gizmoize bbx

Author: qqqlab

examples/02.QuadcopterAdvanced/madflight_config.h

@@ -180,6 +180,8 @@ imu_i2c_bus    -1
 //                                               COMPILER OPTIONS                                                         //
 //========================================================================================================================//
 
+#define BBX_USE BBX_USE_SDSPI
+
 //-- AHRS sensor fusion 
 #define AHR_USE AHR_USE_MAHONY // Select one: AHRS_USE_MAHONY, AHRS_USE_MAHONY_BF, AHRS_USE_MADGWICK, AHRS_USE_VQF
 

src/madflight.h

@@ -28,7 +28,7 @@ SOFTWARE.
 
 //#pragma once //don't use here, we want to get an error if included twice
 
-//madflight config string
+// madflight config string
 #ifndef MADFLIGHT_BOARD
   #define MADFLIGHT_BOARD ""
 #endif
@@ -37,14 +37,13 @@ SOFTWARE.
 #endif
 const char* madflight_config = MADFLIGHT_BOARD MADFLIGHT_CONFIG;
 
-//bus abstraction
+// bus abstraction
 #include "madflight/hal/MF_Serial.h"
 #include "madflight/hal/MF_I2C.h"
 
-//include all "_cpp.h" modules which have compile time config options
+// include all "_cpp.h" modules which have compile time config options
 #define MF_ALLOW_INCLUDE_CCP_H
-#include "madflight/cfg/cfg_cpp.h" //include this first, because cfg.xxx parameters are used by other "_cpp.h" modules
-#include "madflight/bbx/bbx_cpp.h" 
+#include "madflight/cfg/cfg_cpp.h" //include this first, because cfg.xxx parameters are used by other "_cpp.h" modules 
 #include "madflight/ahr/ahr_cpp.h"
 #include "madflight/alt/alt_cpp.h"
 #include "madflight/cli/cli_cpp.h"
@@ -53,21 +52,21 @@ const char* madflight_config = MADFLIGHT_BOARD MADFLIGHT_CONFIG;
 #include "madflight/rcl/rcl_cpp.h"
 #undef MF_ALLOW_INCLUDE_CCP_H
 
-//include all other modules without compile time config options
+// include all other modules without compile time config options
 #include "madflight/bar/bar.h"
 #include "madflight/bat/bat.h"
+#include "madflight/bbx/bbx.h"
 #include "madflight/gps/gps.h"
 #include "madflight/led/led.h"
 #include "madflight/mag/mag.h"
 #include "madflight/out/out.h"
 #include "madflight/pid/pid.h"
-
 #include "madflight/veh/veh.h"
 
-//toolbox
+// toolbox
 #include "madflight/tbx/RuntimeTrace.h"
 
-//prototypes
+// prototypes
 void madflight_die(String msg);
 void madflight_warn(String msg);
 void madflight_warn_or_die(String msg, bool die);
@@ -79,7 +78,7 @@ void madflight_warn_or_die(String msg, bool die);
 void madflight_setup() {
   Serial.begin(115200); //start console serial
 
-  //6 second startup delay
+  // 6 second startup delay
   for(int i = 12; i > 0; i--) {
     Serial.printf(MADFLIGHT_VERSION " starting %d ...\n", i);
     #ifndef MF_DEBUG 
@@ -99,6 +98,7 @@ void madflight_setup() {
     Serial.println("Processor: " HAL_MCU);
   #endif
 
+  // CFG - Configuration parameters
   cfg.begin(); 
   #ifdef MF_CONFIG_CLEAR
     cfg.clear();
@@ -118,14 +118,14 @@ void madflight_setup() {
   }
   cfg.printPins();
 
-  //setup LED
+  // LED - Setup LED
   led.config.pin = cfg.pin_led;
   led.config.on_value = cfg.led_on;
   led.setup();
   led.on(); //turn on to signal startup
   led.enabled = false; //do not change state until setup compled
 
-  //hardware abstraction layer setup: serial, spi, i2c (see hal.h)
+  // HAL - Hardware abstraction layer setup: serial, spi, i2c (see hal.h)
   hal_setup();
 
   cli.print_i2cScan(); //print i2c scan
@@ -136,21 +136,21 @@ void madflight_setup() {
   rcl.config.ppm_pin = cfg.getValue("pin_ser" + String(cfg.rcl_ser_bus) + "_rx", -1);
   rcl.setup(); //Initialize radio communication.
 
