commit 5ab7512417c5dcbc3722f5ac0531f751eb9d5d75 Author: unknown Date: Fri Aug 11 00:29:02 2023 -0400 Initial commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..b24d71e --- /dev/null +++ b/.gitignore @@ -0,0 +1,50 @@ +# These are some examples of commonly ignored file patterns. +# You should customize this list as applicable to your project. +# Learn more about .gitignore: +# https://www.atlassian.com/git/tutorials/saving-changes/gitignore + +# Node artifact files +node_modules/ +dist/ + +# Compiled Java class files +*.class + +# Compiled Python bytecode +*.py[cod] + +# Log files +*.log + +# Package files +*.jar + +# Maven +target/ +dist/ + +# JetBrains IDE +.idea/ + +# Unit test reports +TEST*.xml + +# Generated by MacOS +.DS_Store + +# Generated by Windows +Thumbs.db + +# Applications +*.app +*.exe +*.war + +# Large media files +*.mp4 +*.tiff +*.avi +*.flv +*.mov +*.wmv + diff --git a/bom.txt b/bom.txt new file mode 100644 index 0000000..907232b --- /dev/null +++ b/bom.txt @@ -0,0 +1,51 @@ +1. LILYGOŽ TTGO T-Beam V1.1 SX1262 LORA 915MHZ ESP32 WiFi Wireless Bluetooth Module GPS NEO-M8N IPEX 18650 $41.85 +https://www.aliexpress.com/item/4001287221970.html?spm=a2g0s.9042311.0.0.1f854c4dBQY7TG + +2. EVE3-35A-IPS-BLH-TPN-F128 $64.5 +https://www.matrixorbital.com/eve3-35a-ips + +3. MCP23017 $13 +https://www.aliexpress.com/item/32957655097.html?spm=a2g0s.9042311.0.0.1f854c4dBQY7TG + +4. SGY-9250 $9 +https://www.aliexpress.com/item/1904051617.html?spm=a2g0s.9042311.0.0.1f854c4dBQY7TG + +5. 76342-303LF x2 $2 or CES-103-01-G-D +https://www.newark.com/amphenol-icc/76342-303lf/connector-rcpt-6pos-2row-2-54mm/dp/62K8357 + +6. B3S-1000P x6 $2 +https://www.newark.com/omron-electronic-components/b3s-1000p/switch-tactile-spst-no-50ma-smd/dp/50B6363 + +7. MOLEX 15134-0800 $2.5 +https://www.newark.com/molex/15134-0800/cable-assy-8pos-rcpt-rcpt-2/dp/33AC8053 + +8. MOLEX 53048-0810 $1 +https://www.newark.com/molex/53048-0810/connector-header-8pos-1row-1-25mm/dp/98K9836 + +9. SPC20493 or XG8T-0631 x2 $1 +https://www.newark.com/multicomp/spc20493/board-board-connector-header-6way/dp/93K5746 +https://www.newark.com/omron-electronic-components/xg8t-0631/connector-header-6-position-2row/dp/05M2064 + +10. S2B-PH-SM4-TB(LF)(SN) $0.8 +https://www.newark.com/jst-japan-solderless-terminals/s2b-ph-sm4-tb-lf-sn/wire-to-board-connector-header/dp/38K8067 + +11. GM5539 5mm $0.5 +https://www.amazon.com/gp/product/B01N7V536K/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1 + +12. Optional DWM1000 $21 +https://www.mouser.com/ProductDetail/772-DWM1000/ + +13. 10mmx2mm Mini Tiny Vibration Motors 10000rpm Flat Coin Button-Type Micro DC Vibrating Motor $1 +https://www.amazon.com/gp/product/B073YFR5WR/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1 + +14. HTSW-150-06-G-S +https://www.digikey.com/en/products/detail/samtec-inc/HTSW-150-06-G-S/8085307 + +15. Adafruit NPN Bipolar Transistors (PN2222) +https://www.amazon.com/gp/product/B00XW2OK7M/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1 + +case+hw $10 +glass $3 +pcb $3 + +$133/153 \ No newline at end of file diff --git a/compiler_script.py b/compiler_script.py new file mode 100644 index 0000000..1b872a7 --- /dev/null +++ b/compiler_script.py @@ -0,0 +1,6 @@ +Import("env") + +env.Replace( + AR="xtensa-esp32-elf-gcc-ar", + RANLIB="xtensa-esp32-elf-gcc-ranlib", +) \ No newline at end of file diff --git a/data/at.png b/data/at.png new file mode 100644 index 0000000..e2120d9 Binary files /dev/null and b/data/at.png differ diff --git a/data/gps.png b/data/gps.png new file mode 100644 index 0000000..32fd7f0 Binary files /dev/null and b/data/gps.png differ diff --git a/fonts/calibri_14/L1/calibri_14_L1.c b/fonts/calibri_14/L1/calibri_14_L1.c new file mode 100644 index 0000000..70c203e --- /dev/null +++ b/fonts/calibri_14/L1/calibri_14_L1.c @@ -0,0 +1,28 @@ +/* +This file is automatically generated +calibri_14_L1 +C Source +*/ + +#include "App_Common.h" + +#define FONT_HANDLE (1) +#define FONT_FILE_ADDRESS (RAM_G + 153600) +#define FIRST_CHARACTER (32) + +void Load_Font() +{ + Gpu_CoCmd_Dlstart(phost); + App_WrCoCmd_Buffer(phost, CLEAR(1, 1, 1)); + App_WrCoCmd_Buffer(phost, COLOR_RGB(255, 255, 255)); + Gpu_Hal_LoadImageToMemory(phost, "path\\to\\calibri_14_L1.raw", FONT_FILE_ADDRESS, LOAD); + + Gpu_CoCmd_SetFont2(phost, FONT_HANDLE, FONT_FILE_ADDRESS, FIRST_CHARACTER); + Gpu_CoCmd_Text(phost, 0, 0, FONT_HANDLE, 0, "AaBbCcDdEeFf"); + App_WrCoCmd_Buffer(phost, DISPLAY()); + Gpu_CoCmd_Swap(phost); + App_Flush_Co_Buffer(phost); + Gpu_Hal_WaitCmdfifo_empty(phost); +} + +/* end of file */ diff --git a/fonts/calibri_14/L1/calibri_14_L1.json b/fonts/calibri_14/L1/calibri_14_L1.json new file mode 100644 index 0000000..e3072e4 --- /dev/null +++ b/fonts/calibri_14/L1/calibri_14_L1.json @@ -0,0 +1 @@ +{"name": "calibri_14_L1", "type": "legacyfont", "format": "L1", "size": 14, "base_line": 11, "caps_height": 9, "mid_line": 7} \ No newline at end of file diff --git a/fonts/calibri_14/L1/calibri_14_L1.raw b/fonts/calibri_14/L1/calibri_14_L1.raw new file mode 100644 index 0000000..9ea77e2 Binary files /dev/null and b/fonts/calibri_14/L1/calibri_14_L1.raw differ diff --git a/fonts/calibri_14/L1/calibri_14_L1.rawh b/fonts/calibri_14/L1/calibri_14_L1.rawh new file mode 100644 index 0000000..c9156c7 --- /dev/null +++ b/fonts/calibri_14/L1/calibri_14_L1.rawh @@ -0,0 +1,110 @@ +/*Command Line: fnt_cvt.exe -f legacy -C BT81X -i Q:/fonts/calibri.ttf -s 14 -d 153600 -c setfont2 -l 32 -a -o D:/Projects/Embedded/AirsoftTracker/fonts*/ + +/*95 characters have been converted */ + +/* 148 Metric Block Begin +++ */ +/*('file properties ', 'format ', 'L1', ' stride ', 2, ' width ', 14, 'height', 14)*/ +{ +/* Widths */ 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A 65 + B 66 + C 67 + D 68 + E 69 + F 70 + G 71 + H 72 + I 73 + J 74 + K 75 + L 76 + M 77 + N 78 + O 79 + P 80 + Q 81 + R 82 + S 83 + T 84 + U 85 + V 86 + W 87 + X 88 + Y 89 + Z 90 + [ 91 + \ 92 + ] 93 + ^ 94 + _ 95 + ` 96 + a 97 + b 98 + c 99 + d 100 + e 101 + f 102 + g 103 + h 104 + i 105 + j 106 + k 107 + l 108 + m 109 + n 110 + o 111 + p 112 + q 113 + r 114 + s 115 + t 116 + u 117 + v 118 + w 119 + x 120 + y 121 + z 122 + { 123 + | 124 + } 125 + ~ 126 diff --git a/fonts/calibri_14/L2/calibri_14_L2.c b/fonts/calibri_14/L2/calibri_14_L2.c new file mode 100644 index 0000000..4b0ad8f --- /dev/null +++ b/fonts/calibri_14/L2/calibri_14_L2.c @@ -0,0 +1,28 @@ +/* +This file is automatically generated +calibri_14_L2 +C Source +*/ + +#include "App_Common.h" + +#define FONT_HANDLE (1) +#define FONT_FILE_ADDRESS (RAM_G + 153600) +#define FIRST_CHARACTER (32) + +void Load_Font() +{ + Gpu_CoCmd_Dlstart(phost); + App_WrCoCmd_Buffer(phost, CLEAR(1, 1, 1)); + App_WrCoCmd_Buffer(phost, COLOR_RGB(255, 255, 255)); + Gpu_Hal_LoadImageToMemory(phost, "path\\to\\calibri_14_L2.raw", FONT_FILE_ADDRESS, LOAD); + + Gpu_CoCmd_SetFont2(phost, FONT_HANDLE, FONT_FILE_ADDRESS, FIRST_CHARACTER); + Gpu_CoCmd_Text(phost, 0, 0, FONT_HANDLE, 0, "AaBbCcDdEeFf"); + App_WrCoCmd_Buffer(phost, DISPLAY()); + Gpu_CoCmd_Swap(phost); + App_Flush_Co_Buffer(phost); + Gpu_Hal_WaitCmdfifo_empty(phost); +} + +/* end of file */ diff --git a/fonts/calibri_14/L2/calibri_14_L2.json b/fonts/calibri_14/L2/calibri_14_L2.json new file mode 100644 index 0000000..9b2798c --- /dev/null +++ b/fonts/calibri_14/L2/calibri_14_L2.json @@ -0,0 +1 @@ +{"name": "calibri_14_L2", "type": "legacyfont", "format": "L2", "size": 14, "base_line": 11, "caps_height": 9, "mid_line": 7} \ No newline at end of file diff --git a/fonts/calibri_14/L2/calibri_14_L2.raw b/fonts/calibri_14/L2/calibri_14_L2.raw new file mode 100644 index 0000000..5962856 Binary files /dev/null and b/fonts/calibri_14/L2/calibri_14_L2.raw differ diff --git a/fonts/calibri_14/L2/calibri_14_L2.rawh b/fonts/calibri_14/L2/calibri_14_L2.rawh new file mode 100644 index 0000000..136b663 --- /dev/null +++ b/fonts/calibri_14/L2/calibri_14_L2.rawh @@ -0,0 +1,193 @@ +/*Command Line: fnt_cvt.exe -f legacy -C BT81X -i Q:/fonts/calibri.ttf -s 14 -d 153600 -c setfont2 -l 32 -a -o D:/Projects/Embedded/AirsoftTracker/fonts*/ + +/*95 characters have been converted */ + +/* 148 Metric Block Begin +++ */ +/*('file properties ', 'format ', 'L2', ' stride ', 4, ' width ', 14, 'height', 14)*/ +{ +/* Widths */ +0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,5,6,7,7,10,10,3,4,4,7,7,4,4,4,6,7,7,7,7,7,7,7,7,7,7,4,4,7,7,7,6,13,8,8,8,9,7,6,9,9,4,4,7,6,12,9,9,7,10,8,6,7,9,8,13,7,7,7,4,6,4,7,8,4,7,7,6,7,7,5,7,7,3,4,7,3,11,7,7,7,7,5,5,5,7,7,10,6,7,6,4,6,5,7,0, +/* Format */ +17,0,0,0, +/* Stride */ +4,0,0,0, +/* Max Width */ +14,0,0,0, +/* Max Height */ +14,0,0,0, +/* Raw Data Address in Decimal: <153748> */ +148,88,2,0, + +/* 148 Metric Block End 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+ O 79 + P 80 + Q 81 + R 82 + S 83 + T 84 + U 85 + V 86 + W 87 + X 88 + Y 89 + Z 90 + [ 91 + \ 92 + ] 93 + ^ 94 + _ 95 + ` 96 + a 97 + b 98 + c 99 + d 100 + e 101 + f 102 + g 103 + h 104 + i 105 + j 106 + k 107 + l 108 + m 109 + n 110 + o 111 + p 112 + q 113 + r 114 + s 115 + t 116 + u 117 + v 118 + w 119 + x 120 + y 121 + z 122 + { 123 + | 124 + } 125 + ~ 126 diff --git a/fonts/calibri_14/L4/calibri_14_L4.c b/fonts/calibri_14/L4/calibri_14_L4.c new file mode 100644 index 0000000..bf5a6d2 --- /dev/null +++ b/fonts/calibri_14/L4/calibri_14_L4.c @@ -0,0 +1,28 @@ +/* +This file is automatically generated +calibri_14_L4 +C Source +*/ + +#include "App_Common.h" + +#define FONT_HANDLE (1) +#define FONT_FILE_ADDRESS (RAM_G + 153600) +#define FIRST_CHARACTER (32) + +void Load_Font() +{ + Gpu_CoCmd_Dlstart(phost); + App_WrCoCmd_Buffer(phost, CLEAR(1, 1, 1)); + App_WrCoCmd_Buffer(phost, COLOR_RGB(255, 255, 255)); + Gpu_Hal_LoadImageToMemory(phost, "path\\to\\calibri_14_L4.raw", FONT_FILE_ADDRESS, LOAD); + + Gpu_CoCmd_SetFont2(phost, FONT_HANDLE, FONT_FILE_ADDRESS, FIRST_CHARACTER); + Gpu_CoCmd_Text(phost, 0, 0, FONT_HANDLE, 0, "AaBbCcDdEeFf"); + App_WrCoCmd_Buffer(phost, DISPLAY()); + Gpu_CoCmd_Swap(phost); + App_Flush_Co_Buffer(phost); + Gpu_Hal_WaitCmdfifo_empty(phost); +} + +/* end of file */ diff --git a/fonts/calibri_14/L4/calibri_14_L4.json b/fonts/calibri_14/L4/calibri_14_L4.json new file mode 100644 index 0000000..a0c2cda --- /dev/null +++ b/fonts/calibri_14/L4/calibri_14_L4.json @@ -0,0 +1 @@ +{"name": "calibri_14_L4", "type": "legacyfont", "format": "L4", "size": 14, "base_line": 11, "caps_height": 9, "mid_line": 7} \ No newline at end of file diff --git a/fonts/calibri_14/L4/calibri_14_L4.raw b/fonts/calibri_14/L4/calibri_14_L4.raw new file mode 100644 index 0000000..70542d6 Binary files /dev/null and b/fonts/calibri_14/L4/calibri_14_L4.raw differ diff --git a/fonts/calibri_14/L4/calibri_14_L4.rawh b/fonts/calibri_14/L4/calibri_14_L4.rawh new file mode 100644 index 0000000..5b0fa98 --- /dev/null +++ b/fonts/calibri_14/L4/calibri_14_L4.rawh @@ -0,0 +1,317 @@ +/*Command Line: fnt_cvt.exe -f legacy -C BT81X -i Q:/fonts/calibri.ttf -s 14 -d 153600 -c setfont2 -l 32 -a -o D:/Projects/Embedded/AirsoftTracker/fonts*/ + +/*95 characters have been converted */ + +/* 148 Metric Block Begin +++ */ +/*('file properties ', 'format ', 'L4', ' stride ', 7, ' width ', 14, 'height', 14)*/ +{ +/* Widths */ +0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,5,6,7,7,10,10,3,4,4,7,7,4,4,4,6,7,7,7,7,7,7,7,7,7,7,4,4,7,7,7,6,13,8,8,8,9,7,6,9,9,4,4,7,6,12,9,9,7,10,8,6,7,9,8,13,7,7,7,4,6,4,7,8,4,7,7,6,7,7,5,7,7,3,4,7,3,11,7,7,7,7,5,5,5,7,7,10,6,7,6,4,6,5,7,0, +/* Format */ +2,0,0,0, +/* Stride */ +7,0,0,0, +/* Max Width */ +14,0,0,0, +/* Max Height */ +14,0,0,0, +/* Raw Data Address in Decimal: <153748> */ +148,88,2,0, + +/* 148 Metric Block End --- */ + +/*Bitmap Raw Data begin +++*/ +/*The expected raw bitmap size is 9310 Bytes */ 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Index No. + 32 + ! 33 + " 34 + # 35 + $ 36 + % 37 + & 38 + ' 39 + ( 40 + ) 41 + * 42 + + 43 + , 44 + - 45 + . 46 + / 47 + 0 48 + 1 49 + 2 50 + 3 51 + 4 52 + 5 53 + 6 54 + 7 55 + 8 56 + 9 57 + : 58 + ; 59 + < 60 + = 61 + > 62 + ? 63 + @ 64 + A 65 + B 66 + C 67 + D 68 + E 69 + F 70 + G 71 + H 72 + I 73 + J 74 + K 75 + L 76 + M 77 + N 78 + O 79 + P 80 + Q 81 + R 82 + S 83 + T 84 + U 85 + V 86 + W 87 + X 88 + Y 89 + Z 90 + [ 91 + \ 92 + ] 93 + ^ 94 + _ 95 + ` 96 + a 97 + b 98 + c 99 + d 100 + e 101 + f 102 + g 103 + h 104 + i 105 + j 106 + k 107 + l 108 + m 109 + n 110 + o 111 + p 112 + q 113 + r 114 + s 115 + t 116 + u 117 + v 118 + w 119 + x 120 + y 121 + z 122 + { 123 + | 124 + } 125 + ~ 126 diff --git a/fonts/calibri_14/L8/calibri_14_L8.c b/fonts/calibri_14/L8/calibri_14_L8.c new file mode 100644 index 0000000..39749a6 --- /dev/null +++ b/fonts/calibri_14/L8/calibri_14_L8.c @@ -0,0 +1,28 @@ +/* +This file is automatically generated +calibri_14_L8 +C Source +*/ + +#include "App_Common.h" + +#define FONT_HANDLE (1) +#define FONT_FILE_ADDRESS (RAM_G + 153600) +#define FIRST_CHARACTER (32) + +void Load_Font() +{ + Gpu_CoCmd_Dlstart(phost); + App_WrCoCmd_Buffer(phost, CLEAR(1, 1, 1)); + App_WrCoCmd_Buffer(phost, COLOR_RGB(255, 255, 255)); + Gpu_Hal_LoadImageToMemory(phost, "path\\to\\calibri_14_L8.raw", FONT_FILE_ADDRESS, LOAD); + + Gpu_CoCmd_SetFont2(phost, FONT_HANDLE, FONT_FILE_ADDRESS, FIRST_CHARACTER); + Gpu_CoCmd_Text(phost, 0, 0, FONT_HANDLE, 0, "AaBbCcDdEeFf"); + App_WrCoCmd_Buffer(phost, DISPLAY()); + Gpu_CoCmd_Swap(phost); + App_Flush_Co_Buffer(phost); + Gpu_Hal_WaitCmdfifo_empty(phost); +} + +/* end of file */ diff --git a/fonts/calibri_14/L8/calibri_14_L8.json b/fonts/calibri_14/L8/calibri_14_L8.json new file mode 100644 index 0000000..1894f1d --- /dev/null +++ b/fonts/calibri_14/L8/calibri_14_L8.json @@ -0,0 +1 @@ +{"name": "calibri_14_L8", "type": "legacyfont", "format": "L8", "size": 14, "base_line": 11, "caps_height": 9, "mid_line": 7} \ No newline at end of file diff --git a/fonts/calibri_14/L8/calibri_14_L8.raw b/fonts/calibri_14/L8/calibri_14_L8.raw new file mode 100644 index 0000000..0b467ba Binary files /dev/null and b/fonts/calibri_14/L8/calibri_14_L8.raw differ diff --git a/fonts/calibri_14/L8/calibri_14_L8.rawh b/fonts/calibri_14/L8/calibri_14_L8.rawh new file mode 100644 index 0000000..802d696 --- /dev/null +++ b/fonts/calibri_14/L8/calibri_14_L8.rawh @@ -0,0 +1,608 @@ +/*Command Line: fnt_cvt.exe -f legacy -C BT81X -i Q:/fonts/calibri.ttf -s 14 -d 153600 -c setfont2 -l 32 -a -o D:/Projects/Embedded/AirsoftTracker/fonts*/ + +/*95 characters have been converted */ + +/* 148 Metric Block Begin +++ */ +/*('file properties ', 'format ', 'L8', ' stride ', 14, ' width ', 14, 'height', 14)*/ +{ +/* Widths */ 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+ @ 64 + A 65 + B 66 + C 67 + D 68 + E 69 + F 70 + G 71 + H 72 + I 73 + J 74 + K 75 + L 76 + M 77 + N 78 + O 79 + P 80 + Q 81 + R 82 + S 83 + T 84 + U 85 + V 86 + W 87 + X 88 + Y 89 + Z 90 + [ 91 + \ 92 + ] 93 + ^ 94 + _ 95 + ` 96 + a 97 + b 98 + c 99 + d 100 + e 101 + f 102 + g 103 + h 104 + i 105 + j 106 + k 107 + l 108 + m 109 + n 110 + o 111 + p 112 + q 113 + r 114 + s 115 + t 116 + u 117 + v 118 + w 119 + x 120 + y 121 + z 122 + { 123 + | 124 + } 125 + ~ 126 diff --git a/fonts/calibri_14/calibri_14_L8.PNG b/fonts/calibri_14/calibri_14_L8.PNG new file mode 100644 index 0000000..0025155 Binary files /dev/null and b/fonts/calibri_14/calibri_14_L8.PNG differ diff --git a/hw.txt b/hw.txt new file mode 100644 index 0000000..c279a1d --- /dev/null +++ b/hw.txt @@ -0,0 +1,5 @@ +1. R2 & R3 10K, R1 - 1K +2. Molex cable 33mm +3. Ground plane between screen & board. Capton tape+Copper Foil Tape, solder to board ground via 22 cable + + diff --git a/images/at.png b/images/at.png new file mode 100644 index 0000000..ad9b675 Binary files /dev/null and b/images/at.png differ diff --git a/images/gps.png b/images/gps.png new file mode 100644 index 0000000..efdafd1 Binary files /dev/null and b/images/gps.png differ diff --git a/include/version.h b/include/version.h new file mode 100644 index 0000000..61f330f --- /dev/null +++ b/include/version.h @@ -0,0 +1,9 @@ + + // AUTO GENERATED FILE, DO NOT EDIT + #ifndef VERSION + #define VERSION "1.0.1203" + #endif + #ifndef BUILD_TIMESTAMP + #define BUILD_TIMESTAMP "2023-07-18 14:37:23.725627" + #endif + \ No newline at end of file diff --git a/lib/SparkFun u-blox Arduino Library/SparkFun_Ublox_Arduino_Library.cpp b/lib/SparkFun u-blox Arduino Library/SparkFun_Ublox_Arduino_Library.cpp new file mode 100644 index 0000000..afe019e --- /dev/null +++ b/lib/SparkFun u-blox Arduino Library/SparkFun_Ublox_Arduino_Library.cpp @@ -0,0 +1,5102 @@ +/* + This is a library written for the u-blox ZED-F9P and NEO-M8P-2 + SparkFun sells these at its website: www.sparkfun.com + Do you like this library? Help support SparkFun. Buy a board! + https://www.sparkfun.com/products/16481 + https://www.sparkfun.com/products/15136 + https://www.sparkfun.com/products/15005 + https://www.sparkfun.com/products/15733 + https://www.sparkfun.com/products/15193 + https://www.sparkfun.com/products/15210 + + Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018 + + This library handles configuring and handling the responses + from a u-blox GPS module. Works with most modules from u-blox including + the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others. + + https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library + + Development environment specifics: + Arduino IDE 1.8.5 + + SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT). + The MIT License (MIT) + Copyright (c) 2016 SparkFun Electronics + Permission is hereby granted, free of charge, to any person obtaining a copy of this software and + associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, + and/or sell copies of the Software, and to permit persons to whom the Software is furnished to + do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or substantial + portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT + NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#include "SparkFun_Ublox_Arduino_Library.h" + +SFE_UBLOX_GPS::SFE_UBLOX_GPS(void) +{ + // Constructor + currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use + moduleQueried.versionNumber = false; + moduleQueried.hwState = false; + + if (checksumFailurePin >= 0) + { + pinMode((uint8_t)checksumFailurePin, OUTPUT); + digitalWrite((uint8_t)checksumFailurePin, HIGH); + } + + //Define the size of the I2C buffer based on the platform the user has + //In general we found that most platforms use 32 bytes as the I2C buffer size. We could + //implement platform gaurds here but as you can see, none currently benefit from >32 + //so we'll leave it up to the user to set it using setI2CTransactionSize if they will benefit from it + // //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= + // #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) + + // i2cTransactionSize = 32; + + // #elif defined(__SAMD21G18A__) + + // i2cTransactionSize = 32; + + //#elif __MK20DX256__ + //Teensy + + // #elif defined(ARDUINO_ARCH_ESP32) + + // i2cTransactionSize = 32; //The ESP32 has an I2C buffer length of 128. We reduce it to 32 bytes to increase stability with the module + + // #endif +} + +//Initialize the Serial port +boolean SFE_UBLOX_GPS::begin(TwoWire &wirePort, uint8_t deviceAddress) +{ + commType = COMM_TYPE_I2C; + _i2cPort = &wirePort; //Grab which port the user wants us to use + + //We expect caller to begin their I2C port, with the speed of their choice external to the library + //But if they forget, we start the hardware here. + + //We're moving away from the practice of starting Wire hardware in a library. This is to avoid cross platform issues. + //ie, there are some platforms that don't handle multiple starts to the wire hardware. Also, every time you start the wire + //hardware the clock speed reverts back to 100kHz regardless of previous Wire.setClocks(). + //_i2cPort->begin(); + + _gpsI2Caddress = deviceAddress; //Store the I2C address from user + + // Attempt isConnected up to 3 times if required + boolean success = isConnected(); + + if (!success) + success = isConnected(); + + if (!success) + success = isConnected(); + + return (success); +} + +//Initialize the Serial port +boolean SFE_UBLOX_GPS::begin(Stream &serialPort) +{ + commType = COMM_TYPE_SERIAL; + _serialPort = &serialPort; //Grab which port the user wants us to use + + // Attempt isConnected up to 3 times if required + boolean success = isConnected(); + + if (!success) + success = isConnected(); + +// if (!success) +// success = isConnected(); + + return (success); +} + +//Sets the global size for I2C transactions +//Most platforms use 32 bytes (the default) but this allows users to increase the transaction +//size if the platform supports it +//Note: If the transaction size is set larger than the platforms buffer size, bad things will happen. +void SFE_UBLOX_GPS::setI2CTransactionSize(uint8_t transactionSize) +{ + i2cTransactionSize = transactionSize; +} +uint8_t SFE_UBLOX_GPS::getI2CTransactionSize(void) +{ + return (i2cTransactionSize); +} + +//Enable or disable the printing of sent/response HEX values. +//Use this in conjunction with 'Transport Logging' from the Universal Reader Assistant to see what they're doing that we're not +void SFE_UBLOX_GPS::enableDebugging(Stream &debugPort, boolean printLimitedDebug) +{ + _debugSerial = &debugPort; //Grab which port the user wants us to use for debugging + if (printLimitedDebug == false) + { + _printDebug = true; //Should we print the commands we send? Good for debugging + } + else + { + _printLimitedDebug = true; //Should we print limited debug messages? Good for debugging high navigation rates + } +} +void SFE_UBLOX_GPS::disableDebugging(void) +{ + _printDebug = false; //Turn off extra print statements + _printLimitedDebug = false; +} + +//Safely print messages +void SFE_UBLOX_GPS::debugPrint(char *message) +{ + if (_printDebug == true) + { + _debugSerial->print(message); + } +} +//Safely print messages +void SFE_UBLOX_GPS::debugPrintln(char *message) +{ + if (_printDebug == true) + { + _debugSerial->println(message); + } +} + +const char *SFE_UBLOX_GPS::statusString(sfe_ublox_status_e stat) +{ + switch (stat) + { + case SFE_UBLOX_STATUS_SUCCESS: + return "Success"; + break; + case SFE_UBLOX_STATUS_FAIL: + return "General Failure"; + break; + case SFE_UBLOX_STATUS_CRC_FAIL: + return "CRC Fail"; + break; + case SFE_UBLOX_STATUS_TIMEOUT: + return "Timeout"; + break; + case SFE_UBLOX_STATUS_COMMAND_NACK: + return "Command not acknowledged (NACK)"; + break; + case SFE_UBLOX_STATUS_OUT_OF_RANGE: + return "Out of range"; + break; + case SFE_UBLOX_STATUS_INVALID_ARG: + return "Invalid Arg"; + break; + case SFE_UBLOX_STATUS_INVALID_OPERATION: + return "Invalid operation"; + break; + case SFE_UBLOX_STATUS_MEM_ERR: + return "Memory Error"; + break; + case SFE_UBLOX_STATUS_HW_ERR: + return "Hardware Error"; + break; + case SFE_UBLOX_STATUS_DATA_SENT: + return "Data Sent"; + break; + case SFE_UBLOX_STATUS_DATA_RECEIVED: + return "Data Received"; + break; + case SFE_UBLOX_STATUS_I2C_COMM_FAILURE: + return "I2C Comm Failure"; + break; + case SFE_UBLOX_STATUS_DATA_OVERWRITTEN: + return "Data Packet Overwritten"; + break; + default: + return "Unknown Status"; + break; + } + return "None"; +} + +void SFE_UBLOX_GPS::factoryReset() +{ + // Copy default settings to permanent + // Note: this does not load the permanent configuration into the current configuration. Calling factoryDefault() will do that. + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_CFG; + packetCfg.len = 13; + packetCfg.startingSpot = 0; + for (uint8_t i = 0; i < 4; i++) + { + payloadCfg[0 + i] = 0xff; // clear mask: copy default config to permanent config + payloadCfg[4 + i] = 0x00; // save mask: don't save current to permanent + payloadCfg[8 + i] = 0x00; // load mask: don't copy permanent config to current + } + payloadCfg[12] = 0xff; // all forms of permanent memory + sendCommand(&packetCfg, 0); // don't expect ACK + hardReset(); // cause factory default config to actually be loaded and used cleanly +} + +void SFE_UBLOX_GPS::hardReset() +{ + // Issue hard reset + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RST; + packetCfg.len = 4; + packetCfg.startingSpot = 0; + payloadCfg[0] = 0xff; // cold start + payloadCfg[1] = 0xff; // cold start + payloadCfg[2] = 0; // 0=HW reset + payloadCfg[3] = 0; // reserved + sendCommand(&packetCfg, 0); // don't expect ACK +} + +//Changes the serial baud rate of the u-blox module, can't return success/fail 'cause ACK from modem +//is lost due to baud rate change +void SFE_UBLOX_GPS::setSerialRate(uint32_t baudrate, uint8_t uartPort, uint16_t maxWait) +{ + //Get the current config values for the UART port + getPortSettings(uartPort, maxWait); //This will load the payloadCfg array with current port settings + + if (_printDebug == true) + { + _debugSerial->print(F("Current baud rate: ")); + _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]); + } + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_PRT; + packetCfg.len = 20; + packetCfg.startingSpot = 0; + + //payloadCfg is now loaded with current bytes. Change only the ones we need to + payloadCfg[8] = baudrate; + payloadCfg[9] = baudrate >> 8; + payloadCfg[10] = baudrate >> 16; + payloadCfg[11] = baudrate >> 24; + + if (_printDebug == true) + { + _debugSerial->print(F("New baud rate:")); + _debugSerial->println(((uint32_t)payloadCfg[10] << 16) | ((uint32_t)payloadCfg[9] << 8) | payloadCfg[8]); + } + + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + if (_printDebug == true) + { + _debugSerial->print(F("setSerialRate: sendCommand returned: ")); + _debugSerial->println(statusString(retVal)); + } +} + +//Changes the I2C address that the u-blox module responds to +//0x42 is the default but can be changed with this command +boolean SFE_UBLOX_GPS::setI2CAddress(uint8_t deviceAddress, uint16_t maxWait) +{ + //Get the current config values for the I2C port + getPortSettings(COM_PORT_I2C, maxWait); //This will load the payloadCfg array with current port settings + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_PRT; + packetCfg.len = 20; + packetCfg.startingSpot = 0; + + //payloadCfg is now loaded with current bytes. Change only the ones we need to + payloadCfg[4] = deviceAddress << 1; //DDC mode LSB + + if (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT) // We are only expecting an ACK + { + //Success! Now change our internal global. + _gpsI2Caddress = deviceAddress; //Store the I2C address from user + return (true); + } + return (false); +} + +//Want to see the NMEA messages on the Serial port? Here's how +void SFE_UBLOX_GPS::setNMEAOutputPort(Stream &nmeaOutputPort) +{ + _nmeaOutputPort = &nmeaOutputPort; //Store the port from user +} + +//Called regularly to check for available bytes on the user' specified port +boolean SFE_UBLOX_GPS::checkUblox(uint8_t requestedClass, uint8_t requestedID) +{ + return checkUbloxInternal(&packetCfg, requestedClass, requestedID); +} + +//Called regularly to check for available bytes on the user' specified port +boolean SFE_UBLOX_GPS::checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID) +{ + if (commType == COMM_TYPE_I2C) + return (checkUbloxI2C(incomingUBX, requestedClass, requestedID)); + else if (commType == COMM_TYPE_SERIAL) + return (checkUbloxSerial(incomingUBX, requestedClass, requestedID)); + return false; +} + +//Polls I2C for data, passing any new bytes to process() +//Returns true if new bytes are available +boolean SFE_UBLOX_GPS::checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID) +{ + if (millis() - lastCheck >= i2cPollingWait) + { + //Get the number of bytes available from the module + uint16_t bytesAvailable = 0; + _i2cPort->beginTransmission(_gpsI2Caddress); + _i2cPort->write(0xFD); //0xFD (MSB) and 0xFE (LSB) are the registers that contain number of bytes available + if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus. + return (false); //Sensor did not ACK + + _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)2); + if (_i2cPort->available()) + { + uint8_t msb = _i2cPort->read(); + uint8_t lsb = _i2cPort->read(); + if (lsb == 0xFF) + { + //I believe this is a u-blox bug. Device should never present an 0xFF. + if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging + { + _debugSerial->println(F("checkUbloxI2C: u-blox bug, length lsb is 0xFF")); + } + if (checksumFailurePin >= 0) + { + digitalWrite((uint8_t)checksumFailurePin, LOW); + delay(10); + digitalWrite((uint8_t)checksumFailurePin, HIGH); + } + lastCheck = millis(); //Put off checking to avoid I2C bus traffic + return (false); + } + bytesAvailable = (uint16_t)msb << 8 | lsb; + } + + if (bytesAvailable == 0) + { + if (_printDebug == true) + { + _debugSerial->println(F("checkUbloxI2C: OK, zero bytes available")); + } + lastCheck = millis(); //Put off checking to avoid I2C bus traffic + return (false); + } + + //Check for undocumented bit error. We found this doing logic scans. + //This error is rare but if we incorrectly interpret the first bit of the two 'data available' bytes as 1 + //then we have far too many bytes to check. May be related to I2C setup time violations: https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library/issues/40 + if (bytesAvailable & ((uint16_t)1 << 15)) + { + //Clear the MSbit + bytesAvailable &= ~((uint16_t)1 << 15); + + if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging + { + _debugSerial->print(F("checkUbloxI2C: Bytes available error:")); + _debugSerial->println(bytesAvailable); + if (checksumFailurePin >= 0) + { + digitalWrite((uint8_t)checksumFailurePin, LOW); + delay(10); + digitalWrite((uint8_t)checksumFailurePin, HIGH); + } + } + } + + if (bytesAvailable > 100) + { + if (_printDebug == true) + { + _debugSerial->print(F("checkUbloxI2C: Large packet of ")); + _debugSerial->print(bytesAvailable); + _debugSerial->println(F(" bytes received")); + } + } + else + { + if (_printDebug == true) + { + _debugSerial->print(F("checkUbloxI2C: Reading ")); + _debugSerial->print(bytesAvailable); + _debugSerial->println(F(" bytes")); + } + } + + while (bytesAvailable) + { + _i2cPort->beginTransmission(_gpsI2Caddress); + _i2cPort->write(0xFF); //0xFF is the register to read data from + if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus. + return (false); //Sensor did not ACK + + //Limit to 32 bytes or whatever the buffer limit is for given platform + uint16_t bytesToRead = bytesAvailable; + if (bytesToRead > i2cTransactionSize) + bytesToRead = i2cTransactionSize; + + TRY_AGAIN: + + _i2cPort->requestFrom((uint8_t)_gpsI2Caddress, (uint8_t)bytesToRead); + if (_i2cPort->available()) + { + for (uint16_t x = 0; x < bytesToRead; x++) + { + uint8_t incoming = _i2cPort->read(); //Grab the actual character + + //Check to see if the first read is 0x7F. If it is, the module is not ready + //to respond. Stop, wait, and try again + if (x == 0) + { + if (incoming == 0x7F) + { + if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging + { + _debugSerial->println(F("checkUbloxU2C: u-blox error, module not ready with data")); + } + delay(5); //In logic analyzation, the module starting responding after 1.48ms + if (checksumFailurePin >= 0) + { + digitalWrite((uint8_t)checksumFailurePin, LOW); + delay(10); + digitalWrite((uint8_t)checksumFailurePin, HIGH); + } + goto TRY_AGAIN; + } + } + + process(incoming, incomingUBX, requestedClass, requestedID); //Process this valid character + } + } + else + return (false); //Sensor did not respond + + bytesAvailable -= bytesToRead; + } + } + + return (true); + +} //end checkUbloxI2C() + +//Checks Serial for data, passing any new bytes to process() +boolean SFE_UBLOX_GPS::checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID) +{ + while (_serialPort->available()) + { + process(_serialPort->read(), incomingUBX, requestedClass, requestedID); + } + return (true); + +} //end checkUbloxSerial() + +//Processes NMEA and UBX binary sentences one byte at a time +//Take a given byte and file it into the proper array +void SFE_UBLOX_GPS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID) +{ + if(_debugSerial) + _debugSerial->printf("%0X %d %d\n",(int)incoming,(int)currentSentence,(int)ubxFrameCounter); + + if ((currentSentence == NONE) || (currentSentence == NMEA)) + { + if (incoming == 0xB5) //UBX binary frames start with 0xB5, aka Îŧ + { + //This is the start of a binary sentence. Reset flags. + //We still don't know the response class + ubxFrameCounter = 0; + currentSentence = UBX; + //Reset the packetBuf.counter even though we will need to reset it again when ubxFrameCounter == 2 + packetBuf.counter = 0; + ignoreThisPayload = false; //We should not ignore this payload - yet + //Store data in packetBuf until we know if we have a requested class and ID match + activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF; + } + else if (incoming == '$') + { + currentSentence = NMEA; + } + else if (incoming == 0xD3) //RTCM frames start with 0xD3 + { + rtcmFrameCounter = 0; + currentSentence = RTCM; + } + else + { + //This character is unknown or we missed the previous start of a sentence + } + } + + //Depending on the sentence, pass the character to the individual processor + if (currentSentence == UBX) + { + //Decide what type of response this is + if ((ubxFrameCounter == 0) && (incoming != 0xB5)) //ISO 'Îŧ' + { + currentSentence = NONE; //Something went wrong. Reset. + } + else if ((ubxFrameCounter == 1) && (incoming != 0x62)) //ASCII 'b' + { + currentSentence = NONE; //Something went wrong. Reset. + // Note to future self: + // There may be some duplication / redundancy in the next few lines as processUBX will also + // load information into packetBuf, but we'll do it here too for clarity + } + else if (ubxFrameCounter == 2) //Class + { + // Record the class in packetBuf until we know what to do with it + packetBuf.cls = incoming; // (Duplication) + rollingChecksumA = 0; //Reset our rolling checksums here (not when we receive the 0xB5) + rollingChecksumB = 0; + packetBuf.counter = 0; //Reset the packetBuf.counter (again) + packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // Reset the packet validity (redundant?) + packetBuf.startingSpot = incomingUBX->startingSpot; //Copy the startingSpot + } + else if (ubxFrameCounter == 3) //ID + { + // Record the ID in packetBuf until we know what to do with it + packetBuf.id = incoming; // (Duplication) + //We can now identify the type of response + //If the packet we are receiving is not an ACK then check for a class and ID match + if (packetBuf.cls != UBX_CLASS_ACK) + { + //This is not an ACK so check for a class and ID match + if ((packetBuf.cls == requestedClass) && (packetBuf.id == requestedID)) + { + //This is not an ACK and we have a class and ID match + //So start diverting data into incomingUBX (usually packetCfg) + activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG; + incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg) + incomingUBX->id = packetBuf.id; + incomingUBX->counter = packetBuf.counter; //Copy over the .counter too + } + //This is not an ACK and we do not have a complete class and ID match + //So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa + else if ((packetBuf.cls == requestedClass) && + (((packetBuf.id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH || requestedID == UBX_NAV_DOP)) || + ((packetBuf.id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) || + ((packetBuf.id == UBX_NAV_DOP) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_HPPOSLLH)))) + { + //This is not the message we were expecting but we start diverting data into incomingUBX (usually packetCfg) and process it anyway + activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG; + incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg) + incomingUBX->id = packetBuf.id; + incomingUBX->counter = packetBuf.counter; //Copy over the .counter too + if (_printDebug == true) + { + _debugSerial->print(F("process: auto NAV PVT/HPPOSLLH/DOP collision: Requested ID: 0x")); + _debugSerial->print(requestedID, HEX); + _debugSerial->print(F(" Message ID: 0x")); + _debugSerial->println(packetBuf.id, HEX); + } + } + else if ((packetBuf.cls == requestedClass) && + (((packetBuf.id == UBX_HNR_ATT) && (requestedID == UBX_HNR_INS || requestedID == UBX_HNR_PVT)) || + ((packetBuf.id == UBX_HNR_INS) && (requestedID == UBX_HNR_ATT || requestedID == UBX_HNR_PVT)) || + ((packetBuf.id == UBX_HNR_PVT) && (requestedID == UBX_HNR_ATT || requestedID == UBX_HNR_INS)))) + { + //This is not the message we were expecting but we start diverting data into incomingUBX (usually packetCfg) and process it anyway + activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG; + incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg) + incomingUBX->id = packetBuf.id; + incomingUBX->counter = packetBuf.counter; //Copy over the .counter too + if (_printDebug == true) + { + _debugSerial->print(F("process: auto HNR ATT/INS/PVT collision: Requested ID: 0x")); + _debugSerial->print(requestedID, HEX); + _debugSerial->print(F(" Message ID: 0x")); + _debugSerial->println(packetBuf.id, HEX); + } + } + else if (packetBuf.cls == UBX_CLASS_MON && packetBuf.id==UBX_MON_HW) + { + activePacketBuffer = SFE_UBLOX_PACKET_PACKETCFG; + incomingUBX->cls = packetBuf.cls; //Copy the class and ID into incomingUBX (usually packetCfg) + incomingUBX->id = packetBuf.id; + incomingUBX->counter = packetBuf.counter; //Copy over the .counter too + } + else + { + //This is not an ACK and we do not have a class and ID match + //so we should keep diverting data into packetBuf and ignore the payload + ignoreThisPayload = true; + } + } + else + { + // This is an ACK so it is to early to do anything with it + // We need to wait until we have received the length and data bytes + // So we should keep diverting data into packetBuf + } + } + else if (ubxFrameCounter == 4) //Length LSB + { + //We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG + packetBuf.len = incoming; // (Duplication) + } + else if (ubxFrameCounter == 5) //Length MSB + { + //We should save the length in packetBuf even if activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG + packetBuf.len |= incoming << 8; // (Duplication) + } + else if (ubxFrameCounter == 6) //This should be the first byte of the payload unless .len is zero + { + if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!) + { + if (_printDebug == true) + { + _debugSerial->print(F("process: ZERO LENGTH packet received: Class: 0x")); + _debugSerial->print(packetBuf.cls, HEX); + _debugSerial->print(F(" ID: 0x")); + _debugSerial->println(packetBuf.id, HEX); + } + //If length is zero (!) this will be the first byte of the checksum so record it + packetBuf.checksumA = incoming; + } + else + { + //The length is not zero so record this byte in the payload + packetBuf.payload[0] = incoming; + } + } + else if (ubxFrameCounter == 7) //This should be the second byte of the payload unless .len is zero or one + { + if (packetBuf.len == 0) // Check if length is zero (hopefully this is impossible!) + { + //If length is zero (!) this will be the second byte of the checksum so record it + packetBuf.checksumB = incoming; + } + else if (packetBuf.len == 1) // Check if length is one + { + //The length is one so this is the first byte of the checksum + packetBuf.checksumA = incoming; + } + else // Length is >= 2 so this must be a payload byte + { + packetBuf.payload[1] = incoming; + } + // Now that we have received two payload bytes, we can check for a matching ACK/NACK + if ((activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF) // If we are not already processing a data packet + && (packetBuf.cls == UBX_CLASS_ACK) // and if this is an ACK/NACK + && (packetBuf.payload[0] == requestedClass) // and if the class matches + && (packetBuf.payload[1] == requestedID)) // and if the ID matches + { + if (packetBuf.len == 2) // Check if .len is 2 + { + // Then this is a matching ACK so copy it into packetAck + activePacketBuffer = SFE_UBLOX_PACKET_PACKETACK; + packetAck.cls = packetBuf.cls; + packetAck.id = packetBuf.id; + packetAck.len = packetBuf.len; + packetAck.counter = packetBuf.counter; + packetAck.payload[0] = packetBuf.payload[0]; + packetAck.payload[1] = packetBuf.payload[1]; + } + else // Length is not 2 (hopefully this is impossible!) + { + if (_printDebug == true) + { + _debugSerial->print(F("process: ACK received with .len != 2: Class: 0x")); + _debugSerial->print(packetBuf.payload[0], HEX); + _debugSerial->print(F(" ID: 0x")); + _debugSerial->print(packetBuf.payload[1], HEX); + _debugSerial->print(F(" len: ")); + _debugSerial->println(packetBuf.len); + } + } + } + } + + //Divert incoming into the correct buffer + if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETACK) + processUBX(incoming, &packetAck, requestedClass, requestedID); + else if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG) + processUBX(incoming, incomingUBX, requestedClass, requestedID); + else // if (activePacketBuffer == SFE_UBLOX_PACKET_PACKETBUF) + processUBX(incoming, &packetBuf, requestedClass, requestedID); + + //Finally, increment the frame counter + ubxFrameCounter++; + } + else if (currentSentence == NMEA) + { + processNMEA(incoming); //Process each NMEA character + } + else if (currentSentence == RTCM) + { + processRTCMframe(incoming); //Deal with RTCM bytes + } +} + +//This is the default or generic NMEA processor. We're only going to pipe the data to serial port so we can see it. +//User could overwrite this function to pipe characters to nmea.process(c) of tinyGPS or MicroNMEA +//Or user could pipe each character to a buffer, radio, etc. +void SFE_UBLOX_GPS::processNMEA(char incoming) +{ + //If user has assigned an output port then pipe the characters there + if (_nmeaOutputPort != NULL) + _nmeaOutputPort->write(incoming); //Echo this byte to the serial port +} + +//We need to be able to identify an RTCM packet and then the length +//so that we know when the RTCM message is completely received and we then start +//listening for other sentences (like NMEA or UBX) +//RTCM packet structure is very odd. I never found RTCM STANDARD 10403.2 but +//http://d1.amobbs.com/bbs_upload782111/files_39/ourdev_635123CK0HJT.pdf is good +//https://dspace.cvut.cz/bitstream/handle/10467/65205/F3-BP-2016-Shkalikava-Anastasiya-Prenos%20polohove%20informace%20prostrednictvim%20datove%20site.pdf?sequence=-1 +//Lead me to: https://forum.u-blox.com/index.php/4348/how-to-read-rtcm-messages-from-neo-m8p +//RTCM 3.2 bytes look like this: +//Byte 0: Always 0xD3 +//Byte 1: 6-bits of zero +//Byte 2: 10-bits of length of this packet including the first two-ish header bytes, + 6. +//byte 3 + 4 bits: Msg type 12 bits +//Example: D3 00 7C 43 F0 ... / 0x7C = 124+6 = 130 bytes in this packet, 0x43F = Msg type 1087 +void SFE_UBLOX_GPS::processRTCMframe(uint8_t incoming) +{ + if (rtcmFrameCounter == 1) + { + rtcmLen = (incoming & 0x03) << 8; //Get the last two bits of this byte. Bits 8&9 of 10-bit length + } + else if (rtcmFrameCounter == 2) + { + rtcmLen |= incoming; //Bits 0-7 of packet length + rtcmLen += 6; //There are 6 additional bytes of what we presume is header, msgType, CRC, and stuff + } + /*else if (rtcmFrameCounter == 3) + { + rtcmMsgType = incoming << 4; //Message Type, MS 4 bits + } + else if (rtcmFrameCounter == 4) + { + rtcmMsgType |= (incoming >> 4); //Message Type, bits 0-7 + }*/ + + rtcmFrameCounter++; + + processRTCM(incoming); //Here is where we expose this byte to the user + + if (rtcmFrameCounter == rtcmLen) + { + //We're done! + currentSentence = NONE; //Reset and start looking for next sentence type + } +} + +//This function is called for each byte of an RTCM frame +//Ths user can overwrite this function and process the RTCM frame as they please +//Bytes can be piped to Serial or other interface. The consumer could be a radio or the internet (Ntrip broadcaster) +void SFE_UBLOX_GPS::processRTCM(uint8_t incoming) +{ + //Radio.sendReliable((String)incoming); //An example of passing this byte to a radio + + //_debugSerial->write(incoming); //An example of passing this byte out the serial port + + //Debug printing + // _debugSerial->print(F(" ")); + // if(incoming < 0x10) _debugSerial->print(F("0")); + // if(incoming < 0x10) _debugSerial->print(F("0")); + // _debugSerial->print(incoming, HEX); + // if(rtcmFrameCounter % 16 == 0) _debugSerial->println(); +} + +//Given a character, file it away into the uxb packet structure +//Set valid to VALID or NOT_VALID once sentence is completely received and passes or fails CRC +//The payload portion of the packet can be 100s of bytes but the max array +//size is MAX_PAYLOAD_SIZE bytes. startingSpot can be set so we only record +//a subset of bytes within a larger packet. +void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID) +{ + size_t max_payload_size = (activePacketBuffer == SFE_UBLOX_PACKET_PACKETCFG) ? MAX_PAYLOAD_SIZE : 2; + bool overrun = false; + + //Add all incoming bytes to the rolling checksum + //Stop at len+4 as this is the checksum bytes to that should not be added to the rolling checksum + if (incomingUBX->counter < incomingUBX->len + 4) + addToChecksum(incoming); + + if (incomingUBX->counter == 0) + { + incomingUBX->cls = incoming; + } + else if (incomingUBX->counter == 1) + { + incomingUBX->id = incoming; + } + else if (incomingUBX->counter == 2) //Len LSB + { + incomingUBX->len = incoming; + } + else if (incomingUBX->counter == 3) //Len MSB + { + incomingUBX->len |= incoming << 8; + } + else if (incomingUBX->counter == incomingUBX->len + 4) //ChecksumA + { + incomingUBX->checksumA = incoming; + } + else if (incomingUBX->counter == incomingUBX->len + 5) //ChecksumB + { + incomingUBX->checksumB = incoming; + + currentSentence = NONE; //We're done! Reset the sentence to being looking for a new start char + + //Validate this sentence + if ((incomingUBX->checksumA == rollingChecksumA) && (incomingUBX->checksumB == rollingChecksumB)) + { + incomingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_VALID; // Flag the packet as valid + + // Let's check if the class and ID match the requestedClass and requestedID + // Remember - this could be a data packet or an ACK packet + if ((incomingUBX->cls == requestedClass) && (incomingUBX->id == requestedID)) + { + incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_VALID; // If we have a match, set the classAndIDmatch flag to valid + } + + // If this is an ACK then let's check if the class and ID match the requestedClass and requestedID + else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_ACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID)) + { + incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_VALID; // If we have a match, set the classAndIDmatch flag to valid + } + + // If this is a NACK then let's check if the class and ID match the requestedClass and requestedID + else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->id == UBX_ACK_NACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID)) + { + incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_NOTACKNOWLEDGED; // If we have a match, set the classAndIDmatch flag to NOTACKNOWLEDGED + if (_printDebug == true) + { + _debugSerial->print(F("processUBX: NACK received: Requested Class: 0x")); + _debugSerial->print(incomingUBX->payload[0], HEX); + _debugSerial->print(F(" Requested ID: 0x")); + _debugSerial->println(incomingUBX->payload[1], HEX); + } + } + + //This is not an ACK and we do not have a complete class and ID match + //So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa + else if ((incomingUBX->cls == requestedClass) && + (((incomingUBX->id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH || requestedID == UBX_NAV_DOP)) || + ((incomingUBX->id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) || + ((incomingUBX->id == UBX_NAV_DOP) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_HPPOSLLH)))) + { + // This isn't the message we are looking for... + // Let's say so and leave incomingUBX->classAndIDmatch _unchanged_ + if (_printDebug == true) + { + _debugSerial->print(F("processUBX: auto NAV PVT/HPPOSLLH/DOP collision: Requested ID: 0x")); + _debugSerial->print(requestedID, HEX); + _debugSerial->print(F(" Message ID: 0x")); + _debugSerial->println(incomingUBX->id, HEX); + } + } + // Let's do the same for the HNR messages + else if ((incomingUBX->cls == requestedClass) && + (((incomingUBX->id == UBX_HNR_ATT) && (requestedID == UBX_HNR_INS || requestedID == UBX_HNR_PVT)) || + ((incomingUBX->id == UBX_HNR_INS) && (requestedID == UBX_HNR_ATT || requestedID == UBX_HNR_PVT)) || + ((incomingUBX->id == UBX_HNR_PVT) && (requestedID == UBX_HNR_ATT || requestedID == UBX_HNR_INS)))) + { + // This isn't the message we are looking for... + // Let's say so and leave incomingUBX->classAndIDmatch _unchanged_ + if (_printDebug == true) + { + _debugSerial->print(F("processUBX: auto HNR ATT/INS/PVT collision: Requested ID: 0x")); + _debugSerial->print(requestedID, HEX); + _debugSerial->print(F(" Message ID: 0x")); + _debugSerial->println(incomingUBX->id, HEX); + } + } + + if (_printDebug == true) + { + _debugSerial->print(F("Incoming: Size: ")); + _debugSerial->print(incomingUBX->len); + _debugSerial->print(F(" Received: ")); + printPacket(incomingUBX); + + if (incomingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) + { + _debugSerial->println(F("packetCfg now valid")); + } + if (packetAck.valid == SFE_UBLOX_PACKET_VALIDITY_VALID) + { + _debugSerial->println(F("packetAck now valid")); + } + if (incomingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) + { + _debugSerial->println(F("packetCfg classAndIDmatch")); + } + if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) + { + _debugSerial->println(F("packetAck classAndIDmatch")); + } + } + + //We've got a valid packet, now do something with it but only if ignoreThisPayload is false + if (ignoreThisPayload == false) + { + processUBXpacket(incomingUBX); + } + } + else // Checksum failure + { + incomingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID; + + // Let's check if the class and ID match the requestedClass and requestedID. + // This is potentially risky as we are saying that we saw the requested Class and ID + // but that the packet checksum failed. Potentially it could be the class or ID bytes + // that caused the checksum error! + if ((incomingUBX->cls == requestedClass) && (incomingUBX->id == requestedID)) + { + incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID; // If we have a match, set the classAndIDmatch flag to not valid + } + // If this is an ACK then let's check if the class and ID match the requestedClass and requestedID + else if ((incomingUBX->cls == UBX_CLASS_ACK) && (incomingUBX->payload[0] == requestedClass) && (incomingUBX->payload[1] == requestedID)) + { + incomingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_VALID; // If we have a match, set the classAndIDmatch flag to not valid + } + + if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging + { + //Drive an external pin to allow for easier logic analyzation + if (checksumFailurePin >= 0) + { + digitalWrite((uint8_t)checksumFailurePin, LOW); + delay(10); + digitalWrite((uint8_t)checksumFailurePin, HIGH); + } + + _debugSerial->print(F("Checksum failed:")); + _debugSerial->print(F(" checksumA: ")); + _debugSerial->print(incomingUBX->checksumA); + _debugSerial->print(F(" checksumB: ")); + _debugSerial->print(incomingUBX->checksumB); + + _debugSerial->print(F(" rollingChecksumA: ")); + _debugSerial->print(rollingChecksumA); + _debugSerial->print(F(" rollingChecksumB: ")); + _debugSerial->print(rollingChecksumB); + _debugSerial->println(); + + _debugSerial->print(F("Failed : ")); + _debugSerial->print(F("Size: ")); + _debugSerial->print(incomingUBX->len); + _debugSerial->print(F(" Received: ")); + printPacket(incomingUBX); + } + } + } + else //Load this byte into the payload array + { + //If a UBX_NAV_PVT packet comes in asynchronously, we need to fudge the startingSpot + uint16_t startingSpot = incomingUBX->startingSpot; + if (incomingUBX->cls == UBX_CLASS_NAV && incomingUBX->id == UBX_NAV_PVT) + startingSpot = 0; + // Check if this is payload data which should be ignored + if (ignoreThisPayload == false) + { + //Begin recording if counter goes past startingSpot + if ((incomingUBX->counter - 4) >= startingSpot) + { + //Check to see if we have room for this byte + if (((incomingUBX->counter - 4) - startingSpot) < max_payload_size) //If counter = 208, starting spot = 200, we're good to record. + { + incomingUBX->payload[incomingUBX->counter - 4 - startingSpot] = incoming; //Store this byte into payload array + } + else + { + overrun = true; + } + } + } + } + + //Increment the counter + incomingUBX->counter++; + + if (overrun || (incomingUBX->counter == MAX_PAYLOAD_SIZE)) + { + //Something has gone very wrong + currentSentence = NONE; //Reset the sentence to being looking for a new start char + if ((_printDebug == true) || (_printLimitedDebug == true)) // Print this if doing limited debugging + { + if (overrun) + _debugSerial->println(F("processUBX: buffer overrun detected")); + else + _debugSerial->println(F("processUBX: counter hit MAX_PAYLOAD_SIZE")); + } + } +} + +//Once a packet has been received and validated, identify this packet's class/id and update internal flags +//Note: if the user requests a PVT or a HPPOSLLH message using a custom packet, the data extraction will +// not work as expected beacuse extractLong etc are hardwired to packetCfg payloadCfg. Ideally +// extractLong etc should be updated so they receive a pointer to the packet buffer. +void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg) +{ + switch (msg->cls) + { + case UBX_CLASS_MON: + { + switch(msg->id) + { + case UBX_MON_HW: + { + hwState.noisePerMS = extractInt(16); + hwState.agcCnt = extractInt(18); + hwState.aStatus = extractByte(20); + hwState.aPower = extractByte(21); + hwState.aFlags = extractByte(22); + moduleQueried.hwState = true; + break; + } + } + break; + } + case UBX_CLASS_NAV: + if (msg->id == UBX_NAV_PVT && msg->len == 92) + { + pvtSeqId++; + //Parse various byte fields into global vars + constexpr int startingSpot = 0; //fixed value used in processUBX + + timeOfWeek = extractLong(0); + gpsMillisecond = extractLong(0) % 1000; //Get last three digits of iTOW + gpsYear = extractInt(4); + gpsMonth = extractByte(6); + gpsDay = extractByte(7); + gpsHour = extractByte(8); + gpsMinute = extractByte(9); + gpsSecond = extractByte(10); + gpsDateValid = extractByte(11) & 0x01; + gpsTimeValid = (extractByte(11) & 0x02) >> 1; + gpsNanosecond = extractSignedLong(16); //Includes milliseconds + + fixType = extractByte(20 - startingSpot); + gnssFixOk = extractByte(21 - startingSpot) & 0x1; //Get the 1st bit + diffSoln = (extractByte(21 - startingSpot) >> 1) & 0x1; //Get the 2nd bit + carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte + headVehValid = (extractByte(21 - startingSpot) >> 5) & 0x1; // Get the 5th bit + SIV = extractByte(23 - startingSpot); + longitude = extractSignedLong(24 - startingSpot); + latitude = extractSignedLong(28 - startingSpot); + altitude = extractSignedLong(32 - startingSpot); + altitudeMSL = extractSignedLong(36 - startingSpot); + horizontalAccEst = extractLong(40 - startingSpot); + verticalAccEst = extractLong(44 - startingSpot); + nedNorthVel = extractSignedLong(48 - startingSpot); + nedEastVel = extractSignedLong(52 - startingSpot); + nedDownVel = extractSignedLong(56 - startingSpot); + groundSpeed = extractSignedLong(60 - startingSpot); + headingOfMotion = extractSignedLong(64 - startingSpot); + speedAccEst = extractLong(68 - startingSpot); + headingAccEst = extractLong(72 - startingSpot); + pDOP = extractInt(76 - startingSpot); + invalidLlh = extractByte(78 - startingSpot) & 0x1; + headVeh = extractSignedLong(84 - startingSpot); + magDec = extractSignedInt(88 - startingSpot); + magAcc = extractInt(90 - startingSpot); + + //Mark all datums as fresh (not read before) + moduleQueried.gpsiTOW = true; + moduleQueried.gpsYear = true; + moduleQueried.gpsMonth = true; + moduleQueried.gpsDay = true; + moduleQueried.gpsHour = true; + moduleQueried.gpsMinute = true; + moduleQueried.gpsSecond = true; + moduleQueried.gpsDateValid = true; + moduleQueried.gpsTimeValid = true; + moduleQueried.gpsNanosecond = true; + + moduleQueried.all = true; + moduleQueried.gnssFixOk = true; + moduleQueried.diffSoln = true; + moduleQueried.headVehValid = true; + moduleQueried.longitude = true; + moduleQueried.latitude = true; + moduleQueried.altitude = true; + moduleQueried.altitudeMSL = true; + moduleQueried.horizontalAccEst = true; + moduleQueried.verticalAccEst = true; + moduleQueried.nedNorthVel = true; + moduleQueried.nedEastVel = true; + moduleQueried.nedDownVel = true; + moduleQueried.SIV = true; + moduleQueried.fixType = true; + moduleQueried.carrierSolution = true; + moduleQueried.groundSpeed = true; + moduleQueried.headingOfMotion = true; + moduleQueried.speedAccEst = true; + moduleQueried.headingAccEst = true; + moduleQueried.pDOP = true; + moduleQueried.invalidLlh = true; + moduleQueried.headVeh = true; + moduleQueried.magDec = true; + moduleQueried.magAcc = true; + } + else if (msg->id == UBX_NAV_HPPOSLLH && msg->len == 36) + { + timeOfWeek = extractLong(4); + highResLongitude = extractSignedLong(8); + highResLatitude = extractSignedLong(12); + elipsoid = extractSignedLong(16); + meanSeaLevel = extractSignedLong(20); + highResLongitudeHp = extractSignedChar(24); + highResLatitudeHp = extractSignedChar(25); + elipsoidHp = extractSignedChar(26); + meanSeaLevelHp = extractSignedChar(27); + horizontalAccuracy = extractLong(28); + verticalAccuracy = extractLong(32); + + highResModuleQueried.all = true; + highResModuleQueried.highResLatitude = true; + highResModuleQueried.highResLatitudeHp = true; + highResModuleQueried.highResLongitude = true; + highResModuleQueried.highResLongitudeHp = true; + highResModuleQueried.elipsoid = true; + highResModuleQueried.elipsoidHp = true; + highResModuleQueried.meanSeaLevel = true; + highResModuleQueried.meanSeaLevelHp = true; + highResModuleQueried.geoidSeparation = true; + highResModuleQueried.horizontalAccuracy = true; + highResModuleQueried.verticalAccuracy = true; + moduleQueried.gpsiTOW = true; // this can arrive via HPPOS too. + +/* + if (_printDebug == true) + { + _debugSerial->print(F("Sec: ")); + _debugSerial->print(((float)extractLong(4)) / 1000.0f); + _debugSerial->print(F(" ")); + _debugSerial->print(F("LON: ")); + _debugSerial->print(((float)(int32_t)extractLong(8)) / 10000000.0f); + _debugSerial->print(F(" ")); + _debugSerial->print(F("LAT: ")); + _debugSerial->print(((float)(int32_t)extractLong(12)) / 10000000.0f); + _debugSerial->print(F(" ")); + _debugSerial->print(F("ELI M: ")); + _debugSerial->print(((float)(int32_t)extractLong(16)) / 1000.0f); + _debugSerial->print(F(" ")); + _debugSerial->print(F("MSL M: ")); + _debugSerial->print(((float)(int32_t)extractLong(20)) / 1000.0f); + _debugSerial->print(F(" ")); + _debugSerial->print(F("LON HP: ")); + _debugSerial->print(extractSignedChar(24)); + _debugSerial->print(F(" ")); + _debugSerial->print(F("LAT HP: ")); + _debugSerial->print(extractSignedChar(25)); + _debugSerial->print(F(" ")); + _debugSerial->print(F("ELI HP: ")); + _debugSerial->print(extractSignedChar(26)); + _debugSerial->print(F(" ")); + _debugSerial->print(F("MSL HP: ")); + _debugSerial->print(extractSignedChar(27)); + _debugSerial->print(F(" ")); + _debugSerial->print(F("HA 2D M: ")); + _debugSerial->print(((float)(int32_t)extractLong(28)) / 10000.0f); + _debugSerial->print(F(" ")); + _debugSerial->print(F("VERT M: ")); + _debugSerial->println(((float)(int32_t)extractLong(32)) / 10000.0f); + } +*/ + } + else if (msg->id == UBX_NAV_DOP && msg->len == 18) + { + geometricDOP = extractInt(4); + positionDOP = extractInt(6); + timeDOP = extractInt(8); + verticalDOP = extractInt(10); + horizontalDOP = extractInt(12); + northingDOP = extractInt(14); + eastingDOP = extractInt(16); + dopModuleQueried.all = true; + dopModuleQueried.geometricDOP = true; + dopModuleQueried.positionDOP = true; + dopModuleQueried.timeDOP = true; + dopModuleQueried.verticalDOP = true; + dopModuleQueried.horizontalDOP = true; + dopModuleQueried.northingDOP = true; + dopModuleQueried.eastingDOP = true; + } + break; + case UBX_CLASS_HNR: + if (msg->id == UBX_HNR_ATT && msg->len == 32) + { + //Parse various byte fields into global vars + hnrAtt.iTOW = extractLong(0); + hnrAtt.roll = extractSignedLong(8); + hnrAtt.pitch = extractSignedLong(12); + hnrAtt.heading = extractSignedLong(16); + hnrAtt.accRoll = extractLong(20); + hnrAtt.accPitch = extractLong(24); + hnrAtt.accHeading = extractLong(28); + + hnrAttQueried = true; + } + else if (msg->id == UBX_HNR_INS && msg->len == 36) + { + //Parse various byte fields into global vars + hnrVehDyn.iTOW = extractLong(8); + hnrVehDyn.xAngRate = extractSignedLong(12); + hnrVehDyn.yAngRate = extractSignedLong(16); + hnrVehDyn.zAngRate = extractSignedLong(20); + hnrVehDyn.xAccel = extractSignedLong(24); + hnrVehDyn.yAccel = extractSignedLong(28); + hnrVehDyn.zAccel = extractSignedLong(32); + + uint32_t bitfield0 = extractLong(0); + hnrVehDyn.xAngRateValid = (bitfield0 & 0x00000100) > 0; + hnrVehDyn.yAngRateValid = (bitfield0 & 0x00000200) > 0; + hnrVehDyn.zAngRateValid = (bitfield0 & 0x00000400) > 0; + hnrVehDyn.xAccelValid = (bitfield0 & 0x00000800) > 0; + hnrVehDyn.yAccelValid = (bitfield0 & 0x00001000) > 0; + hnrVehDyn.zAccelValid = (bitfield0 & 0x00002000) > 0; + + hnrDynQueried = true; + } + else if (msg->id == UBX_HNR_PVT && msg->len == 72) + { + //Parse various byte fields into global vars + hnrPVT.iTOW = extractLong(0); + hnrPVT.year = extractInt(4); + hnrPVT.month = extractByte(6); + hnrPVT.day = extractByte(7); + hnrPVT.hour = extractByte(8); + hnrPVT.min = extractByte(9); + hnrPVT.sec = extractByte(10); + hnrPVT.nano = extractSignedLong(12); + hnrPVT.gpsFix = extractByte(16); + hnrPVT.lon = extractSignedLong(20); + hnrPVT.lat = extractSignedLong(24); + hnrPVT.height = extractSignedLong(28); + hnrPVT.hMSL = extractSignedLong(32); + hnrPVT.gSpeed = extractSignedLong(36); + hnrPVT.speed = extractSignedLong(40); + hnrPVT.headMot = extractSignedLong(44); + hnrPVT.headVeh = extractSignedLong(48); + hnrPVT.hAcc = extractLong(52); + hnrPVT.vAcc = extractLong(56); + hnrPVT.sAcc = extractLong(60); + hnrPVT.headAcc = extractLong(64); + + uint8_t valid = extractByte(11); + hnrPVT.validDate = (valid & 0x01) > 0; + hnrPVT.validTime = (valid & 0x02) > 0; + hnrPVT.fullyResolved = (valid & 0x04) > 0; + + uint8_t flags = extractByte(17); + hnrPVT.gpsFixOK = (flags & 0x01) > 0; + hnrPVT.diffSoln = (flags & 0x02) > 0; + hnrPVT.WKNSET = (flags & 0x04) > 0; + hnrPVT.TOWSET = (flags & 0x08) > 0; + hnrPVT.headVehValid = (flags & 0x10) > 0; + + hnrPVTQueried = true; + } + } +} + +//Given a packet and payload, send everything including CRC bytes via I2C port +sfe_ublox_status_e SFE_UBLOX_GPS::sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait) +{ + sfe_ublox_status_e retVal = SFE_UBLOX_STATUS_SUCCESS; + + calcChecksum(outgoingUBX); //Sets checksum A and B bytes of the packet + + if (_printDebug == true) + { + _debugSerial->print(F("\nSending: ")); + printPacket(outgoingUBX); + } + + if (commType == COMM_TYPE_I2C) + { + retVal = sendI2cCommand(outgoingUBX, maxWait); + if (retVal != SFE_UBLOX_STATUS_SUCCESS) + { + if (_printDebug == true) + { + _debugSerial->println(F("Send I2C Command failed")); + } + return retVal; + } + } + else if (commType == COMM_TYPE_SERIAL) + { + sendSerialCommand(outgoingUBX); + } + + if (maxWait > 0) + { + //Depending on what we just sent, either we need to look for an ACK or not + if (outgoingUBX->cls == UBX_CLASS_CFG) + { + if (_printDebug == true) + { + _debugSerial->println(F("sendCommand: Waiting for ACK response")); + } + retVal = waitForACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response + } + else + { + if (_printDebug == true) + { + _debugSerial->println(F("sendCommand: Waiting for No ACK response")); + } + retVal = waitForNoACKResponse(outgoingUBX, outgoingUBX->cls, outgoingUBX->id, maxWait); //Wait for Ack response + } + } + return retVal; +} + +//Returns false if sensor fails to respond to I2C traffic +sfe_ublox_status_e SFE_UBLOX_GPS::sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait) +{ + //Point at 0xFF data register + _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); //There is no register to write to, we just begin writing data bytes + _i2cPort->write(0xFF); + if (_i2cPort->endTransmission(false) != 0) //Don't release bus + return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK + + //Write header bytes + _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); //There is no register to write to, we just begin writing data bytes + _i2cPort->write(UBX_SYNCH_1); //Îŧ - oh ublox, you're funny. I will call you micro-blox from now on. + _i2cPort->write(UBX_SYNCH_2); //b + _i2cPort->write(outgoingUBX->cls); + _i2cPort->write(outgoingUBX->id); + _i2cPort->write(outgoingUBX->len & 0xFF); //LSB + _i2cPort->write(outgoingUBX->len >> 8); //MSB + if (_i2cPort->endTransmission(false) != 0) //Do not release bus + return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK + + //Write payload. Limit the sends into 32 byte chunks + //This code based on ublox: https://forum.u-blox.com/index.php/20528/how-to-use-i2c-to-get-the-nmea-frames + uint16_t bytesToSend = outgoingUBX->len; + + //"The number of data bytes must be at least 2 to properly distinguish + //from the write access to set the address counter in random read accesses." + uint16_t startSpot = 0; + while (bytesToSend > 1) + { + uint8_t len = bytesToSend; + if (len > i2cTransactionSize) + len = i2cTransactionSize; + + _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); + //_i2cPort->write(outgoingUBX->payload, len); //Write a portion of the payload to the bus + + for (uint16_t x = 0; x < len; x++) + _i2cPort->write(outgoingUBX->payload[startSpot + x]); //Write a portion of the payload to the bus + + if (_i2cPort->endTransmission(false) != 0) //Don't release bus + return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK + + //*outgoingUBX->payload += len; //Move the pointer forward + startSpot += len; //Move the pointer forward + bytesToSend -= len; + } + + //Write checksum + _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); + if (bytesToSend == 1) + _i2cPort->write(outgoingUBX->payload, 1); + _i2cPort->write(outgoingUBX->checksumA); + _i2cPort->write(outgoingUBX->checksumB); + + //All done transmitting bytes. Release bus. + if (_i2cPort->endTransmission() != 0) + return (SFE_UBLOX_STATUS_I2C_COMM_FAILURE); //Sensor did not ACK + return (SFE_UBLOX_STATUS_SUCCESS); +} + +//Given a packet and payload, send everything including CRC bytesA via Serial port +void SFE_UBLOX_GPS::sendSerialCommand(ubxPacket *outgoingUBX) +{ + //Write header bytes + _serialPort->write(UBX_SYNCH_1); //Îŧ - oh ublox, you're funny. I will call you micro-blox from now on. + _serialPort->write(UBX_SYNCH_2); //b + _serialPort->write(outgoingUBX->cls); + _serialPort->write(outgoingUBX->id); + _serialPort->write(outgoingUBX->len & 0xFF); //LSB + _serialPort->write(outgoingUBX->len >> 8); //MSB + + //Write payload. + for (int i = 0; i < outgoingUBX->len; i++) + { + _serialPort->write(outgoingUBX->payload[i]); + } + + //Write checksum + _serialPort->write(outgoingUBX->checksumA); + _serialPort->write(outgoingUBX->checksumB); +} + +//Returns true if I2C device ack's +boolean SFE_UBLOX_GPS::isConnected(uint16_t maxWait) +{ + if (commType == COMM_TYPE_I2C) + { + _i2cPort->beginTransmission((uint8_t)_gpsI2Caddress); + if (_i2cPort->endTransmission() != 0) + return false; //Sensor did not ack + } + + // Query navigation rate to see whether we get a meaningful response + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RATE; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + sfe_ublox_status_e result = sendCommand(&packetCfg, maxWait); // Poll the navigation rate + + // In this case, we don't acutally care what the navigation rate is, we're just polling it to indicate a connection. + // So we return true if result is DATA_RECEIVED or DATA_OVERWRITTEN (just in case the RATE was overwritten by an auto packet). + if ((result == SFE_UBLOX_STATUS_DATA_RECEIVED) || (result == SFE_UBLOX_STATUS_DATA_OVERWRITTEN)) + return (true); + else + return (false); +} + +//Given a message, calc and store the two byte "8-Bit Fletcher" checksum over the entirety of the message +//This is called before we send a command message +void SFE_UBLOX_GPS::calcChecksum(ubxPacket *msg) +{ + msg->checksumA = 0; + msg->checksumB = 0; + + msg->checksumA += msg->cls; + msg->checksumB += msg->checksumA; + + msg->checksumA += msg->id; + msg->checksumB += msg->checksumA; + + msg->checksumA += (msg->len & 0xFF); + msg->checksumB += msg->checksumA; + + msg->checksumA += (msg->len >> 8); + msg->checksumB += msg->checksumA; + + for (uint16_t i = 0; i < msg->len; i++) + { + msg->checksumA += msg->payload[i]; + msg->checksumB += msg->checksumA; + } +} + +//Given a message and a byte, add to rolling "8-Bit Fletcher" checksum +//This is used when receiving messages from module +void SFE_UBLOX_GPS::addToChecksum(uint8_t incoming) +{ + rollingChecksumA += incoming; + rollingChecksumB += rollingChecksumA; +} + +//Pretty prints the current ubxPacket +void SFE_UBLOX_GPS::printPacket(ubxPacket *packet) +{ + if (_printDebug == true) + { + _debugSerial->print(F("CLS:")); + if (packet->cls == UBX_CLASS_NAV) //1 + _debugSerial->print(F("NAV")); + else if (packet->cls == UBX_CLASS_ACK) //5 + _debugSerial->print(F("ACK")); + else if (packet->cls == UBX_CLASS_CFG) //6 + _debugSerial->print(F("CFG")); + else if (packet->cls == UBX_CLASS_MON) //0x0A + _debugSerial->print(F("MON")); + else + { + _debugSerial->print(F("0x")); + _debugSerial->print(packet->cls, HEX); + } + + _debugSerial->print(F(" ID:")); + if (packet->cls == UBX_CLASS_NAV && packet->id == UBX_NAV_PVT) + _debugSerial->print(F("PVT")); + else if (packet->cls == UBX_CLASS_CFG && packet->id == UBX_CFG_RATE) + _debugSerial->print(F("RATE")); + else if (packet->cls == UBX_CLASS_CFG && packet->id == UBX_CFG_CFG) + _debugSerial->print(F("SAVE")); + else + { + _debugSerial->print(F("0x")); + _debugSerial->print(packet->id, HEX); + } + + _debugSerial->print(F(" Len: 0x")); + _debugSerial->print(packet->len, HEX); + + // Only print the payload is ignoreThisPayload is false otherwise + // we could be printing gibberish from beyond the end of packetBuf + if (ignoreThisPayload == false) + { + _debugSerial->print(F(" Payload:")); + + for (int x = 0; x < packet->len; x++) + { + _debugSerial->print(F(" ")); + _debugSerial->print(packet->payload[x], HEX); + } + } + else + { + _debugSerial->print(F(" Payload: IGNORED")); + } + _debugSerial->println(); + } +} + +//=-=-=-=-=-=-=-= Specific commands =-=-=-=-=-=-=-==-=-=-=-=-=-=-= +//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-==-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= + +//When messages from the class CFG are sent to the receiver, the receiver will send an "acknowledge"(UBX - ACK - ACK) or a +//"not acknowledge"(UBX-ACK-NAK) message back to the sender, depending on whether or not the message was processed correctly. +//Some messages from other classes also use the same acknowledgement mechanism. + +//When we poll or get a setting, we will receive _both_ a config packet and an ACK +//If the poll or get request is not valid, we will receive _only_ a NACK + +//If we are trying to get or poll a setting, then packetCfg.len will be 0 or 1 when the packetCfg is _sent_. +//If we poll the setting for a particular port using UBX-CFG-PRT then .len will be 1 initially +//For all other gets or polls, .len will be 0 initially +//(It would be possible for .len to be 2 _if_ we were using UBX-CFG-MSG to poll the settings for a particular message - but we don't use that (currently)) + +//If the get or poll _fails_, i.e. is NACK'd, then packetCfg.len could still be 0 or 1 after the NACK is received +//But if the get or poll is ACK'd, then packetCfg.len will have been updated by the incoming data and will always be at least 2 + +//If we are going to set the value for a setting, then packetCfg.len will be at least 3 when the packetCfg is _sent_. +//(UBX-CFG-MSG appears to have the shortest set length of 3 bytes) + +//We need to think carefully about how interleaved PVT packets affect things. +//It is entirely possible that our packetCfg and packetAck were received successfully +//but while we are still in the "if (checkUblox() == true)" loop a PVT packet is processed +//or _starts_ to arrive (remember that Serial data can arrive very slowly). + +//Returns SFE_UBLOX_STATUS_DATA_RECEIVED if we got an ACK and a valid packetCfg (module is responding with register content) +//Returns SFE_UBLOX_STATUS_DATA_SENT if we got an ACK and no packetCfg (no valid packetCfg needed, module absorbs new register data) +//Returns SFE_UBLOX_STATUS_FAIL if something very bad happens (e.g. a double checksum failure) +//Returns SFE_UBLOX_STATUS_COMMAND_NACK if the packet was not-acknowledged (NACK) +//Returns SFE_UBLOX_STATUS_CRC_FAIL if we had a checksum failure +//Returns SFE_UBLOX_STATUS_TIMEOUT if we timed out +//Returns SFE_UBLOX_STATUS_DATA_OVERWRITTEN if we got an ACK and a valid packetCfg but that the packetCfg has been +// or is currently being overwritten (remember that Serial data can arrive very slowly) +sfe_ublox_status_e SFE_UBLOX_GPS::waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime) +{ + outgoingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; //This will go VALID (or NOT_VALID) when we receive a response to the packet we sent + packetAck.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + outgoingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // This will go VALID (or NOT_VALID) when we receive a packet that matches the requested class and ID + packetAck.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + packetBuf.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + + unsigned long startTime = millis(); + while (millis() - startTime < maxTime) + { + if (checkUbloxInternal(outgoingUBX, requestedClass, requestedID) == true) //See if new data is available. Process bytes as they come in. + { + // If both the outgoingUBX->classAndIDmatch and packetAck.classAndIDmatch are VALID + // and outgoingUBX->valid is _still_ VALID and the class and ID _still_ match + // then we can be confident that the data in outgoingUBX is valid + if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: valid data and valid ACK received after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and a correct ACK! + } + + // We can be confident that the data packet (if we are going to get one) will always arrive + // before the matching ACK. So if we sent a config packet which only produces an ACK + // then outgoingUBX->classAndIDmatch will be NOT_DEFINED and the packetAck.classAndIDmatch will VALID. + // We should not check outgoingUBX->valid, outgoingUBX->cls or outgoingUBX->id + // as these may have been changed by a PVT packet. + else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: no data and valid ACK after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_DATA_SENT); //We got an ACK but no data... + } + + // If both the outgoingUBX->classAndIDmatch and packetAck.classAndIDmatch are VALID + // but the outgoingUBX->cls or ID no longer match then we can be confident that we had + // valid data but it has been or is currently being overwritten by another packet (e.g. PVT). + // If (e.g.) a PVT packet is _being_ received: outgoingUBX->valid will be NOT_DEFINED + // If (e.g.) a PVT packet _has been_ received: outgoingUBX->valid will be VALID (or just possibly NOT_VALID) + // So we cannot use outgoingUBX->valid as part of this check. + // Note: the addition of packetBuf should make this check redundant! + else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID))) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: data being OVERWRITTEN after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten + } + + // If packetAck.classAndIDmatch is VALID but both outgoingUBX->valid and outgoingUBX->classAndIDmatch + // are NOT_VALID then we can be confident we have had a checksum failure on the data packet + else if ((packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: CRC failed after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_CRC_FAIL); //Checksum fail + } + + // If our packet was not-acknowledged (NACK) we do not receive a data packet - we only get the NACK. + // So you would expect outgoingUBX->valid and outgoingUBX->classAndIDmatch to still be NOT_DEFINED + // But if a full PVT packet arrives afterwards outgoingUBX->valid could be VALID (or just possibly NOT_VALID) + // but outgoingUBX->cls and outgoingUBX->id would not match... + // So I think this is telling us we need a special state for packetAck.classAndIDmatch to tell us + // the packet was definitely NACK'd otherwise we are possibly just guessing... + // Note: the addition of packetBuf changes the logic of this, but we'll leave the code as is for now. + else if (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_NOTACKNOWLEDGED) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: data was NOTACKNOWLEDGED (NACK) after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_COMMAND_NACK); //We received a NACK! + } + + // If the outgoingUBX->classAndIDmatch is VALID but the packetAck.classAndIDmatch is NOT_VALID + // then the ack probably had a checksum error. We will take a gamble and return DATA_RECEIVED. + // If we were playing safe, we should return FAIL instead + else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: VALID data and INVALID ACK received after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data and an invalid ACK! + } + + // If the outgoingUBX->classAndIDmatch is NOT_VALID and the packetAck.classAndIDmatch is NOT_VALID + // then we return a FAIL. This must be a double checksum failure? + else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: INVALID data and INVALID ACK received after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_FAIL); //We received invalid data and an invalid ACK! + } + + // If the outgoingUBX->classAndIDmatch is VALID and the packetAck.classAndIDmatch is NOT_DEFINED + // then the ACK has not yet been received and we should keep waiting for it + else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: valid data after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec. Waiting for ACK.")); + } + } + + } //checkUbloxInternal == true + + delayMicroseconds(500); + } //while (millis() - startTime < maxTime) + + // We have timed out... + // If the outgoingUBX->classAndIDmatch is VALID then we can take a gamble and return DATA_RECEIVED + // even though we did not get an ACK + if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (packetAck.classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: TIMEOUT with valid data after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec. ")); + } + return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data... But no ACK! + } + + if (_printDebug == true) + { + _debugSerial->print(F("waitForACKResponse: TIMEOUT after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec.")); + } + + return (SFE_UBLOX_STATUS_TIMEOUT); +} + +//For non-CFG queries no ACK is sent so we use this function +//Returns SFE_UBLOX_STATUS_DATA_RECEIVED if we got a config packet full of response data that has CLS/ID match to our query packet +//Returns SFE_UBLOX_STATUS_CRC_FAIL if we got a corrupt config packet that has CLS/ID match to our query packet +//Returns SFE_UBLOX_STATUS_TIMEOUT if we timed out +//Returns SFE_UBLOX_STATUS_DATA_OVERWRITTEN if we got an a valid packetCfg but that the packetCfg has been +// or is currently being overwritten (remember that Serial data can arrive very slowly) +sfe_ublox_status_e SFE_UBLOX_GPS::waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime) +{ + outgoingUBX->valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; //This will go VALID (or NOT_VALID) when we receive a response to the packet we sent + packetAck.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + packetBuf.valid = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + outgoingUBX->classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; // This will go VALID (or NOT_VALID) when we receive a packet that matches the requested class and ID + packetAck.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + packetBuf.classAndIDmatch = SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED; + + unsigned long startTime = millis(); + while (millis() - startTime < maxTime) + { + if (checkUbloxInternal(outgoingUBX, requestedClass, requestedID) == true) //See if new data is available. Process bytes as they come in. + { + + // If outgoingUBX->classAndIDmatch is VALID + // and outgoingUBX->valid is _still_ VALID and the class and ID _still_ match + // then we can be confident that the data in outgoingUBX is valid + if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID) && (outgoingUBX->cls == requestedClass) && (outgoingUBX->id == requestedID)) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForNoACKResponse: valid data with CLS/ID match after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_DATA_RECEIVED); //We received valid data! + } + + // If the outgoingUBX->classAndIDmatch is VALID + // but the outgoingUBX->cls or ID no longer match then we can be confident that we had + // valid data but it has been or is currently being overwritten by another packet (e.g. PVT). + // If (e.g.) a PVT packet is _being_ received: outgoingUBX->valid will be NOT_DEFINED + // If (e.g.) a PVT packet _has been_ received: outgoingUBX->valid will be VALID (or just possibly NOT_VALID) + // So we cannot use outgoingUBX->valid as part of this check. + // Note: the addition of packetBuf should make this check redundant! + else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_VALID) && ((outgoingUBX->cls != requestedClass) || (outgoingUBX->id != requestedID))) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForNoACKResponse: data being OVERWRITTEN after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_DATA_OVERWRITTEN); // Data was valid but has been or is being overwritten + } + + // If outgoingUBX->classAndIDmatch is NOT_DEFINED + // and outgoingUBX->valid is VALID then this must be (e.g.) a PVT packet + else if ((outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED) && (outgoingUBX->valid == SFE_UBLOX_PACKET_VALIDITY_VALID)) + { + // if (_printDebug == true) + // { + // _debugSerial->print(F("waitForNoACKResponse: valid but UNWANTED data after ")); + // _debugSerial->print(millis() - startTime); + // _debugSerial->print(F(" msec. Class: ")); + // _debugSerial->print(outgoingUBX->cls); + // _debugSerial->print(F(" ID: ")); + // _debugSerial->print(outgoingUBX->id); + // } + } + + // If the outgoingUBX->classAndIDmatch is NOT_VALID then we return CRC failure + else if (outgoingUBX->classAndIDmatch == SFE_UBLOX_PACKET_VALIDITY_NOT_VALID) + { + if (_printDebug == true) + { + _debugSerial->print(F("waitForNoACKResponse: CLS/ID match but failed CRC after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec")); + } + return (SFE_UBLOX_STATUS_CRC_FAIL); //We received invalid data + } + } + + delayMicroseconds(500); + } + + if (_printDebug == true) + { + _debugSerial->print(F("waitForNoACKResponse: TIMEOUT after ")); + _debugSerial->print(millis() - startTime); + _debugSerial->println(F(" msec. No packet received.")); + } + + return (SFE_UBLOX_STATUS_TIMEOUT); +} + +//Save current configuration to flash and BBR (battery backed RAM) +//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods +boolean SFE_UBLOX_GPS::saveConfiguration(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_CFG; + packetCfg.len = 12; + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint8_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + packetCfg.payload[4] = 0xFF; //Set any bit in the saveMask field to save current config to Flash and BBR + packetCfg.payload[5] = 0xFF; + + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Save the selected configuration sub-sections to flash and BBR (battery backed RAM) +//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods +boolean SFE_UBLOX_GPS::saveConfigSelective(uint32_t configMask, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_CFG; + packetCfg.len = 12; + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint8_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + packetCfg.payload[4] = configMask & 0xFF; //Set the appropriate bits in the saveMask field to save current config to Flash and BBR + packetCfg.payload[5] = (configMask >> 8) & 0xFF; + packetCfg.payload[6] = (configMask >> 16) & 0xFF; + packetCfg.payload[7] = (configMask >> 24) & 0xFF; + + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Reset module to factory defaults +//This still works but it is the old way of configuring ublox modules. See getVal and setVal for the new methods +boolean SFE_UBLOX_GPS::factoryDefault(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_CFG; + packetCfg.len = 12; + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint8_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + packetCfg.payload[0] = 0xFF; //Set any bit in the clearMask field to clear saved config + packetCfg.payload[1] = 0xFF; + packetCfg.payload[8] = 0xFF; //Set any bit in the loadMask field to discard current config and rebuild from lower non-volatile memory layers + packetCfg.payload[9] = 0xFF; + + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Given a key, load the payload with data that can then be extracted to 8, 16, or 32 bits +//This function takes a full 32-bit key +//Default layer is RAM +//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +sfe_ublox_status_e SFE_UBLOX_GPS::getVal(uint32_t key, uint8_t layer, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_VALGET; + packetCfg.len = 4 + 4 * 1; //While multiple keys are allowed, we will send only one key at a time + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint8_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + //VALGET uses different memory layer definitions to VALSET + //because it can only return the value for one layer. + //So we need to fiddle the layer here. + //And just to complicate things further, the ZED-F9P only responds + //correctly to layer 0 (RAM) and layer 7 (Default)! + uint8_t getLayer = 7; // 7 is the "Default Layer" + if ((layer & VAL_LAYER_RAM) == VAL_LAYER_RAM) // Did the user request the RAM layer? + { + getLayer = 0; // Layer 0 is RAM + } + + payloadCfg[0] = 0; //Message Version - set to 0 + payloadCfg[1] = getLayer; //Layer + + //Load key into outgoing payload + payloadCfg[4] = key >> 8 * 0; //Key LSB + payloadCfg[5] = key >> 8 * 1; + payloadCfg[6] = key >> 8 * 2; + payloadCfg[7] = key >> 8 * 3; + + if (_printDebug == true) + { + _debugSerial->print(F("key: 0x")); + _debugSerial->print(key, HEX); + _debugSerial->println(); + } + + //Send VALGET command with this key + + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + if (_printDebug == true) + { + _debugSerial->print(F("getVal: sendCommand returned: ")); + _debugSerial->println(statusString(retVal)); + } + + //Verify the response is the correct length as compared to what the user called (did the module respond with 8-bits but the user called getVal32?) + //Response is 8 bytes plus cfg data + //if(packet->len > 8+1) + + //The response is now sitting in payload, ready for extraction + return (retVal); +} + +//Given a key, return its value +//This function takes a full 32-bit key +//Default layer is RAM +//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::getVal8(uint32_t key, uint8_t layer, uint16_t maxWait) +{ + if (getVal(key, layer, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (0); + + return (extractByte(8)); +} +uint16_t SFE_UBLOX_GPS::getVal16(uint32_t key, uint8_t layer, uint16_t maxWait) +{ + if (getVal(key, layer, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (0); + + return (extractInt(8)); +} +uint32_t SFE_UBLOX_GPS::getVal32(uint32_t key, uint8_t layer, uint16_t maxWait) +{ + if (getVal(key, layer, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (0); + + return (extractLong(8)); +} + +//Form 32-bit key from group/id/size +uint32_t SFE_UBLOX_GPS::createKey(uint16_t group, uint16_t id, uint8_t size) +{ + uint32_t key = 0; + key |= (uint32_t)id; + key |= (uint32_t)group << 16; + key |= (uint32_t)size << 28; + return (key); +} + +//Given a group, ID and size, return the value of this config spot +//The 32-bit key is put together from group/ID/size. See other getVal to send key directly. +//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait) +{ + uint32_t key = createKey(group, id, size); + return getVal8(key, layer, maxWait); +} +uint16_t SFE_UBLOX_GPS::getVal16(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait) +{ + uint32_t key = createKey(group, id, size); + return getVal16(key, layer, maxWait); +} +uint32_t SFE_UBLOX_GPS::getVal32(uint16_t group, uint16_t id, uint8_t size, uint8_t layer, uint16_t maxWait) +{ + uint32_t key = createKey(group, id, size); + return getVal32(key, layer, maxWait); +} + +//Given a key, set a 16-bit value +//This function takes a full 32-bit key +//Default layer is all: RAM+BBR+Flash +//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::setVal(uint32_t key, uint16_t value, uint8_t layer, uint16_t maxWait) +{ + return setVal16(key, value, layer, maxWait); +} + +//Given a key, set a 16-bit value +//This function takes a full 32-bit key +//Default layer is all: RAM+BBR+Flash +//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::setVal16(uint32_t key, uint16_t value, uint8_t layer, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_VALSET; + packetCfg.len = 4 + 4 + 2; //4 byte header, 4 byte key ID, 2 bytes of value + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint16_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + payloadCfg[0] = 0; //Message Version - set to 0 + payloadCfg[1] = layer; //By default we ask for the BBR layer + + //Load key into outgoing payload + payloadCfg[4] = key >> 8 * 0; //Key LSB + payloadCfg[5] = key >> 8 * 1; + payloadCfg[6] = key >> 8 * 2; + payloadCfg[7] = key >> 8 * 3; + + //Load user's value + payloadCfg[8] = value >> 8 * 0; //Value LSB + payloadCfg[9] = value >> 8 * 1; + + //Send VALSET command with this key and value + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Given a key, set an 8-bit value +//This function takes a full 32-bit key +//Default layer is all: RAM+BBR+Flash +//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::setVal8(uint32_t key, uint8_t value, uint8_t layer, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_VALSET; + packetCfg.len = 4 + 4 + 1; //4 byte header, 4 byte key ID, 1 byte value + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint16_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + payloadCfg[0] = 0; //Message Version - set to 0 + payloadCfg[1] = layer; //By default we ask for the BBR layer + + //Load key into outgoing payload + payloadCfg[4] = key >> 8 * 0; //Key LSB + payloadCfg[5] = key >> 8 * 1; + payloadCfg[6] = key >> 8 * 2; + payloadCfg[7] = key >> 8 * 3; + + //Load user's value + payloadCfg[8] = value; //Value + + //Send VALSET command with this key and value + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Given a key, set a 32-bit value +//This function takes a full 32-bit key +//Default layer is all: RAM+BBR+Flash +//Configuration of modern Ublox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::setVal32(uint32_t key, uint32_t value, uint8_t layer, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_VALSET; + packetCfg.len = 4 + 4 + 4; //4 byte header, 4 byte key ID, 4 bytes of value + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint16_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + payloadCfg[0] = 0; //Message Version - set to 0 + payloadCfg[1] = layer; //By default we ask for the BBR layer + + //Load key into outgoing payload + payloadCfg[4] = key >> 8 * 0; //Key LSB + payloadCfg[5] = key >> 8 * 1; + payloadCfg[6] = key >> 8 * 2; + payloadCfg[7] = key >> 8 * 3; + + //Load user's value + payloadCfg[8] = value >> 8 * 0; //Value LSB + payloadCfg[9] = value >> 8 * 1; + payloadCfg[10] = value >> 8 * 2; + payloadCfg[11] = value >> 8 * 3; + + //Send VALSET command with this key and value + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Start defining a new UBX-CFG-VALSET ubxPacket +//This function takes a full 32-bit key and 32-bit value +//Default layer is BBR +//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::newCfgValset32(uint32_t key, uint32_t value, uint8_t layer) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_VALSET; + packetCfg.len = 4 + 4 + 4; //4 byte header, 4 byte key ID, 4 bytes of value + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++) + packetCfg.payload[x] = 0; + + payloadCfg[0] = 0; //Message Version - set to 0 + payloadCfg[1] = layer; //By default we ask for the BBR layer + + //Load key into outgoing payload + payloadCfg[4] = key >> 8 * 0; //Key LSB + payloadCfg[5] = key >> 8 * 1; + payloadCfg[6] = key >> 8 * 2; + payloadCfg[7] = key >> 8 * 3; + + //Load user's value + payloadCfg[8] = value >> 8 * 0; //Value LSB + payloadCfg[9] = value >> 8 * 1; + payloadCfg[10] = value >> 8 * 2; + payloadCfg[11] = value >> 8 * 3; + + //All done + return (true); +} + +//Start defining a new UBX-CFG-VALSET ubxPacket +//This function takes a full 32-bit key and 16-bit value +//Default layer is BBR +//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::newCfgValset16(uint32_t key, uint16_t value, uint8_t layer) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_VALSET; + packetCfg.len = 4 + 4 + 2; //4 byte header, 4 byte key ID, 2 bytes of value + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++) + packetCfg.payload[x] = 0; + + payloadCfg[0] = 0; //Message Version - set to 0 + payloadCfg[1] = layer; //By default we ask for the BBR layer + + //Load key into outgoing payload + payloadCfg[4] = key >> 8 * 0; //Key LSB + payloadCfg[5] = key >> 8 * 1; + payloadCfg[6] = key >> 8 * 2; + payloadCfg[7] = key >> 8 * 3; + + //Load user's value + payloadCfg[8] = value >> 8 * 0; //Value LSB + payloadCfg[9] = value >> 8 * 1; + + //All done + return (true); +} + +//Start defining a new UBX-CFG-VALSET ubxPacket +//This function takes a full 32-bit key and 8-bit value +//Default layer is BBR +//Configuration of modern u-blox modules is now done via getVal/setVal/delVal, ie protocol v27 and above found on ZED-F9P +uint8_t SFE_UBLOX_GPS::newCfgValset8(uint32_t key, uint8_t value, uint8_t layer) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_VALSET; + packetCfg.len = 4 + 4 + 1; //4 byte header, 4 byte key ID, 1 byte value + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint16_t x = 0; x < MAX_PAYLOAD_SIZE; x++) + packetCfg.payload[x] = 0; + + payloadCfg[0] = 0; //Message Version - set to 0 + payloadCfg[1] = layer; //By default we ask for the BBR layer + + //Load key into outgoing payload + payloadCfg[4] = key >> 8 * 0; //Key LSB + payloadCfg[5] = key >> 8 * 1; + payloadCfg[6] = key >> 8 * 2; + payloadCfg[7] = key >> 8 * 3; + + //Load user's value + payloadCfg[8] = value; //Value + + //All done + return (true); +} + +//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket +//This function takes a full 32-bit key and 32-bit value +uint8_t SFE_UBLOX_GPS::addCfgValset32(uint32_t key, uint32_t value) +{ + //Load key into outgoing payload + payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB + payloadCfg[packetCfg.len + 1] = key >> 8 * 1; + payloadCfg[packetCfg.len + 2] = key >> 8 * 2; + payloadCfg[packetCfg.len + 3] = key >> 8 * 3; + + //Load user's value + payloadCfg[packetCfg.len + 4] = value >> 8 * 0; //Value LSB + payloadCfg[packetCfg.len + 5] = value >> 8 * 1; + payloadCfg[packetCfg.len + 6] = value >> 8 * 2; + payloadCfg[packetCfg.len + 7] = value >> 8 * 3; + + //Update packet length: 4 byte key ID, 4 bytes of value + packetCfg.len = packetCfg.len + 4 + 4; + + //All done + return (true); +} + +//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket +//This function takes a full 32-bit key and 16-bit value +uint8_t SFE_UBLOX_GPS::addCfgValset16(uint32_t key, uint16_t value) +{ + //Load key into outgoing payload + payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB + payloadCfg[packetCfg.len + 1] = key >> 8 * 1; + payloadCfg[packetCfg.len + 2] = key >> 8 * 2; + payloadCfg[packetCfg.len + 3] = key >> 8 * 3; + + //Load user's value + payloadCfg[packetCfg.len + 4] = value >> 8 * 0; //Value LSB + payloadCfg[packetCfg.len + 5] = value >> 8 * 1; + + //Update packet length: 4 byte key ID, 2 bytes of value + packetCfg.len = packetCfg.len + 4 + 2; + + //All done + return (true); +} + +//Add another keyID and value to an existing UBX-CFG-VALSET ubxPacket +//This function takes a full 32-bit key and 8-bit value +uint8_t SFE_UBLOX_GPS::addCfgValset8(uint32_t key, uint8_t value) +{ + //Load key into outgoing payload + payloadCfg[packetCfg.len + 0] = key >> 8 * 0; //Key LSB + payloadCfg[packetCfg.len + 1] = key >> 8 * 1; + payloadCfg[packetCfg.len + 2] = key >> 8 * 2; + payloadCfg[packetCfg.len + 3] = key >> 8 * 3; + + //Load user's value + payloadCfg[packetCfg.len + 4] = value; //Value + + //Update packet length: 4 byte key ID, 1 byte value + packetCfg.len = packetCfg.len + 4 + 1; + + //All done + return (true); +} + +//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it +//This function takes a full 32-bit key and 32-bit value +uint8_t SFE_UBLOX_GPS::sendCfgValset32(uint32_t key, uint32_t value, uint16_t maxWait) +{ + //Load keyID and value into outgoing payload + addCfgValset32(key, value); + + //Send VALSET command with this key and value + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it +//This function takes a full 32-bit key and 16-bit value +uint8_t SFE_UBLOX_GPS::sendCfgValset16(uint32_t key, uint16_t value, uint16_t maxWait) +{ + //Load keyID and value into outgoing payload + addCfgValset16(key, value); + + //Send VALSET command with this key and value + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Add a final keyID and value to an existing UBX-CFG-VALSET ubxPacket and send it +//This function takes a full 32-bit key and 8-bit value +uint8_t SFE_UBLOX_GPS::sendCfgValset8(uint32_t key, uint8_t value, uint16_t maxWait) +{ + //Load keyID and value into outgoing payload + addCfgValset8(key, value); + + //Send VALSET command with this key and value + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Get the current TimeMode3 settings - these contain survey in statuses +boolean SFE_UBLOX_GPS::getSurveyMode(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_TMODE3; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK +} + +//Control Survey-In for NEO-M8P +boolean SFE_UBLOX_GPS::setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait) +{ + if (getSurveyMode(maxWait) == false) //Ask module for the current TimeMode3 settings. Loads into payloadCfg. + return (false); + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_TMODE3; + packetCfg.len = 40; + packetCfg.startingSpot = 0; + + //Clear packet payload + for (uint8_t x = 0; x < packetCfg.len; x++) + packetCfg.payload[x] = 0; + + //payloadCfg should be loaded with poll response. Now modify only the bits we care about + payloadCfg[2] = mode; //Set mode. Survey-In and Disabled are most common. Use ECEF (not LAT/LON/ALT). + + //svinMinDur is U4 (uint32_t) but we'll only use a uint16_t (waiting more than 65535 seconds seems excessive!) + payloadCfg[24] = observationTime & 0xFF; //svinMinDur in seconds + payloadCfg[25] = observationTime >> 8; //svinMinDur in seconds + payloadCfg[26] = 0; //Truncate to 16 bits + payloadCfg[27] = 0; //Truncate to 16 bits + + //svinAccLimit is U4 (uint32_t) in 0.1mm. + uint32_t svinAccLimit = (uint32_t)(requiredAccuracy * 10000.0); //Convert m to 0.1mm + payloadCfg[28] = svinAccLimit & 0xFF; //svinAccLimit in 0.1mm increments + payloadCfg[29] = svinAccLimit >> 8; + payloadCfg[30] = svinAccLimit >> 16; + payloadCfg[31] = svinAccLimit >> 24; + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Begin Survey-In for NEO-M8P +boolean SFE_UBLOX_GPS::enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait) +{ + return (setSurveyMode(SVIN_MODE_ENABLE, observationTime, requiredAccuracy, maxWait)); +} + +//Stop Survey-In for NEO-M8P +boolean SFE_UBLOX_GPS::disableSurveyMode(uint16_t maxWait) +{ + return (setSurveyMode(SVIN_MODE_DISABLE, 0, 0, maxWait)); +} + +//Reads survey in status and sets the global variables +//for status, position valid, observation time, and mean 3D StdDev +//Returns true if commands was successful +boolean SFE_UBLOX_GPS::getSurveyStatus(uint16_t maxWait) +{ + //Reset variables + svin.active = false; + svin.valid = false; + svin.observationTime = 0; + svin.meanAccuracy = 0; + + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_SVIN; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if ((sendCommand(&packetCfg, maxWait)) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); //If command send fails then bail + + //We got a response, now parse the bits into the svin structure + + //dur (Passed survey-in observation time) is U4 (uint32_t) seconds. We truncate to 16 bits + //(waiting more than 65535 seconds (18.2 hours) seems excessive!) + uint32_t tmpObsTime = extractLong(8); + if (tmpObsTime <= 0xFFFF) + { + svin.observationTime = (uint16_t)tmpObsTime; + } + else + { + svin.observationTime = 0xFFFF; + } + + // meanAcc is U4 (uint32_t) in 0.1mm. We convert this to float. + uint32_t tempFloat = extractLong(28); + svin.meanAccuracy = ((float)tempFloat) / 10000.0; //Convert 0.1mm to m + + svin.valid = payloadCfg[36]; //1 if survey-in position is valid, 0 otherwise + svin.active = payloadCfg[37]; //1 if survey-in in progress, 0 otherwise + + return (true); +} + +//Loads the payloadCfg array with the current protocol bits located the UBX-CFG-PRT register for a given port +boolean SFE_UBLOX_GPS::getPortSettings(uint8_t portID, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_PRT; + packetCfg.len = 1; + packetCfg.startingSpot = 0; + + payloadCfg[0] = portID; + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_RECEIVED); // We are expecting data and an ACK +} + +//Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof +//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI +//Bit:0 = UBX, :1=NMEA, :5=RTCM3 +boolean SFE_UBLOX_GPS::setPortOutput(uint8_t portID, uint8_t outStreamSettings, uint16_t maxWait) +{ + //Get the current config values for this port ID + if (getPortSettings(portID, maxWait) == false) + return (false); //Something went wrong. Bail. + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_PRT; + packetCfg.len = 20; + packetCfg.startingSpot = 0; + + //payloadCfg is now loaded with current bytes. Change only the ones we need to + payloadCfg[14] = outStreamSettings; //OutProtocolMask LSB - Set outStream bits + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof +//Port 0=I2c, 1=UART1, 2=UART2, 3=USB, 4=SPI +//Bit:0 = UBX, :1=NMEA, :5=RTCM3 +boolean SFE_UBLOX_GPS::setPortInput(uint8_t portID, uint8_t inStreamSettings, uint16_t maxWait) +{ + //Get the current config values for this port ID + //This will load the payloadCfg array with current port settings + if (getPortSettings(portID, maxWait) == false) + return (false); //Something went wrong. Bail. + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_PRT; + packetCfg.len = 20; + packetCfg.startingSpot = 0; + + //payloadCfg is now loaded with current bytes. Change only the ones we need to + payloadCfg[12] = inStreamSettings; //InProtocolMask LSB - Set inStream bits + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Configure a port to output UBX, NMEA, RTCM3 or a combination thereof +boolean SFE_UBLOX_GPS::setI2COutput(uint8_t comSettings, uint16_t maxWait) +{ + return (setPortOutput(COM_PORT_I2C, comSettings, maxWait)); +} +boolean SFE_UBLOX_GPS::setUART1Output(uint8_t comSettings, uint16_t maxWait) +{ + return (setPortOutput(COM_PORT_UART1, comSettings, maxWait)); +} +boolean SFE_UBLOX_GPS::setUART2Output(uint8_t comSettings, uint16_t maxWait) +{ + return (setPortOutput(COM_PORT_UART2, comSettings, maxWait)); +} +boolean SFE_UBLOX_GPS::setUSBOutput(uint8_t comSettings, uint16_t maxWait) +{ + return (setPortOutput(COM_PORT_USB, comSettings, maxWait)); +} +boolean SFE_UBLOX_GPS::setSPIOutput(uint8_t comSettings, uint16_t maxWait) +{ + return (setPortOutput(COM_PORT_SPI, comSettings, maxWait)); +} + +//Set the rate at which the module will give us an updated navigation solution +//Expects a number that is the updates per second. For example 1 = 1Hz, 2 = 2Hz, etc. +//Max is 40Hz(?!) +boolean SFE_UBLOX_GPS::setNavigationFrequency(uint8_t navFreq, uint16_t maxWait) +{ + //if(updateRate > 40) updateRate = 40; //Not needed: module will correct out of bounds values + + //Adjust the I2C polling timeout based on update rate + i2cPollingWait = 1000 / (((int)navFreq) * 4); //This is the number of ms to wait between checks for new I2C data + + //Query the module for the latest lat/long + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RATE; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //This will load the payloadCfg array with current settings of the given register + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); //If command send fails then bail + + uint16_t measurementRate = 1000 / navFreq; + + //payloadCfg is now loaded with current bytes. Change only the ones we need to + payloadCfg[0] = measurementRate & 0xFF; //measRate LSB + payloadCfg[1] = measurementRate >> 8; //measRate MSB + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Get the rate at which the module is outputting nav solutions +uint8_t SFE_UBLOX_GPS::getNavigationFrequency(uint16_t maxWait) +{ + //Query the module for the latest lat/long + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RATE; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //This will load the payloadCfg array with current settings of the given register + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); //If command send fails then bail + + //payloadCfg is now loaded with current bytes. Get what we need + uint16_t measurementRate = extractInt(0); //Pull from payloadCfg at measRate LSB + + measurementRate = 1000 / measurementRate; //This may return an int when it's a float, but I'd rather not return 4 bytes + return (measurementRate); +} + +//In case no config access to the GPS is possible and PVT is send cyclically already +//set config to suitable parameters +boolean SFE_UBLOX_GPS::assumeAutoPVT(boolean enabled, boolean implicitUpdate) +{ + boolean changes = autoPVT != enabled || autoPVTImplicitUpdate != implicitUpdate; + if (changes) + { + autoPVT = enabled; + autoPVTImplicitUpdate = implicitUpdate; + } + return changes; +} + +//Enable or disable automatic navigation message generation by the GPS. This changes the way getPVT +//works. +boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, uint16_t maxWait) +{ + return setAutoPVT(enable, true, maxWait); +} + +//Enable or disable automatic navigation message generation by the GPS. This changes the way getPVT +//works. +boolean SFE_UBLOX_GPS::setAutoPVT(boolean enable, boolean implicitUpdate, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_MSG; + packetCfg.len = 3; + packetCfg.startingSpot = 0; + payloadCfg[0] = UBX_CLASS_NAV; + payloadCfg[1] = UBX_NAV_PVT; + payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq. + + boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK + if (ok) + { + autoPVT = enable; + autoPVTImplicitUpdate = implicitUpdate; + } + moduleQueried.all = false; + return ok; +} + +//In case no config access to the GPS is possible and HPPOSLLH is send cyclically already +//set config to suitable parameters +boolean SFE_UBLOX_GPS::assumeAutoHPPOSLLH(boolean enabled, boolean implicitUpdate) +{ + boolean changes = autoHPPOSLLH != enabled || autoHPPOSLLHImplicitUpdate != implicitUpdate; + if (changes) + { + autoHPPOSLLH = enabled; + autoHPPOSLLHImplicitUpdate = implicitUpdate; + } + return changes; +} + +//Enable or disable automatic navigation message generation by the GPS. This changes the way getHPPOSLLH +//works. +boolean SFE_UBLOX_GPS::setAutoHPPOSLLH(boolean enable, uint16_t maxWait) +{ + return setAutoHPPOSLLH(enable, true, maxWait); +} + +//Enable or disable automatic navigation message generation by the GPS. This changes the way getHPPOSLLH +//works. +boolean SFE_UBLOX_GPS::setAutoHPPOSLLH(boolean enable, boolean implicitUpdate, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_MSG; + packetCfg.len = 3; + packetCfg.startingSpot = 0; + payloadCfg[0] = UBX_CLASS_NAV; + payloadCfg[1] = UBX_NAV_HPPOSLLH; + payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq. + + boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK + if (ok) + { + autoHPPOSLLH = enable; + autoHPPOSLLHImplicitUpdate = implicitUpdate; + } + highResModuleQueried.all = false; + return ok; +} + + +//In case no config access to the GPS is possible and DOP is send cyclically already +//set config to suitable parameters +boolean SFE_UBLOX_GPS::assumeAutoDOP(boolean enabled, boolean implicitUpdate) +{ + boolean changes = autoDOP != enabled || autoDOPImplicitUpdate != implicitUpdate; + if (changes) + { + autoDOP = enabled; + autoDOPImplicitUpdate = implicitUpdate; + } + return changes; +} + +//Enable or disable automatic navigation message generation by the GPS. This changes the way getDOP +//works. +boolean SFE_UBLOX_GPS::setAutoDOP(boolean enable, uint16_t maxWait) +{ + return setAutoDOP(enable, true, maxWait); +} + +//Enable or disable automatic navigation message generation by the GPS. This changes the way getDOP +//works. +boolean SFE_UBLOX_GPS::setAutoDOP(boolean enable, boolean implicitUpdate, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_MSG; + packetCfg.len = 3; + packetCfg.startingSpot = 0; + payloadCfg[0] = UBX_CLASS_NAV; + payloadCfg[1] = UBX_NAV_DOP; + payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq. + + boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK + if (ok) + { + autoDOP = enable; + autoDOPImplicitUpdate = implicitUpdate; + } + dopModuleQueried.all = false; + return ok; +} + +//Configure a given message type for a given port (UART1, I2C, SPI, etc) +boolean SFE_UBLOX_GPS::configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait) +{ + //Poll for the current settings for a given message + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_MSG; + packetCfg.len = 2; + packetCfg.startingSpot = 0; + + payloadCfg[0] = msgClass; + payloadCfg[1] = msgID; + + //This will load the payloadCfg array with current settings of the given register + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); //If command send fails then bail + + //Now send it back with new mods + packetCfg.len = 8; + + //payloadCfg is now loaded with current bytes. Change only the ones we need to + payloadCfg[2 + portID] = sendRate; //Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every 2nd navigation solution. + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Enable a given message type, default of 1 per update rate (usually 1 per second) +boolean SFE_UBLOX_GPS::enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait) +{ + return (configureMessage(msgClass, msgID, portID, rate, maxWait)); +} +//Disable a given message type on a given port +boolean SFE_UBLOX_GPS::disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait) +{ + return (configureMessage(msgClass, msgID, portID, 0, maxWait)); +} + +boolean SFE_UBLOX_GPS::enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t rate, uint16_t maxWait) +{ + return (configureMessage(UBX_CLASS_NMEA, msgID, portID, rate, maxWait)); +} +boolean SFE_UBLOX_GPS::disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait) +{ + return (enableNMEAMessage(msgID, portID, 0, maxWait)); +} + +//Given a message number turns on a message ID for output over a given portID (UART, I2C, SPI, USB, etc) +//To disable a message, set secondsBetween messages to 0 +//Note: This function will return false if the message is already enabled +//For base station RTK output we need to enable various sentences + +//NEO-M8P has four: +//1005 = 0xF5 0x05 - Stationary RTK reference ARP +//1077 = 0xF5 0x4D - GPS MSM7 +//1087 = 0xF5 0x57 - GLONASS MSM7 +//1230 = 0xF5 0xE6 - GLONASS code-phase biases, set to once every 10 seconds + +//ZED-F9P has six: +//1005, 1074, 1084, 1094, 1124, 1230 + +//Much of this configuration is not documented and instead discerned from u-center binary console +boolean SFE_UBLOX_GPS::enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait) +{ + return (configureMessage(UBX_RTCM_MSB, messageNumber, portID, sendRate, maxWait)); +} + +//Disable a given message on a given port by setting secondsBetweenMessages to zero +boolean SFE_UBLOX_GPS::disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait) +{ + return (enableRTCMmessage(messageNumber, portID, 0, maxWait)); +} + +//Add a new geofence using UBX-CFG-GEOFENCE +boolean SFE_UBLOX_GPS::addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence, byte pinPolarity, byte pin, uint16_t maxWait) +{ + if (currentGeofenceParams.numFences >= 4) + return (false); // Quit if we already have four geofences defined + + // Store the new geofence parameters + currentGeofenceParams.lats[currentGeofenceParams.numFences] = latitude; + currentGeofenceParams.longs[currentGeofenceParams.numFences] = longitude; + currentGeofenceParams.rads[currentGeofenceParams.numFences] = radius; + currentGeofenceParams.numFences = currentGeofenceParams.numFences + 1; // Increment the number of fences + + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_GEOFENCE; + packetCfg.len = (currentGeofenceParams.numFences * 12) + 8; + packetCfg.startingSpot = 0; + + payloadCfg[0] = 0; // Message version = 0x00 + payloadCfg[1] = currentGeofenceParams.numFences; // numFences + payloadCfg[2] = confidence; // confLvl = Confidence level 0-4 (none, 68%, 95%, 99.7%, 99.99%) + payloadCfg[3] = 0; // reserved1 + if (pin > 0) + { + payloadCfg[4] = 1; // enable PIO combined fence state + } + else + { + payloadCfg[4] = 0; // disable PIO combined fence state + } + payloadCfg[5] = pinPolarity; // PIO pin polarity (0 = low means inside, 1 = low means outside (or unknown)) + payloadCfg[6] = pin; // PIO pin + payloadCfg[7] = 0; //reserved2 + payloadCfg[8] = currentGeofenceParams.lats[0] & 0xFF; + payloadCfg[9] = currentGeofenceParams.lats[0] >> 8; + payloadCfg[10] = currentGeofenceParams.lats[0] >> 16; + payloadCfg[11] = currentGeofenceParams.lats[0] >> 24; + payloadCfg[12] = currentGeofenceParams.longs[0] & 0xFF; + payloadCfg[13] = currentGeofenceParams.longs[0] >> 8; + payloadCfg[14] = currentGeofenceParams.longs[0] >> 16; + payloadCfg[15] = currentGeofenceParams.longs[0] >> 24; + payloadCfg[16] = currentGeofenceParams.rads[0] & 0xFF; + payloadCfg[17] = currentGeofenceParams.rads[0] >> 8; + payloadCfg[18] = currentGeofenceParams.rads[0] >> 16; + payloadCfg[19] = currentGeofenceParams.rads[0] >> 24; + if (currentGeofenceParams.numFences >= 2) + { + payloadCfg[20] = currentGeofenceParams.lats[1] & 0xFF; + payloadCfg[21] = currentGeofenceParams.lats[1] >> 8; + payloadCfg[22] = currentGeofenceParams.lats[1] >> 16; + payloadCfg[23] = currentGeofenceParams.lats[1] >> 24; + payloadCfg[24] = currentGeofenceParams.longs[1] & 0xFF; + payloadCfg[25] = currentGeofenceParams.longs[1] >> 8; + payloadCfg[26] = currentGeofenceParams.longs[1] >> 16; + payloadCfg[27] = currentGeofenceParams.longs[1] >> 24; + payloadCfg[28] = currentGeofenceParams.rads[1] & 0xFF; + payloadCfg[29] = currentGeofenceParams.rads[1] >> 8; + payloadCfg[30] = currentGeofenceParams.rads[1] >> 16; + payloadCfg[31] = currentGeofenceParams.rads[1] >> 24; + } + if (currentGeofenceParams.numFences >= 3) + { + payloadCfg[32] = currentGeofenceParams.lats[2] & 0xFF; + payloadCfg[33] = currentGeofenceParams.lats[2] >> 8; + payloadCfg[34] = currentGeofenceParams.lats[2] >> 16; + payloadCfg[35] = currentGeofenceParams.lats[2] >> 24; + payloadCfg[36] = currentGeofenceParams.longs[2] & 0xFF; + payloadCfg[37] = currentGeofenceParams.longs[2] >> 8; + payloadCfg[38] = currentGeofenceParams.longs[2] >> 16; + payloadCfg[39] = currentGeofenceParams.longs[2] >> 24; + payloadCfg[40] = currentGeofenceParams.rads[2] & 0xFF; + payloadCfg[41] = currentGeofenceParams.rads[2] >> 8; + payloadCfg[42] = currentGeofenceParams.rads[2] >> 16; + payloadCfg[43] = currentGeofenceParams.rads[2] >> 24; + } + if (currentGeofenceParams.numFences >= 4) + { + payloadCfg[44] = currentGeofenceParams.lats[3] & 0xFF; + payloadCfg[45] = currentGeofenceParams.lats[3] >> 8; + payloadCfg[46] = currentGeofenceParams.lats[3] >> 16; + payloadCfg[47] = currentGeofenceParams.lats[3] >> 24; + payloadCfg[48] = currentGeofenceParams.longs[3] & 0xFF; + payloadCfg[49] = currentGeofenceParams.longs[3] >> 8; + payloadCfg[50] = currentGeofenceParams.longs[3] >> 16; + payloadCfg[51] = currentGeofenceParams.longs[3] >> 24; + payloadCfg[52] = currentGeofenceParams.rads[3] & 0xFF; + payloadCfg[53] = currentGeofenceParams.rads[3] >> 8; + payloadCfg[54] = currentGeofenceParams.rads[3] >> 16; + payloadCfg[55] = currentGeofenceParams.rads[3] >> 24; + } + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Clear all geofences using UBX-CFG-GEOFENCE +boolean SFE_UBLOX_GPS::clearGeofences(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_GEOFENCE; + packetCfg.len = 8; + packetCfg.startingSpot = 0; + + payloadCfg[0] = 0; // Message version = 0x00 + payloadCfg[1] = 0; // numFences + payloadCfg[2] = 0; // confLvl + payloadCfg[3] = 0; // reserved1 + payloadCfg[4] = 0; // disable PIO combined fence state + payloadCfg[5] = 0; // PIO pin polarity (0 = low means inside, 1 = low means outside (or unknown)) + payloadCfg[6] = 0; // PIO pin + payloadCfg[7] = 0; //reserved2 + + currentGeofenceParams.numFences = 0; // Zero the number of geofences currently in use + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Clear the antenna control settings using UBX-CFG-ANT +//This function is hopefully redundant but may be needed to release +//any PIO pins pre-allocated for antenna functions +boolean SFE_UBLOX_GPS::clearAntPIO(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_ANT; + packetCfg.len = 4; + packetCfg.startingSpot = 0; + + payloadCfg[0] = 0x10; // Antenna flag mask: set the recovery bit + payloadCfg[1] = 0; + payloadCfg[2] = 0xFF; // Antenna pin configuration: set pinSwitch and pinSCD to 31 + payloadCfg[3] = 0xFF; // Antenna pin configuration: set pinOCD to 31, set reconfig bit + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Returns the combined geofence state using UBX-NAV-GEOFENCE +boolean SFE_UBLOX_GPS::getGeofenceState(geofenceState ¤tGeofenceState, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_GEOFENCE; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the geofence status. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); + + currentGeofenceState.status = payloadCfg[5]; // Extract the status + currentGeofenceState.numFences = payloadCfg[6]; // Extract the number of geofences + currentGeofenceState.combState = payloadCfg[7]; // Extract the combined state of all geofences + if (currentGeofenceState.numFences > 0) + currentGeofenceState.states[0] = payloadCfg[8]; // Extract geofence 1 state + if (currentGeofenceState.numFences > 1) + currentGeofenceState.states[1] = payloadCfg[10]; // Extract geofence 2 state + if (currentGeofenceState.numFences > 2) + currentGeofenceState.states[2] = payloadCfg[12]; // Extract geofence 3 state + if (currentGeofenceState.numFences > 3) + currentGeofenceState.states[3] = payloadCfg[14]; // Extract geofence 4 state + + return (true); +} + +//Power Save Mode +//Enables/Disables Low Power Mode using UBX-CFG-RXM +boolean SFE_UBLOX_GPS::powerSaveMode(bool power_save, uint16_t maxWait) +{ + // Let's begin by checking the Protocol Version as UBX_CFG_RXM is not supported on the ZED (protocol >= 27) + uint8_t protVer = getProtocolVersionHigh(maxWait); + /* + if (_printDebug == true) + { + _debugSerial->print(F("Protocol version is ")); + _debugSerial->println(protVer); + } + */ + if (protVer >= 27) + { + if (_printDebug == true) + { + _debugSerial->println(F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version")); + } + return (false); + } + + // Now let's change the power setting using UBX-CFG-RXM + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RXM; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the current power management settings. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); + + if (power_save) + { + payloadCfg[1] = 1; // Power Save Mode + } + else + { + payloadCfg[1] = 0; // Continuous Mode + } + + packetCfg.len = 2; + packetCfg.startingSpot = 0; + + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +// Get Power Save Mode +// Returns the current Low Power Mode using UBX-CFG-RXM +// Returns 255 if the sendCommand fails +uint8_t SFE_UBLOX_GPS::getPowerSaveMode(uint16_t maxWait) +{ + // Let's begin by checking the Protocol Version as UBX_CFG_RXM is not supported on the ZED (protocol >= 27) + uint8_t protVer = getProtocolVersionHigh(maxWait); + /* + if (_printDebug == true) + { + _debugSerial->print(F("Protocol version is ")); + _debugSerial->println(protVer); + } + */ + if (protVer >= 27) + { + if (_printDebug == true) + { + _debugSerial->println(F("powerSaveMode (UBX-CFG-RXM) is not supported by this protocol version")); + } + return (255); + } + + // Now let's read the power setting using UBX-CFG-RXM + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RXM; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the current power management settings. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (255); + + return (payloadCfg[1]); // Return the low power mode +} + +// Powers off the GPS device for a given duration to reduce power consumption. +// NOTE: Querying the device before the duration is complete, for example by "getLatitude()" will wake it up! +// Returns true if command has not been not acknowledged. +// Returns false if command has not been acknowledged or maxWait = 0. +boolean SFE_UBLOX_GPS::powerOff(uint32_t durationInMs, uint16_t maxWait) +{ + // use durationInMs = 0 for infinite duration + if (_printDebug == true) + { + _debugSerial->print(F("Powering off for ")); + _debugSerial->print(durationInMs); + _debugSerial->println(" ms"); + } + + // Power off device using UBX-RXM-PMREQ + packetCfg.cls = UBX_CLASS_RXM; // 0x02 + packetCfg.id = UBX_RXM_PMREQ; // 0x41 + packetCfg.len = 8; + packetCfg.startingSpot = 0; + + // duration + // big endian to little endian, switch byte order + payloadCfg[0] = (durationInMs >> (8 * 0)) & 0xff; + payloadCfg[1] = (durationInMs >> (8 * 1)) & 0xff; + payloadCfg[2] = (durationInMs >> (8 * 2)) & 0xff; + payloadCfg[3] = (durationInMs >> (8 * 3)) & 0xff; + + payloadCfg[4] = 0x02; //Flags : set the backup bit + payloadCfg[5] = 0x00; //Flags + payloadCfg[6] = 0x00; //Flags + payloadCfg[7] = 0x00; //Flags + + if (maxWait != 0) + { + // check for "not acknowledged" command + return (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_COMMAND_NACK); + } + else + { + sendCommand(&packetCfg, maxWait); + return false; // can't tell if command not acknowledged if maxWait = 0 + } +} + +// Powers off the GPS device for a given duration to reduce power consumption. +// While powered off it can be woken up by creating a falling or rising voltage edge on the specified pin. +// NOTE: The GPS seems to be sensitve to signals on the pins while powered off. Works best when Microcontroller is in deepsleep. +// NOTE: Querying the device before the duration is complete, for example by "getLatitude()" will wake it up! +// Returns true if command has not been not acknowledged. +// Returns false if command has not been acknowledged or maxWait = 0. +boolean SFE_UBLOX_GPS::powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources, boolean forceWhileUsb, uint16_t maxWait) +{ + // use durationInMs = 0 for infinite duration + if (_printDebug == true) + { + _debugSerial->print(F("Powering off for ")); + _debugSerial->print(durationInMs); + _debugSerial->println(" ms"); + } + + // Power off device using UBX-RXM-PMREQ + packetCfg.cls = UBX_CLASS_RXM; // 0x02 + packetCfg.id = UBX_RXM_PMREQ; // 0x41 + packetCfg.len = 16; + packetCfg.startingSpot = 0; + + payloadCfg[0] = 0x00; // message version + + // bytes 1-3 are reserved - and must be set to zero + payloadCfg[1] = 0x00; + payloadCfg[2] = 0x00; + payloadCfg[3] = 0x00; + + // duration + // big endian to little endian, switch byte order + payloadCfg[4] = (durationInMs >> (8 * 0)) & 0xff; + payloadCfg[5] = (durationInMs >> (8 * 1)) & 0xff; + payloadCfg[6] = (durationInMs >> (8 * 2)) & 0xff; + payloadCfg[7] = (durationInMs >> (8 * 3)) & 0xff; + + // flags + + // disables USB interface when powering off, defaults to true + if (forceWhileUsb) + { + payloadCfg[8] = 0x06; // force | backup + } + else + { + payloadCfg[8] = 0x02; // backup only (leave the force bit clear - module will stay on if USB is connected) + } + + payloadCfg[9] = 0x00; + payloadCfg[10] = 0x00; + payloadCfg[11] = 0x00; + + // wakeUpSources + + // wakeupPin mapping, defaults to VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 + + // Possible values are: + // VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX + // VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 + // VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 + // VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS + + payloadCfg[12] = (wakeupSources >> (8 * 0)) & 0xff; + payloadCfg[13] = (wakeupSources >> (8 * 1)) & 0xff; + payloadCfg[14] = (wakeupSources >> (8 * 2)) & 0xff; + payloadCfg[15] = (wakeupSources >> (8 * 3)) & 0xff; + + if (maxWait != 0) + { + // check for "not acknowledged" command + return (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_COMMAND_NACK); + } + else + { + sendCommand(&packetCfg, maxWait); + return false; // can't tell if command not acknowledged if maxWait = 0 + } +} + +//Change the dynamic platform model using UBX-CFG-NAV5 +//Possible values are: +//PORTABLE,STATIONARY,PEDESTRIAN,AUTOMOTIVE,SEA, +//AIRBORNE1g,AIRBORNE2g,AIRBORNE4g,WRIST,BIKE +//WRIST is not supported in protocol versions less than 18 +//BIKE is supported in protocol versions 19.2 +boolean SFE_UBLOX_GPS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_NAV5; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the current navigation model settings. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (false); + + payloadCfg[0] = 0x01; // mask: set only the dyn bit (0) + payloadCfg[1] = 0x00; // mask + payloadCfg[2] = newDynamicModel; // dynModel + + packetCfg.len = 36; + packetCfg.startingSpot = 0; + + return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +//Get the dynamic platform model using UBX-CFG-NAV5 +//Returns 255 if the sendCommand fails +uint8_t SFE_UBLOX_GPS::getDynamicModel(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_NAV5; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the current navigation model settings. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK + return (255); + + return (payloadCfg[2]); // Return the dynamic model +} + +//Given a spot in the payload array, extract four bytes and build a long +uint32_t SFE_UBLOX_GPS::extractLong(uint8_t spotToStart) +{ + uint32_t val = 0; + val |= (uint32_t)payloadCfg[spotToStart + 0] << 8 * 0; + val |= (uint32_t)payloadCfg[spotToStart + 1] << 8 * 1; + val |= (uint32_t)payloadCfg[spotToStart + 2] << 8 * 2; + val |= (uint32_t)payloadCfg[spotToStart + 3] << 8 * 3; + return (val); +} + +//Just so there is no ambiguity about whether a uint32_t will cast to a int32_t correctly... +int32_t SFE_UBLOX_GPS::extractSignedLong(uint8_t spotToStart) +{ + union // Use a union to convert from uint32_t to int32_t + { + uint32_t unsignedLong; + int32_t signedLong; + } unsignedSigned; + + unsignedSigned.unsignedLong = extractLong(spotToStart); + return (unsignedSigned.signedLong); +} + +//Given a spot in the payload array, extract two bytes and build an int +uint16_t SFE_UBLOX_GPS::extractInt(uint8_t spotToStart) +{ + uint16_t val = 0; + val |= (uint16_t)payloadCfg[spotToStart + 0] << 8 * 0; + val |= (uint16_t)payloadCfg[spotToStart + 1] << 8 * 1; + return (val); +} + +//Just so there is no ambiguity about whether a uint16_t will cast to a int16_t correctly... +int16_t SFE_UBLOX_GPS::extractSignedInt(int8_t spotToStart) +{ + union // Use a union to convert from uint16_t to int16_t + { + uint16_t unsignedInt; + int16_t signedInt; + } stSignedInt; + + stSignedInt.unsignedInt = extractInt(spotToStart); + return (stSignedInt.signedInt); +} + +//Given a spot, extract a byte from the payload +uint8_t SFE_UBLOX_GPS::extractByte(uint8_t spotToStart) +{ + return (payloadCfg[spotToStart]); +} + +//Given a spot, extract a signed 8-bit value from the payload +int8_t SFE_UBLOX_GPS::extractSignedChar(uint8_t spotToStart) +{ + return ((int8_t)payloadCfg[spotToStart]); +} + +//Get the current year +uint16_t SFE_UBLOX_GPS::getYear(uint16_t maxWait) +{ + if (moduleQueried.gpsYear == false) + getPVT(maxWait); + moduleQueried.gpsYear = false; //Since we are about to give this to user, mark this data as stale + return (gpsYear); +} + +//Get the current month +uint8_t SFE_UBLOX_GPS::getMonth(uint16_t maxWait) +{ + if (moduleQueried.gpsMonth == false) + getPVT(maxWait); + moduleQueried.gpsMonth = false; //Since we are about to give this to user, mark this data as stale + return (gpsMonth); +} + +//Get the current day +uint8_t SFE_UBLOX_GPS::getDay(uint16_t maxWait) +{ + if (moduleQueried.gpsDay == false) + getPVT(maxWait); + moduleQueried.gpsDay = false; //Since we are about to give this to user, mark this data as stale + return (gpsDay); +} + +//Get the current hour +uint8_t SFE_UBLOX_GPS::getHour(uint16_t maxWait) +{ + if (moduleQueried.gpsHour == false) + getPVT(maxWait); + moduleQueried.gpsHour = false; //Since we are about to give this to user, mark this data as stale + return (gpsHour); +} + +//Get the current minute +uint8_t SFE_UBLOX_GPS::getMinute(uint16_t maxWait) +{ + if (moduleQueried.gpsMinute == false) + getPVT(maxWait); + moduleQueried.gpsMinute = false; //Since we are about to give this to user, mark this data as stale + return (gpsMinute); +} + +//Get the current second +uint8_t SFE_UBLOX_GPS::getSecond(uint16_t maxWait) +{ + if (moduleQueried.gpsSecond == false) + getPVT(maxWait); + moduleQueried.gpsSecond = false; //Since we are about to give this to user, mark this data as stale + return (gpsSecond); +} + +//Get the current date validity +bool SFE_UBLOX_GPS::getDateValid(uint16_t maxWait) +{ + if (moduleQueried.gpsDateValid == false) + getPVT(maxWait); + moduleQueried.gpsDateValid = false; //Since we are about to give this to user, mark this data as stale + return (gpsDateValid); +} + +//Get the current time validity +bool SFE_UBLOX_GPS::getTimeValid(uint16_t maxWait) +{ + if (moduleQueried.gpsTimeValid == false) + getPVT(maxWait); + moduleQueried.gpsTimeValid = false; //Since we are about to give this to user, mark this data as stale + return (gpsTimeValid); +} + +uint32_t SFE_UBLOX_GPS::getSpeedAccEst(uint16_t maxWait) +{ + if (moduleQueried.speedAccEst == false) + getPVT(maxWait); + moduleQueried.speedAccEst = false; //Since we are about to give this to user, mark this data as stale + return (speedAccEst); +} + +uint32_t SFE_UBLOX_GPS::getHeadingAccEst(uint16_t maxWait) +{ + if (moduleQueried.headingAccEst == false) + getPVT(maxWait); + moduleQueried.headingAccEst = false; //Since we are about to give this to user, mark this data as stale + return (headingAccEst); +} + +bool SFE_UBLOX_GPS::getInvalidLlh(uint16_t maxWait) +{ + if (moduleQueried.invalidLlh == false) + getPVT(maxWait); + moduleQueried.invalidLlh = false; //Since we are about to give this to user, mark this data as stale + return (invalidLlh); +} + +int32_t SFE_UBLOX_GPS::getHeadVeh(uint16_t maxWait) +{ + if (moduleQueried.headVeh == false) + getPVT(maxWait); + moduleQueried.headVeh = false; //Since we are about to give this to user, mark this data as stale + return (headVeh); +} + +int16_t SFE_UBLOX_GPS::getMagDec(uint16_t maxWait) +{ + if (moduleQueried.magDec == false) + getPVT(maxWait); + moduleQueried.magDec = false; //Since we are about to give this to user, mark this data as stale + return (magDec); +} + +uint16_t SFE_UBLOX_GPS::getMagAcc(uint16_t maxWait) +{ + if (moduleQueried.magAcc == false) + getPVT(maxWait); + moduleQueried.magAcc = false; //Since we are about to give this to user, mark this data as stale + return (magAcc); +} + +//Get the current millisecond +uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait) +{ + if (moduleQueried.gpsiTOW == false) + getPVT(maxWait); + moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale + return (gpsMillisecond); +} + +//Get the current nanoseconds - includes milliseconds +int32_t SFE_UBLOX_GPS::getNanosecond(uint16_t maxWait) +{ + if (moduleQueried.gpsNanosecond == false) + getPVT(maxWait); + moduleQueried.gpsNanosecond = false; //Since we are about to give this to user, mark this data as stale + return (gpsNanosecond); +} + +//Get the latest Position/Velocity/Time solution and fill all global variables +boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait) +{ + if (autoPVT && autoPVTImplicitUpdate) + { + //The GPS is automatically reporting, we just check whether we got unread data + if (_printDebug == true) + { + _debugSerial->println(F("getPVT: Autoreporting")); + } + checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_PVT); + return moduleQueried.all; + } + else if (autoPVT && !autoPVTImplicitUpdate) + { + //Someone else has to call checkUblox for us... + if (_printDebug == true) + { + _debugSerial->println(F("getPVT: Exit immediately")); + } + return (false); + } + else + { + if (_printDebug == true) + { + _debugSerial->println(F("getPVT: Polling")); + } + + //The GPS is not automatically reporting navigation position so we have to poll explicitly + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_PVT; + packetCfg.len = 0; + //packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX + + //The data is parsed as part of processing the response + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + + if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED || retVal == SFE_UBLOX_STATUS_SUCCESS) + return (true); + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_NAV)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getPVT: data was OVERWRITTEN by another NAV message (but that's OK)")); + } + return (true); + } + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_HNR)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getPVT: data was OVERWRITTEN by a HNR message (and that's not OK)")); + } + return (false); + } + + if (_printDebug == true) + { + _debugSerial->print(F("getPVT retVal: ")); + _debugSerial->println(statusString(retVal)); + } + return (false); + } +} + +uint32_t SFE_UBLOX_GPS::getTimeOfWeek(uint16_t maxWait /* = 250*/) +{ + if (moduleQueried.gpsiTOW == false) + getPVT(maxWait); + moduleQueried.gpsiTOW = false; //Since we are about to give this to user, mark this data as stale + return (timeOfWeek); +} + +int32_t SFE_UBLOX_GPS::getHighResLatitude(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.highResLatitude == false) + getHPPOSLLH(maxWait); + highResModuleQueried.highResLatitude = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (highResLatitude); +} + +int8_t SFE_UBLOX_GPS::getHighResLatitudeHp(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.highResLatitudeHp == false) + getHPPOSLLH(maxWait); + highResModuleQueried.highResLatitudeHp = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (highResLatitudeHp); +} + +int32_t SFE_UBLOX_GPS::getHighResLongitude(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.highResLongitude == false) + getHPPOSLLH(maxWait); + highResModuleQueried.highResLongitude = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (highResLongitude); +} + +int8_t SFE_UBLOX_GPS::getHighResLongitudeHp(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.highResLongitudeHp == false) + getHPPOSLLH(maxWait); + highResModuleQueried.highResLongitudeHp = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (highResLongitudeHp); +} + +int32_t SFE_UBLOX_GPS::getElipsoid(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.elipsoid == false) + getHPPOSLLH(maxWait); + highResModuleQueried.elipsoid = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (elipsoid); +} + +int8_t SFE_UBLOX_GPS::getElipsoidHp(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.elipsoidHp == false) + getHPPOSLLH(maxWait); + highResModuleQueried.elipsoidHp = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (elipsoidHp); +} + +int32_t SFE_UBLOX_GPS::getMeanSeaLevel(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.meanSeaLevel == false) + getHPPOSLLH(maxWait); + highResModuleQueried.meanSeaLevel = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (meanSeaLevel); +} + +int8_t SFE_UBLOX_GPS::getMeanSeaLevelHp(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.meanSeaLevelHp == false) + getHPPOSLLH(maxWait); + highResModuleQueried.meanSeaLevelHp = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (meanSeaLevelHp); +} + +// getGeoidSeparation is currently redundant. The geoid separation seems to only be provided in NMEA GGA and GNS messages. +int32_t SFE_UBLOX_GPS::getGeoidSeparation(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.geoidSeparation == false) + getHPPOSLLH(maxWait); + highResModuleQueried.geoidSeparation = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (geoidSeparation); +} + +uint32_t SFE_UBLOX_GPS::getHorizontalAccuracy(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.horizontalAccuracy == false) + getHPPOSLLH(maxWait); + highResModuleQueried.horizontalAccuracy = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (horizontalAccuracy); +} + +uint32_t SFE_UBLOX_GPS::getVerticalAccuracy(uint16_t maxWait /* = 250*/) +{ + if (highResModuleQueried.verticalAccuracy == false) + getHPPOSLLH(maxWait); + highResModuleQueried.verticalAccuracy = false; //Since we are about to give this to user, mark this data as stale + highResModuleQueried.all = false; + + return (verticalAccuracy); +} + +boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait) +{ + if (autoHPPOSLLH && autoHPPOSLLHImplicitUpdate) + { + //The GPS is automatically reporting, we just check whether we got unread data + if (_printDebug == true) + { + _debugSerial->println(F("getHPPOSLLH: Autoreporting")); + } + checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_HPPOSLLH); + return highResModuleQueried.all; + } + else if (autoHPPOSLLH && !autoHPPOSLLHImplicitUpdate) + { + //Someone else has to call checkUblox for us... + if (_printDebug == true) + { + _debugSerial->println(F("getHPPOSLLH: Exit immediately")); + } + return (false); + } + else + { + if (_printDebug == true) + { + _debugSerial->println(F("getHPPOSLLH: Polling")); + } + + //The GPS is not automatically reporting navigation position so we have to poll explicitly + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_HPPOSLLH; + packetCfg.len = 0; + + //The data is parsed as part of processing the response + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + + if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED) + return (true); + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_NAV)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHPPOSLLH: data was OVERWRITTEN by another NAV message (but that's OK)")); + } + return (true); + } + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_HNR)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHPPOSLLH: data was OVERWRITTEN by a HNR message (and that's not OK)")); + } + return (false); + } + + if (_printDebug == true) + { + _debugSerial->print(F("getHPPOSLLH retVal: ")); + _debugSerial->println(statusString(retVal)); + } + return (false); + } +} + +uint16_t SFE_UBLOX_GPS::getGeometricDOP(uint16_t maxWait /* = 250*/) +{ + if (dopModuleQueried.geometricDOP == false) + getDOP(maxWait); + dopModuleQueried.geometricDOP = false; //Since we are about to give this to user, mark this data as stale + dopModuleQueried.all = false; + + return (geometricDOP); +} + +uint16_t SFE_UBLOX_GPS::getPositionDOP(uint16_t maxWait /* = 250*/) +{ + if (dopModuleQueried.positionDOP == false) + getDOP(maxWait); + dopModuleQueried.positionDOP = false; //Since we are about to give this to user, mark this data as stale + dopModuleQueried.all = false; + + return (positionDOP); +} + +uint16_t SFE_UBLOX_GPS::getTimeDOP(uint16_t maxWait /* = 250*/) +{ + if (dopModuleQueried.timeDOP == false) + getDOP(maxWait); + dopModuleQueried.timeDOP = false; //Since we are about to give this to user, mark this data as stale + dopModuleQueried.all = false; + + return (timeDOP); +} + +uint16_t SFE_UBLOX_GPS::getVerticalDOP(uint16_t maxWait /* = 250*/) +{ + if (dopModuleQueried.verticalDOP == false) + getDOP(maxWait); + dopModuleQueried.verticalDOP = false; //Since we are about to give this to user, mark this data as stale + dopModuleQueried.all = false; + + return (verticalDOP); +} + +uint16_t SFE_UBLOX_GPS::getHorizontalDOP(uint16_t maxWait /* = 250*/) +{ + if (dopModuleQueried.horizontalDOP == false) + getDOP(maxWait); + dopModuleQueried.horizontalDOP = false; //Since we are about to give this to user, mark this data as stale + dopModuleQueried.all = false; + + return (horizontalDOP); +} + +uint16_t SFE_UBLOX_GPS::getNorthingDOP(uint16_t maxWait /* = 250*/) +{ + if (dopModuleQueried.northingDOP == false) + getDOP(maxWait); + dopModuleQueried.northingDOP = false; //Since we are about to give this to user, mark this data as stale + dopModuleQueried.all = false; + + return (northingDOP); +} + +uint16_t SFE_UBLOX_GPS::getEastingDOP(uint16_t maxWait /* = 250*/) +{ + if (dopModuleQueried.eastingDOP == false) + getDOP(maxWait); + dopModuleQueried.eastingDOP = false; //Since we are about to give this to user, mark this data as stale + dopModuleQueried.all = false; + + return (eastingDOP); +} + +boolean SFE_UBLOX_GPS::getDOP(uint16_t maxWait) +{ + if (autoDOP && autoDOPImplicitUpdate) + { + //The GPS is automatically reporting, we just check whether we got unread data + if (_printDebug == true) + { + _debugSerial->println(F("getDOP: Autoreporting")); + } + checkUbloxInternal(&packetCfg, UBX_CLASS_NAV, UBX_NAV_DOP); + return dopModuleQueried.all; + } + else if (autoDOP && !autoDOPImplicitUpdate) + { + //Someone else has to call checkUblox for us... + if (_printDebug == true) + { + _debugSerial->println(F("getDOP: Exit immediately")); + } + return (false); + } + else + { + if (_printDebug == true) + { + _debugSerial->println(F("getDOP: Polling")); + } + + //The GPS is not automatically reporting navigation position so we have to poll explicitly + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_DOP; + packetCfg.len = 0; + + //The data is parsed as part of processing the response + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + + if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED) + return (true); + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_NAV)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getDOP: data was OVERWRITTEN by another NAV message (but that's OK)")); + } + return (true); + } + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_HNR)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getDOP: data was OVERWRITTEN by a HNR message (and that's not OK)")); + } + return (false); + } + + if (_printDebug == true) + { + _debugSerial->print(F("getDOP retVal: ")); + _debugSerial->println(statusString(retVal)); + } + return (false); + } +} + +//Get the current 3D high precision positional accuracy - a fun thing to watch +//Returns a long representing the 3D accuracy in millimeters +uint32_t SFE_UBLOX_GPS::getPositionAccuracy(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_HPPOSECEF; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK) + return (0); //If command send fails then bail + + uint32_t tempAccuracy = extractLong(24); //We got a response, now extract a long beginning at a given position + + if ((tempAccuracy % 10) >= 5) + tempAccuracy += 5; //Round fraction of mm up to next mm if .5 or above + tempAccuracy /= 10; //Convert 0.1mm units to mm + + return (tempAccuracy); +} + +//Get the current latitude in degrees +//Returns a long representing the number of degrees *10^-7 +int32_t SFE_UBLOX_GPS::getLatitude(uint16_t maxWait) +{ + if (moduleQueried.latitude == false) + getPVT(maxWait); + moduleQueried.latitude = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (latitude); +} + +//Get the current longitude in degrees +//Returns a long representing the number of degrees *10^-7 +int32_t SFE_UBLOX_GPS::getLongitude(uint16_t maxWait) +{ + if (moduleQueried.longitude == false) + getPVT(maxWait); + moduleQueried.longitude = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (longitude); +} + +//Get the current altitude in mm according to ellipsoid model +int32_t SFE_UBLOX_GPS::getAltitude(uint16_t maxWait) +{ + if (moduleQueried.altitude == false) + getPVT(maxWait); + moduleQueried.altitude = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (altitude); +} + +//Get the current altitude in mm according to mean sea level +//Ellipsoid model: https://www.esri.com/news/arcuser/0703/geoid1of3.html +//Difference between Ellipsoid Model and Mean Sea Level: https://eos-gnss.com/elevation-for-beginners/ +int32_t SFE_UBLOX_GPS::getAltitudeMSL(uint16_t maxWait) +{ + if (moduleQueried.altitudeMSL == false) + getPVT(maxWait); + moduleQueried.altitudeMSL = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (altitudeMSL); +} + +int32_t SFE_UBLOX_GPS::getHorizontalAccEst(uint16_t maxWait) +{ + if (moduleQueried.horizontalAccEst == false) + getPVT(maxWait); + moduleQueried.horizontalAccEst = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (horizontalAccEst); +} + +int32_t SFE_UBLOX_GPS::getVerticalAccEst(uint16_t maxWait) +{ + if (moduleQueried.verticalAccEst == false) + getPVT(maxWait); + moduleQueried.verticalAccEst = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (verticalAccEst); +} + +int32_t SFE_UBLOX_GPS::getNedNorthVel(uint16_t maxWait) +{ + if (moduleQueried.nedNorthVel == false) + getPVT(maxWait); + moduleQueried.nedNorthVel = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (nedNorthVel); +} + +int32_t SFE_UBLOX_GPS::getNedEastVel(uint16_t maxWait) +{ + if (moduleQueried.nedEastVel == false) + getPVT(maxWait); + moduleQueried.nedEastVel = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (nedEastVel); +} + +int32_t SFE_UBLOX_GPS::getNedDownVel(uint16_t maxWait) +{ + if (moduleQueried.nedDownVel == false) + getPVT(maxWait); + moduleQueried.nedDownVel = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (nedDownVel); +} + +//Get the number of satellites used in fix +uint8_t SFE_UBLOX_GPS::getSIV(uint16_t maxWait) +{ + if (moduleQueried.SIV == false) + getPVT(maxWait); + moduleQueried.SIV = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (SIV); +} + +//Get the current fix type +//0=no fix, 1=dead reckoning, 2=2D, 3=3D, 4=GNSS, 5=Time fix +uint8_t SFE_UBLOX_GPS::getFixType(uint16_t maxWait) +{ + if (moduleQueried.fixType == false) + { + getPVT(maxWait); + } + moduleQueried.fixType = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (fixType); +} + +//Get whether we have a valid fix (i.e within DOP & accuracy masks) +bool SFE_UBLOX_GPS::getGnssFixOk(uint16_t maxWait) +{ + if (moduleQueried.gnssFixOk == false) + getPVT(maxWait); + moduleQueried.gnssFixOk = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (gnssFixOk); +} + +//Get whether differential corrections were applied +bool SFE_UBLOX_GPS::getDiffSoln(uint16_t maxWait) +{ + if (moduleQueried.diffSoln == false) + getPVT(maxWait); + moduleQueried.diffSoln = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (diffSoln); +} + +//Get the carrier phase range solution status +//Useful when querying module to see if it has high-precision RTK fix +//0=No solution, 1=Float solution, 2=Fixed solution +uint8_t SFE_UBLOX_GPS::getCarrierSolutionType(uint16_t maxWait) +{ + if (moduleQueried.carrierSolution == false) + getPVT(maxWait); + moduleQueried.carrierSolution = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (carrierSolution); +} + +//Get whether head vehicle valid or not +bool SFE_UBLOX_GPS::getHeadVehValid(uint16_t maxWait) +{ + if (moduleQueried.headVehValid == false) + getPVT(maxWait); + moduleQueried.headVehValid = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (headVehValid); +} + + +//Get the ground speed in mm/s +int32_t SFE_UBLOX_GPS::getGroundSpeed(uint16_t maxWait) +{ + if (moduleQueried.groundSpeed == false) + getPVT(maxWait); + moduleQueried.groundSpeed = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (groundSpeed); +} + +//Get the heading of motion (as opposed to heading of car) in degrees * 10^-5 +int32_t SFE_UBLOX_GPS::getHeading(uint16_t maxWait) +{ + if (moduleQueried.headingOfMotion == false) + getPVT(maxWait); + moduleQueried.headingOfMotion = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (headingOfMotion); +} + +//Get the positional dillution of precision * 10^-2 (dimensionless) +uint16_t SFE_UBLOX_GPS::getPDOP(uint16_t maxWait) +{ + if (moduleQueried.pDOP == false) + getPVT(maxWait); + moduleQueried.pDOP = false; //Since we are about to give this to user, mark this data as stale + moduleQueried.all = false; + + return (pDOP); +} + +//Get the current protocol version of the u-blox module we're communicating with +//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH) +uint8_t SFE_UBLOX_GPS::getProtocolVersionHigh(uint16_t maxWait) +{ + if (moduleQueried.versionNumber == false) + getProtocolVersion(maxWait); + return (versionHigh); +} + +//Get the current protocol version of the u-blox module we're communicating with +//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH) +uint8_t SFE_UBLOX_GPS::getProtocolVersionLow(uint16_t maxWait) +{ + if (moduleQueried.versionNumber == false) + getProtocolVersion(maxWait); + return (versionLow); +} + +//Get the current protocol version of the u-blox module we're communicating with +//This is helpful when deciding if we should call the high-precision Lat/Long (HPPOSLLH) or the regular (POSLLH) +boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait) +{ + //Send packet with only CLS and ID, length of zero. This will cause the module to respond with the contents of that CLS/ID. + packetCfg.cls = UBX_CLASS_MON; + packetCfg.id = UBX_MON_VER; + + packetCfg.len = 0; + packetCfg.startingSpot = 40; //Start at first "extended software information" string + memset(payloadCfg,0,sizeof(payloadCfg)); + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK) + return (false); //If command send fails then bail + + //Payload should now contain ~220 characters (depends on module type) + + // if (_printDebug == true) + // { + // _debugSerial->print(F("MON VER Payload:")); + // for (int location = 0; location < packetCfg.len; location++) + // { + // if (location % 30 == 0) + // _debugSerial->println(); + // _debugSerial->write(payloadCfg[location]); + // } + // _debugSerial->println(); + // } + + //We will step through the payload looking at each extension field of 30 bytes + for (uint8_t extensionNumber = 0; extensionNumber < 10; extensionNumber++) + { + //Now we need to find "PROTVER=18.00" in the incoming byte stream + if ((payloadCfg[(30 * extensionNumber) + 0] == 'P') && (payloadCfg[(30 * extensionNumber) + 6] == 'R')) + { + versionHigh = (payloadCfg[(30 * extensionNumber) + 8] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 9] - '0'); //Convert '18' to 18 + versionLow = (payloadCfg[(30 * extensionNumber) + 11] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 12] - '0'); //Convert '00' to 00 + moduleQueried.versionNumber = true; //Mark this data as new + + if (_printDebug == true) + { + _debugSerial->print(F("Protocol version: ")); + _debugSerial->print(versionHigh); + _debugSerial->print(F(".")); + _debugSerial->println(versionLow); + } + return (true); //Success! + } + } + + return (false); //We failed +} + +void SFE_UBLOX_GPS::queryHwState(uint16_t maxWait) +{ +// memset(&hwState,0,sizeof(ubxHwState)); +// moduleQueried.hwState = false; + + packetCfg.cls = UBX_CLASS_MON; + packetCfg.id = UBX_MON_HW; + + packetCfg.len = 0; + packetCfg.startingSpot = 0; + memset(payloadCfg,0,sizeof(payloadCfg)); + sendCommand(&packetCfg, maxWait); +} + +boolean SFE_UBLOX_GPS::getHwState(ubxHwState &state) +{ + if(moduleQueried.hwState) + { + state = hwState; + moduleQueried.hwState = false; + return true; + } + else + return false; +} + +//Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure +void SFE_UBLOX_GPS::flushPVT() +{ + //Mark all datums as stale (read before) + moduleQueried.gpsiTOW = false; + moduleQueried.gpsYear = false; + moduleQueried.gpsMonth = false; + moduleQueried.gpsDay = false; + moduleQueried.gpsHour = false; + moduleQueried.gpsMinute = false; + moduleQueried.gpsSecond = false; + moduleQueried.gpsDateValid = false; + moduleQueried.gpsTimeValid = false; + moduleQueried.gpsNanosecond = false; + + moduleQueried.all = false; + moduleQueried.gnssFixOk = false; + moduleQueried.diffSoln = false; + moduleQueried.headVehValid = false; + moduleQueried.longitude = false; + moduleQueried.latitude = false; + moduleQueried.altitude = false; + moduleQueried.altitudeMSL = false; + moduleQueried.SIV = false; + moduleQueried.fixType = false; + moduleQueried.carrierSolution = false; + moduleQueried.groundSpeed = false; + moduleQueried.headingOfMotion = false; + moduleQueried.speedAccEst = false; + moduleQueried.headingAccEst = false; + moduleQueried.pDOP = false; + moduleQueried.invalidLlh = false; + moduleQueried.headVeh = false; + moduleQueried.magDec = false; + moduleQueried.magAcc = false; +} + +//Mark all the HPPOSLLH data as read/stale. This is handy to get data alignment after CRC failure +void SFE_UBLOX_GPS::flushHPPOSLLH() +{ + //Mark all datums as stale (read before) + highResModuleQueried.all = false; + highResModuleQueried.highResLatitude = false; + highResModuleQueried.highResLatitudeHp = false; + highResModuleQueried.highResLongitude = false; + highResModuleQueried.highResLongitudeHp = false; + highResModuleQueried.elipsoid = false; + highResModuleQueried.elipsoidHp = false; + highResModuleQueried.meanSeaLevel = false; + highResModuleQueried.meanSeaLevelHp = false; + highResModuleQueried.geoidSeparation = false; + highResModuleQueried.horizontalAccuracy = false; + highResModuleQueried.verticalAccuracy = false; + //moduleQueried.gpsiTOW = false; // this can arrive via HPPOS too. +} + +//Mark all the DOP data as read/stale. This is handy to get data alignment after CRC failure +void SFE_UBLOX_GPS::flushDOP() +{ + //Mark all DOPs as stale (read before) + dopModuleQueried.all = false; + dopModuleQueried.geometricDOP = false; + dopModuleQueried.positionDOP = false; + dopModuleQueried.timeDOP = false; + dopModuleQueried.verticalDOP = false; + dopModuleQueried.horizontalDOP = false; + dopModuleQueried.northingDOP = false; + dopModuleQueried.eastingDOP = false; +} + +//Relative Positioning Information in NED frame +//Returns true if commands was successful +//Note: +// RELPOSNED on the M8 is only 40 bytes long +// RELPOSNED on the F9 is 64 bytes long and contains much more information +boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_RELPOSNED; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are only expecting data (no ACK) + return (false); //If command send fails then bail + + //We got a response, now parse the bits + + uint16_t refStationID = extractInt(2); + //_debugSerial->print(F("refStationID: ")); + //_debugSerial->println(refStationID)); + + int32_t tempRelPos; + + tempRelPos = extractSignedLong(8); + relPosInfo.relPosN = ((float)tempRelPos) / 100.0; //Convert cm to m + + tempRelPos = extractSignedLong(12); + relPosInfo.relPosE = ((float)tempRelPos) / 100.0; //Convert cm to m + + tempRelPos = extractSignedLong(16); + relPosInfo.relPosD = ((float)tempRelPos) / 100.0; //Convert cm to m + + if (packetCfg.len == 40) + { + // The M8 version does not contain relPosLength or relPosHeading + relPosInfo.relPosLength = 0; + relPosInfo.relPosHeading = 0; + } + else + { + relPosInfo.relPosLength = extractSignedLong(20); + relPosInfo.relPosHeading = extractSignedLong(24); + } + + if (packetCfg.len == 40) + { + relPosInfo.relPosHPN = payloadCfg[20]; + relPosInfo.relPosHPE = payloadCfg[21]; + relPosInfo.relPosHPD = payloadCfg[22]; + relPosInfo.relPosHPLength = 0; // The M8 version does not contain relPosHPLength + } + else + { + relPosInfo.relPosHPN = payloadCfg[32]; + relPosInfo.relPosHPE = payloadCfg[33]; + relPosInfo.relPosHPD = payloadCfg[34]; + relPosInfo.relPosHPLength = payloadCfg[35]; + } + + uint32_t tempAcc; + + if (packetCfg.len == 40) + { + tempAcc = extractLong(24); + relPosInfo.accN = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m + tempAcc = extractLong(28); + relPosInfo.accE = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m + tempAcc = extractLong(32); + relPosInfo.accD = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m + } + else + { + tempAcc = extractLong(36); + relPosInfo.accN = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m + tempAcc = extractLong(40); + relPosInfo.accE = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m + tempAcc = extractLong(44); + relPosInfo.accD = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m + } + + uint8_t flags; + + if (packetCfg.len == 40) + { + flags = payloadCfg[36]; + } + else + { + flags = payloadCfg[60]; + } + + relPosInfo.gnssFixOk = flags & (1 << 0); + relPosInfo.diffSoln = flags & (1 << 1); + relPosInfo.relPosValid = flags & (1 << 2); + relPosInfo.carrSoln = (flags & (0b11 << 3)) >> 3; + relPosInfo.isMoving = flags & (1 << 5); + relPosInfo.refPosMiss = flags & (1 << 6); + relPosInfo.refObsMiss = flags & (1 << 7); + + return (true); +} + +boolean SFE_UBLOX_GPS::getEsfInfo(uint16_t maxWait) +{ + // Requesting Data from the receiver + packetCfg.cls = UBX_CLASS_ESF; + packetCfg.id = UBX_ESF_STATUS; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (false); //If command send fails then bail + + //checkUblox(); + + // payload should be loaded. + imuMeas.version = extractByte(4); + imuMeas.fusionMode = extractByte(12); + ubloxSen.numSens = extractByte(15); + + // Individual Status Sensor in different function + return (true); +} + +// +boolean SFE_UBLOX_GPS::getEsfIns(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_ESF; + packetCfg.id = UBX_ESF_INS; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (false); //If command send fails then bail + + //checkUblox(); + + // Validity of each sensor value below + uint32_t validity = extractLong(0); + + imuMeas.xAngRateVald = (validity & 0x0100) >> 8; + imuMeas.yAngRateVald = (validity & 0x0200) >> 9; + imuMeas.zAngRateVald = (validity & 0x0400) >> 10; + imuMeas.xAccelVald = (validity & 0x0800) >> 11; + imuMeas.yAccelVald = (validity & 0x1000) >> 12; + imuMeas.zAccelVald = (validity & 0x2000) >> 13; + + imuMeas.xAngRate = extractSignedLong(12); // 0.001 deg/s + imuMeas.yAngRate = extractSignedLong(16); // 0.001 deg/s + imuMeas.zAngRate = extractSignedLong(20); // 0.001 deg/s + + imuMeas.xAccel = extractSignedLong(24); // 0.01 m/s^2 + imuMeas.yAccel = extractSignedLong(28); // 0.01 m/s^2 + imuMeas.zAccel = extractSignedLong(32); // 0.01 m/s^2 + + return (true); +} + +// +boolean SFE_UBLOX_GPS::getEsfDataInfo(uint16_t maxWait) +{ + + packetCfg.cls = UBX_CLASS_ESF; + packetCfg.id = UBX_ESF_MEAS; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (false); //If command send fails then bail + + //checkUblox(); + + uint32_t timeStamp = extractLong(0); + uint32_t flags = extractInt(4); + + uint8_t timeSent = flags & 0x03; // timeSent is 2-bit: 0 = none, 1 = on Ext0, 2 = on Ext1 + uint8_t timeEdge = (flags & 0x04) >> 2; + uint8_t tagValid = (flags & 0x08) >> 3; + uint8_t numMeas = (flags & 0xF800) >> 11; + + if (numMeas > DEF_NUM_SENS) // Truncate numMeas if required + numMeas = DEF_NUM_SENS; + + uint8_t byteOffset = 4; + + for (uint8_t i = 0; i < numMeas; i++) + { + uint32_t bitField = extractLong(8 + (byteOffset * i)); + imuMeas.dataType[i] = (bitField & 0x3F000000) >> 24; + imuMeas.data[i] = (bitField & 0xFFFFFF); + } + + numMeas = (flags & 0xF800) >> 11; // Restore numMeas + + if (packetCfg.len > (8 + (4 * numMeas))) // The calibTtag is optional - only extract it if it is present + { + uint8_t startOfTtag = 8 + (4 * numMeas); // Calculate where the Ttag data starts + if (numMeas > DEF_NUM_SENS) // Truncate numMeas again if required + numMeas = DEF_NUM_SENS; + for (uint8_t i = 0; i < numMeas; i++) + { + imuMeas.dataTStamp[i] = extractLong(startOfTtag); // calibTtag is only appended once + } + } + + return (true); +} + +boolean SFE_UBLOX_GPS::getEsfRawDataInfo(uint16_t maxWait) +{ + + // Need to know the number of sensor to get the correct data + // Rate selected in UBX-CFG-MSG is not respected + packetCfg.cls = UBX_CLASS_ESF; + packetCfg.id = UBX_ESF_RAW; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (false); //If command send fails then bail + + //checkUblox(); + + uint32_t bitField = extractLong(4); + imuMeas.rawDataType = (bitField & 0xFF000000) >> 24; + imuMeas.rawData = (bitField & 0xFFFFFF); + + imuMeas.rawTStamp = extractLong(8); + + return (true); +} + +// Note: senor numbering starts at 1 (not 0) +sfe_ublox_status_e SFE_UBLOX_GPS::getSensState(uint8_t sensor, uint16_t maxWait) +{ + + packetCfg.cls = UBX_CLASS_ESF; + packetCfg.id = UBX_ESF_STATUS; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (SFE_UBLOX_STATUS_FAIL); //If command send fails then bail + + ubloxSen.numSens = extractByte(15); + + if (sensor > ubloxSen.numSens) + return (SFE_UBLOX_STATUS_OUT_OF_RANGE); + + //checkUblox(); + + uint8_t offset = 4; + + // Only the last sensor value checked will remain. + for (uint8_t i = 0; i < sensor; i++) + { + + uint8_t sensorFieldOne = extractByte(16 + (offset * i)); + uint8_t sensorFieldTwo = extractByte(17 + (offset * i)); + ubloxSen.freq = extractByte(18 + (offset * i)); + uint8_t sensorFieldThr = extractByte(19 + offset * i); + + ubloxSen.senType = (sensorFieldOne & 0x3F); + ubloxSen.isUsed = (sensorFieldOne & 0x40) >> 6; + ubloxSen.isReady = (sensorFieldOne & 0x80) >> 7; + + ubloxSen.calibStatus = sensorFieldTwo & 0x03; + ubloxSen.timeStatus = (sensorFieldTwo & 0xC) >> 2; + + ubloxSen.badMeas = (sensorFieldThr & 0x01); + ubloxSen.badTag = (sensorFieldThr & 0x02) >> 1; + ubloxSen.missMeas = (sensorFieldThr & 0x04) >> 2; + ubloxSen.noisyMeas = (sensorFieldThr & 0x08) >> 3; + } + + return (SFE_UBLOX_STATUS_SUCCESS); +} + +boolean SFE_UBLOX_GPS::getVehAtt(uint16_t maxWait) +{ + + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_ATT; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (SFE_UBLOX_STATUS_FAIL); //If command send fails then bail + + //checkUblox(); + + vehAtt.roll = extractSignedLong(8); // 0.00001 deg + vehAtt.pitch = extractSignedLong(12); // 0.00001 deg + vehAtt.heading = extractSignedLong(16); // 0.00001 deg + + vehAtt.accRoll = extractLong(20); // 0.00001 deg + vehAtt.accPitch = extractLong(24); // 0.00001 deg + vehAtt.accHeading = extractLong(28); // 0.00001 deg + + return (true); +} + +//Set the ECEF or Lat/Long coordinates of a receiver +//This imediately puts the receiver in TIME mode (fixed) and will begin outputting RTCM sentences if enabled +//This is helpful once an antenna's position has been established. See this tutorial: https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station#gather-raw-gnss-data +// For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm +// For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm +bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_TMODE3; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the current TimeMode3 settings. