Project structure redefined

moved all existing files to new 'src' directory
2024-01-27 22:10:39 +07:00 · 2024-01-27 22:07:53 +07:00
29 changed files with 166 additions and 1689 deletions
--- a/.clang-format
+++ b/.clang-format
@@ -1,160 +0,0 @@
-# Source: https://github.com/arduino/tooling-project-assets/tree/main/other/clang-format-configuration
---
-TabWidth: 2
-AccessModifierOffset: -2
-AlignAfterOpenBracket: Align
-AlignConsecutiveAssignments: None
-AlignConsecutiveBitFields: None
-AlignConsecutiveDeclarations: None
-AlignConsecutiveMacros: None
-AlignEscapedNewlines: DontAlign
-AlignOperands: Align
-AlignTrailingComments: true
-AllowAllArgumentsOnNextLine: true
-AllowAllConstructorInitializersOnNextLine: true
-AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: Always
-AllowShortCaseLabelsOnASingleLine: true
-AllowShortEnumsOnASingleLine: true
-AllowShortFunctionsOnASingleLine: Empty
-AllowShortLambdasOnASingleLine: Empty
-AllowShortLoopsOnASingleLine: true
-AlwaysBreakAfterDefinitionReturnType: None
-AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: false
-AlwaysBreakTemplateDeclarations: No
-AttributeMacros:
-  - __capability
-BinPackArguments: true
-BinPackParameters: true
-BitFieldColonSpacing: Both
-BraceWrapping:
-  AfterCaseLabel: false
-  AfterClass: false
-  AfterControlStatement: Never
-  AfterEnum: false
-  AfterFunction: false
-  AfterNamespace: false
-  AfterObjCDeclaration: false
-  AfterStruct: false
-  AfterUnion: false
-  AfterExternBlock: false
-  BeforeCatch: false
-  BeforeElse: false
-  BeforeLambdaBody: false
-  BeforeWhile: false
-  IndentBraces: false
-  SplitEmptyFunction: true
-  SplitEmptyRecord: true
-  SplitEmptyNamespace: true
-BreakAfterJavaFieldAnnotations: false
-BreakBeforeBinaryOperators: NonAssignment
-BreakBeforeBraces: Attach
-BreakBeforeConceptDeclarations: false
-BreakBeforeInheritanceComma: false
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializers: BeforeColon
-BreakConstructorInitializersBeforeComma: false
-BreakInheritanceList: BeforeColon
-BreakStringLiterals: false
-ColumnLimit: 90
-CommentPragmas: ''
-CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: false
-ConstructorInitializerIndentWidth: 2
-ContinuationIndentWidth: 2
-Cpp11BracedListStyle: false
-DeriveLineEnding: true
-DerivePointerAlignment: true
-DisableFormat: false
-EmptyLineBeforeAccessModifier: Leave
-ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: false
-ForEachMacros:
-  - foreach
-  - Q_FOREACH
-  - BOOST_FOREACH
-IncludeBlocks: Preserve
-IncludeCategories:
-  - Regex: '^"(llvm|llvm-c|clang|clang-c)/'
-    Priority: 2
-    SortPriority: 0
-    CaseSensitive: false
-  - Regex: '^(<|"(gtest|gmock|isl|json)/)'
-    Priority: 3
-    SortPriority: 0
-    CaseSensitive: false
-  - Regex: '.*'
-    Priority: 1
-    SortPriority: 0
-    CaseSensitive: false
-IncludeIsMainRegex: ''
-IncludeIsMainSourceRegex: ''
-IndentGotoLabels: false
-IndentPPDirectives: None
-IndentRequires: true
-IndentWidth: 2
-IndentWrappedFunctionNames: false
-InsertTrailingCommas: None
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
-KeepEmptyLinesAtTheStartOfBlocks: true
-Language: Cpp
-MacroBlockBegin: ''
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-MaxEmptyLinesToKeep: 100000
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-ObjCBinPackProtocolList: Auto
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-ObjCBreakBeforeNestedBlockParam: true
-ObjCSpaceAfterProperty: false
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakAssignment: 1
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-PenaltyExcessCharacter: 1
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-PointerAlignment: Right
-ReflowComments: false
-SortJavaStaticImport: Before
-SortUsingDeclarations: false
-SpaceAfterCStyleCast: false
-SpaceAfterLogicalNot: false
-SpaceAfterTemplateKeyword: false
-SpaceAroundPointerQualifiers: Default
-SpaceBeforeAssignmentOperators: true
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-SpaceBeforeParens: ControlStatements
-SpaceBeforeRangeBasedForLoopColon: true
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-SpacesInCStyleCastParentheses: false
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-SpacesInContainerLiterals: false
-SpacesInParentheses: false
-SpacesInSquareBrackets: false
-Standard: Auto
-StatementAttributeLikeMacros:
-  - Q_EMIT
-StatementMacros:
-  - Q_UNUSED
-  - QT_REQUIRE_VERSION
-TabWidth: 2
-UseCRLF: false
-UseTab: Never
-WhitespaceSensitiveMacros:
-  - STRINGIZE
-  - PP_STRINGIZE
-  - BOOST_PP_STRINGIZE
-  - NS_SWIFT_NAME
-  - CF_SWIFT_NAME
-IndentWidth: 4
--- a/.gitignore
+++ b/.gitignore
@@ -1,34 +1,6 @@
-# ---> C++
-# Prerequisites
-*.d
-
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
+.pio
+.vscode/*
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
--- a/App.hpp
+++ b/App.hpp
@@ -1,23 +0,0 @@
-#include "Logic/FlightDispatcher.hpp"
-#include "esp_log.h"
-
-class Application {
-  public:
-    Application(FlightDispatcher *dispatcher) {
-        assert(dispatcher != nullptr);
-        _dispatcher = dispatcher;
-        ESP_LOGI(_tag, "Application startup complete");
-    }
-
-    void tick() {
-        _dispatcher->tick();
-    }
-
-    ~Application() {
-        ESP_LOGI(_tag, "Application destroyed");
-        delete _dispatcher;
-    }
-  private:
-    FlightDispatcher *_dispatcher = nullptr;
-    static constexpr const char *_tag = "Application";
-};
--- a/BoardI2C.hpp
+++ b/BoardI2C.hpp
@@ -1,16 +0,0 @@
-#include "Wire.h"
-#include "board_pins.h"
-#include "esp_log.h"
-
-class BoardI2C : public TwoWire {
-  public:
-    BoardI2C(volatile bool loop_on_fail = true) : TwoWire(0) {
-        if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
-            ESP_LOGI("I2CBus", "Bus initialized");
-        } else {
-            ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");
-            while (loop_on_fail)
-                ;
-        }
-    }
-};
--- a/Filters/Kalman2DFilter.hpp
+++ b/Filters/Kalman2DFilter.hpp
@@ -1,43 +0,0 @@
-#include <BasicLinearAlgebra.h>
-
-class Kalman2DFilter {
-  public:
-    Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
