); if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) { /*Serial.print("Block write verification error, bank "); Serial.print(bank, DEC); @@ -3149,10 +3172,10 @@ bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t b if (useProgMem) free(progBuffer); return true; } -bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) { +bool MPU6050_Base::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) { return writeMemoryBlock(data, dataSize, bank, address, verify, true); } -bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) { +bool MPU6050_Base::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) { uint8_t *progBuffer = 0; uint8_t success, special; uint16_t i, j; @@ -3211,7 +3234,7 @@ bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, b //setIntZeroMotionEnabled(true); //setIntFIFOBufferOverflowEnabled(true); //setIntDMPEnabled(true); - I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation + I2Cdev::writeByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32, wireObj); // single operation success = true; } else { @@ -3228,28 +3251,28 @@ bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, b if (useProgMem) free(progBuffer); return true; } -bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) { +bool MPU6050_Base::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) { return writeDMPConfigurationSet(data, dataSize, true); } // DMP_CFG_1 register -uint8_t MPU6050::getDMPConfig1() { - I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer); +uint8_t MPU6050_Base::getDMPConfig1() { + I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_1, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setDMPConfig1(uint8_t config) { - I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config); +void MPU6050_Base::setDMPConfig1(uint8_t config) { + I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_1, config, wireObj); } // DMP_CFG_2 register -uint8_t MPU6050::getDMPConfig2() { - I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer); +uint8_t MPU6050_Base::getDMPConfig2() { + I2Cdev::readByte(devAddr, MPU6050_RA_DMP_CFG_2, buffer, I2Cdev::readTimeout, wireObj); return buffer[0]; } -void MPU6050::setDMPConfig2(uint8_t config) { - I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config); +void MPU6050_Base::setDMPConfig2(uint8_t config) { + I2Cdev::writeByte(devAddr, MPU6050_RA_DMP_CFG_2, config, wireObj); } @@ -3259,7 +3282,7 @@ void MPU6050::setDMPConfig2(uint8_t config) { /** @brief Fully calibrate Gyro from ZERO in about 6-7 Loops 600-700 readings */ -void MPU6050::CalibrateGyro(uint8_t Loops ) { +void MPU6050_Base::CalibrateGyro(uint8_t Loops ) { double kP = 0.3; double kI = 90; float x; @@ -3273,7 +3296,7 @@ void MPU6050::CalibrateGyro(uint8_t Loops ) { /** @brief Fully calibrate Accel from ZERO in about 6-7 Loops 600-700 readings */ -void MPU6050::CalibrateAccel(uint8_t Loops ) { +void MPU6050_Base::CalibrateAccel(uint8_t Loops ) { float kP = 0.3; float kI = 20; @@ -3284,7 +3307,7 @@ void MPU6050::CalibrateAccel(uint8_t Loops ) { PID( 0x3B, kP, kI, Loops); } -void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ +void MPU6050_Base::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ uint8_t SaveAddress = (ReadAddress == 0x3B)?((getDeviceID() < 0x38 )? 0x06:0x77):0x13; int16_t Data; @@ -3293,10 +3316,12 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ uint8_t shift =(SaveAddress == 0x77)?3:2; float Error, PTerm, ITerm[3]; int16_t eSample; - uint32_t eSum ; + uint32_t eSum; + uint16_t gravity = 8192; // prevent uninitialized compiler warning + if (ReadAddress == 0x3B) gravity = 16384 >> getFullScaleAccelRange(); Serial.write('>'); for (int i = 0; i < 3; i++) { - I2Cdev::readWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); // reads 1 or more 16 bit integers (Word) + I2Cdev::readWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data, I2Cdev::readTimeout, wireObj); // reads 1 or more 16 bit integers (Word) Reading = Data; if(SaveAddress != 0x13){ BitZero[i] = Data & 1; // Capture Bit Zero to properly handle Accelerometer calibration @@ -3310,9 +3335,9 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ for (int c = 0; c < 100; c++) {// 100 PI Calculations eSum = 0; for (int i = 0; i < 3; i++) { - I2Cdev::readWords(devAddr, ReadAddress + (i * 2), 1, (uint16_t *)&Data); // reads 1 or more 16 bit integers (Word) + I2Cdev::readWords(devAddr, ReadAddress + (i * 2), 1, (uint16_t *)&Data, I2Cdev::readTimeout, wireObj); // reads 1 or more 16 bit integers (Word) Reading = Data; - if ((ReadAddress == 0x3B)&&(i == 2)) Reading -= 16384; //remove Gravity + if ((ReadAddress == 0x3B)&&(i == 2)) Reading -= gravity; //remove Gravity Error = -Reading; eSum += abs(Reading); PTerm = kP * Error; @@ -3321,7 +3346,7 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ Data = round((PTerm + ITerm[i] ) / 8); //Compute PID Output Data = ((Data)&0xFFFE) |BitZero[i]; // Insert Bit0 Saved at beginning } else Data = round((PTerm + ITerm[i] ) / 4); //Compute PID Output - I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); + I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data, wireObj); } if((c == 99) && eSum > 1000){ // Error is still to great to continue c = 0; @@ -3339,33 +3364,32 @@ void MPU6050::PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops){ Data = round((ITerm[i] ) / 8); //Compute PID Output Data = ((Data)&0xFFFE) |BitZero[i]; // Insert Bit0 Saved at beginning } else Data = round((ITerm[i]) / 4); - I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data); + I2Cdev::writeWords(devAddr, SaveAddress + (i * shift), 1, (uint16_t *)&Data, wireObj); } } resetFIFO(); resetDMP(); } -#define printfloatx(Name,Variable,Spaces,Precision,EndTxt) { Serial.print(F(Name)); {char S[(Spaces + Precision + 3)];Serial.print(F(" ")); Serial.print(dtostrf((float)Variable,Spaces,Precision ,S));}Serial.print(F(EndTxt)); }//Name,Variable,Spaces,Precision,EndTxt -void MPU6050::PrintActiveOffsets() { +void MPU6050_Base::PrintActiveOffsets() { uint8_t AOffsetRegister = (getDeviceID() < 0x38 )? MPU6050_RA_XA_OFFS_H:0x77; int16_t Data[3]; //Serial.print(F("Offset Register 0x")); //Serial.print(AOffsetRegister>>4,HEX);Serial.print(AOffsetRegister&0x0F,HEX); - Serial.print(F("\n// X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro\n//OFFSETS ")); - if(AOffsetRegister == 0x06) I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)Data); + Serial.print(F("\n// X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro\n// OFFSETS ")); + if(AOffsetRegister == 0x06) I2Cdev::readWords(devAddr, AOffsetRegister, 3, (uint16_t *)Data, I2Cdev::readTimeout, wireObj); else { - I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)Data); - I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)Data+1); - I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)Data+2); + I2Cdev::readWords(devAddr, AOffsetRegister, 1, (uint16_t *)Data, I2Cdev::readTimeout, wireObj); + I2Cdev::readWords(devAddr, AOffsetRegister+3, 1, (uint16_t *)Data+1, I2Cdev::readTimeout, wireObj); + I2Cdev::readWords(devAddr, AOffsetRegister+6, 1, (uint16_t *)Data+2, I2Cdev::readTimeout, wireObj); } // A_OFFSET_H_READ_A_OFFS(Data); - printfloatx("", Data[0], 5, 0, ", "); - printfloatx("", Data[1], 5, 0, ", "); - printfloatx("", Data[2], 5, 0, ", "); - I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)Data); + Serial.print((float)Data[0], 5); Serial.print(", "); + Serial.print((float)Data[1], 5); Serial.print(", "); + Serial.print((float)Data[2], 5); Serial.print(", "); + I2Cdev::readWords(devAddr, 0x13, 3, (uint16_t *)Data, I2Cdev::readTimeout, wireObj); // XG_OFFSET_H_READ_OFFS_USR(Data); - printfloatx("", Data[0], 5, 0, ", "); - printfloatx("", Data[1], 5, 0, ", "); - printfloatx("", Data[2], 5, 0, "\n"); + Serial.print((float)Data[0], 5); Serial.print(", "); + Serial.print((float)Data[1], 5); Serial.print(", "); + Serial.print((float)Data[2], 5); Serial.print("\n"); } diff --git a/lib/mpu6050/MPU6050.h b/lib/mpu6050/MPU6050.h index 4be352d..888d4db 100644 --- a/lib/mpu6050/MPU6050.h +++ b/lib/mpu6050/MPU6050.h @@ -4,6 +4,7 @@ // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: +// 2021/09/27 - split implementations out of header files, finally // ... - ongoing debug release // NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE @@ -38,12 +39,15 @@ THE SOFTWARE. #define _MPU6050_H_ #include "I2Cdev.h" +#include "helper_3dmath.h" // supporting link: http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517 // also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s #ifdef __AVR__ #include +#elif defined(ESP32) + #include #else //#define PROGMEM /* empty */ //#define pgm_read_byte(x) (*(x)) @@ -431,11 +435,11 @@ THE SOFTWARE. #define MPU6050_DMP_MEMORY_BANK_SIZE 256 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16 -// note: DMP code memory blocks defined at end of header file +#define MPU6050_FIFO_DEFAULT_TIMEOUT 11000 -class MPU6050 { +class MPU6050_Base { public: - MPU6050(uint8_t address=MPU6050_DEFAULT_ADDRESS); + MPU6050_Base(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0); void initialize(); bool testConnection(); @@ -717,6 +721,8 @@ class MPU6050 { int8_t GetCurrentFIFOPacket(uint8_t *data, uint8_t length); void setFIFOByte(uint8_t data); void getFIFOBytes(uint8_t *data, uint8_t length); + void setFIFOTimeout(uint32_t fifoTimeout); + uint32_t getFIFOTimeout(); // WHO_AM_I register uint8_t getDeviceID(); @@ -827,215 +833,16 @@ class MPU6050 { void PID(uint8_t ReadAddress, float kP,float kI, uint8_t Loops); // Does the math void PrintActiveOffsets(); // See the results of the Calibration - - - // special methods for MotionApps 2.0 implementation - #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20 - - uint8_t dmpInitialize(); - bool dmpPacketAvailable(); - - uint8_t dmpSetFIFORate(uint8_t fifoRate); - uint8_t dmpGetFIFORate(); - uint8_t dmpGetSampleStepSizeMS(); - uint8_t dmpGetSampleFrequency(); - int32_t dmpDecodeTemperature(int8_t tempReg); - - // Register callbacks after a packet of FIFO data is processed - //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); - //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); - uint8_t dmpRunFIFORateProcesses(); - - // Setup FIFO for various output - uint8_t dmpSendQuaternion(uint_fast16_t accuracy); - uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); - uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); - - // Get Fixed Point data from FIFO - uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpSetLinearAccelFilterCoefficient(float coef); - uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); - uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); - uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); - uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); - uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); - - uint8_t dmpGetEuler(float *data, Quaternion *q); - uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); - - // Get Floating Point data from FIFO - uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); - - uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); - uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); - - uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); - - uint8_t dmpInitFIFOParam(); - uint8_t dmpCloseFIFO(); - uint8_t dmpSetGyroDataSource(uint8_t source); - uint8_t dmpDecodeQuantizedAccel(); - uint32_t dmpGetGyroSumOfSquare(); - uint32_t dmpGetAccelSumOfSquare(); - void dmpOverrideQuaternion(long *q); - uint16_t dmpGetFIFOPacketSize(); - uint8_t dmpGetCurrentFIFOPacket(uint8_t *data); // overflow proof - #endif - - // special methods for MotionApps 4.1 implementation - #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41 - - uint8_t dmpInitialize(); - bool dmpPacketAvailable(); - - uint8_t dmpSetFIFORate(uint8_t fifoRate); - uint8_t dmpGetFIFORate(); - uint8_t dmpGetSampleStepSizeMS(); - uint8_t dmpGetSampleFrequency(); - int32_t dmpDecodeTemperature(int8_t tempReg); - - // Register callbacks after a packet of FIFO data is processed - //uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority); - //uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func); - uint8_t dmpRunFIFORateProcesses(); - - // Setup FIFO for various output - uint8_t dmpSendQuaternion(uint_fast16_t accuracy); - uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendPacketNumber(uint_fast16_t accuracy); - uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy); - uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy); - - // Get Fixed Point data from FIFO - uint8_t dmpGetAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGet6AxisQuaternion(Quaternion *q, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetRelativeQuaternion(Quaternion *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyro(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetMag(int16_t *data, const uint8_t* packet=0); - uint8_t dmpSetLinearAccelFilterCoefficient(float coef); - uint8_t dmpGetLinearAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity); - uint8_t dmpGetLinearAccelInWorld(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q); - uint8_t dmpGetGyroAndAccelSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroAndAccelSensor(VectorInt16 *g, VectorInt16 *a, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGyroSensor(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetControlData(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetTemperature(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetGravity(VectorFloat *v, Quaternion *q); - uint8_t dmpGetUnquantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetUnquantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int32_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(int16_t *data, const uint8_t* packet=0); - uint8_t dmpGetQuantizedAccel(VectorInt16 *v, const uint8_t* packet=0); - uint8_t dmpGetExternalSensorData(int32_t *data, uint16_t size, const uint8_t* packet=0); - uint8_t dmpGetEIS(int32_t *data, const uint8_t* packet=0); - - uint8_t dmpGetEuler(float *data, Quaternion *q); - uint8_t dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity); - - // Get Floating Point data from FIFO - uint8_t dmpGetAccelFloat(float *data, const uint8_t* packet=0); - uint8_t dmpGetQuaternionFloat(float *data, const uint8_t* packet=0); - - uint8_t dmpProcessFIFOPacket(const unsigned char *dmpData); - uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed=NULL); - - uint8_t dmpSetFIFOProcessedCallback(void (*func) (void)); - - uint8_t dmpInitFIFOParam(); - uint8_t dmpCloseFIFO(); - uint8_t dmpSetGyroDataSource(uint8_t source); - uint8_t dmpDecodeQuantizedAccel(); - uint32_t dmpGetGyroSumOfSquare(); - uint32_t dmpGetAccelSumOfSquare(); - void dmpOverrideQuaternion(long *q); - uint16_t dmpGetFIFOPacketSize(); - #endif - - private: + protected: uint8_t devAddr; + void *wireObj; uint8_t buffer[14]; - #if defined(MPU6050_INCLUDE_DMP_MOTIONAPPS20) or defined(MPU6050_INCLUDE_DMP_MOTIONAPPS41) - uint8_t *dmpPacketBuffer; - uint16_t dmpPacketSize; - #endif + uint32_t fifoTimeout = MPU6050_FIFO_DEFAULT_TIMEOUT; }; +#ifndef I2CDEVLIB_MPU6050_TYPEDEF +#define I2CDEVLIB_MPU6050_TYPEDEF +typedef MPU6050_Base MPU6050; +#endif + #endif /* _MPU6050_H_ */ diff --git a/lib/mpu6050/helper_3dmath.h b/lib/mpu6050/helper_3dmath.h new file mode 100644 index 0000000..9ed260e --- /dev/null +++ b/lib/mpu6050/helper_3dmath.h @@ -0,0 +1,216 @@ +// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper +// 6/5/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2012-06-05 - add 3D math helper file to DMP6 example sketch + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +#ifndef _HELPER_3DMATH_H_ +#define _HELPER_3DMATH_H_ + +class Quaternion { + public: + float w; + float x; + float y; + float z; + + Quaternion() { + w = 1.0f; + x = 0.0f; + y = 0.0f; + z = 0.0f; + } + + Quaternion(float nw, float nx, float ny, float nz) { + w = nw; + x = nx; + y = ny; + z = nz; + } + + Quaternion getProduct(Quaternion q) { + // Quaternion multiplication is defined by: + // (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2) + // (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2) + // (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2) + // (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2 + return Quaternion( + w*q.w - x*q.x - y*q.y - z*q.z, // new w + w*q.x + x*q.w + y*q.z - z*q.y, // new x + w*q.y - x*q.z + y*q.w + z*q.x, // new y + w*q.z + x*q.y - y*q.x + z*q.w); // new z + } + + Quaternion getConjugate() { + return Quaternion(w, -x, -y, -z); + } + + float getMagnitude() { + return sqrt(w*w + x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + w /= m; + x /= m; + y /= m; + z /= m; + } + + Quaternion getNormalized() { + Quaternion r(w, x, y, z); + r.normalize(); + return r; + } +}; + +class VectorInt16 { + public: + int16_t x; + int16_t y; + int16_t z; + + VectorInt16() { + x = 0; + y = 0; + z = 0; + } + + VectorInt16(int16_t nx, int16_t ny, int16_t nz) { + x = nx; + y = ny; + z = nz; + } + + float getMagnitude() { + return sqrt(x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + x /= m; + y /= m; + z /= m; + } + + VectorInt16 getNormalized() { + VectorInt16 r(x, y, z); + r.normalize(); + return r; + } + + void rotate(Quaternion *q) { + // http://www.cprogramming.com/tutorial/3d/quaternions.html + // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm + // http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation + // ^ or: http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1 + + // P_out = q * P_in * conj(q) + // - P_out is the output vector + // - q is the orientation quaternion + // - P_in is the input vector (a*aReal) + // - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], q*=[w,-x,-y,-z]) + Quaternion p(0, x, y, z); + + // quaternion multiplication: q * p, stored back in p + p = q -> getProduct(p); + + // quaternion multiplication: p * conj(q), stored back in p + p = p.getProduct(q -> getConjugate()); + + // p quaternion is now [0, x', y', z'] + x = p.x; + y = p.y; + z = p.z; + } + + VectorInt16 getRotated(Quaternion *q) { + VectorInt16 r(x, y, z); + r.rotate(q); + return r; + } +}; + +class VectorFloat { + public: + float x; + float y; + float z; + + VectorFloat() { + x = 0; + y = 0; + z = 0; + } + + VectorFloat(float nx, float ny, float nz) { + x = nx; + y = ny; + z = nz; + } + + float getMagnitude() { + return sqrt(x*x + y*y + z*z); + } + + void normalize() { + float m = getMagnitude(); + x /= m; + y /= m; + z /= m; + } + + VectorFloat getNormalized() { + VectorFloat r(x, y, z); + r.normalize(); + return r; + } + + void rotate(Quaternion *q) { + Quaternion p(0, x, y, z); + + // quaternion multiplication: q * p, stored back in p + p = q -> getProduct(p); + + // quaternion multiplication: p * conj(q), stored back in p + p = p.getProduct(q -> getConjugate()); + + // p quaternion is now [0, x', y', z'] + x = p.x; + y = p.y; + z = p.z; + } + + VectorFloat getRotated(Quaternion *q) { + VectorFloat r(x, y, z); + r.rotate(q); + return r; + } +}; + +#endif /* _HELPER_3DMATH_H_ */ \ No newline at end of file diff --git a/platformio.ini b/platformio.ini index 2527a13..9594a3a 100644 --- a/platformio.ini +++ b/platformio.ini @@ -19,6 +19,7 @@ platform = espressif8266 framework = arduino board = d1_mini build_unflags = +0src_build_flags = -Wunused-variable -Wregister -Wchar-subscripts build_flags = #-O0 -Wl,-Map,output.map -D BAUD=${common_env_data.monitor_speed} -D ACTIVATE_OTA @@ -33,16 +34,17 @@ build_flags = #-O0 -Wl,-Map,output.map -D USER_SSID=\""\"" # =\""myssid\"" -D USER_SSID_PWD=\""\"" # =\""mypwd\"" -D CFG_APPVER="\"0.4.0\"" -lib_deps = -# https://github.com/jrowberg/i2cdevlib.git # Using local copy of this library - https://github.com/codeplea/tinyexpr - https://github.com/graphitemaster/incbin - https://github.com/khoih-prog/ESP_DoubleResetDetector - https://github.com/tzapu/WiFiManager - https://github.com/thijse/Arduino-Log - https://github.com/bblanchon/ArduinoJson - https://github.com/PaulStoffregen/OneWire - https://github.com/milesburton/Arduino-Temperature-Control-Library +lib_deps = # Switched to forks for better version control. + # Using local copy of this library + #https://github.com/mp-se/i2cdevlib # https://github.com/jrowberg/i2cdevlib.git + https://github.com/mp-se/tinyexpr # https://github.com/codeplea/tinyexpr + https://github.com/mp-se/incbin # https://github.com/graphitemaster/incbin + https://github.com/mp-se/ESP_DoubleResetDetector # https://github.com/khoih-prog/ESP_DoubleResetDetector + https://github.com/mp-se/WiFiManager # https://github.com/tzapu/WiFiManager + https://github.com/mp-se/Arduino-Log # https://github.com/thijse/Arduino-Log + https://github.com/mp-se/ArduinoJson # https://github.com/bblanchon/ArduinoJson + https://github.com/mp-se/OneWire # https://github.com/PaulStoffregen/OneWire + https://github.com/mp-se/Arduino-Temperature-Control-Library # https://github.com/milesburton/Arduino-Temperature-Control-Library [env:gravity-debug] upload_speed = ${common_env_data.upload_speed} From bdd4b7117b76372711d7c7d913820cad49ef9ae8 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Sun, 2 Jan 2022 13:24:00 +0100 Subject: [PATCH 02/27] Moved html files to separate folder --- data/about.min.htm | 1 - data/config.min.htm | 1 - data/device.min.htm | 1 - data/index.min.htm | 1 - {data => html}/about.htm | 5 ++++- html/about.min.htm | 1 + {data => html}/config.htm | 5 ++++- html/config.min.htm | 1 + {data => html}/device.htm | 5 ++++- html/device.min.htm | 1 + {data => html}/index.htm | 5 ++++- html/index.min.htm | 1 + {data => html}/upload.htm | 13 +++++++++++-- {data => html}/upload.min.htm | 2 +- script/copy_html.py | 31 +++++++++++++++++++++++++++++++ 15 files changed, 63 insertions(+), 11 deletions(-) delete mode 100644 data/about.min.htm delete mode 100644 data/config.min.htm delete mode 100644 data/device.min.htm delete mode 100644 data/index.min.htm rename {data => html}/about.htm (95%) create mode 100644 html/about.min.htm rename {data => html}/config.htm (99%) create mode 100644 html/config.min.htm rename {data => html}/device.htm (96%) create mode 100644 html/device.min.htm rename {data => html}/index.htm (97%) create mode 100644 html/index.min.htm rename {data => html}/upload.htm (92%) rename {data => html}/upload.min.htm (63%) create mode 100644 script/copy_html.py diff --git a/data/about.min.htm b/data/about.min.htm deleted file mode 100644 index 6403562..0000000 --- a/data/about.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor

Beer Gravity Monitor

This is a piece of software for the iSpindle hardware and will work in a similar way. No part of this software is copied from the iSpindle project.

MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/data/config.min.htm b/data/config.min.htm deleted file mode 100644 index b0c839c..0000000 --- a/data/config.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor

Temperature Format:

(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/data/device.min.htm b/data/device.min.htm deleted file mode 100644 index fe90b77..0000000 --- a/data/device.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor
Current version:
Loading...
Host name:
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Device ID:
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(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/data/index.min.htm b/data/index.min.htm deleted file mode 100644 index 144df21..0000000 --- a/data/index.min.htm +++ /dev/null @@ -1 +0,0 @@ -Beer Gravity Monitor
Gravity:
Loading...
Temperature:
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Angle/Tilt:
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Battery:
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(C) Copyright 2021 Magnus Persson
\ No newline at end of file diff --git a/data/about.htm b/html/about.htm similarity index 95% rename from data/about.htm rename to html/about.htm index b8bc86b..ed11c18 100644 --- a/data/about.htm +++ b/html/about.htm @@ -31,6 +31,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -73,6 +76,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/about.min.htm b/html/about.min.htm new file mode 100644 index 0000000..d590edd --- /dev/null +++ b/html/about.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor

    Beer Gravity Monitor

    This is a piece of software for the iSpindle hardware and will work in a similar way. No part of this software is copied from the iSpindle project.

    MIT License

    Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/config.htm b/html/config.htm similarity index 99% rename from data/config.htm rename to html/config.htm index 979e766..cf4f1bc 100644 --- a/data/config.htm +++ b/html/config.htm @@ -31,6 +31,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -378,6 +381,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/config.min.htm b/html/config.min.htm new file mode 100644 index 0000000..f7bd12c --- /dev/null +++ b/html/config.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor

    Temperature Format:

    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/device.htm b/html/device.htm similarity index 96% rename from data/device.htm rename to html/device.htm index 39acf16..0541eaf 100644 --- a/data/device.htm +++ b/html/device.htm @@ -32,6 +32,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -112,6 +115,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/device.min.htm b/html/device.min.htm new file mode 100644 index 0000000..cef397a --- /dev/null +++ b/html/device.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor
    Current version:
    Loading...
    Host name:
    Loading...
    Device ID:
    Loading...
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/index.htm b/html/index.htm similarity index 97% rename from data/index.htm rename to html/index.htm index bcd1cd3..052cb1e 100644 --- a/data/index.htm +++ b/html/index.htm @@ -31,6 +31,9 @@
  • Configuration
    • +
  • + Calibration +
  • About
    • @@ -148,6 +151,6 @@ -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/html/index.min.htm b/html/index.min.htm new file mode 100644 index 0000000..1822cec --- /dev/null +++ b/html/index.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor
    Gravity:
    Loading...
    Temperature:
    Loading...
    Angle/Tilt:
    Loading...
    Battery:
    Loading...
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/upload.htm b/html/upload.htm similarity index 92% rename from data/upload.htm rename to html/upload.htm index 94ab51f..ed73a73 100644 --- a/data/upload.htm +++ b/html/upload.htm @@ -74,6 +74,10 @@
    config.min.htm
    Checking...
    +
    +
    calibration.min.htm
    +
    Checking...
    +
    about.min.htm
    Checking...
    @@ -118,11 +122,16 @@ function getUpload() { else $("#device").text("File is missing."); - if( cfg["config"] ) + if( cfg["config"] ) $("#config").text("Completed."); else $("#config").text("File is missing."); + if( cfg["calibration"] ) + $("#calibration").text("Completed."); + else + $("#calibration").text("File is missing."); + if( cfg["about"] ) $("#about").text("Completed."); else @@ -141,6 +150,6 @@ function getUpload() { -
    (C) Copyright 2021 Magnus Persson
    +
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/data/upload.min.htm b/html/upload.min.htm similarity index 63% rename from data/upload.min.htm rename to html/upload.min.htm index 6eaa0d7..1ee94dd 100644 --- a/data/upload.min.htm +++ b/html/upload.min.htm @@ -1 +1 @@ -Beer Gravity Monitor
    The listed files below needs to be uploaded to the FileSystem in order for the GUI to work. You can also flash the LittleFS filesystem but in that case you will loose your device settings. An OTA upgrade will automatically download the files if they are found in the same location as the firmware.bin. This page is a fallback option.

