replaced preferences with littlefs

fs_helper.h

@@ -0,0 +1,46 @@
+#include <LittleFS.h>
+#include <jmutex.h>
+
+#include "FS.h"
+
+mutex_t littelfs_mut;
+
+void init_little_fs() {
+    mutex_init(&littelfs_mut);
+    mutex_enter_blocking(&littelfs_mut);
+    if (!LittleFS.begin()) {
+        LittleFS.format();
+        LittleFS.begin();
+    }
+    mutex_exit(&littelfs_mut);
+}
+
+bool fs_read(String path, void *buffer, size_t len) {
+    char centerData[len];
+    mutex_enter_blocking(&littelfs_mut);
+    File f = LittleFS.open(path, "r");
+    bool succ = false;
+    if (f) {
+        if (f.readBytes((char *)centerData, len) == len) {
+            memmove(&buffer, &centerData, len);
+            succ = true;
+        }
+        f.close();
+    }
+    mutex_exit(&littelfs_mut);
+    return succ;
+}
+
+bool fs_write(String path, void *buffer, size_t len) {
+    mutex_enter_blocking(&littelfs_mut);
+    File f = LittleFS.open(path, "w");
+    bool succ = false;
+    if (f) {
+        if (f.write((const unsigned char *)buffer, len) == len) {
+            succ = true;
+        }
+        f.close();
+    }
+    mutex_exit(&littelfs_mut);
+    return succ;
+}

juRCReceiver.h

@@ -16,12 +16,14 @@
 #define debugReceive false
 #endif
 
-#include <Preferences.h>
+// #include <Preferences.h>
 #include <SPI.h>
 #include <Wire.h>
 #include <jmutex.h>
 #include <jqueue.h>
 
+#include "fs_helper.h"
+
 //
 
 #include "structsAndDefines.h"
@@ -37,8 +39,6 @@ void jSetOnData(on_data conn) { _j_on_data = conn; }
 // 3 (CE)   0  //4 (CSN)  4  //5 (SCK)  18  //6 (MOSI) 23  //7 (MISO) 19
 //         CE CSN
 
-Preferences preferences;
-
 unsigned long last = 0;
 unsigned long delta = 0;
 float avg = 10;
@@ -57,13 +57,7 @@ void jSetup() {
 #if debug
     Serial.println("start up");
 #endif
-#if debug
+
-    bool prefsucc =
-#endif
-        preferences.begin("data", false);
-#if debug
-    if (!prefsucc) Serial.println("prefs false");
-#endif
     initRC();
 #if debug
     Serial.println("inited rc");
@@ -89,7 +83,7 @@ void jSetup() {
     last = millis();
 }
 void jSensorLoop() {
-    unsigned long now = millis();
+    unsigned long now = micros();
     delta = now - last;
     last = now;
     avg = avg * 0.9 + delta * 0.1;

system_sensors/compass.h

@@ -17,6 +17,12 @@ typedef struct {
 
 #ifdef jCOMP
 
+typedef struct {
+    float x;
+    float y;
+    float z;
+} compassPrefData;
+
 #include <QMC5883LCompass.h>
 QMC5883LCompass compass;
 
@@ -24,12 +30,21 @@ bool compass_is_calibrating = false;
 
 void initCOMP() {
     compass.init();
-    compass.setCalibrationOffsets(preferences.getFloat("compOffX", 0),
+
-                                  preferences.getFloat("compOffY", 0),
+    compassPrefData buffer;
-                                  preferences.getFloat("compOffZ", 0));
+
-    compass.setCalibrationScales(preferences.getFloat("compScaleX", 1),
+    if (!fs_read("compOff", &buffer, sizeof(buffer))) {
-                                 preferences.getFloat("compScaleY", 1),
+        buffer.x = 0;
-                                 preferences.getFloat("compScaleZ", 1));
+        buffer.y = 0;
+        buffer.z = 0;
+    }
+    compass.setCalibrationOffsets(buffer.x, buffer.y, buffer.z);
+    if (!fs_read("compScale", &buffer, sizeof(buffer))) {
+        buffer.x = 1;
+        buffer.y = 1;
+        buffer.z = 1;
+    }
+    compass.setCalibrationScales(buffer.x, buffer.y, buffer.z);
 }
 
 void COMPLoop() {
@@ -58,13 +73,15 @@ void COMPradioTask() {
             delay(10);
             compass.calibrate();
 
-            preferences.putFloat("compOffX", compass.getCalibrationOffset(0));
+            compassPrefData buffer;
-            preferences.putFloat("compOffY", compass.getCalibrationOffset(1));
+            buffer.x = compass.getCalibrationOffset(0);
-            preferences.putFloat("compOffZ", compass.getCalibrationOffset(2));
+            buffer.y = compass.getCalibrationOffset(1);
-
+            buffer.z = compass.getCalibrationOffset(2);
-            preferences.putFloat("compScaleX", compass.getCalibrationScale(0));
+            fs_write("compOff", &buffer, sizeof(buffer));
-            preferences.putFloat("compScaleY", compass.getCalibrationScale(1));
+            buffer.x = compass.getCalibrationScale(0);
-            preferences.putFloat("compScaleZ", compass.getCalibrationScale(2));
+            buffer.y = compass.getCalibrationScale(1);
+            buffer.z = compass.getCalibrationScale(2);
+            fs_write("compScale", &buffer, sizeof(buffer));
             compass_is_calibrating = false;
         } break;
     }

system_sensors/mpu.h

@@ -32,6 +32,12 @@ typedef struct {
 
 #ifdef jMPU6050
 
+typedef struct {
+    float x;
+    float y;
+    float z;
+} mpuPrefData;
+
 #include <MPU6050_jusax23.h>
 
