Niklas Jensen
114 lines
2.4 KiB
C++
114 lines
2.4 KiB
C++
#ifndef Peripherals_h
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#define Peripherals_h
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#include <template/stateful_socket.h>
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#include <template/stateful_persistence.h>
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#include <template/stateful_service.h>
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#include <utils/math_utils.h>
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#include <utils/timing.h>
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#include <filesystem.h>
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#include <features.h>
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#include <settings/peripherals_settings.h>
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#include <template/stateful_endpoint.h>
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#include <list>
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#include <SPI.h>
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#include <Wire.h>
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#include <NewPing.h>
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#include <peripherals/imu.h>
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#include <peripherals/magnetometer.h>
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#include <peripherals/barometer.h>
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#include <peripherals/gesture.h>
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#define EVENT_CONFIGURATION_SETTINGS "peripheralSettings"
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#define EVENT_I2C_SCAN "i2cScan"
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#define I2C_INTERVAL 250
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#define MAX_ESP_IMU_SIZE 500
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#define EVENT_IMU "imu"
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/*
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* Ultrasonic Sensor Settings
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*/
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#define MAX_DISTANCE 200
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class Peripherals : public StatefulService<PeripheralsConfiguration> {
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public:
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Peripherals();
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void begin();
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void update();
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void updatePins();
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void scanI2C(uint8_t lower = 1, uint8_t higher = 127);
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void getI2CResult(JsonVariant &root);
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void getIMUResult(JsonVariant &root);
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void getSonarResult(JsonVariant &root);
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/* IMU FUNCTIONS */
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bool readImu();
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bool readMag();
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bool readBMP();
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bool readGesture();
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void readSonar();
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float angleX();
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float angleY();
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float angleZ();
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gesture_t takeGesture();
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float leftDistance();
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float rightDistance();
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StatefulHttpEndpoint<PeripheralsConfiguration> endpoint;
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private:
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EventEndpoint<PeripheralsConfiguration> _eventEndpoint;
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FSPersistence<PeripheralsConfiguration> _persistence;
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SemaphoreHandle_t _accessMutex;
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inline void beginTransaction() { xSemaphoreTakeRecursive(_accessMutex, portMAX_DELAY); }
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inline void endTransaction() { xSemaphoreGiveRecursive(_accessMutex); }
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JsonDocument doc;
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char message[MAX_ESP_IMU_SIZE];
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#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
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IMU _imu;
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#endif
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#if FT_ENABLED(USE_HMC5883) // TODO: Add USE_ICM20948
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Magnetometer _mag;
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#endif
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#if FT_ENABLED(USE_BMP180)
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Barometer _bmp;
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#endif
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#if FT_ENABLED(USE_PAJ7620U2)
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GestureSensor _gesture;
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#endif
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#if FT_ENABLED(USE_USS)
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std::unique_ptr<NewPing> _left_sonar;
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std::unique_ptr<NewPing> _right_sonar;
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#endif
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float _left_distance {MAX_DISTANCE};
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float _right_distance {MAX_DISTANCE};
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std::list<uint8_t> addressList;
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bool i2c_active = false;
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unsigned long _updateInterval {I2C_INTERVAL};
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};
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#endif |