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Copy pathMotionSensor.cpp
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executable file
·366 lines (316 loc) · 11.7 KB
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#include "MotionSensor.h"
#include "FSCommon.h"
#include "SPILock.h"
#include "SafeFile.h"
#include "concurrency/LockGuard.h"
#include "graphics/draw/CompassRenderer.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
char timeRemainingBuffer[12];
namespace
{
constexpr uint32_t COMPASS_CALIBRATION_MAGIC = 0x4D43414CL; // "MCAL"
constexpr uint16_t COMPASS_CALIBRATION_VERSION = 1;
struct CompassCalibrationRecord {
uint32_t magic;
uint16_t version;
uint16_t reserved;
float highestX;
float lowestX;
float highestY;
float lowestY;
float highestZ;
float lowestZ;
};
bool isRangeValid(float highest, float lowest)
{
// NaN/Inf guard without pulling in extra math helpers.
return (highest == highest) && (lowest == lowest) && (highest > lowest);
}
struct CompassAccelSample {
float x = 0.0f;
float y = 0.0f;
float z = 0.0f;
uint32_t sampledAtMs = 0;
bool valid = false;
};
concurrency::Lock latestCompassAccelLock;
CompassAccelSample latestCompassAccelSample;
} // namespace
// screen is defined in main.cpp
extern std::unique_ptr<graphics::Screen> screen;
MotionSensor::MotionSensor(ScanI2C::FoundDevice foundDevice)
{
device.address.address = foundDevice.address.address;
device.address.port = foundDevice.address.port;
device.type = foundDevice.type;
LOG_DEBUG("Motion MotionSensor port: %s address: 0x%x type: %d", devicePort() == ScanI2C::I2CPort::WIRE1 ? "Wire1" : "Wire",
(uint8_t)deviceAddress(), deviceType());
}
ScanI2C::DeviceType MotionSensor::deviceType()
{
return device.type;
}
uint8_t MotionSensor::deviceAddress()
{
return device.address.address;
}
ScanI2C::I2CPort MotionSensor::devicePort()
{
return device.address.port;
}
bool MotionSensor::saveMagnetometerCalibration(const char *filePath, float highestX, float lowestX, float highestY, float lowestY,
float highestZ, float lowestZ)
{
#ifdef FSCom
if (!isRangeValid(highestX, lowestX) || !isRangeValid(highestY, lowestY) || !isRangeValid(highestZ, lowestZ)) {
return false;
}
FSCom.mkdir("/prefs");
CompassCalibrationRecord record = {
COMPASS_CALIBRATION_MAGIC, COMPASS_CALIBRATION_VERSION, 0, highestX, lowestX, highestY, lowestY, highestZ, lowestZ};
auto file = SafeFile(filePath, true);
const size_t written = file.write(reinterpret_cast<const uint8_t *>(&record), sizeof(record));
return (written == sizeof(record)) && file.close();
#else
return false;
#endif
}
bool MotionSensor::loadMagnetometerCalibration(const char *filePath, float &highestX, float &lowestX, float &highestY,
float &lowestY, float &highestZ, float &lowestZ)
{
#ifdef FSCom
CompassCalibrationRecord record = {};
size_t bytesRead = 0;
spiLock->lock();
auto file = FSCom.open(filePath, FILE_O_READ);
if (!file) {
spiLock->unlock();
return false;
}
bytesRead = file.read(reinterpret_cast<uint8_t *>(&record), sizeof(record));
file.close();
spiLock->unlock();
const bool headerValid = (bytesRead == sizeof(record)) && (record.magic == COMPASS_CALIBRATION_MAGIC) &&
(record.version == COMPASS_CALIBRATION_VERSION) && (record.reserved == 0U);
const bool rangeValid = isRangeValid(record.highestX, record.lowestX) && isRangeValid(record.highestY, record.lowestY) &&
isRangeValid(record.highestZ, record.lowestZ);
if (!headerValid || !rangeValid) {
return false;
}
highestX = record.highestX;
lowestX = record.lowestX;
highestY = record.highestY;
lowestY = record.lowestY;
highestZ = record.highestZ;
lowestZ = record.lowestZ;
return true;
#else
return false;
#endif
}
void MotionSensor::beginCalibrationDisplay(bool &showingScreen)
{
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
if (!showingScreen) {
powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration
showingScreen = true;
if (screen)
screen->startAlert((FrameCallback)drawFrameCalibration);
}
#else
(void)showingScreen;
#endif
}
void MotionSensor::finishCalibrationIfExpired(bool &showingScreen, const char *filePath, float highestX, float lowestX,
float highestY, float lowestY, float highestZ, float lowestZ)
{
const uint32_t now = millis();
if ((int32_t)(now - endCalibrationAt) < 0)
return;
doCalibration = false;
endCalibrationAt = 0;
showingScreen = false;
saveMagnetometerCalibration(filePath, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
if (screen) {
screen->setEndCalibration(0);
screen->endAlert();
}
#endif
}
void MotionSensor::startCalibrationWindow(uint16_t forSeconds)
{
doCalibration = true;
const uint32_t calibrateFor = static_cast<uint32_t>(forSeconds) * 1000U;
endCalibrationAt = millis() + calibrateFor;
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
if (screen)
screen->setEndCalibration(endCalibrationAt);
#endif
}
void MotionSensor::seedCalibrationExtrema(float x, float y, float z, float &highestX, float &lowestX, float &highestY,
float &lowestY, float &highestZ, float &lowestZ)
{
highestX = lowestX = x;
highestY = lowestY = y;
highestZ = lowestZ = z;
}
