Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🏕️ Renames the feature flag

Browse Source
This commit is contained in:
Rune Harlyk
2024-08-19 18:23:37 +02:00
committed by Rune Harlyk
parent cf55bf509e
commit 586dbc7a9a
14 changed files with 140 additions and 140 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/lib/ESP32-sveltekit/Peripherals.h
+35 -35
View File
@@ -109,10 +109,10 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
CONFIGURATION_SETTINGS_PATH, securityManager, AuthenticationPredicates::IS_ADMIN),
_eventEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, socket,
EVENT_CONFIGURATION_SETTINGS),
#if FT_ENABLED(FT_MAG)
#if FT_ENABLED(USE_MAG)
_mag(12345),
#endif
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(USE_BMP)
_bmp(10085),
#endif
_fsPersistence(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, fs,
@@ -138,7 +138,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
updatePins();
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
_pca.begin();
_pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
_pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY);
@@ -149,7 +149,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
});
#endif
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
_imu.initialize();
imu_success = _imu.testConnection();
devStatus = _imu.dmpInitialize();
@@ -161,27 +161,27 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
_imu.setI2CBypassEnabled(true);
_imu.setSleepEnabled(false);
#endif
#if FT_ENABLED(FT_MAG)
#if FT_ENABLED(USE_MAG)
mag_success = _mag.begin();
if (!mag_success) {
ESP_LOGE("IMUService", "MAG initialize failed");
}
#endif
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(USE_BMP)
bmp_success = _bmp.begin();
if (!bmp_success) {
ESP_LOGE("IMUService", "BMP initialize failed");
}
#endif
#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(FT_ADS1115)
#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(USE_ADS1115)
if (!_ads.begin()) {
ESP_LOGE("Peripherals", "ADS1015/ADS1115 not found");
}
_ads.startADCReading(ADS1X15_REG_CONFIG_MUX_DIFF_0_1, /*continuous=*/false);
#endif
#if FT_ENABLED(FT_USS)
#if FT_ENABLED(USE_USS)
_left_sonar = new NewPing(USS_LEFT_PIN, USS_LEFT_PIN, MAX_DISTANCE);
_right_sonar = new NewPing(USS_RIGHT_PIN, USS_RIGHT_PIN, MAX_DISTANCE);
#endif
@@ -241,13 +241,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* SERVO FUNCTIONS*/
void pcaLerpTo(int index, int value, float t) {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
target_pwm[index] = lerp(pwm[index], value, t);
#endif
}
void pcaWrite(int index, int value) {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
if (value < 0 || value > 4096) {
ESP_LOGE("Peripherals", "Invalid PWM value %d for %d :: Valid range 0-4096", value, index);
return;
@@ -261,13 +261,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
}
void pcaWriteAngle(int index, int angle) {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
_pca.setPWM(index, 0, 125 + angle * 2);
#endif
}
void pcaWriteAngles(float *angles, int numServos, int offset = 0) {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
for (int i = 0; i < numServos; i++) {
pcaWriteAngle(i + offset, angles[i]);
}
@@ -275,7 +275,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
}
void pcaActivate() {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
if (_pca_active) return;
_pca_active = true;
_pca.wakeup();
@@ -283,7 +283,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
}
void pcaDeactivate() {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
if (!_pca_active) return;
_pca_active = false;
_pca.sleep();
@@ -293,7 +293,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* ADC FUNCTIONS*/
int16_t readADCVoltage(uint8_t channel) {
int16_t voltage = -1;
#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(FT_ADS1115)
#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(USE_ADS1115)
float adc0 = _ads.readADC_SingleEnded(channel);
voltage = _ads.computeVolts(adc0);
#endif
@@ -303,7 +303,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* IMU FUNCTIONS */
bool readIMU() {
bool updated = false;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
updated = imu_success && _imu.dmpGetCurrentFIFOPacket(fifoBuffer);
_imu.dmpGetQuaternion(&q, fifoBuffer);
