Merge TactilityHeadless into Tactility (#263)
There currently is no practical use to have TactilityHeadless as a subproject. I'm merging it with the Tactility project.
This commit is contained in:
Ken Van Hoeylandt
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GitHub
GitHub
parent
d0ca3b16f8
commit
d72852a6e2
@@ -0,0 +1,11 @@
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#pragma once
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#ifdef ESP_PLATFORM
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namespace tt {
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void initEsp();
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} // namespace
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#endif // ESP_PLATFORM
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@@ -0,0 +1,13 @@
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#pragma once
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#ifdef ESP_PLATFORM
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#include "esp_err.h"
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namespace tt {
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esp_err_t initPartitionsEsp();
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} // namespace
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#endif // ESP_PLATFORM
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@@ -0,0 +1,9 @@
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#pragma once
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#include "Tactility/hal/Configuration.h"
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namespace tt::hal {
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void init(const Configuration& configuration);
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} // namespace
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@@ -0,0 +1,68 @@
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/**
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* Source: https://raw.githubusercontent.com/meshtastic/firmware/3b0232de1b6282eacfbff6e50b68fca7e67b8511/src/gps/cas.h
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*/
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#pragma once
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#include <cstdint>
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// CASIC binary message definitions
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// Reference: https://www.icofchina.com/d/file/xiazai/2020-09-22/20f1b42b3a11ac52089caf3603b43fb5.pdf
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// ATGM33H-5N: https://www.icofchina.com/pro/mokuai/2016-08-01/4.html
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// (https://www.icofchina.com/d/file/xiazai/2016-12-05/b5c57074f4b1fcc62ba8c7868548d18a.pdf)
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// NEMA (Class ID - 0x4e) message IDs
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#define CAS_NEMA_GGA 0x00
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#define CAS_NEMA_GLL 0x01
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#define CAS_NEMA_GSA 0x02
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#define CAS_NEMA_GSV 0x03
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#define CAS_NEMA_RMC 0x04
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#define CAS_NEMA_VTG 0x05
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#define CAS_NEMA_GST 0x07
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#define CAS_NEMA_ZDA 0x08
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#define CAS_NEMA_DHV 0x0D
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// Size of a CAS-ACK-(N)ACK message (14 bytes)
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#define CAS_ACK_NACK_MSG_SIZE 0x0E
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// CFG-RST (0x06, 0x02)
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// Factory reset
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constexpr uint8_t _message_CAS_CFG_RST_FACTORY[] = {
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0xFF, 0x03, // Fields to clear
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0x01, // Reset Mode: Controlled Software reset
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0x03 // Startup Mode: Factory
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};
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// CFG_RATE (0x06, 0x01)
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// 1HZ update rate, this should always be the case after
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// factory reset but update it regardless
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constexpr uint8_t _message_CAS_CFG_RATE_1HZ[] = {
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0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms
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0x00, 0x00 // Reserved
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};
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// CFG-NAVX (0x06, 0x07)
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// Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system
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// Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable
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// and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used.
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constexpr uint8_t _message_CAS_CFG_NAVX_CONF[] = {
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0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings
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0x03, // Dynamic Mode: Automotive
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0x03, // Fix Mode: Auto 2D/3D
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0x00, // Min SV
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0x00, // Max SVs
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0x00, // Min CNO
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0x00, // Reserved1
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0x00, // Init 3D fix
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0x00, // Min Elevation
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0x00, // Dr Limit
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0x07, // Nav System: 2^0 = GPS, 2^1 = BDS 2^2 = GLONASS: 2^3
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// 3=GPS+BDS, 7=GPS+BDS+GLONASS
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0x00, 0x00, // Rollover Week
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0x00, 0x00, 0x00, 0x00, // Fix Altitude
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0x00, 0x00, 0x00, 0x00, // Fix Height Error
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0x00, 0x00, 0x00, 0x00, // PDOP Maximum
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0x00, 0x00, 0x00, 0x00, // TDOP Maximum
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0x00, 0x00, 0x00, 0x00, // Position Accuracy Max
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0x00, 0x00, 0x00, 0x00, // Time Accuracy Max
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0x00, 0x00, 0x00, 0x00 // Static Hold Threshold
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};
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@@ -0,0 +1,14 @@
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#pragma once
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#include "Tactility/hal/gps/GpsDevice.h"
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namespace tt::hal::uart { class Uart; }
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namespace tt::hal::gps {
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/**
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* Init sequence on UART for a specific GPS model.
