Sensor Status added, Refactoring of CONSTANTS.ino to CONSTANTS.h

.vscode/arduino.json

@@ -2,6 +2,6 @@
     "sketch": "BackhoeAngleSensor_SENSOR.ino",
     "board": "esp8266:esp8266:nodemcuv2",
     "configuration": "CpuFrequency=80,VTable=flash,FlashSize=4M3M,LwIPVariant=v2mss536,Debug=Disabled,DebugLevel=None____,FlashErase=none,UploadSpeed=115200",
-    "port": "COM8",
+    "port": "COM9",
     "output": "build"
 }

BNO055sensor.ino

@@ -44,6 +44,53 @@ void updateSensor(void) {
   temperature = bno.getTemp();
 }
 
+int getSensorSystemStatus()
+{
+  //  0 = Idle
+  //  1 = System Error
+  //  2 = Initializing Peripherals
+  //  3 = System Iniitalization
+  //  4 = Executing Self-Test
+  //  5 = Sensor fusio algorithm running
+  //  6 = System running without fusion algorithms
+  uint8_t *system_status;
+
+  // 1 = test passed, 0 = test failed
+  // Bit 0 = Accelerometer self test
+  // Bit 1 = Magnetometer self test
+  // Bit 2 = Gyroscope self test
+  // Bit 3 = MCU self test
+  // 0x0F = all good!
+  uint8_t *self_test_result;
+
+  // 0 = No error
+  // 1 = Peripheral initialization error
+  // 2 = System initialization error
+  // 3 = Self test result failed
+  // 4 = Register map value out of range
+  // 5 = Register map address out of range
+  // 6 = Register map write error
+  // 7 = BNO low power mode not available for selected operat ion mode
+  // 8 = Accelerometer power mode not available
+
+  // 9 = Fusion algorithm configuration error
+  // 10 = Sensor configuration error
+  uint8_t *system_error;
+
+  bno.getSystemStatus(system_status, self_test_result, system_error);
+
+  bool warning = (int) system_status == 6 || ((int) system_status >= 2 && (int) system_status <= 4);
+  bool error = (int) system_status == 1 || (int) system_error != 0;
+
+  if(error) {
+    return SENSOR_STATUS_ERROR;
+  } else if(warning) {
+    return SENSOR_STATUS_WARNING;
+  }
+
+  return SENSOR_STATUS_OK;
+}
+
 void setOffsetToNow() {
   updateSensor();
 

BackhoeAngleSensor_SENSOR.ino

@@ -1,5 +1,12 @@
+#include "CONSTANTS.h"
 #include <Wire.h>
 
+// Prototypes
+void initSensor(void);
+void initEEPROM(void);
+void initEspNow(void);
+void loopEspNow(void);
+
 // Uncomment following line, the first time flashing to the controller!
 // #define FLASHING_FIRST_TIME
 

CONSTANTS.ino → CONSTANTS.h

@@ -9,10 +9,14 @@
 
 
 //#############SECTION ESP NOW #############
-#define WIFI_UPDATE_PERIOD 500 // In Milliseconds
+#define ESPNOW_SEND_RATE 500 // In Milliseconds
 
 uint8_t broadcastAddressEsp32Display[] = {0xF0, 0x08, 0xD1, 0xFF, 0xC8, 0x38};
 
+#define SENSOR_STATUS_ERROR 0   // Sensor OFFLINE or something really bad happened (Peripheral error, or something else)
+#define SENSOR_STATUS_WARNING 1 // Sensor ALIVE but NOT OK (Something is weird, but not crucial)
+#define SENSOR_STATUS_OK 2      // Sensor ALIVE and OK
+
 //#############SECTION DISPLAY COMMANDS #############
-#define DISPLAY_COMMAND_SET_OFFSET 0
+#define DISPLAY_COMMAND_CALIBRATE_SENSOR 0
 #define DISPLAY_COMMAND_FLIP_XY 1

ESPnow.ino

@@ -15,6 +15,7 @@ typedef struct struct_sensor_data {
   float verticalAngle;
   bool flipXYAxis;
   int temperature;
+  int sensorSystemStatus;
 } struct_sensor_data;
 // Create a container for  Sensor Data for the Display
 struct_sensor_data sensorData;
@@ -110,27 +111,30 @@ void updateSensorDataStructure() {
     sensorData.verticalAngle = getVerticalAngleWithOffset();
     sensorData.flipXYAxis = getFlipXY();
     sensorData.temperature = getTemperature();
+    sensorData.sensorSystemStatus = getSensorSystemStatus();
 }
 
 void processCommand() {
+
   switch(incomingCommandType) {
-    case DISPLAY_COMMAND_SET_OFFSET:
-      Serial.print("DISPLAY_COMMAND_SET_OFFSET. Value: ");
-      Serial.println(incomingCommandValue);
+    case DISPLAY_COMMAND_CALIBRATE_SENSOR:
+      Serial.print("DISPLAY_COMMAND_CALIBRATE_SENSOR. Value: ");
+      setOffsetToNow();
     break;
 
     case DISPLAY_COMMAND_FLIP_XY:
       Serial.print("DISPLAY_COMMAND_FLIP_XY. Value: ");
-      Serial.println(incomingCommandValue ? "True" : "False");
       setFlipXYToEEPROM(incomingCommandValue);
     break;
   }
 
+  Serial.println(incomingCommandValue ? "True" : "False");
+
 }
 
 void loopEspNow() {
 
-  if(millis() - lastMillis > WIFI_UPDATE_PERIOD) {
+  if(millis() - lastMillis > ESPNOW_SEND_RATE) {
     lastMillis = millis();
     sendSensorValues();
   }