mirror of
https://github.com/alexhopeoconnor/firmware.git
synced 2026-10-17 09:01:30 +10:00
add a .clang-format file (#9154)
This commit is contained in:
Jorropo
+228
-240
@@ -11,186 +11,180 @@ extern graphics::Screen *screen;
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volatile static bool ICM20948_IRQ = false;
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// Interrupt service routine
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void ICM20948SetInterrupt()
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{
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ICM20948_IRQ = true;
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}
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void ICM20948SetInterrupt() { ICM20948_IRQ = true; }
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ICM20948Sensor::ICM20948Sensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
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bool ICM20948Sensor::init()
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{
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// Initialise the sensor
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sensor = ICM20948Singleton::GetInstance();
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if (!sensor->init(device))
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return false;
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bool ICM20948Sensor::init() {
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// Initialise the sensor
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sensor = ICM20948Singleton::GetInstance();
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if (!sensor->init(device))
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return false;
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// Enable simple Wake on Motion
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return sensor->setWakeOnMotion();
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// Enable simple Wake on Motion
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return sensor->setWakeOnMotion();
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}
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#ifdef ICM_20948_INT_PIN
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int32_t ICM20948Sensor::runOnce()
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{
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// Wake on motion using hardware interrupts - this is the most efficient way to check for motion
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if (ICM20948_IRQ) {
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ICM20948_IRQ = false;
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sensor->clearInterrupts();
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wakeScreen();
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}
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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int32_t ICM20948Sensor::runOnce() {
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// Wake on motion using hardware interrupts - this is the most efficient way to check for motion
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if (ICM20948_IRQ) {
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ICM20948_IRQ = false;
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sensor->clearInterrupts();
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wakeScreen();
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}
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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#else
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int32_t ICM20948Sensor::runOnce()
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{
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int32_t ICM20948Sensor::runOnce() {
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
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#if defined(MUZI_BASE) // temporarily gated to single device due to feature freeze
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if (screen && !screen->isScreenOn() && !config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
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if (!isAsleep) {
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LOG_DEBUG("sleeping IMU");
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sensor->sleep(true);
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isAsleep = true;
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}
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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if (isAsleep) {
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sensor->sleep(false);
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isAsleep = false;
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}
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#endif
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float magX = 0, magY = 0, magZ = 0;
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if (sensor->dataReady()) {
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sensor->getAGMT();
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magX = sensor->agmt.mag.axes.x;
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magY = sensor->agmt.mag.axes.y;
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magZ = sensor->agmt.mag.axes.z;
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}
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if (doCalibration) {
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if (!showingScreen) {
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powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration
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showingScreen = true;
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if (screen)
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screen->startAlert((FrameCallback)drawFrameCalibration);
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}
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if (magX > highestX)
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highestX = magX;
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if (magX < lowestX)
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lowestX = magX;
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if (magY > highestY)
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highestY = magY;
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if (magY < lowestY)
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lowestY = magY;
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if (magZ > highestZ)
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highestZ = magZ;
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if (magZ < lowestZ)
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lowestZ = magZ;
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uint32_t now = millis();
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if (now > endCalibrationAt) {
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doCalibration = false;
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endCalibrationAt = 0;
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showingScreen = false;
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if (screen)
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screen->endAlert();
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}
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// LOG_DEBUG("ICM20948 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX, highestX,
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// lowestY, highestY, lowestZ, highestZ);
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}
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magX -= (highestX + lowestX) / 2;
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magY -= (highestY + lowestY) / 2;
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magZ -= (highestZ + lowestZ) / 2;
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FusionVector ga, ma;
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ga.axis.x = (sensor->agmt.acc.axes.x);
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ga.axis.y = -(sensor->agmt.acc.axes.y);
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ga.axis.z = -(sensor->agmt.acc.axes.z);
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ma.axis.x = magX;
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ma.axis.y = magY;
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ma.axis.z = magZ;
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// If we're set to one of the inverted positions
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if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
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ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
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ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
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}
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float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
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switch (config.display.compass_orientation) {
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
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heading += 90;
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
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heading += 180;
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
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heading += 270;
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break;
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}
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if (screen)
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screen->setHeading(heading);
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#endif
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// Wake on motion using polling - this is not as efficient as using hardware interrupt pin (see above)
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auto status = sensor->setBank(0);
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if (sensor->status != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 isWakeOnMotion failed to set bank - %s", sensor->statusString());
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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ICM_20948_INT_STATUS_t int_stat;
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status = sensor->read(AGB0_REG_INT_STATUS, (uint8_t *)&int_stat, sizeof(ICM_20948_INT_STATUS_t));
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if (status != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 isWakeOnMotion failed to read interrupts - %s", sensor->statusString());
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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if (int_stat.WOM_INT != 0) {
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// Wake up!