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (false); + + packetCfg.len = 40; + + //Clear packet payload + for (uint8_t x = 0; x < packetCfg.len; x++) + payloadCfg[x] = 0; + + //customCfg should be loaded with poll response. Now modify only the bits we care about + payloadCfg[2] = 2; //Set mode to fixed. Use ECEF (not LAT/LON/ALT). + + if (latLong == true) + payloadCfg[3] = (uint8_t)(1 << 0); //Set mode to fixed. Use LAT/LON/ALT. + + //Set ECEF X or Lat + payloadCfg[4] = (ecefXOrLat >> 8 * 0) & 0xFF; //LSB + payloadCfg[5] = (ecefXOrLat >> 8 * 1) & 0xFF; + payloadCfg[6] = (ecefXOrLat >> 8 * 2) & 0xFF; + payloadCfg[7] = (ecefXOrLat >> 8 * 3) & 0xFF; //MSB + + //Set ECEF Y or Long + payloadCfg[8] = (ecefYOrLon >> 8 * 0) & 0xFF; //LSB + payloadCfg[9] = (ecefYOrLon >> 8 * 1) & 0xFF; + payloadCfg[10] = (ecefYOrLon >> 8 * 2) & 0xFF; + payloadCfg[11] = (ecefYOrLon >> 8 * 3) & 0xFF; //MSB + + //Set ECEF Z or Altitude + payloadCfg[12] = (ecefZOrAlt >> 8 * 0) & 0xFF; //LSB + payloadCfg[13] = (ecefZOrAlt >> 8 * 1) & 0xFF; + payloadCfg[14] = (ecefZOrAlt >> 8 * 2) & 0xFF; + payloadCfg[15] = (ecefZOrAlt >> 8 * 3) & 0xFF; //MSB + + //Set high precision parts + payloadCfg[16] = ecefXOrLatHP; + payloadCfg[17] = ecefYOrLonHP; + payloadCfg[18] = ecefZOrAltHP; + + return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK +} + +bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latlong, uint16_t maxWait) +{ + return (setStaticPosition(ecefXOrLat, 0, ecefYOrLon, 0, ecefZOrAlt, 0, latlong, maxWait)); +} + +// Push (e.g.) RTCM data directly to the module +// Returns true if all numDataBytes were pushed successfully +// Warning: this function does not check that the data is valid. It is the user's responsibility to ensure the data is valid before pushing. +boolean SFE_UBLOX_GPS::pushRawData(uint8_t *dataBytes, size_t numDataBytes) +{ + if (commType == COMM_TYPE_SERIAL) + { + // Serial: write all the bytes in one go + size_t bytesWritten = _serialPort->write(dataBytes, numDataBytes); + return (bytesWritten == numDataBytes); + } + else + { + // I2C: split the data up into packets of i2cTransactionSize + size_t bytesLeftToWrite = numDataBytes; + size_t bytesWrittenTotal = 0; + + while (bytesLeftToWrite > 0) + { + size_t bytesToWrite; // Limit bytesToWrite to i2cTransactionSize + if (bytesLeftToWrite > i2cTransactionSize) + bytesToWrite = i2cTransactionSize; + else + bytesToWrite = bytesLeftToWrite; + + _i2cPort->beginTransmission(_gpsI2Caddress); + size_t bytesWritten = _i2cPort->write(dataBytes, bytesToWrite); // Write the bytes + + bytesWrittenTotal += bytesWritten; // Update the totals + bytesLeftToWrite -= bytesToWrite; + dataBytes += bytesToWrite; // Point to fresh data + + if (bytesLeftToWrite > 0) + { + if (_i2cPort->endTransmission(false) != 0) //Send a restart command. Do not release bus. + return (false); //Sensor did not ACK + } + else + { + if (_i2cPort->endTransmission() != 0) //We're done. Release bus. + return (false); //Sensor did not ACK + } + } + + return (bytesWrittenTotal == numDataBytes); + } +} + +// Set the High Navigation Rate +// Returns true if the setHNRNavigationRate is successful +boolean SFE_UBLOX_GPS::setHNRNavigationRate(uint8_t rate, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_HNR; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the current HNR settings. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (false); + + //Load the new navigation rate into payloadCfg + payloadCfg[0] = rate; + + //Update the navigation rate + sfe_ublox_status_e result = sendCommand(&packetCfg, maxWait); // We are only expecting an ACK + + //Adjust the I2C polling timeout based on update rate + if (result == SFE_UBLOX_STATUS_DATA_SENT) + i2cPollingWait = 1000 / (((int)rate) * 4); //This is the number of ms to wait between checks for new I2C data + + return (result == SFE_UBLOX_STATUS_DATA_SENT); +} + +// Get the High Navigation Rate +// Returns 0 if the getHNRNavigationRate fails +uint8_t SFE_UBLOX_GPS::getHNRNavigationRate(uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_HNR; + packetCfg.len = 0; + packetCfg.startingSpot = 0; + + //Ask module for the current HNR settings. Loads into payloadCfg. + if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) + return (0); + + //Return the navigation rate + return (payloadCfg[0]); +} + +//In case no config access to the GPS is possible and HNR attitude is send cyclically already +//set config to suitable parameters +boolean SFE_UBLOX_GPS::assumeAutoHNRAtt(boolean enabled, boolean implicitUpdate) +{ + boolean changes = autoHNRAtt != enabled || autoHNRAttImplicitUpdate != implicitUpdate; + if (changes) + { + autoHNRAtt = enabled; + autoHNRAttImplicitUpdate = implicitUpdate; + } + return changes; +} + +//Enable or disable automatic HNR attitude message generation by the GPS. This changes the way getHNRAtt +//works. +boolean SFE_UBLOX_GPS::setAutoHNRAtt(boolean enable, uint16_t maxWait) +{ + return setAutoHNRAtt(enable, true, maxWait); +} + +//Enable or disable automatic HNR attitude message generation by the GPS. This changes the way getHNRAtt +//works. +boolean SFE_UBLOX_GPS::setAutoHNRAtt(boolean enable, boolean implicitUpdate, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_MSG; + packetCfg.len = 3; + packetCfg.startingSpot = 0; + payloadCfg[0] = UBX_CLASS_HNR; + payloadCfg[1] = UBX_HNR_ATT; + payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq. + + boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK + if (ok) + { + autoHNRAtt = enable; + autoHNRAttImplicitUpdate = implicitUpdate; + } + hnrAttQueried = false; // Mark data as stale + return ok; +} + +//Get the HNR Attitude data +// Returns true if the get HNR attitude is successful. Data is returned in hnrAtt +// Note: if hnrAttQueried is true, it gets set to false by this function since we assume +// that the user will read hnrAtt immediately after this. I.e. this function will +// only return true _once_ after each auto HNR Att is processed +boolean SFE_UBLOX_GPS::getHNRAtt(uint16_t maxWait) +{ + if (autoHNRAtt && autoHNRAttImplicitUpdate) + { + //The GPS is automatically reporting, we just check whether we got unread data + if (_printDebug == true) + { + _debugSerial->println(F("getHNRAtt: Autoreporting")); + } + checkUbloxInternal(&packetCfg, UBX_CLASS_HNR, UBX_HNR_ATT); + if (hnrAttQueried) + { + hnrAttQueried = false; // Mark data as stale as we assume the user will read it after this + return true; + } + return false; + } + else if (autoHNRAtt && !autoHNRAttImplicitUpdate) + { + //Someone else has to call checkUblox for us... + if (_printDebug == true) + { + _debugSerial->println(F("getHNRAtt: Exit immediately")); + } + return (false); + } + else + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRAtt: Polling")); + } + + //The GPS is not automatically reporting HNR attitude so we have to poll explicitly + packetCfg.cls = UBX_CLASS_HNR; + packetCfg.id = UBX_HNR_ATT; + packetCfg.len = 0; + + //The data is parsed as part of processing the response + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + + if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED) + return (true); + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_NAV)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRAtt: data was OVERWRITTEN by a NAV message (and that's not OK)")); + } + return (false); + } + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_HNR)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRAtt: data was OVERWRITTEN by another HNR message (but that's OK)")); + } + return (true); + } + + if (_printDebug == true) + { + _debugSerial->print(F("getHNRAtt retVal: ")); + _debugSerial->println(statusString(retVal)); + } + return (false); + } + + return (false); // Trap. We should never get here... +} + +//In case no config access to the GPS is possible and HNR vehicle dynamics is send cyclically already +//set config to suitable parameters +boolean SFE_UBLOX_GPS::assumeAutoHNRDyn(boolean enabled, boolean implicitUpdate) +{ + boolean changes = autoHNRDyn != enabled || autoHNRDynImplicitUpdate != implicitUpdate; + if (changes) + { + autoHNRDyn = enabled; + autoHNRDynImplicitUpdate = implicitUpdate; + } + return changes; +} + +//Enable or disable automatic HNR vehicle dynamics message generation by the GPS. This changes the way getHNRDyn +//works. +boolean SFE_UBLOX_GPS::setAutoHNRDyn(boolean enable, uint16_t maxWait) +{ + return setAutoHNRDyn(enable, true, maxWait); +} + +//Enable or disable automatic HNR vehicle dynamics message generation by the GPS. This changes the way getHNRDyn +//works. +boolean SFE_UBLOX_GPS::setAutoHNRDyn(boolean enable, boolean implicitUpdate, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_MSG; + packetCfg.len = 3; + packetCfg.startingSpot = 0; + payloadCfg[0] = UBX_CLASS_HNR; + payloadCfg[1] = UBX_HNR_INS; + payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq. + + boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK + if (ok) + { + autoHNRDyn = enable; + autoHNRDynImplicitUpdate = implicitUpdate; + } + hnrDynQueried = false; // Mark data as stale + return ok; +} + +//Get the HNR vehicle dynamics data +// Returns true if the get HNR vehicle dynamics is successful. Data is returned in hnrVehDyn +// Note: if hnrDynQueried is true, it gets set to false by this function since we assume +// that the user will read hnrVehDyn immediately after this. I.e. this function will +// only return true _once_ after each auto HNR Dyn is processed +boolean SFE_UBLOX_GPS::getHNRDyn(uint16_t maxWait) +{ + if (autoHNRDyn && autoHNRDynImplicitUpdate) + { + //The GPS is automatically reporting, we just check whether we got unread data + if (_printDebug == true) + { + _debugSerial->println(F("getHNRDyn: Autoreporting")); + } + checkUbloxInternal(&packetCfg, UBX_CLASS_HNR, UBX_HNR_INS); + if (hnrDynQueried) + { + hnrDynQueried = false; // Mark data as stale as we assume the user will read it after this + return true; + } + return false; + } + else if (autoHNRDyn && !autoHNRDynImplicitUpdate) + { + //Someone else has to call checkUblox for us... + if (_printDebug == true) + { + _debugSerial->println(F("getHNRDyn: Exit immediately")); + } + return (false); + } + else + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRDyn: Polling")); + } + + //The GPS is not automatically reporting HNR vehicle dynamics so we have to poll explicitly + packetCfg.cls = UBX_CLASS_HNR; + packetCfg.id = UBX_HNR_INS; + packetCfg.len = 0; + + //The data is parsed as part of processing the response + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + + if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED) + return (true); + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_NAV)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRDyn: data was OVERWRITTEN by a NAV message (and that's not OK)")); + } + return (false); + } + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_HNR)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRDyn: data was OVERWRITTEN by another HNR message (but that's OK)")); + } + return (true); + } + + if (_printDebug == true) + { + _debugSerial->print(F("getHNRDyn retVal: ")); + _debugSerial->println(statusString(retVal)); + } + return (false); + } + + return (false); // Trap. We should never get here... +} + +//In case no config access to the GPS is possible and HNR PVT is send cyclically already +//set config to suitable parameters +boolean SFE_UBLOX_GPS::assumeAutoHNRPVT(boolean enabled, boolean implicitUpdate) +{ + boolean changes = autoHNRPVT != enabled || autoHNRPVTImplicitUpdate != implicitUpdate; + if (changes) + { + autoHNRPVT = enabled; + autoHNRPVTImplicitUpdate = implicitUpdate; + } + return changes; +} + +//Enable or disable automatic HNR PVT message generation by the GPS. This changes the way getHNRPVT +//works. +boolean SFE_UBLOX_GPS::setAutoHNRPVT(boolean enable, uint16_t maxWait) +{ + return setAutoHNRPVT(enable, true, maxWait); +} + +//Enable or disable automatic HNR PVT message generation by the GPS. This changes the way getHNRPVT +//works. +boolean SFE_UBLOX_GPS::setAutoHNRPVT(boolean enable, boolean implicitUpdate, uint16_t maxWait) +{ + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_MSG; + packetCfg.len = 3; + packetCfg.startingSpot = 0; + payloadCfg[0] = UBX_CLASS_HNR; + payloadCfg[1] = UBX_HNR_PVT; + payloadCfg[2] = enable ? 1 : 0; // rate relative to navigation freq. + + boolean ok = ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK + if (ok) + { + autoHNRPVT = enable; + autoHNRPVTImplicitUpdate = implicitUpdate; + } + hnrPVTQueried = false; // Mark data as stale + return ok; +} + +//Get the HNR PVT data +// Returns true if the get HNR PVT is successful. Data is returned in hnrPVT +// Note: if hnrPVTQueried is true, it gets set to false by this function since we assume +// that the user will read hnrPVT immediately after this. I.e. this function will +// only return true _once_ after each auto HNR PVT is processed +boolean SFE_UBLOX_GPS::getHNRPVT(uint16_t maxWait) +{ + if (autoHNRPVT && autoHNRPVTImplicitUpdate) + { + //The GPS is automatically reporting, we just check whether we got unread data + if (_printDebug == true) + { + _debugSerial->println(F("getHNRPVT: Autoreporting")); + } + checkUbloxInternal(&packetCfg, UBX_CLASS_HNR, UBX_HNR_PVT); + if (hnrPVTQueried) + { + hnrPVTQueried = false; // Mark data as stale as we assume the user will read it after this + return true; + } + return false; + } + else if (autoHNRPVT && !autoHNRPVTImplicitUpdate) + { + //Someone else has to call checkUblox for us... + if (_printDebug == true) + { + _debugSerial->println(F("getHNRPVT: Exit immediately")); + } + return (false); + } + else + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRPVT: Polling")); + } + + //The GPS is not automatically reporting HNR PVT so we have to poll explicitly + packetCfg.cls = UBX_CLASS_HNR; + packetCfg.id = UBX_HNR_PVT; + packetCfg.len = 0; + + //The data is parsed as part of processing the response + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + + if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED) + return (true); + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_NAV)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRPVT: data was OVERWRITTEN by a NAV message (and that's not OK)")); + } + return (false); + } + + if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.cls == UBX_CLASS_HNR)) + { + if (_printDebug == true) + { + _debugSerial->println(F("getHNRPVT: data was OVERWRITTEN by another HNR message (but that's OK)")); + } + return (true); + } + + if (_printDebug == true) + { + _debugSerial->print(F("getHNRPVT retVal: ")); + _debugSerial->println(statusString(retVal)); + } + return (false); + } + + return (false); // Trap. We should never get here... +} + + +boolean SFE_UBLOX_GPS::getPOSLLH(uint16_t maxWait) +{ + debugPrintln((char *)F("getPOSLLH: Polling")); + + //The GPS is not automatically reporting navigation position so we have to poll explicitly + packetCfg.cls = UBX_CLASS_NAV; + packetCfg.id = UBX_NAV_POSLLH; + packetCfg.len = 0; + //packetCfg.startingSpot = 20; //Begin listening at spot 20 so we can record up to 20+MAX_PAYLOAD_SIZE = 84 bytes Note:now hard-coded in processUBX + + //The data is parsed as part of processing the response + sfe_ublox_status_e retVal = sendCommand(&packetCfg, maxWait); + + if (_printDebug == true) + { + _debugSerial->print(F("getPOSLLH retVal: ")); + _debugSerial->println(statusString(retVal)); + } + + if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED || retVal == SFE_UBLOX_STATUS_SUCCESS) + return (true); + + return (false); +} + +#define UBX_SYNC1 0xb5 // UBX protocol synchronization characters +#define UBX_SYNC2 0x62 + +#define PARSER_INCOMPLETE 1 +#define PARSER_ERROR -1 +#define PARSER_COMPLETE 0 + +int parse_ubx_stream (uint8_t c, ubxPacket *packet,uint8_t *data) +{ + enum proto_states { + START, + UBX_SY2, + UBX_CLASS, + UBX_ID, + UBX_LEN1, + UBX_LEN2, + UBX_PAYLOAD, + UBX_CHK1, + UBX_CHK2, + FINISHED + }; + + static enum proto_states proto_state = START; + static uint16_t rx_count = 0; + + switch (proto_state) { + case START: // detect protocol + if (c == UBX_SYNC1) // first UBX sync char found + proto_state = UBX_SY2; + break; + case UBX_SY2: + if (c == UBX_SYNC2) // second UBX sync char found + proto_state = UBX_CLASS; + else + proto_state = START; // reset state + break; + case UBX_CLASS: + packet->cls = c; + proto_state = UBX_ID; + break; + case UBX_ID: + packet->id = c; + proto_state = UBX_LEN1; + break; + case UBX_LEN1: + packet->len = c; + proto_state = UBX_LEN2; + break; + case UBX_LEN2: + packet->len += (c << 8); + if (packet->len > MAX_PAYLOAD_SIZE) { + proto_state = START; + } else { + rx_count = 0; + proto_state = UBX_PAYLOAD; + } + break; + case UBX_PAYLOAD: + if (rx_count < packet->len) { + data[rx_count] = c; + if (++rx_count == packet->len) + proto_state = UBX_CHK1; + } else { + proto_state = START; + } + break; + case UBX_CHK1: + packet->checksumA = c; + proto_state = UBX_CHK2; + break; + case UBX_CHK2: + packet->checksumB = c; + proto_state = FINISHED; + break; + default: break; + } + + if (proto_state == START) + return PARSER_ERROR; // parser couldn't use this byte + else if (proto_state == FINISHED) { + proto_state = START; + return PARSER_COMPLETE; // message complete & processed + } + + return PARSER_INCOMPLETE; // message not (yet) complete +} + +boolean SFE_UBLOX_GPS::sendNavigationDatabase(uint8_t *data, int16_t size) +{ + int sended = 0; + while(sendedavailable()) + { + if(cnt>0) + cnt = 0; + int state = parse_ubx_stream(_serialPort->read(),&packet,payloadCfg); + if(state==PARSER_COMPLETE) + { + if(packet.cls == UBX_CLASS_MGA && packet.id==UBX_MGA_DBD) + { + cnt = 0; + if(packet.len<256 && (packet.len+pos)> 8; + memcpy(&data[pos],payloadCfg,packet.len); + pos += packet.len; + } + } + } + } + cnt++; + } + size = pos; + return true; +} \ No newline at end of file diff --git a/lib/SparkFun u-blox Arduino Library/SparkFun_Ublox_Arduino_Library.h b/lib/SparkFun u-blox Arduino Library/SparkFun_Ublox_Arduino_Library.h new file mode 100644 index 0000000..1244081 --- /dev/null +++ b/lib/SparkFun u-blox Arduino Library/SparkFun_Ublox_Arduino_Library.h @@ -0,0 +1,1119 @@ +/* + This is a library written for the u-blox ZED-F9P and NEO-M8P-2 + SparkFun sells these at its website: www.sparkfun.com + Do you like this library? Help support SparkFun. Buy a board! + https://www.sparkfun.com/products/16481 + https://www.sparkfun.com/products/15136 + https://www.sparkfun.com/products/15005 + https://www.sparkfun.com/products/15733 + https://www.sparkfun.com/products/15193 + https://www.sparkfun.com/products/15210 + + Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018 + + This library handles configuring and handling the responses + from a u-blox GPS module. Works with most modules from u-blox including + the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others. + + https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library + + Development environment specifics: + Arduino IDE 1.8.5 + + SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT). + The MIT License (MIT) + Copyright (c) 2016 SparkFun Electronics + Permission is hereby granted, free of charge, to any person obtaining a copy of this software and + associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, + and/or sell copies of the Software, and to permit persons to whom the Software is furnished to + do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or substantial + portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT + NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#ifndef SPARKFUN_UBLOX_ARDUINO_LIBRARY_H +#define SPARKFUN_UBLOX_ARDUINO_LIBRARY_H + +#if (ARDUINO >= 100) +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +#include + +#include "u-blox_config_keys.h" + +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= + +//Define a digital pin to aid checksum failure capture and analysis +//Leave set to -1 if not needed +const int checksumFailurePin = -1; + +// Global Status Returns +typedef enum +{ + SFE_UBLOX_STATUS_SUCCESS, + SFE_UBLOX_STATUS_FAIL, + SFE_UBLOX_STATUS_CRC_FAIL, + SFE_UBLOX_STATUS_TIMEOUT, + SFE_UBLOX_STATUS_COMMAND_NACK, // Indicates that the command was unrecognised, invalid or that the module is too busy to respond + SFE_UBLOX_STATUS_OUT_OF_RANGE, + SFE_UBLOX_STATUS_INVALID_ARG, + SFE_UBLOX_STATUS_INVALID_OPERATION, + SFE_UBLOX_STATUS_MEM_ERR, + SFE_UBLOX_STATUS_HW_ERR, + SFE_UBLOX_STATUS_DATA_SENT, // This indicates that a 'set' was successful + SFE_UBLOX_STATUS_DATA_RECEIVED, // This indicates that a 'get' (poll) was successful + SFE_UBLOX_STATUS_I2C_COMM_FAILURE, + SFE_UBLOX_STATUS_DATA_OVERWRITTEN // This is an error - the data was valid but has been or _is being_ overwritten by another packet +} sfe_ublox_status_e; + +// ubxPacket validity +typedef enum +{ + SFE_UBLOX_PACKET_VALIDITY_NOT_VALID, + SFE_UBLOX_PACKET_VALIDITY_VALID, + SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, + SFE_UBLOX_PACKET_NOTACKNOWLEDGED // This indicates that we received a NACK +} sfe_ublox_packet_validity_e; + +// Identify which packet buffer is in use: +// packetCfg (or a custom packet), packetAck or packetBuf +typedef enum +{ + SFE_UBLOX_PACKET_PACKETCFG, + SFE_UBLOX_PACKET_PACKETACK, + SFE_UBLOX_PACKET_PACKETBUF +} sfe_ublox_packet_buffer_e; + +//Registers +const uint8_t UBX_SYNCH_1 = 0xB5; +const uint8_t UBX_SYNCH_2 = 0x62; + +//The following are UBX Class IDs. Descriptions taken from ZED-F9P Interface Description Document page 32, NEO-M8P Interface Description page 145 +const uint8_t UBX_CLASS_NAV = 0x01; //Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used +const uint8_t UBX_CLASS_RXM = 0x02; //Receiver Manager Messages: Satellite Status, RTC Status +const uint8_t UBX_CLASS_INF = 0x04; //Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice +const uint8_t UBX_CLASS_ACK = 0x05; //Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages +const uint8_t UBX_CLASS_CFG = 0x06; //Configuration Input Messages: Configure the receiver. +const uint8_t UBX_CLASS_UPD = 0x09; //Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash identification, etc. +const uint8_t UBX_CLASS_MON = 0x0A; //Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status +const uint8_t UBX_CLASS_AID = 0x0B; //(NEO-M8P ONLY!!!) AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input +const uint8_t UBX_CLASS_TIM = 0x0D; //Timing Messages: Time Pulse Output, Time Mark Results +const uint8_t UBX_CLASS_ESF = 0x10; //(NEO-M8P ONLY!!!) External Sensor Fusion Messages: External Sensor Measurements and Status Information +const uint8_t UBX_CLASS_MGA = 0x13; //Multiple GNSS Assistance Messages: Assistance data for various GNSS +const uint8_t UBX_CLASS_LOG = 0x21; //Logging Messages: Log creation, deletion, info and retrieval +const uint8_t UBX_CLASS_SEC = 0x27; //Security Feature Messages +const uint8_t UBX_CLASS_HNR = 0x28; //(NEO-M8P ONLY!!!) High Rate Navigation Results Messages: High rate time, position speed, heading +const uint8_t UBX_CLASS_NMEA = 0xF0; //NMEA Strings: standard NMEA strings + +//The following are used for configuration. Descriptions are from the ZED-F9P Interface Description pg 33-34 and NEO-M9N Interface Description pg 47-48 +const uint8_t UBX_CFG_ANT = 0x13; //Antenna Control Settings. Used to configure the antenna control settings +const uint8_t UBX_CFG_BATCH = 0x93; //Get/set data batching configuration. +const uint8_t UBX_CFG_CFG = 0x09; //Clear, Save, and Load Configurations. Used to save current configuration +const uint8_t UBX_CFG_DAT = 0x06; //Set User-defined Datum or The currently defined Datum +const uint8_t UBX_CFG_DGNSS = 0x70; //DGNSS configuration +const uint8_t UBX_CFG_ESFALG = 0x56; //ESF alignment +const uint8_t UBX_CFG_ESFA = 0x4C; //ESF accelerometer +const uint8_t UBX_CFG_ESFG = 0x4D; //ESF gyro +const uint8_t UBX_CFG_GEOFENCE = 0x69; //Geofencing configuration. Used to configure a geofence +const uint8_t UBX_CFG_GNSS = 0x3E; //GNSS system configuration +const uint8_t UBX_CFG_HNR = 0x5C; //High Navigation Rate +const uint8_t UBX_CFG_INF = 0x02; //Depending on packet length, either: poll configuration for one protocol, or information message configuration +const uint8_t UBX_CFG_ITFM = 0x39; //Jamming/Interference Monitor configuration +const uint8_t UBX_CFG_LOGFILTER = 0x47; //Data Logger Configuration +const uint8_t UBX_CFG_MSG = 0x01; //Poll a message configuration, or Set Message Rate(s), or Set Message Rate +const uint8_t UBX_CFG_NAV5 = 0x24; //Navigation Engine Settings. Used to configure the navigation engine including the dynamic model. +const uint8_t UBX_CFG_NAVX5 = 0x23; //Navigation Engine Expert Settings +const uint8_t UBX_CFG_NMEA = 0x17; //Extended NMEA protocol configuration V1 +const uint8_t UBX_CFG_ODO = 0x1E; //Odometer, Low-speed COG Engine Settings +const uint8_t UBX_CFG_PM2 = 0x3B; //Extended power management configuration +const uint8_t UBX_CFG_PMS = 0x86; //Power mode setup +const uint8_t UBX_CFG_PRT = 0x00; //Used to configure port specifics. Polls the configuration for one I/O Port, or Port configuration for UART ports, or Port configuration for USB port, or Port configuration for SPI port, or Port configuration for DDC port +const uint8_t UBX_CFG_PWR = 0x57; //Put receiver in a defined power state +const uint8_t UBX_CFG_RATE = 0x08; //Navigation/Measurement Rate Settings. Used to set port baud rates. +const uint8_t UBX_CFG_RINV = 0x34; //Contents of Remote Inventory +const uint8_t UBX_CFG_RST = 0x04; //Reset Receiver / Clear Backup Data Structures. Used to reset device. +const uint8_t UBX_CFG_RXM = 0x11; //RXM configuration +const uint8_t UBX_CFG_SBAS = 0x16; //SBAS configuration +const uint8_t UBX_CFG_TMODE3 = 0x71; //Time Mode Settings 3. Used to enable Survey In Mode +const uint8_t UBX_CFG_TP5 = 0x31; //Time Pulse Parameters +const uint8_t UBX_CFG_USB = 0x1B; //USB Configuration +const uint8_t UBX_CFG_VALDEL = 0x8C; //Used for config of higher version u-blox modules (ie protocol v27 and above). Deletes values corresponding to provided keys/ provided keys with a transaction +const uint8_t UBX_CFG_VALGET = 0x8B; //Used for config of higher version u-blox modules (ie protocol v27 and above). Configuration Items +const uint8_t UBX_CFG_VALSET = 0x8A; //Used for config of higher version u-blox modules (ie protocol v27 and above). Sets values corresponding to provided key-value pairs/ provided key-value pairs within a transaction. + +//The following are used to enable NMEA messages. Descriptions come from the NMEA messages overview in the ZED-F9P Interface Description +const uint8_t UBX_NMEA_MSB = 0xF0; //All NMEA enable commands have 0xF0 as MSB +const uint8_t UBX_NMEA_DTM = 0x0A; //GxDTM (datum reference) +const uint8_t UBX_NMEA_GAQ = 0x45; //GxGAQ (poll a standard message (if the current talker ID is GA)) +const uint8_t UBX_NMEA_GBQ = 0x44; //GxGBQ (poll a standard message (if the current Talker ID is GB)) +const uint8_t UBX_NMEA_GBS = 0x09; //GxGBS (GNSS satellite fault detection) +const uint8_t UBX_NMEA_GGA = 0x00; //GxGGA (Global positioning system fix data) +const uint8_t UBX_NMEA_GLL = 0x01; //GxGLL (latitude and long, whith time of position fix and status) +const uint8_t UBX_NMEA_GLQ = 0x43; //GxGLQ (poll a standard message (if the current Talker ID is GL)) +const uint8_t UBX_NMEA_GNQ = 0x42; //GxGNQ (poll a standard message (if the current Talker ID is GN)) +const uint8_t UBX_NMEA_GNS = 0x0D; //GxGNS (GNSS fix data) +const uint8_t UBX_NMEA_GPQ = 0x040; //GxGPQ (poll a standard message (if the current Talker ID is GP)) +const uint8_t UBX_NMEA_GRS = 0x06; //GxGRS (GNSS range residuals) +const uint8_t UBX_NMEA_GSA = 0x02; //GxGSA (GNSS DOP and Active satellites) +const uint8_t UBX_NMEA_GST = 0x07; //GxGST (GNSS Pseudo Range Error Statistics) +const uint8_t UBX_NMEA_GSV = 0x03; //GxGSV (GNSS satellites in view) +const uint8_t UBX_NMEA_RMC = 0x04; //GxRMC (Recommended minimum data) +const uint8_t UBX_NMEA_TXT = 0x41; //GxTXT (text transmission) +const uint8_t UBX_NMEA_VLW = 0x0F; //GxVLW (dual ground/water distance) +const uint8_t UBX_NMEA_VTG = 0x05; //GxVTG (course over ground and Ground speed) +const uint8_t UBX_NMEA_ZDA = 0x08; //GxZDA (Time and Date) + +//The following are used to configure the NMEA protocol main talker ID and GSV talker ID +const uint8_t UBX_NMEA_MAINTALKERID_NOTOVERRIDDEN = 0x00; //main talker ID is system dependent +const uint8_t UBX_NMEA_MAINTALKERID_GP = 0x01; //main talker ID is GPS +const uint8_t UBX_NMEA_MAINTALKERID_GL = 0x02; //main talker ID is GLONASS +const uint8_t UBX_NMEA_MAINTALKERID_GN = 0x03; //main talker ID is combined receiver +const uint8_t UBX_NMEA_MAINTALKERID_GA = 0x04; //main talker ID is Galileo +const uint8_t UBX_NMEA_MAINTALKERID_GB = 0x05; //main talker ID is BeiDou +const uint8_t UBX_NMEA_GSVTALKERID_GNSS = 0x00; //GNSS specific Talker ID (as defined by NMEA) +const uint8_t UBX_NMEA_GSVTALKERID_MAIN = 0x01; //use the main Talker ID + +//The following are used to configure the HNR message rates +const uint8_t UBX_HNR_ATT = 0x01; //HNR Attitude +const uint8_t UBX_HNR_INS = 0x02; //HNR Vehicle Dynamics +const uint8_t UBX_HNR_PVT = 0x00; //HNR PVT + +//The following are used to configure INF UBX messages (information messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34) +const uint8_t UBX_INF_CLASS = 0x04; //All INF messages have 0x04 as the class +const uint8_t UBX_INF_DEBUG = 0x04; //ASCII output with debug contents +const uint8_t UBX_INF_ERROR = 0x00; //ASCII output with error contents +const uint8_t UBX_INF_NOTICE = 0x02; //ASCII output with informational contents +const uint8_t UBX_INF_TEST = 0x03; //ASCII output with test contents +const uint8_t UBX_INF_WARNING = 0x01; //ASCII output with warning contents + +//The following are used to configure LOG UBX messages (loggings messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34) +const uint8_t UBX_LOG_CREATE = 0x07; //Create Log File +const uint8_t UBX_LOG_ERASE = 0x03; //Erase Logged Data +const uint8_t UBX_LOG_FINDTIME = 0x0E; //Find index of a log entry based on a given time, or response to FINDTIME requested +const uint8_t UBX_LOG_INFO = 0x08; //Poll for log information, or Log information +const uint8_t UBX_LOG_RETRIEVEPOSEXTRA = 0x0F; //Odometer log entry +const uint8_t UBX_LOG_RETRIEVEPOS = 0x0B; //Position fix log entry +const uint8_t UBX_LOG_RETRIEVESTRING = 0x0D; //Byte string log entry +const uint8_t UBX_LOG_RETRIEVE = 0x09; //Request log data +const uint8_t UBX_LOG_STRING = 0x04; //Store arbitrary string on on-board flash + +//The following are used to configure MGA UBX messages (Multiple GNSS Assistance Messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 34) +const uint8_t UBX_MGA_ACK_DATA0 = 0x60; //Multiple GNSS Acknowledge message +const uint8_t UBX_MGA_BDS_EPH = 0x03; //BDS Ephemeris Assistance +const uint8_t UBX_MGA_BDS_ALM = 0x03; //BDS Almanac Assistance +const uint8_t UBX_MGA_BDS_HEALTH = 0x03; //BDS Health Assistance +const uint8_t UBX_MGA_BDS_UTC = 0x03; //BDS UTC Assistance +const uint8_t UBX_MGA_BDS_IONO = 0x03; //BDS Ionospheric Assistance +const uint8_t UBX_MGA_DBD = 0x80; //Either: Poll the Navigation Database, or Navigation Database Dump Entry +const uint8_t UBX_MGA_GAL_EPH = 0x02; //Galileo Ephemeris Assistance +const uint8_t UBX_MGA_GAL_ALM = 0x02; //Galileo Almanac Assitance +const uint8_t UBX_MGA_GAL_TIMOFFSET = 0x02; //Galileo GPS time offset assistance +const uint8_t UBX_MGA_GAL_UTC = 0x02; //Galileo UTC Assistance +const uint8_t UBX_MGA_GLO_EPH = 0x06; //GLONASS Ephemeris Assistance +const uint8_t UBX_MGA_GLO_ALM = 0x06; //GLONASS Almanac Assistance +const uint8_t UBX_MGA_GLO_TIMEOFFSET = 0x06; //GLONASS Auxiliary Time Offset Assistance +const uint8_t UBX_MGA_GPS_EPH = 0x00; //GPS Ephemeris Assistance +const uint8_t UBX_MGA_GPS_ALM = 0x00; //GPS Almanac Assistance +const uint8_t UBX_MGA_GPS_HEALTH = 0x00; //GPS Health Assistance +const uint8_t UBX_MGA_GPS_UTC = 0x00; //GPS UTC Assistance +const uint8_t UBX_MGA_GPS_IONO = 0x00; //GPS Ionosphere Assistance +const uint8_t UBX_MGA_INI_POS_XYZ = 0x40; //Initial Position Assistance +const uint8_t UBX_MGA_INI_POS_LLH = 0x40; //Initial Position Assitance +const uint8_t UBX_MGA_INI_TIME_UTC = 0x40; //Initial Time Assistance +const uint8_t UBX_MGA_INI_TIME_GNSS = 0x40; //Initial Time Assistance +const uint8_t UBX_MGA_INI_CLKD = 0x40; //Initial Clock Drift Assitance +const uint8_t UBX_MGA_INI_FREQ = 0x40; //Initial Frequency Assistance +const uint8_t UBX_MGA_INI_EOP = 0x40; //Earth Orientation Parameters Assistance +const uint8_t UBX_MGA_QZSS_EPH = 0x05; //QZSS Ephemeris Assistance +const uint8_t UBX_MGA_QZSS_ALM = 0x05; //QZSS Almanac Assistance +const uint8_t UBX_MGA_QZAA_HEALTH = 0x05; //QZSS Health Assistance + +//The following are used to configure the MON UBX messages (monitoring messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35) +const uint8_t UBX_MON_COMMS = 0x36; //Comm port information +const uint8_t UBX_MON_GNSS = 0x28; //Information message major GNSS selection +const uint8_t UBX_MON_HW2 = 0x0B; //Extended Hardware Status +const uint8_t UBX_MON_HW3 = 0x37; //HW I/O pin information +const uint8_t UBX_MON_HW = 0x09; //Hardware Status +const uint8_t UBX_MON_IO = 0x02; //I/O Subsystem Status +const uint8_t UBX_MON_MSGPP = 0x06; //Message Parse and Process Status +const uint8_t UBX_MON_PATCH = 0x27; //Output information about installed patches +const uint8_t UBX_MON_RF = 0x38; //RF information +const uint8_t UBX_MON_RXBUF = 0x07; //Receiver Buffer Status +const uint8_t UBX_MON_RXR = 0x21; //Receiver Status Information +const uint8_t UBX_MON_TXBUF = 0x08; //Transmitter Buffer Status. Used for query tx buffer size/state. +const uint8_t UBX_MON_VER = 0x04; //Receiver/Software Version. Used for obtaining Protocol Version. + +//The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36) +const uint8_t UBX_NAV_ATT = 0x05; //Vehicle "Attitude" Solution +const uint8_t UBX_NAV_CLOCK = 0x22; //Clock Solution +const uint8_t UBX_NAV_DOP = 0x04; //Dilution of precision +const uint8_t UBX_NAV_EOE = 0x61; //End of Epoch +const uint8_t UBX_NAV_GEOFENCE = 0x39; //Geofencing status. Used to poll the geofence status +const uint8_t UBX_NAV_HPPOSECEF = 0x13; //High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision). +const uint8_t UBX_NAV_HPPOSLLH = 0x14; //High Precision Geodetic Position Solution. Used for obtaining lat/long/alt in high precision +const uint8_t UBX_NAV_ODO = 0x09; //Odometer Solution +const uint8_t UBX_NAV_ORB = 0x34; //GNSS Orbit Database Info +const uint8_t UBX_NAV_POSECEF = 0x01; //Position Solution in ECEF +const uint8_t UBX_NAV_POSLLH = 0x02; //Geodetic Position Solution +const uint8_t UBX_NAV_PVT = 0x07; //All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution. +const uint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame +const uint8_t UBX_NAV_RESETODO = 0x10; //Reset odometer +const uint8_t UBX_NAV_SAT = 0x35; //Satellite Information +const uint8_t UBX_NAV_SIG = 0x43; //Signal Information +const uint8_t UBX_NAV_STATUS = 0x03; //Receiver Navigation Status +const uint8_t UBX_NAV_SVIN = 0x3B; //Survey-in data. Used for checking Survey In status +const uint8_t UBX_NAV_TIMEBDS = 0x24; //BDS Time Solution +const uint8_t UBX_NAV_TIMEGAL = 0x25; //Galileo Time Solution +const uint8_t UBX_NAV_TIMEGLO = 0x23; //GLO Time Solution +const uint8_t UBX_NAV_TIMEGPS = 0x20; //GPS Time Solution +const uint8_t UBX_NAV_TIMELS = 0x26; //Leap second event information +const uint8_t UBX_NAV_TIMEUTC = 0x21; //UTC Time Solution +const uint8_t UBX_NAV_VELECEF = 0x11; //Velocity Solution in ECEF +const uint8_t UBX_NAV_VELNED = 0x12; //Velocity Solution in NED + +//The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36) +const uint8_t UBX_RXM_MEASX = 0x14; //Satellite Measurements for RRLP +const uint8_t UBX_RXM_PMREQ = 0x41; //Requests a Power Management task (two differenent packet sizes) +const uint8_t UBX_RXM_RAWX = 0x15; //Multi-GNSS Raw Measurement Data +const uint8_t UBX_RXM_RLM = 0x59; //Galileo SAR Short-RLM report (two different packet sizes) +const uint8_t UBX_RXM_RTCM = 0x32; //RTCM input status +const uint8_t UBX_RXM_SFRBX = 0x13; //Boradcast Navigation Data Subframe + +//The following are used to configure the SEC UBX messages (security feature messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36) +const uint8_t UBX_SEC_UNIQID = 0x03; //Unique chip ID + +//The following are used to configure the TIM UBX messages (timing messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36) +const uint8_t UBX_TIM_TM2 = 0x03; //Time mark data +const uint8_t UBX_TIM_TP = 0x01; //Time Pulse Timedata +const uint8_t UBX_TIM_VRFY = 0x06; //Sourced Time Verification + +//The following are used to configure the UPD UBX messages (firmware update messages). Descriptions from UBX messages overview (ZED-F9P Interface Description Document page 36) +const uint8_t UBX_UPD_SOS = 0x14; //Poll Backup Fil Restore Status, Create Backup File in Flash, Clear Backup File in Flash, Backup File Creation Acknowledge, System Restored from Backup + +//The following are used to enable RTCM messages +const uint8_t UBX_RTCM_MSB = 0xF5; //All RTCM enable commands have 0xF5 as MSB +const uint8_t UBX_RTCM_1005 = 0x05; //Stationary RTK reference ARP +const uint8_t UBX_RTCM_1074 = 0x4A; //GPS MSM4 +const uint8_t UBX_RTCM_1077 = 0x4D; //GPS MSM7 +const uint8_t UBX_RTCM_1084 = 0x54; //GLONASS MSM4 +const uint8_t UBX_RTCM_1087 = 0x57; //GLONASS MSM7 +const uint8_t UBX_RTCM_1094 = 0x5E; //Galileo MSM4 +const uint8_t UBX_RTCM_1097 = 0x61; //Galileo MSM7 +const uint8_t UBX_RTCM_1124 = 0x7C; //BeiDou MSM4 +const uint8_t UBX_RTCM_1127 = 0x7F; //BeiDou MSM7 +const uint8_t UBX_RTCM_1230 = 0xE6; //GLONASS code-phase biases, set to once every 10 seconds +const uint8_t UBX_RTCM_4072_0 = 0xFE; //Reference station PVT (ublox proprietary RTCM message) +const uint8_t UBX_RTCM_4072_1 = 0xFD; //Additional reference station information (ublox proprietary RTCM message) + +const uint8_t UBX_ACK_NACK = 0x00; +const uint8_t UBX_ACK_ACK = 0x01; +const uint8_t UBX_ACK_NONE = 0x02; //Not a real value + +// The following constants are used to get External Sensor Measurements and Status +// Information. +const uint8_t UBX_ESF_MEAS = 0x02; +const uint8_t UBX_ESF_RAW = 0x03; +const uint8_t UBX_ESF_STATUS = 0x10; +const uint8_t UBX_ESF_INS = 0x15; //36 bytes + +const uint8_t SVIN_MODE_DISABLE = 0x00; +const uint8_t SVIN_MODE_ENABLE = 0x01; + +//The following consts are used to configure the various ports and streams for those ports. See -CFG-PRT. +const uint8_t COM_PORT_I2C = 0; +const uint8_t COM_PORT_UART1 = 1; +const uint8_t COM_PORT_UART2 = 2; +const uint8_t COM_PORT_USB = 3; +const uint8_t COM_PORT_SPI = 4; + +const uint8_t COM_TYPE_UBX = (1 << 0); +const uint8_t COM_TYPE_NMEA = (1 << 1); +const uint8_t COM_TYPE_RTCM3 = (1 << 5); + +// Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG) +const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001; // ioPort - communications port settings (causes IO system reset!) +const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002; // msgConf - message configuration +const uint32_t VAL_CFG_SUBSEC_INFMSG = 0x00000004; // infMsg - INF message configuration +const uint32_t VAL_CFG_SUBSEC_NAVCONF = 0x00000008; // navConf - navigation configuration +const uint32_t VAL_CFG_SUBSEC_RXMCONF = 0x00000010; // rxmConf - receiver manager configuration +const uint32_t VAL_CFG_SUBSEC_SENCONF = 0x00000100; // senConf - sensor interface configuration (requires protocol 19+) +const uint32_t VAL_CFG_SUBSEC_RINVCONF = 0x00000200; // rinvConf - remove inventory configuration +const uint32_t VAL_CFG_SUBSEC_ANTCONF = 0x00000400; // antConf - antenna configuration +const uint32_t VAL_CFG_SUBSEC_LOGCONF = 0x00000800; // logConf - logging configuration +const uint32_t VAL_CFG_SUBSEC_FTSCONF = 0x00001000; // ftsConf - FTS configuration (FTS products only) + +// Bitfield wakeupSources for UBX_RXM_PMREQ +const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_UARTRX = 0x00000008; // uartrx +const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0 = 0x00000020; // extint0 +const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT1 = 0x00000040; // extint1 +const uint32_t VAL_RXM_PMREQ_WAKEUPSOURCE_SPICS = 0x00000080; // spics + +enum dynModel // Possible values for the dynamic platform model, which provide more accuract position output for the situation. Description extracted from ZED-F9P Integration Manual +{ + DYN_MODEL_PORTABLE = 0, //Applications with low acceleration, e.g. portable devices. Suitable for most situations. + // 1 is not defined + DYN_MODEL_STATIONARY = 2, //Used in timing applications (antenna must be stationary) or other stationary applications. Velocity restricted to 0 m/s. Zero dynamics assumed. + DYN_MODEL_PEDESTRIAN, //Applications with low acceleration and speed, e.g. how a pedestrian would move. Low acceleration assumed. + DYN_MODEL_AUTOMOTIVE, //Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed + DYN_MODEL_SEA, //Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity assumed. Sea level assumed. + DYN_MODEL_AIRBORNE1g, //Airborne <1g acceleration. Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. No 2D position fixes supported. + DYN_MODEL_AIRBORNE2g, //Airborne <2g acceleration. Recommended for typical airborne environments. No 2D position fixes supported. + DYN_MODEL_AIRBORNE4g, //Airborne <4g acceleration. Only recommended for extremely dynamic environments. No 2D position fixes supported. + DYN_MODEL_WRIST, // Not supported in protocol versions less than 18. Only recommended for wrist worn applications. Receiver will filter out arm motion. + DYN_MODEL_BIKE, // Supported in protocol versions 19.2 +}; + +#ifndef MAX_PAYLOAD_SIZE + +#define MAX_PAYLOAD_SIZE 768 //We need ~220 bytes for getProtocolVersion on most ublox modules +//#define MAX_PAYLOAD_SIZE 768 //Worst case: UBX_CFG_VALSET packet with 64 keyIDs each with 64 bit values + +#endif + +//-=-=-=-=- UBX binary specific variables +typedef struct +{ + uint8_t cls; + uint8_t id; + uint16_t len; //Length of the payload. Does not include cls, id, or checksum bytes + uint16_t counter; //Keeps track of number of overall bytes received. Some responses are larger than 255 bytes. + uint16_t startingSpot; //The counter value needed to go past before we begin recording into payload array + uint8_t *payload; + uint8_t checksumA; //Given to us from module. Checked against the rolling calculated A/B checksums. + uint8_t checksumB; + sfe_ublox_packet_validity_e valid; //Goes from NOT_DEFINED to VALID or NOT_VALID when checksum is checked + sfe_ublox_packet_validity_e classAndIDmatch; // Goes from NOT_DEFINED to VALID or NOT_VALID when the Class and ID match the requestedClass and requestedID +} ubxPacket; + +// Struct to hold the results returned by getGeofenceState (returned by UBX-NAV-GEOFENCE) +typedef struct +{ + uint8_t status; // Geofencing status: 0 - Geofencing not available or not reliable; 1 - Geofencing active + uint8_t numFences; // Number of geofences + uint8_t combState; // Combined (logical OR) state of all geofences: 0 - Unknown; 1 - Inside; 2 - Outside + uint8_t states[4]; // Geofence states: 0 - Unknown; 1 - Inside; 2 - Outside +} geofenceState; + +// Struct to hold the current geofence parameters +typedef struct +{ + uint8_t numFences; // Number of active geofences + int32_t lats[4]; // Latitudes of geofences (in degrees * 10^-7) + int32_t longs[4]; // Longitudes of geofences (in degrees * 10^-7) + uint32_t rads[4]; // Radii of geofences (in m * 10^-2) +} geofenceParams; + +typedef struct +{ + uint16_t noisePerMS; + uint16_t agcCnt; + uint8_t aStatus; + uint8_t aPower; + uint8_t aFlags; +}ubxHwState; + +class SFE_UBLOX_GPS +{ +public: + uint32_t pvtSeqId=0; + SFE_UBLOX_GPS(void); + +// A default of 250ms for maxWait seems fine for I2C but is not enough for SerialUSB. +// If you know you are only going to be using I2C / Qwiic communication, you can +// safely reduce defaultMaxWait to 250. +#ifndef defaultMaxWait // Let's allow the user to define their own value if they want to +#define defaultMaxWait 1100 +#endif + + //By default use the default I2C address, and use Wire port + boolean begin(TwoWire &wirePort = Wire, uint8_t deviceAddress = 0x42); //Returns true if module is detected + //serialPort needs to be perviously initialized to correct baud rate + boolean begin(Stream &serialPort); //Returns true if module is detected + + //Control the size of the internal I2C transaction amount + void setI2CTransactionSize(uint8_t bufferSize); + uint8_t getI2CTransactionSize(void); + + //Set the max number of bytes set in a given I2C transaction + uint8_t i2cTransactionSize = 32; //Default to ATmega328 limit + + void resetSentence() { currentSentence = NONE; } + + //Returns true if device answers on _gpsI2Caddress address or via Serial + //maxWait is only used for Serial + boolean isConnected(uint16_t maxWait = 1100); + + //Changed in V1.8.1: provides backward compatibility for the examples that call checkUblox directly + //Will default to using packetCfg to look for explicit autoPVT packets so they get processed correctly by processUBX + boolean checkUblox(uint8_t requestedClass = UBX_CLASS_NAV, uint8_t requestedID = UBX_NAV_PVT); //Checks module with user selected commType + + boolean checkUbloxI2C(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for I2C polling of data, passing any new bytes to process() + boolean checkUbloxSerial(ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Method for serial polling of data, passing any new bytes to process() + + void process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Processes NMEA and UBX binary sentences one byte at a time + void processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t requestedClass, uint8_t requestedID); //Given a character, file it away into the uxb packet structure + void processRTCMframe(uint8_t incoming); //Monitor the incoming bytes for start and length bytes + void processRTCM(uint8_t incoming) __attribute__((weak)); //Given rtcm byte, do something with it. User can overwrite if desired to pipe bytes to radio, internet, etc. + + void processUBXpacket(ubxPacket *msg); //Once a packet has been received and validated, identify this packet's class/id and update internal flags + void processNMEA(char incoming) __attribute__((weak)); //Given a NMEA character, do something with it. User can overwrite if desired to use something like tinyGPS or MicroNMEA libraries + + void calcChecksum(ubxPacket *msg); //Sets the checksumA and checksumB of a given messages + sfe_ublox_status_e sendCommand(ubxPacket *outgoingUBX, uint16_t maxWait = defaultMaxWait); //Given a packet and payload, send everything including CRC bytes, return true if we got a response + sfe_ublox_status_e sendI2cCommand(ubxPacket *outgoingUBX, uint16_t maxWait = 250); + void sendSerialCommand(ubxPacket *outgoingUBX); + + void printPacket(ubxPacket *packet); //Useful for debugging + + void factoryReset(); //Send factory reset sequence (i.e. load "default" configuration and perform hardReset) + void hardReset(); //Perform a reset leading to a cold start (zero info start-up) + + boolean setI2CAddress(uint8_t deviceAddress, uint16_t maxTime = 250); //Changes the I2C address of the u-blox module + void setSerialRate(uint32_t baudrate, uint8_t uartPort = COM_PORT_UART1, uint16_t maxTime = defaultMaxWait); //Changes the serial baud rate of the u-blox module, uartPort should be COM_PORT_UART1/2 + void setNMEAOutputPort(Stream &nmeaOutputPort); //Sets the internal variable for the port to direct NMEA characters to + + boolean setNavigationFrequency(uint8_t navFreq, uint16_t maxWait = defaultMaxWait); //Set the number of nav solutions sent per second + uint8_t getNavigationFrequency(uint16_t maxWait = defaultMaxWait); //Get the number of nav solutions sent per second currently being output by module + boolean saveConfiguration(uint16_t maxWait = defaultMaxWait); //Save current configuration to flash and BBR (battery backed RAM) + boolean factoryDefault(uint16_t maxWait = defaultMaxWait); //Reset module to factory defaults + boolean saveConfigSelective(uint32_t configMask, uint16_t maxWait = defaultMaxWait); //Save the selected configuration sub-sections to flash and BBR (battery backed RAM) + + sfe_ublox_status_e waitForACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet and an ACK is received + sfe_ublox_status_e waitForNoACKResponse(ubxPacket *outgoingUBX, uint8_t requestedClass, uint8_t requestedID, uint16_t maxTime = defaultMaxWait); //Poll the module until a config packet is received + +// getPVT will only return data once in each navigation cycle. By default, that is once per second. +// Therefore we should set getPVTmaxWait to slightly longer than that. +// If you change the navigation frequency to (e.g.) 4Hz using setNavigationFrequency(4) +// then you should use a shorter maxWait for getPVT. 300msec would be about right: getPVT(300) +// The same is true for getHPPOSLLH. +#define getPVTmaxWait 1100 // Default maxWait for getPVT and all functions which call it +#define getHPPOSLLHmaxWait 1100 // Default maxWait for getHPPOSLLH and all functions which call it +#define getDOPmaxWait 1100 // Default maxWait for getDOP and all functions which all it + + boolean assumeAutoPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and PVT is send cyclically already + boolean setAutoPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency + boolean setAutoPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update + boolean getPVT(uint16_t maxWait = getPVTmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new PVT is available. + boolean assumeAutoHPPOSLLH(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HPPOSLLH is send cyclically already + boolean setAutoHPPOSLLH(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency + boolean setAutoHPPOSLLH(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update + boolean getHPPOSLLH(uint16_t maxWait = getHPPOSLLHmaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new HPPOSLLH is available. + boolean getPOSLLH(uint16_t maxWait = getPVTmaxWait); + boolean assumeAutoDOP(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and DOP is send cyclically already + boolean setAutoDOP(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic DOP reports at the navigation frequency + boolean setAutoDOP(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic DOP reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update + boolean getDOP(uint16_t maxWait = getDOPmaxWait); //Query module for latest dilution of precision values and load global vars:. If autoDOP is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new DOP is available. + void flushPVT(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure + void flushHPPOSLLH(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure + void flushDOP(); //Mark all the DOP data as read/stale. This is handy to get data alignment after CRC failure + + bool getGnssFixOk(uint16_t maxWait = getPVTmaxWait); //Get whether we have a valid fix (i.e within DOP & accuracy masks) + bool getDiffSoln(uint16_t maxWait = getPVTmaxWait); //Get whether differential corrections were applied + bool getHeadVehValid(uint16_t maxWait = getPVTmaxWait); + int32_t getLatitude(uint16_t maxWait = getPVTmaxWait); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module. + int32_t getLongitude(uint16_t maxWait = getPVTmaxWait); //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module. + int32_t getAltitude(uint16_t maxWait = getPVTmaxWait); //Returns the current altitude in mm above ellipsoid + int32_t getAltitudeMSL(uint16_t maxWait = getPVTmaxWait); //Returns the current altitude in mm above mean sea level + int32_t getHorizontalAccEst(uint16_t maxWait = getPVTmaxWait); + int32_t getVerticalAccEst(uint16_t maxWait = getPVTmaxWait); + int32_t getNedNorthVel(uint16_t maxWait = getPVTmaxWait); + int32_t getNedEastVel(uint16_t maxWait = getPVTmaxWait); + int32_t getNedDownVel(uint16_t maxWait = getPVTmaxWait); + uint8_t getSIV(uint16_t maxWait = getPVTmaxWait); //Returns number of sats used in fix + uint8_t getFixType(uint16_t maxWait = getPVTmaxWait); //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning + uint8_t getCarrierSolutionType(uint16_t maxWait = getPVTmaxWait); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution + int32_t getGroundSpeed(uint16_t maxWait = getPVTmaxWait); //Returns speed in mm/s + int32_t getHeading(uint16_t maxWait = getPVTmaxWait); //Returns heading in degrees * 10^-5 + uint16_t getPDOP(uint16_t maxWait = getPVTmaxWait); //Returns positional dillution of precision * 10^-2 (dimensionless) + uint16_t getYear(uint16_t maxWait = getPVTmaxWait); + uint8_t getMonth(uint16_t maxWait = getPVTmaxWait); + uint8_t getDay(uint16_t maxWait = getPVTmaxWait); + uint8_t getHour(uint16_t maxWait = getPVTmaxWait); + uint8_t getMinute(uint16_t maxWait = getPVTmaxWait); + uint8_t getSecond(uint16_t maxWait = getPVTmaxWait); + uint16_t getMillisecond(uint16_t maxWait = getPVTmaxWait); + int32_t getNanosecond(uint16_t maxWait = getPVTmaxWait); + uint32_t getTimeOfWeek(uint16_t maxWait = getPVTmaxWait); + bool getDateValid(uint16_t maxWait = getPVTmaxWait); + bool getTimeValid(uint16_t maxWait = getPVTmaxWait); + uint32_t getSpeedAccEst(uint16_t maxWait = getPVTmaxWait); + uint32_t getHeadingAccEst(uint16_t maxWait = getPVTmaxWait); + bool getInvalidLlh(uint16_t maxWait = getPVTmaxWait); + int32_t getHeadVeh(uint16_t maxWait = getPVTmaxWait); + int16_t getMagDec(uint16_t maxWait = getPVTmaxWait); + uint16_t getMagAcc(uint16_t maxWait = getPVTmaxWait); + + int32_t getHighResLatitude(uint16_t maxWait = getHPPOSLLHmaxWait); + int8_t getHighResLatitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait); + int32_t getHighResLongitude(uint16_t maxWait = getHPPOSLLHmaxWait); + int8_t getHighResLongitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait); + int32_t getElipsoid(uint16_t maxWait = getHPPOSLLHmaxWait); + int8_t getElipsoidHp(uint16_t maxWait = getHPPOSLLHmaxWait); + int32_t getMeanSeaLevel(uint16_t maxWait = getHPPOSLLHmaxWait); + int8_t getMeanSeaLevelHp(uint16_t maxWait = getHPPOSLLHmaxWait); + int32_t getGeoidSeparation(uint16_t maxWait = getHPPOSLLHmaxWait); + uint32_t getHorizontalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait); + uint32_t getVerticalAccuracy(uint16_t maxWait = getHPPOSLLHmaxWait); + + uint16_t getGeometricDOP(uint16_t maxWait = getDOPmaxWait); + uint16_t getPositionDOP(uint16_t maxWait = getDOPmaxWait); + uint16_t getTimeDOP(uint16_t maxWait = getDOPmaxWait); + uint16_t getVerticalDOP(uint16_t maxWait = getDOPmaxWait); + uint16_t getHorizontalDOP(uint16_t maxWait = getDOPmaxWait); + uint16_t getNorthingDOP(uint16_t maxWait = getDOPmaxWait); + uint16_t getEastingDOP(uint16_t maxWait = getDOPmaxWait); + + //Port configurations + boolean setPortOutput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to output UBX, NMEA, RTCM3 or a combination thereof + boolean setPortInput(uint8_t portID, uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure a given port to input UBX, NMEA, RTCM3 or a combination thereof + boolean getPortSettings(uint8_t portID, uint16_t maxWait = defaultMaxWait); //Returns the current protocol bits in the UBX-CFG-PRT command for a given port + + boolean setI2COutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure I2C port to output UBX, NMEA, RTCM3 or a combination thereof + boolean setUART1Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART1 port to output UBX, NMEA, RTCM3 or a combination thereof + boolean setUART2Output(uint8_t comSettings, uint16_t maxWait = defaultMaxWait); //Configure UART2 port to output UBX, NMEA, RTCM3 or a combination thereof + boolean setUSBOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure USB port to output UBX, NMEA, RTCM3 or a combination thereof + boolean setSPIOutput(uint8_t comSettings, uint16_t maxWait = 250); //Configure SPI port to output UBX, NMEA, RTCM3 or a combination thereof + + //Functions to turn on/off message types for a given port ID (see COM_PORT_I2C, etc above) + boolean configureMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); + boolean enableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait); + boolean disableMessage(uint8_t msgClass, uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait); + boolean enableNMEAMessage(uint8_t msgID, uint8_t portID, uint8_t sendRate = 1, uint16_t maxWait = defaultMaxWait); + boolean disableNMEAMessage(uint8_t msgID, uint8_t portID, uint16_t maxWait = defaultMaxWait); + boolean enableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint8_t sendRate, uint16_t maxWait = defaultMaxWait); //Given a message number turns on a message ID for output over given PortID + boolean disableRTCMmessage(uint8_t messageNumber, uint8_t portID, uint16_t maxWait = defaultMaxWait); //Turn off given RTCM message from a given port + + //General configuration (used only on protocol v27 and higher - ie, ZED-F9P) + //It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic. + //If they are using Serial then the higher baud rate will also help. So let's leave maxWait set to 250ms. + uint32_t createKey(uint16_t group, uint16_t id, uint8_t size); //Form 32-bit key from group/id/size + + sfe_ublox_status_e getVal(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Load payload with response + uint8_t getVal8(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given key location + uint16_t getVal16(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given key location + uint32_t getVal32(uint32_t keyID, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given key location + uint8_t getVal8(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location + uint16_t getVal16(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location + uint32_t getVal32(uint16_t group, uint16_t id, uint8_t size, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = 250); //Returns the value at a given group/id/size location + uint8_t setVal(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location + uint8_t setVal8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 8-bit value at a given group/id/size location + uint8_t setVal16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 16-bit value at a given group/id/size location + uint8_t setVal32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL, uint16_t maxWait = 250); //Sets the 32-bit value at a given group/id/size location + uint8_t newCfgValset8(uint32_t keyID, uint8_t value, uint8_t layer = VAL_LAYER_ALL); //Define a new UBX-CFG-VALSET with the given KeyID and 8-bit value + uint8_t newCfgValset16(uint32_t keyID, uint16_t value, uint8_t layer = VAL_LAYER_ALL); //Define a new UBX-CFG-VALSET with the given KeyID and 16-bit value + uint8_t newCfgValset32(uint32_t keyID, uint32_t value, uint8_t layer = VAL_LAYER_ALL); //Define a new UBX-CFG-VALSET with the given KeyID and 32-bit value + uint8_t addCfgValset8(uint32_t keyID, uint8_t value); //Add a new KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket + uint8_t addCfgValset16(uint32_t keyID, uint16_t value); //Add a new KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket + uint8_t addCfgValset32(uint32_t keyID, uint32_t value); //Add a new KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket + uint8_t sendCfgValset8(uint32_t keyID, uint8_t value, uint16_t maxWait = 250); //Add the final KeyID and 8-bit value to an existing UBX-CFG-VALSET ubxPacket and send it + uint8_t sendCfgValset16(uint32_t keyID, uint16_t value, uint16_t maxWait = 250); //Add the final KeyID and 16-bit value to an existing UBX-CFG-VALSET ubxPacket and send it + uint8_t sendCfgValset32(uint32_t keyID, uint32_t value, uint16_t maxWait = 250); //Add the final KeyID and 32-bit value to an existing UBX-CFG-VALSET ubxPacket and send it + + //Functions used for RTK and base station setup + //It is probably safe to assume that users of the RTK will be using I2C / Qwiic. So let's leave maxWait set to 250ms. + boolean getSurveyMode(uint16_t maxWait = 250); //Get the current TimeMode3 settings + boolean setSurveyMode(uint8_t mode, uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Control survey in mode + boolean enableSurveyMode(uint16_t observationTime, float requiredAccuracy, uint16_t maxWait = 250); //Begin Survey-In for NEO-M8P + boolean disableSurveyMode(uint16_t maxWait = 250); //Stop Survey-In mode + + boolean getSurveyStatus(uint16_t maxWait); //Reads survey in status and sets the global variables + + uint32_t getPositionAccuracy(uint16_t maxWait = 1100); //Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P, + + uint8_t getProtocolVersionHigh(uint16_t maxWait = 500); //Returns the PROTVER XX.00 from UBX-MON-VER register + uint8_t getProtocolVersionLow(uint16_t maxWait = 500); //Returns the PROTVER 00.XX from UBX-MON-VER register + boolean getProtocolVersion(uint16_t maxWait = 500); //Queries module, loads low/high bytes + + void queryHwState(uint16_t maxWait = 500); + boolean getHwState(ubxHwState &state); + + boolean getRELPOSNED(uint16_t maxWait = 1100); //Get Relative Positioning Information of the NED frame + + // Enable debug messages using the chosen Serial port (Stream) + // Boards like the RedBoard Turbo use SerialUSB (not Serial). + // But other boards like the SAMD51 Thing Plus use Serial (not SerialUSB). + // These lines let the code compile cleanly on as many SAMD boards as possible. + #if defined(ARDUINO_ARCH_SAMD) // Is this a SAMD board? + #if defined(USB_VID) // Is the USB Vendor ID defined? + #if (USB_VID == 0x1B4F) // Is this a SparkFun board? + #if !defined(ARDUINO_SAMD51_THING_PLUS) & !defined(ARDUINO_SAMD51_MICROMOD) // If it is not a SAMD51 Thing Plus or SAMD51 MicroMod + void enableDebugging(Stream &debugPort = SerialUSB, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited. + #else + void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited. + #endif + #else + void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited. + #endif + #else + void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited. + #endif + #else + void enableDebugging(Stream &debugPort = Serial, boolean printLimitedDebug = false); //Given a port to print to, enable debug messages. Default to all, not limited. + #endif + + void disableDebugging(void); //Turn off debug statements + void debugPrint(char *message); //Safely print debug statements + void debugPrintln(char *message); //Safely print debug statements + const char *statusString(sfe_ublox_status_e stat); //Pretty print the return value + + //Support for geofences + boolean addGeofence(int32_t latitude, int32_t longitude, uint32_t radius, byte confidence = 0, byte pinPolarity = 0, byte pin = 0, uint16_t maxWait = 1100); // Add a new geofence + boolean clearGeofences(uint16_t maxWait = 1100); //Clears all geofences + boolean getGeofenceState(geofenceState ¤tGeofenceState, uint16_t maxWait = 1100); //Returns the combined geofence state + boolean clearAntPIO(uint16_t maxWait = 1100); //Clears the antenna control pin settings to release the PIOs + geofenceParams currentGeofenceParams; // Global to store the geofence parameters + + boolean powerSaveMode(bool power_save = true, uint16_t maxWait = 1100); + uint8_t getPowerSaveMode(uint16_t maxWait = 1100); // Returns 255 if the sendCommand fails + boolean powerOff(uint32_t durationInMs, uint16_t maxWait = 1100); + boolean powerOffWithInterrupt(uint32_t durationInMs, uint32_t wakeupSources = VAL_RXM_PMREQ_WAKEUPSOURCE_EXTINT0, boolean forceWhileUsb = true, uint16_t maxWait = 1100); + + //Change the dynamic platform model using UBX-CFG-NAV5 + boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = 1100); + uint8_t getDynamicModel(uint16_t maxWait = 1100); // Get the dynamic model - returns 255 if the sendCommand fails + + boolean getEsfInfo(uint16_t maxWait = 1100); + boolean getEsfIns(uint16_t maxWait = 1100); + boolean getEsfDataInfo(uint16_t maxWait = 1100); + boolean getEsfRawDataInfo(uint16_t maxWait = 1100); + sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100); + boolean getVehAtt(uint16_t maxWait = 1100); + boolean pollNavigationDatabase(uint8_t *data, int16_t &size, uint16_t maxWait = 1100); + boolean sendNavigationDatabase(uint8_t *data, int16_t size); + + // Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef. + // For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm + // For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm + bool setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong = false, uint16_t maxWait = 250); + bool setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latLong = false, uint16_t maxWait = 250); + + // Push (e.g.) RTCM data directly to the module + // Warning: this function does not check that the data is valid. It is the user's responsibility to ensure the data is valid before pushing. + boolean pushRawData(uint8_t *dataBytes, size_t numDataBytes); + + //Survey-in specific controls + struct svinStructure + { + boolean active; + boolean valid; + uint16_t observationTime; + float meanAccuracy; + } svin; + + //Relative Positioning Info in NED frame specific controls + struct frelPosInfoStructure + { + uint16_t refStationID; + + float relPosN; + float relPosE; + float relPosD; + + long relPosLength; + long relPosHeading; + + int8_t relPosHPN; + int8_t relPosHPE; + int8_t relPosHPD; + int8_t relPosHPLength; + + float accN; + float accE; + float accD; + + bool gnssFixOk; + bool diffSoln; + bool relPosValid; + uint8_t carrSoln; + bool isMoving; + bool refPosMiss; + bool refObsMiss; + } relPosInfo; + + //The major datums we want to globally store + uint16_t gpsYear; + uint8_t gpsMonth; + uint8_t gpsDay; + uint8_t gpsHour; + uint8_t gpsMinute; + uint8_t gpsSecond; + uint16_t gpsMillisecond; + int32_t gpsNanosecond; + bool gpsDateValid; + bool gpsTimeValid; + + bool gnssFixOk; //valid fix (i.e within DOP & accuracy masks) + bool diffSoln; //Differential corrections were applied + bool headVehValid; + int32_t latitude; //Degrees * 10^-7 (more accurate than floats) + int32_t longitude; //Degrees * 10^-7 (more accurate than floats) + int32_t altitude; //Number of mm above ellipsoid + int32_t altitudeMSL; //Number of mm above Mean Sea Level + uint32_t horizontalAccEst; + uint32_t verticalAccEst; + int32_t nedNorthVel; + int32_t nedEastVel; + int32_t nedDownVel; + uint8_t SIV; //Number of satellites used in position solution + uint8_t fixType; //Tells us when we have a solution aka lock + uint8_t carrierSolution; //Tells us when we have an RTK float/fixed solution + int32_t groundSpeed; //mm/s + int32_t headingOfMotion; //degrees * 10^-5 + uint32_t speedAccEst; + uint32_t headingAccEst; + uint16_t pDOP; //Positional dilution of precision * 10^-2 (dimensionless) + bool invalidLlh; + int32_t headVeh; + int16_t magDec; + uint16_t magAcc; + uint8_t versionLow; //Loaded from getProtocolVersion(). + uint8_t versionHigh; + + uint32_t timeOfWeek; // ms + int32_t highResLatitude; // Degrees * 10^-7 + int32_t highResLongitude; // Degrees * 10^-7 + int32_t elipsoid; // Height above ellipsoid in mm (Typo! Should be eLLipsoid! **Uncorrected for backward-compatibility.**) + int32_t meanSeaLevel; // Height above mean sea level in mm + int32_t geoidSeparation; // This seems to only be provided in NMEA GGA and GNS messages + uint32_t horizontalAccuracy; // mm * 10^-1 (i.e. 0.1mm) + uint32_t verticalAccuracy; // mm * 10^-1 (i.e. 0.1mm) + int8_t elipsoidHp; // High precision component of the height above ellipsoid in mm * 10^-1 (Deliberate typo! Should be eLLipsoidHp!) + int8_t meanSeaLevelHp; // High precision component of Height above mean sea level in mm * 10^-1 + int8_t highResLatitudeHp; // High precision component of latitude: Degrees * 10^-9 + int8_t highResLongitudeHp; // High precision component of longitude: Degrees * 10^-9 + + uint16_t rtcmFrameCounter = 0; //Tracks the type of incoming byte inside RTCM frame + + uint16_t geometricDOP; // Geometric dilution of precision * 10^-2 + uint16_t positionDOP; // Posoition dilution of precision * 10^-2 + uint16_t timeDOP; // Time dilution of precision * 10^-2 + uint16_t verticalDOP; // Vertical dilution of precision * 10^-2 + uint16_t horizontalDOP; // Horizontal dilution of precision * 10^-2 + uint16_t northingDOP; // Northing dilution of precision * 10^-2 + uint16_t eastingDOP; // Easting dilution of precision * 10^-2 + + ubxHwState hwState; + +#define DEF_NUM_SENS 7 + struct deadReckData + { + uint8_t version; + uint8_t fusionMode; + + uint8_t xAngRateVald; + uint8_t yAngRateVald; + uint8_t zAngRateVald; + uint8_t xAccelVald; + uint8_t yAccelVald; + uint8_t zAccelVald; + + int32_t xAngRate; + int32_t yAngRate; + int32_t zAngRate; + + int32_t xAccel; + int32_t yAccel; + int32_t zAccel; + + // The array size is based on testing directly on M8U and F9R + uint32_t rawData; + uint32_t rawDataType; + uint32_t rawTStamp; + + uint32_t data[DEF_NUM_SENS]; + uint32_t dataType[DEF_NUM_SENS]; + uint32_t dataTStamp[DEF_NUM_SENS]; + } imuMeas; + + struct indivImuData + { + + uint8_t numSens; + + uint8_t senType; + boolean isUsed; + boolean isReady; + uint8_t calibStatus; + uint8_t timeStatus; + + uint8_t freq; // Hz + + boolean badMeas; + boolean badTag; + boolean missMeas; + boolean noisyMeas; + } ubloxSen; + + struct vehicleAttitude + { + // All values in degrees + int32_t roll; + int32_t pitch; + int32_t heading; + uint32_t accRoll; + uint32_t accPitch; + uint32_t accHeading; + } vehAtt; + + //HNR-specific structs + struct hnrAttitudeSolution + { + uint32_t iTOW; + int32_t roll; // Degrees * 1e-5 + int32_t pitch; // Degrees * 1e-5 + int32_t heading; // Degrees * 1e-5 + uint32_t accRoll; // Degrees * 1e-5 + uint32_t accPitch; // Degrees * 1e-5 + uint32_t accHeading; // Degrees * 1e-5 + } hnrAtt; + + struct hnrVehicleDynamics + { + boolean xAngRateValid; + boolean yAngRateValid; + boolean zAngRateValid; + boolean xAccelValid; + boolean yAccelValid; + boolean zAccelValid; + uint32_t iTOW; + int32_t xAngRate; // Degrees/s * 1e-3 + int32_t yAngRate; // Degrees/s * 1e-3 + int32_t zAngRate; // Degrees/s * 1e-3 + int32_t xAccel; // m/s^2 * 1e-2 + int32_t yAccel; // m/s^2 * 1e-2 + int32_t zAccel; // m/s^2 * 1e-2 + } hnrVehDyn; + + struct hnrPosVelTime + { + uint32_t iTOW; + uint16_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t min; + uint8_t sec; + boolean validDate; + boolean validTime; + boolean fullyResolved; + int32_t nano; + uint8_t gpsFix; + boolean gpsFixOK; + boolean diffSoln; + boolean WKNSET; + boolean TOWSET; + boolean headVehValid; + int32_t lon; // Degrees * 1e-7 + int32_t lat; // Degrees * 1e-7 + int32_t height; // mm above ellipsoid + int32_t hMSL; // mm above MSL + int32_t gSpeed; // mm/s 2D + int32_t speed; // mm/s 3D + int32_t headMot; // Degrees * 1e-5 + int32_t headVeh; // Degrees * 1e-5 + uint32_t hAcc; // mm + uint32_t vAcc; // mm + uint32_t sAcc; // mm + uint32_t headAcc; // Degrees * 1e-5 + } hnrPVT; + + //HNR functions + boolean setHNRNavigationRate(uint8_t rate, uint16_t maxWait = 1100); // Returns true if the setHNRNavigationRate is successful + uint8_t getHNRNavigationRate(uint16_t maxWait = 1100); // Returns 0 if the getHNRNavigationRate fails + boolean assumeAutoHNRAtt(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HNR Attitude is send cyclically already + boolean setAutoHNRAtt(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR Attitude reports at the HNR rate + boolean setAutoHNRAtt(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR Attitude reports at the HNR rate, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update + boolean getHNRAtt(uint16_t maxWait = 1100); // Returns true if the get HNR attitude is successful. Data is returned in hnrAtt + boolean assumeAutoHNRDyn(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HNR dynamics is send cyclically already + boolean setAutoHNRDyn(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR dynamics reports at the HNR rate + boolean setAutoHNRDyn(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR dynamics reports at the HNR rate, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update + boolean getHNRDyn(uint16_t maxWait = 1100); // Returns true if the get HNR dynamics is successful. Data is returned in hnrVehDyn + boolean assumeAutoHNRPVT(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and HNR PVT is send cyclically already + boolean setAutoHNRPVT(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR PVT reports at the HNR rate + boolean setAutoHNRPVT(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HNR PVT reports at the HNR rate, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update + boolean getHNRPVT(uint16_t maxWait = 1100); // Returns true if the get HNR PVT is successful. Data is returned in hnrPVT + +public: + //Depending on the sentence type the processor will load characters into different arrays + enum SentenceTypes + { + NONE = 0, + NMEA, + UBX, + RTCM + } currentSentence = NONE; + + //Depending on the ubx binary response class, store binary responses into different places + enum classTypes + { + CLASS_NONE = 0, + CLASS_ACK, + CLASS_NOT_AN_ACK + } ubxFrameClass = CLASS_NONE; + + enum commTypes + { + COMM_TYPE_I2C = 0, + COMM_TYPE_SERIAL, + COMM_TYPE_SPI + } commType = COMM_TYPE_I2C; //Controls which port we look to for incoming bytes + + //Functions + boolean checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType + uint32_t extractLong(uint8_t spotToStart); //Combine four bytes from payload into long + int32_t extractSignedLong(uint8_t spotToStart); //Combine four bytes from payload into signed long (avoiding any ambiguity caused by casting) + uint16_t extractInt(uint8_t spotToStart); //Combine two bytes from payload into int + int16_t extractSignedInt(int8_t spotToStart); + uint8_t extractByte(uint8_t spotToStart); //Get byte from payload + int8_t extractSignedChar(uint8_t spotToStart); //Get signed 8-bit value from payload + void addToChecksum(uint8_t incoming); //Given an incoming byte, adjust rollingChecksumA/B + + //Variables + TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware + Stream *_serialPort; //The generic connection to user's chosen Serial hardware + Stream *_nmeaOutputPort = NULL; //The user can assign an output port to print NMEA sentences if they wish + Stream *_debugSerial = NULL; //The stream to send debug messages to if enabled + + uint8_t _gpsI2Caddress = 0x42; //Default 7-bit unshifted address of the ublox 6/7/8/M8/F9 series + //This can be changed using the ublox configuration software + + boolean _printDebug = false; //Flag to print the serial commands we are sending to the Serial port for debug + boolean _printLimitedDebug = false; //Flag to print limited debug messages. Useful for I2C debugging or high navigation rates + + //The packet buffers + //These are pointed at from within the ubxPacket + uint8_t payloadAck[2]; // Holds the requested ACK/NACK + uint8_t payloadCfg[MAX_PAYLOAD_SIZE]; // Holds the requested data packet + uint8_t payloadBuf[2]; // Temporary buffer used to screen incoming packets or dump unrequested packets + + //Init the packet structures and init them with pointers to the payloadAck, payloadCfg and payloadBuf arrays + ubxPacket packetAck = {0, 0, 0, 0, 0, payloadAck, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED}; + ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED}; + ubxPacket packetBuf = {0, 0, 0, 0, 0, payloadBuf, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED}; + + //Flag if this packet is unrequested (and so should be ignored and not copied into packetCfg or packetAck) + boolean ignoreThisPayload = false; + + //Identify which buffer is in use + //Data is stored in packetBuf until the requested class and ID can be validated + //If a match is seen, data is diverted into packetAck or packetCfg + sfe_ublox_packet_buffer_e activePacketBuffer = SFE_UBLOX_PACKET_PACKETBUF; + + //Limit checking of new data to every X ms + //If we are expecting an update every X Hz then we should check every half that amount of time + //Otherwise we may block ourselves from seeing new data + uint8_t i2cPollingWait = 100; //Default to 100ms. Adjusted when user calls setNavigationFrequency() + + unsigned long lastCheck = 0; + boolean autoPVT = false; //Whether autoPVT is enabled or not + boolean autoPVTImplicitUpdate = true; // Whether autoPVT is triggered by accessing stale data (=true) or by a call to checkUblox (=false) + boolean autoHPPOSLLH = false; //Whether autoHPPOSLLH is enabled or not + boolean autoHPPOSLLHImplicitUpdate = true; // Whether autoHPPOSLLH is triggered by accessing stale data (=true) or by a call to checkUblox (=false) + boolean autoDOP = false; //Whether autoDOP is enabled or not + boolean autoDOPImplicitUpdate = true; // Whether autoDOP is triggered by accessing stale data (=true) or by a call to checkUblox (=false) + boolean autoHNRAtt = false; //Whether auto HNR attitude is enabled or not + boolean autoHNRAttImplicitUpdate = true; // Whether auto HNR attitude is triggered by accessing stale data (=true) or by a call to checkUblox (=false) + boolean autoHNRDyn = false; //Whether auto HNR dynamics is enabled or not + boolean autoHNRDynImplicitUpdate = true; // Whether auto HNR dynamics is triggered by accessing stale data (=true) or by a call to checkUblox (=false) + boolean autoHNRPVT = false; //Whether auto HNR PVT is enabled or not + boolean autoHNRPVTImplicitUpdate = true; // Whether auto HNR PVT is triggered by accessing stale data (=true) or by a call to checkUblox (=false) + + uint16_t ubxFrameCounter; //It counts all UBX frame. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)] + + uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes + uint8_t rollingChecksumB; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes + + //Create bit field for staleness of each datum in PVT we want to monitor + //moduleQueried.latitude goes true each time we call getPVT() + //This reduces the number of times we have to call getPVT as this can take up to ~1s per read + //depending on update rate + struct + { + uint32_t gpsiTOW : 1; + uint32_t gpsYear : 1; + uint32_t gpsMonth : 1; + uint32_t gpsDay : 1; + uint32_t gpsHour : 1; + uint32_t gpsMinute : 1; + uint32_t gpsSecond : 1; + uint32_t gpsDateValid : 1; + uint32_t gpsTimeValid : 1; + uint32_t gpsNanosecond : 1; + + uint32_t all : 1; + uint32_t gnssFixOk : 1; + uint32_t diffSoln : 1; + uint32_t headVehValid : 1; + uint32_t longitude : 1; + uint32_t latitude : 1; + uint32_t altitude : 1; + uint32_t altitudeMSL : 1; + uint32_t horizontalAccEst : 1; + uint32_t verticalAccEst : 1; + uint32_t nedNorthVel : 1; + uint32_t nedEastVel : 1; + uint32_t nedDownVel : 1; + uint32_t SIV : 1; + uint32_t fixType : 1; + uint32_t carrierSolution : 1; + uint32_t groundSpeed : 1; + uint32_t headingOfMotion : 1; + uint32_t speedAccEst : 1; + uint32_t headingAccEst : 1; + uint32_t pDOP : 1; + uint32_t invalidLlh : 1; + uint32_t headVeh : 1; + uint32_t magDec : 1; + uint32_t magAcc : 1; + uint32_t versionNumber : 1; + uint32_t hwState : 1; + } moduleQueried; + + struct + { + uint16_t all : 1; + uint16_t timeOfWeek : 1; + uint16_t highResLatitude : 1; + uint16_t highResLongitude : 1; + uint16_t elipsoid : 1; + uint16_t meanSeaLevel : 1; + uint16_t geoidSeparation : 1; // Redundant but kept for backward-compatibility + uint16_t horizontalAccuracy : 1; + uint16_t verticalAccuracy : 1; + uint16_t elipsoidHp : 1; + uint16_t meanSeaLevelHp : 1; + uint16_t highResLatitudeHp : 1; + uint16_t highResLongitudeHp : 1; + } highResModuleQueried; + + struct + { + uint16_t all : 1; + uint16_t geometricDOP : 1; + uint16_t positionDOP : 1; + uint16_t timeDOP : 1; + uint16_t verticalDOP : 1; + uint16_t horizontalDOP : 1; + uint16_t northingDOP : 1; + uint16_t eastingDOP : 1; + } dopModuleQueried; + + boolean hnrAttQueried; + boolean hnrDynQueried; + boolean hnrPVTQueried; + + uint16_t rtcmLen = 0; +}; + +#endif diff --git a/lib/SparkFun u-blox Arduino Library/u-blox_config_keys.h b/lib/SparkFun u-blox Arduino Library/u-blox_config_keys.h new file mode 100644 index 0000000..9e5b463 --- /dev/null +++ b/lib/SparkFun u-blox Arduino Library/u-blox_config_keys.h @@ -0,0 +1,838 @@ +/* + This is a library written for the u-blox ZED-F9P and NEO-M8P-2 + SparkFun sells these at its website: www.sparkfun.com + Do you like this library? Help support SparkFun. Buy a board! + https://www.sparkfun.com/products/16481 + https://www.sparkfun.com/products/15136 + https://www.sparkfun.com/products/15005 + https://www.sparkfun.com/products/15733 + https://www.sparkfun.com/products/15193 + https://www.sparkfun.com/products/15210 + + Written by Nathan Seidle @ SparkFun Electronics, September 6th, 2018 + + This library handles configuring and handling the responses + from a u-blox GPS module. Works with most modules from u-blox including + the Zed-F9P, NEO-M8P-2, NEO-M9N, ZOE-M8Q, SAM-M8Q, and many others. + + https://github.com/sparkfun/SparkFun_Ublox_Arduino_Library + + Development environment specifics: + Arduino IDE 1.8.5 + + SparkFun code, firmware, and software is released under the MIT License(http://opensource.org/licenses/MIT). + The MIT License (MIT) + Copyright (c) 2016 SparkFun Electronics + Permission is hereby granted, free of charge, to any person obtaining a copy of this software and + associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, + and/or sell copies of the Software, and to permit persons to whom the Software is furnished to + do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or substantial + portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT + NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#ifndef __u_blox_config_keys_h__ +#define __u_blox_config_keys_h__ + +//The following consts are used to generate KEY values for the advanced protocol functions of VELGET/SET/DEL +const uint8_t VAL_SIZE_1 = 0x01; //One bit +const uint8_t VAL_SIZE_8 = 0x02; //One byte +const uint8_t VAL_SIZE_16 = 0x03; //Two bytes +const uint8_t VAL_SIZE_32 = 0x04; //Four bytes +const uint8_t VAL_SIZE_64 = 0x05; //Eight bytes + +//These are the Bitfield layers definitions for the UBX-CFG-VALSET message (not to be confused with Bitfield deviceMask in UBX-CFG-CFG) +const uint8_t VAL_LAYER_RAM = (1 << 0); +const uint8_t VAL_LAYER_BBR = (1 << 1); +const uint8_t VAL_LAYER_FLASH = (1 << 2); +const uint8_t VAL_LAYER_ALL = VAL_LAYER_RAM | VAL_LAYER_BBR | VAL_LAYER_FLASH; //Not valid with getVal() + +//Below are various Groups, IDs, and sizes for various settings +//These can be used to call getVal/setVal/delVal +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint8_t VAL_ID_PROT_UBX = 0x01; +const uint8_t VAL_ID_PROT_NMEA = 0x02; +const uint8_t VAL_ID_PROT_RTCM3 = 0x04; + +const uint8_t VAL_GROUP_I2C = 0x51; +const uint8_t VAL_GROUP_I2COUTPROT = 0x72; +const uint8_t VAL_GROUP_UART1INPROT = 0x73; +const uint8_t VAL_GROUP_UART1OUTPROT = 0x74; +const uint8_t VAL_GROUP_UART2INPROT = 0x75; +const uint8_t VAL_GROUP_UART2OUTPROT = 0x76; +const uint8_t VAL_GROUP_USBINPROT = 0x77; +const uint8_t VAL_GROUP_USBOUTPROT = 0x78; + +const uint8_t VAL_GROUP_UART_SIZE = VAL_SIZE_1; //All fields in UART group are currently 1 bit +const uint8_t VAL_GROUP_I2C_SIZE = VAL_SIZE_8; //All fields in I2C group are currently 1 byte + +const uint8_t VAL_ID_I2C_ADDRESS = 0x01; + +//Below are the key values for a given configuration setting + +//CFG-BDS: BeiDou system configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_BDS_USE_PRN_1_TO_5 = 0x10340014; // Use BeiDou geostationary satellites (PRN 1-5) + +//CFG-GEOFENCE: Geofencing configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_GEOFENCE_CONFLVL = 0x20240011; // Required confidence level for state evaluation +const uint32_t UBLOX_CFG_GEOFENCE_USE_PIO = 0x10240012; // Use PIO combined fence state output +const uint32_t UBLOX_CFG_GEOFENCE_PINPOL = 0x20240013; // PIO pin polarity +const uint32_t UBLOX_CFG_GEOFENCE_PIN = 0x20240014; // PIO pin number +const uint32_t UBLOX_CFG_GEOFENCE_USE_FENCE1 = 0x10240020; // Use frst geofence +const uint32_t UBLOX_CFG_GEOFENCE_FENCE1_LAT = 0x40240021; // Latitude of the first geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE1_LON = 0x40240022; // Longitude of the first geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE1_RAD = 0x40240023; // Radius of the first geofence circle +const uint32_t UBLOX_CFG_GEOFENCE_USE_FENCE2 = 0x10240030; // Use second geofence +const uint32_t UBLOX_CFG_GEOFENCE_FENCE2_LAT = 0x40240031; // Latitude of the second geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE2_LON = 0x40240032; // Longitude of the second geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE2_RAD = 0x40240033; // Radius of the second geofence circle +const uint32_t UBLOX_CFG_GEOFENCE_USE_FENCE3 = 0x10240040; // Use third geofence +const uint32_t UBLOX_CFG_GEOFENCE_FENCE3_LAT = 0x40240041; // Latitude of the third geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE3_LON = 0x40240042; // Longitude of the third geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE3_RAD = 0x40240043; // Radius of the third geofence circle +const uint32_t UBLOX_CFG_GEOFENCE_USE_FENCE4 = 0x10240050; // Use fourth geofence +const uint32_t UBLOX_CFG_GEOFENCE_FENCE4_LAT = 0x40240051; // Latitude of the fourth geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE4_LON = 0x40240052; // Longitude of the fourth geofence circle center +const uint32_t UBLOX_CFG_GEOFENCE_FENCE4_RAD = 0x40240053; // Radius of the fourth geofence circle + +//CFG-HW: Hardware configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_HW_ANT_CFG_VOLTCTRL = 0x10a3002e; // Active antenna voltage control flag +const uint32_t UBLOX_CFG_HW_ANT_CFG_SHORTDET = 0x10a3002f; // Short antenna detection flag +const uint32_t UBLOX_CFG_HW_ANT_CFG_SHORTDET_POL = 0x10a30030; // Short antenna detection polarity +const uint32_t UBLOX_CFG_HW_ANT_CFG_OPENDET = 0x10a30031; // Open antenna detection flag +const uint32_t UBLOX_CFG_HW_ANT_CFG_OPENDET_POL = 0x10a30032; // Open antenna detection polarity +const uint32_t UBLOX_CFG_HW_ANT_CFG_PWRDOWN = 0x10a30033; // Power down antenna flag +const uint32_t UBLOX_CFG_HW_ANT_CFG_PWRDOWN_POL = 0x10a30034; // Power down antenna logic polarity +const uint32_t UBLOX_CFG_HW_ANT_CFG_RECOVER = 0x10a30035; // Automatic recovery from short state flag +const uint32_t UBLOX_CFG_HW_ANT_SUP_SWITCH_PIN = 0x20a30036; // ANT1 PIO number +const uint32_t UBLOX_CFG_HW_ANT_SUP_SHORT_PIN = 0x20a30037; // ANT0 PIO number +const uint32_t UBLOX_CFG_HW_ANT_SUP_OPEN_PIN = 0x20a30038; // ANT2 PIO number +const uint32_t UBLOX_CFG_HW_ANT_SUP_ENGINE = 0x20a30054; // Antenna supervisor engine selection +const uint32_t UBLOX_CFG_HW_ANT_SUP_SHORT_THR = 0x20a30055; // Antenna supervisor MADC engine short detection threshold +const uint32_t UBLOX_CFG_HW_ANT_SUP_OPEN_THR = 0x20a30056; // Antenna supervisor MADC engine open detection threshold + +//CFG-I2C: Configuration of the I2C interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_I2C_ADDRESS = 0x20510001; // I2C slave address of the receiver (7 bits) +const uint32_t UBLOX_CFG_I2C_EXTENDEDTIMEOUT = 0x10510002; // Flag to disable timeouting the interface after 1.5 s +const uint32_t UBLOX_CFG_I2C_ENABLED = 0x10510003; // Flag to indicate if the I2C interface should be enabled + +//CFG-I2CINPROT: Input protocol configuration of the I2C interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_I2CINPROT_UBX = 0x10710001; // Flag to indicate if UBX should be an input protocol on I2C +const uint32_t UBLOX_CFG_I2CINPROT_NMEA = 0x10710002; // Flag to indicate if NMEA should be an input protocol on I2C +const uint32_t UBLOX_CFG_I2CINPROT_RTCM3X = 0x10710004; // Flag to indicate if RTCM3X should be an input protocol on I2C + +//CFG-I2COUTPROT: Output protocol configuration of the I2C interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_I2COUTPROT_UBX = 0x10720001; // Flag to indicate if UBX should be an output protocol on I2C +const uint32_t UBLOX_CFG_I2COUTPROT_NMEA = 0x10720002; // Flag to indicate if NMEA should be an output protocol on I2C +const uint32_t UBLOX_CFG_I2COUTPROT_RTCM3X = 0x10720004; // Flag to indicate if RTCM3X should be an output protocol on I2C + +//CFG-INFMSG: Information message configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_INFMSG_UBX_I2C = 0x20920001; // Information message enable flags for the UBX protocol on the I2C interface +const uint32_t UBLOX_CFG_INFMSG_UBX_UART1 = 0x20920002; // Information message enable flags for the UBX protocol on the UART1 interface +const uint32_t UBLOX_CFG_INFMSG_UBX_UART2 = 0x20920003; // Information message enable flags for the UBX protocol on the UART2 interface +const uint32_t UBLOX_CFG_INFMSG_UBX_USB = 0x20920004; // Information message enable flags for the UBX protocol on the USB interface +const uint32_t UBLOX_CFG_INFMSG_UBX_SPI = 0x20920005; // Information message enable flags for the UBX protocol on the SPI interface +const uint32_t UBLOX_CFG_INFMSG_NMEA_I2C = 0x20920006; // Information message enable flags for the NMEA protocol on the I2C interface +const uint32_t UBLOX_CFG_INFMSG_NMEA_UART1 = 0x20920007; // Information message enable flags for the NMEA protocol on the UART1 interface +const uint32_t UBLOX_CFG_INFMSG_NMEA_UART2 = 0x20920008; // Information message enable flags for the NMEA protocol on the UART2 interface +const uint32_t UBLOX_CFG_INFMSG_NMEA_USB = 0x20920009; // Information message enable flags for the NMEA protocol on the USB interface +const uint32_t UBLOX_CFG_INFMSG_NMEA_SPI = 0x2092000a; // Information message enable flags for the NMEA protocol on the SPI interface + +//CFG-ITFM: Jamming and interference monitor configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_ITFM_BBTHRESHOLD = 0x20410001; // Broadband jamming detection threshold +const uint32_t UBLOX_CFG_ITFM_CWTHRESHOLD = 0x20410002; // CW jamming detection threshold +const uint32_t UBLOX_CFG_ITFM_ENABLE = 0x1041000d; // Enable interference detection +const uint32_t UBLOX_CFG_ITFM_ANTSETTING = 0x20410010; // Antenna setting +const uint32_t UBLOX_CFG_ITFM_ENABLE_AUX = 0x10410013; // Scan auxiliary bands + +//CFG-LOGFILTER: Data logger configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_LOGFILTER_RECORD_ENA = 0x10de0002; // Recording enabled +const uint32_t UBLOX_CFG_LOGFILTER_ONCE_PER_WAKE_UP_ENA = 0x10de0003; // Once per wake up +const uint32_t UBLOX_CFG_LOGFILTER_APPLY_ALL_FILTERS = 0x10de0004; // Apply all filter settings +const uint32_t UBLOX_CFG_LOGFILTER_MIN_INTERVAL = 0x30de0005; // Minimum time interval between loggedpositions +const uint32_t UBLOX_CFG_LOGFILTER_TIME_THRS = 0x30de0006; // Time threshold +const uint32_t UBLOX_CFG_LOGFILTER_SPEED_THRS = 0x30de0007; // Speed threshold +const uint32_t UBLOX_CFG_LOGFILTER_POSITION_THRS = 0x40de0008; // Position threshold + +//CFG-MOT: Motion detector configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_MOT_GNSSSPEED_THRS = 0x20250038; // GNSS speed threshold below which platform is considered as stationary (a.k.a. static hold threshold) +const uint32_t UBLOX_CFG_MOT_GNSSDIST_THRS = 0x3025003b; // Distance above which GNSS-based stationary motion is exit (a.k.a. static hold distance threshold) + +// CFG-MSGOUT: Message output configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +// For each message and port a separate output rate (per second, per epoch) can be configured. +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_DTM_I2C = 0x209100a6; //Output rate of the NMEA-GX-DTM message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_DTM_SPI = 0x209100aa; //Output rate of the NMEA-GX-DTM message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_DTM_UART1 = 0x209100a7; //Output rate of the NMEA-GX-DTM message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_DTM_UART2 = 0x209100a8; //Output rate of the NMEA-GX-DTM message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_DTM_USB = 0x209100a9; //Output rate of the NMEA-GX-DTM message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GBS_I2C = 0x209100dd; //Output rate of the NMEA-GX-GBS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GBS_SPI = 0x209100e1; //Output rate of the NMEA-GX-GBS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GBS_UART1 = 0x209100de; //Output rate of the NMEA-GX-GBS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GBS_UART2 = 0x209100df; //Output rate of the NMEA-GX-GBS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GBS_USB = 0x209100e0; //Output rate of the NMEA-GX-GBS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GGA_I2C = 0x209100ba; //Output rate of the NMEA-GX-GGA message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GGA_SPI = 0x209100be; //Output rate of the NMEA-GX-GGA message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GGA_UART1 = 0x209100bb; //Output rate of the NMEA-GX-GGA message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GGA_UART2 = 0x209100bc; //Output rate of the NMEA-GX-GGA message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GGA_USB = 0x209100bd; //Output rate of the NMEA-GX-GGA message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GLL_I2C = 0x209100c9; //Output rate of the NMEA-GX-GLL message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GLL_SPI = 0x209100cd; //Output rate of the NMEA-GX-GLL message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GLL_UART1 = 0x209100ca; //Output rate of the NMEA-GX-GLL message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GLL_UART2 = 0x209100cb; //Output rate of the NMEA-GX-GLL message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GLL_USB = 0x209100cc; //Output rate of the NMEA-GX-GLL message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GNS_I2C = 0x209100b5; //Output rate of the NMEA-GX-GNS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GNS_SPI = 0x209100b9; //Output rate of the NMEA-GX-GNS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GNS_UART1 = 0x209100b6; //Output rate of the NMEA-GX-GNS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GNS_UART2 = 0x209100b7; //Output rate of the NMEA-GX-GNS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GNS_USB = 0x209100b8; //Output rate of the NMEA-GX-GNS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GRS_I2C = 0x209100ce; //Output rate of the NMEA-GX-GRS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GRS_SPI = 0x209100d2; //Output rate of the NMEA-GX-GRS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GRS_UART1 = 0x209100cf; //Output rate of the NMEA-GX-GRS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GRS_UART2 = 0x209100d0; //Output rate of the NMEA-GX-GRS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GRS_USB = 0x209100d1; //Output rate of the NMEA-GX-GRS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSA_I2C = 0x209100bf; //Output rate of the NMEA-GX-GSA message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSA_SPI = 0x209100c3; //Output rate of the NMEA-GX-GSA message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSA_UART1 = 0x209100c0; //Output rate of the NMEA-GX-GSA message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSA_UART2 = 0x209100c1; //Output rate of the NMEA-GX-GSA message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSA_USB = 0x209100c2; //Output rate of the NMEA-GX-GSA message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GST_I2C = 0x209100d3; //Output rate of the NMEA-GX-GST message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GST_SPI = 0x209100d7; //Output rate of the NMEA-GX-GST message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GST_UART1 = 0x209100d4; //Output rate of the NMEA-GX-GST message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GST_UART2 = 0x209100d5; //Output rate of the NMEA-GX-GST message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GST_USB = 0x209100d6; //Output rate of the NMEA-GX-GST message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSV_I2C = 0x209100c4; //Output rate of the NMEA-GX-GSV message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSV_SPI = 0x209100c8; //Output rate of the NMEA-GX-GSV message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSV_UART1 = 0x209100c5; //Output rate of the NMEA-GX-GSV message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSV_UART2 = 0x209100c6; //Output rate of the NMEA-GX-GSV message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_GSV_USB = 0x209100c7; //Output rate of the NMEA-GX-GSV message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RLM_I2C = 0x20910400; //Output rate of the NMEA-GX-RLM message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RLM_SPI = 0x20910404; //Output rate of the NMEA-GX-RLM message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RLM_UART1 = 0x20910401; //Output rate of the NMEA-GX-RLM message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RLM_UART2 = 0x20910402; //Output rate of the NMEA-GX-RLM message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RLM_USB = 0x20910403; //Output rate of the NMEA-GX-RLM message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RMC_I2C = 0x209100ab; //Output rate of the NMEA-GX-RMC message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RMC_SPI = 0x209100af; //Output rate of the NMEA-GX-RMC message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RMC_UART1 = 0x209100ac; //Output rate of the NMEA-GX-RMC message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RMC_UART2 = 0x209100ad; //Output rate of the NMEA-GX-RMC message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_RMC_USB = 0x209100ae; //Output rate of the NMEA-GX-RMC message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VLW_I2C = 0x209100e7; //Output rate of the NMEA-GX-VLW message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VLW_SPI = 0x209100eb; //Output rate of the NMEA-GX-VLW message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VLW_UART1 = 0x209100e8; //Output rate of the NMEA-GX-VLW message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VLW_UART2 = 0x209100e9; //Output rate of the NMEA-GX-VLW message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VLW_USB = 0x209100ea; //Output rate of the NMEA-GX-VLW message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VTG_I2C = 0x209100b0; //Output rate of the NMEA-GX-VTG message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VTG_SPI = 0x209100b4; //Output rate of the NMEA-GX-VTG message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VTG_UART1 = 0x209100b1; //Output rate of the NMEA-GX-VTG message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VTG_UART2 = 0x209100b2; //Output rate of the NMEA-GX-VTG message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_VTG_USB = 0x209100b3; //Output rate of the NMEA-GX-VTG message on port USB +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_I2C = 0x209100d8; //Output rate of the NMEA-GX-ZDA message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_SPI = 0x209100dc; //Output rate of the NMEA-GX-ZDA message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_UART1 = 0x209100d9; //Output rate of the NMEA-GX-ZDA message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_UART2 = 0x209100da; //Output rate of the NMEA-GX-ZDA message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_NMEA_ID_ZDA_USB = 0x209100db; //Output rate of the NMEA-GX-ZDA message on port USB +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_I2C = 0x209100ec; //Output rate of the NMEA-GX-PUBX00 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_SPI = 0x209100f0; //Output rate of the NMEA-GX-PUBX00 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_UART1 = 0x209100ed; //Output rate of the NMEA-GX-PUBX00 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_UART2 = 0x209100ee; //Output rate of the NMEA-GX-PUBX00 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYP_USB = 0x209100ef; //Output rate of the NMEA-GX-PUBX00 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_I2C = 0x209100f1; //Output rate of the NMEA-GX-PUBX03 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_SPI = 0x209100f5; //Output rate of the NMEA-GX-PUBX03 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_UART1 = 0x209100f2; //Output rate of the NMEA-GX-PUBX03 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_UART2 = 0x209100f3; //Output rate of the NMEA-GX-PUBX03 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYS_USB = 0x209100f4; //Output rate of the NMEA-GX-PUBX03 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_I2C = 0x209100f6; //Output rate of the NMEA-GX-PUBX04 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_SPI = 0x209100fa; //Output rate of the NMEA-GX-PUBX04 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_UART1 = 0x209100f7; //Output rate of the NMEA-GX-PUBX04 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_UART2 = 0x209100f8; //Output rate of the NMEA-GX-PUBX04 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_PUBX_ID_POLYT_USB = 0x209100f9; //Output rate of the NMEA-GX-PUBX04 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_I2C = 0x209102bd; //Output rate of the RTCM-3X-TYPE1005 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_SPI = 0x209102c1; //Output rate of the RTCM-3X-TYPE1005 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART1 = 0x209102be;//Output rate of the RTCM-3X-TYPE1005 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_UART2 = 0x209102bf;//Output rate of the RTCM-3X-TYPE1005 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1005_USB = 0x209102c0; //Output rate of the RTCM-3X-TYPE1005 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_I2C = 0x2091035e; //Output rate of the RTCM-3X-TYPE1074 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_SPI = 0x20910362; //Output rate of the RTCM-3X-TYPE1074 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART1 = 0x2091035f;//Output rate of the RTCM-3X-TYPE1074 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_UART2 = 0x20910360;//Output rate of the RTCM-3X-TYPE1074 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1074_USB = 0x20910361; //Output rate of the RTCM-3X-TYPE1074 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_I2C = 0x209102cc; //Output rate of the RTCM-3X-TYPE1077 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_SPI = 0x209102d0; //Output rate of the RTCM-3X-TYPE1077 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_UART1 = 0x209102cd;//Output rate of the RTCM-3X-TYPE1077 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_UART2 = 0x209102ce;//Output rate of the RTCM-3X-TYPE1077 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1077_USB = 0x209102cf; //Output rate of the RTCM-3X-TYPE1077 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_I2C = 0x20910363; //Output rate of the RTCM-3X-TYPE1084 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_SPI = 0x20910367; //Output rate of the RTCM-3X-TYPE1084 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_UART1 = 0x20910364;//Output rate of the RTCM-3X-TYPE1084 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_UART2 = 0x20910365;//Output rate of the RTCM-3X-TYPE1084 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1084_USB = 0x20910366; //Output rate of the RTCM-3X-TYPE1084 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_I2C = 0x209102d1; //Output rate of the RTCM-3X-TYPE1087 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_SPI = 0x209102d5; //Output rate of the RTCM-3X-TYPE1087 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_UART1 = 0x209102d2;//Output rate of the RTCM-3X-TYPE1087 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_UART2 = 0x209102d3;//Output rate of the RTCM-3X-TYPE1087 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1087_USB = 0x209102d4; //Output rate of the RTCM-3X-TYPE1087 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_I2C = 0x20910368; //Output rate of the RTCM-3X-TYPE1094 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_SPI = 0x2091036c; //Output rate of the RTCM-3X-TYPE1094 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_UART1 = 0x20910369;//Output rate of the RTCM-3X-TYPE1094 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_UART2 = 0x2091036a;//Output rate of the RTCM-3X-TYPE1094 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1094_USB = 0x2091036b; //Output rate of the RTCM-3X-TYPE1094 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_I2C = 0x20910318; //Output rate of the RTCM-3X-TYPE1097 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_SPI = 0x2091031c; //Output rate of the RTCM-3X-TYPE1097 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_UART1 = 0x20910319;//Output rate of the RTCM-3X-TYPE1097 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_UART2 = 0x2091031a;//Output rate of the RTCM-3X-TYPE1097 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1097_USB = 0x2091031b; //Output rate of the RTCM-3X-TYPE1097 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_I2C = 0x2091036d; //Output rate of the RTCM-3X-TYPE1124 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_SPI = 0x20910371; //Output rate of the RTCM-3X-TYPE1124 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART1 = 0x2091036e;//Output rate of the RTCM-3X-TYPE1124 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_UART2 = 0x2091036f;//Output rate of the RTCM-3X-TYPE1124 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1124_USB = 0x20910370; //Output rate of the RTCM-3X-TYPE1124 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_I2C = 0x209102d6; //Output rate of the RTCM-3X-TYPE1127 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_SPI = 0x209102da; //Output rate of the RTCM-3X-TYPE1127 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_UART1 = 0x209102d7;//Output rate of the RTCM-3X-TYPE1127 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_UART2 = 0x209102d8;//Output rate of the RTCM-3X-TYPE1127 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1127_USB = 0x209102d9; //Output rate of the RTCM-3X-TYPE1127 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_I2C = 0x20910303; //Output rate of the RTCM-3X-TYPE1230 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_SPI = 0x20910307; //Output rate of the RTCM-3X-TYPE1230 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART1 = 0x20910304;//Output rate of the RTCM-3X-TYPE1230 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_UART2 = 0x20910305;//Output rate of the RTCM-3X-TYPE1230 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE1230_USB = 0x20910306; //Output rate of the RTCM-3X-TYPE1230 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_I2C = 0x209102fe;//Output rate of the RTCM-3X-TYPE4072_0 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_SPI = 0x20910302;//Output rate of the RTCM-3X-TYPE4072_0 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART1 = 0x209102ff; //Output rate of the RTCM-3X-TYPE4072_0 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_UART2 = 0x20910300; //Output rate of the RTCM-3X-TYPE4072_0 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_0_USB = 0x20910301;//Output rate of the RTCM-3X-TYPE4072_0 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_I2C = 0x20910381;//Output rate of the RTCM-3X-TYPE4072_1 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_SPI = 0x20910385;//Output rate of the RTCM-3X-TYPE4072_1 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART1 = 0x20910382; //Output rate of the RTCM-3X-TYPE4072_1 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_UART2 = 0x20910383; //Output rate of the RTCM-3X-TYPE4072_1 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_RTCM_3X_TYPE4072_1_USB = 0x20910384;//Output rate of the RTCM-3X-TYPE4072_1 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_LOG_INFO_I2C = 0x20910259; //Output rate of the UBX-LOG-INFO message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_LOG_INFO_SPI = 0x2091025d; //Output rate of the UBX-LOG-INFO message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_LOG_INFO_UART1 = 0x2091025a; //Output rate of the UBX-LOG-INFO message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_LOG_INFO_UART2 = 0x2091025b; //Output rate of the UBX-LOG-INFO message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_LOG_INFO_USB = 0x2091025c; //Output rate of the UBX-LOG-INFO message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_COMMS_I2C = 0x2091034f; //Output rate of the UBX-MON-COMMS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_COMMS_SPI = 0x20910353; //Output rate of the UBX-MON-COMMS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_COMMS_UART1 = 0x20910350; //Output rate of the UBX-MON-COMMS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_COMMS_UART2 = 0x20910351; //Output rate of the UBX-MON-COMMS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_COMMS_USB = 0x20910352; //Output rate of the UBX-MON-COMMS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW2_I2C = 0x209101b9; //Output rate of the UBX-MON-HW2 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW2_SPI = 0x209101bd; //Output rate of the UBX-MON-HW2 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW2_UART1 = 0x209101ba; //Output rate of the UBX-MON-HW2 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW2_UART2 = 0x209101bb; //Output rate of the UBX-MON-HW2 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW2_USB = 0x209101bc; //Output rate of the UBX-MON-HW2 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW3_I2C = 0x20910354; //Output rate of the UBX-MON-HW3 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW3_SPI = 0x20910358; //Output rate of the UBX-MON-HW3 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW3_UART1 = 0x20910355; //Output rate of the UBX-MON-HW3 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW3_UART2 = 0x20910356; //Output rate of the UBX-MON-HW3 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW3_USB = 0x20910357; //Output rate of the UBX-MON-HW3 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW_I2C = 0x209101b4; //Output rate of the UBX-MON-HW message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW_SPI = 0x209101b8; //Output rate of the UBX-MON-HW message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW_UART1 = 0x209101b5; //Output rate of the UBX-MON-HW message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW_UART2 = 0x209101b6; //Output rate of the UBX-MON-HW message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_HW_USB = 0x209101b7; //Output rate of the UBX-MON-HW message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_IO_I2C = 0x209101a5; //Output rate of the UBX-MON-IO message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_IO_SPI = 0x209101a9; //Output rate of the UBX-MON-IO message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_IO_UART1 = 0x209101a6; //Output rate of the UBX-MON-IO message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_IO_UART2 = 0x209101a7; //Output rate of the UBX-MON-IO message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_IO_USB = 0x209101a8; //Output rate of the UBX-MON-IO message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_I2C = 0x20910196; //Output rate of the UBX-MON-MSGPP message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_SPI = 0x2091019a; //Output rate of the UBX-MON-MSGPP message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_UART1 = 0x20910197; //Output rate of the UBX-MON-MSGPP message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_UART2 = 0x20910198; //Output rate of the UBX-MON-MSGPP message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_MSGPP_USB = 0x20910199; //Output rate of the UBX-MON-MSGPP message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RF_I2C = 0x20910359; //Output rate of the UBX-MON-RF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RF_SPI = 0x2091035d; //Output rate of the UBX-MON-RF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RF_UART1 = 0x2091035a; //Output rate of the UBX-MON-RF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RF_UART2 = 0x2091035b; //Output rate of the UBX-MON-RF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RF_USB = 0x2091035c; // Output rate of the UBX-MON-RF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_I2C = 0x209101a0; // Output rate of the UBX-MON-RXBUF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_SPI = 0x209101a4; // Output rate of the UBX-MON-RXBUF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_UART1 = 0x209101a1; // Output rate of the UBX-MON-RXBUF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_UART2 = 0x209101a2; // Output rate of the UBX-MON-RXBUF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXBUF_USB = 0x209101a3; // Output rate of the UBX-MON-RXBUF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXR_I2C = 0x20910187; // Output rate of the UBX-MON-RXR message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXR_SPI = 0x2091018b; // Output rate of the UBX-MON-RXR message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXR_UART1 = 0x20910188; // Output rate of the UBX-MON-RXR message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXR_UART2 = 0x20910189; // Output rate of the UBX-MON-RXR message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_RXR_USB = 0x2091018a; // Output rate of the UBX-MON-RXR message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_I2C = 0x2091038b; // Output rate of the UBX-MON-SPAN message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_SPI = 0x2091038f; // Output rate of the UBX-MON-SPAN message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_UART1 = 0x2091038c; // Output rate of the UBX-MON-SPAN message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_UART2 = 0x2091038d; // Output rate of the UBX-MON-SPAN message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_SPAN_USB = 0x2091038e; // Output rate of the UBX-MON-SPAN message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_I2C = 0x2091019b; // Output rate of the UBX-MON-TXBUF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_SPI = 0x2091019f; // Output rate of the UBX-MON-TXBUF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_UART1 = 0x2091019c; // Output rate of the UBX-MON-TXBUF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_UART2 = 0x2091019d; // Output rate of the UBX-MON-TXBUF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_MON_TXBUF_USB = 0x2091019e; // Output rate of the UBX-MON-TXBUF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ATT_I2C = 0x2091001f; // Output rate of the UBX_NAV_ATT message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ATT_SPI = 0x20910023; // Output rate of the UBX_NAV_ATT message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ATT_UART1 = 0x20910020; // Output rate of the UBX_NAV_ATT message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ATT_UART2 = 0x20910021; // Output rate of the UBX_NAV_ATT message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ATT_USB = 0x20910022; // Output rate of the UBX_NAV_ATT message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_I2C = 0x20910065; // Output rate of the UBX-NAV-CLOCK message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_SPI = 0x20910069; // Output rate of the UBX-NAV-CLOCK message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_UART1 = 0x20910066; // Output rate of the UBX-NAV-CLOCK message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_UART2 = 0x20910067; // Output rate of the UBX-NAV-CLOCK message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_CLOCK_USB = 0x20910068; // Output rate of the UBX-NAV-CLOCK message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_DOP_I2C = 0x20910038; // Output rate of the UBX-NAV-DOP message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_DOP_SPI = 0x2091003c; // Output rate of the UBX-NAV-DOP message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_DOP_UART1 = 0x20910039; // Output rate of the UBX-NAV-DOP message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_DOP_UART2 = 0x2091003a; // Output rate of the UBX-NAV-DOP message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_DOP_USB = 0x2091003b; // Output rate of the UBX-NAV-DOP message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EOE_I2C = 0x2091015f; // Output rate of the UBX-NAV-EOE message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EOE_SPI = 0x20910163; // Output rate of the UBX-NAV-EOE message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EOE_UART1 = 0x20910160; // Output rate of the UBX-NAV-EOE message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EOE_UART2 = 0x20910161; // Output rate of the UBX-NAV-EOE message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_EOE_USB = 0x20910162; // Output rate of the UBX-NAV-EOE message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_I2C = 0x209100a1; // Output rate of the UBX-NAV-GEOFENCE message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_SPI = 0x209100a5; // Output rate of the UBX-NAV-GEOFENCE message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_UART1 = 0x209100a2;// Output rate of the UBX-NAV-GEOFENCE message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_UART2 = 0x209100a3;// Output rate of the UBX-NAV-GEOFENCE message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_GEOFENCE_USB = 0x209100a4; // Output rate of the UBX-NAV-GEOFENCE message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_I2C = 0x2091002e;// Output rate of the UBX-NAV-HPPOSECEF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_SPI = 0x20910032;// Output rate of the UBX-NAV-HPPOSECEF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART1 = 0x2091002f;// Output rate of the UBX-NAV-HPPOSECEF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_UART2 = 0x20910030;// Output rate of the UBX-NAV-HPPOSECEF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB = 0x20910031;// Output rate of the UBX-NAV-HPPOSECEF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_I2C = 0x20910033; // Output rate of the UBX-NAV-HPPOSLLH message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_SPI = 0x20910037; // Output rate of the UBX-NAV-HPPOSLLH message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART1 = 0x20910034;// Output rate of the UBX-NAV-HPPOSLLH message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_UART2 = 0x20910035;// Output rate of the UBX-NAV-HPPOSLLH message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB = 0x20910036; // Output rate of the UBX-NAV-HPPOSLLH message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ODO_I2C = 0x2091007e; // Output rate of the UBX-NAV-ODO message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ODO_SPI = 0x20910082; // Output rate of the UBX-NAV-ODO message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ODO_UART1 = 0x2091007f; // Output rate of the UBX-NAV-ODO message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ODO_UART2 = 0x20910080; // Output rate of the UBX-NAV-ODO message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ODO_USB = 0x20910081; // Output rate of the UBX-NAV-ODO message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_I2C = 0x20910010; // Output rate of the UBX-NAV-ORB message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_SPI = 0x20910014; // Output rate of the UBX-NAV-ORB message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART1 = 0x20910011; // Output rate of the UBX-NAV-ORB message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_UART2 = 0x20910012; // Output rate of the UBX-NAV-ORB message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_ORB_USB = 0x20910013; // Output rate of the UBX-NAV-ORB message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_I2C = 0x20910024; // Output rate of the UBX-NAV-POSECEF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_SPI = 0x20910028; // Output rate of the UBX-NAV-POSECEF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_UART1 = 0x20910025;// Output rate of the UBX-NAV-POSECEF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_UART2 = 0x20910026;// Output rate of the UBX-NAV-POSECEF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSECEF_USB = 0x20910027; // Output rate of the UBX-NAV-POSECEF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_I2C = 0x20910029; // Output rate of the UBX-NAV-POSLLH message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_SPI = 0x2091002d; // Output rate of the UBX-NAV-POSLLH message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_UART1 = 0x2091002a; // Output rate of the UBX-NAV-POSLLH message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_UART2 = 0x2091002b; // Output rate of the UBX-NAV-POSLLH message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_POSLLH_USB = 0x2091002c; // Output rate of the UBX-NAV-POSLLH message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PVT_I2C = 0x20910006; // Output rate of the UBX-NAV-PVT message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PVT_SPI = 0x2091000a; // Output rate of the UBX-NAV-PVT message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PVT_UART1 = 0x20910007; // Output rate of the UBX-NAV-PVT message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PVT_UART2 = 0x20910008; // Output rate of the UBX-NAV-PVT message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_PVT_USB = 0x20910009; // Output rate of the UBX-NAV-PVT message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_I2C = 0x2091008d; // Output rate of the UBX-NAV-RELPOSNED message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_SPI = 0x20910091;// Output rate of the UBX-NAV-RELPOSNED message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_UART1 = 0x2091008e;// Output rate of the UBX-NAV-RELPOSNED message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_UART2 = 0x2091008f;// Output rate of the UBX-NAV-RELPOSNED message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_RELPOSNED_USB = 0x20910090;// Output rate of the UBX-NAV-RELPOSNED message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SAT_I2C = 0x20910015; // Output rate of the UBX-NAV-SAT message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SAT_SPI = 0x20910019; // Output rate of the UBX-NAV-SAT message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SAT_UART1 = 0x20910016; // Output rate of the UBX-NAV-SAT message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SAT_UART2 = 0x20910017; // Output rate of the UBX-NAV-SAT message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SAT_USB = 0x20910018; // Output rate of the UBX-NAV-SAT message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_I2C = 0x2091006a; // Output rate of the UBX-NAV-SBAS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_SPI = 0x2091006e; // Output rate of the UBX-NAV-SBAS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_UART1 = 0x2091006b; // Output rate of the UBX-NAV-SBAS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_UART2 = 0x2091006c; // Output rate of the UBX-NAV-SBAS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SBAS_USB = 0x2091006d; // Output rate of the UBX-NAV-SBAS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SIG_I2C = 0x20910345; // Output rate of the UBX-NAV-SIG message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SIG_SPI = 0x20910349; // Output rate of the UBX-NAV-SIG message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SIG_UART1 = 0x20910346; // Output rate of the UBX-NAV-SIG message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SIG_UART2 = 0x20910347; // Output rate of the UBX-NAV-SIG message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SIG_USB = 0x20910348; // Output rate of the UBX-NAV-SIG message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_I2C = 0x20910336; // Output rate of the UBX-NAV-SLAS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_SPI = 0x2091033a; // Output rate of the UBX-NAV-SLAS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_UART1 = 0x20910337; // Output rate of the UBX-NAV-SLAS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_UART2 = 0x20910338; // Output rate of the UBX-NAV-SLAS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SLAS_USB = 0x20910339; // Output rate of the UBX-NAV-SLAS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_I2C = 0x2091001a; // Output rate of the UBX-NAV-STATUS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_SPI = 0x2091001e; // Output rate of the UBX-NAV-STATUS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_UART1 = 0x2091001b; // Output rate of the UBX-NAV-STATUS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_UART2 = 0x2091001c; // Output rate of the UBX-NAV-STATUS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_STATUS_USB = 0x2091001d; // Output rate of the UBX-NAV-STATUS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_I2C = 0x20910088; // Output rate of the UBX-NAV-SVIN message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_SPI = 0x2091008c; // Output rate of the UBX-NAV-SVIN message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_UART1 = 0x20910089; // Output rate of the UBX-NAV-SVIN message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_UART2 = 0x2091008a; // Output rate of the UBX-NAV-SVIN message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_SVIN_USB = 0x2091008b; // Output rate of the UBX-NAV-SVIN message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_I2C = 0x20910051; // Output rate of the UBX-NAV-TIMEBDS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_SPI = 0x20910055; // Output rate of the UBX-NAV-TIMEBDS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_UART1 = 0x20910052;// Output rate of the UBX-NAV-TIMEBDS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_UART2 = 0x20910053;// Output rate of the UBX-NAV-TIMEBDS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEBDS_USB = 0x20910054; // Output rate of the UBX-NAV-TIMEBDS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_I2C = 0x20910056; // Output rate of the UBX-NAV-TIMEGAL message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_SPI = 0x2091005a; // Output rate of the UBX-NAV-TIMEGAL message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_UART1 = 0x20910057;// Output rate of the UBX-NAV-TIMEGAL message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_UART2 = 0x20910058;// Output rate of the UBX-NAV-TIMEGAL message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGAL_USB = 0x20910059; // Output rate of the UBX-NAV-TIMEGAL message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_I2C = 0x2091004c; // Output rate of the UBX-NAV-TIMEGLO message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_SPI = 0x20910050; // Output rate of the UBX-NAV-TIMEGLO message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_UART1 = 0x2091004d;// Output rate of the UBX-NAV-TIMEGLO message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_UART2 = 0x2091004e;// Output rate of the UBX-NAV-TIMEGLO message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGLO_USB = 0x2091004f; // Output rate of the UBX-NAV-TIMEGLO message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_I2C = 0x20910047; // Output rate of the UBX-NAV-TIMEGPS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_SPI = 0x2091004b; // Output rate of the UBX-NAV-TIMEGPS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_UART1 = 0x20910048;// Output rate of the UBX-NAV-TIMEGPS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_UART2 = 0x20910049;// Output rate of the UBX-NAV-TIMEGPS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEGPS_USB = 0x2091004a; // Output rate of the UBX-NAV-TIMEGPS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_I2C = 0x20910060; // Output rate of the UBX-NAV-TIMELS message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_SPI = 0x20910064; // Output rate of the UBX-NAV-TIMELS message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_UART1 = 0x20910061; // Output rate of the UBX-NAV-TIMELS message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_UART2 = 0x20910062; // Output rate of the UBX-NAV-TIMELS message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMELS_USB = 0x20910063; // Output rate of the UBX-NAV-TIMELS message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_I2C = 0x20910386; // Output rate of the UBX-NAV-TIMEQZSSmessage on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_SPI = 0x2091038a; // Output rate of the UBX-NAV-TIMEQZSSmessage on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART1 = 0x20910387;// Output rate of the UBX-NAV-TIMEQZSSmessage on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_UART2 = 0x20910388;// Output rate of the UBX-NAV-TIMEQZSSmessage on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEQZSS_USB = 0x20910389; // Output rate of the UBX-NAV-TIMEQZSSmessage on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_I2C = 0x2091005b; // Output rate of the UBX-NAV-TIMEUTC message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_SPI = 0x2091005f; // Output rate of the UBX-NAV-TIMEUTC message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_UART1 = 0x2091005c;// Output rate of the UBX-NAV-TIMEUTC message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_UART2 = 0x2091005d;// Output rate of the UBX-NAV-TIMEUTC message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_TIMEUTC_USB = 0x2091005e; // Output rate of the UBX-NAV-TIMEUTC message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_I2C = 0x2091003d; // Output rate of the UBX-NAV-VELECEF message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_SPI = 0x20910041; // Output rate of the UBX-NAV-VELECEF message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_UART1 = 0x2091003e;// Output rate of the UBX-NAV-VELECEF message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_UART2 = 0x2091003f;// Output rate of the UBX-NAV-VELECEF message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELECEF_USB = 0x20910040; // Output rate of the UBX-NAV-VELECEF message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_I2C = 0x20910042; // Output rate of the UBX-NAV-VELNED message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_SPI = 0x20910046; // Output rate of the UBX-NAV-VELNED message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_UART1 = 0x20910043; // Output rate of the UBX-NAV-VELNED message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_UART2 = 0x20910044; // Output rate of the UBX-NAV-VELNED message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_NAV_VELNED_USB = 0x20910045; // Output rate of the UBX-NAV-VELNED message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_I2C = 0x20910204; // Output rate of the UBX-RXM-MEASX message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_SPI = 0x20910208; // Output rate of the UBX-RXM-MEASX message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_UART1 = 0x20910205; // Output rate of the UBX-RXM-MEASX message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_UART2 = 0x20910206; // Output rate of the UBX-RXM-MEASX message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_MEASX_USB = 0x20910207; // Output rate of the UBX-RXM-MEASX message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_I2C = 0x209102a4; // Output rate of the UBX-RXM-RAWX message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_SPI = 0x209102a8; // Output rate of the UBX-RXM-RAWX message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_UART1 = 0x209102a5; // Output rate of the UBX-RXM-RAWX message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_UART2 = 0x209102a6; // Output rate of the UBX-RXM-RAWX message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RAWX_USB = 0x209102a7; // Output rate of the UBX-RXM-RAWX message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RLM_I2C = 0x2091025e; // Output rate of the UBX-RXM-RLM message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RLM_SPI = 0x20910262; // Output rate of the UBX-RXM-RLM message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RLM_UART1 = 0x2091025f; // Output rate of the UBX-RXM-RLM message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RLM_UART2 = 0x20910260; // Output rate of the UBX-RXM-RLM message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RLM_USB = 0x20910261; // Output rate of the UBX-RXM-RLM message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_I2C = 0x20910268; // Output rate of the UBX-RXM-RTCM message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_SPI = 0x2091026c; // Output rate of the UBX-RXM-RTCM message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_UART1 = 0x20910269; // Output rate of the UBX-RXM-RTCM message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_UART2 = 0x2091026a; // Output rate of the UBX-RXM-RTCM message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_RTCM_USB = 0x2091026b; // Output rate of the UBX-RXM-RTCM message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_I2C = 0x20910231; // Output rate of the UBX-RXM-SFRBX message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_SPI = 0x20910235; // Output rate of the UBX-RXM-SFRBX message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_UART1 = 0x20910232; // Output rate of the UBX-RXM-SFRBX message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_UART2 = 0x20910233; // Output rate of the UBX-RXM-SFRBX message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_RXM_SFRBX_USB = 0x20910234; // Output rate of the UBX-RXM-SFRBX message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_I2C = 0x20910178; // Output rate of the UBX-TIM-TM2 message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_SPI = 0x2091017c; // Output rate of the UBX-TIM-TM2 message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_UART1 = 0x20910179; // Output rate of the UBX-TIM-TM2 message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_UART2 = 0x2091017a; // Output rate of the UBX-TIM-TM2 message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TM2_USB = 0x2091017b; // Output rate of the UBX-TIM-TM2 message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TP_I2C = 0x2091017d; // Output rate of the UBX-TIM-TP message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TP_SPI = 0x20910181; // Output rate of the UBX-TIM-TP message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TP_UART1 = 0x2091017e; // Output rate of the UBX-TIM-TP message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TP_UART2 = 0x2091017f; // Output rate of the UBX-TIM-TP message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_TP_USB = 0x20910180; // Output rate of the UBX-TIM-TP message on port USB +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_I2C = 0x20910092; // Output rate of the UBX-TIM-VRFY message on port I2C +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_SPI = 0x20910096; // Output rate of the UBX-TIM-VRFY message on port SPI +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART1 = 0x20910093; // Output rate of the UBX-TIM-VRFY message on port UART1 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_UART2 = 0x20910094; // Output rate of the UBX-TIM-VRFY message on port UART2 +const uint32_t UBLOX_CFG_MSGOUT_UBX_TIM_VRFY_USB = 0x20910095; // Output rate of the UBX-TIM-VRFY message on port USB + +//CFG-NAVHPG: High precision navigation configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_NAVHPG_DGNSSMODE = 0x20140011; // DiīŦ€erential corrections mode + +//CFG-NAVSPG: Standard precision navigation configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_NAVSPG_FIXMODE = 0x20110011; // Position fix mode +const uint32_t UBLOX_CFG_NAVSPG_INIFIX3D = 0x10110013; // Initial fix must be a 3D fix +const uint32_t UBLOX_CFG_NAVSPG_WKNROLLOVER = 0x30110017; // GPS week rollover number +const uint32_t UBLOX_CFG_NAVSPG_UTCSTANDARD = 0x2011001c; // UTC standard to be used +const uint32_t UBLOX_CFG_NAVSPG_DYNMODEL = 0x20110021; // Dynamic platform model +const uint32_t UBLOX_CFG_NAVSPG_ACKAIDING = 0x10110025; // Acknowledge assistance input messages +const uint32_t UBLOX_CFG_NAVSPG_USE_USRDAT = 0x10110061; // Use user geodetic datum parameters +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_MAJA = 0x50110062; // Geodetic datum semi-major axis +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_FLAT = 0x50110063; // Geodetic datum 1.0 flattening +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_DX = 0x40110064; // Geodetic datum X axis shift at the origin +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_DY = 0x40110065; // Geodetic datum Y axis shift at the origin +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_DZ = 0x40110066; // Geodetic datum Z axis shift at the origin +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_ROTX = 0x40110067; // arcsec Geodetic datum rotation about the X axis +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_ROTY = 0x40110068; // arcsec Geodetic datum rotation about the Y axis +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_ROTZ = 0x40110069; // arcsec Geodetic datum rotation about the Z axis +const uint32_t UBLOX_CFG_NAVSPG_USRDAT_SCALE = 0x4011006a; // ppm Geodetic datum scale factor +const uint32_t UBLOX_CFG_NAVSPG_INFIL_MINSVS = 0x201100a1; // Minimum number of satellites for navigation +const uint32_t UBLOX_CFG_NAVSPG_INFIL_MAXSVS = 0x201100a2; // Maximum number of satellites for navigation +const uint32_t UBLOX_CFG_NAVSPG_INFIL_MINCNO = 0x201100a3; // Minimum satellite signal level for navigation +const uint32_t UBLOX_CFG_NAVSPG_INFIL_MINELEV = 0x201100a4; // Minimum elevation for a GNSS satellite to be used in navigation +const uint32_t UBLOX_CFG_NAVSPG_INFIL_NCNOTHRS = 0x201100aa; // Number of satellites required to have C/N0 above const uint32_t UBLOX_CFG_NAVSPG-INFIL_CNOTHRS for a fix to be attempted +const uint32_t UBLOX_CFG_NAVSPG_INFIL_CNOTHRS = 0x201100ab; // C/N0 threshold for deciding whether to attempt a fix +const uint32_t UBLOX_CFG_NAVSPG_OUTFIL_PDOP = 0x301100b1; // Output filter position DOP mask (threshold) +const uint32_t UBLOX_CFG_NAVSPG_OUTFIL_TDOP = 0x301100b2; // Output filter time DOP mask (threshold) +const uint32_t UBLOX_CFG_NAVSPG_OUTFIL_PACC = 0x301100b3; // Output filter position accuracy mask (threshold) +const uint32_t UBLOX_CFG_NAVSPG_OUTFIL_TACC = 0x301100b4; // Output filter time accuracy mask (threshold) +const uint32_t UBLOX_CFG_NAVSPG_OUTFIL_FACC = 0x301100b5; // Output filter frequency accuracy mask (threshold) +const uint32_t UBLOX_CFG_NAVSPG_CONSTR_ALT = 0x401100c1; // Fixed altitude (mean sea level) for 2D fix mode +const uint32_t UBLOX_CFG_NAVSPG_CONSTR_ALTVAR = 0x401100c2; // Fixed altitude variance for 2D mode +const uint32_t UBLOX_CFG_NAVSPG_CONSTR_DGNSSTO = 0x201100c4; // DGNSS timeout + +//CFG-NMEA: NMEA protocol configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_NMEA_PROTVER = 0x20930001; // NMEA protocol version +const uint32_t UBLOX_CFG_NMEA_MAXSVS = 0x20930002; // Maximum number of SVs to report per Talker ID +const uint32_t UBLOX_CFG_NMEA_COMPAT = 0x10930003; // Enable compatibility mode +const uint32_t UBLOX_CFG_NMEA_CONSIDER = 0x10930004; // Enable considering mode +const uint32_t UBLOX_CFG_NMEA_LIMIT82 = 0x10930005; // Enable strict limit to 82 characters maximum NMEA message length +const uint32_t UBLOX_CFG_NMEA_HIGHPREC = 0x10930006; // Enable high precision mode +const uint32_t UBLOX_CFG_NMEA_SVNUMBERING = 0x20930007; // Display configuration for SVs that do not have value defined in NMEA +const uint32_t UBLOX_CFG_NMEA_FILT_GPS = 0x10930011; // Disable reporting of GPS satellites +const uint32_t UBLOX_CFG_NMEA_FILT_SBAS = 0x10930012; // Disable reporting of SBAS satellites +const uint32_t UBLOX_CFG_NMEA_FILT_GAL = 0x10930013; // Disable reporting of Galileo satellites +const uint32_t UBLOX_CFG_NMEA_FILT_QZSS = 0x10930015; // Disable reporting of QZSS satellites +const uint32_t UBLOX_CFG_NMEA_FILT_GLO = 0x10930016; // Disable reporting of GLONASS satellites +const uint32_t UBLOX_CFG_NMEA_FILT_BDS = 0x10930017; // Disable reporting of BeiDou satellites +const uint32_t UBLOX_CFG_NMEA_OUT_INVFIX = 0x10930021; // Enable position output for failed or invalid fixes +const uint32_t UBLOX_CFG_NMEA_OUT_MSKFIX = 0x10930022; // Enable position output for invalid fixes +const uint32_t UBLOX_CFG_NMEA_OUT_INVTIME = 0x10930023; // Enable time output for invalid times +const uint32_t UBLOX_CFG_NMEA_OUT_INVDATE = 0x10930024; // Enable date output for invalid dates +const uint32_t UBLOX_CFG_NMEA_OUT_ONLYGPS = 0x10930025; // Restrict output to GPS satellites only +const uint32_t UBLOX_CFG_NMEA_OUT_FROZENCOG = 0x10930026; // Enable course over ground output even if it is frozen +const uint32_t UBLOX_CFG_NMEA_MAINTALKERID = 0x20930031; // Main Talker ID +const uint32_t UBLOX_CFG_NMEA_GSVTALKERID = 0x20930032; // Talker ID for GSV NMEA messages +const uint32_t UBLOX_CFG_NMEA_BDSTALKERID = 0x30930033; // BeiDou Talker ID + +//CFG-ODO: Odometer and low-speed course over ground filter +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_ODO_USE_ODO = 0x10220001; // Use odometer +const uint32_t UBLOX_CFG_ODO_USE_COG = 0x10220002; // Use low-speed course over ground filter +const uint32_t UBLOX_CFG_ODO_OUTLPVEL = 0x10220003; // Output low-pass filtered velocity +const uint32_t UBLOX_CFG_ODO_OUTLPCOG = 0x10220004; // Output low-pass filtered course over ground (heading) +const uint32_t UBLOX_CFG_ODO_PROFILE = 0x20220005; // Odometer profile configuration +const uint32_t UBLOX_CFG_ODO_COGMAXSPEED = 0x20220021; // Upper speed limit for low-speed course over ground filter +const uint32_t UBLOX_CFG_ODO_COGMAXPOSACC = 0x20220022; // Maximum acceptable position accuracy for computing low-speed filtered course over ground +const uint32_t UBLOX_CFG_ODO_VELLPGAIN = 0x20220031; // Velocity low-pass filter level +const uint32_t UBLOX_CFG_ODO_COGLPGAIN = 0x20220032; // Course over ground low-pass filter level (at speed < 8 m/s) + +//CFG-QZSS: QZSS system configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_QZSS_USE_SLAS_DGNSS = 0x10370005; // Apply QZSS SLAS DGNSS corrections +const uint32_t UBLOX_CFG_QZSS_USE_SLAS_TESTMODE = 0x10370006; // Use QZSS SLAS data when it is in test mode (SLAS msg 0) +const uint32_t UBLOX_CFG_QZSS_USE_SLAS_RAIM_UNCORR = 0x10370007; // Raim out measurements that are not corrected by QZSS SLAS, if at least 5 measurements are corrected + +//CFG-RATE: Navigation and measurement rate configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_RATE_MEAS = 0x30210001; // Nominal time between GNSS measurements +const uint32_t UBLOX_CFG_RATE_NAV = 0x30210002; // Ratio of number of measurements to number of navigation solutions +const uint32_t UBLOX_CFG_RATE_TIMEREF = 0x20210003; // Time system to which measurements are aligned + +//CFG-RINV: Remote inventory +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_RINV_DUMP = 0x10c70001; // Dump data at startup +const uint32_t UBLOX_CFG_RINV_BINARY = 0x10c70002; // Data is binary +const uint32_t UBLOX_CFG_RINV_DATA_SIZE = 0x20c70003; // Size of data +const uint32_t UBLOX_CFG_RINV_CHUNK0 = 0x50c70004; // Data bytes 1-8 (LSB) +const uint32_t UBLOX_CFG_RINV_CHUNK1 = 0x50c70005; // Data bytes 9-16 +const uint32_t UBLOX_CFG_RINV_CHUNK2 = 0x50c70006; // Data bytes 17-240x44434241. +const uint32_t UBLOX_CFG_RINV_CHUNK3 = 0x50c70007; // Data bytes 25-30 (MSB) + +//CFG-RTCM: RTCM protocol configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_RTCM_DF003_OUT = 0x30090001; // RTCM DF003 (Reference station ID) output value +const uint32_t UBLOX_CFG_RTCM_DF003_IN = 0x30090008; // RTCM DF003 (Reference station ID) input value +const uint32_t UBLOX_CFG_RTCM_DF003_IN_FILTER = 0x20090009; // RTCM input filter configuration based on RTCM DF003 (Reference station ID) value + +//CFG-SBAS: SBAS configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SBAS_USE_TESTMODE = 0x10360002; // Use SBAS data when it is in test mode (SBAS msg 0) +const uint32_t UBLOX_CFG_SBAS_USE_RANGING = 0x10360003; // Use SBAS GEOs as a ranging source (for navigation) +const uint32_t UBLOX_CFG_SBAS_USE_DIFFCORR = 0x10360004; // Use SBAS diīŦ€erential corrections +const uint32_t UBLOX_CFG_SBAS_USE_INTEGRITY = 0x10360005; // Use SBAS integrity information +const uint32_t UBLOX_CFG_SBAS_PRNSCANMASK = 0x50360006; // SBAS PRN search configuration + +//CFG-SIGNAL: Satellite systems (GNSS) signal configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SIGNAL_GPS_ENA = 0x1031001f; // GPS enable +const uint32_t UBLOX_CFG_SIGNAL_GPS_L1CA_ENA = 0x10310001; // GPS L1C/A +const uint32_t UBLOX_CFG_SIGNAL_GPS_L2C_ENA = 0x10310003; // GPS L2C (only on u-blox F9 platform products) +const uint32_t UBLOX_CFG_SIGNAL_SBAS_ENA = 0x10310020; // SBAS enable +const uint32_t UBLOX_CFG_SIGNAL_SBAS_L1CA_ENA = 0x10310005; // SBAS L1C/A +const uint32_t UBLOX_CFG_SIGNAL_GAL_ENA = 0x10310021; // Galileo enable +const uint32_t UBLOX_CFG_SIGNAL_GAL_E1_ENA = 0x10310007; // Galileo E1 +const uint32_t UBLOX_CFG_SIGNAL_GAL_E5B_ENA = 0x1031000a; // Galileo E5b (only on u-blox F9 platform products) +const uint32_t UBLOX_CFG_SIGNAL_BDS_ENA = 0x10310022; // BeiDou Enable +const uint32_t UBLOX_CFG_SIGNAL_BDS_B1_ENA = 0x1031000d; // BeiDou B1I +const uint32_t UBLOX_CFG_SIGNAL_BDS_B2_ENA = 0x1031000e; // BeiDou B2I (only on u-blox F9 platform products) +const uint32_t UBLOX_CFG_SIGNAL_QZSS_ENA = 0x10310024; // QZSS enable +const uint32_t UBLOX_CFG_SIGNAL_QZSS_L1CA_ENA = 0x10310012; // QZSS L1C/A +const uint32_t UBLOX_CFG_SIGNAL_QZSS_L1S_ENA = 0x10310014; // QZSS L1S +const uint32_t UBLOX_CFG_SIGNAL_QZSS_L2C_ENA = 0x10310015; // QZSS L2C (only on u-blox F9 platform products) +const uint32_t UBLOX_CFG_SIGNAL_GLO_ENA = 0x10310025; // GLONASS enable +const uint32_t UBLOX_CFG_SIGNAL_GLO_L1_ENA = 0x10310018; // GLONASS L1 +const uint32_t UBLOX_CFG_SIGNAL_GLO_L2_ENA = 0x1031001a; // GLONASS L2 (only on u-blox F9 platform products) + +//CFG-SPI: Configuration of the SPI interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SPI_MAXFF = 0x20640001; // Number of bytes containing 0xFF to receive before switching oīŦ€ reception. Range: 0 (mechanism oīŦ€) - 63 +const uint32_t UBLOX_CFG_SPI_CPOLARITY = 0x10640002; // Clock polarity select: 0: Active Hight Clock, SCLK idles low, 1: Active Low Clock, SCLK idles high +const uint32_t UBLOX_CFG_SPI_CPHASE = 0x10640003; // Clock phase select: 0: Data captured on first edge of SCLK, 1: Data captured on second edge of SCLK +const uint32_t UBLOX_CFG_SPI_EXTENDEDTIMEOUT = 0x10640005; // Flag to disable timeouting the interface after 1.5s +const uint32_t UBLOX_CFG_SPI_ENABLED = 0x10640006; // Flag to indicate if the SPI interface should be enabled + +//CFG-SPIINPROT: Input protocol configuration of the SPI interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SPIINPROT_UBX = 0x10790001; // Flag to indicate if UBX should be an input protocol on SPI +const uint32_t UBLOX_CFG_SPIINPROT_NMEA = 0x10790002; // Flag to indicate if NMEA should be an input protocol on SPI +const uint32_t UBLOX_CFG_SPIINPROT_RTCM3X = 0x10790004; // Flag to indicate if RTCM3X should be an input protocol on SPI + +//CFG-SPIOUTPROT: Output protocol configuration of the SPI interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_SPIOUTPROT_UBX = 0x107a0001; // Flag to indicate if UBX should be an output protocol on SPI +const uint32_t UBLOX_CFG_SPIOUTPROT_NMEA = 0x107a0002; // Flag to indicate if NMEA should be an output protocol on SPI +const uint32_t UBLOX_CFG_SPIOUTPROT_RTCM3X = 0x107a0004; // Flag to indicate if RTCM3X should be an output protocol on SPI + +//CFG-TMODE: Time mode configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_TMODE_MODE = 0x20030001; // Receiver mode +const uint32_t UBLOX_CFG_TMODE_POS_TYPE = 0x20030002; // Determines whether the ARP position is given in ECEF or LAT/LON/HEIGHT? +const uint32_t UBLOX_CFG_TMODE_ECEF_X = 0x40030003; // ECEF X coordinate of the ARP position. +const uint32_t UBLOX_CFG_TMODE_ECEF_Y = 0x40030004; // ECEF Y coordinate of the ARP position. +const uint32_t UBLOX_CFG_TMODE_ECEF_Z = 0x40030005; // ECEF Z coordinate of the ARP position. +const uint32_t UBLOX_CFG_TMODE_ECEF_X_HP = 0x20030006; // High-precision ECEF X coordinate of the ARP position. +const uint32_t UBLOX_CFG_TMODE_ECEF_Y_HP = 0x20030007; // High-precision ECEF Y coordinate of the ARP position. +const uint32_t UBLOX_CFG_TMODE_ECEF_Z_HP = 0x20030008; // High-precision ECEF Z coordinate of the ARP position. +const uint32_t UBLOX_CFG_TMODE_LAT = 0x40030009; // Latitude of the ARP position. +const uint32_t UBLOX_CFG_TMODE_LON = 0x4003000a; // Longitude of the ARP position. +const uint32_t UBLOX_CFG_TMODE_HEIGHT = 0x4003000b; // Height of the ARP position. +const uint32_t UBLOX_CFG_TMODE_LAT_HP = 0x2003000c; // High-precision latitude of the ARP position +const uint32_t UBLOX_CFG_TMODE_LON_HP = 0x2003000d; // High-precision longitude of the ARP position. +const uint32_t UBLOX_CFG_TMODE_HEIGHT_HP = 0x2003000e; // High-precision height of the ARP position. +const uint32_t UBLOX_CFG_TMODE_FIXED_POS_ACC = 0x4003000f; // Fixed position 3D accuracy +const uint32_t UBLOX_CFG_TMODE_SVIN_MIN_DUR = 0x40030010; // Survey-in minimum duration +const uint32_t UBLOX_CFG_TMODE_SVIN_ACC_LIMIT = 0x40030011; // Survey-in position accuracy limit + +//CFG-TP: Timepulse configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_TP_PULSE_DEF = 0x20050023; // Determines whether the time pulse is interpreted as frequency or period +const uint32_t UBLOX_CFG_TP_PULSE_LENGTH_DEF = 0x20050030; // Determines whether the time pulse length is interpreted as length[us] or pulse ratio[%] +const uint32_t UBLOX_CFG_TP_FREQ_TP1 = 0x40050024; // Time pulse frequency (TP1) +const uint32_t UBLOX_CFG_TP_FREQ_LOCK_TP1 = 0x40050025; // Time pulse frequency when locked to GNSS time (TP1) +const uint32_t UBLOX_CFG_TP_LEN_TP1 = 0x40050004; // Time pulse length (TP1) +const uint32_t UBLOX_CFG_TP_LEN_LOCK_TP1 = 0x40050005; // Time pulse length when locked to GNSS time (TP1) +const uint32_t UBLOX_CFG_TP_DUTY_TP1 = 0x5005002a; // Time pulse duty cycle (TP1) +const uint32_t UBLOX_CFG_TP_DUTY_LOCK_TP1 = 0x5005002b; // Time pulse duty cycle when locked to GNSS time (TP1) +const uint32_t UBLOX_CFG_TP_USER_DELAY_TP1 = 0x40050006; // User-configurable time pulse delay (TP1) +const uint32_t UBLOX_CFG_TP_TP1_ENA = 0x10050007; // Enable the first timepulse +const uint32_t UBLOX_CFG_TP_SYNC_GNSS_TP1 = 0x10050008; // Sync time pulse to GNSS time or local clock (TP1) +const uint32_t UBLOX_CFG_TP_USE_LOCKED_TP1 = 0x10050009; // Use locked parameters when possible (TP1) +const uint32_t UBLOX_CFG_TP_ALIGN_TO_TOW_TP1 = 0x1005000a; // Align time pulse to top of second (TP1) +const uint32_t UBLOX_CFG_TP_POL_TP1 = 0x1005000b; // Set time pulse polarity (TP1) +const uint32_t UBLOX_CFG_TP_TIMEGRID_TP1 = 0x2005000c; // Time grid to use (TP1) + +//CFG-TXREADY: TX ready configuration +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_TXREADY_ENABLED = 0x10a20001; // Flag to indicate if TX ready pin mechanism should be enabled +const uint32_t UBLOX_CFG_TXREADY_POLARITY = 0x10a20002; // The polarity of the TX ready pin: false:high- active, true:low-active +const uint32_t UBLOX_CFG_TXREADY_PIN = 0x20a20003; // Pin number to use for the TX ready functionality +const uint32_t UBLOX_CFG_TXREADY_THRESHOLD = 0x30a20004; // Amount of data that should be ready on the interface before triggering the TX ready pin +const uint32_t UBLOX_CFG_TXREADY_INTERFACE = 0x20a20005; // Interface where the TX ready feature should be linked to + +//CFG-UART1: Configuration of the UART1 interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_UART1_BAUDRATE = 0x40520001; // The baud rate that should be configured on the UART1 +const uint32_t UBLOX_CFG_UART1_STOPBITS = 0x20520002; // Number of stopbits that should be used on UART1 +const uint32_t UBLOX_CFG_UART1_DATABITS = 0x20520003; // Number of databits that should be used on UART1 +const uint32_t UBLOX_CFG_UART1_PARITY = 0x20520004; // Parity mode that should be used on UART1 +const uint32_t UBLOX_CFG_UART1_ENABLED = 0x10520005; // Flag to indicate if the UART1 should be enabled + +//CFG-UART1INPROT: Input protocol configuration of the UART1 interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_UART1INPROT_UBX = 0x10730001; // Flag to indicate if UBX should be an input protocol on UART1 +const uint32_t UBLOX_CFG_UART1INPROT_NMEA = 0x10730002; // Flag to indicate if NMEA should be an input protocol on UART1 +const uint32_t UBLOX_CFG_UART1INPROT_RTCM3X = 0x10730004; // Flag to indicate if RTCM3X should be an input protocol on UART1 + +//CFG-UART1OUTPROT: Output protocol configuration of the UART1 interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_UART1OUTPROT_UBX = 0x10740001; // Flag to indicate if UBX should be an output protocol on UART1 +const uint32_t UBLOX_CFG_UART1OUTPROT_NMEA = 0x10740002; // Flag to indicate if NMEA should be an output protocol on UART1 +const uint32_t UBLOX_CFG_UART1OUTPROT_RTCM3X = 0x10740004; // Flag to indicate if RTCM3X should be an output protocol on UART1 + +//CFG-UART2: Configuration of the UART2 interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_UART2_BAUDRATE = 0x40530001; // The baud rate that should be configured on the UART2 +const uint32_t UBLOX_CFG_UART2_STOPBITS = 0x20530002; // Number of stopbits that should be used on UART2 +const uint32_t UBLOX_CFG_UART2_DATABITS = 0x20530003; // Number of databits that should be used on UART2 +const uint32_t UBLOX_CFG_UART2_PARITY = 0x20530004; // Parity mode that should be used on UART2 +const uint32_t UBLOX_CFG_UART2_ENABLED = 0x10530005; // Flag to indicate if the UART2 should be enabled +const uint32_t UBLOX_CFG_UART2_REMAP = 0x10530006; // UART2 Remapping + +//CFG-UART2INPROT: Input protocol configuration of the UART2 interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_UART2INPROT_UBX = 0x10750001; // Flag to indicate if UBX should be an input protocol on UART2 +const uint32_t UBLOX_CFG_UART2INPROT_NMEA = 0x10750002; // Flag to indicate if NMEA should be an input protocol on UART2 +const uint32_t UBLOX_CFG_UART2INPROT_RTCM3X = 0x10750004; // Flag to indicate if RTCM3X should be an input protocol on UART2 + +//CFG-UART2OUTPROT: Output protocol configuration of the UART2 interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_UART2OUTPROT_UBX = 0x10760001; // Flag to indicate if UBX should be an output protocol on UART2 +const uint32_t UBLOX_CFG_UART2OUTPROT_NMEA = 0x10760002; // Flag to indicate if NMEA should be an output protocol on UART2 +const uint32_t UBLOX_CFG_UART2OUTPROT_RTCM3X = 0x10760004; // Flag to indicate if RTCM3X should be an output protocol on UART2 + +//CFG-USB: Configuration of the USB interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_USB_ENABLED = 0x10650001; // Flag to indicate if the USB interface should be enabled +const uint32_t UBLOX_CFG_USB_SELFPOW = 0x10650002; // Self-powered device +const uint32_t UBLOX_CFG_USB_VENDOR_ID = 0x3065000a; // Vendor ID +const uint32_t UBLOX_CFG_USB_PRODUCT_ID = 0x3065000b; // Vendor ID +const uint32_t UBLOX_CFG_USB_POWER = 0x3065000c; // Power consumption +const uint32_t UBLOX_CFG_USB_VENDOR_STR0 = 0x5065000d; // Vendor string characters 0-7 +const uint32_t UBLOX_CFG_USB_VENDOR_STR1 = 0x5065000e; // Vendor string characters 8-15 +const uint32_t UBLOX_CFG_USB_VENDOR_STR2 = 0x5065000f; // Vendor string characters 16-23 +const uint32_t UBLOX_CFG_USB_VENDOR_STR3 = 0x50650010; // Vendor string characters 24-31 +const uint32_t UBLOX_CFG_USB_PRODUCT_STR0 = 0x50650011; // Product string characters 0-7 +const uint32_t UBLOX_CFG_USB_PRODUCT_STR1 = 0x50650012; // Product string characters 8-15 +const uint32_t UBLOX_CFG_USB_PRODUCT_STR2 = 0x50650013; // Product string characters 16-23 +const uint32_t UBLOX_CFG_USB_PRODUCT_STR3 = 0x50650014; // Product string characters 24-31 +const uint32_t UBLOX_CFG_USB_SERIAL_NO_STR0 = 0x50650015; // Serial number string characters 0-7 +const uint32_t UBLOX_CFG_USB_SERIAL_NO_STR1 = 0x50650016; // Serial number string characters 8-15 +const uint32_t UBLOX_CFG_USB_SERIAL_NO_STR2 = 0x50650017; // Serial number string characters 16-23 +const uint32_t UBLOX_CFG_USB_SERIAL_NO_STR3 = 0x50650018; // Serial number string characters 24-31 + +//CFG-USBINPROT: Input protocol configuration of the USB interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_USBINPROT_UBX = 0x10770001; // Flag to indicate if UBX should be an input protocol on USB +const uint32_t UBLOX_CFG_USBINPROT_NMEA = 0x10770002; // Flag to indicate if NMEA should be an input protocol on USB +const uint32_t UBLOX_CFG_USBINPROT_RTCM3X = 0x10770004; // Flag to indicate if RTCM3X should be an input protocol on USB + +//CFG-USBOUTPROT: Output protocol configuration of the USB interface +//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- +const uint32_t UBLOX_CFG_USBOUTPROT_UBX = 0x10780001; // Flag to indicate if UBX should be an output protocol on USB +const uint32_t UBLOX_CFG_USBOUTPROT_NMEA = 0x10780002; // Flag to indicate if NMEA should be an output protocol on USB +const uint32_t UBLOX_CFG_USBOUTPROT_RTCM3X = 0x10780004; // Flag to indicate if RTCM3X should be an output protocol on USB + +#endif diff --git a/lib/axp192/axp20x.cpp b/lib/axp192/axp20x.cpp new file mode 100644 index 0000000..baf9253 --- /dev/null +++ b/lib/axp192/axp20x.cpp @@ -0,0 +1,1809 @@ +///////////////////////////////////////////////////////////////// +/* +MIT License + +Copyright (c) 2019 lewis he + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + +axp20x.cpp - Arduino library for X-Power AXP202 chip. +Created by Lewis he on April 1, 2019. +github:https://github.com/lewisxhe/AXP202X_Libraries +*/ +///////////////////////////////////////////////////////////////// + +#include "axp20x.h" +#include + +const uint8_t AXP20X_Class::startupParams[] = { + 0b00000000, + 0b01000000, + 0b10000000, + 0b11000000 +}; + +const uint8_t AXP20X_Class::longPressParams[] = { + 0b00000000, + 0b00010000, + 0b00100000, + 0b00110000 +}; + +const uint8_t AXP20X_Class::shutdownParams[] = { + 0b00000000, + 0b00000001, + 0b00000010, + 0b00000011 +}; + +const uint8_t AXP20X_Class::targetVolParams[] = { + 0b00000000, + 0b00100000, + 0b01000000, + 0b01100000 +}; + + + +// Power Output Control register +uint8_t AXP20X_Class::_outputReg; + +int AXP20X_Class::_axp_probe() +{ + uint8_t data; + if (_isAxp173) { + //!Axp173 does not have a chip ID, read the status register to see if it reads normally + _readByte(0x01, 1, &data); + if (data == 0 || data == 0xFF) { + return AXP_FAIL; + } + _chip_id = AXP173_CHIP_ID; + _readByte(AXP202_LDO234_DC23_CTL, 1, &_outputReg); + AXP_DEBUG("OUTPUT Register 0x%x\n", _outputReg); + _init = true; + return AXP_PASS; + } + _readByte(AXP202_IC_TYPE, 1, &_chip_id); + AXP_DEBUG("chip id detect 0x%x\n", _chip_id); + if (_chip_id == AXP202_CHIP_ID || _chip_id == AXP192_CHIP_ID) { + AXP_DEBUG("Detect CHIP :%s\n", _chip_id == AXP202_CHIP_ID ? "AXP202" : "AXP192"); + _readByte(AXP202_LDO234_DC23_CTL, 1, &_outputReg); + AXP_DEBUG("OUTPUT Register 0x%x\n", _outputReg); + _init = true; + return AXP_PASS; + } + return AXP_FAIL; +} + +int AXP20X_Class::begin(TwoWire &port, uint8_t addr, bool isAxp173) +{ + _i2cPort = &port; //Grab which port the user wants us to use + _address = addr; + _isAxp173 = isAxp173; + + return _axp_probe(); +} + +int AXP20X_Class::begin(axp_com_fptr_t read_cb, axp_com_fptr_t write_cb, uint8_t addr, bool isAxp173) +{ + if (read_cb == nullptr || write_cb == nullptr)return AXP_FAIL; + _read_cb = read_cb; + _write_cb = write_cb; + _address = addr; + _isAxp173 = isAxp173; + return _axp_probe(); +} + +//Only axp192 chip +bool AXP20X_Class::isDCDC1Enable() +{ + if (_chip_id == AXP192_CHIP_ID) + return IS_OPEN(_outputReg, AXP192_DCDC1); + else if (_chip_id == AXP173_CHIP_ID) + return IS_OPEN(_outputReg, AXP173_DCDC1); + return false; +} + +bool AXP20X_Class::isExtenEnable() +{ + if (_chip_id == AXP192_CHIP_ID) + return IS_OPEN(_outputReg, AXP192_EXTEN); + else if (_chip_id == AXP202_CHIP_ID) + return IS_OPEN(_outputReg, AXP202_EXTEN); + else if (_chip_id == AXP173_CHIP_ID) { + uint8_t data; + _readByte(AXP173_EXTEN_DC2_CTL, 1, &data); + return IS_OPEN(data, AXP173_CTL_EXTEN_BIT); + } + return false; +} + +bool AXP20X_Class::isLDO2Enable() +{ + if (_chip_id == AXP173_CHIP_ID) { + return IS_OPEN(_outputReg, AXP173_LDO2); + } + //axp192 same axp202 ldo2 bit + return IS_OPEN(_outputReg, AXP202_LDO2); +} + +bool AXP20X_Class::isLDO3Enable() +{ + if (_chip_id == AXP192_CHIP_ID) + return IS_OPEN(_outputReg, AXP192_LDO3); + else if (_chip_id == AXP202_CHIP_ID) + return IS_OPEN(_outputReg, AXP202_LDO3); + else if (_chip_id == AXP173_CHIP_ID) + return IS_OPEN(_outputReg, AXP173_LDO3); + return false; +} + +bool AXP20X_Class::isLDO4Enable() +{ + if (_chip_id == AXP202_CHIP_ID) + return IS_OPEN(_outputReg, AXP202_LDO4); + if (_chip_id == AXP173_CHIP_ID) + return IS_OPEN(_outputReg, AXP173_LDO4); + return false; +} + +bool AXP20X_Class::isDCDC2Enable() +{ + if (_chip_id == AXP173_CHIP_ID) { + uint8_t data; + _readByte(AXP173_EXTEN_DC2_CTL, 1, &data); + return IS_OPEN(data, AXP173_CTL_DC2_BIT); + } + //axp192 same axp202 dc2 bit + return IS_OPEN(_outputReg, AXP202_DCDC2); +} + +bool AXP20X_Class::isDCDC3Enable() +{ + if (_chip_id == AXP173_CHIP_ID) + return false; + //axp192 same axp202 dc3 bit + return IS_OPEN(_outputReg, AXP202_DCDC3); +} + +int AXP20X_Class::setPowerOutPut(uint8_t ch, bool en) +{ + uint8_t data; + uint8_t val = 0; + if (!_init) + return AXP_NOT_INIT; + + //! Axp173 cannot use the REG12H register to control + //! DC2 and EXTEN. It is necessary to control REG10H separately. + if (_chip_id == AXP173_CHIP_ID) { + _readByte(AXP173_EXTEN_DC2_CTL, 1, &data); + if (ch & AXP173_DCDC2) { + data = en ? data | BIT_MASK(AXP173_CTL_DC2_BIT) : data & (~BIT_MASK(AXP173_CTL_DC2_BIT)); + ch &= (~BIT_MASK(AXP173_DCDC2)); + _writeByte(AXP173_EXTEN_DC2_CTL, 1, &data); + } else if (ch & AXP173_EXTEN) { + data = en ? data | BIT_MASK(AXP173_CTL_EXTEN_BIT) : data & (~BIT_MASK(AXP173_CTL_EXTEN_BIT)); + ch &= (~BIT_MASK(AXP173_EXTEN)); + _writeByte(AXP173_EXTEN_DC2_CTL, 1, &data); + } + } + + _readByte(AXP202_LDO234_DC23_CTL, 1, &data); + if (en) { + data |= (1 << ch); + } else { + data &= (~(1 << ch)); + } + + if (_chip_id == AXP202_CHIP_ID) { + FORCED_OPEN_DCDC3(data); //! Must be forced open in T-Watch + } + + _writeByte(AXP202_LDO234_DC23_CTL, 1, &data); + delay(1); + _readByte(AXP202_LDO234_DC23_CTL, 1, &val); + if (data == val) { + _outputReg = val; + return AXP_PASS; + } + return AXP_FAIL; +} + +bool AXP20X_Class::isChargeing() +{ + uint8_t reg; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_MODE_CHGSTATUS, 1, ®); + return IS_OPEN(reg, 6); +} + +bool AXP20X_Class::isBatteryConnect() +{ + uint8_t reg; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_MODE_CHGSTATUS, 1, ®); + return IS_OPEN(reg, 5); +} + +float AXP20X_Class::getAcinVoltage() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_ACIN_VOL_H8, AXP202_ACIN_VOL_L4) * AXP202_ACIN_VOLTAGE_STEP; +} + +float AXP20X_Class::getAcinCurrent() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_ACIN_CUR_H8, AXP202_ACIN_CUR_L4) * AXP202_ACIN_CUR_STEP; +} + +float AXP20X_Class::getVbusVoltage() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_VBUS_VOL_H8, AXP202_VBUS_VOL_L4) * AXP202_VBUS_VOLTAGE_STEP; +} + +float AXP20X_Class::getVbusCurrent() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_VBUS_CUR_H8, AXP202_VBUS_CUR_L4) * AXP202_VBUS_CUR_STEP; +} + +float AXP20X_Class::getTemp() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_INTERNAL_TEMP_H8, AXP202_INTERNAL_TEMP_L4) * AXP202_INTERNAL_TEMP_STEP; +} + +float AXP20X_Class::getTSTemp() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_TS_IN_H8, AXP202_TS_IN_L4) * AXP202_TS_PIN_OUT_STEP; +} + +float AXP20X_Class::getGPIO0Voltage() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_GPIO0_VOL_ADC_H8, AXP202_GPIO0_VOL_ADC_L4) * AXP202_GPIO0_STEP; +} + +float AXP20X_Class::getGPIO1Voltage() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_GPIO1_VOL_ADC_H8, AXP202_GPIO1_VOL_ADC_L4) * AXP202_GPIO1_STEP; +} + +/* +Note: the battery power formula: +Pbat =2* register value * Voltage LSB * Current LSB / 1000. +(Voltage LSB is 1.1mV; Current LSB is 0.5mA, and unit of calculation result is mW.) +*/ +float AXP20X_Class::getBattInpower() +{ + float rslt; + uint8_t hv, mv, lv; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_BAT_POWERH8, 1, &hv); + _readByte(AXP202_BAT_POWERM8, 1, &mv); + _readByte(AXP202_BAT_POWERL8, 1, &lv); + rslt = (hv << 16) | (mv << 8) | lv; + rslt = 2 * rslt * 1.1 * 0.5 / 1000; + return rslt; +} + +float AXP20X_Class::getBattVoltage() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_BAT_AVERVOL_H8, AXP202_BAT_AVERVOL_L4) * AXP202_BATT_VOLTAGE_STEP; +} + +float AXP20X_Class::getBattChargeCurrent() +{ + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP202_CHIP_ID: + return _getRegistResult(AXP202_BAT_AVERCHGCUR_H8, AXP202_BAT_AVERCHGCUR_L4) * AXP202_BATT_CHARGE_CUR_STEP; + case AXP192_CHIP_ID: + return _getRegistH8L5(AXP202_BAT_AVERCHGCUR_H8, AXP202_BAT_AVERCHGCUR_L5) * AXP202_BATT_CHARGE_CUR_STEP; + default: + return AXP_FAIL; + } +} + +float AXP20X_Class::getBattDischargeCurrent() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistH8L5(AXP202_BAT_AVERDISCHGCUR_H8, AXP202_BAT_AVERDISCHGCUR_L5) * AXP202_BATT_DISCHARGE_CUR_STEP; +} + +float AXP20X_Class::getSysIPSOUTVoltage() +{ + if (!_init) + return AXP_NOT_INIT; + return _getRegistResult(AXP202_APS_AVERVOL_H8, AXP202_APS_AVERVOL_L4); +} + +/* +Coulomb calculation formula: +C= 65536 * current LSB *īŧˆcharge coulomb counter value - discharge coulomb counter valueīŧ‰ / +3600 / ADC sample rate. Refer to REG84H setting for ADC sample rateīŧ›the current LSB is +0.5mAīŧ›unit of the calculation result is mAh. īŧ‰ +*/ +uint32_t AXP20X_Class::getBattChargeCoulomb() +{ + uint8_t buffer[4]; + if (!_init) + return AXP_NOT_INIT; + _readByte(0xB0, 4, buffer); + return (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; +} + +uint32_t AXP20X_Class::getBattDischargeCoulomb() +{ + uint8_t buffer[4]; + if (!_init) + return AXP_NOT_INIT; + _readByte(0xB4, 4, buffer); + return (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; +} + +float AXP20X_Class::getCoulombData() +{ + if (!_init) + return AXP_NOT_INIT; + uint32_t charge = getBattChargeCoulomb(), discharge = getBattDischargeCoulomb(); + uint8_t rate = getAdcSamplingRate(); + float result = 65536.0 * 0.5 * (charge - discharge) / 3600.0 / rate; + return result; +} + + +//------------------------------------------------------- +// New Coulomb functions by MrFlexi +//------------------------------------------------------- + +uint8_t AXP20X_Class::getCoulombRegister() +{ + uint8_t buffer; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_COULOMB_CTL, 1, &buffer); + return buffer; +} + + +int AXP20X_Class::setCoulombRegister(uint8_t val) +{ + if (!_init) + return AXP_NOT_INIT; + _writeByte(AXP202_COULOMB_CTL, 1, &val); + return AXP_PASS; +} + + +int AXP20X_Class::EnableCoulombcounter(void) +{ + + if (!