Merge pull request #83 from jgauchia/35-compass-calibration

35 compass calibration

* Update SPIFFS filesystem

lib/lv_CUSTOMBOARD_conf.h

@@ -84,7 +84,7 @@
 #define LV_DISP_DEF_REFR_PERIOD 30    /*[ms]*/
 
 /*Input device read period in milliseconds*/
-#define LV_INDEV_DEF_READ_PERIOD 30     /*[ms]*/
+#define LV_INDEV_DEF_READ_PERIOD 60   /*[ms]*/
 
 /*Use a custom tick source that tells the elapsed time in milliseconds.
  *It removes the need to manually update the tick with `lv_tick_inc()`)*/

platformio.ini

@@ -16,7 +16,7 @@ default_envs = CUSTOMBOARD
 platform = espressif32
 framework = arduino
 version = 0.1.6
-revision = 35
+revision = 36
 monitor_speed = 115200
 monitor_rts = 0
 monitor_dtr = 0

src/gui/screens/Main/events/main_scr.h

@@ -132,7 +132,7 @@ static void update_main_screen(lv_timer_t *t)
         {
         case COMPASS:
 #ifdef ENABLE_COMPASS
-            heading = read_compass();
+            heading = get_heading();
             lv_event_send(compass_heading, LV_EVENT_VALUE_CHANGED, NULL);
 #endif
 

src/gui/screens/Main/events/map.h

@@ -191,7 +191,7 @@ static void update_map(lv_event_t *event)
     map_rot.pushSprite(0, 27);
 
 #ifdef ENABLE_COMPASS
-    heading = read_compass();
+    heading = get_heading();
     map_spr.pushRotated(&map_rot, 360 - heading, TFT_TRANSPARENT);
     map_rot.fillRectAlpha(TFT_WIDTH - 48, 0, 48, 48, 95, TFT_BLACK);
     map_rot.pushImageRotateZoom(TFT_WIDTH - 24, 24, 24, 24, 360 - heading, 1, 1, 48, 48, (uint16_t *)mini_compass, TFT_BLACK);

src/gui/screens/Notify_Bar/events/notify_bar.h

@@ -38,22 +38,24 @@ static void update_batt(lv_event_t *event)
  */
 static void update_fix_mode(lv_event_t *event)
 {
-    switch (atoi(fix_mode.value()))
+    lv_obj_t *mode = lv_event_get_target(event);
+    if (fix_mode.isValid())
     {
-    case 1:
-        lv_label_set_text(gps_fix_mode, "--");
-        lv_label_set_text_fmt(gps_count, LV_SYMBOL_GPS "%2d", 0);
-        break;
-    case 2:
-        lv_label_set_text(gps_fix_mode, "2D");
-        break;
-    case 3:
-        lv_label_set_text(gps_fix_mode, "3D");
-        break;
-    default:
-        lv_label_set_text(gps_fix_mode, "--");
-        lv_label_set_text_fmt(gps_count, LV_SYMBOL_GPS "%2d", 0);
-        break;
+        switch (atoi(fix_mode.value()))
+        {
+        case 1:
+            lv_label_set_text(mode, "--");
+            break;
+        case 2:
+            lv_label_set_text(mode, "2D");
+            break;
+        case 3:
+            lv_label_set_text(mode, "3D");
+            break;
+        default:
+            lv_label_set_text(mode, "--");
+            break;
+        }
     }
 }
 
@@ -77,7 +79,11 @@ static void update_time(lv_event_t *event)
  */
 static void update_gps_count(lv_event_t *event)
 {
-    lv_label_set_text_fmt(gps_count, LV_SYMBOL_GPS "%2d", GPS.satellites.value());
+    lv_obj_t *gps_num = lv_event_get_target(event);
+    if (GPS.satellites.isValid())
+        lv_label_set_text_fmt(gps_num, LV_SYMBOL_GPS "%2d", GPS.satellites.value());
+    else
+        lv_label_set_text_fmt(gps_num, LV_SYMBOL_GPS "%2d", 0);
 }
 
 /**
@@ -87,32 +93,8 @@ static void update_gps_count(lv_event_t *event)
 void update_notify_bar(lv_timer_t *t)
 {
     lv_event_send(gps_time, LV_EVENT_VALUE_CHANGED, NULL);
-
-    lv_label_set_text_fmt(gps_count, LV_SYMBOL_GPS "%2d", GPS.satellites.value());
-
-    switch (atoi(fix.value()))
-    {
-    case 0:
-        lv_led_off(gps_fix);
-        lv_label_set_text_fmt(gps_count, LV_SYMBOL_GPS "%2d", 0);
-        break;
-    case 1:
-        lv_led_toggle(gps_fix);
-        break;
-    case 2:
-        lv_led_toggle(gps_fix);
-        break;
-    default:
-        lv_led_off(gps_fix);
-        lv_label_set_text_fmt(gps_count, LV_SYMBOL_GPS "%2d", 0);
-        break;
-    }
-
-    if (atoi(fix_mode.value()) != fix_mode_old)
-    {
-        lv_event_send(gps_fix_mode, LV_EVENT_VALUE_CHANGED, NULL);
-        fix_mode_old = atoi(fix_mode.value());
-    }
+    lv_event_send(gps_count, LV_EVENT_VALUE_CHANGED, NULL);
+    lv_event_send(gps_fix_mode, LV_EVENT_VALUE_CHANGED, NULL);
 
