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https://github.com/meshtastic/firmware.git
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85 lines
2.7 KiB
C++
Executable File
85 lines
2.7 KiB
C++
Executable File
#include "BMX160Sensor.h"
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#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
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BMX160Sensor::BMX160Sensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
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#if !defined(RAK2560) && __has_include(<Rak_BMX160.h>)
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
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// screen is defined in main.cpp
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extern std::unique_ptr<graphics::Screen> screen;
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#endif
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bool BMX160Sensor::init()
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{
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if (sensor.begin()) {
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// set output data rate
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sensor.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ);
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loadMagnetometerCalibration(compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
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LOG_DEBUG("BMX160 init ok");
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return true;
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}
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LOG_DEBUG("BMX160 init failed");
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return false;
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}
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int32_t BMX160Sensor::runOnce()
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{
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
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sBmx160SensorData_t magAccel;
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sBmx160SensorData_t gAccel;
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/* Get a new sensor event */
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sensor.getAllData(&magAccel, NULL, &gAccel);
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if (doCalibration) {
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beginCalibrationDisplay(showingScreen);
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updateCalibrationExtrema(magAccel.x, magAccel.y, magAccel.z, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
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finishCalibrationIfExpired(showingScreen, compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ,
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lowestZ);
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}
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magAccel.x -= (highestX + lowestX) / 2;
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magAccel.y -= (highestY + lowestY) / 2;
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magAccel.z -= (highestZ + lowestZ) / 2;
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FusionVector ga, ma;
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ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board
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ga.axis.y = -gAccel.y;
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ga.axis.z = gAccel.z;
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ma.axis.x = -magAccel.x;
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ma.axis.y = -magAccel.y;
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ma.axis.z = magAccel.z * 3;
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// If we're set to one of the inverted positions
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if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
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ma = FusionRemap(ma, FusionRemapAlignmentNXNYPZ);
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ga = FusionRemap(ga, FusionRemapAlignmentNXNYPZ);
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}
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float heading = FusionCompass(ga, ma, FusionConventionNed);
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heading = applyCompassOrientation(heading);
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if (screen)
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screen->setHeading(heading);
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#endif
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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void BMX160Sensor::calibrate(uint16_t forSeconds)
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{
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
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sBmx160SensorData_t magAccel;
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sBmx160SensorData_t gAccel;
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LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
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sensor.getAllData(&magAccel, NULL, &gAccel);
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seedCalibrationExtrema(magAccel.x, magAccel.y, magAccel.z, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
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startCalibrationWindow(forSeconds);
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#endif
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}
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#endif
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#endif
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