config: now all horizontal positions, vars changed to lower case letters

sarfata · Jan 15, 2018 · e0a5e21 · e0a5e21
1 parent c9febf0
commit e0a5e21
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Showing 5 changed files with 50 additions and 24 deletions.
diff --git a/src/host/config/IMUConfig.h b/src/host/config/IMUConfig.h
@@ -31,18 +31,20 @@
 #pragma once
 
 enum IMUMounting {
-  VerticalStbHull,
-  VerticalPortHull,
-  VerticalTopToBow,
-  //VerticalTopToStern,
-  HorizontalLeftSideToBow,
-  //HorizontalRightSideToBow
+  verticalStbHull,
+  verticalPortHull,
+  verticalTopToBow,
+  //verticalTopToStern,
+  horizontalTopToBow,         // Bosch P0
+  horizontalLeftSideToBow,    // Bosch P1 (default)
+  horizontalBottomToBow,      // Bosch P2
+  horizontalRightSideToBow    // Bosch P3
 };
 
 struct IMUConfig {
   bool enabled;
   int frequency;
   bool enableHdg;
   bool enableHeelPitch;
-  enum IMUMounting mounting = VerticalPortHull;
+  enum IMUMounting mounting = verticalPortHull;
 };
diff --git a/src/host/config/KBoxConfigParser.cpp b/src/host/config/KBoxConfigParser.cpp
@@ -57,7 +57,7 @@ void KBoxConfigParser::defaultConfig(KBoxConfig &config) {
   config.imuConfig.enabled = true;           // enable internal IMU sensor
   config.imuConfig.enableHdg = true;         // true if values taken from internal sensor
   config.imuConfig.enableHeelPitch = true;   // true if values taken from internal sensor
-  config.imuConfig.mounting = VerticalStbHull;
+  config.imuConfig.mounting = verticalStbHull;
 
   config.barometerConfig.enabled = true;
   config.barometerConfig.frequency = 1;
@@ -142,17 +142,26 @@ enum SerialMode KBoxConfigParser::convertSerialMode(const String &s) {
 
 enum IMUMounting KBoxConfigParser::convertIMUMounting(const String &s) {
   if (s == "verticalPortHull") {
-    return VerticalPortHull;
+    return verticalPortHull;
   }
   if (s == "verticalStarboardHull") {
-    return VerticalStbHull;
+    return verticalStbHull;
   }
   if (s == "verticalTopToBow") {
-    return VerticalTopToBow;
+    return verticalTopToBow;
   }
-  if (s == "horizontalLeftSideToBow") {
-    return HorizontalLeftSideToBow;
+  if (s == "horizontalTopToBow") {  // Bosch P0
+    return horizontalTopToBow;
+  }
+  if (s == "horizontalLeftSideToBow") { // Bosch P1 (default)
+    return horizontalLeftSideToBow;
+  }
+  if (s == "horizontaBottomToBow") { // Bosch P2
+    return horizontalBottomToBow;
+  }
+  if (s == "horizontaRightSideToBow") { // Bosch P3
+    return horizontalRightSideToBow;
   }
   // default
-  return VerticalPortHull;
+  return verticalPortHull;
 }
diff --git a/src/host/main.cpp b/src/host/main.cpp
@@ -82,7 +82,7 @@ void setup() {
     JsonObject &root =jsonBuffer.parseObject(configFile);
 
     if (root.success()) {
-      DEBUG("Loading configuration from SDCard");
+      DEBUG("Loading configuration file %s from SDCard", configFilename);
       configParser.parseKBoxConfig(root, config);
     }
     else {

diff --git a/src/host/services/IMUService.cpp b/src/host/services/IMUService.cpp
@@ -42,13 +42,25 @@ void IMUService::setup() {
   // Where each can be 00:X, 01: Y, 10:Z
   // Sign is the 3 lsb: 00000xyz
   switch (_config.mounting) {
-    case HorizontalLeftSideToBow:
+    case horizontalTopToBow:         // Bosch P0
+      _axisConfig = 0b00100001;
+      _signConfig = 0b00000100;
+    break;
+    case horizontalLeftSideToBow:    // Bosch P1 (default)
       _axisConfig = 0b00100100;
       _signConfig = 0b00000000;
     break;
-    case VerticalTopToBow:
-    case VerticalStbHull:
-    case VerticalPortHull:
+    case horizontalBottomToBow:      // Bosch P2
+      _axisConfig = 0b00100100;
+      _signConfig = 0b00000110;
+    break;
+    case horizontalRightSideToBow:   // Bosch P3
+      _axisConfig = 0b00100001;
+      _signConfig = 0b00000010;
+    break;
+    case verticalTopToBow:
+    case verticalStbHull:
+    case verticalPortHull:
       _axisConfig = 0b00001001;
       _signConfig = 0b00000000;
   }
@@ -73,22 +85,25 @@ void IMUService::loop() {
   //  roll:   Vessel roll, +ve is list to starboard
   //  pitch:  Pitch, +ve is bow up
   switch (_config.mounting) {
-    case VerticalPortHull:
+    case verticalPortHull:
       _roll = SKDegToRad(eulerAngles.z());
       _pitch = SKDegToRad(eulerAngles.y());
       _heading = SKDegToRad(fmod(eulerAngles.x() + 270, 360));
     break;
-    case VerticalStbHull:
+    case verticalStbHull:
       _roll = SKDegToRad(eulerAngles.z())*(-1);
       _pitch = SKDegToRad(eulerAngles.y())*(-1);
       _heading = SKDegToRad(eulerAngles.x());
     break;
-    case VerticalTopToBow:
+    case verticalTopToBow:
       _roll = SKDegToRad(eulerAngles.y());
       _pitch = SKDegToRad(eulerAngles.z());
       _heading = SKDegToRad(fmod(eulerAngles.x() + 180, 360));
     break;
-    case HorizontalLeftSideToBow:
+    case horizontalTopToBow:         // Bosch P0
+    case horizontalLeftSideToBow:    // Bosch P1 (default)
+    case horizontalBottomToBow:      // Bosch P2
+    case horizontalRightSideToBow:   // Bosch P3
       _roll = SKDegToRad(eulerAngles.y());
       _pitch = SKDegToRad(eulerAngles.z()) * (-1);
       _heading = SKDegToRad(eulerAngles.x());

diff --git a/src/test/config/KBoxConfigParserTest.cpp b/src/test/config/KBoxConfigParserTest.cpp
@@ -86,7 +86,7 @@ TEST_CASE("KBoxConfigParser") {
 
     CHECK( ! config.imuConfig.enabled );
     CHECK( config.imuConfig.frequency == 5 );
-    CHECK( config.imuConfig.mounting ==  HorizontalLeftSideToBow );
+    CHECK( config.imuConfig.mounting ==  horizontalLeftSideToBow );
   }
 
   SECTION("NMEA Converter Config") {