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Merge branch 'master' into regulatory-gain

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Thomas Göttgens 2024-06-16 11:35:11 +02:00 committed by GitHub
commit 97e8b1fd18
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63 changed files with 2676 additions and 153 deletions
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1
Dockerfile
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@ -48,6 +48,7 @@ USER mesh
WORKDIR /home/mesh
COPY --from=builder /tmp/firmware/release/meshtasticd /home/mesh/
RUN mkdir data
VOLUME /home/mesh/data
CMD [ "sh", "-cx", "./meshtasticd -d /home/mesh/data --hwid=${HWID:-$RANDOM}" ]

2
arch/nrf52/nrf52.ini
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@ -1,6 +1,6 @@
[nrf52_base]
; Instead of the standard nordicnrf52 platform, we use our fork which has our added variant files
platform = platformio/nordicnrf52@^10.4.0
platform = platformio/nordicnrf52@^10.5.0
extends = arduino_base
build_type = debug

24
platformio.ini
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@ -31,6 +31,9 @@ default_envs = tbeam
;default_envs = rak4631
;default_envs = rak10701
;default_envs = wio-e5
;default_envs = radiomaster_900_bandit_nano
;default_envs = radiomaster_900_bandit_micro
;default_envs = heltec_capsule_sensor_v3
extra_configs =
arch/*/*.ini
@ -70,12 +73,13 @@ build_flags = -Wno-missing-field-initializers
-DRADIOLIB_EXCLUDE_FSK4
-DRADIOLIB_EXCLUDE_APRS
-DRADIOLIB_EXCLUDE_LORAWAN
-DMESHTASTIC_EXCLUDE_DROPZONE=1
monitor_speed = 115200
lib_deps =
jgromes/RadioLib@~6.6.0
https://github.com/meshtastic/esp8266-oled-ssd1306.git#ee628ee6c9588d4c56c9e3da35f0fc9448ad54a8 ; ESP8266_SSD1306
https://github.com/meshtastic/esp8266-oled-ssd1306.git#69ba98fa30e67b12d4577b121f210f3eb7049d6b ; ESP8266_SSD1306
mathertel/OneButton@^2.5.0 ; OneButton library for non-blocking button debounce
https://github.com/meshtastic/arduino-fsm.git#7db3702bf0cfe97b783d6c72595e3f38e0b19159
https://github.com/meshtastic/TinyGPSPlus.git#71a82db35f3b973440044c476d4bcdc673b104f4
@ -118,10 +122,7 @@ lib_deps =
adafruit/Adafruit BMP280 Library@^2.6.8
adafruit/Adafruit BMP085 Library@^1.2.4
adafruit/Adafruit BME280 Library@^2.2.2
https://github.com/boschsensortec/Bosch-BSEC2-Library#v1.7.2502
boschsensortec/BME68x Sensor Library@^1.1.40407
adafruit/Adafruit MCP9808 Library@^2.0.0
https://github.com/KodinLanewave/INA3221@^1.0.0
adafruit/Adafruit INA260 Library@^1.5.0
adafruit/Adafruit INA219@^1.2.0
adafruit/Adafruit SHTC3 Library@^1.0.0
@ -131,13 +132,22 @@ lib_deps =
adafruit/Adafruit MPU6050@^2.2.4
adafruit/Adafruit LIS3DH@^1.2.4
adafruit/Adafruit AHTX0@^2.0.5
lewisxhe/SensorLib@^0.2.0
adafruit/Adafruit LSM6DS@^4.7.2
mprograms/QMC5883LCompass@^1.2.0
adafruit/Adafruit VEML7700 Library@^2.1.6
adafruit/Adafruit SHT4x Library@^1.0.4
adafruit/Adafruit TSL2591 Library@^1.4.5
sparkfun/SparkFun Qwiic Scale NAU7802 Arduino Library@^1.0.5
ClosedCube OPT3001@^1.1.2
emotibit/EmotiBit MLX90632@^1.0.8
dfrobot/DFRobot_RTU@^1.0.3
https://github.com/meshtastic/DFRobot_LarkWeatherStation#0e884fc86b7a0b602c7ff3d26b893b997f15c6ac
https://github.com/boschsensortec/Bosch-BSEC2-Library#v1.7.2502
boschsensortec/BME68x Sensor Library@^1.1.40407
https://github.com/KodinLanewave/INA3221@^1.0.0
lewisxhe/SensorLib@^0.2.0
mprograms/QMC5883LCompass@^1.2.0
https://github.com/meshtastic/DFRobot_LarkWeatherStation#dee914270dc7cb3e43fbf034edd85a63a16a12ee

2
protobufs

@ -1 +1 @@
Subproject commit a641c5ce4fca158d18ca3cffc92ac7a10f9b6a04
Subproject commit dc066c89f73fce882e5a47648cba18a1967a7f56

82
src/AccelerometerThread.h
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@ -14,6 +14,10 @@
#include <Arduino.h>
#include <SensorBMA423.hpp>
#include <Wire.h>
#ifdef RAK_4631
#include "Fusion/Fusion.h"
#include <Rak_BMX160.h>
#endif
#define ACCELEROMETER_CHECK_INTERVAL_MS 100
#define ACCELEROMETER_CLICK_THRESHOLD 40
@ -50,12 +54,13 @@ class AccelerometerThread : public concurrency::OSThread
return;
}
acceleremoter_type = type;
#ifndef RAK_4631
if (!config.display.wake_on_tap_or_motion && !config.device.double_tap_as_button_press) {
LOG_DEBUG("AccelerometerThread disabling due to no interested configurations\n");
disable();
return;
}
#endif
init();
}
@ -87,6 +92,72 @@ class AccelerometerThread : public concurrency::OSThread
wakeScreen();
return 500;
}
#ifdef RAK_4631
} else if (acceleremoter_type == ScanI2C::DeviceType::BMX160) {
sBmx160SensorData_t magAccel;
sBmx160SensorData_t gAccel;
/* Get a new sensor event */
bmx160.getAllData(&magAccel, NULL, &gAccel);
// expirimental calibrate routine. Limited to between 10 and 30 seconds after boot
if (millis() > 10 * 1000 && millis() < 30 * 1000) {
if (magAccel.x > highestX)
highestX = magAccel.x;
if (magAccel.x < lowestX)
lowestX = magAccel.x;
if (magAccel.y > highestY)
highestY = magAccel.y;
if (magAccel.y < lowestY)
lowestY = magAccel.y;
if (magAccel.z > highestZ)
highestZ = magAccel.z;
if (magAccel.z < lowestZ)
lowestZ = magAccel.z;
}
int highestRealX = highestX - (highestX + lowestX) / 2;
magAccel.x -= (highestX + lowestX) / 2;
magAccel.y -= (highestY + lowestY) / 2;
magAccel.z -= (highestZ + lowestZ) / 2;
FusionVector ga, ma;
ga.axis.x = -gAccel.x; // default location for the BMX160 is on the rear of the board
ga.axis.y = -gAccel.y;
ga.axis.z = gAccel.z;
ma.axis.x = -magAccel.x;
ma.axis.y = -magAccel.y;
ma.axis.z = magAccel.z * 3;
// If we're set to one of the inverted positions
if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
}
float heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma);
switch (config.display.compass_orientation) {
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0:
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED:
heading += 90;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED:
heading += 180;
break;
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270:
case meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED:
heading += 270;
break;
}
screen->setHeading(heading);
#endif
} else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.shake()) {
wakeScreen();
return 500;
@ -149,6 +220,11 @@ class AccelerometerThread : public concurrency::OSThread
bmaSensor.enableTiltIRQ();
// It corresponds to isDoubleClick interrupt
bmaSensor.enableWakeupIRQ();
#ifdef RAK_4631
} else if (acceleremoter_type == ScanI2C::DeviceType::BMX160 && bmx160.begin()) {
bmx160.ODR_Config(BMX160_ACCEL_ODR_100HZ, BMX160_GYRO_ODR_100HZ); // set output data rate
#endif
} else if (acceleremoter_type == ScanI2C::DeviceType::LSM6DS3 && lsm.begin_I2C(accelerometer_found.address)) {
LOG_DEBUG("LSM6DS3 initializing\n");
// Default threshold of 2G, less sensitive options are 4, 8 or 16G
@ -179,6 +255,10 @@ class AccelerometerThread : public concurrency::OSThread
Adafruit_LIS3DH lis;
Adafruit_LSM6DS3TRC lsm;
SensorBMA423 bmaSensor;
#ifdef RAK_4631
RAK_BMX160 bmx160;
float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
#endif
bool BMA_IRQ = false;
};

4
src/ButtonThread.cpp
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@ -41,7 +41,11 @@ ButtonThread::ButtonThread() : OSThread("Button")
}
#elif defined(BUTTON_PIN)
int pin = config.device.button_gpio ? config.device.button_gpio : BUTTON_PIN; // Resolved button pin
#if defined(HELTEC_CAPSULE_SENSOR_V3)
this->userButton = OneButton(pin, false, false);
#else
this->userButton = OneButton(pin, true, true);
#endif
LOG_DEBUG("Using GPIO%02d for button\n", pin);
#endif

32
src/Fusion/Fusion.h Normal file
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@ -0,0 +1,32 @@
/**
* @file Fusion.h
* @author Seb Madgwick
* @brief Main header file for the Fusion library. This is the only file that
* needs to be included when using the library.
*/
#ifndef FUSION_H
#define FUSION_H
//------------------------------------------------------------------------------
// Includes
#ifdef __cplusplus
extern "C" {
#endif
#include "FusionAhrs.h"
#include "FusionAxes.h"
#include "FusionCalibration.h"
#include "FusionCompass.h"
#include "FusionConvention.h"
#include "FusionMath.h"
#include "FusionOffset.h"
#ifdef __cplusplus
}
#endif
#endif
//------------------------------------------------------------------------------
// End of file