     batt_level = battery_read();
     if (batt_level != batt_level_old)

src/gui/screens/Notify_Bar/notify_bar.h

@@ -65,13 +65,9 @@ void create_notify_bar()
 
     gps_count = lv_label_create(notifyBar);
     lv_label_set_text_fmt(gps_count, LV_SYMBOL_GPS "%2d", 0);
+    lv_obj_set_width(gps_count,40);
     lv_obj_add_event_cb(gps_count, update_gps_count, LV_EVENT_VALUE_CHANGED, NULL);
 
-    gps_fix = lv_led_create(notifyBar);
-    lv_led_set_color(gps_fix, lv_palette_main(LV_PALETTE_RED));
-    lv_obj_set_size(gps_fix, 7, 7);
-    lv_led_off(gps_fix);
-
     gps_fix_mode = lv_label_create(notifyBar);
     lv_obj_set_style_text_font(gps_fix_mode, &lv_font_montserrat_10, 0);
     lv_label_set_text(gps_fix_mode, "--");

src/gui/screens/Settings/events/settings_scr.h

@@ -15,7 +15,7 @@ void load_main_screen();
  */
 static void back(lv_event_t *event)
 {
-   load_main_screen();
+    load_main_screen();
 }
 
 /**
@@ -31,4 +31,17 @@ static void touch_calib(lv_event_t *event)
     REPEAT_CAL = false;
     is_main_screen = false;
     lv_scr_load(settingsScreen);
+}
+
+/**
+ * @brief Compass Calibration
+ *
+ * @param event
+ */
+static void compass_calib(lv_event_t *event)
+{
+    tft.fillScreen(TFT_BLACK);
+    compass_calibrate();
+    is_main_screen = false;
+    lv_scr_load(settingsScreen);
 }

src/gui/screens/Settings/settings_scr.h

@@ -29,6 +29,15 @@ void create_settings_scr()
 
     lv_obj_t *but_label;
 
+    // Compass Calibration
+    lv_obj_t *compass_calib_but = lv_btn_create(settingsScreen);
+    lv_obj_set_size(compass_calib_but, TFT_WIDTH - 30, 40);
+    but_label = lv_label_create(compass_calib_but);
+    lv_obj_set_style_text_font(but_label, &lv_font_montserrat_20, 0);
+    lv_label_set_text(but_label, "Compass Calibration");
+    lv_obj_center(but_label);
+    lv_obj_add_event_cb(compass_calib_but, compass_calib, LV_EVENT_CLICKED, NULL);
+
     // Touch Calibration
     lv_obj_t *touch_calib_but = lv_btn_create(settingsScreen);
     lv_obj_set_size(touch_calib_but, TFT_WIDTH - 30, 40);

src/gui/screens/Splash/splash_scr.h

@@ -12,6 +12,7 @@
  */
 void splash_scr()
 {
+    tft.fillScreen(TFT_BLACK);
     millis_actual = millis();
     set_brightness(0);
     tft.drawPngFile(SPIFFS, PSTR("/BOOTLOGO.png"), (tft.width() / 2) - 150 , (tft.height() / 2) - 70);

src/hardware/compass.h

@@ -19,6 +19,9 @@ Adafruit_HMC5883_Unified compass = Adafruit_HMC5883_Unified(12345);
 MPU9250 IMU(Wire, 0x68);
 #endif
 
+#define COMPASS_CAL_TIME 16000
+static void save_compass_cal(float offset_x, float offset_y);
+
 /**
  * @brief Magnetic declination
  *
@@ -30,7 +33,7 @@ MPU9250 IMU(Wire, 0x68);
 float declinationAngle = 0.22;
 
 /**
- * @brief Compass Heading Angle
+ * @brief Compass Heading Angle and Smooth factors
  *
  */
 int heading = 0;
@@ -40,16 +43,41 @@ float heading_previous = 0.0;
 #define SMOOTH_PREVIOUS_FACTOR 0.60
 
 /**
- * @brief Read compass data
+ * @brief Calibration variables
  *
- * @return compass heading
  */
-int read_compass()
+float minx, maxx, miny, maxy, offx = 0.0, offy = 0.0;
+
+/**
+ * @brief Init Compass
+ *
+ */
+void init_compass()
 {
-  float y = 0.0;
-  float x = 0.0;
-  float z = 0.0;
 
