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| Original file line number | Diff line number | Diff line change |
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| # Arrow Compass | ||
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| A variation of jeffmer's Navigation Compass. The compass points | ||
| North and shows the current heading. | ||
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| This is a tilt and roll compensated compass with a linear | ||
| display. The compass will display the same direction that it shows | ||
| when flat as when it is tilted (rotation around the W-S axis) or | ||
| rolled (rotation around the N-S) axis. *Even with compensation, it | ||
| would be beyond foolish to rely solely on this app for any serious | ||
| navigational purpose.* | ||
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|  | ||
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| ## Calibration | ||
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| Correct operation of this app depends critically on calibration. When | ||
| first run on a Bangle, the app will request calibration. This lasts | ||
| for 30 seconds during which you should move the watch slowly through | ||
| figures of 8. It is important that during calibration the watch is | ||
| fully rotated around each of it axes. If the app does give the | ||
| correct direction heading or is not stable with respect to tilt and | ||
| roll - redo the calibration by pressing *BTN3*. Calibration data is | ||
| recorded in a storage file named `magnav.json`. | ||
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| It is also worth noting that the presence of the magnetic charging | ||
| clamps will require the compass to be recalibrated after every | ||
| charge. | ||
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| ## Controls | ||
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| *BTN1* - switches to your selected clock app. | ||
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| *BTN2* - switches to the app launcher. | ||
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| *BTN3* - invokes calibration ( can be cancelled if pressed accidentally) | ||
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| ## Acknowledgement | ||
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| This app is based in the work done by [jeffmer](https://github.com/jeffmer/JeffsBangleAppsDev) |
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| var pal1color = new Uint16Array([0x0000,0xFFC0],0,1); | ||
| var pal2color = new Uint16Array([0x0000,0xffff],0,1); | ||
| var buf1 = Graphics.createArrayBuffer(160,160,1,{msb:true}); | ||
| var buf2 = Graphics.createArrayBuffer(80,40,1,{msb:true}); | ||
| var img = require("heatshrink").decompress(atob("lEowIPMjAEDngEDvwED/4DCgP/wAEBgf/4AEBg//8AEBh//+AEBj///AEBn///gEBv///wmCAAImCAAIoBFggE/AkaaEABo=")); | ||
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| var bearing=0; // always point north | ||
| var heading = 0; | ||
| var candraw = false; | ||
| var CALIBDATA = require("Storage").readJSON("magnav.json",1)||null; | ||
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| Bangle.setLCDTimeout(30); | ||
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| function flip1(x,y) { | ||
| g.drawImage({width:160,height:160,bpp:1,buffer:buf1.buffer, palette:pal1color},x,y); | ||
| buf1.clear(); | ||
| } | ||
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| function flip2(x,y) { | ||
| g.drawImage({width:80,height:40,bpp:1,buffer:buf2.buffer, palette:pal2color},x,y); | ||
| buf2.clear(); | ||
| } | ||
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| function radians(d) { | ||
| return (d*Math.PI) / 180; | ||
| } | ||
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| function drawCompass(course) { | ||
| if(!candraw) return; | ||
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| buf1.setColor(1); | ||
| buf1.fillCircle(80,80,79,79); | ||
| buf1.setColor(0); | ||
| buf1.fillCircle(80,80,69,69); | ||
| buf1.setColor(1); | ||
| buf1.drawImage(img, 80, 80, {scale:3, rotate:radians(course)} ); | ||
| flip1(40, 30); | ||
| } | ||
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| function newHeading(m,h){ | ||
| var s = Math.abs(m - h); | ||
| var delta = (m>h)?1:-1; | ||
| if (s>=180){s=360-s; delta = -delta;} | ||
| if (s<2) return h; | ||
| var hd = h + delta*(1 + Math.round(s/5)); | ||
| if (hd<0) hd+=360; | ||
| if (hd>360)hd-= 360; | ||
| return hd; | ||
| } | ||
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| function tiltfixread(O,S){ | ||
| var start = Date.now(); | ||