542
src/Fusion/FusionAhrs.c Normal file
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@ -0,0 +1,542 @@
/**
* @file FusionAhrs.c
* @author Seb Madgwick
* @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
* measurements into a single measurement of orientation relative to the Earth.
*/
//------------------------------------------------------------------------------
// Includes
#include "FusionAhrs.h"
#include <float.h> // FLT_MAX
#include <math.h> // atan2f, cosf, fabsf, powf, sinf
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Initial gain used during the initialisation.
*/
#define INITIAL_GAIN (10.0f)
/**
* @brief Initialisation period in seconds.
*/
#define INITIALISATION_PERIOD (3.0f)
//------------------------------------------------------------------------------
// Function declarations
static inline FusionVector HalfGravity(const FusionAhrs *const ahrs);
static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs);
static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference);
static inline int Clamp(const int value, const int min, const int max);
//------------------------------------------------------------------------------
// Functions
/**
* @brief Initialises the AHRS algorithm structure.
* @param ahrs AHRS algorithm structure.
*/
void FusionAhrsInitialise(FusionAhrs *const ahrs)
{
const FusionAhrsSettings settings = {
.convention = FusionConventionNwu,
.gain = 0.5f,
.gyroscopeRange = 0.0f,
.accelerationRejection = 90.0f,
.magneticRejection = 90.0f,
.recoveryTriggerPeriod = 0,
};
FusionAhrsSetSettings(ahrs, &settings);
FusionAhrsReset(ahrs);
}
/**
* @brief Resets the AHRS algorithm. This is equivalent to reinitialising the
* algorithm while maintaining the current settings.
* @param ahrs AHRS algorithm structure.
*/
void FusionAhrsReset(FusionAhrs *const ahrs)
{
ahrs->quaternion = FUSION_IDENTITY_QUATERNION;
ahrs->accelerometer = FUSION_VECTOR_ZERO;
ahrs->initialising = true;
ahrs->rampedGain = INITIAL_GAIN;
ahrs->angularRateRecovery = false;
ahrs->halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
ahrs->halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
ahrs->accelerometerIgnored = false;
ahrs->accelerationRecoveryTrigger = 0;
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
ahrs->magnetometerIgnored = false;
ahrs->magneticRecoveryTrigger = 0;
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
/**
* @brief Sets the AHRS algorithm settings.
* @param ahrs AHRS algorithm structure.
* @param settings Settings.
*/
void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings)
{
ahrs->settings.convention = settings->convention;
ahrs->settings.gain = settings->gain;
ahrs->settings.gyroscopeRange = settings->gyroscopeRange == 0.0f ? FLT_MAX : 0.98f * settings->gyroscopeRange;
ahrs->settings.accelerationRejection = settings->accelerationRejection == 0.0f
? FLT_MAX
: powf(0.5f * sinf(FusionDegreesToRadians(settings->accelerationRejection)), 2);
ahrs->settings.magneticRejection =
settings->magneticRejection == 0.0f ? FLT_MAX : powf(0.5f * sinf(FusionDegreesToRadians(settings->magneticRejection)), 2);
ahrs->settings.recoveryTriggerPeriod = settings->recoveryTriggerPeriod;
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
if ((settings->gain == 0.0f) ||
(settings->recoveryTriggerPeriod == 0)) { // disable acceleration and magnetic rejection features if gain is zero
ahrs->settings.accelerationRejection = FLT_MAX;
ahrs->settings.magneticRejection = FLT_MAX;
}
if (ahrs->initialising == false) {
ahrs->rampedGain = ahrs->settings.gain;
}
ahrs->rampedGainStep = (INITIAL_GAIN - ahrs->settings.gain) / INITIALISATION_PERIOD;
}
/**
* @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
* magnetometer measurements.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param magnetometer Magnetometer measurement in arbitrary units.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
const FusionVector magnetometer, const float deltaTime)
{
#define Q ahrs->quaternion.element
// Store accelerometer
ahrs->accelerometer = accelerometer;
// Reinitialise if gyroscope range exceeded
if ((fabsf(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) ||
(fabsf(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
const FusionQuaternion quaternion = ahrs->quaternion;
FusionAhrsReset(ahrs);
ahrs->quaternion = quaternion;
ahrs->angularRateRecovery = true;
}
// Ramp down gain during initialisation
if (ahrs->initialising) {
ahrs->rampedGain -= ahrs->rampedGainStep * deltaTime;
if ((ahrs->rampedGain < ahrs->settings.gain) || (ahrs->settings.gain == 0.0f)) {
ahrs->rampedGain = ahrs->settings.gain;
ahrs->initialising = false;
ahrs->angularRateRecovery = false;
}
}
// Calculate direction of gravity indicated by algorithm
const FusionVector halfGravity = HalfGravity(ahrs);
// Calculate accelerometer feedback
FusionVector halfAccelerometerFeedback = FUSION_VECTOR_ZERO;
ahrs->accelerometerIgnored = true;
if (FusionVectorIsZero(accelerometer) == false) {
// Calculate accelerometer feedback scaled by 0.5
ahrs->halfAccelerometerFeedback = Feedback(FusionVectorNormalise(accelerometer), halfGravity);
// Don't ignore accelerometer if acceleration error below threshold
if (ahrs->initialising ||
((FusionVectorMagnitudeSquared(ahrs->halfAccelerometerFeedback) <= ahrs->settings.accelerationRejection))) {
ahrs->accelerometerIgnored = false;
ahrs->accelerationRecoveryTrigger -= 9;
} else {
ahrs->accelerationRecoveryTrigger += 1;
}
// Don't ignore accelerometer during acceleration recovery
if (ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout) {
ahrs->accelerationRecoveryTimeout = 0;
ahrs->accelerometerIgnored = false;
} else {
ahrs->accelerationRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
ahrs->accelerationRecoveryTrigger = Clamp(ahrs->accelerationRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
// Apply accelerometer feedback
if (ahrs->accelerometerIgnored == false) {
halfAccelerometerFeedback = ahrs->halfAccelerometerFeedback;
}
}
// Calculate magnetometer feedback
FusionVector halfMagnetometerFeedback = FUSION_VECTOR_ZERO;
ahrs->magnetometerIgnored = true;
if (FusionVectorIsZero(magnetometer) == false) {
// Calculate direction of magnetic field indicated by algorithm
const FusionVector halfMagnetic = HalfMagnetic(ahrs);
// Calculate magnetometer feedback scaled by 0.5
ahrs->halfMagnetometerFeedback =
Feedback(FusionVectorNormalise(FusionVectorCrossProduct(halfGravity, magnetometer)), halfMagnetic);
// Don't ignore magnetometer if magnetic error below threshold
if (ahrs->initialising ||
((FusionVectorMagnitudeSquared(ahrs->halfMagnetometerFeedback) <= ahrs->settings.magneticRejection))) {
ahrs->magnetometerIgnored = false;
ahrs->magneticRecoveryTrigger -= 9;
} else {
ahrs->magneticRecoveryTrigger += 1;
}
// Don't ignore magnetometer during magnetic recovery
if (ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout) {
ahrs->magneticRecoveryTimeout = 0;
ahrs->magnetometerIgnored = false;
} else {
ahrs->magneticRecoveryTimeout = ahrs->settings.recoveryTriggerPeriod;
}
ahrs->magneticRecoveryTrigger = Clamp(ahrs->magneticRecoveryTrigger, 0, ahrs->settings.recoveryTriggerPeriod);
// Apply magnetometer feedback
if (ahrs->magnetometerIgnored == false) {
halfMagnetometerFeedback = ahrs->halfMagnetometerFeedback;
}
}
// Convert gyroscope to radians per second scaled by 0.5
const FusionVector halfGyroscope = FusionVectorMultiplyScalar(gyroscope, FusionDegreesToRadians(0.5f));
// Apply feedback to gyroscope
const FusionVector adjustedHalfGyroscope = FusionVectorAdd(
halfGyroscope,
FusionVectorMultiplyScalar(FusionVectorAdd(halfAccelerometerFeedback, halfMagnetometerFeedback), ahrs->rampedGain));
// Integrate rate of change of quaternion
ahrs->quaternion = FusionQuaternionAdd(
ahrs->quaternion,
FusionQuaternionMultiplyVector(ahrs->quaternion, FusionVectorMultiplyScalar(adjustedHalfGyroscope, deltaTime)));
// Normalise quaternion
ahrs->quaternion = FusionQuaternionNormalise(ahrs->quaternion);
#undef Q
}
/**
* @brief Returns the direction of gravity scaled by 0.5.
* @param ahrs AHRS algorithm structure.
* @return Direction of gravity scaled by 0.5.
*/
static inline FusionVector HalfGravity(const FusionAhrs *const ahrs)
{
#define Q ahrs->quaternion.element
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu: {
const FusionVector halfGravity = {.axis = {
.x = Q.x * Q.z - Q.w * Q.y,
.y = Q.y * Q.z + Q.w * Q.x,
.z = Q.w * Q.w - 0.5f + Q.z * Q.z,
}}; // third column of transposed rotation matrix scaled by 0.5
return halfGravity;
}
case FusionConventionNed: {
const FusionVector halfGravity = {.axis = {
.x = Q.w * Q.y - Q.x * Q.z,
.y = -1.0f * (Q.y * Q.z + Q.w * Q.x),
.z = 0.5f - Q.w * Q.w - Q.z * Q.z,
}}; // third column of transposed rotation matrix scaled by -0.5
return halfGravity;
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
#undef Q
}
/**
* @brief Returns the direction of the magnetic field scaled by 0.5.
* @param ahrs AHRS algorithm structure.
* @return Direction of the magnetic field scaled by 0.5.
*/
static inline FusionVector HalfMagnetic(const FusionAhrs *const ahrs)
{
#define Q ahrs->quaternion.element
switch (ahrs->settings.convention) {
case FusionConventionNwu: {
const FusionVector halfMagnetic = {.axis = {
.x = Q.x * Q.y + Q.w * Q.z,
.y = Q.w * Q.w - 0.5f + Q.y * Q.y,
.z = Q.y * Q.z - Q.w * Q.x,
}}; // second column of transposed rotation matrix scaled by 0.5
return halfMagnetic;
}
case FusionConventionEnu: {
const FusionVector halfMagnetic = {.axis = {
.x = 0.5f - Q.w * Q.w - Q.x * Q.x,
.y = Q.w * Q.z - Q.x * Q.y,
.z = -1.0f * (Q.x * Q.z + Q.w * Q.y),
}}; // first column of transposed rotation matrix scaled by -0.5
return halfMagnetic;
}
case FusionConventionNed: {
const FusionVector halfMagnetic = {.axis = {
.x = -1.0f * (Q.x * Q.y + Q.w * Q.z),
.y = 0.5f - Q.w * Q.w - Q.y * Q.y,
.z = Q.w * Q.x - Q.y * Q.z,
}}; // second column of transposed rotation matrix scaled by -0.5
return halfMagnetic;
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
#undef Q
}
/**
* @brief Returns the feedback.
* @param sensor Sensor.
* @param reference Reference.
* @return Feedback.
*/
static inline FusionVector Feedback(const FusionVector sensor, const FusionVector reference)
{
if (FusionVectorDotProduct(sensor, reference) < 0.0f) { // if error is >90 degrees
return FusionVectorNormalise(FusionVectorCrossProduct(sensor, reference));
}
return FusionVectorCrossProduct(sensor, reference);
}
/**
* @brief Returns a value limited to maximum and minimum.
* @param value Value.
* @param min Minimum value.
* @param max Maximum value.
* @return Value limited to maximum and minimum.
*/
static inline int Clamp(const int value, const int min, const int max)
{
if (value < min) {
return min;
}
if (value > max) {
return max;
}
return value;
}
/**
* @brief Updates the AHRS algorithm using the gyroscope and accelerometer
* measurements only.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
const float deltaTime)
{
// Update AHRS algorithm
FusionAhrsUpdate(ahrs, gyroscope, accelerometer, FUSION_VECTOR_ZERO, deltaTime);
// Zero heading during initialisation
if (ahrs->initialising) {
FusionAhrsSetHeading(ahrs, 0.0f);
}
}
/**
* @brief Updates the AHRS algorithm using the gyroscope, accelerometer, and
* heading measurements.
* @param ahrs AHRS algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @param accelerometer Accelerometer measurement in g.
* @param heading Heading measurement in degrees.
* @param deltaTime Delta time in seconds.
*/
void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
const float heading, const float deltaTime)
{
#define Q ahrs->quaternion.element
// Calculate roll
const float roll = atan2f(Q.w * Q.x + Q.y * Q.z, 0.5f - Q.y * Q.y - Q.x * Q.x);
// Calculate magnetometer
const float headingRadians = FusionDegreesToRadians(heading);
const float sinHeadingRadians = sinf(headingRadians);
const FusionVector magnetometer = {.axis = {
.x = cosf(headingRadians),
.y = -1.0f * cosf(roll) * sinHeadingRadians,
.z = sinHeadingRadians * sinf(roll),
}};
// Update AHRS algorithm
FusionAhrsUpdate(ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
#undef Q
}
/**
* @brief Returns the quaternion describing the sensor relative to the Earth.
* @param ahrs AHRS algorithm structure.
* @return Quaternion describing the sensor relative to the Earth.
*/
FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs)
{
return ahrs->quaternion;
}
/**
* @brief Sets the quaternion describing the sensor relative to the Earth.
* @param ahrs AHRS algorithm structure.
* @param quaternion Quaternion describing the sensor relative to the Earth.
*/
void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion)
{
ahrs->quaternion = quaternion;
}
/**
* @brief Returns the linear acceleration measurement equal to the accelerometer
* measurement with the 1 g of gravity removed.
* @param ahrs AHRS algorithm structure.
* @return Linear acceleration measurement in g.
*/
FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs)
{
#define Q ahrs->quaternion.element
// Calculate gravity in the sensor coordinate frame
const FusionVector gravity = {.axis = {
.x = 2.0f * (Q.x * Q.z - Q.w * Q.y),
.y = 2.0f * (Q.y * Q.z + Q.w * Q.x),
.z = 2.0f * (Q.w * Q.w - 0.5f + Q.z * Q.z),
}}; // third column of transposed rotation matrix
// Remove gravity from accelerometer measurement
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu: {
return FusionVectorSubtract(ahrs->accelerometer, gravity);
}
case FusionConventionNed: {
return FusionVectorAdd(ahrs->accelerometer, gravity);
}
}
return FUSION_VECTOR_ZERO; // avoid compiler warning
#undef Q
}
/**
* @brief Returns the Earth acceleration measurement equal to accelerometer
* measurement in the Earth coordinate frame with the 1 g of gravity removed.
* @param ahrs AHRS algorithm structure.
* @return Earth acceleration measurement in g.
*/
FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs)
{
#define Q ahrs->quaternion.element
#define A ahrs->accelerometer.axis
// Calculate accelerometer measurement in the Earth coordinate frame
const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
const float qwqx = Q.w * Q.x;
const float qwqy = Q.w * Q.y;
const float qwqz = Q.w * Q.z;
const float qxqy = Q.x * Q.y;
const float qxqz = Q.x * Q.z;
const float qyqz = Q.y * Q.z;
FusionVector accelerometer = {.axis = {
.x = 2.0f * ((qwqw - 0.5f + Q.x * Q.x) * A.x + (qxqy - qwqz) * A.y + (qxqz + qwqy) * A.z),
.y = 2.0f * ((qxqy + qwqz) * A.x + (qwqw - 0.5f + Q.y * Q.y) * A.y + (qyqz - qwqx) * A.z),
.z = 2.0f * ((qxqz - qwqy) * A.x + (qyqz + qwqx) * A.y + (qwqw - 0.5f + Q.z * Q.z) * A.z),
}}; // rotation matrix multiplied with the accelerometer
// Remove gravity from accelerometer measurement
switch (ahrs->settings.convention) {
case FusionConventionNwu:
case FusionConventionEnu:
accelerometer.axis.z -= 1.0f;
break;
case FusionConventionNed:
accelerometer.axis.z += 1.0f;
break;
}
return accelerometer;
#undef Q
#undef A
}
/**
* @brief Returns the AHRS algorithm internal states.
* @param ahrs AHRS algorithm structure.
* @return AHRS algorithm internal states.
*/
FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs)
{
const FusionAhrsInternalStates internalStates = {
.accelerationError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfAccelerometerFeedback))),
.accelerometerIgnored = ahrs->accelerometerIgnored,
.accelerationRecoveryTrigger =
ahrs->settings.recoveryTriggerPeriod == 0
? 0.0f
: (float)ahrs->accelerationRecoveryTrigger / (float)ahrs->settings.recoveryTriggerPeriod,
.magneticError = FusionRadiansToDegrees(FusionAsin(2.0f * FusionVectorMagnitude(ahrs->halfMagnetometerFeedback))),
.magnetometerIgnored = ahrs->magnetometerIgnored,
.magneticRecoveryTrigger = ahrs->settings.recoveryTriggerPeriod == 0
? 0.0f
: (float)ahrs->magneticRecoveryTrigger / (float)ahrs->settings.recoveryTriggerPeriod,
};
return internalStates;
}
/**
* @brief Returns the AHRS algorithm flags.
* @param ahrs AHRS algorithm structure.
* @return AHRS algorithm flags.
*/
FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs)
{
const FusionAhrsFlags flags = {
.initialising = ahrs->initialising,
.angularRateRecovery = ahrs->angularRateRecovery,
.accelerationRecovery = ahrs->accelerationRecoveryTrigger > ahrs->accelerationRecoveryTimeout,
.magneticRecovery = ahrs->magneticRecoveryTrigger > ahrs->magneticRecoveryTimeout,
};
return flags;
}
/**
* @brief Sets the heading of the orientation measurement provided by the AHRS
* algorithm. This function can be used to reset drift in heading when the AHRS
* algorithm is being used without a magnetometer.
* @param ahrs AHRS algorithm structure.
* @param heading Heading angle in degrees.
*/
void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading)
{
#define Q ahrs->quaternion.element
const float yaw = atan2f(Q.w * Q.z + Q.x * Q.y, 0.5f - Q.y * Q.y - Q.z * Q.z);
const float halfYawMinusHeading = 0.5f * (yaw - FusionDegreesToRadians(heading));
const FusionQuaternion rotation = {.element = {
.w = cosf(halfYawMinusHeading),
.x = 0.0f,
.y = 0.0f,
.z = -1.0f * sinf(halfYawMinusHeading),
}};
ahrs->quaternion = FusionQuaternionMultiply(rotation, ahrs->quaternion);
#undef Q
}
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionAhrs.h
* @author Seb Madgwick
* @brief AHRS algorithm to combine gyroscope, accelerometer, and magnetometer
* measurements into a single measurement of orientation relative to the Earth.
*/
#ifndef FUSION_AHRS_H
#define FUSION_AHRS_H
//------------------------------------------------------------------------------
// Includes
#include "FusionConvention.h"
#include "FusionMath.h"
#include <stdbool.h>
//------------------------------------------------------------------------------
// Definitions
/**
* @brief AHRS algorithm settings.
*/
typedef struct {
FusionConvention convention;
float gain;
float gyroscopeRange;
float accelerationRejection;
float magneticRejection;
unsigned int recoveryTriggerPeriod;
} FusionAhrsSettings;
/**
* @brief AHRS algorithm structure. Structure members are used internally and
* must not be accessed by the application.
*/
typedef struct {
FusionAhrsSettings settings;
FusionQuaternion quaternion;
FusionVector accelerometer;
bool initialising;
float rampedGain;
float rampedGainStep;
bool angularRateRecovery;
FusionVector halfAccelerometerFeedback;
FusionVector halfMagnetometerFeedback;
bool accelerometerIgnored;
int accelerationRecoveryTrigger;
int accelerationRecoveryTimeout;
bool magnetometerIgnored;
int magneticRecoveryTrigger;
int magneticRecoveryTimeout;
} FusionAhrs;
/**
* @brief AHRS algorithm internal states.
*/
typedef struct {
float accelerationError;
bool accelerometerIgnored;
float accelerationRecoveryTrigger;
float magneticError;
bool magnetometerIgnored;
float magneticRecoveryTrigger;
} FusionAhrsInternalStates;
/**
* @brief AHRS algorithm flags.
*/
typedef struct {
bool initialising;
bool angularRateRecovery;
bool accelerationRecovery;
bool magneticRecovery;
} FusionAhrsFlags;
//------------------------------------------------------------------------------
// Function declarations
void FusionAhrsInitialise(FusionAhrs *const ahrs);
void FusionAhrsReset(FusionAhrs *const ahrs);
void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings);
void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
const FusionVector magnetometer, const float deltaTime);
void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
const float deltaTime);
void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer,
const float heading, const float deltaTime);
FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs);
void FusionAhrsSetQuaternion(FusionAhrs *const ahrs, const FusionQuaternion quaternion);
FusionVector FusionAhrsGetLinearAcceleration(const FusionAhrs *const ahrs);
FusionVector FusionAhrsGetEarthAcceleration(const FusionAhrs *const ahrs);
FusionAhrsInternalStates FusionAhrsGetInternalStates(const FusionAhrs *const ahrs);
FusionAhrsFlags FusionAhrsGetFlags(const FusionAhrs *const ahrs);
void FusionAhrsSetHeading(FusionAhrs *const ahrs, const float heading);
#endif
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionAxes.h
* @author Seb Madgwick
* @brief Swaps sensor axes for alignment with the body axes.
*/
#ifndef FUSION_AXES_H
#define FUSION_AXES_H
//------------------------------------------------------------------------------
// Includes
#include "FusionMath.h"
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Axes alignment describing the sensor axes relative to the body axes.
* For example, if the body X axis is aligned with the sensor Y axis and the
* body Y axis is aligned with sensor X axis but pointing the opposite direction
* then alignment is +Y-X+Z.
*/
typedef enum {
FusionAxesAlignmentPXPYPZ, /* +X+Y+Z */
FusionAxesAlignmentPXNZPY, /* +X-Z+Y */
FusionAxesAlignmentPXNYNZ, /* +X-Y-Z */
FusionAxesAlignmentPXPZNY, /* +X+Z-Y */
FusionAxesAlignmentNXPYNZ, /* -X+Y-Z */
FusionAxesAlignmentNXPZPY, /* -X+Z+Y */
FusionAxesAlignmentNXNYPZ, /* -X-Y+Z */
FusionAxesAlignmentNXNZNY, /* -X-Z-Y */
FusionAxesAlignmentPYNXPZ, /* +Y-X+Z */
FusionAxesAlignmentPYNZNX, /* +Y-Z-X */
FusionAxesAlignmentPYPXNZ, /* +Y+X-Z */
FusionAxesAlignmentPYPZPX, /* +Y+Z+X */
FusionAxesAlignmentNYPXPZ, /* -Y+X+Z */
FusionAxesAlignmentNYNZPX, /* -Y-Z+X */
FusionAxesAlignmentNYNXNZ, /* -Y-X-Z */
FusionAxesAlignmentNYPZNX, /* -Y+Z-X */
FusionAxesAlignmentPZPYNX, /* +Z+Y-X */
FusionAxesAlignmentPZPXPY, /* +Z+X+Y */
FusionAxesAlignmentPZNYPX, /* +Z-Y+X */
FusionAxesAlignmentPZNXNY, /* +Z-X-Y */
FusionAxesAlignmentNZPYPX, /* -Z+Y+X */
FusionAxesAlignmentNZNXPY, /* -Z-X+Y */
FusionAxesAlignmentNZNYNX, /* -Z-Y-X */
FusionAxesAlignmentNZPXNY, /* -Z+X-Y */
} FusionAxesAlignment;
//------------------------------------------------------------------------------
// Inline functions
/**
* @brief Swaps sensor axes for alignment with the body axes.
* @param sensor Sensor axes.
* @param alignment Axes alignment.
* @return Sensor axes aligned with the body axes.
*/
static inline FusionVector FusionAxesSwap(const FusionVector sensor, const FusionAxesAlignment alignment)
{
FusionVector result;
switch (alignment) {
case FusionAxesAlignmentPXPYPZ:
break;
case FusionAxesAlignmentPXNZPY:
result.axis.x = +sensor.axis.x;
result.axis.y = -sensor.axis.z;
result.axis.z = +sensor.axis.y;
return result;
case FusionAxesAlignmentPXNYNZ:
result.axis.x = +sensor.axis.x;
result.axis.y = -sensor.axis.y;
result.axis.z = -sensor.axis.z;
return result;
case FusionAxesAlignmentPXPZNY:
result.axis.x = +sensor.axis.x;
result.axis.y = +sensor.axis.z;
result.axis.z = -sensor.axis.y;
return result;
case FusionAxesAlignmentNXPYNZ:
result.axis.x = -sensor.axis.x;
result.axis.y = +sensor.axis.y;
result.axis.z = -sensor.axis.z;
return result;
case FusionAxesAlignmentNXPZPY:
result.axis.x = -sensor.axis.x;
result.axis.y = +sensor.axis.z;
result.axis.z = +sensor.axis.y;
return result;
case FusionAxesAlignmentNXNYPZ:
result.axis.x = -sensor.axis.x;
result.axis.y = -sensor.axis.y;
result.axis.z = +sensor.axis.z;
return result;
case FusionAxesAlignmentNXNZNY:
result.axis.x = -sensor.axis.x;
result.axis.y = -sensor.axis.z;
result.axis.z = -sensor.axis.y;
return result;
case FusionAxesAlignmentPYNXPZ:
result.axis.x = +sensor.axis.y;
result.axis.y = -sensor.axis.x;
result.axis.z = +sensor.axis.z;
return result;
case FusionAxesAlignmentPYNZNX:
result.axis.x = +sensor.axis.y;
result.axis.y = -sensor.axis.z;
result.axis.z = -sensor.axis.x;
return result;
case FusionAxesAlignmentPYPXNZ:
result.axis.x = +sensor.axis.y;
result.axis.y = +sensor.axis.x;
result.axis.z = -sensor.axis.z;
return result;
case FusionAxesAlignmentPYPZPX:
result.axis.x = +sensor.axis.y;
result.axis.y = +sensor.axis.z;
result.axis.z = +sensor.axis.x;
return result;
case FusionAxesAlignmentNYPXPZ:
result.axis.x = -sensor.axis.y;
result.axis.y = +sensor.axis.x;
result.axis.z = +sensor.axis.z;
return result;
case FusionAxesAlignmentNYNZPX:
result.axis.x = -sensor.axis.y;
result.axis.y = -sensor.axis.z;
result.axis.z = +sensor.axis.x;
return result;
case FusionAxesAlignmentNYNXNZ:
result.axis.x = -sensor.axis.y;
result.axis.y = -sensor.axis.x;
result.axis.z = -sensor.axis.z;
return result;
case FusionAxesAlignmentNYPZNX:
result.axis.x = -sensor.axis.y;
result.axis.y = +sensor.axis.z;
result.axis.z = -sensor.axis.x;
return result;
case FusionAxesAlignmentPZPYNX:
result.axis.x = +sensor.axis.z;
result.axis.y = +sensor.axis.y;
result.axis.z = -sensor.axis.x;
return result;
case FusionAxesAlignmentPZPXPY:
result.axis.x = +sensor.axis.z;
result.axis.y = +sensor.axis.x;
result.axis.z = +sensor.axis.y;
return result;
case FusionAxesAlignmentPZNYPX:
result.axis.x = +sensor.axis.z;
result.axis.y = -sensor.axis.y;
result.axis.z = +sensor.axis.x;
return result;
case FusionAxesAlignmentPZNXNY:
result.axis.x = +sensor.axis.z;
result.axis.y = -sensor.axis.x;
result.axis.z = -sensor.axis.y;
return result;
case FusionAxesAlignmentNZPYPX:
result.axis.x = -sensor.axis.z;
result.axis.y = +sensor.axis.y;
result.axis.z = +sensor.axis.x;
return result;
case FusionAxesAlignmentNZNXPY:
result.axis.x = -sensor.axis.z;
result.axis.y = -sensor.axis.x;
result.axis.z = +sensor.axis.y;
return result;
case FusionAxesAlignmentNZNYNX:
result.axis.x = -sensor.axis.z;
result.axis.y = -sensor.axis.y;
result.axis.z = -sensor.axis.x;
return result;
case FusionAxesAlignmentNZPXNY:
result.axis.x = -sensor.axis.z;
result.axis.y = +sensor.axis.x;
result.axis.z = -sensor.axis.y;
return result;
}
return sensor; // avoid compiler warning
}
#endif
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionCalibration.h
* @author Seb Madgwick
* @brief Gyroscope, accelerometer, and magnetometer calibration models.
*/
#ifndef FUSION_CALIBRATION_H
#define FUSION_CALIBRATION_H
//------------------------------------------------------------------------------
// Includes
#include "FusionMath.h"
//------------------------------------------------------------------------------
// Inline functions
/**
* @brief Gyroscope and accelerometer calibration model.
* @param uncalibrated Uncalibrated measurement.
* @param misalignment Misalignment matrix.
* @param sensitivity Sensitivity.
* @param offset Offset.
* @return Calibrated measurement.
*/
static inline FusionVector FusionCalibrationInertial(const FusionVector uncalibrated, const FusionMatrix misalignment,
const FusionVector sensitivity, const FusionVector offset)
{
return FusionMatrixMultiplyVector(misalignment,
FusionVectorHadamardProduct(FusionVectorSubtract(uncalibrated, offset), sensitivity));
}
/**
* @brief Magnetometer calibration model.
* @param uncalibrated Uncalibrated measurement.
* @param softIronMatrix Soft-iron matrix.
* @param hardIronOffset Hard-iron offset.
* @return Calibrated measurement.
*/
static inline FusionVector FusionCalibrationMagnetic(const FusionVector uncalibrated, const FusionMatrix softIronMatrix,
const FusionVector hardIronOffset)
{
return FusionMatrixMultiplyVector(softIronMatrix, FusionVectorSubtract(uncalibrated, hardIronOffset));
}
#endif
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionCompass.c
* @author Seb Madgwick
* @brief Tilt-compensated compass to calculate the magnetic heading using
* accelerometer and magnetometer measurements.
*/
//------------------------------------------------------------------------------
// Includes
#include "FusionCompass.h"
#include "FusionAxes.h"
#include <math.h> // atan2f
//------------------------------------------------------------------------------
// Functions
/**
* @brief Calculates the magnetic heading.
* @param convention Earth axes convention.
* @param accelerometer Accelerometer measurement in any calibrated units.
* @param magnetometer Magnetometer measurement in any calibrated units.
* @return Heading angle in degrees.
*/
float FusionCompassCalculateHeading(const FusionConvention convention, const FusionVector accelerometer,
const FusionVector magnetometer)
{
switch (convention) {
case FusionConventionNwu: {
const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(accelerometer, magnetometer));
const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, accelerometer));
return FusionRadiansToDegrees(atan2f(west.axis.x, north.axis.x));
}
case FusionConventionEnu: {
const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(accelerometer, magnetometer));
const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, accelerometer));
const FusionVector east = FusionVectorMultiplyScalar(west, -1.0f);
return FusionRadiansToDegrees(atan2f(north.axis.x, east.axis.x));
}
case FusionConventionNed: {
const FusionVector up = FusionVectorMultiplyScalar(accelerometer, -1.0f);
const FusionVector west = FusionVectorNormalise(FusionVectorCrossProduct(up, magnetometer));
const FusionVector north = FusionVectorNormalise(FusionVectorCrossProduct(west, up));
return FusionRadiansToDegrees(atan2f(west.axis.x, north.axis.x));
}
}
return 0; // avoid compiler warning
}
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionCompass.h
* @author Seb Madgwick
* @brief Tilt-compensated compass to calculate the magnetic heading using
* accelerometer and magnetometer measurements.
*/
#ifndef FUSION_COMPASS_H
#define FUSION_COMPASS_H
//------------------------------------------------------------------------------
// Includes
#include "FusionConvention.h"
#include "FusionMath.h"
//------------------------------------------------------------------------------
// Function declarations
float FusionCompassCalculateHeading(const FusionConvention convention, const FusionVector accelerometer,
const FusionVector magnetometer);
#endif
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionConvention.h
* @author Seb Madgwick
* @brief Earth axes convention.
*/
#ifndef FUSION_CONVENTION_H
#define FUSION_CONVENTION_H
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Earth axes convention.
*/
typedef enum {
FusionConventionNwu, /* North-West-Up */
FusionConventionEnu, /* East-North-Up */
FusionConventionNed, /* North-East-Down */
} FusionConvention;
#endif
//------------------------------------------------------------------------------
// End of file