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*/
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bool init(uart::Uart& uart, GpsModel type);
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}
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@@ -0,0 +1,10 @@
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#pragma once
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#include "Tactility/hal/gps/GpsDevice.h"
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#include "Tactility/hal/uart/Uart.h"
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namespace tt::hal::gps {
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GpsModel probe(uart::Uart& iart);
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}
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@@ -0,0 +1,27 @@
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#pragma once
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#include "Tactility/hal/gps/GpsDevice.h"
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#include "Tactility/hal/uart/Uart.h"
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#include <cstdint>
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#include <cstddef>
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namespace tt::hal::gps::ublox {
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void checksum(uint8_t* message, size_t length);
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// From https://github.com/meshtastic/firmware/blob/7648391f91f2b84e367ae2b38220b30936fb45b1/src/gps/GPS.cpp#L128
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uint8_t makePacket(uint8_t classId, uint8_t messageId, const uint8_t* payload, uint8_t payloadSize, uint8_t* bufferOut);
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template<size_t DataSize>
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inline void sendPacket(uart_port_t port, uint8_t type, uint8_t id, uint8_t data[DataSize], const char* errorMessage, TickType_t timeout) {
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static uint8_t buffer[250] = {0};
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size_t length = makePacket(type, id, data, DataSize, buffer);
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// hal::uart::writeBytes(port, buffer, length);
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}
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GpsModel probe(uart::Uart& uart);
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bool init(uart::Uart& uart, GpsModel model);
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} // namespace tt::service::gps
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@@ -0,0 +1,469 @@
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#pragma once
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#include <cstdint>
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namespace tt::hal::gps::ublox {
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// Power Management
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constexpr uint8_t _message_PMREQ[] = {
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0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
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0x02, 0x00, 0x00, 0x00 // Bitfield, set backup = 1
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};
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// Used for sleep mode
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// See https://github.com/meshtastic/firmware/blob/af8b64e84ee60175d7a0e43c6c3458e3a3558708/src/gps/GPS.cpp#L939
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constexpr uint8_t _message_PMREQ_10[] = {
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0x00, // version (0 for this version)
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0x00, 0x00, 0x00, // Reserved 1
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0x00, 0x00, 0x00, 0x00, // 4 bytes duration of request task (milliseconds)
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0x06, 0x00, 0x00, 0x00, // Bitfield, set backup =1 and force =1
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0x08, 0x00, 0x00, 0x00 // wakeupSources Wake on uartrx
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};
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constexpr uint8_t _message_CFG_RXM_PSM[] = {
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0x08, // Reserved
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0x01 // Power save mode
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};
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// only for Neo-6
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constexpr uint8_t _message_CFG_RXM_ECO[] = {
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0x08, // Reserved
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0x04 // eco mode
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};
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constexpr uint8_t _message_CFG_PM2[] = {
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0x01, // version
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0x00, // Reserved 1, set to 0x06 by u-Center
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0x00, // Reserved 2
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0x00, // Reserved 1
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0x00, 0x11, 0x03, 0x00, // flags-> cyclic mode, wait for normal fix ok, do not wake to update RTC, doNotEnterOff,
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// LimitPeakCurrent
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0xE8, 0x03, 0x00, 0x00, // update period 1000 ms
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0x10, 0x27, 0x00, 0x00, // search period 10s
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0x00, 0x00, 0x00, 0x00, // Grid offset 0
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0x01, 0x00, // onTime 1 second
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0x00, 0x00, // min search time 0
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0x00, 0x00, // 0x2C, 0x01, // reserved 4
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0x00, 0x00, // 0x00, 0x00, // reserved 5
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0x00, 0x00, 0x00, 0x00, // 0x4F, 0xC1, 0x03, 0x00, // reserved 6
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0x00, 0x00, 0x00, 0x00, // 0x87, 0x02, 0x00, 0x00, // reserved 7
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0x00, // 0xFF, // reserved 8
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0x00, // 0x00, // reserved 9
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0x00, 0x00, // 0x00, 0x00, // reserved 10
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0x00, 0x00, 0x00, 0x00 // 0x64, 0x40, 0x01, 0x00 // reserved 11
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};
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// Constallation setup, none required for Neo-6
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// For Neo-7 GPS & SBAS
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constexpr uint8_t _message_GNSS_7[] = {
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
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0x02, // numConfigBlocks (number of GNSS systems), most modules support maximum 3 GNSS systems
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x00, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x00, 0x01 // SBAS
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};
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// It's not critical if the module doesn't acknowledge this configuration.
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// The module should operate adequately with its factory or previously saved settings.
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// It appears that there is a firmware bug in some GPS modules: When an attempt is made
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// to overwrite a saved state with identical values, no ACK/NAK is received, contrary to
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// what is specified in the Ublox documentation.
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// There is also a possibility that the module may be GPS-only.
