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Add support for BMX160/RAK12034 compass module (#4021)

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This commit is contained in:
Jonathan Bennett
2024-06-11 17:47:45 -05:00
committed by GitHub
parent 7f2647abb1
commit 0852a170a3
22 changed files with 1760 additions and 10 deletions
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81
src/AccelerometerThread.h
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@@ -14,6 +14,10 @@
#include <Arduino.h>
#include <SensorBMA423.hpp>
#include <Wire.h>
#ifdef RAK_4631
#include "Fusion/Fusion.h"
#include <Rak_BMX160.h>
#endif
#define ACCELEROMETER_CHECK_INTERVAL_MS 100
#define ACCELEROMETER_CLICK_THRESHOLD 40
@@ -50,12 +54,13 @@ class AccelerometerThread : public concurrency::OSThread
return;
}
acceleremoter_type = type;
#ifndef RAK_4631
if (!config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
LOG_DEBUG("AccelerometerThread disabling due to no interested configurations\n");
disable();
return;
}
#endif
init();
}
@@ -87,6 +92,71 @@ class AccelerometerThread : public concurrency::OSThread
wakeScreen();
return 500;
}
#ifdef RAK_4631
} else if (acceleremoter_type == ScanI2C::DeviceType::BMX160) {
sBmx160SensorData_t magAccel;
sBmx160SensorData_t gAccel;
/* Get a new sensor event */
bmx160.getAllData(&magAccel, NULL, &gAccel);
// expirimental calibrate routine. Limited to between 10 and 30 seconds after boot
if (millis() > 10 * 1000 && millis() < 30 * 1000) {
if (magAccel.x > highestX)
highestX = magAccel.x;
if (magAccel.x < lowestX)
lowestX = magAccel.x;
if (magAccel.y > highestY)
highestY = magAccel.y;
if (magAccel.y < lowestY)
lowestY = magAccel.y;
if (magAccel.z > highestZ)
highestZ = magAccel.z;
if (magAccel.z < lowestZ)
lowestZ = magAccel.z;
}
int highestRealX = highestX - (highestX + lowestX) / 2;
magAccel.x -= (highestX + lowestX) / 2;
magAccel.y -= (highestY + lowestY) / 2;
magAccel.z -= (highestZ + lowestZ) / 2;
FusionVector ga, ma;
ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board
ga.axis.y = -gAccel.y;
ga.axis.z = gAccel.z;
ma.axis.x = -magAccel.x;
ma.axis.y = -magAccel.y;
ma.axis.z = magAccel.z * 3;
// If we're set to one of the inverted positions
if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
}
float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
switch (config.display.compass_orientation) {
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
heading += 90;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
heading += 180;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
heading += 270;
break;
}
screen->setHeading(heading);
#endif
} else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.shake()) {
wakeScreen();
return 500;
@@ -149,6 +219,11 @@ class AccelerometerThread : public concurrency::OSThread
bmaSensor.enableTiltIRQ();
// It corresponds to isDoubleClick interrupt
bmaSensor.enableWakeupIRQ();
#ifdef RAK_4631
} else if (acceleremoter_type == ScanI2C::DeviceType::BMX160 && bmx160.begin()) {
bmx160.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ); // set output data rate
#endif
} else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.begin_I2C(accelerometer_found.address)) {
LOG_DEBUG("LSM6DS3 initializing\n");
// Default threshold of 2G, less sensitive options are 4, 8 or 16G
@@ -179,6 +254,10 @@ class AccelerometerThread : public concurrency::OSThread
Adafruit_LIS3DH lis;
Adafruit_LSM6DS3TRC lsm;
SensorBMA423 bmaSensor;
#ifdef RAK_4631
RAK_BMX160 bmx160;
float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
#endif
bool BMA_IRQ = false;
};