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/**
* @file FusionMath.h
* @author Seb Madgwick
* @brief Math library.
*/
#ifndef FUSION_MATH_H
#define FUSION_MATH_H
//------------------------------------------------------------------------------
// Includes
#include <math.h> // M_PI, sqrtf, atan2f, asinf
#include <stdbool.h>
#include <stdint.h>
//------------------------------------------------------------------------------
// Definitions
/**
* @brief 3D vector.
*/
typedef union {
float array[3];
struct {
float x;
float y;
float z;
} axis;
} FusionVector;
/**
* @brief Quaternion.
*/
typedef union {
float array[4];
struct {
float w;
float x;
float y;
float z;
} element;
} FusionQuaternion;
/**
* @brief 3x3 matrix in row-major order.
* See http://en.wikipedia.org/wiki/Row-major_order
*/
typedef union {
float array[3][3];
struct {
float xx;
float xy;
float xz;
float yx;
float yy;
float yz;
float zx;
float zy;
float zz;
} element;
} FusionMatrix;
/**
* @brief Euler angles. Roll, pitch, and yaw correspond to rotations around
* X, Y, and Z respectively.
*/
typedef union {
float array[3];
struct {
float roll;
float pitch;
float yaw;
} angle;
} FusionEuler;
/**
* @brief Vector of zeros.
*/
#define FUSION_VECTOR_ZERO ((FusionVector){.array = {0.0f, 0.0f, 0.0f}})
/**
* @brief Vector of ones.
*/
#define FUSION_VECTOR_ONES ((FusionVector){.array = {1.0f, 1.0f, 1.0f}})
/**
* @brief Identity quaternion.
*/
#define FUSION_IDENTITY_QUATERNION ((FusionQuaternion){.array = {1.0f, 0.0f, 0.0f, 0.0f}})
/**
* @brief Identity matrix.
*/
#define FUSION_IDENTITY_MATRIX ((FusionMatrix){.array = {{1.0f, 0.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 0.0f, 1.0f}}})
/**
* @brief Euler angles of zero.
*/
#define FUSION_EULER_ZERO ((FusionEuler){.array = {0.0f, 0.0f, 0.0f}})
/**
* @brief Pi. May not be defined in math.h.
*/
#ifndef M_PI
#define M_PI (3.14159265358979323846)
#endif
/**
* @brief Include this definition or add as a preprocessor definition to use
* normal square root operations.
*/
// #define FUSION_USE_NORMAL_SQRT
//------------------------------------------------------------------------------
// Inline functions - Degrees and radians conversion
/**
* @brief Converts degrees to radians.
* @param degrees Degrees.
* @return Radians.
*/
static inline float FusionDegreesToRadians(const float degrees)
{
return degrees * ((float)M_PI / 180.0f);
}
/**
* @brief Converts radians to degrees.
* @param radians Radians.
* @return Degrees.
*/
static inline float FusionRadiansToDegrees(const float radians)
{
return radians * (180.0f / (float)M_PI);
}
//------------------------------------------------------------------------------
// Inline functions - Arc sine
/**
* @brief Returns the arc sine of the value.
* @param value Value.
* @return Arc sine of the value.
*/
static inline float FusionAsin(const float value)
{
if (value <= -1.0f) {
return (float)M_PI / -2.0f;
}
if (value >= 1.0f) {
return (float)M_PI / 2.0f;
}
return asinf(value);
}
//------------------------------------------------------------------------------
// Inline functions - Fast inverse square root
#ifndef FUSION_USE_NORMAL_SQRT
/**
* @brief Calculates the reciprocal of the square root.
* See https://pizer.wordpress.com/2008/10/12/fast-inverse-square-root/
* @param x Operand.
* @return Reciprocal of the square root of x.
*/
static inline float FusionFastInverseSqrt(const float x)
{
typedef union {
float f;
int32_t i;
} Union32;
Union32 union32 = {.f = x};
union32.i = 0x5F1F1412 - (union32.i >> 1);
return union32.f * (1.69000231f - 0.714158168f * x * union32.f * union32.f);
}
#endif
//------------------------------------------------------------------------------
// Inline functions - Vector operations
/**
* @brief Returns true if the vector is zero.
* @param vector Vector.
* @return True if the vector is zero.
*/
static inline bool FusionVectorIsZero(const FusionVector vector)
{
return (vector.axis.x == 0.0f) && (vector.axis.y == 0.0f) && (vector.axis.z == 0.0f);
}
/**
* @brief Returns the sum of two vectors.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Sum of two vectors.
*/
static inline FusionVector FusionVectorAdd(const FusionVector vectorA, const FusionVector vectorB)
{
const FusionVector result = {.axis = {
.x = vectorA.axis.x + vectorB.axis.x,
.y = vectorA.axis.y + vectorB.axis.y,
.z = vectorA.axis.z + vectorB.axis.z,
}};
return result;
}
/**
* @brief Returns vector B subtracted from vector A.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Vector B subtracted from vector A.
*/
static inline FusionVector FusionVectorSubtract(const FusionVector vectorA, const FusionVector vectorB)
{
const FusionVector result = {.axis = {
.x = vectorA.axis.x - vectorB.axis.x,
.y = vectorA.axis.y - vectorB.axis.y,
.z = vectorA.axis.z - vectorB.axis.z,
}};
return result;
}
/**
* @brief Returns the sum of the elements.
* @param vector Vector.
* @return Sum of the elements.
*/
static inline float FusionVectorSum(const FusionVector vector)
{
return vector.axis.x + vector.axis.y + vector.axis.z;
}
/**
* @brief Returns the multiplication of a vector by a scalar.
* @param vector Vector.
* @param scalar Scalar.
* @return Multiplication of a vector by a scalar.
*/
static inline FusionVector FusionVectorMultiplyScalar(const FusionVector vector, const float scalar)
{
const FusionVector result = {.axis = {
.x = vector.axis.x * scalar,
.y = vector.axis.y * scalar,
.z = vector.axis.z * scalar,
}};
return result;
}
/**
* @brief Calculates the Hadamard product (element-wise multiplication).
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Hadamard product.
*/
static inline FusionVector FusionVectorHadamardProduct(const FusionVector vectorA, const FusionVector vectorB)
{
const FusionVector result = {.axis = {
.x = vectorA.axis.x * vectorB.axis.x,
.y = vectorA.axis.y * vectorB.axis.y,
.z = vectorA.axis.z * vectorB.axis.z,
}};
return result;
}
/**
* @brief Returns the cross product.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Cross product.
*/
static inline FusionVector FusionVectorCrossProduct(const FusionVector vectorA, const FusionVector vectorB)
{
#define A vectorA.axis
#define B vectorB.axis
const FusionVector result = {.axis = {
.x = A.y * B.z - A.z * B.y,
.y = A.z * B.x - A.x * B.z,
.z = A.x * B.y - A.y * B.x,
}};
return result;
#undef A
#undef B
}
/**
* @brief Returns the dot product.
* @param vectorA Vector A.
* @param vectorB Vector B.
* @return Dot product.
*/
static inline float FusionVectorDotProduct(const FusionVector vectorA, const FusionVector vectorB)
{
return FusionVectorSum(FusionVectorHadamardProduct(vectorA, vectorB));
}
/**
* @brief Returns the vector magnitude squared.
* @param vector Vector.
* @return Vector magnitude squared.
*/
static inline float FusionVectorMagnitudeSquared(const FusionVector vector)
{
return FusionVectorSum(FusionVectorHadamardProduct(vector, vector));
}
/**
* @brief Returns the vector magnitude.
* @param vector Vector.
* @return Vector magnitude.
*/
static inline float FusionVectorMagnitude(const FusionVector vector)
{
return sqrtf(FusionVectorMagnitudeSquared(vector));
}
/**
* @brief Returns the normalised vector.
* @param vector Vector.
* @return Normalised vector.
*/
static inline FusionVector FusionVectorNormalise(const FusionVector vector)
{
#ifdef FUSION_USE_NORMAL_SQRT
const float magnitudeReciprocal = 1.0f / sqrtf(FusionVectorMagnitudeSquared(vector));
#else
const float magnitudeReciprocal = FusionFastInverseSqrt(FusionVectorMagnitudeSquared(vector));
#endif
return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
}
//------------------------------------------------------------------------------
// Inline functions - Quaternion operations
/**
* @brief Returns the sum of two quaternions.
* @param quaternionA Quaternion A.
* @param quaternionB Quaternion B.
* @return Sum of two quaternions.
*/
static inline FusionQuaternion FusionQuaternionAdd(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB)
{
const FusionQuaternion result = {.element = {
.w = quaternionA.element.w + quaternionB.element.w,
.x = quaternionA.element.x + quaternionB.element.x,
.y = quaternionA.element.y + quaternionB.element.y,
.z = quaternionA.element.z + quaternionB.element.z,
}};
return result;
}
/**
* @brief Returns the multiplication of two quaternions.
* @param quaternionA Quaternion A (to be post-multiplied).
* @param quaternionB Quaternion B (to be pre-multiplied).
* @return Multiplication of two quaternions.
*/
static inline FusionQuaternion FusionQuaternionMultiply(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB)
{
#define A quaternionA.element
#define B quaternionB.element
const FusionQuaternion result = {.element = {
.w = A.w * B.w - A.x * B.x - A.y * B.y - A.z * B.z,
.x = A.w * B.x + A.x * B.w + A.y * B.z - A.z * B.y,
.y = A.w * B.y - A.x * B.z + A.y * B.w + A.z * B.x,
.z = A.w * B.z + A.x * B.y - A.y * B.x + A.z * B.w,
}};
return result;
#undef A
#undef B
}
/**
* @brief Returns the multiplication of a quaternion with a vector. This is a
* normal quaternion multiplication where the vector is treated a
* quaternion with a W element value of zero. The quaternion is post-
* multiplied by the vector.
* @param quaternion Quaternion.
* @param vector Vector.
* @return Multiplication of a quaternion with a vector.
*/
static inline FusionQuaternion FusionQuaternionMultiplyVector(const FusionQuaternion quaternion, const FusionVector vector)
{
#define Q quaternion.element
#define V vector.axis
const FusionQuaternion result = {.element = {
.w = -Q.x * V.x - Q.y * V.y - Q.z * V.z,
.x = Q.w * V.x + Q.y * V.z - Q.z * V.y,
.y = Q.w * V.y - Q.x * V.z + Q.z * V.x,
.z = Q.w * V.z + Q.x * V.y - Q.y * V.x,
}};
return result;
#undef Q
#undef V
}
/**
* @brief Returns the normalised quaternion.
* @param quaternion Quaternion.
* @return Normalised quaternion.
*/
static inline FusionQuaternion FusionQuaternionNormalise(const FusionQuaternion quaternion)
{
#define Q quaternion.element
#ifdef FUSION_USE_NORMAL_SQRT
const float magnitudeReciprocal = 1.0f / sqrtf(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
#else
const float magnitudeReciprocal = FusionFastInverseSqrt(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
#endif
const FusionQuaternion result = {.element = {
.w = Q.w * magnitudeReciprocal,
.x = Q.x * magnitudeReciprocal,
.y = Q.y * magnitudeReciprocal,
.z = Q.z * magnitudeReciprocal,
}};
return result;
#undef Q
}
//------------------------------------------------------------------------------
// Inline functions - Matrix operations
/**
* @brief Returns the multiplication of a matrix with a vector.
* @param matrix Matrix.
* @param vector Vector.
* @return Multiplication of a matrix with a vector.
*/
static inline FusionVector FusionMatrixMultiplyVector(const FusionMatrix matrix, const FusionVector vector)
{
#define R matrix.element
const FusionVector result = {.axis = {
.x = R.xx * vector.axis.x + R.xy * vector.axis.y + R.xz * vector.axis.z,
.y = R.yx * vector.axis.x + R.yy * vector.axis.y + R.yz * vector.axis.z,
.z = R.zx * vector.axis.x + R.zy * vector.axis.y + R.zz * vector.axis.z,
}};
return result;
#undef R
}
//------------------------------------------------------------------------------
// Inline functions - Conversion operations
/**
* @brief Converts a quaternion to a rotation matrix.
* @param quaternion Quaternion.
* @return Rotation matrix.
*/
static inline FusionMatrix FusionQuaternionToMatrix(const FusionQuaternion quaternion)
{
#define Q quaternion.element
const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
const float qwqx = Q.w * Q.x;
const float qwqy = Q.w * Q.y;
const float qwqz = Q.w * Q.z;
const float qxqy = Q.x * Q.y;
const float qxqz = Q.x * Q.z;
const float qyqz = Q.y * Q.z;
const FusionMatrix matrix = {.element = {
.xx = 2.0f * (qwqw - 0.5f + Q.x * Q.x),
.xy = 2.0f * (qxqy - qwqz),
.xz = 2.0f * (qxqz + qwqy),
.yx = 2.0f * (qxqy + qwqz),
.yy = 2.0f * (qwqw - 0.5f + Q.y * Q.y),
.yz = 2.0f * (qyqz - qwqx),
.zx = 2.0f * (qxqz - qwqy),
.zy = 2.0f * (qyqz + qwqx),
.zz = 2.0f * (qwqw - 0.5f + Q.z * Q.z),
}};
return matrix;
#undef Q
}
/**
* @brief Converts a quaternion to ZYX Euler angles in degrees.
* @param quaternion Quaternion.
* @return Euler angles in degrees.
*/
static inline FusionEuler FusionQuaternionToEuler(const FusionQuaternion quaternion)
{
#define Q quaternion.element
const float halfMinusQySquared = 0.5f - Q.y * Q.y; // calculate common terms to avoid repeated operations
const FusionEuler euler = {.angle = {
.roll = FusionRadiansToDegrees(atan2f(Q.w * Q.x + Q.y * Q.z, halfMinusQySquared - Q.x * Q.x)),
.pitch = FusionRadiansToDegrees(FusionAsin(2.0f * (Q.w * Q.y - Q.z * Q.x))),
.yaw = FusionRadiansToDegrees(atan2f(Q.w * Q.z + Q.x * Q.y, halfMinusQySquared - Q.z * Q.z)),
}};
return euler;
#undef Q
}
#endif
//------------------------------------------------------------------------------
// End of file