+#ifdef CUSTOMBOARD
+  compass.begin();
+#endif
+#ifdef MAKERF_ESP32S3
+  int status = IMU.begin();
+  if (status < 0)
+  {
+    log_e("IMU initialization unsuccessful");
+    log_e("Check IMU wiring or try cycling power");
+    log_e("Status: %i", status);
+  }
+#endif
+}
+
+/**
+ * @brief Read compass values
+ *
+ * @param x
+ * @param y
+ * @param z
+ */
+static void read_compass(float &x, float &y, float &z)
+{
 #ifdef CUSTOMBOARD
   sensors_event_t event;
   compass.getEvent(&event);
@@ -64,11 +92,26 @@ int read_compass()
   y = IMU.getMagY_uT();
   z = IMU.getMagZ_uT();
 #endif
-  float heading_no_filter = atan2(y, x);
+}
+
+/**
+ * @brief Get compass heading
+ *
+ * @return compass heading
+ */
+int get_heading()
+{
+  float y = 0.0;
+  float x = 0.0;
+  float z = 0.0;
+
+  read_compass(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;
+  // heading_smooth = (heading_no_filter * SMOOTH_FACTOR) + (heading_previous * SMOOTH_PREVIOUS_FACTOR);
+  // heading_previous = heading_smooth;
 
   if (heading_smooth < 0)
     heading_smooth += 2 * M_PI;
@@ -77,19 +120,71 @@ int read_compass()
   return (int)(heading_smooth * 180 / M_PI);
 }
 
-void init_compass()
+/**
+ * @brief Compass calibration
+ *
+ */
+static void compass_calibrate()
 {
+  bool cal = 1;
+  float y = 0.0;
+  float x = 0.0;
+  float z = 0.0;
+  uint16_t touchX, touchY;
 
-#ifdef CUSTOMBOARD
-  compass.begin();
-#endif
-#ifdef MAKERF_ESP32S3
-  int status = IMU.begin();
-  if (status < 0)
+  tft.drawCenterString("ROTATE THE DEVICE", 160, 10, &fonts::DejaVu18);
+  tft.drawPngFile(SPIFFS, PSTR("/turn.png"), (tft.width() / 2) - 50, 60);
+  tft.drawCenterString("TOUCH TO START", 160, 200, &fonts::DejaVu18);
+  tft.drawCenterString("COMPASS CALIBRATION", 160, 230, &fonts::DejaVu18);
+
+  while (!tft.getTouch(&touchX, &touchY))
   {
-    log_e("IMU initialization unsuccessful");
-    log_e("Check IMU wiring or try cycling power");
-    log_e("Status: %i", status);
+  };
+  delay(1000);
+
+  unsigned long calTimeWas = millis();
+
+  read_compass(x, y, z);
+
+  maxx = minx = x; // Set initial values to current magnetometer readings.
+  maxy = miny = y;
+
+  while (cal)
+  {
+
+    read_compass(x, y, z);
+
+    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);
+    tft.setTextColor(TFT_WHITE, TFT_BLACK);
+    tft.setTextSize(3);
+    tft.setTextPadding(tft.textWidth("88"));
+    tft.drawNumber((COMPASS_CAL_TIME - secmillis) / 1000, (tft.width() >> 1), 280);
+
+    if (secs == 0)
+    {
+      offx = (maxx + minx) / 2;
+      offy = (maxy + miny) / 2;
+      cal = 0;
+    }
   }
-#endif
-}
+
+  tft.setTextSize(1);
+  tft.drawCenterString("DONE!", 160, 340, &fonts::DejaVu40);
+  tft.drawCenterString("TOUCH TO CONTINUE.", 160, 380, &fonts::DejaVu18);
+
+  while (!tft.getTouch(&touchX, &touchY))
+  {
+  };
+
+  save_compass_cal(offx,offy);
+}

src/hardware/gps.h

@@ -14,7 +14,6 @@
 HardwareSerial *gps = &Serial2;
 TinyGPSPlus GPS;
 bool is_gps_fixed = false;
-uint8_t fix_mode_old = 0;
 uint8_t fix_old = 0;
 
 /**
@@ -42,7 +41,6 @@ struct GSV
 TinyGPSCustom pdop(GPS, PSTR("GNGSA"), 15); // $GNGSA sentence, 15th element
 TinyGPSCustom hdop(GPS, PSTR("GNGSA"), 16); // $GNGSA sentence, 16th element
 TinyGPSCustom vdop(GPS, PSTR("GNGSA"), 17); // $GNGSA sentence, 17th element
-TinyGPSCustom fix(GPS, PSTR("GNGGA"), 6);
 TinyGPSCustom fix_mode(GPS, PSTR("GNGSA"), 2);
 
 // GPS Satellites in view
@@ -60,7 +58,6 @@ GSV BD_GSV;
 TinyGPSCustom pdop(GPS, PSTR("GPGSA"), 15); // $GPGSA sentence, 15th element
 TinyGPSCustom hdop(GPS, PSTR("GPGSA"), 16); // $GPGSA sentence, 16th element
 TinyGPSCustom vdop(GPS, PSTR("GPGSA"), 17); // $GPGSA sentence, 17th element
-TinyGPSCustom fix(GPS, PSTR("GPGGA"), 6);
 TinyGPSCustom fix_mode(GPS, PSTR("GPGSA"), 2);
 
 // GPS Satellites in view