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Add Heltec mesh node t1 (#10416)

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* add heltec-mesh-node-t1

* fixed low power

* Update the sensor enumeration values.

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

* Fix memory leak in ICM42607PSensor

* fix  ST7735_MISO  error

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
This commit is contained in:
Quency-D
2026-05-30 07:03:23 -05:00
committed by Ben Meadors
co-authored by Copilot Autofix powered by AI Ben Meadors
parent c8bc76bc60
commit 747fc01669
20 changed files with 826 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/configuration.h
+3
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@@ -238,6 +238,7 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#define QMI8658_ADDR 0x6B
#define QMC5883L_ADDR 0x0D
#define HMC5883L_ADDR 0x1E
#define MMC5983MA_ADDR 0x30
#define SHTC3_ADDR 0x70
#define LPS22HB_ADDR 0x5C
#define LPS22HB_ADDR_ALT 0x5D
@@ -287,6 +288,8 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#define DA217_ADDR 0x26
#define BMI270_ADDR 0x68
#define BMI270_ADDR_ALT 0x69
#define ICM42607P_ADDR 0x68
#define ICM42607P_ADDR_ALT 0x69
// -----------------------------------------------------------------------------
// LED
src/detect/ScanI2C.cpp
+9 -2
View File
@@ -37,8 +37,15 @@ ScanI2C::FoundDevice ScanI2C::firstKeyboard() const
ScanI2C::FoundDevice ScanI2C::firstAccelerometer() const
{
ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3, BMX160, STK8BAXX, ICM20948, QMA6100P, BMM150, BMI270};
return firstOfOrNONE(10, types);
ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3, BMX160, STK8BAXX,
ICM20948, QMA6100P, BMM150, BMI270, ICM42607P};
return firstOfOrNONE(11, types);
}
ScanI2C::FoundDevice ScanI2C::firstMagnetometer() const
{
ScanI2C::DeviceType types[] = {MMC5983MA};
return firstOfOrNONE(1, types);
}
ScanI2C::FoundDevice ScanI2C::firstAQI() const
src/detect/ScanI2C.h
+4
View File
@@ -41,6 +41,7 @@ class ScanI2C
QMI8658,
QMC5883L,
HMC5883L,
MMC5983MA,
PMSA003I,
QMA6100P,
MPU6050,
@@ -65,6 +66,7 @@ class ScanI2C
FT6336U,
STK8BAXX,
ICM20948,
ICM42607P,
SCD4X,
MAX30102,
TPS65233,
@@ -149,6 +151,8 @@ class ScanI2C
FoundDevice firstAccelerometer() const;
FoundDevice firstMagnetometer() const;
FoundDevice firstAQI() const;
FoundDevice firstRGBLED() const;
src/detect/ScanI2CTwoWire.cpp
+20 -5
View File
@@ -358,9 +358,6 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
SCAN_SIMPLE_CASE(ST7567_ADDRESS, SCREEN_ST7567, "ST7567", (uint8_t)addr.address);
#ifdef HAS_NCP5623
SCAN_SIMPLE_CASE(NCP5623_ADDR, NCP5623, "NCP5623", (uint8_t)addr.address);
#endif
#ifdef HAS_LP5562
SCAN_SIMPLE_CASE(LP5562_ADDR, LP5562, "LP5562", (uint8_t)addr.address);
#endif
case XPOWERS_AXP192_AXP2101_ADDRESS:
// Do we have the axp2101/192 or the TCA8418
@@ -581,6 +578,18 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
#else
SCAN_SIMPLE_CASE(PMSA003I_ADDR, PMSA003I, "PMSA003I", (uint8_t)addr.address)
#endif
case MMC5983MA_ADDR:
registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x2F), 1);
if (registerValue == 0x30) {
type = MMC5983MA;
logFoundDevice("MMC5983MA", (uint8_t)addr.address);
#ifdef HAS_LP5562
} else {
type = LP5562;
logFoundDevice("LP5562", (uint8_t)addr.address);
#endif
}
break;
case BMA423_ADDR: // this can also be LIS3DH_ADDR_ALT
registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x0F), 2);
if (registerValue == 0x3300 || registerValue == 0x3333) { // RAK4631 WisBlock has LIS3DH register at 0x3333
@@ -735,8 +744,8 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