80
src/Fusion/FusionOffset.c Normal file
View File

@ -0,0 +1,80 @@
/**
* @file FusionOffset.c
* @author Seb Madgwick
* @brief Gyroscope offset correction algorithm for run-time calibration of the
* gyroscope offset.
*/
//------------------------------------------------------------------------------
// Includes
#include "FusionOffset.h"
#include <math.h> // fabsf
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Cutoff frequency in Hz.
*/
#define CUTOFF_FREQUENCY (0.02f)
/**
* @brief Timeout in seconds.
*/
#define TIMEOUT (5)
/**
* @brief Threshold in degrees per second.
*/
#define THRESHOLD (3.0f)
//------------------------------------------------------------------------------
// Functions
/**
* @brief Initialises the gyroscope offset algorithm.
* @param offset Gyroscope offset algorithm structure.
* @param sampleRate Sample rate in Hz.
*/
void FusionOffsetInitialise(FusionOffset *const offset, const unsigned int sampleRate)
{
offset->filterCoefficient = 2.0f * (float)M_PI * CUTOFF_FREQUENCY * (1.0f / (float)sampleRate);
offset->timeout = TIMEOUT * sampleRate;
offset->timer = 0;
offset->gyroscopeOffset = FUSION_VECTOR_ZERO;
}
/**
* @brief Updates the gyroscope offset algorithm and returns the corrected
* gyroscope measurement.
* @param offset Gyroscope offset algorithm structure.
* @param gyroscope Gyroscope measurement in degrees per second.
* @return Corrected gyroscope measurement in degrees per second.
*/
FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyroscope)
{
// Subtract offset from gyroscope measurement
gyroscope = FusionVectorSubtract(gyroscope, offset->gyroscopeOffset);
// Reset timer if gyroscope not stationary
if ((fabsf(gyroscope.axis.x) > THRESHOLD) || (fabsf(gyroscope.axis.y) > THRESHOLD) || (fabsf(gyroscope.axis.z) > THRESHOLD)) {
offset->timer = 0;
return gyroscope;
}
// Increment timer while gyroscope stationary
if (offset->timer < offset->timeout) {
offset->timer++;
return gyroscope;
}
// Adjust offset if timer has elapsed
offset->gyroscopeOffset =
FusionVectorAdd(offset->gyroscopeOffset, FusionVectorMultiplyScalar(gyroscope, offset->filterCoefficient));
return gyroscope;
}
//------------------------------------------------------------------------------
// End of file

40
src/Fusion/FusionOffset.h Normal file
View File

@ -0,0 +1,40 @@
/**
* @file FusionOffset.h
* @author Seb Madgwick
* @brief Gyroscope offset correction algorithm for run-time calibration of the
* gyroscope offset.
*/
#ifndef FUSION_OFFSET_H
#define FUSION_OFFSET_H
//------------------------------------------------------------------------------
// Includes
#include "FusionMath.h"
//------------------------------------------------------------------------------
// Definitions
/**
* @brief Gyroscope offset algorithm structure. Structure members are used
* internally and must not be accessed by the application.
*/
typedef struct {
float filterCoefficient;
unsigned int timeout;
unsigned int timer;
FusionVector gyroscopeOffset;
} FusionOffset;
//------------------------------------------------------------------------------
// Function declarations
void FusionOffsetInitialise(FusionOffset *const offset, const unsigned int sampleRate);
FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyroscope);
#endif
//------------------------------------------------------------------------------
// End of file

25
src/Power.cpp
View File

@ -335,13 +335,20 @@ class AnalogBatteryLevel : public HasBatteryLevel
virtual bool isVbusIn() override
{
#ifdef EXT_PWR_DETECT
// if external powered that pin will be pulled up
if (digitalRead(EXT_PWR_DETECT) == HIGH) {
return true;
}
// if it's not HIGH - check the battery
#ifdef HELTEC_CAPSULE_SENSOR_V3
// if external powered that pin will be pulled down
if (digitalRead(EXT_PWR_DETECT) == LOW) {
return true;
}
// if it's not LOW - check the battery
#else
// if external powered that pin will be pulled up
if (digitalRead(EXT_PWR_DETECT) == HIGH) {
return true;
}
// if it's not HIGH - check the battery
#endif
#endif
return getBattVoltage() > chargingVolt;
}
@ -421,7 +428,11 @@ Power::Power() : OSThread("Power")
bool Power::analogInit()
{
#ifdef EXT_PWR_DETECT
pinMode(EXT_PWR_DETECT, INPUT);
#ifdef HELTEC_CAPSULE_SENSOR_V3
pinMode(EXT_PWR_DETECT, INPUT_PULLUP);
#else
pinMode(EXT_PWR_DETECT, INPUT);
#endif
#endif
#ifdef EXT_CHRG_DETECT
pinMode(EXT_CHRG_DETECT, ext_chrg_detect_mode);

2
src/configuration.h
View File

@ -142,6 +142,7 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#define OPT3001_ADDR_ALT 0x44
#define MLX90632_ADDR 0x3A
#define DFROBOT_LARK_ADDR 0x42
#define NAU7802_ADDR 0x2A
// -----------------------------------------------------------------------------
// ACCELEROMETER
@ -150,6 +151,7 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#define LIS3DH_ADR 0x18
#define BMA423_ADDR 0x19
#define LSM6DS3_ADDR 0x6A
#define BMX160_ADDR 0x69
// -----------------------------------------------------------------------------
// LED

4
src/detect/ScanI2C.cpp
View File

@ -36,8 +36,8 @@ ScanI2C::FoundDevice ScanI2C::firstKeyboard() const
ScanI2C::FoundDevice ScanI2C::firstAccelerometer() const
{
ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3};
return firstOfOrNONE(4, types);
ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3, BMX160};
return firstOfOrNONE(5, types);
}
ScanI2C::FoundDevice ScanI2C::find(ScanI2C::DeviceType) const

2
src/detect/ScanI2C.h
View File

@ -49,7 +49,9 @@ class ScanI2C
OPT3001,
MLX90632,
AHT10,
BMX160,
DFROBOT_LARK,
NAU7802
} DeviceType;
// typedef uint8_t DeviceAddress;

2
src/detect/ScanI2CTwoWire.cpp
View File

@ -342,6 +342,7 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
SCAN_SIMPLE_CASE(PMSA0031_ADDR, PMSA0031, "PMSA0031 air quality sensor found\n")
SCAN_SIMPLE_CASE(MPU6050_ADDR, MPU6050, "MPU6050 accelerometer found\n");
SCAN_SIMPLE_CASE(BMX160_ADDR, BMX160, "BMX160 accelerometer found\n");
SCAN_SIMPLE_CASE(BMA423_ADDR, BMA423, "BMA423 accelerometer found\n");
SCAN_SIMPLE_CASE(LSM6DS3_ADDR, LSM6DS3, "LSM6DS3 accelerometer found at address 0x%x\n", (uint8_t)addr.address);
SCAN_SIMPLE_CASE(TCA9555_ADDR, TCA9555, "TCA9555 I2C expander found\n");
@ -349,6 +350,7 @@ void ScanI2CTwoWire::scanPort(I2CPort port)
SCAN_SIMPLE_CASE(TSL25911_ADDR, TSL2591, "TSL2591 light sensor found\n");
SCAN_SIMPLE_CASE(OPT3001_ADDR, OPT3001, "OPT3001 light sensor found\n");
SCAN_SIMPLE_CASE(MLX90632_ADDR, MLX90632, "MLX90632 IR temp sensor found\n");
SCAN_SIMPLE_CASE(NAU7802_ADDR, NAU7802, "NAU7802 based scale found\n");
default:
LOG_INFO("Device found at address 0x%x was not able to be enumerated\n", addr.address);

97
src/gps/GPS.cpp
View File

@ -28,6 +28,12 @@
#define GPS_STANDBY_THRESHOLD_MINUTES 15
#endif
// How many seconds of sleep make it worthwhile for the GPS to use powered-on standby
// Shorter than this, and we'll just wait instead
#ifndef GPS_IDLE_THRESHOLD_SECONDS
#define GPS_IDLE_THRESHOLD_SECONDS 10
#endif
#if defined(NRF52840_XXAA) || defined(NRF52833_XXAA) || defined(ARCH_ESP32) || defined(ARCH_PORTDUINO)
HardwareSerial *GPS::_serial_gps = &Serial1;
#else
@ -776,14 +782,22 @@ void GPS::setGPSPower(bool on, bool standbyOnly, uint32_t sleepTime)
{
// Record the current powerState
if (on)
powerState = GPS_AWAKE;
else if (!on && standbyOnly)
powerState = GPS_ACTIVE;
else if (!enabled) // User has disabled with triple press
powerState = GPS_OFF;
else if (sleepTime <= GPS_IDLE_THRESHOLD_SECONDS * 1000UL)
powerState = GPS_IDLE;
else if (standbyOnly)
powerState = GPS_STANDBY;
else
powerState = GPS_OFF;
LOG_DEBUG("GPS::powerState=%d\n", powerState);
// If the next update is due *really soon*, don't actually power off or enter standby. Just wait it out.
if (!on && powerState == GPS_IDLE)
return;
if (on) {
clearBuffer(); // drop any old data waiting in the buffer before re-enabling
if (en_gpio)
@ -880,54 +894,69 @@ void GPS::setConnected()
void GPS::setAwake(bool wantAwake)
{
// If user has disabled GPS, make sure it is off, not just in standby
// If user has disabled GPS, make sure it is off, not just in standby or idle
if (!wantAwake && !enabled && powerState != GPS_OFF) {
setGPSPower(false, false, 0);
return;
}
// If GPS power state needs to change
if ((wantAwake && powerState != GPS_AWAKE) || (!wantAwake && powerState == GPS_AWAKE)) {
if ((wantAwake && powerState != GPS_ACTIVE) || (!wantAwake && powerState == GPS_ACTIVE)) {
LOG_DEBUG("WANT GPS=%d\n", wantAwake);
// Calculate how long it takes to get a GPS lock
if (wantAwake) {
// Record the time we start looking for a lock
lastWakeStartMsec = millis();
} else {
// Record by how much we missed our ideal target postion.gps_update_interval (for logging only)
// Need to calculate this before we update lastSleepStartMsec, to make the new prediction
int32_t lateByMsec = (int32_t)(millis() - lastSleepStartMsec) - (int32_t)getSleepTime();
// Record the time we finish looking for a lock
lastSleepStartMsec = millis();
if (GPSCycles == 1) { // Skipping initial lock time, as it will likely be much longer than average
averageLockTime = lastSleepStartMsec - lastWakeStartMsec;
} else if (GPSCycles > 1) {
averageLockTime += ((int32_t)(lastSleepStartMsec - lastWakeStartMsec) - averageLockTime) / (int32_t)GPSCycles;
// How long did it take to get GPS lock this time?
uint32_t lockTime = lastSleepStartMsec - lastWakeStartMsec;
// Update the lock-time prediction
// Used pre-emptively, attempting to hit target of gps.position_update_interval
switch (GPSCycles) {
case 0:
LOG_DEBUG("Initial GPS lock took %ds\n", lockTime / 1000);
break;
case 1:
predictedLockTime = lockTime; // Avoid slow ramp-up - start with a real value
LOG_DEBUG("GPS Lock took %ds\n", lockTime / 1000);
break;
default:
// Predict lock-time using exponential smoothing: respond slowly to changes
predictedLockTime = (lockTime * 0.2) + (predictedLockTime * 0.8); // Latest lock time has 20% weight on prediction
LOG_INFO("GPS Lock took %ds. %s by %ds. Next lock predicted to take %ds.\n", lockTime / 1000,
(lateByMsec > 0) ? "Late" : "Early", abs(lateByMsec) / 1000, predictedLockTime / 1000);
}
GPSCycles++;
LOG_DEBUG("GPS Lock took %d, average %d\n", (lastSleepStartMsec - lastWakeStartMsec) / 1000, averageLockTime / 1000);
}
// How long to wait before attempting next GPS update
// Aims to hit position.gps_update_interval by using the lock-time prediction
uint32_t compensatedSleepTime = (getSleepTime() > predictedLockTime) ? (getSleepTime() - predictedLockTime) : 0;
// If long interval between updates: power off between updates
if ((int32_t)getSleepTime() - averageLockTime > GPS_STANDBY_THRESHOLD_MINUTES * MS_IN_MINUTE) {
setGPSPower(wantAwake, false, getSleepTime() - averageLockTime);
return;
if (compensatedSleepTime > GPS_STANDBY_THRESHOLD_MINUTES * MS_IN_MINUTE) {
setGPSPower(wantAwake, false, getSleepTime() - predictedLockTime);
}
// If waking frequently: standby only. Would use more power trying to reacquire lock each time
else if ((int32_t)getSleepTime() - averageLockTime > 10000) { // 10 seconds is enough for standby
// If waking relatively frequently: don't power off. Would use more energy trying to reacquire lock each time
// We'll either use a "powered-on" standby, or just wait it out, depending on how soon the next update is due
// Will decide which inside setGPSPower method
else {
#ifdef GPS_UC6580
setGPSPower(wantAwake, false, getSleepTime() - averageLockTime);
setGPSPower(wantAwake, false, compensatedSleepTime);
#else
setGPSPower(wantAwake, true, getSleepTime() - averageLockTime);
setGPSPower(wantAwake, true, compensatedSleepTime);
#endif
return;
}
// Gradually recover from an abnormally long "time to get lock"
if (averageLockTime > 20000) {
averageLockTime -= 1000; // eventually want to sleep again.
}
// Make sure we don't have a fallthrough where GPS is stuck off
if (wantAwake)
setGPSPower(true, true, 0);
}
}
@ -1033,14 +1062,14 @@ int32_t GPS::runOnce()
uint32_t timeAsleep = now - lastSleepStartMsec;
auto sleepTime = getSleepTime();
if (powerState != GPS_AWAKE && (sleepTime != UINT32_MAX) &&
((timeAsleep > sleepTime) || (isInPowersave && timeAsleep > (sleepTime - averageLockTime)))) {
if (powerState != GPS_ACTIVE && (sleepTime != UINT32_MAX) &&
((timeAsleep > sleepTime) || (isInPowersave && timeAsleep > (sleepTime - predictedLockTime)))) {
// We now want to be awake - so wake up the GPS
setAwake(true);
}
// While we are awake
if (powerState == GPS_AWAKE) {
if (powerState == GPS_ACTIVE) {
// LOG_DEBUG("looking for location\n");
// If we've already set time from the GPS, no need to ask the GPS
bool gotTime = (getRTCQuality() >= RTCQualityGPS);
@ -1086,7 +1115,7 @@ int32_t GPS::runOnce()
// 9600bps is approx 1 byte per msec, so considering our buffer size we never need to wake more often than 200ms
// if not awake we can run super infrquently (once every 5 secs?) to see if we need to wake.
return (powerState == GPS_AWAKE) ? GPS_THREAD_INTERVAL : 5000;
return (powerState == GPS_ACTIVE) ? GPS_THREAD_INTERVAL : 5000;
}
// clear the GPS rx buffer as quickly as possible
@ -1617,9 +1646,9 @@ bool GPS::whileIdle()
{
unsigned int charsInBuf = 0;
bool isValid = false;
if (powerState != GPS_AWAKE) {
if (powerState != GPS_ACTIVE) {
clearBuffer();
return (powerState == GPS_AWAKE);
return (powerState == GPS_ACTIVE);
}
#ifdef SERIAL_BUFFER_SIZE
if (_serial_gps->available() >= SERIAL_BUFFER_SIZE - 1) {
@ -1650,6 +1679,10 @@ bool GPS::whileIdle()
}
void GPS::enable()
{
// Clear the old lock-time prediction
GPSCycles = 0;
predictedLockTime = 0;
enabled = true;
setInterval(GPS_THREAD_INTERVAL);
setAwake(true);