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wakeScreen();
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if (screen && !screen->isScreenOn() && !config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
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if (!isAsleep) {
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LOG_DEBUG("sleeping IMU");
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sensor->sleep(true);
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isAsleep = true;
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}
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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if (isAsleep) {
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sensor->sleep(false);
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isAsleep = false;
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}
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#endif
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float magX = 0, magY = 0, magZ = 0;
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if (sensor->dataReady()) {
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sensor->getAGMT();
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magX = sensor->agmt.mag.axes.x;
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magY = sensor->agmt.mag.axes.y;
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magZ = sensor->agmt.mag.axes.z;
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}
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if (doCalibration) {
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if (!showingScreen) {
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powerFSM.trigger(EVENT_PRESS); // keep screen alive during calibration
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showingScreen = true;
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if (screen)
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screen->startAlert((FrameCallback)drawFrameCalibration);
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}
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if (magX > highestX)
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highestX = magX;
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if (magX < lowestX)
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lowestX = magX;
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if (magY > highestY)
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highestY = magY;
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if (magY < lowestY)
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lowestY = magY;
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if (magZ > highestZ)
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highestZ = magZ;
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if (magZ < lowestZ)
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lowestZ = magZ;
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uint32_t now = millis();
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if (now > endCalibrationAt) {
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doCalibration = false;
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endCalibrationAt = 0;
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showingScreen = false;
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if (screen)
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screen->endAlert();
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}
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// LOG_DEBUG("ICM20948 min_x: %.4f, max_X: %.4f, min_Y: %.4f, max_Y: %.4f, min_Z: %.4f, max_Z: %.4f", lowestX,
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// highestX,
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// lowestY, highestY, lowestZ, highestZ);
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}
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magX -= (highestX + lowestX) / 2;
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magY -= (highestY + lowestY) / 2;
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magZ -= (highestZ + lowestZ) / 2;
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FusionVector ga, ma;
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ga.axis.x = (sensor->agmt.acc.axes.x);
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ga.axis.y = -(sensor->agmt.acc.axes.y);
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ga.axis.z = -(sensor->agmt.acc.axes.z);
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ma.axis.x = magX;
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ma.axis.y = magY;
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ma.axis.z = magZ;
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// If we're set to one of the inverted positions
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if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
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ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
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ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
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}
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float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
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switch (config.display.compass_orientation) {
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
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heading += 90;
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
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heading += 180;
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break;
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
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case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
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heading += 270;
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break;
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}
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if (screen)
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screen->setHeading(heading);
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#endif
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// Wake on motion using polling - this is not as efficient as using hardware interrupt pin (see above)
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auto status = sensor->setBank(0);
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if (sensor->status != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 isWakeOnMotion failed to set bank - %s", sensor->statusString());
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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ICM_20948_INT_STATUS_t int_stat;
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status = sensor->read(AGB0_REG_INT_STATUS, (uint8_t *)&int_stat, sizeof(ICM_20948_INT_STATUS_t));
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if (status != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 isWakeOnMotion failed to read interrupts - %s", sensor->statusString());
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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if (int_stat.WOM_INT != 0) {
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// Wake up!