    Once all the files are confirmed, please reboot the device for normal operation.
    index.min.htm
    Checking...
    device.min.htm
    Checking...
    config.min.htm
    Checking...
    about.min.htm
    Checking...
    (C) Copyright 2021 Magnus Persson
    \ No newline at end of file +Beer Gravity Monitor
    The listed files below needs to be uploaded to the FileSystem in order for the GUI to work. You can also flash the LittleFS filesystem but in that case you will loose your device settings. An OTA upgrade will automatically download the files if they are found in the same location as the firmware.bin. This page is a fallback option.

    Once all the files are confirmed, please reboot the device for normal operation.
    index.min.htm
    Checking...
    device.min.htm
    Checking...
    config.min.htm
    Checking...
    calibration.min.htm
    Checking...
    about.min.htm
    Checking...
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/script/copy_html.py b/script/copy_html.py new file mode 100644 index 0000000..001091a --- /dev/null +++ b/script/copy_html.py @@ -0,0 +1,31 @@ +Import("env") +import shutil + +print( "Executing custom step " ) +dir = env.GetLaunchDir() +source = dir + "/html/" +target = dir + "/data/" +print( "Copy file : " + source + " -> " + target ) + +file = "about.min.htm" +print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "calibration.min.htm" +print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "config.min.htm" +print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "device.min.htm" +print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "index.min.htm" +print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) +file = "upload.min.htm" +print( "Copy file: " + source + file + "->" + target + file) +shutil.copyfile( source + file, target + file ) + +#print( "Adding custom build step (copy ./heml/*.min.html to ./data/): ") +#print(env.Dump()) +#env.AddPreAction("buildprog", before_build) From 48f71bd59a5f5ce5eab24641ecaa5497e1b76c1a Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Sun, 2 Jan 2022 13:24:35 +0100 Subject: [PATCH 03/27] Dont check in html in /data folder --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 4aa2f51..f54810a 100644 --- a/.gitignore +++ b/.gitignore @@ -6,3 +6,4 @@ test/*.md test/env/* test/*.py TODO.md +data/*.min.htm \ No newline at end of file From d075fe21178056d97831368a26cd691b77eadd56 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Mon, 3 Jan 2022 18:30:57 +0100 Subject: [PATCH 04/27] Prel code for formula creation --- README.md | 11 +- html/calibration.htm | 243 +++++++++++++++++++++++++++++++++++ html/calibration.min.htm | 1 + img/config1.png | Bin 13295 -> 26692 bytes img/config2.png | Bin 19034 -> 37591 bytes img/config3.png | Bin 7854 -> 22896 bytes img/config4.png | Bin 11264 -> 23114 bytes img/device.png | Bin 16374 -> 16667 bytes img/index.png | Bin 20574 -> 24761 bytes platformio.ini | 43 ++++--- script/copy_html.py | 14 +- script/create_versionjson.py | 6 + src/calc.cpp | 81 +++++++++++- src/calc.h | 8 +- src/config.cpp | 49 ++++++- src/config.h | 18 ++- src/gyro.h | 2 +- src/main.cpp | 13 +- src/resources.cpp | 2 + src/tempsensor.cpp | 10 +- src/webserver.cpp | 142 +++++++++++++++++++- src/webserver.h | 3 +- src/wifi.cpp | 22 ++-- src/wifi.h | 4 +- test/formula.json | 14 ++ test/upload.json | 1 + 26 files changed, 626 insertions(+), 61 deletions(-) create mode 100644 html/calibration.htm create mode 100644 html/calibration.min.htm create mode 100644 test/formula.json diff --git a/README.md b/README.md index 86e117c..fa8c0fc 100644 --- a/README.md +++ b/README.md @@ -7,6 +7,7 @@ I started this project out of curiosity for how a motion sensor is working and s After 6 months of testing I believe this is working as planned. It give accurate readings same as the orginal iSpindel software. Version history +* v0.5 Added support for creating formula on device + bug fixes. * v0.4 First official version with 5+ brews on record. Lower priority @@ -127,11 +128,19 @@ http://192.168.1.1/firmware/gravmon/ Contents version.json ``` -{ "project":"gravmon", "version":"0.3.0" } +{ "project":"gravmon", "version":"0.5.0" } ``` ![Config - Hardware](img/config4.png) +### Calibration page + +http://gravmon.local/calibration.htm + +The device page is used to enter gravity + angle/tilt into the device in order to create a formula. Data will be saved on the device and a formula will be checked against the entered numbers for accuracy. Support currently up to 5 values and the more readings the more accurate the formula will be. Its prefeered to use at least 3 values. + +![Device](img/calibration.png) + # Building a device See the iSpindle documentation for building a device. diff --git a/html/calibration.htm b/html/calibration.htm new file mode 100644 index 0000000..84d978b --- /dev/null +++ b/html/calibration.htm @@ -0,0 +1,243 @@ + + + + + + + Beer Gravity Monitor + + + + + + + + + + + + +
    + +
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    + +
    +
    +

    + +

    +
    + +
    +
    +
    + + +
    + Here you can create your gravity formula by entering angles and the corresponding gravity (SG). These values + will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the + formula and if the deviation is more than 1.5 SG then the forumla will be rejected. +
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    (C) Copyright 2021-22 Magnus Persson
    + + \ No newline at end of file diff --git a/html/calibration.min.htm b/html/calibration.min.htm new file mode 100644 index 0000000..a8b420d --- /dev/null +++ b/html/calibration.min.htm @@ -0,0 +1 @@ +Beer Gravity Monitor

    Here you can create your gravity formula by entering angles and the corresponding gravity (SG). These values will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the formula and if the deviation is more than 1.5 SG then the forumla will be rejected.
    (C) Copyright 2021-22 Magnus Persson
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zMfnQ)xS8G-Jksc1yiC-!@PP(-HkB9DtT~z|v6yc&yJ$51+V8N@YBMutHc6||0`ZjD zDUiOoB3N#-8PfS0$TvV_g;<}1FPRgeLup;f?}g1?Vvne4q2qfJ>erH#a8V!WnP)um zH5ROpO(kLxT&1`DjJsbOuFKT-bH5PICx2VlZul?+d1uxO " + target ) +print( "Copy html-files from " + source + " -> " + target ) file = "about.min.htm" -print( "Copy file: " + source + file + "->" + target + file) +#print( "Copy file: " + source + file + "->" + target + file) shutil.copyfile( source + file, target + file ) file = "calibration.min.htm" -print( "Copy file: " + source + file + "->" + target + file) +#print( "Copy file: " + source + file + "->" + target + file) shutil.copyfile( source + file, target + file ) file = "config.min.htm" -print( "Copy file: " + source + file + "->" + target + file) +#print( "Copy file: " + source + file + "->" + target + file) shutil.copyfile( source + file, target + file ) file = "device.min.htm" -print( "Copy file: " + source + file + "->" + target + file) +#print( "Copy file: " + source + file + "->" + target + file) shutil.copyfile( source + file, target + file ) file = "index.min.htm" -print( "Copy file: " + source + file + "->" + target + file) +#print( "Copy file: " + source + file + "->" + target + file) shutil.copyfile( source + file, target + file ) file = "upload.min.htm" -print( "Copy file: " + source + file + "->" + target + file) +#print( "Copy file: " + source + file + "->" + target + file) shutil.copyfile( source + file, target + file ) #print( "Adding custom build step (copy ./heml/*.min.html to ./data/): ") diff --git a/script/create_versionjson.py b/script/create_versionjson.py index 2416a3f..7747abc 100644 --- a/script/create_versionjson.py +++ b/script/create_versionjson.py @@ -36,6 +36,12 @@ def after_build(source, target, env): print( "Copy file : " + source + " -> " + target ) shutil.copyfile( source, target ) + # Copy file 4 + source = dir + "\\data\\calibration.min.htm" + target = dir + "\\bin\\calibration.min.htm" + print( "Copy file : " + source + " -> " + target ) + shutil.copyfile( source, target ) + target = dir + "\\bin\\version.json" ver = get_build_flag_value("CFG_APPVER") diff --git a/src/calc.cpp b/src/calc.cpp index e919d7b..fbf3408 100644 --- a/src/calc.cpp +++ b/src/calc.cpp @@ -24,14 +24,91 @@ SOFTWARE. #include "calc.h" #include "helper.h" #include "config.h" -#include "tinyexpr.h" +#include #include "tempsensor.h" +#include + +#define FORMULA_MAX_DEVIATION 1.5 + + +// +// Use values to derive a formula +// +int createFormula( RawFormulaData& fd, char *formulaBuffer, int order ) { + + int noAngles = 0; + + // Check how many valid values we have got + if( fd.a[0]>0 && fd.a[1]>0 && fd.a[2]>0 && fd.a[3]>0 && fd.a[4]>0 ) + noAngles = 5; + else if( fd.a[0]>0 && fd.a[1]>0 && fd.a[2]>0 && fd.a[3]>0 ) + noAngles = 4; + else if( fd.a[0]>0 && fd.a[1]>0 && fd.a[2]>0 ) + noAngles = 3; + +#if LOG_LEVEL==6 + Log.verbose(F("CALC: Trying to create formula using order = %d, found %d angles" CR), order, noAngles); +#endif + + if( !noAngles ) { + Log.error(F("CALC: Not enough values for deriving formula" CR)); + return ERR_FORMULA_NOTENOUGHVALUES; + } else { + + double coeffs[order+1]; + int ret = fitCurve(order, noAngles, fd.a, fd.g, sizeof(coeffs)/sizeof(double), coeffs); + + //Returned value is 0 if no error + if( ret == 0 ) { + + if( noAngles==5 ) + sprintf( formulaBuffer, "%.8f*tilt^3+%.8f*tilt^2+%.8f*tilt+%.8f", coeffs[0], coeffs[1], coeffs[2], coeffs[3] ); + else if( noAngles==4 ) + sprintf( formulaBuffer, "%.8f*tilt^2+%.8f*tilt+%.8f", coeffs[0], coeffs[1], coeffs[2] ); + else // ==3 + sprintf( formulaBuffer, "%.8f*tilt+%.8f", coeffs[0], coeffs[1] ); + + bool valid = true; + + for( int i = 0; i < 5; i++ ) { + if( fd.a[i]==0 && valid ) + break; + + double g = calculateGravity( fd.a[i], 0, formulaBuffer ); + double dev = (g-fd.g[i])<0 ? (fd.g[i]-g) : (g-fd.g[i]); + + // If the deviation is more than 2 degress we mark it as failed. + if( dev*1000 > FORMULA_MAX_DEVIATION ) + valid = false; + } + + if( !valid ) { + Log.error(F("CALC: Deviation to large, formula rejected." CR)); + return ERR_FORMULA_UNABLETOFFIND; + } + + Log.info(F("CALC: Found formula '%s'." CR), formulaBuffer ); + return 0; + } + } + + Log.error(F("CALC: Internal error finding formula." CR)); + return ERR_FORMULA_INTERNAL; +} // // Calculates gravity according to supplied formula, compatible with iSpindle/Fermentrack formula // -double calculateGravity( double angle, double temp ) { +double calculateGravity( double angle, double temp, const char *tempFormula ) { const char* formula = myConfig.getGravityFormula(); + + if( tempFormula != 0 ) { +#if LOG_LEVEL==6 + Log.verbose(F("CALC: Using temporary formula." CR)); +#endif + formula = tempFormula; + } + #if LOG_LEVEL==6 Log.verbose(F("CALC: Calculating gravity for angle %F, temp %F." CR), angle, temp); Log.verbose(F("CALC: Formula %s." CR), formula); diff --git a/src/calc.h b/src/calc.h index 8b07562..812721b 100644 --- a/src/calc.h +++ b/src/calc.h @@ -26,10 +26,16 @@ SOFTWARE. // Includes #include "helper.h" +#include "config.h" + +#define ERR_FORMULA_NOTENOUGHVALUES -1 +#define ERR_FORMULA_INTERNAL -2 +#define ERR_FORMULA_UNABLETOFFIND -3 // Functions -double calculateGravity( double angle, double temp ); +double calculateGravity( double angle, double temp, const char *tempFormula = 0 ); double gravityTemperatureCorrection( double gravity, double temp, char tempFormat, double calTemp = 20 ); +int createFormula( RawFormulaData& fd, char *formulaBuffer, int order); #endif // _CALC_H diff --git a/src/config.cpp b/src/config.cpp index ba66fc1..b5026f3 100644 --- a/src/config.cpp +++ b/src/config.cpp @@ -32,11 +32,16 @@ Config myConfig; // Config::Config() { // Assiging default values - char buf[20]; + char buf[30]; sprintf(&buf[0], "%6x", (unsigned int) ESP.getChipId() ); - id = &buf[0]; + id = String( &buf[0] ); sprintf(&buf[0], "" WIFI_MDNS "%s", getID() ); - mDNS = &buf[0]; + mDNS = String( &buf[0] ); + +#if LOG_LEVEL==6 + Log.verbose(F("CFG : Created config for %s (%s)." CR), id.c_str(), mDNS.c_str() ); +#endif + setTempFormat('C'); setGravityFormat('G'); setSleepInterval(900); // 15 minutes @@ -44,6 +49,7 @@ Config::Config() { setTempSensorAdj(0.0); setGravityTempAdj(false); gyroCalibration = { 0, 0, 0, 0, 0 ,0 }; + formulaData = {{ 0, 0, 0, 0, 0},{ 1, 1, 1, 1, 1}}; saveNeeded = false; } @@ -77,6 +83,19 @@ void Config::createJson(DynamicJsonDocument& doc) { cal["gx"] = gyroCalibration.gx; cal["gy"] = gyroCalibration.gy; cal["gz"] = gyroCalibration.gz; + + JsonObject cal2 = doc.createNestedObject( CFG_PARAM_FORMULA_DATA ); + cal2[ "a1" ] = reduceFloatPrecision( formulaData.a[0], 2); + cal2[ "a2" ] = reduceFloatPrecision( formulaData.a[1], 2); + cal2[ "a3" ] = reduceFloatPrecision( formulaData.a[2], 2); + cal2[ "a4" ] = reduceFloatPrecision( formulaData.a[3], 2); + cal2[ "a5" ] = reduceFloatPrecision( formulaData.a[4], 2); + + cal2[ "g1" ] = reduceFloatPrecision( formulaData.g[0], 4); + cal2[ "g2" ] = reduceFloatPrecision( formulaData.g[1], 4); + cal2[ "g3" ] = reduceFloatPrecision( formulaData.g[2], 4); + cal2[ "g4" ] = reduceFloatPrecision( formulaData.g[3], 4); + cal2[ "g5" ] = reduceFloatPrecision( formulaData.g[4], 4); } // @@ -144,7 +163,7 @@ bool Config::loadFile() { #if LOG_LEVEL==6 serializeJson(doc, Serial); Serial.print( CR ); -#endif +#endif configFile.close(); if( err ) { @@ -207,6 +226,28 @@ bool Config::loadFile() { if( !doc[ CFG_PARAM_GYRO_CALIBRATION ]["gz"].isNull() ) gyroCalibration.gz = doc[ CFG_PARAM_GYRO_CALIBRATION ]["gz"]; + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "a1" ].isNull() ) + formulaData.a[0] = doc[ CFG_PARAM_FORMULA_DATA ][ "a1" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "a2" ].isNull() ) + formulaData.a[1] = doc[ CFG_PARAM_FORMULA_DATA ][ "a2" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "a3" ].isNull() ) + formulaData.a[2] = doc[ CFG_PARAM_FORMULA_DATA ][ "a3" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "a4" ].isNull() ) + formulaData.a[3] = doc[ CFG_PARAM_FORMULA_DATA ][ "a4" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "a5" ].isNull() ) + formulaData.a[4] = doc[ CFG_PARAM_FORMULA_DATA ][ "a5" ].as(); + + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "g1" ].isNull() ) + formulaData.g[0] = doc[ CFG_PARAM_FORMULA_DATA ][ "g1" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "g2" ].isNull() ) + formulaData.g[1] = doc[ CFG_PARAM_FORMULA_DATA ][ "g2" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "g3" ].isNull() ) + formulaData.g[2] = doc[ CFG_PARAM_FORMULA_DATA ][ "g3" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "g4" ].isNull() ) + formulaData.g[3] = doc[ CFG_PARAM_FORMULA_DATA ][ "g4" ].as(); + if( !doc[ CFG_PARAM_FORMULA_DATA ][ "g5" ].isNull() ) + formulaData.g[4] = doc[ CFG_PARAM_FORMULA_DATA ][ "g5" ]; + myConfig.debug(); saveNeeded = false; // Reset save flag Log.notice(F("CFG : Configuration file " CFG_FILENAME " loaded." CR)); diff --git a/src/config.h b/src/config.h index cf3e8a7..1d41549 100644 --- a/src/config.h +++ b/src/config.h @@ -31,7 +31,7 @@ SOFTWARE. #include // defintions -#define CFG_JSON_BUFSIZE 2000 +#define CFG_JSON_BUFSIZE 3192 #define CFG_APPNAME "GravityMon " // Name of firmware #define CFG_FILENAME "/gravitymon.json" // Name of config file @@ -63,6 +63,8 @@ SOFTWARE. #define CFG_PARAM_TEMP_ADJ "temp-adjustment-value" // Correction value for temp sensor #define CFG_PARAM_GYRO_CALIBRATION "gyro-calibration-data" // READ ONLY +#define CFG_PARAM_FORMULA_DATA "formula-calculation-data" // Raw data for the formula calculation + // These are used in API's #define CFG_PARAM_APP_NAME "app-name" #define CFG_PARAM_APP_VER "app-ver" @@ -87,6 +89,12 @@ struct RawGyroData { int16_t temp; // Only for information (temperature of chip) }; +// Used for holding formulaData (used for calculating formula on device) +struct RawFormulaData { + double a[5]; + double g[5]; +}; + // Main configuration class class Config { private: @@ -100,7 +108,7 @@ class Config { float voltageFactor; float tempSensorAdj; // This value will be added to the read sensor value int sleepInterval; - + // Push target settings String brewfatherPushUrl; // URL For brewfather @@ -118,7 +126,8 @@ class Config { char gravityFormat; // G, P // Gyro calibration data - RawGyroData gyroCalibration; // Holds the gyro calibration constants (6 * int16_t) + RawGyroData gyroCalibration; // Holds the gyro calibration constants (6 * int16_t) + RawFormulaData formulaData; // Used for creating formula void debug(); void formatFileSystem(); @@ -189,6 +198,9 @@ class Config { const RawGyroData& getGyroCalibration() { return gyroCalibration; } void setGyroCalibration( const RawGyroData &r ) { gyroCalibration = r; saveNeeded = true; } + const RawFormulaData& getFormulaData() { return formulaData; } + void setFormulaData( const RawFormulaData &r ) { formulaData = r; saveNeeded = true; } + // IO functions void createJson(DynamicJsonDocument& doc); bool saveFile(); diff --git a/src/gyro.h b/src/gyro.h index 89633c9..8b1b081 100644 --- a/src/gyro.h +++ b/src/gyro.h @@ -28,7 +28,7 @@ SOFTWARE. //#define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_SBWIRE // Includes -#include +#include #include "MPU6050.h" #include "config.h" diff --git a/src/main.cpp b/src/main.cpp index a4a9cfe..ee48e85 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -39,7 +39,7 @@ SOFTWARE. DoubleResetDetector *drd; // Define constats for this program -#if LOG_LEVEL==6 +#ifdef DEACTIVATE_SLEEPMODE const int interval = 1000; // ms, time to wait between changes to output bool sleepModeAlwaysSkip = true; // Web interface can override normal behaviour #else @@ -127,6 +127,11 @@ void setup() { if( dt ) Log.notice(F("Main: Detected doubletap on reset." CR)); +#ifdef DEACTIVATE_SLEEPMODE + // If we are running in debug more we skip this part. makes is hard to debug in case of crash/watchdog reset + dt = false; +#endif + LOG_PERF_START("main-wifi-connect"); myWifi.connect( dt ); // This will return false if unable to connect to wifi, will be handled in