-  //Barometer
+  // BAR - Barometer
   bar.config.gizmo = (Cfg::bar_gizmo_enum)cfg.bar_gizmo; //the gizmo to use
   bar.config.i2c_bus = hal_get_i2c_bus(cfg.bar_i2c_bus); //i2c bus
   bar.config.i2c_adr = cfg.bar_i2c_adr; //i2c address. 0=default address  
   bar.config.sampleRate = 100; //sample rate [Hz]
   bar.setup();
 
-  //External Magnetometer
+  // MAG - External Magnetometer
   mag.config.gizmo = (Cfg::mag_gizmo_enum)cfg.mag_gizmo; //the gizmo to use
   mag.config.i2c_bus = hal_get_i2c_bus(cfg.mag_i2c_bus); //i2c bus
   mag.config.i2c_adr = cfg.mag_i2c_adr; //i2c address. 0=default address
   mag.config.sampleRate = 100; //sample rate [Hz]
   mag.setup(); 
 
-  //Battery Monitor
+  // BAT - Battery Monitor
   bat.config.gizmo = (Cfg::bat_gizmo_enum)cfg.bat_gizmo; //the gizmo to use
   bat.config.i2c_bus = hal_get_i2c_bus(cfg.bat_i2c_bus); //i2c bus
   bat.config.i2c_adr = cfg.bat_i2c_adr; //i2c address. 0=default address
@@ -162,30 +162,36 @@ void madflight_setup() {
   bat.config.rshunt = cfg.bat_cal_i;
   bat.setup();
 
-  //GPS
+  // GPS
   gps.config.gizmo = (Cfg::gps_gizmo_enum)cfg.gps_gizmo; //the gizmo to use
   gps.config.ser_bus = hal_get_ser_bus(cfg.gps_ser_bus); //serial bus
   gps.config.baud = cfg.gps_baud; //baud rate
   gps.setup();
 
-  //Black Box
+  // BBX - Black Box
+  bbx.config.gizmo = (Cfg::bbx_gizmo_enum)cfg.bbx_gizmo; //the gizmo to use
+  bbx.config.spi_bus = hal_get_spi_bus(cfg.bbx_spi_bus); //SPI bus
+  bbx.config.spi_cs = cfg.pin_bbx_cs; //SPI select pin
+  bbx.config.pin_mmc_dat = cfg.pin_mmc_dat;
+  bbx.config.pin_mmc_clk = cfg.pin_mmc_clk;
+  bbx.config.pin_mmc_cmd = cfg.pin_mmc_cmd;
   bbx.setup();
 
-  //Altitude Estimator
+  // ALT - Altitude Estimator
   alt.setup(bar.alt); 
 
-  //setup low pass filters for AHRS filters
+  // AHR - setup low pass filters for AHRS filters
   ahr.setup(cfg.imu_gyr_lp, cfg.imu_acc_lp, cfg.mag_lp);
 
-  //IMU
+  // IMU - Intertial Measurement Unit (gyro/acc/mag)
   imu.config.sampleRate = cfg.imu_rate; //sample rate [Hz]
   imu.config.pin_int = cfg.pin_imu_int; //IMU data ready interrupt pin
   imu.config.gizmo = (Cfg::imu_gizmo_enum)cfg.imu_gizmo; //the gizmo to use
   imu.config.spi_bus = hal_get_spi_bus(cfg.imu_spi_bus); //SPI bus
   imu.config.spi_cs = cfg.pin_imu_cs; //SPI select pin
   imu.config.i2c_bus = hal_get_i2c_bus(cfg.imu_i2c_bus); //I2C bus (only used if spi_bus==nullptr)
   imu.config.i2c_adr = cfg.imu_i2c_adr; //i2c address. 0=default address
-  //Some sensors need a couple of tries...
+  // Some sensors need a couple of tries...
   int tries = 10;
   while(true) {
     int rv = imu.setup(); //request 1000 Hz sample rate, returns 0 on success, positive on error, negative on warning
@@ -196,7 +202,7 @@ void madflight_setup() {
   if(!imu.installed() && (Cfg::imu_gizmo_enum)cfg.imu_gizmo != Cfg::imu_gizmo_enum::mf_NONE) {
     madflight_die("IMU install failed.");
   }
-  //start IMU update handler
+  // start IMU update handler
   if(imu.installed()) {
     ahr.setInitalOrientation(); //do this before IMU update handler is started
 
@@ -210,10 +216,10 @@ void madflight_setup() {
     #endif
   }
 
-  //CLI - command line interface
+  // CLI - Command Line Interface
   cli.begin();
 
-  //Enable LED, and switch it off signal end of startup.
+  // Enable LED, and switch it off signal end of startup.
   led.enabled = true; 
   led.off();
 }

src/madflight/ahr/ahr_cpp.h

@@ -24,7 +24,7 @@ SOFTWARE.
 