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wakeScreen();
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}
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return MOTION_SENSOR_CHECK_INTERVAL_MS;
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}
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#endif
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void ICM20948Sensor::calibrate(uint16_t forSeconds)
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{
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void ICM20948Sensor::calibrate(uint16_t forSeconds) {
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#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
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LOG_DEBUG("Old calibration data: highestX = %f, lowestX = %f, highestY = %f, lowestY = %f, highestZ = %f, lowestZ = %f",
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highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
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LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
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if (sensor->dataReady()) {
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sensor->getAGMT();
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highestX = sensor->agmt.mag.axes.x;
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lowestX = sensor->agmt.mag.axes.x;
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highestY = sensor->agmt.mag.axes.y;
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lowestY = sensor->agmt.mag.axes.y;
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highestZ = sensor->agmt.mag.axes.z;
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lowestZ = sensor->agmt.mag.axes.z;
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} else {
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highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
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}
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LOG_DEBUG("Old calibration data: highestX = %f, lowestX = %f, highestY = %f, lowestY = %f, highestZ = %f, lowestZ = %f", highestX, lowestX,
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highestY, lowestY, highestZ, lowestZ);
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LOG_DEBUG("BMX160 calibration started for %is", forSeconds);
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if (sensor->dataReady()) {
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sensor->getAGMT();
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highestX = sensor->agmt.mag.axes.x;
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lowestX = sensor->agmt.mag.axes.x;
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highestY = sensor->agmt.mag.axes.y;
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lowestY = sensor->agmt.mag.axes.y;
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highestZ = sensor->agmt.mag.axes.z;
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lowestZ = sensor->agmt.mag.axes.z;
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} else {
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highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
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}
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doCalibration = true;
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uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided
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endCalibrationAt = millis() + calibrateFor;
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if (screen)
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screen->setEndCalibration(endCalibrationAt);
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doCalibration = true;
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uint16_t calibrateFor = forSeconds * 1000; // calibrate for seconds provided
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endCalibrationAt = millis() + calibrateFor;
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if (screen)
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screen->setEndCalibration(endCalibrationAt);
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#endif
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}
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// ----------------------------------------------------------------------
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@@ -198,12 +192,11 @@ void ICM20948Sensor::calibrate(uint16_t forSeconds)
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// ----------------------------------------------------------------------
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// Get a singleton wrapper for an Sparkfun ICM_20948_I2C
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ICM20948Singleton *ICM20948Singleton::GetInstance()
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{
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if (pinstance == nullptr) {
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pinstance = new ICM20948Singleton();
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}
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return pinstance;
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ICM20948Singleton *ICM20948Singleton::GetInstance() {
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if (pinstance == nullptr) {
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pinstance = new ICM20948Singleton();
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}
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return pinstance;
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}
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ICM20948Singleton::ICM20948Singleton() {}
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@@ -213,114 +206,109 @@ ICM20948Singleton::~ICM20948Singleton() {}
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ICM20948Singleton *ICM20948Singleton::pinstance{nullptr};
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// Initialise the ICM20948 Sensor
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bool ICM20948Singleton::init(ScanI2C::FoundDevice device)
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{
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bool ICM20948Singleton::init(ScanI2C::FoundDevice device) {
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#ifdef ICM_20948_DEBUG
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// Set ICM_20948_DEBUG to enable helpful debug messages on Serial
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enableDebugging();
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// Set ICM_20948_DEBUG to enable helpful debug messages on Serial
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enableDebugging();
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#endif
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// startup
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// startup
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#if defined(WIRE_INTERFACES_COUNT) && (WIRE_INTERFACES_COUNT > 1)
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TwoWire &bus = (device.address.port == ScanI2C::I2CPort::WIRE1 ? Wire1 : Wire);
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TwoWire &bus = (device.address.port == ScanI2C::I2CPort::WIRE1 ? Wire1 : Wire);
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#else
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TwoWire &bus = Wire; // fallback if only one I2C interface
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TwoWire &bus = Wire; // fallback if only one I2C interface
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#endif
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bool bAddr = (device.address.address == 0x69);
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delay(100);
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bool bAddr = (device.address.address == 0x69);
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delay(100);
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LOG_DEBUG("ICM20948 begin on addr 0x%02X (port=%d, bAddr=%d)", device.address.address, device.address.port, bAddr);
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LOG_DEBUG("ICM20948 begin on addr 0x%02X (port=%d, bAddr=%d)", device.address.address, device.address.port, bAddr);
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ICM_20948_Status_e status = begin(bus, bAddr);
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if (status != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init begin - %s", statusString());
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return false;
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}
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ICM_20948_Status_e status = begin(bus, bAddr);
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if (status != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init begin - %s", statusString());
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return false;
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}
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// SW reset to make sure the device starts in a known state
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if (swReset() != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init reset - %s", statusString());
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return false;
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}
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delay(200);
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// SW reset to make sure the device starts in a known state
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if (swReset() != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init reset - %s", statusString());
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return false;
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}
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delay(200);
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// Now wake the sensor up
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if (sleep(false) != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init wake - %s", statusString());
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return false;
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}
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// Now wake the sensor up
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if (sleep(false) != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init wake - %s", statusString());
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return false;
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}
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if (lowPower(false) != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init high power - %s", statusString());
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return false;
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}
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if (lowPower(false) != ICM_20948_Stat_Ok) {
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LOG_DEBUG("ICM20948 init high power - %s", statusString());
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return false;
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}
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||||
if (startupMagnetometer(false) != ICM_20948_Stat_Ok) {
|
||||
LOG_DEBUG("ICM20948 init magnetometer - %s", statusString());
|
||||
return false;
|
||||
}
|
||||
if (startupMagnetometer(false) != ICM_20948_Stat_Ok) {
|
||||
LOG_DEBUG("ICM20948 init magnetometer - %s", statusString());
|
||||
return false;
|
||||
}
|
||||
|
||||
#ifdef ICM_20948_INT_PIN
|
||||
|
||||
// Active low
|
||||
cfgIntActiveLow(true);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntActiveLow - %s", statusString());
|
||||
// Active low
|
||||
cfgIntActiveLow(true);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntActiveLow - %s", statusString());
|
||||
|
||||
// Push-pull
|
||||
cfgIntOpenDrain(false);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntOpenDrain - %s", statusString());
|
||||
// Push-pull
|
||||
cfgIntOpenDrain(false);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntOpenDrain - %s", statusString());
|
||||
|
||||
// If enabled, *ANY* read will clear the INT_STATUS register.
