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Orientation

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This commit is contained in:
Johnathon Slightham
2025-07-26 23:55:17 -04:00
parent c63885441e
commit d8696fa6fc
7 changed files with 82 additions and 6 deletions
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46
components/rpc/OrientationDetection.cpp Normal file
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//
// Created by Johnathon Slightham on 2025-07-26.
//
#include <constants/module.h>
#include "OrientationDetection.h"
#include <ConfigManager.h>
#include <iostream>
#include <bits/ostream.tcc>
void OrientationDetection::init() {
for (int i = 0; i < MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()]; i++) {
setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_0_DEG_MAP[i]));
setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_90_DEG_MAP[i]));
setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_180_DEG_MAP[i]));
setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_270_DEG_MAP[i]));
}
}
Orientation OrientationDetection::get_orientation(const uint8_t channel) {
if (gpio_get_level(static_cast<gpio_num_t>(CHANNEL_TO_90_DEG_MAP[channel]))) {
std::cout << "90deg" << std::endl;
return Orientation_Deg90;
} else if (gpio_get_level(static_cast<gpio_num_t>(CHANNEL_TO_180_DEG_MAP[channel]))) {
std::cout << "180deg" << std::endl;
return Orientation_Deg180;
} else if (gpio_get_level(static_cast<gpio_num_t>(CHANNEL_TO_270_DEG_MAP[channel]))) {
std::cout << "270deg" << std::endl;
return Orientation_Deg270;
} else {
std::cout << "No orientation detected" << std::endl;
return Orientation_Deg0;
}
}
void OrientationDetection::setup_gpio(const gpio_num_t pin) {
const gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << pin),
.mode = GPIO_MODE_INPUT,
.pull_up_en = GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_ENABLE,
.intr_type = GPIO_INTR_DISABLE
};
gpio_config(&io_conf);
}