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Add void pointer for initializing sensors

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This commit is contained in:
Niklas Jensen
2025-11-27 23:00:01 +01:00
parent 868ff0446a
commit 0d379a8013
5 changed files with 30 additions and 21 deletions
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esp32/include/peripherals/barometer.h
+1 -1
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@@ -38,7 +38,7 @@ struct BarometerMsg : public SensorMessageBase {
class Barometer : public SensorBase<BarometerMsg> {
public:
bool initialize() override {
bool initialize(void* _) override {
_msg.success = _bmp.begin();
return _msg.success;
}
esp32/include/peripherals/imu.h
+19 -17
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@@ -48,7 +48,7 @@ struct IMUAnglesMsg : public SensorMessageBase {
class IMU : public SensorBase<IMUAnglesMsg> {
public:
bool initialize() override {
bool initialize(void* _arg = nullptr) override {
#if FT_ENABLED(USE_MPU6050)
_imu.initialize();
_msg.success = _imu.testConnection();
@@ -88,23 +88,25 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#endif
#if FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0
_imu.begin(CS_PIN, SPI_PORT);
_imu = (ICM_20948_SPI*)_arg;
_imu->begin(CS_PIN, SPI_PORT);
#else
_imu.begin(Wire, 1, 0xFF);
_imu = (ICM_20948_I2C*)_arg;
_imu->begin(Wire, 1, 0xFF);
#endif
if (_imu.status != ICM_20948_Stat_Ok){ return false; }
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
_imu.setSampleMode((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous);
if (_imu.status != ICM_20948_Stat_Ok){ return false; }
_imu->setSampleMode((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous);
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
ICM_20948_fss_t myFSS;
myFSS.a = gpm2;
myFSS.g = dps250;
_imu.setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
if (_imu.status != ICM_20948_Stat_Ok){ return false; }
_imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
// TODO: Setup low pass filter config
_imu.startupMagnetometer();
if (_imu.status != ICM_20948_Stat_Ok){ return false; }
_imu->startupMagnetometer();
if (_imu->status != ICM_20948_Stat_Ok){ return false; }
#endif
return true;
}
@@ -130,12 +132,12 @@ class IMU : public SensorBase<IMUAnglesMsg> {
return false;
#endif
#if FT_ENABLED(USE_ICM20948)
if (_imu.dataReady())
if (_imu->dataReady())
{
_imu.getAGMT();
_msg.rpy[0] = _imu.gyrX();
_msg.rpy[1] = _imu.gyrY();
_msg.rpy[2] = _imu.gyrZ();
_imu->getAGMT();
_msg.rpy[0] = _imu->gyrX();
_msg.rpy[1] = _imu->gyrY();
_msg.rpy[2] = _imu->gyrZ();
}
#endif
#if FT_ENABLED(USE_BNO055)
@@ -181,10 +183,10 @@ class IMU : public SensorBase<IMUAnglesMsg> {
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
#define SPI_PORT SPI // TODO in periphearals_seetings.h
#define CS_PIN 2
ICM_20948_SPI _imu;
ICM_20948_SPI* _imu;
#else
//#define WIRE_PORT Wire
ICM_20948_I2C _imu;
ICM_20948_I2C* _imu;
#endif
#endif
};
esp32/include/peripherals/magnetometer.h
+1 -1
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@@ -38,7 +38,7 @@ struct MagnetometerMsg : public SensorMessageBase {
class Magnetometer : public SensorBase<MagnetometerMsg> {
public:
bool initialize() override {
bool initialize(void* _) override {
_msg.success = _mag.begin();
return _msg.success;
}
esp32/include/peripherals/sensor.hpp
+1 -1
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@@ -17,7 +17,7 @@ class SensorBase {
public:
SensorBase() {}
virtual bool initialize() = 0;
virtual bool initialize(void* _arg) = 0;
virtual bool update() = 0;
esp32/src/peripherals/peripherals.cpp
+8 -1
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@@ -15,8 +15,15 @@ void Peripherals::begin() {
updatePins();
#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
#elif FT_ENABLED(USE_ICM20948)
#if USE_ICM20948_SPIMODE > 0
ICM_20948_SPI* icm20948 = new ICM_20948_SPI;
#else
ICM_20948_I2C* icm20948 = new ICM_20948_I2C;
#endif
if (!_imu.initialize(icm20948)) ESP_LOGE("IMUService", "IMU initialize failed (ICM20948)");
#endif
#if FT_ENABLED(USE_HMC5883) // TODO: Add USE_ICM20948
if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");