WIP: Acc+debug tweaks

Author: tyeth

platformio.ini

@@ -608,14 +608,14 @@ build_flags =
     -DDEBUG_RP2040_CORE
     -DDEBUG_RP2040_WIFI
     -DLWIP_DEBUG
-    -DDEBUG_RP2040_PORT=Serial1
-    -DDEBUG_RP2040_UART_1
-    -DDEBUG_RP2040_UART=1
+    ; -DDEBUG_RP2040_PORT=Serial1
+    ; -DDEBUG_RP2040_UART_1
+    ; -DDEBUG_RP2040_UART=1
     -Og
     ; Enable debug stack protection
     -fstack-protector
     ; Enable Exceptions
-    -DPIO_FRAMEWORK_ARDUINO_ENABLE_EXCEPTIONS
+    ; -DPIO_FRAMEWORK_ARDUINO_ENABLE_EXCEPTIONS
     ; Enable RTTI
     -DPIO_FRAMEWORK_ARDUINO_ENABLE_RTTI
     ; ; Enable default USB Stack of Pico SDK USB Stack with none of below usb options
@@ -624,3 +624,4 @@ build_flags =
     ; ; No USB stack
     ; build_flags = -DPIO_FRAMEWORK_ARDUINO_NO_USB
     ; -DPIO_FRAMEWORK_ARDUINO_ENABLE_IPV6
+    -DBUILD_OFFLINE_ONLY

src/components/i2c/controller.cpp

@@ -458,12 +458,12 @@ static const std::unordered_map<uint16_t, std::vector<const char *>>
         {0x12, {"pmsa003i"}},
         {0x13, {"vncl4020"}},
         {0x18, {"ds2484", "mcp9808", "mprls", "lis3dh"}},
-        {0x19, {"mcp9808", "lis3dh", "lsm303dlh", "lsm303agr"}},
+        {0x19, {"mcp9808", "lsm303agr", "lsm303dlh", "lis3dh"}}, // LIS3DH last - seems to match LSM303AGR
         {0x1A, {"mcp9808"}},
         {0x1B, {"mcp9808"}},
         {0x1C, {"mcp9808", "lis3mdl"}},
         {0x1D, {"mcp9808"}},
-        {0x1E, {"mcp9808", "lis2mdl", "lis3mdl"}},
+        {0x1E, {"mcp9808", "lis3mdl", "lis2mdl"}}, // "lsm303dlh", "lsm303agr", but rely on first addr
         {0x1F, {"mcp9808"}},
         {0x23, {"bh1750"}},
         {0x28, {"pct2075"}},

src/components/i2c/drivers/drvLsm303agr.cpp

@@ -8,7 +8,7 @@
 
 #include <math.h>
 
-#define LSM303AGR_ACCEL_DEFAULT_ADDR LSM303_ADDRESS_ACCEL
+#define LSM303AGR_ACCEL_DEFAULT_ADDR 0x19 ///< LSM303AGR default address
 #define LSM303AGR_MAG_DEFAULT_ADDR 0x1E ///< LIS2MDL default address
 
 /******************************************************************************/
@@ -52,13 +52,11 @@ bool drvLsm303agr::begin() {
 
   // TODO: if _address isn't default (or alt), shift mag by same offset.
   // to support adress translators. Alternatively compound components.
-  const uint8_t accel_addr =
-      _address == 0 ? LSM303AGR_ACCEL_DEFAULT_ADDR : (uint8_t)_address;
-
+  
   WS_DEBUG_PRINT("[drvLsm303agr] Initialising accel @ 0x");
-  WS_DEBUG_PRINTHEX(accel_addr);
+  WS_DEBUG_PRINTHEX(LSM303AGR_ACCEL_DEFAULT_ADDR);
   WS_DEBUG_PRINTLN("...");
-  if (!_accel->begin(accel_addr, _i2c)) {
+  if (!_accel->begin(LSM303AGR_ACCEL_DEFAULT_ADDR, _i2c)) {
     WS_DEBUG_PRINTLN("[drvLsm303agr] Failed to initialise accelerometer");
     teardown();
     return false;

src/components/i2c/drivers/drvLsm303dlh.cpp

@@ -41,24 +41,29 @@ void drvLsm303dlh::teardown() {
 */
 /******************************************************************************/
 bool drvLsm303dlh::begin() {
+  WS_DEBUG_PRINTLN("[drvLsm303dlh] Initializing LSM303DLH driver...");
+  WS_PRINTER.flush();
+
+  WS_DEBUG_PRINTLN("[drvLsm303dlh] Tearing down any existing sensor instances...");
+  WS_PRINTER.flush();
   teardown();
 
