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view Discovery/Src/tInfoCompass.c @ 1007:65d35e66efb9 GasConsumption

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Improve compass calibration dialog: The previous calibration dialog showed some "magic" numbers and a 60 second count down. The new version is trying to guide the user through the calibration process: first rotate pitch, then roll and at last yaw angle. A step to the next angle is taken when enough data per angle is collected (change from red to green). To enable the yaw visualization a simple calibration is done while rotating the axis. The function behind the calibration was not modified => the suggested process can be ignored and the same handling as the with old dialog may be applied. With the new process the dialog may be left early. Anyhow it will still be left after 60 seconds and the fine calibration is performed in the same way as before.
author Ideenmodellierer
date Mon, 05 May 2025 21:02:34 +0200
parents b7b481df4f22
children
line wrap: on
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///////////////////////////////////////////////////////////////////////////////
/// -*- coding: UTF-8 -*-
///
/// \file   Discovery/Src/tInfoCompass.c
/// \brief  there is only compass_DX_f, compass_DY_f, compass_DZ_f output during this mode
/// \author heinrichs weikamp gmbh
/// \date   23-Feb-2015
///
/// \details
///
/// $Id$
///////////////////////////////////////////////////////////////////////////////
/// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh
///
///     This program is free software: you can redistribute it and/or modify
///     it under the terms of the GNU General Public License as published by
///     the Free Software Foundation, either version 3 of the License, or
///     (at your option) any later version.
///
///     This program is distributed in the hope that it will be useful,
///     but WITHOUT ANY WARRANTY; without even the implied warranty of
///     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
///     GNU General Public License for more details.
///
///     You should have received a copy of the GNU General Public License
///     along with this program.  If not, see <http://www.gnu.org/licenses/>.
//////////////////////////////////////////////////////////////////////////////

/* Includes ------------------------------------------------------------------*/


#include "gfx_fonts.h"
#include "tHome.h"
#include "tInfo.h"
#include "tInfoCompass.h"

#include <string.h>
#include <math.h>

#define PI 3.14159265358979323846

#define PITCH 	(0)
#define ROLL	(1)
#define YAW 	(2)

/* Private variables ---------------------------------------------------------*/

static uint16_t tInfoCompassTimeout = 0;
static int16_t minMaxCompassDX[3][2] = { 0 };

static axisIndicator_t axis[3];
static uint8_t activeAxis = PITCH;
static uint32_t checkTick = 0;

/* Exported functions --------------------------------------------------------*/
void openInfo_Compass(void)
{
	uint16_t angle = 0;
	uint8_t axisIndex = 0;
    set_globalState(StICOMPASS);
    tInfoCompassTimeout = settingsGetPointer()->timeoutInfoCompass;
    tInfoCompassTimeout *= 10;

    for(axisIndex = 0; axisIndex < 3; axisIndex++)
    {
    	memset(axis[axisIndex].check,0, 360);
    }
    for(angle = 170; angle < 360; angle++)
    {
       	axis[PITCH].check[angle] = 1;	/* pitch only from -90 to +90 */
    }
    axis[YAW].coord.x = 100;
    axis[YAW].coord.y = 70;
    axis[PITCH].coord.x = 100;
    axis[PITCH].coord.y = 300;
    axis[ROLL].coord.x = 100;
    axis[ROLL].coord.y = 200;

    axis[YAW].eclipse.x = 50;
    axis[YAW].eclipse.y = 50;
    axis[PITCH].eclipse.x = 20;
    axis[PITCH].eclipse.y = 50;
    axis[ROLL].eclipse.x = 50;
    axis[ROLL].eclipse.y = 20;

    for(int i = 0; i<3;i ++)
    {
            minMaxCompassDX[i][0] = 999;
            minMaxCompassDX[i][1] = -999;
    }
    checkTick = HAL_GetTick();

    activeAxis = PITCH;
}

void getElipsePoint(uint16_t elipseX , int16_t elipseY, int16_t degree, int16_t *x, int16_t *y)
{
    double rad = degree * (PI / 180.0);
    *x = (int16_t) (elipseX * cos(rad));
    *y = (int16_t) (elipseY * sin(rad));
}
//  ===============================================================================
//	refreshInfo_Compass
/// @brief	there is only compass_DX_f, compass_DY_f, compass_DZ_f output during this mode
///					the accel is not called during this process
//  ===============================================================================
void refreshInfo_Compass(GFX_DrawCfgScreen s)
{
	static int16_t cursorAngle = 0;

	int16_t angle = 0.0;
	int16_t drawX = 0;
	int16_t drawY = 0;
	uint8_t color = 0;
	point_t start;
	point_t stop;
	point_t center;

	int8_t offset = 0;
	uint8_t axisIndex = 0;
	int16_t index = 0;
	uint8_t textIndex = 0;

	tHome_show_lost_connection_count(&s);
    tInfoCompassTimeout--;
    if(tInfoCompassTimeout == 0)
    {
        exitInfo();
        return;
    }

    char text[80];

    int16_t compassValues[3];

    compassValues[0] = stateUsed->lifeData.compass_DX_f;
    compassValues[1] = stateUsed->lifeData.compass_DY_f;
    compassValues[2] = stateUsed->lifeData.compass_DZ_f;

