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🪄 Formats Peripherals

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This commit is contained in:
Rune Harlyk
2024-07-09 20:09:08 +02:00
committed by Rune Harlyk
parent 1aba163b60
commit b75c3bc251
1 changed files with 77 additions and 86 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/lib/ESP32-sveltekit/Peripherals.h
+77 -86
View File
@@ -28,7 +28,6 @@
#define MAX_ESP_IMU_SIZE 500
#define EVENT_IMU "imu"
/*
* Servo Settings
*/
@@ -48,7 +47,7 @@
#define SCREEN_RESET -1
/*
* I2C software connection
* I2C software connection
*/
#ifndef SDA_PIN
#define SDA_PIN SDA
@@ -61,7 +60,7 @@
#endif
class PinConfig {
public:
public:
int pin;
String mode;
String type;
@@ -71,7 +70,7 @@ public:
};
class PeripheralsConfiguration {
public:
public:
int sda = SDA_PIN;
int scl = SCL_PIN;
long frequency = I2C_FREQUENCY;
@@ -92,30 +91,25 @@ class PeripheralsConfiguration {
};
class Peripherals : public StatefulService<PeripheralsConfiguration> {
public:
Peripherals(PsychicHttpServer *server, FS *fs,
SecurityManager *securityManager,
EventSocket *socket)
public:
Peripherals(PsychicHttpServer *server, FS *fs, SecurityManager *securityManager, EventSocket *socket)
: _server(server),
_socket(socket),
_securityManager(securityManager),
_httpEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update,
this, server, CONFIGURATION_SETTINGS_PATH,
securityManager, AuthenticationPredicates::IS_ADMIN),
_eventEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update,
this, socket, EVENT_CONFIGURATION_SETTINGS),
#if FT_ENABLED(FT_MAG)
_mag(12345),
#endif
#if FT_ENABLED(FT_BMP)
_bmp(10085),
#endif
_fsPersistence(PeripheralsConfiguration::read, PeripheralsConfiguration::update,
this, fs, DEVICE_CONFIG_FILE)
{
addUpdateHandler([&](const String &originId) { updatePins(); },
false);
};
_httpEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, server,
CONFIGURATION_SETTINGS_PATH, securityManager, AuthenticationPredicates::IS_ADMIN),
_eventEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, socket,
EVENT_CONFIGURATION_SETTINGS),
#if FT_ENABLED(FT_MAG)
_mag(12345),
#endif
#if FT_ENABLED(FT_BMP)
_bmp(10085),
#endif
_fsPersistence(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, fs,
DEVICE_CONFIG_FILE) {
addUpdateHandler([&](const String &originId) { updatePins(); }, false);
};
void begin() {
_httpEndpoint.begin();
@@ -134,57 +128,56 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
updatePins();
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(FT_SERVO)
_pca.begin();
_pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
_pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY);
#endif
#endif
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(FT_IMU)
_imu.initialize();
imu_success = _imu.testConnection();
devStatus = _imu.dmpInitialize();
if(!imu_success) {
if (!imu_success) {
ESP_LOGE("IMUService", "MPU initialize failed");
}
_imu.setDMPEnabled(true);
_imu.setI2CMasterModeEnabled(false);
_imu.setI2CBypassEnabled(true);
_imu.setSleepEnabled(false);
#endif
#if FT_ENABLED(FT_MAG)
#endif
#if FT_ENABLED(FT_MAG)
mag_success = _mag.begin();
if(!mag_success) {
if (!mag_success) {
ESP_LOGE("IMUService", "MAG initialize failed");
}
#endif
#if FT_ENABLED(FT_BMP)
}
#endif
#if FT_ENABLED(FT_BMP)
bmp_success = _bmp.begin();
if(!bmp_success) {
if (!bmp_success) {
ESP_LOGE("IMUService", "BMP initialize failed");
}
#endif
#endif
#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(FT_ADS1115)
#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(FT_ADS1115)
if (!_ads.begin()) {
ESP_LOGE("Peripherals", "ADS1015/ADS1115 not found");
}
_ads.startADCReading(ADS1X15_REG_CONFIG_MUX_DIFF_0_1, /*continuous=*/false);
#endif
#endif
};
void loop() {
unsigned long currentMillis = millis();
if (currentMillis - _lastUpdate >= _updateInterval)
{
if (currentMillis - _lastUpdate >= _updateInterval) {
_lastUpdate = currentMillis;
readIMU();
}
}
void updatePins() {
if (i2c_active){
if (i2c_active) {
Wire.end();
}
@@ -227,156 +220,154 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* SERVO FUNCTIONS*/