_init) + return AXP_NOT_INIT; + uint8_t val = 0x80; + _writeByte(AXP202_COULOMB_CTL, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::DisableCoulombcounter(void) +{ + + if (!_init) + return AXP_NOT_INIT; + uint8_t val = 0x00; + _writeByte(AXP202_COULOMB_CTL, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::StopCoulombcounter(void) +{ + + if (!_init) + return AXP_NOT_INIT; + uint8_t val = 0xB8; + _writeByte(AXP202_COULOMB_CTL, 1, &val); + return AXP_PASS; +} + + +int AXP20X_Class::ClearCoulombcounter(void) +{ + + if (!_init) + return AXP_NOT_INIT; + uint8_t val = 0xA0; + _writeByte(AXP202_COULOMB_CTL, 1, &val); + return AXP_PASS; +} + +//------------------------------------------------------- +// END +//------------------------------------------------------- + + + +uint8_t AXP20X_Class::getAdcSamplingRate() +{ + //axp192 same axp202 aregister address 0x84 + if (!_init) + return AXP_NOT_INIT; + uint8_t val; + _readByte(AXP202_ADC_SPEED, 1, &val); + return 25 * (int)pow(2, (val & 0xC0) >> 6); +} + +int AXP20X_Class::setAdcSamplingRate(axp_adc_sampling_rate_t rate) +{ + //axp192 same axp202 aregister address 0x84 + if (!_init) + return AXP_NOT_INIT; + if (rate > AXP_ADC_SAMPLING_RATE_200HZ) + return AXP_FAIL; + uint8_t val; + _readByte(AXP202_ADC_SPEED, 1, &val); + uint8_t rw = rate; + val &= 0x3F; + val |= (rw << 6); + _writeByte(AXP202_ADC_SPEED, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setTSfunction(axp_ts_pin_function_t func) +{ + //axp192 same axp202 aregister address 0x84 + if (!_init) + return AXP_NOT_INIT; + if (func > AXP_TS_PIN_FUNCTION_ADC) + return AXP_FAIL; + uint8_t val; + _readByte(AXP202_ADC_SPEED, 1, &val); + uint8_t rw = func; + val &= 0xFA; + val |= (rw << 2); + _writeByte(AXP202_ADC_SPEED, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setTScurrent(axp_ts_pin_current_t current) +{ + //axp192 same axp202 aregister address 0x84 + if (!_init) + return AXP_NOT_INIT; + if (current > AXP_TS_PIN_CURRENT_80UA) + return AXP_FAIL; + uint8_t val; + _readByte(AXP202_ADC_SPEED, 1, &val); + uint8_t rw = current; + val &= 0xCF; + val |= (rw << 4); + _writeByte(AXP202_ADC_SPEED, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setTSmode(axp_ts_pin_mode_t mode) +{ + //axp192 same axp202 aregister address 0x84 + if (!_init) + return AXP_NOT_INIT; + if (mode > AXP_TS_PIN_MODE_ENABLE) + return AXP_FAIL; + uint8_t val; + _readByte(AXP202_ADC_SPEED, 1, &val); + uint8_t rw = mode; + val &= 0xFC; + val |= rw; + _writeByte(AXP202_ADC_SPEED, 1, &val); + + // TS pin ADC function enable/disable + if (mode == AXP_TS_PIN_MODE_DISABLE) + adc1Enable(AXP202_TS_PIN_ADC1, false); + else + adc1Enable(AXP202_TS_PIN_ADC1, true); + return AXP_PASS; +} + +int AXP20X_Class::adc1Enable(uint16_t params, bool en) +{ + if (!_init) + return AXP_NOT_INIT; + uint8_t val; + _readByte(AXP202_ADC_EN1, 1, &val); + if (en) + val |= params; + else + val &= ~(params); + _writeByte(AXP202_ADC_EN1, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::adc2Enable(uint16_t params, bool en) +{ + if (!_init) + return AXP_NOT_INIT; + uint8_t val; + _readByte(AXP202_ADC_EN2, 1, &val); + if (en) + val |= params; + else + val &= ~(params); + _writeByte(AXP202_ADC_EN2, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::enableIRQ(uint64_t params, bool en) +{ + if (!_init) + return AXP_NOT_INIT; + uint8_t val, val1; + if (params & 0xFF) { + val1 = params & 0xFF; + _readByte(AXP202_INTEN1, 1, &val); + if (en) + val |= val1; + else + val &= ~(val1); + AXP_DEBUG("%s [0x%x]val:0x%x\n", en ? "enable" : "disable", AXP202_INTEN1, val); + _writeByte(AXP202_INTEN1, 1, &val); + } + if (params & 0xFF00) { + val1 = params >> 8; + _readByte(AXP202_INTEN2, 1, &val); + if (en) + val |= val1; + else + val &= ~(val1); + AXP_DEBUG("%s [0x%x]val:0x%x\n", en ? "enable" : "disable", AXP202_INTEN2, val); + _writeByte(AXP202_INTEN2, 1, &val); + } + + if (params & 0xFF0000) { + val1 = params >> 16; + _readByte(AXP202_INTEN3, 1, &val); + if (en) + val |= val1; + else + val &= ~(val1); + AXP_DEBUG("%s [0x%x]val:0x%x\n", en ? "enable" : "disable", AXP202_INTEN3, val); + _writeByte(AXP202_INTEN3, 1, &val); + } + + if (params & 0xFF000000) { + val1 = params >> 24; + _readByte(AXP202_INTEN4, 1, &val); + if (en) + val |= val1; + else + val &= ~(val1); + AXP_DEBUG("%s [0x%x]val:0x%x\n", en ? "enable" : "disable", AXP202_INTEN4, val); + _writeByte(AXP202_INTEN4, 1, &val); + } + + if (params & 0xFF00000000) { + val1 = params >> 32; + _readByte(AXP202_INTEN5, 1, &val); + if (en) + val |= val1; + else + val &= ~(val1); + AXP_DEBUG("%s [0x%x]val:0x%x\n", en ? "enable" : "disable", AXP202_INTEN5, val); + _writeByte(AXP202_INTEN5, 1, &val); + } + return AXP_PASS; +} + +int AXP20X_Class::readIRQ() +{ + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP192_CHIP_ID: + for (int i = 0; i < 4; ++i) { + _readByte(AXP192_INTSTS1 + i, 1, &_irq[i]); + } + _readByte(AXP192_INTSTS5, 1, &_irq[4]); + return AXP_PASS; + + case AXP202_CHIP_ID: + for (int i = 0; i < 5; ++i) { + _readByte(AXP202_INTSTS1 + i, 1, &_irq[i]); + } + return AXP_PASS; + default: + return AXP_FAIL; + } +} + +void AXP20X_Class::clearIRQ() +{ + uint8_t val = 0xFF; + switch (_chip_id) { + case AXP192_CHIP_ID: + for (int i = 0; i < 3; i++) { + _writeByte(AXP192_INTSTS1 + i, 1, &val); + } + _writeByte(AXP192_INTSTS5, 1, &val); + break; + case AXP202_CHIP_ID: + for (int i = 0; i < 5; i++) { + _writeByte(AXP202_INTSTS1 + i, 1, &val); + } + break; + default: + break; + } + memset(_irq, 0, sizeof(_irq)); +} + +bool AXP20X_Class::isAcinOverVoltageIRQ() +{ + return (bool)(_irq[0] & BIT_MASK(7)); +} + +bool AXP20X_Class::isAcinPlugInIRQ() +{ + return (bool)(_irq[0] & BIT_MASK(6)); +} + +bool AXP20X_Class::isAcinRemoveIRQ() +{ + return (bool)(_irq[0] & BIT_MASK(5)); +} + +bool AXP20X_Class::isVbusOverVoltageIRQ() +{ + return (bool)(_irq[0] & BIT_MASK(4)); +} + +bool AXP20X_Class::isVbusPlugInIRQ() +{ + return (bool)(_irq[0] & BIT_MASK(3)); +} + +bool AXP20X_Class::isVbusRemoveIRQ() +{ + return (bool)(_irq[0] & BIT_MASK(2)); +} + +bool AXP20X_Class::isVbusLowVHOLDIRQ() +{ + return (bool)(_irq[0] & BIT_MASK(1)); +} + +bool AXP20X_Class::isBattPlugInIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(7)); +} +bool AXP20X_Class::isBattRemoveIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(6)); +} +bool AXP20X_Class::isBattEnterActivateIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(5)); +} +bool AXP20X_Class::isBattExitActivateIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(4)); +} +bool AXP20X_Class::isChargingIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(3)); +} +bool AXP20X_Class::isChargingDoneIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(2)); +} +bool AXP20X_Class::isBattTempLowIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(1)); +} +bool AXP20X_Class::isBattTempHighIRQ() +{ + return (bool)(_irq[1] & BIT_MASK(0)); +} + +bool AXP20X_Class::isPEKShortPressIRQ() +{ + return (bool)(_irq[2] & BIT_MASK(1)); +} + +bool AXP20X_Class::isPEKLongtPressIRQ() +{ + return (bool)(_irq[2] & BIT_MASK(0)); +} + +bool AXP20X_Class::isTimerTimeoutIRQ() +{ + return (bool)(_irq[4] & BIT_MASK(7)); +} + +bool AXP20X_Class::isVBUSPlug() +{ + if (!_init) + return AXP_NOT_INIT; + uint8_t reg; + _readByte(AXP202_STATUS, 1, ®); + return IS_OPEN(reg, 5); +} + +int AXP20X_Class::setDCDC2Voltage(uint16_t mv) +{ + if (!_init) + return AXP_NOT_INIT; + if (mv < 700) { + AXP_DEBUG("DCDC2:Below settable voltage:700mV~2275mV"); + mv = 700; + } + if (mv > 2275) { + AXP_DEBUG("DCDC2:Above settable voltage:700mV~2275mV"); + mv = 2275; + } + uint8_t val = (mv - 700) / 25; + //! axp173/192/202 same register + _writeByte(AXP202_DC2OUT_VOL, 1, &val); + return AXP_PASS; +} + +uint16_t AXP20X_Class::getDCDC2Voltage() +{ + uint8_t val = 0; + //! axp173/192/202 same register + _readByte(AXP202_DC2OUT_VOL, 1, &val); + return val * 25 + 700; +} + +uint16_t AXP20X_Class::getDCDC3Voltage() +{ + if (!_init) + return 0; + if (_chip_id == AXP173_CHIP_ID)return AXP_NOT_SUPPORT; + uint8_t val = 0; + _readByte(AXP202_DC3OUT_VOL, 1, &val); + return val * 25 + 700; +} + +int AXP20X_Class::setDCDC3Voltage(uint16_t mv) +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id == AXP173_CHIP_ID)return AXP_NOT_SUPPORT; + if (mv < 700) { + AXP_DEBUG("DCDC3:Below settable voltage:700mV~3500mV"); + mv = 700; + } + if (mv > 3500) { + AXP_DEBUG("DCDC3:Above settable voltage:700mV~3500mV"); + mv = 3500; + } + uint8_t val = (mv - 700) / 25; + _writeByte(AXP202_DC3OUT_VOL, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setLDO2Voltage(uint16_t mv) +{ + uint8_t rVal, wVal; + if (!_init) + return AXP_NOT_INIT; + if (mv < 1800) { + AXP_DEBUG("LDO2:Below settable voltage:1800mV~3300mV"); + mv = 1800; + } + if (mv > 3300) { + AXP_DEBUG("LDO2:Above settable voltage:1800mV~3300mV"); + mv = 3300; + } + wVal = (mv - 1800) / 100; + if (_chip_id == AXP202_CHIP_ID) { + _readByte(AXP202_LDO24OUT_VOL, 1, &rVal); + rVal &= 0x0F; + rVal |= (wVal << 4); + _writeByte(AXP202_LDO24OUT_VOL, 1, &rVal); + return AXP_PASS; + } else if (_chip_id == AXP192_CHIP_ID || _chip_id == AXP173_CHIP_ID) { + _readByte(AXP192_LDO23OUT_VOL, 1, &rVal); + rVal &= 0x0F; + rVal |= (wVal << 4); + _writeByte(AXP192_LDO23OUT_VOL, 1, &rVal); + return AXP_PASS; + } + return AXP_FAIL; +} + +uint16_t AXP20X_Class::getLDO2Voltage() +{ + uint8_t rVal; + if (_chip_id == AXP202_CHIP_ID) { + _readByte(AXP202_LDO24OUT_VOL, 1, &rVal); + rVal &= 0xF0; + rVal >>= 4; + return rVal * 100 + 1800; + } else if (_chip_id == AXP192_CHIP_ID || _chip_id == AXP173_CHIP_ID ) { + _readByte(AXP192_LDO23OUT_VOL, 1, &rVal); + AXP_DEBUG("get result:%x\n", rVal); + rVal &= 0xF0; + rVal >>= 4; + return rVal * 100 + 1800; + } + return 0; +} + +int AXP20X_Class::setLDO3Voltage(uint16_t mv) +{ + uint8_t rVal; + if (!_init) + return AXP_NOT_INIT; + if (_chip_id == AXP202_CHIP_ID && mv < 700) { + AXP_DEBUG("LDO3:Below settable voltage:700mV~3500mV"); + mv = 700; + } else if (_chip_id == AXP192_CHIP_ID && mv < 1800) { + AXP_DEBUG("LDO3:Below settable voltage:1800mV~3300mV"); + mv = 1800; + } + + if (_chip_id == AXP202_CHIP_ID && mv > 3500) { + AXP_DEBUG("LDO3:Above settable voltage:700mV~3500mV"); + mv = 3500; + } else if (_chip_id == AXP192_CHIP_ID && mv > 3300) { + AXP_DEBUG("LDO3:Above settable voltage:1800mV~3300mV"); + mv = 3300; + } + + if (_chip_id == AXP202_CHIP_ID) { + _readByte(AXP202_LDO3OUT_VOL, 1, &rVal); + rVal &= 0x80; + rVal |= ((mv - 700) / 25); + _writeByte(AXP202_LDO3OUT_VOL, 1, &rVal); + return AXP_PASS; + } else if (_chip_id == AXP192_CHIP_ID || _chip_id == AXP173_CHIP_ID) { + _readByte(AXP192_LDO23OUT_VOL, 1, &rVal); + rVal &= 0xF0; + rVal |= ((mv - 1800) / 100); + _writeByte(AXP192_LDO23OUT_VOL, 1, &rVal); + return AXP_PASS; + } + return AXP_FAIL; +} + +uint16_t AXP20X_Class::getLDO3Voltage() +{ + uint8_t rVal; + if (!_init) + return AXP_NOT_INIT; + + if (_chip_id == AXP202_CHIP_ID) { + _readByte(AXP202_LDO3OUT_VOL, 1, &rVal); + if (rVal & 0x80) { + //! According to the hardware N_VBUSEN Pin selection + return getVbusVoltage() * 1000; + } else { + return (rVal & 0x7F) * 25 + 700; + } + } else if (_chip_id == AXP192_CHIP_ID || _chip_id == AXP173_CHIP_ID) { + _readByte(AXP192_LDO23OUT_VOL, 1, &rVal); + rVal &= 0x0F; + return rVal * 100 + 1800; + } + return 0; +} + +//! Only axp173 support +int AXP20X_Class::setLDO4Voltage(uint16_t mv) +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id != AXP173_CHIP_ID) + return AXP_FAIL; + + if (mv < 700) { + AXP_DEBUG("LDO4:Below settable voltage:700mV~3500mV"); + mv = 700; + } + if (mv > 3500) { + AXP_DEBUG("LDO4:Above settable voltage:700mV~3500mV"); + mv = 3500; + } + uint8_t val = (mv - 700) / 25; + _writeByte(AXP173_LDO4_VLOTAGE, 1, &val); + return AXP_PASS; +} + +uint16_t AXP20X_Class::getLDO4Voltage() +{ + const uint16_t ldo4_table[] = {1250, 1300, 1400, 1500, 1600, 1700, 1800, 1900, 2000, 2500, 2700, 2800, 3000, 3100, 3200, 3300}; + if (!_init) + return 0; + uint8_t val = 0; + switch (_chip_id) { + case AXP173_CHIP_ID: + _readByte(AXP173_LDO4_VLOTAGE, 1, &val); + return val * 25 + 700; + case AXP202_CHIP_ID: + _readByte(AXP202_LDO24OUT_VOL, 1, &val); + val &= 0xF; + return ldo4_table[val]; + break; + case AXP192_CHIP_ID: + default: + break; + } + return 0; +} + + +//! Only axp202 support +int AXP20X_Class::setLDO4Voltage(axp_ldo4_table_t param) +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id == AXP202_CHIP_ID) { + if (param >= AXP202_LDO4_MAX) + return AXP_INVALID; + uint8_t val; + _readByte(AXP202_LDO24OUT_VOL, 1, &val); + val &= 0xF0; + val |= param; + _writeByte(AXP202_LDO24OUT_VOL, 1, &val); + return AXP_PASS; + } + return AXP_FAIL; +} + +//! Only AXP202 support +// 0 : LDO 1 : DCIN +int AXP20X_Class::setLDO3Mode(uint8_t mode) +{ + uint8_t val; + if (_chip_id != AXP202_CHIP_ID) + return AXP_FAIL; + _readByte(AXP202_LDO3OUT_VOL, 1, &val); + if (mode) { + val |= BIT_MASK(7); + } else { + val &= (~BIT_MASK(7)); + } + _writeByte(AXP202_LDO3OUT_VOL, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setStartupTime(uint8_t param) +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + if (param > sizeof(startupParams) / sizeof(startupParams[0])) + return AXP_INVALID; + _readByte(AXP202_POK_SET, 1, &val); + val &= (~0b11000000); + val |= startupParams[param]; + _writeByte(AXP202_POK_SET, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setlongPressTime(uint8_t param) +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + if (param > sizeof(longPressParams) / sizeof(longPressParams[0])) + return AXP_INVALID; + _readByte(AXP202_POK_SET, 1, &val); + val &= (~0b00110000); + val |= longPressParams[param]; + _writeByte(AXP202_POK_SET, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setShutdownTime(uint8_t param) +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + if (param > sizeof(shutdownParams) / sizeof(shutdownParams[0])) + return AXP_INVALID; + _readByte(AXP202_POK_SET, 1, &val); + val &= (~0b00000011); + val |= shutdownParams[param]; + _writeByte(AXP202_POK_SET, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setTimeOutShutdown(bool en) +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_POK_SET, 1, &val); + if (en) + val |= (1 << 3); + else + val &= (~(1 << 3)); + _writeByte(AXP202_POK_SET, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::shutdown() +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_OFF_CTL, 1, &val); + val |= (1 << 7); + _writeByte(AXP202_OFF_CTL, 1, &val); + return AXP_PASS; +} + +float AXP20X_Class::getSettingChargeCurrent() +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_CHARGE1, 1, &val); + val &= 0b00000111; + float cur = 300.0 + val * 100.0; + AXP_DEBUG("Setting Charge current : %.2f mA\n", cur); + return cur; +} + +bool AXP20X_Class::isChargeingEnable() +{ + uint8_t val; + if (!_init) + return false; + _readByte(AXP202_CHARGE1, 1, &val); + if (val & (1 << 7)) { + AXP_DEBUG("Charging enable is enable\n"); + val = true; + } else { + AXP_DEBUG("Charging enable is disable\n"); + val = false; + } + return val; +} + +int AXP20X_Class::enableChargeing(bool en) +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + _readByte(AXP202_CHARGE1, 1, &val); + val |= (1 << 7); + _writeByte(AXP202_CHARGE1, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setChargingTargetVoltage(axp_chargeing_vol_t param) +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + if (param > sizeof(targetVolParams) / sizeof(targetVolParams[0])) + return AXP_INVALID; + _readByte(AXP202_CHARGE1, 1, &val); + val &= ~(0b01100000); + val |= targetVolParams[param]; + _writeByte(AXP202_CHARGE1, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::getBattPercentage() +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id != AXP202_CHIP_ID) + return AXP_NOT_SUPPORT; + uint8_t val; + if (!isBatteryConnect()) + return 0; + _readByte(AXP202_BATT_PERCENTAGE, 1, &val); + if (!(val & BIT_MASK(7))) { + return val & (~BIT_MASK(7)); + } + return 0; +} + +int AXP20X_Class::setChgLEDModeCharging() +{ + uint8_t val; + _readByte(AXP202_OFF_CTL, 1, &val); + val &= 0b11110111; + _writeByte(AXP202_OFF_CTL, 1, &val); + return AXP_PASS; +} + +int AXP20X_Class::setChgLEDMode(axp_chgled_mode_t mode) +{ + uint8_t val; + _readByte(AXP202_OFF_CTL, 1, &val); + val &= 0b11001111; + val |= BIT_MASK(3); + switch (mode) { + case AXP20X_LED_OFF: + _writeByte(AXP202_OFF_CTL, 1, &val); + break; + case AXP20X_LED_BLINK_1HZ: + val |= 0b00010000; + _writeByte(AXP202_OFF_CTL, 1, &val); + break; + case AXP20X_LED_BLINK_4HZ: + val |= 0b00100000; + _writeByte(AXP202_OFF_CTL, 1, &val); + break; + case AXP20X_LED_LOW_LEVEL: + val |= 0b00110000; + _writeByte(AXP202_OFF_CTL, 1, &val); + break; + default: + return AXP_FAIL; + } + return AXP_PASS; +} + +int AXP20X_Class::debugCharging() +{ + uint8_t val; + _readByte(AXP202_CHARGE1, 1, &val); + AXP_DEBUG("SRC REG:0x%x\n", val); + if (val & (1 << 7)) { + AXP_DEBUG("Charging enable is enable\n"); + } else { + AXP_DEBUG("Charging enable is disable\n"); + } + AXP_DEBUG("Charging target-voltage : 0x%x\n", ((val & 0b01100000) >> 5) & 0b11); + if (val & (1 << 4)) { + AXP_DEBUG("end when the charge current is lower than 15%% of the set value\n"); + } else { + AXP_DEBUG(" end when the charge current is lower than 10%% of the set value\n"); + } + val &= 0b00000111; + AXP_DEBUG("Charge current : %.2f mA\n", 300.0 + val * 100.0); + return AXP_PASS; +} + +int AXP20X_Class::debugStatus() +{ + if (!_init) + return AXP_NOT_INIT; + uint8_t val, val1, val2; + _readByte(AXP202_STATUS, 1, &val); + _readByte(AXP202_MODE_CHGSTATUS, 1, &val1); + _readByte(AXP202_IPS_SET, 1, &val2); + AXP_DEBUG("AXP202_STATUS: AXP202_MODE_CHGSTATUS AXP202_IPS_SET\n"); + AXP_DEBUG("0x%x\t\t\t 0x%x\t\t\t 0x%x\n", val, val1, val2); + return AXP_PASS; +} + +int AXP20X_Class::limitingOff() +{ + if (!_init) + return AXP_NOT_INIT; + uint8_t val; + _readByte(AXP202_IPS_SET, 1, &val); + if (_chip_id == AXP202_CHIP_ID) { + val |= 0x03; + } else { + val &= ~(1 << 1); + } + _writeByte(AXP202_IPS_SET, 1, &val); + return AXP_PASS; +} + +// Only AXP129 chip and AXP173 +int AXP20X_Class::setDCDC1Voltage(uint16_t mv) +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id != AXP192_CHIP_ID && _chip_id != AXP173_CHIP_ID) + return AXP_FAIL; + if (mv < 700) { + AXP_DEBUG("DCDC1:Below settable voltage:700mV~3500mV"); + mv = 700; + } + if (mv > 3500) { + AXP_DEBUG("DCDC1:Above settable voltage:700mV~3500mV"); + mv = 3500; + } + uint8_t val = (mv - 700) / 25; + //! axp192 and axp173 dc1 control register same + _writeByte(AXP192_DC1_VLOTAGE, 1, &val); + return AXP_PASS; +} + +// Only AXP129 chip and AXP173 +uint16_t AXP20X_Class::getDCDC1Voltage() +{ + if (_chip_id != AXP192_CHIP_ID && _chip_id != AXP173_CHIP_ID) + return AXP_FAIL; + uint8_t val = 0; + //! axp192 and axp173 dc1 control register same + _readByte(AXP192_DC1_VLOTAGE, 1, &val); + return val * 25 + 700; +} + + +/*********************************************** + * !!! TIMER FUNCTION !!! + * *********************************************/ + +int AXP20X_Class::setTimer(uint8_t minutes) +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id == AXP202_CHIP_ID) { + if (minutes > 63) { + return AXP_ARG_INVALID; + } + _writeByte(AXP202_TIMER_CTL, 1, &minutes); + return AXP_PASS; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::offTimer() +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id == AXP202_CHIP_ID) { + uint8_t minutes = 0x80; + _writeByte(AXP202_TIMER_CTL, 1, &minutes); + return AXP_PASS; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::clearTimerStatus() +{ + if (!_init) + return AXP_NOT_INIT; + if (_chip_id == AXP202_CHIP_ID) { + uint8_t val; + _readByte(AXP202_TIMER_CTL, 1, &val); + val |= 0x80; + _writeByte(AXP202_TIMER_CTL, 1, &val); + return AXP_PASS; + } + return AXP_NOT_SUPPORT; +} + +/*********************************************** + * !!! GPIO FUNCTION !!! + * *********************************************/ + +int AXP20X_Class::_axp192_gpio_0_select( axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_OUTPUT_LOW_MODE: + return 0b101; + case AXP_IO_INPUT_MODE: + return 0b001; + case AXP_IO_LDO_MODE: + return 0b010; + case AXP_IO_ADC_MODE: + return 0b100; + case AXP_IO_FLOATING_MODE: + return 0b111; + case AXP_IO_OPEN_DRAIN_OUTPUT_MODE: + return 0; + case AXP_IO_OUTPUT_HIGH_MODE: + case AXP_IO_PWM_OUTPUT_MODE: + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::_axp192_gpio_1_select( axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_OUTPUT_LOW_MODE: + return 0b101; + case AXP_IO_INPUT_MODE: + return 0b001; + case AXP_IO_ADC_MODE: + return 0b100; + case AXP_IO_FLOATING_MODE: + return 0b111; + case AXP_IO_OPEN_DRAIN_OUTPUT_MODE: + return 0; + case AXP_IO_PWM_OUTPUT_MODE: + return 0b010; + case AXP_IO_OUTPUT_HIGH_MODE: + case AXP_IO_LDO_MODE: + default: + break; + } + return AXP_NOT_SUPPORT; +} + + +int AXP20X_Class::_axp192_gpio_3_select( axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_EXTERN_CHARGING_CTRL_MODE: + return 0; + case AXP_IO_OPEN_DRAIN_OUTPUT_MODE: + return 1; + case AXP_IO_INPUT_MODE: + return 2; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::_axp192_gpio_4_select( axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_EXTERN_CHARGING_CTRL_MODE: + return 0; + case AXP_IO_OPEN_DRAIN_OUTPUT_MODE: + return 1; + case AXP_IO_INPUT_MODE: + return 2; + case AXP_IO_ADC_MODE: + return 3; + default: + break; + } + return AXP_NOT_SUPPORT; +} + + +int AXP20X_Class::_axp192_gpio_set(axp_gpio_t gpio, axp_gpio_mode_t mode) +{ + int rslt; + uint8_t val; + switch (gpio) { + case AXP_GPIO_0: { + rslt = _axp192_gpio_0_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP192_GPIO0_CTL, 1, &val); + val &= 0xF8; + val |= (uint8_t)rslt; + _writeByte(AXP192_GPIO0_CTL, 1, &val); + return AXP_PASS; + } + case AXP_GPIO_1: { + rslt = _axp192_gpio_1_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP192_GPIO1_CTL, 1, &val); + val &= 0xF8; + val |= (uint8_t)rslt; + _writeByte(AXP192_GPIO1_CTL, 1, &val); + return AXP_PASS; + } + case AXP_GPIO_2: { + rslt = _axp192_gpio_1_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP192_GPIO2_CTL, 1, &val); + val &= 0xF8; + val |= (uint8_t)rslt; + _writeByte(AXP192_GPIO2_CTL, 1, &val); + return AXP_PASS; + } + case AXP_GPIO_3: { + rslt = _axp192_gpio_3_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP192_GPIO34_CTL, 1, &val); + val &= 0xFC; + val |= (uint8_t)rslt; + _writeByte(AXP192_GPIO34_CTL, 1, &val); + return AXP_PASS; + } + case AXP_GPIO_4: { + rslt = _axp192_gpio_4_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP192_GPIO34_CTL, 1, &val); + val &= 0xF3; + val |= (uint8_t)rslt; + _writeByte(AXP192_GPIO34_CTL, 1, &val); + return AXP_PASS; + } + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::_axp202_gpio_0_select( axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_OUTPUT_LOW_MODE: + return 0; + case AXP_IO_OUTPUT_HIGH_MODE: + return 1; + case AXP_IO_INPUT_MODE: + return 2; + case AXP_IO_LDO_MODE: + return 3; + case AXP_IO_ADC_MODE: + return 4; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::_axp202_gpio_1_select( axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_OUTPUT_LOW_MODE: + return 0; + case AXP_IO_OUTPUT_HIGH_MODE: + return 1; + case AXP_IO_INPUT_MODE: + return 2; + case AXP_IO_ADC_MODE: + return 4; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::_axp202_gpio_2_select( axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_OUTPUT_LOW_MODE: + return 0; + case AXP_IO_INPUT_MODE: + return 2; + case AXP_IO_FLOATING_MODE: + return 1; + default: + break; + } + return AXP_NOT_SUPPORT; +} + + +int AXP20X_Class::_axp202_gpio_3_select(axp_gpio_mode_t mode) +{ + switch (mode) { + case AXP_IO_INPUT_MODE: + return 1; + case AXP_IO_OPEN_DRAIN_OUTPUT_MODE: + return 0; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::_axp202_gpio_set(axp_gpio_t gpio, axp_gpio_mode_t mode) +{ + uint8_t val; + int rslt; + switch (gpio) { + case AXP_GPIO_0: { + rslt = _axp202_gpio_0_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP202_GPIO0_CTL, 1, &val); + val &= 0b11111000; + val |= (uint8_t)rslt; + _writeByte(AXP202_GPIO0_CTL, 1, &val); + return AXP_PASS; + } + case AXP_GPIO_1: { + rslt = _axp202_gpio_1_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP202_GPIO1_CTL, 1, &val); + val &= 0b11111000; + val |= (uint8_t)rslt; + _writeByte(AXP202_GPIO1_CTL, 1, &val); + return AXP_PASS; + } + case AXP_GPIO_2: { + rslt = _axp202_gpio_2_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP202_GPIO2_CTL, 1, &val); + val &= 0b11111000; + val |= (uint8_t)rslt; + _writeByte(AXP202_GPIO2_CTL, 1, &val); + return AXP_PASS; + } + case AXP_GPIO_3: { + rslt = _axp202_gpio_3_select(mode); + if (rslt < 0)return rslt; + _readByte(AXP202_GPIO3_CTL, 1, &val); + val = rslt ? (val | BIT_MASK(2)) : (val & (~BIT_MASK(2))); + _writeByte(AXP202_GPIO3_CTL, 1, &val); + return AXP_PASS; + } + default: + break; + } + return AXP_NOT_SUPPORT; +} + + +int AXP20X_Class::setGPIOMode(axp_gpio_t gpio, axp_gpio_mode_t mode) +{ + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP202_CHIP_ID: + return _axp202_gpio_set(gpio, mode); + break; + case AXP192_CHIP_ID: + return _axp192_gpio_set(gpio, mode); + break; + default: + break; + } + return AXP_NOT_SUPPORT; +} + + +int AXP20X_Class::_axp_irq_mask(axp_gpio_irq_t irq) +{ + switch (irq) { + case AXP_IRQ_NONE: + return 0; + case AXP_IRQ_RISING: + return BIT_MASK(7); + case AXP_IRQ_FALLING: + return BIT_MASK(6); + case AXP_IRQ_DOUBLE_EDGE: + return 0b1100000; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::_axp202_gpio_irq_set(axp_gpio_t gpio, axp_gpio_irq_t irq) +{ + uint8_t reg; + uint8_t val; + int mask; + mask = _axp_irq_mask(irq); + + if (mask < 0)return mask; + switch (gpio) { + case AXP_GPIO_0: + reg = AXP202_GPIO0_CTL; + break; + case AXP_GPIO_1: + reg = AXP202_GPIO1_CTL; + break; + case AXP_GPIO_2: + reg = AXP202_GPIO2_CTL; + break; + case AXP_GPIO_3: + reg = AXP202_GPIO3_CTL; + break; + default: + return AXP_NOT_SUPPORT; + } + _readByte(reg, 1, &val); + val = mask == 0 ? (val & 0b00111111) : (val | mask); + _writeByte(reg, 1, &val); + return AXP_PASS; +} + + +int AXP20X_Class::setGPIOIrq(axp_gpio_t gpio, axp_gpio_irq_t irq) +{ + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP202_CHIP_ID: + return _axp202_gpio_irq_set(gpio, irq); + case AXP192_CHIP_ID: + case AXP173_CHIP_ID: + return AXP_NOT_SUPPORT; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::setLDO5Voltage(axp_ldo5_table_t vol) +{ + const uint8_t params[] = { + 0b11111000, //1.8V + 0b11111001, //2.5V + 0b11111010, //2.8V + 0b11111011, //3.0V + 0b11111100, //3.1V + 0b11111101, //3.3V + 0b11111110, //3.4V + 0b11111111, //3.5V + }; + if (!_init) + return AXP_NOT_INIT; + if (_chip_id != AXP202_CHIP_ID) + return AXP_NOT_SUPPORT; + if (vol > sizeof(params) / sizeof(params[0])) + return AXP_ARG_INVALID; + uint8_t val = 0; + _readByte(AXP202_GPIO0_VOL, 1, &val); + val &= 0b11111000; + val |= params[vol]; + _writeByte(AXP202_GPIO0_VOL, 1, &val); + return AXP_PASS; +} + + +int AXP20X_Class::_axp202_gpio_write(axp_gpio_t gpio, uint8_t val) +{ + uint8_t reg; + uint8_t wVal = 0; + switch (gpio) { + case AXP_GPIO_0: + reg = AXP202_GPIO0_CTL; + break; + case AXP_GPIO_1: + reg = AXP202_GPIO1_CTL; + break; + case AXP_GPIO_2: + reg = AXP202_GPIO2_CTL; + if (val) { + return AXP_NOT_SUPPORT; + } + break; + case AXP_GPIO_3: + if (val) { + return AXP_NOT_SUPPORT; + } + _readByte(AXP202_GPIO3_CTL, 1, &wVal); + wVal &= 0b11111101; + _writeByte(AXP202_GPIO3_CTL, 1, &wVal); + return AXP_PASS; + default: + return AXP_NOT_SUPPORT; + } + _readByte(reg, 1, &wVal); + wVal = val ? (wVal | 1) : (wVal & 0b11111000); + _writeByte(reg, 1, &wVal); + return AXP_PASS; +} + +int AXP20X_Class::_axp202_gpio_read(axp_gpio_t gpio) +{ + uint8_t val; + uint8_t reg = AXP202_GPIO012_SIGNAL; + uint8_t offset; + switch (gpio) { + case AXP_GPIO_0: + offset = 4; + break; + case AXP_GPIO_1: + offset = 5; + break; + case AXP_GPIO_2: + offset = 6; + break; + case AXP_GPIO_3: + reg = AXP202_GPIO3_CTL; + offset = 0; + break; + default: + return AXP_NOT_SUPPORT; + } + _readByte(reg, 1, &val); + return val & BIT_MASK(offset) ? 1 : 0; +} + +int AXP20X_Class::gpioWrite(axp_gpio_t gpio, uint8_t val) +{ + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP202_CHIP_ID: + return _axp202_gpio_write(gpio, val); + case AXP192_CHIP_ID: + case AXP173_CHIP_ID: + return AXP_NOT_SUPPORT; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::gpioRead(axp_gpio_t gpio) +{ + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP202_CHIP_ID: + return _axp202_gpio_read(gpio); + case AXP192_CHIP_ID: + case AXP173_CHIP_ID: + return AXP_NOT_SUPPORT; + default: + break; + } + return AXP_NOT_SUPPORT; +} + + + +int AXP20X_Class::getChargeControlCur() +{ + int cur; + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP202_CHIP_ID: + _readByte(AXP202_CHARGE1, 1, &val); + val &= 0x0F; + cur = val * 100 + 300; + if (cur > 1800 || cur < 300)return 0; + return cur; + case AXP192_CHIP_ID: + case AXP173_CHIP_ID: + _readByte(AXP202_CHARGE1, 1, &val); + return val & 0x0F; + default: + break; + } + return AXP_NOT_SUPPORT; +} + +int AXP20X_Class::setChargeControlCur(uint16_t mA) +{ + uint8_t val; + if (!_init) + return AXP_NOT_INIT; + switch (_chip_id) { + case AXP202_CHIP_ID: + _readByte(AXP202_CHARGE1, 1, &val); + val &= 0b11110000; + mA -= 300; + val |= (mA / 100); + _writeByte(AXP202_CHARGE1, 1, &val); + return AXP_PASS; + case AXP192_CHIP_ID: + case AXP173_CHIP_ID: + _readByte(AXP202_CHARGE1, 1, &val); + val &= 0b11110000; + if(mA > AXP1XX_CHARGE_CUR_1320MA) + mA = AXP1XX_CHARGE_CUR_1320MA; + val |= mA; + _writeByte(AXP202_CHARGE1, 1, &val); + return AXP_PASS; + default: + break; + } + return AXP_NOT_SUPPORT; +} + diff --git a/lib/axp192/axp20x.h b/lib/axp192/axp20x.h new file mode 100644 index 0000000..1e89260 --- /dev/null +++ b/lib/axp192/axp20x.h @@ -0,0 +1,852 @@ +///////////////////////////////////////////////////////////////// +/* +MIT License + +Copyright (c) 2019 lewis he + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. + +axp20x.h - Arduino library for X-Power AXP202 chip. +Created by Lewis he on April 1, 2019. +github:https://github.com/lewisxhe/AXP202X_Libraries +*/ +///////////////////////////////////////////////////////////////// +#pragma once + +#include +#include + +// #define AXP_DEBUG_PORT Serial +#ifdef AXP_DEBUG_PORT +#define AXP_DEBUG(fmt, ...) AXP_DEBUG_PORT.printf_P((PGM_P)PSTR(fmt), ##__VA_ARGS__) +#else +#define AXP_DEBUG(...) +#endif + +#ifndef RISING +#define RISING 0x01 +#endif + +#ifndef FALLING +#define FALLING 0x02 +#endif + +#ifdef _BV +#undef _BV +#endif +#define _BV(b) (1ULL << (b)) + +//! Error Code +#define AXP_PASS (0) +#define AXP_FAIL (-1) +#define AXP_INVALID (-2) +#define AXP_NOT_INIT (-3) +#define AXP_NOT_SUPPORT (-4) +#define AXP_ARG_INVALID (-5) + +//! Chip Address +#define AXP202_SLAVE_ADDRESS (0x35) +#define AXP192_SLAVE_ADDRESS (0x34) +#define AXP173_SLAVE_ADDRESS (0x34) + +//! Chip ID +#define AXP202_CHIP_ID 0x41 +#define AXP192_CHIP_ID 0x03 +#define AXP173_CHIP_ID 0xAD //!Axp173 does not have a chip ID, given a custom ID + +//! Logic states +#define AXP202_ON 1 +#define AXP202_OFF 0 + +//! REG MAP +#define AXP202_STATUS (0x00) +#define AXP202_MODE_CHGSTATUS (0x01) +#define AXP202_OTG_STATUS (0x02) +#define AXP202_IC_TYPE (0x03) +#define AXP202_DATA_BUFFER1 (0x04) +#define AXP202_DATA_BUFFER2 (0x05) +#define AXP202_DATA_BUFFER3 (0x06) +#define AXP202_DATA_BUFFER4 (0x07) +#define AXP202_DATA_BUFFER5 (0x08) +#define AXP202_DATA_BUFFER6 (0x09) +#define AXP202_DATA_BUFFER7 (0x0A) +#define AXP202_DATA_BUFFER8 (0x0B) +#define AXP202_DATA_BUFFER9 (0x0C) +#define AXP202_DATA_BUFFERA (0x0D) +#define AXP202_DATA_BUFFERB (0x0E) +#define AXP202_DATA_BUFFERC (0x0F) +#define AXP202_LDO234_DC23_CTL (0x12) +#define AXP202_DC2OUT_VOL (0x23) +#define AXP202_LDO3_DC2_DVM (0x25) +#define AXP202_DC3OUT_VOL (0x27) +#define AXP202_LDO24OUT_VOL (0x28) +#define AXP202_LDO3OUT_VOL (0x29) +#define AXP202_IPS_SET (0x30) +#define AXP202_VOFF_SET (0x31) +#define AXP202_OFF_CTL (0x32) +#define AXP202_CHARGE1 (0x33) +#define AXP202_CHARGE2 (0x34) +#define AXP202_BACKUP_CHG (0x35) +#define AXP202_POK_SET (0x36) +#define AXP202_DCDC_FREQSET (0x37) +#define AXP202_VLTF_CHGSET (0x38) +#define AXP202_VHTF_CHGSET (0x39) +#define AXP202_APS_WARNING1 (0x3A) +#define AXP202_APS_WARNING2 (0x3B) +#define AXP202_TLTF_DISCHGSET (0x3C) +#define AXP202_THTF_DISCHGSET (0x3D) +#define AXP202_DCDC_MODESET (0x80) +#define AXP202_ADC_EN1 (0x82) +#define AXP202_ADC_EN2 (0x83) +#define AXP202_ADC_SPEED (0x84) +#define AXP202_ADC_INPUTRANGE (0x85) +#define AXP202_ADC_IRQ_RETFSET (0x86) +#define AXP202_ADC_IRQ_FETFSET (0x87) +#define AXP202_TIMER_CTL (0x8A) +#define AXP202_VBUS_DET_SRP (0x8B) +#define AXP202_HOTOVER_CTL (0x8F) +#define AXP202_GPIO0_CTL (0x90) +#define AXP202_GPIO0_VOL (0x91) +#define AXP202_GPIO1_CTL (0x92) +#define AXP202_GPIO2_CTL (0x93) +#define AXP202_GPIO012_SIGNAL (0x94) +#define AXP202_GPIO3_CTL (0x95) +#define AXP202_INTEN1 (0x40) +#define AXP202_INTEN2 (0x41) +#define AXP202_INTEN3 (0x42) +#define AXP202_INTEN4 (0x43) +#define AXP202_INTEN5 (0x44) +#define AXP202_INTSTS1 (0x48) +#define AXP202_INTSTS2 (0x49) +#define AXP202_INTSTS3 (0x4A) +#define AXP202_INTSTS4 (0x4B) +#define AXP202_INTSTS5 (0x4C) + +//Irq control register +#define AXP192_INTEN1 (0x40) +#define AXP192_INTEN2 (0x41) +#define AXP192_INTEN3 (0x42) +#define AXP192_INTEN4 (0x43) +#define AXP192_INTEN5 (0x4A) +//Irq status register +#define AXP192_INTSTS1 (0x44) +#define AXP192_INTSTS2 (0x45) +#define AXP192_INTSTS3 (0x46) +#define AXP192_INTSTS4 (0x47) +#define AXP192_INTSTS5 (0x4D) + +#define AXP192_DC1_VLOTAGE (0x26) +#define AXP192_LDO23OUT_VOL (0x28) +#define AXP192_GPIO0_CTL (0x90) +#define AXP192_GPIO0_VOL (0x91) +#define AXP192_GPIO1_CTL (0X92) +#define AXP192_GPIO2_CTL (0x93) +#define AXP192_GPIO012_SIGNAL (0x94) +#define AXP192_GPIO34_CTL (0x95) + + + +/* axp 192/202 adc data register */ +#define AXP202_BAT_AVERVOL_H8 (0x78) +#define AXP202_BAT_AVERVOL_L4 (0x79) +#define AXP202_BAT_AVERCHGCUR_H8 (0x7A) +#define AXP202_BAT_AVERCHGCUR_L4 (0x7B) +#define AXP202_BAT_AVERCHGCUR_L5 (0x7B) +#define AXP202_ACIN_VOL_H8 (0x56) +#define AXP202_ACIN_VOL_L4 (0x57) +#define AXP202_ACIN_CUR_H8 (0x58) +#define AXP202_ACIN_CUR_L4 (0x59) +#define AXP202_VBUS_VOL_H8 (0x5A) +#define AXP202_VBUS_VOL_L4 (0x5B) +#define AXP202_VBUS_CUR_H8 (0x5C) +#define AXP202_VBUS_CUR_L4 (0x5D) +#define AXP202_INTERNAL_TEMP_H8 (0x5E) +#define AXP202_INTERNAL_TEMP_L4 (0x5F) +#define AXP202_TS_IN_H8 (0x62) +#define AXP202_TS_IN_L4 (0x63) +#define AXP202_GPIO0_VOL_ADC_H8 (0x64) +#define AXP202_GPIO0_VOL_ADC_L4 (0x65) +#define AXP202_GPIO1_VOL_ADC_H8 (0x66) +#define AXP202_GPIO1_VOL_ADC_L4 (0x67) + +#define AXP202_BAT_AVERDISCHGCUR_H8 (0x7C) +#define AXP202_BAT_AVERDISCHGCUR_L5 (0x7D) +#define AXP202_APS_AVERVOL_H8 (0x7E) +#define AXP202_APS_AVERVOL_L4 (0x7F) +#define AXP202_INT_BAT_CHGCUR_H8 (0xA0) +#define AXP202_INT_BAT_CHGCUR_L4 (0xA1) +#define AXP202_EXT_BAT_CHGCUR_H8 (0xA2) +#define AXP202_EXT_BAT_CHGCUR_L4 (0xA3) +#define AXP202_INT_BAT_DISCHGCUR_H8 (0xA4) +#define AXP202_INT_BAT_DISCHGCUR_L4 (0xA5) +#define AXP202_EXT_BAT_DISCHGCUR_H8 (0xA6) +#define AXP202_EXT_BAT_DISCHGCUR_L4 (0xA7) +#define AXP202_BAT_CHGCOULOMB3 (0xB0) +#define AXP202_BAT_CHGCOULOMB2 (0xB1) +#define AXP202_BAT_CHGCOULOMB1 (0xB2) +#define AXP202_BAT_CHGCOULOMB0 (0xB3) +#define AXP202_BAT_DISCHGCOULOMB3 (0xB4) +#define AXP202_BAT_DISCHGCOULOMB2 (0xB5) +#define AXP202_BAT_DISCHGCOULOMB1 (0xB6) +#define AXP202_BAT_DISCHGCOULOMB0 (0xB7) +#define AXP202_COULOMB_CTL (0xB8) +#define AXP202_BAT_POWERH8 (0x70) +#define AXP202_BAT_POWERM8 (0x71) +#define AXP202_BAT_POWERL8 (0x72) + +#define AXP202_VREF_TEM_CTRL (0xF3) +#define AXP202_BATT_PERCENTAGE (0xB9) + +/* bit definitions for AXP events, irq event */ +/* AXP202 */ +#define AXP202_IRQ_USBLO (1) +#define AXP202_IRQ_USBRE (2) +#define AXP202_IRQ_USBIN (3) +#define AXP202_IRQ_USBOV (4) +#define AXP202_IRQ_ACRE (5) +#define AXP202_IRQ_ACIN (6) +#define AXP202_IRQ_ACOV (7) + +#define AXP202_IRQ_TEMLO (8) +#define AXP202_IRQ_TEMOV (9) +#define AXP202_IRQ_CHAOV (10) +#define AXP202_IRQ_CHAST (11) +#define AXP202_IRQ_BATATOU (12) +#define AXP202_IRQ_BATATIN (13) +#define AXP202_IRQ_BATRE (14) +#define AXP202_IRQ_BATIN (15) + +#define AXP202_IRQ_POKLO (16) +#define AXP202_IRQ_POKSH (17) +#define AXP202_IRQ_LDO3LO (18) +#define AXP202_IRQ_DCDC3LO (19) +#define AXP202_IRQ_DCDC2LO (20) +#define AXP202_IRQ_CHACURLO (22) +#define AXP202_IRQ_ICTEMOV (23) + +#define AXP202_IRQ_EXTLOWARN2 (24) +#define AXP202_IRQ_EXTLOWARN1 (25) +#define AXP202_IRQ_SESSION_END (26) +#define AXP202_IRQ_SESS_AB_VALID (27) +#define AXP202_IRQ_VBUS_UN_VALID (28) +#define AXP202_IRQ_VBUS_VALID (29) +#define AXP202_IRQ_PDOWN_BY_NOE (30) +#define AXP202_IRQ_PUP_BY_NOE (31) + +#define AXP202_IRQ_GPIO0TG (32) +#define AXP202_IRQ_GPIO1TG (33) +#define AXP202_IRQ_GPIO2TG (34) +#define AXP202_IRQ_GPIO3TG (35) +#define AXP202_IRQ_PEKFE (37) +#define AXP202_IRQ_PEKRE (38) +#define AXP202_IRQ_TIMER (39) + +//Signal Capture +#define AXP202_BATT_VOLTAGE_STEP (1.1F) +#define AXP202_BATT_DISCHARGE_CUR_STEP (0.5F) +#define AXP202_BATT_CHARGE_CUR_STEP (0.5F) +#define AXP202_ACIN_VOLTAGE_STEP (1.7F) +#define AXP202_ACIN_CUR_STEP (0.625F) +#define AXP202_VBUS_VOLTAGE_STEP (1.7F) +#define AXP202_VBUS_CUR_STEP (0.375F) +#define AXP202_INTERNAL_TEMP_STEP (0.1F) +#define AXP202_APS_VOLTAGE_STEP (1.4F) +#define AXP202_TS_PIN_OUT_STEP (0.8F) +#define AXP202_GPIO0_STEP (0.5F) +#define AXP202_GPIO1_STEP (0.5F) +// AXP192 only +#define AXP202_GPIO2_STEP (0.5F) +#define AXP202_GPIO3_STEP (0.5F) + +// AXP173 +#define AXP173_EXTEN_DC2_CTL (0x10) +#define AXP173_CTL_DC2_BIT (0) +#define AXP173_CTL_EXTEN_BIT (2) +#define AXP173_DC1_VLOTAGE (0x26) +#define AXP173_LDO4_VLOTAGE (0x27) + +#define FORCED_OPEN_DCDC3(x) (x |= (AXP202_ON << AXP202_DCDC3)) +#define BIT_MASK(x) (1 << x) +#define IS_OPEN(reg, channel) (bool)(reg & BIT_MASK(channel)) + +enum { + AXP202_EXTEN = 0, + AXP202_DCDC3 = 1, + AXP202_LDO2 = 2, + AXP202_LDO4 = 3, + AXP202_DCDC2 = 4, + AXP202_LDO3 = 6, + AXP202_OUTPUT_MAX, +}; + +enum { + AXP192_DCDC1 = 0, + AXP192_DCDC3 = 1, + AXP192_LDO2 = 2, + AXP192_LDO3 = 3, + AXP192_DCDC2 = 4, + AXP192_EXTEN = 6, + AXP192_OUTPUT_MAX, +}; + +enum { + AXP173_DCDC1 = 0, + AXP173_LDO4 = 1, + AXP173_LDO2 = 2, + AXP173_LDO3 = 3, + AXP173_DCDC2 = 4, + AXP173_EXTEN = 6, + AXP173_OUTPUT_MAX, +}; + +typedef enum { + AXP202_STARTUP_TIME_128MS, + AXP202_STARTUP_TIME_3S, + AXP202_STARTUP_TIME_1S, + AXP202_STARTUP_TIME_2S, +} axp202_startup_time_t; + +typedef enum { + AXP192_STARTUP_TIME_128MS, + AXP192_STARTUP_TIME_512MS, + AXP192_STARTUP_TIME_1S, + AXP192_STARTUP_TIME_2S, +} axp192_startup_time_t; + +typedef enum { + AXP_LONGPRESS_TIME_1S, + AXP_LONGPRESS_TIME_1S5, + AXP_LONGPRESS_TIME_2S, + AXP_LONGPRESS_TIME_2S5, +} axp_loonPress_time_t; + +typedef enum { + AXP_POWER_OFF_TIME_4S, + AXP_POWER_OFF_TIME_65, + AXP_POWER_OFF_TIME_8S, + AXP_POWER_OFF_TIME_16S, +} axp_poweroff_time_t; + +//REG 33H: Charging control 1 Charging target-voltage setting +typedef enum { + AXP202_TARGET_VOL_4_1V, + AXP202_TARGET_VOL_4_15V, + AXP202_TARGET_VOL_4_2V, + AXP202_TARGET_VOL_4_36V +} axp_chargeing_vol_t; + +//REG 82H: ADC Enable 1 register Parameter +typedef enum { + AXP202_BATT_VOL_ADC1 = 1 << 7, + AXP202_BATT_CUR_ADC1 = 1 << 6, + AXP202_ACIN_VOL_ADC1 = 1 << 5, + AXP202_ACIN_CUR_ADC1 = 1 << 4, + AXP202_VBUS_VOL_ADC1 = 1 << 3, + AXP202_VBUS_CUR_ADC1 = 1 << 2, + AXP202_APS_VOL_ADC1 = 1 << 1, + AXP202_TS_PIN_ADC1 = 1 << 0 +} axp_adc1_func_t; + +// REG 83H: ADC Enable 2 register Parameter +typedef enum { + AXP202_TEMP_MONITORING_ADC2 = 1 << 7, + AXP202_GPIO1_FUNC_ADC2 = 1 << 3, + AXP202_GPIO0_FUNC_ADC2 = 1 << 2 +} axp_adc2_func_t; + +typedef enum { + AXP202_LDO3_MODE_LDO, + AXP202_LDO3_MODE_DCIN +} axp202_ldo3_mode_t; + + + +typedef enum { + //! IRQ1 REG 40H + AXP202_VBUS_VHOLD_LOW_IRQ = _BV(1), //VBUS is available, but lower than V HOLD, IRQ enable + AXP202_VBUS_REMOVED_IRQ = _BV(2), //VBUS removed, IRQ enable + AXP202_VBUS_CONNECT_IRQ = _BV(3), //VBUS connected, IRQ enable + AXP202_VBUS_OVER_VOL_IRQ = _BV(4), //VBUS over-voltage, IRQ enable + AXP202_ACIN_REMOVED_IRQ = _BV(5), //ACIN removed, IRQ enable + AXP202_ACIN_CONNECT_IRQ = _BV(6), //ACIN connected, IRQ enable + AXP202_ACIN_OVER_VOL_IRQ = _BV(7), //ACIN over-voltage, IRQ enable + + //! IRQ2 REG 41H + AXP202_BATT_LOW_TEMP_IRQ = _BV(8), //Battery low-temperature, IRQ enable + AXP202_BATT_OVER_TEMP_IRQ = _BV(9), //Battery over-temperature, IRQ enable + AXP202_CHARGING_FINISHED_IRQ = _BV(10), //Charge finished, IRQ enable + AXP202_CHARGING_IRQ = _BV(11), //Be charging, IRQ enable + AXP202_BATT_EXIT_ACTIVATE_IRQ = _BV(12), //Exit battery activate mode, IRQ enable + AXP202_BATT_ACTIVATE_IRQ = _BV(13), //Battery activate mode, IRQ enable + AXP202_BATT_REMOVED_IRQ = _BV(14), //Battery removed, IRQ enable + AXP202_BATT_CONNECT_IRQ = _BV(15), //Battery connected, IRQ enable + + //! IRQ3 REG 42H + AXP202_PEK_LONGPRESS_IRQ = _BV(16), //PEK long press, IRQ enable + AXP202_PEK_SHORTPRESS_IRQ = _BV(17), //PEK short press, IRQ enable + AXP202_LDO3_LOW_VOL_IRQ = _BV(18), //LDO3output voltage is lower than the set value, IRQ enable + AXP202_DC3_LOW_VOL_IRQ = _BV(19), //DC-DC3output voltage is lower than the set value, IRQ enable + AXP202_DC2_LOW_VOL_IRQ = _BV(20), //DC-DC2 output voltage is lower than the set value, IRQ enable + //**Reserved and unchangeable BIT 5 + AXP202_CHARGE_LOW_CUR_IRQ = _BV(22), //Charge current is lower than the set current, IRQ enable + AXP202_CHIP_TEMP_HIGH_IRQ = _BV(23), //AXP202 internal over-temperature, IRQ enable + + //! IRQ4 REG 43H + AXP202_APS_LOW_VOL_LEVEL2_IRQ = _BV(24), //APS low-voltage, IRQ enableīŧˆLEVEL2īŧ‰ + APX202_APS_LOW_VOL_LEVEL1_IRQ = _BV(25), //APS low-voltage, IRQ enableīŧˆLEVEL1īŧ‰ + AXP202_VBUS_SESSION_END_IRQ = _BV(26), //VBUS Session End IRQ enable + AXP202_VBUS_SESSION_AB_IRQ = _BV(27), //VBUS Session A/B IRQ enable + AXP202_VBUS_INVALID_IRQ = _BV(28), //VBUS invalid, IRQ enable + AXP202_VBUS_VAILD_IRQ = _BV(29), //VBUS valid, IRQ enable + AXP202_NOE_OFF_IRQ = _BV(30), //N_OE shutdown, IRQ enable + AXP202_NOE_ON_IRQ = _BV(31), //N_OE startup, IRQ enable + + //! IRQ5 REG 44H + AXP202_GPIO0_EDGE_TRIGGER_IRQ = _BV(32), //GPIO0 input edge trigger, IRQ enable + AXP202_GPIO1_EDGE_TRIGGER_IRQ = _BV(33), //GPIO1input edge trigger or ADC input, IRQ enable + AXP202_GPIO2_EDGE_TRIGGER_IRQ = _BV(34), //GPIO2input edge trigger, IRQ enable + AXP202_GPIO3_EDGE_TRIGGER_IRQ = _BV(35), //GPIO3 input edge trigger, IRQ enable + //**Reserved and unchangeable BIT 4 + AXP202_PEK_FALLING_EDGE_IRQ = _BV(37), //PEK press falling edge, IRQ enable + AXP202_PEK_RISING_EDGE_IRQ = _BV(38), //PEK press rising edge, IRQ enable + AXP202_TIMER_TIMEOUT_IRQ = _BV(39), //Timer timeout, IRQ enable + + AXP202_ALL_IRQ = (0xFFFFFFFFFFULL) +} axp_irq_t; + +typedef enum { + AXP202_LDO4_1250MV, + AXP202_LDO4_1300MV, + AXP202_LDO4_1400MV, + AXP202_LDO4_1500MV, + AXP202_LDO4_1600MV, + AXP202_LDO4_1700MV, + AXP202_LDO4_1800MV, + AXP202_LDO4_1900MV, + AXP202_LDO4_2000MV, + AXP202_LDO4_2500MV, + AXP202_LDO4_2700MV, + AXP202_LDO4_2800MV, + AXP202_LDO4_3000MV, + AXP202_LDO4_3100MV, + AXP202_LDO4_3200MV, + AXP202_LDO4_3300MV, + AXP202_LDO4_MAX, +} axp_ldo4_table_t; + +typedef enum { + AXP202_LDO5_1800MV, + AXP202_LDO5_2500MV, + AXP202_LDO5_2800MV, + AXP202_LDO5_3000MV, + AXP202_LDO5_3100MV, + AXP202_LDO5_3300MV, + AXP202_LDO5_3400MV, + AXP202_LDO5_3500MV, +} axp_ldo5_table_t; + +typedef enum { + AXP20X_LED_OFF, + AXP20X_LED_BLINK_1HZ, + AXP20X_LED_BLINK_4HZ, + AXP20X_LED_LOW_LEVEL, +} axp_chgled_mode_t; + +typedef enum { + AXP_ADC_SAMPLING_RATE_25HZ = 0, + AXP_ADC_SAMPLING_RATE_50HZ = 1, + AXP_ADC_SAMPLING_RATE_100HZ = 2, + AXP_ADC_SAMPLING_RATE_200HZ = 3, +} axp_adc_sampling_rate_t; + +typedef enum { + AXP_TS_PIN_CURRENT_20UA = 0, + AXP_TS_PIN_CURRENT_40UA = 1, + AXP_TS_PIN_CURRENT_60UA = 2, + AXP_TS_PIN_CURRENT_80UA = 3, +} axp_ts_pin_current_t; + +typedef enum { + AXP_TS_PIN_FUNCTION_BATT = 0, + AXP_TS_PIN_FUNCTION_ADC = 1, +} axp_ts_pin_function_t; + +typedef enum { + AXP_TS_PIN_MODE_DISABLE = 0, + AXP_TS_PIN_MODE_CHARGING = 1, + AXP_TS_PIN_MODE_SAMPLING = 2, + AXP_TS_PIN_MODE_ENABLE = 3, +} axp_ts_pin_mode_t; + +//! Only AXP192 and AXP202 have gpio function +typedef enum { + AXP_GPIO_0, + AXP_GPIO_1, + AXP_GPIO_2, + AXP_GPIO_3, + AXP_GPIO_4, +} axp_gpio_t; + +typedef enum { + AXP_IO_OUTPUT_LOW_MODE, + AXP_IO_OUTPUT_HIGH_MODE, + AXP_IO_INPUT_MODE, + AXP_IO_LDO_MODE, + AXP_IO_ADC_MODE, + AXP_IO_FLOATING_MODE, + AXP_IO_OPEN_DRAIN_OUTPUT_MODE, + AXP_IO_PWM_OUTPUT_MODE, + AXP_IO_EXTERN_CHARGING_CTRL_MODE, +} axp_gpio_mode_t; + +typedef enum { + AXP_IRQ_NONE, + AXP_IRQ_RISING, + AXP_IRQ_FALLING, + AXP_IRQ_DOUBLE_EDGE, +} axp_gpio_irq_t; + + +typedef enum { + AXP192_GPIO_1V8, + AXP192_GPIO_1V9, + AXP192_GPIO_2V0, + AXP192_GPIO_2V1, + AXP192_GPIO_2V2, + AXP192_GPIO_2V3, + AXP192_GPIO_2V4, + AXP192_GPIO_2V5, + AXP192_GPIO_2V6, + AXP192_GPIO_2V7, + AXP192_GPIO_2V8, + AXP192_GPIO_2V9, + AXP192_GPIO_3V0, + AXP192_GPIO_3V1, + AXP192_GPIO_3V2, + AXP192_GPIO_3V3, +} axp192_gpio_voltage_t; + +typedef enum { + AXP1XX_CHARGE_CUR_100MA, + AXP1XX_CHARGE_CUR_190MA, + AXP1XX_CHARGE_CUR_280MA, + AXP1XX_CHARGE_CUR_360MA, + AXP1XX_CHARGE_CUR_450MA, + AXP1XX_CHARGE_CUR_550MA, + AXP1XX_CHARGE_CUR_630MA, + AXP1XX_CHARGE_CUR_700MA, + AXP1XX_CHARGE_CUR_780MA, + AXP1XX_CHARGE_CUR_880MA, + AXP1XX_CHARGE_CUR_960MA, + AXP1XX_CHARGE_CUR_1000MA, + AXP1XX_CHARGE_CUR_1080MA, + AXP1XX_CHARGE_CUR_1160MA, + AXP1XX_CHARGE_CUR_1240MA, + AXP1XX_CHARGE_CUR_1320MA, +} axp1xx_charge_current_t; + +typedef uint8_t (*axp_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr, uint8_t *data, uint8_t len); + + +/** + * A common baseclass for any component that can provide a battery charge level + */ +class HasBatteryLevel { +public: + /** + * Battery state of charge, from 0 to 100 or -1 for unknown + */ + virtual int getBattPercentage() { return -1; } + + /** + * The raw voltage of the battery or NAN if unknown + */ + virtual float getBattVoltage() { return NAN; } + + /** + * return true if there is a battery installed in this unit + */ + virtual bool isBatteryConnect() { return false; } + + virtual bool isVBUSPlug() { return false; } + virtual bool isChargeing() { return false; } +}; + +class AXP20X_Class : public HasBatteryLevel +{ +public: + int begin(TwoWire &port = Wire, uint8_t addr = AXP202_SLAVE_ADDRESS, bool isAxp173 = false); + int begin(axp_com_fptr_t read_cb, axp_com_fptr_t write_cb, uint8_t addr = AXP202_SLAVE_ADDRESS, bool isAxp173 = false); + + // Power Output Control + int setPowerOutPut(uint8_t ch, bool en); + + bool isBatteryConnect(); + bool isChargeing(); + bool isLDO2Enable(); + bool isLDO3Enable(); + bool isLDO4Enable(); + bool isDCDC3Enable(); + bool isDCDC2Enable(); + bool isChargeingEnable(); + bool isVBUSPlug(); + bool isExtenEnable(); + + //Only axp192 chip + bool isDCDC1Enable(); + + + //IRQ Status + bool isAcinOverVoltageIRQ(); + bool isAcinPlugInIRQ(); + bool isAcinRemoveIRQ(); + bool isVbusOverVoltageIRQ(); + bool isVbusPlugInIRQ(); + bool isVbusRemoveIRQ(); + bool isVbusLowVHOLDIRQ(); + + bool isBattPlugInIRQ(); + bool isBattRemoveIRQ(); + bool isBattEnterActivateIRQ(); + bool isBattExitActivateIRQ(); + bool isChargingIRQ(); + bool isChargingDoneIRQ(); + bool isBattTempLowIRQ(); + bool isBattTempHighIRQ(); + + bool isPEKShortPressIRQ(); + bool isPEKLongtPressIRQ(); + bool isTimerTimeoutIRQ(); + + //! Group4 ADC data + float getAcinVoltage(); + float getAcinCurrent(); + float getVbusVoltage(); + float getVbusCurrent(); + float getTemp(); + float getTSTemp(); + float getGPIO0Voltage(); + float getGPIO1Voltage(); + float getBattInpower(); + float getBattVoltage(); + float getBattChargeCurrent(); + float getBattDischargeCurrent(); + float getSysIPSOUTVoltage(); + uint32_t getBattChargeCoulomb(); + uint32_t getBattDischargeCoulomb(); + float getSettingChargeCurrent(); + + int setChargingTargetVoltage(axp_chargeing_vol_t param); + int enableChargeing(bool en); + + int adc1Enable(uint16_t params, bool en); + int adc2Enable(uint16_t params, bool en); + + int setTScurrent(axp_ts_pin_current_t current); + int setTSfunction(axp_ts_pin_function_t func); + int setTSmode(axp_ts_pin_mode_t mode); + + + int setTimer(uint8_t minutes); + int offTimer(); + int clearTimerStatus(); + /** + * param: axp202_startup_time_t or axp192_startup_time_t + */ + int setStartupTime(uint8_t param); + + /** + * param: axp_loonPress_time_t + */ + int setlongPressTime(uint8_t param); + + /** + * @param param: axp_poweroff_time_t + */ + int setShutdownTime(uint8_t param); + + int setTimeOutShutdown(bool en); + + int shutdown(); + + /** + * params: axp_irq_t + */ + int enableIRQ(uint64_t params, bool en); + int readIRQ(); + void clearIRQ(); + + int setDCDC1Voltage(uint16_t mv); //! Only AXP192 support and AXP173 + // return mv + uint16_t getDCDC1Voltage(); //! Only AXP192 support and AXP173 + + // ----------------- + + /* + !! Chip resource table + | CHIP | AXP173 | AXP192 | AXP202 | + | -------- | ---------------- | ---------------- | ---------------- | + | DC1 | 0v7~3v5 /1200mA | 0v7~3v5 /1200mA | X | + | DC2 | 0v7~2v275/1600mA | 0v7~2v275/1600mA | 0v7~2v275/1600mA | + | DC3 | X | 0v7~3v5 /700mA | 0v7~3v5 /1200mA | + | LDO1 | 3v3 /30mA | 3v3 /30mA | 3v3 /30mA | + | LDO2 | 1v8~3v3 /200mA | 1v8~3v3 /200mA | 1v8~3v3 /200mA | + | LDO3 | 1v8~3v3 /200mA | 1v8~3v3 /200mA | 0v7~3v3 /200mA | + | LDO4 | 0v7~3v5 /500mA | X | 1v8~3v3 /200mA | + | LDO5/IO0 | X | 1v8~3v3 /50mA | 1v8~3v3 /50mA | + */ + int setDCDC2Voltage(uint16_t mv); + uint16_t getDCDC2Voltage(); + + int setDCDC3Voltage(uint16_t mv); + uint16_t getDCDC3Voltage(); + + int setLDO2Voltage(uint16_t mv); + uint16_t getLDO2Voltage(); + + int setLDO3Voltage(uint16_t mv); + uint16_t getLDO3Voltage(); + + + int setLDO4Voltage(axp_ldo4_table_t param); //! Only axp202 support + int setLDO4Voltage(uint16_t mv); //! Only axp173 support + + // return mv + uint16_t getLDO4Voltage(); //! Only axp173/axp202 support + + + /** + * @param mode: axp_chgled_mode_t + */ + int setChgLEDMode(axp_chgled_mode_t mode); + int setChgLEDModeCharging(); + + /** + * @param mode: axp202_ldo3_mode_t + */ + int setLDO3Mode(uint8_t mode); //! Only AXP202 support + + int getBattPercentage(); + + int debugCharging(); + int debugStatus(); + int limitingOff(); + + int setAdcSamplingRate(axp_adc_sampling_rate_t rate); + uint8_t getAdcSamplingRate(); + float getCoulombData(); + uint8_t getCoulombRegister(); + int setCoulombRegister(uint8_t val); + int EnableCoulombcounter(void); + int DisableCoulombcounter(void); + int StopCoulombcounter(void); + int ClearCoulombcounter(void); + + + int setGPIOMode(axp_gpio_t gpio, axp_gpio_mode_t mode); + int setGPIOIrq(axp_gpio_t gpio, axp_gpio_irq_t irq); + int setLDO5Voltage(axp_ldo5_table_t vol); + + int gpioWrite(axp_gpio_t gpio, uint8_t vol); + int gpioRead(axp_gpio_t gpio); + + // When the chip is axp192 / 173, the allowed values are 0 ~ 15, corresponding to the axp1xx_charge_current_t enumeration + // When the chip is axp202 allows maximum charging current of 1800mA, minimum 300mA + int getChargeControlCur(); + int setChargeControlCur(uint16_t mA); + +private: + uint16_t _getRegistH8L5(uint8_t regh8, uint8_t regl5) + { + uint8_t hv, lv; + _readByte(regh8, 1, &hv); + _readByte(regl5, 1, &lv); + return (hv << 5) | (lv & 0x1F); + } + + uint16_t _getRegistResult(uint8_t regh8, uint8_t regl4) + { + uint8_t hv, lv; + _readByte(regh8, 1, &hv); + _readByte(regl4, 1, &lv); + return (hv << 4) | (lv & 0x0F); + } + + int _readByte(uint8_t reg, uint8_t nbytes, uint8_t *data) + { + if (_read_cb != nullptr) { + return _read_cb(_address, reg, data, nbytes); + } + if (nbytes == 0 || !data) + return -1; + _i2cPort->beginTransmission(_address); + _i2cPort->write(reg); + _i2cPort->endTransmission(); + _i2cPort->requestFrom(_address, nbytes); + uint8_t index = 0; + while (_i2cPort->available()) + data[index++] = _i2cPort->read(); + return 0; + } + + int _writeByte(uint8_t reg, uint8_t nbytes, uint8_t *data) + { + if (_write_cb != nullptr) { + return _write_cb(_address, reg, data, nbytes); + } + if (nbytes == 0 || !data) + return -1; + _i2cPort->beginTransmission(_address); + _i2cPort->write(reg); + for (uint8_t i = 0; i < nbytes; i++) { + _i2cPort->write(data[i]); + } + _i2cPort->endTransmission(); + return 0; + } + + int _setGpioInterrupt(uint8_t *val, int mode, bool en); + int _axp_probe(); + int _axp_irq_mask(axp_gpio_irq_t irq); + + int _axp192_gpio_set(axp_gpio_t gpio, axp_gpio_mode_t mode); + int _axp192_gpio_0_select( axp_gpio_mode_t mode); + int _axp192_gpio_1_select( axp_gpio_mode_t mode); + int _axp192_gpio_3_select( axp_gpio_mode_t mode); + int _axp192_gpio_4_select( axp_gpio_mode_t mode); + + int _axp202_gpio_set(axp_gpio_t gpio, axp_gpio_mode_t mode); + int _axp202_gpio_0_select( axp_gpio_mode_t mode); + int _axp202_gpio_1_select( axp_gpio_mode_t mode); + int _axp202_gpio_2_select( axp_gpio_mode_t mode); + int _axp202_gpio_3_select( axp_gpio_mode_t mode); + int _axp202_gpio_irq_set(axp_gpio_t gpio, axp_gpio_irq_t irq); + int _axp202_gpio_write(axp_gpio_t gpio, uint8_t val); + int _axp202_gpio_read(axp_gpio_t gpio); + + + static const uint8_t startupParams[], longPressParams[], shutdownParams[], targetVolParams[]; + static uint8_t _outputReg; + uint8_t _address, _irq[5], _chip_id, _gpio[4]; + bool _init = false; + axp_com_fptr_t _read_cb = nullptr; + axp_com_fptr_t _write_cb = nullptr; + TwoWire *_i2cPort; + bool _isAxp173; +}; diff --git a/lib/lvgl_esp32_drivers/lvgl_helpers.c b/lib/lvgl_esp32_drivers/lvgl_helpers.c new file mode 100644 index 0000000..6875497 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_helpers.c @@ -0,0 +1,241 @@ +/** + * @file lvgl_helpers.c + * + */ + +/********************* + * INCLUDES + *********************/ +#include "sdkconfig.h" +#include "lv_conf.h" +#include "lvgl_helpers.h" +#include "esp_log.h" + +#include "lvgl_tft/disp_spi.h" +#include "lvgl_touch/tp_spi.h" + +#include "lvgl_spi_conf.h" +#include "lvgl_i2c_conf.h" + +#include "driver/i2c.h" + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "src/lv_core/lv_refr.h" +#else +#include "lvgl/src/lv_core/lv_refr.h" +#endif + +/********************* + * DEFINES + *********************/ + + #define TAG "lvgl_helpers" + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * STATIC PROTOTYPES + **********************/ + +/********************** + * STATIC VARIABLES + **********************/ + +/********************** + * MACROS + **********************/ + +/********************** + * GLOBAL FUNCTIONS + **********************/ + +/* Interface and driver initialization */ +void lvgl_driver_init(void) +{ + ESP_LOGI(TAG, "Display hor size: %d, ver size: %d", LV_HOR_RES_MAX, LV_VER_RES_MAX); + ESP_LOGI(TAG, "Display buffer size: %d", DISP_BUF_SIZE); + +#if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) + ESP_LOGI(TAG, "Initializing SPI master for FT81X"); + + lvgl_spi_driver_init(TFT_SPI_HOST, + DISP_SPI_MISO, DISP_SPI_MOSI, DISP_SPI_CLK, + SPI_BUS_MAX_TRANSFER_SZ, 1, + DISP_SPI_IO2, DISP_SPI_IO3); + + disp_spi_add_device(TFT_SPI_HOST); + disp_driver_init(); + +#if defined (CONFIG_LV_TOUCH_CONTROLLER_FT81X) + touch_driver_init(); +#endif + + return; +#endif + +#if defined (SHARED_SPI_BUS) + ESP_LOGI(TAG, "Initializing shared SPI master"); + + lvgl_spi_driver_init(TFT_SPI_HOST, + TP_SPI_MISO, DISP_SPI_MOSI, DISP_SPI_CLK, + SPI_BUS_MAX_TRANSFER_SZ, 1, + -1, -1); + + disp_spi_add_device(TFT_SPI_HOST); + tp_spi_add_device(TOUCH_SPI_HOST); + + disp_driver_init(); + touch_driver_init(); + + return; +#endif + +#if defined (SHARED_I2C_BUS) + ESP_LOGI(TAG, "Initializing shared I2C master"); + + lvgl_i2c_driver_init(DISP_I2C_PORT, + DISP_I2C_SDA, DISP_I2C_SCL, + DISP_I2C_SPEED_HZ); + + disp_driver_init(); + touch_driver_init(); + + return; +#endif + +/* Display controller initialization */ +#if defined CONFIG_LV_TFT_DISPLAY_PROTOCOL_SPI + ESP_LOGI(TAG, "Initializing SPI master for display"); + + lvgl_spi_driver_init(TFT_SPI_HOST, + DISP_SPI_MISO, DISP_SPI_MOSI, DISP_SPI_CLK, + SPI_BUS_MAX_TRANSFER_SZ, 1, + DISP_SPI_IO2, DISP_SPI_IO3); + + disp_spi_add_device(TFT_SPI_HOST); + + disp_driver_init(); +#elif defined (CONFIG_LV_TFT_DISPLAY_PROTOCOL_I2C) + ESP_LOGI(TAG, "Initializing I2C master for display"); + /* Init the i2c master on the display driver code */ + lvgl_i2c_driver_init(DISP_I2C_PORT, + DISP_I2C_SDA, DISP_I2C_SCL, + DISP_I2C_SPEED_HZ); + + disp_driver_init(); +#else +#error "No protocol defined for display controller" +#endif + +/* Touch controller initialization */ +#if CONFIG_LV_TOUCH_CONTROLLER != TOUCH_CONTROLLER_NONE + #if defined (CONFIG_LV_TOUCH_DRIVER_PROTOCOL_SPI) + ESP_LOGI(TAG, "Initializing SPI master for touch"); + + lvgl_spi_driver_init(TOUCH_SPI_HOST, + TP_SPI_MISO, TP_SPI_MOSI, TP_SPI_CLK, + 0 /* Defaults to 4094 */, 2, + -1, -1); + + tp_spi_add_device(TOUCH_SPI_HOST); + + touch_driver_init(); + #elif defined (CONFIG_LV_TOUCH_DRIVER_PROTOCOL_I2C) + ESP_LOGI(TAG, "Initializing I2C master for touch"); + + lvgl_i2c_driver_init(TOUCH_I2C_PORT, + TOUCH_I2C_SDA, TOUCH_I2C_SCL, + TOUCH_I2C_SPEED_HZ); + + touch_driver_init(); + #elif defined (CONFIG_LV_TOUCH_DRIVER_ADC) + touch_driver_init(); + #elif defined (CONFIG_LV_TOUCH_DRIVER_DISPLAY) + touch_driver_init(); + #else + #error "No protocol defined for touch controller" + #endif +#else +#endif +} + +/* Config the i2c master + * + * This should init the i2c master to be used on display and touch controllers. + * So we should be able to know if the display and touch controllers shares the + * same i2c master. + */ +bool lvgl_i2c_driver_init(int port, int sda_pin, int scl_pin, int speed_hz) +{ + esp_err_t err; + + ESP_LOGI(TAG, "Initializing I2C master port %d...", port); + ESP_LOGI(TAG, "SDA pin: %d, SCL pin: %d, Speed: %d (Hz)", + sda_pin, scl_pin, speed_hz); + + i2c_config_t conf = { + .mode = I2C_MODE_MASTER, + .sda_io_num = sda_pin, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_io_num = scl_pin, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master.clk_speed = speed_hz, + }; + + ESP_LOGI(TAG, "Setting I2C master configuration..."); + err = i2c_param_config(port, &conf); + assert(ESP_OK == err); + + ESP_LOGI(TAG, "Installing I2C master driver..."); + err = i2c_driver_install(port, + I2C_MODE_MASTER, + 0, 0 /*I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE */, + 0 /* intr_alloc_flags */); + assert(ESP_OK == err); + + return ESP_OK != err; +} + +/* Initialize spi bus master */ +bool lvgl_spi_driver_init(int host, + int miso_pin, int mosi_pin, int sclk_pin, + int max_transfer_sz, + int dma_channel, + int quadwp_pin, int quadhd_pin) +{ +#if defined (CONFIG_IDF_TARGET_ESP32) + assert((SPI_HOST <= host) && (VSPI_HOST >= host)); + const char *spi_names[] = { + "SPI_HOST", "HSPI_HOST", "VSPI_HOST" + }; +#elif defined (CONFIG_IDF_TARGET_ESP32S2) + assert((SPI_HOST <= host) && (HSPI_HOST >= host)); + const char *spi_names[] = { + "SPI_HOST", "", "" + }; +#endif + + ESP_LOGI(TAG, "Configuring SPI host %s (%d)", spi_names[host], host); + ESP_LOGI(TAG, "MISO pin: %d, MOSI pin: %d, SCLK pin: %d, IO2/WP pin: %d, IO3/HD pin: %d", + miso_pin, mosi_pin, sclk_pin, quadwp_pin, quadhd_pin); + + ESP_LOGI(TAG, "Max transfer size: %d (bytes)", max_transfer_sz); + + spi_bus_config_t buscfg = { + .miso_io_num = miso_pin, + .mosi_io_num = mosi_pin, + .sclk_io_num = sclk_pin, + .quadwp_io_num = quadwp_pin, + .quadhd_io_num = quadhd_pin, + .max_transfer_sz = max_transfer_sz + }; + + ESP_LOGI(TAG, "Initializing SPI bus..."); + esp_err_t ret = spi_bus_initialize(host, &buscfg, dma_channel); + assert(ret == ESP_OK); + + return ESP_OK != ret; +} + diff --git a/lib/lvgl_esp32_drivers/lvgl_helpers.h b/lib/lvgl_esp32_drivers/lvgl_helpers.h new file mode 100644 index 0000000..54b4566 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_helpers.h @@ -0,0 +1,85 @@ +/** + * @file lvgl_helpers.h + */ + +#ifndef LVGL_HELPERS_H +#define LVGL_HELPERS_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include + +#include "lvgl_spi_conf.h" +#include "lvgl_tft/disp_driver.h" +#include "lvgl_touch/touch_driver.h" + +/********************* + * DEFINES + *********************/ +#if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789) +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7735S +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_HX8357 +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107 +#define DISP_BUF_SIZE (CONFIG_LV_DISPLAY_WIDTH*CONFIG_LV_DISPLAY_HEIGHT) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9481 +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9486 +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9488 +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9341 +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 64) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SSD1306 +#define DISP_BUF_SIZE (CONFIG_LV_DISPLAY_WIDTH*CONFIG_LV_DISPLAY_HEIGHT) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) +#define DISP_BUF_LINES 40 +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * DISP_BUF_LINES) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820) +#define DISP_BUF_SIZE (CONFIG_LV_DISPLAY_HEIGHT * IL3820_COLUMNS) +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_RA8875 +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_GC9A01) +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A) +#define DISP_BUF_SIZE ((CONFIG_LV_DISPLAY_HEIGHT * CONFIG_LV_DISPLAY_WIDTH) / 8) // 5KB +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_UC8151D) +#define DISP_BUF_SIZE ((CONFIG_LV_DISPLAY_HEIGHT * CONFIG_LV_DISPLAY_WIDTH) / 8) // 2888 bytes +#else +#error "No display controller selected" +#endif + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +/* Initialize detected SPI and I2C bus and devices */ +void lvgl_driver_init(void); + +/* Initialize SPI master */ +bool lvgl_spi_driver_init(int host, int miso_pin, int mosi_pin, int sclk_pin, + int max_transfer_sz, int dma_channel, int quadwp_pin, int quadhd_pin); +/* Initialize I2C master */ +bool lvgl_i2c_driver_init(int port, int sda_pin, int scl_pin, int speed); + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* LVGL_HELPERS_H */ diff --git a/lib/lvgl_esp32_drivers/lvgl_i2c_conf.h b/lib/lvgl_esp32_drivers/lvgl_i2c_conf.h new file mode 100644 index 0000000..cf8ac45 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_i2c_conf.h @@ -0,0 +1,116 @@ +/** + * @file lvgl_i2c_config.h + */ + +#ifndef LVGL_I2C_CONF_H +#define LVGL_I2C_CONF_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +/********************* + * DEFINES + *********************/ + +/* TODO: Define the I2C bus clock based on the selected display or touch + * controllers. */ + +/* Do both display and touch controllers uses I2C? */ +#if defined (CONFIG_LV_TOUCH_DRIVER_PROTOCOL_I2C) && \ + defined (CONFIG_LV_TFT_DISPLAY_PROTOCOL_I2C) + +#if defined (CONFIG_LV_DISPLAY_I2C_PORT_0) && \ + defined (CONFIG_LV_TOUCH_I2C_PORT_0) +#define SHARED_I2C_PORT +#define DISP_I2C_PORT I2C_NUM_0 +#endif + +#if defined (CONFIG_LV_DISPLAY_I2C_PORT_1) && \ + defined (CONFIG_LV_TOUCH_I2C_PORT_1) +#define SHARED_I2C_PORT +#define DISP_I2C_PORT I2C_NUM_1 +#endif + +#if !defined (SHARED_I2C_PORT) +#endif +#endif + +#if defined (SHARED_I2C_PORT) +/* If the port is shared the display and touch controllers must use the same + * SCL and SDA pins, otherwise let the user know with an error. */ +#if (CONFIG_LV_DISP_PIN_SDA != CONFIG_LV_TOUCH_I2C_SDA) || \ + (CONFIG_LV_DISP_PIN_SCL != CONFIG_LV_TOUCH_I2C_SCL) +#error "To share I2C port you need to choose the same SDA and SCL pins on both display and touch configurations" +#endif + +#define DISP_I2C_SDA CONFIG_LV_DISP_PIN_SDA +#define DISP_I2C_SCL CONFIG_LV_DISP_PIN_SCL +#define DISP_I2C_ORIENTATION TFT_ORIENTATION_LANDSCAPE + +/* Setting the I2C speed to the slowest one */ +#if DISP_I2C_SPEED_HZ < TOUCH_I2C_SPEED_HZ +#define DISP_I2C_SPEED_HZ 400000 /* DISP_I2C_SPEED_HZ */ +#else +#define DISP_I2C_SPEED_HZ 400000 /* DISP_I2C_SPEED_HZ */ +#endif + +#else + +/* lets check if the touch controller uses I2C... */ +#if defined (CONFIG_LV_TOUCH_DRIVER_PROTOCOL_I2C) +#if defined (CONFIG_LV_TOUCH_I2C_PORT_0) +#define TOUCH_I2C_PORT I2C_NUM_0 +#else +#define TOUCH_I2C_PORT I2C_NUM_1 +#endif +#define TOUCH_I2C_SDA CONFIG_LV_TOUCH_I2C_SDA +#define TOUCH_I2C_SCL CONFIG_LV_TOUCH_I2C_SCL +#define TOUCH_I2C_SPEED_HZ 400000 +#endif + +/* lets check if the display controller uses I2C... */ +#if defined (CONFIG_LV_TFT_DISPLAY_PROTOCOL_I2C) +#if defined (CONFIG_LV_DISPLAY_I2C_PORT_0) +#define DISP_I2C_PORT I2C_NUM_0 +#else +#define DISP_I2C_PORT I2C_NUM_1 +#endif + +#define DISP_I2C_SDA CONFIG_LV_DISP_PIN_SDA +#define DISP_I2C_SCL CONFIG_LV_DISP_PIN_SCL +#define DISP_I2C_ORIENTATION TFT_ORIENTATION_LANDSCAPE +#define DISP_I2C_SPEED_HZ 400000 +#endif + +#endif + +/********************** + * TYPEDEFS + **********************/ + + +/********************** + * GLOBAL PROTOTYPES + **********************/ + + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*LVGL_I2C_CONF_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_spi_conf.h b/lib/lvgl_esp32_drivers/lvgl_spi_conf.h new file mode 100644 index 0000000..16e63b4 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_spi_conf.h @@ -0,0 +1,198 @@ +/** + * @file lvgl_spi_conf.h + * + */ + +#ifndef LVGL_SPI_CONF_H +#define LVGL_SPI_CONF_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ + +/********************* + * DEFINES + *********************/ +// DISPLAY PINS +#define DISP_SPI_MOSI CONFIG_LV_DISP_SPI_MOSI +#if defined (CONFIG_LV_DISPLAY_USE_SPI_MISO) + #define DISP_SPI_MISO CONFIG_LV_DISP_SPI_MISO + #define DISP_SPI_INPUT_DELAY_NS CONFIG_LV_DISP_SPI_INPUT_DELAY_NS +#else + #define DISP_SPI_MISO (-1) + #define DISP_SPI_INPUT_DELAY_NS (0) +#endif +#if defined(CONFIG_LV_DISP_SPI_IO2) +#define DISP_SPI_IO2 CONFIG_LV_DISP_SPI_IO2 +#else +#define DISP_SPI_IO2 (-1) +#endif +#if defined(CONFIG_LV_DISP_SPI_IO3) +#define DISP_SPI_IO3 CONFIG_LV_DISP_SPI_IO3 +#else +#define DISP_SPI_IO3 (-1) +#endif +#define DISP_SPI_CLK CONFIG_LV_DISP_SPI_CLK +#if defined (CONFIG_LV_DISPLAY_USE_SPI_CS) + #define DISP_SPI_CS CONFIG_LV_DISP_SPI_CS +#else + #define DISP_SPI_CS (-1) +#endif + +/* Define TOUCHPAD PINS when selecting a touch controller */ +#if !defined (CONFIG_LV_TOUCH_CONTROLLER_NONE) + +/* Handle FT81X special case */ +#if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) && \ + defined (CONFIG_LV_TOUCH_CONTROLLER_FT81X) + + #define TP_SPI_MOSI CONFIG_LV_DISP_SPI_MOSI + #define TP_SPI_MISO CONFIG_LV_DISP_SPI_MISO + #define TP_SPI_CLK CONFIG_LV_DISP_SPI_CLK + #define TP_SPI_CS CONFIG_LV_DISP_SPI_CS +#else + #define TP_SPI_MOSI CONFIG_LV_TOUCH_SPI_MOSI + #define TP_SPI_MISO CONFIG_LV_TOUCH_SPI_MISO + #define TP_SPI_CLK CONFIG_LV_TOUCH_SPI_CLK + #define TP_SPI_CS CONFIG_LV_TOUCH_SPI_CS +#endif +#endif + +#define ENABLE_TOUCH_INPUT CONFIG_LV_ENABLE_TOUCH + +#if defined (CONFIG_LV_TFT_DISPLAY_SPI_HSPI) +#define TFT_SPI_HOST HSPI_HOST +#elif defined (CONFIG_LV_TFT_DISPLAY_SPI_VSPI) +#define TFT_SPI_HOST VSPI_HOST +#elif defined (CONFIG_LV_TFT_DISPLAY_SPI_FSPI) +#define TFT_SPI_HOST FSPI_HOST +#endif + +#if defined (CONFIG_LV_TFT_DISPLAY_SPI_HALF_DUPLEX) +#define DISP_SPI_HALF_DUPLEX +#else +#define DISP_SPI_FULL_DUPLEX +#endif + +#if defined (CONFIG_LV_TFT_DISPLAY_SPI_TRANS_MODE_DIO) +#define DISP_SPI_TRANS_MODE_DIO +#elif defined (CONFIG_LV_TFT_DISPLAY_SPI_TRANS_MODE_QIO) +#define DISP_SPI_TRANS_MODE_QIO +#else +#define DISP_SPI_TRANS_MODE_SIO +#endif + +#if defined (CONFIG_LV_TOUCH_CONTROLLER_SPI_HSPI) +#define TOUCH_SPI_HOST HSPI_HOST +#elif defined (CONFIG_LV_TOUCH_CONTROLLER_SPI_VSPI) +#define TOUCH_SPI_HOST VSPI_HOST +#elif defined (CONFIG_LV_TOUCH_CONTROLLER_SPI_FSPI) +#define TOUCH_SPI_HOST FSPI_HOST +#endif + +/* Handle the FT81X Special case */ +#if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) + +#if defined (CONFIG_LV_TOUCH_CONTROLLER_FT81X) +#define SHARED_SPI_BUS +#else +/* Empty */ +#endif + +#else +// Detect the use of a shared SPI Bus and verify the user specified the same SPI bus for both touch and tft +#if defined (CONFIG_LV_TOUCH_DRIVER_PROTOCOL_SPI) && TP_SPI_MOSI == DISP_SPI_MOSI && TP_SPI_CLK == DISP_SPI_CLK +#if TFT_SPI_HOST != TOUCH_SPI_HOST +#error You must specify the same SPI host (HSPI, VSPI or FSPI) for both display and touch driver +#endif + +#define SHARED_SPI_BUS +#endif + +#endif + +/********************** + * TYPEDEFS + **********************/ +#if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9481) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9488) + +#define SPI_BUS_MAX_TRANSFER_SZ (DISP_BUF_SIZE * 3) + +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9341) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7735S) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_HX8357) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820) || \ + defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A) + +#define SPI_BUS_MAX_TRANSFER_SZ (DISP_BUF_SIZE * 2) + +#else +#define SPI_BUS_MAX_TRANSFER_SZ (DISP_BUF_SIZE * 2) +#endif + +#if defined (CONFIG_LV_TFT_USE_CUSTOM_SPI_CLK_DIVIDER) +#define SPI_TFT_CLOCK_SPEED_HZ ((80 * 1000 * 1000) / CONFIG_LV_TFT_CUSTOM_SPI_CLK_DIVIDER) +#else +#if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789) +#define SPI_TFT_CLOCK_SPEED_HZ (20*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7735S) +#define SPI_TFT_CLOCK_SPEED_HZ (40*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_HX8357) +#define SPI_TFT_CLOCK_SPEED_HZ (26*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107) +#define SPI_TFT_CLOCK_SPEED_HZ (8*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9481) +#define SPI_TFT_CLOCK_SPEED_HZ (16*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9486) +#define SPI_TFT_CLOCK_SPEED_HZ (20*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9488) +#define SPI_TFT_CLOCK_SPEED_HZ (40*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9341) +#define SPI_TFT_CLOCK_SPEED_HZ (40*1000*1000) +#elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) +#define SPI_TFT_CLOCK_SPEED_HZ (32*1000*1000) +#else +#define SPI_TFT_CLOCK_SPEED_HZ (40*1000*1000) +#endif + +#endif + + +#if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789) +#define SPI_TFT_SPI_MODE (2) +#else +#define SPI_TFT_SPI_MODE (0) +#endif + +/* Touch driver */ +#if (CONFIG_LV_TOUCH_CONTROLLER == TOUCH_CONTROLLER_STMPE610) +#define SPI_TOUCH_CLOCK_SPEED_HZ (1*1000*1000) +#define SPI_TOUCH_SPI_MODE (1) +#else +#define SPI_TOUCH_CLOCK_SPEED_HZ (2*1000*1000) +#define SPI_TOUCH_SPI_MODE (0) +#endif + +/********************** + * GLOBAL PROTOTYPES + **********************/ + + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*LVGL_SPI_CONF_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/CMakeLists.txt b/lib/lvgl_esp32_drivers/lvgl_tft/CMakeLists.txt new file mode 100644 index 0000000..d52f35f --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/CMakeLists.txt @@ -0,0 +1,53 @@ +if(ESP_PLATFORM) + +set(SOURCES "disp_driver.c") + +# Include only the source file of the selected +# display controller. +if(CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9341) + list(APPEND SOURCES "ili9341.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9481) + list(APPEND SOURCES "ili9481.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9486) + list(APPEND SOURCES "ili9486.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9488) + list(APPEND SOURCES "ili9488.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789) + list(APPEND SOURCES "st7789.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7735S) + list(APPEND SOURCES "st7735s.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_HX8357) + list(APPEND SOURCES "hx8357.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107) + list(APPEND SOURCES "sh1107.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_SSD1306) + list(APPEND SOURCES "ssd1306.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) + list(APPEND SOURCES "EVE_commands.c") + list(APPEND SOURCES "FT81x.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820) + list(APPEND SOURCES "il3820.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A) + list(APPEND SOURCES "jd79653a.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_UC8151D) + list(APPEND SOURCES "uc8151d.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_RA8875) + list(APPEND SOURCES "ra8875.c") +elseif(CONFIG_LV_TFT_DISPLAY_CONTROLLER_GC9A01) + list(APPEND SOURCES "GC9A01.c") +else() + message("DISPLAY CONTROLLER NOT DEFINED") +endif() + +if(CONFIG_LV_TFT_DISPLAY_PROTOCOL_SPI) + list(APPEND SOURCES "disp_spi.c") +endif() + +# Print the included source files +message("SOURCES contents: " "${SOURCES}") + +idf_component_register(SRCS ${SOURCES} + INCLUDE_DIRS . + REQUIRES lvgl) + +endif() diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/EVE.h b/lib/lvgl_esp32_drivers/lvgl_tft/EVE.h new file mode 100644 index 0000000..2f03dee --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/EVE.h @@ -0,0 +1,842 @@ +/* +@file EVE.h +@brief Contains FT80x/FT81x/BT81x API definitions +@version 4.1 LvGL edition +@date 2020-04-15 +@author Rudolph Riedel, David Jade + +@section LICENSE + +MIT License + +Copyright (c) 2016-2020 Rudolph Riedel and David Jade + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, +sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +@section History + +4.1 LvGL edition + + - This version is a heavily modified version of the MIT licensed FT81x code from https://github.com/RudolphRiedel/FT800-FT813 + This version is based on a fork by David Jade that added native SPI DMA support and stripped out non-ESP32 code. + It has also been trimmed down to suit LvGL's needs. Extra features can be enabled by defining FT81X_FULL +*/ + +#if defined (ESP_PLATFORM) +#include +#include +#endif + +#include "EVE_config.h" + +#ifndef EVE_H_ +#define EVE_H_ + + +#define DL_CLEAR 0x26000000UL /* requires OR'd arguments */ +#define DL_CLEAR_RGB 0x02000000UL /* requires OR'd arguments */ +#define DL_COLOR_RGB 0x04000000UL /* requires OR'd arguments */ +#define DL_POINT_SIZE 0x0D000000UL /* requires OR'd arguments */ +#define DL_END 0x21000000UL +#define DL_BEGIN 0x1F000000UL /* requires OR'd arguments */ +#define DL_DISPLAY 0x00000000UL + +#define CLR_COL 0x4 +#define CLR_STN 0x2 +#define CLR_TAG 0x1 + +/* SPI SIO/DIO/QIO tranfer widths */ +#define SPI_WIDTH_SIO 0x0 +#define SPI_WIDTH_DIO 0x1 +#define SPI_WIDTH_QIO 0x2 + + +/* Host commands */ +#define EVE_ACTIVE 0x00 /* place FT8xx in active state */ +#define EVE_STANDBY 0x41 /* place FT8xx in Standby (clk running) */ +#define EVE_SLEEP 0x42 /* place FT8xx in Sleep (clk off) */ +#define EVE_PWRDOWN 0x50 /* place FT8xx in Power Down (core off) */ +#define EVE_CLKEXT 0x44 /* select external clock source */ +#define EVE_CLKINT 0x48 /* select internal clock source */ +#define EVE_CORERST 0x68 /* reset core - all registers default and processors reset */ +#define EVE_CLK48M 0x62 /* select 48MHz PLL output */ +#define EVE_CLK36M 0x61 /* select 36MHz PLL output */ + + +/* defines used for graphics commands */ +#define EVE_NEVER 0UL +#define EVE_LESS 1UL +#define EVE_LEQUAL 2UL +#define EVE_GREATER 3UL +#define EVE_GEQUAL 4UL +#define EVE_EQUAL 5UL +#define EVE_NOTEQUAL 6UL +#define EVE_ALWAYS 7UL + + +/* Bitmap formats */ +#define EVE_ARGB1555 0UL +#define EVE_L1 1UL +#define EVE_L4 2UL +#define EVE_L8 3UL +#define EVE_RGB332 4UL +#define EVE_ARGB2 5UL +#define EVE_ARGB4 6UL +#define EVE_RGB565 7UL +#define EVE_PALETTED 8UL +#define EVE_TEXT8X8 9UL +#define EVE_TEXTVGA 10UL +#define EVE_BARGRAPH 11UL + + +/* Bitmap filter types */ +#define EVE_NEAREST 0UL +#define EVE_BILINEAR 1UL + + +/* Bitmap wrap types */ +#define EVE_BORDER 0UL +#define EVE_REPEAT 1UL + + +/* Stencil defines */ +#define EVE_KEEP 1UL +#define EVE_REPLACE 2UL +#define EVE_INCR 3UL +#define EVE_DECR 4UL +#define EVE_INVERT 5UL + + +/* Graphics display list swap defines */ +#define EVE_DLSWAP_DONE 0UL +#define EVE_DLSWAP_LINE 1UL +#define EVE_DLSWAP_FRAME 2UL + + +/* Interrupt bits */ +#define EVE_INT_SWAP 0x01 +#define EVE_INT_TOUCH 0x02 +#define EVE_INT_TAG 0x04 +#define EVE_INT_SOUND 0x08 +#define EVE_INT_PLAYBACK 0x10 +#define EVE_INT_CMDEMPTY 0x20 +#define EVE_INT_CMDFLAG 0x40 +#define EVE_INT_CONVCOMPLETE 0x80 + + +/* Touch mode */ +#define EVE_TMODE_OFF 0 +#define EVE_TMODE_ONESHOT 1 +#define EVE_TMODE_FRAME 2 +#define EVE_TMODE_CONTINUOUS 3 + + +/* Alpha blending */ +#define EVE_ZERO 0UL +#define EVE_ONE 1UL +#define EVE_SRC_ALPHA 2UL +#define EVE_DST_ALPHA 3UL +#define EVE_ONE_MINUS_SRC_ALPHA 4UL +#define EVE_ONE_MINUS_DST_ALPHA 5UL + + +/* Graphics primitives */ +#define EVE_BITMAPS 1UL +#define EVE_POINTS 2UL +#define EVE_LINES 3UL +#define EVE_LINE_STRIP 4UL +#define EVE_EDGE_STRIP_R 5UL +#define EVE_EDGE_STRIP_L 6UL +#define EVE_EDGE_STRIP_A 7UL +#define EVE_EDGE_STRIP_B 8UL +#define EVE_RECTS 9UL + + +/* Widget command */ +#define EVE_OPT_MONO 1 +#define EVE_OPT_NODL 2 +#define EVE_OPT_FLAT 256 +#define EVE_OPT_CENTERX 512 +#define EVE_OPT_CENTERY 1024 +#define EVE_OPT_CENTER (EVE_OPT_CENTERX | EVE_OPT_CENTERY) +#define EVE_OPT_NOBACK 4096 +#define EVE_OPT_NOTICKS 8192 +#define EVE_OPT_NOHM 16384 +#define EVE_OPT_NOPOINTER 16384 +#define EVE_OPT_NOSECS 32768 +#define EVE_OPT_NOHANDS 49152 +#define EVE_OPT_RIGHTX 2048 +#define EVE_OPT_SIGNED 256 + + +/* Defines related to inbuilt font */ +#define EVE_NUMCHAR_PERFONT (128L) /* number of font characters per bitmap handle */ +#define EVE_FONT_TABLE_SIZE (148L) /* size of the font table - utilized for loopup by the graphics engine */ +#define EVE_FONT_TABLE_POINTER (0xFFFFCUL) /* pointer to the inbuilt font tables starting from bitmap handle 16 */ + + +/* Audio sample type defines */ +#define EVE_LINEAR_SAMPLES 0UL /* 8bit signed samples */ +#define EVE_ULAW_SAMPLES 1UL /* 8bit ulaw samples */ +#define EVE_ADPCM_SAMPLES 2UL /* 4bit ima adpcm samples */ + + +/* Synthesized sound */ +#define EVE_SILENCE 0x00 +#define EVE_SQUAREWAVE 0x01 +#define EVE_SINEWAVE 0x02 +#define EVE_SAWTOOTH 0x03 +#define EVE_TRIANGLE 0x04 +#define EVE_BEEPING 0x05 +#define EVE_ALARM 0x06 +#define EVE_WARBLE 0x07 +#define EVE_CAROUSEL 0x08 +#define EVE_PIPS(n) (0x0F + (n)) +#define EVE_HARP 0x40 +#define EVE_XYLOPHONE 0x41 +#define EVE_TUBA 0x42 +#define EVE_GLOCKENSPIEL 0x43 +#define EVE_ORGAN 0x44 +#define EVE_TRUMPET 0x45 +#define EVE_PIANO 0x46 +#define EVE_CHIMES 0x47 +#define EVE_MUSICBOX 0x48 +#define EVE_BELL 0x49 +#define EVE_CLICK 0x50 +#define EVE_SWITCH 0x51 +#define EVE_COWBELL 0x52 +#define EVE_NOTCH 0x53 +#define EVE_HIHAT 0x54 +#define EVE_KICKDRUM 0x55 +#define EVE_POP 0x56 +#define EVE_CLACK 0x57 +#define EVE_CHACK 0x58 +#define EVE_MUTE 0x60 +#define EVE_UNMUTE 0x61 + + +/* Synthesized sound frequencies, midi note */ +#define EVE_MIDI_A0 21 +#define EVE_MIDI_A_0 22 +#define EVE_MIDI_B0 23 +#define EVE_MIDI_C1 24 +#define EVE_MIDI_C_1 25 +#define EVE_MIDI_D1 26 +#define EVE_MIDI_D_1 27 +#define EVE_MIDI_E1 28 +#define EVE_MIDI_F1 29 +#define EVE_MIDI_F_1 30 +#define EVE_MIDI_G1 31 +#define EVE_MIDI_G_1 32 +#define EVE_MIDI_A1 33 +#define EVE_MIDI_A_1 34 +#define EVE_MIDI_B1 35 +#define EVE_MIDI_C2 36 +#define EVE_MIDI_C_2 37 +#define EVE_MIDI_D2 38 +#define EVE_MIDI_D_2 39 +#define EVE_MIDI_E2 40 +#define EVE_MIDI_F2 41 +#define EVE_MIDI_F_2 42 +#define EVE_MIDI_G2 43 +#define EVE_MIDI_G_2 44 +#define EVE_MIDI_A2 45 +#define EVE_MIDI_A_2 46 +#define EVE_MIDI_B2 47 +#define EVE_MIDI_C3 48 +#define EVE_MIDI_C_3 49 +#define EVE_MIDI_D3 50 +#define EVE_MIDI_D_3 51 +#define EVE_MIDI_E3 52 +#define EVE_MIDI_F3 53 +#define EVE_MIDI_F_3 54 +#define EVE_MIDI_G3 55 +#define EVE_MIDI_G_3 56 +#define EVE_MIDI_A3 57 +#define EVE_MIDI_A_3 58 +#define EVE_MIDI_B3 59 +#define EVE_MIDI_C4 60 +#define EVE_MIDI_C_4 61 +#define EVE_MIDI_D4 62 +#define EVE_MIDI_D_4 63 +#define EVE_MIDI_E4 64 +#define EVE_MIDI_F4 65 +#define EVE_MIDI_F_4 66 +#define EVE_MIDI_G4 67 +#define EVE_MIDI_G_4 68 +#define EVE_MIDI_A4 69 +#define EVE_MIDI_A_4 70 +#define EVE_MIDI_B4 71 +#define EVE_MIDI_C5 72 +#define EVE_MIDI_C_5 73 +#define EVE_MIDI_D5 74 +#define EVE_MIDI_D_5 75 +#define EVE_MIDI_E5 76 +#define EVE_MIDI_F5 77 +#define EVE_MIDI_F_5 78 +#define EVE_MIDI_G5 79 +#define EVE_MIDI_G_5 80 +#define EVE_MIDI_A5 81 +#define EVE_MIDI_A_5 82 +#define EVE_MIDI_B5 83 +#define EVE_MIDI_C6 84 +#define EVE_MIDI_C_6 85 +#define EVE_MIDI_D6 86 +#define EVE_MIDI_D_6 87 +#define EVE_MIDI_E6 88 +#define EVE_MIDI_F6 89 +#define EVE_MIDI_F_6 90 +#define EVE_MIDI_G6 91 +#define EVE_MIDI_G_6 92 +#define EVE_MIDI_A6 93 +#define EVE_MIDI_A_6 94 +#define EVE_MIDI_B6 95 +#define EVE_MIDI_C7 96 +#define EVE_MIDI_C_7 97 +#define EVE_MIDI_D7 98 +#define EVE_MIDI_D_7 99 +#define EVE_MIDI_E7 100 +#define EVE_MIDI_F7 101 +#define EVE_MIDI_F_7 102 +#define EVE_MIDI_G7 103 +#define EVE_MIDI_G_7 104 +#define EVE_MIDI_A7 105 +#define EVE_MIDI_A_7 106 +#define EVE_MIDI_B7 107 +#define EVE_MIDI_C8 108 + + +/* GPIO bits */ +#define EVE_GPIO0 0 +#define EVE_GPIO1 1 /* default gpio pin for audio shutdown, 1 - enable, 0 - disable */ +#define EVE_GPIO7 7 /* default gpio pin for display enable, 1 - enable, 0 - disable */ + + +/* Display rotation */ +#define EVE_DISPLAY_0 0 /* 0 degrees rotation */ +#define EVE_DISPLAY_180 1 /* 180 degrees rotation */ + + +/* commands common to EVE/EVE2/EVE3 */ +#define CMD_APPEND 0xFFFFFF1E +#define CMD_BGCOLOR 0xFFFFFF09 +#define CMD_BUTTON 0xFFFFFF0D +#define CMD_CALIBRATE 0xFFFFFF15 +#define CMD_CLOCK 0xFFFFFF14 +#define CMD_COLDSTART 0xFFFFFF32 +#define CMD_DIAL 0xFFFFFF2D +#define CMD_DLSTART 0xFFFFFF00 +#define CMD_FGCOLOR 0xFFFFFF0A +#define CMD_GAUGE 0xFFFFFF13 +#define CMD_GETMATRIX 0xFFFFFF33 +#define CMD_GETPROPS 0xFFFFFF25 +#define CMD_GETPTR 0xFFFFFF23 +#define CMD_GRADCOLOR 0xFFFFFF34 +#define CMD_GRADIENT 0xFFFFFF0B +#define CMD_INFLATE 0xFFFFFF22 +#define CMD_INTERRUPT 0xFFFFFF02 +#define CMD_KEYS 0xFFFFFF0E +#define CMD_LOADIDENTITY 0xFFFFFF26 +#define CMD_LOADIMAGE 0xFFFFFF24 +#define CMD_LOGO 0xFFFFFF31 +#define CMD_MEMCPY 0xFFFFFF1D +#define CMD_MEMCRC 0xFFFFFF18 +#define CMD_MEMSET 0xFFFFFF1B +#define CMD_MEMWRITE 0xFFFFFF1A +#define CMD_MEMZERO 0xFFFFFF1C +#define CMD_NUMBER 0xFFFFFF2E +#define CMD_PROGRESS 0xFFFFFF0F +#define CMD_REGREAD 0xFFFFFF19 +#define CMD_ROTATE 0xFFFFFF29 +#define CMD_SCALE 0xFFFFFF28 +#define CMD_SCREENSAVER 0xFFFFFF2F +#define CMD_SCROLLBAR 0xFFFFFF11 +#define CMD_SETFONT 0xFFFFFF2B +#define CMD_SETMATRIX 0xFFFFFF2A +#define CMD_SKETCH 0xFFFFFF30 +#define CMD_SLIDER 0xFFFFFF10 +#define CMD_SNAPSHOT 0xFFFFFF1F +#define CMD_SPINNER 0xFFFFFF16 +#define CMD_STOP 0xFFFFFF17 +#define CMD_SWAP 0xFFFFFF01 +#define CMD_TEXT 0xFFFFFF0C +#define CMD_TOGGLE 0xFFFFFF12 +#define CMD_TRACK 0xFFFFFF2C +#define CMD_TRANSLATE 0xFFFFFF27 + + +/* the following are undocumented commands that therefore should not be used */ +#if 0 +#define CMD_CRC 0xFFFFFF03 +#define CMD_HAMMERAUX 0xFFFFFF04 +#define CMD_MARCH 0xFFFFFF05 +#define CMD_IDCT 0xFFFFFF06 +#define CMD_EXECUTE 0xFFFFFF07 +#define CMD_GETPOINT 0xFFFFFF08 +#define CMD_TOUCH_TRANSFORM 0xFFFFFF20 +#endif + + +/* FT8xx graphics engine specific macros useful for static display list generation */ +#define ALPHA_FUNC(func,ref) ((9UL<<24)|(((func)&7UL)<<8)|(((ref)&255UL)<<0)) +#define BEGIN(prim) ((31UL<<24)|(((prim)&15UL)<<0)) +#define BITMAP_HANDLE(handle) ((5UL<<24)|(((handle)&31UL)<<0)) +#define BITMAP_LAYOUT(format,linestride,height) ((7UL<<24)|(((format)&31UL)<<19)|(((linestride)&1023UL)<<9)|(((height)&511UL)<<0)) +#define BITMAP_SIZE(filter,wrapx,wrapy,width,height) ((8UL<<24)|(((filter)&1UL)<<20)|(((wrapx)&1UL)<<19)|(((wrapy)&1UL)<<18)|(((width)&511UL)<<9)|(((height)&511UL)<<0)) +#define BITMAP_TRANSFORM_A(a) ((21UL<<24)|(((a)&131071UL)<<0)) +#define BITMAP_TRANSFORM_B(b) ((22UL<<24)|(((b)&131071UL)<<0)) +#define BITMAP_TRANSFORM_C(c) ((23UL<<24)|(((c)&16777215UL)<<0)) +#define BITMAP_TRANSFORM_D(d) ((24UL<<24)|(((d)&131071UL)<<0)) +#define BITMAP_TRANSFORM_E(e) ((25UL<<24)|(((e)&131071UL)<<0)) +#define BITMAP_TRANSFORM_F(f) ((26UL<<24)|(((f)&16777215UL)<<0)) +#define BLEND_FUNC(src,dst) ((11UL<<24)|(((src)&7UL)<<3)|(((dst)&7UL)<<0)) +#define CALL(dest) ((29UL<<24)|(((dest)&65535UL)<<0)) +#define CELL(cell) ((6UL<<24)|(((cell)&127UL)<<0)) +#define CLEAR(c,s,t) ((38UL<<24)|(((c)&1UL)<<2)|(((s)&1UL)<<1)|(((t)&1UL)<<0)) +#define CLEAR_COLOR_A(alpha) ((15UL<<24)|(((alpha)&255UL)<<0)) +#define CLEAR_COLOR_RGB(red,green,blue) ((2UL<<24)|(((red)&255UL)<<16)|(((green)&255UL)<<8)|(((blue)&255UL)<<0)) +#define CLEAR_STENCIL(s) ((17UL<<24)|(((s)&255UL)<<0)) +#define CLEAR_TAG(s) ((18UL<<24)|(((s)&255UL)<<0)) +#define COLOR_A(alpha) ((16UL<<24)|(((alpha)&255UL)<<0)) +#define COLOR_MASK(r,g,b,a) ((32UL<<24)|(((r)&1UL)<<3)|(((g)&1UL)<<2)|(((b)&1UL)<<1)|(((a)&1UL)<<0)) +#define COLOR_RGB(red,green,blue) ((4UL<<24)|(((red)&255UL)<<16)|(((green)&255UL)<<8)|(((blue)&255UL)<<0)) +/* #define DISPLAY() ((0UL<<24)) */ +#define END() ((33UL<<24)) +#define JUMP(dest) ((30UL<<24)|(((dest)&65535UL)<<0)) +#define LINE_WIDTH(width) ((14UL<<24)|(((width)&4095UL)<<0)) +#define MACRO(m) ((37UL<<24)|(((m)&1UL)<<0)) +#define POINT_SIZE(size) ((13UL<<24)|(((size)&8191UL)<<0)) +#define RESTORE_CONTEXT() ((35UL<<24)) +#define RETURN() ((36UL<<24)) +#define SAVE_CONTEXT() ((34UL<<24)) +#define STENCIL_FUNC(func,ref,mask) ((10UL<<24)|(((func)&7UL)<<16)|(((ref)&255UL)<<8)|(((mask)&255UL)<<0)) +#define STENCIL_MASK(mask) ((19UL<<24)|(((mask)&255UL)<<0)) +#define STENCIL_OP(sfail,spass) ((12UL<<24)|(((sfail)&7UL)<<3)|(((spass)&7UL)<<0)) +#define TAG(s) ((3UL<<24)|(((s)&255UL)<<0)) +#define TAG_MASK(mask) ((20UL<<24)|(((mask)&1UL)<<0)) +#define VERTEX2F(x,y) ((1UL<<30)|(((x)&32767UL)<<15)|(((y)&32767UL)<<0)) +#define VERTEX2II(x,y,handle,cell) ((2UL<<30)|(((x)&511UL)<<21)|(((y)&511UL)<<12)|(((handle)&31UL)<<7)|(((cell)&127UL)<<0)) + + +/* ----------------- BT81x exclusive definitions -----------------*/ +#if defined (BT81X_ENABLE) + +#define EVE_GLFORMAT 31UL /* used with BITMAP_LAYOUT to indicate bitmap-format is specified by BITMAP_EXT_FORMAT */ + +#define DL_BITMAP_EXT_FORMAT 0x2E000000 /* requires OR'd arguments */ + +/* extended Bitmap formats */ +#define EVE_COMPRESSED_RGBA_ASTC_4x4_KHR 37808UL +#define EVE_COMPRESSED_RGBA_ASTC_5x4_KHR 37809UL +#define EVE_COMPRESSED_RGBA_ASTC_5x5_KHR 37810UL +#define EVE_COMPRESSED_RGBA_ASTC_6x5_KHR 37811UL +#define EVE_COMPRESSED_RGBA_ASTC_6x6_KHR 37812UL +#define EVE_COMPRESSED_RGBA_ASTC_8x5_KHR 37813UL +#define EVE_COMPRESSED_RGBA_ASTC_8x6_KHR 37814UL +#define EVE_COMPRESSED_RGBA_ASTC_8x8_KHR 37815UL +#define EVE_COMPRESSED_RGBA_ASTC_10x5_KHR 37816UL +#define EVE_COMPRESSED_RGBA_ASTC_10x6_KHR 37817UL +#define EVE_COMPRESSED_RGBA_ASTC_10x8_KHR 37818UL +#define EVE_COMPRESSED_RGBA_ASTC_10x10_KHR 37819UL +#define EVE_COMPRESSED_RGBA_ASTC_12x10_KHR 37820UL +#define EVE_COMPRESSED_RGBA_ASTC_12x12_KHR 37821UL + + +#define EVE_RAM_ERR_REPORT 0x309800UL /* max 128 bytes null terminated string */ +#define EVE_RAM_FLASH 0x800000UL +#define EVE_RAM_FLASH_POSTBLOB 0x801000UL + +#define EVE_OPT_FLASH 64UL +#define EVE_OPT_FORMAT 4096UL +#define EVE_OPT_FILL 8192UL + + +/* additional commands for BT81x */ +#define CMD_BITMAP_TRANSFORM 0xFFFFFF21 +#define CMD_SYNC 0xFFFFFF42 /* does not need a dedicated function, just use EVE_cmd_dl(CMD_SYNC) */ +#define CMD_FLASHERASE 0xFFFFFF44 /* does not need a dedicated function, just use EVE_cmd_dl(CMD_FLASHERASE) */ +#define CMD_FLASHWRITE 0xFFFFFF45 +#define CMD_FLASHREAD 0xFFFFFF46 +#define CMD_FLASHUPDATE 0xFFFFFF47 +#define CMD_FLASHDETACH 0xFFFFFF48 /* does not need a dedicated function, just use EVE_cmd_dl(CMD_FLASHDETACH) */ +#define CMD_FLASHATTACH 0xFFFFFF49 /* does not need a dedicated function, just use EVE_cmd_dl(CMD_FLASHATTACH) */ +#define CMD_FLASHFAST 0xFFFFFF4A +#define CMD_FLASHSPIDESEL 0xFFFFFF4B /* does not need a dedicated function, just use EVE_cmd_dl(CMD_FLASHSPIDESEL) */ +#define CMD_FLASHSPITX 0xFFFFFF4C +#define CMD_FLASHSPIRX 0xFFFFFF4D +#define CMD_FLASHSOURCE 0xFFFFFF4E +#define CMD_CLEARCACHE 0xFFFFFF4F /* does not need a dedicated function, just use EVE_cmd_dl(CMD_CLEARCACHE) */ +#define CMD_INFLATE2 0xFFFFFF50 +#define CMD_ROTATEAROUND 0xFFFFFF51 +#define CMD_RESETFONTS 0xFFFFFF52 /* does not need a dedicated function, just use EVE_cmd_dl(CMD_RESETFONTS) */ +#define CMD_ANIMSTART 0xFFFFFF53 +#define CMD_ANIMSTOP 0xFFFFFF54 +#define CMD_ANIMXY 0xFFFFFF55 +#define CMD_ANIMDRAW 0xFFFFFF56 +#define CMD_GRADIENTA 0xFFFFFF57 +#define CMD_FILLWIDTH 0xFFFFFF58 +#define CMD_APPENDF 0xFFFFFF59 +#define CMD_ANIMFRAME 0xFFFFFF5A +#define CMD_VIDEOSTARTF 0xFFFFFF5F /* does not need a dedicated function, just use EVE_cmd_dl(CMD_VIDEOSTARTF) */ + +#if 0 +/* some undocumented commands for BT81x */ +#define CMD_NOP 0xFFFFFF5B +#define CMD_SHA1 0xFFFFFF5C +#define CMD_HMAC 0xFFFFFF5D +#define CMD_LAST_ 0xFFFFFF5E + +#endif + + +/* additional registers for BT81x */ +#define REG_ADAPTIVE_FRAMERATE 0x30257cUL +#define REG_PLAYBACK_PAUSE 0x3025ecUL +#define REG_FLASH_STATUS 0x3025f0UL +#define REG_FLASH_SIZE 0x309024UL +#define REG_PLAY_CONTROL 0x30914eUL +#define REG_COPRO_PATCH_DTR 0x309162UL + + +/* BT81x graphics engine specific macros */ +#define BITMAP_EXT_FORMAT(format) ((46UL<<24)|(((format)&65535UL)<<0)) +#define BITMAP_SWIZZLE(r,g,b,a) ((47UL<<24)|(((r)&7UL)<<9)|(((g)&7UL)<<6)|(((b)&7UL)<<3)|(((a)&7UL)<<0)) +#define BITMAP_SOURCE2(flash_or_ram, addr) ((1UL<<24)|((flash_or_ram) << 23)|(((addr)&8388607UL)<<0)) +#define INT_FRR() ((48UL<<24)) + +#undef BITMAP_TRANSFORM_A +#undef BITMAP_TRANSFORM_B +#undef BITMAP_TRANSFORM_D +#undef BITMAP_TRANSFORM_E + +#define BITMAP_TRANSFORM_A_EXT(p,v) ((21UL<<24)|(((p)&1UL)<<17)|(((v)&131071UL)<<0)) +#define BITMAP_TRANSFORM_B_EXT(p,v) ((22UL<<24)|(((p)&1UL)<<17)|(((v)&131071UL)<<0)) +#define BITMAP_TRANSFORM_D_EXT(p,v) ((24UL<<24)|(((p)&1UL)<<17)|(((v)&131071UL)<<0)) +#define BITMAP_TRANSFORM_E_EXT(p,v) ((25UL<<24)|(((p)&1UL)<<17)|(((v)&131071UL)<<0)) + +#define BITMAP_TRANSFORM_A(a) BITMAP_TRANSFORM_A_EXT(0,a) +#define BITMAP_TRANSFORM_B(b) BITMAP_TRANSFORM_B_EXT(0,b) +#define BITMAP_TRANSFORM_D(d) BITMAP_TRANSFORM_D_EXT(0,d) +#define BITMAP_TRANSFORM_E(e) BITMAP_TRANSFORM_E_EXT(0,e) + +#endif + +/* ----------------- FT81x / BT81x exclusive definitions -----------------*/ +#if defined (FT81X_ENABLE) + + +/* Host commands */ +#define EVE_CLKSEL 0x61 /* configure system clock */ +#define EVE_RST_PULSE 0x68 /* reset core - all registers default and processors reset */ +#define EVE_PINDRIVE 0x70 /* setup drive strength for various pins */ +#define EVE_PIN_PD_STATE 0x71 /* setup how pins behave during power down */ + + +/* Memory definitions */ +#define EVE_RAM_G 0x000000UL +#define EVE_ROM_CHIPID 0x0C0000UL +#define EVE_ROM_FONT 0x1E0000UL +#define EVE_ROM_FONT_ADDR 0x2FFFFCUL +#define EVE_RAM_DL 0x300000UL +#define EVE_RAM_REG 0x302000UL +#define EVE_RAM_CMD 0x308000UL + + +/* Memory buffer sizes */ +#define EVE_RAM_G_SIZE 1024*1024L +#define EVE_CMDFIFO_SIZE 4*1024L +#define EVE_RAM_DL_SIZE 8*1024L + + +/* various additional defines for FT81x */ +#define EVE_ADC_DIFFERENTIAL 1UL +#define EVE_ADC_SINGLE_ENDED 0UL + +#define EVE_INT_G8 18UL +#define EVE_INT_L8C 12UL +#define EVE_INT_VGA 13UL + +#define EVE_OPT_MEDIAFIFO 16UL +#define EVE_OPT_FULLSCREEN 8UL +#define EVE_OPT_NOTEAR 4UL +#define EVE_OPT_SOUND 32UL + +#define EVE_PALETTED565 14UL +#define EVE_PALETTED4444 15UL +#define EVE_PALETTED8 16UL +#define EVE_L2 17UL + + +/* additional commands for FT81x */ +#define CMD_MEDIAFIFO 0xFFFFFF39 +#define CMD_PLAYVIDEO 0xFFFFFF3A +#define CMD_ROMFONT 0xFFFFFF3F +#define CMD_SETBASE 0xFFFFFF38 +#define CMD_SETBITMAP 0xFFFFFF43 +#define CMD_SETFONT2 0xFFFFFF3B +#define CMD_SETROTATE 0xFFFFFF36 +#define CMD_SETSCRATCH 0xFFFFFF3C +#define CMD_SNAPSHOT2 0xFFFFFF37 +#define CMD_VIDEOFRAME 0xFFFFFF41 +#define CMD_VIDEOSTART 0xFFFFFF40 + + +/* the following are undocumented commands that therefore should not be used */ +#if 0 +#define CMD_CSKETCH 0xFFFFFF35 +#define CMD_INT_RAMSHARED 0xFFFFFF3D +#define CMD_INT_SWLOADIMAGE 0xFFFFFF3E +#endif + + +/* Register definitions */ +#define REG_ANA_COMP 0x302184UL /* only listed in datasheet */ +#define REG_BIST_EN 0x302174UL /* only listed in datasheet */ +#define REG_CLOCK 0x302008UL +#define REG_CMDB_SPACE 0x302574UL +#define REG_CMDB_WRITE 0x302578UL +#define REG_CMD_DL 0x302100UL +#define REG_CMD_READ 0x3020f8UL +#define REG_CMD_WRITE 0x3020fcUL +#define REG_CPURESET 0x302020UL +#define REG_CSPREAD 0x302068UL +#define REG_CTOUCH_EXTENDED 0x302108UL +#define REG_CTOUCH_TOUCH0_XY 0x302124UL /* only listed in datasheet */ +#define REG_CTOUCH_TOUCH4_X 0x30216cUL +#define REG_CTOUCH_TOUCH4_Y 0x302120UL +#define REG_CTOUCH_TOUCH1_XY 0x30211cUL +#define REG_CTOUCH_TOUCH2_XY 0x30218cUL +#define REG_CTOUCH_TOUCH3_XY 0x302190UL +#define REG_TOUCH_CONFIG 0x302168UL +#define REG_DATESTAMP 0x302564UL /* only listed in datasheet */ +#define REG_DITHER 0x302060UL +#define REG_DLSWAP 0x302054UL +#define REG_FRAMES 0x302004UL +#define REG_FREQUENCY 0x30200cUL +#define REG_GPIO 0x302094UL +#define REG_GPIOX 0x30209cUL +#define REG_GPIOX_DIR 0x302098UL +#define REG_GPIO_DIR 0x302090UL +#define REG_HCYCLE 0x30202cUL +#define REG_HOFFSET 0x302030UL +#define REG_HSIZE 0x302034UL +#define REG_HSYNC0 0x302038UL +#define REG_HSYNC1 0x30203cUL +#define REG_ID 0x302000UL +#define REG_INT_EN 0x3020acUL +#define REG_INT_FLAGS 0x3020a8UL +#define REG_INT_MASK 0x3020b0UL +#define REG_MACRO_0 0x3020d8UL +#define REG_MACRO_1 0x3020dcUL +#define REG_MEDIAFIFO_READ 0x309014UL /* only listed in programmers guide */ +#define REG_MEDIAFIFO_WRITE 0x309018UL /* only listed in programmers guide */ +#define REG_OUTBITS 0x30205cUL +#define REG_PCLK 0x302070UL +#define REG_PCLK_POL 0x30206cUL +#define REG_PLAY 0x30208cUL +#define REG_PLAYBACK_FORMAT 0x3020c4UL +#define REG_PLAYBACK_FREQ 0x3020c0UL +#define REG_PLAYBACK_LENGTH 0x3020b8UL +#define REG_PLAYBACK_LOOP 0x3020c8UL +#define REG_PLAYBACK_PLAY 0x3020ccUL +#define REG_PLAYBACK_READPTR 0x3020bcUL +#define REG_PLAYBACK_START 0x3020b4UL +#define REG_PWM_DUTY 0x3020d4UL +#define REG_PWM_HZ 0x3020d0UL +#define REG_RENDERMODE 0x302010UL /* only listed in datasheet */ +#define REG_ROTATE 0x302058UL +#define REG_SNAPFORMAT 0x30201cUL /* only listed in datasheet */ +#define REG_SNAPSHOT 0x302018UL /* only listed in datasheet */ +#define REG_SNAPY 0x302014UL /* only listed in datasheet */ +#define REG_SOUND 0x302088UL +#define REG_SPI_WIDTH 0x302188UL /* listed with false offset in programmers guide V1.1 */ +#define REG_SWIZZLE 0x302064UL +#define REG_TAG 0x30207cUL +#define REG_TAG_X 0x302074UL +#define REG_TAG_Y 0x302078UL +#define REG_TAP_CRC 0x302024UL /* only listed in datasheet */ +#define REG_TAP_MASK 0x302028UL /* only listed in datasheet */ +#define REG_TOUCH_ADC_MODE 0x302108UL +#define REG_TOUCH_CHARGE 0x30210cUL +#define REG_TOUCH_DIRECT_XY 0x30218cUL +#define REG_TOUCH_DIRECT_Z1Z2 0x302190UL +#define REG_TOUCH_MODE 0x302104UL +#define REG_TOUCH_OVERSAMPLE 0x302114UL +#define REG_TOUCH_RAW_XY 0x30211cUL +#define REG_TOUCH_RZ 0x302120UL +#define REG_TOUCH_RZTHRESH 0x302118UL +#define REG_TOUCH_SCREEN_XY 0x302124UL +#define REG_TOUCH_SETTLE 0x302110UL +#define REG_TOUCH_TAG 0x30212cUL +#define REG_TOUCH_TAG1 0x302134UL /* only listed in datasheet */ +#define REG_TOUCH_TAG1_XY 0x302130UL /* only listed in datasheet */ +#define REG_TOUCH_TAG2 0x30213cUL /* only listed in datasheet */ +#define REG_TOUCH_TAG2_XY 0x302138UL /* only listed in datasheet */ +#define REG_TOUCH_TAG3 0x302144UL /* only listed in datasheet */ +#define REG_TOUCH_TAG3_XY 0x302140UL /* only listed in datasheet */ +#define REG_TOUCH_TAG4 0x30214cUL /* only listed in datasheet */ +#define REG_TOUCH_TAG4_XY 0x302148UL /* only listed in datasheet */ +#define REG_TOUCH_TAG_XY 0x302128UL +#define REG_TOUCH_TRANSFORM_A 0x302150UL +#define REG_TOUCH_TRANSFORM_B 0x302154UL +#define REG_TOUCH_TRANSFORM_C 0x302158UL +#define REG_TOUCH_TRANSFORM_D 0x30215cUL +#define REG_TOUCH_TRANSFORM_E 0x302160UL +#define REG_TOUCH_TRANSFORM_F 0x302164UL +#define REG_TRACKER 0x309000UL /* only listed in programmers guide */ +#define REG_TRACKER_1 0x309004UL /* only listed in programmers guide */ +#define REG_TRACKER_2 0x309008UL /* only listed in programmers guide */ +#define REG_TRACKER_3 0x30900cUL /* only listed in programmers guide */ +#define REG_TRACKER_4 0x309010UL /* only listed in programmers guide */ +#define REG_TRIM 0x302180UL +#define REG_VCYCLE 0x302040UL +#define REG_VOFFSET 0x302044UL +#define REG_VOL_PB 0x302080UL +#define REG_VOL_SOUND 0x302084UL +#define REG_VSIZE 0x302048UL +#define REG_VSYNC0 0x30204cUL +#define REG_VSYNC1 0x302050UL + +#if 0 +#define REG_BUSYBITS 0x3020e8UL /* only listed as "reserved" in datasheet */ +#define REG_CRC 0x302178UL /* only listed as "reserved" in datasheet */ +#define REG_SPI_EARLY_TX 0x30217cUL /* only listed as "reserved" in datasheet */ +#define REG_ROMSUB_SEL 0x3020f0UL /* only listed as "reserved" in datasheet */ +#define REG_TOUCH_FAULT 0x302170UL /* only listed as "reserved" in datasheet */ +#endif + + +/* FT81x graphics engine specific macros useful for static display list generation */ + +/* beware, these are different to FTDIs implementation as these take the original values as parameters and not only the upper bits */ +#define BITMAP_LAYOUT_H(linestride,height) ((40UL<<24)|((((linestride&0xC00)>>10)&3UL)<<2)|((((height&0x600)>>9)&3UL)<<0)) +#define BITMAP_SIZE_H(width,height) ((41UL<<24)|((((width&0x600)>>9)&3UL)<<2)|((((height&0x600)>>9)&3UL)<<0)) + +#define BITMAP_SOURCE(addr) ((1UL<<24)|(((addr)&4194303UL)<<0)) +//#define NOP() ((45UL<<24)) +#define PALETTE_SOURCE(addr) ((42UL<<24)|(((addr)&4194303UL)<<0)) +#define SCISSOR_SIZE(width,height) ((28UL<<24)|(((width)&4095UL)<<12)|(((height)&4095UL)<<0)) +#define SCISSOR_XY(x,y) ((27UL<<24)|(((x)&2047UL)<<11)|(((y)&2047UL)<<0)) +#define VERTEX_FORMAT(frac) ((39UL<<24)|(((frac)&7UL)<<0)) +#define VERTEX_TRANSLATE_X(x) ((43UL<<24)|(((x)&131071UL)<<0)) +#define VERTEX_TRANSLATE_Y(y) ((44UL<<24)|(((y)&131071UL)<<0)) + + + +/* ----------------- FT80x exclusive definitions -----------------*/ +#else + +/* Memory definitions */ +#define EVE_RAM_G 0x000000UL +#define EVE_ROM_CHIPID 0x0C0000UL +#define EVE_ROM_FONT 0x0BB23CUL +#define EVE_ROM_FONT_ADDR 0x0FFFFCUL +#define EVE_RAM_DL 0x100000UL +#define EVE_RAM_PAL 0x102000UL +#define EVE_RAM_CMD 0x108000UL +#define EVE_RAM_SCREENSHOT 0x1C2000UL + + +/* Memory buffer sizes */ +#define EVE_RAM_G_SIZE 256*1024L +#define EVE_CMDFIFO_SIZE 4*1024L +#define EVE_RAM_DL_SIZE 8*1024L +#define EVE_RAM_PAL_SIZE 1*1024L + + +/* Register definitions */ +#define REG_ID 0x102400UL +#define REG_FRAMES 0x102404UL +#define REG_CLOCK 0x102408UL +#define REG_FREQUENCY 0x10240CUL +#define REG_SCREENSHOT_EN 0x102410UL +#define REG_SCREENSHOT_Y 0x102414UL +#define REG_SCREENSHOT_START 0x102418UL +#define REG_CPURESET 0x10241CUL +#define REG_TAP_CRC 0x102420UL +#define REG_TAP_MASK 0x102424UL +#define REG_HCYCLE 0x102428UL +#define REG_HOFFSET 0x10242CUL +#define REG_HSIZE 0x102430UL +#define REG_HSYNC0 0x102434UL +#define REG_HSYNC1 0x102438UL +#define REG_VCYCLE 0x10243CUL +#define REG_VOFFSET 0x102440UL +#define REG_VSIZE 0x102444UL +#define REG_VSYNC0 0x102448UL +#define REG_VSYNC1 0x10244CUL +#define REG_DLSWAP 0x102450UL +#define REG_ROTATE 0x102454UL +#define REG_OUTBITS 0x102458UL +#define REG_DITHER 0x10245CUL +#define REG_SWIZZLE 0x102460UL +#define REG_CSPREAD 0x102464UL +#define REG_PCLK_POL 0x102468UL +#define REG_PCLK 0x10246CUL +#define REG_TAG_X 0x102470UL +#define REG_TAG_Y 0x102474UL +#define REG_TAG 0x102478UL +#define REG_VOL_PB 0x10247CUL +#define REG_VOL_SOUND 0x102480UL +#define REG_SOUND 0x102484UL +#define REG_PLAY 0x102488UL +#define REG_GPIO_DIR 0x10248CUL +#define REG_GPIO 0x102490UL +#define REG_INT_FLAGS 0x102498UL +#define REG_INT_EN 0x10249CUL +#define REG_INT_MASK 0x1024A0UL +#define REG_PLAYBACK_START 0x1024A4UL +#define REG_PLAYBACK_LENGTH 0x1024A8UL +#define REG_PLAYBACK_READPTR 0x1024ACUL +#define REG_PLAYBACK_FREQ 0x1024B0UL +#define REG_PLAYBACK_FORMAT 0x1024B4UL +#define REG_PLAYBACK_LOOP 0x1024B8UL +#define REG_PLAYBACK_PLAY 0x1024BCUL +#define REG_PWM_HZ 0x1024C0UL +#define REG_PWM_DUTY 0x1024C4UL +#define REG_MACRO_0 0x1024C8UL +#define REG_MACRO_1 0x1024CCUL +#define REG_SCREENSHOT_BUSY 0x1024D8UL +#define REG_CMD_READ 0x1024E4UL +#define REG_CMD_WRITE 0x1024E8UL +#define REG_CMD_DL 0x1024ECUL +#define REG_TOUCH_MODE 0x1024F0UL +#define REG_TOUCH_ADC_MODE 0x1024F4UL +#define REG_TOUCH_CHARGE 0x1024F8UL +#define REG_TOUCH_SETTLE 0x1024FCUL +#define REG_TOUCH_OVERSAMPLE 0x102500UL +#define REG_TOUCH_RZTHRESH 0x102504UL +#define REG_TOUCH_RAW_XY 0x102508UL +#define REG_TOUCH_RZ 0x10250CUL +#define REG_TOUCH_SCREEN_XY 0x102510UL +#define REG_TOUCH_TAG_XY 0x102514UL +#define REG_TOUCH_TAG 0x102518UL +#define REG_TOUCH_TRANSFORM_A 0x10251CUL +#define REG_TOUCH_TRANSFORM_B 0x102520UL +#define REG_TOUCH_TRANSFORM_C 0x102524UL +#define REG_TOUCH_TRANSFORM_D 0x102528UL +#define REG_TOUCH_TRANSFORM_E 0x10252CUL +#define REG_TOUCH_TRANSFORM_F 0x102530UL +#define REG_SCREENSHOT_READ 0x102554UL +#define REG_TRIM 0x10256CUL +#define REG_TOUCH_DIRECT_XY 0x102574UL +#define REG_TOUCH_DIRECT_Z1Z2 0x102578UL +#define REG_TRACKER 0x109000UL + +/* FT80x graphics engine specific macros useful for static display list generation */ +#define BITMAP_SOURCE(addr) ((1UL<<24)|(((addr)&1048575UL)<<0)) +#define SCISSOR_SIZE(width,height) ((28UL<<24)|(((width)&1023UL)<<10)|(((height)&1023UL)<<0)) +#define SCISSOR_XY(x,y) ((27UL<<24)|(((x)&511UL)<<9)|(((y)&511UL)<<0)) + +#endif + +#endif /* EVE_H_ */ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/EVE_commands.c b/lib/lvgl_esp32_drivers/lvgl_tft/EVE_commands.c new file mode 100644 index 0000000..213cdcc --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/EVE_commands.c @@ -0,0 +1,2314 @@ +/* +@file EVE_commands.c +@brief contains FT8xx / BT8xx functions +@version 4.0 +@date 2020-04-13 +@author Rudolph Riedel, David Jade + +@section info + +This file needs to be renamed to EVE_command.cpp for use with Arduino. +At least fÃŧr ATSAM I had the best result with -O2. +The c-standard is C99. + + +@section LICENSE + +MIT License + +Copyright (c) 2016-2020 Rudolph Riedel and David Jade + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, +sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + +@section History + +4.1 LvGL edition + + - This version is a heavily modified version of the MIT licensed FT81x code from https://github.com/RudolphRiedel/FT800-FT813 + This version is based on a fork by David Jade that added native SPI DMA support and stripped out non-ESP32 code. + It has also been trimmed down to suit LvGL's needs. Extra features can be enabled by defining FT81X_FULL +*/ + + +#include + +#include "EVE.h" +#include "EVE_commands.h" + +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/gpio.h" +#include "esp_log.h" +#include "soc/soc_memory_layout.h" + +#include "esp_log.h" + +#include "disp_spi.h" + +#include + +#if defined (BT81X_ENABLE) +#include +#endif + +#define TAG "FT81X" + +/* data structure for SPI reading that has (optional) space for inserted dummy byte */ +typedef struct _spi_read_data { +#if defined(DISP_SPI_FULL_DUPLEX) + uint8_t _dummy_byte; +#endif + union { + uint8_t byte; + uint16_t word; + uint32_t dword; + } __attribute__((packed)); +} spi_read_data __attribute__((aligned(4))); + + +/* Receive data helpers */ +#define member_size(type, member) sizeof(((type *)0)->member) + +#if defined(DISP_SPI_FULL_DUPLEX) +#define SPI_READ_DUMMY_LEN member_size(spi_read_data, _dummy_byte) +#else +#define SPI_READ_DUMMY_LEN 0 +#endif +#define SPI_READ_BYTE_LEN (SPI_READ_DUMMY_LEN + member_size(spi_read_data, byte)) +#define SPI_READ_WORD_LEN (SPI_READ_DUMMY_LEN + member_size(spi_read_data, word)) +#define SPI_READ_DWORD_LEN (SPI_READ_DUMMY_LEN + member_size(spi_read_data, dword)) + + +// EVE Memory Commands - used with EVE_memWritexx and EVE_memReadxx +#define MEM_WRITE 0x80 // EVE Host Memory Write +#define MEM_READ 0x00 // EVE Host Memory Read +#define MEM_WRITE_24 0x800000 // EVE Host Memory Write (24-bit format) + +volatile uint16_t cmdOffset = 0x0000; /* offset for the 4k co-processor FIFO */ + +volatile uint8_t cmd_burst = 0; /* flag to indicate cmd-burst is active */ + +// Buffer for SPI transactions +uint8_t SPIBuffer[SPI_BUFFER_SIZE]; // must be in DMA capable memory if DMA is used! +uint16_t SPIBufferIndex = 0; +disp_spi_send_flag_t SPIInherentSendFlags = 0; // additional inherent SPI flags (for DIO/QIO mode switching) +uint8_t SPIDummyReadBits = 0; // Dummy bits for reading in DIO/QIO modes + +// Macros to make SPI use explicit and less verbose +// (macros do obscure code a little but they also help code search and readability) + +// Buffer a byte +#define BUFFER_SPI_BYTE(byte) SPIBuffer[SPIBufferIndex++] = (byte); + +// Buffer a Word - little Endian format +#define BUFFER_SPI_WORD(word) \ + BUFFER_SPI_BYTE((uint8_t)(word)) \ + BUFFER_SPI_BYTE((uint8_t)((word) >> 8)) + +// Buffer a DWord - little Endian format +#define BUFFER_SPI_DWORD(dword) \ + BUFFER_SPI_BYTE((uint8_t)(dword)) \ + BUFFER_SPI_BYTE((uint8_t)((dword) >> 8)) \ + BUFFER_SPI_BYTE((uint8_t)((dword) >> 16)) \ + BUFFER_SPI_BYTE((uint8_t)((dword) >> 24)) + +// Buffer a 24-bit SPI Memory Write address - big Endian format +#define BUFFER_SPI_WRITE_ADDRESS(addr) \ + BUFFER_SPI_BYTE((uint8_t)((addr) >> 16) | MEM_WRITE) \ + BUFFER_SPI_BYTE((uint8_t)((addr) >> 8)) \ + BUFFER_SPI_BYTE((uint8_t)(addr)) + +// Send buffer +#define SEND_SPI_BUFFER() \ + disp_spi_transaction(SPIBuffer, SPIBufferIndex, (disp_spi_send_flag_t)(DISP_SPI_SEND_QUEUED | SPIInherentSendFlags), NULL, 0, 0); \ + SPIBufferIndex = 0; + +// Wait for DMA queued SPI transactions to complete +#define WAIT_SPI() \ + disp_wait_for_pending_transactions(); + + + +void DELAY_MS(uint16_t ms) +{ + vTaskDelay(ms / portTICK_PERIOD_MS); +} + + +void EVE_pdn_set(void) +{ + gpio_set_level(EVE_PDN, 0); /* Power-Down low */ +} + + +void EVE_pdn_clear(void) +{ + gpio_set_level(EVE_PDN, 1); /* Power-Down high */ +} + + +void spi_acquire() +{ + disp_spi_acquire(); +} + + +void spi_release() +{ + disp_spi_release(); +} + + +void EVE_cmdWrite(uint8_t command, uint8_t parameter) +{ + const uint8_t data[] = + { + command, + parameter, + 0x00 + }; + + disp_spi_transaction(data, sizeof(data), (disp_spi_send_flag_t)(DISP_SPI_SEND_POLLING | SPIInherentSendFlags), NULL, 0, 0); +} + + +uint8_t EVE_memRead8(uint32_t ftAddress) +{ + spi_read_data data = {}; + disp_spi_send_flag_t readflags = (disp_spi_send_flag_t)(DISP_SPI_RECEIVE | DISP_SPI_SEND_POLLING | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags); + +#if defined(DISP_SPI_HALF_DUPLEX) + // in half-duplex mode the FT81x requires dummy bits + readflags |= DISP_SPI_VARIABLE_DUMMY; +#endif + + disp_spi_transaction(NULL, SPI_READ_BYTE_LEN, readflags, (uint8_t*)&data, ftAddress, SPIDummyReadBits); + return data.byte; /* return byte read */ +} + + +uint16_t EVE_memRead16(uint32_t ftAddress) +{ +#if defined(DISP_SPI_HALF_DUPLEX) + // There are esp32 issues when reading in DMA half-duplex mode that prevents reading more than 1 byte at a time so we work around that + uint16_t word = 0; + for(int i = 0; i < sizeof(word); i++) + { + word |= (EVE_memRead8(ftAddress + i) << i * 8); + } + return word; +#endif + + spi_read_data data = {}; + disp_spi_send_flag_t readflags = (disp_spi_send_flag_t)(DISP_SPI_RECEIVE | DISP_SPI_SEND_POLLING | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags); + +#if defined(DISP_SPI_HALF_DUPLEX) + // in half-duplex mode the FT81x requires dummy bits + readflags |= DISP_SPI_VARIABLE_DUMMY; +#endif + + disp_spi_transaction(NULL, SPI_READ_WORD_LEN, readflags, (uint8_t*)&data, ftAddress, SPIDummyReadBits); + return data.word; /* return integer read */ +} + + +uint32_t EVE_memRead32(uint32_t ftAddress) +{ +#if defined(DISP_SPI_HALF_DUPLEX) + // There are esp32 issues when reading in DMA half-duplex mode that prevents reading more than 1 byte at a time so we work around that + uint32_t dword = 0; + for(int i = 0; i < sizeof(dword); i++) + { + dword |= (EVE_memRead8(ftAddress + i) << i * 8); + } + return dword; +#endif + + spi_read_data data = {}; + disp_spi_send_flag_t readflags = (disp_spi_send_flag_t)(DISP_SPI_RECEIVE | DISP_SPI_SEND_POLLING | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags); + +#if defined(DISP_SPI_HALF_DUPLEX) + // in half-duplex mode the FT81x requires dummy bits + readflags |= DISP_SPI_VARIABLE_DUMMY; +#endif + + disp_spi_transaction(NULL, SPI_READ_DWORD_LEN, readflags, (uint8_t*)&data, ftAddress, SPIDummyReadBits); + return data.dword; /* return integer read */ +} + + +void EVE_memWrite8(uint32_t ftAddress, uint8_t ftData8) +{ + disp_spi_transaction(&ftData8, sizeof(ftData8), (disp_spi_send_flag_t)(DISP_SPI_SEND_POLLING | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags), NULL, (ftAddress | MEM_WRITE_24), 0); +} + + +void EVE_memWrite16(uint32_t ftAddress, uint16_t ftData16) +{ + disp_spi_transaction((uint8_t*)&ftData16, sizeof(ftData16), (disp_spi_send_flag_t)(DISP_SPI_SEND_POLLING | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags), NULL, (ftAddress | MEM_WRITE_24), 0); +} + + +void EVE_memWrite32(uint32_t ftAddress, uint32_t ftData32) +{ + disp_spi_transaction((uint8_t*)&ftData32, sizeof(ftData32), (disp_spi_send_flag_t)(DISP_SPI_SEND_POLLING | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags), NULL, (ftAddress | MEM_WRITE_24), 0); +} + + +// write to EVE memory via SPI memory-mapped protocol using queued SPI transactions (i.e. DMA) +// Note: data should be in DMA-capable memory! +void EVE_memWrite_buffer(uint32_t ftAddress, const uint8_t *data, uint32_t len, bool LvGL_Flush) +{ + // chunk by DMA transfer size (SPI_TRANSER_SIZE) + uint32_t bytes_left = len; + while(bytes_left > 0) + { + uint32_t block_len = (bytes_left > SPI_TRANSER_SIZE ? SPI_TRANSER_SIZE : bytes_left); + + // only send flush on last chunk + disp_spi_send_flag_t flush_flag = 0; + if(LvGL_Flush && bytes_left - block_len == 0) + { + flush_flag = DISP_SPI_SIGNAL_FLUSH; + } + + disp_spi_transaction(data, block_len, (disp_spi_send_flag_t)(DISP_SPI_SEND_QUEUED | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags | flush_flag), NULL, (ftAddress | MEM_WRITE_24), 0); + data += block_len; + ftAddress += block_len; + bytes_left -= block_len; + } +} + + +/* Check if the graphics processor completed executing the current command list. */ +/* This is the case when REG_CMD_READ matches cmdOffset, indicating that all commands have been executed. */ +uint8_t EVE_busy(void) +{ + uint16_t cmdBufferRead; + + WAIT_SPI(); // can't tell if EVE is busy if SPI is taking place + + cmdBufferRead = EVE_memRead16(REG_CMD_READ); /* read the graphics processor read pointer */ + + if(cmdBufferRead == 0xFFF) /* we have a co-processor fault, make EVE play with us again */ + { + #if defined (BT81X_ENABLE) + + uint16_t copro_patch_pointer; + + copro_patch_pointer = EVE_memRead16(REG_COPRO_PATCH_DTR); + + #endif + + EVE_memWrite8(REG_CPURESET, 1); /* hold co-processor engine in the reset condition */ + EVE_memWrite16(REG_CMD_READ, 0); /* set REG_CMD_READ to 0 */ + EVE_memWrite16(REG_CMD_WRITE, 0); /* set REG_CMD_WRITE to 0 */ + EVE_memWrite32(REG_CMD_DL, 0); /* reset REG_CMD_DL to 0 as required by the BT81x programming guide, should not hurt FT8xx */ + cmdOffset = 0; + EVE_memWrite8(REG_CPURESET, 0); /* set REG_CMD_WRITE to 0 to restart the co-processor engine*/ + + #if defined (BT81X_ENABLE) + + EVE_memWrite16(REG_COPRO_PATCH_DTR, copro_patch_pointer); + + DELAY_MS(5); /* just to be safe */ + + // reset the SPI buffer just to be cautious + SPIBufferIndex = 0; + + BUFFER_SPI_WRITE_ADDRESS(EVE_RAM_CMD + cmdOffset) + BUFFER_SPI_DWORD(CMD_FLASHATTACH) + BUFFER_SPI_DWORD(CMD_FLASHFAST) + SEND_SPI_BUFFER() + WAIT_SPI() + + cmdOffset += 8; + +// BUFFER_SPI_BYTE + BUFFER_SPI_BYTE(MEM_WRITE | 0x30); /* send Memory Write plus high address byte of REG_CMD_WRITE for EVE81x */ + BUFFER_SPI_BYTE(0x20); /* send middle address byte of REG_CMD_WRITE for EVE81x */ + BUFFER_SPI_BYTE(0xfc); /* send low address byte of REG_CMD_WRITE for EVE81x */ + BUFFER_SPI_WORD(cmdOffset); + SEND_SPI_BUFFER() + WAIT_SPI() + + EVE_memWrite8(REG_PCLK, EVE_PCLK); /* restore REG_PCLK in case it was set to zero by an error */ + + DELAY_MS(5); /* just to be safe */ + + #endif + } + + if(cmdOffset != cmdBufferRead) + { + return 1; + } + else + { + return 0; + } +} + + +void EVE_get_cmdoffset(void) +{ + cmdOffset = EVE_memRead16(REG_CMD_WRITE); +} + + +void EVE_inc_cmdoffset(uint16_t increment) +{ + cmdOffset += increment; + cmdOffset &= 0x0fff; // circular +} + + +/* order the command co-processor to start processing its FIFO queue and do not wait for completion */ +void EVE_cmd_start(void) +{ + WAIT_SPI(); + + EVE_memWrite16(REG_CMD_WRITE, cmdOffset); +} + + +/* order the command co-processor to start processing its FIFO queue and wait for completion */ +void EVE_cmd_execute(void) +{ + EVE_cmd_start(); + while (EVE_busy()); +} + + +/* begin a co-processor command, this is used for all non-display-list commands */ +void EVE_begin_cmd(uint32_t command) +{ + BUFFER_SPI_WRITE_ADDRESS(EVE_RAM_CMD + cmdOffset) + BUFFER_SPI_DWORD(command) + + EVE_inc_cmdoffset(4); // only count the command size - not the write address directive +} + + +/* co-processor commands that are not used in displays lists, these are no to be used with async transfers */ + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_memzero(uint32_t ptr, uint32_t num) +{ + EVE_begin_cmd(CMD_MEMZERO); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() +} + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_memset(uint32_t ptr, uint8_t value, uint32_t num) +{ + EVE_begin_cmd(CMD_MEMSET); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(value) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(12); + + SEND_SPI_BUFFER() +} + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void block_transfer(const uint8_t *data, uint32_t len); // forward ref + +void EVE_cmd_memwrite(uint32_t dest, uint32_t num, const uint8_t *data) +{ + EVE_begin_cmd(CMD_MEMWRITE); + BUFFER_SPI_DWORD(dest) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() + + block_transfer(data, num); // block_transfer is immediate - make sure CMD buffer is prepared! +} + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_memcpy(uint32_t dest, uint32_t src, uint32_t num) +{ + EVE_begin_cmd(CMD_MEMCPY); + BUFFER_SPI_DWORD(dest) + BUFFER_SPI_DWORD(src) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(12); + + SEND_SPI_BUFFER() +} + + + +/* commands for loading image data into FT8xx CMD memory, with DWORD padding: */ +/* Note: these are immediate SPI transfers and assume the CMD buffer is prepared to process the data, etc... */ +// Note: data should be in DMA-capable memory! +void eve_spi_CMD_write(uint64_t addr, const uint8_t *data, uint16_t len) +{ + // we can use a direct transaction because it is already chunked + disp_spi_transaction(data, len, (disp_spi_send_flag_t)(DISP_SPI_SEND_QUEUED | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags), NULL, (addr | MEM_WRITE_24), 0); + + uint8_t padding = len & 0x03; /* 0, 1, 2 or 3 */ + padding = 4 - padding; /* 4, 3, 2 or 1 */ + padding &= 3; /* 3, 2, 1 or 0 */ + + // padding is another transaction and needs it's own address (this is a DMA requirement) + if(padding) + { + addr += len; + + uint8_t padData[4] = {0}; + disp_spi_transaction(padData, padding, (disp_spi_send_flag_t)(DISP_SPI_SEND_QUEUED | DISP_SPI_ADDRESS_24 | SPIInherentSendFlags), NULL, (addr | MEM_WRITE_24), 0); + + len += padding; + } + + EVE_inc_cmdoffset(len); +} + + +void block_transfer(const uint8_t *data, uint32_t len) +{ + WAIT_SPI(); // SPI commands must be in CMD buffer first + + uint32_t bytes_left; + + bytes_left = len; + while(bytes_left > 0) + { + uint32_t block_len; + block_len = (bytes_left > BLOCK_TRANSFER_SIZE ? BLOCK_TRANSFER_SIZE : bytes_left); + + eve_spi_CMD_write(EVE_RAM_CMD + cmdOffset, data, block_len); + + data += block_len; + bytes_left -= block_len; + + // signal to process data + EVE_cmd_execute(); + } +} + +#if FT81X_FULL +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +void EVE_cmd_inflate(uint32_t ptr, const uint8_t *data, uint16_t len) +{ + EVE_begin_cmd(CMD_INFLATE); + BUFFER_SPI_DWORD(ptr) + + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() + + block_transfer(data, len); // block_transfer is immediate - make sure CMD buffer is prepared! +} + + +#if defined (BT81X_ENABLE) +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +void EVE_cmd_inflate2(uint32_t ptr, uint32_t options, const uint8_t *data, uint16_t len) +{ + EVE_begin_cmd(CMD_INFLATE2); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(options) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() + + if(options == 0) /* direct data, not by Media-FIFO or Flash */ + { + block_transfer(data, len); // block_transfer is immediate - make sure CMD buffer is prepared! + } +} +#endif + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +void EVE_cmd_loadimage(uint32_t ptr, uint32_t options, const uint8_t *data, uint16_t len) +{ + EVE_begin_cmd(CMD_LOADIMAGE); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(options) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() + + #if defined (BT81X_ENABLE) + if( ((options & EVE_OPT_MEDIAFIFO) == 0) && ((options & EVE_OPT_FLASH) == 0) )/* direct data, neither by Media-FIFO or from Flash */ + #elif defined (FT81X_ENABLE) + if((options & EVE_OPT_MEDIAFIFO) == 0) /* direct data, not by Media-FIFO */ + #endif + { + block_transfer(data, len); // block_transfer is immediate - make sure CMD buffer is prepared! + } +} + + +#if defined (FT81X_ENABLE) +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_mediafifo(uint32_t ptr, uint32_t size) +{ + EVE_begin_cmd(CMD_MEDIAFIFO); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(size) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() +} +#endif + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_interrupt(uint32_t ms) +{ + EVE_begin_cmd(CMD_INTERRUPT); + BUFFER_SPI_DWORD(ms) + + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() +} + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_setfont(uint32_t font, uint32_t ptr) +{ + EVE_begin_cmd(CMD_SETFONT); + BUFFER_SPI_DWORD(font) + BUFFER_SPI_DWORD(ptr) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() +} + + +#if defined (FT81X_ENABLE) +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_setfont2(uint32_t font, uint32_t ptr, uint32_t firstchar) +{ + EVE_begin_cmd(CMD_SETFONT2); + BUFFER_SPI_DWORD(font) + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(firstchar) + + EVE_inc_cmdoffset(12); + + SEND_SPI_BUFFER() +} +#endif + + +#if defined (FT81X_ENABLE) +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_setrotate(uint32_t r) +{ + EVE_begin_cmd(CMD_SETROTATE); + BUFFER_SPI_DWORD(r) + + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() +} +#endif + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_snapshot(uint32_t ptr) +{ + EVE_begin_cmd(CMD_SNAPSHOT); + BUFFER_SPI_DWORD(ptr) + + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() +} + + +#if defined (FT81X_ENABLE) +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_snapshot2(uint32_t fmt, uint32_t ptr, int16_t x0, int16_t y0, int16_t w0, int16_t h0) +{ + EVE_begin_cmd(CMD_SNAPSHOT2); + BUFFER_SPI_DWORD(fmt) + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + + EVE_inc_cmdoffset(16); + + SEND_SPI_BUFFER() +} +#endif + + +/* this is meant to be called outside display-list building, does not support cmd-burst */ +void EVE_cmd_track(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t tag) +{ + EVE_begin_cmd(CMD_TRACK); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + BUFFER_SPI_WORD(tag) + BUFFER_SPI_WORD(0) + + EVE_inc_cmdoffset(12); + + SEND_SPI_BUFFER() +} + + + +/* commands that return values by writing to the command-fifo */ +/* note: yes, these are different than the functions in the Programmers Guide from FTDI, + this is because I have no idea why anyone would want to pass "result" as an actual argument to these functions + when this only marks the offset the command-processor is writing to */ + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* crc32 = EVE_cmd_memcrc(my_ptr_to_some_memory_region, some_amount_of_bytes); */ +uint32_t EVE_cmd_memcrc(uint32_t ptr, uint32_t num) +{ + EVE_begin_cmd(CMD_MEMCRC); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(num) + BUFFER_SPI_DWORD(0) + + EVE_inc_cmdoffset(8); + + uint16_t offset = cmdOffset; + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); + + return (EVE_memRead32(EVE_RAM_CMD + offset)); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* address = EVE_cmd_getpr(); */ +uint32_t EVE_cmd_getptr(void) +{ + EVE_begin_cmd(CMD_GETPTR); + + uint16_t offset = cmdOffset; + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); + + return (EVE_memRead32(EVE_RAM_CMD + offset)); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* regvalue = EVE_cmd_regread(ptr); */ +/* this seems to be completely pointless, there is no real use for it outside a display-list since the register could be read directly */ +/* and for what purpose would this be implemented to be used in a display list?? */ +uint32_t EVE_cmd_regread(uint32_t ptr) +{ + uint16_t offset; + + EVE_begin_cmd(CMD_REGREAD); + BUFFER_SPI_DWORD(ptr) + + EVE_inc_cmdoffset(4); + + offset = cmdOffset; + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); + + return (EVE_memRead32(EVE_RAM_CMD + offset)); +} + + +/* + Get the properties of an image after a CMD_LOADIMAGE operation. + + uint32 pointer, width, height; + EVE_LIB_GetProps(&pointer, &width, &height); + + uint32 width, height; + EVE_LIB_GetProps(0, &width, &height); + + this is meant to be called outside display-list building, it includes executing the command + and waiting for completion, does not support cmd-burst +*/ +void EVE_LIB_GetProps(uint32_t *pointer, uint32_t *width, uint32_t *height) +{ + EVE_begin_cmd(CMD_GETPROPS); + + uint16_t offset = cmdOffset; + EVE_inc_cmdoffset(12); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); + + if(pointer) + { + *pointer = EVE_memRead32(EVE_RAM_CMD + offset); + } + if(width) + { + *width = EVE_memRead32(EVE_RAM_CMD + offset + 4); + } + if(height) + { + *height = EVE_memRead32(EVE_RAM_CMD + offset + 8); + } +} + + +/* FT811 / FT813 binary-blob from FTDIs AN_336 to patch the touch-engine for Goodix GT911 / GT9271 touch controllers */ +#if defined (EVE_HAS_GT911) + +#if defined (__AVR__) +#include +#else +#define PROGMEM +#endif + +const uint16_t EVE_GT911_len = 1184; +const uint8_t EVE_GT911_data[1184] PROGMEM = +{ + 26,255,255,255,32,32,48,0,4,0,0,0,2,0,0,0, + 34,255,255,255,0,176,48,0,120,218,237,84,221,111,84,69,20,63,51,179,93,160,148,101,111,76,5,44,141,123,111,161,11,219,154,16,9,16,17,229,156,75,26,11,13,21,227,3,16,252,184,179, + 45,219,143,45,41,125,144,72,67,100,150,71,189,113,18,36,17,165,100,165,198,16,32,17,149,196,240,128,161,16,164,38,54,240,0,209,72,130,15,38,125,48,66,82,30,76,19,31,172,103,46, + 139,24,255,4,227,157,204,156,51,115,102,206,231,239,220,5,170,94,129,137,75,194,216,98,94,103,117,115,121,76,131,177,125,89,125,82,123,60,243,58,142,242,204,185,243,188,118,156, + 227,155,203,238,238,195,251,205,229,71,92,28,169,190,184,84,143,113,137,53,244,103,181,237,87,253,113,137,233,48,12,198,165,181,104,139,25,84,253,155,114,74,191,0,54,138,163, + 12,62,131,207,129,23,217,34,91,31,128,65,246,163,175,213,8,147,213,107,35,203,94,108,3,111,40,171,83,24,15,165,177,222,116,97,23,188,140,206,150,42,102,181,87,78,86,182,170,134, + 215,241,121,26,243,252,2,76,115,217,139,222,206,173,136,132,81,61,35,185,39,113,23,46,199,76,178,54,151,183,224,0,40,189,28,149,182,58,131,79,152,30,76,34,98,234,162,216,133,141, + 102,39,170,40,192,101,53,201,146,191,37,77,44,177,209,74,211,5,206,187,5,6,216,47,53,96,123,22,50,103,251,192,84,17,74,227,185,56,106,51,91,161,96,182,163,48,171,141,139,65,152, + 66,66,11,102,43,158,75,36,80,147,184,147,139,112,17,235,216,103,111,239,245,92,10,175,194,40,44,58,125,5,59,112,50,103,245,4,78,192,5,156,194,51,60,191,134,75,110,173,237,46,192, + 121,156,192,115,184,218,120,67,63,115,46,11,102,10,97,232,50,235,114,182,148,118,178,41,188,12,135,77,202,124,12,96,238,35,161,234,189,129,23,249,212,139,230,25,53,48,205,52,93, + 163,117,53,154,170,81,85,163,178,70,69,66,167,241,14,46,241,1,226,136,152,179,197,59,184,148,254,49,132,48,15,176,137,192,76,131,196,105,104,162,86,81,160,165,255,26,173,162,137, + 86,145,210,183,192,55,175,194,211,60,91,120,230,184,174,27,41,131,155,40,224,29,87,179,232,16,55,55,7,165,147,81,23,165,49,101,54,224,75,180,81,108,18,29,226,69,225,110,175,224, + 42,212,25,47,130,193,110,234,192,215,252,56,74,162,24,46,251,174,54,106,68,245,14,9,155,160,22,120,207,104,240,29,90,178,140,28,24,220,47,166,112,61,251,208,192,111,56,239,238, + 93,255,251,62,99,32,193,75,61,190,235,123,229,110,218,194,85,79,225,59,98,20,238,227,235,220,11,221,149,25,180,116,194,159,111,96,192,24,213,59,139,179,156,215,69,230,19,24,35, + 135,117,206,171,206,162,67,129,234,61,235,11,104,103,84,64,223,167,254,40,163,101,92,84,43,150,46,249,219,205,7,116,11,91,104,61,57,75,223,8,48,25,28,119,252,222,113,49,86,249, + 74,180,211,156,181,61,215,168,157,7,251,199,150,242,250,91,58,132,94,121,7,53,151,139,98,6,165,153,69,214,32,110,211,100,101,31,89,45,81,98,23,205,205,197,209,109,186,198,35, + 141,191,249,25,60,132,223,153,251,98,20,239,146,139,20,217,250,41,250,137,58,177,90,57,79,51,108,233,20,253,194,187,49,222,205,114,141,96,48,175,219,107,54,111,138,22,154,103, + 108,79,58,252,179,178,79,164,195,2,153,36,39,170,199,201,167,197,85,106,8,59,177,81,46,56,2,230,75,114,17,55,112,188,65,208,137,77,114,10,115,55,58,208,197,173,122,87,6,140, + 110,42,208,124,163,70,108,241,104,18,245,98,214,187,134,53,42,221,22,182,133,211,116,148,177,194,209,192,85,90,199,58,55,203,2,229,19,137,187,161,228,154,112,203,145,125,244, + 188,220,118,228,41,201,181,41,195,144,215,183,51,80,250,21,217,16,217,200,235,109,227,188,122,218,142,60,170,224,112,240,184,130,229,224,113,5,223,148,163,80,165,183,130,187, + 132,116,64,238,161,85,220,115,139,205,98,227,244,29,102,125,7,37,243,123,223,11,26,92,63,243,116,61,191,138,123,244,160,84,186,74,31,5,174,247,119,135,199,248,253,135,242,97, + 102,145,190,144,14,85,238,221,231,193,158,48,205,25,120,248,15,220,29,158,9,70,185,30,103,229,33,254,23,237,160,172,62,193,90,222,224,232,14,200,56,90,104,142,227,120,110,6, + 21,211,203,65,150,99,151,220,247,87,164,50,159,49,239,234,58,142,0,109,108,123,18,79,227,36,100,248,222,205,96,127,120,26,171,228,69,63,36,17,252,200,17,116,242,187,227,88,143, + 247,2,75,191,6,130,59,188,11,55,240,31,243,122,152,226,183,207,154,73,188,39,219,43,105,222,87,41,143,141,140,175,73,112,184,252,61,184,16,90,250,35,168,82,119,176,57,116,94, + 200,150,22,190,179,44,104,12,235,84,149,102,252,89,154,193,99,228,106,242,125,248,64,194,255,223,127,242,83,11,255,2,70,214,226,128,0,0 +}; +#endif +#endif // FT81X_FULL + + +/* init, has to be executed with the SPI setup to 11 MHz or less as required by FT8xx / BT8xx */ +uint8_t EVE_init(void) +{ + uint8_t chipid = 0; + uint16_t timeout = 0; + + EVE_pdn_set(); + DELAY_MS(6); /* minimum time for power-down is 5ms */ + + EVE_pdn_clear(); + DELAY_MS(21); /* minimum time to allow from rising PD_N to first access is 20ms */ + + /* EVE_cmdWrite(EVE_CORERST,0); */ /* reset, only required for warm-start if PowerDown line is not used */ + +#if defined (EVE_HAS_CRYSTAL) + EVE_cmdWrite(EVE_CLKEXT, 0); /* setup EVE for external clock */ +#else + EVE_cmdWrite(EVE_CLKINT, 0); /* setup EVE for internal clock */ +#endif + +#if defined (BT81X_ENABLE) + EVE_cmdWrite(EVE_CLKSEL ,0x46); /* set clock to 72 MHz */ +#endif + + EVE_cmdWrite(EVE_ACTIVE, 0); /* start EVE */ + + /* BRT AN033 BT81X_Series_Programming_Guide V1.2 had a small change to chapter 2.4 "Initialization Sequence during Boot Up" */ + /* Send Host command “ACTIVE” and wait for at least 300 milliseconds. */ + /* Ensure that there is no SPI access during this time. */ + /* I asked Bridgetek for clarification why this has been made stricter. */ + /* From observation with quite a few of different displays I do not agree that either the 300ms are necessary or that */ + /* *reading* the SPI while EVE inits itself is causing any issues. */ + /* But since BT815 at 72MHz need 42ms anyways before they start to answer, here is my compromise, a fixed 40ms delay */ + /* to provide at least a short moment of silence for EVE */ + DELAY_MS(40); + + /* The most reliable DIO/QIO switching point is after EVE start up but before reading the ChipID. */ +#if defined(DISP_SPI_TRANS_MODE_DIO) + ESP_LOGI(TAG, "Switching to DIO mode"); + DELAY_MS(20); /* different boards may take a different delay but this generally seems to work */ + EVE_memWrite16(REG_SPI_WIDTH, SPI_WIDTH_DIO); + SPIInherentSendFlags = DISP_SPI_MODE_DIO | DISP_SPI_MODE_DIOQIO_ADDR; + SPIDummyReadBits = 4; /* Esp32 DMA SPI transaction dummy_bits works more like clock cycles, so in DIO 4 dummy_bits == 8 total bits */ +#elif defined(DISP_SPI_TRANS_MODE_QIO) + ESP_LOGI(TAG, "Switching to QIO mode"); + DELAY_MS(20); /* different boards may take a different delay but this generally seems to work */ + EVE_memWrite16(REG_SPI_WIDTH, SPI_WIDTH_QIO); + SPIInherentSendFlags = DISP_SPI_MODE_QIO | DISP_SPI_MODE_DIOQIO_ADDR; + SPIDummyReadBits = 2; /* Esp32 DMA SPI transaction dummy_bits works more like clock cycles, so in QIO 2 dummy_bits == 8 total bits */ +#elif defined(DISP_SPI_HALF_DUPLEX) + SPIDummyReadBits = 8; /* SIO half-duplex mode */ +#endif + + while(chipid != 0x7C) /* if chipid is not 0x7c, continue to read it until it is, EVE needs a moment for it's power on self-test and configuration */ + { + DELAY_MS(1); + chipid = EVE_memRead8(REG_ID); + timeout++; + if(timeout > 400) + { + ESP_LOGI(TAG, "Failed to read ChipID...aborting initialization."); + return 0; + } + } + + timeout = 0; + while (0x00 != (EVE_memRead8(REG_CPURESET) & 0x03)) /* check if EVE is in working status */ + { + DELAY_MS(1); + timeout++; + if(timeout > 50) /* experimental, 10 was the lowest value to get the BT815 started with, the touch-controller was the last to get out of reset */ + { + ESP_LOGI(TAG, "Failed to read CPU status...aborting initialization."); + return 0; + } + } + + /* tell EVE that we changed the frequency from default to 72MHz for BT8xx */ +#if defined (BT81X_ENABLE) + EVE_memWrite32(REG_FREQUENCY, 72000000); +#endif + + /* we have a display with a Goodix GT911 / GT9271 touch-controller on it, so we patch our FT811 or FT813 according to AN_336 or setup a BT815 accordingly */ +#if defined (EVE_HAS_GT911) + + #if defined (BT81X_ENABLE) + EVE_memWrite32(REG_TOUCH_CONFIG, 0x000005d1); /* switch to Goodix touch controller */ + #else + + EVE_get_cmdoffset(); + + BUFFER_SPI_WRITE_ADDRESS(EVE_RAM_CMD + cmdOffset) + SEND_SPI_BUFFER() + + spi_flash_write(EVE_GT911_data, EVE_GT911_len); + + EVE_cmd_execute(); + + EVE_memWrite8(REG_TOUCH_OVERSAMPLE, 0x0f); /* setup oversample to 0x0f as "hidden" in binary-blob for AN_336 */ + EVE_memWrite16(REG_TOUCH_CONFIG, 0x05D0); /* write magic cookie as requested by AN_336 */ + + /* specific to the EVE2 modules from Matrix-Orbital we have to use GPIO3 to reset GT911 */ + EVE_memWrite16(REG_GPIOX_DIR, 0x8008); /* Reset-Value is 0x8000, adding 0x08 sets GPIO3 to output, default-value for REG_GPIOX is 0x8000 -> Low output on GPIO3 */ + DELAY_MS(1); /* wait more than 100Âĩs */ + EVE_memWrite8(REG_CPURESET, 0x00); /* clear all resets */ + DELAY_MS(56); /* wait more than 55ms */ + EVE_memWrite16(REG_GPIOX_DIR, 0x8000); /* setting GPIO3 back to input */ + #endif +#endif + + /* EVE_memWrite8(REG_PCLK, 0x00); */ /* set PCLK to zero - don't clock the LCD until later, line disabled because zero is reset-default and we just did a reset */ + +#if defined (EVE_ADAM101) + EVE_memWrite8(REG_PWM_DUTY, 0x80); /* turn off backlight for Glyn ADAM101 module, it uses inverted values */ +#else + EVE_memWrite8(REG_PWM_DUTY, 0); /* turn off backlight for any other module */ +#endif + + /* Initialize Display */ + EVE_memWrite16(REG_HSIZE, EVE_HSIZE); /* active display width */ + EVE_memWrite16(REG_HCYCLE, EVE_HCYCLE); /* total number of clocks per line, incl front/back porch */ + EVE_memWrite16(REG_HOFFSET, EVE_HOFFSET); /* start of active line */ + EVE_memWrite16(REG_HSYNC0, EVE_HSYNC0); /* start of horizontal sync pulse */ + EVE_memWrite16(REG_HSYNC1, EVE_HSYNC1); /* end of horizontal sync pulse */ + EVE_memWrite16(REG_VSIZE, EVE_VSIZE); /* active display height */ + EVE_memWrite16(REG_VCYCLE, EVE_VCYCLE); /* total number of lines per screen, including pre/post */ + EVE_memWrite16(REG_VOFFSET, EVE_VOFFSET); /* start of active screen */ + EVE_memWrite16(REG_VSYNC0, EVE_VSYNC0); /* start of vertical sync pulse */ + EVE_memWrite16(REG_VSYNC1, EVE_VSYNC1); /* end of vertical sync pulse */ + EVE_memWrite8(REG_SWIZZLE, EVE_SWIZZLE); /* FT8xx output to LCD - pin order */ + EVE_memWrite8(REG_PCLK_POL, EVE_PCLKPOL); /* LCD data is clocked in on this PCLK edge */ + EVE_memWrite8(REG_CSPREAD, EVE_CSPREAD); /* helps with noise, when set to 1 fewer signals are changed simultaneously, reset-default: 1 */ + + /* do not set PCLK yet - wait for just after the first display list */ + + /* configure Touch */ + //EVE_memWrite8(REG_TOUCH_MODE, EVE_TMODE_CONTINUOUS); /* enable touch */ + EVE_memWrite8(REG_TOUCH_MODE, EVE_TMODE_OFF); + EVE_memWrite16(REG_TOUCH_RZTHRESH, EVE_TOUCH_RZTHRESH); /* eliminate any false touches */ + + /* disable Audio for now */ + EVE_memWrite8(REG_VOL_PB, 0x00); /* turn recorded audio volume down */ + EVE_memWrite8(REG_VOL_SOUND, 0x00); /* turn synthesizer volume off */ + EVE_memWrite16(REG_SOUND, 0x6000); /* set synthesizer to mute */ + + /* write a basic display-list to get things started */ + EVE_memWrite32(EVE_RAM_DL, DL_CLEAR_RGB); + EVE_memWrite32(EVE_RAM_DL + 4, (DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG)); + EVE_memWrite32(EVE_RAM_DL + 8, DL_DISPLAY); /* end of display list */ + EVE_memWrite32(REG_DLSWAP, EVE_DLSWAP_FRAME); + + /* nothing is being displayed yet... the pixel clock is still 0x00 */ + EVE_memWrite8(REG_GPIO, 0x80); /* enable the DISP signal to the LCD panel, it is set to output in REG_GPIO_DIR by default */ + EVE_memWrite8(REG_PCLK, EVE_PCLK); /* now start clocking data to the LCD panel */ + +#if defined (EVE_ADAM101) + EVE_memWrite8(REG_PWM_DUTY, 0x60); /* turn on backlight to 25% for Glyn ADAM101 module, it uses inverted values */ +#else + EVE_memWrite8(REG_PWM_DUTY, 0x20); /* turn on backlight to 25% for any other module */ +#endif + + timeout = 0; + while(EVE_busy()) /* just to be safe, should not even enter the loop */ + { + DELAY_MS(1); + timeout++; + if(timeout > 4) + { + break; /* something is wrong here, but since we made it this far through the init, just leave the loop */ + } + } + + EVE_get_cmdoffset(); /* just to be safe */ + +#if defined (EVE_DMA) + EVE_init_dma(); /* prepare DMA */ +#endif + + return 1; +} + + +/* +These eliminate the overhead of transmitting the command-fifo address with every single command, just wrap a sequence of commands +with these and the address is only transmitted once at the start of the block. +Be careful to not use any functions in the sequence that do not address the command-fifo as for example any EVE_mem...() function. +*/ +void EVE_start_cmd_burst(void) +{ + cmd_burst = 42; + + WAIT_SPI() // it is important to wait before writing to the SPI buffer as it might be in a DMA transaction + BUFFER_SPI_WRITE_ADDRESS(EVE_RAM_CMD + cmdOffset) +} + + +void EVE_end_cmd_burst(void) +{ + cmd_burst = 0; + + SEND_SPI_BUFFER() +} + + +/* begin a co-processor command */ +void EVE_start_cmd(uint32_t command) +{ + if(!cmd_burst) + { + WAIT_SPI() // it is important to wait before writing to the SPI buffer as it might be in a DMA transaction + BUFFER_SPI_WRITE_ADDRESS(EVE_RAM_CMD + cmdOffset) + } + + BUFFER_SPI_DWORD(command) + + EVE_inc_cmdoffset(4); /* update the command-ram pointer */ +} + + +/* generic function for all commands that have no arguments and all display-list specific control words */ +/* + examples: + EVE_cmd_dl(CMD_DLSTART); + EVE_cmd_dl(CMD_SWAP); + EVE_cmd_dl(CMD_SCREENSAVER); + EVE_cmd_dl(LINE_WIDTH(1*16)); + EVE_cmd_dl(VERTEX2F(0,0)); + EVE_cmd_dl(DL_BEGIN | EVE_RECTS); +*/ +void EVE_cmd_dl(uint32_t command) +{ + if(cmd_burst) + { + BUFFER_SPI_DWORD(command) + + EVE_inc_cmdoffset(4); /* update the command-ram pointer */ + } + else + { + EVE_start_cmd(command); + SEND_SPI_BUFFER() + } +} + +#if FT81X_FULL +/* write a string to co-processor memory in context of a command: no chip-select, just plain SPI-transfers */ +/* note: assumes cmdOffset is already DWORD aligned */ +void EVE_write_string(const char *text) +{ + uint8_t textindex = 0; + uint8_t padding = 0; + uint8_t *bytes = (uint8_t *) text; /* need to handle the array as bunch of bytes */ + + while(bytes[textindex] != 0) + { + BUFFER_SPI_BYTE(bytes[textindex]); + textindex++; + if(textindex > 249 || SPIBufferIndex >= SPI_BUFFER_SIZE) /* there appears to be no end for the "string", or no more room in SPI buffer, so leave */ + { + break; + } + } + + /* we need to transmit at least one 0x00 byte and up to four if the string happens to be 4-byte aligned already */ + padding = textindex & 3; /* 0, 1, 2 or 3 */ + padding = 4-padding; /* 4, 3, 2 or 1 */ + textindex += padding; + + while(padding > 0 && SPIBufferIndex < SPI_BUFFER_SIZE) + { + BUFFER_SPI_BYTE(0); + padding--; + } + + EVE_inc_cmdoffset(textindex); +} + + +/* EVE3 FLASH functions */ +#if defined (BT81X_ENABLE) + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* write "num" bytes from *data to the external flash on a BT81x board at address ptr */ +/* note: ptr must be 256 byte aligned, num must be a multiple of 256 */ +/* note: EVE will not do anything if the alignment requirements are not met */ +/* note: the address ptr is relative to the flash so the first address is 0x00000000 not 0x800000 */ +/* note: on AVR controllers this expects the data to be located in the controllers flash memory */ +void EVE_cmd_flashwrite(uint32_t ptr, uint32_t num, const uint8_t *data) +{ + EVE_begin_cmd(CMD_FLASHWRITE); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() + + WAIT_SPI() + block_transfer(data, num); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* write "num" bytes from src in the external flash on a BT81x board to dest in RAM_G */ +/* note: src must be 64-byte aligned, dest must be 4-byte aligned, num must be a multiple of 4 */ +/* note: EVE will not do anything if the alignment requirements are not met */ +/* note: the src pointer is relative to the flash so the first address is 0x00000000 not 0x800000 */ +void EVE_cmd_flashread(uint32_t dest, uint32_t src, uint32_t num) +{ + EVE_begin_cmd(CMD_FLASHREAD); + BUFFER_SPI_DWORD(dest) + BUFFER_SPI_DWORD(src) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(12); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* write "num" bytes from src in RAM_G to to the external flash on a BT81x board at address dest */ +/* note: dest must be 4096-byte aligned, src must be 4-byte aligned, num must be a multiple of 4096 */ +/* note: EVE will not do anything if the alignment requirements are not met */ +/* note: the address ptr is relative to the flash so the first address is 0x00000000 not 0x800000 */ +void EVE_cmd_flashupdate(uint32_t dest, uint32_t src, uint32_t num) +{ + EVE_begin_cmd(CMD_FLASHUPDATE); + BUFFER_SPI_DWORD(dest) + BUFFER_SPI_DWORD(src) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(12); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* this is added for conveniance, using EVE_cmd_dl(CMD_FLASHERASE); followed by EVE_cmd_execute(); would work as well */ +void EVE_cmd_flasherase(void) +{ + EVE_begin_cmd(CMD_FLASHERASE); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* this is added for conveniance, using EVE_cmd_dl(CMD_FLASHATTACH); followed by EVE_cmd_execute(); would work as well */ +void EVE_cmd_flashattach(void) +{ + EVE_begin_cmd(CMD_FLASHATTACH); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* this is added for conveniance, using EVE_cmd_dl(CMD_FLASHDETACH); followed by EVE_cmd_execute(); would work as well */ +void EVE_cmd_flashdetach(void) +{ + EVE_begin_cmd(CMD_FLASHDETACH); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* this is added for conveniance, using EVE_cmd_dl(CMD_FLASHSPIDESEL); followed by EVE_cmd_execute(); would work as well */ +void EVE_cmd_flashspidesel(void) +{ + EVE_begin_cmd(CMD_FLASHSPIDESEL); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +uint32_t EVE_cmd_flashfast(void) +{ + uint16_t offset; + + EVE_begin_cmd(CMD_FLASHFAST); + BUFFER_SPI_DWORD(0) + + offset = cmdOffset; + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); + + return EVE_memRead32(EVE_RAM_CMD + offset); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* write "num" bytes from *data to the BT81x SPI interface */ +/* note: raw direct access, not really useful for anything */ +void EVE_cmd_flashspitx(uint32_t num, const uint8_t *data) +{ + EVE_begin_cmd(CMD_FLASHSPITX); + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() + + WAIT_SPI() + block_transfer(data, num); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +/* write "num" bytes from the BT81x SPI interface dest in RAM_G */ +/* note: raw direct access, not really useful for anything */ +void EVE_cmd_flashspirx(uint32_t dest, uint32_t num) +{ + EVE_begin_cmd(CMD_FLASHREAD); + BUFFER_SPI_DWORD(dest) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(8); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* this is meant to be called outside display-list building, it includes executing the command and waiting for completion, does not support cmd-burst */ +void EVE_cmd_flashsource(uint32_t ptr) +{ + EVE_begin_cmd(CMD_FLASHSOURCE); + BUFFER_SPI_DWORD(ptr) + + EVE_inc_cmdoffset(4); + + SEND_SPI_BUFFER() + + EVE_cmd_execute(); +} + + +/* switch the FLASH attached to a BT815/BT816 to full-speed mode, returns 0 for failing to do so, does not support cmd-burst */ +uint8_t EVE_init_flash(void) +{ + uint8_t timeout = 0; + uint8_t status; + + status = EVE_memRead8(REG_FLASH_STATUS); /* should be 0x02 - FLASH_STATUS_BASIC, power-up is done and the attached flash is detected */ + + while(status == 0) /* FLASH_STATUS_INIT - we are somehow still in init, give it a litte more time, this should never happen */ + { + status = EVE_memRead8(REG_FLASH_STATUS); + DELAY_MS(1); + timeout++; + if(timeout > 100) /* 100ms and still in init, lets call quits now and exit with an error */ + { + return 0; + } + } + + if(status == 1) /* FLASH_STATUS_DETACHED - no flash was found during init, no flash present or the detection failed, but have hope and let the BT81x have annother try */ + { + EVE_cmd_dl(CMD_FLASHATTACH); + EVE_cmd_execute(); + status = EVE_memRead8(REG_FLASH_STATUS); + if(status != 2) /* still not in FLASH_STATUS_BASIC, time to give up */ + { + return 0; + } + } + + if(status == 2) /* FLASH_STATUS_BASIC - flash detected and ready for action, lets move it up to FLASH_STATUS_FULL */ + { + uint32_t result; + + result = EVE_cmd_flashfast(); + + if(result == 0) /* cmd_flashfast was successful */ + { + return 1; + } + else /* room for improvement, cmd_flashfast provided an error code but there is no way to return it without returning a value that is FALSE all the same */ + { + return 0; + } + } + + if(status == 3) /* FLASH_STATUS_FULL - we are already there, why has this function been called? */ + { + return 1; + } + + return 0; +} +#endif + + +/* commands to draw graphics objects: */ + + +#if defined (BT81X_ENABLE) +/* as the name implies, "num_args" is the number of arguments passed to this function as variadic arguments */ +void EVE_cmd_text_var(int16_t x0, int16_t y0, int16_t font, uint16_t options, const char* text, uint8_t num_args, ...) +{ + va_list arguments; + uint8_t counter; + uint32_t data; + + va_start(arguments, num_args); + + BUFFER_SPI_DWORD(CMD_TEXT) + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + + EVE_inc_cmdoffset(12); + + EVE_write_string(text); + + if(options & EVE_OPT_FORMAT) + { + for(counter = 0; counter < num_args; counter++) + { + data = (uint32_t) va_arg(arguments, int); + BUFFER_SPI_DWORD(data) + EVE_inc_cmdoffset(4); + } + } + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } + + va_end(arguments); +} +#endif + + +void EVE_cmd_text(int16_t x0, int16_t y0, int16_t font, uint16_t options, const char* text) +{ + EVE_start_cmd(CMD_TEXT); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + + EVE_inc_cmdoffset(8); + + EVE_write_string(text); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +#if defined (BT81X_ENABLE) +/* as the name implies, "num_args" is the number of arguments passed to this function as variadic arguments */ +void EVE_cmd_button_var(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t font, uint16_t options, const char* text, uint8_t num_args, ...) +{ + va_list arguments; + uint8_t counter; + uint32_t data; + + va_start(arguments, num_args); + + EVE_start_cmd(CMD_BUTTON); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + + EVE_inc_cmdoffset(12); + + EVE_write_string(text); + + if(options & EVE_OPT_FORMAT) + { + for(counter = 0; counter < num_args; counter++) + { + data = (uint32_t) va_arg(arguments, int); + BUFFER_SPI_DWORD(data) + EVE_inc_cmdoffset(4); + } + } + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } + + va_end(arguments); +} +#endif + + +void EVE_cmd_button(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t font, uint16_t options, const char* text) +{ + EVE_start_cmd(CMD_BUTTON); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + + EVE_inc_cmdoffset(12); + + EVE_write_string(text); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +/* draw a clock */ +void EVE_cmd_clock(int16_t x0, int16_t y0, int16_t r0, uint16_t options, uint16_t hours, uint16_t minutes, uint16_t seconds, uint16_t millisecs) +{ + EVE_start_cmd(CMD_CLOCK); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(r0) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(hours) + BUFFER_SPI_WORD(minutes) + BUFFER_SPI_WORD(seconds) + BUFFER_SPI_WORD(millisecs) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_color_rgb(uint8_t red, uint8_t green, uint8_t blue) +{ + BUFFER_SPI_BYTE(green) /* low-byte */ + BUFFER_SPI_BYTE(blue) + BUFFER_SPI_BYTE(red) + BUFFER_SPI_BYTE(0x04) /* encoding for COLOR_RGB */ + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_bgcolor(uint32_t color) +{ + EVE_start_cmd(CMD_BGCOLOR); + BUFFER_SPI_DWORD(color & 0x00ffffff) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_fgcolor(uint32_t color) +{ + EVE_start_cmd(CMD_FGCOLOR); + BUFFER_SPI_DWORD(color & 0x00ffffff) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_gradcolor(uint32_t color) +{ + EVE_start_cmd(CMD_GRADCOLOR); + BUFFER_SPI_DWORD(color & 0x00ffffff) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_gauge(int16_t x0, int16_t y0, int16_t r0, uint16_t options, uint16_t major, uint16_t minor, uint16_t val, uint16_t range) +{ + EVE_start_cmd(CMD_GAUGE); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(r0) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(major) + BUFFER_SPI_WORD(minor) + BUFFER_SPI_WORD(val) + BUFFER_SPI_WORD(range) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_gradient(int16_t x0, int16_t y0, uint32_t rgb0, int16_t x1, int16_t y1, uint32_t rgb1) +{ + EVE_start_cmd(CMD_GRADIENT); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_DWORD(rgb0 & 0x00ffffff) + BUFFER_SPI_WORD(x1) + BUFFER_SPI_WORD(y1) + BUFFER_SPI_DWORD(rgb1 & 0x00ffffff) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_keys(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t font, uint16_t options, const char* text) +{ + EVE_start_cmd(CMD_KEYS); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + + EVE_inc_cmdoffset(12); + + EVE_write_string(text); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_progress(int16_t x0, int16_t y0, int16_t w0, int16_t h0, uint16_t options, uint16_t val, uint16_t range) +{ + EVE_start_cmd(CMD_PROGRESS); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(val) + BUFFER_SPI_WORD(range) + BUFFER_SPI_WORD(0) /* dummy word for 4-byte alignment */ + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_scrollbar(int16_t x0, int16_t y0, int16_t w0, int16_t h0, uint16_t options, uint16_t val, uint16_t size, uint16_t range) +{ + EVE_start_cmd(CMD_SCROLLBAR); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(val) + BUFFER_SPI_WORD(size) + BUFFER_SPI_WORD(range) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_slider(int16_t x1, int16_t y1, int16_t w1, int16_t h1, uint16_t options, uint16_t val, uint16_t range) +{ + EVE_start_cmd(CMD_SLIDER); + BUFFER_SPI_WORD(x1) + BUFFER_SPI_WORD(y1) + BUFFER_SPI_WORD(w1) + BUFFER_SPI_WORD(h1) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(val) + BUFFER_SPI_WORD(range) + BUFFER_SPI_WORD(0) /* dummy word for 4-byte alignment */ + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_dial(int16_t x0, int16_t y0, int16_t r0, uint16_t options, uint16_t val) +{ + EVE_start_cmd(CMD_DIAL); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(r0) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(val) + BUFFER_SPI_WORD(0) /* dummy word for 4-byte alignment */ + + EVE_inc_cmdoffset(12); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +#if defined (BT81X_ENABLE) +/* as the name implies, "num_args" is the number of arguments passed to this function as variadic arguments */ +void EVE_cmd_toggle_var(int16_t x0, int16_t y0, int16_t w0, int16_t font, uint16_t options, uint16_t state, const char* text, uint8_t num_args, ...) +{ + va_list arguments; + uint8_t counter; + uint32_t data; + + va_start(arguments, num_args); + + EVE_start_cmd(CMD_TOGGLE); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(state) + + EVE_inc_cmdoffset(12); + + EVE_write_string(text); + + if(options & EVE_OPT_FORMAT) + { + for(counter = 0; counter < num_args; counter++) + { + data = (uint32_t) va_arg(arguments, int); + BUFFER_SPI_DWORD(data) + EVE_inc_cmdoffset(4); + } + } + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } + + va_end(arguments); +} +#endif + + +void EVE_cmd_toggle(int16_t x0, int16_t y0, int16_t w0, int16_t font, uint16_t options, uint16_t state, const char* text) +{ + EVE_start_cmd(CMD_TOGGLE); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + BUFFER_SPI_WORD(state) + + EVE_inc_cmdoffset(12); + + EVE_write_string(text); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +#if defined (FT81X_ENABLE) +void EVE_cmd_setbase(uint32_t base) +{ + EVE_start_cmd(CMD_SETBASE); + BUFFER_SPI_DWORD(base); + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} +#endif +#endif // FT81X_FULL + + +#if defined (FT81X_ENABLE) +void EVE_cmd_setbitmap(uint32_t addr, uint16_t fmt, uint16_t width, uint16_t height) +{ + EVE_start_cmd(CMD_SETBITMAP); + BUFFER_SPI_DWORD(addr) + BUFFER_SPI_WORD(fmt) + BUFFER_SPI_WORD(width) + BUFFER_SPI_WORD(height) + BUFFER_SPI_WORD(0) + + EVE_inc_cmdoffset(12); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } + +} +#endif + +#if FT81X_FULL +void EVE_cmd_number(int16_t x0, int16_t y0, int16_t font, uint16_t options, int32_t number) +{ + EVE_start_cmd(CMD_NUMBER); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(font) + BUFFER_SPI_WORD(options) + BUFFER_SPI_DWORD(number) + + EVE_inc_cmdoffset(12); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_append(uint32_t ptr, uint32_t num) +{ + EVE_start_cmd(CMD_APPEND); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(8); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +/* commands for setting the bitmap transform matrix: */ + +/* + The description in the programmers guide is strange for this function. + While it is named *get*matrix, parameters 'a' to 'f' are supplied to the function + and described as "output parameter" + Best guess is that this one allows to setup the matrix coefficients manually. + If this assumption is correct it rather should be named cmd_setupmatrix(). +*/ +void EVE_cmd_getmatrix(int32_t a, int32_t b, int32_t c, int32_t d, int32_t e, int32_t f) +{ + EVE_start_cmd(CMD_GETMATRIX); + BUFFER_SPI_DWORD(a) + BUFFER_SPI_DWORD(b) + BUFFER_SPI_DWORD(c) + BUFFER_SPI_DWORD(d) + BUFFER_SPI_DWORD(e) + BUFFER_SPI_DWORD(f) + + EVE_inc_cmdoffset(24); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_translate(int32_t tx, int32_t ty) +{ + EVE_start_cmd(CMD_TRANSLATE); + BUFFER_SPI_DWORD(tx) + BUFFER_SPI_DWORD(ty) + + EVE_inc_cmdoffset(8); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_scale(int32_t sx, int32_t sy) +{ + EVE_start_cmd(CMD_SCALE); + BUFFER_SPI_DWORD(sx) + BUFFER_SPI_DWORD(sy) + + EVE_inc_cmdoffset(8); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_rotate(int32_t ang) +{ + EVE_start_cmd(CMD_ROTATE); + BUFFER_SPI_DWORD(ang) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +#if defined (BT81X_ENABLE) +void EVE_cmd_rotatearound(int32_t x0, int32_t y0, int32_t angle, int32_t scale) +{ + EVE_start_cmd(CMD_ROTATEAROUND); + BUFFER_SPI_DWORD(x0) + BUFFER_SPI_DWORD(y0) + BUFFER_SPI_DWORD(angle) + BUFFER_SPI_DWORD(scale) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} +#endif + + +/* other commands: */ +void EVE_cmd_calibrate(void) +{ + EVE_start_cmd(CMD_CALIBRATE); + BUFFER_SPI_DWORD(0) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +#if defined (FT81X_ENABLE) +void EVE_cmd_romfont(uint32_t font, uint32_t romslot) +{ + EVE_start_cmd(CMD_ROMFONT); + BUFFER_SPI_DWORD(font & 0x0000ffff) + BUFFER_SPI_DWORD(romslot & 0x0000ffff) + + EVE_inc_cmdoffset(8); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} +#endif + + +#if defined (FT81X_ENABLE) +void EVE_cmd_setscratch(uint32_t handle) +{ + EVE_start_cmd(CMD_SETSCRATCH); + BUFFER_SPI_DWORD(handle) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} +#endif + + +void EVE_cmd_sketch(int16_t x0, int16_t y0, uint16_t w0, uint16_t h0, uint32_t ptr, uint16_t format) +{ + EVE_start_cmd(CMD_SKETCH); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(w0) + BUFFER_SPI_WORD(h0) + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_WORD(format) + BUFFER_SPI_WORD(0) /* dummy word for 4-byte alignment */ + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_spinner(int16_t x0, int16_t y0, uint16_t style, uint16_t scale) +{ + EVE_start_cmd(CMD_SPINNER); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_WORD(style) + BUFFER_SPI_WORD(scale) + + EVE_inc_cmdoffset(8); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +/* various commands new for EVE3 */ +#if defined (BT81X_ENABLE) + +void EVE_cmd_animstart(int32_t ch, uint32_t aoptr, uint32_t loop) +{ + EVE_start_cmd(CMD_ANIMSTART); + BUFFER_SPI_DWORD(ch) + BUFFER_SPI_DWORD(aoptr) + BUFFER_SPI_DWORD(loop) + + EVE_inc_cmdoffset(12); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_animstop(int32_t ch) +{ + EVE_start_cmd(CMD_ANIMSTOP); + BUFFER_SPI_DWORD(ch) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_animxy(int32_t ch, int16_t x0, int16_t y0) +{ + EVE_start_cmd(CMD_ANIMXY); + BUFFER_SPI_DWORD(ch) + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + + EVE_inc_cmdoffset(8); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_animdraw(int32_t ch) +{ + EVE_start_cmd(CMD_ANIMDRAW); + BUFFER_SPI_DWORD(ch) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_animframe(int16_t x0, int16_t y0, uint32_t aoptr, uint32_t frame) +{ + EVE_start_cmd(CMD_ANIMFRAME); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_DWORD(aoptr) + BUFFER_SPI_DWORD(frame) + + EVE_inc_cmdoffset(12); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_gradienta(int16_t x0, int16_t y0, uint32_t argb0, int16_t x1, int16_t y1, uint32_t argb1) +{ + EVE_start_cmd(CMD_GRADIENTA); + BUFFER_SPI_WORD(x0) + BUFFER_SPI_WORD(y0) + BUFFER_SPI_DWORD(argb0) + BUFFER_SPI_WORD(x1) + BUFFER_SPI_WORD(y1) + BUFFER_SPI_DWORD(argb1) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_fillwidth(uint32_t s) +{ + EVE_start_cmd(CMD_FILLWIDTH); + BUFFER_SPI_DWORD(s) + + EVE_inc_cmdoffset(4); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +void EVE_cmd_appendf(uint32_t ptr, uint32_t num) +{ + EVE_start_cmd(CMD_APPENDF); + BUFFER_SPI_DWORD(ptr) + BUFFER_SPI_DWORD(num) + + EVE_inc_cmdoffset(8); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +#endif + + +/* warning! meta-command! this is a sequence of display-list commands to simplify use at the price of some overhead */ +void EVE_cmd_point(int16_t x0, int16_t y0, uint16_t size) +{ + EVE_start_cmd((DL_BEGIN | EVE_POINTS)); + + uint32_t calc = POINT_SIZE(size*16); + BUFFER_SPI_DWORD(calc) + + calc = VERTEX2F(x0 * 16, y0 * 16); + BUFFER_SPI_DWORD(calc) + + BUFFER_SPI_DWORD(DL_END) + + EVE_inc_cmdoffset(12); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +/* warning! meta-command! this is a sequence of display-list commands to simplify use at the price of some overhead */ +void EVE_cmd_line(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t width) +{ + EVE_start_cmd((DL_BEGIN | EVE_LINES)); + + uint32_t calc = LINE_WIDTH(width * 16); + BUFFER_SPI_DWORD(calc) + + calc = VERTEX2F(x0 * 16, y0 * 16); + BUFFER_SPI_DWORD(calc) + + calc = VERTEX2F(x1 * 16, y1 * 16); + BUFFER_SPI_DWORD(calc) + + BUFFER_SPI_DWORD(DL_END) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +/* warning! meta-command! this is a sequence of display-list commands to simplify use at the price of some overhead */ +void EVE_cmd_rect(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t corner) +{ + EVE_start_cmd((DL_BEGIN | EVE_RECTS)); + + uint32_t calc = LINE_WIDTH(corner * 16); + BUFFER_SPI_DWORD(calc) + + calc = VERTEX2F(x0 * 16, y0 * 16); + BUFFER_SPI_DWORD(calc) + + calc = VERTEX2F(x1 * 16, y1 * 16); + BUFFER_SPI_DWORD(calc) + + BUFFER_SPI_DWORD(DL_END) + + EVE_inc_cmdoffset(16); + + if(!cmd_burst) + { + SEND_SPI_BUFFER() + } +} + + +/* this is meant to be called outside display-list building */ +/* this function displays an interactive calibration screen, calculates the calibration values and */ +/* writes the new values to the touch matrix registers of EVE */ +/* unlike the built-in cmd_calibrate() of EVE this also works with displays that are cut down from larger ones like EVE2-38A / EVE2-38G */ +/* the height is needed as parameter as EVE_VSIZE for the EVE2-38 is 272 but the visible size is only 116 */ +/* so the call would be EVE_calibrate_manual(116); for the EVE2-38A and EVE2-38G while for most other displays */ +/* using EVE_calibrate_manual(EVE_VSIZE) would work - but for normal displays the built-in cmd_calibrate would work as expected anyways */ +/* this code was taken from the MatrixOrbital EVE2-Library on Github, adapted and modified */ +void EVE_calibrate_manual(uint16_t height) +{ + uint32_t displayX[3], displayY[3]; + uint32_t touchX[3], touchY[3]; + uint32_t touchValue; + int32_t tmp, k; + int32_t TransMatrix[6]; + uint8_t count = 0; + char num[2]; + uint8_t touch_lock = 1; + + /* these values determine where your calibration points will be drawn on your display */ + displayX[0] = (EVE_HSIZE * 0.15); + displayY[0] = (height * 0.15); + + displayX[1] = (EVE_HSIZE * 0.85); + displayY[1] = (height / 2); + + displayX[2] = (EVE_HSIZE / 2); + displayY[2] = (height * 0.85); + + while (count < 3) + { + // immediate transfer mode + EVE_cmd_dl(CMD_DLSTART); + EVE_cmd_dl(DL_CLEAR_RGB | 0x000000); + EVE_cmd_dl(DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG); + + /* draw Calibration Point on screen */ + EVE_cmd_dl(DL_COLOR_RGB | 0x0000ff); + EVE_cmd_dl(POINT_SIZE(20*16)); + EVE_cmd_dl((DL_BEGIN | EVE_POINTS)); + EVE_cmd_dl(VERTEX2F((uint32_t)(displayX[count]) * 16, (uint32_t)((displayY[count])) * 16)); + EVE_cmd_dl(DL_END); + EVE_cmd_dl(DL_COLOR_RGB | 0xffffff); + EVE_cmd_text((EVE_HSIZE/2), 50, 27, EVE_OPT_CENTER, "Please tap on the dot."); + num[0] = count + 0x31; num[1] = 0; /* null terminated string of one character */ + EVE_cmd_text(displayX[count], displayY[count], 27, EVE_OPT_CENTER, num); + + EVE_cmd_dl(DL_DISPLAY); + EVE_cmd_dl(CMD_SWAP); + EVE_cmd_execute(); + + while(1) + { + touchValue = EVE_memRead32(REG_TOUCH_DIRECT_XY); /* read for any new touch tag inputs */ + + if(touch_lock) + { + if(touchValue & 0x80000000) /* check if we have no touch */ + { + touch_lock = 0; + } + } + else + { + if (!