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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
+74 -83
View File
@@ -28,7 +28,6 @@
#define MAX_ESP_IMU_SIZE 500 #define MAX_ESP_IMU_SIZE 500
#define EVENT_IMU "imu" #define EVENT_IMU "imu"
/* /*
* Servo Settings * Servo Settings
*/ */
@@ -61,7 +60,7 @@
#endif #endif
class PinConfig { class PinConfig {
public: public:
int pin; int pin;
String mode; String mode;
String type; String type;
@@ -71,7 +70,7 @@ public:
}; };
class PeripheralsConfiguration { class PeripheralsConfiguration {
public: public:
int sda = SDA_PIN; int sda = SDA_PIN;
int scl = SCL_PIN; int scl = SCL_PIN;
long frequency = I2C_FREQUENCY; long frequency = I2C_FREQUENCY;
@@ -92,30 +91,25 @@ class PeripheralsConfiguration {
}; };
class Peripherals : public StatefulService<PeripheralsConfiguration> { class Peripherals : public StatefulService<PeripheralsConfiguration> {
public: public:
Peripherals(PsychicHttpServer *server, FS *fs, Peripherals(PsychicHttpServer *server, FS *fs, SecurityManager *securityManager, EventSocket *socket)
SecurityManager *securityManager,
EventSocket *socket)
: _server(server), : _server(server),
_socket(socket), _socket(socket),
_securityManager(securityManager), _securityManager(securityManager),
_httpEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, _httpEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, server,
this, server, CONFIGURATION_SETTINGS_PATH, CONFIGURATION_SETTINGS_PATH, securityManager, AuthenticationPredicates::IS_ADMIN),
securityManager, AuthenticationPredicates::IS_ADMIN), _eventEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, socket,
_eventEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, EVENT_CONFIGURATION_SETTINGS),
this, socket, EVENT_CONFIGURATION_SETTINGS), #if FT_ENABLED(FT_MAG)
#if FT_ENABLED(FT_MAG) _mag(12345),
_mag(12345), #endif
#endif #if FT_ENABLED(FT_BMP)
#if FT_ENABLED(FT_BMP) _bmp(10085),
_bmp(10085), #endif
#endif _fsPersistence(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, fs,
_fsPersistence(PeripheralsConfiguration::read, PeripheralsConfiguration::update, DEVICE_CONFIG_FILE) {
this, fs, DEVICE_CONFIG_FILE) addUpdateHandler([&](const String &originId) { updatePins(); }, false);
{ };
addUpdateHandler([&](const String &originId) { updatePins(); },
false);
};
void begin() { void begin() {
_httpEndpoint.begin(); _httpEndpoint.begin();
@@ -134,57 +128,56 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
updatePins(); updatePins();
#if FT_ENABLED(FT_SERVO) #if FT_ENABLED(FT_SERVO)
_pca.begin(); _pca.begin();
_pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY); _pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
_pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY); _pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY);
#endif #endif
#if FT_ENABLED(FT_IMU) #if FT_ENABLED(FT_IMU)
_imu.initialize(); _imu.initialize();
imu_success = _imu.testConnection(); imu_success = _imu.testConnection();
devStatus = _imu.dmpInitialize(); devStatus = _imu.dmpInitialize();
if(!imu_success) { if (!imu_success) {
ESP_LOGE("IMUService", "MPU initialize failed"); ESP_LOGE("IMUService", "MPU initialize failed");
} }
_imu.setDMPEnabled(true); _imu.setDMPEnabled(true);
_imu.setI2CMasterModeEnabled(false); _imu.setI2CMasterModeEnabled(false);
_imu.setI2CBypassEnabled(true); _imu.setI2CBypassEnabled(true);
_imu.setSleepEnabled(false); _imu.setSleepEnabled(false);
#endif #endif
#if FT_ENABLED(FT_MAG) #if FT_ENABLED(FT_MAG)
mag_success = _mag.begin(); mag_success = _mag.begin();
if(!mag_success) { if (!mag_success) {
ESP_LOGE("IMUService", "MAG initialize failed"); ESP_LOGE("IMUService", "MAG initialize failed");