-        dt /= 1000.f;
-        F = { 1, dt, 0, 1 };
-        G = { 0.5f * dt * dt, dt };
-        H = { 1, 0 };
-        I = { 1, 0, 0, 1 };
-        Q = G * ~G * accelUncertainty * accelUncertainty;
-        R = { barometerUncertainty * barometerUncertainty };
-        P = { 0, 0, 0, 0 };
-        S = { 0, 0 };
-    }
-
-    void filter(const float &AccZInertial, const float &AltitudeBarometer, float &AltitudeKalman, float &VelocityVerticalKalman) {
-        Acc = { AccZInertial };
-        S = F * S + G * Acc;
-        P = F * P * ~F + Q;
-        L = H * P * ~H + R;
-        K = P * ~H * Inverse(L);
-        M = { AltitudeBarometer };
-        S = S + K * (M - H * S);
-        AltitudeKalman = S(0, 0);
-        VelocityVerticalKalman = S(1, 0);
-        P = (I - K * H) * P;
-    }
-
-  private:
-    BLA::Matrix<2, 2> F;
-    BLA::Matrix<2, 1> G;
-    BLA::Matrix<2, 2> P;
-    BLA::Matrix<2, 2> Q;
-    BLA::Matrix<2, 1> S;
-    BLA::Matrix<1, 2> H;
-    BLA::Matrix<2, 2> I;
-    BLA::Matrix<1, 1> Acc;
-    BLA::Matrix<2, 1> K;
-    BLA::Matrix<1, 1> R;
-    BLA::Matrix<1, 1> L;
-    BLA::Matrix<1, 1> M;
-};
--- a/Filters/kalman.hpp
+++ b/Filters/kalman.hpp
@@ -1,46 +0,0 @@
-// упрощённый Калман для одномерного случая
-
-#ifndef _GKalman_h
-#define _GKalman_h
-
-class GKalman {
-public:
-    // разброс измерения, разброс оценки, скорость изменения значений
-    GKalman(float mea_e, float est_e, float q) {
-        setParameters(mea_e, est_e, q);
-    }
-    
-    // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки)
-    GKalman(float mea_e, float q) {
-        setParameters(mea_e, mea_e, q);
-    }
-    
-    // разброс измерения, разброс оценки, скорость изменения значений
-    void setParameters(float mea_e, float est_e, float q) {
-        _err_measure = mea_e;
-        _err_estimate = est_e;
-        _q = q;
-    }
-    
-    // разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки)
-    void setParameters(float mea_e, float q) {
-        setParameters(mea_e, mea_e, q);
-    }
-    
-    // возвращает фильтрованное значение
-    float filtered(float value) {		
-        float _kalman_gain, _current_estimate;
-        _kalman_gain = _err_estimate / (_err_estimate + _err_measure);
-        _current_estimate = _last_estimate + _kalman_gain * (value - _last_estimate);
-        _err_estimate =  (1.0 - _kalman_gain)*_err_estimate + fabs(_last_estimate-_current_estimate)*_q;
-        _last_estimate=_current_estimate;
-        return _current_estimate;
-    }
-
-private:
-    float _err_measure = 0.0;
-    float _err_estimate = 0.0;
-    float _q = 0.0;
-    float _last_estimate = 0.0;
-};
-#endif
--- a/Filters/median3.hpp
+++ b/Filters/median3.hpp
@@ -1,19 +0,0 @@
-// быстрый медианный фильтр 3-го порядка
-
-#ifndef _GMedian3_h
-#define _GMedian3_h
-
-template < typename TYPE >
-class GMedian3 {
-public:
-    TYPE filtered(TYPE value) {	// возвращает фильтрованное значение
-        buf[_counter] = value;
-        if (++_counter > 2) _counter = 0;
-        return (max(buf[0], buf[1]) == max(buf[1], buf[2])) ? max(buf[0], buf[2]) : max(buf[1], min(buf[0], buf[2]));
-    }
-    
-private:
-    TYPE buf[3];
-    uint8_t _counter = 0;
-};
-#endif
--- a/Filters/runningAverage.hpp
+++ b/Filters/runningAverage.hpp
@@ -1,49 +0,0 @@
-// экспоненциальное бегущее среднее
-
-#ifndef _GFilterRA_h
-#define _GFilterRA_h
-
-class GFilterRA {
-public:
-    GFilterRA(){}
-    
-    GFilterRA(float coef, uint16_t interval) {
-        _coef = coef;
-        _prd = interval;
-    }
-
-    GFilterRA(float coef) {
-        _coef = coef;
-    }
-
-    void setCoef(float coef) {
-        _coef = coef;
-    }
-    
-    void setPeriod(uint16_t interval) {
-        _prd = interval;
-    }
-
-    float filteredTime(float value) {
-        if (millis() - _tmr >= _prd) {
-            _tmr += _prd;
-            filtered(value);
-        }
-        return _fil;
-    }
-
-    float filtered(float value) {
-        return _fil += (value - _fil) * _coef;
-    }
-    
-    //
-    void setStep(uint16_t interval) {
-        _prd = interval;
-    }
-    
-private:
-    float _coef = 0.0, _fil = 0.0;
-    uint32_t _tmr = 0;
-    uint16_t _prd = 0;
-};
-#endif
--- a/Logic/FlightController.cpp
+++ b/Logic/FlightController.cpp
@@ -1,194 +0,0 @@
-// This is a personal academic project. Dear PVS-Studio, please check it.
-// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
-
-#include "FlightController.hpp"
-
-FlightController::FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2,
-                                   PIDController *pid3, bool unlimitedBattery) {
-    assert(sensors != nullptr);
-    assert(pid1 != nullptr);
-    assert(pid2 != nullptr);
-    assert(pid3 != nullptr);
-    _sensors = sensors;
-    _unlimitedBattery = unlimitedBattery;
-    _pid1 = pid1;
-    _pid2 = pid2;
-    _pid3 = pid3;
-
-    _status = DeviceStatus::Idle;
-    _updateBatteryCharge();
-    ESP_LOGI(_tag, "Flight controller initialized");
-}
-
-FlightController::~FlightController() {
-    delete _sensors;
-    delete _pid1;
-    delete _pid2;
-    delete _pid3;
-}
-
-void FlightController::tick() {
-    bool hasUpdates = _sensors->tick();
-    if (hasUpdates) {
-        _updateBatteryCharge();
-    }
-    switch (_status) {
-    case DeviceStatus::Idle: break;
-    case DeviceStatus::ChargeRequired: break;
-    case DeviceStatus::IsPreparingForTakeoff: break;
-    case DeviceStatus::IsImuCalibration: break;
-    case DeviceStatus::IsBoarding:
-        /* TODO: implement boarding */
-        break;
-    case DeviceStatus::IsFlying:
-        /* TODO: implement flying */
-        if (hasUpdates) {
-            _pid1->tick();
-            _pid2->tick();
-            _pid3->tick();
-        }
-        break;
-    }
-}
-
-ReportedDeviceState FlightController::currentDeviceState() const {
-    return { .batteryCharge = _sensors->batteryCharge(),
-             .flightHeight = _sensors->flightHeight(),
-             .status = _status,
-             .mpuState = _sensors->mpuData() };
-}
-
-void FlightController::startTakeoff() {
-    /* Start preparation for takeoff */
-    _updateBatteryCharge();
