mirror of https://github.com/espruino/BangleApps
86 lines
2.8 KiB
JavaScript
86 lines
2.8 KiB
JavaScript
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var buf = Graphics.createArrayBuffer(240,160,1,{msb:true});
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Bangle.setLCDTimeout(30);
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function flip() {
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g.drawImage({width:240,height:160,bpp:1,buffer:buf.buffer},0,40);
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buf.clear();
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}
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var O = { x: -58, y: -3.5, z: -3.5};
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var S = { x: 1.01, y:1.05, z: 0.95};
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function calibrate(){
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var max={x:-32000, y:-32000, z:-32000},
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min={x:32000, y:32000, z:32000};
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var mag = require("Storage").open("mags.csv","a");
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var ref = setInterval(()=>{
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var m = Bangle.getCompass();
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if (mag) mag.write(
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[((m.x-O.x)*S.x).toFixed(2),
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((m.y-O.y)*S.y).toFixed(2),
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((m.z-O.z)*S.z).toFixed(2)].join(",")+"\n");
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max.x = m.x>max.x?m.x:max.x;
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max.y = m.y>max.y?m.y:max.y;
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max.z = m.z>max.z?m.z:max.z;
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min.x = m.x<min.x?m.x:min.x;
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min.y = m.y<min.y?m.y:min.y;
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min.z = m.z<min.z?m.z:min.z;
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}, 100);
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return new Promise((resolve) => {
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setTimeout(()=>{
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if(ref) clearInterval(ref);
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var offset = {x:(max.x+min.x)/2,y:(max.y+min.y)/2,z:(max.z+min.z)/2};
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var delta = {x:(max.x-min.x)/2,y:(max.y-min.y)/2,z:(max.z-min.z)/2};
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var avg = (delta.x+delta.y+delta.z)/3;
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var scale = {x:avg/delta.x, y:avg/delta.y, z:avg/delta.z};
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resolve({o:offset,s:scale});
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},60000);
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});
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}
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function reading(){
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var start = Date.now();
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var m = Bangle.getCompass();
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var g = Bangle.getAccel();
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m.dx =m.x-O.x; m.dy=m.y-O.y; m.dz=m.z-O.z;
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var d = Math.atan2(-m.dx,m.dy)*180/Math.PI;
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if (d<0) d+=360;
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var phi = Math.atan(-g.x/-g.z);
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var cosphi = Math.cos(phi), sinphi = Math.sin(phi);
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var theta = Math.atan(-g.y/(-g.x*sinphi-g.z*cosphi));
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var costheta = Math.cos(theta), sintheta = Math.sin(theta);
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var xh = m.dy*costheta + m.dx*sinphi*sintheta + m.dz*cosphi*sintheta;
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var yh = m.dz*sinphi - m.dx*cosphi;
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var psi = Math.atan2(yh,xh)*180/Math.PI;
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if (psi<0) psi+=360;
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// display
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buf.setFont('6x8',2);
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buf.drawString("BX: "+m.dy,20,0);buf.drawString("X: "+Math.floor(g.y*1000),120,0);
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buf.drawString("BY: "+m.dx,20,20);buf.drawString("Y: "+Math.floor(-g.x*1000),120,20);
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buf.drawString("BZ: "+m.dz,20,40);buf.drawString("Z: "+Math.floor(-g.z*1000),120,40);
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buf.drawString("HC: "+Math.floor(d),20,60);
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buf.drawString("Roll: "+Math.floor(phi*180/Math.PI),20,80);
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buf.drawString("Pitch: "+Math.floor(theta*180/Math.PI),20,100);
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buf.drawString("TC: "+Math.floor(psi),20,120);
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var duration = Date.now()-start;
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buf.drawString("Time: "+Math.floor(duration)+"ms",20,140);
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flip();
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}
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Bangle.on('kill',()=>{Bangle.setCompassPower(0);});
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g.clear();
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g.setColor(1,1,1);
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Bangle.setCompassPower(1);
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buf.setFont('6x8',2);
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buf.drawString("Calibrate",20,40);
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flip();
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calibrate().then((f)=>{
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O=f.o;
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S=f.s;
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console.log(O);
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console.log(S);
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setInterval(reading,200);
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});
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