(touchValue & 0x80000000)) /* check if a touch is detected */ + { + touchX[count] = (touchValue>>16) & 0x03FF; /* raw Touchscreen Y coordinate */ + touchY[count] = touchValue & 0x03FF; /* raw Touchscreen Y coordinate */ + touch_lock = 1; + count++; + break; /* leave while(1) */ + } + } + } + } + + k = ((touchX[0] - touchX[2])*(touchY[1] - touchY[2])) - ((touchX[1] - touchX[2])*(touchY[0] - touchY[2])); + + tmp = (((displayX[0] - displayX[2]) * (touchY[1] - touchY[2])) - ((displayX[1] - displayX[2])*(touchY[0] - touchY[2]))); + TransMatrix[0] = ((int64_t)tmp << 16) / k; + + tmp = (((touchX[0] - touchX[2]) * (displayX[1] - displayX[2])) - ((displayX[0] - displayX[2])*(touchX[1] - touchX[2]))); + TransMatrix[1] = ((int64_t)tmp << 16) / k; + + tmp = ((touchY[0] * (((touchX[2] * displayX[1]) - (touchX[1] * displayX[2])))) + (touchY[1] * (((touchX[0] * displayX[2]) - (touchX[2] * displayX[0])))) + (touchY[2] * (((touchX[1] * displayX[0]) - (touchX[0] * displayX[1]))))); + TransMatrix[2] = ((int64_t)tmp << 16) / k; + + tmp = (((displayY[0] - displayY[2]) * (touchY[1] - touchY[2])) - ((displayY[1] - displayY[2])*(touchY[0] - touchY[2]))); + TransMatrix[3] = ((int64_t)tmp << 16) / k; + + tmp = (((touchX[0] - touchX[2]) * (displayY[1] - displayY[2])) - ((displayY[0] - displayY[2])*(touchX[1] - touchX[2]))); + TransMatrix[4] = ((int64_t)tmp << 16) / k; + + tmp = ((touchY[0] * (((touchX[2] * displayY[1]) - (touchX[1] * displayY[2])))) + (touchY[1] * (((touchX[0] * displayY[2]) - (touchX[2] * displayY[0])))) + (touchY[2] * (((touchX[1] * displayY[0]) - (touchX[0] * displayY[1]))))); + TransMatrix[5] = ((int64_t)tmp << 16) / k; + + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, TransMatrix[0]); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, TransMatrix[1]); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, TransMatrix[2]); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, TransMatrix[3]); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, TransMatrix[4]); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, TransMatrix[5]); +} +#endif // FT81X_FULL diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/EVE_commands.h b/lib/lvgl_esp32_drivers/lvgl_tft/EVE_commands.h new file mode 100644 index 0000000..dcde16c --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/EVE_commands.h @@ -0,0 +1,204 @@ +/* +@file EVE_commands.h +@brief contains FT8xx / BT8xx function prototypes +@version 4.1 LvGL edition +@date 2020-04-13 +@author Rudolph Riedel, David Jade + +@section LICENSE + +MIT License + +Copyright (c) 2016-2020 Rudolph Riedel and David Jade + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, +sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +@section History + +4.1 LvGL edition + + - This version is a heavily modified version of the MIT licensed FT81x code from https://github.com/RudolphRiedel/FT800-FT813 + This version is based on a fork by David Jade that added native SPI DMA support and stripped out non-ESP32 code. + It has also been trimmed down to suit LvGL's needs. Extra features can be enabled by defining FT81X_FULL +*/ + +#include "EVE.h" + +#ifndef EVE_COMMANDS_H_ +#define EVE_COMMANDS_H_ + +#define BLOCK_TRANSFER_SIZE 3840 // block transfer size when write data to CMD buffer + +void DELAY_MS(uint16_t ms); +void EVE_pdn_set(void); +void EVE_pdn_clear(void); +void spi_acquire(); +void spi_release(); + +void EVE_cmdWrite(uint8_t command, uint8_t parameter); + +uint8_t EVE_memRead8(uint32_t ftAddress); +uint16_t EVE_memRead16(uint32_t ftAddress); +uint32_t EVE_memRead32(uint32_t ftAddress); + +void EVE_memWrite8(uint32_t ftAddress, uint8_t ftData8); +void EVE_memWrite16(uint32_t ftAddress, uint16_t ftData16); +void EVE_memWrite32(uint32_t ftAddress, uint32_t ftData32); + +void EVE_memWrite_buffer(uint32_t ftAddress, const uint8_t *data, uint32_t len, bool LvGL_Flush); + +uint8_t EVE_busy(void); + +void EVE_get_cmdoffset(void); + + +/* commands to operate on memory: */ +void EVE_cmd_memzero(uint32_t ptr, uint32_t num); +void EVE_cmd_memset(uint32_t ptr, uint8_t value, uint32_t num); +void EVE_cmd_memwrite(uint32_t dest, uint32_t num, const uint8_t *data); +void EVE_cmd_memcpy(uint32_t dest, uint32_t src, uint32_t num); + +#if FT81X_FULL +void block_transfer(const uint8_t *data, uint32_t len); +/* commands for loading image data into FT8xx memory: */ +void EVE_cmd_inflate(uint32_t ptr, const uint8_t *data, uint16_t len); +void EVE_cmd_loadimage(uint32_t ptr, uint32_t options, const uint8_t *data, uint16_t len); + +#if defined (FT81X_ENABLE) +void EVE_cmd_mediafifo(uint32_t ptr, uint32_t size); +#endif +#endif // FT81X_FULL + +void EVE_cmd_start(void); +void EVE_cmd_execute(void); + +void EVE_start_cmd_burst(void); +void EVE_end_cmd_burst(void); + +void EVE_cmd_dl(uint32_t command); + + +#if FT81X_FULL +/* EVE3 commands */ +#if defined (BT81X_ENABLE) + +void EVE_cmd_flashwrite(uint32_t ptr, uint32_t num, const uint8_t *data); +void EVE_cmd_flashread(uint32_t dest, uint32_t src, uint32_t num); +void EVE_cmd_flashupdate(uint32_t dest, uint32_t src, uint32_t num); +void EVE_cmd_flasherase(void); +void EVE_cmd_flashattach(void); +void EVE_cmd_flashdetach(void); +void EVE_cmd_flashspidesel(void); +uint32_t EVE_cmd_flashfast(void); +void EVE_cmd_flashspitx(uint32_t num, const uint8_t *data); +void EVE_cmd_flashspirx(uint32_t dest, uint32_t num); +void EVE_cmd_flashsource(uint32_t ptr); + +void EVE_cmd_inflate2(uint32_t ptr, uint32_t options, const uint8_t *data, uint16_t len); +void EVE_cmd_rotatearound(int32_t x0, int32_t y0, int32_t angle, int32_t scale); +void EVE_cmd_animstart(int32_t ch, uint32_t aoptr, uint32_t loop); +void EVE_cmd_animstop(int32_t ch); +void EVE_cmd_animxy(int32_t ch, int16_t x0, int16_t y0); +void EVE_cmd_animdraw(int32_t ch); +void EVE_cmd_animframe(int16_t x0, int16_t y0, uint32_t aoptr, uint32_t frame); +void EVE_cmd_gradienta(int16_t x0, int16_t y0, uint32_t argb0, int16_t x1, int16_t y1, uint32_t argb1); +void EVE_cmd_fillwidth(uint32_t s); +void EVE_cmd_appendf(uint32_t ptr, uint32_t num); + +uint8_t EVE_init_flash(void); +#endif + + +/* commands to draw graphics objects: */ + +#if defined (BT81X_ENABLE) +void EVE_cmd_text_var(int16_t x0, int16_t y0, int16_t font, uint16_t options, const char* text, uint8_t numargs, ...); +void EVE_cmd_button_var(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t font, uint16_t options, const char* text, uint8_t num_args, ...); +void EVE_cmd_toggle_var(int16_t x0, int16_t y0, int16_t w0, int16_t font, uint16_t options, uint16_t state, const char* text, uint8_t num_args, ...); +#endif + +void EVE_cmd_text(int16_t x0, int16_t y0, int16_t font, uint16_t options, const char* text); +void EVE_cmd_button(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t font, uint16_t options, const char* text); +void EVE_cmd_clock(int16_t x0, int16_t y0, int16_t r0, uint16_t options, uint16_t hours, uint16_t minutes, uint16_t seconds, uint16_t millisecs); +void EVE_color_rgb(uint8_t red, uint8_t green, uint8_t blue); +void EVE_cmd_bgcolor(uint32_t color); +void EVE_cmd_fgcolor(uint32_t color); +void EVE_cmd_gradcolor(uint32_t color); +void EVE_cmd_gauge(int16_t x0, int16_t y0, int16_t r0, uint16_t options, uint16_t major, uint16_t minor, uint16_t val, uint16_t range); +void EVE_cmd_gradient(int16_t x0, int16_t y0, uint32_t rgb0, int16_t x1, int16_t y1, uint32_t rgb1); +void EVE_cmd_keys(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t font, uint16_t options, const char* text); +void EVE_cmd_progress(int16_t x0, int16_t y0, int16_t w0, int16_t h0, uint16_t options, uint16_t val, uint16_t range); +void EVE_cmd_scrollbar(int16_t x0, int16_t y0, int16_t w0, int16_t h0, uint16_t options, uint16_t val, uint16_t size, uint16_t range); +void EVE_cmd_slider(int16_t x1, int16_t y1, int16_t w1, int16_t h1, uint16_t options, uint16_t val, uint16_t range); +void EVE_cmd_dial(int16_t x0, int16_t y0, int16_t r0, uint16_t options, uint16_t val); +void EVE_cmd_toggle(int16_t x0, int16_t y0, int16_t w0, int16_t font, uint16_t options, uint16_t state, const char* text); +void EVE_cmd_number(int16_t x0, int16_t y0, int16_t font, uint16_t options, int32_t number); +#endif // FT81X_FULL + +#if defined (FT81X_ENABLE) +#if FT81X_FULL +void EVE_cmd_setbase(uint32_t base); +#endif +void EVE_cmd_setbitmap(uint32_t addr, uint16_t fmt, uint16_t width, uint16_t height); +#endif + + +#if FT81X_FULL +void EVE_cmd_append(uint32_t ptr, uint32_t num); + + +/* commands for setting the bitmap transform matrix: */ +void EVE_cmd_getmatrix(int32_t a, int32_t b, int32_t c, int32_t d, int32_t e, int32_t f); +void EVE_cmd_translate(int32_t tx, int32_t ty); +void EVE_cmd_scale(int32_t sx, int32_t sy); +void EVE_cmd_rotate(int32_t ang); + + +/* other commands: */ +void EVE_cmd_calibrate(void); +void EVE_cmd_interrupt(uint32_t ms); +void EVE_cmd_setfont(uint32_t font, uint32_t ptr); +#if defined (FT81X_ENABLE) +void EVE_cmd_romfont(uint32_t font, uint32_t romslot); +void EVE_cmd_setfont2(uint32_t font, uint32_t ptr, uint32_t firstchar); +void EVE_cmd_setrotate(uint32_t r); +void EVE_cmd_setscratch(uint32_t handle); +#endif +void EVE_cmd_sketch(int16_t x0, int16_t y0, uint16_t w0, uint16_t h0, uint32_t ptr, uint16_t format); +void EVE_cmd_snapshot(uint32_t ptr); +#if defined (FT81X_ENABLE) +void EVE_cmd_snapshot2(uint32_t fmt, uint32_t ptr, int16_t x0, int16_t y0, int16_t w0, int16_t h0); +#endif +void EVE_cmd_spinner(int16_t x0, int16_t y0, uint16_t style, uint16_t scale); +void EVE_cmd_track(int16_t x0, int16_t y0, int16_t w0, int16_t h0, int16_t tag); + + +/* commands that return values by writing to the command-fifo */ +uint32_t EVE_cmd_memcrc(uint32_t ptr, uint32_t num); +uint32_t EVE_cmd_getptr(void); +uint32_t EVE_cmd_regread(uint32_t ptr); +void EVE_LIB_GetProps(uint32_t *pointer, uint32_t *width, uint32_t *height); + + +/* meta-commands, sequences of several display-list entries condensed into simpler to use functions at the price of some overhead */ +void EVE_cmd_point(int16_t x0, int16_t y0, uint16_t size); +void EVE_cmd_line(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t w0); +void EVE_cmd_rect(int16_t x0, int16_t y0, int16_t x1, int16_t y1, uint16_t corner); + +void EVE_calibrate_manual(uint16_t height); +#endif // FT81X_FULL + + +/* startup FT8xx: */ +uint8_t EVE_init(void); + +#endif /* EVE_COMMANDS_H_ */ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/EVE_config.h b/lib/lvgl_esp32_drivers/lvgl_tft/EVE_config.h new file mode 100644 index 0000000..f06c7e6 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/EVE_config.h @@ -0,0 +1,1047 @@ +/* +@file EVE_config.h +@brief configuration information for some TFTs +@version 4.0 +@date 2020-02-16 +@author Rudolph Riedel, David Jade + +@section LICENSE + +MIT License + +Copyright (c) 2016-2020 Rudolph Riedel amd David Jade + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, +sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +@section History + +4.1 LvGL edition + + - This version is a heavily modified version of the MIT licensed FT81x code from https://github.com/RudolphRiedel/FT800-FT813 + This version is based on a fork by David Jade that added native SPI DMA support and stripped out non-ESP32 code. + It has also been trimmed down to suit LvGL's needs. Extra features can be enabled by defining FT81X_FULL +*/ + + +#ifndef EVE_CONFIG_H_ +#define EVE_CONFIG_H_ + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_spi_conf.h" + +#include "FT81x.h" + +#define EVE_CLK DISP_SPI_CLK // orange +#define EVE_MISO DISP_SPI_MISO // yellow +#define EVE_MOSI DISP_SPI_MOSI // green +#define EVE_CS DISP_SPI_CS // blue +#define EVE_PDN CONFIG_LV_DISP_PIN_RST // grey +#define EVE_COLOR_DEPTH 16 +#define SPI_TRANSER_SIZE (DISP_BUF_SIZE * (EVE_COLOR_DEPTH / 8)) + +#define BYTES_PER_PIXEL (EVE_COLOR_DEPTH / 8) +#define BYTES_PER_LINE (EVE_HSIZE * BYTES_PER_PIXEL) + +#define LV_BYTES_PER_PIXEL (LV_COLOR_DEPTH / 8) +#define LV_BYTES_PER_LINE (EVE_HSIZE * LV_BYTES_PER_PIXEL) + +#define SCREEN_BUFFER_SIZE (EVE_HSIZE * EVE_VSIZE * BYTES_PER_PIXEL) + +#define SPI_BUFFER_SIZE 256 // size in bytes (multiples of 4) of SPI transaction buffer for streaming commands + +/* select the settings for the TFT attached */ +#if 0 + #define EVE_VM800B35A + #define EVE_VM800B43A + #define EVE_VM800B50A + #define EVE_VM810C + #define EVE_ME812A + #define EVE_ME813A + #define EVE_FT810CB_HY50HD + #define EVE_FT811CB_HY50HD + #define EVE_ET07 + #define EVE_RVT28 + #define EVE_RVT35 + #define EVE_RVT43 + #define EVE_RVT50 + #define EVE_RVT70 + #define EVE_RiTFT43 + #define EVE_RiTFT50 + #define EVE_RiTFT70 + #define EVE_EVE2_29 + #define EVE_EVE2_35 + #define EVE_EVE2_35G + #define EVE_EVE2_38 + #define EVE_EVE2_38G + #define EVE_EVE2_43 + #define EVE_EVE2_43G + #define EVE_EVE2_50 + #define EVE_EVE2_50G + #define EVE_EVE2_70 + #define EVE_EVE2_70G + #define EVE_EVE3_35 + #define EVE_EVE3_35G + #define EVE_EVE3_43 + #define EVE_EVE3_43G + #define EVE_EVE3_50 + #define EVE_EVE3_50G + #define EVE_EVE3_70 + #define EVE_EVE3_70G + #define EVE_NHD_35 + #define EVE_NHD_43 + #define EVE_NHD_50 + #define EVE_NHD_70 + #define EVE_ADAM101 + #define EVE_CFAF240400C1_030SC + #define EVE_CFAF320240F_035T + #define EVE_CFAF480128A0_039TC + #define EVE_CFAF800480E0_050SC + #define EVE_PAF90 + #define EVE_SUNFLOWER + #define EVE_CONNECTEVE +#endif + + +#if defined(CONFIG_LV_FT81X_CONFIG_EVE_VM800B35A) +#define EVE_VM800B35A +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_VM800B43A) +#define EVE_VM800B43A +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_VM800B50A) +#define EVE_VM800B50A +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_VM810C) +#define EVE_VM810C +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_ME812A) +#define EVE_ME812A +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_ME813A) +#define EVE_ME813A +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_FT810CB_HY50HD) +#define EVE_FT810CB_HY50HD +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_FT811CB_HY50HD) +#define EVE_FT811CB_HY50HD +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_ET07) +#define EVE_ET07 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RVT28) +#define EVE_RVT28 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RVT35) +#define EVE_RVT35 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RVT43) +#define EVE_RVT43 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RVT50) +#define EVE_RVT50 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RVT70) +#define EVE_RVT70 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RiTFT43) +#define EVE_RiTFT43 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RiTFT50) +#define EVE_RiTFT50 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_RiTFT70) +#define EVE_RiTFT70 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_29) +#define EVE_EVE2_29 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_35) +#define EVE_EVE2_35 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_35G) +#define EVE_EVE2_35G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_38) +#define EVE_EVE2_38 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_38G) +#define EVE_EVE2_38G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_43) +#define EVE_EVE2_43 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_43G) +#define EVE_EVE2_43G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_50) +#define EVE_EVE2_50 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_50G) +#define EVE_EVE2_50G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_70) +#define EVE_EVE2_70 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE2_70G) +#define EVE_EVE2_70G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_35) +#define EVE_EVE3_35 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_35G) +#define EVE_EVE3_35G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_43) +#define EVE_EVE3_43 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_43G) +#define EVE_EVE3_43G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_50) +#define EVE_EVE3_50 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_50G) +#define EVE_EVE3_50G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_70) +#define EVE_EVE3_70 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_EVE3_70G) +#define EVE_EVE3_70G +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_NHD_35) +#define EVE_NHD_35 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_NHD_43) +#define EVE_NHD_43 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_NHD_50) +#define EVE_NHD_50 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_NHD_70) +#define EVE_NHD_70 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_ADAM101) +#define EVE_ADAM101 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_CFAF240400C1_030SC) +#define EVE_CFAF240400C1_030SC +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_CFAF320240F_035T) +#define EVE_CFAF320240F_035T +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_CFAF480128A0_039TC) +#define EVE_CFAF480128A0_039TC +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_CFAF800480E0_050SC) +#define EVE_CFAF800480E0_050SC +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_PAF90) +#define EVE_PAF90 +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_SUNFLOWER) +#define EVE_SUNFLOWER +#elif defined(CONFIG_LV_FT81X_CONFIG_EVE_CONNECTEVE) +#define EVE_CONNECTEVE +#endif + +/* display timing parameters below */ + +/* untested */ +#if defined (EVE_EVE3_35) +#define EVE_EVE2_35 +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +/* untested */ +#if defined (EVE_EVE3_35G) +#define EVE_EVE2_35G +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +/* untested */ +#if defined (EVE_EVE3_43) +#define EVE_EVE2_43 +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +#if defined (EVE_EVE3_43G) +#define EVE_EVE2_43G +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +/* untested */ +#if defined (EVE_EVE3_50) +#define EVE_EVE2_50 +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +#if defined (EVE_EVE3_50G) +#define EVE_EVE2_50G +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +/* untested */ +#if defined (EVE_EVE3_70) +#define EVE_EVE2_70 +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +/* untested */ +#if defined (EVE_EVE3_70G) +#define EVE_EVE2_70G +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +#if defined (EVE_RiTFT43) +#define EVE_RVT43 +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#define BT81X_ENABLE +#endif + +/* untested */ +#if defined (EVE_RiTFT50) +#define EVE_RVT70 +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + +/* untested */ +#if defined (EVE_RiTFT70) +#define EVE_RVT70 +#define EVE_HAS_CRYSTAL +#define BT81X_ENABLE +#endif + + +/* some test setup */ +#if defined (EVE_800x480x) +#define EVE_HSIZE (800L) /* Thd Length of visible part of line (in PCLKs) - display width */ +#define EVE_VSIZE (480L) /* Tvd Number of visible lines (in lines) - display height */ + +#define EVE_VSYNC0 (0L) /* Tvf Vertical Front Porch */ +#define EVE_VSYNC1 (10L) /* Tvf + Tvp Vertical Front Porch plus Vsync Pulse width */ +#define EVE_VOFFSET (35L) /* Tvf + Tvp + Tvb Number of non-visible lines (in lines) */ +#define EVE_VCYCLE (516L) /* Tv Total number of lines (visible and non-visible) (in lines) */ +#define EVE_HSYNC0 (0L) /* (40L) // Thf Horizontal Front Porch */ +#define EVE_HSYNC1 (88L) /* Thf + Thp Horizontal Front Porch plus Hsync Pulse width */ +#define EVE_HOFFSET (169L) /* Thf + Thp + Thb Length of non-visible part of line (in PCLK cycles) */ +#define EVE_HCYCLE (969L) /* Th Total length of line (visible and non-visible) (in PCLKs) */ +#define EVE_PCLKPOL (1L) /* PCLK polarity (0 = rising edge, 1 = falling edge) */ +#define EVE_SWIZZLE (0L) /* Defines the arrangement of the RGB pins of the FT800 */ +#define EVE_PCLK (2L) /* 60MHz / REG_PCLK = PCLK frequency 30 MHz */ +#define EVE_CSPREAD (1L) /* helps with noise, when set to 1 fewer signals are changed simultaneously, reset-default: 1 */ +#define EVE_TOUCH_RZTHRESH (1200L) /* touch-sensitivity */ +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* VM800B35A: FT800 320x240 3.5" FTDI FT800 */ +#if defined (EVE_VM800B35A) +#define EVE_HSIZE (320L) /* Thd Length of visible part of line (in PCLKs) - display width */ +#define EVE_VSIZE (240L) /* Tvd Number of visible lines (in lines) - display height */ + +#define EVE_VSYNC0 (0L) /* Tvf Vertical Front Porch */ +#define EVE_VSYNC1 (2L) /* Tvf + Tvp Vertical Front Porch plus Vsync Pulse width */ +#define EVE_VOFFSET (13L) /* Tvf + Tvp + Tvb Number of non-visible lines (in lines) */ +#define EVE_VCYCLE (263L) /* Tv Total number of lines (visible and non-visible) (in lines) */ +#define EVE_HSYNC0 (0L) /* Thf Horizontal Front Porch */ +#define EVE_HSYNC1 (10L) /* Thf + Thp Horizontal Front Porch plus Hsync Pulse width */ +#define EVE_HOFFSET (70L) /* Thf + Thp + Thb Length of non-visible part of line (in PCLK cycles) */ +#define EVE_HCYCLE (408L) /* Th Total length of line (visible and non-visible) (in PCLKs) */ +#define EVE_PCLKPOL (0L) /* PCLK polarity (0 = rising edge, 1 = falling edge) */ +#define EVE_SWIZZLE (2L) /* Defines the arrangement of the RGB pins of the FT800 */ +#define EVE_PCLK (8L) /* 48MHz / REG_PCLK = PCLK frequency */ +#define EVE_CSPREAD (1L) /* helps with noise, when set to 1 fewer signals are changed simultaneously, reset-default: 1 */ +#define EVE_TOUCH_RZTHRESH (1200L) /* touch-sensitivity */ +#define EVE_HAS_CRYSTAL /* use external crystal or internal oscillator? */ +#endif + + +/* FTDI/BRT EVE modules VM800B43A and VM800B50A FT800 480x272 4.3" and 5.0" */ +#if defined (EVE_VM800B43A) || defined (EVE_VM800B50A) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (292L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (548L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#endif + + +/* untested */ +/* FTDI/BRT EVE2 modules VM810C50A-D, ME812A-WH50R and ME813A-WH50C, 800x480 5.0" */ +#if defined (EVE_VM810C) || defined (EVE_ME812A) || defined (EVE_ME813A) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (3L) +#define EVE_VOFFSET (32L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (48L) +#define EVE_HOFFSET (88L) +#define EVE_HCYCLE (928L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* FT810CB-HY50HD: FT810 800x480 5.0" HAOYU */ +#if defined (EVE_FT810CB_HY50HD) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (13L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (20L) +#define EVE_HOFFSET (64L) +#define EVE_HCYCLE (952L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (2000L) /* touch-sensitivity */ +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* FT811CB-HY50HD: FT811 800x480 5.0" HAOYU */ +#if defined (EVE_FT811CB_HY50HD) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (13L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (20L) +#define EVE_HOFFSET (64L) +#define EVE_HCYCLE (952L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) /* touch-sensitivity */ +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* untested */ +/* G-ET0700G0DM6 800x480 7.0" Glyn */ +#if defined (EVE_ET07) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (35L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (128L) +#define EVE_HOFFSET (203L) +#define EVE_HCYCLE (1056L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* untested */ +/* RVT28 240x320 2.8" Riverdi, various options, FT800/FT801 */ +#if defined (EVE_RVT28) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (240L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (2L) +#define EVE_VCYCLE (326L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (10L) +#define EVE_HOFFSET (20L) +#define EVE_HCYCLE (270L) +#define EVE_PCLKPOL (0L) +#define EVE_SWIZZLE (4L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#endif + + +/* untested */ +/* RVT3.5 320x240 3.5" Riverdi, various options, FT800/FT801 */ +#if defined (EVE_RVT35) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (240L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (13L) +#define EVE_VCYCLE (263L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (10L) +#define EVE_HOFFSET (70L) +#define EVE_HCYCLE (408L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (2L) +#define EVE_PCLK (6L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#endif + + +/* untested */ +/* RVT43 / RVT4.3 480x272 4.3" Riverdi, various options, FT800/FT801 */ +#if defined (EVE_RVT43) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (292L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (548L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#endif + + +/* untested */ +/* RVT50xQFxxxxx 800x480 5.0" Riverdi, various options, FT812/FT813 */ +#if defined (EVE_RVT50) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (3L) +#define EVE_VOFFSET (32L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (48L) +#define EVE_HOFFSET (88L) +#define EVE_HCYCLE (928L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* RVT70xQFxxxxx 800x480 7.0" Riverdi, various options, FT812/FT813, tested with RVT70UQFNWC0x */ +#if defined (EVE_RVT70) +#define EVE_HSIZE (800L) /* Thd Length of visible part of line (in PCLKs) - display width */ +#define EVE_VSIZE (480L) /* Tvd Number of visible lines (in lines) - display height */ + +#define EVE_VSYNC0 (0L) /* Tvf Vertical Front Porch */ +#define EVE_VSYNC1 (10L) /* Tvf + Tvp Vertical Front Porch plus Vsync Pulse width */ +#define EVE_VOFFSET (23L) /* Tvf + Tvp + Tvb Number of non-visible lines (in lines) */ +#define EVE_VCYCLE (525L) /* Tv Total number of lines (visible and non-visible) (in lines) */ +#define EVE_HSYNC0 (0L) /* Thf Horizontal Front Porch */ +#define EVE_HSYNC1 (10L) /* Thf + Thp Horizontal Front Porch plus Hsync Pulse width */ +#define EVE_HOFFSET (46L) /* Thf + Thp + Thb Length of non-visible part of line (in PCLK cycles) */ +#define EVE_HCYCLE (1056L) /* Th Total length of line (visible and non-visible) (in PCLKs) */ +#define EVE_PCLKPOL (1L) /* PCLK polarity (0 = rising edge, 1 = falling edge) */ +#define EVE_SWIZZLE (0L) /* Defines the arrangement of the RGB pins of the FT800 */ +#define EVE_PCLK (2L) /* 60MHz / REG_PCLK = PCLK frequency 30 MHz */ +#define EVE_CSPREAD (1L) /* helps with noise, when set to 1 fewer signals are changed simultaneously, reset-default: 1 */ +#define EVE_TOUCH_RZTHRESH (1800L) /* touch-sensitivity */ +#define FT81X_ENABLE +#endif + + +/* untested */ +/* EVE2-29A 320x102 2.9" 1U Matrix Orbital, non-touch, FT812 */ +#if defined (EVE_EVE2_29) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (102L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (156L) +#define EVE_VCYCLE (262L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (10L) +#define EVE_HOFFSET (70L) +#define EVE_HCYCLE (408L) +#define EVE_PCLKPOL (0L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (8L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* EVE2-35A 320x240 3.5" Matrix Orbital, resistive, or non-touch, FT812 */ +#if defined (EVE_EVE2_35) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (240L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (18L) +#define EVE_VCYCLE (262L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (10L) +#define EVE_HOFFSET (70L) +#define EVE_HCYCLE (408L) +#define EVE_PCLKPOL (0L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (10L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* EVE2-35G 320x240 3.5" Matrix Orbital, capacitive touch, FT813 */ +#if defined (EVE_EVE2_35G) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (240L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (18L) +#define EVE_VCYCLE (262L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (10L) +#define EVE_HOFFSET (70L) +#define EVE_HCYCLE (408L) +#define EVE_PCLKPOL (0L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (8L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_GT911 /* special treatment required for out-of-spec touch-controller */ +#define FT81X_ENABLE +#endif + + +/* EVE2-38A 480x116 3.8" 1U Matrix Orbital, resistive touch, FT812 */ +#if defined (EVE_EVE2_38) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (152L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (292L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (548L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* EVE2-38G 480x116 3.8" 1U Matrix Orbital, capacitive touch, FT813 */ +#if defined (EVE_EVE2_38G) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (152L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (292L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (548L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_GT911 /* special treatment required for out-of-spec touch-controller */ +#define FT81X_ENABLE +#endif + + +/* untested */ +/* EVE2-43A 480x272 4.3" Matrix Orbital, resistive or no touch, FT812 */ +#if defined (EVE_EVE2_43) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (292L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (548L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* EVE2-43G 480x272 4.3" Matrix Orbital, capacitive touch, FT813 */ +#if defined (EVE_EVE2_43G) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (292L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (548L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_GT911 /* special treatment required for out-of-spec touch-controller */ +#define FT81X_ENABLE +#endif + + +/* untested */ +/* Matrix Orbital EVE2 modules EVE2-50A, EVE2-70A : 800x480 5.0" and 7.0" resistive, or no touch, FT812 */ +#if defined (EVE_EVE2_50) || defined (EVE_EVE2_70) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (3L) +#define EVE_VOFFSET (32L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (48L) +#define EVE_HOFFSET (88L) +#define EVE_HCYCLE (928L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* Matrix Orbital EVE2 modules EVE2-50G, EVE2-70G : 800x480 5.0" and 7.0" capacitive touch, FT813 */ +#if defined (EVE_EVE2_50G) || defined (EVE_EVE2_70G) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (3L) +#define EVE_VOFFSET (32L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (48L) +#define EVE_HOFFSET (88L) +#define EVE_HCYCLE (928L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_GT911 /* special treatment required for out-of-spec touch-controller */ +#define FT81X_ENABLE +#endif + + +/* NHD-3.5-320240FT-CxXx-xxx 320x240 3.5" Newhaven, resistive or capacitive, FT81x */ +#if defined (EVE_NHD_35) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (240L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (13L) +#define EVE_VCYCLE (263L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (10L) +#define EVE_HOFFSET (70L) +#define EVE_HCYCLE (408L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (2L) +#define EVE_PCLK (6L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* untested */ +/* NHD-4.3-480272FT-CxXx-xxx 480x272 4.3" Newhaven, resistive or capacitive, FT81x */ +#if defined (EVE_NHD_43) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (292L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (548L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* untested */ +/* NHD-5.0-800480FT-CxXx-xxx 800x480 5.0" Newhaven, resistive or capacitive, FT81x */ +#if defined (EVE_NHD_50) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (3L) +#define EVE_VOFFSET (32L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (48L) +#define EVE_HOFFSET (88L) +#define EVE_HCYCLE (928L) +#define EVE_PCLKPOL (0L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* untested */ +/* NHD-7.0-800480FT-CxXx-xxx 800x480 7.0" Newhaven, resistive or capacitive, FT81x */ +#if defined (EVE_NHD_70) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (3L) +#define EVE_VOFFSET (32L) +#define EVE_VCYCLE (525L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (48L) +#define EVE_HOFFSET (88L) +#define EVE_HCYCLE (928L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* ADAM101-LCP-SWVGA-NEW 1024x600 10.1" Glyn, capacitive, FT813 */ +#if defined (EVE_ADAM101) +#define EVE_HSIZE (1024L) +#define EVE_VSIZE (600L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (1L) +#define EVE_VOFFSET (1L) +#define EVE_VCYCLE (720L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (1L) +#define EVE_HOFFSET (1L) +#define EVE_HCYCLE (1100L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (1L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + + +/* Crystalfonts CFAF240400C1-030SC 240x400 3.0" , FT811 capacitive touch */ +#if defined (EVE_CFAF240400C1_030SC) +#define EVE_HSIZE (240L) +#define EVE_VSIZE (400L) + +#define EVE_VSYNC0 (4L) +#define EVE_VSYNC1 (6L) +#define EVE_VOFFSET (8L) +#define EVE_VCYCLE (409L) +#define EVE_HSYNC0 (10L) +#define EVE_HSYNC1 (20L) +#define EVE_HOFFSET (40L) +#define EVE_HCYCLE (489L) +#define EVE_PCLKPOL (0L) +#define EVE_SWIZZLE (2L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* Crystalfonts CFAF320240F-035T 320x240 3.5" , FT810 resistive touch */ +#if defined (EVE_CFAF320240F_035T) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (240L) + +#define EVE_VSYNC0 (1L) +#define EVE_VSYNC1 (4L) +#define EVE_VOFFSET (4L) +#define EVE_VCYCLE (245L) +#define EVE_HSYNC0 (10L) +#define EVE_HSYNC1 (20L) +#define EVE_HOFFSET (40L) +#define EVE_HCYCLE (510L) +#define EVE_PCLKPOL (0L) +#define EVE_SWIZZLE (2L) +#define EVE_PCLK (8L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* Crystalfonts CFAF480128A0-039TC 480x128 3.9" , FT811 capacitive touch */ +#if defined (EVE_CFAF480128A0_039TC) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (128L) + +#define EVE_VSYNC0 (4L) +#define EVE_VSYNC1 (5L) +#define EVE_VOFFSET (8L) +#define EVE_VCYCLE (137L) +#define EVE_HSYNC0 (24L) +#define EVE_HSYNC1 (35L) +#define EVE_HOFFSET (41L) +#define EVE_HCYCLE (1042L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (7L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define FT81X_ENABLE +#endif + + +/* Crystalfonts CFAF800480E0-050SC 800x480 5.0" , FT813 capacitive touch */ +#if defined (EVE_CFAF800480E0_050SC) +#define EVE_HSIZE (800L) +#define EVE_VSIZE (480L) + +#define EVE_VSYNC0 (7L) +#define EVE_VSYNC1 (8L) +#define EVE_VOFFSET (30L) +#define EVE_VCYCLE (511L) +#define EVE_HSYNC0 (16L) +#define EVE_HSYNC1 (17L) +#define EVE_HOFFSET (62L) +#define EVE_HCYCLE (978L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (2L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_GT911 +#define FT81X_ENABLE +#endif + + +/* PAF90B5WFNWC01 800x480 9.0" Panasys, BT815 */ +#if defined (EVE_PAF90) +#define EVE_HSIZE (800L) /* Thd Length of visible part of line (in PCLKs) - display width */ +#define EVE_VSIZE (480L) /* Tvd Number of visible lines (in lines) - display height */ + +#define EVE_VSYNC0 (0L) /* Tvf Vertical Front Porch */ +#define EVE_VSYNC1 (10L) /* Tvf + Tvp Vertical Front Porch plus Vsync Pulse width */ +#define EVE_VOFFSET (23L) /* Tvf + Tvp + Tvb Number of non-visible lines (in lines) */ +#define EVE_VCYCLE (525L) /* Tv Total number of lines (visible and non-visible) (in lines) */ +#define EVE_HSYNC0 (0L) /* Thf Horizontal Front Porch */ +#define EVE_HSYNC1 (10L) /* Thf + Thp Horizontal Front Porch plus Hsync Pulse width */ +#define EVE_HOFFSET (46L) /* Thf + Thp + Thb Length of non-visible part of line (in PCLK cycles) */ +#define EVE_HCYCLE (1056L) /* Th Total length of line (visible and non-visible) (in PCLKs) */ +#define EVE_PCLKPOL (1L) /* PCLK polarity (0 = rising edge, 1 = falling edge) */ +#define EVE_SWIZZLE (0L) /* Defines the arrangement of the RGB pins of the FT800 */ +#define EVE_PCLK (2L) /* 60MHz / REG_PCLK = PCLK frequency 30 MHz */ +#define EVE_CSPREAD (1L) /* helps with noise, when set to 1 fewer signals are changed simultaneously, reset-default: 1 */ +#define EVE_TOUCH_RZTHRESH (1200L) /* touch-sensitivity */ +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#define BT81X_ENABLE +#endif + + +/* untested */ +/* Sunflower Arduino Shield, 320x240 3.5" from Cowfish, FT813, https://github.com/Cowfish-Studios/Cowfish_Sunflower_Shield_PCB */ +/* set EVE_CS to 6 and EVE_PDN to 5 in the Arduino block in EVE_target.h */ +#if defined (EVE_SUNFLOWER) +#define EVE_HSIZE (320L) +#define EVE_VSIZE (240L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (2L) +#define EVE_VOFFSET (13L) +#define EVE_VCYCLE (263L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (10L) +#define EVE_HOFFSET (70L) +#define EVE_HCYCLE (408L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (2L) +#define EVE_PCLK (6L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (1200L) +#define EVE_HAS_CRYSTAL +#define FT81X_ENABLE +#endif + +/* untested */ +/* MikroElektronika ConnectEVE, FT800 480x272 4.3" */ +#if defined (EVE_CONNECTEVE) +#define EVE_HSIZE (480L) +#define EVE_VSIZE (272L) + +#define EVE_VSYNC0 (0L) +#define EVE_VSYNC1 (10L) +#define EVE_VOFFSET (12L) +#define EVE_VCYCLE (286L) +#define EVE_HSYNC0 (0L) +#define EVE_HSYNC1 (41L) +#define EVE_HOFFSET (43L) +#define EVE_HCYCLE (525L) +#define EVE_PCLKPOL (1L) +#define EVE_SWIZZLE (0L) +#define EVE_PCLK (5L) +#define EVE_CSPREAD (0L) +#define EVE_TOUCH_RZTHRESH (2000L) +#define EVE_HAS_CRYSTAL +#endif + +#endif /* EVE_CONFIG_H */ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/FT81x.c b/lib/lvgl_esp32_drivers/lvgl_tft/FT81x.c new file mode 100644 index 0000000..f6d1864 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/FT81x.c @@ -0,0 +1,352 @@ + +#include + +#include "driver/gpio.h" + +#include "FT81x.h" + +#include "EVE.h" +#include "EVE_commands.h" + +/* some pre-definded colors */ +#define RED 0xff0000UL +#define ORANGE 0xffa500UL +#define GREEN 0x00ff00UL +#define BLUE 0x0000ffUL +#define BLUE_1 0x5dade2L +#define YELLOW 0xffff00UL +#define PINK 0xff00ffUL +#define PURPLE 0x800080UL +#define WHITE 0xffffffUL +#define BLACK 0x000000UL + +/* memory-map defines */ +#define SCREEN_BITMAP_ADDR 0x00000000 // full screen buffer (0x00000000 - 0x000‭‭BBE40â€Ŧ) + +uint8_t tft_active = 0; + +void touch_calibrate(void) +{ + +/* send pre-recorded touch calibration values, depending on the display the code is compiled for */ + +#if defined (EVE_CFAF240400C1_030SC) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x0000ed11); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x00001139); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfff76809); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x00000000); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x00010690); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xfffadf2e); +#endif + +#if defined (EVE_CFAF320240F_035T) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x00005614); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x0000009e); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfff43422); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x0000001d); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0xffffbda4); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0x00f8f2ef); +#endif + +#if defined (EVE_CFAF480128A0_039TC) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x00010485); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x0000017f); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfffb0bd3); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x00000073); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x0000e293); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0x00069904); +#endif + +#if defined (EVE_CFAF800480E0_050SC) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x000107f9); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0xffffff8c); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfff451ae); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x000000d2); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x0000feac); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xfffcfaaf); +#endif + +#if defined (EVE_PAF90) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x00000159); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x0001019c); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfff93625); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x00010157); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x00000000); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0x0000c101); +#endif + +#if defined (EVE_RiTFT43) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x000062cd); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0xfffffe45); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfff45e0a); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x000001a3); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x00005b33); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xFFFbb870); +#endif + +#if defined (EVE_EVE2_38) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x00007bed); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x000001b0); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfff60aa5); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x00000095); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0xffffdcda); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0x00829c08); +#endif + +#if defined (EVE_EVE2_35G) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x000109E4); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x000007A6); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xFFEC1EBA); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x0000072C); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x0001096A); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xFFF469CF); +#endif + +#if defined (EVE_EVE2_43G) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x0000a1ff); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x00000680); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xffe54cc2); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0xffffff53); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x0000912c); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xfffe628d); +#endif + +#if defined (EVE_EVE2_50G) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x000109E4); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x000007A6); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xFFEC1EBA); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x0000072C); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x0001096A); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xFFF469CF); +#endif + +#if defined (EVE_EVE2_70G) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x000105BC); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0xFFFFFA8A); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0x00004670); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0xFFFFFF75); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x00010074); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xFFFF14C8); +#endif + +#if defined (EVE_NHD_35) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x0000f78b); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x00000427); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfffcedf8); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0xfffffba4); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x0000f756); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0x0009279e); +#endif + +#if defined (EVE_RVT70) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x000074df); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x000000e6); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xfffd5474); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0x000001af); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x00007e79); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0xffe9a63c); +#endif + +#if defined (EVE_FT811CB_HY50HD) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 66353); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 712); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 4293876677); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 4294966157); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 67516); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 418276); +#endif + +#if defined (EVE_ADAM101) + EVE_memWrite32(REG_TOUCH_TRANSFORM_A, 0x000101E3); + EVE_memWrite32(REG_TOUCH_TRANSFORM_B, 0x00000114); + EVE_memWrite32(REG_TOUCH_TRANSFORM_C, 0xFFF5EEBA); + EVE_memWrite32(REG_TOUCH_TRANSFORM_D, 0xFFFFFF5E); + EVE_memWrite32(REG_TOUCH_TRANSFORM_E, 0x00010226); + EVE_memWrite32(REG_TOUCH_TRANSFORM_F, 0x0000C783); +#endif + +/* activate this if you are using a module for the first time or if you need to re-calibrate it */ +/* write down the numbers on the screen and either place them in one of the pre-defined blocks above or make a new block */ +// Note: requires FT81x_FULL to be defined +#if 0 + /* calibrate touch and displays values to screen */ + EVE_cmd_dl(CMD_DLSTART); + EVE_cmd_dl(DL_CLEAR_RGB | BLACK); + EVE_cmd_dl(DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG); + EVE_cmd_text((EVE_HSIZE/2), 50, 26, EVE_OPT_CENTER, "Please tap on the dot."); + EVE_cmd_calibrate(); + EVE_cmd_dl(DL_DISPLAY); + EVE_cmd_dl(CMD_SWAP); + EVE_cmd_execute(); + + uint32_t touch_a, touch_b, touch_c, touch_d, touch_e, touch_f; + + touch_a = EVE_memRead32(REG_TOUCH_TRANSFORM_A); + touch_b = EVE_memRead32(REG_TOUCH_TRANSFORM_B); + touch_c = EVE_memRead32(REG_TOUCH_TRANSFORM_C); + touch_d = EVE_memRead32(REG_TOUCH_TRANSFORM_D); + touch_e = EVE_memRead32(REG_TOUCH_TRANSFORM_E); + touch_f = EVE_memRead32(REG_TOUCH_TRANSFORM_F); + + EVE_cmd_dl(CMD_DLSTART); + EVE_cmd_dl(DL_CLEAR_RGB | BLACK); + EVE_cmd_dl(DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG); + EVE_cmd_dl(TAG(0)); + + EVE_cmd_text(5, 15, 26, 0, "TOUCH_TRANSFORM_A:"); + EVE_cmd_text(5, 30, 26, 0, "TOUCH_TRANSFORM_B:"); + EVE_cmd_text(5, 45, 26, 0, "TOUCH_TRANSFORM_C:"); + EVE_cmd_text(5, 60, 26, 0, "TOUCH_TRANSFORM_D:"); + EVE_cmd_text(5, 75, 26, 0, "TOUCH_TRANSFORM_E:"); + EVE_cmd_text(5, 90, 26, 0, "TOUCH_TRANSFORM_F:"); + +#if defined (FT81X_ENABLE) + EVE_cmd_setbase(16L); /* FT81x only */ + EVE_cmd_number(310, 15, 26, EVE_OPT_RIGHTX|8, touch_a); + EVE_cmd_number(310, 30, 26, EVE_OPT_RIGHTX|8, touch_b); + EVE_cmd_number(310, 45, 26, EVE_OPT_RIGHTX|8, touch_c); + EVE_cmd_number(310, 60, 26, EVE_OPT_RIGHTX|8, touch_d); + EVE_cmd_number(310, 75, 26, EVE_OPT_RIGHTX|8, touch_e); + EVE_cmd_number(310, 90, 26, EVE_OPT_RIGHTX|8, touch_f); +#else + EVE_cmd_number(310, 15, 26, EVE_OPT_RIGHTX, touch_a); + EVE_cmd_number(310, 30, 26, EVE_OPT_RIGHTX, touch_b); + EVE_cmd_number(310, 45, 26, EVE_OPT_RIGHTX, touch_c); + EVE_cmd_number(310, 60, 26, EVE_OPT_RIGHTX, touch_d); + EVE_cmd_number(310, 75, 26, EVE_OPT_RIGHTX, touch_e); + EVE_cmd_number(310, 90, 26, EVE_OPT_RIGHTX, touch_f); +#endif + + EVE_cmd_dl(DL_DISPLAY); /* instruct the graphics processor to show the list */ + EVE_cmd_dl(CMD_SWAP); /* make this list active */ + EVE_cmd_execute(); + + while(1); +#endif +} + + +// set up a display list for a fullscreen writable bitmap +void TFT_bitmap_display(void) +{ + if(tft_active != 0) + { + EVE_start_cmd_burst(); /* start writing to the cmd-fifo as one stream of bytes, only sending the address once */ + + EVE_cmd_dl(CMD_DLSTART); /* start the display list */ + + EVE_cmd_dl(DL_CLEAR_RGB | BLACK); /* set the default clear color to black */ + EVE_cmd_dl(DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG); /* clear the screen - this and the previous prevent artifacts between lists, Attributes are the color, stencil and tag buffers */ + + EVE_cmd_dl(TAG(0)); + + // fullscreen bitmap for memory-mapped direct access + EVE_cmd_dl(TAG(20)); +#ifdef FT81X_ARGB4 + EVE_cmd_setbitmap(SCREEN_BITMAP_ADDR, EVE_ARGB4, EVE_HSIZE, EVE_VSIZE); +#else + EVE_cmd_setbitmap(SCREEN_BITMAP_ADDR, EVE_RGB565, EVE_HSIZE, EVE_VSIZE); +#endif + EVE_cmd_dl(DL_BEGIN | EVE_BITMAPS); + EVE_cmd_dl(VERTEX2F(0, 0)); + EVE_cmd_dl(DL_END); + + EVE_cmd_dl(TAG(0)); + + EVE_cmd_dl(DL_DISPLAY); /* instruct the graphics processor to show the list */ + + EVE_cmd_dl(CMD_SWAP); /* make this list active */ + + EVE_end_cmd_burst(); /* stop writing to the cmd-fifo */ + + EVE_cmd_start(); /* order the command co-processor to start processing its FIFO queue but do not wait for completion */ + } +} + + +void FT81x_init(void) +{ + gpio_pad_select_gpio(EVE_PDN); + gpio_set_level(EVE_CS, 1); + gpio_set_direction(EVE_PDN, GPIO_MODE_OUTPUT); + + spi_acquire(); + + if(EVE_init()) + { + tft_active = 1; + + EVE_memWrite8(REG_PWM_DUTY, 0x30); /* setup backlight, range is from 0 = off to 0x80 = max */ + + touch_calibrate(); + + EVE_cmd_memset(SCREEN_BITMAP_ADDR, BLACK, SCREEN_BUFFER_SIZE); // clear screen buffer + EVE_cmd_execute(); + + TFT_bitmap_display(); // set DL for fullscreen bitmap display + } + + spi_release(); +} + + +// write fullscreen bitmap directly +void TFT_WriteScreen(uint8_t* Bitmap) +{ + EVE_memWrite_buffer(SCREEN_BITMAP_ADDR, Bitmap, SCREEN_BUFFER_SIZE, false); +} + + +// write bitmap directly, line-by-line +void TFT_WriteBitmap(uint8_t* Bitmap, uint16_t X, uint16_t Y, uint16_t Width, uint16_t Height) +{ + // calc base address + uint32_t addr = SCREEN_BITMAP_ADDR + (Y * BYTES_PER_LINE) + (X * BYTES_PER_PIXEL); + + // can we do a fast full width block transfer? + if(X == 0 && Width == EVE_HSIZE) + { +#ifdef FT81X_ARGB4 + uint32_t *ptr32 = (uint32_t *)Bitmap; + uint16_t *ptr16 = (uint16_t *)Bitmap; + for (uint16_t i = 0; i < Width*Height; i++) + { + uint32_t c = *ptr32; + *ptr16 = ((c & 0xF0000000)>>16) | ((c & 0x00F00000)>>12) | ((c & 0x0000F000)>>8) | ((c & 0x000000F0)>>4); + ptr16++; + ptr32++; + } +#endif + + EVE_memWrite_buffer(addr, Bitmap, (Height * BYTES_PER_LINE), true); + } + else + { + // line by line mode +#ifdef FT81X_ARGB4 + uint32_t *ptr32 = (uint32_t *)Bitmap; + uint16_t *ptr16 = (uint16_t *)Bitmap; +#endif + uint32_t bpl = Width * BYTES_PER_PIXEL; + for (uint16_t i = 0; i < Height; i++) + { +#ifdef FT81X_ARGB4 + for (uint16_t j = 0; j < Width; j++) + { + uint32_t c = *ptr32; + *ptr16 = ((c & 0xF0000000)>>16) | ((c & 0x00F00000)>>12) | ((c & 0x0000F000)>>8) | ((c & 0x000000F0)>>4); + ptr16++; + ptr32++; + } +#endif + EVE_memWrite_buffer(addr, Bitmap + (i * bpl), bpl, (i == Height - 1)); + addr += BYTES_PER_LINE; + } + } +} + +// LittlevGL flush callback +void FT81x_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map) +{ + TFT_WriteBitmap((uint8_t*)color_map, area->x1, area->y1, lv_area_get_width(area), lv_area_get_height(area)); +} \ No newline at end of file diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/FT81x.h b/lib/lvgl_esp32_drivers/lvgl_tft/FT81x.h new file mode 100644 index 0000000..96366df --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/FT81x.h @@ -0,0 +1,17 @@ +#ifndef FT81X_H_ +#define FT81X_H_ + +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +void FT81x_init(void); + +void FT81x_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); + +#endif /* FT81X_H_ */ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/GC9A01.h b/lib/lvgl_esp32_drivers/lvgl_tft/GC9A01.h new file mode 100644 index 0000000..d462c8d --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/GC9A01.h @@ -0,0 +1,65 @@ +/** + * @file lv_templ.h + * + */ + +#ifndef GC9A01_H +#define GC9A01_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +/********************* + * DEFINES + *********************/ +#define GC9A01_DC CONFIG_LV_DISP_PIN_DC +#define GC9A01_RST CONFIG_LV_DISP_PIN_RST +#define GC9A01_BCKL CONFIG_LV_DISP_PIN_BCKL + +#define GC9A01_ENABLE_BACKLIGHT_CONTROL CONFIG_LV_ENABLE_BACKLIGHT_CONTROL + +#if CONFIG_LV_BACKLIGHT_ACTIVE_LVL + #define GC9A01_BCKL_ACTIVE_LVL 1 +#else + #define GC9A01_BCKL_ACTIVE_LVL 0 +#endif + +#define GC9A01_INVERT_COLORS CONFIG_LV_INVERT_COLORS + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void GC9A01_init(void); +void GC9A01_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void GC9A01_enable_backlight(bool backlight); +void GC9A01_sleep_in(void); +void GC9A01_sleep_out(void); + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*GC9A01_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/Kconfig b/lib/lvgl_esp32_drivers/lvgl_tft/Kconfig new file mode 100644 index 0000000..3cc90d5 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/Kconfig @@ -0,0 +1,1000 @@ +# NOTES: +# - default <> if <> work only when no prompt is available for the user + +menu "LVGL TFT Display controller" + + # Predefined display configurations for multiple + # evaluation/development boards. + choice LV_PREDEFINED_DISPLAY + prompt "Select predefined display configuration" + default LV_PREDEFINED_DISPLAY_NONE + help + Select predefined display configuration + + config LV_PREDEFINED_DISPLAY_NONE + bool "None" + config LV_PREDEFINED_DISPLAY_WROVER4 + bool "ESP-Wrover-KIT v4.1" + select LV_TFT_DISPLAY_CONTROLLER_ILI9341 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_PREDEFINED_DISPLAY_M5STACK + bool "M5Stack" + select LV_TFT_DISPLAY_CONTROLLER_ILI9341 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_PREDEFINED_DISPLAY_M5STICK + bool "M5Stick" + select LV_TFT_DISPLAY_CONTROLLER_SH1107 + select LV_TFT_DISPLAY_PROTOCOL_SPI + select LV_TFT_DISPLAY_MONOCHROME + select LV_THEME_MONO + config LV_PREDEFINED_DISPLAY_M5STICKC + bool "M5StickC" + select LV_TFT_DISPLAY_CONTROLLER_ST7735S + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_PREDEFINED_DISPLAY_ERTFT0356 + bool "ER-TFT035-6" + select LV_TFT_DISPLAY_CONTROLLER_ILI9488 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + bool "Adafruit 3.5 Featherwing" + select LV_TFT_DISPLAY_CONTROLLER_HX8357 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_PREDEFINED_DISPLAY_RPI_MPI3501 + bool "RPi MPI3501" + select LV_TFT_DISPLAY_CONTROLLER_ILI9486 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_PREDEFINED_DISPLAY_WEMOS_LOLIN + bool "Wemos Lolin OLED" + select LV_TFT_DISPLAY_CONTROLLER_SSD1306 + select LV_TFT_DISPLAY_PROTOCOL_I2C + select LV_TFT_DISPLAY_MONOCHROME + select LV_THEME_MONO + config LV_PREDEFINED_DISPLAY_ATAG + bool "AIRcable ATAGv3" + select LV_TFT_DISPLAY_CONTROLLER_IL3820 + select LV_TFT_DISPLAY_PROTOCOL_SPI + select LV_TFT_DISPLAY_MONOCHROME + select LV_THEME_MONO + config LV_PREDEFINED_DISPLAY_RPI_RA8875 + bool "RAiO RA8875" + select LV_TFT_DISPLAY_CONTROLLER_RA8875 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_PREDEFINED_DISPLAY_TTGO + bool "TTGO T-Display" + select LV_TFT_DISPLAY_CONTROLLER_ST7789 + select LV_TFT_DISPLAY_PROTOCOL_SPI + select LV_TFT_DISPLAY_OFFSETS + config LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + bool "TTGO Camera Plus" + select LV_TFT_DISPLAY_CONTROLLER_ST7789 + select LV_TFT_DISPLAY_PROTOCOL_SPI + endchoice + + # START of helper symbols. + # + # Display controller symbols, + # + # This boolean configuration symbols can be used to know what + # display controller has been choosen by the user. When selected + # the symbol is set to y, then in the file sdkconfig.h + # the symbol CONFIG_ is set to 1. + # + # If you add support for a new display controller to the repository + # you must add a config option for it on this helper symbols section. + config LV_TFT_DISPLAY_CONTROLLER_ILI9341 + bool + help + ILI9341 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_ILI9481 + bool + help + ILI9481 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_ILI9488 + bool + help + ILI9488 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_ILI9486 + bool + help + ILI9486 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_ST7789 + bool + help + ST7789 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_GC9A01 + bool + help + GC9A01 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_ST7735S + bool + help + ST7735S display controller. + + config LV_TFT_DISPLAY_CONTROLLER_HX8357 + bool + help + HX8357 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_SH1107 + bool + help + SH1107 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_SSD1306 + bool + help + SSD1306 display controller. + + config LV_TFT_DISPLAY_CONTROLLER_FT81X + bool + help + FT81x display controller. + + config LV_TFT_DISPLAY_CONTROLLER_IL3820 + bool + help + IL3820 epaper display controller. + + config LV_TFT_DISPLAY_CONTROLLER_JD79653A + bool + help + FitiPower JD79653A display controller for GoodDisplay GDEW0154M09 e-paper panel + + config LV_TFT_DISPLAY_CONTROLLER_UC8151D + bool + help + UltraChip UC8151D display controller with GoodDisplay GDEW0154M10 DES e-paper panel + + config LV_TFT_DISPLAY_CONTROLLER_RA8875 + bool + help + RA8875 display controller. + + # Display controller communication protocol + # + # This symbols define the communication protocol used by the + # ESP32 to communicate with the display controller. + # This symbols can be used, but not limited, to: + # - Know what peripherals to initialize. + # - Know if the touch and display controllers share the same peripheral. + # - Etc. + config LV_TFT_DISPLAY_PROTOCOL_SPI + bool + help + Display controller protocol SPI + + config LV_TFT_DISPLAY_PROTOCOL_I2C + bool + help + Display controller protocol I2C + + config LV_TFT_DISPLAY_OFFSETS + bool + help + Display area doesn't start at address 0 + + config LV_TFT_DISPLAY_X_OFFSET + depends on LV_TFT_DISPLAY_OFFSETS + int + default 40 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_LANDSCAPE || LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 53 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_PORTRAIT || LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 0 + + config LV_TFT_DISPLAY_Y_OFFSET + depends on LV_TFT_DISPLAY_OFFSETS + int + default 53 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_LANDSCAPE || LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 40 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_PORTRAIT || LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 0 + + + # Display colors(?) + # Useful to know when the display being used is a monochrome + # display, so we can use the monochrome theme, etc. + config LV_TFT_DISPLAY_MONOCHROME + bool + help + A monochrome display is used. + # END of helper symbols + + choice + prompt "Select predefined board pinouts" if LV_PREDEFINED_DISPLAY_NONE || LV_PREDEFINED_DISPLAY_ERTFT0356 + default LV_PREDEFINED_PINS_NONE + help + Select predefined board pin out configuration. + + config LV_PREDEFINED_PINS_NONE + bool "None" + config LV_PREDEFINED_PINS_38V4 + bool "ESP32 DevKit v4 with 38 pins" + config LV_PREDEFINED_PINS_30 + bool "ESP32 Devkit v1 with 30 pins" + config LV_PREDEFINED_PINS_38V1 + bool "Dev Board with 38 pins" + config LV_PREDEFINED_PINS_TKOALA + bool "TTGO Koala" + endchoice + + # Select one of the available display controllers. + choice + prompt "Select a display controller model." if LV_PREDEFINED_DISPLAY_NONE + help + Select the controller for your display. + + config LV_TFT_DISPLAY_USER_CONTROLLER_ILI9341 + bool "ILI9341" + select LV_TFT_DISPLAY_CONTROLLER_ILI9341 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_ILI9481 + bool "ILI9481" + select LV_TFT_DISPLAY_CONTROLLER_ILI9481 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_ILI9486 + bool "ILI9486" + select LV_TFT_DISPLAY_CONTROLLER_ILI9486 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_ILI9488 + bool "ILI9488" + select LV_TFT_DISPLAY_CONTROLLER_ILI9488 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_ST7789 + bool "ST7789" + select LV_TFT_DISPLAY_CONTROLLER_ST7789 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_GC9A01 + bool "GC9A01" + select LV_TFT_DISPLAY_CONTROLLER_GC9A01 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_ST7735S + bool "ST7735S" + select LV_TFT_DISPLAY_CONTROLLER_ST7735S + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_HX8357 + bool "HX8357" + select LV_TFT_DISPLAY_CONTROLLER_HX8357 + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_SH1107 + bool "SH1107" + select LV_TFT_DISPLAY_CONTROLLER_SH1107 + select LV_TFT_DISPLAY_PROTOCOL_SPI + select LV_TFT_DISPLAY_MONOCHROME + config LV_TFT_DISPLAY_USER_CONTROLLER_SSD1306 + bool "SSD1306" + select LV_TFT_DISPLAY_CONTROLLER_SSD1306 + select LV_TFT_DISPLAY_PROTOCOL_I2C + select LV_TFT_DISPLAY_MONOCHROME + config LV_TFT_DISPLAY_USER_CONTROLLER_FT81X + bool "FT81X" + select LV_TFT_DISPLAY_CONTROLLER_FT81X + select LV_TFT_DISPLAY_PROTOCOL_SPI + config LV_TFT_DISPLAY_USER_CONTROLLER_IL3820 + bool "IL3820" + select LV_TFT_DISPLAY_CONTROLLER_IL3820 + select LV_TFT_DISPLAY_PROTOCOL_SPI + select LV_TFT_DISPLAY_MONOCHROME + config LV_TFT_DISPLAY_USER_CONTROLLER_JD79653A + bool "JD79653A" + select LV_TFT_DISPLAY_CONTROLLER_JD79653A + select LV_TFT_DISPLAY_PROTOCOL_SPI + select LV_TFT_DISPLAY_MONOCHROME + config LV_TFT_DISPLAY_USER_CONTROLLER_UC8151D + bool "UC8151D" + select LV_TFT_DISPLAY_CONTROLLER_UC8151D + select LV_TFT_DISPLAY_PROTOCOL_SPI + select LV_TFT_DISPLAY_MONOCHROME + config LV_TFT_DISPLAY_USER_CONTROLLER_RA8875 + bool "RA8875" + select LV_TFT_DISPLAY_CONTROLLER_RA8875 + select LV_TFT_DISPLAY_PROTOCOL_SPI + endchoice + + # Select one of the available FT81x configurations. + choice + prompt "Select a FT81x configuration." if LV_TFT_DISPLAY_USER_CONTROLLER_FT81X + default LV_FT81X_CONFIG_EVE_NHD_50 + help + Select a configuration for your FT81x display. + config LV_FT81X_CONFIG_EVE_VM800B35A + bool "EVE_VM800B35A" + config LV_FT81X_CONFIG_EVE_VM800B43A + bool "EVE_VM800B43A" + config LV_FT81X_CONFIG_EVE_VM800B50A + bool "EVE_VM800B50A" + config LV_FT81X_CONFIG_EVE_VM810C + bool "EVE_VM810C" + config LV_FT81X_CONFIG_EVE_ME812A + bool "EVE_ME812A" + config LV_FT81X_CONFIG_EVE_ME813A + bool "EVE_ME813A" + config LV_FT81X_CONFIG_EVE_FT810CB_HY50HD + bool "EVE_FT810CB_HY50HD" + config LV_FT81X_CONFIG_EVE_FT811CB_HY50HD + bool "EVE_FT811CB_HY50HD" + config LV_FT81X_CONFIG_EVE_ET07 + bool "EVE_ET07" + config LV_FT81X_CONFIG_EVE_RVT28 + bool "EVE_RVT28" + config LV_FT81X_CONFIG_EVE_RVT35 + bool "EVE_RVT35" + config LV_FT81X_CONFIG_EVE_RVT43 + bool "EVE_RVT43" + config LV_FT81X_CONFIG_EVE_RVT50 + bool "EVE_RVT50" + config LV_FT81X_CONFIG_EVE_RVT70 + bool "EVE_RVT70" + config LV_FT81X_CONFIG_EVE_RiTFT43 + bool "EVE_RiTFT43" + config LV_FT81X_CONFIG_EVE_RiTFT50 + bool "EVE_RiTFT50" + config LV_FT81X_CONFIG_EVE_RiTFT70 + bool "EVE_RiTFT70" + config LV_FT81X_CONFIG_EVE_EVE2_29 + bool "EVE_EVE2_29" + config LV_FT81X_CONFIG_EVE_EVE2_35 + bool "EVE_EVE2_35" + config LV_FT81X_CONFIG_EVE_EVE2_35G + bool "EVE_EVE2_35G" + config LV_FT81X_CONFIG_EVE_EVE2_38 + bool "EVE_EVE2_38" + config LV_FT81X_CONFIG_EVE_EVE2_38G + bool "EVE_EVE2_38G" + config LV_FT81X_CONFIG_EVE_EVE2_43 + bool "EVE_EVE2_43" + config LV_FT81X_CONFIG_EVE_EVE2_43G + bool "EVE_EVE2_43G" + config LV_FT81X_CONFIG_EVE_EVE2_50 + bool "EVE_EVE2_50" + config LV_FT81X_CONFIG_EVE_EVE2_50G + bool "EVE_EVE2_50G" + config LV_FT81X_CONFIG_EVE_EVE2_70 + bool "EVE_EVE2_70" + config LV_FT81X_CONFIG_EVE_EVE2_70G + bool "EVE_EVE2_70G" + config LV_FT81X_CONFIG_EVE_EVE3_35 + bool "EVE_EVE3_35" + config LV_FT81X_CONFIG_EVE_EVE3_35G + bool "EVE_EVE3_35G" + config LV_FT81X_CONFIG_EVE_EVE3_43 + bool "EVE_EVE3_43" + config LV_FT81X_CONFIG_EVE_EVE3_43G + bool "EVE_EVE3_43G" + config LV_FT81X_CONFIG_EVE_EVE3_50 + bool "EVE_EVE3_50" + config LV_FT81X_CONFIG_EVE_EVE3_50G + bool "EVE_EVE3_50G" + config LV_FT81X_CONFIG_EVE_EVE3_70 + bool "EVE_EVE3_70" + config LV_FT81X_CONFIG_EVE_EVE3_70G + bool "EVE_EVE3_70G" + config LV_FT81X_CONFIG_EVE_NHD_35 + bool "EVE_NHD_35" + config LV_FT81X_CONFIG_EVE_NHD_43 + bool "EVE_NHD_43" + config LV_FT81X_CONFIG_EVE_NHD_50 + bool "EVE_NHD_50" + config LV_FT81X_CONFIG_EVE_NHD_70 + bool "EVE_NHD_70" + config LV_FT81X_CONFIG_EVE_ADAM101 + bool "EVE_ADAM101" + config LV_FT81X_CONFIG_EVE_CFAF240400C1_030SC + bool "EVE_CFAF240400C1_030SC" + config LV_FT81X_CONFIG_EVE_CFAF320240F_035T + bool "EVE_CFAF320240F_035T" + config LV_FT81X_CONFIG_EVE_CFAF480128A0_039TC + bool "EVE_CFAF480128A0_039TC" + config LV_FT81X_CONFIG_EVE_CFAF800480E0_050SC + bool "EVE_CFAF800480E0_050SC" + config LV_FT81X_CONFIG_EVE_PAF90 + bool "EVE_PAF90" + config LV_FT81X_CONFIG_EVE_SUNFLOWER + bool "EVE_SUNFLOWER" + config LV_FT81X_CONFIG_EVE_CONNECTEVE + bool "EVE_CONNECTEVE" + endchoice + + choice + prompt "TFT SPI Bus." if LV_TFT_DISPLAY_PROTOCOL_SPI && \ + !LV_PREDEFINED_DISPLAY_TTGO + default LV_TFT_DISPLAY_SPI_VSPI if LV_PREDEFINED_DISPLAY_TTGO && \ + !IDF_TARGET_ESP32S2 + default LV_TFT_DISPLAY_SPI_FSPI if IDF_TARGET_ESP32S2 + help + Select the SPI Bus the TFT Display is attached to. + + config LV_TFT_DISPLAY_SPI_HSPI + bool "HSPI" + config LV_TFT_DISPLAY_SPI_VSPI + bool "VSPI" if !IDF_TARGET_ESP32S2 + config LV_TFT_DISPLAY_SPI_FSPI + bool "FSPI" if IDF_TARGET_ESP32S2 + endchoice + + choice + prompt "TFT Data Transfer Mode" if LV_TFT_DISPLAY_PROTOCOL_SPI + default LV_TFT_DISPLAY_SPI_TRANS_MODE_SIO + help + Select the SPI SIO/DIO/QIO Transfer Mode for the TFT Display. + + config LV_TFT_DISPLAY_SPI_TRANS_MODE_SIO + bool "SIO (MOSI/MISO)" + config LV_TFT_DISPLAY_SPI_TRANS_MODE_DIO + bool "DIO (2-bit Dual SPI)" + config LV_TFT_DISPLAY_SPI_TRANS_MODE_QIO + bool "QIO (4-bit Quad SPI)" + endchoice + + choice + prompt "TFT SPI Duplex Mode" if LV_TFT_DISPLAY_PROTOCOL_SPI + default LV_TFT_DISPLAY_SPI_FULL_DUPLEX if LV_PREDEFINED_DISPLAY_RPI_RA8875 || LV_TFT_DISPLAY_CONTROLLER_FT81X + default LV_TFT_DISPLAY_SPI_HALF_DUPLEX + help + Select the SPI Duplex Mode for the TFT Display. + + config LV_TFT_DISPLAY_SPI_HALF_DUPLEX + bool "HALF DUPLEX" + config LV_TFT_DISPLAY_SPI_FULL_DUPLEX + bool "FULL DUPLEX" + depends on LV_TFT_DISPLAY_SPI_TRANS_MODE_SIO + endchoice + + choice + prompt "Display I2C port" if LV_TFT_DISPLAY_PROTOCOL_I2C + default LV_DISPLAY_I2C_PORT_0 + help + Select the I2C port used by the display controller. + + config LV_DISPLAY_I2C_PORT_0 + bool "I2C PORT 0" + config LV_DISPLAY_I2C_PORT_1 + bool "I2C PORT 1" + endchoice + + choice + prompt "Display orientation" + depends on LV_TFT_DISPLAY_CONTROLLER_ILI9341 || \ + LV_TFT_DISPLAY_CONTROLLER_ILI9481 || \ + LV_TFT_DISPLAY_CONTROLLER_ILI9486 || \ + LV_TFT_DISPLAY_CONTROLLER_ILI9488 || \ + LV_TFT_DISPLAY_CONTROLLER_SH1107 || \ + LV_TFT_DISPLAY_CONTROLLER_SSD1306 || \ + LV_TFT_DISPLAY_CONTROLLER_FT81X || \ + LV_TFT_DISPLAY_CONTROLLER_ST7789 || \ + LV_TFT_DISPLAY_CONTROLLER_GC9A01 || \ + LV_TFT_DISPLAY_CONTROLLER_ST7735S || \ + LV_TFT_DISPLAY_CONTROLLER_IL3820 || \ + LV_TFT_DISPLAY_CONTROLLER_RA8875 || \ + LV_TFT_DISPLAY_CONTROLLER_JD79653A || \ + LV_TFT_DISPLAY_CONTROLLER_UC8151D + default LV_DISPLAY_ORIENTATION_LANDSCAPE \ + if !LV_TFT_DISPLAY_CONTROLLER_JD79653A || \ + !LV_TFT_DISPLAY_CONTROLLER_UC8151D + default LV_DISPLAY_ORIENTATION_PORTRAIT if LV_TFT_DISPLAY_CONTROLLER_JD79653A || LV_TFT_DISPLAY_CONTROLLER_UC8151D + help + Display orientation. + + config LV_DISPLAY_ORIENTATION_PORTRAIT + bool "Portrait" + config LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED + bool "Inverted Portrait" + depends on !LV_TFT_DISPLAY_CONTROLLER_IL3820 + config LV_DISPLAY_ORIENTATION_LANDSCAPE + bool "Landscape" + depends on !LV_TFT_DISPLAY_CONTROLLER_JD79653A + depends on !LV_TFT_DISPLAY_CONTROLLER_UC8151D + config LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED + bool "Inverted Landscape" + depends on !LV_TFT_DISPLAY_CONTROLLER_IL3820 + depends on !LV_TFT_DISPLAY_CONTROLLER_JD79653A + depends on !LV_TFT_DISPLAY_CONTROLLER_UC8151D + endchoice + + + # Display orientation + # This symbol is meant to be used as parameter on the display_set_orientation + # function at init. + config LV_DISPLAY_ORIENTATION + int + default 0 if LV_DISPLAY_ORIENTATION_PORTRAIT + default 1 if LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED + default 2 if LV_DISPLAY_ORIENTATION_LANDSCAPE + default 3 if LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED + + config LV_DISPLAY_WIDTH + int "TFT display width in pixels." if LV_PREDEFINED_DISPLAY_NONE || \ + LV_TFT_DISPLAY_CONTROLLER_FT81X + default 240 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_PORTRAIT) + default 240 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 320 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_LANDSCAPE) + default 320 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 480 if LV_PREDEFINED_DISPLAY_ERTFT0356 || LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 64 if ( LV_PREDEFINED_DISPLAY_WEMOS_LOLIN || LV_PREDEFINED_DISPLAY_M5STICK ) && LV_DISPLAY_ORIENTATION_PORTRAIT + default 128 if ( LV_PREDEFINED_DISPLAY_WEMOS_LOLIN || LV_PREDEFINED_DISPLAY_M5STICK ) && LV_DISPLAY_ORIENTATION_LANDSCAPE + default 800 if LV_TFT_DISPLAY_CONTROLLER_FT81X + default 128 if LV_PREDEFINED_DISPLAY_ATAG && LV_DISPLAY_ORIENTATION_PORTRAIT + default 296 if LV_PREDEFINED_DISPLAY_ATAG && LV_DISPLAY_ORIENTATION_LANDSCAPE + default 80 if LV_PREDEFINED_DISPLAY_M5STICKC && (LV_DISPLAY_ORIENTATION_PORTRAIT || LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 160 if LV_PREDEFINED_DISPLAY_M5STICKC && (LV_DISPLAY_ORIENTATION_LANDSCAPE || LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 135 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_PORTRAIT || LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 240 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_LANDSCAPE || LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 240 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 320 + + config LV_DISPLAY_HEIGHT + int "TFT display height in pixels." if LV_PREDEFINED_DISPLAY_NONE || \ + LV_TFT_DISPLAY_CONTROLLER_FT81X + default 320 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_PORTRAIT) + default 320 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 240 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_LANDSCAPE) + default 240 if ( LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_WROVER4 ) && (LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 320 if LV_PREDEFINED_DISPLAY_ERTFT0356 || LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 128 if ( LV_PREDEFINED_DISPLAY_WEMOS_LOLIN || LV_PREDEFINED_DISPLAY_M5STICK ) && LV_DISPLAY_ORIENTATION_PORTRAIT + default 64 if ( LV_PREDEFINED_DISPLAY_WEMOS_LOLIN || LV_PREDEFINED_DISPLAY_M5STICK ) && LV_DISPLAY_ORIENTATION_LANDSCAPE + default 480 if LV_TFT_DISPLAY_CONTROLLER_FT81X + default 296 if LV_PREDEFINED_DISPLAY_ATAG && LV_DISPLAY_ORIENTATION_PORTRAIT + default 128 if LV_PREDEFINED_DISPLAY_ATAG && LV_DISPLAY_ORIENTATION_LANDSCAPE + default 160 if LV_PREDEFINED_DISPLAY_M5STICKC && (LV_DISPLAY_ORIENTATION_PORTRAIT || LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 80 if LV_PREDEFINED_DISPLAY_M5STICKC && (LV_DISPLAY_ORIENTATION_LANDSCAPE || LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 240 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_PORTRAIT || LV_DISPLAY_ORIENTATION_PORTRAIT_INVERTED) + default 135 if LV_PREDEFINED_DISPLAY_TTGO && (LV_DISPLAY_ORIENTATION_LANDSCAPE || LV_DISPLAY_ORIENTATION_LANDSCAPE_INVERTED) + default 240 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 240 + + config LV_TFT_USE_CUSTOM_SPI_CLK_DIVIDER + bool "Use custom SPI clock frequency." if LV_TFT_DISPLAY_PROTOCOL_SPI + default n + help + Allows to use a custom divider for the SPI clock frequency. + + choice + prompt "Select a custom frequency." + depends on LV_TFT_USE_CUSTOM_SPI_CLK_DIVIDER + default LV_TFT_SPI_CLK_DIVIDER_4 if LV_TFT_DISPLAY_CONTROLLER_ST7789 ||LV_TFT_DISPLAY_CONTROLLER_GC9A01 || LV_TFT_DISPLAY_CONTROLLER_ILI9486 + default LV_TFT_SPI_CLK_DIVIDER_5 if LV_TFT_DISPLAY_CONTROLLER_ILI9481 + default LV_TFT_SPI_CLK_DIVIDER_3 if LV_TFT_DISPLAY_CONTROLLER_HX8357 + default LV_TFT_SPI_CLK_DIVIDER_10 if LV_TFT_DISPLAY_CONTROLLER_SH1107 + default LV_TFT_SPI_CLK_DIVIDER_16 if LV_TFT_DISPLAY_CONTROLLER_JD79653A || LV_TFT_DISPLAY_CONTROLLER_UC8151D + default LV_TFT_SPI_CLK_DIVIDER_2 + + config LV_TFT_SPI_CLK_DIVIDER_1 + bool "80 MHz" + config LV_TFT_SPI_CLK_DIVIDER_2 + bool "40 MHz" + config LV_TFT_SPI_CLK_DIVIDER_3 + bool "26.67 MHz" + config LV_TFT_SPI_CLK_DIVIDER_4 + bool "20 MHz" + config LV_TFT_SPI_CLK_DIVIDER_5 + bool "16 MHz" + config LV_TFT_SPI_CLK_DIVIDER_6 + bool "13.33 MHz" + config LV_TFT_SPI_CLK_DIVIDER_7 + bool "11.43 MHz" + config LV_TFT_SPI_CLK_DIVIDER_8 + bool "10 MHz" + config LV_TFT_SPI_CLK_DIVIDER_9 + bool "8.89 MHz" + config LV_TFT_SPI_CLK_DIVIDER_10 + bool "8 MHz" + config LV_TFT_SPI_CLK_DIVIDER_12 + bool "6.67 MHz" + config LV_TFT_SPI_CLK_DIVIDER_16 + bool "5 MHz" + config LV_TFT_SPI_CLK_DIVIDER_20 + bool "4 MHz" + config LV_TFT_SPI_CLK_DIVIDER_24 + bool "3.33 MHz" + config LV_TFT_SPI_CLK_DIVIDER_32 + bool "2.5 MHz" + config LV_TFT_SPI_CLK_DIVIDER_40 + bool "2 MHz" + config LV_TFT_SPI_CLK_DIVIDER_48 + bool "1.67 MHz" + config LV_TFT_SPI_CLK_DIVIDER_80 + bool "1 MHz" + endchoice + + config LV_TFT_CUSTOM_SPI_CLK_DIVIDER + int + default 1 if LV_TFT_SPI_CLK_DIVIDER_1 + default 2 if LV_TFT_SPI_CLK_DIVIDER_2 + default 3 if LV_TFT_SPI_CLK_DIVIDER_3 + default 4 if LV_TFT_SPI_CLK_DIVIDER_4 + default 5 if LV_TFT_SPI_CLK_DIVIDER_5 + default 6 if LV_TFT_SPI_CLK_DIVIDER_6 + default 7 if LV_TFT_SPI_CLK_DIVIDER_7 + default 8 if LV_TFT_SPI_CLK_DIVIDER_8 + default 9 if LV_TFT_SPI_CLK_DIVIDER_9 + default 10 if LV_TFT_SPI_CLK_DIVIDER_10 + default 12 if LV_TFT_SPI_CLK_DIVIDER_12 + default 16 if LV_TFT_SPI_CLK_DIVIDER_16 + default 20 if LV_TFT_SPI_CLK_DIVIDER_20 + default 24 if LV_TFT_SPI_CLK_DIVIDER_24 + default 32 if LV_TFT_SPI_CLK_DIVIDER_32 + default 40 if LV_TFT_SPI_CLK_DIVIDER_40 + default 48 if LV_TFT_SPI_CLK_DIVIDER_48 + default 80 if LV_TFT_SPI_CLK_DIVIDER_80 + default 2 + + config LV_INVERT_DISPLAY + bool "IN DEPRECATION - Invert display." + default y if LV_PREDEFINED_DISPLAY_M5STACK + help + If text is backwards on your display, try enabling this. + + config LV_INVERT_COLORS + bool "Invert colors in display" if LV_TFT_DISPLAY_CONTROLLER_ILI9341 || LV_TFT_DISPLAY_CONTROLLER_ST7735S || LV_TFT_DISPLAY_CONTROLLER_ILI9481 + default y if LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_M5STICKC + help + If the colors look inverted on your display, try enabling this. + + config LV_M5STICKC_HANDLE_AXP192 + bool "Handle Backlight and TFT power for M5StickC using AXP192." if LV_PREDEFINED_DISPLAY_M5STICKC || LV_TFT_DISPLAY_CONTROLLER_ST7735S + default y if LV_PREDEFINED_DISPLAY_M5STICKC + help + Display and TFT power supply on M5StickC is controlled using an AXP192 Power Mangerment IC. + Select yes if you want to enable TFT IC (LDO3) and backlight power using AXP192 by LVGL, or select no if you want to take care of + power management in your own code. + + config LV_AXP192_PIN_SDA + int "GPIO for AXP192 I2C SDA" if LV_M5STICKC_HANDLE_AXP192 + range 0 39 + default 21 if LV_PREDEFINED_DISPLAY_M5STICKC + default 21 + help + Configure the AXP192 I2C SDA pin here. + + config LV_AXP192_PIN_SCL + int "GPIO for AXP192 I2C SCL" if LV_M5STICKC_HANDLE_AXP192 + range 0 39 + default 22 if LV_PREDEFINED_DISPLAY_M5STICKC + default 22 + help + Configure the AXP192 I2C SDA pin here. + + # menu will be visible only when LV_PREDEFINED_DISPLAY_NONE is y + menu "Display RA8875 Configuration" + visible if LV_TFT_DISPLAY_CONTROLLER_RA8875 + + config LV_DISP_RA8875_PLLDIVM + int "PLLDIVM value for RA8875 System Clock" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 0 1 + default 0 + help + Configure the value to use for PLLDIVM in PLLC0 register here. + + config LV_DISP_RA8875_PLLDIVN + int "PLLDIVN value for RA8875 System Clock" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 1 31 + default 7 + help + Configure the value to use for PLLDIVN in PLLC0 register here. + + config LV_DISP_RA8875_PLLDIVK + int "PLLDIVK value for RA8875 System Clock" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 0 7 + default 3 + help + Configure the value to use for PLLDIVK in PLLC1 register here. + + config LV_DISP_RA8875_PCLK_MULTIPLIER + int "PCLK Period Setting" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 0 3 + default 0 + help + Configure the PCLK multiplier in PCSR register here. + + config LV_DISP_RA8875_PCLK_INVERT + bool "PCLK Inversion" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + default n + help + Configure the PCLK to be inverted in PCSR register here. + + config LV_DISP_RA8875_DE_POLARITY + bool "Data Enable (DE) Polarity/Invert" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + default n + help + Set to make data enable (DE) signal active low. + + config LV_DISP_RA8875_HORI_NON_DISP_PERIOD + int "Horizontal Non-Display Period" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 12 274 + default 12 + help + Configure the Horizontal Non-Display Period (aka Horizontal Back Porch). + Horizontal Non-Display Period(pixels) = 8*(HNDR+1) + 2*(HNDFTR/2+1) + 2 + + config LV_DISP_RA8875_HSYNC_START + int "HSYNC Start Position" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 8 256 + default 8 + help + Configure start position of HSYNC (aka Horizontal Front Porch). + HSYNC Start Position(pixels) = 8*(HSTR+1) + + config LV_DISP_RA8875_HSYNC_PW + int "HSYNC Pulse Width" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 8 256 + default 8 + help + Configure pulse width of HSYNC. + HSYNC Pulse Width(pixels) = 8*(HPW+1) + + config LV_DISP_RA8875_HSYNC_POLARITY + bool "HSYNC Polarity/Invert" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + default n + help + Set to make HSYNC signal active high. + + config LV_DISP_RA8875_VERT_NON_DISP_PERIOD + int "Vertical Non-Display Period" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 1 512 + default 1 + help + Configure the Vertical Non-Display Period (aka Vertical Back Porch). + Vertical Non-Display Period(lines) = (VNDR+1) + + config LV_DISP_RA8875_VSYNC_START + int "VSYNC Start Position" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 1 512 + default 1 + help + Configure start position of VSYNC (aka Vertical Front Porch). + VSYNC Start Position(lines) = (VSTR+1) + + config LV_DISP_RA8875_VSYNC_PW + int "VSYNC Pulse Width" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + range 1 128 + default 1 + help + Configure pulse width of VSYNC. + VSYNC Pulse Width(lines) = (VPWR+1) + + config LV_DISP_RA8875_VSYNC_POLARITY + bool "VSYNC Polarity/Invert" + depends on LV_TFT_DISPLAY_CONTROLLER_RA8875 + default n + help + Set to make VSYNC signal active high. + + endmenu + + # menu will be visible only when LV_PREDEFINED_DISPLAY_NONE is y + menu "Display Pin Assignments" + visible if LV_PREDEFINED_DISPLAY_NONE || LV_PREDEFINED_DISPLAY_RPI_MPI3501 || LV_PREDEFINED_PINS_TKOALA + + config LV_DISP_SPI_MOSI + int "GPIO for MOSI (Master Out Slave In)" if LV_TFT_DISPLAY_PROTOCOL_SPI + range 0 39 + default 23 if LV_PREDEFINED_DISPLAY_WROVER4 + default 23 if LV_PREDEFINED_DISPLAY_ATAG + default 23 if LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_M5STICK + default 15 if LV_PREDEFINED_DISPLAY_M5STICKC + default 18 if LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 23 if LV_PREDEFINED_PINS_TKOALA + default 19 if LV_PREDEFINED_DISPLAY_TTGO + default 19 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 13 + + help + Configure the display MOSI pin here. + + config LV_DISPLAY_USE_SPI_MISO + bool "GPIO for MISO (Master In Slave Out)" if LV_TFT_DISPLAY_PROTOCOL_SPI + default y if LV_PREDEFINED_PINS_TKOALA + help + Enable the MISO signal to control the display. You can disable + it when the display does not need MISO signal to be controlled. + + config LV_DISP_SPI_MISO + int "GPIO for MISO (Master In Slave Out)" if LV_TFT_DISPLAY_PROTOCOL_SPI + depends on LV_DISPLAY_USE_SPI_MISO + range 0 39 + default 19 if LV_PREDEFINED_PINS_TKOALA + default 0 + + help + Configure the display MISO pin here. + + config LV_DISP_SPI_INPUT_DELAY_NS + int "MISO Input Delay (ns)" if LV_TFT_DISPLAY_PROTOCOL_SPI + depends on LV_DISPLAY_USE_SPI_MISO + range 0 2147483647 + default 0 + help + The time required between SCLK and MISO being valid, including the possible clock + delay from processor to display. Leave at 0 unless you know you need a delay. + + config LV_DISP_SPI_IO2 + int "GPIO for Quad SPI IO2/WP" if LV_TFT_DISPLAY_PROTOCOL_SPI + depends on LV_TFT_DISPLAY_SPI_TRANS_MODE_QIO + range -1 39 + default 22 if LV_PREDEFINED_PINS_TKOALA && LV_TFT_DISPLAY_SPI_TRANS_MODE_QIO + default -1 + help + Configure the display Quad SPI IO2 pin here. + + config LV_DISP_SPI_IO3 + int "GPIO for Quad SPI IO3/HD" if LV_TFT_DISPLAY_PROTOCOL_SPI + depends on LV_TFT_DISPLAY_SPI_TRANS_MODE_QIO + range -1 39 + default 21 if LV_PREDEFINED_PINS_TKOALA && LV_TFT_DISPLAY_SPI_TRANS_MODE_QIO + default -1 + help + Configure the display Quad SPI IO2 pin here. + + config LV_DISP_SPI_CLK + int "GPIO for CLK (SCK / Serial Clock)" if LV_TFT_DISPLAY_PROTOCOL_SPI + range 0 39 + default 18 if LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_M5STICK + default 13 if LV_PREDEFINED_DISPLAY_M5STICKC + default 18 if LV_PREDEFINED_DISPLAY_ATAG + default 19 if LV_PREDEFINED_DISPLAY_WROVER4 + default 5 if LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 18 if LV_PREDEFINED_PINS_TKOALA + default 18 if LV_PREDEFINED_DISPLAY_TTGO + default 21 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 14 + + help + Configure the display CLK pin here. + + config LV_DISPLAY_USE_SPI_CS + bool "Use CS signal to control the display" if LV_TFT_DISPLAY_PROTOCOL_SPI + default y + help + Enable the CS signal to control the display. You can disable + it when the display does not need CS signal to be controlled. + + config LV_DISP_SPI_CS + int "GPIO for CS (Slave Select)" if LV_TFT_DISPLAY_PROTOCOL_SPI + depends on LV_DISPLAY_USE_SPI_CS + range 0 39 + default 5 if LV_PREDEFINED_PINS_38V1 + default 14 if LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_M5STICK + default 5 if LV_PREDEFINED_DISPLAY_M5STICKC + default 22 if LV_PREDEFINED_DISPLAY_WROVER4 + default 15 if LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 5 if LV_PREDEFINED_PINS_TKOALA + default 26 if LV_PREDEFINED_DISPLAY_ATAG + default 5 if LV_PREDEFINED_DISPLAY_TTGO + default 12 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 15 + + help + Configure the display CS pin here. + + config LV_DISPLAY_USE_DC + bool "Use DC signal to control the display" if LV_TFT_DISPLAY_PROTOCOL_SPI + default y if !LV_PREDEFINED_PINS_TKOALA + help + Enable the DC signal to control the display. You can disable + it when the display does not need DC signal to be controlled. + + config LV_DISP_PIN_DC + int "GPIO for DC (Data / Command)" if LV_TFT_DISPLAY_PROTOCOL_SPI + range 0 39 + depends on LV_DISPLAY_USE_DC + default 19 if LV_PREDEFINED_PINS_38V1 + default 17 if LV_PREDEFINED_PINS_38V4 + default 27 if LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_M5STICK + default 23 if LV_PREDEFINED_DISPLAY_M5STICKC + default 21 if LV_PREDEFINED_DISPLAY_WROVER4 + default 33 if LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 0 if LV_PREDEFINED_PINS_TKOALA + default 17 if LV_PREDEFINED_DISPLAY_ATAG + default 16 if LV_PREDEFINED_DISPLAY_TTGO + default 15 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 2 + + help + Configure the display DC pin here. + + config LV_DISP_PIN_RST + int "GPIO for Reset" if LV_TFT_DISPLAY_PROTOCOL_SPI + range 0 39 + default 18 if LV_PREDEFINED_PINS_38V1 + default 25 if LV_PREDEFINED_PINS_38V4 + default 33 if LV_PREDEFINED_DISPLAY_M5STACK || LV_PREDEFINED_DISPLAY_M5STICK + default 18 if LV_PREDEFINED_DISPLAY_M5STICKC + default 18 if LV_PREDEFINED_DISPLAY_WROVER4 + default 4 if LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 4 if LV_PREDEFINED_PINS_TKOALA + default 16 if LV_PREDEFINED_DISPLAY_ATAG + default 23 if LV_PREDEFINED_DISPLAY_TTGO + default 33 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 4 + + help + Configure the display Reset pin here. + + config LV_DISP_PIN_BUSY + int "GPIO for Busy" if LV_TFT_DISPLAY_CONTROLLER_IL3820 || LV_TFT_DISPLAY_CONTROLLER_JD79653A || LV_TFT_DISPLAY_CONTROLLER_UC8151D + range 0 39 + default 35 if LV_TFT_DISPLAY_CONTROLLER_IL3820 || LV_TFT_DISPLAY_CONTROLLER_JD79653A || LV_TFT_DISPLAY_CONTROLLER_UC8151D + default 35 + + help + Configure the display Busy pin here. + + config LV_ENABLE_BACKLIGHT_CONTROL + bool "Enable control of the display backlight by using an GPIO." if \ + ( LV_PREDEFINED_DISPLAY_NONE && ! ( LV_TFT_DISPLAY_CONTROLLER_SH1107 || LV_TFT_DISPLAY_CONTROLLER_SSD1306 ) ) \ + || LV_PREDEFINED_DISPLAY_RPI_MPI3501 + default y if LV_PREDEFINED_DISPLAY_M5STACK + default y if LV_PREDEFINED_DISPLAY_WROVER4 + default y if LV_PREDEFINED_DISPLAY_ERTFT0356 + default y if LV_PREDEFINED_DISPLAY_TTGO + default y if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + help + Enable controlling the display backlight using an GPIO + + config LV_BACKLIGHT_ACTIVE_LVL + bool "Is backlight turn on with a HIGH (1) logic level?" + depends on LV_ENABLE_BACKLIGHT_CONTROL + default y if LV_PREDEFINED_DISPLAY_M5STACK + default y if LV_PREDEFINED_DISPLAY_ERTFT0356 + default y if LV_PREDEFINED_DISPLAY_TTGO + default y if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + help + Some backlights are turned on with a high signal, others held low. + If enabled, a value of 1 will be sent to the display to enable the backlight, + otherwise a 0 will be expected to enable it. + + config LV_DISP_PIN_BCKL + int "GPIO for Backlight Control" + depends on LV_ENABLE_BACKLIGHT_CONTROL + range 0 39 + default 23 if LV_PREDEFINED_PINS_38V1 + default 26 if LV_PREDEFINED_PINS_38V4 + default 32 if LV_PREDEFINED_DISPLAY_M5STACK + default 5 if LV_PREDEFINED_DISPLAY_WROVER4 + default 2 if LV_PREDEFINED_DISPLAY_ADA_FEATHERWING + default 27 if LV_PREDEFINED_DISPLAY_ERTFT0356 + default 0 if LV_PREDEFINED_PINS_TKOALA + default 4 if LV_PREDEFINED_DISPLAY_TTGO + default 2 if LV_PREDEFINED_DISPLAY_TTGO_CAMERA_PLUS + default 27 + + help + Configure the display BCLK (LED) pin here. + + config LV_DISP_PIN_SDA + int "GPIO for I2C SDA" if LV_TFT_DISPLAY_PROTOCOL_I2C + range 0 39 + default 5 if LV_PREDEFINED_DISPLAY_WEMOS_LOLIN + default 5 + + help + Configure the I2C SDA pin here. + + config LV_DISP_PIN_SCL + int "GPIO for I2C SCL" if LV_TFT_DISPLAY_PROTOCOL_I2C + range 0 39 + default 4 if LV_PREDEFINED_DISPLAY_WEMOS_LOLIN + default 4 + + help + Configure the I2C SCL pin here. + + endmenu + +endmenu diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/component.mk b/lib/lvgl_esp32_drivers/lvgl_tft/component.mk new file mode 100644 index 0000000..9c75766 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/component.mk @@ -0,0 +1,4 @@ +# TFT drivers + +COMPONENT_SRCDIRS := . +COMPONENT_ADD_INCLUDEDIRS := . diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/disp_driver.c b/lib/lvgl_esp32_drivers/lvgl_tft/disp_driver.c new file mode 100644 index 0000000..56b426d --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/disp_driver.c @@ -0,0 +1,107 @@ +/** + * @file disp_driver.c + */ + +#include "disp_driver.h" +#include "disp_spi.h" + +void disp_driver_init(void) +{ +#if defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9341 + ili9341_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9481 + ili9481_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9488 + ili9488_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789 + st7789_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7735S + st7735s_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_HX8357 + hx8357_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9486 + ili9486_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107 + sh1107_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SSD1306 + ssd1306_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X + FT81x_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820 + il3820_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_RA8875 + ra8875_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_GC9A01 + GC9A01_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A + jd79653a_init(); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_UC8151D + uc8151d_init(); +#endif +} + +void disp_driver_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map) +{ +#if defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9341 + ili9341_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9481 + ili9481_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9488 + ili9488_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789 + st7789_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7735S + st7735s_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_HX8357 + hx8357_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9486 + ili9486_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107 + sh1107_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SSD1306 + ssd1306_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X + FT81x_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820 + il3820_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_RA8875 + ra8875_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_GC9A01 + GC9A01_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A + jd79653a_lv_fb_flush(drv, area, color_map); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_UC8151D + uc8151d_lv_fb_flush(drv, area, color_map); +#endif +} + +void disp_driver_rounder(lv_disp_drv_t * disp_drv, lv_area_t * area) +{ +#if defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SSD1306 + ssd1306_rounder(disp_drv, area); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107 + sh1107_rounder(disp_drv, area); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820 + il3820_rounder(disp_drv, area); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A + jd79653a_lv_rounder_cb(disp_drv, area); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_UC8151D + uc8151d_lv_rounder_cb(disp_drv, area); +#endif +} + +void disp_driver_set_px(lv_disp_drv_t * disp_drv, uint8_t * buf, lv_coord_t buf_w, lv_coord_t x, lv_coord_t y, + lv_color_t color, lv_opa_t opa) +{ +#if defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SSD1306 + ssd1306_set_px_cb(disp_drv, buf, buf_w, x, y, color, opa); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107 + sh1107_set_px_cb(disp_drv, buf, buf_w, x, y, color, opa); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820 + il3820_set_px_cb(disp_drv, buf, buf_w, x, y, color, opa); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A + jd79653a_lv_set_fb_cb(disp_drv, buf, buf_w, x, y, color, opa); +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_UC8151D + uc8151d_lv_set_fb_cb(disp_drv, buf, buf_w, x, y, color, opa); +#endif +} diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/disp_driver.h b/lib/lvgl_esp32_drivers/lvgl_tft/disp_driver.h new file mode 100644 index 0000000..1ee33c7 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/disp_driver.h @@ -0,0 +1,86 @@ +/** + * @file disp_driver.h + */ + +#ifndef DISP_DRIVER_H +#define DISP_DRIVER_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +#if defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9341 +#include "ili9341.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9481 +#include "ili9481.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9488 +#include "ili9488.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7789 +#include "st7789.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ST7735S +#include "st7735s.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_HX8357 +#include "hx8357.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_ILI9486 +#include "ili9486.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SH1107 +#include "sh1107.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_SSD1306 +#include "ssd1306.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X +#include "FT81x.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_IL3820 +#include "il3820.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_RA8875 +#include "ra8875.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_GC9A01 +#include "GC9A01.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_JD79653A +#include "jd79653a.h" +#elif defined CONFIG_LV_TFT_DISPLAY_CONTROLLER_UC8151D +#include "uc8151d.h" +#endif + +/********************* + * DEFINES + *********************/ + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +/* Initialize display */ +void disp_driver_init(void); + +/* Display flush callback */ +void disp_driver_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); + +/* Display rounder callback, used with monochrome dispays */ +void disp_driver_rounder(lv_disp_drv_t * disp_drv, lv_area_t * area); + +/* Display set_px callback, used with monochrome dispays */ +void disp_driver_set_px(lv_disp_drv_t * disp_drv, uint8_t * buf, lv_coord_t buf_w, lv_coord_t x, lv_coord_t y, + lv_color_t color, lv_opa_t opa); + +/********************** + * MACROS + **********************/ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*DISP_DRIVER_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/disp_spi.c b/lib/lvgl_esp32_drivers/lvgl_tft/disp_spi.c new file mode 100644 index 0000000..0e4e548 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/disp_spi.c @@ -0,0 +1,320 @@ +/** + * @file disp_spi.c + * + */ + +/********************* + * INCLUDES + *********************/ +#include "esp_system.h" +#include "driver/gpio.h" +#include "driver/spi_master.h" +#include "esp_log.h" + +#define TAG "disp_spi" + +#include + +#include +#include +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +#include "disp_spi.h" +#include "disp_driver.h" + +#include "../lvgl_helpers.h" +#include "../lvgl_spi_conf.h" + +/****************************************************************************** + * Notes about DMA spi_transaction_ext_t structure pooling + * + * An xQueue is used to hold a pool of reusable SPI spi_transaction_ext_t + * structures that get used for all DMA SPI transactions. While an xQueue may + * seem like overkill it is an already built-in RTOS feature that comes at + * little cost. xQueues are also ISR safe if it ever becomes necessary to + * access the pool in the ISR callback. + * + * When a DMA request is sent, a transaction structure is removed from the + * pool, filled out, and passed off to the esp32 SPI driver. Later, when + * servicing pending SPI transaction results, the transaction structure is + * recycled back into the pool for later reuse. This matches the DMA SPI + * transaction life cycle requirements of the esp32 SPI driver. + * + * When polling or synchronously sending SPI requests, and as required by the + * esp32 SPI driver, all pending DMA transactions are first serviced. Then the + * polling SPI request takes place. + * + * When sending an asynchronous DMA SPI request, if the pool is empty, some + * small percentage of pending transactions are first serviced before sending + * any new DMA SPI transactions. Not too many and not too few as this balance + * controls DMA transaction latency. + * + * It is therefore not the design that all pending transactions must be + * serviced and placed back into the pool with DMA SPI requests - that + * will happen eventually. The pool just needs to contain enough to float some + * number of in-flight SPI requests to speed up the overall DMA SPI data rate + * and reduce transaction latency. If however a display driver uses some + * polling SPI requests or calls disp_wait_for_pending_transactions() directly, + * the pool will reach the full state more often and speed up DMA queuing. + * + *****************************************************************************/ + +/********************* + * DEFINES + *********************/ +#define SPI_TRANSACTION_POOL_SIZE 50 /* maximum number of DMA transactions simultaneously in-flight */ + +/* DMA Transactions to reserve before queueing additional DMA transactions. A 1/10th seems to be a good balance. Too many (or all) and it will increase latency. */ +#define SPI_TRANSACTION_POOL_RESERVE_PERCENTAGE 10 +#if SPI_TRANSACTION_POOL_SIZE >= SPI_TRANSACTION_POOL_RESERVE_PERCENTAGE +#define SPI_TRANSACTION_POOL_RESERVE (SPI_TRANSACTION_POOL_SIZE / SPI_TRANSACTION_POOL_RESERVE_PERCENTAGE) +#else +#define SPI_TRANSACTION_POOL_RESERVE 1 /* defines minimum size */ +#endif + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * STATIC PROTOTYPES + **********************/ +static void IRAM_ATTR spi_ready (spi_transaction_t *trans); + +/********************** + * STATIC VARIABLES + **********************/ +static spi_host_device_t spi_host; +static spi_device_handle_t spi; +static QueueHandle_t TransactionPool = NULL; +static transaction_cb_t chained_post_cb; + +/********************** + * MACROS + **********************/ + +/********************** + * GLOBAL FUNCTIONS + **********************/ +void disp_spi_add_device_config(spi_host_device_t host, spi_device_interface_config_t *devcfg) +{ + spi_host=host; + chained_post_cb=devcfg->post_cb; + devcfg->post_cb=spi_ready; + esp_err_t ret=spi_bus_add_device(host, devcfg, &spi); + assert(ret==ESP_OK); +} + +void disp_spi_add_device(spi_host_device_t host) +{ + disp_spi_add_device_with_speed(host, SPI_TFT_CLOCK_SPEED_HZ); +} + +void disp_spi_add_device_with_speed(spi_host_device_t host, int clock_speed_hz) +{ + ESP_LOGI(TAG, "Adding SPI device"); + ESP_LOGI(TAG, "Clock speed: %dHz, mode: %d, CS pin: %d", + clock_speed_hz, SPI_TFT_SPI_MODE, DISP_SPI_CS); + + spi_device_interface_config_t devcfg={ + .clock_speed_hz = clock_speed_hz, + .mode = SPI_TFT_SPI_MODE, + .spics_io_num=DISP_SPI_CS, // CS pin + .input_delay_ns=DISP_SPI_INPUT_DELAY_NS, + .queue_size=SPI_TRANSACTION_POOL_SIZE, + .pre_cb=NULL, + .post_cb=NULL, +#if defined(DISP_SPI_HALF_DUPLEX) + .flags = SPI_DEVICE_NO_DUMMY | SPI_DEVICE_HALFDUPLEX, /* dummy bits should be explicitly handled via DISP_SPI_VARIABLE_DUMMY as needed */ +#else + #if defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X) + .flags = 0, + #elif defined (CONFIG_LV_TFT_DISPLAY_CONTROLLER_RA8875) + .flags = SPI_DEVICE_NO_DUMMY, + #endif +#endif + }; + + disp_spi_add_device_config(host, &devcfg); + + /* create the transaction pool and fill it with ptrs to spi_transaction_ext_t to reuse */ + if(TransactionPool == NULL) { + TransactionPool = xQueueCreate(SPI_TRANSACTION_POOL_SIZE, sizeof(spi_transaction_ext_t*)); + assert(TransactionPool != NULL); + for (size_t i = 0; i < SPI_TRANSACTION_POOL_SIZE; i++) + { + spi_transaction_ext_t* pTransaction = (spi_transaction_ext_t*)heap_caps_malloc(sizeof(spi_transaction_ext_t), MALLOC_CAP_DMA); + assert(pTransaction != NULL); + memset(pTransaction, 0, sizeof(spi_transaction_ext_t)); + xQueueSend(TransactionPool, &pTransaction, portMAX_DELAY); + } + } +} + +void disp_spi_change_device_speed(int clock_speed_hz) +{ + if (clock_speed_hz <= 0) { + clock_speed_hz = SPI_TFT_CLOCK_SPEED_HZ; + } + ESP_LOGI(TAG, "Changing SPI device clock speed: %d", clock_speed_hz); + disp_spi_remove_device(); + disp_spi_add_device_with_speed(spi_host, clock_speed_hz); +} + +void disp_spi_remove_device() +{ + /* Wait for previous pending transaction results */ + disp_wait_for_pending_transactions(); + + esp_err_t ret=spi_bus_remove_device(spi); + assert(ret==ESP_OK); +} + +void disp_spi_transaction(const uint8_t *data, size_t length, + disp_spi_send_flag_t flags, uint8_t *out, + uint64_t addr, uint8_t dummy_bits) +{ + if (0 == length) { + return; + } + + spi_transaction_ext_t t = {0}; + + /* transaction length is in bits */ + t.base.length = length * 8; + + if (length <= 4 && data != NULL) { + t.base.flags = SPI_TRANS_USE_TXDATA; + memcpy(t.base.tx_data, data, length); + } else { + t.base.tx_buffer = data; + } + + if (flags & DISP_SPI_RECEIVE) { + assert(out != NULL && (flags & (DISP_SPI_SEND_POLLING | DISP_SPI_SEND_SYNCHRONOUS))); + t.base.rx_buffer = out; + +#if defined(DISP_SPI_HALF_DUPLEX) + t.base.rxlength = t.base.length; + t.base.length = 0; /* no MOSI phase in half-duplex reads */ +#else + t.base.rxlength = 0; /* in full-duplex mode, zero means same as tx length */ +#endif + } + + if (flags & DISP_SPI_ADDRESS_8) { + t.address_bits = 8; + } else if (flags & DISP_SPI_ADDRESS_16) { + t.address_bits = 16; + } else if (flags & DISP_SPI_ADDRESS_24) { + t.address_bits = 24; + } else if (flags & DISP_SPI_ADDRESS_32) { + t.address_bits = 32; + } + if (t.address_bits) { + t.base.addr = addr; + t.base.flags |= SPI_TRANS_VARIABLE_ADDR; + } + +#if defined(DISP_SPI_HALF_DUPLEX) + if (flags & DISP_SPI_MODE_DIO) { + t.base.flags |= SPI_TRANS_MODE_DIO; + } else if (flags & DISP_SPI_MODE_QIO) { + t.base.flags |= SPI_TRANS_MODE_QIO; + } + + if (flags & DISP_SPI_MODE_DIOQIO_ADDR) { + t.base.flags |= SPI_TRANS_MODE_DIOQIO_ADDR; + } + + if ((flags & DISP_SPI_VARIABLE_DUMMY) && dummy_bits) { + t.dummy_bits = dummy_bits; + t.base.flags |= SPI_TRANS_VARIABLE_DUMMY; + } +#endif + + /* Save flags for pre/post transaction processing */ + t.base.user = (void *) flags; + + /* Poll/Complete/Queue transaction */ + if (flags & DISP_SPI_SEND_POLLING) { + disp_wait_for_pending_transactions(); /* before polling, all previous pending transactions need to be serviced */ + spi_device_polling_transmit(spi, (spi_transaction_t *) &t); + } else if (flags & DISP_SPI_SEND_SYNCHRONOUS) { + disp_wait_for_pending_transactions(); /* before synchronous queueing, all previous pending transactions need to be serviced */ + spi_device_transmit(spi, (spi_transaction_t *) &t); + } else { + + /* if necessary, ensure we can queue new transactions by servicing some previous transactions */ + if(uxQueueMessagesWaiting(TransactionPool) == 0) { + spi_transaction_t *presult; + while(uxQueueMessagesWaiting(TransactionPool) < SPI_TRANSACTION_POOL_RESERVE) { + if (spi_device_get_trans_result(spi, &presult, 1) == ESP_OK) { + xQueueSend(TransactionPool, &presult, portMAX_DELAY); /* back to the pool to be reused */ + } + } + } + + spi_transaction_ext_t *pTransaction = NULL; + xQueueReceive(TransactionPool, &pTransaction, portMAX_DELAY); + memcpy(pTransaction, &t, sizeof(t)); + if (spi_device_queue_trans(spi, (spi_transaction_t *) pTransaction, portMAX_DELAY) != ESP_OK) { + xQueueSend(TransactionPool, &pTransaction, portMAX_DELAY); /* send failed transaction back to the pool to be reused */ + } + } +} + + +void disp_wait_for_pending_transactions(void) +{ + spi_transaction_t *presult; + + while(uxQueueMessagesWaiting(TransactionPool) < SPI_TRANSACTION_POOL_SIZE) { /* service until the transaction reuse pool is full again */ + if (spi_device_get_trans_result(spi, &presult, 1) == ESP_OK) { + xQueueSend(TransactionPool, &presult, portMAX_DELAY); + } + } +} + +void disp_spi_acquire(void) +{ + esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY); + assert(ret == ESP_OK); +} + +void disp_spi_release(void) +{ + spi_device_release_bus(spi); +} + +/********************** + * STATIC FUNCTIONS + **********************/ + +static void IRAM_ATTR spi_ready(spi_transaction_t *trans) +{ + disp_spi_send_flag_t flags = (disp_spi_send_flag_t) trans->user; + + if (flags & DISP_SPI_SIGNAL_FLUSH) { + lv_disp_t * disp = NULL; + +#if (LVGL_VERSION_MAJOR >= 7) + disp = _lv_refr_get_disp_refreshing(); +#else /* Before v7 */ + disp = lv_refr_get_disp_refreshing(); +#endif + + lv_disp_flush_ready(&disp->driver); + } + + if (chained_post_cb) { + chained_post_cb(trans); + } +} + diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/disp_spi.h b/lib/lvgl_esp32_drivers/lvgl_tft/disp_spi.h new file mode 100644 index 0000000..e2afb31 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/disp_spi.h @@ -0,0 +1,81 @@ +/** + * @file disp_spi.h + * + */ + +#ifndef DISP_SPI_H +#define DISP_SPI_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include +#include +#include + +/********************* + * DEFINES + *********************/ + +/********************** + * TYPEDEFS + **********************/ +typedef enum _disp_spi_send_flag_t { + DISP_SPI_SEND_QUEUED = 0x00000000, + DISP_SPI_SEND_POLLING = 0x00000001, + DISP_SPI_SEND_SYNCHRONOUS = 0x00000002, + DISP_SPI_SIGNAL_FLUSH = 0x00000004, + DISP_SPI_RECEIVE = 0x00000008, + DISP_SPI_CMD_8 = 0x00000010, /* Reserved */ + DISP_SPI_CMD_16 = 0x00000020, /* Reserved */ + DISP_SPI_ADDRESS_8 = 0x00000040, + DISP_SPI_ADDRESS_16 = 0x00000080, + DISP_SPI_ADDRESS_24 = 0x00000100, + DISP_SPI_ADDRESS_32 = 0x00000200, + DISP_SPI_MODE_DIO = 0x00000400, + DISP_SPI_MODE_QIO = 0x00000800, + DISP_SPI_MODE_DIOQIO_ADDR = 0x00001000, + DISP_SPI_VARIABLE_DUMMY = 0x00002000, +} disp_spi_send_flag_t; + + +/********************** + * GLOBAL PROTOTYPES + **********************/ +void disp_spi_add_device(spi_host_device_t host); +void disp_spi_add_device_config(spi_host_device_t host, spi_device_interface_config_t *devcfg); +void disp_spi_add_device_with_speed(spi_host_device_t host, int clock_speed_hz); +void disp_spi_change_device_speed(int clock_speed_hz); +void disp_spi_remove_device(); + +/* Important! + All buffers should also be 32-bit aligned and DMA capable to prevent extra allocations and copying. + When DMA reading (even in polling mode) the ESP32 always read in 4-byte chunks even if less is requested. + Extra space will be zero filled. Always ensure the out buffer is large enough to hold at least 4 bytes! +*/ +void disp_spi_transaction(const uint8_t *data, size_t length, + disp_spi_send_flag_t flags, uint8_t *out, uint64_t addr, uint8_t dummy_bits); + +void disp_wait_for_pending_transactions(void); +void disp_spi_acquire(void); +void disp_spi_release(void); + +static inline void disp_spi_send_data(uint8_t *data, size_t length) { + disp_spi_transaction(data, length, DISP_SPI_SEND_POLLING, NULL, 0, 0); +} + +static inline void disp_spi_send_colors(uint8_t *data, size_t length) { + disp_spi_transaction(data, length, + DISP_SPI_SEND_QUEUED | DISP_SPI_SIGNAL_FLUSH, + NULL, 0, 0); +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*DISP_SPI_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/hx8357.h b/lib/lvgl_esp32_drivers/lvgl_tft/hx8357.h new file mode 100644 index 0000000..dc51532 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/hx8357.h @@ -0,0 +1,151 @@ +/** + * @file HX8357.h + * + * Roughly based on the Adafruit_HX8357_Library + * + * This library should work with: + * Adafruit 3.5" TFT 320x480 + Touchscreen Breakout + * http://www.adafruit.com/products/2050 + * + * Adafruit TFT FeatherWing - 3.5" 480x320 Touchscreen for Feathers + * https://www.adafruit.com/product/3651 + * + */ + +#ifndef HX8357_H +#define HX8357_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + + /********************* + * DEFINES + *********************/ +#define HX8357_DC CONFIG_LV_DISP_PIN_DC +#define HX8357_RST CONFIG_LV_DISP_PIN_RST +#define HX8357_BCKL CONFIG_LV_DISP_PIN_BCKL + +#define HX8357_ENABLE_BACKLIGHT_CONTROL CONFIG_LV_ENABLE_BACKLIGHT_CONTROL + +#if CONFIG_LV_BACKLIGHT_ACTIVE_LVL + #define HX8357_BCKL_ACTIVE_LVL 1 +#else + #define HX8357_BCKL_ACTIVE_LVL 0 +#endif + +// if text/images are backwards, try setting this to 1 +#define HX8357_INVERT_DISPLAY CONFIG_LV_INVERT_DISPLAY + + +/******************* + * HX8357B/D REGS +*********************/ +#define HX8357D 0xD ///< Our internal const for D type +#define HX8357B 0xB ///< Our internal const for B type + +#define HX8357_TFTWIDTH 320 ///< 320 pixels wide +#define HX8357_TFTHEIGHT 480 ///< 480 pixels tall + +#define HX8357_NOP 0x00 ///< No op +#define HX8357_SWRESET 0x01 ///< software reset +#define HX8357_RDDID 0x04 ///< Read ID +#define HX8357_RDDST 0x09 ///< (unknown) + +#define HX8357_RDPOWMODE 0x0A ///< Read power mode Read power mode +#define HX8357_RDMADCTL 0x0B ///< Read MADCTL +#define HX8357_RDCOLMOD 0x0C ///< Column entry mode +#define HX8357_RDDIM 0x0D ///< Read display image mode +#define HX8357_RDDSDR 0x0F ///< Read dosplay signal mode + +#define HX8357_SLPIN 0x10 ///< Enter sleep mode +#define HX8357_SLPOUT 0x11 ///< Exit sleep mode +#define HX8357B_PTLON 0x12 ///< Partial mode on +#define HX8357B_NORON 0x13 ///< Normal mode + +#define HX8357_INVOFF 0x20 ///< Turn off invert +#define HX8357_INVON 0x21 ///< Turn on invert +#define HX8357_DISPOFF 0x28 ///< Display on +#define HX8357_DISPON 0x29 ///< Display off + +#define HX8357_CASET 0x2A ///< Column addr set +#define HX8357_PASET 0x2B ///< Page addr set +#define HX8357_RAMWR 0x2C ///< Write VRAM +#define HX8357_RAMRD 0x2E ///< Read VRAm + +#define HX8357B_PTLAR 0x30 ///< (unknown) +#define HX8357_TEON 0x35 ///< Tear enable on +#define HX8357_TEARLINE 0x44 ///< (unknown) +#define HX8357_MADCTL 0x36 ///< Memory access control +#define HX8357_COLMOD 0x3A ///< Color mode + +#define HX8357_SETOSC 0xB0 ///< Set oscillator +#define HX8357_SETPWR1 0xB1 ///< Set power control +#define HX8357B_SETDISPLAY 0xB2 ///< Set display mode +#define HX8357_SETRGB 0xB3 ///< Set RGB interface +#define HX8357D_SETCOM 0xB6 ///< Set VCOM voltage + +#define HX8357B_SETDISPMODE 0xB4 ///< Set display mode +#define HX8357D_SETCYC 0xB4 ///< Set display cycle reg +#define HX8357B_SETOTP 0xB7 ///< Set OTP memory +#define HX8357D_SETC 0xB9 ///< Enable extension command + +#define HX8357B_SET_PANEL_DRIVING 0xC0 ///< Set panel drive mode +#define HX8357D_SETSTBA 0xC0 ///< Set source option +#define HX8357B_SETDGC 0xC1 ///< Set DGC settings +#define HX8357B_SETID 0xC3 ///< Set ID +#define HX8357B_SETDDB 0xC4 ///< Set DDB +#define HX8357B_SETDISPLAYFRAME 0xC5 ///< Set display frame +#define HX8357B_GAMMASET 0xC8 ///< Set Gamma correction +#define HX8357B_SETCABC 0xC9 ///< Set CABC +#define HX8357_SETPANEL 0xCC ///< Set Panel + +#define HX8357B_SETPOWER 0xD0 ///< Set power control +#define HX8357B_SETVCOM 0xD1 ///< Set VCOM +#define HX8357B_SETPWRNORMAL 0xD2 ///< Set power normal + +#define HX8357B_RDID1 0xDA ///< Read ID #1 +#define HX8357B_RDID2 0xDB ///< Read ID #2 +#define HX8357B_RDID3 0xDC ///< Read ID #3 +#define HX8357B_RDID4 0xDD ///< Read ID #4 + +#define HX8357D_SETGAMMA 0xE0 ///< Set Gamma + +#define HX8357B_SETGAMMA 0xC8 ///< Set Gamma +#define HX8357B_SETPANELRELATED 0xE9 ///< Set panel related + + /********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void hx8357_init(void); +void hx8357_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void hx8357_enable_backlight(bool backlight); +void hx8357_set_rotation(uint8_t r); + +/********************** + * MACROS + **********************/ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*HX8357_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/il3820.h b/lib/lvgl_esp32_drivers/lvgl_tft/il3820.h new file mode 100644 index 0000000..15ff090 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/il3820.h @@ -0,0 +1,113 @@ +/** + * @file il3820.h + * + */ + +#ifndef IL3820_H +#define IL3820_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "sdkconfig.h" + +/* Values for Waveshare 2.9inch e-Paper Module, this values shouldn't be + * swapped to change display orientation */ +#define EPD_PANEL_WIDTH CONFIG_LV_DISPLAY_WIDTH /* 128 */ +#define EPD_PANEL_HEIGHT CONFIG_LV_DISPLAY_HEIGHT /* 296 */ + +/* 128 = panel width */ +#define IL3820_COLUMNS (EPD_PANEL_WIDTH / 8) + +#define IL3820_DC_PIN CONFIG_LV_DISP_PIN_DC +#define IL3820_RST_PIN CONFIG_LV_DISP_PIN_RST +#define IL3820_BUSY_PIN CONFIG_LV_DISP_PIN_BUSY +#define IL3820_BUSY_LEVEL 1 + +/* IL3820 commands */ +#define IL3820_CMD_GDO_CTRL 0x01 +#define IL3820_CMD_GDV_CTRL 0x03 +#define IL3820_CMD_SDV_CTRL 0x04 +#define IL3820_CMD_SOFTSTART 0x0c +#define IL3820_CMD_GSCAN_START 0x0f +#define IL3820_CMD_SLEEP_MODE 0x10 +#define IL3820_CMD_ENTRY_MODE 0x11 +#define IL3820_CMD_SW_RESET 0x12 +#define IL3820_CMD_TSENS_CTRL 0x1a +#define IL3820_CMD_MASTER_ACTIVATION 0x20 +#define IL3820_CMD_UPDATE_CTRL1 0x21 +#define IL3820_CMD_UPDATE_CTRL2 0x22 +#define IL3820_CMD_WRITE_RAM 0x24 +#define IL3820_CMD_WRITE_RED_RAM 0x26 +#define IL3820_CMD_VCOM_SENSE 0x28 +#define IL3820_CMD_VCOM_SENSE_DURATON 0x29 +#define IL3820_CMD_PRGM_VCOM_OTP 0x2a +#define IL3820_CMD_VCOM_VOLTAGE 0x2c +#define IL3820_CMD_PRGM_WS_OTP 0x30 +#define IL3820_CMD_UPDATE_LUT 0x32 +#define IL3820_CMD_PRGM_OTP_SELECTION 0x36 +#define IL3820_CMD_OTP_SELECTION_CTRL 0x37 +#define IL3820_CMD_DUMMY_LINE 0x3a +#define IL3820_CMD_GATE_LINE_WIDTH 0x3b +#define IL3820_CMD_BWF_CTRL 0x3c +#define IL3820_CMD_RAM_XPOS_CTRL 0x44 +#define IL3820_CMD_RAM_YPOS_CTRL 0x45 +#define IL3820_CMD_RAM_XPOS_CNTR 0x4e +#define IL3820_CMD_RAM_YPOS_CNTR 0x4f +#define IL3820_CMD_TERMINATE_FRAME_RW 0xff + +/* Data entry sequence modes */ +#define IL3820_DATA_ENTRY_MASK 0x07 +#define IL3820_DATA_ENTRY_XDYDX 0x00 +#define IL3820_DATA_ENTRY_XIYDX 0x01 +#define IL3820_DATA_ENTRY_XDYIX 0x02 +#define IL3820_DATA_ENTRY_XIYIX 0x03 +#define IL3820_DATA_ENTRY_XDYDY 0x04 +#define IL3820_DATA_ENTRY_XIYDY 0x05 +#define IL3820_DATA_ENTRY_XDYIY 0x06 +#define IL3820_DATA_ENTRY_XIYIY 0x07 + +/* Options for display update */ +#define IL3820_CTRL1_INITIAL_UPDATE_LL 0x00 +#define IL3820_CTRL1_INITIAL_UPDATE_LH 0x01 +#define IL3820_CTRL1_INITIAL_UPDATE_HL 0x02 +#define IL3820_CTRL1_INITIAL_UPDATE_HH 0x03 + +/* Options for display update sequence */ +#define IL3820_CTRL2_ENABLE_CLK 0x80 +#define IL3820_CTRL2_ENABLE_ANALOG 0x40 +#define IL3820_CTRL2_TO_INITIAL 0x08 +#define IL3820_CTRL2_TO_PATTERN 0x04 +#define IL3820_CTRL2_DISABLE_ANALOG 0x02 +#define IL3820_CTRL2_DISABLE_CLK 0x01 + +#define IL3820_SLEEP_MODE_DSM 0x01 +#define IL3820_SLEEP_MODE_PON 0x00 + +/* time constants in ms */ +#define IL3820_RESET_DELAY 20 +#define IL3820_BUSY_DELAY 1 +// normal wait time max 200ms +#define IL3820_WAIT 20 + +void il3820_init(void); +void il3820_flush(lv_disp_drv_t *drv, const lv_area_t *area, lv_color_t *color_map); +void il3820_fullflush(lv_disp_drv_t *drv, const lv_area_t *area, lv_color_t *color_map); +void il3820_rounder(struct _disp_drv_t * disp_drv, lv_area_t *area); +void il3820_set_px_cb(struct _disp_drv_t * disp_drv, uint8_t * buf, lv_coord_t buf_w, lv_coord_t x, lv_coord_t y, lv_color_t color, lv_opa_t opa); +void il3820_sleep_in(void); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + +#endif /* __IL3820_REGS_H__ */ + diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/ili9341.h b/lib/lvgl_esp32_drivers/lvgl_tft/ili9341.h new file mode 100644 index 0000000..4beb4f3 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/ili9341.h @@ -0,0 +1,65 @@ +/** + * @file lv_templ.h + * + */ + +#ifndef ILI9341_H +#define ILI9341_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +/********************* + * DEFINES + *********************/ +#define ILI9341_DC CONFIG_LV_DISP_PIN_DC +#define ILI9341_RST CONFIG_LV_DISP_PIN_RST +#define ILI9341_BCKL CONFIG_LV_DISP_PIN_BCKL + +#define ILI9341_ENABLE_BACKLIGHT_CONTROL CONFIG_LV_ENABLE_BACKLIGHT_CONTROL + +#if CONFIG_LV_BACKLIGHT_ACTIVE_LVL + #define ILI9341_BCKL_ACTIVE_LVL 1 +#else + #define ILI9341_BCKL_ACTIVE_LVL 0 +#endif + +#define ILI9341_INVERT_COLORS CONFIG_LV_INVERT_COLORS + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void ili9341_init(void); +void ili9341_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void ili9341_enable_backlight(bool backlight); +void ili9341_sleep_in(void); +void ili9341_sleep_out(void); + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*ILI9341_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/ili9481.h b/lib/lvgl_esp32_drivers/lvgl_tft/ili9481.h new file mode 100644 index 0000000..7932190 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/ili9481.h @@ -0,0 +1,130 @@ +/** + * @file ili9481.h + */ + +#ifndef ILI9481_H +#define ILI9481_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +/********************* + * DEFINES + *********************/ +#define ILI9481_DC CONFIG_LV_DISP_PIN_DC +#define ILI9481_RST CONFIG_LV_DISP_PIN_RST +#define ILI9481_BCKL CONFIG_LV_DISP_PIN_BCKL + +#define ILI9481_ENABLE_BACKLIGHT_CONTROL CONFIG_LV_ENABLE_BACKLIGHT_CONTROL +#define ILI9481_INVERT_COLORS CONFIG_LV_INVERT_COLORS +#define ILI9481_DISPLAY_ORIENTATION CONFIG_LV_DISPLAY_ORIENTATION + +#if CONFIG_LV_BACKLIGHT_ACTIVE_LVL + #define ILI9481_BCKL_ACTIVE_LVL 1 +#else + #define ILI9481_BCKL_ACTIVE_LVL 0 +#endif + +/******************* + * ILI9481 REGS +*********************/ + +/* MIPI DCS Type1 */ +#define ILI9481_CMD_NOP 0x00 +#define ILI9481_CMD_SOFTWARE_RESET 0x01 +#define ILI9481_CMD_READ_DISP_POWER_MODE 0x0A +#define ILI9481_CMD_READ_DISP_MADCTRL 0x0B // bits 7:3 only +#define ILI9481_CMD_READ_DISP_PIXEL_FORMAT 0x0C +#define ILI9481_CMD_READ_DISP_IMAGE_MODE 0x0D +#define ILI9481_CMD_READ_DISP_SIGNAL_MODE 0x0E +#define ILI9481_CMD_READ_DISP_SELF_DIAGNOSTIC 0x0F // bits 7:6 only +#define ILI9481_CMD_ENTER_SLEEP_MODE 0x10 +#define ILI9481_CMD_SLEEP_OUT 0x11 +#define ILI9481_CMD_PARTIAL_MODE_ON 0x12 +#define ILI9481_CMD_NORMAL_DISP_MODE_ON 0x13 +#define ILI9481_CMD_DISP_INVERSION_OFF 0x20 +#define ILI9481_CMD_DISP_INVERSION_ON 0x21 +#define ILI9481_CMD_DISPLAY_OFF 0x28 +#define ILI9481_CMD_DISPLAY_ON 0x29 +#define ILI9481_CMD_COLUMN_ADDRESS_SET 0x2A +#define ILI9481_CMD_PAGE_ADDRESS_SET 0x2B +#define ILI9481_CMD_MEMORY_WRITE 0x2C +#define ILI9481_CMD_MEMORY_READ 0x2E +#define ILI9481_CMD_PARTIAL_AREA 0x30 +#define ILI9481_CMD_VERT_SCROLL_DEFINITION 0x33 +#define ILI9481_CMD_TEARING_EFFECT_LINE_OFF 0x34 +#define ILI9481_CMD_TEARING_EFFECT_LINE_ON 0x35 +#define ILI9481_CMD_MEMORY_ACCESS_CONTROL 0x36 // bits 7:3,1:0 only +#define ILI9481_CMD_VERT_SCROLL_START_ADDRESS 0x37 +#define ILI9481_CMD_IDLE_MODE_OFF 0x38 +#define ILI9481_CMD_IDLE_MODE_ON 0x39 +#define ILI9481_CMD_COLMOD_PIXEL_FORMAT_SET 0x3A +#define ILI9481_CMD_WRITE_MEMORY_CONTINUE 0x3C +#define ILI9481_CMD_READ_MEMORY_CONTINUE 0x3E +#define ILI9481_CMD_SET_TEAR_SCANLINE 0x44 +#define ILI9481_CMD_GET_SCANLINE 0x45 + +#define ILI9481_DDB_START 0xA1 +#define ILI9481_DDB_CONTINUE 0xA8 + +/* other */ +#define ILI9481_CMD_ACCESS_PROTECT 0xB0 +#define ILI9481_CMD_LOW_POWER_CONTROL 0xB1 +#define ILI9481_CMD_FRAME_MEMORY_ACCESS 0xB3 +#define ILI9481_CMD_DISPLAY_MODE 0xB4 +#define ILI9481_CMD_DEVICE_CODE 0xBF + +#define ILI9481_CMD_PANEL_DRIVE 0xC0 +#define ILI9481_CMD_DISP_TIMING_NORMAL 0xC1 +#define ILI9481_CMD_DISP_TIMING_PARTIAL 0xC2 +#define ILI9481_CMD_DISP_TIMING_IDLE 0xC3 +#define ILI9481_CMD_FRAME_RATE 0xC5 +#define ILI9481_CMD_INTERFACE_CONTROL 0xC6 +#define ILI9481_CMD_GAMMA_SETTING 0xC8 + +#define ILI9481_CMD_POWER_SETTING 0xD0 +#define ILI9481_CMD_VCOM_CONTROL 0xD1 +#define ILI9481_CMD_POWER_CONTROL_NORMAL 0xD2 +#define ILI9481_CMD_POWER_CONTROL_IDEL 0xD3 +#define ILI9481_CMD_POWER_CONTROL_PARTIAL 0xD4 + +#define ILI9481_CMD_NVMEM_WRITE 0xE0 +#define ILI9481_CMD_NVMEM_PROTECTION_KEY 0xE1 +#define ILI9481_CMD_NVMEM_STATUS_READ 0xE2 +#define ILI9481_CMD_NVMEM_PROTECTION 0xE3 + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void ili9481_init(void); +void ili9481_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void ili9481_enable_backlight(bool backlight); + +/********************** + * MACROS + **********************/ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*ILI9481_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/ili9486.h b/lib/lvgl_esp32_drivers/lvgl_tft/ili9486.h new file mode 100644 index 0000000..f65dd80 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/ili9486.h @@ -0,0 +1,61 @@ +/** + * @file ili9486.h + * + */ + +#ifndef ILI9486_H +#define ILI9486_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +/********************* + * DEFINES + *********************/ +#define ILI9486_DC CONFIG_LV_DISP_PIN_DC +#define ILI9486_RST CONFIG_LV_DISP_PIN_RST +#define ILI9486_BCKL CONFIG_LV_DISP_PIN_BCKL + +#define ILI9486_ENABLE_BACKLIGHT_CONTROL CONFIG_LV_ENABLE_BACKLIGHT_CONTROL + +#if CONFIG_LV_BACKLIGHT_ACTIVE_LVL + #define ILI9486_BCKL_ACTIVE_LVL 1 +#else + #define ILI9486_BCKL_ACTIVE_LVL 0 +#endif + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void ili9486_init(void); +void ili9486_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void ili9486_enable_backlight(bool backlight); + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* ILI9486_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/ili9488.h b/lib/lvgl_esp32_drivers/lvgl_tft/ili9488.h new file mode 100644 index 0000000..45a7045 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/ili9488.h @@ -0,0 +1,167 @@ +/** + * @file ili9488.h + */ + +#ifndef ILI9844_H +#define ILI9844_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +/********************* + * DEFINES + *********************/ +#define ILI9488_DC CONFIG_LV_DISP_PIN_DC +#define ILI9488_RST CONFIG_LV_DISP_PIN_RST +#define ILI9488_BCKL CONFIG_LV_DISP_PIN_BCKL + +#define ILI9488_ENABLE_BACKLIGHT_CONTROL CONFIG_LV_ENABLE_BACKLIGHT_CONTROL + +#if CONFIG_LV_BACKLIGHT_ACTIVE_LVL + #define ILI9488_BCKL_ACTIVE_LVL 1 +#else + #define ILI9488_BCKL_ACTIVE_LVL 0 +#endif + +/******************* + * ILI9488 REGS +*********************/ + +/* Level 1 Commands (from the display Datasheet) */ +#define ILI9488_CMD_NOP 0x00 +#define ILI9488_CMD_SOFTWARE_RESET 0x01 +#define ILI9488_CMD_READ_DISP_ID 0x04 +#define ILI9488_CMD_READ_ERROR_DSI 0x05 +#define ILI9488_CMD_READ_DISP_STATUS 0x09 +#define ILI9488_CMD_READ_DISP_POWER_MODE 0x0A +#define ILI9488_CMD_READ_DISP_MADCTRL 0x0B +#define ILI9488_CMD_READ_DISP_PIXEL_FORMAT 0x0C +#define ILI9488_CMD_READ_DISP_IMAGE_MODE 0x0D +#define ILI9488_CMD_READ_DISP_SIGNAL_MODE 0x0E +#define ILI9488_CMD_READ_DISP_SELF_DIAGNOSTIC 0x0F +#define ILI9488_CMD_ENTER_SLEEP_MODE 0x10 +#define ILI9488_CMD_SLEEP_OUT 0x11 +#define ILI9488_CMD_PARTIAL_MODE_ON 0x12 +#define ILI9488_CMD_NORMAL_DISP_MODE_ON 0x13 +#define ILI9488_CMD_DISP_INVERSION_OFF 0x20 +#define ILI9488_CMD_DISP_INVERSION_ON 0x21 +#define ILI9488_CMD_PIXEL_OFF 0x22 +#define ILI9488_CMD_PIXEL_ON 0x23 +#define ILI9488_CMD_DISPLAY_OFF 0x28 +#define ILI9488_CMD_DISPLAY_ON 0x29 +#define ILI9488_CMD_COLUMN_ADDRESS_SET 0x2A +#define ILI9488_CMD_PAGE_ADDRESS_SET 0x2B +#define ILI9488_CMD_MEMORY_WRITE 0x2C +#define ILI9488_CMD_MEMORY_READ 0x2E +#define ILI9488_CMD_PARTIAL_AREA 0x30 +#define ILI9488_CMD_VERT_SCROLL_DEFINITION 0x33 +#define ILI9488_CMD_TEARING_EFFECT_LINE_OFF 0x34 +#define ILI9488_CMD_TEARING_EFFECT_LINE_ON 0x35 +#define ILI9488_CMD_MEMORY_ACCESS_CONTROL 0x36 +#define ILI9488_CMD_VERT_SCROLL_START_ADDRESS 0x37 +#define ILI9488_CMD_IDLE_MODE_OFF 0x38 +#define ILI9488_CMD_IDLE_MODE_ON 0x39 +#define ILI9488_CMD_COLMOD_PIXEL_FORMAT_SET 0x3A +#define ILI9488_CMD_WRITE_MEMORY_CONTINUE 0x3C +#define ILI9488_CMD_READ_MEMORY_CONTINUE 0x3E +#define ILI9488_CMD_SET_TEAR_SCANLINE 0x44 +#define ILI9488_CMD_GET_SCANLINE 0x45 +#define ILI9488_CMD_WRITE_DISPLAY_BRIGHTNESS 0x51 +#define ILI9488_CMD_READ_DISPLAY_BRIGHTNESS 0x52 +#define ILI9488_CMD_WRITE_CTRL_DISPLAY 0x53 +#define ILI9488_CMD_READ_CTRL_DISPLAY 0x54 +#define ILI9488_CMD_WRITE_CONTENT_ADAPT_BRIGHTNESS 0x55 +#define ILI9488_CMD_READ_CONTENT_ADAPT_BRIGHTNESS 0x56 +#define ILI9488_CMD_WRITE_MIN_CAB_LEVEL 0x5E +#define ILI9488_CMD_READ_MIN_CAB_LEVEL 0x5F +#define ILI9488_CMD_READ_ABC_SELF_DIAG_RES 0x68 +#define ILI9488_CMD_READ_ID1 0xDA +#define ILI9488_CMD_READ_ID2 0xDB +#define ILI9488_CMD_READ_ID3 0xDC + +/* Level 2 Commands (from the display Datasheet) */ +#define ILI9488_CMD_INTERFACE_MODE_CONTROL 0xB0 +#define ILI9488_CMD_FRAME_RATE_CONTROL_NORMAL 0xB1 +#define ILI9488_CMD_FRAME_RATE_CONTROL_IDLE_8COLOR 0xB2 +#define ILI9488_CMD_FRAME_RATE_CONTROL_PARTIAL 0xB3 +#define ILI9488_CMD_DISPLAY_INVERSION_CONTROL 0xB4 +#define ILI9488_CMD_BLANKING_PORCH_CONTROL 0xB5 +#define ILI9488_CMD_DISPLAY_FUNCTION_CONTROL 0xB6 +#define ILI9488_CMD_ENTRY_MODE_SET 0xB7 +#define ILI9488_CMD_BACKLIGHT_CONTROL_1 0xB9 +#define ILI9488_CMD_BACKLIGHT_CONTROL_2 0xBA +#define ILI9488_CMD_HS_LANES_CONTROL 0xBE +#define ILI9488_CMD_POWER_CONTROL_1 0xC0 +#define ILI9488_CMD_POWER_CONTROL_2 0xC1 +#define ILI9488_CMD_POWER_CONTROL_NORMAL_3 0xC2 +#define ILI9488_CMD_POWER_CONTROL_IDEL_4 0xC3 +#define ILI9488_CMD_POWER_CONTROL_PARTIAL_5 0xC4 +#define ILI9488_CMD_VCOM_CONTROL_1 0xC5 +#define ILI9488_CMD_CABC_CONTROL_1 0xC6 +#define ILI9488_CMD_CABC_CONTROL_2 0xC8 +#define ILI9488_CMD_CABC_CONTROL_3 0xC9 +#define ILI9488_CMD_CABC_CONTROL_4 0xCA +#define ILI9488_CMD_CABC_CONTROL_5 0xCB +#define ILI9488_CMD_CABC_CONTROL_6 0xCC +#define ILI9488_CMD_CABC_CONTROL_7 0xCD +#define ILI9488_CMD_CABC_CONTROL_8 0xCE +#define ILI9488_CMD_CABC_CONTROL_9 0xCF +#define ILI9488_CMD_NVMEM_WRITE 0xD0 +#define ILI9488_CMD_NVMEM_PROTECTION_KEY 0xD1 +#define ILI9488_CMD_NVMEM_STATUS_READ 0xD2 +#define ILI9488_CMD_READ_ID4 0xD3 +#define ILI9488_CMD_ADJUST_CONTROL_1 0xD7 +#define ILI9488_CMD_READ_ID_VERSION 0xD8 +#define ILI9488_CMD_POSITIVE_GAMMA_CORRECTION 0xE0 +#define ILI9488_CMD_NEGATIVE_GAMMA_CORRECTION 0xE1 +#define ILI9488_CMD_DIGITAL_GAMMA_CONTROL_1 0xE2 +#define ILI9488_CMD_DIGITAL_GAMMA_CONTROL_2 0xE3 +#define ILI9488_CMD_SET_IMAGE_FUNCTION 0xE9 +#define ILI9488_CMD_ADJUST_CONTROL_2 0xF2 +#define ILI9488_CMD_ADJUST_CONTROL_3 0xF7 +#define ILI9488_CMD_ADJUST_CONTROL_4 0xF8 +#define ILI9488_CMD_ADJUST_CONTROL_5 0xF9 +#define ILI9488_CMD_SPI_READ_SETTINGS 0xFB +#define ILI9488_CMD_ADJUST_CONTROL_6 0xFC +#define ILI9488_CMD_ADJUST_CONTROL_7 0xFF + +/********************** + * TYPEDEFS + **********************/ +typedef struct { + uint8_t red; + uint8_t green; + uint8_t blue; +} lv_color_custom_t; + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void ili9488_init(void); +void ili9488_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void ili9488_enable_backlight(bool backlight); + +/********************** + * MACROS + **********************/ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*ILI9488_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/jd79653a.h b/lib/lvgl_esp32_drivers/lvgl_tft/jd79653a.h new file mode 100644 index 0000000..6a2065a --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/jd79653a.h @@ -0,0 +1,36 @@ +/** + * @file il3820.h + * + */ + +#ifndef JD79653A_H +#define JD79653A_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +void jd79653a_init(); +void jd79653a_deep_sleep(); + +void jd79653a_lv_set_fb_cb(struct _disp_drv_t * disp_drv, uint8_t* buf, lv_coord_t buf_w, lv_coord_t x, lv_coord_t y, + lv_color_t color, lv_opa_t opa); +void jd79653a_lv_rounder_cb(struct _disp_drv_t * disp_drv, lv_area_t *area); +void jd79653a_lv_fb_flush(lv_disp_drv_t *drv, const lv_area_t *area, lv_color_t *color_map); + +void jd79653a_fb_set_full_color(uint8_t color); +void jd79653a_fb_full_update(uint8_t *data, size_t len); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // JD79653A_H diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/ra8875.h b/lib/lvgl_esp32_drivers/lvgl_tft/ra8875.h new file mode 100644 index 0000000..a6d1fe5 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/ra8875.h @@ -0,0 +1,118 @@ +/** + * @file ra8875.h + * + */ + +#ifndef RA8875_H +#define RA8875_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +/********************* + * DEFINES + *********************/ +#define RA8875_RST CONFIG_LV_DISP_PIN_RST + +// System & Configuration Registers +#define RA8875_REG_PWRR (0x01) // Power and Display Control Register (PWRR) +#define RA8875_REG_MRWC (0x02) // Memory Read/Write Command (MRWC) +#define RA8875_REG_PCSR (0x04) // Pixel Clock Setting Register (PCSR) +#define RA8875_REG_SYSR (0x10) // System Configuration Register (SYSR) +#define RA8875_REG_HDWR (0x14) // LCD Horizontal Display Width Register (HDWR) +#define RA8875_REG_HNDFTR (0x15) // Horizontal Non-Display Period Fine Tuning Option Register (HNDFTR) +#define RA8875_REG_HNDR (0x16) // LCD Horizontal Non-Display Period Register (HNDR) +#define RA8875_REG_HSTR (0x17) // HSYNC Start Position Register (HSTR) +#define RA8875_REG_HPWR (0x18) // HSYNC Pulse Width Register (HPWR) +#define RA8875_REG_VDHR0 (0x19) // LCD Vertical Display Height Register (VDHR0) +#define RA8875_REG_VDHR1 (0x1A) // LCD Vertical Display Height Register (VDHR1) +#define RA8875_REG_VNDR0 (0x1B) // LCD Vertical Non-Display Period Register (VNDR0) +#define RA8875_REG_VNDR1 (0x1C) // LCD Vertical Non-Display Period Register (VNDR1) +#define RA8875_REG_VSTR0 (0x1D) // VSYNC Start Position Register (VSTR0) +#define RA8875_REG_VSTR1 (0x1E) // VSYNC Start Position Register (VSTR1) +#define RA8875_REG_VPWR (0x1F) // VSYNC Pulse Width Register (VPWR) + +// LCD Display Control Registers +#define RA8875_REG_DPCR (0x20) // Display Configuration Register (DPCR) + +// Active Window & Scroll Window Setting Registers +#define RA8875_REG_HSAW0 (0x30) // Horizontal Start Point 0 of Active Window (HSAW0) +#define RA8875_REG_HSAW1 (0x31) // Horizontal Start Point 1 of Active Window (HSAW1) +#define RA8875_REG_VSAW0 (0x32) // Vertical Start Point 0 of Active Window (VSAW0) +#define RA8875_REG_VSAW1 (0x33) // Vertical Start Point 1 of Active Window (VSAW1) +#define RA8875_REG_HEAW0 (0x34) // Horizontal End Point 0 of Active Window (HEAW0) +#define RA8875_REG_HEAW1 (0x35) // Horizontal End Point 1 of Active Window (HEAW1) +#define RA8875_REG_VEAW0 (0x36) // Vertical End Point 0 of Active Window (VEAW0) +#define RA8875_REG_VEAW1 (0x37) // Vertical End Point 1 of Active Window (VEAW1) + +// Cursor Setting Registers +#define RA8875_REG_MWCR0 (0x40) // Memory Write Control Register 0 (MWCR0) +#define RA8875_REG_MWCR1 (0x41) // Memory Write Control Register 1 (MWCR1) +#define RA8875_REG_CURH0 (0x46) // Memory Write Cursor Horizontal Position Register 0 (CURH0) +#define RA8875_REG_CURH1 (0x47) // Memory Write Cursor Horizontal Position Register 1 (CURH1) +#define RA8875_REG_CURV0 (0x48) // Memory Write Cursor Vertical Position Register 0 (CURV0) +#define RA8875_REG_CURV1 (0x49) // Memory Write Cursor Vertical Position Register 1 (CURV1) + +// Block Transfer Engine(BTE) Control Registers +#define RA8875_REG_LTPR0 (0x52) // Layer Transparency Register 0 (LTPR0) +#define RA8875_REG_LTPR1 (0x53) // Layer Transparency Register 1 (LTPR1) + +// Touch Panel Control Registers +#define RA8875_REG_TPCR0 (0x70) // Touch Panel Control Register 0 (TPCR0) +#define RA8875_REG_TPCR1 (0x71) // Touch Panel Control Register 1 (TPCR1) +#define RA8875_REG_TPXH (0x72) // Touch Panel X High Byte Data Register (TPXH) +#define RA8875_REG_TPYH (0x73) // Touch Panel Y High Byte Data Register (TPYH) +#define RA8875_REG_TPXYL (0x74) // Touch Panel X/Y Low Byte Data Register (TPXYL) + +// PLL Setting Registers +#define RA8875_REG_PLLC1 (0x88) // PLL Control Register 1 (PLLC1) +#define RA8875_REG_PLLC2 (0x89) // PLL Control Register 2 (PLLC2) + +// Memory Clear Register +#define RA8875_REG_MCLR (0x8E) // Memory Clear Control Register (MCLR) + +// Interrupt Control Registers +#define RA8875_REG_INTC1 (0xF0) // Interrupt Control Register1 (INTC1) +#define RA8875_REG_INTC2 (0xF1) // Interrupt Control Register1 (INTC2) + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void ra8875_init(void); +void ra8875_enable_backlight(bool backlight); +void ra8875_enable_display(bool enable); +void ra8875_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); + +void ra8875_sleep_in(void); +void ra8875_sleep_out(void); + +uint8_t ra8875_read_cmd(uint8_t cmd); +void ra8875_write_cmd(uint8_t cmd, uint8_t data); + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*RA8875_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/sh1107.h b/lib/lvgl_esp32_drivers/lvgl_tft/sh1107.h new file mode 100644 index 0000000..7a0db68 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/sh1107.h @@ -0,0 +1,55 @@ +/** + * @file lv_templ.h + * + */ + +#ifndef SH1107_H +#define SH1107_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +/********************* + * DEFINES + *********************/ +#define SH1107_DC CONFIG_LV_DISP_PIN_DC +#define SH1107_RST CONFIG_LV_DISP_PIN_RST + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void sh1107_init(void); +void sh1107_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void sh1107_rounder(struct _disp_drv_t * disp_drv, lv_area_t *area); +void sh1107_set_px_cb(struct _disp_drv_t * disp_drv, uint8_t * buf, lv_coord_t buf_w, lv_coord_t x, lv_coord_t y, + lv_color_t color, lv_opa_t opa); +void sh1107_sleep_in(void); +void sh1107_sleep_out(void); + +/********************** + * MACROS + **********************/ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*SH1107_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/ssd1306.h b/lib/lvgl_esp32_drivers/lvgl_tft/ssd1306.h new file mode 100644 index 0000000..f859a76 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/ssd1306.h @@ -0,0 +1,57 @@ +/** + * @file lv_templ.h + * + */ + +#ifndef SSD1306_H +#define SSD1306_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +/********************* + * DEFINES + *********************/ +#define SSD1306_SDA CONFIG_LV_DISP_PIN_SDA +#define SSD1306_SCL CONFIG_LV_DISP_PIN_SCL +#define SSD1306_DISPLAY_ORIENTATION TFT_ORIENTATION_LANDSCAPE + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ +void ssd1306_init(void); +void ssd1306_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void ssd1306_rounder(struct _disp_drv_t * disp_drv, lv_area_t *area); +void ssd1306_set_px_cb(struct _disp_drv_t * disp_drv, uint8_t * buf, lv_coord_t buf_w, lv_coord_t x, lv_coord_t y, + lv_color_t color, lv_opa_t opa); + +void ssd1306_sleep_in(void); +void ssd1306_sleep_out(void); + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*SSD1306_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/st7735s.h b/lib/lvgl_esp32_drivers/lvgl_tft/st7735s.h new file mode 100644 index 0000000..03672ee --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/st7735s.h @@ -0,0 +1,149 @@ +/** + * @file lv_templ.h + * + */ + +#ifndef ST7735S_H +#define ST7735S_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +/********************* + * DEFINES + *********************/ +// #define DISP_BUF_SIZE (CONFIG_LV_DISPLAY_WIDTH*CONFIG_LV_DISPLAY_HEIGHT) +#define DISP_BUF_SIZE (LV_HOR_RES_MAX * 40) + +#define ST7735S_DC CONFIG_LV_DISP_PIN_DC +#define ST7735S_RST CONFIG_LV_DISP_PIN_RST + +#define AXP192_SDA CONFIG_LV_AXP192_PIN_SDA +#define AXP192_SCL CONFIG_LV_AXP192_PIN_SCL + +#define ST7735S_INVERT_COLORS CONFIG_LV_INVERT_COLORS + +// Defines are taken from +// https://raw.githubusercontent.com/m5stack/M5StickC/master/src/utility/ST7735_Defines.h +// and are modified to fit to the M5StickC device, and are taken from +// https://github.com/adafruit/Adafruit-ST7735-Library +// +#define ST7735_GREENTAB160x80 // For 160 x 80 display (BGR, inverted, 26 / 1 offset) +#define COLSTART 26 +#define ROWSTART 1 + +// Delay between some initialisation commands +#define TFT_INIT_DELAY 0x80 + +#define TFT_NOP 0x00 +#define TFT_SWRST 0x01 + +#define TFT_CASET 0x2A +#define TFT_PASET 0x2B +#define TFT_RAMWR 0x2C + +#define TFT_RAMRD 0x2E +#define TFT_IDXRD 0x00 + +#define TFT_MADCTL 0x36 +#define TFT_MAD_MY 0x80 +#define TFT_MAD_MX 0x40 +#define TFT_MAD_MV 0x20 +#define TFT_MAD_ML 0x10 +#define TFT_MAD_BGR 0x08 +#define TFT_MAD_MH 0x04 +#define TFT_MAD_RGB 0x00 + +#define TFT_INVOFF 0x20 +#define TFT_INVON 0x21 + +// ST7735 specific commands used in init +#define ST7735_NOP 0x00 +#define ST7735_SWRESET 0x01 +#define ST7735_RDDID 0x04 +#define ST7735_RDDST 0x09 + +#define ST7735_SLPIN 0x10 +#define ST7735_SLPOUT 0x11 +#define ST7735_PTLON 0x12 +#define ST7735_NORON 0x13 + +#define ST7735_INVOFF 0x20 +#define ST7735_INVON 0x21 +#define ST7735_DISPOFF 0x28 +#define ST7735_DISPON 0x29 +#define ST7735_CASET 0x2A +#define ST7735_RASET 0x2B +#define ST7735_RAMWR 0x2C +#define ST7735_RAMRD 0x2E + +#define ST7735_PTLAR 0x30 +#define ST7735_VSCRDEF 0x33 +#define ST7735_COLMOD 0x3A +#define ST7735_MADCTL 0x36 +#define ST7735_VSCRSADD 0x37 + +#define ST7735_FRMCTR1 0xB1 +#define ST7735_FRMCTR2 0xB2 +#define ST7735_FRMCTR3 0xB3 +#define ST7735_INVCTR 0xB4 +#define ST7735_DISSET5 0xB6 + +#define ST7735_PWCTR1 0xC0 +#define ST7735_PWCTR2 0xC1 +#define ST7735_PWCTR3 0xC2 +#define ST7735_PWCTR4 0xC3 +#define ST7735_PWCTR5 0xC4 +#define ST7735_VMCTR1 0xC5 + +#define ST7735_RDID1 0xDA +#define ST7735_RDID2 0xDB +#define ST7735_RDID3 0xDC +#define ST7735_RDID4 0xDD + +#define ST7735_PWCTR6 0xFC + +#define ST7735_GMCTRP1 0xE0 +#define ST7735_GMCTRN1 0xE1 + +#define ST77XX_MADCTL_MY 0x80 +#define ST77XX_MADCTL_MX 0x40 +#define ST77XX_MADCTL_MV 0x20 +#define ST77XX_MADCTL_ML 0x10 +#define ST77XX_MADCTL_RGB 0x00 +#define ST77XX_MADCTL_BGR 0x08 + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void st7735s_init(void); +void st7735s_flush(lv_disp_drv_t * drv, const lv_area_t * area, lv_color_t * color_map); +void st7735s_enable_backlight(bool backlight); +void st7735s_sleep_in(void); +void st7735s_sleep_out(void); + +/********************** + * MACROS + **********************/ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*ST7735S_H*/ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/st7789.h b/lib/lvgl_esp32_drivers/lvgl_tft/st7789.h new file mode 100644 index 0000000..1136562 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/st7789.h @@ -0,0 +1,120 @@ +/** + * @file st7789.h + * + * Mostly taken from lbthomsen/esp-idf-littlevgl github. + */ + +#ifndef ST7789_H +#define ST7789_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif +#include "../lvgl_helpers.h" + +#include "sdkconfig.h" + +#define ST7789_DC CONFIG_LV_DISP_PIN_DC +#define ST7789_RST CONFIG_LV_DISP_PIN_RST +#define ST7789_BCKL CONFIG_LV_DISP_PIN_BCKL + +#define ST7789_ENABLE_BACKLIGHT_CONTROL CONFIG_LV_ENABLE_BACKLIGHT_CONTROL + +#if CONFIG_LV_BACKLIGHT_ACTIVE_LVL + #define ST7789_BCKL_ACTIVE_LVL 1 +#else + #define ST7789_BCKL_ACTIVE_LVL 0 +#endif + +/* ST7789 commands */ +#define ST7789_NOP 0x00 +#define ST7789_SWRESET 0x01 +#define ST7789_RDDID 0x04 +#define ST7789_RDDST 0x09 + +#define ST7789_RDDPM 0x0A // Read display power mode +#define ST7789_RDD_MADCTL 0x0B // Read display MADCTL +#define ST7789_RDD_COLMOD 0x0C // Read display pixel format +#define ST7789_RDDIM 0x0D // Read display image mode +#define ST7789_RDDSM 0x0E // Read display signal mode +#define ST7789_RDDSR 0x0F // Read display self-diagnostic result (ST7789V) + +#define ST7789_SLPIN 0x10 +#define ST7789_SLPOUT 0x11 +#define ST7789_PTLON 0x12 +#define ST7789_NORON 0x13 + +#define ST7789_INVOFF 0x20 +#define ST7789_INVON 0x21 +#define ST7789_GAMSET 0x26 // Gamma set +#define ST7789_DISPOFF 0x28 +#define ST7789_DISPON 0x29 +#define ST7789_CASET 0x2A +#define ST7789_RASET 0x2B +#define ST7789_RAMWR 0x2C +#define ST7789_RGBSET 0x2D // Color setting for 4096, 64K and 262K colors +#define ST7789_RAMRD 0x2E + +#define ST7789_PTLAR 0x30 +#define ST7789_VSCRDEF 0x33 // Vertical scrolling definition (ST7789V) +#define ST7789_TEOFF 0x34 // Tearing effect line off +#define ST7789_TEON 0x35 // Tearing effect line on +#define ST7789_MADCTL 0x36 // Memory data access control +#define ST7789_IDMOFF 0x38 // Idle mode off +#define ST7789_IDMON 0x39 // Idle mode on +#define ST7789_RAMWRC 0x3C // Memory write continue (ST7789V) +#define ST7789_RAMRDC 0x3E // Memory read continue (ST7789V) +#define ST7789_COLMOD 0x3A + +#define ST7789_RAMCTRL 0xB0 // RAM control +#define ST7789_RGBCTRL 0xB1 // RGB control +#define ST7789_PORCTRL 0xB2 // Porch control +#define ST7789_FRCTRL1 0xB3 // Frame rate control +#define ST7789_PARCTRL 0xB5 // Partial mode control +#define ST7789_GCTRL 0xB7 // Gate control +#define ST7789_GTADJ 0xB8 // Gate on timing adjustment +#define ST7789_DGMEN 0xBA // Digital gamma enable +#define ST7789_VCOMS 0xBB // VCOMS setting +#define ST7789_LCMCTRL 0xC0 // LCM control +#define ST7789_IDSET 0xC1 // ID setting +#define ST7789_VDVVRHEN 0xC2 // VDV and VRH command enable +#define ST7789_VRHS 0xC3 // VRH set +#define ST7789_VDVSET 0xC4 // VDV setting +#define ST7789_VCMOFSET 0xC5 // VCOMS offset set +#define ST7789_FRCTR2 0xC6 // FR Control 2 +#define ST7789_CABCCTRL 0xC7 // CABC control +#define ST7789_REGSEL1 0xC8 // Register value section 1 +#define ST7789_REGSEL2 0xCA // Register value section 2 +#define ST7789_PWMFRSEL 0xCC // PWM frequency selection +#define ST7789_PWCTRL1 0xD0 // Power control 1 +#define ST7789_VAPVANEN 0xD2 // Enable VAP/VAN signal output +#define ST7789_CMD2EN 0xDF // Command 2 enable +#define ST7789_PVGAMCTRL 0xE0 // Positive voltage gamma control +#define ST7789_NVGAMCTRL 0xE1 // Negative voltage gamma control +#define ST7789_DGMLUTR 0xE2 // Digital gamma look-up table for red +#define ST7789_DGMLUTB 0xE3 // Digital gamma look-up table for blue +#define ST7789_GATECTRL 0xE4 // Gate control +#define ST7789_SPI2EN 0xE7 // SPI2 enable +#define ST7789_PWCTRL2 0xE8 // Power control 2 +#define ST7789_EQCTRL 0xE9 // Equalize time control +#define ST7789_PROMCTRL 0xEC // Program control +#define ST7789_PROMEN 0xFA // Program mode enable +#define ST7789_NVMSET 0xFC // NVM setting +#define ST7789_PROMACT 0xFE // Program action + +void st7789_init(void); +void st7789_flush(lv_disp_drv_t *drv, const lv_area_t *area, lv_color_t *color_map); +void st7789_enable_backlight(bool backlight); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* ST7789_H */ diff --git a/lib/lvgl_esp32_drivers/lvgl_tft/uc8151d.h b/lib/lvgl_esp32_drivers/lvgl_tft/uc8151d.h new file mode 100644 index 0000000..e637f0e --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_tft/uc8151d.h @@ -0,0 +1,39 @@ +/** + @file uc8151d.h + @brief GoodDisplay GDEW0154M09 e-paper display w/ FitiPower JD79653A + @version 1.0 + @date 2020-08-28 + @author Jackson Ming Hu + + + @section LICENSE + + MIT License + + Copyright (c) 2020 Jackson Ming Hu + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), + to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#ifndef LVGL_DEMO_UC8151D_H +#define LVGL_DEMO_UC8151D_H + +#include + +void uc8151d_init(); +void uc8151d_lv_set_fb_cb(struct _disp_drv_t *disp_drv, uint8_t *buf, lv_coord_t buf_w, lv_coord_t x, lv_coord_t y, + lv_color_t color, lv_opa_t opa); + +void uc8151d_lv_rounder_cb(struct _disp_drv_t *disp_drv, lv_area_t *area); +void uc8151d_lv_fb_flush(lv_disp_drv_t *drv, const lv_area_t *area, lv_color_t *color_map); + +#endif //LVGL_DEMO_UC8151D_H diff --git a/lib/lvgl_esp32_drivers/lvgl_touch/touch_driver.h b/lib/lvgl_esp32_drivers/lvgl_touch/touch_driver.h new file mode 100644 index 0000000..bc92f4f --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_touch/touch_driver.h @@ -0,0 +1,52 @@ +/** + * @file touch_driver.h + */ + +#ifndef TOUCH_DRIVER_H +#define TOUCH_DRIVER_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include +#include +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +#if defined (CONFIG_LV_TOUCH_CONTROLLER_XPT2046) +#include "xpt2046.h" +#elif defined (CONFIG_LV_TOUCH_CONTROLLER_FT6X06) +#include "ft6x36.h" +#elif defined (CONFIG_LV_TOUCH_CONTROLLER_STMPE610) +#include "stmpe610.h" +#elif defined (CONFIG_LV_TOUCH_CONTROLLER_ADCRAW) +#include "adcraw.h" +#elif defined (CONFIG_LV_TOUCH_CONTROLLER_FT81X) +#include "FT81x.h" +#elif defined (CONFIG_LV_TOUCH_CONTROLLER_RA8875) +#include "ra8875_touch.h" +#endif + +/********************* +* DEFINES +*********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ +void touch_driver_init(void); +bool touch_driver_read(lv_indev_drv_t *drv, lv_indev_data_t *data); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /* TOUCH_DRIVER_H */ + diff --git a/lib/lvgl_esp32_drivers/lvgl_touch/tp_i2c.h b/lib/lvgl_esp32_drivers/lvgl_touch/tp_i2c.h new file mode 100644 index 0000000..0f463a4 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_touch/tp_i2c.h @@ -0,0 +1,36 @@ +/* +* Copyright Š 2020 Wolfgang Christl + +* Permission is hereby granted, free of charge, to any person obtaining a copy of this +* software and associated documentation files (the “Software”), to deal in the Software +* without restriction, including without limitation the rights to use, copy, modify, merge, +* publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons +* to whom the Software is furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in all copies or +* substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, +* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR +* PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE +* FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, +* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +* SOFTWARE. +*/ + +#ifndef __TS_H +#define __TS_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +esp_err_t i2c_master_init(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __TS_H */ diff --git a/lib/lvgl_esp32_drivers/lvgl_touch/tp_spi.h b/lib/lvgl_esp32_drivers/lvgl_touch/tp_spi.h new file mode 100644 index 0000000..3fd30c5 --- /dev/null +++ b/lib/lvgl_esp32_drivers/lvgl_touch/tp_spi.h @@ -0,0 +1,45 @@ +/** + * @file tp_spi.h + * + */ + +#ifndef TP_SPI_H +#define TP_SPI_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ +#include +#include + +/********************* + * DEFINES + *********************/ + +/********************** + * TYPEDEFS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ +void tp_spi_add_device(spi_host_device_t host); +void tp_spi_add_device_config(spi_host_device_t host, spi_device_interface_config_t *config); +void tp_spi_xchg(uint8_t* data_send, uint8_t* data_recv, uint8_t byte_count); +void tp_spi_write_reg(uint8_t* data, uint8_t byte_count); +void tp_spi_read_reg(uint8_t reg, uint8_t* data, uint8_t byte_count); + +/********************** + * MACROS + **********************/ + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*TP_SPI_H*/ diff --git a/maps/bin/astc_conv.py b/maps/bin/astc_conv.py new file mode 100644 index 0000000..38727d9 --- /dev/null +++ b/maps/bin/astc_conv.py @@ -0,0 +1,89 @@ +# uncompyle6 version 3.7.4 +# Python bytecode 3.7 (3394) +# Decompiled from: Python 3.7.5 (tags/v3.7.5:5c02a39a0b, Oct 15 2019, 00:11:34) [MSC v.1916 64 bit (AMD64)] +# Embedded file name: astc_conv.py +from PIL import Image, ImageChops +import array, tempfile, os, struct + +def astc_dims(fmt): + if isinstance(fmt, int): + return astc_dims({37808:'COMPRESSED_RGBA_ASTC_4x4_KHR', + 37809:'COMPRESSED_RGBA_ASTC_5x4_KHR', + 37810:'COMPRESSED_RGBA_ASTC_5x5_KHR', + 37811:'COMPRESSED_RGBA_ASTC_6x5_KHR', + 37812:'COMPRESSED_RGBA_ASTC_6x6_KHR', + 37813:'COMPRESSED_RGBA_ASTC_8x5_KHR', + 37814:'COMPRESSED_RGBA_ASTC_8x6_KHR', + 37815:'COMPRESSED_RGBA_ASTC_8x8_KHR', + 37816:'COMPRESSED_RGBA_ASTC_10x5_KHR', + 37817:'COMPRESSED_RGBA_ASTC_10x6_KHR', + 37818:'COMPRESSED_RGBA_ASTC_10x8_KHR', + 37819:'COMPRESSED_RGBA_ASTC_10x10_KHR', + 37820:'COMPRESSED_RGBA_ASTC_12x10_KHR', + 37821:'COMPRESSED_RGBA_ASTC_12x12_KHR'}[fmt]) + dims = str(fmt).split('_')[3] + return [int(c) for c in dims.split('x')] + + +def tile(f): + _, w, h, _, iw, _, ih, _, _, _ = struct.unpack('0 : + barray = bytearray(m) + for i in range(0,m): + barray[i] = 0xFF + o.write(barray) + return + + +def alignFile(o, position, aligment): + m = position % aligment + if m>0 : + m = aligment-m + barray = bytearray(m) + for i in range(0,m): + barray[i] = 0xFF + o.write(barray) + return m + + +def main(): + output = sys.argv[1] + maps = [] + maps_meta = [] + position = 0 + with io.open(output, 'wb') as o: + for i, arg in enumerate(sys.argv): + if i>1: + maps.append(arg) + for map in maps: + with open(map, mode='rb') as file: + mapContent = file.read() + with open(map+'.json') as f: + mapMeta = json.load(f) + mapMeta["base_address"] = position + o.write(mapContent) + position += len(mapContent) + position += alignFile(o,position,4096) + maps_meta.append(mapMeta) + + with io.open(output+'.json', 'w') as f: + f.write(json.dumps(maps_meta,indent=6)) + + with io.open(output+'.dat', 'wb') as f: + cnt = len(maps_meta) + f.write(struct.pack('0 : + barray = bytearray(m) + for i in range(0,m): + barray[i] = 0xFF + o.write(barray) + return + + +def alignFile(o, position, aligment): + m = position % aligment + if m>0 : + m = aligment-m + barray = bytearray(m) + for i in range(0,m): + barray[i] = 0xFF + o.write(barray) + return m + + +def loadImage(filenameBase,x,y): + filename = filenameBase+str(x)+'/'+str(y)+'.png' + if path.exists(filename): + im=Image.open(filename) + return im + return None + +def main(): + folder = sys.argv[1] + output = sys.argv[2] + print('Processing '+folder) + tmeta = {} + position = 0 + with open(folder+'/metadata.json') as f: + meta = json.load(f) + tmeta['name'] = meta['name'] + tmeta['bounds'] = [meta['extent'][0],meta['extent'][3],meta['extent'][2],meta['extent'][1]] + tmeta['tile_matrix'] = [] + with io.open(output, 'wb') as o: + for zl in meta['tile_matrix']: + zitem = {} + zitem['id'] = zl['id'] + zitem['bounds'] = [zl['origin'][0],zl['origin'][1],zl['extent'][2],zl['extent'][1]] + zitem['images'] = [] + zitem['pixel_size'] = zl['pixel_size'] + zitem['tile_size'] = [zl['pixel_size'][0]*zl['tile_size'][0],zl['pixel_size'][1]*zl['tile_size'][1]] + xc = zl['origin'][0] + yc = zl['origin'][1] + xp = zl['pixel_size'][0] + yp = zl['pixel_size'][1] + fmt = 37808 + hasImages = False + if zl['matrix_size'][0]*zl['matrix_size'][1] >=8: + fmt = 37812 + for x in range(zl['matrix_size'][0]): + for y in range(zl['matrix_size'][1]): + filenameBase = folder+'/'+zl['id']+'/' + filename = filenameBase+str(x)+'/'+str(y)+'.png' + if path.exists(filename): + im=Image.open(filename) + expand = 1 + nim = Image.new('RGBA',(im.size[0]+expand*2,im.size[1]+expand*2)) + nim.putalpha(0) + nim.paste(im,(expand,expand)) + + pim = loadImage(filenameBase,x,y-1) + if pim!=None: + nim.paste(pim.crop((0,pim.size[1]-expand,pim.size[0],pim.size[1])),(expand,0)) + + pim = loadImage(filenameBase,x,y+1) + if pim!=None: + nim.paste(pim.crop((0,0,pim.size[0],expand)),(expand,nim.size[1]-expand)) + + pim = loadImage(filenameBase,x-1,y) + if pim!=None: + nim.paste(pim.crop((pim.size[0]-expand,0,pim.size[0],pim.size[1])),(0,expand)) + + pim = loadImage(filenameBase,x+1,y) + if pim!=None: + nim.paste(pim.crop((0,0,expand,pim.size[1])),(nim.size[0]-expand,expand)) + + rsize = im.size + im = nim + stride,asize,astc = astc_conv.convert(im,fmt) + if len(astc)>0: + hasImages = True + fileinfo = {} + fileinfo['size'] = im.size + fileinfo['bounds'] = [xc+x*rsize[0]*xp-xp*expand,yc+y*rsize[1]*yp-yp*expand,xc+(x+1)*rsize[0]*xp+xp*expand,yc+(y+1)*rsize[1]*yp+yp*expand] + fileinfo['x'] = x + fileinfo['y'] = y + fileinfo['address'] = position + fileinfo['image_stride'] = stride + fileinfo['image_size'] = len(astc) + fileinfo['image_fmt'] = fmt + o.write(astc) + with open(filename+'.bin','wb') as f: + f.write(astc) + position += len(astc) + pad(o,64) + position += 64 + position += alignFile(o,position,64) + zitem['images'].append(fileinfo) + if hasImages==True: + tmeta['tile_matrix'].append(zitem) + alignFile(o,position,4096) + with io.open(output+'.json', 'w', encoding='utf-8') as f: + f.write(json.dumps(tmeta, indent=4)) + + + + +main() \ No newline at end of file diff --git a/maps/bin/calc_tiles.py b/maps/bin/calc_tiles.py new file mode 100644 index 0000000..91f122c --- /dev/null +++ b/maps/bin/calc_tiles.py @@ -0,0 +1,36 @@ +import json +import sys +import os.path +import io +from os import path +from PIL import Image + +def main(): + folder = sys.argv[1] + print('Processing '+folder) + with open(folder+'/metadata.json') as f: + meta = json.load(f) + for zl in meta['tile_matrix']: + xc = zl['origin'][0] + yc = zl['origin'][1] + xp = zl['pixel_size'][0] + yp = zl['pixel_size'][1] + for x in range(zl['matrix_size'][0]): + yc = zl['origin'][1] + for y in range(zl['matrix_size'][1]): + filename = folder+'/'+zl['id']+'/'+str(x)+'/'+str(y)+'.png' + if path.exists(filename): + fileprops = {} + im=Image.open(filename) + fileprops['size'] = im.size + fileprops['bounds'] = [xc,yc,xc+im.size[0]*xp,yc+im.size[1]*yp] + xn = xc + im.size[0]*xp + yc = yc + im.size[1]*yp + with io.open(filename+'.json', 'w', encoding='utf-8') as f: + f.write(json.dumps(fileprops, ensure_ascii=False)) + xc = xn + + + + +main() \ No newline at end of file diff --git a/maps/bin/map_image_tool.py b/maps/bin/map_image_tool.py new file mode 100644 index 0000000..8e175a9 --- /dev/null +++ b/maps/bin/map_image_tool.py @@ -0,0 +1,338 @@ +import argparse +import json +import sys +import os.path +import io +from os import path +import serial +import time +import struct +import ntpath + +show_r = False +PMC_SCREEN_FLASH_START = 1 +PMC_SCREEN_FLASH_START_RESPONSE=2 +PMC_SCREEN_FLASH_END =3 +PMC_SCREEN_FLASH_WRITE =4 +PMC_SCREEN_FLASH_WRITE_COMPRESSED =14 +PMC_SCREEN_FLASH_READ =5 +PMC_SCREEN_FLASH_READ_RESPONSE =6 +PMC_SCREEN_FLASH_META_START =7 +PMC_SCREEN_FLASH_META_DATA =8 +PMC_SCREEN_FLASH_META_END =9 +PMC_SCREEN_FLASH_FILE_START =10 +PMC_SCREEN_FLASH_FILE_DATA =11 +PMC_SCREEN_FLASH_FILE_END =12 + +PMC_SCREEN_FLASH_EXIT =99 +PMC_SCREEN_FLASH_ACK =100 +PMC_SCREEN_FLASH_ERR =101 +SERIAL_APP_1=0x85 +SERIAL_APP_2=0x3B +SERIAL_APP_3=0xDE +SERIAL_APP_4=0x02 + +def csum(dd,extra): + result = extra & 0xFF + for b in dd: + result ^= (b & 0xFF) + return result + +def readPacket(ser,timeout=2): + global show_r + packet = bytearray([]) + readState = 0 + size = 0 + startTime = time.time() + while True: + if ser.inWaiting()>0: + b = ser.read(1)[0] + if(show_r==True): + print(hex(b), end ="", flush=True) + #print(bytearray([b]).decode('ascii'), end ="", flush=True) + if readState==0: + if b==SERIAL_APP_1: + readState = 1 + elif readState==1: + if b==SERIAL_APP_2: + readState = 2 + else: + readState = 0 + elif readState==2: + if b==SERIAL_APP_3: + readState = 3 + else: + readState = 0 + elif readState==3: + if b==SERIAL_APP_4: + readState = 4 + else: + readState = 0 + elif readState==4: + size = b + readState = 5 + elif readState==5: + size = size + (b<<8) + if size<8192: + readState = 6 + else: + readState = 0 + elif readState==6: + if len(packet)<(size-1): + packet.extend([b]) + else: + cs = csum(packet,0) + if b==cs: + return packet + else: + print('BAD CS '+hex(cs)+' '+hex(b)+' '+packet.hex()) + return bytearray([]) + else: + time.sleep(0.001) + if(time.time()-startTime)>=timeout: + print('Timeout') + #show_r = True + return bytearray([]) + + return bytearray([]) + +def createSerialPacket(cmd,dd): + result = bytearray([SERIAL_APP_1,SERIAL_APP_2,SERIAL_APP_3,SERIAL_APP_4]) + s = len(dd)+2 + result.extend([s & 0xFF,(s>>8) & 0xFF,cmd]) + result.extend(dd) + result.extend([csum(dd,cmd)]) + #print(result.hex()) + return result + + +def writeImage(ser,imagedata,metadata): + print("Writing image...") + ser.write(createSerialPacket(PMC_SCREEN_FLASH_START,bytearray([]))) + packet = readPacket(ser) + if len(packet)>0: + if packet[0]==PMC_SCREEN_FLASH_START_RESPONSE: + s = struct.Struct('> 8) & 0xFF + sector[4] = (address >> 16) & 0xFF + sector[5] = (address >> 24) & 0xFF + while 1: + print("Sector "+str(cnt)+"/"+str(i)+".", end ="", flush=True) + packet = createSerialPacket(PMC_SCREEN_FLASH_WRITE_COMPRESSED,sector) + spackets = [packet[i:i+1512] for i in range(0, len(packet), 1512)] + #spackets = [packet[i:i+32] for i in range(0, len(packet), 32)] + for p in spackets: + ser.write(p) + ser.flush() + time.sleep(0.0001) + packet = readPacket(ser) + if len(packet)>0: + if packet[0]!=PMC_SCREEN_FLASH_ACK: + print("ERR "+hex(packet[1])) + else: + print("OK") + break + time.sleep(0.02) + ser.write(createSerialPacket(PMC_SCREEN_FLASH_END,bytearray([]))) + readPacket(ser) + else: + print("Error") + print("Writing meta...") + ser.write(createSerialPacket(PMC_SCREEN_FLASH_META_START,bytearray([]))) + packet = readPacket(ser) + if len(packet)>0: + if packet[0]==PMC_SCREEN_FLASH_ACK: + + cnt = len(metadata) + i = 0 + while cnt>0: + if cnt>512: + s = 512 + else: + s = cnt + cnt -= s + sector = metadata[i:(i+s)] + while 1: + print("Sector "+str(i)+".", end ="", flush=True) + packet = createSerialPacket(PMC_SCREEN_FLASH_META_DATA,sector) + ser.write(packet) + ser.flush() + packet = readPacket(ser) + if len(packet)>0: + if packet[0]!=PMC_SCREEN_FLASH_ACK: + print("ERR") + else: + print("OK") + break + time.sleep(0.01) + i += s + ser.write(createSerialPacket(PMC_SCREEN_FLASH_META_END,bytearray([]))) + packet = readPacket(ser) + else: + print("Error") + + print("Done.") + return + +def writeFile(ser,imagedata,filename): + print("Writing file...") + ser.write(createSerialPacket(PMC_SCREEN_FLASH_FILE_START,bytearray(filename.encode())+ b'\x00')) + packet = readPacket(ser) + if len(packet)>0: + if packet[0]==PMC_SCREEN_FLASH_ACK: + + cnt = len(imagedata) + i = 0 + while cnt>0: + if cnt>512: + s = 512 + else: + s = cnt + cnt -= s + sector = imagedata[i:(i+s)] + while 1: + print("Sector "+str(i)+".", end ="", flush=True) + packet = createSerialPacket(PMC_SCREEN_FLASH_FILE_DATA,sector) + ser.write(packet) + ser.flush() + packet = readPacket(ser) + if len(packet)>0: + if packet[0]!=PMC_SCREEN_FLASH_ACK: + print("ERR") + else: + print("OK") + break + time.sleep(0.01) + i += s + ser.write(createSerialPacket(PMC_SCREEN_FLASH_FILE_END,bytearray([]))) + packet = readPacket(ser) + else: + print("Error") + + print("Done.") + return + +def readImage(ser,size): + print("Reading image...") + result = bytearray([]) + ser.write(createSerialPacket(PMC_SCREEN_FLASH_START,bytearray([]))) + packet = readPacket(ser) + if len(packet)>0: + if packet[0]==PMC_SCREEN_FLASH_START_RESPONSE: + s = struct.Struct('> 8) & 0xFF + sector[4] = (address >> 16) & 0xFF + sector[5] = (address >> 24) & 0xFF + while 1: + print("Sector "+str(i)+".", end ="", flush=True) + packet = createSerialPacket(PMC_SCREEN_FLASH_READ,sector) + ser.write(packet) + packet = readPacket(ser) + if len(packet)>0: + if packet[0]!=PMC_SCREEN_FLASH_READ_RESPONSE: + print("ERR") + else: + print("OK") + result.extend(packet[1:]) + break + ser.write(createSerialPacket(PMC_SCREEN_FLASH_END,bytearray([]))) + else: + print("Error") + print("Done.") + return result + + +def main(): + parser = argparse.ArgumentParser(description='Airsoft Tracker Maps Image Tool') + parser.add_argument('image', help='Image file name') + parser.add_argument('-c','--comm', required=False, help='COM port') + parser.add_argument('-r','--read',action='store_true', help='Read image') + parser.add_argument('-s','--size',type=int, default=16*1024, help='Read size in KB') + parser.add_argument('-w','--wfile',action='store_true', help='Write file') + args = parser.parse_args() + comm = args.comm + if not comm: + print("Looking for COM port") + import serial.tools.list_ports as list_ports + for each_port in reversed(sorted(list_ports.comports())): + if each_port[1].find("Silicon Labs")>=0: + comm = each_port[0] + print("Comm port found "+comm) + break + + imagefile = args.image + readSize = args.size + ser = serial.Serial(comm,baudrate=115200) + ser.set_buffer_size(rx_size = 8192, tx_size=256) + + print("Connecting", end ="", flush=True) + while True: + if ser.inWaiting()>0: + ser.read(ser.inWaiting()) + print(".", end ="", flush=True) + values = bytearray([0x92,0x5A]) + ser.write(values) + startTime = time.time() + while (time.time()-startTime)<2: + if ser.inWaiting()>0: + b = ser.read(1)[0] + #print(bytearray([b]).decode('ascii'), end ="", flush=True) + if b==0x07: + print("") + print("Connected") + time.sleep(0.01) + values = bytearray([0x07]) + ser.write(values) + ser.baudrate = 921600 + time.sleep(1) + + if args.read==True: + imagedata = readImage(ser,readSize) + with open(imagefile,"wb") as f: + f.write(imagedata) + else: + if args.wfile==True: + with open(imagefile,"rb") as f: + imagedata = f.read() + writeFile(ser,imagedata,ntpath.basename(imagefile)) + else: + with open(imagefile,"rb") as f: + imagedata = f.read() + with open(imagefile+'.dat',"rb") as f: + metadata = f.read() + writeImage(ser,imagedata,metadata) + + ser.write(createSerialPacket(PMC_SCREEN_FLASH_EXIT,bytearray([]))) + return + else: + time.sleep(0.01) + + +main() \ No newline at end of file diff --git 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+ + + + diff --git a/maps/zulu24/zulu24/metadata.json b/maps/zulu24/zulu24/metadata.json new file mode 100644 index 0000000..5b0caa9 --- /dev/null +++ b/maps/zulu24/zulu24/metadata.json @@ -0,0 +1,54 @@ +{ + "name": "zulu24", + "version": "1.1.0", + "description": "", + "attribution": "Rendered with MapTiler Desktop", + "type": "overlay", + "format": "png", + "minzoom": "0", + "maxzoom": "3", + "scale": "1.000000", + "bounds": [-74.10576163, 41.46198696, -74.09588036, 41.46770470], + "profile": "custom", + "crs": "EPSG:3857", + "proj4": "+proj=merc +a=6378137 +b=6378137 +lat_ts=0.0 +lon_0=0.0 +x_0=0.0 +y_0=0 +k=1.0 +units=m +nadgrids=@null +wktext +no_defs", + "extent": [-8249415.64960000, 5080725.31638496, -8248315.67159606, 5081574.69940000], + "tile_matrix": [ + { + "id": "0", + "tile_size": [240, 240], + "origin": [-8249415.64960000, 5081574.69940000], + "extent": [-8249415.64960000, 5080725.31638496, -8248315.67159606, 5081574.69940000], + "pixel_size": [5.60000000, -5.60000000], + "matrix_size": [1, 1], + "scale_denominator": 20000.00000000 + }, + { + "id": "1", + "tile_size": [240, 240], + "origin": [-8249415.64960000, 5081574.69940000], + "extent": [-8249415.64960000, 5080725.31638496, -8248315.67159606, 5081574.69940000], + "pixel_size": [2.80000000, -2.80000000], + "matrix_size": [2, 2], + "scale_denominator": 10000.00000000 + }, + { + "id": "2", + "tile_size": [240, 240], + "origin": [-8249415.64960000, 5081574.69940000], + "extent": [-8249415.64960000, 5080725.31638496, -8248315.67159606, 5081574.69940000], + "pixel_size": [1.40000000, -1.40000000], + "matrix_size": [4, 3], + "scale_denominator": 5000.00000000 + }, + { + "id": "3", + "tile_size": [240, 240], + "origin": [-8249415.64960000, 5081574.69940000], + "extent": [-8249415.64960000, 5080725.31638496, -8248315.67159606, 5081574.69940000], + "pixel_size": [0.70000000, -0.70000000], + "matrix_size": [7, 6], + "scale_denominator": 2500.00000000 + } +] +} diff --git a/maps/zulu24/zulu24/openlayers.html b/maps/zulu24/zulu24/openlayers.html new file mode 100644 index 0000000..948ef02 --- /dev/null +++ b/maps/zulu24/zulu24/openlayers.html @@ -0,0 +1,70 @@ + + + +zulu24 + + + + + + + + + + +