loop() LOG_PERF_STOP("main-wifi-connect"); @@ -241,7 +246,7 @@ void loop() { // Enter sleep mode if the conditions are right // ------------------------------------------------------------------------------------------------ // - if( goToSleep ) { + if( goToSleep && !sleepModeAlwaysSkip ) { Log.notice(F("MAIN: Entering deep sleep for %d s, run time %l s, battery=%F V." CR), sleepInterval, (millis()-runtimeMillis)/1000, volt ); LittleFS.end(); myGyro.enterSleep(); @@ -267,10 +272,10 @@ void loop() { //LOG_PERF_STOP("loop-batt-read"); loopMillis = millis(); -#if LOG_LEVEL==6 +//#if LOG_LEVEL==6 Log.verbose(F("Main: Heap %d kb FreeSketch %d kb." CR), ESP.getFreeHeap()/1024, ESP.getFreeSketchSpace()/1024 ); Log.verbose(F("Main: HeapFrag %d %%." CR), ESP.getHeapFragmentation() ); -#endif +//#endif } myWebServer.loop(); diff --git a/src/resources.cpp b/src/resources.cpp index b62e9a3..4746241 100644 --- a/src/resources.cpp +++ b/src/resources.cpp @@ -21,6 +21,7 @@ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +#define INCBIN_OUTPUT_SECTION ".irom.text" #include #if defined( EMBED_HTML ) @@ -29,6 +30,7 @@ SOFTWARE. INCBIN(IndexHtm, "data/index.min.htm" ); INCBIN(DeviceHtm, "data/device.min.htm" ); INCBIN(ConfigHtm, "data/config.min.htm" ); +INCBIN(CalibrationHtm, "data/calibration.min.htm" ); INCBIN(AboutHtm, "data/about.min.htm" ); #else diff --git a/src/tempsensor.cpp b/src/tempsensor.cpp index f3e907e..17e18e5 100644 --- a/src/tempsensor.cpp +++ b/src/tempsensor.cpp @@ -58,8 +58,10 @@ void TempSensor::setup() { Log.notice(F("TSEN: Using temperature from gyro." CR)); #else // This code is used to read the DS18 temp sensor - if( mySensors.getDS18Count() ) + /*if( !mySensors.getDS18Count() ) { + Log.error(F("TSEN: No temperature sensors found." CR)); return; + }*/ #if LOG_LEVEL==6 Log.verbose(F("TSEN: Looking for temp sensors." CR)); @@ -107,6 +109,12 @@ float TempSensor::getValue() { Log.verbose(F("TSEN: Reciving temp value for gyro sensor %F C." CR), c); #endif #else + // If we dont have sensors just return 0 + if( !mySensors.getDS18Count() ) { + Log.error(F("TSEN: No temperature sensors found. Skipping read." CR)); + return -273; + } + // Read the sensors //LOG_PERF_START("temp-request"); mySensors.requestTemperatures(); diff --git a/src/webserver.cpp b/src/webserver.cpp index ef50e31..ee6d4fe 100644 --- a/src/webserver.cpp +++ b/src/webserver.cpp @@ -39,6 +39,7 @@ SOFTWARE. INCBIN_EXTERN(IndexHtm); INCBIN_EXTERN(DeviceHtm); INCBIN_EXTERN(ConfigHtm); +INCBIN_EXTERN(CalibrationHtm); INCBIN_EXTERN(AboutHtm); #else INCBIN_EXTERN(UploadHtm); @@ -46,6 +47,7 @@ INCBIN_EXTERN(UploadHtm); WebServer myWebServer; // My wrapper class fr webserver functions ESP8266WebServer server(80); +int lastFormulaCreateError = 0; extern bool sleepModeActive; extern bool sleepModeAlwaysSkip; @@ -116,10 +118,11 @@ void webHandleUpload() { Log.notice(F("WEB : webServer callback for /api/upload." CR)); DynamicJsonDocument doc(100); - doc[ "index" ] = myWebServer.checkHtmlFile( WebServer::HTML_INDEX ); - doc[ "device" ] = myWebServer.checkHtmlFile( WebServer::HTML_DEVICE ); - doc[ "config" ] = myWebServer.checkHtmlFile( WebServer::HTML_CONFIG ); - doc[ "about" ] = myWebServer.checkHtmlFile( WebServer::HTML_ABOUT ); + doc[ "index" ] = myWebServer.checkHtmlFile( WebServer::HTML_INDEX ); + doc[ "device" ] = myWebServer.checkHtmlFile( WebServer::HTML_DEVICE ); + doc[ "config" ] = myWebServer.checkHtmlFile( WebServer::HTML_CONFIG ); + doc[ "calibration" ] = myWebServer.checkHtmlFile( WebServer::HTML_CALIBRATION ); + doc[ "about" ] = myWebServer.checkHtmlFile( WebServer::HTML_ABOUT ); #if LOG_LEVEL==6 serializeJson(doc, Serial); @@ -145,7 +148,7 @@ void webHandleUploadFile() { String f = upload.filename; bool validFilename = false; - if( f.equalsIgnoreCase("index.min.htm") || f.equalsIgnoreCase("device.min.htm") || + if( f.equalsIgnoreCase("index.min.htm") || f.equalsIgnoreCase("device.min.htm") || f.equalsIgnoreCase("calibration.min.htm") || f.equalsIgnoreCase("config.min.htm") || f.equalsIgnoreCase("about.min.htm") ) { validFilename = true; } @@ -408,6 +411,127 @@ void webHandleConfigHardware() { LOG_PERF_STOP("webserver-api-config-hardware"); } +// +// Callback from webServer when / has been accessed. +// +void webHandleFormulaRead() { + LOG_PERF_START("webserver-api-formula-read"); +#if LOG_LEVEL==6 + Log.verbose(F("WEB : webServer callback for /api/formula/get." CR)); +#endif + DynamicJsonDocument doc(250); + const RawFormulaData& fd = myConfig.getFormulaData(); + +#if LOG_LEVEL==6 + Log.verbose(F("WEB : %F %F %F %F %F." CR), fd.a[0], fd.a[1], fd.a[2], fd.a[3], fd.a[4] ); + Log.verbose(F("WEB : %F %F %F %F %F." CR), fd.g[0], fd.g[1], fd.g[2], fd.g[3], fd.g[4] ); +#endif + + doc[ CFG_PARAM_ID ] = myConfig.getID(); + doc[ CFG_PARAM_ANGLE ] = reduceFloatPrecision( myGyro.getAngle() ); + + switch( lastFormulaCreateError ) { + case ERR_FORMULA_INTERNAL: + doc[ CFG_PARAM_GRAVITY_FORMULA ] = "Internal error creating formula."; + break; + case ERR_FORMULA_NOTENOUGHVALUES: + doc[ CFG_PARAM_GRAVITY_FORMULA ] = "Not enough values to create formula."; + break; + case ERR_FORMULA_UNABLETOFFIND: + doc[ CFG_PARAM_GRAVITY_FORMULA ] = "Unable to find an accurate formula based on input."; + break; + default: + doc[ CFG_PARAM_GRAVITY_FORMULA ] = myConfig.getGravityFormula(); + break; + } + + doc[ "a1" ] = reduceFloatPrecision( fd.a[0], 2); + doc[ "a2" ] = reduceFloatPrecision( fd.a[1], 2); + doc[ "a3" ] = reduceFloatPrecision( fd.a[2], 2); + doc[ "a4" ] = reduceFloatPrecision( fd.a[3], 2); + doc[ "a5" ] = reduceFloatPrecision( fd.a[4], 2); + + doc[ "g1" ] = reduceFloatPrecision( fd.g[0], 4); + doc[ "g2" ] = reduceFloatPrecision( fd.g[1], 4); + doc[ "g3" ] = reduceFloatPrecision( fd.g[2], 4); + doc[ "g4" ] = reduceFloatPrecision( fd.g[3], 4); + doc[ "g5" ] = reduceFloatPrecision( fd.g[4], 4); + +#if LOG_LEVEL==6 + serializeJson(doc, Serial); + Serial.print( CR ); +#endif + String out; + serializeJson(doc, out); + server.send(200, "application/json", out.c_str() ); + LOG_PERF_STOP("webserver-api-formula-read"); +} + +// +// Update hardware settings. +// +void webHandleFormulaWrite() { + LOG_PERF_START("webserver-api-formula-write"); + String id = server.arg( CFG_PARAM_ID ); +#if LOG_LEVEL==6 + Log.verbose(F("WEB : webServer callback for /api/formula/post." CR) ); +#endif + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { + Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); + server.send(400, "text/plain", "Invalid ID."); + LOG_PERF_STOP("webserver-api-formula-write"); + return; + } +#if LOG_LEVEL==6 + Log.verbose(F("WEB : angles=%F,%F,%F,%F,%F." CR), server.arg( "a1" ).toFloat(), server.arg( "a2" ).toFloat(), server.arg( "a3" ).toFloat(), server.arg( "a4" ).toFloat(), server.arg( "a5" ).toFloat() ); + Log.verbose(F("WEB : gravity=%F,%F,%F,%F,%F." CR), server.arg( "g1" ).toFloat(), server.arg( "g2" ).toFloat(), server.arg( "g3" ).toFloat(), server.arg( "g4" ).toFloat(), server.arg( "g5" ).toFloat() ); +#endif + RawFormulaData fd; + fd.a[0] = server.arg( "a1" ).toDouble(); + fd.a[1] = server.arg( "a2" ).toDouble(); + fd.a[2] = server.arg( "a3" ).toDouble(); + fd.a[3] = server.arg( "a4" ).toDouble(); + fd.a[4] = server.arg( "a5" ).toDouble(); + fd.g[0] = server.arg( "g1" ).toDouble(); + fd.g[1] = server.arg( "g2" ).toDouble(); + fd.g[2] = server.arg( "g3" ).toDouble(); + fd.g[3] = server.arg( "g4" ).toDouble(); + fd.g[4] = server.arg( "g5" ).toDouble(); + myConfig.setFormulaData( fd ); + + int e; + char buf[100]; + + e = createFormula( fd, &buf[0], 4 ); + + if( e ) { + // If we fail with order=4 try with 3 + Log.warning(F("WEB : Failed to find formula with order 4." CR), e ); + e = createFormula( fd, &buf[0], 3 ); + } + + if( e ) { + // If we fail with order=3 try with 2 + Log.warning(F("WEB : Failed to find formula with order 3." CR), e ); + e = createFormula( fd, &buf[0], 2 ); + } + + if( e ) { + // If we fail with order=2 then we mark it as failed + Log.error(F("WEB : Unable to find formula based on provided values err=%d." CR), e ); + lastFormulaCreateError = e; + } else { + // Save the formula as succesful + Log.info(F("WEB : Found valid formula: '%s'" CR), &buf[0] ); + myConfig.setGravityFormula( buf ); + lastFormulaCreateError = 0; + } + + myConfig.saveFile(); + server.sendHeader("Location", "/calibration.htm", true); + server.send(302, "text/plain", "Formula updated" ); + LOG_PERF_STOP("webserver-api-formula-write"); +} // // Helper function to check if files exist on file system. // @@ -422,6 +546,8 @@ const char* WebServer::getHtmlFileName( HtmlFile item ) { return "device.min.htm"; case HTML_CONFIG: return "config.min.htm"; + case HTML_CALIBRATION: + return "calibration.min.htm"; case HTML_ABOUT: return "about.min.htm"; } @@ -467,6 +593,9 @@ bool WebServer::setupWebServer() { server.on("/config.htm",[]() { server.send_P(200, "text/html", (const char*) gConfigHtmData, gConfigHtmSize ); } ); + server.on("/calibration.htm",[]() { + server.send_P(200, "text/html", (const char*) gCalibrationHtmData, gCalibrationHtmSize ); + } ); server.on("/about.htm",[]() { server.send_P(200, "text/html", (const char*) gAboutHtmData, gAboutHtmSize ); } ); @@ -490,6 +619,7 @@ bool WebServer::setupWebServer() { server.serveStatic("/device.htm", LittleFS, "/device.min.htm" ); server.serveStatic("/config.htm", LittleFS, "/config.min.htm" ); server.serveStatic("/about.htm", LittleFS, "/about.min.htm" ); + server.serveStatic("/calibration.htm", LittleFS, "/calibration.min.htm" ); // Also add the static upload view in case we we have issues that needs to be fixed. server.on("/upload.htm",[]() { @@ -507,6 +637,8 @@ bool WebServer::setupWebServer() { // Dynamic content server.on("/api/config", HTTP_GET, webHandleConfig); // Get config.json server.on("/api/device", HTTP_GET, webHandleDevice); // Get device.json + server.on("/api/formula", HTTP_GET, webHandleFormulaRead); // Get formula.json (calibration page) + server.on("/api/formula", HTTP_POST, webHandleFormulaWrite); // Get formula.json (calibration page) server.on("/api/calibrate", HTTP_POST, webHandleCalibrate); // Run calibration routine (param id) server.on("/api/factory", HTTP_GET, webHandleFactoryReset); // Reset the device server.on("/api/status", HTTP_GET, webHandleStatus); // Get the status.json diff --git a/src/webserver.h b/src/webserver.h index 5252055..673e859 100644 --- a/src/webserver.h +++ b/src/webserver.h @@ -33,7 +33,8 @@ class WebServer { HTML_INDEX = 0, HTML_DEVICE = 1, HTML_CONFIG = 2, - HTML_ABOUT = 3 + HTML_ABOUT = 3, + HTML_CALIBRATION = 4 }; bool setupWebServer(); diff --git a/src/wifi.cpp b/src/wifi.cpp index 933dc89..01da5ab 100644 --- a/src/wifi.cpp +++ b/src/wifi.cpp @@ -32,36 +32,31 @@ SOFTWARE. #include #include #include +//#include // TEST +//#include // TEST #include #include Wifi myWifi; -WiFiManager myWifiManager; -bool shouldSaveConfig = false; const char* userSSID= USER_SSID; const char* userPWD = USER_SSID_PWD; -// -// Callback notifying us of the need to save config -// -void saveConfigCallback () { - shouldSaveConfig = true; -} - // // Connect to last known access point or create one if connection is not working. // bool Wifi::connect( bool showPortal ) { #if LOG_LEVEL==6 Log.verbose(F("WIFI: Connecting to WIFI via connection manager (portal=%s)." CR), showPortal?"true":"false"); + + WiFiManager myWifiManager; myWifiManager.setDebugOutput(true); #endif if( strlen(userSSID)==0 && showPortal ) { Log.notice(F("WIFI: Starting wifi portal." CR)); myWifiManager.setBreakAfterConfig( true ); - myWifiManager.setSaveConfigCallback(saveConfigCallback); + myWifiManager.setSaveConfigCallback(std::bind(&Wifi::setSaveConfig, this)); myWifiManager.setMinimumSignalQuality(10); myWifiManager.setClass("invert"); myWifiManager.setHostname( myConfig.getMDNS() ); @@ -82,6 +77,7 @@ bool Wifi::connect( bool showPortal ) { int i = 0; Log.notice(F("WIFI: Connecting to WIFI." CR)); + //WiFi.persistent(false); WiFi.mode(WIFI_STA); if( strlen(userSSID) ) { Log.notice(F("WIFI: Connecting to wifi using predefined settings %s." CR), userSSID); @@ -97,16 +93,16 @@ bool Wifi::connect( bool showPortal ) { delay(100); Serial.print( "." ); -// if( i++ > 60 ) { // Try for 6 seconds. if( i++ > 200 ) { // Try for 20 seconds. - Log.error(F("WIFI: Failed to connect to wifi, aborting." CR)); + Log.error(F("WIFI: Failed to connect to wifi %d, aborting." CR), WiFi.status() ); + WiFi.disconnect(); return connectedFlag; // Return to main that we have failed to connect. } } Serial.print( CR ); connectedFlag = true; Log.notice(F("WIFI: Connected to wifi ip=%s." CR), getIPAddress().c_str() ); - Log.notice(F("WIFI: Using mDNS name %s%s." CR), myConfig.getMDNS() ); + Log.notice(F("WIFI: Using mDNS name %s." CR), myConfig.getMDNS() ); return connectedFlag; } diff --git a/src/wifi.h b/src/wifi.h index bf719e0..c413f04 100644 --- a/src/wifi.h +++ b/src/wifi.h @@ -31,12 +31,14 @@ SOFTWARE. class Wifi { private: // WIFI - bool connectedFlag = false; + bool connectedFlag = false; + bool shouldSaveConfig = false; // OTA bool newFirmware = false; bool parseFirmwareVersionString( int (&num)[3], const char *version ); void downloadFile(const char *fname); + void setSaveConfig() { shouldSaveConfig = true; } public: // WIFI diff --git a/test/formula.json b/test/formula.json new file mode 100644 index 0000000..88a8ea6 --- /dev/null +++ b/test/formula.json @@ -0,0 +1,14 @@ +{ + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "angle": 45, + "a1": 25, + "a2": 35, + "a3": 45, + "a4": 55, + "a5": 65, + "g1": 1.000, + "g2": 1.010, + "g3": 1.020, + "g4": 1.030, + "g5": 1.040 +} \ No newline at end of file diff --git a/test/upload.json b/test/upload.json index 38dc931..10d8f2b 100644 --- a/test/upload.json +++ b/test/upload.json @@ -2,5 +2,6 @@ "index": false, "device": false, "config": false, + "calibration": false, "about": true } \ No newline at end of file From d796794602f3a9ae41e44a2f9ba0a760688f61fe Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Mon, 3 Jan 2022 21:47:42 +0100 Subject: [PATCH 05/27] Simplified wifmanager code, due to crashes --- src/main.cpp | 3 ++- src/wifi.cpp | 34 ++++++++++++---------------------- src/wifi.h | 2 -- 3 files changed, 14 insertions(+), 25 deletions(-) diff --git a/src/main.cpp b/src/main.cpp index ee48e85..c071bb9 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -278,7 +278,8 @@ void loop() { //#endif } - myWebServer.loop(); + if( myWifi.isConnected() ) + myWebServer.loop(); } // EOF \ No newline at end of file diff --git a/src/wifi.cpp b/src/wifi.cpp index 01da5ab..edea20a 100644 --- a/src/wifi.cpp +++ b/src/wifi.cpp @@ -32,8 +32,6 @@ SOFTWARE. #include #include #include -//#include // TEST -//#include // TEST #include #include @@ -46,39 +44,31 @@ const char* userPWD = USER_SSID_PWD; // Connect to last known access point or create one if connection is not working. // bool Wifi::connect( bool showPortal ) { + + WiFi.mode(WIFI_STA); + WiFiManager myWifiManager; + + if( myWifiManager.getWiFiSSID().length()==0 ) { + Log.info(F("WIFI: No SSID seams to be stored, forcing portal to start." CR)); + showPortal = true; + } + #if LOG_LEVEL==6 Log.verbose(F("WIFI: Connecting to WIFI via connection manager (portal=%s)." CR), showPortal?"true":"false"); - - WiFiManager myWifiManager; myWifiManager.setDebugOutput(true); #endif + if( strlen(userSSID)==0 && showPortal ) { Log.notice(F("WIFI: Starting wifi portal." CR)); - - myWifiManager.setBreakAfterConfig( true ); - myWifiManager.setSaveConfigCallback(std::bind(&Wifi::setSaveConfig, this)); - myWifiManager.setMinimumSignalQuality(10); myWifiManager.setClass("invert"); - myWifiManager.setHostname( myConfig.getMDNS() ); - myWifiManager.setConfigPortalTimeout( 120 ); // Keep it open for 120 seconds - - WiFiManagerParameter mdnsParam("mDNS", "hostname", myConfig.getMDNS(), 20); - myWifiManager.addParameter( &mdnsParam ); - + myWifiManager.setConfigPortalTimeout( 120 ); // Keep it open for 120 seconds myWifiManager.startConfigPortal( WIFI_DEFAULT_SSID, WIFI_DEFAULT_PWD ); - - if( shouldSaveConfig ) { - myConfig.setMDNS( mdnsParam.getValue() ); - myConfig.saveFile(); - } - } + } // Connect to wifi int i = 0; Log.notice(F("WIFI: Connecting to WIFI." CR)); - //WiFi.persistent(false); - WiFi.mode(WIFI_STA); if( strlen(userSSID) ) { Log.notice(F("WIFI: Connecting to wifi using predefined settings %s." CR), userSSID); WiFi.begin( userSSID, userPWD ); diff --git a/src/wifi.h b/src/wifi.h index c413f04..b920c5e 100644 --- a/src/wifi.h +++ b/src/wifi.h @@ -32,13 +32,11 @@ class Wifi { private: // WIFI bool connectedFlag = false; - bool shouldSaveConfig = false; // OTA bool newFirmware = false; bool parseFirmwareVersionString( int (&num)[3], const char *version ); void downloadFile(const char *fname); - void setSaveConfig() { shouldSaveConfig = true; } public: // WIFI From 0783a206b221bd103bbf53497dd9f5750c85f3d0 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Tue, 4 Jan 2022 11:22:11 +0100 Subject: [PATCH 06/27] Added graph + updated formula creation --- html/calibration.htm | 111 +++++++++++++++++++++++++++++++++++++-- html/calibration.min.htm | 53 ++++++++++++++++++- platformio.ini | 2 +- src/calc.cpp | 10 ++-- test/formula.json | 8 +-- 5 files changed, 171 insertions(+), 13 deletions(-) diff --git a/html/calibration.htm b/html/calibration.htm index 84d978b..7a6e1f8 100644 --- a/html/calibration.htm +++ b/html/calibration.htm @@ -8,6 +8,7 @@ + @@ -88,14 +89,15 @@
    - Here you can create your gravity formula by entering angles and the corresponding gravity (SG). These values + Here you can create your gravity formula by entering angles/tilt and the corresponding gravity (SG). These values will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the - formula and if the deviation is more than 1.5 SG then the forumla will be rejected. + formula and if the deviation is more than 1.5 SG then the forumla will be rejected. On the bottom of the page you can + see a graph over the entered values + values calcualated by the formula.
    - +
    @@ -163,15 +165,73 @@
    -
    +
    + +
    +
    + +