}
break;
case ICM20948_ADDR: // same as BMX160_ADDR, BMI270_ADDR_ALT, and SEN5X_ADDR
case ICM20948_ADDR_ALT: // same as MPU6050_ADDR, BMI270_ADDR
case ICM20948_ADDR: // same as BMX160_ADDR, BMI270_ADDR_ALT, ICM42607P_ADDR_ALT, and SEN5X_ADDR
case ICM20948_ADDR_ALT: // same as MPU6050_ADDR, BMI270_ADDR, and ICM42607P_ADDR
registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x00), 1);
#ifdef HAS_ICM20948
type = ICM20948;
@@ -756,6 +765,12 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
logFoundDevice("BMX160", (uint8_t)addr.address);
break;
} else {
registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x75), 1); // WHO_AM_I
if (registerValue == 0x60) {
type = ICM42607P;
logFoundDevice("ICM-42607-P", (uint8_t)addr.address);
break;
}
String prod = "";
prod = readSEN5xProductName(i2cBus, addr.address);
if (prod.startsWith("SEN55")) {
src/graphics/TFTDisplay.cpp
+10 -8
View File
@@ -1359,7 +1359,8 @@ void TFTDisplay::sendCommand(uint8_t com)
digitalWrite(portduino_config.displayBacklight.pin, TFT_BACKLIGHT_ON);
#elif defined(HACKADAY_COMMUNICATOR)
tft->displayOn();
#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096)
#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096) && \
!defined(HELTEC_MESH_NODE_T1)
tft->wakeup();
tft->powerSaveOff();
#endif
@@ -1370,7 +1371,7 @@ void TFTDisplay::sendCommand(uint8_t com)
#ifdef UNPHONE
unphone.backlight(true); // using unPhone library
#endif
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
#elif !defined(M5STACK) && !defined(ST7789_CS) && \
!defined(HACKADAY_COMMUNICATOR) // T-Deck gets brightness set in Screen.cpp in the handleSetOn function
tft->setBrightness(172);
@@ -1386,7 +1387,8 @@ void TFTDisplay::sendCommand(uint8_t com)
digitalWrite(portduino_config.displayBacklight.pin, !TFT_BACKLIGHT_ON);
#elif defined(HACKADAY_COMMUNICATOR)
tft->displayOff();
#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096)
#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096) && \
!defined(HELTEC_MESH_NODE_T1)
tft->sleep();
tft->powerSaveOn();
#endif
@@ -1397,7 +1399,7 @@ void TFTDisplay::sendCommand(uint8_t com)
#ifdef UNPHONE
unphone.backlight(false); // using unPhone library
#endif
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR)
tft->setBrightness(0);
#endif
@@ -1412,7 +1414,7 @@ void TFTDisplay::sendCommand(uint8_t com)
void TFTDisplay::setDisplayBrightness(uint8_t _brightness)
{
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
// todo
#elif !defined(HACKADAY_COMMUNICATOR)
tft->setBrightness(_brightness);
@@ -1432,7 +1434,7 @@ bool TFTDisplay::hasTouch(void)
{
#ifdef RAK14014
return true;
#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096)
#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096) && !defined(HELTEC_MESH_NODE_T1)
return tft->touch() != nullptr;
#else
return false;
@@ -1451,7 +1453,7 @@ bool TFTDisplay::getTouch(int16_t *x, int16_t *y)
} else {
return false;
}
#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096)
#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096) && !defined(HELTEC_MESH_NODE_T1)
return tft->getTouch(x, y);
#else
return false;
@@ -1468,7 +1470,7 @@ bool TFTDisplay::connect()
{
concurrency::LockGuard g(spiLock);
LOG_INFO("Do TFT init");
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
tft = new TFT_eSPI;
#elif defined(HACKADAY_COMMUNICATOR)
bus = new Arduino_ESP32SPI(TFT_DC, TFT_CS, 38 /* SCK */, 21 /* MOSI */, GFX_NOT_DEFINED /* MISO */, HSPI /* spi_num */);
src/graphics/draw/MenuHandler.cpp
+5
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@@ -1256,6 +1256,11 @@ void menuHandler::positionBaseMenu()