   /* draw indicator */
    for(axisIndex = 0; axisIndex < 3; axisIndex++)
    {
    	switch(axisIndex)
    	{
    		default:
    		case YAW:	index = (uint16_t)(stateUsed->lifeData.compass_heading);
    					textIndex = snprintf(text,80,"yaw %.1f", stateUsed->lifeData.compass_heading);

    					if((tInfoCompassTimeout < 50) && (activeAxis == YAW))
    					{
    						snprintf(&text[textIndex],80,"\023\t(%i, %i)", minMaxCompassDX[YAW][0], minMaxCompassDX[YAW][1]);
    					}

    					start.x = axis[axisIndex].coord.x - 1;
    		    	    start.y = axis[axisIndex].coord.y;
    		    	    stop.x = axis[axisIndex].coord.x + 1;
    		    	    stop.y = axis[axisIndex].coord.y;
    			break;
    		case PITCH:	index = (uint16_t)(stateUsed->lifeData.compass_pitch + 90);
    					textIndex = snprintf(text,80,"pitch %.1f", stateUsed->lifeData.compass_pitch);
    					if((tInfoCompassTimeout < 50) && (activeAxis == YAW))
    					{
    						snprintf(&text[textIndex],80,"\023\t(%i, %i)", minMaxCompassDX[PITCH][0], minMaxCompassDX[PITCH][1]);
    					}
    					start.x = axis[axisIndex].coord.x - 30;
    					start.y = axis[axisIndex].coord.y;
    					stop.x = axis[axisIndex].coord.x + 30;
    					stop.y = axis[axisIndex].coord.y;

    			break;
    		case ROLL: index = (uint16_t)(stateUsed->lifeData.compass_roll + 180);
    					textIndex = snprintf(text,80,"roll %.1f", stateUsed->lifeData.compass_roll);
    					if((tInfoCompassTimeout < 50) && (activeAxis == YAW))
    					{
    						snprintf(&text[textIndex],80,"\023\t(%i, %i)", minMaxCompassDX[ROLL][0], minMaxCompassDX[ROLL][1]);
    					}
    					start.x = axis[axisIndex].coord.x;
    					start.y = axis[axisIndex].coord.y - 30;
    					stop.x = axis[axisIndex].coord.x;
    					stop.y = axis[axisIndex].coord.y +30;
    			break;
    	}
		if(settingsGetPointer()->FlipDisplay)
		{
			start.x = 800 - start.x;
			stop.x = 800 - stop.x;
			start.y = 480 - start.y;
			stop.y = 480 - stop.y;
		}
    	if(activeAxis == axisIndex)			/* only check one axis at a time. reason: yaw will be unstable at the beginning of calibration */
    	{
    		for(offset = -6; offset <= 6; offset++)	/* it is hard to hit every single angle and the resolution is not needed */
    		{
				if(( (index + offset) >= 0) && (index + offset < 360))
				{
					axis[axisIndex].check[index + offset] = 1;							/* => check surrounding angles as well */
				}
    		}
    	}
    	if(axisIndex == activeAxis)
    	{
    		color = CLUT_InfoCompass;
    		getElipsePoint(axis[axisIndex].eclipse.x,axis[axisIndex].eclipse.y,cursorAngle, &drawX, &drawY);
    		center.x = axis[axisIndex].coord.x + drawX;
    		center.y = axis[axisIndex].coord.y + drawY;

    		t_Info_draw_circle(center, 4, CLUT_Font020);
    		cursorAngle += 15;
    		if(cursorAngle >= 360)
    		{
    			cursorAngle = 0;
    		}
    	}
    	else
    	{
    		color = CLUT_Font021;
    	}
    	tInfo_write_content_simple(  200, 600, 480 - axis[axisIndex].coord.y - 35 , &FontT42, text, color);
  	    tInfo_draw_colorline(start, stop, CLUT_Font020);
  	    for(angle = 0; angle < 360; angle = angle + 3)
  	    {
  	    	if(axis[axisIndex].check[angle])
  	    	{
  	    		color = CLUT_NiceGreen;
  	    	}
  	    	else
  	    	{
  	    		color = CLUT_WarningRed;
  	    	}
  	    	getElipsePoint(axis[axisIndex].eclipse.x,axis[axisIndex].eclipse.y,angle, &drawX, &drawY);
  	    	tInfo_drawPixel(axis[axisIndex].coord.x + drawX, axis[axisIndex].coord.y + drawY,color);
  	    	if((axisIndex == PITCH) && (angle == 180))		/* pitch only from -90 to +90 */
  	    	{
  	    		break;
  	    	}
  	    }

    }

    for(int i = 0; i<3;i ++)
    {
        // do not accept zero
        if(minMaxCompassDX[i][0] == 0)
            minMaxCompassDX[i][0] = compassValues[i];

        // do not accept zero
        if(minMaxCompassDX[i][1] == 0)
            minMaxCompassDX[i][1] = compassValues[i];

        if(compassValues[i] < minMaxCompassDX[i][0])
            minMaxCompassDX[i][0] = compassValues[i];

        if(compassValues[i] > minMaxCompassDX[i][1])
            minMaxCompassDX[i][1] = compassValues[i];
    }

    snprintf(text,80,"Time left: %u s",(tInfoCompassTimeout+9)/10);
    tInfo_write_content_simple(  20,800,  25, &FontT42, text, CLUT_InfoCompass);


    if(time_elapsed_ms(checkTick, HAL_GetTick() > 1000))
    {
    	index = 0;
    	 for(angle = 0; angle < 360; angle++)
    	 {
    		 if(axis[activeAxis].check[angle])
    		 {
    			 index++;
    		 }
    	 }
    	 if(index > 350)
    	 {
    		 if(activeAxis < 2)
    		 {
    			 activeAxis++;
    		 }
    		 else
    		 {
    			 if(tInfoCompassTimeout > 50)
    			 {
    				 tInfoCompassTimeout = 50;	/* reduce exit time to five seconds */
    			 }
    		 }
    	 }


    	checkTick = HAL_GetTick();
    }
}