_imu.dmpGetGravity(&gravity, &q);
@@ -314,7 +314,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
float getTemp() {
float temp = -1;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
temp = imu_success ? imu_temperature : -1;
#endif
return temp;
@@ -322,7 +322,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
float getAngleX() {
float angle = 0;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
angle = imu_success ? ypr[0] * 180 / M_PI : 0;
#endif
return angle;
@@ -330,7 +330,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
float getAngleY() {
float angle = 0;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
angle = imu_success ? ypr[1] * 180 / M_PI : 0;
#endif
return angle;
@@ -338,7 +338,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
float getAngleZ() {
float angle = 0;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
angle = imu_success ? ypr[2] * 180 / M_PI : 0;
#endif
return angle;
@@ -347,7 +347,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* MAG FUNCTIONS */
float getHeading() {
float heading = 0;
#if FT_ENABLED(FT_MAG)
#if FT_ENABLED(USE_MAG)
sensors_event_t event;
_mag.getEvent(&event);
heading = atan2(event.magnetic.y, event.magnetic.x);
@@ -363,7 +363,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* BMP FUNCTIONS */
float getAltitude() {
float altitude = -1;
#if FT_ENABLED(FT_MAG)
#if FT_ENABLED(USE_MAG)
sensors_event_t event;
_bmp.getEvent(&event);
float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
@@ -374,7 +374,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
float getPressure() {
float pressure = -1;
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(USE_BMP)
sensors_event_t event;
_bmp.getEvent(&event);
pressure = bmp_success && event.pressure ? event.pressure : -1;
@@ -384,7 +384,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
float getTemperature() {
float temperature = 0;
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(USE_BMP)
_bmp.getTemperature(&temperature);
temperature = bmp_success ? temperature : -1;
#endif
@@ -395,7 +395,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
void updateImu() {
doc.clear();
bool newData = false;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
newData = imu_success && readIMU();
if (imu_success) {
doc["x"] = round2(getAngleX());
@@ -403,13 +403,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
doc["z"] = round2(getAngleZ());
}
#endif
#if FT_ENABLED(FT_MAG)
#if FT_ENABLED(USE_MAG)
newData = newData || mag_success;
if (mag_success) {
doc["heading"] = round2(getHeading());
}
#endif
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(USE_BMP)
newData = newData || bmp_success;
if (bmp_success) {
doc["pressure"] = round2(getPressure());
@@ -424,7 +424,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
}
void readSonar() {
#if FT_ENABLED(FT_USS)
#if FT_ENABLED(USE_USS)
_left_distance = _left_sonar->ping_cm();
delay(50);
_right_distance = _right_sonar->ping_cm();
@@ -432,7 +432,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
}
void emitSonar() {
#if FT_ENABLED(FT_USS)
#if FT_ENABLED(USE_USS)
char output[16];
snprintf(output, sizeof(output), "[%.1f,%.1f]", _left_distance, _right_distance);
@@ -459,13 +459,13 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
JsonDocument doc;
char message[MAX_ESP_IMU_SIZE];
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(USE_SERVO)
Adafruit_PWMServoDriver _pca;
bool _pca_active {false};
uint16_t pwm[16] = {0};
uint16_t target_pwm[16] = {0};
#endif
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(USE_IMU)
MPU6050 _imu;
bool imu_success {false};
uint8_t devStatus {false};
@@ -475,21 +475,21 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
float ypr[3];
float imu_temperature {-1};
#endif
#if FT_ENABLED(FT_MAG)
#if FT_ENABLED(USE_MAG)
Adafruit_HMC5883_Unified _mag;
bool mag_success {false};
#endif
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(USE_BMP)
Adafruit_BMP085_Unified _bmp;
bool bmp_success {false};
#endif
#if FT_ENABLED(FT_ADS1015)
Adafruit_ADS1015 _ads;
#endif
#if FT_ENABLED(FT_ADS1115)
#if FT_ENABLED(USE_ADS1115)
Adafruit_ADS1115 _ads;
#endif
#if FT_ENABLED(FT_USS)
#if FT_ENABLED(USE_USS)
NewPing *_left_sonar;
NewPing *_right_sonar;
#endif