Rune Harlyk
99 lines
2.1 KiB
C++
99 lines
2.1 KiB
C++
#pragma once
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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 <platform_shared/message.pb.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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/*
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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 getI2CScanProto(socket_message_I2CScanData &data);
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void getIMUProto(socket_message_IMUData &data);
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void getSettingsProto(socket_message_PeripheralSettingsData &data);
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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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bool calibrateIMU();
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StatefulHttpEndpoint<PeripheralsConfiguration> endpoint;
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private:
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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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#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
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IMU _imu;
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#endif
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#if FT_ENABLED(USE_HMC5883)
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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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}; |