diff --git a/SmartTally Server/MyTallyServer Guide.md b/SmartTally Server/MyTallyServer Guide.md
index 59ec871..8ccf1e3 100644
--- a/SmartTally Server/MyTallyServer Guide.md
+++ b/SmartTally Server/MyTallyServer Guide.md
@@ -33,5 +33,5 @@ This server has been written using Python 3, you can download the latest Python
---
### Revision History
-**2021-05-11** : First release
+**2021-05-11** : First release
**2021-05-17** : Minor documentation fix
diff --git a/libraries/M5Atom/utility/MPU6886.cpp b/libraries/M5Atom/utility/MPU6886.cpp
index db24f02..88b6f9c 100644
--- a/libraries/M5Atom/utility/MPU6886.cpp
+++ b/libraries/M5Atom/utility/MPU6886.cpp
@@ -127,7 +127,7 @@ void MPU6886::getTempAdc(int16_t *t){
-//!俯仰，航向，横滚：pitch，yaw，roll，指三维空间中飞行器的旋转状态。(Refers to the rotation state of the aircraft in three-dimensional space. Pitch, heading, roll)
+//!俯仰，航向，横滚：pitch，yaw，roll，指三维空间中飞行器的旋转状态。
void MPU6886::getAhrsData(float *pitch,float *roll,float *yaw){
float accX = 0;
@@ -146,32 +146,6 @@ void MPU6886::getAhrsData(float *pitch,float *roll,float *yaw){
}
-void MPU6886::getAttitude(double *pitch, double *roll)
-{
- float accX = 0;
- float accY = 0;
- float accZ = 0;
-
- float gyroX = 0;
- float gyroY = 0;
- float gyroZ = 0;
-
- getGyroData(&gyroX, &gyroY, &gyroZ);
- getAccelData(&accX, &accY, &accZ);
-
- if ((accX < 1) && (accX > -1))
- {
- *pitch = asin(-accX) * 57.295;
- }
- if (accZ != 0)
- {
- *roll = atan(accY / accZ) * 57.295;
- }
-
- ( *pitch ) = _alpha * ( *pitch ) + (1 - _alpha) * _last_theta;
- ( *roll ) = _alpha * ( *roll ) + (1 - _alpha) * _last_phi;
-}
-
void MPU6886::getGres(){
switch (Gyscale)
@@ -218,7 +192,7 @@ void MPU6886::getAres(){
void MPU6886::SetGyroFsr(Gscale scale)
{
- //return IIC_Write_Byte(MPU_GYRO_CFG_REG,scale<<3);//设置陀螺仪满量程范围 (Set the full scale range of the gyroscope)
+ //return IIC_Write_Byte(MPU_GYRO_CFG_REG,scale<<3);//设置陀螺仪满量程范围
unsigned char regdata;
regdata = (scale<<3);
I2C_Write_NBytes(MPU6886_ADDRESS, MPU6886_GYRO_CONFIG, 1, ®data);
diff --git a/libraries/libraries_README.md b/libraries/libraries_README.md
index 9581fe5..b01cf3a 100644
--- a/libraries/libraries_README.md
+++ b/libraries/libraries_README.md
@@ -8,6 +8,7 @@ So, I modified the following files to correct this oversight (and tweak a few ot
* `M5Atom.h`
* `utility/LED_DisPlay.h`
* `utility/LED_DisPlay.cpp`
+* `utility/MPU6886.cpp`
To get the STAC sketch to compile, you'll have to replace the files provided by M5Stack with these modified versions. Or, in the STAC sketch, replace every call to `M5.dis.fillpix();` with your own routine.
@@ -17,20 +18,21 @@ But even if you do that, you'll still have to rename the `LED_DisPlay.h` and `LE
To use the modified libraries:
1. Navigate to your Arduino M5Atom libraries directory.
-I'm not certain where this is kept on all platforms or where it was placed during your install. Searching for a folder named M5Atom should turn it up.
On macOS the default location is:
-`/Users/*YOUR_USER_NAME*/Documents/Arduino/libraries/M5Atom`
Inside that folder:
+I'm not certain where this is kept on all platforms or where it was placed during your install. Searching for a folder named M5Atom should turn it up.
On macOS the default location is:
+`/Users/*YOUR_USER_NAME*/Documents/Arduino/libraries/M5Atom`
On Windows the default location is:
+`C:\Users\*YOUR_USER_NAME*\Documents\Arduino\libraries\M5Atom`
Inside that folder:
1. Rename the file `M5Atom.h` to something like `M5Atom.h.orig`
1. Copy the modified `M5Atom.h` file from this repository into the `Arduino/libraries/M5Atom` folder.
1. Open the `utility` folder that is inside the `Arduino/libraries/M5Atom` folder.
1. Rename the file `LED_DisPlay.h` to something like `LED_DisPlay.h.orig`
1. Rename the file `LED_DisPlay.cpp` to something like `LED_Display.cpp.orig`
-1. From the `utility` folder in this repository, copy the modified `LED_Display.h` and `LED_Display.cpp` files into the `Arduino/libraries/M5Atom/utility` folder.
+1. Rename the file `MPU6886.cpp` to something like `MPU6886.cpp.orig`
+1. From the `utility` folder in this repository, copy the modified `LED_Display.h`, `LED_Display.cpp` and `MPU6886.cpp` files into the `Arduino/libraries/M5Atom/utility` folder.
— Note —
You will have to repeat these steps whenever M5Stack updates their
M5Atom libraries as their new version will overwrite these modified files.|
:---:
-
----
+
## Improved Preferences Library
After doing a deep dive into the Espressif ESP 32 IDF NVS storage methods and comparing their documentation to the Arduino ESP32 library, I modified the *Preferences.cpp* file to ensure changes made to the NVS when using certain Arduino *Preferences* function calls were committed to NVS. Those changes are documented in the modified *Preferences.h* file here.
@@ -39,11 +41,13 @@ While not essential for the STAC sketch to compile, I do believe these modified
### To use this library
1. Navigate to your Arduino ESP32 folder.
-I'm not certain where this is kept on all platforms or where it was placed during your install. Searching for a file named *Preferences.cpp* should turn it up.
On macOS the default location is:
-`/Users/*YOUR_USER_NAME*/Library/Arduino15/packages/esp32/hardware/esp32/1.0.6/libraries/Preferences/src`
+I'm not certain where this is kept on all platforms or where it was placed during your install. Searching for a file named *Preferences.cpp* should turn it up.
On macOS the default location is:
+`/Users/*YOUR_USER_NAME*/Library/Arduino15/packages/esp32/hardware/esp32/1.0.6/libraries/Preferences/src`
On Windows the default location is:
+`C:\Users\*YOUR_USER_NAME*\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.6\libraries\Preferences\src`
|— Note —
As newer versions of the ESP32 Arduino libraries are released,the location will change to reflect the version number of those libraries.
Thus, in the path above, you may need to replace *1.0.6* with the current version number.|
:--:
+
Inside the *src* folder:
@@ -52,7 +56,6 @@ Inside the *src* folder:
— Note —
You will have to repeat these steps whenever the Arduino ESP32
libraries are updated as the new version will overwrite this modified file.|
:--:
-
+
A request has been submitted to the fantastic Arduino ESP32 team to incorporate these changes into the official release.
----