Make MPU6050 position configurable

On NorthTrack12_2Si the MPU6050 is put in an angualr position
compared to the running area.
This can be selected by setting hasMPU6050inAngle to 1

This solves the problem with that the code is shared, now the
special calculation is only used when needed.

Signed-off-by: Zingo Andersen <zingo@zingo.org>

Author: zingo

config/treadmill.txt

@@ -7,5 +7,6 @@ speed_interval_step=0.1
 incline_interval_step=1.0
 belt_distance=250
 hasMPU6050=1
+hasMPU6050inAngle=0
 hasIrSense=0
 hasReed=1

config/treadmill_Northtrack12_2_Si.txt

@@ -6,6 +6,7 @@ min_incline=0.0
 speed_interval_step=0.1
 incline_interval_step=0.5
 belt_distance=153.3
-hasMPU6050=0
+hasMPU6050=1
+hasMPU6050inAngle=1
 hasIrSense=0
-hasReed=0
+hasReed=1

config/treadmill_SoleF85.txt

@@ -7,5 +7,6 @@ speed_interval_step=0.1
 incline_interval_step=1.0
 belt_distance=152
 hasMPU6050=0
+hasMPU6050inAngle=0
 hasIrSense=0
 hasReed=0

config/treadmill_Taurus9_5.txt

@@ -7,5 +7,6 @@ speed_interval_step=0.1
 incline_interval_step=1.0
 belt_distance=250
 hasMPU6050=1
+hasMPU6050inAngle=0
 hasIrSense=0
 hasReed=1

include/common.h

@@ -78,7 +78,6 @@ void initWebSocket();
 void notifyClientsWebSockets();
 void doReset(void);
 
-double angleSensorTreadmillConversion(double inAngle);
 void setSpeedInterval(float interval);
 void speedDown();
 void speedUp();

include/config.h

@@ -19,6 +19,7 @@ struct TreadmillConfiguration
     float speed_interval_step;
     long  belt_distance; // mm ... actually circumfence of motor wheel!
     bool  hasMPU6050;
+    bool  hasMPU6050inAngle;
     bool  hasIrSense;
     bool  hasReed;
 };

src/ESP32_TTGO_FTMS.cpp

@@ -170,41 +170,6 @@ void inclineDown()
   logText("\n");
 }
 
-// angleSensorTreadmillConversion()
-// If a treadmill has some special placement of the angle sensor
-// here is where that value is converted from sensor read to proper angle of running area.
-
-double angleSensorTreadmillConversion(double inAngle) {
-  double convertedAngle = inAngle;
-
-#warning TODO make this a configurable depending on where on the threadmill you place the MPU6050   
-//#if TREADMILL_MODEL == NORDICTRACK_12SI
-  // TODO: Maybe this should be a config somewhere together with sensor orientation
-
-  /* If Sensor is placed in inside the treadmill engine
-    TODO: Maybe this can be automatic, e.g. Let user selct a incline at a time
-          and record values and select inbeween bounderies.
-          If treadmill support stearing the incline maybe it can also be an automatic
-          calibration step. e.g. move it max down, callibrate sensor, step up max and measure
-          User input treadmill "Max incline" value and Running are length somehow.
-              /|--- ___
-           c / |        --- ___ a
-            /  |x              --- ___  Running area
-           /   |_                      --- ___
-          / A  | |                           C ---  ___
-
-    A = inAngle (but we want the angle C)
-    sin(A)=x/c     sin(C)=x/a
-    x=c*sin(A)     x=a*sin(C)
-    C=asin(c*sin(A)/a)
-  */
-  double c = 32.0;  // lenght of motor part in cm
-  double a = 150.0; // lenght of running area in cm
-  convertedAngle = asin(c*sin(inAngle * DEG_TO_RAD)/a) * RAD_TO_DEG;
-//#endif
-  return convertedAngle;
-}
-
 void setSpeed(float speed)
 {
   kmph = speed;
@@ -243,6 +208,7 @@ static void showInfo()
   logText(intoText.c_str());
   intoText = String("HW: REED: ") + configTreadmill.hasReed +
              String(" MPU6050: ") + configTreadmill.hasMPU6050 +
+             String(" inAngle: ") + configTreadmill.hasMPU6050inAngle +
              String(" IrSense: ") + configTreadmill.hasIrSense +
              String(" GPIOExtender(AW9523): ") + GPIOExtender.isAvailable() + String("\n");
   logText(intoText.c_str());

src/config.cpp

@@ -19,6 +19,7 @@
 #define default_incline_interval_step 1.0
 #define default_belt_distance 250
 #define default_hasMPU6050 false
+#define default_hasMPU6050inAngle false
 #define default_hasIrSense false
 #define default_hasReed false
 
