diff --git a/README.MD b/README.MD index 5d72d08..80b956e 100644 --- a/README.MD +++ b/README.MD @@ -11,13 +11,14 @@ - ⚠️ If using the PA version, please carefully read the PA power setting limits on the corresponding page. Incorrect output power settings may damage the PA. - ⚠️ 如果使用PA版本，请仔细阅读对应页面的PA功率设置限制，错误的设置输出功率很有可能会损坏PA - ### `1` Get Started - 🔧 **[T-Beam Quick Start](./docs/en/t_beam/t_beam_hw.md)** - 🔧 **[T-Beam Supreme Quick Start](./docs/en/t_beam_supreme/t_beam_supreme_hw.md)** - 🔧 **[T-Beam BPF Quick Start](./docs/en/t_beam_bpf/t_beam_bpf_hw.md)** -- 🔧 **[T-Beam 1W Quick Start](./docs/en/t_beam_1w/t_beam_1w_hw.md)** +- 🔧 **[T-Beam 1W SX1262 Quick Start](./docs/en/t_beam_1w_sx1262/t_beam_1w_sx1262.md)** +- 🔧 **[T-Beam 1W LR1121 Quick Start](./docs/en/t_beam_1w_lr1121/t_beam_1w_lr1121.md)** +- 🔧 **[T-Beam 1W LR2021 Quick Start](./docs/en/t_beam_1w_lr2021/t_beam_1w_lr2021.md)** - 🔧 **[LoRa32 V1.3 Quick Start](./docs/en/t3_v13_sx1276/t3_v13_sx1276.md)** - 🔧 **[LoRa32 V1.6.1 Quick Start](./docs/en/t3_v161_sx1276/t3_v161_sx1276_hw.md)** - 🔧 **[LoRa32 TCXO Quick Start](./docs/en/t3_tcxo_sx1276/t3_tcxo_sx1276_hw.md)** diff --git a/dimensions/T-Beam-1W-batteryCase.zip b/dimensions/T-Beam-1W-batteryCase.zip new file mode 100644 index 0000000..0f1be2c Binary files /dev/null and b/dimensions/T-Beam-1W-batteryCase.zip differ diff --git a/docs/en/t3_c6_sx1262/t3_c6_sx1262_hw.md b/docs/en/t3_c6_sx1262/t3_c6_sx1262_hw.md index 342dbe4..55881a8 100644 --- a/docs/en/t3_c6_sx1262/t3_c6_sx1262_hw.md +++ b/docs/en/t3_c6_sx1262/t3_c6_sx1262_hw.md @@ -20,7 +20,7 @@ [1]: https://www.lilygo.cc/products/t-lora-c6 "T-Lora C6" -### PlatformIO Quick Start + + +### PlatformIO Not support ESP32C6 ### Arduino IDE quick start diff --git a/docs/en/t3_s3_lr1121/t3_s3_lr1121_hw.md b/docs/en/t3_s3_lr1121/t3_s3_lr1121_hw.md index 49bacee..e005472 100644 --- a/docs/en/t3_s3_lr1121/t3_s3_lr1121_hw.md +++ b/docs/en/t3_s3_lr1121/t3_s3_lr1121_hw.md @@ -12,6 +12,7 @@ 1. This version does not have BMS, please use a lithium-ion battery with battery protection function 2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module +3. The T3-S3 V1.2 and T3-S3 V1.3 use the same pins; the only difference is the charging circuit. ### Product @@ -103,6 +104,7 @@ | On Board LED | 37 | ❌ | * You can use GPIO10,21 by removing the two resistors in the figure below. Otherwise, the GPIO is connected to DIO8,DIO7 of Radio by default. +* SDA(18) and SCL(17) are not brought out and cannot be accessed. They can only be used as other GPIOs through QWIIC or header pins. During initialization, use explicit initialization `Wire.begin(sda,scl);` Any unused GPIO can be used as SDA and SCL. | T3 V1.2 | T3 V1.3 | | ------------------------------------------------ | ------------------------------------------------ | @@ -171,12 +173,16 @@ | ---------------------------------------------- | ---------------------------------------------- | | ![T3-S3](../../static/T3S3-WIFI-IPEX-V1.2.png) | ![T3-S3](../../static/T3S3-WIFI-IPEX-V1.3.png) | -## LoRa-IPEX +## LoRa Ant -* The following figure shows how to switch the onboard LoRa SMA antenna to IPEX +* For instructions on how to configure LoRa antenna control, please refer to the [example](https://github.com/Xinyuan-LilyGO/LilyGo-LoRa-Series/blob/d04e9c4c66516ad918c7fafbd63b477822066ec8/examples/T3S3Factory/T3S3Factory.ino#L562) +* LR1121 The 2.4G antenna interface is located on the LoRa module and cannot be changed. +* LoRa 2.4G and Sub1G antennas are independent and cannot be shared. +* The following figure shows how to switch the onboard LoRa-Sub1G SMA antenna to IPEX ![LORA-IPEX](./images/LORA-IPEX.png) + ### LR1121 RF Block Diagram ![RF Block Diagram](./images/LR1121.png) diff --git a/docs/en/t3_s3_lr1121_pa/t3_s3_lr1121_pa_hw.md b/docs/en/t3_s3_lr1121_pa/t3_s3_lr1121_pa_hw.md index 883ad3f..545176b 100644 --- a/docs/en/t3_s3_lr1121_pa/t3_s3_lr1121_pa_hw.md +++ b/docs/en/t3_s3_lr1121_pa/t3_s3_lr1121_pa_hw.md @@ -12,6 +12,7 @@ 1. This version does not have BMS, please use a lithium-ion battery with battery protection function 2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module +3. The T3-S3 V1.2 and T3-S3 V1.3 use the same pins; the only difference is the charging circuit. ### Product @@ -100,6 +101,7 @@ | On Board LED | 37 | ❌ | * You can use GPIO10,21 by removing the two resistors in the figure below. Otherwise, the GPIO is connected to DIO8,DIO7 of Radio by default. +* SDA(18) and SCL(17) are not brought out and cannot be accessed. They can only be used as other GPIOs through QWIIC or header pins. During initialization, use explicit initialization `Wire.begin(sda,scl);` Any unused GPIO can be used as SDA and SCL. | T3 V1.2 | T3 V1.3 | | ------------------------------------------------ | ------------------------------------------------ | diff --git a/docs/en/t3_s3_sx1262/t3_s3_sx1262_hw.md b/docs/en/t3_s3_sx1262/t3_s3_sx1262_hw.md index a6dbac4..43f00f3 100644 --- a/docs/en/t3_s3_sx1262/t3_s3_sx1262_hw.md +++ b/docs/en/t3_s3_sx1262/t3_s3_sx1262_hw.md @@ -12,6 +12,7 @@ 1. This version does not have BMS, please use a lithium-ion battery with battery protection function 2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module +3. The T3-S3 V1.2 and T3-S3 V1.3 use the same pins; the only difference is the charging circuit. ### Product @@ -103,6 +104,7 @@ | On Board LED | 37 | ❌ | * You can use GPIO10,21 by removing the two resistors in the figure below. Otherwise, the GPIO is connected to DIO3,DIO4 of Radio by default. +* SDA(18) and SCL(17) are not brought out and cannot be accessed. They can only be used as other GPIOs through QWIIC or header pins. During initialization, use explicit initialization `Wire.begin(sda,scl);` Any unused GPIO can be used as SDA and SCL. | T3 V1.2 | T3 V1.3 | | ------------------------------------------------ | ------------------------------------------------ | diff --git a/docs/en/t3_s3_sx1276/t3_s3_sx1276_hw.md b/docs/en/t3_s3_sx1276/t3_s3_sx1276_hw.md index c1a4cfd..8d89ab2 100644 --- a/docs/en/t3_s3_sx1276/t3_s3_sx1276_hw.md +++ b/docs/en/t3_s3_sx1276/t3_s3_sx1276_hw.md @@ -12,6 +12,7 @@ 1. This version does not have BMS, please use a lithium-ion battery with battery protection function 2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module +3. The T3-S3 V1.2 and T3-S3 V1.3 use the same pins; the only difference is the charging circuit. ### Product @@ -107,6 +108,7 @@ | On Board LED | 37 | ❌ | * You can use GPIO10,21 by removing the two resistors in the figure below. Otherwise, the GPIO is connected to DIO3,DIO4 of Radio by default. +* SDA(18) and SCL(17) are not brought out and cannot be accessed. They can only be used as other GPIOs through QWIIC or header pins. During initialization, use explicit initialization `Wire.begin(sda,scl);` Any unused GPIO can be used as SDA and SCL. | T3 V1.2 | T3 V1.3 | | ------------------------------------------------ | ------------------------------------------------ | diff --git a/docs/en/t3_s3_sx1278/t3_s3_sx1278_hw.md b/docs/en/t3_s3_sx1278/t3_s3_sx1278_hw.md index 753c98f..31eca0c 100644 --- a/docs/en/t3_s3_sx1278/t3_s3_sx1278_hw.md +++ b/docs/en/t3_s3_sx1278/t3_s3_sx1278_hw.md @@ -12,6 +12,7 @@ 1. This version does not have BMS, please use a lithium-ion battery with battery protection function 2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module +3. The T3-S3 V1.2 and T3-S3 V1.3 use the same pins; the only difference is the charging circuit. ### Product @@ -107,6 +108,7 @@ | On Board LED | 37 | ❌ | * You can use GPIO10,21 by removing the two resistors in the figure below. Otherwise, the GPIO is connected to DIO3,DIO4 of Radio by default. +* SDA(18) and SCL(17) are not brought out and cannot be accessed. They can only be used as other GPIOs through QWIIC or header pins. During initialization, use explicit initialization `Wire.begin(sda,scl);` Any unused GPIO can be used as SDA and SCL. | T3 V1.2 | T3 V1.3 | | ------------------------------------------------ | ------------------------------------------------ | diff --git a/docs/en/t3_s3_sx1280/t3_s3_sx1280_hw.md b/docs/en/t3_s3_sx1280/t3_s3_sx1280_hw.md index d750273..3083c21 100644 --- a/docs/en/t3_s3_sx1280/t3_s3_sx1280_hw.md +++ b/docs/en/t3_s3_sx1280/t3_s3_sx1280_hw.md @@ -12,6 +12,7 @@ 1. This version does not have BMS, please use a lithium-ion battery with battery protection function 2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module +3. The T3-S3 V1.2 and T3-S3 V1.3 use the same pins; the only difference is the charging circuit. ### Product @@ -102,6 +103,8 @@ | Battery ADC | 1 | ❌ | | On Board LED | 37 | ❌ | +* SDA(18) and SCL(17) are not brought out and cannot be accessed. They can only be used as other GPIOs through QWIIC or header pins. During initialization, use explicit initialization `Wire.begin(sda,scl);` Any unused GPIO can be used as SDA and SCL. + ### 🧑🏼‍🔧 I2C Devices Address | Devices | 7-Bit Address | Share Bus | diff --git a/docs/en/t3_s3_sx1280pa/t3_s3_sx1280pa.md b/docs/en/t3_s3_sx1280pa/t3_s3_sx1280pa.md index b4e31a7..0b2bd5d 100644 --- a/docs/en/t3_s3_sx1280pa/t3_s3_sx1280pa.md +++ b/docs/en/t3_s3_sx1280pa/t3_s3_sx1280pa.md @@ -12,6 +12,7 @@ 1. This version does not have BMS, please use a lithium-ion battery with battery protection function 2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module +3. The T3-S3 V1.2 and T3-S3 V1.3 use the same pins; the only difference is the charging circuit. ### Product @@ -105,6 +106,7 @@ | On Board LED | 37 | ❌ | * QWIIC IO10/IO21 GPIOs are already connected to the Radio TX/RX Pin and cannot be used. +* SDA(18) and SCL(17) are not brought out and cannot be accessed. They can only be used as other GPIOs through QWIIC or header pins. During initialization, use explicit initialization `Wire.begin(sda,scl);` Any unused GPIO can be used as SDA and SCL. ### 🧑🏼‍🔧 I2C Devices Address diff --git a/docs/en/t_beam_1w_lr1121/images/XY16EXP33.png b/docs/en/t_beam_1w_lr1121/images/XY16EXP33.png new file mode 100644 index 0000000..902a33e Binary files /dev/null and b/docs/en/t_beam_1w_lr1121/images/XY16EXP33.png differ diff --git a/docs/en/t_beam_1w_lr1121/images/currnetA.png b/docs/en/t_beam_1w_lr1121/images/currnetA.png new file mode 100644 index 0000000..c9d4b05 Binary files /dev/null and b/docs/en/t_beam_1w_lr1121/images/currnetA.png differ diff --git a/docs/en/t_beam_1w_lr1121/images/currnetB.png b/docs/en/t_beam_1w_lr1121/images/currnetB.png new file mode 100644 index 0000000..90573cb Binary files /dev/null and b/docs/en/t_beam_1w_lr1121/images/currnetB.png differ diff --git a/docs/en/t_beam_1w_lr1121/t_beam_1w_lr1121.md b/docs/en/t_beam_1w_lr1121/t_beam_1w_lr1121.md new file mode 100644 index 0000000..d01bfdc --- /dev/null +++ b/docs/en/t_beam_1w_lr1121/t_beam_1w_lr1121.md @@ -0,0 +1,176 @@ +
+ LilyGo logo +
+ +

🌟LilyGo T-Beam-1W-LR1121

+ +## Overview + +* This page introduces the hardware parameters related to `LilyGo T-Beam-1W-LR1121` + +### Notes on use + +1. This board will not charge the external 7.4V battery, it is only powered by the battery. +2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module. +3. Please note that the GPIO with * added to the external pin header GPIO name is already connected to the internal module and cannot be used +4. This RF module provides a maximum power output of 30dBm on this board + +## PlatformIO Quick Start + +1. Install [Visual Studio Code](https://code.visualstudio.com/) and [Python](https://www.python.org/) +2. Search for the `PlatformIO` plugin in the `Visual Studio Code` extension and install it. +3. After the installation is complete, you need to restart `Visual Studio Code` +4. After restarting `Visual Studio Code`, select `File` in the upper left corner of `Visual Studio Code` -> `Open Folder` -> select the `LilyGo-LoRa-Series` directory +5. Wait for the installation of third-party dependent libraries to complete +6. Click on the `platformio.ini` file, and in the `platformio` column +7. Select the board name you want to use in `default_envs` and uncomment it. +8. Uncomment one of the lines `src_dir = xxxx` to make sure only one line works , Please note the example comments, indicating what works and what does not. +9. Click the (✔) symbol in the lower left corner to compile +10. Connect the board to the computer USB-C , Micro-USB is used for module firmware upgrade +11. Click (→) to upload firmware +12. Click (plug symbol) to monitor serial output +13. If it cannot be written, or the USB device keeps flashing, please check the **FAQ** below + +## Arduino IDE quick start + +1. Install [Arduino IDE](https://www.arduino.cc/en/software) +2. Install [Arduino ESP32](https://docs.espressif.com/projects/arduino-esp32/en/latest/) +3. Copy all folders in the `lib` directory to the `Sketchbook location` directory. How to find the location of your own libraries, [please see here](https://support.arduino.cc/hc/en-us/articles/4415103213714-Find-sketches-libraries-board-cores-and-other-files-on-your-computer) + * Windows: `C:\Users\{username}\Documents\Arduino` + * macOS: `/Users/{username}/Documents/Arduino` + * Linux: `/home/{username}/Arduino` +4. Open the corresponding example + * Open the downloaded `LilyGo-LoRa-Series` + * Open `examples` + * Select the sample file and open the file ending with `ino` +5. On Arduino Select the corresponding board in the IDE tool project and click on the corresponding option in the list below to select + + | Name | Value | + | ------------------------------------ | ---------------------------------------------------- | + | Board | **ESP32S3 Dev Module** | + | Port | Your port | + | USB CDC On Boot | Enable | + | CPU Frequency | 240MHZ(WiFi) | + | Core Debug Level | None | + | USB DFU On Boot | Disable | + | Erase All Flash Before Sketch Upload | Disable | + | Flash Mode | QIO 80Mhz | + | Flash Size | **16MB(128Mb)** | + | Arduino Runs On | Core1 | + | USB Firmware MSC On Boot | Disable | + | Partition Scheme | **Default 4MB with spiffs (1.2MB APP/1.5MB SPIFFS)** | + | PSRAM | **QSPI PSRAM** | + | Upload Speed | 921600 | + | Programmer | **Esptool** | + +6. Please uncomment the `utilities.h` file of each sketch according to your board model e.g `T_BEAM_1W_LR1121`, otherwise the compilation will report an error. +7. Upload sketch + +### 📍 Pins Map + +| Name | GPIO NUM | Free | +| ----------------------- | ------------------------------ | ---- | +| Uart1 TX | 43(External QWIIC Socket) | ✅️ | +| Uart1 RX | 44(External QWIIC Socket) | ✅️ | +| SDA | 8 (External QWIIC Socket same) | ❌ | +| SCL | 9 (External QWIIC Socket same) | ❌ | +| SPI MOSI | 11 | ❌ | +| SPI MISO | 12 | ❌ | +| SPI SCK | 13 | ❌ | +| SD CS | 10 | ❌ | +| SD MOSI | Share with SPI bus | ❌ | +| SD MISO | Share with SPI bus | ❌ | +| SD SCK | Share with SPI bus | ❌ | +| GNSS(**L76K**) TX | 6 | ❌ | +| GNSS(**L76K**) RX | 5 | ❌ | +| GNSS(**L76K**) PPS | 7 | ❌ | +| GNSS(**L76K**) Wake-up | 16 | ❌ | +| LoRa(**LR1121**) SCK | Share with SPI bus | ❌ | +| LoRa(**LR1121**) MISO | Share with SPI bus | ❌ | +| LoRa(**LR1121**) MOSI | Share with SPI bus | ❌ | +| LoRa(**LR1121**) RESET | 3 | ❌ | +| LoRa(**LR1121**) DIO10 | 1 | ❌ | +| LoRa(**LR1121**) DIO11 | 21 | ❌ | +| LoRa(**LR1121**) CS | 15 | ❌ | +| LoRa(**LR1121**) LDO EN | 40 | ❌ | +| LoRa(**LR1121**) BUSY | 38 | ❌ | +| Button1 (BOOT) | 0 | ❌ | +| Button2 | 17 | ❌ | +| On Board LED | 18 | ❌ | +| NTC ADC | 14 | ❌ | +| Battery ADC | 4 | ❌ | +| Fan control | 41 | ❌ | + +> \[!IMPORTANT] +> +> LDO EN pin is control pin inside the module: +> +> 1. High level turns on the Radio +> 2. Low level turns off the Radio +> + +### 🧑🏼‍🔧 I2C Devices Address + +| Devices | 7-Bit Address | Share Bus | +| ------------------- | ------------- | --------- | +| OLED Display SH1106 | 0x3C | ✅️ | + +### ⚡ Electrical parameters + +| Features | Details | +| -------------------- | ------- | +| 🔗USB-C Input Voltage | 3.9V-6V | +| ⚡Charge Function | ❌ | +| 🔋Battery Voltage | 7.4V | + +> \[!IMPORTANT] +> +> The battery used must have a discharge capacity of 2A or greater; otherwise, it may trigger battery protection during high-power transmission. +> + +### Button Description + +| Channel | Peripherals | +| ------- | ------------------------------ | +| IO17 | Customizable buttons | +| BOOT | Boot mode button, customizable | +| RST | Reset button | + +### LED Description + +* IO18 LED + 1. Connect to GPIO18, you can turn the LED on or off by writing high or low level. + +* PPS LED + 1. This LED cannot be turned off and is connected to the GPS PPS Pin. This LED flashes to indicate that the PPS pulse has arrived. + +* USB LED + 1. LED On means the USB cable is connected,LED off means the USB cable is disconnected + +### RF parameters + +| Features | 868MHz | +| ------------------------- | ----------------------- | +| RF Module | LR1121 TCXO (XY16E8P33) | +| Frequency range | 840~930MHz | +| Transfer rate(FSK) | 0.6 ~ 300 kbps | +| Transfer rate(LoRa) Sub1G | 0.091 ~ 62.5 kbps | +| Transfer rate(LoRa) 2.4G | 0.476 ~ 101.5 kbps | +| Modulation | FSK, MSK, GMSK, LoRa | + + +### RF Block Diagram + +![RF Block Diagram](./images/XY16EXP33.png) + +### VCC=+5V, 840MHz~930MHz module output power dBm and current + +![currnetA](./images/currnetA.png) + +### VCC=+5V, 2400MHz~2500MHz module output power dBm and current + +![currnetB](./images/currnetB.png) + +### Resource + +* [Schematic](../../../schematic/T-Beam_1W_V1.1.pdf) diff --git a/docs/en/t_beam_1w_lr2021/images/XY16E3AXP33.png b/docs/en/t_beam_1w_lr2021/images/XY16E3AXP33.png new file mode 100644 index 0000000..0bd7b36 Binary files /dev/null and b/docs/en/t_beam_1w_lr2021/images/XY16E3AXP33.png differ diff --git a/docs/en/t_beam_1w_lr2021/images/currentA.png b/docs/en/t_beam_1w_lr2021/images/currentA.png new file mode 100644 index 0000000..29c7f4d Binary files /dev/null and b/docs/en/t_beam_1w_lr2021/images/currentA.png differ diff --git a/docs/en/t_beam_1w_lr2021/images/currentB.png b/docs/en/t_beam_1w_lr2021/images/currentB.png new file mode 100644 index 0000000..c0a405b Binary files /dev/null and b/docs/en/t_beam_1w_lr2021/images/currentB.png differ diff --git a/docs/en/t_beam_1w_lr2021/t_beam_1w_lr2021.md b/docs/en/t_beam_1w_lr2021/t_beam_1w_lr2021.md new file mode 100644 index 0000000..bafb7e7 --- /dev/null +++ b/docs/en/t_beam_1w_lr2021/t_beam_1w_lr2021.md @@ -0,0 +1,208 @@ +
+ LilyGo logo +
+ +

🌟LilyGo T-Beam-1W-LR2021

+ +## Overview + +* This page introduces the hardware parameters related to `LilyGo T-Beam-1W-LR2021` + +### Notes on use + +1. This board will not charge the external 7.4V battery, it is only powered by the battery. +2. Please be sure to connect the antenna before transmitting, otherwise it is easy to damage the RF module. +3. Please note that the GPIO with * added to the external pin header GPIO name is already connected to the internal module and cannot be used +4. This RF module provides a maximum power output of 30dBm on this board + +## PlatformIO Quick Start + +1. Install [Visual Studio Code](https://code.visualstudio.com/) and [Python](https://www.python.org/) +2. Search for the `PlatformIO` plugin in the `Visual Studio Code` extension and install it. +3. After the installation is complete, you need to restart `Visual Studio Code` +4. After restarting `Visual Studio Code`, select `File` in the upper left corner of `Visual Studio Code` -> `Open Folder` -> select the `LilyGo-LoRa-Series` directory +5. Wait for the installation of third-party dependent libraries to complete +6. Click on the `platformio.ini` file, and in the `platformio` column +7. Select the board name you want to use in `default_envs` and uncomment it. +8. Uncomment one of the lines `src_dir = xxxx` to make sure only one line works , Please note the example comments, indicating what works and what does not. +9. Click the (✔) symbol in the lower left corner to compile +10. Connect the board to the computer USB-C , Micro-USB is used for module firmware upgrade +11. Click (→) to upload firmware +12. Click (plug symbol) to monitor serial output +13. If it cannot be written, or the USB device keeps flashing, please check the **FAQ** below + +## Arduino IDE quick start + +1. Install [Arduino IDE](https://www.arduino.cc/en/software) +2. Install [Arduino ESP32](https://docs.espressif.com/projects/arduino-esp32/en/latest/) +3. Copy all folders in the `lib` directory to the `Sketchbook location` directory. How to find the location of your own libraries, [please see here](https://support.arduino.cc/hc/en-us/articles/4415103213714-Find-sketches-libraries-board-cores-and-other-files-on-your-computer) + * Windows: `C:\Users\{username}\Documents\Arduino` + * macOS: `/Users/{username}/Documents/Arduino` + * Linux: `/home/{username}/Arduino` +4. Open the corresponding example + * Open the downloaded `LilyGo-LoRa-Series` + * Open `examples` + * Select the sample file and open the file ending with `ino` +5. On Arduino Select the corresponding board in the IDE tool project and click on the corresponding option in the list below to select + + | Name | Value | + | ------------------------------------ | ---------------------------------------------------- | + | Board | **ESP32S3 Dev Module** | + | Port | Your port | + | USB CDC On Boot | Enable | + | CPU Frequency | 240MHZ(WiFi) | + | Core Debug Level | None | + | USB DFU On Boot | Disable | + | Erase All Flash Before Sketch Upload | Disable | + | Flash Mode | QIO 80Mhz | + | Flash Size | **16MB(128Mb)** | + | Arduino Runs On | Core1 | + | USB Firmware MSC On Boot | Disable | + | Partition Scheme | **Default 4MB with spiffs (1.2MB APP/1.5MB SPIFFS)** | + | PSRAM | **QSPI PSRAM** | + | Upload Speed | 921600 | + | Programmer | **Esptool** | + +6. Please uncomment the `utilities.h` file of each sketch according to your board model e.g `T_BEAM_1W_LR2021`, otherwise the compilation will report an error. +7. Upload sketch + +### 📍 Pins Map + +| Name | GPIO NUM | Free | +| ----------------------- | ------------------------------ | ---- | +| Uart1 TX | 43(External QWIIC Socket) | ✅️ | +| Uart1 RX | 44(External QWIIC Socket) | ✅️ | +| SDA | 8 (External QWIIC Socket same) | ❌ | +| SCL | 9 (External QWIIC Socket same) | ❌ | +| SPI MOSI | 11 | ❌ | +| SPI MISO | 12 | ❌ | +| SPI SCK | 13 | ❌ | +| SD CS | 10 | ❌ | +| SD MOSI | Share with SPI bus | ❌ | +| SD MISO | Share with SPI bus | ❌ | +| SD SCK | Share with SPI bus | ❌ | +| GNSS(**L76K**) TX | 6 | ❌ | +| GNSS(**L76K**) RX | 5 | ❌ | +| GNSS(**L76K**) PPS | 7 | ❌ | +| GNSS(**L76K**) Wake-up | 16 | ❌ | +| LoRa(**LR2021**) SCK | Share with SPI bus | ❌ | +| LoRa(**LR2021**) MISO | Share with SPI bus | ❌ | +| LoRa(**LR2021**) MOSI | Share with SPI bus | ❌ | +| LoRa(**LR2021**) RESET | 3 | ❌ | +| LoRa(**LR2021**) DIO10 | 1 | ❌ | +| LoRa(**LR2021**) DIO11 | 21 | ❌ | +| LoRa(**LR2021**) CS | 15 | ❌ | +| LoRa(**LR2021**) LDO EN | 40 | ❌ | +| LoRa(**LR2021**) BUSY | 38 | ❌ | +| Button1 (BOOT) | 0 | ❌ | +| Button2 | 17 | ❌ | +| On Board LED | 18 | ❌ | +| NTC ADC | 14 | ❌ | +| Battery ADC | 4 | ❌ | +| Fan control | 41 | ❌ | + +> \[!IMPORTANT] +> +> LDO EN pin is control pin inside the module: +> +> 1. High level turns on the Radio +> 2. Low level turns off the Radio +> + +### 🧑🏼‍🔧 I2C Devices Address + +| Devices | 7-Bit Address | Share Bus | +| ------------------- | ------------- | --------- | +| OLED Display SH1106 | 0x3C | ✅️ | + +### ⚡ Electrical parameters + +| Features | Details | +| -------------------- | ------- | +| 🔗USB-C Input Voltage | 3.9V-6V | +| ⚡Charge Function | ❌ | +| 🔋Battery Voltage | 7.4V | + +> \[!IMPORTANT] +> +> The battery used must have a discharge capacity of 2A or greater; otherwise, it may trigger battery protection during high-power transmission. +> + +### Button Description + +| Channel | Peripherals | +| ------- | ------------------------------ | +| IO17 | Customizable buttons | +| BOOT | Boot mode button, customizable | +| RST | Reset button | + +### LED Description + +* IO18 LED + 1. Connect to GPIO18, you can turn the LED on or off by writing high or low level. + +* PPS LED + 1. This LED cannot be turned off and is connected to the GPS PPS Pin. This LED flashes to indicate that the PPS pulse has arrived. + +* USB LED + 1. LED On means the USB cable is connected,LED off means the USB cable is disconnected + +### RF parameters + +| Features | LR2021 (XY16E3AXP33) | +| ------------------------- | ----------------------------- | +| RF Module | LR2021 TCXO | +| Frequency range | 840 ~ 930MHz | +| Transfer rate(FSK) | 0.5 ~ 2000 kbps | +| Transfer rate(LoRa Sub1G) | 0.091 ~ 62.5kbps | +| Transfer rate(FSK 2.4G) | 0.476 ~ 101.5 Kbps | +| Transfer rate(FLRC) | 0.13 ~ 2.6 Mbps | +| Modulation | FSK, MSK, LoRa ,FLRC | + + +### RadioLib RF Setting + +```c +static const uint32_t pa_version_rf_switch_dio_pins[] = { + RADIOLIB_LR2021_DIO5, RADIOLIB_LR2021_DIO6, RADIOLIB_LR2021_DIO7, RADIOLIB_LR2021_DIO8, RADIOLIB_NC +}; + +static const Module::RfSwitchMode_t low_sub1g_switch_table[] = { + // mode DIO5 DIO6 DIO7 DIO8 + { LR2021::MODE_STBY, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_TX, { LOW, LOW, LOW, HIGH} }, // Sub1G DIO8 SET HIGH + { LR2021::MODE_RX, { LOW, LOW, LOW, LOW} }, // Sub1G ALL DIO SET LOW + { LR2021::MODE_RX_HF, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_TX_HF, { LOW, LOW, LOW, LOW} }, + END_OF_MODE_TABLE, +}; + +static const Module::RfSwitchMode_t high_2g4_switch_table[] = { + // mode DIO5 DIO6 DIO7 DIO8 + { LR2021::MODE_STBY, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_TX, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_RX, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_RX_HF, { LOW, HIGH, LOW, LOW} }, //2.4G RX DIO6 SET HIGH + { LR2021::MODE_TX_HF, { LOW, LOW, HIGH, LOW} }, //2.4G TX DIO7 SET HIGH + END_OF_MODE_TABLE, +}; + +``` + + + +### RF Block Diagram + +![RF Block Diagram](./images/XY16E3AXP33.png) + +### VCC=+5V, 840MHz~930MHz module output power dBm and current + +![currnetA](./images/currentA.png) + +### VCC=+5V, 2400MHz~2500MHz module output power dBm and current + +![currnetB](./images/currentB.png) + +### Resource + +* [Schematic](../../../schematic/T-Beam_1W_V1.1.pdf) diff --git a/docs/en/t_beam_1w/images/RampTime.jpg b/docs/en/t_beam_1w_sx1262/images/RampTime.jpg similarity index 100% rename from docs/en/t_beam_1w/images/RampTime.jpg rename to docs/en/t_beam_1w_sx1262/images/RampTime.jpg diff --git a/docs/en/t_beam_1w/images/XY16P35.jpg b/docs/en/t_beam_1w_sx1262/images/XY16P35.jpg similarity index 100% rename from docs/en/t_beam_1w/images/XY16P35.jpg rename to docs/en/t_beam_1w_sx1262/images/XY16P35.jpg diff --git a/docs/en/t_beam_1w/images/currnetA.jpg b/docs/en/t_beam_1w_sx1262/images/currnetA.jpg similarity index 100% rename from docs/en/t_beam_1w/images/currnetA.jpg rename to docs/en/t_beam_1w_sx1262/images/currnetA.jpg diff --git a/docs/en/t_beam_1w/images/currnetB.jpg b/docs/en/t_beam_1w_sx1262/images/currnetB.jpg similarity index 100% rename from docs/en/t_beam_1w/images/currnetB.jpg rename to docs/en/t_beam_1w_sx1262/images/currnetB.jpg diff --git a/docs/en/t_beam_1w/t_beam_1w_hw.md b/docs/en/t_beam_1w_sx1262/t_beam_1w_sx1262.md similarity index 98% rename from docs/en/t_beam_1w/t_beam_1w_hw.md rename to docs/en/t_beam_1w_sx1262/t_beam_1w_sx1262.md index 9ae1744..611aaf7 100644 --- a/docs/en/t_beam_1w/t_beam_1w_hw.md +++ b/docs/en/t_beam_1w_sx1262/t_beam_1w_sx1262.md @@ -141,10 +141,6 @@ | BOOT | Boot mode button, customizable | | RST | Reset button | -* The PWR button is connected to the PMU - 1. In shutdown mode, press the PWR button to turn on the power supply - 2. In power-on mode, press the PWR button for 6 seconds (default time) to turn off the power supply - ### LED Description * IO18 LED diff --git a/docs/en/t_beam_supreme/t_beam_supreme_hw.md b/docs/en/t_beam_supreme/t_beam_supreme_hw.md index 0715503..55488b4 100644 --- a/docs/en/t_beam_supreme/t_beam_supreme_hw.md +++ b/docs/en/t_beam_supreme/t_beam_supreme_hw.md @@ -79,52 +79,55 @@ ### 📍 Pins Map -| Name | GPIO NUM | Free | -| ------------------------------------- | -------------------------- | ---- | -| Uart1 TX | 43(External QWIIC Socket) | ✅️ | -| Uart1 RX | 44(External QWIIC Socket) | ✅️ | -| SDA | 17 | ❌ | -| SCL | 18 | ❌ | -| OLED(**SH1106**) SDA | Share with I2C bus | ❌ | -| OLED(**SH1106**) SCL | Share with I2C bus | ❌ | -| RTC(**PCF8563**) SDA | Share with **PMU** I2C bus | ❌ | -| RTC(**PCF8563**) SCL | Share with **PMU** I2C bus | ❌ | -| MAG Sensor(**QMC6310U/QMC6310N**) SDA | Share with I2C bus | ❌ | -| MAG Sensor(**QMC6310U/QMC6310N**) SCL | Share with I2C bus | ❌ | -| RTC(**PCF8563**) Interrupt | 14 | ❌ | -| IMU Sensor(**QMI8658**) Interrupt | 33 | ❌ | -| IMU Sensor(**QMI8658**) MISO | Share with SPI bus | ❌ | -| IMU Sensor(**QMI8658**) MOSI | Share with SPI bus | ❌ | -| IMU Sensor(**QMI8658**) SCK | Share with SPI bus | ❌ | -| IMU Sensor(**QMI8658**) CS | 34 | ❌ | -| SPI MOSI | 35 | ❌ | -| SPI MISO | 37 | ❌ | -| SPI SCK | 36 | ❌ | -| SD CS | 47 | ❌ | -| SD MOSI | Share with SPI bus | ❌ | -| SD MISO | Share with SPI bus | ❌ | -| SD SCK | Share with SPI bus | ❌ | -| GNSS(**L76K or Ublox M10**) TX | 8 | ❌ | -| GNSS(**L76K or Ublox M10**) RX | 9 | ❌ | -| GNSS(**L76K or Ublox M10**) PPS | 6 | ❌ | -| GNSS(**L76K**) Wake-up | 7 | ❌ | -| LoRa(**SX1262 or LR1121**) SCK | 12 | ❌ | -| LoRa(**SX1262 or LR1121**) MISO | 13 | ❌ | -| LoRa(**SX1262 or LR1121**) MOSI | 11 | ❌ | -| LoRa(**SX1262 or LR1121**) RESET | 5 | ❌ | -| LoRa(**SX1262 or LR1121**) DIO1/DIO9 | 1 | ❌ | -| LoRa(**SX1262 or LR1121**) BUSY | 4 | ❌ | -| LoRa(**SX1262 or LR1121**) CS | 10 | ❌ | -| Button1 (BOOT) | 0 | ❌ | -| PMU (**AXP2101**) IRQ | 40 | ❌ | -| PMU (**AXP2101**) SDA | 42 | ❌ | -| PMU (**AXP2101**) SCL | 41 | ❌ | +| Name | GPIO NUM | Free | +| -------------------------------------------- | -------------------------- | ---- | +| Uart1 TX | 43(External QWIIC Socket) | ✅️ | +| Uart1 RX | 44(External QWIIC Socket) | ✅️ | +| SDA | 17 | ❌ | +| SCL | 18 | ❌ | +| OLED(**SH1106**) SDA | Share with I2C bus | ❌ | +| OLED(**SH1106**) SCL | Share with I2C bus | ❌ | +| RTC(**PCF8563**) SDA | Share with **PMU** I2C bus | ❌ | +| RTC(**PCF8563**) SCL | Share with **PMU** I2C bus | ❌ | +| MAG Sensor(**QMC6310U/QMC6310N/QC6309**) SDA | Share with I2C bus | ❌ | +| MAG Sensor(**QMC6310U/QMC6310N/QC6309**) SCL | Share with I2C bus | ❌ | +| RTC(**PCF8563**) Interrupt | 14 | ❌ | +| IMU Sensor(**QMI8658**) Interrupt | 33 | ❌ | +| IMU Sensor(**QMI8658**) MISO | Share with SPI bus | ❌ | +| IMU Sensor(**QMI8658**) MOSI | Share with SPI bus | ❌ | +| IMU Sensor(**QMI8658**) SCK | Share with SPI bus | ❌ | +| IMU Sensor(**QMI8658**) CS | 34 | ❌ | +| SPI MOSI | 35 | ❌ | +| SPI MISO | 37 | ❌ | +| SPI SCK | 36 | ❌ | +| SD CS | 47 | ❌ | +| SD MOSI | Share with SPI bus | ❌ | +| SD MISO | Share with SPI bus | ❌ | +| SD SCK | Share with SPI bus | ❌ | +| GNSS(**L76K or Ublox M10**) TX | 8 | ❌ | +| GNSS(**L76K or Ublox M10**) RX | 9 | ❌ | +| GNSS(**L76K or Ublox M10**) PPS | 6 | ❌ | +| GNSS(**L76K**) Wake-up | 7 | ❌ | +| LoRa(**SX1262 or LR1121**) SCK | 12 | ❌ | +| LoRa(**SX1262 or LR1121**) MISO | 13 | ❌ | +| LoRa(**SX1262 or LR1121**) MOSI | 11 | ❌ | +| LoRa(**SX1262 or LR1121**) RESET | 5 | ❌ | +| LoRa(**SX1262 or LR1121**) DIO1/DIO9 | 1 | ❌ | +| LoRa(**SX1262 or LR1121**) BUSY | 4 | ❌ | +| LoRa(**SX1262 or LR1121**) CS | 10 | ❌ | +| Button1 (BOOT) | 0 | ❌ | +| PMU (**AXP2101**) IRQ | 40 | ❌ | +| PMU (**AXP2101**) SDA | 42 | ❌ | +| PMU (**AXP2101**) SCL | 41 | ❌ | > \[!IMPORTANT] > > 1. GNSS Wake-up is only available in L76K version > > 2. Radio has its own SPI bus, and other peripheral SPI devices share the SPI bus. +> +> 3. T-BeamSupreme has three magnetometer versions: QMC6310N, QMC6310U, and QMC6309, each with a different device address. +> ### 🧑🏼‍🔧 I2C Devices Address @@ -132,6 +135,7 @@ | --------------------------------------- | ------------- | -------------- | | OLED Display (**SH1106**) | 0x3C/0x3D | ✅️ (I2C Bus 0) | | MAG Sensor(**QMC6310U OR QMC6310N**) | 0x1C/0x3C | ✅️ (I2C Bus 0) | +| MAG Sensor(**QMC6309**) | 0x7C | ✅️ (I2C Bus 0) | | Temperature/humidity Sensor(**BME280**) | 0x77 | ✅️ (I2C Bus 0) | | RTC (**PCF8563**) | 0x51 | ❌ (I2C Bus 1) | | Power Manager (**AXP2101**) | 0x34 | ❌ (I2C Bus 1) | @@ -144,6 +148,7 @@ > > The QMC6310U and QMC6310N use different device addresses: QMC6310U (0x1C) and QMC6310N (0x3C). > The SH1106 uses either device address 0x3C or 0x3D. If using the QMC6310U version, the device address is 0x3C; if using the QMC6310N version, the device address is 0x3D. +> The screen device address using the QMC6309 magnetic sensor is 0x3C, the same as the QMC6310U. > ### BME280 Address diff --git a/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.cpp b/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.cpp +++ b/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.h b/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.h +++ b/examples/ArduinoLoRa/LoRaReceiver/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/ArduinoLoRa/LoRaSender/LoRaBoards.cpp b/examples/ArduinoLoRa/LoRaSender/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/ArduinoLoRa/LoRaSender/LoRaBoards.cpp +++ b/examples/ArduinoLoRa/LoRaSender/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/ArduinoLoRa/LoRaSender/LoRaBoards.h b/examples/ArduinoLoRa/LoRaSender/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/ArduinoLoRa/LoRaSender/LoRaBoards.h +++ b/examples/ArduinoLoRa/LoRaSender/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Display/Free_Font_Demo/LoRaBoards.cpp b/examples/Display/Free_Font_Demo/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Display/Free_Font_Demo/LoRaBoards.cpp +++ b/examples/Display/Free_Font_Demo/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Display/Free_Font_Demo/LoRaBoards.h b/examples/Display/Free_Font_Demo/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Display/Free_Font_Demo/LoRaBoards.h +++ b/examples/Display/Free_Font_Demo/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Display/TBeam_TFT_Shield/LoRaBoards.cpp b/examples/Display/TBeam_TFT_Shield/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Display/TBeam_TFT_Shield/LoRaBoards.cpp +++ b/examples/Display/TBeam_TFT_Shield/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Display/TBeam_TFT_Shield/LoRaBoards.h b/examples/Display/TBeam_TFT_Shield/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Display/TBeam_TFT_Shield/LoRaBoards.h +++ b/examples/Display/TBeam_TFT_Shield/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Display/TFT_Char_times/LoRaBoards.cpp b/examples/Display/TFT_Char_times/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Display/TFT_Char_times/LoRaBoards.cpp +++ b/examples/Display/TFT_Char_times/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Display/TFT_Char_times/LoRaBoards.h b/examples/Display/TFT_Char_times/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Display/TFT_Char_times/LoRaBoards.h +++ b/examples/Display/TFT_Char_times/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Display/UTFT_demo/LoRaBoards.cpp b/examples/Display/UTFT_demo/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Display/UTFT_demo/LoRaBoards.cpp +++ b/examples/Display/UTFT_demo/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Display/UTFT_demo/LoRaBoards.h b/examples/Display/UTFT_demo/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Display/UTFT_demo/LoRaBoards.h +++ b/examples/Display/UTFT_demo/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Factory/Factory.ino b/examples/Factory/Factory.ino index cb5a8f1..a42538a 100644 --- a/examples/Factory/Factory.ino +++ b/examples/Factory/Factory.ino @@ -4,11 +4,19 @@ * @license MIT * @copyright Copyright (c) 2024 Shenzhen Xin Yuan Electronic Technology Co., Ltd * @date 2024-12-18 - * @note This example is for T-beam V1.2, T-Beam-BPF, T-Beam SUPREME factory examples - * @note This example is for T-beam V1.2, T-Beam-BPF, T-Beam SUPREME factory examples - * @note This example is for T-beam V1.2, T-Beam-BPF, T-Beam SUPREME factory examples - * @note This example is for T-beam V1.2, T-Beam-BPF, T-Beam SUPREME factory examples - */ + * @note This example is for T-beam V1.2, T-Beam-BPF,T-Beam-1W-xxxx, T-Beam SUPREME factory examples + * @note This example is for T-beam V1.2, T-Beam-BPF,T-Beam-1W-xxxx, T-Beam SUPREME factory examples + * @note This example is for T-beam V1.2, T-Beam-BPF,T-Beam-1W-xxxx, T-Beam SUPREME factory examples + * @note This example is for T-beam V1.2, T-Beam-BPF,T-Beam-1W-xxxx, T-Beam SUPREME factory examples + * + * | Board | B1 | B2 | + * | ---------------- | ----------- | ------------ | + * | T-Bema Supreme | Boot button | Power button | + * | T-Bema 1W SX1262 | Boot button | IO17 | + * | T-Bema 1W LR1121 | Boot button | IO17 | + * | T-Bema 1W LR2021 | Boot button | IO17 | + * | | | | + **/ #include #include @@ -42,9 +50,10 @@ #include #include #include +#include #include -SensorQMC6310 qmc; +MagnetometerBase *magnetometer = nullptr; SensorQMI8658 qmi; SensorPCF8563 rtc; Adafruit_BME280 bme; @@ -77,64 +86,44 @@ static void beginSensor(); #if defined(USING_SX1276) -#ifdef T_BEAM_S3_BPF -// BPF Freq range : 144Mhz ~ 148MHz -#define CONFIG_RADIO_FREQ 144.0 -#else /*T_BEAM_S3_BPF*/ -#define CONFIG_RADIO_FREQ 868.0 -#endif /*T_BEAM_S3_BPF*/ - -#define CONFIG_RADIO_OUTPUT_POWER 17 -#define CONFIG_RADIO_BW 125.0 - +int txPowerLevel = CONFIG_RADIO_SUB1G_OUTPUT_POWER; SX1276 radio = new Module(RADIO_CS_PIN, RADIO_DIO0_PIN, RADIO_RST_PIN, RADIO_DIO1_PIN); #elif defined(USING_SX1278) -#ifdef T_BEAM_S3_BPF -// BPF Freq range : 144Mhz ~ 148MHz -#define CONFIG_RADIO_FREQ 144.0 -#else -#define CONFIG_RADIO_FREQ 433.0 -#endif /*T_BEAM_S3_BPF*/ -#define CONFIG_RADIO_OUTPUT_POWER 17 -#define CONFIG_RADIO_BW 125.0 +int txPowerLevel = CONFIG_RADIO_SUB1G_OUTPUT_POWER; SX1278 radio = new Module(RADIO_CS_PIN, RADIO_DIO0_PIN, RADIO_RST_PIN, RADIO_DIO1_PIN); #elif defined(USING_SX1262) -#ifndef CONFIG_RADIO_FREQ -#define CONFIG_RADIO_FREQ 868.0 -#endif -#define CONFIG_RADIO_OUTPUT_POWER 22 -#define CONFIG_RADIO_BW 125.0 +int txPowerLevel = CONFIG_RADIO_SUB1G_OUTPUT_POWER; SX1262 radio = new Module(RADIO_CS_PIN, RADIO_DIO1_PIN, RADIO_RST_PIN, RADIO_BUSY_PIN); #elif defined(USING_SX1280) -#define CONFIG_RADIO_FREQ 2400.0 -#define CONFIG_RADIO_OUTPUT_POWER 13 -#define CONFIG_RADIO_BW 203.125 + +int txPowerLevel = CONFIG_RADIO_2G4_OUTPUT_POWER; SX1280 radio = new Module(RADIO_CS_PIN, RADIO_DIO1_PIN, RADIO_RST_PIN, RADIO_BUSY_PIN); #elif defined(USING_SX1280PA) -#define CONFIG_RADIO_FREQ 2400.0 -#define CONFIG_RADIO_OUTPUT_POWER 3 // PA Version power range : -18 ~ 3dBm -#define CONFIG_RADIO_BW 203.125 + +int txPowerLevel = CONFIG_RADIO_2G4_OUTPUT_POWER; // PA Version power range : -18 ~ 3dBm SX1280 radio = new Module(RADIO_CS_PIN, RADIO_DIO1_PIN, RADIO_RST_PIN, RADIO_BUSY_PIN); #elif defined(USING_LR1121) // The maximum power of LR1121 2.4G band can only be set to 13 dBm -#define CONFIG_RADIO_FREQ 2450.0 -#define CONFIG_RADIO_OUTPUT_POWER 13 -#define CONFIG_RADIO_BW 125.0 +// int txPowerLevel = CONFIG_RADIO_2G4_OUTPUT_POWER; // The maximum power of LR1121 Sub 1G band can only be set to 22 dBm -// #define CONFIG_RADIO_FREQ 868.0 -// #define CONFIG_RADIO_OUTPUT_POWER 22 -// #define CONFIG_RADIO_BW 125.0 +int txPowerLevel = CONFIG_RADIO_SUB1G_OUTPUT_POWER; + +LR1121 radio = new Module(RADIO_CS_PIN, RADIO_DIO_IRQ_PIN, RADIO_RST_PIN, RADIO_BUSY_PIN); + +#elif defined(USING_LR2021) + +int txPowerLevel = CONFIG_RADIO_SUB1G_OUTPUT_POWER; +LR2021 radio = new Module(RADIO_CS_PIN, RADIO_IRQ_PIN, RADIO_RST_PIN, RADIO_BUSY_PIN); -LR1121 radio = new Module(RADIO_CS_PIN, RADIO_DIO9_PIN, RADIO_RST_PIN, RADIO_BUSY_PIN); #endif /*Radio option*/ @@ -144,6 +133,65 @@ LR1121 radio = new Module(RADIO_CS_PIN, RADIO_DIO9_PIN, RADIO_RST_PIN, RADIO_BUS #endif +#if defined(T_BEAM_1W_LR1121) +// LR1121 Version PA RF switch table +static const uint32_t pa_version_rf_switch_dio_pins[] = { + RADIOLIB_LR11X0_DIO5, RADIOLIB_LR11X0_DIO6, RADIOLIB_LR11X0_DIO7, RADIOLIB_LR11X0_DIO8, RADIOLIB_NC +}; + +static const Module::RfSwitchMode_t low_sub1g_switch_table[] = { + // mode DIO5 DIO6 DIO7 DIO8 + { LR11x0::MODE_STBY, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_TX, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_RX, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_TX_HP, { LOW, LOW, LOW, HIGH} }, //Sub1G DIO8 SET HIGH + { LR11x0::MODE_TX_HF, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_GNSS, { LOW, LOW, LOW, HIGH} }, + { LR11x0::MODE_WIFI, { LOW, LOW, LOW, HIGH} }, + END_OF_MODE_TABLE, +}; + +static const Module::RfSwitchMode_t high_2g4_switch_table[] = { + // mode DIO5 DIO6 DIO7 DIO8 + { LR11x0::MODE_STBY, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_TX, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_RX, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_TX_HP, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_TX_HF, { LOW, LOW, HIGH, LOW} }, //2.4G TX DIO7 SET HIGH + { LR11x0::MODE_GNSS, { LOW, LOW, LOW, LOW} }, + { LR11x0::MODE_WIFI, { LOW, HIGH, LOW, LOW} }, //2.4G RX DIO6 SET HIGH + END_OF_MODE_TABLE, +}; +#elif defined(T_BEAM_1W_LR2021) +// LR1121 Version PA RF switch table +static const uint32_t pa_version_rf_switch_dio_pins[] = { + RADIOLIB_LR2021_DIO5, RADIOLIB_LR2021_DIO6, RADIOLIB_LR2021_DIO7, RADIOLIB_LR2021_DIO8, RADIOLIB_NC +}; + +static const Module::RfSwitchMode_t low_sub1g_switch_table[] = { + // mode DIO5 DIO6 DIO7 DIO8 + { LR2021::MODE_STBY, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_TX, { LOW, LOW, LOW, HIGH} }, // Sub1G DIO8 SET HIGH + { LR2021::MODE_RX, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_RX_HF, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_TX_HF, { LOW, LOW, LOW, LOW} }, + END_OF_MODE_TABLE, +}; + +static const Module::RfSwitchMode_t high_2g4_switch_table[] = { + //2.4G RX DIO6 SET HIGH + // mode DIO5 DIO6 DIO7 DIO8 + { LR2021::MODE_STBY, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_TX, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_RX, { LOW, LOW, LOW, LOW} }, + { LR2021::MODE_RX_HF, { HIGH, LOW, LOW, LOW} }, + { LR2021::MODE_TX_HF, { LOW, LOW, HIGH, LOW} }, //2.4G TX DIO7 SET HIGH + END_OF_MODE_TABLE, +}; +#endif /*T_BEAM_1W_LR1121 | T_BEAM_1W_LR2021*/ + + + enum TransmissionDirection { TRANSMISSION, RECEIVE, @@ -164,6 +212,33 @@ uint32_t gps_use_second = 0; uint32_t gps_start_ms = 0; extern uint8_t display_address; +static uint8_t freq_index = 0; +static const float factory_freq[] = { +#ifdef T_BEAM_S3_BPF + 144.0, 148.0 +#else + 433.0, 470.0, + 850.0, 868.0, + 915.0, 920.0, 923.0, +#if defined(USING_LR1121) || defined(USING_LR2021) + 2400, 2450 +#endif +#endif + +}; +static const char *freq_table[] = { +#ifdef T_BEAM_S3_BPF + "144.0MHz", "148.0MHz" +#endif + "433MHz", "470MHz", + "850MHz", "868MHz", + "915MHz", "920MHz", "923MHz", +#if defined(USING_LR1121) || defined(USING_LR2021) + "2400MHz", "2450MHz" +#endif +}; +static float current_freq = CONFIG_RADIO_FREQ; + FrameCallback frames[] = { hwProbe, radioTx, @@ -197,6 +272,8 @@ AceButton button2; #endif /*BUTTON2_PIN*/ String macStr; +volatile bool freqSelectDone = false; +volatile bool freqSelectMode = false; void setFlag(void) { @@ -217,7 +294,10 @@ void sleepDevice() radio.sleep(); display->clear(); - display->drawString(60, 28, "Sleep"); + + display->setFont(Roboto_Mono_Medium_12); + display->setTextAlignment(TEXT_ALIGN_CENTER); + display->drawString(64, 28, "DEVICE ENTER SLEEP"); display->display(); delay(2000); display->displayOff(); @@ -385,7 +465,9 @@ void sleepDevice() * | T-BeamV 1.2 OLED | ~ 450 uA | * | T-BeamV 1.2 | ~ 440 uA | * | T-Beam BPF V1.2 | ~ 350 uA | - * | T-Beam 2W v1.0 | ~ 442 uA | + * | T-Beam 1W SX1262 | ~ 442 uA | + * | T-Beam 1W LR1121 | ~ 450 uA | + * | T-Beam 1W LR2021 | ~ 450 uA | * | T-BeamS3 Supreme | ~ 1.45mA | * */ @@ -436,20 +518,22 @@ void handleMenu() #ifdef RADIO_CTRL Serial.println("Turn off LAN,Trun on PA, Enter Tx mode."); /* - * 2W and BPF LoRa LAN Control ,set Low turn off LAN , TX Mode + * T-Beam 1W SX1262 Version and T-Beam BPF LoRa LAN Control ,set Low turn off LAN , TX Mode * */ digitalWrite(RADIO_CTRL, LOW); #endif /*RADIO_CTRL*/ #ifdef RADIO_TX_CW - radio.transmitDirect(); + { + int16_t state = radio.transmitDirect(); + Serial.printf("transmitDirect:%d\n", state); + } #else /*RADIO_TX_CW*/ Serial.println("Start transmit"); transmissionDirection = TRANSMISSION; transmissionState = radio.transmit((uint8_t *)&transmissionCounter, 4); if (transmissionState != RADIOLIB_ERR_NONE) { - Serial.print(F("[Radio] transmit packet failed! err:")); - Serial.println(transmissionState); + Serial.printf("[Radio] transmit packet failed! err: %d\n", transmissionState); } #endif /*RADIO_TX_CW*/ break; @@ -458,7 +542,7 @@ void handleMenu() #ifdef RADIO_CTRL Serial.println("Turn on LAN, Enter Rx mode."); /* - * 2W and BPF LoRa LAN Control ,set HIGH turn on LAN ,RX Mode + * T-Beam 1W SX1262 Version and T-Beam BPF LoRa LAN Control ,set HIGH turn on LAN ,RX Mode * */ digitalWrite(RADIO_CTRL, HIGH); #endif /*RADIO_CTRL*/ @@ -466,7 +550,7 @@ void handleMenu() transmissionDirection = RECEIVE; transmissionState = radio.startReceive(); if (transmissionState != RADIOLIB_ERR_NONE) { - Serial.println(F("[Radio] Received packet failed!")); + Serial.printf("[Radio] Received packet failed! err: %d\n", transmissionState); } break; @@ -474,7 +558,7 @@ void handleMenu() #ifdef RADIO_CTRL Serial.println("Turn on LAN, Enter Rx mode."); /* - * 2W and BPF LoRa LAN Control ,set HIGH turn on LAN ,RX Mode + * T-Beam 1W SX1262 Version and T-Beam BPF LoRa LAN Control ,set HIGH turn on LAN ,RX Mode * */ digitalWrite(RADIO_CTRL, HIGH); #endif /*RADIO_CTRL*/ @@ -488,30 +572,42 @@ void prevButtonHandleEvent(AceButton *button, uint8_t eventType, uint8_t butto { switch (eventType) { case AceButton::kEventClicked: - Serial.printf("prevButtonHandleEvent currentFrames:%d frames_count:%d\n", currentFrames, max_frames); + if (freqSelectMode) { + freq_index = (freq_index + 1) % (sizeof(freq_table) / sizeof(freq_table[0])); + } else { + Serial.printf("prevButtonHandleEvent currentFrames:%d frames_count:%d\n", currentFrames, max_frames); #ifdef BUTTON2_PIN - currentFrames = ((currentFrames + 1) >= max_frames) ? currentFrames : currentFrames + 1; + currentFrames = ((currentFrames + 1) >= max_frames) ? currentFrames : currentFrames + 1; #else /*BUTTON2_PIN*/ - currentFrames++; - currentFrames %= max_frames; + currentFrames++; + currentFrames %= max_frames; #endif /*BUTTON2_PIN*/ - handleMenu(); + handleMenu(); + } break; case AceButton::kEventLongPressed: - sleepDevice(); + if (!freqSelectMode) { + sleepDevice(); + } break; default: break; } } +#ifdef BUTTON2_PIN void nextButtonHandleEvent(AceButton *button, uint8_t eventType, uint8_t buttonState) { switch (eventType) { case AceButton::kEventClicked: - Serial.printf("nextButtonHandleEvent currentFrames:%d frames_count:%d\n", currentFrames, max_frames); - currentFrames = ((currentFrames - 1) < 0) ? currentFrames : currentFrames - 1; - handleMenu(); + if (freqSelectMode) { + int tableSize = sizeof(freq_table) / sizeof(freq_table[0]); + freq_index = (freq_index - 1 < 0) ? (tableSize - 1) : freq_index - 1; + } else { + Serial.printf("nextButtonHandleEvent currentFrames:%d frames_count:%d\n", currentFrames, max_frames); + currentFrames = ((currentFrames - 1) < 0) ? currentFrames : currentFrames - 1; + handleMenu(); + } break; case AceButton::kEventLongPressed: Serial.println("Long pressed!"); @@ -519,9 +615,14 @@ void nextButtonHandleEvent(AceButton *button, uint8_t eventType, uint8_t butto Serial.println("Long pressed! ,on/off FAN"); digitalWrite(FAN_CTRL, 1 - digitalRead(FAN_CTRL)); #endif /*FAN_CTRL*/ + if (freqSelectMode) { + freqSelectDone = true; + } break; } } +#endif /*BUTTON2_PIN*/ + void timeavailable(struct timeval *t) { @@ -565,7 +666,7 @@ void setup() Serial.println(info.wifi_sta_disconnected.reason); }, WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_DISCONNECTED); - setupBoards(true); + setupBoards(false); setupBLE(); @@ -659,7 +760,43 @@ void setup() Serial.printf("[%s]:", RADIO_TYPE_STR); Serial.println(F(" Selected")); -#if defined(RADIO_TX_CW) && !defined(USING_LR1121) + + /*********************** + * Frequency Selection + ***********************/ + freqSelectMode = true; + freqSelectDone = false; + freq_index = 0; + display->clear(); + display->setFont(Roboto_Mono_Medium_12); + display->setTextAlignment(TEXT_ALIGN_CENTER); + while (!freqSelectDone) { + display->clear(); + display->drawString(64, 10, "Select Frequency"); + display->drawLine(0, 28, 128, 28); + display->drawString(64, 32, freq_table[freq_index]); + display->drawString(64, 48, "B1:Up B2:Down L:OK"); + display->display(); + button.check(); +#ifdef BUTTON2_PIN + button2.check(); +#endif +#ifdef HAS_PMU + loopPMU(power_key_pressed, power_key_long_pressed); +#endif + delay(50); + } + freqSelectMode = false; + current_freq = factory_freq[freq_index]; + Serial.printf("Selected frequency: %s\n", freq_table[freq_index]); + + + +#if defined(USING_LR2021) + radio.irqDioNum = RADIO_DIO_NUM; +#endif + +#if defined(RADIO_TX_CW) && !defined(USING_LR1121) && !defined(USING_LR2021) Serial.print("Begin Radio FSK "); int state = radio.beginFSK(); #else @@ -673,7 +810,11 @@ void setup() Serial.println(F("Failed!")); } - Serial.printf("Freq:%.2f TxPower:%d Bandwidth:%.2f\n", CONFIG_RADIO_FREQ, CONFIG_RADIO_OUTPUT_POWER, CONFIG_RADIO_BW); + Serial.printf("\nRadioParams:\n\t->Freq:%.2fMhz\n\tSub1G TxPower:%d\n\t2.4G TxPower:%d\n\tBandwidth:%.2f\n", + factory_freq[freq_index], + CONFIG_RADIO_SUB1G_OUTPUT_POWER, + CONFIG_RADIO_2G4_OUTPUT_POWER, + CONFIG_RADIO_BW); #if defined(RADIO_RX_PIN) && defined(RADIO_TX_PIN) //The SX1280 version needs to set RX, TX antenna switching pins @@ -689,7 +830,7 @@ void setup() * LR1121 : Allowed values are in range from 150.0 to 960.0 MHz, 1900 - 2200 MHz and 2400 - 2500 MHz. Will also perform calibrations. * * * */ - if (radio.setFrequency(CONFIG_RADIO_FREQ) == RADIOLIB_ERR_INVALID_FREQUENCY) { + if (radio.setFrequency(factory_freq[freq_index]) == RADIOLIB_ERR_INVALID_FREQUENCY) { Serial.println(F("Selected frequency is invalid for this module!")); while (true); } @@ -741,6 +882,13 @@ void setup() } #endif /*RADIO_TX_CW*/ +#if defined(USING_LR1121) || defined(USING_LR2021) + if (current_freq < 2400) { + txPowerLevel = CONFIG_RADIO_SUB1G_OUTPUT_POWER; + } else { + txPowerLevel = CONFIG_RADIO_2G4_OUTPUT_POWER; + } +#endif /* * Sets transmission output power. * SX1278/SX1276 : Allowed values range from -3 to 15 dBm (RFO pin) or +2 to +17 dBm (PA_BOOST pin). High power +20 dBm operation is also supported, on the PA_BOOST pin. Defaults to PA_BOOST. @@ -748,13 +896,15 @@ void setup() * SX1268 : Allowed values are in range from -9 to 22 dBm. * SX1280 : Allowed values are in range from -18 to 13 dBm. PA Version range : -18 ~ 3dBm * LR1121 : Allowed values are in range from -17 to 22 dBm (high-power PA) or -18 to 13 dBm (High-frequency PA) + * LR2021 : Allowed values are in range from -9 to 22 dBm (sub-GHz PA) or -19 to 12 dBm (high-frequency PA). + * * * */ - if (radio.setOutputPower(CONFIG_RADIO_OUTPUT_POWER) == RADIOLIB_ERR_INVALID_OUTPUT_POWER) { + if (radio.setOutputPower(txPowerLevel) == RADIOLIB_ERR_INVALID_OUTPUT_POWER) { Serial.println(F("Selected output power is invalid for this module!")); while (true); } -#if !defined(USING_SX1280) && !defined(USING_LR1121) && !defined(USING_SX1280PA) +#if !defined(USING_SX1280) && !defined(USING_LR1121) && !defined(USING_SX1280PA) && !defined(USING_LR2021) /* * Sets current limit for over current protection at transmitter amplifier. * SX1278/SX1276 : Allowed values range from 45 to 120 mA in 5 mA steps and 120 to 240 mA in 10 mA steps. @@ -786,7 +936,7 @@ void setup() } -#if defined(USING_LR1121) +#if defined(USING_LR1121) && !defined(T_BEAM_1W_LR1121) // LR1121 // set RF switch configuration for Wio WM1110 // Wio WM1110 uses DIO5 and DIO6 for RF switching @@ -811,6 +961,19 @@ void setup() // LR1121 TCXO Voltage 2.85~3.15V radio.setTCXO(3.0); +#elif defined(USING_LR1121) || defined(USING_LR2021) + + // radio.setDioIrqParams(RADIOLIB_LR11X0_DIO10); + + if (current_freq < 2400) { + Serial.printf("Using low frequency switch table for PA version\n"); + radio.setRfSwitchTable(pa_version_rf_switch_dio_pins, low_sub1g_switch_table); + } else { + Serial.printf("Using high frequency switch table for PA version\n"); + radio.setRfSwitchTable(pa_version_rf_switch_dio_pins, high_2g4_switch_table); + } + // LR1121 TCXO Voltage 2.85~3.15V + radio.setTCXO(3.0); #endif #if defined(USING_SX1262) @@ -821,6 +984,7 @@ void setup() // when new packet is received radio.setPacketReceivedAction(setFlag); + // radio.standby(); // start listening for LoRa packets Serial.println(F("[Radio] Starting to listen ... ")); state = radio.startReceive(); @@ -839,25 +1003,10 @@ void setup() } // PMU Power key callback -static uint8_t freq_index = 0; -const float factory_freq[] = {433.0, 470.0, 850.0, 868.0, 915.0, 923.0 -#if defined(USING_LR1121) - , 2400, 2450 -#endif - }; -float current_freq = CONFIG_RADIO_FREQ; -void power_key_pressed() +void changeFreq() { -#if defined(JAPAN_MIC_CERTIFICATION) || defined(T_BEAM_S3_BPF) - // Turn on/off display - static bool isOn = true; - isOn ? display->displayOff() : display->displayOn(); - isOn ^= 1; - return; -#else /*defined(JAPAN_MIC_CERTIFICATION) || defined(T_BEAM_S3_BPF)*/ - // Set freq function radio.standby(); #if defined(USING_LR1121) @@ -883,6 +1032,15 @@ void power_key_pressed() if (current_freq < 2400) { max_tx_power = 22; forceHighPower = true; + // #ifdef T_BEAM_1W_LR1121 + // Serial.printf("Using low frequency switch table for PA version\n"); + // radio.setRfSwitchTable(pa_version_rf_switch_dio_pins, high_2g4_switch_table); + // #endif + } else { + // #ifdef T_BEAM_1W_LR1121 + // Serial.printf("Using high frequency switch table for PA version\n"); + // radio.setRfSwitchTable(pa_version_rf_switch_dio_pins, low_sub1g_switch_table); + // #endif } if (radio.setOutputPower(max_tx_power, forceHighPower) == RADIOLIB_ERR_INVALID_OUTPUT_POWER) { Serial.printf("Selected output power %d is invalid for this module!\n", max_tx_power); @@ -907,6 +1065,33 @@ void power_key_pressed() } break; } +} + +void power_key_long_pressed() +{ + if (freqSelectMode) { + freqSelectDone = true; + } +} + +void power_key_pressed() +{ +#if defined(JAPAN_MIC_CERTIFICATION) || defined(T_BEAM_S3_BPF) + // Turn on/off display + static bool isOn = true; + isOn ? display->displayOff() : display->displayOn(); + isOn ^= 1; + return; +#else /*defined(JAPAN_MIC_CERTIFICATION) || defined(T_BEAM_S3_BPF)*/ + // changeFreq(); + if (freqSelectMode) { + int tableSize = sizeof(freq_table) / sizeof(freq_table[0]); + freq_index = (freq_index - 1 < 0) ? (tableSize - 1) : freq_index - 1; + } else { + Serial.printf("nextButtonHandleEvent currentFrames:%d frames_count:%d\n", currentFrames, max_frames); + currentFrames = ((currentFrames - 1) < 0) ? currentFrames : currentFrames - 1; + handleMenu(); + } #endif /*defined(JAPAN_MIC_CERTIFICATION) || defined(T_BEAM_S3_BPF)*/ } @@ -1006,7 +1191,7 @@ void radioTx(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t display->drawString(64 + x, 32 + y, buffer); } else { display->setTextAlignment(TEXT_ALIGN_LEFT); - display->drawString(0 + x, 16 + y, "Freq:" + String(current_freq) + "MHz"); + display->drawString(0 + x, 16 + y, "Freq:" + String(freq_table[freq_index])); display->drawString(0 + x, 32 + y, "TX :" + String(transmissionCounter)); } @@ -1072,8 +1257,8 @@ void radioRx(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t } else { // The coordinates define the left starting point of the text display->setTextAlignment(TEXT_ALIGN_LEFT); - display->drawString(0 + x, 16 + y, "Freq:" + String(current_freq) + "MHz"); - display->drawString(0 + x, 32 + y, "RX :" + String(recvCounter)); + display->drawString(0 + x, 16 + y, "Freq:" + String(freq_table[freq_index])); + display->drawString(0 + x, 32 + y, "RX :" + String(recvCounter)); display->drawString(0 + x, 48 + y, "RSSI:" + String(radioRSSI)); } } @@ -1082,6 +1267,7 @@ void hwProbe(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t { display->setFont(Roboto_Mono_Medium_12); display->setTextAlignment(TEXT_ALIGN_LEFT); + #if defined(T_BEAM_S3_SUPREME) display->drawString(x, 3 + y, "6DOF"); display->drawString(x, 15 + y, "Power"); @@ -1104,7 +1290,7 @@ void hwProbe(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t display->drawString(62 + x, 51 + y, "OSC"); display->setTextAlignment(TEXT_ALIGN_RIGHT); - display->drawString(display->width() + x, 3 + y, ((deviceOnline & QMC6310U_ONLINE) || (deviceOnline & QMC6310N_ONLINE)) ? "+" : "-"); + display->drawString(display->width() + x, 3 + y, ((deviceOnline & QMC6310U_ONLINE) || (deviceOnline & QMC6310N_ONLINE) || (deviceOnline & QMC6309_ONLINE)) ? "+" : "-"); display->drawString(display->width() + x, 15 + y, (deviceOnline & BME280_ONLINE ) || (deviceOnline & BMP280_ONLINE ) ? "+" : "-"); display->drawString(display->width() + x, 27 + y, (deviceOnline & PSRAM_ONLINE ) ? "+" : "-"); display->drawString(display->width() + x, 39 + y, (deviceOnline & SDCARD_ONLINE ) ? "+" : "-"); @@ -1116,6 +1302,7 @@ void hwProbe(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t display->drawString(x, 48 + y, "OLED"); display->setTextAlignment(TEXT_ALIGN_CENTER); + display->drawString(52 + x, 0 + y, BOARD_VARIANT_NAME " " RADIO_TYPE_STR); display->drawString(52 + x, 16 + y, (deviceOnline & RADIO_ONLINE ) ? "+" : "-"); display->drawString(52 + x, 32 + y, (deviceOnline & GPS_ONLINE ) ? "+" : "-"); @@ -1327,90 +1514,33 @@ void sensorInfo(OLEDDisplay *display, OLEDDisplayUiState *disp_state, int16_t x, display->drawString(display->width() + x, y + 48, String(pressure / 1000.0) + " kPa"); } - -static const int centreX = 32; -static const int centreY = 40; -static const int radius = 10; Madgwick filter; -int last_dx = centreX, last_dy = centreY, dx, dy; - -void arrow(OLEDDisplay *display, int offsetX, int offsetY, int x2, int y2, int x1, int y1, int alength, int awidth, OLEDDISPLAY_COLOR color) -{ - display->setColor(color); - float distance; - int dx, dy, x2o, y2o, x3, y3, x4, y4, k; - distance = sqrt(pow((x1 - x2), 2) + pow((y1 - y2), 2)); - dx = x2 + (x1 - x2) * alength / distance; - dy = y2 + (y1 - y2) * alength / distance; - k = awidth / alength; - x2o = x2 - dx; - y2o = dy - y2; - x3 = y2o * k + dx; - y3 = x2o * k + dy; - x4 = dx - y2o * k; - y4 = dy - x2o * k; - display->drawLine(x1 + offsetX, y1 + offsetY, offsetX + x2, offsetY + y2); - display->drawLine(x1 + offsetX, y1 + offsetY, offsetX + dx, offsetY + dy); - display->drawLine(x3 + offsetX, y3 + offsetY, offsetX + x4, offsetY + y4); - display->drawLine(x3 + offsetX, y3 + offsetY, offsetX + x2, offsetY + y2); - display->drawLine(x2 + offsetX, y2 + offsetY, offsetX + x4, offsetY + y4); -} - -int drawCompass(OLEDDisplay *display, int16_t x, int16_t y, float magX, float magY) -{ - int angle; - display->drawString(x + 29, y + 16, "N"); - display->drawString(x + 0, y + 32, "W"); - display->drawString(x + 58, y + 32, "E"); - display->drawString(x + 29, y + 50, "S"); - - float heading = atan2(magY, magX); // Result is in radians - // Now add the 'Declination Angle' for you location. Declination is the variation in magnetic field at your location. - // Find your declination here: http://www.magnetic-declination.com/ - // At my location it is : -2° 20' W, or -2.33 Degrees, which needs to be in radians so = -2.33 / 180 * PI = -0.041 West is + E is - - // Make declination = 0 if you can't find your Declination value, the error is negible for nearly all locations - float declination = -0.041; - heading = heading + declination; - if (heading < 0) heading += 2 * PI; // Correct for when signs are reversed. - if (heading > 2 * PI) heading -= 2 * PI; // Correct for when heading exceeds 360-degree, especially when declination is included - angle = int(heading * 180 / M_PI); // Convert radians to degrees for more a more usual result - // For the screen -X = up and +X = down and -Y = left and +Y = right, so does not follow coordinate conventions - dx = (0.7 * radius * cos((angle - 90) * 3.14 / 180)) + centreX + x; // calculate X position for the screen coordinates - can be confusing! - dy = (0.7 * radius * sin((angle - 90) * 3.14 / 180)) + centreY + y; // calculate Y position for the screen coordinates - can be confusing! - arrow(display, x, y, last_dx, last_dy, centreX + x, centreY + y, 2, 2, BLACK); // Erase last arrow - arrow(display, x, y, dx, dy, x + centreX, centreY + y, 2, 2, WHITE); // Draw arrow in new position - return angle; -} - -void getMagData(float *x, float *y) -{ - float z = 0; - if (qmc.isDataReady()) { - qmc.readData(); - qmc.getMag(*x, *y, z); - } -} void imuInfo(OLEDDisplay *display, OLEDDisplayUiState *disp_state, int16_t x, int16_t y) { - static float magX = 0, magY = 0; - static int angle = 0; - static float roll, pitch, heading; + static float roll, pitch, heading, strength; + static uint32_t interval = 0; - getMagData(&magX, &magY); - angle = drawCompass(display, x, y, magX, magY); + MagnetometerData data; + if (millis() - interval > 100) { + if (magnetometer) { + if (magnetometer->readData(data)) { + strength = MagnetometerUtils::calculateMagneticStrength(data); + strength = MagnetometerUtils::gaussToMicroTesla(strength); + } + } + interval = millis(); + } display->setFont(Roboto_Mono_Medium_12); display->setTextAlignment(TEXT_ALIGN_CENTER); display->drawString(64 + x, 0 + y, "IMU"); display->setTextAlignment(TEXT_ALIGN_LEFT); - display->setColor(BLACK); - display->fillRect(x + 80, y + 16, 25, 50); - display->setColor(WHITE); - display->setFont(Roboto_Mono_Medium_12); - display->drawString(x + 75, y + 16, String(angle) + "°"); + display->drawString(x + 0, y + 16, "STRENGTH:"); + display->drawString(x + 0, y + 32, "ROLL:"); + display->drawString(x + 0, y + 48, "HEADING:"); // Read raw data from IMU if (digitalRead(IMU_INT) == HIGH) { @@ -1422,29 +1552,112 @@ void imuInfo(OLEDDisplay *display, OLEDDisplayUiState *disp_state, int16_t x, in roll = filter.getRoll(); pitch = filter.getPitch(); heading = filter.getYaw(); - // Serial.printf("roll:%.2f pitch:%.2f heading:%.2f\n", roll, pitch, heading); } - display->drawString(x + 75, y + 32, String(heading) + "°"); + display->setTextAlignment(TEXT_ALIGN_RIGHT); + display->drawString(display->width() + x, y + 16, String(strength) + "uT"); + display->drawString(display->width() + x, y + 32, String(roll) + "°"); + display->drawString(display->width() + x, y + 48, String(heading) + "°"); } static void beginSensor() { extern uint8_t mag_address; + // PMU and RTC share I2C bus if (!rtc.begin(PMU_WIRE_PORT, I2C_SDA, I2C_SCL)) { Serial.println("Failed to find PCF8563 - check your wiring!"); } - if (!qmc.begin(Wire, mag_address, I2C_SDA, I2C_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); - } else { - qmc.configMagnetometer( - SensorQMC6310::MODE_CONTINUOUS, - SensorQMC6310::RANGE_8G, - SensorQMC6310::DATARATE_200HZ, - SensorQMC6310::OSR_1, - SensorQMC6310::DSR_1); + + // The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_8G, FS_16G ,FS_32G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored. + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; + + Serial.printf("Probing magnetometer at address 0x%02X...\n", mag_address); + if (magnetometer == nullptr && mag_address == QMC6310U_SLAVE_ADDRESS) { + magnetometer = new SensorQMC6310(); + if (!static_cast(magnetometer)->begin(Wire, QMC6310U_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) { + Serial.println("Failed to find QMC6310U - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6310U found!"); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 10.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + down_sample_ratio = MagDownSampleRatio::DSR_1; + } } + + if (magnetometer == nullptr && mag_address == QMC6310N_SLAVE_ADDRESS) { + magnetometer = new SensorQMC6310(); + if (!static_cast(magnetometer)->begin(Wire, QMC6310N_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) { + Serial.println("Failed to find QMC6310 - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6310N found!"); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 10.