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fototeddy
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# VanAlign Pro - Neigungsmessung über BLE
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#
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# Bewusst nah am bewährten Stand 1.0 gehalten. Gegenüber diesem geändert:
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#
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# * Die Kalibrierung funktioniert. Die Charakteristik ...3427 war zwar
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# beschreibbar, hatte aber keine Aktion hinterlegt und tat nichts; der
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# Kalibrier-Knopf war nur über den Webserver erreichbar, der
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# auskommentiert ist. Kalibrieren war damit auf keinem Weg möglich.
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# * Der ESP-NOW-Rest ist entfernt. Er schickte bei jedem einzelnen
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# Messwert ein "hallo" an eine fest eingetragene MAC-Adresse.
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#
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# Bewusst NICHT geändert: Pitch und Roll bleiben reine Lesewerte mit
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# hinterlegtem Ausdruck. Eine Fassung mit notify und aktiv gesetzten Werten
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# liess das Gerät verstummen - sie ist in der Projektgeschichte unter
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# "Neigungsmesser VanAlign einbinden" nachlesbar, aber nicht in Betrieb.
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# Der Client fragt die Werte stattdessen im Takt ab.
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esphome:
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name: vanalign
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friendly_name: "VanAlign Pro"
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esp32:
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board: esp32-s3-devkitc-1
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framework:
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type: esp-idf
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logger:
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level: WARN
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espnow:
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channel: 1
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sensor:
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- platform: mpu6050
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#address: 0x69
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gyro_x:
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name: "MPU6050 Gyro X-Achse"
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id: mpu_gyro_x
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gyro_y:
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name: "MPU6050 Gyro Y-Achse"
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id: mpu_gyro_y
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gyro_z:
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name: "MPU6050 Gyro Z-Achse"
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id: mpu_gyro_z
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accel_x:
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name: "MPU6050 Accel X"
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id: accel_x
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internal: true
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accel_y:
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name: "MPU6050 Accel Y"
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id: accel_y
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internal: true
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accel_z:
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name: "MPU6050 Accel Z"
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id: accel_z
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internal: true
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update_interval: 0.1s
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- platform: template
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name: "Neigung Pitch"
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id: pitch
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icon: mdi:caravan
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unit_of_measurement: "°"
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accuracy_decimals: 1
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update_interval: 0.1s
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lambda: |-
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if (isnan(id(accel_x).state) || isnan(id(accel_y).state) || isnan(id(accel_z).state)) {
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return NAN;
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}
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float raw = atan2(id(accel_y).state, sqrt(pow(id(accel_x).state, 2) + pow(id(accel_z).state, 2))) * (180.0 / 3.14159265);
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return raw - id(pitch_offset); // Offset wird hier subtrahiert
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filters:
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- sliding_window_moving_average:
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window_size: 8
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send_every: 1
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- exponential_moving_average:
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alpha: 0.2
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- platform: template
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name: "Neigung Roll"
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id: roll
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icon: mdi:axis-x-rotate-clockwise
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unit_of_measurement: "°"
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accuracy_decimals: 1
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update_interval: 0.1s
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lambda: |-
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if (isnan(id(accel_x).state) || isnan(id(accel_z).state)) {
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return NAN;
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}
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float raw = atan2(-id(accel_x).state, id(accel_z).state) * (180.0 / 3.14159265);
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return raw - id(roll_offset); // Offset wird hier subtrahiert
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filters:
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- sliding_window_moving_average:
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window_size: 8
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send_every: 1
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- exponential_moving_average:
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alpha: 0.2
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globals:
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- id: pitch_offset
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type: float
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restore_value: yes
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initial_value: '0.0'
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- id: roll_offset
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type: float
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restore_value: yes
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initial_value: '0.0'
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# Die Einbaulage liegt im Gerät, nicht in den Apps: Sie beschreibt, wie der
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# Sensor im Fahrzeug sitzt – eine Eigenschaft des Einbaus, nicht des Telefons.
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# Damit sehen iPhone, Uhr und Android dasselbe, ohne sie je einzeln zu
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# bestimmen. Angewandt wird sie weiterhin in den Apps; das Gerät verwahrt sie
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# nur, sonst rechneten ältere Clients die Korrektur ein zweites Mal.
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- id: orientation_version
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type: uint8_t
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restore_value: yes
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initial_value: '0'
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- id: orientation_source
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type: uint8_t
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restore_value: yes
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initial_value: '0'
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- id: orientation_invert_long
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type: bool
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restore_value: yes
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initial_value: 'false'
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- id: orientation_invert_lat
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type: bool
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restore_value: yes
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initial_value: 'false'
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- id: orientation_twist
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type: float
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restore_value: yes
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initial_value: '0.0'
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- id: enable_captive
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type: bool
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restore_value: yes
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initial_value: 'false'
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esp32_ble_server:
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services:
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- uuid: 2a24b789-7aab-4535-af3e-ee76a35cc42d
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advertise: true
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characteristics:
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- id: pitch_ble
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uuid: cad48e28-7fbe-41cf-bae9-d77a6c233424
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description: "Pitch"
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read: true
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value: !lambda |-
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std::vector<unsigned char> v(sizeof(float));
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float val = id(pitch).state;
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memcpy(v.data(), &val, sizeof(float));
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return v;
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- id: roll_ble
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uuid: cad48e28-7fbe-41cf-bae9-d77a6c233425
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description: "Roll"
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read: true
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value: !lambda |-
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std::vector<unsigned char> v(sizeof(float));
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float val = id(roll).state;
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memcpy(v.data(), &val, sizeof(float));
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return v;
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# Die gespeicherten Nullpunkte, zwei Floats. Daran erkennen die Apps,
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# ob überhaupt schon kalibriert wurde.
