bool
Compass::start_calibration_mask(uint8_t mask, bool retry, bool autosave, float delay)
{
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if ((1<<i) & mask) {
if (!start_calibration(i,retry,autosave,delay)) {
cancel_calibration_mask(mask);
return false;
}
}
}
return true;
}
bool
Compass::start_calibration_all(bool retry, bool autosave, float delay)
{
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if (healthy(i) && use_for_yaw(i)) {
if (!start_calibration(i,retry,autosave,delay)) {
cancel_calibration_all();
return false;
}
}
}
return true;
}
/**
* Our working loop while when running.
*/
void infinite_deep_sleep(void) {
uint8_t has_logged = 0;
uint32_t left_em_acc = 0, right_em_acc = 0;
//uint16_t left_envelope = 0, right_envelope = 0;
uint32_t acc_counter = 0;
/* Configure all the calibration stuff first */
configure_calibration();
/* Start the first calibration running */
start_calibration();
/* Configure all the registers for deep sleep */
configure_deep_sleep();
/* Wait for the first calibration to finish */
wait_for_calibration();
while (1) {
/* Sleep for 500 milliseconds */
do_deep_sleep(1);
increment_us(500*1000);
if (is_time_valid()) {
/* Fire up the ADC */
prepare_sampling();
/* If we've taken at least one reading before */
if (has_logged > 1) {
/**
* Update the envelope values. NOTE: This must be done before
* the fft as the fft is in-place.
*/
// left_envelope = get_envelope_32(left_envelope, samples_left+4);
// right_envelope = get_envelope_32(right_envelope, samples_right+4);
/**
* Add our samples to the accumulators. We skip the first 4 points of each sample.
* TODO 48MHz clock?
*/
left_em_acc += fft_32(samples_left+2, get_left_tuned_bin()) >> 7;
right_em_acc += fft_32(samples_right+2, get_right_tuned_bin()) >> 7;
if (++acc_counter >= 128) { /* If we're ready to write to memory */
/* Write em to memory */
/* Middle of average is 32 seconds ago */
write_sample_to_mem(get_em_record_flags(), left_em_acc, right_em_acc, 32);
/* Clear accumulators */
acc_counter = left_em_acc = right_em_acc = 0;
/* Wait for the write to finish */
wait_for_write_complete();
/* Write envelope to memory */
// write_sample_to_mem(get_envelope_record_flags(),
// left_envelope, right_envelope, 32);
/* Clear envelope */
// left_envelope = right_envelope = 0;
/* Wait for the write to finish */
// wait_for_write_complete();
}
} else {
has_logged++;
LED_OFF();
}
/* Take a reading */
do_sampling();
/* Shutdown the ADC */
shutdown_sampling();
/* Take battery readings */
do_battery();
} else { /* Invalid time */