} }
#endif #endif
#if FT_ENABLED(FT_BMP) #if FT_ENABLED(FT_BMP)
bmp_success = _bmp.begin(); bmp_success = _bmp.begin();
if(!bmp_success) { if (!bmp_success) {
ESP_LOGE("IMUService", "BMP initialize failed"); 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()) { if (!_ads.begin()) {
ESP_LOGE("Peripherals", "ADS1015/ADS1115 not found"); ESP_LOGE("Peripherals", "ADS1015/ADS1115 not found");
} }
_ads.startADCReading(ADS1X15_REG_CONFIG_MUX_DIFF_0_1, /*continuous=*/false); _ads.startADCReading(ADS1X15_REG_CONFIG_MUX_DIFF_0_1, /*continuous=*/false);
#endif #endif
}; };
void loop() { void loop() {
unsigned long currentMillis = millis(); unsigned long currentMillis = millis();
if (currentMillis - _lastUpdate >= _updateInterval) if (currentMillis - _lastUpdate >= _updateInterval) {
{
_lastUpdate = currentMillis; _lastUpdate = currentMillis;
readIMU(); readIMU();
} }
} }
void updatePins() { void updatePins() {
if (i2c_active){ if (i2c_active) {
Wire.end(); Wire.end();
} }
@@ -227,156 +220,154 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
/* SERVO FUNCTIONS*/ /* SERVO FUNCTIONS*/
void pcaWrite(int index, int value) { void pcaWrite(int index, int value) {
#if FT_ENABLED(FT_SERVO) #if FT_ENABLED(FT_SERVO)
_pca.setPWM(index, 0, value); _pca.setPWM(index, 0, value);
#endif #endif
} }
void pcaAngle(int index, int value) { 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; // uint16_t pwm = SERVO_MIN + value * SERVO_ANGLE_PWM_RATIO;
_pca.setPWM(index, 0, 125 + value * 2); _pca.setPWM(index, 0, 125 + value * 2);
#endif #endif
} }
/* ADC FUNCTIONS*/ /* ADC FUNCTIONS*/
int16_t readADCVoltage(uint8_t channel) { int16_t readADCVoltage(uint8_t channel) {
int16_t voltage = -1; 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); float adc0 = _ads.readADC_SingleEnded(channel);
voltage = _ads.computeVolts(adc0); voltage = _ads.computeVolts(adc0);
#endif #endif
return voltage; return voltage;
} }
/* IMU FUNCTIONS */ /* IMU FUNCTIONS */
bool readIMU() { bool readIMU() {
bool updated = false; bool updated = false;
#if FT_ENABLED(FT_IMU) #if FT_ENABLED(FT_IMU)
updated = imu_success && _imu.dmpGetCurrentFIFOPacket(fifoBuffer); updated = imu_success && _imu.dmpGetCurrentFIFOPacket(fifoBuffer);
_imu.dmpGetQuaternion(&q, fifoBuffer); _imu.dmpGetQuaternion(&q, fifoBuffer);
_imu.dmpGetGravity(&gravity, &q); _imu.dmpGetGravity(&gravity, &q);
_imu.dmpGetYawPitchRoll(ypr, &q, &gravity); _imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
#endif #endif
return updated; return updated;
} }
float getTemp() { float getTemp() {
float temp = -1; float temp = -1;
#if FT_ENABLED(FT_IMU) #if FT_ENABLED(FT_IMU)
temp = imu_success ? imu_temperature : -1; temp = imu_success ? imu_temperature : -1;
#endif #endif
return temp; return temp;
} }
float getAngleX() { float getAngleX() {
float angle = 0; float angle = 0;
#if FT_ENABLED(FT_IMU) #if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[0] * 180/M_PI : 0; angle = imu_success ? ypr[0] * 180 / M_PI : 0;
#endif #endif
return angle; return angle;
} }
float getAngleY() { float getAngleY() {
float angle = 0; float angle = 0;
#if FT_ENABLED(FT_IMU) #if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[1] * 180/M_PI : 0; angle = imu_success ? ypr[1] * 180 / M_PI : 0;
#endif #endif
return angle; return angle;
} }
float getAngleZ() { float getAngleZ() {
float angle = 0; float angle = 0;
#if FT_ENABLED(FT_IMU) #if FT_ENABLED(FT_IMU)
angle = imu_success ? ypr[2] * 180/M_PI : 0; angle = imu_success ? ypr[2] * 180 / M_PI : 0;
#endif #endif
return angle; return angle;
} }
/* MAG FUNCTIONS */ /* MAG FUNCTIONS */
float getHeading() { float getHeading() {
float heading = 0; float heading = 0;