if (accelerometerThread) {
accelerometerThread->calibrate(30);
}
#endif
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
if (magnetometerThread) {
magnetometerThread->calibrate(30);
}
#endif
break;
case PositionAction::GPSSmartPosition:
src/main.cpp
+23
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@@ -127,6 +127,10 @@ void printPartitionTable()
#include "motion/AccelerometerThread.h"
AccelerometerThread *accelerometerThread = nullptr;
#endif
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
#include "motion/MagnetometerThread.h"
MagnetometerThread *magnetometerThread = nullptr;
#endif
#ifdef HAS_I2S
#include "AudioThread.h"
@@ -197,6 +201,8 @@ bool osk_found = false;
ScanI2C::DeviceAddress rtc_found = ScanI2C::ADDRESS_NONE;
// The I2C address of the Accelerometer (if found)
ScanI2C::DeviceAddress accelerometer_found = ScanI2C::ADDRESS_NONE;
// The I2C address of the Magnetometer (if found)
ScanI2C::DeviceAddress magnetometer_found = ScanI2C::ADDRESS_NONE;
// The I2C address of the RGB LED (if found)
ScanI2C::FoundDevice rgb_found = ScanI2C::FoundDevice(ScanI2C::DeviceType::NONE, ScanI2C::ADDRESS_NONE);
/// The I2C address of our Air Quality Indicator (if found)
@@ -422,6 +428,11 @@ void setup()
digitalWrite(VEXT_ENABLE, VEXT_ON_VALUE); // turn on the display power
#endif
#if defined(PIN_SENSOR_EN)
pinMode(PIN_SENSOR_EN, OUTPUT);
digitalWrite(PIN_SENSOR_EN, PIN_SENSOR_EN_ACTIVE); // turn on sensor power
#endif
#if defined(BIAS_T_ENABLE)
pinMode(BIAS_T_ENABLE, OUTPUT);
digitalWrite(BIAS_T_ENABLE, BIAS_T_VALUE); // turn on 5V for GPS Antenna
@@ -662,6 +673,11 @@ void setup()
accelerometer_found = acc_info.type != ScanI2C::DeviceType::NONE ? acc_info.address : accelerometer_found;
LOG_DEBUG("acc_info = %i", acc_info.type);
#endif
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_MAGNETOMETER
auto mag_info = i2cScanner->firstMagnetometer();
magnetometer_found = mag_info.type != ScanI2C::DeviceType::NONE ? mag_info.address : magnetometer_found;
LOG_DEBUG("mag_info = %i", mag_info.type);
#endif
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::INA260, meshtastic_TelemetrySensorType_INA260);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::INA226, meshtastic_TelemetrySensorType_INA226);
@@ -674,6 +690,8 @@ void setup()
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::QMI8658, meshtastic_TelemetrySensorType_QMI8658);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::QMC5883L, meshtastic_TelemetrySensorType_QMC5883L);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::HMC5883L, meshtastic_TelemetrySensorType_QMC5883L);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::MMC5983MA, meshtastic_TelemetrySensorType_MMC5983MA);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::ICM42607P, meshtastic_TelemetrySensorType_ICM42607P);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::MLX90614, meshtastic_TelemetrySensorType_MLX90614);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::ICM20948, meshtastic_TelemetrySensorType_ICM20948);
scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::MAX30102, meshtastic_TelemetrySensorType_MAX30102);
@@ -754,6 +772,11 @@ void setup()
accelerometerThread = new AccelerometerThread(acc_info.type);
}
#endif
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_MAGNETOMETER
if (mag_info.type != ScanI2C::DeviceType::NONE) {
magnetometerThread = new MagnetometerThread(mag_info.type);
}
#endif
#if defined(HAS_NEOPIXEL) || defined(UNPHONE) || defined(RGBLED_RED)
ambientLightingThread = new AmbientLightingThread(ScanI2C::DeviceType::NONE);