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + if (magnetometer == nullptr && mag_address == QMC6309_SLAVE_ADDRESS) { + magnetometer = new SensorQMC6309(); + if (!static_cast(magnetometer)->begin(Wire, QMC6309_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) { + Serial.println("Failed to find QMC6309 - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6309 found!"); + // The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 10.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_8G, FS_16G ,FS_32G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored. + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + if (magnetometer) { + /* Config Magnetometer */ + if (magnetometer->configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + } + } + extern uint8_t bme280_address; if (!bme.begin(bme280_address)) { Serial.println("Failed to find BME280 - check your wiring!"); diff --git a/examples/Factory/LoRaBoards.cpp b/examples/Factory/LoRaBoards.cpp index 8acfe74..66384de 100644 --- a/examples/Factory/LoRaBoards.cpp +++ b/examples/Factory/LoRaBoards.cpp @@ -326,7 +326,7 @@ bool beginPower() // Set the time of pressing the button to turn off - PMU->setPowerKeyPressOffTime(XPOWERS_POWEROFF_4S); + PMU->setPowerKeyPressOffTime(XPOWERS_POWEROFF_8S); uint8_t opt = PMU->getPowerKeyPressOffTime(); Serial.print("PowerKeyPressOffTime:"); switch (opt) { @@ -407,7 +407,7 @@ void disablePeripherals() #endif } -void loopPMU(void (*pressed_cb)(void)) +void loopPMU(void (*pressed_cb)(void), void (*long_press_cb)(void)) { if (!PMU) { return; @@ -444,6 +444,9 @@ void loopPMU(void (*pressed_cb)(void)) } if (PMU->isPekeyLongPressIrq()) { Serial.println("isPekeyLongPress"); + if (long_press_cb) { + long_press_cb(); + } } if (PMU->isBatChargeDoneIrq()) { Serial.println("isBatChargeDone"); @@ -834,7 +837,7 @@ void setupBoards(bool disable_u8g2 ) #ifdef HAS_GPS -#if defined(T_BEAM_S3_SUPREME) || defined(T_BEAM_1W) || defined(T_BEAM_S3_BPF) +#if defined(T_BEAM_S3_SUPREME) || defined(T_BEAM_1W_SX1262) || defined(T_BEAM_1W_LR1121) || defined(T_BEAM_1W_LR2021) || defined(T_BEAM_S3_BPF) // T-Beam v1.2 skips L76K find_gps = beginGPS(); #endif @@ -996,6 +999,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Factory/LoRaBoards.h b/examples/Factory/LoRaBoards.h index 58288ef..b218eb5 100644 --- a/examples/Factory/LoRaBoards.h +++ b/examples/Factory/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; @@ -105,7 +106,7 @@ void scanWiFi(); #ifdef HAS_PMU extern XPowersLibInterface *PMU; extern bool pmuInterrupt; -void loopPMU(void (*pressed_cb)(void)); +void loopPMU(void (*pressed_cb)(void), void (*long_press_cb)(void) = NULL); bool beginPower(); void disablePeripherals(); #else diff --git a/examples/Factory/utilities.h b/examples/Factory/utilities.h index 08b2145..b2c294a 100644 --- a/examples/Factory/utilities.h +++ b/examples/Factory/utilities.h @@ -28,7 +28,7 @@ // 3. --------------T3 V3.0 TCXO------------------------------- // Product: https://lilygo.cc/products/t3-tcxo -// #define T3_V3_0_SX1276_TCXO +// #define T3_V3_0_SX1276_TCXO // 4. --------------T-BEAM ESP32------------------------------- // Product: https://lilygo.cc/products/t-beam @@ -46,7 +46,7 @@ // 6. --------------T3 S3 V1.0 or T3 S3 V1.3 ------------------- // Product: https://lilygo.cc/products/t3s3-v1-0 , same v1.3 -// Product: https://lilygo.cc/products/t3-s3-v1-3 +// Product: https://lilygo.cc/products/t3-s3-v1-3 // #define T3_S3_V1_2_SX1262 // #define T3_S3_V1_2_SX1276 @@ -72,9 +72,10 @@ // #define T_BEAM_S3_BPF // --------------LoRa 2W ------------------------------------- -// Product: ... -// #define T_BEAM_1W - +// Product: https://lilygo.cc/products/t-beam-1w +// #define T_BEAM_1W_SX1262 +// #define T_BEAM_1W_LR1121 +// #define T_BEAM_1W_LR2021 // #define T3_V1_6_SX1276_TCXO // Production has stopped @@ -86,7 +87,6 @@ #if defined(T_BEAM_SX1262) || defined(T_BEAM_SX1276) || defined(T_BEAM_SX1278) || defined(T_BEAM_LR1121) - #if defined(T_BEAM_SX1262) #ifndef USING_SX1262 #define USING_SX1262 @@ -128,6 +128,7 @@ // LR1121 Only #define RADIO_DIO9_PIN 33 +#define RADIO_DIO_IRQ_PIN (RADIO_DIO9_PIN) #define BOARD_LED 4 @@ -330,6 +331,7 @@ #define RADIO_DIO9_PIN 26 //LR1121 DIO9 #define RADIO_BUSY_PIN 32 //LR1121 BUSY +#define RADIO_DIO_IRQ_PIN (RADIO_DIO9_PIN) #endif @@ -384,6 +386,10 @@ #ifndef USING_SX1280PA #define USING_SX1280PA #endif +#pragma message "Using SX1280PA,The transmit power must not exceed 3dBm, otherwise it will cause permanent damage to LoRa." +#define CONFIG_RADIO_2G4_OUTPUT_POWER 3 +#define CONFIG_RADIO_OUTPUT_POWER CONFIG_RADIO_2G4_OUTPUT_POWER + #elif defined(T3_S3_V1_2_LR1121) || defined(ARDUINO_LILYGO_T3S3_LR1121) #ifndef USING_LR1121 #define USING_LR1121 @@ -392,6 +398,10 @@ #ifndef USING_LR1121PA #define USING_LR1121PA #endif +#pragma message "Using LR1121PA,The transmit power must not exceed 0dBm, otherwise it will cause permanent damage to LoRa." +#define CONFIG_RADIO_2G4_OUTPUT_POWER 0 +#define CONFIG_RADIO_OUTPUT_POWER CONFIG_RADIO_2G4_OUTPUT_POWER + #endif // T3_S3_V1_2_SX1262 @@ -455,6 +465,7 @@ #define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 #define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 +#define RADIO_DIO_IRQ_PIN (RADIO_DIO9_PIN) #define LILYGO_RADIO_2G4_TX_POWER_LIMIT 13 //LR1121 2.4G TX Power Limit @@ -462,6 +473,7 @@ #define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 #define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 +#define RADIO_DIO_IRQ_PIN (RADIO_DIO9_PIN) #define LILYGO_RADIO_2G4_TX_POWER_LIMIT 0 //LR1121 2.4G TX Power Limit #define USING_LR1121 @@ -521,6 +533,7 @@ // LR1121 Version #define RADIO_DIO9_PIN (1) +#define RADIO_DIO_IRQ_PIN (RADIO_DIO9_PIN) #define SPI_MOSI (35) #define SPI_SCK (36) @@ -686,10 +699,28 @@ #define BOARD_VARIANT_NAME "T-Beam BPF" -#elif defined(T_BEAM_1W) +#elif defined(T_BEAM_1W_SX1262) || defined(T_BEAM_1W_LR1121) || defined(T_BEAM_1W_LR2021) +#ifdef T_BEAM_1W_SX1262 #ifndef USING_SX1262 #define USING_SX1262 +#endif +#endif + +#ifdef T_BEAM_1W_LR1121 +#ifndef USING_LR1121 +#define USING_LR1121 +#endif +#pragma message "Using LR1121 PA Version,The transmit power must not exceed 0dBm, otherwise it will cause permanent damage to LoRa." +#define CONFIG_RADIO_2G4_OUTPUT_POWER 0 +#endif + +#ifdef T_BEAM_1W_LR2021 +#ifndef USING_LR2021 +#define USING_LR2021 +#endif + + #endif #define I2C_SDA (8) @@ -720,10 +751,31 @@ #define RADIO_CS_PIN (15) #define RADIO_RST_PIN (3) +#define RADIO_BUSY_PIN (38) #define RADIO_LDO_EN (40) + +#if defined(T_BEAM_1W_SX1262) #define RADIO_CTRL (21) #define RADIO_DIO1_PIN (1) -#define RADIO_BUSY_PIN (38) +#endif + +#if defined(T_BEAM_1W_LR1121) +#define RADIO_DIO10_PIN (1) // Connect to DIO10 +#define RADIO_DIO11_PIN (21) // Connect to DIO11 +#define RADIO_DIO_IRQ_PIN (RADIO_DIO11_PIN) +#pragma message "Using LR2021 PA Version,The transmit power must not exceed 0dBm, otherwise it will cause permanent damage to LoRa." +#define CONFIG_RADIO_2G4_OUTPUT_POWER 1 +#define CONFIG_RADIO_SUB1G_OUTPUT_POWER 22 +#endif + +#if defined(T_BEAM_1W_LR2021) +#define RADIO_IRQ_PIN (1) // Connect to DIO10 +#define RADIO_DIO11_PIN (21) // Connect to DIO11 +#define RADIO_DIO_NUM (10) // LR2021 DIO NUM NOT ESP32S3 GPIO NUM +#define CONFIG_RADIO_2G4_OUTPUT_POWER 8 +#define CONFIG_RADIO_SUB1G_OUTPUT_POWER 22 +#pragma message "Using LR2021 PA Version,The transmit power must not exceed 8dBm, otherwise it will cause permanent damage to LoRa." +#endif #define BOARD_LED 18 #define LED_ON HIGH @@ -750,7 +802,7 @@ #define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C #define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "LoRa 2W" +#define BOARD_VARIANT_NAME "LoRa 1W" #else #error "When using it for the first time, please define the board model in 首次使用时，请在 文件最上方定义板卡模型" @@ -761,20 +813,103 @@ #if defined(USING_SX1262) + #define RADIO_TYPE_STR "SX1262" + +#ifndef CONFIG_RADIO_SUB1G_OUTPUT_POWER +#define CONFIG_RADIO_SUB1G_OUTPUT_POWER 22 +#endif + #elif defined(USING_SX1276) + #define RADIO_TYPE_STR "SX1276" + +#ifndef CONFIG_RADIO_SUB1G_OUTPUT_POWER +#define CONFIG_RADIO_SUB1G_OUTPUT_POWER 17 +#endif + #elif defined(USING_SX1278) + #define RADIO_TYPE_STR "SX1278" + +#ifndef CONFIG_RADIO_SUB1G_OUTPUT_POWER +#define CONFIG_RADIO_SUB1G_OUTPUT_POWER 17 +#endif + +#ifndef CONFIG_RADIO_FREQ +#define CONFIG_RADIO_FREQ 433.0 +#endif + #elif defined(USING_LR1121) + #define RADIO_TYPE_STR "LR1121" + +#ifndef CONFIG_RADIO_SUB1G_OUTPUT_POWER +#define CONFIG_RADIO_SUB1G_OUTPUT_POWER 22 +#endif + +#ifndef CONFIG_RADIO_2G4_OUTPUT_POWER +#define CONFIG_RADIO_2G4_OUTPUT_POWER 13 +#endif + #elif defined(USING_SX1280) + #define RADIO_TYPE_STR "SX1280" + +#ifndef CONFIG_RADIO_2G4_OUTPUT_POWER +#define CONFIG_RADIO_2G4_OUTPUT_POWER 13 +#endif + +#ifndef CONFIG_RADIO_FREQ +#define CONFIG_RADIO_FREQ 2400.0 +#endif + +#ifndef CONFIG_RADIO_BW +#define CONFIG_RADIO_BW 203.125 +#endif + #elif defined(USING_SX1280PA) + #define RADIO_TYPE_STR "SX1280PA" + +#ifndef CONFIG_RADIO_2G4_OUTPUT_POWER +#define CONFIG_RADIO_2G4_OUTPUT_POWER 13 +#endif + +#ifndef CONFIG_RADIO_FREQ +#define CONFIG_RADIO_FREQ 2400.0 +#endif + +#ifndef CONFIG_RADIO_BW +#define CONFIG_RADIO_BW 203.125 #endif +#elif defined(USING_LR2021) + +#define RADIO_TYPE_STR "LR2021" + +#ifndef CONFIG_RADIO_2G4_OUTPUT_POWER +#define CONFIG_RADIO_2G4_OUTPUT_POWER 12 +#endif + +#ifndef CONFIG_RADIO_SUB1G_OUTPUT_POWER +#define CONFIG_RADIO_SUB1G_OUTPUT_POWER 22 +#endif + +#endif +#ifndef CONFIG_RADIO_2G4_OUTPUT_POWER +#define CONFIG_RADIO_2G4_OUTPUT_POWER -1 +#endif + +#ifndef CONFIG_RADIO_FREQ +#define CONFIG_RADIO_FREQ 868.0 +#endif + + +#ifndef CONFIG_RADIO_BW +#define CONFIG_RADIO_BW 125.0 +#endif diff --git a/examples/GPS/TinyGPS_Example/LoRaBoards.cpp b/examples/GPS/TinyGPS_Example/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/GPS/TinyGPS_Example/LoRaBoards.cpp +++ b/examples/GPS/TinyGPS_Example/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/GPS/TinyGPS_Example/LoRaBoards.h b/examples/GPS/TinyGPS_Example/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/GPS/TinyGPS_Example/LoRaBoards.h +++ b/examples/GPS/TinyGPS_Example/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/GPS/TinyGPS_FullExample/LoRaBoards.cpp b/examples/GPS/TinyGPS_FullExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/GPS/TinyGPS_FullExample/LoRaBoards.cpp +++ b/examples/GPS/TinyGPS_FullExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/GPS/TinyGPS_FullExample/LoRaBoards.h b/examples/GPS/TinyGPS_FullExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/GPS/TinyGPS_FullExample/LoRaBoards.h +++ b/examples/GPS/TinyGPS_FullExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.cpp b/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.cpp +++ b/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.h b/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.h +++ b/examples/GPS/TinyGPS_KitchenSink/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.cpp b/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.cpp +++ b/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.h b/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.h +++ b/examples/GPS/UBlox_BasicNMEARead/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/GPS/UBlox_NMEAParsing/LoRaBoards.cpp b/examples/GPS/UBlox_NMEAParsing/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/GPS/UBlox_NMEAParsing/LoRaBoards.cpp +++ b/examples/GPS/UBlox_NMEAParsing/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/GPS/UBlox_NMEAParsing/LoRaBoards.h b/examples/GPS/UBlox_NMEAParsing/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/GPS/UBlox_NMEAParsing/LoRaBoards.h +++ b/examples/GPS/UBlox_NMEAParsing/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/GPS/UBlox_OutputRate/LoRaBoards.cpp b/examples/GPS/UBlox_OutputRate/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/GPS/UBlox_OutputRate/LoRaBoards.cpp +++ b/examples/GPS/UBlox_OutputRate/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/GPS/UBlox_OutputRate/LoRaBoards.h b/examples/GPS/UBlox_OutputRate/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/GPS/UBlox_OutputRate/LoRaBoards.h +++ b/examples/GPS/UBlox_OutputRate/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/GPS/UBlox_Recovery/LoRaBoards.cpp b/examples/GPS/UBlox_Recovery/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/GPS/UBlox_Recovery/LoRaBoards.cpp +++ b/examples/GPS/UBlox_Recovery/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/GPS/UBlox_Recovery/LoRaBoards.h b/examples/GPS/UBlox_Recovery/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/GPS/UBlox_Recovery/LoRaBoards.h +++ b/examples/GPS/UBlox_Recovery/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.cpp b/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.cpp +++ b/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.h b/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.h +++ b/examples/LoRaWAN/LMIC_Library_OTTA/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.cpp b/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.cpp +++ b/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.h b/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.h +++ b/examples/LoRaWAN/LoRaWAN_ABP/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.cpp b/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.cpp +++ b/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.h b/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.h +++ b/examples/LoRaWAN/RadioLib_OTAA/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/OLED/SH1106FontUsage/LoRaBoards.cpp b/examples/OLED/SH1106FontUsage/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/OLED/SH1106FontUsage/LoRaBoards.cpp +++ b/examples/OLED/SH1106FontUsage/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/OLED/SH1106FontUsage/LoRaBoards.h b/examples/OLED/SH1106FontUsage/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/OLED/SH1106FontUsage/LoRaBoards.h +++ b/examples/OLED/SH1106FontUsage/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/OLED/SH1106GraphicsTest/LoRaBoards.cpp b/examples/OLED/SH1106GraphicsTest/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/OLED/SH1106GraphicsTest/LoRaBoards.cpp +++ b/examples/OLED/SH1106GraphicsTest/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/OLED/SH1106GraphicsTest/LoRaBoards.h b/examples/OLED/SH1106GraphicsTest/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/OLED/SH1106GraphicsTest/LoRaBoards.h +++ b/examples/OLED/SH1106GraphicsTest/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/OLED/SH1106IconMenu/LoRaBoards.cpp b/examples/OLED/SH1106IconMenu/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/OLED/SH1106IconMenu/LoRaBoards.cpp +++ b/examples/OLED/SH1106IconMenu/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/OLED/SH1106IconMenu/LoRaBoards.h b/examples/OLED/SH1106IconMenu/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/OLED/SH1106IconMenu/LoRaBoards.h +++ b/examples/OLED/SH1106IconMenu/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/OLED/SH1106PrintUTF8/LoRaBoards.cpp b/examples/OLED/SH1106PrintUTF8/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/OLED/SH1106PrintUTF8/LoRaBoards.cpp +++ b/examples/OLED/SH1106PrintUTF8/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/OLED/SH1106PrintUTF8/LoRaBoards.h b/examples/OLED/SH1106PrintUTF8/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/OLED/SH1106PrintUTF8/LoRaBoards.h +++ b/examples/OLED/SH1106PrintUTF8/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/OLED/SSD1306SimpleDemo/LoRaBoards.cpp b/examples/OLED/SSD1306SimpleDemo/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/OLED/SSD1306SimpleDemo/LoRaBoards.cpp +++ b/examples/OLED/SSD1306SimpleDemo/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/OLED/SSD1306SimpleDemo/LoRaBoards.h b/examples/OLED/SSD1306SimpleDemo/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/OLED/SSD1306SimpleDemo/LoRaBoards.h +++ b/examples/OLED/SSD1306SimpleDemo/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/OLED/SSD1306UiDemo/LoRaBoards.cpp b/examples/OLED/SSD1306UiDemo/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/OLED/SSD1306UiDemo/LoRaBoards.cpp +++ b/examples/OLED/SSD1306UiDemo/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/OLED/SSD1306UiDemo/LoRaBoards.h b/examples/OLED/SSD1306UiDemo/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/OLED/SSD1306UiDemo/LoRaBoards.h +++ b/examples/OLED/SSD1306UiDemo/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/PMU/LoRaBoards.cpp b/examples/PMU/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/PMU/LoRaBoards.cpp +++ b/examples/PMU/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/PMU/LoRaBoards.h b/examples/PMU/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/PMU/LoRaBoards.h +++ b/examples/PMU/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.cpp b/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.cpp +++ b/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.h b/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.h +++ b/examples/RadioLibExamples/Receive_Interrupt/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.cpp b/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.cpp +++ b/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.h b/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.h +++ b/examples/RadioLibExamples/SX1280_Ranging/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.cpp b/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.cpp +++ b/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.h b/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.h +++ b/examples/RadioLibExamples/Transmit_Interrupt/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.cpp b/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.cpp +++ b/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.h b/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.h +++ b/examples/Sensor/BME280_AdvancedsettingsExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/BME280_TestExample/LoRaBoards.cpp b/examples/Sensor/BME280_TestExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/BME280_TestExample/LoRaBoards.cpp +++ b/examples/Sensor/BME280_TestExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/BME280_TestExample/LoRaBoards.h b/examples/Sensor/BME280_TestExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/BME280_TestExample/LoRaBoards.h +++ b/examples/Sensor/BME280_TestExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/BME280_UnifiedExample/LoRaBoards.cpp b/examples/Sensor/BME280_UnifiedExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/BME280_UnifiedExample/LoRaBoards.cpp +++ b/examples/Sensor/BME280_UnifiedExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/BME280_UnifiedExample/LoRaBoards.h b/examples/Sensor/BME280_UnifiedExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/BME280_UnifiedExample/LoRaBoards.h +++ b/examples/Sensor/BME280_UnifiedExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/I2CScanner/LoRaBoards.cpp b/examples/Sensor/I2CScanner/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/I2CScanner/LoRaBoards.cpp +++ b/examples/Sensor/I2CScanner/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/I2CScanner/LoRaBoards.h b/examples/Sensor/I2CScanner/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/I2CScanner/LoRaBoards.h +++ b/examples/Sensor/I2CScanner/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.cpp b/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.cpp +++ b/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.h b/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.h +++ b/examples/Sensor/PCF8563_AlarmByUnits/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.cpp b/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.cpp +++ b/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.h b/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.h +++ b/examples/Sensor/PCF8563_SimpleTime/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/PCF8563_TimeLib/LoRaBoards.cpp b/examples/Sensor/PCF8563_TimeLib/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/PCF8563_TimeLib/LoRaBoards.cpp +++ b/examples/Sensor/PCF8563_TimeLib/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/PCF8563_TimeLib/LoRaBoards.h b/examples/Sensor/PCF8563_TimeLib/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/PCF8563_TimeLib/LoRaBoards.h +++ b/examples/Sensor/PCF8563_TimeLib/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.cpp b/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.cpp +++ b/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.h b/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.h +++ b/examples/Sensor/PCF8563_TimeSynchronization/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMC6310_CalibrateExample/LoRaBoards.cpp b/examples/Sensor/QMC6310_CalibrateExample/LoRaBoards.cpp deleted file mode 100644 index 8acfe74..0000000 --- a/examples/Sensor/QMC6310_CalibrateExample/LoRaBoards.cpp +++ /dev/null @@ -1,1353 +0,0 @@ -/** - * @file boards.cpp - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-04-24 - * @last-update 2025-05-26 - * - */ - -#include "LoRaBoards.h" - -#include "soc/rtc.h" -#ifdef ENABLE_BLE -#include -#include -#include -#endif - -#if defined(HAS_SDCARD) && !defined(SD_SHARE_SPI_BUS) -SPIClass SDCardSPI(HSPI); -#endif - - -#if defined(ARDUINO_ARCH_STM32) -HardwareSerial SerialGPS(GPS_RX_PIN, GPS_TX_PIN); -#endif - -#if defined(ARDUINO_ARCH_ESP32) -#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,0,0) -#include "hal/gpio_hal.h" -#endif -#include "driver/gpio.h" -#endif //ARDUINO_ARCH_ESP32 - -#ifdef DISPLAY_MODEL -U8G2 *disp = NULL; -#endif - - -static DevInfo_t devInfo; - -#ifdef HAS_GPS -static bool find_gps = false; -String gps_model = "None"; -#endif - -// I2S Devices default address -uint8_t bme280_address = 0x77; // It might be 0x76 -uint8_t mag_address = 0x1C; // QMC6310U=0x1C QMC6310N=0x3C -uint8_t display_address = 0x3c; // It might be 0x3D - -uint32_t deviceOnline = 0x00; - -static void enable_slow_clock(); - -#ifdef HAS_PMU -XPowersLibInterface *PMU = NULL; -bool pmuInterrupt; - -static void setPmuFlag() -{ - pmuInterrupt = true; -} -bool beginPower() -{ - if (!PMU) { - PMU = new XPowersAXP2101(PMU_WIRE_PORT); - if (!PMU->init()) { - Serial.println("Warning: Failed to find AXP2101 power management"); - delete PMU; - PMU = NULL; - } else { - Serial.println("AXP2101 PMU init succeeded, using AXP2101 PMU"); - } - } - - if (!PMU) { - PMU = new XPowersAXP192(PMU_WIRE_PORT); - if (!PMU->init()) { - Serial.println("Warning: Failed to find AXP192 power management"); - delete PMU; - PMU = NULL; - } else { - Serial.println("AXP192 PMU init succeeded, using AXP192 PMU"); - } - } - - if (!PMU) { - return false; - } - - deviceOnline |= POWERMANAGE_ONLINE; - - PMU->setChargingLedMode(XPOWERS_CHG_LED_CTRL_CHG); - - pinMode(PMU_IRQ, INPUT_PULLUP); - attachInterrupt(PMU_IRQ, setPmuFlag, FALLING); - - if (PMU->getChipModel() == XPOWERS_AXP192) { - - PMU->setProtectedChannel(XPOWERS_DCDC3); - - // lora - PMU->setPowerChannelVoltage(XPOWERS_LDO2, 3300); - // gps - PMU->setPowerChannelVoltage(XPOWERS_LDO3, 3300); - // oled - PMU->setPowerChannelVoltage(XPOWERS_DCDC1, 3300); - - PMU->enablePowerOutput(XPOWERS_LDO2); - PMU->enablePowerOutput(XPOWERS_LDO3); - - //protected oled power source - PMU->setProtectedChannel(XPOWERS_DCDC1); - //protected esp32 power source - PMU->setProtectedChannel(XPOWERS_DCDC3); - // enable oled power - PMU->enablePowerOutput(XPOWERS_DCDC1); - - //disable not use channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - - PMU->disableIRQ(XPOWERS_AXP192_ALL_IRQ); - - PMU->enableIRQ(XPOWERS_AXP192_VBUS_REMOVE_IRQ | - XPOWERS_AXP192_VBUS_INSERT_IRQ | - XPOWERS_AXP192_BAT_CHG_DONE_IRQ | - XPOWERS_AXP192_BAT_CHG_START_IRQ | - XPOWERS_AXP192_BAT_REMOVE_IRQ | - XPOWERS_AXP192_BAT_INSERT_IRQ | - XPOWERS_AXP192_PKEY_SHORT_IRQ - ); - - } else if (PMU->getChipModel() == XPOWERS_AXP2101) { - -#if defined(CONFIG_IDF_TARGET_ESP32) - //Unuse power channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - PMU->disablePowerOutput(XPOWERS_DCDC3); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_ALDO4); - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_CPULDO); - - // GNSS RTC PowerVDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_VBACKUP, 3300); - PMU->enablePowerOutput(XPOWERS_VBACKUP); - - //ESP32 VDD 3300mV - // ! No need to set, automatically open , Don't close it - // PMU->setPowerChannelVoltage(XPOWERS_DCDC1, 3300); - // PMU->setProtectedChannel(XPOWERS_DCDC1); - PMU->setProtectedChannel(XPOWERS_DCDC1); - - // LoRa VDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - //GNSS VDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_ALDO3, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO3); - -#endif /*CONFIG_IDF_TARGET_ESP32*/ - - -#if defined(T_BEAM_S3_SUPREME) - - //t-beam m.2 inface - //gps - PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO4); - - // lora - PMU->setPowerChannelVoltage(XPOWERS_ALDO3, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO3); - - // In order to avoid bus occupation, during initialization, the SD card and QMC sensor are powered off and restarted - if (ESP_SLEEP_WAKEUP_UNDEFINED == esp_sleep_get_wakeup_cause()) { - Serial.println("Power off and restart ALDO BLDO.."); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_ALDO2); - PMU->disablePowerOutput(XPOWERS_BLDO1); - delay(250); - } - - // Sensor - PMU->setPowerChannelVoltage(XPOWERS_ALDO1, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO1); - - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - //Sdcard - - PMU->setPowerChannelVoltage(XPOWERS_BLDO1, 3300); - PMU->enablePowerOutput(XPOWERS_BLDO1); - - PMU->setPowerChannelVoltage(XPOWERS_BLDO2, 3300); - PMU->enablePowerOutput(XPOWERS_BLDO2); - - //face m.2 - PMU->setPowerChannelVoltage(XPOWERS_DCDC3, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC3); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC4, XPOWERS_AXP2101_DCDC4_VOL2_MAX); - PMU->enablePowerOutput(XPOWERS_DCDC4); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC5, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC5); - - - //not use channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - // PMU->disablePowerOutput(XPOWERS_DCDC4); - // PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_VBACKUP); - - -#elif defined(T_BEAM_S3_BPF) - - //gps - PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO4); - - //Sdcard - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - // Extern Power source - PMU->setPowerChannelVoltage(XPOWERS_DCDC3, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC3); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC5, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC5); - - PMU->setPowerChannelVoltage(XPOWERS_ALDO1, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO1); - - //not use channel - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC2); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_VBACKUP); - - -#endif - - // Set constant current charge current limit - PMU->setChargerConstantCurr(XPOWERS_AXP2101_CHG_CUR_500MA); - - // Set charge cut-off voltage - PMU->setChargeTargetVoltage(XPOWERS_AXP2101_CHG_VOL_4V2); - - // Disable all interrupts - PMU->disableIRQ(XPOWERS_AXP2101_ALL_IRQ); - // Clear all interrupt flags - PMU->clearIrqStatus(); - // Enable the required interrupt function - PMU->enableIRQ( - XPOWERS_AXP2101_BAT_INSERT_IRQ | XPOWERS_AXP2101_BAT_REMOVE_IRQ | //BATTERY - XPOWERS_AXP2101_VBUS_INSERT_IRQ | XPOWERS_AXP2101_VBUS_REMOVE_IRQ | //VBUS - XPOWERS_AXP2101_PKEY_SHORT_IRQ | XPOWERS_AXP2101_PKEY_LONG_IRQ | //POWER KEY - XPOWERS_AXP2101_BAT_CHG_DONE_IRQ | XPOWERS_AXP2101_BAT_CHG_START_IRQ //CHARGE - // XPOWERS_AXP2101_PKEY_NEGATIVE_IRQ | XPOWERS_AXP2101_PKEY_POSITIVE_IRQ | //POWER KEY - ); - - } - - PMU->enableSystemVoltageMeasure(); - PMU->enableVbusVoltageMeasure(); - PMU->enableBattVoltageMeasure(); - - Serial.printf("=========================================\n"); - if (PMU->isChannelAvailable(XPOWERS_DCDC1)) { - Serial.printf("DC1 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC1)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC2)) { - Serial.printf("DC2 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC2)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC3)) { - Serial.printf("DC3 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC3)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC4)) { - Serial.printf("DC4 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC4) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC4)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC5)) { - Serial.printf("DC5 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC5) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC5)); - } - if (PMU->isChannelAvailable(XPOWERS_LDO2)) { - Serial.printf("LDO2 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_LDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_LDO2)); - } - if (PMU->isChannelAvailable(XPOWERS_LDO3)) { - Serial.printf("LDO3 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_LDO3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_LDO3)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO1)) { - Serial.printf("ALDO1: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO1)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO2)) { - Serial.printf("ALDO2: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO2)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO3)) { - Serial.printf("ALDO3: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO3)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO4)) { - Serial.printf("ALDO4: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO4) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO4)); - } - if (PMU->isChannelAvailable(XPOWERS_BLDO1)) { - Serial.printf("BLDO1: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_BLDO1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_BLDO1)); - } - if (PMU->isChannelAvailable(XPOWERS_BLDO2)) { - Serial.printf("BLDO2: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_BLDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_BLDO2)); - } - - - // Set the time of pressing the button to turn off - PMU->setPowerKeyPressOffTime(XPOWERS_POWEROFF_4S); - uint8_t opt = PMU->getPowerKeyPressOffTime(); - Serial.print("PowerKeyPressOffTime:"); - switch (opt) { - case XPOWERS_POWEROFF_4S: Serial.println("4 Second"); - break; - case XPOWERS_POWEROFF_6S: Serial.println("6 Second"); - break; - case XPOWERS_POWEROFF_8S: Serial.println("8 Second"); - break; - case XPOWERS_POWEROFF_10S: Serial.println("10 Second"); - break; - default: - break; - } - - Serial.printf("=========================================\n"); - - return true; -} - -void disablePeripherals() -{ - - if (!PMU)return; - - PMU->setChargingLedMode(XPOWERS_CHG_LED_OFF); - // Disable the PMU measurement section - PMU->disableSystemVoltageMeasure(); - PMU->disableVbusVoltageMeasure(); - PMU->disableBattVoltageMeasure(); - PMU->disableTemperatureMeasure(); - PMU->disableBattDetection(); - -#if defined(T_BEAM_S3_BPF) - PMU->disablePowerOutput(XPOWERS_ALDO4); //gps - PMU->disablePowerOutput(XPOWERS_ALDO2); //Sdcard - PMU->disablePowerOutput(XPOWERS_DCDC3); // Extern Power source - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_ALDO1); -#else - - if (PMU->getChipModel() == XPOWERS_AXP2101) { - - // Disable all PMU interrupts - PMU->disableIRQ(XPOWERS_AXP2101_ALL_IRQ); - // Clear the PMU interrupt status before sleeping, otherwise the sleep current will increase - PMU->clearIrqStatus(); - // GNSS RTC Power , Turning off GPS backup voltage and current can further reduce ~ 100 uA - PMU->disablePowerOutput(XPOWERS_VBACKUP); - // LoRa VDD - PMU->disablePowerOutput(XPOWERS_ALDO2); - // GNSS VDD - PMU->disablePowerOutput(XPOWERS_ALDO3); - -#if defined(T_BEAM_S3_SUPREME) - PMU->disablePowerOutput(XPOWERS_ALDO4); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DCDC3); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); -#endif - - } else if (PMU->getChipModel() == XPOWERS_AXP192) { - - // Disable all PMU interrupts - PMU->disableIRQ(XPOWERS_AXP192_ALL_IRQ); - // Clear the PMU interrupt status before sleeping, otherwise the sleep current will increase - PMU->clearIrqStatus(); - // LoRa VDD - PMU->disablePowerOutput(XPOWERS_LDO2); - // GNSS VDD - PMU->disablePowerOutput(XPOWERS_LDO3); - - - } -#endif -} - -void loopPMU(void (*pressed_cb)(void)) -{ - if (!PMU) { - return; - } - if (!pmuInterrupt) { - return; - } - - pmuInterrupt = false; - // Get PMU Interrupt Status Register - uint32_t status = PMU->getIrqStatus(); - Serial.print("STATUS => HEX:"); - Serial.print(status, HEX); - Serial.print(" BIN:"); - Serial.println(status, BIN); - - if (PMU->isVbusInsertIrq()) { - Serial.println("isVbusInsert"); - } - if (PMU->isVbusRemoveIrq()) { - Serial.println("isVbusRemove"); - } - if (PMU->isBatInsertIrq()) { - Serial.println("isBatInsert"); - } - if (PMU->isBatRemoveIrq()) { - Serial.println("isBatRemove"); - } - if (PMU->isPekeyShortPressIrq()) { - Serial.println("isPekeyShortPress"); - if (pressed_cb) { - pressed_cb(); - } - } - if (PMU->isPekeyLongPressIrq()) { - Serial.println("isPekeyLongPress"); - } - if (PMU->isBatChargeDoneIrq()) { - Serial.println("isBatChargeDone"); - } - if (PMU->isBatChargeStartIrq()) { - Serial.println("isBatChargeStart"); - } - // Clear PMU Interrupt Status Register - PMU->clearIrqStatus(); -} -#endif - -#ifdef DISPLAY_MODEL -bool beginDisplay() -{ - Wire.beginTransmission(display_address); - if (Wire.endTransmission() == 0) { - disp = new DISPLAY_MODEL(U8G2_R0, U8X8_PIN_NONE); - Serial.printf("Find Display model at 0x%X address\n", display_address); - disp->begin(); - disp->clearBuffer(); - disp->setFont(u8g2_font_inb19_mr); - disp->drawStr(0, 30, "LilyGo"); - disp->drawHLine(2, 35, 47); - disp->drawHLine(3, 36, 47); - disp->drawVLine(45, 32, 12); - disp->drawVLine(46, 33, 12); - disp->setFont(u8g2_font_inb19_mf); - disp->drawStr(58, 60, "LoRa"); - disp->sendBuffer(); - disp->setFont(u8g2_font_fur11_tf); - delay(3000); - return true; - } - - Serial.printf("Warning: Failed to find Display at 0x%0X address\n", display_address); - return false; -} -#endif - -#ifdef HAS_SDCARD -bool writeFile(const char *path, const char *buffer) -{ - bool rlst = false; - File file = SD.open(path, FILE_WRITE); - if (!file) { - Serial.println("Failed to open file for writing"); - return false; - } - if (file.print(buffer)) { - Serial.println("File written"); - rlst = true; - } else { - Serial.println("Write failed"); - rlst = false; - } - file.close(); - return rlst; -} - - -bool readFile(const char *path, uint8_t *buffer, size_t size) -{ - File file = SD.open(path, FILE_READ); - if (!file) { - Serial.println("Failed to open file for reading"); - return false; - } - file.read(buffer, size); - file.close(); - return false; -} - -bool testSDWriteAndRead() -{ - const char *path = "/test_sd.txt"; - const char *message = "This is a string for reading and writing SD card."; - uint8_t buffer[128] = {0}; - - if (!writeFile(path, message)) { - Serial.println("SD Text write failed"); - return false; - } - delay(100); - - readFile(path, buffer, 128); - - if (memcmp(buffer, message, strlen(message)) != 0) { - Serial.println("SD verification failed"); - return false; - } - Serial.println("SD verification successful"); - return true; -} -#endif /*HAS_SDCARD*/ - -#ifdef HAS_SDCARD -bool beginSDCard() -{ -#if defined(HAS_SDCARD) && defined(SD_SHARE_SPI_BUS) - bool rlst = SD.begin(SDCARD_CS); -#else - bool rlst = SD.begin(SDCARD_CS, SDCardSPI); -#endif - - if (rlst) { - uint32_t cardSize = SD.cardSize() / (1024 * 1024); - Serial.print("Sd Card init succeeded, The current available capacity is "); - Serial.print(cardSize / 1024.0); - Serial.println(" GB"); - deviceOnline |= SDCARD_ONLINE; - return testSDWriteAndRead(); - } else { - Serial.println("Warning: Failed to init Sd Card"); - } - return false; -} -#endif /*HAS_SDCARD*/ - -void beginWiFi() -{ -#ifdef ARDUINO_ARCH_ESP32 - if (!WiFi.softAP(BOARD_VARIANT_NAME)) { - log_e("Soft AP creation failed."); - } - IPAddress myIP = WiFi.softAPIP(); - Serial.print("AP IP address: "); - Serial.println(myIP); -#endif -} - - -void printWakeupReason() -{ -#ifdef ARDUINO_ARCH_ESP32 - Serial.print("Reset reason:"); - esp_sleep_wakeup_cause_t wakeup_reason; - wakeup_reason = esp_sleep_get_wakeup_cause(); - switch (wakeup_reason) { - case ESP_SLEEP_WAKEUP_UNDEFINED: - Serial.println(" In case of deep sleep, reset was not caused by exit from deep sleep"); - break; - case ESP_SLEEP_WAKEUP_ALL : - break; - case ESP_SLEEP_WAKEUP_EXT0 : - Serial.println("Wakeup caused by external signal using RTC_IO"); - break; - case ESP_SLEEP_WAKEUP_EXT1 : - Serial.println("Wakeup caused by external signal using RTC_CNTL"); - break; - case ESP_SLEEP_WAKEUP_TIMER : - Serial.println("Wakeup caused by timer"); - break; - case ESP_SLEEP_WAKEUP_TOUCHPAD : - Serial.println("Wakeup caused by touchpad"); - break; - case ESP_SLEEP_WAKEUP_ULP : - Serial.println("Wakeup caused by ULP program"); - break; - default : - Serial.printf("Wakeup was not caused by deep sleep: %d\n", wakeup_reason); - break; - } -#endif -} - - -void getChipInfo() -{ -#if defined(ARDUINO_ARCH_ESP32) - - Serial.println("-----------------------------------"); - - printWakeupReason(); - - - if (psramFound()) { - uint32_t psram = ESP.getPsramSize(); - devInfo.psramSize = psram / 1024.0 / 1024.0; - Serial.printf("PSRAM is enable! PSRAM: %.2fMB\n", devInfo.psramSize); - deviceOnline |= PSRAM_ONLINE; - } else { - Serial.println("PSRAM is disable!"); - devInfo.psramSize = 0; - } - - - Serial.print("Flash:"); - devInfo.flashSize = ESP.getFlashChipSize() / 1024.0 / 1024.0; - devInfo.flashSpeed = ESP.getFlashChipSpeed() / 1000 / 1000; - devInfo.chipModel = ESP.getChipModel(); - devInfo.chipModelRev = ESP.getChipRevision(); - devInfo.chipFreq = ESP.getCpuFreqMHz(); - - Serial.print(devInfo.flashSize); - Serial.println(" MB"); - Serial.print("Flash speed:"); - Serial.print(devInfo.flashSpeed); - Serial.println(" M"); - Serial.print("Model:"); - - Serial.println(devInfo.chipModel); - Serial.print("Chip Revision:"); - Serial.println(devInfo.chipModelRev); - Serial.print("Freq:"); - Serial.print(devInfo.chipFreq); - Serial.println(" MHZ"); - Serial.print("SDK Ver:"); - Serial.println(ESP.getSdkVersion()); - Serial.print("DATE:"); - Serial.println(__DATE__); - Serial.print("TIME:"); - Serial.println(__TIME__); - - uint8_t mac[6]; - char macStr[18] = { 0 }; - esp_efuse_mac_get_default(mac); - sprintf(macStr, "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]); - Serial.print("EFUSE MAC: "); - Serial.print(macStr); - Serial.println(); - - Serial.println("-----------------------------------"); - -#elif defined(ARDUINO_ARCH_STM32) - uint32_t uid[3]; - - uid[0] = HAL_GetUIDw0(); - uid[1] = HAL_GetUIDw1(); - uid[2] = HAL_GetUIDw2(); - Serial.print("STM UID: 0X"); - Serial.print( uid[0], HEX); - Serial.print( uid[1], HEX); - Serial.print( uid[2], HEX); - Serial.println(); -#endif -} - - -void setupBoards(bool disable_u8g2 ) -{ - Serial.begin(115200); - - // while (!Serial); - - Serial.println("setupBoards"); - - getChipInfo(); - -#if defined(ARDUINO_ARCH_ESP32) - SPI.begin(RADIO_SCLK_PIN, RADIO_MISO_PIN, RADIO_MOSI_PIN); -#elif defined(ARDUINO_ARCH_STM32) - SPI.setMISO(RADIO_MISO_PIN); - SPI.setMOSI(RADIO_MOSI_PIN); - SPI.setSCLK(RADIO_SCLK_PIN); - SPI.begin(); -#endif - - -#if defined(HAS_SDCARD) -#if defined(SD_SHARE_SPI_BUS) - // Share spi bus with lora , set lora cs,rst to high - pinMode(RADIO_CS_PIN, OUTPUT); - pinMode(RADIO_RST_PIN, OUTPUT); - digitalWrite(RADIO_CS_PIN, HIGH); - digitalWrite(RADIO_RST_PIN, HIGH); -#else - SDCardSPI.begin(SDCARD_SCLK, SDCARD_MISO, SDCARD_MOSI); -#endif /*SD_SHARE_SPI_BUS*/ -#endif /*HAS_SDCARD*/ - - - -#ifdef I2C1_SDA - Wire1.begin(I2C1_SDA, I2C1_SCL); -#endif - -#ifdef HAS_GPS - -#ifdef GPS_EN_PIN - pinMode(GPS_EN_PIN, OUTPUT); - digitalWrite(GPS_EN_PIN, HIGH); -#endif /*GPS_EN_PIN*/ - -#ifdef GPS_PPS_PIN - pinMode(GPS_PPS_PIN, INPUT); -#endif - -#if defined(ARDUINO_ARCH_ESP32) - SerialGPS.begin(GPS_BAUD_RATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); -#elif defined(ARDUINO_ARCH_STM32) - SerialGPS.setRx(GPS_RX_PIN); - SerialGPS.setTx(GPS_TX_PIN); - SerialGPS.begin(GPS_BAUD_RATE); -#endif // ARDUINO_ARCH_ -#endif // HAS_GPS - -#if OLED_RST - pinMode(OLED_RST, OUTPUT); - digitalWrite(OLED_RST, HIGH); delay(20); - digitalWrite(OLED_RST, LOW); delay(20); - digitalWrite(OLED_RST, HIGH); delay(20); -#endif - -#ifdef BOARD_LED - /* - * T-Beam LED defaults to low level as turn on, - * so it needs to be forced to pull up - * * * * */ -#if LED_ON == LOW -#if defined(ARDUINO_ARCH_ESP32) - gpio_hold_dis((gpio_num_t)BOARD_LED); -#endif //ARDUINO_ARCH_ESP32 -#endif - - pinMode(BOARD_LED, OUTPUT); - digitalWrite(BOARD_LED, LED_ON); -#endif - - -#ifdef GPS_RST_PIN - pinMode(GPS_RST_PIN, OUTPUT); - digitalWrite(GPS_RST_PIN, HIGH); -#endif - -#if defined(ARDUINO_ARCH_STM32) - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); -#endif - - -#ifdef RADIO_LDO_EN - /* - * 2W and BPF LoRa LDO enable , Control SX1262 , LNA - * 2W and BPF Radio version must set LDO_EN to HIGH to initialize the Radio - * */ - pinMode(RADIO_LDO_EN, OUTPUT); - digitalWrite(RADIO_LDO_EN, HIGH); -#endif - -#ifdef RADIO_CTRL - /* - * 2W and BPF LoRa RX TX Control - * CTRL controls the LNA, not the PA. - * Only when RX DATA is on, set to 1 to turn on LNA - * When TX DATA is on, CTL is set to 0 and LNA is turned off. - * */ - pinMode(RADIO_CTRL, OUTPUT); - digitalWrite(RADIO_CTRL, LOW); -#endif - -#ifdef RADIO_DIO2_PIN - pinMode(RADIO_DIO2_PIN, INPUT); -#endif - - beginPower(); - - // Perform an I2C scan after power-on operation -#ifdef I2C_SDA - Wire.begin(I2C_SDA, I2C_SCL); - Serial.println("==================Scan Wire =================="); - scanDevices(&Wire); -#endif - -#ifdef I2C1_SDA - Serial.println("==================Scan Wire1=================="); - scanDevices(&Wire1); -#endif - - beginSDCard(); - -#ifdef HAS_DISPLAY - if (!disable_u8g2) { - beginDisplay(); - } -#endif - - // scanWiFi(); - - // beginWiFi(); - -#ifdef FAN_CTRL - pinMode(FAN_CTRL, OUTPUT); -#endif - -#ifdef HAS_GPS - -#if defined(T_BEAM_S3_SUPREME) || defined(T_BEAM_1W) || defined(T_BEAM_S3_BPF) - // T-Beam v1.2 skips L76K - find_gps = beginGPS(); -#endif - uint32_t baudrate[] = {9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600, 4800}; - if (!find_gps) { - // Restore factory settings - for ( int i = 0; i < sizeof(baudrate) / sizeof(baudrate[0]); ++i) { - Serial.printf("Update baudrate : %u\n", baudrate[i]); - SerialGPS.updateBaudRate(baudrate[i]); - if (recoveryGPS()) { - Serial.println("UBlox GNSS init succeeded, using UBlox GNSS Module\n"); - gps_model = "UBlox"; - find_gps = true; - break; - } - } - } else { - gps_model = "L76K"; - } - - if (find_gps) { - deviceOnline |= GPS_ONLINE; - } - -#ifdef T_BEAM_S3_SUPREME - enable_slow_clock(); -#endif - -#endif -} - - -void printResult(bool radio_online) -{ - Serial.print("Radio : "); - Serial.println((radio_online) ? "+" : "-"); - -#if defined(CONFIG_IDF_TARGET_ESP32) || defined(CONFIG_IDF_TARGET_ESP32S3) - - Serial.print("PSRAM : "); - Serial.println((psramFound()) ? "+" : "-"); - -#ifdef DISPLAY_MODEL - Serial.print("Display : "); - Serial.println(( disp) ? "+" : "-"); -#endif - -#ifdef HAS_SDCARD - Serial.print("Sd Card : "); - Serial.println((SD.cardSize() != 0) ? "+" : "-"); -#endif - -#ifdef HAS_PMU - Serial.print("Power : "); - Serial.println(( PMU ) ? "+" : "-"); -#endif - -#ifdef HAS_GPS - Serial.print("GPS : "); - Serial.println(( find_gps ) ? "+" : "-"); -#endif - -#ifdef DISPLAY_MODEL - if (disp) { - - disp->clearBuffer(); - disp->setFont(u8g2_font_NokiaLargeBold_tf ); - uint16_t str_w = disp->getStrWidth(BOARD_VARIANT_NAME); - disp->drawStr((disp->getWidth() - str_w) / 2, 16, BOARD_VARIANT_NAME); - disp->drawHLine(5, 21, disp->getWidth() - 5); - - disp->drawStr( 0, 38, "Disp:"); disp->drawStr( 45, 38, ( disp) ? "+" : "-"); - -#ifdef HAS_SDCARD - disp->drawStr( 0, 54, "SD :"); disp->drawStr( 45, 54, (SD.cardSize() != 0) ? "+" : "-"); -#endif - - disp->drawStr( 62, 38, "Radio:"); disp->drawStr( 120, 38, ( radio_online ) ? "+" : "-"); - -#ifdef HAS_PMU - disp->drawStr( 62, 54, "Power:"); disp->drawStr( 120, 54, ( PMU ) ? "+" : "-"); -#endif - - disp->sendBuffer(); - - delay(2000); - } -#endif -#endif /*DISPLAY_MODEL*/ -} - - -#ifdef BOARD_LED -static uint8_t ledState = LOW; -static const uint32_t debounceDelay = 50; -static uint32_t lastDebounceTime = 0; -#endif - - -#ifdef BOARD_LED -void flashLed() -{ - if ((millis() - lastDebounceTime) > debounceDelay) { - ledState = !ledState; - if (ledState) { - digitalWrite(BOARD_LED, LED_ON); - } else { - digitalWrite(BOARD_LED, !LED_ON); - } - lastDebounceTime = millis(); - } -} -#endif - - -void scanDevices(TwoWire *w) -{ - uint8_t err, addr; - int nDevices = 0; - uint32_t start = 0; - - Serial.println("I2C Devices scanning"); - for (addr = 1; addr < 127; addr++) { - start = millis(); - w->beginTransmission(addr); delay(2); - err = w->endTransmission(); - if (err == 0) { - nDevices++; - switch (addr) { - case 0x77: - bme280_address = addr; - Serial.printf("\tFound BME280 Sensor at address 0x%02X\n", addr); - deviceOnline |= BME280_ONLINE; - break; - case 0x76: - bme280_address = addr; - Serial.printf("\tFound BME280 Sensor at address 0x%02X\n", addr); - deviceOnline |= BME280_ONLINE; - break; - case 0x34: - Serial.printf("\tFound AXP192/AXP2101 PMU at address 0x%02X\n", addr); - deviceOnline |= POWERMANAGE_ONLINE; - break; - case 0x3C: - case 0x3D: { - w->beginTransmission(addr); - w->write((uint8_t)0x00); - w->endTransmission(); - w->requestFrom((int)addr, 1); - uint8_t r = w->read(); - if (r == 0x80) { - Serial.printf("\tFound QMC6310N MAG Sensor at address 0x%02X\n", addr); - mag_address = addr; - deviceOnline |= QMC6310N_ONLINE; - } else { - Serial.printf("\tFound OLED display at address 0x%02X\n", addr); - display_address = addr; - deviceOnline |= DISPLAY_ONLINE; - } - } - break; - case 0x51: - Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); - deviceOnline |= PCF8563_ONLINE; - break; - case 0x1C: - Serial.printf("\tFound QMC6310U MAG Sensor at address 0x%02X\n", addr); - deviceOnline |= QMC6310U_ONLINE; - mag_address = addr; - break; - default: - Serial.print("\tI2C device found at address 0x"); - if (addr < 16) { - Serial.print("0"); - } - Serial.print(addr, HEX); - Serial.println(" !"); - break; - } - - } else if (err == 4) { - Serial.print("Unknow error at address 0x"); - if (addr < 16) { - Serial.print("0"); - } - Serial.println(addr, HEX); - } - } - if (nDevices == 0) - Serial.println("No I2C devices found\n"); -} - - -#ifdef HAS_GPS - -bool l76kProbe() -{ - bool result = false; - uint32_t startTimeout ; - SerialGPS.write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"); - delay(5); - // Get version information - startTimeout = millis() + 3000; - Serial.print("Try to init L76K . Wait stop ."); - // SerialGPS.flush(); - while (SerialGPS.available()) { - int c = SerialGPS.read(); - // Serial.write(c); - // Serial.print("."); - // Serial.flush(); - // SerialGPS.flush(); - if (millis() > startTimeout) { - Serial.println("Wait L76K stop NMEA timeout!"); - return false; - } - }; - Serial.println(); - SerialGPS.flush(); - delay(200); - - SerialGPS.write("$PCAS06,0*1B\r\n"); - startTimeout = millis() + 500; - String ver = ""; - while (!SerialGPS.available()) { - if (millis() > startTimeout) { - Serial.println("Get L76K timeout!"); - return false; - } - } - SerialGPS.setTimeout(10); - ver = SerialGPS.readStringUntil('\n'); - if (ver.startsWith("$GPTXT,01,01,02")) { - Serial.println("L76K GNSS init succeeded, using L76K GNSS Module\n"); - result = true; - } - delay(500); - - // Initialize the L76K Chip, use GPS + GLONASS - SerialGPS.write("$PCAS04,5*1C\r\n"); - delay(250); - // only ask for RMC and GGA - SerialGPS.write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n"); - delay(250); - // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g - SerialGPS.write("$PCAS11,3*1E\r\n"); - return result; -} - -bool beginGPS() -{ - SerialGPS.begin(GPS_BAUD_RATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); - bool result = false; - for ( int i = 0; i < 3; ++i) { - result = l76kProbe(); - if (result) { - return result; - } - } - return result; -} - - - -static int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID) -{ - uint16_t ubxFrameCounter = 0; - bool ubxFrame = 0; - uint32_t startTime = millis(); - uint16_t needRead; - - while (millis() - startTime < 800) { - while (SerialGPS.available()) { - int c = SerialGPS.read(); - switch (ubxFrameCounter) { - case 0: - if (c == 0xB5) { - ubxFrameCounter++; - } - break; - case 1: - if (c == 0x62) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 2: - if (c == requestedClass) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 3: - if (c == requestedID) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 4: - needRead = c; - ubxFrameCounter++; - break; - case 5: - needRead |= (c << 8); - ubxFrameCounter++; - break; - case 6: - if (needRead >= size) { - ubxFrameCounter = 0; - break; - } - if (SerialGPS.readBytes(buffer, needRead) != needRead) { - ubxFrameCounter = 0; - } else { - return needRead; - } - break; - - default: - break; - } - } - } - return 0; -} - -bool recoveryGPS() -{ - uint8_t buffer[256]; - uint8_t cfg_clear1[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x1C, 0xA2}; - uint8_t cfg_clear2[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x1B, 0xA1}; - uint8_t cfg_clear3[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03, 0x1D, 0xB3}; - SerialGPS.write(cfg_clear1, sizeof(cfg_clear1)); - - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - SerialGPS.write(cfg_clear2, sizeof(cfg_clear2)); - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - SerialGPS.write(cfg_clear3, sizeof(cfg_clear3)); - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - // UBX-CFG-RATE, Size 8, 'Navigation/measurement rate settings' - uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30}; - SerialGPS.write(cfg_rate, sizeof(cfg_rate)); - if (getAck(buffer, 256, 0x06, 0x08)) { - Serial.println("Get ack successes!"); - } else { - return false; - } - return true; -} - -#endif - - -#if defined(ARDUINO_ARCH_ESP32) - -//NCP18XH103F03RB: https://item.szlcsc.com/14214.html -// #define NTC_PIN 14 // NTC connection pins -#define SERIES_RESISTOR 10000 // Series resistance value (10kΩ) -#define B_COEFFICIENT 3950 // B value, set according to the NTC specification -#define ROOM_TEMP 298.15 // 25°C absolute temperature (K) -#define ROOM_TEMP_RESISTANCE 10000 // Resistance of NTC at 25°C (10kΩ) - -float getTempForNTC() -{ - static float temperature = 0.0f; -#ifdef NTC_PIN - static uint32_t check_temperature = 0; - if (millis() > check_temperature) { - float voltage = analogReadMilliVolts(NTC_PIN) / 1000.0; - float resistance = SERIES_RESISTOR * ((3.3 / voltage) - 1); // Calculate the resistance of NTC - - // Calculate temperature using the Steinhart-Hart equation - temperature = (1.0 / (log(resistance / ROOM_TEMP_RESISTANCE) / B_COEFFICIENT + 1.0 / ROOM_TEMP)) - 273.15; - - // Serial.print("Temperature: "); - // Serial.print(temperature); - // Serial.println(" °C"); - - check_temperature = millis() + 1000; - } -#endif - return temperature; -} - -#ifdef ENABLE_BLE - -#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b" -#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8" - -void setupBLE() -{ - - uint8_t mac[6]; - char macStr[18] = { 0 }; - esp_efuse_mac_get_default(mac); - sprintf(macStr, "%02X:%02X", mac[0], mac[1]); - - String dev = BOARD_VARIANT_NAME; - dev.concat('-'); - dev.concat(macStr); - - Serial.print("Starting BLE:"); - Serial.println(dev); - - BLEDevice::init(dev.c_str()); - BLEServer *pServer = BLEDevice::createServer(); - BLEService *pService = pServer->createService(SERVICE_UUID); - BLECharacteristic *pCharacteristic = pService->createCharacteristic( - CHARACTERISTIC_UUID, - BLECharacteristic::PROPERTY_READ | - BLECharacteristic::PROPERTY_WRITE); - - pCharacteristic->setValue("Hello World"); - pService->start(); - // BLEAdvertising *pAdvertising = pServer->getAdvertising(); // this still is working for backward compatibility - BLEAdvertising *pAdvertising = BLEDevice::getAdvertising(); - pAdvertising->addServiceUUID(SERVICE_UUID); - pAdvertising->setScanResponse(true); - pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue - pAdvertising->setMinPreferred(0x12); - BLEDevice::startAdvertising(); - Serial.println("Characteristic defined! Now you can read it in your phone!"); -} -#endif - -#define CALIBRATE_ONE(cali_clk) calibrate_one(cali_clk, #cali_clk) - -static uint32_t calibrate_one(rtc_cal_sel_t cal_clk, const char *name) -{ - const uint32_t cal_count = 1000; - const float factor = (1 << 19) * 1000.0f; - uint32_t cali_val; - for (int i = 0; i < 5; ++i) { - cali_val = rtc_clk_cal(cal_clk, cal_count); - } - return cali_val; -} - -static void enable_slow_clock() -{ - rtc_clk_32k_enable(true); - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - uint32_t cal_32k = CALIBRATE_ONE(RTC_CAL_32K_XTAL); - if (cal_32k == 0) { - Serial.printf("32K XTAL OSC has not started up"); - } else { - rtc_clk_slow_freq_set(RTC_SLOW_FREQ_32K_XTAL); - Serial.println("Switching RTC Source to 32.768Khz succeeded, using 32K XTAL"); - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - CALIBRATE_ONE(RTC_CAL_32K_XTAL); - } - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - CALIBRATE_ONE(RTC_CAL_32K_XTAL); - if (rtc_clk_slow_freq_get() != RTC_SLOW_FREQ_32K_XTAL) { - Serial.println("Warning: Failed to set rtc clk to 32.768Khz !!! "); return; - } - deviceOnline |= OSC32768_ONLINE; -} - - -void scanWiFi() -{ - WiFi.mode(WIFI_STA); - WiFi.disconnect(); - Serial.println("WiFi Scan start"); - // WiFi.scanNetworks will return the number of networks found. - int n = WiFi.scanNetworks(); - Serial.println("WiFi Scan done"); - if (n == 0) { - Serial.println("no networks found"); - } else { - Serial.print(n); - Serial.println(" networks found"); - Serial.println("Nr | SSID | RSSI | CH | Encryption"); - for (int i = 0; i < n; ++i) { - // Print SSID and RSSI for each network found - Serial.printf("%2d", i + 1); - Serial.print(" | "); - Serial.printf("%-32.32s", WiFi.SSID(i).c_str()); - Serial.print(" | "); - Serial.printf("%4ld", WiFi.RSSI(i)); - Serial.print(" | "); - Serial.printf("%2ld", WiFi.channel(i)); - Serial.print(" | "); - switch (WiFi.encryptionType(i)) { - case WIFI_AUTH_OPEN: Serial.print("open"); break; - case WIFI_AUTH_WEP: Serial.print("WEP"); break; - case WIFI_AUTH_WPA_PSK: Serial.print("WPA"); break; - case WIFI_AUTH_WPA2_PSK: Serial.print("WPA2"); break; - case WIFI_AUTH_WPA_WPA2_PSK: Serial.print("WPA+WPA2"); break; - case WIFI_AUTH_WPA2_ENTERPRISE: Serial.print("WPA2-EAP"); break; - case WIFI_AUTH_WPA3_PSK: Serial.print("WPA3"); break; - case WIFI_AUTH_WPA2_WPA3_PSK: Serial.print("WPA2+WPA3"); break; - case WIFI_AUTH_WAPI_PSK: Serial.print("WAPI"); break; - default: Serial.print("unknown"); - } - Serial.println(); - delay(10); - } - } - Serial.println(""); - - // Delete the scan result to free memory for code below. - WiFi.scanDelete(); -} - -#endif /*ARDUINO_ARCH_ESP32*/ - diff --git a/examples/Sensor/QMC6310_CalibrateExample/LoRaBoards.h b/examples/Sensor/QMC6310_CalibrateExample/LoRaBoards.h deleted file mode 100644 index 58288ef..0000000 --- a/examples/Sensor/QMC6310_CalibrateExample/LoRaBoards.h +++ /dev/null @@ -1,144 +0,0 @@ -/** - * @file boards.h - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-04-25 - * @last-update 2024-08-07 - */ - -#pragma once - - -#include "utilities.h" - -#ifdef HAS_SDCARD -#include -#endif - -#if defined(ARDUINO_ARCH_ESP32) -#include -#include -#endif - -#include -#include -#include - -#ifdef DISPLAY_MODEL -#include -#endif - -#ifdef HAS_PMU -#include -#endif - -#include - - -#ifndef DISPLAY_ADDR -#define DISPLAY_ADDR 0x3C -#endif - - -// #define ENABLE_BLE //Enable ble function - -enum { - POWERMANAGE_ONLINE = _BV(0), - DISPLAY_ONLINE = _BV(1), - RADIO_ONLINE = _BV(2), - GPS_ONLINE = _BV(3), - PSRAM_ONLINE = _BV(4), - SDCARD_ONLINE = _BV(5), - AXDL345_ONLINE = _BV(6), - BME280_ONLINE = _BV(7), - BMP280_ONLINE = _BV(8), - BME680_ONLINE = _BV(9), - QMC6310U_ONLINE = _BV(10), - QMC6310N_ONLINE = _BV(11), - QMI8658_ONLINE = _BV(12), - PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) -}; - - - -typedef struct { - String chipModel; - float psramSize; - uint8_t chipModelRev; - uint8_t chipFreq; - uint8_t flashSize; - uint8_t flashSpeed; -} DevInfo_t; - - -void setupBoards(bool disable_u8g2 = false); - -#ifdef HAS_SDCARD -bool beginSDCard(); -#else -#define beginSDCard() -#endif - -#ifdef DISPLAY_MODEL -bool beginDisplay(); -#endif - - -void printResult(bool radio_online); - -#ifdef BOARD_LED -void flashLed(); -#else -#define flashLed() -#endif - -void scanDevices(TwoWire *w); - -bool beginGPS(); - -bool recoveryGPS(); - -void scanWiFi(); - -#ifdef HAS_PMU -extern XPowersLibInterface *PMU; -extern bool pmuInterrupt; -void loopPMU(void (*pressed_cb)(void)); -bool beginPower(); -void disablePeripherals(); -#else -#define beginPower() -#define disablePeripherals() -#endif - -#ifdef DISPLAY_MODEL -extern U8G2 *disp; -#define U8G2_HOR_ALIGN_CENTER(t) ((disp->getDisplayWidth() - (disp->getUTF8Width(t))) / 2) -#define U8G2_HOR_ALIGN_RIGHT(t) ( disp->getDisplayWidth() - disp->getUTF8Width(t)) -#endif - - -#if defined(ARDUINO_ARCH_ESP32) - -#if defined(HAS_SDCARD) -extern SPIClass SDCardSPI; -#endif - -#define SerialGPS Serial1 -#elif defined(ARDUINO_ARCH_STM32) -extern HardwareSerial SerialGPS; -#endif - -#ifdef NTC_PIN -float getTempForNTC(); -#endif - -#ifdef ENABLE_BLE -void setupBLE(); -#else -#define setupBLE() -#endif - -extern uint32_t deviceOnline; diff --git a/examples/Sensor/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino b/examples/Sensor/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino index b07b118..967afaa 100644 --- a/examples/Sensor/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino +++ b/examples/Sensor/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -24,20 +24,63 @@ * * @file QMC6310_CalibrateExample.ino * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 + * @date 2026-01-26 * */ #include #include #include #include "SensorQMC6310.hpp" -#include "LoRaBoards.h" +#define ARDUINO_T_BEAM_S3_SUPREME +#ifdef ARDUINO_T_BEAM_S3_SUPREME +#include //PMU Library https://github.com/lewisxhe/XPowersLib.git +#endif -SensorQMC6310 qmc; +#ifndef SENSOR_SDA +#define SENSOR_SDA 17 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 18 +#endif + +SensorQMC6310 magnetometer; + +void beginPower() +{ +#if defined(ARDUINO_T_BEAM_S3_SUPREME) + XPowersAXP2101 power; + power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41); + power.disableALDO1(); + power.disableALDO2(); + delay(250); + power.setALDO1Voltage(3300); + power.enableALDO1(); + power.setALDO2Voltage(3300); + power.enableALDO2(); +#endif +} void calibrate() { - qmc.setDataOutputRate(SensorQMC6310::DATARATE_200HZ); + if (!magnetometer.setOutputDataRate(200.0f)) { + Serial.println("Failed to set output data rate"); + return ; + } + + Serial.println("========================================"); + Serial.println("Calibration Instructions:"); + Serial.println("1. Rotate sensor in FIGURE-8 pattern"); + Serial.println("2. Cover all axes (X, Y, Z directions)"); + Serial.println("3. Rotate slowly and completely"); + Serial.println("4. Wait for progress bar to complete"); + Serial.println("5. Expected: Magnetic Strength ~25-65 uT"); + Serial.println("========================================"); + Serial.println(); + + Serial.println("Place the sensor on the plane and slowly rotate the sensor..."); + Serial.println("Rotate in FIGURE-8 pattern to cover all directions!"); + Serial.println(); int32_t x_min = 65535; int32_t x_max = -65535; @@ -45,26 +88,25 @@ void calibrate() int32_t y_max = -65535; int32_t z_min = 65535; int32_t z_max = -65535; - Serial.println("Place the sensor on the plane and slowly rotate the sensor..."); int32_t range = 1000; int32_t i = 0; int32_t x = 0, y = 0, z = 0;; - float a = 0.5 ; - float x_offset = 0; - float y_offset = 0; - float z_offset = 0; + int16_t x_offset = 0; + int16_t y_offset = 0; + int16_t z_offset = 0; + MagnetometerData data; while (i < range) { i += 1; - if (qmc.isDataReady()) { + if (magnetometer.isDataReady()) { - qmc.readData(); + magnetometer.readData(data); - x = a * qmc.getRawX() + (1 - a) * x; - y = a * qmc.getRawY() + (1 - a) * y; - z = a * qmc.getRawZ() + (1 - a) * z; + x = (data.raw.x + x) / 2; + y = (data.raw.y + y) / 2; + z = (data.raw.z + z) / 2; if (x < x_min) { x_min = x; i = 0; @@ -104,11 +146,41 @@ void calibrate() y_offset = (y_max + y_min) / 2; z_offset = (z_max + z_min) / 2; - Serial.printf("x_min:%d x_max:%d y_min:%d y_max:%d z_min:%d z_max:%d\n", x_min, x_max, y_min, y_max, z_min, z_max); - Serial.printf("x_offset:%.2f y_offset:%.2f z_offset:%.2f \n", x_offset, y_offset, z_offset); + Serial.print("x_min:"); + Serial.println(x_min); + + Serial.print("x_max:"); + Serial.println(x_max); + + Serial.print("y_min:"); + Serial.println(y_min); + + Serial.print("y_max:"); + Serial.println(y_max); + + Serial.print("z_min:"); + Serial.println(z_min); + + Serial.print("z_max:"); + Serial.println(z_max); + + Serial.print("x_offset:"); + Serial.println(x_offset); + + Serial.print("y_offset:"); + Serial.println(y_offset); + + Serial.print("z_offset:"); + Serial.println(z_offset); + // Set the calibration value and the user calculates the deviation - qmc.setOffset(x_offset, y_offset, z_offset); + magnetometer.setOffset(x_offset, y_offset, z_offset); + + Serial.println(); + Serial.println("Calibration complete!"); + Serial.println("Check if Magnetic Strength is ~25-65 uT"); + Serial.println("If too low, repeat calibration with better rotation"); } @@ -117,118 +189,136 @@ void setup() Serial.begin(115200); while (!Serial); - setupBoards(); + // LilyGo T-Beam-Supreme sensor requires a power source to function. + beginPower(); - // For QMC6310U, the device address is 0x1C. - // For QMC6310N, the device address is 0x3C. - // The sensor device address is provided by the setupBoards I2C scanner. - extern uint8_t mag_address; - if (!qmc.begin(Wire, mag_address, I2C_SDA, I2C_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); + /** + * Supports QMC6310U and QMC6310N; simply pass the corresponding device address + * during initialization. + * - QMC6310U_SLAVE_ADDRESS + * - QMC6310N_SLAVE_ADDRESS + */ + uint8_t address = QMC6310U_SLAVE_ADDRESS; + // uint8_t address = QMC6310N_SLAVE_ADDRESS; + + if (!magnetometer.begin(Wire, address, SENSOR_SDA, SENSOR_SCL)) { while (1) { + Serial.println("Failed to find QMC6310 - check your wiring!"); delay(1000); } } - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; /* Config Magnetometer */ - qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_CONTINUOUS, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_8G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_200HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_1, - - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); - - - + if (magnetometer.configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } // Calibration algorithm reference from // https://github.com/CoreElectronics/CE-PiicoDev-QMC6310-MicroPython-Module calibrate(); - Serial.println("Calibration done ."); + Serial.println("Calibration done."); delay(5000); + SensorInfo info = magnetometer.getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer.getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer.setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); + Serial.println("Read data now..."); } void loop() { + MagnetometerData data; - //Wiat data ready - if (qmc.isDataReady()) { + if (magnetometer.readData(data)) { - qmc.readData(); + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); - Serial.print("GYR: "); - Serial.print("X:"); - Serial.print(qmc.getX()); + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.print(" Gauss/LSB"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); Serial.print(" Y:"); - Serial.print(qmc.getY()); + Serial.print(data.raw.y); Serial.print(" Z:"); - Serial.print(qmc.getZ()); - Serial.println(" uT"); - Serial.print("RAW: "); - Serial.print("X:"); - Serial.print(qmc.getRawX()); - Serial.print(" Y:"); - Serial.print(qmc.getRawY()); - Serial.print(" Z:"); - Serial.println(qmc.getRawZ()); + Serial.print(data.raw.z); - /* - float x, y, z; - qmc.getMag(x, y, z); - Serial.print("X:"); - Serial.print(x); - Serial.print(" Y:"); - Serial.print(y); - Serial.print(" Z:"); - Serial.println(x); - */ + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + strength = MagnetometerUtils::gaussToMicroTesla(strength); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } } - - - delay(100); + delay(10); } diff --git a/examples/Sensor/QMC6310_CompassExample/LoRaBoards.cpp b/examples/Sensor/QMC6310_CompassExample/LoRaBoards.cpp deleted file mode 100644 index 8acfe74..0000000 --- a/examples/Sensor/QMC6310_CompassExample/LoRaBoards.cpp +++ /dev/null @@ -1,1353 +0,0 @@ -/** - * @file boards.cpp - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-04-24 - * @last-update 2025-05-26 - * - */ - -#include "LoRaBoards.h" - -#include "soc/rtc.h" -#ifdef ENABLE_BLE -#include -#include -#include -#endif - -#if defined(HAS_SDCARD) && !defined(SD_SHARE_SPI_BUS) -SPIClass SDCardSPI(HSPI); -#endif - - -#if defined(ARDUINO_ARCH_STM32) -HardwareSerial SerialGPS(GPS_RX_PIN, GPS_TX_PIN); -#endif - -#if defined(ARDUINO_ARCH_ESP32) -#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,0,0) -#include "hal/gpio_hal.h" -#endif -#include "driver/gpio.h" -#endif //ARDUINO_ARCH_ESP32 - -#ifdef DISPLAY_MODEL -U8G2 *disp = NULL; -#endif - - -static DevInfo_t devInfo; - -#ifdef HAS_GPS -static bool find_gps = false; -String gps_model = "None"; -#endif - -// I2S Devices default address -uint8_t bme280_address = 0x77; // It might be 0x76 -uint8_t mag_address = 0x1C; // QMC6310U=0x1C QMC6310N=0x3C -uint8_t display_address = 0x3c; // It might be 0x3D - -uint32_t deviceOnline = 0x00; - -static void enable_slow_clock(); - -#ifdef HAS_PMU -XPowersLibInterface *PMU = NULL; -bool pmuInterrupt; - -static void setPmuFlag() -{ - pmuInterrupt = true; -} -bool beginPower() -{ - if (!PMU) { - PMU = new XPowersAXP2101(PMU_WIRE_PORT); - if (!PMU->init()) { - Serial.println("Warning: Failed to find AXP2101 power management"); - delete PMU; - PMU = NULL; - } else { - Serial.println("AXP2101 PMU init succeeded, using AXP2101 PMU"); - } - } - - if (!PMU) { - PMU = new XPowersAXP192(PMU_WIRE_PORT); - if (!PMU->init()) { - Serial.println("Warning: Failed to find AXP192 power management"); - delete PMU; - PMU = NULL; - } else { - Serial.println("AXP192 PMU init succeeded, using AXP192 PMU"); - } - } - - if (!PMU) { - return false; - } - - deviceOnline |= POWERMANAGE_ONLINE; - - PMU->setChargingLedMode(XPOWERS_CHG_LED_CTRL_CHG); - - pinMode(PMU_IRQ, INPUT_PULLUP); - attachInterrupt(PMU_IRQ, setPmuFlag, FALLING); - - if (PMU->getChipModel() == XPOWERS_AXP192) { - - PMU->setProtectedChannel(XPOWERS_DCDC3); - - // lora - PMU->setPowerChannelVoltage(XPOWERS_LDO2, 3300); - // gps - PMU->setPowerChannelVoltage(XPOWERS_LDO3, 3300); - // oled - PMU->setPowerChannelVoltage(XPOWERS_DCDC1, 3300); - - PMU->enablePowerOutput(XPOWERS_LDO2); - PMU->enablePowerOutput(XPOWERS_LDO3); - - //protected oled power source - PMU->setProtectedChannel(XPOWERS_DCDC1); - //protected esp32 power source - PMU->setProtectedChannel(XPOWERS_DCDC3); - // enable oled power - PMU->enablePowerOutput(XPOWERS_DCDC1); - - //disable not use channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - - PMU->disableIRQ(XPOWERS_AXP192_ALL_IRQ); - - PMU->enableIRQ(XPOWERS_AXP192_VBUS_REMOVE_IRQ | - XPOWERS_AXP192_VBUS_INSERT_IRQ | - XPOWERS_AXP192_BAT_CHG_DONE_IRQ | - XPOWERS_AXP192_BAT_CHG_START_IRQ | - XPOWERS_AXP192_BAT_REMOVE_IRQ | - XPOWERS_AXP192_BAT_INSERT_IRQ | - XPOWERS_AXP192_PKEY_SHORT_IRQ - ); - - } else if (PMU->getChipModel() == XPOWERS_AXP2101) { - -#if defined(CONFIG_IDF_TARGET_ESP32) - //Unuse power channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - PMU->disablePowerOutput(XPOWERS_DCDC3); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_ALDO4); - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_CPULDO); - - // GNSS RTC PowerVDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_VBACKUP, 3300); - PMU->enablePowerOutput(XPOWERS_VBACKUP); - - //ESP32 VDD 3300mV - // ! No need to set, automatically open , Don't close it - // PMU->setPowerChannelVoltage(XPOWERS_DCDC1, 3300); - // PMU->setProtectedChannel(XPOWERS_DCDC1); - PMU->setProtectedChannel(XPOWERS_DCDC1); - - // LoRa VDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - //GNSS VDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_ALDO3, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO3); - -#endif /*CONFIG_IDF_TARGET_ESP32*/ - - -#if defined(T_BEAM_S3_SUPREME) - - //t-beam m.2 inface - //gps - PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO4); - - // lora - PMU->setPowerChannelVoltage(XPOWERS_ALDO3, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO3); - - // In order to avoid bus occupation, during initialization, the SD card and QMC sensor are powered off and restarted - if (ESP_SLEEP_WAKEUP_UNDEFINED == esp_sleep_get_wakeup_cause()) { - Serial.println("Power off and restart ALDO BLDO.."); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_ALDO2); - PMU->disablePowerOutput(XPOWERS_BLDO1); - delay(250); - } - - // Sensor - PMU->setPowerChannelVoltage(XPOWERS_ALDO1, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO1); - - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - //Sdcard - - PMU->setPowerChannelVoltage(XPOWERS_BLDO1, 3300); - PMU->enablePowerOutput(XPOWERS_BLDO1); - - PMU->setPowerChannelVoltage(XPOWERS_BLDO2, 3300); - PMU->enablePowerOutput(XPOWERS_BLDO2); - - //face m.2 - PMU->setPowerChannelVoltage(XPOWERS_DCDC3, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC3); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC4, XPOWERS_AXP2101_DCDC4_VOL2_MAX); - PMU->enablePowerOutput(XPOWERS_DCDC4); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC5, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC5); - - - //not use channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - // PMU->disablePowerOutput(XPOWERS_DCDC4); - // PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_VBACKUP); - - -#elif defined(T_BEAM_S3_BPF) - - //gps - PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO4); - - //Sdcard - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - // Extern Power source - PMU->setPowerChannelVoltage(XPOWERS_DCDC3, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC3); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC5, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC5); - - PMU->setPowerChannelVoltage(XPOWERS_ALDO1, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO1); - - //not use channel - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC2); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_VBACKUP); - - -#endif - - // Set constant current charge current limit - PMU->setChargerConstantCurr(XPOWERS_AXP2101_CHG_CUR_500MA); - - // Set charge cut-off voltage - PMU->setChargeTargetVoltage(XPOWERS_AXP2101_CHG_VOL_4V2); - - // Disable all interrupts - PMU->disableIRQ(XPOWERS_AXP2101_ALL_IRQ); - // Clear all interrupt flags - PMU->clearIrqStatus(); - // Enable the required interrupt function - PMU->enableIRQ( - XPOWERS_AXP2101_BAT_INSERT_IRQ | XPOWERS_AXP2101_BAT_REMOVE_IRQ | //BATTERY - XPOWERS_AXP2101_VBUS_INSERT_IRQ | XPOWERS_AXP2101_VBUS_REMOVE_IRQ | //VBUS - XPOWERS_AXP2101_PKEY_SHORT_IRQ | XPOWERS_AXP2101_PKEY_LONG_IRQ | //POWER KEY - XPOWERS_AXP2101_BAT_CHG_DONE_IRQ | XPOWERS_AXP2101_BAT_CHG_START_IRQ //CHARGE - // XPOWERS_AXP2101_PKEY_NEGATIVE_IRQ | XPOWERS_AXP2101_PKEY_POSITIVE_IRQ | //POWER KEY - ); - - } - - PMU->enableSystemVoltageMeasure(); - PMU->enableVbusVoltageMeasure(); - PMU->enableBattVoltageMeasure(); - - Serial.printf("=========================================\n"); - if (PMU->isChannelAvailable(XPOWERS_DCDC1)) { - Serial.printf("DC1 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC1)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC2)) { - Serial.printf("DC2 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC2)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC3)) { - Serial.printf("DC3 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC3)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC4)) { - Serial.printf("DC4 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC4) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC4)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC5)) { - Serial.printf("DC5 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC5) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC5)); - } - if (PMU->isChannelAvailable(XPOWERS_LDO2)) { - Serial.printf("LDO2 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_LDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_LDO2)); - } - if (PMU->isChannelAvailable(XPOWERS_LDO3)) { - Serial.printf("LDO3 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_LDO3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_LDO3)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO1)) { - Serial.printf("ALDO1: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO1)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO2)) { - Serial.printf("ALDO2: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO2)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO3)) { - Serial.printf("ALDO3: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO3)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO4)) { - Serial.printf("ALDO4: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO4) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO4)); - } - if (PMU->isChannelAvailable(XPOWERS_BLDO1)) { - Serial.printf("BLDO1: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_BLDO1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_BLDO1)); - } - if (PMU->isChannelAvailable(XPOWERS_BLDO2)) { - Serial.printf("BLDO2: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_BLDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_BLDO2)); - } - - - // Set the time of pressing the button to turn off - PMU->setPowerKeyPressOffTime(XPOWERS_POWEROFF_4S); - uint8_t opt = PMU->getPowerKeyPressOffTime(); - Serial.print("PowerKeyPressOffTime:"); - switch (opt) { - case XPOWERS_POWEROFF_4S: Serial.println("4 Second"); - break; - case XPOWERS_POWEROFF_6S: Serial.println("6 Second"); - break; - case XPOWERS_POWEROFF_8S: Serial.println("8 Second"); - break; - case XPOWERS_POWEROFF_10S: Serial.println("10 Second"); - break; - default: - break; - } - - Serial.printf("=========================================\n"); - - return true; -} - -void disablePeripherals() -{ - - if (!PMU)return; - - PMU->setChargingLedMode(XPOWERS_CHG_LED_OFF); - // Disable the PMU measurement section - PMU->disableSystemVoltageMeasure(); - PMU->disableVbusVoltageMeasure(); - PMU->disableBattVoltageMeasure(); - PMU->disableTemperatureMeasure(); - PMU->disableBattDetection(); - -#if defined(T_BEAM_S3_BPF) - PMU->disablePowerOutput(XPOWERS_ALDO4); //gps - PMU->disablePowerOutput(XPOWERS_ALDO2); //Sdcard - PMU->disablePowerOutput(XPOWERS_DCDC3); // Extern Power source - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_ALDO1); -#else - - if (PMU->getChipModel() == XPOWERS_AXP2101) { - - // Disable all PMU interrupts - PMU->disableIRQ(XPOWERS_AXP2101_ALL_IRQ); - // Clear the PMU interrupt status before sleeping, otherwise the sleep current will increase - PMU->clearIrqStatus(); - // GNSS RTC Power , Turning off GPS backup voltage and current can further reduce ~ 100 uA - PMU->disablePowerOutput(XPOWERS_VBACKUP); - // LoRa VDD - PMU->disablePowerOutput(XPOWERS_ALDO2); - // GNSS VDD - PMU->disablePowerOutput(XPOWERS_ALDO3); - -#if defined(T_BEAM_S3_SUPREME) - PMU->disablePowerOutput(XPOWERS_ALDO4); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DCDC3); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); -#endif - - } else if (PMU->getChipModel() == XPOWERS_AXP192) { - - // Disable all PMU interrupts - PMU->disableIRQ(XPOWERS_AXP192_ALL_IRQ); - // Clear the PMU interrupt status before sleeping, otherwise the sleep current will increase - PMU->clearIrqStatus(); - // LoRa VDD - PMU->disablePowerOutput(XPOWERS_LDO2); - // GNSS VDD - PMU->disablePowerOutput(XPOWERS_LDO3); - - - } -#endif -} - -void loopPMU(void (*pressed_cb)(void)) -{ - if (!PMU) { - return; - } - if (!pmuInterrupt) { - return; - } - - pmuInterrupt = false; - // Get PMU Interrupt Status Register - uint32_t status = PMU->getIrqStatus(); - Serial.print("STATUS => HEX:"); - Serial.print(status, HEX); - Serial.print(" BIN:"); - Serial.println(status, BIN); - - if (PMU->isVbusInsertIrq()) { - Serial.println("isVbusInsert"); - } - if (PMU->isVbusRemoveIrq()) { - Serial.println("isVbusRemove"); - } - if (PMU->isBatInsertIrq()) { - Serial.println("isBatInsert"); - } - if (PMU->isBatRemoveIrq()) { - Serial.println("isBatRemove"); - } - if (PMU->isPekeyShortPressIrq()) { - Serial.println("isPekeyShortPress"); - if (pressed_cb) { - pressed_cb(); - } - } - if (PMU->isPekeyLongPressIrq()) { - Serial.println("isPekeyLongPress"); - } - if (PMU->isBatChargeDoneIrq()) { - Serial.println("isBatChargeDone"); - } - if (PMU->isBatChargeStartIrq()) { - Serial.println("isBatChargeStart"); - } - // Clear PMU Interrupt Status Register - PMU->clearIrqStatus(); -} -#endif - -#ifdef DISPLAY_MODEL -bool beginDisplay() -{ - Wire.beginTransmission(display_address); - if (Wire.endTransmission() == 0) { - disp = new DISPLAY_MODEL(U8G2_R0, U8X8_PIN_NONE); - Serial.printf("Find Display model at 0x%X address\n", display_address); - disp->begin(); - disp->clearBuffer(); - disp->setFont(u8g2_font_inb19_mr); - disp->drawStr(0, 30, "LilyGo"); - disp->drawHLine(2, 35, 47); - disp->drawHLine(3, 36, 47); - disp->drawVLine(45, 32, 12); - disp->drawVLine(46, 33, 12); - disp->setFont(u8g2_font_inb19_mf); - disp->drawStr(58, 60, "LoRa"); - disp->sendBuffer(); - disp->setFont(u8g2_font_fur11_tf); - delay(3000); - return true; - } - - Serial.printf("Warning: Failed to find Display at 0x%0X address\n", display_address); - return false; -} -#endif - -#ifdef HAS_SDCARD -bool writeFile(const char *path, const char *buffer) -{ - bool rlst = false; - File file = SD.open(path, FILE_WRITE); - if (!file) { - Serial.println("Failed to open file for writing"); - return false; - } - if (file.print(buffer)) { - Serial.println("File written"); - rlst = true; - } else { - Serial.println("Write failed"); - rlst = false; - } - file.close(); - return rlst; -} - - -bool readFile(const char *path, uint8_t *buffer, size_t size) -{ - File file = SD.open(path, FILE_READ); - if (!file) { - Serial.println("Failed to open file for reading"); - return false; - } - file.read(buffer, size); - file.close(); - return false; -} - -bool testSDWriteAndRead() -{ - const char *path = "/test_sd.txt"; - const char *message = "This is a string for reading and writing SD card."; - uint8_t buffer[128] = {0}; - - if (!writeFile(path, message)) { - Serial.println("SD Text write failed"); - return false; - } - delay(100); - - readFile(path, buffer, 128); - - if (memcmp(buffer, message, strlen(message)) != 0) { - Serial.println("SD verification failed"); - return false; - } - Serial.println("SD verification successful"); - return true; -} -#endif /*HAS_SDCARD*/ - -#ifdef HAS_SDCARD -bool beginSDCard() -{ -#if defined(HAS_SDCARD) && defined(SD_SHARE_SPI_BUS) - bool rlst = SD.begin(SDCARD_CS); -#else - bool rlst = SD.begin(SDCARD_CS, SDCardSPI); -#endif - - if (rlst) { - uint32_t cardSize = SD.cardSize() / (1024 * 1024); - Serial.print("Sd Card init succeeded, The current available capacity is "); - Serial.print(cardSize / 1024.0); - Serial.println(" GB"); - deviceOnline |= SDCARD_ONLINE; - return testSDWriteAndRead(); - } else { - Serial.println("Warning: Failed to init Sd Card"); - } - return false; -} -#endif /*HAS_SDCARD*/ - -void beginWiFi() -{ -#ifdef ARDUINO_ARCH_ESP32 - if (!WiFi.softAP(BOARD_VARIANT_NAME)) { - log_e("Soft AP creation failed."); - } - IPAddress myIP = WiFi.softAPIP(); - Serial.print("AP IP address: "); - Serial.println(myIP); -#endif -} - - -void printWakeupReason() -{ -#ifdef ARDUINO_ARCH_ESP32 - Serial.print("Reset reason:"); - esp_sleep_wakeup_cause_t wakeup_reason; - wakeup_reason = esp_sleep_get_wakeup_cause(); - switch (wakeup_reason) { - case ESP_SLEEP_WAKEUP_UNDEFINED: - Serial.println(" In case of deep sleep, reset was not caused by exit from deep sleep"); - break; - case ESP_SLEEP_WAKEUP_ALL : - break; - case ESP_SLEEP_WAKEUP_EXT0 : - Serial.println("Wakeup caused by external signal using RTC_IO"); - break; - case ESP_SLEEP_WAKEUP_EXT1 : - Serial.println("Wakeup caused by external signal using RTC_CNTL"); - break; - case ESP_SLEEP_WAKEUP_TIMER : - Serial.println("Wakeup caused by timer"); - break; - case ESP_SLEEP_WAKEUP_TOUCHPAD : - Serial.println("Wakeup caused by touchpad"); - break; - case ESP_SLEEP_WAKEUP_ULP : - Serial.println("Wakeup caused by ULP program"); - break; - default : - Serial.printf("Wakeup was not caused by deep sleep: %d\n", wakeup_reason); - break; - } -#endif -} - - -void getChipInfo() -{ -#if defined(ARDUINO_ARCH_ESP32) - - Serial.println("-----------------------------------"); - - printWakeupReason(); - - - if (psramFound()) { - uint32_t psram = ESP.getPsramSize(); - devInfo.psramSize = psram / 1024.0 / 1024.0; - Serial.printf("PSRAM is enable! PSRAM: %.2fMB\n", devInfo.psramSize); - deviceOnline |= PSRAM_ONLINE; - } else { - Serial.println("PSRAM is disable!"); - devInfo.psramSize = 0; - } - - - Serial.print("Flash:"); - devInfo.flashSize = ESP.getFlashChipSize() / 1024.0 / 1024.0; - devInfo.flashSpeed = ESP.getFlashChipSpeed() / 1000 / 1000; - devInfo.chipModel = ESP.getChipModel(); - devInfo.chipModelRev = ESP.getChipRevision(); - devInfo.chipFreq = ESP.getCpuFreqMHz(); - - Serial.print(devInfo.flashSize); - Serial.println(" MB"); - Serial.print("Flash speed:"); - Serial.print(devInfo.flashSpeed); - Serial.println(" M"); - Serial.print("Model:"); - - Serial.println(devInfo.chipModel); - Serial.print("Chip Revision:"); - Serial.println(devInfo.chipModelRev); - Serial.print("Freq:"); - Serial.print(devInfo.chipFreq); - Serial.println(" MHZ"); - Serial.print("SDK Ver:"); - Serial.println(ESP.getSdkVersion()); - Serial.print("DATE:"); - Serial.println(__DATE__); - Serial.print("TIME:"); - Serial.println(__TIME__); - - uint8_t mac[6]; - char macStr[18] = { 0 }; - esp_efuse_mac_get_default(mac); - sprintf(macStr, "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]); - Serial.print("EFUSE MAC: "); - Serial.print(macStr); - Serial.println(); - - Serial.println("-----------------------------------"); - -#elif defined(ARDUINO_ARCH_STM32) - uint32_t uid[3]; - - uid[0] = HAL_GetUIDw0(); - uid[1] = HAL_GetUIDw1(); - uid[2] = HAL_GetUIDw2(); - Serial.print("STM UID: 0X"); - Serial.print( uid[0], HEX); - Serial.print( uid[1], HEX); - Serial.print( uid[2], HEX); - Serial.println(); -#endif -} - - -void setupBoards(bool disable_u8g2 ) -{ - Serial.begin(115200); - - // while (!Serial); - - Serial.println("setupBoards"); - - getChipInfo(); - -#if defined(ARDUINO_ARCH_ESP32) - SPI.begin(RADIO_SCLK_PIN, RADIO_MISO_PIN, RADIO_MOSI_PIN); -#elif defined(ARDUINO_ARCH_STM32) - SPI.setMISO(RADIO_MISO_PIN); - SPI.setMOSI(RADIO_MOSI_PIN); - SPI.setSCLK(RADIO_SCLK_PIN); - SPI.begin(); -#endif - - -#if defined(HAS_SDCARD) -#if defined(SD_SHARE_SPI_BUS) - // Share spi bus with lora , set lora cs,rst to high - pinMode(RADIO_CS_PIN, OUTPUT); - pinMode(RADIO_RST_PIN, OUTPUT); - digitalWrite(RADIO_CS_PIN, HIGH); - digitalWrite(RADIO_RST_PIN, HIGH); -#else - SDCardSPI.begin(SDCARD_SCLK, SDCARD_MISO, SDCARD_MOSI); -#endif /*SD_SHARE_SPI_BUS*/ -#endif /*HAS_SDCARD*/ - - - -#ifdef I2C1_SDA - Wire1.begin(I2C1_SDA, I2C1_SCL); -#endif - -#ifdef HAS_GPS - -#ifdef GPS_EN_PIN - pinMode(GPS_EN_PIN, OUTPUT); - digitalWrite(GPS_EN_PIN, HIGH); -#endif /*GPS_EN_PIN*/ - -#ifdef GPS_PPS_PIN - pinMode(GPS_PPS_PIN, INPUT); -#endif - -#if defined(ARDUINO_ARCH_ESP32) - SerialGPS.begin(GPS_BAUD_RATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); -#elif defined(ARDUINO_ARCH_STM32) - SerialGPS.setRx(GPS_RX_PIN); - SerialGPS.setTx(GPS_TX_PIN); - SerialGPS.begin(GPS_BAUD_RATE); -#endif // ARDUINO_ARCH_ -#endif // HAS_GPS - -#if OLED_RST - pinMode(OLED_RST, OUTPUT); - digitalWrite(OLED_RST, HIGH); delay(20); - digitalWrite(OLED_RST, LOW); delay(20); - digitalWrite(OLED_RST, HIGH); delay(20); -#endif - -#ifdef BOARD_LED - /* - * T-Beam LED defaults to low level as turn on, - * so it needs to be forced to pull up - * * * * */ -#if LED_ON == LOW -#if defined(ARDUINO_ARCH_ESP32) - gpio_hold_dis((gpio_num_t)BOARD_LED); -#endif //ARDUINO_ARCH_ESP32 -#endif - - pinMode(BOARD_LED, OUTPUT); - digitalWrite(BOARD_LED, LED_ON); -#endif - - -#ifdef GPS_RST_PIN - pinMode(GPS_RST_PIN, OUTPUT); - digitalWrite(GPS_RST_PIN, HIGH); -#endif - -#if defined(ARDUINO_ARCH_STM32) - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); -#endif - - -#ifdef RADIO_LDO_EN - /* - * 2W and BPF LoRa LDO enable , Control SX1262 , LNA - * 2W and BPF Radio version must set LDO_EN to HIGH to initialize the Radio - * */ - pinMode(RADIO_LDO_EN, OUTPUT); - digitalWrite(RADIO_LDO_EN, HIGH); -#endif - -#ifdef RADIO_CTRL - /* - * 2W and BPF LoRa RX TX Control - * CTRL controls the LNA, not the PA. - * Only when RX DATA is on, set to 1 to turn on LNA - * When TX DATA is on, CTL is set to 0 and LNA is turned off. - * */ - pinMode(RADIO_CTRL, OUTPUT); - digitalWrite(RADIO_CTRL, LOW); -#endif - -#ifdef RADIO_DIO2_PIN - pinMode(RADIO_DIO2_PIN, INPUT); -#endif - - beginPower(); - - // Perform an I2C scan after power-on operation -#ifdef I2C_SDA - Wire.begin(I2C_SDA, I2C_SCL); - Serial.println("==================Scan Wire =================="); - scanDevices(&Wire); -#endif - -#ifdef I2C1_SDA - Serial.println("==================Scan Wire1=================="); - scanDevices(&Wire1); -#endif - - beginSDCard(); - -#ifdef HAS_DISPLAY - if (!disable_u8g2) { - beginDisplay(); - } -#endif - - // scanWiFi(); - - // beginWiFi(); - -#ifdef FAN_CTRL - pinMode(FAN_CTRL, OUTPUT); -#endif - -#ifdef HAS_GPS - -#if defined(T_BEAM_S3_SUPREME) || defined(T_BEAM_1W) || defined(T_BEAM_S3_BPF) - // T-Beam v1.2 skips L76K - find_gps = beginGPS(); -#endif - uint32_t baudrate[] = {9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600, 4800}; - if (!find_gps) { - // Restore factory settings - for ( int i = 0; i < sizeof(baudrate) / sizeof(baudrate[0]); ++i) { - Serial.printf("Update baudrate : %u\n", baudrate[i]); - SerialGPS.updateBaudRate(baudrate[i]); - if (recoveryGPS()) { - Serial.println("UBlox GNSS init succeeded, using UBlox GNSS Module\n"); - gps_model = "UBlox"; - find_gps = true; - break; - } - } - } else { - gps_model = "L76K"; - } - - if (find_gps) { - deviceOnline |= GPS_ONLINE; - } - -#ifdef T_BEAM_S3_SUPREME - enable_slow_clock(); -#endif - -#endif -} - - -void printResult(bool radio_online) -{ - Serial.print("Radio : "); - Serial.println((radio_online) ? "+" : "-"); - -#if defined(CONFIG_IDF_TARGET_ESP32) || defined(CONFIG_IDF_TARGET_ESP32S3) - - Serial.print("PSRAM : "); - Serial.println((psramFound()) ? "+" : "-"); - -#ifdef DISPLAY_MODEL - Serial.print("Display : "); - Serial.println(( disp) ? "+" : "-"); -#endif - -#ifdef HAS_SDCARD - Serial.print("Sd Card : "); - Serial.println((SD.cardSize() != 0) ? "+" : "-"); -#endif - -#ifdef HAS_PMU - Serial.print("Power : "); - Serial.println(( PMU ) ? "+" : "-"); -#endif - -#ifdef HAS_GPS - Serial.print("GPS : "); - Serial.println(( find_gps ) ? "+" : "-"); -#endif - -#ifdef DISPLAY_MODEL - if (disp) { - - disp->clearBuffer(); - disp->setFont(u8g2_font_NokiaLargeBold_tf ); - uint16_t str_w = disp->getStrWidth(BOARD_VARIANT_NAME); - disp->drawStr((disp->getWidth() - str_w) / 2, 16, BOARD_VARIANT_NAME); - disp->drawHLine(5, 21, disp->getWidth() - 5); - - disp->drawStr( 0, 38, "Disp:"); disp->drawStr( 45, 38, ( disp) ? "+" : "-"); - -#ifdef HAS_SDCARD - disp->drawStr( 0, 54, "SD :"); disp->drawStr( 45, 54, (SD.cardSize() != 0) ? "+" : "-"); -#endif - - disp->drawStr( 62, 38, "Radio:"); disp->drawStr( 120, 38, ( radio_online ) ? "+" : "-"); - -#ifdef HAS_PMU - disp->drawStr( 62, 54, "Power:"); disp->drawStr( 120, 54, ( PMU ) ? "+" : "-"); -#endif - - disp->sendBuffer(); - - delay(2000); - } -#endif -#endif /*DISPLAY_MODEL*/ -} - - -#ifdef BOARD_LED -static uint8_t ledState = LOW; -static const uint32_t debounceDelay = 50; -static uint32_t lastDebounceTime = 0; -#endif - - -#ifdef BOARD_LED -void flashLed() -{ - if ((millis() - lastDebounceTime) > debounceDelay) { - ledState = !ledState; - if (ledState) { - digitalWrite(BOARD_LED, LED_ON); - } else { - digitalWrite(BOARD_LED, !LED_ON); - } - lastDebounceTime = millis(); - } -} -#endif - - -void scanDevices(TwoWire *w) -{ - uint8_t err, addr; - int nDevices = 0; - uint32_t start = 0; - - Serial.println("I2C Devices scanning"); - for (addr = 1; addr < 127; addr++) { - start = millis(); - w->beginTransmission(addr); delay(2); - err = w->endTransmission(); - if (err == 0) { - nDevices++; - switch (addr) { - case 0x77: - bme280_address = addr; - Serial.printf("\tFound BME280 Sensor at address 0x%02X\n", addr); - deviceOnline |= BME280_ONLINE; - break; - case 0x76: - bme280_address = addr; - Serial.printf("\tFound BME280 Sensor at address 0x%02X\n", addr); - deviceOnline |= BME280_ONLINE; - break; - case 0x34: - Serial.printf("\tFound AXP192/AXP2101 PMU at address 0x%02X\n", addr); - deviceOnline |= POWERMANAGE_ONLINE; - break; - case 0x3C: - case 0x3D: { - w->beginTransmission(addr); - w->write((uint8_t)0x00); - w->endTransmission(); - w->requestFrom((int)addr, 1); - uint8_t r = w->read(); - if (r == 0x80) { - Serial.printf("\tFound QMC6310N MAG Sensor at address 0x%02X\n", addr); - mag_address = addr; - deviceOnline |= QMC6310N_ONLINE; - } else { - Serial.printf("\tFound OLED display at address 0x%02X\n", addr); - display_address = addr; - deviceOnline |= DISPLAY_ONLINE; - } - } - break; - case 0x51: - Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); - deviceOnline |= PCF8563_ONLINE; - break; - case 0x1C: - Serial.printf("\tFound QMC6310U MAG Sensor at address 0x%02X\n", addr); - deviceOnline |= QMC6310U_ONLINE; - mag_address = addr; - break; - default: - Serial.print("\tI2C device found at address 0x"); - if (addr < 16) { - Serial.print("0"); - } - Serial.print(addr, HEX); - Serial.println(" !"); - break; - } - - } else if (err == 4) { - Serial.print("Unknow error at address 0x"); - if (addr < 16) { - Serial.print("0"); - } - Serial.println(addr, HEX); - } - } - if (nDevices == 0) - Serial.println("No I2C devices found\n"); -} - - -#ifdef HAS_GPS - -bool l76kProbe() -{ - bool result = false; - uint32_t startTimeout ; - SerialGPS.write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"); - delay(5); - // Get version information - startTimeout = millis() + 3000; - Serial.print("Try to init L76K . Wait stop ."); - // SerialGPS.flush(); - while (SerialGPS.available()) { - int c = SerialGPS.read(); - // Serial.write(c); - // Serial.print("."); - // Serial.flush(); - // SerialGPS.flush(); - if (millis() > startTimeout) { - Serial.println("Wait L76K stop NMEA timeout!"); - return false; - } - }; - Serial.println(); - SerialGPS.flush(); - delay(200); - - SerialGPS.write("$PCAS06,0*1B\r\n"); - startTimeout = millis() + 500; - String ver = ""; - while (!SerialGPS.available()) { - if (millis() > startTimeout) { - Serial.println("Get L76K timeout!"); - return false; - } - } - SerialGPS.setTimeout(10); - ver = SerialGPS.readStringUntil('\n'); - if (ver.startsWith("$GPTXT,01,01,02")) { - Serial.println("L76K GNSS init succeeded, using L76K GNSS Module\n"); - result = true; - } - delay(500); - - // Initialize the L76K Chip, use GPS + GLONASS - SerialGPS.write("$PCAS04,5*1C\r\n"); - delay(250); - // only ask for RMC and GGA - SerialGPS.write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n"); - delay(250); - // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g - SerialGPS.write("$PCAS11,3*1E\r\n"); - return result; -} - -bool beginGPS() -{ - SerialGPS.begin(GPS_BAUD_RATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); - bool result = false; - for ( int i = 0; i < 3; ++i) { - result = l76kProbe(); - if (result) { - return result; - } - } - return result; -} - - - -static int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID) -{ - uint16_t ubxFrameCounter = 0; - bool ubxFrame = 0; - uint32_t startTime = millis(); - uint16_t needRead; - - while (millis() - startTime < 800) { - while (SerialGPS.available()) { - int c = SerialGPS.read(); - switch (ubxFrameCounter) { - case 0: - if (c == 0xB5) { - ubxFrameCounter++; - } - break; - case 1: - if (c == 0x62) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 2: - if (c == requestedClass) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 3: - if (c == requestedID) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 4: - needRead = c; - ubxFrameCounter++; - break; - case 5: - needRead |= (c << 8); - ubxFrameCounter++; - break; - case 6: - if (needRead >= size) { - ubxFrameCounter = 0; - break; - } - if (SerialGPS.readBytes(buffer, needRead) != needRead) { - ubxFrameCounter = 0; - } else { - return needRead; - } - break; - - default: - break; - } - } - } - return 0; -} - -bool recoveryGPS() -{ - uint8_t buffer[256]; - uint8_t cfg_clear1[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x1C, 0xA2}; - uint8_t cfg_clear2[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x1B, 0xA1}; - uint8_t cfg_clear3[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03, 0x1D, 0xB3}; - SerialGPS.write(cfg_clear1, sizeof(cfg_clear1)); - - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - SerialGPS.write(cfg_clear2, sizeof(cfg_clear2)); - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - SerialGPS.write(cfg_clear3, sizeof(cfg_clear3)); - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - // UBX-CFG-RATE, Size 8, 'Navigation/measurement rate settings' - uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30}; - SerialGPS.write(cfg_rate, sizeof(cfg_rate)); - if (getAck(buffer, 256, 0x06, 0x08)) { - Serial.println("Get ack successes!"); - } else { - return false; - } - return true; -} - -#endif - - -#if defined(ARDUINO_ARCH_ESP32) - -//NCP18XH103F03RB: https://item.szlcsc.com/14214.html -// #define NTC_PIN 14 // NTC connection pins -#define SERIES_RESISTOR 10000 // Series resistance value (10kΩ) -#define B_COEFFICIENT 3950 // B value, set according to the NTC specification -#define ROOM_TEMP 298.15 // 25°C absolute temperature (K) -#define ROOM_TEMP_RESISTANCE 10000 // Resistance of NTC at 25°C (10kΩ) - -float getTempForNTC() -{ - static float temperature = 0.0f; -#ifdef NTC_PIN - static uint32_t check_temperature = 0; - if (millis() > check_temperature) { - float voltage = analogReadMilliVolts(NTC_PIN) / 1000.0; - float resistance = SERIES_RESISTOR * ((3.3 / voltage) - 1); // Calculate the resistance of NTC - - // Calculate temperature using the Steinhart-Hart equation - temperature = (1.0 / (log(resistance / ROOM_TEMP_RESISTANCE) / B_COEFFICIENT + 1.0 / ROOM_TEMP)) - 273.15; - - // Serial.print("Temperature: "); - // Serial.print(temperature); - // Serial.println(" °C"); - - check_temperature = millis() + 1000; - } -#endif - return temperature; -} - -#ifdef ENABLE_BLE - -#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b" -#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8" - -void setupBLE() -{ - - uint8_t mac[6]; - char macStr[18] = { 0 }; - esp_efuse_mac_get_default(mac); - sprintf(macStr, "%02X:%02X", mac[0], mac[1]); - - String dev = BOARD_VARIANT_NAME; - dev.concat('-'); - dev.concat(macStr); - - Serial.print("Starting BLE:"); - Serial.println(dev); - - BLEDevice::init(dev.c_str()); - BLEServer *pServer = BLEDevice::createServer(); - BLEService *pService = pServer->createService(SERVICE_UUID); - BLECharacteristic *pCharacteristic = pService->createCharacteristic( - CHARACTERISTIC_UUID, - BLECharacteristic::PROPERTY_READ | - BLECharacteristic::PROPERTY_WRITE); - - pCharacteristic->setValue("Hello World"); - pService->start(); - // BLEAdvertising *pAdvertising = pServer->getAdvertising(); // this still is working for backward compatibility - BLEAdvertising *pAdvertising = BLEDevice::getAdvertising(); - pAdvertising->addServiceUUID(SERVICE_UUID); - pAdvertising->setScanResponse(true); - pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue - pAdvertising->setMinPreferred(0x12); - BLEDevice::startAdvertising(); - Serial.println("Characteristic defined! Now you can read it in your phone!"); -} -#endif - -#define CALIBRATE_ONE(cali_clk) calibrate_one(cali_clk, #cali_clk) - -static uint32_t calibrate_one(rtc_cal_sel_t cal_clk, const char *name) -{ - const uint32_t cal_count = 1000; - const float factor = (1 << 19) * 1000.0f; - uint32_t cali_val; - for (int i = 0; i < 5; ++i) { - cali_val = rtc_clk_cal(cal_clk, cal_count); - } - return cali_val; -} - -static void enable_slow_clock() -{ - rtc_clk_32k_enable(true); - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - uint32_t cal_32k = CALIBRATE_ONE(RTC_CAL_32K_XTAL); - if (cal_32k == 0) { - Serial.printf("32K XTAL OSC has not started up"); - } else { - rtc_clk_slow_freq_set(RTC_SLOW_FREQ_32K_XTAL); - Serial.println("Switching RTC Source to 32.768Khz succeeded, using 32K XTAL"); - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - CALIBRATE_ONE(RTC_CAL_32K_XTAL); - } - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - CALIBRATE_ONE(RTC_CAL_32K_XTAL); - if (rtc_clk_slow_freq_get() != RTC_SLOW_FREQ_32K_XTAL) { - Serial.println("Warning: Failed to set rtc clk to 32.768Khz !!! "); return; - } - deviceOnline |= OSC32768_ONLINE; -} - - -void scanWiFi() -{ - WiFi.mode(WIFI_STA); - WiFi.disconnect(); - Serial.println("WiFi Scan start"); - // WiFi.scanNetworks will return the number of networks found. - int n = WiFi.scanNetworks(); - Serial.println("WiFi Scan done"); - if (n == 0) { - Serial.println("no networks found"); - } else { - Serial.print(n); - Serial.println(" networks found"); - Serial.println("Nr | SSID | RSSI | CH | Encryption"); - for (int i = 0; i < n; ++i) { - // Print SSID and RSSI for each network found - Serial.printf("%2d", i + 1); - Serial.print(" | "); - Serial.printf("%-32.32s", WiFi.SSID(i).c_str()); - Serial.print(" | "); - Serial.printf("%4ld", WiFi.RSSI(i)); - Serial.print(" | "); - Serial.printf("%2ld", WiFi.channel(i)); - Serial.print(" | "); - switch (WiFi.encryptionType(i)) { - case WIFI_AUTH_OPEN: Serial.print("open"); break; - case WIFI_AUTH_WEP: Serial.print("WEP"); break; - case WIFI_AUTH_WPA_PSK: Serial.print("WPA"); break; - case WIFI_AUTH_WPA2_PSK: Serial.print("WPA2"); break; - case WIFI_AUTH_WPA_WPA2_PSK: Serial.print("WPA+WPA2"); break; - case WIFI_AUTH_WPA2_ENTERPRISE: Serial.print("WPA2-EAP"); break; - case WIFI_AUTH_WPA3_PSK: Serial.print("WPA3"); break; - case WIFI_AUTH_WPA2_WPA3_PSK: Serial.print("WPA2+WPA3"); break; - case WIFI_AUTH_WAPI_PSK: Serial.print("WAPI"); break; - default: Serial.print("unknown"); - } - Serial.println(); - delay(10); - } - } - Serial.println(""); - - // Delete the scan result to free memory for code below. - WiFi.scanDelete(); -} - -#endif /*ARDUINO_ARCH_ESP32*/ - diff --git a/examples/Sensor/QMC6310_CompassExample/QMC6310_CompassExample.ino b/examples/Sensor/QMC6310_CompassExample/QMC6310_CompassExample.ino deleted file mode 100644 index 7514fc9..0000000 --- a/examples/Sensor/QMC6310_CompassExample/QMC6310_CompassExample.ino +++ /dev/null @@ -1,211 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file QMC6310_GetDataExample.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 - * - */ -#include -#include -#include -#include "SensorQMC6310.hpp" -#include "SH1106Wire.h" //Oled display from https://github.com/ThingPulse/esp8266-oled-ssd1306 -#include "LoRaBoards.h" - -SH1106Wire display(0x3c, I2C_SDA, I2C_SCL); -SensorQMC6310 qmc; - -int last_dx, last_dy, dx, dy, angle; - -const int centreX = 32; -const int centreY = 30; -const int radius = 22; - -//Compass application from https://github.com/G6EJD/ESP8266_micro_compass_HMC5883_OLED -void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, OLEDDISPLAY_COLOR color) -{ - display.setColor(color); - float distance; - int dx, dy, x2o, y2o, x3, y3, x4, y4, k; - distance = sqrt(pow((x1 - x2), 2) + pow((y1 - y2), 2)); - dx = x2 + (x1 - x2) * alength / distance; - dy = y2 + (y1 - y2) * alength / distance; - k = awidth / alength; - x2o = x2 - dx; - y2o = dy - y2; - x3 = y2o * k + dx; - y3 = x2o * k + dy; - x4 = dx - y2o * k; - y4 = dy - x2o * k; - display.drawLine(x1, y1, x2, y2); - display.drawLine(x1, y1, dx, dy); - display.drawLine(x3, y3, x4, y4); - display.drawLine(x3, y3, x2, y2); - display.drawLine(x2, y2, x4, y4); -} - -void setup() -{ - Serial.begin(115200); - while (!Serial); - - setupBoards(); - - // For QMC6310U, the device address is 0x1C. - // For QMC6310N, the device address is 0x3C. - // The sensor device address is provided by the setupBoards I2C scanner. - extern uint8_t mag_address; - if (!qmc.begin(Wire, mag_address, I2C_SDA, I2C_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); - while (1) { - delay(1000); - } - } - - display.init(); - - last_dx = centreX; - last_dy = centreY; - - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); - - /* Config Magnetometer */ - int r = qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_NORMAL, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_2G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_100HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_1, - - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); - - if (r != 0) { - Serial.println("Device config failed!"); - while (1)delay(1000); - } - - // Print register configuration information - qmc.dumpCtrlRegister(); - - Serial.println("Read data now..."); -} - -void loop() -{ - - //Wiat data ready - if (qmc.isDataReady()) { - - qmc.readData(); - - - display.drawString(29, 0, "N"); - display.drawString( 0, 28, "W"); - display.drawString(60, 28, "E"); - display.drawString(29, 53, "S"); - - display.drawLine(1, 1, 7, 7); - display.drawLine(62, 1, 56, 7); - display.drawLine(1, 62, 7, 56); - display.drawLine(56, 56, 62, 62); - - //Compass application from https://github.com/G6EJD/ESP8266_micro_compass_HMC5883_OLED - float heading = atan2(qmc.getY(), qmc.getX()); // Result is in radians - // Now add the 'Declination Angle' for you location. Declination is the variation in magnetic field at your location. - // Find your declination here: http://www.magnetic-declination.com/ - // At my location it is : -2° 20' W, or -2.33 Degrees, which needs to be in radians so = -2.33 / 180 * PI = -0.041 West is + E is - - // Make declination = 0 if you can't find your Declination value, the error is negible for nearly all locations - float declination = -0.041; - heading = heading + declination; - - if (heading < 0) heading += 2 * PI; // Correct for when signs are reversed. - if (heading > 2 * PI) heading -= 2 * PI; // Correct for when heading exceeds 360-degree, especially when declination is included - angle = int(heading * 180 / M_PI); // Convert radians to degrees for more a more usual result - // For the screen -X = up and +X = down and -Y = left and +Y = right, so does not follow coordinate conventions - dx = (0.7 * radius * cos((angle - 90) * 3.14 / 180)) + centreX; // calculate X position for the screen coordinates - can be confusing! - dy = (0.7 * radius * sin((angle - 90) * 3.14 / 180)) + centreY; // calculate Y position for the screen coordinates - can be confusing! - arrow(last_dx, last_dy, centreX, centreY, 2, 2, BLACK); // Erase last arrow - arrow(dx, dy, centreX, centreY, 2, 2, WHITE); // Draw arrow in new position - - display.setColor(BLACK); - display.fillRect(80, 50, 25, 48); - display.setColor(WHITE); - display.drawString(80, 50, String(angle) + "°"); - display.display(); - - last_dx = dx; - last_dy = dy; - - // for debug. - Serial.print("GYR: "); - Serial.print("X:"); - Serial.print(qmc.getX()); - Serial.print(" Y:"); - Serial.print(qmc.getY()); - Serial.print(" Z:"); - Serial.print(qmc.getZ()); - Serial.println(" uT"); - } - - - delay(100); -} - diff --git a/examples/Sensor/QMC6310_CompassExample/utilities.h b/examples/Sensor/QMC6310_CompassExample/utilities.h deleted file mode 100644 index 08b2145..0000000 --- a/examples/Sensor/QMC6310_CompassExample/utilities.h +++ /dev/null @@ -1,780 +0,0 @@ -/** - * @file utilities.h - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-05-12 - * @last-update 2025-07-07 - */ -#pragma once - - -// Support board list , Macro definition below, select the board definition to be used -// 将要使用的板子型号注释打开,只能打开一个型号,如果不明白自己买的型号是什么,请找客服核对型号 - -/*********************************** Model definition start 型号定义起始 ***********************************/ - -// 1. --------------T3 V1.3 ------------------------------- -// https://lilygo.cc/products/lora-v1-3 -// #define T3_V1_3_SX1276 -// #define T3_V1_3_SX1278 - -// 2. --------------T3 V1.6.1 ------------------------------- -// https://lilygo.cc/products/lora3 - -// #define T3_V1_6_SX1276 -// #define T3_V1_6_SX1278 - -// 3. --------------T3 V3.0 TCXO------------------------------- -// Product: https://lilygo.cc/products/t3-tcxo - -// #define T3_V3_0_SX1276_TCXO - -// 4. --------------T-BEAM ESP32------------------------------- -// Product: https://lilygo.cc/products/t-beam - -// #define T_BEAM_SX1262 -// #define T_BEAM_SX1276 -// #define T_BEAM_SX1278 -// #define T_BEAM_LR1121 - -// 5. --------------T-BEAM S3------------------------------ -// Product: https://lilygo.cc/products/t-beam-supreme - -// #define T_BEAM_S3_SUPREME_SX1262 -// #define T_BEAM_S3_SUPREME_LR1121 - -// 6. --------------T3 S3 V1.0 or T3 S3 V1.3 ------------------- -// Product: https://lilygo.cc/products/t3s3-v1-0 , same v1.3 -// Product: https://lilygo.cc/products/t3-s3-v1-3 - -// #define T3_S3_V1_2_SX1262 -// #define T3_S3_V1_2_SX1276 -// #define T3_S3_V1_2_SX1278 -// #define T3_S3_V1_2_SX1280 -// #define T3_S3_V1_2_SX1280_PA -// #define T3_S3_V1_2_LR1121 -// #define T3_S3_V1_2_LR1121_PA - -// 7. --------------T-Motion ------------------------------------- -// Product: https://lilygo.cc/products/t-motion-s76g-stm32-lora - -// #define T_MOTION - -// --------------T3 C6 ------------------------------------- -// Product: https://lilygo.cc/products/t-lora-c6 - -// #define T3_C6 - - -// --------------T-Beam BPF ------------------------------------- -// Product: https://lilygo.cc/products/t-beam-bpf -// #define T_BEAM_S3_BPF - -// --------------LoRa 2W ------------------------------------- -// Product: ... -// #define T_BEAM_1W - - - -// #define T3_V1_6_SX1276_TCXO // Production has stopped - -/*********************************** Model definition end 型号定义结尾 ***********************************/ - - -#define UNUSED_PIN (0) - -#if defined(T_BEAM_SX1262) || defined(T_BEAM_SX1276) || defined(T_BEAM_SX1278) || defined(T_BEAM_LR1121) - - -#if defined(T_BEAM_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T_BEAM_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T_BEAM_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#elif defined(T_BEAM_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#endif // T_BEAM_SX1262 - - -#define GPS_RX_PIN 34 -#define GPS_TX_PIN 12 -#define BUTTON_PIN 38 -#define BUTTON_PIN_MASK GPIO_SEL_38 -#define I2C_SDA 21 -#define I2C_SCL 22 -#define PMU_IRQ 35 - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN 33 -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - -// LR1121 Only -#define RADIO_DIO9_PIN 33 - - -#define BOARD_LED 4 -#define LED_ON LOW -#define LED_OFF HIGH - -#define BUTTON_PIN 38 - -#define GPS_BAUD_RATE 9600 -#define HAS_GPS -#define HAS_DISPLAY //Optional, bring your own board, no OLED !! -#define HAS_PMU - -#define PMU_WIRE_PORT Wire -#define BOARD_VARIANT_NAME "T-Beam" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#elif defined(T3_V1_3_SX1276) || defined(T3_V1_3_SX1278) - - -#if defined(T3_V1_3_SX1276) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - -#elif defined(T3_V1_3_SX1278) - -#ifndef USING_SX1278 -#define USING_SX1278 -#endif - -#endif // T3_V1_3_SX1276 - - - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 14 -#define RADIO_DIO1_PIN 33 - -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - - -#define ADC_PIN 35 -#define HAS_DISPLAY -#define BOARD_VARIANT_NAME "T3 V1.3" - -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V1_6_SX1276) || defined(T3_V1_6_SX1278) - - -#if defined(T3_V1_6_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T3_V1_6_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#endif // T3_V1_6_SX1276 - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN 33 -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define ADC_PIN 35 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V1.6" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V1_6_SX1276_TCXO) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN -1//33 -/* -* In the T3 V1.6.1 TCXO version, Radio DIO1 is connected to Radio’s -* internal temperature-compensated crystal oscillator enable -* */ -// TCXO pin must be set to HIGH before enabling Radio -#define RADIO_TCXO_ENABLE 33 -#define RADIO_BUSY_PIN 32 - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define ADC_PIN 35 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V1.6 TCXO" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V3_0) || defined(T3_V3_0_SX1276_TCXO) - -#ifdef T3_V3_0_SX1276_TCXO -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#endif - - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST 4 - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_RST_PIN 23 - -// TCXO pin must be set to HIGH before enabling Radio -#define RADIO_TCXO_ENABLE 12 //only sx1276 tcxo version -#define RADIO_BUSY_PIN 32 - - -#if defined(USING_SX1262) - -#define RADIO_DIO1_PIN 26 -#define RADIO_BUSY_PIN 32 - -#elif defined(USING_SX1276) || defined(USING_SX1278) -//!SX1276/78 module only - -#define RADIO_DIO0_PIN 26 -#define RADIO_DIO1_PIN 32 - -#elif defined(USING_LR1121) - -#define RADIO_DIO9_PIN 26 //LR1121 DIO9 -#define RADIO_BUSY_PIN 32 //LR1121 BUSY - -#endif - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V3.0" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BUTTON_PIN 0 -#define ADC_PIN 35 - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_S3_V1_2_SX1262) || defined(ARDUINO_LILYGO_T3S3_SX1262) || \ - defined(T3_S3_V1_2_SX1276) || defined(ARDUINO_LILYGO_T3S3_SX1276) || \ - defined(T3_S3_V1_2_SX1278) || defined(ARDUINO_LILYGO_T3S3_SX1278) || \ - defined(T3_S3_V1_2_SX1280) || defined(ARDUINO_LILYGO_T3S3_SX1280) || \ - defined(T3_S3_V1_2_SX1280_PA) || defined(ARDUINO_LILYGO_T3S3_SX1280PA) || \ - defined(T3_S3_V1_2_LR1121) || defined(ARDUINO_LILYGO_T3S3_LR1121) || \ - defined(T3_S3_V1_2_LR1121_PA) || defined(ARDUINO_LILYGO_T3S3_LR1121PA) - - -#if defined(T3_S3_V1_2_SX1262) || defined(ARDUINO_LILYGO_T3S3_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T3_S3_V1_2_SX1276) || defined(ARDUINO_LILYGO_T3S3_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T3_S3_V1_2_SX1278) || defined(ARDUINO_LILYGO_T3S3_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#elif defined(T3_S3_V1_2_SX1280) || defined(ARDUINO_LILYGO_T3S3_SX1280) -#ifndef USING_SX1280 -#define USING_SX1280 -#endif -#elif defined(T3_S3_V1_2_SX1280_PA) || defined(ARDUINO_LILYGO_T3S3_SX1280PA) -#ifndef USING_SX1280PA -#define USING_SX1280PA -#endif -#elif defined(T3_S3_V1_2_LR1121) || defined(ARDUINO_LILYGO_T3S3_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#elif defined(T3_S3_V1_2_LR1121_PA) || defined(ARDUINO_LILYGO_T3S3_LR1121PA) -#ifndef USING_LR1121PA -#define USING_LR1121PA -#endif -#endif // T3_S3_V1_2_SX1262 - - -#define I2C_SDA 18 -#define I2C_SCL 17 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 3 -#define RADIO_MOSI_PIN 6 -#define RADIO_CS_PIN 7 - -#define SDCARD_MOSI 11 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 37 -#define LED_ON HIGH - -#define BUTTON_PIN 0 -#define ADC_PIN 1 - -#define RADIO_RST_PIN 8 - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#if defined(USING_SX1262) - -#define RADIO_DIO1_PIN 33 -#define RADIO_BUSY_PIN 34 - -#elif defined(USING_SX1276) || defined(USING_SX1278) -//!SX1276/78 module only -#define RADIO_BUSY_PIN 33 //DIO1 - -#define RADIO_DIO0_PIN 9 -#define RADIO_DIO1_PIN 33 -#define RADIO_DIO2_PIN 34 -#define RADIO_DIO3_PIN 21 -#define RADIO_DIO4_PIN 10 -#define RADIO_DIO5_PIN 36 - -#elif defined(USING_SX1280) - -#define RADIO_DIO1_PIN 9 //SX1280 DIO1 = IO9 -#define RADIO_BUSY_PIN 36 //SX1280 BUSY = IO36 - -#elif defined(USING_SX1280PA) - -#define RADIO_DIO1_PIN 9 //SX1280 DIO1 = IO9 -#define RADIO_BUSY_PIN 36 //SX1280 BUSY = IO36 -#define RADIO_RX_PIN 21 -#define RADIO_TX_PIN 10 - - -#elif defined(USING_LR1121) - -#define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 -#define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 - -#define LILYGO_RADIO_2G4_TX_POWER_LIMIT 13 //LR1121 2.4G TX Power Limit - -#elif defined(USING_LR1121PA) - -#define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 -#define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 - -#define LILYGO_RADIO_2G4_TX_POWER_LIMIT 0 //LR1121 2.4G TX Power Limit -#define USING_LR1121 - -#endif - -#define BUTTON_PIN 0 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3-S3-V1.X" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#elif defined(T_BEAM_S3_SUPREME_SX1262) || defined(T_BEAM_S3_SUPREME_LR1121) - -#ifndef T_BEAM_S3_SUPREME -#define T_BEAM_S3_SUPREME -#endif - -#if defined(T_BEAM_S3_SUPREME_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T_BEAM_S3_SUPREME_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#endif - -#define I2C_SDA (17) -#define I2C_SCL (18) - -#define I2C1_SDA (42) -#define I2C1_SCL (41) -#define PMU_IRQ (40) - -#define GPS_RX_PIN (9) -#define GPS_TX_PIN (8) -#define GPS_EN_PIN (7) -#define GPS_PPS_PIN (6) - -#define BUTTON_PIN (0) -#define BUTTON_PIN_MASK (GPIO_SEL_0) -#define BUTTON_COUNT (1) -#define BUTTON_ARRAY {BUTTON_PIN} - -#define RADIO_SCLK_PIN (12) -#define RADIO_MISO_PIN (13) -#define RADIO_MOSI_PIN (11) -#define RADIO_CS_PIN (10) -#define RADIO_DIO0_PIN (-1) -#define RADIO_RST_PIN (5) -#define RADIO_DIO1_PIN (1) -#define RADIO_BUSY_PIN (4) - -// LR1121 Version -#define RADIO_DIO9_PIN (1) - -#define SPI_MOSI (35) -#define SPI_SCK (36) -#define SPI_MISO (37) -#define SPI_CS (47) -#define IMU_CS (34) -#define IMU_INT (33) - -#define SDCARD_MOSI SPI_MOSI -#define SDCARD_MISO SPI_MISO -#define SDCARD_SCLK SPI_SCK -#define SDCARD_CS SPI_CS - -#define RTC_INT (14) - -#define GPS_BAUD_RATE (9600) - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define HAS_PMU - -#define __HAS_SPI1__ -#define HAS_SENSOR - -#define PMU_WIRE_PORT Wire1 -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "T-Beam S3" - -#elif defined(T_MOTION_S76G) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - - -#define RADIO_SCLK_PIN PB13 -#define RADIO_MISO_PIN PB14 -#define RADIO_MOSI_PIN PB15 -#define RADIO_CS_PIN PB12 -#define RADIO_RST_PIN PB10 - -#define RADIO_DIO0_PIN PB11 -#define RADIO_DIO1_PIN PC13 -#define RADIO_DIO2_PIN PB9 -#define RADIO_DIO3_PIN PB4 -#define RADIO_DIO4_PIN PB3 -#define RADIO_DIO5_PIN PA15 - -#undef RADIO_BUSY_PIN -#undef RADIO_DIO1_PIN -#define RADIO_BUSY_PIN PC13 //DIO1 -#define RADIO_DIO1_PIN PB11 //DIO0 - -#define RADIO_SWITCH_PIN PA1 //1:Rx, 0:Tx - -#define GPS_EN_PIN PC6 -#define GPS_RST_PIN PB2 -#define GPS_RX_PIN PC11 -#define GPS_TX_PIN PC10 -#define GPS_ENABLE_PIN PC6 -#define GPS_BAUD_RATE 115200 -#define GPS_PPS_PIN PB5 - -#define UART_RX_PIN PA10 -#define UART_TX_PIN PA9 - -#define I2C_SCL PB6 -#define I2C_SDA PB7 - -#define BOARD_VARIANT_NAME "T-Motion S76G" - -#define HAS_GPS - -#elif defined(T3_C6) - - -#ifndef USING_SX1262 -#define USING_SX1262 -#endif - - -#define RADIO_SCLK_PIN 6 -#define RADIO_MISO_PIN 1 -#define RADIO_MOSI_PIN 0 -#define RADIO_CS_PIN 18 -#define RADIO_DIO1_PIN 23 -#define RADIO_BUSY_PIN 22 -#define RADIO_RST_PIN 21 - -#define I2C_SDA 8 -#define I2C_SCL 9 - -#define BOARD_LED 7 -#define LED_ON HIGH -#define RADIO_RX_PIN 15 -#define RADIO_TX_PIN 14 - - -#define BOARD_VARIANT_NAME "T3-C6" - -#define USING_DIO2_AS_RF_SWITCH - - -#elif defined(T_BEAM_S3_BPF) - - -#ifndef USING_SX1278 -#define USING_SX1278 -#endif - -#define I2C_SDA (8) -#define I2C_SCL (9) - -#define PMU_IRQ (4) - -#define GPS_RX_PIN (5) -#define GPS_TX_PIN (6) -#define GPS_PPS_PIN (7) - -#define BUTTON_PIN (0) -#define BUTTON2_PIN (3) /*BUTTON 2 = GPIO3*/ -#define BUTTON_PIN_MASK GPIO_SEL_0 /*BUTTON 1 = GPIO0*/ -#define BUTTON_COUNT (2) -#define BUTTON_ARRAY {BUTTON_PIN, BUTTON2_PIN /*BUTTON 2 = GPIO3*/} - -#define RADIO_SCLK_PIN (12)//(41) -#define RADIO_MISO_PIN (13)//(42) -#define RADIO_MOSI_PIN (11)//(2) -#define RADIO_CS_PIN (1) -#define RADIO_RST_PIN (18) - -#define RADIO_DIO0_PIN (14) -#define RADIO_DIO1_PIN (21) - -// #define RADIO_TCXO_ENABLE (17) -#define RADIO_LDO_EN (16) -#define RADIO_CTRL (39) - -#define SPI_MOSI (11) -#define SPI_SCK (12) -#define SPI_MISO (13) -#define SPI_CS (10) - -#define SDCARD_MOSI SPI_MOSI -#define SDCARD_MISO SPI_MISO -#define SDCARD_SCLK SPI_SCK -#define SDCARD_CS SPI_CS - - -#define GPS_BAUD_RATE 9600 - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define HAS_PMU -#define SD_SHARE_SPI_BUS - -#define PMU_WIRE_PORT Wire -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "T-Beam BPF" - - -#elif defined(T_BEAM_1W) - -#ifndef USING_SX1262 -#define USING_SX1262 -#endif - -#define I2C_SDA (8) -#define I2C_SCL (9) - -#define GPS_RX_PIN (5) -#define GPS_TX_PIN (6) -#define GPS_PPS_PIN (7) -#define GPS_EN_PIN (16) - -#define BUTTON_PIN (0) /*BUTTON 1 = GPIO0*/ -#define BUTTON2_PIN (17) /*BUTTON 2 = GPIO17*/ - -#define BUTTON_PIN_MASK GPIO_SEL_0 -#define BUTTON_COUNT (2) -#define BUTTON_ARRAY {BUTTON_PIN,BUTTON2_PIN/*BUTTON 2 = GPIO3*/} - -#define SPI_MOSI (11) -#define SPI_SCK (13) -#define SPI_MISO (12) -#define SPI_CS (10) - -#define SDCARD_CS SPI_CS - -#define RADIO_SCLK_PIN (SPI_SCK) -#define RADIO_MISO_PIN (SPI_MISO) -#define RADIO_MOSI_PIN (SPI_MOSI) - -#define RADIO_CS_PIN (15) -#define RADIO_RST_PIN (3) -#define RADIO_LDO_EN (40) -#define RADIO_CTRL (21) -#define RADIO_DIO1_PIN (1) -#define RADIO_BUSY_PIN (38) - -#define BOARD_LED 18 -#define LED_ON HIGH -#define LED_OFF LOW - - -#define NTC_PIN (14) -#define FAN_CTRL (41) -#define ADC_PIN (4) - -#define BAT_ADC_PULLUP_RES (300000.0) -#define BAT_ADC_PULLDOWN_RES (150000.0) -#define BAT_MAX_VOLTAGE (7.4) -#define BAT_VOL_COMPENSATION (0.25) -#define GPS_SLEEP_HOLD_ON_LOW - -#define GPS_BAUD_RATE 9600 - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define SD_SHARE_SPI_BUS // SD-CARD AND RADIO SHARE SPI BUS -#define __HAS_SPI1__ - -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "LoRa 2W" - -#else -#error "When using it for the first time, please define the board model in 首次使用时，请在 文件最上方定义板卡模型" -#endif - - - - - -#if defined(USING_SX1262) -#define RADIO_TYPE_STR "SX1262" -#elif defined(USING_SX1276) -#define RADIO_TYPE_STR "SX1276" -#elif defined(USING_SX1278) -#define RADIO_TYPE_STR "SX1278" -#elif defined(USING_LR1121) -#define RADIO_TYPE_STR "LR1121" -#elif defined(USING_SX1280) -#define RADIO_TYPE_STR "SX1280" -#elif defined(USING_SX1280PA) -#define RADIO_TYPE_STR "SX1280PA" -#endif - - - - - diff --git a/examples/Sensor/QMC6310_GetDataExample/LoRaBoards.cpp b/examples/Sensor/QMC6310_GetDataExample/LoRaBoards.cpp deleted file mode 100644 index 8acfe74..0000000 --- a/examples/Sensor/QMC6310_GetDataExample/LoRaBoards.cpp +++ /dev/null @@ -1,1353 +0,0 @@ -/** - * @file boards.cpp - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-04-24 - * @last-update 2025-05-26 - * - */ - -#include "LoRaBoards.h" - -#include "soc/rtc.h" -#ifdef ENABLE_BLE -#include -#include -#include -#endif - -#if defined(HAS_SDCARD) && !defined(SD_SHARE_SPI_BUS) -SPIClass SDCardSPI(HSPI); -#endif - - -#if defined(ARDUINO_ARCH_STM32) -HardwareSerial SerialGPS(GPS_RX_PIN, GPS_TX_PIN); -#endif - -#if defined(ARDUINO_ARCH_ESP32) -#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,0,0) -#include "hal/gpio_hal.h" -#endif -#include "driver/gpio.h" -#endif //ARDUINO_ARCH_ESP32 - -#ifdef DISPLAY_MODEL -U8G2 *disp = NULL; -#endif - - -static DevInfo_t devInfo; - -#ifdef HAS_GPS -static bool find_gps = false; -String gps_model = "None"; -#endif - -// I2S Devices default address -uint8_t bme280_address = 0x77; // It might be 0x76 -uint8_t mag_address = 0x1C; // QMC6310U=0x1C QMC6310N=0x3C -uint8_t display_address = 0x3c; // It might be 0x3D - -uint32_t deviceOnline = 0x00; - -static void enable_slow_clock(); - -#ifdef HAS_PMU -XPowersLibInterface *PMU = NULL; -bool pmuInterrupt; - -static void setPmuFlag() -{ - pmuInterrupt = true; -} -bool beginPower() -{ - if (!PMU) { - PMU = new XPowersAXP2101(PMU_WIRE_PORT); - if (!PMU->init()) { - Serial.println("Warning: Failed to find AXP2101 power management"); - delete PMU; - PMU = NULL; - } else { - Serial.println("AXP2101 PMU init succeeded, using AXP2101 PMU"); - } - } - - if (!PMU) { - PMU = new XPowersAXP192(PMU_WIRE_PORT); - if (!PMU->init()) { - Serial.println("Warning: Failed to find AXP192 power management"); - delete PMU; - PMU = NULL; - } else { - Serial.println("AXP192 PMU init succeeded, using AXP192 PMU"); - } - } - - if (!PMU) { - return false; - } - - deviceOnline |= POWERMANAGE_ONLINE; - - PMU->setChargingLedMode(XPOWERS_CHG_LED_CTRL_CHG); - - pinMode(PMU_IRQ, INPUT_PULLUP); - attachInterrupt(PMU_IRQ, setPmuFlag, FALLING); - - if (PMU->getChipModel() == XPOWERS_AXP192) { - - PMU->setProtectedChannel(XPOWERS_DCDC3); - - // lora - PMU->setPowerChannelVoltage(XPOWERS_LDO2, 3300); - // gps - PMU->setPowerChannelVoltage(XPOWERS_LDO3, 3300); - // oled - PMU->setPowerChannelVoltage(XPOWERS_DCDC1, 3300); - - PMU->enablePowerOutput(XPOWERS_LDO2); - PMU->enablePowerOutput(XPOWERS_LDO3); - - //protected oled power source - PMU->setProtectedChannel(XPOWERS_DCDC1); - //protected esp32 power source - PMU->setProtectedChannel(XPOWERS_DCDC3); - // enable oled power - PMU->enablePowerOutput(XPOWERS_DCDC1); - - //disable not use channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - - PMU->disableIRQ(XPOWERS_AXP192_ALL_IRQ); - - PMU->enableIRQ(XPOWERS_AXP192_VBUS_REMOVE_IRQ | - XPOWERS_AXP192_VBUS_INSERT_IRQ | - XPOWERS_AXP192_BAT_CHG_DONE_IRQ | - XPOWERS_AXP192_BAT_CHG_START_IRQ | - XPOWERS_AXP192_BAT_REMOVE_IRQ | - XPOWERS_AXP192_BAT_INSERT_IRQ | - XPOWERS_AXP192_PKEY_SHORT_IRQ - ); - - } else if (PMU->getChipModel() == XPOWERS_AXP2101) { - -#if defined(CONFIG_IDF_TARGET_ESP32) - //Unuse power channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - PMU->disablePowerOutput(XPOWERS_DCDC3); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_ALDO4); - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_CPULDO); - - // GNSS RTC PowerVDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_VBACKUP, 3300); - PMU->enablePowerOutput(XPOWERS_VBACKUP); - - //ESP32 VDD 3300mV - // ! No need to set, automatically open , Don't close it - // PMU->setPowerChannelVoltage(XPOWERS_DCDC1, 3300); - // PMU->setProtectedChannel(XPOWERS_DCDC1); - PMU->setProtectedChannel(XPOWERS_DCDC1); - - // LoRa VDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - //GNSS VDD 3300mV - PMU->setPowerChannelVoltage(XPOWERS_ALDO3, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO3); - -#endif /*CONFIG_IDF_TARGET_ESP32*/ - - -#if defined(T_BEAM_S3_SUPREME) - - //t-beam m.2 inface - //gps - PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO4); - - // lora - PMU->setPowerChannelVoltage(XPOWERS_ALDO3, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO3); - - // In order to avoid bus occupation, during initialization, the SD card and QMC sensor are powered off and restarted - if (ESP_SLEEP_WAKEUP_UNDEFINED == esp_sleep_get_wakeup_cause()) { - Serial.println("Power off and restart ALDO BLDO.."); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_ALDO2); - PMU->disablePowerOutput(XPOWERS_BLDO1); - delay(250); - } - - // Sensor - PMU->setPowerChannelVoltage(XPOWERS_ALDO1, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO1); - - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - //Sdcard - - PMU->setPowerChannelVoltage(XPOWERS_BLDO1, 3300); - PMU->enablePowerOutput(XPOWERS_BLDO1); - - PMU->setPowerChannelVoltage(XPOWERS_BLDO2, 3300); - PMU->enablePowerOutput(XPOWERS_BLDO2); - - //face m.2 - PMU->setPowerChannelVoltage(XPOWERS_DCDC3, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC3); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC4, XPOWERS_AXP2101_DCDC4_VOL2_MAX); - PMU->enablePowerOutput(XPOWERS_DCDC4); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC5, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC5); - - - //not use channel - PMU->disablePowerOutput(XPOWERS_DCDC2); - // PMU->disablePowerOutput(XPOWERS_DCDC4); - // PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_VBACKUP); - - -#elif defined(T_BEAM_S3_BPF) - - //gps - PMU->setPowerChannelVoltage(XPOWERS_ALDO4, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO4); - - //Sdcard - PMU->setPowerChannelVoltage(XPOWERS_ALDO2, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO2); - - // Extern Power source - PMU->setPowerChannelVoltage(XPOWERS_DCDC3, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC3); - - PMU->setPowerChannelVoltage(XPOWERS_DCDC5, 3300); - PMU->enablePowerOutput(XPOWERS_DCDC5); - - PMU->setPowerChannelVoltage(XPOWERS_ALDO1, 3300); - PMU->enablePowerOutput(XPOWERS_ALDO1); - - //not use channel - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC2); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_DLDO1); - PMU->disablePowerOutput(XPOWERS_DLDO2); - PMU->disablePowerOutput(XPOWERS_VBACKUP); - - -#endif - - // Set constant current charge current limit - PMU->setChargerConstantCurr(XPOWERS_AXP2101_CHG_CUR_500MA); - - // Set charge cut-off voltage - PMU->setChargeTargetVoltage(XPOWERS_AXP2101_CHG_VOL_4V2); - - // Disable all interrupts - PMU->disableIRQ(XPOWERS_AXP2101_ALL_IRQ); - // Clear all interrupt flags - PMU->clearIrqStatus(); - // Enable the required interrupt function - PMU->enableIRQ( - XPOWERS_AXP2101_BAT_INSERT_IRQ | XPOWERS_AXP2101_BAT_REMOVE_IRQ | //BATTERY - XPOWERS_AXP2101_VBUS_INSERT_IRQ | XPOWERS_AXP2101_VBUS_REMOVE_IRQ | //VBUS - XPOWERS_AXP2101_PKEY_SHORT_IRQ | XPOWERS_AXP2101_PKEY_LONG_IRQ | //POWER KEY - XPOWERS_AXP2101_BAT_CHG_DONE_IRQ | XPOWERS_AXP2101_BAT_CHG_START_IRQ //CHARGE - // XPOWERS_AXP2101_PKEY_NEGATIVE_IRQ | XPOWERS_AXP2101_PKEY_POSITIVE_IRQ | //POWER KEY - ); - - } - - PMU->enableSystemVoltageMeasure(); - PMU->enableVbusVoltageMeasure(); - PMU->enableBattVoltageMeasure(); - - Serial.printf("=========================================\n"); - if (PMU->isChannelAvailable(XPOWERS_DCDC1)) { - Serial.printf("DC1 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC1)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC2)) { - Serial.printf("DC2 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC2)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC3)) { - Serial.printf("DC3 