+ + + + diff --git a/partition-table.csv b/partition-table.csv new file mode 100644 index 0000000..589682a --- /dev/null +++ b/partition-table.csv @@ -0,0 +1,8 @@ +# FIXME! using the genpartitions based table doesn't work on TTGO so for now I stay with my old memory map +# This is a layout for 4MB of flash +# Name, Type, SubType, Offset, Size, Flags +nvs, data, nvs, 0x9000, 0x5000, +otadata, data, ota, 0xe000, 0x2000, +app0, app, ota_0, 0x10000, 0x320000, +config, data, spiffs, 0x330000,0x00F000, +spiffs, data, spiffs, 0x33F000,0x0C1000, diff --git a/pcb/AirsoftTracker 1.4/AirsoftTracker 1.1.json b/pcb/AirsoftTracker 1.4/AirsoftTracker 1.1.json new file mode 100644 index 0000000..cd59ba0 --- /dev/null +++ b/pcb/AirsoftTracker 1.4/AirsoftTracker 1.1.json @@ -0,0 +1 @@ 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4228.9016 3786.9049 L 4228.9016 3789.9749 L 4229.1016 3790.5849 L 4229.5116 3790.9949 L 4230.1316 3791.1949 L 4230.5416 3791.1949 L 4231.1516 3790.9949 L 4231.5616 3790.5849 L 4231.7616 3789.9749 L 4231.7616 3786.9049 M 4233.1116 3787.7249 L 4233.5216 3787.5149 L 4234.1416 3786.9049 L 4234.1416 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3665.72 L 4247.46 3664.9 L 4247.66 3664.5 L 4247.87 3664.29 L 4248.28 3664.09 L 4248.69 3664.09 L 4249.1 3664.29 L 4249.71 3664.7 L 4251.75 3666.75 L 4251.75 3663.88 M 4247.46 3662.12 L 4247.46 3659.87 L 4249.1 3661.1 L 4249.1 3660.49 L 4249.3 3660.08 L 4249.5 3659.87 L 4250.12 3659.67 L 4250.53 3659.67 L 4251.14 3659.87 L 4251.55 3660.28 L 4251.75 3660.9 L 4251.75 3661.51 L 4251.55 3662.12 L 4251.35 3662.33 L 4250.94 3662.53 M 4247.46 3657.09 L 4247.66 3657.7 L 4248.28 3658.11 L 4249.3 3658.32 L 4249.91 3658.32 L 4250.94 3658.11 L 4251.55 3657.7 L 4251.75 3657.09 L 4251.75 3656.68 L 4251.55 3656.07 L 4250.94 3655.66 L 4249.91 3655.45 L 4249.3 3655.45 L 4248.28 3655.66 L 4247.66 3656.07 L 4247.46 3656.68 L 4247.46 3657.09 M 4248.28 3654.1 L 4248.07 3653.7 L 4247.46 3653.08 L 4251.75 3653.08 M 4247.46 3648.87 L 4251.75 3650.91 M 4247.46 3651.73 L 4247.46 3648.87~none~gge3~~0~#@$TEXT~P~4315.499~3690~0.6~0~0~3~~4.5~U3~M 4315.5 3685.46 L 4315.5 3688.53 L 4315.7 3689.14 L 4316.11 3689.55 L 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3704.88 L 4358.03 3705.24 L 4358.39 3705.6 L 4358.75 3705.78 L 4359.28 3705.96 L 4360.18 3705.96 L 4360.72 3705.78 L 4361.07 3705.6 L 4361.43 3705.24 L 4361.61 3704.88 L 4361.61 3704.17 L 4361.43 3703.81 L 4361.07 3703.45 L 4360.72 3703.27 M 4358.75 3699.41 L 4358.39 3699.58 L 4358.03 3699.94 L 4357.85 3700.3 L 4357.85 3701.02 L 4358.03 3701.37 L 4358.39 3701.73 L 4358.75 3701.91 L 4359.28 3702.09 L 4360.18 3702.09 L 4360.72 3701.91 L 4361.07 3701.73 L 4361.43 3701.37 L 4361.61 3701.02 L 4361.61 3700.3 L 4361.43 3699.94 L 4361.07 3699.58 L 4360.72 3699.41~~gge26~~0~#@$TEXT~L~4269.999~3685~0.8~90~0~3~~3.937~VCC/GND~M 4267.85 3685 L 4271.61 3683.57 M 4267.85 3682.14 L 4271.61 3683.57 M 4268.75 3678.27 L 4268.39 3678.45 L 4268.03 3678.81 L 4267.85 3679.17 L 4267.85 3679.88 L 4268.03 3680.24 L 4268.39 3680.6 L 4268.75 3680.78 L 4269.28 3680.96 L 4270.18 3680.96 L 4270.72 3680.78 L 4271.07 3680.6 L 4271.43 3680.24 L 4271.61 3679.88 L 4271.61 3679.17 L 4271.43 3678.81 L 4271.07 3678.45 L 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3661.85 L 4290.89 3661.5 L 4290 3661.32 L 4289.46 3661.32 L 4288.57 3661.5 L 4288.03 3661.85 L 4287.85 3662.39 L 4287.85 3662.75~~gge32~~0~#@$TEXT~L~4299.999~3680~0.8~90~0~3~~3.937~B1/A1~M 4297.85 3680 L 4301.61 3680 M 4297.85 3680 L 4297.85 3678.39 L 4298.03 3677.85 L 4298.21 3677.67 L 4298.57 3677.49 L 4298.93 3677.49 L 4299.28 3677.67 L 4299.46 3677.85 L 4299.64 3678.39 M 4299.64 3680 L 4299.64 3678.39 L 4299.82 3677.85 L 4300 3677.67 L 4300.36 3677.49 L 4300.89 3677.49 L 4301.25 3677.67 L 4301.43 3677.85 L 4301.61 3678.39 L 4301.61 3680 M 4298.57 3676.31 L 4298.39 3675.96 L 4297.85 3675.42 L 4301.61 3675.42 M 4297.14 3671.02 L 4302.86 3674.24 M 4297.85 3668.4 L 4301.61 3669.84 M 4297.85 3668.4 L 4301.61 3666.97 M 4300.36 3669.3 L 4300.36 3667.51 M 4298.57 3665.79 L 4298.39 3665.43 L 4297.85 3664.9 L 4301.61 3664.9~~gge34~~0~#@$TEXT~L~4309.999~3680~0.8~90~0~3~~3.937~B2/A2~M 4307.85 3680 L 4311.61 3680 M 4307.85 3680 L 4307.85 3678.39 L 4308.03 3677.85 L 4308.21 3677.67 L 4308.57 3677.49 L 4308.93 3677.49 L 4309.28 3677.67 L 4309.46 3677.85 L 4309.64 3678.39 M 4309.64 3680 L 4309.64 3678.39 L 4309.82 3677.85 L 4310 3677.67 L 4310.36 3677.49 L 4310.89 3677.49 L 4311.25 3677.67 L 4311.43 3677.85 L 4311.61 3678.39 L 4311.61 3680 M 4308.75 3676.13 L 4308.57 3676.13 L 4308.21 3675.96 L 4308.03 3675.78 L 4307.85 3675.42 L 4307.85 3674.7 L 4308.03 3674.35 L 4308.21 3674.17 L 4308.57 3673.99 L 4308.93 3673.99 L 4309.28 3674.17 L 4309.82 3674.52 L 4311.61 3676.31 L 4311.61 3673.81 M 4307.14 3669.41 L 4312.86 3672.63 M 4307.85 3666.79 L 4311.61 3668.22 M 4307.85 3666.79 L 4311.61 3665.36 M 4310.36 3667.69 L 4310.36 3665.9 M 4308.75 3664 L 4308.57 3664 L 4308.21 3663.82 L 4308.03 3663.64 L 4307.85 3663.29 L 4307.85 3662.57 L 4308.03 3662.21 L 4308.21 3662.03 L 4308.57 3661.85 L 4308.93 3661.85 L 4309.28 3662.03 L 4309.82 3662.39 L 4311.61 3664.18 L 4311.61 3661.68~~gge36~~0~#@$TEXT~L~4319.999~3680~0.8~90~0~3~~3.937~B3/A3~M 4317.85 3680 L 4321.61 3680 M 4317.85 3680 L 4317.85 3678.39 L 4318.03 3677.85 L 4318.21 3677.67 L 4318.57 3677.49 L 4318.93 3677.49 L 4319.28 3677.67 L 4319.46 3677.85 L 4319.64 3678.39 M 4319.64 3680 L 4319.64 3678.39 L 4319.82 3677.85 L 4320 3677.67 L 4320.36 3677.49 L 4320.89 3677.49 L 4321.25 3677.67 L 4321.43 3677.85 L 4321.61 3678.39 L 4321.61 3680 M 4317.85 3675.96 L 4317.85 3673.99 L 4319.28 3675.06 L 4319.28 3674.52 L 4319.46 3674.17 L 4319.64 3673.99 L 4320.18 3673.81 L 4320.54 3673.81 L 4321.07 3673.99 L 4321.43 3674.35 L 4321.61 3674.88 L 4321.61 3675.42 L 4321.43 3675.96 L 4321.25 3676.13 L 4320.89 3676.31 M 4317.14 3669.41 L 4322.86 3672.63 M 4317.85 3666.79 L 4321.61 3668.22 M 4317.85 3666.79 L 4321.61 3665.36 M 4320.36 3667.69 L 4320.36 3665.9 M 4317.85 3663.82 L 4317.85 3661.85 L 4319.28 3662.93 L 4319.28 3662.39 L 4319.46 3662.03 L 4319.64 3661.85 L 4320.18 3661.68 L 4320.54 3661.68 L 4321.07 3661.85 L 4321.43 3662.21 L 4321.61 3662.75 L 4321.61 3663.29 L 4321.43 3663.82 L 4321.25 3664 L 4320.89 3664.18~~gge38~~0~#@$TEXT~L~4329.999~3680~0.8~90~0~3~~3.937~B4/A4~M 4327.85 3680 L 4331.61 3680 M 4327.85 3680 L 4327.85 3678.39 L 4328.03 3677.85 L 4328.21 3677.67 L 4328.57 3677.49 L 4328.93 3677.49 L 4329.28 3677.67 L 4329.46 3677.85 L 4329.64 3678.39 M 4329.64 3680 L 4329.64 3678.39 L 4329.82 3677.85 L 4330 3677.67 L 4330.36 3677.49 L 4330.89 3677.49 L 4331.25 3677.67 L 4331.43 3677.85 L 4331.61 3678.39 L 4331.61 3680 M 4327.85 3674.52 L 4330.36 3676.31 L 4330.36 3673.63 M 4327.85 3674.52 L 4331.61 3674.52 M 4327.14 3669.23 L 4332.86 3672.45 M 4327.85 3666.61 L 4331.61 3668.05 M 4327.85 3666.61 L 4331.61 3665.18 M 4330.36 3667.51 L 4330.36 3665.72 M 4327.85 3662.21 L 4330.36 3664 L 4330.36 3661.32 M 4327.85 3662.21 L 4331.61 3662.21~~gge40~~0~#@$TEXT~L~4339.999~3680~0.8~90~0~3~~3.937~B5/A5~M 4337.85 3680 L 4341.61 3680 M 4337.85 3680 L 4337.85 3678.39 L 4338.03 3677.85 L 4338.21 3677.67 L 4338.57 3677.49 L 4338.93 3677.49 L 4339.28 3677.67 L 4339.46 3677.85 L 4339.64 3678.39 M 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Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[platformio] +default_envs = tbeam-v101 ; Note: the github actions CI test build can't yet build NRF52 targets + +[env] +build_unflags = -O2 +build_flags = -Wno-missing-field-initializers -Isrc -Ofast +monitor_speed = 115200 +extra_scripts = + pre:platformio_version_increment/version_increment_pre.py + post:platformio_version_increment/version_increment_post.py +lib_extra_dirs = + ./libs +lib_deps = + 1260 ; OneButton library for non-blocking button debounce + Wire + FS + SPI + ArduinoJson + CayenneLPP +; https://github.com/meshtastic/SparkFun_Ublox_Arduino_Library.git + https://github.com/meshtastic/RadioLib.git#8657380241bce681c33aab46598bbf13b11f876c + https://github.com/lvgl/lv_port_esp32.git + adafruit/Adafruit MCP23017 Arduino Library + + +[esp32_base] +monitor_filters = esp32_exception_decoder +board_build.partitions = partition-table.csv +framework = arduino +board_build.filesystem = spiffs +src_filter = + ${env.src_filter} +upload_speed = 921600 +build_flags = ${env.build_flags} -Wall -Wextra -mfix-esp32-psram-cache-issue -Wno-format-truncation -DLV_LVGL_H_INCLUDE_SIMPLE -DRADIOLIB_GODMODE -DARDUINOJSON_USE_DOUBLE=1 -Wwrite-strings +# -flto -Wl,-flto + +platform = espressif32 +#platform = https://github.com/platformio/platform-espressif32.git#feature/arduino-upstream +#platform_packages = +# framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32.git#2.0.0 +# toolchain-xtensa-esp32 @ 8.4.0+2021r1 + +[tbeam] +monitor_filters = esp32_exception_decoder +extends = esp32_base +board = ttgo-t-beam +lib_deps = + ${env.lib_deps} + +[env:tbeam-v100] +extends = tbeam +build_flags = ${esp32_base.build_flags} -D AD_V100 + +[env:tbeam-v101] +extends = tbeam +build_flags = ${esp32_base.build_flags} -D AD_V101 + + +[env:tbeam-v101-noscreen] +extends = tbeam +build_flags = ${esp32_base.build_flags} -D AD_V101 -D AD_NOSCREEN + +[env:lora32-noscreen] +extends = esp32_base +board = ttgo-lora32-v1 +build_flags = ${esp32_base.build_flags} -D AD_LORA32_V1 -D AD_NOSCREEN diff --git a/platformio_version_increment/version_increment_post.py b/platformio_version_increment/version_increment_post.py new file mode 100644 index 0000000..ac0eb1a --- /dev/null +++ b/platformio_version_increment/version_increment_post.py @@ -0,0 +1,31 @@ +""" Remove version increment guard file if present """ +import os + +Import("env") + +## DO NOT EDIT THIS FILE, edit version file if you want to start from a different version +# +# version_increment_post.py - Simple versioning script for Platformio +# +# Copyright (C) 2020 Davide Perini +# +# Permission is hereby granted, free of charge, to any person obtaining a copy of +# this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# You should have received a copy of the MIT License along with this program. +# If not, see . +# + +def remove_guard_file(source, target, env): + """ Remove version increment guard file if present """ + if os.path.exists(".version_no_increment"): + os.remove(".version_no_increment") + +env.AddPostAction("upload", remove_guard_file) diff --git a/platformio_version_increment/version_increment_pre.py b/platformio_version_increment/version_increment_pre.py new file mode 100644 index 0000000..64ae177 --- /dev/null +++ b/platformio_version_increment/version_increment_pre.py @@ -0,0 +1,74 @@ +""" Create version header and tracker file if missing """ +import datetime +import os + +Import("env") + +## DO NOT EDIT THIS FILE, edit version file if you want to start from a different version +# +# version_increment_pre.py - Simple versioning script for Platformio +# +# Copyright (C) 2020 Davide Perini +# +# Permission is hereby granted, free of charge, to any person obtaining a copy of +# this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# You should have received a copy of the MIT License along with this program. +# If not, see . +# + +VERSION_FILE = 'version' +VERSION_HEADER = 'version.h' +VERSION_PREFIX = '1.0.' +VERSION_PATCH_NUMBER = 0 + +if not os.path.exists(".version_no_increment"): + try: + with open(VERSION_FILE) as FILE: + VERSION_PATCH_NUMBER = FILE.readline() + VERSION_PREFIX = VERSION_PATCH_NUMBER[0:VERSION_PATCH_NUMBER.rindex('.')+1] + VERSION_PATCH_NUMBER = int(VERSION_PATCH_NUMBER[VERSION_PATCH_NUMBER.rindex('.')+1:]) + 1 + except: + print('No version file found or incorrect data in it. Starting from 0.1.0') + VERSION_PATCH_NUMBER = 0 + with open(VERSION_FILE, 'w+') as FILE: + FILE.write(VERSION_PREFIX + str(VERSION_PATCH_NUMBER)) + print('Build number: {}'.format(VERSION_PREFIX + str(VERSION_PATCH_NUMBER))) + + HEADER_FILE = """ + // AUTO GENERATED FILE, DO NOT EDIT + #ifndef VERSION + #define VERSION "{}" + #endif + #ifndef BUILD_TIMESTAMP + #define BUILD_TIMESTAMP "{}" + #endif + """.format(VERSION_PREFIX + str(VERSION_PATCH_NUMBER), datetime.datetime.now()) + + if os.environ.get('PLATFORMIO_INCLUDE_DIR') is not None: + VERSION_HEADER = os.environ.get('PLATFORMIO_INCLUDE_DIR') + os.sep + VERSION_HEADER + elif os.path.exists("include"): + VERSION_HEADER = "include" + os.sep + VERSION_HEADER + else: + PROJECT_DIR = env.subst("$PROJECT_DIR") + os.mkdir(PROJECT_DIR + os.sep + "include") + VERSION_HEADER = "include" + os.sep + VERSION_HEADER + + with open(VERSION_HEADER, 'w+') as FILE: + FILE.write(HEADER_FILE) + + open('.version_no_increment', 'a').close() +else: + if os.path.exists("version"): + FILE = open(VERSION_FILE) + VERSION_NUMBER = FILE.readline() + print('Build number: {} (waiting for upload before next increment)'.format(str(VERSION_NUMBER))) + else: + print('No version file found or incorrect data in it!!') diff --git a/screens/cprj/app.c b/screens/cprj/app.c new file mode 100644 index 0000000..a477eaf --- /dev/null +++ b/screens/cprj/app.c @@ -0,0 +1,32 @@ +#include "app.h" + +/********************** + * WIDGETS + **********************/ + +/********************** + * STATIC VARIABLES + **********************/ + + +void app_create(lv_obj_t *parent) +{ + + static lv_style_t toplabel_s0; + lv_style_init(&toplabel_s0); + lv_style_set_text_font(&toplabel_s0,LV_STATE_DEFAULT,&Roboto 16); + lv_style_set_text_font(&toplabel_s0,LV_STATE_CHECKED,&Roboto 16); + lv_style_set_text_font(&toplabel_s0,LV_STATE_FOCUSED,&Roboto 16); + lv_style_set_text_font(&toplabel_s0,LV_STATE_EDITED,&Roboto 16); + lv_style_set_text_font(&toplabel_s0,LV_STATE_HOVERED,&Roboto 16); + lv_style_set_text_font(&toplabel_s0,LV_STATE_PRESSED,&Roboto 16); + lv_style_set_text_font(&toplabel_s0,LV_STATE_DISABLED,&Roboto 16); + lv_obj_t *toplabel = lv_label_create(parent, NULL); + lv_label_set(toplabel,"Main Menu") + lv_label_set_align(toplabel, LV_LABEL_ALIGN_CENTER); + lv_label_set_long_mode(toplabel, LV_LABEL_LONG_DOT); + lv_obj_set_pos(toplabel, 0, 2); + lv_obj_set_size(toplabel, 320, 19); + lv_obj_add_style(toplabel, 0, &toplabel_s0); + +} diff --git a/screens/cprj/app.h b/screens/cprj/app.h new file mode 100644 index 0000000..3842ea8 --- /dev/null +++ b/screens/cprj/app.h @@ -0,0 +1,28 @@ +#ifndef APP_H +#define APP_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************** + * INCLUDES + **********************/ + +#include "lvgl/lvgl.h" + +/********************** + * WIDGETS + **********************/ + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +void app_create(lv_obj_t *parent); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*APP_H*/ \ No newline at end of file diff --git a/screens/mainmenu.lvgl b/screens/mainmenu.lvgl new file mode 100644 index 0000000..fa8b13d --- /dev/null +++ b/screens/mainmenu.lvgl @@ -0,0 +1,84 @@ +{ + "fonts": [ + ], + "images": [ + ], + "lvgl": { + "name": "App", + "resolution": { + "height": 240, + "width": 320 + }, + "screen color": "#ffffff", + "widgets": [ + { + "accessible": false, + "align": "Center", + "class": "lv_label", + "geometry": { + "height": 19, + "width": 320, + "x": 0, + "y": 2 + }, + "locked": false, + "long mode": "Dot", + "name": "topLabel", + "recolor": false, + "styles": [ + { + "Text": { + "text_font": "Roboto 16" + }, + "part": 0, + "state": 0 + }, + { + "Text": { + "text_font": "Roboto 16" + }, + "part": 0, + "state": 1 + }, + { + "Text": { + "text_font": "Roboto 16" + }, + "part": 0, + "state": 2 + }, + { + "Text": { + "text_font": "Roboto 16" + }, + "part": 0, + "state": 3 + }, + { + "Text": { + "text_font": "Roboto 16" + }, + "part": 0, + "state": 4 + }, + { + "Text": { + "text_font": "Roboto 16" + }, + "part": 0, + "state": 5 + }, + { + "Text": { + "text_font": "Roboto 16" + }, + "part": 0, + "state": 6 + } + ], + "text": "Main Menu", + "widget": "Label" + } + ] + } +} diff --git a/screens/mainscreen/content/calibri_6_L8.bin b/screens/mainscreen/content/calibri_6_L8.bin new file mode 100644 index 0000000..ae8fadc Binary files /dev/null and b/screens/mainscreen/content/calibri_6_L8.bin differ diff --git a/screens/mainscreen/content/calibri_6_L8.binh b/screens/mainscreen/content/calibri_6_L8.binh new file mode 100644 index 0000000..dd109c2 --- /dev/null +++ b/screens/mainscreen/content/calibri_6_L8.binh @@ -0,0 +1,105 @@ +0x78, 0xda, 0xdd, 0x9a, 0x7, 0x5c, 0x14, 0x47, 0x17, 0xc0, 0x7, 0xee, 0x38, 0xe, 0x8e, 0x22, 0x20, 0x28, 0xa, 0x88, 0x28, 0xa, 0x76, 0xd, 0x96, 0xf8, 0xa1, 0x12, 0x3b, 0x6a, 0x62, 0x43, +0x41, 0xa3, 0x46, 0xec, 0x6, 0x5b, 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\ No newline at end of file diff --git a/screens/mainscreen/images/0.json b/screens/mainscreen/images/0.json new file mode 100644 index 0000000..72cb0da --- /dev/null +++ b/screens/mainscreen/images/0.json @@ -0,0 +1 @@ +{"name": "0", "type": "bitmap", "format": "COMPRESSED_RGBA_ASTC_8x8_KHR", "astcCompressionSpeed": "thorough", "width": 240, "height": 240, "compressed": 1} \ No newline at end of file diff --git a/screens/mainscreen/images/0.meta b/screens/mainscreen/images/0.meta new file mode 100644 index 0000000..df2b1dd --- /dev/null +++ b/screens/mainscreen/images/0.meta @@ -0,0 +1,5 @@ +{ + "converter": "Image", + "imageFormat": 37815, + "sourcePath": "D:/Projects/Embedded/AirsoftTracker/1/0.png" +} diff --git a/screens/mainscreen/images/0.raw b/screens/mainscreen/images/0.raw new file mode 100644 index 0000000..fdf5fb0 Binary files /dev/null and b/screens/mainscreen/images/0.raw differ diff --git a/screens/mainscreen/images/0.rawh b/screens/mainscreen/images/0.rawh new file mode 100644 index 0000000..3a3cc12 --- /dev/null +++ b/screens/mainscreen/images/0.rawh @@ -0,0 +1,31 @@ +/*('file properties: ', 'resolution ', 240, 'x', 240, 'format ', 'COMPRESSED_RGBA_ASTC_8x8_KHR', 'stride ', 480, ' total size ', 14400)*/ 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diff --git a/screens/mainscreen/images/0_Converted.png b/screens/mainscreen/images/0_Converted.png new file mode 100644 index 0000000..ba9bf28 Binary files /dev/null and b/screens/mainscreen/images/0_Converted.png differ diff --git a/screens/mainscreen/images/Untitled-2-fs8.png b/screens/mainscreen/images/Untitled-2-fs8.png new file mode 100644 index 0000000..8648b5d Binary files /dev/null and b/screens/mainscreen/images/Untitled-2-fs8.png differ diff --git a/screens/mainscreen/images/Untitled-2.bin b/screens/mainscreen/images/Untitled-2.bin new file mode 100644 index 0000000..700428b Binary files /dev/null and b/screens/mainscreen/images/Untitled-2.bin differ diff --git a/screens/mainscreen/images/Untitled-2.binh b/screens/mainscreen/images/Untitled-2.binh new file mode 100644 index 0000000..1ca0400 --- /dev/null +++ b/screens/mainscreen/images/Untitled-2.binh @@ -0,0 +1,2 @@ +/*('file properties: ', 'resolution ', 240, 'x', 240, 'format ', 'COMPRESSED_RGBA_ASTC_4x4_KHR', 'stride ', 960, ' total size ', 57600)*/ 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diff --git a/screens/mainscreen/images/Untitled-2_Converted.png b/screens/mainscreen/images/Untitled-2_Converted.png new file mode 100644 index 0000000..d2a49d3 Binary files /dev/null and b/screens/mainscreen/images/Untitled-2_Converted.png differ diff --git a/screens/mainscreen/images/pink.bin b/screens/mainscreen/images/pink.bin new file mode 100644 index 0000000..06cb17b Binary files /dev/null and b/screens/mainscreen/images/pink.bin differ diff --git a/screens/mainscreen/images/pink.binh b/screens/mainscreen/images/pink.binh new file mode 100644 index 0000000..e1162d2 --- /dev/null +++ b/screens/mainscreen/images/pink.binh @@ -0,0 +1,2 @@ +/*('file properties: ', 'resolution ', 162, 'x', 146, 'format ', 'RGB565', 'stride ', 324, ' total size ', 47304)*/ 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\ No newline at end of file diff --git a/screens/ms2/images/0.json b/screens/ms2/images/0.json new file mode 100644 index 0000000..f340923 --- /dev/null +++ b/screens/ms2/images/0.json @@ -0,0 +1 @@ +{"name": "0", "type": "bitmap", "format": "COMPRESSED_RGBA_ASTC_4x4_KHR", "astcCompressionSpeed": "thorough", "width": 244, "height": 244, "compressed": 1} \ No newline at end of file diff --git a/screens/ms2/images/0.meta b/screens/ms2/images/0.meta new file mode 100644 index 0000000..8ee46e3 --- /dev/null +++ b/screens/ms2/images/0.meta @@ -0,0 +1,5 @@ +{ + "converter": "Image", + "imageFormat": 37808, + "sourcePath": "D:/Projects/Embedded/AirsoftTracker/maps/home/tiles_ready/2/0/0.png.png" +} diff --git a/screens/ms2/images/0.raw b/screens/ms2/images/0.raw new file mode 100644 index 0000000..dbe336e Binary files /dev/null and b/screens/ms2/images/0.raw differ diff --git a/screens/ms2/images/0.rawh b/screens/ms2/images/0.rawh new file mode 100644 index 0000000..15f1c39 --- /dev/null +++ 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diff --git a/screens/ms2/images/0_converted.png b/screens/ms2/images/0_converted.png new file mode 100644 index 0000000..48021be Binary files /dev/null and b/screens/ms2/images/0_converted.png differ diff --git a/screens/ms2/images/Untitled-2-fs8.png b/screens/ms2/images/Untitled-2-fs8.png new file mode 100644 index 0000000..552427d Binary files /dev/null and b/screens/ms2/images/Untitled-2-fs8.png differ diff --git a/screens/ms2/images/Untitled-2.bin b/screens/ms2/images/Untitled-2.bin new file mode 100644 index 0000000..3cfa3e9 Binary files /dev/null and b/screens/ms2/images/Untitled-2.bin differ diff --git a/screens/ms2/images/Untitled-2.binh b/screens/ms2/images/Untitled-2.binh new file mode 100644 index 0000000..4996f89 --- /dev/null +++ b/screens/ms2/images/Untitled-2.binh @@ -0,0 +1,2 @@ +/*('file properties: ', 'resolution ', 244, 'x', 244, 'format ', 'COMPRESSED_RGBA_ASTC_4x4_KHR', 'stride ', 976, ' total size ', 59536)*/ 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diff --git a/screens/ms2/images/Untitled-2_converted.png b/screens/ms2/images/Untitled-2_converted.png new file mode 100644 index 0000000..02b4425 Binary files /dev/null and b/screens/ms2/images/Untitled-2_converted.png differ diff --git a/screens/ms2/ms2.ese b/screens/ms2/ms2.ese new file mode 100644 index 0000000..fe94917 --- /dev/null +++ b/screens/ms2/ms2.ese @@ -0,0 +1,74 @@ +{ + "content": [ + { + "converter": "Image", + "dataCompressed": false, + "dataStorage": "Embedded", + "destName": "images/Untitled-2", + "imageFormat": 37808, + "memoryAddress": 0, + "memoryLoaded": true, + "sourcePath": "D:/Projects/Embedded/AirsoftTracker/maps/home/tiles_ready/2/1/0.png.png" + }, + { + "converter": "Image", + "dataCompressed": false, + "dataStorage": "Embedded", + "destName": "images/0", + "imageFormat": 37808, + "memoryAddress": 157600, + "memoryLoaded": true, + "sourcePath": "D:/Projects/Embedded/AirsoftTracker/maps/home/tiles_ready/2/0/0.png.png" + } + ], + "coprocessor": [ + "CLEAR_COLOR_RGB(0, 0, 0)", + "CLEAR(1, 1, 1)", + "", + "", + "--ALPHA_FUNC(GEQUAL, 248)", + "CMD_SETBITMAP(157600, COMPRESSED_RGBA_ASTC_4x4_KHR, 242, 242)", + "BITMAP_SIZE(BILINEAR, BORDER, BORDER, 242, 242)", + "CMD_LOADIDENTITY()", + "CMD_SCALE(196608, 196608)", + "CMD_TRANSLATE(-13959168, 0)", + "CMD_SETMATRIX()", + "BEGIN(BITMAPS)", + "VERTEX2II(40, 0, 0, 0)", + "", + "CMD_SETBITMAP(0, COMPRESSED_RGBA_ASTC_4x4_KHR, 242, 242)", + "BITMAP_SIZE(BILINEAR, BORDER, BORDER, 242, 242)", + "CMD_LOADIDENTITY()", + "CMD_SCALE(196608, 196608)", + "CMD_TRANSLATE(1769472, 0)", + "CMD_SETMATRIX()", + "BEGIN(BITMAPS)", + "VERTEX2II(40, 0, 0, 0)", + "", + "BEGIN(POINTS)", + "COLOR_RGB(200,255,200)", + "COLOR_A(64\t)", + "POINT_SIZE(300)", + "VERTEX2II(162, 119, 0, 0)", + "END()", + "", + "", + "DISPLAY()", + "", + "", + "" + ], + "displayList": [ + "" + ], + "project": { + "device": 2069 + }, + "registers": { + "hSize": 320, + "macro": [ + "" + ], + "vSize": 240 + } +} diff --git a/screens/ms2/resources/0.png b/screens/ms2/resources/0.png new file mode 100644 index 0000000..c776c9f Binary files /dev/null and b/screens/ms2/resources/0.png differ diff --git a/screens/ms2/resources/Untitled-2.jpg b/screens/ms2/resources/Untitled-2.jpg new file mode 100644 index 0000000..988b33a Binary files /dev/null and b/screens/ms2/resources/Untitled-2.jpg differ diff --git a/scripts/config/agdnet.json b/scripts/config/agdnet.json new file mode 100644 index 0000000..6a75fe6 --- /dev/null +++ b/scripts/config/agdnet.json @@ -0,0 +1 @@ +{"freq":915,"bw":125,"sf":10,"cr":7,"preambleLength":8,"syncWord":49,"updateTimeout":10000} \ No newline at end of file diff --git a/scripts/config/main.json b/scripts/config/main.json new file mode 100644 index 0000000..3adb8ac --- /dev/null +++ b/scripts/config/main.json @@ -0,0 +1 @@ +{"id":1,"symbol":68,"radius":50,"name":"Player 1","units":0,"tz":"EST5EDT,M3.2.0,M11.1.0","screenIdleTimeout":90000,"reportInterval":500,"useVibration":true,"vibrationTime":200,"maxPeerTimeout":600,"t1":10000,"t2":150000,"t3":120000,"t4":0} \ No newline at end of file diff --git a/scripts/config/network.json b/scripts/config/network.json new file mode 100644 index 0000000..b62c157 --- /dev/null +++ b/scripts/config/network.json @@ -0,0 +1 @@ +{"freq":912,"bw":500,"sf":8,"cr":7,"preambleLength":8,"syncWord":100,"networkId":25,"password":"pwd"} \ No newline at end of file diff --git a/scripts/create_spiffs.bat b/scripts/create_spiffs.bat new file mode 100644 index 0000000..263c784 --- /dev/null +++ b/scripts/create_spiffs.bat @@ -0,0 +1 @@ +mkspiffs.exe -c .\config -a -s 61440 config.img \ No newline at end of file diff --git a/scripts/download_configs.bat b/scripts/download_configs.bat new file mode 100644 index 0000000..d01f500 --- /dev/null +++ b/scripts/download_configs.bat @@ -0,0 +1,2 @@ +esptool.exe -b 921600 read_flash 0x330000 61440 config.img +mkspiffs.exe -u config config.img \ No newline at end of file diff --git a/scripts/download_spiffs.bat b/scripts/download_spiffs.bat new file mode 100644 index 0000000..4791f15 --- /dev/null +++ b/scripts/download_spiffs.bat @@ -0,0 +1,2 @@ +esptool.exe -b 921600 read_flash 0x33F000 0x0C1000 spiffs.img +mkspiffs.exe -u spiffs spiffs.img \ No newline at end of file diff --git a/scripts/flash.bat b/scripts/flash.bat new file mode 100644 index 0000000..4dd375f --- /dev/null +++ b/scripts/flash.bat @@ -0,0 +1 @@ +esptool.exe -b 921600 write_flash 0x10000 ../.pio/build/tbeam-v101/firmware.bin \ No newline at end of file diff --git a/scripts/spiffs/at.png b/scripts/spiffs/at.png new file mode 100644 index 0000000..e2120d9 Binary files /dev/null and b/scripts/spiffs/at.png differ diff --git a/scripts/spiffs/gps.png b/scripts/spiffs/gps.png new file mode 100644 index 0000000..32fd7f0 Binary files /dev/null and b/scripts/spiffs/gps.png differ diff --git a/scripts/upload_config.bat b/scripts/upload_config.bat new file mode 100644 index 0000000..66ba1ee --- /dev/null +++ b/scripts/upload_config.bat @@ -0,0 +1,2 @@ +mkspiffs.exe -c .\config -a -s 61440 config.img +esptool.exe -b 921600 write_flash 0x330000 config.img \ No newline at end of file diff --git a/scripts/upload_spiff.bat b/scripts/upload_spiff.bat new file mode 100644 index 0000000..73f6c5c --- /dev/null +++ b/scripts/upload_spiff.bat @@ -0,0 +1,2 @@ +mkspiffs.exe -c .\spiffs -a -s 0x0C1000 spiffs.img +esptool.exe -b 921600 write_flash 0x33F000 spiffs.img \ No newline at end of file diff --git a/src/AHRS/Adafruit_AHRS_FusionInterface.h b/src/AHRS/Adafruit_AHRS_FusionInterface.h new file mode 100644 index 0000000..83dd1d2 --- /dev/null +++ b/src/AHRS/Adafruit_AHRS_FusionInterface.h @@ -0,0 +1,105 @@ +/*! + * @file Adafruit_AHRS_FusionInterface.h + * + * @section license License + * + * The MIT License (MIT) + * + * Copyright (c) 2020 Ha Thach (tinyusb.org) for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef ADAFRUIT_AHRS_FUSIONINTERFACE_H_ +#define ADAFRUIT_AHRS_FUSIONINTERFACE_H_ + +/*! + * @brief The common interface for the fusion algorithms. + */ +class Adafruit_AHRS_FusionInterface { +public: + /**************************************************************************/ + /*! + * @brief Initializes the sensor fusion filter. + * + * @param sampleFrequency The sensor sample rate in herz(samples per second). + */ + /**************************************************************************/ + virtual void begin(float sampleFrequency) = 0; + + /**************************************************************************/ + /*! + * @brief Updates the filter with new gyroscope, accelerometer, and + * magnetometer data. + * + * @param gx The gyroscope x axis. In DPS. + * @param gy The gyroscope y axis. In DPS. + * @param gz The gyroscope z axis. In DPS. + * @param ax The accelerometer x axis. In g. + * @param ay The accelerometer y axis. In g. + * @param az The accelerometer z axis. In g. + * @param mx The magnetometer x axis. In uT. + * @param my The magnetometer y axis. In uT. + * @param mz The magnetometer z axis. In uT. + */ + /**************************************************************************/ + virtual void update(float gx, float gy, float gz, float ax, float ay, + float az, float mx, float my, float mz, float dt) = 0; + + /**************************************************************************/ + /*! + * @brief Gets the current roll of the sensors. + * + * @return The current sensor roll. + */ + /**************************************************************************/ + virtual float getRoll() = 0; + + /**************************************************************************/ + /*! + * @brief Gets the current pitch of the sensors. + * + * @return The current sensor pitch. + */ + /**************************************************************************/ + virtual float getPitch() = 0; + + /**************************************************************************/ + /*! + * @brief Gets the current yaw of the sensors. + * + * @return The current sensor yaw. + */ + /**************************************************************************/ + virtual float getYaw() = 0; + virtual void getQuaternion(float *w, float *x, float *y, float *z) = 0; + virtual void setQuaternion(float w, float x, float y, float z) = 0; + + /**************************************************************************/ + /*! + * @brief Gets the current gravity vector of the sensor. + * + * @param x A float pointer to write the gravity vector x component to. In g. + * @param y A float pointer to write the gravity vector y component to. In g. + * @param z A float pointer to write the gravity vector z component to. In g. + */ + virtual void getGravityVector(float *x, float *y, float *z) = 0; +}; + +#endif /* ADAFRUIT_AHRS_FUSIONINTERFACE_H_ */ diff --git a/src/AHRS/Adafruit_AHRS_Madgwick.cpp b/src/AHRS/Adafruit_AHRS_Madgwick.cpp new file mode 100644 index 0000000..8ed72ed --- /dev/null +++ b/src/AHRS/Adafruit_AHRS_Madgwick.cpp @@ -0,0 +1,296 @@ +//============================================================================================= +// Madgwick.c +//============================================================================================= +// +// Implementation of Madgwick's IMU and AHRS algorithms. +// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +// +// From the x-io website "Open-source resources available on this website are +// provided under the GNU General Public Licence unless an alternative licence +// is provided in source." +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// 19/02/2012 SOH Madgwick Magnetometer measurement is normalised +// +//============================================================================================= + +//------------------------------------------------------------------------------------------- +// Header files + +#include "Adafruit_AHRS_Madgwick.h" +#include + +//------------------------------------------------------------------------------------------- +// Definitions + +#define sampleFreqDef 100.0f // sample frequency in Hz +#define betaDef 0.5f // 2 * proportional gain + +//============================================================================================ +// Functions + +//------------------------------------------------------------------------------------------- +// AHRS algorithm update + +Adafruit_Madgwick::Adafruit_Madgwick() : Adafruit_Madgwick(betaDef) {} + +Adafruit_Madgwick::Adafruit_Madgwick(float gain) { + beta = gain; + q0 = 1.0f; + q1 = 0.0f; + q2 = 0.0f; + q3 = 0.0f; + invSampleFreq = 1.0f / sampleFreqDef; + anglesComputed = false; +} + +void Adafruit_Madgwick::update(float gx, float gy, float gz, float ax, float ay, + float az, float mx, float my, float mz, + float dt) { + float recipNorm; + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + float hx, hy; + float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, + _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, + q2q2, q2q3, q3q3; + + // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in + // magnetometer normalisation) + if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { + updateIMU(gx, gy, gz, ax, ay, az, dt); + return; + } + + // Convert gyroscope degrees/sec to radians/sec + //gx *= 0.0174533f; + //gy *= 0.0174533f; + //gz *= 0.0174533f; + + // Rate of change of quaternion from gyroscope + qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); + qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); + qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); + qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); + + // Compute feedback only if accelerometer measurement valid (avoids NaN in + // accelerometer normalisation) + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + + // Normalise accelerometer measurement + recipNorm = invSqrt(ax * ax + ay * ay + az * az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + // Normalise magnetometer measurement + recipNorm = invSqrt(mx * mx + my * my + mz * mz); + mx *= recipNorm; + my *= recipNorm; + mz *= recipNorm; + + // Auxiliary variables to avoid repeated arithmetic + _2q0mx = 2.0f * q0 * mx; + _2q0my = 2.0f * q0 * my; + _2q0mz = 2.0f * q0 * mz; + _2q1mx = 2.0f * q1 * mx; + _2q0 = 2.0f * q0; + _2q1 = 2.0f * q1; + _2q2 = 2.0f * q2; + _2q3 = 2.0f * q3; + _2q0q2 = 2.0f * q0 * q2; + _2q2q3 = 2.0f * q2 * q3; + q0q0 = q0 * q0; + q0q1 = q0 * q1; + q0q2 = q0 * q2; + q0q3 = q0 * q3; + q1q1 = q1 * q1; + q1q2 = q1 * q2; + q1q3 = q1 * q3; + q2q2 = q2 * q2; + q2q3 = q2 * q3; + q3q3 = q3 * q3; + + // Reference direction of Earth's magnetic field + hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3; + hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + + my * q2q2 + _2q2 * mz * q3 - my * q3q3; + _2bx = sqrtf(hx * hx + hy * hy); + _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + + _2q2 * my * q3 - mz * q2q2 + mz * q3q3; + _4bx = 2.0f * _2bx; + _4bz = 2.0f * _2bz; + + // Gradient decent algorithm corrective step + s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - + _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (-_2bx * q3 + _2bz * q1) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - + 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (_2bx * q2 + _2bz * q0) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + (_2bx * q3 - _4bz * q1) * + (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - + 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + + (-_4bx * q2 - _2bz * q0) * + (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (_2bx * q1 + _2bz * q3) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + (_2bx * q0 - _4bz * q2) * + (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + + (-_4bx * q3 + _2bz * q1) * + (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + + (-_2bx * q0 + _2bz * q2) * + (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + + s3 * s3); // normalise step magnitude + s0 *= recipNorm; + s1 *= recipNorm; + s2 *= recipNorm; + s3 *= recipNorm; + + // Apply feedback step + qDot1 -= beta * s0; + qDot2 -= beta * s1; + qDot3 -= beta * s2; + qDot4 -= beta * s3; + } + + // Integrate rate of change of quaternion to yield quaternion + q0 += qDot1 * dt; + q1 += qDot2 * dt; + q2 += qDot3 * dt; + q3 += qDot4 * dt; + + // Normalise quaternion + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + anglesComputed = 0; +} + +//------------------------------------------------------------------------------------------- +// IMU algorithm update + +void Adafruit_Madgwick::updateIMU(float gx, float gy, float gz, float ax, + float ay, float az, float dt) { + float recipNorm; + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2, + q3q3; + + // Convert gyroscope degrees/sec to radians/sec + //gx *= 0.0174533f; + //gy *= 0.0174533f; + //gz *= 0.0174533f; + + // Rate of change of quaternion from gyroscope + qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); + qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); + qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); + qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); + + // Compute feedback only if accelerometer measurement valid (avoids NaN in + // accelerometer normalisation) + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + + // Normalise accelerometer measurement + recipNorm = invSqrt(ax * ax + ay * ay + az * az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + // Auxiliary variables to avoid repeated arithmetic + _2q0 = 2.0f * q0; + _2q1 = 2.0f * q1; + _2q2 = 2.0f * q2; + _2q3 = 2.0f * q3; + _4q0 = 4.0f * q0; + _4q1 = 4.0f * q1; + _4q2 = 4.0f * q2; + _8q1 = 8.0f * q1; + _8q2 = 8.0f * q2; + q0q0 = q0 * q0; + q1q1 = q1 * q1; + q2q2 = q2 * q2; + q3q3 = q3 * q3; + + // Gradient decent algorithm corrective step + s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; + s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; + s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; + s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; + recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + + s3 * s3); // normalise step magnitude + s0 *= recipNorm; + s1 *= recipNorm; + s2 *= recipNorm; + s3 *= recipNorm; + + // Apply feedback step + qDot1 -= beta * s0; + qDot2 -= beta * s1; + qDot3 -= beta * s2; + qDot4 -= beta * s3; + } + + // Integrate rate of change of quaternion to yield quaternion + q0 += qDot1 * dt; + q1 += qDot2 * dt; + q2 += qDot3 * dt; + q3 += qDot4 * dt; + + // Normalise quaternion + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + anglesComputed = 0; +} + + +//------------------------------------------------------------------------------------------- +// Fast inverse square-root +// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root + +float Adafruit_Madgwick::invSqrt(float x) { + float halfx = 0.5f * x; + float y = x; + long i = *(long *)&y; + i = 0x5f3759df - (i >> 1); + y = *(float *)&i; + y = y * (1.5f - (halfx * y * y)); + y = y * (1.5f - (halfx * y * y)); + return y; +} + +//------------------------------------------------------------------------------------------- + +void Adafruit_Madgwick::computeAngles() { + roll = atan2f(q0 * q1 + q2 * q3, 0.5f - q1 * q1 - q2 * q2); + pitch = asinf(-2.0f * (q1 * q3 - q0 * q2)); + yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3); + grav[0] = 2.0f * (q1 * q3 - q0 * q2); + grav[1] = 2.0f * (q0 * q1 + q2 * q3); + grav[2] = 2.0f * (q1 * q0 - 0.5f + q3 * q3); + anglesComputed = 1; +} diff --git a/src/AHRS/Adafruit_AHRS_Madgwick.h b/src/AHRS/Adafruit_AHRS_Madgwick.h new file mode 100644 index 0000000..7c30fac --- /dev/null +++ b/src/AHRS/Adafruit_AHRS_Madgwick.h @@ -0,0 +1,105 @@ +//============================================================================================= +// Madgwick.h +//============================================================================================= +// +// Implementation of Madgwick's IMU and AHRS algorithms. +// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +// +// From the x-io website "Open-source resources available on this website are +// provided under the GNU General Public Licence unless an alternative licence +// is provided in source." +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// +//============================================================================================= +#ifndef __Adafruit_Madgwick_h__ +#define __Adafruit_Madgwick_h__ + +#include "Adafruit_AHRS_FusionInterface.h" +#include + +//-------------------------------------------------------------------------------------------- +// Variable declaration +class Adafruit_Madgwick : public Adafruit_AHRS_FusionInterface { +private: + static float invSqrt(float x); + float beta; // algorithm gain + float q0; + float q1; + float q2; + float q3; // quaternion of sensor frame relative to auxiliary frame + float invSampleFreq; + float roll, pitch, yaw; + float grav[3]; + bool anglesComputed = false; + void computeAngles(); + + //------------------------------------------------------------------------------------------- + // Function declarations +public: + Adafruit_Madgwick(); + Adafruit_Madgwick(float gain); + void begin(float sampleFrequency) { invSampleFreq = 1.0f / sampleFrequency; } + void update(float gx, float gy, float gz, float ax, float ay, float az, + float mx, float my, float mz, float dt); + void updateIMU(float gx, float gy, float gz, float ax, float ay, float az, + float dt); + // float getPitch(){return atan2f(2.0f * q2 * q3 - 2.0f * q0 * q1, 2.0f * q0 * + // q0 + 2.0f * q3 * q3 - 1.0f);}; float getRoll(){return -1.0f * asinf(2.0f * + // q1 * q3 + 2.0f * q0 * q2);}; float getYaw(){return atan2f(2.0f * q1 * q2 + // - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);}; + float getBeta() { return beta; } + void setBeta(float beta) { this->beta = beta; } + float getRoll() { + if (!anglesComputed) + computeAngles(); + return roll * 57.29578f; + } + float getPitch() { + if (!anglesComputed) + computeAngles(); + return pitch * 57.29578f; + } + float getYaw() { + if (!anglesComputed) + computeAngles(); + return yaw * 57.29578f + 180.0f; + } + float getRollRadians() { + if (!anglesComputed) + computeAngles(); + return roll; + } + float getPitchRadians() { + if (!anglesComputed) + computeAngles(); + return pitch; + } + float getYawRadians() { + if (!anglesComputed) + computeAngles(); + return yaw; + } + void getQuaternion(float *w, float *x, float *y, float *z) { + *w = q0; + *x = q1; + *y = q2; + *z = q3; + } + void setQuaternion(float w, float x, float y, float z) { + q0 = w; + q1 = x; + q2 = y; + q3 = z; + } + void getGravityVector(float *x, float *y, float *z) { + if (!anglesComputed) + computeAngles(); + *x = grav[0]; + *y = grav[1]; + *z = grav[2]; + } +}; +#endif diff --git a/src/AHRS/Adafruit_AHRS_Mahony.cpp b/src/AHRS/Adafruit_AHRS_Mahony.cpp new file mode 100644 index 0000000..1a00be6 --- /dev/null +++ b/src/AHRS/Adafruit_AHRS_Mahony.cpp @@ -0,0 +1,277 @@ +//============================================================================================= +// Adafruit_Mahony.c +//============================================================================================= +// +// Madgwick's implementation of Mayhony's AHRS algorithm. +// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +// +// From the x-io website "Open-source resources available on this website are +// provided under the GNU General Public Licence unless an alternative licence +// is provided in source." +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// +// Algorithm paper: +// http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4608934&url=http%3A%2F%2Fieeexplore.ieee.org%2Fstamp%2Fstamp.jsp%3Ftp%3D%26arnumber%3D4608934 +// +//============================================================================================= + +//------------------------------------------------------------------------------------------- +// Header files + +#include "Adafruit_AHRS_Mahony.h" +#include + +//------------------------------------------------------------------------------------------- +// Definitions + +#define DEFAULT_SAMPLE_FREQ 100.0f // sample frequency in Hz +#define twoKpDef (2.0f * 12.5f) // 2 * proportional gain +#define twoKiDef (2.0f * 0.0f) // 2 * integral gain + +//============================================================================================ +// Functions + +//------------------------------------------------------------------------------------------- +// AHRS algorithm update + +Adafruit_Mahony::Adafruit_Mahony() : Adafruit_Mahony(twoKpDef, twoKiDef) {} + +Adafruit_Mahony::Adafruit_Mahony(float prop_gain, float int_gain) { + twoKp = prop_gain; // 2 * proportional gain (Kp) + twoKi = int_gain; // 2 * integral gain (Ki) + q0 = 1.0f; + q1 = 0.0f; + q2 = 0.0f; + q3 = 0.0f; + integralFBx = 0.0f; + integralFBy = 0.0f; + integralFBz = 0.0f; + anglesComputed = false; + invSampleFreq = 1.0f / DEFAULT_SAMPLE_FREQ; +} + +void Adafruit_Mahony::update(float gx, float gy, float gz, float ax, float ay, + float az, float mx, float my, float mz, float dt) { + float recipNorm; + float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3; + float hx, hy, bx, bz; + float halfvx, halfvy, halfvz, halfwx, halfwy, halfwz; + float halfex, halfey, halfez; + float qa, qb, qc; + + // Use IMU algorithm if magnetometer measurement invalid + // (avoids NaN in magnetometer normalisation) + if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { + updateIMU(gx, gy, gz, ax, ay, az, dt); + return; + } + + // Convert gyroscope degrees/sec to radians/sec + //gx *= 0.0174533f; + //gy *= 0.0174533f; + //gz *= 0.0174533f; + + // Compute feedback only if accelerometer measurement valid + // (avoids NaN in accelerometer normalisation) + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + + // Normalise accelerometer measurement + recipNorm = invSqrt(ax * ax + ay * ay + az * az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + // Normalise magnetometer measurement + recipNorm = invSqrt(mx * mx + my * my + mz * mz); + mx *= recipNorm; + my *= recipNorm; + mz *= recipNorm; + + // Auxiliary variables to avoid repeated arithmetic + q0q0 = q0 * q0; + q0q1 = q0 * q1; + q0q2 = q0 * q2; + q0q3 = q0 * q3; + q1q1 = q1 * q1; + q1q2 = q1 * q2; + q1q3 = q1 * q3; + q2q2 = q2 * q2; + q2q3 = q2 * q3; + q3q3 = q3 * q3; + + // Reference direction of Earth's magnetic field + hx = 2.0f * + (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2)); + hy = 2.0f * + (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1)); + bx = sqrtf(hx * hx + hy * hy); + bz = 2.0f * + (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2)); + + // Estimated direction of gravity and magnetic field + halfvx = q1q3 - q0q2; + halfvy = q0q1 + q2q3; + halfvz = q0q0 - 0.5f + q3q3; + halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2); + halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3); + halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2); + + // Error is sum of cross product between estimated direction + // and measured direction of field vectors + halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy); + halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz); + halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx); + + // Compute and apply integral feedback if enabled + if (twoKi > 0.0f) { + // integral error scaled by Ki + integralFBx += twoKi * halfex * dt; + integralFBy += twoKi * halfey * dt; + integralFBz += twoKi * halfez * dt; + gx += integralFBx; // apply integral feedback + gy += integralFBy; + gz += integralFBz; + } else { + integralFBx = 0.0f; // prevent integral windup + integralFBy = 0.0f; + integralFBz = 0.0f; + } + + // Apply proportional feedback + gx += twoKp * halfex; + gy += twoKp * halfey; + gz += twoKp * halfez; + } + + // Integrate rate of change of quaternion + gx *= (0.5f * dt); // pre-multiply common factors + gy *= (0.5f * dt); + gz *= (0.5f * dt); + qa = q0; + qb = q1; + qc = q2; + q0 += (-qb * gx - qc * gy - q3 * gz); + q1 += (qa * gx + qc * gz - q3 * gy); + q2 += (qa * gy - qb * gz + q3 * gx); + q3 += (qa * gz + qb * gy - qc * gx); + + // Normalise quaternion + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + anglesComputed = 0; +} + +//------------------------------------------------------------------------------------------- +// IMU algorithm update + +void Adafruit_Mahony::updateIMU(float gx, float gy, float gz, float ax, + float ay, float az, float dt) { + float recipNorm; + float halfvx, halfvy, halfvz; + float halfex, halfey, halfez; + float qa, qb, qc; + + // Convert gyroscope degrees/sec to radians/sec + //gx *= 0.0174533f; + //gy *= 0.0174533f; + //gz *= 0.0174533f; + + // Compute feedback only if accelerometer measurement valid + // (avoids NaN in accelerometer normalisation) + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + + // Normalise accelerometer measurement + recipNorm = invSqrt(ax * ax + ay * ay + az * az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + // Estimated direction of gravity + halfvx = q1 * q3 - q0 * q2; + halfvy = q0 * q1 + q2 * q3; + halfvz = q0 * q0 - 0.5f + q3 * q3; + + // Error is sum of cross product between estimated + // and measured direction of gravity + halfex = (ay * halfvz - az * halfvy); + halfey = (az * halfvx - ax * halfvz); + halfez = (ax * halfvy - ay * halfvx); + + // Compute and apply integral feedback if enabled + if (twoKi > 0.0f) { + // integral error scaled by Ki + integralFBx += twoKi * halfex * dt; + integralFBy += twoKi * halfey * dt; + integralFBz += twoKi * halfez * dt; + gx += integralFBx; // apply integral feedback + gy += integralFBy; + gz += integralFBz; + } else { + integralFBx = 0.0f; // prevent integral windup + integralFBy = 0.0f; + integralFBz = 0.0f; + } + + // Apply proportional feedback + gx += twoKp * halfex; + gy += twoKp * halfey; + gz += twoKp * halfez; + } + + // Integrate rate of change of quaternion + gx *= (0.5f * dt); // pre-multiply common factors + gy *= (0.5f * dt); + gz *= (0.5f * dt); + qa = q0; + qb = q1; + qc = q2; + q0 += (-qb * gx - qc * gy - q3 * gz); + q1 += (qa * gx + qc * gz - q3 * gy); + q2 += (qa * gy - qb * gz + q3 * gx); + q3 += (qa * gz + qb * gy - qc * gx); + + // Normalise quaternion + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + anglesComputed = 0; +} + +//------------------------------------------------------------------------------------------- +// Fast inverse square-root +// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root + +float Adafruit_Mahony::invSqrt(float x) { + float halfx = 0.5f * x; + float y = x; + long i = *(long *)&y; + i = 0x5f3759df - (i >> 1); + y = *(float *)&i; + y = y * (1.5f - (halfx * y * y)); + y = y * (1.5f - (halfx * y * y)); + return y; +} + +//------------------------------------------------------------------------------------------- + +void Adafruit_Mahony::computeAngles() { + roll = atan2f(q0 * q1 + q2 * q3, 0.5f - q1 * q1 - q2 * q2); + pitch = asinf(-2.0f * (q1 * q3 - q0 * q2)); + yaw = atan2f(q1 * q2 + q0 * q3, 0.5f - q2 * q2 - q3 * q3); + grav[0] = 2.0f * (q1 * q3 - q0 * q2); + grav[1] = 2.0f * (q0 * q1 + q2 * q3); + grav[2] = 2.0f * (q1 * q0 - 0.5f + q3 * q3); + anglesComputed = 1; +} + +//============================================================================================ +// END OF CODE +//============================================================================================ diff --git a/src/AHRS/Adafruit_AHRS_Mahony.h b/src/AHRS/Adafruit_AHRS_Mahony.h new file mode 100644 index 0000000..86c28c4 --- /dev/null +++ b/src/AHRS/Adafruit_AHRS_Mahony.h @@ -0,0 +1,103 @@ +//============================================================================================= +// Adafruit_AHRS_Mahony.h +//============================================================================================= +// +// Madgwick's implementation of Mayhony's AHRS algorithm. +// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// +//============================================================================================= +#ifndef __Adafruit_Mahony_h__ +#define __Adafruit_Mahony_h__ + +#include "Adafruit_AHRS_FusionInterface.h" +#include + +//-------------------------------------------------------------------------------------------- +// Variable declaration + +class Adafruit_Mahony : public Adafruit_AHRS_FusionInterface { +private: + float twoKp; // 2 * proportional gain (Kp) + float twoKi; // 2 * integral gain (Ki) + float q0, q1, q2, + q3; // quaternion of sensor frame relative to auxiliary frame + float integralFBx, integralFBy, + integralFBz; // integral error terms scaled by Ki + float invSampleFreq; + float roll, pitch, yaw; + float grav[3]; + bool anglesComputed = false; + static float invSqrt(float x); + void computeAngles(); + + //------------------------------------------------------------------------------------------- + // Function declarations + +public: + Adafruit_Mahony(); + Adafruit_Mahony(float prop_gain, float int_gain); + void begin(float sampleFrequency) { invSampleFreq = 1.0f / sampleFrequency; } + void update(float gx, float gy, float gz, float ax, float ay, float az, + float mx, float my, float mz, float dt); + void updateIMU(float gx, float gy, float gz, float ax, float ay, float az, + float dt); + float getKp() { return twoKp / 2.0f; } + void setKp(float Kp) { twoKp = 2.0f * Kp; } + float getKi() { return twoKi / 2.0f; } + void setKi(float Ki) { twoKi = 2.0f * Ki; } + float getRoll() { + if (!anglesComputed) + computeAngles(); + return roll * 57.29578f; + } + float getPitch() { + if (!anglesComputed) + computeAngles(); + return pitch * 57.29578f; + } + float getYaw() { + if (!anglesComputed) + computeAngles(); + return yaw * 57.29578f + 180.0f; + } + float getRollRadians() { + if (!anglesComputed) + computeAngles(); + return roll; + } + float getPitchRadians() { + if (!anglesComputed) + computeAngles(); + return pitch; + } + float getYawRadians() { + if (!anglesComputed) + computeAngles(); + return yaw; + } + void getQuaternion(float *w, float *x, float *y, float *z) { + *w = q0; + *x = q1; + *y = q2; + *z = q3; + } + void setQuaternion(float w, float x, float y, float z) { + q0 = w; + q1 = x; + q2 = y; + q3 = z; + } + void getGravityVector(float *x, float *y, float *z) { + if (!anglesComputed) + computeAngles(); + *x = grav[0]; + *y = grav[1]; + *z = grav[2]; + } +}; + +#endif diff --git a/src/AHRS/MadgwickAHRS.cpp b/src/AHRS/MadgwickAHRS.cpp new file mode 100644 index 0000000..1631b42 --- /dev/null +++ b/src/AHRS/MadgwickAHRS.cpp @@ -0,0 +1,251 @@ +//============================================================================================= +// MadgwickAHRS.c +//============================================================================================= +// +// Implementation of Madgwick's IMU and AHRS algorithms. +// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +// +// From the x-io website "Open-source resources available on this website are +// provided under the GNU General Public Licence unless an alternative licence +// is provided in source." +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// 19/02/2012 SOH Madgwick Magnetometer measurement is normalised +// +//============================================================================================= + +//------------------------------------------------------------------------------------------- +// Header files + +#include "MadgwickAHRS.h" +#include + +//------------------------------------------------------------------------------------------- +// Definitions + +#define sampleFreqDef 100.0f // sample frequency in Hz +#define betaDef 0.5f // 2 * proportional gain + + +//============================================================================================ +// Functions + +//------------------------------------------------------------------------------------------- +// AHRS algorithm update + +Madgwick::Madgwick() { + beta = betaDef; + q0 = 1.0f; + q1 = 0.0f; + q2 = 0.0f; + q3 = 0.0f; + invSampleFreq = 1.0f / sampleFreqDef; + anglesComputed = 0; +} + +void Madgwick::update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float deltat) { + float recipNorm; + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + float hx, hy; + float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3; + + // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation) + if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { + updateIMU(gx, gy, gz, ax, ay, az); + return; + } + + // Convert gyroscope degrees/sec to radians/sec + //gx *= 0.0174533f; + //gy *= 0.0174533f; + //gz *= 0.0174533f; + + // Rate of change of quaternion from gyroscope + qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); + qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); + qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); + qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); + + // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) + if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + + // Normalise accelerometer measurement + recipNorm = invSqrt(ax * ax + ay * ay + az * az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + // Normalise magnetometer measurement + recipNorm = invSqrt(mx * mx + my * my + mz * mz); + mx *= recipNorm; + my *= recipNorm; + mz *= recipNorm; + + // Auxiliary variables to avoid repeated arithmetic + _2q0mx = 2.0f * q0 * mx; + _2q0my = 2.0f * q0 * my; + _2q0mz = 2.0f * q0 * mz; + _2q1mx = 2.0f * q1 * mx; + _2q0 = 2.0f * q0; + _2q1 = 2.0f * q1; + _2q2 = 2.0f * q2; + _2q3 = 2.0f * q3; + _2q0q2 = 2.0f * q0 * q2; + _2q2q3 = 2.0f * q2 * q3; + q0q0 = q0 * q0; + q0q1 = q0 * q1; + q0q2 = q0 * q2; + q0q3 = q0 * q3; + q1q1 = q1 * q1; + q1q2 = q1 * q2; + q1q3 = q1 * q3; + q2q2 = q2 * q2; + q2q3 = q2 * q3; + q3q3 = q3 * q3; + + // Reference direction of Earth's magnetic field + hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3; + hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3; + _2bx = sqrtf(hx * hx + hy * hy); + _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3; + _4bx = 2.0f * _2bx; + _4bz = 2.0f * _2bz; + + // Gradient decent algorithm corrective step + s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - _2bz * q2 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q3 + _2bz * q1) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q2 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + _2bz * q3 * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q2 + _2bz * q0) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q3 - _4bz * q1) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - 4.0f * q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + (-_4bx * q2 - _2bz * q0) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (_2bx * q1 + _2bz * q3) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + (_2bx * q0 - _4bz * q2) * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + (-_4bx * q3 + _2bz * q1) * (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + (-_2bx * q0 + _2bz * q2) * (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + _2bx * q1 * (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); + recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude + s0 *= recipNorm; + s1 *= recipNorm; + s2 *= recipNorm; + s3 *= recipNorm; + + // Apply feedback step + qDot1 -= beta * s0; + qDot2 -= beta * s1; + qDot3 -= beta * s2; + qDot4 -= beta * s3; + } + + // Integrate rate of change of quaternion to yield quaternion + q0 += qDot1 * deltat; + q1 += qDot2 * deltat; + q2 += qDot3 * deltat; + q3 += qDot4 * deltat; + + // Normalise quaternion + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + anglesComputed = 0; +} + +//------------------------------------------------------------------------------------------- +// IMU algorithm update + +void Madgwick::updateIMU(float gx, float gy, float gz, float ax, float ay, float az) { + float recipNorm; + float s0, s1, s2, s3; + float qDot1, qDot2, qDot3, qDot4; + float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3; + + // Convert gyroscope degrees/sec to radians/sec + //gx *= 0.0174533f; + //gy *= 0.0174533f; + //gz *= 0.0174533f; + + // Rate of change of quaternion from gyroscope + qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); + qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); + qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); + qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); + + // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation) + if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + + // Normalise accelerometer measurement + recipNorm = invSqrt(ax * ax + ay * ay + az * az); + ax *= recipNorm; + ay *= recipNorm; + az *= recipNorm; + + // Auxiliary variables to avoid repeated arithmetic + _2q0 = 2.0f * q0; + _2q1 = 2.0f * q1; + _2q2 = 2.0f * q2; + _2q3 = 2.0f * q3; + _4q0 = 4.0f * q0; + _4q1 = 4.0f * q1; + _4q2 = 4.0f * q2; + _8q1 = 8.0f * q1; + _8q2 = 8.0f * q2; + q0q0 = q0 * q0; + q1q1 = q1 * q1; + q2q2 = q2 * q2; + q3q3 = q3 * q3; + + // Gradient decent algorithm corrective step + s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; + s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; + s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; + s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; + recipNorm = invSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude + s0 *= recipNorm; + s1 *= recipNorm; + s2 *= recipNorm; + s3 *= recipNorm; + + // Apply feedback step + qDot1 -= beta * s0; + qDot2 -= beta * s1; + qDot3 -= beta * s2; + qDot4 -= beta * s3; + } + + // Integrate rate of change of quaternion to yield quaternion + q0 += qDot1 * invSampleFreq; + q1 += qDot2 * invSampleFreq; + q2 += qDot3 * invSampleFreq; + q3 += qDot4 * invSampleFreq; + + // Normalise quaternion + recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recipNorm; + q1 *= recipNorm; + q2 *= recipNorm; + q3 *= recipNorm; + anglesComputed = 0; +} + +//------------------------------------------------------------------------------------------- +// Fast inverse square-root +// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root + +float Madgwick::invSqrt(float x) { + float halfx = 0.5f * x; + float y = x; + long i = *(long*)&y; + i = 0x5f3759df - (i>>1); + y = *(float*)&i; + y = y * (1.5f - (halfx * y * y)); + y = y * (1.5f - (halfx * y * y)); + return y; +} + +//------------------------------------------------------------------------------------------- + +void Madgwick::computeAngles() +{ + roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2); + pitch = asinf(-2.0f * (q1*q3 - q0*q2)); + yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); + anglesComputed = 1; +} + diff --git a/src/AHRS/MadgwickAHRS.h b/src/AHRS/MadgwickAHRS.h new file mode 100644 index 0000000..3bcb406 --- /dev/null +++ b/src/AHRS/MadgwickAHRS.h @@ -0,0 +1,74 @@ +//============================================================================================= +// MadgwickAHRS.h +//============================================================================================= +// +// Implementation of Madgwick's IMU and AHRS algorithms. +// See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/ +// +// From the x-io website "Open-source resources available on this website are +// provided under the GNU General Public Licence unless an alternative licence +// is provided in source." +// +// Date Author Notes +// 29/09/2011 SOH Madgwick Initial release +// 02/10/2011 SOH Madgwick Optimised for reduced CPU load +// +//============================================================================================= +#ifndef MadgwickAHRS_h +#define MadgwickAHRS_h +#include + +//-------------------------------------------------------------------------------------------- +// Variable declaration +class Madgwick{ +private: + static float invSqrt(float x); + float beta; // algorithm gain + float q0; + float q1; + float q2; + float q3; // quaternion of sensor frame relative to auxiliary frame + float invSampleFreq; + float roll; + float pitch; + float yaw; + char anglesComputed; + void computeAngles(); + +//------------------------------------------------------------------------------------------- +// Function declarations +public: + Madgwick(void); + void begin(float sampleFrequency) { invSampleFreq = 1.0f / sampleFrequency; } + void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float deltat); + void updateIMU(float gx, float gy, float gz, float ax, float ay, float az); + //float getPitch(){return atan2f(2.0f * q2 * q3 - 2.0f * q0 * q1, 2.0f * q0 * q0 + 2.0f * q3 * q3 - 1.0f);}; + //float getRoll(){return -1.0f * asinf(2.0f * q1 * q3 + 2.0f * q0 * q2);}; + //float getYaw(){return atan2f(2.0f * q1 * q2 - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);}; + float getRoll() { + if (!anglesComputed) computeAngles(); + return roll * 57.29578f; + } + float getPitch() { + if (!anglesComputed) computeAngles(); + return pitch * 57.29578f; + } + float getYaw() { + if (!anglesComputed) computeAngles(); + return yaw * 57.29578f + 180.0f; + } + float getRollRadians() { + if (!anglesComputed) computeAngles(); + return roll; + } + float getPitchRadians() { + if (!anglesComputed) computeAngles(); + return pitch; + } + float getYawRadians() { + if (!anglesComputed) computeAngles(); + return yaw; + } +}; +#endif + diff --git a/src/AP_Declination/AP_Declination.cpp b/src/AP_Declination/AP_Declination.cpp new file mode 100644 index 0000000..5414eb7 --- /dev/null +++ b/src/AP_Declination/AP_Declination.cpp @@ -0,0 +1,101 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ + +/* + * Adam M Rivera + * With direction from: Andrew Tridgell, Jason Short, Justin Beech + * + * Adapted from: http://www.societyofrobots.com/robotforum/index.php?topic=11855.0 + * Scott Ferguson + * scottfromscott@gmail.com + * + */ +#include "AP_Declination.h" + +#include +#include + +/* + calculate magnetic field intensity and orientation +*/ +bool AP_Declination::get_mag_field_ef(float latitude_deg, float longitude_deg, float &declination_deg) +{ + bool valid_input_data = true; + + /* round down to nearest sampling resolution */ + int32_t min_lat = static_cast(static_cast(latitude_deg / SAMPLING_RES) * SAMPLING_RES); + int32_t min_lon = static_cast(static_cast(longitude_deg / SAMPLING_RES) * SAMPLING_RES); + + /* for the rare case of hitting the bounds exactly + * the rounding logic wouldn't fit, so enforce it. + */ + + /* limit to table bounds - required for maxima even when table spans full globe range */ + if (latitude_deg <= SAMPLING_MIN_LAT) { + min_lat = static_cast(SAMPLING_MIN_LAT); + valid_input_data = false; + } + + if (latitude_deg >= SAMPLING_MAX_LAT) { + min_lat = static_cast(static_cast(latitude_deg / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES); + valid_input_data = false; + } + + if (longitude_deg <= SAMPLING_MIN_LON) { + min_lon = static_cast(SAMPLING_MIN_LON); + valid_input_data = false; + } + + if (longitude_deg >= SAMPLING_MAX_LON) { + min_lon = static_cast(static_cast(longitude_deg / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES); + valid_input_data = false; + } + if(valid_input_data) + { + /* find index of nearest low sampling point */ + uint32_t min_lat_index = static_cast((-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES); + uint32_t min_lon_index = static_cast((-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES); + + /* calculate declination */ + + float data_sw = declination_table[min_lat_index][min_lon_index]; + float data_se = declination_table[min_lat_index][min_lon_index + 1];; + float data_ne = declination_table[min_lat_index + 1][min_lon_index + 1]; + float data_nw = declination_table[min_lat_index + 1][min_lon_index]; + + /* perform bilinear interpolation on the four grid corners */ + + float data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw; + float data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw; + + declination_deg = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min; + } + return valid_input_data; +} + + +/* + calculate magnetic field intensity and orientation +*/ +float AP_Declination::get_declination(float latitude_deg, float longitude_deg) +{ + float declination_deg=0; + + if(get_mag_field_ef(latitude_deg, longitude_deg, declination_deg)) + return declination_deg; + else + return 0; +} + diff --git a/src/AP_Declination/AP_Declination.h b/src/AP_Declination/AP_Declination.h new file mode 100644 index 0000000..ab1afa7 --- /dev/null +++ b/src/AP_Declination/AP_Declination.h @@ -0,0 +1,32 @@ +#pragma once + +/* + magnetic data derived from WMM + */ +class AP_Declination +{ +public: + /* + * Calculates the magnetic intensity, declination and inclination at a given WGS-84 latitude and longitude. + * Assumes a WGS-84 height of zero + * latitude and longitude have units of degrees + * declination and inclination are returned in degrees + * intensity is returned in Gauss + * Boolean returns false if latitude and longitude are outside the valid input range of +-60 latitude and +-180 longitude + */ + static bool get_mag_field_ef(float latitude_deg, float longitude_deg, float &declination_deg); + + /* + get declination in degrees for a given latitude_deg and longitude_deg + */ + static float get_declination(float latitude_deg, float longitude_deg); + +private: + static const float SAMPLING_RES; + static const float SAMPLING_MIN_LAT; + static const float SAMPLING_MAX_LAT; + static const float SAMPLING_MIN_LON; + static const float SAMPLING_MAX_LON; + + static const float declination_table[37][73]; +}; diff --git a/src/AP_Declination/gen12.py b/src/AP_Declination/gen12.py new file mode 100644 index 0000000..e6382bb --- /dev/null +++ b/src/AP_Declination/gen12.py @@ -0,0 +1,192 @@ +#!/usr/bin/env python3 +''' +generate field tables from IGRF12. Note that this requires python3 +''' + +import igrf12 as igrf +import numpy as np +import datetime +from pathlib import Path +from pymavlink.rotmat import Vector3, Matrix3 +import math + +import argparse +parser = argparse.ArgumentParser(description='generate mag tables') +parser.add_argument('--sampling-res', type=int, default=5, help='sampling resolution, degrees') +parser.add_argument('--check-error', action='store_true', help='check max error') +parser.add_argument('--filename', type=str, default='tables.cpp', help='tables file') + +args = parser.parse_args() + +if not Path("AP_Declination.h").is_file(): + raise OSError("Please run this tool from the AP_Declination directory") + + +def write_table(f,name, table): + '''write one table''' + f.write("const float AP_Declination::%s[%u][%u] = {\n" % + (name, NUM_LAT, NUM_LON)) + for i in range(NUM_LAT): + f.write(" {") + for j in range(NUM_LON): + f.write("%.5ff" % table[i][j]) + if j != NUM_LON-1: + f.write(",") + f.write("}") + if i != NUM_LAT-1: + f.write(",") + f.write("\n") + f.write("};\n\n") + +date = datetime.datetime.now() + +SAMPLING_RES = args.sampling_res +SAMPLING_MIN_LAT = -90 +SAMPLING_MAX_LAT = 90 +SAMPLING_MIN_LON = -180 +SAMPLING_MAX_LON = 180 + +lats = np.arange(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+SAMPLING_RES, SAMPLING_RES) +lons = np.arange(SAMPLING_MIN_LON, SAMPLING_MAX_LON+SAMPLING_RES, SAMPLING_RES) + +NUM_LAT = lats.size +NUM_LON = lons.size + +intensity_table = np.empty((NUM_LAT, NUM_LON)) +inclination_table = np.empty((NUM_LAT, NUM_LON)) +declination_table = np.empty((NUM_LAT, NUM_LON)) + +max_error = 0 +max_error_pos = None +max_error_field = None + +def get_igrf(lat, lon): + '''return field as [declination_deg, inclination_deg, intensity_gauss]''' + mag = igrf.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1) + intensity = float(mag.total/1e5) + inclination = float(mag.incl) + declination = float(mag.decl) + return [declination, inclination, intensity] + +def interpolate_table(table, latitude_deg, longitude_deg): + '''interpolate inside a table for a given lat/lon in degrees''' + # round down to nearest sampling resolution + min_lat = int(math.floor(latitude_deg / SAMPLING_RES) * SAMPLING_RES) + min_lon = int(math.floor(longitude_deg / SAMPLING_RES) * SAMPLING_RES) + + # find index of nearest low sampling point + min_lat_index = int(math.floor(-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES) + min_lon_index = int(math.floor(-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES) + + # calculate intensity + data_sw = table[min_lat_index][min_lon_index] + data_se = table[min_lat_index][min_lon_index + 1] + data_ne = table[min_lat_index + 1][min_lon_index + 1] + data_nw = table[min_lat_index + 1][min_lon_index] + + # perform bilinear interpolation on the four grid corners + data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw + data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw + + value = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min + return value + + +''' +calculate magnetic field intensity and orientation, interpolating in tables + +returns array [declination_deg, inclination_deg, intensity] or None +''' +def interpolate_field(latitude_deg, longitude_deg): + # limit to table bounds + if latitude_deg < SAMPLING_MIN_LAT: + return None + if latitude_deg >= SAMPLING_MAX_LAT: + return None + if longitude_deg < SAMPLING_MIN_LON: + return None + if longitude_deg >= SAMPLING_MAX_LON: + return None + + intensity_gauss = interpolate_table(intensity_table, latitude_deg, longitude_deg) + declination_deg = interpolate_table(declination_table, latitude_deg, longitude_deg) + inclination_deg = interpolate_table(inclination_table, latitude_deg, longitude_deg) + + return [declination_deg, inclination_deg, intensity_gauss] + +def field_to_Vector3(mag): + '''return mGauss field from dec, inc and intensity''' + R = Matrix3() + mag_ef = Vector3(mag[2]*1000.0, 0.0, 0.0) + R.from_euler(0.0, -math.radians(mag[1]), math.radians(mag[0])) + return R * mag_ef + +def test_error(lat, lon): + '''check for error from lat,lon''' + global max_error, max_error_pos, max_error_field + mag1 = get_igrf(lat, lon) + mag2 = interpolate_field(lat, lon) + ef1 = field_to_Vector3(mag1) + ef2 = field_to_Vector3(mag2) + err = (ef1 - ef2).length() + if err > max_error or err > 100: + print(lat, lon, err, ef1, ef2) + max_error = err + max_error_pos = (lat, lon) + max_error_field = ef1 - ef2 + +def test_max_error(lat, lon): + '''check for maximum error from lat,lon over SAMPLING_RES range''' + steps = 3 + delta = SAMPLING_RES/steps + for i in range(steps): + for j in range(steps): + lat2 = lat + i * delta + lon2 = lon + j * delta + if lat2 >= SAMPLING_MAX_LAT or lon2 >= SAMPLING_MAX_LON: + continue + if lat2 <= SAMPLING_MIN_LAT or lon2 <= SAMPLING_MIN_LON: + continue + test_error(lat2, lon2) + +for i,lat in enumerate(lats): + for j,lon in enumerate(lons): + mag = get_igrf(lat, lon) + declination_table[i][j] = mag[0] + inclination_table[i][j] = mag[1] + intensity_table[i][j] = mag[2] + +with open(args.filename, 'w') as f: + f.write('''// this is an auto-generated file from the IGRF tables. Do not edit +// To re-generate run generate/generate.py + +#include "AP_Declination.h" + +''') + + f.write('''const float AP_Declination::SAMPLING_RES = %u; +const float AP_Declination::SAMPLING_MIN_LAT = %u; +const float AP_Declination::SAMPLING_MAX_LAT = %u; +const float AP_Declination::SAMPLING_MIN_LON = %u; +const float AP_Declination::SAMPLING_MAX_LON = %u; + +''' % (SAMPLING_RES, + SAMPLING_MIN_LAT, + SAMPLING_MAX_LAT, + SAMPLING_MIN_LON, + SAMPLING_MAX_LON)) + + + write_table(f,'declination_table', declination_table) +# write_table(f,'inclination_table', inclination_table) +# write_table(f,'intensity_table', intensity_table) + +if args.check_error: + print("Checking for maximum error") + for lat in range(-60,60,1): + for lon in range(-180,180,1): + test_max_error(lat, lon) + print("Generated with max error %.2f %s at (%.2f,%.2f)" % ( + max_error, max_error_field, max_error_pos[0], max_error_pos[1])) + +print("Table generated in %s" % args.filename) diff --git a/src/AP_Declination/gen13.py b/src/AP_Declination/gen13.py new file mode 100644 index 0000000..fce5ff7 --- /dev/null +++ b/src/AP_Declination/gen13.py @@ -0,0 +1,192 @@ +#!/usr/bin/env python3 +''' +generate field tables from IGRF12. Note that this requires python3 +''' + +import igrf +import numpy as np +import datetime +from pathlib import Path +from pymavlink.rotmat import Vector3, Matrix3 +import math + +import argparse +parser = argparse.ArgumentParser(description='generate mag tables') +parser.add_argument('--sampling-res', type=int, default=5, help='sampling resolution, degrees') +parser.add_argument('--check-error', action='store_true', help='check max error') +parser.add_argument('--filename', type=str, default='tables.cpp', help='tables file') + +args = parser.parse_args() + +if not Path("AP_Declination.h").is_file(): + raise OSError("Please run this tool from the AP_Declination directory") + + +def write_table(f,name, table): + '''write one table''' + f.write("const float AP_Declination::%s[%u][%u] = {\n" % + (name, NUM_LAT, NUM_LON)) + for i in range(NUM_LAT): + f.write(" {") + for j in range(NUM_LON): + f.write("%.5ff" % table[i][j]) + if j != NUM_LON-1: + f.write(",") + f.write("}") + if i != NUM_LAT-1: + f.write(",") + f.write("\n") + f.write("};\n\n") + +date = datetime.datetime.now() + +SAMPLING_RES = args.sampling_res +SAMPLING_MIN_LAT = -90 +SAMPLING_MAX_LAT = 90 +SAMPLING_MIN_LON = -180 +SAMPLING_MAX_LON = 180 + +lats = np.arange(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+SAMPLING_RES, SAMPLING_RES) +lons = np.arange(SAMPLING_MIN_LON, SAMPLING_MAX_LON+SAMPLING_RES, SAMPLING_RES) + +NUM_LAT = lats.size +NUM_LON = lons.size + +intensity_table = np.empty((NUM_LAT, NUM_LON)) +inclination_table = np.empty((NUM_LAT, NUM_LON)) +declination_table = np.empty((NUM_LAT, NUM_LON)) + +max_error = 0 +max_error_pos = None +max_error_field = None + +def get_igrf(lat, lon): + '''return field as [declination_deg, inclination_deg, intensity_gauss]''' + mag = igrf.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1) + intensity = float(mag.total/1e5) + inclination = float(mag.incl) + declination = float(mag.decl) + return [declination, inclination, intensity] + +def interpolate_table(table, latitude_deg, longitude_deg): + '''interpolate inside a table for a given lat/lon in degrees''' + # round down to nearest sampling resolution + min_lat = int(math.floor(latitude_deg / SAMPLING_RES) * SAMPLING_RES) + min_lon = int(math.floor(longitude_deg / SAMPLING_RES) * SAMPLING_RES) + + # find index of nearest low sampling point + min_lat_index = int(math.floor(-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES) + min_lon_index = int(math.floor(-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES) + + # calculate intensity + data_sw = table[min_lat_index][min_lon_index] + data_se = table[min_lat_index][min_lon_index + 1] + data_ne = table[min_lat_index + 1][min_lon_index + 1] + data_nw = table[min_lat_index + 1][min_lon_index] + + # perform bilinear interpolation on the four grid corners + data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw + data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw + + value = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min + return value + + +''' +calculate magnetic field intensity and orientation, interpolating in tables + +returns array [declination_deg, inclination_deg, intensity] or None +''' +def interpolate_field(latitude_deg, longitude_deg): + # limit to table bounds + if latitude_deg < SAMPLING_MIN_LAT: + return None + if latitude_deg >= SAMPLING_MAX_LAT: + return None + if longitude_deg < SAMPLING_MIN_LON: + return None + if longitude_deg >= SAMPLING_MAX_LON: + return None + + intensity_gauss = interpolate_table(intensity_table, latitude_deg, longitude_deg) + declination_deg = interpolate_table(declination_table, latitude_deg, longitude_deg) + inclination_deg = interpolate_table(inclination_table, latitude_deg, longitude_deg) + + return [declination_deg, inclination_deg, intensity_gauss] + +def field_to_Vector3(mag): + '''return mGauss field from dec, inc and intensity''' + R = Matrix3() + mag_ef = Vector3(mag[2]*1000.0, 0.0, 0.0) + R.from_euler(0.0, -math.radians(mag[1]), math.radians(mag[0])) + return R * mag_ef + +def test_error(lat, lon): + '''check for error from lat,lon''' + global max_error, max_error_pos, max_error_field + mag1 = get_igrf(lat, lon) + mag2 = interpolate_field(lat, lon) + ef1 = field_to_Vector3(mag1) + ef2 = field_to_Vector3(mag2) + err = (ef1 - ef2).length() + if err > max_error or err > 100: + print(lat, lon, err, ef1, ef2) + max_error = err + max_error_pos = (lat, lon) + max_error_field = ef1 - ef2 + +def test_max_error(lat, lon): + '''check for maximum error from lat,lon over SAMPLING_RES range''' + steps = 3 + delta = SAMPLING_RES/steps + for i in range(steps): + for j in range(steps): + lat2 = lat + i * delta + lon2 = lon + j * delta + if lat2 >= SAMPLING_MAX_LAT or lon2 >= SAMPLING_MAX_LON: + continue + if lat2 <= SAMPLING_MIN_LAT or lon2 <= SAMPLING_MIN_LON: + continue + test_error(lat2, lon2) + +for i,lat in enumerate(lats): + for j,lon in enumerate(lons): + mag = get_igrf(lat, lon) + declination_table[i][j] = mag[0] + inclination_table[i][j] = mag[1] + intensity_table[i][j] = mag[2] + +with open(args.filename, 'w') as f: + f.write('''// this is an auto-generated file from the IGRF tables. Do not edit +// To re-generate run generate/generate.py + +#include "AP_Declination.h" + +''') + + f.write('''const float AP_Declination::SAMPLING_RES = %u; +const float AP_Declination::SAMPLING_MIN_LAT = %u; +const float AP_Declination::SAMPLING_MAX_LAT = %u; +const float AP_Declination::SAMPLING_MIN_LON = %u; +const float AP_Declination::SAMPLING_MAX_LON = %u; + +''' % (SAMPLING_RES, + SAMPLING_MIN_LAT, + SAMPLING_MAX_LAT, + SAMPLING_MIN_LON, + SAMPLING_MAX_LON)) + + + write_table(f,'declination_table', declination_table) +# write_table(f,'inclination_table', inclination_table) +# write_table(f,'intensity_table', intensity_table) + +if args.check_error: + print("Checking for maximum error") + for lat in range(-60,60,1): + for lon in range(-180,180,1): + test_max_error(lat, lon) + print("Generated with max error %.2f %s at (%.2f,%.2f)" % ( + max_error, max_error_field, max_error_pos[0], max_error_pos[1])) + +print("Table generated in %s" % args.filename) diff --git a/src/AP_Declination/tables.cpp b/src/AP_Declination/tables.cpp new file mode 100644 index 0000000..c35d8af --- /dev/null +++ b/src/AP_Declination/tables.cpp @@ -0,0 +1,51 @@ +// this is an auto-generated file from the IGRF tables. Do not edit +// To re-generate run generate/generate.py + +#include "AP_Declination.h" + +const float AP_Declination::SAMPLING_RES = 5; +const float AP_Declination::SAMPLING_MIN_LAT = -90; +const float AP_Declination::SAMPLING_MAX_LAT = 90; +const float AP_Declination::SAMPLING_MIN_LON = -180; +const float AP_Declination::SAMPLING_MAX_LON = 180; + +const float AP_Declination::declination_table[37][73] = { + 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{129.30529f,123.04797f,117.07812f,111.38491f,105.95127f,100.75625f,95.77688f,90.98956f,86.37108f,81.89932f,77.55367f,73.31535f,69.16756f,65.09554f,61.08654f,57.12978f,53.21631f,49.33881f,45.49142f,41.66942f,37.86901f,34.08694f,30.32023f,26.56590f,22.82063f,19.08063f,15.34145f,11.59791f,7.84418f,4.07382f,0.28004f,-3.54407f,-7.40526f,-11.30984f,-15.26336f,-19.27045f,-23.33467f,-27.45845f,-31.64311f,-35.88907f,-40.19599f,-44.56309f,-48.98945f,-53.47437f,-58.01768f,-62.62012f,-67.28359f,-72.01144f,-76.80870f,-81.68223f,-86.64085f,-91.69542f,-96.85886f,-102.14600f,-107.57345f,-113.15916f,-118.92185f,-124.88005f,-131.05078f,-137.44774f,-144.07903f,-150.94447f,-158.03286f,-165.31961f,-172.76553f,179.68260f,172.08924f,164.52508f,157.06086f,149.76098f,142.67847f,135.85203f,129.30530f}, + 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{85.76021f,81.52735f,77.79070f,74.43416f,71.37193f,68.53750f,65.87661f,63.34292f,60.89542f,58.49697f,56.11379f,53.71552f,51.27574f,48.77254f,46.18931f,43.51519f,40.74548f,37.88166f,34.93116f,31.90679f,28.82578f,25.70857f,22.57709f,19.45288f,16.35486f,13.29723f,10.28748f,7.32498f,4.40043f,1.49621f,-1.41215f,-4.35362f,-7.35868f,-10.45619f,-13.67038f,-17.01862f,-20.50988f,-24.14424f,-27.91339f,-31.80187f,-35.78895f,-39.85088f,-43.96312f,-48.10247f,-52.24874f,-56.38605f,-60.50365f,-64.59643f,-68.66507f,-72.71624f,-76.76272f,-80.82387f,-84.92649f,-89.10641f,-93.41127f,-97.90497f,-102.67492f,-107.84353f,-113.58678f,-120.16345f,-127.95920f,-137.54085f,-149.67212f,-165.09730f,176.27330f,156.41262f,138.33488f,123.68413f,112.33089f,103.49538f,96.44591f,90.65322f,85.76021f}, + 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python3 +''' +generate field tables from IGRF12. Note that this requires python3 +''' + +import igrf as igrf +import numpy as np +import datetime +from pathlib import Path +from pymavlink.rotmat import Vector3, Matrix3 +import math + +import argparse +parser = argparse.ArgumentParser(description='generate mag tables') +parser.add_argument('--sampling-res', type=int, default=5, help='sampling resolution, degrees') +parser.add_argument('--check-error', action='store_true', help='check max error') +parser.add_argument('--filename', type=str, default='tables.cpp', help='tables file') + +args = parser.parse_args() + +if not Path("AP_Declination.h").is_file(): + raise OSError("Please run this tool from the AP_Declination directory") + + +def write_table(f,name, table): + '''write one table''' + f.write("const float AP_Declination::%s[%u][%u] = {\n" % + (name, NUM_LAT, NUM_LON)) + for i in range(NUM_LAT): + f.write(" {") + for j in range(NUM_LON): + f.write("%.5ff" % table[i][j]) + if j != NUM_LON-1: + f.write(",") + f.write("}") + if i != NUM_LAT-1: + f.write(",") + f.write("\n") + f.write("};\n\n") + +date = datetime.datetime.now() + +SAMPLING_RES = args.sampling_res +SAMPLING_MIN_LAT = -90 +SAMPLING_MAX_LAT = 90 +SAMPLING_MIN_LON = -180 +SAMPLING_MAX_LON = 180 + +lats = np.arange(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+SAMPLING_RES, SAMPLING_RES) +lons = np.arange(SAMPLING_MIN_LON, SAMPLING_MAX_LON+SAMPLING_RES, SAMPLING_RES) + +NUM_LAT = lats.size +NUM_LON = lons.size + +intensity_table = np.empty((NUM_LAT, NUM_LON)) +inclination_table = np.empty((NUM_LAT, NUM_LON)) +declination_table = np.empty((NUM_LAT, NUM_LON)) + +max_error = 0 +max_error_pos = None +max_error_field = None + +def get_igrf(lat, lon): + '''return field as [declination_deg, inclination_deg, intensity_gauss]''' + mag = igrf.igrf(date, glat=lat, glon=lon, alt_km=0., isv=0, itype=1) + intensity = float(mag.total/1e5) + inclination = float(mag.incl) + declination = float(mag.decl) + return [declination, inclination, intensity] + + +print("%f" % get_igrf(40.5795,-74.1502)[0]) diff --git a/src/BLE/atBLEAdvertisedDevice.cpp b/src/BLE/atBLEAdvertisedDevice.cpp new file mode 100644 index 0000000..1ada00c --- /dev/null +++ b/src/BLE/atBLEAdvertisedDevice.cpp @@ -0,0 +1,544 @@ +#include "sdkconfig.h" +#if defined(CONFIG_BLUEDROID_ENABLED) +#include +#include "atBLEAdvertisedDevice.h" +#include "BLEUtils.h" +#include "esp32-hal-log.h" + +atBLEAdvertisedDevice::atBLEAdvertisedDevice() { + m_adFlag = 0; + m_appearance = 0; + m_deviceType = 0; + m_manufacturerData = ""; + m_name = ""; + m_rssi = -9999; + m_serviceData = {}; + m_serviceDataUUIDs = {}; + m_txPower = 0; + + m_haveAppearance = false; + m_haveManufacturerData = false; + m_haveName = false; + m_haveRSSI = false; + m_haveServiceData = false; + m_haveServiceUUID = false; + m_haveTXPower = false; + +} // atBLEAdvertisedDevice + + +/** + * @brief Get the address. + * + * Every %BLE device exposes an address that is used to identify it and subsequently connect to it. + * Call this function to obtain the address of the advertised device. + * + * @return The address of the advertised device. + */ +BLEAddress atBLEAdvertisedDevice::getAddress() { + return m_address; +} // getAddress + + +/** + * @brief Get the appearance. + * + * A %BLE device can declare its own appearance. The appearance is how it would like to be shown to an end user + * typcially in the form of an icon. + * + * @return The appearance of the advertised device. + */ +uint16_t atBLEAdvertisedDevice::getAppearance() { + return m_appearance; +} // getAppearance + + +/** + * @brief Get the manufacturer data. + * @return The manufacturer data of the advertised device. + */ +std::string atBLEAdvertisedDevice::getManufacturerData() { + return m_manufacturerData; +} // getManufacturerData + + +/** + * @brief Get the name. + * @return The name of the advertised device. + */ +std::string atBLEAdvertisedDevice::getName() { + return m_name; +} // getName + + +/** + * @brief Get the RSSI. + * @return The RSSI of the advertised device. + */ +int atBLEAdvertisedDevice::getRSSI() { + return m_rssi; +} // getRSSI + + +/** + * @brief Get the number of service data. + * @return Number of service data discovered. + */ +int atBLEAdvertisedDevice::getServiceDataCount() { + if (m_haveServiceData) + return m_serviceData.size(); + else + return 0; + +} //getServiceDataCount + +/** + * @brief Get the service data. + * @return The ServiceData of the advertised device. + */ +std::string atBLEAdvertisedDevice::getServiceData() { + return m_serviceData[0]; +} //getServiceData + +/** + * @brief Get the service data. + * @return The ServiceData of the advertised device. + */ +std::string atBLEAdvertisedDevice::getServiceData(int i) { + return m_serviceData[i]; +} //getServiceData + +/** + * @brief Get the service data UUID. + * @return The service data UUID. + */ +BLEUUID atBLEAdvertisedDevice::getServiceDataUUID() { + return m_serviceDataUUIDs[0]; +} // getServiceDataUUID + +/** + * @brief Get the service data UUID. + * @return The service data UUID. + */ +BLEUUID atBLEAdvertisedDevice::getServiceDataUUID(int i) { + return m_serviceDataUUIDs[i]; +} // getServiceDataUUID + +/** + * @brief Get the Service UUID. + * @return The Service UUID of the advertised device. + */ +BLEUUID atBLEAdvertisedDevice::getServiceUUID() { + return m_serviceUUIDs[0]; +} // getServiceUUID + +/** + * @brief Get the Service UUID. + * @return The Service UUID of the advertised device. + */ +BLEUUID atBLEAdvertisedDevice::getServiceUUID(int i) { + return m_serviceUUIDs[i]; +} // getServiceUUID + +/** + * @brief Check advertised serviced for existence required UUID + * @return Return true if service is advertised + */ +bool atBLEAdvertisedDevice::isAdvertisingService(BLEUUID uuid){ + for (int i = 0; i < m_serviceUUIDs.size(); i++) { + if (m_serviceUUIDs[i].equals(uuid)) return true; + } + return false; +} + +/** + * @brief Get the TX Power. + * @return The TX Power of the advertised device. + */ +int8_t atBLEAdvertisedDevice::getTXPower() { + return m_txPower; +} // getTXPower + + + +/** + * @brief Does this advertisement have an appearance value? + * @return True if there is an appearance value present. + */ +bool atBLEAdvertisedDevice::haveAppearance() { + return m_haveAppearance; +} // haveAppearance + + +/** + * @brief Does this advertisement have manufacturer data? + * @return True if there is manufacturer data present. + */ +bool atBLEAdvertisedDevice::haveManufacturerData() { + return m_haveManufacturerData; +} // haveManufacturerData + + +/** + * @brief Does this advertisement have a name value? + * @return True if there is a name value present. + */ +bool atBLEAdvertisedDevice::haveName() { + return m_haveName; +} // haveName + + +/** + * @brief Does this advertisement have a signal strength value? + * @return True if there is a signal strength value present. + */ +bool atBLEAdvertisedDevice::haveRSSI() { + return m_haveRSSI; +} // haveRSSI + + +/** + * @brief Does this advertisement have a service data value? + * @return True if there is a service data value present. + */ +bool atBLEAdvertisedDevice::haveServiceData() { + return m_haveServiceData; +} // haveServiceData + + +/** + * @brief Does this advertisement have a service UUID value? + * @return True if there is a service UUID value present. + */ +bool atBLEAdvertisedDevice::haveServiceUUID() { + return m_haveServiceUUID; +} // haveServiceUUID + + +/** + * @brief Does this advertisement have a transmission power value? + * @return True if there is a transmission power value present. + */ +bool atBLEAdvertisedDevice::haveTXPower() { + return m_haveTXPower; +} // haveTXPower + + +/** + * @brief Parse the advertising pay load. + * + * The pay load is a buffer of bytes that is either 31 bytes long or terminated by + * a 0 length value. Each entry in the buffer has the format: + * [length][type][data...] + * + * The length does not include itself but does include everything after it until the next record. A record + * with a length value of 0 indicates a terminator. + * + * https://www.bluetooth.com/specifications/assigned-numbers/generic-access-profile + */ +void atBLEAdvertisedDevice::parseAdvertisement(uint8_t* payload, size_t total_len) { + uint8_t length; + uint8_t ad_type; + uint8_t sizeConsumed = 0; + bool finished = false; + m_payload = payload; + m_payloadLength = total_len; + + while(!finished) { + length = *payload; // Retrieve the length of the record. + payload++; // Skip to type + sizeConsumed += 1 + length; // increase the size consumed. + + if (length != 0) { // A length of 0 indicates that we have reached the end. + ad_type = *payload; + payload++; + length--; + + char* pHex = BLEUtils::buildHexData(nullptr, payload, length); + log_d("Type: 0x%.2x (%s), length: %d, data: %s", + ad_type, BLEUtils::advTypeToString(ad_type), length, pHex); + free(pHex); + + switch(ad_type) { + case ESP_BLE_AD_TYPE_NAME_CMPL: { // Adv Data Type: 0x09 + setName(std::string(reinterpret_cast(payload), length)); + break; + } // ESP_BLE_AD_TYPE_NAME_CMPL + + case ESP_BLE_AD_TYPE_TX_PWR: { // Adv Data Type: 0x0A + setTXPower(*payload); + break; + } // ESP_BLE_AD_TYPE_TX_PWR + + case ESP_BLE_AD_TYPE_APPEARANCE: { // Adv Data Type: 0x19 + setAppearance(*reinterpret_cast(payload)); + break; + } // ESP_BLE_AD_TYPE_APPEARANCE + + case ESP_BLE_AD_TYPE_FLAG: { // Adv Data Type: 0x01 + setAdFlag(*payload); + break; + } // ESP_BLE_AD_TYPE_FLAG + + case ESP_BLE_AD_TYPE_16SRV_CMPL: + case ESP_BLE_AD_TYPE_16SRV_PART: { // Adv Data Type: 0x02 + for (int var = 0; var < length/2; ++var) { + setServiceUUID(BLEUUID(*reinterpret_cast(payload + var * 2))); + } + break; + } // ESP_BLE_AD_TYPE_16SRV_PART + + case ESP_BLE_AD_TYPE_32SRV_CMPL: + case ESP_BLE_AD_TYPE_32SRV_PART: { // Adv Data Type: 0x04 + for (int var = 0; var < length/4; ++var) { + setServiceUUID(BLEUUID(*reinterpret_cast(payload + var * 4))); + } + break; + } // ESP_BLE_AD_TYPE_32SRV_PART + + case ESP_BLE_AD_TYPE_128SRV_CMPL: { // Adv Data Type: 0x07 + setServiceUUID(BLEUUID(payload, 16, false)); + break; + } // ESP_BLE_AD_TYPE_128SRV_CMPL + + case ESP_BLE_AD_TYPE_128SRV_PART: { // Adv Data Type: 0x06 + setServiceUUID(BLEUUID(payload, 16, false)); + break; + } // ESP_BLE_AD_TYPE_128SRV_PART + + // See CSS Part A 1.4 Manufacturer Specific Data + case ESP_BLE_AD_MANUFACTURER_SPECIFIC_TYPE: { + setManufacturerData(std::string(reinterpret_cast(payload), length)); + break; + } // ESP_BLE_AD_MANUFACTURER_SPECIFIC_TYPE + + case ESP_BLE_AD_TYPE_SERVICE_DATA: { // Adv Data Type: 0x16 (Service Data) - 2 byte UUID + if (length < 2) { + log_e("Length too small for ESP_BLE_AD_TYPE_SERVICE_DATA"); + break; + } + uint16_t uuid = *(uint16_t*)payload; + setServiceDataUUID(BLEUUID(uuid)); + if (length > 2) { + setServiceData(std::string(reinterpret_cast(payload + 2), length - 2)); + } + break; + } //ESP_BLE_AD_TYPE_SERVICE_DATA + + case ESP_BLE_AD_TYPE_32SERVICE_DATA: { // Adv Data Type: 0x20 (Service Data) - 4 byte UUID + if (length < 4) { + log_e("Length too small for ESP_BLE_AD_TYPE_32SERVICE_DATA"); + break; + } + uint32_t uuid = *(uint32_t*) payload; + setServiceDataUUID(BLEUUID(uuid)); + if (length > 4) { + setServiceData(std::string(reinterpret_cast(payload + 4), length - 4)); + } + break; + } //ESP_BLE_AD_TYPE_32SERVICE_DATA + + case ESP_BLE_AD_TYPE_128SERVICE_DATA: { // Adv Data Type: 0x21 (Service Data) - 16 byte UUID + if (length < 16) { + log_e("Length too small for ESP_BLE_AD_TYPE_128SERVICE_DATA"); + break; + } + + setServiceDataUUID(BLEUUID(payload, (size_t)16, false)); + if (length > 16) { + setServiceData(std::string(reinterpret_cast(payload + 16), length - 16)); + } + break; + } //ESP_BLE_AD_TYPE_32SERVICE_DATA + + default: { + log_d("Unhandled type: adType: %d - 0x%.2x", ad_type, ad_type); + break; + } + } // switch + payload += length; + } // Length <> 0 + + + if (sizeConsumed >= total_len) + finished = true; + + } // !finished +} // parseAdvertisement + +/** + * @brief Parse the advertising payload. + * @param [in] payload The payload of the advertised device. + * @param [in] total_len The length of payload + */ +void atBLEAdvertisedDevice::setPayload(uint8_t* payload, size_t total_len) { + m_payload = payload; + m_payloadLength = total_len; +} // setPayload + +/** + * @brief Set the address of the advertised device. + * @param [in] address The address of the advertised device. + */ +void atBLEAdvertisedDevice::setAddress(BLEAddress address) { + m_address = address; +} // setAddress + + +/** + * @brief Set the adFlag for this device. + * @param [in] The discovered adFlag. + */ +void atBLEAdvertisedDevice::setAdFlag(uint8_t adFlag) { + m_adFlag = adFlag; +} // setAdFlag + + +/** + * @brief Set the appearance for this device. + * @param [in] The discovered appearance. + */ +void atBLEAdvertisedDevice::setAppearance(uint16_t appearance) { + m_appearance = appearance; + m_haveAppearance = true; + log_d("- appearance: %d", m_appearance); +} // setAppearance + + +/** + * @brief Set the manufacturer data for this device. + * @param [in] The discovered manufacturer data. + */ +void atBLEAdvertisedDevice::setManufacturerData(std::string manufacturerData) { + m_manufacturerData = manufacturerData; + m_haveManufacturerData = true; + char* pHex = BLEUtils::buildHexData(nullptr, (uint8_t*) m_manufacturerData.data(), (uint8_t) m_manufacturerData.length()); + log_d("- manufacturer data: %s", pHex); + free(pHex); +} // setManufacturerData + + +/** + * @brief Set the name for this device. + * @param [in] name The discovered name. + */ +void atBLEAdvertisedDevice::setName(std::string name) { + m_name = name; + m_haveName = true; + log_d("- setName(): name: %s", m_name.c_str()); +} // setName + + +/** + * @brief Set the RSSI for this device. + * @param [in] rssi The discovered RSSI. + */ +void atBLEAdvertisedDevice::setRSSI(int rssi) { + m_rssi = rssi; + m_haveRSSI = true; + log_d("- setRSSI(): rssi: %d", m_rssi); +} // setRSSI + + +/** + * @brief Set the Service UUID for this device. + * @param [in] serviceUUID The discovered serviceUUID + */ +void atBLEAdvertisedDevice::setServiceUUID(const char* serviceUUID) { + return setServiceUUID(BLEUUID(serviceUUID)); +} // setServiceUUID + + +/** + * @brief Set the Service UUID for this device. + * @param [in] serviceUUID The discovered serviceUUID + */ +void atBLEAdvertisedDevice::setServiceUUID(BLEUUID serviceUUID) { + m_serviceUUIDs.push_back(serviceUUID); + m_haveServiceUUID = true; + log_d("- addServiceUUID(): serviceUUID: %s", serviceUUID.toString().c_str()); +} // setServiceUUID + + +/** + * @brief Set the ServiceData value. + * @param [in] data ServiceData value. + */ +void atBLEAdvertisedDevice::setServiceData(std::string serviceData) { + m_haveServiceData = true; // Set the flag that indicates we have service data. + m_serviceData.push_back(serviceData); // Save the service data that we received. +} //setServiceData + + +/** + * @brief Set the ServiceDataUUID value. + * @param [in] data ServiceDataUUID value. + */ +void atBLEAdvertisedDevice::setServiceDataUUID(BLEUUID uuid) { + m_haveServiceData = true; // Set the flag that indicates we have service data. + m_serviceDataUUIDs.push_back(uuid); + log_d("- addServiceDataUUID(): serviceDataUUID: %s", uuid.toString().c_str()); +} // setServiceDataUUID + + +/** + * @brief Set the power level for this device. + * @param [in] txPower The discovered power level. + */ +void atBLEAdvertisedDevice::setTXPower(int8_t txPower) { + m_txPower = txPower; + m_haveTXPower = true; + log_d("- txPower: %d", m_txPower); +} // setTXPower + + +/** + * @brief Create a string representation of this device. + * @return A string representation of this device. + */ +std::string atBLEAdvertisedDevice::toString() { + std::string res = "Name: " + getName() + ", Address: " + getAddress().toString(); + if (haveAppearance()) { + char val[6]; + snprintf(val, sizeof(val), "%d", getAppearance()); + res += ", appearance: "; + res += val; + } + if (haveManufacturerData()) { + char *pHex = BLEUtils::buildHexData(nullptr, (uint8_t*)getManufacturerData().data(), getManufacturerData().length()); + res += ", manufacturer data: "; + res += pHex; + free(pHex); + } + if (haveServiceUUID()) { + for (int i=0; i < m_serviceUUIDs.size(); i++) { + res += ", serviceUUID: " + getServiceUUID(i).toString(); + } + } + if (haveTXPower()) { + char val[6]; + snprintf(val, sizeof(val), "%d", getTXPower()); + res += ", txPower: "; + res += val; + } + return res; +} // toString + +uint8_t* atBLEAdvertisedDevice::getPayload() { + return m_payload; +} + +esp_ble_addr_type_t atBLEAdvertisedDevice::getAddressType() { + return m_addressType; +} + +void atBLEAdvertisedDevice::setAddressType(esp_ble_addr_type_t type) { + m_addressType = type; +} + +size_t atBLEAdvertisedDevice::getPayloadLength() { + return m_payloadLength; +} + +#endif /* CONFIG_BLUEDROID_ENABLED */ + diff --git a/src/BLE/atBLEAdvertisedDevice.h b/src/BLE/atBLEAdvertisedDevice.h new file mode 100644 index 0000000..fffd2df --- /dev/null +++ b/src/BLE/atBLEAdvertisedDevice.h @@ -0,0 +1,89 @@ +#ifndef ATCOMPONENTS_CPP_UTILS_BLEADVERTISEDDEVICE_H_ +#define ATCOMPONENTS_CPP_UTILS_BLEADVERTISEDDEVICE_H_ +#include "sdkconfig.h" +#if defined(CONFIG_BLUEDROID_ENABLED) +#include + +#include +#include + +#include "BLEAddress.h" +#include "BLEUUID.h" + + +class atBLEAdvertisedDevice { +public: + atBLEAdvertisedDevice(); + + BLEAddress getAddress(); + uint16_t getAppearance(); + std::string getManufacturerData(); + std::string getName(); + int getRSSI(); + std::string getServiceData(); + std::string getServiceData(int i); + BLEUUID getServiceDataUUID(); + BLEUUID getServiceDataUUID(int i); + BLEUUID getServiceUUID(); + BLEUUID getServiceUUID(int i); + int getServiceDataCount(); + int8_t getTXPower(); + uint8_t* getPayload(); + size_t getPayloadLength(); + esp_ble_addr_type_t getAddressType(); + void setAddressType(esp_ble_addr_type_t type); + + + bool isAdvertisingService(BLEUUID uuid); + bool haveAppearance(); + bool haveManufacturerData(); + bool haveName(); + bool haveRSSI(); + bool haveServiceData(); + bool haveServiceUUID(); + bool haveTXPower(); + + std::string toString(); + + void parseAdvertisement(uint8_t* payload, size_t total_len=62); + void setPayload(uint8_t* payload, size_t total_len=62); + void setAddress(BLEAddress address); + void setAdFlag(uint8_t adFlag); + void setAdvertizementResult(uint8_t* payload); + void setAppearance(uint16_t appearance); + void setManufacturerData(std::string manufacturerData); + void setName(std::string name); + void setRSSI(int rssi); + void setServiceData(std::string data); + void setServiceDataUUID(BLEUUID uuid); + void setServiceUUID(const char* serviceUUID); + void setServiceUUID(BLEUUID serviceUUID); + void setTXPower(int8_t txPower); + +protected: + bool m_haveAppearance; + bool m_haveManufacturerData; + bool m_haveName; + bool m_haveRSSI; + bool m_haveServiceData; + bool m_haveServiceUUID; + bool m_haveTXPower; + + + BLEAddress m_address = BLEAddress((uint8_t*)"\0\0\0\0\0\0"); + uint8_t m_adFlag; + uint16_t m_appearance; + int m_deviceType; + std::string m_manufacturerData; + std::string m_name; + int m_rssi; + std::vector m_serviceUUIDs; + int8_t m_txPower; + std::vector m_serviceData; + std::vector m_serviceDataUUIDs; + uint8_t* m_payload; + size_t m_payloadLength = 0; + esp_ble_addr_type_t m_addressType; +}; +#endif +#endif diff --git a/src/FastTrig.h b/src/FastTrig.h new file mode 100644 index 0000000..5a80729 --- /dev/null +++ b/src/FastTrig.h @@ -0,0 +1,219 @@ +#pragma once +// +// FILE: FastTrig.h +// AUTHOR: Rob Tillaart +// VERSION: 0.1.6 +// PURPOSE: Arduino library for a faster approximation of sin() and cos() +// DATE: 2011-08-18 +// URL: https://github.com/RobTillaart/FastTrig +// https://forum.arduino.cc/index.php?topic=69723.0 +// +// HISTORY: +// 0.1.00 2011-08-18 initial version +// 0.1.01 2011-08-18 improved tables a bit + changed param to float +// 0.1.02 2011-08-20 added interpolation +// eons passed +// 0.1.1 2020-08-30 refactor, create a library out of it. +// itan() approximation is bad. +// 0.1.2 2020-09-06 optimize 16 bit table with example sketch +// 0.1.3 2020-09-07 initial release. +// 0.1.4 2020-09-08 rewrite itan() + cleanup + examples +// 0.1.5 2020-09-11 fixed optimize, new table, added iasin() and iacos() +// 0.1.6 2020-12-23 arduino-CI + unit tests + +#include "Arduino.h" +#define Pi 3.14159265359 +// 91 x 2 bytes ==> 182 bytes +// use 65535.0 as divider +static uint16_t isinTable16[] = { + 0, +1145, 2289, 3435, 4572, 5716, 6853, 7989, 9125, 10255, 11385, +12508, 13631, 14745, 15859, 16963, 18067, 19165, 20253, 21342, 22417, +23489, 24553, 25610, 26659, 27703, 28731, 29755, 30773, 31777, 32772, +33756, 34734, 35697, 36649, 37594, 38523, 39445, 40350, 41247, 42131, +42998, 43856, 44701, 45528, 46344, 47147, 47931, 48708, 49461, 50205, +50933, 51646, 52342, 53022, 53686, 54334, 54969, 55579, 56180, 56760, +57322, 57866, 58394, 58908, 59399, 59871, 60327, 60768, 61184, 61584, +61969, 62330, 62677, 63000, 63304, 63593, 63858, 64108, 64334, 64545, +64731, 64903, 65049, 65177, 65289, 65377, 65449, 65501, 65527, 65535, +65535 +}; + + +/* 0.1.4 table +uint16_t isinTable16[] = { + 0, + 1145, 2289, 3435, 4571, 5715, 6852, 7988, 9125, 10254, 11385, + 12508, 13630, 14745, 15859, 16963, 18067, 19165, 20253, 21342, 22416, + 23488, 24553, 25610, 26659, 27699, 28730, 29754, 30773, 31777, 32771, + 33755, 34734, 35697, 36649, 37594, 38523, 39445, 40350, 41247, 42127, + 42998, 43856, 44697, 45527, 46344, 47146, 47931, 48708, 49461, 50205, + 50933, 51645, 52341, 53022, 53686, 54333, 54969, 55578, 56180, 56759, + 57322, 57866, 58394, 58908, 59399, 59871, 60327, 60767, 61184, 61584, + 61969, 62330, 62677, 63000, 63304, 63592, 63857, 64108, 64333, 64544, + 64731, 64902, 65049, 65177, 65289, 65376, 65449, 65501, 65527, 65535, + 65535 +}; +*/ + + +// use 255.0 as divider +static uint8_t isinTable8[] = { + 0, 4, 9, 13, 18, 22, 27, 31, 35, 40, 44, + 49, 53, 57, 62, 66, 70, 75, 79, 83, 87, + 91, 96, 100, 104, 108, 112, 116, 120, 124, 128, + 131, 135, 139, 143, 146, 150, 153, 157, 160, 164, + 167, 171, 174, 177, 180, 183, 186, 190, 192, 195, + 198, 201, 204, 206, 209, 211, 214, 216, 219, 221, + 223, 225, 227, 229, 231, 233, 235, 236, 238, 240, + 241, 243, 244, 245, 246, 247, 248, 249, 250, 251, + 252, 253, 253, 254, 254, 254, 255, 255, 255, 255, + 255 +}; + +/////////////////////////////////////////////////////// +// +// GONIO LOOKUP +// +static float isin(float f) +{ + boolean pos = true; // positive + if (f < 0) + { + f = -f; + pos = !pos; + } + + long x = f; + uint8_t r = (f - x) * 256; + + if (x >= 360) x %= 360; + + int y = x; // 16 bit math is faster than 32 bit + + if (y >= 180) + { + y -= 180; + pos = !pos; + } + + if (y >= 90) + { + y = 180 - y; + if (r != 0) + { + r = 255 - r; + y--; + } + } + + // float v improves ~4% on avg error for ~60 bytes. + uint16_t v = isinTable16[y]; + + // interpolate if needed + if (r > 0) + { + v = v + ((isinTable16[y + 1] - v) / 8 * r) /32; // == * r / 256 + } + float g = v * 0.0000152590219; // = /65535.0 + if (pos) return g; + return -g; +} + +static float icos(float x) +{ + // prevent modulo math if x in 0..360 + return isin(x - 270.0); // better than x + 90; +} + +static float itan(float f) +{ + // reference + // return isin(f)/icos(f); + + // idea is to divide two (interpolated) values from the table + // so no divide by 65535 + + // FOLDING + bool neg = (f < 0); + bool mir = false; + if (neg) f = -f; + + long x = f; + float rem = f - x; + float v = x % 180 + rem; // normalised value 0..179.9999 + if (v > 90) + { + v = 180 - v; + neg = !neg; + mir = true; + } + uint8_t d = v; + if (d == 90) return 0; + + // COS FIRST + uint8_t p = 90 - d; + float co = isinTable16[p]; + if (rem != 0) + { + float delta = (isinTable16[p] - isinTable16[p - 1]); + if (mir) co = isinTable16[p - 1] + rem * delta; + else co = isinTable16[p] - rem * delta; + } + if (co == 0) return 0; + + float si = isinTable16[d]; + if (rem != 0) si += rem * (isinTable16[d + 1] - isinTable16[d]); + + float ta = si/co; + if (neg) return -ta; + return ta; +} + + +/////////////////////////////////////////////////////// +// +// INVERSE GONIO LOOKUP +// +static float iasin(float f) +{ + bool neg = (f < 0); + if (neg) + { + f = -f; + neg = true; + } + uint16_t val = round(f * 65535); + uint8_t lo = 0; + uint8_t hi = 90; + + while (hi - lo > 1) + { + uint8_t mi = (lo + hi) / 2; + if (isinTable16[mi] == val) + { + if (neg) return -mi; + return mi; + } + if (isinTable16[mi] < val) lo = mi; + else hi = mi; + } + float delta = val - isinTable16[lo]; + uint16_t range = isinTable16[hi] - isinTable16[lo]; + delta /= range; + if (neg) return -(lo + delta); + return (lo + delta); +} + +static float iacos(float f) +{ + return 90 - iasin(f); +} + +// PLACEHOLDER +static float iatan(float f) +{ + return 0 * f; +} + +// -- END OF FILE -- diff --git a/src/GPSStatus.h b/src/GPSStatus.h new file mode 100644 index 0000000..f437fe2 --- /dev/null +++ b/src/GPSStatus.h @@ -0,0 +1,167 @@ +#pragma once +#include +#include "Status.h" +#include "config.h" +#include "atcommon.h" +#include "AP_Declination/AP_Declination.h" + +class GPSStatus : public Status +{ + +private: + CallbackObserver statusObserver = CallbackObserver(this, &GPSStatus::updateStatus); + + bool hasLock = false; // default to false, until we complete our first read + bool isConnected = false; // Do we have a GPS we are talking to + int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double + int32_t altitude = 0; + uint32_t hacc = 0; + uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs scaling before use) + uint32_t heading = 0; + uint32_t numSatellites = 0; + uint32_t sequence = 0; + double x = 0; + double y = 0; + float magDec = 0; + +public: + GPSStatus() + { + statusType = STATUS_TYPE_GPS; + } + GPSStatus(bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop, uint32_t hacc, uint32_t heading, uint32_t numSatellites) : Status() + { + this->hasLock = hasLock; + this->isConnected = isConnected; + this->latitude = latitude; + this->longitude = longitude; + this->altitude = altitude; + this->dop = dop; + this->heading = heading; + this->numSatellites = numSatellites; + this->hacc = hacc; + if(hasLock) + { + magDec = AP_Declination::get_declination(latitude*1e-7,longitude*1e-7); + //DEBUG_MSG("D %f\n",magDec); + } + this->updateXY(); + } + + GPSStatus(const GPSStatus &); + GPSStatus &operator=(const GPSStatus &); + + float getMagDec() + { + return magDec; + } + void updateXY() + { + convertDegreeToMeter(longitude*1e-07,latitude*1e-07,x,y); + } + + void observe(Observable *source) + { + statusObserver.observe(source); + } + + bool getHasLock() const + { + return hasLock; + } + + bool getIsConnected() const + { + return isConnected; + } + + int32_t getLatitude() const + { + return latitude; + } + + int32_t getLongitude() const + { + return longitude; + } + + int32_t getAltitude() const + { + return altitude; + } + + uint32_t getDOP() const + { + return dop; + } + + uint32_t getHAcc() const + { + return hacc; + } + + uint32_t getHeading() const + { + return heading; + } + + uint32_t getNumSatellites() const + { + return numSatellites; + } + + uint32_t getSequence() const + { + return sequence; + } + + double getX() const + { + return x; + } + + double getY() const + { + return y; + } + + bool matches(const GPSStatus *newStatus) const + { + return ( + newStatus->hasLock != hasLock || + newStatus->isConnected != isConnected || + newStatus->latitude != latitude || + newStatus->longitude != longitude || + newStatus->altitude != altitude || + newStatus->dop != dop || + newStatus->hacc != hacc || + newStatus->heading != heading || + newStatus->numSatellites != numSatellites); + } + int updateStatus(const GPSStatus *newStatus) + { + // Only update the status if values have actually changed + bool isDirty; + { + isDirty = matches(newStatus); + initialized = true; + hasLock = newStatus->hasLock; + isConnected = newStatus->isConnected; + latitude = newStatus->latitude; + longitude = newStatus->longitude; + altitude = newStatus->altitude; + dop = newStatus->dop; + hacc = newStatus->hacc; + heading = newStatus->heading; + numSatellites = newStatus->numSatellites; + } + if (isDirty) + { + //DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%f, heading=%f, sats=%d\n", latitude * 1e-7, longitude * 1e-7, altitude, dop * 1e-2, heading * 1e-5, numSatellites); + updateXY(); + sequence++; + onNewStatus.notifyObservers(this); + } + return 0; + } +}; diff --git a/src/IMUStatus.h b/src/IMUStatus.h new file mode 100644 index 0000000..6451714 --- /dev/null +++ b/src/IMUStatus.h @@ -0,0 +1,65 @@ +#pragma once +#include +#include "Status.h" +#include "config.h" + +class IMUStatus : public Status +{ + +private: + CallbackObserver statusObserver = CallbackObserver(this, &IMUStatus::updateStatus); + + bool isConnected = false; // Do we have a GPS we are talking to + int32_t heading; + +public: + IMUStatus() + { + statusType = STATUS_TYPE_GPS; + } + IMUStatus(bool isConnected,int32_t heading) : Status() + { + this->isConnected = isConnected; + this->heading = heading; + } + IMUStatus(const IMUStatus &); + IMUStatus &operator=(const IMUStatus &); + + void observe(Observable *source) + { + statusObserver.observe(source); + } + + bool getIsConnected() const + { + return isConnected; + } + + int32_t getHeading() const + { + return heading; + } + + bool matches(const IMUStatus *newStatus) const + { + return ( + newStatus->isConnected != isConnected || + newStatus->heading != heading); + } + int updateStatus(const IMUStatus *newStatus) + { + // Only update the status if values have actually changed + bool isDirty; + { + isDirty = matches(newStatus); + initialized = true; + isConnected = newStatus->isConnected; + heading = newStatus->heading; + } + if (isDirty) + { + onNewStatus.notifyObservers(this); + } + return 0; + } +}; diff --git a/src/MPU9250/MPU9250.cpp b/src/MPU9250/MPU9250.cpp new file mode 100644 index 0000000..ab03142 --- /dev/null +++ b/src/MPU9250/MPU9250.cpp @@ -0,0 +1,1192 @@ +/* + MPU9250.cpp + Brian R Taylor + brian.taylor@bolderflight.com + + Copyright (c) 2017 Bolder Flight Systems + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "Arduino.h" +#include "MPU9250.h" + +/* MPU9250 object, input the I2C bus and address */ +MPU9250::MPU9250(TwoWire &bus,uint8_t address){ + _i2c = &bus; // I2C bus + _address = address; // I2C address + _useSPI = false; // set to use I2C +} + +/* MPU9250 object, input the SPI bus and chip select pin */ +MPU9250::MPU9250(SPIClass &bus,uint8_t csPin){ + _spi = &bus; // SPI bus + _csPin = csPin; // chip select pin + _useSPI = true; // set to use SPI +} + +/* starts communication with the MPU-9250 */ +int MPU9250::begin(){ + if( _useSPI ) { // using SPI for communication + // use low speed SPI for register setting + _useSPIHS = false; + // setting CS pin to output + pinMode(_csPin,OUTPUT); + // setting CS pin high + digitalWrite(_csPin,HIGH); + // begin SPI communication + _spi->begin(); + } else { // using I2C for communication + // starting the I2C bus + _i2c->begin(); + // setting the I2C clock + _i2c->setClock(_i2cRate); + } + // select clock source to gyro + if(writeRegister(PWR_MGMNT_1,CLOCK_SEL_PLL) < 0){ + return -1; + } + // enable I2C master mode + if(writeRegister(USER_CTRL,I2C_MST_EN) < 0){ + return -2; + } + // set the I2C bus speed to 400 kHz + if(writeRegister(I2C_MST_CTRL,I2C_MST_CLK) < 0){ + return -3; + } + // set AK8963 to Power Down + writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN); + // reset the MPU9250 + writeRegister(PWR_MGMNT_1,PWR_RESET); + // wait for MPU-9250 to come back up + delay(1); + // reset the AK8963 + writeAK8963Register(AK8963_CNTL2,AK8963_RESET); + // select clock source to gyro + if(writeRegister(PWR_MGMNT_1,CLOCK_SEL_PLL) < 0){ + return -4; + } + // check the WHO AM I byte, expected value is 0x71 (decimal 113) or 0x73 (decimal 115) + if((whoAmI() != 113)&&(whoAmI() != 115)){ + return -5; + } + // enable accelerometer and gyro + if(writeRegister(PWR_MGMNT_2,SEN_ENABLE) < 0){ + return -6; + } + // setting accel range to 16G as default + if(writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_16G) < 0){ + return -7; + } + _accelScale = G * 16.0f/32767.5f; // setting the accel scale to 16G + _accelRange = ACCEL_RANGE_16G; + // setting the gyro range to 2000DPS as default + if(writeRegister(GYRO_CONFIG,GYRO_FS_SEL_2000DPS) < 0){ + return -8; + } + _gyroScale = 2000.0f/32767.5f * _d2r; // setting the gyro scale to 2000DPS + _gyroRange = GYRO_RANGE_2000DPS; + // setting bandwidth to 184Hz as default + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_184) < 0){ + return -9; + } + if(writeRegister(CONFIG,GYRO_DLPF_184) < 0){ // setting gyro bandwidth to 184Hz + return -10; + } + _bandwidth = DLPF_BANDWIDTH_184HZ; + // setting the sample rate divider to 0 as default + if(writeRegister(SMPDIV,0x00) < 0){ + return -11; + } + _srd = 0; + // enable I2C master mode + if(writeRegister(USER_CTRL,I2C_MST_EN) < 0){ + return -12; + } + // set the I2C bus speed to 400 kHz + if( writeRegister(I2C_MST_CTRL,I2C_MST_CLK) < 0){ + return -13; + } + // check AK8963 WHO AM I register, expected value is 0x48 (decimal 72) + if( whoAmIAK8963() != 72 ){ + return -14; + } + /* get the magnetometer calibration */ + // set AK8963 to Power Down + if(writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) < 0){ + return -15; + } + delay(100); // long wait between AK8963 mode changes + // set AK8963 to FUSE ROM access + if(writeAK8963Register(AK8963_CNTL1,AK8963_FUSE_ROM) < 0){ + return -16; + } + delay(100); // long wait between AK8963 mode changes + // read the AK8963 ASA registers and compute magnetometer scale factors + readAK8963Registers(AK8963_ASA,3,_buffer); + _magScaleX = ((((float)_buffer[0]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla + _magScaleY = ((((float)_buffer[1]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla + _magScaleZ = ((((float)_buffer[2]) - 128.0f)/(256.0f) + 1.0f) * 4912.0f / 32760.0f; // micro Tesla + // set AK8963 to Power Down + if(writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) < 0){ + return -17; + } + delay(100); // long wait between AK8963 mode changes + // set AK8963 to 16 bit resolution, 100 Hz update rate + if(writeAK8963Register(AK8963_CNTL1,AK8963_CNT_MEAS2) < 0){ + return -18; + } + delay(100); // long wait between AK8963 mode changes + // select clock source to gyro + if(writeRegister(PWR_MGMNT_1,CLOCK_SEL_PLL) < 0){ + return -19; + } + // instruct the MPU9250 to get 7 bytes of data from the AK8963 at the sample rate + readAK8963Registers(AK8963_HXL,7,_buffer); + // estimate gyro bias +// if (calibrateGyro() < 0) { +// return -20; +// } + // successful init, return 1 + return 1; +} + +/* sets the accelerometer full scale range to values other than default */ +int MPU9250::setAccelRange(AccelRange range) { + // use low speed SPI for register setting + _useSPIHS = false; + switch(range) { + case ACCEL_RANGE_2G: { + // setting the accel range to 2G + if(writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_2G) < 0){ + return -1; + } + _accelScale = G * 2.0f/32767.5f; // setting the accel scale to 2G + break; + } + case ACCEL_RANGE_4G: { + // setting the accel range to 4G + if(writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_4G) < 0){ + return -1; + } + _accelScale = G * 4.0f/32767.5f; // setting the accel scale to 4G + break; + } + case ACCEL_RANGE_8G: { + // setting the accel range to 8G + if(writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_8G) < 0){ + return -1; + } + _accelScale = G * 8.0f/32767.5f; // setting the accel scale to 8G + break; + } + case ACCEL_RANGE_16G: { + // setting the accel range to 16G + if(writeRegister(ACCEL_CONFIG,ACCEL_FS_SEL_16G) < 0){ + return -1; + } + _accelScale = G * 16.0f/32767.5f; // setting the accel scale to 16G + break; + } + } + _accelRange = range; + return 1; +} + +/* sets the gyro full scale range to values other than default */ +int MPU9250::setGyroRange(GyroRange range) { + // use low speed SPI for register setting + _useSPIHS = false; + switch(range) { + case GYRO_RANGE_250DPS: { + // setting the gyro range to 250DPS + if(writeRegister(GYRO_CONFIG,GYRO_FS_SEL_250DPS) < 0){ + return -1; + } + _gyroScale = 250.0f/32767.5f * _d2r; // setting the gyro scale to 250DPS + break; + } + case GYRO_RANGE_500DPS: { + // setting the gyro range to 500DPS + if(writeRegister(GYRO_CONFIG,GYRO_FS_SEL_500DPS) < 0){ + return -1; + } + _gyroScale = 500.0f/32767.5f * _d2r; // setting the gyro scale to 500DPS + break; + } + case GYRO_RANGE_1000DPS: { + // setting the gyro range to 1000DPS + if(writeRegister(GYRO_CONFIG,GYRO_FS_SEL_1000DPS) < 0){ + return -1; + } + _gyroScale = 1000.0f/32767.5f * _d2r; // setting the gyro scale to 1000DPS + break; + } + case GYRO_RANGE_2000DPS: { + // setting the gyro range to 2000DPS + if(writeRegister(GYRO_CONFIG,GYRO_FS_SEL_2000DPS) < 0){ + return -1; + } + _gyroScale = 2000.0f/32767.5f * _d2r; // setting the gyro scale to 2000DPS + break; + } + } + _gyroRange = range; + return 1; +} + +/* sets the DLPF bandwidth to values other than default */ +int MPU9250::setDlpfBandwidth(DlpfBandwidth bandwidth) { + // use low speed SPI for register setting + _useSPIHS = false; + switch(bandwidth) { + case DLPF_BANDWIDTH_184HZ: { + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_184) < 0){ // setting accel bandwidth to 184Hz + return -1; + } + if(writeRegister(CONFIG,GYRO_DLPF_184) < 0){ // setting gyro bandwidth to 184Hz + return -2; + } + break; + } + case DLPF_BANDWIDTH_92HZ: { + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_92) < 0){ // setting accel bandwidth to 92Hz + return -1; + } + if(writeRegister(CONFIG,GYRO_DLPF_92) < 0){ // setting gyro bandwidth to 92Hz + return -2; + } + break; + } + case DLPF_BANDWIDTH_41HZ: { + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_41) < 0){ // setting accel bandwidth to 41Hz + return -1; + } + if(writeRegister(CONFIG,GYRO_DLPF_41) < 0){ // setting gyro bandwidth to 41Hz + return -2; + } + break; + } + case DLPF_BANDWIDTH_20HZ: { + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_20) < 0){ // setting accel bandwidth to 20Hz + return -1; + } + if(writeRegister(CONFIG,GYRO_DLPF_20) < 0){ // setting gyro bandwidth to 20Hz + return -2; + } + break; + } + case DLPF_BANDWIDTH_10HZ: { + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_10) < 0){ // setting accel bandwidth to 10Hz + return -1; + } + if(writeRegister(CONFIG,GYRO_DLPF_10) < 0){ // setting gyro bandwidth to 10Hz + return -2; + } + break; + } + case DLPF_BANDWIDTH_5HZ: { + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_5) < 0){ // setting accel bandwidth to 5Hz + return -1; + } + if(writeRegister(CONFIG,GYRO_DLPF_5) < 0){ // setting gyro bandwidth to 5Hz + return -2; + } + break; + } + } + _bandwidth = bandwidth; + return 1; +} + +/* sets the sample rate divider to values other than default */ +int MPU9250::setSrd(uint8_t srd) { + // use low speed SPI for register setting + _useSPIHS = false; + /* setting the sample rate divider to 19 to facilitate setting up magnetometer */ + if(writeRegister(SMPDIV,19) < 0){ // setting the sample rate divider + return -1; + } + if(srd > 9){ + // set AK8963 to Power Down + if(writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) < 0){ + return -2; + } + delay(100); // long wait between AK8963 mode changes + // set AK8963 to 16 bit resolution, 8 Hz update rate + if(writeAK8963Register(AK8963_CNTL1,AK8963_CNT_MEAS1) < 0){ + return -3; + } + delay(100); // long wait between AK8963 mode changes + // instruct the MPU9250 to get 7 bytes of data from the AK8963 at the sample rate + readAK8963Registers(AK8963_HXL,7,_buffer); + } else { + // set AK8963 to Power Down + if(writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN) < 0){ + return -2; + } + delay(100); // long wait between AK8963 mode changes + // set AK8963 to 16 bit resolution, 100 Hz update rate + if(writeAK8963Register(AK8963_CNTL1,AK8963_CNT_MEAS2) < 0){ + return -3; + } + delay(100); // long wait between AK8963 mode changes + // instruct the MPU9250 to get 7 bytes of data from the AK8963 at the sample rate + readAK8963Registers(AK8963_HXL,7,_buffer); + } + /* setting the sample rate divider */ + if(writeRegister(SMPDIV,srd) < 0){ // setting the sample rate divider + return -4; + } + _srd = srd; + return 1; +} + +/* enables the data ready interrupt */ +int MPU9250::enableDataReadyInterrupt() { + // use low speed SPI for register setting + _useSPIHS = false; + /* setting the interrupt */ + if (writeRegister(INT_PIN_CFG,INT_PULSE_50US) < 0){ // setup interrupt, 50 us pulse + return -1; + } + if (writeRegister(INT_ENABLE,INT_RAW_RDY_EN) < 0){ // set to data ready + return -2; + } + return 1; +} + +/* disables the data ready interrupt */ +int MPU9250::disableDataReadyInterrupt() { + // use low speed SPI for register setting + _useSPIHS = false; + if(writeRegister(INT_ENABLE,INT_DISABLE) < 0){ // disable interrupt + return -1; + } + return 1; +} + +/* configures and enables wake on motion, low power mode */ +int MPU9250::enableWakeOnMotion(float womThresh_mg,LpAccelOdr odr) { + // use low speed SPI for register setting + _useSPIHS = false; + // set AK8963 to Power Down + writeAK8963Register(AK8963_CNTL1,AK8963_PWR_DOWN); + // reset the MPU9250 + writeRegister(PWR_MGMNT_1,PWR_RESET); + // wait for MPU-9250 to come back up + delay(1); + if(writeRegister(PWR_MGMNT_1,0x00) < 0){ // cycle 0, sleep 0, standby 0 + return -1; + } + if(writeRegister(PWR_MGMNT_2,DIS_GYRO) < 0){ // disable gyro measurements + return -2; + } + if(writeRegister(ACCEL_CONFIG2,ACCEL_DLPF_184) < 0){ // setting accel bandwidth to 184Hz + return -3; + } + if(writeRegister(INT_ENABLE,INT_WOM_EN) < 0){ // enabling interrupt to wake on motion + return -4; + } + if(writeRegister(MOT_DETECT_CTRL,(ACCEL_INTEL_EN | ACCEL_INTEL_MODE)) < 0){ // enabling accel hardware intelligence + return -5; + } + _womThreshold = map(womThresh_mg, 0, 1020, 0, 255); + if(writeRegister(WOM_THR,_womThreshold) < 0){ // setting wake on motion threshold + return -6; + } + if(writeRegister(LP_ACCEL_ODR,(uint8_t)odr) < 0){ // set frequency of wakeup + return -7; + } + if(writeRegister(PWR_MGMNT_1,PWR_CYCLE) < 0){ // switch to accel low power mode + return -8; + } + return 1; +} + +/* configures and enables the FIFO buffer */ +int MPU9250FIFO::enableFifo(bool accel,bool gyro,bool mag,bool temp) { + // use low speed SPI for register setting + _useSPIHS = false; + if(writeRegister(USER_CTRL, (0x40 | I2C_MST_EN)) < 0){ + return -1; + } + if(writeRegister(FIFO_EN,(accel*FIFO_ACCEL)|(gyro*FIFO_GYRO)|(mag*FIFO_MAG)|(temp*FIFO_TEMP)) < 0){ + return -2; + } + _enFifoAccel = accel; + _enFifoGyro = gyro; + _enFifoMag = mag; + _enFifoTemp = temp; + _fifoFrameSize = accel*6 + gyro*6 + mag*7 + temp*2; + return 1; +} + +/* reads the most current data from MPU9250 and stores in buffer */ +int MPU9250::readSensor() { + _useSPIHS = true; // use the high speed SPI for data readout + // grab the data from the MPU9250 + if (readRegisters(ACCEL_OUT, 21, _buffer) < 0) { + return -1; + } + // combine into 16 bit values + _axcounts = (((int16_t)_buffer[0]) << 8) | _buffer[1]; + _aycounts = (((int16_t)_buffer[2]) << 8) | _buffer[3]; + _azcounts = (((int16_t)_buffer[4]) << 8) | _buffer[5]; + _tcounts = (((int16_t)_buffer[6]) << 8) | _buffer[7]; + _gxcounts = (((int16_t)_buffer[8]) << 8) | _buffer[9]; + _gycounts = (((int16_t)_buffer[10]) << 8) | _buffer[11]; + _gzcounts = (((int16_t)_buffer[12]) << 8) | _buffer[13]; + _hxcounts = (((int16_t)_buffer[15]) << 8) | _buffer[14]; + _hycounts = (((int16_t)_buffer[17]) << 8) | _buffer[16]; + _hzcounts = (((int16_t)_buffer[19]) << 8) | _buffer[18]; + // transform and convert to float values + _ax = (((float)(tX[0]*_axcounts + tX[1]*_aycounts + tX[2]*_azcounts) * _accelScale) - _axb)*_axs; + _ay = (((float)(tY[0]*_axcounts + tY[1]*_aycounts + tY[2]*_azcounts) * _accelScale) - _ayb)*_ays; + _az = (((float)(tZ[0]*_axcounts + tZ[1]*_aycounts + tZ[2]*_azcounts) * _accelScale) - _azb)*_azs; + _gx = ((float)(tX[0]*_gxcounts + tX[1]*_gycounts + tX[2]*_gzcounts) * _gyroScale) - _gxb; + _gy = ((float)(tY[0]*_gxcounts + tY[1]*_gycounts + tY[2]*_gzcounts) * _gyroScale) - _gyb; + _gz = ((float)(tZ[0]*_gxcounts + tZ[1]*_gycounts + tZ[2]*_gzcounts) * _gyroScale) - _gzb; + _hrx = ((float)(_hxcounts) * _magScaleX); + _hry = ((float)(_hycounts) * _magScaleY); + _hrz = ((float)(_hzcounts) * _magScaleZ); + + _hrax = (_hrax*((float)_coeff-1)+_hrx)/((float)_coeff); + _hray = (_hray*((float)_coeff-1)+_hry)/((float)_coeff); + _hraz = (_hraz*((float)_coeff-1)+_hrz)/((float)_coeff); + + if(_autoMag) + { + updateMagMinMax(_hrax,_hray,_hraz); + recalibrateMag(); + } + + _hx = (((float)(_hxcounts) * _magScaleX) - _hxb)*_hxs; + _hy = (((float)(_hycounts) * _magScaleY) - _hyb)*_hys; + _hz = (((float)(_hzcounts) * _magScaleZ) - _hzb)*_hzs; + _t = ((((float) _tcounts) - _tempOffset)/_tempScale) + _tempOffset; + return 1; +} + +/* returns the accelerometer measurement in the x direction, m/s/s */ +float MPU9250::getAccelX_mss() { + return _ax; +} + +/* returns the accelerometer measurement in the y direction, m/s/s */ +float MPU9250::getAccelY_mss() { + return _ay; +} + +/* returns the accelerometer measurement in the z direction, m/s/s */ +float MPU9250::getAccelZ_mss() { + return _az; +} + +/* returns the gyroscope measurement in the x direction, rad/s */ +float MPU9250::getGyroX_rads() { + return _gx; +} + +/* returns the gyroscope measurement in the y direction, rad/s */ +float MPU9250::getGyroY_rads() { + return _gy; +} + +/* returns the gyroscope measurement in the z direction, rad/s */ +float MPU9250::getGyroZ_rads() { + return _gz; +} + +/* returns the magnetometer measurement in the x direction, uT */ +float MPU9250::getMagX_uT() { + return _hx; +} + +/* returns the magnetometer measurement in the y direction, uT */ +float MPU9250::getMagY_uT() { + return _hy; +} + +/* returns the magnetometer measurement in the z direction, uT */ +float MPU9250::getMagZ_uT() { + return _hz; +} + + +float MPU9250::getRawMagX_uT() { + return _hrx; +} + +float MPU9250::getRawMagY_uT() { + return _hry; +} + +float MPU9250::getRawMagZ_uT() { + return _hrz; +} + +/* returns the die temperature, C */ +float MPU9250::getTemperature_C() { + return _t; +} + +/* reads data from the MPU9250 FIFO and stores in buffer */ +int MPU9250FIFO::readFifo() { + _useSPIHS = true; // use the high speed SPI for data readout + // get the fifo size + readRegisters(FIFO_COUNT, 2, _buffer); + _fifoSize = (((uint16_t) (_buffer[0]&0x0F)) <<8) + (((uint16_t) _buffer[1])); + // read and parse the buffer + for (size_t i=0; i < _fifoSize/_fifoFrameSize; i++) { + // grab the data from the MPU9250 + if (readRegisters(FIFO_READ,_fifoFrameSize,_buffer) < 0) { + return -1; + } + if (_enFifoAccel) { + // combine into 16 bit values + _axcounts = (((int16_t)_buffer[0]) << 8) | _buffer[1]; + _aycounts = (((int16_t)_buffer[2]) << 8) | _buffer[3]; + _azcounts = (((int16_t)_buffer[4]) << 8) | _buffer[5]; + // transform and convert to float values + _axFifo[i] = (((float)(tX[0]*_axcounts + tX[1]*_aycounts + tX[2]*_azcounts) * _accelScale)-_axb)*_axs; + _ayFifo[i] = (((float)(tY[0]*_axcounts + tY[1]*_aycounts + tY[2]*_azcounts) * _accelScale)-_ayb)*_ays; + _azFifo[i] = (((float)(tZ[0]*_axcounts + tZ[1]*_aycounts + tZ[2]*_azcounts) * _accelScale)-_azb)*_azs; + _aSize = _fifoSize/_fifoFrameSize; + } + if (_enFifoTemp) { + // combine into 16 bit values + _tcounts = (((int16_t)_buffer[0 + _enFifoAccel*6]) << 8) | _buffer[1 + _enFifoAccel*6]; + // transform and convert to float values + _tFifo[i] = ((((float) _tcounts) - _tempOffset)/_tempScale) + _tempOffset; + _tSize = _fifoSize/_fifoFrameSize; + } + if (_enFifoGyro) { + // combine into 16 bit values + _gxcounts = (((int16_t)_buffer[0 + _enFifoAccel*6 + _enFifoTemp*2]) << 8) | _buffer[1 + _enFifoAccel*6 + _enFifoTemp*2]; + _gycounts = (((int16_t)_buffer[2 + _enFifoAccel*6 + _enFifoTemp*2]) << 8) | _buffer[3 + _enFifoAccel*6 + _enFifoTemp*2]; + _gzcounts = (((int16_t)_buffer[4 + _enFifoAccel*6 + _enFifoTemp*2]) << 8) | _buffer[5 + _enFifoAccel*6 + _enFifoTemp*2]; + // transform and convert to float values + _gxFifo[i] = ((float)(tX[0]*_gxcounts + tX[1]*_gycounts + tX[2]*_gzcounts) * _gyroScale) - _gxb; + _gyFifo[i] = ((float)(tY[0]*_gxcounts + tY[1]*_gycounts + tY[2]*_gzcounts) * _gyroScale) - _gyb; + _gzFifo[i] = ((float)(tZ[0]*_gxcounts + tZ[1]*_gycounts + tZ[2]*_gzcounts) * _gyroScale) - _gzb; + _gSize = _fifoSize/_fifoFrameSize; + } + if (_enFifoMag) { + // combine into 16 bit values + _hxcounts = (((int16_t)_buffer[1 + _enFifoAccel*6 + _enFifoTemp*2 + _enFifoGyro*6]) << 8) | _buffer[0 + _enFifoAccel*6 + _enFifoTemp*2 + _enFifoGyro*6]; + _hycounts = (((int16_t)_buffer[3 + _enFifoAccel*6 + _enFifoTemp*2 + _enFifoGyro*6]) << 8) | _buffer[2 + _enFifoAccel*6 + _enFifoTemp*2 + _enFifoGyro*6]; + _hzcounts = (((int16_t)_buffer[5 + _enFifoAccel*6 + _enFifoTemp*2 + _enFifoGyro*6]) << 8) | _buffer[4 + _enFifoAccel*6 + _enFifoTemp*2 + _enFifoGyro*6]; + // transform and convert to float values + _hxFifo[i] = (((float)(_hxcounts) * _magScaleX) - _hxb)*_hxs; + _hyFifo[i] = (((float)(_hycounts) * _magScaleY) - _hyb)*_hys; + _hzFifo[i] = (((float)(_hzcounts) * _magScaleZ) - _hzb)*_hzs; + _hSize = _fifoSize/_fifoFrameSize; + } + } + return _fifoSize/_fifoFrameSize; +} + +/* returns the accelerometer FIFO size and data in the x direction, m/s/s */ +void MPU9250FIFO::getFifoAccelX_mss(size_t *size,float* data) { + *size = _aSize; + memcpy(data,_axFifo,_aSize*sizeof(float)); +} + +/* returns the accelerometer FIFO size and data in the y direction, m/s/s */ +void MPU9250FIFO::getFifoAccelY_mss(size_t *size,float* data) { + *size = _aSize; + memcpy(data,_ayFifo,_aSize*sizeof(float)); +} + +/* returns the accelerometer FIFO size and data in the z direction, m/s/s */ +void MPU9250FIFO::getFifoAccelZ_mss(size_t *size,float* data) { + *size = _aSize; + memcpy(data,_azFifo,_aSize*sizeof(float)); +} + +/* returns the gyroscope FIFO size and data in the x direction, rad/s */ +void MPU9250FIFO::getFifoGyroX_rads(size_t *size,float* data) { + *size = _gSize; + memcpy(data,_gxFifo,_gSize*sizeof(float)); +} + +/* returns the gyroscope FIFO size and data in the y direction, rad/s */ +void MPU9250FIFO::getFifoGyroY_rads(size_t *size,float* data) { + *size = _gSize; + memcpy(data,_gyFifo,_gSize*sizeof(float)); +} + +/* returns the gyroscope FIFO size and data in the z direction, rad/s */ +void MPU9250FIFO::getFifoGyroZ_rads(size_t *size,float* data) { + *size = _gSize; + memcpy(data,_gzFifo,_gSize*sizeof(float)); +} + +/* returns the magnetometer FIFO size and data in the x direction, uT */ +void MPU9250FIFO::getFifoMagX_uT(size_t *size,float* data) { + *size = _hSize; + memcpy(data,_hxFifo,_hSize*sizeof(float)); +} + +/* returns the magnetometer FIFO size and data in the y direction, uT */ +void MPU9250FIFO::getFifoMagY_uT(size_t *size,float* data) { + *size = _hSize; + memcpy(data,_hyFifo,_hSize*sizeof(float)); +} + +/* returns the magnetometer FIFO size and data in the z direction, uT */ +void MPU9250FIFO::getFifoMagZ_uT(size_t *size,float* data) { + *size = _hSize; + memcpy(data,_hzFifo,_hSize*sizeof(float)); +} + +/* returns the die temperature FIFO size and data, C */ +void MPU9250FIFO::getFifoTemperature_C(size_t *size,float* data) { + *size = _tSize; + memcpy(data,_tFifo,_tSize*sizeof(float)); +} + +/* estimates the gyro biases */ +int MPU9250::calibrateGyro() { + // set the range, bandwidth, and srd + if (setGyroRange(GYRO_RANGE_250DPS) < 0) { + return -1; + } + if (setDlpfBandwidth(DLPF_BANDWIDTH_20HZ) < 0) { + return -2; + } + if (setSrd(19) < 0) { + return -3; + } + + // take samples and find bias + _gxbD = 0; + _gybD = 0; + _gzbD = 0; + for (size_t i=0; i < _numSamples; i++) { + readSensor(); + _gxbD += (getGyroX_rads() + _gxb)/((double)_numSamples); + _gybD += (getGyroY_rads() + _gyb)/((double)_numSamples); + _gzbD += (getGyroZ_rads() + _gzb)/((double)_numSamples); + delay(20); + } + _gxb = (float)_gxbD; + _gyb = (float)_gybD; + _gzb = (float)_gzbD; + + // set the range, bandwidth, and srd back to what they were + if (setGyroRange(_gyroRange) < 0) { + return -4; + } + if (setDlpfBandwidth(_bandwidth) < 0) { + return -5; + } + if (setSrd(_srd) < 0) { + return -6; + } + return 1; +} + +/* returns the gyro bias in the X direction, rad/s */ +float MPU9250::getGyroBiasX_rads() { + return _gxb; +} + +/* returns the gyro bias in the Y direction, rad/s */ +float MPU9250::getGyroBiasY_rads() { + return _gyb; +} + +/* returns the gyro bias in the Z direction, rad/s */ +float MPU9250::getGyroBiasZ_rads() { + return _gzb; +} + +/* sets the gyro bias in the X direction to bias, rad/s */ +void MPU9250::setGyroBiasX_rads(float bias) { + _gxb = bias; +} + +/* sets the gyro bias in the Y direction to bias, rad/s */ +void MPU9250::setGyroBiasY_rads(float bias) { + _gyb = bias; +} + +/* sets the gyro bias in the Z direction to bias, rad/s */ +void MPU9250::setGyroBiasZ_rads(float bias) { + _gzb = bias; +} + +/* finds bias and scale factor calibration for the accelerometer, +this should be run for each axis in each direction (6 total) to find +the min and max values along each */ +int MPU9250::calibrateAccel() { + // set the range, bandwidth, and srd + if (setAccelRange(ACCEL_RANGE_2G) < 0) { + return -1; + } + if (setDlpfBandwidth(DLPF_BANDWIDTH_20HZ) < 0) { + return -2; + } + if (setSrd(19) < 0) { + return -3; + } + + // take samples and find min / max + _axbD = 0; + _aybD = 0; + _azbD = 0; + for (size_t i=0; i < _numSamples; i++) { + readSensor(); + _axbD += (getAccelX_mss()/_axs + _axb)/((double)_numSamples); + _aybD += (getAccelY_mss()/_ays + _ayb)/((double)_numSamples); + _azbD += (getAccelZ_mss()/_azs + _azb)/((double)_numSamples); + delay(20); + } + if (_axbD > 9.0f) { + _axmax = (float)_axbD; + } + if (_aybD > 9.0f) { + _aymax = (float)_aybD; + } + if (_azbD > 9.0f) { + _azmax = (float)_azbD; + } + if (_axbD < -9.0f) { + _axmin = (float)_axbD; + } + if (_aybD < -9.0f) { + _aymin = (float)_aybD; + } + if (_azbD < -9.0f) { + _azmin = (float)_azbD; + } + + // find bias and scale factor + if ((abs(_axmin) > 9.0f) && (abs(_axmax) > 9.0f)) { + _axb = (_axmin + _axmax) / 2.0f; + _axs = G/((abs(_axmin) + abs(_axmax)) / 2.0f); + } + if ((abs(_aymin) > 9.0f) && (abs(_aymax) > 9.0f)) { + _ayb = (_aymin + _aymax) / 2.0f; + _ays = G/((abs(_aymin) + abs(_aymax)) / 2.0f); + } + if ((abs(_azmin) > 9.0f) && (abs(_azmax) > 9.0f)) { + _azb = (_azmin + _azmax) / 2.0f; + _azs = G/((abs(_azmin) + abs(_azmax)) / 2.0f); + } + + // set the range, bandwidth, and srd back to what they were + if (setAccelRange(_accelRange) < 0) { + return -4; + } + if (setDlpfBandwidth(_bandwidth) < 0) { + return -5; + } + if (setSrd(_srd) < 0) { + return -6; + } + return 1; +} + +/* returns the accelerometer bias in the X direction, m/s/s */ +float MPU9250::getAccelBiasX_mss() { + return _axb; +} + +/* returns the accelerometer scale factor in the X direction */ +float MPU9250::getAccelScaleFactorX() { + return _axs; +} + +/* returns the accelerometer bias in the Y direction, m/s/s */ +float MPU9250::getAccelBiasY_mss() { + return _ayb; +} + +/* returns the accelerometer scale factor in the Y direction */ +float MPU9250::getAccelScaleFactorY() { + return _ays; +} + +/* returns the accelerometer bias in the Z direction, m/s/s */ +float MPU9250::getAccelBiasZ_mss() { + return _azb; +} + +/* returns the accelerometer scale factor in the Z direction */ +float MPU9250::getAccelScaleFactorZ() { + return _azs; +} + +/* sets the accelerometer bias (m/s/s) and scale factor in the X direction */ +void MPU9250::setAccelCalX(float bias,float scaleFactor) { + _axb = bias; + _axs = scaleFactor; +} + +/* sets the accelerometer bias (m/s/s) and scale factor in the Y direction */ +void MPU9250::setAccelCalY(float bias,float scaleFactor) { + _ayb = bias; + _ays = scaleFactor; +} + +/* sets the accelerometer bias (m/s/s) and scale factor in the Z direction */ +void MPU9250::setAccelCalZ(float bias,float scaleFactor) { + _azb = bias; + _azs = scaleFactor; +} + +/* finds bias and scale factor calibration for the magnetometer, +the sensor should be rotated in a figure 8 motion until complete */ +int MPU9250::calibrateMag() { + // set the srd + if (setSrd(19) < 0) { + return -1; + } + + // get a starting set of data + readSensor(); + _hxmax = getRawMagX_uT(); + _hxmin = getRawMagX_uT(); + _hymax = getRawMagY_uT(); + _hymin = getRawMagY_uT(); + _hzmax = getRawMagZ_uT(); + _hzmin = getRawMagZ_uT(); + + // collect data to find max / min in each channel + _counter = 0; + while (_counter < _maxCounts) { + _delta = 0.0f; + _framedelta = 0.0f; + readSensor(); + _hxfilt = (_hxfilt*((float)_coeff-1)+getRawMagX_uT())/((float)_coeff); + _hyfilt = (_hyfilt*((float)_coeff-1)+getRawMagY_uT())/((float)_coeff); + _hzfilt = (_hzfilt*((float)_coeff-1)+getRawMagZ_uT())/((float)_coeff); + + if (_hxfilt > _hxmax) { + _delta = _hxfilt - _hxmax; + _hxmax = _hxfilt; + } + if (_delta > _framedelta) { + _framedelta = _delta; + } + if (_hyfilt > _hymax) { + _delta = _hyfilt - _hymax; + _hymax = _hyfilt; + } + if (_delta > _framedelta) { + _framedelta = _delta; + } + if (_hzfilt > _hzmax) { + _delta = _hzfilt - _hzmax; + _hzmax = _hzfilt; + } + if (_delta > _framedelta) { + _framedelta = _delta; + } + if (_hxfilt < _hxmin) { + _delta = abs(_hxfilt - _hxmin); + _hxmin = _hxfilt; + } + if (_delta > _framedelta) { + _framedelta = _delta; + } + if (_hyfilt < _hymin) { + _delta = abs(_hyfilt - _hymin); + _hymin = _hyfilt; + } + if (_delta > _framedelta) { + _framedelta = _delta; + } + if (_hzfilt < _hzmin) { + _delta = abs(_hzfilt - _hzmin); + _hzmin = _hzfilt; + } + if (_delta > _framedelta) { + _framedelta = _delta; + } + if (_framedelta > _deltaThresh) { + _counter = 0; + } else { + _counter++; + } + delay(20); + } + + recalibrateMag(); + + // set the srd back to what it was + if (setSrd(_srd) < 0) { + return -2; + } + return 1; +} + +/* returns the magnetometer bias in the X direction, uT */ +float MPU9250::getMagBiasX_uT() { + return _hxb; +} + +/* returns the magnetometer scale factor in the X direction */ +float MPU9250::getMagScaleFactorX() { + return _hxs; +} + +/* returns the magnetometer bias in the Y direction, uT */ +float MPU9250::getMagBiasY_uT() { + return _hyb; +} + +/* returns the magnetometer scale factor in the Y direction */ +float MPU9250::getMagScaleFactorY() { + return _hys; +} + +/* returns the magnetometer bias in the Z direction, uT */ +float MPU9250::getMagBiasZ_uT() { + return _hzb; +} + +/* returns the magnetometer scale factor in the Z direction */ +float MPU9250::getMagScaleFactorZ() { + return _hzs; +} + +/* sets the magnetometer bias (uT) and scale factor in the X direction */ +void MPU9250::setMagCalX(float bias,float scaleFactor) { + _hxb = bias; + _hxs = scaleFactor; +} + +/* sets the magnetometer bias (uT) and scale factor in the Y direction */ +void MPU9250::setMagCalY(float bias,float scaleFactor) { + _hyb = bias; + _hys = scaleFactor; +} + +/* sets the magnetometer bias (uT) and scale factor in the Z direction */ +void MPU9250::setMagCalZ(float bias,float scaleFactor) { + _hzb = bias; + _hzs = scaleFactor; +} + +/* writes a byte to MPU9250 register given a register address and data */ +int MPU9250::writeRegister(uint8_t subAddress, uint8_t data){ + /* write data to device */ + if( _useSPI ){ + _spi->beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); // begin the transaction + digitalWrite(_csPin,LOW); // select the MPU9250 chip + _spi->transfer(subAddress); // write the register address + _spi->transfer(data); // write the data + digitalWrite(_csPin,HIGH); // deselect the MPU9250 chip + _spi->endTransaction(); // end the transaction + } + else{ + _i2c->beginTransmission(_address); // open the device + _i2c->write(subAddress); // write the register address + _i2c->write(data); // write the data + _i2c->endTransmission(); + } + + delay(10); + + /* read back the register */ + readRegisters(subAddress,1,_buffer); + /* check the read back register against the written register */ + if(_buffer[0] == data) { + return 1; + } + else{ + return -1; + } +} + +/* reads registers from MPU9250 given a starting register address, number of bytes, and a pointer to store data */ +int MPU9250::readRegisters(uint8_t subAddress, uint8_t count, uint8_t* dest){ + if( _useSPI ){ + // begin the transaction + if(_useSPIHS){ + _spi->beginTransaction(SPISettings(SPI_HS_CLOCK, MSBFIRST, SPI_MODE3)); + } + else{ + _spi->beginTransaction(SPISettings(SPI_LS_CLOCK, MSBFIRST, SPI_MODE3)); + } + digitalWrite(_csPin,LOW); // select the MPU9250 chip + _spi->transfer(subAddress | SPI_READ); // specify the starting register address + for(uint8_t i = 0; i < count; i++){ + dest[i] = _spi->transfer(0x00); // read the data + } + digitalWrite(_csPin,HIGH); // deselect the MPU9250 chip + _spi->endTransaction(); // end the transaction + return 1; + } + else{ + _i2c->beginTransmission(_address); // open the device + _i2c->write(subAddress); // specify the starting register address + _i2c->endTransmission(false); + _numBytes = _i2c->requestFrom(_address, count); // specify the number of bytes to receive + if (_numBytes == count) { + for(uint8_t i = 0; i < count; i++){ + dest[i] = _i2c->read(); + } + return 1; + } else { + return -1; + } + } +} + +/* writes a register to the AK8963 given a register address and data */ +int MPU9250::writeAK8963Register(uint8_t subAddress, uint8_t data){ + // set slave 0 to the AK8963 and set for write + if (writeRegister(I2C_SLV0_ADDR,AK8963_I2C_ADDR) < 0) { + return -1; + } + // set the register to the desired AK8963 sub address + if (writeRegister(I2C_SLV0_REG,subAddress) < 0) { + return -2; + } + // store the data for write + if (writeRegister(I2C_SLV0_DO,data) < 0) { + return -3; + } + // enable I2C and send 1 byte + if (writeRegister(I2C_SLV0_CTRL,I2C_SLV0_EN | (uint8_t)1) < 0) { + return -4; + } + // read the register and confirm + if (readAK8963Registers(subAddress,1,_buffer) < 0) { + return -5; + } + if(_buffer[0] == data) { + return 1; + } else{ + return -6; + } +} + +/* reads registers from the AK8963 */ +int MPU9250::readAK8963Registers(uint8_t subAddress, uint8_t count, uint8_t* dest){ + // set slave 0 to the AK8963 and set for read + if (writeRegister(I2C_SLV0_ADDR,AK8963_I2C_ADDR | I2C_READ_FLAG) < 0) { + return -1; + } + // set the register to the desired AK8963 sub address + if (writeRegister(I2C_SLV0_REG,subAddress) < 0) { + return -2; + } + // enable I2C and request the bytes + if (writeRegister(I2C_SLV0_CTRL,I2C_SLV0_EN | count) < 0) { + return -3; + } + delay(1); // takes some time for these registers to fill + // read the bytes off the MPU9250 EXT_SENS_DATA registers + _status = readRegisters(EXT_SENS_DATA_00,count,dest); + return _status; +} + +/* gets the MPU9250 WHO_AM_I register value, expected to be 0x71 */ +int MPU9250::whoAmI(){ + // read the WHO AM I register + if (readRegisters(WHO_AM_I,1,_buffer) < 0) { + return -1; + } + // return the register value + return _buffer[0]; +} + +/* gets the AK8963 WHO_AM_I register value, expected to be 0x48 */ +int MPU9250::whoAmIAK8963(){ + // read the WHO AM I register + if (readAK8963Registers(AK8963_WHO_AM_I,1,_buffer) < 0) { + return -1; + } + // return the register value + return _buffer[0]; +} + +void MPU9250::getMagMinMax(float &minX, float &maxX, float &minY, float &maxY, float &minZ, float &maxZ) +{ + minX = _hxmin; + maxX = _hxmax; + + minY = _hymin; + maxY = _hymax; + + minZ = _hzmin; + maxZ = _hzmax; +} + +void MPU9250::setMagMinMax(float minX, float maxX, float minY, float maxY, float minZ, float maxZ) +{ + _hxmin = minX; + _hxmax = maxX; + + _hymin = minY; + _hymax = maxY; + + _hzmin = minZ; + _hzmax = maxZ; +} + +void MPU9250::recalibrateMagByBias() +{ + _hxs = max(_hxmax-_hxb,_hxb-_hxmin); + _hys = max(_hymax-_hyb,_hyb-_hymin); + _hzs = max(_hzmax-_hzb,_hzb-_hzmin); + float _avgs = (_hxs + _hys + _hzs) / 3.0f; + _hxs = _avgs/_hxs; + _hys = _avgs/_hys; + _hzs = _avgs/_hzs; +} + +void MPU9250::recalibrateMag() +{ + _hxb = (_hxmax + _hxmin) / 2.0f; + _hyb = (_hymax + _hymin) / 2.0f; + _hzb = (_hzmax + _hzmin) / 2.0f; + + // find the magnetometer scale factor + _hxs = (_hxmax - _hxmin) / 2.0f; + _hys = (_hymax - _hymin) / 2.0f; + _hzs = (_hzmax - _hzmin) / 2.0f; + float _avgs = (_hxs + _hys + _hzs) / 3.0f; + _hxs = _avgs/_hxs; + _hys = _avgs/_hys; + _hzs = _avgs/_hzs; +} + +void MPU9250::updateMagMinMax(float mx, float my, float mz) +{ + if (mx > _hxmax) { + _hxmax = mx; + } + if (my > _hymax) { + _hymax = my; + } + if (mz > _hzmax) { + _hzmax = mz; + } + if (mx < _hxmin) { + _hxmin = mx; + } + if (my < _hymin) { + _hymin = my; + } + if (mz < _hzmin) { + _hzmin = mz; + } +} \ No newline at end of file diff --git a/src/MPU9250/MPU9250.h b/src/MPU9250/MPU9250.h new file mode 100644 index 0000000..58935e5 --- /dev/null +++ b/src/MPU9250/MPU9250.h @@ -0,0 +1,322 @@ +/* + MPU9250.h + Brian R Taylor + brian.taylor@bolderflight.com + + Copyright (c) 2017 Bolder Flight Systems + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef MPU9250_h +#define MPU9250_h + +#include "Arduino.h" +#include "Wire.h" // I2C library +#include "SPI.h" // SPI library + +class MPU9250{ + public: + enum GyroRange + { + GYRO_RANGE_250DPS, + GYRO_RANGE_500DPS, + GYRO_RANGE_1000DPS, + GYRO_RANGE_2000DPS + }; + enum AccelRange + { + ACCEL_RANGE_2G, + ACCEL_RANGE_4G, + ACCEL_RANGE_8G, + ACCEL_RANGE_16G + }; + enum DlpfBandwidth + { + DLPF_BANDWIDTH_184HZ, + DLPF_BANDWIDTH_92HZ, + DLPF_BANDWIDTH_41HZ, + DLPF_BANDWIDTH_20HZ, + DLPF_BANDWIDTH_10HZ, + DLPF_BANDWIDTH_5HZ + }; + enum LpAccelOdr + { + LP_ACCEL_ODR_0_24HZ = 0, + LP_ACCEL_ODR_0_49HZ = 1, + LP_ACCEL_ODR_0_98HZ = 2, + LP_ACCEL_ODR_1_95HZ = 3, + LP_ACCEL_ODR_3_91HZ = 4, + LP_ACCEL_ODR_7_81HZ = 5, + LP_ACCEL_ODR_15_63HZ = 6, + LP_ACCEL_ODR_31_25HZ = 7, + LP_ACCEL_ODR_62_50HZ = 8, + LP_ACCEL_ODR_125HZ = 9, + LP_ACCEL_ODR_250HZ = 10, + LP_ACCEL_ODR_500HZ = 11 + }; + MPU9250(TwoWire &bus,uint8_t address); + MPU9250(SPIClass &bus,uint8_t csPin); + int begin(); + int setAccelRange(AccelRange range); + int setGyroRange(GyroRange range); + int setDlpfBandwidth(DlpfBandwidth bandwidth); + int setSrd(uint8_t srd); + int enableDataReadyInterrupt(); + int disableDataReadyInterrupt(); + int enableWakeOnMotion(float womThresh_mg,LpAccelOdr odr); + int readSensor(); + float getAccelX_mss(); + float getAccelY_mss(); + float getAccelZ_mss(); + float getGyroX_rads(); + float getGyroY_rads(); + float getGyroZ_rads(); + float getMagX_uT(); + float getMagY_uT(); + float getMagZ_uT(); + float getTemperature_C(); + + int calibrateGyro(); + float getGyroBiasX_rads(); + float getGyroBiasY_rads(); + float getGyroBiasZ_rads(); + void setGyroBiasX_rads(float bias); + void setGyroBiasY_rads(float bias); + void setGyroBiasZ_rads(float bias); + int calibrateAccel(); + float getAccelBiasX_mss(); + float getAccelScaleFactorX(); + float getAccelBiasY_mss(); + float getAccelScaleFactorY(); + float getAccelBiasZ_mss(); + float getAccelScaleFactorZ(); + void setAccelCalX(float bias,float scaleFactor); + void setAccelCalY(float bias,float scaleFactor); + void setAccelCalZ(float bias,float scaleFactor); + int calibrateMag(); + float getMagBiasX_uT(); + float getMagScaleFactorX(); + float getMagBiasY_uT(); + float getMagScaleFactorY(); + float getMagBiasZ_uT(); + float getMagScaleFactorZ(); + void setMagCalX(float bias,float scaleFactor); + void setMagCalY(float bias,float scaleFactor); + void setMagCalZ(float bias,float scaleFactor); + void getMagMinMax(float &minX, float &maxX, float &minY, float &maxY, float &minZ, float &maxZ); + void setMagMinMax(float minX, float maxX, float minY, float maxY, float minZ, float maxZ); + void recalibrateMag(); + void recalibrateMagByBias(); + void updateMagMinMax(float mx, float my, float mz); + float getRawMagX_uT(); + float getRawMagY_uT(); + float getRawMagZ_uT(); + void setAutoMag(bool v) { _autoMag = v; } + bool getAutoMag() { return _autoMag; } + protected: + bool _autoMag = false; + // i2c + uint8_t _address; + TwoWire *_i2c; + const uint32_t _i2cRate = 400000; // 400 kHz + size_t _numBytes; // number of bytes received from I2C + // spi + SPIClass *_spi; + uint8_t _csPin; + bool _useSPI; + bool _useSPIHS; + const uint8_t SPI_READ = 0x80; + const uint32_t SPI_LS_CLOCK = 1000000; // 1 MHz + const uint32_t SPI_HS_CLOCK = 15000000; // 15 MHz + // track success of interacting with sensor + int _status; + // buffer for reading from sensor + uint8_t _buffer[21]; + // data counts + int16_t _axcounts,_aycounts,_azcounts; + int16_t _gxcounts,_gycounts,_gzcounts; + int16_t _hxcounts,_hycounts,_hzcounts; + int16_t _tcounts; + // data buffer + float _ax, _ay, _az; + float _gx, _gy, _gz; + float _hx, _hy, _hz; + float _hrx, _hry, _hrz; + float _hrax, _hray, _hraz; + float _t; + // wake on motion + uint8_t _womThreshold; + // scale factors + float _accelScale; + float _gyroScale; + float _magScaleX, _magScaleY, _magScaleZ; + const float _tempScale = 333.87f; + const float _tempOffset = 21.0f; + // configuration + AccelRange _accelRange; + GyroRange _gyroRange; + DlpfBandwidth _bandwidth; + uint8_t _srd; + // gyro bias estimation + size_t _numSamples = 100; + double _gxbD, _gybD, _gzbD; + float _gxb, _gyb, _gzb; + // accel bias and scale factor estimation + double _axbD, _aybD, _azbD; + float _axmax, _aymax, _azmax; + float _axmin, _aymin, _azmin; + float _axb, _ayb, _azb; + float _axs = 1.0f; + float _ays = 1.0f; + float _azs = 1.0f; + // magnetometer bias and scale factor estimation + uint16_t _maxCounts = 1000; + float _deltaThresh = 0.3f; + uint8_t _coeff = 8; + uint16_t _counter; + float _framedelta, _delta; + float _hxfilt, _hyfilt, _hzfilt; + float _hxmax, _hymax, _hzmax; + float _hxmin, _hymin, _hzmin; + float _hxb, _hyb, _hzb; + float _hxs = 1.0f; + float _hys = 1.0f; + float _hzs = 1.0f; + float _avgs; + // transformation matrix + /* transform the accel and gyro axes to match the magnetometer axes */ + const int16_t tX[3] = {0, 1, 0}; + const int16_t tY[3] = {1, 0, 0}; + const int16_t tZ[3] = {0, 0, -1}; + // constants + const float G = 9.807f; + const float _d2r = 3.14159265359f/180.0f; + // MPU9250 registers + const uint8_t ACCEL_OUT = 0x3B; + const uint8_t GYRO_OUT = 0x43; + const uint8_t TEMP_OUT = 0x41; + const uint8_t EXT_SENS_DATA_00 = 0x49; + const uint8_t ACCEL_CONFIG = 0x1C; + const uint8_t ACCEL_FS_SEL_2G = 0x00; + const uint8_t ACCEL_FS_SEL_4G = 0x08; + const uint8_t ACCEL_FS_SEL_8G = 0x10; + const uint8_t ACCEL_FS_SEL_16G = 0x18; + const uint8_t GYRO_CONFIG = 0x1B; + const uint8_t GYRO_FS_SEL_250DPS = 0x00; + const uint8_t GYRO_FS_SEL_500DPS = 0x08; + const uint8_t GYRO_FS_SEL_1000DPS = 0x10; + const uint8_t GYRO_FS_SEL_2000DPS = 0x18; + const uint8_t ACCEL_CONFIG2 = 0x1D; + const uint8_t ACCEL_DLPF_184 = 0x01; + const uint8_t ACCEL_DLPF_92 = 0x02; + const uint8_t ACCEL_DLPF_41 = 0x03; + const uint8_t ACCEL_DLPF_20 = 0x04; + const uint8_t ACCEL_DLPF_10 = 0x05; + const uint8_t ACCEL_DLPF_5 = 0x06; + const uint8_t CONFIG = 0x1A; + const uint8_t GYRO_DLPF_184 = 0x01; + const uint8_t GYRO_DLPF_92 = 0x02; + const uint8_t GYRO_DLPF_41 = 0x03; + const uint8_t GYRO_DLPF_20 = 0x04; + const uint8_t GYRO_DLPF_10 = 0x05; + const uint8_t GYRO_DLPF_5 = 0x06; + const uint8_t SMPDIV = 0x19; + const uint8_t INT_PIN_CFG = 0x37; + const uint8_t INT_ENABLE = 0x38; + const uint8_t INT_DISABLE = 0x00; + const uint8_t INT_PULSE_50US = 0x00; + const uint8_t INT_WOM_EN = 0x40; + const uint8_t INT_RAW_RDY_EN = 0x01; + const uint8_t PWR_MGMNT_1 = 0x6B; + const uint8_t PWR_CYCLE = 0x20; + const uint8_t PWR_RESET = 0x80; + const uint8_t CLOCK_SEL_PLL = 0x01; + const uint8_t PWR_MGMNT_2 = 0x6C; + const uint8_t SEN_ENABLE = 0x00; + const uint8_t DIS_GYRO = 0x07; + const uint8_t USER_CTRL = 0x6A; + const uint8_t I2C_MST_EN = 0x20; + const uint8_t I2C_MST_CLK = 0x0D; + const uint8_t I2C_MST_CTRL = 0x24; + const uint8_t I2C_SLV0_ADDR = 0x25; + const uint8_t I2C_SLV0_REG = 0x26; + const uint8_t I2C_SLV0_DO = 0x63; + const uint8_t I2C_SLV0_CTRL = 0x27; + const uint8_t I2C_SLV0_EN = 0x80; + const uint8_t I2C_READ_FLAG = 0x80; + const uint8_t MOT_DETECT_CTRL = 0x69; + const uint8_t ACCEL_INTEL_EN = 0x80; + const uint8_t ACCEL_INTEL_MODE = 0x40; + const uint8_t LP_ACCEL_ODR = 0x1E; + const uint8_t WOM_THR = 0x1F; + const uint8_t WHO_AM_I = 0x75; + const uint8_t FIFO_EN = 0x23; + const uint8_t FIFO_TEMP = 0x80; + const uint8_t FIFO_GYRO = 0x70; + const uint8_t FIFO_ACCEL = 0x08; + const uint8_t FIFO_MAG = 0x01; + const uint8_t FIFO_COUNT = 0x72; + const uint8_t FIFO_READ = 0x74; + // AK8963 registers + const uint8_t AK8963_I2C_ADDR = 0x0C; + const uint8_t AK8963_HXL = 0x03; + const uint8_t AK8963_CNTL1 = 0x0A; + const uint8_t AK8963_PWR_DOWN = 0x00; + const uint8_t AK8963_CNT_MEAS1 = 0x12; + const uint8_t AK8963_CNT_MEAS2 = 0x16; + const uint8_t AK8963_FUSE_ROM = 0x0F; + const uint8_t AK8963_CNTL2 = 0x0B; + const uint8_t AK8963_RESET = 0x01; + const uint8_t AK8963_ASA = 0x10; + const uint8_t AK8963_WHO_AM_I = 0x00; + // private functions + int writeRegister(uint8_t subAddress, uint8_t data); + int readRegisters(uint8_t subAddress, uint8_t count, uint8_t* dest); + int writeAK8963Register(uint8_t subAddress, uint8_t data); + int readAK8963Registers(uint8_t subAddress, uint8_t count, uint8_t* dest); + int whoAmI(); + int whoAmIAK8963(); +}; + +class MPU9250FIFO: public MPU9250 { + public: + using MPU9250::MPU9250; + int enableFifo(bool accel,bool gyro,bool mag,bool temp); + int readFifo(); + void getFifoAccelX_mss(size_t *size,float* data); + void getFifoAccelY_mss(size_t *size,float* data); + void getFifoAccelZ_mss(size_t *size,float* data); + void getFifoGyroX_rads(size_t *size,float* data); + void getFifoGyroY_rads(size_t *size,float* data); + void getFifoGyroZ_rads(size_t *size,float* data); + void getFifoMagX_uT(size_t *size,float* data); + void getFifoMagY_uT(size_t *size,float* data); + void getFifoMagZ_uT(size_t *size,float* data); + void getFifoTemperature_C(size_t *size,float* data); + protected: + // fifo + bool _enFifoAccel,_enFifoGyro,_enFifoMag,_enFifoTemp; + size_t _fifoSize,_fifoFrameSize; + float _axFifo[85], _ayFifo[85], _azFifo[85]; + size_t _aSize; + float _gxFifo[85], _gyFifo[85], _gzFifo[85]; + size_t _gSize; + float _hxFifo[73], _hyFifo[73], _hzFifo[73]; + size_t _hSize; + float _tFifo[256]; + size_t _tSize; +}; + +#endif diff --git a/src/Observer.h b/src/Observer.h new file mode 100644 index 0000000..701495b --- /dev/null +++ b/src/Observer.h @@ -0,0 +1,98 @@ +#pragma once + +#include +#include +#include + +template class Observable; + +/** + * An observer which can be mixed in as a baseclass. Implement onNotify as a method in your class. + */ +template class Observer +{ + Observable *observed = NULL; + + public: + virtual ~Observer(); + + void observe(Observable *o); + + private: + friend class Observable; + + protected: + /** + * returns 0 if other observers should continue to be called + * returns !0 if the observe calls should be aborted and this result code returned for notifyObservers + **/ + virtual int onNotify(T arg) = 0; +}; + +/** + * An observer that calls an arbitrary method + */ +template class CallbackObserver : public Observer +{ + typedef int (Callback::*ObserverCallback)(T arg); + + Callback *objPtr; + ObserverCallback method; + + public: + CallbackObserver(Callback *_objPtr, ObserverCallback _method) : objPtr(_objPtr), method(_method) {} + + protected: + virtual int onNotify(T arg) { return (objPtr->*method)(arg); } +}; + +/** + * An observable class that will notify observers anytime notifyObservers is called. Argument type T can be any type, but for + * performance reasons a pointer or word sized object is recommended. + */ +template class Observable +{ + std::list *> observers; + + public: + /** + * Tell all observers about a change, observers can process arg as they wish + * + * returns !0 if an observer chose to abort processing by returning this code + */ + int notifyObservers(T arg) + { + for (typename std::list *>::const_iterator iterator = observers.begin(); iterator != observers.end(); + ++iterator) { + int result = (*iterator)->onNotify(arg); + if (result != 0) + return result; + } + + return 0; + } + + private: + friend class Observer; + + // Not called directly, instead call observer.observe + void addObserver(Observer *o) { observers.push_back(o); } + + void removeObserver(Observer *o) { observers.remove(o); } +}; + +template Observer::~Observer() +{ + if (observed) + observed->removeObserver(this); + observed = NULL; +} + +template void Observer::observe(Observable *o) +{ + // We can only watch one thing at a time + assert(!observed); + + observed = o; + o->addObserver(this); +} \ No newline at end of file diff --git a/src/Power.cpp b/src/Power.cpp new file mode 100644 index 0000000..6f82109 --- /dev/null +++ b/src/Power.cpp @@ -0,0 +1,238 @@ +#include "power.h" +#include "utils.h" + +#ifdef HAS_AXP20X +bool pmu_irq = false; +#endif +bool Power::setup() +{ +#ifdef HAS_AXP20X + axp192Init(); +#endif + concurrency::PeriodicTask::setup(); // We don't start our periodic task unless we actually found the device + setPeriod(1); + + return true; +} +#ifdef BATTERY_PIN +static float read_battery() { + uint16_t v = analogRead(BATTERY_PIN); + //float battery_voltage = (float)v/4095*2*3.3*1.1; + float battery_voltage = (float)v*0.00246*1.19; + + return battery_voltage; +} +#endif + +/// Reads power status to powerStatus singleton. +// +// TODO(girts): move this and other axp stuff to power.h/power.cpp. +void Power::readPowerStatus() +{ +#ifdef HAS_AXP20X + bool hasBattery = axp.isBatteryConnect(); + int batteryVoltageMv = 0; + uint8_t batteryChargePercent = 0; + if (hasBattery) + { + batteryVoltageMv = axp.getBattVoltage(); + // If the AXP192 returns a valid battery percentage, use it + if (axp.getBattPercentage() >= 0) + { + batteryChargePercent = axp.getBattPercentage(); + } + else + { + // If the AXP192 returns a percentage less than 0, the feature is either not supported or there is an error + // In that case, we compute an estimate of the charge percent based on maximum and minimum voltages defined in power.h + batteryChargePercent = clamp((int)(((batteryVoltageMv - BAT_MILLIVOLTS_EMPTY) * 1e2) / (BAT_MILLIVOLTS_FULL - BAT_MILLIVOLTS_EMPTY)), 0, 100); + } + } + + // Notify any status instances that are observing us + const PowerStatus powerStatus = PowerStatus(hasBattery, axp.isVBUSPlug(), axp.isChargeing(), batteryVoltageMv, batteryChargePercent); + newStatus.notifyObservers(&powerStatus); + + // If we have a battery at all and it is less than 10% full, force deep sleep + if (powerStatus.getHasBattery() && !powerStatus.getHasUSB() && + axp.getBattVoltage() < MIN_BAT_MILLIVOLTS) + { + //powerFSM.trigger(EVENT_LOW_BATTERY); + } +#else + int batteryVoltageMv = read_battery()*1000; + uint8_t batteryChargePercent = clamp((int)(((batteryVoltageMv - BAT_MILLIVOLTS_EMPTY) * 1e2) / (BAT_MILLIVOLTS_FULL - BAT_MILLIVOLTS_EMPTY)), 0, 100); + const PowerStatus powerStatus = PowerStatus(true, false, batteryVoltageMv>4200, batteryVoltageMv, batteryChargePercent); + newStatus.notifyObservers(&powerStatus); +#endif +} + +void Power::doTask() +{ + readPowerStatus(); + + // Only read once every 20 seconds once the power status for the app has been initialized + if (statusHandler && statusHandler->isInitialized()) + setPeriod(1000 * 20); +} + +void Power::gpsOff() +{ +#ifdef HAS_AXP20X + axp.setPowerOutPut(AXP192_LDO3, AXP202_OFF); +#endif +} + +void Power::shutdown() +{ +#ifdef HAS_AXP20X + axp.shutdown(); +#endif +} + +void Power::gpsOn() +{ +#ifdef HAS_AXP20X + axp.setPowerOutPut(AXP192_LDO3, AXP202_ON); +#endif +} + +#ifdef AXP192_SLAVE_ADDRESS +/** + * Init the power manager chip + * + * axp192 power + DCDC1 0.7-3.5V @ 1200mA max -> OLED // If you turn this off you'll lose comms to the axp192 because the OLED and the axp192 + share the same i2c bus, instead use ssd1306 sleep mode DCDC2 -> unused DCDC3 0.7-3.5V @ 700mA max -> ESP32 (keep this on!) LDO1 + 30mA -> charges GPS backup battery // charges the tiny J13 battery by the GPS to power the GPS ram (for a couple of days), can + not be turned off LDO2 200mA -> LORA LDO3 200mA -> GPS + */ + +#ifdef HAS_AXP20X +void Power::axp192Init() +{ + if (!axp.begin(Wire, AXP192_SLAVE_ADDRESS)) + { + DEBUG_MSG("AXP192 Begin PASS\n"); + + // axp.setChgLEDMode(LED_BLINK_4HZ); + axp.setChgLEDModeCharging(); + DEBUG_MSG("DCDC1: %s\n", axp.isDCDC1Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("DCDC2: %s\n", axp.isDCDC2Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("LDO2: %s\n", axp.isLDO2Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("LDO3: %s\n", axp.isLDO3Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("DCDC3: %s\n", axp.isDCDC3Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("Exten: %s\n", axp.isExtenEnable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("----------------------------------------\n"); + axp.setDCDC1Voltage(3300); // for the OLED power + axp.setPowerOutPut(AXP192_LDO2, AXP202_ON); // LORA radio + axp.setPowerOutPut(AXP192_LDO3, AXP202_ON); // GPS main power + axp.setPowerOutPut(AXP192_DCDC2, AXP202_ON); + axp.setPowerOutPut(AXP192_EXTEN, AXP202_ON); + axp.setPowerOutPut(AXP192_DCDC1, AXP202_ON); + axp.setDCDC1Voltage(3300); // for the OLED power + + DEBUG_MSG("DCDC1: %s\n", axp.isDCDC1Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("DCDC2: %s\n", axp.isDCDC2Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("LDO2: %s\n", axp.isLDO2Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("LDO3: %s\n", axp.isLDO3Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("DCDC3: %s\n", axp.isDCDC3Enable() ? "ENABLE" : "DISABLE"); + DEBUG_MSG("Exten: %s\n", axp.isExtenEnable() ? "ENABLE" : "DISABLE"); + + axp.setChargingTargetVoltage(AXP202_TARGET_VOL_4_2V); + axp.setChargeControlCur(AXP1XX_CHARGE_CUR_1320MA); // actual limit (in HW) on the tbeam is 450mA + axp.setStartupTime(2); + axp.setShutdownTime(0); + axp.EnableCoulombcounter(); +#if 0 + + // Not connected + //val = 0xfc; + //axp._writeByte(AXP202_VHTF_CHGSET, 1, &val); // Set temperature protection + + //not used + //val = 0x46; + //axp._writeByte(AXP202_OFF_CTL, 1, &val); // enable bat detection +#endif + axp.debugCharging(); + +#ifdef PMU_IRQ + pinMode(PMU_IRQ, INPUT); + attachInterrupt( + PMU_IRQ, [] { pmu_irq = true; }, FALLING); + + axp.adc1Enable(AXP202_BATT_CUR_ADC1, 1); + axp.enableIRQ(AXP202_BATT_REMOVED_IRQ | AXP202_BATT_CONNECT_IRQ | AXP202_CHARGING_FINISHED_IRQ | AXP202_CHARGING_IRQ | + AXP202_VBUS_REMOVED_IRQ | AXP202_VBUS_CONNECT_IRQ | AXP202_PEK_SHORTPRESS_IRQ | AXP202_PEK_LONGPRESS_IRQ, + 1); + + axp.clearIRQ(); +#endif + readPowerStatus(); + } + else + { + DEBUG_MSG("AXP192 Begin FAIL\n"); + delay(1000); + abort(); + } +} +#endif +#endif + +int Power::loop() +{ + int result = 0; +#ifdef HAS_AXP20X +#ifdef PMU_IRQ + if (pmu_irq) + { + pmu_irq = false; + axp.readIRQ(); + + DEBUG_MSG("pmu irq!\n"); + + if (axp.isChargingIRQ()) + { + DEBUG_MSG("Battery start charging\n"); + } + if (axp.isChargingDoneIRQ()) + { + DEBUG_MSG("Battery fully charged\n"); + } + if (axp.isVbusRemoveIRQ()) + { + DEBUG_MSG("USB unplugged\n"); + } + if (axp.isVbusPlugInIRQ()) + { + DEBUG_MSG("USB plugged In\n"); + } + if (axp.isBattPlugInIRQ()) + { + DEBUG_MSG("Battery inserted\n"); + } + if (axp.isBattRemoveIRQ()) + { + DEBUG_MSG("Battery removed\n"); + } + if (axp.isPEKShortPressIRQ()) + { + DEBUG_MSG("PEK short button press\n"); + result |= 1; + } + if (axp.isPEKLongtPressIRQ()) + { + DEBUG_MSG("PEK long button press\n"); + result |= 2; + } + + readPowerStatus(); + axp.clearIRQ(); + } +#endif +#else +// readPowerStatus(); +#endif + return result; +} diff --git a/src/PowerStatus.h b/src/PowerStatus.h new file mode 100644 index 0000000..601eb91 --- /dev/null +++ b/src/PowerStatus.h @@ -0,0 +1,96 @@ +#pragma once +#include +#include "Status.h" +#include "config.h" + +class PowerStatus : public Status +{ + +private: + CallbackObserver statusObserver = CallbackObserver(this, &PowerStatus::updateStatus); + + /// Whether we have a battery connected + bool hasBattery; + /// Battery voltage in mV, valid if haveBattery is true + int batteryVoltageMv; + /// Battery charge percentage, either read directly or estimated + uint8_t batteryChargePercent; + /// Whether USB is connected + bool hasUSB; + /// Whether we are charging the battery + bool isCharging; + +public: + PowerStatus() + { + statusType = STATUS_TYPE_POWER; + } + PowerStatus(bool hasBattery, bool hasUSB, bool isCharging, int batteryVoltageMv, uint8_t batteryChargePercent) : Status() + { + this->hasBattery = hasBattery; + this->hasUSB = hasUSB; + this->isCharging = isCharging; + this->batteryVoltageMv = batteryVoltageMv; + this->batteryChargePercent = batteryChargePercent; + } + PowerStatus(const PowerStatus &); + PowerStatus &operator=(const PowerStatus &); + + void observe(Observable *source) + { + statusObserver.observe(source); + } + + bool getHasBattery() const + { + return hasBattery; + } + + bool getHasUSB() const + { + return hasUSB; + } + + bool getIsCharging() const + { + return isCharging; + } + + int getBatteryVoltageMv() const + { + return batteryVoltageMv; + } + + uint8_t getBatteryChargePercent() const + { + return batteryChargePercent; + } + + bool matches(const PowerStatus *newStatus) const + { + return ( + newStatus->getHasBattery() != hasBattery || + newStatus->getHasUSB() != hasUSB || + newStatus->getBatteryVoltageMv() != batteryVoltageMv); + } + int updateStatus(const PowerStatus *newStatus) + { + // Only update the status if values have actually changed + bool isDirty; + { + isDirty = matches(newStatus); + initialized = true; + hasBattery = newStatus->getHasBattery(); + batteryVoltageMv = newStatus->getBatteryVoltageMv(); + batteryChargePercent = newStatus->getBatteryChargePercent(); + hasUSB = newStatus->getHasUSB(); + isCharging = newStatus->getIsCharging(); + } + if (isDirty) + { + DEBUG_MSG("Battery %dmV %d%%\n", batteryVoltageMv, batteryChargePercent); + onNewStatus.notifyObservers(this); + } + return 0; + } +}; diff --git a/src/Status.h b/src/Status.h new file mode 100644 index 0000000..8a638e0 --- /dev/null +++ b/src/Status.h @@ -0,0 +1,66 @@ +#pragma once + +#include "Observer.h" + +// Constants for the various status types, so we can tell subclass instances apart +#define STATUS_TYPE_BASE 0 +#define STATUS_TYPE_POWER 1 +#define STATUS_TYPE_GPS 2 + +// A base class for observable status +class Status +{ +protected: + // Allows us to observe an Observable + CallbackObserver statusObserver = CallbackObserver(this, &Status::updateStatus); + bool initialized = false; + // Workaround for no typeid support + int statusType; + +public: + // Allows us to generate observable events + Observable onNewStatus; + + // Enable polymorphism ? + virtual ~Status() = default; + + Status() + { + if (!statusType) + { + statusType = STATUS_TYPE_BASE; + } + } + + // Prevent object copy/move + Status(const Status &) = delete; + Status &operator=(const Status &) = delete; + + // Start observing a source of data + void observe(Observable *source) + { + statusObserver.observe(source); + } + + // Determines whether or not existing data matches the data in another Status instance + bool matches(const Status *otherStatus) const + { + return true; + } + + bool isInitialized() const + { + return initialized; + } + + int getStatusType() const + { + return statusType; + } + + // Called when the Observable we're observing generates a new notification + int updateStatus(const Status *newStatus) + { + return 0; + } +}; diff --git a/src/TypedQueue.h b/src/TypedQueue.h new file mode 100644 index 0000000..90ed07f --- /dev/null +++ b/src/TypedQueue.h @@ -0,0 +1,81 @@ +#pragma once + +#include +#include + +#include "freertosinc.h" + +#ifdef HAS_FREE_RTOS + +/** + * A wrapper for freertos queues. Note: each element object should be small + * and POD (Plain Old Data type) as elements are memcpied by value. + */ +template class TypedQueue +{ + static_assert(std::is_pod::value, "T must be pod"); + QueueHandle_t h; + + public: + TypedQueue(int maxElements) + { + h = xQueueCreate(maxElements, sizeof(T)); + assert(h); + } + + ~TypedQueue() { vQueueDelete(h); } + + int numFree() { return uxQueueSpacesAvailable(h); } + + bool isEmpty() { return uxQueueMessagesWaiting(h) == 0; } + + bool enqueue(T x, TickType_t maxWait = portMAX_DELAY) { return xQueueSendToBack(h, &x, maxWait) == pdTRUE; } + + bool enqueueFromISR(T x, BaseType_t *higherPriWoken) { return xQueueSendToBackFromISR(h, &x, higherPriWoken) == pdTRUE; } + + bool dequeue(T *p, TickType_t maxWait = portMAX_DELAY) { return xQueueReceive(h, p, maxWait) == pdTRUE; } + + bool dequeueFromISR(T *p, BaseType_t *higherPriWoken) { return xQueueReceiveFromISR(h, p, higherPriWoken); } +}; + +#else + +#include + +/** + * A wrapper for freertos queues. Note: each element object should be small + * and POD (Plain Old Data type) as elements are memcpied by value. + */ +template class TypedQueue +{ + std::queue q; + + public: + TypedQueue(int maxElements) {} + + // int numFree() { return uxQueueSpacesAvailable(h); } + + bool isEmpty() { return q.empty(); } + + bool enqueue(T x, TickType_t maxWait = portMAX_DELAY) + { + q.push(x); + return true; + } + + // bool enqueueFromISR(T x, BaseType_t *higherPriWoken) { return xQueueSendToBackFromISR(h, &x, higherPriWoken) == pdTRUE; } + + bool dequeue(T *p, TickType_t maxWait = portMAX_DELAY) + { + if (isEmpty()) + return false; + else { + *p = q.front(); + q.pop(); + return true; + } + } + + // bool dequeueFromISR(T *p, BaseType_t *higherPriWoken) { return xQueueReceiveFromISR(h, p, higherPriWoken); } +}; +#endif diff --git a/src/adcBLECommon.h b/src/adcBLECommon.h new file mode 100644 index 0000000..2cd7fc9 --- /dev/null +++ b/src/adcBLECommon.h @@ -0,0 +1,22 @@ +#pragma once + +#define SERVICE_UUID_ADC "e9f2ee69-ee2e-49d2-a763-458db734b546" +#define CHARACTERISTIC_UUID_ADC_POSITION_REPORT "697f4ebc-4a7e-4782-b15e-31dbee61b3e2" + + +#pragma pack(push, 1) +struct sADCPositionReport +{ + unsigned long now; + float latitude; + float longitude; + float altitude; + bool hasLock; + int sat; + unsigned long lastSeen; + float SNR; + float RSSI; + char status[32]; + uint32_t hacc; +}; +#pragma pack(pop) \ No newline at end of file diff --git a/src/agd/abcommon.h b/src/agd/abcommon.h new file mode 100644 index 0000000..4c86684 --- /dev/null +++ b/src/agd/abcommon.h @@ -0,0 +1,13 @@ +#pragma once + +#define LORA_TAG 0x93 +#define LORA_SCREEN_TAG 0x94 +#define LSID_GPS 1 +#define LSID_HASLOCK 2 +#define LSID_NSATS 3 +#define LSID_TIMER1 4 +#define LSID_TIMER2 5 +#define LSID_SWITCH 6 +#define LSID_TIMERS_MODE 7 +#define LSID_HACC 8 + diff --git a/src/atLVEvents.cpp b/src/atLVEvents.cpp new file mode 100644 index 0000000..b8c0f3d --- /dev/null +++ b/src/atLVEvents.cpp @@ -0,0 +1,88 @@ +#include "atLVEvents.h" +#include "config.h" +#include "atscreen.h" + +static uint32_t keycode_to_ascii(uint32_t key); + +static uint32_t last_key = 0; +static lv_indev_state_t state ; +void atlve_init(void) +{ + /*Nothing to init*/ +} + +bool atlve_read(lv_indev_drv_t * indev_drv, lv_indev_data_t * data) +{ + (void) indev_drv; /*Unused*/ + data->state = state; + data->key = keycode_to_ascii(last_key); + lv_indev_t * indev = (lv_indev_t *)indev_drv->user_data; + if(indev) + { + if(!lv_group_get_editing(indev->group)) + { + switch(data->key) + { + case LV_KEY_UP: + { + data->key = LV_KEY_LEFT; + break; + } + case LV_KEY_DOWN: + { + data->key = LV_KEY_RIGHT; + break; + } + } + } + } + return false; +} + +/** + * It is called periodically from the SDL thread to check a key is pressed/released + * @param event describes the event + */ +void atlve_handler(uint8_t event, uint32_t param1, uint32_t param2) +{ + /* We only care about SDL_KEYDOWN and SDL_KEYUP events */ + switch(event) { + case EV_BTN_ON: /*Button press*/ + last_key = param1; /*Save the pressed key*/ + state = LV_INDEV_STATE_PR; /*Save the key is pressed now*/ + break; + case EV_BTN_OFF: /*Button release*/ + last_key = param1; /*Save the pressed key*/ + state = LV_INDEV_STATE_REL; /*Save the key is released but keep the last key*/ + break; + default: + break; + + } +} + +static uint32_t keycode_to_ascii(uint32_t key) +{ + switch(key) { + case 0: + return LV_KEY_UP; + + case 1: + return LV_KEY_DOWN; + + case 2: + return LV_KEY_ESC; + + case 3: + return LV_KEY_LEFT; + + case 4: + return LV_KEY_ENTER; + + case 5: + return LV_KEY_RIGHT; + + default: + return 0; + } +} diff --git a/src/atLVEvents.h b/src/atLVEvents.h new file mode 100644 index 0000000..703eadb --- /dev/null +++ b/src/atLVEvents.h @@ -0,0 +1,24 @@ +#ifndef ATLVE_H +#define ATLVE_H + +#ifdef __cplusplus +extern "C" { +#endif + + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +void atlve_init(void); +bool atlve_read(lv_indev_drv_t * indev_drv, lv_indev_data_t * data); +void atlve_handler(uint8_t event, uint32_t param1, uint32_t param2); + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif diff --git a/src/atNetworkProcessor.cpp b/src/atNetworkProcessor.cpp new file mode 100644 index 0000000..ad2e239 --- /dev/null +++ b/src/atNetworkProcessor.cpp @@ -0,0 +1,1054 @@ +#include "atNetworkProcessor.h" +#include "mbedtls/md.h" +#include +#include +#include +cPeer::cPeer() +{ + m_id = 0; + m_lastPacketTime = 0; + m_lastRequestInfo = 0; + m_lastRetransmit = 0; +} + +void cPeer::init(const char *key, uint8_t size, uint8_t id, uint8_t netId) +{ + memset(m_timeslots,0,sizeof(m_timeslots)); + type = POIT_PEER; + m_id = id; + if(m_id>128) + type = POIT_ENEMY; + m_cryptoEngine.initWithKey(key,size,id,netId); +} + +bool cPeer::needRequestInfo(int64_t now, int64_t interval) +{ + if(!name.empty()) + return false; + return (now-m_lastRequestInfo)>=interval; +} + +uint16_t cPeer::getTimeslotOffset(uint8_t timeslot, uint16_t timeslotDuration) +{ + return timeslot*timeslotDuration; +} + +void cPeer::updateTimeslot(int64_t packetTime, uint16_t timeslotDuration, uint8_t timeslot, uint8_t timeslotNext, int64_t now) +{ + if(packetTime>0) + m_peerTimeOffset = (packetTime/TIMESLOTS_PERIOD)*TIMESLOTS_PERIOD+getTimeslotOffset(timeslot,timeslotDuration)-packetTime-1; + if(m_peerTimeOffset<0) + m_peerTimeOffset += TIMESLOTS_PERIOD; + updateTimeslot(timeslot,now); + if(timeslotNext=TIMESLOTS_MAX) + return; + bool found = false; + for(int i=0; i=TIMESLOT_TIMEOUT) + { + m_timeslots[i].inUse = 0; + } + } +} + +cCryptoEngine::cCryptoEngine() +{ + memset(m_key,0x55,sizeof(m_key)); +} + +void cCryptoEngine::initWithKey(const char *key, uint8_t size, uint8_t id, uint8_t netId) +{ + memset(m_key,0x55,sizeof(m_key)); + mbedtls_md_context_t ctx; + mbedtls_md_type_t md_type = MBEDTLS_MD_SHA256; + mbedtls_md_init(&ctx); + mbedtls_md_setup(&ctx, mbedtls_md_info_from_type(md_type), 0); + mbedtls_md_starts(&ctx); + mbedtls_md_update(&ctx, (const unsigned char *) &netId, 1); + mbedtls_md_update(&ctx, (const unsigned char *) key, size); + mbedtls_md_update(&ctx, (const unsigned char *) &id, 1); + mbedtls_md_finish(&ctx, m_key); + mbedtls_md_free(&ctx); +} + +void cCryptoEngine::encode(uint8_t *data, uint16_t size) +{ + uint8_t keyPosition = 0; + for(int i=0; igetId(),header->type); + switch(header->type) + { + case PT_REPORT_REMOTE_D1: + case PT_REPORT_REMOTE: + { + if(size>=sizeof(sNpReportRemoteHeader)) + { + const sNpReportRemoteHeader *rheader = (sNpReportRemoteHeader *)data; + if(rheader->src!