    Here you can create your gravity formula by entering angles and the corresponding gravity (SG). These values will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the formula and if the deviation is more than 1.5 SG then the forumla will be rejected.
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file +Beer Gravity Monitor

    Here you can create your gravity formula by entering angles/tilt and the corresponding gravity (SG). These values will be saved for future use. Angles with 0 (zero) will be skipped. The values below will be used to check the formula and if the deviation is more than 1.5 SG then the forumla will be rejected. On the bottom of the page you can see a graph over the entered values + values calcualated by the formula.
    (C) Copyright 2021-22 Magnus Persson
    \ No newline at end of file diff --git a/platformio.ini b/platformio.ini index 3acf69d..7e9deec 100644 --- a/platformio.ini +++ b/platformio.ini @@ -34,7 +34,7 @@ build_flags = -D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) -D USER_SSID=\""\"" # =\""myssid\"" -D USER_SSID_PWD=\""\"" # =\""mypwd\"" - -D CFG_APPVER="\"0.4.0\"" + -D CFG_APPVER="\"0.4.9\"" lib_deps = # Switched to forks for better version control. # Using local copy of this library #https://github.com/mp-se/i2cdevlib # https://github.com/jrowberg/i2cdevlib.git diff --git a/src/calc.cpp b/src/calc.cpp index fbf3408..5f3aed5 100644 --- a/src/calc.cpp +++ b/src/calc.cpp @@ -61,12 +61,16 @@ int createFormula( RawFormulaData& fd, char *formulaBuffer, int order ) { //Returned value is 0 if no error if( ret == 0 ) { - if( noAngles==5 ) + // Print the formula based on 'order' + if( order == 4 ) { + sprintf( formulaBuffer, "%.8f*tilt^4+%.8f*tilt^3+%.8f*tilt^2+%.8f*tilt+%.8f", coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4] ); + } else if( order == 3 ) { sprintf( formulaBuffer, "%.8f*tilt^3+%.8f*tilt^2+%.8f*tilt+%.8f", coeffs[0], coeffs[1], coeffs[2], coeffs[3] ); - else if( noAngles==4 ) + } else if( order == 2 ) { sprintf( formulaBuffer, "%.8f*tilt^2+%.8f*tilt+%.8f", coeffs[0], coeffs[1], coeffs[2] ); - else // ==3 + } else { // order == 1 sprintf( formulaBuffer, "%.8f*tilt+%.8f", coeffs[0], coeffs[1] ); + } bool valid = true; diff --git a/test/formula.json b/test/formula.json index 88a8ea6..fd53a8b 100644 --- a/test/formula.json +++ b/test/formula.json @@ -1,5 +1,5 @@ { - "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "gravity-formula": "0.00000166*tilt^3+-0.00024799*tilt^2+0.01344400*tilt+0.79358248", "angle": 45, "a1": 25, "a2": 35, @@ -8,7 +8,7 @@ "a5": 65, "g1": 1.000, "g2": 1.010, - "g3": 1.020, - "g4": 1.030, - "g5": 1.040 + "g3": 1.025, + "g4": 1.040, + "g5": 1.060 } \ No newline at end of file From 5a7858ecaf795720672093bed5df4e781a245ed2 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Tue, 4 Jan 2022 19:46:37 +0100 Subject: [PATCH 07/27] Refactor webserver, changes to formulaCreation --- platformio.ini | 9 +- src/calc.cpp | 9 +- src/config.cpp | 7 ++ src/config.h | 30 +++-- src/gyro.cpp | 2 + src/main.cpp | 30 ++--- src/webserver.cpp | 314 +++++++++++++++++++++------------------------- src/webserver.h | 55 +++++++- src/wifi.cpp | 48 ++++--- 9 files changed, 284 insertions(+), 220 deletions(-) diff --git a/platformio.ini b/platformio.ini index 7e9deec..59e5cea 100644 --- a/platformio.ini +++ b/platformio.ini @@ -28,10 +28,12 @@ build_flags = #-D DEBUG_ESP_HTTP_CLIENT #-D DEBUG_ESP_HTTP_SERVER #-D DEBUG_ESP_PORT=Serial + #-D DEBUG_ESP_WIFI + #-D DEBUG_ESP_CORE #-D SKIP_SLEEPMODE #-D DOUBLERESETDETECTOR_DEBUG true -D USE_LITTLEFS=true - -D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) + #-D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) -D USER_SSID=\""\"" # =\""myssid\"" -D USER_SSID_PWD=\""\"" # =\""mypwd\"" -D CFG_APPVER="\"0.4.9\"" @@ -61,13 +63,14 @@ build_unflags = ${common_env_data.build_unflags} build_flags = -D PIO_FRAMEWORK_ARDUINO_ENABLE_EXCEPTIONS - #-D DEACTIVATE_SLEEPMODE + #-D SKIP_SLEEPMODE ${common_env_data.build_flags} -D COLLECT_PERFDATA # This option will collect runtime data for a few defined methods to measure time, dumped to serial and/or influxdb -D LOG_LEVEL=6 # Maximum log level for the debug build. lib_deps = ${common_env_data.lib_deps} -board = ${common_env_data.board} +#board = ${common_env_data.board} +board = nodemcuv2 build_type = debug board_build.filesystem = littlefs monitor_filters = esp8266_exception_decoder diff --git a/src/calc.cpp b/src/calc.cpp index 5f3aed5..94177f9 100644 --- a/src/calc.cpp +++ b/src/calc.cpp @@ -30,7 +30,6 @@ SOFTWARE. #define FORMULA_MAX_DEVIATION 1.5 - // // Use values to derive a formula // @@ -61,6 +60,10 @@ int createFormula( RawFormulaData& fd, char *formulaBuffer, int order ) { //Returned value is 0 if no error if( ret == 0 ) { +#if LOG_LEVEL==6 + Log.verbose(F("CALC: Finshied processing data points." CR)); +#endif + // Print the formula based on 'order' if( order == 4 ) { sprintf( formulaBuffer, "%.8f*tilt^4+%.8f*tilt^3+%.8f*tilt^2+%.8f*tilt+%.8f", coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4] ); @@ -72,6 +75,10 @@ int createFormula( RawFormulaData& fd, char *formulaBuffer, int order ) { sprintf( formulaBuffer, "%.8f*tilt+%.8f", coeffs[0], coeffs[1] ); } +#if LOG_LEVEL==6 + Log.verbose(F("CALC: Formula: %s" CR), formulaBuffer ); +#endif + bool valid = true; for( int i = 0; i < 5; i++ ) { diff --git a/src/config.cpp b/src/config.cpp index b5026f3..e5f5f4f 100644 --- a/src/config.cpp +++ b/src/config.cpp @@ -60,6 +60,8 @@ void Config::createJson(DynamicJsonDocument& doc) { doc[ CFG_PARAM_MDNS ] = getMDNS(); doc[ CFG_PARAM_ID ] = getID(); doc[ CFG_PARAM_OTA ] = getOtaURL(); + doc[ CFG_PARAM_SSID ] = getWifiSSID(); + doc[ CFG_PARAM_PASS ] = getWifiPass(); doc[ CFG_PARAM_TEMPFORMAT ] = String( getTempFormat() ); doc[ CFG_PARAM_PUSH_BREWFATHER ] = getBrewfatherPushUrl(); doc[ CFG_PARAM_PUSH_HTTP ] = getHttpPushUrl(); @@ -178,6 +180,10 @@ bool Config::loadFile() { setOtaURL( doc[ CFG_PARAM_OTA ] ); if( !doc[ CFG_PARAM_MDNS ].isNull() ) setMDNS( doc[ CFG_PARAM_MDNS ] ); + if( !doc[ CFG_PARAM_SSID ].isNull() ) + setWifiSSID( doc[ CFG_PARAM_SSID ] ); + if( !doc[ CFG_PARAM_PASS ].isNull() ) + setWifiPass( doc[ CFG_PARAM_PASS ] ); if( !doc[ CFG_PARAM_TEMPFORMAT ].isNull() ) { String s = doc[ CFG_PARAM_TEMPFORMAT ]; setTempFormat( s.charAt(0) ); @@ -287,6 +293,7 @@ void Config::debug() { #if LOG_LEVEL==6 Log.verbose(F("CFG : Dumping configration " CFG_FILENAME "." CR)); Log.verbose(F("CFG : ID; '%s'." CR), getID()); + Log.verbose(F("CFG : WIFI; '%s', '%s'." CR), getWifiSSID(), getWifiPass() ); Log.verbose(F("CFG : mDNS; '%s'." CR), getMDNS() ); Log.verbose(F("CFG : Sleep interval; %d." CR), getSleepInterval() ); Log.verbose(F("CFG : OTA; '%s'." CR), getOtaURL() ); diff --git a/src/config.h b/src/config.h index 1d41549..0bd35a4 100644 --- a/src/config.h +++ b/src/config.h @@ -45,6 +45,9 @@ SOFTWARE. #define CFG_PARAM_ID "id" #define CFG_PARAM_MDNS "mdns" // Device name #define CFG_PARAM_OTA "ota-url" // Base URL for OTA +#define CFG_PARAM_SSID "wifi-ssid" // WIFI +#define CFG_PARAM_PASS "wifi-pass" // WIFI + #define CFG_PARAM_PUSH_BREWFATHER "brewfather-push" // URL (brewfather format) #define CFG_PARAM_PUSH_HTTP "http-push" // URL (iSpindle format) #define CFG_PARAM_PUSH_HTTP2 "http-push2" // URL (iSpindle format) @@ -66,15 +69,15 @@ SOFTWARE. #define CFG_PARAM_FORMULA_DATA "formula-calculation-data" // Raw data for the formula calculation // These are used in API's -#define CFG_PARAM_APP_NAME "app-name" -#define CFG_PARAM_APP_VER "app-ver" -#define CFG_PARAM_ANGLE "angle" -#define CFG_PARAM_GRAVITY "gravity" -#define CFG_PARAM_TEMP_C "temp-c" -#define CFG_PARAM_TEMP_F "temp-f" -#define CFG_PARAM_BATTERY "battery" -#define CFG_PARAM_SLEEP_MODE "sleep-mode" -#define CFG_PARAM_RSSI "rssi" +#define CFG_PARAM_APP_NAME "app-name" +#define CFG_PARAM_APP_VER "app-ver" +#define CFG_PARAM_ANGLE "angle" +#define CFG_PARAM_GRAVITY "gravity" +#define CFG_PARAM_TEMP_C "temp-c" +#define CFG_PARAM_TEMP_F "temp-f" +#define CFG_PARAM_BATTERY "battery" +#define CFG_PARAM_SLEEP_MODE "sleep-mode" +#define CFG_PARAM_RSSI "rssi" // Used for holding sensordata or sensoroffsets struct RawGyroData { @@ -109,6 +112,10 @@ class Config { float tempSensorAdj; // This value will be added to the read sensor value int sleepInterval; + // Wifi Config + String wifiSSID; + String wifiPASS; + // Push target settings String brewfatherPushUrl; // URL For brewfather @@ -143,6 +150,11 @@ class Config { void setOtaURL( String s ) { otaURL = s; saveNeeded = true; } bool isOtaActive() { return otaURL.length()?true:false; } + const char* getWifiSSID() { return wifiSSID.c_str(); } + void setWifiSSID( String s ) { wifiSSID = s; saveNeeded = true; } + const char* getWifiPass() { return wifiPASS.c_str(); } + void setWifiPass( String s ) { wifiPASS = s; saveNeeded = true; } + // Brewfather const char* getBrewfatherPushUrl() { return brewfatherPushUrl.c_str(); } void setBrewfatherPushUrl( String s ) { brewfatherPushUrl = s; saveNeeded = true; } diff --git a/src/gyro.cpp b/src/gyro.cpp index f00b99d..b96bc0a 100644 --- a/src/gyro.cpp +++ b/src/gyro.cpp @@ -226,6 +226,8 @@ bool GyroSensor::read() { #if LOG_LEVEL==6 Log.verbose(F("GYRO: Getting new gyro position." CR) ); #endif + if( !sensorConnected ) + return false; readSensor( lastGyroData, SENSOR_READ_COUNT, SENSOR_READ_DELAY ); // Last param is unused if GYRO_USE_INTERRUPT is defined. diff --git a/src/main.cpp b/src/main.cpp index c071bb9..c8d08be 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -114,20 +114,11 @@ void setup() { ESP.wdtDisable(); ESP.wdtEnable( interval*2 ); - LOG_PERF_START("main-temp-setup"); - myTempSensor.setup(); - LOG_PERF_STOP("main-temp-setup"); + if( dt ) { + Log.notice(F("Main: Detected doubletap on reset. Reset reason=%s" CR), ESP.getResetReason().c_str()); + } - // Setup Gyro - //LOG_PERF_START("main-gyro-setup"); // Takes less than 5ms, so skip this measurment - if( !myGyro.setup() ) - Log.error(F("Main: Failed to initialize the gyro." CR)); - //LOG_PERF_STOP("main-gyro-setup"); - - if( dt ) - Log.notice(F("Main: Detected doubletap on reset." CR)); - -#ifdef DEACTIVATE_SLEEPMODE +#ifdef SKIP_SLEEPMODE // If we are running in debug more we skip this part. makes is hard to debug in case of crash/watchdog reset dt = false; #endif @@ -136,6 +127,15 @@ void setup() { myWifi.connect( dt ); // This will return false if unable to connect to wifi, will be handled in loop() LOG_PERF_STOP("main-wifi-connect"); + LOG_PERF_START("main-temp-setup"); + myTempSensor.setup(); + LOG_PERF_STOP("main-temp-setup"); + + //LOG_PERF_START("main-gyro-setup"); // Takes less than 5ms, so skip this measurment + if( !myGyro.setup() ) + Log.error(F("Main: Failed to initialize the gyro." CR)); + //LOG_PERF_STOP("main-gyro-setup"); + LOG_PERF_START("main-gyro-read"); myGyro.read(); LOG_PERF_STOP("main-gyro-read"); @@ -278,8 +278,8 @@ void loop() { //#endif } - if( myWifi.isConnected() ) - myWebServer.loop(); + //if( myWifi.isConnected() ) + myWebServer.loop(); } // EOF \ No newline at end of file diff --git a/src/webserver.cpp b/src/webserver.cpp index ee6d4fe..96fd8e5 100644 --- a/src/webserver.cpp +++ b/src/webserver.cpp @@ -28,34 +28,16 @@ SOFTWARE. #include "calc.h" #include "tempsensor.h" #include -#include -#include -#include -#include #include -// Binary resouces -#if defined( EMBED_HTML ) -INCBIN_EXTERN(IndexHtm); -INCBIN_EXTERN(DeviceHtm); -INCBIN_EXTERN(ConfigHtm); -INCBIN_EXTERN(CalibrationHtm); -INCBIN_EXTERN(AboutHtm); -#else -INCBIN_EXTERN(UploadHtm); -#endif - WebServer myWebServer; // My wrapper class fr webserver functions -ESP8266WebServer server(80); -int lastFormulaCreateError = 0; - extern bool sleepModeActive; extern bool sleepModeAlwaysSkip; // // Callback from webServer when / has been accessed. // -void webHandleDevice() { +void WebServer::webHandleDevice() { LOG_PERF_START("webserver-api-device"); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/config." CR)); @@ -71,14 +53,14 @@ void webHandleDevice() { #endif String out; serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); + server->send(200, "application/json", out.c_str() ); LOG_PERF_STOP("webserver-api-device"); } // // Callback from webServer when / has been accessed. // -void webHandleConfig() { +void WebServer::webHandleConfig() { LOG_PERF_START("webserver-api-config"); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/config." CR)); @@ -103,14 +85,14 @@ void webHandleConfig() { #endif String out; serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); + server->send(200, "application/json", out.c_str() ); LOG_PERF_STOP("webserver-api-config"); } // // Callback from webServer when / has been accessed. // -void webHandleUpload() { +void WebServer::webHandleUpload() { LOG_PERF_START("webserver-api-upload"); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/upload." CR)); @@ -130,21 +112,19 @@ void webHandleUpload() { #endif String out; serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); + server->send(200, "application/json", out.c_str() ); LOG_PERF_STOP("webserver-api-upload"); } // // Callback from webServer when / has been accessed. // -File uploadFile; - -void webHandleUploadFile() { +void WebServer::webHandleUploadFile() { LOG_PERF_START("webserver-api-upload-file"); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/upload/file." CR)); #endif - HTTPUpload& upload = server.upload(); + HTTPUpload& upload = server->upload(); String f = upload.filename; bool validFilename = false; @@ -169,10 +149,10 @@ void webHandleUploadFile() { uploadFile.close(); Log.notice(F("WEB : File uploaded %d bytes." CR), upload.totalSize); } - server.sendHeader("Location","/"); - server.send(303); + server->sendHeader("Location","/"); + server->send(303); } else { - server.send(500, "text/plain", "Couldn't create file."); + server->send(500, "text/plain", "Couldn't create file."); } LOG_PERF_STOP("webserver-api-upload-file"); } @@ -180,46 +160,46 @@ void webHandleUploadFile() { // // Callback from webServer when / has been accessed. // -void webHandleCalibrate() { +void WebServer::webHandleCalibrate() { LOG_PERF_START("webserver-api-calibrate"); - String id = server.arg( CFG_PARAM_ID ); + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/calibrate." CR)); #endif if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); + server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-calibrate"); return; } myGyro.calibrateSensor(); - server.send(200, "text/plain", "Device calibrated" ); + server->send(200, "text/plain", "Device calibrated" ); LOG_PERF_STOP("webserver-api-calibrate"); } // // Callback from webServer when / has been accessed. // -void webHandleFactoryReset() { - String id = server.arg( CFG_PARAM_ID ); +void WebServer::webHandleFactoryReset() { + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/factory." CR)); #endif if( !id.compareTo( myConfig.getID() ) ) { - server.send(200, "text/plain", "Doing reset..."); + server->send(200, "text/plain", "Doing reset..."); LittleFS.remove(CFG_FILENAME); LittleFS.end(); delay(500); ESP.reset(); } else { - server.send(400, "text/plain", "Unknown ID."); + server->send(400, "text/plain", "Unknown ID."); } } // // Callback from webServer when / has been accessed. // -void webHandleStatus() { +void WebServer::webHandleStatus() { LOG_PERF_START("webserver-api-status"); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/status." CR)); @@ -248,173 +228,173 @@ void webHandleStatus() { #endif String out; serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); + server->send(200, "application/json", out.c_str() ); LOG_PERF_STOP("webserver-api-status"); } // // Callback from webServer when / has been accessed. // -void webHandleClearWIFI() { - String id = server.arg( CFG_PARAM_ID ); +void WebServer::webHandleClearWIFI() { + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/clearwifi." CR)); #endif if( !id.compareTo( myConfig.getID() ) ) { - server.send(200, "text/plain", "Clearing WIFI credentials and doing reset..."); + server->send(200, "text/plain", "Clearing WIFI credentials and doing reset..."); delay(1000); WiFi.disconnect(); // Clear credentials ESP.reset(); } else { - server.send(400, "text/plain", "Unknown ID."); + server->send(400, "text/plain", "Unknown ID."); } } // // Used to force the device to never sleep. // -void webHandleStatusSleepmode() { +void WebServer::webHandleStatusSleepmode() { LOG_PERF_START("webserver-api-sleepmode"); - String id = server.arg( CFG_PARAM_ID ); + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/status/sleepmode." CR) ); #endif if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); + server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-sleepmode"); return; } #if LOG_LEVEL==6 - Log.verbose(F("WEB : sleep-mode=%s." CR), server.arg( CFG_PARAM_SLEEP_MODE ).c_str() ); + Log.verbose(F("WEB : sleep-mode=%s." CR), server->arg( CFG_PARAM_SLEEP_MODE ).c_str() ); #endif - if( server.arg( CFG_PARAM_SLEEP_MODE ).equalsIgnoreCase( "true" ) ) + if( server->arg( CFG_PARAM_SLEEP_MODE ).equalsIgnoreCase( "true" ) ) sleepModeAlwaysSkip = true; else sleepModeAlwaysSkip = false; - server.send(200, "text/plain", "Sleep mode updated" ); + server->send(200, "text/plain", "Sleep mode updated" ); LOG_PERF_STOP("webserver-api-sleepmode"); } // // Update device settings. // -void webHandleConfigDevice() { +void WebServer::webHandleConfigDevice() { LOG_PERF_START("webserver-api-config-device"); - String id = server.arg( CFG_PARAM_ID ); + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/config/device." CR) ); #endif if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); + server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-device"); return; } #if LOG_LEVEL==6 - Log.verbose(F("WEB : mdns=%s, temp-format=%s." CR), server.arg( CFG_PARAM_MDNS ).c_str(), server.arg( CFG_PARAM_TEMPFORMAT ).c_str() ); + Log.verbose(F("WEB : mdns=%s, temp-format=%s." CR), server->arg( CFG_PARAM_MDNS ).c_str(), server->arg( CFG_PARAM_TEMPFORMAT ).c_str() ); #endif - myConfig.setMDNS( server.arg( CFG_PARAM_MDNS ).c_str() ); - myConfig.setTempFormat( server.arg( CFG_PARAM_TEMPFORMAT ).charAt(0) ); - myConfig.setSleepInterval( server.arg( CFG_PARAM_SLEEP_INTERVAL ).c_str() ); + myConfig.setMDNS( server->arg( CFG_PARAM_MDNS ).c_str() ); + myConfig.setTempFormat( server->arg( CFG_PARAM_TEMPFORMAT ).charAt(0) ); + myConfig.setSleepInterval( server->arg( CFG_PARAM_SLEEP_INTERVAL ).c_str() ); myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseOne", true); - server.send(302, "text/plain", "Device config updated" ); + server->sendHeader("Location", "/config.htm#collapseOne", true); + server->send(302, "text/plain", "Device config updated" ); LOG_PERF_STOP("webserver-api-config-device"); } // // Update push settings. // -void webHandleConfigPush() { +void WebServer::webHandleConfigPush() { LOG_PERF_START("webserver-api-config-push"); - String id = server.arg( CFG_PARAM_ID ); + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/config/push." CR) ); #endif if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); + server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-push"); return; } #if LOG_LEVEL==6 - Log.verbose(F("WEB : http=%s,%s, bf=%s influx2=%s, %s, %s, %s." CR), server.arg( CFG_PARAM_PUSH_HTTP ).c_str(), - server.arg( CFG_PARAM_PUSH_HTTP2 ).c_str(), server.arg( CFG_PARAM_PUSH_BREWFATHER ).c_str(), - server.arg( CFG_PARAM_PUSH_INFLUXDB2 ).c_str(), server.arg( CFG_PARAM_PUSH_INFLUXDB2_ORG ).c_str(), - server.arg( CFG_PARAM_PUSH_INFLUXDB2_BUCKET ).c_str(), server.arg( CFG_PARAM_PUSH_INFLUXDB2_AUTH ).c_str() + Log.verbose(F("WEB : http=%s,%s, bf=%s influx2=%s, %s, %s, %s." CR), server->arg( CFG_PARAM_PUSH_HTTP ).c_str(), + server->arg( CFG_PARAM_PUSH_HTTP2 ).c_str(), server->arg( CFG_PARAM_PUSH_BREWFATHER ).c_str(), + server->arg( CFG_PARAM_PUSH_INFLUXDB2 ).c_str(), server->arg( CFG_PARAM_PUSH_INFLUXDB2_ORG ).c_str(), + server->arg( CFG_PARAM_PUSH_INFLUXDB2_BUCKET ).c_str(), server->arg( CFG_PARAM_PUSH_INFLUXDB2_AUTH ).c_str() ); #endif - myConfig.setHttpPushUrl( server.arg( CFG_PARAM_PUSH_HTTP ).c_str() ); - myConfig.setHttpPushUrl2( server.arg( CFG_PARAM_PUSH_HTTP2 ).c_str() ); - myConfig.setBrewfatherPushUrl( server.arg( CFG_PARAM_PUSH_BREWFATHER ).c_str() ); - myConfig.setInfluxDb2PushUrl( server.arg( CFG_PARAM_PUSH_INFLUXDB2 ).c_str() ); - myConfig.setInfluxDb2PushOrg( server.arg( CFG_PARAM_PUSH_INFLUXDB2_ORG ).c_str() ); - myConfig.setInfluxDb2PushBucket( server.arg( CFG_PARAM_PUSH_INFLUXDB2_BUCKET ).c_str() ); - myConfig.setInfluxDb2PushToken( server.arg( CFG_PARAM_PUSH_INFLUXDB2_AUTH ).c_str() ); + myConfig.setHttpPushUrl( server->arg( CFG_PARAM_PUSH_HTTP ).c_str() ); + myConfig.setHttpPushUrl2( server->arg( CFG_PARAM_PUSH_HTTP2 ).c_str() ); + myConfig.setBrewfatherPushUrl( server->arg( CFG_PARAM_PUSH_BREWFATHER ).c_str() ); + myConfig.setInfluxDb2PushUrl( server->arg( CFG_PARAM_PUSH_INFLUXDB2 ).c_str() ); + myConfig.setInfluxDb2PushOrg( server->arg( CFG_PARAM_PUSH_INFLUXDB2_ORG ).c_str() ); + myConfig.setInfluxDb2PushBucket( server->arg( CFG_PARAM_PUSH_INFLUXDB2_BUCKET ).c_str() ); + myConfig.setInfluxDb2PushToken( server->arg( CFG_PARAM_PUSH_INFLUXDB2_AUTH ).c_str() ); myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseTwo", true); - server.send(302, "text/plain", "Push config updated" ); + server->sendHeader("Location", "/config.htm#collapseTwo", true); + server->send(302, "text/plain", "Push config updated" ); LOG_PERF_STOP("webserver-api-config-push"); } // // Update gravity settings. // -void webHandleConfigGravity() { +void WebServer::webHandleConfigGravity() { LOG_PERF_START("webserver-api-config-gravity"); - String id = server.arg( CFG_PARAM_ID ); + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/config/gravity." CR) ); #endif if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); + server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-gravity"); return; } #if LOG_LEVEL==6 - Log.verbose(F("WEB : formula=%s, temp-corr=%s." CR), server.arg( CFG_PARAM_GRAVITY_FORMULA ).c_str(), server.arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).c_str() ); + Log.verbose(F("WEB : formula=%s, temp-corr=%s." CR), server->arg( CFG_PARAM_GRAVITY_FORMULA ).c_str(), server->arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).c_str() ); #endif - myConfig.setGravityFormula( server.arg( CFG_PARAM_GRAVITY_FORMULA ).c_str() ); - myConfig.setGravityTempAdj( server.arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).equalsIgnoreCase( "on" ) ? true:false); + myConfig.setGravityFormula( server->arg( CFG_PARAM_GRAVITY_FORMULA ).c_str() ); + myConfig.setGravityTempAdj( server->arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).equalsIgnoreCase( "on" ) ? true:false); myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseThree", true); - server.send(302, "text/plain", "Gravity config updated" ); + server->sendHeader("Location", "/config.htm#collapseThree", true); + server->send(302, "text/plain", "Gravity config updated" ); LOG_PERF_STOP("webserver-api-config-gravity"); } // // Update hardware settings. // -void webHandleConfigHardware() { +void WebServer::webHandleConfigHardware() { LOG_PERF_START("webserver-api-config-hardware"); - String id = server.arg( CFG_PARAM_ID ); + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/config/hardware." CR) ); #endif if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); + server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-hardware"); return; } #if LOG_LEVEL==6 - Log.verbose(F("WEB : vf=%s, tempadj=%s, ota=%s." CR), server.arg( CFG_PARAM_VOLTAGEFACTOR ).c_str(), server.arg( CFG_PARAM_TEMP_ADJ ).c_str(), server.arg( CFG_PARAM_OTA ).c_str() ); + Log.verbose(F("WEB : vf=%s, tempadj=%s, ota=%s." CR), server->arg( CFG_PARAM_VOLTAGEFACTOR ).c_str(), server->arg( CFG_PARAM_TEMP_ADJ ).c_str(), server->arg( CFG_PARAM_OTA ).c_str() ); #endif - myConfig.setVoltageFactor( server.arg( CFG_PARAM_VOLTAGEFACTOR ).toFloat() ); - myConfig.setTempSensorAdj( server.arg( CFG_PARAM_TEMP_ADJ ).toFloat() ); - myConfig.setOtaURL( server.arg( CFG_PARAM_OTA ).c_str() ); + myConfig.setVoltageFactor( server->arg( CFG_PARAM_VOLTAGEFACTOR ).toFloat() ); + myConfig.setTempSensorAdj( server->arg( CFG_PARAM_TEMP_ADJ ).toFloat() ); + myConfig.setOtaURL( server->arg( CFG_PARAM_OTA ).c_str() ); myConfig.saveFile(); - server.sendHeader("Location", "/config.htm#collapseFour", true); - server.send(302, "text/plain", "Hardware config updated" ); + server->sendHeader("Location", "/config.htm#collapseFour", true); + server->send(302, "text/plain", "Hardware config updated" ); LOG_PERF_STOP("webserver-api-config-hardware"); } // // Callback from webServer when / has been accessed. // -void webHandleFormulaRead() { +void WebServer::webHandleFormulaRead() { LOG_PERF_START("webserver-api-formula-read"); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/formula/get." CR)); @@ -463,61 +443,61 @@ void webHandleFormulaRead() { #endif String out; serializeJson(doc, out); - server.send(200, "application/json", out.c_str() ); + server->send(200, "application/json", out.c_str() ); LOG_PERF_STOP("webserver-api-formula-read"); } // // Update hardware settings. // -void webHandleFormulaWrite() { +void WebServer::webHandleFormulaWrite() { LOG_PERF_START("webserver-api-formula-write"); - String id = server.arg( CFG_PARAM_ID ); + String id = server->arg( CFG_PARAM_ID ); #if LOG_LEVEL==6 Log.verbose(F("WEB : webServer callback for /api/formula/post." CR) ); #endif if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); - server.send(400, "text/plain", "Invalid ID."); + server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-formula-write"); return; } #if LOG_LEVEL==6 - Log.verbose(F("WEB : angles=%F,%F,%F,%F,%F." CR), server.arg( "a1" ).toFloat(), server.arg( "a2" ).toFloat(), server.arg( "a3" ).toFloat(), server.arg( "a4" ).toFloat(), server.arg( "a5" ).toFloat() ); - Log.verbose(F("WEB : gravity=%F,%F,%F,%F,%F." CR), server.arg( "g1" ).toFloat(), server.arg( "g2" ).toFloat(), server.arg( "g3" ).toFloat(), server.arg( "g4" ).toFloat(), server.arg( "g5" ).toFloat() ); + Log.verbose(F("WEB : angles=%F,%F,%F,%F,%F." CR), server->arg( "a1" ).toFloat(), server->arg( "a2" ).toFloat(), server->arg( "a3" ).toFloat(), server->arg( "a4" ).toFloat(), server->arg( "a5" ).toFloat() ); + Log.verbose(F("WEB : gravity=%F,%F,%F,%F,%F." CR), server->arg( "g1" ).toFloat(), server->arg( "g2" ).toFloat(), server->arg( "g3" ).toFloat(), server->arg( "g4" ).toFloat(), server->arg( "g5" ).toFloat() ); #endif RawFormulaData fd; - fd.a[0] = server.arg( "a1" ).toDouble(); - fd.a[1] = server.arg( "a2" ).toDouble(); - fd.a[2] = server.arg( "a3" ).toDouble(); - fd.a[3] = server.arg( "a4" ).toDouble(); - fd.a[4] = server.arg( "a5" ).toDouble(); - fd.g[0] = server.arg( "g1" ).toDouble(); - fd.g[1] = server.arg( "g2" ).toDouble(); - fd.g[2] = server.arg( "g3" ).toDouble(); - fd.g[3] = server.arg( "g4" ).toDouble(); - fd.g[4] = server.arg( "g5" ).toDouble(); + fd.a[0] = server->arg( "a1" ).toDouble(); + fd.a[1] = server->arg( "a2" ).toDouble(); + fd.a[2] = server->arg( "a3" ).toDouble(); + fd.a[3] = server->arg( "a4" ).toDouble(); + fd.a[4] = server->arg( "a5" ).toDouble(); + fd.g[0] = server->arg( "g1" ).toDouble(); + fd.g[1] = server->arg( "g2" ).toDouble(); + fd.g[2] = server->arg( "g3" ).toDouble(); + fd.g[3] = server->arg( "g4" ).toDouble(); + fd.g[4] = server->arg( "g5" ).toDouble(); myConfig.setFormulaData( fd ); int e; char buf[100]; - e = createFormula( fd, &buf[0], 4 ); + e = createFormula( fd, &buf[0], 2 ); if( e ) { - // If we fail with order=4 try with 3 - Log.warning(F("WEB : Failed to find formula with order 4." CR), e ); + // If we fail with order=2 try with 3 + Log.warning(F("WEB : Failed to find formula with order 3." CR), e ); e = createFormula( fd, &buf[0], 3 ); } if( e ) { - // If we fail with order=3 try with 2 - Log.warning(F("WEB : Failed to find formula with order 3." CR), e ); - e = createFormula( fd, &buf[0], 2 ); + // If we fail with order=3 try with 4 + Log.warning(F("WEB : Failed to find formula with order 4." CR), e ); + e = createFormula( fd, &buf[0], 4 ); } if( e ) { - // If we fail with order=2 then we mark it as failed + // If we fail with order=4 then we mark it as failed Log.error(F("WEB : Unable to find formula based on provided values err=%d." CR), e ); lastFormulaCreateError = e; } else { @@ -528,8 +508,8 @@ void webHandleFormulaWrite() { } myConfig.saveFile(); - server.sendHeader("Location", "/calibration.htm", true); - server.send(302, "text/plain", "Formula updated" ); + server->sendHeader("Location", "/calibration.htm", true); + server->send(302, "text/plain", "Formula updated" ); LOG_PERF_STOP("webserver-api-formula-write"); } // @@ -570,35 +550,34 @@ bool WebServer::checkHtmlFile( HtmlFile item ) { return LittleFS.exists( fn ); } +// +// Handler for page not found +// +void WebServer::webHandlePageNotFound() +{ + Log.error(F("WEB : URL not found %s received." CR), server->uri().c_str()); + server->send(404, "text/plain", F("URL not found") ); +} + // // Setup the Web Server callbacks and start it // bool WebServer::setupWebServer() { Log.notice(F("WEB : Configuring web server." CR)); + server = new ESP8266WebServer(); + MDNS.begin( myConfig.getMDNS() ); MDNS.addService("http", "tcp", 80); // Static content #if defined( EMBED_HTML ) - server.on("/",[]() { - server.send_P(200, "text/html", (const char*) gIndexHtmData, gIndexHtmSize ); - } ); - server.on("/index.htm",[]() { - server.send_P(200, "text/html", (const char*) gIndexHtmData, gIndexHtmSize ); - } ); - server.on("/device.htm",[]() { - server.send_P(200, "text/html", (const char*) gDeviceHtmData, gDeviceHtmSize ); - } ); - server.on("/config.htm",[]() { - server.send_P(200, "text/html", (const char*) gConfigHtmData, gConfigHtmSize ); - } ); - server.on("/calibration.htm",[]() { - server.send_P(200, "text/html", (const char*) gCalibrationHtmData, gCalibrationHtmSize ); - } ); - server.on("/about.htm",[]() { - server.send_P(200, "text/html", (const char*) gAboutHtmData, gAboutHtmSize ); - } ); + server->on("/", std::bind(&WebServer::webReturnIndexHtm, this) ); + server->on("/index.htm", std::bind(&WebServer::webReturnIndexHtm, this) ); + server->on("/device.htm", std::bind(&WebServer::webReturnDeviceHtm, this) ); + server->on("/config.htm", std::bind(&WebServer::webReturnConfigHtm, this) ); + server->on("/calibration.htm", std::bind(&WebServer::webReturnCalibrationHtm, this) ); + server->on("/about.htm", std::bind(&WebServer::webReturnAboutHtm, this) ); #else // Show files in the filessytem at startup @@ -614,50 +593,41 @@ bool WebServer::setupWebServer() { if( checkHtmlFile( HTML_INDEX ) && checkHtmlFile( HTML_DEVICE ) && checkHtmlFile( HTML_CONFIG ) && checkHtmlFile( HTML_ABOUT ) ) { Log.notice(F("WEB : All html files exist, starting in normal mode." CR)); - server.serveStatic("/", LittleFS, "/index.min.htm" ); - server.serveStatic("/index.htm", LittleFS, "/index.min.htm" ); - server.serveStatic("/device.htm", LittleFS, "/device.min.htm" ); - server.serveStatic("/config.htm", LittleFS, "/config.min.htm" ); - server.serveStatic("/about.htm", LittleFS, "/about.min.htm" ); - server.serveStatic("/calibration.htm", LittleFS, "/calibration.min.htm" ); + server->serveStatic("/", LittleFS, "/index.min.htm" ); + server->serveStatic("/index.htm", LittleFS, "/index.min.htm" ); + server->serveStatic("/device.htm", LittleFS, "/device.min.htm" ); + server->serveStatic("/config.htm", LittleFS, "/config.min.htm" ); + server->serveStatic("/about.htm", LittleFS, "/about.min.htm" ); + server->serveStatic("/calibration.htm", LittleFS, "/calibration.min.htm" ); // Also add the static upload view in case we we have issues that needs to be fixed. - server.on("/upload.htm",[]() { - server.send_P(200, "text/html", (const char*) gUploadHtmData, gUploadHtmSize ); - } ); + server->on("/upload.htm", std::bind(&WebServer::webReturnUploadHtm, this) ); } else { Log.error(F("WEB : Missing html files, starting with upload UI." CR)); - - server.on("/",[]() { - server.send_P(200, "text/html", (const char*) gUploadHtmData, gUploadHtmSize ); - } ); + server->on("/", std::bind(&WebServer::webReturnUploadHtm, this) ); } #endif // Dynamic content - server.on("/api/config", HTTP_GET, webHandleConfig); // Get config.json - server.on("/api/device", HTTP_GET, webHandleDevice); // Get device.json - server.on("/api/formula", HTTP_GET, webHandleFormulaRead); // Get formula.json (calibration page) - server.on("/api/formula", HTTP_POST, webHandleFormulaWrite); // Get formula.json (calibration page) - server.on("/api/calibrate", HTTP_POST, webHandleCalibrate); // Run calibration routine (param id) - server.on("/api/factory", HTTP_GET, webHandleFactoryReset); // Reset the device - server.on("/api/status", HTTP_GET, webHandleStatus); // Get the status.json - server.on("/api/clearwifi", HTTP_GET, webHandleClearWIFI); // Clear wifi settings - server.on("/api/upload", HTTP_GET, webHandleUpload); // Get upload.json + server->on("/api/config", HTTP_GET, std::bind(&WebServer::webHandleConfig, this) ); // Get config.json + server->on("/api/device", HTTP_GET, std::bind(&WebServer::webHandleDevice, this)); // Get device.json + server->on("/api/formula", HTTP_GET, std::bind(&WebServer::webHandleFormulaRead, this)); // Get formula.json (calibration page) + server->on("/api/formula", HTTP_POST, std::bind(&WebServer::webHandleFormulaWrite, this)); // Get formula.json (calibration page) + server->on("/api/calibrate", HTTP_POST, std::bind(&WebServer::webHandleCalibrate, this)); // Run calibration routine (param id) + server->on("/api/factory", HTTP_GET, std::bind(&WebServer::webHandleFactoryReset, this)); // Reset the device + server->on("/api/status", HTTP_GET, std::bind(&WebServer::webHandleStatus, this)); // Get the status.json + server->on("/api/clearwifi", HTTP_GET, std::bind(&WebServer::webHandleClearWIFI, this)); // Clear wifi settings + server->on("/api/upload", HTTP_GET, std::bind(&WebServer::webHandleUpload, this)); // Get upload.json - server.on("/api/upload", HTTP_POST, [](){ server.send(200); }, webHandleUploadFile); // File upload data - server.on("/api/status/sleepmode", HTTP_POST, webHandleStatusSleepmode); // Change sleep mode - server.on("/api/config/device", HTTP_POST, webHandleConfigDevice); // Change device settings - server.on("/api/config/push", HTTP_POST, webHandleConfigPush); // Change push settings - server.on("/api/config/gravity", HTTP_POST, webHandleConfigGravity); // Change gravity settings - server.on("/api/config/hardware", HTTP_POST, webHandleConfigHardware); // Change hardware settings + server->on("/api/upload", HTTP_POST, std::bind(&WebServer::webReturnOK, this), std::bind(&WebServer::webHandleUploadFile, this)); // File upload data + server->on("/api/status/sleepmode", HTTP_POST, std::bind(&WebServer::webHandleStatusSleepmode, this)); // Change sleep mode + server->on("/api/config/device", HTTP_POST, std::bind(&WebServer::webHandleConfigDevice, this)); // Change device settings + server->on("/api/config/push", HTTP_POST, std::bind(&WebServer::webHandleConfigPush, this)); // Change push settings + server->on("/api/config/gravity", HTTP_POST, std::bind(&WebServer::webHandleConfigGravity, this)); // Change gravity settings + server->on("/api/config/hardware", HTTP_POST, std::bind(&WebServer::webHandleConfigHardware, this)); // Change hardware settings - server.onNotFound( []() { - Log.error(F("WEB : URL not found %s received." CR), server.uri().c_str()); - server.send(404, "text/plain", F("URL not found") ); - } ); - - server.begin(); + server->onNotFound( std::bind(&WebServer::webHandlePageNotFound, this)); + server->begin(); Log.notice(F("WEB : Web server started." CR)); return true; } @@ -667,7 +637,7 @@ bool WebServer::setupWebServer() { // void WebServer::loop() { // Dont put serial debug output in this call - server.handleClient(); + server->handleClient(); MDNS.update(); } diff --git a/src/webserver.h b/src/webserver.h index 673e859..b02d753 100644 --- a/src/webserver.h +++ b/src/webserver.h @@ -25,9 +25,58 @@ SOFTWARE. #define _WEBSERVER_H // Include +#include +#include +#include +#include + +// Binary resouces +#if defined( EMBED_HTML ) +INCBIN_EXTERN(IndexHtm); +INCBIN_EXTERN(DeviceHtm); +INCBIN_EXTERN(ConfigHtm); +INCBIN_EXTERN(CalibrationHtm); +INCBIN_EXTERN(AboutHtm); +#else +INCBIN_EXTERN(UploadHtm); +#endif // classes class WebServer { + private: + ESP8266WebServer *server = 0; + File uploadFile; + int lastFormulaCreateError = 0; + + void webHandleConfig(); + void webHandleFormulaWrite(); + void webHandleFormulaRead(); + void webHandleConfigHardware(); + void webHandleConfigGravity(); + void webHandleConfigPush(); + void webHandleConfigDevice(); + void webHandleStatusSleepmode(); + void webHandleClearWIFI(); + void webHandleStatus(); + void webHandleFactoryReset(); + void webHandleCalibrate(); + void webHandleUploadFile(); + void webHandleUpload(); + void webHandleDevice(); + void webHandlePageNotFound(); + + // Inline functions. + void webReturnOK() { server->send(200); } +#if defined( EMBED_HTML ) + void webReturnIndexHtm() { server->send_P(200, "text/html", (const char*) gIndexHtmData, gIndexHtmSize ); } + void webReturnDeviceHtm() { server->send_P(200, "text/html", (const char*) gDeviceHtmData, gDeviceHtmSize ); } + void webReturnConfigHtm() { server->send_P(200, "text/html", (const char*) gConfigHtmData, gConfigHtmSize ); } + void webReturnCalibrationHtm() { server->send_P(200, "text/html", (const char*) gCalibrationHtmData, gCalibrationHtmSize ); } + void webReturnAboutHtm() { server->send_P(200, "text/html", (const char*) gAboutHtmData, gAboutHtmSize ); } +#else + void webReturnUploadHtm() { server->send_P(200, "text/html", (const char*) gUploadHtmData, gUploadHtmSize ); } +#endif + public: enum HtmlFile { HTML_INDEX = 0, @@ -37,9 +86,9 @@ class WebServer { HTML_CALIBRATION = 4 }; - bool setupWebServer(); - void loop(); - bool checkHtmlFile( HtmlFile item ); + bool setupWebServer(); + void loop(); + bool checkHtmlFile( HtmlFile item ); const char* getHtmlFileName( HtmlFile item ); }; diff --git a/src/wifi.cpp b/src/wifi.cpp index edea20a..3d7b022 100644 --- a/src/wifi.cpp +++ b/src/wifi.cpp @@ -45,49 +45,63 @@ const char* userPWD = USER_SSID_PWD; // bool Wifi::connect( bool showPortal ) { + WiFi.persistent( true ); WiFi.mode(WIFI_STA); - WiFiManager myWifiManager; - if( myWifiManager.getWiFiSSID().length()==0 ) { + if( !strlen( myConfig.getWifiSSID() ) ) { Log.info(F("WIFI: No SSID seams to be stored, forcing portal to start." CR)); showPortal = true; + } else { + Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), myConfig.getWifiPass() ); } -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Connecting to WIFI via connection manager (portal=%s)." CR), showPortal?"true":"false"); - myWifiManager.setDebugOutput(true); -#endif - if( strlen(userSSID)==0 && showPortal ) { +#if LOG_LEVEL==6 + Log.verbose(F("WIFI: Connecting to WIFI via connection manager (portal=%s)." CR), showPortal?"true":"false"); +#endif + WiFiManager myWifiManager; Log.notice(F("WIFI: Starting wifi portal." CR)); + myWifiManager.setDebugOutput(true); myWifiManager.setClass("invert"); myWifiManager.setConfigPortalTimeout( 120 ); // Keep it open for 120 seconds - myWifiManager.startConfigPortal( WIFI_DEFAULT_SSID, WIFI_DEFAULT_PWD ); + bool f = myWifiManager.startConfigPortal( WIFI_DEFAULT_SSID, WIFI_DEFAULT_PWD ); + if( f ) { + Log.notice(F("WIFI: Success got values from WIFI portal=%s,%s." CR), myWifiManager.getWiFiSSID(), myWifiManager.getWiFiPass() ); + myConfig.setWifiSSID( myWifiManager.getWiFiSSID() ); + myConfig.setWifiPass( myWifiManager.getWiFiPass() ); + myConfig.saveFile(); + } else { + Log.notice(F("WIFI: Failure from WIFI portal, rebooting." CR) ); + delay(200); + ESP.reset(); + } } // Connect to wifi int i = 0; - Log.notice(F("WIFI: Connecting to WIFI." CR)); + Log.notice(F("WIFI: Connecting to WIFI, mode=%d,persistent=%d,fhy=%d ." CR), WiFi.getMode(), WiFi.getPersistent(), WiFi.getPhyMode() ); + WiFi.mode(WIFI_STA); if( strlen(userSSID) ) { Log.notice(F("WIFI: Connecting to wifi using predefined settings %s." CR), userSSID); WiFi.begin( userSSID, userPWD ); } else { - WiFi.begin(); -#if LOG_LEVEL==6 - Log.verbose(F("WIFI: Using SSID=%s, KEY=%s." CR), WiFi.SSID().c_str(), WiFi.psk().c_str() ); -#endif + Log.notice(F("WIFI: Connecting to wifi using stored settings. %s." CR), myConfig.getWifiSSID()); + WiFi.begin(myConfig.getWifiSSID(), myConfig.getWifiPass()); } + + WiFi.printDiag(Serial); while( WiFi.status() != WL_CONNECTED ) { + yield(); delay(100); Serial.print( "." ); - if( i++ > 200 ) { // Try for 20 seconds. - Log.error(F("WIFI: Failed to connect to wifi %d, aborting." CR), WiFi.status() ); - WiFi.disconnect(); + /*if( i++ > 200 ) { // Try for 20 seconds. + Log.error(F("WIFI: Failed to connect to wifi %d, aborting %s." CR), WiFi.status(), getIPAddress().c_str() ); + //WiFi.disconnect(); return connectedFlag; // Return to main that we have failed to connect. - } + }*/ } Serial.print( CR ); connectedFlag = true; From 088a37eaf39ac9fb5507afc78cc0985a3f049fe3 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Tue, 4 Jan 2022 21:13:34 +0100 Subject: [PATCH 08/27] Reduced logging messages --- platformio.ini | 2 +- src/config.cpp | 36 +++++------ src/gyro.cpp | 59 ++++++++++-------- src/main.cpp | 34 ++++++----- src/pushtarget.cpp | 31 ++++++---- src/tempsensor.cpp | 27 ++++----- src/webserver.cpp | 147 +++++++++++++++++++++++---------------------- src/wifi.cpp | 17 +++--- 8 files changed, 189 insertions(+), 164 deletions(-) diff --git a/platformio.ini b/platformio.ini index 59e5cea..17f3e1d 100644 --- a/platformio.ini +++ b/platformio.ini @@ -33,7 +33,7 @@ build_flags = #-D SKIP_SLEEPMODE #-D DOUBLERESETDETECTOR_DEBUG true -D USE_LITTLEFS=true - #-D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) + -D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) -D USER_SSID=\""\"" # =\""myssid\"" -D USER_SSID_PWD=\""\"" # =\""mypwd\"" -D CFG_APPVER="\"0.4.9\"" diff --git a/src/config.cpp b/src/config.cpp index e5f5f4f..d36dbdb 100644 --- a/src/config.cpp +++ b/src/config.cpp @@ -25,6 +25,8 @@ SOFTWARE. #include "helper.h" #include +#define CFG_DISABLE_LOGGING + Config myConfig; // @@ -38,9 +40,9 @@ Config::Config() { sprintf(&buf[0], "" WIFI_MDNS "%s", getID() ); mDNS = String( &buf[0] ); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( CFG_DISABLE_LOGGING ) Log.verbose(F("CFG : Created config for %s (%s)." CR), id.c_str(), mDNS.c_str() ); -#endif + #endif setTempFormat('C'); setGravityFormat('G'); @@ -105,15 +107,15 @@ void Config::createJson(DynamicJsonDocument& doc) { // bool Config::saveFile() { if( !saveNeeded ) { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( CFG_DISABLE_LOGGING ) Log.verbose(F("CFG : Skipping save, not needed." CR)); -#endif + #endif return true; } -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( CFG_DISABLE_LOGGING ) Log.verbose(F("CFG : Saving configuration to file." CR)); -#endif + #endif File configFile = LittleFS.open(CFG_FILENAME, "w"); @@ -124,10 +126,12 @@ bool Config::saveFile() { DynamicJsonDocument doc(CFG_JSON_BUFSIZE); createJson( doc ); -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( CFG_DISABLE_LOGGING ) serializeJson(doc, Serial); Serial.print( CR ); -#endif + #endif + serializeJson(doc, configFile); configFile.flush(); configFile.close(); @@ -142,9 +146,9 @@ bool Config::saveFile() { // Load config file from disk // bool Config::loadFile() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( CFG_DISABLE_LOGGING ) Log.verbose(F("CFG : Loading configuration from file." CR)); -#endif + #endif if (!LittleFS.exists(CFG_FILENAME)) { Log.error(F("CFG : Configuration file does not exist " CFG_FILENAME "." CR)); @@ -264,9 +268,7 @@ bool Config::loadFile() { // Check if file system can be mounted, if not we format it. // void Config::formatFileSystem() { -#if LOG_LEVEL==6 - Log.verbose(F("CFG : Formating filesystem." CR)); -#endif + Log.notice(F("CFG : Formating filesystem." CR)); LittleFS.format(); } @@ -274,9 +276,9 @@ void Config::formatFileSystem() { // Check if file system can be mounted, if not we format it. // void Config::checkFileSystem() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( CFG_DISABLE_LOGGING ) Log.verbose(F("CFG : Checking if filesystem is valid." CR)); -#endif + #endif if (LittleFS.begin()) { Log.notice(F("CFG : Filesystem mounted." CR)); @@ -290,7 +292,7 @@ void Config::checkFileSystem() { // Dump the configuration to the serial port // void Config::debug() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( CFG_DISABLE_LOGGING ) Log.verbose(F("CFG : Dumping configration " CFG_FILENAME "." CR)); Log.verbose(F("CFG : ID; '%s'." CR), getID()); Log.verbose(F("CFG : WIFI; '%s', '%s'." CR), getWifiSSID(), getWifiPass() ); @@ -310,7 +312,7 @@ void Config::debug() { getInfluxDb2PushBucket(), getInfluxDb2PushToken() ); // Log.verbose(F("CFG : Accel offset\t%d\t%d\t%d" CR), gyroCalibration.ax, gyroCalibration.ay, gyroCalibration.az ); // Log.verbose(F("CFG : Gyro offset \t%d\t%d\t%d" CR), gyroCalibration.gx, gyroCalibration.gy, gyroCalibration.gz ); -#endif + #endif } // EOF \ No newline at end of file diff --git a/src/gyro.cpp b/src/gyro.cpp index b96bc0a..9f2c331 100644 --- a/src/gyro.cpp +++ b/src/gyro.cpp @@ -24,6 +24,8 @@ SOFTWARE. #include "gyro.h" #include "helper.h" +#define GYRO_DISABLE_LOGGING + GyroSensor myGyro; #define GYRO_USE_INTERRUPT // Use interrupt to detect when new sample is ready @@ -38,9 +40,9 @@ GyroSensor myGyro; // Initialize the sensor chip. // bool GyroSensor::setup() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Setting up hardware." CR)); -#endif + #endif Wire.begin(D3, D4); Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties accelgyro.initialize(); @@ -50,7 +52,9 @@ bool GyroSensor::setup() { sensorConnected = false; } else { + #if !defined( GYRO_DISABLE_LOGGING ) Log.notice(F("GYRO: Connected to MPU6050 (gyro)." CR)); + #endif sensorConnected = true; // Configure the sensor @@ -76,7 +80,6 @@ bool GyroSensor::setup() { calibrationOffset = myConfig.getGyroCalibration(); applyCalibration(); } - return sensorConnected; } @@ -84,9 +87,9 @@ bool GyroSensor::setup() { // Set sensor in sleep mode to conserve battery // void GyroSensor::enterSleep() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Setting up hardware." CR)); -#endif + #endif accelgyro.setSleepEnabled( true ); } @@ -96,9 +99,9 @@ void GyroSensor::enterSleep() { void GyroSensor::readSensor(RawGyroData &raw, const int noIterations, const int delayTime) { RawGyroDataL average = { 0, 0, 0, 0, 0, 0 }; -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Reading sensor with %d iterations %d us delay." CR), noIterations, delayTime ); -#endif + #endif // Set some initial values #if defined( GYRO_SHOW_MINMAX ) @@ -162,7 +165,7 @@ void GyroSensor::readSensor(RawGyroData &raw, const int noIterations, const int raw.gz = average.gz/noIterations; raw.temp = average.temp/noIterations; -#if LOG_LEVEL==6 +#if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) #if defined( GYRO_SHOW_MINMAX ) Log.verbose(F("GYRO: Min \t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), min.ax, min.ay, min.az, min.gx, min.gy, min.gz, min.temp ); Log.verbose(F("GYRO: Max \t%d\t%d\t%d\t%d\t%d\t%d\t%d." CR), max.ax, max.ay, max.az, max.gx, max.gy, max.gz, max.temp ); @@ -177,9 +180,9 @@ void GyroSensor::readSensor(RawGyroData &raw, const int noIterations, const int // Calcuate the angles (tilt) // float GyroSensor::calculateAngle(RawGyroData &raw) { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Calculating the angle." CR) ); -#endif + #endif // Smooth out the readings to we can have a more stable angle/tilt. // ------------------------------------------------------------------------------------------------------------ @@ -195,9 +198,9 @@ float GyroSensor::calculateAngle(RawGyroData &raw) { //double v = (acos( raw.az / sqrt( raw.ax*raw.ax + raw.ay*raw.ay + raw.az*raw.az ) ) *180.0 / PI); //Log.notice(F("GYRO: angle = %F." CR), v ); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: angle = %F." CR), v ); -#endif + #endif return v; } @@ -205,9 +208,9 @@ float GyroSensor::calculateAngle(RawGyroData &raw) { // Check if the values are high that indicate that the sensor is moving. // bool GyroSensor::isSensorMoving(RawGyroData &raw) { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Checking for sensor movement." CR) ); -#endif + #endif int x = abs(raw.gx), y = abs(raw.gy), z = abs(raw.gz); @@ -223,9 +226,10 @@ bool GyroSensor::isSensorMoving(RawGyroData &raw) { // Read the tilt angle from the gyro. // bool GyroSensor::read() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Getting new gyro position." CR) ); -#endif + #endif + if( !sensorConnected ) return false; @@ -233,12 +237,16 @@ bool GyroSensor::read() { // If the sensor is unstable we return false to signal we dont have valid value if( isSensorMoving(lastGyroData) ) { + #if !defined( GYRO_DISABLE_LOGGING ) Log.notice(F("GYRO: Sensor is moving." CR) ); + #endif validValue = false; } else { validValue = true; angle = calculateAngle( lastGyroData ); - //Log.notice(F("GYRO: Sensor values %d,%d,%d\t%F" CR), raw.ax, raw.ay, raw.az, angle ); + #if !defined( GYRO_DISABLE_LOGGING ) + Log.notice(F("GYRO: Sensor values %d,%d,%d\t%F" CR), raw.ax, raw.ay, raw.az, angle ); + #endif } sensorTemp = ((float) lastGyroData.temp) / 340 + 36.53; @@ -255,19 +263,20 @@ bool GyroSensor::read() { // Dump the stored calibration values. // void GyroSensor::dumpCalibration() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Accel offset\t%d\t%d\t%d" CR), calibrationOffset.ax, calibrationOffset.ay, calibrationOffset.az ); Log.verbose(F("GYRO: Gyro offset \t%d\t%d\t%d" CR), calibrationOffset.gx, calibrationOffset.gy, calibrationOffset.gz ); -#endif + #endif } // // Update the sensor with out calculated offsets. // void GyroSensor::applyCalibration() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Applying calibration offsets to sensor." CR) ); -#endif + #endif + if( ( calibrationOffset.ax + calibrationOffset.ay + calibrationOffset.az + calibrationOffset.gx + calibrationOffset.gy + calibrationOffset.gz ) == 0 ) { Log.error(F("GYRO: No valid calibraion values exist, aborting." CR) ); return; @@ -285,9 +294,9 @@ void GyroSensor::applyCalibration() { // Calculate the offsets for calibration. // void GyroSensor::calibrateSensor() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Calibrating sensor" CR) ); -#endif + #endif //accelgyro.PrintActiveOffsets(); //Serial.print( CR ); @@ -314,7 +323,7 @@ void GyroSensor::calibrateSensor() { // Calibrate the device. // void GyroSensor::debug() { -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( GYRO_DISABLE_LOGGING ) Log.verbose(F("GYRO: Debug - Clock src %d." CR), accelgyro.getClockSource() ); Log.verbose(F("GYRO: Debug - Device ID %d." CR), accelgyro.getDeviceID() ); Log.verbose(F("GYRO: Debug - DHPF Mode %d." CR), accelgyro.getDHPFMode() ); @@ -355,7 +364,7 @@ void GyroSensor::debug() { Log.verbose(F("GYRO: Debug - Gyr OffX %d\t%d." CR), accelgyro.getXGyroOffset(), calibrationOffset.gx ); Log.verbose(F("GYRO: Debug - Gyr OffY %d\t%d." CR), accelgyro.getYGyroOffset(), calibrationOffset.gy ); Log.verbose(F("GYRO: Debug - Gyr OffZ %d\t%d." CR), accelgyro.getZGyroOffset(), calibrationOffset.gz ); -#endif + #endif } // EOF \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp index c8d08be..14c2c1e 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -31,6 +31,8 @@ SOFTWARE. #include "pushtarget.h" #include +#define MAIN_DISABLE_LOGGING + // Settings for double reset detector. #define ESP8266_DRD_USE_RTC true #define DRD_TIMEOUT 2 @@ -83,9 +85,9 @@ void checkSleepMode( float angle, float volt ) { // sleep mode active when flat //sleepModeActive = ( angle<85 && angle>5 ) ? true : false; -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( MAIN_DISABLE_LOGGING ) Log.verbose(F("MAIN: Deep sleep mode %s (angle=%F volt=%F)." CR), sleepModeActive ? "true":"false", angle, volt ); -#endif + #endif } // @@ -98,9 +100,9 @@ void setup() { drd = new DoubleResetDetector(DRD_TIMEOUT, DRD_ADDRESS); bool dt = drd->detectDoubleReset(); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( MAIN_DISABLE_LOGGING ) Log.verbose(F("Main: Reset reason %s." CR), ESP.getResetInfo().c_str() ); -#endif + #endif // Main startup Log.notice(F("Main: Started setup for %s." CR), String( ESP.getChipId(), HEX).c_str() ); printBuildOptions(); @@ -176,9 +178,11 @@ void loop() { float volt = myBatteryVoltage.getVoltage(); //float sensorTemp = 0; loopCounter++; -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( MAIN_DISABLE_LOGGING ) Log.verbose(F("Main: Entering main loop." CR) ); -#endif + #endif + // Process the sensor values and push data to targets. // ------------------------------------------------------------------------------------------------ // If we dont get any readings we just skip this and try again the next interval. @@ -201,9 +205,10 @@ void loop() { float corrGravity = gravityTemperatureCorrection( gravity, temp, myConfig.getTempFormat() ); //LOG_PERF_STOP("loop-gravity-corr"); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( MAIN_DISABLE_LOGGING ) Log.verbose(F("Main: Sensor values gyro angle=%F, temp=%F, gravity=%F, corr=%F." CR), angle, temp, gravity, corrGravity ); -#endif + #endif + // Limit the printout when sleep mode is not active. if( loopCounter%10 == 0 || sleepModeActive ) { Log.notice(F("Main: angle=%F, temp=%F, gravity=%F, corrGravity=%F, batt=%F." CR), angle, temp, gravity, corrGravity ,volt ); @@ -220,9 +225,10 @@ void loop() { Log.error(F("Main: No gyro value." CR) ); } -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( MAIN_DISABLE_LOGGING ) Log.verbose(F("Main: Sleep mode not active." CR) ); -#endif + #endif + int sleepInterval = myConfig.getSleepInterval(); // If we didnt get a wifi connection, we enter sleep for a short time to conserve battery. @@ -272,13 +278,11 @@ void loop() { //LOG_PERF_STOP("loop-batt-read"); loopMillis = millis(); -//#if LOG_LEVEL==6 - Log.verbose(F("Main: Heap %d kb FreeSketch %d kb." CR), ESP.getFreeHeap()/1024, ESP.getFreeSketchSpace()/1024 ); - Log.verbose(F("Main: HeapFrag %d %%." CR), ESP.getHeapFragmentation() ); -//#endif + //#if LOG_LEVEL==6 && !defined( MAIN_DISABLE_LOGGING ) + Log.verbose(F("Main: Heap %d kb FreeSketch %d kb HeapFrag %d %%." CR), ESP.getFreeHeap()/1024, ESP.getFreeSketchSpace()/1024, ESP.getHeapFragmentation() ); + //#endif } - //if( myWifi.isConnected() ) myWebServer.loop(); } diff --git a/src/pushtarget.cpp b/src/pushtarget.cpp index 9dcc709..0495d5c 100644 --- a/src/pushtarget.cpp +++ b/src/pushtarget.cpp @@ -25,6 +25,8 @@ SOFTWARE. #include "config.h" #include "gyro.h" // For testing the tempsensor in the gyro +#define PUSH_DISABLE_LOGGING + PushTarget myPushTarget; // @@ -35,15 +37,16 @@ void PushTarget::send(float angle, float gravity, float corrGravity, float temp, unsigned long interval = myConfig.getSleepInterval()*1000; if( ( timePassed < interval ) && !force) { -#if LOG_LEVEL==6 - Log.verbose(F("PUSH: Timer has not expired %l vs %l." CR), timePassed, interval ); -#endif + #if LOG_LEVEL==6 && !defined( PUSH_DISABLE_LOGGING ) + Log.verbose(F("PUSH: Timer has not expired %l vs %l." CR), timePassed, interval ); + #endif return; } -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( PUSH_DISABLE_LOGGING ) Log.verbose(F("PUSH: Sending data." CR) ); -#endif + #endif + ms = millis(); if( myConfig.isBrewfatherActive() ) { @@ -75,7 +78,9 @@ void PushTarget::send(float angle, float gravity, float corrGravity, float temp, // Send to influx db v2 // void PushTarget::sendInfluxDb2(float angle, float gravity, float corrGravity, float temp, float runTime) { + #if !defined( PUSH_DISABLE_LOGGING ) Log.notice(F("PUSH: Sending values to influxdb2 angle=%F, gravity=%F, temp=%F." CR), angle, gravity, temp ); + #endif WiFiClient client; HTTPClient http; @@ -94,10 +99,10 @@ void PushTarget::sendInfluxDb2(float angle, float gravity, float corrGravity, fl myConfig.isGravityTempAdj() ? corrGravity : gravity, corrGravity, angle, temp, myBatteryVoltage.getVoltage(), WiFi.RSSI(), myGyro.getSensorTempC() ); // For comparing gyro tempsensor vs DSB1820 -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( PUSH_DISABLE_LOGGING ) Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); Log.verbose(F("PUSH: data %s." CR), &buf[0] ); -#endif + #endif // Send HTTP POST request String auth = "Token " + String( myConfig.getInfluxDb2PushToken() ); @@ -117,7 +122,9 @@ void PushTarget::sendInfluxDb2(float angle, float gravity, float corrGravity, fl // Send data to brewfather // void PushTarget::sendBrewfather(float angle, float gravity, float corrGravity, float temp ) { + #if !defined( PUSH_DISABLE_LOGGING ) Log.notice(F("PUSH: Sending values to brewfather angle=%F, gravity=%F, temp=%F." CR), angle, gravity, temp ); + #endif DynamicJsonDocument doc(300); // @@ -154,10 +161,10 @@ void PushTarget::sendBrewfather(float angle, float gravity, float corrGravity, f http.begin( client, serverPath); String json; serializeJson(doc, json); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( PUSH_DISABLE_LOGGING ) Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); Log.verbose(F("PUSH: json %s." CR), json.c_str()); -#endif + #endif // Send HTTP POST request http.addHeader(F("Content-Type"), F("application/json") ); @@ -176,7 +183,9 @@ void PushTarget::sendBrewfather(float angle, float gravity, float corrGravity, f // Send data to http target // void PushTarget::sendHttp( String serverPath, float angle, float gravity, float corrGravity, float temp, float runTime ) { + #if !defined( PUSH_DISABLE_LOGGING ) Log.notice(F("PUSH: Sending values to http angle=%F, gravity=%F, temp=%F." CR), angle, gravity, temp ); + #endif DynamicJsonDocument doc(256); @@ -205,10 +214,10 @@ void PushTarget::sendHttp( String serverPath, float angle, float gravity, float http.begin( client, serverPath); String json; serializeJson(doc, json); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( PUSH_DISABLE_LOGGING ) Log.verbose(F("PUSH: url %s." CR), serverPath.c_str()); Log.verbose(F("PUSH: json %s." CR), json.c_str()); -#endif + #endif // Send HTTP POST request http.addHeader(F("Content-Type"), F("application/json") ); diff --git a/src/tempsensor.cpp b/src/tempsensor.cpp index 17e18e5..10f07aa 100644 --- a/src/tempsensor.cpp +++ b/src/tempsensor.cpp @@ -29,6 +29,8 @@ SOFTWARE. #include #include +#define TSEN_DISABLE_LOGGING + // // Conversion between C and F // @@ -57,19 +59,15 @@ void TempSensor::setup() { #if defined( USE_GYRO_TEMP ) Log.notice(F("TSEN: Using temperature from gyro." CR)); #else - // This code is used to read the DS18 temp sensor - /*if( !mySensors.getDS18Count() ) { - Log.error(F("TSEN: No temperature sensors found." CR)); - return; - }*/ - -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( TSEN_DISABLE_LOGGING ) Log.verbose(F("TSEN: Looking for temp sensors." CR)); -#endif + #endif mySensors.begin(); if( mySensors.getDS18Count() ) { + #if !defined( TSEN_DISABLE_LOGGING ) Log.notice(F("TSEN: Found %d temperature sensor(s)." CR), mySensors.getDS18Count()); + #endif mySensors.setResolution(TEMPERATURE_PRECISION); } #endif @@ -85,9 +83,9 @@ void TempSensor::setup() { tempSensorAdjC = t * 0.556; // Convert the adjustent value to F } -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( TSEN_DISABLE_LOGGING ) Log.verbose(F("TSEN: Adjustment values for temp sensor %F C, %F F." CR), tempSensorAdjC, tempSensorAdjF ); -#endif + #endif } // @@ -105,9 +103,9 @@ float TempSensor::getValue() { //LOG_PERF_STOP("temp-get"); hasSensor = true; return c; -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( TSEN_DISABLE_LOGGING ) Log.verbose(F("TSEN: Reciving temp value for gyro sensor %F C." CR), c); -#endif + #endif #else // If we dont have sensors just return 0 if( !mySensors.getDS18Count() ) { @@ -127,12 +125,11 @@ float TempSensor::getValue() { c = mySensors.getTempCByIndex(0); //LOG_PERF_STOP("temp-get"); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( TSEN_DISABLE_LOGGING ) Log.verbose(F("TSEN: Reciving temp value for sensor %F C." CR), c); -#endif + #endif hasSensor = true; } - return c; #endif } diff --git a/src/webserver.cpp b/src/webserver.cpp index 96fd8e5..00db470 100644 --- a/src/webserver.cpp +++ b/src/webserver.cpp @@ -30,6 +30,8 @@ SOFTWARE. #include #include +#define WEB_DISABLE_LOGGING + WebServer myWebServer; // My wrapper class fr webserver functions extern bool sleepModeActive; extern bool sleepModeAlwaysSkip; @@ -39,9 +41,10 @@ extern bool sleepModeAlwaysSkip; // void WebServer::webHandleDevice() { LOG_PERF_START("webserver-api-device"); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : webServer callback for /api/config." CR)); -#endif + #endif + DynamicJsonDocument doc(100); doc[ CFG_PARAM_ID ] = myConfig.getID(); doc[ CFG_PARAM_APP_NAME ] = CFG_APPNAME; @@ -62,9 +65,8 @@ void WebServer::webHandleDevice() { // void WebServer::webHandleConfig() { LOG_PERF_START("webserver-api-config"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config." CR)); -#endif + Log.notice(F("WEB : webServer callback for /api/config." CR)); + DynamicJsonDocument doc(CFG_JSON_BUFSIZE); myConfig.createJson( doc ); @@ -79,10 +81,11 @@ void WebServer::webHandleConfig() { doc[ CFG_PARAM_GRAVITY ] = reduceFloatPrecision( gravity, 4); doc[ CFG_PARAM_BATTERY ] = reduceFloatPrecision( myBatteryVoltage.getVoltage()); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) serializeJson(doc, Serial); Serial.print( CR ); -#endif + #endif + String out; serializeJson(doc, out); server->send(200, "application/json", out.c_str() ); @@ -94,9 +97,6 @@ void WebServer::webHandleConfig() { // void WebServer::webHandleUpload() { LOG_PERF_START("webserver-api-upload"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/upload." CR)); -#endif Log.notice(F("WEB : webServer callback for /api/upload." CR)); DynamicJsonDocument doc(100); @@ -106,10 +106,11 @@ void WebServer::webHandleUpload() { doc[ "calibration" ] = myWebServer.checkHtmlFile( WebServer::HTML_CALIBRATION ); doc[ "about" ] = myWebServer.checkHtmlFile( WebServer::HTML_ABOUT ); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) serializeJson(doc, Serial); Serial.print( CR ); -#endif + #endif + String out; serializeJson(doc, out); server->send(200, "application/json", out.c_str() ); @@ -121,9 +122,7 @@ void WebServer::webHandleUpload() { // void WebServer::webHandleUploadFile() { LOG_PERF_START("webserver-api-upload-file"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/upload/file." CR)); -#endif + Log.notice(F("WEB : webServer callback for /api/upload/file." CR)); HTTPUpload& upload = server->upload(); String f = upload.filename; bool validFilename = false; @@ -133,7 +132,9 @@ void WebServer::webHandleUploadFile() { validFilename = true; } - Log.notice(F("WEB : webServer callback for /api/upload, receiving file %s, valid=%s." CR), f.c_str(), validFilename?"yes":"no"); + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) + Log.debug(F("WEB : webServer callback for /api/upload, receiving file %s, valid=%s." CR), f.c_str(), validFilename?"yes":"no"); + #endif if(upload.status == UPLOAD_FILE_START) { Log.notice(F("WEB : Start upload." CR) ); @@ -163,9 +164,8 @@ void WebServer::webHandleUploadFile() { void WebServer::webHandleCalibrate() { LOG_PERF_START("webserver-api-calibrate"); String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/calibrate." CR)); -#endif + Log.notice(F("WEB : webServer callback for /api/calibrate." CR)); + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); server->send(400, "text/plain", "Invalid ID."); @@ -182,9 +182,8 @@ void WebServer::webHandleCalibrate() { // void WebServer::webHandleFactoryReset() { String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/factory." CR)); -#endif + Log.notice(F("WEB : webServer callback for /api/factory." CR)); + if( !id.compareTo( myConfig.getID() ) ) { server->send(200, "text/plain", "Doing reset..."); LittleFS.remove(CFG_FILENAME); @@ -201,9 +200,8 @@ void WebServer::webHandleFactoryReset() { // void WebServer::webHandleStatus() { LOG_PERF_START("webserver-api-status"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/status." CR)); -#endif + Log.notice(F("WEB : webServer callback for /api/status." CR)); + DynamicJsonDocument doc(256); double angle = myGyro.getAngle(); @@ -222,10 +220,12 @@ void WebServer::webHandleStatus() { doc[ CFG_PARAM_TEMPFORMAT ] = String( myConfig.getTempFormat() ); doc[ CFG_PARAM_SLEEP_MODE ] = sleepModeAlwaysSkip; doc[ CFG_PARAM_RSSI ] = WiFi.RSSI(); -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) serializeJson(doc, Serial); Serial.print( CR ); -#endif + #endif + String out; serializeJson(doc, out); server->send(200, "application/json", out.c_str() ); @@ -237,9 +237,8 @@ void WebServer::webHandleStatus() { // void WebServer::webHandleClearWIFI() { String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/clearwifi." CR)); -#endif + Log.notice(F("WEB : webServer callback for /api/clearwifi." CR)); + if( !id.compareTo( myConfig.getID() ) ) { server->send(200, "text/plain", "Clearing WIFI credentials and doing reset..."); delay(1000); @@ -256,18 +255,19 @@ void WebServer::webHandleClearWIFI() { void WebServer::webHandleStatusSleepmode() { LOG_PERF_START("webserver-api-sleepmode"); String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/status/sleepmode." CR) ); -#endif + Log.notice(F("WEB : webServer callback for /api/status/sleepmode." CR) ); + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-sleepmode"); return; } -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : sleep-mode=%s." CR), server->arg( CFG_PARAM_SLEEP_MODE ).c_str() ); -#endif + #endif + if( server->arg( CFG_PARAM_SLEEP_MODE ).equalsIgnoreCase( "true" ) ) sleepModeAlwaysSkip = true; else @@ -282,18 +282,19 @@ void WebServer::webHandleStatusSleepmode() { void WebServer::webHandleConfigDevice() { LOG_PERF_START("webserver-api-config-device"); String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/device." CR) ); -#endif + Log.notice(F("WEB : webServer callback for /api/config/device." CR) ); + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-device"); return; } -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : mdns=%s, temp-format=%s." CR), server->arg( CFG_PARAM_MDNS ).c_str(), server->arg( CFG_PARAM_TEMPFORMAT ).c_str() ); -#endif + #endif + myConfig.setMDNS( server->arg( CFG_PARAM_MDNS ).c_str() ); myConfig.setTempFormat( server->arg( CFG_PARAM_TEMPFORMAT ).charAt(0) ); myConfig.setSleepInterval( server->arg( CFG_PARAM_SLEEP_INTERVAL ).c_str() ); @@ -309,22 +310,22 @@ void WebServer::webHandleConfigDevice() { void WebServer::webHandleConfigPush() { LOG_PERF_START("webserver-api-config-push"); String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/push." CR) ); -#endif + Log.notice(F("WEB : webServer callback for /api/config/push." CR) ); + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-push"); return; } -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : http=%s,%s, bf=%s influx2=%s, %s, %s, %s." CR), server->arg( CFG_PARAM_PUSH_HTTP ).c_str(), server->arg( CFG_PARAM_PUSH_HTTP2 ).c_str(), server->arg( CFG_PARAM_PUSH_BREWFATHER ).c_str(), server->arg( CFG_PARAM_PUSH_INFLUXDB2 ).c_str(), server->arg( CFG_PARAM_PUSH_INFLUXDB2_ORG ).c_str(), server->arg( CFG_PARAM_PUSH_INFLUXDB2_BUCKET ).c_str(), server->arg( CFG_PARAM_PUSH_INFLUXDB2_AUTH ).c_str() ); -#endif + #endif + myConfig.setHttpPushUrl( server->arg( CFG_PARAM_PUSH_HTTP ).c_str() ); myConfig.setHttpPushUrl2( server->arg( CFG_PARAM_PUSH_HTTP2 ).c_str() ); myConfig.setBrewfatherPushUrl( server->arg( CFG_PARAM_PUSH_BREWFATHER ).c_str() ); @@ -344,18 +345,19 @@ void WebServer::webHandleConfigPush() { void WebServer::webHandleConfigGravity() { LOG_PERF_START("webserver-api-config-gravity"); String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/gravity." CR) ); -#endif + Log.notice(F("WEB : webServer callback for /api/config/gravity." CR) ); + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-gravity"); return; } -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : formula=%s, temp-corr=%s." CR), server->arg( CFG_PARAM_GRAVITY_FORMULA ).c_str(), server->arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).c_str() ); -#endif + #endif + myConfig.setGravityFormula( server->arg( CFG_PARAM_GRAVITY_FORMULA ).c_str() ); myConfig.setGravityTempAdj( server->arg( CFG_PARAM_GRAVITY_TEMP_ADJ ).equalsIgnoreCase( "on" ) ? true:false); myConfig.saveFile(); @@ -370,18 +372,19 @@ void WebServer::webHandleConfigGravity() { void WebServer::webHandleConfigHardware() { LOG_PERF_START("webserver-api-config-hardware"); String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/config/hardware." CR) ); -#endif + Log.notice(F("WEB : webServer callback for /api/config/hardware." CR) ); + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-config-hardware"); return; } -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : vf=%s, tempadj=%s, ota=%s." CR), server->arg( CFG_PARAM_VOLTAGEFACTOR ).c_str(), server->arg( CFG_PARAM_TEMP_ADJ ).c_str(), server->arg( CFG_PARAM_OTA ).c_str() ); -#endif + #endif + myConfig.setVoltageFactor( server->arg( CFG_PARAM_VOLTAGEFACTOR ).toFloat() ); myConfig.setTempSensorAdj( server->arg( CFG_PARAM_TEMP_ADJ ).toFloat() ); myConfig.setOtaURL( server->arg( CFG_PARAM_OTA ).c_str() ); @@ -396,16 +399,15 @@ void WebServer::webHandleConfigHardware() { // void WebServer::webHandleFormulaRead() { LOG_PERF_START("webserver-api-formula-read"); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/formula/get." CR)); -#endif + Log.notice(F("WEB : webServer callback for /api/formula/get." CR)); + DynamicJsonDocument doc(250); const RawFormulaData& fd = myConfig.getFormulaData(); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : %F %F %F %F %F." CR), fd.a[0], fd.a[1], fd.a[2], fd.a[3], fd.a[4] ); Log.verbose(F("WEB : %F %F %F %F %F." CR), fd.g[0], fd.g[1], fd.g[2], fd.g[3], fd.g[4] ); -#endif + #endif doc[ CFG_PARAM_ID ] = myConfig.getID(); doc[ CFG_PARAM_ANGLE ] = reduceFloatPrecision( myGyro.getAngle() ); @@ -437,10 +439,11 @@ void WebServer::webHandleFormulaRead() { doc[ "g4" ] = reduceFloatPrecision( fd.g[3], 4); doc[ "g5" ] = reduceFloatPrecision( fd.g[4], 4); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) serializeJson(doc, Serial); Serial.print( CR ); -#endif + #endif + String out; serializeJson(doc, out); server->send(200, "application/json", out.c_str() ); @@ -453,19 +456,20 @@ void WebServer::webHandleFormulaRead() { void WebServer::webHandleFormulaWrite() { LOG_PERF_START("webserver-api-formula-write"); String id = server->arg( CFG_PARAM_ID ); -#if LOG_LEVEL==6 - Log.verbose(F("WEB : webServer callback for /api/formula/post." CR) ); -#endif + Log.notice(F("WEB : webServer callback for /api/formula/post." CR) ); + if( !id.equalsIgnoreCase( myConfig.getID() ) ) { Log.error(F("WEB : Wrong ID received %s, expected %s" CR), id.c_str(), myConfig.getID()); server->send(400, "text/plain", "Invalid ID."); LOG_PERF_STOP("webserver-api-formula-write"); return; } -#if LOG_LEVEL==6 + + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : angles=%F,%F,%F,%F,%F." CR), server->arg( "a1" ).toFloat(), server->arg( "a2" ).toFloat(), server->arg( "a3" ).toFloat(), server->arg( "a4" ).toFloat(), server->arg( "a5" ).toFloat() ); Log.verbose(F("WEB : gravity=%F,%F,%F,%F,%F." CR), server->arg( "g1" ).toFloat(), server->arg( "g2" ).toFloat(), server->arg( "g3" ).toFloat(), server->arg( "g4" ).toFloat(), server->arg( "g5" ).toFloat() ); -#endif + #endif + RawFormulaData fd; fd.a[0] = server->arg( "a1" ).toDouble(); fd.a[1] = server->arg( "a2" ).toDouble(); @@ -516,9 +520,8 @@ void WebServer::webHandleFormulaWrite() { // Helper function to check if files exist on file system. // const char* WebServer::getHtmlFileName( HtmlFile item ) { -#if LOG_LEVEL==6 - Log.verbose(F("WEB : Looking up filename for %d." CR), item); -#endif + Log.notice(F("WEB : Looking up filename for %d." CR), item); + switch( item ) { case HTML_INDEX: return "index.min.htm"; @@ -541,9 +544,9 @@ const char* WebServer::getHtmlFileName( HtmlFile item ) { bool WebServer::checkHtmlFile( HtmlFile item ) { const char *fn = getHtmlFileName( item ); -#if LOG_LEVEL==6 + #if LOG_LEVEL==6 && !defined( WEB_DISABLE_LOGGING ) Log.verbose(F("WEB : Checking for file %s." CR), fn ); -#endif + #endif // TODO: We might need to add more checks here like zero file size etc. But for now we only check if the file exist. diff --git a/src/wifi.cpp b/src/wifi.cpp index 3d7b022..8f2eef5 100644 --- a/src/wifi.cpp +++ b/src/wifi.cpp @@ -52,7 +52,8 @@ bool Wifi::connect( bool showPortal ) { Log.info(F("WIFI: No SSID seams to be stored, forcing portal to start." CR)); showPortal = true; } else { - Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), myConfig.getWifiPass() ); + //Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), myConfig.getWifiPass() ); + Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), "*****" ); } if( strlen(userSSID)==0 && showPortal ) { @@ -66,7 +67,8 @@ bool Wifi::connect( bool showPortal ) { myWifiManager.setConfigPortalTimeout( 120 ); // Keep it open for 120 seconds bool f = myWifiManager.startConfigPortal( WIFI_DEFAULT_SSID, WIFI_DEFAULT_PWD ); if( f ) { - Log.notice(F("WIFI: Success got values from WIFI portal=%s,%s." CR), myWifiManager.getWiFiSSID(), myWifiManager.getWiFiPass() ); + //Log.notice(F("WIFI: Success got values from WIFI portal=%s,%s." CR), myWifiManager.getWiFiSSID(), myWifiManager.getWiFiPass() ); + Log.notice(F("WIFI: Success got values from WIFI portal=%s,%s." CR), myWifiManager.getWiFiSSID(), "*****" ); myConfig.setWifiSSID( myWifiManager.getWiFiSSID() ); myConfig.setWifiPass( myWifiManager.getWiFiPass() ); myConfig.saveFile(); @@ -90,18 +92,17 @@ bool Wifi::connect( bool showPortal ) { WiFi.begin(myConfig.getWifiSSID(), myConfig.getWifiPass()); } - WiFi.printDiag(Serial); + //WiFi.printDiag(Serial); while( WiFi.status() != WL_CONNECTED ) { - yield(); - delay(100); + delay(200); Serial.print( "." ); - /*if( i++ > 200 ) { // Try for 20 seconds. + if( i++ > 100 ) { // Try for 20 seconds. Log.error(F("WIFI: Failed to connect to wifi %d, aborting %s." CR), WiFi.status(), getIPAddress().c_str() ); - //WiFi.disconnect(); + WiFi.disconnect(); return connectedFlag; // Return to main that we have failed to connect. - }*/ + } } Serial.print( CR ); connectedFlag = true; From f8e59570456c7940f0bc6144d0ab947fe13e3775 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Wed, 5 Jan 2022 21:57:37 +0100 Subject: [PATCH 09/27] Moving defines to .ini --- .gitignore | 2 +- html/device.htm | 2 +- platformio.ini | 6 ++++ src/config.cpp | 2 -- src/gyro.cpp | 4 +-- src/main.cpp | 6 +--- src/pushtarget.cpp | 2 -- src/tempsensor.cpp | 2 -- src/webserver.cpp | 2 -- src/wifi.cpp | 8 ++--- test/configure.py | 81 ++++++++++++++++++++++++++++++++++++++++++++++ 11 files changed, 95 insertions(+), 22 deletions(-) create mode 100644 test/configure.py diff --git a/.gitignore b/.gitignore index f54810a..6495c33 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,6 @@ docs/* test/*.md test/env/* -test/*.py +test/configure_*.py TODO.md data/*.min.htm \ No newline at end of file diff --git a/html/device.htm b/html/device.htm index 0541eaf..237a2d3 100644 --- a/html/device.htm +++ b/html/device.htm @@ -100,7 +100,7 @@ $('#spinner').show(); $.getJSON(url, function (cfg) { console.log( cfg ); - $("#app-ver").text(cfg["app-ver"] + " (html 0.4.0)"); + $("#app-ver").text(cfg["app-ver"] + " (html 0.4.9)"); $("#mdns").text(cfg["mdns"]); $("#id").text(cfg["id"]); }) diff --git a/platformio.ini b/platformio.ini index 17f3e1d..6f4abdd 100644 --- a/platformio.ini +++ b/platformio.ini @@ -32,6 +32,12 @@ build_flags = #-D DEBUG_ESP_CORE #-D SKIP_SLEEPMODE #-D DOUBLERESETDETECTOR_DEBUG true + -D CFG_DISABLE_LOGGING # Turn off verbose logging for some of the parts (too much will cause a crash) but also add space + -D GYRO_DISABLE_LOGGING + -D PUSH_DISABLE_LOGGING + -D TSEN_DISABLE_LOGGING + -D WEB_DISABLE_LOGGING + -D MAIN_DISABLE_LOGGING -D USE_LITTLEFS=true -D EMBED_HTML # If this is not used the html files needs to be on the file system (can be uploaded) -D USER_SSID=\""\"" # =\""myssid\"" diff --git a/src/config.cpp b/src/config.cpp index d36dbdb..fc37151 100644 --- a/src/config.cpp +++ b/src/config.cpp @@ -25,8 +25,6 @@ SOFTWARE. #include "helper.h" #include -#define CFG_DISABLE_LOGGING - Config myConfig; // diff --git a/src/gyro.cpp b/src/gyro.cpp index 9f2c331..3bf26e5 100644 --- a/src/gyro.cpp +++ b/src/gyro.cpp @@ -24,8 +24,6 @@ SOFTWARE. #include "gyro.h" #include "helper.h" -#define GYRO_DISABLE_LOGGING - GyroSensor myGyro; #define GYRO_USE_INTERRUPT // Use interrupt to detect when new sample is ready @@ -245,7 +243,7 @@ bool GyroSensor::read() { validValue = true; angle = calculateAngle( lastGyroData ); #if !defined( GYRO_DISABLE_LOGGING ) - Log.notice(F("GYRO: Sensor values %d,%d,%d\t%F" CR), raw.ax, raw.ay, raw.az, angle ); + Log.notice(F("GYRO: Sensor values %d,%d,%d\t%F" CR), lastGyroData.ax, lastGyroData.ay, lastGyroData.az, angle ); #endif } diff --git a/src/main.cpp b/src/main.cpp index 14c2c1e..2ee8619 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -31,8 +31,6 @@ SOFTWARE. #include "pushtarget.h" #include -#define MAIN_DISABLE_LOGGING - // Settings for double reset detector. #define ESP8266_DRD_USE_RTC true #define DRD_TIMEOUT 2 @@ -85,9 +83,7 @@ void checkSleepMode( float angle, float volt ) { // sleep mode active when flat //sleepModeActive = ( angle<85 && angle>5 ) ? true : false; - #if LOG_LEVEL==6 && !defined( MAIN_DISABLE_LOGGING ) - Log.verbose(F("MAIN: Deep sleep mode %s (angle=%F volt=%F)." CR), sleepModeActive ? "true":"false", angle, volt ); - #endif + Log.notice(F("MAIN: Deep sleep mode %s (angle=%F volt=%F)." CR), sleepModeActive ? "true":"false", angle, volt ); } // diff --git a/src/pushtarget.cpp b/src/pushtarget.cpp index 0495d5c..c5c4ec8 100644 --- a/src/pushtarget.cpp +++ b/src/pushtarget.cpp @@ -25,8 +25,6 @@ SOFTWARE. #include "config.h" #include "gyro.h" // For testing the tempsensor in