 MPU6050 mpu6050(Wire, 0.001f, 0.999f);
@@ -42,12 +48,22 @@ void initMPU() {
     Serial.println("began mpu6050");
 #endif
 
-    mpu6050.setGyroOffsets(preferences.getFloat("mpuOffGyrX", -7.8),
+    mpuPrefData buffer;
-                           preferences.getFloat("mpuOffGyrY", 2.32),
+
-                           preferences.getFloat("mpuOffGyrZ", -0.22));
+    if (!fs_read("mpuOffGyr", &buffer, sizeof(buffer))) {
-    mpu6050.setAccXoffset(preferences.getFloat("mpuOffAccX", 0.03),
+        buffer.x = -7.8;
-                          preferences.getFloat("mpuOffAccY", 0.0),
+        buffer.y = 2.32;
-                          preferences.getFloat("mpuOffAccZ", 0.3));
+        buffer.z = -0.22;
+    }
+    mpu6050.setGyroOffsets(buffer.x, buffer.y, buffer.z);
+
+    if (!fs_read("mpuOffAcc", &buffer, sizeof(buffer))) {
+        buffer.x = 0.03;
+        buffer.y = 0.0;
+        buffer.z = 0.3;
+    }
+    mpu6050.setAccXoffset(buffer.x, buffer.y, buffer.z);
+
 #if debug
     Serial.println("set mpu6050 gyro");
 #endif
@@ -128,18 +144,16 @@ void MPUradioTask() {
             float offX = mpu6050.calcAccXoffset();
             float offY = mpu6050.calcAccYoffset();
             float offZ = mpu6050.calcAccZoffset();
-            preferences.putFloat("mpuOffAccX", offX);
+            mpuPrefData buffer{.x = offX, .y = offY, .z = offZ};
-            preferences.putFloat("mpuOffAccY", offY);
+            fs_write("mpuOffAcc", &buffer, sizeof(buffer));
-            preferences.putFloat("mpuOffAccZ", offZ);
             mpu6050.setAccXoffset(offX, offY, offZ);
         } break;
         case jCommand_MPU_set_calc_offsets_gyro: {
             float offX = mpu6050.getGyroXoffsetGlide();
             float offY = mpu6050.getGyroYoffsetGlide();
             float offZ = mpu6050.getGyroZoffsetGlide();
-            preferences.putFloat("mpuOffGyrX", offX);
+            mpuPrefData buffer{.x = offX, .y = offY, .z = offZ};
-            preferences.putFloat("mpuOffGyrY", offY);
+            fs_write("mpuOffGyr", &buffer, sizeof(buffer));
-            preferences.putFloat("mpuOffGyrZ", offZ);
             mpu6050.setGyroOffsets(offX, offY, offZ);
         } break;
         case jCommand_MPU_get_calc_offsets_acc: {
@@ -161,34 +175,46 @@ void MPUradioTask() {
         case jCommand_MPU_set_offsets_acc: {
             mpuSendData data;
             memmove(&data, &jRCbuff, sizeof(data));
-            preferences.putFloat("mpuOffGyrX", data.X);
+            mpuPrefData buffer{.x = data.X, .y = data.Y, .z = data.Z};
-            preferences.putFloat("mpuOffGyrY", data.Y);
+            fs_write("mpuOffAcc", &buffer, sizeof(buffer));
-            preferences.putFloat("mpuOffGyrZ", data.Z);
             mpu6050.setGyroOffsets(data.X, data.Y, data.Z);
         } break;
         case jCommand_MPU_set_offsets_gyro: {
             mpuSendData data;
             memmove(&data, &jRCbuff, sizeof(data));
-            preferences.putFloat("mpuOffAccX", data.X);
+            mpuPrefData buffer{.x = data.X, .y = data.Y, .z = data.Z};
-            preferences.putFloat("mpuOffAccY", data.Y);
+            fs_write("mpuOffGyr", &buffer, sizeof(buffer));
-            preferences.putFloat("mpuOffAccZ", data.Z);
             mpu6050.setAccXoffset(data.X, data.Y, data.Z);
         } break;
 
         case jCommand_MPU_get_offsets_acc: {
             mpuSendData data;
             data.command = jCommand_MPU_get_offsets_acc;
-            data.X = preferences.getFloat("mpuOffGyrX", -7.8);
+
-            data.Y = preferences.getFloat("mpuOffGyrY", 2.32);
+            mpuPrefData buffer;
-            data.Z = preferences.getFloat("mpuOffGyrZ", -0.22);
+            if (!fs_read("mpuOffAcc", &buffer, sizeof(buffer))) {
+                buffer.x = 0.03;
+                buffer.y = 0.0;
+                buffer.z = 0.3;
+            }
+            data.X = buffer.x;
+            data.Y = buffer.y;
+            data.Z = buffer.z;
             jSendNRF(&data, sizeof(data));
         } break;
         case jCommand_MPU_get_offsets_gyro: {
             mpuSendData data;
             data.command = jCommand_MPU_get_offsets_gyro;
-            data.X = preferences.getFloat("mpuOffAccX", 0.03);
+
-            data.Y = preferences.getFloat("mpuOffAccY", 0.0);
+            mpuPrefData buffer;
-            data.Z = preferences.getFloat("mpuOffAccZ", 0.3);
+            if (!fs_read("mpuOffGyr", &buffer, sizeof(buffer))) {
+                buffer.x = -7.8;
+                buffer.y = 2.32;
+                buffer.z = -0.22;
+            }
+            data.X = buffer.x;
+            data.Y = buffer.y;
+            data.Z = buffer.z;
             jSendNRF(&data, sizeof(data));
         }
     }