-    if (_status != DeviceStatus::Idle)
-        return;
-
-    _status = DeviceStatus::IsPreparingForTakeoff;
-    _sensors->onMeasuaringAltitudeFinished([this]() {
-        if (_status == DeviceStatus::IsPreparingForTakeoff) {
-            // Preparation for takeoff is done
-            _takeoff();
-        }
-    });
-    _sensors->measureBaseAltitudeAsync();
-}
-
-void FlightController::startBoarding() {
-    if (_status == DeviceStatus::IsFlying) {
-        _status = DeviceStatus::IsBoarding;
-    }
-}
-
-void FlightController::_updateBatteryCharge() {
-    if (_unlimitedBattery)
-        return;
-    if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
-        if (_status == DeviceStatus::IsFlying) {
-            startBoarding();
-        } else {
-            _status = DeviceStatus::ChargeRequired;
-        }
-    }
-}
-
-void FlightController::_takeoff() {
-    // TODO: implement takeoff
-    _status = DeviceStatus::IsFlying;
-    if (_onTakeoffStarted) {
-        _onTakeoffStarted();
-    }
-}
-
-void FlightController::_boarding() {
-    if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
-        // TODO: stop motors and setpoints
-        _status = DeviceStatus::Idle;
-
-    } else {
-        // TODO: implement boarding
-    }
-}
-
-void FlightController::startImuCalibration() {
-    if (_status != DeviceStatus::Idle)
-        return;
-    _sensors->onMpuCalibrationFinished([this]() {
-        this->_status = DeviceStatus::Idle;
-    });
-}
-
-void FlightController::moveToFlightHeight(float newFlightHeight) {
-    // TODO: implement setting flight height
-}
-
-void FlightController::newFlightHeightStickPosition(int16_t newFlightHeightStickPostition) {
-    // TODO: implement stick input
-}
-
-void FlightController::newYawStickPosition(int16_t newYawStickPostition) {
-    // TODO: implement stick input
-}
-
-void FlightController::newPitchStickPosition(int16_t newYawStickPostition) {
-    // TODO: implement stick input
-}
-
-void FlightController::newRotor1Duty(uint32_t rotor1Duty) {
-    if (_status == DeviceStatus::Idle) {
-        _pid1->setRotorDuty(rotor1Duty);
-    }
-}
-
-void FlightController::newRotor2Duty(uint32_t rotor2Duty) {
-    if (_status == DeviceStatus::Idle) {
-        _pid2->setRotorDuty(rotor2Duty);
-    }
-}
-
-void FlightController::newRotor3Duty(uint32_t rotor3Duty) {
-    if (_status == DeviceStatus::Idle) {
-        _pid3->setRotorDuty(rotor3Duty);
-    }
-}
-
-void FlightController::stopAllRotors() {
-    _pid1->setRotorDuty(0);
-    _pid2->setRotorDuty(0);
-    _pid3->setRotorDuty(0);
-}
-
-void FlightController::setPid1Params(float p, float i, float d) {
-    if (_status == DeviceStatus::Idle) {
-        _pid1->Kp = p;
-        _pid1->Ki = i;
-        _pid1->Kd = d;
-        _pid1->save();
-    }
-}
-
-void FlightController::setPid2Params(float p, float i, float d) {
-    if (_status == DeviceStatus::Idle) {
-        _pid2->Kp = p;
-        _pid2->Ki = i;
-        _pid2->Kd = d;
-        _pid1->save();
-    }
-}
-
-void FlightController::setPid3Params(float p, float i, float d) {
-    if (_status == DeviceStatus::Idle) {
-        _pid3->Kp = p;
-        _pid3->Ki = i;
-        _pid3->Kd = d;
-        _pid1->save();
-    }
-}
-
-PidSettings *FlightController::pidSettings() const {
-    PidSettings pid1 = { .p = _pid1->Kp, .i = _pid1->Ki, .d = _pid1->Kd };
-    PidSettings pid2 = { .p = _pid2->Kp, .i = _pid2->Ki, .d = _pid2->Kd };
-    PidSettings pid3 = { .p = _pid3->Kp, .i = _pid3->Ki, .d = _pid3->Kd };
-    static PidSettings settings[] = { pid1, pid2, pid3 };
-    return settings;
-}
--- a/Logic/FlightController.hpp
+++ b/Logic/FlightController.hpp
@@ -1,74 +0,0 @@
-#include "PID.hpp"
-#include <memory>
-#include "Sensors/Sensors.hpp"
-
-enum DeviceStatus {
-    Idle = 0,
-    IsPreparingForTakeoff,
-    IsFlying,
-    IsBoarding,
-    IsImuCalibration,
-    ChargeRequired
-};
-
-struct ReportedDeviceState {
-    int batteryCharge;
-    float flightHeight;
-    DeviceStatus status;
-    MpuData mpuState;
-};
-
-struct FlightParams {
-    float height;  // [cm]
-    float yaw;     // [degrees]
-    float pitch;   // [degrees]
-};
-
-struct PidSettings {
-    float p;
-    float i;
-    float d;
-};
-
-class FlightController {
-  public:
-    FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2,
-                     PIDController *pid3, bool unlimitedBattery = false);
-    ~FlightController();
-    ReportedDeviceState currentDeviceState() const;
-    void startTakeoff();
-    void startBoarding();
-    void startImuCalibration();
-    void tick();
-    [[deprecated]] void moveToFlightHeight(float newFlightHeight);  //[cm]
-    [[deprecated]] void newFlightHeightStickPosition(int16_t newFlightHeightStickPostition);
-    [[deprecated]] void newYawStickPosition(int16_t newYawStickPostition);
-    [[deprecated]] void newPitchStickPosition(int16_t newPitchStickPostition);
-    void newRotor1Duty(uint32_t rotor1Duty);
-    void newRotor2Duty(uint32_t rotor2Duty);
-    void newRotor3Duty(uint32_t rotor3Duty);
-    void stopAllRotors();
-    void setPid1Params(float p, float i, float d);
-    void setPid2Params(float p, float i, float d);
-    void setPid3Params(float p, float i, float d);
-    PidSettings *pidSettings() const;
-  private:
-    void _updateBatteryCharge();
-    [[deprecated]] void _takeoff();
-    [[deprecated]] void _boarding();
-
-    Sensors *_sensors = nullptr;
-    PIDController *_pid1 = nullptr;
-    PIDController *_pid2 = nullptr;
-    PIDController *_pid3 = nullptr;
-    DeviceStatus _status;
-    OnMeasuringFinishedCb _onTakeoffStarted = nullptr;
-
-    static constexpr const char *_tag = "FlightController";
-    static constexpr uint8_t _batteryCriticalCharge = 15;  // [%]
-    static constexpr float _defaultFlightHeight = 30.f;    // [cm]
-    static constexpr float _defaultHorizontAngle = 90.f;   // [degrees]
-    static constexpr float _defaultStopMotorHeight = 5;    // [cm]
-
-    bool _unlimitedBattery = false;  // for debug purposes
-};
--- a/Logic/FlightDispatcher.cpp
+++ b/Logic/FlightDispatcher.cpp
@@ -1,180 +0,0 @@
-// This is a personal academic project. Dear PVS-Studio, please check it.
-// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
-
-#include "FlightDispatcher.hpp"
-
-FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
-                                   FlightController *flightController, volatile bool loop_on_fail) {
-    assert(bluetoothDispatcher != nullptr);
-    assert(flightController != nullptr);
-
-    _bluetoothDispatcher = bluetoothDispatcher;
-    _flightController = flightController;
-
-    bluetoothDispatcher->onNewDeviceConnected([this](BTAddress device) {
-        this->_onNewDeviceConnected(device);
-    });
-    bluetoothDispatcher->onNewPackageReceived([this](char *package) {
-        this->_onNewMessageReceived(package);
-    });
-
-    if (_bluetoothDispatcher->initialize()) {
-        ESP_LOGI(_tag, "Bluetooth initialized successfully.");
-    } else {
-        ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
-        while (loop_on_fail)
-            ;
-    }
-    _telemetryTimer = millis();
-}
-
-FlightDispatcher::~FlightDispatcher() {
-    delete _bluetoothDispatcher;
-    delete _flightController;
-}
-
-void FlightDispatcher::tick() {
-    _flightController->tick();
-    _bluetoothDispatcher->tick();
-    if (millis() - _telemetryTimer >= _telemetryTimeIntervalMS) {
-        _sendTelemetry();
-        _telemetryTimer = millis();
-    }
-}
-
-void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
-    auto currentState = _flightController->currentDeviceState();
-    gson::string package;
-    package.beginObj();
-    package["batteryCharge"] = currentState.batteryCharge;
-    package["flightHeight"] = currentState.flightHeight;
-    package["status"] = currentState.status;
-    package.endObj();
-    package.end();
-    package += "\r\n";
-    auto pkg = package.s.c_str();
-    _bluetoothDispatcher->sendPackage(pkg, strlen(pkg));
-}
-
-void FlightDispatcher::_onNewMessageReceived(char *package) {
-    using sutil::SH;
-    ESP_LOGD(_tag, "Received new package: %s", package);
-    gson::Doc pkg;
-    if (!pkg.parse(package, _jsonMaxDepth)) {
-        ESP_LOGE(_tag, "Parcing error occured with new package (error %s, place %d): %s",
-                 pkg.readError(), pkg.errorIndex(), package);
-    } else {
-        pkg.hashKeys();
-        for (int keyIndex = 0; keyIndex < pkg.length(); ++keyIndex) {
-            auto pair = pkg[pkg.keyHash(keyIndex)];
-            auto value = pair.value();
-            ESP_LOGD(_tag, "Key: %zu", pkg.keyHash(keyIndex));
-
-            if (!pair.valid()) {
-                ESP_LOGW(_tag, "Pair isn't valid and was skipped");
-                continue;
-            }
-
-            switch (pkg.keyHash(keyIndex)) {
-            case SH("status"): _changeStatus((DeviceStatus)value.toInt32()); break;
-            case SH("flightHeight"):
-                _flightController->moveToFlightHeight(value.toFloat());
-                break;
-            case SH("hS"):
-                _flightController->newFlightHeightStickPosition(value.toInt16());
-                break;
-            case SH("yS"): _flightController->newYawStickPosition(value.toInt16()); break;
-            case SH("pS"):
-                _flightController->newPitchStickPosition(value.toInt16());
-                break;
-            case SH("r1"): _flightController->newRotor1Duty(value.toInt32()); break;
-            case SH("r2"): _flightController->newRotor2Duty(value.toInt32()); break;
-            case SH("r3"): _flightController->newRotor3Duty(value.toInt32()); break;
-            case SH("stop"): _flightController->stopAllRotors(); break;
-            case SH("p1"):
-                if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
-                    and pair.includes(SH("i")) and pair.includes(SH("d"))) {
-                    _flightController->setPid1Params(
-                      pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
-                }
-                break;
-            case SH("p2"):
-                if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
-                    and pair.includes(SH("i")) and pair.includes(SH("d"))) {
-                    _flightController->setPid2Params(
-                      pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
-                }
-                break;
-            case SH("p3"):
-                if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
-                    and pair.includes(SH("i")) and pair.includes(SH("d"))) {
-                    _flightController->setPid3Params(
-                      pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
-                }
-                break;
-            case SH("pidSettingOpened"): _pidSettingsOpened(); break;
-            default: break;
-            }
-        }
-    }
-}
-
-void FlightDispatcher::_changeStatus(const DeviceStatus &newStatus) {
-    switch (newStatus) {
-    case DeviceStatus::IsImuCalibration: _flightController->startImuCalibration(); break;
-    case DeviceStatus::IsFlying:
-        _changeStatus(DeviceStatus::IsPreparingForTakeoff);
-        break;
-    case DeviceStatus::IsPreparingForTakeoff: _flightController->startTakeoff(); break;
-    case DeviceStatus::IsBoarding: _flightController->startBoarding(); break;
-    default: break;
-    }
-}
-
-void FlightDispatcher::_pidSettingsOpened() {
-    auto settings = _flightController->pidSettings();
-    gson::string pkg;
-    pkg.beginObj();
-
-    pkg.beginObj("p1");
-    pkg["p"] = settings[0].p;
-    pkg["i"] = settings[0].i;
-    pkg["d"] = settings[0].d;
-    pkg.endObj();
-
-    pkg.beginObj("p2");
-    pkg["p"] = settings[1].p;
-    pkg["i"] = settings[1].i;
-    pkg["d"] = settings[1].d;
-    pkg.endObj();
-
-    pkg.beginObj("p3");
-    pkg["p"] = settings[2].p;
-    pkg["i"] = settings[2].i;
-    pkg["d"] = settings[2].d;
-    pkg.endObj();
-
-    pkg.endObj();
-    pkg.end();
-    pkg += "\r\n";
-    _bluetoothDispatcher->sendPackage(pkg.s.c_str(), strlen(pkg.s.c_str()));
-}
-
-void FlightDispatcher::_sendTelemetry() {
-    /* Notify mobile client about device state */
-    auto state = _flightController->currentDeviceState();
-    gson::string package;
-    package.beginObj();
-    package["batteryCharge"] = state.batteryCharge;
-    package["flightHeight"] = state.flightHeight;
-    package["status"] = state.status;
-    package["y"] = state.mpuState.yaw;
-    package["p"] = state.mpuState.pitch;
-    package["r"] = state.mpuState.roll;
-    package["zIn"] = state.mpuState.zInertial;
-    package.endObj();
-    package.end();
-    package += "\r\n";
-
-    _bluetoothDispatcher->sendPackage(package.s.c_str(), strlen((package.s.c_str())));
-}
--- a/Logic/FlightDispatcher.hpp
+++ b/Logic/FlightDispatcher.hpp
@@ -1,35 +0,0 @@
-#include "FlightController.hpp"
-#include "GSON.h"
-#include "RF/BluetoothDispatcher.hpp"
-#include <map>
-
-class FlightDispatcher {
-    /* Deserialize state and update it in FlightController. */
-  public:
-    FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
-                     FlightController *flightController, volatile bool loop_on_fail = true);
-    ~FlightDispatcher();
-    void tick();
-  private:
-    /* Telemetry flow */
-    void _sendTelemetry();
-
-    /* Events handlers */
-    void _onNewDeviceConnected(BTAddress device);
-    void _onNewMessageReceived(char *package);
-
-    /* Requests handlers */
-    void _changeStatus(const DeviceStatus &newStatus);
-    void _pidSettingsOpened();
-
-    /* Compile time settings */
-    static constexpr const char *_tag = "FlightDispatcher";
-    static constexpr const int _telemetryTimeIntervalMS = 200;
-    static constexpr const uint8_t _jsonMaxDepth = 5;
-
-    uint32_t _telemetryTimer = millis();
-    BluetoothDispatcher *_bluetoothDispatcher;
-    FlightController *_flightController;
-
-    std::map<size_t, std::function<void(gson::Entry)>> _routes;
-};
--- a/Logic/PID.hpp
+++ b/Logic/PID.hpp
@@ -1,56 +0,0 @@
-#include "GyverPID.h"
-#include "Motor/BrushedMotor.hpp"
-#include "Preferences.h"
-#include "esp_log.h"
-#include "mString.h"
-
-class PIDController : public GyverPID {
-  public:
-    PIDController(float p, float i, float d, BrushedMotor *rotor, int rotorNumber = 1, uint16_t dt = 10)
-      : GyverPID(p, i, d, dt) {
-        assert(rotor != nullptr);
-        _rotor = rotor;
-        _rotorNumber = rotorNumber;
-        this->_dt = dt;
-        setLimits(0, _rotor->maxDuty());
-        _preferences.begin((String("r") + String(rotorNumber)).c_str());
-        _loadPreferences(p, i, d);
-        pid_timer = millis();
-        ESP_LOGI(_tag, "PID №%d initialized with params (%f, %f, %f)", _rotorNumber, Kp, Ki, Kd);
-    }
-
-    void tick() {
-        if (millis() - pid_timer >= _dt) {
-            _rotor->setDuty(getResultTimer());
-            pid_timer = millis();
-        }
-    }
-
-    void setRotorDuty(uint32_t duty) {
-        /* Used only for test purposes */
-        _rotor->setDuty(duty);
-    }
-
-    void save() {
-        _preferences.putFloat("p", Kp);
-        _preferences.putFloat("i", Ki);
-        _preferences.putFloat("d", Kd);
-        ESP_LOGI(_tag, "PID №%d saved with params (%f, %f, %f)", _rotorNumber, Kp, Ki, Kd);
-    }
-
-  private:
-    Preferences _preferences;
-    int _rotorNumber = 1;
-    uint16_t _dt;
-    BrushedMotor *_rotor = nullptr;
-    uint32_t pid_timer = 0;
-    static constexpr const char *_tag = "PIDController";
-
-    void _loadPreferences(float pDefault = 0, float iDefault = 0, float dDefault = 0) {
-        if (_preferences.isKey("p") and _preferences.isKey("i") and _preferences.isKey("d")) {
-            Kp = _preferences.getFloat("p", pDefault);
-            Ki = _preferences.getFloat("i", iDefault);
-            Kd = _preferences.getFloat("d", dDefault);
-        }
-    }
-};
--- a/Motor/BrushedMotor.cpp
+++ b/Motor/BrushedMotor.cpp
@@ -1,30 +0,0 @@
-// This is a personal academic project. Dear PVS-Studio, please check it.
-// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
-
-#include "BrushedMotor.hpp"
-
-BrushedMotor::BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
-                           uint32_t McpwmResolutionHz, int McpwmGroupId) {
-    _mcpwmResolutionHz = McpwmResolutionHz;
-    _pwmAGpioNum = McpwmGroupId;
-    _pwmBGpioNum = PwmBGpioNum;
-    _pwmFreqHz = PwmFreqHz;
-}
-
-void BrushedMotor::enable() {}
-
-void BrushedMotor::disable() {}
-
-void BrushedMotor::setDuty(uint16_t duty) {}
-
-uint16_t BrushedMotor::maxDuty() {
-    return 0;
-}
-
-void BrushedMotor::forward() {}
-
-void BrushedMotor::reverse() {}
-
-void BrushedMotor::coast() {}
-
-void BrushedMotor::brake() {}
--- a/Motor/BrushedMotor.hpp
+++ b/Motor/BrushedMotor.hpp
@@ -1,29 +0,0 @@
-#include <stdint.h>
-
-// TODO: implement class
-
-class BrushedMotor {
-    /* Driver for native MCPWM controller. */
-    // TODO: define default values
-  public:
-    BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
-                 uint32_t McpwmResolutionHz, int McpwmGroupId = 0);
-    void setDuty(uint16_t duty);
-    uint16_t maxDuty();
-    void enable();
-    void disable();
-    void forward();
-    void reverse();
-    void coast();
-    void brake();
-
-  protected:
-    /* MCPWM group */
-    int _mcpwmGroupId = 0;
-    uint32_t _mcpwmResolutionHz;
-
-    /* Brushed motor properties */
-    uint32_t _pwmAGpioNum;
-    uint32_t _pwmBGpioNum;
-    uint32_t _pwmFreqHz;
-};
--- a/RF/BluetoothDispatcher.cpp
+++ b/RF/BluetoothDispatcher.cpp
@@ -1,105 +0,0 @@
-// This is a personal academic project. Dear PVS-Studio, please check it.
-// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
-
-#include "BluetoothDispatcher.hpp"
-
-static DeviceConnectedCb deviceConnectedCallback = nullptr;
-static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
-
-BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
-    assert(controller != nullptr);
-    assert(device_name != nullptr);
-
-    _device_name = device_name;
-    _controller = controller;
-}
-
-bool BluetoothDispatcher::initialize(volatile bool loop_on_fail, int readTimeoutMS) {
-    _controller->enableSSP();
-    _controller->onConfirmRequest([this](uint16_t pin) {
-        _onConfirmRequest(pin);
-    });
-    _controller->onAuthComplete([this](boolean success) {
-        _onAuthComplete(success);
-    });
-    _controller->register_callback(deviceConnectedStaticCallback);
-    deviceConnectedCallback = [this](BTAddress device) {
-        _onDeviceConnected(device);
-    };
-    _controller->setTimeout(2);
-    bool success = _controller->begin(_device_name, false);
-    if (!success) {
-        ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
-        while (loop_on_fail)
-            ;
-        return false;
-    } else {
-        ESP_LOGI(_tag, "Bluetooth host initialized");
-        return true;
-    }
-}
-
-void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageReceivedCb) {
-    _newPackageReceivedCb = newPackageReceivedCb;
-}
-
-void BluetoothDispatcher::tick() {
-    /* Call the callback, if new package received */
-    while (_controller->available() and _buffer.length() <= _buffer_size) {
-        _buffer += (char)_controller->read();
-    }
-    if (_buffer.endsWith("\n\r")) {
-        char buffer[_buffer_size];
-        _buffer.substring(0, _buffer.lastIndexOf('}'), buffer);
-        ESP_LOGD(_tag, "Received new buffer %s", buffer);
-        if (_newPackageReceivedCb) {
-            _newPackageReceivedCb(buffer);
-        }
-        _buffer.clear();
-    }
-    if (_buffer.length() > _available_buffer_size) {
-        _buffer.clear();
-    }
-}
-
-BluetoothDispatcher::~BluetoothDispatcher() {
-    _controller->end();
-    delete _controller;
-}
-
-void BluetoothDispatcher::_onConfirmRequest(uint16_t pin) {
-    ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int)pin);
-    _controller->confirmReply(true);
-}
-
-void BluetoothDispatcher::_onAuthComplete(boolean success) const {
-    if (success) {
-        ESP_LOGI(_tag, "Pairing success!");
-    } else {
-        ESP_LOGI(_tag, "Pairing failed, rejected by user!");
-    }
-}
-
-void BluetoothDispatcher::_onDeviceConnected(BTAddress device) const {
-    ESP_LOGI(_tag, "New device connected: %s", device.toString(true).c_str());
-    if (_deviceConnectedCallback) {
-        _deviceConnectedCallback(device);
-    }
-}
-
-void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb) {
-    /* Callback called if device connected successfully. */
-    _deviceConnectedCallback = deviceConnectedCb;
-}
-
-void BluetoothDispatcher::sendPackage(const char *package, size_t size) {
-    _controller->write((uint8_t *)package, size);
-}
-
-
-static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
-    if (event == ESP_SPP_SRV_OPEN_EVT and param->srv_open.status == ESP_SPP_SUCCESS
-        and deviceConnectedCallback) {
-        deviceConnectedCallback(BTAddress(param->srv_open.rem_bda));
-    }
-}
--- a/RF/BluetoothDispatcher.hpp
+++ b/RF/BluetoothDispatcher.hpp
@@ -1,49 +0,0 @@
-#include "BluetoothSerial.h"
-#include "HardwareSerial.h"
-#include "esp_log.h"
-#include "mString.h"
-
-/* Check the ESP configuration */
-#if not defined(CONFIG_BT_ENABLED) || not defined(CONFIG_BLUEDROID_ENABLED)
-#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
-#endif
-
-
-#if not defined(CONFIG_BT_SPP_ENABLED)
-#error Serial Port Profile for Bluetooth is not available or not enabled. It is only available for the ESP32 chip.