void MotionSensor::updateCalibrationExtrema(float x, float y, float z, float &highestX, float &lowestX, float &highestY,
float &lowestY, float &highestZ, float &lowestZ)
{
if (x > highestX)
highestX = x;
if (x < lowestX)
lowestX = x;
if (y > highestY)
highestY = y;
if (y < lowestY)
lowestY = y;
if (z > highestZ)
highestZ = z;
if (z < lowestZ)
lowestZ = z;
}
float MotionSensor::applyCompassOrientation(float heading)
{
switch (config.display.compass_orientation) {
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
return heading + 90;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
return heading + 180;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
return heading + 270;
default:
return heading;
}
}
void MotionSensor::publishCompassAccelSample(float x, float y, float z)
{
concurrency::LockGuard guard(&latestCompassAccelLock);
latestCompassAccelSample.x = x;
latestCompassAccelSample.y = y;
latestCompassAccelSample.z = z;
latestCompassAccelSample.sampledAtMs = millis();
latestCompassAccelSample.valid = true;
}
bool MotionSensor::getLatestCompassAccelSample(float &x, float &y, float &z, uint32_t &ageMs)
{
uint32_t sampledAtMs = 0;
{
concurrency::LockGuard guard(&latestCompassAccelLock);
if (!latestCompassAccelSample.valid) {
return false;
}
x = latestCompassAccelSample.x;
y = latestCompassAccelSample.y;
z = latestCompassAccelSample.z;
sampledAtMs = latestCompassAccelSample.sampledAtMs;
}
ageMs = millis() - sampledAtMs;
return true;
}
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
void MotionSensor::drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
{
if (screen == nullptr)
return;
const int16_t width = display->getWidth();
const int16_t height = display->getHeight();
const bool compactLayout = (height <= 80);
const int16_t margin = 4;
const uint32_t now = millis();
const uint32_t endCalibrationAt = screen->getEndCalibration();
uint32_t timeRemaining = 0;
// Signed delta, as in finishCalibrationIfExpired(): this needs the remaining magnitude, not
// just whether the deadline passed, so it cannot use Throttle::deadlinePassed().
const int32_t remainingMs = (int32_t)(endCalibrationAt - now);
if (remainingMs > 0) {
timeRemaining = ((uint32_t)remainingMs + 999) / 1000;
}
int16_t compassX = 0, compassY = 0;
uint16_t compassDiam = graphics::CompassRenderer::getCompassDiam(width, height);
const int16_t compassRadius = compassDiam / 2;
// coordinates for the center of the compass/circle
if (config.display.displaymode == meshtastic_Config_DisplayConfig_DisplayMode_DEFAULT) {
compassX = x + width - compassRadius - margin;
compassY = y + height / 2;
} else {
compassX = x + width - compassRadius - margin;
compassY = y + FONT_HEIGHT_SMALL + (height - FONT_HEIGHT_SMALL) / 2;
}
const int16_t textLeft = x + 1;
const int16_t textRight = compassX - compassRadius - margin;
const int16_t textWidth = textRight - textLeft;
int16_t lineY = y;
display->setTextAlignment(TEXT_ALIGN_LEFT);
if (textWidth > 12) {
const char *title = "Cal";
const char *line1 = "Figure-8";
const char *line2 = "Rotate axes";
const char *line3 = "Away from metal";
display->setFont(FONT_SMALL);
if (!compactLayout && display->getStringWidth("Compass Calibration") <= textWidth) {
display->setFont(FONT_MEDIUM);
title = "Compass Calibration";
line1 = "Move in figure-8";
line2 = "Rotate all axes";
line3 = "Keep from metal";
display->drawString(textLeft, lineY, title);
lineY += FONT_HEIGHT_MEDIUM;
display->setFont(FONT_SMALL);
} else if (display->getStringWidth("Compass Cal") <= textWidth) {
title = "Compass Cal";
if (textWidth >= display->getStringWidth("Move in figure-8")) {
line1 = "Move in figure-8";
line2 = "Rotate all axes";
line3 = "Keep from metal";
}
display->drawString(textLeft, lineY, title);
lineY += FONT_HEIGHT_SMALL;
} else {
display->drawString(textLeft, lineY, title);
lineY += FONT_HEIGHT_SMALL;
}
display->drawString(textLeft, lineY, line1);
lineY += FONT_HEIGHT_SMALL;
display->drawString(textLeft, lineY, line2);
lineY += FONT_HEIGHT_SMALL;
if (!compactLayout || textWidth >= display->getStringWidth(line3)) {
display->drawString(textLeft, lineY, line3);
}
}
if (textWidth >= display->getStringWidth("000s left")) {
snprintf(timeRemainingBuffer, sizeof(timeRemainingBuffer), "%lus left", (unsigned long)timeRemaining);
} else {
snprintf(timeRemainingBuffer, sizeof(timeRemainingBuffer), "%lus", (unsigned long)timeRemaining);
}
display->setFont(FONT_SMALL);
if (textWidth > 12) {
display->drawString(textLeft, y + height - FONT_HEIGHT_SMALL - 1, timeRemainingBuffer);
}
display->drawCircle(compassX, compassY, compassDiam / 2);
graphics::CompassRenderer::drawCompassNorth(display, compassX, compassY, screen->getHeading() * PI / 180, (compassDiam / 2));
}
#endif
#if !MESHTASTIC_EXCLUDE_POWER_FSM
void MotionSensor::wakeScreen()
{
if (powerFSM.getState() == &stateDARK) {
LOG_DEBUG("Motion wakeScreen detected");
if (config.display.wake_on_tap_or_motion)
powerFSM.trigger(EVENT_INPUT);
}
}
void MotionSensor::buttonPress()
{
LOG_DEBUG("Motion buttonPress detected");
powerFSM.trigger(EVENT_PRESS);
}
#else
void MotionSensor::wakeScreen() {}
void MotionSensor::buttonPress() {}
#endif
#endif