=m_global.getConfig().id) + { + cPeer *remotePeer = NULL; + auto itr = m_peers.find(rheader->src); + if(itr!=m_peers.end()) + { + remotePeer = & itr->second; + } + else + { + atNetworkConfig &netConfig = m_global.getNetworkConfig(); + cPeer newPeer; + m_peers[rheader->src] = newPeer; + remotePeer = & m_peers[rheader->src]; + remotePeer->init(netConfig.password.c_str(),netConfig.password.length(),rheader->src,netConfig.networkId); + } + remotePeer->RSSI = 0; + remotePeer->SNR = 0; + std::list tsList; + if(rheader->ts.d4.flag) //D3 + { + if(rheader->ts.d3.t0<(TIMESLOTS_MAX-1)) + { + int lastTS = rheader->ts.d3.t0; + tsList.push_back(lastTS); + for(int i=1; i<=rheader->ts.d3.size(); i++) + { + int ts = rheader->ts.d3.get(i); + if(ts>0) + { + lastTS += ts; + tsList.push_back(lastTS); + } + else + break; + } + } + } + else //D4 + { + if(rheader->ts.d4.t0<(TIMESLOTS_MAX-1)) + { + int lastTS = rheader->ts.d4.t0; + tsList.push_back(lastTS); + for(int i=1; i<=rheader->ts.d4.size(); i++) + { + int ts = rheader->ts.d4.get(i); + if(ts>0) + { + lastTS += ts; + tsList.push_back(lastTS); + } + else + break; + } + } + } + if(tsList.size()>0) + { + int64_t now = millis(); + //DEBUG_MSG("Remote Update %02X, Timeslots",rheader->src); + for(auto itr=tsList.begin(); itr!=tsList.end(); itr++) + { + remotePeer->updateTimeslot(*itr,now); + //DEBUG_MSG(" %d",(int)*itr); + } + //DEBUG_MSG("\n"); + if(rheader->srctype==PT_REPORT_REMOTE_D1) + { + if(size>=sizeof(sNpReportItemD1) && m_lastPeerReport) + { + sNpReportItemD1 *reportD1 = (sNpReportItemD1 *)data; + sNpReportItem report; + report.hacc = reportD1->hacc; + report.heading = reportD1->heading; + report.status = reportD1->status; + report.options = reportD1->options; + report.lat = reportD1->lat+m_lastPeerReport->lat; + report.lng = reportD1->lng+m_lastPeerReport->lng; + report.alt = reportD1->alt+m_lastPeerReport->alt; + remotePeer->updateReport(&report); + DEBUG_MSG("Get %02X position %f, %f\n",remotePeer->getId(),remotePeer->getReport().lat*1e-6,remotePeer->getReport().lng*1e-6); + } + } + else + { + if(size>=sizeof(sNpReportItem)) + { + sNpReportItem * report = (sNpReportItem *)data; + remotePeer->updateReport(report); + } + } + remotePeer->updateLastPacketTime(); + remotePeer->updateLastRetransmit(); + } + } + break; + } + + case PT_REPORT: + { + if(size>=sizeof(sNpReportItem)) + { + m_lastPeerReport = (sNpReportItem *)data; + peer->updateReport(m_lastPeerReport); + //DEBUG_MSG("Get %02X position %f, %f\n",(int)m_lastPeerReport->getId(),m_lastPeerReport->getReport().lat*1e-6,m_lastPeerReport->getReport().lng*1e-6); + } + else + DEBUG_MSG("Wrong packet size %d %d\n",(int)sizeof(sNpReportItem),size); + + break; + } + + case PT_INFO_REQUEST: + { + if(size>=sizeof(sNpInfoRequest)) + { + sNpInfoRequest *ir = (sNpInfoRequest *)data; + if(size==(sizeof(sNpInfoRequest)+ir->count*sizeof(sNpInfoRequestItem))) + { + uint8_t id = m_global.getConfig().id; + data += sizeof(sNpInfoRequest); + for(int i=0; icount; i++) + { + sNpInfoRequestItem *iri = (sNpInfoRequestItem *)data; + if(iri->id==id) + { + DEBUG_MSG("Request info\n"); + m_infoRequested = true; + break; + } + data += sizeof(sNpInfoRequestItem); + } + } + else + DEBUG_MSG("Wrong packet size %d %d\n",(int)(sizeof(sNpInfoRequest)+ir->count*sizeof(sNpInfoRequestItem)),size); + } + break; + } + + case PT_INFO_RESPONSE: + { + if(size==sizeof(sNpInfoResponse)) + { + peer->updateInfo((sNpInfoResponse *)data); + } + else + { + DEBUG_MSG("Wrong packet size %d %d\n",(int)sizeof(sNpInfoResponse),size); + } + + break; + } + } +} + +void cNetworkProcessor::processPacket(const sNetworkPacket &packet, float RSSI, float SNR) +{ + const sNetworkPacketHeader *ph; + m_lastPeerReport = NULL; + if(packet.data.size()>=sizeof(sNetworkPacketHeader)) + { + uint8_t *data = (uint8_t *)packet.data.data(); + ph = (const sNetworkPacketHeader *)data; + if(ph->netId==(m_global.getNetworkConfig().networkId&0xF) && ph->src!=m_global.getConfig().id) + { + int64_t packetTime = packet.preambleTime; + if(packetTime<10) + { + packetTime = packet.packetTime-getTimeOnAir(packet.data.size())/1000-5; + if(packetTime<0) + packetTime = 0; + } + else + packetTime -= 10; + cPeer *peer = NULL; + auto itr = m_peers.find(ph->src); + if(itr!=m_peers.end()) + { + peer = & itr->second; + } + else + { + atNetworkConfig &netConfig = m_global.getNetworkConfig(); + cPeer newPeer; + m_peers[ph->src] = newPeer; + peer = & m_peers[ph->src]; + peer->init(netConfig.password.c_str(),netConfig.password.length(),ph->src,netConfig.networkId); + } + peer->RSSI = RSSI; + peer->SNR = SNR; + int16_t size = packet.data.size()-sizeof(sNetworkPacketHeader); + data += sizeof(sNetworkPacketHeader); + if(size && peer->geCryptoEngine().decode(data,size)) + { + uint8_t crc = esp_crc8_le(0,data,size); + //for(int i=0; icrc) + { + int64_t now = millis(); + //DEBUG_MSG("TS %02X, %d %d\n",ph->src, ph->timeslot,ph->timeslotNext); + peer->updateTimeslot(packetTime,m_timeslotDuration,ph->timeslot,ph->timeslotNext,now); + if(ph->srctimeslot || m_timeslots[i].timeslot==ph->timeslotNext)) + { + rebuildTimeslotsMap(); + m_timeslots[i].timeslot = findTimeslotAround(m_timeslots[i].timeslot); + if(m_timeslots[i].timeslot==TIMESLOTS_MAX) + m_timeslots[i].inUse = 0; + } + } + } + + while(size>=sizeof(sNetworkPackeItemHeader)) + { + sNetworkPackeItemHeader *pih = (sNetworkPackeItemHeader *)data; + if(pih->size==0) + { + DEBUG_MSG("Zero packet item size\n"); + break; + } + if(pih->size<=size) + { + processPacketItem(peer, pih,&data[sizeof(sNetworkPackeItemHeader)],pih->size-sizeof(sNetworkPackeItemHeader)); + } + else + { + DEBUG_MSG("Bad packet item size %d %d\n",size,pih->size); + break; + } + data += pih->size; + size -= pih->size; + } + } + else + { + DEBUG_MSG("CRC does not match %02X %02X\n",(int)crc,(int)ph->crc); + } + } + peer->updateLastPacketTime(); + } + } + m_lastPeerReport = NULL; +} + +void cNetworkProcessor::updateConfig() +{ + atNetworkConfig &netConfig = m_global.getNetworkConfig(); + m_cryptoEngine.initWithKey(netConfig.password.c_str(),netConfig.password.length(), m_global.getConfig().id,netConfig.networkId); + m_reportInterval = m_global.getConfig().reportInterval; + for(auto itr=m_peers.begin(); itr!=m_peers.end(); itr++) + { + itr->second.init(netConfig.password.c_str(),netConfig.password.length(),itr->first,netConfig.networkId); + } + m_maxPacketDuration = getTimeOnAir(TIMESLOT_MAX_SYMBOLS_LEN)/1000; + m_timeslotDuration = ((int32_t)(getTimeOnAir(TIMESLOT_MAX_SYMBOLS_LEN)*1.2)/10000)*10+30; + if(m_timeslotDurationTIMESLOTS_PER_PEER_MAX) + result = TIMESLOTS_PER_PEER_MAX; + return result; +} + +uint8_t cNetworkProcessor::getTimeslotsCount() +{ + uint8_t result = 0; + for(int i=0; i=128; + + int16_t ts; + if(s) + ts = (targetTimeslot+distance)%maxTimeslots; + else + ts = (targetTimeslot-distance+maxTimeslots)%maxTimeslots; + if(m_timeslotsMap[ts]==NETWORK_NODE_ID_MAX && !isTimeslotExist(ts)) + return ts; + + if(!s) + ts = (targetTimeslot+distance)%maxTimeslots; + else + ts = (targetTimeslot-distance+maxTimeslots)%maxTimeslots; + if(m_timeslotsMap[ts]==NETWORK_NODE_ID_MAX && !isTimeslotExist(ts)) + return ts; + if(distance & 0x1) + distance += 2; + else + distance--; + } + return TIMESLOTS_MAX; +} + +void cNetworkProcessor::rebuildTimeslotsMap() +{ + memset(m_timeslotsMap,NETWORK_NODE_ID_MAX,sizeof(m_timeslotsMap)); + for(auto itr=m_peers.begin(); itr!=m_peers.end(); itr++) + { + sPeerTimeslot *peerTimeslots = itr->second.getTimeslots(); + for(int i=0; iitr->first) + m_timeslotsMap[peerTimeslots[i].timeslot]=itr->first; + } + } +} + +void cNetworkProcessor::rebuildTimeslots() +{ + uint8_t needTimeslots = calcMaxTimeslotsToUse(); + if(needTimeslots!=m_lastNeedTimeslots && needTimeslots>0) + { + m_lastNeedTimeslots = needTimeslots; + uint8_t maxTimeslots = TIMESLOTS_PERIOD/m_timeslotDuration; + rebuildTimeslotsMap(); + + int32_t interval = TIMESLOTS_PERIOD/needTimeslots; + double intervalInTimeslots = TIMESLOTS_PERIOD/(double)needTimeslots/m_timeslotDuration; + //DEBUG_MSG("rebuildTS %d %d %f\n",(int)needTimeslots,interval,intervalInTimeslots); + memset(m_timeslots,0,sizeof(m_timeslots)); + uint8_t ts = findTimeslotAround((esp_random()+(int)(m_global.getConfig().id*intervalInTimeslots/4)) %(int)intervalInTimeslots); + //DEBUG_MSG("FTS %d\n",(int)ts); + uint8_t firstTs = ts; + int tsPos = 0; + while(ts!=TIMESLOTS_MAX && needTimeslots>0 && (ts>=firstTs || (ts+(int)intervalInTimeslots)<=firstTs)) + { + m_timeslots[tsPos].inUse = 1; + m_timeslots[tsPos].timeslot = ts; + m_timeslots[tsPos].lastTime = m_lastSendTime; + tsPos++; + needTimeslots--; + if(needTimeslots>0) + { + ts = findTimeslotAround(((int)(firstTs+tsPos*intervalInTimeslots))%maxTimeslots); + //DEBUG_MSG("TS %d\n",(int)ts); + } + } + } +} + +void cNetworkProcessor::sendPacket(uint8_t timeslot) +{ + sNetworkPacket packet; + sNetworkPacketHeader *ph; + packet.data.resize(m_bufferSize+sizeof(sNetworkPacketHeader)); + uint8_t *p = packet.data.data(); + ph = (sNetworkPacketHeader *)p; + ph->src = m_global.getConfig().id; + ph->netId = m_global.getNetworkConfig().networkId; + ph->timeslot = timeslot; + ph->timeslotNext = getTimeslotNext(timeslot); + ph->crc = m_bufferCRC; + memcpy(&p[sizeof(sNetworkPacketHeader)],m_buffer,m_bufferSize); + m_lastSendTime = millis(); + //DEBUG_MSG("%d Send ts %d %d\n",millis(), (int)ph->timeslot, (int)ph->timeslotNext); + if(m_interface) + m_interface->sendPacket(packet); +} + +bool cNetworkProcessor::needRequestInfo(int64_t now) +{ + for(auto itr=m_peers.begin(); itr!=m_peers.end(); itr++) + { + if(itr->second.needRequestInfo(now,m_global.getNetworkConfig().requestInfoInterval)) + return true; + } + + return false; +} + +void cNetworkProcessor::buildRequestInfoPacket(int64_t now) +{ + sNetworkPackeItemHeader itemHeader; + memset(&itemHeader,0,sizeof(itemHeader)); + itemHeader.type = PT_INFO_REQUEST; + startPacketItem(itemHeader); + + int32_t requestPosition = m_bufferSize; + sNpInfoRequest data; + memset(&data,0,sizeof(data)); + putPacketData(&data,sizeof(data)); + int cnt=0; + for(auto itr=m_peers.begin(); itr!=m_peers.end(); itr++) + { + if(itr->second.needRequestInfo(now,m_global.getNetworkConfig().requestInfoInterval)) + { + sNpInfoRequestItem ri; + ri.id = itr->first; + if(putPacketData(&ri,sizeof(ri))) + { + cnt++; + itr->second.updateLastRequestInfo(now); + } + else + break; + } + } + + sNpInfoRequest *pData =(sNpInfoRequest *)&m_buffer[requestPosition]; + pData->count = cnt; + + endPacketItem(); +} + +void cNetworkProcessor::sendReport(uint8_t timeslot) +{ + startPacket(); + sNpReportItem report = buildReportPacket(); + if(m_infoRequested) + { + m_infoRequested = false; + buildInfoPacket(); + } + else + { + int64_t now = millis(); + if(needRequestInfo(now)) + { + buildRequestInfoPacket(now); + } + else + { + m_retransmitCounter++; + if(m_retransmitCounter&0x1) + { + cPeer *retransmitPeer = NULL; + int64_t retransmitTime = now; + for(auto itr=m_peers.begin(); itr!=m_peers.end(); itr++) + { + if(itr->second.retransmitRating>0 && (now-itr->second.getLastPacketTime())<10000 && (itr->second.getLastPacketTime()>itr->second.getLastRetransmit()) && (now-itr->second.getLastRetransmit())>=1000 && itr->second.isValidLocation()) + //if(itr->second.retransmitRating>0 && (now-itr->second.getLastPacketTime())<10000 && (now-itr->second.getLastRetransmit())>=1000 && itr->second.isValidLocation()) + { + if(retransmitTime>itr->second.getLastRetransmit()) + { + retransmitTime = itr->second.getLastRetransmit(); + retransmitPeer = &itr->second; + } + } + } + if(retransmitPeer && (now-retransmitTime)>=1000) + { + //DEBUG_MSG("Send remote %02X\n",retransmitPeer->getId()); + retransmitPeer->updateLastRetransmit(); + buildRemoteReportPacket(report,*retransmitPeer); + } + } + } + } + endPacket(); + sendPacket(timeslot); +} +//int yyy=0; +uint8_t cNetworkProcessor::getCurrentTimeslot(int64_t now) +{ + int64_t offset = 0; + uint8_t offsetId = m_global.getConfig().id; + for(auto itr=m_peers.begin(); itr!=m_peers.end(); itr++) + { + if(itr->firstsecond.getPeerTimeOffset()!=INVALID_TIME_OFFSET) + { + offsetId = itr->first; + offset = itr->second.getPeerTimeOffset(); + } + } + now += offset; + //if(yyy++%20==0) + // DEBUG_MSG("Offset %d %d\n",(int)offset,(int)(now%TIMESLOTS_PERIOD)/m_timeslotDuration); + return (now%TIMESLOTS_PERIOD)/m_timeslotDuration; +} + +uint8_t cNetworkProcessor::getTimeslotNext(uint8_t timeslot) +{ + uint8_t result = TIMESLOTS_MAX; + for(int i=0; itimeslot && m_timeslots[i].timeslotm_timeslotDuration*2) + { + m_timeslots[i].lastTime = now; + return true; + } + break; + } + } + return false; +} + +void cNetworkProcessor::loop() +{ + int64_t now = millis(); + if(m_timeBase<=0) + m_timeBase = now; + if((now-m_timeBase)>=TIMESLOT_LEARNING_TIME) + { + if((now-m_lastRebuildTimeslots)>=TIMESLOTS_PERIOD) + { + m_lastRebuildTimeslots = now; + rebuildTimeslots(); + } + if((now-m_lastInfoTime)>=60000) + { + m_infoRequested = true; + } + uint8_t timeslot = getCurrentTimeslot(now); + if(checkTimeslot(now,timeslot)) + { + if(m_infoRequested) + m_lastInfoTime = now; + m_lastReportTime = now; + sendReport(timeslot); + } + } +} + +void cNetworkProcessor::startPacket() +{ + m_packetItemHeaderPosition = 0; + m_bufferSize = 0; +} + +void cNetworkProcessor::endPacket() +{ + m_bufferCRC = esp_crc8_le(0, m_buffer,m_bufferSize); + m_cryptoEngine.encode(m_buffer,m_bufferSize); +} + +void cNetworkProcessor::startPacketItem(sNetworkPackeItemHeader &itemHeader) +{ + m_packetItemHeaderPosition = m_bufferSize; + putPacketData(&itemHeader,sizeof(itemHeader)); +} + +void cNetworkProcessor::endPacketItem() +{ + sNetworkPackeItemHeader *itemHeader = (sNetworkPackeItemHeader *) &m_buffer[m_packetItemHeaderPosition]; + itemHeader->size = m_bufferSize-m_packetItemHeaderPosition; +} + +bool cNetworkProcessor::putPacketData(void *data,uint16_t size) +{ + auto pos = m_bufferSize; + if((pos+size) tsList; + for(int i=0; i1) + { + int maxTSDiff = 0; + int lastTS = -1; + for(auto itr=tsList.begin(); itr!=tsList.end(); itr++) + { + if(lastTS==-1) + { + lastTS = *itr; + } + else + { + int diff = *itr - lastTS; + lastTS = *itr; + if(diff>maxTSDiff) + maxTSDiff = diff; + } + } + if(maxTSDiff>=getBitsSize(3)) + { + header.ts.d4.flag = 0; + lastTS = -1; + int cnt = 0; + for(auto itr=tsList.begin(); itr!=tsList.end(); itr++) + { + if(lastTS==-1) + { + lastTS = *itr; + header.ts.d4.t0 = lastTS; + } + else + { + int diff = *itr - lastTS; + lastTS = *itr; + cnt++; + if(diff=header.ts.d4.size()) + break; + } + } + else + { + header.ts.d3.flag = 1; + lastTS = -1; + int cnt = 0; + for(auto itr=tsList.begin(); itr!=tsList.end(); itr++) + { + if(lastTS==-1) + { + lastTS = *itr; + header.ts.d3.t0 = lastTS; + } + else + { + int diff = *itr - lastTS; + lastTS = *itr; + cnt++; + if(diff=header.ts.d3.size()) + break; + } + } + } + else + { + header.ts.d4.flag = 0; + if(tsList.size()==1) + header.ts.d4.t0 = tsList.front(); + else + header.ts.d4.t0 = TIMESLOTS_MAX-1; + } + + //D1 report + if(abs(peerLat - report.lat)getLatitude()/10; + report.lng = m_global.m_gpsStatus->getLongitude()/10; + report.alt = m_global.m_gpsStatus->getAltitude(); + report.heading = m_global.m_imuStatus->getHeading()/100; + report.status = m_global.m_playerStatus.status; + report.options = m_global.m_playerStatus.options; + report.hacc = std::min(m_global.m_gpsStatus->getHAcc()/100,255U); + + putPacketData(&report,sizeof(report)); + + endPacketItem(); + return report; +} + +void cPeer::updateReport(const sNpReportItem * report) +{ + memcpy(&m_report,report,sizeof(sNpReportItem)); + lat = m_report.lat*1e-6; + lng = m_report.lng*1e-6; + alt = m_report.alt; + heading = m_report.heading; + status = m_report.status; + options = m_report.options; + positionChanged = true; + hacc = m_report.hacc; + updateXY(); +} + + +uint32_t cNetworkProcessor::getTimeOnAir(size_t len) { + cLoraChannelCondfig &channelConfig = m_global.getNetworkConfig().channelConfig; + // everything is in microseconds to allow integer arithmetic + // some constants have .25, these are multiplied by 4, and have _x4 postfix to indicate that fact + uint32_t symbolLength_us = ((uint32_t)(1000 * 10) << channelConfig.sf) / (channelConfig.bw * 10) ; + uint8_t sfCoeff1_x4 = 17; // (4.25 * 4) + uint8_t sfCoeff2 = 8; + if(channelConfig.sf == 5 || channelConfig.sf == 6) { + sfCoeff1_x4 = 25; // 6.25 * 4 + sfCoeff2 = 0; + } + uint8_t sfDivisor = 4*channelConfig.sf; + if(symbolLength_us >= 16000) { + sfDivisor = 4*(channelConfig.sf - 2); + } + const int8_t bitsPerCrc = 16; + const int8_t N_symbol_header = 20; + + // numerator of equation in section 6.1.4 of SX1268 datasheet v1.1 (might not actually be bitcount, but it has len * 8) + int16_t bitCount = (int16_t) 8 * len + 1 * bitsPerCrc - 4 * channelConfig.sf + sfCoeff2 + N_symbol_header; + if(bitCount < 0) { + bitCount = 0; + } + // add (sfDivisor) - 1 to the numerator to give integer CEIL(...) + uint16_t nPreCodedSymbols = (bitCount + (sfDivisor - 1)) / (sfDivisor); + + // preamble can be 65k, therefore nSymbol_x4 needs to be 32 bit + uint32_t nSymbol_x4 = (channelConfig.preambleLength + 8) * 4 + sfCoeff1_x4 + nPreCodedSymbols * channelConfig.cr * 4; + + return((symbolLength_us * nSymbol_x4) / 4); +} + diff --git a/src/atNetworkProcessor.h b/src/atNetworkProcessor.h new file mode 100644 index 0000000..294d235 --- /dev/null +++ b/src/atNetworkProcessor.h @@ -0,0 +1,189 @@ +#pragma once +#include +#include "config.h" +#include "atNetworkStructs.h" +#include "atglobal.h" +#include +#include + +#pragma pack(push, 1) +struct sPeerTimeslot +{ + uint8_t timeslot:7; + uint8_t inUse:1; + int64_t lastTime; +}; +#pragma pack(pop) + +struct sNetworkPacket +{ + int64_t packetTime; + int64_t preambleTime; + std::vector data; +}; + +class cNetworkProcessorInterface +{ +public: + virtual void sendPacket(const sNetworkPacket &packet)=0; +}; +#define INVALID_TIME_OFFSET 0xFFFFFFFF +#define CK_SIZE 32 +#define MAX_NETWORK_PACKET_SIZE 64 +class cCryptoEngine +{ +protected: + uint8_t m_key[CK_SIZE]; +public: + cCryptoEngine(); + void initWithKey(const char *key, uint8_t size, uint8_t id, uint8_t netId); + void encode(uint8_t *data, uint16_t size); + bool decode(uint8_t *data, uint16_t size); +}; + +class cPeer:public sPOI +{ +protected: + uint8_t m_id; + cCryptoEngine m_cryptoEngine; + int64_t m_lastPacketTime; + int64_t m_lastRequestInfo; + int64_t m_lastRetransmit; + sNpReportItem m_report; + sPeerTimeslot m_timeslots[TIMESLOTS_PER_PEER_MAX]; + int64_t m_peerTimeOffset=INVALID_TIME_OFFSET; +public: + cPeer(); + void init(const char *key, uint8_t size, uint8_t id, uint8_t netId); + const char * getName() + { + return name.c_str(); + } + + char getSymbol() + { + return symbol; + } + + void updateInfo(const sNpInfoResponse *info) + { + name = info->name; + symbol = info->symbol; + } + + void updateLastPacketTime() + { + lastUpdate = m_lastPacketTime = millis(); + } + + void updateLastRetransmit() + { + m_lastRetransmit = millis(); + } + + int64_t getLastRetransmit() + { + return m_lastRetransmit; + } + + int64_t getLastPacketTime() + { + return m_lastPacketTime; + } + + uint8_t getId() const + { + return m_id; + } + + sNpReportItem & getReport() + { + return m_report; + } + + void updateReport(const sNpReportItem * report); + + cCryptoEngine & geCryptoEngine() + { + return m_cryptoEngine; + } + + bool needRequestInfo(int64_t now, int64_t interval); + + void updateLastRequestInfo(int64_t now) + { + m_lastRequestInfo = now; + } + + void updateTimeslot(uint8_t timeslot, int64_t now); + void updateTimeslot(int64_t packetTime, uint16_t timeslotDuration, uint8_t timeslot,uint8_t timeslotNext, int64_t now); + uint16_t getTimeslotOffset(uint8_t timeslot, uint16_t timeslotDuration); + sPeerTimeslot *getTimeslots() { return m_timeslots; } + int64_t getPeerTimeOffset() { return m_peerTimeOffset; } +}; + +typedef std::map cPeers; + +class cNetworkProcessor +{ +protected: + atGlobal &m_global; + cNetworkProcessorInterface *m_interface; + cCryptoEngine m_cryptoEngine; + int64_t m_lastReportTime; + int64_t m_lastInfoTime; + uint16_t m_reportInterval; + uint8_t m_buffer[MAX_NETWORK_PACKET_SIZE]; + uint16_t m_bufferSize; + uint16_t m_packetItemHeaderPosition; + bool m_infoRequested; + cPeers m_peers; + uint8_t m_bufferCRC; + uint16_t m_timeslotDuration=0; + uint16_t m_maxPacketDuration=0; + uint8_t m_timeslotsMap[TIMESLOTS_MAX]; + sPeerTimeslot m_timeslots[TIMESLOTS_PER_PEER_MAX]; + int64_t m_timeBase=0; + int64_t m_lastRebuildTimeslots = 0; + int64_t m_lastSendTime = 0; + uint8_t m_lastNeedTimeslots=0; + uint32_t m_retransmitCounter = 0; + sNpReportItem *m_lastPeerReport = NULL; + + void startPacket(); + void endPacket(); + void startPacketItem(sNetworkPackeItemHeader &itemHeader); + void endPacketItem(); + bool putPacketData(void *data,uint16_t size); + + bool needRequestInfo(int64_t now); + sNpReportItem buildReportPacket(); + void buildRemoteReportPacket(const sNpReportItem &report, cPeer &peer); + void buildInfoPacket(); + void buildRequestInfoPacket(int64_t now); + void sendPacket(uint8_t timeslot); + void processPacketItem(cPeer *peer, const sNetworkPackeItemHeader *header, const uint8_t *data, uint16_t size); + uint8_t getActivePeersCount(); + uint8_t calcMaxTimeslotsToUse(); + uint8_t getTimeslotsCount(); + void rebuildTimeslotsMap(); + void rebuildTimeslots(); + bool isTimeslotExist(uint8_t timeslot); + bool checkTimeslot(int64_t now,uint8_t timeslot); + uint8_t findTimeslotAround(uint8_t targetTimeslot); + uint8_t getCurrentTimeslot(int64_t now); + uint8_t getTimeslotNext(uint8_t timeslot); +public: + cNetworkProcessor(atGlobal &global, cNetworkProcessorInterface *interface); + void updateConfig(); + void processPacket(const sNetworkPacket &packet, float RSSI, float SNR); + void loop(); + void sendReport(uint8_t timeslot); + uint16_t getTimeslotDuration() { return m_timeslotDuration; } + uint16_t getMaxPacketDuration() { return m_maxPacketDuration; } + uint32_t getTimeOnAir(size_t len); + cPeers &getPeers() + { + return m_peers; + } +}; \ No newline at end of file diff --git a/src/atNetworkStructs.h b/src/atNetworkStructs.h new file mode 100644 index 0000000..c550041 --- /dev/null +++ b/src/atNetworkStructs.h @@ -0,0 +1,192 @@ +#pragma once +#include + +#pragma pack(push, 1) + +#define NETWORK_NODE_ID_MAX 255 +#define TIMESLOTS_PERIOD 5000 +#define TIMESLOTS_MAX 64 +#define TIMESLOTS_PER_PEER_MAX 20 +#define TIMESLOT_MIN_DURATION (TIMESLOTS_PERIOD/TIMESLOTS_MAX) +#define TIMESLOT_TIMEOUT 30000 +#define TIMESLOT_LEARNING_TIME (TIMESLOTS_PERIOD+100) +#define TIMESLOT_MAX_SYMBOLS_LEN 40 + +//Packet types +#define PT_REPORT 0 +#define PT_INFO_REQUEST 1 +#define PT_INFO_RESPONSE 2 +#define PT_REPORT_REMOTE 3 +#define PT_REPORT_REMOTE_D1 4 + +// 4 bytes +struct sNetworkPacketHeader +{ + uint8_t src; + uint16_t netId:4; + uint16_t timeslot:6; + uint16_t timeslotNext:6; + uint8_t crc; +}; + +// 1 byte +struct sNetworkPackeItemHeader +{ + uint8_t type:3; + uint8_t size:5; +}; + +#define MAX_NETWORK_USER_NAME 16 + +struct sNpInfoRequest +{ + uint8_t count; //count of sNpInfoRequestItem +}; + +struct sNpInfoRequestItem +{ + uint8_t id; // src id +}; + + +struct sNpInfoResponse +{ + char name[MAX_NETWORK_USER_NAME]; + char symbol; +}; + + +// 12 bytes +struct sNpReportItem +{ + int32_t lat:28; + int32_t lng:28; + int32_t alt:15; + uint32_t heading:9; + uint32_t status:4; + uint32_t options:4; + uint8_t hacc; +}; + +#define RID1SL 16 +#define RID1SA 8 +// 9 bytes +struct sNpReportItemD1 +{ + int32_t lat:RID1SL; + int32_t lng:RID1SL; + int32_t alt:RID1SA; + uint32_t heading:9; + uint32_t status:4; + uint32_t options:4; + uint8_t hacc; +}; + +// 6 bytes +struct sNpReportRemoteHeader +{ + uint8_t src; + union + { + // 5 bytes + struct + { + uint8_t flag:1; // 0 - d4, 1 - d3 + uint8_t t0:6; + uint8_t reserved:1; + uint8_t t1:4; + uint8_t t2:4; + uint8_t t3:4; + uint8_t t4:4; + uint8_t t5:4; + uint8_t t6:4; + uint8_t t7:4; + uint8_t t8:4; + void set(uint8_t idx,uint8_t value) + { + switch(idx) + { + case 1: t1 = value;break; + case 2: t2 = value;break; + case 3: t3 = value;break; + case 4: t4 = value;break; + case 5: t5 = value;break; + case 6: t6 = value;break; + case 7: t7 = value;break; + case 8: t8 = value;break; + } + } + uint8_t get(uint8_t idx) const + { + switch(idx) + { + case 1: return t1; + case 2: return t2; + case 3: return t3; + case 4: return t4; + case 5: return t5; + case 6: return t6; + case 7: return t7; + case 8: return t8; + } + return 0; + } + uint8_t size() const { return 8; } + }d4; + struct + { + uint8_t flag:1; + uint8_t t0:6; + uint8_t t1:3; + uint8_t t2:3; + uint8_t t3:3; + uint8_t t4:3; + uint8_t t5:3; + uint8_t t6:3; + uint8_t t7:3; + uint8_t t8:3; + uint8_t t9:3; + uint8_t t10:3; + uint8_t t11:3; + void set(uint8_t idx,uint8_t value) + { + switch(idx) + { + case 1: t1 = value;break; + case 2: t2 = value;break; + case 3: t3 = value;break; + case 4: t4 = value;break; + case 5: t5 = value;break; + case 6: t6 = value;break; + case 7: t7 = value;break; + case 8: t8 = value;break; + case 9: t9 = value;break; + case 10: t10 = value;break; + case 11: t11 = value;break; + } + } + uint8_t get(uint8_t idx) const + { + switch(idx) + { + case 1: return t1; + case 2: return t2; + case 3: return t3; + case 4: return t4; + case 5: return t5; + case 6: return t6; + case 7: return t7; + case 8: return t8; + case 9: return t9; + case 10: return t10; + case 11: return t11; + } + return 0; + } + uint8_t size() const { return 11; } + }d3; + }ts; +}; + + +#pragma pack(pop) diff --git a/src/atScreen.cpp b/src/atScreen.cpp new file mode 100644 index 0000000..b00bfa0 --- /dev/null +++ b/src/atScreen.cpp @@ -0,0 +1,16 @@ +#include "atscreen.h" + +cATScreen::cATScreen(atGlobal &global):m_global(global) +{ + m_screenState = SS_BOOT; +} + +cATScreen::~cATScreen() +{ + +} + +bool cATScreen::init() +{ + return true; +} \ No newline at end of file diff --git a/src/atScreenEVE.cpp b/src/atScreenEVE.cpp new file mode 100644 index 0000000..9912e01 --- /dev/null +++ b/src/atScreenEVE.cpp @@ -0,0 +1,1052 @@ +#include +#include "config.h" +#ifdef USE_SCREEN_EVE +#include "atScreenEVE.h" +#include "gps/GPS.h" +#include "../include/version.h" +#include + +#define EO_BATT 40 +#define EO_STAT_Y 14 +#define EO_STAT_FONT 20 +#define EO_BOOT_FONT 20 +#define EO_SIDE_BTN_FONT 26 +#define EO_SPACE 5 +#define EO_POI_FONT 15 +#define EO_TIMERS_FONT 26 +#define EO_TIMERS_FONT_SIZE 16 + + +static const uint8_t PROGMEM eveFont14[] = +#include "calibri_14_L4.rawh" +; + + +cATScreenEVE::cATScreenEVE(atGlobal &global):cATScreenLVGL(global),m_mapsMemory(MAPS_MEMORY_ITEMS) +{ + m_pointer = 0; + m_backlight = 0x20; +} + +cATScreenEVE::~cATScreenEVE() +{ + +} + +bool cATScreenEVE::init() +{ + if(cATScreenLVGL::init()) + { + DEBUG_MSG("EVE frequency %dMhz\n",EVE_memRead32(REG_FREQUENCY)/1000000); + if(EVE_memRead32(REG_FREQUENCY)==0) + return false; + EVE_cmd_flashattach(); + EVE_cmd_flashfast(); + m_pointer = EVE_HSIZE*EVE_VSIZE*2; + EVE_memWrite_buffer(m_pointer,eveFont14,sizeof(eveFont14),false); + EVE_cmd_execute(); + m_pointer += sizeof(eveFont14)+32; + m_pointer = (m_pointer/32)*32; + EVE_memWrite32(REG_PWM_HZ, 2000); + setBacklight(100); + return true; + } + else + { + return false; + } +} + +void cATScreenEVE::beginDraw() +{ + EVE_cmd_dl(CMD_DLSTART); +} + +void cATScreenEVE::endDraw() +{ + EVE_cmd_dl(DL_DISPLAY); + EVE_cmd_dl(CMD_SWAP); + EVE_cmd_execute(); +} + +void cATScreenEVE::loadAllImages() +{ + m_pointer = m_gpsImage.load("/spiffs/gps.png",EVE_RAM_G+m_pointer); +} + +void cATScreenEVE::screenOn() +{ + EVE_cmdWrite(EVE_ACTIVE, 0); + delay(10); + EVE_memWrite8(REG_PWM_DUTY, m_backlight); +} + +void cATScreenEVE::screenOff() +{ + EVE_memWrite8(REG_PWM_DUTY, 0); + EVE_cmdWrite(EVE_SLEEP, 0); +} + +#define BUILD_YEAR (__DATE__ + 7) + +void cATScreenEVE::showBootScreen(const char * msg1,const char * msg2) +{ + char buffer[64]; + beginDraw(); + EVE_cmd_dl(DL_CLEAR_RGB | 0x000000UL); + EVE_cmd_dl(DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG); + EVE_loadImage("/spiffs/at.png",EVE_RAM_G+m_pointer,0); + EVE_cmd_dl(BEGIN(EVE_BITMAPS)); + EVE_cmd_dl(VERTEX2II(0, 0, 0, 0)); + EVE_cmd_dl(COLOR_RGB(m_theme.bootTextColor.r,m_theme.bootTextColor.g,m_theme.bootTextColor.b)); + snprintf(buffer,sizeof(buffer),"Version %s (%s), Copyright DDV %s",VERSION,__DATE__,BUILD_YEAR); + EVE_cmd_text(EVE_HSIZE,EVE_VSIZE-EO_BOOT_FONT-2,EO_BOOT_FONT,EVE_OPT_RIGHTX,buffer); + if(msg1) + { + EVE_cmd_text(EVE_HSIZE/2,EVE_VSIZE-EO_BOOT_FONT*3-2,EO_BOOT_FONT,EVE_OPT_CENTERX,msg1); + } + if(msg2) + { + EVE_cmd_text(EVE_HSIZE/2,EVE_VSIZE-EO_BOOT_FONT*1.5-2,EO_BOOT_FONT,EVE_OPT_CENTERX,msg2); + } + EVE_cmd_spinner(EVE_HSIZE/2,EVE_VSIZE/2,0,0); + endDraw(); +} + +void cATScreenEVE::closeBootScreen() +{ + beginDraw(); + EVE_cmd_dl(DL_CLEAR_RGB | 0x000000UL); + EVE_cmd_dl(DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG); + endDraw(); + loadAllImages(); +} + +void cATScreenEVE::drawInfo() +{ + char buffer[32]; + snprintf(buffer,sizeof(buffer),"ID #%d, %s",(int)m_global.getConfig().id,m_global.getConfig().name.c_str()); + EVE_cmd_text(EVE_HSIZE-EO_SPACE,EO_STAT_Y,EO_STAT_FONT,EVE_OPT_RIGHTX,buffer); + snprintf(buffer,sizeof(buffer),"Status: %s",m_global.m_playerStatus.status==PS_NORMAL?ATS_ALIVE:ATS_DEAD); + EVE_cmd_text(EVE_HSIZE-EO_SPACE,EO_STAT_Y*2,EO_STAT_FONT,EVE_OPT_RIGHTX,buffer); +} + +void cATScreenEVE::drawDateTime() +{ + char buffer[32]; + if(getValidTime()>0) + { + time_t now; + struct tm timeinfo; + time(&now); + localtime_r(&now, &timeinfo); + + snprintf(buffer,sizeof(buffer),"%02d:%02d:%02d %02d/%02d/%04d",timeinfo.tm_hour,timeinfo.tm_min,timeinfo.tm_sec,timeinfo.tm_mon+1,timeinfo.tm_mday,timeinfo.tm_year+1900); + } + else + snprintf(buffer,sizeof(buffer),"--:--:--"); + EVE_cmd_text(EO_SPACE,0,EO_STAT_FONT,0,buffer); +} + +void cATScreenEVE::drawBattery() +{ + char buffer[32]; + snprintf(buffer,sizeof(buffer),"%d%% (%0.2fV)",m_global.m_powerStatus->getBatteryChargePercent(),m_global.m_powerStatus->getBatteryVoltageMv()/1000.0); + EVE_cmd_text(EVE_HSIZE-EO_BATT,0,EO_STAT_FONT,EVE_OPT_RIGHTX,buffer); + //snprintf(buffer,sizeof(buffer),"%0.0f mA /%0.0f / %d",m_global.getPower()->getAXP().isChargeing()?m_global.getPower()->getAXP().getBattChargeCurrent():m_global.getPower()->getAXP().getBattDischargeCurrent(),m_global.getPower()->getAXP().getCoulombData(),m_backlight); + //EVE_cmd_text(EVE_HSIZE-EO_SPACE,EVE_VSIZE-EO_STAT_Y,EO_STAT_FONT,EVE_OPT_RIGHTX,buffer); +} + +void cATScreenEVE::drawGPS() +{ + char buffer[32]; + snprintf(buffer,sizeof(buffer),"%d",m_global.m_gpsStatus->getNumSatellites()); + EVE_cmd_text(EVE_HSIZE-EO_BATT+EO_SPACE*3+m_gpsImage.w,0,EO_STAT_FONT,0,buffer); + m_gpsImage.setImage(); + EVE_cmd_dl(BEGIN(EVE_BITMAPS)); + EVE_cmd_dl(VERTEX2II(EVE_HSIZE-EO_BATT+EO_SPACE*2, 0, 0, 0)); + if(m_global.m_gpsStatus->getHasLock()) + { + double lat; + double lng; + double x = m_global.m_mapCenterX==0?m_global.m_gpsStatus->getX():m_global.m_mapCenterX; + double y = m_global.m_mapCenterY==0?m_global.m_gpsStatus->getY():m_global.m_mapCenterY; + convertMeterToDegree(x,y,lng,lat); + + snprintf(buffer,sizeof(buffer),"%010.7f",lat); + EVE_cmd_text(EO_SPACE,EO_STAT_Y,EO_STAT_FONT,0,buffer); + snprintf(buffer,sizeof(buffer),"%010.7f",lng); + EVE_cmd_text(EO_SPACE,EO_STAT_Y*2,EO_STAT_FONT,0,buffer); + } +} + + +void cATScreenEVE::setBacklight(uint8_t level) +{ + m_backlight = level/2+1; + EVE_memWrite8(REG_PWM_DUTY, m_backlight); +} + +inline static void calcCirclePoint(double angle, int32_t radius, int32_t &x,int32_t &y) +{ + if(angle<0) + angle += 2*PI; + else + if(angle>2*PI) + angle -= 2*PI; + x = radius*cos(angle); + y = radius*sin(angle); +} + +#define R1 (EVE_VSIZE/2) +#define HEADING_R (EVE_VSIZE/2-12) +//#define HEADING_A (10*PI/180) +#define HEADING_A 0 +void cATScreenEVE::beginMainScreen() +{ + cMapTilesList tiles; + double radius = m_global.getConfig().radius; + + double xx = m_global.m_mapCenterX==0?m_global.m_gpsStatus->getX():m_global.m_mapCenterX; + double yy = m_global.m_mapCenterY==0?m_global.m_gpsStatus->getY():m_global.m_mapCenterY; + + if(m_global.m_gpsStatus->getHasLock()) + { + m_distanceC = m_global.m_mapsProcessor.calcDistanceC(xx,yy); + radius *= m_distanceC; + tiles = m_global.m_mapsProcessor.getTilesToRender(xx,yy,radius); + } + else + m_distanceC = 1.0; + m_heading = (18000-m_global.m_imuStatus->getHeading()+m_global.m_gpsStatus->getMagDec()*100)*PI/18000.0; + int32_t cx = EVE_HSIZE/2-1; + int32_t cy = EVE_VSIZE/2-1; + beginDraw(); + EVE_cmd_dl(DL_CLEAR_RGB | m_theme.bgColor.getRGB()); + EVE_cmd_dl(DL_CLEAR | CLR_COL | CLR_STN | CLR_TAG); + + EVE_cmd_dl(STENCIL_OP(EVE_REPLACE,EVE_REPLACE)); + EVE_cmd_dl(STENCIL_FUNC(EVE_ALWAYS,1,255)); + EVE_cmd_dl(BEGIN(EVE_POINTS)); + EVE_cmd_dl(POINT_SIZE(R1*16)); + EVE_cmd_dl(m_theme.circleOuterColor.getEVEColor()); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + + EVE_cmd_dl(POINT_SIZE(1888)); + EVE_cmd_dl(m_theme.circleBackgroundColor.getEVEColor()); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + + EVE_cmd_dl(POINT_SIZE(960)); + EVE_cmd_dl(m_theme.circleLineColor.getEVEColor()); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + + EVE_cmd_dl(POINT_SIZE(928)); + EVE_cmd_dl(m_theme.circleBackgroundColor.getEVEColor()); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + EVE_cmd_dl(END()); + EVE_cmd_dl(STENCIL_OP(EVE_KEEP,EVE_KEEP)); + + bool hasTiles = tiles.size(); + if(hasTiles) + { + EVE_cmd_dl(SAVE_CONTEXT()); + EVE_cmd_dl(STENCIL_FUNC(EVE_EQUAL,1,1)); + EVE_cmd_dl(ALPHA_FUNC(EVE_GEQUAL, 198)); + EVE_cmd_dl(COLOR_A(255)); + EVE_cmd_dl(COLOR_RGB(255,255,255)); + m_mapsMemory.clearCurrent(); + for(auto itr=tiles.begin();itr!=tiles.end();itr++) + m_mapsMemory.markCurrent(*itr); + + int64_t now=millis(); + double x = xx-radius; + double y = yy+radius; + int ii=0; + for(auto itr=tiles.begin();itr!=tiles.end();itr++) + { + ii++; + uint32_t address; + bool needLoad; + sMapTile &tile=*itr; + if(m_mapsMemory.allocItem(tile,now,address,needLoad)) + { + if(needLoad) + { + //DEBUG_MSG("Load %X %X %d\n",MAPS_MEMORY_BASE+address,tile.address+4096,tile.size); + EVE_cmd_flashread(MAPS_MEMORY_BASE+address,tile.address+4096,tile.size); + } + EVE_cmd_setbitmap(MAPS_MEMORY_BASE+address,tile.fmt,tile.sizeX,tile.sizeY); + EVE_cmd_dl(BITMAP_SIZE(EVE_BILINEAR,EVE_BORDER,EVE_BORDER,tile.sizeX,tile.sizeY)); + //EVE_cmd_dl(BITMAP_SIZE(EVE_NEAREST,EVE_BORDER,EVE_BORDER,tile.sizeX,tile.sizeY)); + + double scaleX,scaleY; + double tx,ty; + m_global.m_mapsProcessor.calcTile(x,y,tile,radius,(18000-m_global.m_imuStatus->getHeading())/100,scaleX,scaleY,tx,ty); + EVE_cmd_dl(CMD_LOADIDENTITY); + EVE_cmd_scale(65536*scaleX, 65536*scaleY); + EVE_cmd_translate(7864320/scaleX, 7864320/scaleY); + EVE_cmd_rotate((m_global.m_gpsStatus->getMagDec()*100-m_global.m_imuStatus->getHeading())/100*182); + EVE_cmd_translate(-7864320/scaleX, -7864320/scaleY); + EVE_cmd_translate(65536*tx, 65536*ty); + EVE_cmd_dl(CMD_SETMATRIX); + + EVE_cmd_dl(BEGIN(EVE_BITMAPS)); + EVE_cmd_dl(VERTEX2II(40, 0, 0, 0)); + } + } + EVE_cmd_dl(RESTORE_CONTEXT()); + EVE_cmd_dl(COLOR_A(255)); + } + int32_t x,y; + EVE_cmd_dl(BEGIN(EVE_LINES)); + EVE_cmd_dl(m_theme.circleLineColor.getEVEColor()); + calcCirclePoint(m_heading-PI,R1,x,y); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + calcCirclePoint(m_heading,R1,x,y); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + EVE_cmd_dl(END()); + + EVE_cmd_dl(BEGIN(EVE_LINES)); + calcCirclePoint(m_heading+PI/2,R1,x,y); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + calcCirclePoint(m_heading-PI/2,R1,x,y); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + EVE_cmd_dl(END()); + + EVE_cmd_dl(BEGIN(EVE_POINTS)); + EVE_cmd_dl(POINT_SIZE(64)); + EVE_cmd_dl(m_theme.circleLineColor.getEVEColor()); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + + EVE_cmd_dl(POINT_SIZE(32)); + EVE_cmd_dl(COLOR_RGB(255, 255, 255)); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + EVE_cmd_dl(END()); + + EVE_cmd_dl(m_theme.circleHeadingColor.getEVEColor()); + calcCirclePoint(m_heading-HEADING_A+PI/2,HEADING_R,x,y); + EVE_cmd_text(x+cx,y+cy,28,EVE_OPT_CENTERX | EVE_OPT_CENTERY,"N"); + + calcCirclePoint(m_heading-HEADING_A-PI/2,HEADING_R,x,y); + EVE_cmd_text(x+cx,y+cy,28,EVE_OPT_CENTERX | EVE_OPT_CENTERY,"S"); + + calcCirclePoint(m_heading-HEADING_A-PI,HEADING_R,x,y); + EVE_cmd_text(x+cx,y+cy,28,EVE_OPT_CENTERX | EVE_OPT_CENTERY,"E"); + + calcCirclePoint(m_heading-HEADING_A,HEADING_R,x,y); + EVE_cmd_text(x+cx,y+cy,28,EVE_OPT_CENTERX | EVE_OPT_CENTERY,"W"); + + char buffer[16]; + snprintf(buffer,sizeof(buffer),"%dm",m_global.getConfig().radius); + EVE_cmd_text(cx+R1+1,cy,26,EVE_OPT_CENTERY,buffer); + + snprintf(buffer,sizeof(buffer),"%03d",(int)m_global.getDirectionDeg()); + EVE_cmd_text(EO_SPACE*2,cy,26,EVE_OPT_CENTERY,buffer); + + if(hasTiles) + { +// EVE_cmd_dl(CLEAR_STENCIL(1)); +// EVE_cmd_dl(CLEAR(0,1,0)); + EVE_cmd_dl(STENCIL_OP(EVE_REPLACE,EVE_REPLACE)); + EVE_cmd_dl(STENCIL_MASK(2)); + EVE_cmd_dl(STENCIL_FUNC(EVE_ALWAYS,2,2)); + EVE_cmd_dl(COLOR_A(0)); + + EVE_cmd_dl(BEGIN(EVE_POINTS)); + EVE_cmd_dl(POINT_SIZE(930)); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + + EVE_cmd_dl(STENCIL_OP(EVE_KEEP,EVE_KEEP)); + EVE_cmd_dl(STENCIL_FUNC(EVE_NOTEQUAL,2,2)); + EVE_cmd_dl(POINT_SIZE(970)); + EVE_cmd_dl(COLOR_A(255)); + EVE_cmd_dl(m_theme.circleLineColor.getEVEColor()); + EVE_cmd_dl(VERTEX2II(cx, cy, 0, 0)); + EVE_cmd_dl(END()); + EVE_cmd_dl(STENCIL_FUNC(EVE_ALWAYS,0,255)); + EVE_cmd_dl(STENCIL_MASK(255)); + EVE_cmd_dl(STENCIL_OP(EVE_KEEP,EVE_KEEP)); + } + EVE_cmd_setfont2(15,EVE_HSIZE*EVE_VSIZE*2,32); + EVE_cmd_dl(BITMAP_HANDLE(0)); +} + +void cATScreenEVE::endMainScreen() +{ + m_labels.clear(); + EVE_cmd_dl(COLOR_RGB(m_theme.textColor.r,m_theme.textColor.g,m_theme.textColor.b)); + drawBattery(); + drawGPS(); + drawDateTime(); + drawInfo(); + drawSideButtons(); + endDraw(); +} + +int overlappingArea(const sLabelsRect &r1, + const sLabelsRect &r2) +{ + // Area of 1st Rectangle + //int area1 = abs(r1.x1 - r1.x2) * abs(r1.y1 - r1.y2); + + // Area of 2nd Rectangle + //int area2 = abs(r2.x1 - r2.x2) * abs(r2.y1 - r2.y2); + + int x_dist = min(r1.x2, r2.x2) + - max(r1.x1, r2.x1); + int y_dist = (min(r1.y2, r2.y2) + - max(r1.y1, r2.y1)); + int areaI = 0; + if( x_dist > 0 && y_dist > 0 ) + { + areaI = x_dist * y_dist; + } + + return areaI; +} +#define LABEL_SP_X 9 +#define LABEL_SP_Y -6 +#define LABEL_MAX_IDX 7 + +sLabelsRect getLabelPos(int32_t x, int32_t y, int32_t w, int32_t h, uint8_t idx) +{ + sLabelsRect result; + switch(idx) + { + case 1: + { + result.x1 = x+LABEL_SP_X; + result.y1 = y+LABEL_SP_Y-h/2; + break; + } + + case 2: + { + result.x1 = x+LABEL_SP_X; + result.y1 = y+LABEL_SP_Y+h/2; + break; + } + + case 3: + { + result.x1 = x-w/2; + result.y1 = y+LABEL_SP_Y-h/2; + break; + } + + case 4: + { + result.x1 = x-w/2; + result.y1 = y+LABEL_SP_Y+h/2; + break; + } + + case 5: + { + result.x1 = x-w-LABEL_SP_X; + result.y1 = y+LABEL_SP_Y-h/2; + break; + } + + case 6: + { + result.x1 = x-w-LABEL_SP_X; + result.y1 = y+LABEL_SP_Y+h/2; + break; + } + + case 7: + { + result.x1 = x-w-LABEL_SP_X; + result.y1 = y+LABEL_SP_Y; + break; + } + + default: + { + result.x1 = x+LABEL_SP_X; + result.y1 = y+LABEL_SP_Y; + break; + } + } + bool bc = false; + if(result.x1<20) + result.x1 = 20; + if((result.x1+w)>(EVE_HSIZE/2+R1+20)) + { + result.x1 -= (result.x1+w) - (EVE_HSIZE/2+R1+20); + result.y1 = y+LABEL_SP_Y+h/2; + bc = true; + } + + if(result.y1EVE_VSIZE) + { + result.y1 = EVE_VSIZE-(bc?h:h/2); + } + + result.x2 = result.x1+w; + result.y2 = result.y1+h; + return result; +} + + +int32_t cATScreenEVE::getMaxLabelOverlap(sLabelsRect r) +{ + int32_t result = 0; + for(auto itr=m_labels.begin(); itr!=m_labels.end(); itr++) + { + int32_t i = overlappingArea(r,*itr); + if(i>result) + result = i; + } + return result; +} + +extern "C" { extern volatile uint16_t cmdOffset; } + +uint16_t cATScreenEVE::getRadius() +{ + return m_global.getConfig().radius*m_distanceC; +} + +void cATScreenEVE::drawPOI(sPOI &poi,int16_t count) +{ + uint16_t radius = m_global.getConfig().radius*m_distanceC; + if(poi.isValidLocation() && poi.distance!=0) + { + double distance = poi.distance; + bool drawAccuracy = distance<=radius; + if(distance>radius) + { + if(poi.type==POIT_STATIC) + return; + distance = radius; + } + + //if(poi.type==POIT_PEER) + { + int32_t cx = EVE_HSIZE/2-1; + int32_t cy = EVE_VSIZE/2-1; + + int32_t x,y; + int32_t tx,ty; + sColor color(0,0,0); + switch(poi.type) + { + case POIT_SELF: + case POIT_PEER: + { + switch(poi.status) + { + case POIS_NORMAL: + { + color = m_theme.peerNormalColor; + break; + } + case POIS_DEAD: + { + color = m_theme.peerDeadColor; + break; + } + default: + { + color = sColor(255,255,255); + break; + } + } + break; + } + case POIT_DYNAMIC: + { + color = m_theme.peerDynamicColor; + break; + } + case POIT_STATIC: + { + if(poi.color) + color = poi.color; + else + color = m_theme.peerStaticColor; + break; + } + case POIT_ENEMY: + { + color = m_theme.peerEnemyColor; + break; + } + } + EVE_cmd_dl(color.getEVEColor()); + double courseTo = m_heading+poi.courseTo*PI/180.0+PI/2; + //DEBUG_MSG("%f %f %f\n",courseTo,m_heading,poi.courseTo*PI/180.0); + calcCirclePoint(courseTo,R1*distance/radius,x,y); + EVE_cmd_dl(BEGIN(EVE_POINTS)); + if(drawAccuracy && poi.hacc>0) + { + int32_t ps = R1*poi.hacc/(radius*10)*16; + + + EVE_cmd_dl(STENCIL_OP(EVE_REPLACE,EVE_REPLACE)); + EVE_cmd_dl(STENCIL_MASK(4)); + EVE_cmd_dl(STENCIL_FUNC(EVE_ALWAYS,4,4)); + EVE_cmd_dl(COLOR_A(0)); + EVE_cmd_dl(POINT_SIZE(ps)); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + + EVE_cmd_dl(STENCIL_OP(EVE_KEEP,EVE_KEEP)); + EVE_cmd_dl(STENCIL_MASK(255)); + + EVE_cmd_dl(STENCIL_FUNC(EVE_EQUAL,1,1)); + EVE_cmd_dl((color+m_theme.peerAccuracyMask).getEVEColor()); + EVE_cmd_dl(COLOR_A(m_theme.peerAccuracyA)); + EVE_cmd_dl(POINT_SIZE(ps)); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + + + EVE_cmd_dl(STENCIL_FUNC(EVE_EQUAL,1,5)); + EVE_cmd_dl(COLOR_A(m_theme.peerAccuracyA*2)); + EVE_cmd_dl(POINT_SIZE(ps+32)); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + + EVE_cmd_dl(COLOR_A(255)); + EVE_cmd_dl(STENCIL_FUNC(EVE_ALWAYS,0,255)); + } + EVE_cmd_dl(POINT_SIZE(80)); + EVE_cmd_dl(VERTEX2II(x+cx,y+cy, 0, 0)); + EVE_cmd_dl(COLOR_RGB(0,0,0)); + char buffer[32]; + if(poi.symbol>0) + { + if(poi.symbol<30) + buffer[0] = poi.symbol+0x30; + else + buffer[0] = poi.symbol; + } + else + if(poi.name.c_str()[0]) + buffer[0] = poi.name.c_str()[0]; + else + buffer[0] = ' '; + buffer[1] = 0; + if(poi.type!=POIT_SELF) + EVE_cmd_text(x+cx+1,y+cy+1,EO_POI_FONT,EVE_OPT_CENTERX | EVE_OPT_CENTERY,buffer); + + if(count<=10) + { + tx = cx+x; + ty = cy+y; + + int64_t delta = millis()-poi.lastUpdate; + if(poi.type==POIT_SELF) + { + snprintf(buffer,sizeof(buffer),"%dm",(int)poi.realDistance); + } + else + if(poi.type==POIT_STATIC) + { + snprintf(buffer,sizeof(buffer),"%dm",(int)poi.realDistance); + } + else + { + if(delta>10000) + snprintf(buffer,sizeof(buffer),"%dm, %d%%, %ds",(int)poi.realDistance,(int)clamp((int)((poi.SNR + 10) * 5), 0, 100),(int)delta/1000); + else + snprintf(buffer,sizeof(buffer),"%dm, %d%%",(int)poi.realDistance,(int)clamp((int)((poi.SNR + 10) * 5), 0, 100)); + } + int32_t w = max(strnlen(buffer,sizeof(buffer)),poi.name.size())*7; + int32_t h = 30; + sLabelsRect lr; + sLabelsRect lrtmp = getLabelPos(tx,ty,w,h,0); + lr = lrtmp; + int32_t threshold = lrtmp.getArea()/10+5; + int32_t minOverlap = getMaxLabelOverlap(lrtmp); + if(poi.lastLabelIdx == 0) + minOverlap -= threshold; + uint8_t activeLabelIdx = 0; + uint8_t labelIdx = 1; + while(minOverlap>0 && labelIdx<=LABEL_MAX_IDX) + { + lrtmp = getLabelPos(tx,ty,w,h,labelIdx); + int32_t overlap = getMaxLabelOverlap(lrtmp); + if(labelIdx==poi.lastLabelIdx) + overlap -= threshold; + if(overlap0) + { + EVE_cmd_loadimage(ptr,options,eve_buffer,n); + } + while(n>0) + { + n = fread(eve_buffer,1,sizeof(eve_buffer),imgfile); + if(n>0) + block_transfer(eve_buffer,n); + } + fclose(imgfile); + return true; + } + else + { + return false; + } + +} + +bool EVE_inflateImage(const char* filename, uint32_t ptr) +{ + FILE *imgfile = fopen(filename,"r"); + if(imgfile) + { + size_t n = fread(eve_buffer,1,sizeof(eve_buffer),imgfile); + if(n>0) + { + EVE_cmd_inflate(ptr,eve_buffer,n); + } + while(n>0) + { + n = fread(eve_buffer,1,sizeof(eve_buffer),imgfile); + if(n>0) + block_transfer(eve_buffer,n); + } + fclose(imgfile); + return true; + } + else + { + return false; + } +} + +void cATScreenEVE::drawSideButtons() +{ + sSideButton *sb = m_global.m_sideButtons.getButtons(); + auto drawCaption = [=](uint16_t x,uint16_t y, uint8_t idx, uint16_t options) { + EVE_cmd_dl(COLOR_RGB(0, 0, 0)); + EVE_cmd_text(x+1,y+1,EO_SIDE_BTN_FONT,options,sb[idx].caption.c_str()); + EVE_cmd_dl(m_theme.sideButtonsTextColor.getEVEColor()); + EVE_cmd_text(x,y,EO_SIDE_BTN_FONT,options,sb[idx].caption.c_str()); + }; + if(!sb[0].caption.empty()) + drawCaption(EO_SPACE,72,0,EVE_OPT_CENTERY); + + if(!sb[1].caption.empty()) + drawCaption(EO_SPACE,150,1,EVE_OPT_CENTERY); + + if(!sb[2].caption.empty()) + drawCaption(EO_SPACE,226,2,EVE_OPT_CENTERY); + + if(!sb[3].caption.empty()) + drawCaption(EVE_HSIZE-EO_SPACE,72,3,EVE_OPT_CENTERY|EVE_OPT_RIGHTX); + + if(!sb[4].caption.empty()) + drawCaption(EVE_HSIZE-EO_SPACE,150,4,EVE_OPT_CENTERY|EVE_OPT_RIGHTX); + + if(!sb[5].caption.empty()) + drawCaption(EVE_HSIZE-EO_SPACE,226,5,EVE_OPT_CENTERY|EVE_OPT_RIGHTX); +} + +uint32_t cATScreenEVE::flashProgrammStart() +{ + EVE_cmd_flashattach(); + return EVE_cmd_flashfast(); +} + +void cATScreenEVE::flashProgrammEnd() +{ +} + +#define RAMG_BUFFER (512*1024) +void cATScreenEVE::flashWrite(uint32_t address,uint16_t size, uint8_t *data) +{ + EVE_memWrite_buffer(RAMG_BUFFER,data,size,false); + EVE_cmd_flashupdate(address,RAMG_BUFFER,size); +} + +void cATScreenEVE::flashRead(uint32_t address,uint16_t size, uint8_t *data) +{ + EVE_cmd_flashread(RAMG_BUFFER,address,size); + for(int i=0; i timersLines; + std::stringstream ss; + std::list timers; + int maxLineSize = 0; + for(auto itr = m_global.m_timersChains.begin(); itr!=m_global.m_timersChains.end(); itr++) + { + auto timersList = (*itr)->getTimers(); + if((forceAll||(*itr)->isStarted())&&(*itr)->isEnabled()) + { + int lineSize=0; + for(auto titr=timersList.begin();titr!=timersList.end();titr++) + { + cTimer *t = (*titr); + if(titr!=timersList.begin()) + { + ss<<" / "; + lineSize += 3; + } + lineSize += t->getName().length()+3; + ss << t->getName() << " "; + int duration = t->getDuration()-t->getCurrentDuration(now); + ss << std::setfill('0') << std::setw(2) << duration/60000 << ":"; + ss << std::setfill('0') << std::setw(2) << duration%60000/1000; + } + if(lineSize>maxLineSize) + maxLineSize = lineSize; + sEveTimerLine line; + line.str = ss.str(); + ss.str(""); + line.finished = (*itr)->isFinished(now); + timersLines.push_back(line); + } + timers.insert(timers.end(),timersList.begin(),timersList.end()); + } + timers.unique(); + for(auto itr=m_global.m_timers.begin();itr!=m_global.m_timers.end();itr++) + { + cTimer *t = itr->second; + if(std::find(timers.begin(),timers.end(),t)==timers.end() && t->isEnabled()) + { + if(forceAll||t->isStarted()) + { + int lineSize = t->getName().length()+4; + ss << t->getName() << " "; + int duration = t->getDuration()-t->getCurrentDuration(now); + ss << std::setfill('0') << std::setw(2) << duration/60000 << ":"; + ss << std::setfill('0') << std::setw(2) << duration%60000/1000; + if(lineSize>maxLineSize) + maxLineSize = lineSize; + sEveTimerLine line; + line.str = ss.str(); + ss.str(""); + line.finished = t->isFinished(now); + timersLines.push_back(line); + } + } + } + if(timersLines.size()>0) + { + int x,y; + y = EVE_VSIZE-EO_SPACE-EO_TIMERS_FONT_SIZE*timersLines.size(); + x = EVE_HSIZE-EO_SPACE*2-maxLineSize*10; + EVE_cmd_dl(m_theme.timerRectColor.getEVEColor()); + EVE_cmd_dl(COLOR_A(128)); + + EVE_cmd_dl(BEGIN(EVE_RECTS)); + EVE_cmd_dl(VERTEX2II(x,y,0,0)); + EVE_cmd_dl(VERTEX2II(EVE_HSIZE,EVE_VSIZE,0,0)); + EVE_cmd_dl(END()); + EVE_cmd_dl(m_theme.timerTextColor.getEVEColor()); + EVE_cmd_dl(COLOR_A(255)); + x = x+EO_SPACE; + y = y+EO_SPACE; + for(auto itr = timersLines.begin(); itr!=timersLines.end(); itr++) + { + if(!(*itr).finished || (now%500)<=250) + { + EVE_cmd_text(x,y,EO_TIMERS_FONT,0,(*itr).str.c_str()); + if((*itr).finished) + EVE_cmd_text(x+1,y,EO_TIMERS_FONT,0,(*itr).str.c_str()); + } + y += EO_TIMERS_FONT_SIZE; + } + } +} + +///////////////////////////////////////////////////////////// +cMapsMemory::cMapsMemory(uint8_t count):m_count(count) +{ + m_memory = (sMapsMemoryItem*)calloc(m_count,sizeof(sMapsMemoryItem)); + for(uint8_t i=0; i=0) + m_memory[idx].inCurrentList = 1; +} + +bool cMapsMemory::allocItem(const sMapTile &tile,int64_t now, uint32_t &address, bool &needLoad) +{ + int8_t idx = findItem(tile); + if(idx>=0) + { + m_memory[idx].lastUsed = now; + needLoad = false; + address = m_memory[idx].memoryaddress; + return true; + } + for(uint8_t i=0; i=0) + { + m_memory[idx].address = tile.address; + m_memory[idx].inUse = 1; + m_memory[idx].inCurrentList = 1; + m_memory[idx].lastUsed = now; + needLoad = true; + address = m_memory[idx].memoryaddress; + return true; + } + return false; +} +#endif \ No newline at end of file diff --git a/src/atScreenEVE.h b/src/atScreenEVE.h new file mode 100644 index 0000000..8f574d5 --- /dev/null +++ b/src/atScreenEVE.h @@ -0,0 +1,133 @@ +#pragma once +#include +#include "atScreenLVGL.h" +extern "C" +{ + #include +} + +bool EVE_loadImage(const char* filename, uint32_t ptr, uint32_t options); +bool EVE_inflateImage(const char* filename, uint32_t ptr); + +struct sEVEImage +{ + uint32_t ptr; + uint16_t w; + uint16_t h; + uint16_t fmt; + sEVEImage() + { + ptr = 0; + w = h = fmt = 0; + } + + uint32_t load(const char * filename,uint32_t _ptr) + { + uint32_t result=0; + uint32_t _w, _h; + ptr = _ptr; + EVE_loadImage(filename,_ptr,EVE_OPT_NODL); + EVE_LIB_GetProps(&result,&_w,&_h); + fmt = EVE_ARGB4; + w = _w; + h = _h; + return result; + } + + void setImage() + { + EVE_cmd_setbitmap(ptr,fmt, w, h); + } +}__attribute__((packed)); + +struct sMapsMemoryItem +{ + uint32_t address; + uint32_t memoryaddress; + uint32_t size; + int64_t lastUsed; + uint32_t usageCounter; + uint8_t inUse:1; + uint8_t inCurrentList:1; +}; + +#define MAX_MAP_IMAGE_SIZE 59536 +#define MAPS_MEMORY_ITEMS 9 +#define MAPS_MEMORY_BASE (EVE_RAM_G_SIZE-(MAPS_MEMORY_ITEMS*MAX_MAP_IMAGE_SIZE)) +class cMapsMemory +{ +protected: + sMapsMemoryItem *m_memory; + uint8_t m_count; + int8_t findItem(const sMapTile &tile); +public: + cMapsMemory(uint8_t count); + ~cMapsMemory(); + + void clearCurrent(); + void markCurrent(const sMapTile &tile); + bool allocItem(const sMapTile &tile,int64_t now, uint32_t &address, bool &needLoad); +}; + + +struct sLabelsRect +{ + int32_t x1; + int32_t y1; + int32_t x2; + int32_t y2; + + int32_t getArea() + { + return abs((x2-x1)*(y2-y1)); + } +}; + +class cATScreenEVE:public cATScreenLVGL +{ +protected: + sEVEImage m_gpsImage; + uint32_t m_pointer; + uint8_t m_backlight; + double m_heading; + cMapsMemory m_mapsMemory; + std::list m_labels; + double m_distanceC = 1.0; + + void loadAllImages(); + void beginDraw(); + void endDraw(); + void drawBattery(); + void drawGPS(); + void drawDateTime(); + void drawInfo(); + int32_t getMaxLabelOverlap(sLabelsRect r); +public: + cATScreenEVE(atGlobal &global); + virtual ~cATScreenEVE(); + + virtual bool init(); + virtual void showBootScreen(const char * msg1,const char * msg2); + virtual void closeBootScreen(); + virtual void beginMainScreen(); + virtual void drawPOI(sPOI &poi,int16_t count=0); + virtual void endMainScreen(); + virtual void setBacklight(uint8_t level); + virtual void screenOn(); + virtual void screenOff(); + virtual void drawSideButtons(); + virtual void showProgramMode(); + virtual uint32_t getFramesCount(); + virtual void showMenu(); + virtual void loop(); + virtual void setScreenState(uint8_t value); + virtual void showShutdownScreen(); + virtual void drawTimers(bool forceAll); + virtual uint16_t getRadius(); + + + virtual uint32_t flashProgrammStart(); + virtual void flashProgrammEnd(); + virtual void flashWrite(uint32_t address,uint16_t size, uint8_t *data); + virtual void flashRead(uint32_t address,uint16_t size, uint8_t *data); +}; diff --git a/src/atScreenLVGL.cpp b/src/atScreenLVGL.cpp new file mode 100644 index 0000000..ab4669a --- /dev/null +++ b/src/atScreenLVGL.cpp @@ -0,0 +1,991 @@ +#include "atScreenLVGL.h" +#include +#include "atLVEvents.h" +#include "lv_settings/lv_settings.h" +#include "global.h" + +#define LV_SIDE_WIDTH 40 +#define LV_TOP_HEIGHT 10 + +void *lvgl_malloc(size_t size) +{ + return heap_caps_malloc(size,MALLOC_CAP_SPIRAM); +} + +void lvgl_free(void *ptr) +{ + heap_caps_free(ptr); +} + +#pragma GCC diagnostic ignored "-Wwrite-strings" +static void lvIScreenEventCb(struct _lv_obj_t * obj, lv_event_t event) +{ + void *userData = lv_obj_get_user_data(obj); + if(userData) + ((cLVGLScreen*)userData)->lvIScreenEvent(obj,event); +} + +void cLVGLScreen::setEventHandler(lv_obj_t *obj) +{ + lv_obj_set_user_data(obj,this); + lv_obj_set_event_cb(obj,lvIScreenEventCb); +} + +class cLVGLScreenMainMenu:public cLVGLScreen +{ +protected: + lv_settings_item_t m_rootItem = {.name = "Main Menu", .value = ""}; + + lv_settings_item_t m_mainMenuItems[2] = + { + {.id = 10,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="Settings", .value=""}, + {.type = LV_SETTINGS_TYPE_INV}, /*Mark the last item*/ + }; + + lv_settings_item_t m_mainSettingsItems[5] = + { + {.id = 4,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="Timers settings", .value="Timers durations"}, + {.id = 1,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="User settings", .value="ID, name, brightness, etc."}, + {.id = 2,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="Network settings", .value="Frequency, bandwidth etc."}, + {.id = 3,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="IMU settings", .value="Calibration, Settings"}, + {.type = LV_SETTINGS_TYPE_INV}, /*Mark the last item*/ + }; + + char imAutoCal[16]; + lv_settings_item_t m_mainIMUItems[5] = + { + {.id = 1,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="Mag Calibration", .value=""}, + {.id = 2,.type = LV_SETTINGS_TYPE_SW, .name="Mag Auto Calibration", .value=imAutoCal}, + {.id = 3,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="Save Calibration", .value=""}, + {.id = 4,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="Reset Calibration", .value=""}, + {.type = LV_SETTINGS_TYPE_INV}, /*Mark the last item*/ + }; + + char nmName[16]; + char nmUserId[4]; + char nmSymbol[2]; + lv_settings_item_t m_userMenuItems[4] = + { + {.id = 1,.type = LV_SETTINGS_TYPE_EDIT, .name="Name", .value=nmName, .param1=sizeof(nmName)}, + {.id = 2,.type = LV_SETTINGS_TYPE_EDIT, .name="Symbol", .value=nmSymbol, .param1=sizeof(nmSymbol)}, + {.id = 3,.type = LV_SETTINGS_TYPE_NUMSET, .name="ID", .value=nmUserId}, + {.type = LV_SETTINGS_TYPE_INV}, /*Mark the last item*/ + }; + + char nmFrequency[16]; + char nmNetworkId[4]; + char nmSF[4]; + char nmCR[4]; + char nmPreamble[4]; + char nmSync[6]; + char nmPassword[16]; + lv_settings_item_t m_networkMenuItems[10] = + { + {.id = 1,.type = LV_SETTINGS_TYPE_NUMSET, .name="Frequency", .value=nmFrequency}, + {.id = 2,.type = LV_SETTINGS_TYPE_DDLIST, .name="Bandwidth", .value="500Mhz\n250Mhz"}, + {.id = 3,.type = LV_SETTINGS_TYPE_NUMSET, .name="Spreading Factor", .value=nmSF}, + {.id = 4,.type = LV_SETTINGS_TYPE_NUMSET, .name="Coding Rate", .value=nmCR}, + {.id = 5,.type = LV_SETTINGS_TYPE_NUMSET, .name="Preamble", .value=nmPreamble}, + {.id = 6,.type = LV_SETTINGS_TYPE_NUMSET, .name="Sync Word", .value=nmSync}, + {.id = 10,.type = LV_SETTINGS_TYPE_NUMSET, .name="Network ID", .value=nmNetworkId}, + {.id = 11,.type = LV_SETTINGS_TYPE_EDIT, .name="Password", .value=nmPassword, .param1=sizeof(nmPassword),.param2=LV_SETTINGS_EDIT_PWD}, + {.id = 20,.type = LV_SETTINGS_TYPE_LIST_BTN, .name="Save", .value="Save network settings"}, + {.type = LV_SETTINGS_TYPE_INV}, /*Mark the last item*/ + }; + + char nmTimers[AT_MAX_TIMERS][10]; + lv_settings_item_t m_timersSettings[5] = + { + {.id = 0,.type = LV_SETTINGS_TYPE_NUMSET, .name="Timer 1", .value=nmTimers[0], .param1 = 10}, + {.id = 1,.type = LV_SETTINGS_TYPE_NUMSET, .name="Timer 2", .value=nmTimers[1], .param1 = 10}, + {.id = 2,.type = LV_SETTINGS_TYPE_NUMSET, .name="Timer 3", .value=nmTimers[2], .param1 = 10}, + {.id = 3,.type = LV_SETTINGS_TYPE_NUMSET, .name="Timer 4", .value=nmTimers[3], .param1 = 10}, + {.type = LV_SETTINGS_TYPE_INV}, /*Mark the last item*/ + }; + + lv_obj_t *m_root; + bool m_isMainPage = true; + virtual void internalInit(); + virtual void internalDeinit(); + void updateIMUSettings(); + void updateNetworkSettings(); + void updateTimersSettings(); + void updateUserSettings(); +public: + cLVGLScreenMainMenu(cATScreenLVGL *owner):cLVGLScreen(owner){}; + void mainMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e); + void settingsMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e); + void networkMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e); + void userMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e); + void timersMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e); + void imuMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e); + virtual void back() + { + lv_settings_back(); + } + virtual bool isMainPage() { return m_isMainPage; } +}; + +struct lv_mcal_axis_s +{ + lv_obj_t* page; + lv_obj_t* label; + lv_obj_t* btnP; + lv_obj_t* btnM; +}; +class cLVGLScreenIMUCalibration:public cLVGLScreen +{ +protected: + int64_t m_updateTime; + lv_obj_t *m_root; + lv_style_t text48Style; + lv_style_t text16Style; + lv_style_t text14Style; + lv_mcal_axis_s m_axisX; + lv_mcal_axis_s m_axisY; + lv_mcal_axis_s m_axisZ; + lv_obj_t* m_headingLabel; + lv_obj_t* m_autoButton; + virtual void internalInit(); + virtual void internalDeinit(); + lv_obj_t* lv_button_create(lv_obj_t* parent, const char* caption); + lv_mcal_axis_s lv_mcal_axis_create(lv_obj_t* parent); + void updateIMU(); +public: + cLVGLScreenIMUCalibration(cATScreenLVGL *owner):cLVGLScreen(owner){}; + virtual void back() + { + m_owner->setLVGLScreen(LVS_MAINMENU); + } + virtual void loop(); + virtual bool isMainPage() { return false; } + virtual void lvIScreenEvent(struct _lv_obj_t * obj, lv_event_t event); +}; + +cATScreenLVGL::cATScreenLVGL(atGlobal &global):cATScreen(global) +{ + m_lvState = LVS_NULL; + m_screen = NULL; + m_keypadGroup = NULL; + memset(m_screens,0,sizeof(m_screens)); +} + +cATScreenLVGL::~cATScreenLVGL() +{ + +} + +bool cATScreenLVGL::init() +{ + if(cATScreen::init()) + { + lv_init(); + lvgl_driver_init(); + + static lv_color_t m_buffer1[DISP_BUF_SIZE]; + uint32_t size_in_px = DISP_BUF_SIZE; + lv_disp_buf_init(&m_display_buffer, m_buffer1, NULL, size_in_px); + + lv_disp_drv_t disp_drv; + lv_disp_drv_init(&disp_drv); + disp_drv.flush_cb = disp_driver_flush; + + disp_drv.buffer = &m_display_buffer; + lv_disp_drv_register(&disp_drv); + + m_keypadGroup = lv_group_create(); + + lv_indev_drv_t kb_drv; + lv_indev_drv_init(&kb_drv); + kb_drv.type = LV_INDEV_TYPE_ENCODER; + kb_drv.read_cb = atlve_read; + lv_indev_t * kb_indev = lv_indev_drv_register(&kb_drv); + kb_indev->driver.user_data = kb_indev; + lv_indev_set_group(kb_indev, m_keypadGroup); + + return true; + } + else + { + return false; + } +} + +void cATScreenLVGL::showMenu() +{ + +} + +void cATScreenLVGL::loop() +{ + lv_task_handler(); + if(m_screen) + m_screen->loop(); +} + +void cATScreenLVGL::setLVGLScreen(uint8_t value) +{ + if(value!=m_lvState) + { + m_lvState = value; + if(m_screen) + { + m_screen->deinit(); + m_screen = NULL; + } + } + if(m_screen==NULL) + { + m_screen = createScreen(m_lvState); + if(m_screen) + m_screen->init(); + } +} + +void cATScreenLVGL::setScreenState(uint8_t value) +{ + if(value!=m_screenState) + { + cATScreen::setScreenState(value); + switch(m_screenState) + { + case SS_MENU: + { + setLVGLScreen(LVS_MAINMENU); + break; + } + } + m_global.onScreenStateChange(); + } +} + +cLVGLScreen * cATScreenLVGL::createScreen(uint8_t lvState) +{ + cLVGLScreen *result = m_screens[lvState-1]; + if(result) + return result; + switch(lvState) + { + case LVS_MAINMENU: + { + result = new cLVGLScreenMainMenu(this); + break; + } + + case LVS_IMUCAL: + { + result = new cLVGLScreenIMUCalibration(this); + break; + } + } + m_screens[lvState-1] = result; + return result; +} + +void cATScreenLVGL::processEvent(uint8_t event, uint32_t param1, uint32_t param2) +{ + switch(event) + { + case EV_BTN_ON: + { + if(param1==2) + { + if(m_lvState > LVS_NULL) + { + if(m_screen) + { + if(m_screen->isMainPage()) + setScreenState(SS_MAIN); + else + m_screen->back(); + } + else + setScreenState(SS_MAIN); + } + } + break; + } + + }; + atlve_handler(event,param1,param2); +} + +cLVGLScreen::cLVGLScreen(cATScreenLVGL *owner):m_owner(owner) +{ + m_initialized = false; + m_scr = NULL; + m_mainCont = NULL; + m_leftCont = NULL; + m_rightCont = NULL; +} + +cLVGLScreen::~cLVGLScreen() +{ + +} + +void cLVGLScreen::createRoots() +{ + lv_style_init(&m_styleCont); + lv_style_set_radius(&m_styleCont,LV_STATE_DEFAULT,0); + lv_style_set_border_width(&m_styleCont, LV_STATE_DEFAULT, 0); + + m_scr = lv_obj_create(NULL, NULL); + lv_scr_load(m_scr); + m_leftCont = lv_cont_create(lv_scr_act(), NULL); + lv_obj_add_style(m_leftCont,LV_CONT_PART_MAIN, &m_styleCont); + lv_obj_set_size(m_leftCont, LV_SIDE_WIDTH, lv_obj_get_height(lv_scr_act())); + lv_obj_set_pos(m_leftCont,0,0); + + m_mainCont = lv_cont_create(lv_scr_act(), NULL); + lv_obj_add_style(m_mainCont,LV_CONT_PART_MAIN, &m_styleCont); + lv_obj_set_size(m_mainCont, lv_obj_get_width(lv_scr_act())-LV_SIDE_WIDTH*2, lv_obj_get_height(lv_scr_act())-LV_TOP_HEIGHT); + lv_obj_set_pos(m_mainCont,LV_SIDE_WIDTH,LV_TOP_HEIGHT); + + m_rightCont = lv_cont_create(lv_scr_act(), NULL); + lv_obj_add_style(m_rightCont,LV_CONT_PART_MAIN, &m_styleCont); + lv_obj_set_size(m_rightCont, LV_SIDE_WIDTH, lv_obj_get_height(lv_scr_act())); + lv_obj_set_pos(m_rightCont,lv_obj_get_width(lv_scr_act())-LV_SIDE_WIDTH,0); +} + +void cLVGLScreen::init() +{ + if(!m_initialized) + { + internalInit(); + m_initialized = true; + } +} + +void cLVGLScreen::deinit() +{ + if(m_initialized) + { + internalDeinit(); + m_initialized = false; + } +} + +//////////////////////////////////////////// +static cLVGLScreenMainMenu *menuObject=NULL; + +#define DEF_SETTINGS_CB(name) \ +static void name##Cb(lv_obj_t * obj, lv_event_t e) \ +{\ + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data();\ + if(menuObject)\ + menuObject->name(act_item,obj,e);\ +}\ + +DEF_SETTINGS_CB(mainMenuEvent) +DEF_SETTINGS_CB(settingsMenuEvent) +DEF_SETTINGS_CB(networkMenuEvent) +DEF_SETTINGS_CB(userMenuEvent) +DEF_SETTINGS_CB(timersMenuEvent) +DEF_SETTINGS_CB(imuMenuEvent) + + +void cLVGLScreenMainMenu::internalInit() +{ + if(m_scr) + { + lv_scr_load(m_scr); + if(!lv_settings_reopen_last()) + lv_settings_open_page(&m_rootItem, mainMenuEventCb); + } + else + { + menuObject = this; + + lv_settings_set_group(m_owner->getKeypadGroup()); + + createRoots(); + m_root = lv_settings_create(&m_rootItem, NULL); + lv_obj_set_hidden(m_root,true); + lv_settings_set_parent(m_mainCont); + lv_settings_set_max_width(lv_obj_get_width(lv_scr_act())-LV_SIDE_WIDTH*2); + lv_settings_open_page(&m_rootItem, mainMenuEventCb); + } +} + +void cLVGLScreenMainMenu::internalDeinit() +{ +} + +void cLVGLScreenMainMenu::mainMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e) +{ + if(e == LV_EVENT_REFRESH) + { + m_isMainPage = true; + for(uint32_t i = 0; m_mainMenuItems[i].type != LV_SETTINGS_TYPE_INV; i++) { + lv_settings_add(&m_mainMenuItems[i]); + } + } + else if(e == LV_EVENT_CLICKED) { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + switch(act_item->id) + { + case 10: //Settings + { + lv_settings_open_page(act_item, settingsMenuEventCb); + break; + } + } + } + +} + +void cLVGLScreenMainMenu::settingsMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e) +{ + if(e == LV_EVENT_REFRESH) + { + global->updateTimers(); + m_isMainPage = false; + for(uint32_t i = 0; m_mainSettingsItems[i].type != LV_SETTINGS_TYPE_INV; i++) { + lv_settings_add(&m_mainSettingsItems[i]); + } + } + else if(e == LV_EVENT_CLICKED) { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + switch(act_item->id) + { + case 1: //User settings + { + lv_settings_open_page(act_item, userMenuEventCb); + break; + } + case 2: //Network settings + { + lv_settings_open_page(act_item, networkMenuEventCb); + break; + } + case 3: //IMU settings + { + lv_settings_open_page(act_item, imuMenuEventCb); + break; + } + + case 4: //Timers settings + { + lv_settings_open_page(act_item, timersMenuEventCb); + break; + } + + } + } +} + +void cLVGLScreenMainMenu::updateIMUSettings() +{ + snprintf(imAutoCal,sizeof(imAutoCal),"%s",global->getIMU()->getAutoMag()?"Enabled":"Disabled"); + m_mainIMUItems[1].state = global->getIMU()->getAutoMag()?1:0; +} + +void cLVGLScreenMainMenu::imuMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e) +{ + if(e == LV_EVENT_REFRESH) + { + updateIMUSettings(); + m_isMainPage = false; + for(uint32_t i = 0; m_mainIMUItems[i].type != LV_SETTINGS_TYPE_INV; i++) { + lv_settings_add(&m_mainIMUItems[i]); + } + } + else if(e == LV_EVENT_CLICKED) { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + switch(act_item->id) + { + case 1: //IMU Calibration + { + m_owner->setLVGLScreen(LVS_IMUCAL); + break; + } + case 3: //Save + { + global->getIMU()->saveCalibration(); + break; + } + + case 4: //Reset + { + global->getIMU()->loadCalibration(); + break; + } + + } + } + else if(e == LV_EVENT_VALUE_CHANGED) + { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + switch(act_item->id) + { + case 2: //Auto + { + global->getIMU()->setAutoMag(act_item->state); + updateIMUSettings(); + lv_settings_refr(act_item); + break; + } + } + + } +} + +void cLVGLScreenMainMenu::networkMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e) +{ + if(e == LV_EVENT_REFRESH) + { + m_isMainPage = false; + updateNetworkSettings(); + for(uint32_t i = 0; m_networkMenuItems[i].type != LV_SETTINGS_TYPE_INV; i++) { + lv_settings_add(&m_networkMenuItems[i]); + } + } + else if(e == LV_EVENT_CLICKED) { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + switch(act_item->id) + { + case 20: //Save + { + global->getNetworkConfig().saveConfig(NET_CONFIG_FILENAME); + break; + } + } + } + else if(e == LV_EVENT_VALUE_CHANGED) { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + switch(act_item->id) + { + case 1: //Frequency + { + if(act_item->state>9300) + act_item->state=9300; + else + if(act_item->state<8800) + act_item->state=8800; + global->getNetworkConfig().channelConfig.freq = act_item->state/10.0; + updateNetworkSettings(); + break; + } + case 2: //BW + { + switch(act_item->state) + { + case 0: + { + global->getNetworkConfig().channelConfig.bw = 500.0; + break; + } + case 1: + { + global->getNetworkConfig().channelConfig.bw = 250.0; + break; + } + } + updateNetworkSettings(); + break; + } + case 3: //SF + { + if(act_item->state>10) + act_item->state=10; + else + if(act_item->state<7) + act_item->state=7; + global->getNetworkConfig().channelConfig.sf = act_item->state; + updateNetworkSettings(); + break; + } + + case 4: //CR + { + if(act_item->state>8) + act_item->state=8; + else + if(act_item->state<5) + act_item->state=5; + global->getNetworkConfig().channelConfig.cr = act_item->state; + updateNetworkSettings(); + break; + } + + case 5: //Preamble + { + if(act_item->state>16) + act_item->state=16; + else + if(act_item->state<4) + act_item->state=4; + global->getNetworkConfig().channelConfig.preambleLength = act_item->state; + updateNetworkSettings(); + break; + } + + case 6: //Sync + { + if(act_item->state>255) + act_item->state=255; + else + if(act_item->state<1) + act_item->state=1; + global->getNetworkConfig().channelConfig.syncWord = act_item->state; + updateNetworkSettings(); + break; + } + + case 10: //ID + { + if(act_item->state<0) + act_item->state=0; + if(act_item->state>=128) + act_item->state=127; + global->getNetworkConfig().networkId = act_item->state; + updateNetworkSettings(); + break; + } + + case 11: //Password + { + global->getNetworkConfig().password = act_item->value; + updateNetworkSettings(); + break; + } + } + } +} + +void cLVGLScreenMainMenu::userMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e) +{ + if(e == LV_EVENT_REFRESH) + { + m_isMainPage = false; + updateUserSettings(); + for(uint32_t i = 0; m_userMenuItems[i].type != LV_SETTINGS_TYPE_INV; i++) { + lv_settings_add(&m_userMenuItems[i]); + } + } + else if(e == LV_EVENT_VALUE_CHANGED) { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + switch(act_item->id) + { + case 1: //Name + { + global->getConfig().name = act_item->value; + updateUserSettings(); + break; + } + case 2: //Symbol + { + int len = strnlen(act_item->value,act_item->param1); + if(len>0) + { + if(global->getConfig().symbol!=act_item->value[len-1]) + { + global->getConfig().symbol = act_item->value[len-1]; + } + else + if(len==1) + break; + } + updateUserSettings(); + lv_settings_refr(act_item); + break; + } + case 3: //ID + { + if(act_item->state<1) + act_item->state=1; + if(act_item->state>=128) + act_item->state=127; + global->getConfig().id = act_item->state; + updateUserSettings(); + break; + } + } + } +} + +#define LVGL_HOFFSET 40 +#define LVGL_VOFFSET 14 +#define LVGL_HPAD 10 +#define LVGL_VPAD 6 + +void cLVGLScreenIMUCalibration::internalInit() +{ + int16_t width = LV_HOR_RES_MAX - LVGL_HOFFSET * 2; + int16_t height = LV_VER_RES_MAX - LVGL_VOFFSET * 2; + + m_updateTime = millis(); + createRoots(); + lv_group_remove_all_objs(m_owner->getKeypadGroup()); + lv_obj_t* mainPage = lv_cont_create(lv_scr_act(), NULL); + m_root = mainPage; + lv_obj_set_pos(mainPage, LVGL_HOFFSET, LVGL_VOFFSET); + lv_obj_set_size(mainPage, width,height); + + width = lv_obj_get_width(mainPage)-LVGL_HPAD * 2; + height = lv_obj_get_height(mainPage) - LVGL_VPAD * 2; + + lv_style_init(&text48Style); + lv_style_set_text_font(&text48Style, LV_STATE_DEFAULT, &lv_font_montserrat_48); + + lv_style_init(&text16Style); + lv_style_set_text_font(&text16Style, LV_STATE_DEFAULT, &lv_font_montserrat_16); + + lv_style_init(&text14Style); + lv_style_set_text_font(&text14Style, LV_STATE_DEFAULT, &lv_font_montserrat_14); + + lv_obj_t* captionLabel = lv_label_create(mainPage, NULL); + lv_label_set_text(captionLabel, "Magnetometer Calibration"); + lv_label_set_align(captionLabel, LV_LABEL_ALIGN_CENTER); + lv_obj_add_style(captionLabel, 0, &text16Style); + lv_obj_align(captionLabel, mainPage, LV_ALIGN_IN_TOP_MID,0, LVGL_VPAD); + + m_axisX = lv_mcal_axis_create(mainPage); + lv_obj_set_pos(m_axisX.page, 4, LVGL_VPAD + 20); + + m_axisY = lv_mcal_axis_create(mainPage); + lv_obj_set_pos(m_axisY.page, 80, LVGL_VPAD + 20); + + m_axisZ = lv_mcal_axis_create(mainPage); + lv_obj_set_pos(m_axisZ.page, 156, LVGL_VPAD + 20); + +// lv_obj_t* s90Button = lv_button_create(mainPage, "90°"); +// lv_obj_set_pos(s90Button, 20, 100); +// lv_obj_set_size(s90Button, 60, 26); + + m_autoButton = lv_button_create(mainPage, "Auto"); + lv_btn_set_checkable(m_autoButton, true); + lv_obj_set_pos(m_autoButton, 90, 100); + lv_obj_set_size(m_autoButton, 60, 26); + setEventHandler(m_autoButton); + +// lv_obj_t* s0Button = lv_button_create(mainPage, "0°"); +// lv_obj_set_pos(s0Button, 160, 100); +// lv_obj_set_size(s0Button, 60, 26); + + lv_obj_t* o = lv_cont_create(mainPage, NULL); + lv_obj_set_pos(o, LVGL_HPAD, 130); + lv_obj_set_size(o, width, 76); + + m_headingLabel = lv_label_create(o, NULL); + lv_label_set_text(m_headingLabel, "000°"); + lv_obj_add_style(m_headingLabel, 0, &text48Style); + lv_obj_align(m_headingLabel, o, LV_ALIGN_CENTER, 0, 0); + updateIMU(); +} + +void cLVGLScreenIMUCalibration::internalDeinit() +{ + lv_obj_del(m_scr); + m_scr = NULL; +} + +lv_obj_t* cLVGLScreenIMUCalibration::lv_button_create(lv_obj_t* parent, const char* caption) +{ + lv_obj_t* result = lv_btn_create(parent, NULL); + lv_btn_set_fit(result, LV_FIT_NONE); + lv_obj_t* label = lv_label_create(result, NULL); + lv_label_set_text(label, caption); + lv_obj_add_style(label, 0, &text14Style); + lv_obj_align(label, result, LV_ALIGN_CENTER, 0, 0); + lv_group_add_obj(m_owner->getKeypadGroup(),result); + + return result; +} +lv_mcal_axis_s cLVGLScreenIMUCalibration::lv_mcal_axis_create(lv_obj_t* parent) +{ + lv_obj_t* axisPage = lv_cont_create(parent, NULL); + lv_obj_set_size(axisPage, 80, 65); + + lv_obj_t* axislabel = lv_label_create(axisPage, NULL); + lv_label_set_text(axislabel, "-00.00"); + lv_obj_align(axislabel, axisPage, LV_ALIGN_IN_TOP_MID, 0, 5); + + lv_obj_t* axisPBtn = lv_btn_create(axisPage, NULL); + lv_obj_set_pos(axisPBtn, 6, 30); + lv_obj_set_size(axisPBtn, 30, 26); + lv_btn_set_fit(axisPBtn, LV_FIT_NONE); + setEventHandler(axisPBtn); + lv_obj_t* label = lv_label_create(axisPBtn, NULL); + lv_label_set_text(label, "+"); + lv_obj_add_style(label, 0, &text14Style); + lv_obj_align(label, axisPBtn, LV_ALIGN_CENTER, 0, 0); + lv_group_add_obj(m_owner->getKeypadGroup(),axisPBtn); + + lv_obj_t* axisMBtn = lv_btn_create(axisPage, NULL); + lv_obj_set_pos(axisMBtn, 42, 30); + lv_obj_set_size(axisMBtn, 30, 26); + lv_btn_set_fit(axisMBtn, LV_FIT_NONE); + lv_obj_set_user_data(axisMBtn,this); + setEventHandler(axisMBtn); + label = lv_label_create(axisMBtn, NULL); + lv_label_set_text(label, "-"); + lv_obj_add_style(label, 0, &text14Style); + lv_obj_align(label, axisMBtn, LV_ALIGN_CENTER, 0, 0); + lv_group_add_obj(m_owner->getKeypadGroup(),axisMBtn); + + lv_mcal_axis_s result; + result.page = axisPage; + result.label = axislabel; + result.btnP = axisPBtn; + result.btnM = axisMBtn; + return result; +} + + +void cLVGLScreenIMUCalibration::updateIMU() +{ + if(global->m_imuStatus) + { + char buffer[32]; + snprintf(buffer,sizeof(buffer),"%d°",(int)(global->m_imuStatus->getHeading()/100+global->m_gpsStatus->getMagDec())); + lv_label_set_text(m_headingLabel,buffer); + lv_obj_align(m_headingLabel, lv_obj_get_parent(m_headingLabel), LV_ALIGN_CENTER, 0, 0); + + global->getIMU()->updateCalibration(); + sIMUCalibration &calibration = global->getIMU()->getCalibration(); + snprintf(buffer,sizeof(buffer),"X: %0.2f",calibration.magBiasX); + lv_label_set_text(m_axisX.label,buffer); + lv_obj_align(m_axisX.label, lv_obj_get_parent(m_axisX.label), LV_ALIGN_IN_TOP_MID, 0, 5); + + snprintf(buffer,sizeof(buffer),"Y: %0.2f",calibration.magBiasY); + lv_label_set_text(m_axisY.label,buffer); + lv_obj_align(m_axisY.label, lv_obj_get_parent(m_axisY.label), LV_ALIGN_IN_TOP_MID, 0, 5); + + snprintf(buffer,sizeof(buffer),"Z: %0.2f",calibration.magBiasZ); + lv_label_set_text(m_axisZ.label,buffer); + lv_obj_align(m_axisZ.label, lv_obj_get_parent(m_axisZ.label), LV_ALIGN_IN_TOP_MID, 0, 5); + + if(global->getIMU()->getAutoMag()) + lv_obj_add_state(m_autoButton, LV_STATE_CHECKED); + else + lv_obj_clear_state(m_autoButton, LV_STATE_CHECKED); + } +} + +void cLVGLScreenIMUCalibration::loop() +{ + if((millis()-m_updateTime)>=150) + { + updateIMU(); + m_updateTime = millis(); + } +} + +#define MAG_ADJ_VAL 0.1 + +void cLVGLScreenIMUCalibration::lvIScreenEvent(struct _lv_obj_t * obj, lv_event_t event) +{ + switch(event) + { + case LV_EVENT_CLICKED: + { + if(obj==m_autoButton) + { + global->getIMU()->setAutoMag(lv_obj_get_state(m_autoButton,LV_OBJ_PART_MAIN) & LV_STATE_CHECKED); + } + else + if(obj==m_axisX.btnM) + { + global->getIMU()->adjustMagCalibrationBias(-MAG_ADJ_VAL,0); + } + else + if(obj==m_axisX.btnP) + { + global->getIMU()->adjustMagCalibrationBias(MAG_ADJ_VAL,0); + } + else + if(obj==m_axisY.btnM) + { + global->getIMU()->adjustMagCalibrationBias(-MAG_ADJ_VAL,1); + } + else + if(obj==m_axisY.btnP) + { + global->getIMU()->adjustMagCalibrationBias(MAG_ADJ_VAL,1); + } + else + if(obj==m_axisZ.btnM) + { + global->getIMU()->adjustMagCalibrationBias(-MAG_ADJ_VAL,2); + } + else + if(obj==m_axisZ.btnP) + { + global->getIMU()->adjustMagCalibrationBias(MAG_ADJ_VAL,2); + } + updateIMU(); + break; + } + } +} + +void cLVGLScreenMainMenu::updateTimersSettings() +{ + atMainConfig &c = global->getConfig(); + for(int i=0; igetNetworkConfig(); + m_networkMenuItems[0].state = nc.channelConfig.freq*10; + snprintf(nmFrequency,sizeof(nmFrequency),"%03.1f Mhz",m_networkMenuItems[0].state/10.0); + m_networkMenuItems[1].state = 0; + if(nc.channelConfig.bw==250) + m_networkMenuItems[1].state = 1; + + m_networkMenuItems[2].state = nc.channelConfig.sf; + snprintf(nmSF,sizeof(nmSF),"%d",nc.channelConfig.sf); + + m_networkMenuItems[3].state = nc.channelConfig.cr; + snprintf(nmCR,sizeof(nmCR),"%d",nc.channelConfig.cr); + + m_networkMenuItems[4].state = nc.channelConfig.preambleLength; + snprintf(nmPreamble,sizeof(nmPreamble),"%d",nc.channelConfig.preambleLength); + + m_networkMenuItems[5].state = nc.channelConfig.syncWord; + snprintf(nmSync,sizeof(nmSync),"0x%0X",nc.channelConfig.syncWord); + + m_networkMenuItems[6].state = nc.networkId; + snprintf(nmNetworkId,sizeof(nmNetworkId),"%d",nc.networkId); + + snprintf(nmPassword,sizeof(nmPassword),"%s",nc.password.c_str()); +} + + +void cLVGLScreenMainMenu::updateUserSettings() +{ + atMainConfig &c = global->getConfig(); + snprintf(nmName,sizeof(nmName),"%s",c.name.c_str()); + snprintf(nmSymbol,sizeof(nmSymbol),"%c",c.symbol); + m_userMenuItems[1].state = c.id; + snprintf(nmUserId,sizeof(nmUserId),"%d",c.id); +} + +void cLVGLScreenMainMenu::timersMenuEvent(lv_settings_item_t * act_item, lv_obj_t * obj, lv_event_t e) +{ + if(e == LV_EVENT_REFRESH) + { + m_isMainPage = false; + updateTimersSettings(); + for(uint32_t i = 0; m_timersSettings[i].type != LV_SETTINGS_TYPE_INV; i++) { + lv_settings_add(&m_timersSettings[i]); + } + } + else if(e == LV_EVENT_VALUE_CHANGED) { + lv_settings_item_t * act_item = (lv_settings_item_t *)lv_event_get_data(); + if(act_item->idstate<0) + act_item->state = 0; + global->getConfig().timers[act_item->id] = act_item->state*1000; + updateTimersSettings(); + } + } +} diff --git a/src/atScreenLVGL.h b/src/atScreenLVGL.h new file mode 100644 index 0000000..fff5f38 --- /dev/null +++ b/src/atScreenLVGL.h @@ -0,0 +1,62 @@ +#pragma once +#include "atscreen.h" +#include +#include "lvgl_mem.h" + +#define LVS_NULL 0 +#define LVS_MAINMENU 1 +#define LVS_IMUCAL 2 + +#define LVS_MAX 2 + +class cATScreenLVGL; +class cLVGLScreen +{ +friend cATScreenLVGL; +protected: + cATScreenLVGL *m_owner; + lv_obj_t *m_scr; + lv_obj_t *m_mainCont; + lv_obj_t *m_leftCont; + lv_obj_t *m_rightCont; + lv_style_t m_styleCont; + + bool m_initialized; + virtual void createRoots(); + virtual void internalInit() = 0; + virtual void internalDeinit() = 0; + void setEventHandler(lv_obj_t *obj); +public: + cLVGLScreen(cATScreenLVGL *owner); + virtual ~cLVGLScreen(); + virtual void init(); + virtual void deinit(); + virtual void back()=0; + virtual bool isMainPage()=0; + virtual void loop(){}; + virtual void lvIScreenEvent(struct _lv_obj_t * obj, lv_event_t event) {} +}; + +class cATScreenLVGL:public cATScreen +{ +friend cLVGLScreen; +protected: + uint8_t m_lvState; + lv_disp_buf_t m_display_buffer; + cLVGLScreen *m_screen; + lv_group_t *m_keypadGroup; + cLVGLScreen *m_screens[LVS_MAX]; + + virtual cLVGLScreen * createScreen(uint8_t lvState); + public: + cATScreenLVGL(atGlobal &global); + virtual ~cATScreenLVGL(); + + virtual bool init(); + virtual void showMenu(); + virtual void loop(); + virtual void setScreenState(uint8_t value); + virtual void processEvent(uint8_t event, uint32_t param1, uint32_t param2); + virtual void setLVGLScreen(uint8_t value); + lv_group_t *getKeypadGroup() { return m_keypadGroup; } +}; diff --git a/src/atble.cpp b/src/atble.cpp new file mode 100644 index 0000000..55fd7a1 --- /dev/null +++ b/src/atble.cpp @@ -0,0 +1,596 @@ +#include "atble.h" +#include "BLEDevice.h" +#include "global.h" +#include + +static BLEUUID adcServiceUUID(SERVICE_UUID_ADC); +static BLEUUID adcCharasteristicUUID(CHARACTERISTIC_UUID_ADC_POSITION_REPORT); + +#define PROFILE_A_APP_ID 0 + +atBLE *bleDevice = NULL; + +#define BS_IDLE 0 +#define BS_SCANING 1 +#define BS_CONNECTING 2 +#define BS_CONNECTING2 3 +#define BS_DISCOVER_SERVICES 4 +#define BS_CONNECTED 5 +#define BS_DICONNECTED 100 +#define BS_ERROR 101 + +#ifndef AD_BLE_NO_CLIENT +static void _gattc_profile_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param) +{ + if(bleDevice) + bleDevice->gattc_profile_event_handler(event,gattc_if,param); +}; + +void atBLE::gattc_profile_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param) +{ + m_lock.lock(); + esp_ble_gattc_cb_param_t *p_data = (esp_ble_gattc_cb_param_t *)param; + switch (event) { + case ESP_GATTC_REG_EVT: + { +// DEBUG_MSG("REG_EVT\n"); + static esp_ble_scan_params_t ble_scan_params = { + .scan_type = BLE_SCAN_TYPE_ACTIVE, + .own_addr_type = BLE_ADDR_TYPE_PUBLIC, + .scan_filter_policy = BLE_SCAN_FILTER_ALLOW_ALL, + .scan_interval = 0x4000, + .scan_window = 312, + .scan_duplicate = BLE_SCAN_DUPLICATE_DISABLE + }; + esp_err_t scan_ret = esp_ble_gap_set_scan_params(&ble_scan_params); + if (scan_ret){ + DEBUG_MSG("set scan params error, error code = %x\n", scan_ret); + } + break; + } + case ESP_GATTC_CONNECT_EVT:{ + if(m_bleState==BS_CONNECTING) + { + //DEBUG_MSG("ESP_GATTC_CONNECT_EVT conn_id %d, if %d\n", p_data->connect.conn_id, gattc_if); + m_glProfileTab[PROFILE_A_APP_ID].conn_id = p_data->connect.conn_id; + memcpy(m_glProfileTab[PROFILE_A_APP_ID].remote_bda, p_data->connect.remote_bda, sizeof(esp_bd_addr_t)); + esp_err_t mtu_ret = esp_ble_gattc_send_mtu_req (gattc_if, p_data->connect.conn_id); + if (mtu_ret){ + DEBUG_MSG("config MTU error, error code = %x\n", mtu_ret); + } + m_bleState = BS_CONNECTING2; + } + break; + } + + case ESP_GATTC_CFG_MTU_EVT: + { + //DEBUG_MSG("ESP_GATTC_CFG_MTU_EVT\n"); + if(m_bleState==BS_CONNECTING2) + { + m_bleState = BS_DISCOVER_SERVICES; + esp_ble_gattc_search_service(gattc_if, param->open.conn_id, adcServiceUUID.getNative()); + } + else + DEBUG_MSG("BLE Wrong State\n"); + break; + } + + case ESP_GATTC_OPEN_EVT: + if(m_bleState==BS_CONNECTING2) + { + if (param->open.status != ESP_GATT_OK){ + DEBUG_MSG("open failed, status %d\n", p_data->open.status); + m_bleState = BS_ERROR; + break; + } + //DEBUG_MSG("open success\n"); + } + break; + + case ESP_GATTC_SEARCH_RES_EVT: { + //DEBUG_MSG("SEARCH RES: conn_id = %x is primary service %d\n", p_data->search_res.conn_id, p_data->search_res.is_primary); + //DEBUG_MSG("start handle %d end handle %d current handle value %d\n", p_data->search_res.start_handle, p_data->search_res.end_handle, p_data->search_res.srvc_id.inst_id); + BLEUUID remoteService(p_data->search_res.srvc_id); + if (remoteService.equals(adcServiceUUID)) { + //DEBUG_MSG("service found\n"); + m_hasServer = true; + m_glProfileTab[PROFILE_A_APP_ID].service_start_handle = p_data->search_res.start_handle; + m_glProfileTab[PROFILE_A_APP_ID].service_end_handle = p_data->search_res.end_handle; + } + break; + } + + case ESP_GATTC_SEARCH_CMPL_EVT: + { + if (p_data->search_cmpl.status != ESP_GATT_OK){ + DEBUG_MSG("search service failed, error status = %x\n", p_data->search_cmpl.status); + m_bleState = BS_ERROR; + break; + } + if (m_hasServer){ + uint16_t count = 0; + esp_gatt_status_t status = esp_ble_gattc_get_attr_count( gattc_if, + p_data->search_cmpl.conn_id, + ESP_GATT_DB_CHARACTERISTIC, + m_glProfileTab[PROFILE_A_APP_ID].service_start_handle, + m_glProfileTab[PROFILE_A_APP_ID].service_end_handle, + 0, + &count); + if (status != ESP_GATT_OK){ + DEBUG_MSG("esp_ble_gattc_get_attr_count error\n"); + } + + if (count > 0) + { + esp_gattc_char_elem_t *char_elem_result = (esp_gattc_char_elem_t *)malloc(sizeof(esp_gattc_char_elem_t) * count); + if (char_elem_result) + { + status = esp_ble_gattc_get_char_by_uuid( gattc_if, + p_data->search_cmpl.conn_id, + m_glProfileTab[PROFILE_A_APP_ID].service_start_handle, + m_glProfileTab[PROFILE_A_APP_ID].service_end_handle, + *adcCharasteristicUUID.getNative(), + char_elem_result, + &count); + if (status != ESP_GATT_OK){ + DEBUG_MSG("esp_ble_gattc_get_char_by_uuid error\n"); + } + + if(count>0) + { + m_glProfileTab[PROFILE_A_APP_ID].char_handle = char_elem_result[0].char_handle; + if (char_elem_result[0].properties & ESP_GATT_CHAR_PROP_BIT_NOTIFY){ + esp_ble_gattc_register_for_notify(gattc_if, m_glProfileTab[PROFILE_A_APP_ID].remote_bda, char_elem_result[0].char_handle); + } + m_bleState = BS_CONNECTED; + } + else + { + m_bleState = BS_ERROR; + } + free(char_elem_result); + } + else + m_bleState = BS_ERROR; + }else{ + DEBUG_MSG("no char found\n"); + m_bleState = BS_ERROR; + } + } + break; + } + + case ESP_GATTC_WRITE_DESCR_EVT: + { + if (p_data->write.status != ESP_GATT_OK){ + DEBUG_MSG("write descr failed, error status = %x\n", p_data->write.status); + break; + } + //DEBUG_MSG("write descr success\n"); + uint8_t write_char_data[35]; + for (int i = 0; i < sizeof(write_char_data); ++i) + { + write_char_data[i] = i % 256; + } + esp_ble_gattc_write_char( gattc_if, + m_glProfileTab[PROFILE_A_APP_ID].conn_id, + m_glProfileTab[PROFILE_A_APP_ID].char_handle, + sizeof(write_char_data), + write_char_data, + ESP_GATT_WRITE_TYPE_RSP, + ESP_GATT_AUTH_REQ_NONE); + break; + } + + case ESP_GATTC_REG_FOR_NOTIFY_EVT: + { + //DEBUG_MSG("ESP_GATTC_REG_FOR_NOTIFY_EVT\n"); + if (p_data->reg_for_notify.status != ESP_GATT_OK){ + DEBUG_MSG("REG FOR NOTIFY failed: error status = %d\n", p_data->reg_for_notify.status); + }else{ + uint16_t count = 0; + uint16_t notify_en = 1; + esp_gatt_status_t ret_status = esp_ble_gattc_get_attr_count( gattc_if, + m_glProfileTab[PROFILE_A_APP_ID].conn_id, + ESP_GATT_DB_DESCRIPTOR, + m_glProfileTab[PROFILE_A_APP_ID].service_start_handle, + m_glProfileTab[PROFILE_A_APP_ID].service_end_handle, + m_glProfileTab[PROFILE_A_APP_ID].char_handle, + &count); + if (ret_status != ESP_GATT_OK){ + DEBUG_MSG("esp_ble_gattc_get_attr_count error\n"); + } + if (count > 0){ + esp_gattc_descr_elem_t *descr_elem_result = (esp_gattc_descr_elem_t *)malloc(sizeof(esp_gattc_descr_elem_t) * count); + if (descr_elem_result) + { + esp_bt_uuid_t notify_descr_uuid = { + .len = ESP_UUID_LEN_16, + .uuid = {.uuid16 = ESP_GATT_UUID_CHAR_CLIENT_CONFIG,}, + }; + ret_status = esp_ble_gattc_get_descr_by_char_handle( gattc_if, + m_glProfileTab[PROFILE_A_APP_ID].conn_id, + p_data->reg_for_notify.handle, + notify_descr_uuid, + descr_elem_result, + &count); + if (ret_status != ESP_GATT_OK){ + DEBUG_MSG("esp_ble_gattc_get_descr_by_char_handle error\n"); + } + if (count > 0 && descr_elem_result[0].uuid.len == ESP_UUID_LEN_16 && descr_elem_result[0].uuid.uuid.uuid16 == ESP_GATT_UUID_CHAR_CLIENT_CONFIG){ + esp_err_t errRc = esp_ble_gattc_write_char_descr( gattc_if, + m_glProfileTab[PROFILE_A_APP_ID].conn_id, + descr_elem_result[0].handle, + sizeof(notify_en), + (uint8_t *)¬ify_en, + ESP_GATT_WRITE_TYPE_RSP, + ESP_GATT_AUTH_REQ_NONE); + if (errRc != ESP_OK) + DEBUG_MSG("esp_ble_gattc_write_char_descr error\n"); + } + free(descr_elem_result); + } + } + else{ + DEBUG_MSG("decsr not found\n"); + } + } + break; + } + + case ESP_GATTC_NOTIFY_EVT: + { + //DEBUG_MSG("ESP_GATTC_NOTIFY_EVT LEN %d\n", (int)p_data->notify.value_len); + if (p_data->notify.handle != m_glProfileTab[PROFILE_A_APP_ID].char_handle) break; + m_newDataAvailable = true; + m_data.resize(param->notify.value_len); + memcpy(m_data.data(), param->notify.value, param->notify.value_len); + break; + } + + case ESP_GATTC_READ_CHAR_EVT: + { + //DEBUG_MSG("ESP_GATTC_READ_CHAR_EVT %d %d\n",p_data->read.status,param->read.value_len); + if (p_data->read.handle != m_glProfileTab[PROFILE_A_APP_ID].char_handle) break; + + // At this point, we have determined that the event is for us, so now we save the value + // and unlock the semaphore to ensure that the requestor of the data can continue. + if (p_data->read.status == ESP_GATT_OK) { + m_lastReadRequest = 0; + m_data.resize(param->read.value_len); + memcpy(m_data.data(), param->read.value, param->read.value_len); + } + else + m_bleState = BS_ERROR; + break; + } + + + case ESP_GATTC_DISCONNECT_EVT: + if(p_data->disconnect.conn_id==m_glProfileTab[PROFILE_A_APP_ID].conn_id) + { + m_hasServer = false; + m_bleState = BS_DICONNECTED; + } + + //DEBUG_MSG("ESP_GATTC_DISCONNECT_EVT, reason = %d\n", p_data->disconnect.reason); + break; + + default: + break; + }; + m_lock.unlock(); +} +#endif + +static void _esp_gap_cb(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) +{ + if(bleDevice) + bleDevice->esp_gap_cb(event,param); +} +#ifndef AD_BLE_NO_CLIENT +static void _esp_gattc_cb(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param) +{ + if(bleDevice) + bleDevice->esp_gattc_cb(event,gattc_if,param); +} + +void atBLE::onDeviceFound(atBLEAdvertisedDevice &device) +{ + if (device.haveServiceUUID() && device.isAdvertisingService(adcServiceUUID)) + { + DEBUG_MSG("BLE device found. Connecting...\n"); + m_lastDeviceFound = millis(); + ::esp_ble_gap_stop_scanning(); + m_bleState = BS_CONNECTING; + esp_ble_gattc_open(m_glProfileTab[PROFILE_A_APP_ID].gattc_if, (uint8_t*) device.getAddress().getNative(), device.getAddressType(), true); + } +} +#endif +void atBLE::esp_gap_cb(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param) +{ + m_lock.lock(); + switch (event) { +#ifndef AD_BLE_NO_CLIENT + case ESP_GAP_BLE_SCAN_RESULT_EVT: { + esp_ble_gap_cb_param_t *scan_result = (esp_ble_gap_cb_param_t *)param; + switch (scan_result->scan_rst.search_evt) { + case ESP_GAP_SEARCH_INQ_RES_EVT: + { + if(m_bleState == BS_SCANING) + { + BLEAddress advertisedAddress(param->scan_rst.bda); + atBLEAdvertisedDevice advertisedDevice; + advertisedDevice.setAddress(advertisedAddress); + advertisedDevice.setRSSI(scan_result->scan_rst.rssi); + advertisedDevice.setAdFlag(scan_result->scan_rst.flag); + advertisedDevice.parseAdvertisement((uint8_t*)scan_result->scan_rst.ble_adv, scan_result->scan_rst.adv_data_len + scan_result->scan_rst.scan_rsp_len); + advertisedDevice.setAddressType(scan_result->scan_rst.ble_addr_type); + + onDeviceFound(advertisedDevice); + } + break; + } + default: + break; + } + break; + } +#endif + default: + break; + } + m_lock.unlock(); +} +#ifndef AD_BLE_NO_CLIENT +void atBLE::esp_gattc_cb(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param) +{ + /* If event is register event, store the gattc_if for each profile */ + if (event == ESP_GATTC_REG_EVT) { + if (param->reg.status == ESP_GATT_OK) { + m_glProfileTab[param->reg.app_id].gattc_if = gattc_if; + } else { + DEBUG_MSG("reg app failed, app_id %04x, status %d\n", + param->reg.app_id, + param->reg.status); + return; + } + } + + /* If the gattc_if equal to profile A, call profile A cb handler, + * so here call each profile's callback */ + do { + int idx; + for (idx = 0; idx < PROFILE_NUM; idx++) { + if (gattc_if == ESP_GATT_IF_NONE || /* ESP_GATT_IF_NONE, not specify a certain gatt_if, need to call every profile cb function */ + gattc_if == m_glProfileTab[idx].gattc_if) { + if (m_glProfileTab[idx].gattc_cb) { + m_glProfileTab[idx].gattc_cb(event, gattc_if, param); + } + } + } + } while (0); +} +#endif + +atBLE::atBLE() +{ + m_enableScan = false; +#ifndef AD_BLE_NO_CLIENT + m_glProfileTab[PROFILE_A_APP_ID] = { + .gattc_cb = _gattc_profile_event_handler, + .gattc_if = ESP_GATT_IF_NONE, /* Not get the gatt_if, so initial is ESP_GATT_IF_NONE */ + }; +#endif +} + +void atBLE::begin(uint16_t poi) +{ + m_lastReadRequest = 0; + m_lastDeviceFound = 0; + m_lastDisconnect = 0; + m_hasServer = false; + m_bleState = BS_IDLE; + bleDevice = this; + m_lastUpdate = 0; + m_poi = poi; + esp_err_t ret; +/* + +#ifdef ARDUINO_ARCH_ESP32 + if (!btStart()) { + DEBUG_MSG("BLE Start failed\n"); + return; + } +#else + ret = ::nvs_flash_init(); + if (ret != ESP_OK) { + DEBUG_MSG("nvs_flash_init: rc=%d\n", ret); + return; + } + + esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT(); + ret = esp_bt_controller_init(&bt_cfg); + if (ret) { + DEBUG_MSG("%s initialize controller failed, error code = %x\n", __func__, ret); + return; + } + + ret = esp_bt_controller_enable(ESP_BT_MODE_BLE); + if (ret) { + DEBUG_MSG("%s enable controller failed, error code = %x\n", __func__, ret); + return; + } +#endif + ret = esp_bluedroid_init(); + if (ret) { + DEBUG_MSG("%s init bluetooth failed, error code = %x\n", __func__, ret); + return; + } + + ret = esp_bluedroid_enable(); + if (ret) { + DEBUG_MSG("%s enable bluetooth failed, error code = %x\n", __func__, ret); + return; + } + + //register the callback function to the gap module + ret = esp_ble_gap_register_callback(_esp_gap_cb); + if (ret){ + DEBUG_MSG("%s gap register failed, error code = %x\n", __func__, ret); + return; + } + + //register the callback function to the gattc module + ret = esp_ble_gattc_register_callback(_esp_gattc_cb); + if(ret){ + DEBUG_MSG("%s gattc register failed, error code = %x\n", __func__, ret); + return; + } +*/ + char bleName[32]; + snprintf(bleName,sizeof(bleName),"TTracker %0X (%s)",global->getConfig().id,global->getConfig().name.c_str()); + BLEDevice::init(bleName); + BLEDevice::setCustomGapHandler(_esp_gap_cb); +#ifndef AD_BLE_NO_CLIENT + BLEDevice::setCustomGattcHandler(_esp_gattc_cb); + ret = esp_ble_gattc_app_register(PROFILE_A_APP_ID); + if (ret){ + DEBUG_MSG("%s gattc app register failed, error code = %x\n", __func__, ret); + } +#endif + esp_err_t local_mtu_ret = esp_ble_gatt_set_local_mtu(500); + if (local_mtu_ret){ + DEBUG_MSG("set local MTU failed, error code = %x\n", local_mtu_ret); + } +} +#ifndef AD_BLE_NO_CLIENT +void atBLE::internalEnableScan() +{ + m_lock.lock(); + static esp_ble_scan_params_t ble_scan_params = { + .scan_type = BLE_SCAN_TYPE_ACTIVE, + .own_addr_type = BLE_ADDR_TYPE_PUBLIC, + .scan_filter_policy = BLE_SCAN_FILTER_ALLOW_ALL, + .scan_interval = 0x4000, + .scan_window = 312, + .scan_duplicate = BLE_SCAN_DUPLICATE_DISABLE + }; + esp_err_t scan_ret = esp_ble_gap_set_scan_params(&ble_scan_params); + if (scan_ret){ + DEBUG_MSG("set scan params error, error code = %x\n", scan_ret); + } + ::esp_ble_gap_start_scanning(0); + if(m_bleState == BS_IDLE) + m_bleState = BS_SCANING; + m_lock.unlock(); +} + +void atBLE::enableScan(bool en) +{ + if(m_enableScan!=en) + { + m_enableScan = en; + if(m_enableScan) + { + internalEnableScan(); + } + else + { + ::esp_ble_gap_stop_scanning(); + } + } +} +#endif + +void atBLE::loop() +{ +#ifndef AD_BLE_NO_CLIENT + m_lock.lock(); + + if(m_bleState==BS_IDLE && m_enableScan && (millis()-m_lastDisconnect)>5000) + { + m_bleState=BS_SCANING; + m_lock.unlock(); + internalEnableScan(); + m_lock.lock(); + } + + if(m_bleState==BS_DICONNECTED || m_bleState==BS_ERROR) + { + //DEBUG_MSG("BLE Deleting %d\n",m_bleState); + m_data.clear(); + m_lastReadRequest = 0; + m_lastDeviceFound = 0; + //global->removePOI(m_poi); + auto conn_id = m_glProfileTab[PROFILE_A_APP_ID].conn_id; + m_glProfileTab[PROFILE_A_APP_ID].conn_id = 0xFFFF; + m_lock.unlock(); + if(conn_id!=0xFFFF) + ::esp_ble_gattc_close(m_glProfileTab[PROFILE_A_APP_ID].gattc_if, conn_id); + m_lock.lock(); + delay(10); + m_bleState=BS_IDLE; + m_lastDisconnect = millis(); + } + else + if(m_bleState==BS_CONNECTED) + { + if(m_data.size()>0) + { + if(m_data.size()==sizeof(sADCPositionReport)) + { + m_lastUpdate = millis(); + m_newDataAvailable = false; + sADCPositionReport *report = (sADCPositionReport *)m_data.data(); + sPOI poi; + poi.lng = report->longitude; + poi.lat = report->latitude; + poi.alt = report->altitude; + poi.lastUpdate = (int64_t)millis() - ((int64_t)report->now - (int64_t) report->lastSeen); + //DEBUG_MSG("R %d %d %d\n",(int)poi.lastUpdate,(int)report->now,(int)report->lastSeen); + poi.RSSI = report->RSSI; + poi.SNR = report->SNR; + poi.updateXY(); + poi.name = report->status; + poi.symbol = 'D'; + poi.type = POIT_DYNAMIC; + poi.positionChanged = true; + poi.hacc = report->hacc; + global->setPOI(m_poi,poi); + } + m_data.clear(); + } + else + if(m_lastReadRequest==0 && (m_newDataAvailable || (millis()-m_lastUpdate)>5500)) + { + m_newDataAvailable = false; + m_lastUpdate = millis(); + m_lastReadRequest = millis(); + esp_err_t errRc = ::esp_ble_gattc_read_char( + m_glProfileTab[PROFILE_A_APP_ID].gattc_if, + m_glProfileTab[PROFILE_A_APP_ID].conn_id, + m_glProfileTab[PROFILE_A_APP_ID].char_handle, + ESP_GATT_AUTH_REQ_NONE); // Security + + if (errRc != ESP_OK) { + DEBUG_MSG("esp_ble_gattc_read_char: rc=%d\n", errRc); + } + } + if(m_lastReadRequest!=0 && (millis()-m_lastReadRequest)>5000) + { + m_bleState = BS_ERROR; + m_lastReadRequest = 0; + DEBUG_MSG("BLE read timeout\n"); + } + } + if(m_lastDeviceFound!=0 && m_bleStateBS_SCANING && (millis()-m_lastDeviceFound)>10000) + { + m_bleState = BS_ERROR; + m_lastDeviceFound = 0; + DEBUG_MSG("BLE connect timeout\n"); + } + m_lock.unlock(); +#endif +} \ No newline at end of file diff --git a/src/atble.h b/src/atble.h new file mode 100644 index 0000000..65f35e0 --- /dev/null +++ b/src/atble.h @@ -0,0 +1,64 @@ +#pragma once +#include + +#include +#include +#include +#include +#include "adcBLECommon.h" +#include "config.h" +#include "concurrency/Lock.h" +#include "esp_gap_ble_api.h" +#include "esp_gattc_api.h" +#include "esp_gatt_defs.h" +#include "esp_bt_main.h" +#include "esp_gatt_common_api.h" +#include "BLE/atBLEAdvertisedDevice.h" + +#define PROFILE_NUM 1 + +struct sGattcProfile { + esp_gattc_cb_t gattc_cb; + uint16_t gattc_if; + uint16_t app_id; + uint16_t conn_id; + uint16_t service_start_handle; + uint16_t service_end_handle; + uint16_t char_handle; + esp_bd_addr_t remote_bda; +}; + +class atBLE +{ +protected: + struct sGattcProfile m_glProfileTab[PROFILE_NUM]; + bool m_enableScan; + bool m_newDataAvailable; + uint16_t m_poi; + int64_t m_lastUpdate; + concurrency::Lock m_lock; + int m_bleState; + bool m_hasServer; + std::vector m_data; + int64_t m_lastDisconnect; + int64_t m_lastReadRequest; + int64_t m_lastDeviceFound; +#ifndef AD_BLE_NO_CLIENT + void internalEnableScan(); + void onDeviceFound(atBLEAdvertisedDevice &device); +#endif +public: + atBLE(); + void begin(uint16_t poi); +#ifndef AD_BLE_NO_CLIENT + void enableScan(bool en); + bool getEnableScan() { return m_enableScan; } +#endif + void loop(); + + void esp_gap_cb(esp_gap_ble_cb_event_t event, esp_ble_gap_cb_param_t *param); +#ifndef AD_BLE_NO_CLIENT + void esp_gattc_cb(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param); + void gattc_profile_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_t gattc_if, esp_ble_gattc_cb_param_t *param); +#endif +}; \ No newline at end of file diff --git a/src/atcommon.cpp b/src/atcommon.cpp new file mode 100644 index 0000000..f4ba2be --- /dev/null +++ b/src/atcommon.cpp @@ -0,0 +1,73 @@ +#include "atcommon.h" +#include +#include + +void convertDegreeToMeter(double lng, double lat, double &x,double &y) +{ + x = DEGREE_TO_METER_X(lng); + y = DEGREE_TO_METER_Y(lat); +} + +void convertMeterToDegree(double x, double y, double &lng,double &lat) +{ + lng = DEGREE_TO_METER_REVERSE_X(x); + lat = DEGREE_TO_METER_REVERSE_Y(y); +} + +double distanceXYBetween(double x1, double y1, double x2, double y2) +{ + return sqrt(pow(x2 - x1, 2) +pow(y2 - y1, 2)); +} + +double courseXYTo(double x1, double y1, double x2, double y2) +{ + double result = 270-degrees(atan2(y1 - y2, x1 - x2)); + if(result<0) + result += 360; + return result; +} + +double distanceBetween(double lat1, double long1, double lat2, double long2) +{ + // returns distance in meters between two positions, both specified + // as signed decimal-degrees latitude and longitude. Uses great-circle + // distance computation for hypothetical sphere of radius 6372795 meters. + // Because Earth is no exact sphere, rounding errors may be up to 0.5%. + // Courtesy of Maarten Lamers + double delta = radians(long1-long2); + double sdlong = sin(delta); + double cdlong = cos(delta); + lat1 = radians(lat1); + lat2 = radians(lat2); + double slat1 = sin(lat1); + double clat1 = cos(lat1); + double slat2 = sin(lat2); + double clat2 = cos(lat2); + delta = (clat1 * slat2) - (slat1 * clat2 * cdlong); + delta = sq(delta); + delta += sq(clat2 * sdlong); + delta = sqrt(delta); + double denom = (slat1 * slat2) + (clat1 * clat2 * cdlong); + delta = atan2(delta, denom); + return delta * 6372795; +} + +double courseTo(double lat1, double long1, double lat2, double long2) +{ + // returns course in degrees (North=0, West=270) from position 1 to position 2, + // both specified as signed decimal-degrees latitude and longitude. + // Because Earth is no exact sphere, calculated course may be off by a tiny fraction. + // Courtesy of Maarten Lamers + double dlon = radians(long2-long1); + lat1 = radians(lat1); + lat2 = radians(lat2); + double a1 = sin(dlon) * cos(lat2); + double a2 = sin(lat1) * cos(lat2) * cos(dlon); + a2 = cos(lat1) * sin(lat2) - a2; + a2 = atan2(a1, a2); + if (a2 < 0.0) + { + a2 += TWO_PI; + } + return degrees(a2); +} diff --git a/src/atcommon.h b/src/atcommon.h new file mode 100644 index 0000000..3ce7e92 --- /dev/null +++ b/src/atcommon.h @@ -0,0 +1,14 @@ +#pragma once + +#define Pi M_PI + +#define DEGREE_TO_METER_X(X) X*111319.490778 +#define DEGREE_TO_METER_Y(Y) (log(tan((90.0 + (Y)) * M_PI / 360.0)) / (M_PI / 180.0))*111319.490778 +#define DEGREE_TO_METER_REVERSE_Y(Y) (atan(pow(M_E, ((Y)/111319.490778)*M_PI/180.0))*360.0/M_PI-90.0) +#define DEGREE_TO_METER_REVERSE_X(X) X/111319.490778 +void convertDegreeToMeter(double lng, double lat, double &x,double &y); +void convertMeterToDegree(double x, double y, double &lng,double &lat); +double distanceXYBetween(double x1, double y1, double x2, double y2); +double courseXYTo(double x1, double y1, double x2, double y2); +double distanceBetween(double lat1, double long1, double lat2, double long2); +double courseTo(double lat1, double long1, double lat2, double long2); diff --git a/src/atglobal.cpp b/src/atglobal.cpp new file mode 100644 index 0000000..dd29b70 --- /dev/null +++ b/src/atglobal.cpp @@ -0,0 +1,417 @@ +#include "atglobal.h" +#include +#include +#include + + +struct PSRAMAllocator { + void* allocate(size_t size) { + return heap_caps_malloc(size,MALLOC_CAP_SPIRAM); + } + + void deallocate(void* ptr) { + heap_caps_free(ptr); + } + + void* reallocate(void* ptr, size_t new_size) { + return heap_caps_realloc(ptr, new_size,MALLOC_CAP_SPIRAM); + } +}; + +typedef BasicJsonDocument PSRAMJsonDocument; + +void atGlobal::onMapLoad(cMap *map) +{ + m_poiMapStatic.clear(); + if(map) + { + char fileName[32]; + std::string mapName = map->getMap().name; + for(auto& c : mapName) + { + c = tolower(c); + } + snprintf(fileName,sizeof(fileName),AT_POINTS_FILE_TEMPLATE,mapName.c_str()); + std::ifstream file(fileName,std::ifstream::binary); + if(file.good()) + { + DEBUG_MSG("Loading points from %s\n",fileName); + PSRAMJsonDocument json(64*1024); + DeserializationError error = deserializeJson(json,file); + if(!error) + { + const JsonVariant &points = json.getMember("points"); + for(int i=0; i(); + switch(_t==0) + { + case 0: + type = POIT_STATIC; + break; + default: + type = POIT_STATIC; + break; + } + color = json["color"].as(); + lat = json["coordinates"][1].as(); + lng = json["coordinates"][0].as(); + positionChanged = true; + return true; + } + return false; +} + +cConfig::cConfig() +{ +} + +bool cConfig::loadConfig(std::istream &stream,bool binary) +{ + try{ + StaticJsonDocument<1024> json; + DeserializationError error; + if(binary) + error = deserializeMsgPack(json,stream); + else + error = deserializeJson(json,stream); + if(error) + { + DEBUG_MSG("cConfig loading error %s\n",error.c_str()); + return false; + } + else + { + initDefaults(); + loadConfigValues(json); + } + }catch(...) + { + return false; + } + return true; +} + +void cConfig::saveConfig(std::ostream &stream,bool binary) +{ + StaticJsonDocument<1024> json; + saveConfigValues(json); + + try{ + if(binary) + serializeMsgPack(json,stream); + else + serializeJson(json,stream); + }catch(...) + { + } +} + + +void cConfig::loadConfig(const char * filename) +{ + try{ + std::ifstream file(filename,std::ifstream::binary); + if(!loadConfig(file)) + saveConfig(filename); + }catch(...) + { + saveConfig(filename); + } + if(checkConfig()) + saveConfig(filename); +} + +void cConfig::saveConfig(const char * filename) +{ + try{ + std::ofstream file(filename,std::ofstream::binary); + saveConfig(file); + }catch(...) + { + } +} + + +atMainConfig::atMainConfig() +{ + initDefaults(); +} + +void atMainConfig::initDefaults() +{ + symbol = 0; + id = MAX_CONFIG_ID; + radius = 250; + units = U_METRIC; + reportInterval = 500; + timeZone = DEFAULT_TZ; + screenIdleTimeout = 90000; + useVibration = true; + vibrationTime = 200; + maxPeerTimeout = 600; + memset(&timers,0,sizeof(timers)); + checkConfig(); +} + +bool atMainConfig::checkConfig() +{ + bool changed = false; + if(id==MAX_CONFIG_ID) + { + uint8_t mac[6]; + changed = true; + esp_read_mac(mac, ESP_MAC_BT); + id = mac[5]; + if(id==0) + id = rand() & 0xFF; + } + if(name.empty()) + { + changed = true; + char buffer[16]; + snprintf(buffer,sizeof(buffer),"Dev%02X",(int)id); + name = buffer; + } + if(reportInterval<200) + { + changed = true; + reportInterval = 500; + } + if(reportInterval>30000) + { + changed = true; + reportInterval = 30000; + } + if(timeZone.empty()) + { + changed = true; + timeZone = DEFAULT_TZ; + } + + if(screenIdleTimeout<10000 && screenIdleTimeout!=0) + { + screenIdleTimeout=10000; + changed = true; + } + + if(vibrationTime<50) + { + vibrationTime = 50; + changed = true; + } + else + if(vibrationTime>2000) + { + vibrationTime = 2000; + changed = true; + } + + if(maxPeerTimeout>86400) + { + maxPeerTimeout = 86400; + changed = true; + } + return changed; +} + +void atMainConfig::loadConfigValues(JsonDocument &json) +{ + const char * c = (const char*) json["tz"]; + testLat = json["testLat"]; + testLng = json["testLng"]; + id = json["id"]; + radius = json["radius"]; + symbol = json["symbol"]; + reportInterval = json["reportInterval"]; + screenIdleTimeout = json["screenIdleTimeout"]; + for(int i=0; i60000) + { + updateTimeout = 60000; + changed = true; + } + + return changed; +} + +void atAGDNetworkConfig::saveConfigValues(JsonDocument &json) +{ + json["freq"] = channelConfig.freq; + json["bw"] = channelConfig.bw; + json["sf"] = channelConfig.sf; + json["cr"] = channelConfig.cr; + json["preambleLength"] = channelConfig.preambleLength; + json["syncWord"] = channelConfig.syncWord; + json["updateTimeout"] = updateTimeout; +} + +void atAGDNetworkConfig::loadConfigValues(JsonDocument &json) +{ + channelConfig.freq = json["freq"]; + channelConfig.bw = json["bw"]; + channelConfig.sf = json["sf"]; + channelConfig.cr = json["cr"]; + channelConfig.preambleLength = json["preambleLength"]; + channelConfig.syncWord = json["syncWord"]; + updateTimeout = json["updateTimeout"]; +} + +atAGDNetworkConfig::atAGDNetworkConfig() +{ + initDefaults(); +} + +cSideButtons::cSideButtons() +{ + for(int i=0; i +#include +#include +#include +#include "power.h" +#include "GPSStatus.h" +#include "IMUStatus.h" +#include +#include "radio/LoraRadio.h" +#include "mapTiles.h" +#include "atstrings.h" +#include + +#define MAX_CONFIG_ID 0xFFFF +#define U_METRIC 0 +#define U_US 1 + +#define POIT_PEER 0 +#define POIT_STATIC 1 +#define POIT_DYNAMIC 2 +#define POIT_ENEMY 3 +#define POIT_SELF 10 + +#define POIS_NORMAL 0 +#define POIS_DEAD 1 + +struct sPOI +{ + bool positionChanged=false; + uint8_t type=POIT_PEER; + char symbol=0; + std::string name; + uint8_t status=0; + uint8_t options=0; + double lat=0; + double lng=0; + uint32_t hacc=0; + double x=0; + double y=0; + int32_t alt=0; + int16_t heading=0; + double distance=0; + double realDistance=0; + double courseTo=0; + double RSSI=0; + double SNR=0; + int32_t retransmitRating = 0; + int64_t lastUpdate=0; + uint8_t lastLabelIdx=0; + uint32_t color=0; + + sPOI() + { + } + + bool isValidLocation() const + { + return (lat != 0) && (lng != 0) && (lat <= 90 && lat >= -90); + } + + void updateXY() + { + if(isValidLocation()) + { + convertDegreeToMeter(lng,lat,x,y); + } + else + { + x = y = 0; + } + } + bool loadFromJson(const JsonVariant &json); +}; + +struct sSideButton +{ + uint8_t idx=0; + std::string caption; + uint8_t action=0; + uint8_t actionLong=0; +}; + +class cSideButtons +{ +protected: + sSideButton m_buttons[SIDE_BUTTONS_COUNT]; + +public: + cSideButtons(); + sSideButton *getButtons() + { + return m_buttons; + } + + uint8_t getButtonsCount() + { + return SIDE_BUTTONS_COUNT; + } +}; + +#define AT_MAX_TIMERS 4 +class cConfig +{ +protected: + virtual void initDefaults()=0; + virtual bool checkConfig()=0; + virtual void saveConfigValues(JsonDocument &json)=0; + virtual void loadConfigValues(JsonDocument &json)=0; +public: + cConfig(); + virtual bool loadConfig(std::istream &stream,bool binary=false); + virtual void saveConfig(std::ostream &stream,bool binary=false); + + virtual void loadConfig(const char * filename); + virtual void saveConfig(const char * filename); +}; + +class atMainConfig:public cConfig +{ +public: + uint16_t id; + std::string name; + char symbol; + uint16_t radius; + uint8_t units; + uint16_t reportInterval; + std::string timeZone; + uint32_t screenIdleTimeout; + bool useVibration; + uint32_t vibrationTime; + uint32_t maxPeerTimeout; + uint32_t timers[AT_MAX_TIMERS]; + int32_t testLat; + int32_t testLng; +protected: + virtual void initDefaults(); + virtual bool checkConfig(); + virtual void saveConfigValues(JsonDocument &json); + virtual void loadConfigValues(JsonDocument &json); +public: + atMainConfig(); +}; + +class atNetworkConfig:public cConfig +{ +public: + cLoraChannelCondfig channelConfig; + uint8_t networkId; + std::string password; + int32_t requestInfoInterval; +protected: + virtual void initDefaults(); + virtual bool checkConfig(); + virtual void saveConfigValues(JsonDocument &json); + virtual void loadConfigValues(JsonDocument &json); +public: + atNetworkConfig(); +}; + +class atAGDNetworkConfig:public cConfig +{ +public: + cLoraChannelCondfig channelConfig; + uint32_t updateTimeout; +protected: + virtual void initDefaults(); + virtual bool checkConfig(); + virtual void saveConfigValues(JsonDocument &json); + virtual void loadConfigValues(JsonDocument &json); +public: + atAGDNetworkConfig(); +}; +//Player Status +#define PS_NORMAL 0 +#define PS_DEAD 1 + +struct sPlayerStatus +{ + uint8_t status; + uint8_t options; + + sPlayerStatus() + { + status = PS_NORMAL; + options = 0; + } +}; + +typedef std::map cPOIMap; +typedef std::list cPOIList; +class cTimersChain; +class cTimer +{ +friend cTimersChain; +protected: + int32_t m_duration; + int64_t m_startTime; + int64_t m_pauseTime; + std::string m_name; +public: + cTimer():m_duration(0),m_startTime(0),m_pauseTime(0) + { + } + ~cTimer(){} + int32_t getDuration() { return m_duration; } + void setDuration(uint32_t value) { m_duration = value; } + std::string getName() { return m_name; } + void setName(const char *name) { m_name = name; } + bool isEnabled() { return m_duration>0; } + bool isStarted() { return m_startTime>0; } + bool isPaused() { return isStarted() && m_pauseTime>0; } + void start(int64_t now) { m_startTime = now; m_pauseTime = 0; } + void reset() { m_startTime = m_pauseTime = 0; } + void pause(int64_t now) { if(isStarted() && m_pauseTime==0) m_pauseTime = now; } + void resume(int64_t now) { + if(isPaused()) + { + m_startTime = now-(m_pauseTime-m_startTime); + m_pauseTime = 0; + } + } + int64_t getCurrentDuration(int64_t now) + { + if(isStarted()) + { + int64_t duration; + if(m_pauseTime>0) + duration = m_pauseTime-m_startTime; + else + duration = now-m_startTime; + if(duration>=m_duration) + return m_duration; + else + return duration; + } + else + return 0; + } + + bool isFinished(int64_t now) { + if(isStarted()) + return getCurrentDuration(now)>=m_duration; + else + return false; + } +}; + +typedef std::vector cTimersVector; +typedef std::map cTimersMap; + +class cTimersChain +{ +protected: + cTimersVector m_timers; + uint8_t m_currentIdx; + std::string m_name; + + void processTimers(int64_t now) + { + while(m_currentIdxisFinished(now)) + { + int64_t nowNew = m_timers[m_currentIdx]->m_startTime+m_timers[m_currentIdx]->m_duration; + m_currentIdx++; + if(m_currentIdxstart(nowNew); + } + } + else + break; + } + else + break; + } + } +public: + cTimersChain():m_currentIdx(0){}; + ~cTimersChain(){} + std::string getName() { return m_name; } + void setName(const char *name) { m_name = name; } + cTimersVector &getTimers() { return m_timers; } + void addTimer(cTimer* timer) { + m_timers.push_back(timer); + } + + bool isEnabled() + { + for(auto itr=m_timers.begin(); itr!=m_timers.end(); itr++) + if(!(*itr)->isEnabled()) + return false; + return m_timers.size(); + } + + bool isStarted() + { + if(m_currentIdxisStarted(); + } + return true; + } + + bool isPaused() + { + if(m_currentIdxisPaused(); + } + return false; + } + + void reset() + { + m_currentIdx = 0; + for(auto itr=m_timers.begin(); itr!=m_timers.end(); itr++) + (*itr)->reset(); + } + + void start(int64_t now) + { + reset(); + if(m_timers.size()) + m_timers.front()->start(now); + } + + void pause(int64_t now) + { + processTimers(now); + if(m_currentIdxpause(now); + } + } + + void resume(int64_t now) + { + if(m_currentIdxresume(now); + } + } + + bool isFinished(int64_t now) + { + processTimers(now); + return m_currentIdx>=m_timers.size(); + } + + void loop(int64_t now) + { + processTimers(now); + } + + uint8_t getCurrentIdx() { return m_currentIdx; } +}; + +typedef std::list cTimersChains; + +class atGlobal:public cMapProcessorCallbacks +{ +protected: + atMainConfig m_config; + atNetworkConfig m_networkConfig; + atAGDNetworkConfig m_agdNetworkConfig; + Power *m_power; + + virtual void initPower() + { + m_mapCenterX = m_mapCenterY = 0; + m_power = new Power(); + m_power->setup(); + m_power->setStatusHandler(m_powerStatus); + m_powerStatus->observe(&m_power->newStatus); + } + uint16_t m_lastPOIID; +public: + bool m_has_axp192; + bool m_has_oled; + PowerStatus *m_powerStatus; + GPSStatus *m_gpsStatus; + IMUStatus *m_imuStatus; + sPlayerStatus m_playerStatus; + cSideButtons m_sideButtons; + cMaps m_maps; + cMapProcessor m_mapsProcessor; + cPOIMap m_poiMap; + cPOIList m_poiMapStatic; + double m_mapCenterX,m_mapCenterY; + cTimersMap m_timers; + cTimersChains m_timersChains; + + atGlobal():m_mapsProcessor(m_maps.getMaps(),this) + { + m_lastPOIID = 0; + m_has_axp192 = m_has_oled = false; + m_powerStatus = new PowerStatus(); + m_power = NULL; + m_gpsStatus = new GPSStatus(); + m_imuStatus = new IMUStatus(); + m_config.loadConfig(MAIN_CONFIG_FILENAME); + m_networkConfig.loadConfig(NET_CONFIG_FILENAME); + m_agdNetworkConfig.loadConfig(AGD_NET_CONFIG_FILENAME); + for(int i=0; isetDuration(m_config.timers[i]); + snprintf(buf,sizeof(buf),"T%d",i+1); + m_timers[i]->setName(buf); + } + cTimersChain *tc = new cTimersChain(); + tc->setName("T1->T2"); + tc->addTimer(m_timers[0]); + tc->addTimer(m_timers[1]); + m_timersChains.push_back(tc); + +#ifndef AD_NOSCREEN + m_maps.loadFromBinary(SCREEN_FLASH_META_BINARY_FILE); +#endif + } + + virtual ~atGlobal() + { + delete m_imuStatus; + delete m_gpsStatus; + delete m_powerStatus; + if(m_power) + delete m_power; + } + + virtual void onMapLoad(cMap *map); + + void updateTimers() + { + for(int i=0; isetDuration(m_config.timers[i]); + } + } + + float getDirection() + { + return (18000-m_imuStatus->getHeading()+m_gpsStatus->getMagDec()*100)*PI/18000.0; + } + + float getDirectionDeg() + { + float result = m_imuStatus->getHeading()/100.0+m_gpsStatus->getMagDec(); + if(result<0) + result += 360; + if(result>=360) + result -= 360; + return result; + } + + uint16_t createPOI() + { + return ++m_lastPOIID; + } + + void setPOI(uint16_t id,const sPOI &poi) + { + m_poiMap[id] = poi; + } + + void removePOI(uint16_t id) + { + m_poiMap.erase(id); + } + + virtual void init() + { + initPower(); + } + + virtual void loop() + { + concurrency::periodicScheduler.loop(); + } + + Power *getPower() { + return m_power; + } + + atMainConfig &getConfig() + { + return m_config; + } + + atNetworkConfig &getNetworkConfig() + { + return m_networkConfig; + } + + virtual void onScreenStateChange(){}; + + void processTimers(int64_t now) + { + for(auto itr=m_timersChains.begin(); itr!= m_timersChains.end(); itr++) + (*itr)->loop(now); + } +}; diff --git a/src/atracker.cpp b/src/atracker.cpp new file mode 100644 index 0000000..0d0c58e --- /dev/null +++ b/src/atracker.cpp @@ -0,0 +1,1785 @@ +#include "atracker.h" +#include +#include +#include "radio/LoraDevRF95.h" +#include "radio/LoraDevSX1262.h" +#include "dwm1000/DW1000Ng.hpp" +#include "progCommon.h" +#ifdef USE_SCREEN_EVE +#include "atScreenEVE.h" +#else +#include "atscreendummy.h" +#endif +#include "agd/abcommon.h" + + +StaticEventGroup_t loraInterruptEventBuffer; +EventGroupHandle_t loraInterruptEvent = xEventGroupCreateStatic( &loraInterruptEventBuffer ); +void IRAM_ATTR loraRINT(void); + +#ifdef DEBUG_USAGE +class cCPUUsage +{ +protected: + int64_t m_periodStart; + int64_t m_idleStart; + int64_t m_workStart; + int64_t m_idleTime; + int64_t m_workTime; + int64_t m_workMaxTime; + float m_workUsage; + float m_idleUsage; + int m_usageCount; +public: + cCPUUsage() + { + m_workMaxTime = m_periodStart = m_idleStart = m_workStart = m_idleTime = m_workTime = 0; + m_workUsage = 0; + m_idleUsage = 0; + m_usageCount = 0; + } + + void periodStart() + { + m_periodStart = esp_timer_get_time(); + m_idleStart = m_workStart = m_idleTime = m_workTime = 0; + } + + void idleStart() + { + m_idleStart = esp_timer_get_time(); + } + + void idleStop() + { + m_idleTime += (esp_timer_get_time()-m_idleStart); + m_idleStart = 0; + } + + void workStart() + { + m_workStart = esp_timer_get_time(); + } + + void workStop() + { + int64_t workTime = (esp_timer_get_time()-m_workStart); + m_workTime += workTime; + if(m_workMaxTime0) + { + m_workUsage += 100*m_workTime/period; + m_idleUsage += 100*m_idleTime/period; + m_usageCount++; + if(m_usageCount>100) + { + DEBUG_MSG("%s work %0.1f%% (%0.2f ms), idle %0.1f%%\n",msg,m_workUsage/m_usageCount, m_workMaxTime/1000.0, m_idleUsage/m_usageCount); + m_usageCount = 0; + m_workUsage = m_idleUsage = 0; + m_workMaxTime = 0; + } + } + } + +}; +#endif + +void printHeap(const char *msg) +{ + multi_heap_info_t info; + heap_caps_get_info(&info, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT); + + DEBUG_MSG("%sHeap: %u/%uKB/%uKB\n", msg, info.total_allocated_bytes / 1024, info.total_free_bytes / 1024, info.largest_free_block / 1024); +} + +cAirsoftTracker::cAirsoftTracker():m_loraPackets(20),m_loraPacketsToSend(20),m_screen(NULL),m_commands(100),m_networkProcessor(*this,this) +{ + m_core0Thread = NULL; + m_core0ThreadReady = false; + m_loraThread = NULL; + m_imu = NULL; + m_expander = NULL; + m_vmotor = NULL; + memset(m_buttonsTime,0,sizeof(m_buttonsTime)); + m_buttonsIdx[0] = BTN1_PIN; + m_buttonsIdx[1] = BTN2_PIN; + m_buttonsIdx[2] = BTN3_PIN; + m_buttonsIdx[3] = BTN4_PIN; + m_buttonsIdx[4] = BTN5_PIN; + m_buttonsIdx[5] = BTN6_PIN; +} + +void cAirsoftTracker::onScreenStateChange() +{ + updateSideButtons(); +} + +bool compare_poi_distance (const sPOI& first, const sPOI& second) +{ + return ( first.distance > second.distance ); +} + +int32_t tes = 0; +void cAirsoftTracker::mainLoop() +{ + int64_t now = millis(); + atGlobal::loop(); + int powerState = m_power->loop(); + if(powerState & 2) //Longpress + { + if(!m_displaySleep) + m_screen->showShutdownScreen(); + m_config.saveConfig(MAIN_CONFIG_FILENAME); + m_imu->shutdown(); + DEBUG_MSG("Backup GNSS database\n"); + m_gps.backupDatabase(GNSS_DBD_FILENAME); + delay(10); + m_gps.shutdown(); + delay(100); + DEBUG_MSG("Shutdown\n"); + m_power->shutdown(); + } + if(powerState & 1) + { + m_idleTimer = millis(); + } + if(isAGDUpdate()) + { + if((now-m_agdUpdateTimer)>=m_agdNetworkConfig.updateTimeout) + { + stopAGDUpdate(); + } + } + switch(m_screen->getScreenState()) + { + case SS_BOOT: + { + if(timing::millis() > 1000) + { + m_screen->closeBootScreen(); + m_screen->setScreenState(SS_MAIN); + } + break; + } + + case SS_MAIN: + { + m_screen->loop(); + if((now-m_screenTimer)>=50 && !m_displaySleep) + { + processTimers(now); + m_screenTimer = now; + updateDistances(); + m_screen->beginMainScreen(); + if(m_gpsStatus->getHasLock()) + { + int64_t now = millis(); + + int32_t poiCnt = 0; +/* + uint16_t radius = m_screen->getRadius(); + + for(auto itr=m_poiMapStatic.begin(); itr!=m_poiMapStatic.end(); itr++) + { + if(itr->isValidLocation() && itr->distance<=radius) + { + poiCnt++; + } + } +*/ + m_poiMapStatic.sort(compare_poi_distance); + + + for(auto itr=m_poiMapStatic.begin(); itr!=m_poiMapStatic.end(); itr++) + { + if(itr->isValidLocation()) + { + m_screen->drawPOI((*itr),m_poiMapStatic.size()-poiCnt); + } + poiCnt++; + } + + cPeers& peers = m_networkProcessor.getPeers(); + for(auto itr=peers.begin(); itr!=peers.end(); itr++) + { + if(itr->second.isValidLocation()) + { + if(m_config.maxPeerTimeout==0) + m_screen->drawPOI(itr->second); + else + { + int64_t delta = (now-itr->second.lastUpdate)/1000; + if(delta<=m_config.maxPeerTimeout) + m_screen->drawPOI(itr->second); + } + } + } + + for(auto itr=m_poiMap.begin(); itr!=m_poiMap.end(); itr++) + { + if(itr->second.isValidLocation()) + { + if(m_config.maxPeerTimeout==0) + m_screen->drawPOI(itr->second); + else + { + int64_t delta = (now-itr->second.lastUpdate)/1000; + if(delta<=m_config.maxPeerTimeout) + m_screen->drawPOI(itr->second); + } + + } + } + + if(m_mapCenterX!=0 && m_mapCenterY!=0) + { + sPOI self; + self.type = POIT_SELF; + self.status = (uint8_t)m_playerStatus.status; + self.lat = m_gpsStatus->getLatitude()*1e-7; + self.lng = m_gpsStatus->getLongitude()*1e-7; + self.x = m_gpsStatus->getX(); + self.y = m_gpsStatus->getY(); + self.name = "Me"; + self.symbol = 0; + + double lat; + double lng; + double x = m_mapCenterX; + double y = m_mapCenterY; + convertMeterToDegree(x,y,lng,lat); + + self.realDistance = distanceBetween(lat,lng,self.lat,self.lng); + self.distance = distanceXYBetween(x,y,self.x,self.y); + self.courseTo = courseXYTo(x,y,self.x,self.y); + self.hacc = m_gpsStatus->getHAcc()/100; + m_screen->drawPOI(self); + } + } + m_screen->drawTimers(m_sideButtonsState==ATSBS_TIMERS); + m_screen->endMainScreen(); + } + break; + } + + case SS_MENU: + { + if(!m_displaySleep) + { + m_screen->loop(); + if((now-m_screenTimer)>=50) + { + m_screenTimer = now; + m_screen->showMenu(); + } + } + break; + } + } + if(!m_displaySleep) + { + int32_t bk = map(m_ps,0,3000,2,255); + if(bk>255) + bk=255; + m_screen->setBacklight(bk); + } + if(!m_displaySleep && ((m_config.screenIdleTimeout>10000 && (now-m_idleTimer)>=m_config.screenIdleTimeout) || m_idleTimer==0)) + { + m_displaySleep = true; + m_screen->screenOff(); + } + if(m_displaySleep && ((now-m_idleTimer)screenOn(); + } + + if((now-m_timer1)>=50) + { + if(tes++%120 == 0) + { + printHeap(""); + } + m_timer1 = now; +#ifdef HAS_GPS + m_gps.loop(); +#endif + processExpander(); + m_vmotor->loop(); + LOCK_DEBUG_PORT(); + while(SERIAL_PROG.available()) + { + uint8_t byte = SERIAL_PROG.read(); + switch(m_serialSignatureState) + { + case 0: + { + if(byte==SERIAL_PROG_MODE_SIG1) + m_serialSignatureState++; + break; + } + case 1: + { + m_serialSignatureState=0; + if(byte==SERIAL_PROG_MODE_SIG2) + { + int64_t serialTime=now; + serialTime = now; + while(SERIAL_PROG.available()) SERIAL_PROG.read(); + delay(100); + SERIAL_PROG.write(SERIAL_PROG_MODE_RESP); + while((millis()-serialTime)<10000) + { + if(SERIAL_PROG.available()) + { + byte = SERIAL_PROG.read(); + if(byte==SERIAL_PROG_MODE_RESP) + { + SERIAL_PROG.flush(); + SERIAL_PROG.updateBaudRate(921600); + if(m_displaySleep) + { + m_displaySleep = false; + m_screen->screenOn(); + delay(200); + } + m_screen->showProgramMode(); + programMode(); + SERIAL_PROG.updateBaudRate(115200); + } + break; + } + else + delay(1); + } + } + break; + } + } + } + UNLOCK_DEBUG_PORT(); + } + + m_imu->loop(); + + if(!isAGDUpdate()) + { + processLoraPackets(); + } + else + { + processLoraAGDPackets(); + if((now-m_sideButtonsUpdateTime)>=1000) + { + updateSideButtons(); + m_sideButtonsUpdateTime = now; + } + } + + m_bleClient.loop(); +} + +void cAirsoftTracker::processLoraPackets() +{ + m_loraPackets.lock(); + while (m_loraPackets.size() > 0) + { + auto packet = m_loraPackets.front(); + m_loraPackets.pop(); + sNetworkPacket netPacket; + netPacket.data = packet.data; + netPacket.packetTime = packet.time; + netPacket.preambleTime = packet.preambleTime; + m_networkProcessor.processPacket(netPacket,packet.RSSI,packet.SNR); + } + m_loraPackets.unlock(); + m_networkProcessor.loop(); +} + +static SPISettings spiSettings(4000000, MSBFIRST, SPI_MODE0); + +void cAirsoftTracker::updateBootScreen() +{ + m_screen->showBootScreen(m_bootMsg1.empty()?NULL:m_bootMsg1.c_str(),m_bootMsg2.empty()?NULL:m_bootMsg2.c_str()); +} + +void cAirsoftTracker::init() +{ + auto mainThread = new cThreadFunction(*this, &cAirsoftTracker::mainThread); + mainThread->start("MainThread", 8192*2, tskIDLE_PRIORITY+1, 1); +} + +void cAirsoftTracker::mainThread(cThreadFunction *thread) +{ + mainInit(); + esp_task_wdt_init(APP_WATCHDOG_SECS_WORK, true); + auto res = esp_task_wdt_add(NULL); + assert(res == ESP_OK); +#ifdef DEBUG_USAGE + cCPUUsage usage; +#endif +#ifdef AT_CAN_SLEEP + int32_t loopCounter = 0; + pinMode(LED_PIN,OUTPUT); + digitalWrite(LED_PIN,LOW); +#endif + while(true) + { +#ifdef DEBUG_USAGE + usage.periodStart(); + usage.workStart(); +#endif + unsigned long now = millis(); + mainLoop(); +#ifdef DEBUG_USAGE + usage.workStop(); + usage.idleStart(); +#endif + esp_task_wdt_reset(); + int64_t workTime = ((int64_t)millis())-now; + if(workTime<0) + workTime = 0; + if(workTime<10) + delay(10-workTime); + else + delay(1); + +#ifdef AT_CAN_SLEEP + if(loopCounter++>2) + { + bool canSleep = true; + m_loraPackets.lock(); + canSleep = m_loraPackets.size()==0; + m_loraPackets.unlock(); + if(canSleep) + { + m_loraPacketsToSend.lock(); + canSleep = m_loraPacketsToSend.size()==0; + m_loraPacketsToSend.unlock(); + } +#ifdef HAS_GPS + if(canSleep) + canSleep = m_gps.canSleep(); +#endif + if(canSleep) + { + m_gps.getSerial().flush(); + digitalWrite(LED_PIN,HIGH); + detachInterrupt(LORA_IRQ); + gpio_wakeup_enable((gpio_num_t)LORA_IRQ,GPIO_INTR_HIGH_LEVEL); + esp_sleep_enable_gpio_wakeup(); + esp_sleep_enable_uart_wakeup(GPS_SERIAL_NUM); + esp_sleep_enable_timer_wakeup(m_networkProcessor.getTimeslotDuration()*2000/3); + esp_light_sleep_start(); + digitalWrite(LED_PIN,LOW); + attachInterrupt(LORA_IRQ, &loraRINT,RISING); + esp_task_wdt_reset(); + delay(10); + loopCounter = 0; + } + }; +#endif + +#ifdef DEBUG_USAGE + usage.idleStop(); + usage.periodStop("Main Loop usage"); +#endif + } +} + +void cAirsoftTracker::mainInit() +{ + DEBUG_MSG("Main Thread on core %d\n", xPortGetCoreID()); + Wire.begin(I2C_SDA, I2C_SCL,400000); + scanI2Cdevice(Wire); + + atGlobal::init(); + + setenv("TZ", m_config.timeZone.c_str(), 1); + tzset(); + + DEBUG_MSG("Set TZ %s\n",m_config.timeZone.c_str()); + + m_power->gpsOff(); + delay(50); + m_power->gpsOn(); + + sRFModuleConfig loraModule; + +#ifdef USE_SX1262 + loraModule.cs = NSS_GPIO; + loraModule.irq = SX1262_IRQ; + loraModule.rst = SX1262_RST; + loraModule.busy = SX1262_BUSY; +#else + loraModule.cs = LORA_CS; + loraModule.irq = LORA_IRQ; + loraModule.rst = LORA_RST; + loraModule.busy = 0; +#endif + m_expander = new Adafruit_MCP23017(); + m_expander->begin(&Wire); + for(int i=0; i<16; i++) + if(i!=VIBRO_PIN && i!=VIBRO_PIN2) + m_expander->pullUp(i,1); + + + m_expander->pinMode(BTN1_PIN,INPUT); + m_expander->pullUp(BTN1_PIN,1); + + m_expander->pinMode(BTN2_PIN,INPUT); + m_expander->pullUp(BTN2_PIN,1); + + m_expander->pinMode(BTN3_PIN,INPUT); + m_expander->pullUp(BTN3_PIN,1); + + m_expander->pinMode(BTN4_PIN,INPUT); + m_expander->pullUp(BTN4_PIN,1); + + m_expander->pinMode(BTN5_PIN,INPUT); + m_expander->pullUp(BTN5_PIN,1); + + m_expander->pinMode(BTN6_PIN,INPUT); + m_expander->pullUp(BTN6_PIN,1); + + m_expander->pinMode(VIBRO_PIN,OUTPUT); + m_expander->digitalWrite(VIBRO_PIN,LOW); + + m_expander->pinMode(VIBRO_PIN2,OUTPUT); + m_expander->digitalWrite(VIBRO_PIN2,LOW); + + m_vmotor = new cVMotor(VIBRO_PIN,VIBRO_PIN2, m_expander); + vibration(); + + DEBUG_MSG("Starting screen\n"); +#ifdef USE_SCREEN_EVE + m_screen = new cATScreenEVE(*this); +#else + m_screen = new cATScreenDummy(*this); +#endif + m_expander->pinMode(DW1000_CS,OUTPUT); + m_expander->digitalWrite(DW1000_CS,HIGH); + m_vmotor->loop(); +#ifndef AD_NOSCREEN + if(m_maps.getMaps().size()) + { + cMapsList &maps = m_maps.getMaps(); + DEBUG_MSG("Maps loaded. Count %d\n",maps.size()); + for(auto mitr=maps.begin(); mitr!=maps.end();mitr++) + { + cMap &map = *mitr; + //DEBUG_MSG(" Map %s, zoom levels %d\n",map.getMap().name.c_str(),map.getMapZoomLevels().size()); + DEBUG_MSG(" Map %s\n",map.getMap().name); + } + } + else + DEBUG_MSG("No maps\n"); +#endif + m_vmotor->loop(); + randomSeed(m_networkConfig.networkId*m_config.id*esp_random()); + m_screen->init(); + m_bootMsg1 = "Initializing DWM1000"; + updateBootScreen(); +#if 0 + pinMode(SPI_DISP_CS,OUTPUT); + digitalWrite(SPI_DISP_CS,HIGH); + char buffer[128]=""; + DEBUG_MSG("DWM1000\n"); + DW1000Ng::initialize(DW1000_CS,DW1000_IRQ,DW1000_RST,HSPI_HOST,m_expander); + + DW1000Ng::setDeviceAddress(6); + DW1000Ng::setNetworkId(11); + + DW1000Ng::getPrintableDeviceIdentifier(buffer); + DEBUG_MSG("DWM1000 OK %s\n",buffer); + DW1000Ng::getPrintableExtendedUniqueIdentifier(buffer); + DEBUG_MSG("DWM1000 ID %s\n",buffer); + DW1000Ng::getPrintableNetworkIdAndShortAddress(buffer); + DEBUG_MSG("DWM1000 NET %s\n",buffer); +#endif + + SPIClass *SPI2 = new SPIClass(VSPI); + + SPI2->begin(SCK_GPIO, MISO_GPIO, MOSI_GPIO, NSS_GPIO); + SPI2->setFrequency(4000000); + + loraModule.spi = SPI2; + loraModule.spiSettings = &spiSettings; + + m_core0Thread = new cThreadFunction(*this, &cAirsoftTracker::core0Thread); + m_core0Thread->start("Core0", 4096, tskIDLE_PRIORITY+10, 0); + + m_vmotor->loop(); + m_bootMsg1 = "Initializing IMU"; + updateBootScreen(); + + m_imu = new cIMU(); + + if(m_imu->setup()) + m_imuStatus->observe(&m_imu->newStatus); + + if(m_expander->digitalRead(BTN1_PIN)==LOW) + { + m_bootMsg1 = "Calibrating IMU"; + updateBootScreen(); + m_vmotor->stop(); + m_imu->calibrate(); + } + m_vmotor->loop(); + m_bootMsg1 = "Initializing GNSS"; + updateBootScreen(); +#ifdef HAS_GPS + if(!m_gps.setup()) + { + for(int i=0; i<5; i++) + { + DEBUG_MSG("Restart GPS\n"); + m_bootMsg2 = "Restarting GNSS"; + updateBootScreen(); + m_power->gpsOff(); + delay(50+10*i); + m_power->gpsOn(); + delay(1000+100*i); + if(m_gps.setup()) + break; + } + } + m_gps.startLock(); + m_gpsStatus->observe(&m_gps.newStatus); +#endif + m_vmotor->stop(); + m_bootMsg1 = "Waiting core 0"; + m_bootMsg2 = ""; + updateBootScreen(); + while(!m_core0ThreadReady) + { + delay(1); + } + + m_bootMsg1 = "Initializing LORA"; + updateBootScreen(); + +#ifdef USE_SX1262 + m_lora = new cLoraDeviceSX1262(loraModule, m_networkConfig.channelConfig); + int16_t status = m_lora->applyConfig(); + DEBUG_MSG("Lora SX1262 device status %d\n", status); +#else + m_lora = new cLoraDeviceRF95(loraModule, m_networkConfig.channelConfig); + int16_t status = m_lora->applyConfig(); + DEBUG_MSG("Lora RF95 device status %d\n", status); +#endif + + if (status == 0) + { + m_loraThread = new cThreadFunction(*this, &cAirsoftTracker::loraThread); + m_loraThread->start("Lora", 4096, tskIDLE_PRIORITY+1, 1); + } + m_agdPOI = createPOI(); + m_bootMsg1 = "Initializing BLE"; + updateBootScreen(); + m_bleClient.begin(m_agdPOI); + m_bootMsg1 = "Initializing complete"; + updateBootScreen(); + DEBUG_MSG("Setup completed\n"); + m_idleTimer = millis(); + m_displaySleep = false; + m_serialSignatureState=0; + while(SERIAL_PROG.available()) SERIAL_PROG.read(); +} + +volatile bool loraEnableInterrupt; +volatile bool loraReceived; +const TickType_t ticks5ms = 5/portTICK_PERIOD_MS; +const TickType_t ticks1ms = 1/portTICK_PERIOD_MS; + +void IRAM_ATTR loraRINT(void) +{ + if (!loraEnableInterrupt) + { + return; + } + loraReceived = true; + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + xEventGroupSetBitsFromISR(loraInterruptEvent,1,&xHigherPriorityTaskWoken); +} + +void cAirsoftTracker::loraThread(cThreadFunction *thread) +{ + DEBUG_MSG("Lora Thread on core %d\n", xPortGetCoreID()); + int16_t configID = 0; + loraEnableInterrupt = true; + xEventGroupClearBits(loraInterruptEvent,1); + loraReceived = false; + m_lora->setDio0Action(loraRINT); + int status = m_lora->startReceive(); + int64_t lastPreamble = 0; + DEBUG_MSG("Lora startReceive status %d\n", status); + while (true) + { + if (loraReceived) + { + loraReceived = false; + auto irq = m_lora->getIrqStatus(); + //DEBUG_MSG("%d Lora recv %X\n",millis(),irq); + if(m_lora->isRxDoneIrq(irq)) + { + lastPreamble = millis()-m_networkProcessor.getMaxPacketDuration()+(esp_random()%15)+10; + loraEnableInterrupt = false; + auto size = m_lora->getPacketLength(true); + if(size > 0) + { + //DEBUG_MSG("%d Lora has data %d\n",millis(), size); + sLoraPacket packet; + packet.data.resize(size); + status = m_lora->readData(&packet.data[0], size); + if (status == ERR_NONE) + { +// DEBUG_MSG("%d Lora got packet %d %f\n", millis(),size,m_lora->getSNR()); + packet.RSSI = m_lora->getRSSI(); + packet.SNR = m_lora->getSNR(); + packet.time = millis(); + packet.preambleTime = lastPreamble; + m_loraPackets.push_item(packet); + } + else + { + DEBUG_MSG("Lora error read packet %d\n", status); + } + } + loraEnableInterrupt = true; + m_lora->startReceive(); + } + else + if(m_lora->isPreambleIrq(irq)) + { + //DEBUG_MSG("%d P\n",millis()); + m_lora->clearPreambleIrq(); + lastPreamble = millis(); + } + } + bool hasPacketsToSend = false; + m_loraPacketsToSend.lock(); + if(m_loraPacketsToSend.size() > 0 && (millis()-lastPreamble)>=m_networkProcessor.getMaxPacketDuration()) + { + bool lastLoraReceived = loraReceived; + while (m_loraPacketsToSend.size() > 0) + { + auto packet = m_loraPacketsToSend.front(); + m_loraPacketsToSend.pop(); + //DEBUG_MSG("%d Transmit\n",millis()); + //int64_t t = millis(); + auto res = m_lora->transmit(packet.packet.data.data(),packet.packet.data.size()); + //DEBUG_MSG("%d Transmit %d %d %d\n",millis(),(int)packet.packet.data.size(),(int) res, (int)(millis()-t)); + } + xEventGroupClearBits(loraInterruptEvent,1); + loraReceived = lastLoraReceived; + m_lora->startReceive(); + } + else + { + hasPacketsToSend = m_loraPacketsToSend.size(); + } + + m_loraPacketsToSend.unlock(); + + if(isAGDUpdate()) + { + if(configID!=1) + { + configID = 1; + m_lora->applyConfig(m_agdNetworkConfig.channelConfig); + m_lora->startReceive(); + DEBUG_MSG("Lora switch to AGD config\n"); + } + } + else + { + if(configID!=0) + { + configID = 0; + m_lora->applyConfig(m_networkConfig.channelConfig); + m_lora->startReceive(); + DEBUG_MSG("Lora switch to main config\n"); + } + } + + xEventGroupWaitBits(loraInterruptEvent,1,pdTRUE,pdFALSE,hasPacketsToSend?ticks1ms:ticks5ms); + } +} + +void cAirsoftTracker::core0Thread(cThreadFunction *thread) +{ + DEBUG_MSG("Core 0 Thread on core %d\n",xPortGetCoreID()); + + m_core0ThreadReady = true; +#ifdef DEBUG_USAGE + cCPUUsage usage; +#endif + while (true) + { +#ifdef DEBUG_USAGE + usage.periodStart(); + usage.workStart(); +#endif + unsigned long now = millis(); + + m_commands.lock(); + while (m_commands.size() > 0) + { + sCommand cmd = m_commands.front(); + m_commands.pop(); + m_commands.unlock(); + processCommand(cmd); + m_commands.lock(); + } + m_commands.unlock(); + +#ifdef DEBUG_USAGE + usage.workStop(); + usage.idleStart(); +#endif + int64_t workTime = ((int64_t)millis())-now; + if(workTime<0) + workTime = 0; + if(workTime<25) + delay(25-workTime); + else + delay(1); +#ifdef DEBUG_USAGE + usage.idleStop(); + usage.periodStop("Core0 Loop usage"); +#endif + } +} + +void cAirsoftTracker::processCommand(const sCommand &cmd) +{ + switch (cmd.id) + { + default: + break; + } +} + +void cAirsoftTracker::processExpander() +{ + int64_t now = millis(); + uint16_t gpioab = m_expander->readGPIOAB(); + //if(gpioab!=m_gpioExpander) + { + for(int idx=0; idx=0) + { + uint8_t event = 0; + uint16_t bit = ((uint16_t)1)<<(uint16_t)pin; + if((m_gpioExpander & bit) && ((gpioab & bit)==0)) + { + event = EV_BTN_ON; + } + else + if((m_gpioExpander & bit)==0 && (gpioab & bit)) + event = EV_BTN_OFF; + if(event==0 && m_buttonsTime[idx]) + { + if((now-m_buttonsTime[idx])>=AT_LONG_CLICK_DURATION) + event = EV_BTN_OFF; + } + if(event!=0) + { + if(m_screen->getScreenState()==SS_MAIN) + { + if(m_displaySleep) + { + if(event==EV_BTN_ON) + { + m_idleTimer = millis(); + m_buttonsTime[idx] = 0; + } + } + else + { + if(event==EV_BTN_ON) + { + m_idleTimer = millis(); + m_buttonsTime[idx] = millis(); + } + else + if(event==EV_BTN_OFF) + { + if(m_buttonsTime[idx]) + { + m_idleTimer = millis(); + auto duration = (now-m_buttonsTime[idx]); + if(duration>20) + onButtonClick(idx,duration>=AT_LONG_CLICK_DURATION?ATCT_LONG:ATCT_NORMAL); + m_buttonsTime[idx] = 0; + } + } + } + } + else + { + m_idleTimer = millis(); + m_screen->processEvent(event, idx,0); + } + } + } + } + if(gpioab!=m_gpioExpander) + { + DEBUG_MSG("Expander %04X\n",gpioab); + m_gpioExpander = gpioab; + } + } + + uint16_t ps = analogRead(PSENSOR_PIN); + if(m_ps>0) + m_ps = (m_ps*10+ps)/11; + else + m_ps = ps; +} + +void cAirsoftTracker::sendPacket(const sNetworkPacket &packet) +{ + sLoraPacketToSend sp; + sp.packet = packet; + m_loraPacketsToSend.push_item(sp); + //xEventGroupSetBits(loraInterruptEvent,1); +} + +void cAirsoftTracker::updateDistances(bool force) +{ + if(m_gpsStatus->getHasLock()) + { + cPeers& peers = m_networkProcessor.getPeers(); + bool isNewPos = m_gpsStatus->getSequence()!=m_gpsSeq; + m_gpsSeq = m_gpsStatus->getSequence(); + double lat;// = m_gpsStatus->getLatitude()*1e-7; + double lng;// = m_gpsStatus->getLongitude()*1e-7; + double x = m_mapCenterX==0?m_gpsStatus->getX():m_mapCenterX; + double y = m_mapCenterY==0?m_gpsStatus->getY():m_mapCenterY; + convertMeterToDegree(x,y,lng,lat); + for(auto itr=peers.begin(); itr!=peers.end(); itr++) + { + if(isNewPos || (itr->second.isValidLocation() && (itr->second.positionChanged || force))) + { + cPeer &peer = itr->second; + peer.realDistance = distanceBetween(lat,lng,peer.lat,peer.lng); + peer.distance = distanceXYBetween(x,y,peer.x,peer.y); + peer.courseTo = courseXYTo(x,y,peer.x,peer.y); + peer.positionChanged = false; + if(peer.realDistance>100 && itr->second.isValidLocation()) + { + peer.retransmitRating = peer.realDistance; + } + else + peer.retransmitRating = 0; + } + } + for(auto itr=m_poiMapStatic.begin(); itr!=m_poiMapStatic.end(); itr++) + { + if(isNewPos || (itr->isValidLocation() && (itr->positionChanged || force))) + { + sPOI &poi = (*itr); + poi.realDistance = distanceBetween(lat,lng,poi.lat,poi.lng); + poi.distance = distanceXYBetween(x,y,poi.x,poi.y); + poi.courseTo = courseXYTo(x,y,poi.x,poi.y); + poi.positionChanged = false; + } + } + + for(auto itr=m_poiMap.begin(); itr!=m_poiMap.end(); itr++) + { + if(isNewPos || (itr->second.isValidLocation() && (itr->second.positionChanged || force))) + { + sPOI &poi = itr->second; + poi.realDistance = distanceBetween(lat,lng,poi.lat,poi.lng); + poi.distance = distanceXYBetween(x,y,poi.x,poi.y); + poi.courseTo = courseXYTo(x,y,poi.x,poi.y); + poi.positionChanged = false; + } + } + } +} + +void cAirsoftTracker::updateSideButtons() +{ + auto clearButtonFunc = [&](uint8_t idx) + { + sSideButton *btn = &m_sideButtons.getButtons()[idx]; + btn->action = BA_NONE; + btn->actionLong = BA_NONE; + btn->caption = ""; + }; + + if(m_screen->getScreenState()==SS_MENU) + { + + sSideButton *btn = &m_sideButtons.getButtons()[2]; + btn->action = BA_NONE; + btn->actionLong = BA_NONE; + btn->caption = "action = BA_NONE; + btn->actionLong = BA_NONE; + btn->caption = "UP"; + + btn = &m_sideButtons.getButtons()[1]; + btn->action = BA_NONE; + btn->actionLong = BA_NONE; + btn->caption = "DOWN"; + + btn = &m_sideButtons.getButtons()[3]; + btn->action = BA_NONE; + btn->actionLong = BA_NONE; + btn->caption = "PREV"; + + btn = &m_sideButtons.getButtons()[4]; + btn->action = BA_NONE; + btn->actionLong = BA_NONE; + btn->caption = "OK"; + + btn = &m_sideButtons.getButtons()[5]; + btn->action = BA_NONE; + btn->actionLong = BA_NONE; + btn->caption = "NEXT"; + } + else + switch(m_sideButtonsState) + { + case ATSBS_MAIN: + { + char buffer[32]; + sSideButton *btn = &m_sideButtons.getButtons()[3]; + btn->actionLong = BA_STATUS; + btn->action = BA_NONE; + if(m_playerStatus.status==PS_NORMAL) + btn->caption = ATS_BTN_DEAD; + else + btn->caption = ATS_BTN_ALIVE; + + btn = &m_sideButtons.getButtons()[0]; + btn->action = BA_RADIUS; + btn->actionLong = BA_MAP; + btn->caption = ATS_MRADIUS; + + btn = &m_sideButtons.getButtons()[1]; + btn->action = BA_MENU; + btn->actionLong = BA_NONE; + btn->caption = ATS_MENU; + + #ifndef AD_BLE_NO_CLIENT + btn = &m_sideButtons.getButtons()[2]; + btn->action = BA_BLE; + btn->actionLong = BA_AGD_UPDATE; + if(m_agdUpdateTimer>0) + snprintf(buffer,sizeof(buffer),"%s/AGD UPD (%ds)",m_bleClient.getEnableScan()?"D BLE":"E BLE",(int)(millis()-m_agdUpdateTimer)/1000); + else + snprintf(buffer,sizeof(buffer),"%s/AGD UPD",m_bleClient.getEnableScan()?"D BLE":"E BLE"); + btn->caption = buffer; + #endif + + btn = &m_sideButtons.getButtons()[4]; + btn->action = BA_TIMERS; + btn->actionLong = BA_TIMERS_RST; + btn->caption = "Timers/RST"; + + btn = &m_sideButtons.getButtons()[5]; + btn->action = BA_NONE; + btn->actionLong = BA_SLEEP; + btn->caption = ""; + + break; + } + + case ATSBS_MAP: + { + sSideButton *btn = &m_sideButtons.getButtons()[0]; + btn->action = BA_RADIUS; + btn->actionLong = BA_MAPRESET; + btn->caption = "RADIUS/RST"; + + btn = &m_sideButtons.getButtons()[1]; + btn->action = BA_MAPLEFT; + btn->actionLong = BA_NONE; + btn->caption = "LEFT"; + + btn = &m_sideButtons.getButtons()[2]; + btn->action = BA_MAPEXIT; + btn->actionLong = BA_NONE; + btn->caption = "action = BA_MAPUP; + btn->actionLong = BA_NONE; + btn->caption = "UP"; + + btn = &m_sideButtons.getButtons()[4]; + btn->action = BA_MAPRIGHT; + btn->actionLong = BA_NONE; + btn->caption = "RIGHT"; + + btn = &m_sideButtons.getButtons()[5]; + btn->action = BA_MAPDOWN; + btn->actionLong = BA_NONE; + btn->caption = "DOWN"; + break; + } + + case ATSBS_TIMERS: + { + char buffer[32]; + sSideButton *btn; + if(m_timers[2]->isEnabled()) + { + btn = &m_sideButtons.getButtons()[0]; + btn->action = BA_TIMER; + btn->actionLong = BA_TIMER; + snprintf(buffer,sizeof(buffer),"%s T3/RST",m_timers[2]->isStarted()?(m_timers[2]->isPaused()?"R":"P"):"S"); + btn->caption = buffer; + } + else + clearButtonFunc(0); + + if(m_timersChains.front()->isEnabled()) + { + btn = &m_sideButtons.getButtons()[1]; + btn->action = BA_TIMER; + btn->actionLong = BA_TIMER; + snprintf(buffer,sizeof(buffer),"%s T1->T2/RST",m_timersChains.front()->isStarted()?(m_timersChains.front()->isPaused()?"R":"P"):"S"); + btn->caption = buffer; + } + else + clearButtonFunc(1); + + btn = &m_sideButtons.getButtons()[2]; + btn->action = BA_EXIT; + btn->actionLong = BA_TIMER; + btn->caption = "isEnabled()) + { + btn = &m_sideButtons.getButtons()[3]; + btn->action = BA_TIMER; + btn->actionLong = BA_TIMER; + snprintf(buffer,sizeof(buffer),"%s T4/RST",m_timers[3]->isStarted()?(m_timers[3]->isPaused()?"R":"P"):"S"); + btn->caption = buffer; + } + else + clearButtonFunc(3); + + clearButtonFunc(4); + clearButtonFunc(5); + break; + } + + } +} + +inline static void calcDirectionPoint(double angle, int32_t radius, double &x,double &y) +{ + if(angle<0) + angle += 2*PI; + else + if(angle>2*PI) + angle -= 2*PI; + x = radius*cos(angle); + y = radius*sin(angle); +} + +void cAirsoftTracker::onButtonClick(uint8_t idx,uint8_t type) +{ + uint8_t action = 0; + if(idxisStarted()) + { + if(tc->isPaused()) + tc->resume(now); + else + tc->pause(now); + } + else + tc->start(now); + } + else + tc->reset(); + + } + else + { + cTimer *t; + if(idx==0) + t = m_timers[2]; + else + t = m_timers[3]; + if(type==ATCT_NORMAL) + { + if(t->isStarted()) + { + if(t->isPaused()) + t->resume(now); + else + t->pause(now); + } + else + t->start(now); + } + else + t->reset(); + } + updateSideButtons(); + break; + } + case BA_STATUS: + { + if(m_playerStatus.status==PS_NORMAL) + { + m_playerStatus.status = PS_DEAD; + } + else + { + m_playerStatus.status = PS_NORMAL; + } + updateSideButtons(); + break; + } + + case BA_MENU: + { + m_screen->setScreenState(SS_MENU); + break; + } + + case BA_AGD_UPDATE: + { + if(isAGDUpdate()) + stopAGDUpdate(); + else + startAGDUpdate(); + updateSideButtons(); + break; + } + + case BA_BLE: + { +#ifndef AD_BLE_NO_CLIENT + m_bleClient.enableScan(!m_bleClient.getEnableScan()); + updateSideButtons(); +#endif + break; + } + + case BA_MAP: + { + m_sideButtonsState = ATSBS_MAP; + updateSideButtons(); + break; + } + + case BA_SLEEP: + { + m_idleTimer = 0; + break; + } + + case BA_TIMERS: + { + m_sideButtonsState = ATSBS_TIMERS; + updateSideButtons(); + break; + } + + case BA_TIMERS_RST: + { + for(auto itr = m_timersChains.begin(); itr!=m_timersChains.end(); itr++) + (*itr)->reset(); + + for(auto itr = m_timers.begin(); itr!=m_timers.end(); itr++) + itr->second->reset(); + break; + } + + case BA_MAPLEFT: + case BA_MAPRIGHT: + case BA_MAPUP: + case BA_MAPDOWN: + { + double x,y; + double direction = getDirection(); + switch(action) + { + case BA_MAPUP: direction -= PI/2; break; + case BA_MAPDOWN: direction += PI/2; break; + case BA_MAPLEFT: break; + case BA_MAPRIGHT: direction -= PI; break; + } + calcDirectionPoint(direction,getConfig().radius/10,x,y); + if(m_mapCenterX==0 || m_mapCenterY==0) + { + m_mapCenterX = m_gpsStatus->getX(); + m_mapCenterY = m_gpsStatus->getY(); + } + m_mapCenterX += x; + m_mapCenterY += y; + updateDistances(true); + break; + } + + case BA_MAPRESET: + { + m_mapCenterX = m_mapCenterY = 0; + updateDistances(true); + break; + } + + case BA_MAPEXIT: + { + m_mapCenterY = m_mapCenterX = 0; + m_sideButtonsState = ATSBS_MAIN; + updateDistances(true); + updateSideButtons(); + break; + } + + case BA_EXIT: + { + m_sideButtonsState = ATSBS_MAIN; + updateSideButtons(); + break; + } + + case BA_RADIUS: + { + switch(m_config.radius) + { + case 250: + { + m_config.radius = 500; + break; + } + + case 500: + { + m_config.radius = 1000; + break; + } + + case 1000: + { + m_config.radius = 25; + break; + } + + + case 25: + { + m_config.radius = 50; + break; + } + + case 50: + { + m_config.radius = 100; + break; + } + + case 100: + { + m_config.radius = 150; + break; + } + + case 150: + { + m_config.radius = 250; + break; + } + } + updateSideButtons(); + break; + } + } +} + +void cAirsoftTracker::vibration() +{ + if(m_config.useVibration) + m_vmotor->vibrate(m_config.vibrationTime); +} + +#define prgSendPacket(P,V) SERIAL_PROG.write(newPacketBuffer,serialParser.create_packet(newPacketBuffer,MAX_SERIAL_PACKET_SIZE,P,&V,sizeof(V))) +void cAirsoftTracker::programMode() +{ + byte_t *newPacketBuffer = (byte_t *)malloc(MAX_SERIAL_PACKET_SIZE+4); + bool needReset = false; + int64_t lastTime = millis(); + comm_protocol_parser_c serialParser(cp_prefix_t(SERIAL_APP_1, SERIAL_APP_2, SERIAL_APP_3, SERIAL_APP_4),MAX_SERIAL_PACKET_SIZE); + byte_t *packetBuffer = serialParser.get_packet_buffer(); + FILE *metaFile = NULL; + FILE *dataFile = NULL; + vTaskPrioritySet( NULL, configMAX_PRIORITIES - 5 ); + while((millis()-lastTime)<10000) + { + //bool debug = true;//(millis()-lastTime)>10000; + while(SERIAL_PROG.available()) + { + byte_t incomingByte = SERIAL_PROG.read(); +/* + if(debug) + { + SERIAL_PROG.write('Z'); + SERIAL_PROG.write(incomingByte); + SERIAL_PROG.flush(); + } +*/ + //lastTime = millis(); + int8_t res = serialParser.post_data(&incomingByte,sizeof(byte_t)); + /* + if(debug) + { + SERIAL_PROG.write(res); + SERIAL_PROG.flush(); + } +*/ + if(res== CP_RESULT_PACKET_READY) + { + esp_task_wdt_reset(); + lastTime = millis(); + uint16_t packetSize=serialParser.get_packet_size(); + if(packetSize>=1) + { + uint8_t command = packetBuffer[0]; + switch(command) + { + case PMC_SCREEN_FLASH_META_START: + { + metaFile = fopen(SCREEN_FLASH_META_BINARY_FILE,"wb+"); + byte_t result = 0; + if(metaFile) + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + else + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + break; + } + + case PMC_SCREEN_FLASH_META_END: + { + if(metaFile) + { + fflush(metaFile); + fclose(metaFile); + metaFile = NULL; + } + byte_t result = 0; + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + break; + } + + case PMC_SCREEN_FLASH_META_DATA: + { + byte_t result = 0; + if(metaFile) + { + fwrite(&packetBuffer[1],packetSize-1,1,metaFile); + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + } + else + { + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + } + break; + } + + case PMC_SCREEN_FLASH_FILE_START: + { + char fileName[32]; + packetBuffer[packetSize-1] = 0; + snprintf(fileName,sizeof(fileName),"%s%s",SCREEN_FLASH_META_FILE_PATH,&packetBuffer[1]); + dataFile = fopen(fileName,"wb+"); + byte_t result = 0; + if(dataFile) + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + else + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + break; + } + + case PMC_SCREEN_FLASH_FILE_END: + { + if(dataFile) + { + fflush(dataFile); + fclose(dataFile); + dataFile = NULL; + } + byte_t result = 0; + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + break; + } + + case PMC_SCREEN_FLASH_FILE_DATA: + { + byte_t result = 0; + if(dataFile) + { + fwrite(&packetBuffer[1],packetSize-1,1,dataFile); + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + } + else + { + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + } + break; + } + + case PMC_SCREEN_FLASH_START: + { + uint32_t result = m_screen->flashProgrammStart(); + prgSendPacket(PMC_SCREEN_FLASH_START_RESPONSE,result); + break; + } + case PMC_SCREEN_FLASH_END: + { + m_screen->flashProgrammEnd(); + int32_t result = 0; + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + break; + } + case PMC_SCREEN_FLASH_WRITE_COMPRESS: + case PMC_SCREEN_FLASH_WRITE: + { + needReset = true; + int32_t result = 0; + sPMCFlashBlock *fb = (sPMCFlashBlock*)&packetBuffer[1]; + uint8_t *data = &packetBuffer[1+sizeof(sPMCFlashBlock)]; + if(fb && data && fb->size==(packetSize-1-sizeof(sPMCFlashBlock))) + { + if(command==PMC_SCREEN_FLASH_WRITE_COMPRESS) + { + for(int i=0; isize; i++) + { + if(i%2==0) + data[i] ^= 0xAA; + else + data[i] ^= 0x55; + } + } + m_screen->flashWrite(fb->address,fb->size,data); + delay(1); + prgSendPacket(PMC_SCREEN_FLASH_ACK,result); + } + else + { + result = -1; + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + } + + break; + } + case PMC_SCREEN_FLASH_READ: + { + int32_t result = 0; + sPMCFlashBlock fb = *(sPMCFlashBlock*)&packetBuffer[1]; + if(fb.size<=MAX_SERIAL_PACKET_SIZE) + { + m_screen->flashRead(fb.address,fb.size,packetBuffer); + SERIAL_PROG.write(newPacketBuffer,serialParser.create_packet(newPacketBuffer,MAX_SERIAL_PACKET_SIZE,PMC_SCREEN_FLASH_READ_RESPONSE,packetBuffer,fb.size)); + } + else + { + result = -1; + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + } + + break; + } + + case PMC_SCREEN_FLASH_EXIT: + { + lastTime = 0; + break; + } + + default: + { + int32_t result = -100; + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + break; + } + } + } + else + { + int32_t result = -1; + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + } + serialParser.reset(); + SERIAL_PROG.flush(); + } + else + if(res<=-2) + { + int32_t result = res; + prgSendPacket(PMC_SCREEN_FLASH_ERR,result); + SERIAL_PROG.flush(); + } + } + esp_task_wdt_reset(); + yield(); + } + if(metaFile) + fclose(metaFile); + if(needReset) + { + delay(1000); + ESP.restart(); + delay(1000); + } + vTaskPrioritySet( NULL, tskIDLE_PRIORITY+1); + free(newPacketBuffer); +} + +struct sLoraPacketHeader +{ + uint8_t tag; + uint8_t src; + uint8_t dst; +} __attribute__((packed)); + +void cAirsoftTracker::processLoraAGDPackets() +{ + bool hasUpdate = false; + m_loraPackets.lock(); + while (m_loraPackets.size() > 0) + { + auto packet = m_loraPackets.front(); + m_loraPackets.pop(); + + if (packet.data.size() > sizeof(sLoraPacketHeader)) + { + sLoraPacketHeader *header = (sLoraPacketHeader *)&packet.data[0]; + uint8_t *data = &packet.data[sizeof(sLoraPacketHeader)]; + if (header->tag == LORA_TAG) + { + sPOI poi; + int32_t time1 = 0; + int32_t time2 = 0; + int32_t timeMode1 = 0; + int32_t timeMode2 = 0; + + + poi.lastUpdate = packet.time; + poi.RSSI = packet.RSSI; + poi.SNR = packet.SNR; + poi.symbol = 'D'; + poi.type = POIT_DYNAMIC; + poi.positionChanged = true; + + DynamicJsonDocument jsonBuffer(1024); + JsonArray root = jsonBuffer.to(); + CayenneLPP lpp(0); + lpp.decode(data, packet.data.size() - sizeof(sLoraPacketHeader), root); + for (const JsonVariant &value : root) + { + uint16_t ch = value["channel"]; + switch(ch) + { + case LSID_HACC: + { + poi.hacc = value.as()["value"]; + break; + } + + case LSID_GPS: + { + JsonVariant gvalue = value.as()["value"]; + JsonObject gavalue = gvalue.as(); + poi.lng = gavalue["longitude"]; + poi.lat = gavalue["latitude"]; + poi.alt = gavalue["altitude"]; + break; + } + + case LSID_TIMER1: + { + time1 = value.as()["value"]; + break; + } + + case LSID_TIMER2: + { + time2 = value.as()["value"]; + break; + } + + case LSID_TIMERS_MODE: + { + int v = value.as()["value"]; + timeMode1 = v & 0xF; + timeMode2 = (v & 0xF0)>>4; + break; + } + + } + } + poi.updateXY(); + char buffer[32]; + snprintf(buffer,sizeof(buffer),"R %02d:%02d%s,B %02d:%02d%s",time1/60,time1 % 60,timeMode1==1?"*":"",time2/60,time2 % 60,timeMode2==1?"*":""); + poi.name = buffer; + setPOI(m_agdPOI,poi); + hasUpdate = true; + } + } + } + m_loraPackets.unlock(); + if(hasUpdate) + stopAGDUpdate(); +} + +void cAirsoftTracker::startAGDUpdate() +{ + processLoraPackets(); + m_agdUpdateTimer = millis(); +} + +void cAirsoftTracker::stopAGDUpdate() +{ + m_loraPackets.lock(); + while(!m_loraPackets.empty()) + m_loraPackets.pop(); + m_loraPackets.unlock(); + m_agdUpdateTimer = 0; + updateSideButtons(); +} diff --git a/src/atracker.h b/src/atracker.h new file mode 100644 index 0000000..38e8eb7 --- /dev/null +++ b/src/atracker.h @@ -0,0 +1,231 @@ +#pragma once +#include +#include +#include +#include "power.h" +#include "atglobal.h" +#include "concurrency/Thread.h" +#include "utils.h" +#include "gps/UBloxGPS.h" +#include "radio/LoraRadio.h" +#include "atcommon.h" +#include "atscreen.h" +#include "Adafruit_MCP23017.h" +#include "imu.h" +#include "atNetworkProcessor.h" +#include "comm_prot_parser.h" +#include "atble.h" + +#define BA_NONE 0 +#define BA_STATUS 1 +#define BA_RADIUS 2 +#define BA_BLE 3 +#define BA_MENU 4 +#define BA_MAP 5 +#define BA_MAPLEFT 6 +#define BA_MAPRIGHT 7 +#define BA_MAPDOWN 8 +#define BA_MAPUP 9 +#define BA_MAPEXIT 10 +#define BA_MAPRESET 11 +#define BA_EXIT 12 +#define BA_TIMER 13 +#define BA_TIMERS 14 +#define BA_TIMERS_RST 15 +#define BA_AGD_UPDATE 16 +#define BA_SLEEP 17 + +struct sCommand +{ + uint8_t id; + uint8_t cmd; + int64_t param1; + int64_t param2; + int64_t param3; +}; + +typedef cProtectedQueue cCommands; + +struct sLoraPacket +{ + std::vector data; + float SNR; + float RSSI; + int64_t time; + int64_t preambleTime; +}; + +struct sLoraPacketToSend +{ + sNetworkPacket packet; +}; + + +typedef cProtectedQueue cLoraPackets; +typedef cProtectedQueue cLoraPacketsToSend; + +class cVMotor +{ +protected: + int64_t m_stopTime; + int8_t m_pin; + int8_t m_pin2; + Adafruit_MCP23017 *m_expander; + void setValue(bool b) + { + if(m_pin>=0) + m_expander->digitalWrite(m_pin, b?HIGH:LOW); + if(m_pin2>=0) + m_expander->digitalWrite(m_pin2, b?HIGH:LOW); + } +public: + cVMotor(int8_t pin, int8_t pin2, Adafruit_MCP23017* expander):m_stopTime(0),m_pin(pin), m_pin2(pin2),m_expander(expander) + { + } + + void loop(int64_t now) + { + if(m_stopTime>0) + { + if(now>=m_stopTime) + { + m_stopTime = 0; + setValue(false); + } + } + } + + void loop() + { + loop(millis()); + } + + void vibrate(uint32_t duration) + { + m_stopTime = millis()+duration; + setValue(true); + } + + void stop() + { + m_stopTime = 0; + setValue(false); + } +}; + + +#define AT_BUTTONS_COUNT 6 +//Click type +#define ATCT_NORMAL 1 +#define ATCT_LONG 2 + +#define AT_LONG_CLICK_DURATION 1000 + +#define ATSBS_MAIN 0 +#define ATSBS_MAP 1 +#define ATSBS_TIMERS 2 + +class cAirsoftTracker:public atGlobal, public cNetworkProcessorInterface +{ +protected: + typedef concurrency::ThreadFunctionTemplate cThreadFunction; + UBloxGPS m_gps; + cLoraDevice *m_lora; + cThreadFunction *m_loraThread; + cLoraPackets m_loraPackets; + cLoraPacketsToSend m_loraPacketsToSend; + cATScreen *m_screen; + cThreadFunction *m_core0Thread; + bool m_core0ThreadReady; + cCommands m_commands; + cIMU *m_imu; + Adafruit_MCP23017 *m_expander; + cVMotor *m_vmotor; + uint16_t m_gpioExpander = 0; + int64_t m_timer1 = 0; + int64_t m_timer2 = 0; + uint16_t m_ps = 0; + int64_t m_idleTimer = 0; + int64_t m_screenTimer = 0; + bool m_displaySleep = false; + std::string m_bootMsg1; + std::string m_bootMsg2; + cNetworkProcessor m_networkProcessor; + uint32_t m_gpsSeq = 0xFFFFFFFF; + uint8_t m_serialSignatureState=0; + atBLE m_bleClient; + int64_t m_buttonsTime[AT_BUTTONS_COUNT]; + int8_t m_buttonsIdx[AT_BUTTONS_COUNT]; + uint8_t m_sideButtonsState = ATSBS_MAIN; + int64_t m_agdUpdateTimer = 0; + uint16_t m_agdPOI=0; + int64_t m_sideButtonsUpdateTime = 0; + + void scanI2Cdevice(TwoWire &wd) + { + byte err, addr; + int nDevices = 0; + for (addr = 1; addr < 127; addr++) + { + wd.beginTransmission(addr); + err = wd.endTransmission(); + if (err == 0) + { + DEBUG_MSG("I2C device found at address 0x%x\n", addr); + + nDevices++; + + if (addr == SSD1306_ADDRESS) + { + m_has_oled = true; + DEBUG_MSG("ssd1306 display found\n"); + } +#ifdef AXP192_SLAVE_ADDRESS + if (addr == AXP192_SLAVE_ADDRESS) + { + m_has_axp192 = true; + DEBUG_MSG("axp192 PMU found\n"); + } +#endif + } + else if (err == 4) + { + DEBUG_MSG("Unknow error at address 0x%x\n", addr); + } + } + if (nDevices == 0) + DEBUG_MSG("No I2C devices found\n"); + else + DEBUG_MSG("done\n"); + } + + void loraThread(cThreadFunction *thread); + void core0Thread(cThreadFunction *thread); + void mainThread(cThreadFunction *thread); + void processCommand(const sCommand &cmd); + void processIMU(); + void processExpander(); + void updateBootScreen(); + void updateDistances(bool force=false); + void updateSideButtons(); + void onButtonClick(uint8_t idx,uint8_t type); + void programMode(); + void vibration(); + void startAGDUpdate(); + void stopAGDUpdate(); + bool isAGDUpdate() + { + return m_agdUpdateTimer!