112 lines
3.2 KiB
C++
112 lines
3.2 KiB
C++
#include "calibration.hpp"
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#include "defines.h"
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#include "nvs_flash.h"
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void Calibration::init() {
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nvs_handle_t calibHandle;
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if (nvs_open(nvsCalib, NVS_READONLY, &calibHandle) == ESP_OK) {
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int32_t tempUpTicks;
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int32_t tempDownTicks;
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uint8_t tempCalib;
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esp_err_t err = ESP_OK;
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err |= nvs_get_i32(calibHandle, UpTicksTag, &tempUpTicks);
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err |= nvs_get_i32(calibHandle, DownTicksTag, &tempDownTicks);
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err |= nvs_get_u8(calibHandle, statusTag, &tempCalib);
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if (err == ESP_OK) {
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UpTicks = tempUpTicks;
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DownTicks = tempDownTicks;
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calibrated = tempCalib;
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printf("Range: %d - %d\n", tempUpTicks, tempDownTicks);
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}
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else {
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printf("Data missing from NVS\n");
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calibrated = false;
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}
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nvs_close(calibHandle);
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}
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else {
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printf("CALIBINIT: failed to open NVS - not created?\n");
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calibrated = false;
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}
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}
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bool Calibration::clearCalibrated() {
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if (!calibrated) return true;
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// clear variable and NVS
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calibrated = false;
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nvs_handle_t calibHandle;
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if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
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if (nvs_set_u8(calibHandle, statusTag, false) != ESP_OK) {
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printf("Error saving calibration status as false.\n");
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return false;
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}
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nvs_commit(calibHandle);
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nvs_close(calibHandle);
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}
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else {
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printf("Error opening calibration NVS segment.\n");
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return false;
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}
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return true;
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}
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bool Calibration::beginDownwardCalib(Encoder& topEnc) {
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int32_t tempUpTicks = topEnc.getCount();
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nvs_handle_t calibHandle;
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if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
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if (nvs_set_i32(calibHandle, UpTicksTag, tempUpTicks) == ESP_OK) {
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printf("Saved UpTicks to NVS\n");
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UpTicks = tempUpTicks;
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nvs_commit(calibHandle);
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}
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else {
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printf("Error saving UpTicks.\n");
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return false;
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}
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nvs_close(calibHandle);
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}
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else {
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printf("Error opening NVS to save UpTicks\n");
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return false;
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}
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return true;
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}
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bool Calibration::completeCalib(Encoder& topEnc) {
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int32_t tempDownTicks = topEnc.getCount();
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if (tempDownTicks == UpTicks) {
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printf("ERROR: NO RANGE\n");
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return false;
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}
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nvs_handle_t calibHandle;
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if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
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esp_err_t err = ESP_OK;
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err |= nvs_set_i32(calibHandle, DownTicksTag, tempDownTicks);
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err |= nvs_set_u8(calibHandle, statusTag, true);
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if (err != ESP_OK) {
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printf("Error saving calibration data.\n");
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return false;
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}
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DownTicks = tempDownTicks;
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calibrated = true;
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printf("Range: %d - %d\n", UpTicks.load(), tempDownTicks);
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nvs_commit(calibHandle);
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nvs_close(calibHandle);
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}
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else {
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printf("Error opening calibration NVS segment.\n");
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return false;
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}
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return true;
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}
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int32_t Calibration::convertToTicks(uint8_t appPos) {
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// appPos between 0 and 10, convert to target encoder ticks.
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return (((int32_t)appPos * (UpTicks - DownTicks)) / 10) + DownTicks;
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}
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uint8_t Calibration::convertToAppPos(int32_t ticks) {
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// appPos between 0 and 10, convert to target encoder ticks.
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int8_t retVal = (ticks - DownTicks) * 10 / (UpTicks - DownTicks);
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return (retVal < 0) ? 0 : ((retVal > 10) ? 10 : retVal);
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} |