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🧼 Makes magnometer own class

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This commit is contained in:
Rune Harlyk
2024-11-14 16:30:58 +01:00
committed by Rune Harlyk
parent d5b003ab94
commit b5a8fe88ca
4 changed files with 71 additions and 32 deletions
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esp32/lib/ESP32-sveltekit/peripherals/peripherals.h
+10 -25
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@@ -16,10 +16,10 @@
#include <Wire.h>
#include <Adafruit_BMP085_U.h>
#include <Adafruit_HMC5883_U.h>
#include <Adafruit_Sensor.h>
#include <NewPing.h>
#include <peripherals/imu.h>
#include <peripherals/magnetometer.h>
#define EVENT_CONFIGURATION_SETTINGS "peripheralSettings"
@@ -47,9 +47,6 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
: endpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this),
_eventEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this,
EVENT_CONFIGURATION_SETTINGS),
#if FT_ENABLED(USE_MAG)
_mag(12345),
#endif
#if FT_ENABLED(USE_BMP)
_bmp(10085),
#endif
@@ -78,10 +75,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
#endif
#if FT_ENABLED(USE_MAG)
mag_success = _mag.begin();
if (!mag_success) {
ESP_LOGE("IMUService", "MAG initialize failed");
}
if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
#endif
#if FT_ENABLED(USE_BMP)
bmp_success = _bmp.begin();
@@ -159,20 +153,14 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
return updated;
}
/* MAG FUNCTIONS */
float getHeading() {
float heading = 0;
bool readMag() {
bool updated = false;
#if FT_ENABLED(USE_MAG)
sensors_event_t event;
_mag.getEvent(&event);
heading = atan2(event.magnetic.y, event.magnetic.x);
float declinationAngle = 0.22;
heading += declinationAngle;
if (heading < 0) heading += 2 * PI;
if (heading > 2 * PI) heading -= 2 * PI;
heading *= 180 / M_PI;
beginTransaction();
updated = _mag.readMagnetometer();
endTransaction();
#endif
return heading;
return updated;
}
/* BMP FUNCTIONS */
@@ -226,9 +214,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
_imu.readIMU(root);
#endif
#if FT_ENABLED(USE_MAG)
if (mag_success) {
doc["heading"] = round2(getHeading());
}
_mag.readMagnetometer(root);
#endif
#if FT_ENABLED(USE_BMP)
if (bmp_success) {
@@ -265,8 +251,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
IMU _imu;
#endif
#if FT_ENABLED(USE_MAG)
Adafruit_HMC5883_Unified _mag;
bool mag_success {false};
Magnetometer _mag;
#endif
#if FT_ENABLED(USE_BMP)
Adafruit_BMP085_Unified _bmp;