-#endif
-
-
-#if not defined(CONFIG_BT_SSP_ENABLED)
-#error Simple Secure Pairing for Bluetooth is not available or not enabled.
-#endif
-/* ************************* */
-
-typedef std::function<void(BTAddress device)> DeviceConnectedCb;
-typedef std::function<void(char *package)> NewPackageCallback;
-
-class BluetoothDispatcher {
-  public:
-    BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
-    bool initialize(volatile bool loop_on_fail = true, int readTimeoutMS = 2);
-    void tick();
-    void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
-    void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);
-    void sendPackage(const char *package, size_t size);
-    ~BluetoothDispatcher();
-
-  private:
-    void _onConfirmRequest(uint16_t pin);
-    void _onAuthComplete(boolean success) const;
-    void _onDeviceConnected(BTAddress device) const;
-
-    const char *_device_name = nullptr;
-    BluetoothSerial *_controller = nullptr;
-    DeviceConnectedCb _deviceConnectedCallback = nullptr;
-    NewPackageCallback _newPackageReceivedCb = nullptr;
-    constexpr static const char *_tag = "BluetoothDispatcher";
-
-    static constexpr uint16_t _buffer_size = 522;
-    static constexpr uint16_t _available_buffer_size = 512;
-    mString<_buffer_size> _buffer;
-};
--- a/Sensors/Barometer.hpp
+++ b/Sensors/Barometer.hpp
@@ -1,72 +0,0 @@
-#include "GyverBME280.h"
-
-typedef std::function<void()> OnMeasuringFinishedCb;
-
-class Barometer {
-  public:
-    Barometer(GyverBME280 *bme) {
-        _bme = bme;
-    };
-
-    ~Barometer() {
-        delete this->_bme;
-    }
-
-    bool initialize(void) {
-        _bme->setMode(NORMAL_MODE);
-        _bme->setFilter(FILTER_COEF_16);
-        _bme->setTempOversampling(OVERSAMPLING_2);
-        _bme->setPressOversampling(OVERSAMPLING_16);
-        _bme->setStandbyTime(STANDBY_500US);
-        return _bme->begin();
-    }
-
-    void measureBaseAltitudeSync(void) {
-        for (int i = 0; i < _calibrationIterationsCount; ++i) {
-            _startedAltitude += altitude();
-            delay(_calibrationIterationDelay);
-        }
-        _startedAltitude /= _calibrationIterationsCount;
-    }
-
-    void measureBaseAltitudeAsync(void) {
-        _isCalibration = true;
-    }
-
-    float altitude() /* [cm] */ {
-        return pressureToAltitude(_bme->readPressure()) * 100;
-    }
-
-    float flightHeight() /* [cm] */ {
-        return altitude() - _startedAltitude;
-    }
-
-    void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
-        _measuaringHeightFinishedCb = callback;
-    }
-
-    void tick() {
-        if (_isCalibration) {
-            if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
-                _startedAltitude += altitude();
-            }
-            if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
-                _startedAltitude /= _calibrationIterationsCount;
-                _isCalibration = false;
-                if (_measuaringHeightFinishedCb) {
-                    _measuaringHeightFinishedCb();
-                }
-            }
-        }
-    }
-
-  private:
-    GyverBME280 *_bme;
-    float _startedAltitude = 0;
-    bool _isCalibration = false;
-    uint32_t _calibrationTimer = 0;
-    int _calibrationIterationsCounter = 0;
-    OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
-    static constexpr int _calibrationIterationsCount = 1500;
-    static constexpr int _calibrationIterationDelay = 1;  // [ms]
-};
--- a/Sensors/BatteryController.hpp
+++ b/Sensors/BatteryController.hpp
@@ -1,19 +0,0 @@
-#include "board_pins.h"
-
-class BatteryController {
-  public:
-    BatteryController() {}
-
-    void initialize() {
-        pinMode(BATTERY_DATA_SWITCH_PIN, OUTPUT);
-        digitalWrite(BATTERY_DATA_SWITCH_PIN, HIGH);
-    }
-
-    float measureVoltage() {
-        return analogRead(BATTERY_DATA_PIN) * 3.3 / 4095;
-    }
-
-    int percent(int minVoltage = 7200, int maxVoltage = 8400) {
-        return map(int(measureVoltage() * 1000), minVoltage, maxVoltage, 0, 100);
-    }
-};
--- a/Sensors/MPU.hpp
+++ b/Sensors/MPU.hpp
@@ -1,250 +0,0 @@
-#include "MPU6050_6Axis_MotionApps20.h"
-#include "Preferences.h"
-#include "board_pins.h"
-#include "esp_log.h"
-
-static volatile bool _isDMPDataReady = false;
-static void IRAM_ATTR _dmpInterruption() {
-    _isDMPDataReady = true;
-}
-
-typedef std::function<void()> OnCalibrationFinishedCb;
-
-class MPU {
-  public:
-    MPU(MPU6050_6Axis_MotionApps20 *mpu) {
-        assert(mpu != nullptr);
-        _mpu = mpu;
-    }
-
-    ~MPU() {
-        delete _mpu;
-    }
-
-    bool initialize() {
-        _mpu->initialize();
-
-        if (!_preferences.begin("imu")) {
-            ESP_LOGE(_TAG, "Failed to open the preferences!");
-        } else {
-            _loadOffsets();
-        }
-
-        delay(250);
-        if (!_mpu->testConnection()) {
-            ESP_LOGE(_TAG, "MPU6050 test connection failed!");
-            return false;
-        }
-        _mpu->setDLPFMode(MPU6050_DLPF_BW_10);  // 10 Hz bandwidth
-        //mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recomended
-        //mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
-
-        if (_mpu->dmpInitialize()) {
-            ESP_LOGE(_TAG, "Failed to initialize DMP!");
-            return false;
-        }
-        _mpu->setDMPEnabled(true);
-        attachInterrupt(MPU6050_INT_PIN, _dmpInterruption, RISING);
-        return true;
-    }
-
-    bool tick(bool &err) {
-        err = false;
-        if (!_isDMPDataReady) {
-            return false;
-        }
-        if (!_mpu->dmpGetCurrentFIFOPacket(_fifoBuffer)) {
-            ESP_LOGE(_TAG, "Failed to get DMP data!");
-            err = true;
-            return false;