11
src/gps/GPS.h
View File

@ -39,9 +39,10 @@ typedef enum {
} GPS_RESPONSE;
enum GPSPowerState : uint8_t {
GPS_OFF = 0,
GPS_AWAKE = 1,
GPS_STANDBY = 2,
GPS_OFF = 0, // Physically powered off
GPS_ACTIVE = 1, // Awake and want a position
GPS_STANDBY = 2, // Physically powered on, but soft-sleeping
GPS_IDLE = 3, // Awake, but not wanting another position yet
};
// Generate a string representation of DOP
@ -72,7 +73,7 @@ class GPS : private concurrency::OSThread
uint32_t rx_gpio = 0;
uint32_t tx_gpio = 0;
uint32_t en_gpio = 0;
int32_t averageLockTime = 0;
uint32_t predictedLockTime = 0;
uint32_t GPSCycles = 0;
int speedSelect = 0;
@ -93,7 +94,7 @@ class GPS : private concurrency::OSThread
bool GPSInitFinished = false; // Init thread finished?
bool GPSInitStarted = false; // Init thread finished?
GPSPowerState powerState = GPS_OFF; // GPS_AWAKE if we want a location right now
GPSPowerState powerState = GPS_OFF; // GPS_ACTIVE if we want a location right now
uint8_t numSatellites = 0;

60
src/gps/ubx.h
View File

@ -319,6 +319,8 @@ const uint8_t GPS::_message_SAVE[] = {
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
// BBR will survive a restart, and power off for a while, but modules with small backup
// batteries or super caps will not retain the config for a long power off time.
// for all configurations using sleep / low power modes, V_BCKP needs to be hooked to permanent power for fast aquisition after
// sleep
// VALSET Commands for M10
// Please refer to the M10 Protocol Specification:
@ -327,40 +329,42 @@ const uint8_t GPS::_message_SAVE[] = {
// and:
// https://content.u-blox.com/sites/default/files/u-blox-M10-ROM-5.10_ReleaseNotes_UBX-22001426.pdf
// for interesting insights.
//
// Integration manual:
// https://content.u-blox.com/sites/default/files/documents/SAM-M10Q_IntegrationManual_UBX-22020019.pdf
// has details on low-power modes
/*
CFG-PM2 has been replaced by many CFG-PM commands
OPERATEMODE E1 2 (0 | 1 | 2)
POSUPDATEPERIOD U4 1000ms for M10 must be >= 5s try 5
ACQPERIOD U4 10 seems ok for M10 def ok
GRIDOFFSET U4 0 seems ok for M10 def ok
ONTIME U2 1 will try 1
MINACQTIME U1 0 will try 0 def ok
MAXACQTIME U1 stick with default of 0 def ok
DONOTENTEROFF L 1 stay at 1
WAITTIMEFIX L 1 stay with 1
UPDATEEPH L 1 changed to 1 for gps rework default is 1
EXTINTWAKE L 0 no ext ints
EXTINTBACKUP L 0 no ext ints
EXTINTINACTIVE L 0 no ext ints
EXTINTACTIVITY U4 0 no ext ints
LIMITPEAKCURRENT L 1 stay with 1
*/
// CFG-PMS has been removed
CFG-PMS has been removed
CFG-PM-OPERATEMODE E1 (0 | 1 | 2) -> 1 (PSMOO), because sporadic position updates are required instead of continous tracking <10s
(PSMCT) CFG-PM-POSUPDATEPERIOD U4 -> 0ms, no self-timed wakup because receiver power mode is controlled via "software standby
mode" by legacy UBX-RXM-PMREQ request CFG-PM-ACQPERIOD U4 -> 0ms, because receiver power mode is controlled via "software standby
mode" by legacy UBX-RXM-PMREQ request CFG-PM-ONTIME U4 -> 0ms, optional I guess CFG-PM-EXTINTBACKUP L -> 1, force receiver into
BACKUP mode when EXTINT (should be connected to GPS_EN_PIN) pin is "low"
This is required because the receiver never enters low power mode if microcontroller is in deep-sleep.
Maybe the changing UART_RX levels trigger a wakeup but even with UBX-RXM-PMREQ[12] = 0x00 (all external wakeup sources disabled)
the receivcer remains in aquisition state -> potentially a bug
Workaround: Control the EXTINT pin by the GPS_EN_PIN signal
As mentioned in the M10 operational issues down below, power save won't allow the use of BDS B1C.
CFG-SIGNAL-BDS_B1C_ENA L -> 0
// Ram layer config message:
// b5 62 06 8a 26 00 00 01 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
// 10 01 8b de
// 01 01 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
// BBR layer config message:
// b5 62 06 8a 26 00 00 02 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
// 10 01 8c 03
const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40,
0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0,
0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
// 01 02 00 00 01 00 D0 20 01 02 00 D0 40 00 00 00 00 03 00 D0 40 00 00 00 00 05 00 D0 30 00 00 0D 00 D0 10 01
*/
const uint8_t GPS::_message_VALSET_PM_RAM[] = {0x01, 0x01, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
const uint8_t GPS::_message_VALSET_PM_BBR[] = {0x01, 0x02, 0x00, 0x00, 0x0F, 0x00, 0x31, 0x10, 0x00, 0x01, 0x00, 0xD0, 0x20, 0x01,
0x02, 0x00, 0xD0, 0x40, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0xD0, 0x40, 0x00, 0x00,
0x00, 0x00, 0x05, 0x00, 0xD0, 0x30, 0x00, 0x00, 0x0D, 0x00, 0xD0, 0x10, 0x01};
/*
CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR

45
src/graphics/Screen.cpp
View File

@ -277,6 +277,30 @@ static void drawFunctionOverlay(OLEDDisplay *display, OLEDDisplayUiState *state)
}
}
/// Check if the display can render a string (detect special chars; emoji)
static bool haveGlyphs(const char *str)
{
#if defined(OLED_UA) || defined(OLED_RU)
// Don't want to make any assumptions about custom language support
return true;
#endif
// Check each character with the lookup function for the OLED library
// We're not really meant to use this directly..
bool have = true;
for (uint16_t i = 0; i < strlen(str); i++) {
uint8_t result = Screen::customFontTableLookup((uint8_t)str[i]);
// If font doesn't support a character, it is substituted for ¿
if (result == 191 && (uint8_t)str[i] != 191) {
have = false;
break;
}
}
LOG_DEBUG("haveGlyphs=%d\n", have);
return have;
}
#ifdef USE_EINK
/// Used on eink displays while in deep sleep
static void drawDeepSleepScreen(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
@ -301,14 +325,15 @@ static void drawScreensaverOverlay(OLEDDisplay *display, OLEDDisplayUiState *sta
display->setTextAlignment(TEXT_ALIGN_LEFT);
const char *pauseText = "Screen Paused";
const char *idText = owner.short_name;
const bool useId = haveGlyphs(idText); // This bool is used to hide the idText box if we can't render the short name
constexpr uint16_t padding = 5;
constexpr uint8_t dividerGap = 1;
constexpr uint8_t imprecision = 5; // How far the box origins can drift from center. Combat burn-in.
// Dimensions
const uint16_t idTextWidth = display->getStringWidth(idText, strlen(idText));
const uint16_t idTextWidth = display->getStringWidth(idText, strlen(idText), true); // "true": handle utf8 chars
const uint16_t pauseTextWidth = display->getStringWidth(pauseText, strlen(pauseText));
const uint16_t boxWidth = padding + idTextWidth + padding + padding + pauseTextWidth + padding;
const uint16_t boxWidth = padding + (useId ? idTextWidth + padding + padding : 0) + pauseTextWidth + padding;
const uint16_t boxHeight = padding + FONT_HEIGHT_SMALL + padding;
// Position
@ -318,7 +343,7 @@ static void drawScreensaverOverlay(OLEDDisplay *display, OLEDDisplayUiState *sta
const int16_t boxBottom = boxTop + boxHeight - 1;
const int16_t idTextLeft = boxLeft + padding;
const int16_t idTextTop = boxTop + padding;
const int16_t pauseTextLeft = boxLeft + padding + idTextWidth + padding + padding;
const int16_t pauseTextLeft = boxLeft + (useId ? padding + idTextWidth + padding : 0) + padding;
const int16_t pauseTextTop = boxTop + padding;
const int16_t dividerX = boxLeft + padding + idTextWidth + padding;
const int16_t dividerTop = boxTop + 1 + dividerGap;
@ -331,12 +356,14 @@ static void drawScreensaverOverlay(OLEDDisplay *display, OLEDDisplayUiState *sta
display->drawRect(boxLeft, boxTop, boxWidth, boxHeight);
// Draw: Text
display->drawString(idTextLeft, idTextTop, idText);
if (useId)
display->drawString(idTextLeft, idTextTop, idText);
display->drawString(pauseTextLeft, pauseTextTop, pauseText);
display->drawString(pauseTextLeft + 1, pauseTextTop, pauseText); // Faux bold
// Draw: divider
display->drawLine(dividerX, dividerTop, dividerX, dividerBottom);
if (useId)
display->drawLine(dividerX, dividerTop, dividerX, dividerBottom);
}
#endif
@ -1516,9 +1543,13 @@ static void drawNodeInfo(OLEDDisplay *display, OLEDDisplayUiState *state, int16_
}
bool hasNodeHeading = false;
if (ourNode && hasValidPosition(ourNode)) {
if (ourNode && (hasValidPosition(ourNode) || screen->hasHeading())) {
const meshtastic_PositionLite &op = ourNode->position;
float myHeading = estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
float myHeading;
if (screen->hasHeading())
myHeading = (screen->getHeading()) * PI / 180; // gotta convert compass degrees to Radians
else
myHeading = estimatedHeading(DegD(op.latitude_i), DegD(op.longitude_i));
drawCompassNorth(display, compassX, compassY, myHeading);
if (hasValidPosition(node)) {

13
src/graphics/Screen.h
View File

@ -204,6 +204,17 @@ class Screen : public concurrency::OSThread
enqueueCmd(cmd);
}
// Function to allow the AccelerometerThread to set the heading if a sensor provides it
// Mutex needed?
void setHeading(long _heading)
{
hasCompass = true;
compassHeading = _heading;
}
bool hasHeading() { return hasCompass; }
long getHeading() { return compassHeading; }
// functions for display brightness
void increaseBrightness();
void decreaseBrightness();
@ -428,6 +439,8 @@ class Screen : public concurrency::OSThread
// Implementation to Adjust Brightness
uint8_t brightness = BRIGHTNESS_DEFAULT; // H = 254, MH = 192, ML = 130 L = 103
bool hasCompass = false;
float compassHeading;
/// Holds state for debug information
DebugInfo debugInfo;

27
src/graphics/TFTDisplay.cpp
View File

@ -117,8 +117,16 @@ class LGFX : public lgfx::LGFX_Device
static LGFX *tft = nullptr;
#elif defined(RAK14014)
#include <RAK14014_FT6336U.h>
#include <TFT_eSPI.h>
TFT_eSPI *tft = nullptr;
FT6336U ft6336u;
static uint8_t _rak14014_touch_int = false; // TP interrupt generation flag.
static void rak14014_tpIntHandle(void)
{
_rak14014_touch_int = true;
}
#elif defined(ST7789_CS)
#include <LovyanGFX.hpp> // Graphics and font library for ST7735 driver chip
@ -642,8 +650,12 @@ void TFTDisplay::sendCommand(uint8_t com)
void TFTDisplay::setDisplayBrightness(uint8_t _brightness)
{
#ifdef RAK14014
// todo
#else
tft->setBrightness(_brightness);
LOG_DEBUG("Brightness is set to value: %i \n", _brightness);
#endif
}
void TFTDisplay::flipScreenVertically()
@ -657,6 +669,7 @@ void TFTDisplay::flipScreenVertically()
bool TFTDisplay::hasTouch(void)
{
#ifdef RAK14014
return true;
#elif !defined(M5STACK)
return tft->touch() != nullptr;
#else
@ -667,6 +680,15 @@ bool TFTDisplay::hasTouch(void)
bool TFTDisplay::getTouch(int16_t *x, int16_t *y)
{
#ifdef RAK14014
if (_rak14014_touch_int) {
_rak14014_touch_int = false;
/* The X and Y axes have to be switched */
*y = ft6336u.read_touch1_x();
*x = TFT_HEIGHT - ft6336u.read_touch1_y();
return true;
} else {
return false;
}
#elif !defined(M5STACK)
return tft->getTouch(x, y);
#else
@ -716,7 +738,10 @@ bool TFTDisplay::connect()
#elif defined(RAK14014)
tft->setRotation(1);
tft->setSwapBytes(true);
// tft->fillScreen(TFT_BLACK);
// tft->fillScreen(TFT_BLACK);
ft6336u.begin();
pinMode(SCREEN_TOUCH_INT, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(SCREEN_TOUCH_INT), rak14014_tpIntHandle, FALLING);
#elif defined(T_DECK) || defined(PICOMPUTER_S3) || defined(CHATTER_2)
tft->setRotation(1); // T-Deck has the TFT in landscape
#elif defined(T_WATCH_S3)

6
src/main.h
View File

@ -53,6 +53,9 @@ extern Adafruit_DRV2605 drv;
extern AudioThread *audioThread;
#endif
// Global Screen singleton.
extern graphics::Screen *screen;
#if !defined(ARCH_PORTDUINO) && !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
#include "AccelerometerThread.h"
extern AccelerometerThread *accelerometerThread;
@ -62,9 +65,6 @@ extern bool isVibrating;
extern int TCPPort; // set by Portduino
// Global Screen singleton.
extern graphics::Screen *screen;
// extern Observable<meshtastic::PowerStatus> newPowerStatus; //TODO: move this to main-esp32.cpp somehow or a helper class
// extern meshtastic::PowerStatus *powerStatus;

4
src/mesh/generated/meshtastic/admin.pb.h
View File

@ -135,6 +135,8 @@ typedef struct _meshtastic_AdminMessage {
bool enter_dfu_mode_request;
/* Delete the file by the specified path from the device */
char delete_file_request[201];
/* Set zero and offset for scale chips */
uint32_t set_scale;
/* Set the owner for this node */
meshtastic_User set_owner;
/* Set channels (using the new API).
@ -238,6 +240,7 @@ extern "C" {
#define meshtastic_AdminMessage_get_node_remote_hardware_pins_response_tag 20
#define meshtastic_AdminMessage_enter_dfu_mode_request_tag 21
#define meshtastic_AdminMessage_delete_file_request_tag 22
#define meshtastic_AdminMessage_set_scale_tag 23
#define meshtastic_AdminMessage_set_owner_tag 32
#define meshtastic_AdminMessage_set_channel_tag 33
#define meshtastic_AdminMessage_set_config_tag 34
@ -281,6 +284,7 @@ X(a, STATIC, ONEOF, BOOL, (payload_variant,get_node_remote_hardware_pin
X(a, STATIC, ONEOF, MESSAGE, (payload_variant,get_node_remote_hardware_pins_response,get_node_remote_hardware_pins_response), 20) \
X(a, STATIC, ONEOF, BOOL, (payload_variant,enter_dfu_mode_request,enter_dfu_mode_request), 21) \
X(a, STATIC, ONEOF, STRING, (payload_variant,delete_file_request,delete_file_request), 22) \
X(a, STATIC, ONEOF, UINT32, (payload_variant,set_scale,set_scale), 23) \
X(a, STATIC, ONEOF, MESSAGE, (payload_variant,set_owner,set_owner), 32) \
X(a, STATIC, ONEOF, MESSAGE, (payload_variant,set_channel,set_channel), 33) \
X(a, STATIC, ONEOF, MESSAGE, (payload_variant,set_config,set_config), 34) \

1
src/mesh/generated/meshtastic/config.pb.cpp
View File

@ -46,3 +46,4 @@ PB_BIND(meshtastic_Config_BluetoothConfig, meshtastic_Config_BluetoothConfig, AU