| var m = Bangle.getCompass(); | ||
| var g = Bangle.getAccel(); | ||
| m.dx =(m.x-O.x)*S.x; m.dy=(m.y-O.y)*S.y; m.dz=(m.z-O.z)*S.z; | ||
| var d = Math.atan2(-m.dx,m.dy)*180/Math.PI; | ||
| if (d<0) d+=360; | ||
| var phi = Math.atan(-g.x/-g.z); | ||
| var cosphi = Math.cos(phi), sinphi = Math.sin(phi); | ||
| var theta = Math.atan(-g.y/(-g.x*sinphi-g.z*cosphi)); | ||
| var costheta = Math.cos(theta), sintheta = Math.sin(theta); | ||
| var xh = m.dy*costheta + m.dx*sinphi*sintheta + m.dz*cosphi*sintheta; | ||
| var yh = m.dz*sinphi - m.dx*cosphi; | ||
| var psi = Math.atan2(yh,xh)*180/Math.PI; | ||
| if (psi<0) psi+=360; | ||
| return psi; | ||
| } | ||
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| // Note actual mag is 360-m, error in firmware | ||
| function reading() { | ||
| var d = tiltfixread(CALIBDATA.offset,CALIBDATA.scale); | ||
| heading = newHeading(d,heading); | ||
| var dir = bearing - heading; | ||
| if (dir < 0) dir += 360; | ||
| if (dir > 360) dir -= 360; | ||
| drawCompass(dir); // we want compass to show us where to go | ||
| buf2.setColor(1); | ||
| buf2.setFontAlign(-1,-1); | ||
| buf2.setFont("Vector",38); | ||
| var course = Math.round(heading); | ||
| var cs = course.toString(); | ||
| cs = course<10?"00"+cs : course<100 ?"0"+cs : cs; | ||
| buf2.drawString(cs,0,0); | ||
| flip2(90, 200); | ||
| } | ||
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| function calibrate(){ | ||
| var max={x:-32000, y:-32000, z:-32000}, | ||
| min={x:32000, y:32000, z:32000}; | ||
| var ref = setInterval(()=>{ | ||
| var m = Bangle.getCompass(); | ||
| max.x = m.x>max.x?m.x:max.x; | ||
| max.y = m.y>max.y?m.y:max.y; | ||
| max.z = m.z>max.z?m.z:max.z; | ||
| min.x = m.x<min.x?m.x:min.x; | ||
| min.y = m.y<min.y?m.y:min.y; | ||
| min.z = m.z<min.z?m.z:min.z; | ||
| }, 100); | ||
| return new Promise((resolve) => { | ||
| setTimeout(()=>{ | ||
| if(ref) clearInterval(ref); | ||
| var offset = {x:(max.x+min.x)/2,y:(max.y+min.y)/2,z:(max.z+min.z)/2}; | ||
| var delta = {x:(max.x-min.x)/2,y:(max.y-min.y)/2,z:(max.z-min.z)/2}; | ||
| var avg = (delta.x+delta.y+delta.z)/3; | ||
| var scale = {x:avg/delta.x, y:avg/delta.y, z:avg/delta.z}; | ||
| resolve({offset:offset,scale:scale}); | ||
| },30000); | ||
| }); | ||
| } | ||
|
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| function docalibrate(e,first){ | ||
| const title = "Calibrate"; | ||
| const msg = "takes 30 seconds"; | ||
| function action(b){ | ||
| if (b) { | ||
| buf1.setColor(1); | ||
| buf1.setFont("Vector", 30); | ||
| buf1.setFontAlign(0,-1); | ||
| buf1.drawString("Figure 8s",80, 40); | ||
| buf1.drawString("to",80, 80); | ||
| buf1.drawString("Calibrate",80, 120); | ||
| flip1(40,40); | ||
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| calibrate().then((r)=>{ | ||
| require("Storage").write("magnav.json",r); | ||
| Bangle.buzz(); | ||
| CALIBDATA = r; | ||
| startdraw(); | ||
| setButtons(); | ||
| }); | ||
| } else { | ||
| startdraw(); | ||
| setTimeout(setButtons,1000); | ||
| } | ||
| } | ||
| if (first===undefined) first=false; | ||
| stopdraw(); | ||
| clearWatch(); | ||
| if (first) | ||
| E.showAlert(msg,title).then(action.bind(null,true)); | ||
| else | ||
| E.showPrompt(msg,{title:title,buttons:{"Start":true,"Cancel":false}}).then(action); | ||
| } | ||
|
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| var intervalRef; | ||
|
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| function startdraw(){ | ||
| g.clear(); | ||
| g.setColor(1,1,1); | ||
| Bangle.drawWidgets(); | ||
| candraw = true; | ||
| intervalRef = setInterval(reading,200); | ||
| } | ||
|
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| function stopdraw() { | ||
| candraw=false; | ||
| if(intervalRef) {clearInterval(intervalRef);} | ||
| } | ||
|
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| function setButtons(){ | ||
| setWatch(()=>{load();}, BTN1, {repeat:false,edge:"falling"}); | ||
| setWatch(Bangle.showLauncher, BTN2, {repeat:false,edge:"falling"}); | ||
| setWatch(docalibrate, BTN3, {repeat:false,edge:"falling"}); | ||
| } | ||
|
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| Bangle.on('lcdPower',function(on) { | ||
| if (on) { | ||
| startdraw(); | ||
| } else { | ||
| stopdraw(); | ||
| } | ||
| }); | ||
|
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| Bangle.on('kill',()=>{Bangle.setCompassPower(0);}); | ||
|
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| Bangle.loadWidgets(); | ||
| Bangle.setCompassPower(1); | ||
| startdraw(); | ||
| setButtons(); |
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