=0; + } + void processLoraPackets(); + void processLoraAGDPackets(); +public: + cAirsoftTracker(); + virtual ~cAirsoftTracker(){}; + void init(); + void mainInit(); + void mainLoop(); + virtual void sendPacket(const sNetworkPacket &packet); + cIMU *getIMU() { return m_imu; } + virtual void onScreenStateChange(); +}; diff --git a/src/atscreen.h b/src/atscreen.h new file mode 100644 index 0000000..87c96d8 --- /dev/null +++ b/src/atscreen.h @@ -0,0 +1,128 @@ +#pragma once +#include +#include "atglobal.h" +#include "utils.h" +#include "atcommon.h" + +struct sColor +{ + uint8_t r; + uint8_t g; + uint8_t b; + uint8_t a; + sColor(uint8_t _r, uint8_t _g, uint8_t _b, uint8_t _a=255):r(_r),g(_g),b(_b),a(_a) + { + } + + + sColor(uint32_t c):r((c >> 16)&0xFF),g((c >> 8)&0xFF),b(c&0xFF),a((c >> 24)&0xFF) + { + } + + sColor operator+(const sColor& c) + { + sColor cc(std::min(255,(uint16_t)r+c.r),std::min(255,(uint16_t)g+c.g),std::min(255,(uint16_t)b+c.b),std::min(255,(uint16_t)a+c.a)); + return cc; + } + + uint8_t getA() + { + return a; + } + + uint32_t getRGB() + { + return (((uint32_t)r) << 16) | (((uint32_t)g) << 8) | b; + } + + uint32_t getRBG() + { + return (((uint32_t)r) << 16) | (((uint32_t)b) << 8) | g; + } + + uint32_t getEVEColor() + { + return ((4UL<<24)|(((r)&255UL)<<16)|(((g)&255UL)<<8)|b); + } + + uint32_t getEVEColorA() + { + return ((0x10UL<<24)|a); + } + + +} __attribute__ ((packed)); + +typedef sColor color_t; +struct sScreenTheme +{ + color_t bgColor; + color_t textColor; + color_t bootTextColor; + color_t circleOuterColor; + color_t circleLineColor; + color_t circleBackgroundColor; + color_t circleHeadingColor; + color_t peerTextColor; + color_t peerNormalColor; + color_t peerDeadColor; + color_t peerEnemyColor; + color_t sideButtonsTextColor; + color_t timerTextColor; + color_t timerRectColor; + color_t peerStaticColor; + color_t peerDynamicColor; + color_t peerAccuracyMask; + uint8_t peerAccuracyA; + + sScreenTheme():bgColor(0x0),textColor(0x208020),bootTextColor(255,255,255),circleOuterColor(0x404040),circleLineColor(8,23,153),circleBackgroundColor(89-40, 150-40, 145-40),circleHeadingColor(255,0,0), + peerTextColor(255,255,255),peerNormalColor(0,255,0),peerDeadColor(255,0,0),peerEnemyColor(0xff4dff),sideButtonsTextColor(0x60A060),timerTextColor(255,0,0),timerRectColor(128,128,128),peerStaticColor(0,0,255), + peerDynamicColor(0,0,255),peerAccuracyMask(64,64,64),peerAccuracyA(64) + { + } +}; + +// Screen state +#define SS_BOOT 1 +#define SS_MAIN 2 +#define SS_MENU 3 + +#define EV_BTN_ON 1 +#define EV_BTN_OFF 2 +class cATScreen +{ +protected: + atGlobal &m_global; + sScreenTheme m_theme; + uint8_t m_screenState; +public: + cATScreen(atGlobal &global); + virtual ~cATScreen(); + + virtual bool init(); + virtual void showBootScreen(const char * msg1,const char * msg2)=0; + virtual void showShutdownScreen() {}; + virtual void closeBootScreen()=0; + virtual void beginMainScreen()=0; + virtual void drawPOI(sPOI &poi,int16_t count=0)=0; + virtual void endMainScreen()=0; + virtual void setBacklight(uint8_t level)=0; + virtual void screenOn()=0; + virtual void screenOff()=0; + virtual void drawSideButtons()=0; + virtual void showProgramMode()=0; + virtual void showMenu(){}; + virtual uint32_t getFramesCount()=0; + virtual void loop() {}; + virtual uint8_t getScreenState() { return m_screenState; } + virtual void setScreenState(uint8_t value) { m_screenState=value; } + virtual void processEvent(uint8_t event, uint32_t param1, uint32_t param2){}; + virtual void drawTimers(bool forceAll) {}; + virtual uint16_t getRadius() = 0; + + //Flash interface + virtual uint32_t flashProgrammStart()=0; + virtual void flashProgrammEnd()=0; + virtual void flashWrite(uint32_t address,uint16_t size, uint8_t *data)=0; + virtual void flashRead(uint32_t address,uint16_t size, uint8_t *data)=0; +}; diff --git a/src/atscreendummy.h b/src/atscreendummy.h new file mode 100644 index 0000000..2f5d7c4 --- /dev/null +++ b/src/atscreendummy.h @@ -0,0 +1,29 @@ +#pragma once +#include "atscreen.h" + +class cATScreenDummy: public cATScreen +{ +public: + cATScreenDummy(atGlobal &global):cATScreen(global) {}; + virtual ~cATScreenDummy(){}; + + virtual bool init() { return true; }; + virtual void showBootScreen(const char * msg1,const char * msg2) {}; + virtual void closeBootScreen() {}; + virtual void beginMainScreen() {}; + virtual void drawPOI(sPOI &poi,int16_t count=0) {}; + virtual void endMainScreen() {}; + virtual void setBacklight(uint8_t level) {}; + virtual void screenOn() {}; + virtual void screenOff() {}; + virtual void drawSideButtons() {}; + virtual void showProgramMode() {}; + virtual uint32_t getFramesCount() { return 0;}; + virtual uint16_t getRadius() { return m_global.getConfig().radius; } + + //Flash interface + virtual uint32_t flashProgrammStart() { return 0;}; + virtual void flashProgrammEnd() {}; + virtual void flashWrite(uint32_t address,uint16_t size, uint8_t *data) {}; + virtual void flashRead(uint32_t address,uint16_t size, uint8_t *data) {}; +}; diff --git a/src/atstrings.h b/src/atstrings.h new file mode 100644 index 0000000..e83167c --- /dev/null +++ b/src/atstrings.h @@ -0,0 +1,10 @@ +#pragma once + +#include + +#define ATS_DEAD PSTR("DEAD") +#define ATS_ALIVE PSTR("ALIVE") +#define ATS_BTN_DEAD PSTR("[L]->DEAD") +#define ATS_BTN_ALIVE PSTR("[L]->ALIVE") +#define ATS_MENU PSTR("MENU") +#define ATS_MRADIUS PSTR("RADIUS/MAP") diff --git a/src/calibri_14_L4.rawh b/src/calibri_14_L4.rawh new file mode 100644 index 0000000..5b0fa98 --- /dev/null +++ b/src/calibri_14_L4.rawh @@ -0,0 +1,317 @@ +/*Command Line: fnt_cvt.exe -f legacy -C BT81X -i Q:/fonts/calibri.ttf -s 14 -d 153600 -c setfont2 -l 32 -a -o D:/Projects/Embedded/AirsoftTracker/fonts*/ + +/*95 characters have been converted */ + +/* 148 Metric Block Begin +++ */ +/*('file properties ', 'format 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struct cp_prefix_t { + cp_prefix_t(byte_t a, byte_t b, byte_t c, byte_t d) { + data[0] = a; + data[1] = b; + data[2] = c; + data[3] = d; + } + byte_t data[CP_PREFIX_SIZE]; +}__packed_ cp_prefix_t; +#pragma pack(pop) + +class comm_protocol_parser_c { +protected: + cp_prefix_t m_prefix; + uint16_t m_max_cmd_size; + byte_t* m_buffer; + uint16_t m_buffer_pos; + byte_t m_state; + uint16_t m_payload_size; + +public: + comm_protocol_parser_c(cp_prefix_t prefix = cp_prefix_t(0xAA, 0xBB,0x33, 0x44), + uint16_t max_cmd_size = 64) : + m_prefix(prefix), m_max_cmd_size(max_cmd_size) { + reset(); + m_buffer = (byte_t*) malloc(m_max_cmd_size); + } + + ~comm_protocol_parser_c() { + free(m_buffer); + } + + uint16_t get_expected_data_size() { + if (m_state <= (CP_PREFIX_SIZE+1)) + return 1; + else + return m_payload_size - m_buffer_pos; + } + + void reset() { + m_buffer_pos = 0; + m_state = 0; + m_payload_size = 0; + } + + byte_t csum(byte_t*data, int32_t size, const byte_t extra = 0) { + byte_t result = extra; + while (size > 0) { + result ^= *data; + data++; + size--; + } + return result; + } + + byte_t *get_packet_buffer() { + return m_buffer; + } + + uint16_t get_packet_size() { + if (m_state == (CP_PREFIX_SIZE + 3)) + return m_payload_size - 1; + else + return 0; + } + + uint16_t get_packet(void *data, uint16_t max_size) { + uint16_t size = get_packet_size(); + if ((max_size >= size) && (max_size > 0)) { + memcpy(data, m_buffer, size); + return size; + } else + return 0; + } + + int8_t post_data(byte_t *data, const uint16_t size) { + int8_t result = CP_RESULT_NEED_MORE; + if ((size > get_expected_data_size()) + || (m_buffer_pos > m_max_cmd_size)) + { + result = CP_RESULT_ERROR_SIZE; + } + else + { + if (m_state < CP_PREFIX_SIZE) { + if (*data == m_prefix.data[m_state]) { + m_state++; + } else + { + if (*data == m_prefix.data[0]) + m_state = 1; + else + result = CP_RESULT_ERROR_GENERAL; + } + } else + switch (m_state) { + case CP_PREFIX_SIZE: { + m_payload_size = *data; + m_state++; + break; + } + + case CP_PREFIX_SIZE + 1: { + m_payload_size = m_payload_size + (((uint16_t)(*data))<<8); + m_state++; + if (m_payload_size == 0 || m_payload_size > m_max_cmd_size) + result = CP_RESULT_ERROR_PSIZE; + break; + } + + + case CP_PREFIX_SIZE + 2: { + memcpy(&m_buffer[m_buffer_pos], data, size); + m_buffer_pos += size; + if (m_buffer_pos >= m_payload_size) { + if (csum(m_buffer, m_payload_size - 1) + == m_buffer[m_payload_size - 1]) { + m_state++; + result = CP_RESULT_PACKET_READY; + } else + result = CP_RESULT_ERROR_CSUM; + } + break; + } + default: { + result = CP_RESULT_ERROR_GENERAL; + break; + } + } + } + if (result < 0) + reset(); + return result; + } + + byte_t get_packet_extra() { + return CP_PREFIX_SIZE + 3; + } + + uint16_t create_packet(void *buffer, const uint16_t max_size, + const byte_t command, const void *data, const uint16_t data_size) { + if (max_size >= (data_size + 1 + get_packet_extra())) { + byte_t *bbuffer = (byte_t*) buffer; + memcpy(bbuffer, &m_prefix, CP_PREFIX_SIZE); + bbuffer += CP_PREFIX_SIZE; + *bbuffer = (data_size + 2) & 0xFF; + bbuffer++; + *bbuffer = ((data_size + 2) >> 8) & 0xFF; + bbuffer++; + byte_t *csum_buffer = bbuffer; + *bbuffer = command; + bbuffer++; + if (data_size > 0) { + memcpy(bbuffer, data, data_size); + bbuffer += data_size; + } + *bbuffer = csum(csum_buffer, data_size + 1); + return data_size + get_packet_extra() + 1; + } else + return 0; + } + + uint16_t create_packet(void *buffer, const uint16_t max_size, const void *data, + const uint16_t data_size) { + if (max_size >= (data_size + get_packet_extra())) { + byte_t *bbuffer = (byte_t*) buffer; + memcpy(bbuffer, &m_prefix, CP_PREFIX_SIZE); + bbuffer += CP_PREFIX_SIZE; + *bbuffer = (data_size + 1) & 0xFF; + bbuffer++; + *bbuffer = ((data_size + 1) >> 8) & 0xFF; + bbuffer++; + byte_t *csum_buffer = bbuffer; + memcpy(bbuffer, data, data_size); + bbuffer += data_size; + *bbuffer = csum(csum_buffer, data_size); + return data_size + get_packet_extra(); + } else + return 0; + } +}; + +#endif /* COMM_PROT_PARSER_H_ */ diff --git a/src/concurrency/Lock.cpp b/src/concurrency/Lock.cpp new file mode 100644 index 0000000..07f5a2e --- /dev/null +++ b/src/concurrency/Lock.cpp @@ -0,0 +1,23 @@ +#include "Lock.h" +#include + +namespace concurrency { + +Lock::Lock() +{ + handle = xSemaphoreCreateBinary(); + assert(handle); + assert(xSemaphoreGive(handle)); +} + +void Lock::lock() +{ + assert(xSemaphoreTake(handle, portMAX_DELAY)); +} + +void Lock::unlock() +{ + assert(xSemaphoreGive(handle)); +} + +} // namespace concurrency diff --git a/src/concurrency/Lock.h b/src/concurrency/Lock.h new file mode 100644 index 0000000..09877cc --- /dev/null +++ b/src/concurrency/Lock.h @@ -0,0 +1,33 @@ +#pragma once + +#include "../freertosinc.h" + +namespace concurrency { + +/** + * @brief Simple wrapper around FreeRTOS API for implementing a mutex lock + */ +class Lock +{ + public: + Lock(); + + Lock(const Lock &) = delete; + Lock &operator=(const Lock &) = delete; + + /// Locks the lock. + // + // Must not be called from an ISR. + void lock(); + + // Unlocks the lock. + // + // Must not be called from an ISR. + void unlock(); + + private: + SemaphoreHandle_t handle; + +}; + +} // namespace concurrency diff --git a/src/concurrency/LockGuard.cpp b/src/concurrency/LockGuard.cpp new file mode 100644 index 0000000..56e8ac8 --- /dev/null +++ b/src/concurrency/LockGuard.cpp @@ -0,0 +1,15 @@ +#include "LockGuard.h" + +namespace concurrency { + +LockGuard::LockGuard(Lock *lock) : lock(lock) +{ + lock->lock(); +} + +LockGuard::~LockGuard() +{ + lock->unlock(); +} + +} // namespace concurrency diff --git a/src/concurrency/LockGuard.h b/src/concurrency/LockGuard.h new file mode 100644 index 0000000..dc09f40 --- /dev/null +++ b/src/concurrency/LockGuard.h @@ -0,0 +1,23 @@ +#pragma once + +#include "Lock.h" + +namespace concurrency { + +/** + * @brief RAII lock guard + */ +class LockGuard +{ + public: + LockGuard(Lock *lock); + ~LockGuard(); + + LockGuard(const LockGuard &) = delete; + LockGuard &operator=(const LockGuard &) = delete; + + private: + Lock *lock; +}; + +} // namespace concurrency diff --git a/src/concurrency/NotifiedWorkerThread.cpp b/src/concurrency/NotifiedWorkerThread.cpp new file mode 100644 index 0000000..7785ecf --- /dev/null +++ b/src/concurrency/NotifiedWorkerThread.cpp @@ -0,0 +1,19 @@ +#include "NotifiedWorkerThread.h" + +namespace concurrency { + +/** + * Notify this thread so it can run + */ +void NotifiedWorkerThread::notify(uint32_t v, eNotifyAction action) +{ + xTaskNotify(taskHandle, v, action); +} + +void NotifiedWorkerThread::block() +{ + xTaskNotifyWait(0, // don't clear notification on entry + clearOnRead, ¬ification, portMAX_DELAY); // Wait forever +} + +} // namespace concurrency diff --git a/src/concurrency/NotifiedWorkerThread.h b/src/concurrency/NotifiedWorkerThread.h new file mode 100644 index 0000000..5ab5a58 --- /dev/null +++ b/src/concurrency/NotifiedWorkerThread.h @@ -0,0 +1,47 @@ +#pragma once + +#include "WorkerThread.h" + +namespace concurrency { + +/** + * @brief A worker thread that waits on a freertos notification + */ +class NotifiedWorkerThread : public WorkerThread +{ + public: + /** + * Notify this thread so it can run + */ + void notify(uint32_t v = 0, eNotifyAction action = eNoAction); + + /** + * Notify from an ISR + * + * This must be inline or IRAM_ATTR on ESP32 + */ + inline void notifyFromISR(BaseType_t *highPriWoken, uint32_t v = 0, eNotifyAction action = eNoAction) + { + xTaskNotifyFromISR(taskHandle, v, action, highPriWoken); + } + + protected: + /** + * The notification that was most recently used to wake the thread. Read from loop() + */ + uint32_t notification = 0; + + /** + * What notification bits should be cleared just after we read and return them in notification? + * + * Defaults to clear all of them. + */ + uint32_t clearOnRead = UINT32_MAX; + + /** + * A method that should block execution - either waiting ona queue/mutex or a "task notification" + */ + virtual void block(); +}; + +} // namespace concurrency diff --git a/src/concurrency/Periodic.h b/src/concurrency/Periodic.h new file mode 100644 index 0000000..e380eb3 --- /dev/null +++ b/src/concurrency/Periodic.h @@ -0,0 +1,26 @@ +#pragma once + +#include "PeriodicTask.h" + +namespace concurrency { + +/** + * @brief Periodically invoke a callback. This just provides C-style callback conventions + * rather than a virtual function - FIXME, remove? + */ +class Periodic : public PeriodicTask +{ + uint32_t (*callback)(); + + public: + // callback returns the period for the next callback invocation (or 0 if we should no longer be called) + Periodic(uint32_t (*_callback)()) : callback(_callback) {} + + protected: + void doTask() { + uint32_t p = callback(); + setPeriod(p); + } +}; + +} // namespace concurrency diff --git a/src/concurrency/PeriodicScheduler.cpp b/src/concurrency/PeriodicScheduler.cpp new file mode 100644 index 0000000..d2fa77f --- /dev/null +++ b/src/concurrency/PeriodicScheduler.cpp @@ -0,0 +1,35 @@ +#include "PeriodicScheduler.h" +#include "PeriodicTask.h" +#include "LockGuard.h" +#include "../timing.h" + +namespace concurrency { + +/// call this from loop +void PeriodicScheduler::loop() +{ + LockGuard lg(&lock); + + uint32_t now = timing::millis(); + for (auto t : tasks) { + if (t->period && (now - t->lastMsec) >= t->period) { + + t->doTask(); + t->lastMsec = now; + } + } +} + +void PeriodicScheduler::schedule(PeriodicTask *t) +{ + LockGuard lg(&lock); + tasks.insert(t); +} + +void PeriodicScheduler::unschedule(PeriodicTask *t) +{ + LockGuard lg(&lock); + tasks.erase(t); +} + +} // namespace concurrency diff --git a/src/concurrency/PeriodicScheduler.h b/src/concurrency/PeriodicScheduler.h new file mode 100644 index 0000000..943da17 --- /dev/null +++ b/src/concurrency/PeriodicScheduler.h @@ -0,0 +1,40 @@ +#pragma once + +#include "Lock.h" +#include +#include + +namespace concurrency { + +class PeriodicTask; + +/** + * @brief Runs all PeriodicTasks in the system. Currently called from main loop() + * but eventually should be its own thread blocked on a freertos timer. + */ +class PeriodicScheduler +{ + friend class PeriodicTask; + + /** + * This really should be some form of heap, and when the period gets changed on a task it should get + * rescheduled in that heap. Currently it is just a dumb array and everytime we run loop() we check + * _every_ tasks. If it was a heap we'd only have to check the first task. + */ + std::unordered_set tasks; + + // Protects the above variables. + Lock lock; + + public: + /// Run any next tasks which are due for execution + void loop(); + + private: + void schedule(PeriodicTask *t); + void unschedule(PeriodicTask *t); +}; + +extern PeriodicScheduler periodicScheduler; + +} // namespace concurrency diff --git a/src/concurrency/PeriodicTask.cpp b/src/concurrency/PeriodicTask.cpp new file mode 100644 index 0000000..40c6a4e --- /dev/null +++ b/src/concurrency/PeriodicTask.cpp @@ -0,0 +1,16 @@ +#include "PeriodicTask.h" +#include "Periodic.h" +#include "LockGuard.h" + +namespace concurrency { + +PeriodicScheduler periodicScheduler; + +PeriodicTask::PeriodicTask(uint32_t initialPeriod) : period(initialPeriod) {} + +void PeriodicTask::setup() +{ + periodicScheduler.schedule(this); +} + +} // namespace concurrency diff --git a/src/concurrency/PeriodicTask.h b/src/concurrency/PeriodicTask.h new file mode 100644 index 0000000..910c0df --- /dev/null +++ b/src/concurrency/PeriodicTask.h @@ -0,0 +1,56 @@ +#pragma once + +#include "PeriodicScheduler.h" +#include "timing.h" + +namespace concurrency { + +/** + * @brief A base class for tasks that want their doTask() method invoked periodically + * + * @todo currently just syntatic sugar for polling in loop (you must call .loop), but eventually + * generalize with the freertos scheduler so we can save lots of power by having everything either in + * something like this or triggered off of an irq. + */ +class PeriodicTask +{ + friend class PeriodicScheduler; + + uint32_t lastMsec = 0; + uint32_t period = 1; // call soon after creation + + public: + virtual ~PeriodicTask() { periodicScheduler.unschedule(this); } + + /** + * Constructor (will schedule with the global PeriodicScheduler) + */ + PeriodicTask(uint32_t initialPeriod = 1); + + /** + * MUST be be called once at startup (but after threading is running - i.e. not from a constructor) + */ + void setup(); + + /** + * Set a new period in msecs (can be called from doTask or elsewhere and the scheduler will cope) + * While zero this task is disabled and will not run + */ + void setPeriod(uint32_t p) + { + lastMsec = timing::millis(); // reset starting from now + period = p; + } + + uint32_t getPeriod() const { return period; } + + /** + * Syntatic sugar for suspending tasks + */ + void disable() { setPeriod(0); } + + protected: + virtual void doTask() = 0; +}; + +} // namespace concurrency diff --git a/src/concurrency/Thread.cpp b/src/concurrency/Thread.cpp new file mode 100644 index 0000000..6e4fddb --- /dev/null +++ b/src/concurrency/Thread.cpp @@ -0,0 +1,25 @@ +#include "Thread.h" +#include "timing.h" + +namespace concurrency { + +void Thread::start(const char *name, size_t stackSize, uint32_t priority, int8_t core) +{ + if(core<0) + { + auto r = xTaskCreate(callRun, name, stackSize, this, priority, &taskHandle); + assert(r == pdPASS); + } + else + { + auto r = xTaskCreatePinnedToCore(callRun, name, stackSize, this, priority, &taskHandle,core); + assert(r == pdPASS); + } +} + +void Thread::callRun(void *_this) +{ + ((Thread *)_this)->doRun(); +} + +} // namespace concurrency diff --git a/src/concurrency/Thread.h b/src/concurrency/Thread.h new file mode 100644 index 0000000..94aeaf2 --- /dev/null +++ b/src/concurrency/Thread.h @@ -0,0 +1,78 @@ +#pragma once + +#include "freertosinc.h" +#include "esp_task_wdt.h" + +namespace concurrency +{ + + /** + * @brief Base threading + */ + class Thread + { + protected: + TaskHandle_t taskHandle = NULL; + + /** + * set this to true to ask thread to cleanly exit asap + */ + volatile bool wantExit = false; + + public: + void start(const char *name, size_t stackSize = 1024, uint32_t priority = tskIDLE_PRIORITY, int8_t core=-1); + + virtual ~Thread() { vTaskDelete(taskHandle); } + + uint32_t getStackHighwaterMark() { return uxTaskGetStackHighWaterMark(taskHandle); } + + protected: + /** + * The method that will be called when start is called. + */ + virtual void doRun() = 0; + + /** + * All thread run methods must periodically call serviceWatchdog, or the system will declare them hung and panic. + * + * this only applies after startWatchdog() has been called. If you need to sleep for a long time call stopWatchdog() + */ + void serviceWatchdog() { esp_task_wdt_reset(); } + void startWatchdog() + { + auto r = esp_task_wdt_add(taskHandle); + assert(r == ESP_OK); + } + void stopWatchdog() + { + auto r = esp_task_wdt_delete(taskHandle); + assert(r == ESP_OK); + } + + private: + static void callRun(void *_this); + }; + + template + class ThreadFunctionTemplate : public Thread + { + public: + typedef void (T::*thread_func_t)(ThreadFunctionTemplate *thread); + + protected: + thread_func_t m_func; + T &m_owner; + + public: + ThreadFunctionTemplate(T &owner, thread_func_t func) : m_func(func), m_owner(owner) + { + } + + protected: + virtual void doRun() + { + (m_owner.*m_func)(this); + } + }; + +} // namespace concurrency diff --git a/src/concurrency/WorkerThread.cpp b/src/concurrency/WorkerThread.cpp new file mode 100644 index 0000000..8ea1e6a --- /dev/null +++ b/src/concurrency/WorkerThread.cpp @@ -0,0 +1,32 @@ +#include "WorkerThread.h" +#include "timing.h" + +namespace concurrency { + +void WorkerThread::doRun() +{ + startWatchdog(); + + while (!wantExit) { + stopWatchdog(); + block(); + startWatchdog(); + + // no need - startWatchdog is guaranteed to give us one full watchdog interval + // serviceWatchdog(); // Let our loop worker have one full watchdog interval (at least) to run + +#ifdef DEBUG_STACK + static uint32_t lastPrint = 0; + if (timing::millis() - lastPrint > 10 * 1000L) { + lastPrint = timing::millis(); + meshtastic::printThreadInfo("net"); + } +#endif + + loop(); + } + + stopWatchdog(); +} + +} // namespace concurrency diff --git a/src/concurrency/WorkerThread.h b/src/concurrency/WorkerThread.h new file mode 100644 index 0000000..66111e7 --- /dev/null +++ b/src/concurrency/WorkerThread.h @@ -0,0 +1,29 @@ +#pragma once + +#include "Thread.h" + +namespace concurrency { + +/** + * @brief This wraps threading (FreeRTOS for now) with a blocking API intended for efficiently converting + * old-school arduino loop() code. Use as a mixin base class for the classes you want to convert. + * + * @link https://www.freertos.org/RTOS_Task_Notification_As_Mailbox.html + */ +class WorkerThread : public Thread +{ + protected: + /** + * A method that should block execution - either waiting ona queue/mutex or a "task notification" + */ + virtual void block() = 0; + + virtual void loop() = 0; + + /** + * The method that will be called when start is called. + */ + virtual void doRun(); +}; + +} // namespace concurrency diff --git a/src/config.h b/src/config.h new file mode 100644 index 0000000..6c806bd --- /dev/null +++ b/src/config.h @@ -0,0 +1,181 @@ +#ifndef CONFIG_H +#define CONFIG_H + +#include +#include +#include + +#define ARDUINOJSON_USE_DOUBLE 1 + +#define DEBUG_PORT Serial // Serial debug port +#ifdef DEBUG_PORT +extern SemaphoreHandle_t debugLock; +#define DEBUG_MSG(...) ({xSemaphoreTake(debugLock, portMAX_DELAY); DEBUG_PORT.printf(__VA_ARGS__); xSemaphoreGive(debugLock);}) +#define LOCK_DEBUG_PORT() (xSemaphoreTake(debugLock, portMAX_DELAY)) +#define UNLOCK_DEBUG_PORT() (xSemaphoreGive(debugLock)) +#else +#define DEBUG_MSG(...) +#define LOCK_DEBUG_PORT() +#define UNLOCK_DEBUG_PORT() +#endif + +#define xstr(s) ssstr(s) +#define ssstr(s) #s + +//AD_V100 - Lora RF95 +//#define AD_V100 + +//AD_V100 - Lora SX1262 +//#define AD_V101 + +#define APP_WATCHDOG_SECS_INIT 70 +#define APP_WATCHDOG_SECS_WORK 15 + +#define GPS_BAUDRATE 9600 +#define GPS_BAUDRATE2 115200 +#define GPS_FREQ 2 +#define LORA_SEND_LOCATION_PERIOD 10000 + +#define AC_WIRE Wire1 +#define AC_ADDRESS 0x68 + +#define FLIP_SCREEN_VERTICALLY +#define FS SPIFFS +#define SCK_GPIO 5 +#define MISO_GPIO 19 +#define MOSI_GPIO 27 +#define NSS_GPIO 18 +#define RESET_GPIO 14 + +#define GPS_SERIAL_NUM 1 +#define GPS_RX_PIN 34 +#define GPS_TX_PIN 12 + +#define RF95_IRQ_GPIO 26 +#define PMU_IRQ 35 +#define SSD1306_ADDRESS 0x3C + +#define I2C_SDA 21 +#define I2C_SCL 22 + +#define I2C2_SDA 0 +#define I2C2_SCL 4 + +#define BUTTON_PIN 38 // The middle button GPIO on the T-Beam +#define VIBRO_PIN 7 +#define VIBRO_PIN2 3 + +#define SX1262_E22 + +#define SX1262_IRQ 33 +#define SX1262_RST 23 +#define SX1262_BUSY 32 +#define SX1262_MAXPOWER 22 + +#define LORA_BW 500.0 +#define LORA_SF 8 +#define LORA_CR 7 +#define LORA_FREQ 912.0 +#define LORA_PRE 8 +#define LORA_SYNC 0x64 +#define LORA_POWER 17 + +#define AGD_LORA_BW 125.0 +#define AGD_LORA_SF 10 +#define AGD_LORA_CR 7 +#define AGD_LORA_FREQ 915.0 +#define AGD_LORA_PRE 8 +#define AGD_LORA_SYNC 0x31 + +#ifdef AD_V100 +#undef USE_SX1262 +#define HAS_AXP20X 1 +#define HAS_GPS 1 +#endif + +#ifdef AD_V101 +#define USE_SX1262 +#undef LORA_POWER +#define LORA_POWER SX1262_MAXPOWER +#define HAS_AXP20X 1 +#define HAS_GPS 1 +#define LORA_CURRENT 140 +#endif + +#ifdef AD_LORA32_V1 +#undef USE_SX1262 +#undef PMU_IRQ +#define HAS_GPS +#define AT_CAN_SLEEP +#undef GPS_FREQ +#define GPS_FREQ 1 + +#define LORA_SCK 5 +#define LORA_MISO 19 +#define LORA_MOSI 27 +#define LORA_CS 18 +#define LORA_RST 14 +#define LORA_IRQ 26 +#define LORA_CURRENT 240 + +#define BATTERY_PIN 39 +#define LED_PIN -1 +#undef I2C_SCL +#define I2C_SCL 19 +#endif + +#ifdef AD_NOSCREEN +#define AD_BLE_NO_CLIENT +#endif + +#define SPI_DISP_SCK 2 +#define SPI_DISP_MISO 13 +#define SPI_DISP_MOSI 14 +#define SPI_DISP_CS 25 +#define SPI_DISP_RESET 4 + +#ifndef AD_NOSCREEN +#define USE_SCREEN_EVE 1 +#endif + +#define DW1000_IRQ 15 +#define DW1000_RST 4 +#define DW1000_CS 5 + +#define PSENSOR_PIN 36 + +#define BTN1_PIN 0 +#define BTN2_PIN 2 +#define BTN3_PIN 1 +#define BTN4_PIN 15 +#define BTN5_PIN 6 +#define BTN6_PIN 14 + +#define SIDE_BUTTONS_COUNT 6 + +#define GNSS_DBD_FILENAME "/config/gnss.dat" +#define MAIN_CONFIG_FILENAME "/config/main.json" +#define NET_CONFIG_FILENAME "/config/network.json" +#define AGD_NET_CONFIG_FILENAME "/config/agdnet.json" + +#define DEFAULT_TZ "EST5EDT,M3.2.0,M11.1.0" + +//Packet Prefix +#define SERIAL_APP_1 0x85 +#define SERIAL_APP_2 0x3B +#define SERIAL_APP_3 0xDE +#define SERIAL_APP_4 0x02 +#define MAX_SERIAL_PACKET_SIZE 4200 + +#define SERIAL_PROG_MODE_SIG1 0x92 +#define SERIAL_PROG_MODE_SIG2 0x5A + +#define SERIAL_PROG_MODE_RESP 0x07 + +#define SERIAL_PROG Serial +#define SCREEN_FLASH_META_FILE "/spiffs/sflash.json" +#define SCREEN_FLASH_META_BINARY_FILE "/spiffs/sflash.dat" +#define SCREEN_FLASH_META_FILE_PATH "/spiffs/" +#define AT_POINTS_FILE_TEMPLATE "/spiffs/p_%s.json" + +#endif \ No newline at end of file diff --git a/src/dwm1000/DW1000Ng.cpp b/src/dwm1000/DW1000Ng.cpp new file mode 100644 index 0000000..3771a80 --- /dev/null +++ b/src/dwm1000/DW1000Ng.cpp @@ -0,0 +1,2153 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000Ng library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file DW1000Ng.cpp + * Arduino driver library (source file) for the Decawave DW1000Ng UWB transceiver Module. + */ + +#include +#include +#include +#if defined(__AVR__) + #include +#endif +#include "DW1000Ng.hpp" +#include "DW1000NgUtils.hpp" +#include "DW1000NgConstants.hpp" +#include "DW1000NgRegisters.hpp" +#include "SPIporting.hpp" + +namespace DW1000Ng { + + /* anonymous namespace to host private-like variables and methods */ + namespace { + + /* ########################### PRIVATE VARIABLES ################################# */ + + /* SPI select pin and interrupt pin*/ + uint8_t _ss = 0xff; + uint8_t _irq = 0xff; + uint8_t _rst = 0xff; + Adafruit_MCP23017 *m_expander = NULL; + + /* IRQ callbacks */ + void (* _handleSent)(void) = nullptr; + void (* _handleError)(void) = nullptr; + void (* _handleReceived)(void) = nullptr; + void (* _handleReceiveFailed)(void) = nullptr; + void (* _handleReceiveTimeout)(void) = nullptr; + void (* _handleReceiveTimestampAvailable)(void) = nullptr; + + /* registers */ + byte _syscfg[LEN_SYS_CFG]; + byte _sysctrl[LEN_SYS_CTRL]; + byte _sysstatus[LEN_SYS_STATUS]; + byte _txfctrl[LEN_TX_FCTRL]; + byte _sysmask[LEN_SYS_MASK]; + byte _chanctrl[LEN_CHAN_CTRL]; + byte _networkAndAddress[LEN_PANADR]; + + /* Temperature and Voltage monitoring */ + byte _vmeas3v3 = 0; + byte _tmeas23C = 0; + + /* Driver Internal State Trackers */ + byte _extendedFrameLength; + PacSize _pacSize; + PulseFrequency _pulseFrequency; + DataRate _dataRate; + PreambleLength _preambleLength; + PreambleCode _preambleCode; + Channel _channel; + boolean _smartPower; + boolean _frameCheck; + boolean _debounceClockEnabled = false; + boolean _nlos = false; + boolean _standardSFD = true; + boolean _autoTXPower = true; + boolean _autoTCPGDelay = true; + boolean _wait4resp = false; + uint16_t _antennaTxDelay = 0; + uint16_t _antennaRxDelay = 0; + + /* ############################# PRIVATE METHODS ################################### */ + + /* + * Write bytes to the DW1000. Single bytes can be written to registers via sub-addressing. + * @param[in] cmd + * The register address (see Chapter 7 in the DW1000 user manual). + * @param[in] offset + * The offset to select register sub-parts for writing, or 0x00 to disable + * sub-adressing. + * @param[in] data + * The data array to be written. + * @param[in] data_size + * The number of bytes to be written (take care not to go out of bounds of + * the register). + */ + // TODO offset really bigger than byte? + void _writeBytesToRegister(byte cmd, uint16_t offset, byte data[], uint16_t data_size) { + byte header[3]; + uint8_t headerLen = 1; + + // TODO proper error handling: address out of bounds + // build SPI header + if(offset == NO_SUB) { + header[0] = WRITE | cmd; + } else { + header[0] = WRITE_SUB | cmd; + if(offset < 128) { + header[1] = (byte)offset; + headerLen++; + } else { + header[1] = RW_SUB_EXT | (byte)offset; + header[2] = (byte)(offset >> 7); + headerLen += 2; + } + } + + SPIporting::writeToSPI(_ss, headerLen, header, data_size, data); + } + + /* + * Write Value in Hex or Int format to the DW1000. Single Value can be written to registers via sub-addressing. + * @param[in] cmd + * The register address (see Chapter 7 in the DW1000 user manual). + * @param[in] offset + * The offset to select register sub-parts for writing, or 0x00 to disable + * sub-adressing. + * @param[in] data + * The data Value to be written. + * @param[in] data_size + * The number of bytes to be written + */ + void _writeValueToRegister(byte cmd, uint16_t offset, uint32_t data, uint16_t data_size) { + byte dataBytes[data_size]; + DW1000NgUtils::writeValueToBytes(dataBytes, data, data_size); + _writeBytesToRegister(cmd, offset, dataBytes, data_size); + } + + /* + * Write ONLY ONE bytes to the DW1000. + * @param[in] cmd + * The register address (see Chapter 7 in the DW1000 user manual). + * @param[in] offset + * The offset to select register sub-parts for writing, or 0x00 to disable + * sub-adressing. + * @param[in] data + * The Byte to be written. + */ + void _writeSingleByteToRegister(byte cmd, uint16_t offset, byte data) { + _writeBytesToRegister(cmd, offset, &data, 1); // 1 as data_size because writes a single byte + } + + /* + * Read bytes from the DW1000. Number of bytes depend on register length. + * @param[in] cmd + * The register address (see Chapter 7 in the DW1000Ng user manual). + * @param[in] offset + * The number of bytes expected to be received. + * @param[out] data + * The data array to be read into. + * @param[in] data_size + * The number of bytes to be read. example-> 2 Bytes = 2 as input + */ + void _readBytesFromRegister(byte cmd, uint16_t offset, byte data[], uint16_t data_size) { + byte header[3]; + uint8_t headerLen = 1; + + // build SPI header + if(offset == NO_SUB) { + header[0] = READ | cmd; + } else { + header[0] = READ_SUB | cmd; + if(offset < 128) { + header[1] = (byte)offset; + headerLen++; + } else { + header[1] = RW_SUB_EXT | (byte)offset; + header[2] = (byte)(offset >> 7); + headerLen += 2; + } + } + + SPIporting::readFromSPI(_ss, headerLen, header, data_size, data); + } + + /* + * Write ONLY ONE bit, in a specific register, to the DW1000. + * @param[in] bitRegister + * The register address of the selected bit (see Chapter 7 in the DW1000 user manual). + * @param[in] RegisterOffset + * The offset to select register sub-parts for writing, or 0x00 to disable sub-adressing. + * @param[in] bitRegister_LEN + * The lenght of the register to be written + * @param[in] selectedBit + * The position(in Int or Hex) of the bit in the register + * @param[in] value + * The value of the bit to set. It, obviously, can be true/false or 1/0 + */ + void _writeBitToRegister(byte bitRegister, uint16_t RegisterOffset, uint16_t bitRegister_LEN, uint16_t selectedBit, boolean value) { + uint16_t idx; + uint8_t bitPosition; + + idx = selectedBit/8; + if(idx >= bitRegister_LEN) { + return; // TODO proper error handling: out of bounds + } + byte targetByte; memset(&targetByte, 0, 1); + bitPosition = selectedBit%8; + _readBytesFromRegister(bitRegister, RegisterOffset+idx, &targetByte, 1); + + value ? bitSet(targetByte, bitPosition) : bitClear(targetByte, bitPosition); + + if(RegisterOffset == NO_SUB) + RegisterOffset = 0x00; + + _writeBytesToRegister(bitRegister, RegisterOffset+idx, &targetByte, 1); + } + + // always 4 bytes + // TODO why always 4 bytes? can be different, see p. 58 table 10 otp memory map + void _readBytesOTP(uint16_t address, byte data[]) { + byte addressBytes[LEN_OTP_ADDR]; + + // p60 - 6.3.3 Reading a value from OTP memory + // bytes of address + addressBytes[0] = (address & 0xFF); + addressBytes[1] = ((address >> 8) & 0xFF); + // set address + _writeBytesToRegister(OTP_IF, OTP_ADDR_SUB, addressBytes, LEN_OTP_ADDR); + // switch into read mode + _writeSingleByteToRegister(OTP_IF, OTP_CTRL_SUB, 0x03); // OTPRDEN | OTPREAD + _writeSingleByteToRegister(OTP_IF, OTP_CTRL_SUB, 0x01); // OTPRDEN + // read value/block - 4 bytes + _readBytesFromRegister(OTP_IF, OTP_RDAT_SUB, data, LEN_OTP_RDAT); + // end read mode + _writeSingleByteToRegister(OTP_IF, OTP_CTRL_SUB, 0x00); + } + + void _enableClock(byte clock) { + byte pmscctrl0[LEN_PMSC_CTRL0]; + memset(pmscctrl0, 0, LEN_PMSC_CTRL0); + _readBytesFromRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, LEN_PMSC_CTRL0); + if(clock == SYS_AUTO_CLOCK) { + pmscctrl0[0] = SYS_AUTO_CLOCK; + pmscctrl0[1] &= 0xFE; + } else if(clock == SYS_XTI_CLOCK) { + pmscctrl0[0] &= 0xFC; + pmscctrl0[0] |= SYS_XTI_CLOCK; + } else if(clock == SYS_PLL_CLOCK) { + pmscctrl0[0] &= 0xFC; + pmscctrl0[0] |= SYS_PLL_CLOCK; + } else if (clock == TX_PLL_CLOCK) { + pmscctrl0[0] &= 0xCF; + pmscctrl0[0] |= TX_PLL_CLOCK; + } else if (clock == LDE_CLOCK) { + pmscctrl0[0] = SYS_XTI_CLOCK; + pmscctrl0[1] = 0x03; + } else { + // TODO deliver proper warning + } + _writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, 2); + } + + /* Steps used to get Temp and Voltage */ + void _vbatAndTempSteps() { + byte step1 = 0x80; _writeBytesToRegister(RF_CONF, 0x11, &step1, 1); + byte step2 = 0x0A; _writeBytesToRegister(RF_CONF, 0x12, &step2, 1); + byte step3 = 0x0F; _writeBytesToRegister(RF_CONF, 0x12, &step3, 1); + byte step4 = 0x01; _writeBytesToRegister(TX_CAL, NO_SUB, &step4, 1); + byte step5 = 0x00; _writeBytesToRegister(TX_CAL, NO_SUB, &step5, 1); + } + + /* AGC_TUNE1 - reg:0x23, sub-reg:0x04, table 24 */ + void _agctune1() { + byte agctune1[LEN_AGC_TUNE1]; + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + DW1000NgUtils::writeValueToBytes(agctune1, 0x8870, LEN_AGC_TUNE1); + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + DW1000NgUtils::writeValueToBytes(agctune1, 0x889B, LEN_AGC_TUNE1); + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(AGC_TUNE, AGC_TUNE1_SUB, agctune1, LEN_AGC_TUNE1); + } + + /* AGC_TUNE2 - reg:0x23, sub-reg:0x0C, table 25 */ + void _agctune2() { + byte agctune2[LEN_AGC_TUNE2]; + DW1000NgUtils::writeValueToBytes(agctune2, 0x2502A907L, LEN_AGC_TUNE2); + _writeBytesToRegister(AGC_TUNE, AGC_TUNE2_SUB, agctune2, LEN_AGC_TUNE2); + } + + /* AGC_TUNE3 - reg:0x23, sub-reg:0x12, table 26 */ + void _agctune3() { + byte agctune3[LEN_AGC_TUNE3]; + DW1000NgUtils::writeValueToBytes(agctune3, 0x0035, LEN_AGC_TUNE3); + _writeBytesToRegister(AGC_TUNE, AGC_TUNE3_SUB, agctune3, LEN_AGC_TUNE3); + } + + /* DRX_TUNE0b - reg:0x27, sub-reg:0x02, table 30 */ + void _drxtune0b() { + byte drxtune0b[LEN_DRX_TUNE0b]; + if(_dataRate == DataRate::RATE_110KBPS) { + if(!_standardSFD) { + DW1000NgUtils::writeValueToBytes(drxtune0b, 0x0016, LEN_DRX_TUNE0b); + } else { + DW1000NgUtils::writeValueToBytes(drxtune0b, 0x000A, LEN_DRX_TUNE0b); + } + } else if(_dataRate == DataRate::RATE_850KBPS) { + if(!_standardSFD) { + DW1000NgUtils::writeValueToBytes(drxtune0b, 0x0006, LEN_DRX_TUNE0b); + } else { + DW1000NgUtils::writeValueToBytes(drxtune0b, 0x0001, LEN_DRX_TUNE0b); + } + } else if(_dataRate == DataRate::RATE_6800KBPS) { + if(!_standardSFD) { + DW1000NgUtils::writeValueToBytes(drxtune0b, 0x0002, LEN_DRX_TUNE0b); + } else { + DW1000NgUtils::writeValueToBytes(drxtune0b, 0x0001, LEN_DRX_TUNE0b); + } + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(DRX_TUNE, DRX_TUNE0b_SUB, drxtune0b, LEN_DRX_TUNE0b); + } + + /* DRX_TUNE1a - reg:0x27, sub-reg:0x04, table 31 */ + void _drxtune1a() { + byte drxtune1a[LEN_DRX_TUNE1a]; + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune1a, 0x0087, LEN_DRX_TUNE1a); + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune1a, 0x008D, LEN_DRX_TUNE1a); + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(DRX_TUNE, DRX_TUNE1a_SUB, drxtune1a, LEN_DRX_TUNE1a); + } + + /* DRX_TUNE1b - reg:0x27, sub-reg:0x06, table 32 */ + void _drxtune1b() { + byte drxtune1b[LEN_DRX_TUNE1b]; + if(_preambleLength == PreambleLength::LEN_1536 || _preambleLength == PreambleLength::LEN_2048 || + _preambleLength == PreambleLength::LEN_4096) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(drxtune1b, 0x0064, LEN_DRX_TUNE1b); + } else { + // TODO proper error/warning handling + } + } else if(_preambleLength != PreambleLength::LEN_64) { + if(_dataRate == DataRate::RATE_850KBPS || _dataRate == DataRate::RATE_6800KBPS) { + DW1000NgUtils::writeValueToBytes(drxtune1b, 0x0020, LEN_DRX_TUNE1b); + } else { + // TODO proper error/warning handling + } + } else { + if(_dataRate == DataRate::RATE_6800KBPS) { + DW1000NgUtils::writeValueToBytes(drxtune1b, 0x0010, LEN_DRX_TUNE1b); + } else { + // TODO proper error/warning handling + } + } + _writeBytesToRegister(DRX_TUNE, DRX_TUNE1b_SUB, drxtune1b, LEN_DRX_TUNE1b); + } + + /* DRX_TUNE2 - reg:0x27, sub-reg:0x08, table 33 */ + void _drxtune2() { + byte drxtune2[LEN_DRX_TUNE2]; + if(_pacSize == PacSize::SIZE_8) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x311A002DL, LEN_DRX_TUNE2); + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x313B006BL, LEN_DRX_TUNE2); + } else { + // TODO proper error/warning handling + } + } else if(_pacSize == PacSize::SIZE_16) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x331A0052L, LEN_DRX_TUNE2); + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x333B00BEL, LEN_DRX_TUNE2); + } else { + // TODO proper error/warning handling + } + } else if(_pacSize == PacSize::SIZE_32) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x351A009AL, LEN_DRX_TUNE2); + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x353B015EL, LEN_DRX_TUNE2); + } else { + // TODO proper error/warning handling + } + } else if(_pacSize == PacSize::SIZE_64) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x371A011DL, LEN_DRX_TUNE2); + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + DW1000NgUtils::writeValueToBytes(drxtune2, 0x373B0296L, LEN_DRX_TUNE2); + } else { + // TODO proper error/warning handling + } + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(DRX_TUNE, DRX_TUNE2_SUB, drxtune2, LEN_DRX_TUNE2); + } + + /* DRX_TUNE4H - reg:0x27, sub-reg:0x26, table 34 */ + void _drxtune4H() { + byte drxtune4H[LEN_DRX_TUNE4H]; + if(_preambleLength == PreambleLength::LEN_64) { + DW1000NgUtils::writeValueToBytes(drxtune4H, 0x0010, LEN_DRX_TUNE4H); + } else { + DW1000NgUtils::writeValueToBytes(drxtune4H, 0x0028, LEN_DRX_TUNE4H); + } + _writeBytesToRegister(DRX_TUNE, DRX_TUNE4H_SUB, drxtune4H, LEN_DRX_TUNE4H); + } + + /* LDE_CFG1 - reg 0x2E, sub-reg:0x0806 */ + void _ldecfg1() { + byte ldecfg1[LEN_LDE_CFG1]; + _nlos == true ? DW1000NgUtils::writeValueToBytes(ldecfg1, 0x7, LEN_LDE_CFG1) : DW1000NgUtils::writeValueToBytes(ldecfg1, 0xD, LEN_LDE_CFG1); + _writeBytesToRegister(LDE_IF, LDE_CFG1_SUB, ldecfg1, LEN_LDE_CFG1); + } + + /* LDE_CFG2 - reg 0x2E, sub-reg:0x1806, table 50 */ + void _ldecfg2() { + byte ldecfg2[LEN_LDE_CFG2]; + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + _nlos == true ? DW1000NgUtils::writeValueToBytes(ldecfg2, 0x0003, LEN_LDE_CFG2) : DW1000NgUtils::writeValueToBytes(ldecfg2, 0x1607, LEN_LDE_CFG2); + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + DW1000NgUtils::writeValueToBytes(ldecfg2, 0x0607, LEN_LDE_CFG2); + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(LDE_IF, LDE_CFG2_SUB, ldecfg2, LEN_LDE_CFG2); + } + + /* LDE_REPC - reg 0x2E, sub-reg:0x2804, table 51 */ + void _lderepc() { + byte lderepc[LEN_LDE_REPC]; + if(_preambleCode == PreambleCode::CODE_1 || _preambleCode == PreambleCode::CODE_2) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x5998 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x5998, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_3 || _preambleCode == PreambleCode::CODE_8) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x51EA >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x51EA, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_4) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x428E >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x428E, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_5) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x451E >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x451E, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_6) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x2E14 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x2E14, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_7) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x8000 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x8000, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_9) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x28F4 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x28F4, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_10 || _preambleCode == PreambleCode::CODE_17) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x3332 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x3332, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_11) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x3AE0 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x3AE0, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_12) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x3D70 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x3D70, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_18 || _preambleCode == PreambleCode::CODE_19) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x35C2 >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x35C2, LEN_LDE_REPC); + } + } else if(_preambleCode == PreambleCode::CODE_20) { + if(_dataRate == DataRate::RATE_110KBPS) { + DW1000NgUtils::writeValueToBytes(lderepc, ((0x47AE >> 3) & 0xFFFF), LEN_LDE_REPC); + } else { + DW1000NgUtils::writeValueToBytes(lderepc, 0x47AE, LEN_LDE_REPC); + } + } else { + // TODO proper error/warning handling + } + + _writeBytesToRegister(LDE_IF, LDE_REPC_SUB, lderepc, LEN_LDE_REPC); + } + + /* TX_POWER (enabled smart transmit power control) - reg:0x1E, tables 19-20 + * These values are based on a typical IC and an assumed IC to antenna loss of 1.5 dB with a 0 dBi antenna */ + void _txpowertune() { + byte txpower[LEN_TX_POWER]; + if(_channel == Channel::CHANNEL_1 || _channel == Channel::CHANNEL_2) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x1B153555L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x15355575L, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x55555555L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x75757575L, LEN_TX_POWER); + #endif + } + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x0D072747L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x07274767L, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x47474747L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x67676767L, LEN_TX_POWER); + #endif + } + } else { + // TODO proper error/warning handling + } + } else if(_channel == Channel::CHANNEL_3) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x150F2F4FL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x0F2F4F6FL, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x4F4F4F4FL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x6F6F6F6FL, LEN_TX_POWER); + #endif + } + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x0B2B4B6BL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x2B4B6B8BL, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x6B6B6B6BL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x8B8B8B8BL, LEN_TX_POWER); + #endif + } + } else { + // TODO proper error/warning handling + } + } else if(_channel == Channel::CHANNEL_4) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x1F1F1F3FL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x1F1F3F5FL, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x3F3F3F3FL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x5F5F5F5FL, LEN_TX_POWER); + #endif + } + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x1A3A5A7AL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x3A5A7A9AL, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x7A7A7A7AL, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x9A9A9A9AL, LEN_TX_POWER); + #endif + } + } else { + // TODO proper error/warning handling + } + } else if(_channel == Channel::CHANNEL_5) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x140E0828L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x0E082848L, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x28282828L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x48484848L, LEN_TX_POWER); + #endif + } + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x05254565L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x25456585L, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x65656565L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x85858585L, LEN_TX_POWER); + #endif + } + } else { + // TODO proper error/warning handling + } + } else if(_channel == Channel::CHANNEL_7) { + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x12325272L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x32527292L, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x72727272L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x92929292L, LEN_TX_POWER); + #endif + } + } else if(_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + if(_smartPower) { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0x315191B1L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0x5171B1D1L, LEN_TX_POWER); + #endif + } else { + #if DWM1000_OPTIMIZED + DW1000NgUtils::writeValueToBytes(txpower, 0xB1B1B1B1L, LEN_TX_POWER); + #else + DW1000NgUtils::writeValueToBytes(txpower, 0xD1D1D1D1L, LEN_TX_POWER); + #endif + } + } else { + // TODO proper error/warning handling + } + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(TX_POWER, NO_SUB, txpower, LEN_TX_POWER); + } + + /* RF_RXCTRLH - reg:0x28, sub-reg:0x0B, table 37 */ + void _rfrxctrlh() { + byte rfrxctrlh[LEN_RF_RXCTRLH]; + if(_channel != Channel::CHANNEL_4 && _channel != Channel::CHANNEL_7) { + DW1000NgUtils::writeValueToBytes(rfrxctrlh, 0xD8, LEN_RF_RXCTRLH); + } else { + DW1000NgUtils::writeValueToBytes(rfrxctrlh, 0xBC, LEN_RF_RXCTRLH); + } + _writeBytesToRegister(RF_CONF, RF_RXCTRLH_SUB, rfrxctrlh, LEN_RF_RXCTRLH); + } + + /* RX_TXCTRL - reg:0x28, sub-reg:0x0C */ + void _rftxctrl() { + byte rftxctrl[LEN_RF_TXCTRL]; + if(_channel == Channel::CHANNEL_1) { + DW1000NgUtils::writeValueToBytes(rftxctrl, 0x00005C40L, LEN_RF_TXCTRL); + } else if(_channel == Channel::CHANNEL_2) { + DW1000NgUtils::writeValueToBytes(rftxctrl, 0x00045CA0L, LEN_RF_TXCTRL); + } else if(_channel == Channel::CHANNEL_3) { + DW1000NgUtils::writeValueToBytes(rftxctrl, 0x00086CC0L, LEN_RF_TXCTRL); + } else if(_channel == Channel::CHANNEL_4) { + DW1000NgUtils::writeValueToBytes(rftxctrl, 0x00045C80L, LEN_RF_TXCTRL); + } else if(_channel == Channel::CHANNEL_5) { + DW1000NgUtils::writeValueToBytes(rftxctrl, 0x001E3FE0L, LEN_RF_TXCTRL); + } else if(_channel == Channel::CHANNEL_7) { + DW1000NgUtils::writeValueToBytes(rftxctrl, 0x001E7DE0L, LEN_RF_TXCTRL); + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(RF_CONF, RF_TXCTRL_SUB, rftxctrl, LEN_RF_TXCTRL); + } + + /* TC_PGDELAY - reg:0x2A, sub-reg:0x0B, table 40 */ + void _tcpgdelaytune() { + byte tcpgdelay[LEN_TC_PGDELAY]; + if(_channel == Channel::CHANNEL_1) { + DW1000NgUtils::writeValueToBytes(tcpgdelay, 0xC9, LEN_TC_PGDELAY); + } else if(_channel == Channel::CHANNEL_2) { + DW1000NgUtils::writeValueToBytes(tcpgdelay, 0xC2, LEN_TC_PGDELAY); + } else if(_channel == Channel::CHANNEL_3) { + DW1000NgUtils::writeValueToBytes(tcpgdelay, 0xC5, LEN_TC_PGDELAY); + } else if(_channel == Channel::CHANNEL_4) { + DW1000NgUtils::writeValueToBytes(tcpgdelay, 0x95, LEN_TC_PGDELAY); + } else if(_channel == Channel::CHANNEL_5) { + DW1000NgUtils::writeValueToBytes(tcpgdelay, 0xB5, LEN_TC_PGDELAY); + } else if(_channel == Channel::CHANNEL_7) { + DW1000NgUtils::writeValueToBytes(tcpgdelay, 0x93, LEN_TC_PGDELAY); + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(TX_CAL, TC_PGDELAY_SUB, tcpgdelay, LEN_TC_PGDELAY); + } + + // FS_PLLCFG and FS_PLLTUNE - reg:0x2B, sub-reg:0x07-0x0B, tables 43-44 + void _fspll() { + byte fspllcfg[LEN_FS_PLLCFG]; + byte fsplltune[LEN_FS_PLLTUNE]; + if(_channel == Channel::CHANNEL_1) { + DW1000NgUtils::writeValueToBytes(fspllcfg, 0x09000407L, LEN_FS_PLLCFG); + DW1000NgUtils::writeValueToBytes(fsplltune, 0x1E, LEN_FS_PLLTUNE); + } else if(_channel == Channel::CHANNEL_2 || _channel == Channel::CHANNEL_4) { + DW1000NgUtils::writeValueToBytes(fspllcfg, 0x08400508L, LEN_FS_PLLCFG); + DW1000NgUtils::writeValueToBytes(fsplltune, 0x26, LEN_FS_PLLTUNE); + } else if(_channel == Channel::CHANNEL_3) { + DW1000NgUtils::writeValueToBytes(fspllcfg, 0x08401009L, LEN_FS_PLLCFG); + DW1000NgUtils::writeValueToBytes(fsplltune, 0x56, LEN_FS_PLLTUNE); + } else if(_channel == Channel::CHANNEL_5 || _channel == Channel::CHANNEL_7) { + DW1000NgUtils::writeValueToBytes(fspllcfg, 0x0800041DL, LEN_FS_PLLCFG); + DW1000NgUtils::writeValueToBytes(fsplltune, 0xBE, LEN_FS_PLLTUNE); + } else { + // TODO proper error/warning handling + } + _writeBytesToRegister(FS_CTRL, FS_PLLTUNE_SUB, fsplltune, LEN_FS_PLLTUNE); + _writeBytesToRegister(FS_CTRL, FS_PLLCFG_SUB, fspllcfg, LEN_FS_PLLCFG); + } + + void _tune() { + // these registers are going to be tuned/configured + _agctune1(); + _agctune2(); + _agctune3(); + _drxtune0b(); + _drxtune1a(); + _drxtune1b(); + _drxtune2(); + _drxtune4H(); + _ldecfg1(); + _ldecfg2(); + _lderepc(); + if(_autoTXPower) _txpowertune(); + _rfrxctrlh(); + _rftxctrl(); + if(_autoTCPGDelay) _tcpgdelaytune(); + _fspll(); + } + + void _writeNetworkIdAndDeviceAddress() { + _writeBytesToRegister(PANADR, NO_SUB, _networkAndAddress, LEN_PANADR); + } + + void _writeSystemConfigurationRegister() { + _writeBytesToRegister(SYS_CFG, NO_SUB, _syscfg, LEN_SYS_CFG); + } + + void _writeChannelControlRegister() { + _writeBytesToRegister(CHAN_CTRL, NO_SUB, _chanctrl, LEN_CHAN_CTRL); + } + + void _writeTransmitFrameControlRegister() { + _writeBytesToRegister(TX_FCTRL, NO_SUB, _txfctrl, LEN_TX_FCTRL); + } + + void _writeSystemEventMaskRegister() { + _writeBytesToRegister(SYS_MASK, NO_SUB, _sysmask, LEN_SYS_MASK); + } + + void _writeAntennaDelayRegisters() { + byte antennaTxDelayBytes[2]; + byte antennaRxDelayBytes[2]; + DW1000NgUtils::writeValueToBytes(antennaTxDelayBytes, _antennaTxDelay, LEN_TX_ANTD); + DW1000NgUtils::writeValueToBytes(antennaRxDelayBytes, _antennaRxDelay, LEN_LDE_RXANTD); + _writeBytesToRegister(TX_ANTD, NO_SUB, antennaTxDelayBytes, LEN_TX_ANTD); + _writeBytesToRegister(LDE_IF, LDE_RXANTD_SUB, antennaRxDelayBytes, LEN_LDE_RXANTD); + } + + void _writeConfiguration() { + // write all configurations back to device + _writeSystemConfigurationRegister(); + _writeChannelControlRegister(); + _writeTransmitFrameControlRegister(); + } + + void _useExtendedFrameLength(boolean val) { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, PHR_MODE_0_BIT, val); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, PHR_MODE_1_BIT, val); + } + + void _setReceiverAutoReenable(boolean val) { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, RXAUTR_BIT, val); + } + + void _useFrameCheck(boolean val) { + _frameCheck = val; + } + + void _setNlosOptimization(boolean val) { + _nlos = val; + if(_nlos) { + _ldecfg1(); + _ldecfg2(); + } + } + + void _useSmartPower(boolean smartPower) { + _smartPower = smartPower; + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, DIS_STXP_BIT, !smartPower); + _writeSystemConfigurationRegister(); + if(_autoTXPower) + _txpowertune(); + } + + void _setSFDMode(SFDMode mode) { + switch(mode) { + case SFDMode::STANDARD_SFD: + DW1000NgUtils::setBit(_chanctrl, LEN_CHAN_CTRL, DWSFD_BIT, false); + DW1000NgUtils::setBit(_chanctrl, LEN_CHAN_CTRL, TNSSFD_BIT, false); + DW1000NgUtils::setBit(_chanctrl, LEN_CHAN_CTRL, RNSSFD_BIT, false); + _standardSFD = true; + break; + case SFDMode::DECAWAVE_SFD: + DW1000NgUtils::setBit(_chanctrl, LEN_CHAN_CTRL, DWSFD_BIT, true); + DW1000NgUtils::setBit(_chanctrl, LEN_CHAN_CTRL, TNSSFD_BIT, true); + DW1000NgUtils::setBit(_chanctrl, LEN_CHAN_CTRL, RNSSFD_BIT, true); + _standardSFD = false; + break; + default: + return; //TODO Proper error handling + } + } + + void _setChannel(Channel channel) { + byte chan = static_cast(channel); + chan &= 0xF; + _chanctrl[0] = ((chan | (chan << 4)) & 0xFF); + + _channel = channel; + } + + void _setDataRate(DataRate data_rate) { + byte rate = static_cast(data_rate); + rate &= 0x03; + _txfctrl[1] &= 0x83; + _txfctrl[1] |= (byte)((rate << 5) & 0xFF); + // special 110kbps flag + if(data_rate == DataRate::RATE_110KBPS) { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, RXM110K_BIT, true); + } else { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, RXM110K_BIT, false); + } + _dataRate = data_rate; + } + + void _setPulseFrequency(PulseFrequency frequency) { + byte freq = static_cast(frequency); + freq &= 0x03; + _txfctrl[2] &= 0xFC; + _txfctrl[2] |= (byte)(freq & 0xFF); + _chanctrl[2] &= 0xF3; + _chanctrl[2] |= (byte)((freq << 2) & 0xFF); + + _pulseFrequency = frequency; + } + + void _setPreambleLength(PreambleLength preamble_length) { + byte prealen = static_cast(preamble_length); + prealen &= 0x0F; + _txfctrl[2] &= 0xC3; + _txfctrl[2] |= (byte)((prealen << 2) & 0xFF); + + switch(preamble_length) { + case PreambleLength::LEN_64: + _pacSize = PacSize::SIZE_8; + break; + case PreambleLength::LEN_128: + _pacSize = PacSize::SIZE_8; + break; + case PreambleLength::LEN_256: + _pacSize = PacSize::SIZE_16; + break; + case PreambleLength::LEN_512: + _pacSize = PacSize::SIZE_16; + break; + case PreambleLength::LEN_1024: + _pacSize = PacSize::SIZE_32; + break; + default: + _pacSize = PacSize::SIZE_64; // In case of 1536, 2048 or 4096 preamble length. + } + + _preambleLength = preamble_length; + } + + void _setPreambleCode(PreambleCode preamble_code) { + byte preacode = static_cast(preamble_code); + preacode &= 0x1F; + _chanctrl[2] &= 0x3F; + _chanctrl[2] |= ((preacode << 6) & 0xFF); + _chanctrl[3] = 0x00; + _chanctrl[3] = ((((preacode >> 2) & 0x07) | (preacode << 3)) & 0xFF); + + _preambleCode = preamble_code; + } + + boolean _checkPreambleCodeValidity() { + byte preacode = static_cast(_preambleCode); + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + for (auto i = 0; i < 2; i++) { + if(preacode == preamble_validity_matrix_PRF16[(int) _channel][i]) + return true; + } + return false; + } else if (_pulseFrequency == PulseFrequency::FREQ_64MHZ) { + for(auto i = 0; i < 4; i++) { + if(preacode == preamble_validity_matrix_PRF64[(int) _channel][i]) + return true; + } + return false; + } else { + return false; //TODO Proper error handling + } + } + + void _setValidPreambleCode() { + PreambleCode preamble_code; + + switch(_channel) { + case Channel::CHANNEL_1: + preamble_code = _pulseFrequency == PulseFrequency::FREQ_16MHZ ? PreambleCode::CODE_2 : PreambleCode::CODE_10; + break; + case Channel::CHANNEL_3: + preamble_code = _pulseFrequency == PulseFrequency::FREQ_16MHZ ? PreambleCode::CODE_6 : PreambleCode::CODE_10; + break; + case Channel::CHANNEL_4: + case Channel::CHANNEL_7: + preamble_code = _pulseFrequency == PulseFrequency::FREQ_16MHZ ? PreambleCode::CODE_8 : PreambleCode::CODE_18; + break; + case Channel::CHANNEL_2: + case Channel::CHANNEL_5: + preamble_code = _pulseFrequency == PulseFrequency::FREQ_16MHZ ? PreambleCode::CODE_3 : PreambleCode::CODE_10; + break; + default: + return; //TODO Proper Error Handling + } + byte preacode = static_cast(preamble_code); + preacode &= 0x1F; + _chanctrl[2] &= 0x3F; + _chanctrl[2] |= ((preacode << 6) & 0xFF); + _chanctrl[3] = 0x00; + _chanctrl[3] = ((((preacode >> 2) & 0x07) | (preacode << 3)) & 0xFF); + + _preambleCode = preamble_code; + } + + void _setNonStandardSFDLength() { + switch(_dataRate) { + case DataRate::RATE_6800KBPS: + _writeSingleByteToRegister(USR_SFD, SFD_LENGTH_SUB, 0x08); + break; + case DataRate::RATE_850KBPS: + _writeSingleByteToRegister(USR_SFD, SFD_LENGTH_SUB, 0x10); + break; + case DataRate::RATE_110KBPS: + _writeSingleByteToRegister(USR_SFD, SFD_LENGTH_SUB, 0x40); + break; + default: + return; //TODO Proper error handling + } + } + + void _interruptOnSent(boolean val) { + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, TXFRS_BIT, val); + } + + void _interruptOnReceived(boolean val) { + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, RXDFR_BIT, val); + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, RXFCG_BIT, val); + } + + void _interruptOnReceiveFailed(boolean val) { + DW1000NgUtils::setBit(_sysmask, LEN_SYS_STATUS, RXPHE_BIT, val); + DW1000NgUtils::setBit(_sysmask, LEN_SYS_STATUS, RXFCE_BIT, val); + DW1000NgUtils::setBit(_sysmask, LEN_SYS_STATUS, RXRFSL_BIT, val); + DW1000NgUtils::setBit(_sysmask, LEN_SYS_STATUS, LDEERR_BIT, val); + } + + void _interruptOnReceiveTimeout(boolean val) { + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, RXRFTO_BIT, val); + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, RXPTO_BIT, val); + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, RXSFDTO_BIT, val); + } + + void _interruptOnReceiveTimestampAvailable(boolean val) { + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, LDEDONE_BIT, val); + } + + void _interruptOnAutomaticAcknowledgeTrigger(boolean val) { + DW1000NgUtils::setBit(_sysmask, LEN_SYS_MASK, AAT_BIT, val); + } + + void _manageLDE() { + // transfer any ldo tune values + byte ldoTune[LEN_OTP_RDAT]; + uint16_t LDOTUNE_ADDRESS = 0x04; + _readBytesOTP(LDOTUNE_ADDRESS, ldoTune); // TODO #define + if(ldoTune[0] != 0) { + // TODO tuning available, copy over to RAM: use OTP_LDO bit + } + // tell the chip to load the LDE microcode + // TODO remove clock-related code (PMSC_CTRL) as handled separately + byte pmscctrl0[LEN_PMSC_CTRL0]; + byte otpctrl[LEN_OTP_CTRL]; + memset(pmscctrl0, 0, LEN_PMSC_CTRL0); + memset(otpctrl, 0, LEN_OTP_CTRL); + _readBytesFromRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, LEN_PMSC_CTRL0); + _readBytesFromRegister(OTP_IF, OTP_CTRL_SUB, otpctrl, LEN_OTP_CTRL); + pmscctrl0[0] = 0x01; + pmscctrl0[1] = 0x03; + otpctrl[0] = 0x00; + otpctrl[1] = 0x80; + _writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, 2); + // uCode + _enableClock(LDE_CLOCK); + delay(5); + _writeBytesToRegister(OTP_IF, OTP_CTRL_SUB, otpctrl, 2); + delay(1); + _enableClock(SYS_AUTO_CLOCK); + delay(5); + pmscctrl0[0] = 0x00; + pmscctrl0[1] &= 0x02; + _writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, 2); + } + + /* Crystal calibration from OTP (if available) + * FS_XTALT - reg:0x2B, sub-reg:0x0E + * OTP(one-time-programmable) memory map - table 10 */ + void _fsxtalt() { + byte fsxtalt[LEN_FS_XTALT]; + byte buf_otp[4]; + _readBytesOTP(0x01E, buf_otp); //0x01E -> byte[0]=XTAL_Trim + if (buf_otp[0] == 0) { + // No trim value available from OTP, use midrange value of 0x10 + DW1000NgUtils::writeValueToBytes(fsxtalt, ((0x10 & 0x1F) | 0x60), LEN_FS_XTALT); + } else { + DW1000NgUtils::writeValueToBytes(fsxtalt, ((buf_otp[0] & 0x1F) | 0x60), LEN_FS_XTALT); + } + // write configuration back to chip + _writeBytesToRegister(FS_CTRL, FS_XTALT_SUB, fsxtalt, LEN_FS_XTALT); + } + + void _clearReceiveStatus() { + // clear latched RX bits (i.e. write 1 to clear) + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXDFR_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXFCG_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXPRD_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXSFDD_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXPHD_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, LDEDONE_BIT, true); + _writeBytesToRegister(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS); + } + + void _clearReceiveTimestampAvailableStatus() { + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, LDEDONE_BIT, true); + _writeBytesToRegister(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS); + } + + void _clearReceiveTimeoutStatus() { + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXRFTO_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXPTO_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXSFDTO_BIT, true); + _writeBytesToRegister(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS); + } + + void _clearReceiveFailedStatus() { + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXPHE_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXFCE_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, RXRFSL_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, AFFREJ_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, LDEERR_BIT, true); + _writeBytesToRegister(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS); + } + + void _clearTransmitStatus() { + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, AAT_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, TXFRB_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, TXPRS_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, TXPHS_BIT, true); + DW1000NgUtils::setBit(_sysstatus, LEN_SYS_STATUS, TXFRS_BIT, true); + _writeBytesToRegister(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS); + } + + void _resetReceiver() { + /* Set to 0 only bit 28 */ + _writeValueToRegister(PMSC, PMSC_SOFTRESET_SUB, 0xE0, LEN_PMSC_SOFTRESET); + /* Set SOFTRESET to all ones */ + _writeValueToRegister(PMSC, PMSC_SOFTRESET_SUB, 0xF0, LEN_PMSC_SOFTRESET); + } + + /* Internal helpers to read configuration */ + + void _readSystemConfigurationRegister() { + _readBytesFromRegister(SYS_CFG, NO_SUB, _syscfg, LEN_SYS_CFG); + } + + void _readSystemEventStatusRegister() { + _readBytesFromRegister(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS); + } + + void _readNetworkIdAndDeviceAddress() { + _readBytesFromRegister(PANADR, NO_SUB, _networkAndAddress, LEN_PANADR); + } + + void _readSystemEventMaskRegister() { + _readBytesFromRegister(SYS_MASK, NO_SUB, _sysmask, LEN_SYS_MASK); + } + + void _readChannelControlRegister() { + _readBytesFromRegister(CHAN_CTRL, NO_SUB, _chanctrl, LEN_CHAN_CTRL); + } + + void _readTransmitFrameControlRegister() { + _readBytesFromRegister(TX_FCTRL, NO_SUB, _txfctrl, LEN_TX_FCTRL); + } + + boolean _isTransmitDone() { + return DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, TXFRS_BIT); + } + + boolean _isReceiveTimestampAvailable() { + return DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, LDEDONE_BIT); + } + + boolean _isReceiveDone() { + if(_frameCheck) { + return (DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXFCG_BIT) && + DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXDFR_BIT)); + } + return DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXDFR_BIT); + } + + boolean _isReceiveFailed() { + return (DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXPHE_BIT) || + DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXFCE_BIT) || + DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXRFSL_BIT) || + DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, LDEERR_BIT)); + } + + boolean _isReceiveTimeout() { + return (DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXRFTO_BIT) || + DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXPTO_BIT) || + DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RXSFDTO_BIT)); + } + + boolean _isClockProblem() { + return (DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, CLKPLL_LL_BIT) || + DW1000NgUtils::getBit(_sysstatus, LEN_SYS_STATUS, RFPLL_LL_BIT)); + } + + void _disableSequencing() { + _enableClock(SYS_XTI_CLOCK); + byte zero[2]; + DW1000NgUtils::writeValueToBytes(zero, 0x0000, 2); + _writeBytesToRegister(PMSC, PMSC_CTRL1_SUB, zero, 2); // To re-enable write 0xE7 + } + + void _configureRFTransmitPowerSpectrumTestMode() { + /* Enabled TXFEN, PLLFEN, LDOFEN and set TXRXSW to TX */ + byte enable_mask[4]; + DW1000NgUtils::writeValueToBytes(enable_mask, 0x005FFF00, LEN_RX_CONF_SUB); + _writeBytesToRegister(RF_CONF, RF_CONF_SUB, enable_mask, LEN_RX_CONF_SUB); + } + + void _uploadConfigToAON() { + /* Write 1 in UPL_CFG_BIT */ + _writeValueToRegister(AON, AON_CTRL_SUB, 0x04, LEN_AON_CTRL); + /* Clear the register */ + _writeValueToRegister(AON, AON_CTRL_SUB, 0x00, LEN_AON_CTRL); + } + } + + /* ####################### PUBLIC ###################### */ + + void initialize(uint8_t ss, uint8_t irq, uint8_t rst, spi_host_device_t spihost,Adafruit_MCP23017 *expander) { + // generous initial init/wake-up-idle delay + delay(5); + m_expander = expander; + _ss = ss; + _irq = irq; + _rst = rst; + + if(rst != 0xff) { + // DW1000 data sheet v2.08 §5.6.1 page 20, the RSTn pin should not be driven high but left floating. + m_expander->pinMode(_rst, INPUT); + } + + SPIporting::SPIinit(spihost,expander); + // pin and basic member setup + // attach interrupt + // TODO throw error if pin is not a interrupt pin + if(_irq != 0xff) + attachInterrupt(digitalPinToInterrupt(_irq), interruptServiceRoutine, RISING); + SPIporting::SPIselect(_ss, _irq); + // reset chip (either soft or hard) + reset(); + + SPIporting::setSPIspeed(SPIClock::SLOW); + _enableClock(SYS_XTI_CLOCK); + delay(5); + + // Configure the CPLL lock detect + _writeBitToRegister(EXT_SYNC, EC_CTRL_SUB, LEN_EC_CTRL, PLLLDT_BIT, true); + + // Configure XTAL trim + _fsxtalt(); + + // load LDE micro-code + _manageLDE(); + + // read the temp and vbat readings from OTP that were recorded during production test + // see 6.3.1 OTP memory map + byte buf_otp[4]; + _readBytesOTP(0x008, buf_otp); // the stored 3.3 V reading + _vmeas3v3 = buf_otp[0]; + _readBytesOTP(0x009, buf_otp); // the stored 23C reading + _tmeas23C = buf_otp[0]; + + _enableClock(SYS_AUTO_CLOCK); + delay(5); + SPIporting::setSPIspeed(SPIClock::FAST); + + _readNetworkIdAndDeviceAddress(); + _readSystemConfigurationRegister(); + _readChannelControlRegister(); + _readTransmitFrameControlRegister(); + _readSystemEventMaskRegister(); + + /* Cleared AON:CFG1(0x2C:0x0A) for proper operation of deepSleep */ + _writeValueToRegister(AON, AON_CFG1_SUB, 0x00, LEN_AON_CFG1); + + } + + /* callback handler management. */ + void attachErrorHandler(void (* handleError)(void)) { + _handleError = handleError; + } + + void attachSentHandler(void (* handleSent)(void)) { + _handleSent = handleSent; + } + + void attachReceivedHandler(void (* handleReceived)(void)) { + _handleReceived = handleReceived; + } + + void attachReceiveFailedHandler(void (* handleReceiveFailed)(void)) { + _handleReceiveFailed = handleReceiveFailed; + } + + void attachReceiveTimeoutHandler(void (* handleReceiveTimeout)(void)) { + _handleReceiveTimeout = handleReceiveTimeout; + } + + void attachReceiveTimestampAvailableHandler(void (* handleReceiveTimestampAvailable)(void)) { + _handleReceiveTimestampAvailable = handleReceiveTimestampAvailable; + } + + void interruptServiceRoutine() { + // read current status and handle via callbacks + _readSystemEventStatusRegister(); + if(_isClockProblem() /* TODO and others */ && _handleError != 0) { + (*_handleError)(); + } + if(_isTransmitDone()) { + _clearTransmitStatus(); + if(_handleSent != nullptr) + (*_handleSent)(); + } + if(_isReceiveTimestampAvailable()) { + _clearReceiveTimestampAvailableStatus(); + if(_handleReceiveTimestampAvailable != nullptr) + (*_handleReceiveTimestampAvailable)(); + } + if(_isReceiveFailed()) { + _clearReceiveFailedStatus(); + forceTRxOff(); + _resetReceiver(); + if(_handleReceiveFailed != nullptr) + (*_handleReceiveFailed)(); + } else if(_isReceiveTimeout()) { + _clearReceiveTimeoutStatus(); + forceTRxOff(); + _resetReceiver(); + if(_handleReceiveTimeout != nullptr) + (*_handleReceiveTimeout)(); + } else if(_isReceiveDone()) { + _clearReceiveStatus(); + if(_handleReceived != nullptr) + (*_handleReceived)(); + } + } + + boolean isTransmitDone(){ + _readSystemEventStatusRegister(); + return _isTransmitDone(); + } + + void clearTransmitStatus() { + _clearTransmitStatus(); + } + + boolean isReceiveDone() { + _readSystemEventStatusRegister(); + return _isReceiveDone(); + } + + void clearReceiveStatus() { + _clearReceiveStatus(); + } + + boolean isReceiveFailed() { + _readSystemEventStatusRegister(); + return _isReceiveFailed(); + } + + void clearReceiveFailedStatus() { + _clearReceiveFailedStatus(); + forceTRxOff(); + _resetReceiver(); + } + + boolean isReceiveTimeout() { + _readSystemEventMaskRegister(); + return _isReceiveTimeout(); + } + + void clearReceiveTimeoutStatus() { + _clearReceiveTimeoutStatus(); + forceTRxOff(); + _resetReceiver(); + } + + void enableDebounceClock() { + byte pmscctrl0[LEN_PMSC_CTRL0]; + memset(pmscctrl0, 0, LEN_PMSC_CTRL0); + _readBytesFromRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, LEN_PMSC_CTRL0); + DW1000NgUtils::setBit(pmscctrl0, LEN_PMSC_CTRL0, GPDCE_BIT, 1); + DW1000NgUtils::setBit(pmscctrl0, LEN_PMSC_CTRL0, KHZCLKEN_BIT, 1); + _writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, LEN_PMSC_CTRL0); + _debounceClockEnabled = true; + } + + void enableLedBlinking() { + byte pmscledc[LEN_PMSC_LEDC]; + memset(pmscledc, 0, LEN_PMSC_LEDC); + _readBytesFromRegister(PMSC, PMSC_LEDC_SUB, pmscledc, LEN_PMSC_LEDC); + DW1000NgUtils::setBit(pmscledc, LEN_PMSC_LEDC, BLNKEN, 1); + _writeBytesToRegister(PMSC, PMSC_LEDC_SUB, pmscledc, LEN_PMSC_LEDC); + } + + void setGPIOMode(uint8_t msgp, uint8_t mode) { + byte gpiomode[LEN_GPIO_MODE]; + memset(gpiomode, 0, LEN_GPIO_MODE); + _readBytesFromRegister(GPIO_CTRL, GPIO_MODE_SUB, gpiomode, LEN_GPIO_MODE); + for (char i = 0; i < 2; i++){ + DW1000NgUtils::setBit(gpiomode, LEN_GPIO_MODE, msgp + i, (mode >> i) & 1); + } + _writeBytesToRegister(GPIO_CTRL, GPIO_MODE_SUB, gpiomode, LEN_GPIO_MODE); + } + + void applySleepConfiguration(sleep_configuration_t sleep_config) { + byte aon_wcfg[LEN_AON_WCFG]; + _readBytesFromRegister(AON, AON_WCFG_SUB, aon_wcfg, LEN_AON_WCFG); + byte aon_cfg0[1]; + memset(aon_cfg0, 0, 1); + + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_RADC_BIT, sleep_config.onWakeUpRunADC); + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_RX_BIT, sleep_config.onWakeUpReceive); + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_LEUI_BIT, sleep_config.onWakeUpLoadEUI); + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_LDC_BIT, true); + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_L64P_BIT, sleep_config.onWakeUpLoadL64Param); + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_PRES_SLEEP_BIT, sleep_config.preserveSleep); + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_LLDE_BIT, true); + DW1000NgUtils::setBit(aon_wcfg, LEN_AON_WCFG, ONW_LLDO_BIT, true); + _writeBytesToRegister(AON, AON_WCFG_SUB, aon_wcfg, LEN_AON_WCFG); + + DW1000NgUtils::setBit(aon_cfg0, 1, WAKE_PIN_BIT, sleep_config.enableWakePIN); + DW1000NgUtils::setBit(aon_cfg0, 1, WAKE_SPI_BIT, sleep_config.enableWakeSPI); + DW1000NgUtils::setBit(aon_cfg0, 1, WAKE_CNT_BIT, false); + DW1000NgUtils::setBit(aon_cfg0, 1, SLEEP_EN_BIT, sleep_config.enableSLP); + _writeBytesToRegister(AON, AON_CFG0_SUB, aon_cfg0, 1); //Deletes 3 bits of the unused LPCLKDIVA + } + + /*Puts the device into sleep/deepSleep mode. This function also upload sleep config to AON. */ + void deepSleep() { + /* Clear the register */ + _writeValueToRegister(AON, AON_CTRL_SUB, 0x00, LEN_AON_CTRL); + /* Write 1 in SAVE_BIT */ + _writeValueToRegister(AON, AON_CTRL_SUB, 0x02, LEN_AON_CTRL); + } + + void spiWakeup(){ + byte deviceId[LEN_DEV_ID]; + byte expectedDeviceId[LEN_DEV_ID]; + DW1000NgUtils::writeValueToBytes(expectedDeviceId, 0xDECA0130, LEN_DEV_ID); + _readBytesFromRegister(DEV_ID, NO_SUB, deviceId, LEN_DEV_ID); + if (memcmp(deviceId, expectedDeviceId, LEN_DEV_ID)) { + digitalWrite(_ss, LOW); + delay(1); + digitalWrite(_ss, HIGH); + delay(5); + setTxAntennaDelay(_antennaTxDelay); + if (_debounceClockEnabled){ + enableDebounceClock(); + } + } + } + + void reset() { + if(_rst == 0xff) { /* Fallback to Software Reset */ + softwareReset(); + } else { + // DW1000Ng data sheet v2.08 §5.6.1 page 20, the RSTn pin should not be driven high but left floating. + m_expander->pinMode(_rst, OUTPUT); + m_expander->digitalWrite(_rst, LOW); + delay(2); // DW1000Ng data sheet v2.08 §5.6.1 page 20: nominal 50ns, to be safe take more time + m_expander->pinMode(_rst, INPUT); + delay(5); // dw1000Ng data sheet v1.2 page 5: nominal 3 ms, to be safe take more time + } + } + + void softwareReset() { + SPIporting::setSPIspeed(SPIClock::SLOW); + + /* Disable sequencing and go to state "INIT" - (a) Sets SYSCLKS to 01 */ + _disableSequencing(); + /* Clear AON and WakeUp configuration */ + _writeValueToRegister(AON, AON_WCFG_SUB, 0x00, LEN_AON_WCFG); + _writeValueToRegister(AON, AON_CFG0_SUB, 0x00, LEN_AON_CFG0); + // TODO change this with uploadToAON + _writeValueToRegister(AON, AON_CTRL_SUB, 0x00, LEN_AON_CTRL); + _writeValueToRegister(AON, AON_CTRL_SUB, 0x02, LEN_AON_CTRL); + /* (b) Clear SOFTRESET to all zero’s */ + _writeValueToRegister(PMSC, PMSC_SOFTRESET_SUB, 0x00, LEN_PMSC_SOFTRESET); + delay(1); + /* (c) Set SOFTRESET to all ones */ + _writeValueToRegister(PMSC, PMSC_SOFTRESET_SUB, 0xF0, LEN_PMSC_SOFTRESET); + } + + /* ########################################################################### + * #### Pretty printed device information #################################### + * ######################################################################### */ + + + void getPrintableDeviceIdentifier(char msgBuffer[]) { + byte data[LEN_DEV_ID]; + _readBytesFromRegister(DEV_ID, NO_SUB, data, LEN_DEV_ID); + sprintf(msgBuffer, "%02X - model: %d, version: %d, revision: %d", + (uint16_t)((data[3] << 8) | data[2]), data[1], (data[0] >> 4) & 0x0F, data[0] & 0x0F); + } + + void getPrintableExtendedUniqueIdentifier(char msgBuffer[]) { + byte data[LEN_EUI]; + _readBytesFromRegister(EUI, NO_SUB, data, LEN_EUI); + sprintf(msgBuffer, "%02X:%02X:%02X:%02X:%02X:%02X:%02X:%02X", + data[7], data[6], data[5], data[4], data[3], data[2], data[1], data[0]); + } + + void getPrintableNetworkIdAndShortAddress(char msgBuffer[]) { + byte data[LEN_PANADR]; + _readBytesFromRegister(PANADR, NO_SUB, data, LEN_PANADR); + sprintf(msgBuffer, "PAN: %02X, Short Address: %02X", + (uint16_t)((data[3] << 8) | data[2]), (uint16_t)((data[1] << 8) | data[0])); + } + + void getPrintableDeviceMode(char msgBuffer[]) { + uint16_t dr; + uint8_t prf; + uint16_t plen; + uint8_t pcode; + uint8_t ch; + byte chan_ctrl[LEN_CHAN_CTRL]; + byte tx_fctrl[LEN_TX_FCTRL]; + _readBytesFromRegister(CHAN_CTRL, NO_SUB, chan_ctrl, LEN_CHAN_CTRL); + _readBytesFromRegister(TX_FCTRL, NO_SUB, tx_fctrl, LEN_TX_FCTRL); + /* Data Rate from 0x08 bits:13-14(tx_fctrl) */ + dr = (uint16_t)(tx_fctrl[1] >> 5 & 0x3); + switch(dr) { + case 0x00: + dr = 110; + break; + case 0x01: + dr = 850; + break; + case 0x02: + dr = 6800; + break; + default: + return; //TODO Error handling + } + /* PRF(16 or 64) from 0x1F bits:18-19(chan_ctrl) */ + prf = (uint8_t)(chan_ctrl[2] >> 2 & 0x03); + if(prf == 0x01){ + prf = 16; + } else if(prf == 0x02){ + prf = 64; + } else{ + return; //TODO Error handling + } + /* PreambleLength from 0x08 bits:18-21(tx_fctrl) */ + plen = (uint16_t)(tx_fctrl[2] >> 2 & 0xF); + switch(plen) { + case 0x01: + plen = 64; + break; + case 0x05: + plen = 128; + break; + case 0x09: + plen = 256; + break; + case 0x0D: + plen = 512; + break; + case 0x02: + plen = 1024; + break; + case 0x06: + plen = 1536; + break; + case 0x0A: + plen = 2048; + break; + case 0x03: + plen = 4096; + break; + default: + return; //TODO Error handling + } + /* Channel from 0x1F bits:0-4(tx_chan) */ + ch = (uint8_t)(chan_ctrl[0] & 0xF); + /* Preamble Code from 0x1F bits:24-31(chan_ctrl) */ + pcode = (uint8_t)(chan_ctrl[3] >> 3 & 0x1F); + sprintf(msgBuffer, "Data rate: %u kb/s, PRF: %u MHz, Preamble: %u symbols, Channel: #%u, Preamble code #%u" , dr, prf, plen, ch, pcode); + } + + /* ########################################################################### + * #### DW1000Ng operation functions ########################################### + * ######################################################################### */ + + void setNetworkId(uint16_t val) { + _networkAndAddress[2] = (byte)(val & 0xFF); + _networkAndAddress[3] = (byte)((val >> 8) & 0xFF); + _writeNetworkIdAndDeviceAddress(); + } + + void getNetworkId(byte id[]) { + _readNetworkIdAndDeviceAddress(); + id[0] = _networkAndAddress[2]; + id[1] = _networkAndAddress[3]; + } + + void setDeviceAddress(uint16_t val) { + _networkAndAddress[0] = (byte)(val & 0xFF); + _networkAndAddress[1] = (byte)((val >> 8) & 0xFF); + _writeNetworkIdAndDeviceAddress(); + } + + void getDeviceAddress(byte address[]) { + _readNetworkIdAndDeviceAddress(); + address[0] = _networkAndAddress[0]; + address[1] = _networkAndAddress[1]; + } + + void setEUI(char eui[]) { + byte eui_byte[LEN_EUI]; + DW1000NgUtils::convertToByte(eui, eui_byte); + setEUI(eui_byte); + } + + void setEUI(byte eui[]) { + //we reverse the address-> + byte reverseEUI[8]; + uint8_t size = 8; + for(uint8_t i = 0; i < size; i++) { + *(reverseEUI+i) = *(eui+size-i-1); + } + _writeBytesToRegister(EUI, NO_SUB, reverseEUI, LEN_EUI); + } + + void getEUI(byte eui[]) { + _readBytesFromRegister(EUI, NO_SUB, eui, LEN_EUI); + } + + float getTemperature() { + _vbatAndTempSteps(); + byte sar_ltemp = 0; _readBytesFromRegister(TX_CAL, 0x04, &sar_ltemp, 1); + return (sar_ltemp - _tmeas23C) * 1.14f + 23.0f; + } + + float getBatteryVoltage() { + _vbatAndTempSteps(); + byte sar_lvbat = 0; _readBytesFromRegister(TX_CAL, 0x03, &sar_lvbat, 1); + return (sar_lvbat - _vmeas3v3) / 173.0f + 3.3f; + } + + void getTemperatureAndBatteryVoltage(float& temp, float& vbat) { + // follow the procedure from section 6.4 of the User Manual + _vbatAndTempSteps(); + delay(1); + byte sar_lvbat = 0; _readBytesFromRegister(TX_CAL, 0x03, &sar_lvbat, 1); + byte sar_ltemp = 0; _readBytesFromRegister(TX_CAL, 0x04, &sar_ltemp, 1); + + // calculate voltage and temperature + vbat = (sar_lvbat - _vmeas3v3) / 173.0f + 3.3f; + temp = (sar_ltemp - _tmeas23C) * 1.14f + 23.0f; + } + + void enableFrameFiltering(frame_filtering_configuration_t config) { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFEN_BIT, true); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFBC_BIT, config.behaveAsCoordinator); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFAB_BIT, config.allowBeacon); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFAD_BIT, config.allowData); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFAA_BIT, config.allowAcknowledgement); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFAM_BIT, config.allowMacCommand); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFAR_BIT, config.allowAllReserved); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFA4_BIT, config.allowReservedFour); + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFA5_BIT, config.allowReservedFive); + + _writeSystemConfigurationRegister(); + } + + void disableFrameFiltering() { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, FFEN_BIT, false); + _writeSystemConfigurationRegister(); + } + + void setDoubleBuffering(boolean val) { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, DIS_DRXB_BIT, !val); + } + + void setAntennaDelay(uint16_t value) { + _antennaTxDelay = value; + _antennaRxDelay = value; + _writeAntennaDelayRegisters(); + } + + #if defined(__AVR__) + void setAndSaveAntennaDelay(uint16_t delay, uint8_t eeAddress) { + EEPROM.put(eeAddress, delay); + EEPROM.end(); + setAntennaDelay(delay); + } + + uint16_t getSavedAntennaDelay(uint8_t eeAddress) { + uint16_t delay; + EEPROM.get(eeAddress, delay); + EEPROM.end(); + return delay; + } + + uint16_t setAntennaDelayFromEEPROM(uint8_t eeAddress) { + uint16_t delay = getSavedAntennaDelay(eeAddress); + setAntennaDelay(delay); + } + #endif + + void setTxAntennaDelay(uint16_t value) { + _antennaTxDelay = value; + _writeAntennaDelayRegisters(); + } + void setRxAntennaDelay(uint16_t value) { + _antennaRxDelay = value; + _writeAntennaDelayRegisters(); + } + + uint16_t getTxAntennaDelay() { + return _antennaTxDelay; + } + uint16_t getRxAntennaDelay() { + return _antennaRxDelay; + } + + void forceTRxOff() { + memset(_sysctrl, 0, LEN_SYS_CTRL); + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, TRXOFF_BIT, true); + _writeBytesToRegister(SYS_CTRL, NO_SUB, _sysctrl, LEN_SYS_CTRL); + } + + void startReceive(ReceiveMode mode) { + memset(_sysctrl, 0, LEN_SYS_CTRL); + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, SFCST_BIT, !_frameCheck); + if(mode == ReceiveMode::DELAYED) + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, RXDLYS_BIT, true); + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, RXENAB_BIT, true); + _writeBytesToRegister(SYS_CTRL, NO_SUB, _sysctrl, LEN_SYS_CTRL); + } + + void startTransmit(TransmitMode mode) { + memset(_sysctrl, 0, LEN_SYS_CTRL); + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, SFCST_BIT, !_frameCheck); + if(mode == TransmitMode::DELAYED) + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, TXDLYS_BIT, true); + if(_wait4resp) + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, WAIT4RESP_BIT, true); + + DW1000NgUtils::setBit(_sysctrl, LEN_SYS_CTRL, TXSTRT_BIT, true); + _writeBytesToRegister(SYS_CTRL, NO_SUB, _sysctrl, LEN_SYS_CTRL); + } + + void setInterruptPolarity(boolean val) { + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, HIRQ_POL_BIT, val); + _writeSystemConfigurationRegister(); + } + + void applyConfiguration(device_configuration_t config) { + forceTRxOff(); + + _useExtendedFrameLength(config.extendedFrameLength); + _setReceiverAutoReenable(config.receiverAutoReenable); + _useSmartPower(config.smartPower); + _useFrameCheck(config.frameCheck); + _setNlosOptimization(config.nlos); + _setSFDMode(config.sfd); + _setChannel(config.channel); + _setDataRate(config.dataRate); + _setPulseFrequency(config.pulseFreq); + _setPreambleLength(config.preambleLen); + _setPreambleCode(config.preaCode); + + if(!_checkPreambleCodeValidity()) + _setValidPreambleCode(); + + if(!_standardSFD) + _setNonStandardSFDLength(); + + // writes configuration to registers + _writeConfiguration(); + // tune according to configuration + _tune(); + } + + Channel getChannel() { + return _channel; + } + + PulseFrequency getPulseFrequency() { + return _pulseFrequency; + } + + void setPreambleDetectionTimeout(uint16_t pacSize) { + byte drx_pretoc[LEN_DRX_PRETOC]; + DW1000NgUtils::writeValueToBytes(drx_pretoc, pacSize, LEN_DRX_PRETOC); + _writeBytesToRegister(DRX_TUNE, DRX_PRETOC_SUB, drx_pretoc, LEN_DRX_PRETOC); + } + + void setSfdDetectionTimeout(uint16_t preambleSymbols) { + byte drx_sfdtoc[LEN_DRX_SFDTOC]; + DW1000NgUtils::writeValueToBytes(drx_sfdtoc, preambleSymbols, LEN_DRX_SFDTOC); + _writeBytesToRegister(DRX_TUNE, DRX_SFDTOC_SUB, drx_sfdtoc, LEN_DRX_SFDTOC); + } + + void setReceiveFrameWaitTimeoutPeriod(uint16_t timeMicroSeconds) { + if (timeMicroSeconds > 0) { + byte rx_wfto[LEN_RX_WFTO]; + DW1000NgUtils::writeValueToBytes(rx_wfto, timeMicroSeconds, LEN_RX_WFTO); + _writeBytesToRegister(RX_WFTO, NO_SUB, rx_wfto, LEN_RX_WFTO); + /* enable frame wait timeout bit */ + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, RXWTOE_BIT, true); + _writeSystemConfigurationRegister(); + } else { + /* disable frame wait timeout bit */ + DW1000NgUtils::setBit(_syscfg, LEN_SYS_CFG, RXWTOE_BIT, false); + _writeSystemConfigurationRegister(); + } + } + + void applyInterruptConfiguration(interrupt_configuration_t interrupt_config) { + forceTRxOff(); + + _interruptOnSent(interrupt_config.interruptOnSent); + _interruptOnReceived(interrupt_config.interruptOnReceived); + _interruptOnReceiveFailed(interrupt_config.interruptOnReceiveFailed); + _interruptOnReceiveTimeout(interrupt_config.interruptOnReceiveTimeout); + _interruptOnReceiveTimestampAvailable(interrupt_config.interruptOnReceiveTimestampAvailable); + _interruptOnAutomaticAcknowledgeTrigger(interrupt_config.interruptOnAutomaticAcknowledgeTrigger); + + _writeSystemEventMaskRegister(); + } + + void setWait4Response(uint32_t timeMicroSeconds) { + _wait4resp = timeMicroSeconds == 0 ? false : true; + + /* Check if it overflows 20 bits */ + if(timeMicroSeconds > 1048575) + timeMicroSeconds = 1048575; + + byte W4R_TIME[LEN_ACK_RESP_T_W4R_TIME_SUB]; + DW1000NgUtils::writeValueToBytes(W4R_TIME, timeMicroSeconds, LEN_ACK_RESP_T_W4R_TIME_SUB); + W4R_TIME[2] &= 0x0F; + _writeBytesToRegister(ACK_RESP_T, ACK_RESP_T_W4R_TIME_SUB, W4R_TIME, LEN_ACK_RESP_T_W4R_TIME_SUB); + } + + void setTXPower(byte power[]) { + //TODO Check byte length + _writeBytesToRegister(TX_POWER, NO_SUB, power, LEN_TX_POWER); + _autoTXPower = false; + } + + void setTXPower(int32_t power) { + byte txpower[LEN_TX_POWER]; + DW1000NgUtils::writeValueToBytes(txpower, power, LEN_TX_POWER); + setTXPower(txpower); + } + + void setTXPower(DriverAmplifierValue driver_amplifier, TransmitMixerValue mixer) { + byte txpower[LEN_TX_POWER]; + byte pwr = 0x00; + + pwr |= ((byte) driver_amplifier << 5); + pwr |= (byte) mixer; + + for(auto i = 0; i < LEN_TX_POWER; i++) { + txpower[i] = pwr; + } + + setTXPower(txpower); + } + + void setTXPowerAuto() { + _autoTXPower = true; + _txpowertune(); + } + + void setTCPGDelay(byte tcpgdelay) { + byte tcpgBytes[LEN_TC_PGDELAY]; + DW1000NgUtils::writeValueToBytes(tcpgBytes, tcpgdelay, LEN_TC_PGDELAY); + _writeBytesToRegister(TX_CAL, TC_PGDELAY_SUB, tcpgBytes, LEN_TC_PGDELAY); + _autoTCPGDelay = false; + } + + void setTCPGDelayAuto() { + _tcpgdelaytune(); + _autoTCPGDelay = true; + } + + void enableTransmitPowerSpectrumTestMode(int32_t repeat_interval) { + /* DW1000 clocks must be set to crystal speed so SPI rate have to be lowered and will + not be increased again */ + SPIporting::setSPIspeed(SPIClock::SLOW); + + _disableSequencing(); + _configureRFTransmitPowerSpectrumTestMode(); + _enableClock(SYS_PLL_CLOCK); + _enableClock(TX_PLL_CLOCK); + + if(repeat_interval < 4) + repeat_interval = 4; + + /* In diagnostic transmit power mode (set next) the bytes 31:0 only are used for DX_TIME register */ + byte delayBytes[4]; + DW1000NgUtils::writeValueToBytes(delayBytes, repeat_interval, 4); + _writeBytesToRegister(DX_TIME, NO_SUB, delayBytes, 4); + + /* Enable Transmit Power Spectrum Test Mode */ + byte diagnosticBytes[2]; + DW1000NgUtils::writeValueToBytes(diagnosticBytes, 0x0010, LEN_DIAG_TMC); + _writeBytesToRegister(DIG_DIAG, DIAG_TMC_SUB, diagnosticBytes, LEN_DIAG_TMC); + } + + void setDelayedTRX(byte futureTimeBytes[]) { + /* the least significant 9-bits are ignored in DX_TIME in functional modes */ + _writeBytesToRegister(DX_TIME, NO_SUB, futureTimeBytes, LEN_DX_TIME); + } + + void setTransmitData(byte data[], uint16_t n) { + if(_frameCheck) { + n += 2; // two bytes CRC-16 + } + if(n > LEN_EXT_UWB_FRAMES) { + return; // TODO proper error handling: frame/buffer size + } + if(n > LEN_UWB_FRAMES && !_extendedFrameLength) { + return; // TODO proper error handling: frame/buffer size + } + // transmit data and length + _writeBytesToRegister(TX_BUFFER, NO_SUB, data, n); + + /* Sets up transmit frame control length based on data length */ + _txfctrl[0] = (byte)(n & 0xFF); // 1 byte (regular length + 1 bit) + _txfctrl[1] &= 0xE0; + _txfctrl[1] |= (byte)((n >> 8) & 0x03); // 2 added bits if extended length + _writeTransmitFrameControlRegister(); + } + + void setTransmitData(const String& data) { + uint16_t n = data.length()+1; + byte* dataBytes = (byte*)malloc(n); + data.getBytes(dataBytes, n); + setTransmitData(dataBytes, n); + free(dataBytes); + } + + // TODO reorder + uint16_t getReceivedDataLength() { + uint16_t len = 0; + + // 10 bits of RX frame control register + byte rxFrameInfo[LEN_RX_FINFO]; + _readBytesFromRegister(RX_FINFO, NO_SUB, rxFrameInfo, LEN_RX_FINFO); + len = ((((uint16_t)rxFrameInfo[1] << 8) | (uint16_t)rxFrameInfo[0]) & 0x03FF); + + if(_frameCheck && len > 2) { + return len-2; + } + return len; + } + + void getReceivedData(byte data[], uint16_t n) { + if(n <= 0) { + return; + } + _readBytesFromRegister(RX_BUFFER, NO_SUB, data, n); + } + + void getReceivedData(String& data) { + uint16_t i; + uint16_t n = getReceivedDataLength(); // number of bytes w/o the two FCS ones + if(n <= 0) { // TODO + return; + } + byte* dataBytes = (byte*)malloc(n); + getReceivedData(dataBytes, n); + // clear string + data.remove(0); + data = ""; + // append to string + for(i = 0; i < n; i++) { + data += (char)dataBytes[i]; + } + free(dataBytes); + } + + uint64_t getTransmitTimestamp() { + byte data[LENGTH_TIMESTAMP]; + memset(data, 0 , LENGTH_TIMESTAMP); + _readBytesFromRegister(TX_TIME, TX_STAMP_SUB, data, LEN_TX_STAMP); + return DW1000NgUtils::bytesAsValue(data, LEN_TX_STAMP); + } + + uint64_t getReceiveTimestamp() { + byte data[LEN_RX_STAMP]; + memset(data, 0, LEN_RX_STAMP); + _readBytesFromRegister(RX_TIME, RX_STAMP_SUB, data, LEN_RX_STAMP); + return DW1000NgUtils::bytesAsValue(data, LEN_RX_STAMP); + } + + uint64_t getSystemTimestamp() { + byte data[LEN_SYS_TIME]; + memset(data, 0, LEN_SYS_TIME); + _readBytesFromRegister(SYS_TIME, NO_SUB, data, LEN_SYS_TIME); + return DW1000NgUtils::bytesAsValue(data, LEN_SYS_TIME); + } + + float getReceiveQuality() { + byte noiseBytes[LEN_STD_NOISE]; + byte fpAmpl2Bytes[LEN_FP_AMPL2]; + uint16_t noise, f2; + _readBytesFromRegister(RX_FQUAL, STD_NOISE_SUB, noiseBytes, LEN_STD_NOISE); + _readBytesFromRegister(RX_FQUAL, FP_AMPL2_SUB, fpAmpl2Bytes, LEN_FP_AMPL2); + noise = (uint16_t)noiseBytes[0] | ((uint16_t)noiseBytes[1] << 8); + f2 = (uint16_t)fpAmpl2Bytes[0] | ((uint16_t)fpAmpl2Bytes[1] << 8); + return (float)f2/noise; + } + + float getFirstPathPower() { + byte fpAmpl1Bytes[LEN_FP_AMPL1]; + byte fpAmpl2Bytes[LEN_FP_AMPL2]; + byte fpAmpl3Bytes[LEN_FP_AMPL3]; + byte rxFrameInfo[LEN_RX_FINFO]; + uint16_t f1, f2, f3, N; + float A, corrFac; + _readBytesFromRegister(RX_TIME, FP_AMPL1_SUB, fpAmpl1Bytes, LEN_FP_AMPL1); + _readBytesFromRegister(RX_FQUAL, FP_AMPL2_SUB, fpAmpl2Bytes, LEN_FP_AMPL2); + _readBytesFromRegister(RX_FQUAL, FP_AMPL3_SUB, fpAmpl3Bytes, LEN_FP_AMPL3); + _readBytesFromRegister(RX_FINFO, NO_SUB, rxFrameInfo, LEN_RX_FINFO); + f1 = (uint16_t)fpAmpl1Bytes[0] | ((uint16_t)fpAmpl1Bytes[1] << 8); + f2 = (uint16_t)fpAmpl2Bytes[0] | ((uint16_t)fpAmpl2Bytes[1] << 8); + f3 = (uint16_t)fpAmpl3Bytes[0] | ((uint16_t)fpAmpl3Bytes[1] << 8); + N = (((uint16_t)rxFrameInfo[2] >> 4) & 0xFF) | ((uint16_t)rxFrameInfo[3] << 4); + + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + A = 113.77; + corrFac = 2.3334; + } else { + A = 121.74; + corrFac = 1.1667; + } + float estFpPwr = 10.0*log10(((float)f1*(float)f1+(float)f2*(float)f2+(float)f3*(float)f3)/((float)N*(float)N))-A; + if(estFpPwr <= -88) { + return estFpPwr; + } else { + // approximation of Fig. 22 in user manual for dbm correction + estFpPwr += (estFpPwr+88)*corrFac; + } + return estFpPwr; + } + + float getReceivePower() { + byte cirPwrBytes[LEN_CIR_PWR]; + byte rxFrameInfo[LEN_RX_FINFO]; + uint32_t twoPower17 = 131072; + uint16_t C, N; + float A, corrFac; + _readBytesFromRegister(RX_FQUAL, CIR_PWR_SUB, cirPwrBytes, LEN_CIR_PWR); + _readBytesFromRegister(RX_FINFO, NO_SUB, rxFrameInfo, LEN_RX_FINFO); + C = (uint16_t)cirPwrBytes[0] | ((uint16_t)cirPwrBytes[1] << 8); + N = (((uint16_t)rxFrameInfo[2] >> 4) & 0xFF) | ((uint16_t)rxFrameInfo[3] << 4); + + if(_pulseFrequency == PulseFrequency::FREQ_16MHZ) { + A = 113.77; + corrFac = 2.3334; + } else { + A = 121.74; + corrFac = 1.1667; + } + + float estRxPwr = 10.0*log10(((float)C*(float)twoPower17)/((float)N*(float)N))-A; + if(estRxPwr <= -88) { + return estRxPwr; + } else { + // approximation of Fig. 22 in user manual for dbm correction + estRxPwr += (estRxPwr+88)*corrFac; + } + return estRxPwr; + } + + #if DW1000NG_DEBUG + void getPrettyBytes(byte data[], char msgBuffer[], uint16_t n) { + uint16_t i, j, b; + b = sprintf(msgBuffer, "Data, bytes: %d\nB: 7 6 5 4 3 2 1 0\n", n); // TODO - type + for(i = 0; i < n; i++) { + byte curByte = data[i]; + snprintf(&msgBuffer[b++], 2, "%d", (i+1)); + msgBuffer[b++] = (char)((i+1) & 0xFF); + msgBuffer[b++] = ':'; + msgBuffer[b++] = ' '; + for(j = 0; j < 8; j++) { + msgBuffer[b++] = ((curByte >> (7-j)) & 0x01) ? '1' : '0'; + if(j < 7) { + msgBuffer[b++] = ' '; + } else if(i < n-1) { + msgBuffer[b++] = '\n'; + } else { + msgBuffer[b++] = '\0'; + } + } + } + msgBuffer[b++] = '\0'; + } + + void getPrettyBytes(byte cmd, uint16_t offset, char msgBuffer[], uint16_t n) { + uint16_t i, j, b; + byte* readBuf = (byte*)malloc(n); + _readBytesFromRegister(cmd, offset, readBuf, n); + b = sprintf(msgBuffer, "Reg: 0x%02x, bytes: %d\nB: 7 6 5 4 3 2 1 0\n", cmd, n); // TODO - tpye + for(i = 0; i < n; i++) { + byte curByte = readBuf[i]; + snprintf(&msgBuffer[b++], 2, "%d", (i+1)); + msgBuffer[b++] = (char)((i+1) & 0xFF); + msgBuffer[b++] = ':'; + msgBuffer[b++] = ' '; + for(j = 0; j < 8; j++) { + msgBuffer[b++] = ((curByte >> (7-j)) & 0x01) ? '1' : '0'; + if(j < 7) { + msgBuffer[b++] = ' '; + } else if(i < n-1) { + msgBuffer[b++] = '\n'; + } else { + msgBuffer[b++] = '\0'; + } + } + } + msgBuffer[b++] = '\0'; + free(readBuf); + } + #endif +} diff --git a/src/dwm1000/DW1000Ng.hpp b/src/dwm1000/DW1000Ng.hpp new file mode 100644 index 0000000..fd871d0 --- /dev/null +++ b/src/dwm1000/DW1000Ng.hpp @@ -0,0 +1,608 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000Ng library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file DW1000Ng.h + * Arduino driver library (header file) for the Decawave DW1000Ng UWB transceiver Module. + */ + +#pragma once + +#include +#include +#include +#include "Adafruit_MCP23017.h" +#include "driver/spi_master.h" +#include "DW1000NgConstants.hpp" +#include "DW1000NgConfiguration.hpp" +#include "DW1000NgCompileOptions.hpp" + +namespace DW1000Ng { + /** + Initiates and starts a sessions with a DW1000. If rst is not set or value 0xff, a soft resets (i.e. command + triggered) are used and it is assumed that no reset line is wired. + + @param[in] ss The SPI Selection pin used to identify the specific connection + @param[in] irq The interrupt line/pin that connects the Arduino. + @param[in] rst The reset line/pin for hard resets of ICs that connect to the Arduino. Value 0xff means soft reset. + */ + void initialize(uint8_t ss, uint8_t irq, uint8_t rst, spi_host_device_t spihost,Adafruit_MCP23017 *expander); + + /** + Enable debounce Clock, used to clock the LED blinking + */ + void enableDebounceClock(); + + /** + Enable led blinking feature + */ + void enableLedBlinking(); + + /** + Set DW1000's GPIO pins mode + */ + void setGPIOMode(uint8_t msgp, uint8_t mode); + + /** + Applies the common sleep configuration and on-wake mode to the DW1000 for both DEEP_SLEEP and SLEEP modes. + ONW_LLDO_BIT and ONW_LLDE_BIT are 1 to default. + + @param [in] config struct The sleep/deepsleep configuration to apply to the DW1000 + */ + void applySleepConfiguration(sleep_configuration_t sleep_config); + + /** + Enter in DeepSleep. applySleepConfiguration must be called first. + Either spi wakeup or pin wakeup must be enabled. + -- In case of future implementation of Sleep mode, you must reset proper antenna delay with setTxAntennaDelay() after wakeUp event. -- + */ + void deepSleep(); + + /** + Wake-up from deep sleep by toggle chip select pin + */ + void spiWakeup(); + + /** + Resets all connected or the currently selected DW1000 chip. + Uses hardware reset or in case the reset pin is not wired it falls back to software Reset. + */ + void reset(); + + /** + Resets the currently selected DW1000 chip programmatically (via corresponding commands). + */ + void softwareReset(); + + /** + (Re-)set the network identifier which the selected chip should be associated with. This + setting is important for certain MAC address filtering rules. + This is also referred as PanId + + @param[in] val An arbitrary numeric network identifier. + */ + void setNetworkId(uint16_t val); + + /** + Gets the network identifier (a.k.a PAN id) set for the device + + @param[out] id the bytes that represent the PAN id (2 bytes) + */ + void getNetworkId(byte id[]); + + /** + (Re-)set the device address (i.e. short address) for the currently selected chip. This + setting is important for certain MAC address filtering rules. + + @param[in] val An arbitrary numeric device address. + */ + void setDeviceAddress(uint16_t val); + + /** + Gets the short address identifier set for the device + + @param[out] address the bytes that represent the short address of the device(2 bytes) + */ + void getDeviceAddress(byte address[]); + + /** + Sets the device Extended Unique Identifier. + This is a long identifier of the device. + + @param[in] eui A string containing the eui in its normal notation using columns. + */ + void setEUI(char eui[]); + + /** + Sets the device Extended Unique Identifier. + This is a long identifier of the device. + + @param[in] eui The raw bytes of the eui. + */ + void setEUI(byte eui[]); + + /** + Gets the device Extended Unique Identifier. + + @param[out] eui The 8 bytes of the EUI. + */ + void getEUI(byte eui[]); + + /** + Sets the transmission power of the device. + Be careful to respect your current country limitations. + + @param[in] power Bytes that represent the power + */ + void setTXPower(byte power[]); + + /** + Sets the transmission power of the device. + Be careful to respect your current country limitations. + + @param[in] power Bytes (written as a 32-bit number) that represent the power + */ + void setTXPower(int32_t power); + + /** + Sets the transmission power of the device. + Be careful to respect your current country limitations. + + @param[in] driver_amplifier Base power amplifier + @param[in] mixer Mixer power + */ + void setTXPower(DriverAmplifierValue driver_amplifier, TransmitMixerValue mixer); + + /** + Automatically sets power in respect to the current device settings. + This should be guaranteed to set power under -41.3 dBm / MHz (legal limit in most countries). + */ + void setTXPowerAuto(); + + /** + Sets the pulse generator delay value. + You should use the setTCPGDelayAuto() function. + */ + void setTCPGDelay(byte tcpg_delay); + + /** + Automatically sets pulse generator delay value + */ + void setTCPGDelayAuto(); + + /** + Enables transmit power spectrum test mode that is used for Transmit Power regulatory testing + + @param [in] repeat_interval the interval to repeat the transmission + */ + void enableTransmitPowerSpectrumTestMode(int32_t repeat_interval); + + /** + Sets a delay for transmission and receive + + @param [in] futureTimeBytes the timestamp in bytes of the time of the transmission (in UWB time) + */ + void setDelayedTRX(byte futureTimeBytes[]); + + /** + Sets the transmission bytes inside the tx buffer of the DW1000 + + @param [in] data the bytes to transmit + @param [in] n the length of the array of bytes + */ + void setTransmitData(byte data[], uint16_t n); + + /** + Sets the transmission bytes inside the tx buffer of the DW1000 based on the input string + + @param [in] data the string to transmit + */ + void setTransmitData(const String& data); + + /** + Gets the received bytes and stores them in a byte array + + @param [out] data The array of byte to store the data + @param [out] n The length of the byte array + */ + void getReceivedData(byte data[], uint16_t n); + + /** + Stores the received data inside a string + + param [out] data the string that will contain the data + */ + void getReceivedData(String& data); + + /** + Calculates the length of the received data + + returns the length of the data + */ + uint16_t getReceivedDataLength(); + + /** + Calculates the latest transmission timestamp + + return the last transmission timestamp + */ + uint64_t getTransmitTimestamp(); + + /** + Calculates the latest receive timestamp + + return the last receive timestamp + */ + uint64_t getReceiveTimestamp(); + + /** + Calculates the current system timestamp inside the DW1000 + + return the system timestamp + */ + uint64_t getSystemTimestamp(); + + /* receive quality information. (RX_FSQUAL) - reg:0x12 */ + + /** + Gets the receive power of the device (last receive) + + returns the last receive power of the device + */ + float getReceivePower(); + + /** + Gets the power of the first path + + returns the first path power + */ + float getFirstPathPower(); + + /** + Gets the last receive quality + + returns last receive quality + */ + float getReceiveQuality(); + + /** + Sets both tx and rx antenna delay value + + @param [in] value the delay in UWB time + */ + void setAntennaDelay(uint16_t value); + + #if defined(__AVR__) + /** + Sets both tx and rx antenna delay value, and saves it in the EEPROM for future use + + @param [in] value the delay in UWB time + @param [in] the EEPROM offset at which the delay is saved + */ + void setAndSaveAntennaDelay(uint16_t delay, uint8_t eeAddress = 0); + + /** + Gets the saved antenna delay value from EEPROM + + returns the value of the delay saved in the EEPROM in UWB time + + @param [in] the EEPROM offset at which the delay is saved + */ + uint16_t getSavedAntennaDelay(uint8_t eeAddress = 0); + + /** + Sets the saved antenna delay value from EEPROM as the configured delay + + @param [in] the EEPROM offset at which the delay is saved + */ + uint16_t setAntennaDelayFromEEPROM(uint8_t eeAddress = 0); + #endif + + /** + Sets the tx antenna delay value + + @param [in] value the delay in UWB time + */ + void setTxAntennaDelay(uint16_t value); + + /** + Sets the rx antenna delay value + + @param [in] value the delay in UWB time + */ + void setRxAntennaDelay(uint16_t value); + + /** + Gets the tx antenna delay value + + returns the value of the delay in UWB time + */ + uint16_t getTxAntennaDelay(); + + /** + Gets the rx antenna delay value + + returns the value of the delay in UWB time + */ + uint16_t getRxAntennaDelay(); + + /** + Sets the function for error event handling + + @param [in] handleError the target function + */ + void attachErrorHandler(void (* handleError)(void)); + + /** + Sets the function for end of transission event handling + + @param [in] handleSent the target function + */ + void attachSentHandler(void (* handleSent)(void)); + + /** + Sets the function for end of receive event handling + + @param [in] handleReceived the target function + */ + void attachReceivedHandler(void (* handleReceived)(void)); + + /** + Sets the function for receive error event handling + + @param [in] handleReceiveFailed the target function + */ + void attachReceiveFailedHandler(void (* handleReceiveFailed)(void)); + + /** + Sets the function for receive timeout event handling + + @param [in] handleReceiveTimeout the target function + */ + void attachReceiveTimeoutHandler(void (* handleReceiveTimeout)(void)); + + /** + Sets the function for receive timestamp availabe event handling + + @param [in] handleReceiveTimestampAvailable the target function + */ + void attachReceiveTimestampAvailableHandler(void (* handleReceiveTimestampAvailable)(void)); + + /** + Handles dw1000 events triggered by interrupt + By default this is attached to the interrupt pin callback + */ + void interruptServiceRoutine(); + + boolean isTransmitDone(); + + void clearTransmitStatus(); + + boolean isReceiveDone(); + + void clearReceiveStatus(); + + boolean isReceiveFailed(); + + void clearReceiveFailedStatus(); + + boolean isReceiveTimeout(); + + void clearReceiveTimeoutStatus(); + + /** + Stops the transceiver immediately, this actually sets the device in Idle mode. + */ + void forceTRxOff(); + + /** + Sets the interrupt polarity + + By default this is set to true by the DW1000 + + @param [in] val True here means active high + */ + void setInterruptPolarity(boolean val); + + /** + Applies the target configuration to the DW1000 + + @param [in] config the configuration to apply to the DW1000 + */ + void applyConfiguration(device_configuration_t config); + + /** + Enables the interrupts for the target events + + @param [in] interrupt_config the interrupt map to use + */ + void applyInterruptConfiguration(interrupt_configuration_t interrupt_config); + + /** + Gets the current channel in use + + returns the current channel + */ + Channel getChannel(); + + /** + Gets the current PRF of the device + + returns the current PRF + */ + PulseFrequency getPulseFrequency(); + + /** + Sets the timeout for Raceive Frame. + + @param[in] Pac size based on current preamble lenght - 1 + */ + void setPreambleDetectionTimeout(uint16_t pacSize); + + /** + Sets the timeout for SFD detection. + The recommended value is: PreambleLenght + SFD + 1. + The default value is 4096+64+1 + + @param[in] the sfd detection timeout + */ + void setSfdDetectionTimeout(uint16_t preambleSymbols); + + /** + Sets the timeout for Raceive Frame. Must be sets in idle mode. + Allow the external microprocessor to enter a low power state awaiting a valid receive frame. + + @param[in] time in Îŧs. units = ~1Îŧs(1.026Îŧs). 0 to disable + */ + void setReceiveFrameWaitTimeoutPeriod(uint16_t timeMicroSeconds); + + /** + Sets the device in receive mode + + @param [in] mode IMMEDIATE or DELAYED receive + */ + void startReceive(ReceiveMode mode = ReceiveMode::IMMEDIATE); + + /** + Sets the device in transmission mode + + @param [in] mode IMMEDIATE or DELAYED transmission + */ + void startTransmit(TransmitMode mode = TransmitMode::IMMEDIATE); + + /** + Gets the temperature inside the DW1000 Device + + returns The temperature + */ + float getTemperature(); + + /** + Gets the voltage in input of the DW1000 + + returns The input voltage + */ + float getBatteryVoltage(); + + /** + Gets both temperature and voltage with a single read + + @param [out] temp the temperature + @param [out] vbat the input voltage + */ + void getTemperatureAndBatteryVoltage(float& temp, float& vbat); + + /** + Enables the frame filtering functionality using the provided configuration. + Messages must be formatted using 802.15.4-2011 format. + + @param [in] config frame filtering configuration + */ + void enableFrameFiltering(frame_filtering_configuration_t config); + + /** + Disables the frame filtering functionality + */ + void disableFrameFiltering(); + + /** + WARNING: this just sets the relative bits inside the register. + You must refer to the DW1000 User manual to activate it properly. + */ + void setDoubleBuffering(boolean val); + + /** + Enables frames up to 1023 byte length + + @param [in] val true or false + */ + void useExtendedFrameLength(boolean val); + + /** + Sets the time before the device enters receive after a transmission. + Use 0 here to deactivate it. + + @param[in] time in Îŧs. units = ~1Îŧs(1.026Îŧs) + */ + void setWait4Response(uint32_t timeMicroSeconds); + + #if DW1000NG_PRINTABLE + + /* ##### Print device id, address, etc. ###################################### */ + /** + Generates a String representation of the device identifier of the chip. That usually + are the letters "DECA" plus the version and revision numbers of the chip. + + @param[out] msgBuffer The String buffer to be filled with printable device information. + Provide 128 bytes, this should be sufficient. + */ + void getPrintableDeviceIdentifier(char msgBuffer[]); + + /** + Generates a String representation of the extended unique identifier (EUI) of the chip. + + @param[out] msgBuffer The String buffer to be filled with printable device information. + Provide 128 bytes, this should be sufficient. + */ + void getPrintableExtendedUniqueIdentifier(char msgBuffer[]); + + /** + Generates a String representation of the short address and network identifier currently + defined for the respective chip. + + @param[out] msgBuffer The String buffer to be filled with printable device information. + Provide 128 bytes, this should be sufficient. + */ + void getPrintableNetworkIdAndShortAddress(char msgBuffer[]); + + /** + Generates a String representation of the main operational settings of the chip. This + includes data rate, pulse repetition frequency, preamble and channel settings. + + @param[out] msgBuffer The String buffer to be filled with printable device information. + Provide 128 bytes, this should be sufficient. + */ + void getPrintableDeviceMode(char msgBuffer[]); + #endif + + #if DW1000NG_DEBUG + void getPrettyBytes(byte data[], char msgBuffer[], uint16_t n); + void getPrettyBytes(byte cmd, uint16_t offset, char msgBuffer[], uint16_t n); + #endif +}; diff --git a/src/dwm1000/DW1000NgCompileOptions.hpp b/src/dwm1000/DW1000NgCompileOptions.hpp new file mode 100644 index 0000000..a61c3b8 --- /dev/null +++ b/src/dwm1000/DW1000NgCompileOptions.hpp @@ -0,0 +1,70 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +/** + * Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de) + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file DW1000CompileOptions.h + * Here are some options to optimize code and save some ram and rom + * + */ + +#pragma once + +/** + * Adds printing functions to base driver + * +*/ +#define DW1000NG_PRINTABLE true +/** + * Adds debug functionalities + * +*/ +#define DW1000NG_DEBUG false + +/** + * Optimizes code for the DWM1000 Module + */ +#define DWM1000_OPTIMIZED false + +/** + * Printable DW1000NgDeviceConfiguration about: rom:2494 byte ; ram 256 byte + * This option is needed because compiler can not optimize unused codes from inheritanced methods + * Some examples or debug code use this + * Set false if you do not need it and have to save some space + */ +#define DW1000NGCONFIGURATION_H_PRINTABLE false \ No newline at end of file diff --git a/src/dwm1000/DW1000NgConfiguration.hpp b/src/dwm1000/DW1000NgConfiguration.hpp new file mode 100644 index 0000000..5362238 --- /dev/null +++ b/src/dwm1000/DW1000NgConfiguration.hpp @@ -0,0 +1,73 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#include +#include "DW1000NgConstants.hpp" + +typedef struct device_configuration_t { + boolean extendedFrameLength; + boolean receiverAutoReenable; + boolean smartPower; + boolean frameCheck; + boolean nlos; + SFDMode sfd; + Channel channel; + DataRate dataRate; + PulseFrequency pulseFreq; + PreambleLength preambleLen; + PreambleCode preaCode; +} device_configuration_t; + +typedef struct interrupt_configuration_t { + boolean interruptOnSent; + boolean interruptOnReceived; + boolean interruptOnReceiveFailed; + boolean interruptOnReceiveTimeout; + boolean interruptOnReceiveTimestampAvailable; + boolean interruptOnAutomaticAcknowledgeTrigger; +} interrupt_configuration_t; + +typedef struct frame_filtering_configuration_t { + boolean behaveAsCoordinator; + boolean allowBeacon; + boolean allowData; + boolean allowAcknowledgement; + boolean allowMacCommand; + boolean allowAllReserved; + boolean allowReservedFour; + boolean allowReservedFive; +} frame_filtering_configuration_t; + +typedef struct sleep_configuration_t { + boolean onWakeUpRunADC; + boolean onWakeUpReceive; + boolean onWakeUpLoadEUI; + boolean onWakeUpLoadL64Param; + boolean preserveSleep; + boolean enableSLP; + boolean enableWakePIN; + boolean enableWakeSPI; +} sleep_configuration_t; \ No newline at end of file diff --git a/src/dwm1000/DW1000NgConstants.hpp b/src/dwm1000/DW1000NgConstants.hpp new file mode 100644 index 0000000..097a3d7 --- /dev/null +++ b/src/dwm1000/DW1000NgConstants.hpp @@ -0,0 +1,235 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#include + +#define GPIO_MODE 0 +#define LED_MODE 1 + + + constexpr float TIME_RES = 0.000015650040064103f; + constexpr float TIME_RES_INV = 63897.6f; + + /* Speed of radio waves (light) [m/s] * timestamp resolution [~15.65ps] of DW1000Ng */ + constexpr float DISTANCE_OF_RADIO = 0.0046917639786159f; + constexpr float DISTANCE_OF_RADIO_INV = 213.139451293f; + + // timestamp byte length - 40 bit -> 5 byte + constexpr uint8_t LENGTH_TIMESTAMP = 5; + + // timer/counter overflow (40 bits) -> 4overflow approx. every 17.2 seconds + constexpr int64_t TIME_OVERFLOW = 0x10000000000; //1099511627776LL + constexpr int64_t TIME_MAX = 0xffffffffff; + + // time factors (relative to [us]) for setting delayed transceive + // TODO use non float + constexpr float SECONDS = 1e6; + constexpr float MILLISECONDS = 1e3; + constexpr float MICROSECONDS = 1; + constexpr float NANOSECONDS = 1e-3; + +/* preamble codes (CHAN_CTRL - RX & TX _CODE) - reg:0x1F, bits:31-27,26-22 */ + +enum class PreambleCode : byte { + CODE_1 = 1, + CODE_2, + CODE_3, + CODE_4, + CODE_5, + CODE_6, + CODE_7, + CODE_8, + CODE_9, + CODE_10, + CODE_11, + CODE_12, + CODE_17 = 17, + CODE_18, + CODE_19, + CODE_20 +}; + +/* Validity matrix for 16 MHz PRF preamble codes */ +constexpr byte preamble_validity_matrix_PRF16[8][2] = { + {0,0}, /* Channel 0 doesn't exist */ + {1, 2}, + {3, 4}, + {5, 6}, + {7, 8}, + {3, 4}, + {0,0}, /* Channel 5 doesn't exist */ + {7, 8} +}; + +/* Validity matrix for 64 MHz PRF preamble codes */ +constexpr byte preamble_validity_matrix_PRF64[8][4] = { + {0,0,0,0}, /* Channel 0 doesn't exist */ + {9, 10, 11, 12}, + {9, 10, 11, 12}, + {9, 10, 11, 12}, + {17, 18, 19, 20}, + {9, 10, 11, 12}, + {0,0,0,0}, /* Channel 5 doesn't exist */ + {17, 18, 19, 20} +}; + +/* transmission/reception bit rate (TXBR) - reg:0x08, bits:14,13 */ +enum class DataRate : byte { + RATE_110KBPS, + RATE_850KBPS, + RATE_6800KBPS +}; + +/* transmission pulse frequency (TXPRF) - reg:0x08, bits:17,16 +* 0x00 is 4MHZ, but receiver in DW1000Ng does not support it (!??) */ +enum class PulseFrequency : byte { + FREQ_16MHZ = 0x01, + FREQ_64MHZ +}; + +/* preamble length (PE + TXPSR) - reg:0x08, bits:21,20,19,18 - table 16 */ +enum class PreambleLength : byte { + LEN_64 = 0x01, + LEN_128 = 0x05, + LEN_256 = 0x09, + LEN_512 = 0x0D, + LEN_1024 = 0x02, + LEN_1536 = 0x06, + LEN_2048 = 0x0A, + LEN_4096 = 0x03 +}; + + +/* PAC size (DRX_TUNE2) - reg:0x08, sub-reg:0x27, bits:26,25 - table 33 +* The value to program the sub-register changes in based of RXPRF */ +enum class PacSize : byte { + SIZE_8 = 8, + SIZE_16 = 16, + SIZE_32 = 32, + SIZE_64 = 64 +}; + +/* channel of operation (CHAN_CTRL - TX & RX _CHAN) - reg:0x1F, bits:3-0,7-4 */ +enum class Channel : byte { + CHANNEL_1 = 1, + CHANNEL_2, + CHANNEL_3, + CHANNEL_4, + CHANNEL_5, + CHANNEL_7 = 7 +}; + +/* Register is 6 bit, 7 = write, 6 = sub-adressing, 5-0 = register value + * Total header with sub-adressing can be 15 bit. */ +constexpr byte WRITE = 0x80; // regular write +constexpr byte WRITE_SUB = 0xC0; // write with sub address +constexpr byte READ = 0x00; // regular read +constexpr byte READ_SUB = 0x40; // read with sub address +constexpr byte RW_SUB_EXT = 0x80; // R/W with sub address extension + +/* clocks available. */ +constexpr byte SYS_AUTO_CLOCK = 0x00; +constexpr byte SYS_XTI_CLOCK = 0x01; +constexpr byte SYS_PLL_CLOCK = 0x02; +constexpr byte TX_PLL_CLOCK = 0x20; +constexpr byte LDE_CLOCK = 0x03; + +/* range bias tables - APS011*/ + +constexpr double BIAS_TABLE[18][5] = { + {61, -198, -110, -275, -295}, + {63, -187, -105, -244, -266}, + {65, -179, -100, -210, -235}, + {67, -163, -93, -176, -199}, + {69, -143, -82, -138, -150}, + {71, -127, -69, -95, -100}, + {73, -109, -51, -51, -58}, + {75, -84, -27, 0, 0}, + {77, -59, 0, 42, 49}, + {79, -31, 21, 97, 91}, + {81, 0, 35, 158, 127}, + {83, 36, 42, 210, 153}, + {85, 65, 49, 254, 175}, + {87, 84, 62, 294, 197}, + {89, 97, 71, 321, 233}, + {91, 106, 76, 339, 245}, + {93, 110, 81, 356, 264}, + {95, 112, 86, 394, 284} +}; + +enum class DriverAmplifierValue : byte { + dB_18, + dB_15, + dB_12, + dB_9, + dB_6, + dB_3, + dB_0, + OFF +}; + +enum class TransmitMixerValue : byte { + dB_0, + dB_0_5, + dB_1, + dB_1_5, + dB_2, + dB_2_5, + dB_3, + dB_3_5, + dB_4, + dB_4_5, + dB_5, + dB_5_5, + dB_6, + dB_6_5, + dB_7, + dB_7_5, + dB_8, + dB_8_5, + dB_9, + dB_9_5, + dB_10, + dB_10_5, + dB_11, + dB_11_5, + dB_12, + dB_12_5, + dB_13, + dB_13_5, + dB_14, + dB_14_5, + dB_15, + dB_15_5 +}; + +enum class SFDMode {STANDARD_SFD, DECAWAVE_SFD}; + +enum class TransmitMode {IMMEDIATE, DELAYED}; + +enum class ReceiveMode {IMMEDIATE, DELAYED}; + +enum class SPIClock {SLOW, FAST}; \ No newline at end of file diff --git a/src/dwm1000/DW1000NgRTLS.cpp b/src/dwm1000/DW1000NgRTLS.cpp new file mode 100644 index 0000000..1e0dcd6 --- /dev/null +++ b/src/dwm1000/DW1000NgRTLS.cpp @@ -0,0 +1,349 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#include +#include "DW1000NgRTLS.hpp" +#include "DW1000Ng.hpp" +#include "DW1000NgUtils.hpp" +#include "DW1000NgTime.hpp" +#include "DW1000NgRanging.hpp" + +static byte SEQ_NUMBER = 0; + +namespace DW1000NgRTLS { + + byte increaseSequenceNumber(){ + return ++SEQ_NUMBER; + } + + void transmitTwrShortBlink() { + byte Blink[] = {BLINK, SEQ_NUMBER++, 0,0,0,0,0,0,0,0, NO_BATTERY_STATUS | NO_EX_ID, TAG_LISTENING_NOW}; + DW1000Ng::getEUI(&Blink[2]); + DW1000Ng::setTransmitData(Blink, sizeof(Blink)); + DW1000Ng::startTransmit(); + } + + void transmitRangingInitiation(byte tag_eui[], byte tag_short_address[]) { + byte RangingInitiation[] = {DATA, SHORT_SRC_LONG_DEST, SEQ_NUMBER++, 0,0, 0,0,0,0,0,0,0,0, 0,0, RANGING_INITIATION, 0,0}; + DW1000Ng::getNetworkId(&RangingInitiation[3]); + memcpy(&RangingInitiation[5], tag_eui, 8); + DW1000Ng::getDeviceAddress(&RangingInitiation[13]); + memcpy(&RangingInitiation[16], tag_short_address, 2); + DW1000Ng::setTransmitData(RangingInitiation, sizeof(RangingInitiation)); + DW1000Ng::startTransmit(); + } + + void transmitPoll(byte anchor_address[]){ + byte Poll[] = {DATA, SHORT_SRC_AND_DEST, SEQ_NUMBER++, 0,0, 0,0, 0,0 , RANGING_TAG_POLL}; + DW1000Ng::getNetworkId(&Poll[3]); + memcpy(&Poll[5], anchor_address, 2); + DW1000Ng::getDeviceAddress(&Poll[7]); + DW1000Ng::setTransmitData(Poll, sizeof(Poll)); + DW1000Ng::startTransmit(); + } + + void transmitResponseToPoll(byte tag_short_address[]) { + byte pollAck[] = {DATA, SHORT_SRC_AND_DEST, SEQ_NUMBER++, 0,0, 0,0, 0,0, ACTIVITY_CONTROL, RANGING_CONTINUE, 0, 0}; + DW1000Ng::getNetworkId(&pollAck[3]); + memcpy(&pollAck[5], tag_short_address, 2); + DW1000Ng::getDeviceAddress(&pollAck[7]); + DW1000Ng::setTransmitData(pollAck, sizeof(pollAck)); + DW1000Ng::startTransmit(); + } + + void transmitFinalMessage(byte anchor_address[], uint16_t reply_delay, uint64_t timePollSent, uint64_t timeResponseToPollReceived) { + /* Calculation of future time */ + byte futureTimeBytes[LENGTH_TIMESTAMP]; + + uint64_t timeFinalMessageSent = DW1000Ng::getSystemTimestamp(); + timeFinalMessageSent += DW1000NgTime::microsecondsToUWBTime(reply_delay); + DW1000NgUtils::writeValueToBytes(futureTimeBytes, timeFinalMessageSent, LENGTH_TIMESTAMP); + DW1000Ng::setDelayedTRX(futureTimeBytes); + timeFinalMessageSent += DW1000Ng::getTxAntennaDelay(); + + byte finalMessage[] = {DATA, SHORT_SRC_AND_DEST, SEQ_NUMBER++, 0,0, 0,0, 0,0, RANGING_TAG_FINAL_RESPONSE_EMBEDDED, + 0,0,0,0,0,0,0,0,0,0,0,0 + }; + + DW1000Ng::getNetworkId(&finalMessage[3]); + memcpy(&finalMessage[5], anchor_address, 2); + DW1000Ng::getDeviceAddress(&finalMessage[7]); + + DW1000NgUtils::writeValueToBytes(finalMessage + 10, (uint32_t) timePollSent, 4); + DW1000NgUtils::writeValueToBytes(finalMessage + 14, (uint32_t) timeResponseToPollReceived, 4); + DW1000NgUtils::writeValueToBytes(finalMessage + 18, (uint32_t) timeFinalMessageSent, 4); + DW1000Ng::setTransmitData(finalMessage, sizeof(finalMessage)); + DW1000Ng::startTransmit(TransmitMode::DELAYED); + } + + void transmitRangingConfirm(byte tag_short_address[], byte next_anchor[]) { + byte rangingConfirm[] = {DATA, SHORT_SRC_AND_DEST, SEQ_NUMBER++, 0,0, 0,0, 0,0, ACTIVITY_CONTROL, RANGING_CONFIRM, next_anchor[0], next_anchor[1]}; + DW1000Ng::getNetworkId(&rangingConfirm[3]); + memcpy(&rangingConfirm[5], tag_short_address, 2); + DW1000Ng::getDeviceAddress(&rangingConfirm[7]); + DW1000Ng::setTransmitData(rangingConfirm, sizeof(rangingConfirm)); + DW1000Ng::startTransmit(); + } + + void transmitActivityFinished(byte tag_short_address[], byte blink_rate[]) { + /* I send the new blink rate to the tag */ + byte rangingConfirm[] = {DATA, SHORT_SRC_AND_DEST, SEQ_NUMBER++, 0,0, 0,0, 0,0, ACTIVITY_CONTROL, ACTIVITY_FINISHED, blink_rate[0], blink_rate[1]}; + DW1000Ng::getNetworkId(&rangingConfirm[3]); + memcpy(&rangingConfirm[5], tag_short_address, 2); + DW1000Ng::getDeviceAddress(&rangingConfirm[7]); + DW1000Ng::setTransmitData(rangingConfirm, sizeof(rangingConfirm)); + DW1000Ng::startTransmit(); + } + + static uint32_t calculateNewBlinkRate(byte frame[]) { + uint32_t blinkRate = frame[11] + static_cast(((frame[12] & 0x3F) << 8)); + byte multiplier = ((frame[12] & 0xC0) >> 6); + if(multiplier == 0x01) { + blinkRate *= 25; + } else if(multiplier == 0x02) { + blinkRate *= 1000; + } + + return blinkRate; + } + + void waitForTransmission() { + while(!DW1000Ng::isTransmitDone()) { + #if defined(ESP8266) + yield(); + #endif + } + DW1000Ng::clearTransmitStatus(); + } + + boolean receiveFrame() { + DW1000Ng::startReceive(); + while(!DW1000Ng::isReceiveDone()) { + if(DW1000Ng::isReceiveTimeout() ) { + DW1000Ng::clearReceiveTimeoutStatus(); + return false; + } + #if defined(ESP8266) + yield(); + #endif + } + DW1000Ng::clearReceiveStatus(); + return true; + } + + static boolean waitForNextRangingStep() { + DW1000NgRTLS::waitForTransmission(); + if(!DW1000NgRTLS::receiveFrame()) return false; + return true; + } + + RangeRequestResult tagRangeRequest() { + DW1000NgRTLS::transmitTwrShortBlink(); + + if(!DW1000NgRTLS::waitForNextRangingStep()) return {false, 0}; + + size_t init_len = DW1000Ng::getReceivedDataLength(); + byte init_recv[init_len]; + DW1000Ng::getReceivedData(init_recv, init_len); + + if(!(init_len > 17 && init_recv[15] == RANGING_INITIATION)) { + return { false, 0}; + } + + DW1000Ng::setDeviceAddress(DW1000NgUtils::bytesAsValue(&init_recv[16], 2)); + return { true, static_cast(DW1000NgUtils::bytesAsValue(&init_recv[13], 2)) }; + } + + static RangeResult tagFinishRange(uint16_t anchor, uint16_t replyDelayUs) { + RangeResult returnValue; + + byte target_anchor[2]; + DW1000NgUtils::writeValueToBytes(target_anchor, anchor, 2); + DW1000NgRTLS::transmitPoll(target_anchor); + /* Start of poll control for range */ + if(!DW1000NgRTLS::waitForNextRangingStep()) { + returnValue = {false, false, 0, 0}; + } else { + + size_t cont_len = DW1000Ng::getReceivedDataLength(); + byte cont_recv[cont_len]; + DW1000Ng::getReceivedData(cont_recv, cont_len); + + if (cont_len > 10 && cont_recv[9] == ACTIVITY_CONTROL && cont_recv[10] == RANGING_CONTINUE) { + /* Received Response to poll */ + DW1000NgRTLS::transmitFinalMessage( + &cont_recv[7], + replyDelayUs, + DW1000Ng::getTransmitTimestamp(), // Poll transmit time + DW1000Ng::getReceiveTimestamp() // Response to poll receive time + ); + + if(!DW1000NgRTLS::waitForNextRangingStep()) { + returnValue = {false, false, 0, 0}; + } else { + + size_t act_len = DW1000Ng::getReceivedDataLength(); + byte act_recv[act_len]; + DW1000Ng::getReceivedData(act_recv, act_len); + + if(act_len > 10 && act_recv[9] == ACTIVITY_CONTROL) { + if (act_len > 12 && act_recv[10] == RANGING_CONFIRM) { + returnValue = {true, true, static_cast(DW1000NgUtils::bytesAsValue(&act_recv[11], 2)), 0}; + } else if(act_len > 12 && act_recv[10] == ACTIVITY_FINISHED) { + returnValue = {true, false, 0, calculateNewBlinkRate(act_recv)}; + } + } else { + returnValue = {false, false, 0, 0}; + } + } + } else { + returnValue = {false, false, 0, 0}; + } + + } + + return returnValue; + } + + RangeInfrastructureResult tagRangeInfrastructure(uint16_t target_anchor, uint16_t finalMessageDelay) { + RangeInfrastructureResult returnValue; + + RangeResult result = tagFinishRange(target_anchor, finalMessageDelay); + byte keep_going = 1; + + if(!result.success) { + keep_going = 0; + returnValue = {false , 0}; + } else { + while(result.success && result.next) { + result = tagFinishRange(result.next_anchor, finalMessageDelay); + if(!result.success) { + keep_going = 0; + returnValue = {false , 0}; + break; + } + + #if defined(ESP8266) + if (keep_going == 1) { + yield(); + } + #endif + } + + if (keep_going == 1) { + + if(result.success && result.new_blink_rate != 0) { + keep_going = 0; + returnValue = { true, static_cast(result.new_blink_rate) }; + } else { + if(!result.success) { + keep_going = 0; + returnValue = { false , 0 }; + } else { + // TODO. Handle this condition? + } + } + } + } + return returnValue; + } + + RangeInfrastructureResult tagTwrLocalize(uint16_t finalMessageDelay) { + RangeRequestResult request_result = DW1000NgRTLS::tagRangeRequest(); + + if(request_result.success) { + + RangeInfrastructureResult result = DW1000NgRTLS::tagRangeInfrastructure(request_result.target_anchor, finalMessageDelay); + + if(result.success) + return result; + } + return {false, 0}; + } + + RangeAcceptResult anchorRangeAccept(NextActivity next, uint16_t value) { + RangeAcceptResult returnValue; + + double range; + if(!DW1000NgRTLS::receiveFrame()) { + returnValue = {false, 0}; + } else { + + size_t poll_len = DW1000Ng::getReceivedDataLength(); + byte poll_data[poll_len]; + DW1000Ng::getReceivedData(poll_data, poll_len); + + if(poll_len > 9 && poll_data[9] == RANGING_TAG_POLL) { + uint64_t timePollReceived = DW1000Ng::getReceiveTimestamp(); + DW1000NgRTLS::transmitResponseToPoll(&poll_data[7]); + DW1000NgRTLS::waitForTransmission(); + uint64_t timeResponseToPoll = DW1000Ng::getTransmitTimestamp(); + delayMicroseconds(1500); + + if(!DW1000NgRTLS::receiveFrame()) { + returnValue = {false, 0}; + } else { + + size_t rfinal_len = DW1000Ng::getReceivedDataLength(); + byte rfinal_data[rfinal_len]; + DW1000Ng::getReceivedData(rfinal_data, rfinal_len); + if(rfinal_len > 18 && rfinal_data[9] == RANGING_TAG_FINAL_RESPONSE_EMBEDDED) { + uint64_t timeFinalMessageReceive = DW1000Ng::getReceiveTimestamp(); + + byte finishValue[2]; + DW1000NgUtils::writeValueToBytes(finishValue, value, 2); + + if(next == NextActivity::RANGING_CONFIRM) { + DW1000NgRTLS::transmitRangingConfirm(&rfinal_data[7], finishValue); + } else { + DW1000NgRTLS::transmitActivityFinished(&rfinal_data[7], finishValue); + } + + DW1000NgRTLS::waitForTransmission(); + + range = DW1000NgRanging::computeRangeAsymmetric( + DW1000NgUtils::bytesAsValue(rfinal_data + 10, LENGTH_TIMESTAMP), // Poll send time + timePollReceived, + timeResponseToPoll, // Response to poll sent time + DW1000NgUtils::bytesAsValue(rfinal_data + 14, LENGTH_TIMESTAMP), // Response to Poll Received + DW1000NgUtils::bytesAsValue(rfinal_data + 18, LENGTH_TIMESTAMP), // Final Message send time + timeFinalMessageReceive // Final message receive time + ); + + range = DW1000NgRanging::correctRange(range); + + /* In case of wrong read due to bad device calibration */ + if(range <= 0) + range = 0.000001; + + returnValue = {true, range}; + } + } + } + } + + return returnValue; + } + +} \ No newline at end of file diff --git a/src/dwm1000/DW1000NgRTLS.hpp b/src/dwm1000/DW1000NgRTLS.hpp new file mode 100644 index 0000000..30abe99 --- /dev/null +++ b/src/dwm1000/DW1000NgRTLS.hpp @@ -0,0 +1,133 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#include + +/* Frame control */ +constexpr byte BLINK = 0xC5; +constexpr byte DATA = 0x41; +constexpr byte SHORT_SRC_AND_DEST = 0x88; +constexpr byte LONG_SRC_AND_DEST = 0xCC; +constexpr byte SHORT_SRC_LONG_DEST = 0x8C; +constexpr byte LONG_SRC_SHORT_DEST = 0xC8; + +/* Application ID */ +constexpr byte RTLS_APP_ID_LOW = 0x9A; +constexpr byte RTLS_APP_ID_HIGH = 0x60; +constexpr uint16_t RTLS_APP_ID = RTLS_APP_ID_LOW | ((uint16_t) (RTLS_APP_ID_HIGH << 8)); + +/* Function code */ +constexpr byte ACTIVITY_CONTROL = 0x10; +constexpr byte RANGING_INITIATION = 0x20; +constexpr byte RANGING_TAG_POLL = 0x21; +constexpr byte RANGING_TAG_FINAL_RESPONSE_EMBEDDED = 0x23; +constexpr byte RANGING_TAG_FINAL_RESPONSE_NO_EMBEDDED = 0x25; +constexpr byte RANGING_TAG_FINAL_SEND_TIME = 0x27; + +/* Activity code */ +constexpr byte ACTIVITY_FINISHED = 0x00; +constexpr byte RANGING_CONFIRM = 0x01; +constexpr byte RANGING_CONTINUE = 0x02; + +/* BLINK Encoding Header */ +constexpr byte BATTERY_GOOD = 0x00; +constexpr byte BATTERY_10_30_PERCENT = 0x02; +constexpr byte BATTERY_0_10_PERCENT = 0x01; +constexpr byte NO_BATTERY_STATUS = 0x03; + +constexpr byte TEMPERATURE_DATA = 0x20; + +constexpr byte EX_ID = 0x80; +constexpr byte NO_EX_ID = 0x40; + +/* BLINK Ext Header */ +constexpr byte BLINK_RATE_AND_LISTENING = 0x01; +constexpr byte TAG_LISTENING_NOW = 0x02; + +enum class NextActivity { + ACTIVITY_FINISHED, + RANGING_CONFIRM +}; + +typedef struct RangeRequestResult { + boolean success; + uint16_t target_anchor; +} RangeRequestResult; + +typedef struct RangeResult { + boolean success; + boolean next; + uint16_t next_anchor; + uint32_t new_blink_rate; +} RangeResult; + +typedef struct RangeInfrastructureResult { + boolean success; + uint16_t new_blink_rate; +} RangeInfrastructureResult; + +typedef struct RangeAcceptResult { + boolean success; + double range; +} RangeAcceptResult; + +namespace DW1000NgRTLS { + /*** TWR functions used in ISO/IEC 24730-62:2013, refer to the standard or the decawave manual for details about TWR ***/ + byte increaseSequenceNumber(); + void transmitTwrShortBlink(); + void transmitRangingInitiation(byte tag_eui[], byte tag_short_address[]); + void transmitPoll(byte anchor_address[]); + void transmitResponseToPoll(byte tag_short_address[]); + void transmitFinalMessage(byte anchor_address[], uint16_t reply_delay, uint64_t timePollSent, uint64_t timeResponseToPollReceived); + void transmitRangingConfirm(byte tag_short_address[], byte next_anchor[]); + void transmitActivityFinished(byte tag_short_address[], byte blink_rate[]); + + boolean receiveFrame(); + void waitForTransmission(); + /*** End of TWR functions ***/ + + /* Send a request range from tag to the rtls infrastructure */ + RangeRequestResult tagRangeRequest(); + + /* Used by an anchor to accept an incoming tagRangeRequest by means of the infrastructure + NextActivity is used to indicate the tag what to do next after the ranging process (Activity finished is to return to blink (range request), + Continue range is to tell the tag to range a new anchor) + value is the value relative to the next activity (Activity finished = new blink rante, continue range = new anchor address) + */ + RangeAcceptResult anchorRangeAccept(NextActivity next, uint16_t value); + + /* Used by tag to range after range request accept of the infrastructure + Target anchor is given after a range request success + Finalmessagedelay is used in the process of TWR, a value of 1500 works on 8mhz-80mhz range devices, + you could try to decrease it to improve system performance. + */ + RangeInfrastructureResult tagRangeInfrastructure(uint16_t target_anchor, uint16_t finalMessageDelay); + + /* Can be used as a single function start the localization process from the tag. + Finalmessagedelay is the same as in function tagRangeInfrastructure + */ + RangeInfrastructureResult tagTwrLocalize(uint16_t finalMessageDelay); +} \ No newline at end of file diff --git a/src/dwm1000/DW1000NgRanging.cpp b/src/dwm1000/DW1000NgRanging.cpp new file mode 100644 index 0000000..d2eed64 --- /dev/null +++ b/src/dwm1000/DW1000NgRanging.cpp @@ -0,0 +1,88 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#include +#include "DW1000Ng.hpp" +#include "DW1000NgConstants.hpp" +#include "DW1000NgRanging.hpp" +#include "DW1000NgConstants.hpp" +#include "DW1000NgRTLS.hpp" + +namespace DW1000NgRanging { + + /* asymmetric two-way ranging (more computation intense, less error prone) */ + double computeRangeAsymmetric( + uint64_t timePollSent, + uint64_t timePollReceived, + uint64_t timePollAckSent, + uint64_t timePollAckReceived, + uint64_t timeRangeSent, + uint64_t timeRangeReceived + ) + { + uint32_t timePollSent_32 = static_cast(timePollSent); + uint32_t timePollReceived_32 = static_cast(timePollReceived); + uint32_t timePollAckSent_32 = static_cast(timePollAckSent); + uint32_t timePollAckReceived_32 = static_cast(timePollAckReceived); + uint32_t timeRangeSent_32 = static_cast(timeRangeSent); + uint32_t timeRangeReceived_32 = static_cast(timeRangeReceived); + + double round1 = static_cast(timePollAckReceived_32 - timePollSent_32); + double reply1 = static_cast(timePollAckSent_32 - timePollReceived_32); + double round2 = static_cast(timeRangeReceived_32 - timePollAckSent_32); + double reply2 = static_cast(timeRangeSent_32 - timePollAckReceived_32); + + int64_t tof_uwb = static_cast((round1 * round2 - reply1 * reply2) / (round1 + round2 + reply1 + reply2)); + double distance = tof_uwb * DISTANCE_OF_RADIO; + + return distance; + } + + double correctRange(double range) { + double result = 0; + + Channel currentChannel = DW1000Ng::getChannel(); + double rxPower = -(static_cast(DW1000Ng::getReceivePower())); + + size_t index = DW1000Ng::getPulseFrequency() == PulseFrequency::FREQ_16MHZ ? 1 : 2; + if(currentChannel == Channel::CHANNEL_4 || currentChannel == Channel::CHANNEL_7) + index+=2; + + if (rxPower < BIAS_TABLE[0][0]) { + result = range += BIAS_TABLE[0][index]*0.001; + } else if (rxPower >= BIAS_TABLE[17][0]) { + result = range += BIAS_TABLE[17][index]*0.001; + } else { + for(auto i=0; i < 17; i++) { + if (rxPower >= BIAS_TABLE[i][0] && rxPower < BIAS_TABLE[i+1][0]){ + result = range += BIAS_TABLE[i][index]*0.001; + break; + } + } + } + + return result; + } + +} diff --git a/src/dwm1000/DW1000NgRanging.hpp b/src/dwm1000/DW1000NgRanging.hpp new file mode 100644 index 0000000..c6a3c18 --- /dev/null +++ b/src/dwm1000/DW1000NgRanging.hpp @@ -0,0 +1,59 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#include + +namespace DW1000NgRanging { + + /** + Asymmetric two-way ranging algorithm (more computation intense, less error prone) + + @param [in] timePollSent timestamp of poll transmission + @param [in] timePollReceived timestamp of poll receive + @param [in] timePollAckSent timestamp of response to poll transmission + @param [in] timePollAckReceived timestamp of response to poll receive + @param [in] timeRangeSent timestamp of final message transmission + @param [in] timeRangeReceived timestamp of final message receive + + returns the range in meters + */ + double computeRangeAsymmetric( + uint64_t timePollSent, + uint64_t timePollReceived, + uint64_t timePollAckSent, + uint64_t timePollAckReceived, + uint64_t timeRangeSent, + uint64_t timeRangeReceived + ); + //TODO Symmetric + + /** + Removes bias from the target range + + returns the unbiased range + */ + double correctRange(double range); +} \ No newline at end of file diff --git a/src/dwm1000/DW1000NgRegisters.hpp b/src/dwm1000/DW1000NgRegisters.hpp new file mode 100644 index 0000000..87b7f40 --- /dev/null +++ b/src/dwm1000/DW1000NgRegisters.hpp @@ -0,0 +1,361 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#include + +// no sub-address for register write +constexpr uint16_t NO_SUB = 0xFF; + +// device id register +constexpr uint16_t DEV_ID = 0x00; +constexpr uint16_t LEN_DEV_ID = 4; + +// extended unique identifier register +constexpr uint16_t EUI = 0x01; +constexpr uint16_t LEN_EUI = 8; + +// PAN identifier, short address register +constexpr uint16_t PANADR = 0x03; +constexpr uint16_t LEN_PANADR = 4; + +// device configuration register +constexpr uint16_t SYS_CFG = 0x04; +constexpr uint16_t FFEN_BIT = 0; +constexpr uint16_t FFBC_BIT = 1; +constexpr uint16_t FFAB_BIT = 2; +constexpr uint16_t FFAD_BIT = 3; +constexpr uint16_t FFAA_BIT = 4; +constexpr uint16_t FFAM_BIT = 5; +constexpr uint16_t FFAR_BIT = 6; +constexpr uint16_t FFA4_BIT = 7; +constexpr uint16_t FFA5_BIT = 8; +constexpr uint16_t HIRQ_POL_BIT = 9; +constexpr uint16_t SPI_EDGE_BIT = 10; +constexpr uint16_t DIS_FCE_BIT = 11; +constexpr uint16_t DIS_DRXB_BIT = 12; +constexpr uint16_t DIS_PHE_BIT = 13; +constexpr uint16_t DIS_RSDE_BIT = 14; +constexpr uint16_t FCS_INIT2F_BIT = 15; +constexpr uint16_t PHR_MODE_0_BIT = 16; +constexpr uint16_t PHR_MODE_1_BIT = 17; +constexpr uint16_t DIS_STXP_BIT = 18; +constexpr uint16_t RXM110K_BIT = 22; +constexpr uint16_t RXWTOE_BIT = 28; +constexpr uint16_t RXAUTR_BIT = 29; +constexpr uint16_t AUTOACK_BIT = 30; +constexpr uint16_t AACKPEND_BIT = 31; +constexpr uint16_t LEN_SYS_CFG = 4; + +// device control register +constexpr uint16_t SYS_CTRL = 0x0D; +constexpr uint16_t LEN_SYS_CTRL = 4; +constexpr uint16_t SFCST_BIT = 0; +constexpr uint16_t TXSTRT_BIT = 1; +constexpr uint16_t TXDLYS_BIT = 2; +constexpr uint16_t TRXOFF_BIT = 6; +constexpr uint16_t WAIT4RESP_BIT = 7; +constexpr uint16_t RXENAB_BIT = 8; +constexpr uint16_t RXDLYS_BIT = 9; + +// system event status register +constexpr uint16_t SYS_STATUS = 0x0F; +constexpr uint16_t SYS_STATUS_SUB = 0x04; +constexpr uint16_t IRQS_BIT = 0; +constexpr uint16_t CPLOCK_BIT = 1; +constexpr uint16_t ESYNCR_BIT = 2; +constexpr uint16_t AAT_BIT = 3; +constexpr uint16_t TXFRB_BIT = 4; +constexpr uint16_t TXPRS_BIT = 5; +constexpr uint16_t TXPHS_BIT = 6; +constexpr uint16_t TXFRS_BIT = 7; +constexpr uint16_t RXPRD_BIT = 8; +constexpr uint16_t RXSFDD_BIT = 9; +constexpr uint16_t LDEDONE_BIT = 10; +constexpr uint16_t RXPHD_BIT = 11; +constexpr uint16_t RXPHE_BIT = 12; +constexpr uint16_t RXDFR_BIT = 13; +constexpr uint16_t RXFCG_BIT = 14; +constexpr uint16_t RXFCE_BIT = 15; +constexpr uint16_t RXRFSL_BIT = 16; +constexpr uint16_t RXRFTO_BIT = 17; +constexpr uint16_t LDEERR_BIT = 18; +constexpr uint16_t RXOVRR_BIT = 20; +constexpr uint16_t RXPTO_BIT = 21; +constexpr uint16_t GPIOIRQ_BIT = 22; +constexpr uint16_t SLP2INIT_BIT = 23; +constexpr uint16_t RFPLL_LL_BIT = 24; +constexpr uint16_t CLKPLL_LL_BIT = 25; +constexpr uint16_t RXSFDTO_BIT = 26; +constexpr uint16_t HPDWARN_BIT = 27; +constexpr uint16_t TXBERR_BIT = 28; +constexpr uint16_t AFFREJ_BIT = 29; +constexpr uint16_t HSRBP_BIT = 30; +constexpr uint16_t ICRBP_BIT = 31; +constexpr uint16_t RXRSCS_BIT = 0; +constexpr uint16_t RXPREJ_BIT = 1; +constexpr uint16_t TXPUTE_BIT = 2; +constexpr uint16_t LEN_SYS_STATUS = 4; +constexpr uint16_t LEN_SYS_STATUS_SUB = 1; + +// system event mask register +// NOTE: uses the bit definitions of SYS_STATUS (below 32) +constexpr uint16_t SYS_MASK = 0x0E; +constexpr uint16_t LEN_SYS_MASK = 4; + +// system time counter +constexpr uint16_t SYS_TIME = 0x06; +constexpr uint16_t LEN_SYS_TIME = 5; + +// RX timestamp register +constexpr uint16_t RX_TIME = 0x15; +constexpr uint16_t LEN_RX_TIME = 14; +constexpr uint16_t RX_STAMP_SUB = 0x00; +constexpr uint16_t FP_AMPL1_SUB = 0x07; +constexpr uint16_t LEN_RX_STAMP = 5; +constexpr uint16_t LEN_FP_AMPL1 = 2; + +// RX frame quality +constexpr uint16_t RX_FQUAL = 0x12; +constexpr uint16_t LEN_RX_FQUAL = 8; +constexpr uint16_t STD_NOISE_SUB = 0x00; +constexpr uint16_t FP_AMPL2_SUB = 0x02; +constexpr uint16_t FP_AMPL3_SUB = 0x04; +constexpr uint16_t CIR_PWR_SUB = 0x06; +constexpr uint16_t LEN_STD_NOISE = 2; +constexpr uint16_t LEN_FP_AMPL2 = 2; +constexpr uint16_t LEN_FP_AMPL3 = 2; +constexpr uint16_t LEN_CIR_PWR = 2; + +// TX timestamp register +constexpr uint16_t TX_TIME = 0x17; +constexpr uint16_t LEN_TX_TIME = 10; +constexpr uint16_t TX_STAMP_SUB = 0; +constexpr uint16_t LEN_TX_STAMP = 5; + +// timing register (for delayed RX/TX) +constexpr uint16_t DX_TIME = 0x0A; +constexpr uint16_t LEN_DX_TIME = 5; + +// Receive Frame Wait Timeout Period +constexpr uint16_t RX_WFTO = 0x0C; +constexpr uint16_t LEN_RX_WFTO = 2; + +// transmit data buffer +constexpr uint16_t TX_BUFFER = 0x09; +constexpr uint16_t LEN_TX_BUFFER = 1024; +constexpr uint16_t LEN_UWB_FRAMES = 127; +constexpr uint16_t LEN_EXT_UWB_FRAMES = 1023; + +// RX frame info +constexpr uint16_t RX_FINFO = 0x10; +constexpr uint16_t LEN_RX_FINFO = 4; + +// receive data buffer +constexpr uint16_t RX_BUFFER = 0x11; +constexpr uint16_t LEN_RX_BUFFER = 1024; + +// transmit control +constexpr uint16_t TX_FCTRL = 0x08; +constexpr uint16_t LEN_TX_FCTRL = 5; + +// channel control +constexpr uint16_t CHAN_CTRL = 0x1F; +constexpr uint16_t LEN_CHAN_CTRL = 4; +constexpr uint16_t DWSFD_BIT = 17; +constexpr uint16_t TNSSFD_BIT = 20; +constexpr uint16_t RNSSFD_BIT = 21; + +// user-defined SFD +constexpr uint16_t USR_SFD = 0x21; +constexpr uint16_t LEN_USR_SFD = 41; +constexpr uint16_t SFD_LENGTH_SUB = 0x00; +constexpr uint16_t LEN_SFD_LENGTH = 1; + +// OTP control (for LDE micro code loading only) +constexpr uint16_t OTP_IF = 0x2D; +constexpr uint16_t OTP_ADDR_SUB = 0x04; +constexpr uint16_t OTP_CTRL_SUB = 0x06; +constexpr uint16_t OTP_RDAT_SUB = 0x0A; +constexpr uint16_t LEN_OTP_ADDR = 2; +constexpr uint16_t LEN_OTP_CTRL = 2; +constexpr uint16_t LEN_OTP_RDAT = 4; + +// AGC_TUNE1/2/3 (for re-tuning only) +constexpr uint16_t AGC_TUNE = 0x23; +constexpr uint16_t AGC_TUNE1_SUB = 0x04; +constexpr uint16_t AGC_TUNE2_SUB = 0x0C; +constexpr uint16_t AGC_TUNE3_SUB = 0x12; +constexpr uint16_t LEN_AGC_TUNE1 = 2; +constexpr uint16_t LEN_AGC_TUNE2 = 4; +constexpr uint16_t LEN_AGC_TUNE3 = 2; + +// EXT_SYNC (External Synchronization Control) +constexpr uint16_t EXT_SYNC = 0x24; +constexpr uint16_t EC_CTRL_SUB = 0x00; +constexpr uint16_t PLLLDT_BIT = 2; +constexpr uint16_t EC_RXTC_SUB = 0x04; +constexpr uint16_t EC_GOLP_SUB = 0x08; +constexpr uint16_t LEN_EC_CTRL = 4; +constexpr uint16_t LEN_EC_RXTC = 4; +constexpr uint16_t LEN_EC_GOLP = 4; + +// DRX_TUNE2 (for re-tuning only) +constexpr uint16_t DRX_TUNE = 0x27; +constexpr uint16_t DRX_TUNE0b_SUB = 0x02; +constexpr uint16_t DRX_TUNE1a_SUB = 0x04; +constexpr uint16_t DRX_TUNE1b_SUB = 0x06; +constexpr uint16_t DRX_TUNE2_SUB = 0x08; +constexpr uint16_t DRX_SFDTOC_SUB = 0x20; +constexpr uint16_t DRX_PRETOC_SUB = 0x24; +constexpr uint16_t DRX_TUNE4H_SUB = 0x26; +constexpr uint16_t DRX_CAR_INT_SUB = 0x28; +constexpr uint16_t RXPACC_NOSAT_SUB = 0x2C; +constexpr uint16_t LEN_DRX_TUNE0b = 2; +constexpr uint16_t LEN_DRX_TUNE1a = 2; +constexpr uint16_t LEN_DRX_TUNE1b = 2; +constexpr uint16_t LEN_DRX_TUNE2 = 4; +constexpr uint16_t LEN_DRX_SFDTOC = 2; +constexpr uint16_t LEN_DRX_PRETOC = 2; +constexpr uint16_t LEN_DRX_TUNE4H = 2; +constexpr uint16_t LEN_DRX_CAR_INT = 3; +constexpr uint16_t LEN_RXPACC_NOSAT = 2; + +// LDE_CFG1 (for re-tuning only) +constexpr uint16_t LDE_IF = 0x2E; +constexpr uint16_t LDE_CFG1_SUB = 0x0806; +constexpr uint16_t LDE_RXANTD_SUB = 0x1804; +constexpr uint16_t LDE_CFG2_SUB = 0x1806; +constexpr uint16_t LDE_REPC_SUB = 0x2804; +constexpr uint16_t LEN_LDE_CFG1 = 1; +constexpr uint16_t LEN_LDE_CFG2 = 2; +constexpr uint16_t LEN_LDE_REPC = 2; +constexpr uint16_t LEN_LDE_RXANTD = 2; + +// DIG_DIAG (Digital Diagnostics Interface) +constexpr uint16_t DIG_DIAG = 0x2F; +constexpr uint16_t EVC_CTRL_SUB = 0x00; +constexpr uint16_t EVC_STO_SUB = 0x10; +constexpr uint16_t EVC_PTO_SUB = 0x12; +constexpr uint16_t EVC_FWTO_SUB = 0x14; +constexpr uint16_t DIAG_TMC_SUB = 0x24; +constexpr uint16_t LEN_EVC_CTRL = 4; +constexpr uint16_t LEN_EVC_STO = 2; +constexpr uint16_t LEN_EVC_PTO = 2; +constexpr uint16_t LEN_EVC_FWTO = 2; +constexpr uint16_t LEN_DIAG_TMC = 2; + +// TX_POWER (for re-tuning only) +constexpr uint16_t TX_POWER = 0x1E; +constexpr uint16_t LEN_TX_POWER = 4; + +// RF_CONF (for re-tuning only) +constexpr uint16_t RF_CONF = 0x28; +constexpr uint16_t RF_CONF_SUB = 0x00; +constexpr uint16_t RF_RXCTRLH_SUB = 0x0B; +constexpr uint16_t RF_TXCTRL_SUB = 0x0C; +constexpr uint16_t LEN_RX_CONF_SUB = 4; +constexpr uint16_t LEN_RF_RXCTRLH = 1; +constexpr uint16_t LEN_RF_TXCTRL = 4; + +// TX_CAL (for re-tuning only) +constexpr uint16_t TX_CAL = 0x2A; +constexpr uint16_t TC_PGDELAY_SUB = 0x0B; +constexpr uint16_t LEN_TC_PGDELAY = 1; +constexpr uint16_t TC_SARC = 0x00; +constexpr uint16_t TC_SARL = 0x03; + +// FS_CTRL (for re-tuning only) +constexpr uint16_t FS_CTRL = 0x2B; +constexpr uint16_t FS_PLLCFG_SUB = 0x07; +constexpr uint16_t FS_PLLTUNE_SUB = 0x0B; +constexpr uint16_t FS_XTALT_SUB = 0x0E; +constexpr uint16_t LEN_FS_PLLCFG = 4; +constexpr uint16_t LEN_FS_PLLTUNE = 1; +constexpr uint16_t LEN_FS_XTALT = 1; + +// AON +constexpr uint16_t AON = 0x2C; +constexpr uint16_t AON_WCFG_SUB = 0x00; +constexpr uint16_t ONW_RADC_BIT = 0; +constexpr uint16_t ONW_RX_BIT = 1; +constexpr uint16_t ONW_LEUI_BIT = 3; +constexpr uint16_t ONW_LDC_BIT = 6; +constexpr uint16_t ONW_L64P_BIT = 7; +constexpr uint16_t ONW_PRES_SLEEP_BIT = 8; +constexpr uint16_t ONW_LLDE_BIT = 11; +constexpr uint16_t ONW_LLDO_BIT = 12; +constexpr uint16_t LEN_AON_WCFG = 2; + +constexpr uint16_t AON_CTRL_SUB = 0x02; +constexpr uint16_t RESTORE_BIT = 0; +constexpr uint16_t SAVE_BIT = 1; +constexpr uint16_t UPL_CFG_BIT = 2; +constexpr uint16_t LEN_AON_CTRL = 1; + +constexpr uint16_t AON_CFG0_SUB = 0x06; +constexpr uint16_t SLEEP_EN_BIT = 0; +constexpr uint16_t WAKE_PIN_BIT = 1; +constexpr uint16_t WAKE_SPI_BIT = 2; +constexpr uint16_t WAKE_CNT_BIT = 3; +constexpr uint16_t LPDIV_EN_BIT = 4; +constexpr uint16_t LEN_AON_CFG0 = 4; + +constexpr uint16_t AON_CFG1_SUB = 0x0A; +constexpr uint16_t SLEEP_CEN_BIT = 0; +constexpr uint16_t SMXX_BIT = 1; +constexpr uint16_t LPOSC_CAL_BIT = 2; +constexpr uint16_t LEN_AON_CFG1 = 2; + +// PMSC +constexpr uint16_t PMSC = 0x36; +constexpr uint16_t PMSC_CTRL0_SUB = 0x00; +constexpr uint16_t GPDCE_BIT = 18; +constexpr uint16_t KHZCLKEN_BIT = 23; +constexpr uint16_t PMSC_SOFTRESET_SUB = 0x03; +constexpr uint16_t PMSC_CTRL1_SUB = 0x04; +constexpr uint16_t ATXSLP_BIT = 11; +constexpr uint16_t ARXSLP_BIT = 12; +constexpr uint16_t PMSC_LEDC_SUB = 0x28; +constexpr uint16_t BLNKEN = 8; +constexpr uint16_t LEN_PMSC_CTRL0 = 4; +constexpr uint16_t LEN_PMSC_SOFTRESET = 1; +constexpr uint16_t LEN_PMSC_CTRL1 = 4; +constexpr uint16_t LEN_PMSC_LEDC = 4; + +// TX_ANTD Antenna delays +constexpr uint16_t TX_ANTD = 0x18; +constexpr uint16_t LEN_TX_ANTD = 2; + +// Acknowledgement time and response time +constexpr uint16_t ACK_RESP_T = 0x1A; +constexpr uint16_t ACK_RESP_T_W4R_TIME_SUB = 0x00; +constexpr uint16_t LEN_ACK_RESP_T_W4R_TIME_SUB = 3; +constexpr uint16_t LEN_ACK_RESP_T = 4; + +// GPIO +constexpr uint16_t GPIO_CTRL = 0x26; +constexpr uint16_t GPIO_MODE_SUB = 0x00; +constexpr uint16_t LEN_GPIO_MODE = 4; \ No newline at end of file diff --git a/src/dwm1000/DW1000NgTime.cpp b/src/dwm1000/DW1000NgTime.cpp new file mode 100644 index 0000000..78940ef --- /dev/null +++ b/src/dwm1000/DW1000NgTime.cpp @@ -0,0 +1,33 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#include +#include "DW1000NgTime.hpp" +#include "DW1000NgConstants.hpp" + +namespace DW1000NgTime { + uint64_t microsecondsToUWBTime(uint64_t microSeconds) { + return static_cast(microSeconds * TIME_RES_INV); + } +} \ No newline at end of file diff --git a/src/dwm1000/DW1000NgTime.hpp b/src/dwm1000/DW1000NgTime.hpp new file mode 100644 index 0000000..088994e --- /dev/null +++ b/src/dwm1000/DW1000NgTime.hpp @@ -0,0 +1,31 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#include + +namespace DW1000NgTime { + uint64_t microsecondsToUWBTime(uint64_t microSeconds); +} \ No newline at end of file diff --git a/src/dwm1000/DW1000NgUtils.cpp b/src/dwm1000/DW1000NgUtils.cpp new file mode 100644 index 0000000..ac7b6dd --- /dev/null +++ b/src/dwm1000/DW1000NgUtils.cpp @@ -0,0 +1,141 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file DW1000.cpp + * Helper functions. + */ + +#include +#include "DW1000NgUtils.hpp" +#include "DW1000NgConstants.hpp" +#include "DW1000NgRegisters.hpp" + +namespace DW1000NgUtils { + + /* + * Set the value of a bit in an array of bytes that are considered + * consecutive and stored from MSB to LSB. + * @param data + * The number as byte array. + * @param n + * The number of bytes in the array. + * @param bit + * The position of the bit to be set. + * @param val + * The boolean value to be set to the given bit position. + */ + void setBit(byte data[], uint16_t n, uint16_t bit, boolean val) { + uint16_t idx; + uint8_t shift; + + idx = bit/8; + if(idx >= n) { + return; // TODO proper error handling: out of bounds + } + byte* targetByte = &data[idx]; + shift = bit%8; + if(val) { + bitSet(*targetByte, shift); + } else { + bitClear(*targetByte, shift); + } + } + + /* + * Check the value of a bit in an array of bytes that are considered + * consecutive and stored from MSB to LSB. + * @param data + * The number as byte array. + * @param n + * The number of bytes in the array. + * @param bit + * The position of the bit to be checked. + */ + boolean getBit(byte data[], uint16_t n, uint16_t bit) { + uint16_t idx; + uint8_t shift; + + idx = bit/8; + if(idx >= n) { + return false; // TODO proper error handling: out of bounds + } + byte targetByte = data[idx]; + shift = bit%8; + + return bitRead(targetByte, shift); // TODO wrong type returned byte instead of boolean + } + + void writeValueToBytes(byte data[], uint64_t val, uint8_t n) { + for(auto i = 0; i < n; i++) { + data[i] = ((val >> (i*8)) & 0xFF); + } + } + + uint64_t bytesAsValue(byte data[], uint8_t n) { + uint64_t value = 0; + for(auto i = 0; i < n; i++) { + value |= ((uint64_t)data[i] << (i*8)); + } + return value; + } + + uint8_t nibbleFromChar(char c) { + if(c >= '0' && c <= '9') { + return c-'0'; + } + if(c >= 'a' && c <= 'f') { + return c-'a'+10; + } + if(c >= 'A' && c <= 'F') { + return c-'A'+10; + } + return 255; + } + + void convertToByte(char string[], byte* bytes) { + byte eui_byte[LEN_EUI]; + // we fill it with the char array under the form of "AA:FF:1C:...." + for(uint16_t i = 0; i < LEN_EUI; i++) { + eui_byte[i] = (nibbleFromChar(string[i*3]) << 4)+nibbleFromChar(string[i*3+1]); + } + memcpy(bytes, eui_byte, LEN_EUI); + } + +} diff --git a/src/dwm1000/DW1000NgUtils.hpp b/src/dwm1000/DW1000NgUtils.hpp new file mode 100644 index 0000000..10aad0f --- /dev/null +++ b/src/dwm1000/DW1000NgUtils.hpp @@ -0,0 +1,110 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file DW1000.h + * Helper functions. + */ + +#pragma once + +#include +#include "DW1000NgConstants.hpp" + +namespace DW1000NgUtils { + + /** + Returns target bit value inside a byte array + + @param [in] data the byte array + @param [in] n the length of the byte array + @param [in] bit the bit position + + returns bit value (true = 1, false = 0) + */ + boolean getBit(byte data[], uint16_t n, uint16_t bit); + + /** + Sets the target bit value inside an array of bytes + + @param [in] data the byte array + @param [in] n the length of the byte array + @param [in] bit the bit position + @param [in] val the bit value + + */ + void setBit(byte data[], uint16_t n, uint16_t bit, boolean val); + + /** + Writes the target value inside a given byte array. + + @param [in] data the byte array + @param [in] val the value to insert + @param [in] n the length of the byte array + */ + void writeValueToBytes(byte data[], uint64_t val, uint8_t n); + + /** + Gets the target byte array value + + @param [in] data the byte array + @param [in] n the length of the byte array + + returns the byte array value + */ + uint64_t bytesAsValue(byte data[], uint8_t n); + + /** + Converts from char to 4 bits (hexadecimal) + + @param [in] c the character + + returns target value + */ + + uint8_t nibbleFromChar(char c); + + /** + Converts the target string to eui bytes + + @param [in] string The eui string (in format XX:XX:XX:XX:XX:XX:XX:XX) + @param [out] eui_byte The eui bytes + */ + void convertToByte(char string[], byte* eui_byte); +} diff --git a/src/dwm1000/SPIporting.cpp b/src/dwm1000/SPIporting.cpp new file mode 100644 index 0000000..1bab1d3 --- /dev/null +++ b/src/dwm1000/SPIporting.cpp @@ -0,0 +1,148 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * @file SPIporting.hpp + * Arduino porting for the SPI interface. +*/ + +#include +#include +#include "SPIporting.hpp" +#include "DW1000NgConstants.hpp" +#include "DW1000NgRegisters.hpp" + +uint32_t m_spiClock = 0; +spi_host_device_t m_spiHost; +spi_device_handle_t m_spiHandle = 0; +Adafruit_MCP23017 *m_expander = NULL; + +namespace SPIporting { + + void SPIInitWithClock(uint32_t clock) + { + if(m_spiHandle) + { + spi_bus_remove_device(m_spiHandle); + m_spiHandle = 0; + } + spi_device_interface_config_t devcfg={ + .command_bits = 0, + .address_bits = 0, + .dummy_bits = 0, + .mode=0, + .clock_speed_hz=clock, + .spics_io_num=-1, + .flags = 0, + .queue_size=7, + .pre_cb=NULL, + .post_cb=NULL, + }; + m_spiClock = clock; + spi_bus_add_device(m_spiHost, &devcfg, &m_spiHandle); + } + + namespace { + + constexpr uint32_t EspSPImaximumSpeed = 20000000; //20MHz + constexpr uint32_t SPIminimumSpeed = 2000000; //2MHz + + const SPISettings _fastSPI = SPISettings(EspSPImaximumSpeed, MSBFIRST, SPI_MODE0); + const SPISettings _slowSPI = SPISettings(SPIminimumSpeed, MSBFIRST, SPI_MODE0); + const SPISettings* _currentSPI = &_fastSPI; + + void _openSPI(uint8_t slaveSelectPIN) { + if(_currentSPI->_clock!=m_spiClock) + { + SPIInitWithClock(_currentSPI->_clock); + } + m_expander->digitalWrite(slaveSelectPIN, LOW); + } + + void _closeSPI(uint8_t slaveSelectPIN) { + m_expander->digitalWrite(slaveSelectPIN, HIGH); + } + } + + + void SPIinit(spi_host_device_t spihost, Adafruit_MCP23017 *expander) { + m_spiHost = spihost; + m_expander = expander; + SPIInitWithClock(EspSPImaximumSpeed); + } + + void SPIend() { + spi_bus_remove_device(m_spiHandle); + m_spiHandle = 0; + } + + void SPIselect(uint8_t slaveSelectPIN, uint8_t irq) { + m_expander->pinMode(slaveSelectPIN, OUTPUT); + m_expander->digitalWrite(slaveSelectPIN, HIGH); + } + + uint8_t spi_transfer(uint8_t data) + { + esp_err_t ret; + spi_transaction_t t; + memset(&t, 0, sizeof(t)); + t.flags = SPI_TRANS_USE_RXDATA; + t.length=8; + t.tx_buffer=&data; + ret=spi_device_transmit(m_spiHandle, &t); + assert(ret==ESP_OK); + return t.rx_data[0]; + } + + + void writeToSPI(uint8_t slaveSelectPIN, uint8_t headerLen, byte header[], uint16_t dataLen, byte data[]) { + _openSPI(slaveSelectPIN); + for(auto i = 0; i < headerLen; i++) { + spi_transfer(header[i]); // send header + } + for(auto i = 0; i < dataLen; i++) { + spi_transfer(data[i]); // write values + } + delayMicroseconds(5); + _closeSPI(slaveSelectPIN); + } + + void readFromSPI(uint8_t slaveSelectPIN, uint8_t headerLen, byte header[], uint16_t dataLen, byte data[]){ + _openSPI(slaveSelectPIN); + for(auto i = 0; i < headerLen; i++) { + spi_transfer(header[i]); // send header + } + for(auto i = 0; i < dataLen; i++) { + data[i] = spi_transfer(0x00); // read values + } + delayMicroseconds(5); + _closeSPI(slaveSelectPIN); + } + + void setSPIspeed(SPIClock speed) { + if(speed == SPIClock::FAST) { + _currentSPI = &_fastSPI; + } else if(speed == SPIClock::SLOW) { + _currentSPI = &_slowSPI; + } + } +} \ No newline at end of file diff --git a/src/dwm1000/SPIporting.hpp b/src/dwm1000/SPIporting.hpp new file mode 100644 index 0000000..82c41b3 --- /dev/null +++ b/src/dwm1000/SPIporting.hpp @@ -0,0 +1,82 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * @file SPIporting.hpp + * Arduino porting for the SPI interface. +*/ + +#pragma once + +#include +#include "DW1000NgConstants.hpp" +#include "Adafruit_MCP23017.h" +#include "driver/spi_master.h" + +namespace SPIporting{ + + /** + Initializes the SPI bus. + */ + void SPIinit(spi_host_device_t spihost, Adafruit_MCP23017 *expander); + + /** + Tells the driver library that no communication to a DW1000 will be required anymore. + This basically just frees SPI and the previously used pins. + */ + void SPIend(); + + /** + (Re-)selects a specific DW1000 chip for communication. Used in case you switched SPI to another device. + */ + void SPIselect(uint8_t slaveSelectPIN, uint8_t irq = 0xff); + + /** + Arduino function to write to the SPI. + Takes two separate byte buffers for write header and write data + + @param [in] Header lenght + @param [in] Header array built before + @param [in] Data lenght + @param [in] Data array + */ + void writeToSPI(uint8_t slaveSelectPIN, uint8_t headerLen, byte header[], uint16_t dataLen, byte data[]); + + /** + Arduino function to read from the SPI. + Takes two separate byte buffers for write header and write data + + @param [in] Header lenght + @param [in] Header array built before + @param [in] Data lenght + @param [out] Data array + */ + void readFromSPI(uint8_t slaveSelectPIN, uint8_t headerLen, byte header[], uint16_t dataLen, byte data[]); + + /** + Sets speed of SPI clock, fast or slow(20MHz or 2MHz) + + @param [in] SPIClock FAST or SLOW + */ + void setSPIspeed(SPIClock speed); + +} \ No newline at end of file diff --git a/src/dwm1000/deprecated.hpp b/src/dwm1000/deprecated.hpp new file mode 100644 index 0000000..dda9c2b --- /dev/null +++ b/src/dwm1000/deprecated.hpp @@ -0,0 +1,35 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#ifdef __has_cpp_attribute +#if __has_cpp_attribute(deprecated) +#define DEPRECATED [[deprecated]] +#define DEPRECATED_MSG(msg) [[deprecated(msg)]] +#endif // __has_cpp_attribute(deprecated) +#else +#define DEPRECATED __attribute__((deprecated)) +#define DEPRECATED_MSG(msg) __attribute__((deprecated(msg))) +#endif // __has_cpp_attribute diff --git a/src/dwm1000/require_cpp11.hpp b/src/dwm1000/require_cpp11.hpp new file mode 100644 index 0000000..940861a --- /dev/null +++ b/src/dwm1000/require_cpp11.hpp @@ -0,0 +1,29 @@ +/* + * MIT License + * + * Copyright (c) 2018 Michele Biondi, Andrea Salvatori + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +#pragma once + +#if __cplusplus < 201103L +#error "You need Arduino IDE version >=1.6.6 to use this project as it needs C++11 support." +#endif diff --git a/src/freertosinc.h b/src/freertosinc.h new file mode 100644 index 0000000..818eae6 --- /dev/null +++ b/src/freertosinc.h @@ -0,0 +1,30 @@ +#pragma once + +// The FreeRTOS includes are in a different directory on ESP32 and I can't figure out how to make that work with platformio gcc +// options so this is my quick hack to make things work + +#ifdef ARDUINO_ARCH_ESP32 +#define HAS_FREE_RTOS +#include +#include +#include +#include +#else +// not yet supported on cubecell +#ifndef CubeCell_BoardPlus +#define HAS_FREE_RTOS +#include +#include +#include +#include +#else + +#include + +typedef uint32_t TickType_t; +typedef uint32_t BaseType_t; + +#define portMAX_DELAY UINT32_MAX + +#endif +#endif \ No newline at end of file diff --git a/src/global.h b/src/global.h new file mode 100644 index 0000000..611813a --- /dev/null +++ b/src/global.h @@ -0,0 +1,4 @@ +#pragma once +#include "atracker.h" + +extern cAirsoftTracker *global; diff --git a/src/gps/GPS.cpp b/src/gps/GPS.cpp new file mode 100644 index 0000000..e960591 --- /dev/null +++ b/src/gps/GPS.cpp @@ -0,0 +1,100 @@ + +#include "GPS.h" +#include "config.h" +#include "timing.h" +#include +#include + +#ifdef GPS_RX_PIN +HardwareSerial _serial_gps_real(GPS_SERIAL_NUM); +HardwareSerial &GPS::_serial_gps = _serial_gps_real; +#else +// Assume NRF52 +HardwareSerial &GPS::_serial_gps = Serial1; +#endif + +bool timeSetFromGPS; // We try to set our time from GPS each time we wake from sleep + +GPS *gps; + +// stuff that really should be in in the instance instead... +static uint32_t + timeStartMsec; // Once we have a GPS lock, this is where we hold the initial msec clock that corresponds to that time +static uint64_t zeroOffsetSecs; // GPS based time in secs since 1970 - only updated once on initial lock + +void readFromRTC() +{ + struct timeval tv; /* btw settimeofday() is helpfull here too*/ + + if (!gettimeofday(&tv, NULL)) { + uint32_t now = timing::millis(); + + DEBUG_MSG("Read RTC time as %ld (cur millis %u) valid=%d\n", tv.tv_sec, now, timeSetFromGPS); + timeStartMsec = now; + zeroOffsetSecs = tv.tv_sec; + } +} + +/// If we haven't yet set our RTC this boot, set it from a GPS derived time +void perhapsSetRTC(const struct timeval *tv) +{ + if (!timeSetFromGPS) { + timeSetFromGPS = true; + DEBUG_MSG("Setting RTC %ld secs\n", tv->tv_sec); +#ifndef NO_ESP32 + settimeofday(tv, NULL); +#else + DEBUG_MSG("ERROR TIME SETTING NOT IMPLEMENTED!\n"); +#endif + readFromRTC(); + } +} + +time_t mktimegm(struct tm *tm) +{ + time_t t; + + int y = tm->tm_year + 1900, m = tm->tm_mon + 1, d = tm->tm_mday; + + if (m < 3) { + m += 12; + y--; + } + + t = 86400 * + (d + (153 * m - 457) / 5 + 365 * y + y / 4 - y / 100 + y / 400 - 719469); + + t += 3600 * tm->tm_hour + 60 * tm->tm_min + tm->tm_sec; + + return t; +} +void perhapsSetRTC(struct tm &t, uint32_t ms) +{ + /* Convert to unix time + The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970 + (midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z). + */ + time_t res = mktimegm(&t); + struct timeval tv; + tv.tv_sec = res; + if(ms>0) + tv.tv_usec = ms*1000; + else + tv.tv_usec = 0; + + //DEBUG_MSG("Got time from GPS month=%d, year=%d, unixtime=%ld, ms=%d\n", t.tm_mon, t.tm_year, tv.tv_sec,ms); + if (t.tm_year < 120 || t.tm_year >= 300) + DEBUG_MSG("Ignoring invalid GPS time\n"); + else + perhapsSetRTC(&tv); +} + +uint32_t getTime() +{ + return ((timing::millis() - timeStartMsec) / 1000) + zeroOffsetSecs; +} + +uint32_t getValidTime() +{ + return timeSetFromGPS ? getTime() : 0; +} diff --git a/src/gps/GPS.h b/src/gps/GPS.h new file mode 100644 index 0000000..2a34226 --- /dev/null +++ b/src/gps/GPS.h @@ -0,0 +1,71 @@ +#pragma once + +#include "Observer.h" +#include "GPSStatus.h" +#include "../concurrency/PeriodicTask.h" +#include "sys/time.h" + +#define GPS_DIVIDER 10000000 + +/// If we haven't yet set our RTC this boot, set it from a GPS derived time +void perhapsSetRTC(const struct timeval *tv); +void perhapsSetRTC(struct tm &t,uint32_t ms); + +// Generate a string representation of DOP +const char *getDOPString(uint32_t dop); + +/// Return time since 1970 in secs. Until we have a GPS lock we will be returning time based at zero +uint32_t getTime(); + +/// Return time since 1970 in secs. If we don't have a GPS lock return zero +uint32_t getValidTime(); + +void readFromRTC(); + +/** + * A gps class that only reads from the GPS periodically (and FIXME - eventually keeps the gps powered down except when reading) + * + * When new data is available it will notify observers. + */ +class GPS : public Observable +{ + protected: + bool hasValidLocation = false; // default to false, until we complete our first read + + static HardwareSerial &_serial_gps; + + public: + int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double + int32_t altitude = 0; + uint32_t hacc = 0; + uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs scaling before use) + uint32_t heading = 0; // Heading of motion, in degrees * 10^-5 + uint32_t numSatellites = 0; + + bool isConnected = false; // Do we have a GPS we are talking to + + virtual ~GPS() {} + + Observable newStatus; + + /** + * Returns true if we succeeded + */ + virtual bool setup() { return true; } + + /// A loop callback for subclasses that need it. FIXME, instead just block on serial reads + virtual void loop() {} + + /// Returns ture if we have acquired GPS lock. + bool hasLock() const { return hasValidLocation; } + + /** + * Restart our lock attempt - try to get and broadcast a GPS reading ASAP + * called after the CPU wakes from light-sleep state */ + virtual void startLock() {} + + virtual void reset() {}; + virtual bool canSleep() { return true; } + virtual void shutdown() {} + HardwareSerial &getSerial() { return _serial_gps; } +}; diff --git a/src/gps/UBloxGPS.cpp b/src/gps/UBloxGPS.cpp new file mode 100644 index 0000000..1e9c885 --- /dev/null +++ b/src/gps/UBloxGPS.cpp @@ -0,0 +1,341 @@ +#include "UBloxGPS.h" +#include +#include "global.h" + +#define GPS_DEBUG +#define GPS_DISPLAY_HW + +UBloxGPS::UBloxGPS() +{ +} + +bool UBloxGPS::internalSetup() +{ + bool ok; + ok = ublox.setUART1Output(COM_TYPE_UBX, 3000); // Use native API + if(!ok) return false; + ok = ublox.setNavigationFrequency(GPS_FREQ+1, 3000); // Produce 4x/sec to keep the amount of time we stall in getPVT low + if(!ok) return false; + ok = ublox.setDynamicModel(DYN_MODEL_PEDESTRIAN,3000); // probably PEDESTRIAN but just in case assume bike speeds + if(!ok) return false; + //ok = ublox.powerSaveMode(false, 2000); // use power save mode, the default timeout (1100ms seems a bit too tight) + //if(!ok) return false; + + uint8_t payloadGNSS[] = {0x00,0x00,0x20,0x07, + 0x00,0x08,0x10,0x00,0x01,0x00,0x01,0x01, + 0x01,0x01,0x03,0x00,0x01,0x00,0x01,0x01, + 0x02,0x04,0x08,0x00,0x01,0x00,0x01,0x01, + 0x03,0x08,0x10,0x00,0x00,0x00,0x01,0x01, + 0x04,0x00,0x08,0x00,0x00,0x00,0x01,0x01, + 0x05,0x00,0x03,0x00,0x01,0x00,0x01,0x01, + 0x06,0x08,0x0E,0x00,0x01,0x00,0x01,0x01}; + ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadGNSS, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED}; + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_GNSS; + packetCfg.len = 0x3C; + packetCfg.startingSpot = 0; + ublox.sendCommand(&packetCfg,0); + delay(50); + + uint8_t payloadNMEA[] = {0x00,0x41,0x00,0x02,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; + packetCfg.payload = payloadNMEA; + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_NMEA; + packetCfg.len = 0x14; + packetCfg.startingSpot = 0; + ublox.sendCommand(&packetCfg,0); + delay(50); + +#ifdef HAS_AXP20X + ublox.setSerialRate(GPS_BAUDRATE2,1,3000); + delay(2); + _serial_gps.updateBaudRate(GPS_BAUDRATE2); + delay(50); + + restoreDatabase(GNSS_DBD_FILENAME); +#else + ublox.setSerialRate(GPS_BAUDRATE); + _serial_gps.setRxBufferSize(800); +#endif + //ok = ublox.saveConfiguration(3000); + //assert(ok); + return true; +} + +bool UBloxGPS::setup() +{ + if(serialInitialized) + { + _serial_gps.end(); + delay(10); + serialInitialized = false; + } + if(!serialInitialized) + { + _serial_gps.setRxBufferSize(800); +#ifdef GPS_RX_PIN + _serial_gps.begin(GPS_BAUDRATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); +#else + _serial_gps.begin(GPS_BAUDRATE); +#endif + serialInitialized = true; + delay(30); + } + //ublox.enableDebugging(Serial); + + // note: the lib's implementation has the wrong docs for what the return val is + // it is not a bool, it returns zero for success + isConnected = ublox.begin(_serial_gps); + + // try a second time, the ublox lib serial parsing is buggy? + if (!isConnected) + { + isConnected = ublox.begin(_serial_gps); + } + + if (isConnected) + { + DEBUG_MSG("Connected to UBLOX GPS successfully\n"); + + if(!internalSetup()) + { + DEBUG_MSG("UBLOX Init error\n"); + return false; + } + concurrency::PeriodicTask::setup(); // We don't start our periodic task unless we actually found the device + + return true; + } + else + { + return false; + } +} + +void UBloxGPS::reset() +{ + uint8_t payloadCfg[4]; + ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED}; + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RST; + packetCfg.len = 4; + packetCfg.startingSpot = 0; + payloadCfg[0] = 0x1; + payloadCfg[1] = 0x0; + payloadCfg[2] = 0; // 0=HW reset + payloadCfg[3] = 0; // reserved + ublox.sendCommand(&packetCfg, 0); // don't expect ACK +} + +void UBloxGPS::loop() +{ + ublox.checkUblox(); + if(lastPvtSeqId!