src/main.h
+5
View File
@@ -35,6 +35,7 @@ extern bool kb_found;
extern bool osk_found;
extern ScanI2C::DeviceAddress rtc_found;
extern ScanI2C::DeviceAddress accelerometer_found;
extern ScanI2C::DeviceAddress magnetometer_found;
extern ScanI2C::FoundDevice rgb_found;
extern ScanI2C::DeviceAddress aqi_found;
@@ -69,6 +70,10 @@ extern graphics::Screen *screen;
#include "motion/AccelerometerThread.h"
extern AccelerometerThread *accelerometerThread;
#endif
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
#include "motion/MagnetometerThread.h"
extern MagnetometerThread *magnetometerThread;
#endif
extern bool isVibrating;
src/motion/AccelerometerThread.h
+4
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@@ -16,6 +16,7 @@
#include "BMM150Sensor.h"
#include "BMX160Sensor.h"
#include "ICM20948Sensor.h"
#include "ICM42607PSensor.h"
#include "LIS3DHSensor.h"
#include "LSM6DS3Sensor.h"
#include "MPU6050Sensor.h"
@@ -111,6 +112,9 @@ class AccelerometerThread : public concurrency::OSThread
case ScanI2C::DeviceType::ICM20948:
sensor = new ICM20948Sensor(device);
break;
case ScanI2C::DeviceType::ICM42607P:
sensor = new ICM42607PSensor(device);
break;
case ScanI2C::DeviceType::BMM150:
sensor = new BMM150Sensor(device);
break;
src/motion/ICM42607PSensor.cpp
+98
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@@ -0,0 +1,98 @@
#include "ICM42607PSensor.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<ICM42670P.h>)
#include "detect/ScanI2CTwoWire.h"
#include <ICM42670P.h>
static constexpr uint16_t ICM42607P_ACCEL_ODR_HZ = 50;
static constexpr uint16_t ICM42607P_ACCEL_FSR_G = 2;
static constexpr float ICM42607P_COUNTS_PER_G = 32768.0f / ICM42607P_ACCEL_FSR_G;
#ifdef ICM_42607P_INT_PIN
volatile static bool ICM42607P_IRQ = false;
void ICM42607PSetInterrupt()
{
ICM42607P_IRQ = true;
}
#endif
ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice)
{
wire = ScanI2CTwoWire::fetchI2CBus(foundDevice.address);
}
ICM42607PSensor::~ICM42607PSensor() = default;
bool ICM42607PSensor::init()
{
bool addressLsb = deviceAddress() == ICM42607P_ADDR_ALT;
LOG_DEBUG("ICM-42607-P begin on addr 0x%02X (port=%d)", deviceAddress(), devicePort());
sensor.reset();
auto newSensor = std::make_unique<ICM42670>(*wire, addressLsb);
int status = newSensor->begin();
// ICM42670P library returns -3 for ICM42607P because WHO_AM_I differs; the register map is compatible.
if (status != 0 && status != -3) {
LOG_DEBUG("ICM-42607-P init error %d", status);
return false;
}
status = newSensor->startAccel(ICM42607P_ACCEL_ODR_HZ, ICM42607P_ACCEL_FSR_G);
if (status != 0) {
LOG_DEBUG("ICM-42607-P accel start error %d", status);
return false;
}
#ifdef ICM_42607P_INT_PIN
ICM42607P_IRQ = false;
status = newSensor->startWakeOnMotion(ICM_42607P_INT_PIN, ICM42607PSetInterrupt);
if (status != 0) {
LOG_DEBUG("ICM-42607-P wake-on-motion start error %d", status);
return false;
}
LOG_DEBUG("ICM-42607-P wake-on-motion interrupt ok pin=%d", ICM_42607P_INT_PIN);
#endif
sensor = std::move(newSensor);
LOG_DEBUG("ICM-42607-P init ok");
return true;
}
int32_t ICM42607PSensor::runOnce()
{
#ifdef ICM_42607P_INT_PIN
if (ICM42607P_IRQ) {
ICM42607P_IRQ = false;
LOG_DEBUG("ICM-42607-P motion interrupt");
wakeScreen();
}
return MOTION_SENSOR_CHECK_INTERVAL_MS;
#else
int16_t x = 0;
int16_t y = 0;
int16_t z = 0;
inv_imu_sensor_event_t event = {};
if (sensor == nullptr || sensor->getDataFromRegisters(event) != 0) {
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
// getDataFromRegisters() fills accel[] but does not set sensor_mask in this library version.