36
src/mesh/generated/meshtastic/config.pb.h
View File

@ -182,6 +182,25 @@ typedef enum _meshtastic_Config_DisplayConfig_DisplayMode {
meshtastic_Config_DisplayConfig_DisplayMode_COLOR = 3
} meshtastic_Config_DisplayConfig_DisplayMode;
typedef enum _meshtastic_Config_DisplayConfig_CompassOrientation {
/* The compass and the display are in the same orientation. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0 = 0,
/* Rotate the compass by 90 degrees. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90 = 1,
/* Rotate the compass by 180 degrees. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180 = 2,
/* Rotate the compass by 270 degrees. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270 = 3,
/* Don't rotate the compass, but invert the result. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0_INVERTED = 4,
/* Rotate the compass by 90 degrees and invert. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_90_INVERTED = 5,
/* Rotate the compass by 180 degrees and invert. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_180_INVERTED = 6,
/* Rotate the compass by 270 degrees and invert. */
meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED = 7
} meshtastic_Config_DisplayConfig_CompassOrientation;
typedef enum _meshtastic_Config_LoRaConfig_RegionCode {
/* Region is not set */
meshtastic_Config_LoRaConfig_RegionCode_UNSET = 0,
@ -413,6 +432,8 @@ typedef struct _meshtastic_Config_DisplayConfig {
bool heading_bold;
/* Should we wake the screen up on accelerometer detected motion or tap */
bool wake_on_tap_or_motion;
/* Indicates how to rotate or invert the compass output to accurate display on the display. */
meshtastic_Config_DisplayConfig_CompassOrientation compass_orientation;
} meshtastic_Config_DisplayConfig;
/* Lora Config */
@ -547,6 +568,10 @@ extern "C" {
#define _meshtastic_Config_DisplayConfig_DisplayMode_MAX meshtastic_Config_DisplayConfig_DisplayMode_COLOR
#define _meshtastic_Config_DisplayConfig_DisplayMode_ARRAYSIZE ((meshtastic_Config_DisplayConfig_DisplayMode)(meshtastic_Config_DisplayConfig_DisplayMode_COLOR+1))
#define _meshtastic_Config_DisplayConfig_CompassOrientation_MIN meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_0
#define _meshtastic_Config_DisplayConfig_CompassOrientation_MAX meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED
#define _meshtastic_Config_DisplayConfig_CompassOrientation_ARRAYSIZE ((meshtastic_Config_DisplayConfig_CompassOrientation)(meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270_INVERTED+1))
#define _meshtastic_Config_LoRaConfig_RegionCode_MIN meshtastic_Config_LoRaConfig_RegionCode_UNSET
#define _meshtastic_Config_LoRaConfig_RegionCode_MAX meshtastic_Config_LoRaConfig_RegionCode_SG_923
#define _meshtastic_Config_LoRaConfig_RegionCode_ARRAYSIZE ((meshtastic_Config_LoRaConfig_RegionCode)(meshtastic_Config_LoRaConfig_RegionCode_SG_923+1))
@ -573,6 +598,7 @@ extern "C" {
#define meshtastic_Config_DisplayConfig_units_ENUMTYPE meshtastic_Config_DisplayConfig_DisplayUnits
#define meshtastic_Config_DisplayConfig_oled_ENUMTYPE meshtastic_Config_DisplayConfig_OledType
#define meshtastic_Config_DisplayConfig_displaymode_ENUMTYPE meshtastic_Config_DisplayConfig_DisplayMode
#define meshtastic_Config_DisplayConfig_compass_orientation_ENUMTYPE meshtastic_Config_DisplayConfig_CompassOrientation
#define meshtastic_Config_LoRaConfig_modem_preset_ENUMTYPE meshtastic_Config_LoRaConfig_ModemPreset
#define meshtastic_Config_LoRaConfig_region_ENUMTYPE meshtastic_Config_LoRaConfig_RegionCode
@ -587,7 +613,7 @@ extern "C" {
#define meshtastic_Config_PowerConfig_init_default {0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_Config_NetworkConfig_init_default {0, "", "", "", 0, _meshtastic_Config_NetworkConfig_AddressMode_MIN, false, meshtastic_Config_NetworkConfig_IpV4Config_init_default, ""}
#define meshtastic_Config_NetworkConfig_IpV4Config_init_default {0, 0, 0, 0}
#define meshtastic_Config_DisplayConfig_init_default {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0}
#define meshtastic_Config_DisplayConfig_init_default {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0, _meshtastic_Config_DisplayConfig_CompassOrientation_MIN}
#define meshtastic_Config_LoRaConfig_init_default {0, _meshtastic_Config_LoRaConfig_ModemPreset_MIN, 0, 0, 0, 0, _meshtastic_Config_LoRaConfig_RegionCode_MIN, 0, 0, 0, 0, 0, 0, 0, 0, {0, 0, 0}, 0}
#define meshtastic_Config_BluetoothConfig_init_default {0, _meshtastic_Config_BluetoothConfig_PairingMode_MIN, 0}
#define meshtastic_Config_init_zero {0, {meshtastic_Config_DeviceConfig_init_zero}}
@ -596,7 +622,7 @@ extern "C" {
#define meshtastic_Config_PowerConfig_init_zero {0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_Config_NetworkConfig_init_zero {0, "", "", "", 0, _meshtastic_Config_NetworkConfig_AddressMode_MIN, false, meshtastic_Config_NetworkConfig_IpV4Config_init_zero, ""}
#define meshtastic_Config_NetworkConfig_IpV4Config_init_zero {0, 0, 0, 0}
#define meshtastic_Config_DisplayConfig_init_zero {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0}
#define meshtastic_Config_DisplayConfig_init_zero {0, _meshtastic_Config_DisplayConfig_GpsCoordinateFormat_MIN, 0, 0, 0, _meshtastic_Config_DisplayConfig_DisplayUnits_MIN, _meshtastic_Config_DisplayConfig_OledType_MIN, _meshtastic_Config_DisplayConfig_DisplayMode_MIN, 0, 0, _meshtastic_Config_DisplayConfig_CompassOrientation_MIN}
#define meshtastic_Config_LoRaConfig_init_zero {0, _meshtastic_Config_LoRaConfig_ModemPreset_MIN, 0, 0, 0, 0, _meshtastic_Config_LoRaConfig_RegionCode_MIN, 0, 0, 0, 0, 0, 0, 0, 0, {0, 0, 0}, 0}
#define meshtastic_Config_BluetoothConfig_init_zero {0, _meshtastic_Config_BluetoothConfig_PairingMode_MIN, 0}
@ -656,6 +682,7 @@ extern "C" {
#define meshtastic_Config_DisplayConfig_displaymode_tag 8
#define meshtastic_Config_DisplayConfig_heading_bold_tag 9
#define meshtastic_Config_DisplayConfig_wake_on_tap_or_motion_tag 10
#define meshtastic_Config_DisplayConfig_compass_orientation_tag 11
#define meshtastic_Config_LoRaConfig_use_preset_tag 1
#define meshtastic_Config_LoRaConfig_modem_preset_tag 2
#define meshtastic_Config_LoRaConfig_bandwidth_tag 3
@ -778,7 +805,8 @@ X(a, STATIC, SINGULAR, UENUM, units, 6) \
X(a, STATIC, SINGULAR, UENUM, oled, 7) \
X(a, STATIC, SINGULAR, UENUM, displaymode, 8) \
X(a, STATIC, SINGULAR, BOOL, heading_bold, 9) \
X(a, STATIC, SINGULAR, BOOL, wake_on_tap_or_motion, 10)
X(a, STATIC, SINGULAR, BOOL, wake_on_tap_or_motion, 10) \
X(a, STATIC, SINGULAR, UENUM, compass_orientation, 11)
#define meshtastic_Config_DisplayConfig_CALLBACK NULL
#define meshtastic_Config_DisplayConfig_DEFAULT NULL
@ -834,7 +862,7 @@ extern const pb_msgdesc_t meshtastic_Config_BluetoothConfig_msg;
#define MESHTASTIC_MESHTASTIC_CONFIG_PB_H_MAX_SIZE meshtastic_Config_size
#define meshtastic_Config_BluetoothConfig_size 10
#define meshtastic_Config_DeviceConfig_size 100
#define meshtastic_Config_DisplayConfig_size 28
#define meshtastic_Config_DisplayConfig_size 30
#define meshtastic_Config_LoRaConfig_size 80
#define meshtastic_Config_NetworkConfig_IpV4Config_size 20
#define meshtastic_Config_NetworkConfig_size 196

2
src/mesh/generated/meshtastic/deviceonly.pb.h
View File

@ -308,7 +308,7 @@ extern const pb_msgdesc_t meshtastic_OEMStore_msg;
#define MESHTASTIC_MESHTASTIC_DEVICEONLY_PB_H_MAX_SIZE meshtastic_OEMStore_size
#define meshtastic_ChannelFile_size 718
#define meshtastic_NodeInfoLite_size 166
#define meshtastic_OEMStore_size 3368
#define meshtastic_OEMStore_size 3370
#define meshtastic_PositionLite_size 28
#ifdef __cplusplus

2
src/mesh/generated/meshtastic/localonly.pb.h
View File

@ -181,7 +181,7 @@ extern const pb_msgdesc_t meshtastic_LocalModuleConfig_msg;
/* Maximum encoded size of messages (where known) */
#define MESHTASTIC_MESHTASTIC_LOCALONLY_PB_H_MAX_SIZE meshtastic_LocalModuleConfig_size
#define meshtastic_LocalConfig_size 537
#define meshtastic_LocalConfig_size 539
#define meshtastic_LocalModuleConfig_size 685
#ifdef __cplusplus

2
src/mesh/generated/meshtastic/mesh.pb.h
View File

@ -161,6 +161,8 @@ typedef enum _meshtastic_HardwareModel {
/* RadioMaster 900 Bandit Nano, https://www.radiomasterrc.com/products/bandit-nano-expresslrs-rf-module
ESP32-D0WDQ6 With SX1276/SKY66122, SSD1306 OLED and No GPS */
meshtastic_HardwareModel_RADIOMASTER_900_BANDIT_NANO = 64,
/* Heltec Capsule Sensor V3 with ESP32-S3 CPU, Portable LoRa device that can replace GNSS modules or sensors */
meshtastic_HardwareModel_HELTEC_CAPSULE_SENSOR_V3 = 65,
/* ------------------------------------------------------------------------------------------------------------------------------------------
Reserved ID For developing private Ports. These will show up in live traffic sparsely, so we can use a high number. Keep it within 8 bits.
------------------------------------------------------------------------------------------------------------------------------------------ */

3
src/mesh/generated/meshtastic/telemetry.pb.cpp
View File

@ -21,5 +21,8 @@ PB_BIND(meshtastic_AirQualityMetrics, meshtastic_AirQualityMetrics, AUTO)
PB_BIND(meshtastic_Telemetry, meshtastic_Telemetry, AUTO)
PB_BIND(meshtastic_Nau7802Config, meshtastic_Nau7802Config, AUTO)

44
src/mesh/generated/meshtastic/telemetry.pb.h
View File

@ -61,7 +61,9 @@ typedef enum _meshtastic_TelemetrySensorType {
/* AHT10 Integrated temperature and humidity sensor */
meshtastic_TelemetrySensorType_AHT10 = 23,
/* DFRobot Lark Weather station (temperature, humidity, pressure, wind speed and direction) */
meshtastic_TelemetrySensorType_DFROBOT_LARK = 24
meshtastic_TelemetrySensorType_DFROBOT_LARK = 24,
/* NAU7802 Scale Chip or compatible */
meshtastic_TelemetrySensorType_NAU7802 = 25
} meshtastic_TelemetrySensorType;
/* Struct definitions */
@ -111,6 +113,8 @@ typedef struct _meshtastic_EnvironmentMetrics {
uint16_t wind_direction;
/* Wind speed in m/s */
float wind_speed;
/* Weight in KG */
float weight;
} meshtastic_EnvironmentMetrics;
/* Power Metrics (voltage / current / etc) */
@ -174,6 +178,14 @@ typedef struct _meshtastic_Telemetry {
} variant;
} meshtastic_Telemetry;
/* NAU7802 Telemetry configuration, for saving to flash */
typedef struct _meshtastic_Nau7802Config {
/* The offset setting for the NAU7802 */
int32_t zeroOffset;
/* The calibration factor for the NAU7802 */
float calibrationFactor;
} meshtastic_Nau7802Config;
#ifdef __cplusplus
extern "C" {
@ -181,8 +193,9 @@ extern "C" {
/* Helper constants for enums */
#define _meshtastic_TelemetrySensorType_MIN meshtastic_TelemetrySensorType_SENSOR_UNSET
#define _meshtastic_TelemetrySensorType_MAX meshtastic_TelemetrySensorType_DFROBOT_LARK
#define _meshtastic_TelemetrySensorType_ARRAYSIZE ((meshtastic_TelemetrySensorType)(meshtastic_TelemetrySensorType_DFROBOT_LARK+1))
#define _meshtastic_TelemetrySensorType_MAX meshtastic_TelemetrySensorType_NAU7802
#define _meshtastic_TelemetrySensorType_ARRAYSIZE ((meshtastic_TelemetrySensorType)(meshtastic_TelemetrySensorType_NAU7802+1))
@ -192,15 +205,17 @@ extern "C" {
/* Initializer values for message structs */
#define meshtastic_DeviceMetrics_init_default {0, 0, 0, 0, 0}
#define meshtastic_EnvironmentMetrics_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_EnvironmentMetrics_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_PowerMetrics_init_default {0, 0, 0, 0, 0, 0}
#define meshtastic_AirQualityMetrics_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_Telemetry_init_default {0, 0, {meshtastic_DeviceMetrics_init_default}}
#define meshtastic_Nau7802Config_init_default {0, 0}
#define meshtastic_DeviceMetrics_init_zero {0, 0, 0, 0, 0}
#define meshtastic_EnvironmentMetrics_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_EnvironmentMetrics_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_PowerMetrics_init_zero {0, 0, 0, 0, 0, 0}
#define meshtastic_AirQualityMetrics_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define meshtastic_Telemetry_init_zero {0, 0, {meshtastic_DeviceMetrics_init_zero}}
#define meshtastic_Nau7802Config_init_zero {0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define meshtastic_DeviceMetrics_battery_level_tag 1
@ -222,6 +237,7 @@ extern "C" {
#define meshtastic_EnvironmentMetrics_uv_lux_tag 12
#define meshtastic_EnvironmentMetrics_wind_direction_tag 13
#define meshtastic_EnvironmentMetrics_wind_speed_tag 14
#define meshtastic_EnvironmentMetrics_weight_tag 15
#define meshtastic_PowerMetrics_ch1_voltage_tag 1
#define meshtastic_PowerMetrics_ch1_current_tag 2
#define meshtastic_PowerMetrics_ch2_voltage_tag 3
@ -245,6 +261,8 @@ extern "C" {
#define meshtastic_Telemetry_environment_metrics_tag 3
#define meshtastic_Telemetry_air_quality_metrics_tag 4
#define meshtastic_Telemetry_power_metrics_tag 5
#define meshtastic_Nau7802Config_zeroOffset_tag 1
#define meshtastic_Nau7802Config_calibrationFactor_tag 2
/* Struct field encoding specification for nanopb */
#define meshtastic_DeviceMetrics_FIELDLIST(X, a) \
@ -270,7 +288,8 @@ X(a, STATIC, SINGULAR, FLOAT, white_lux, 10) \
X(a, STATIC, SINGULAR, FLOAT, ir_lux, 11) \
X(a, STATIC, SINGULAR, FLOAT, uv_lux, 12) \
X(a, STATIC, SINGULAR, UINT32, wind_direction, 13) \
X(a, STATIC, SINGULAR, FLOAT, wind_speed, 14)
X(a, STATIC, SINGULAR, FLOAT, wind_speed, 14) \
X(a, STATIC, SINGULAR, FLOAT, weight, 15)
#define meshtastic_EnvironmentMetrics_CALLBACK NULL
#define meshtastic_EnvironmentMetrics_DEFAULT NULL
@ -313,11 +332,18 @@ X(a, STATIC, ONEOF, MESSAGE, (variant,power_metrics,variant.power_metrics)
#define meshtastic_Telemetry_variant_air_quality_metrics_MSGTYPE meshtastic_AirQualityMetrics
#define meshtastic_Telemetry_variant_power_metrics_MSGTYPE meshtastic_PowerMetrics
#define meshtastic_Nau7802Config_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, zeroOffset, 1) \
X(a, STATIC, SINGULAR, FLOAT, calibrationFactor, 2)
#define meshtastic_Nau7802Config_CALLBACK NULL
#define meshtastic_Nau7802Config_DEFAULT NULL
extern const pb_msgdesc_t meshtastic_DeviceMetrics_msg;
extern const pb_msgdesc_t meshtastic_EnvironmentMetrics_msg;
extern const pb_msgdesc_t meshtastic_PowerMetrics_msg;
extern const pb_msgdesc_t meshtastic_AirQualityMetrics_msg;
extern const pb_msgdesc_t meshtastic_Telemetry_msg;
extern const pb_msgdesc_t meshtastic_Nau7802Config_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define meshtastic_DeviceMetrics_fields &meshtastic_DeviceMetrics_msg
@ -325,14 +351,16 @@ extern const pb_msgdesc_t meshtastic_Telemetry_msg;
#define meshtastic_PowerMetrics_fields &meshtastic_PowerMetrics_msg
#define meshtastic_AirQualityMetrics_fields &meshtastic_AirQualityMetrics_msg
#define meshtastic_Telemetry_fields &meshtastic_Telemetry_msg
#define meshtastic_Nau7802Config_fields &meshtastic_Nau7802Config_msg
/* Maximum encoded size of messages (where known) */
#define MESHTASTIC_MESHTASTIC_TELEMETRY_PB_H_MAX_SIZE meshtastic_Telemetry_size
#define meshtastic_AirQualityMetrics_size 72
#define meshtastic_DeviceMetrics_size 27
#define meshtastic_EnvironmentMetrics_size 68
#define meshtastic_EnvironmentMetrics_size 73
#define meshtastic_Nau7802Config_size 16
#define meshtastic_PowerMetrics_size 30
#define meshtastic_Telemetry_size 79
#define meshtastic_Telemetry_size 80
#ifdef __cplusplus
} /* extern "C" */

