Merge pull request #126 from Genaker/rtl-sdr

Compass ADD
2026-06-29 14:31:52 +02:00 · 2025-01-11 23:15:12 -08:00
parent 04c951c600 673da1dccf
commit 825ee472e1
4 changed files with 196 additions and 1 deletions
@@ -336,6 +336,14 @@ Video Out - Video IN <br />
 #define OSD_MOSI 34
 #define OSD_SCK 26
 ```
+FOR LYLIGO board
+
+```
+#define OSD_SCK 38
+#define OSD_CS 39
+#define OSD_MISO 40
+#define OSD_MOSI 41
+```

 </details>

@@ -25,6 +25,8 @@

 #ifdef LILYGO
 #define BUZZER_PIN 45
+#define COMPASS_SCL 42
+#define COMPASS_SDA 46
 #endif
 #ifdef T3_V1_6_SX1276
 #define BUZZER_PIN 35
@@ -248,6 +248,38 @@ build_flags =
 	-DARDUINO_LILYGO_T3_S3_V1_X
 	-DARDUINO_USB_MODE=1

+[env:lilygo-T3S3-v1-2-lr1121-900-compass]
+platform = espressif32
+board = t3_s3_v1_x
+framework = arduino
+upload_speed = 921600
+monitor_speed = 115200
+board_build.f_cpu = 240000000
+board_build.filesystem = littlefs
+lib_deps = 
+	ropg/Heltec_ESP32_LoRa_v3@^0.9.1
+	RadioLib
+	U8g2
+	XPowersLib
+	ESP Async WebServer
+	https://github.com/Genaker/Adafruit_HMC5883_Unified
+build_flags = 
+	-DLILYGO
+	-DT3_S3_V1_2_LR1121
+	-DARDUINO_LILYGO_T3S3_LR1121
+	-DESP32
+    -DSAMPLES_RSSI=5
+	-DUSING_LR1121
+	-DINIT_FREQ=900
+    -DFREQ_BEGIN=800
+	-DFREQ_END=950
+	-DFREQ_RX=2440
+	-DARDUINO_ARCH_ESP32
+	-DARDUINO_USB_CDC_ON_BOOT=1
+	-DARDUINO_LILYGO_T3_S3_V1_X
+	-DARDUINO_USB_MODE=1
+	-DCOMPASS_ENABLED
+
 [env:lilygo-T3S3-v1-2-sx1280]
 platform = espressif32
 board = t3_s3_v1_x
@@ -29,6 +29,7 @@
 #include <ESPAsyncWebServer.h>
 #include <File.h>
 #include <LittleFS.h>
+#include <Wire.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 #include <unordered_map>
@@ -112,13 +113,21 @@ unsigned int osdCyclesCount = 0;
 #define SIDEBAR_DB_LEVEL 80 // Absolute value without minus
 #define SIDEBAR_DB_DELTA 2  // detect changes <> threshold

+#ifdef LILYGO
+#define OSD_SCK 38
+#define OSD_CS 39
+#define OSD_MISO 40
+#define OSD_MOSI 41
+#else
 // SPI pins
+#define OSD_SCK 26
 #define OSD_CS 47
 #define OSD_MISO 33
 #define OSD_MOSI 34
-#define OSD_SCK 26
 #endif

+#endif // End OSD_ENABLED
+
 #define OSD_WIDTH 30
 #define OSD_HEIGHT 16
 #define OSD_CHART_WIDTH 15
@@ -152,6 +161,41 @@ DFRobot_OSD osd(OSD_CS);
 #include "global_config.h"
 #include "ui.h"

+#ifdef COMPASS_ENABLED
+#include <Adafruit_HMC5883_U.h>
+#include <Adafruit_Sensor.h>
+/* Assign a unique ID to this sensor at the same time */
+Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345);
+void displaySensorDetails(void)
+{
+    sensor_t sensor;
+    mag.getSensor(&sensor);
+    Serial.println("------------------------------------");
+    Serial.print("Sensor:       ");
+    Serial.println(sensor.name);
+    Serial.print("Driver Ver:   ");
+    Serial.println(sensor.version);
+    Serial.print("Unique ID:    ");
+    Serial.println(sensor.sensor_id);
+    Serial.print("Max Value:    ");
+    Serial.print(sensor.max_value);
+    Serial.println(" uT");
+    Serial.print("Min Value:    ");
+    Serial.print(sensor.min_value);
+    Serial.println(" uT");
+    Serial.print("Resolution:   ");
+    Serial.print(sensor.resolution);
+    Serial.println(" uT");
+    Serial.println("------------------------------------");
+    Serial.println("");
+    delay(500);
+}
+
+// Variables for dynamic calibration
+float x_min = 1000, x_max = -1000;
+float y_min = 1000, y_max = -1000;
+float z_min = 1000, z_max = -1000;
+#endif
 // -----------------------------------------------------------------
 // CONFIGURATION OPTIONS
 // -----------------------------------------------------------------
@@ -1462,6 +1506,26 @@ void setup(void)

    r.addEventListener(ALL_EVENTS, eventListenerForReport, NULL);

+#ifdef COMPASS_ENABLED
+    Serial.println("Compass Init Start");
+    Wire1.end();
+    Wire1.begin(46, 42);
+
+    Serial.println("Compass BEGIN");
+    Serial.println("HMC5883 Magnetometer Test");