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// For M8 GPS, GLONASS, Galileo, SBAS, QZSS
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constexpr uint8_t _message_GNSS_8[] = {
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available)
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0x05, // numConfigBlocks (number of GNSS systems)
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
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0x02, 0x04, 0x08, 0x00, 0x01, 0x00, 0x01, 0x01, // Galileo
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0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
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0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
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};
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/*
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// For M8 GPS, GLONASS, BeiDou, SBAS, QZSS
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constexpr uint8_t _message_GNSS_8_B[] = {
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0x00, // msgVer (0 for this version)
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0x00, // numTrkChHw (max number of hardware channels, read only, so it's always 0)
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0xff, // numTrkChUse (max number of channels to use, 0xff = max available) read only for protocol >23
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0x05, // numConfigBlocks (number of GNSS systems)
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// GNSS config format: gnssId, resTrkCh, maxTrkCh, reserved1, flags
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0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // GPS
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0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // SBAS
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0x03, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, // BeiDou
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0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, // QZSS
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0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01 // GLONASS
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};
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*/
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// For M8 we want to enable NMEA version 4.10 messages to allow for Galileo and or BeiDou
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constexpr uint8_t _message_NMEA[] {
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0x00, // filter flags
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0x41, // NMEA Version
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0x00, // Max number of SVs to report per TaklerId
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0x02, // flags
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0x00, 0x00, 0x00, 0x00, // gnssToFilter
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0x00, // svNumbering
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0x00, // mainTalkerId
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0x00, // gsvTalkerId
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0x01, // Message version
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0x00, 0x00, // bdsTalkerId 2 chars 0=default
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
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};
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// Enable jamming/interference monitor
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// For Neo-6, Max-7 and Neo-7
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constexpr uint8_t _message_JAM_6_7[] = {
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0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable = 1, reserved bits 0x16B156
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0x1e, 0x03, 0x00, 0x00 // config2 antennaSetting Unknown = 0, reserved 3, = 0x00,0x00, reserved 2 = 0x31E
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};
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// For M8
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constexpr uint8_t _message_JAM_8[] = {
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0xf3, 0xac, 0x62, 0xad, // config1 bbThreshold = 3, cwThreshold = 15, enable1 = 1, reserved bits 0x16B156
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0x1e, 0x43, 0x00, 0x00 // config2 antennaSetting Unknown = 0, enable2 = 1, generalBits = 0x31E
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};
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// Configure navigation engine expert settings:
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// there are many variations of what were Reserved fields for the Neo-6 in later versions
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// ToDo: check UBX-MON-VER for module type and protocol version
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// For the Neo-6
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constexpr uint8_t _message_NAVX5[] = {
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0x00, 0x00, // msgVer (0 for this version)
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0x4c, 0x66, // mask1
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0x00, 0x00, 0x00, 0x00, // Reserved 0
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0x00, // Reserved 1
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0x00, // Reserved 2
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0x03, // minSVs (Minimum number of satellites for navigation) = 3
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0x10, // maxSVs (Maximum number of satellites for navigation) = 16
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0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
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0x00, // Reserved 5
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0x00, // iniFix3D (Initial fix must be 3D) (0 = false 1 = true)
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0x00, // Reserved 6
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0x00, // Reserved 7
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0x00, // Reserved 8
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0x00, 0x00, // wknRollover 0 = firmware default
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0x00, 0x00, 0x00, 0x00, // Reserved 9
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0x00, // Reserved 10
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0x00, // Reserved 11
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0x00, // usePPP (Precice Point Positioning) (0 = false, 1 = true)
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0x01, // useAOP (AssistNow Autonomous configuration) = 1 (enabled)
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0x00, // Reserved 12
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0x00, // Reserved 13
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0x00, 0x00, // aopOrbMaxErr = 0 to reset to firmware default
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0x00, // Reserved 14
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0x00, // Reserved 15
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0x00, 0x00, // Reserved 3
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0x00, 0x00, 0x00, 0x00 // Reserved 4
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};
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// For the M8
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constexpr uint8_t _message_NAVX5_8[] = {
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0x02, 0x00, // msgVer (2 for this version)
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0x4c, 0x66, // mask1
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0x00, 0x00, 0x00, 0x00, // mask2
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0x00, 0x00, // Reserved 1
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0x03, // minSVs (Minimum number of satellites for navigation) = 3
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0x10, // maxSVs (Maximum number of satellites for navigation) = 16
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0x06, // minCNO (Minimum satellite signal level for navigation) = 6 dBHz
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0x00, // Reserved 2
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0x00, // iniFix3D (Initial fix must be 3D) (0 = false 1 = true)
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0x00, 0x00, // Reserved 3
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0x00, // ackAiding
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0x00, 0x00, // wknRollover 0 = firmware default
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0x00, // sigAttenCompMode
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0x00, // Reserved 4
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0x00, 0x00, // Reserved 5
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0x00, 0x00, // Reserved 6
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0x00, // usePPP (Precice Point Positioning) (0 = false, 1 = true)
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0x01, // aopCfg (AssistNow Autonomous configuration) = 1 (enabled)
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0x00, 0x00, // Reserved 7
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0x00, 0x00, // aopOrbMaxErr = 0 to reset to firmware default
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0x00, 0x00, 0x00, 0x00, // Reserved 8
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0x00, 0x00, 0x00, // Reserved 9
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0x00 // useAdr
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};
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// Set GPS update rate to 1Hz
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// Lowering the update rate helps to save power.
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// Additionally, for some new modules like the M9/M10, an update rate lower than 5Hz
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// is recommended to avoid a known issue with satellites disappearing.
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// The module defaults for M8, M9, M10 are the same as we use here so no update is necessary
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constexpr uint8_t _message_1HZ[] = {
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0xE8, 0x03, // Measurement Rate (1000ms for 1Hz)
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0x01, 0x00, // Navigation rate, always 1 in GPS mode
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0x01, 0x00 // Time reference
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};
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// Disable GLL. GLL - Geographic position (latitude and longitude), which provides the current geographical
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// coordinates.