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC3)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC4)) { - Serial.printf("DC4 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC4) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC4)); - } - if (PMU->isChannelAvailable(XPOWERS_DCDC5)) { - Serial.printf("DC5 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_DCDC5) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_DCDC5)); - } - if (PMU->isChannelAvailable(XPOWERS_LDO2)) { - Serial.printf("LDO2 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_LDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_LDO2)); - } - if (PMU->isChannelAvailable(XPOWERS_LDO3)) { - Serial.printf("LDO3 : %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_LDO3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_LDO3)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO1)) { - Serial.printf("ALDO1: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO1)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO2)) { - Serial.printf("ALDO2: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO2)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO3)) { - Serial.printf("ALDO3: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO3) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO3)); - } - if (PMU->isChannelAvailable(XPOWERS_ALDO4)) { - Serial.printf("ALDO4: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_ALDO4) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_ALDO4)); - } - if (PMU->isChannelAvailable(XPOWERS_BLDO1)) { - Serial.printf("BLDO1: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_BLDO1) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_BLDO1)); - } - if (PMU->isChannelAvailable(XPOWERS_BLDO2)) { - Serial.printf("BLDO2: %s Voltage: %04u mV \n", PMU->isPowerChannelEnable(XPOWERS_BLDO2) ? "+" : "-", PMU->getPowerChannelVoltage(XPOWERS_BLDO2)); - } - - - // Set the time of pressing the button to turn off - PMU->setPowerKeyPressOffTime(XPOWERS_POWEROFF_4S); - uint8_t opt = PMU->getPowerKeyPressOffTime(); - Serial.print("PowerKeyPressOffTime:"); - switch (opt) { - case XPOWERS_POWEROFF_4S: Serial.println("4 Second"); - break; - case XPOWERS_POWEROFF_6S: Serial.println("6 Second"); - break; - case XPOWERS_POWEROFF_8S: Serial.println("8 Second"); - break; - case XPOWERS_POWEROFF_10S: Serial.println("10 Second"); - break; - default: - break; - } - - Serial.printf("=========================================\n"); - - return true; -} - -void disablePeripherals() -{ - - if (!PMU)return; - - PMU->setChargingLedMode(XPOWERS_CHG_LED_OFF); - // Disable the PMU measurement section - PMU->disableSystemVoltageMeasure(); - PMU->disableVbusVoltageMeasure(); - PMU->disableBattVoltageMeasure(); - PMU->disableTemperatureMeasure(); - PMU->disableBattDetection(); - -#if defined(T_BEAM_S3_BPF) - PMU->disablePowerOutput(XPOWERS_ALDO4); //gps - PMU->disablePowerOutput(XPOWERS_ALDO2); //Sdcard - PMU->disablePowerOutput(XPOWERS_DCDC3); // Extern Power source - PMU->disablePowerOutput(XPOWERS_DCDC5); - PMU->disablePowerOutput(XPOWERS_ALDO1); -#else - - if (PMU->getChipModel() == XPOWERS_AXP2101) { - - // Disable all PMU interrupts - PMU->disableIRQ(XPOWERS_AXP2101_ALL_IRQ); - // Clear the PMU interrupt status before sleeping, otherwise the sleep current will increase - PMU->clearIrqStatus(); - // GNSS RTC Power , Turning off GPS backup voltage and current can further reduce ~ 100 uA - PMU->disablePowerOutput(XPOWERS_VBACKUP); - // LoRa VDD - PMU->disablePowerOutput(XPOWERS_ALDO2); - // GNSS VDD - PMU->disablePowerOutput(XPOWERS_ALDO3); - -#if defined(T_BEAM_S3_SUPREME) - PMU->disablePowerOutput(XPOWERS_ALDO4); - PMU->disablePowerOutput(XPOWERS_ALDO1); - PMU->disablePowerOutput(XPOWERS_BLDO1); - PMU->disablePowerOutput(XPOWERS_BLDO2); - PMU->disablePowerOutput(XPOWERS_DCDC3); - PMU->disablePowerOutput(XPOWERS_DCDC4); - PMU->disablePowerOutput(XPOWERS_DCDC5); -#endif - - } else if (PMU->getChipModel() == XPOWERS_AXP192) { - - // Disable all PMU interrupts - PMU->disableIRQ(XPOWERS_AXP192_ALL_IRQ); - // Clear the PMU interrupt status before sleeping, otherwise the sleep current will increase - PMU->clearIrqStatus(); - // LoRa VDD - PMU->disablePowerOutput(XPOWERS_LDO2); - // GNSS VDD - PMU->disablePowerOutput(XPOWERS_LDO3); - - - } -#endif -} - -void loopPMU(void (*pressed_cb)(void)) -{ - if (!PMU) { - return; - } - if (!pmuInterrupt) { - return; - } - - pmuInterrupt = false; - // Get PMU Interrupt Status Register - uint32_t status = PMU->getIrqStatus(); - Serial.print("STATUS => HEX:"); - Serial.print(status, HEX); - Serial.print(" BIN:"); - Serial.println(status, BIN); - - if (PMU->isVbusInsertIrq()) { - Serial.println("isVbusInsert"); - } - if (PMU->isVbusRemoveIrq()) { - Serial.println("isVbusRemove"); - } - if (PMU->isBatInsertIrq()) { - Serial.println("isBatInsert"); - } - if (PMU->isBatRemoveIrq()) { - Serial.println("isBatRemove"); - } - if (PMU->isPekeyShortPressIrq()) { - Serial.println("isPekeyShortPress"); - if (pressed_cb) { - pressed_cb(); - } - } - if (PMU->isPekeyLongPressIrq()) { - Serial.println("isPekeyLongPress"); - } - if (PMU->isBatChargeDoneIrq()) { - Serial.println("isBatChargeDone"); - } - if (PMU->isBatChargeStartIrq()) { - Serial.println("isBatChargeStart"); - } - // Clear PMU Interrupt Status Register - PMU->clearIrqStatus(); -} -#endif - -#ifdef DISPLAY_MODEL -bool beginDisplay() -{ - Wire.beginTransmission(display_address); - if (Wire.endTransmission() == 0) { - disp = new DISPLAY_MODEL(U8G2_R0, U8X8_PIN_NONE); - Serial.printf("Find Display model at 0x%X address\n", display_address); - disp->begin(); - disp->clearBuffer(); - disp->setFont(u8g2_font_inb19_mr); - disp->drawStr(0, 30, "LilyGo"); - disp->drawHLine(2, 35, 47); - disp->drawHLine(3, 36, 47); - disp->drawVLine(45, 32, 12); - disp->drawVLine(46, 33, 12); - disp->setFont(u8g2_font_inb19_mf); - disp->drawStr(58, 60, "LoRa"); - disp->sendBuffer(); - disp->setFont(u8g2_font_fur11_tf); - delay(3000); - return true; - } - - Serial.printf("Warning: Failed to find Display at 0x%0X address\n", display_address); - return false; -} -#endif - -#ifdef HAS_SDCARD -bool writeFile(const char *path, const char *buffer) -{ - bool rlst = false; - File file = SD.open(path, FILE_WRITE); - if (!file) { - Serial.println("Failed to open file for writing"); - return false; - } - if (file.print(buffer)) { - Serial.println("File written"); - rlst = true; - } else { - Serial.println("Write failed"); - rlst = false; - } - file.close(); - return rlst; -} - - -bool readFile(const char *path, uint8_t *buffer, size_t size) -{ - File file = SD.open(path, FILE_READ); - if (!file) { - Serial.println("Failed to open file for reading"); - return false; - } - file.read(buffer, size); - file.close(); - return false; -} - -bool testSDWriteAndRead() -{ - const char *path = "/test_sd.txt"; - const char *message = "This is a string for reading and writing SD card."; - uint8_t buffer[128] = {0}; - - if (!writeFile(path, message)) { - Serial.println("SD Text write failed"); - return false; - } - delay(100); - - readFile(path, buffer, 128); - - if (memcmp(buffer, message, strlen(message)) != 0) { - Serial.println("SD verification failed"); - return false; - } - Serial.println("SD verification successful"); - return true; -} -#endif /*HAS_SDCARD*/ - -#ifdef HAS_SDCARD -bool beginSDCard() -{ -#if defined(HAS_SDCARD) && defined(SD_SHARE_SPI_BUS) - bool rlst = SD.begin(SDCARD_CS); -#else - bool rlst = SD.begin(SDCARD_CS, SDCardSPI); -#endif - - if (rlst) { - uint32_t cardSize = SD.cardSize() / (1024 * 1024); - Serial.print("Sd Card init succeeded, The current available capacity is "); - Serial.print(cardSize / 1024.0); - Serial.println(" GB"); - deviceOnline |= SDCARD_ONLINE; - return testSDWriteAndRead(); - } else { - Serial.println("Warning: Failed to init Sd Card"); - } - return false; -} -#endif /*HAS_SDCARD*/ - -void beginWiFi() -{ -#ifdef ARDUINO_ARCH_ESP32 - if (!WiFi.softAP(BOARD_VARIANT_NAME)) { - log_e("Soft AP creation failed."); - } - IPAddress myIP = WiFi.softAPIP(); - Serial.print("AP IP address: "); - Serial.println(myIP); -#endif -} - - -void printWakeupReason() -{ -#ifdef ARDUINO_ARCH_ESP32 - Serial.print("Reset reason:"); - esp_sleep_wakeup_cause_t wakeup_reason; - wakeup_reason = esp_sleep_get_wakeup_cause(); - switch (wakeup_reason) { - case ESP_SLEEP_WAKEUP_UNDEFINED: - Serial.println(" In case of deep sleep, reset was not caused by exit from deep sleep"); - break; - case ESP_SLEEP_WAKEUP_ALL : - break; - case ESP_SLEEP_WAKEUP_EXT0 : - Serial.println("Wakeup caused by external signal using RTC_IO"); - break; - case ESP_SLEEP_WAKEUP_EXT1 : - Serial.println("Wakeup caused by external signal using RTC_CNTL"); - break; - case ESP_SLEEP_WAKEUP_TIMER : - Serial.println("Wakeup caused by timer"); - break; - case ESP_SLEEP_WAKEUP_TOUCHPAD : - Serial.println("Wakeup caused by touchpad"); - break; - case ESP_SLEEP_WAKEUP_ULP : - Serial.println("Wakeup caused by ULP program"); - break; - default : - Serial.printf("Wakeup was not caused by deep sleep: %d\n", wakeup_reason); - break; - } -#endif -} - - -void getChipInfo() -{ -#if defined(ARDUINO_ARCH_ESP32) - - Serial.println("-----------------------------------"); - - printWakeupReason(); - - - if (psramFound()) { - uint32_t psram = ESP.getPsramSize(); - devInfo.psramSize = psram / 1024.0 / 1024.0; - Serial.printf("PSRAM is enable! PSRAM: %.2fMB\n", devInfo.psramSize); - deviceOnline |= PSRAM_ONLINE; - } else { - Serial.println("PSRAM is disable!"); - devInfo.psramSize = 0; - } - - - Serial.print("Flash:"); - devInfo.flashSize = ESP.getFlashChipSize() / 1024.0 / 1024.0; - devInfo.flashSpeed = ESP.getFlashChipSpeed() / 1000 / 1000; - devInfo.chipModel = ESP.getChipModel(); - devInfo.chipModelRev = ESP.getChipRevision(); - devInfo.chipFreq = ESP.getCpuFreqMHz(); - - Serial.print(devInfo.flashSize); - Serial.println(" MB"); - Serial.print("Flash speed:"); - Serial.print(devInfo.flashSpeed); - Serial.println(" M"); - Serial.print("Model:"); - - Serial.println(devInfo.chipModel); - Serial.print("Chip Revision:"); - Serial.println(devInfo.chipModelRev); - Serial.print("Freq:"); - Serial.print(devInfo.chipFreq); - Serial.println(" MHZ"); - Serial.print("SDK Ver:"); - Serial.println(ESP.getSdkVersion()); - Serial.print("DATE:"); - Serial.println(__DATE__); - Serial.print("TIME:"); - Serial.println(__TIME__); - - uint8_t mac[6]; - char macStr[18] = { 0 }; - esp_efuse_mac_get_default(mac); - sprintf(macStr, "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]); - Serial.print("EFUSE MAC: "); - Serial.print(macStr); - Serial.println(); - - Serial.println("-----------------------------------"); - -#elif defined(ARDUINO_ARCH_STM32) - uint32_t uid[3]; - - uid[0] = HAL_GetUIDw0(); - uid[1] = HAL_GetUIDw1(); - uid[2] = HAL_GetUIDw2(); - Serial.print("STM UID: 0X"); - Serial.print( uid[0], HEX); - Serial.print( uid[1], HEX); - Serial.print( uid[2], HEX); - Serial.println(); -#endif -} - - -void setupBoards(bool disable_u8g2 ) -{ - Serial.begin(115200); - - // while (!Serial); - - Serial.println("setupBoards"); - - getChipInfo(); - -#if defined(ARDUINO_ARCH_ESP32) - SPI.begin(RADIO_SCLK_PIN, RADIO_MISO_PIN, RADIO_MOSI_PIN); -#elif defined(ARDUINO_ARCH_STM32) - SPI.setMISO(RADIO_MISO_PIN); - SPI.setMOSI(RADIO_MOSI_PIN); - SPI.setSCLK(RADIO_SCLK_PIN); - SPI.begin(); -#endif - - -#if defined(HAS_SDCARD) -#if defined(SD_SHARE_SPI_BUS) - // Share spi bus with lora , set lora cs,rst to high - pinMode(RADIO_CS_PIN, OUTPUT); - pinMode(RADIO_RST_PIN, OUTPUT); - digitalWrite(RADIO_CS_PIN, HIGH); - digitalWrite(RADIO_RST_PIN, HIGH); -#else - SDCardSPI.begin(SDCARD_SCLK, SDCARD_MISO, SDCARD_MOSI); -#endif /*SD_SHARE_SPI_BUS*/ -#endif /*HAS_SDCARD*/ - - - -#ifdef I2C1_SDA - Wire1.begin(I2C1_SDA, I2C1_SCL); -#endif - -#ifdef HAS_GPS - -#ifdef GPS_EN_PIN - pinMode(GPS_EN_PIN, OUTPUT); - digitalWrite(GPS_EN_PIN, HIGH); -#endif /*GPS_EN_PIN*/ - -#ifdef GPS_PPS_PIN - pinMode(GPS_PPS_PIN, INPUT); -#endif - -#if defined(ARDUINO_ARCH_ESP32) - SerialGPS.begin(GPS_BAUD_RATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); -#elif defined(ARDUINO_ARCH_STM32) - SerialGPS.setRx(GPS_RX_PIN); - SerialGPS.setTx(GPS_TX_PIN); - SerialGPS.begin(GPS_BAUD_RATE); -#endif // ARDUINO_ARCH_ -#endif // HAS_GPS - -#if OLED_RST - pinMode(OLED_RST, OUTPUT); - digitalWrite(OLED_RST, HIGH); delay(20); - digitalWrite(OLED_RST, LOW); delay(20); - digitalWrite(OLED_RST, HIGH); delay(20); -#endif - -#ifdef BOARD_LED - /* - * T-Beam LED defaults to low level as turn on, - * so it needs to be forced to pull up - * * * * */ -#if LED_ON == LOW -#if defined(ARDUINO_ARCH_ESP32) - gpio_hold_dis((gpio_num_t)BOARD_LED); -#endif //ARDUINO_ARCH_ESP32 -#endif - - pinMode(BOARD_LED, OUTPUT); - digitalWrite(BOARD_LED, LED_ON); -#endif - - -#ifdef GPS_RST_PIN - pinMode(GPS_RST_PIN, OUTPUT); - digitalWrite(GPS_RST_PIN, HIGH); -#endif - -#if defined(ARDUINO_ARCH_STM32) - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); - SerialGPS.println("@GSR"); delay(300); -#endif - - -#ifdef RADIO_LDO_EN - /* - * 2W and BPF LoRa LDO enable , Control SX1262 , LNA - * 2W and BPF Radio version must set LDO_EN to HIGH to initialize the Radio - * */ - pinMode(RADIO_LDO_EN, OUTPUT); - digitalWrite(RADIO_LDO_EN, HIGH); -#endif - -#ifdef RADIO_CTRL - /* - * 2W and BPF LoRa RX TX Control - * CTRL controls the LNA, not the PA. - * Only when RX DATA is on, set to 1 to turn on LNA - * When TX DATA is on, CTL is set to 0 and LNA is turned off. - * */ - pinMode(RADIO_CTRL, OUTPUT); - digitalWrite(RADIO_CTRL, LOW); -#endif - -#ifdef RADIO_DIO2_PIN - pinMode(RADIO_DIO2_PIN, INPUT); -#endif - - beginPower(); - - // Perform an I2C scan after power-on operation -#ifdef I2C_SDA - Wire.begin(I2C_SDA, I2C_SCL); - Serial.println("==================Scan Wire =================="); - scanDevices(&Wire); -#endif - -#ifdef I2C1_SDA - Serial.println("==================Scan Wire1=================="); - scanDevices(&Wire1); -#endif - - beginSDCard(); - -#ifdef HAS_DISPLAY - if (!disable_u8g2) { - beginDisplay(); - } -#endif - - // scanWiFi(); - - // beginWiFi(); - -#ifdef FAN_CTRL - pinMode(FAN_CTRL, OUTPUT); -#endif - -#ifdef HAS_GPS - -#if defined(T_BEAM_S3_SUPREME) || defined(T_BEAM_1W) || defined(T_BEAM_S3_BPF) - // T-Beam v1.2 skips L76K - find_gps = beginGPS(); -#endif - uint32_t baudrate[] = {9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600, 4800}; - if (!find_gps) { - // Restore factory settings - for ( int i = 0; i < sizeof(baudrate) / sizeof(baudrate[0]); ++i) { - Serial.printf("Update baudrate : %u\n", baudrate[i]); - SerialGPS.updateBaudRate(baudrate[i]); - if (recoveryGPS()) { - Serial.println("UBlox GNSS init succeeded, using UBlox GNSS Module\n"); - gps_model = "UBlox"; - find_gps = true; - break; - } - } - } else { - gps_model = "L76K"; - } - - if (find_gps) { - deviceOnline |= GPS_ONLINE; - } - -#ifdef T_BEAM_S3_SUPREME - enable_slow_clock(); -#endif - -#endif -} - - -void printResult(bool radio_online) -{ - Serial.print("Radio : "); - Serial.println((radio_online) ? "+" : "-"); - -#if defined(CONFIG_IDF_TARGET_ESP32) || defined(CONFIG_IDF_TARGET_ESP32S3) - - Serial.print("PSRAM : "); - Serial.println((psramFound()) ? "+" : "-"); - -#ifdef DISPLAY_MODEL - Serial.print("Display : "); - Serial.println(( disp) ? "+" : "-"); -#endif - -#ifdef HAS_SDCARD - Serial.print("Sd Card : "); - Serial.println((SD.cardSize() != 0) ? "+" : "-"); -#endif - -#ifdef HAS_PMU - Serial.print("Power : "); - Serial.println(( PMU ) ? "+" : "-"); -#endif - -#ifdef HAS_GPS - Serial.print("GPS : "); - Serial.println(( find_gps ) ? "+" : "-"); -#endif - -#ifdef DISPLAY_MODEL - if (disp) { - - disp->clearBuffer(); - disp->setFont(u8g2_font_NokiaLargeBold_tf ); - uint16_t str_w = disp->getStrWidth(BOARD_VARIANT_NAME); - disp->drawStr((disp->getWidth() - str_w) / 2, 16, BOARD_VARIANT_NAME); - disp->drawHLine(5, 21, disp->getWidth() - 5); - - disp->drawStr( 0, 38, "Disp:"); disp->drawStr( 45, 38, ( disp) ? "+" : "-"); - -#ifdef HAS_SDCARD - disp->drawStr( 0, 54, "SD :"); disp->drawStr( 45, 54, (SD.cardSize() != 0) ? "+" : "-"); -#endif - - disp->drawStr( 62, 38, "Radio:"); disp->drawStr( 120, 38, ( radio_online ) ? "+" : "-"); - -#ifdef HAS_PMU - disp->drawStr( 62, 54, "Power:"); disp->drawStr( 120, 54, ( PMU ) ? "+" : "-"); -#endif - - disp->sendBuffer(); - - delay(2000); - } -#endif -#endif /*DISPLAY_MODEL*/ -} - - -#ifdef BOARD_LED -static uint8_t ledState = LOW; -static const uint32_t debounceDelay = 50; -static uint32_t lastDebounceTime = 0; -#endif - - -#ifdef BOARD_LED -void flashLed() -{ - if ((millis() - lastDebounceTime) > debounceDelay) { - ledState = !ledState; - if (ledState) { - digitalWrite(BOARD_LED, LED_ON); - } else { - digitalWrite(BOARD_LED, !LED_ON); - } - lastDebounceTime = millis(); - } -} -#endif - - -void scanDevices(TwoWire *w) -{ - uint8_t err, addr; - int nDevices = 0; - uint32_t start = 0; - - Serial.println("I2C Devices scanning"); - for (addr = 1; addr < 127; addr++) { - start = millis(); - w->beginTransmission(addr); delay(2); - err = w->endTransmission(); - if (err == 0) { - nDevices++; - switch (addr) { - case 0x77: - bme280_address = addr; - Serial.printf("\tFound BME280 Sensor at address 0x%02X\n", addr); - deviceOnline |= BME280_ONLINE; - break; - case 0x76: - bme280_address = addr; - Serial.printf("\tFound BME280 Sensor at address 0x%02X\n", addr); - deviceOnline |= BME280_ONLINE; - break; - case 0x34: - Serial.printf("\tFound AXP192/AXP2101 PMU at address 0x%02X\n", addr); - deviceOnline |= POWERMANAGE_ONLINE; - break; - case 0x3C: - case 0x3D: { - w->beginTransmission(addr); - w->write((uint8_t)0x00); - w->endTransmission(); - w->requestFrom((int)addr, 1); - uint8_t r = w->read(); - if (r == 0x80) { - Serial.printf("\tFound QMC6310N MAG Sensor at address 0x%02X\n", addr); - mag_address = addr; - deviceOnline |= QMC6310N_ONLINE; - } else { - Serial.printf("\tFound OLED display at address 0x%02X\n", addr); - display_address = addr; - deviceOnline |= DISPLAY_ONLINE; - } - } - break; - case 0x51: - Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); - deviceOnline |= PCF8563_ONLINE; - break; - case 0x1C: - Serial.printf("\tFound QMC6310U MAG Sensor at address 0x%02X\n", addr); - deviceOnline |= QMC6310U_ONLINE; - mag_address = addr; - break; - default: - Serial.print("\tI2C device found at address 0x"); - if (addr < 16) { - Serial.print("0"); - } - Serial.print(addr, HEX); - Serial.println(" !"); - break; - } - - } else if (err == 4) { - Serial.print("Unknow error at address 0x"); - if (addr < 16) { - Serial.print("0"); - } - Serial.println(addr, HEX); - } - } - if (nDevices == 0) - Serial.println("No I2C devices found\n"); -} - - -#ifdef HAS_GPS - -bool l76kProbe() -{ - bool result = false; - uint32_t startTimeout ; - SerialGPS.write("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"); - delay(5); - // Get version information - startTimeout = millis() + 3000; - Serial.print("Try to init L76K . Wait stop ."); - // SerialGPS.flush(); - while (SerialGPS.available()) { - int c = SerialGPS.read(); - // Serial.write(c); - // Serial.print("."); - // Serial.flush(); - // SerialGPS.flush(); - if (millis() > startTimeout) { - Serial.println("Wait L76K stop NMEA timeout!"); - return false; - } - }; - Serial.println(); - SerialGPS.flush(); - delay(200); - - SerialGPS.write("$PCAS06,0*1B\r\n"); - startTimeout = millis() + 500; - String ver = ""; - while (!SerialGPS.available()) { - if (millis() > startTimeout) { - Serial.println("Get L76K timeout!"); - return false; - } - } - SerialGPS.setTimeout(10); - ver = SerialGPS.readStringUntil('\n'); - if (ver.startsWith("$GPTXT,01,01,02")) { - Serial.println("L76K GNSS init succeeded, using L76K GNSS Module\n"); - result = true; - } - delay(500); - - // Initialize the L76K Chip, use GPS + GLONASS - SerialGPS.write("$PCAS04,5*1C\r\n"); - delay(250); - // only ask for RMC and GGA - SerialGPS.write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n"); - delay(250); - // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g - SerialGPS.write("$PCAS11,3*1E\r\n"); - return result; -} - -bool beginGPS() -{ - SerialGPS.begin(GPS_BAUD_RATE, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN); - bool result = false; - for ( int i = 0; i < 3; ++i) { - result = l76kProbe(); - if (result) { - return result; - } - } - return result; -} - - - -static int getAck(uint8_t *buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedID) -{ - uint16_t ubxFrameCounter = 0; - bool ubxFrame = 0; - uint32_t startTime = millis(); - uint16_t needRead; - - while (millis() - startTime < 800) { - while (SerialGPS.available()) { - int c = SerialGPS.read(); - switch (ubxFrameCounter) { - case 0: - if (c == 0xB5) { - ubxFrameCounter++; - } - break; - case 1: - if (c == 0x62) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 2: - if (c == requestedClass) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 3: - if (c == requestedID) { - ubxFrameCounter++; - } else { - ubxFrameCounter = 0; - } - break; - case 4: - needRead = c; - ubxFrameCounter++; - break; - case 5: - needRead |= (c << 8); - ubxFrameCounter++; - break; - case 6: - if (needRead >= size) { - ubxFrameCounter = 0; - break; - } - if (SerialGPS.readBytes(buffer, needRead) != needRead) { - ubxFrameCounter = 0; - } else { - return needRead; - } - break; - - default: - break; - } - } - } - return 0; -} - -bool recoveryGPS() -{ - uint8_t buffer[256]; - uint8_t cfg_clear1[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x1C, 0xA2}; - uint8_t cfg_clear2[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x1B, 0xA1}; - uint8_t cfg_clear3[] = {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03, 0x1D, 0xB3}; - SerialGPS.write(cfg_clear1, sizeof(cfg_clear1)); - - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - SerialGPS.write(cfg_clear2, sizeof(cfg_clear2)); - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - SerialGPS.write(cfg_clear3, sizeof(cfg_clear3)); - if (getAck(buffer, 256, 0x05, 0x01)) { - Serial.println("Get ack successes!"); - } - // UBX-CFG-RATE, Size 8, 'Navigation/measurement rate settings' - uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x0E, 0x30}; - SerialGPS.write(cfg_rate, sizeof(cfg_rate)); - if (getAck(buffer, 256, 0x06, 0x08)) { - Serial.println("Get ack successes!"); - } else { - return false; - } - return true; -} - -#endif - - -#if defined(ARDUINO_ARCH_ESP32) - -//NCP18XH103F03RB: https://item.szlcsc.com/14214.html -// #define NTC_PIN 14 // NTC connection pins -#define SERIES_RESISTOR 10000 // Series resistance value (10kΩ) -#define B_COEFFICIENT 3950 // B value, set according to the NTC specification -#define ROOM_TEMP 298.15 // 25°C absolute temperature (K) -#define ROOM_TEMP_RESISTANCE 10000 // Resistance of NTC at 25°C (10kΩ) - -float getTempForNTC() -{ - static float temperature = 0.0f; -#ifdef NTC_PIN - static uint32_t check_temperature = 0; - if (millis() > check_temperature) { - float voltage = analogReadMilliVolts(NTC_PIN) / 1000.0; - float resistance = SERIES_RESISTOR * ((3.3 / voltage) - 1); // Calculate the resistance of NTC - - // Calculate temperature using the Steinhart-Hart equation - temperature = (1.0 / (log(resistance / ROOM_TEMP_RESISTANCE) / B_COEFFICIENT + 1.0 / ROOM_TEMP)) - 273.15; - - // Serial.print("Temperature: "); - // Serial.print(temperature); - // Serial.println(" °C"); - - check_temperature = millis() + 1000; - } -#endif - return temperature; -} - -#ifdef ENABLE_BLE - -#define SERVICE_UUID "4fafc201-1fb5-459e-8fcc-c5c9c331914b" -#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8" - -void setupBLE() -{ - - uint8_t mac[6]; - char macStr[18] = { 0 }; - esp_efuse_mac_get_default(mac); - sprintf(macStr, "%02X:%02X", mac[0], mac[1]); - - String dev = BOARD_VARIANT_NAME; - dev.concat('-'); - dev.concat(macStr); - - Serial.print("Starting BLE:"); - Serial.println(dev); - - BLEDevice::init(dev.c_str()); - BLEServer *pServer = BLEDevice::createServer(); - BLEService *pService = pServer->createService(SERVICE_UUID); - BLECharacteristic *pCharacteristic = pService->createCharacteristic( - CHARACTERISTIC_UUID, - BLECharacteristic::PROPERTY_READ | - BLECharacteristic::PROPERTY_WRITE); - - pCharacteristic->setValue("Hello World"); - pService->start(); - // BLEAdvertising *pAdvertising = pServer->getAdvertising(); // this still is working for backward compatibility - BLEAdvertising *pAdvertising = BLEDevice::getAdvertising(); - pAdvertising->addServiceUUID(SERVICE_UUID); - pAdvertising->setScanResponse(true); - pAdvertising->setMinPreferred(0x06); // functions that help with iPhone connections issue - pAdvertising->setMinPreferred(0x12); - BLEDevice::startAdvertising(); - Serial.println("Characteristic defined! Now you can read it in your phone!"); -} -#endif - -#define CALIBRATE_ONE(cali_clk) calibrate_one(cali_clk, #cali_clk) - -static uint32_t calibrate_one(rtc_cal_sel_t cal_clk, const char *name) -{ - const uint32_t cal_count = 1000; - const float factor = (1 << 19) * 1000.0f; - uint32_t cali_val; - for (int i = 0; i < 5; ++i) { - cali_val = rtc_clk_cal(cal_clk, cal_count); - } - return cali_val; -} - -static void enable_slow_clock() -{ - rtc_clk_32k_enable(true); - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - uint32_t cal_32k = CALIBRATE_ONE(RTC_CAL_32K_XTAL); - if (cal_32k == 0) { - Serial.printf("32K XTAL OSC has not started up"); - } else { - rtc_clk_slow_freq_set(RTC_SLOW_FREQ_32K_XTAL); - Serial.println("Switching RTC Source to 32.768Khz succeeded, using 32K XTAL"); - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - CALIBRATE_ONE(RTC_CAL_32K_XTAL); - } - CALIBRATE_ONE(RTC_CAL_RTC_MUX); - CALIBRATE_ONE(RTC_CAL_32K_XTAL); - if (rtc_clk_slow_freq_get() != RTC_SLOW_FREQ_32K_XTAL) { - Serial.println("Warning: Failed to set rtc clk to 32.768Khz !!! "); return; - } - deviceOnline |= OSC32768_ONLINE; -} - - -void scanWiFi() -{ - WiFi.mode(WIFI_STA); - WiFi.disconnect(); - Serial.println("WiFi Scan start"); - // WiFi.scanNetworks will return the number of networks found. - int n = WiFi.scanNetworks(); - Serial.println("WiFi Scan done"); - if (n == 0) { - Serial.println("no networks found"); - } else { - Serial.print(n); - Serial.println(" networks found"); - Serial.println("Nr | SSID | RSSI | CH | Encryption"); - for (int i = 0; i < n; ++i) { - // Print SSID and RSSI for each network found - Serial.printf("%2d", i + 1); - Serial.print(" | "); - Serial.printf("%-32.32s", WiFi.SSID(i).c_str()); - Serial.print(" | "); - Serial.printf("%4ld", WiFi.RSSI(i)); - Serial.print(" | "); - Serial.printf("%2ld", WiFi.channel(i)); - Serial.print(" | "); - switch (WiFi.encryptionType(i)) { - case WIFI_AUTH_OPEN: Serial.print("open"); break; - case WIFI_AUTH_WEP: Serial.print("WEP"); break; - case WIFI_AUTH_WPA_PSK: Serial.print("WPA"); break; - case WIFI_AUTH_WPA2_PSK: Serial.print("WPA2"); break; - case WIFI_AUTH_WPA_WPA2_PSK: Serial.print("WPA+WPA2"); break; - case WIFI_AUTH_WPA2_ENTERPRISE: Serial.print("WPA2-EAP"); break; - case WIFI_AUTH_WPA3_PSK: Serial.print("WPA3"); break; - case WIFI_AUTH_WPA2_WPA3_PSK: Serial.print("WPA2+WPA3"); break; - case WIFI_AUTH_WAPI_PSK: Serial.print("WAPI"); break; - default: Serial.print("unknown"); - } - Serial.println(); - delay(10); - } - } - Serial.println(""); - - // Delete the scan result to free memory for code below. - WiFi.scanDelete(); -} - -#endif /*ARDUINO_ARCH_ESP32*/ - diff --git a/examples/Sensor/QMC6310_GetDataExample/LoRaBoards.h b/examples/Sensor/QMC6310_GetDataExample/LoRaBoards.h deleted file mode 100644 index 58288ef..0000000 --- a/examples/Sensor/QMC6310_GetDataExample/LoRaBoards.h +++ /dev/null @@ -1,144 +0,0 @@ -/** - * @file boards.h - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-04-25 - * @last-update 2024-08-07 - */ - -#pragma once - - -#include "utilities.h" - -#ifdef HAS_SDCARD -#include -#endif - -#if defined(ARDUINO_ARCH_ESP32) -#include -#include -#endif - -#include -#include -#include - -#ifdef DISPLAY_MODEL -#include -#endif - -#ifdef HAS_PMU -#include -#endif - -#include - - -#ifndef DISPLAY_ADDR -#define DISPLAY_ADDR 0x3C -#endif - - -// #define ENABLE_BLE //Enable ble function - -enum { - POWERMANAGE_ONLINE = _BV(0), - DISPLAY_ONLINE = _BV(1), - RADIO_ONLINE = _BV(2), - GPS_ONLINE = _BV(3), - PSRAM_ONLINE = _BV(4), - SDCARD_ONLINE = _BV(5), - AXDL345_ONLINE = _BV(6), - BME280_ONLINE = _BV(7), - BMP280_ONLINE = _BV(8), - BME680_ONLINE = _BV(9), - QMC6310U_ONLINE = _BV(10), - QMC6310N_ONLINE = _BV(11), - QMI8658_ONLINE = _BV(12), - PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) -}; - - - -typedef struct { - String chipModel; - float psramSize; - uint8_t chipModelRev; - uint8_t chipFreq; - uint8_t flashSize; - uint8_t flashSpeed; -} DevInfo_t; - - -void setupBoards(bool disable_u8g2 = false); - -#ifdef HAS_SDCARD -bool beginSDCard(); -#else -#define beginSDCard() -#endif - -#ifdef DISPLAY_MODEL -bool beginDisplay(); -#endif - - -void printResult(bool radio_online); - -#ifdef BOARD_LED -void flashLed(); -#else -#define flashLed() -#endif - -void scanDevices(TwoWire *w); - -bool beginGPS(); - -bool recoveryGPS(); - -void scanWiFi(); - -#ifdef HAS_PMU -extern XPowersLibInterface *PMU; -extern bool pmuInterrupt; -void loopPMU(void (*pressed_cb)(void)); -bool beginPower(); -void disablePeripherals(); -#else -#define beginPower() -#define disablePeripherals() -#endif - -#ifdef DISPLAY_MODEL -extern U8G2 *disp; -#define U8G2_HOR_ALIGN_CENTER(t) ((disp->getDisplayWidth() - (disp->getUTF8Width(t))) / 2) -#define U8G2_HOR_ALIGN_RIGHT(t) ( disp->getDisplayWidth() - disp->getUTF8Width(t)) -#endif - - -#if defined(ARDUINO_ARCH_ESP32) - -#if defined(HAS_SDCARD) -extern SPIClass SDCardSPI; -#endif - -#define SerialGPS Serial1 -#elif defined(ARDUINO_ARCH_STM32) -extern HardwareSerial SerialGPS; -#endif - -#ifdef NTC_PIN -float getTempForNTC(); -#endif - -#ifdef ENABLE_BLE -void setupBLE(); -#else -#define setupBLE() -#endif - -extern uint32_t deviceOnline; diff --git a/examples/Sensor/QMC6310_GetDataExample/QMC6310_GetDataExample.ino b/examples/Sensor/QMC6310_GetDataExample/QMC6310_GetDataExample.ino deleted file mode 100644 index 1bc480f..0000000 --- a/examples/Sensor/QMC6310_GetDataExample/QMC6310_GetDataExample.ino +++ /dev/null @@ -1,149 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file QMC6310_GetDataExample.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 - * - */ -#include -#include -#include -#include "SensorQMC6310.hpp" -#include "LoRaBoards.h" - - -SensorQMC6310 qmc; - -void setup() -{ - Serial.begin(115200); - while (!Serial); - - setupBoards(); - - // For QMC6310U, the device address is 0x1C. - // For QMC6310N, the device address is 0x3C. - // The sensor device address is provided by the setupBoards I2C scanner. - extern uint8_t mag_address; - if (!qmc.begin(Wire, mag_address, I2C_SDA, I2C_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); - while (1) { - delay(1000); - } - } - - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); - - /* Config Magnetometer */ - qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_CONTINUOUS, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_8G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_200HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_1, - - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); - - Serial.println("Read data now..."); -} - -void loop() -{ - - //Wiat data ready - if (qmc.isDataReady()) { - - qmc.readData(); - - Serial.print("GYR: "); - Serial.print("X:"); - Serial.print(qmc.getX()); - Serial.print(" Y:"); - Serial.print(qmc.getY()); - Serial.print(" Z:"); - Serial.print(qmc.getZ()); - Serial.println(" uT"); - Serial.print("RAW: "); - Serial.print("X:"); - Serial.print(qmc.getRawX()); - Serial.print(" Y:"); - Serial.print(qmc.getRawY()); - Serial.print(" Z:"); - Serial.println(qmc.getRawZ()); - - /* - float x, y, z; - qmc.getMag(x, y, z); - Serial.print("X:"); - Serial.print(x); - Serial.print(" Y:"); - Serial.print(y); - Serial.print(" Z:"); - Serial.println(x); - */ - } - - - delay(100); -} - - - diff --git a/examples/Sensor/QMC6310_GetDataExample/utilities.h b/examples/Sensor/QMC6310_GetDataExample/utilities.h deleted file mode 100644 index 08b2145..0000000 --- a/examples/Sensor/QMC6310_GetDataExample/utilities.h +++ /dev/null @@ -1,780 +0,0 @@ -/** - * @file utilities.h - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-05-12 - * @last-update 2025-07-07 - */ -#pragma once - - -// Support board list , Macro definition below, select the board definition to be used -// 将要使用的板子型号注释打开,只能打开一个型号,如果不明白自己买的型号是什么,请找客服核对型号 - -/*********************************** Model definition start 型号定义起始 ***********************************/ - -// 1. --------------T3 V1.3 ------------------------------- -// https://lilygo.cc/products/lora-v1-3 -// #define T3_V1_3_SX1276 -// #define T3_V1_3_SX1278 - -// 2. --------------T3 V1.6.1 ------------------------------- -// https://lilygo.cc/products/lora3 - -// #define T3_V1_6_SX1276 -// #define T3_V1_6_SX1278 - -// 3. --------------T3 V3.0 TCXO------------------------------- -// Product: https://lilygo.cc/products/t3-tcxo - -// #define T3_V3_0_SX1276_TCXO - -// 4. --------------T-BEAM ESP32------------------------------- -// Product: https://lilygo.cc/products/t-beam - -// #define T_BEAM_SX1262 -// #define T_BEAM_SX1276 -// #define T_BEAM_SX1278 -// #define T_BEAM_LR1121 - -// 5. --------------T-BEAM S3------------------------------ -// Product: https://lilygo.cc/products/t-beam-supreme - -// #define T_BEAM_S3_SUPREME_SX1262 -// #define T_BEAM_S3_SUPREME_LR1121 - -// 6. --------------T3 S3 V1.0 or T3 S3 V1.3 ------------------- -// Product: https://lilygo.cc/products/t3s3-v1-0 , same v1.3 -// Product: https://lilygo.cc/products/t3-s3-v1-3 - -// #define T3_S3_V1_2_SX1262 -// #define T3_S3_V1_2_SX1276 -// #define T3_S3_V1_2_SX1278 -// #define T3_S3_V1_2_SX1280 -// #define T3_S3_V1_2_SX1280_PA -// #define T3_S3_V1_2_LR1121 -// #define T3_S3_V1_2_LR1121_PA - -// 7. --------------T-Motion ------------------------------------- -// Product: https://lilygo.cc/products/t-motion-s76g-stm32-lora - -// #define T_MOTION - -// --------------T3 C6 ------------------------------------- -// Product: https://lilygo.cc/products/t-lora-c6 - -// #define T3_C6 - - -// --------------T-Beam BPF ------------------------------------- -// Product: https://lilygo.cc/products/t-beam-bpf -// #define T_BEAM_S3_BPF - -// --------------LoRa 2W ------------------------------------- -// Product: ... -// #define T_BEAM_1W - - - -// #define T3_V1_6_SX1276_TCXO // Production has stopped - -/*********************************** Model definition end 型号定义结尾 ***********************************/ - - -#define UNUSED_PIN (0) - -#if defined(T_BEAM_SX1262) || defined(T_BEAM_SX1276) || defined(T_BEAM_SX1278) || defined(T_BEAM_LR1121) - - -#if defined(T_BEAM_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T_BEAM_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T_BEAM_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#elif defined(T_BEAM_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#endif // T_BEAM_SX1262 - - -#define GPS_RX_PIN 34 -#define GPS_TX_PIN 12 -#define BUTTON_PIN 38 -#define BUTTON_PIN_MASK GPIO_SEL_38 -#define I2C_SDA 21 -#define I2C_SCL 22 -#define PMU_IRQ 35 - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN 33 -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - -// LR1121 Only -#define RADIO_DIO9_PIN 33 - - -#define BOARD_LED 4 -#define LED_ON LOW -#define LED_OFF HIGH - -#define BUTTON_PIN 38 - -#define GPS_BAUD_RATE 9600 -#define HAS_GPS -#define HAS_DISPLAY //Optional, bring your own board, no OLED !! -#define HAS_PMU - -#define PMU_WIRE_PORT Wire -#define BOARD_VARIANT_NAME "T-Beam" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#elif defined(T3_V1_3_SX1276) || defined(T3_V1_3_SX1278) - - -#if defined(T3_V1_3_SX1276) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - -#elif defined(T3_V1_3_SX1278) - -#ifndef USING_SX1278 -#define USING_SX1278 -#endif - -#endif // T3_V1_3_SX1276 - - - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 14 -#define RADIO_DIO1_PIN 33 - -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - - -#define ADC_PIN 35 -#define HAS_DISPLAY -#define BOARD_VARIANT_NAME "T3 V1.3" - -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V1_6_SX1276) || defined(T3_V1_6_SX1278) - - -#if defined(T3_V1_6_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T3_V1_6_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#endif // T3_V1_6_SX1276 - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN 33 -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define ADC_PIN 35 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V1.6" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V1_6_SX1276_TCXO) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN -1//33 -/* -* In the T3 V1.6.1 TCXO version, Radio DIO1 is connected to Radio’s -* internal temperature-compensated crystal oscillator enable -* */ -// TCXO pin must be set to HIGH before enabling Radio -#define RADIO_TCXO_ENABLE 33 -#define RADIO_BUSY_PIN 32 - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define ADC_PIN 35 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V1.6 TCXO" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V3_0) || defined(T3_V3_0_SX1276_TCXO) - -#ifdef T3_V3_0_SX1276_TCXO -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#endif - - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST 4 - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_RST_PIN 23 - -// TCXO pin must be set to HIGH before enabling Radio -#define RADIO_TCXO_ENABLE 12 //only sx1276 tcxo version -#define RADIO_BUSY_PIN 32 - - -#if defined(USING_SX1262) - -#define RADIO_DIO1_PIN 26 -#define RADIO_BUSY_PIN 32 - -#elif defined(USING_SX1276) || defined(USING_SX1278) -//!SX1276/78 module only - -#define RADIO_DIO0_PIN 26 -#define RADIO_DIO1_PIN 32 - -#elif defined(USING_LR1121) - -#define RADIO_DIO9_PIN 26 //LR1121 DIO9 -#define RADIO_BUSY_PIN 32 //LR1121 BUSY - -#endif - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V3.0" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BUTTON_PIN 0 -#define ADC_PIN 35 - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_S3_V1_2_SX1262) || defined(ARDUINO_LILYGO_T3S3_SX1262) || \ - defined(T3_S3_V1_2_SX1276) || defined(ARDUINO_LILYGO_T3S3_SX1276) || \ - defined(T3_S3_V1_2_SX1278) || defined(ARDUINO_LILYGO_T3S3_SX1278) || \ - defined(T3_S3_V1_2_SX1280) || defined(ARDUINO_LILYGO_T3S3_SX1280) || \ - defined(T3_S3_V1_2_SX1280_PA) || defined(ARDUINO_LILYGO_T3S3_SX1280PA) || \ - defined(T3_S3_V1_2_LR1121) || defined(ARDUINO_LILYGO_T3S3_LR1121) || \ - defined(T3_S3_V1_2_LR1121_PA) || defined(ARDUINO_LILYGO_T3S3_LR1121PA) - - -#if defined(T3_S3_V1_2_SX1262) || defined(ARDUINO_LILYGO_T3S3_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T3_S3_V1_2_SX1276) || defined(ARDUINO_LILYGO_T3S3_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T3_S3_V1_2_SX1278) || defined(ARDUINO_LILYGO_T3S3_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#elif defined(T3_S3_V1_2_SX1280) || defined(ARDUINO_LILYGO_T3S3_SX1280) -#ifndef USING_SX1280 -#define USING_SX1280 -#endif -#elif defined(T3_S3_V1_2_SX1280_PA) || defined(ARDUINO_LILYGO_T3S3_SX1280PA) -#ifndef USING_SX1280PA -#define USING_SX1280PA -#endif -#elif defined(T3_S3_V1_2_LR1121) || defined(ARDUINO_LILYGO_T3S3_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#elif defined(T3_S3_V1_2_LR1121_PA) || defined(ARDUINO_LILYGO_T3S3_LR1121PA) -#ifndef USING_LR1121PA -#define USING_LR1121PA -#endif -#endif // T3_S3_V1_2_SX1262 - - -#define I2C_SDA 18 -#define I2C_SCL 17 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 3 -#define RADIO_MOSI_PIN 6 -#define RADIO_CS_PIN 7 - -#define SDCARD_MOSI 11 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 37 -#define LED_ON HIGH - -#define BUTTON_PIN 0 -#define ADC_PIN 1 - -#define RADIO_RST_PIN 8 - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#if defined(USING_SX1262) - -#define RADIO_DIO1_PIN 33 -#define RADIO_BUSY_PIN 34 - -#elif defined(USING_SX1276) || defined(USING_SX1278) -//!SX1276/78 module only -#define RADIO_BUSY_PIN 33 //DIO1 - -#define RADIO_DIO0_PIN 9 -#define RADIO_DIO1_PIN 33 -#define RADIO_DIO2_PIN 34 -#define RADIO_DIO3_PIN 21 -#define RADIO_DIO4_PIN 10 -#define RADIO_DIO5_PIN 36 - -#elif defined(USING_SX1280) - -#define RADIO_DIO1_PIN 9 //SX1280 DIO1 = IO9 -#define RADIO_BUSY_PIN 36 //SX1280 BUSY = IO36 - -#elif defined(USING_SX1280PA) - -#define RADIO_DIO1_PIN 9 //SX1280 DIO1 = IO9 -#define RADIO_BUSY_PIN 36 //SX1280 BUSY = IO36 -#define RADIO_RX_PIN 21 -#define RADIO_TX_PIN 10 - - -#elif defined(USING_LR1121) - -#define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 -#define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 - -#define LILYGO_RADIO_2G4_TX_POWER_LIMIT 13 //LR1121 2.4G TX Power Limit - -#elif defined(USING_LR1121PA) - -#define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 -#define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 - -#define LILYGO_RADIO_2G4_TX_POWER_LIMIT 0 //LR1121 2.4G TX Power Limit -#define USING_LR1121 - -#endif - -#define BUTTON_PIN 0 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3-S3-V1.X" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#elif defined(T_BEAM_S3_SUPREME_SX1262) || defined(T_BEAM_S3_SUPREME_LR1121) - -#ifndef T_BEAM_S3_SUPREME -#define T_BEAM_S3_SUPREME -#endif - -#if defined(T_BEAM_S3_SUPREME_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T_BEAM_S3_SUPREME_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#endif - -#define I2C_SDA (17) -#define I2C_SCL (18) - -#define I2C1_SDA (42) -#define I2C1_SCL (41) -#define PMU_IRQ (40) - -#define GPS_RX_PIN (9) -#define GPS_TX_PIN (8) -#define GPS_EN_PIN (7) -#define GPS_PPS_PIN (6) - -#define BUTTON_PIN (0) -#define BUTTON_PIN_MASK (GPIO_SEL_0) -#define BUTTON_COUNT (1) -#define BUTTON_ARRAY {BUTTON_PIN} - -#define RADIO_SCLK_PIN (12) -#define RADIO_MISO_PIN (13) -#define RADIO_MOSI_PIN (11) -#define RADIO_CS_PIN (10) -#define RADIO_DIO0_PIN (-1) -#define RADIO_RST_PIN (5) -#define RADIO_DIO1_PIN (1) -#define RADIO_BUSY_PIN (4) - -// LR1121 Version -#define RADIO_DIO9_PIN (1) - -#define SPI_MOSI (35) -#define SPI_SCK (36) -#define SPI_MISO (37) -#define SPI_CS (47) -#define IMU_CS (34) -#define IMU_INT (33) - -#define SDCARD_MOSI SPI_MOSI -#define SDCARD_MISO SPI_MISO -#define SDCARD_SCLK SPI_SCK -#define SDCARD_CS SPI_CS - -#define RTC_INT (14) - -#define GPS_BAUD_RATE (9600) - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define HAS_PMU - -#define __HAS_SPI1__ -#define HAS_SENSOR - -#define PMU_WIRE_PORT Wire1 -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "T-Beam S3" - -#elif defined(T_MOTION_S76G) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - - -#define RADIO_SCLK_PIN PB13 -#define RADIO_MISO_PIN PB14 -#define RADIO_MOSI_PIN PB15 -#define RADIO_CS_PIN PB12 -#define RADIO_RST_PIN PB10 - -#define RADIO_DIO0_PIN PB11 -#define RADIO_DIO1_PIN PC13 -#define RADIO_DIO2_PIN PB9 -#define RADIO_DIO3_PIN PB4 -#define RADIO_DIO4_PIN PB3 -#define RADIO_DIO5_PIN PA15 - -#undef RADIO_BUSY_PIN -#undef RADIO_DIO1_PIN -#define RADIO_BUSY_PIN PC13 //DIO1 -#define RADIO_DIO1_PIN PB11 //DIO0 - -#define RADIO_SWITCH_PIN PA1 //1:Rx, 0:Tx - -#define GPS_EN_PIN PC6 -#define GPS_RST_PIN PB2 -#define GPS_RX_PIN PC11 -#define GPS_TX_PIN PC10 -#define GPS_ENABLE_PIN PC6 -#define GPS_BAUD_RATE 115200 -#define GPS_PPS_PIN PB5 - -#define UART_RX_PIN PA10 -#define UART_TX_PIN PA9 - -#define I2C_SCL PB6 -#define I2C_SDA PB7 - -#define BOARD_VARIANT_NAME "T-Motion S76G" - -#define HAS_GPS - -#elif defined(T3_C6) - - -#ifndef USING_SX1262 -#define USING_SX1262 -#endif - - -#define RADIO_SCLK_PIN 6 -#define RADIO_MISO_PIN 1 -#define RADIO_MOSI_PIN 0 -#define RADIO_CS_PIN 18 -#define RADIO_DIO1_PIN 23 -#define RADIO_BUSY_PIN 22 -#define RADIO_RST_PIN 21 - -#define I2C_SDA 8 -#define I2C_SCL 9 - -#define BOARD_LED 7 -#define LED_ON HIGH -#define RADIO_RX_PIN 15 -#define RADIO_TX_PIN 14 - - -#define BOARD_VARIANT_NAME "T3-C6" - -#define USING_DIO2_AS_RF_SWITCH - - -#elif defined(T_BEAM_S3_BPF) - - -#ifndef USING_SX1278 -#define USING_SX1278 -#endif - -#define I2C_SDA (8) -#define I2C_SCL (9) - -#define PMU_IRQ (4) - -#define GPS_RX_PIN (5) -#define GPS_TX_PIN (6) -#define GPS_PPS_PIN (7) - -#define BUTTON_PIN (0) -#define BUTTON2_PIN (3) /*BUTTON 2 = GPIO3*/ -#define BUTTON_PIN_MASK GPIO_SEL_0 /*BUTTON 1 = GPIO0*/ -#define BUTTON_COUNT (2) -#define BUTTON_ARRAY {BUTTON_PIN, BUTTON2_PIN /*BUTTON 2 = GPIO3*/} - -#define RADIO_SCLK_PIN (12)//(41) -#define RADIO_MISO_PIN (13)//(42) -#define RADIO_MOSI_PIN (11)//(2) -#define RADIO_CS_PIN (1) -#define RADIO_RST_PIN (18) - -#define RADIO_DIO0_PIN (14) -#define RADIO_DIO1_PIN (21) - -// #define RADIO_TCXO_ENABLE (17) -#define RADIO_LDO_EN (16) -#define RADIO_CTRL (39) - -#define SPI_MOSI (11) -#define SPI_SCK (12) -#define SPI_MISO (13) -#define SPI_CS (10) - -#define SDCARD_MOSI SPI_MOSI -#define SDCARD_MISO SPI_MISO -#define SDCARD_SCLK SPI_SCK -#define SDCARD_CS SPI_CS - - -#define GPS_BAUD_RATE 9600 - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define HAS_PMU -#define SD_SHARE_SPI_BUS - -#define PMU_WIRE_PORT Wire -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "T-Beam BPF" - - -#elif defined(T_BEAM_1W) - -#ifndef USING_SX1262 -#define USING_SX1262 -#endif - -#define I2C_SDA (8) -#define I2C_SCL (9) - -#define GPS_RX_PIN (5) -#define GPS_TX_PIN (6) -#define GPS_PPS_PIN (7) -#define GPS_EN_PIN (16) - -#define BUTTON_PIN (0) /*BUTTON 1 = GPIO0*/ -#define BUTTON2_PIN (17) /*BUTTON 2 = GPIO17*/ - -#define BUTTON_PIN_MASK GPIO_SEL_0 -#define BUTTON_COUNT (2) -#define BUTTON_ARRAY {BUTTON_PIN,BUTTON2_PIN/*BUTTON 2 = GPIO3*/} - -#define SPI_MOSI (11) -#define SPI_SCK (13) -#define SPI_MISO (12) -#define SPI_CS (10) - -#define SDCARD_CS SPI_CS - -#define RADIO_SCLK_PIN (SPI_SCK) -#define RADIO_MISO_PIN (SPI_MISO) -#define RADIO_MOSI_PIN (SPI_MOSI) - -#define RADIO_CS_PIN (15) -#define RADIO_RST_PIN (3) -#define RADIO_LDO_EN (40) -#define RADIO_CTRL (21) -#define RADIO_DIO1_PIN (1) -#define RADIO_BUSY_PIN (38) - -#define BOARD_LED 18 -#define LED_ON HIGH -#define LED_OFF LOW - - -#define NTC_PIN (14) -#define FAN_CTRL (41) -#define ADC_PIN (4) - -#define BAT_ADC_PULLUP_RES (300000.0) -#define BAT_ADC_PULLDOWN_RES (150000.0) -#define BAT_MAX_VOLTAGE (7.4) -#define BAT_VOL_COMPENSATION (0.25) -#define GPS_SLEEP_HOLD_ON_LOW - -#define GPS_BAUD_RATE 9600 - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define SD_SHARE_SPI_BUS // SD-CARD AND RADIO SHARE SPI BUS -#define __HAS_SPI1__ - -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "LoRa 2W" - -#else -#error "When using it for the first time, please define the board model in 首次使用时，请在 文件最上方定义板卡模型" -#endif - - - - - -#if defined(USING_SX1262) -#define RADIO_TYPE_STR "SX1262" -#elif defined(USING_SX1276) -#define RADIO_TYPE_STR "SX1276" -#elif defined(USING_SX1278) -#define RADIO_TYPE_STR "SX1278" -#elif defined(USING_LR1121) -#define RADIO_TYPE_STR "LR1121" -#elif defined(USING_SX1280) -#define RADIO_TYPE_STR "SX1280" -#elif defined(USING_SX1280PA) -#define RADIO_TYPE_STR "SX1280PA" -#endif - - - - - diff --git a/examples/Sensor/QMC6310_GetPolarExample/LoRaBoards.h b/examples/Sensor/QMC6310_GetPolarExample/LoRaBoards.h deleted file mode 100644 index 58288ef..0000000 --- a/examples/Sensor/QMC6310_GetPolarExample/LoRaBoards.h +++ /dev/null @@ -1,144 +0,0 @@ -/** - * @file boards.h - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-04-25 - * @last-update 2024-08-07 - */ - -#pragma once - - -#include "utilities.h" - -#ifdef HAS_SDCARD -#include -#endif - -#if defined(ARDUINO_ARCH_ESP32) -#include -#include -#endif - -#include -#include -#include - -#ifdef DISPLAY_MODEL -#include -#endif - -#ifdef HAS_PMU -#include -#endif - -#include - - -#ifndef DISPLAY_ADDR -#define DISPLAY_ADDR 0x3C -#endif - - -// #define ENABLE_BLE //Enable ble function - -enum { - POWERMANAGE_ONLINE = _BV(0), - DISPLAY_ONLINE = _BV(1), - RADIO_ONLINE = _BV(2), - GPS_ONLINE = _BV(3), - PSRAM_ONLINE = _BV(4), - SDCARD_ONLINE = _BV(5), - AXDL345_ONLINE = _BV(6), - BME280_ONLINE = _BV(7), - BMP280_ONLINE = _BV(8), - BME680_ONLINE = _BV(9), - QMC6310U_ONLINE = _BV(10), - QMC6310N_ONLINE = _BV(11), - QMI8658_ONLINE = _BV(12), - PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) -}; - - - -typedef struct { - String chipModel; - float psramSize; - uint8_t chipModelRev; - uint8_t chipFreq; - uint8_t flashSize; - uint8_t flashSpeed; -} DevInfo_t; - - -void setupBoards(bool disable_u8g2 = false); - -#ifdef HAS_SDCARD -bool beginSDCard(); -#else -#define beginSDCard() -#endif - -#ifdef DISPLAY_MODEL -bool beginDisplay(); -#endif - - -void printResult(bool radio_online); - -#ifdef BOARD_LED -void flashLed(); -#else -#define flashLed() -#endif - -void scanDevices(TwoWire *w); - -bool beginGPS(); - -bool recoveryGPS(); - -void scanWiFi(); - -#ifdef HAS_PMU -extern XPowersLibInterface *PMU; -extern bool pmuInterrupt; -void loopPMU(void (*pressed_cb)(void)); -bool beginPower(); -void disablePeripherals(); -#else -#define beginPower() -#define disablePeripherals() -#endif - -#ifdef DISPLAY_MODEL -extern U8G2 *disp; -#define U8G2_HOR_ALIGN_CENTER(t) ((disp->getDisplayWidth() - (disp->getUTF8Width(t))) / 2) -#define U8G2_HOR_ALIGN_RIGHT(t) ( disp->getDisplayWidth() - disp->getUTF8Width(t)) -#endif - - -#if defined(ARDUINO_ARCH_ESP32) - -#if defined(HAS_SDCARD) -extern SPIClass SDCardSPI; -#endif - -#define SerialGPS Serial1 -#elif defined(ARDUINO_ARCH_STM32) -extern HardwareSerial SerialGPS; -#endif - -#ifdef NTC_PIN -float getTempForNTC(); -#endif - -#ifdef ENABLE_BLE -void setupBLE(); -#else -#define setupBLE() -#endif - -extern uint32_t deviceOnline; diff --git a/examples/Sensor/QMC6310_GetPolarExample/QMC6310_GetPolarExample.ino b/examples/Sensor/QMC6310_GetPolarExample/QMC6310_GetPolarExample.ino deleted file mode 100644 index 4e4d5ad..0000000 --- a/examples/Sensor/QMC6310_GetPolarExample/QMC6310_GetPolarExample.ino +++ /dev/null @@ -1,126 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file QMC6310_GetPolarExample.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 - * - */ -#include -#include -#include -#include "SensorQMC6310.hpp" -#include "LoRaBoards.h" - -SensorQMC6310 qmc; - -void setup() -{ - Serial.begin(115200); - while (!Serial); - - setupBoards(); - - // For QMC6310U, the device address is 0x1C. - // For QMC6310N, the device address is 0x3C. - // The sensor device address is provided by the setupBoards I2C scanner. - extern uint8_t mag_address; - if (!qmc.begin(Wire, mag_address, I2C_SDA, I2C_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); - while (1) { - delay(1000); - } - } - - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); - - /* Config Magnetometer */ - qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_NORMAL, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_8G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_200HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_8, - - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); - - qmc.dumpCtrlRegister(); - - // Declination is the difference between magnetic-north and true-north ("heading") and depends on location - qmc.setDeclination(-2.77); // Found with: https://www.magnetic-declination.com/CHINA/SHENZHEN/475119.html - - Serial.println("Read data now..."); -} - -void loop() -{ - Polar data; - // Wait for data ready - if (qmc.readPolar(data)) { - Serial.print(" polar:"); Serial.print(data.polar); Serial.print("°"); - Serial.print(" Gauss:"); Serial.print(data.Gauss); - Serial.print(" uT:"); Serial.println(data.uT); - } - - delay(100); -} - - - diff --git a/examples/Sensor/QMC6310_GetPolarExample/utilities.h b/examples/Sensor/QMC6310_GetPolarExample/utilities.h deleted file mode 100644 index 08b2145..0000000 --- a/examples/Sensor/QMC6310_GetPolarExample/utilities.h +++ /dev/null @@ -1,780 +0,0 @@ -/** - * @file utilities.h - * @author Lewis He (lewishe@outlook.com) - * @license MIT - * @copyright Copyright (c) 2024 ShenZhen XinYuan Electronic Technology Co., Ltd - * @date 2024-05-12 - * @last-update 2025-07-07 - */ -#pragma once - - -// Support board list , Macro definition below, select the board definition to be used -// 将要使用的板子型号注释打开,只能打开一个型号,如果不明白自己买的型号是什么,请找客服核对型号 - -/*********************************** Model definition start 型号定义起始 ***********************************/ - -// 1. --------------T3 V1.3 ------------------------------- -// https://lilygo.cc/products/lora-v1-3 -// #define T3_V1_3_SX1276 -// #define T3_V1_3_SX1278 - -// 2. --------------T3 V1.6.1 ------------------------------- -// https://lilygo.cc/products/lora3 - -// #define T3_V1_6_SX1276 -// #define T3_V1_6_SX1278 - -// 3. --------------T3 V3.0 TCXO------------------------------- -// Product: https://lilygo.cc/products/t3-tcxo - -// #define T3_V3_0_SX1276_TCXO - -// 4. --------------T-BEAM ESP32------------------------------- -// Product: https://lilygo.cc/products/t-beam - -// #define T_BEAM_SX1262 -// #define T_BEAM_SX1276 -// #define T_BEAM_SX1278 -// #define T_BEAM_LR1121 - -// 5. --------------T-BEAM S3------------------------------ -// Product: https://lilygo.cc/products/t-beam-supreme - -// #define T_BEAM_S3_SUPREME_SX1262 -// #define T_BEAM_S3_SUPREME_LR1121 - -// 6. --------------T3 S3 V1.0 or T3 S3 V1.3 ------------------- -// Product: https://lilygo.cc/products/t3s3-v1-0 , same v1.3 -// Product: https://lilygo.cc/products/t3-s3-v1-3 - -// #define T3_S3_V1_2_SX1262 -// #define T3_S3_V1_2_SX1276 -// #define T3_S3_V1_2_SX1278 -// #define T3_S3_V1_2_SX1280 -// #define T3_S3_V1_2_SX1280_PA -// #define T3_S3_V1_2_LR1121 -// #define T3_S3_V1_2_LR1121_PA - -// 7. --------------T-Motion ------------------------------------- -// Product: https://lilygo.cc/products/t-motion-s76g-stm32-lora - -// #define T_MOTION - -// --------------T3 C6 ------------------------------------- -// Product: https://lilygo.cc/products/t-lora-c6 - -// #define T3_C6 - - -// --------------T-Beam BPF ------------------------------------- -// Product: https://lilygo.cc/products/t-beam-bpf -// #define T_BEAM_S3_BPF - -// --------------LoRa 2W ------------------------------------- -// Product: ... -// #define T_BEAM_1W - - - -// #define T3_V1_6_SX1276_TCXO // Production has stopped - -/*********************************** Model definition end 型号定义结尾 ***********************************/ - - -#define UNUSED_PIN (0) - -#if defined(T_BEAM_SX1262) || defined(T_BEAM_SX1276) || defined(T_BEAM_SX1278) || defined(T_BEAM_LR1121) - - -#if defined(T_BEAM_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T_BEAM_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T_BEAM_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#elif defined(T_BEAM_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#endif // T_BEAM_SX1262 - - -#define GPS_RX_PIN 34 -#define GPS_TX_PIN 12 -#define BUTTON_PIN 38 -#define BUTTON_PIN_MASK GPIO_SEL_38 -#define I2C_SDA 21 -#define I2C_SCL 22 -#define PMU_IRQ 35 - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN 33 -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - -// LR1121 Only -#define RADIO_DIO9_PIN 33 - - -#define BOARD_LED 4 -#define LED_ON LOW -#define LED_OFF HIGH - -#define BUTTON_PIN 38 - -#define GPS_BAUD_RATE 9600 -#define HAS_GPS -#define HAS_DISPLAY //Optional, bring your own board, no OLED !! -#define HAS_PMU - -#define PMU_WIRE_PORT Wire -#define BOARD_VARIANT_NAME "T-Beam" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#elif defined(T3_V1_3_SX1276) || defined(T3_V1_3_SX1278) - - -#if defined(T3_V1_3_SX1276) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - -#elif defined(T3_V1_3_SX1278) - -#ifndef USING_SX1278 -#define USING_SX1278 -#endif - -#endif // T3_V1_3_SX1276 - - - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 14 -#define RADIO_DIO1_PIN 33 - -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - - -#define ADC_PIN 35 -#define HAS_DISPLAY -#define BOARD_VARIANT_NAME "T3 V1.3" - -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V1_6_SX1276) || defined(T3_V1_6_SX1278) - - -#if defined(T3_V1_6_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T3_V1_6_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#endif // T3_V1_6_SX1276 - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN 33 -// SX1276/78 -#define RADIO_DIO2_PIN 32 -// SX1262 -#define RADIO_BUSY_PIN 32 - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define ADC_PIN 35 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V1.6" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V1_6_SX1276_TCXO) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_DIO0_PIN 26 -#define RADIO_RST_PIN 23 -#define RADIO_DIO1_PIN -1//33 -/* -* In the T3 V1.6.1 TCXO version, Radio DIO1 is connected to Radio’s -* internal temperature-compensated crystal oscillator enable -* */ -// TCXO pin must be set to HIGH before enabling Radio -#define RADIO_TCXO_ENABLE 33 -#define RADIO_BUSY_PIN 32 - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define ADC_PIN 35 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V1.6 TCXO" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_V3_0) || defined(T3_V3_0_SX1276_TCXO) - -#ifdef T3_V3_0_SX1276_TCXO -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#endif - - -#define I2C_SDA 21 -#define I2C_SCL 22 -#define OLED_RST 4 - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 19 -#define RADIO_MOSI_PIN 27 -#define RADIO_CS_PIN 18 -#define RADIO_RST_PIN 23 - -// TCXO pin must be set to HIGH before enabling Radio -#define RADIO_TCXO_ENABLE 12 //only sx1276 tcxo version -#define RADIO_BUSY_PIN 32 - - -#if defined(USING_SX1262) - -#define RADIO_DIO1_PIN 26 -#define RADIO_BUSY_PIN 32 - -#elif defined(USING_SX1276) || defined(USING_SX1278) -//!SX1276/78 module only - -#define RADIO_DIO0_PIN 26 -#define RADIO_DIO1_PIN 32 - -#elif defined(USING_LR1121) - -#define RADIO_DIO9_PIN 26 //LR1121 DIO9 -#define RADIO_BUSY_PIN 32 //LR1121 BUSY - -#endif - -#define SDCARD_MOSI 15 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 25 -#define LED_ON HIGH - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3 V3.0" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C -#define BUTTON_PIN 0 -#define ADC_PIN 35 - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#elif defined(T3_S3_V1_2_SX1262) || defined(ARDUINO_LILYGO_T3S3_SX1262) || \ - defined(T3_S3_V1_2_SX1276) || defined(ARDUINO_LILYGO_T3S3_SX1276) || \ - defined(T3_S3_V1_2_SX1278) || defined(ARDUINO_LILYGO_T3S3_SX1278) || \ - defined(T3_S3_V1_2_SX1280) || defined(ARDUINO_LILYGO_T3S3_SX1280) || \ - defined(T3_S3_V1_2_SX1280_PA) || defined(ARDUINO_LILYGO_T3S3_SX1280PA) || \ - defined(T3_S3_V1_2_LR1121) || defined(ARDUINO_LILYGO_T3S3_LR1121) || \ - defined(T3_S3_V1_2_LR1121_PA) || defined(ARDUINO_LILYGO_T3S3_LR1121PA) - - -#if defined(T3_S3_V1_2_SX1262) || defined(ARDUINO_LILYGO_T3S3_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T3_S3_V1_2_SX1276) || defined(ARDUINO_LILYGO_T3S3_SX1276) -#ifndef USING_SX1276 -#define USING_SX1276 -#endif -#elif defined(T3_S3_V1_2_SX1278) || defined(ARDUINO_LILYGO_T3S3_SX1278) -#ifndef USING_SX1278 -#define USING_SX1278 -#endif -#elif defined(T3_S3_V1_2_SX1280) || defined(ARDUINO_LILYGO_T3S3_SX1280) -#ifndef USING_SX1280 -#define USING_SX1280 -#endif -#elif defined(T3_S3_V1_2_SX1280_PA) || defined(ARDUINO_LILYGO_T3S3_SX1280PA) -#ifndef USING_SX1280PA -#define USING_SX1280PA -#endif -#elif defined(T3_S3_V1_2_LR1121) || defined(ARDUINO_LILYGO_T3S3_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#elif defined(T3_S3_V1_2_LR1121_PA) || defined(ARDUINO_LILYGO_T3S3_LR1121PA) -#ifndef USING_LR1121PA -#define USING_LR1121PA -#endif -#endif // T3_S3_V1_2_SX1262 - - -#define I2C_SDA 18 -#define I2C_SCL 17 -#define OLED_RST UNUSED_PIN - -#define RADIO_SCLK_PIN 5 -#define RADIO_MISO_PIN 3 -#define RADIO_MOSI_PIN 6 -#define RADIO_CS_PIN 7 - -#define SDCARD_MOSI 11 -#define SDCARD_MISO 2 -#define SDCARD_SCLK 14 -#define SDCARD_CS 13 - -#define BOARD_LED 37 -#define LED_ON HIGH - -#define BUTTON_PIN 0 -#define ADC_PIN 1 - -#define RADIO_RST_PIN 8 - -#define BAT_ADC_PULLUP_RES (100000.0) -#define BAT_ADC_PULLDOWN_RES (100000.0) -#define BAT_MAX_VOLTAGE (4.2) -#define BAT_VOL_COMPENSATION (0.0) - -#if defined(USING_SX1262) - -#define RADIO_DIO1_PIN 33 -#define RADIO_BUSY_PIN 34 - -#elif defined(USING_SX1276) || defined(USING_SX1278) -//!SX1276/78 module only -#define RADIO_BUSY_PIN 33 //DIO1 - -#define RADIO_DIO0_PIN 9 -#define RADIO_DIO1_PIN 33 -#define RADIO_DIO2_PIN 34 -#define RADIO_DIO3_PIN 21 -#define RADIO_DIO4_PIN 10 -#define RADIO_DIO5_PIN 36 - -#elif defined(USING_SX1280) - -#define RADIO_DIO1_PIN 9 //SX1280 DIO1 = IO9 -#define RADIO_BUSY_PIN 36 //SX1280 BUSY = IO36 - -#elif defined(USING_SX1280PA) - -#define RADIO_DIO1_PIN 9 //SX1280 DIO1 = IO9 -#define RADIO_BUSY_PIN 36 //SX1280 BUSY = IO36 -#define RADIO_RX_PIN 21 -#define RADIO_TX_PIN 10 - - -#elif defined(USING_LR1121) - -#define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 -#define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 - -#define LILYGO_RADIO_2G4_TX_POWER_LIMIT 13 //LR1121 2.4G TX Power Limit - -#elif defined(USING_LR1121PA) - -#define RADIO_DIO9_PIN 36 //LR1121 DIO9 = IO36 -#define RADIO_BUSY_PIN 34 //LR1121 BUSY = IO34 - -#define LILYGO_RADIO_2G4_TX_POWER_LIMIT 0 //LR1121 2.4G TX Power Limit -#define USING_LR1121 - -#endif - -#define BUTTON_PIN 0 - -#define HAS_SDCARD -#define HAS_DISPLAY - -#define BOARD_VARIANT_NAME "T3-S3-V1.X" -#define DISPLAY_MODEL_SSD_LIB SSD1306Wire -#define DISPLAY_MODEL U8G2_SSD1306_128X64_NONAME_F_HW_I2C - -#elif defined(T_BEAM_S3_SUPREME_SX1262) || defined(T_BEAM_S3_SUPREME_LR1121) - -#ifndef T_BEAM_S3_SUPREME -#define T_BEAM_S3_SUPREME -#endif - -#if defined(T_BEAM_S3_SUPREME_SX1262) -#ifndef USING_SX1262 -#define USING_SX1262 -#endif -#elif defined(T_BEAM_S3_SUPREME_LR1121) -#ifndef USING_LR1121 -#define USING_LR1121 -#endif -#endif - -#define I2C_SDA (17) -#define I2C_SCL (18) - -#define I2C1_SDA (42) -#define I2C1_SCL (41) -#define PMU_IRQ (40) - -#define GPS_RX_PIN (9) -#define GPS_TX_PIN (8) -#define GPS_EN_PIN (7) -#define GPS_PPS_PIN (6) - -#define BUTTON_PIN (0) -#define BUTTON_PIN_MASK (GPIO_SEL_0) -#define BUTTON_COUNT (1) -#define BUTTON_ARRAY {BUTTON_PIN} - -#define RADIO_SCLK_PIN (12) -#define RADIO_MISO_PIN (13) -#define RADIO_MOSI_PIN (11) -#define RADIO_CS_PIN (10) -#define RADIO_DIO0_PIN (-1) -#define RADIO_RST_PIN (5) -#define RADIO_DIO1_PIN (1) -#define RADIO_BUSY_PIN (4) - -// LR1121 Version -#define RADIO_DIO9_PIN (1) - -#define SPI_MOSI (35) -#define SPI_SCK (36) -#define SPI_MISO (37) -#define SPI_CS (47) -#define IMU_CS (34) -#define IMU_INT (33) - -#define SDCARD_MOSI SPI_MOSI -#define SDCARD_MISO SPI_MISO -#define SDCARD_SCLK SPI_SCK -#define SDCARD_CS SPI_CS - -#define RTC_INT (14) - -#define GPS_BAUD_RATE (9600) - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define HAS_PMU - -#define __HAS_SPI1__ -#define HAS_SENSOR - -#define PMU_WIRE_PORT Wire1 -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "T-Beam S3" - -#elif defined(T_MOTION_S76G) - -#ifndef USING_SX1276 -#define USING_SX1276 -#endif - - -#define RADIO_SCLK_PIN PB13 -#define RADIO_MISO_PIN PB14 -#define RADIO_MOSI_PIN PB15 -#define RADIO_CS_PIN PB12 -#define RADIO_RST_PIN PB10 - -#define RADIO_DIO0_PIN PB11 -#define RADIO_DIO1_PIN PC13 -#define RADIO_DIO2_PIN PB9 -#define RADIO_DIO3_PIN PB4 -#define RADIO_DIO4_PIN PB3 -#define RADIO_DIO5_PIN PA15 - -#undef RADIO_BUSY_PIN -#undef RADIO_DIO1_PIN -#define RADIO_BUSY_PIN PC13 //DIO1 -#define RADIO_DIO1_PIN PB11 //DIO0 - -#define RADIO_SWITCH_PIN PA1 //1:Rx, 0:Tx - -#define GPS_EN_PIN PC6 -#define GPS_RST_PIN PB2 -#define GPS_RX_PIN PC11 -#define GPS_TX_PIN PC10 -#define GPS_ENABLE_PIN PC6 -#define GPS_BAUD_RATE 115200 -#define GPS_PPS_PIN PB5 - -#define UART_RX_PIN PA10 -#define UART_TX_PIN PA9 - -#define I2C_SCL PB6 -#define I2C_SDA PB7 - -#define BOARD_VARIANT_NAME "T-Motion S76G" - -#define HAS_GPS - -#elif defined(T3_C6) - - -#ifndef USING_SX1262 -#define USING_SX1262 -#endif - - -#define RADIO_SCLK_PIN 6 -#define RADIO_MISO_PIN 1 -#define RADIO_MOSI_PIN 0 -#define RADIO_CS_PIN 18 -#define RADIO_DIO1_PIN 23 -#define RADIO_BUSY_PIN 22 -#define RADIO_RST_PIN 21 - -#define I2C_SDA 8 -#define I2C_SCL 9 - -#define BOARD_LED 7 -#define LED_ON HIGH -#define RADIO_RX_PIN 15 -#define RADIO_TX_PIN 14 - - -#define BOARD_VARIANT_NAME "T3-C6" - -#define USING_DIO2_AS_RF_SWITCH - - -#elif defined(T_BEAM_S3_BPF) - - -#ifndef USING_SX1278 -#define USING_SX1278 -#endif - -#define I2C_SDA (8) -#define I2C_SCL (9) - -#define PMU_IRQ (4) - -#define GPS_RX_PIN (5) -#define GPS_TX_PIN (6) -#define GPS_PPS_PIN (7) - -#define BUTTON_PIN (0) -#define BUTTON2_PIN (3) /*BUTTON 2 = GPIO3*/ -#define BUTTON_PIN_MASK GPIO_SEL_0 /*BUTTON 1 = GPIO0*/ -#define BUTTON_COUNT (2) -#define BUTTON_ARRAY {BUTTON_PIN, BUTTON2_PIN /*BUTTON 2 = GPIO3*/} - -#define RADIO_SCLK_PIN (12)//(41) -#define RADIO_MISO_PIN (13)//(42) -#define RADIO_MOSI_PIN (11)//(2) -#define RADIO_CS_PIN (1) -#define RADIO_RST_PIN (18) - -#define RADIO_DIO0_PIN (14) -#define RADIO_DIO1_PIN (21) - -// #define RADIO_TCXO_ENABLE (17) -#define RADIO_LDO_EN (16) -#define RADIO_CTRL (39) - -#define SPI_MOSI (11) -#define SPI_SCK (12) -#define SPI_MISO (13) -#define SPI_CS (10) - -#define SDCARD_MOSI SPI_MOSI -#define SDCARD_MISO SPI_MISO -#define SDCARD_SCLK SPI_SCK -#define SDCARD_CS SPI_CS - - -#define GPS_BAUD_RATE 9600 - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define HAS_PMU -#define SD_SHARE_SPI_BUS - -#define PMU_WIRE_PORT Wire -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "T-Beam BPF" - - -#elif defined(T_BEAM_1W) - -#ifndef USING_SX1262 -#define USING_SX1262 -#endif - -#define I2C_SDA (8) -#define I2C_SCL (9) - -#define GPS_RX_PIN (5) -#define GPS_TX_PIN (6) -#define GPS_PPS_PIN (7) -#define GPS_EN_PIN (16) - -#define BUTTON_PIN (0) /*BUTTON 1 = GPIO0*/ -#define BUTTON2_PIN (17) /*BUTTON 2 = GPIO17*/ - -#define BUTTON_PIN_MASK GPIO_SEL_0 -#define BUTTON_COUNT (2) -#define BUTTON_ARRAY {BUTTON_PIN,BUTTON2_PIN/*BUTTON 2 = GPIO3*/} - -#define SPI_MOSI (11) -#define SPI_SCK (13) -#define SPI_MISO (12) -#define SPI_CS (10) - -#define SDCARD_CS SPI_CS - -#define RADIO_SCLK_PIN (SPI_SCK) -#define RADIO_MISO_PIN (SPI_MISO) -#define RADIO_MOSI_PIN (SPI_MOSI) - -#define RADIO_CS_PIN (15) -#define RADIO_RST_PIN (3) -#define RADIO_LDO_EN (40) -#define RADIO_CTRL (21) -#define RADIO_DIO1_PIN (1) -#define RADIO_BUSY_PIN (38) - -#define BOARD_LED 18 -#define LED_ON HIGH -#define LED_OFF LOW - - -#define NTC_PIN (14) -#define FAN_CTRL (41) -#define ADC_PIN (4) - -#define BAT_ADC_PULLUP_RES (300000.0) -#define BAT_ADC_PULLDOWN_RES (150000.0) -#define BAT_MAX_VOLTAGE (7.4) -#define BAT_VOL_COMPENSATION (0.25) -#define GPS_SLEEP_HOLD_ON_LOW - -#define GPS_BAUD_RATE 9600 - -#define HAS_SDCARD -#define HAS_GPS -#define HAS_DISPLAY -#define SD_SHARE_SPI_BUS // SD-CARD AND RADIO SHARE SPI BUS -#define __HAS_SPI1__ - -#define DISPLAY_MODEL U8G2_SH1106_128X64_NONAME_F_HW_I2C -#define DISPLAY_MODEL_SSD_LIB SH1106Wire -#define BOARD_VARIANT_NAME "LoRa 2W" - -#else -#error "When using it for the first time, please define the board model in 首次使用时，请在 文件最上方定义板卡模型" -#endif - - - - - -#if defined(USING_SX1262) -#define RADIO_TYPE_STR "SX1262" -#elif defined(USING_SX1276) -#define RADIO_TYPE_STR "SX1276" -#elif defined(USING_SX1278) -#define RADIO_TYPE_STR "SX1278" -#elif defined(USING_LR1121) -#define RADIO_TYPE_STR "LR1121" -#elif defined(USING_SX1280) -#define RADIO_TYPE_STR "SX1280" -#elif defined(USING_SX1280PA) -#define RADIO_TYPE_STR "SX1280PA" -#endif - - - - - diff --git a/examples/Sensor/QMC6310_GetPolarExample/LoRaBoards.cpp b/examples/Sensor/QMC63xx_GetDataExample/LoRaBoards.cpp similarity index 99% rename from examples/Sensor/QMC6310_GetPolarExample/LoRaBoards.cpp rename to examples/Sensor/QMC63xx_GetDataExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMC6310_GetPolarExample/LoRaBoards.cpp +++ b/examples/Sensor/QMC63xx_GetDataExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMC6310_CompassExample/LoRaBoards.h b/examples/Sensor/QMC63xx_GetDataExample/LoRaBoards.h similarity index 97% rename from examples/Sensor/QMC6310_CompassExample/LoRaBoards.h rename to examples/Sensor/QMC63xx_GetDataExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMC6310_CompassExample/LoRaBoards.h +++ b/examples/Sensor/QMC63xx_GetDataExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMC63xx_GetDataExample/QMC63xx_GetDataExample.ino b/examples/Sensor/QMC63xx_GetDataExample/QMC63xx_GetDataExample.ino new file mode 100644 index 0000000..6bba26e --- /dev/null +++ b/examples/Sensor/QMC63xx_GetDataExample/QMC63xx_GetDataExample.ino @@ -0,0 +1,357 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file QMC63xx_GetDataExample.