|
||||
cfgIntAnyReadToClear(true);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntAnyReadToClear - %s", statusString());
|
||||
// If enabled, *ANY* read will clear the INT_STATUS register.
|
||||
cfgIntAnyReadToClear(true);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntAnyReadToClear - %s", statusString());
|
||||
|
||||
// Latch the interrupt until cleared
|
||||
cfgIntLatch(true);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntLatch - %s", statusString());
|
||||
// Latch the interrupt until cleared
|
||||
cfgIntLatch(true);
|
||||
LOG_DEBUG("ICM20948 init set cfgIntLatch - %s", statusString());
|
||||
|
||||
// Set up an interrupt pin with an internal pullup for active low
|
||||
pinMode(ICM_20948_INT_PIN, INPUT_PULLUP);
|
||||
// Set up an interrupt pin with an internal pullup for active low
|
||||
pinMode(ICM_20948_INT_PIN, INPUT_PULLUP);
|
||||
|
||||
// Set up an interrupt service routine
|
||||
attachInterrupt(ICM_20948_INT_PIN, ICM20948SetInterrupt, FALLING);
|
||||
// Set up an interrupt service routine
|
||||
attachInterrupt(ICM_20948_INT_PIN, ICM20948SetInterrupt, FALLING);
|
||||
|
||||
#endif
|
||||
return true;
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef ICM_20948_DMP_IS_ENABLED
|
||||
|
||||
// Stub
|
||||
bool ICM20948Sensor::initDMP()
|
||||
{
|
||||
bool ICM20948Sensor::initDMP() { return false; }
|
||||
|
||||
#endif
|
||||
|
||||
bool ICM20948Singleton::setWakeOnMotion() {
|
||||
// Set WoM threshold in milli G's
|
||||
auto status = WOMThreshold(ICM_20948_WOM_THRESHOLD);
|
||||
if (status != ICM_20948_Stat_Ok)
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif
|
||||
// Enable WoM Logic mode 1 = Compare the current sample with the previous sample
|
||||
status = WOMLogic(true, 1);
|
||||
LOG_DEBUG("ICM20948 init set WOMLogic - %s", statusString());
|
||||
if (status != ICM_20948_Stat_Ok)
|
||||
return false;
|
||||
|
||||
bool ICM20948Singleton::setWakeOnMotion()
|
||||
{
|
||||
// Set WoM threshold in milli G's
|
||||
auto status = WOMThreshold(ICM_20948_WOM_THRESHOLD);
|
||||
if (status != ICM_20948_Stat_Ok)
|
||||
return false;
|
||||
// Enable interrupts on WakeOnMotion
|
||||
status = intEnableWOM(true);
|
||||
LOG_DEBUG("ICM20948 init set intEnableWOM - %s", statusString());
|
||||
return status == ICM_20948_Stat_Ok;
|
||||
|
||||
// Enable WoM Logic mode 1 = Compare the current sample with the previous sample
|
||||
status = WOMLogic(true, 1);
|
||||
LOG_DEBUG("ICM20948 init set WOMLogic - %s", statusString());
|
||||
if (status != ICM_20948_Stat_Ok)
|
||||
return false;
|
||||
|
||||
// Enable interrupts on WakeOnMotion
|
||||
status = intEnableWOM(true);
|
||||
LOG_DEBUG("ICM20948 init set intEnableWOM - %s", statusString());
|
||||
return status == ICM_20948_Stat_Ok;
|
||||
|
||||
// Clear any current interrupts
|
||||
ICM20948_IRQ = false;
|
||||
clearInterrupts();
|
||||
return true;
|
||||
// Clear any current interrupts
|
||||
ICM20948_IRQ = false;
|
||||
clearInterrupts();
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user