+
+    /* Initialise the sensor */
+    if (!mag.begin())
+    {
+        /* There was a problem detecting the HMC5883 ... check your connections */
+        Serial.println("Ooops, no HMC5883 detected ... Check your wiring!");
+    }
+
+    /* Display some basic information on this sensor */
+    displaySensorDetails();
+    Serial.println("Compass Success!!!");
+#endif
+
 #ifdef UPTIME_CLOCK
    uptime = new UptimeClock(display, millis());
 #endif
@@ -1970,6 +2034,95 @@ void loop(void)
        doScan();
        reportScan();
    }
+#ifdef COMPASS_ENABLED
+    /* Get a new sensor event */
+    sensors_event_t event;
+    mag.getEvent(&event);
+
+#ifdef COMPASS_DEBUG
+    /* Display the results (magnetic vector values are in micro-Tesla (uT)) */
+    Serial.print("X: ");
+    Serial.print(event.magnetic.x);
+    Serial.print("  ");
+    Serial.print("Y: ");
+    Serial.print(event.magnetic.y);
+    Serial.print("  ");
+    Serial.print("Z: ");
+    Serial.print(event.magnetic.z);
+    Serial.print("  ");
+    Serial.println("uT");
+#endif
+
+    // Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
+    // Calculate heading when the magnetometer is level, then correct for signs of axis.
+    // float heading = atan2(event.magnetic.y, event.magnetic.x);
+    // Use Y as the forward axis
+    // float heading = atan2(event.magnetic.x, event.magnetic.y);
+    /// If Z-axis is forward and Y-axis points upward:
+    // float heading = atan2(event.magnetic.x, event.magnetic.y);
+    //  If Z-axis is forward and X-axis points upward:
+    //  float heading = atan2(event.magnetic.y, -event.magnetic.x);
+
+    // heading based on the magnetic readings from the Z-axis (forward) and the X-axis
+    // (perpendicular to Z, horizontal).
+    // float heading = atan2(event.magnetic.z, event.magnetic.x);
+
+    // Dynamicly Calibrated out
+
+    // Read raw magnetometer data
+    float x = event.magnetic.x;
+    float y = event.magnetic.y;
+    float z = event.magnetic.z;
+
+    // Update min/max values dynamically
+    x_min = min(x_min, x);
+    x_max = max(x_max, x);
+    y_min = min(y_min, y);
+    y_max = max(y_max, y);
+    z_min = min(z_min, z);
+    z_max = max(z_max, z);
+
+    // Calculate offsets and scales in real-time
+    float x_offset = (x_max + x_min) / 2;
+    float y_offset = (y_max + y_min) / 2;
+    float z_offset = (z_max + z_min) / 2;
+
+    float x_scale = (x_max - x_min) / 2;
+    float y_scale = (y_max - y_min) / 2;
+    float z_scale = (z_max - z_min) / 2;
+
+    // Apply calibration to raw data
+    float calibrated_x = (x - x_offset) / x_scale;
+    float calibrated_y = (y - y_offset) / y_scale;
+    float calibrated_z = (z - z_offset) / z_scale;
+
+    // Calculate heading using Z-axis forward, X-axis horizontal
+    float heading = atan2(calibrated_z, calibrated_x);
+
+    // Once you have your heading, you must then add your 'Declination Angle', which is
+    // the 'Error' of the magnetic field in your location. Find yours here:
+    // http://www.magnetic-declination.com/ Mine is: -13* 2' W, which is ~13 Degrees, or
+    // (which we need) 0.22 radians If you cannot find your Declination, comment out these
+    // two lines, your compass will be slightly off.
+    float declinationAngle = 0.22;
+    heading += declinationAngle;
+
+    // Correct for when signs are reversed.
+    if (heading < 0)
+        heading += 2 * PI;
+
+    // Check for wrap due to addition of declination.
+    if (heading > 2 * PI)
+        heading -= 2 * PI;
+
+    // Convert radians to degrees for readability.
+    float headingDegrees = heading * 180 / M_PI;
+
+    Serial.println("Heading (degrees): " + String(headingDegrees));
+    /// Serial.println();
+    display.drawString(80, 0, String((int)headingDegrees));
+    display.display();
+#endif
 }

 void doScan()