=ublox.pvtSeqId) + { + processPVT(); + } +} + +void UBloxGPS::processPVT() +{ + uint8_t fixtype; + + missPVT = 0; + lastPvtSeqId=ublox.pvtSeqId; + fixtype = ublox.getFixType(0); +#ifdef GPS_DEBUG + DEBUG_MSG("GPS fix type %d\n", fixtype); +#endif + + //DEBUG_MSG("lat %d\n", ublox.getLatitude()); + + // any fix that has time + if (ublox.moduleQueried.gpsSecond) + { + /* Convert to unix time +The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of seconds that have elapsed since January 1, 1970 +(midnight UTC/GMT), not counting leap seconds (in ISO 8601: 1970-01-01T00:00:00Z). +*/ + struct tm t; + t.tm_sec = ublox.getSecond(0); + t.tm_min = ublox.getMinute(0); + t.tm_hour = ublox.getHour(0); + t.tm_mday = ublox.getDay(0); + t.tm_mon = ublox.getMonth(0) - 1; + t.tm_year = ublox.getYear(0) - 1900; + t.tm_isdst = false; + perhapsSetRTC(t,ublox.getNanosecond(0)/1000000); + } + + if(ublox.moduleQueried.horizontalAccEst) + hacc = ublox.getHorizontalAccEst(0); + + if(ublox.moduleQueried.pDOP) + dop = ublox.getPDOP(0); + + if(ublox.moduleQueried.SIV) + numSatellites = ublox.getSIV(0); + +#ifdef GPS_DEBUG + DEBUG_MSG("GPS numSatellites %d\n", numSatellites); +#endif + +#ifdef GPS_DISPLAY_HW + ubxHwState hwState; + if(ublox.getHwState(hwState)) + { + DEBUG_MSG("HW State Noise %d, AGC %0.2f (%d)\n", hwState.noisePerMS,hwState.agcCnt*100/8192.0,hwState.agcCnt); + } +#endif + if(global->getConfig().testLat&&global->getConfig().testLng) + { + latitude = global->getConfig().testLat; + longitude = global->getConfig().testLng; + altitude = 0; + heading = ublox.getHeading(0); + + // bogus lat lon is reported as 0 or 0 (can be bogus just for one) + // Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg! + hasValidLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000); + if (hasValidLocation) + { + wantNewLocation = false; + notifyObservers(NULL); + } + } + else + if ((fixtype >= 3 && fixtype <= 4) && ublox.moduleQueried.latitude) // rd fixes only + { + // we only notify if position has changed + latitude = ublox.getLatitude(0); + longitude = ublox.getLongitude(0); + //longitude = -74.6294672*10000000; //OTP GPS + //latitude = 39.9381124*10000000; + //longitude = -74.41993781254924*10000000; //SANJ GPS + //latitude = 39.99472549579622*10000000; + //longitude = -73.98029099999999*10000000; //MSATO GPS + //latitude = 42.207361*10000000; + //longitude = -74.55166537552641*10000000; //R14 GPS + //latitude = 39.9980604701216*10000000; + + //longitude = -76.19249075700209*10000000; //BR2022 GPS + //latitude = 40.94618445451866*10000000; + //longitude = -74.9177937*10000000; //Picasso GPS + //latitude = 39.7361251*10000000; + + altitude = ublox.getAltitude(0) / 1000; // in mm convert to meters + heading = ublox.getHeading(0); + + // bogus lat lon is reported as 0 or 0 (can be bogus just for one) + // Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg! + hasValidLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000); + if (hasValidLocation) + { + wantNewLocation = false; + notifyObservers(NULL); + } + } + else // we didn't get a location update, go back to sleep and hope the characters show up + wantNewLocation = true; + + // Notify any status instances that are observing us + const GPSStatus status = GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, hacc, heading, numSatellites); + newStatus.notifyObservers(&status); + ublox.flushPVT(); + waitPVT = false; +} + +void UBloxGPS::doTask() +{ + loop(); + if(waitPVT) + { + missPVT++; + if(missPVT>4) + { + missPVT = 0; + } + } + waitPVT = true; + ublox.getPVT(0); +#ifdef GPS_DISPLAY_HW + ublox.queryHwState(0); +#endif + + setPeriod(hasValidLocation && !wantNewLocation ? 1000/GPS_FREQ : 1000); +} + +bool UBloxGPS::canSleep() +{ +#ifdef AT_CAN_SLEEP + return !waitPVT; +#else + return false; +#endif +} + +void UBloxGPS::startLock() +{ + DEBUG_MSG("Looking for GPS lock\n"); + wantNewLocation = true; + setPeriod(1); +} + +void UBloxGPS::backupDatabase(const char *filename) +{ + uint8_t *data = (uint8_t *) malloc(8192); + int16_t size=8192; + ublox.pollNavigationDatabase(data,size,5000); + if(size>0) + { + FILE *file; + file = fopen(filename,"wb+"); + fwrite(data,size,1,file); + fflush(file); + fclose(file); + } + free(data); +} + +void UBloxGPS::restoreDatabase(const char *filename) +{ + FILE *file; + file = fopen(filename,"rb"); + if(file==NULL) + return; + fseek(file, 0L, SEEK_END); + size_t size = ftell(file); + fseek(file, 0L, SEEK_SET); + if(size>0) + { + int ss = 64; + uint8_t *data = (uint8_t *) malloc(ss); + while(true) + { + int readed = fread(data,ss,1,file); + if(readed!=0) + ublox.sendNavigationDatabase(data,readed); + if(readed!=ss) + break; + delay(1); + } + free(data); + } + fclose(file); +} + +void UBloxGPS::shutdown() +{ + //ublox.enableDebugging(Serial); + uint8_t *payloadCfg = ublox.payloadCfg; + ubxPacket packetCfg = {0, 0, 0, 0, 0, payloadCfg, 0, 0, SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED,SFE_UBLOX_PACKET_VALIDITY_NOT_DEFINED}; + packetCfg.cls = UBX_CLASS_CFG; + packetCfg.id = UBX_CFG_RST; + packetCfg.len = 4; + packetCfg.startingSpot = 0; + payloadCfg[0] = 0x0; + payloadCfg[1] = 0x0; + payloadCfg[2] = 0x8; // 0 = Controlled GNSS stop + payloadCfg[3] = 0; // reserved + ublox.sendCommand(&packetCfg,0); // don't expect ACK +} \ No newline at end of file diff --git a/src/gps/UBloxGPS.h b/src/gps/UBloxGPS.h new file mode 100644 index 0000000..13c9ed6 --- /dev/null +++ b/src/gps/UBloxGPS.h @@ -0,0 +1,43 @@ +#pragma once + +#include "GPS.h" +#include "Observer.h" +#include "../concurrency/PeriodicTask.h" +#include "SparkFun_Ublox_Arduino_Library.h" + +/** + * A gps class that only reads from the GPS periodically (and FIXME - eventually keeps the gps powered down except when reading) + * + * When new data is available it will notify observers. + */ +class UBloxGPS : public GPS, public concurrency::PeriodicTask +{ + SFE_UBLOX_GPS ublox; + uint32_t lastPvtSeqId=0xFFFFFFFF; + bool wantNewLocation = true; + bool internalSetup(); + bool serialInitialized = false; + bool waitPVT=false; + uint8_t missPVT = 0; + void processPVT(); + public: + UBloxGPS(); + + /** + * Returns true if we succeeded + */ + virtual bool setup(); + + virtual void doTask(); + + /** + * Restart our lock attempt - try to get and broadcast a GPS reading ASAP + * called after the CPU wakes from light-sleep state */ + virtual void startLock(); + virtual void reset(); + virtual void backupDatabase(const char *filename); + virtual void restoreDatabase(const char *filename); + virtual bool canSleep(); + virtual void loop(); + virtual void shutdown(); +}; diff --git a/src/imu.cpp b/src/imu.cpp new file mode 100644 index 0000000..6484aac --- /dev/null +++ b/src/imu.cpp @@ -0,0 +1,262 @@ +#include "imu.h" +#include "EEPROM.h" + +#define Pi 3.14159265359 +//#define IMU_DEBUG + +cIMU::cIMU() +{ + m_imu = NULL; + m_isConnected = false; + m_lastUpdate = 0; +} + +void cIMU::adjustMagCalibrationBias(float value,uint8_t axis) +{ + float o,s; + switch(axis) + { + case 0: + { + o = m_imu->getMagBiasX_uT(); + s = m_imu->getMagScaleFactorX(); + break; + } + case 1: + { + o = m_imu->getMagBiasY_uT(); + s = m_imu->getMagScaleFactorY(); + break; + } + case 2: + { + o = m_imu->getMagBiasZ_uT(); + s = m_imu->getMagScaleFactorZ(); + break; + } + } + o+=value; + switch(axis) + { + case 0: + { + m_imu->setMagCalX(o,s); + break; + } + case 1: + { + m_imu->setMagCalY(o,s); + break; + } + case 2: + { + m_imu->setMagCalZ(o,s); + break; + } + } + m_imu->recalibrateMagByBias(); + updateCalibration(); + DEBUG_MSG("Mag X: %0.2f/%0.2f, Y: %0.2f/%0.2f, Z: %0.2f/%0.2f\n",m_calibration.magBiasX,m_calibration.magScaleX,m_calibration.magBiasY,m_calibration.magScaleY,m_calibration.magBiasZ,m_calibration.magScaleZ); +} + +void cIMU::updateCalibration() +{ + m_calibration.signature = CAL_SIG; + m_calibration.magBiasX = m_imu->getMagBiasX_uT(); + m_calibration.magBiasY = m_imu->getMagBiasY_uT(); + m_calibration.magBiasZ = m_imu->getMagBiasZ_uT(); + m_calibration.magScaleX = m_imu->getMagScaleFactorX(); + m_calibration.magScaleY = m_imu->getMagScaleFactorY(); + m_calibration.magScaleZ = m_imu->getMagScaleFactorZ(); + m_imu->getMagMinMax(m_calibration.magMinX,m_calibration.magMaxX,m_calibration.magMinY,m_calibration.magMaxY,m_calibration.magMinZ,m_calibration.magMaxZ); + + m_calibration.gyroBiasX = m_imu->getGyroBiasX_rads(); + m_calibration.gyroBiasY = m_imu->getGyroBiasY_rads(); + m_calibration.gyroBiasZ = m_imu->getGyroBiasZ_rads(); + + m_calibration.accBiasX = m_imu->getAccelBiasX_mss(); + m_calibration.accScaleX = m_imu->getAccelScaleFactorX(); + m_calibration.accBiasY = m_imu->getAccelBiasY_mss(); + m_calibration.accScaleY = m_imu->getAccelScaleFactorY(); + m_calibration.accBiasZ = m_imu->getAccelBiasZ_mss(); + m_calibration.accScaleZ = m_imu->getAccelScaleFactorZ(); +} + +void cIMU::saveCalibration() +{ + updateCalibration(); + EEPROM.writeBytes(CAL_OFFISET,&m_calibration,sizeof(m_calibration)); + EEPROM.commit(); +} + +void cIMU::loadCalibration() +{ + EEPROM.readBytes(CAL_OFFISET,&m_calibration,sizeof(m_calibration)); + if(m_calibration.signature==CAL_SIG) + { + m_imu->setGyroBiasX_rads(m_calibration.gyroBiasX); + m_imu->setGyroBiasY_rads(m_calibration.gyroBiasY); + m_imu->setGyroBiasZ_rads(m_calibration.gyroBiasZ); + + m_imu->setMagMinMax(m_calibration.magMinX,m_calibration.magMaxX,m_calibration.magMinY,m_calibration.magMaxY,m_calibration.magMinZ,m_calibration.magMaxZ); + m_imu->setMagCalX(m_calibration.magBiasX,m_calibration.magScaleX); + m_imu->setMagCalY(m_calibration.magBiasY,m_calibration.magScaleY); + m_imu->setMagCalZ(m_calibration.magBiasZ,m_calibration.magScaleZ); + + m_imu->setAccelCalX(m_calibration.accBiasX,m_calibration.accScaleX); + m_imu->setAccelCalY(m_calibration.accBiasY,m_calibration.accScaleY); + m_imu->setAccelCalZ(m_calibration.accBiasZ,m_calibration.accScaleZ); + } +} + +void cIMU::shutdown() +{ +} + +void cIMU::calibrate() +{ + DEBUG_MSG("Calibrating Gyro\n"); + m_imu->calibrateGyro(); + delay(100); + DEBUG_MSG("Calibrating Accel\n"); + m_imu->calibrateAccel(); + delay(100); + DEBUG_MSG("Calibrating MAG\n"); + m_imu->calibrateMag(); + saveCalibration(); +} +bool cIMU::setup() +{ + EEPROM.readBytes(CAL_OFFISET,&m_calibration,sizeof(m_calibration)); + m_filter = new Madgwick();// new Adafruit_Mahony(); + m_filter->begin(50); + m_lastUpdate = 0; + m_isConnected = false; + void *ptr = heap_caps_calloc(1,sizeof(MPU9250),MALLOC_CAP_8BIT); + m_imu = new(ptr) MPU9250(Wire,0x68); + auto status = m_imu->begin(); + if(status<0) + { + DEBUG_MSG("IMU initialization unsuccessful, %d\n",status); + } + else + { + DEBUG_MSG("IMU initialization successful, %d\n",status); + m_isConnected = true; + if(m_calibration.signature!=CAL_SIG) + { + calibrate(); + } + else + { + DEBUG_MSG("Use calibration data\n"); + m_imu->setGyroBiasX_rads(m_calibration.gyroBiasX); + m_imu->setGyroBiasY_rads(m_calibration.gyroBiasY); + m_imu->setGyroBiasZ_rads(m_calibration.gyroBiasZ); + DEBUG_MSG("Mag X: %0.2f/%0.2f, Y: %0.2f/%0.2f, Z: %0.2f/%0.2f\n",m_calibration.magBiasX,m_calibration.magScaleX,m_calibration.magBiasY,m_calibration.magScaleY,m_calibration.magBiasZ,m_calibration.magScaleZ); + DEBUG_MSG("Mag Min/Max X: %0.2f/%0.2f, Y: %0.2f/%0.2f, Z: %0.2f/%0.2f\n",m_calibration.magMinX,m_calibration.magMaxX,m_calibration.magMinY,m_calibration.magMaxY,m_calibration.magMinZ,m_calibration.magMaxZ); + m_imu->setMagMinMax(m_calibration.magMinX,m_calibration.magMaxX,m_calibration.magMinY,m_calibration.magMaxY,m_calibration.magMinZ,m_calibration.magMaxZ); + m_imu->setMagCalX(m_calibration.magBiasX,m_calibration.magScaleX); + m_imu->setMagCalY(m_calibration.magBiasY,m_calibration.magScaleY); + m_imu->setMagCalZ(m_calibration.magBiasZ,m_calibration.magScaleZ); + + m_imu->setAccelCalX(m_calibration.accBiasX,m_calibration.accScaleX); + m_imu->setAccelCalY(m_calibration.accBiasY,m_calibration.accScaleY); + m_imu->setAccelCalZ(m_calibration.accBiasZ,m_calibration.accScaleZ); + } + m_imu->setAccelRange(MPU9250::ACCEL_RANGE_2G); + // setting the gyroscope full scale range to +/-500 deg/s + m_imu->setGyroRange(MPU9250::GYRO_RANGE_500DPS); + //m_imu->setGyroRange(MPU9250::GYRO_RANGE_500DPS); + // setting DLPF bandwidth + m_imu->setDlpfBandwidth(MPU9250::DLPF_BANDWIDTH_20HZ); + // setting SRD to 19 for a 50 Hz update rate + m_imu->setSrd(19); + } + return m_isConnected; +} + +cIMU::~cIMU() +{ +} + +#define GYRO_SPEED 1 + +#ifdef IMU_DEBUG +int vvv=0; +#endif +void cIMU::loop() +{ + if(m_isConnected) + { + int64_t now = millis(); + if((now-m_lastUpdate)>=20) + { + float delta = (now-m_lastUpdate)/1000.0; + if(delta>0.5f) + delta = 0.5f; + m_lastUpdate = now; + m_imu->readSensor(); + m_filter->update(m_imu->getGyroX_rads()/GYRO_SPEED,m_imu->getGyroY_rads()/GYRO_SPEED,m_imu->getGyroZ_rads()/GYRO_SPEED,m_imu->getAccelX_mss(), m_imu->getAccelY_mss(),m_imu->getAccelZ_mss(),m_imu->getMagX_uT(), m_imu->getMagY_uT(),m_imu->getMagZ_uT(),delta); +/* + float xM = m_imu->getMagX_uT(); + float yM = m_imu->getMagY_uT(); + float zM = m_imu->getMagZ_uT(); + + float g = 9.8; + float xG = (m_imu->getAccelX_mss()) / g; + float yG = (m_imu->getAccelY_mss()) / g; + float zG = (m_imu->getAccelZ_mss()) / g; + float pitch = atan2(-xG, sqrt(yG * yG + zG * zG)); + float roll = atan2(yG, zG); + + //float pitch = m_filter.getPitchRadians(); + //float roll = m_filter.getRollRadians(); + float xM2 = xM * cos(pitch) + zM * sin(pitch); + float yM2 = xM * sin(roll) * sin(pitch) + yM * cos(roll) - zM * sin(roll) * cos(pitch); + float compHeading2 = (atan2(yM2, xM2) * 180 / Pi)-90; + if (compHeading2 < 0) { + compHeading2 = 360 + compHeading2; + } +*/ + float compHeading = 90-m_filter->getYaw(); + if(compHeading<0) compHeading+=360; + const IMUStatus status = IMUStatus(true,compHeading*100); + newStatus.notifyObservers(&status); +#ifdef IMU_DEBUG + vvv++; + if(vvv%5==0) + { + m_imu->getMagMinMax(m_calibration.magMinX,m_calibration.magMaxX,m_calibration.magMinY,m_calibration.magMaxY,m_calibration.magMinZ,m_calibration.magMaxZ); + Serial.print(m_imu->getAccelX_mss(),6); + Serial.print("\t"); + Serial.print(m_imu->getAccelY_mss(),6); + Serial.print("\t"); + Serial.print(m_imu->getAccelZ_mss(),6); + Serial.print("\t"); + Serial.print(m_imu->getGyroX_rads(),6); + Serial.print("\t"); + Serial.print(m_imu->getGyroY_rads(),6); + Serial.print("\t"); + Serial.print(m_imu->getGyroZ_rads(),6); + Serial.print("\t"); + Serial.print(m_imu->getMagX_uT(),6); + Serial.print("\t"); + Serial.print(m_imu->getMagY_uT(),6); + Serial.print("\t"); + Serial.print(m_imu->getMagZ_uT(),6); + Serial.print("\t"); + Serial.print(m_imu->getRawMagX_uT(),6); + Serial.print("\t"); + Serial.print(m_imu->getRawMagY_uT(),6); + Serial.print("\t"); + Serial.print(m_imu->getRawMagZ_uT(),6); + + //Serial.print("\t"); + //Serial.print(m_imu->getTemperature_C(),6); + DEBUG_MSG("\tHeading %0.2f %0.2f/%0.2f, Y: %0.2f/%0.2f, Z: %0.2f/%0.2f\n",compHeading,m_calibration.magMinX,m_calibration.magMaxX,m_calibration.magMinY,m_calibration.magMaxY,m_calibration.magMinZ,m_calibration.magMaxZ); + } +#endif + } + } +} diff --git a/src/imu.h b/src/imu.h new file mode 100644 index 0000000..6125a7e --- /dev/null +++ b/src/imu.h @@ -0,0 +1,71 @@ +#pragma once +#include +#include "MPU9250/MPU9250.h" +#include "Observer.h" +#include "IMUStatus.h" +#include "AHRS/MadgwickAHRS.h" +#include "AHRS/Adafruit_AHRS_Mahony.h" + +#define CAL_SIG 0x2452 +#define CAL_OFFISET 0 +struct sIMUCalibration +{ + int16_t signature; + float magMinX; + float magMaxX; + float magMinY; + float magMaxY; + float magMinZ; + float magMaxZ; + float magBiasX; + float magBiasY; + float magBiasZ; + float magScaleX; + float magScaleY; + float magScaleZ; + + float accBiasX; + float accBiasY; + float accBiasZ; + float accScaleX; + float accScaleY; + float accScaleZ; + + float gyroBiasX; + float gyroBiasY; + float gyroBiasZ; + sIMUCalibration() + { + signature = 0; + magMaxX = magMaxY = magMaxZ = magMinX = magMinY = magMinZ = 0; + magBiasX = magBiasY = magBiasZ = magScaleX = magScaleY = magScaleZ = 0; + accBiasX = accBiasY = accBiasZ = accScaleX = accScaleY = accScaleZ = 0; + gyroBiasX = gyroBiasY = gyroBiasZ = 0; + } +}; + +class cIMU : public Observable +{ +protected: + MPU9250 *m_imu; + bool m_isConnected; + int64_t m_lastUpdate; + //Adafruit_AHRS_FusionInterface *m_filter; + Madgwick *m_filter; + sIMUCalibration m_calibration; +public: + Observable newStatus; + cIMU(); + virtual ~cIMU(); + virtual bool setup(); + virtual void loop(); + void calibrate(); + void shutdown(); + void updateCalibration(); + void saveCalibration(); + void loadCalibration(); + void setAutoMag(bool v) { m_imu->setAutoMag(v); } + bool getAutoMag() { return m_imu->getAutoMag(); } + void adjustMagCalibrationBias(float value,uint8_t axis); + sIMUCalibration &getCalibration() { return m_calibration; } +}; diff --git a/src/lv_conf.h b/src/lv_conf.h new file mode 100644 index 0000000..74779b3 --- /dev/null +++ b/src/lv_conf.h @@ -0,0 +1,789 @@ +#ifndef LV_CONF_H +#define LV_CONF_H +/* clang-format off */ +#include + +#include "config.h" + +#define CONFIG_LV_TOUCH_CONTROLLER_NONE 1 +//#ifdef USE_SCREEN_EVE +#define CONFIG_LV_TFT_DISPLAY_CONTROLLER_FT81X 1 +//#endif +#define CONFIG_LV_TFT_DISPLAY_PROTOCOL_SPI 1 +#define CONFIG_LV_TFT_DISPLAY_SPI_FULL_DUPLEX 1 +#define CONFIG_LV_TFT_DISPLAY_SPI_TRANS_MODE_SIO 1 +#define CONFIG_LV_DISPLAY_ORIENTATION_LANDSCAPE 1 +#define CONFIG_LV_FT81X_CONFIG_EVE_EVE3_35 1 +//#define CONFIG_LV_TFT_DISPLAY_SPI_HSPI 1 +#define CONFIG_LV_TFT_DISPLAY_SPI_HSPI 1 +#define CONFIG_LV_DISPLAY_WIDTH 320 +#define CONFIG_LV_DISPLAY_HEIGHT 240 +#define CONFIG_LV_TFT_USE_CUSTOM_SPI_CLK_DIVIDER 1 +#define CONFIG_LV_TFT_CUSTOM_SPI_CLK_DIVIDER 5 + +#define CONFIG_LV_DISP_SPI_MOSI (SPI_DISP_MOSI) +#define CONFIG_LV_DISPLAY_USE_SPI_MISO 1 +#define CONFIG_LV_DISP_SPI_MISO (SPI_DISP_MISO) +#define CONFIG_LV_DISP_SPI_INPUT_DELAY_NS 0 +#define CONFIG_LV_DISP_SPI_IO2 -1 +#define CONFIG_LV_DISP_SPI_IO3 -1 +#define CONFIG_LV_DISP_SPI_CLK (SPI_DISP_SCK) +#define CONFIG_LV_DISPLAY_USE_SPI_CS 1 +#define CONFIG_LV_DISP_SPI_CS (SPI_DISP_CS) +#define CONFIG_LV_DISP_PIN_RST (SPI_DISP_RESET) +#undef CONFIG_LV_TFT_DISPLAY_SPI_HALF_DUPLEX + +#define FT81X_FULL 1 + +#define FT81X_ARGB4 1 + +/*==================== + Graphical settings + *====================*/ + +/* Maximal horizontal and vertical resolution to support by the library.*/ +#define LV_HOR_RES_MAX (CONFIG_LV_DISPLAY_WIDTH) +#define LV_VER_RES_MAX (CONFIG_LV_DISPLAY_HEIGHT) + +/* Color depth: + * - 1: 1 byte per pixel + * - 8: RGB332 + * - 16: RGB565 + * - 32: ARGB8888 + */ +#define LV_COLOR_DEPTH 32 + +/* Swap the 2 bytes of RGB565 color. + * Useful if the display has a 8 bit interface (e.g. SPI)*/ +#define LV_COLOR_16_SWAP 0 + +/* 1: Enable screen transparency. + * Useful for OSD or other overlapping GUIs. + * Requires `LV_COLOR_DEPTH = 32` colors and the screen's style should be modified: `style.body.opa = ...`*/ +#define LV_COLOR_SCREEN_TRANSP 1 + +/*Images pixels with this color will not be drawn (with chroma keying)*/ +#define LV_COLOR_TRANSP LV_COLOR_LIME /*LV_COLOR_LIME: pure green*/ + +/* Enable anti-aliasing (lines, and radiuses will be smoothed) */ +#define LV_ANTIALIAS 1 + +/* Default display refresh period. + * Can be changed in the display driver (`lv_disp_drv_t`).*/ +#define LV_DISP_DEF_REFR_PERIOD 30 /*[ms]*/ + +/* Dot Per Inch: used to initialize default sizes. + * E.g. a button with width = LV_DPI / 2 -> half inch wide + * (Not so important, you can adjust it to modify default sizes and spaces)*/ +#define LV_DPI 40 /*[px]*/ + +/* The the real width of the display changes some default values: + * default object sizes, layout of examples, etc. + * According to the width of the display (hor. res. / dpi) + * the displays fall in 4 categories. + * The 4th is extra large which has no upper limit so not listed here + * The upper limit of the categories are set below in 0.1 inch unit. + */ +#define LV_DISP_SMALL_LIMIT 30 +#define LV_DISP_MEDIUM_LIMIT 50 +#define LV_DISP_LARGE_LIMIT 70 + +/* Type of coordinates. Should be `int16_t` (or `int32_t` for extreme cases) */ +typedef int16_t lv_coord_t; + +/*========================= + Memory manager settings + *=========================*/ + +/* LittelvGL's internal memory manager's settings. + * The graphical objects and other related data are stored here. */ + +/* 1: use custom malloc/free, 0: use the built-in `lv_mem_alloc` and `lv_mem_free` */ +#define LV_MEM_CUSTOM 1 +#if LV_MEM_CUSTOM == 0 +/* Size of the memory used by `lv_mem_alloc` in bytes (>= 2kB)*/ +# define LV_MEM_SIZE (32U * 1024U) + +/* Compiler prefix for a big array declaration */ +# define LV_MEM_ATTR + +/* Set an address for the memory pool instead of allocating it as an array. + * Can be in external SRAM too. */ +# define LV_MEM_ADR 0 + +/* Automatically defrag. on free. Defrag. means joining the adjacent free cells. */ +# define LV_MEM_AUTO_DEFRAG 1 +#else /*LV_MEM_CUSTOM*/ +//# define LV_MEM_CUSTOM_INCLUDE /*Header for the dynamic memory function*/ +//# define LV_MEM_CUSTOM_ALLOC malloc /*Wrapper to malloc*/ +//# define LV_MEM_CUSTOM_FREE free /*Wrapper to free*/ + +# define LV_MEM_CUSTOM_INCLUDE "lvgl_mem.h" /*Header for the dynamic memory function*/ +# define LV_MEM_CUSTOM_ALLOC lvgl_malloc /*Wrapper to malloc*/ +# define LV_MEM_CUSTOM_FREE lvgl_free /*Wrapper to free*/ + +#endif /*LV_MEM_CUSTOM*/ + +/* Use the standard memcpy and memset instead of LVGL's own functions. + * The standard functions might or might not be faster depending on their implementation. */ +#define LV_MEMCPY_MEMSET_STD 0 + +/* Garbage Collector settings + * Used if lvgl is binded to higher level language and the memory is managed by that language */ +#define LV_ENABLE_GC 0 +#if LV_ENABLE_GC != 0 +# define LV_GC_INCLUDE "gc.h" /*Include Garbage Collector related things*/ +# define LV_MEM_CUSTOM_REALLOC your_realloc /*Wrapper to realloc*/ +# define LV_MEM_CUSTOM_GET_SIZE your_mem_get_size /*Wrapper to lv_mem_get_size*/ +#endif /* LV_ENABLE_GC */ + +/*======================= + Input device settings + *=======================*/ + +/* Input device default settings. + * Can be changed in the Input device driver (`lv_indev_drv_t`)*/ + +/* Input device read period in milliseconds */ +#define LV_INDEV_DEF_READ_PERIOD 30 + +/* Drag threshold in pixels */ +#define LV_INDEV_DEF_DRAG_LIMIT 10 + +/* Drag throw slow-down in [%]. Greater value -> faster slow-down */ +#define LV_INDEV_DEF_DRAG_THROW 10 + +/* Long press time in milliseconds. + * Time to send `LV_EVENT_LONG_PRESSED`) */ +#define LV_INDEV_DEF_LONG_PRESS_TIME 400 + +/* Repeated trigger period in long press [ms] + * Time between `LV_EVENT_LONG_PRESSED_REPEAT */ +#define LV_INDEV_DEF_LONG_PRESS_REP_TIME 100 + + +/* Gesture threshold in pixels */ +#define LV_INDEV_DEF_GESTURE_LIMIT 50 + +/* Gesture min velocity at release before swipe (pixels)*/ +#define LV_INDEV_DEF_GESTURE_MIN_VELOCITY 3 + +/*================== + * Feature usage + *==================*/ + +/*1: Enable the Animations */ +#define LV_USE_ANIMATION 1 +#if LV_USE_ANIMATION + +/*Declare the type of the user data of animations (can be e.g. `void *`, `int`, `struct`)*/ +typedef void * lv_anim_user_data_t; + +#endif + +/* 1: Enable shadow drawing on rectangles*/ +#define LV_USE_SHADOW 1 +#if LV_USE_SHADOW +/* Allow buffering some shadow calculation + * LV_SHADOW_CACHE_SIZE is the max. shadow size to buffer, + * where shadow size is `shadow_width + radius` + * Caching has LV_SHADOW_CACHE_SIZE^2 RAM cost*/ +#define LV_SHADOW_CACHE_SIZE 0 +#endif + +/*1: enable outline drawing on rectangles*/ +#define LV_USE_OUTLINE 1 + +/*1: enable pattern drawing on rectangles*/ +#define LV_USE_PATTERN 1 + +/*1: enable value string drawing on rectangles*/ +#define LV_USE_VALUE_STR 1 + +/* 1: Use other blend modes than normal (`LV_BLEND_MODE_...`)*/ +#define LV_USE_BLEND_MODES 1 + +/* 1: Use the `opa_scale` style property to set the opacity of an object and its children at once*/ +#define LV_USE_OPA_SCALE 1 + +/* 1: Use image zoom and rotation*/ +#define LV_USE_IMG_TRANSFORM 1 + +/* 1: Enable object groups (for keyboard/encoder navigation) */ +#define LV_USE_GROUP 1 +#if LV_USE_GROUP +typedef void * lv_group_user_data_t; +#endif /*LV_USE_GROUP*/ + +/* 1: Enable GPU interface*/ +#define LV_USE_GPU 1 /*Only enables `gpu_fill_cb` and `gpu_blend_cb` in the disp. drv- */ +#define LV_USE_GPU_STM32_DMA2D 0 +/*If enabling LV_USE_GPU_STM32_DMA2D, LV_GPU_DMA2D_CMSIS_INCLUDE must be defined to include path of CMSIS header of target processor +e.g. "stm32f769xx.h" or "stm32f429xx.h" */ +#define LV_GPU_DMA2D_CMSIS_INCLUDE + +/*1: Use PXP for CPU off-load on NXP RTxxx platforms */ +#define LV_USE_GPU_NXP_PXP 0 + +/*1: Add default bare metal and FreeRTOS interrupt handling routines for PXP (lv_gpu_nxp_pxp_osa.c) + * and call lv_gpu_nxp_pxp_init() automatically during lv_init(). Note that symbol FSL_RTOS_FREE_RTOS + * has to be defined in order to use FreeRTOS OSA, otherwise bare-metal implementation is selected. + *0: lv_gpu_nxp_pxp_init() has to be called manually before lv_init() + * */ +#define LV_USE_GPU_NXP_PXP_AUTO_INIT 0 + +/*1: Use VG-Lite for CPU offload on NXP RTxxx platforms */ +#define LV_USE_GPU_NXP_VG_LITE 0 + +/* 1: Enable file system (might be required for images */ +#define LV_USE_FILESYSTEM 1 +#if LV_USE_FILESYSTEM +/*Declare the type of the user data of file system drivers (can be e.g. `void *`, `int`, `struct`)*/ +typedef void * lv_fs_drv_user_data_t; +#endif + +/*1: Add a `user_data` to drivers and objects*/ +#define LV_USE_USER_DATA 1 + +/*1: Show CPU usage and FPS count in the right bottom corner*/ +#define LV_USE_PERF_MONITOR 0 + +/*1: Use the functions and types from the older API if possible */ +#define LV_USE_API_EXTENSION_V6 1 +#define LV_USE_API_EXTENSION_V7 1 + +/*======================== + * Image decoder and cache + *========================*/ + +/* 1: Enable indexed (palette) images */ +#define LV_IMG_CF_INDEXED 1 + +/* 1: Enable alpha indexed images */ +#define LV_IMG_CF_ALPHA 1 + +/* Default image cache size. Image caching keeps the images opened. + * If only the built-in image formats are used there is no real advantage of caching. + * (I.e. no new image decoder is added) + * With complex image decoders (e.g. PNG or JPG) caching can save the continuous open/decode of images. + * However the opened images might consume additional RAM. + * Set it to 0 to disable caching */ +#define LV_IMG_CACHE_DEF_SIZE 1 + +/*Declare the type of the user data of image decoder (can be e.g. `void *`, `int`, `struct`)*/ +typedef void * lv_img_decoder_user_data_t; + +/*===================== + * Compiler settings + *====================*/ + +/* For big endian systems set to 1 */ +#define LV_BIG_ENDIAN_SYSTEM 0 + +/* Define a custom attribute to `lv_tick_inc` function */ +#define LV_ATTRIBUTE_TICK_INC + +/* Define a custom attribute to `lv_task_handler` function */ +#define LV_ATTRIBUTE_TASK_HANDLER + +/* Define a custom attribute to `lv_disp_flush_ready` function */ +#define LV_ATTRIBUTE_FLUSH_READY + +/* Required alignment size for buffers */ +#define LV_ATTRIBUTE_MEM_ALIGN_SIZE + +/* With size optimization (-Os) the compiler might not align data to + * 4 or 8 byte boundary. Some HW may need even 32 or 64 bytes. + * This alignment will be explicitly applied where needed. + * LV_ATTRIBUTE_MEM_ALIGN_SIZE should be used to specify required align size. + * E.g. __attribute__((aligned(LV_ATTRIBUTE_MEM_ALIGN_SIZE))) */ +#define LV_ATTRIBUTE_MEM_ALIGN + +/* Attribute to mark large constant arrays for example + * font's bitmaps */ +#define LV_ATTRIBUTE_LARGE_CONST + +/* Prefix performance critical functions to place them into a faster memory (e.g RAM) + * Uses 15-20 kB extra memory */ +#define LV_ATTRIBUTE_FAST_MEM + +/* Export integer constant to binding. + * This macro is used with constants in the form of LV_ that + * should also appear on lvgl binding API such as Micropython + * + * The default value just prevents a GCC warning. + */ +#define LV_EXPORT_CONST_INT(int_value) struct _silence_gcc_warning + +/* Prefix variables that are used in GPU accelerated operations, often these need to be + * placed in RAM sections that are DMA accessible */ +#define LV_ATTRIBUTE_DMA + +/*=================== + * HAL settings + *==================*/ + +/* 1: use a custom tick source. + * It removes the need to manually update the tick with `lv_tick_inc`) */ +#define LV_TICK_CUSTOM 1 +#if LV_TICK_CUSTOM == 1 +#define LV_TICK_CUSTOM_INCLUDE "Arduino.h" /*Header for the system time function*/ +#define LV_TICK_CUSTOM_SYS_TIME_EXPR (millis()) /*Expression evaluating to current system time in ms*/ +#endif /*LV_TICK_CUSTOM*/ + +typedef void * lv_disp_drv_user_data_t; /*Type of user data in the display driver*/ +typedef void * lv_indev_drv_user_data_t; /*Type of user data in the input device driver*/ + +/*================ + * Log settings + *===============*/ + +/*1: Enable the log module*/ +#define LV_USE_LOG 0 +#if LV_USE_LOG +/* How important log should be added: + * LV_LOG_LEVEL_TRACE A lot of logs to give detailed information + * LV_LOG_LEVEL_INFO Log important events + * LV_LOG_LEVEL_WARN Log if something unwanted happened but didn't cause a problem + * LV_LOG_LEVEL_ERROR Only critical issue, when the system may fail + * LV_LOG_LEVEL_NONE Do not log anything + */ +# define LV_LOG_LEVEL LV_LOG_LEVEL_WARN + +/* 1: Print the log with 'printf'; + * 0: user need to register a callback with `lv_log_register_print_cb`*/ +# define LV_LOG_PRINTF 0 +#endif /*LV_USE_LOG*/ + +/*================= + * Debug settings + *================*/ + +/* If Debug is enabled LittelvGL validates the parameters of the functions. + * If an invalid parameter is found an error log message is printed and + * the MCU halts at the error. (`LV_USE_LOG` should be enabled) + * If you are debugging the MCU you can pause + * the debugger to see exactly where the issue is. + * + * The behavior of asserts can be overwritten by redefining them here. + * E.g. #define LV_ASSERT_MEM(p) + */ +#define LV_USE_DEBUG 0 +#if LV_USE_DEBUG + +/*Check if the parameter is NULL. (Quite fast) */ +#define LV_USE_ASSERT_NULL 1 + +/*Checks is the memory is successfully allocated or no. (Quite fast)*/ +#define LV_USE_ASSERT_MEM 1 + +/*Check the integrity of `lv_mem` after critical operations. (Slow)*/ +#define LV_USE_ASSERT_MEM_INTEGRITY 0 + +/* Check the strings. + * Search for NULL, very long strings, invalid characters, and unnatural repetitions. (Slow) + * If disabled `LV_USE_ASSERT_NULL` will be performed instead (if it's enabled) */ +#define LV_USE_ASSERT_STR 0 + +/* Check NULL, the object's type and existence (e.g. not deleted). (Quite slow) + * If disabled `LV_USE_ASSERT_NULL` will be performed instead (if it's enabled) */ +#define LV_USE_ASSERT_OBJ 0 + +/*Check if the styles are properly initialized. (Fast)*/ +#define LV_USE_ASSERT_STYLE 0 + +#endif /*LV_USE_DEBUG*/ + +/*================== + * FONT USAGE + *===================*/ + +/* The built-in fonts contains the ASCII range and some Symbols with 4 bit-per-pixel. + * The symbols are available via `LV_SYMBOL_...` defines + * More info about fonts: https://docs.lvgl.io/v7/en/html/overview/font.html + * To create a new font go to: https://lvgl.com/ttf-font-to-c-array + */ + +/* Montserrat fonts with bpp = 4 + * https://fonts.google.com/specimen/Montserrat */ +#define LV_FONT_MONTSERRAT_8 0 +#define LV_FONT_MONTSERRAT_10 0 +#define LV_FONT_MONTSERRAT_12 1 +#define LV_FONT_MONTSERRAT_14 1 +#define LV_FONT_MONTSERRAT_16 1 +#define LV_FONT_MONTSERRAT_18 0 +#define LV_FONT_MONTSERRAT_20 0 +#define LV_FONT_MONTSERRAT_22 0 +#define LV_FONT_MONTSERRAT_24 0 +#define LV_FONT_MONTSERRAT_26 0 +#define LV_FONT_MONTSERRAT_28 0 +#define LV_FONT_MONTSERRAT_30 0 +#define LV_FONT_MONTSERRAT_32 0 +#define LV_FONT_MONTSERRAT_34 0 +#define LV_FONT_MONTSERRAT_36 0 +#define LV_FONT_MONTSERRAT_38 0 +#define LV_FONT_MONTSERRAT_40 0 +#define LV_FONT_MONTSERRAT_42 0 +#define LV_FONT_MONTSERRAT_44 0 +#define LV_FONT_MONTSERRAT_46 0 +#define LV_FONT_MONTSERRAT_48 1 + +/* Demonstrate special features */ +#define LV_FONT_MONTSERRAT_12_SUBPX 0 +#define LV_FONT_MONTSERRAT_28_COMPRESSED 0 /*bpp = 3*/ +#define LV_FONT_DEJAVU_16_PERSIAN_HEBREW 0 /*Hebrew, Arabic, PErisan letters and all their forms*/ +#define LV_FONT_SIMSUN_16_CJK 0 /*1000 most common CJK radicals*/ + +/*Pixel perfect monospace font + * http://pelulamu.net/unscii/ */ +#define LV_FONT_UNSCII_8 0 +#define LV_FONT_UNSCII_16 0 + +/* Optionally declare your custom fonts here. + * You can use these fonts as default font too + * and they will be available globally. E.g. + * #define LV_FONT_CUSTOM_DECLARE LV_FONT_DECLARE(my_font_1) \ + * LV_FONT_DECLARE(my_font_2) + */ +#define LV_FONT_CUSTOM_DECLARE + +/* Enable it if you have fonts with a lot of characters. + * The limit depends on the font size, font face and bpp + * but with > 10,000 characters if you see issues probably you need to enable it.*/ +#define LV_FONT_FMT_TXT_LARGE 0 + +/* Enables/disables support for compressed fonts. If it's disabled, compressed + * glyphs cannot be processed by the library and won't be rendered. + */ +#define LV_USE_FONT_COMPRESSED 1 + +/* Enable subpixel rendering */ +#define LV_USE_FONT_SUBPX 1 +#if LV_USE_FONT_SUBPX +/* Set the pixel order of the display. + * Important only if "subpx fonts" are used. + * With "normal" font it doesn't matter. + */ +#define LV_FONT_SUBPX_BGR 0 +#endif + +/*Declare the type of the user data of fonts (can be e.g. `void *`, `int`, `struct`)*/ +typedef void * lv_font_user_data_t; + +/*================ + * THEME USAGE + *================*/ + +/*Always enable at least on theme*/ + +/* No theme, you can apply your styles as you need + * No flags. Set LV_THEME_DEFAULT_FLAG 0 */ +#define LV_USE_THEME_EMPTY 0 + +/*Simple to the create your theme based on it + * No flags. Set LV_THEME_DEFAULT_FLAG 0 */ +#define LV_USE_THEME_TEMPLATE 0 + +/* A fast and impressive theme. + * Flags: + * LV_THEME_MATERIAL_FLAG_LIGHT: light theme + * LV_THEME_MATERIAL_FLAG_DARK: dark theme + * LV_THEME_MATERIAL_FLAG_NO_TRANSITION: disable transitions (state change animations) + * LV_THEME_MATERIAL_FLAG_NO_FOCUS: disable indication of focused state) + * */ +#define LV_USE_THEME_MATERIAL 1 + +/* Mono-color theme for monochrome displays. + * If LV_THEME_DEFAULT_COLOR_PRIMARY is LV_COLOR_BLACK the + * texts and borders will be black and the background will be + * white. Else the colors are inverted. + * No flags. Set LV_THEME_DEFAULT_FLAG 0 */ +#define LV_USE_THEME_MONO 0 + +#define LV_THEME_DEFAULT_INCLUDE /*Include a header for the init. function*/ +#define LV_THEME_DEFAULT_INIT lv_theme_material_init +#define LV_THEME_DEFAULT_COLOR_PRIMARY lv_color_hex(0x01a2b1) +#define LV_THEME_DEFAULT_COLOR_SECONDARY lv_color_hex(0x44d1b6) +#define LV_THEME_DEFAULT_FLAG LV_THEME_MATERIAL_FLAG_DARK +#define LV_THEME_DEFAULT_FONT_SMALL &lv_font_montserrat_12 +#define LV_THEME_DEFAULT_FONT_NORMAL &lv_font_montserrat_12 +#define LV_THEME_DEFAULT_FONT_SUBTITLE &lv_font_montserrat_14 +#define LV_THEME_DEFAULT_FONT_TITLE &lv_font_montserrat_14 + +/*================= + * Text settings + *=================*/ + +/* Select a character encoding for strings. + * Your IDE or editor should have the same character encoding + * - LV_TXT_ENC_UTF8 + * - LV_TXT_ENC_ASCII + * */ +#define LV_TXT_ENC LV_TXT_ENC_UTF8 + + /*Can break (wrap) texts on these chars*/ +#define LV_TXT_BREAK_CHARS " ,.;:-_" + +/* If a word is at least this long, will break wherever "prettiest" + * To disable, set to a value <= 0 */ +#define LV_TXT_LINE_BREAK_LONG_LEN 0 + +/* Minimum number of characters in a long word to put on a line before a break. + * Depends on LV_TXT_LINE_BREAK_LONG_LEN. */ +#define LV_TXT_LINE_BREAK_LONG_PRE_MIN_LEN 3 + +/* Minimum number of characters in a long word to put on a line after a break. + * Depends on LV_TXT_LINE_BREAK_LONG_LEN. */ +#define LV_TXT_LINE_BREAK_LONG_POST_MIN_LEN 3 + +/* The control character to use for signalling text recoloring. */ +#define LV_TXT_COLOR_CMD "#" + +/* Support bidirectional texts. + * Allows mixing Left-to-Right and Right-to-Left texts. + * The direction will be processed according to the Unicode Bidirectional Algorithm: + * https://www.w3.org/International/articles/inline-bidi-markup/uba-basics*/ +#define LV_USE_BIDI 0 +#if LV_USE_BIDI +/* Set the default direction. Supported values: + * `LV_BIDI_DIR_LTR` Left-to-Right + * `LV_BIDI_DIR_RTL` Right-to-Left + * `LV_BIDI_DIR_AUTO` detect texts base direction */ +#define LV_BIDI_BASE_DIR_DEF LV_BIDI_DIR_AUTO +#endif + +/* Enable Arabic/Persian processing + * In these languages characters should be replaced with + * an other form based on their position in the text */ +#define LV_USE_ARABIC_PERSIAN_CHARS 0 + +/*Change the built in (v)snprintf functions*/ +#define LV_SPRINTF_CUSTOM 0 +#if LV_SPRINTF_CUSTOM +# define LV_SPRINTF_INCLUDE +# define lv_snprintf snprintf +# define lv_vsnprintf vsnprintf +#else /*!LV_SPRINTF_CUSTOM*/ +# define LV_SPRINTF_DISABLE_FLOAT 1 +#endif /*LV_SPRINTF_CUSTOM*/ + +/*=================== + * LV_OBJ SETTINGS + *==================*/ + +#if LV_USE_USER_DATA +/*Declare the type of the user data of object (can be e.g. `void *`, `int`, `struct`)*/ +typedef void * lv_obj_user_data_t; +/*Provide a function to free user data*/ +#define LV_USE_USER_DATA_FREE 0 +#if LV_USE_USER_DATA_FREE +# define LV_USER_DATA_FREE_INCLUDE "something.h" /*Header for user data free function*/ +/* Function prototype : void user_data_free(lv_obj_t * obj); */ +# define LV_USER_DATA_FREE (user_data_free) /*Invoking for user data free function*/ +#endif +#endif + +/*1: enable `lv_obj_realign()` based on `lv_obj_align()` parameters*/ +#define LV_USE_OBJ_REALIGN 1 + +/* Enable to make the object clickable on a larger area. + * LV_EXT_CLICK_AREA_OFF or 0: Disable this feature + * LV_EXT_CLICK_AREA_TINY: The extra area can be adjusted horizontally and vertically (0..255 px) + * LV_EXT_CLICK_AREA_FULL: The extra area can be adjusted in all 4 directions (-32k..+32k px) + */ +#define LV_USE_EXT_CLICK_AREA LV_EXT_CLICK_AREA_TINY + +/*================== + * LV OBJ X USAGE + *================*/ +/* + * Documentation of the object types: https://docs.lvgl.com/#Object-types + */ + +/*Arc (dependencies: -)*/ +#define LV_USE_ARC 1 + +/*Bar (dependencies: -)*/ +#define LV_USE_BAR 1 + +/*Button (dependencies: lv_cont*/ +#define LV_USE_BTN 1 + +/*Button matrix (dependencies: -)*/ +#define LV_USE_BTNMATRIX 1 + +/*Calendar (dependencies: -)*/ +#define LV_USE_CALENDAR 1 +#if LV_USE_CALENDAR +# define LV_CALENDAR_WEEK_STARTS_MONDAY 0 +#endif + +/*Canvas (dependencies: lv_img)*/ +#define LV_USE_CANVAS 1 + +/*Check box (dependencies: lv_btn, lv_label)*/ +#define LV_USE_CHECKBOX 1 + +/*Chart (dependencies: -)*/ +#define LV_USE_CHART 1 +#if LV_USE_CHART +# define LV_CHART_AXIS_TICK_LABEL_MAX_LEN 256 +#endif + +/*Container (dependencies: -*/ +#define LV_USE_CONT 1 + +/*Color picker (dependencies: -*/ +#define LV_USE_CPICKER 1 + +/*Drop down list (dependencies: lv_page, lv_label, lv_symbol_def.h)*/ +#define LV_USE_DROPDOWN 1 +#if LV_USE_DROPDOWN != 0 +/*Open and close default animation time [ms] (0: no animation)*/ +# define LV_DROPDOWN_DEF_ANIM_TIME 200 +#endif + +/*Gauge (dependencies:lv_bar, lv_linemeter)*/ +#define LV_USE_GAUGE 1 + +/*Image (dependencies: lv_label*/ +#define LV_USE_IMG 1 + +/*Image Button (dependencies: lv_btn*/ +#define LV_USE_IMGBTN 1 +#if LV_USE_IMGBTN +/*1: The imgbtn requires left, mid and right parts and the width can be set freely*/ +# define LV_IMGBTN_TILED 0 +#endif + +/*Keyboard (dependencies: lv_btnm)*/ +#define LV_USE_KEYBOARD 1 + +/*Label (dependencies: -*/ +#define LV_USE_LABEL 1 +#if LV_USE_LABEL != 0 +/*Hor, or ver. scroll speed [px/sec] in 'LV_LABEL_LONG_ROLL/ROLL_CIRC' mode*/ +# define LV_LABEL_DEF_SCROLL_SPEED 25 + +/* Waiting period at beginning/end of animation cycle */ +# define LV_LABEL_WAIT_CHAR_COUNT 3 + +/*Enable selecting text of the label */ +# define LV_LABEL_TEXT_SEL 0 + +/*Store extra some info in labels (12 bytes) to speed up drawing of very long texts*/ +# define LV_LABEL_LONG_TXT_HINT 0 +#endif + +/*LED (dependencies: -)*/ +#define LV_USE_LED 1 +#if LV_USE_LED +# define LV_LED_BRIGHT_MIN 120 /*Minimal brightness*/ +# define LV_LED_BRIGHT_MAX 255 /*Maximal brightness*/ +#endif + +/*Line (dependencies: -*/ +#define LV_USE_LINE 1 + +/*List (dependencies: lv_page, lv_btn, lv_label, (lv_img optionally for icons ))*/ +#define LV_USE_LIST 1 +#if LV_USE_LIST != 0 +/*Default animation time of focusing to a list element [ms] (0: no animation) */ +# define LV_LIST_DEF_ANIM_TIME 100 +#endif + +/*Line meter (dependencies: *;)*/ +#define LV_USE_LINEMETER 1 +#if LV_USE_LINEMETER +/* Draw line more precisely at cost of performance. + * Useful if there are lot of lines any minor are visible + * 0: No extra precision + * 1: Some extra precision + * 2: Best precision + */ +# define LV_LINEMETER_PRECISE 1 +#endif + +/*Mask (dependencies: -)*/ +#define LV_USE_OBJMASK 1 + +/*Message box (dependencies: lv_rect, lv_btnm, lv_label)*/ +#define LV_USE_MSGBOX 1 + +/*Page (dependencies: lv_cont)*/ +#define LV_USE_PAGE 1 +#if LV_USE_PAGE != 0 +/*Focus default animation time [ms] (0: no animation)*/ +# define LV_PAGE_DEF_ANIM_TIME 400 +#endif + +/*Preload (dependencies: lv_arc, lv_anim)*/ +#define LV_USE_SPINNER 1 +#if LV_USE_SPINNER != 0 +# define LV_SPINNER_DEF_ARC_LENGTH 60 /*[deg]*/ +# define LV_SPINNER_DEF_SPIN_TIME 1000 /*[ms]*/ +# define LV_SPINNER_DEF_ANIM LV_SPINNER_TYPE_SPINNING_ARC +#endif + +/*Roller (dependencies: lv_ddlist)*/ +#define LV_USE_ROLLER 1 +#if LV_USE_ROLLER != 0 +/*Focus animation time [ms] (0: no animation)*/ +# define LV_ROLLER_DEF_ANIM_TIME 200 + +/*Number of extra "pages" when the roller is infinite*/ +# define LV_ROLLER_INF_PAGES 7 +#endif + +/*Slider (dependencies: lv_bar)*/ +#define LV_USE_SLIDER 1 + +/*Spinbox (dependencies: lv_ta)*/ +#define LV_USE_SPINBOX 1 + +/*Switch (dependencies: lv_slider)*/ +#define LV_USE_SWITCH 1 + +/*Text area (dependencies: lv_label, lv_page)*/ +#define LV_USE_TEXTAREA 1 +#if LV_USE_TEXTAREA != 0 +# define LV_TEXTAREA_DEF_CURSOR_BLINK_TIME 400 /*ms*/ +# define LV_TEXTAREA_DEF_PWD_SHOW_TIME 1500 /*ms*/ +#endif + +/*Table (dependencies: lv_label)*/ +#define LV_USE_TABLE 1 +#if LV_USE_TABLE +# define LV_TABLE_COL_MAX 12 +# define LV_TABLE_CELL_STYLE_CNT 4 +#endif + + +/*Tab (dependencies: lv_page, lv_btnm)*/ +#define LV_USE_TABVIEW 1 +# if LV_USE_TABVIEW != 0 +/*Time of slide animation [ms] (0: no animation)*/ +# define LV_TABVIEW_DEF_ANIM_TIME 300 +#endif + +/*Tileview (dependencies: lv_page) */ +#define LV_USE_TILEVIEW 1 +#if LV_USE_TILEVIEW +/*Time of slide animation [ms] (0: no animation)*/ +# define LV_TILEVIEW_DEF_ANIM_TIME 300 +#endif + +/*Window (dependencies: lv_cont, lv_btn, lv_label, lv_img, lv_page)*/ +#define LV_USE_WIN 1 + +/*================== + * Non-user section + *==================*/ + +#if defined(_MSC_VER) && !defined(_CRT_SECURE_NO_WARNINGS) /* Disable warnings for Visual Studio*/ +# define _CRT_SECURE_NO_WARNINGS +#endif + +/*--END OF LV_CONF_H--*/ + +#endif /*LV_CONF_H*/ \ No newline at end of file diff --git a/src/lv_settings/lv_settings.c b/src/lv_settings/lv_settings.c new file mode 100644 index 0000000..d5b725d --- /dev/null +++ b/src/lv_settings/lv_settings.c @@ -0,0 +1,1167 @@ +īģŋ/** + * @file lv_settings.c + * + */ + +/********************* + * INCLUDES + *********************/ +#include "lv_settings.h" + +/********************* + * DEFINES + *********************/ +#define LV_SETTINGS_ANIM_TIME 300 /*[ms]*/ +#define LV_SETTINGS_MAX_WIDTH 250 + +/********************** + * TYPEDEFS + **********************/ + +typedef struct +{ + lv_btn_ext_t btn; + lv_settings_item_t * item; + lv_event_cb_t event_cb; +}root_ext_t; + +typedef struct +{ + lv_btn_ext_t btn; + lv_settings_item_t * item; +}list_btn_ext_t; + +typedef struct +{ + lv_cont_ext_t cont; + lv_settings_item_t * item; +}item_cont_ext_t; + +typedef struct +{ + lv_cont_ext_t cont; + lv_event_cb_t event_cb; + lv_obj_t * menu_page; +}menu_cont_ext_t; + +typedef struct { + lv_event_cb_t event_cb; + lv_settings_item_t * item; +}histroy_t; + + +/********************** + * STATIC PROTOTYPES + **********************/ +static void create_page(lv_settings_item_t * parent_item, lv_event_cb_t event_cb); + +static void add_list_btn(lv_obj_t * page, lv_settings_item_t * item); +static void add_btn(lv_obj_t * page, lv_settings_item_t * item); +static void add_sw(lv_obj_t * page, lv_settings_item_t * item); +static void add_ddlist(lv_obj_t * page, lv_settings_item_t * item); +static void add_numset(lv_obj_t * page, lv_settings_item_t * item); +static void add_slider(lv_obj_t * page, lv_settings_item_t * item); +static void add_edit(lv_obj_t* page, lv_settings_item_t* item); + +static void refr_list_btn(lv_settings_item_t * item); +static void refr_btn(lv_settings_item_t * item); +static void refr_sw(lv_settings_item_t * item); +static void refr_ddlist(lv_settings_item_t * item); +static void refr_numset(lv_settings_item_t * item); +static void refr_slider(lv_settings_item_t * item); +static void refr_edit(lv_settings_item_t* item); + +static void root_event_cb(lv_obj_t * btn, lv_event_t e); +static void list_btn_event_cb(lv_obj_t * btn, lv_event_t e); +static void slider_event_cb(lv_obj_t * slider, lv_event_t e); +static void sw_event_cb(lv_obj_t * sw, lv_event_t e); +static void btn_event_cb(lv_obj_t * btn, lv_event_t e); +static void ddlist_event_cb(lv_obj_t * ddlist, lv_event_t e); +static void edit_event_cb(lv_obj_t* ddlist, lv_event_t e); +static void numset_event_cb(lv_obj_t * btn, lv_event_t e); + +static void header_back_event_cb(lv_obj_t * btn, lv_event_t e); +static lv_obj_t * item_cont_create(lv_obj_t * page, lv_settings_item_t * item); +static void old_cont_del_cb(lv_anim_t * a); +static void remove_children_from_group(lv_obj_t * obj); + +static void add_style_to_item(lv_obj_t * obj); +static void add_style_to_btn(lv_obj_t* obj); +static void kb_delete(); + +/********************** + * STATIC VARIABLES + **********************/ +static lv_obj_t * act_cont; +static lv_obj_t * menu_btn; +static lv_style_t style_menu_bg; +static lv_style_t style_bg; +static lv_style_t style_item_cont; +static lv_style_t lv_style_transp_fit; +static lv_style_t lv_style_transp_tight; +static lv_style_t lv_style_tight; +static lv_style_t style_value; +static lv_ll_t history_ll; +static lv_group_t * group; +static lv_obj_t* parent=NULL; +static lv_coord_t settings_max_width = LV_SETTINGS_MAX_WIDTH; + +/********************** + * MACROS + **********************/ + +/********************** + * GLOBAL FUNCTIONS + **********************/ + +/** + * Create a settings application + * @param root_item descriptor of the settings button. For example: + * `lv_settings_menu_item_t root_item = {.name = "Settings", .event_cb = root_event_cb};` + * @return the created settings button + */ +lv_obj_t * lv_settings_create(lv_settings_item_t * root_item, lv_event_cb_t event_cb) +{ + if (!parent) + parent = lv_scr_act(); + lv_style_init(&style_value); + lv_style_set_text_color(&style_value, LV_STATE_DEFAULT, lv_theme_get_color_secondary()); + + lv_style_init(&style_menu_bg); + lv_style_init(&style_item_cont); + lv_style_init(&style_bg); + lv_style_init(&lv_style_transp_fit); + lv_style_init(&lv_style_transp_tight); + lv_style_init(&lv_style_tight); + lv_style_reset(&lv_style_transp_fit); + lv_style_set_bg_opa(&lv_style_transp_fit, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_pad_hor(&lv_style_transp_fit,LV_STATE_DEFAULT,0); + lv_style_set_pad_ver(&lv_style_transp_fit,LV_STATE_DEFAULT,0); + + lv_style_copy(&lv_style_transp_tight,&lv_style_transp_fit); + lv_style_set_pad_inner(&lv_style_transp_tight,LV_STATE_DEFAULT,0); + + lv_style_set_pad_inner(&lv_style_tight, LV_STATE_DEFAULT, 0); + + lv_style_copy(&style_bg, &lv_style_transp_tight); + lv_style_set_border_width(&style_bg, LV_STATE_DEFAULT, 0); + + lv_style_set_radius(&style_menu_bg,LV_STATE_DEFAULT,0); + lv_style_set_border_width(&style_menu_bg, LV_STATE_DEFAULT, 0); + + lv_style_set_pad_left(&style_item_cont,LV_STATE_DEFAULT,LV_DPI / 10); + lv_style_set_pad_right(&style_item_cont,LV_STATE_DEFAULT,LV_DPI / 10); + lv_style_set_pad_top(&style_item_cont,LV_STATE_DEFAULT,LV_DPI / 10); + lv_style_set_pad_bottom(&style_item_cont,LV_STATE_DEFAULT,LV_DPI / 10); + lv_style_set_pad_inner(&style_item_cont,LV_STATE_DEFAULT,LV_DPI / 20); + lv_style_set_margin_all(&style_item_cont, LV_STATE_DEFAULT, 0); + +// lv_theme_t *th = lv_theme_get_current(); +// if(th) { +// lv_style_copy(&style_menu_bg, th->style.cont); +// lv_style_copy(&style_item_cont, th->style.list.btn.rel); +// } else { +// lv_style_copy(&style_menu_bg, &lv_style_pretty); +// lv_style_copy(&style_item_cont, &lv_style_transp); +// } +// +// lv_style_copy(&style_bg, &lv_style_transp_tight); +// style_menu_bg.body.radius = 0; +// +// style_item_cont.body.padding.left = LV_DPI / 5; +// style_item_cont.body.padding.right = LV_DPI / 5; +// style_item_cont.body.padding.top = LV_DPI / 10; +// style_item_cont.body.padding.bottom = LV_DPI / 10; +// style_item_cont.body.padding.inner = LV_DPI / 20; + + + menu_btn = lv_btn_create(parent, NULL); + lv_btn_set_fit(menu_btn, LV_FIT_TIGHT); + root_ext_t * ext = lv_obj_allocate_ext_attr(menu_btn, sizeof(root_ext_t)); + ext->item = root_item; + ext->event_cb = event_cb; + + lv_obj_set_event_cb(menu_btn, root_event_cb); + if(group) lv_group_add_obj(group, menu_btn); + + lv_obj_t * menu_label = lv_label_create(menu_btn, NULL); + lv_label_set_text(menu_label, LV_SYMBOL_LIST); + + lv_obj_set_pos(menu_btn, 0, 0); + + _lv_ll_init(&history_ll, sizeof(histroy_t)); + + return menu_btn; +} + +/** + * Automatically add the item to a group to allow navigation with keypad or encoder. + * Should be called before `lv_settings_create` + * The group can be change at any time. + * @param g the group to use. `NULL` to not use this feature. + */ +void lv_settings_set_group(lv_group_t * g) +{ + group = g; +} + +void lv_settings_set_parent(lv_obj_t* p) +{ + parent = p; +} + +/** + * Change the maximum width of settings dialog object + * @param max_width maximum width of the settings container page + */ +void lv_settings_set_max_width(lv_coord_t max_width) +{ + settings_max_width = max_width; +} + +/** + * Create a new page ask `event_cb` to add the item with `LV_EVENT_REFRESH` + * @param parent_item pointer to an item which open the the new page. Its `name` will be the title + * @param event_cb event handler of the menu page + */ +void lv_settings_open_page(lv_settings_item_t * parent_item, lv_event_cb_t event_cb) +{ + /*Create a new page in the menu*/ + create_page(parent_item, event_cb); + + /*Add the items*/ + lv_event_send_func(event_cb, NULL, LV_EVENT_REFRESH, parent_item); +} + +/** + * Add a list element to the page. With `item->name` and `item->value` texts. + * @param item pointer to a an `lv_settings_item_t` item. + */ +void lv_settings_add(lv_settings_item_t * item) +{ + if(act_cont == NULL) return; + + menu_cont_ext_t * ext = lv_obj_get_ext_attr(act_cont); + lv_obj_t * page = ext->menu_page; + + + switch(item->type) { + case LV_SETTINGS_TYPE_LIST_BTN: add_list_btn(page, item); break; + case LV_SETTINGS_TYPE_BTN: add_btn(page, item); break; + case LV_SETTINGS_TYPE_SLIDER: add_slider(page, item); break; + case LV_SETTINGS_TYPE_SW: add_sw(page, item); break; + case LV_SETTINGS_TYPE_DDLIST: add_ddlist(page, item); break; + case LV_SETTINGS_TYPE_NUMSET: add_numset(page, item); break; + case LV_SETTINGS_TYPE_EDIT: add_edit(page, item); break; + default: break; + } +} + +/** + * Refresh an item's name value and state. + * @param item pointer to a an `lv_settings_item _t` item. + */ +void lv_settings_refr(lv_settings_item_t * item) +{ + /*Return if there is nothing to refresh*/ + if(item->cont == NULL) return; + + switch(item->type) { + case LV_SETTINGS_TYPE_LIST_BTN: refr_list_btn(item); break; + case LV_SETTINGS_TYPE_BTN: refr_btn(item); break; + case LV_SETTINGS_TYPE_SLIDER: refr_slider(item); break; + case LV_SETTINGS_TYPE_SW: refr_sw(item); break; + case LV_SETTINGS_TYPE_DDLIST: refr_ddlist(item); break; + case LV_SETTINGS_TYPE_NUMSET: refr_numset(item); break; + case LV_SETTINGS_TYPE_EDIT: refr_edit(item); break; + default: break; + } +} + +/********************** + * STATIC FUNCTIONS + **********************/ + +/** + * Create a new settings container with header, hack button ,title and an empty page + * @param item pointer to a an `lv_settings_item_t` item. + * `item->name` will be the title of the page. + * `LV_EVENT_REFRESH` will be sent to `item->event_cb` to create the page again when the back button is pressed. + */ +static void create_page(lv_settings_item_t * parent_item, lv_event_cb_t event_cb) +{ + kb_delete(); + lv_coord_t w = LV_MATH_MIN(lv_obj_get_width(parent), settings_max_width); + + if(group) { + if(act_cont) { + remove_children_from_group(act_cont); + } else { + lv_group_remove_obj(menu_btn); + } + } + + lv_obj_t * old_menu_cont = act_cont; + + act_cont = lv_cont_create(parent, NULL); + lv_obj_add_style(act_cont,LV_CONT_PART_MAIN, &style_menu_bg); + lv_obj_set_size(act_cont, w, lv_obj_get_height(parent)); + + menu_cont_ext_t * ext = lv_obj_allocate_ext_attr(act_cont, sizeof(menu_cont_ext_t)); + ext->event_cb = event_cb; + ext->menu_page = NULL; + + lv_obj_t * header = lv_cont_create(act_cont, NULL); + lv_obj_add_style(header,LV_CONT_PART_MAIN, &style_menu_bg); + lv_cont_set_fit2(header, LV_FIT_NONE, LV_FIT_TIGHT); + lv_obj_set_width(header, lv_obj_get_width(act_cont)); +/* + lv_obj_t * header_back_btn = lv_btn_create(header, NULL); + lv_btn_set_fit(header_back_btn, LV_FIT_TIGHT); + lv_obj_set_event_cb(header_back_btn, header_back_event_cb); + if(group) lv_group_add_obj(group, header_back_btn); + lv_group_focus_obj(header_back_btn); + + add_style_to_btn(header_back_btn); + + lv_obj_t * header_back_label = lv_label_create(header_back_btn, NULL); +*/ + lv_obj_t * header_title = lv_label_create(header, NULL); + lv_label_set_text(header_title, parent_item->name); + + bool menu_btn_right = lv_obj_get_x(menu_btn) >= lv_obj_get_width(parent)/2; + + if(!menu_btn_right) { + //lv_cont_set_layout(header, LV_LAYOUT_ROW_MID); + lv_obj_align(header_title, NULL, LV_ALIGN_CENTER, LV_DPI / 20, 0); +// lv_label_set_text(header_back_label, LV_SYMBOL_LEFT); + } else { + lv_obj_align(header_title, NULL, LV_ALIGN_CENTER, LV_DPI / 20, 0); +// lv_label_set_text(header_back_label, LV_SYMBOL_RIGHT); +// lv_obj_align(header_back_btn, NULL, LV_ALIGN_IN_TOP_RIGHT, 0, 0); +// lv_obj_align(header_title, header_back_btn, LV_ALIGN_OUT_LEFT_MID, LV_DPI / 20, 0); + } + + lv_obj_set_pos(header, 0, 0); + + lv_obj_t * page = lv_page_create(act_cont, NULL); + lv_obj_add_style(page,LV_PAGE_PART_BG,&style_bg); + lv_obj_add_style(page,LV_PAGE_PART_SCROLLBAR,&lv_style_transp_tight); + lv_obj_add_style(page, LV_PAGE_PART_SCROLLABLE, &lv_style_tight); + lv_obj_add_style(page, LV_CONT_PART_MAIN, &lv_style_tight); + lv_page_set_scrl_layout(page, LV_LAYOUT_COLUMN_MID); + lv_list_set_edge_flash(page, true); + lv_obj_set_size(page, lv_obj_get_width(act_cont), lv_obj_get_height(parent) - lv_obj_get_height(header)); + lv_obj_align(page, header, LV_ALIGN_OUT_BOTTOM_LEFT, 0, 0); + + ext->menu_page = page; + + histroy_t * new_node = _lv_ll_ins_head(&history_ll); + new_node->event_cb = event_cb; + new_node->item = parent_item; + + /*Delete the old menu container after some time*/ + if(old_menu_cont) { + lv_anim_path_t path; + lv_anim_path_init(&path); + lv_anim_path_set_cb(&path, lv_anim_path_step); + lv_anim_t a; + lv_anim_init(&a); + lv_anim_set_var(&a, old_menu_cont); + lv_anim_set_values(&a, 0, 1); + lv_anim_set_path(&a, &path); + lv_anim_set_time(&a, LV_SETTINGS_ANIM_TIME); + lv_anim_set_ready_cb(&a, old_cont_del_cb); + lv_anim_start(&a); + } + + /*Float in the new menu*/ + lv_anim_t a; + lv_anim_init(&a); + lv_anim_set_var(&a, act_cont); + lv_anim_set_exec_cb(&a, (lv_anim_exec_xcb_t)lv_obj_set_x); + lv_coord_t w_cont = lv_obj_get_width(act_cont); + lv_coord_t w_scr = lv_obj_get_width(parent); + uint32_t start = !menu_btn_right ? -w_cont : w_scr; + uint32_t end = !menu_btn_right ? 0 : w_scr-w_cont; + lv_anim_set_values(&a, start, end); + lv_anim_set_time(&a, LV_SETTINGS_ANIM_TIME); + lv_anim_start(&a); +} + +/** + * Add a list element to the page. With `item->name` and `item->value` texts. + * @param page pointer to a menu page created by `lv_settings_create_page` + * @param item pointer to a an `lv_settings_item_t` item. + */ +static void add_list_btn(lv_obj_t * page, lv_settings_item_t * item) +{ + lv_obj_t * liste = lv_btn_create(page, NULL); + lv_btn_set_layout(liste, LV_LAYOUT_COLUMN_LEFT); + lv_btn_set_fit2(liste, LV_FIT_PARENT, LV_FIT_TIGHT); + lv_page_glue_obj(liste, true); + lv_obj_set_event_cb(liste, list_btn_event_cb); + if(group) lv_group_add_obj(group, liste); + + list_btn_ext_t * ext = lv_obj_allocate_ext_attr(liste, sizeof(list_btn_ext_t)); + ext->item = item; + ext->item->cont = liste; + + lv_obj_t * name = lv_label_create(liste, NULL); + lv_label_set_text(name, item->name); + + lv_obj_t * value = lv_label_create(liste, NULL); + lv_label_set_text(value, item->value); + lv_obj_add_style(value, LV_LABEL_PART_MAIN, &style_value); + add_style_to_item(liste); + +// lv_theme_t * th = lv_theme_get_current(); +// if(th) { +// th->apply_cb(th,liste,LV_THEME_BTN); +// lv_btn_set_style(liste, LV_BTN_STYLE_REL, th->style.list.btn.rel); +// lv_btn_set_style(liste, LV_BTN_STYLE_PR, th->style.list.btn.pr); +// lv_label_set_style(value, LV_LABEL_STYLE_MAIN, th->style.label.hint); +// } +} + + +/** + * Create a button. Write `item->name` on create a button on the right with `item->value` text. + * @param page pointer to a menu page created by `lv_settings_create_page` + * @param item pointer to a an `lv_settings_item_t` item. + */ +static void add_btn(lv_obj_t * page, lv_settings_item_t * item) +{ + lv_obj_t * cont = item_cont_create(page, item); + + lv_obj_t * name = lv_label_create(cont, NULL); + lv_label_set_text(name, item->name); + + lv_obj_t * btn = lv_btn_create(cont, NULL); + lv_btn_set_fit(btn, LV_FIT_TIGHT); + lv_obj_set_event_cb(btn, btn_event_cb); + if(group) lv_group_add_obj(group, btn); + + lv_obj_t * value = lv_label_create(btn, NULL); + lv_label_set_text(value, item->value); + + add_style_to_btn(btn); + + lv_obj_align(btn, NULL, LV_ALIGN_IN_RIGHT_MID, -LV_DPI/10, 0); + lv_obj_align(name, NULL, LV_ALIGN_IN_LEFT_MID, LV_DPI/10, 0); +} + +/** + * Create a switch with `item->name` text. The state is set from `item->state`. + * @param page pointer to a menu page created by `lv_settings_create_page` + * @param item pointer to a an `lv_settings_item_t` item. + */ +static void add_sw(lv_obj_t * page, lv_settings_item_t * item) +{ + lv_obj_t * cont = item_cont_create(page, item); + + lv_obj_t * name = lv_label_create(cont, NULL); + lv_label_set_text(name, item->name); + + lv_obj_t * value = lv_label_create(cont, NULL); + lv_label_set_text(value, item->value); + lv_obj_add_style(value, LV_LABEL_PART_MAIN, &style_value); +// lv_theme_t * th = lv_theme_get_current(); +// if(th) { +// lv_label_set_style(value, LV_LABEL_STYLE_MAIN, th->style.label.hint); +// } + + + lv_obj_t * sw = lv_switch_create(cont, NULL); + lv_obj_set_event_cb(sw, sw_event_cb); + //lv_obj_set_size(sw, LV_DPI / 2, LV_DPI / 4); + lv_obj_set_size(sw, LV_DPI, LV_DPI/2); + if(item->state) lv_switch_on(sw, LV_ANIM_OFF); + if(group) lv_group_add_obj(group, sw); + + lv_obj_align(name, NULL, LV_ALIGN_IN_TOP_LEFT, LV_DPI/10, LV_DPI/10); + lv_obj_align(value, name, LV_ALIGN_OUT_BOTTOM_LEFT, 0, LV_DPI/10); + lv_obj_align(sw, NULL, LV_ALIGN_IN_RIGHT_MID, -LV_DPI/10, 0); +} + +/** + * Create a drop down list with `item->name` title and `item->value` options. The `item->state` option will be selected. + * @param page pointer to a menu page created by `lv_settings_create_page` + * @param item pointer to a an `lv_settings_item_t` item. + */ +static void add_ddlist(lv_obj_t * page, lv_settings_item_t * item) +{ + lv_obj_t * cont = item_cont_create(page, item); + + lv_obj_t * label = lv_label_create(cont, NULL); + lv_label_set_text(label, item->name); + lv_obj_align(label, NULL, LV_ALIGN_IN_TOP_LEFT, LV_DPI/10,LV_DPI/10); + + + lv_obj_t * ddlist = lv_dropdown_create(cont, NULL); + lv_dropdown_set_options(ddlist, item->value); + lv_dropdown_set_draw_arrow(ddlist, true); + lv_dropdown_set_max_height(ddlist, lv_obj_get_height(page) / 2); + lv_obj_set_width(ddlist, lv_obj_get_width_fit(cont)); + lv_obj_align(ddlist, label, LV_ALIGN_OUT_BOTTOM_LEFT, 0, LV_DPI/10); + lv_obj_set_event_cb(ddlist, ddlist_event_cb); + lv_dropdown_set_selected(ddlist, item->state); + if(group) lv_group_add_obj(group, ddlist); +} + +static void add_edit(lv_obj_t* page, lv_settings_item_t* item) +{ + lv_obj_t* cont = item_cont_create(page, item); + + lv_obj_t* label = lv_label_create(cont, NULL); + lv_label_set_text(label, item->name); + lv_obj_align(label, NULL, LV_ALIGN_IN_TOP_LEFT, LV_DPI / 10, LV_DPI / 10); + + + lv_obj_t* edit = lv_textarea_create(cont, NULL); + lv_textarea_set_text(edit, item->value); + lv_textarea_set_one_line(edit, true); + if(item->param2&&LV_SETTINGS_EDIT_PWD) + { + lv_textarea_set_pwd_mode(edit,true); + } + lv_obj_set_width(edit, lv_obj_get_width_fit(cont)); + lv_obj_align(edit, label, LV_ALIGN_OUT_BOTTOM_LEFT, 0, LV_DPI / 10); + lv_obj_set_event_cb(edit, edit_event_cb); + if (group) lv_group_add_obj(group, edit); +} + +/** + * Create a drop down list with `item->name` title and `item->value` options. The `item->state` option will be selected. + * @param page pointer to a menu page created by `lv_settings_create_page` + * @param item pointer to a an `lv_settings_item_t` item. + */ +static void add_numset(lv_obj_t * page, lv_settings_item_t * item) +{ + lv_obj_t * cont = item_cont_create(page, item); + lv_cont_set_layout(cont, LV_LAYOUT_PRETTY_TOP); + + lv_obj_t * label = lv_label_create(cont, NULL); + lv_label_set_text(label, item->name); + lv_obj_add_protect(label, LV_PROTECT_FOLLOW); + + + lv_obj_t * btn_dec = lv_btn_create(cont, NULL); + lv_obj_set_size(btn_dec, LV_DPI / 2, LV_DPI / 2); + lv_obj_set_event_cb(btn_dec, numset_event_cb); + if(group) lv_group_add_obj(group, btn_dec); + + label = lv_label_create(btn_dec, NULL); + lv_label_set_text(label, LV_SYMBOL_MINUS); + + add_style_to_btn(btn_dec); + + label = lv_label_create(cont, NULL); + lv_label_set_text(label, item->value); + + lv_obj_t * btn_inc = lv_btn_create(cont, btn_dec); + lv_obj_set_size(btn_inc, LV_DPI / 2, LV_DPI / 2); + if(group) lv_group_add_obj(group, btn_inc); + + add_style_to_btn(btn_inc); + + label = lv_label_create(btn_inc, NULL); + lv_label_set_text(label, LV_SYMBOL_PLUS); +} + +/** + * Create a slider with 0..255 range. Write `item->name` and `item->value` on top of the slider. The current value is loaded from `item->state` + * @param page pointer to a menu page created by `lv_settings_create_page` + * @param item pointer to a an `lv_settings_item_t` item. + */ +static void add_slider(lv_obj_t * page, lv_settings_item_t * item) +{ + lv_obj_t * cont = item_cont_create(page, item); + + lv_obj_t * name = lv_label_create(cont, NULL); + lv_label_set_text(name, item->name); + + lv_obj_t * value = lv_label_create(cont, NULL); + lv_label_set_text(value, item->value); + lv_obj_set_auto_realign(value, true); + + lv_obj_align(name, NULL, LV_ALIGN_IN_TOP_LEFT, LV_DPI/8, LV_DPI/8); + lv_obj_align(value, NULL, LV_ALIGN_IN_TOP_RIGHT, -LV_DPI/8, LV_DPI/8); + lv_obj_t * slider = lv_slider_create(cont, NULL); + lv_obj_set_size(slider, lv_obj_get_width_fit(cont), LV_DPI / 4); + lv_obj_align(slider, NULL, LV_ALIGN_IN_TOP_MID, 0, lv_obj_get_y(name) + + lv_obj_get_height(name) + + LV_DPI/10); + lv_obj_set_event_cb(slider, slider_event_cb); + lv_slider_set_range(slider, 0, 255); + lv_slider_set_value(slider, item->state, LV_ANIM_OFF); + lv_obj_set_height(slider, LV_DPI / 20); + if(group) lv_group_add_obj(group, slider); +} + +static void refr_list_btn(lv_settings_item_t * item) +{ + lv_obj_t * name = lv_obj_get_child(item->cont, NULL); + lv_obj_t * value = lv_obj_get_child(item->cont, name); + + lv_label_set_text(name, item->name); + lv_label_set_text(value, item->value); +} + +static void refr_btn(lv_settings_item_t * item) +{ + lv_obj_t * btn = lv_obj_get_child(item->cont, NULL); + lv_obj_t * name = lv_obj_get_child(item->cont, btn); + lv_obj_t * value = lv_obj_get_child(btn, NULL); + + lv_label_set_text(name, item->name); + lv_label_set_text(value, item->value); +} + + +static void refr_sw(lv_settings_item_t * item) +{ + lv_obj_t * sw = lv_obj_get_child(item->cont, NULL); + lv_obj_t * value = lv_obj_get_child(item->cont, sw); + lv_obj_t * name = lv_obj_get_child(item->cont, value); + + lv_label_set_text(name, item->name); + lv_label_set_text(value, item->value); + + bool tmp_state = lv_switch_get_state(sw) ? true : false; + if(tmp_state != item->state) { + if(tmp_state == false) lv_switch_off(sw, LV_ANIM_OFF); + else lv_switch_on(sw, LV_ANIM_OFF); + } +} + +static void refr_ddlist(lv_settings_item_t * item) +{ + lv_obj_t * name = lv_obj_get_child(item->cont, NULL); + lv_obj_t * ddlist = lv_obj_get_child(item->cont, name); + + lv_label_set_text(name, item->name); + + lv_dropdown_set_options(ddlist, item->value); + + lv_dropdown_set_selected(ddlist, item->state); +} + +static void refr_edit(lv_settings_item_t* item) +{ + lv_obj_t* edit = lv_obj_get_child(item->cont, NULL); + lv_obj_t* name = lv_obj_get_child(item->cont, edit); + + lv_label_set_text(name, item->name); + + lv_textarea_set_text(edit, item->value); +} + +static void refr_numset(lv_settings_item_t * item) +{ + lv_obj_t * name = lv_obj_get_child_back(item->cont, NULL); + lv_obj_t * value = lv_obj_get_child_back(item->cont, name); /*It's the minus button*/ + value = lv_obj_get_child_back(item->cont, value); + + lv_label_set_text(name, item->name); + lv_label_set_text(value, item->value); +} + +static void refr_slider(lv_settings_item_t * item) +{ + lv_obj_t * slider = lv_obj_get_child(item->cont, NULL); + lv_obj_t * value = lv_obj_get_child(item->cont, slider); + lv_obj_t * name = lv_obj_get_child(item->cont, value); + + lv_label_set_text(name, item->name); + lv_label_set_text(value, item->value); + + if(lv_slider_get_value(slider) != item->state) lv_slider_set_value(slider, item->state, LV_ANIM_OFF); +} + +static void root_event_cb(lv_obj_t * btn, lv_event_t e) +{ + + if(e == LV_EVENT_CLICKED) { + root_ext_t * ext = lv_obj_get_ext_attr(btn); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(ext->event_cb, NULL, e, ext->item); + } +} + +/** + * List button event callback. The following events are sent: + * - `LV_EVENT_CLICKED` + * - `LV_EEVNT_SHORT_CLICKED` + * - `LV_EEVNT_LONG_PRESSED` + * @param btn pointer to the back button + * @param e the event + */ +static void list_btn_event_cb(lv_obj_t * btn, lv_event_t e) +{ + /*Save the menu item because the button will be deleted in `menu_cont_create` and `ext` will be invalid */ + list_btn_ext_t * item_ext = lv_obj_get_ext_attr(btn); + + if(e == LV_EVENT_CLICKED || + e == LV_EVENT_SHORT_CLICKED || + e == LV_EVENT_LONG_PRESSED) { + menu_cont_ext_t * menu_ext = lv_obj_get_ext_attr(act_cont); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(menu_ext->event_cb, NULL, e, item_ext->item); + } + else if(e == LV_EVENT_DELETE) { + item_ext->item->cont = NULL; + } + else if (e ==LV_EVENT_FOCUSED) { + menu_cont_ext_t * ext = lv_obj_get_ext_attr(act_cont); + lv_obj_t * page = ext->menu_page; + lv_page_focus(page, btn, LV_ANIM_ON); + } +} + +/** + * Slider event callback. Call the item's `event_cb` with `LV_EVENT_VALUE_CHANGED`, + * save the state and refresh the value label. + * @param slider pointer to the slider + * @param e the event + */ +static void slider_event_cb(lv_obj_t * slider, lv_event_t e) +{ + lv_obj_t * cont = lv_obj_get_parent(slider); + item_cont_ext_t * item_ext = lv_obj_get_ext_attr(cont); + + if(e == LV_EVENT_VALUE_CHANGED) { + item_ext->item->state = lv_slider_get_value(slider); + menu_cont_ext_t * menu_ext = lv_obj_get_ext_attr(act_cont); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(menu_ext->event_cb, NULL, e, item_ext->item); + } + else if(e == LV_EVENT_DELETE) { + item_ext->item->cont = NULL; + } + else if (e ==LV_EVENT_FOCUSED) { + menu_cont_ext_t * ext = lv_obj_get_ext_attr(act_cont); + lv_obj_t * page = ext->menu_page; + lv_page_focus(page, lv_obj_get_parent(slider), LV_ANIM_ON); + } +} + +/** + * Switch event callback. Call the item's `event_cb` with `LV_EVENT_VALUE_CHANGED` and save the state. + * @param sw pointer to the switch + * @param e the event + */ +static void sw_event_cb(lv_obj_t * sw, lv_event_t e) +{ + lv_obj_t * cont = lv_obj_get_parent(sw); + item_cont_ext_t * item_ext = lv_obj_get_ext_attr(cont); + + if(e == LV_EVENT_VALUE_CHANGED) { + + item_ext->item->state = lv_switch_get_state(sw); + menu_cont_ext_t * menu_ext = lv_obj_get_ext_attr(act_cont); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(menu_ext->event_cb, NULL, e, item_ext->item); + } + else if(e == LV_EVENT_DELETE) { + item_ext->item->cont = NULL; + } + else if (e ==LV_EVENT_FOCUSED) { + menu_cont_ext_t * ext = lv_obj_get_ext_attr(act_cont); + lv_obj_t * page = ext->menu_page; + lv_page_focus(page, lv_obj_get_parent(sw), LV_ANIM_ON); + } +} + +/** + * Button event callback. Call the item's `event_cb` with `LV_EVENT_VALUE_CHANGED` when clicked. + * @param obj pointer to the switch or the container in case of `LV_EVENT_REFRESH` + * @param e the event + */ +static void btn_event_cb(lv_obj_t * obj, lv_event_t e) +{ + lv_obj_t * cont = lv_obj_get_parent(obj); + item_cont_ext_t * item_ext = lv_obj_get_ext_attr(cont); + + if(e == LV_EVENT_CLICKED) { + menu_cont_ext_t * menu_ext = lv_obj_get_ext_attr(act_cont); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(menu_ext->event_cb, NULL, e, item_ext->item); + } + else if(e == LV_EVENT_DELETE) { + item_ext->item->cont = NULL; + } + else if (e ==LV_EVENT_FOCUSED) { + menu_cont_ext_t * ext = lv_obj_get_ext_attr(act_cont); + lv_obj_t * page = ext->menu_page; + lv_page_focus(page, lv_obj_get_parent(obj), LV_ANIM_ON); + } +} + +/** + * Drop down list event callback. Call the item's `event_cb` with `LV_EVENT_VALUE_CHANGED` and save the state. + * @param ddlist pointer to the Drop down lsit + * @param e the event + */ +static void ddlist_event_cb(lv_obj_t * ddlist, lv_event_t e) +{ + lv_obj_t * cont = lv_obj_get_parent(ddlist); + item_cont_ext_t * item_ext = lv_obj_get_ext_attr(cont); + + if(e == LV_EVENT_VALUE_CHANGED) { + item_ext->item->state = lv_dropdown_get_selected(ddlist); + + menu_cont_ext_t * menu_ext = lv_obj_get_ext_attr(act_cont); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(menu_ext->event_cb, NULL, e, item_ext->item); + } + else if(e == LV_EVENT_DELETE) { + item_ext->item->cont = NULL; + } + else if (e ==LV_EVENT_FOCUSED) { + menu_cont_ext_t * ext = lv_obj_get_ext_attr(act_cont); + lv_obj_t * page = ext->menu_page; + lv_page_focus(page, lv_obj_get_parent(ddlist), LV_ANIM_ON); + } +} + +static lv_obj_t* kb = NULL; +static lv_obj_t* kb_cont = NULL; + +static void kb_delete() +{ + if(kb) + { +// remove_children_from_group(kb); +// lv_group_focus_obj(NULL); + lv_keyboard_set_textarea(kb, NULL); + lv_obj_del(kb); + if(group)lv_group_set_editing(group, false); + kb = NULL; + } + if(kb_cont) + { + lv_obj_del(kb_cont); + kb_cont = NULL; + } +} + +static void kb_event_cb(lv_obj_t* keyboard, lv_event_t e) +{ + lv_keyboard_def_event_cb(kb, e); + if (e == LV_EVENT_CANCEL || e == LV_EVENT_APPLY) { + kb_delete(); + } +} + +static void kb_create(lv_obj_t* ta) +{ + if (kb_cont == NULL) + { + kb_cont = lv_cont_create(parent, NULL); + lv_obj_set_width(kb_cont, lv_obj_get_width(parent)); + lv_obj_set_style_local_bg_opa(kb_cont, LV_OBJ_PART_MAIN, LV_STATE_DEFAULT, LV_OPA_0); + lv_obj_set_style_local_border_opa(kb_cont, LV_OBJ_PART_MAIN, LV_STATE_DEFAULT, LV_OPA_0); + } + lv_coord_t y = 0; + lv_obj_t* obj = ta; + while (obj && obj!=parent) + { + y += lv_obj_get_y(obj); + obj = lv_obj_get_parent(obj); + } + lv_coord_t h = lv_obj_get_height(parent); + if (y > (h / 2 - h / 12)) + { + lv_obj_set_y(kb_cont, y-2-h); + lv_obj_set_height(kb_cont, h); + } + else + { + lv_obj_set_y(kb_cont, y+h/10-h/2); + lv_obj_set_height(kb_cont, h); + } + kb = lv_keyboard_create(kb_cont, NULL); + lv_keyboard_set_cursor_manage(kb, true); + lv_obj_set_event_cb(kb, kb_event_cb); + lv_keyboard_set_textarea(kb, ta); + if (group) + { + lv_group_add_obj(group, kb); + lv_group_focus_obj(kb); + lv_group_set_editing(group, true); + } +} + +static void edit_event_cb(lv_obj_t* edit, lv_event_t e) +{ + lv_obj_t* cont = lv_obj_get_parent(edit); + item_cont_ext_t* item_ext = lv_obj_get_ext_attr(cont); + + if (e == LV_EVENT_VALUE_CHANGED) { + if(item_ext->item->param1>0) + strncpy(item_ext->item->value, lv_textarea_get_text(edit), item_ext->item->param1); + else + strcpy(item_ext->item->value, lv_textarea_get_text(edit)); + + menu_cont_ext_t* menu_ext = lv_obj_get_ext_attr(act_cont); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(menu_ext->event_cb, NULL, e, item_ext->item); + } + else if (e == LV_EVENT_DELETE) { + item_ext->item->cont = NULL; + } + else if (e == LV_EVENT_CLICKED) { + if(kb==NULL) + kb_create(edit); + } + else if (e == LV_EVENT_FOCUSED) { + lv_state_t state = lv_obj_get_state(edit, LV_STATE_DEFAULT); + if (state & LV_STATE_EDITED && kb == NULL) + kb_create(edit); + } +} + +/** + * Number set buttons' event callback. Increment/decrement the state and call the item's `event_cb` with `LV_EVENT_VALUE_CHANGED`. + * @param btn pointer to the plus or minus button + * @param e the event + */ +static void numset_event_cb(lv_obj_t * btn, lv_event_t e) +{ + lv_obj_t * cont = lv_obj_get_parent(btn); + item_cont_ext_t * item_ext = lv_obj_get_ext_attr(cont); + if(e == LV_EVENT_SHORT_CLICKED || e == LV_EVENT_LONG_PRESSED_REPEAT) { + + lv_obj_t * label = lv_obj_get_child(btn, NULL); + int32_t iv = 1; + if (item_ext->item->param1) + iv = item_ext->item->param1; + if(strcmp(lv_label_get_text(label), LV_SYMBOL_MINUS) == 0) item_ext->item->state-=iv; + else item_ext->item->state+=iv; + + menu_cont_ext_t * menu_ext = lv_obj_get_ext_attr(act_cont); + + /*Call the button's event handler to create the menu*/ + lv_event_send_func(menu_ext->event_cb, NULL, LV_EVENT_VALUE_CHANGED, item_ext->item); + + /*Get the value label*/ + label = lv_obj_get_child(cont, NULL); + label = lv_obj_get_child(cont, label); + + lv_label_set_text(label, item_ext->item->value); + } + else if(e == LV_EVENT_DELETE) { + item_ext->item->cont = NULL; + } + else if (e ==LV_EVENT_FOCUSED) { + menu_cont_ext_t * ext = lv_obj_get_ext_attr(act_cont); + lv_obj_t * page = ext->menu_page; + lv_page_focus(page, lv_obj_get_parent(btn), LV_ANIM_ON); + } +} + +bool lv_settings_reopen_last() +{ + histroy_t* prev_hist = _lv_ll_get_head(&history_ll); + + if (prev_hist) { + _lv_ll_remove(&history_ll, prev_hist); + lv_settings_open_page(prev_hist->item, prev_hist->event_cb); + lv_mem_free(prev_hist); + return true; + } + return false; +} + +void lv_settings_back() +{ + if(kb) + { + kb_delete(); + return; + } + lv_obj_t* old_menu_cont = act_cont; + + /*Delete the current item form the history. The goal is the previous.*/ + histroy_t* act_hist; + act_hist = _lv_ll_get_head(&history_ll); + if (act_hist) { + _lv_ll_remove(&history_ll, act_hist); + lv_mem_free(act_hist); + + /*Get the real previous item and open it*/ + histroy_t* prev_hist = _lv_ll_get_head(&history_ll); + + if (prev_hist) { + /* Create the previous menu. + * Remove it from the history because `lv_settings_create_page` will add it again */ + _lv_ll_remove(&history_ll, prev_hist); + lv_settings_open_page(prev_hist->item, prev_hist->event_cb); + lv_mem_free(prev_hist); + } + else { + /*No previous menu, so no main container*/ + act_cont = NULL; + root_ext_t* ext = lv_obj_get_ext_attr(menu_btn); + lv_event_send_func(ext->event_cb, NULL, LV_EVENT_CANCEL, ext->item); + if (group) lv_group_add_obj(group, menu_btn); + } + } + + /*Float out the old menu container*/ + if (old_menu_cont) { + lv_anim_t a; + lv_anim_init(&a); + lv_anim_set_var(&a, old_menu_cont); + lv_anim_set_exec_cb(&a, (lv_anim_exec_xcb_t)lv_obj_set_x); + lv_coord_t w_scr = lv_obj_get_width(parent); + bool menu_btn_right = lv_obj_get_x(menu_btn) >= w_scr / 2; + lv_coord_t w_cont = lv_obj_get_width(old_menu_cont); + uint32_t start = !menu_btn_right ? 0 : w_scr - w_cont; + uint32_t end = !menu_btn_right ? -w_cont : w_scr; + lv_anim_set_values(&a, start, end); + // lv_anim_set_path(&a, lv_anim_path_ease_in_out); + lv_anim_set_time(&a, LV_SETTINGS_ANIM_TIME); + lv_anim_set_ready_cb(&a, old_cont_del_cb); + lv_anim_start(&a); + + /*Move the old menu to the for ground. */ + lv_obj_move_foreground(old_menu_cont); + } + + if (act_cont) { + lv_anim_del(act_cont, (lv_anim_exec_xcb_t)lv_obj_set_x); + lv_coord_t w_scr = lv_obj_get_width(parent); + bool menu_btn_right = lv_obj_get_x(menu_btn) >= w_scr / 2; + lv_coord_t w_cont = lv_obj_get_width(act_cont); + lv_obj_set_x(act_cont, !menu_btn_right ? 0 : w_scr - w_cont); + } +} + +/** + * Back button event callback. Load the previous menu on click and delete the current. + * @param btn pointer to the back button + * @param e the event + */ +static void header_back_event_cb(lv_obj_t * btn, lv_event_t e) +{ + (void) btn; /*Unused*/ + + if(e != LV_EVENT_CLICKED) return; + lv_settings_back(); +} + +/** + * Create a container for the items of a page + * @param page pointer to a page where to create the container + * @param item pointer to a `lv_settings_item_t` variable. The pointer will be saved in the container's `ext`. + * @return the created container + */ +static lv_obj_t * item_cont_create(lv_obj_t * page, lv_settings_item_t * item) +{ + lv_obj_t * cont = lv_cont_create(page, NULL); + add_style_to_item(cont); + lv_obj_add_style(cont,LV_CONT_PART_MAIN,&style_item_cont); + lv_cont_set_fit2(cont, LV_FIT_PARENT, LV_FIT_TIGHT); + lv_obj_set_click(cont, false); + + item_cont_ext_t * ext = lv_obj_allocate_ext_attr(cont, sizeof(item_cont_ext_t)); + ext->item = item; + ext->item->cont = cont; + + return cont; +} + +/** + * Delete the old main container when the animation is ready + * @param a pointer to the animation + */ +static void old_cont_del_cb(lv_anim_t * a) +{ + lv_obj_del(a->var); +} + +static void remove_children_from_group(lv_obj_t * obj) +{ + lv_obj_t *child = lv_obj_get_child(obj, NULL); + while(child) { + if(lv_obj_get_group(child) == group) { + lv_group_remove_obj(child); + } + remove_children_from_group(child); + child = lv_obj_get_child(obj, child); + } + +} + +static void add_style_to_btn(lv_obj_t* obj) +{ + static lv_style_t style; + /*Create a simple button style*/ + lv_style_init(&style); + //lv_style_set_radius(&style, LV_STATE_DEFAULT, 10); + lv_style_set_bg_opa(&style, LV_STATE_DEFAULT, LV_OPA_0); + lv_style_set_bg_opa(&style, LV_STATE_PRESSED, LV_OPA_80); + lv_style_set_bg_opa(&style, LV_STATE_FOCUSED, LV_OPA_30); + lv_style_set_bg_color(&style, LV_STATE_FOCUSED, lv_theme_get_color_secondary()); + + //lv_style_set_bg_color(&style, LV_STATE_DEFAULT, LV_COLOR_LIME); + //lv_style_set_bg_grad_color(&style, LV_STATE_DEFAULT, LV_COLOR_GREEN); + /*Swap the colors in pressed state*/ + //lv_style_set_bg_color(&style, LV_STATE_PRESSED, LV_COLOR_GREEN); + //lv_style_set_bg_grad_color(&style, LV_STATE_PRESSED, LV_COLOR_LIME); + /*Add a border*/ + lv_style_set_border_color(&style, LV_STATE_DEFAULT, LV_COLOR_WHITE); + lv_style_set_border_opa(&style, LV_STATE_DEFAULT, LV_OPA_70); + lv_style_set_border_width(&style, LV_STATE_DEFAULT, 2); + /*Different border color in focused state*/ + //lv_style_set_border_color(&style, LV_STATE_FOCUSED | LV_STATE_PRESSED, LV_COLOR_BLUE); + /*Add outline*/ + //lv_style_set_outline_width(&style, LV_STATE_DEFAULT, 2); + //lv_style_set_outline_color(&style, LV_STATE_DEFAULT, LV_COLOR_BLUE); + //lv_style_set_outline_pad(&style, LV_STATE_DEFAULT, 2); + + //lv_style_set_radius(&style, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_radius(&style, LV_STATE_DEFAULT, LV_DPX(10)); + lv_obj_add_style(obj, LV_BTN_PART_MAIN, &style); +} + +static void add_style_to_item(lv_obj_t * obj) +{ + static lv_style_t style; + /*Create a simple button style*/ + lv_style_init(&style); + //lv_style_set_radius(&style, LV_STATE_DEFAULT, 10); + lv_style_set_bg_opa(&style, LV_STATE_DEFAULT, LV_OPA_0); + lv_style_set_bg_opa(&style, LV_STATE_FOCUSED, LV_OPA_30); + lv_style_set_bg_color(&style, LV_STATE_FOCUSED, lv_theme_get_color_secondary()); + //lv_style_set_bg_grad_color(&style, LV_STATE_DEFAULT, LV_COLOR_GREEN); + //lv_style_set_bg_grad_dir(&style, LV_STATE_DEFAULT, LV_GRAD_DIR_VER); + /*Swap the colors in pressed state*/ + //lv_style_set_bg_color(&style, LV_STATE_PRESSED, LV_COLOR_GREEN); + //lv_style_set_bg_grad_color(&style, LV_STATE_PRESSED, LV_COLOR_LIME); + /*Add a border*/ + lv_style_set_border_color(&style, LV_STATE_DEFAULT, LV_COLOR_GRAY); + lv_style_set_border_opa(&style, LV_STATE_DEFAULT, LV_OPA_70); + lv_style_set_border_opa(&style, LV_STATE_FOCUSED, LV_OPA_70); + lv_style_set_border_width(&style, LV_STATE_DEFAULT, 2); + lv_style_set_border_side(&style, LV_STATE_DEFAULT, LV_BORDER_SIDE_BOTTOM | LV_BORDER_SIDE_TOP); + /*Different border color in focused state*/ + //lv_style_set_border_color(&style, LV_STATE_FOCUSED | LV_STATE_PRESSED, LV_COLOR_BLUE); + /*Add outline*/ + //lv_style_set_outline_width(&style, LV_STATE_DEFAULT, 2); + //lv_style_set_outline_color(&style, LV_STATE_DEFAULT, LV_COLOR_BLUE); + //lv_style_set_outline_pad(&style, LV_STATE_DEFAULT, 2); + lv_style_set_radius(&style, LV_STATE_DEFAULT, 0); + lv_style_set_margin_all(&style, LV_STATE_DEFAULT, 0); + lv_style_set_margin_bottom(&style, LV_STATE_DEFAULT, -1); + lv_obj_add_style(obj, LV_BTN_PART_MAIN, &style); +} diff --git a/src/lv_settings/lv_settings.h b/src/lv_settings/lv_settings.h new file mode 100644 index 0000000..d2f3cfb --- /dev/null +++ b/src/lv_settings/lv_settings.h @@ -0,0 +1,119 @@ +īģŋ/** + * @file lv_settings.h + * + */ + +#ifndef LV_SETTINGS_H +#define LV_SETTINGS_H + +#ifdef __cplusplus +extern "C" { +#endif + +/********************* + * INCLUDES + *********************/ + +#ifdef LV_LVGL_H_INCLUDE_SIMPLE +#include "lvgl.h" +#else +#include "lvgl/lvgl.h" +#endif + +/********************* + * DEFINES + *********************/ + +/********************** + * TYPEDEFS + **********************/ + +typedef enum { + LV_SETTINGS_TYPE_LIST_BTN, + LV_SETTINGS_TYPE_BTN, + LV_SETTINGS_TYPE_SW, + LV_SETTINGS_TYPE_DDLIST, + LV_SETTINGS_TYPE_NUMSET, + LV_SETTINGS_TYPE_SLIDER, + LV_SETTINGS_TYPE_EDIT, + + LV_SETTINGS_TYPE_INV = 0xff, +}lv_settings_type_t; + + +#define LV_SETTINGS_EDIT_PWD 1 + +typedef struct { + uint8_t id; + lv_settings_type_t type; + char * name; /*Name or title of the item*/ + char * value; /*The current value as string*/ + int32_t state; /*The current state, e.g. slider's value, switch state as a number */ + int32_t param1; + int32_t param2; + lv_obj_t * cont; + union { + void * ptr; + int32_t int32; + }user_data; +}lv_settings_item_t; + + +/********************** + * GLOBAL PROTOTYPES + **********************/ + +/** + * Create a settings application + * @param root_item descriptor of the settings button. For example: + * `lv_settings_menu_item_t root_item = {.name = "Settings", .event_cb = root_event_cb};` + * @return the created settings button + */ +lv_obj_t * lv_settings_create(lv_settings_item_t * root_item, lv_event_cb_t event_cb); + +/** + * Automatically add the item to a group to allow navigation with keypad or encoder. + * Should be called before `lv_settings_create` + * The group can be change at any time. + * @param g the group to use. `NULL` to not use this feature. + */ +void lv_settings_set_group(lv_group_t * g); +void lv_settings_set_parent(lv_obj_t* p); +void lv_settings_back(); +bool lv_settings_reopen_last(); + +/** + * Change the maximum width of settings dialog object + * @param max_width maximum width of the settings container page + */ +void lv_settings_set_max_width(lv_coord_t max_width); + +/** + * Create a new page ask `event_cb` to add the item with `LV_EVENT_REFRESH` + * @param parent_item pointer to an item which open the the new page. Its `name` will be the title + * @param event_cb event handler of the menu page + */ +void lv_settings_open_page(lv_settings_item_t * parent_item, lv_event_cb_t event_cb); + +/** + * Add a list element to the page. With `item->name` and `item->value` texts. + * @param page pointer to a menu page created by `lv_settings_create_page` + */ +void lv_settings_add(lv_settings_item_t * item); + + +/** + * Refresh an item's name value and state. + * @param item pointer to a an `lv_settings_item _t` item. + */ +void lv_settings_refr(lv_settings_item_t * item); + +/********************** + * MACROS + **********************/ + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif /*LV_TEMPL_H*/ diff --git a/src/lvgl/lv_theme_material.c b/src/lvgl/lv_theme_material.c new file mode 100644 index 0000000..1a3ec68 --- /dev/null +++ b/src/lvgl/lv_theme_material.c @@ -0,0 +1,1404 @@ +/** + * @file lv_theme_material.c + * + */ + +/********************* + * INCLUDES + *********************/ +#include /*To see all the widgets*/ + +#if LV_USE_THEME_MATERIAL + +#include + +#if defined(LV_GC_INCLUDE) + #include LV_GC_INCLUDE +#endif /* LV_ENABLE_GC */ + +/********************* + * DEFINES + *********************/ + +/*SCREEN*/ + +#define COLOR_SCR (IS_LIGHT ? lv_color_hex(0xeaeff3) : lv_color_hex(0x000000)) +#define COLOR_SCR_TEXT (IS_LIGHT ? lv_color_hex(0x3b3e42) : lv_color_hex(0xe7e9ec)) + +/*BUTTON*/ +#define COLOR_BTN (IS_LIGHT ? lv_color_hex(0xffffff) : lv_color_hex(0x000000)) +#define COLOR_BTN_PR (IS_LIGHT ? lv_color_mix(theme.color_primary, COLOR_BTN, LV_OPA_20) : lv_color_mix(theme.color_primary, COLOR_BTN, LV_OPA_30)) + +#define COLOR_BTN_CHK (theme.color_primary) +#define COLOR_BTN_CHK_PR (lv_color_darken(theme.color_primary, LV_OPA_30)) +#define COLOR_BTN_DIS (IS_LIGHT ? lv_color_hex3(0xccc) : lv_color_hex3(0x888)) + +#define COLOR_BTN_BORDER theme.color_primary +#define COLOR_BTN_BORDER_PR theme.color_primary +#define COLOR_BTN_BORDER_CHK theme.color_primary +#define COLOR_BTN_BORDER_CHK_PR theme.color_primary +#define COLOR_BTN_BORDER_INA (IS_LIGHT ? lv_color_hex3(0x888) : lv_color_hex(0x404040)) + +/*BACKGROUND*/ +#define COLOR_BG (IS_LIGHT ? lv_color_hex(0xffffff) : lv_color_hex(0x000000)) +#define COLOR_BG_PR (IS_LIGHT ? lv_color_hex(0xeeeeee) : lv_color_hex(0x101010)) +#define COLOR_BG_CHK theme.color_primary +#define COLOR_BG_PR_CHK lv_color_darken(theme.color_primary, LV_OPA_20) +#define COLOR_BG_DIS COLOR_BG + +#define COLOR_BG_BORDER (IS_LIGHT ? lv_color_hex(0xd6dde3) : lv_color_hex(0x808a97)) /*dfe7ed*/ +#define COLOR_BG_BORDER_PR (IS_LIGHT ? lv_color_hex3(0xccc) : lv_color_hex(0x5f656e)) +#define COLOR_BG_BORDER_CHK (IS_LIGHT ? lv_color_hex(0x3b3e42) : lv_color_hex(0x5f656e)) +#define COLOR_BG_BORDER_CHK_PR (IS_LIGHT ? lv_color_hex(0x3b3e42) : lv_color_hex(0x5f656e)) +#define COLOR_BG_BORDER_DIS (IS_LIGHT ? lv_color_hex(0xd6dde3) : lv_color_hex(0x5f656e)) + +#define COLOR_BG_TEXT (IS_LIGHT ? lv_color_hex(0x3b3e42) : lv_color_hex(0xffffff)) +#define COLOR_BG_TEXT_PR (IS_LIGHT ? lv_color_hex(0x3b3e42) : lv_color_hex(0xffffff)) +#define COLOR_BG_TEXT_CHK (IS_LIGHT ? lv_color_hex(0xffffff) : lv_color_hex(0xffffff)) +#define COLOR_BG_TEXT_CHK_PR (IS_LIGHT ? lv_color_hex(0xffffff) : lv_color_hex(0xffffff)) +#define COLOR_BG_TEXT_DIS (IS_LIGHT ? lv_color_hex3(0xaaa) : lv_color_hex3(0x999)) + +/*SECONDARY BACKGROUND*/ +#define COLOR_BG_SEC (IS_LIGHT ? lv_color_hex(0xd4d7d9) : lv_color_hex(0x45494d)) +#define COLOR_BG_SEC_BORDER (IS_LIGHT ? lv_color_hex(0xdfe7ed) : lv_color_hex(0x404040)) +#define COLOR_BG_SEC_TEXT (IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex(0xa5a8ad)) +#define COLOR_BG_SEC_TEXT_DIS (IS_LIGHT ? lv_color_hex(0xaaaaaa) : lv_color_hex(0xa5a8ad)) + +#define TRANSITION_TIME 0/*((theme.flags & LV_THEME_MATERIAL_FLAG_NO_TRANSITION) ? 0 : 150)*/ +#define BORDER_WIDTH LV_DPX(2) +#define OUTLINE_WIDTH ((theme.flags & LV_THEME_MATERIAL_FLAG_NO_FOCUS) ? 0 : LV_DPX(2)) +#define IS_LIGHT (theme.flags & LV_THEME_MATERIAL_FLAG_LIGHT) + +#define PAD_DEF (lv_disp_get_size_category(NULL) <= LV_DISP_SIZE_MEDIUM ? LV_DPX(10) : (LV_DPX(15))) + +/********************** + * TYPEDEFS + **********************/ +typedef struct { + lv_style_t scr; + lv_style_t bg; + lv_style_t bg_click; + lv_style_t bg_sec; + lv_style_t btn; + lv_style_t pad_inner; + lv_style_t pad_small; + +#if LV_USE_ARC + lv_style_t arc_indic; + lv_style_t arc_bg; + lv_style_t arc_knob; +#endif + +#if LV_USE_BAR + lv_style_t bar_bg; + lv_style_t bar_indic; +#endif + +#if LV_USE_CALENDAR + lv_style_t calendar_date_nums, calendar_header, calendar_daynames; +#endif + +#if LV_USE_CPICKER + lv_style_t cpicker_bg, cpicker_indic; +#endif + +#if LV_USE_CHART + lv_style_t chart_bg, chart_series_bg, chart_series; +#endif + +#if LV_USE_CHECKBOX + lv_style_t cb_bg, cb_bullet; +#endif + +#if LV_USE_DROPDOWN + lv_style_t ddlist_page, ddlist_sel; +#endif + +#if LV_USE_GAUGE + lv_style_t gauge_main, gauge_strong, gauge_needle; +#endif + +#if LV_USE_KEYBOARD + lv_style_t kb_bg; +#endif + +#if LV_USE_LED + lv_style_t led; +#endif + +#if LV_USE_LINEMETER + lv_style_t lmeter; +#endif + +#if LV_USE_LIST + lv_style_t list_bg, list_btn; +#endif + +#if LV_USE_MSGBOX + lv_style_t mbox_bg; +#endif + +#if LV_USE_PAGE + lv_style_t sb; +#if LV_USE_ANIMATION + lv_style_t edge_flash; +#endif +#endif + +#if LV_USE_ROLLER + lv_style_t roller_bg, roller_sel; +#endif + +#if LV_USE_SLIDER + lv_style_t slider_knob, slider_bg; +#endif + +#if LV_USE_SPINBOX + lv_style_t spinbox_cursor; +#endif + +#if LV_USE_SWITCH + lv_style_t sw_knob; +#endif + +#if LV_USE_TABLE + lv_style_t table_cell; +#endif + +#if LV_USE_TABVIEW || LV_USE_WIN + lv_style_t tabview_btns, tabview_btns_bg, tabview_indic, tabview_page_scrl; +#endif + +#if LV_USE_TEXTAREA + lv_style_t ta_cursor, ta_placeholder; +#endif + +} theme_styles_t; + +/********************** + * STATIC PROTOTYPES + **********************/ +static void theme_apply(lv_theme_t * th, lv_obj_t * obj, lv_theme_style_t name); +static void style_init_reset(lv_style_t * style); + +/********************** + * STATIC VARIABLES + **********************/ +static lv_theme_t theme; +static theme_styles_t * styles; + +static bool inited; + +/********************** + * MACROS + **********************/ + +/********************** + * STATIC FUNCTIONS + **********************/ + +static void basic_init(void) +{ + style_init_reset(&styles->scr); + lv_style_set_bg_opa(&styles->scr, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->scr, LV_STATE_DEFAULT, COLOR_SCR); + lv_style_set_text_color(&styles->scr, LV_STATE_DEFAULT, COLOR_SCR_TEXT); + lv_style_set_value_color(&styles->scr, LV_STATE_DEFAULT, COLOR_SCR_TEXT); + lv_style_set_text_sel_color(&styles->scr, LV_STATE_DEFAULT, COLOR_SCR_TEXT); + lv_style_set_text_sel_bg_color(&styles->scr, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_value_font(&styles->scr, LV_STATE_DEFAULT, theme.font_normal); + + style_init_reset(&styles->bg); + lv_style_set_radius(&styles->bg, LV_STATE_DEFAULT, LV_DPX(8)); + lv_style_set_bg_opa(&styles->bg, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->bg, LV_STATE_DEFAULT, COLOR_BG); + lv_style_set_border_color(&styles->bg, LV_STATE_DEFAULT, COLOR_BG_BORDER); + if((theme.flags & LV_THEME_MATERIAL_FLAG_NO_FOCUS) == 0)lv_style_set_border_color(&styles->bg, LV_STATE_FOCUSED, + theme.color_primary); + lv_style_set_border_color(&styles->bg, LV_STATE_EDITED, theme.color_secondary); + lv_style_set_border_width(&styles->bg, LV_STATE_DEFAULT, BORDER_WIDTH); + lv_style_set_border_post(&styles->bg, LV_STATE_DEFAULT, true); + lv_style_set_text_color(&styles->bg, LV_STATE_DEFAULT, COLOR_BG_TEXT); + lv_style_set_value_font(&styles->bg, LV_STATE_DEFAULT, theme.font_normal); + lv_style_set_value_color(&styles->bg, LV_STATE_DEFAULT, COLOR_BG_TEXT); + lv_style_set_image_recolor(&styles->bg, LV_STATE_DEFAULT, COLOR_BG_TEXT); + lv_style_set_line_color(&styles->bg, LV_STATE_DEFAULT, COLOR_BG_TEXT); + lv_style_set_line_width(&styles->bg, LV_STATE_DEFAULT, 1); + lv_style_set_pad_left(&styles->bg, LV_STATE_DEFAULT, PAD_DEF + BORDER_WIDTH); + lv_style_set_pad_right(&styles->bg, LV_STATE_DEFAULT, PAD_DEF + BORDER_WIDTH); + lv_style_set_pad_top(&styles->bg, LV_STATE_DEFAULT, PAD_DEF + BORDER_WIDTH); + lv_style_set_pad_bottom(&styles->bg, LV_STATE_DEFAULT, PAD_DEF + BORDER_WIDTH); + lv_style_set_pad_inner(&styles->bg, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_transition_time(&styles->bg, LV_STATE_DEFAULT, TRANSITION_TIME); + lv_style_set_transition_prop_6(&styles->bg, LV_STATE_DEFAULT, LV_STYLE_BORDER_COLOR); + + style_init_reset(&styles->bg_sec); + lv_style_copy(&styles->bg_sec, &styles->bg); + lv_style_set_bg_color(&styles->bg_sec, LV_STATE_DEFAULT, COLOR_BG_SEC); + lv_style_set_border_color(&styles->bg_sec, LV_STATE_DEFAULT, COLOR_BG_SEC_BORDER); + lv_style_set_text_color(&styles->bg_sec, LV_STATE_DEFAULT, COLOR_BG_SEC_TEXT); + lv_style_set_value_color(&styles->bg_sec, LV_STATE_DEFAULT, COLOR_BG_SEC_TEXT); + lv_style_set_image_recolor(&styles->bg_sec, LV_STATE_DEFAULT, COLOR_BG_SEC_TEXT); + lv_style_set_line_color(&styles->bg_sec, LV_STATE_DEFAULT, COLOR_BG_SEC_TEXT); + + style_init_reset(&styles->bg_click); + lv_style_set_bg_color(&styles->bg_click, LV_STATE_PRESSED, COLOR_BG_PR); + lv_style_set_bg_color(&styles->bg_click, LV_STATE_CHECKED, COLOR_BG_CHK); + lv_style_set_bg_color(&styles->bg_click, LV_STATE_PRESSED | LV_STATE_CHECKED, COLOR_BG_PR_CHK); + lv_style_set_bg_color(&styles->bg_click, LV_STATE_DISABLED, COLOR_BG_DIS); + lv_style_set_border_width(&styles->bg_click, LV_STATE_CHECKED, 0); + lv_style_set_border_color(&styles->bg_click, LV_STATE_FOCUSED | LV_STATE_PRESSED, lv_color_darken(theme.color_primary, + LV_OPA_20)); + lv_style_set_border_color(&styles->bg_click, LV_STATE_PRESSED, COLOR_BG_BORDER_PR); + lv_style_set_border_color(&styles->bg_click, LV_STATE_CHECKED, COLOR_BG_BORDER_CHK); + lv_style_set_border_color(&styles->bg_click, LV_STATE_PRESSED | LV_STATE_CHECKED, COLOR_BG_BORDER_CHK_PR); + lv_style_set_border_color(&styles->bg_click, LV_STATE_DISABLED, COLOR_BG_BORDER_DIS); + lv_style_set_text_color(&styles->bg_click, LV_STATE_PRESSED, COLOR_BG_TEXT_PR); + lv_style_set_text_color(&styles->bg_click, LV_STATE_CHECKED, COLOR_BG_TEXT_CHK); + lv_style_set_text_color(&styles->bg_click, LV_STATE_PRESSED | LV_STATE_CHECKED, COLOR_BG_TEXT_CHK_PR); + lv_style_set_text_color(&styles->bg_click, LV_STATE_DISABLED, COLOR_BG_TEXT_DIS); + lv_style_set_image_recolor(&styles->bg_click, LV_STATE_PRESSED, COLOR_BG_TEXT_PR); + lv_style_set_image_recolor(&styles->bg_click, LV_STATE_CHECKED, COLOR_BG_TEXT_CHK); + lv_style_set_image_recolor(&styles->bg_click, LV_STATE_PRESSED | LV_STATE_CHECKED, COLOR_BG_TEXT_CHK_PR); + lv_style_set_image_recolor(&styles->bg_click, LV_STATE_DISABLED, COLOR_BG_TEXT_DIS); + lv_style_set_transition_prop_5(&styles->bg_click, LV_STATE_DEFAULT, LV_STYLE_BG_COLOR); + + style_init_reset(&styles->btn); + lv_style_set_radius(&styles->btn, LV_STATE_DEFAULT, LV_DPX(32)); + lv_style_set_bg_opa(&styles->btn, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->btn, LV_STATE_DEFAULT, COLOR_BTN); + lv_style_set_bg_color(&styles->btn, LV_STATE_PRESSED, COLOR_BTN_PR); + lv_style_set_bg_color(&styles->btn, LV_STATE_CHECKED, COLOR_BTN_CHK); + lv_style_set_bg_color(&styles->btn, LV_STATE_CHECKED | LV_STATE_PRESSED, COLOR_BTN_CHK_PR); + lv_style_set_bg_color(&styles->btn, LV_STATE_DISABLED, COLOR_BTN); + lv_style_set_bg_color(&styles->btn, LV_STATE_DISABLED | LV_STATE_CHECKED, COLOR_BTN_DIS); + lv_style_set_border_color(&styles->btn, LV_STATE_DEFAULT, COLOR_BTN_BORDER); + lv_style_set_border_color(&styles->btn, LV_STATE_PRESSED, COLOR_BTN_BORDER_PR); + lv_style_set_border_color(&styles->btn, LV_STATE_DISABLED, COLOR_BTN_BORDER_INA); + lv_style_set_border_width(&styles->btn, LV_STATE_DEFAULT, BORDER_WIDTH); + lv_style_set_border_width(&styles->btn, LV_STATE_FOCUSED, BORDER_WIDTH*4); + lv_style_set_border_color(&styles->btn, LV_STATE_FOCUSED, lv_color_lighten(COLOR_BTN_BORDER, LV_OPA_20)); + lv_style_set_border_opa(&styles->btn, LV_STATE_CHECKED, LV_OPA_TRANSP); + + lv_style_set_text_color(&styles->btn, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex(0xffffff)); + lv_style_set_text_color(&styles->btn, LV_STATE_PRESSED, IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex(0xffffff)); + lv_style_set_text_color(&styles->btn, LV_STATE_CHECKED, lv_color_hex(0xffffff)); + lv_style_set_text_color(&styles->btn, LV_STATE_CHECKED | LV_STATE_PRESSED, lv_color_hex(0xffffff)); + lv_style_set_text_color(&styles->btn, LV_STATE_DISABLED, IS_LIGHT ? lv_color_hex(0x888888) : lv_color_hex(0x888888)); + + lv_style_set_image_recolor(&styles->btn, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex(0xffffff)); + lv_style_set_image_recolor(&styles->btn, LV_STATE_PRESSED, IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex(0xffffff)); + lv_style_set_image_recolor(&styles->btn, LV_STATE_PRESSED, lv_color_hex(0xffffff)); + lv_style_set_image_recolor(&styles->btn, LV_STATE_CHECKED | LV_STATE_PRESSED, lv_color_hex(0xffffff)); + lv_style_set_image_recolor(&styles->btn, LV_STATE_DISABLED, IS_LIGHT ? lv_color_hex(0x888888) : lv_color_hex(0x888888)); + + lv_style_set_value_color(&styles->btn, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex(0xffffff)); + lv_style_set_value_color(&styles->btn, LV_STATE_PRESSED, IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex(0xffffff)); + lv_style_set_value_color(&styles->btn, LV_STATE_CHECKED, lv_color_hex(0xffffff)); + lv_style_set_value_color(&styles->btn, LV_STATE_CHECKED | LV_STATE_PRESSED, lv_color_hex(0xffffff)); + lv_style_set_value_color(&styles->btn, LV_STATE_DISABLED, IS_LIGHT ? lv_color_hex(0x888888) : lv_color_hex(0x888888)); + + lv_style_set_pad_left(&styles->btn, LV_STATE_DEFAULT, LV_DPX(40)); + lv_style_set_pad_right(&styles->btn, LV_STATE_DEFAULT, LV_DPX(40)); + lv_style_set_pad_top(&styles->btn, LV_STATE_DEFAULT, LV_DPX(15)); + lv_style_set_pad_bottom(&styles->btn, LV_STATE_DEFAULT, LV_DPX(15)); + lv_style_set_pad_inner(&styles->btn, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_outline_width(&styles->btn, LV_STATE_DEFAULT, OUTLINE_WIDTH); + lv_style_set_outline_opa(&styles->btn, LV_STATE_DEFAULT, LV_OPA_0); + lv_style_set_outline_opa(&styles->btn, LV_STATE_FOCUSED, LV_OPA_50); + lv_style_set_outline_color(&styles->btn, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_outline_color(&styles->btn, LV_STATE_EDITED, theme.color_secondary); + lv_style_set_transition_time(&styles->btn, LV_STATE_DEFAULT, TRANSITION_TIME); + lv_style_set_transition_prop_4(&styles->btn, LV_STATE_DEFAULT, LV_STYLE_BORDER_OPA); + lv_style_set_transition_prop_5(&styles->btn, LV_STATE_DEFAULT, LV_STYLE_BG_COLOR); + lv_style_set_transition_prop_6(&styles->btn, LV_STATE_DEFAULT, LV_STYLE_OUTLINE_OPA); + lv_style_set_transition_delay(&styles->btn, LV_STATE_DEFAULT, TRANSITION_TIME); + lv_style_set_transition_delay(&styles->btn, LV_STATE_PRESSED, 0); + + style_init_reset(&styles->pad_inner); + + lv_style_set_pad_inner(&styles->pad_inner, LV_STATE_DEFAULT, + lv_disp_get_size_category(NULL) <= LV_DISP_SIZE_MEDIUM ? LV_DPX(20) : LV_DPX(40)); + + style_init_reset(&styles->pad_small); + lv_style_int_t pad_small_value = lv_disp_get_size_category(NULL) <= LV_DISP_SIZE_MEDIUM ? LV_DPX(10) : LV_DPX(20); + lv_style_set_pad_left(&styles->pad_small, LV_STATE_DEFAULT, pad_small_value); + lv_style_set_pad_right(&styles->pad_small, LV_STATE_DEFAULT, pad_small_value); + lv_style_set_pad_top(&styles->pad_small, LV_STATE_DEFAULT, pad_small_value); + lv_style_set_pad_bottom(&styles->pad_small, LV_STATE_DEFAULT, pad_small_value); + lv_style_set_pad_inner(&styles->pad_small, LV_STATE_DEFAULT, pad_small_value); +} + +static void cont_init(void) +{ +#if LV_USE_CONT != 0 + +#endif +} + +static void btn_init(void) +{ +#if LV_USE_BTN != 0 + +#endif +} + +static void label_init(void) +{ +#if LV_USE_LABEL != 0 + +#endif +} + +static void bar_init(void) +{ +#if LV_USE_BAR + style_init_reset(&styles->bar_bg); + lv_style_set_radius(&styles->bar_bg, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_bg_opa(&styles->bar_bg, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->bar_bg, LV_STATE_DEFAULT, COLOR_BG_SEC); + lv_style_set_value_color(&styles->bar_bg, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x31404f) : LV_COLOR_WHITE); + lv_style_set_outline_color(&styles->bar_bg, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_outline_color(&styles->bar_bg, LV_STATE_EDITED, theme.color_secondary); + lv_style_set_outline_opa(&styles->bar_bg, LV_STATE_DEFAULT, LV_OPA_TRANSP); + lv_style_set_outline_opa(&styles->bar_bg, LV_STATE_FOCUSED, LV_OPA_50); + lv_style_set_outline_width(&styles->bar_bg, LV_STATE_DEFAULT, OUTLINE_WIDTH); + lv_style_set_transition_time(&styles->bar_bg, LV_STATE_DEFAULT, TRANSITION_TIME); + lv_style_set_transition_prop_6(&styles->bar_bg, LV_STATE_DEFAULT, LV_STYLE_OUTLINE_OPA); + + lv_style_set_border_width(&styles->bar_bg, LV_STATE_FOCUSED, BORDER_WIDTH*4); + lv_style_set_border_color(&styles->bar_bg, LV_STATE_FOCUSED, lv_color_lighten(COLOR_BTN_BORDER, LV_OPA_20)); + + style_init_reset(&styles->bar_indic); + lv_style_set_bg_opa(&styles->bar_indic, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_radius(&styles->bar_indic, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_bg_color(&styles->bar_indic, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_bg_color(&styles->bar_indic, LV_STATE_DISABLED, lv_color_hex3(0x888)); + lv_style_set_value_color(&styles->bar_indic, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x41404f) : LV_COLOR_WHITE); + +#endif +} + +static void img_init(void) +{ +#if LV_USE_IMG != 0 + +#endif +} + +static void line_init(void) +{ +#if LV_USE_LINE != 0 + +#endif +} + +static void led_init(void) +{ +#if LV_USE_LED != 0 + style_init_reset(&styles->led); + lv_style_set_bg_opa(&styles->led, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->led, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_border_width(&styles->led, LV_STATE_DEFAULT, 2); + lv_style_set_border_opa(&styles->led, LV_STATE_DEFAULT, LV_OPA_50); + lv_style_set_border_color(&styles->led, LV_STATE_DEFAULT, lv_color_lighten(theme.color_primary, LV_OPA_30)); + lv_style_set_radius(&styles->led, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_shadow_width(&styles->led, LV_STATE_DEFAULT, LV_DPX(15)); + lv_style_set_shadow_color(&styles->led, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_shadow_spread(&styles->led, LV_STATE_DEFAULT, LV_DPX(5)); +#endif +} + +static void slider_init(void) +{ +#if LV_USE_SLIDER != 0 + style_init_reset(&styles->slider_knob); + lv_style_set_bg_opa(&styles->slider_knob, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->slider_knob, LV_STATE_DEFAULT, IS_LIGHT ? theme.color_primary : LV_COLOR_WHITE); + lv_style_set_value_color(&styles->slider_knob, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x31404f) : LV_COLOR_WHITE); + lv_style_set_radius(&styles->slider_knob, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_pad_left(&styles->slider_knob, LV_STATE_DEFAULT, LV_DPX(7)); + lv_style_set_pad_right(&styles->slider_knob, LV_STATE_DEFAULT, LV_DPX(7)); + lv_style_set_pad_top(&styles->slider_knob, LV_STATE_DEFAULT, LV_DPX(7)); + lv_style_set_pad_bottom(&styles->slider_knob, LV_STATE_DEFAULT, LV_DPX(7)); + + style_init_reset(&styles->slider_bg); + lv_style_set_margin_left(&styles->slider_bg, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_margin_right(&styles->slider_bg, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_margin_top(&styles->slider_bg, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_margin_bottom(&styles->slider_bg, LV_STATE_DEFAULT, LV_DPX(10)); + +#endif +} + +static void switch_init(void) +{ +#if LV_USE_SWITCH != 0 + style_init_reset(&styles->sw_knob); + lv_style_set_bg_opa(&styles->sw_knob, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->sw_knob, LV_STATE_DEFAULT, LV_COLOR_WHITE); + lv_style_set_radius(&styles->sw_knob, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_pad_top(&styles->sw_knob, LV_STATE_DEFAULT, - LV_DPX(4)); + lv_style_set_pad_bottom(&styles->sw_knob, LV_STATE_DEFAULT, - LV_DPX(4)); + lv_style_set_pad_left(&styles->sw_knob, LV_STATE_DEFAULT, - LV_DPX(4)); + lv_style_set_pad_right(&styles->sw_knob, LV_STATE_DEFAULT, - LV_DPX(4)); +#endif +} + +static void linemeter_init(void) +{ +#if LV_USE_LINEMETER != 0 + style_init_reset(&styles->lmeter); + lv_style_set_radius(&styles->lmeter, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_pad_left(&styles->lmeter, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_pad_right(&styles->lmeter, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_pad_top(&styles->lmeter, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_pad_inner(&styles->lmeter, LV_STATE_DEFAULT, LV_DPX(30)); + lv_style_set_scale_width(&styles->lmeter, LV_STATE_DEFAULT, LV_DPX(25)); + + lv_style_set_line_color(&styles->lmeter, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_scale_grad_color(&styles->lmeter, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_scale_end_color(&styles->lmeter, LV_STATE_DEFAULT, lv_color_hex3(0x888)); + lv_style_set_line_width(&styles->lmeter, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_scale_end_line_width(&styles->lmeter, LV_STATE_DEFAULT, LV_DPX(7)); +#endif +} + +static void gauge_init(void) +{ +#if LV_USE_GAUGE != 0 + style_init_reset(&styles->gauge_main); + lv_style_set_line_color(&styles->gauge_main, LV_STATE_DEFAULT, lv_color_hex3(0x888)); + lv_style_set_scale_grad_color(&styles->gauge_main, LV_STATE_DEFAULT, lv_color_hex3(0x888)); + lv_style_set_scale_end_color(&styles->gauge_main, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_line_width(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(5)); + lv_style_set_scale_end_line_width(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(4)); + lv_style_set_scale_end_border_width(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(8)); + lv_style_set_pad_left(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_pad_right(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_pad_top(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_pad_inner(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_scale_width(&styles->gauge_main, LV_STATE_DEFAULT, LV_DPX(15)); + lv_style_set_radius(&styles->gauge_main, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + + style_init_reset(&styles->gauge_strong); + lv_style_set_line_color(&styles->gauge_strong, LV_STATE_DEFAULT, lv_color_hex3(0x888)); + lv_style_set_scale_grad_color(&styles->gauge_strong, LV_STATE_DEFAULT, lv_color_hex3(0x888)); + lv_style_set_scale_end_color(&styles->gauge_strong, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_line_width(&styles->gauge_strong, LV_STATE_DEFAULT, LV_DPX(8)); + lv_style_set_scale_end_line_width(&styles->gauge_strong, LV_STATE_DEFAULT, LV_DPX(8)); + lv_style_set_scale_width(&styles->gauge_strong, LV_STATE_DEFAULT, LV_DPX(25)); + + style_init_reset(&styles->gauge_needle); + lv_style_set_line_color(&styles->gauge_needle, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x464b5b) : LV_COLOR_WHITE); + lv_style_set_line_width(&styles->gauge_needle, LV_STATE_DEFAULT, LV_DPX(8)); + lv_style_set_bg_opa(&styles->gauge_needle, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->gauge_needle, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex(0x464b5b) : LV_COLOR_WHITE); + lv_style_set_radius(&styles->gauge_needle, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_size(&styles->gauge_needle, LV_STATE_DEFAULT, LV_DPX(30)); + lv_style_set_pad_inner(&styles->gauge_needle, LV_STATE_DEFAULT, LV_DPX(10)); +#endif +} + +static void arc_init(void) +{ +#if LV_USE_ARC != 0 + style_init_reset(&styles->arc_indic); + lv_style_set_line_color(&styles->arc_indic, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_line_width(&styles->arc_indic, LV_STATE_DEFAULT, LV_DPX(25)); + lv_style_set_line_rounded(&styles->arc_indic, LV_STATE_DEFAULT, true); + + style_init_reset(&styles->arc_bg); + lv_style_set_line_color(&styles->arc_bg, LV_STATE_DEFAULT, COLOR_BG_SEC); + lv_style_set_line_width(&styles->arc_bg, LV_STATE_DEFAULT, LV_DPX(25)); + lv_style_set_line_rounded(&styles->arc_bg, LV_STATE_DEFAULT, true); + + style_init_reset(&styles->arc_knob); + lv_style_set_radius(&styles->arc_knob, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_pad_top(&styles->arc_knob, LV_STATE_DEFAULT, LV_DPX(0)); + lv_style_set_pad_bottom(&styles->arc_knob, LV_STATE_DEFAULT, LV_DPX(0)); + lv_style_set_pad_left(&styles->arc_knob, LV_STATE_DEFAULT, LV_DPX(0)); + lv_style_set_pad_right(&styles->arc_knob, LV_STATE_DEFAULT, LV_DPX(0)); + +#endif +} + +static void spinner_init(void) +{ +#if LV_USE_SPINNER != 0 +#endif +} + +static void chart_init(void) +{ +#if LV_USE_CHART + style_init_reset(&styles->chart_bg); + lv_style_set_text_color(&styles->chart_bg, LV_STATE_DEFAULT, IS_LIGHT ? COLOR_BG_TEXT_DIS : lv_color_hex(0xa1adbd)); + + style_init_reset(&styles->chart_series_bg); + lv_style_set_line_width(&styles->chart_series_bg, LV_STATE_DEFAULT, LV_DPX(1)); + lv_style_set_line_dash_width(&styles->chart_series_bg, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_line_dash_gap(&styles->chart_series_bg, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_line_color(&styles->chart_series_bg, LV_STATE_DEFAULT, COLOR_BG_BORDER); + + style_init_reset(&styles->chart_series); + lv_style_set_line_width(&styles->chart_series, LV_STATE_DEFAULT, LV_DPX(3)); + lv_style_set_size(&styles->chart_series, LV_STATE_DEFAULT, LV_DPX(4)); + lv_style_set_pad_inner(&styles->chart_series, LV_STATE_DEFAULT, LV_DPX(2)); /*Space between columns*/ + lv_style_set_radius(&styles->chart_series, LV_STATE_DEFAULT, LV_DPX(1)); + +#endif +} + +static void calendar_init(void) +{ +#if LV_USE_CALENDAR + + style_init_reset(&styles->calendar_header); + lv_style_set_pad_top(&styles->calendar_header, LV_STATE_DEFAULT, 0); + lv_style_set_pad_left(&styles->calendar_header, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_right(&styles->calendar_header, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_bottom(&styles->calendar_header, LV_STATE_DEFAULT, 0); + lv_style_set_margin_top(&styles->calendar_header, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_margin_bottom(&styles->calendar_header, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_text_color(&styles->calendar_header, LV_STATE_PRESSED, IS_LIGHT ? lv_color_hex(0x888888) : LV_COLOR_WHITE); + + style_init_reset(&styles->calendar_daynames); + lv_style_set_text_color(&styles->calendar_daynames, LV_STATE_DEFAULT, + IS_LIGHT ? lv_color_hex(0x31404f) : lv_color_hex3(0xeee)); + lv_style_set_pad_left(&styles->calendar_daynames, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_right(&styles->calendar_daynames, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_bottom(&styles->calendar_daynames, LV_STATE_DEFAULT, PAD_DEF); + + style_init_reset(&styles->calendar_date_nums); + lv_style_set_radius(&styles->calendar_date_nums, LV_STATE_DEFAULT, LV_DPX(4)); + lv_style_set_text_color(&styles->calendar_date_nums, LV_STATE_CHECKED, + IS_LIGHT ? lv_color_hex(0x31404f) : LV_COLOR_WHITE); + lv_style_set_text_color(&styles->calendar_date_nums, LV_STATE_DISABLED, LV_COLOR_GRAY); + lv_style_set_bg_opa(&styles->calendar_date_nums, LV_STATE_CHECKED, IS_LIGHT ? LV_OPA_20 : LV_OPA_40); + lv_style_set_bg_opa(&styles->calendar_date_nums, LV_STATE_PRESSED, LV_OPA_20); + lv_style_set_bg_opa(&styles->calendar_date_nums, LV_STATE_FOCUSED, LV_OPA_COVER); + lv_style_set_text_color(&styles->calendar_date_nums, LV_STATE_FOCUSED, LV_COLOR_WHITE); + lv_style_set_bg_color(&styles->calendar_date_nums, LV_STATE_FOCUSED, theme.color_primary); + lv_style_set_bg_color(&styles->calendar_date_nums, LV_STATE_DEFAULT, + IS_LIGHT ? lv_color_hex(0x666666) : LV_COLOR_WHITE); + lv_style_set_bg_color(&styles->calendar_date_nums, LV_STATE_CHECKED, theme.color_primary); + lv_style_set_border_width(&styles->calendar_date_nums, LV_STATE_CHECKED, 2); + lv_style_set_border_side(&styles->calendar_date_nums, LV_STATE_CHECKED, LV_BORDER_SIDE_LEFT); + lv_style_set_border_color(&styles->calendar_date_nums, LV_STATE_CHECKED, theme.color_primary); + lv_style_set_pad_inner(&styles->calendar_date_nums, LV_STATE_DEFAULT, LV_DPX(3)); + lv_style_set_pad_left(&styles->calendar_date_nums, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_right(&styles->calendar_date_nums, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_bottom(&styles->calendar_date_nums, LV_STATE_DEFAULT, PAD_DEF); +#endif +} + +static void cpicker_init(void) +{ +#if LV_USE_CPICKER + style_init_reset(&styles->cpicker_bg); + lv_style_set_scale_width(&styles->cpicker_bg, LV_STATE_DEFAULT, LV_DPX(30)); + lv_style_set_bg_opa(&styles->cpicker_bg, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->cpicker_bg, LV_STATE_DEFAULT, COLOR_SCR); + lv_style_set_pad_inner(&styles->cpicker_bg, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_radius(&styles->cpicker_bg, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + + style_init_reset(&styles->cpicker_indic); + lv_style_set_radius(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_bg_color(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_COLOR_WHITE); + lv_style_set_bg_opa(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_border_width(&styles->cpicker_indic, LV_STATE_DEFAULT, 2); + lv_style_set_border_color(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_COLOR_GRAY); + lv_style_set_border_color(&styles->cpicker_indic, LV_STATE_FOCUSED, theme.color_primary); + lv_style_set_border_color(&styles->cpicker_indic, LV_STATE_EDITED, theme.color_secondary); + lv_style_set_pad_left(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_DPX(13)); + lv_style_set_pad_right(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_DPX(13)); + lv_style_set_pad_top(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_DPX(13)); + lv_style_set_pad_bottom(&styles->cpicker_indic, LV_STATE_DEFAULT, LV_DPX(13)); +#endif +} + +static void checkbox_init(void) +{ +#if LV_USE_CHECKBOX != 0 + style_init_reset(&styles->cb_bg); + lv_style_set_radius(&styles->cb_bg, LV_STATE_DEFAULT, LV_DPX(4)); + lv_style_set_pad_inner(&styles->cb_bg, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_outline_color(&styles->cb_bg, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_outline_opa(&styles->cb_bg, LV_STATE_DEFAULT, LV_OPA_TRANSP); + lv_style_set_outline_opa(&styles->cb_bg, LV_STATE_FOCUSED, LV_OPA_50); + lv_style_set_outline_width(&styles->cb_bg, LV_STATE_DEFAULT, OUTLINE_WIDTH); + lv_style_set_outline_pad(&styles->cb_bg, LV_STATE_DEFAULT, LV_DPX(10)); + lv_style_set_transition_time(&styles->cb_bg, LV_STATE_DEFAULT, TRANSITION_TIME); + lv_style_set_transition_prop_6(&styles->cb_bg, LV_STATE_DEFAULT, LV_STYLE_OUTLINE_OPA); + + style_init_reset(&styles->cb_bullet); + lv_style_set_outline_opa(&styles->cb_bullet, LV_STATE_FOCUSED, LV_OPA_TRANSP); + lv_style_set_radius(&styles->cb_bullet, LV_STATE_DEFAULT, LV_DPX(4)); + lv_style_set_pattern_image(&styles->cb_bullet, LV_STATE_CHECKED, LV_SYMBOL_OK); + lv_style_set_pattern_recolor(&styles->cb_bullet, LV_STATE_CHECKED, LV_COLOR_WHITE); + lv_style_set_pattern_opa(&styles->cb_bullet, LV_STATE_DEFAULT, LV_OPA_TRANSP); + lv_style_set_pattern_opa(&styles->cb_bullet, LV_STATE_CHECKED, LV_OPA_COVER); + lv_style_set_transition_prop_3(&styles->cb_bullet, LV_STATE_DEFAULT, LV_STYLE_PATTERN_OPA); + lv_style_set_text_font(&styles->cb_bullet, LV_STATE_CHECKED, theme.font_small); + lv_style_set_pad_left(&styles->cb_bullet, LV_STATE_DEFAULT, LV_DPX(3)); + lv_style_set_pad_right(&styles->cb_bullet, LV_STATE_DEFAULT, LV_DPX(3)); + lv_style_set_pad_top(&styles->cb_bullet, LV_STATE_DEFAULT, LV_DPX(3)); + lv_style_set_pad_bottom(&styles->cb_bullet, LV_STATE_DEFAULT, LV_DPX(3)); +#endif +} + +static void btnmatrix_init(void) +{ +} + +static void keyboard_init(void) +{ +#if LV_USE_KEYBOARD + style_init_reset(&styles->kb_bg); + lv_style_set_radius(&styles->kb_bg, LV_STATE_DEFAULT, 0); + lv_style_set_border_width(&styles->kb_bg, LV_STATE_DEFAULT, LV_DPX(4)); + lv_style_set_border_side(&styles->kb_bg, LV_STATE_DEFAULT, LV_BORDER_SIDE_TOP); + lv_style_set_border_color(&styles->kb_bg, LV_STATE_DEFAULT, IS_LIGHT ? COLOR_BG_TEXT : LV_COLOR_BLACK); + lv_style_set_border_color(&styles->kb_bg, LV_STATE_EDITED, theme.color_secondary); + lv_style_set_pad_left(&styles->kb_bg, LV_STATE_DEFAULT, LV_DPX(5)); + lv_style_set_pad_right(&styles->kb_bg, LV_STATE_DEFAULT, LV_DPX(5)); + lv_style_set_pad_top(&styles->kb_bg, LV_STATE_DEFAULT, LV_DPX(5)); + lv_style_set_pad_bottom(&styles->kb_bg, LV_STATE_DEFAULT, LV_DPX(5)); + lv_style_set_pad_inner(&styles->kb_bg, LV_STATE_DEFAULT, LV_DPX(3)); +#endif +} + +static void msgbox_init(void) +{ +#if LV_USE_MSGBOX + style_init_reset(&styles->mbox_bg); + lv_style_set_shadow_width(&styles->mbox_bg, LV_STATE_DEFAULT, LV_DPX(50)); + lv_style_set_shadow_color(&styles->mbox_bg, LV_STATE_DEFAULT, IS_LIGHT ? LV_COLOR_SILVER : lv_color_hex3(0x999)); + +#endif +} + +static void page_init(void) +{ +#if LV_USE_PAGE + style_init_reset(&styles->sb); + lv_style_set_bg_opa(&styles->sb, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->sb, LV_STATE_DEFAULT, (IS_LIGHT ? lv_color_hex(0xcccfd1) : lv_color_hex(0x777f85))); + lv_style_set_radius(&styles->sb, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + lv_style_set_size(&styles->sb, LV_STATE_DEFAULT, LV_DPX(7)); + lv_style_set_pad_right(&styles->sb, LV_STATE_DEFAULT, LV_DPX(7)); + lv_style_set_pad_bottom(&styles->sb, LV_STATE_DEFAULT, LV_DPX(7)); + +#if LV_USE_ANIMATION + style_init_reset(&styles->edge_flash); + lv_style_set_bg_opa(&styles->edge_flash, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->edge_flash, LV_STATE_DEFAULT, lv_color_hex3(0x888)); +#endif +#endif +} + +static void textarea_init(void) +{ +#if LV_USE_TEXTAREA + style_init_reset(&styles->ta_cursor); + lv_style_set_border_color(&styles->ta_cursor, LV_STATE_DEFAULT, COLOR_BG_SEC_TEXT); + lv_style_set_border_width(&styles->ta_cursor, LV_STATE_DEFAULT, LV_DPX(2)); + lv_style_set_pad_left(&styles->ta_cursor, LV_STATE_DEFAULT, LV_DPX(1)); + lv_style_set_border_side(&styles->ta_cursor, LV_STATE_DEFAULT, LV_BORDER_SIDE_LEFT); + + style_init_reset(&styles->ta_placeholder); + lv_style_set_text_color(&styles->ta_placeholder, LV_STATE_DEFAULT, + IS_LIGHT ? COLOR_BG_TEXT_DIS : lv_color_hex(0xa1adbd)); +#endif +} + +static void spinbox_init(void) +{ +#if LV_USE_SPINBOX + + style_init_reset(&styles->spinbox_cursor); + lv_style_set_bg_opa(&styles->spinbox_cursor, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->spinbox_cursor, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_text_color(&styles->spinbox_cursor, LV_STATE_DEFAULT, LV_COLOR_WHITE); + lv_style_set_pad_top(&styles->spinbox_cursor, LV_STATE_DEFAULT, LV_DPX(100)); + lv_style_set_pad_bottom(&styles->spinbox_cursor, LV_STATE_DEFAULT, LV_DPX(100)); + +#endif +} + +static void list_init(void) +{ +#if LV_USE_LIST != 0 + style_init_reset(&styles->list_bg); + lv_style_set_clip_corner(&styles->list_bg, LV_STATE_DEFAULT, true); + lv_style_set_pad_left(&styles->list_bg, LV_STATE_DEFAULT, 0); + lv_style_set_pad_right(&styles->list_bg, LV_STATE_DEFAULT, 0); + lv_style_set_pad_top(&styles->list_bg, LV_STATE_DEFAULT, 0); + lv_style_set_pad_bottom(&styles->list_bg, LV_STATE_DEFAULT, 0); + lv_style_set_pad_inner(&styles->list_bg, LV_STATE_DEFAULT, 0); + + style_init_reset(&styles->list_btn); + lv_style_set_bg_opa(&styles->list_btn, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->list_btn, LV_STATE_DEFAULT, COLOR_BG); + lv_style_set_bg_color(&styles->list_btn, LV_STATE_PRESSED, COLOR_BG_PR); + lv_style_set_bg_color(&styles->list_btn, LV_STATE_DISABLED, COLOR_BG_DIS); + lv_style_set_bg_color(&styles->list_btn, LV_STATE_CHECKED, COLOR_BG_CHK); + lv_style_set_bg_color(&styles->list_btn, LV_STATE_CHECKED | LV_STATE_PRESSED, COLOR_BG_PR_CHK); + + lv_style_set_text_color(&styles->list_btn, LV_STATE_DEFAULT, COLOR_BG_TEXT); + lv_style_set_text_color(&styles->list_btn, LV_STATE_CHECKED, COLOR_BG_TEXT_CHK); + lv_style_set_text_color(&styles->list_btn, LV_STATE_DISABLED, COLOR_BG_TEXT_DIS); + + lv_style_set_image_recolor(&styles->list_btn, LV_STATE_DEFAULT, COLOR_BG_TEXT); + lv_style_set_image_recolor(&styles->list_btn, LV_STATE_CHECKED, COLOR_BG_TEXT_CHK); + lv_style_set_image_recolor(&styles->list_btn, LV_STATE_DISABLED, COLOR_BG_TEXT_DIS); + + lv_style_set_border_side(&styles->list_btn, LV_STATE_DEFAULT, LV_BORDER_SIDE_BOTTOM); + lv_style_set_border_color(&styles->list_btn, LV_STATE_DEFAULT, COLOR_BG_BORDER); + lv_style_set_border_color(&styles->list_btn, LV_STATE_FOCUSED, theme.color_primary); + lv_style_set_border_width(&styles->list_btn, LV_STATE_DEFAULT, 1); + + lv_style_set_outline_color(&styles->list_btn, LV_STATE_FOCUSED, theme.color_secondary); + lv_style_set_outline_width(&styles->list_btn, LV_STATE_FOCUSED, OUTLINE_WIDTH); + lv_style_set_outline_pad(&styles->list_btn, LV_STATE_FOCUSED, -BORDER_WIDTH); + + lv_style_set_pad_left(&styles->list_btn, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_right(&styles->list_btn, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_top(&styles->list_btn, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_bottom(&styles->list_btn, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_inner(&styles->list_btn, LV_STATE_DEFAULT, PAD_DEF); + + lv_style_set_transform_width(&styles->list_btn, LV_STATE_DEFAULT, - PAD_DEF); + lv_style_set_transform_width(&styles->list_btn, LV_STATE_PRESSED, -BORDER_WIDTH); + lv_style_set_transform_width(&styles->list_btn, LV_STATE_CHECKED, -BORDER_WIDTH); + lv_style_set_transform_width(&styles->list_btn, LV_STATE_DISABLED, -BORDER_WIDTH); + lv_style_set_transform_width(&styles->list_btn, LV_STATE_FOCUSED, - BORDER_WIDTH); + + lv_style_set_transition_time(&styles->list_btn, LV_STATE_DEFAULT, TRANSITION_TIME); + lv_style_set_transition_prop_6(&styles->list_btn, LV_STATE_DEFAULT, LV_STYLE_BG_COLOR); + lv_style_set_transition_prop_5(&styles->list_btn, LV_STATE_DEFAULT, LV_STYLE_TRANSFORM_WIDTH); +#endif +} + +static void ddlist_init(void) +{ +#if LV_USE_DROPDOWN != 0 + + style_init_reset(&styles->ddlist_page); + lv_style_set_text_line_space(&styles->ddlist_page, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_clip_corner(&styles->ddlist_page, LV_STATE_DEFAULT, true); + + style_init_reset(&styles->ddlist_sel); + lv_style_set_bg_opa(&styles->ddlist_sel, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->ddlist_sel, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_text_color(&styles->ddlist_sel, LV_STATE_DEFAULT, IS_LIGHT ? lv_color_hex3(0xfff) : lv_color_hex3(0xfff)); + lv_style_set_bg_color(&styles->ddlist_sel, LV_STATE_PRESSED, COLOR_BG_PR); + lv_style_set_text_color(&styles->ddlist_sel, LV_STATE_PRESSED, COLOR_BG_TEXT_PR); +#endif +} + +static void roller_init(void) +{ +#if LV_USE_ROLLER != 0 + style_init_reset(&styles->roller_bg); + lv_style_set_text_line_space(&styles->roller_bg, LV_STATE_DEFAULT, LV_DPX(25)); + + style_init_reset(&styles->roller_sel); + lv_style_set_bg_opa(&styles->roller_sel, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->roller_sel, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_text_color(&styles->roller_sel, LV_STATE_DEFAULT, LV_COLOR_WHITE); +#endif +} + +static void tabview_init(void) +{ +#if LV_USE_TABVIEW != 0 +#endif +} + +static void tileview_init(void) +{ +#if LV_USE_TILEVIEW != 0 +#endif +} + +static void table_init(void) +{ +#if LV_USE_TABLE != 0 + style_init_reset(&styles->table_cell); + lv_style_set_border_color(&styles->table_cell, LV_STATE_DEFAULT, COLOR_BG_BORDER); + lv_style_set_border_width(&styles->table_cell, LV_STATE_DEFAULT, 1); + lv_style_set_border_side(&styles->table_cell, LV_STATE_DEFAULT, LV_BORDER_SIDE_TOP | LV_BORDER_SIDE_BOTTOM); + lv_style_set_pad_left(&styles->table_cell, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_right(&styles->table_cell, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_top(&styles->table_cell, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_bottom(&styles->table_cell, LV_STATE_DEFAULT, PAD_DEF); + +#endif +} + +static void win_init(void) +{ +#if LV_USE_WIN != 0 +#endif +} + +static void tabview_win_shared_init(void) +{ +#if LV_USE_TABVIEW || LV_USE_WIN + style_init_reset(&styles->tabview_btns_bg); + lv_style_set_bg_opa(&styles->tabview_btns_bg, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->tabview_btns_bg, LV_STATE_DEFAULT, COLOR_BG); + lv_style_set_text_color(&styles->tabview_btns_bg, LV_STATE_DEFAULT, COLOR_SCR_TEXT); + lv_style_set_image_recolor(&styles->tabview_btns_bg, LV_STATE_DEFAULT, lv_color_hex(0x979a9f)); + lv_style_set_pad_top(&styles->tabview_btns_bg, LV_STATE_DEFAULT, LV_DPX(7)); + lv_style_set_pad_left(&styles->tabview_btns_bg, LV_STATE_DEFAULT, LV_DPX(7)); + lv_style_set_pad_right(&styles->tabview_btns_bg, LV_STATE_DEFAULT, LV_DPX(7)); + + style_init_reset(&styles->tabview_btns); + lv_style_set_bg_opa(&styles->tabview_btns, LV_STATE_PRESSED, LV_OPA_50); + lv_style_set_bg_color(&styles->tabview_btns, LV_STATE_PRESSED, lv_color_hex3(0x888)); + lv_style_set_text_color(&styles->tabview_btns, LV_STATE_CHECKED, COLOR_SCR_TEXT); + lv_style_set_pad_top(&styles->tabview_btns, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_pad_bottom(&styles->tabview_btns, LV_STATE_DEFAULT, LV_DPX(20)); + lv_style_set_text_color(&styles->tabview_btns, LV_STATE_FOCUSED, theme.color_primary); + lv_style_set_text_color(&styles->tabview_btns, LV_STATE_EDITED, theme.color_secondary); + + style_init_reset(&styles->tabview_indic); + lv_style_set_bg_opa(&styles->tabview_indic, LV_STATE_DEFAULT, LV_OPA_COVER); + lv_style_set_bg_color(&styles->tabview_indic, LV_STATE_DEFAULT, theme.color_primary); + lv_style_set_bg_color(&styles->tabview_indic, LV_STATE_EDITED, theme.color_secondary); + lv_style_set_size(&styles->tabview_indic, LV_STATE_DEFAULT, LV_DPX(5)); + lv_style_set_radius(&styles->tabview_indic, LV_STATE_DEFAULT, LV_RADIUS_CIRCLE); + + style_init_reset(&styles->tabview_page_scrl); + lv_style_set_pad_top(&styles->tabview_page_scrl, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_bottom(&styles->tabview_page_scrl, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_left(&styles->tabview_page_scrl, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_right(&styles->tabview_page_scrl, LV_STATE_DEFAULT, PAD_DEF); + lv_style_set_pad_inner(&styles->tabview_page_scrl, LV_STATE_DEFAULT, PAD_DEF); +#endif +} + + +/********************** + * GLOBAL FUNCTIONS + **********************/ + +/** + * Initialize the default + * @param color_primary the primary color of the theme + * @param color_secondary the secondary color for the theme + * @param flags ORed flags starting with `LV_THEME_DEF_FLAG_...` + * @param font_small pointer to a small font + * @param font_normal pointer to a normal font + * @param font_subtitle pointer to a large font + * @param font_title pointer to a extra large font + * @return a pointer to reference this theme later + */ +lv_theme_t * lv_theme_material_init(lv_color_t color_primary, lv_color_t color_secondary, uint32_t flags, + const lv_font_t * font_small, const lv_font_t * font_normal, const lv_font_t * font_subtitle, + const lv_font_t * font_title) +{ + + /* This trick is required only to avoid the garbage collection of + * styles' data if LVGL is used in a binding (e.g. Micropython) + * In a general case styles could be simple `static lv_style_t my style` variables*/ + if(!inited) { + LV_GC_ROOT(_lv_theme_material_styles) = lv_mem_alloc(sizeof(theme_styles_t)); + styles = (theme_styles_t *)LV_GC_ROOT(_lv_theme_material_styles); + } + + theme.color_primary = color_primary; + theme.color_secondary = color_secondary; + theme.font_small = font_small; + theme.font_normal = font_normal; + theme.font_subtitle = font_subtitle; + theme.font_title = font_title; + theme.flags = flags; + + basic_init(); + cont_init(); + btn_init(); + label_init(); + bar_init(); + img_init(); + line_init(); + led_init(); + slider_init(); + switch_init(); + linemeter_init(); + gauge_init(); + arc_init(); + spinner_init(); + chart_init(); + calendar_init(); + cpicker_init(); + checkbox_init(); + btnmatrix_init(); + keyboard_init(); + msgbox_init(); + page_init(); + textarea_init(); + spinbox_init(); + list_init(); + ddlist_init(); + roller_init(); + tabview_init(); + tileview_init(); + table_init(); + win_init(); + tabview_win_shared_init(); + + theme.apply_xcb = NULL; + theme.apply_cb = theme_apply; + + inited = true; + + lv_obj_report_style_mod(NULL); + + return &theme; +} + + +static void theme_apply(lv_theme_t * th, lv_obj_t * obj, lv_theme_style_t name) +{ + LV_UNUSED(th); + + lv_style_list_t * list; + + switch(name) { + case LV_THEME_NONE: + break; + + case LV_THEME_SCR: + list = lv_obj_get_style_list(obj, LV_OBJ_PART_MAIN); + _lv_style_list_add_style(list, &styles->scr); + break; + case LV_THEME_OBJ: + list = lv_obj_get_style_list(obj, LV_OBJ_PART_MAIN); + _lv_style_list_add_style(list, &styles->bg); + break; +#if LV_USE_CONT + case LV_THEME_CONT: + list = lv_obj_get_style_list(obj, LV_CONT_PART_MAIN); + _lv_style_list_add_style(list, &styles->bg); + break; +#endif + +#if LV_USE_BTN + case LV_THEME_BTN: + list = lv_obj_get_style_list(obj, LV_BTN_PART_MAIN); + _lv_style_list_add_style(list, &styles->btn); + break; +#endif + +#if LV_USE_BTNMATRIX + case LV_THEME_BTNMATRIX: + list = lv_obj_get_style_list(obj, LV_BTNMATRIX_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->pad_small); + + list = lv_obj_get_style_list(obj, LV_BTNMATRIX_PART_BTN); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->bg_click); + break; +#endif + +#if LV_USE_KEYBOARD + case LV_THEME_KEYBOARD: + list = lv_obj_get_style_list(obj, LV_KEYBOARD_PART_BG); + _lv_style_list_add_style(list, &styles->scr); + _lv_style_list_add_style(list, &styles->kb_bg); + + list = lv_obj_get_style_list(obj, LV_KEYBOARD_PART_BTN); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->bg_click); + break; +#endif + +#if LV_USE_BAR + case LV_THEME_BAR: + list = lv_obj_get_style_list(obj, LV_BAR_PART_BG); + _lv_style_list_add_style(list, &styles->bar_bg); + + list = lv_obj_get_style_list(obj, LV_BAR_PART_INDIC); + _lv_style_list_add_style(list, &styles->bar_indic); + break; +#endif + +#if LV_USE_SWITCH + case LV_THEME_SWITCH: + list = lv_obj_get_style_list(obj, LV_SWITCH_PART_BG); + _lv_style_list_add_style(list, &styles->bar_bg); + + list = lv_obj_get_style_list(obj, LV_SWITCH_PART_INDIC); + _lv_style_list_add_style(list, &styles->bar_indic); + + list = lv_obj_get_style_list(obj, LV_SWITCH_PART_KNOB); + _lv_style_list_add_style(list, &styles->sw_knob); + break; +#endif + +#if LV_USE_CANVAS + case LV_THEME_CANVAS: + break; +#endif + +#if LV_USE_IMG + case LV_THEME_IMAGE: + break; +#endif + +#if LV_USE_IMGBTN + case LV_THEME_IMGBTN: + break; +#endif + +#if LV_USE_LABEL + case LV_THEME_LABEL: + break; +#endif + +#if LV_USE_LINE + case LV_THEME_LINE: + break; +#endif + +#if LV_USE_ARC + case LV_THEME_ARC: + list = lv_obj_get_style_list(obj, LV_ARC_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->arc_bg); + + list = lv_obj_get_style_list(obj, LV_ARC_PART_INDIC); + _lv_style_list_add_style(list, &styles->arc_indic); + + list = lv_obj_get_style_list(obj, LV_ARC_PART_KNOB); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->bg_click); + _lv_style_list_add_style(list, &styles->arc_knob); + break; +#endif + +#if LV_USE_SPINNER + case LV_THEME_SPINNER: + list = lv_obj_get_style_list(obj, LV_SPINNER_PART_BG); + _lv_style_list_add_style(list, &styles->arc_bg); + + list = lv_obj_get_style_list(obj, LV_SPINNER_PART_INDIC); + _lv_style_list_add_style(list, &styles->arc_indic); + break; +#endif + +#if LV_USE_SLIDER + case LV_THEME_SLIDER: + list = lv_obj_get_style_list(obj, LV_SLIDER_PART_BG); + _lv_style_list_add_style(list, &styles->bar_bg); + _lv_style_list_add_style(list, &styles->slider_bg); + + list = lv_obj_get_style_list(obj, LV_SLIDER_PART_INDIC); + _lv_style_list_add_style(list, &styles->bar_indic); + + list = lv_obj_get_style_list(obj, LV_SLIDER_PART_KNOB); + _lv_style_list_add_style(list, &styles->slider_knob); + break; +#endif + +#if LV_USE_CHECKBOX + case LV_THEME_CHECKBOX: + list = lv_obj_get_style_list(obj, LV_CHECKBOX_PART_BG); + _lv_style_list_add_style(list, &styles->cb_bg); + + list = lv_obj_get_style_list(obj, LV_CHECKBOX_PART_BULLET); + _lv_style_list_add_style(list, &styles->btn); + _lv_style_list_add_style(list, &styles->cb_bullet); + break; +#endif + +#if LV_USE_MSGBOX + case LV_THEME_MSGBOX: + list = lv_obj_get_style_list(obj, LV_MSGBOX_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->mbox_bg); + break; + + case LV_THEME_MSGBOX_BTNS: + list = lv_obj_get_style_list(obj, LV_MSGBOX_PART_BTN_BG); + _lv_style_list_add_style(list, &styles->pad_small); + + list = lv_obj_get_style_list(obj, LV_MSGBOX_PART_BTN); + _lv_style_list_add_style(list, &styles->btn); + break; + +#endif +#if LV_USE_LED + case LV_THEME_LED: + list = lv_obj_get_style_list(obj, LV_LED_PART_MAIN); + _lv_style_list_add_style(list, &styles->led); + break; +#endif +#if LV_USE_PAGE + case LV_THEME_PAGE: + list = lv_obj_get_style_list(obj, LV_PAGE_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + + list = lv_obj_get_style_list(obj, LV_PAGE_PART_SCROLLABLE); + _lv_style_list_add_style(list, &styles->pad_inner); + + list = lv_obj_get_style_list(obj, LV_PAGE_PART_SCROLLBAR); + _lv_style_list_add_style(list, &styles->sb); + +#if LV_USE_ANIMATION + list = lv_obj_get_style_list(obj, LV_PAGE_PART_EDGE_FLASH); + _lv_style_list_add_style(list, &styles->edge_flash); +#endif + break; +#endif +#if LV_USE_TABVIEW + case LV_THEME_TABVIEW: + list = lv_obj_get_style_list(obj, LV_TABVIEW_PART_BG); + _lv_style_list_add_style(list, &styles->scr); + + list = lv_obj_get_style_list(obj, LV_TABVIEW_PART_TAB_BG); + _lv_style_list_add_style(list, &styles->tabview_btns_bg); + + list = lv_obj_get_style_list(obj, LV_TABVIEW_PART_INDIC); + _lv_style_list_add_style(list, &styles->tabview_indic); + + list = lv_obj_get_style_list(obj, LV_TABVIEW_PART_TAB_BTN); + _lv_style_list_add_style(list, &styles->tabview_btns); + break; + + case LV_THEME_TABVIEW_PAGE: + list = lv_obj_get_style_list(obj, LV_PAGE_PART_SCROLLABLE); + _lv_style_list_add_style(list, &styles->tabview_page_scrl); + + break; +#endif + +#if LV_USE_TILEVIEW + case LV_THEME_TILEVIEW: + list = lv_obj_get_style_list(obj, LV_TILEVIEW_PART_BG); + _lv_style_list_add_style(list, &styles->scr); + + list = lv_obj_get_style_list(obj, LV_TILEVIEW_PART_SCROLLBAR); + _lv_style_list_add_style(list, &styles->sb); + +#if LV_USE_ANIMATION + list = lv_obj_get_style_list(obj, LV_TILEVIEW_PART_EDGE_FLASH); + _lv_style_list_add_style(list, &styles->edge_flash); +#endif + break; +#endif + + +#if LV_USE_ROLLER + case LV_THEME_ROLLER: + list = lv_obj_get_style_list(obj, LV_ROLLER_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->roller_bg); + + list = lv_obj_get_style_list(obj, LV_ROLLER_PART_SELECTED); + _lv_style_list_add_style(list, &styles->roller_sel); + break; +#endif + +#if LV_USE_OBJMASK + case LV_THEME_OBJMASK: + list = lv_obj_get_style_list(obj, LV_OBJMASK_PART_MAIN); + break; +#endif + +#if LV_USE_LIST + case LV_THEME_LIST: + list = lv_obj_get_style_list(obj, LV_LIST_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->list_bg); + + + list = lv_obj_get_style_list(obj, LV_LIST_PART_SCROLLBAR); + _lv_style_list_add_style(list, &styles->sb); + break; + + case LV_THEME_LIST_BTN: + list = lv_obj_get_style_list(obj, LV_BTN_PART_MAIN); + _lv_style_list_add_style(list, &styles->list_btn); + break; +#endif + +#if LV_USE_DROPDOWN + case LV_THEME_DROPDOWN: + list = lv_obj_get_style_list(obj, LV_DROPDOWN_PART_MAIN); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->bg_click); + _lv_style_list_add_style(list, &styles->pad_small); + + list = lv_obj_get_style_list(obj, LV_DROPDOWN_PART_LIST); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->ddlist_page); + + list = lv_obj_get_style_list(obj, LV_DROPDOWN_PART_SCROLLBAR); + _lv_style_list_add_style(list, &styles->sb); + + list = lv_obj_get_style_list(obj, LV_DROPDOWN_PART_SELECTED); + _lv_style_list_add_style(list, &styles->ddlist_sel); + break; +#endif + +#if LV_USE_CHART + case LV_THEME_CHART: + list = lv_obj_get_style_list(obj, LV_CHART_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->chart_bg); + _lv_style_list_add_style(list, &styles->pad_small); + + list = lv_obj_get_style_list(obj, LV_CHART_PART_SERIES_BG); + _lv_style_list_add_style(list, &styles->pad_small); + _lv_style_list_add_style(list, &styles->chart_series_bg); + + list = lv_obj_get_style_list(obj, LV_CHART_PART_CURSOR); + _lv_style_list_add_style(list, &styles->chart_series_bg); + + list = lv_obj_get_style_list(obj, LV_CHART_PART_SERIES); + _lv_style_list_add_style(list, &styles->chart_series); + break; +#endif +#if LV_USE_TABLE + case LV_THEME_TABLE: { + list = lv_obj_get_style_list(obj, LV_TABLE_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + + int idx = 1; /* start value should be 1, not zero, since cell styles + start at 1 due to presence of LV_TABLE_PART_BG=0 + in the enum (lv_table.h) */ + /* declaring idx outside loop to work with older compilers */ + for(; idx <= LV_TABLE_CELL_STYLE_CNT; idx ++) { + list = lv_obj_get_style_list(obj, idx); + _lv_style_list_add_style(list, &styles->table_cell); + } + break; + } +#endif + +#if LV_USE_WIN + case LV_THEME_WIN: + list = lv_obj_get_style_list(obj, LV_WIN_PART_BG); + _lv_style_list_add_style(list, &styles->scr); + + list = lv_obj_get_style_list(obj, LV_WIN_PART_SCROLLBAR); + _lv_style_list_add_style(list, &styles->sb); + + list = lv_obj_get_style_list(obj, LV_WIN_PART_CONTENT_SCROLLABLE); + _lv_style_list_add_style(list, &styles->tabview_page_scrl); + + list = lv_obj_get_style_list(obj, LV_WIN_PART_HEADER); + _lv_style_list_add_style(list, &styles->tabview_btns_bg); + break; + + case LV_THEME_WIN_BTN: + list = lv_obj_get_style_list(obj, LV_BTN_PART_MAIN); + _lv_style_list_add_style(list, &styles->tabview_btns); + break; +#endif + +#if LV_USE_TEXTAREA + case LV_THEME_TEXTAREA: + list = lv_obj_get_style_list(obj, LV_TEXTAREA_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->pad_small); + + list = lv_obj_get_style_list(obj, LV_TEXTAREA_PART_PLACEHOLDER); + _lv_style_list_add_style(list, &styles->ta_placeholder); + + list = lv_obj_get_style_list(obj, LV_TEXTAREA_PART_CURSOR); + _lv_style_list_add_style(list, &styles->ta_cursor); + + list = lv_obj_get_style_list(obj, LV_TEXTAREA_PART_SCROLLBAR); + _lv_style_list_add_style(list, &styles->sb); + break; + +#endif + + +#if LV_USE_SPINBOX + case LV_THEME_SPINBOX: + list = lv_obj_get_style_list(obj, LV_SPINBOX_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->pad_small); + + list = lv_obj_get_style_list(obj, LV_SPINBOX_PART_CURSOR); + _lv_style_list_add_style(list, &styles->spinbox_cursor); + break; + + case LV_THEME_SPINBOX_BTN: + list = lv_obj_get_style_list(obj, LV_BTN_PART_MAIN); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->bg_click); + break; +#endif + +#if LV_USE_CALENDAR + case LV_THEME_CALENDAR: + list = lv_obj_get_style_list(obj, LV_CALENDAR_PART_BG); + _lv_style_list_add_style(list, &styles->bg); + + list = lv_obj_get_style_list(obj, LV_CALENDAR_PART_DATE); + _lv_style_list_add_style(list, &styles->calendar_date_nums); + + list = lv_obj_get_style_list(obj, LV_CALENDAR_PART_HEADER); + _lv_style_list_add_style(list, &styles->calendar_header); + + list = lv_obj_get_style_list(obj, LV_CALENDAR_PART_DAY_NAMES); + _lv_style_list_add_style(list, &styles->calendar_daynames); + break; +#endif +#if LV_USE_CPICKER + case LV_THEME_CPICKER: + list = lv_obj_get_style_list(obj, LV_CPICKER_PART_MAIN); + _lv_style_list_add_style(list, &styles->cpicker_bg); + + list = lv_obj_get_style_list(obj, LV_CPICKER_PART_KNOB); + _lv_style_list_add_style(list, &styles->cpicker_indic); + break; +#endif + +#if LV_USE_LINEMETER + case LV_THEME_LINEMETER: + list = lv_obj_get_style_list(obj, LV_LINEMETER_PART_MAIN); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->lmeter); + break; +#endif +#if LV_USE_GAUGE + case LV_THEME_GAUGE: + list = lv_obj_get_style_list(obj, LV_GAUGE_PART_MAIN); + _lv_style_list_add_style(list, &styles->bg); + _lv_style_list_add_style(list, &styles->gauge_main); + + list = lv_obj_get_style_list(obj, LV_GAUGE_PART_MAJOR); + _lv_style_list_add_style(list, &styles->gauge_strong); + + list = lv_obj_get_style_list(obj, LV_GAUGE_PART_NEEDLE); + _lv_style_list_add_style(list, &styles->gauge_needle); + break; +#endif + default: + break; + } + + lv_obj_refresh_style(obj, LV_OBJ_PART_ALL, LV_STYLE_PROP_ALL); +} + +/********************** + * STATIC FUNCTIONS + **********************/ + +static void style_init_reset(lv_style_t * style) +{ + if(inited) lv_style_reset(style); + else lv_style_init(style); +} + +#endif diff --git a/src/lvgl_mem.h b/src/lvgl_mem.h new file mode 100644 index 0000000..e50ac91 --- /dev/null +++ b/src/lvgl_mem.h @@ -0,0 +1,11 @@ +#pragma once +#include + +#ifdef __cplusplus +extern "C" { +#endif +void *lvgl_malloc(size_t size); +void lvgl_free(void *ptr); +#ifdef __cplusplus +} +#endif diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..e403fb1 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,85 @@ +#include +#include +#include +#include +#include +#include +#include "config.h" +#include "global.h" +#include "esp_task_wdt.h" +#include +#include "power.h" +#include "atracker.h" +#include +#include + +cAirsoftTracker *global = NULL; +SemaphoreHandle_t debugLock = xSemaphoreCreateMutex(); +void setup() { + //Hardware init + esp_bt_controller_mem_release(ESP_BT_MODE_CLASSIC_BT); +#ifdef AD_NOSCREEN +// esp_bt_controller_mem_release(ESP_BT_MODE_BTDM); +#endif + Serial.setRxBufferSize(2048); + Serial.begin(115200); + Serial.setDebugOutput(false); + EEPROM.begin(256); + + FS.begin(true); + + uint32_t seed = esp_random(); + DEBUG_MSG("Setting random seed %u\n", seed); + randomSeed(seed); // ESP docs say this is fairly random + + DEBUG_MSG("CPU Clock: %d\n", getCpuFrequencyMhz()); + DEBUG_MSG("Total heap: %d\n", ESP.getHeapSize()); + DEBUG_MSG("Free heap: %d\n", ESP.getFreeHeap()); + DEBUG_MSG("Total PSRAM: %d\n", ESP.getPsramSize()); + DEBUG_MSG("Free PSRAM: %d\n", ESP.getFreePsram()); + + + auto res = esp_task_wdt_init(APP_WATCHDOG_SECS_INIT, true); + assert(res == ESP_OK); + + res = esp_task_wdt_add(NULL); + assert(res == ESP_OK); + + esp_vfs_spiffs_conf_t spiffs_1 = { + .base_path = "/spiffs", + .partition_label = "spiffs", + .max_files = 32, + .format_if_mount_failed = true + }; + + esp_vfs_spiffs_conf_t spiffs_2 = { + .base_path = "/config", + .partition_label = "config", + .max_files = 32, + .format_if_mount_failed = true + }; + SPIFFS.end(); + if(esp_vfs_spiffs_register(&spiffs_1)!=ESP_OK || esp_vfs_spiffs_register(&spiffs_2)!=ESP_OK){ + DEBUG_MSG("An Error has occurred while mounting SPIFFS\n"); + } + + size_t total = 0; + size_t used = 0; + if(esp_spiffs_info(spiffs_1.partition_label, &total, &used) == ESP_OK) + { + DEBUG_MSG("SPIFFS %s used %d, total %d\n",spiffs_1.partition_label, used, total); + } + if(esp_spiffs_info(spiffs_2.partition_label, &total, &used) == ESP_OK) + { + DEBUG_MSG("SPIFFS %s used %d, total %d\n",spiffs_2.partition_label, used, total); + } + + global = new cAirsoftTracker(); + global->init(); + esp_task_wdt_delete(NULL); +} + +void loop() +{ + delay(1000); +} \ No newline at end of file diff --git a/src/mapTiles.cpp b/src/mapTiles.cpp new file mode 100644 index 0000000..a290c44 --- /dev/null +++ b/src/mapTiles.cpp @@ -0,0 +1,400 @@ +#include "mapTiles.h" +#include +#include +#include "config.h" +#include "atcommon.h" + +void sMapTile::clear() +{ + memset(this,0,sizeof(sMapTile)); +} + +bool sMapTile::loadFromJson(const JsonVariant &json, uint32_t baseAddress) +{ + if(json.containsKey("size")&&json.containsKey("bounds")&&json.containsKey("x")&&json.containsKey("y") + &&json.containsKey("address")&&json.containsKey("image_stride")&&json.containsKey("image_size")&&json.containsKey("image_fmt")) + { + sizeX = json["size"][0]; + sizeY = json["size"][1]; + address = json["address"]; + address += baseAddress; + size = json["image_size"]; + stride = json["image_stride"]; + fmt = json["image_fmt"]; + tileX = json["x"]; + tileY = json["y"]; + bound.x0 = json["bounds"][0].as(); + bound.y0 = json["bounds"][1].as(); + bound.x1 = json["bounds"][2].as(); + bound.y1 = json["bounds"][3].as(); + mapSizeX = bound.x1-bound.x0; + mapSizeY = bound.y0-bound.y1; + return true; + } + return false; +} + +cMapZoomLevel::cMapZoomLevel() +{ + clear(); +} + +void cMapZoomLevel::clear() +{ + memset(&m_zlevel,0,sizeof(m_zlevel)); + m_images.clear(); +} + +void cMapZoomLevel::loadFromBinary(std::ifstream &file) +{ + uint16_t cnt = 0; + file.read((char*)&m_zlevel,sizeof(m_zlevel)); + file.read((char*)&cnt,2); + m_images.resize(cnt); + file.read((char*)m_images.data(),cnt*sizeof(sMapTile)); +} + +bool cMapZoomLevel::loadFromJson(const JsonVariant &json, uint32_t baseAddress) +{ + if(json.containsKey("pixel_size")&&json.containsKey("bounds")&&json.containsKey("images")&&json.containsKey("tile_size")&&json.containsKey("id")) + { + clear(); + m_zlevel.id = json["id"]; + m_zlevel.pixelSizeX = json["pixel_size"][0].as(); + m_zlevel.pixelSizeY = json["pixel_size"][1].as(); + m_zlevel.tileSizeX = json["tile_size"][0].as(); + m_zlevel.tileSizeY = json["tile_size"][1].as(); + m_zlevel.bound.x0 = json["bounds"][0].as(); + m_zlevel.bound.y0 = json["bounds"][1].as(); + m_zlevel.bound.x1 = json["bounds"][2].as(); + m_zlevel.bound.y1 = json["bounds"][3].as(); + const JsonVariant &images = json.getMember("images"); + m_images.resize(images.size()); + for(int i=0; i(); + m_map.bound.x0 = json["bounds"][0].as(); + m_map.bound.y0 = json["bounds"][1].as(); + m_map.bound.x1 = json["bounds"][2].as(); + m_map.bound.y1 = json["bounds"][3].as(); + const JsonVariant &zls = json.getMember("tile_matrix"); + for(int i=0; i=0000) + { + itr = m_maps.erase(itr); + continue; + } + } + itr++; + } + +} + +cMapTilesList cMapProcessor::getTilesToRender(double x, double y, double radius) +{ + cMapTilesList result; + cMap *map = NULL; + if(m_lastMap) + { + if(checkMap(x,y,*m_lastMap)) + { + map = m_lastMap; + } + else + { + m_lastMap = NULL; + } + } + if(!map) + { + for(auto itr=m_maps.begin(); itr!=m_maps.end(); itr++) + { + if(checkMap(x,y,*itr)) + { + m_lastMap = &*itr; + map = m_lastMap; + } + } +// if(map) +// clearUnusedMaps(x,y); + } + if(map) + { + if(!map->isLoaded()) + { + map->loadMapData(); + if(m_callbacks) + m_callbacks->onMapLoad(map); + } + double zoomDiff = 0; + cMapZoomLevel *zoomLevel = NULL; + cMapZoomLevels &zls = map->getMapZoomLevels(); + for(auto itr=zls.begin(); itr!=zls.end(); itr++) + { + sMapZoomLevel &zl = itr->getZoomLevel(); + double zoomSize = std::max(abs(zl.tileSizeX),abs(zl.tileSizeY))/2; + if(!zoomLevel || abs(zoomSize-radius)getImages(); + sBoundaries sb = getScreenBoundaries(x,y,radius); + for(auto itr=tiles.begin(); itr !=tiles.end(); itr++) + { + if(checkIntersection(sb,itr->bound)) + { + result.push_back(*itr); + } + } + } + } + return result; +} + +bool cMapProcessor::checkMap(const double &x, const double &y,cMap &map) +{ + return isPointInside(x,y,map.getMap().bound); +} + +bool cMapProcessor::checkIntersection(const sBoundaries &b1, const sBoundaries &b2) const +{ + return isPointInside(b1.x0,b1.y0,b2) || isPointInside(b1.x1,b1.y0,b2) || isPointInside(b1.x0,b1.y1,b2) || isPointInside(b1.x1,b1.y1,b2) || + isPointInside(b2.x0,b2.y0,b1) || isPointInside(b2.x1,b2.y0,b1) || isPointInside(b2.x0,b2.y1,b1) || isPointInside(b2.x1,b2.y1,b1); +} + +void cMapProcessor::calcTile(double x, double y, const sMapTile &tile, double radius, double heading, double &scaleX, double &scaleY, double &tx, double &ty) +{ + scaleX = (tile.mapSizeX)/(radius*2); + scaleY = (tile.mapSizeY)/(radius*2); + tx = (tile.bound.x0-x)*tile.sizeX/tile.mapSizeX;//*(240/(240+3/scaleX)); + ty = (y-tile.bound.y0)*tile.sizeY/tile.mapSizeY;//*(240/(240+3/scaleY)); +} + +double cMapProcessor::calcDistanceC(double x, double y) +{ + double lat1,lng1; + double lat2,lng2; + convertMeterToDegree(x,y,lng1,lat1); + convertMeterToDegree(x,y+1000,lng2,lat2); + double d = distanceBetween(lat1, lng1, lat2, lng2); + if(d>0) + return abs(1000/d); + else + return 1; +} \ No newline at end of file diff --git a/src/mapTiles.h b/src/mapTiles.h new file mode 100644 index 0000000..661788f --- /dev/null +++ b/src/mapTiles.h @@ -0,0 +1,150 @@ +#pragma once +#define ARDUINOJSON_USE_DOUBLE 1 +#include +#include +#include +#include +#include +#include + +#pragma pack(push, 1) +//16 +struct sBoundaries +{ + float x0; + float y0; + float x1; + float y1; +}; + +//44 +struct sMapTile +{ + uint32_t address; + uint32_t size; + uint16_t sizeX; + uint16_t sizeY; + uint16_t stride; + uint16_t fmt; + uint16_t tileX; + uint16_t tileY; + float mapSizeX; + float mapSizeY; + sBoundaries bound; + sMapTile() { clear(); } + void clear(); + bool loadFromJson(const JsonVariant &json, uint32_t baseAddress); +}; + +//34 +struct sMapZoomLevel +{ + uint16_t id; + sBoundaries bound; + float pixelSizeX; + float pixelSizeY; + float tileSizeX; + float tileSizeY; +}; + +typedef std::vector cMapTiles; +typedef std::list cMapTilesList; +class cMapZoomLevel +{ +protected: + sMapZoomLevel m_zlevel; + cMapTiles m_images; +public: + cMapZoomLevel(); + + sMapZoomLevel &getZoomLevel() + { + return m_zlevel; + } + void clear(); + bool loadFromJson(const JsonVariant &json, uint32_t baseAddress); + void loadFromBinary(std::ifstream &file); + cMapTiles &getImages(); +}; + +//60 +struct sMap +{ + char name[32]; + sBoundaries bound; + uint32_t baseAddress; + uint32_t filePosition; + uint32_t size; +}; + +typedef std::vector cMapZoomLevels; +class cMap +{ +protected: + sMap m_map; + cMapZoomLevels m_zoomLevels; + bool m_loaded; + std::string m_binaryFileName; +public: + cMap(); + sMap &getMap() + { + return m_map; + } + void clear(); + bool loadFromJson(const JsonVariant &json); + cMapZoomLevels &getMapZoomLevels() + { + return m_zoomLevels; + } + void loadHeader(std::ifstream &file,const char *fileName); + void loadMapData(); + bool isLoaded() { return m_loaded; } +}; + + +typedef std::vector cMapsList; +class cMaps +{ +protected: + cMapsList m_maps; +public: + cMaps(); + cMapsList &getMaps() + { + return m_maps; + } + bool loadFromJson(const char *filename); + bool loadFromBinary(const char *filename); + bool loadMapData(sMap *m_map); +}; + +class cMapProcessorCallbacks +{ +public: + virtual void onMapLoad(cMap *map)=0; +}; + +class cMapProcessor +{ +protected: + cMapsList &m_maps; + cMap *m_lastMap; + cMapProcessorCallbacks *m_callbacks; + bool checkMap(const double &x, const double &y,cMap &map); + void clearUnusedMaps(double x, double y); +public: + cMapProcessor(cMapsList &maps,cMapProcessorCallbacks *callbacks); + sBoundaries getScreenBoundaries(double x, double y, double radius) const; + cMapTilesList getTilesToRender(double x, double y, double radius); + bool checkIntersection(const sBoundaries &b1, const sBoundaries &b2) const; + bool isPointInside(const double &x, const double &y,const sBoundaries &b) const + { + return (x>=b.x0 && x<=b.x1 && y>=b.y1 && y<=b.y0); + } + + double calcDistanceC(double x, double y); + void calcTile(double x, double y, const sMapTile &tile, double radius, double heading, double &scaleX, double &scaleY, double &tx, double &ty); +}; + +#pragma pack(pop) \ No newline at end of file diff --git a/src/power.h b/src/power.h new file mode 100644 index 0000000..1d35eea --- /dev/null +++ b/src/power.h @@ -0,0 +1,46 @@ +#pragma once +#include "concurrency/PeriodicTask.h" +#include "PowerStatus.h" + +#define MIN_BAT_MILLIVOLTS 3250 // millivolts. 10% per https://blog.ampow.com/lipo-voltage-chart/ + +#define BAT_MILLIVOLTS_FULL 4100 +#define BAT_MILLIVOLTS_EMPTY 3500 + +#ifdef HAS_AXP20X +#include "axp20x.h" +#endif + +class Power : public concurrency::PeriodicTask +{ +#ifdef HAS_AXP20X +protected: + AXP20X_Class axp; +#endif +public: + Observable newStatus; + + void readPowerStatus(); + int loop(); + virtual bool setup(); + virtual void doTask(); + void setStatusHandler(PowerStatus *handler) + { + statusHandler = handler; + } + + void gpsOff(); + void gpsOn(); + void shutdown(); +#ifdef HAS_AXP20X + AXP20X_Class &getAXP() + { + return axp; + } +#endif +protected: + PowerStatus *statusHandler; +#ifdef HAS_AXP20X + virtual void axp192Init(); +#endif +}; diff --git a/src/progCommon.h b/src/progCommon.h new file mode 100644 index 0000000..e736f01 --- /dev/null +++ b/src/progCommon.h @@ -0,0 +1,29 @@ +#pragma once +#include + +#pragma pack(push, 1) + +#define PMC_SCREEN_FLASH_START 1 +#define PMC_SCREEN_FLASH_START_RESPONSE 2 +#define PMC_SCREEN_FLASH_END 3 +#define PMC_SCREEN_FLASH_WRITE 4 +#define PMC_SCREEN_FLASH_WRITE_COMPRESS 14 +#define PMC_SCREEN_FLASH_READ 5 +#define PMC_SCREEN_FLASH_READ_RESPONSE 6 +#define PMC_SCREEN_FLASH_META_START 7 +#define PMC_SCREEN_FLASH_META_DATA 8 +#define PMC_SCREEN_FLASH_META_END 9 +#define PMC_SCREEN_FLASH_FILE_START 10 +#define PMC_SCREEN_FLASH_FILE_DATA 11 +#define PMC_SCREEN_FLASH_FILE_END 12 +#define PMC_SCREEN_FLASH_EXIT 99 +#define PMC_SCREEN_FLASH_ACK 100 +#define PMC_SCREEN_FLASH_ERR 101 + +struct sPMCFlashBlock +{ + uint16_t size; + uint32_t address; +}; + +#pragma pack(pop) \ No newline at end of file diff --git a/src/radio/LoraDevRF95.h b/src/radio/LoraDevRF95.h new file mode 100644 index 0000000..d346d60 --- /dev/null +++ b/src/radio/LoraDevRF95.h @@ -0,0 +1,64 @@ +#pragma once +#include "LoraRadio.h" +#include "RadioLibRF95.h" + + +class cLoraDeviceRF95:public cLoraDevice +{ +protected: + Module m_module; + RadioLibRF95 m_lora; +public: + cLoraDeviceRF95(sRFModuleConfig &moduleConfig,cLoraChannelCondfig &channelConfig):cLoraDevice(channelConfig), + m_module(moduleConfig.cs, moduleConfig.irq, moduleConfig.rst, moduleConfig.busy, *moduleConfig.spi, *moduleConfig.spiSettings), + m_lora(&m_module) + { + m_intf = &m_lora; + } + + virtual int16_t applyConfig() + { + return m_lora.begin(m_config.freq, m_config.bw, m_config.sf, m_config.cr, m_config.syncWord, m_config.power, m_config.currentLimit, m_config.preambleLength, 0); + } + + virtual void applyConfig(const cLoraChannelCondfig &channelConfig) + { + m_lora.setFrequency(channelConfig.freq); + m_lora.setBandwidth(channelConfig.bw); + m_lora.setSpreadingFactor(channelConfig.sf); + m_lora.setCodingRate(channelConfig.cr); + m_lora.setSyncWord(channelConfig.syncWord); + m_lora.setPreambleLength(channelConfig.preambleLength); + } + + virtual float getRSSI() + { + return m_lora.getRSSI(); + } + + virtual float getSNR() + { + return m_lora.getSNR(); + } + + + virtual int16_t startReceive(uint8_t len = 0) + { + return m_lora.startReceive(len, SX127X_RXCONTINUOUS); + } + + virtual void setDio0Action(void (*func)(void)) + { + m_lora.setDio0Action(func); + } + + virtual void clearDio0Action() + { + m_lora.clearDio0Action(); + } + + virtual void reset() + { + m_lora.reset(); + } +}; diff --git a/src/radio/LoraDevSX1262.h b/src/radio/LoraDevSX1262.h new file mode 100644 index 0000000..1bf9db1 --- /dev/null +++ b/src/radio/LoraDevSX1262.h @@ -0,0 +1,105 @@ +#pragma once +#include "LoraRadio.h" +#include + +class cLoraDeviceSX1262:public cLoraDevice +{ +protected: + Module m_module; + SX1262 m_lora; +public: + cLoraDeviceSX1262(sRFModuleConfig &moduleConfig,cLoraChannelCondfig &channelConfig):cLoraDevice(channelConfig), + m_module(moduleConfig.cs, moduleConfig.irq, moduleConfig.rst, moduleConfig.busy, *moduleConfig.spi, *moduleConfig.spiSettings), + m_lora(&m_module) + { + m_intf = &m_lora; + } + + virtual int16_t applyConfig() + { +#ifndef SX1262_E22 + float tcxoVoltage = 0; // None - we use an XTAL +#else + float tcxoVoltage = + 1.8; // E22 uses DIO3 to power tcxo per https://github.com/jgromes/RadioLib/issues/12#issuecomment-520695575 +#endif + bool useRegulatorLDO = false; // Seems to depend on the connection to pin 9/DCC_SW - if an inductor DCDC? + + if (m_config.power == 0) + m_config.power = 22; + + if (m_config.power > 22) // This chip has lower power limits than some + m_config.power = 22; + + int16_t result = m_lora.begin(m_config.freq, m_config.bw, m_config.sf, m_config.cr, m_config.syncWord, m_config.power, m_config.currentLimit, m_config.preambleLength, tcxoVoltage,useRegulatorLDO); + m_lora.setRxGain(true); + return result; + } + + virtual void applyConfig(const cLoraChannelCondfig &channelConfig) + { + m_lora.setFrequency(channelConfig.freq); + m_lora.setBandwidth(channelConfig.bw); + m_lora.setSpreadingFactor(channelConfig.sf); + m_lora.setCodingRate(channelConfig.cr); + m_lora.setSyncWord(channelConfig.syncWord); + m_lora.setPreambleLength(channelConfig.preambleLength); + } + + virtual float getRSSI() + { + return m_lora.getRSSI(); + } + + virtual float getSNR() + { + return m_lora.getSNR(); + } + + + virtual int16_t startReceive(uint8_t len = 0) + { + uint16_t result = m_lora.startReceive(); + m_lora.setDioIrqParams(SX126X_IRQ_PREAMBLE_DETECTED | SX126X_IRQ_HEADER_VALID | SX126X_IRQ_RX_DONE | SX126X_IRQ_TIMEOUT | SX126X_IRQ_CRC_ERR | SX126X_IRQ_HEADER_ERR, + SX126X_IRQ_PREAMBLE_DETECTED | SX126X_IRQ_RX_DONE | SX126X_IRQ_CRC_ERR | SX126X_IRQ_HEADER_ERR); + return result; + } + + virtual void setDio0Action(void (*func)(void)) + { + m_lora.setDio1Action(func); + } + + virtual void clearIrqStatus(uint16_t s) + { + m_lora.clearIrqStatus(s); + } + + virtual void clearPreambleIrq() + { + clearIrqStatus(SX126X_IRQ_PREAMBLE_DETECTED); + } + + virtual bool isPreambleIrq(uint16_t status) + { + return status & SX126X_IRQ_PREAMBLE_DETECTED; + } + + virtual bool isRxDoneIrq(uint16_t status) + { + return status & SX126X_IRQ_RX_DONE; + } + + + virtual void clearDio0Action() + { + m_lora.clearDio1Action(); + } + + virtual void reset() + { + m_lora.reset(); + } + + virtual uint32_t getIrqStatus() { return m_lora.getIrqStatus(); } +}; diff --git a/src/radio/LoraRadio.cpp b/src/radio/LoraRadio.cpp new file mode 100644 index 0000000..1708959 --- /dev/null +++ b/src/radio/LoraRadio.cpp @@ -0,0 +1 @@ +#include "LoraRadio.h" diff --git a/src/radio/LoraRadio.h b/src/radio/LoraRadio.h new file mode 100644 index 0000000..09b8837 --- /dev/null +++ b/src/radio/LoraRadio.h @@ -0,0 +1,94 @@ +#pragma once + +#include +#include + +struct sRFModuleConfig +{ + RADIOLIB_PIN_TYPE cs; + RADIOLIB_PIN_TYPE irq; + RADIOLIB_PIN_TYPE rst; + RADIOLIB_PIN_TYPE busy; + SPIClass *spi; + SPISettings *spiSettings; +}; + + +#define LR_SYNC 0x31 +class cLoraChannelCondfig +{ +public: + float freq; + float bw; + uint8_t sf; + uint8_t cr; + uint16_t preambleLength; + uint8_t syncWord; + int8_t power; + uint8_t currentLimit; + + cLoraChannelCondfig() + { + freq = 915.0; + bw = 125.0; + sf = 9; + cr = 7; + preambleLength = 8; + syncWord = LR_SYNC; + power = 17; + currentLimit = 140; + } +}; + +class cLoraDevice +{ +protected: + PhysicalLayer *m_intf; + cLoraChannelCondfig m_config; +public: + cLoraDevice(cLoraChannelCondfig &channelConfig):m_intf(NULL),m_config(channelConfig) + { + + } + + virtual ~cLoraDevice(){}; + + virtual int16_t applyConfig()=0; + virtual void applyConfig(const cLoraChannelCondfig &channelConfig)=0; + virtual int16_t transmit(uint8_t* data, size_t len) + { + return m_intf->transmit(data,len); + } + + virtual int16_t receive(uint8_t* data, size_t len) + { + return m_intf->receive(data, len); + } + + virtual size_t getPacketLength(bool update = true) + { + return m_intf->getPacketLength(update); + } + + virtual float getRSSI()=0; + virtual float getSNR()=0; + + virtual int16_t startReceive(uint8_t len = 0) = 0; + virtual void setDio0Action(void (*func)(void)) = 0; + virtual void clearDio0Action() = 0; + virtual int16_t readData(uint8_t* data, size_t len) + { + return m_intf->readData(data,len); + } + + virtual void reset() = 0; + virtual uint32_t getIrqStatus() { return 0; } + virtual void clearIrqStatus(uint16_t s) {} + virtual void clearPreambleIrq() {} + virtual bool isPreambleIrq(uint16_t status) { return false; } + virtual bool isRxDoneIrq(uint16_t status) { return true; } + PhysicalLayer *getIntf() + { + return m_intf; + } +}; \ No newline at end of file diff --git a/src/radio/RadioLibRF95.cpp b/src/radio/RadioLibRF95.cpp new file mode 100644 index 0000000..c82c1b0 --- /dev/null +++ b/src/radio/RadioLibRF95.cpp @@ -0,0 +1,68 @@ +#include "RadioLibRF95.h" + +#define RF95_CHIP_VERSION 0x12 +#define RF95_ALT_VERSION 0x11 // Supposedly some versions of the chip have id 0x11 + +RadioLibRF95::RadioLibRF95(Module *mod) : SX1278(mod) {} + +int16_t RadioLibRF95::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t power, uint8_t currentLimit, + uint16_t preambleLength, uint8_t gain) +{ + // execute common part + int16_t state = SX127x::begin(RF95_CHIP_VERSION, syncWord, currentLimit, preambleLength); + if (state != ERR_NONE) + state = SX127x::begin(RF95_ALT_VERSION, syncWord, currentLimit, preambleLength); + RADIOLIB_ASSERT(state); + + // configure settings not accessible by API + state = config(); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setFrequency(freq); + RADIOLIB_ASSERT(state); + + state = setBandwidth(bw); + RADIOLIB_ASSERT(state); + + state = setSpreadingFactor(sf); + RADIOLIB_ASSERT(state); + + state = setCodingRate(cr); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + state = setGain(gain); + + return (state); +} + +int16_t RadioLibRF95::setFrequency(float freq) +{ + // RADIOLIB_CHECK_RANGE(freq, 862.0, 1020.0, ERR_INVALID_FREQUENCY); + + // set frequency + return (SX127x::setFrequencyRaw(freq)); +} + +#define RH_RF95_MODEM_STATUS_CLEAR 0x10 +#define RH_RF95_MODEM_STATUS_HEADER_INFO_VALID 0x08 +#define RH_RF95_MODEM_STATUS_RX_ONGOING 0x04 +#define RH_RF95_MODEM_STATUS_SIGNAL_SYNCHRONIZED 0x02 +#define RH_RF95_MODEM_STATUS_SIGNAL_DETECTED 0x01 + +bool RadioLibRF95::isReceiving() +{ + // 0x0b == Look for header info valid, signal synchronized or signal detected + uint8_t reg = readReg(SX127X_REG_MODEM_STAT); + // Serial.printf("reg %x\n", reg); + return (reg & (RH_RF95_MODEM_STATUS_SIGNAL_DETECTED | RH_RF95_MODEM_STATUS_SIGNAL_SYNCHRONIZED | + RH_RF95_MODEM_STATUS_HEADER_INFO_VALID)) != 0; +} + +uint8_t RadioLibRF95::readReg(uint8_t addr) +{ + return _mod->SPIreadRegister(addr); +} \ No newline at end of file diff --git a/src/radio/RadioLibRF95.h b/src/radio/RadioLibRF95.h new file mode 100644 index 0000000..c1d1ef0 --- /dev/null +++ b/src/radio/RadioLibRF95.h @@ -0,0 +1,74 @@ +#pragma once +#include + + +/*! + \class RFM95 + + \brief Derived class for %RFM95 modules. Overrides some methods from SX1278 due to different parameter ranges. +*/ +class RadioLibRF95: public SX1278 { + public: + + // constructor + + /*! + \brief Default constructor. Called from Arduino sketch when creating new LoRa instance. + + \param mod Instance of Module that will be used to communicate with the %LoRa chip. + */ + RadioLibRF95(Module* mod); + + // basic methods + + /*! + \brief %LoRa modem initialization method. Must be called at least once from Arduino sketch to initialize the module. + + \param freq Carrier frequency in MHz. Allowed values range from 868.0 MHz to 915.0 MHz. + + \param bw %LoRa link bandwidth in kHz. Allowed values are 10.4, 15.6, 20.8, 31.25, 41.7, 62.5, 125, 250 and 500 kHz. + + \param sf %LoRa link spreading factor. Allowed values range from 6 to 12. + + \param cr %LoRa link coding rate denominator. Allowed values range from 5 to 8. + + \param syncWord %LoRa sync word. Can be used to distinguish different networks. Note that value 0x34 is reserved for LoRaWAN networks. + + \param power Transmission output power in dBm. Allowed values range from 2 to 17 dBm. + + \param currentLimit Trim value for OCP (over current protection) in mA. Can be set to multiplies of 5 in range 45 to 120 mA and to multiples of 10 in range 120 to 240 mA. + Set to 0 to disable OCP (not recommended). + + \param preambleLength Length of %LoRa transmission preamble in symbols. The actual preamble length is 4.25 symbols longer than the set number. + Allowed values range from 6 to 65535. + + \param gain Gain of receiver LNA (low-noise amplifier). Can be set to any integer in range 1 to 6 where 1 is the highest gain. + Set to 0 to enable automatic gain control (recommended). + + \returns \ref status_codes + */ + int16_t begin(float freq = 915.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = SX127X_SYNC_WORD, int8_t power = 17, uint8_t currentLimit = 100, uint16_t preambleLength = 8, uint8_t gain = 0); + + // configuration methods + + /*! + \brief Sets carrier frequency. Allowed values range from 868.0 MHz to 915.0 MHz. + + \param freq Carrier frequency to be set in MHz. + + \returns \ref status_codes + */ + int16_t setFrequency(float freq); + + // Return true if we are actively receiving a message currently + bool isReceiving(); + + /// For debugging + uint8_t readReg(uint8_t addr); + +#ifndef RADIOLIB_GODMODE + private: +#endif + +}; + diff --git a/src/timing.cpp b/src/timing.cpp new file mode 100644 index 0000000..f7cffaa --- /dev/null +++ b/src/timing.cpp @@ -0,0 +1,10 @@ +#include "timing.h" +#include "freertosinc.h" + +namespace timing { + + uint32_t millis() { + return xTaskGetTickCount(); + } + +} // namespace timing diff --git a/src/timing.h b/src/timing.h new file mode 100644 index 0000000..7f741d4 --- /dev/null +++ b/src/timing.h @@ -0,0 +1,9 @@ +#pragma once + +#include + +namespace timing { + + uint32_t millis(); + +} // namespace timing \ No newline at end of file diff --git a/src/utils.cpp b/src/utils.cpp new file mode 100644 index 0000000..4cfa12b --- /dev/null +++ b/src/utils.cpp @@ -0,0 +1,18 @@ +#include +#include "utils.h" + +void getMacAddr(uint8_t *dmac) +{ + assert(esp_efuse_mac_get_default(dmac) == ESP_OK); +} + +const char *getDeviceName() +{ + uint8_t dmac[6]; + + getMacAddr(dmac); + + static char name[20]; + sprintf(name, "BOMB_%02x%02x", dmac[4], dmac[5]); + return name; +} diff --git a/src/utils.h b/src/utils.h new file mode 100644 index 0000000..e768dcd --- /dev/null +++ b/src/utils.h @@ -0,0 +1,43 @@ +#pragma once +#include +#include "concurrency/Lock.h" +#include "concurrency/LockGuard.h" + +template +class cProtectedQueue:public std::queue +{ +protected: + concurrency::Lock m_lock; + uint16_t m_max; +public: + cProtectedQueue(uint16_t _max) + { + m_max = _max; + } + + void lock() + { + m_lock.lock(); + } + + void unlock() + { + m_lock.unlock(); + } + + void push_item(const T& item) + { + concurrency::LockGuard lock(&m_lock); + std::queue::push(item); + while(std::queue::size()>m_max) + std::queue::pop(); + } + +}; + +template +constexpr const T& clamp( const T& v, const T& lo, const T& hi ) { + return (v < lo) ? lo : (hi < v) ? hi : v; +} + +const char *getDeviceName(); diff --git a/version b/version new file mode 100644 index 0000000..ab3ddac --- /dev/null +++ b/version @@ -0,0 +1 @@ +1.0.1203 \ No newline at end of file