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constexpr uint8_t _message_GLL[] = {
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0xF0, 0x01, // NMEA ID for GLL
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0x00, // Rate for DDC
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0x00, // Rate for UART1
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0x00, // Rate for UART2
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0x00, // Rate for USB
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0x00, // Rate for SPI
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0x00 // Reserved
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};
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// Disable GSA. GSA - GPS DOP and active satellites, used for detailing the satellites used in the positioning and
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// the DOP (Dilution of Precision)
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constexpr uint8_t _message_GSA[] = {
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0xF0, 0x02, // NMEA ID for GSA
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0x00, // Rate for DDC
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0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB usefull for native linux
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Disable GSV. GSV - Satellites in view, details the number and location of satellites in view.
|
||||
constexpr uint8_t _message_GSV[] = {
|
||||
0xF0, 0x03, // NMEA ID for GSV
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Disable VTG. VTG - Track made good and ground speed, which provides course and speed information relative to
|
||||
// the ground.
|
||||
constexpr uint8_t _message_VTG[] = {
|
||||
0xF0, 0x05, // NMEA ID for VTG
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Enable RMC. RMC - Recommended Minimum data, the essential gps pvt (position, velocity, time) data.
|
||||
constexpr uint8_t _message_RMC[] = {
|
||||
0xF0, 0x04, // NMEA ID for RMC
|
||||
0x00, // Rate for DDC
|
||||
0x01, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x01, // Rate for USB usefull for native linux
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Enable GGA. GGA - Global Positioning System Fix Data, which provides 3D location and accuracy data.
|
||||
constexpr uint8_t _message_GGA[] = {
|
||||
0xF0, 0x00, // NMEA ID for GGA
|
||||
0x00, // Rate for DDC
|
||||
0x01, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x01, // Rate for USB, usefull for native linux
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Disable UBX-AID-ALPSRV as it may confuse TinyGPS. The Neo-6 seems to send this message
|
||||
// whether the AID Autonomous is enabled or not
|
||||
constexpr uint8_t _message_AID[] = {
|
||||
0x0B, 0x32, // NMEA ID for UBX-AID-ALPSRV
|
||||
0x00, // Rate for DDC
|
||||
0x00, // Rate for UART1
|
||||
0x00, // Rate for UART2
|
||||
0x00, // Rate for USB
|
||||
0x00, // Rate for SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// Turn off TEXT INFO Messages for all but M10 series
|
||||
|
||||
// B5 62 06 02 0A 00 01 00 00 00 03 03 00 03 03 00 1F 20
|
||||
constexpr uint8_t _message_DISABLE_TXT_INFO[] = {
|
||||
0x01, // Protocol ID for NMEA
|
||||
0x00, 0x00, 0x00, // Reserved
|
||||
0x03, // I2C
|
||||
0x03, // I/O Port 1
|
||||
0x00, // I/O Port 2
|
||||
0x03, // USB
|
||||
0x03, // SPI
|
||||
0x00 // Reserved
|
||||
};
|
||||
|
||||
// The Power Management configuration allows the GPS module to operate in different power modes for optimized
|
||||
// power consumption. The modes supported are: 0x00 = Full power: The module operates at full power with no power
|
||||
// saving. 0x01 = Balanced: The module dynamically adjusts the tracking behavior to balance power consumption.
|
||||
// 0x02 = Interval: The module operates in a periodic mode, cycling between tracking and power saving states.
|
||||
// 0x03 = Aggressive with 1 Hz: The module operates in a power saving mode with a 1 Hz update rate.
|
||||
// 0x04 = Aggressive with 2 Hz: The module operates in a power saving mode with a 2 Hz update rate.
|
||||
// 0x05 = Aggressive with 4 Hz: The module operates in a power saving mode with a 4 Hz update rate.
|
||||
// The 'period' field specifies the position update and search period. It is only valid when the powerSetupValue
|
||||
// is set to Interval; otherwise, it must be set to '0'. The 'onTime' field specifies the duration of the ON phase
|
||||
// and must be smaller than the period. It is only valid when the powerSetupValue is set to Interval; otherwise,
|
||||
// it must be set to '0'.
|
||||
// This command applies to M8 products
|
||||
constexpr uint8_t _message_PMS[] = {
|
||||
0x00, // Version (0)
|
||||
0x03, // Power setup value 3 = Agresssive 1Hz
|
||||
0x00, 0x00, // period: not applicable, set to 0
|
||||
0x00, 0x00, // onTime: not applicable, set to 0
|
||||
0x00, 0x00 // reserved, generated by u-center
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_SAVE[] = {
|
||||
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
|
||||
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
|
||||
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
|
||||
0x17 // deviceMask: BBR, Flash, EEPROM, and SPI Flash
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_SAVE_10[] = {
|
||||
0x00, 0x00, 0x00, 0x00, // clearMask: no sections cleared
|
||||
0xFF, 0xFF, 0x00, 0x00, // saveMask: save all sections
|
||||
0x00, 0x00, 0x00, 0x00, // loadMask: no sections loaded
|
||||
0x01 // deviceMask: only save to BBR
|
||||
};
|
||||
|
||||
// As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
|
||||
// BBR will survive a restart, and power off for a while, but modules with small backup
|
||||
// batteries or super caps will not retain the config for a long power off time.