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- id: offsets_ble
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uuid: cad48e28-7fbe-41cf-bae9-d77a6c233426
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description: "Kalibrier-Offsets"
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read: true
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value: !lambda |-
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std::vector<unsigned char> v(2 * sizeof(float));
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float p = id(pitch_offset);
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float r = id(roll_offset);
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memcpy(v.data(), &p, sizeof(float));
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memcpy(v.data() + sizeof(float), &r, sizeof(float));
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return v;
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# Die Einbaulage, acht Byte:
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#
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# 0 Version, 1 = gültig gesetzt, 0 = nie geschrieben
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# 1 Längsachse: 0 = Pitch des Sensors, 1 = Roll des Sensors
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# 2 längs umgekehrt (0/1)
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# 3 quer umgekehrt (0/1)
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# 4..7 Verdrehung um die Hochachse, float32, Grad
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- id: orientation_ble
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uuid: cad48e28-7fbe-41cf-bae9-d77a6c233428
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description: "Einbaulage"
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read: true
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write: true
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value: !lambda |-
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std::vector<unsigned char> v(8, 0);
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v[0] = id(orientation_version);
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v[1] = id(orientation_source);
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v[2] = id(orientation_invert_long) ? 1 : 0;
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v[3] = id(orientation_invert_lat) ? 1 : 0;
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float t = id(orientation_twist);
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memcpy(v.data() + 4, &t, sizeof(float));
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return v;
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on_write:
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then:
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- lambda: |-
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if (x.size() < 8 || x[0] != 1) {
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ESP_LOGW("vanalign", "Einbaulage verworfen: %d Byte, Version %d",
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(int) x.size(), x.empty() ? -1 : (int) x[0]);
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return;
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}
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float t;
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memcpy(&t, x.data() + 4, sizeof(float));
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if (!std::isfinite(t) || fabsf(t) > 180.0f) {
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ESP_LOGW("vanalign", "Einbaulage verworfen: Verdrehung %.1f", t);
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return;
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}
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id(orientation_version) = 1;
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id(orientation_source) = x[1];
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id(orientation_invert_long) = x[2] != 0;
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id(orientation_invert_lat) = x[3] != 0;
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id(orientation_twist) = t;
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ESP_LOGI("vanalign", "Einbaulage gespeichert: Quelle=%d laengs=%d quer=%d verdreht=%.1f",
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(int) x[1], (int) x[2], (int) x[3], t);
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- id: calib_ble
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uuid: cad48e28-7fbe-41cf-bae9-d77a6c233427
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description: "Kalibriere Neigung"
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write: true
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on_write:
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then:
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- lambda: |-
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bool reset = !x.empty() && (x[0] == 0x00 || x[0] == '0');
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if (reset) {
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id(reset_calibration).execute();
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} else {
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id(calibrate_level).execute();
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}
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i2c:
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sda: GPIO8
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scl: GPIO9
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scan: true
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#web_server:
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# port: 80
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#ota:
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# platform: web_server
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#wifi:
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# ap:
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# ssid: "VanAlign-Setup"
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# password: "kalibrierung"
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script:
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# Die aktuelle Lage wird zur neuen Null. Knopf und Bluetooth laufen hier
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# zusammen, damit sie nicht auseinanderdriften.
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- id: calibrate_level
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then:
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- lambda: |-
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if (isnan(id(accel_x).state) || isnan(id(accel_y).state) || isnan(id(accel_z).state)) {
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ESP_LOGW("vanalign", "Kalibrierung abgebrochen: keine Sensorwerte");
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return;
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}
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id(pitch_offset) = atan2(id(accel_y).state, sqrt(pow(id(accel_x).state, 2) + pow(id(accel_z).state, 2))) * (180.0 / 3.14159265);
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id(roll_offset) = atan2(-id(accel_x).state, id(accel_z).state) * (180.0 / 3.14159265);
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ESP_LOGI("vanalign", "Kalibriert: pitch_offset=%.2f roll_offset=%.2f", id(pitch_offset), id(roll_offset));
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- id: reset_calibration
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then:
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- lambda: |-
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id(pitch_offset) = 0.0f;
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id(roll_offset) = 0.0f;
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ESP_LOGI("vanalign", "Kalibrierung zurückgesetzt");
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button:
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- platform: template
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name: "Kalibriere Neigung"
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id: calib_button
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on_press:
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- script.execute: calibrate_level
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- platform: template
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name: "Kalibrierung zurücksetzen"
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id: calib_reset_button
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on_press:
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- script.execute: reset_calibration
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- platform: restart
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name: "ESP Restart"
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text_sensor:
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- platform: template
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name: "Firmware Version"
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id: firmware_version
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icon: mdi:tag
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lambda: |-
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return {"v1.0.2"};
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