Merge pull request #109 from jgauchia/v.0.1.8_dev

V.0.1.8 dev - IMU

README.md

@@ -52,7 +52,7 @@ For the moment we have two Icenav models, with the next hardware setup and specs
                                                  RST  GPIO32
                                                  CS   GPIO2
                                                  LED  GPIO33
-                                                 TCH  GPIO18
+                                                 TCS  GPIO18
                                                  TIRQ GPIO5
 
        Pinout (ESP32S3-MakerFabs)
@@ -142,6 +142,17 @@ If the GPS module supports multiple GNSS, uncomment the following flag in the pl
 -D MULTI_GNSS=1
 ```
 
+### TO DO
+
+- [ ] LVGL 9 Integration
+- [ ] GPX Integration
+- [ ] Multiple IMU's and Compass module implementation
+- [ ] Power saving
+- [ ] Vector maps
+- [ ] Google Maps navigation style
+- [ ] Optimize code
+- [ ] Fix bugs!
+
 ## Credits
 
 * Added support to [Makerfabs ESP32-S3 Parallel TFT with Touch 3.5" ILI9488](https://www.makerfabs.com/esp32-s3-parallel-tft-with-touch-ili9488.html) (thanks to [@hpsaturn](https://github.com/hpsaturn))

include/hal.hpp

@@ -0,0 +1,62 @@
+/**
+ * @file hal.hpp
+ * @author Jordi Gauchía (jgauchia@gmx.es)
+ * @brief  Pin definitions
+ * @version 0.1.8
+ * @date 2024-04
+ */
+
+#ifndef HAL_HPP
+#define HAL_HPP
+
+#ifdef CUSTOMBOARD
+/**
+ * @brief GPS pin definition
+ *
+ */
+extern const uint8_t GPS_TX = 25;
+extern const uint8_t GPS_RX = 26;
+
+/**
+ * @brief SD pin definition
+ *
+ */
+extern const uint8_t SD_CS = 4;
+extern const uint8_t SD_MISO = 19;
+extern const uint8_t SD_MOSI = 23;
+extern const uint8_t SD_CLK = 12;
+#endif
+
+#ifdef MAKERF_ESP32S3 // TODO: we need find the right pins for this board
+/**
+* @brief GPS pin definition
+*
+*/
+extern const uint8_t GPS_TX = 17;
+extern const uint8_t GPS_RX = 18;
+
+#define LCD_CS 37
+#define LCD_BLK 45
+
+#define I2C_SDA_PIN 38
+#define I2C_SCL_PIN 39
+
+extern const uint8_t SD_CS = 1;
+extern const uint8_t SD_MISO = 41;
+extern const uint8_t SD_MOSI = 2;
+extern const uint8_t SD_CLK = 42;
+#endif
+
+/**
+ * @brief Battery monitor pin
+ *
+ */
+#define ADC_BATT_PIN 34
+
+/**
+ * @brief BME280 Address
+ *
+ */
+#define BME_ADDRESS 0x76
+
+#endif

src/hardware/battery.h → lib/battery/battery.cpp

@@ -1,28 +1,19 @@
 /**
- * @file battery.h
- * @author Jordi Gauchía (jgauchia@jgauchia.com)
+ * @file battery.cpp
+ * @author Jordi Gauchía (jgauchia@gmx.es)
  * @brief  Battery monitor definition and functions
- * @version 0.1.6
- * @date 2023-06-14
+ * @version 0.1.8
+ * @date 2024-04
  */
 
-#include <driver/adc.h>
-#include <esp_adc_cal.h>
 
-uint8_t batt_level = 0;
-uint8_t batt_level_old = 0;
-
-esp_adc_cal_characteristics_t characteristics;
-#define V_REF 3.9 // ADC reference voltage
-
-float battery_max = 4.20;     // 4.2;      // maximum voltage of battery
-float battery_min = 3.40;     // 3.6;      // minimum voltage of battery before shutdown
+#include "battery.hpp"
 