|
||||
// for all configurations using sleep / low power modes, V_BCKP needs to be hooked to permanent power for fast aquisition after
|
||||
// sleep
|
||||
|
||||
// VALSET Commands for M10
|
||||
// Please refer to the M10 Protocol Specification:
|
||||
// https://content.u-blox.com/sites/default/files/u-blox-M10-SPG-5.10_InterfaceDescription_UBX-21035062.pdf
|
||||
// Where the VALSET/VALGET/VALDEL commands are described in detail.
|
||||
// and:
|
||||
// https://content.u-blox.com/sites/default/files/u-blox-M10-ROM-5.10_ReleaseNotes_UBX-22001426.pdf
|
||||
// for interesting insights.
|
||||
//
|
||||
// Integration manual:
|
||||
// https://content.u-blox.com/sites/default/files/documents/SAM-M10Q_IntegrationManual_UBX-22020019.pdf
|
||||
// has details on low-power modes
|
||||
|
||||
/*
|
||||
OPERATEMODE E1 2 (0 | 1 | 2)
|
||||
POSUPDATEPERIOD U4 5
|
||||
ACQPERIOD U4 10
|
||||
GRIDOFFSET U4 0
|
||||
ONTIME U2 1
|
||||
MINACQTIME U1 0
|
||||
MAXACQTIME U1 0
|
||||
DONOTENTEROFF L 1
|
||||
WAITTIMEFIX L 1
|
||||
UPDATEEPH L 1
|
||||
EXTINTWAKE L 0 no ext ints
|
||||
EXTINTBACKUP L 0 no ext ints
|
||||
EXTINTINACTIVE L 0 no ext ints
|
||||
EXTINTACTIVITY U4 0 no ext ints
|
||||
LIMITPEAKCURRENT L 1
|
||||
|
||||
// Ram layer config message:
|
||||
// b5 62 06 8a 26 00 00 01 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
|
||||
// 10 01 8b de
|
||||
|
||||
// BBR layer config message:
|
||||
// b5 62 06 8a 26 00 00 02 00 00 01 00 d0 20 02 02 00 d0 40 05 00 00 00 05 00 d0 30 01 00 08 00 d0 10 01 09 00 d0 10 01 10 00 d0
|
||||
// 10 01 8c 03
|
||||
*/
|
||||
constexpr uint8_t _message_VALSET_PM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0, 0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
|
||||
constexpr uint8_t _message_VALSET_PM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0xd0, 0x20, 0x02, 0x02, 0x00, 0xd0, 0x40, 0x05, 0x00, 0x00, 0x00, 0x05, 0x00, 0xd0, 0x30, 0x01, 0x00, 0x08, 0x00, 0xd0, 0x10, 0x01, 0x09, 0x00, 0xd0, 0x10, 0x01, 0x10, 0x00, 0xd0, 0x10, 0x01};
|
||||
|
||||
/*
|
||||
CFG-ITFM replaced by 5 valset messages which can be combined into one for RAM and one for BBR
|
||||
|
||||
20410001 bbthreshold U1 3
|
||||
20410002 cwthreshold U1 15
|
||||
1041000d enable L 0 -> 1
|
||||
20410010 ant E1 0
|
||||
10410013 enable aux L 0 -> 1
|
||||
|
||||
|
||||
b5 62 06 8a 0e 00 00 01 00 00 0d 00 41 10 01 13 00 41 10 01 63 c6
|
||||
*/
|
||||
constexpr uint8_t _message_VALSET_ITFM_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x0d, 0x00, 0x41, 0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
|
||||
constexpr uint8_t _message_VALSET_ITFM_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x0d, 0x00, 0x41, 0x10, 0x01, 0x13, 0x00, 0x41, 0x10, 0x01};
|
||||
|
||||
// Turn off all NMEA messages:
|
||||
// Ram layer config message:
|
||||
// b5 62 06 8a 22 00 00 01 00 00 c0 00 91 20 00 ca 00 91 20 00 c5 00 91 20 00 ac 00 91 20 00 b1 00 91 20 00 bb 00 91 20 00 40 8f
|
||||
|
||||
// Disable GLL, GSV, VTG messages in BBR layer
|
||||
// BBR layer config message:
|
||||
// b5 62 06 8a 13 00 00 02 00 00 ca 00 91 20 00 c5 00 91 20 00 b1 00 91 20 00 f8 4e
|
||||
|
||||
constexpr uint8_t _message_VALSET_DISABLE_NMEA_RAM[] = {
|
||||
/*0x00, 0x01, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00 */
|
||||
0x00, 0x01, 0x00, 0x00, 0xc0, 0x00, 0x91, 0x20, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91,
|
||||
0x20, 0x00, 0xac, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x00
|
||||
};
|
||||
|
||||