 //This file is kept as header to allow #AHR_xxx defines to be added in user code (Arduino IDE has no easy way to add -D compiler options)
 
-// Make sure this file is includes from madflight.h and not from somewhere else
+// Make sure this file is included from madflight.h and not from somewhere else
 #ifndef MF_ALLOW_INCLUDE_CCP_H
   #error "Only include this file from madflight.h"
 #endif

src/madflight/alt/alt_cpp.h

@@ -26,7 +26,7 @@ SOFTWARE.
 Each ALT_USE_xxx section in this file defines a specific altimeter estimator class
 =================================================================================================*/
 
-// Make sure this file is includes from madflight.h and not from somewhere else
+// Make sure this file is included from madflight.h and not from somewhere else
 #ifndef MF_ALLOW_INCLUDE_CCP_H
   #error "Only include this file from madflight.h"
 #endif

…madflight/bbx/bbx_sdcard/BBFS_SD_ESP32.h …adflight/bbx/BbxGizmoSdspi+Sdmmc_ESP32.hsrc/madflight/bbx/bbx_sdcard/BBFS_SD_ESP32.h renamed to src/madflight/bbx/BbxGizmoSdspi+Sdmmc_ESP32.h src/madflight/bbx/bbx_sdcard/BBFS_SD_ESP32.h renamed to src/madflight/bbx/BbxGizmoSdspi+Sdmmc_ESP32.h

@@ -1,50 +1,39 @@
-/*==========================================================================================
-BBFS_SD_ESP32.h: madflight sdcard spi/mmc logging file system
 
-MIT License
+#include "bbx.h"
 
-Copyright (c) 2024 qqqlab - https://github.com/qqqlab
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-===========================================================================================*/
-
-
-#if BB_USE == BB_USE_SDMMC
+#ifdef BBX_USE_MMC
 
   #include "SD_MMC.h"
 
   #define _BB_SDFS SD_MMC
   #define _BB_SETUP_STR "BBX: SDMMC"
 
+class BbxGizmoSdmmc : public BbxGizmo {
+  
+public:
+  BbxGizmoSdmmc(BbxConfig *config) {
+    this->config = config;
+  }
+
 #else
 
   #include "SPI.h"
   #include "SD.h"
 
   #define _BB_SDFS SD
-  #define _BB_SETUP_STR "BBX: SD"
-  extern SPIClass *bbx_spi;
+  #define _BB_SETUP_STR "BBX: SDSPI"
+
+class BbxGizmoSdspi : public BbxGizmo {
+public:
+  BbxGizmoSdspi(BbxConfig *config) {
+    this->config = config;
+  }
 
 #endif
 
-class BBFS_SD : public BBFS {
+
 private:
+  BbxConfig *config;
   const char* BB_LOG_DIR_NAME = "/log";
   bool setup_done = false;
   uint8_t wbuf[512];
@@ -214,16 +203,15 @@ class BBFS_SD : public BBFS {
 
     _BB_SDFS.end(); //force begin() to re-initialize
 
-    #if BB_USE == BB_USE_SDMMC
-      _BB_SDFS.setPins(HW_PIN_SDMMC_CLK, HW_PIN_SDMMC_CMD, HW_PIN_SDMMC_DATA);
+    #ifdef BBX_USE_MMC
+      _BB_SDFS.setPins(config->pin_mmc_clk, config->pin_mmc_cmd, config->pin_mmc_dat);
       if (!_BB_SDFS.begin("/sdcard", true, true, SDMMC_FREQ_DEFAULT, 5)) {
-        Serial.println("BBX:   BB_USE_SDMMC Card Mount Failed");
+        Serial.println("BBX: SDMMC Card Mount Failed");
         return setup_done;
       }
     #else
-      bbx_spi->begin(HW_PIN_SPI2_SCLK, HW_PIN_SPI2_MISO, HW_PIN_SPI2_MOSI, HW_PIN_BB_CS);
-      if (!_BB_SDFS.begin(HW_PIN_BB_CS, *bbx_spi)) {
-        Serial.println("BBX:   BB_USE_SD Card Mount Failed");
+      if (!_BB_SDFS.begin(config->spi_cs, *config->spi_bus)) {
+        Serial.println("BBX: SDSPI Card Mount Failed");
         return setup_done;
       }
     #endif
@@ -312,4 +300,8 @@ class BBFS_SD : public BBFS {
     Serial.println(filename);
     file = _BB_SDFS.open(filename, FILE_WRITE, true);
   }
-};
+};
+
+
+#undef _BB_SDFS
+#undef _BB_SETUP_STR