if (event.accel[0] == 0 && event.accel[1] == 0 && event.accel[2] == 0) {
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
x = event.accel[0];
y = event.accel[1];
z = event.accel[2];
// LOG_DEBUG("ICM-42607-P accel read x=%.3fg y=%.3fg z=%.3fg", (float)x / ICM42607P_COUNTS_PER_G,
// (float)y / ICM42607P_COUNTS_PER_G, (float)z / ICM42607P_COUNTS_PER_G);
return MOTION_SENSOR_CHECK_INTERVAL_MS;
#endif
}
#endif
src/motion/ICM42607PSensor.h
+28
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@@ -0,0 +1,28 @@
#pragma once
#ifndef _ICM42607P_SENSOR_H_
#define _ICM42607P_SENSOR_H_
#include "MotionSensor.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<ICM42670P.h>)
#include <memory>
class ICM42670;
class ICM42607PSensor : public MotionSensor
{
private:
std::unique_ptr<ICM42670> sensor;
TwoWire *wire = nullptr;
public:
explicit ICM42607PSensor(ScanI2C::FoundDevice foundDevice);
~ICM42607PSensor() override;
virtual bool init() override;
virtual int32_t runOnce() override;
};
#endif
#endif
src/motion/MMC5983MASensor.cpp
+115
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@@ -0,0 +1,115 @@
#include "MMC5983MASensor.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
#include "detect/ScanI2CTwoWire.h"
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
extern graphics::Screen *screen;
#endif
static constexpr float MMC5983MA_ZERO_FIELD = 131072.0f;
static constexpr float MMC5983MA_COUNTS_PER_GAUSS = 16384.0f;
static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 10;
static constexpr float MMC5983MA_HEADING_OFFSET_DEG = 180.0f;
MMC5983MASensor::MMC5983MASensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
bool MMC5983MASensor::init()
{
LOG_DEBUG("MMC5983MA begin on addr 0x%02X (port=%d)", device.address.address, device.address.port);
TwoWire *wire = ScanI2CTwoWire::fetchI2CBus(device.address);
if (!sensor.begin(*wire)) {
LOG_DEBUG("MMC5983MA init error");
return false;
}
sensor.softReset();
sensor.setFilterBandwidth(100);
sensor.performSetOperation();
sensor.enableAutomaticSetReset();
continuousMode = sensor.setContinuousModeFrequency(MMC5983MA_CONTINUOUS_FREQUENCY_HZ);
continuousMode &= sensor.enableContinuousMode();
if (!continuousMode) {
LOG_DEBUG("MMC5983MA continuous mode failed, using single-shot reads");
sensor.disableContinuousMode();
}
loadMagnetometerCalibration(compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
return true;
}
bool MMC5983MASensor::readMagnetometer(float &xGauss, float &yGauss, float &zGauss)
{
uint32_t rawX = 0;
uint32_t rawY = 0;
uint32_t rawZ = 0;
if (!(continuousMode ? sensor.readFieldsXYZ(&rawX, &rawY, &rawZ) : sensor.getMeasurementXYZ(&rawX, &rawY, &rawZ))) {
LOG_DEBUG("MMC5983MA read failed");
return false;
}
xGauss = ((float)rawX - MMC5983MA_ZERO_FIELD) / MMC5983MA_COUNTS_PER_GAUSS;
yGauss = ((float)rawY - MMC5983MA_ZERO_FIELD) / MMC5983MA_COUNTS_PER_GAUSS;
zGauss = ((float)rawZ - MMC5983MA_ZERO_FIELD) / MMC5983MA_COUNTS_PER_GAUSS;
return true;
}
int32_t MMC5983MASensor::runOnce()
{
float magX = 0, magY = 0, magZ = 0;
if (!readMagnetometer(magX, magY, magZ)) {
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
if (doCalibration) {
beginCalibrationDisplay(showingScreen);
updateCalibrationExtrema(magX, magY, magZ, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
finishCalibrationIfExpired(showingScreen, compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ,
lowestZ);
}
#endif
magX -= (highestX + lowestX) / 2;
magY -= (highestY + lowestY) / 2;
magZ -= (highestZ + lowestZ) / 2;
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
float heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
if (heading < 0.0f) {
heading += 360.0f;
} else if (heading >= 360.0f) {
heading -= 360.0f;
}
heading = applyCompassOrientation(heading);
if (screen) {
screen->setHeading(heading);
}
#endif
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
void MMC5983MASensor::calibrate(uint16_t forSeconds)
{
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