constexpr uint8_t _message_VALSET_DISABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xca, 0x00, 0x91, 0x20, 0x00, 0xc5, 0x00, 0x91, 0x20, 0x00, 0xb1, 0x00, 0x91, 0x20, 0x00};
|
||||
|
||||
// Turn off text info messages:
|
||||
// Ram layer config message:
|
||||
// b5 62 06 8a 09 00 00 01 00 00 07 00 92 20 06 59 50
|
||||
|
||||
// BBR layer config message:
|
||||
// b5 62 06 8a 09 00 00 02 00 00 07 00 92 20 06 5a 58
|
||||
|
||||
// Turn NMEA GGA, RMC messages on:
|
||||
// Layer config messages:
|
||||
// RAM:
|
||||
// b5 62 06 8a 0e 00 00 01 00 00 bb 00 91 20 01 ac 00 91 20 01 6a 8f
|
||||
// BBR:
|
||||
// b5 62 06 8a 0e 00 00 02 00 00 bb 00 91 20 01 ac 00 91 20 01 6b 9c
|
||||
// FLASH:
|
||||
// b5 62 06 8a 0e 00 00 04 00 00 bb 00 91 20 01 ac 00 91 20 01 6d b6
|
||||
// Doing this for the FLASH layer isn't really required since we save the config to flash later
|
||||
|
||||
constexpr uint8_t _message_VALSET_DISABLE_TXT_INFO_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
|
||||
constexpr uint8_t _message_VALSET_DISABLE_TXT_INFO_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x07, 0x00, 0x92, 0x20, 0x03};
|
||||
|
||||
constexpr uint8_t _message_VALSET_ENABLE_NMEA_RAM[] = {0x00, 0x01, 0x00, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
|
||||
constexpr uint8_t _message_VALSET_ENABLE_NMEA_BBR[] = {0x00, 0x02, 0x00, 0x00, 0xbb, 0x00, 0x91, 0x20, 0x01, 0xac, 0x00, 0x91, 0x20, 0x01};
|
||||
constexpr uint8_t _message_VALSET_DISABLE_SBAS_RAM[] = {0x00, 0x01, 0x00, 0x00, 0x20, 0x00, 0x31, 0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
|
||||
constexpr uint8_t _message_VALSET_DISABLE_SBAS_BBR[] = {0x00, 0x02, 0x00, 0x00, 0x20, 0x00, 0x31, 0x10, 0x00, 0x05, 0x00, 0x31, 0x10, 0x00};
|
||||
|
||||
/*
|
||||
Operational issues with the M10:
|
||||
|
||||
PowerSave doesn't work with SBAS, seems like you can have SBAS enabled, but it will never lock
|
||||
onto the SBAS sats.
|
||||
PowerSave doesn't work with BDS B1C, u-blox says use B1l instead.
|
||||
BDS B1l cannot be enabled with BDS B1C or GLONASS L1OF, so GLONASS will work with B1C, but not B1l
|
||||
So no powersave with GLONASS and BDS B1l enabled.
|
||||
So disable GLONASS and use BDS B1l, which is part of the default M10 config.
|
||||
|
||||
GNSS configuration:
|
||||
|
||||
Default GNSS configuration is: GPS, Galileo, BDS B1l, with QZSS and SBAS enabled.
|
||||
The PMREQ puts the receiver to sleep and wakeup re-acquires really fast and seems to not need
|
||||
the PM config. Lets try without it.
|
||||
PMREQ sort of works with SBAS, but the awake time is too short to re-acquire any SBAS sats.
|
||||
The defination of "Got Fix" doesn't seem to include SBAS. Much more too this...
|
||||
Even if it was, it can take minutes (up to 12.5),
|
||||
even under good sat visibility conditions to re-acquire the SBAS data.
|
||||
|
||||
Another effect fo the quick transition to sleep is that no other sats will be acquired so the
|
||||
sat count will tend to remain at what the initial fix was.
|
||||
*/
|
||||
|
||||
// GNSS disable SBAS as recommended by u-blox if using GNSS defaults and power save mode
|
||||
/*
|
||||
Ram layer config message:
|
||||
b5 62 06 8a 0e 00 00 01 00 00 20 00 31 10 00 05 00 31 10 00 46 87
|
||||
|
||||
BBR layer config message:
|
||||
b5 62 06 8a 0e 00 00 02 00 00 20 00 31 10 00 05 00 31 10 00 47 94
|
||||
*/
|
||||
|
||||
}
|
||||
@@ -0,0 +1,15 @@
|
||||
#pragma once
|
||||
|
||||
#include "Tactility/hal/i2c/I2c.h"
|
||||
#include <vector>
|
||||
|
||||
namespace tt::hal::i2c {
|
||||
|
||||
/**
|
||||
* Called by main HAL init to ready the internal state of the I2C HAL.