#if FT_ENABLED(FT_MAG) #if FT_ENABLED(FT_MAG)
sensors_event_t event; sensors_event_t event;
_mag.getEvent(&event); _mag.getEvent(&event);
heading = atan2(event.magnetic.y, event.magnetic.x); heading = atan2(event.magnetic.y, event.magnetic.x);
float declinationAngle = 0.22; float declinationAngle = 0.22;
heading += declinationAngle; heading += declinationAngle;
if(heading < 0) heading += 2 * PI; if (heading < 0) heading += 2 * PI;
if(heading > 2 * PI) heading -= 2 * PI; if (heading > 2 * PI) heading -= 2 * PI;
heading *= 180/M_PI; heading *= 180 / M_PI;
#endif #endif
return heading; return heading;
} }
/* BMP FUNCTIONS */ /* BMP FUNCTIONS */
float getAltitude() { float getAltitude() {
float altitude = -1; float altitude = -1;
#if FT_ENABLED(FT_MAG) #if FT_ENABLED(FT_MAG)
sensors_event_t event; sensors_event_t event;
_bmp.getEvent(&event); _bmp.getEvent(&event);
float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA; float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
altitude = bmp_success && event.pressure ? _bmp.pressureToAltitude(seaLevelPressure, event.pressure) : -1; altitude = bmp_success && event.pressure ? _bmp.pressureToAltitude(seaLevelPressure, event.pressure) : -1;
#endif #endif
return altitude; return altitude;
} }
float getPressure() { float getPressure() {
float pressure = -1; float pressure = -1;
#if FT_ENABLED(FT_BMP) #if FT_ENABLED(FT_BMP)
sensors_event_t event; sensors_event_t event;
_bmp.getEvent(&event); _bmp.getEvent(&event);
pressure = bmp_success && event.pressure ? event.pressure : -1; pressure = bmp_success && event.pressure ? event.pressure : -1;
#endif #endif
return pressure; return pressure;
} }
float getTemperature() { float getTemperature() {
float temperature = 0; float temperature = 0;
#if FT_ENABLED(FT_BMP) #if FT_ENABLED(FT_BMP)
_bmp.getTemperature(&temperature); _bmp.getTemperature(&temperature);
temperature = bmp_success ? temperature : -1; temperature = bmp_success ? temperature : -1;
#endif #endif
return temperature; return temperature;
} }
double round2(double value) { double round2(double value) { return (int)(value * 100 + 0.5) / 100.0; }
return (int)(value * 100 + 0.5) / 100.0;
}
protected: protected:
void updateImu() { void updateImu() {
doc.clear(); doc.clear();
bool newData = false; bool newData = false;
#if FT_ENABLED(FT_IMU) #if FT_ENABLED(FT_IMU)
newData = imu_success && readIMU(); newData = imu_success && readIMU();
if (imu_success) { if (imu_success) {
doc["x"] = round2(getAngleX()); doc["x"] = round2(getAngleX());
doc["y"] = round2(getAngleY()); doc["y"] = round2(getAngleY());
doc["z"] = round2(getAngleZ()); doc["z"] = round2(getAngleZ());
} }
#endif #endif
#if FT_ENABLED(FT_MAG) #if FT_ENABLED(FT_MAG)
newData = newData || mag_success; newData = newData || mag_success;
if (mag_success) { if (mag_success) {
doc["heading"] = round2(getHeading()); doc["heading"] = round2(getHeading());
} }
#endif #endif
#if FT_ENABLED(FT_BMP) #if FT_ENABLED(FT_BMP)
newData = newData || bmp_success; newData = newData || bmp_success;
if (bmp_success) { if (bmp_success) {
doc["pressure"] = round2(getPressure()); doc["pressure"] = round2(getPressure());
doc["altitude"] = round2(getAltitude()); doc["altitude"] = round2(getAltitude());
doc["bmp_temp"] = round2(getTemperature()); doc["bmp_temp"] = round2(getTemperature());
} }
#endif #endif
if(newData) { if (newData) {
serializeJson(doc, message); serializeJson(doc, message);
_socket->emit(EVENT_IMU, message); _socket->emit(EVENT_IMU, message);
} }
} }
private: private:
PsychicHttpServer *_server; PsychicHttpServer *_server;
EventSocket *_socket; EventSocket *_socket;
SecurityManager *_securityManager; SecurityManager *_securityManager;