@@ -55,6 +56,8 @@ void dump_settings(void)
   DEBUG_PRINTLN(configTreadmill.belt_distance);
   DEBUG_PRINT("hasMPU6050: "); 
   DEBUG_PRINTLN(configTreadmill.hasMPU6050);
+  DEBUG_PRINT("hasMPU6050inAngle: "); 
+  DEBUG_PRINTLN(configTreadmill.hasMPU6050inAngle);
   DEBUG_PRINT("hasIrSense: "); 
   DEBUG_PRINTLN(configTreadmill.hasIrSense);
   DEBUG_PRINT("hasReed: "); 
@@ -205,6 +208,7 @@ void initConfig(void)
   configTreadmill.belt_distance          = LittleFS_findFloat(F("belt_distance"));
   // Get Your HW config, e.g. interface to Treadmill and other added HW
   configTreadmill.hasMPU6050             = LittleFS_findInt(F("hasMPU6050"));
+  configTreadmill.hasMPU6050inAngle      = LittleFS_findInt(F("hasMPU6050inAngle"));
   configTreadmill.hasIrSense             = LittleFS_findInt(F("hasIrSense"));
   configTreadmill.hasReed                = LittleFS_findInt(F("hasReed"));
 
@@ -252,7 +256,11 @@ void initConfig(void)
   if ((configTreadmill.hasMPU6050 < 0) || (configTreadmill.hasMPU6050 > 1)) {
     configTreadmill.hasMPU6050 = default_hasMPU6050;
     logText("invalid MPU6050 setting, using default (false)\n");
+  }
 
+  if ((configTreadmill.hasMPU6050inAngle < 0) || (configTreadmill.hasMPU6050inAngle > 1)) {
+    configTreadmill.hasMPU6050inAngle = default_hasMPU6050inAngle;
+    logText("invalid hasMPU6050inAngle setting, using default (false)\n");
   }
 
   if ((configTreadmill.hasIrSense < 0) || (configTreadmill.hasIrSense > 1)) {

src/hardware.cpp

@@ -340,6 +340,39 @@ static void IRAM_ATTR speedSensor2_ISR(void)
   }
 }
 
+// angleSensorTreadmillConversion()
+// If a treadmill has some special placement of the angle sensor
+// here is where that value is converted from sensor read to proper angle of running area.
+
+double angleSensorTreadmillConversion(double inAngle) {
+  double convertedAngle = inAngle;
+
+  if (configTreadmill.hasMPU6050inAngle) {
+
+    /* If Sensor is placed in inside the treadmill engine
+      TODO: Maybe this can be automatic, e.g. Let user selct a incline at a time
+            and record values and select inbeween bounderies.
+            If treadmill support stearing the incline maybe it can also be an automatic
+            calibration step. e.g. move it max down, callibrate sensor, step up max and measure
+            User input treadmill "Max incline" value and Running are length somehow.
+                /|--- ___
+            c / |        --- ___ a
+              /  |x              --- ___  Running area
+            /   |_                      --- ___
+            / A  | |                           C ---  ___
+
+      A = inAngle (but we want the angle C)
+      sin(A)=x/c     sin(C)=x/a
+      x=c*sin(A)     x=a*sin(C)
+      C=asin(c*sin(A)/a)
+    */
+    double c = 32.0;  // lenght of motor part in cm TODO treadmill config?
+    double a = 150.0; // lenght of running area in cm TODO treadmill config?
+    convertedAngle = asin(c*sin(inAngle * DEG_TO_RAD)/a) * RAD_TO_DEG;
+  }
+  return convertedAngle;
+}
+
 // getIncline()
 // This will read the used "incline" sensor, run this periodically
 // The following global variables will be updated
@@ -353,14 +386,14 @@ float getIncline(void)
 
   if (configTreadmill.hasMPU6050) {
     // MPU6050 returns a incline/grade in degrees(!)
-    // TODO: configure sensor orientation  via webinterface
     // FIXME: maybe get some rolling-average of Y-angle to smooth things a bit (same for speed)
     // mpu.getAngle[XYZ]
     sensorAngle = mpu6050.getAngleY(); //This does not use I2C no need to I2C begin/end
 
-    angle = angleSensorTreadmillConversion(sensorAngle); // convert angle depending on treadmill placment of mpu6050
+    angle = angleSensorTreadmillConversion(sensorAngle); // convert angle depending placment of mpu6050 on treadmill
 
-    if (angle < 0) angle = 0;  // TODO We might allow running downhill
+    if (angle < 0) angle = 0; // TODO We might allow running downhill, some threadmill support it and pratically
+                              //      you could put something under it on the back side
 
     char yStr[5];
     snprintf(yStr, 5, "%.2f", angle);