Updates for floaty build
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Magnus Persson
parent
29d6486743
commit
f220df08ac
70
src/gyro.cpp
70
src/gyro.cpp
@ -30,22 +30,41 @@ MPU6050 accelgyro;
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#define GYRO_USE_INTERRUPT // Use interrupt to detect when new sample is ready
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#define GYRO_SHOW_MINMAX // Will calculate the min/max values when doing
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// calibration
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// #define GYRO_CALIBRATE_STARTUP // Will calibrate sensor at startup
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//
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// Initialize the sensor chip.
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//
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bool GyroSensor::setup() {
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int clock = 400000;
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#if defined(FLOATY)
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pinMode(PIN_VCC, OUTPUT);
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pinMode(PIN_GND, OUTPUT_OPEN_DRAIN);
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digitalWrite(PIN_VCC, HIGH);
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digitalWrite(PIN_GND, LOW);
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delay(10); // Wait for the pins to settle or we will fail to connect
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#else
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#endif
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/* For testing pin config of new boards with led.
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pinMode(PIN_SDA, OUTPUT);
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pinMode(PIN_SCL, OUTPUT);
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for(int i = 0, j = LOW, k = LOW; i < 100; i++) {
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digitalWrite(PIN_SDA, k);
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digitalWrite(PIN_SCL, j);
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k = !k;
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delay(300);
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digitalWrite(PIN_SDA, k);
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k = !k;
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j = !j;
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delay(300);
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}*/
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Setting up hardware." CR));
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#endif
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Wire.begin(PIN_SDA, PIN_SCL);
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Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having
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// compilation difficulties
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Wire.setClock(clock); // 400kHz I2C clock.
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uint8_t id = accelgyro.getDeviceID();
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if (id != 0x34 && id != 0x38) { // Allow both MPU6050 and MPU6000
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if (id != 0x34 && id != 0x38) { // Allow both MPU6050 and MPU6500
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writeErrorLog("GYRO: Failed to connect to gyro, is it connected?");
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_sensorConnected = false;
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} else {
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@ -68,11 +87,6 @@ bool GyroSensor::setup() {
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accelgyro.setIntDataReadyEnabled(true);
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#endif
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#if defined(GYRO_CALIBRATE_STARTUP)
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// Run the calibration at start, useful for testing.
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calibrateSensor();
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#endif
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// Once we have calibration values stored we just apply them from the
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// config.
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_calibrationOffset = myConfig.getGyroCalibration();
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@ -81,19 +95,17 @@ bool GyroSensor::setup() {
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return _sensorConnected;
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}
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//
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// Set sensor in sleep mode to conserve battery
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//
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void GyroSensor::enterSleep() {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Setting up hardware." CR));
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#endif
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#if defined(FLOATY)
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digitalWrite(PIN_VCC, LOW);
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#else
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accelgyro.setSleepEnabled(true);
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#endif
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}
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//
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// Do a number of reads to get a more stable value.
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//
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void GyroSensor::readSensor(RawGyroData &raw, const int noIterations,
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const int delayTime) {
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RawGyroDataL average = {0, 0, 0, 0, 0, 0};
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@ -179,9 +191,6 @@ void GyroSensor::readSensor(RawGyroData &raw, const int noIterations,
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#endif
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}
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//
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// Calcuate the angles (tilt)
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//
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float GyroSensor::calculateAngle(RawGyroData &raw) {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Calculating the angle." CR));
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@ -209,9 +218,6 @@ float GyroSensor::calculateAngle(RawGyroData &raw) {
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return vY;
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}
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//
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// Check if the values are high that indicate that the sensor is moving.
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//
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bool GyroSensor::isSensorMoving(RawGyroData &raw) {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Checking for sensor movement." CR));
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@ -229,9 +235,6 @@ bool GyroSensor::isSensorMoving(RawGyroData &raw) {
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return false;
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}
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//
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// Read the tilt angle from the gyro.
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//
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bool GyroSensor::read() {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Getting new gyro position." CR));
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@ -270,9 +273,6 @@ bool GyroSensor::read() {
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return _validValue;
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}
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//
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// Dump the stored calibration values.