28
src/modules/CannedMessageModule.cpp
View File

@ -49,7 +49,7 @@ CannedMessageModule::CannedMessageModule()
LOG_INFO("CannedMessageModule is enabled\n");
// T-Watch interface currently has no way to select destination type, so default to 'node'
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NODE;
#endif
@ -75,7 +75,7 @@ int CannedMessageModule::splitConfiguredMessages()
String messages = cannedMessageModuleConfig.messages;
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
String separator = messages.length() ? "|" : "";
messages = "[---- Free Text ----]" + separator + messages;
@ -144,7 +144,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
}
if (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_SELECT)) {
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
if (this->currentMessageIndex == 0) {
this->runState = CANNED_MESSAGE_RUN_STATE_FREETEXT;
@ -170,7 +170,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
e.frameChanged = true;
this->currentMessageIndex = -1;
#ifndef T_WATCH_S3
#if !defined(T_WATCH_S3) && !defined(RAK14014)
this->freetext = ""; // clear freetext
this->cursor = 0;
this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
@ -183,7 +183,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
(event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_LEFT)) ||
(event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_RIGHT))) {
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
if (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_LEFT)) {
this->payload = 0xb4;
} else if (event->inputEvent == static_cast<char>(meshtastic_ModuleConfig_CannedMessageConfig_InputEventChar_RIGHT)) {
@ -283,7 +283,7 @@ int CannedMessageModule::handleInputEvent(const InputEvent *event)
}
}
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
if (this->runState == CANNED_MESSAGE_RUN_STATE_FREETEXT) {
String keyTapped = keyForCoordinates(event->touchX, event->touchY);
@ -404,7 +404,7 @@ int32_t CannedMessageModule::runOnce()
this->freetext = ""; // clear freetext
this->cursor = 0;
#ifndef T_WATCH_S3
#if !defined(T_WATCH_S3) && !defined(RAK14014)
this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
#endif
@ -417,7 +417,7 @@ int32_t CannedMessageModule::runOnce()
this->freetext = ""; // clear freetext
this->cursor = 0;
#ifndef T_WATCH_S3
#if !defined(T_WATCH_S3) && !defined(RAK14014)
this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
#endif
@ -437,7 +437,7 @@ int32_t CannedMessageModule::runOnce()
powerFSM.trigger(EVENT_PRESS);
return INT32_MAX;
} else {
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
sendText(this->dest, indexChannels[this->channel], this->messages[this->currentMessageIndex], true);
#else
sendText(NODENUM_BROADCAST, channels.getPrimaryIndex(), this->messages[this->currentMessageIndex], true);
@ -454,7 +454,7 @@ int32_t CannedMessageModule::runOnce()
this->freetext = ""; // clear freetext
this->cursor = 0;
#ifndef T_WATCH_S3
#if !defined(T_WATCH_S3) && !defined(RAK14014)
this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
#endif
@ -471,7 +471,7 @@ int32_t CannedMessageModule::runOnce()
this->freetext = ""; // clear freetext
this->cursor = 0;
#ifndef T_WATCH_S3
#if !defined(T_WATCH_S3) && !defined(RAK14014)
this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
#endif
@ -484,7 +484,7 @@ int32_t CannedMessageModule::runOnce()
this->freetext = ""; // clear freetext
this->cursor = 0;
#ifndef T_WATCH_S3
#if !defined(T_WATCH_S3) && !defined(RAK14014)
this->destSelect = CANNED_MESSAGE_DESTINATION_TYPE_NONE;
#endif
@ -714,7 +714,7 @@ void CannedMessageModule::showTemporaryMessage(const String &message)
setIntervalFromNow(2000);
}
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
String CannedMessageModule::keyForCoordinates(uint x, uint y)
{
@ -949,7 +949,7 @@ void CannedMessageModule::drawFrame(OLEDDisplay *display, OLEDDisplayUiState *st
display->drawString(10 + x, 0 + y + FONT_HEIGHT_SMALL, "Canned Message\nModule disabled.");
} else if (cannedMessageModule->runState == CANNED_MESSAGE_RUN_STATE_FREETEXT) {
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
drawKeyboard(display, state, 0, 0);
#else

4
src/modules/CannedMessageModule.h
View File

@ -98,7 +98,7 @@ class CannedMessageModule : public SinglePortModule, public Observable<const UIF
int getNextIndex();
int getPrevIndex();
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
void drawKeyboard(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y);
String keyForCoordinates(uint x, uint y);
bool shift = false;
@ -150,7 +150,7 @@ class CannedMessageModule : public SinglePortModule, public Observable<const UIF
unsigned long lastTouchMillis = 0;
String temporaryMessage;
#ifdef T_WATCH_S3
#if defined(T_WATCH_S3) || defined(RAK14014)
Letter keyboard[2][4][10] = {{{{"Q", 20, 0, 0, 0, 0},
{"W", 22, 0, 0, 0, 0},
{"E", 17, 0, 0, 0, 0},

95
src/modules/DropzoneModule.cpp Normal file
View File

@ -0,0 +1,95 @@
#if !MESHTASTIC_EXCLUDE_DROPZONE
#include "DropzoneModule.h"
#include "MeshService.h"
#include "configuration.h"
#include "gps/GeoCoord.h"
#include "gps/RTC.h"
#include "main.h"
#include <assert.h>
#include "modules/Telemetry/Sensor/DFRobotLarkSensor.h"
#include "modules/Telemetry/UnitConversions.h"
#include <string>
DropzoneModule *dropzoneModule;
int32_t DropzoneModule::runOnce()
{
// Send on a 5 second delay from receiving the matching request
if (startSendConditions != 0 && (startSendConditions + 5000U) < millis()) {
service.sendToMesh(sendConditions(), RX_SRC_LOCAL);
startSendConditions = 0;
}
// Run every second to check if we need to send conditions
return 1000;
}
ProcessMessage DropzoneModule::handleReceived(const meshtastic_MeshPacket &mp)
{
auto &p = mp.decoded;
char matchCompare[54];
auto incomingMessage = reinterpret_cast<const char *>(p.payload.bytes);
sprintf(matchCompare, "%s conditions", owner.short_name);
if (strncasecmp(incomingMessage, matchCompare, strlen(matchCompare)) == 0) {
LOG_DEBUG("Received dropzone conditions request\n");
startSendConditions = millis();
}
sprintf(matchCompare, "%s conditions", owner.long_name);
if (strncasecmp(incomingMessage, matchCompare, strlen(matchCompare)) == 0) {
LOG_DEBUG("Received dropzone conditions request\n");
startSendConditions = millis();
}
return ProcessMessage::CONTINUE;
}
meshtastic_MeshPacket *DropzoneModule::sendConditions()
{
char replyStr[200];
/*
CLOSED @ {HH:MM:SS}z
Wind 2 kts @ 125°
29.25 inHg 72°C
*/
uint32_t rtc_sec = getValidTime(RTCQuality::RTCQualityDevice, true);
int hour = 0, min = 0, sec = 0;
if (rtc_sec > 0) {
long hms = rtc_sec % SEC_PER_DAY;
hms = (hms + SEC_PER_DAY) % SEC_PER_DAY;
hour = hms / SEC_PER_HOUR;
min = (hms % SEC_PER_HOUR) / SEC_PER_MIN;
sec = (hms % SEC_PER_HOUR) % SEC_PER_MIN;
}
// Check if the dropzone is open or closed by reading the analog pin
// If pin is connected to GND (below 100 should be lower than floating voltage),
// the dropzone is open
auto dropzoneStatus = analogRead(A1) < 100 ? "OPEN" : "CLOSED";
auto reply = allocDataPacket();
auto node = nodeDB->getMeshNode(nodeDB->getNodeNum());
if (sensor.hasSensor()) {
meshtastic_Telemetry telemetry = meshtastic_Telemetry_init_zero;
sensor.getMetrics(&telemetry);
auto windSpeed = UnitConversions::MetersPerSecondToKnots(telemetry.variant.environment_metrics.wind_speed);
auto windDirection = telemetry.variant.environment_metrics.wind_direction;
auto temp = telemetry.variant.environment_metrics.temperature;
auto baro = UnitConversions::HectoPascalToInchesOfMercury(telemetry.variant.environment_metrics.barometric_pressure);
sprintf(replyStr, "%s @ %02d:%02d:%02dz\nWind %.2f kts @ %d°\nBaro %.2f inHg %.2f°C", dropzoneStatus, hour, min, sec,
windSpeed, windDirection, baro, temp);
} else {
LOG_ERROR("No sensor found\n");
sprintf(replyStr, "%s @ %02d:%02d:%02d\nNo sensor found", dropzoneStatus, hour, min, sec);
}
LOG_DEBUG("Conditions reply: %s\n", replyStr);
reply->decoded.payload.size = strlen(replyStr); // You must specify how many bytes are in the reply
memcpy(reply->decoded.payload.bytes, replyStr, reply->decoded.payload.size);
return reply;
}
#endif

37
src/modules/DropzoneModule.h Normal file
View File

@ -0,0 +1,37 @@
#pragma once
#if !MESHTASTIC_EXCLUDE_DROPZONE
#include "SinglePortModule.h"
#include "modules/Telemetry/Sensor/DFRobotLarkSensor.h"
/**
* An example module that replies to a message with the current conditions
* and status at the dropzone when it receives a text message mentioning it's name followed by "conditions"
*/
class DropzoneModule : public SinglePortModule, private concurrency::OSThread
{
DFRobotLarkSensor sensor;
public:
/** Constructor
* name is for debugging output
*/
DropzoneModule() : SinglePortModule("dropzone", meshtastic_PortNum_TEXT_MESSAGE_APP), concurrency::OSThread("DropzoneModule")
{
// Set up the analog pin for reading the dropzone status
pinMode(PIN_A1, INPUT);
}
virtual int32_t runOnce() override;
protected:
/** Called to handle a particular incoming message
*/
virtual ProcessMessage handleReceived(const meshtastic_MeshPacket &mp) override;
private:
meshtastic_MeshPacket *sendConditions();
uint32_t startSendConditions = 0;
};
extern DropzoneModule *dropzoneModule;
#endif

9
src/modules/Modules.cpp
View File

@ -70,6 +70,11 @@
#include "modules/SerialModule.h"
#endif
#endif
#if !MESHTASTIC_EXCLUDE_DROPZONE
#include "modules/DropzoneModule.h"
#endif
/**
* Create module instances here. If you are adding a new module, you must 'new' it here (or somewhere else)
*/
@ -100,6 +105,10 @@ void setupModules()
#if !MESHTASTIC_EXCLUDE_ATAK
atakPluginModule = new AtakPluginModule();
#endif
#if !MESHTASTIC_EXCLUDE_DROPZONE
dropzoneModule = new DropzoneModule();
#endif
// Note: if the rest of meshtastic doesn't need to explicitly use your module, you do not need to assign the instance
// to a global variable.

121
src/modules/Telemetry/EnvironmentTelemetry.cpp
View File

@ -27,6 +27,7 @@
#include "Sensor/LPS22HBSensor.h"
#include "Sensor/MCP9808Sensor.h"
#include "Sensor/MLX90632Sensor.h"
#include "Sensor/NAU7802Sensor.h"
#include "Sensor/OPT3001Sensor.h"
#include "Sensor/RCWL9620Sensor.h"
#include "Sensor/SHT31Sensor.h"
@ -51,6 +52,7 @@ RCWL9620Sensor rcwl9620Sensor;
AHT10Sensor aht10Sensor;
MLX90632Sensor mlx90632Sensor;
DFRobotLarkSensor dfRobotLarkSensor;
NAU7802Sensor nau7802Sensor;
#define FAILED_STATE_SENSOR_READ_MULTIPLIER 10
#define DISPLAY_RECEIVEID_MEASUREMENTS_ON_SCREEN true
@ -125,6 +127,8 @@ int32_t EnvironmentTelemetryModule::runOnce()
result = aht10Sensor.runOnce();
if (mlx90632Sensor.hasSensor())
result = mlx90632Sensor.runOnce();
if (nau7802Sensor.hasSensor())
result = nau7802Sensor.runOnce();
}
return result;
} else {
@ -223,12 +227,18 @@ void EnvironmentTelemetryModule::drawFrame(OLEDDisplay *display, OLEDDisplayUiSt
"Volt/Cur: " + String(lastMeasurement.variant.environment_metrics.voltage, 0) + "V / " +
String(lastMeasurement.variant.environment_metrics.current, 0) + "mA");
}
if (lastMeasurement.variant.environment_metrics.iaq != 0) {
display->drawString(x, y += fontHeight(FONT_SMALL), "IAQ: " + String(lastMeasurement.variant.environment_metrics.iaq));
}
if (lastMeasurement.variant.environment_metrics.distance != 0)
display->drawString(x, y += fontHeight(FONT_SMALL),
"Water Level: " + String(lastMeasurement.variant.environment_metrics.distance, 0) + "mm");
if (lastMeasurement.variant.environment_metrics.weight != 0)
display->drawString(x, y += fontHeight(FONT_SMALL),
"Weight: " + String(lastMeasurement.variant.environment_metrics.weight, 0) + "kg");
}
bool EnvironmentTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPacket &mp, meshtastic_Telemetry *t)
@ -245,8 +255,9 @@ bool EnvironmentTelemetryModule::handleReceivedProtobuf(const meshtastic_MeshPac
LOG_INFO("(Received from %s): voltage=%f, IAQ=%d, distance=%f, lux=%f\n", sender, t->variant.environment_metrics.voltage,
t->variant.environment_metrics.iaq, t->variant.environment_metrics.distance, t->variant.environment_metrics.lux);
LOG_INFO("(Received from %s): wind speed=%fm/s, direction=%d degrees\n", sender,
t->variant.environment_metrics.wind_speed, t->variant.environment_metrics.wind_direction);
LOG_INFO("(Received from %s): wind speed=%fm/s, direction=%d degrees, weight=%fkg\n", sender,
t->variant.environment_metrics.wind_speed, t->variant.environment_metrics.wind_direction,
t->variant.environment_metrics.weight);
#endif
// release previous packet before occupying a new spot
@ -331,6 +342,10 @@ bool EnvironmentTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
valid = valid && rcwl9620Sensor.getMetrics(&m);
hasSensor = true;
}
if (nau7802Sensor.hasSensor()) {
valid = valid && nau7802Sensor.getMetrics(&m);
hasSensor = true;
}
if (aht10Sensor.hasSensor()) {
if (!bmp280Sensor.hasSensor()) {
valid = valid && aht10Sensor.getMetrics(&m);
@ -354,8 +369,8 @@ bool EnvironmentTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
LOG_INFO("(Sending): voltage=%f, IAQ=%d, distance=%f, lux=%f\n", m.variant.environment_metrics.voltage,
m.variant.environment_metrics.iaq, m.variant.environment_metrics.distance, m.variant.environment_metrics.lux);
LOG_INFO("(Sending): wind speed=%fm/s, direction=%d degrees\n", m.variant.environment_metrics.wind_speed,
m.variant.environment_metrics.wind_direction);
LOG_INFO("(Sending): wind speed=%fm/s, direction=%d degrees, weight=%fkg\n", m.variant.environment_metrics.wind_speed,
m.variant.environment_metrics.wind_direction, m.variant.environment_metrics.weight);
sensor_read_error_count = 0;
@ -388,4 +403,102 @@ bool EnvironmentTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
return valid;
}
AdminMessageHandleResult EnvironmentTelemetryModule::handleAdminMessageForModule(const meshtastic_MeshPacket &mp,
meshtastic_AdminMessage *request,
meshtastic_AdminMessage *response)
{
AdminMessageHandleResult result = AdminMessageHandleResult::NOT_HANDLED;
if (dfRobotLarkSensor.hasSensor()) {
result = dfRobotLarkSensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (sht31Sensor.hasSensor()) {
result = sht31Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (lps22hbSensor.hasSensor()) {
result = lps22hbSensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (shtc3Sensor.hasSensor()) {
result = shtc3Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (bmp085Sensor.hasSensor()) {
result = bmp085Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (bmp280Sensor.hasSensor()) {
result = bmp280Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (bme280Sensor.hasSensor()) {
result = bme280Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (bme680Sensor.hasSensor()) {
result = bme680Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (mcp9808Sensor.hasSensor()) {
result = mcp9808Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (ina219Sensor.hasSensor()) {
result = ina219Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (ina260Sensor.hasSensor()) {
result = ina260Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (veml7700Sensor.hasSensor()) {
result = veml7700Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (tsl2591Sensor.hasSensor()) {
result = tsl2591Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (opt3001Sensor.hasSensor()) {
result = opt3001Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (mlx90632Sensor.hasSensor()) {
result = mlx90632Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (rcwl9620Sensor.hasSensor()) {
result = rcwl9620Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (nau7802Sensor.hasSensor()) {
result = nau7802Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
if (aht10Sensor.hasSensor()) {
result = aht10Sensor.handleAdminMessage(mp, request, response);
if (result != AdminMessageHandleResult::NOT_HANDLED)
return result;
}
return result;
}
#endif

4
src/modules/Telemetry/EnvironmentTelemetry.h
View File

@ -37,6 +37,10 @@ class EnvironmentTelemetryModule : private concurrency::OSThread, public Protobu
*/
bool sendTelemetry(NodeNum dest = NODENUM_BROADCAST, bool wantReplies = false);
virtual AdminMessageHandleResult handleAdminMessageForModule(const meshtastic_MeshPacket &mp,
meshtastic_AdminMessage *request,
meshtastic_AdminMessage *response) override;
private:
float CelsiusToFahrenheit(float c);
bool firstTime = 1;

5
src/modules/Telemetry/Sensor/DFRobotLarkSensor.h
View File

@ -1,3 +1,7 @@
#pragma once
#ifndef _MT_DFROBOTLARKSENSOR_H
#define _MT_DFROBOTLARKSENSOR_H
#include "configuration.h"
#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
@ -21,4 +25,5 @@ class DFRobotLarkSensor : public TelemetrySensor
virtual bool getMetrics(meshtastic_Telemetry *measurement) override;
};
#endif
#endif