+  WS_DEBUG_PRINTLN("[drvLsm303dlh] Creating new sensor instances...");
+  WS_PRINTER.flush();
   _accel = new Adafruit_LSM303_Accel_Unified();
+  WS_DEBUG_PRINTLN("[drvLsm303dlh] Created accelerometer instance, DLH mag next");
+  WS_PRINTER.flush();
   _mag = new Adafruit_LSM303DLH_Mag_Unified();
+  WS_DEBUG_PRINTLN("[drvLsm303dlh] Created magnetometer instance");
+  WS_PRINTER.flush();
   if (!_accel || !_mag) {
     teardown();
     return false;
   }
-
-  // TODO: if _address isn't default (or alt), shift mag by same offset.
-  // to support adress translators. Alternatively compound components.
-  const uint8_t accel_addr =
-      _address == 0 ? LSM303DLH_ACCEL_DEFAULT_ADDR : (uint8_t)_address;
-
-  WS_DEBUG_PRINT("[drvLsm303dlh] Initialising accel @ 0x");
-  WS_DEBUG_PRINTHEX(accel_addr);
+  WS_DEBUG_PRINT("[drvLsm303dlh] Initialising accelerometer @ 0x");
+  WS_DEBUG_PRINTHEX(LSM303DLH_ACCEL_DEFAULT_ADDR);
   WS_DEBUG_PRINTLN("...");
-  if (!_accel->begin(accel_addr, _i2c)) {
+  if (!_accel->begin(LSM303DLH_ACCEL_DEFAULT_ADDR, _i2c)) {
     WS_DEBUG_PRINTLN("[drvLsm303dlh] Failed to initialise accelerometer");
     teardown();
     return false;

src/components/i2c/drivers/drvLsm9ds1.cpp

@@ -37,8 +37,8 @@ bool drvLsm9ds1::begin() {
   }
 
   // Mirror the configuration used by the reference example
-  _lsm->setupAccel(_lsm->LSM9DS1_ACCELRANGE_2G,
-                   _lsm->LSM9DS1_ACCELDATARATE_10HZ);
+  _lsm->setupAccel(_lsm->LSM9DS1_ACCELRANGE_4G,
+                   _lsm->LSM9DS1_ACCELDATARATE_119HZ);
   _lsm->setupMag(_lsm->LSM9DS1_MAGGAIN_4GAUSS);
   _lsm->setupGyro(_lsm->LSM9DS1_GYROSCALE_245DPS);
 
@@ -50,6 +50,7 @@ bool drvLsm9ds1::readAllEvents(sensors_event_t *accel, sensors_event_t *mag,
   if (!_lsm) {
     return false;
   }
+  
   return _lsm->getEvent(accel, mag, gyro, temp);
 }
 
@@ -81,47 +82,35 @@ bool drvLsm9ds1::getEventRaw(sensors_event_t *rawEvent) {
 
 /******************************************************************************/
 /*!
-    @brief    Gets the LSM9DS1's boolean sensor event.
-    @param    booleanEvent
-              Pointer to the sensor event.
+    @brief    Gets the LSM9DS1's accelerometer sensor event (x,y,z in m/s^2).
+    @param    accelEvent
+              Pointer to the accelerometer sensor event.
     @returns  True if the sensor event was obtained successfully, False
               otherwise.
 */
 /******************************************************************************/
-bool drvLsm9ds1::getEventBoolean(sensors_event_t *booleanEvent) {
-  WS_DEBUG_PRINTLN("[drvLsm9ds1] Checking for tap event...");
-  sensors_event_t accel, mag, gyro, temp;
-  if (!readAllEvents(&accel, &mag, &gyro, &temp)) {
+bool drvLsm9ds1::getEventAccelerometer(sensors_event_t *accelEvent) {
+  WS_DEBUG_PRINTLN("[drvLsm9ds1] Getting accelerometer event...");
+  sensors_event_t mag, gyro, temp;
+  if (!readAllEvents(accelEvent, &mag, &gyro, &temp)) {
     return false;
   }
-
-  float mag_accel = sqrtf(accel.acceleration.x * accel.acceleration.x +
-                          accel.acceleration.y * accel.acceleration.y +
-                          accel.acceleration.z * accel.acceleration.z);
-
-  bool tap_detected = (mag_accel > LSM9DS1_TAP_THRESHOLD_MSS);
-  booleanEvent->data[0] = tap_detected ? 1.0f : 0.0f;
-
-  if (tap_detected) {
-    WS_DEBUG_PRINTLN("[drvLsm9ds1] Tap event detected!");
-  }
-
   return true;
 }
 