void pcaWrite(int index, int value) {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(FT_SERVO)
_pca.setPWM(index, 0, value);
#endif
#endif
}
void pcaAngle(int index, int value) {
#if FT_ENABLED(FT_SERVO)
#if FT_ENABLED(FT_SERVO)
// uint16_t pwm = SERVO_MIN + value * SERVO_ANGLE_PWM_RATIO;
_pca.setPWM(index, 0, 125 + value * 2);
#endif
#endif
}
/* 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(FT_ADS1115)
float adc0 = _ads.readADC_SingleEnded(channel);
voltage = _ads.computeVolts(adc0);
#endif
#endif
return voltage;
}
/* IMU FUNCTIONS */
bool readIMU() {
bool updated = false;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(FT_IMU)
updated = imu_success && _imu.dmpGetCurrentFIFOPacket(fifoBuffer);
_imu.dmpGetQuaternion(&q, fifoBuffer);
_imu.dmpGetGravity(&gravity, &q);
_imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
#endif
#endif
return updated;
}
float getTemp() {
float temp = -1;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(FT_IMU)
temp = imu_success ? imu_temperature : -1;
#endif
#endif
return temp;
}
float getAngleX() {
float angle = 0;
#if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[0] * 180/M_PI : 0;
#endif
#if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[0] * 180 / M_PI : 0;
#endif
return angle;
}
float getAngleY() {
float angle = 0;
#if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[1] * 180/M_PI : 0;
#endif
#if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[1] * 180 / M_PI : 0;
#endif
return angle;
}
float getAngleZ() {
float angle = 0;
#if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[2] * 180/M_PI : 0;
#endif
#if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[2] * 180 / M_PI : 0;
#endif
return angle;
}
/* MAG FUNCTIONS */
float getHeading() {
float heading = 0;
#if FT_ENABLED(FT_MAG)
sensors_event_t event;
#if FT_ENABLED(FT_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;
#endif
if (heading < 0) heading += 2 * PI;
if (heading > 2 * PI) heading -= 2 * PI;
heading *= 180 / M_PI;
#endif
return heading;
}
/* BMP FUNCTIONS */
float getAltitude() {
float altitude = -1;
#if FT_ENABLED(FT_MAG)
#if FT_ENABLED(FT_MAG)
sensors_event_t event;
_bmp.getEvent(&event);
float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
altitude = bmp_success && event.pressure ? _bmp.pressureToAltitude(seaLevelPressure, event.pressure) : -1;
#endif
#endif
return altitude;
}
float getPressure() {
float pressure = -1;
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(FT_BMP)
sensors_event_t event;
_bmp.getEvent(&event);
pressure = bmp_success && event.pressure ? event.pressure : -1;
#endif
#endif
return pressure;
}
float getTemperature() {
float temperature = 0;
#if FT_ENABLED(FT_BMP)
#if FT_ENABLED(FT_BMP)
_bmp.getTemperature(&temperature);
temperature = bmp_success ? temperature : -1;
#endif
#endif
return temperature;
}
double round2(double value) {
return (int)(value * 100 + 0.5) / 100.0;
}
double round2(double value) { return (int)(value * 100 + 0.5) / 100.0; }
protected:
protected:
void updateImu() {
doc.clear();
bool newData = false;
#if FT_ENABLED(FT_IMU)
#if FT_ENABLED(FT_IMU)
newData = imu_success && readIMU();
if (imu_success) {
doc["x"] = round2(getAngleX());
doc["y"] = round2(getAngleY());
doc["z"] = round2(getAngleZ());
}
#endif
#if FT_ENABLED(FT_MAG)
#endif
#if FT_ENABLED(FT_MAG)
newData = newData || mag_success;
if (mag_success) {
doc["heading"] = round2(getHeading());
}
#endif
#if FT_ENABLED(FT_BMP)
#endif
#if FT_ENABLED(FT_BMP)
newData = newData || bmp_success;
if (bmp_success) {
doc["pressure"] = round2(getPressure());
doc["altitude"] = round2(getAltitude());
doc["bmp_temp"] = round2(getTemperature());
}
#endif
if(newData) {
#endif
if (newData) {
serializeJson(doc, message);
_socket->emit(EVENT_IMU, message);
}
}
private:
private:
PsychicHttpServer *_server;
EventSocket *_socket;
SecurityManager *_securityManager;
@@ -405,7 +396,7 @@ protected:
bool mag_success {false};
#endif
#if FT_ENABLED(FT_BMP)
Adafruit_BMP085_Unified _bmp;
Adafruit_BMP085_Unified _bmp;
bool bmp_success {false};
#endif
#if FT_ENABLED(FT_ADS1015)