|
||||
* @param[in] configurations HAL configuration for a board
|
||||
* @return true on success
|
||||
*/
|
||||
bool init(const std::vector<i2c::Configuration>& configurations);
|
||||
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
#pragma once
|
||||
|
||||
#include "Tactility/hal/spi/Spi.h"
|
||||
|
||||
#include <vector>
|
||||
#include <memory>
|
||||
|
||||
namespace tt::hal::spi {
|
||||
|
||||
/**
|
||||
* Called by main HAL init to ready the internal state of the SPI HAL.
|
||||
* @param[in] configurations HAL configuration for a board
|
||||
* @return true on success
|
||||
*/
|
||||
bool init(const std::vector<spi::Configuration>& configurations);
|
||||
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
#pragma once
|
||||
#ifdef ESP_PLATFORM
|
||||
|
||||
#include "Tactility/Mutex.h"
|
||||
#include "Tactility/hal/uart/Uart.h"
|
||||
#include "Tactility/hal/uart/Configuration.h"
|
||||
|
||||
namespace tt::hal::uart {
|
||||
|
||||
class UartEsp final : public Uart {
|
||||
|
||||
private:
|
||||
|
||||
Mutex mutex;
|
||||
const Configuration& configuration;
|
||||
bool started = false;
|
||||
|
||||
public:
|
||||
|
||||
explicit UartEsp(const Configuration& configuration) : configuration(configuration) {}
|
||||
|
||||
bool start() final;
|
||||
bool isStarted() const final;
|
||||
bool stop() final;
|
||||
size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
|
||||
bool readByte(std::byte* output, TickType_t timeout) final;
|
||||
size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
|
||||
size_t available(TickType_t timeout) final;
|
||||
bool setBaudRate(uint32_t baudRate, TickType_t timeout) final;
|
||||
uint32_t getBaudRate() final;
|
||||
void flushInput() final;
|
||||
};
|
||||
|
||||
std::unique_ptr<Uart> create(const Configuration& configuration);
|
||||
|
||||
} // namespace tt::hal::uart
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,9 @@
|
||||
#pragma once
|
||||
|
||||
#include "Tactility/hal/uart/Uart.h"
|
||||
|
||||
namespace tt::hal::uart {
|
||||
|
||||
bool init(const std::vector<uart::Configuration>& configurations);
|
||||
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
#pragma once
|
||||
#ifndef ESP_PLATFORM
|
||||
|
||||
#include "Tactility/Mutex.h"
|
||||
#include "Tactility/hal/uart/Configuration.h"
|
||||
#include "Tactility/hal/uart/Uart.h"
|
||||
|
||||
#include <termios.h>
|
||||
|
||||
namespace tt::hal::uart {
|
||||
|
||||
class UartPosix final : public Uart {
|
||||
|
||||
private:
|
||||
struct AutoCloseFileDeleter {
|
||||
void operator()(FILE* file) {
|
||||
fclose(file);
|
||||
}
|
||||
};
|
||||
|
||||
Mutex mutex;
|
||||
const Configuration& configuration;
|
||||
std::unique_ptr<FILE, AutoCloseFileDeleter> device;
|
||||
|
||||
bool awaitAvailable(TickType_t timeout);
|
||||
|
||||
public:
|
||||
|
||||
explicit UartPosix(const Configuration& configuration) : configuration(configuration) {}
|
||||
|
||||
bool start() final;
|
||||
bool isStarted() const final;
|
||||
bool stop() final;
|
||||
size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
|
||||
bool readByte(std::byte* output, TickType_t timeout) final;
|
||||
size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
|
||||
size_t available(TickType_t timeout) final;
|
||||
bool setBaudRate(uint32_t baudRate, TickType_t timeout) final;
|
||||
uint32_t getBaudRate() final;
|
||||
void flushInput() final;
|
||||
};
|
||||
|
||||
std::unique_ptr<Uart> create(const Configuration& configuration);
|
||||
|
||||
} // namespace tt::hal::uart
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,5 @@
|
||||
#pragma once
|
||||
|
||||
bool tusbIsSupported();
|
||||
bool tusbStartMassStorageWithSdmmc();
|
||||
void tusbStop();
|
||||
@@ -0,0 +1,7 @@
|
||||
#pragma once
|
||||
|
||||
namespace tt::network::ntp {
|
||||
|
||||
void init();
|
||||
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
#pragma once
|
||||
|
||||
#include "Tactility/service/ServiceContext.h"
|
||||
#include "Tactility/service/Service.h"
|
||||
|
||||
namespace tt::service {
|
||||
|
||||
class ServiceInstance : public ServiceContext {
|
||||
|
||||
private:
|
||||
|
||||
Mutex mutex = Mutex(Mutex::Type::Normal);
|
||||
std::shared_ptr<const ServiceManifest> manifest;
|
||||
std::shared_ptr<Service> service;
|
||||
|
||||
public:
|
||||
|
||||