 /******************************************************************************/
 /*!
-    @brief    Gets the LSM9DS1's accelerometer sensor event (x,y,z in m/s^2).
-    @param    accelEvent
-              Pointer to the accelerometer sensor event.
+    @brief    Gets the LSM9DS1's temperature sensor event (not necessarily *C).
+    @param    tempEvent
+              Pointer to the temperature sensor event.
     @returns  True if the sensor event was obtained successfully, False
               otherwise.
 */
 /******************************************************************************/
-bool drvLsm9ds1::getEventAccelerometer(sensors_event_t *accelEvent) {
-  WS_DEBUG_PRINTLN("[drvLsm9ds1] Getting accelerometer event...");
-  sensors_event_t mag, gyro, temp;
-  if (!readAllEvents(accelEvent, &mag, &gyro, &temp)) {
+bool drvLsm9ds1::getEventAmbientTemp(sensors_event_t *tempEvent) {
+  WS_DEBUG_PRINTLN("[drvLsm9ds1] Getting temperature event...");
+  sensors_event_t accel, mag, gyro;
+  if (!readAllEvents(&accel, &mag, &gyro, tempEvent)) {
     return false;
   }
   return true;
@@ -164,7 +153,13 @@ bool drvLsm9ds1::getEventMagneticField(sensors_event_t *magEvent) {
 }
 
 void drvLsm9ds1::ConfigureDefaultSensorTypes() {
-  _default_sensor_types_count = 1;
+  _default_sensor_types_count = 4;
   _default_sensor_types[0] =
       wippersnapper_sensor_SensorType_SENSOR_TYPE_ACCELEROMETER;
+  _default_sensor_types[1] =
+      wippersnapper_sensor_SensorType_SENSOR_TYPE_MAGNETIC_FIELD;
+  _default_sensor_types[2] =
+      wippersnapper_sensor_SensorType_SENSOR_TYPE_GYROSCOPE;
+  _default_sensor_types[3] =
+      wippersnapper_sensor_SensorType_SENSOR_TYPE_AMBIENT_TEMPERATURE;
 }

src/components/i2c/drivers/drvLsm9ds1.h

@@ -21,9 +21,6 @@
 
 class Adafruit_LSM9DS1; // forward
 
-// Approximate acceleration magnitude (m/s^2) that triggers a tap event
-#define LSM9DS1_TAP_THRESHOLD_MSS 15.0f
-
 /**************************************************************************/
 /*!
     @brief  Class that provides a driver interface for a LSM9DS1 IMU.
@@ -63,17 +60,6 @@ class drvLsm9ds1 : public drvBase {
   /*******************************************************************************/
   bool begin() override;
 
-  /******************************************************************************/
-  /*!
-      @brief    Gets the LSM9DS1's boolean sensor event.
-      @param    booleanEvent
-                Pointer to the sensor event.
-      @returns  True if the sensor event was obtained successfully, False
-                otherwise.
-  */
-  /******************************************************************************/
-  bool getEventBoolean(sensors_event_t *booleanEvent) override;
-
   /*******************************************************************************/
   /*!
       @brief    Gets the LSM9DS1's raw sensor event (magnitude stored in
@@ -96,6 +82,17 @@ class drvLsm9ds1 : public drvBase {
   /*******************************************************************************/
   bool getEventAccelerometer(sensors_event_t *accelEvent) override;
 
+  /*******************************************************************************/
+  /*!
+      @brief    Gets the LSM9DS1's temperature sensor event (not necessarily *C).
+      @param    tempEvent
+                Pointer to the temperature sensor event.
+      @returns  True if the sensor event was obtained successfully, False
+                otherwise.
+  */
+  /*******************************************************************************/
+  bool getEventAmbientTemp(sensors_event_t *tempEvent) override;
+
   /*******************************************************************************/
   /*!
       @brief    Gets the LSM9DS1's gyroscope sensor event (x,y,z in rad/s).
@@ -125,6 +122,7 @@ class drvLsm9ds1 : public drvBase {
 
   bool readAllEvents(sensors_event_t *accel, sensors_event_t *mag,
                      sensors_event_t *gyro, sensors_event_t *temp);
+
 };
 
 #endif // DRV_LSM9DS1_H

src/helpers/ws_helper_macros.h

@@ -7,11 +7,11 @@
 // Define actual debug output functions when necessary.
 #ifdef WS_DEBUG
 #define WS_DEBUG_PRINT(...)                                                    \
-  { WS_PRINTER.print(__VA_ARGS__); } ///< Prints debug output.
+  { WS_PRINTER.print(__VA_ARGS__);WS_PRINTER.flush();delay(5); } ///< Prints debug output.
 #define WS_DEBUG_PRINTLN(...)                                                  \
-  { WS_PRINTER.println(__VA_ARGS__); } ///< Prints line from debug output.
+  { WS_PRINTER.println(__VA_ARGS__);WS_PRINTER.flush();delay(5); } ///< Prints line from debug output.
 #define WS_DEBUG_PRINTHEX(...)                                                 \
-  { WS_PRINTER.print(__VA_ARGS__, HEX); } ///< Prints debug output.
+  { WS_PRINTER.print(__VA_ARGS__, HEX);WS_PRINTER.flush();delay(5); } ///< Prints debug output.
 #else
 #define WS_DEBUG_PRINT(...)                                                    \
   {} ///< Prints debug output