143
src/modules/Telemetry/Sensor/NAU7802Sensor.cpp Normal file
View File

@ -0,0 +1,143 @@
#include "configuration.h"
#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
#include "../mesh/generated/meshtastic/telemetry.pb.h"
#include "FSCommon.h"
#include "NAU7802Sensor.h"
#include "TelemetrySensor.h"
#include <pb_decode.h>
#include <pb_encode.h>
meshtastic_Nau7802Config nau7802config = meshtastic_Nau7802Config_init_zero;
NAU7802Sensor::NAU7802Sensor() : TelemetrySensor(meshtastic_TelemetrySensorType_NAU7802, "NAU7802") {}
int32_t NAU7802Sensor::runOnce()
{
LOG_INFO("Init sensor: %s\n", sensorName);
if (!hasSensor()) {
return DEFAULT_SENSOR_MINIMUM_WAIT_TIME_BETWEEN_READS;
}
status = nau7802.begin(*nodeTelemetrySensorsMap[sensorType].second);
nau7802.setSampleRate(NAU7802_SPS_320);
if (!loadCalibrationData()) {
LOG_ERROR("Failed to load calibration data\n");
}
nau7802.calibrateAFE();
LOG_INFO("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
return initI2CSensor();
}
void NAU7802Sensor::setup() {}
bool NAU7802Sensor::getMetrics(meshtastic_Telemetry *measurement)
{
LOG_DEBUG("NAU7802Sensor::getMetrics\n");
nau7802.powerUp();
// Wait for the sensor to become ready for one second max
uint32_t start = millis();
while (!nau7802.available()) {
delay(100);
if (millis() - start > 1000) {
nau7802.powerDown();
return false;
}
}
// Check if we have correct calibration values after powerup
LOG_DEBUG("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
measurement->variant.environment_metrics.weight = nau7802.getWeight() / 1000; // sample is in kg
nau7802.powerDown();
return true;
}
void NAU7802Sensor::calibrate(float weight)
{
nau7802.calculateCalibrationFactor(weight * 1000, 64); // internal sample is in grams
if (!saveCalibrationData()) {
LOG_WARN("Failed to save calibration data\n");
}
LOG_INFO("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
}
AdminMessageHandleResult NAU7802Sensor::handleAdminMessage(const meshtastic_MeshPacket &mp, meshtastic_AdminMessage *request,
meshtastic_AdminMessage *response)
{
AdminMessageHandleResult result;
switch (request->which_payload_variant) {
case meshtastic_AdminMessage_set_scale_tag:
if (request->set_scale == 0) {
this->tare();
LOG_DEBUG("Client requested to tare scale\n");
} else {
this->calibrate(request->set_scale);
LOG_DEBUG("Client requested to calibrate to %d kg\n", request->set_scale);
}
result = AdminMessageHandleResult::HANDLED;
break;
default:
result = AdminMessageHandleResult::NOT_HANDLED;
}
return result;
}
void NAU7802Sensor::tare()
{
nau7802.calculateZeroOffset(64);
if (!saveCalibrationData()) {
LOG_WARN("Failed to save calibration data\n");
}
LOG_INFO("Offset: %d, Calibration factor: %.2f\n", nau7802.getZeroOffset(), nau7802.getCalibrationFactor());
}
bool NAU7802Sensor::saveCalibrationData()
{
if (FSCom.exists(nau7802ConfigFileName) && !FSCom.remove(nau7802ConfigFileName)) {
LOG_WARN("Can't remove old state file\n");
}
auto file = FSCom.open(nau7802ConfigFileName, FILE_O_WRITE);
nau7802config.zeroOffset = nau7802.getZeroOffset();
nau7802config.calibrationFactor = nau7802.getCalibrationFactor();
bool okay = false;
if (file) {
LOG_INFO("%s state write to %s.\n", sensorName, nau7802ConfigFileName);
pb_ostream_t stream = {&writecb, &file, meshtastic_Nau7802Config_size};
if (!pb_encode(&stream, &meshtastic_Nau7802Config_msg, &nau7802config)) {
LOG_ERROR("Error: can't encode protobuf %s\n", PB_GET_ERROR(&stream));
} else {
okay = true;
}
file.flush();
file.close();
} else {
LOG_INFO("Can't write %s state (File: %s).\n", sensorName, nau7802ConfigFileName);
}
return okay;
}
bool NAU7802Sensor::loadCalibrationData()
{
auto file = FSCom.open(nau7802ConfigFileName, FILE_O_READ);
bool okay = false;
if (file) {
LOG_INFO("%s state read from %s.\n", sensorName, nau7802ConfigFileName);
pb_istream_t stream = {&readcb, &file, meshtastic_Nau7802Config_size};
if (!pb_decode(&stream, &meshtastic_Nau7802Config_msg, &nau7802config)) {
LOG_ERROR("Error: can't decode protobuf %s\n", PB_GET_ERROR(&stream));
} else {
nau7802.setZeroOffset(nau7802config.zeroOffset);
nau7802.setCalibrationFactor(nau7802config.calibrationFactor);
okay = true;
}
file.close();
} else {
LOG_INFO("No %s state found (File: %s).\n", sensorName, nau7802ConfigFileName);
}
return okay;
}
#endif

31
src/modules/Telemetry/Sensor/NAU7802Sensor.h Normal file
View File

@ -0,0 +1,31 @@
#include "MeshModule.h"
#include "configuration.h"
#if !MESHTASTIC_EXCLUDE_ENVIRONMENTAL_SENSOR
#include "../mesh/generated/meshtastic/telemetry.pb.h"
#include "TelemetrySensor.h"
#include <SparkFun_Qwiic_Scale_NAU7802_Arduino_Library.h>
class NAU7802Sensor : public TelemetrySensor
{
private:
NAU7802 nau7802;
protected:
virtual void setup() override;
const char *nau7802ConfigFileName = "/prefs/nau7802.dat";
bool saveCalibrationData();
bool loadCalibrationData();
public:
NAU7802Sensor();
virtual int32_t runOnce() override;
virtual bool getMetrics(meshtastic_Telemetry *measurement) override;
void tare();
void calibrate(float weight);
AdminMessageHandleResult handleAdminMessage(const meshtastic_MeshPacket &mp, meshtastic_AdminMessage *request,
meshtastic_AdminMessage *response) override;
};
#endif

7
src/modules/Telemetry/Sensor/TelemetrySensor.h
View File

@ -4,6 +4,7 @@
#pragma once
#include "../mesh/generated/meshtastic/telemetry.pb.h"
#include "MeshModule.h"
#include "NodeDB.h"
#include <utility>
@ -42,6 +43,12 @@ class TelemetrySensor
virtual void setup();
public:
virtual AdminMessageHandleResult handleAdminMessage(const meshtastic_MeshPacket &mp, meshtastic_AdminMessage *request,
meshtastic_AdminMessage *response)
{
return AdminMessageHandleResult::NOT_HANDLED;
}
bool hasSensor() { return nodeTelemetrySensorsMap[sensorType].first > 0; }
virtual int32_t runOnce() = 0;

21
src/modules/Telemetry/UnitConversions.cpp Normal file
View File

@ -0,0 +1,21 @@
#include "UnitConversions.h"
float UnitConversions::CelsiusToFahrenheit(float celcius)
{
return (celcius * 9) / 5 + 32;
}
float UnitConversions::MetersPerSecondToKnots(float metersPerSecond)
{
return metersPerSecond * 1.94384;
}
float UnitConversions::MetersPerSecondToMilesPerHour(float metersPerSecond)
{
return metersPerSecond * 2.23694;
}
float UnitConversions::HectoPascalToInchesOfMercury(float hectoPascal)
{
return hectoPascal * 0.029529983071445;
}

10
src/modules/Telemetry/UnitConversions.h Normal file
View File

@ -0,0 +1,10 @@
#pragma once
class UnitConversions
{
public:
static float CelsiusToFahrenheit(float celcius);
static float MetersPerSecondToKnots(float metersPerSecond);
static float MetersPerSecondToMilesPerHour(float metersPerSecond);
static float HectoPascalToInchesOfMercury(float hectoPascal);
};

6
src/mqtt/MQTT.cpp
View File

@ -675,6 +675,8 @@ std::string MQTT::meshPacketToJson(meshtastic_MeshPacket *mp)
msgPayload["lux"] = new JSONValue(decoded->variant.environment_metrics.lux);
msgPayload["white_lux"] = new JSONValue(decoded->variant.environment_metrics.white_lux);
msgPayload["iaq"] = new JSONValue((uint)decoded->variant.environment_metrics.iaq);
msgPayload["wind_speed"] = new JSONValue((uint)decoded->variant.environment_metrics.wind_speed);
msgPayload["wind_direction"] = new JSONValue((uint)decoded->variant.environment_metrics.wind_direction);
} else if (decoded->which_variant == meshtastic_Telemetry_power_metrics_tag) {
msgPayload["voltage_ch1"] = new JSONValue(decoded->variant.power_metrics.ch1_voltage);
msgPayload["current_ch1"] = new JSONValue(decoded->variant.power_metrics.ch1_current);
@ -898,8 +900,10 @@ std::string MQTT::meshPacketToJson(meshtastic_MeshPacket *mp)
jsonObj["rssi"] = new JSONValue((int)mp->rx_rssi);
if (mp->rx_snr != 0)
jsonObj["snr"] = new JSONValue((float)mp->rx_snr);
if (mp->hop_start != 0 && mp->hop_limit <= mp->hop_start)
if (mp->hop_start != 0 && mp->hop_limit <= mp->hop_start) {
jsonObj["hops_away"] = new JSONValue((unsigned int)(mp->hop_start - mp->hop_limit));
jsonObj["hop_start"] = new JSONValue((unsigned int)(mp->hop_start));
}
// serialize and write it to the stream
JSONValue *value = new JSONValue(jsonObj);

2
src/platform/esp32/architecture.h
View File

@ -147,6 +147,8 @@
#define HW_VENDOR meshtastic_HardwareModel_WIPHONE
#elif defined(RADIOMASTER_900_BANDIT_NANO)
#define HW_VENDOR meshtastic_HardwareModel_RADIOMASTER_900_BANDIT_NANO
#elif defined(HELTEC_CAPSULE_SENSOR_V3)
#define HW_VENDOR meshtastic_HardwareModel_HELTEC_CAPSULE_SENSOR_V3
#endif
// -----------------------------------------------------------------------------

12
src/platform/nrf52/NRF52Bluetooth.cpp
View File

@ -215,6 +215,18 @@ void NRF52Bluetooth::shutdown()
Bluefruit.Advertising.stop();
}
void NRF52Bluetooth::startDisabled()
{
// Setup Bluetooth
nrf52Bluetooth->setup();
// Shutdown bluetooth for minimum power draw
Bluefruit.Advertising.stop();
Bluefruit.setTxPower(-40); // Minimum power
LOG_INFO("Disabling NRF52 Bluetooth. (Workaround: tx power min, advertising stopped)\n");
}
bool NRF52Bluetooth::isConnected()
{
return Bluefruit.connected(connectionHandle);

1
src/platform/nrf52/NRF52Bluetooth.h
View File

@ -8,6 +8,7 @@ class NRF52Bluetooth : BluetoothApi
public:
void setup();
void shutdown();
void startDisabled();
void resumeAdvertising();
void clearBonds();
bool isConnected();

55
src/platform/nrf52/main-nrf52.cpp
View File

@ -68,28 +68,47 @@ static const bool useSoftDevice = true; // Set to false for easier debugging
#if !MESHTASTIC_EXCLUDE_BLUETOOTH
void setBluetoothEnable(bool enable)
{
if (enable && config.bluetooth.enabled) {
if (!useSoftDevice) {
// For debugging use: don't use bluetooth
if (!useSoftDevice) {
if (enable)
LOG_INFO("DISABLING NRF52 BLUETOOTH WHILE DEBUGGING\n");
} else {
if (!nrf52Bluetooth) {
LOG_DEBUG("Initializing NRF52 Bluetooth\n");
nrf52Bluetooth = new NRF52Bluetooth();
nrf52Bluetooth->setup();
// We delay brownout init until after BLE because BLE starts soft device
initBrownout();
} else {
nrf52Bluetooth->resumeAdvertising();
}
}
} else {
if (nrf52Bluetooth) {
nrf52Bluetooth->shutdown();
}
return;
}
// If user disabled bluetooth: init then disable advertising & reduce power
// Workaround. Avoid issue where device hangs several days after boot..
// Allegedly, no significant increase in power consumption
if (!config.bluetooth.enabled) {
static bool initialized = false;
if (!initialized) {
nrf52Bluetooth = new NRF52Bluetooth();
nrf52Bluetooth->startDisabled();
initBrownout();
initialized = true;
}
return;
}
if (enable) {
// If not yet set-up
if (!nrf52Bluetooth) {
LOG_DEBUG("Initializing NRF52 Bluetooth\n");
nrf52Bluetooth = new NRF52Bluetooth();
nrf52Bluetooth->setup();
// We delay brownout init until after BLE because BLE starts soft device
initBrownout();
}
// Already setup, apparently
else
nrf52Bluetooth->resumeAdvertising();
}
// Disable (if previously set-up)
else if (nrf52Bluetooth)
nrf52Bluetooth->shutdown();
}
#else
#warning NRF52 "Bluetooth disable" workaround does not apply to builds with MESHTASTIC_EXCLUDE_BLUETOOTH
void setBluetoothEnable(bool enable) {}
#endif
/**

11
variants/heltec_capsule_sensor_v3/platformio.ini Normal file
View File

@ -0,0 +1,11 @@
[env:heltec_capsule_sensor_v3]
extends = esp32s3_base
board = heltec_wifi_lora_32_V3
board_check = true
build_flags =
${esp32s3_base.build_flags} -I variants/heltec_capsule_sensor_v3
-D HELTEC_CAPSULE_SENSOR_V3
-D GPS_POWER_TOGGLE ; comment this line to disable triple press function on the user button to turn off gps entirely.
;-D DEBUG_DISABLED ; uncomment this line to disable DEBUG output

42
variants/heltec_capsule_sensor_v3/variant.h Normal file
View File

@ -0,0 +1,42 @@
#define LED_PIN 33
#define LED_PIN2 34
#define EXT_PWR_DETECT 35
#define BUTTON_PIN 18
#define BATTERY_PIN 7 // A battery voltage measurement pin, voltage divider connected here to measure battery voltage
#define ADC_CHANNEL ADC1_GPIO7_CHANNEL
#define ADC_ATTENUATION ADC_ATTEN_DB_2_5 // lower dB for high resistance voltage divider
#define ADC_MULTIPLIER (4.9 * 1.045)
#define ADC_CTRL 36 // active HIGH, powers the voltage divider. Only on 1.1
#define ADC_CTRL_ENABLED HIGH
#undef GPS_RX_PIN
#undef GPS_TX_PIN
#define GPS_RX_PIN 5
#define GPS_TX_PIN 4
#define PIN_GPS_RESET 3
#define GPS_RESET_MODE LOW
#define PIN_GPS_PPS 1
#define PIN_GPS_EN 21
#define GPS_EN_ACTIVE HIGH
#define USE_SX1262
#define LORA_DIO0 -1 // a No connect on the SX1262 module
#define LORA_RESET 12
#define LORA_DIO1 14 // SX1262 IRQ
#define LORA_DIO2 13 // SX1262 BUSY
#define LORA_DIO3 // Not connected on PCB, but internally on the TTGO SX1262, if DIO3 is high the TXCO is enabled
#define LORA_SCK 9
#define LORA_MISO 11
#define LORA_MOSI 10
#define LORA_CS 8
#define SX126X_CS LORA_CS
#define SX126X_DIO1 LORA_DIO1
#define SX126X_BUSY LORA_DIO2
#define SX126X_RESET LORA_RESET
#define SX126X_DIO2_AS_RF_SWITCH
#define SX126X_DIO3_TCXO_VOLTAGE 1.8

19
variants/radiomaster_900_bandit_micro/platformio.ini Normal file
View File

@ -0,0 +1,19 @@
;
; This uses the same code and settings as the Radio Master Bandit Nano (https://www.radiomasterrc.com/products/bandit-nano-expresslrs-rf-module)
;
; Link to the unit : https://www.radiomasterrc.com/products/bandit-micro-expresslrs-rf-module
;
[env:radiomaster_900_bandit_micro]
extends = esp32_base
board = esp32doit-devkit-v1
build_flags =
${esp32_base.build_flags}
-DRADIOMASTER_900_BANDIT_NANO
-DVTABLES_IN_FLASH=1
-DCONFIG_DISABLE_HAL_LOCKS=1
-O2
-Ivariants/radiomaster_900_bandit_nano
board_build.f_cpu = 240000000L
upload_protocol = esptool
lib_deps =
${esp32_base.lib_deps}

2
variants/rak10701/platformio.ini
View File

@ -17,6 +17,8 @@ lib_deps =
https://github.com/RAKWireless/RAK13800-W5100S.git#1.0.2
rakwireless/RAKwireless NCP5623 RGB LED library@^1.0.2
bodmer/TFT_eSPI
beegee-tokyo/RAKwireless RAK12034@^1.0.0
beegee-tokyo/RAK14014-FT6336U @ 1.0.1
debug_tool = jlink
; If not set we will default to uploading over serial (first it forces bootloader entry by talking 1200bps to cdcacm)
;upload_protocol = jlink

8
variants/rak10701/variant.h
View File

@ -307,10 +307,10 @@ SO GPIO 39/TXEN MAY NOT BE DEFINED FOR SUCCESSFUL OPERATION OF THE SX1262 - TG
#define SCREEN_ROTATE
#define SCREEN_TRANSITION_FRAMERATE 5
#define HAS_TOUCHSCREEN 0
#define SCREEN_TOUCH_INT 10 // From tp.h on the tracker open source code.
#define TOUCH_I2C_PORT 0
#define TOUCH_SLAVE_ADDRESS 0x5D // GT911
#define HAS_TOUCHSCREEN 1
#define SCREEN_TOUCH_INT WB_IO6
#define CANNED_MESSAGE_MODULE_ENABLE 1
/*----------------------------------------------------------------------------
* Arduino objects - C++ only

1
variants/rak4631/platformio.ini
View File

@ -16,6 +16,7 @@ lib_deps =
melopero/Melopero RV3028@^1.1.0
https://github.com/RAKWireless/RAK13800-W5100S.git#1.0.2
rakwireless/RAKwireless NCP5623 RGB LED library@^1.0.2
https://github.com/meshtastic/RAK12034-BMX160.git#4821355fb10390ba8557dc43ca29a023bcfbb9d9
debug_tool = jlink
; If not set we will default to uploading over serial (first it forces bootloader entry by talking 1200bps to cdcacm)
;upload_protocol = jlink

1
variants/rak4631_epaper/platformio.ini
View File

@ -13,6 +13,7 @@ lib_deps =
zinggjm/GxEPD2@^1.4.9
melopero/Melopero RV3028@^1.1.0
rakwireless/RAKwireless NCP5623 RGB LED library@^1.0.2
beegee-tokyo/RAKwireless RAK12034@^1.0.0
debug_tool = jlink
; If not set we will default to uploading over serial (first it forces bootloader entry by talking 1200bps to cdcacm)
;upload_protocol = jlink

3
variants/rak4631_epaper_onrxtx/platformio.ini
View File

@ -15,7 +15,8 @@ lib_deps =
zinggjm/GxEPD2@^1.5.1
melopero/Melopero RV3028@^1.1.0
rakwireless/RAKwireless NCP5623 RGB LED library@^1.0.2
beegee-tokyo/RAKwireless RAK12034@^1.0.0
debug_tool = jlink
; If not set we will default to uploading over serial (first it forces bootloader entry by talking 1200bps to cdcacm)
;upload_protocol = jlink
;upload_port = /dev/ttyACM3
;upload_port = /dev/ttyACM3