the gyro -#define PUSH_DISABLE_LOGGING - PushTarget myPushTarget; // diff --git a/src/tempsensor.cpp b/src/tempsensor.cpp index 10f07aa..0d9faa4 100644 --- a/src/tempsensor.cpp +++ b/src/tempsensor.cpp @@ -29,8 +29,6 @@ SOFTWARE. #include #include -#define TSEN_DISABLE_LOGGING - // // Conversion between C and F // diff --git a/src/webserver.cpp b/src/webserver.cpp index 00db470..0843e65 100644 --- a/src/webserver.cpp +++ b/src/webserver.cpp @@ -30,8 +30,6 @@ SOFTWARE. #include #include -#define WEB_DISABLE_LOGGING - WebServer myWebServer; // My wrapper class fr webserver functions extern bool sleepModeActive; extern bool sleepModeAlwaysSkip; diff --git a/src/wifi.cpp b/src/wifi.cpp index 8f2eef5..f3377aa 100644 --- a/src/wifi.cpp +++ b/src/wifi.cpp @@ -53,7 +53,7 @@ bool Wifi::connect( bool showPortal ) { showPortal = true; } else { //Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), myConfig.getWifiPass() ); - Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), "*****" ); + //Log.info(F("WIFI: Using SSID=%s and %s." CR), myConfig.getWifiSSID(), "*****" ); } if( strlen(userSSID)==0 && showPortal ) { @@ -82,13 +82,13 @@ bool Wifi::connect( bool showPortal ) { // Connect to wifi int i = 0; - Log.notice(F("WIFI: Connecting to WIFI, mode=%d,persistent=%d,fhy=%d ." CR), WiFi.getMode(), WiFi.getPersistent(), WiFi.getPhyMode() ); + //Log.notice(F("WIFI: Connecting to WIFI, mode=%d,persistent=%d,fhy=%d ." CR), WiFi.getMode(), WiFi.getPersistent(), WiFi.getPhyMode() ); WiFi.mode(WIFI_STA); if( strlen(userSSID) ) { - Log.notice(F("WIFI: Connecting to wifi using predefined settings %s." CR), userSSID); + Log.notice(F("WIFI: Connecting to wifi using hardcoded settings %s." CR), userSSID); WiFi.begin( userSSID, userPWD ); } else { - Log.notice(F("WIFI: Connecting to wifi using stored settings. %s." CR), myConfig.getWifiSSID()); + Log.notice(F("WIFI: Connecting to wifi using stored settings %s." CR), myConfig.getWifiSSID()); WiFi.begin(myConfig.getWifiSSID(), myConfig.getWifiPass()); } diff --git a/test/configure.py b/test/configure.py new file mode 100644 index 0000000..7ec5fa2 --- /dev/null +++ b/test/configure.py @@ -0,0 +1,81 @@ +import requests +import json + +host = "192.168.1.1" # IP adress (or name) of the device to send these settings to +id = "ee1bfc" # Device ID (shown in serial console during startup or in UI) + +def set_config( url, json ): + headers = { "ContentType": "application/json" } + print( url ) + #print( json ) + resp = requests.post( url, headers=headers, data=json ) + if resp.status_code != 200 : + print ( "Failed " ) + else : + print ( "Success " ) + +# +# Configure the device settings. +# +url = "http://" + host + "/api/config/device" +json = { "id": id, + "mdns": "gravmon", # Name of the device + "temp-format": "C", # Temperature format C or F + "sleep-interval": 30 # Sleep interval in seconds + } +set_config( url, json ) + +# +# Configure the push settings. Blank means that its no used. +# +url = "http://" + host + "/api/config/push" +json = { "id": id, + "http-push": "http://192.168.1.1/ispindel", # HTTP endpoint + "http-push2": "", # HTTP endpoint2 + "brewfather-push": "", # Brewfather URL + "influxdb2-push": "", # InfluxDB2 settings + "influxdb2-org": "", + "influxdb2-bucket": "", + "influxdb2-auth": "" + } +set_config( url, json ) + + +# +# Configure the gravity settings. +# +url = "http://" + host + "/api/config/gravity" +json = { "id": id, + "gravity-formula": "", # If you want to set the gravity formula + "gravity-temp-adjustment": "off" # on or off + } +set_config( url, json ) + +# +# Configure the hardware settings. +# +url = "http://" + host + "/api/config/hardware" +json = { "id": id, + "voltage-factor": 1.59, # Default value for voltage calculation + "temp-adjustment": 0, # If temp sensor needs to be corrected + "ota-url": "" # if the device should seach for a new update when active + } +set_config( url, json ) + +# +# Configure the gravity formula settings. If this is called the formula will be updated based on these measurements (zero angle values will be ignored) +# +url = "http://" + host + "/api/formula" +json = { "id": id, + "a1": 22.4, + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + } +set_config( url, json ) From 791f5fedd2f28991af58fd11091e93c60356b4de Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Wed, 5 Jan 2022 22:00:47 +0100 Subject: [PATCH 10/27] Creating /docs --- docs/README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 docs/README.md diff --git a/docs/README.md b/docs/README.md new file mode 100644 index 0000000..0cfc994 --- /dev/null +++ b/docs/README.md @@ -0,0 +1 @@ +Starting new docs From c1db431490e2b1111e7b33bedd418e99216e207b Mon Sep 17 00:00:00 2001 From: Magnus Persson <51722613+mp-se@users.noreply.github.com> Date: Wed, 5 Jan 2022 22:03:10 +0100 Subject: [PATCH 11/27] Set theme jekyll-theme-architect --- docs/_config.yml | 1 + 1 file changed, 1 insertion(+) create mode 100644 docs/_config.yml diff --git a/docs/_config.yml b/docs/_config.yml new file mode 100644 index 0000000..3397c9a --- /dev/null +++ b/docs/_config.yml @@ -0,0 +1 @@ +theme: jekyll-theme-architect \ No newline at end of file From 0c0e9067f9d886925be725048c70a810b2f2b8ec Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Thu, 6 Jan 2022 16:12:44 +0100 Subject: [PATCH 12/27] First draft of new documentation --- .gitignore | 1 - docs/Makefile | 20 +++ docs/README.md | 1 - docs/make.bat | 35 +++++ docs/source/backlog.rst | 16 +++ docs/source/compiling.rst | 32 +++++ docs/source/conf.py | 55 ++++++++ docs/source/configuration.rst | 244 +++++++++++++++++++++++++++++++++ docs/source/contributing.rst | 5 + docs/source/functionallity.rst | 73 ++++++++++ docs/source/images/config1.png | Bin 0 -> 13295 bytes docs/source/images/config2.png | Bin 0 -> 19034 bytes docs/source/images/config3.png | Bin 0 -> 7854 bytes docs/source/images/config4.png | Bin 0 -> 11264 bytes docs/source/images/device.png | Bin 0 -> 16374 bytes docs/source/index.rst | 76 ++++++++++ docs/source/installation.rst | 32 +++++ 17 files changed, 588 insertions(+), 2 deletions(-) create mode 100644 docs/Makefile delete mode 100644 docs/README.md create mode 100644 docs/make.bat create mode 100644 docs/source/backlog.rst create mode 100644 docs/source/compiling.rst create mode 100644 docs/source/conf.py create mode 100644 docs/source/configuration.rst create mode 100644 docs/source/contributing.rst create mode 100644 docs/source/functionallity.rst create mode 100644 docs/source/images/config1.png create mode 100644 docs/source/images/config2.png create mode 100644 docs/source/images/config3.png create mode 100644 docs/source/images/config4.png create mode 100644 docs/source/images/device.png create mode 100644 docs/source/index.rst create mode 100644 docs/source/installation.rst diff --git a/.gitignore b/.gitignore index 4aa2f51..83651f1 100644 --- a/.gitignore +++ b/.gitignore @@ -1,7 +1,6 @@ .pio/* .vscode/* *.map -docs/* test/*.md test/env/* test/*.py diff --git a/docs/Makefile b/docs/Makefile new file mode 100644 index 0000000..d0c3cbf --- /dev/null +++ b/docs/Makefile @@ -0,0 +1,20 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = source +BUILDDIR = build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/README.md b/docs/README.md deleted file mode 100644 index 0cfc994..0000000 --- a/docs/README.md +++ /dev/null @@ -1 +0,0 @@ -Starting new docs diff --git a/docs/make.bat b/docs/make.bat new file mode 100644 index 0000000..061f32f --- /dev/null +++ b/docs/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=source +set BUILDDIR=build + +if "%1" == "" goto help + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.https://www.sphinx-doc.org/ + exit /b 1 +) + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd diff --git a/docs/source/backlog.rst b/docs/source/backlog.rst new file mode 100644 index 0000000..f9116f3 --- /dev/null +++ b/docs/source/backlog.rst @@ -0,0 +1,16 @@ +Backlog of changes +###################################### + +Documentation +------------- + +- Add library references to missing libraries from the latest release v0.5. +- Copy images to build folder for documentation +- Create page with list of releases +- Updates over OTA (from PC) + +Code +------------- + +- Support for MQTT +- Support for plato diff --git a/docs/source/compiling.rst b/docs/source/compiling.rst new file mode 100644 index 0000000..b57b217 --- /dev/null +++ b/docs/source/compiling.rst @@ -0,0 +1,32 @@ +Compiling the software +----------------------- + +VSCODE + PlatformIO +============================= +TODO + +Targets +============================= +TODO + +Source structure +============================= +TODO + +Options +============================= +TODO + +# Compiling the software + +I recommend that VSCODE with PlatformIO and Minfy extensions are used. Minify is used to reduce the size of the HTML files which are embedded into the firmware or uploaded to the file system. When using minify on a file, for example index.htm the output will be called index.min.htm. This is the file that will be used when buildning the image. + +By default the html files are embedded but there are options to upload them to the file system to reduce the size of the image if the size becomes to large for OTA. + +You can set the SSID and PWD as presets through platformio.ini by adding the settings to the following definitions: +``` +-D USER_SSID=\""\"" // =\""myssid\"" +-D USER_SSID_PWD=\""\"" // =\""mypwd\"" +``` + +There are more options in teh platform.ini file that enable/disable additional functions for logging level, pushing performance data to InfluxDB and more. If i get the time I will add some documentation around these. \ No newline at end of file diff --git a/docs/source/conf.py b/docs/source/conf.py new file mode 100644 index 0000000..cb2c115 --- /dev/null +++ b/docs/source/conf.py @@ -0,0 +1,55 @@ +# Configuration file for the Sphinx documentation builder. +# +# This file only contains a selection of the most common options. For a full +# list see the documentation: +# https://www.sphinx-doc.org/en/master/usage/configuration.html + +# -- Path setup -------------------------------------------------------------- + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +# +# import os +# import sys +# sys.path.insert(0, os.path.abspath('.')) + + +# -- Project information ----------------------------------------------------- + +project = 'GravityMon' +copyright = '2021-2022, Magnus Persson' +author = 'Magnus Persson' + +# The full version, including alpha/beta/rc tags +release = '0.5.0' + + +# -- General configuration --------------------------------------------------- + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ +] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This pattern also affects html_static_path and html_extra_path. +exclude_patterns = [] + + +# -- Options for HTML output ------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +# +html_theme = 'sphinx_rtd_theme' + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] \ No newline at end of file diff --git a/docs/source/configuration.rst b/docs/source/configuration.rst new file mode 100644 index 0000000..647636a --- /dev/null +++ b/docs/source/configuration.rst @@ -0,0 +1,244 @@ +Configuration +----------------------- +The device can operate in two modes and must be in `configuration mode` in order for the web server to be active. + +One of the following conditions will place the device in `configuration mode`: + +- Gyro has not been calibrated +- Sleep mode has been disabled in the web interface +- Placed in horizontal mode 85-90 degrees +- Charger connected >4.15V + +Main index +========== + +URL: (http://gravmon.local) + +Configuration is accessed by entering the URL for the device, this will be the mDNS name *device.local* or the IP adress. The following chapter assumes the device name is *gravmon*. + +The main page shows the device readings; gravity, angle, temperature and battery charge. If the checkbox is active then the device will never go into sleep mode. This is useful if +you are collecting angle/tilt for calibration. If this is unchecked the device will change mode as explained before. + +.. note:: + + If you are connected to the device via a serial console (speed: 115200) you can see the connection sequence and get the Unique ID and IP adress from there. + + +Device +====== + +URL: (http://gravmon.local/device) + +.. image:: images/device.png + :width: 400 + :alt: Device Settings + + +* **Version:** + + Installed version of the code and html files. + +* **Device name:** + + This is unique name of the device. + +* **Device ID:** + + This is unique identifier for the device (ESP8266 id), this is required when using the API as an API Key to safeguard against faulty requests. + + +Configuration +============= + +URL: (http://gravmon.local/config) + +Device Setting +************** + +.. image:: images/config1.png + :width: 400 + :alt: Device Settings + +* **Device name:** + + This is unique name for the device. It will be used in pushing data as well as mDNS name on the network (.local) + +* **Temperature format:** + + Choose between Celsius and Farenheight + +* **Interval:** + + This defines how long the device should be sleeping between the readings when in `gravity monitoring` mode. You will also see the values in minutes/seconds to easier set the interval. 900s is a recommended interval. + +.. note:: + + The sleep interval can be set between 10 - 3600 seconds (60 minutes). + +* **Calibration values:** + + These are calibration data for the gyro. Place the device flat on a table and press the button to save the default orientation values. Without this calibration we cannot calculate the correct angle/tilt. + +.. note:: + + The device will **not** go into `gravity monitoring` mode unless calibrated + +Push Settings +************* + +.. image:: images/config2.png + :width: 400 + :alt: Push Settings + +* **HTTP URL 1:** + + Endpoint to send data via http. Format used is standard iSpindle format (see format section). + +* **HTTP URL 2:** + + Endpoint to send data via http. Format used is standard iSpindle format (see format section). + +* **Brewfather URL:** + + Endpoint to send data via http to brewfather. Format used is defined by brewfather (see format section). + +* **Influx DB v2 URL:** + + Endpoint to send data via http to InfluxDB. For format (see format section). + +* **Influx DB v2 Organisation:** + + Name of organisation in Influx. + +* **Influx DB v2 Bucket:** + + Identifier for bucket. + +* **Influx DB v2 Token:** + + Token with write access to bucket. + + +Gravity Settings +**************** + +.. image:: images/config3.png + :width: 400 + :alt: Gravity Settings + +* **Gravity formula:** + + Gravity formula is compatible with standard iSpindle formulas so any existing calculation option can be used. Is updated if the calibration function is used. + +* **Temperature correct gravity:** + + Will apply a temperature calibration formula to the gravity as a second step. + + This is the formula used for temperature calibration (temp is in F). Cal = 20C. + +:: + + gravity*((1.00130346-0.000134722124*temp+0.00000204052596*temp^2-0.00000000232820948*temp^3)/(1.00130346-0.000134722124*cal+0.00000204052596*cal^2-0.00000000232820948*cal^3)) + + +Hardware Settings +***************** + +.. image:: images/config4.png + :width: 400 + :alt: Hardware Settings + +* **Voltage factor:** + + Factor used to calcualate the battery voltage. If you get a too low/high voltage you can adjust this value. + +* **Temperature correction:** + + This value will be added to the temperature reading (negative value will reduce temperature reading). + +* **OTA URL:** + + Should point to a URL where the .bin file + version.json file is located. + + For the OTA to work, place the following files (version.json + firmware.bin) at the location that you pointed out in OTA URL. If the version number in the json file is newer than in the + code the update will be done during startup. + + Example; OTA URL (don't forget trailing dash), the name of the file should be firmware.bin + +:: + + http://192.168.1.1/firmware/gravmon/ + + + + Contents version.json + +:: + + { "project":"gravmon", "version":"0.5.0" } + + +Create formula +============================= +todo + +REST API +============================= +todo + +Data Formats +============================= + +iSpindle format +*************** + +This is the format used for standard http posts. + +:: + + { + "name" : "gravmon", // mDNS name + "ID": "2E6753", // esp device id + "token" : "gravmon", + "interval": 900, + "temperature": 20.5, // C or F based on setting, adjusted value. + "temp-units": "C", // C or F based on setting + "gravity": 1.0050, // Raw or temperature corrected gravity (based on setting) + "corr-gravity": 1.0050, // Temperature corrected gravity + "angle": 45.34, + "battery": 3.67, + "rssi": -12, + + // Extension fields + "run-time": 230, // ms, Runtime for this reading, this is an additional field not part of the standard format + } + + +Brewfather format +****************** + +This is the format for Brewfather + + +:: + + { + "name" : "gravmon", // mDNS name + "temp": 20.5, + "temp-unit": "C", + "battery": 3.67, + "gravity": 1.0050, + "gravity_unit": "G", // G = SG, Plato is not yet supported + } + + +Influx DB v2 +************ + +This is the format for InfluxDB v2 + + +:: + + measurement,host=,device=,temp-format=,gravity-format=SG,gravity=1.0004,corr-gravity=1.0004,angle=45.45,temp=20.1,battery=3.96,rssi=-18 + diff --git a/docs/source/contributing.rst b/docs/source/contributing.rst new file mode 100644 index 0000000..798027b --- /dev/null +++ b/docs/source/contributing.rst @@ -0,0 +1,5 @@ +Contributing +----------------------- + +This section is under construction. + diff --git a/docs/source/functionallity.rst b/docs/source/functionallity.rst new file mode 100644 index 0000000..bc54196 --- /dev/null +++ b/docs/source/functionallity.rst @@ -0,0 +1,73 @@ +Functionallity +============== + +The main differences +-------------------- + +* **Operates in two modes `gravity monitoring` and `configuration mode`** + + In gravity monitoring mode it behaves just like the iSpindle, it wakes up at regular intervals, measure angle/tile, temperature, calculates gravity and pushes the data to defined endpoints. + + In configuration mode the device is always active and the webserver is active. Here you can view the angle/tilt values, change configuration options and more. When in this mode you can also interact with the device + via an REST API so data can be pushed to the device via scripts (see API section for more information)- + + *See the configuration section for more information on how to trigger the configuration mode.* + +* **Can send data to multiple endpoints at once** + + The orignial iSpindle can only have one destination, this sofware will push data to all defined endpoints so in theory you can use them all. However this will consume a lot of battery power so use only as many as needed. + + Currently the device supports the following endpoints: http (2 differnt), influxdb2 and Brewfather + + If you want additional targets please raise a feature request in the github repo. + +* **Build in function to create gravity formulas, so no need for using other tools for this part** + + Another big difference is that this software can create the gravity formula in the device, just enter the angle/gravity data that you have collected. You will also see a graph simulating how the formula would work. + +* **Automatic temperature adjustment of gravity reading** + + If you want to correct gravity based on beer temperature you can do this in the formula but here is a nice feature that can correct the gravity as a second step making this independant of the formula. + +.. note:: + + This feature needs more testing to be validated. + +* **OTA support from local webserver** + + When starting up in configuration mode the device will check for a software update from a local webserver. + +* **DS18B20 temperature adjustments** + + You can adjust the temperature reading of the temperature sensor. + +* **Gyro Movement** + + The software will detect if the gyro is moving and if this is the case it will go back to sleep for 60seconds. This way we should avoid faulty measurements. + +Other features +-------------- + +* Support for Celcius and Farenheigt as temperature formats. + +* Support SG (Plato is not yet supported) + +* Gyro data is read 50 times to ensure good accuracy + +Experimental features +--------------------- + +* Use the temperature sensor in the gyro instead of DS18B20 + + This works fine when the device has time to cool down between measurements and it saves a few milliseconds (reduced battery consumption). My testing shows that this is quite accurate. + +.. note:: + + This is not enabled by default. + +* Performance measurements + + I've also create a small library to measure execution code in some areas of the code that i know is time consuming. 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zJ;nQ&BP$PQG!ZC98JmdskaB{JWHujVeK95OA!jKM9%NlC&Z!4F6$#ceNed*mN`v$d z*$1+%*n5N0iREuS-@T+sV)%>rWf-Je6Kk9Vsd55OlN}4?MRo|E5G1>(WWef`hm`S2eB=%jUOJ=pL8^7?|2IP6$jDLNg5V*cF zRiOyB1dpN?#TE&`@c8Wf8ZA(Mg*>*Y_@vTb*l9i`@67+a=CXDV@d1sJ#Q4k>F3j@z Qu0Di}gra!0s8P`W01n{8Z~y=R literal 0 HcmV?d00001 diff --git a/docs/source/index.rst b/docs/source/index.rst new file mode 100644 index 0000000..94281e2 --- /dev/null +++ b/docs/source/index.rst @@ -0,0 +1,76 @@ +.. GravityMon documentation master file, created by + sphinx-quickstart on Wed Jan 5 22:46:42 2022. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to GravityMon's documentation! +###################################### + +GravityMon is a replacement firmare for the iSpindle hardware. It's used to measure gravity in beer and show the progress +of fermentation. + +For more information on this topic and function please visit https://www.ispindel.de. + +I started GravityMon because i like to create software and wanted to do some low level programming. I had done a few +projects based on esp8266 and also started to brew beer so this combination was quite natural. + +The hardware design comes from the fantastic iSpindle project so that is not covered in this documentation. + +My approach to this software is a little different from the approach that the orignial ispindle firmware has. + +.. note:: + + This software is in the early stages even though its more than one year old so if you find issues, please + open a ticket on github. + + I dont take responsibility for any errors that can cause problems with the use. I have tested v0.4 on 5+ brews + over the last 6 months without any issues. + +The main differences: +--------------------- + +* Operates in two modes `gravity monitoring` and `configuration mode` +* Send data to multiple endpoints when pushing data. +* Automatic temperature adjustment of gravity reading +* OTA support from local webserver +* Build in function to create gravity formulas (*New in v0.5*) + +There are also a experimental features such as: + +* Using the temperature sensor in gyro instead of DS18B20 (faster) +* Performance measurements (used to optimise code) + +**For a complete breakdown see the functionallity section.