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-08 + * + */ +#include +#include +#include +#include "LoRaBoards.h" + +void calibrate(); +MagnetometerBase *magnetometer; + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + setupBoards(); + + // The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_8G, FS_16G ,FS_32G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored. + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; + + + + SensorWireHelper::dumpDevices(Wire); + + if (magnetometer == nullptr) { + magnetometer = new SensorQMC6310(); + if (!static_cast(magnetometer)->begin(Wire, QMC6310U_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) { + Serial.println("Failed to find QMC6310U - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6310U found!"); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + if (magnetometer == nullptr) { + magnetometer = new SensorQMC6310(); + if (!static_cast(magnetometer)->begin(Wire, QMC6310N_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) { + Serial.println("Failed to find QMC6310 - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6310N found!"); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + if (magnetometer == nullptr) { + magnetometer = new SensorQMC6309(); + if (!static_cast(magnetometer)->begin(Wire, QMC6309_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) { + Serial.println("Failed to find QMC6309 - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6309 found!"); + // The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_8G, FS_16G ,FS_32G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored. + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + while (magnetometer == nullptr) { + Serial.println("No magnetometer found!"); + delay(1000); + } + + /* Config Magnetometer */ + if (magnetometer->configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } + + + + + // Calibration algorithm reference from + // https://github.com/CoreElectronics/CE-PiicoDev-QMC6310-MicroPython-Module + calibrate(); + + Serial.println("Calibration done."); + delay(5000); + + + + SensorInfo info = magnetometer->getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer->getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer->setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer->getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); + + Serial.println("Read data now..."); +} + +void loop() +{ + + MagnetometerData data; + + if (magnetometer->readData(data)) { + + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); + + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); + Serial.print(" Y:"); + Serial.print(data.raw.y); + Serial.print(" Z:"); + Serial.print(data.raw.z); + + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + strength = MagnetometerUtils::gaussToMicroTesla(strength); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } + } + delay(10); +} + + + + +void calibrate() +{ + if (!magnetometer)return; + + if (!magnetometer->setOutputDataRate(200.0f)) { + Serial.println("Failed to set output data rate"); + return ; + } + + Serial.println("========================================"); + Serial.println("Calibration Instructions:"); + Serial.println("1. Rotate sensor in FIGURE-8 pattern"); + Serial.println("2. Cover all axes (X, Y, Z directions)"); + Serial.println("3. Rotate slowly and completely"); + Serial.println("4. Wait for progress bar to complete"); + Serial.println("5. Expected: Magnetic Strength ~25-65 uT"); + Serial.println("========================================"); + Serial.println(); + + Serial.println("Place the sensor on the plane and slowly rotate the sensor..."); + Serial.println("Rotate in FIGURE-8 pattern to cover all directions!"); + Serial.println(); + + int32_t x_min = 65535; + int32_t x_max = -65535; + int32_t y_min = 65535; + int32_t y_max = -65535; + int32_t z_min = 65535; + int32_t z_max = -65535; + + int32_t range = 1000; + int32_t i = 0; + int32_t x = 0, y = 0, z = 0;; + int16_t x_offset = 0; + int16_t y_offset = 0; + int16_t z_offset = 0; + + MagnetometerData data; + while (i < range) { + i += 1; + + if (magnetometer->isDataReady()) { + + magnetometer->readData(data); + + x = (data.raw.x + x) / 2; + y = (data.raw.y + y) / 2; + z = (data.raw.z + z) / 2; + if (x < x_min) { + x_min = x; + i = 0; + } + if (x > x_max) { + x_max = x; + i = 0; + } + if (y < y_min) { + y_min = y; + i = 0; + } + if (y > y_max) { + y_max = y; + i = 0; + } + if (z < z_min) { + z_min = z; + i = 0; + } + if (z > z_max) { + z_max = z; + i = 0; + } + int j = round(10 * i / range); + + Serial.print("["); + for (int k = 0; k < j; ++k) { + Serial.print("*"); + } + Serial.println("]"); + } + delay(5); + } + + x_offset = (x_max + x_min) / 2; + y_offset = (y_max + y_min) / 2; + z_offset = (z_max + z_min) / 2; + + Serial.print("x_min:"); + Serial.println(x_min); + + Serial.print("x_max:"); + Serial.println(x_max); + + Serial.print("y_min:"); + Serial.println(y_min); + + Serial.print("y_max:"); + Serial.println(y_max); + + Serial.print("z_min:"); + Serial.println(z_min); + + Serial.print("z_max:"); + Serial.println(z_max); + + Serial.print("x_offset:"); + Serial.println(x_offset); + + Serial.print("y_offset:"); + Serial.println(y_offset); + + Serial.print("z_offset:"); + Serial.println(z_offset); + + + // Set the calibration value and the user calculates the deviation + magnetometer->setOffset(x_offset, y_offset, z_offset); + + Serial.println(); + Serial.println("Calibration complete!"); + Serial.println("Check if Magnetic Strength is ~25-65 uT"); + Serial.println("If too low, repeat calibration with better rotation"); +} \ No newline at end of file diff --git a/examples/Sensor/QMC6310_CalibrateExample/utilities.h b/examples/Sensor/QMC63xx_GetDataExample/utilities.h similarity index 100% rename from examples/Sensor/QMC6310_CalibrateExample/utilities.h rename to examples/Sensor/QMC63xx_GetDataExample/utilities.h diff --git a/examples/Sensor/QMI8658_BlockExample/LoRaBoards.cpp b/examples/Sensor/QMI8658_BlockExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_BlockExample/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_BlockExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_BlockExample/LoRaBoards.h b/examples/Sensor/QMI8658_BlockExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_BlockExample/LoRaBoards.h +++ b/examples/Sensor/QMI8658_BlockExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.cpp b/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.h b/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.h +++ b/examples/Sensor/QMI8658_GetDataExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.cpp b/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.h b/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.h +++ b/examples/Sensor/QMI8658_InterruptBlockExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.cpp b/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.h b/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.h +++ b/examples/Sensor/QMI8658_InterruptExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.cpp b/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.h b/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.h +++ b/examples/Sensor/QMI8658_LockingMechanismExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.cpp b/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.h b/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.h +++ b/examples/Sensor/QMI8658_MadgwickAHRS/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.cpp b/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.h b/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.h +++ b/examples/Sensor/QMI8658_PedometerExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.cpp b/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.h b/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.h +++ b/examples/Sensor/QMI8658_ReadFromFifoExample/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.cpp b/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.cpp +++ b/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.h b/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.h +++ b/examples/Sensor/QMI8658_WakeOnMotion/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/T3S3Factory/LoRaBoards.cpp b/examples/T3S3Factory/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/T3S3Factory/LoRaBoards.cpp +++ b/examples/T3S3Factory/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/T3S3Factory/LoRaBoards.h b/examples/T3S3Factory/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/T3S3Factory/LoRaBoards.h +++ b/examples/T3S3Factory/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/TBeamFactory/LoRaBoards.cpp b/examples/TBeamFactory/LoRaBoards.cpp index 8acfe74..707005a 100644 --- a/examples/TBeamFactory/LoRaBoards.cpp +++ b/examples/TBeamFactory/LoRaBoards.cpp @@ -996,6 +996,11 @@ void scanDevices(TwoWire *w) } } break; + case 0x7C: + Serial.printf("\tFound QMC6309 Sensor at address 0x%02X\n", addr); + mag_address = addr; + deviceOnline |= QMC6309_ONLINE; + break; case 0x51: Serial.printf("\tFound PCF8563 RTC at address 0x%02X\n", addr); deviceOnline |= PCF8563_ONLINE; diff --git a/examples/TBeamFactory/LoRaBoards.h b/examples/TBeamFactory/LoRaBoards.h index 58288ef..db1af54 100644 --- a/examples/TBeamFactory/LoRaBoards.h +++ b/examples/TBeamFactory/LoRaBoards.h @@ -58,7 +58,8 @@ enum { QMC6310N_ONLINE = _BV(11), QMI8658_ONLINE = _BV(12), PCF8563_ONLINE = _BV(13), - OSC32768_ONLINE = _BV(14) + OSC32768_ONLINE = _BV(14), + QMC6309_ONLINE = _BV(15), }; diff --git a/examples/TBeamFactory/TBeamFactory.ino b/examples/TBeamFactory/TBeamFactory.ino index 45def58..f52ce7c 100644 --- a/examples/TBeamFactory/TBeamFactory.ino +++ b/examples/TBeamFactory/TBeamFactory.ino @@ -554,7 +554,9 @@ void radioTx(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t 0x89, 0xAB, 0xCD, 0xEF}; int state = radio.startTransmit(byteArr, 8); */ +#ifdef BOARD_LED digitalWrite(BOARD_LED, 1 - digitalRead(BOARD_LED)); +#endif } Serial.println("Radio TX done !"); @@ -577,7 +579,9 @@ void radioRx(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t if (transmittedFlag) { Serial.println("Radio RX done !"); +#ifdef BOARD_LED digitalWrite(BOARD_LED, 1 - digitalRead(BOARD_LED)); +#endif // reset flag transmittedFlag = false; diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_260408.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_260408.bin new file mode 100644 index 0000000..b922493 Binary files /dev/null and b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_260408.bin differ diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_920MHZ_260114.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_920MHZ_260114.bin deleted file mode 100644 index 28adcae..0000000 Binary files a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_920MHZ_260114.bin and /dev/null differ diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_AllFreband_260114.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_AllFreband_260114.bin deleted file mode 100644 index 33ea6c7..0000000 Binary files a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_Factory_AllFreband_260114.bin and /dev/null differ diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_JP_Factory_260408.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_JP_Factory_260408.bin new file mode 100644 index 0000000..c0aeb49 Binary files /dev/null and b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_LR1121_JP_Factory_260408.bin differ diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_260408.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_260408.bin new file mode 100644 index 0000000..6b59ea4 Binary files /dev/null and b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_260408.bin differ diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_920MHZ_260114.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_920MHZ_260114.bin deleted file mode 100644 index 2c51f42..0000000 Binary files a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_920MHZ_260114.bin and /dev/null differ diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_AllFreqband_260114.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_AllFreqband_260114.bin deleted file mode 100644 index 773c052..0000000 Binary files a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_Factory_AllFreqband_260114.bin and /dev/null differ diff --git a/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_JP_Factory_260408.bin b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_JP_Factory_260408.bin new file mode 100644 index 0000000..b173039 Binary files /dev/null and b/firmware/hardware_test/t-beam-supreme/T_BEAM_S3_SUPREME_SX1262_JP_Factory_260408.bin differ diff --git a/lib/RadioLib/.github/workflows/main.yml b/lib/RadioLib/.github/workflows/main.yml index 22383d8..977edb4 100644 --- a/lib/RadioLib/.github/workflows/main.yml +++ b/lib/RadioLib/.github/workflows/main.yml @@ -83,12 +83,14 @@ jobs: echo "skip-pattern=(STM32WL|LR11x0_Firmware_Update)" >> $GITHUB_OUTPUT echo "options=':xtal=80,ResetMethod=ck,CrystalFreq=26,FlashFreq=40,FlashMode=qio,eesz=512K'" >> $GITHUB_OUTPUT echo "index-url=--additional-urls http://arduino.esp8266.com/stable/package_esp8266com_index.json" >> $GITHUB_OUTPUT - - id: STMicroelectronics:stm32:GenF3:pnum=BLACKPILL_F303CC + - id: STMicroelectronics:stm32:GenF3 run: | + echo "options=':pnum=BLACKPILL_F303CC'" >> $GITHUB_OUTPUT echo "index-url=--additional-urls https://raw.githubusercontent.com/stm32duino/BoardManagerFiles/main/package_stmicroelectronics_index.json" >> $GITHUB_OUTPUT echo "skip-pattern=(STM32WL|LR11x0_Firmware_Update)" >> $GITHUB_OUTPUT - - id: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_WL55JC1 + - id: STMicroelectronics:stm32:Nucleo_64 run: | + echo "options=':pnum=NUCLEO_WL55JC1'" >> $GITHUB_OUTPUT # Do *not* skip STM32WL examples echo "skip-pattern=(LR11x0_Firmware_Update)" >> $GITHUB_OUTPUT echo "index-url=--additional-urls https://raw.githubusercontent.com/stm32duino/BoardManagerFiles/main/package_stmicroelectronics_index.json" >> $GITHUB_OUTPUT @@ -183,19 +185,20 @@ jobs: cd $PWD/extras/test/ci ./build_examples.sh ${{ matrix.id }} "${{ steps.prep.outputs.skip-pattern }}" ${{ steps.prep.outputs.options }} + - name: Extract short commit hash + id: short-hash + run: echo "::set-output name=short_sha::$(git rev-parse --short HEAD)" + - name: Parse sizes if: ${{ env.run-build == 'true' }} run: | cd $PWD/extras/test/ci ./parse_size.sh ${{ matrix.id }} - - - name: Extract short commit hash - id: short-hash - run: echo "::set-output name=short_sha::$(git rev-parse --short HEAD)" + cat size_${{ steps.short-hash.outputs.short_sha }}_${{ steps.split.outputs._0 }}-${{ steps.split.outputs._1 }}-${{ steps.split.outputs._2 }}.csv - name: Upload size report as artifact - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: name: size-file-${{ steps.split.outputs._0 }}-${{ steps.split.outputs._1 }}-${{ steps.split.outputs._2 }} path: extras/test/ci/size_${{ steps.short-hash.outputs.short_sha }}_${{ steps.split.outputs._0 }}-${{ steps.split.outputs._1 }}-${{ steps.split.outputs._2 }}.csv @@ -203,6 +206,7 @@ jobs: metrics: runs-on: ubuntu-latest needs: build + if: github.ref == 'refs/heads/master' steps: - name: Set up SSH run: | @@ -221,7 +225,7 @@ jobs: git config --global user.email "${{ github.actor }}@users.noreply.github.com" - name: Download size artifacts - uses: actions/download-artifact@v3 + uses: actions/download-artifact@v4 with: path: aggregated-sizes @@ -250,9 +254,13 @@ jobs: - name: Clone ESP-IDF run: | + rm -rf ~/esp mkdir -p ~/esp cd ~/esp - git clone --recursive https://github.com/espressif/esp-idf.git + git clone https://github.com/espressif/esp-idf.git + cd esp-idf + git checkout v5.4.3 + git submodule update --init --recursive - name: Install ESP-IDF run: | @@ -289,6 +297,7 @@ jobs: LIBTOCK_C_DIRECTORY="$(pwd)/libtock-c" ./build.sh rpi-build: + if: false # self-hosted runner temporarily disabled runs-on: [self-hosted, ARM64] steps: - name: Checkout repository @@ -320,6 +329,7 @@ jobs: ./build.sh rpi-test: + if: false # self-hosted runner temporarily disabled needs: rpi-build runs-on: [self-hosted, ARM64] steps: @@ -346,7 +356,7 @@ jobs: mkdir -p ~/rpi-pico cd ~/rpi-pico git clone https://github.com/raspberrypi/pico-sdk.git - cd pico-sdk && git checkout 1.5.1 + cd pico-sdk && git checkout 2.2.0 - name: Build the example run: | diff --git a/lib/RadioLib/.github/workflows/static.yml b/lib/RadioLib/.github/workflows/static.yml new file mode 100644 index 0000000..74b53f2 --- /dev/null +++ b/lib/RadioLib/.github/workflows/static.yml @@ -0,0 +1,46 @@ +name: "Static Memory Management Test" + +on: + push: + branches: [master] + pull_request: + branches: [master] + workflow_dispatch: + +jobs: + static-memory: + name: Build Arduino and non-Arduino with enabled static memory management + runs-on: ubuntu-latest + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Install dependencies for unit test + run: | + sudo apt-get update + sudo apt-get install -y libboost-all-dev libfmt-dev lcov + + - name: Run unit test for static memory management + run: | + cd extras/test/unit + ./test.sh -DRADIOLIB_STATIC_ONLY + + - name: Install arduino-cli + run: + | + mkdir -p ~/.local/bin + echo "~/.local/bin" >> $GITHUB_PATH + curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh + + - name: Install platform + run: + | + arduino-cli core update-index + arduino-cli core install arduino:avr + + - name: Build Arduino example + run: + arduino-cli compile --libraries /home/runner/work/RadioLib --fqbn arduino:avr:mega $PWD/examples/SX123x/SX123x_Transmit_Blocking/SX123x_Transmit_Blocking.ino --warnings=all --build-property compiler.cpp.extra_flags="-DRADIOLIB_STATIC_ONLY" + + diff --git a/lib/RadioLib/.github/workflows/unit-test.yml b/lib/RadioLib/.github/workflows/unit-test.yml index 58a7d72..b46a516 100644 --- a/lib/RadioLib/.github/workflows/unit-test.yml +++ b/lib/RadioLib/.github/workflows/unit-test.yml @@ -10,7 +10,7 @@ on: jobs: unit-test: name: Build and run unit test - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Checkout repository @@ -19,9 +19,30 @@ jobs: - name: Install dependencies run: | sudo apt-get update - sudo apt-get install -y libboost-all-dev libfmt-dev + sudo apt-get install -y libboost-all-dev libfmt-dev lcov - name: Run unit test run: | cd extras/test/unit ./test.sh + + - name: Measure test coverage + run: | + cd extras/test/unit + ./coverage.sh + + - name: Upload coverage report as artifact + uses: actions/upload-artifact@v4 + with: + name: coverage_report + path: extras/test/unit/lcov.report + + - name: Deploy to GitHub Pages + if: github.ref == 'refs/heads/master' + uses: peaceiris/actions-gh-pages@v3 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_branch: gh-pages + publish_dir: extras/test/unit/lcov.report + destination_dir: coverage + keep_files: true diff --git a/lib/RadioLib/CMakeLists.txt b/lib/RadioLib/CMakeLists.txt index 2291050..b208f79 100644 --- a/lib/RadioLib/CMakeLists.txt +++ b/lib/RadioLib/CMakeLists.txt @@ -1,15 +1,20 @@ cmake_minimum_required(VERSION 3.13) +# first gather the files since this is needed for both ESP-IDF as well as other builds +file(GLOB_RECURSE RADIOLIB_SOURCES + "src/*.cpp" +) + +# exclude all HAL source files +list(FILTER RADIOLIB_SOURCES EXCLUDE REGEX "src/hal/.*\\.cpp") + if(ESP_PLATFORM) # Build RadioLib as an ESP-IDF component # required because ESP-IDF runs cmake in script mode # and needs idf_component_register() - file(GLOB_RECURSE RADIOLIB_ESP_SOURCES - "src/*.*" - ) idf_component_register( - SRCS ${RADIOLIB_ESP_SOURCES} + SRCS ${RADIOLIB_SOURCES} INCLUDE_DIRS . src ) @@ -22,10 +27,6 @@ endif() project(radiolib) -file(GLOB_RECURSE RADIOLIB_SOURCES - "src/*.cpp" -) - add_library(RadioLib ${RADIOLIB_SOURCES}) target_include_directories(RadioLib @@ -36,7 +37,7 @@ target_include_directories(RadioLib set_property(TARGET RadioLib PROPERTY CXX_STANDARD 20) # enable most warnings -target_compile_options(RadioLib PRIVATE -Wall -Wextra) +target_compile_options(RadioLib PRIVATE -Wall -Wextra -Wpedantic -Wdouble-promotion) include(GNUInstallDirs) diff --git a/lib/RadioLib/CONTRIBUTING.md b/lib/RadioLib/CONTRIBUTING.md index 4bf9619..71e6958 100644 --- a/lib/RadioLib/CONTRIBUTING.md +++ b/lib/RadioLib/CONTRIBUTING.md @@ -16,6 +16,19 @@ Issues with generic titles (e.g. "not working", "lora", etc.) will be **CLOSED** 4. **Issues deserve some attention too.** Issues that are left for 2 weeks without response by the original author when asked for further information will be closed due to inactivity. This is to keep track of important issues, the author is encouraged to reopen the issue at a later date. +## AI Use + +**RadioLib was written by humans, for humans**. Its authors, contributors, maintainers and community members were not asked for permission or approval when billion-dollar companies decided to scrape our hard work for training data, to be sold back to the world at a profit. While we consider this approach to be bordering on violating our license, this seems to be the world we live in. Therefore, if you decide to contribute to RadioLib while using an AI-based tool, please follow the rules below. + +1. **Mark the slop** +The issue or pull request must be clearly marked as fully or partially AI-generated. If you don't do it, we'll do it for you by the means of a dedicated label - and then consider whether to process your input at all. Since people like that have not even bothered to read this statement, it would be unreasonable to expect they will read the code the machine generated and that is not code we want. +2. **Less is more** +If your AI has produced a novel-length wall of text to describe a miniscule change, we consider it somewhat rude to copy-paste that output into the issue/PR description. Not only are you ignoring the templates which are asking for generally useful info; this approach also has the added bonus of explaining our own codebase back to us, while trying to sound as simple as possible. In reality though, it sounds like a junior developer giving us a lecture on a project that is older then they are. So please, try to get the actual point across in your own, human-generated words. +3. **Discuss first** +It is usually not a great idea to hit us with a large, unsolicited pull request. Especially if it changes APIs or tries to work around something. It's a lot easier to discuss these things in advance and agree on an approach in an issue. Your AI can write the PR quickly; but then we need to spend our free time on reviewing something that we did not ask for. + +RadioLib maintainers reserve the right to reject your contribution if it is not following these rules without further explanation other than directing you to this guideline document. + ## Code style guidelines I like pretty code! Or at least, I like *consistent* code style. When creating pull requests, please follow these style guidelines, they're in place to keep high code readability. diff --git a/lib/RadioLib/README.md b/lib/RadioLib/README.md index 92ffe44..218bb15 100644 --- a/lib/RadioLib/README.md +++ b/lib/RadioLib/README.md @@ -22,10 +22,11 @@ RadioLib was originally created as a driver for [__RadioShield__](https://github * __CC1101__ FSK radio module * __LLCC68__ LoRa module * __LR11x0__ series LoRa/GFSK modules (LR1110, LR1120, LR1121) +* __LR2021__ series LoRa/GFSK/LR-FHSS/FLRC/OOK modules * __nRF24L01__ 2.4 GHz module * __RF69__ FSK/OOK radio module -* __RFM2x__ series FSK modules (RFM22, RM23) -* __RFM9x__ series LoRa modules (RFM95, RM96, RFM97, RFM98) +* __RFM2x__ series FSK modules (RFM22, RFM23) +* __RFM9x__ series LoRa modules (RFM95, RFM96, RFM97, RFM98) * __Si443x__ series FSK modules (Si4430, Si4431, Si4432) * __STM32WL__ integrated microcontroller/LoRa module * __SX126x__ series LoRa modules (SX1261, SX1262, SX1268) @@ -34,22 +35,26 @@ RadioLib was originally created as a driver for [__RadioShield__](https://github * __SX123x__ FSK/OOK radio modules (SX1231, SX1233) ### Supported protocols and digital modes: +* [__ADS-B__](https://mode-s.org/1090mhz/content/ads-b/1-basics.html) using OOK for LR2021 * [__AX.25__](https://www.sigidwiki.com/wiki/PACKET) using 2-FSK or AFSK for modules: -SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, RFM2x, Si443x, LR11x0 and SX128x +SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, RFM2x, Si443x, LR11x0, LR2021 and SX128x * [__RTTY__](https://www.sigidwiki.com/wiki/RTTY) using 2-FSK or AFSK for modules: -SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, nRF24L01, RFM2x, Si443x, LR11x0 and SX128x +SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, nRF24L01, RFM2x, Si443x, LR11x0, LR2021 and SX128x * [__Morse Code__](https://www.sigidwiki.com/wiki/Morse_Code_(CW)) using 2-FSK or AFSK for modules: -SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, nRF24L01, RFM2x, Si443x, LR11x0 and SX128x +SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, nRF24L01, RFM2x, Si443x, LR11x0, LR2021 and SX128x * [__SSTV__](https://www.sigidwiki.com/wiki/SSTV) using 2-FSK or AFSK for modules: SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, RFM2x and Si443x * [__Hellschreiber__](https://www.sigidwiki.com/wiki/Hellschreiber) using 2-FSK or AFSK for modules: -SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, nRF24L01, RFM2x, Si443x, LR11x0 and SX128x +SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, nRF24L01, RFM2x, Si443x, LR11x0, LR2021 and SX128x * [__APRS__](https://www.sigidwiki.com/wiki/APRS) using AFSK for modules: SX127x, RFM9x, SX126x, RF69, SX1231, CC1101, nRF24L01, RFM2x, Si443x and SX128x * [__POCSAG__](https://www.sigidwiki.com/wiki/POCSAG) using 2-FSK for modules: SX127x, RFM9x, RF69, SX1231, CC1101, nRF24L01, RFM2x and Si443x * [__LoRaWAN__](https://lora-alliance.org/) using LoRa and FSK for modules: -SX127x, RFM9x, SX126x, LR11x0 and SX128x +SX127x, RFM9x, SX126x, LR11x0, LR2021 and SX128x + * Supports Class A and C (and Multicast over C). + * Pre-certified for Class A. + * See the [wiki](https://github.com/jgromes/RadioLib/wiki/LoRaWAN) and [notes](https://github.com/jgromes/RadioLib/blob/master/examples/LoRaWAN/LoRaWAN_Starter/notes.md) for more information. ### Supported Arduino platforms: * __Arduino__ diff --git a/lib/RadioLib/examples/ADSB/ADSB_Monitor/ADSB_Monitor.ino b/lib/RadioLib/examples/ADSB/ADSB_Monitor/ADSB_Monitor.ino new file mode 100644 index 0000000..5e9508e --- /dev/null +++ b/lib/RadioLib/examples/ADSB/ADSB_Monitor/ADSB_Monitor.ino @@ -0,0 +1,166 @@ +/* + RadioLib ADS-B Monitor Example + + This example shows how to receive ADS-B messages + using LR2021 OOK modem and forward them to be displayed + in a live dashboard. + + To show the live dashboard in a terminal, run the Python script + RadioLib/extras/ADSB_Monitor/ADSBMonitorServer.py, + and then connect to from "modeslive" from the pyModeS package + (see the script helptext for installation instructions). + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// create ADS-B client instance using the module +ADSBClient adsb(&radio); + +// flag to indicate that a packet was received +volatile bool receivedFlag = false; + +// this function is called when a complete packet +// is received by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // we got a packet, set the flag + receivedFlag = true; +} + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 OOK modem at 1090 MHz, + // 2 Mbps bit rate and receiver bandwidth 3076 kHz + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.beginOOK(1090, 2000, 3076); + + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // initialize ADS-B client + Serial.print(F("[ADS-B] Initializing ... ")); + state = adsb.begin(); + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // apply LR2021-specific settings + Serial.print(F("[LR2021] Setting configuration ... ")); + state = radio.setRxBoostedGainMode(7); + state += radio.setCRC(3, 0, 0x1FFF409UL, false); + state += radio.ookDetector(); + state += radio.fixedPacketLengthMode(11); + state += radio.setGain(13); + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // measure current noise floor and add some margin + // this values is later used to set the signal detection threshold + float threshold = radio.getRSSI(false) + 10; + Serial.print(F("[LR2021] Detection threshold: ")); + Serial.print(threshold, 2); + Serial.println(F(" dBm")); + + Serial.print(F("[LR2021] Setting threshold ... ")); + state = radio.setOokDetectionThreshold(threshold); + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the function that will be called + // when new packet is received + radio.setPacketReceivedAction(setFlag); + + // start listening for LoRa packets + Serial.print(F("[LR2021] Starting to listen ... ")); + state = radio.startReceive(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } +} + +void loop() { + // check if the flag is set + if(receivedFlag) { + // reset flag + receivedFlag = false; + + // read the received binary data + // ADS-B frames have fixed length of 14 bytes, + // 3 of which are used as CRC which is handled automatically + uint8_t buff[11] = { 0 }; + int state = radio.readData(buff, 11); + + if (state == RADIOLIB_ERR_NONE) { + // packet was successfully received + // print it out, further processing is done by pyModeS + Serial.print(F("[ADS-B] ")); + for(int i = 0; i < 11; i++) { + if(buff[i] < 0x10) { Serial.print('0'); } + Serial.print(buff[i], HEX); + } + + // pyModeS expects the data to include the CRC + // but does not seem to be actually checking it + // since we handle CRC automatically, just append 3 null bytes + Serial.println(F("000000")); + + } + + } + +} diff --git a/lib/RadioLib/examples/ADSB/ADSB_Receive/ADSB_Receive.ino b/lib/RadioLib/examples/ADSB/ADSB_Receive/ADSB_Receive.ino new file mode 100644 index 0000000..5bd2592 --- /dev/null +++ b/lib/RadioLib/examples/ADSB/ADSB_Receive/ADSB_Receive.ino @@ -0,0 +1,223 @@ +/* + RadioLib ADS-B Reception Example + + This example shows how to receive ADS-B messages + using LR2021 OOK modem. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// create ADS-B client instance using the module +ADSBClient adsb(&radio); + +// flag to indicate that a packet was received +volatile bool receivedFlag = false; + +// this function is called when a complete packet +// is received by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // we got a packet, set the flag + receivedFlag = true; +} + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 OOK modem at 1090 MHz, + // 2 Mbps bit rate and receiver bandwidth 3076 kHz + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.beginOOK(1090, 2000, 3076); + + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // initialize ADS-B client + Serial.print(F("[ADS-B] Initializing ... ")); + state = adsb.begin(); + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // apply LR2021-specific settings + Serial.print(F("[LR2021] Setting configuration ... ")); + state = radio.setRxBoostedGainMode(7); + state += radio.setCRC(3, 0, 0x1FFF409UL, false); + state += radio.ookDetector(); + state += radio.fixedPacketLengthMode(11); + state += radio.setGain(13); + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // measure current noise floor and add some margin + // this values is later used to set the signal detection threshold + float threshold = radio.getRSSI(false) + 10; + Serial.print(F("[LR2021] Detection threshold: ")); + Serial.print(threshold, 2); + Serial.println(F(" dBm")); + + Serial.print(F("[LR2021] Setting threshold ... ")); + state = radio.setOokDetectionThreshold(threshold); + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the reference position (position of the receiver) + // this will be used later to calculate the aircraft position + adsb.setReferencePosition(46.24722039359617f, 12.097993784412322f); + + // set the function that will be called + // when new packet is received + radio.setPacketReceivedAction(setFlag); + + // start listening for LoRa packets + Serial.print(F("[LR2021] Starting to listen ... ")); + state = radio.startReceive(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } +} + +// these variables will be used later to save decoded information +ADSBFrame frame; +ADSBAircraftCategory category; +char callsign[RADIOLIB_ADSB_CALLSIGN_LEN]; +char hexId[RADIOLIB_ADSB_HEX_ID_LEN]; +ADSBAircraftCategory cat; +int alt; +float lat, lon; +bool altGnss; + +void loop() { + // check if the flag is set + if(receivedFlag) { + // reset flag + receivedFlag = false; + + // read the received binary data + // ADS-B frames have fixed length of 14 bytes, + // 3 of which are used as CRC which is handled automatically + uint8_t buff[11] = { 0 }; + int state = radio.readData(buff, 11); + + if (state == RADIOLIB_ERR_NONE) { + // packet was successfully received + Serial.println(F("[LR2021] Received packet!")); + + state = adsb.decode(buff, &frame); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("[ADS-B] Decoded frame!")); + // print the decoded information + Serial.print(F("[ADS-B] DF = ")); + Serial.println(frame.downlinkFormat); + Serial.print(F("[ADS-B] CA = ")); + Serial.println(frame.capability); + Serial.print(F("[ADS-B] Message type = ")); + Serial.println((int)frame.messageType); + + // get the hexadecimal ID (ICAO address) of the transceiver + state = adsb.parseHexId(&frame, hexId); + if (state == RADIOLIB_ERR_NONE) { + Serial.print(F("[ADS-B] Hex ID = ")); + Serial.println(hexId); + } + + // further information depends on the message type + switch(frame.messageType) { + case(ADSBMessageType::AIRCRAFT_ID): + adsb.parseCallsign(&frame, callsign, &cat); + Serial.print(F("[ADS-B] Callsign = ")); + Serial.println(callsign); + Serial.print(F("[ADS-B] Category = ")); + Serial.println((int)category); + break; + + case(ADSBMessageType::AIRBORNE_POS_ALT_BARO): + case(ADSBMessageType::AIRBORNE_POS_ALT_GNSS): + adsb.parseAirbornePosition(&frame, &alt, &lat, &lon, &altGnss); + Serial.print(F("[ADS-B] Altitude = ")); + Serial.print(alt); + if(altGnss) { Serial.println(" meters\n"); } else { Serial.println(" feet\n"); } + Serial.print(F("[ADS-B] Latitude = ")); + Serial.println(lat, 6); + Serial.print(F("[ADS-B] Longitude = ")); + Serial.println(lon, 6); + break; + + default: + break; + + } + + } else { + Serial.print(F("[ADS-B] Failed to decode, code ")); + Serial.println(state); + + } + + + } else if (state == RADIOLIB_ERR_CRC_MISMATCH) { + // packet was received, but is malformed + Serial.println(F("CRC error!")); + + } else { + // some other error occurred + Serial.print(F("failed, code ")); + Serial.println(state); + + } + } +} diff --git a/lib/RadioLib/examples/CC1101/CC1101_Transmit_Address/CC1101_Transmit_Address.ino b/lib/RadioLib/examples/CC1101/CC1101_Transmit_Address/CC1101_Transmit_Address.ino index 89fef51..7042015 100644 --- a/lib/RadioLib/examples/CC1101/CC1101_Transmit_Address/CC1101_Transmit_Address.ino +++ b/lib/RadioLib/examples/CC1101/CC1101_Transmit_Address/CC1101_Transmit_Address.ino @@ -82,10 +82,11 @@ void setup() { void loop() { Serial.print(F("[CC1101] Transmitting packet ... ")); - // you can transmit C-string or Arduino string up to 64 characters long + // you can transmit C-string or Arduino string up to 255 characters long int state = radio.transmit("Hello World!"); - // you can also transmit byte array up to 64 bytes long + // you can also transmit byte array up to 255 bytes long + // With some limitations see here: https://github.com/jgromes/RadioLib/discussions/1138 /* byte byteArr[] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF}; int state = radio.transmit(byteArr, 8); diff --git a/lib/RadioLib/examples/CC1101/CC1101_Transmit_Blocking/CC1101_Transmit_Blocking.ino b/lib/RadioLib/examples/CC1101/CC1101_Transmit_Blocking/CC1101_Transmit_Blocking.ino index 3f45061..809cfa6 100644 --- a/lib/RadioLib/examples/CC1101/CC1101_Transmit_Blocking/CC1101_Transmit_Blocking.ino +++ b/lib/RadioLib/examples/CC1101/CC1101_Transmit_Blocking/CC1101_Transmit_Blocking.ino @@ -2,7 +2,7 @@ RadioLib CC1101 Blocking Transmit Example This example transmits packets using CC1101 FSK radio module. - Each packet contains up to 64 bytes of data, in the form of: + Each packet contains up to 255 bytes of data with some limitations (https://github.com/jgromes/RadioLib/discussions/1138), in the form of: - Arduino String - null-terminated char array (C-string) - arbitrary binary data (byte array) @@ -57,11 +57,11 @@ int count = 0; void loop() { Serial.print(F("[CC1101] Transmitting packet ... ")); - // you can transmit C-string or Arduino string up to 64 characters long + // you can transmit C-string or Arduino string up to 255 characters long String str = "Hello World! #" + String(count++); int state = radio.transmit(str); - // you can also transmit byte array up to 64 bytes long + // you can also transmit byte array up to 255 bytes long with some limitations; https://github.com/jgromes/RadioLib/discussions/1138 /* byte byteArr[] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF}; int state = radio.transmit(byteArr, 8); @@ -72,7 +72,7 @@ void loop() { Serial.println(F("success!")); } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { - // the supplied packet was longer than 64 bytes + // the supplied packet was longer than 255 bytes Serial.println(F("too long!")); } else { diff --git a/lib/RadioLib/examples/CC1101/CC1101_Transmit_Interrupt/CC1101_Transmit_Interrupt.ino b/lib/RadioLib/examples/CC1101/CC1101_Transmit_Interrupt/CC1101_Transmit_Interrupt.ino index e1d8862..0a87645 100644 --- a/lib/RadioLib/examples/CC1101/CC1101_Transmit_Interrupt/CC1101_Transmit_Interrupt.ino +++ b/lib/RadioLib/examples/CC1101/CC1101_Transmit_Interrupt/CC1101_Transmit_Interrupt.ino @@ -3,7 +3,7 @@ This example transmits packets using CC1101 FSK radio module. Once a packet is transmitted, an interrupt is triggered. - Each packet contains up to 64 bytes of data, in the form of: + Each packet contains up to 255 bytes of data with some limitations (https://github.com/jgromes/RadioLib/discussions/1138), in the form of: - Arduino String - null-terminated char array (C-string) - arbitrary binary data (byte array) @@ -73,10 +73,12 @@ void setup() { Serial.print(F("[CC1101] Sending first packet ... ")); // you can transmit C-string or Arduino string up to - // 64 characters long + // 255 characters long transmissionState = radio.startTransmit("Hello World!"); - // you can also transmit byte array up to 64 bytes long + // you can also transmit byte array up to 255 bytes long + // When transmitting more than 64 bytes startTransmit blocks to refill the FIFO. + // Blocking ceases once the last bytes have been placed in the FIFO /* byte byteArr[] = {0x01, 0x23, 0x45, 0x56, 0x78, 0xAB, 0xCD, 0xEF}; @@ -97,10 +99,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); @@ -119,11 +117,11 @@ void loop() { Serial.print(F("[CC1101] Sending another packet ... ")); // you can transmit C-string or Arduino string up to - // 64 characters long + // 255 characters long String str = "Hello World! #" + String(count++); transmissionState = radio.startTransmit(str); - // you can also transmit byte array up to 64 bytes long + // you can also transmit byte array up to 255 bytes long with limitations https://github.com/jgromes/RadioLib/discussions/1138 /* byte byteArr[] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF}; diff --git a/lib/RadioLib/examples/LR11x0/LR11x0_GFSK_Modem/LR11x0_GFSK_Modem.ino b/lib/RadioLib/examples/LR11x0/LR11x0_GFSK_Modem/LR11x0_GFSK_Modem.ino index 85e7bd4..c3a8003 100644 --- a/lib/RadioLib/examples/LR11x0/LR11x0_GFSK_Modem/LR11x0_GFSK_Modem.ino +++ b/lib/RadioLib/examples/LR11x0/LR11x0_GFSK_Modem/LR11x0_GFSK_Modem.ino @@ -70,13 +70,6 @@ void setup() { while (true) { delay(10); } } - // GFSK modem on LR11x0 can handle the sync word setting in bits, not just - // whole bytes. The value used is left-justified. - // This makes same result as radio.setSyncWord(syncWord, 8): - state = radio.setSyncBits(syncWord, 64); - // This will use 0x012 as sync word (12 bits only): - state = radio.setSyncBits(syncWord, 12); - // GFSK modem allows advanced CRC configuration // Default is CCIT CRC16 (2 bytes, initial 0x1D0F, polynomial 0x1021, inverted) // Set CRC to IBM CRC (2 bytes, initial 0xFFFF, polynomial 0x8005, non-inverted) diff --git a/lib/RadioLib/examples/LR11x0/LR11x0_LR_FHSS_Modem/LR11x0_LR_FHSS_Modem.ino b/lib/RadioLib/examples/LR11x0/LR11x0_LR_FHSS_Modem/LR11x0_LR_FHSS_Modem.ino index f1c7c19..a0dc436 100644 --- a/lib/RadioLib/examples/LR11x0/LR11x0_LR_FHSS_Modem/LR11x0_LR_FHSS_Modem.ino +++ b/lib/RadioLib/examples/LR11x0/LR11x0_LR_FHSS_Modem/LR11x0_LR_FHSS_Modem.ino @@ -57,8 +57,8 @@ void setup() { // the following settings can also // be modified at run-time state = radio.setFrequency(433.5); - state = radio.setLrFhssConfig(RADIOLIB_LR11X0_LR_FHSS_BW_1523_4, // bandwidth - RADIOLIB_LR11X0_LR_FHSS_CR_1_2, // coding rate + state = radio.setLrFhssConfig(RADIOLIB_LRXXXX_LR_FHSS_BW_1523_4, // bandwidth + RADIOLIB_LRXXXX_LR_FHSS_CR_1_2, // coding rate 3, // header count 0x13A); // hopping sequence seed state = radio.setOutputPower(10.0); diff --git a/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Blocking/LR11x0_Transmit_Blocking.ino b/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Blocking/LR11x0_Transmit_Blocking.ino index 66a9058..9824011 100644 --- a/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Blocking/LR11x0_Transmit_Blocking.ino +++ b/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Blocking/LR11x0_Transmit_Blocking.ino @@ -101,11 +101,6 @@ void loop() { // the packet was successfully transmitted Serial.println(F("success!")); - // print measured data rate - Serial.print(F("[LR1110] Datarate:\t")); - Serial.print(radio.getDataRate()); - Serial.println(F(" bps")); - } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { // the supplied packet was longer than 256 bytes Serial.println(F("too long!")); diff --git a/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Interrupt/LR11x0_Transmit_Interrupt.ino b/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Interrupt/LR11x0_Transmit_Interrupt.ino index 3086a9a..14942de 100644 --- a/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Interrupt/LR11x0_Transmit_Interrupt.ino +++ b/lib/RadioLib/examples/LR11x0/LR11x0_Transmit_Interrupt/LR11x0_Transmit_Interrupt.ino @@ -126,10 +126,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); diff --git a/lib/RadioLib/examples/LR2021/LR2021_Channel_Activity_Detection_Blocking/LR2021_Channel_Activity_Detection_Blocking.ino b/lib/RadioLib/examples/LR2021/LR2021_Channel_Activity_Detection_Blocking/LR2021_Channel_Activity_Detection_Blocking.ino new file mode 100644 index 0000000..31fe6be --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_Channel_Activity_Detection_Blocking/LR2021_Channel_Activity_Detection_Blocking.ino @@ -0,0 +1,82 @@ +/* + RadioLib LR2021 Blocking Channel Activity Detection Example + + This example uses LR2021 to scan the current LoRa + channel and detect ongoing LoRa transmissions. + Unlike SX127x CAD, LR2021 can detect any part + of LoRa transmission, not just the preamble. + + Using blocking CAD is not recommended, as it will lead + to significant amount of timeouts, inefficient use of processor + time and can some miss packets! + Instead, interrupt CAD is recommended. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } +} + +void loop() { + Serial.print(F("[LR2021] Scanning channel for LoRa transmission ... ")); + + // start scanning current channel + int state = radio.scanChannel(); + + if (state == RADIOLIB_LORA_DETECTED) { + // LoRa preamble was detected + Serial.println(F("detected!")); + + } else if (state == RADIOLIB_CHANNEL_FREE) { + // no preamble was detected, channel is free + Serial.println(F("channel is free!")); + + } else { + // some other error occurred + Serial.print(F("failed, code ")); + Serial.println(state); + + } + + // wait 100 ms before new scan + delay(100); +} diff --git a/lib/RadioLib/examples/LR2021/LR2021_Channel_Activity_Detection_Interrupt/LR2021_Channel_Activity_Detection_Interrupt.ino b/lib/RadioLib/examples/LR2021/LR2021_Channel_Activity_Detection_Interrupt/LR2021_Channel_Activity_Detection_Interrupt.ino new file mode 100644 index 0000000..e3ff802 --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_Channel_Activity_Detection_Interrupt/LR2021_Channel_Activity_Detection_Interrupt.ino @@ -0,0 +1,117 @@ +/* + RadioLib LR2021 Channel Activity Detection Example + + This example uses LR2021 to scan the current LoRa + channel and detect ongoing LoRa transmissions. + Unlike SX127x CAD, LR2021 can detect any part + of LoRa transmission, not just the preamble. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// flag to indicate that a packet was detected or CAD timed out +volatile bool scanFlag = false; + +// this function is called when a complete packet +// is received by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // something happened, set the flag + scanFlag = true; +} + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the function that will be called + // when LoRa packet or timeout is detected + radio.setIrqAction(setFlag); + + // start scanning the channel + Serial.print(F("[LR2021] Starting scan for LoRa preamble ... ")); + state = radio.startChannelScan(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + } +} + +void loop() { + // check if the flag is set + if(scanFlag) { + // reset flag + scanFlag = false; + + // check CAD result + int state = radio.getChannelScanResult(); + + if (state == RADIOLIB_LORA_DETECTED) { + // LoRa packet was detected + Serial.println(F("[LR2021] Packet detected!")); + + } else if (state == RADIOLIB_CHANNEL_FREE) { + // channel is free + Serial.println(F("[LR2021] Channel is free!")); + + } else { + // some other error occurred + Serial.print(F("[LR2021] Failed, code ")); + Serial.println(state); + + } + + // start scanning the channel again + Serial.print(F("[LR2021] Starting scan for LoRa preamble ... ")); + state = radio.startChannelScan(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + } + } +} diff --git a/lib/RadioLib/examples/LR2021/LR2021_GFSK_Modem/LR2021_GFSK_Modem.ino b/lib/RadioLib/examples/LR2021/LR2021_GFSK_Modem/LR2021_GFSK_Modem.ino new file mode 100644 index 0000000..ad8997a --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_GFSK_Modem/LR2021_GFSK_Modem.ino @@ -0,0 +1,155 @@ +/* + RadioLib LR2021 GFSK Modem Example + + This example shows how to use GFSK modem in LR2021 chips. + + NOTE: The sketch below is just a guide on how to use + GFSK modem, so this code should not be run directly! + Instead, modify the other examples to use GFSK + modem and use the appropriate configuration + methods. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---gfsk-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.beginGFSK(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // if needed, you can switch between any of the modems + // + // radio.begin() start LoRa modem (and disable GFSK) + // radio.beginGFSK() start GFSK modem (and disable LoRa) + + // the following settings can also + // be modified at run-time + state = radio.setFrequency(433.5); + state = radio.setBitRate(100.0); + state = radio.setFrequencyDeviation(10.0); + state = radio.setRxBandwidth(250.0); + state = radio.setOutputPower(10.0); + state = radio.setDataShaping(RADIOLIB_SHAPING_1_0); + uint8_t syncWord[] = {0x01, 0x23, 0x45, 0x67, + 0x89, 0xAB, 0xCD, 0xEF}; + state = radio.setSyncWord(syncWord, 8); + if (state != RADIOLIB_ERR_NONE) { + Serial.print(F("Unable to set configuration, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // GFSK modem allows advanced CRC configuration + // Default is CCITT CRC16 (2 bytes, initial 0x1D0F, polynomial 0x1021, inverted) + // Set CRC to IBM CRC (2 bytes, initial 0xFFFF, polynomial 0x8005, non-inverted) + state = radio.setCRC(2, 0xFFFF, 0x8005, false); + // set CRC length to 0 to disable CRC + + #warning "This sketch is just an API guide! Read the note at line 6." +} + +void loop() { + // GFSK modem can use the same transmit/receive methods + // as the LoRa modem, even their interrupt-driven versions + + // transmit GFSK packet + int state = radio.transmit("Hello World!"); + /* + byte byteArr[] = {0x01, 0x23, 0x45, 0x67, + 0x89, 0xAB, 0xCD, 0xEF}; + int state = radio.transmit(byteArr, 8); + */ + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("[LR2021] Packet transmitted successfully!")); + } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { + Serial.println(F("[LR2021] Packet too long!")); + } else if (state == RADIOLIB_ERR_TX_TIMEOUT) { + Serial.println(F("[LR2021] Timed out while transmitting!")); + } else { + Serial.println(F("[LR2021] Failed to transmit packet, code ")); + Serial.println(state); + } + + // receive GFSK packet + String str; + state = radio.receive(str); + /* + byte byteArr[8]; + int state = radio.receive(byteArr, 8); + */ + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("[LR2021] Received packet!")); + Serial.print(F("[LR2021] Data:\t")); + Serial.println(str); + } else if (state == RADIOLIB_ERR_RX_TIMEOUT) { + Serial.println(F("[LR2021] Timed out while waiting for packet!")); + } else { + Serial.print(F("[LR2021] Failed to receive packet, code ")); + Serial.println(state); + } + + // GFSK modem has built-in address filtering system + // it can be enabled by setting node address, broadcast + // address, or both + // + // to transmit packet to a particular address, + // use the following methods: + // + // radio.transmit("Hello World!", address); + // radio.startTransmit("Hello World!", address); + + // set node address to 0x02 + state = radio.setNodeAddress(0x02); + // set broadcast address to 0xFF + state = radio.setBroadcastAddress(0xFF); + if (state != RADIOLIB_ERR_NONE) { + Serial.println(F("[LR2021] Unable to set address filter, code ")); + Serial.println(state); + } + + // address filtering can also be disabled + // NOTE: calling this method will also erase previously set + // node and broadcast address + /* + state = radio.disableAddressFiltering(); + if (state != RADIOLIB_ERR_NONE) { + Serial.println(F("Unable to remove address filter, code ")); + } + */ +} diff --git a/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Modem/SX126x_LR_FHSS_Modem.ino b/lib/RadioLib/examples/LR2021/LR2021_LR_FHSS_Modem/LR2021_LR_FHSS_Modem.ino similarity index 73% rename from lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Modem/SX126x_LR_FHSS_Modem.ino rename to lib/RadioLib/examples/LR2021/LR2021_LR_FHSS_Modem/LR2021_LR_FHSS_Modem.ino index 44519d5..097c1f3 100644 --- a/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Modem/SX126x_LR_FHSS_Modem.ino +++ b/lib/RadioLib/examples/LR2021/LR2021_LR_FHSS_Modem/LR2021_LR_FHSS_Modem.ino @@ -1,7 +1,7 @@ /* - RadioLib SX126x LR-FHSS Modem Example + RadioLib LR2021 LR-FHSS Modem Example - This example shows how to use LR-FHSS modem in SX126x chips. + This example shows how to use LR-FHSS modem in LR2021 chips. This modem can only transmit data, and is not able to receive. NOTE: The sketch below is just a guide on how to use @@ -11,7 +11,7 @@ methods. For default module settings, see the wiki page - https://github.com/jgromes/RadioLib/wiki/Default-configuration#sx126x---lr-fhss-modem + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lr-fhss-modem For full API reference, see the GitHub Pages https://jgromes.github.io/RadioLib/ @@ -20,12 +20,12 @@ // include the library #include -// SX1262 has the following connections: +// LR2021 has the following connections: // NSS pin: 10 // IRQ pin: 2 // NRST pin: 3 // BUSY pin: 9 -SX1262 radio = new Module(10, 2, 3, 9); +LR2021 radio = new Module(10, 2, 3, 9); // or detect the pinout automatically using RadioBoards // https://github.com/radiolib-org/RadioBoards @@ -38,8 +38,13 @@ Radio radio = new RadioModule(); void setup() { Serial.begin(9600); - // initialize SX1262 with default settings - Serial.print(F("[SX1262] Initializing ... ")); + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); int state = radio.beginLRFHSS(); if (state == RADIOLIB_ERR_NONE) { Serial.println(F("success!")); @@ -57,8 +62,8 @@ void setup() { // the following settings can also // be modified at run-time state = radio.setFrequency(433.5); - state = radio.setLrFhssConfig(RADIOLIB_SX126X_LR_FHSS_BW_1523_4, // bandwidth - RADIOLIB_SX126X_LR_FHSS_CR_1_2, // coding rate + state = radio.setLrFhssConfig(RADIOLIB_LRXXXX_LR_FHSS_BW_1523_4, // bandwidth + RADIOLIB_LRXXXX_LR_FHSS_CR_1_2, // coding rate 3, // header count 0x13A); // hopping sequence seed state = radio.setOutputPower(10.0); @@ -83,13 +88,13 @@ void loop() { int state = radio.transmit(byteArr, 8); */ if (state == RADIOLIB_ERR_NONE) { - Serial.println(F("[SX1262] Packet transmitted successfully!")); + Serial.println(F("[LR2021] Packet transmitted successfully!")); } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { - Serial.println(F("[SX1262] Packet too long!")); + Serial.println(F("[LR2021] Packet too long!")); } else if (state == RADIOLIB_ERR_TX_TIMEOUT) { - Serial.println(F("[SX1262] Timed out while transmitting!")); + Serial.println(F("[LR2021] Timed out while transmitting!")); } else { - Serial.println(F("[SX1262] Failed to transmit packet, code ")); + Serial.println(F("[LR2021] Failed to transmit packet, code ")); Serial.println(state); } diff --git a/lib/RadioLib/examples/LR2021/LR2021_PingPong/LR2021_PingPong.ino b/lib/RadioLib/examples/LR2021/LR2021_PingPong/LR2021_PingPong.ino new file mode 100644 index 0000000..4a399d8 --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_PingPong/LR2021_PingPong.ino @@ -0,0 +1,155 @@ +/* + RadioLib LR2021 Ping-Pong Example + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// uncomment the following only on one +// of the nodes to initiate the pings +//#define INITIATING_NODE + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// save transmission states between loops +int transmissionState = RADIOLIB_ERR_NONE; + +// flag to indicate transmission or reception state +bool transmitFlag = false; + +// flag to indicate that a packet was sent or received +volatile bool operationDone = false; + +// this function is called when a complete packet +// is transmitted or received by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // we sent or received a packet, set the flag + operationDone = true; +} + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the function that will be called + // when new packet is received + radio.setIrqAction(setFlag); + + #if defined(INITIATING_NODE) + // send the first packet on this node + Serial.print(F("[LR2021] Sending first packet ... ")); + transmissionState = radio.startTransmit("Hello World!"); + transmitFlag = true; + #else + // start listening for LoRa packets on this node + Serial.print(F("[LR2021] Starting to listen ... ")); + state = radio.startReceive(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + #endif +} + +void loop() { + // check if the previous operation finished + if(operationDone) { + // reset flag + operationDone = false; + + if(transmitFlag) { + // the previous operation was transmission, listen for response + // print the result + if (transmissionState == RADIOLIB_ERR_NONE) { + // packet was successfully sent + Serial.println(F("transmission finished!")); + + } else { + Serial.print(F("failed, code ")); + Serial.println(transmissionState); + + } + + // listen for response + radio.startReceive(); + transmitFlag = false; + + } else { + // the previous operation was reception + // print data and send another packet + String str; + int state = radio.readData(str); + + if (state == RADIOLIB_ERR_NONE) { + // packet was successfully received + Serial.println(F("[LR2021] Received packet!")); + + // print data of the packet + Serial.print(F("[LR2021] Data:\t\t")); + Serial.println(str); + + // print RSSI (Received Signal Strength Indicator) + Serial.print(F("[LR2021] RSSI:\t\t")); + Serial.print(radio.getRSSI()); + Serial.println(F(" dBm")); + + // print SNR (Signal-to-Noise Ratio) + Serial.print(F("[LR2021] SNR:\t\t")); + Serial.print(radio.getSNR()); + Serial.println(F(" dB")); + + } + + // wait a second before transmitting again + delay(1000); + + // send another one + Serial.print(F("[LR2021] Sending another packet ... ")); + transmissionState = radio.startTransmit("Hello World!"); + transmitFlag = true; + } + + } +} diff --git a/lib/RadioLib/examples/LR2021/LR2021_Receive_Blocking/LR2021_Receive_Blocking.ino b/lib/RadioLib/examples/LR2021/LR2021_Receive_Blocking/LR2021_Receive_Blocking.ino new file mode 100644 index 0000000..709d61d --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_Receive_Blocking/LR2021_Receive_Blocking.ino @@ -0,0 +1,111 @@ +/* + RadioLib LR2021 Blocking Receive Example + + This example listens for LoRa transmissions using LR2021 Lora modules. + To successfully receive data, the following settings have to be the same + on both transmitter and receiver: + - carrier frequency + - bandwidth + - spreading factor + - coding rate + - sync word + - preamble length + + Using blocking receive is not recommended, as it will lead + to significant amount of timeouts, inefficient use of processor + time and can some miss packets! + Instead, interrupt receive is recommended. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } +} + +void loop() { + Serial.print(F("[LR2021] Waiting for incoming transmission ... ")); + + // you can receive data as an Arduino String + String str; + int state = radio.receive(str); + + // you can also receive data as byte array + /* + byte byteArr[8]; + int state = radio.receive(byteArr, 8); + */ + + if (state == RADIOLIB_ERR_NONE) { + // packet was successfully received + Serial.println(F("success!")); + + // print the data of the packet + Serial.print(F("[LR2021] Data:\t\t")); + Serial.println(str); + + // print the RSSI (Received Signal Strength Indicator) + // of the last received packet + Serial.print(F("[LR2021] RSSI:\t\t")); + Serial.print(radio.getRSSI()); + Serial.println(F(" dBm")); + + // print the SNR (Signal-to-Noise Ratio) + // of the last received packet + Serial.print(F("[LR2021] SNR:\t\t")); + Serial.print(radio.getSNR()); + Serial.println(F(" dB")); + + } else if (state == RADIOLIB_ERR_RX_TIMEOUT) { + // timeout occurred while waiting for a packet + Serial.println(F("timeout!")); + + } else if (state == RADIOLIB_ERR_CRC_MISMATCH) { + // packet was received, but is malformed + Serial.println(F("CRC error!")); + + } else { + // some other error occurred + Serial.print(F("failed, code ")); + Serial.println(state); + + } +} diff --git a/lib/RadioLib/examples/LR2021/LR2021_Receive_Interrupt/LR2021_Receive_Interrupt.ino b/lib/RadioLib/examples/LR2021/LR2021_Receive_Interrupt/LR2021_Receive_Interrupt.ino new file mode 100644 index 0000000..bcc63ab --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_Receive_Interrupt/LR2021_Receive_Interrupt.ino @@ -0,0 +1,145 @@ +/* + RadioLib LR2021 Receive with Interrupts Example + + This example listens for LoRa transmissions and tries to + receive them. Once a packet is received, an interrupt is + triggered. To successfully receive data, the following + settings have to be the same on both transmitter + and receiver: + - carrier frequency + - bandwidth + - spreading factor + - coding rate + - sync word + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// flag to indicate that a packet was received +volatile bool receivedFlag = false; + +// this function is called when a complete packet +// is received by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // we got a packet, set the flag + receivedFlag = true; +} + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the function that will be called + // when new packet is received + radio.setPacketReceivedAction(setFlag); + + // start listening for LoRa packets + Serial.print(F("[LR2021] Starting to listen ... ")); + state = radio.startReceive(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // if needed, 'listen' mode can be disabled by calling + // any of the following methods: + // + // radio.standby() + // radio.sleep() + // radio.transmit(); + // radio.receive(); + // radio.scanChannel(); +} + +void loop() { + // check if the flag is set + if(receivedFlag) { + // reset flag + receivedFlag = false; + + // you can read received data as an Arduino String + String str; + int state = radio.readData(str); + + // you can also read received data as byte array + /* + byte byteArr[8]; + int numBytes = radio.getPacketLength(); + int state = radio.readData(byteArr, numBytes); + */ + + if (state == RADIOLIB_ERR_NONE) { + // packet was successfully received + Serial.println(F("[LR2021] Received packet!")); + + // print data of the packet + Serial.print(F("[LR2021] Data:\t\t")); + Serial.println(str); + + // print RSSI (Received Signal Strength Indicator) + Serial.print(F("[LR2021] RSSI:\t\t")); + Serial.print(radio.getRSSI()); + Serial.println(F(" dBm")); + + // print SNR (Signal-to-Noise Ratio) + Serial.print(F("[LR2021] SNR:\t\t")); + Serial.print(radio.getSNR()); + Serial.println(F(" dB")); + + } else if (state == RADIOLIB_ERR_CRC_MISMATCH) { + // packet was received, but is malformed + Serial.println(F("CRC error!")); + + } else { + // some other error occurred + Serial.print(F("failed, code ")); + Serial.println(state); + + } + } +} diff --git a/lib/RadioLib/examples/LR2021/LR2021_Receive_MultiSF/LR2021_Receive_MultiSF.ino b/lib/RadioLib/examples/LR2021/LR2021_Receive_MultiSF/LR2021_Receive_MultiSF.ino new file mode 100644 index 0000000..d516a7c --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_Receive_MultiSF/LR2021_Receive_MultiSF.ino @@ -0,0 +1,179 @@ +/* + RadioLib LR2021 Receive Multi-SF Example + + This example listens for LoRa transmissions with different + spreading factors and tries to receive them. + Once a packet is received, an interrupt is triggered. + + There are the following limits on configuration of multi-SF + (or side-detect) reception: + * In Rx mode, all side-detector spreading factors must be higher + than the primary one (configured via begin or setSpreadingFactor). + * For CAD mode, the above condition is inverted, + all side-detector spreading factors must be smaller. + * All packets to be detected/received must have the same header type + (implicit or explicit). + * If bandwidth is higher than 500 kHz, + at most 2 side detectors are allowed. + * If the primary spreading factor is 10, 11 or 12, + at most 2 side detectors are allowed. + * All spreading factors must be different. + * The difference between maximum and minimum spreading factor used + must be less than or equal to 4. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// flag to indicate that a packet was received +volatile bool receivedFlag = false; + +// this function is called when a complete packet +// is received by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // we got a packet, set the flag + receivedFlag = true; +} + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // prepare array of side detector configuration structures + // for spreading factors 10 - 12 + // as the default spreading factor is 9, this satisfies + // the conditions listed at the top of this example + // this is just an example; you can also set different + // sync words, IQ inversions and low data-rate optimization + // depending on the types of transmitters you expect + const struct LR2021LoRaSideDetector_t sideDet[3] = { + { .sf = 10, .ldro = false, .invertIQ = false, + .syncWord = RADIOLIB_LR2021_LORA_SYNC_WORD_PRIVATE }, + { .sf = 11, .ldro = true, .invertIQ = false, + .syncWord = RADIOLIB_LR2021_LORA_SYNC_WORD_PRIVATE }, + { .sf = 12, .ldro = true, .invertIQ = false, + .syncWord = RADIOLIB_LR2021_LORA_SYNC_WORD_PRIVATE }, + }; + Serial.print(F("[LR2021] Setting side detector configuration ... ")); + state = radio.setSideDetector(sideDet, 3); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the function that will be called + // when new packet is received + radio.setPacketReceivedAction(setFlag); + + // start listening for LoRa packets + Serial.print(F("[LR2021] Starting to listen ... ")); + state = radio.startReceive(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // if needed, 'listen' mode can be disabled by calling + // any of the following methods: + // + // radio.standby() + // radio.sleep() + // radio.transmit(); + // radio.receive(); + // radio.scanChannel(); +} + +void loop() { + // check if the flag is set + if(receivedFlag) { + // reset flag + receivedFlag = false; + + // you can read received data as an Arduino String + String str; + int state = radio.readData(str); + + // you can also read received data as byte array + /* + byte byteArr[8]; + int numBytes = radio.getPacketLength(); + int state = radio.readData(byteArr, numBytes); + */ + + if (state == RADIOLIB_ERR_NONE) { + // packet was successfully received + Serial.println(F("[LR2021] Received packet!")); + + // print data of the packet + Serial.print(F("[LR2021] Data:\t\t")); + Serial.println(str); + + // print RSSI (Received Signal Strength Indicator) + Serial.print(F("[LR2021] RSSI:\t\t")); + Serial.print(radio.getRSSI()); + Serial.println(F(" dBm")); + + // print SNR (Signal-to-Noise Ratio) + Serial.print(F("[LR2021] SNR:\t\t")); + Serial.print(radio.getSNR()); + Serial.println(F(" dB")); + + } else if (state == RADIOLIB_ERR_CRC_MISMATCH) { + // packet was received, but is malformed + Serial.println(F("CRC error!")); + + } else { + // some other error occurred + Serial.print(F("failed, code ")); + Serial.println(state); + + } + } +} diff --git a/lib/RadioLib/examples/LR2021/LR2021_Transmit_Blocking/LR2021_Transmit_Blocking.ino b/lib/RadioLib/examples/LR2021/LR2021_Transmit_Blocking/LR2021_Transmit_Blocking.ino new file mode 100644 index 0000000..7b6518b --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_Transmit_Blocking/LR2021_Transmit_Blocking.ino @@ -0,0 +1,97 @@ +/* + RadioLib LR2021 Blocking Transmit Example + + This example transmits packets using LR2021 LoRa radio module. + Each packet contains up to 256 bytes of data, in the form of: + - Arduino String + - null-terminated char array (C-string) + - arbitrary binary data (byte array) + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + delay(1000); + while (true) { delay(10); } + } +} + +// counter to keep track of transmitted packets +int count = 0; + +void loop() { + Serial.print(F("[LR2021] Transmitting packet ... ")); + + // you can transmit C-string or Arduino string up to + // 256 characters long + // NOTE: transmit() is a blocking method! + // See example LR11x0_Transmit_Interrupt for details + // on non-blocking transmission method. + String str = "Hello World! #" + String(count++); + int state = radio.transmit(str); + + // you can also transmit byte array up to 256 bytes long + /* + byte byteArr[] = {0x01, 0x23, 0x45, 0x56, 0x78, 0xAB, 0xCD, 0xEF}; + int state = radio.transmit(byteArr, 8); + */ + + if (state == RADIOLIB_ERR_NONE) { + // the packet was successfully transmitted + Serial.println(F("success!")); + + } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { + // the supplied packet was longer than 256 bytes + Serial.println(F("too long!")); + + } else if (state == RADIOLIB_ERR_TX_TIMEOUT) { + // timeout occurred while transmitting packet + Serial.println(F("timeout!")); + + } else { + // some other error occurred + Serial.print(F("failed, code ")); + Serial.println(state); + + } + + // wait for a second before transmitting again + delay(1000); +} diff --git a/lib/RadioLib/examples/LR2021/LR2021_Transmit_Interrupt/LR2021_Transmit_Interrupt.ino b/lib/RadioLib/examples/LR2021/LR2021_Transmit_Interrupt/LR2021_Transmit_Interrupt.ino new file mode 100644 index 0000000..8265ed2 --- /dev/null +++ b/lib/RadioLib/examples/LR2021/LR2021_Transmit_Interrupt/LR2021_Transmit_Interrupt.ino @@ -0,0 +1,134 @@ +/* + RadioLib LR2021 Transmit with Interrupts Example + + This example transmits LoRa packets with one second delays + between them. Each packet contains up to 256 bytes + of data, in the form of: + - Arduino String + - null-terminated char array (C-string) + - arbitrary binary data (byte array) + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#lr2021---lora-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// LR2021 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +LR2021 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// save transmission state between loops +int transmissionState = RADIOLIB_ERR_NONE; + +// flag to indicate that a packet was sent +volatile bool transmittedFlag = false; + +// this function is called when a complete packet +// is transmitted by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // we sent a packet, set the flag + transmittedFlag = true; +} + +void setup() { + Serial.begin(9600); + + // LR2021 allows to use any DIO pin as the interrupt + // as an example, we set DIO10 to be the IRQ + // this has to be done prior to calling begin()! + radio.irqDioNum = 10; + + // initialize LR2021 with default settings + Serial.print(F("[LR2021] Initializing ... ")); + int state = radio.begin(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the function that will be called + // when packet transmission is finished + radio.setPacketSentAction(setFlag); + + // start transmitting the first packet + Serial.print(F("[LR2021] Sending first packet ... ")); + + // you can transmit C-string or Arduino string up to + // 256 characters long + transmissionState = radio.startTransmit("Hello World!"); + + // you can also transmit byte array up to 256 bytes long + /* + byte byteArr[] = {0x01, 0x23, 0x45, 0x67, + 0x89, 0xAB, 0xCD, 0xEF}; + state = radio.startTransmit(byteArr, 8); + */ +} + +// counter to keep track of transmitted packets +int count = 0; + +void loop() { + // check if the previous transmission finished + if(transmittedFlag) { + // reset flag + transmittedFlag = false; + + if (transmissionState == RADIOLIB_ERR_NONE) { + // packet was successfully sent + Serial.println(F("transmission finished!")); + + } else { + Serial.print(F("failed, code ")); + Serial.println(transmissionState); + + } + + // clean up after transmission is finished + // this will ensure transmitter is disabled, + // RF switch is powered down etc. + radio.finishTransmit(); + + // wait a second before transmitting again + delay(1000); + + // send another one + Serial.print(F("[LR2021] Sending another packet ... ")); + + // you can transmit C-string or Arduino string up to + // 256 characters long + String str = "Hello World! #" + String(count++); + transmissionState = radio.startTransmit(str); + + // you can also transmit byte array up to 256 bytes long + /* + byte byteArr[] = {0x01, 0x23, 0x45, 0x67, + 0x89, 0xAB, 0xCD, 0xEF}; + transmissionState = radio.startTransmit(byteArr, 8); + */ + } +} diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_ABP/configABP.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_ABP/configABP.h index 61bc63e..a19a1dc 100644 --- a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_ABP/configABP.h +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_ABP/configABP.h @@ -41,9 +41,11 @@ const uint32_t uplinkIntervalSeconds = 5UL * 60UL; // minutes x seconds // for the curious, the #ifndef blocks allow for automated testing &/or you can // put your EUI & keys in to your platformio.ini - see wiki for more tips -// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN500 +// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN470 const LoRaWANBand_t Region = EU868; -const uint8_t subBand = 0; // For US915, change this to 2, otherwise leave on 0 + +// subband choice: for US915/AU915 set to 2, for CN470 set to 1, otherwise leave on 0 +const uint8_t subBand = 0; // ============================================================================ // Below is to support the sketch - only make changes if the notes say so ... @@ -70,8 +72,8 @@ String stateDecode(const int16_t result) { return "ERR_PACKET_TOO_LONG"; case RADIOLIB_ERR_RX_TIMEOUT: return "ERR_RX_TIMEOUT"; - case RADIOLIB_ERR_CRC_MISMATCH: - return "ERR_CRC_MISMATCH"; + case RADIOLIB_ERR_MIC_MISMATCH: + return "ERR_MIC_MISMATCH"; case RADIOLIB_ERR_INVALID_BANDWIDTH: return "ERR_INVALID_BANDWIDTH"; case RADIOLIB_ERR_INVALID_SPREADING_FACTOR: @@ -102,10 +104,6 @@ String stateDecode(const int16_t result) { return "RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND"; case RADIOLIB_ERR_JOIN_NONCE_INVALID: return "RADIOLIB_ERR_JOIN_NONCE_INVALID"; - case RADIOLIB_ERR_N_FCNT_DOWN_INVALID: - return "RADIOLIB_ERR_N_FCNT_DOWN_INVALID"; - case RADIOLIB_ERR_A_FCNT_DOWN_INVALID: - return "RADIOLIB_ERR_A_FCNT_DOWN_INVALID"; case RADIOLIB_ERR_DWELL_TIME_EXCEEDED: return "RADIOLIB_ERR_DWELL_TIME_EXCEEDED"; case RADIOLIB_ERR_CHECKSUM_MISMATCH: diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Class_C/LoRaWAN_Class_C.ino b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Class_C/LoRaWAN_Class_C.ino new file mode 100644 index 0000000..db2a5e7 --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Class_C/LoRaWAN_Class_C.ino @@ -0,0 +1,136 @@ +/* + RadioLib LoRaWAN Class C Example + + This example joins a LoRaWAN network and switches to Class C. + Note that a confirmed uplink with a confirming downlink is + required for the switch to Class C to complete. This example + assumes that coverage is good enough to receive the downlink + at once. It is up to you to handle the situation if coverage + is worse. + + Running this examples REQUIRES you to check "Resets DevNonces" + on your LoRaWAN dashboard. Refer to the network's + documentation on how to do this. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ + + For LoRaWAN details, see the wiki page + https://github.com/jgromes/RadioLib/wiki/LoRaWAN + +*/ + +#include "config.h" + +void setup() { + Serial.begin(115200); + while(!Serial); + delay(5000); // Give time to switch to the serial monitor + Serial.println(F("\nSetup ... ")); + + Serial.println(F("Initialise the radio")); + int16_t state = radio.begin(); + debug(state != RADIOLIB_ERR_NONE, F("Initialise radio failed"), state, true); + + // Setup the OTAA session information + state = node.beginOTAA(joinEUI, devEUI, nwkKey, appKey); + debug(state != RADIOLIB_ERR_NONE, F("Initialise node failed"), state, true); + + Serial.println(F("Join ('login') the LoRaWAN Network")); + state = node.activateOTAA(); + debug(state != RADIOLIB_LORAWAN_NEW_SESSION, F("Join failed"), state, true); + + // switch class + node.setClass(RADIOLIB_LORAWAN_CLASS_C); + + // read the note at the top about this first confirmed uplink + const char* payload = "C"; + Serial.println(F("Sending a confirmed uplink")); + state = node.sendReceive(payload, 1, true); + debug(state <= 0, F("No downlink received"), state, true); + + Serial.println(F("Ready!\n")); +} + +uint32_t lastUplink = 0; + +void loop() { + uint8_t downlinkPayload[255]; + size_t downlinkLen = 0; + LoRaWANEvent_t downlinkEvent; + + // check if a Class C downlink is ready for processing + // tip: internally, this just checks a boolean; + // it does not poll the radio over SPI. + // tip: you are not required to continuously call + // this function; you can do other stuff in between. + // however, a downlink may be overwritten if you + // don't call this function in time for the previous one. + int16_t state = node.getDownlinkClassC(downlinkPayload, &downlinkLen, &downlinkEvent); + if(state > 0) { + Serial.println(F("Received a Class C downlink!")); + // Did we get a downlink with data for us + if(downlinkLen > 0) { + Serial.println(F("Downlink data: ")); + arrayDump(downlinkPayload, downlinkLen); + } + + // print extra information about the event + Serial.println(F("[LoRaWAN] Event information:")); + Serial.print(F("[LoRaWAN] Datarate:\t")); + Serial.println(downlinkEvent.datarate); + Serial.print(F("[LoRaWAN] Frequency:\t")); + Serial.print(downlinkEvent.freq, 3); + Serial.println(F(" MHz")); + Serial.print(F("[LoRaWAN] Frame count:\t")); + Serial.println(downlinkEvent.fCnt); + Serial.print(F("[LoRaWAN] Port:\t\t")); + Serial.println(downlinkEvent.fPort); + Serial.println(F(" ms")); + Serial.print(F("[LoRaWAN] Rx window: \t")); + Serial.println(state); + Serial.print(F("[LoRaWAN] Cast:\t\t")); + Serial.println(downlinkEvent.multicast ? "Multi" : "Uni"); + } + + // if less than uplinkIntervalSeconds have elapsed since previous uplink, + // stop and go back to the top of the loop() + if(millis() - lastUplink < uplinkIntervalSeconds * 1000) { + return; + } + + Serial.println(F("Sending uplink")); + + // This is the place to gather the sensor inputs + // Instead of reading any real sensor, we just generate some random numbers as example + uint8_t value1 = radio.random(100); + uint16_t value2 = radio.random(2000); + + // Build payload byte array + uint8_t uplinkPayload[3]; + uplinkPayload[0] = value1; + uplinkPayload[1] = highByte(value2); // See notes for high/lowByte functions + uplinkPayload[2] = lowByte(value2); + + // Perform an uplink + state = node.sendReceive(uplinkPayload, sizeof(uplinkPayload)); + debug(state < RADIOLIB_ERR_NONE, F("Error in sendReceive"), state, false); + + // Check if a downlink was received + // (state 0 = no downlink, state 1/2/3 = downlink in window Rx1/Rx2/RxC) + if(state > 0) { + Serial.println(F("Received a downlink")); + } else { + Serial.println(F("No downlink received")); + } + + Serial.print(F("Next uplink in ")); + Serial.print(uplinkIntervalSeconds); + Serial.println(F(" seconds\n")); + + // set timestamp of last uplink + lastUplink = millis(); +} diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Class_C/config.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Class_C/config.h new file mode 100644 index 0000000..dd85327 --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Class_C/config.h @@ -0,0 +1,141 @@ +#ifndef _RADIOLIB_EX_LORAWAN_CONFIG_H +#define _RADIOLIB_EX_LORAWAN_CONFIG_H + +#include + +// first you have to set your radio model and pin configuration +// this is provided just as a default example +SX1262 radio = new Module(8, 14, 12, 13); + +// if you have RadioBoards (https://github.com/radiolib-org/RadioBoards) +// and are using one of the supported boards, you can do the following: +/* +#define RADIO_BOARD_AUTO +#include + +Radio radio = new RadioModule(); +*/ + +// how often to send an uplink - consider legal & FUP constraints - see notes +const uint32_t uplinkIntervalSeconds = 1UL * 60UL; // minutes x seconds + +// joinEUI - previous versions of LoRaWAN called this AppEUI +// for development purposes you can use all zeros - see wiki for details +#define RADIOLIB_LORAWAN_JOIN_EUI 0x0000000000000000 + +// the Device EUI & two keys can be generated on the TTN console +#ifndef RADIOLIB_LORAWAN_DEV_EUI // Replace with your Device EUI +#define RADIOLIB_LORAWAN_DEV_EUI 0x--------------- +#endif +#ifndef RADIOLIB_LORAWAN_APP_KEY // Replace with your App Key +#define RADIOLIB_LORAWAN_APP_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif +#ifndef RADIOLIB_LORAWAN_NWK_KEY // Put your Nwk Key here +#define RADIOLIB_LORAWAN_NWK_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif + +// for the curious, the #ifndef blocks allow for automated testing &/or you can +// put your EUI & keys in to your platformio.ini - see wiki for more tips + +// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN500 +const LoRaWANBand_t Region = EU868; +const uint8_t subBand = 0; // For US915, change this to 2, otherwise leave on 0 + +// ============================================================================ +// Below is to support the sketch - only make changes if the notes say so ... + +// copy over the EUI's & keys in to the something that will not compile if incorrectly formatted +uint64_t joinEUI = RADIOLIB_LORAWAN_JOIN_EUI; +uint64_t devEUI = RADIOLIB_LORAWAN_DEV_EUI; +uint8_t appKey[] = { RADIOLIB_LORAWAN_APP_KEY }; +uint8_t nwkKey[] = { RADIOLIB_LORAWAN_NWK_KEY }; + +// create the LoRaWAN node +LoRaWANNode node(&radio, &Region, subBand); + +// result code to text - these are error codes that can be raised when using LoRaWAN +// however, RadioLib has many more - see https://jgromes.github.io/RadioLib/group__status__codes.html for a complete list +String stateDecode(const int16_t result) { + switch (result) { + case RADIOLIB_ERR_NONE: + return "ERR_NONE"; + case RADIOLIB_ERR_CHIP_NOT_FOUND: + return "ERR_CHIP_NOT_FOUND"; + case RADIOLIB_ERR_PACKET_TOO_LONG: + return "ERR_PACKET_TOO_LONG"; + case RADIOLIB_ERR_RX_TIMEOUT: + return "ERR_RX_TIMEOUT"; + case RADIOLIB_ERR_MIC_MISMATCH: + return "ERR_MIC_MISMATCH"; + case RADIOLIB_ERR_INVALID_BANDWIDTH: + return "ERR_INVALID_BANDWIDTH"; + case RADIOLIB_ERR_INVALID_SPREADING_FACTOR: + return "ERR_INVALID_SPREADING_FACTOR"; + case RADIOLIB_ERR_INVALID_CODING_RATE: + return "ERR_INVALID_CODING_RATE"; + case RADIOLIB_ERR_INVALID_FREQUENCY: + return "ERR_INVALID_FREQUENCY"; + case RADIOLIB_ERR_INVALID_OUTPUT_POWER: + return "ERR_INVALID_OUTPUT_POWER"; + case RADIOLIB_ERR_NETWORK_NOT_JOINED: + return "RADIOLIB_ERR_NETWORK_NOT_JOINED"; + case RADIOLIB_ERR_DOWNLINK_MALFORMED: + return "RADIOLIB_ERR_DOWNLINK_MALFORMED"; + case RADIOLIB_ERR_INVALID_REVISION: + return "RADIOLIB_ERR_INVALID_REVISION"; + case RADIOLIB_ERR_INVALID_PORT: + return "RADIOLIB_ERR_INVALID_PORT"; + case RADIOLIB_ERR_NO_RX_WINDOW: + return "RADIOLIB_ERR_NO_RX_WINDOW"; + case RADIOLIB_ERR_INVALID_CID: + return "RADIOLIB_ERR_INVALID_CID"; + case RADIOLIB_ERR_UPLINK_UNAVAILABLE: + return "RADIOLIB_ERR_UPLINK_UNAVAILABLE"; + case RADIOLIB_ERR_COMMAND_QUEUE_FULL: + return "RADIOLIB_ERR_COMMAND_QUEUE_FULL"; + case RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND: + return "RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND"; + case RADIOLIB_ERR_JOIN_NONCE_INVALID: + return "RADIOLIB_ERR_JOIN_NONCE_INVALID"; + case RADIOLIB_ERR_DWELL_TIME_EXCEEDED: + return "RADIOLIB_ERR_DWELL_TIME_EXCEEDED"; + case RADIOLIB_ERR_CHECKSUM_MISMATCH: + return "RADIOLIB_ERR_CHECKSUM_MISMATCH"; + case RADIOLIB_ERR_NO_JOIN_ACCEPT: + return "RADIOLIB_ERR_NO_JOIN_ACCEPT"; + case RADIOLIB_LORAWAN_SESSION_RESTORED: + return "RADIOLIB_LORAWAN_SESSION_RESTORED"; + case RADIOLIB_LORAWAN_NEW_SESSION: + return "RADIOLIB_LORAWAN_NEW_SESSION"; + case RADIOLIB_ERR_NONCES_DISCARDED: + return "RADIOLIB_ERR_NONCES_DISCARDED"; + case RADIOLIB_ERR_SESSION_DISCARDED: + return "RADIOLIB_ERR_SESSION_DISCARDED"; + } + return "See https://jgromes.github.io/RadioLib/group__status__codes.html"; +} + +// helper function to display any issues +void debug(bool failed, const __FlashStringHelper* message, int state, bool halt) { + if(failed) { + Serial.print(message); + Serial.print(" - "); + Serial.print(stateDecode(state)); + Serial.print(" ("); + Serial.print(state); + Serial.println(")"); + while(halt) { delay(1); } + } +} + +// helper function to display a byte array +void arrayDump(uint8_t *buffer, uint16_t len) { + for(uint16_t c = 0; c < len; c++) { + char b = buffer[c]; + if(b < 0x10) { Serial.print('0'); } + Serial.print(b, HEX); + } + Serial.println(); +} + +#endif diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Multicast/LoRaWAN_Multicast.ino b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Multicast/LoRaWAN_Multicast.ino new file mode 100644 index 0000000..7e5be0b --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Multicast/LoRaWAN_Multicast.ino @@ -0,0 +1,133 @@ +/* + RadioLib LoRaWAN Multicast Example + + This example joins a LoRaWAN network and starts a + Multicast session (only Multicast over Class C is implemented). + You should refer to the network's documentation on how + to create a Multicast group (or device). + Note that you can switch the device to Class C as well + to receive Unicast downlinks. In this case, you must + use the downlink event details to discern whether a + downlink belongs to the Unicast or Multicast session. + + Running this examples REQUIRES you to check "Resets DevNonces" + on your LoRaWAN dashboard. Refer to the network's + documentation on how to do this. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ + + For LoRaWAN details, see the wiki page + https://github.com/jgromes/RadioLib/wiki/LoRaWAN + +*/ + +#include "config.h" + +void setup() { + Serial.begin(115200); + while(!Serial); + delay(5000); // Give time to switch to the serial monitor + Serial.println(F("\nSetup ... ")); + + Serial.println(F("Initialise the radio")); + int16_t state = radio.begin(); + debug(state != RADIOLIB_ERR_NONE, F("Initialise radio failed"), state, true); + + // Setup the OTAA session information + state = node.beginOTAA(joinEUI, devEUI, nwkKey, appKey); + debug(state != RADIOLIB_ERR_NONE, F("Initialise node failed"), state, true); + + Serial.println(F("Join ('login') the LoRaWAN Network")); + state = node.activateOTAA(); + debug(state != RADIOLIB_LORAWAN_NEW_SESSION, F("Join failed"), state, true); + + // Start a Multicast session over Class C + // (this will automatically perform a switch to Class C for Multicast) + node.startMulticastSession(RADIOLIB_LORAWAN_CLASS_C, mcDevAddr, mcAppSKey, mcNwkSKey); + + Serial.println(F("Ready!\n")); +} + +uint32_t lastUplink = 0; + +void loop() { + uint8_t downlinkPayload[255]; + size_t downlinkLen = 0; + LoRaWANEvent_t downlinkEvent; + + // check if a Class C downlink is ready for processing + // tip: internally, this just checks a boolean; + // it does not poll the radio over SPI. + // tip: you are not required to continuously call + // this function; you can do other stuff in between. + // however, a downlink may be overwritten if you + // don't call this function in time for the previous one. + int16_t state = node.getDownlinkClassC(downlinkPayload, &downlinkLen, &downlinkEvent); + if(state > 0) { + Serial.println(F("Received a Class C downlink!")); + // Did we get a downlink with data for us + if(downlinkLen > 0) { + Serial.println(F("Downlink data: ")); + arrayDump(downlinkPayload, downlinkLen); + } + + // print extra information about the event + Serial.println(F("[LoRaWAN] Event information:")); + Serial.print(F("[LoRaWAN] Datarate:\t")); + Serial.println(downlinkEvent.datarate); + Serial.print(F("[LoRaWAN] Frequency:\t")); + Serial.print(downlinkEvent.freq, 3); + Serial.println(F(" MHz")); + Serial.print(F("[LoRaWAN] Frame count:\t")); + Serial.println(downlinkEvent.fCnt); + Serial.print(F("[LoRaWAN] Port:\t\t")); + Serial.println(downlinkEvent.fPort); + Serial.println(F(" ms")); + Serial.print(F("[LoRaWAN] Rx window: \t")); + Serial.println(state); + Serial.print(F("[LoRaWAN] Cast:\t\t")); + Serial.println(downlinkEvent.multicast ? "Multi" : "Uni"); + } + + // if less than uplinkIntervalSeconds have elapsed since previous uplink, + // stop and go back to the top of the loop() + if(millis() - lastUplink < uplinkIntervalSeconds * 1000) { + return; + } + + Serial.println(F("Sending uplink")); + + // This is the place to gather the sensor inputs + // Instead of reading any real sensor, we just generate some random numbers as example + uint8_t value1 = radio.random(100); + uint16_t value2 = radio.random(2000); + + // Build payload byte array + uint8_t uplinkPayload[3]; + uplinkPayload[0] = value1; + uplinkPayload[1] = highByte(value2); // See notes for high/lowByte functions + uplinkPayload[2] = lowByte(value2); + + // Perform an uplink + state = node.sendReceive(uplinkPayload, sizeof(uplinkPayload)); + debug(state < RADIOLIB_ERR_NONE, F("Error in sendReceive"), state, false); + + // Check if a downlink was received + // (state 0 = no downlink, state 1/2/3 = downlink in window Rx1/Rx2/RxC) + if(state > 0) { + Serial.println(F("Received a downlink")); + } else { + Serial.println(F("No downlink received")); + } + + Serial.print(F("Next uplink in ")); + Serial.print(uplinkIntervalSeconds); + Serial.println(F(" seconds\n")); + + // set timestamp of last uplink + lastUplink = millis(); +} diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Multicast/config.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Multicast/config.h new file mode 100644 index 0000000..bbe12e7 --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Multicast/config.h @@ -0,0 +1,154 @@ +#ifndef _RADIOLIB_EX_LORAWAN_CONFIG_H +#define _RADIOLIB_EX_LORAWAN_CONFIG_H + +#include + +// first you have to set your radio model and pin configuration +// this is provided just as a default example +SX1262 radio = new Module(8, 14, 12, 13); + +// if you have RadioBoards (https://github.com/radiolib-org/RadioBoards) +// and are using one of the supported boards, you can do the following: +/* +#define RADIO_BOARD_AUTO +#include + +Radio radio = new RadioModule(); +*/ + +// how often to send an uplink - consider legal & FUP constraints - see notes +const uint32_t uplinkIntervalSeconds = 1UL * 60UL; // minutes x seconds + +// joinEUI - previous versions of LoRaWAN called this AppEUI +// for development purposes you can use all zeros - see wiki for details +#define RADIOLIB_LORAWAN_JOIN_EUI 0x0000000000000000 + +// the Device EUI & two keys can be generated on the TTN console +#ifndef RADIOLIB_LORAWAN_DEV_EUI // Replace with your Device EUI +#define RADIOLIB_LORAWAN_DEV_EUI 0x--------------- +#endif +#ifndef RADIOLIB_LORAWAN_APP_KEY // Replace with your App Key +#define RADIOLIB_LORAWAN_APP_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif +#ifndef RADIOLIB_LORAWAN_NWK_KEY // Put your Nwk Key here +#define RADIOLIB_LORAWAN_NWK_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif + +#ifndef RADIOLIB_LORAWAN_MC_DEV_ADDR // Replace with your Multicast Device Address +#define RADIOLIB_LORAWAN_MC_DEV_ADDR 0x--------------- +#endif +#ifndef RADIOLIB_LORAWAN_MC_APP_SKEY // Replace with your Multicast App SKey +#define RADIOLIB_LORAWAN_MC_APP_SKEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif +#ifndef RADIOLIB_LORAWAN_MC_NWK_SKEY // Put your Multicast Nwk SKey here +#define RADIOLIB_LORAWAN_MC_NWK_SKEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif + +// for the curious, the #ifndef blocks allow for automated testing &/or you can +// put your EUI & keys in to your platformio.ini - see wiki for more tips + +// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN500 +const LoRaWANBand_t Region = EU868; +const uint8_t subBand = 0; // For US915, change this to 2, otherwise leave on 0 + +// ============================================================================ +// Below is to support the sketch - only make changes if the notes say so ... + +// copy over the EUI's & keys in to the something that will not compile if incorrectly formatted +uint64_t joinEUI = RADIOLIB_LORAWAN_JOIN_EUI; +uint64_t devEUI = RADIOLIB_LORAWAN_DEV_EUI; +uint8_t appKey[] = { RADIOLIB_LORAWAN_APP_KEY }; +uint8_t nwkKey[] = { RADIOLIB_LORAWAN_NWK_KEY }; +uint32_t mcDevAddr = RADIOLIB_LORAWAN_MC_DEV_ADDR; +uint8_t mcAppSKey[] = { RADIOLIB_LORAWAN_MC_APP_SKEY }; +uint8_t mcNwkSKey[] = { RADIOLIB_LORAWAN_MC_NWK_SKEY }; + +// create the LoRaWAN node +LoRaWANNode node(&radio, &Region, subBand); + +// result code to text - these are error codes that can be raised when using LoRaWAN +// however, RadioLib has many more - see https://jgromes.github.io/RadioLib/group__status__codes.html for a complete list +String stateDecode(const int16_t result) { + switch (result) { + case RADIOLIB_ERR_NONE: + return "ERR_NONE"; + case RADIOLIB_ERR_CHIP_NOT_FOUND: + return "ERR_CHIP_NOT_FOUND"; + case RADIOLIB_ERR_PACKET_TOO_LONG: + return "ERR_PACKET_TOO_LONG"; + case RADIOLIB_ERR_RX_TIMEOUT: + return "ERR_RX_TIMEOUT"; + case RADIOLIB_ERR_MIC_MISMATCH: + return "ERR_MIC_MISMATCH"; + case RADIOLIB_ERR_INVALID_BANDWIDTH: + return "ERR_INVALID_BANDWIDTH"; + case RADIOLIB_ERR_INVALID_SPREADING_FACTOR: + return "ERR_INVALID_SPREADING_FACTOR"; + case RADIOLIB_ERR_INVALID_CODING_RATE: + return "ERR_INVALID_CODING_RATE"; + case RADIOLIB_ERR_INVALID_FREQUENCY: + return "ERR_INVALID_FREQUENCY"; + case RADIOLIB_ERR_INVALID_OUTPUT_POWER: + return "ERR_INVALID_OUTPUT_POWER"; + case RADIOLIB_ERR_NETWORK_NOT_JOINED: + return "RADIOLIB_ERR_NETWORK_NOT_JOINED"; + case RADIOLIB_ERR_DOWNLINK_MALFORMED: + return "RADIOLIB_ERR_DOWNLINK_MALFORMED"; + case RADIOLIB_ERR_INVALID_REVISION: + return "RADIOLIB_ERR_INVALID_REVISION"; + case RADIOLIB_ERR_INVALID_PORT: + return "RADIOLIB_ERR_INVALID_PORT"; + case RADIOLIB_ERR_NO_RX_WINDOW: + return "RADIOLIB_ERR_NO_RX_WINDOW"; + case RADIOLIB_ERR_INVALID_CID: + return "RADIOLIB_ERR_INVALID_CID"; + case RADIOLIB_ERR_UPLINK_UNAVAILABLE: + return "RADIOLIB_ERR_UPLINK_UNAVAILABLE"; + case RADIOLIB_ERR_COMMAND_QUEUE_FULL: + return "RADIOLIB_ERR_COMMAND_QUEUE_FULL"; + case RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND: + return "RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND"; + case RADIOLIB_ERR_JOIN_NONCE_INVALID: + return "RADIOLIB_ERR_JOIN_NONCE_INVALID"; + case RADIOLIB_ERR_DWELL_TIME_EXCEEDED: + return "RADIOLIB_ERR_DWELL_TIME_EXCEEDED"; + case RADIOLIB_ERR_CHECKSUM_MISMATCH: + return "RADIOLIB_ERR_CHECKSUM_MISMATCH"; + case RADIOLIB_ERR_NO_JOIN_ACCEPT: + return "RADIOLIB_ERR_NO_JOIN_ACCEPT"; + case RADIOLIB_LORAWAN_SESSION_RESTORED: + return "RADIOLIB_LORAWAN_SESSION_RESTORED"; + case RADIOLIB_LORAWAN_NEW_SESSION: + return "RADIOLIB_LORAWAN_NEW_SESSION"; + case RADIOLIB_ERR_NONCES_DISCARDED: + return "RADIOLIB_ERR_NONCES_DISCARDED"; + case RADIOLIB_ERR_SESSION_DISCARDED: + return "RADIOLIB_ERR_SESSION_DISCARDED"; + } + return "See https://jgromes.github.io/RadioLib/group__status__codes.html"; +} + +// helper function to display any issues +void debug(bool failed, const __FlashStringHelper* message, int state, bool halt) { + if(failed) { + Serial.print(message); + Serial.print(" - "); + Serial.print(stateDecode(state)); + Serial.print(" ("); + Serial.print(state); + Serial.println(")"); + while(halt) { delay(1); } + } +} + +// helper function to display a byte array +void arrayDump(uint8_t *buffer, uint16_t len) { + for(uint16_t c = 0; c < len; c++) { + char b = buffer[c]; + if(b < 0x10) { Serial.print('0'); } + Serial.print(b, HEX); + } + Serial.println(); +} + +#endif diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/LoRaWAN_Reference.ino b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/LoRaWAN_Reference.ino index 87d7f1e..f39d08b 100644 --- a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/LoRaWAN_Reference.ino +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/LoRaWAN_Reference.ino @@ -44,15 +44,18 @@ void setup() { Serial.println(F("Initialise the radio")); state = radio.begin(); debug(state != RADIOLIB_ERR_NONE, F("Initialise radio failed"), state, true); - - // Override the default join rate - uint8_t joinDR = 4; - + + // Optionally provide a custom sleep function - see config.h + //node.setSleepFunction(customDelay); + // Setup the OTAA session information node.beginOTAA(joinEUI, devEUI, nwkKey, appKey); + // Override the default join rate + node.setDatarate(4); + Serial.println(F("Join ('login') the LoRaWAN Network")); - state = node.activateOTAA(joinDR); + state = node.activateOTAA(); debug(state != RADIOLIB_LORAWAN_NEW_SESSION, F("Join failed"), state, true); // Print the DevAddr @@ -175,13 +178,14 @@ void loop() { Serial.println(gwCnt); } - uint32_t networkTime = 0; - uint8_t fracSecond = 0; - if(node.getMacDeviceTimeAns(&networkTime, &fracSecond, true) == RADIOLIB_ERR_NONE) { + uint32_t timestamp = 0; + uint16_t milliseconds = 0; + if(node.getMacDeviceTimeAns(×tamp, &milliseconds, true) == RADIOLIB_ERR_NONE) { Serial.print(F("[LoRaWAN] DeviceTime Unix:\t")); - Serial.println(networkTime); - Serial.print(F("[LoRaWAN] DeviceTime second:\t1/")); - Serial.println(fracSecond); + Serial.println(timestamp); + Serial.print(F("[LoRaWAN] DeviceTime frac:\t")); + Serial.print(milliseconds); + Serial.println(F(" ms")); } } else { diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/config.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/config.h index 21c79f8..5de9cc9 100644 --- a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/config.h +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Reference/config.h @@ -37,9 +37,11 @@ const uint32_t uplinkIntervalSeconds = 5UL * 60UL; // minutes x seconds // for the curious, the #ifndef blocks allow for automated testing &/or you can // put your EUI & keys in to your platformio.ini - see wiki for more tips -// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN500 +// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN470 const LoRaWANBand_t Region = EU868; -const uint8_t subBand = 0; // For US915, change this to 2, otherwise leave on 0 + +// subband choice: for US915/AU915 set to 2, for CN470 set to 1, otherwise leave on 0 +const uint8_t subBand = 0; // ============================================================================ // Below is to support the sketch - only make changes if the notes say so ... @@ -65,8 +67,8 @@ String stateDecode(const int16_t result) { return "ERR_PACKET_TOO_LONG"; case RADIOLIB_ERR_RX_TIMEOUT: return "ERR_RX_TIMEOUT"; - case RADIOLIB_ERR_CRC_MISMATCH: - return "ERR_CRC_MISMATCH"; + case RADIOLIB_ERR_MIC_MISMATCH: + return "ERR_MIC_MISMATCH"; case RADIOLIB_ERR_INVALID_BANDWIDTH: return "ERR_INVALID_BANDWIDTH"; case RADIOLIB_ERR_INVALID_SPREADING_FACTOR: @@ -97,10 +99,6 @@ String stateDecode(const int16_t result) { return "RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND"; case RADIOLIB_ERR_JOIN_NONCE_INVALID: return "RADIOLIB_ERR_JOIN_NONCE_INVALID"; - case RADIOLIB_ERR_N_FCNT_DOWN_INVALID: - return "RADIOLIB_ERR_N_FCNT_DOWN_INVALID"; - case RADIOLIB_ERR_A_FCNT_DOWN_INVALID: - return "RADIOLIB_ERR_A_FCNT_DOWN_INVALID"; case RADIOLIB_ERR_DWELL_TIME_EXCEEDED: return "RADIOLIB_ERR_DWELL_TIME_EXCEEDED"; case RADIOLIB_ERR_CHECKSUM_MISMATCH: @@ -142,4 +140,19 @@ void arrayDump(uint8_t *buffer, uint16_t len) { Serial.println(); } +// Custom delay function: +// Communication over LoRaWAN includes a lot of delays. +// By default, RadioLib will use the Arduino delay() function, +// which will waste a lot of power. However, you can put your +// microcontroller to sleep instead by customizing the function below, +// and providing it to RadioLib via "node.setSleepFunction". +// NOTE: You ahve to ensure that this function is timed precisely, and +// does actually wait for the amount of time specified! +// Failure to do so will result in missed downlinks or failed join! +void customDelay(RadioLibTime_t ms) { + // this is just an example, so we use the Arduino delay() function, + // but you can put your microcontroller to sleep here + ::delay(ms); +} + #endif diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/config.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/config.h index 21c79f8..7d025ab 100644 --- a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/config.h +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/config.h @@ -37,9 +37,11 @@ const uint32_t uplinkIntervalSeconds = 5UL * 60UL; // minutes x seconds // for the curious, the #ifndef blocks allow for automated testing &/or you can // put your EUI & keys in to your platformio.ini - see wiki for more tips -// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN500 +// regional choices: EU868, US915, AU915, AS923, AS923_2, AS923_3, AS923_4, IN865, KR920, CN470 const LoRaWANBand_t Region = EU868; -const uint8_t subBand = 0; // For US915, change this to 2, otherwise leave on 0 + +// subband choice: for US915/AU915 set to 2, for CN470 set to 1, otherwise leave on 0 +const uint8_t subBand = 0; // ============================================================================ // Below is to support the sketch - only make changes if the notes say so ... @@ -65,8 +67,8 @@ String stateDecode(const int16_t result) { return "ERR_PACKET_TOO_LONG"; case RADIOLIB_ERR_RX_TIMEOUT: return "ERR_RX_TIMEOUT"; - case RADIOLIB_ERR_CRC_MISMATCH: - return "ERR_CRC_MISMATCH"; + case RADIOLIB_ERR_MIC_MISMATCH: + return "ERR_MIC_MISMATCH"; case RADIOLIB_ERR_INVALID_BANDWIDTH: return "ERR_INVALID_BANDWIDTH"; case RADIOLIB_ERR_INVALID_SPREADING_FACTOR: @@ -97,10 +99,6 @@ String stateDecode(const int16_t result) { return "RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND"; case RADIOLIB_ERR_JOIN_NONCE_INVALID: return "RADIOLIB_ERR_JOIN_NONCE_INVALID"; - case RADIOLIB_ERR_N_FCNT_DOWN_INVALID: - return "RADIOLIB_ERR_N_FCNT_DOWN_INVALID"; - case RADIOLIB_ERR_A_FCNT_DOWN_INVALID: - return "RADIOLIB_ERR_A_FCNT_DOWN_INVALID"; case RADIOLIB_ERR_DWELL_TIME_EXCEEDED: return "RADIOLIB_ERR_DWELL_TIME_EXCEEDED"; case RADIOLIB_ERR_CHECKSUM_MISMATCH: diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/notes.md b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/notes.md index 49a37f8..9305968 100644 --- a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/notes.md +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_Starter/notes.md @@ -1,10 +1,8 @@ - - # RadioLib LoRaWAN on TTN starter script ## Welcome -These notes are for someone who has successfully created a few sketches for their Arduino based device but is starting out with LoRaWAN. You don't have to be a C coding ninja but some familarity with C and procedural programming is assumed. The absolutely simplest way to get started is to buy some known good hardware that's all done for you so you can concentrate on the code & configuration. +These notes are for someone who has successfully created a few sketches for their Arduino based device but is starting out with LoRaWAN. You don't have to be a C++ coding ninja but some familarity with C++ and procedural programming is assumed. The absolutely simplest way to get started is to buy some known good hardware that's all done for you so you can concentrate on the code & configuration. ## Introduction @@ -18,7 +16,7 @@ For questions about using RadioLib there is the discussions section (https://git ## Register & setup on TTN -This sketch isn't particularly aimed at The Things Stack (TTS) but you can get a free Sandbox account and the following instructions are for that. Helium does not support LoRaWAN v1.1 which is the version implemented by RadioLib. Chirpstack & other LoRaWAN Network Server (LNS) stacks have not yet been tried so YMMV. +This sketch isn't particularly aimed at The Things Stack (TTS) but you can get a free Sandbox account and the following instructions are for that. Chirpstack works just as well, but the buttons and labels may have different names. We discourage the use of Helium as it does not support LoRaWAN v1.1 and has some other odd limitations. Other LoRaWAN Network Servers (LNS) have not been tested by the developers, so YMMV. Why no screen shots? TTS is a web based app, one that you will need to become familiar with and we will need to direct you to some of the less obvious parts. So much better that you learn the layouts in concept than slavishly follow screen shots that can & will go stale. @@ -52,13 +50,13 @@ You are making your own device using a third party LoRaWAN stack so there will n Choose the Frequency plan appropriate for your region. Consider that almost all countries have laws relating to what frequencies you use so don't get creative. For Europe please use the recommended option. For other regions use the entry marked 'used by TTN'. -Choose LoRaWAN 1.1.0 - the last one in the list - the latest specfication. RadioLib uses RP001 Regional Parameters 1.1 revision B. +Choose LoRaWAN 1.1.0 - the last one in the list - the latest specfication. RadioLib uses RP002 Regional Parameters 1.0.4. At this point you will be asked for your JoinEUI. As this is a DIY device and we are using RadioLib, you can use all zero's as recommended by The LoRa Alliance TR007 Technical Recommendations document. Once you've put in all zeros and clicked confirm you will be asked for a DevEUI, AppKey and NwkKey. It is preferable to have the console generate them so they are properly formatted. -Your End device ID can be changed to make the device more identifiable. Something related to your hardware helps - like devicename-01. The you can click the blue 'Register device'. +Your End device ID can be changed to make the device more identifiable. Something related to your hardware helps - like `devicename-01`. The you can click the blue 'Register device'. -When many sensors are big deployed, a device is registered, batteries put in, it joins and gets on with sending data for the next few years. For development purposes we need to turn off one of the security settings so that you can join & uplink out of the normal sequence that a device in the field would do. +When retail sensors are being deployed, a device is registered, batteries put in, it joins and gets on with sending data for the next few years. For development purposes however we need to turn off one of the security settings so that you can join & uplink out of the normal sequence that a device in the field would do. Click on General Settings, scroll down to Join settings, click the Expand button, scroll down and click the 'Resets join nonces' option. You will see a warning about replay attacks which is entirely proper & correct. If anyone eavesdropping in your area on your LoRa transmissions could fake a join and send uplinks from their device but only if they happened to find out your AppKey & NwkKey which is kept securely on the TTN servers and is never transmitted over the air, so they'd also have to login to your account, which is protected by your password. diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/LoRaWAN_TS009.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/LoRaWAN_TS009.h new file mode 100644 index 0000000..63704d8 --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/LoRaWAN_TS009.h @@ -0,0 +1,238 @@ +#include +#include +// #include + +#warning "The variables below must match your main code. Please check your radio type!" +extern SX1278 radio; // this can be any LoRaWAN-compatible type (e.g. SX1262) +extern LoRaWANNode node; +extern uint32_t periodicity; +extern bool isConfirmed; +extern bool reply; +extern uint8_t dataUp[255]; +extern size_t lenUp; +extern uint8_t fPort; + +#define RADIOLIB_LORAWAN_TS009_PACKAGE_VERSION (0x00) +#define RADIOLIB_LORAWAN_TS009_DUT_RESET (0x01) +#define RADIOLIB_LORAWAN_TS009_DUT_JOIN (0x02) +#define RADIOLIB_LORAWAN_TS009_SWITCH_CLASS (0x03) +#define RADIOLIB_LORAWAN_TS009_ADR_BIT_CHANGE (0x04) +#define RADIOLIB_LORAWAN_TS009_REGIONAL_DUTY_CYCLE (0x05) +#define RADIOLIB_LORAWAN_TS009_TX_PERIODICITY_CHANGE (0x06) +#define RADIOLIB_LORAWAN_TS009_TX_FRAMES_CTRL (0x07) +#define RADIOLIB_LORAWAN_TS009_ECHO_PAYLOAD (0x08) +#define RADIOLIB_LORAWAN_TS009_RX_APP_CNT (0x09) +#define RADIOLIB_LORAWAN_TS009_RX_APP_CNT_RESET (0x0A) +#define RADIOLIB_LORAWAN_TS009_LINK_CHECK (0x20) +#define RADIOLIB_LORAWAN_TS009_DEVICE_TIME (0x21) +#define RADIOLIB_LORAWAN_TS009_PING_SLOT_INFO (0x22) +#define RADIOLIB_LORAWAN_TS009_TX_CW (0x7D) +#define RADIOLIB_LORAWAN_TS009_DUT_FPORT224_DISABLE (0x7E) +#define RADIOLIB_LORAWAN_TS009_DUT_VERSIONS (0x7F) + +/*! + \brief This function implements the TS009 specification. + To enable this package, add this to your setup: + `node.addAppPackage(RADIOLIB_LORAWAN_PACKAGE_TS009, handleTS009)` + Make sure that all `extern` variables are handled in your user code! +*/ +void handleTS009(uint8_t* dataDown, size_t lenDown) { + if(lenDown == 0 || dataDown == NULL) { + return; + } + RADIOLIB_DEBUG_PRINTLN("CID = %02x, len = %d", dataDown[0], lenDown - 1); + + switch(dataDown[0]) { + case(RADIOLIB_LORAWAN_TS009_PACKAGE_VERSION): { + lenUp = 3; + dataUp[1] = 5; // PackageIdentifier + dataUp[2] = 1; // PackageVersion + fPort = RADIOLIB_LORAWAN_FPORT_TS009; + RADIOLIB_DEBUG_PRINTLN("PackageIdentifier: %d, PackageVersion: %d", dataUp[1], dataUp[2]); + + reply = true; + } break; + + case(RADIOLIB_LORAWAN_TS009_DUT_RESET): { + RADIOLIB_DEBUG_PRINTLN("Restarting..."); + + #warning "Please implement this reset function yourself!" + + // the function to reset the MCU is platform-dependent + // for ESP32 for example, this would be: + // ESP.restart(); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_DUT_JOIN): { + RADIOLIB_DEBUG_PRINTLN("Reverting to Join state"); + node.clearSession(); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_SWITCH_CLASS): { + uint8_t classType = dataDown[1]; + node.setClass(classType); + RADIOLIB_DEBUG_PRINTLN("Switching to class: %s", classType == 0 ? "A" : (classType == 1 ? "B" : "C")); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_ADR_BIT_CHANGE): { + bool adr = (bool)dataDown[1]; + node.setADR(adr); + RADIOLIB_DEBUG_PRINTLN("ADR: %d", adr); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_REGIONAL_DUTY_CYCLE): { + bool dutycycle = (bool)dataDown[1]; + node.setDutyCycle(dutycycle, 36000); + RADIOLIB_DEBUG_PRINTLN("Dutycycle: %d", dutycycle); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_TX_PERIODICITY_CHANGE): { + uint32_t defaultIntervalSecs = 30; + uint32_t intervals[11] = {defaultIntervalSecs, 5, 10, 20, 30, 40, 50, 60, 120, 240, 480}; + periodicity = intervals[dataDown[1]]; + + RADIOLIB_DEBUG_PRINTLN("Tx Periodicity: %d", periodicity); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_TX_FRAMES_CTRL): { + switch(dataDown[1]) { + case(0): + // no change + // isConfirmed = isConfirmed; + break; + case(1): + isConfirmed = false; + break; + case(2): + isConfirmed = true; + break; + } + RADIOLIB_DEBUG_PRINTLN("Confirmed: %d", isConfirmed); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_ECHO_PAYLOAD): { + lenUp = lenDown; + for (size_t i = 1; i < lenDown; i++) { + dataUp[i] = dataDown[i] + 1; + } + fPort = RADIOLIB_LORAWAN_FPORT_TS009; + RADIOLIB_DEBUG_PRINTLN("Echoing payload"); + + reply = true; + } break; + + case(RADIOLIB_LORAWAN_TS009_RX_APP_CNT): { + lenUp = 3; + uint16_t aFcntDown16 = (uint16_t)node.getAFCntDown(); + dataUp[1] = aFcntDown16 & 0xFF; + dataUp[2] = aFcntDown16 >> 8; + fPort = RADIOLIB_LORAWAN_FPORT_TS009; + RADIOLIB_DEBUG_PRINTLN("aFCntDown16: %d", aFcntDown16); + + reply = true; + } break; + + case(RADIOLIB_LORAWAN_TS009_RX_APP_CNT_RESET): { + RADIOLIB_DEBUG_PRINTLN("Resetting Application Frame count"); + RADIOLIB_DEBUG_PRINTLN("WARNING: not implemented - never used in tests!"); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_LINK_CHECK): { + lenUp = 0; + fPort = RADIOLIB_LORAWAN_FPORT_MAC_COMMAND; + node.sendMacCommandReq(RADIOLIB_LORAWAN_MAC_LINK_CHECK); + RADIOLIB_DEBUG_PRINTLN("Requesting LinkCheck"); + + reply = true; + } break; + + case(RADIOLIB_LORAWAN_TS009_DEVICE_TIME): { + lenUp = 0; + fPort = RADIOLIB_LORAWAN_FPORT_MAC_COMMAND; + node.sendMacCommandReq(RADIOLIB_LORAWAN_MAC_DEVICE_TIME); + RADIOLIB_DEBUG_PRINTLN("Requesting DeviceTime"); + + reply = true; + } break; + + case(RADIOLIB_LORAWAN_TS009_PING_SLOT_INFO): { + lenUp = 0; + RADIOLIB_DEBUG_PRINTLN("Requesting PingSlotInfo not implemented"); + // send PingSlotInfo MAC command which is not implemented + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_TX_CW): { + uint16_t timeout = ((uint16_t)dataDown[2] << 8) | (uint16_t)dataDown[1]; + uint32_t freqRaw = ((uint32_t)dataDown[5] << 16) | ((uint32_t)dataDown[4] << 8) | ((uint32_t)dataDown[3]); + float freq = (float)freqRaw/10000.0; + uint8_t txPower = dataDown[6]; + RADIOLIB_DEBUG_PRINTLN("Continuous wave: %7.3f MHz, %d dBm, %d s", freq, txPower, timeout); + radio.setFrequency(freq); + radio.setOutputPower(txPower); + radio.transmitDirect(); + delay(timeout * 1000); + radio.standby(); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_DUT_FPORT224_DISABLE): { + RADIOLIB_DEBUG_PRINTLN("Disabling FPort 224"); + node.removePackage(RADIOLIB_LORAWAN_PACKAGE_TS009); + + reply = false; + } break; + + case(RADIOLIB_LORAWAN_TS009_DUT_VERSIONS): { + lenUp = 13; + // firmware version - this is RadioLib's version as an example + dataUp[1] = RADIOLIB_VERSION_MAJOR; + dataUp[2] = RADIOLIB_VERSION_MINOR; + dataUp[3] = RADIOLIB_VERSION_PATCH; + dataUp[4] = RADIOLIB_VERSION_EXTRA; + + // lorawan version + dataUp[5] = 1; +#if (LORAWAN_VERSION == 1) + dataUp[6] = 1; + dataUp[7] = 0; +#else + dataUp[6] = 0; + dataUp[7] = 4; +#endif + dataUp[8] = 0; + + // regional parameters version + dataUp[9] = 1; + dataUp[10] = 0; + dataUp[11] = 4; + dataUp[12] = 0; + fPort = RADIOLIB_LORAWAN_FPORT_TS009; + RADIOLIB_DEBUG_PRINTLN("Requested DUT versions"); + + reply = true; + } break; + } + + // if we must reply, copy the command ID into the uplink buffer + if(reply) { + dataUp[0] = dataDown[0]; + } +} \ No newline at end of file diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/LoRaWAN_TS_Packages.ino b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/LoRaWAN_TS_Packages.ino new file mode 100644 index 0000000..df1cf5f --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/LoRaWAN_TS_Packages.ino @@ -0,0 +1,171 @@ +/* + RadioLib LoRaWAN Packages Example + + This example shows how the TS009 package can be used + and is the sketch used for passing pre-certification testing. + This scheme can also be used for other future packages + such as TS003/004/005/006/007 which, combined, build FUOTA. + + PLEASE NOTE that this is a highly customized sketch with + settings that likely violate laws & regulations, and it is + intended to be used with RF blocking materials and attenuators. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ + + For LoRaWAN details, see the wiki page + https://github.com/jgromes/RadioLib/wiki/LoRaWAN + +*/ + +#include +#include + +#include "LoRaWAN_TS009.h" +#include "config.h" +#include "lorawan.h" + +uint32_t periodicity = uplinkIntervalSeconds; +bool isConfirmed = false; +bool reply = false; + +uint8_t fPort = 1; +uint8_t dataUp[255]; +uint8_t dataDown[255]; +size_t lenUp = 0; +size_t lenDown = 0; + +void setup() { + Serial.begin(115200); + delay(3000); + + Serial.print(F("Initialise the radio ... ")); + int state = radio.begin(); + if(state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while(true); + } + + // setup, restore and join the network + lwBegin(); + lwRestore(); + lwActivate(); + + // add TS009 package + node.addAppPackage(RADIOLIB_LORAWAN_PACKAGE_TS009, handleTS009); + + // LCTT (TS009 testing) has a huge timing problem on the JoinAccept Rx2 window... + node.scanGuard = 100; + + // these settings are totally not recommended + // but unfortunately they are the default settings for TS009 testing + node.setDutyCycle(false); + node.setADR(false); +} + +void loop() { + while(!node.isActivated()) { + lwActivate(); + // this 5s interval is way too short for normal use! + // but you'd be waiting around for long minutes during TS009 testing otherwise + if(!node.isActivated()) { + delay(5000); + } + node.setDutyCycle(false); + } + + int state = RADIOLIB_ERR_NONE; + LoRaWANEvent_t eventUp; + LoRaWANEvent_t eventDown; + + uint32_t start = millis(); + + Serial.println("--------------------"); + Serial.println("[LoRaWAN] Sending uplink packet ... "); + if (!reply) { + memset(dataUp, 0, 255); + lenUp = 4; + fPort = 1; + sprintf((char*)dataUp, "%04lu", node.getFCntUp()); + state = node.sendReceive(dataUp, lenUp, fPort, dataDown, &lenDown, isConfirmed, &eventUp, &eventDown); + } else { + reply = false; + state = node.sendReceive(dataUp, lenUp, fPort, dataDown, &lenDown, isConfirmed, &eventUp, &eventDown); + } + + if(state >= RADIOLIB_ERR_NONE) { + Serial.println(F("[LoRaWAN] success!")); + } + + if(state > 0) { + // print data of the packet (if there are any) + Serial.print(F("[LoRaWAN] Data:\t\t")); + if(lenDown > 0) { + arrayDump(dataDown, lenDown); + } else { + Serial.println(F("")); + } + + Serial.print(F("[LoRaWAN] FPort:\t")); + Serial.print(eventDown.fPort); + + // print RSSI (Received Signal Strength Indicator) + Serial.print(F("[LoRaWAN] RSSI:\t\t")); + Serial.print(radio.getRSSI()); + Serial.println(F(" dBm")); + + // print SNR (Signal-to-Noise Ratio) + Serial.print(F("[LoRaWAN] SNR:\t\t")); + Serial.print(radio.getSNR()); + Serial.println(F(" dB")); + + uint8_t margin = 0; + uint8_t gwCnt = 0; + if(node.getMacLinkCheckAns(&margin, &gwCnt) == RADIOLIB_ERR_NONE) { + Serial.print(F("[LoRaWAN] LinkCheck margin:\t")); + Serial.println(margin); + Serial.print(F("[LoRaWAN] LinkCheck count:\t")); + Serial.println(gwCnt); + } + + uint32_t timestamp = 0; + uint16_t milliseconds = 0; + if(node.getMacDeviceTimeAns(×tamp, &milliseconds, true) == RADIOLIB_ERR_NONE) { + Serial.print(F("[LoRaWAN] DeviceTime Unix:\t")); + Serial.println(timestamp); + Serial.print(F("[LoRaWAN] DeviceTime frac:\t")); + Serial.print(milliseconds); + Serial.println(F(" ms")); + } + + } else if(state == 0) { + Serial.println(F("No downlink!")); + + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + } + + uint32_t end = millis(); + + uint32_t delayDc = node.timeUntilUplink(); + uint32_t delayMs = periodicity*1000; + if(delayMs > end - start) { + delayMs -= (end - start); + } else { + delayMs = 1; + } + delayMs += 50; + Serial.print(F("Delay: ")); + Serial.print(max(delayDc, delayMs)); + Serial.println(F(" ms")); + + // wait before sending another packet + delay(max(delayDc, delayMs)); +} \ No newline at end of file diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/config.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/config.h new file mode 100644 index 0000000..9c64a4d --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/config.h @@ -0,0 +1,115 @@ +#ifndef _CONFIG_H +#define _CONFIG_H + +#include + +// first you have to set your radio model and pin configuration +// this is provided just as a default example +SX1278 radio = new Module(10, 2, 9, 3); + +// if you have RadioBoards (https://github.com/radiolib-org/RadioBoards) +// and are using one of the supported boards, you can do the following: +/* +#define RADIO_BOARD_AUTO +#include + +Radio radio = new RadioModule(); +*/ + +// how often to send an uplink - consider legal & FUP constraints +const uint32_t uplinkIntervalSeconds = 1UL * 60UL; // minutes x seconds + +#define LORAWAN_VERSION (0) // use version 1.LORAWAN_VERSION when joining +#define LORAWAN_OTAA (1) // use OTAA (1) or ABP (0) + +#if (LORAWAN_OTAA == 1) +// joinEUI - previous versions of LoRaWAN called this AppEUI +// for development purposes you can use all zeros - see wiki for details +#define RADIOLIB_LORAWAN_JOIN_EUI 0x0000000000000000 + +// the Device EUI & two keys can be generated on the TTN console +#ifndef RADIOLIB_LORAWAN_DEV_EUI // Replace with your Device EUI +#define RADIOLIB_LORAWAN_DEV_EUI 0x---------------- +#endif +#ifndef RADIOLIB_LORAWAN_APP_KEY // Replace with your App Key +#define RADIOLIB_LORAWAN_APP_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif + +// copy over the EUI's & keys in to the something that will not compile if incorrectly formatted +uint64_t joinEUI = RADIOLIB_LORAWAN_JOIN_EUI; +uint64_t devEUI = RADIOLIB_LORAWAN_DEV_EUI; +uint8_t appKey[] = { RADIOLIB_LORAWAN_APP_KEY }; + +#if (LORAWAN_VERSION == 1) +#ifndef RADIOLIB_LORAWAN_NWK_KEY // Put your Nwk Key here +#define RADIOLIB_LORAWAN_NWK_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif +uint8_t nwkKey[] = { RADIOLIB_LORAWAN_NWK_KEY }; // LW v1.1 only +#endif + +#else // ABP + +#ifndef RADIOLIB_LORAWAN_DEV_ADDR // Replace with your DevAddr +#define RADIOLIB_LORAWAN_DEV_ADDR 0x------ +#endif + +#ifndef RADIOLIB_LORAWAN_NWKSENC_KEY // Replace with your NwkSEnc Key +#define RADIOLIB_LORAWAN_NWKSENC_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif +#ifndef RADIOLIB_LORAWAN_APPS_KEY // Replace with your AppS Key +#define RADIOLIB_LORAWAN_APPS_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif + +// copy over the keys in to the something that will not compile if incorrectly formatted +uint32_t devAddr = RADIOLIB_LORAWAN_DEV_ADDR; +uint8_t sNwkSEncKey[] = { RADIOLIB_LORAWAN_NWKSENC_KEY }; +uint8_t appSKey[] = { RADIOLIB_LORAWAN_APPS_KEY }; + +#if (LORAWAN_VERSION == 1) +#ifndef RADIOLIB_LORAWAN_FNWKSINT_KEY // Replace with your FNwkSInt Key +#define RADIOLIB_LORAWAN_FNWKSINT_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif +#ifndef RADIOLIB_LORAWAN_SNWKSINT_KEY // Replace with your SNwkSInt Key +#define RADIOLIB_LORAWAN_SNWKSINT_KEY 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x--, 0x-- +#endif +uint8_t fNwkSIntKey[] = { RADIOLIB_LORAWAN_FNWKSINT_KEY }; // LW v1.1 only +uint8_t sNwkSIntKey[] = { RADIOLIB_LORAWAN_SNWKSINT_KEY }; // LW v1.1 only +#endif + +#endif // OTAA/ABP + +// for the curious, the #ifndef blocks allow for automated testing &/or you can +// put your EUI & keys in to your platformio.ini - see wiki for more tips + +// regional choices: EU868, US915, AU915, AS923, IN865, KR920, CN780, CN500 +const LoRaWANBand_t Region = EU868; +const uint8_t subBand = 0; // For US915, change this to 2, otherwise leave on 0 + +// ============================================================================ +// Below is to support the sketch - only make changes if the notes say so ... + +// create the LoRaWAN node +LoRaWANNode node(&radio, &Region, subBand); + +// helper function to display any issues +void debug(bool isFail, const __FlashStringHelper* message, int state, bool Freeze) { + if (isFail) { + Serial.print(message); + Serial.print("("); + Serial.print(state); + Serial.println(")"); + while (Freeze); + } +} + +// helper function to display a byte array +void arrayDump(uint8_t *buffer, uint16_t len) { + for(uint16_t c = 0; c < len; c++) { + char b = buffer[c]; + if(b < 0x10) { Serial.print('0'); } + Serial.print(b, HEX); + } + Serial.println(); +} + +#endif \ No newline at end of file diff --git a/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/lorawan.h b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/lorawan.h new file mode 100644 index 0000000..95220fc --- /dev/null +++ b/lib/RadioLib/examples/LoRaWAN/LoRaWAN_TS_Packages/lorawan.h @@ -0,0 +1,76 @@ +#ifndef _LORAWAN_H +#define _LORAWAN_H + +#include +#include "config.h" + +#warning "You are required to implement persistence here! (ESP32 example provided in comments)" + +// #include +// Preferences store; +// uint8_t LWnonces[RADIOLIB_LORAWAN_NONCES_BUF_SIZE]; + +bool lwBegin() { +#if (LORAWAN_OTAA == 1) + #if (LORAWAN_VERSION == 1) + node.beginOTAA(joinEUI, devEUI, nwkKey, appKey); + #else + node.beginOTAA(joinEUI, devEUI, NULL, appKey); + #endif +#else + #if (LORAWAN_VERSION == 1) + node.beginABP(devAddr, fNwkSIntKey, sNwkSIntKey, sNwkSEncKey, appSKey); + #else + node.beginABP(devAddr, NULL, NULL, sNwkSEncKey, appSKey); + #endif +#endif + return(true); +} + +int16_t lwRestore() { + int16_t state = RADIOLIB_ERR_UNKNOWN; + + // store.begin("radiolib"); + // if (store.isKey("nonces")) { + // radio.standby(); + + // store.getBytes("nonces", LWnonces, RADIOLIB_LORAWAN_NONCES_BUF_SIZE); + // state = node.setBufferNonces(LWnonces); + // } + // store.end(); + + return(state); +} + +void lwActivate() { + int16_t state = RADIOLIB_ERR_NETWORK_NOT_JOINED; + Serial.println(F("[LoRaWAN] Attempting network join ... ")); + + radio.standby(); + +#if (LORAWAN_OTAA == 1) + state = node.activateOTAA(); +#else + state = node.activateABP(); +#endif + + if(state == RADIOLIB_LORAWAN_SESSION_RESTORED) { + Serial.println(F("[LoRaWAN] Session restored!")); + return; + } + + // store.begin("radiolib"); + // uint8_t *persist = node.getBufferNonces(); + // store.putBytes("nonces", persist, RADIOLIB_LORAWAN_NONCES_BUF_SIZE); + // store.end(); + + if(state == RADIOLIB_LORAWAN_NEW_SESSION) { + Serial.println(F("[LoRaWAN] Successfully started new session!")); + return; + } + + Serial.print(F("[LoRaWAN] Failed, code ")); + Serial.println(state); +} + +#endif \ No newline at end of file diff --git a/lib/RadioLib/examples/LoRaWAN/README.md b/lib/RadioLib/examples/LoRaWAN/README.md index d2a7325..2ad96c2 100644 --- a/lib/RadioLib/examples/LoRaWAN/README.md +++ b/lib/RadioLib/examples/LoRaWAN/README.md @@ -3,35 +3,12 @@ RadioLib LoRaWAN examples. * [LoRaWAN_Starter](https://github.com/jgromes/RadioLib/tree/master/examples/LoRaWAN/LoRaWAN_Starter): this is the recommended entry point for new users. Please read the [`notes`](https://github.com/jgromes/RadioLib/blob/master/examples/LoRaWAN/LoRaWAN_Starter/notes.md) that come with this example to learn more about LoRaWAN and how to use it in RadioLib! * [LoRaWAN_Reference](https://github.com/jgromes/RadioLib/tree/master/examples/LoRaWAN/LoRaWAN_Reference): this sketch showcases most of the available API for LoRaWAN in RadioLib. Be frightened by the possibilities! It is recommended you have read all the [`notes`](https://github.com/jgromes/RadioLib/blob/master/examples/LoRaWAN/LoRaWAN_Starter/notes.md) for the Starter sketch first, as well as the [Learn section on The Things Network](https://www.thethingsnetwork.org/docs/lorawan/)! -* [LoRaWAN_ABP](https://github.com/jgromes/RadioLib/tree/master/examples/LoRaWAN/LoRaWAN_ABP): if you wish to use ABP instead of OTAA (but why?), this example shows how you can do this using RadioLib. +* [LoRaWAN_ABP](https://github.com/jgromes/RadioLib/tree/master/examples/LoRaWAN/LoRaWAN_ABP): if you wish to use ABP instead of OTAA, this example shows how you can do this using RadioLib. However, to comply with the specification, the full session must persist through resets and power loss - you would need proper NVM for this. Really, we recommend using OTAA. +* [LoRaWAN_Class_C](https://github.com/jgromes/RadioLib/tree/master/examples/LoRaWAN/LoRaWAN_Class_C): this shows how to use Class C on top of Class A. This is useful for continuously-powered devices (no batteries) such as lights. If you deploy multiple similar devices, please use Multicast instead. +* [LoRaWAN_Multicast](https://github.com/jgromes/RadioLib/tree/master/examples/LoRaWAN/LoRaWAN_Multicast): a showcase of Multicast over Class C. This is particularly useful for groups of devices such as a series of street lights. -## LoRaWAN versions & regional parameters -RadioLib implements both LoRaWAN Specification 1.1 and 1.0.4. Confusingly, 1.0.4 is newer than 1.1, but 1.1 includes more security checks and as such **LoRaWAN 1.1 is preferred**. -The catch is in the Regional Parameters: as RP002 1.0.4 is newer than RP001 1.1, it is more up to date regarding local laws & regulations. Therefore, RadioLib implements 1.0.4 as baseline and 1.1 (revision B) as fallback, and as such **RP002 Regional Parameters 1.0.4 is preferred**. -_Note: the CN500 band is implemented as specified in RP001 1.1 revision B, as the RP002 1.0.4 version is much too complex._ +> [!CAUTION] +> These examples are quick wins during development. However, for production devices, you will need to add persistence to your device. See the wiki for more details, or head straight to some [persistence examples](https://github.com/radiolib-org/radiolib-persistence). -To activate a LoRaWAN 1.1 session, supply all the required keys: -```cpp -node.beginOTAA(joinEUI, devEUI, nwkKey, appKey); -node.beginABP(devAddr, fNwkSIntKey, sNwkSIntKey, nwkSEncKey, appSKey); -``` - -To activate a LoRaWAN 1.0.4 session, set the keys that are not available to `NULL`: -```cpp -node.beginOTAA(joinEUI, devEUI, NULL, appKey); -node.beginABP(devAddr, NULL, NULL, nwkSEncKey, appSKey); -``` - -The device doesn't need to know the Regional Parameters version - that is of importance on the console. - -## LoRaWAN persistence -> [!WARNING] -> These examples do not actually comply with LoRaWAN 1.0.4/1.1: for that, persistent storage is necessary. As the implementation of persistent storage differs between different platforms, these are not given here, but in a separate repository, see below: - -In [this repository](https://github.com/radiolib-org/radiolib-persistence), examples are provided that do comply with the required persistence of certain parameters for LoRaWAN 1.1. Examples are (or will become) available for some of the most popular platforms. **These examples assume you have successfully used the Starter sketch and understood (most of) the accompanying notes!