 /**
  * @brief Configurate ADC Channel for battery reading
  *
  */
-void init_ADC()
+void initADC()
 {
   // When VDD_A is 3.3V:
   //     0dB attenuaton (ADC_ATTEN_DB_0) gives full-scale voltage 1.1V
@@ -38,7 +29,7 @@ void init_ADC()
  *
  * @return float -> % Charge
  */
-float battery_read()
+float batteryRead()
 {
   long sum = 0;        // sum of samples taken
   float voltage = 0.0; // calculated voltage
@@ -55,9 +46,9 @@ float battery_read()
   voltage = (voltage * V_REF) / 4096.0;
   voltage = voltage / (R2 / (R1 + R2));
   voltage = roundf(voltage * 100) / 100;
-  output = ((voltage - battery_min) / (battery_max - battery_min)) * 100;
+  output = ((voltage - batteryMin) / (batteryMax - batteryMin)) * 100;
   if (output <= 160)
     return output;
   else
     return 0.0f;
-}
+}

lib/battery/battery.hpp

@@ -0,0 +1,25 @@
+/**
+ * @file battery.hpp
+ * @author Jordi Gauchía (jgauchia@gmx.es)
+ * @brief  Battery monitor definition and functions
+ * @version 0.1.8
+ * @date 2024-04
+ */
+
+#ifndef BATTERY_HPP
+#define BATTERY_HPP
+
+#include <Arduino.h>
+#include <driver/adc.h>
+#include <esp_adc_cal.h>
+
+static esp_adc_cal_characteristics_t characteristics;
+#define V_REF 3.9 // ADC reference voltage
+
+static float batteryMax = 4.20;     // 4.2;      // maximum voltage of battery
+static float batteryMin = 3.40;     // 3.6;      // minimum voltage of battery before shutdown
+
+void initADC();
+float batteryRead();
+
+#endif

lib/bme/bme.cpp

@@ -0,0 +1,11 @@
+/**
+ * @file bme.cpp
+ * @author Jordi Gauchía (jgauchia@gmx.es)
+ * @brief  BME280 Sensor functions
+ * @version 0.1.8
+ * @date 2024-04
+ */
+
+#include "bme.hpp"
+
+Adafruit_BME280 bme = Adafruit_BME280();

lib/bme/bme.hpp

@@ -0,0 +1,17 @@
+/**
+ * @file bme.hpp
+ * @author Jordi Gauchía (jgauchia@gmx.es)
+ * @brief  BME280 Sensor functions
+ * @version 0.1.8
+ * @date 2024-04
+ */
+
+#ifndef BME_HPP
+#define BME_HPP
+
+#include <Adafruit_Sensor.h>
+#include <Adafruit_BME280.h>
+
+extern Adafruit_BME280 bme;
+
+#endif

src/hardware/compass.h → lib/compass/compass.cpp

@@ -1,26 +1,20 @@
 /**
- * @file compass.h
- * @author Jordi Gauchía (jgauchia@jgauchia.com)
+ * @file compass.cpp
+ * @author Jordi Gauchía (jgauchia@gmx.es)
  * @brief  Compass definition and functions
- * @version 0.1.6
- * @date 2023-06-14
+ * @version 0.1.8
+ * @date 2024-04
  */
 
-#ifdef CUSTOMBOARD
-#include <Adafruit_Sensor.h>
-#include <Adafruit_HMC5883_U.h>
+#include "compass.hpp"
 
+#ifdef CUSTOMBOARD
 Adafruit_HMC5883_Unified compass = Adafruit_HMC5883_Unified(12345);
 #endif
 
-#ifdef MAKERF_ESP32S3
-#include <MPU9250.h>
-
-MPU9250 IMU(Wire, 0x68);
-#endif
-
-#define COMPASS_CAL_TIME 16000
-static void save_compass_cal(float offset_x, float offset_y);
+// #ifdef MAKERF_ESP32S3
+// MPU9250 IMU(Wire, 0x68);
+// #endif
 
 /**
  * @brief Magnetic declination
@@ -32,28 +26,27 @@ static void save_compass_cal(float offset_x, float offset_y);
 //  Substitute your magnetic declination for the "declinationAngle" shown below.