** + +Credits to +---------- +This software uses the following libraries and without these this would have been much more difficult to acheive: + +* https://github.com/jrowberg/i2cdevlib.git +* https://github.com/codeplea/tinyexpr +* https://github.com/graphitemaster/incbin +* https://github.com/khoih-prog/ESP_DoubleResetDetector +* https://github.com/tzapu/WiFiManager +* https://github.com/thijse/Arduino-Log +* https://github.com/bblanchon/ArduinoJson +* https://github.com/PaulStoffregen/OneWire +* https://github.com/milesburton/Arduino-Temperature-Control-Library + + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + functionallity + installation + configuration + compiling + contributing + backlog + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/docs/source/installation.rst b/docs/source/installation.rst new file mode 100644 index 0000000..16ff458 --- /dev/null +++ b/docs/source/installation.rst @@ -0,0 +1,32 @@ +Installation +------------ + +Official esptool +================ + +The prefered option for flashing esp8266 device is via the official esptool. Documentation can be found +here; https://docs.espressif.com/projects/esptool/en/latest/esp32/ + +The basic command for flashing is; + +``esptool.py --port COM4 write_flash 0x1000 firmware.bin`` + +In the /bin directory you will find 3 different firmware builds; + +* firmware.bin - This is the standard release build (prefered version) +* firmware-perf.bin - This version also submits performance data to an influx database with detailed execution times. +* firmware-debug.bin - Development build. Not recommended for normal use. + +In these versions all the html files are embedded in the binaries. The file system is currently only used for storing +the configuration file. + +If the software becomes so large the html files can be moved to the file system, but this is not enabled by default. This makes +installation much easier and ensure that html files and code is in sync. + + +Configuring WIFI +================ + +When the device is flashed it will need to have WIFI configuration in order to work. If this is not configured in the device it will create an wirless access point called `GravMon`. + +Connect to this AP and enter the SSID and password you want to use. If the web page dont open automatically you can enter the following adress in the browser: **http://192.168.4.1** From 93df4b60e0d8658d53128e9d7deb75bcac823f86 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Thu, 6 Jan 2022 16:13:32 +0100 Subject: [PATCH 13/27] Updated remove build folder for docs --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 83651f1..2138d96 100644 --- a/.gitignore +++ b/.gitignore @@ -5,3 +5,4 @@ test/*.md test/env/* test/*.py TODO.md +docs/build/* \ No newline at end of file From 4f0b6d11e7de9a8dc79bcd1da150d0837b1ce635 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Thu, 6 Jan 2022 16:29:48 +0100 Subject: [PATCH 14/27] Merged changes from dev --- docs/source/backlog.rst | 7 +- docs/source/compiling.rst | 23 +-- docs/source/configuration.rst | 213 +++++++++++++++++++++++++- docs/source/contributing.rst | 2 +- docs/source/images/config1.png | Bin 13295 -> 26692 bytes docs/source/images/config2.png | Bin 19034 -> 37591 bytes docs/source/images/config3.png | Bin 7854 -> 22896 bytes docs/source/images/config4.png | Bin 11264 -> 23114 bytes docs/source/images/device.png | Bin 16374 -> 16667 bytes docs/source/images/formula1.png | Bin 0 -> 80036 bytes docs/source/images/formula2.png | Bin 0 -> 60233 bytes {img => docs/source/images}/index.png | Bin docs/source/index.rst | 5 +- img/config1.png | Bin 26692 -> 0 bytes img/config2.png | Bin 37591 -> 0 bytes img/config3.png | Bin 22896 -> 0 bytes img/config4.png | Bin 23114 -> 0 bytes img/device.png | Bin 16667 -> 0 bytes 18 files changed, 221 insertions(+), 29 deletions(-) create mode 100644 docs/source/images/formula1.png create mode 100644 docs/source/images/formula2.png rename {img => docs/source/images}/index.png (100%) delete mode 100644 img/config1.png delete mode 100644 img/config2.png delete mode 100644 img/config3.png delete mode 100644 img/config4.png delete mode 100644 img/device.png diff --git a/docs/source/backlog.rst b/docs/source/backlog.rst index f9116f3..c5ff5b2 100644 --- a/docs/source/backlog.rst +++ b/docs/source/backlog.rst @@ -4,13 +4,16 @@ Backlog of changes Documentation ------------- -- Add library references to missing libraries from the latest release v0.5. -- Copy images to build folder for documentation - Create page with list of releases - Updates over OTA (from PC) +- Write compile instructions +- Write contribution instructions +- publish docs Code ------------- - Support for MQTT - Support for plato +- Use pre-commit for validating check-in +- Automatic builds via github actions diff --git a/docs/source/compiling.rst b/docs/source/compiling.rst index b57b217..774b8f9 100644 --- a/docs/source/compiling.rst +++ b/docs/source/compiling.rst @@ -1,32 +1,21 @@ Compiling the software ----------------------- +This section is under construction. + + VSCODE + PlatformIO ============================= -TODO + Targets ============================= -TODO + Source structure ============================= -TODO + Options ============================= -TODO -# Compiling the software - -I recommend that VSCODE with PlatformIO and Minfy extensions are used. Minify is used to reduce the size of the HTML files which are embedded into the firmware or uploaded to the file system. When using minify on a file, for example index.htm the output will be called index.min.htm. This is the file that will be used when buildning the image. - -By default the html files are embedded but there are options to upload them to the file system to reduce the size of the image if the size becomes to large for OTA. - -You can set the SSID and PWD as presets through platformio.ini by adding the settings to the following definitions: -``` --D USER_SSID=\""\"" // =\""myssid\"" --D USER_SSID_PWD=\""\"" // =\""mypwd\"" -``` - -There are more options in teh platform.ini file that enable/disable additional functions for logging level, pushing performance data to InfluxDB and more. If i get the time I will add some documentation around these. \ No newline at end of file diff --git a/docs/source/configuration.rst b/docs/source/configuration.rst index 647636a..0fb403c 100644 --- a/docs/source/configuration.rst +++ b/docs/source/configuration.rst @@ -14,6 +14,10 @@ Main index URL: (http://gravmon.local) +.. image:: images/index.png + :width: 800 + :alt: Index page + Configuration is accessed by entering the URL for the device, this will be the mDNS name *device.local* or the IP adress. The following chapter assumes the device name is *gravmon*. The main page shows the device readings; gravity, angle, temperature and battery charge. If the checkbox is active then the device will never go into sleep mode. This is useful if @@ -30,7 +34,7 @@ Device URL: (http://gravmon.local/device) .. image:: images/device.png - :width: 400 + :width: 800 :alt: Device Settings @@ -56,7 +60,7 @@ Device Setting ************** .. image:: images/config1.png - :width: 400 + :width: 800 :alt: Device Settings * **Device name:** @@ -87,7 +91,7 @@ Push Settings ************* .. image:: images/config2.png - :width: 400 + :width: 800 :alt: Push Settings * **HTTP URL 1:** @@ -123,7 +127,7 @@ Gravity Settings **************** .. image:: images/config3.png - :width: 400 + :width: 800 :alt: Gravity Settings * **Gravity formula:** @@ -145,7 +149,7 @@ Hardware Settings ***************** .. image:: images/config4.png - :width: 400 + :width: 800 :alt: Hardware Settings * **Voltage factor:** @@ -168,7 +172,6 @@ Hardware Settings :: http://192.168.1.1/firmware/gravmon/ - Contents version.json @@ -180,11 +183,205 @@ Hardware Settings Create formula ============================= -todo + +.. image:: images/formula1.png + :width: 800 + :alt: Formula data + +Here you can enter up to 5 values (angles + gravity) that is then used to create the formula. Angles equal to zero will be regarded as empty even if there is a gravity reading. + +.. image:: images/formula2.png + :width: 800 + :alt: Formula graph + +Once the formula is created a graph over the entered values and a simulation of the formula will give you a nice overview on how the formula will work. + REST API ============================= -todo + +GET: /api/config +**************** + +Retrive the current configuation of the device via an HTTP GET command. Payload is in JSON format. + +:: + + { + "mdns": "gravmon", + "id": "ee1bfc", + "ota-url": "http://192.168.1.50:80/firmware/gravmon/", + "temp-format": "C", + "brewfather-push": "http://log.brewfather.net/stream?id=Qwerty", + "http-push": "http://192.168.1.50:9090/api/v1/Qwerty/telemetry", + "http-push2": "http://192.168.1.50/ispindel", + "influxdb2-push": "http://192.168.1.50:8086", + "influxdb2-org": "Qwerty", + "influxdb2-bucket": "Qwerty", + "influxdb2-auth": "Qwerty", + "sleep-interval": 30, + "voltage-factor": 1.59, + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "gravity-format": "G", + "temp-adjustment-value": 0, + "gravity-temp-adjustment": false, + "gyro-calibration-data": { + "ax": -330, + "ay": -2249, + "az": 1170, + "gx": 99, + "gy": -6, + "gz": 4 + }, + "angle": 90.93, + "gravity": 1.105, + "battery": 0.04 + } + + +GET: /api/device +**************** + +Retrive the current device settings via an HTTP GET command. Payload is in JSON format. + +:: + + { + "app-name": "GravityMon ", + "app-ver": "0.0.0", + "id": "ee1bfc", + "mdns": "gravmon" + } + + +GET: /api/status +**************** + +Retrive the current device status via an HTTP GET command. Payload is in JSON format. + +:: + + { + "id": "ee1bfc", + "angle": 89.86, + "gravity": 1.1052, + "gravity-tempcorr": 1.1031, + "temp-c": 0, + "temp-f": 32, + "battery": 0, + "temp-format": "C", + "sleep-mode": false, + "rssi": -56 + } + + +GET: /api/config/formula +************************ + +Retrive the data used for formula calculation data via an HTTP GET command. Payload is in JSON format. + +:: + + { + "id": "ee1bfc", // Unique id of the device (API Key) + "a1": 22.4, // Angles 1-5 + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, // Gravity 1-5 + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + } + + +POST: /api/config/device +************************ + +Used to update device settings via an HTTP POST command. Payload is in JSON format. + +:: + + { + "id": "ee1bfc", // Unique id of the device (API Key) + "mdns": "gravmon", // Network name / Device name + "temp-format": "C", // Can be either C or F + "sleep-interval": 30 // Time in seconds. + } + + +POST: /api/config/push +********************** + +Used to update push settings via an HTTP POST command. Payload is in JSON format. + +:: + + { + "id": "ee1bfc", // Unique id of the device (API Key) + "http-push": "http://192.168.1.50/ispindel", + "http-push2": "", + "brewfather-push": "", + "influxdb2-push": "http://192.168.1.50:8086", + "influxdb2-org": "Qwerty", + "influxdb2-bucket": "Qwerty", + "influxdb2-auth": "Qwerty" + } + + +POST: /api/config/gravity +************************* + +Used to update gravity settings via an HTTP POST command. Payload is in JSON format. + +:: + + { + "id": "ee1bfc", // Unique id of the device (API Key) + "gravity-formula": "0.0*tilt^3+0.0*tilt^2+0.0017978*tilt+0.9436", + "gravity-temp-adjustment": "off" // Can be on or off + } + + +POST: /api/config/gravity +************************* + +Used to update hardware settings via an HTTP POST command. Payload is in JSON format. + +:: + + { + "id": "ee1bfc", // Unique id of the device (API Key) + "voltage-factor": 1.59, + "temp-adjustment": 0, + "ota-url": "http://192.168.1.50/firmware/gravmon/" + } + + +POST: /api/config/formula +************************* + +Used to update formula calculation data via an HTTP POST command. Payload is in JSON format. + +:: + + { + "id": "ee1bfc", // Unique id of the device (API Key) + "a1": 22.4, // Angles 1-5 + "a2": 54.4, + "a3": 58, + "a4": 0, + "a5": 0, + "g1": 1.000, // Gravity 1-5 + "g2": 1.053, + "g3": 1.062, + "g4": 1, + "g5": 1 + } + Data Formats ============================= diff --git a/docs/source/contributing.rst b/docs/source/contributing.rst index 798027b..7472165 100644 --- a/docs/source/contributing.rst +++ b/docs/source/contributing.rst @@ -1,5 +1,5 @@ Contributing ------------------------ +------------ This section is under construction. diff --git a/docs/source/images/config1.png b/docs/source/images/config1.png index f10c5a20ad797a61f8a914693db30da176583113..af5ab2801a136559ebb460cb141fee83231ae8cc 100644 GIT binary patch literal 26692 zcma%i1yEc~w=EJNc!1y*2ol`g0|bZQZo%DQa0moKLKu7?Sa1k3I0O#_28Td!9o$`K z7 ziixawTvNhB{-FBkD7{9h9;4Yq7M?iBX~?0V)BlVUtxrUXLc< zUXXk!p~gJ6?q)<@uvs+OzD@NasbbUvB1}$XO+mN@nnC?}rqN9zb(1I2-%Al2oecS- 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k(tp*d(!Y?bzrftFNuvfeoQ%Hyp#hA%w2IUZ3FF}Z1zJxqu>b%7 From 4de40366bb8c000f994d24ffb8975ddd5693c461 Mon Sep 17 00:00:00 2001 From: Magnus Persson Date: Thu, 6 Jan 2022 16:49:58 +0100 Subject: [PATCH 15/27] Moved directories to make github pages work --- docs/.buildinfo | 4 + docs/_config.yml | 1 - docs/{source/images => _images}/config1.png | Bin docs/{source/images => _images}/config2.png | Bin docs/{source/images => _images}/config3.png | Bin docs/{source/images => _images}/config4.png | Bin docs/{source/images => _images}/device.png | Bin docs/{source/images => _images}/formula1.png | Bin docs/{source/images => _images}/formula2.png | Bin docs/{source/images => _images}/index.png | Bin .../backlog.rst => _sources/backlog.rst.txt} | 0 .../compiling.rst.txt} | 0 .../configuration.rst.txt} | 0 .../contributing.rst.txt} | 0 .../functionallity.rst.txt} | 0 .../index.rst => _sources/index.rst.txt} | 0 .../installation.rst.txt} | 0 docs/_static/basic.css | 905 ++ docs/_static/css/badge_only.css | 1 + docs/_static/css/fonts/Roboto-Slab-Bold.woff | Bin 0 -> 87624 bytes docs/_static/css/fonts/Roboto-Slab-Bold.woff2 | Bin 0 -> 67312 bytes .../css/fonts/Roboto-Slab-Regular.woff | Bin 0 -> 86288 bytes .../css/fonts/Roboto-Slab-Regular.woff2 | Bin 0 -> 66444 bytes .../_static/css/fonts/fontawesome-webfont.eot | Bin 0 -> 165742 bytes .../_static/css/fonts/fontawesome-webfont.svg | 2671 ++++ .../_static/css/fonts/fontawesome-webfont.ttf | Bin 0 -> 165548 bytes .../css/fonts/fontawesome-webfont.woff | Bin 0 -> 98024 bytes .../css/fonts/fontawesome-webfont.woff2 | Bin 0 -> 77160 bytes docs/_static/css/fonts/lato-bold-italic.woff | Bin 0 -> 323344 bytes docs/_static/css/fonts/lato-bold-italic.woff2 | Bin 0 -> 193308 bytes docs/_static/css/fonts/lato-bold.woff | Bin 0 -> 309728 bytes docs/_static/css/fonts/lato-bold.woff2 | Bin 0 -> 184912 bytes .../_static/css/fonts/lato-normal-italic.woff | Bin 0 -> 328412 bytes .../css/fonts/lato-normal-italic.woff2 | 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docs/index.html | 201 + docs/installation.html | 135 + docs/objects.inv | 7 + docs/search.html | 120 + docs/searchindex.js | 1 + {docs => src_docs}/Makefile | 7 +- src_docs/_build/doctrees/backlog.doctree | Bin 0 -> 4973 bytes src_docs/_build/doctrees/compiling.doctree | Bin 0 -> 3513 bytes .../_build/doctrees/configuration.doctree | Bin 0 -> 47032 bytes src_docs/_build/doctrees/contributing.doctree | Bin 0 -> 2551 bytes src_docs/_build/doctrees/environment.pickle | Bin 0 -> 30699 bytes .../_build/doctrees/functionallity.doctree | Bin 0 -> 16347 bytes src_docs/_build/doctrees/index.doctree | Bin 0 -> 16382 bytes src_docs/_build/doctrees/installation.doctree | Bin 0 -> 7910 bytes src_docs/_build/html/.buildinfo | 4 + src_docs/_build/html/_images/config1.png | Bin 0 -> 26692 bytes src_docs/_build/html/_images/config2.png | Bin 0 -> 37591 bytes src_docs/_build/html/_images/config3.png | Bin 0 -> 22896 bytes src_docs/_build/html/_images/config4.png | Bin 0 -> 23114 bytes 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.../html/_static/documentation_options.js | 12 + src_docs/_build/html/_static/file.png | Bin 0 -> 286 bytes src_docs/_build/html/_static/jquery-3.5.1.js | 10872 ++++++++++++++++ src_docs/_build/html/_static/jquery.js | 2 + src_docs/_build/html/_static/js/badge_only.js | 1 + .../_static/js/html5shiv-printshiv.min.js | 4 + .../_build/html/_static/js/html5shiv.min.js | 4 + src_docs/_build/html/_static/js/theme.js | 1 + src_docs/_build/html/_static/language_data.js | 297 + src_docs/_build/html/_static/minus.png | Bin 0 -> 90 bytes src_docs/_build/html/_static/plus.png | Bin 0 -> 90 bytes src_docs/_build/html/_static/pygments.css | 74 + src_docs/_build/html/_static/searchtools.js | 529 + .../_build/html/_static/underscore-1.13.1.js | 2042 +++ src_docs/_build/html/_static/underscore.js | 6 + src_docs/_build/html/backlog.html | 130 + src_docs/_build/html/compiling.html | 128 + src_docs/_build/html/configuration.html | 527 + src_docs/_build/html/contributing.html | 110 + src_docs/_build/html/functionallity.html | 177 + src_docs/_build/html/genindex.html | 105 + src_docs/_build/html/index.html | 201 + src_docs/_build/html/installation.html | 135 + src_docs/_build/html/objects.inv | 7 + src_docs/_build/html/search.html | 120 + src_docs/_build/html/searchindex.js | 1 + {docs => src_docs}/make.bat | 0 src_docs/source/backlog.rst | 19 + src_docs/source/compiling.rst | 21 + {docs => src_docs}/source/conf.py | 0 src_docs/source/configuration.rst | 441 + src_docs/source/contributing.rst | 5 + src_docs/source/functionallity.rst | 73 + src_docs/source/images/config1.png | Bin 0 -> 26692 bytes src_docs/source/images/config2.png | Bin 0 -> 37591 bytes src_docs/source/images/config3.png | Bin 0 -> 22896 bytes src_docs/source/images/config4.png | Bin 0 -> 23114 bytes src_docs/source/images/device.png | Bin 0 -> 16667 bytes src_docs/source/images/formula1.png | Bin 0 -> 80036 bytes src_docs/source/images/formula2.png | Bin 0 -> 60233 bytes src_docs/source/images/index.png | Bin 0 -> 24761 bytes src_docs/source/index.rst | 79 + src_docs/source/installation.rst | 32 + 153 files changed, 40132 insertions(+), 2 deletions(-) create mode 100644 docs/.buildinfo delete mode 100644 docs/_config.yml rename docs/{source/images => _images}/config1.png (100%) rename docs/{source/images => _images}/config2.png (100%) rename docs/{source/images => _images}/config3.png (100%) rename docs/{source/images => _images}/config4.png (100%) rename docs/{source/images => _images}/device.png (100%) rename docs/{source/images => _images}/formula1.png (100%) rename docs/{source/images => _images}/formula2.png (100%) rename docs/{source/images => _images}/index.png (100%) rename docs/{source/backlog.rst => _sources/backlog.rst.txt} (100%) rename docs/{source/compiling.rst => _sources/compiling.rst.txt} (100%) rename docs/{source/configuration.rst => _sources/configuration.rst.txt} (100%) rename docs/{source/contributing.rst => _sources/contributing.rst.txt} (100%) rename docs/{source/functionallity.rst => _sources/functionallity.rst.txt} (100%) rename docs/{source/index.rst => _sources/index.rst.txt} (100%) rename docs/{source/installation.rst => _sources/installation.rst.txt} (100%) create mode 100644 docs/_static/basic.css create mode 100644 docs/_static/css/badge_only.css create mode 100644 docs/_static/css/fonts/Roboto-Slab-Bold.woff create mode 100644 docs/_static/css/fonts/Roboto-Slab-Bold.woff2 create mode 100644 docs/_static/css/fonts/Roboto-Slab-Regular.woff create mode 100644 docs/_static/css/fonts/Roboto-Slab-Regular.woff2 create mode 100644 docs/_static/css/fonts/fontawesome-webfont.eot create mode 100644 docs/_static/css/fonts/fontawesome-webfont.svg create mode 100644 docs/_static/css/fonts/fontawesome-webfont.ttf create mode 100644 docs/_static/css/fonts/fontawesome-webfont.woff create mode 100644 docs/_static/css/fonts/fontawesome-webfont.woff2 create mode 100644 docs/_static/css/fonts/lato-bold-italic.woff create mode 100644 docs/_static/css/fonts/lato-bold-italic.woff2 create mode 100644 docs/_static/css/fonts/lato-bold.woff create mode 100644 docs/_static/css/fonts/lato-bold.woff2 create mode 100644 docs/_static/css/fonts/lato-normal-italic.woff create mode 100644 docs/_static/css/fonts/lato-normal-italic.woff2 create mode 100644 docs/_static/css/fonts/lato-normal.woff create mode 100644 docs/_static/css/fonts/lato-normal.woff2 create mode 100644 docs/_static/css/theme.css create mode 100644 docs/_static/doctools.js create mode 100644 docs/_static/documentation_options.js create mode 100644 docs/_static/file.png create mode 100644 docs/_static/jquery-3.5.1.js create mode 100644 docs/_static/jquery.js create mode 100644 docs/_static/js/badge_only.js create mode 100644 docs/_static/js/html5shiv-printshiv.min.js create mode 100644 docs/_static/js/html5shiv.min.js create mode 100644 docs/_static/js/theme.js create mode 100644 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-- search page ----------------------------------------------------------- */ + +ul.search { + margin: 10px 0 0 20px; + padding: 0; +} + +ul.search li { + padding: 5px 0 5px 20px; + background-image: url(file.png); + background-repeat: no-repeat; + background-position: 0 7px; +} + +ul.search li a { + font-weight: bold; +} + +ul.search li p.context { + color: #888; + margin: 2px 0 0 30px; + text-align: left; +} + +ul.keywordmatches li.goodmatch a { + font-weight: bold; +} + +/* -- index page ------------------------------------------------------------ */ + +table.contentstable { + width: 90%; + margin-left: auto; + margin-right: auto; +} + +table.contentstable p.biglink { + line-height: 150%; +} + +a.biglink { + font-size: 1.3em; +} + +span.linkdescr { + font-style: italic; + padding-top: 5px; + font-size: 90%; +} + +/* -- general index --------------------------------------------------------- */ + +table.indextable { + width: 100%; +} + +table.indextable td { + text-align: left; + vertical-align: top; +} + +table.indextable ul { + margin-top: 0; + margin-bottom: 0; + list-style-type: none; +} + +table.indextable > tbody > tr > td > ul { + padding-left: 0em; +} + +table.indextable tr.pcap { + height: 10px; +} + +table.indextable tr.cap { + margin-top: 10px; + background-color: #f2f2f2; +} + +img.toggler { + margin-right: 3px; + margin-top: 3px; + cursor: pointer; +} + +div.modindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +div.genindex-jumpbox { + border-top: 1px solid #ddd; + border-bottom: 1px solid #ddd; + margin: 1em 0 1em 0; + padding: 0.4em; +} + +/* -- domain module index --------------------------------------------------- */ + +table.modindextable td { + padding: 2px; + border-collapse: collapse; +} + +/* -- general body styles --------------------------------------------------- */ + +div.body { + min-width: 450px; + max-width: 800px; +} + +div.body p, div.body dd, div.body li, div.body blockquote { + -moz-hyphens: auto; + -ms-hyphens: auto; + -webkit-hyphens: auto; + hyphens: auto; +} + +a.headerlink { + visibility: hidden; +} + +a.brackets:before, +span.brackets > a:before{ + content: "["; +} + +a.brackets:after, +span.brackets > a:after { + content: "]"; +} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, +h4:hover > a.headerlink, +h5:hover > a.headerlink, +h6:hover > a.headerlink, +dt:hover > a.headerlink, +caption:hover > a.headerlink, +p.caption:hover > a.headerlink, +div.code-block-caption:hover > a.headerlink { + visibility: visible; +} + +div.body p.caption { + text-align: inherit; +} + +div.body td { + text-align: left; +} + +.first { + margin-top: 0 !important; +} + +p.rubric { + margin-top: 30px; + font-weight: bold; +} + +img.align-left, figure.align-left, .figure.align-left, object.align-left { + clear: left; + float: left; + margin-right: 1em; +} + +img.align-right, figure.align-right, .figure.align-right, object.align-right { + clear: right; + float: right; + margin-left: 1em; +} + +img.align-center, figure.align-center, .figure.align-center, object.align-center { + display: block; + margin-left: auto; + margin-right: auto; +} + +img.align-default, figure.align-default, .figure.align-default { + display: block; + margin-left: auto; + margin-right: auto; +} + +.align-left { + text-align: left; +} + +.align-center { + text-align: center; +} + +.align-default { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar, +aside.sidebar { + margin: 0 0 0.5em 1em; + border: 1px solid #ddb; + padding: 7px; + background-color: #ffe; + width: 40%; + float: right; + clear: right; + overflow-x: auto; +} + +p.sidebar-title { + font-weight: bold; +} + +div.admonition, div.topic, blockquote { + clear: left; +} + +/* -- topics ---------------------------------------------------------------- */ + +div.topic { + border: 1px solid #ccc; + padding: 7px; + margin: 10px 0 10px 0; +} + +p.topic-title { + font-size: 1.1em; + font-weight: bold; + margin-top: 10px; +} + +/* -- admonitions ----------------------------------------------------------- */ + +div.admonition { + margin-top: 10px; + margin-bottom: 10px; + padding: 7px; +} + +div.admonition dt { + font-weight: bold; +} + +p.admonition-title { + margin: 0px 10px 5px 0px; + font-weight: bold; +} + +div.body p.centered { + text-align: center; + margin-top: 25px; +} + +/* -- content of sidebars/topics/admonitions -------------------------------- */ + +div.sidebar > :last-child, +aside.sidebar > :last-child, +div.topic > :last-child, +div.admonition > :last-child { + margin-bottom: 0; +} + +div.sidebar::after, +aside.sidebar::after, +div.topic::after, +div.admonition::after, +blockquote::after { + display: block; + content: ''; + clear: both; +} + +/* -- tables ---------------------------------------------------------------- */ + +table.docutils { + margin-top: 10px; + margin-bottom: 10px; + border: 0; + border-collapse: collapse; +} + +table.align-center { + margin-left: auto; + margin-right: auto; +} + +table.align-default { + margin-left: auto; + margin-right: auto; +} + +table caption span.caption-number { + font-style: italic; +} + +table caption span.caption-text { +} + +table.docutils td, table.docutils th { + padding: 1px 8px 1px 5px; + border-top: 0; + border-left: 0; + border-right: 0; + border-bottom: 1px solid #aaa; +} + +table.footnote td, table.footnote th { + border: 0 !important; +} + +th { + text-align: left; + padding-right: 5px; +} + +table.citation { + border-left: solid 1px gray; + margin-left: 1px; +} + +table.citation td { + border-bottom: none; +} + +th > :first-child, +td > :first-child { + margin-top: 0px; +} + +th > :last-child, +td > :last-child { + margin-bottom: 0px; +} + +/* -- figures --------------------------------------------------------------- */ + +div.figure, figure { + margin: 0.5em; + padding: 0.5em; +} + +div.figure p.caption, figcaption { + padding: 0.3em; +} + +div.figure p.caption span.caption-number, +figcaption span.caption-number { + font-style: italic; +} + +div.figure p.caption span.caption-text, +figcaption span.caption-text { +} + +/* -- field list styles ----------------------------------------------------- */ + +table.field-list td, table.field-list th { + border: 0 !important; +} + +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.field-name { + -moz-hyphens: manual; + -ms-hyphens: manual; + -webkit-hyphens: manual; + hyphens: manual; +} + +/* -- hlist styles ---------------------------------------------------------- */ + +table.hlist { + margin: 1em 0; +} + +table.hlist td { + vertical-align: top; +} + +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + + +/* -- other body styles ----------------------------------------------------- */ + +ol.arabic { + list-style: decimal; +} + +ol.loweralpha { + list-style: lower-alpha; +} + +ol.upperalpha { + list-style: upper-alpha; +} + +ol.lowerroman { + list-style: lower-roman; +} + +ol.upperroman { + list-style: upper-roman; +} + +:not(li) > ol > li:first-child > :first-child, +:not(li) > ul > li:first-child > :first-child { + margin-top: 0px; +} + +:not(li) > ol > li:last-child > :last-child, +:not(li) > ul > li:last-child > :last-child { + margin-bottom: 0px; +} + +ol.simple ol p, +ol.simple ul p, +ul.simple ol p, +ul.simple ul p { + margin-top: 0; +} + +ol.simple > li:not(:first-child) > p, +ul.simple > li:not(:first-child) > p { + margin-top: 0; +} + +ol.simple p, +ul.simple p { + margin-bottom: 0; +} + +dl.footnote > dt, +dl.citation > dt { + float: left; + margin-right: 0.5em; +} + +dl.footnote > dd, +dl.citation > dd { + margin-bottom: 0em; +} + +dl.footnote > dd:after, +dl.citation > dd:after { + content: ""; + clear: both; +} + +dl.field-list { + display: grid; + grid-template-columns: fit-content(30%) auto; +} + +dl.field-list > dt { + font-weight: bold; + word-break: break-word; + padding-left: 0.5em; + padding-right: 5px; +} + +dl.field-list > dt:after { + content: ":"; +} + +dl.field-list > dd { + 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