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//
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void GyroSensor::dumpCalibration() {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Accel offset\t%d\t%d\t%d" CR), _calibrationOffset.ax,
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@ -282,9 +282,6 @@ void GyroSensor::dumpCalibration() {
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#endif
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}
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//
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// Update the sensor with out calculated offsets.
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//
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void GyroSensor::applyCalibration() {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Applying calibration offsets to sensor." CR));
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@ -306,9 +303,6 @@ void GyroSensor::applyCalibration() {
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accelgyro.setZGyroOffset(_calibrationOffset.gz);
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}
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//
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// Calculate the offsets for calibration.
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//
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void GyroSensor::calibrateSensor() {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Calibrating sensor" CR));
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@ -330,14 +324,10 @@ void GyroSensor::calibrateSensor() {
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_calibrationOffset.gy = accelgyro.getYGyroOffset();
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_calibrationOffset.gz = accelgyro.getZGyroOffset();
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// Save the calibrated values
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myConfig.setGyroCalibration(_calibrationOffset);
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myConfig.saveFile();
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}
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//
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// Calibrate the device.
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//
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void GyroSensor::debug() {
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#if LOG_LEVEL == 6 && !defined(GYRO_DISABLE_LOGGING)
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Log.verbose(F("GYRO: Debug - Clock src %d." CR),
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@ -256,11 +256,8 @@ void setup() {
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millis(); // Dont include time for wifi connection
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}
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//
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// Main loop that does gravity readings and push data to targets
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//
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// Return true if gravity reading was successful
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//
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bool loopReadGravity() {
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float angle = 0;
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@ -339,10 +336,8 @@ bool loopReadGravity() {
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return false;
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}
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//
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// Wrapper for loopGravity that only calls every 200ms so that we dont overload
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// this.
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//
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void loopGravityOnInterval() {
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if (abs((int32_t)(millis() - loopMillis)) > interval) {
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loopReadGravity();
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@ -358,9 +353,6 @@ void loopGravityOnInterval() {
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bool skipRunTimeLog = false;
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//
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// Main loop that determines if device should go to sleep
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//
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void goToSleep(int sleepInterval) {
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float volt = myBatteryVoltage.getVoltage();
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float runtime = (millis() - runtimeMillis);
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12
src/main.hpp
12
src/main.hpp
@ -38,6 +38,8 @@ enum RunMode {
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extern RunMode runMode;
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#if defined(ESP8266)
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// Hardware config for ESP8266-d1, iSpindel hardware
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// ------------------------------------------------------
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#include <LittleFS.h>
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#define ESP_RESET ESP.reset
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#define PIN_SDA D3
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@ -46,6 +48,8 @@ extern RunMode runMode;
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#define PIN_LED 2
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// #define PIN_A0 A0
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#elif defined(ESP32C3)
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// Hardware config for ESP32-c3-mini, iSpindel hardware
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// ------------------------------------------------------
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#include <FS.h>
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#include <LittleFS.h>
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@ -67,6 +71,8 @@ extern RunMode runMode;
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// cannot use both. So we point LED to pin 8 which is not used.
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#define PIN_LED 8
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#elif defined(ESP32S2)
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// Hardware config for ESP32-s2-mini, iSpindel hardware
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// ------------------------------------------------------
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#include <FS.h>
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#include <LittleFS.h>
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@ -80,6 +86,8 @@ extern RunMode runMode;
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#define PIN_A0 A2
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#define PIN_LED LED_BUILTIN
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#elif defined(ESP32LITE)
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// Hardware config for ESP32-lite, Floaty hardware
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// ------------------------------------------------------
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#include <FS.h>
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#include <LittleFS.h>
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@ -91,8 +99,12 @@ extern RunMode runMode;
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#define PIN_SCL A19
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#define PIN_DS A3
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#define PIN_A0 A0
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#define PIN_VCC A5
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#define PIN_GND A18
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#define PIN_LED LED_BUILTIN
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#else // defined (ESP32)
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// Hardware config for ESP32-d1-min, iSpindel hardware
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// ------------------------------------------------------
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#include <FS.h>
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#include <LittleFS.h>
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