float xGauss = 0.0f;
float yGauss = 0.0f;
float zGauss = 0.0f;
LOG_DEBUG("MMC5983MA calibration started for %is", forSeconds);
if (readMagnetometer(xGauss, yGauss, zGauss)) {
seedCalibrationExtrema(xGauss, yGauss, zGauss, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
} else {
seedCalibrationExtrema(0.0f, 0.0f, 0.0f, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
}
startCalibrationWindow(forSeconds);
#endif
}
#endif
src/motion/MMC5983MASensor.h
+31
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@@ -0,0 +1,31 @@
#pragma once
#ifndef _MMC5983MA_SENSOR_H_
#define _MMC5983MA_SENSOR_H_
#include "MotionSensor.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
#include <SparkFun_MMC5983MA_Arduino_Library.h>
class MMC5983MASensor : public MotionSensor
{
private:
SFE_MMC5983MA sensor;
bool continuousMode = false;
bool showingScreen = false;
static constexpr const char *compassCalibrationFileName = "/prefs/compass_mmc5983ma.dat";
float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
bool readMagnetometer(float &xGauss, float &yGauss, float &zGauss);
public:
explicit MMC5983MASensor(ScanI2C::FoundDevice foundDevice);
virtual bool init() override;
virtual int32_t runOnce() override;
virtual void calibrate(uint16_t forSeconds) override;
};
#endif
#endif
src/motion/MagnetometerThread.h
+115
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@@ -0,0 +1,115 @@
#pragma once
#ifndef _MAGNETOMETER_THREAD_H_
#define _MAGNETOMETER_THREAD_H_
#include "configuration.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
#include "../concurrency/OSThread.h"
#include "MMC5983MASensor.h"
#include "MotionSensor.h"
extern ScanI2C::DeviceAddress magnetometer_found;
class MagnetometerThread : public concurrency::OSThread
{
private:
MotionSensor *sensor = nullptr;
ScanI2C::FoundDevice device;
bool isInitialised = false;
public:
explicit MagnetometerThread(ScanI2C::FoundDevice foundDevice) : OSThread("Magnetometer")
{
device = foundDevice;
init();
}
explicit MagnetometerThread(ScanI2C::DeviceType type) : MagnetometerThread(ScanI2C::FoundDevice{type, magnetometer_found}) {}
void start()
{
init();
setIntervalFromNow(0);
};
void calibrate(uint16_t forSeconds)
{
if (sensor) {
sensor->calibrate(forSeconds);
setIntervalFromNow(0);
}
}
protected:
int32_t runOnce() override
{
canSleep = true;
if (isInitialised) {
return sensor->runOnce();
}
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
private:
void init()
{
if (isInitialised) {
return;
}
if (device.address.port == ScanI2C::I2CPort::NO_I2C || device.address.address == 0 || device.type == ScanI2C::NONE) {
LOG_DEBUG("MagnetometerThread Disable due to no sensors found");
disable();
return;
}
switch (device.type) {
case ScanI2C::DeviceType::MMC5983MA:
sensor = new MMC5983MASensor(device);
break;
default:
disable();
return;
}
isInitialised = sensor->init();
if (!isInitialised) {
clean();
}
LOG_DEBUG("MagnetometerThread::init %s", isInitialised ? "ok" : "failed");
}
MagnetometerThread(const MagnetometerThread &other) : OSThread::OSThread("Magnetometer") { this->copy(other); }
virtual ~MagnetometerThread() { clean(); }
MagnetometerThread &operator=(const MagnetometerThread &other)
{
this->copy(other);
return *this;
}
void copy(const MagnetometerThread &other)
{
if (this != &other) {
clean();
this->device = ScanI2C::FoundDevice(other.device.type,
ScanI2C::DeviceAddress(other.device.address.port, other.device.address.address));
}
}
void clean()
{
isInitialised = false;
delete sensor;
sensor = nullptr;
}
};
#endif
#endif
src/platform/nrf52/architecture.h
+2
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@@ -121,6 +121,8 @@
#define HW_VENDOR meshtastic_HardwareModel_PRIVATE_HW
#elif defined(HELTEC_T114)
#define HW_VENDOR meshtastic_HardwareModel_HELTEC_MESH_NODE_T114
#elif defined(HELTEC_MESH_NODE_T1)
#define HW_VENDOR meshtastic_HardwareModel_HELTEC_MESH_NODE_T1
#elif defined(MESHLINK)
#define HW_VENDOR meshtastic_HardwareModel_MESHLINK
#elif defined(SEEED_XIAO_NRF52840_KIT)