-        }
-
-        Quaternion q;
-        VectorFloat gravity;
-        VectorInt16 accel;
-        VectorInt16 gyro;
-        VectorInt16 accelReal;
-
-        _mpu->dmpGetQuaternion(&q, _fifoBuffer);
-        _mpu->dmpGetGravity(&gravity, &q);
-        _mpu->dmpGetYawPitchRoll(_ypr, &q, &gravity);
-        _mpu->dmpGetAccel(&accel, _fifoBuffer);
-        _mpu->dmpGetGyro(&gyro, _fifoBuffer);
-        _mpu->dmpGetLinearAccel(&accelReal, &accel, &gravity);
-        _isDMPDataReady = false;
-
-        _ax = accel.x / 8192.f;
-        _ay = accel.y / 8192.f;
-        _az = accel.z / 8192.f;
-
-        _gx = gyro.x / 131.f;
-        _gy = gyro.y / 131.f;
-        _gz = gyro.z / 131.f;
-
-        _calculateZInertial(gravity);
-
-        if (_isCalibration) {
-            if (_calibrationsIterCounter >= _calibrationIterCount) {
-                _axOffset /= _calibrationsIterCounter;
-                _ayOffset /= _calibrationsIterCounter;
-                _azOffset /= _calibrationsIterCounter;
-
-                _gxOffset /= _calibrationsIterCounter;
-                _gyOffset /= _calibrationsIterCounter;
-                _gzOffset /= _calibrationsIterCounter;
-
-                _prOffset[0] /= _calibrationsIterCounter;
-                _prOffset[1] /= _calibrationsIterCounter;
-
-                _isCalibration = false;
-                _updateOffsets();
-                if (_calibrationFinishedCb) {
-                    _calibrationFinishedCb();
-                }
-            } else {
-                _axOffset += _ax;
-                _ayOffset += _ay;
-                _azOffset += _az;
-                _gxOffset += _gx;
-                _gyOffset += _gy;
-                _gzOffset += _gz;
-                _prOffset[0] += _ypr[1];
-                _prOffset[1] += _ypr[2];
-            }
-        }
-
-        return true;
-    }
-
-    /* getters */
-    float accZInertial() const {
-        return _AccZInertial;
-    }
-    float yaw() const {
-        return degrees(_ypr[0]);
-    }
-    float pitch() const {
-        if (_isCalibration) {
-            return degrees(_ypr[1]);
-        } else {
-            return degrees(_ypr[1] - _prOffset[0]);
-        }
-    }
-    float roll() const {
-        if (_isCalibration) {
-            return degrees(_ypr[2]);
-        } else {
-            return degrees(_ypr[2] - _prOffset[1]);
-        }
-    }
-
-    float ax() const {
-        if (_isCalibration) {
-            return _ax;
-        } else {
-            return _ax - _axOffset;
-        }
-    }
-    float ay() const {
-        if (_isCalibration) {
-            return _ay;
-        } else {
-            return _ay - _ayOffset;
-        }
-    }
-    float az() const {
-        if (_isCalibration) {
-            return _az;
-        } else {
-            return _az - _azOffset;
-        }
-    }
-
-    float gravityZ() const {
-        return _gravity;
-    }
-
-    float gx() const {
-        if (_isCalibration) {
-            return _gx;
-        } else {
-            return _gx - _gxOffset;
-        }
-    }
-    float gy() const {
-        if (_isCalibration) {
-            return _gy;
-        } else {
-            return _gy - _gyOffset;
-        }
-    }
-    float gz() const {
-        if (_isCalibration) {
-            return _gz;
-        } else {
-            return _gz - _gzOffset;
-        }
-    }
-
-    void startCalibration() {
-        _isCalibration = true;
-    }
-
-    void onCalibrationFinished(OnCalibrationFinishedCb callback) {
-        _calibrationFinishedCb = callback;
-    }
-
-  private:
-    MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
-    float _ypr[3] = { 0 };
-    float _ax = 0, _ay = 0, _az = 0;
-    float _gx = 0, _gy = 0, _gz = 0;
-    float _gravity = 0;
-    float _AccZInertial = 0;
-
-    float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
-    float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
-    float _prOffset[2] = { 0 };  // yaw isn't used
-
-    uint8_t _fifoBuffer[45] = { 0 };
-    Preferences _preferences;
-
-    const char *_TAG = "MPU6050 module";
-    static constexpr const int _calibrationIterCount = 250;
-
-    bool _isCalibration = false;
-    int _calibrationsIterCounter = 0;
-    OnCalibrationFinishedCb _calibrationFinishedCb = nullptr;
-
-    void _calculateZInertial(VectorFloat &gravity) {
-        const float anglePitch = _ypr[1];
-        const float angleRoll = _ypr[2];
-        _gravity = gravity.z;
-
-        _AccZInertial = -sin(anglePitch) * _ax + cos(anglePitch) * sin(angleRoll) * _ay
-                        + cos(anglePitch) * cos(angleRoll) * _az;
-        _AccZInertial = (_AccZInertial - 1) * gravity.z * 100.f;
-    }
-
-    void _loadOffsets() {
-        _axOffset = _preferences.getFloat("ax", 0.f);
-        _ayOffset = _preferences.getFloat("ax", 0.f);
-        _azOffset = _preferences.getFloat("az", 0.f);
-        _gxOffset = _preferences.getFloat("gx", 0.f);
-        _gyOffset = _preferences.getFloat("gy", 0.f);
-        _gzOffset = _preferences.getFloat("gz", 0.f);
-        _ypr[1] = _preferences.getFloat("pitch", 0.f);
-        _ypr[2] = _preferences.getFloat("roll", 0.f);
-    }
-
-    void _updateOffsets() {
-        _preferences.putFloat("ax", _axOffset);
-        _preferences.putFloat("ay", _ayOffset);
-        _preferences.putFloat("az", _azOffset);
-        _preferences.putFloat("gx", _gxOffset);
-        _preferences.putFloat("gy", _gyOffset);
-        _preferences.putFloat("gz", _gzOffset);
-        _preferences.putFloat("pitch", _prOffset[0]);
-        _preferences.putFloat("roll", _prOffset[1]);
-    }
-};
--- a/Sensors/Sensors.cpp
+++ b/Sensors/Sensors.cpp
@@ -1,119 +0,0 @@
-// This is a personal academic project. Dear PVS-Studio, please check it.
-// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
-
-#include "Sensors.hpp"
-
-Sensors::Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
-                 BatteryController *battery, volatile bool loop_on_fail) {
-    assert(barometer != nullptr);
-    assert(mpu != nullptr);
-    assert(filter != nullptr);
-    assert(battery != nullptr);
-
-    _barometer = barometer;
-    _mpu = mpu;
-    _2d_filter = filter;
-    _battery = battery;
-
-    ESP_LOGI(_tag, "Initialize BMP280...");
-    if (_barometer->initialize()) {
-        ESP_LOGI(_tag, "BMP280 initialized");
-    } else {
-        ESP_LOGI(_tag, "BMP280 initialization failed!");
-        while (loop_on_fail)
-            ;
-    }
-
-    ESP_LOGI(_tag, "Initialize MPU6050...");
-    if (_mpu->initialize()) {
-        ESP_LOGI(_tag, "MPU6050 initialized");
-    } else {
-        ESP_LOGI(_tag, "MPU6050 initialization failed!");
-        while (loop_on_fail)
-            ;
-    }
-
-    _battery->initialize();
-    ESP_LOGI(_tag, "BatteryController initialized");
-    ESP_LOGI(_tag, "Sensors initialized");
-}
-
-Sensors::~Sensors() {
-    delete _barometer;
-    delete _mpu;
-    delete _2d_filter;
-    delete _battery;
-}
-
-void Sensors::measureBaseAltitudeSync(void) {
-    _barometer->measureBaseAltitudeSync();
-}
-
-void Sensors::measureBaseAltitudeAsync(void) {
-    _barometer->measureBaseAltitudeAsync();
-}
-
-float Sensors::rawFlightHeight(void) const {
-    /* Returns flight height from barometer immediatly */
-    return _barometer->flightHeight();
-}
-
-float Sensors::flightHeight(void) const {
-    /* Returns flight height from cache immediatly */
-    if (_flightHeightFromBarometer == 0.f) {
-        ESP_LOGW(_tag, "flightHeight called, but tick() has called never");
-        return rawFlightHeight();
-    } else {
-        return _flightHeightFromBarometer;
-    }
-}
-
-MpuData Sensors::mpuData() const {
-    if (_mpuData.ax == 0.f and _mpuData.gravity == 0.f) {
-        ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
-    }
-    return _mpuData;
-}
-
-bool Sensors::tick(void) {
-    /* Super loop iteraion */
-    /* Return true on update */
-    _barometer->tick();
-    bool err;
-    bool isMpuDataReady = _mpu->tick(err);
-    if (isMpuDataReady and !err) {
-        _2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
-                           _flightHeightFromBarometer, _zVelocityAltitude);
-        _mpuData = { .ax = _mpu->ax(),
-                     .ay = _mpu->ay(),
-                     .az = _mpu->az(),
-                     .gx = _mpu->gx(),
-                     .gy = _mpu->gy(),
-                     .gz = _mpu->gz(),
-                     .yaw = _mpu->yaw(),
-                     .pitch = _mpu->pitch(),
-                     .roll = _mpu->roll(),
-                     .gravity = _mpu->gravityZ(),
-                     .zInertial = _mpu->accZInertial() };
-        return true;
-    } else if (err) {
-        ESP_LOGE(_tag, "Failed to get DMP data!");
-    }
-    return false;
-}
-
-int Sensors::batteryCharge(void) const {
-    return _battery->percent();
-}
-
-void Sensors::onMpuCalibrationFinished(OnCalibrationFinishedCb callback) {
-    _mpu->onCalibrationFinished(callback);
-}
-
-void Sensors::startMpuCalibration() {
-    _mpu->startCalibration();
-}
-
-void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
-    _barometer->onMeasuaringHeightFinished(callback);
-}
--- a/Sensors/Sensors.hpp
+++ b/Sensors/Sensors.hpp
@@ -1,52 +0,0 @@
-#include "Barometer.hpp"
-#include "BatteryController.hpp"
-#include "Filters/Kalman2DFilter.hpp"
-#include "MPU.hpp"
-#include "esp_log.h"
-
-/* Sensors module provides cached and filtered sensors values */
-
-struct MpuData {
-    float ax, ay, az;
-    float gx, gy, gz;
-    float yaw, pitch, roll;
-    float gravity;
-    float zInertial;
-};
-
-class Sensors {
-  public:
-    Sensors(Barometer *barometer, MPU *mpu, Kalman2DFilter *filter,
-            BatteryController *battery, bool loop_on_fail = true);
-
-    ~Sensors();
-
-    void measureBaseAltitudeSync(void);
-    void measureBaseAltitudeAsync(void);
-    void onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback);
-    float rawFlightHeight(void) const;
-    float flightHeight(void) const;
-
-    void startMpuCalibration();
-    void onMpuCalibrationFinished(OnCalibrationFinishedCb callback);
-
-    MpuData mpuData(void) const;
-
-    int batteryCharge(void) const;  // [%]
-
-    bool tick(void);
-
-  private:
-    Barometer *_barometer = nullptr;
-    MPU *_mpu = nullptr;
-    BatteryController *_battery = nullptr;
-    Kalman2DFilter *_2d_filter = nullptr;
-
-    /* cached filtered values */
-    float _flightHeightFromBarometer = 0.f;
-    float _zVelocityAltitude = 0.f;
-    MpuData _mpuData = { 0.f };
-
-
-    static constexpr const char *_tag = "Sensors";
-};
--- a/board_pins.h
+++ b/board_pins.h
@@ -1,8 +0,0 @@
-#include "driver/adc.h"
-
-#define I2C_SDA_PIN 21
-#define I2C_SCL_PIN 18
-#define MPU6050_INT_PIN 19
-#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
-#define BATTERY_DATA_PIN 4
-#define BATTERY_DATA_SWITCH_PIN 17
--- a/convert_sysincludes.py
+++ b/convert_sysincludes.py
@@ -0,0 +1,17 @@
+from pathlib import Path
+Import("env" ,"projenv")
+
+platform = env.PioPlatform()
+FRAMEWORK_DIR = Path(platform.get_package_dir("framework-arduinoespressif32"))
+framework_includes = list()
+filtered_cpppath = list()
+# apply these changes to current working env, the project env and the global env
+for e in (env, projenv, DefaultEnvironment()):
+    for p in e["CPPPATH"]:
+        # is the current include path inside the framework directory?
+        if FRAMEWORK_DIR in Path(p).parents:
+            framework_includes.append(p)
+        else:
+            filtered_cpppath.append(p)
+    e.Replace(CPPPATH=filtered_cpppath)
+    e.Append(CCFLAGS=[("-isystem", p) for p in framework_includes])
--- a/include/README
+++ b/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
--- a/lib/README
+++ b/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
--- a/main.cpp
+++ b/main.cpp
@@ -1,27 +0,0 @@
-// This is a personal academic project. Dear PVS-Studio, please check it.
-// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
-
-#include "App.hpp"
-#include "BoardI2C.hpp"
-
-#define IGNORE_CHARGE true
-
-BoardI2C i2c;
-
-static Application *app = nullptr;
-
-void setup() {
-    Serial.begin(115200);
-    app = new Application(new FlightDispatcher(
-      new BluetoothDispatcher(new BluetoothSerial()),
-      new FlightController(
-        new Sensors(new Barometer(new GyverBME280(i2c)), new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
-                    new Kalman2DFilter(10.f, 1.f, 1.8f), new BatteryController()),
-        new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 1), 1),
-        new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 2), 2),
-        new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 3), 3), IGNORE_CHARGE)));
-}
-
-void loop() {
-    app->tick();
-}
--- a/platformio.ini
+++ b/platformio.ini
@@ -0,0 +1,47 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+default_envs = esp32dev
+
+[common]
+lib_deps_builtin = 
+    Wire
+    BluetoothSerial
+lib_deps_external = 
+    https://git.gogacoder.com/gogacoder/GyverBME280.git @ ~1.5.0
+    https://git.gogacoder.com/gogacoder/MPU6050.git @ ~1.0.0
+    https://git.gogacoder.com/gogacoder/I2Cdev.git @ ~1.0.1
+    https://github.com/GyverLibs/StringUtils @ 1.2.6
+    https://github.com/GyverLibs/GSON.git @ 1.1.5
+    https://github.com/tomstewart89/BasicLinearAlgebra.git @ 4.3
+    https://github.com/GyverLibs/mString.git @ 1.7
+    https://github.com/GyverLibs/GyverPID @ 3.3
+
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+lib_deps = ${common.lib_deps_external}
+monitor_speed = 115200
+board_build.partitions = huge_app.csv
+build_src_flags = 
+    -std=c++2a 
+    -Wall
+    -Wextra
+    -Werror=all
+    -Wno-error=pedantic
+    -Wpedantic
+    -O2
+build_flags = -DCORE_DEBUG_LEVEL=4
+check_tool = pvs-studio
+check_flags = pvs-studio: --analysis-mode=4 --exclude-path=.pio/libdeps --lic-file=~/.config/PVS-Studio/PVS-Studio.lic
+extra_scripts = post:convert_sysincludes.py
--- a/test/README
+++ b/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
Author	SHA1	Message	Date
gogacoder	9d0f5d06ea	Project structure redefined	2024-01-27 22:10:39 +07:00
gogacoder	941aedd79f	moved all existing files to new 'src' directory	2024-01-27 22:07:53 +07:00