 float declinationAngle = 0.22;
 
+
 /**
  * @brief Compass Heading Angle and Smooth factors
  *
  */
 int heading = 0;
-int map_heading = 0;
-float heading_smooth = 0.0;
-float heading_previous = 0.0;
+int mapHeading = 0;
 #define SMOOTH_FACTOR 0.40
 #define SMOOTH_PREVIOUS_FACTOR 0.60
 
 /**
- * @brief Calibration variables
- *
+ * @brief Compass offset calibration
+ * 
  */
-float minx, maxx, miny, maxy;
+float offX = 0.0, offY = 0.0; 
 
 /**
  * @brief Init Compass
  *
  */
-void init_compass()
+void initCompass()
 {
 
 #ifdef CUSTOMBOARD
@@ -77,7 +70,7 @@ void init_compass()
  * @param y
  * @param z
  */
-static void read_compass(float &x, float &y, float &z)
+void readCompass(float &x, float &y, float &z)
 {
 #ifdef CUSTOMBOARD
   sensors_event_t event;
@@ -100,32 +93,32 @@ static void read_compass(float &x, float &y, float &z)
  *
  * @return compass heading
  */
-int get_heading()
+int getHeading()
 {
   float y = 0.0;
   float x = 0.0;
   float z = 0.0;
 
-  read_compass(x, y, z);
+  readCompass(x, y, z);
 
-  float heading_no_filter = atan2(y - offy, x - offx);
-  heading_no_filter += declinationAngle;
-  heading_smooth = heading_no_filter;
-  // heading_smooth = (heading_no_filter * SMOOTH_FACTOR) + (heading_previous * SMOOTH_PREVIOUS_FACTOR);
-  // heading_previous = heading_smooth;
+  float headingNoFilter = atan2(y - offY, x - offX);
+  headingNoFilter += declinationAngle;
+  headingSmooth = headingNoFilter;
+  // headingSmooth = (headingNoFilter * SMOOTH_FACTOR) + (headingPrevious * SMOOTH_PREVIOUS_FACTOR);
+  // headingPrevious = headingSmooth;
 
-  if (heading_smooth < 0)
-    heading_smooth += 2 * M_PI;
-  if (heading_smooth > 2 * M_PI)
-    heading_smooth -= 2 * M_PI;
-  return (int)(heading_smooth * 180 / M_PI);
+  if (headingSmooth < 0)
+    headingSmooth += 2 * M_PI;
+  if (headingSmooth > 2 * M_PI)
+    headingSmooth -= 2 * M_PI;
+  return (int)(headingSmooth * 180 / M_PI);
 }
 
 /**
  * @brief Compass calibration
  *
  */
-static void compass_calibrate()
+void compassCalibrate()
 {
   bool cal = 1;
   float y = 0.0;
@@ -145,24 +138,24 @@ static void compass_calibrate()
 
   unsigned long calTimeWas = millis();
 
-  read_compass(x, y, z);
+  readCompass(x, y, z);
 
-  maxx = minx = x; // Set initial values to current magnetometer readings.
-  maxy = miny = y;
+  maxX = minX = x; // Set initial values to current magnetometer readings.
+  maxY = minY = y;
 
   while (cal)
   {
 
-    read_compass(x, y, z);
+    readCompass(x, y, z);
 
-    if (x > maxx)
-      maxx = x;
-    if (x < minx)
-      minx = x;
-    if (y > maxy)
-      maxy = y;
-    if (y < miny)
-      miny = y;
+    if (x > maxX)
+      maxX = x;
+    if (x < minX)
+      minX = x;
+    if (y > maxY)
+      maxY = y;
+    if (y < minY)
+      minY = y;
 
     int secmillis = millis() - calTimeWas;
     int secs = (int)((COMPASS_CAL_TIME - secmillis + 1000) / 1000);
@@ -173,8 +166,8 @@ static void compass_calibrate()
 
     if (secs == 0)
     {
-      offx = (maxx + minx) / 2;
-      offy = (maxy + miny) / 2;
+      offX = (maxX + minX) / 2;
+      offY = (maxY + minY) / 2;
       cal = 0;
     }
   }
@@ -187,5 +180,5 @@ static void compass_calibrate()
   {
   };
 
-  save_compass_cal(offx,offy);
+  saveCompassCal(offX,offY);
 }