Niklas Jensen
110 lines
3.3 KiB
C++
110 lines
3.3 KiB
C++
#pragma once
|
|
|
|
#include <list>
|
|
#include <SPI.h>
|
|
#include <Wire.h>
|
|
#include <ArduinoJson.h>
|
|
#include <utils/math_utils.h>
|
|
|
|
#include <Adafruit_HMC5883_U.h>
|
|
#include <Adafruit_Sensor.h>
|
|
|
|
#include <peripherals/sensor.hpp>
|
|
|
|
|
|
struct MagnetometerMsg : public SensorMessageBase {
|
|
float rpy[3] {0, 0, 0};
|
|
float heading {-1};
|
|
|
|
void toJson(JsonVariant v) const override {
|
|
JsonArray arr = v.to<JsonArray>();
|
|
arr.add(rpy[0]);
|
|
arr.add(rpy[1]);
|
|
arr.add(rpy[2]);
|
|
arr.add(heading);
|
|
arr.add(success);
|
|
}
|
|
|
|
void fromJson(JsonVariantConst v) override {
|
|
JsonArrayConst arr = v.as<JsonArrayConst>();
|
|
rpy[0] = arr[0] | 0.0f;
|
|
rpy[1] = arr[1] | 0.0f;
|
|
rpy[2] = arr[2] | 0.0f;
|
|
heading = arr[3] | -1.0f;
|
|
success = arr[4] | false;
|
|
}
|
|
|
|
friend void toJson(JsonVariant v, MagnetometerMsg const& a) { a.toJson(v); }
|
|
};
|
|
|
|
class Magnetometer : public SensorBase<MagnetometerMsg> {
|
|
public:
|
|
bool initialize(void* _arg) override {
|
|
#if FT_ENABLED(USE_ICM20948)
|
|
#if USE_ICM20948_SPIMODE > 0
|
|
_mag = (ICM_20948_SPI*)_arg;
|
|
if (true || !_mag->isConnected()) { _mag->begin(CS_PIN, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode"); }
|
|
#else
|
|
_mag = (ICM_20948_I2C*)_arg;
|
|
if (true || !_mag->isConnected()) { _mag->begin(Wire, 1, 0xFF); ESP_LOGI("Magnetometer", "Beginning ICM20948 in I2C mode"); }
|
|
|
|
#endif
|
|
if (_mag->status != ICM_20948_Stat_Ok){ return false; }
|
|
|
|
_mag->startupMagnetometer();
|
|
if (_mag->status != ICM_20948_Stat_Ok){ return false; }
|
|
#elif FT_ENABLED(USE_HMC5883)
|
|
_msg.success = _mag.begin();
|
|
#endif
|
|
return _msg.success;
|
|
}
|
|
|
|
bool update() override {
|
|
if (!_msg.success) return false;
|
|
#if FT_ENABLED(USE_ICM20948)
|
|
_mag->getAGMT();
|
|
if (_mag->status != ICM_20948_Stat_Ok){ return false; }
|
|
_msg.rpy[0] = _mag->magX();
|
|
_msg.rpy[1] = _mag->magY();
|
|
_msg.rpy[2] = _mag->magZ();
|
|
|
|
#elif FT_ENABLED(USE_HMC5883)
|
|
sensors_event_t event;
|
|
bool updated = _mag.getEvent(&event);
|
|
if (!updated) return false;
|
|
_msg.rpy[0] = event.magnetic.x;
|
|
_msg.rpy[1] = event.magnetic.y;
|
|
_msg.rpy[2] = event.magnetic.z;
|
|
#endif
|
|
_msg.heading = atan2(_msg.rpy[1], _msg.rpy[0]); // atan2(y, x)
|
|
_msg.heading += declinationAngle;
|
|
if (_msg.heading < 0) _msg.heading += 2 * PI;
|
|
if (_msg.heading > 2 * PI) _msg.heading -= 2 * PI;
|
|
_msg.heading *= 180 / M_PI;
|
|
return true;
|
|
}
|
|
|
|
float getMagX() { return _msg.rpy[0]; }
|
|
|
|
float getMagY() { return _msg.rpy[1]; }
|
|
|
|
float getMagZ() { return _msg.rpy[2]; }
|
|
|
|
float getHeading() { return _msg.heading; }
|
|
|
|
private:
|
|
|
|
#if FT_ENABLED(USE_ICM20948)
|
|
#if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
|
|
#define SPI_PORT SPI // TODO in periphearals_seetings.h
|
|
#define CS_PIN 2
|
|
ICM_20948_SPI* _mag;
|
|
#else
|
|
//#define WIRE_PORT Wire
|
|
ICM_20948_I2C* _mag;
|
|
#endif
|
|
#elif FT_ENABLED(USE_HMC5883)
|
|
Adafruit_HMC5883_Unified _mag {12345};
|
|
#endif
|
|
const float declinationAngle = 0.22;
|
|
}; |