explicit ServiceInstance(std::shared_ptr<const service::ServiceManifest> manifest);
|
||||
~ServiceInstance() override = default;
|
||||
|
||||
/** @return a reference ot the service's manifest */
|
||||
const service::ServiceManifest& getManifest() const override;
|
||||
|
||||
/** Retrieve the paths that are relevant to this service */
|
||||
std::unique_ptr<Paths> getPaths() const override;
|
||||
|
||||
std::shared_ptr<Service> getService() const { return service; }
|
||||
};
|
||||
|
||||
}
|
||||
@@ -0,0 +1,28 @@
|
||||
#pragma once
|
||||
|
||||
#include "Tactility/service/ServiceInstance.h"
|
||||
|
||||
namespace tt::service {
|
||||
|
||||
class ServiceInstancePaths final : public Paths {
|
||||
|
||||
private:
|
||||
|
||||
std::shared_ptr<const ServiceManifest> manifest;
|
||||
|
||||
public:
|
||||
|
||||
explicit ServiceInstancePaths(std::shared_ptr<const ServiceManifest> manifest) : manifest(std::move(manifest)) {}
|
||||
~ServiceInstancePaths() final = default;
|
||||
|
||||
std::string getDataDirectory() const final;
|
||||
std::string getDataDirectoryLvgl() const final;
|
||||
std::string getDataPath(const std::string& childPath) const final;
|
||||
std::string getDataPathLvgl(const std::string& childPath) const final;
|
||||
std::string getSystemDirectory() const final;
|
||||
std::string getSystemDirectoryLvgl() const final;
|
||||
std::string getSystemPath(const std::string& childPath) const final;
|
||||
std::string getSystemPathLvgl(const std::string& childPath) const final;
|
||||
};
|
||||
|
||||
}
|
||||
@@ -0,0 +1,75 @@
|
||||
#pragma once
|
||||
#ifdef ESP_PLATFORM
|
||||
|
||||
#include "Tactility/MessageQueue.h"
|
||||
#include "Tactility/service/Service.h"
|
||||
#include "Tactility/service/espnow/EspNow.h"
|
||||
|
||||
#include <Tactility/Mutex.h>
|
||||
|
||||
#include <functional>
|
||||
|
||||
namespace tt::service::espnow {
|
||||
|
||||
class EspNowService final : public Service {
|
||||
|
||||
private:
|
||||
|
||||
struct ReceiverSubscriptionData {
|
||||
ReceiverSubscription id;
|
||||
std::function<void(const esp_now_recv_info_t* receiveInfo, const uint8_t* data, int length)> onReceive;
|
||||
};
|
||||
|
||||
struct SendCallback {
|
||||
uint8_t macAddress[ESP_NOW_ETH_ALEN];
|
||||
bool success;
|
||||
};
|
||||
|
||||
Mutex mutex = Mutex(Mutex::Type::Recursive);
|
||||
std::vector<ReceiverSubscriptionData> subscriptions;
|
||||
ReceiverSubscription lastSubscriptionId = 0;
|
||||
bool enabled = false;
|
||||
|
||||
// Dispatcher calls this and forwards to non-static function
|
||||
static void enableFromDispatcher(std::shared_ptr<void> context);
|
||||
void enableFromDispatcher(const EspNowConfig& config);
|
||||
|
||||
static void disableFromDispatcher(std::shared_ptr<void> context);
|
||||
void disableFromDispatcher();
|
||||
|
||||
static void receiveCallback(const esp_now_recv_info_t* receiveInfo, const uint8_t* data, int length);
|
||||
void onReceive(const esp_now_recv_info_t* receiveInfo, const uint8_t* data, int length);
|
||||
|
||||
public:
|
||||
|
||||
// region Overrides
|
||||
|
||||
void onStart(ServiceContext& service) override;
|
||||
void onStop(ServiceContext& service) override;
|
||||
|
||||
// endregion Overrides
|
||||
|
||||
// region Internal API
|
||||
|
||||
void enable(const EspNowConfig& config);
|
||||
|
||||
void disable();
|
||||
|
||||
bool isEnabled() const;
|
||||
|
||||
bool addPeer(const esp_now_peer_info_t& peer);
|
||||
|
||||
bool send(const uint8_t* address, const uint8_t* buffer, size_t bufferLength);
|
||||
|
||||
ReceiverSubscription subscribeReceiver(std::function<void(const esp_now_recv_info_t* receiveInfo, const uint8_t* data, int length)> onReceive);
|
||||
|
||||
void unsubscribeReceiver(ReceiverSubscription subscription);
|
||||
|
||||
// region Internal API
|
||||
};
|
||||
|
||||
std::shared_ptr<EspNowService> findService();
|
||||
|
||||
}
|
||||
|
||||
#endif // ESP_PLATFORM
|
||||
@@ -0,0 +1,11 @@
|
||||
#pragma once
|
||||
|
||||
#include "Tactility/service/espnow/EspNow.h"
|
||||
|
||||
namespace tt::service::espnow {
|
||||
|
||||
bool initWifi(const EspNowConfig& config);
|
||||
|
||||
bool deinitWifi();
|
||||
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
#pragma once
|
||||
|
||||
namespace tt::time {
|
||||
|
||||
void init();
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user