** -Currently, examples are available for the following platforms: - -* [LoRaWAN for ESP32](https://github.com/radiolib-org/radiolib-persistence/tree/main/examples/LoRaWAN_ESP32) -* [LoRaWAN for ESP8266](https://github.com/radiolib-org/radiolib-persistence/tree/main/examples/LoRaWAN_ESP8266) - -_This list is last updated at 30/03/2024._ +> [!TIP] +> Refer to the [Wiki](https://github.com/jgromes/RadioLib/wiki/LoRaWAN) for guides and information, for example on LoRaWAN versions, registering your device and more. diff --git a/lib/RadioLib/examples/NonArduino/ESP-IDF/README.md b/lib/RadioLib/examples/NonArduino/ESP-IDF/README.md index 401785e..df1d0b7 100644 --- a/lib/RadioLib/examples/NonArduino/ESP-IDF/README.md +++ b/lib/RadioLib/examples/NonArduino/ESP-IDF/README.md @@ -8,3 +8,4 @@ This example shows how to use RadioLib as ESP-IDF component, without the Arduino * `main/EspHal.h` - RadioLib HAL example implementation * `main/idf_component.yml` - declaration of the RadioLib dependency for this example * `main/main.cpp` - the example source code +* `sdkconfig.defaults` - List of preset configuration option values for ESP-IDF. All other options use default values provided by ESP-IDF. diff --git a/lib/RadioLib/examples/NonArduino/ESP-IDF/sdkconfig b/lib/RadioLib/examples/NonArduino/ESP-IDF/sdkconfig deleted file mode 100644 index ea8d756..0000000 --- a/lib/RadioLib/examples/NonArduino/ESP-IDF/sdkconfig +++ /dev/null @@ -1,1669 +0,0 @@ -# -# Automatically generated file. DO NOT EDIT. -# Espressif IoT Development Framework (ESP-IDF) Project Configuration -# -CONFIG_SOC_BROWNOUT_RESET_SUPPORTED="Not determined" -CONFIG_SOC_TWAI_BRP_DIV_SUPPORTED="Not determined" -CONFIG_SOC_DPORT_WORKAROUND="Not determined" -CONFIG_SOC_CAPS_ECO_VER_MAX=301 -CONFIG_SOC_ADC_SUPPORTED=y -CONFIG_SOC_DAC_SUPPORTED=y -CONFIG_SOC_MCPWM_SUPPORTED=y -CONFIG_SOC_SDMMC_HOST_SUPPORTED=y -CONFIG_SOC_BT_SUPPORTED=y -CONFIG_SOC_PCNT_SUPPORTED=y -CONFIG_SOC_WIFI_SUPPORTED=y -CONFIG_SOC_SDIO_SLAVE_SUPPORTED=y -CONFIG_SOC_TWAI_SUPPORTED=y -CONFIG_SOC_EMAC_SUPPORTED=y -CONFIG_SOC_ULP_SUPPORTED=y -CONFIG_SOC_CCOMP_TIMER_SUPPORTED=y -CONFIG_SOC_RTC_FAST_MEM_SUPPORTED=y -CONFIG_SOC_RTC_SLOW_MEM_SUPPORTED=y -CONFIG_SOC_RTC_MEM_SUPPORTED=y -CONFIG_SOC_I2S_SUPPORTED=y -CONFIG_SOC_RMT_SUPPORTED=y -CONFIG_SOC_SDM_SUPPORTED=y -CONFIG_SOC_SUPPORT_COEXISTENCE=y -CONFIG_SOC_AES_SUPPORTED=y -CONFIG_SOC_MPI_SUPPORTED=y -CONFIG_SOC_SHA_SUPPORTED=y -CONFIG_SOC_FLASH_ENC_SUPPORTED=y -CONFIG_SOC_SECURE_BOOT_SUPPORTED=y -CONFIG_SOC_TOUCH_SENSOR_SUPPORTED=y -CONFIG_SOC_DPORT_WORKAROUND_DIS_INTERRUPT_LVL=5 -CONFIG_SOC_XTAL_SUPPORT_26M=y -CONFIG_SOC_XTAL_SUPPORT_40M=y -CONFIG_SOC_XTAL_SUPPORT_AUTO_DETECT=y -CONFIG_SOC_ADC_RTC_CTRL_SUPPORTED=y -CONFIG_SOC_ADC_DIG_CTRL_SUPPORTED=y -CONFIG_SOC_ADC_DMA_SUPPORTED=y -CONFIG_SOC_ADC_PERIPH_NUM=2 -CONFIG_SOC_ADC_MAX_CHANNEL_NUM=10 -CONFIG_SOC_ADC_ATTEN_NUM=4 -CONFIG_SOC_ADC_DIGI_CONTROLLER_NUM=2 -CONFIG_SOC_ADC_PATT_LEN_MAX=16 -CONFIG_SOC_ADC_DIGI_MIN_BITWIDTH=9 -CONFIG_SOC_ADC_DIGI_MAX_BITWIDTH=12 -CONFIG_SOC_ADC_DIGI_RESULT_BYTES=2 -CONFIG_SOC_ADC_DIGI_DATA_BYTES_PER_CONV=4 -CONFIG_SOC_ADC_SAMPLE_FREQ_THRES_HIGH=2 -CONFIG_SOC_ADC_SAMPLE_FREQ_THRES_LOW=20 -CONFIG_SOC_ADC_RTC_MIN_BITWIDTH=9 -CONFIG_SOC_ADC_RTC_MAX_BITWIDTH=12 -CONFIG_SOC_RTC_SLOW_CLOCK_SUPPORT_8MD256=y -CONFIG_SOC_SHARED_IDCACHE_SUPPORTED=y -CONFIG_SOC_MMU_LINEAR_ADDRESS_REGION_NUM=5 -CONFIG_SOC_CPU_CORES_NUM=2 -CONFIG_SOC_CPU_INTR_NUM=32 -CONFIG_SOC_CPU_HAS_FPU=y -CONFIG_SOC_CPU_BREAKPOINTS_NUM=2 -CONFIG_SOC_CPU_WATCHPOINTS_NUM=2 -CONFIG_SOC_CPU_WATCHPOINT_SIZE=64 -CONFIG_SOC_DAC_PERIPH_NUM=2 -CONFIG_SOC_DAC_RESOLUTION=8 -CONFIG_SOC_GPIO_PORT=1 -CONFIG_SOC_GPIO_PIN_COUNT=40 -CONFIG_SOC_GPIO_VALID_GPIO_MASK=0xFFFFFFFFFF -CONFIG_SOC_GPIO_VALID_DIGITAL_IO_PAD_MASK=0xEF0FEA -CONFIG_SOC_I2C_NUM=2 -CONFIG_SOC_I2C_FIFO_LEN=32 -CONFIG_SOC_I2C_SUPPORT_SLAVE=y -CONFIG_SOC_I2C_SUPPORT_APB=y -CONFIG_SOC_CLK_APLL_SUPPORTED=y -CONFIG_SOC_APLL_MULTIPLIER_OUT_MIN_HZ=350000000 -CONFIG_SOC_APLL_MULTIPLIER_OUT_MAX_HZ=500000000 -CONFIG_SOC_APLL_MIN_HZ=5303031 -CONFIG_SOC_APLL_MAX_HZ=125000000 -CONFIG_SOC_I2S_NUM=2 -CONFIG_SOC_I2S_HW_VERSION_1=y -CONFIG_SOC_I2S_SUPPORTS_APLL=y -CONFIG_SOC_I2S_SUPPORTS_PDM=y -CONFIG_SOC_I2S_SUPPORTS_PDM_TX=y -CONFIG_SOC_I2S_SUPPORTS_PDM_RX=y -CONFIG_SOC_I2S_SUPPORTS_ADC_DAC=y -CONFIG_SOC_I2S_SUPPORTS_ADC=y -CONFIG_SOC_I2S_SUPPORTS_DAC=y -CONFIG_SOC_I2S_SUPPORTS_LCD_CAMERA=y -CONFIG_SOC_I2S_TRANS_SIZE_ALIGN_WORD=y -CONFIG_SOC_I2S_LCD_I80_VARIANT=y -CONFIG_SOC_LCD_I80_SUPPORTED=y -CONFIG_SOC_LCD_I80_BUSES=2 -CONFIG_SOC_LCD_I80_BUS_WIDTH=24 -CONFIG_SOC_LEDC_HAS_TIMER_SPECIFIC_MUX=y -CONFIG_SOC_LEDC_SUPPORT_APB_CLOCK=y -CONFIG_SOC_LEDC_SUPPORT_REF_TICK=y -CONFIG_SOC_LEDC_SUPPORT_HS_MODE=y -CONFIG_SOC_LEDC_CHANNEL_NUM=8 -CONFIG_SOC_LEDC_TIMER_BIT_WIDE_NUM=20 -CONFIG_SOC_MCPWM_GROUPS=2 -CONFIG_SOC_MCPWM_TIMERS_PER_GROUP=3 -CONFIG_SOC_MCPWM_OPERATORS_PER_GROUP=3 -CONFIG_SOC_MCPWM_COMPARATORS_PER_OPERATOR=2 -CONFIG_SOC_MCPWM_GENERATORS_PER_OPERATOR=2 -CONFIG_SOC_MCPWM_TRIGGERS_PER_OPERATOR=2 -CONFIG_SOC_MCPWM_GPIO_FAULTS_PER_GROUP=3 -CONFIG_SOC_MCPWM_CAPTURE_TIMERS_PER_GROUP=y -CONFIG_SOC_MCPWM_CAPTURE_CHANNELS_PER_TIMER=3 -CONFIG_SOC_MCPWM_GPIO_SYNCHROS_PER_GROUP=3 -CONFIG_SOC_MPU_MIN_REGION_SIZE=0x20000000 -CONFIG_SOC_MPU_REGIONS_MAX_NUM=8 -CONFIG_SOC_PCNT_GROUPS=1 -CONFIG_SOC_PCNT_UNITS_PER_GROUP=8 -CONFIG_SOC_PCNT_CHANNELS_PER_UNIT=2 -CONFIG_SOC_PCNT_THRES_POINT_PER_UNIT=2 -CONFIG_SOC_RMT_GROUPS=1 -CONFIG_SOC_RMT_TX_CANDIDATES_PER_GROUP=8 -CONFIG_SOC_RMT_RX_CANDIDATES_PER_GROUP=8 -CONFIG_SOC_RMT_CHANNELS_PER_GROUP=8 -CONFIG_SOC_RMT_MEM_WORDS_PER_CHANNEL=64 -CONFIG_SOC_RMT_SUPPORT_REF_TICK=y -CONFIG_SOC_RMT_SUPPORT_APB=y -CONFIG_SOC_RMT_CHANNEL_CLK_INDEPENDENT=y -CONFIG_SOC_RTCIO_PIN_COUNT=18 -CONFIG_SOC_RTCIO_INPUT_OUTPUT_SUPPORTED=y -CONFIG_SOC_RTCIO_HOLD_SUPPORTED=y -CONFIG_SOC_RTCIO_WAKE_SUPPORTED=y -CONFIG_SOC_SDM_GROUPS=1 -CONFIG_SOC_SDM_CHANNELS_PER_GROUP=8 -CONFIG_SOC_SPI_HD_BOTH_INOUT_SUPPORTED=y -CONFIG_SOC_SPI_AS_CS_SUPPORTED=y -CONFIG_SOC_SPI_PERIPH_NUM=3 -CONFIG_SOC_SPI_DMA_CHAN_NUM=2 -CONFIG_SOC_SPI_MAX_CS_NUM=3 -CONFIG_SOC_SPI_MAXIMUM_BUFFER_SIZE=64 -CONFIG_SOC_SPI_MAX_PRE_DIVIDER=8192 -CONFIG_SOC_MEMSPI_SRC_FREQ_80M_SUPPORTED=y -CONFIG_SOC_MEMSPI_SRC_FREQ_40M_SUPPORTED=y -CONFIG_SOC_MEMSPI_SRC_FREQ_26M_SUPPORTED=y -CONFIG_SOC_MEMSPI_SRC_FREQ_20M_SUPPORTED=y -CONFIG_SOC_TIMER_GROUPS=2 -CONFIG_SOC_TIMER_GROUP_TIMERS_PER_GROUP=2 -CONFIG_SOC_TIMER_GROUP_COUNTER_BIT_WIDTH=64 -CONFIG_SOC_TIMER_GROUP_TOTAL_TIMERS=4 -CONFIG_SOC_TIMER_GROUP_SUPPORT_APB=y -CONFIG_SOC_TOUCH_VERSION_1=y -CONFIG_SOC_TOUCH_SENSOR_NUM=10 -CONFIG_SOC_TOUCH_PAD_MEASURE_WAIT_MAX=0xFF -CONFIG_SOC_TWAI_BRP_MIN=2 -CONFIG_SOC_TWAI_SUPPORT_MULTI_ADDRESS_LAYOUT=y -CONFIG_SOC_UART_NUM=3 -CONFIG_SOC_UART_SUPPORT_APB_CLK=y -CONFIG_SOC_UART_SUPPORT_REF_TICK=y -CONFIG_SOC_UART_FIFO_LEN=128 -CONFIG_SOC_UART_BITRATE_MAX=5000000 -CONFIG_SOC_SPIRAM_SUPPORTED=y -CONFIG_SOC_SPI_MEM_SUPPORT_CONFIG_GPIO_BY_EFUSE=y -CONFIG_SOC_SHA_SUPPORT_PARALLEL_ENG=y -CONFIG_SOC_SHA_SUPPORT_SHA1=y -CONFIG_SOC_SHA_SUPPORT_SHA256=y -CONFIG_SOC_SHA_SUPPORT_SHA384=y -CONFIG_SOC_SHA_SUPPORT_SHA512=y -CONFIG_SOC_RSA_MAX_BIT_LEN=4096 -CONFIG_SOC_AES_SUPPORT_AES_128=y -CONFIG_SOC_AES_SUPPORT_AES_192=y -CONFIG_SOC_AES_SUPPORT_AES_256=y -CONFIG_SOC_SECURE_BOOT_V1=y -CONFIG_SOC_EFUSE_SECURE_BOOT_KEY_DIGESTS=y -CONFIG_SOC_FLASH_ENCRYPTED_XTS_AES_BLOCK_MAX=32 -CONFIG_SOC_PHY_DIG_REGS_MEM_SIZE=21 -CONFIG_SOC_PM_SUPPORT_EXT_WAKEUP=y -CONFIG_SOC_PM_SUPPORT_TOUCH_SENSOR_WAKEUP=y -CONFIG_SOC_PM_SUPPORT_RTC_PERIPH_PD=y -CONFIG_SOC_PM_SUPPORT_RTC_FAST_MEM_PD=y -CONFIG_SOC_PM_SUPPORT_RTC_SLOW_MEM_PD=y -CONFIG_SOC_PM_SUPPORT_MODEM_PD=y -CONFIG_SOC_SDMMC_USE_IOMUX=y -CONFIG_SOC_SDMMC_NUM_SLOTS=2 -CONFIG_SOC_WIFI_WAPI_SUPPORT=y -CONFIG_SOC_WIFI_CSI_SUPPORT=y -CONFIG_SOC_WIFI_MESH_SUPPORT=y -CONFIG_SOC_BLE_SUPPORTED=y -CONFIG_SOC_BLE_MESH_SUPPORTED=y -CONFIG_SOC_BT_CLASSIC_SUPPORTED=y -CONFIG_IDF_CMAKE=y -CONFIG_IDF_TARGET_ARCH_XTENSA=y -CONFIG_IDF_TARGET_ARCH="xtensa" -CONFIG_IDF_TARGET="esp32" -CONFIG_IDF_TARGET_ESP32=y -CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000 - -# -# Build type -# -CONFIG_APP_BUILD_TYPE_APP_2NDBOOT=y -# CONFIG_APP_BUILD_TYPE_ELF_RAM is not set -CONFIG_APP_BUILD_GENERATE_BINARIES=y -CONFIG_APP_BUILD_BOOTLOADER=y -CONFIG_APP_BUILD_USE_FLASH_SECTIONS=y -# CONFIG_APP_REPRODUCIBLE_BUILD is not set -# CONFIG_APP_NO_BLOBS is not set -# CONFIG_APP_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set -# CONFIG_APP_COMPATIBLE_PRE_V3_1_BOOTLOADERS is not set -# end of Build type - -# -# Bootloader config -# -CONFIG_BOOTLOADER_OFFSET_IN_FLASH=0x1000 -CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y -# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG is not set -# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_PERF is not set -# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_NONE is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_NONE is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_ERROR is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_WARN is not set -CONFIG_BOOTLOADER_LOG_LEVEL_INFO=y -# CONFIG_BOOTLOADER_LOG_LEVEL_DEBUG is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_VERBOSE is not set -CONFIG_BOOTLOADER_LOG_LEVEL=3 -# CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_8V is not set -CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y -# CONFIG_BOOTLOADER_FACTORY_RESET is not set -# CONFIG_BOOTLOADER_APP_TEST is not set -CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y -CONFIG_BOOTLOADER_WDT_ENABLE=y -# CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set -CONFIG_BOOTLOADER_WDT_TIME_MS=9000 -# CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set -# CONFIG_BOOTLOADER_SKIP_VALIDATE_IN_DEEP_SLEEP is not set -# CONFIG_BOOTLOADER_SKIP_VALIDATE_ON_POWER_ON is not set -# CONFIG_BOOTLOADER_SKIP_VALIDATE_ALWAYS is not set -CONFIG_BOOTLOADER_RESERVE_RTC_SIZE=0 -# CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC is not set -CONFIG_BOOTLOADER_FLASH_XMC_SUPPORT=y -# end of Bootloader config - -# -# Security features -# -CONFIG_SECURE_BOOT_V1_SUPPORTED=y -# CONFIG_SECURE_SIGNED_APPS_NO_SECURE_BOOT is not set -# CONFIG_SECURE_BOOT is not set -# CONFIG_SECURE_FLASH_ENC_ENABLED is not set -# end of Security features - -# -# Application manager -# -CONFIG_APP_COMPILE_TIME_DATE=y -# CONFIG_APP_EXCLUDE_PROJECT_VER_VAR is not set -# CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR is not set -# CONFIG_APP_PROJECT_VER_FROM_CONFIG is not set -CONFIG_APP_RETRIEVE_LEN_ELF_SHA=16 -# end of Application manager - -CONFIG_ESP_ROM_HAS_CRC_LE=y -CONFIG_ESP_ROM_HAS_CRC_BE=y -CONFIG_ESP_ROM_HAS_MZ_CRC32=y -CONFIG_ESP_ROM_HAS_JPEG_DECODE=y -CONFIG_ESP_ROM_NEEDS_SWSETUP_WORKAROUND=y - -# -# Serial flasher config -# -# CONFIG_ESPTOOLPY_NO_STUB is not set -# CONFIG_ESPTOOLPY_FLASHMODE_QIO is not set -# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set -CONFIG_ESPTOOLPY_FLASHMODE_DIO=y -# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set -CONFIG_ESPTOOLPY_FLASH_SAMPLE_MODE_STR=y -CONFIG_ESPTOOLPY_FLASHMODE="dio" -# CONFIG_ESPTOOLPY_FLASHFREQ_80M is not set -CONFIG_ESPTOOLPY_FLASHFREQ_40M=y -# CONFIG_ESPTOOLPY_FLASHFREQ_26M is not set -# CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set -CONFIG_ESPTOOLPY_FLASHFREQ="40m" -# CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set -CONFIG_ESPTOOLPY_FLASHSIZE_2MB=y -# CONFIG_ESPTOOLPY_FLASHSIZE_4MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_32MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_64MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_128MB is not set -CONFIG_ESPTOOLPY_FLASHSIZE="2MB" -# CONFIG_ESPTOOLPY_HEADER_FLASHSIZE_UPDATE is not set -CONFIG_ESPTOOLPY_BEFORE_RESET=y -# CONFIG_ESPTOOLPY_BEFORE_NORESET is not set -CONFIG_ESPTOOLPY_BEFORE="default_reset" -CONFIG_ESPTOOLPY_AFTER_RESET=y -# CONFIG_ESPTOOLPY_AFTER_NORESET is not set -CONFIG_ESPTOOLPY_AFTER="hard_reset" -CONFIG_ESPTOOLPY_MONITOR_BAUD=115200 -# end of Serial flasher config - -# -# Partition Table -# -CONFIG_PARTITION_TABLE_SINGLE_APP=y -# CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE is not set -# CONFIG_PARTITION_TABLE_TWO_OTA is not set -# CONFIG_PARTITION_TABLE_CUSTOM is not set -CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv" -CONFIG_PARTITION_TABLE_FILENAME="partitions_singleapp.csv" -CONFIG_PARTITION_TABLE_OFFSET=0x8000 -CONFIG_PARTITION_TABLE_MD5=y -# end of Partition Table - -# -# Compiler options -# -CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y -# CONFIG_COMPILER_OPTIMIZATION_SIZE is not set -# CONFIG_COMPILER_OPTIMIZATION_PERF is not set -# CONFIG_COMPILER_OPTIMIZATION_NONE is not set -CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE=y -# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT is not set -# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE is not set -CONFIG_COMPILER_FLOAT_LIB_FROM_GCCLIB=y -CONFIG_COMPILER_OPTIMIZATION_ASSERTION_LEVEL=2 -# CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT is not set -CONFIG_COMPILER_HIDE_PATHS_MACROS=y -# CONFIG_COMPILER_CXX_EXCEPTIONS is not set -# CONFIG_COMPILER_CXX_RTTI is not set -CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y -# CONFIG_COMPILER_STACK_CHECK_MODE_NORM is not set -# CONFIG_COMPILER_STACK_CHECK_MODE_STRONG is not set -# CONFIG_COMPILER_STACK_CHECK_MODE_ALL is not set -# CONFIG_COMPILER_WARN_WRITE_STRINGS is not set -# CONFIG_COMPILER_DUMP_RTL_FILES is not set -# end of Compiler options - -# -# Component config -# - -# -# Application Level Tracing -# -# CONFIG_APPTRACE_DEST_JTAG is not set -CONFIG_APPTRACE_DEST_NONE=y -# CONFIG_APPTRACE_DEST_UART1 is not set -# CONFIG_APPTRACE_DEST_UART2 is not set -CONFIG_APPTRACE_DEST_UART_NONE=y -CONFIG_APPTRACE_UART_TASK_PRIO=1 -CONFIG_APPTRACE_LOCK_ENABLE=y -# end of Application Level Tracing - -# -# Bluetooth -# -# CONFIG_BT_ENABLED is not set -# end of Bluetooth - -# -# Driver Configurations -# - -# -# Legacy ADC Configuration -# -CONFIG_ADC_DISABLE_DAC=y -# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set - -# -# Legacy ADC Calibration Configuration -# -CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y -CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y -CONFIG_ADC_CAL_LUT_ENABLE=y -# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set -# end of Legacy ADC Calibration Configuration -# end of Legacy ADC Configuration - -# -# SPI Configuration -# -# CONFIG_SPI_MASTER_IN_IRAM is not set -CONFIG_SPI_MASTER_ISR_IN_IRAM=y -# CONFIG_SPI_SLAVE_IN_IRAM is not set -CONFIG_SPI_SLAVE_ISR_IN_IRAM=y -# end of SPI Configuration - -# -# TWAI Configuration -# -# CONFIG_TWAI_ISR_IN_IRAM is not set -CONFIG_TWAI_ERRATA_FIX_BUS_OFF_REC=y -CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST=y -CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID=y -CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT=y -CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM=y -# end of TWAI Configuration - -# -# UART Configuration -# -# CONFIG_UART_ISR_IN_IRAM is not set -# end of UART Configuration - -# -# GPIO Configuration -# -# CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL is not set -# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set -# end of GPIO Configuration - -# -# Sigma Delta Modulator Configuration -# -# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set -# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set -# CONFIG_SDM_ENABLE_DEBUG_LOG is not set -# end of Sigma Delta Modulator Configuration - -# -# GPTimer Configuration -# -# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set -# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set -# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set -# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set -# end of GPTimer Configuration - -# -# PCNT Configuration -# -# CONFIG_PCNT_CTRL_FUNC_IN_IRAM is not set -# CONFIG_PCNT_ISR_IRAM_SAFE is not set -# CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set -# CONFIG_PCNT_ENABLE_DEBUG_LOG is not set -# end of PCNT Configuration - -# -# RMT Configuration -# -# CONFIG_RMT_ISR_IRAM_SAFE is not set -# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set -# CONFIG_RMT_ENABLE_DEBUG_LOG is not set -# end of RMT Configuration - -# -# MCPWM Configuration -# -# CONFIG_MCPWM_ISR_IRAM_SAFE is not set -# CONFIG_MCPWM_CTRL_FUNC_IN_IRAM is not set -# CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set -# CONFIG_MCPWM_ENABLE_DEBUG_LOG is not set -# end of MCPWM Configuration - -# -# I2S Configuration -# -# CONFIG_I2S_ISR_IRAM_SAFE is not set -# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set -# CONFIG_I2S_ENABLE_DEBUG_LOG is not set -# end of I2S Configuration -# end of Driver Configurations - -# -# eFuse Bit Manager -# -# CONFIG_EFUSE_CUSTOM_TABLE is not set -# CONFIG_EFUSE_VIRTUAL is not set -# CONFIG_EFUSE_CODE_SCHEME_COMPAT_NONE is not set -CONFIG_EFUSE_CODE_SCHEME_COMPAT_3_4=y -# CONFIG_EFUSE_CODE_SCHEME_COMPAT_REPEAT is not set -CONFIG_EFUSE_MAX_BLK_LEN=192 -# end of eFuse Bit Manager - -# -# ESP-TLS -# -CONFIG_ESP_TLS_USING_MBEDTLS=y -# CONFIG_ESP_TLS_USE_SECURE_ELEMENT is not set -# CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set -# CONFIG_ESP_TLS_SERVER is not set -# CONFIG_ESP_TLS_PSK_VERIFICATION is not set -# CONFIG_ESP_TLS_INSECURE is not set -# end of ESP-TLS - -# -# ADC and ADC Calibration -# -# CONFIG_ADC_ONESHOT_CTRL_FUNC_IN_IRAM is not set -# CONFIG_ADC_CONTINUOUS_ISR_IRAM_SAFE is not set - -# -# ADC Calibration Configurations -# -CONFIG_ADC_CALI_EFUSE_TP_ENABLE=y -CONFIG_ADC_CALI_EFUSE_VREF_ENABLE=y -CONFIG_ADC_CALI_LUT_ENABLE=y -# end of ADC Calibration Configurations - -CONFIG_ADC_DISABLE_DAC_OUTPUT=y -# end of ADC and ADC Calibration - -# -# Common ESP-related -# -CONFIG_ESP_ERR_TO_NAME_LOOKUP=y -# end of Common ESP-related - -# -# Ethernet -# -CONFIG_ETH_ENABLED=y -CONFIG_ETH_USE_ESP32_EMAC=y -CONFIG_ETH_PHY_INTERFACE_RMII=y -CONFIG_ETH_RMII_CLK_INPUT=y -# CONFIG_ETH_RMII_CLK_OUTPUT is not set -CONFIG_ETH_RMII_CLK_IN_GPIO=0 -CONFIG_ETH_DMA_BUFFER_SIZE=512 -CONFIG_ETH_DMA_RX_BUFFER_NUM=10 -CONFIG_ETH_DMA_TX_BUFFER_NUM=10 -CONFIG_ETH_USE_SPI_ETHERNET=y -# CONFIG_ETH_SPI_ETHERNET_DM9051 is not set -# CONFIG_ETH_SPI_ETHERNET_W5500 is not set -# CONFIG_ETH_SPI_ETHERNET_KSZ8851SNL is not set -# CONFIG_ETH_USE_OPENETH is not set -# CONFIG_ETH_TRANSMIT_MUTEX is not set -# end of Ethernet - -# -# Event Loop Library -# -# CONFIG_ESP_EVENT_LOOP_PROFILING is not set -CONFIG_ESP_EVENT_POST_FROM_ISR=y -CONFIG_ESP_EVENT_POST_FROM_IRAM_ISR=y -# end of Event Loop Library - -# -# GDB Stub -# -# end of GDB Stub - -# -# ESP HTTP client -# -CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y -# CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set -# CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH is not set -# end of ESP HTTP client - -# -# HTTP Server -# -CONFIG_HTTPD_MAX_REQ_HDR_LEN=512 -CONFIG_HTTPD_MAX_URI_LEN=512 -CONFIG_HTTPD_ERR_RESP_NO_DELAY=y -CONFIG_HTTPD_PURGE_BUF_LEN=32 -# CONFIG_HTTPD_LOG_PURGE_DATA is not set -# CONFIG_HTTPD_WS_SUPPORT is not set -# CONFIG_HTTPD_QUEUE_WORK_BLOCKING is not set -# end of HTTP Server - -# -# ESP HTTPS OTA -# -# CONFIG_ESP_HTTPS_OTA_DECRYPT_CB is not set -# CONFIG_ESP_HTTPS_OTA_ALLOW_HTTP is not set -# end of ESP HTTPS OTA - -# -# ESP HTTPS server -# -# CONFIG_ESP_HTTPS_SERVER_ENABLE is not set -# end of ESP HTTPS server - -# -# Hardware Settings -# - -# -# Chip revision -# -CONFIG_ESP32_REV_MIN_0=y -# CONFIG_ESP32_REV_MIN_1 is not set -# CONFIG_ESP32_REV_MIN_1_1 is not set -# CONFIG_ESP32_REV_MIN_2 is not set -# CONFIG_ESP32_REV_MIN_3 is not set -# CONFIG_ESP32_REV_MIN_3_1 is not set -CONFIG_ESP32_REV_MIN=0 -CONFIG_ESP32_REV_MIN_FULL=0 -CONFIG_ESP_REV_MIN_FULL=0 - -# -# Maximum Supported ESP32 Revision (Rev v3.99) -# -CONFIG_ESP32_REV_MAX_FULL=399 -CONFIG_ESP_REV_MAX_FULL=399 -# end of Chip revision - -# -# MAC Config -# -CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_STA=y -CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y -CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y -CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y -# CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set -CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y -CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4 -# CONFIG_ESP_MAC_IGNORE_MAC_CRC_ERROR is not set -# end of MAC Config - -# -# Sleep Config -# -# CONFIG_ESP_SLEEP_POWER_DOWN_FLASH is not set -CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y -# CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set -CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y -# CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU is not set -CONFIG_ESP_SLEEP_DEEP_SLEEP_WAKEUP_DELAY=2000 -# end of Sleep Config - -# -# RTC Clock Config -# -CONFIG_RTC_CLK_SRC_INT_RC=y -# CONFIG_RTC_CLK_SRC_EXT_CRYS is not set -# CONFIG_RTC_CLK_SRC_EXT_OSC is not set -# CONFIG_RTC_CLK_SRC_INT_8MD256 is not set -CONFIG_RTC_CLK_CAL_CYCLES=1024 -# end of RTC Clock Config - -# -# Peripheral Control -# -# CONFIG_PERIPH_CTRL_FUNC_IN_IRAM is not set -# end of Peripheral Control - -# -# Main XTAL Config -# -# CONFIG_XTAL_FREQ_26 is not set -CONFIG_XTAL_FREQ_40=y -# CONFIG_XTAL_FREQ_AUTO is not set -CONFIG_XTAL_FREQ=40 -# end of Main XTAL Config -# end of Hardware Settings - -# -# LCD and Touch Panel -# - -# -# LCD Touch Drivers are maintained in the IDF Component Registry -# - -# -# LCD Peripheral Configuration -# -CONFIG_LCD_PANEL_IO_FORMAT_BUF_SIZE=32 -# CONFIG_LCD_ENABLE_DEBUG_LOG is not set -# end of LCD Peripheral Configuration -# end of LCD and Touch Panel - -# -# ESP NETIF Adapter -# -CONFIG_ESP_NETIF_IP_LOST_TIMER_INTERVAL=120 -CONFIG_ESP_NETIF_TCPIP_LWIP=y -# CONFIG_ESP_NETIF_LOOPBACK is not set -# CONFIG_ESP_NETIF_L2_TAP is not set -# CONFIG_ESP_NETIF_BRIDGE_EN is not set -# end of ESP NETIF Adapter - -# -# PHY -# -CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y -# CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set -CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20 -CONFIG_ESP_PHY_MAX_TX_POWER=20 -CONFIG_ESP_PHY_REDUCE_TX_POWER=y -# end of PHY - -# -# Power Management -# -# CONFIG_PM_ENABLE is not set -# end of Power Management - -# -# ESP PSRAM -# -# CONFIG_SPIRAM is not set -# end of ESP PSRAM - -# -# ESP Ringbuf -# -# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set -# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set -# end of ESP Ringbuf - -# -# ESP System Settings -# -# CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_80 is not set -CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_160=y -# CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240 is not set -CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=160 - -# -# Memory -# -# CONFIG_ESP32_USE_FIXED_STATIC_RAM_SIZE is not set -# end of Memory - -# -# Trace memory -# -# CONFIG_ESP32_TRAX is not set -CONFIG_ESP32_TRACEMEM_RESERVE_DRAM=0x0 -# end of Trace memory - -# CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT is not set -CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=y -# CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT is not set -# CONFIG_ESP_SYSTEM_PANIC_GDBSTUB is not set -# CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME is not set - -# -# Memory protection -# -# end of Memory protection - -CONFIG_ESP_SYSTEM_EVENT_QUEUE_SIZE=32 -CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=2304 -CONFIG_ESP_MAIN_TASK_STACK_SIZE=3584 -CONFIG_ESP_MAIN_TASK_AFFINITY_CPU0=y -# CONFIG_ESP_MAIN_TASK_AFFINITY_CPU1 is not set -# CONFIG_ESP_MAIN_TASK_AFFINITY_NO_AFFINITY is not set -CONFIG_ESP_MAIN_TASK_AFFINITY=0x0 -CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048 -CONFIG_ESP_CONSOLE_UART_DEFAULT=y -# CONFIG_ESP_CONSOLE_UART_CUSTOM is not set -# CONFIG_ESP_CONSOLE_NONE is not set -CONFIG_ESP_CONSOLE_UART=y -CONFIG_ESP_CONSOLE_MULTIPLE_UART=y -CONFIG_ESP_CONSOLE_UART_NUM=0 -CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200 -CONFIG_ESP_INT_WDT=y -CONFIG_ESP_INT_WDT_TIMEOUT_MS=300 -CONFIG_ESP_INT_WDT_CHECK_CPU1=y -CONFIG_ESP_TASK_WDT_EN=y -CONFIG_ESP_TASK_WDT_INIT=y -# CONFIG_ESP_TASK_WDT_PANIC is not set -CONFIG_ESP_TASK_WDT_TIMEOUT_S=5 -CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y -CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1=y -# CONFIG_ESP_PANIC_HANDLER_IRAM is not set -# CONFIG_ESP_DEBUG_STUBS_ENABLE is not set -CONFIG_ESP_DEBUG_OCDAWARE=y -# CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_5 is not set -CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_4=y - -# -# Brownout Detector -# -CONFIG_ESP_BROWNOUT_DET=y -CONFIG_ESP_BROWNOUT_DET_LVL_SEL_0=y -# CONFIG_ESP_BROWNOUT_DET_LVL_SEL_1 is not set -# CONFIG_ESP_BROWNOUT_DET_LVL_SEL_2 is not set -# CONFIG_ESP_BROWNOUT_DET_LVL_SEL_3 is not set -# CONFIG_ESP_BROWNOUT_DET_LVL_SEL_4 is not set -# CONFIG_ESP_BROWNOUT_DET_LVL_SEL_5 is not set -# CONFIG_ESP_BROWNOUT_DET_LVL_SEL_6 is not set -# CONFIG_ESP_BROWNOUT_DET_LVL_SEL_7 is not set -CONFIG_ESP_BROWNOUT_DET_LVL=0 -# end of Brownout Detector - -# CONFIG_ESP32_DISABLE_BASIC_ROM_CONSOLE is not set -CONFIG_ESP_SYSTEM_BROWNOUT_INTR=y -# end of ESP System Settings - -# -# IPC (Inter-Processor Call) -# -CONFIG_ESP_IPC_TASK_STACK_SIZE=1024 -CONFIG_ESP_IPC_USES_CALLERS_PRIORITY=y -CONFIG_ESP_IPC_ISR_ENABLE=y -# end of IPC (Inter-Processor Call) - -# -# High resolution timer (esp_timer) -# -# CONFIG_ESP_TIMER_PROFILING is not set -CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y -CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER=y -CONFIG_ESP_TIMER_TASK_STACK_SIZE=3584 -CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1 -# CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set -CONFIG_ESP_TIMER_IMPL_TG0_LAC=y -# end of High resolution timer (esp_timer) - -# -# Wi-Fi -# -CONFIG_ESP32_WIFI_ENABLED=y -CONFIG_ESP32_WIFI_STATIC_RX_BUFFER_NUM=10 -CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM=32 -# CONFIG_ESP32_WIFI_STATIC_TX_BUFFER is not set -CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER=y -CONFIG_ESP32_WIFI_TX_BUFFER_TYPE=1 -CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER_NUM=32 -# CONFIG_ESP32_WIFI_CSI_ENABLED is not set -CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED=y -CONFIG_ESP32_WIFI_TX_BA_WIN=6 -CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED=y -CONFIG_ESP32_WIFI_RX_BA_WIN=6 -CONFIG_ESP32_WIFI_NVS_ENABLED=y -CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y -# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set -CONFIG_ESP32_WIFI_SOFTAP_BEACON_MAX_LEN=752 -CONFIG_ESP32_WIFI_MGMT_SBUF_NUM=32 -CONFIG_ESP32_WIFI_IRAM_OPT=y -CONFIG_ESP32_WIFI_RX_IRAM_OPT=y -CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y -CONFIG_ESP32_WIFI_ENABLE_WPA3_OWE_STA=y -# CONFIG_ESP_WIFI_SLP_IRAM_OPT is not set -CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE=y -# CONFIG_ESP_WIFI_GMAC_SUPPORT is not set -CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y -# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set -CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7 -# end of Wi-Fi - -# -# Core dump -# -# CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH is not set -# CONFIG_ESP_COREDUMP_ENABLE_TO_UART is not set -CONFIG_ESP_COREDUMP_ENABLE_TO_NONE=y -# end of Core dump - -# -# FAT Filesystem support -# -CONFIG_FATFS_VOLUME_COUNT=2 -# CONFIG_FATFS_SECTOR_512 is not set -# CONFIG_FATFS_SECTOR_1024 is not set -# CONFIG_FATFS_SECTOR_2048 is not set -CONFIG_FATFS_SECTOR_4096=y -CONFIG_FATFS_SECTORS_PER_CLUSTER_1=y -# CONFIG_FATFS_SECTORS_PER_CLUSTER_2 is not set -# CONFIG_FATFS_SECTORS_PER_CLUSTER_4 is not set -# CONFIG_FATFS_SECTORS_PER_CLUSTER_8 is not set -# CONFIG_FATFS_SECTORS_PER_CLUSTER_16 is not set -# CONFIG_FATFS_SECTORS_PER_CLUSTER_32 is not set -# CONFIG_FATFS_SECTORS_PER_CLUSTER_64 is not set -# CONFIG_FATFS_SECTORS_PER_CLUSTER_128 is not set -# CONFIG_FATFS_CODEPAGE_DYNAMIC is not set -CONFIG_FATFS_CODEPAGE_437=y -# CONFIG_FATFS_CODEPAGE_720 is not set -# CONFIG_FATFS_CODEPAGE_737 is not set -# CONFIG_FATFS_CODEPAGE_771 is not set -# CONFIG_FATFS_CODEPAGE_775 is not set -# CONFIG_FATFS_CODEPAGE_850 is not set -# CONFIG_FATFS_CODEPAGE_852 is not set -# CONFIG_FATFS_CODEPAGE_855 is not set -# CONFIG_FATFS_CODEPAGE_857 is not set -# CONFIG_FATFS_CODEPAGE_860 is not set -# CONFIG_FATFS_CODEPAGE_861 is not set -# CONFIG_FATFS_CODEPAGE_862 is not set -# CONFIG_FATFS_CODEPAGE_863 is not set -# CONFIG_FATFS_CODEPAGE_864 is not set -# CONFIG_FATFS_CODEPAGE_865 is not set -# CONFIG_FATFS_CODEPAGE_866 is not set -# CONFIG_FATFS_CODEPAGE_869 is not set -# CONFIG_FATFS_CODEPAGE_932 is not set -# CONFIG_FATFS_CODEPAGE_936 is not set -# CONFIG_FATFS_CODEPAGE_949 is not set -# CONFIG_FATFS_CODEPAGE_950 is not set -CONFIG_FATFS_AUTO_TYPE=y -# CONFIG_FATFS_FAT12 is not set -# CONFIG_FATFS_FAT16 is not set -CONFIG_FATFS_CODEPAGE=437 -CONFIG_FATFS_LFN_NONE=y -# CONFIG_FATFS_LFN_HEAP is not set -# CONFIG_FATFS_LFN_STACK is not set -CONFIG_FATFS_FS_LOCK=0 -CONFIG_FATFS_TIMEOUT_MS=10000 -CONFIG_FATFS_PER_FILE_CACHE=y -# CONFIG_FATFS_USE_FASTSEEK is not set -# end of FAT Filesystem support - -# -# FreeRTOS -# - -# -# Kernel -# -# CONFIG_FREERTOS_SMP is not set -# CONFIG_FREERTOS_UNICORE is not set -CONFIG_FREERTOS_HZ=1000 -# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set -# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set -CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y -CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1 -CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536 -# CONFIG_FREERTOS_USE_IDLE_HOOK is not set -# CONFIG_FREERTOS_USE_TICK_HOOK is not set -CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16 -# CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY is not set -CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1 -CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048 -CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10 -CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0 -# CONFIG_FREERTOS_USE_TRACE_FACILITY is not set -# CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set -# end of Kernel - -# -# Port -# -CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER=y -# CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set -# CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set -CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER=y -CONFIG_FREERTOS_ISR_STACKSIZE=1536 -CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y -# CONFIG_FREERTOS_FPU_IN_ISR is not set -CONFIG_FREERTOS_TICK_SUPPORT_CORETIMER=y -CONFIG_FREERTOS_CORETIMER_0=y -# CONFIG_FREERTOS_CORETIMER_1 is not set -CONFIG_FREERTOS_SYSTICK_USES_CCOUNT=y -# CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH is not set -# CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH is not set -# CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE is not set -CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y -CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y -# end of Port - -CONFIG_FREERTOS_NO_AFFINITY=0x7FFFFFFF -CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y -CONFIG_FREERTOS_DEBUG_OCDAWARE=y -# end of FreeRTOS - -# -# Hardware Abstraction Layer (HAL) and Low Level (LL) -# -CONFIG_HAL_ASSERTION_EQUALS_SYSTEM=y -# CONFIG_HAL_ASSERTION_DISABLE is not set -# CONFIG_HAL_ASSERTION_SILENT is not set -# CONFIG_HAL_ASSERTION_ENABLE is not set -CONFIG_HAL_DEFAULT_ASSERTION_LEVEL=2 -# end of Hardware Abstraction Layer (HAL) and Low Level (LL) - -# -# Heap memory debugging -# -CONFIG_HEAP_POISONING_DISABLED=y -# CONFIG_HEAP_POISONING_LIGHT is not set -# CONFIG_HEAP_POISONING_COMPREHENSIVE is not set -CONFIG_HEAP_TRACING_OFF=y -# CONFIG_HEAP_TRACING_STANDALONE is not set -# CONFIG_HEAP_TRACING_TOHOST is not set -# CONFIG_HEAP_ABORT_WHEN_ALLOCATION_FAILS is not set -# end of Heap memory debugging - -# -# Log output -# -# CONFIG_LOG_DEFAULT_LEVEL_NONE is not set -# CONFIG_LOG_DEFAULT_LEVEL_ERROR is not set -# CONFIG_LOG_DEFAULT_LEVEL_WARN is not set -CONFIG_LOG_DEFAULT_LEVEL_INFO=y -# CONFIG_LOG_DEFAULT_LEVEL_DEBUG is not set -# CONFIG_LOG_DEFAULT_LEVEL_VERBOSE is not set -CONFIG_LOG_DEFAULT_LEVEL=3 -CONFIG_LOG_MAXIMUM_EQUALS_DEFAULT=y -# CONFIG_LOG_MAXIMUM_LEVEL_DEBUG is not set -# CONFIG_LOG_MAXIMUM_LEVEL_VERBOSE is not set -CONFIG_LOG_MAXIMUM_LEVEL=3 -CONFIG_LOG_COLORS=y -CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y -# CONFIG_LOG_TIMESTAMP_SOURCE_SYSTEM is not set -# end of Log output - -# -# LWIP -# -CONFIG_LWIP_LOCAL_HOSTNAME="espressif" -# CONFIG_LWIP_NETIF_API is not set -# CONFIG_LWIP_TCPIP_CORE_LOCKING is not set -# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set -CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y -# CONFIG_LWIP_L2_TO_L3_COPY is not set -# CONFIG_LWIP_IRAM_OPTIMIZATION is not set -CONFIG_LWIP_TIMERS_ONDEMAND=y -CONFIG_LWIP_MAX_SOCKETS=10 -# CONFIG_LWIP_USE_ONLY_LWIP_SELECT is not set -# CONFIG_LWIP_SO_LINGER is not set -CONFIG_LWIP_SO_REUSE=y -CONFIG_LWIP_SO_REUSE_RXTOALL=y -# CONFIG_LWIP_SO_RCVBUF is not set -# CONFIG_LWIP_NETBUF_RECVINFO is not set -CONFIG_LWIP_IP4_FRAG=y -CONFIG_LWIP_IP6_FRAG=y -# CONFIG_LWIP_IP4_REASSEMBLY is not set -# CONFIG_LWIP_IP6_REASSEMBLY is not set -# CONFIG_LWIP_IP_FORWARD is not set -# CONFIG_LWIP_STATS is not set -CONFIG_LWIP_ESP_GRATUITOUS_ARP=y -CONFIG_LWIP_GARP_TMR_INTERVAL=60 -CONFIG_LWIP_ESP_MLDV6_REPORT=y -CONFIG_LWIP_MLDV6_TMR_INTERVAL=40 -CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32 -CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y -# CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set -CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y -# CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set -CONFIG_LWIP_DHCP_OPTIONS_LEN=68 -CONFIG_LWIP_NUM_NETIF_CLIENT_DATA=0 -CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1 - -# -# DHCP server -# -CONFIG_LWIP_DHCPS=y -CONFIG_LWIP_DHCPS_LEASE_UNIT=60 -CONFIG_LWIP_DHCPS_MAX_STATION_NUM=8 -# end of DHCP server - -# CONFIG_LWIP_AUTOIP is not set -CONFIG_LWIP_IPV6=y -# CONFIG_LWIP_IPV6_AUTOCONFIG is not set -CONFIG_LWIP_IPV6_NUM_ADDRESSES=3 -# CONFIG_LWIP_IPV6_FORWARD is not set -# CONFIG_LWIP_NETIF_STATUS_CALLBACK is not set -CONFIG_LWIP_NETIF_LOOPBACK=y -CONFIG_LWIP_LOOPBACK_MAX_PBUFS=8 - -# -# TCP -# -CONFIG_LWIP_MAX_ACTIVE_TCP=16 -CONFIG_LWIP_MAX_LISTENING_TCP=16 -CONFIG_LWIP_TCP_HIGH_SPEED_RETRANSMISSION=y -CONFIG_LWIP_TCP_MAXRTX=12 -CONFIG_LWIP_TCP_SYNMAXRTX=12 -CONFIG_LWIP_TCP_MSS=1440 -CONFIG_LWIP_TCP_TMR_INTERVAL=250 -CONFIG_LWIP_TCP_MSL=60000 -CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000 -CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744 -CONFIG_LWIP_TCP_WND_DEFAULT=5744 -CONFIG_LWIP_TCP_RECVMBOX_SIZE=6 -CONFIG_LWIP_TCP_QUEUE_OOSEQ=y -# CONFIG_LWIP_TCP_SACK_OUT is not set -CONFIG_LWIP_TCP_OVERSIZE_MSS=y -# CONFIG_LWIP_TCP_OVERSIZE_QUARTER_MSS is not set -# CONFIG_LWIP_TCP_OVERSIZE_DISABLE is not set -CONFIG_LWIP_TCP_RTO_TIME=1500 -# end of TCP - -# -# UDP -# -CONFIG_LWIP_MAX_UDP_PCBS=16 -CONFIG_LWIP_UDP_RECVMBOX_SIZE=6 -# end of UDP - -# -# Checksums -# -# CONFIG_LWIP_CHECKSUM_CHECK_IP is not set -# CONFIG_LWIP_CHECKSUM_CHECK_UDP is not set -CONFIG_LWIP_CHECKSUM_CHECK_ICMP=y -# end of Checksums - -CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=3072 -CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y -# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set -# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set -CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF -# CONFIG_LWIP_PPP_SUPPORT is not set -CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3 -CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5 -# CONFIG_LWIP_SLIP_SUPPORT is not set - -# -# ICMP -# -CONFIG_LWIP_ICMP=y -# CONFIG_LWIP_MULTICAST_PING is not set -# CONFIG_LWIP_BROADCAST_PING is not set -# end of ICMP - -# -# LWIP RAW API -# -CONFIG_LWIP_MAX_RAW_PCBS=16 -# end of LWIP RAW API - -# -# SNTP -# -CONFIG_LWIP_SNTP_MAX_SERVERS=1 -# CONFIG_LWIP_DHCP_GET_NTP_SRV is not set -CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000 -# end of SNTP - -CONFIG_LWIP_BRIDGEIF_MAX_PORTS=7 -CONFIG_LWIP_ESP_LWIP_ASSERT=y - -# -# Hooks -# -# CONFIG_LWIP_HOOK_TCP_ISN_NONE is not set -CONFIG_LWIP_HOOK_TCP_ISN_DEFAULT=y -# CONFIG_LWIP_HOOK_TCP_ISN_CUSTOM is not set -CONFIG_LWIP_HOOK_IP6_ROUTE_NONE=y -# CONFIG_LWIP_HOOK_IP6_ROUTE_DEFAULT is not set -# CONFIG_LWIP_HOOK_IP6_ROUTE_CUSTOM is not set -CONFIG_LWIP_HOOK_ND6_GET_GW_NONE=y -# CONFIG_LWIP_HOOK_ND6_GET_GW_DEFAULT is not set -# CONFIG_LWIP_HOOK_ND6_GET_GW_CUSTOM is not set -CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_NONE=y -# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_DEFAULT is not set -# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_CUSTOM is not set -CONFIG_LWIP_HOOK_IP6_INPUT_NONE=y -# CONFIG_LWIP_HOOK_IP6_INPUT_DEFAULT is not set -# CONFIG_LWIP_HOOK_IP6_INPUT_CUSTOM is not set -# end of Hooks - -# CONFIG_LWIP_DEBUG is not set -# end of LWIP - -# -# mbedTLS -# -CONFIG_MBEDTLS_INTERNAL_MEM_ALLOC=y -# CONFIG_MBEDTLS_DEFAULT_MEM_ALLOC is not set -# CONFIG_MBEDTLS_CUSTOM_MEM_ALLOC is not set -CONFIG_MBEDTLS_ASYMMETRIC_CONTENT_LEN=y -CONFIG_MBEDTLS_SSL_IN_CONTENT_LEN=16384 -CONFIG_MBEDTLS_SSL_OUT_CONTENT_LEN=4096 -# CONFIG_MBEDTLS_DYNAMIC_BUFFER is not set -# CONFIG_MBEDTLS_DEBUG is not set - -# -# mbedTLS v3.x related -# -# CONFIG_MBEDTLS_SSL_PROTO_TLS1_3 is not set -# CONFIG_MBEDTLS_SSL_VARIABLE_BUFFER_LENGTH is not set -# CONFIG_MBEDTLS_X509_TRUSTED_CERT_CALLBACK is not set -# CONFIG_MBEDTLS_SSL_CONTEXT_SERIALIZATION is not set -CONFIG_MBEDTLS_SSL_KEEP_PEER_CERTIFICATE=y -# end of mbedTLS v3.x related - -# -# Certificate Bundle -# -CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y -CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y -# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set -# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set -# CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set -CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200 -# end of Certificate Bundle - -# CONFIG_MBEDTLS_ECP_RESTARTABLE is not set -# CONFIG_MBEDTLS_CMAC_C is not set -CONFIG_MBEDTLS_HARDWARE_AES=y -CONFIG_MBEDTLS_HARDWARE_MPI=y -CONFIG_MBEDTLS_HARDWARE_SHA=y -CONFIG_MBEDTLS_ROM_MD5=y -# CONFIG_MBEDTLS_ATCA_HW_ECDSA_SIGN is not set -# CONFIG_MBEDTLS_ATCA_HW_ECDSA_VERIFY is not set -CONFIG_MBEDTLS_HAVE_TIME=y -# CONFIG_MBEDTLS_PLATFORM_TIME_ALT is not set -# CONFIG_MBEDTLS_HAVE_TIME_DATE is not set -CONFIG_MBEDTLS_ECDSA_DETERMINISTIC=y -CONFIG_MBEDTLS_SHA512_C=y -CONFIG_MBEDTLS_TLS_SERVER_AND_CLIENT=y -# CONFIG_MBEDTLS_TLS_SERVER_ONLY is not set -# CONFIG_MBEDTLS_TLS_CLIENT_ONLY is not set -# CONFIG_MBEDTLS_TLS_DISABLED is not set -CONFIG_MBEDTLS_TLS_SERVER=y -CONFIG_MBEDTLS_TLS_CLIENT=y -CONFIG_MBEDTLS_TLS_ENABLED=y - -# -# TLS Key Exchange Methods -# -# CONFIG_MBEDTLS_PSK_MODES is not set -CONFIG_MBEDTLS_KEY_EXCHANGE_RSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ELLIPTIC_CURVE=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_RSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_ECDSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_RSA=y -# end of TLS Key Exchange Methods - -CONFIG_MBEDTLS_SSL_RENEGOTIATION=y -CONFIG_MBEDTLS_SSL_PROTO_TLS1_2=y -# CONFIG_MBEDTLS_SSL_PROTO_GMTSSL1_1 is not set -# CONFIG_MBEDTLS_SSL_PROTO_DTLS is not set -CONFIG_MBEDTLS_SSL_ALPN=y -CONFIG_MBEDTLS_CLIENT_SSL_SESSION_TICKETS=y -CONFIG_MBEDTLS_SERVER_SSL_SESSION_TICKETS=y - -# -# Symmetric Ciphers -# -CONFIG_MBEDTLS_AES_C=y -# CONFIG_MBEDTLS_CAMELLIA_C is not set -# CONFIG_MBEDTLS_DES_C is not set -# CONFIG_MBEDTLS_BLOWFISH_C is not set -# CONFIG_MBEDTLS_XTEA_C is not set -CONFIG_MBEDTLS_CCM_C=y -CONFIG_MBEDTLS_GCM_C=y -# CONFIG_MBEDTLS_NIST_KW_C is not set -# end of Symmetric Ciphers - -# CONFIG_MBEDTLS_RIPEMD160_C is not set - -# -# Certificates -# -CONFIG_MBEDTLS_PEM_PARSE_C=y -CONFIG_MBEDTLS_PEM_WRITE_C=y -CONFIG_MBEDTLS_X509_CRL_PARSE_C=y -CONFIG_MBEDTLS_X509_CSR_PARSE_C=y -# end of Certificates - -CONFIG_MBEDTLS_ECP_C=y -# CONFIG_MBEDTLS_DHM_C is not set -CONFIG_MBEDTLS_ECDH_C=y -CONFIG_MBEDTLS_ECDSA_C=y -# CONFIG_MBEDTLS_ECJPAKE_C is not set -CONFIG_MBEDTLS_ECP_DP_SECP192R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP224R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP256R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP384R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP521R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP192K1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP224K1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP256K1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_BP256R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_BP384R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_BP512R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_CURVE25519_ENABLED=y -CONFIG_MBEDTLS_ECP_NIST_OPTIM=y -# CONFIG_MBEDTLS_POLY1305_C is not set -# CONFIG_MBEDTLS_CHACHA20_C is not set -# CONFIG_MBEDTLS_HKDF_C is not set -# CONFIG_MBEDTLS_THREADING_C is not set -# CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI is not set -# CONFIG_MBEDTLS_SECURITY_RISKS is not set -# end of mbedTLS - -# -# ESP-MQTT Configurations -# -CONFIG_MQTT_PROTOCOL_311=y -# CONFIG_MQTT_PROTOCOL_5 is not set -CONFIG_MQTT_TRANSPORT_SSL=y -CONFIG_MQTT_TRANSPORT_WEBSOCKET=y -CONFIG_MQTT_TRANSPORT_WEBSOCKET_SECURE=y -# CONFIG_MQTT_MSG_ID_INCREMENTAL is not set -# CONFIG_MQTT_SKIP_PUBLISH_IF_DISCONNECTED is not set -# CONFIG_MQTT_REPORT_DELETED_MESSAGES is not set -# CONFIG_MQTT_USE_CUSTOM_CONFIG is not set -# CONFIG_MQTT_TASK_CORE_SELECTION_ENABLED is not set -# CONFIG_MQTT_CUSTOM_OUTBOX is not set -# end of ESP-MQTT Configurations - -# -# Newlib -# -CONFIG_NEWLIB_STDOUT_LINE_ENDING_CRLF=y -# CONFIG_NEWLIB_STDOUT_LINE_ENDING_LF is not set -# CONFIG_NEWLIB_STDOUT_LINE_ENDING_CR is not set -# CONFIG_NEWLIB_STDIN_LINE_ENDING_CRLF is not set -# CONFIG_NEWLIB_STDIN_LINE_ENDING_LF is not set -CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y -# CONFIG_NEWLIB_NANO_FORMAT is not set -CONFIG_NEWLIB_TIME_SYSCALL_USE_RTC_HRT=y -# CONFIG_NEWLIB_TIME_SYSCALL_USE_RTC is not set -# CONFIG_NEWLIB_TIME_SYSCALL_USE_HRT is not set -# CONFIG_NEWLIB_TIME_SYSCALL_USE_NONE is not set -# end of Newlib - -# -# NVS -# -# CONFIG_NVS_ASSERT_ERROR_CHECK is not set -# end of NVS - -# -# OpenThread -# -# CONFIG_OPENTHREAD_ENABLED is not set -# end of OpenThread - -# -# Protocomm -# -CONFIG_ESP_PROTOCOMM_SUPPORT_SECURITY_VERSION_0=y -CONFIG_ESP_PROTOCOMM_SUPPORT_SECURITY_VERSION_1=y -CONFIG_ESP_PROTOCOMM_SUPPORT_SECURITY_VERSION_2=y -# end of Protocomm - -# -# PThreads -# -CONFIG_PTHREAD_TASK_PRIO_DEFAULT=5 -CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072 -CONFIG_PTHREAD_STACK_MIN=768 -CONFIG_PTHREAD_DEFAULT_CORE_NO_AFFINITY=y -# CONFIG_PTHREAD_DEFAULT_CORE_0 is not set -# CONFIG_PTHREAD_DEFAULT_CORE_1 is not set -CONFIG_PTHREAD_TASK_CORE_DEFAULT=-1 -CONFIG_PTHREAD_TASK_NAME_DEFAULT="pthread" -# end of PThreads - -# -# MMU Config -# -CONFIG_MMU_PAGE_SIZE_64KB=y -CONFIG_MMU_PAGE_MODE="64KB" -CONFIG_MMU_PAGE_SIZE=0x10000 -# end of MMU Config - -# -# SPI Flash driver -# -# CONFIG_SPI_FLASH_VERIFY_WRITE is not set -# CONFIG_SPI_FLASH_ENABLE_COUNTERS is not set -CONFIG_SPI_FLASH_ROM_DRIVER_PATCH=y -CONFIG_SPI_FLASH_DANGEROUS_WRITE_ABORTS=y -# CONFIG_SPI_FLASH_DANGEROUS_WRITE_FAILS is not set -# CONFIG_SPI_FLASH_DANGEROUS_WRITE_ALLOWED is not set -# CONFIG_SPI_FLASH_SHARE_SPI1_BUS is not set -# CONFIG_SPI_FLASH_BYPASS_BLOCK_ERASE is not set -CONFIG_SPI_FLASH_YIELD_DURING_ERASE=y -CONFIG_SPI_FLASH_ERASE_YIELD_DURATION_MS=20 -CONFIG_SPI_FLASH_ERASE_YIELD_TICKS=1 -CONFIG_SPI_FLASH_WRITE_CHUNK_SIZE=8192 -# CONFIG_SPI_FLASH_SIZE_OVERRIDE is not set -# CONFIG_SPI_FLASH_CHECK_ERASE_TIMEOUT_DISABLED is not set -# CONFIG_SPI_FLASH_OVERRIDE_CHIP_DRIVER_LIST is not set - -# -# SPI Flash behavior when brownout -# -CONFIG_SPI_FLASH_BROWNOUT_RESET_XMC=y -CONFIG_SPI_FLASH_BROWNOUT_RESET=y -# end of SPI Flash behavior when brownout - -# -# Auto-detect flash chips -# -CONFIG_SPI_FLASH_SUPPORT_ISSI_CHIP=y -CONFIG_SPI_FLASH_SUPPORT_MXIC_CHIP=y -CONFIG_SPI_FLASH_SUPPORT_GD_CHIP=y -CONFIG_SPI_FLASH_SUPPORT_WINBOND_CHIP=y -# CONFIG_SPI_FLASH_SUPPORT_BOYA_CHIP is not set -# CONFIG_SPI_FLASH_SUPPORT_TH_CHIP is not set -# end of Auto-detect flash chips - -CONFIG_SPI_FLASH_ENABLE_ENCRYPTED_READ_WRITE=y -# end of SPI Flash driver - -# -# SPIFFS Configuration -# -CONFIG_SPIFFS_MAX_PARTITIONS=3 - -# -# SPIFFS Cache Configuration -# -CONFIG_SPIFFS_CACHE=y -CONFIG_SPIFFS_CACHE_WR=y -# CONFIG_SPIFFS_CACHE_STATS is not set -# end of SPIFFS Cache Configuration - -CONFIG_SPIFFS_PAGE_CHECK=y -CONFIG_SPIFFS_GC_MAX_RUNS=10 -# CONFIG_SPIFFS_GC_STATS is not set -CONFIG_SPIFFS_PAGE_SIZE=256 -CONFIG_SPIFFS_OBJ_NAME_LEN=32 -# CONFIG_SPIFFS_FOLLOW_SYMLINKS is not set -CONFIG_SPIFFS_USE_MAGIC=y -CONFIG_SPIFFS_USE_MAGIC_LENGTH=y -CONFIG_SPIFFS_META_LENGTH=4 -CONFIG_SPIFFS_USE_MTIME=y - -# -# Debug Configuration -# -# CONFIG_SPIFFS_DBG is not set -# CONFIG_SPIFFS_API_DBG is not set -# CONFIG_SPIFFS_GC_DBG is not set -# CONFIG_SPIFFS_CACHE_DBG is not set -# CONFIG_SPIFFS_CHECK_DBG is not set -# CONFIG_SPIFFS_TEST_VISUALISATION is not set -# end of Debug Configuration -# end of SPIFFS Configuration - -# -# TCP Transport -# - -# -# Websocket -# -CONFIG_WS_TRANSPORT=y -CONFIG_WS_BUFFER_SIZE=1024 -# CONFIG_WS_DYNAMIC_BUFFER is not set -# end of Websocket -# end of TCP Transport - -# -# Ultra Low Power (ULP) Co-processor -# -# CONFIG_ULP_COPROC_ENABLED is not set -# end of Ultra Low Power (ULP) Co-processor - -# -# Unity unit testing library -# -CONFIG_UNITY_ENABLE_FLOAT=y -CONFIG_UNITY_ENABLE_DOUBLE=y -# CONFIG_UNITY_ENABLE_64BIT is not set -# CONFIG_UNITY_ENABLE_COLOR is not set -CONFIG_UNITY_ENABLE_IDF_TEST_RUNNER=y -# CONFIG_UNITY_ENABLE_FIXTURE is not set -# CONFIG_UNITY_ENABLE_BACKTRACE_ON_FAIL is not set -# end of Unity unit testing library - -# -# Root Hub configuration -# -# end of Root Hub configuration - -# -# Virtual file system -# -CONFIG_VFS_SUPPORT_IO=y -CONFIG_VFS_SUPPORT_DIR=y -CONFIG_VFS_SUPPORT_SELECT=y -CONFIG_VFS_SUPPRESS_SELECT_DEBUG_OUTPUT=y -CONFIG_VFS_SUPPORT_TERMIOS=y - -# -# Host File System I/O (Semihosting) -# -CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1 -# end of Host File System I/O (Semihosting) -# end of Virtual file system - -# -# Wear Levelling -# -# CONFIG_WL_SECTOR_SIZE_512 is not set -CONFIG_WL_SECTOR_SIZE_4096=y -CONFIG_WL_SECTOR_SIZE=4096 -# end of Wear Levelling - -# -# Wi-Fi Provisioning Manager -# -CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16 -CONFIG_WIFI_PROV_AUTOSTOP_TIMEOUT=30 -# CONFIG_WIFI_PROV_BLE_FORCE_ENCRYPTION is not set -CONFIG_WIFI_PROV_STA_ALL_CHANNEL_SCAN=y -# CONFIG_WIFI_PROV_STA_FAST_SCAN is not set -# end of Wi-Fi Provisioning Manager - -# -# Supplicant -# -CONFIG_WPA_MBEDTLS_CRYPTO=y -CONFIG_WPA_MBEDTLS_TLS_CLIENT=y -# CONFIG_WPA_WAPI_PSK is not set -# CONFIG_WPA_SUITE_B_192 is not set -# CONFIG_WPA_DEBUG_PRINT is not set -# CONFIG_WPA_TESTING_OPTIONS is not set -# CONFIG_WPA_WPS_STRICT is not set -# CONFIG_WPA_11KV_SUPPORT is not set -# CONFIG_WPA_MBO_SUPPORT is not set -# CONFIG_WPA_DPP_SUPPORT is not set -# CONFIG_WPA_11R_SUPPORT is not set -# CONFIG_WPA_WPS_SOFTAP_REGISTRAR is not set -# end of Supplicant -# end of Component config - -# Deprecated options for backward compatibility -# CONFIG_NO_BLOBS is not set -# CONFIG_ESP32_NO_BLOBS is not set -# CONFIG_ESP32_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set -# CONFIG_ESP32_COMPATIBLE_PRE_V3_1_BOOTLOADERS is not set -# CONFIG_LOG_BOOTLOADER_LEVEL_NONE is not set -# CONFIG_LOG_BOOTLOADER_LEVEL_ERROR is not set -# CONFIG_LOG_BOOTLOADER_LEVEL_WARN is not set -CONFIG_LOG_BOOTLOADER_LEVEL_INFO=y -# CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG is not set -# CONFIG_LOG_BOOTLOADER_LEVEL_VERBOSE is not set -CONFIG_LOG_BOOTLOADER_LEVEL=3 -# CONFIG_APP_ROLLBACK_ENABLE is not set -# CONFIG_FLASH_ENCRYPTION_ENABLED is not set -# CONFIG_FLASHMODE_QIO is not set -# CONFIG_FLASHMODE_QOUT is not set -CONFIG_FLASHMODE_DIO=y -# CONFIG_FLASHMODE_DOUT is not set -CONFIG_MONITOR_BAUD=115200 -CONFIG_OPTIMIZATION_LEVEL_DEBUG=y -CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG=y -# CONFIG_OPTIMIZATION_LEVEL_RELEASE is not set -# CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE is not set -CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED=y -# CONFIG_OPTIMIZATION_ASSERTIONS_SILENT is not set -# CONFIG_OPTIMIZATION_ASSERTIONS_DISABLED is not set -CONFIG_OPTIMIZATION_ASSERTION_LEVEL=2 -# CONFIG_CXX_EXCEPTIONS is not set -CONFIG_STACK_CHECK_NONE=y -# CONFIG_STACK_CHECK_NORM is not set -# CONFIG_STACK_CHECK_STRONG is not set -# CONFIG_STACK_CHECK_ALL is not set -# CONFIG_WARN_WRITE_STRINGS is not set -# CONFIG_ESP32_APPTRACE_DEST_TRAX is not set -CONFIG_ESP32_APPTRACE_DEST_NONE=y -CONFIG_ESP32_APPTRACE_LOCK_ENABLE=y -CONFIG_ADC2_DISABLE_DAC=y -# CONFIG_MCPWM_ISR_IN_IRAM is not set -# CONFIG_EVENT_LOOP_PROFILING is not set -CONFIG_POST_EVENTS_FROM_ISR=y -CONFIG_POST_EVENTS_FROM_IRAM_ISR=y -# CONFIG_OTA_ALLOW_HTTP is not set -# CONFIG_TWO_UNIVERSAL_MAC_ADDRESS is not set -CONFIG_FOUR_UNIVERSAL_MAC_ADDRESS=y -CONFIG_NUMBER_OF_UNIVERSAL_MAC_ADDRESS=4 -# CONFIG_ESP_SYSTEM_PD_FLASH is not set -CONFIG_ESP32_DEEP_SLEEP_WAKEUP_DELAY=2000 -CONFIG_ESP32_RTC_CLK_SRC_INT_RC=y -CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_RC=y -# CONFIG_ESP32_RTC_CLK_SRC_EXT_CRYS is not set -# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_CRYSTAL is not set -# CONFIG_ESP32_RTC_CLK_SRC_EXT_OSC is not set -# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_OSC is not set -# CONFIG_ESP32_RTC_CLK_SRC_INT_8MD256 is not set -# CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_8MD256 is not set -CONFIG_ESP32_RTC_CLK_CAL_CYCLES=1024 -# CONFIG_ESP32_XTAL_FREQ_26 is not set -CONFIG_ESP32_XTAL_FREQ_40=y -# CONFIG_ESP32_XTAL_FREQ_AUTO is not set -CONFIG_ESP32_XTAL_FREQ=40 -CONFIG_ESP32_PHY_CALIBRATION_AND_DATA_STORAGE=y -# CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set -CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20 -CONFIG_ESP32_PHY_MAX_TX_POWER=20 -CONFIG_REDUCE_PHY_TX_POWER=y -CONFIG_ESP32_REDUCE_PHY_TX_POWER=y -# CONFIG_SPIRAM_SUPPORT is not set -# CONFIG_ESP32_SPIRAM_SUPPORT is not set -# CONFIG_ESP32_DEFAULT_CPU_FREQ_80 is not set -CONFIG_ESP32_DEFAULT_CPU_FREQ_160=y -# CONFIG_ESP32_DEFAULT_CPU_FREQ_240 is not set -CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=160 -CONFIG_TRACEMEM_RESERVE_DRAM=0x0 -# CONFIG_ESP32_PANIC_PRINT_HALT is not set -CONFIG_ESP32_PANIC_PRINT_REBOOT=y -# CONFIG_ESP32_PANIC_SILENT_REBOOT is not set -# CONFIG_ESP32_PANIC_GDBSTUB is not set -CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32 -CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304 -CONFIG_MAIN_TASK_STACK_SIZE=3584 -CONFIG_CONSOLE_UART_DEFAULT=y -# CONFIG_CONSOLE_UART_CUSTOM is not set -# CONFIG_CONSOLE_UART_NONE is not set -# CONFIG_ESP_CONSOLE_UART_NONE is not set -CONFIG_CONSOLE_UART=y -CONFIG_CONSOLE_UART_NUM=0 -CONFIG_CONSOLE_UART_BAUDRATE=115200 -CONFIG_INT_WDT=y -CONFIG_INT_WDT_TIMEOUT_MS=300 -CONFIG_INT_WDT_CHECK_CPU1=y -CONFIG_TASK_WDT=y -CONFIG_ESP_TASK_WDT=y -# CONFIG_TASK_WDT_PANIC is not set -CONFIG_TASK_WDT_TIMEOUT_S=5 -CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y -CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1=y -# CONFIG_ESP32_DEBUG_STUBS_ENABLE is not set -CONFIG_ESP32_DEBUG_OCDAWARE=y -CONFIG_BROWNOUT_DET=y -CONFIG_ESP32_BROWNOUT_DET=y -CONFIG_BROWNOUT_DET_LVL_SEL_0=y -CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_0=y -# CONFIG_BROWNOUT_DET_LVL_SEL_1 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_1 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_2 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_2 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_3 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_3 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_4 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_4 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_5 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_5 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_6 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_6 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_7 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_7 is not set -CONFIG_BROWNOUT_DET_LVL=0 -CONFIG_ESP32_BROWNOUT_DET_LVL=0 -# CONFIG_DISABLE_BASIC_ROM_CONSOLE is not set -CONFIG_IPC_TASK_STACK_SIZE=1024 -CONFIG_TIMER_TASK_STACK_SIZE=3584 -# CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH is not set -# CONFIG_ESP32_ENABLE_COREDUMP_TO_UART is not set -CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE=y -CONFIG_TIMER_TASK_PRIORITY=1 -CONFIG_TIMER_TASK_STACK_DEPTH=2048 -CONFIG_TIMER_QUEUE_LENGTH=10 -# CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set -# CONFIG_HAL_ASSERTION_SILIENT is not set -# CONFIG_L2_TO_L3_COPY is not set -CONFIG_ESP_GRATUITOUS_ARP=y -CONFIG_GARP_TMR_INTERVAL=60 -CONFIG_TCPIP_RECVMBOX_SIZE=32 -CONFIG_TCP_MAXRTX=12 -CONFIG_TCP_SYNMAXRTX=12 -CONFIG_TCP_MSS=1440 -CONFIG_TCP_MSL=60000 -CONFIG_TCP_SND_BUF_DEFAULT=5744 -CONFIG_TCP_WND_DEFAULT=5744 -CONFIG_TCP_RECVMBOX_SIZE=6 -CONFIG_TCP_QUEUE_OOSEQ=y -CONFIG_TCP_OVERSIZE_MSS=y -# CONFIG_TCP_OVERSIZE_QUARTER_MSS is not set -# CONFIG_TCP_OVERSIZE_DISABLE is not set -CONFIG_UDP_RECVMBOX_SIZE=6 -CONFIG_TCPIP_TASK_STACK_SIZE=3072 -CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=y -# CONFIG_TCPIP_TASK_AFFINITY_CPU0 is not set -# CONFIG_TCPIP_TASK_AFFINITY_CPU1 is not set -CONFIG_TCPIP_TASK_AFFINITY=0x7FFFFFFF -# CONFIG_PPP_SUPPORT is not set -CONFIG_ESP32_TIME_SYSCALL_USE_RTC_HRT=y -CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1=y -# CONFIG_ESP32_TIME_SYSCALL_USE_RTC is not set -# CONFIG_ESP32_TIME_SYSCALL_USE_HRT is not set -# CONFIG_ESP32_TIME_SYSCALL_USE_FRC1 is not set -# CONFIG_ESP32_TIME_SYSCALL_USE_NONE is not set -CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5 -CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072 -CONFIG_ESP32_PTHREAD_STACK_MIN=768 -CONFIG_ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY=y -# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_0 is not set -# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_1 is not set -CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT=-1 -CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT="pthread" -CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y -# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_FAILS is not set -# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ALLOWED is not set -# CONFIG_ESP32_ULP_COPROC_ENABLED is not set -CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y -CONFIG_SUPPORT_TERMIOS=y -CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1 -# End of deprecated options diff --git a/lib/RadioLib/examples/NonArduino/ESP-IDF/sdkconfig.defaults b/lib/RadioLib/examples/NonArduino/ESP-IDF/sdkconfig.defaults new file mode 100644 index 0000000..c95181c --- /dev/null +++ b/lib/RadioLib/examples/NonArduino/ESP-IDF/sdkconfig.defaults @@ -0,0 +1,2 @@ +# Increase FreeRTOS tick rate to 1000 Hz +CONFIG_FREERTOS_HZ=1000 diff --git a/lib/RadioLib/examples/NonArduino/Pico/CMakeLists.txt b/lib/RadioLib/examples/NonArduino/Pico/CMakeLists.txt index c86122f..84729db 100644 --- a/lib/RadioLib/examples/NonArduino/Pico/CMakeLists.txt +++ b/lib/RadioLib/examples/NonArduino/Pico/CMakeLists.txt @@ -20,12 +20,13 @@ add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/../../../../RadioLib" "${CMAKE_CUR add_executable(${PROJECT_NAME} main.cpp + "${CMAKE_CURRENT_SOURCE_DIR}/../../../../RadioLib/src/hal/RPiPico/PicoHal.cpp" ) +target_compile_definitions(${PROJECT_NAME} PUBLIC RADIOLIB_BUILD_RPI_PICO) # Pull in common dependencies target_link_libraries(${PROJECT_NAME} pico_stdlib hardware_spi hardware_gpio hardware_timer pico_multicore hardware_pwm RadioLib) - pico_enable_stdio_usb(${PROJECT_NAME} 1) pico_enable_stdio_uart(${PROJECT_NAME} 0) diff --git a/lib/RadioLib/examples/Pager/Pager_Receive/Pager_Receive.ino b/lib/RadioLib/examples/Pager/Pager_Receive/Pager_Receive.ino index edc9786..61a010f 100644 --- a/lib/RadioLib/examples/Pager/Pager_Receive/Pager_Receive.ino +++ b/lib/RadioLib/examples/Pager/Pager_Receive/Pager_Receive.ino @@ -39,7 +39,6 @@ SX1278 radio = new Module(10, 2, 9, 3); // SX1231: DIO2 // CC1101: GDO2 // Si443x/RFM2x: GPIO -// SX126x/LLCC68: DIO2 const int pin = 5; // create Pager client instance using the FSK module diff --git a/lib/RadioLib/examples/Pager/Pager_Transmit/Pager_Transmit.ino b/lib/RadioLib/examples/Pager/Pager_Transmit/Pager_Transmit.ino index 3677fc7..67846e8 100644 --- a/lib/RadioLib/examples/Pager/Pager_Transmit/Pager_Transmit.ino +++ b/lib/RadioLib/examples/Pager/Pager_Transmit/Pager_Transmit.ino @@ -93,6 +93,8 @@ void loop() { delay(500); // we can also send only a tone + state |= pager.sendTone(1234567); + delay(500); if(state == RADIOLIB_ERR_NONE) { Serial.println(F("success!")); @@ -101,6 +103,6 @@ void loop() { Serial.println(state); } - // wait for a second before transmitting again + // wait for 3 seconds before transmitting again delay(3000); } diff --git a/lib/RadioLib/examples/RF69/RF69_Transmit_Interrupt/RF69_Transmit_Interrupt.ino b/lib/RadioLib/examples/RF69/RF69_Transmit_Interrupt/RF69_Transmit_Interrupt.ino index 58a3f07..63b9c8d 100644 --- a/lib/RadioLib/examples/RF69/RF69_Transmit_Interrupt/RF69_Transmit_Interrupt.ino +++ b/lib/RadioLib/examples/RF69/RF69_Transmit_Interrupt/RF69_Transmit_Interrupt.ino @@ -113,10 +113,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); diff --git a/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Blocking/STM32WLx_Transmit_Blocking.ino b/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Blocking/STM32WLx_Transmit_Blocking.ino index 5a7d7b0..4a366da 100644 --- a/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Blocking/STM32WLx_Transmit_Blocking.ino +++ b/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Blocking/STM32WLx_Transmit_Blocking.ino @@ -94,11 +94,6 @@ void loop() { // the packet was successfully transmitted Serial.println(F("success!")); - // print measured data rate - Serial.print(F("[STM32WL] Datarate:\t")); - Serial.print(radio.getDataRate()); - Serial.println(F(" bps")); - } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { // the supplied packet was longer than 256 bytes Serial.println(F("too long!")); diff --git a/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Interrupt/STM32WLx_Transmit_Interrupt.ino b/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Interrupt/STM32WLx_Transmit_Interrupt.ino index 736be3b..77dcc29 100644 --- a/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Interrupt/STM32WLx_Transmit_Interrupt.ino +++ b/lib/RadioLib/examples/STM32WLx/STM32WLx_Transmit_Interrupt/STM32WLx_Transmit_Interrupt.ino @@ -110,10 +110,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); diff --git a/lib/RadioLib/examples/SX126x/SX126x_FSK_Modem/SX126x_FSK_Modem.ino b/lib/RadioLib/examples/SX126x/SX126x_FSK_Modem/SX126x_FSK_Modem.ino index cc8849d..04dcbe5 100644 --- a/lib/RadioLib/examples/SX126x/SX126x_FSK_Modem/SX126x_FSK_Modem.ino +++ b/lib/RadioLib/examples/SX126x/SX126x_FSK_Modem/SX126x_FSK_Modem.ino @@ -71,13 +71,6 @@ void setup() { while (true) { delay(10); } } - // FSK modem on SX126x can handle the sync word setting in bits, not just - // whole bytes. The value used is left-justified. - // This makes same result as radio.setSyncWord(syncWord, 8): - state = radio.setSyncBits(syncWord, 64); - // This will use 0x012 as sync word (12 bits only): - state = radio.setSyncBits(syncWord, 12); - // FSK modem allows advanced CRC configuration // Default is CCIT CRC16 (2 bytes, initial 0x1D0F, polynomial 0x1021, inverted) // Set CRC to IBM CRC (2 bytes, initial 0xFFFF, polynomial 0x8005, non-inverted) diff --git a/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Transmit_Blocking/SX126x_LR_FHSS_Transmit_Blocking.ino b/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Transmit_Blocking/SX126x_LR_FHSS_Transmit_Blocking.ino new file mode 100644 index 0000000..8e72cb8 --- /dev/null +++ b/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Transmit_Blocking/SX126x_LR_FHSS_Transmit_Blocking.ino @@ -0,0 +1,108 @@ +/* + RadioLib SX126x LR-FHSS Modem Example + + This example shows how to use LR-FHSS modem in SX126x chips. + This modem can only transmit data, and is not able to receive. + + This example transmits packets using SX1262 LoRa radio module. + Each packet contains up to 256 bytes of data, in the form of: + - Arduino String + - null-terminated char array (C-string) + - arbitrary binary data (byte array) + + Other modules from SX126x family can also be used. + + Using blocking transmit is not recommended, as it will lead + to inefficient use of processor time! + Instead, interrupt transmit is recommended. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#sx126x---lr-fhss-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// SX1262 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +SX1262 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +void setup() { + Serial.begin(9600); + + // initialize SX1262 with default settings + Serial.print(F("[SX1262] Initializing ... ")); + int state = radio.beginLRFHSS(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // some modules have an external RF switch + // controlled via two pins (RX enable, TX enable) + // to enable automatic control of the switch, + // call the following method + // RX enable: 4 + // TX enable: 5 + /* + radio.setRfSwitchPins(4, 5); + */ +} + +// counter to keep track of transmitted packets +int count = 0; + +void loop() { + // LR-FHSS modem can only transmit! + Serial.print(F("[SX1262] Transmitting packet ... ")); + + // you can transmit C-string or Arduino string up to + // 256 characters long + String str = "Hello World! #" + String(count++); + int state = radio.transmit(str); + + // you can also transmit byte array up to 256 bytes long + /* + byte byteArr[] = {0x01, 0x23, 0x45, 0x56, 0x78, 0xAB, 0xCD, 0xEF}; + int state = radio.transmit(byteArr, 8); + */ + + if (state == RADIOLIB_ERR_NONE) { + // the packet was successfully transmitted + Serial.println(F("success!")); + + } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { + // the supplied packet was longer than 256 bytes + Serial.println(F("too long!")); + + } else if (state == RADIOLIB_ERR_TX_TIMEOUT) { + // timeout occurred while transmitting packet + Serial.println(F("timeout!")); + + } else { + // some other error occurred + Serial.print(F("failed, code ")); + Serial.println(state); + + } + + // wait for a second before transmitting again + delay(1000); +} diff --git a/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Transmit_Interrupt/SX126x_LR_FHSS_Transmit_Interrupt.ino b/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Transmit_Interrupt/SX126x_LR_FHSS_Transmit_Interrupt.ino new file mode 100644 index 0000000..d181245 --- /dev/null +++ b/lib/RadioLib/examples/SX126x/SX126x_LR_FHSS_Transmit_Interrupt/SX126x_LR_FHSS_Transmit_Interrupt.ino @@ -0,0 +1,147 @@ +/* + RadioLib SX126x LR-FHSS Transmit with Interrupts Example + + This example shows how to use LR-FHSS modem in SX126x chips. + This modem can only transmit data, and is not able to receive. + + This example transmits packets using SX1262 LoRa radio module. + Each packet contains up to 256 bytes of data, in the form of: + - Arduino String + - null-terminated char array (C-string) + - arbitrary binary data (byte array) + + Other modules from SX126x family can also be used. + + For default module settings, see the wiki page + https://github.com/jgromes/RadioLib/wiki/Default-configuration#sx126x---lr-fhss-modem + + For full API reference, see the GitHub Pages + https://jgromes.github.io/RadioLib/ +*/ + +// include the library +#include + +// SX1262 has the following connections: +// NSS pin: 10 +// IRQ pin: 2 +// NRST pin: 3 +// BUSY pin: 9 +SX1262 radio = new Module(10, 2, 3, 9); + +// or detect the pinout automatically using RadioBoards +// https://github.com/radiolib-org/RadioBoards +/* +#define RADIO_BOARD_AUTO +#include +Radio radio = new RadioModule(); +*/ + +// save transmission state between loops +int transmissionState = RADIOLIB_ERR_NONE; + +// flag to indicate that a packet was sent +// or a frequency hop is needed +volatile bool flag = false; + +// this function is called when a complete packet +// is transmitted by the module +// IMPORTANT: this function MUST be 'void' type +// and MUST NOT have any arguments! +#if defined(ESP8266) || defined(ESP32) + ICACHE_RAM_ATTR +#endif +void setFlag(void) { + // we sent a packet or need to hop, set the flag + flag = true; +} + +void setup() { + Serial.begin(9600); + + // initialize SX1262 with default settings + Serial.print(F("[SX1262] Initializing ... ")); + int state = radio.beginLRFHSS(); + if (state == RADIOLIB_ERR_NONE) { + Serial.println(F("success!")); + } else { + Serial.print(F("failed, code ")); + Serial.println(state); + while (true) { delay(10); } + } + + // set the function that will be called + // when packet transmission is finished + radio.setPacketSentAction(setFlag); + + // start transmitting the first packet + Serial.print(F("[SX1262] Sending first packet ... ")); + + // you can transmit C-string or Arduino string up to + // 256 characters long + transmissionState = radio.startTransmit("Hello World!"); + + // you can also transmit byte array up to 256 bytes long + /* + byte byteArr[] = {0x01, 0x23, 0x45, 0x67, + 0x89, 0xAB, 0xCD, 0xEF}; + state = radio.startTransmit(byteArr, 8); + */ +} + +// counter to keep track of transmitted packets +int count = 0; + +void loop() { + // LR-FHSS modem can only transmit! + + // check if the previous transmission finished + if(flag) { + // reset flag + flag = false; + + // check if this was caused by hopping or transmission finished + if(radio.getIrqFlags() & RADIOLIB_SX126X_IRQ_LR_FHSS_HOP) { + radio.hopLRFHSS(); + + } else { + if (transmissionState == RADIOLIB_ERR_NONE) { + // packet was successfully sent + Serial.println(F("transmission finished!")); + + } else { + Serial.print(F("failed, code ")); + Serial.println(transmissionState); + + } + + // clean up after transmission is finished + // this will ensure transmitter is disabled, + // RF switch is powered down etc. + radio.finishTransmit(); + + // wait a second before transmitting again + delay(1000); + + // send another one + Serial.print(F("[SX1262] Sending another packet ... ")); + + // you can transmit C-string or Arduino string up to + // 256 characters long + String str = "Hello World! #" + String(count++); + transmissionState = radio.startTransmit(str); + + // you can also transmit byte array up to 256 bytes long + /* + byte byteArr[] = {0x01, 0x23, 0x45, 0x67, + 0x89, 0xAB, 0xCD, 0xEF}; + transmissionState = radio.startTransmit(byteArr, 8); + */ + + } + + + + } + +} diff --git a/lib/RadioLib/examples/SX126x/SX126x_Transmit_Blocking/SX126x_Transmit_Blocking.ino b/lib/RadioLib/examples/SX126x/SX126x_Transmit_Blocking/SX126x_Transmit_Blocking.ino index c222e2f..3c34ecd 100644 --- a/lib/RadioLib/examples/SX126x/SX126x_Transmit_Blocking/SX126x_Transmit_Blocking.ino +++ b/lib/RadioLib/examples/SX126x/SX126x_Transmit_Blocking/SX126x_Transmit_Blocking.ino @@ -84,11 +84,6 @@ void loop() { // the packet was successfully transmitted Serial.println(F("success!")); - // print measured data rate - Serial.print(F("[SX1262] Datarate:\t")); - Serial.print(radio.getDataRate()); - Serial.println(F(" bps")); - } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { // the supplied packet was longer than 256 bytes Serial.println(F("too long!")); diff --git a/lib/RadioLib/examples/SX126x/SX126x_Transmit_Interrupt/SX126x_Transmit_Interrupt.ino b/lib/RadioLib/examples/SX126x/SX126x_Transmit_Interrupt/SX126x_Transmit_Interrupt.ino index fcc5c95..b8a3f5c 100644 --- a/lib/RadioLib/examples/SX126x/SX126x_Transmit_Interrupt/SX126x_Transmit_Interrupt.ino +++ b/lib/RadioLib/examples/SX126x/SX126x_Transmit_Interrupt/SX126x_Transmit_Interrupt.ino @@ -99,10 +99,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); diff --git a/lib/RadioLib/examples/SX127x/SX127x_Transmit_Blocking/SX127x_Transmit_Blocking.ino b/lib/RadioLib/examples/SX127x/SX127x_Transmit_Blocking/SX127x_Transmit_Blocking.ino index 62264ef..28f5bea 100644 --- a/lib/RadioLib/examples/SX127x/SX127x_Transmit_Blocking/SX127x_Transmit_Blocking.ino +++ b/lib/RadioLib/examples/SX127x/SX127x_Transmit_Blocking/SX127x_Transmit_Blocking.ino @@ -84,11 +84,6 @@ void loop() { // the packet was successfully transmitted Serial.println(F(" success!")); - // print measured data rate - Serial.print(F("[SX1278] Datarate:\t")); - Serial.print(radio.getDataRate()); - Serial.println(F(" bps")); - } else if (state == RADIOLIB_ERR_PACKET_TOO_LONG) { // the supplied packet was longer than 256 bytes Serial.println(F("too long!")); diff --git a/lib/RadioLib/examples/SX127x/SX127x_Transmit_Interrupt/SX127x_Transmit_Interrupt.ino b/lib/RadioLib/examples/SX127x/SX127x_Transmit_Interrupt/SX127x_Transmit_Interrupt.ino index 04385bc..773a008 100644 --- a/lib/RadioLib/examples/SX127x/SX127x_Transmit_Interrupt/SX127x_Transmit_Interrupt.ino +++ b/lib/RadioLib/examples/SX127x/SX127x_Transmit_Interrupt/SX127x_Transmit_Interrupt.ino @@ -99,10 +99,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); diff --git a/lib/RadioLib/examples/Stream/Stream_Transmit/Stream_Transmit.ino b/lib/RadioLib/examples/Stream/Stream_Transmit/Stream_Transmit.ino index 45b93d3..8280a40 100644 --- a/lib/RadioLib/examples/Stream/Stream_Transmit/Stream_Transmit.ino +++ b/lib/RadioLib/examples/Stream/Stream_Transmit/Stream_Transmit.ino @@ -130,10 +130,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); diff --git a/lib/RadioLib/examples/nRF24/nRF24_Transmit_Interrupt/nRF24_Transmit_Interrupt.ino b/lib/RadioLib/examples/nRF24/nRF24_Transmit_Interrupt/nRF24_Transmit_Interrupt.ino index 9ee46c4..5d5f5de 100644 --- a/lib/RadioLib/examples/nRF24/nRF24_Transmit_Interrupt/nRF24_Transmit_Interrupt.ino +++ b/lib/RadioLib/examples/nRF24/nRF24_Transmit_Interrupt/nRF24_Transmit_Interrupt.ino @@ -112,10 +112,6 @@ void loop() { // packet was successfully sent Serial.println(F("transmission finished!")); - // NOTE: when using interrupt-driven transmit method, - // it is not possible to automatically measure - // transmission data rate using getDataRate() - } else { Serial.print(F("failed, code ")); Serial.println(transmissionState); diff --git a/lib/RadioLib/extras/ADSB_Monitor/ADSBMonitorServer.py b/lib/RadioLib/extras/ADSB_Monitor/ADSBMonitorServer.py new file mode 100644 index 0000000..3fbb490 --- /dev/null +++ b/lib/RadioLib/extras/ADSB_Monitor/ADSBMonitorServer.py @@ -0,0 +1,141 @@ +#!/usr/bin/python3 +# -*- encoding: utf-8 -*- + +import argparse +import sys +import zmq +import serial +import threading +import queue +import time + +from argparse import RawTextHelpFormatter + +# default settings +DEFAULT_BAUDRATE = 115200 +DEFAULT_SERVER_PORT = 30002 + +# marker to filter out ADS-B messages from the rest of the serial stream +ADSB_MESSAGE_MARKER = '[ADS-B]' + +class SerialToZMQBridge: + def __init__(self, serial_port, baudrate, zmq_host="0.0.0.0", zmq_port=5555): + self.serial_port = serial_port + self.baudrate = baudrate + self.zmq_host = zmq_host + self.zmq_port = zmq_port + + self.context = zmq.Context() + self.socket = self.context.socket(zmq.STREAM) + self.socket.setsockopt(zmq.LINGER, 0) + self.socket.bind(f"tcp://{self.zmq_host}:{self.zmq_port}") + + self.serial = serial.Serial( + port=self.serial_port, + baudrate=self.baudrate, + timeout=1 + ) + + self.clients = set() + self.serial_queue = queue.Queue() + + self.running = True + + def serial_reader(self): + """Continuously read from serial and queue messages.""" + while self.running: + try: + line = self.serial.readline() + if line: + line = line.decode(errors='ignore').strip() + print(f"[SERIAL RX] {line}") + + # read the ADS-B frames and add the markers expected by pyModeS + if ADSB_MESSAGE_MARKER in line: + msg = '*' + line.split(' ')[1].strip() + ';' + self.serial_queue.put(msg.encode('utf-8')) + + except Exception as e: + print(f"Serial read error: {e}") + time.sleep(1) + + def run(self): + print(f"ZMQ STREAM server listening on tcp://{self.zmq_host}:{self.zmq_port}") + print(f"Listening to serial port {self.serial_port} @ {self.baudrate}") + + threading.Thread(target=self.serial_reader, daemon=True).start() + + poller = zmq.Poller() + poller.register(self.socket, zmq.POLLIN) + + try: + while self.running: + # Poll ZMQ socket + events = dict(poller.poll(100)) + + if self.socket in events: + identity, message = self.socket.recv_multipart() + + if message == b'': + # Connection event + print(f"[ZMQ] Client connected/disconnected: {identity}") + self.clients.add(identity) + continue + + print(f"[ZMQ RX] {identity}: {message.decode(errors='ignore')}") + + # Send serial data to all connected clients + while not self.serial_queue.empty(): + data = self.serial_queue.get() + for client_id in list(self.clients): + try: + self.socket.send_multipart([client_id, data]) + print(f"[ZMQ TX] Sent to {client_id}") + except zmq.ZMQError: + self.clients.discard(client_id) + + except KeyboardInterrupt: + print("Shutting down...") + + finally: + self.running = False + self.serial.close() + self.socket.close() + self.context.term() + + +def main(): + parser = argparse.ArgumentParser(formatter_class=RawTextHelpFormatter, description=''' + RadioLib ADS-B Monitor script. Serves as server for "modeslive" live traffic decoder from pyModeS + (https://github.com/junzis/pyModeS). + + Depends on pyserial and pyModeS, install by: + 'python3 -m pip install pyserial pyModeS' + + Step-by-step guide on how to use the script: + 1. Upload the ADSB_Monitor example to your Arduino board with LR2021 connected. + 2. Run the script with appropriate arguments. + 3. Run "modeslive --source net --connect localhost 30002 raw" + ''') + parser.add_argument('port', + type=str, + help='COM port to connect to the device') + parser.add_argument('--speed', + default=DEFAULT_BAUDRATE, + type=int, + help=f'COM port baudrate (defaults to {DEFAULT_BAUDRATE})') + parser.add_argument('--server-port', + default=DEFAULT_SERVER_PORT, + type=int, + help=f'server port to be used by modeslive (defaults to {DEFAULT_SERVER_PORT})') + args = parser.parse_args() + + bridge = SerialToZMQBridge( + serial_port=args.port, + baudrate=args.speed, + zmq_port=args.server_port + ) + bridge.run() + +if __name__ == "__main__": + sys.exit(main()) diff --git a/lib/RadioLib/extras/SSTV_Image_Converter/ImageConverter.py b/lib/RadioLib/extras/SSTV_Image_Converter/ImageConverter.py new file mode 100644 index 0000000..8444465 --- /dev/null +++ b/lib/RadioLib/extras/SSTV_Image_Converter/ImageConverter.py @@ -0,0 +1,50 @@ +#!/usr/bin/python3 +# -*- encoding: utf-8 -*- + +import argparse +import numpy as np +from PIL import Image +from argparse import RawTextHelpFormatter + +def main(): + parser = argparse.ArgumentParser(formatter_class=RawTextHelpFormatter, description=''' + RadioLib image to array conversion tool. + + Input is a PNG image to be transmitted via RadioLib SSTV. + The image must have correct size for the chose SSTV mode! + + Output is a file (by default named "img.h") which can be included and transmitted. + The resulting array will be very large (typically 320 kB), + make sure your platform has sufficient Flash/RAM space. + ''') + parser.add_argument('input', + type=str, + help='Input PNG file') + parser.add_argument('output', + type=str, + nargs='?', + default='img', + help='Output header file') + args = parser.parse_args() + outfile = f'{args.output}.h' + print(f'Converting "{args.input}" to "{outfile}"') + + # open the image as numpy array + img = Image.open(args.input) + arr = np.array(img) + + # open the output file + with open(outfile, 'w') as f: + print(f'const uint32_t img[{arr.shape[0]}][{arr.shape[1]}] = {{', file=f) + for row in arr: + print(' { ', end='', file=f) + for pix in row: + rgb = pix[0] << 16 | pix[1] << 8 | pix[2] + print(hex(rgb), end=', ', file=f) + print(' },', file=f) + print('};', file=f) + + print('Done!') + +if __name__ == "__main__": + main() diff --git a/lib/RadioLib/extras/SSTV_Image_Converter/radiolib.png b/lib/RadioLib/extras/SSTV_Image_Converter/radiolib.png new file mode 100644 index 0000000..6a20aa8 Binary files /dev/null and b/lib/RadioLib/extras/SSTV_Image_Converter/radiolib.png differ diff --git a/lib/RadioLib/extras/SX126x_Spectrum_Scan/SpectrumScan.py b/lib/RadioLib/extras/SX126x_Spectrum_Scan/SpectrumScan.py new file mode 100644 index 0000000..435a27a --- /dev/null +++ b/lib/RadioLib/extras/SX126x_Spectrum_Scan/SpectrumScan.py @@ -0,0 +1,176 @@ +#!/usr/bin/python3 +# -*- encoding: utf-8 -*- + +import argparse +import serial +import sys +import numpy as np +import matplotlib as mpl +import matplotlib.pyplot as plt + +from datetime import datetime +from argparse import RawTextHelpFormatter + +# number of samples in each scanline +SCAN_WIDTH = 33 + +# scanline Serial start/end markers +SCAN_MARK_START = 'SCAN ' +SCAN_MARK_FREQ = 'FREQ ' +SCAN_MARK_END = ' END' + +# output path +OUT_PATH = 'out' + +# default settings +DEFAULT_BAUDRATE = 115200 +DEFAULT_COLOR_MAP = 'viridis' +DEFAULT_SCAN_LEN = 200 +DEFAULT_RSSI_OFFSET = -11 + +# Print iterations progress +# from https://stackoverflow.com/questions/3173320/text-progress-bar-in-terminal-with-block-characters +def printProgressBar (iteration, total, prefix = '', suffix = '', decimals = 1, length = 50, fill = '█', printEnd = "\r"): + """ + Call in a loop to create terminal progress bar + @params: + iteration - Required : current iteration (Int) + total - Required : total iterations (Int) + prefix - Optional : prefix string (Str) + suffix - Optional : suffix string (Str) + decimals - Optional : positive number of decimals in percent complete (Int) + length - Optional : character length of bar (Int) + fill - Optional : bar fill character (Str) + printEnd - Optional : end character (e.g. "\r", "\r\n") (Str) + """ + percent = ("{0:." + str(decimals) + "f}").format(100 * (iteration / float(total))) + filledLength = int(length * iteration // total) + bar = fill * filledLength + '-' * (length - filledLength) + print(f'\r{prefix} |{bar}| {percent}% {suffix}', end = printEnd) + if iteration == total: + print() + + +def main(): + parser = argparse.ArgumentParser(formatter_class=RawTextHelpFormatter, description=''' + RadioLib SX126x_Spectrum_Scan plotter script. Displays output from SX126x_Spectrum_Scan example + as grayscale and + + Depends on pyserial and matplotlib, install by: + 'python3 -m pip install pyserial matplotlib' + + Step-by-step guide on how to use the script: + 1. Upload the SX126x_Spectrum_Scan example to your Arduino board with SX1262 connected. + 2. Run the script with appropriate arguments. + 3. Once the scan is complete, output files will be saved to out/ + ''') + parser.add_argument('port', + type=str, + help='COM port to connect to the device') + parser.add_argument('--speed', + default=DEFAULT_BAUDRATE, + type=int, + help=f'COM port baudrate (defaults to {DEFAULT_BAUDRATE})') + parser.add_argument('--map', + default=DEFAULT_COLOR_MAP, + type=str, + help=f'Matplotlib color map to use for the output (defaults to "{DEFAULT_COLOR_MAP}")') + parser.add_argument('--len', + default=DEFAULT_SCAN_LEN, + type=int, + help=f'Number of scanlines to record (defaults to {DEFAULT_SCAN_LEN})') + parser.add_argument('--offset', + default=DEFAULT_RSSI_OFFSET, + type=int, + help=f'Default RSSI offset in dBm (defaults to {DEFAULT_RSSI_OFFSET})') + parser.add_argument('--freq', + default=-1, + type=float, + help=f'Default starting frequency in MHz') + args = parser.parse_args() + + freq_mode = False + scan_len = args.len + if (args.freq != -1): + freq_mode = True + scan_len = 1000 + + # create the color map and the result array + arr = np.zeros((SCAN_WIDTH, scan_len)) + + # scanline counter + row = 0 + + # list of frequencies in frequency mode + freq_list = [] + + # open the COM port + with serial.Serial(args.port, args.speed, timeout=None) as com: + while(True): + # update the progress bar + if not freq_mode: + printProgressBar(row, scan_len) + + # read a single line + try: + line = com.readline().decode('utf-8') + except: + continue + + if SCAN_MARK_FREQ in line: + new_freq = float(line.split(' ')[1]) + if (len(freq_list) > 1) and (new_freq < freq_list[-1]): + break + + freq_list.append(new_freq) + print('{:.3f}'.format(new_freq), end = '\r') + continue + + # check the markers + if (SCAN_MARK_START in line) and (SCAN_MARK_END in line): + # get the values + scanline = line[len(SCAN_MARK_START):-len(SCAN_MARK_END)].split(',') + for col in range(SCAN_WIDTH): + arr[col][row] = int(scanline[col]) + + # increment the row counter + row = row + 1 + + # check if we're done + if (not freq_mode) and (row >= scan_len): + break + + # scale to the number of scans (sum of any given scanline) + num_samples = arr.sum(axis=0)[0] + arr *= (num_samples/arr.max()) + + if freq_mode: + scan_len = len(freq_list) + + # create the figure + fig, ax = plt.subplots() + + # display the result as heatmap + extent = [0, scan_len, -4*(SCAN_WIDTH + 1), args.offset] + if freq_mode: + extent[0] = freq_list[0] + extent[1] = freq_list[-1] + im = ax.imshow(arr[:,:scan_len], cmap=args.map, extent=extent) + fig.colorbar(im) + + # set some properites and show + timestamp = datetime.now().strftime('%y-%m-%d %H-%M-%S') + title = f'RadioLib SX126x Spectral Scan {timestamp}' + if freq_mode: + plt.xlabel("Frequency [Hz]") + else: + plt.xlabel("Time [sample]") + plt.ylabel("RSSI [dBm]") + ax.set_aspect('auto') + fig.suptitle(title) + fig.canvas.manager.set_window_title(title) + plt.savefig(f'{OUT_PATH}/{title.replace(" ", "_")}.png', dpi=300) + plt.show() + +if __name__ == "__main__": + main() diff --git a/lib/RadioLib/extras/cppcheck/check_file.sh b/lib/RadioLib/extras/cppcheck/check_file.sh new file mode 100644 index 0000000..45c3274 --- /dev/null +++ b/lib/RadioLib/extras/cppcheck/check_file.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +if [[ $# -lt 1 ]]; then + echo "Usage: $0 " + exit 1 +fi + +path=$1 + +cppcheck --version +cppcheck $path --enable=all \ + --force \ + --inline-suppr \ + --suppress=ConfigurationNotChecked \ + --suppress=unusedFunction \ + --suppress=missingIncludeSystem \ + --suppress=missingInclude \ + --quiet diff --git a/lib/RadioLib/extras/cppcheck/cppcheck.sh b/lib/RadioLib/extras/cppcheck/cppcheck.sh new file mode 100644 index 0000000..08e9a01 --- /dev/null +++ b/lib/RadioLib/extras/cppcheck/cppcheck.sh @@ -0,0 +1,27 @@ +#! /bin/bash + +file=cppcheck.txt +cppcheck --version +cppcheck src --enable=all \ + --force \ + --inline-suppr \ + --suppress=ConfigurationNotChecked \ + --suppress=unusedFunction \ + --suppress=missingIncludeSystem \ + --suppress=missingInclude \ + --quiet >> $file 2>&1 +echo "Cppcheck finished with exit code $?" + +error=$(grep ": error:" $file | wc -l) +warning=$(grep ": warning:" $file | wc -l) +style=$(grep ": style:" $file | wc -l) +performance=$(grep ": performance:" $file | wc -l) +echo "found $error erros, $warning warnings, $style style and $performance performance issues" +if [ $error -gt "0" ] || [ $warning -gt "0" ] || [ $style -gt "0" ] || [ $performance -gt "0" ] +then + cat $file + exitcode=1 +fi + +rm $file +exit $exitcode diff --git a/lib/RadioLib/extras/template/ModuleTemplate.cpp b/lib/RadioLib/extras/template/ModuleTemplate.cpp new file mode 100644 index 0000000..1efb1fc --- /dev/null +++ b/lib/RadioLib/extras/template/ModuleTemplate.cpp @@ -0,0 +1,22 @@ +#include ".h" +#if !defined(RADIOLIB_EXCLUDE_) + +::(Module* mod) { + /* + Constructor implementation MUST assign the provided "mod" pointer to the private "_mod" pointer. + */ + _mod = mod; +} + +int16_t ::begin() { + /* + "begin" method implementation MUST call the "init" method with appropriate settings. + */ + _mod->init(); + + /* + "begin" method SHOULD implement some sort of mechanism to verify the connection between Arduino and the module. + + For example, reading a version register + */ +} diff --git a/lib/RadioLib/extras/template/ModuleTemplate.h b/lib/RadioLib/extras/template/ModuleTemplate.h new file mode 100644 index 0000000..ee12194 --- /dev/null +++ b/lib/RadioLib/extras/template/ModuleTemplate.h @@ -0,0 +1,99 @@ +/* + RadioLib Module Template header file + + Before opening pull request, please make sure that: + 1. All files MUST be compiled without errors using default Arduino IDE settings. + 2. All files SHOULD be compiled without warnings with compiler warnings set to "All". + 3. Example sketches MUST be working correctly and MUST be stable enough to run for prolonged periods of time. + 4. Writing style SHOULD be consistent. + 5. Comments SHOULD be in place for the most important chunks of code and SHOULD be free of typos. + 6. To indent, 2 spaces MUST be used. + + If at any point you are unsure about the required style, please refer to the rest of the modules. +*/ + +#if !defined(_RADIOLIB__H) && !defined(RADIOLIB_EXCLUDE_) +#if !defined(_RADIOLIB__H) +#define _RADIOLIB__H + +/* + Header file for each module MUST include Module.h and TypeDef.h in the src folder. + The header file MAY include additional header files. +*/ +#include "../../Module.h" +#include "../../TypeDef.h" + +/* + Only use the following include if the module implements methods for OSI physical layer control. + This concerns only modules similar to SX127x/RF69/CC1101 etc. + + In this case, your class MUST implement all virtual methods of PhysicalLayer class. +*/ +//#include "../../protocols/PhysicalLayer/PhysicalLayer.h" + +/* + Register map + Definition of SPI register map SHOULD be placed here. The register map SHOULD have two parts: + + 1 - Address map: only defines register names and addresses. Register names MUST match names in + official documentation (datasheets etc.). + 2 - Variable map: defines variables inside register. This functions as a bit range map for a specific register. + Bit range (MSB and LSB) as well as short description for each variable MUST be provided in a comment. + + See RF69 and SX127x header files for examples of register maps. +*/ +// register map | spaces up to this point +#define RADIOLIB__REG_ 0x00 + +// _REG_ MSB LSB DESCRIPTION +#define RADIOLIB__ 0b00000000 // 7 0 + + +/* + Module class definition + + The module class MAY inherit from the following classes: + + 1 - PhysicalLayer: In case the module implements methods for OSI physical layer control (e.g. SX127x). + 2 - Common class: In case the module further specifies some more generic class (e.g. SX127x/SX1278) +*/ +class { + public: + /* + Constructor MUST have only one parameter "Module* mod". + The class MAY implement additional overloaded constructors. + */ + // constructor + (Module* mod); + + /* + The class MUST implement at least one basic method called "begin". + The "begin" method MUST initialize the module and return the status as int16_t type. + */ + // basic methods + int16_t begin(); + + /* + The class MAY implement additional methods. + All implemented methods SHOULD return the status as int16_t type. + */ + +#if !defined(RADIOLIB_GODMODE) + private: +#endif + /* + The class MUST contain private member "Module* _mod" + */ + Module* _mod; + + /* + The class MAY contain additional private variables and/or methods. + Private member variables MUST have a name prefixed with "_" (underscore, ASCII 0x5F) + + Usually, these are variables for saving module configuration, or methods that do not have to be exposed to the end user. + */ +}; + +#endif + +#endif diff --git a/lib/RadioLib/idf_component.yml b/lib/RadioLib/idf_component.yml index e5199c4..94705a9 100644 --- a/lib/RadioLib/idf_component.yml +++ b/lib/RadioLib/idf_component.yml @@ -1,4 +1,4 @@ -version: "7.1.2" +version: "7.6.0" description: "Universal wireless communication library. User-friendly library for sub-GHz radio modules (SX1278, RF69, CC1101, SX1268, and many others), as well as ham radio digital modes (RTTY, SSTV, AX.25 etc.) and other protocols (Pagers, LoRaWAN)." tags: - radio @@ -33,6 +33,8 @@ tags: - lr1110 - lr1120 - lr1121 + - lr2021 + - adsb url: "https://github.com/jgromes/RadioLib" repository: "https://github.com/jgromes/RadioLib.git" license: "MIT" diff --git a/lib/RadioLib/keywords.txt b/lib/RadioLib/keywords.txt index 9457fcb..1498d81 100644 --- a/lib/RadioLib/keywords.txt +++ b/lib/RadioLib/keywords.txt @@ -17,6 +17,7 @@ LLCC68 KEYWORD1 LR1110 KEYWORD1 LR1120 KEYWORD1 LR1121 KEYWORD1 +LR2021 KEYWORD1 nRF24 KEYWORD1 RF69 KEYWORD1 RFM22 KEYWORD1 @@ -86,7 +87,7 @@ EU868 KEYWORD1 US915 KEYWORD1 EU433 KEYWORD1 AU915 KEYWORD1 -CN500 KEYWORD1 +CN470 KEYWORD1 AS923 KEYWORD1 AS923_2 KEYWORD1 AS923_3 KEYWORD1 @@ -105,6 +106,9 @@ LR11x0GnssSatellite_t KEYWORD1 LR11x0GnssAlmanacStatusPart_t KEYWORD1 LR11x0GnssAlmanacStatus_t KEYWORD1 +# LR2021 structures +LR2021LoRaSideDetector_t KEYWORD1 + ####################################### # Methods and Functions (KEYWORD2) ####################################### @@ -133,6 +137,7 @@ startTransmit KEYWORD2 finishTransmit KEYWORD2 startReceive KEYWORD2 readData KEYWORD2 +finishReceive KEYWORD2 startChannelScan KEYWORD2 getChannelScanResult KEYWORD2 setBandwidth KEYWORD2 @@ -195,6 +200,7 @@ getFHSSChannel KEYWORD2 clearFHSSInt KEYWORD2 randomByte KEYWORD2 getPacketLength KEYWORD2 +getLoRaRxHeaderInfo KEYWORD2 setFifoEmptyAction KEYWORD2 clearFifoEmptyAction KEYWORD2 setFifoThreshold KEYWORD2 @@ -225,12 +231,13 @@ setCrcFiltering KEYWORD2 beginFSK4 KEYWORD2 # SX126x-specific +beginBPSK KEYWORD2 setTCXO KEYWORD2 setDio2AsRfSwitch KEYWORD2 getTimeOnAir KEYWORD2 +calculateTimeOnAir KEYWORD2 implicitHeader KEYWORD2 explicitHeader KEYWORD2 -setSyncBits KEYWORD2 setWhitening KEYWORD2 startReceiveDutyCycle KEYWORD2 startReceiveDutyCycleAuto KEYWORD2 @@ -246,6 +253,7 @@ spectralScanAbort KEYWORD2 spectralScanGetStatus KEYWORD2 spectralScanGetResult KEYWORD2 setPaRampTime KEYWORD2 +hopLRFHSS KEYWORD2 # nRF24 setIrqAction KEYWORD2 @@ -276,6 +284,10 @@ updateGnssAlmanac KEYWORD2 getGnssPosition KEYWORD2 getGnssSatellites KEYWORD2 +# LR2021 +beginOOK KEYWORD2 +setSideDetector KEYWORD2 + # RTTY idle KEYWORD2 byteArr KEYWORD2 @@ -302,7 +314,9 @@ beginBLE KEYWORD2 setAccessAddress KEYWORD2 range KEYWORD2 startRanging KEYWORD2 +finishRanging KEYWORD2 getRangingResult KEYWORD2 +getRangingResultRaw KEYWORD2 # Hellschreiber printGlyph KEYWORD2 @@ -342,6 +356,8 @@ setDataRate KEYWORD2 checkDataRate KEYWORD2 setModem KEYWORD2 getModem KEYWORD2 +stageMode KEYWORD2 +launchMode KEYWORD2 # LoRaWAN getBufferNonces KEYWORD2 @@ -354,6 +370,9 @@ beginABP KEYWORD2 activateOTAA KEYWORD2 activateABP KEYWORD2 isActivated KEYWORD2 +setClass KEYWORD2 +startMulticastSession KEYWORD2 +stopMulticastSession KEYWORD2 sendReceive KEYWORD2 sendMacCommandReq KEYWORD2 getMacLinkCheckAns KEYWORD2 @@ -366,16 +385,20 @@ setDutyCycle KEYWORD2 setDwellTime KEYWORD2 setCSMA KEYWORD2 setDeviceStatus KEYWORD2 +setActivityLeds KEYWORD2 scheduleTransmission KEYWORD2 +getBand KEYWORD2 +getClass KEYWORD2 +getVersionMajor KEYWORD2 getFCntUp KEYWORD2 getNFCntDown KEYWORD2 getAFCntDown KEYWORD2 -resetFCntDown KEYWORD2 getDevAddr KEYWORD2 getLastToA KEYWORD2 dutyCycleInterval KEYWORD2 timeUntilUplink KEYWORD2 getMaxPayloadLen KEYWORD2 +setSleepFunction KEYWORD2 ####################################### # Constants (LITERAL1) @@ -485,8 +508,8 @@ RADIOLIB_ERR_UPLINK_UNAVAILABLE LITERAL1 RADIOLIB_ERR_COMMAND_QUEUE_FULL LITERAL1 RADIOLIB_ERR_COMMAND_QUEUE_ITEM_NOT_FOUND LITERAL1 RADIOLIB_ERR_JOIN_NONCE_INVALID LITERAL1 -RADIOLIB_ERR_N_FCNT_DOWN_INVALID LITERAL1 -RADIOLIB_ERR_A_FCNT_DOWN_INVALID LITERAL1 +RADIOLIB_ERR_MIC_MISMATCH LITERAL1 +RADIOLIB_ERR_MULTICAST_FCNT_INVALID LITERAL1 RADIOLIB_ERR_DWELL_TIME_EXCEEDED LITERAL1 RADIOLIB_ERR_CHECKSUM_MISMATCH LITERAL1 RADIOLIB_ERR_NO_JOIN_ACCEPT LITERAL1 @@ -517,3 +540,6 @@ RADIOLIB_LR1120_FIRMWARE_0102 LITERAL1 RADIOLIB_LR1120_FIRMWARE_0201 LITERAL1 RADIOLIB_LR1121_FIRMWARE_0102 LITERAL1 RADIOLIB_LR1121_FIRMWARE_0103 LITERAL1 + +RADIOLIB_ERR_FRONTEND_CALIBRATION_FAILED LITERAL1 +RADIOLIB_ERR_INVALID_SIDE_DETECT LITERAL1 diff --git a/lib/RadioLib/library.json b/lib/RadioLib/library.json index 6182a0c..073d2f2 100644 --- a/lib/RadioLib/library.json +++ b/lib/RadioLib/library.json @@ -1,8 +1,8 @@ { "name": "RadioLib", - "version": "7.1.2", + "version": "7.6.0", "description": "Universal wireless communication library. User-friendly library for sub-GHz radio modules (SX1278, RF69, CC1101, SX1268, and many others), as well as ham radio digital modes (RTTY, SSTV, AX.25 etc.) and other protocols (Pagers, LoRaWAN).", - "keywords": "radio, communication, morse, cc1101, aprs, sx1276, sx1278, sx1272, rtty, ax25, afsk, nrf24, rf69, sx1231, rfm96, rfm98, sstv, sx1280, sx1281, sx1282, sx1261, sx1262, sx1268, si4432, rfm22, llcc68, pager, pocsag, lorawan, lr1110, lr1120, lr1121", + "keywords": "radio, communication, morse, cc1101, aprs, sx1276, sx1278, sx1272, rtty, ax25, afsk, nrf24, rf69, sx1231, rfm96, rfm98, sstv, sx1280, sx1281, sx1282, sx1261, sx1262, sx1268, si4432, rfm22, llcc68, pager, pocsag, lorawan, lr1110, lr1120, lr1121, lr2021, adsb", "homepage": "https://github.com/jgromes/RadioLib", "repository": { diff --git a/lib/RadioLib/library.properties b/lib/RadioLib/library.properties index f4a9586..bad6c1e 100644 --- a/lib/RadioLib/library.properties +++ b/lib/RadioLib/library.properties @@ -1,9 +1,9 @@ name=RadioLib -version=7.1.2 +version=7.6.0 author=Jan Gromes maintainer=Jan Gromes sentence=Universal wireless communication library -paragraph=User-friendly library for sub-GHz radio modules (SX1278, RF69, CC1101, SX1268, LR1110 and many others), as well as ham radio digital modes (RTTY, SSTV, AX.25 etc.) and other protocols (Pagers, LoRaWAN). +paragraph=User-friendly library for sub-GHz radio modules (SX1278, RF69, CC1101, SX1268, LR1110, LR2021 and many others), as well as ham radio digital modes (RTTY, SSTV, AX.25 etc.) and other protocols (Pagers, LoRaWAN, ADS-B). category=Communication url=https://github.com/jgromes/RadioLib architectures=* diff --git a/lib/RadioLib/src/BuildOpt.h b/lib/RadioLib/src/BuildOpt.h index d64f500..0ed4ef8 100644 --- a/lib/RadioLib/src/BuildOpt.h +++ b/lib/RadioLib/src/BuildOpt.h @@ -29,7 +29,11 @@ // set which output port should be used for debug output // may be Serial port (on Arduino) or file like stdout or stderr (on generic platforms) #if !defined(RADIOLIB_DEBUG_PORT) - #define RADIOLIB_DEBUG_PORT Serial + #if ARDUINO >= 100 + #define RADIOLIB_DEBUG_PORT Serial + #else + #define RADIOLIB_DEBUG_PORT stdout + #endif #endif /* @@ -102,6 +106,12 @@ #define RADIOLIB_STATIC_ARRAY_SIZE (256) #endif +// allow user to set custom SPI buffer size +// the default covers the maximum supported SPI command, address and status +#if !defined(RADIOLIB_STATIC_SPI_ARRAY_SIZE) + #define RADIOLIB_STATIC_SPI_ARRAY_SIZE (3*sizeof(uint32_t) + (RADIOLIB_STATIC_ARRAY_SIZE)) +#endif + /* * Uncomment on boards whose clock runs too slow or too fast * Set the value according to the following scheme: @@ -114,6 +124,10 @@ //#define RADIOLIB_CLOCK_DRIFT_MS (0) #endif +#if !defined(RADIOLIB_LINE_FEED) + #define RADIOLIB_LINE_FEED "\r\n" +#endif + #if ARDUINO >= 100 // Arduino build #include "Arduino.h" @@ -188,6 +202,12 @@ //#define RADIOLIB_EXCLUDE_RTTY (1) //#define RADIOLIB_EXCLUDE_SSTV (1) //#define RADIOLIB_EXCLUDE_DIRECT_RECEIVE (1) + //#define RADIOLIB_EXCLUDE_BELL (1) + //#define RADIOLIB_EXCLUDE_APRS (1) + //#define RADIOLIB_EXCLUDE_LORAWAN (1) + //#define RADIOLIB_EXCLUDE_LR11X0 (1) + //#define RADIOLIB_EXCLUDE_FSK4 (1) + //#define RADIOLIB_EXCLUDE_PAGER (1) #elif defined(__AVR__) && !(defined(ARDUINO_AVR_UNO_WIFI_REV2) || defined(ARDUINO_AVR_NANO_EVERY) || defined(ARDUINO_ARCH_MEGAAVR)) // Arduino AVR boards (except for megaAVR) - Uno, Mega etc. @@ -260,20 +280,24 @@ #define RADIOLIB_ARDUINOHAL_PIN_STATUS_CAST (PinStatus) #define RADIOLIB_ARDUINOHAL_INTERRUPT_MODE_CAST (PinStatus) + #if defined(ARDUINO_ARCH_MBED) // Arduino mbed OS boards have a really bad tone implementation which will crash after a couple seconds #define RADIOLIB_TONE_UNSUPPORTED #define RADIOLIB_MBED_TONE_OVERRIDE + #endif -#elif defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4) +#elif defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4) || defined(ARDUINO_PORTENTA_H7) // Arduino Portenta H7 #define RADIOLIB_PLATFORM "Portenta H7" #define RADIOLIB_ARDUINOHAL_PIN_MODE_CAST (PinMode) #define RADIOLIB_ARDUINOHAL_PIN_STATUS_CAST (PinStatus) #define RADIOLIB_ARDUINOHAL_INTERRUPT_MODE_CAST (PinStatus) + #if defined(ARDUINO_ARCH_MBED) // Arduino mbed OS boards have a really bad tone implementation which will crash after a couple seconds #define RADIOLIB_TONE_UNSUPPORTED #define RADIOLIB_MBED_TONE_OVERRIDE + #endif #elif defined(__STM32F4__) || defined(__STM32F1__) // Arduino STM32 core by Roger Clark (https://github.com/rogerclarkmelbourne/Arduino_STM32) @@ -370,6 +394,13 @@ #define RADIOLIB_ARDUINOHAL_PIN_STATUS_CAST (PinStatus) #define RADIOLIB_ARDUINOHAL_INTERRUPT_MODE_CAST (PinStatus) +#elif defined(ARDUINO_ARCH_ZEPHYR) && defined(ARDUINO_UNO_Q) + // Arduino Uno Q (Zephyr OS) + #define RADIOLIB_PLATFORM "Arduino Uno Q (Zephyr OS)" + #define RADIOLIB_ARDUINOHAL_PIN_MODE_CAST (PinMode) + #define RADIOLIB_ARDUINOHAL_PIN_STATUS_CAST (PinStatus) + #define RADIOLIB_ARDUINOHAL_INTERRUPT_MODE_CAST (PinStatus) + #else // other Arduino platforms not covered by the above list - this may or may not work #define RADIOLIB_PLATFORM "Unknown Arduino" @@ -429,14 +460,10 @@ #define RADIOLIB_NC (0xFFFFFFFF) #define RADIOLIB_NONVOLATILE - #define RADIOLIB_NONVOLATILE_READ_BYTE(addr) (*((uint8_t *)(void *)(addr))) - #define RADIOLIB_NONVOLATILE_READ_DWORD(addr) (*((uint32_t *)(void *)(addr))) + #define RADIOLIB_NONVOLATILE_READ_BYTE(addr) (*(reinterpret_cast(reinterpret_cast(addr)))) + #define RADIOLIB_NONVOLATILE_READ_DWORD(addr) (*(reinterpret_cast(reinterpret_cast(addr)))) #define RADIOLIB_TYPE_ALIAS(type, alias) using alias = type; - #if !defined(RADIOLIB_DEBUG_PORT) - #define RADIOLIB_DEBUG_PORT stdout - #endif - #define DEC 10 #define HEX 16 #define OCT 8 @@ -465,87 +492,103 @@ #endif #if RADIOLIB_DEBUG - #if defined(RADIOLIB_BUILD_ARDUINO) - #define RADIOLIB_DEBUG_PRINT(...) rlb_printf(__VA_ARGS__) - #define RADIOLIB_DEBUG_PRINTLN(M, ...) rlb_printf(M "\n", ##__VA_ARGS__) - #define RADIOLIB_DEBUG_PRINT_LVL(LEVEL, M, ...) rlb_printf(LEVEL "" M, ##__VA_ARGS__) - #define RADIOLIB_DEBUG_PRINTLN_LVL(LEVEL, M, ...) rlb_printf(LEVEL "" M "\n", ##__VA_ARGS__) + #if !defined(RADIOLIB_DEBUG_PRINT) + #define RADIOLIB_DEBUG_PRINT(M, ...) rlb_printf(false, M, ##__VA_ARGS__) + #define RADIOLIB_DEBUG_PRINT_LVL(LEVEL, M, ...) rlb_printf(true, LEVEL "" M, ##__VA_ARGS__) + #endif - // some platforms do not support printf("%f"), so it has to be done this way - #define RADIOLIB_DEBUG_PRINT_FLOAT(LEVEL, VAL, DECIMALS) RADIOLIB_DEBUG_PRINT(LEVEL); RADIOLIB_DEBUG_PORT.print(VAL, DECIMALS) + #if !defined(RADIOLIB_DEBUG_PRINTLN) + #define RADIOLIB_DEBUG_PRINTLN(M, ...) rlb_printf(false, M RADIOLIB_LINE_FEED, ##__VA_ARGS__) + #define RADIOLIB_DEBUG_PRINTLN_LVL(LEVEL, M, ...) rlb_printf(true, LEVEL "" M RADIOLIB_LINE_FEED, ##__VA_ARGS__) + #endif + + // some Arduino platforms do not support printf("%f"), so it has to be done this way + #if defined(RADIOLIB_BUILD_ARDUINO) + #define RADIOLIB_DEBUG_PRINT_FLOAT(VAL, DECIMALS) RADIOLIB_DEBUG_PORT.print(VAL, DECIMALS) + #define RADIOLIB_DEBUG_PRINT_FLOAT_LVL(LEVEL, VAL, DECIMALS) RADIOLIB_DEBUG_PRINT(LEVEL); RADIOLIB_DEBUG_PORT.print(VAL, DECIMALS) #else - #if !defined(RADIOLIB_DEBUG_PRINT) - #define RADIOLIB_DEBUG_PRINT(...) fprintf(RADIOLIB_DEBUG_PORT, __VA_ARGS__) - #define RADIOLIB_DEBUG_PRINT_LVL(LEVEL, M, ...) fprintf(RADIOLIB_DEBUG_PORT, LEVEL "" M, ##__VA_ARGS__) - #endif - #if !defined(RADIOLIB_DEBUG_PRINTLN) - #define RADIOLIB_DEBUG_PRINTLN(M, ...) fprintf(RADIOLIB_DEBUG_PORT, M "\n", ##__VA_ARGS__) - #define RADIOLIB_DEBUG_PRINTLN_LVL(LEVEL, M, ...) fprintf(RADIOLIB_DEBUG_PORT, LEVEL "" M "\n", ##__VA_ARGS__) - #endif - #define RADIOLIB_DEBUG_PRINT_FLOAT(LEVEL, VAL, DECIMALS) RADIOLIB_DEBUG_PRINT(LEVEL "%.3f", VAL) + #define RADIOLIB_DEBUG_PRINT_FLOAT(VAL, DECIMALS) RADIOLIB_DEBUG_PRINT("%.3f", VAL) + #define RADIOLIB_DEBUG_PRINT_FLOAT_LVL(LEVEL, VAL, DECIMALS) RADIOLIB_DEBUG_PRINT(LEVEL "%.3f", VAL) #endif #define RADIOLIB_DEBUG_HEXDUMP(LEVEL, ...) rlb_hexdump(LEVEL, __VA_ARGS__) #else #define RADIOLIB_DEBUG_PRINT(...) {} #define RADIOLIB_DEBUG_PRINTLN(...) {} - #define RADIOLIB_DEBUG_PRINT_FLOAT(VAL, DECIMALS) {} + #define RADIOLIB_DEBUG_PRINT_FLOAT(LEVEL, VAL, DECIMALS) {} #define RADIOLIB_DEBUG_HEXDUMP(...) {} #endif +#define RADIOLIB_DEBUG_TAG ": " +#define RADIOLIB_DEBUG_TAG_BASIC "RLB_DBG" RADIOLIB_DEBUG_TAG +#define RADIOLIB_DEBUG_TAG_PROTOCOL "RLB_PRO" RADIOLIB_DEBUG_TAG +#define RADIOLIB_DEBUG_TAG_SPI "RLB_SPI" RADIOLIB_DEBUG_TAG + #if RADIOLIB_DEBUG_BASIC - #define RADIOLIB_DEBUG_BASIC_PRINT(...) RADIOLIB_DEBUG_PRINT_LVL("RLB_DBG: ", __VA_ARGS__) - #define RADIOLIB_DEBUG_BASIC_PRINT_NOTAG(...) RADIOLIB_DEBUG_PRINT_LVL("", __VA_ARGS__) - #define RADIOLIB_DEBUG_BASIC_PRINTLN(...) RADIOLIB_DEBUG_PRINTLN_LVL("RLB_DBG: ", __VA_ARGS__) - #define RADIOLIB_DEBUG_BASIC_PRINT_FLOAT(...) RADIOLIB_DEBUG_PRINT_FLOAT("RLB_DBG: ", __VA_ARGS__); - #define RADIOLIB_DEBUG_BASIC_HEXDUMP(...) RADIOLIB_DEBUG_HEXDUMP("RLB_DBG: ", __VA_ARGS__); + #define RADIOLIB_DEBUG_BASIC_PRINT(...) RADIOLIB_DEBUG_PRINT_LVL(RADIOLIB_DEBUG_TAG_BASIC, __VA_ARGS__) + #define RADIOLIB_DEBUG_BASIC_PRINTLN(...) RADIOLIB_DEBUG_PRINTLN_LVL(RADIOLIB_DEBUG_TAG_BASIC, __VA_ARGS__) + #define RADIOLIB_DEBUG_BASIC_HEXDUMP(...) RADIOLIB_DEBUG_HEXDUMP(RADIOLIB_DEBUG_TAG_BASIC, __VA_ARGS__) + #define RADIOLIB_DEBUG_BASIC_PRINT_FLOAT(...) RADIOLIB_DEBUG_PRINT_FLOAT_LVL(RADIOLIB_DEBUG_TAG_BASIC, __VA_ARGS__) + #define RADIOLIB_DEBUG_BASIC_PRINT_NOTAG(...) RADIOLIB_DEBUG_PRINT(__VA_ARGS__) + #define RADIOLIB_DEBUG_BASIC_PRINTLN_NOTAG(...) RADIOLIB_DEBUG_PRINTLN(__VA_ARGS__) + #define RADIOLIB_DEBUG_BASIC_PRINT_FLOAT_NOTAG(...) RADIOLIB_DEBUG_PRINT_FLOAT(__VA_ARGS__) #else #define RADIOLIB_DEBUG_BASIC_PRINT(...) {} - #define RADIOLIB_DEBUG_BASIC_PRINT_NOTAG(...) {} #define RADIOLIB_DEBUG_BASIC_PRINTLN(...) {} - #define RADIOLIB_DEBUG_BASIC_PRINT_FLOAT(...) {} #define RADIOLIB_DEBUG_BASIC_HEXDUMP(...) {} + #define RADIOLIB_DEBUG_BASIC_PRINT_FLOAT(...) {} + #define RADIOLIB_DEBUG_BASIC_PRINT_NOTAG(...) {} + #define RADIOLIB_DEBUG_BASIC_PRINTLN_NOTAG(...) {} + #define RADIOLIB_DEBUG_BASIC_PRINT_FLOAT_NOTAG(...) {} #endif #if RADIOLIB_DEBUG_PROTOCOL - #define RADIOLIB_DEBUG_PROTOCOL_PRINT(...) RADIOLIB_DEBUG_PRINT_LVL("RLB_PRO: ", __VA_ARGS__) - #define RADIOLIB_DEBUG_PROTOCOL_PRINTLN(...) RADIOLIB_DEBUG_PRINTLN_LVL("RLB_PRO: ", __VA_ARGS__) - #define RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT(...) RADIOLIB_DEBUG_PRINT_FLOAT("RLB_PRO: ", __VA_ARGS__); - #define RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(...) RADIOLIB_DEBUG_HEXDUMP("RLB_PRO: ", __VA_ARGS__); + #define RADIOLIB_DEBUG_PROTOCOL_PRINT(...) RADIOLIB_DEBUG_PRINT_LVL(RADIOLIB_DEBUG_TAG_PROTOCOL, __VA_ARGS__) + #define RADIOLIB_DEBUG_PROTOCOL_PRINTLN(...) RADIOLIB_DEBUG_PRINTLN_LVL(RADIOLIB_DEBUG_TAG_PROTOCOL, __VA_ARGS__) + #define RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(...) RADIOLIB_DEBUG_HEXDUMP(RADIOLIB_DEBUG_TAG_PROTOCOL, __VA_ARGS__) + #define RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT(...) RADIOLIB_DEBUG_PRINT_FLOAT_LVL(RADIOLIB_DEBUG_TAG_PROTOCOL, __VA_ARGS__) + #define RADIOLIB_DEBUG_PROTOCOL_PRINT_NOTAG(...) RADIOLIB_DEBUG_PRINT(__VA_ARGS__) + #define RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(...) RADIOLIB_DEBUG_PRINTLN(__VA_ARGS__) + #define RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG(...) RADIOLIB_DEBUG_PRINT_FLOAT(__VA_ARGS__) #else #define RADIOLIB_DEBUG_PROTOCOL_PRINT(...) {} #define RADIOLIB_DEBUG_PROTOCOL_PRINTLN(...) {} - #define RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT(...) {} #define RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(...) {} + #define RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT(...) {} + #define RADIOLIB_DEBUG_PROTOCOL_PRINT_NOTAG(...) {} + #define RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(...) {} + #define RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG(...) {} #endif #if RADIOLIB_DEBUG_SPI - #define RADIOLIB_DEBUG_SPI_PRINT(...) RADIOLIB_DEBUG_PRINT_LVL("RLB_SPI: ", __VA_ARGS__) - #define RADIOLIB_DEBUG_SPI_PRINT_NOTAG(...) RADIOLIB_DEBUG_PRINT_LVL("", __VA_ARGS__) - #define RADIOLIB_DEBUG_SPI_PRINTLN(...) RADIOLIB_DEBUG_PRINTLN_LVL("RLB_SPI: ", __VA_ARGS__) - #define RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(...) RADIOLIB_DEBUG_PRINTLN_LVL("", __VA_ARGS__) - #define RADIOLIB_DEBUG_SPI_PRINT_FLOAT(...) RADIOLIB_DEBUG_PRINT_FLOAT("RLB_SPI: ", __VA_ARGS__); - #define RADIOLIB_DEBUG_SPI_HEXDUMP(...) RADIOLIB_DEBUG_HEXDUMP("RLB_SPI: ", __VA_ARGS__); + #define RADIOLIB_DEBUG_SPI_PRINT(...) RADIOLIB_DEBUG_PRINT_LVL(RADIOLIB_DEBUG_TAG_SPI, __VA_ARGS__) + #define RADIOLIB_DEBUG_SPI_PRINTLN(...) RADIOLIB_DEBUG_PRINTLN_LVL(RADIOLIB_DEBUG_TAG_SPI, __VA_ARGS__) + #define RADIOLIB_DEBUG_SPI_HEXDUMP(...) RADIOLIB_DEBUG_HEXDUMP(RADIOLIB_DEBUG_TAG_SPI, __VA_ARGS__) + #define RADIOLIB_DEBUG_SPI_PRINT_FLOAT(...) RADIOLIB_DEBUG_PRINT_FLOAT_LVL(RADIOLIB_DEBUG_TAG_SPI, __VA_ARGS__) + #define RADIOLIB_DEBUG_SPI_PRINT_NOTAG(...) RADIOLIB_DEBUG_PRINT(__VA_ARGS__) + #define RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(...) RADIOLIB_DEBUG_PRINTLN(__VA_ARGS__) + #define RADIOLIB_DEBUG_SPI_PRINT_FLOAT_NOTAG(...) RADIOLIB_DEBUG_PRINT_FLOAT(__VA_ARGS__) #else #define RADIOLIB_DEBUG_SPI_PRINT(...) {} - #define RADIOLIB_DEBUG_SPI_PRINT_NOTAG(...) {} #define RADIOLIB_DEBUG_SPI_PRINTLN(...) {} - #define RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(...) {} - #define RADIOLIB_DEBUG_SPI_PRINT_FLOAT(...) {} #define RADIOLIB_DEBUG_SPI_HEXDUMP(...) {} + #define RADIOLIB_DEBUG_SPI_PRINT_FLOAT(...) {} + #define RADIOLIB_DEBUG_SPI_PRINT_NOTAG(...) {} + #define RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(...) {} + #define RADIOLIB_DEBUG_SPI_PRINT_FLOAT_NOTAG(...) {} #endif // debug info strings #define RADIOLIB_VALUE_TO_STRING(x) #x #define RADIOLIB_VALUE(x) RADIOLIB_VALUE_TO_STRING(x) -#define RADIOLIB_INFO "\nRadioLib Info\nVersion: \"" \ +#define RADIOLIB_INFO "\r\nRadioLib Info\nVersion: \"" \ RADIOLIB_VALUE(RADIOLIB_VERSION_MAJOR) "." \ RADIOLIB_VALUE(RADIOLIB_VERSION_MINOR) "." \ RADIOLIB_VALUE(RADIOLIB_VERSION_PATCH) "." \ - RADIOLIB_VALUE(RADIOLIB_VERSION_EXTRA) "\"\n" \ - "Platform: " RADIOLIB_VALUE(RADIOLIB_PLATFORM) "\n" \ - "Compiled: " RADIOLIB_VALUE(__DATE__) " " RADIOLIB_VALUE(__TIME__) + RADIOLIB_VALUE(RADIOLIB_VERSION_EXTRA) "\"\r\n" \ + "Platform: " RADIOLIB_VALUE(RADIOLIB_PLATFORM) "\r\n" \ + RADIOLIB_VALUE(__DATE__) " " RADIOLIB_VALUE(__TIME__) /*! \brief A simple assert macro, will return on error. @@ -582,8 +625,8 @@ // version definitions #define RADIOLIB_VERSION_MAJOR 7 -#define RADIOLIB_VERSION_MINOR 1 -#define RADIOLIB_VERSION_PATCH 2 +#define RADIOLIB_VERSION_MINOR 6 +#define RADIOLIB_VERSION_PATCH 0 #define RADIOLIB_VERSION_EXTRA 0 #define RADIOLIB_VERSION (((RADIOLIB_VERSION_MAJOR) << 24) | ((RADIOLIB_VERSION_MINOR) << 16) | ((RADIOLIB_VERSION_PATCH) << 8) | (RADIOLIB_VERSION_EXTRA)) diff --git a/lib/RadioLib/src/Hal.cpp b/lib/RadioLib/src/Hal.cpp index acc43bf..9fdf108 100644 --- a/lib/RadioLib/src/Hal.cpp +++ b/lib/RadioLib/src/Hal.cpp @@ -1,12 +1,18 @@ #include "Hal.h" +static RadioLibHal* rlb_timestamp_hal = nullptr; + RadioLibHal::RadioLibHal(const uint32_t input, const uint32_t output, const uint32_t low, const uint32_t high, const uint32_t rising, const uint32_t falling) : GpioModeInput(input), GpioModeOutput(output), GpioLevelLow(low), GpioLevelHigh(high), GpioInterruptRising(rising), - GpioInterruptFalling(falling) {} + GpioInterruptFalling(falling) { + if(!rlb_timestamp_hal) { + rlb_timestamp_hal = this; + } + } void RadioLibHal::init() { @@ -33,3 +39,14 @@ void RadioLibHal::yield() { uint32_t RadioLibHal::pinToInterrupt(uint32_t pin) { return(pin); } + +void RadioLibHal::pullUpDown(uint32_t pin, bool enable, bool up) { + // the default implementation does nothing + (void)pin; + (void)enable; + (void)up; +} + +RadioLibTime_t rlb_time_us() { + return(rlb_timestamp_hal == nullptr ? 0 : rlb_timestamp_hal->micros()); +} diff --git a/lib/RadioLib/src/Hal.h b/lib/RadioLib/src/Hal.h index 291b347..bda07c7 100644 --- a/lib/RadioLib/src/Hal.h +++ b/lib/RadioLib/src/Hal.h @@ -6,6 +6,9 @@ #include "BuildOpt.h" +/*! \brief Global-scope function that returns timestamp since start (in microseconds). */ +RadioLibTime_t rlb_time_us(); + /*! \class RadioLibHal \brief Hardware abstraction library base interface. @@ -57,6 +60,11 @@ class RadioLibHal { */ RadioLibHal(const uint32_t input, const uint32_t output, const uint32_t low, const uint32_t high, const uint32_t rising, const uint32_t falling); + /*! + \brief Default destructor. + */ + virtual ~RadioLibHal() = default; + // pure virtual methods - these must be implemented by the hardware abstraction for RadioLib to function /*! @@ -207,6 +215,14 @@ class RadioLibHal { \returns The interrupt number of a given pin. */ virtual uint32_t pinToInterrupt(uint32_t pin); + + /*! + \brief Enable or disable pull up or pull down for a specific pin. + \param pin Pin to change. + \param enable True to enable, false to disable. + \param up Pull direction, true for pull up, false for pull down. + */ + virtual void pullUpDown(uint32_t pin, bool enable, bool up); }; #endif diff --git a/lib/RadioLib/src/Module.cpp b/lib/RadioLib/src/Module.cpp index cd5ddc6..e07c938 100644 --- a/lib/RadioLib/src/Module.cpp +++ b/lib/RadioLib/src/Module.cpp @@ -25,7 +25,7 @@ Module::Module(const Module& mod) { } Module& Module::operator=(const Module& mod) { - memcpy((void*)&mod.spiConfig, &this->spiConfig, sizeof(SPIConfig_t)); + memcpy(reinterpret_cast(&(const_cast(mod)).spiConfig), &this->spiConfig, sizeof(SPIConfig_t)); this->csPin = mod.csPin; this->irqPin = mod.irqPin; this->rstPin = mod.rstPin; @@ -81,7 +81,7 @@ int16_t Module::SPIsetRegValue(uint32_t reg, uint8_t value, uint8_t msb, uint8_t #if RADIOLIB_DEBUG_SPI uint8_t readValue = 0x00; #endif - while(this->hal->micros() - start < (checkInterval * 1000)) { + while(this->hal->micros() - start < ((RadioLibTime_t)checkInterval * 1000UL)) { uint8_t val = SPIreadRegister(reg); if((val & checkMask) == (newValue & checkMask)) { // check passed, we can stop the loop @@ -142,7 +142,7 @@ uint8_t Module::SPIreadRegister(uint32_t reg) { return(resp); } -void Module::SPIwriteRegisterBurst(uint32_t reg, uint8_t* data, size_t numBytes) { +void Module::SPIwriteRegisterBurst(uint32_t reg, const uint8_t* data, size_t numBytes) { if(!spiConfig.stream) { SPItransfer(spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE], reg, data, NULL, numBytes); } else { @@ -174,12 +174,12 @@ void Module::SPIwriteRegister(uint32_t reg, uint8_t data) { } } -void Module::SPItransfer(uint16_t cmd, uint32_t reg, uint8_t* dataOut, uint8_t* dataIn, size_t numBytes) { +void Module::SPItransfer(uint16_t cmd, uint32_t reg, const uint8_t* dataOut, uint8_t* dataIn, size_t numBytes) { // prepare the buffers size_t buffLen = this->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD]/8 + this->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR]/8 + numBytes; #if RADIOLIB_STATIC_ONLY - uint8_t buffOut[RADIOLIB_STATIC_ARRAY_SIZE]; - uint8_t buffIn[RADIOLIB_STATIC_ARRAY_SIZE]; + uint8_t buffOut[RADIOLIB_STATIC_SPI_ARRAY_SIZE]; + uint8_t buffIn[RADIOLIB_STATIC_SPI_ARRAY_SIZE]; #else uint8_t* buffOut = new uint8_t[buffLen]; uint8_t* buffIn = new uint8_t[buffLen]; @@ -216,7 +216,7 @@ void Module::SPItransfer(uint16_t cmd, uint32_t reg, uint8_t* dataOut, uint8_t* // print debug information #if RADIOLIB_DEBUG_SPI - uint8_t* debugBuffPtr = NULL; + const uint8_t* debugBuffPtr = NULL; if(cmd == spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE]) { RADIOLIB_DEBUG_SPI_PRINT("W\t%X\t", reg); debugBuffPtr = &buffOut[this->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR]/8]; @@ -227,7 +227,7 @@ void Module::SPItransfer(uint16_t cmd, uint32_t reg, uint8_t* dataOut, uint8_t* for(size_t n = 0; n < numBytes; n++) { RADIOLIB_DEBUG_SPI_PRINT_NOTAG("%X\t", debugBuffPtr[n]); } - RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(); + RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(""); #endif #if !RADIOLIB_STATIC_ONLY @@ -245,7 +245,7 @@ int16_t Module::SPIreadStream(uint16_t cmd, uint8_t* data, size_t numBytes, bool return(this->SPIreadStream(cmdBuf, this->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD]/8, data, numBytes, waitForGpio, verify)); } -int16_t Module::SPIreadStream(uint8_t* cmd, uint8_t cmdLen, uint8_t* data, size_t numBytes, bool waitForGpio, bool verify) { +int16_t Module::SPIreadStream(const uint8_t* cmd, uint8_t cmdLen, uint8_t* data, size_t numBytes, bool waitForGpio, bool verify) { // send the command int16_t state = this->SPItransferStream(cmd, cmdLen, false, NULL, data, numBytes, waitForGpio); RADIOLIB_ASSERT(state); @@ -264,7 +264,7 @@ int16_t Module::SPIreadStream(uint8_t* cmd, uint8_t cmdLen, uint8_t* data, size_ #endif } -int16_t Module::SPIwriteStream(uint16_t cmd, uint8_t* data, size_t numBytes, bool waitForGpio, bool verify) { +int16_t Module::SPIwriteStream(uint16_t cmd, const uint8_t* data, size_t numBytes, bool waitForGpio, bool verify) { uint8_t cmdBuf[2]; uint8_t* cmdPtr = cmdBuf; for(int8_t i = (int8_t)this->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD]/8 - 1; i >= 0; i--) { @@ -273,7 +273,7 @@ int16_t Module::SPIwriteStream(uint16_t cmd, uint8_t* data, size_t numBytes, boo return(this->SPIwriteStream(cmdBuf, this->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD]/8, data, numBytes, waitForGpio, verify)); } -int16_t Module::SPIwriteStream(uint8_t* cmd, uint8_t cmdLen, uint8_t* data, size_t numBytes, bool waitForGpio, bool verify) { +int16_t Module::SPIwriteStream(const uint8_t* cmd, uint8_t cmdLen, const uint8_t* data, size_t numBytes, bool waitForGpio, bool verify) { // send the command int16_t state = this->SPItransferStream(cmd, cmdLen, true, data, NULL, numBytes, waitForGpio); RADIOLIB_ASSERT(state); @@ -315,14 +315,15 @@ int16_t Module::SPIcheckStream() { return(state); } -int16_t Module::SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write, uint8_t* dataOut, uint8_t* dataIn, size_t numBytes, bool waitForGpio) { +int16_t Module::SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write, const uint8_t* dataOut, uint8_t* dataIn, size_t numBytes, bool waitForGpio) { // prepare the output buffer + int16_t state = RADIOLIB_ERR_NONE; size_t buffLen = cmdLen + numBytes; if(!write) { buffLen += (this->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] / 8); } #if RADIOLIB_STATIC_ONLY - uint8_t buffOut[RADIOLIB_STATIC_ARRAY_SIZE]; + uint8_t buffOut[RADIOLIB_STATIC_SPI_ARRAY_SIZE]; #else uint8_t* buffOut = new uint8_t[buffLen]; #endif @@ -348,6 +349,9 @@ int16_t Module::SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write RadioLibTime_t start = this->hal->millis(); while(this->hal->digitalRead(this->gpioPin)) { this->hal->yield(); + + // this timeout check triggers a false positive from cppcheck + // cppcheck-suppress unsignedLessThanZero if(this->hal->millis() - start >= this->spiConfig.timeout) { RADIOLIB_DEBUG_BASIC_PRINTLN("GPIO pre-transfer timeout, is it connected?"); #if !RADIOLIB_STATIC_ONLY @@ -355,13 +359,14 @@ int16_t Module::SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write #endif return(RADIOLIB_ERR_SPI_CMD_TIMEOUT); } + } } } // prepare the input buffer #if RADIOLIB_STATIC_ONLY - uint8_t buffIn[RADIOLIB_STATIC_ARRAY_SIZE]; + uint8_t buffIn[RADIOLIB_STATIC_SPI_ARRAY_SIZE]; #else uint8_t* buffIn = new uint8_t[buffLen]; #endif @@ -382,21 +387,23 @@ int16_t Module::SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write RadioLibTime_t start = this->hal->millis(); while(this->hal->digitalRead(this->gpioPin)) { this->hal->yield(); + + // this timeout check triggers a false positive from cppcheck + // cppcheck-suppress unsignedLessThanZero if(this->hal->millis() - start >= this->spiConfig.timeout) { RADIOLIB_DEBUG_BASIC_PRINTLN("GPIO post-transfer timeout, is it connected?"); - #if !RADIOLIB_STATIC_ONLY - delete[] buffOut; - delete[] buffIn; - #endif - return(RADIOLIB_ERR_SPI_CMD_TIMEOUT); + + // do not return yet to display the debug output + state = RADIOLIB_ERR_SPI_CMD_TIMEOUT; + break; } + } } } - // parse status - int16_t state = RADIOLIB_ERR_NONE; - if((this->spiConfig.parseStatusCb != nullptr) && (numBytes > 0)) { + // parse status (only if GPIO did not timeout) + if((state == RADIOLIB_ERR_NONE) && (this->spiConfig.parseStatusCb != nullptr) && (numBytes > 0)) { state = this->spiConfig.parseStatusCb(buffIn[this->spiConfig.statusPos]); } @@ -417,24 +424,27 @@ int16_t Module::SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write } size_t n = 0; for(; n < cmdLen; n++) { - RADIOLIB_DEBUG_SPI_PRINT_NOTAG("%X\t", cmd[n]); + // tab character intentionally omitted here + // command is a single number so this is easier to parse + RADIOLIB_DEBUG_SPI_PRINT_NOTAG("%02X", cmd[n]); } - RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(); + RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(""); // print data bytes RADIOLIB_DEBUG_SPI_PRINT("SI\t"); for(n = 0; n < cmdLen; n++) { RADIOLIB_DEBUG_SPI_PRINT_NOTAG("\t"); } + // initialization of n to 0 is skipped here, because we want to skip the command bytes for(; n < buffLen; n++) { - RADIOLIB_DEBUG_SPI_PRINT_NOTAG("%X\t", buffOut[n]); + RADIOLIB_DEBUG_SPI_PRINT_NOTAG("%02X\t", buffOut[n]); } - RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(); + RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(""); RADIOLIB_DEBUG_SPI_PRINT("SO\t"); for(n = 0; n < buffLen; n++) { - RADIOLIB_DEBUG_SPI_PRINT_NOTAG("%X\t", buffIn[n]); + RADIOLIB_DEBUG_SPI_PRINT_NOTAG("%02X\t", buffIn[n]); } - RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(); + RADIOLIB_DEBUG_SPI_PRINTLN_NOTAG(""); #endif #if !RADIOLIB_STATIC_ONLY diff --git a/lib/RadioLib/src/Module.h b/lib/RadioLib/src/Module.h index 328a7f5..ca2c21e 100644 --- a/lib/RadioLib/src/Module.h +++ b/lib/RadioLib/src/Module.h @@ -177,6 +177,7 @@ class Module { BITS_0 = 0, BITS_8 = 8, BITS_16 = 16, + BITS_24 = 24, BITS_32 = 32, }; @@ -298,7 +299,7 @@ class Module { \param data Pointer to array that holds the data that will be written. \param numBytes Number of bytes that will be written. */ - void SPIwriteRegisterBurst(uint32_t reg, uint8_t* data, size_t numBytes); + void SPIwriteRegisterBurst(uint32_t reg, const uint8_t* data, size_t numBytes); /*! \brief SPI basic write method. Use of this method is reserved for special cases, SPIsetRegValue should be used instead. @@ -315,7 +316,7 @@ class Module { \param dataIn Data that was transferred from slave to master. \param numBytes Number of bytes to transfer. */ - void SPItransfer(uint16_t cmd, uint32_t reg, uint8_t* dataOut, uint8_t* dataIn, size_t numBytes); + void SPItransfer(uint16_t cmd, uint32_t reg, const uint8_t* dataOut, uint8_t* dataIn, size_t numBytes); /*! \brief Method to check the result of last SPI stream transfer. @@ -344,7 +345,7 @@ class Module { \param verify Whether to verify the result of the transaction after it is finished. \returns \ref status_codes */ - int16_t SPIreadStream(uint8_t* cmd, uint8_t cmdLen, uint8_t* data, size_t numBytes, bool waitForGpio = true, bool verify = true); + int16_t SPIreadStream(const uint8_t* cmd, uint8_t cmdLen, uint8_t* data, size_t numBytes, bool waitForGpio = true, bool verify = true); /*! \brief Method to perform a write transaction with SPI stream. @@ -355,7 +356,7 @@ class Module { \param verify Whether to verify the result of the transaction after it is finished. \returns \ref status_codes */ - int16_t SPIwriteStream(uint16_t cmd, uint8_t* data, size_t numBytes, bool waitForGpio = true, bool verify = true); + int16_t SPIwriteStream(uint16_t cmd, const uint8_t* data, size_t numBytes, bool waitForGpio = true, bool verify = true); /*! \brief Method to perform a write transaction with SPI stream. @@ -367,7 +368,7 @@ class Module { \param verify Whether to verify the result of the transaction after it is finished. \returns \ref status_codes */ - int16_t SPIwriteStream(uint8_t* cmd, uint8_t cmdLen, uint8_t* data, size_t numBytes, bool waitForGpio = true, bool verify = true); + int16_t SPIwriteStream(const uint8_t* cmd, uint8_t cmdLen, const uint8_t* data, size_t numBytes, bool waitForGpio = true, bool verify = true); /*! \brief SPI single transfer method for modules with stream-type SPI interface (SX126x, SX128x etc.). @@ -380,7 +381,7 @@ class Module { \param waitForGpio Whether to wait for some GPIO at the end of transfer (e.g. BUSY line on SX126x/SX128x). \returns \ref status_codes */ - int16_t SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write, uint8_t* dataOut, uint8_t* dataIn, size_t numBytes, bool waitForGpio); + int16_t SPItransferStream(const uint8_t* cmd, uint8_t cmdLen, bool write, const uint8_t* dataOut, uint8_t* dataIn, size_t numBytes, bool waitForGpio); // pin number access methods // getCs is omitted on purpose, as it can interfere when accessing the SPI in a concurrent environment diff --git a/lib/RadioLib/src/RadioLib.h b/lib/RadioLib/src/RadioLib.h index adc6854..602a588 100644 --- a/lib/RadioLib/src/RadioLib.h +++ b/lib/RadioLib/src/RadioLib.h @@ -37,6 +37,7 @@ - PhysicalLayer - FSK and LoRa radio modules \see https://github.com/jgromes/RadioLib + \see https://jgromes.github.io/RadioLib/coverage/src/index.html \copyright Copyright (c) 2019 Jan Gromes */ @@ -77,6 +78,7 @@ #include "modules/LR11x0/LR1110.h" #include "modules/LR11x0/LR1120.h" #include "modules/LR11x0/LR1121.h" +#include "modules/LR2021/LR2021.h" #include "modules/nRF24/nRF24.h" #include "modules/RF69/RF69.h" #include "modules/RFM2x/RFM22.h" @@ -115,6 +117,7 @@ #include "protocols/Print/Print.h" #include "protocols/BellModem/BellModem.h" #include "protocols/LoRaWAN/LoRaWAN.h" +#include "protocols/ADSB/ADSB.h" // utilities #include "utils/CRC.h" diff --git a/lib/RadioLib/src/TypeDef.h b/lib/RadioLib/src/TypeDef.h index a252568..424d8c2 100644 --- a/lib/RadioLib/src/TypeDef.h +++ b/lib/RadioLib/src/TypeDef.h @@ -61,6 +61,11 @@ */ #define RADIOLIB_ENCODING_WHITENING (0x02) +/*! + \brief Inverted Manchester encoding. +*/ +#define RADIOLIB_ENCODING_MANCHESTER_INV (0x03) + /*! \} */ @@ -255,6 +260,11 @@ */ #define RADIOLIB_ERR_INVALID_IRQ (-29) +/*! + \brief Packet supplied to transmission method was shorter than required. +*/ +#define RADIOLIB_ERR_PACKET_TOO_SHORT (-30) + // RF69-specific status codes /*! @@ -529,7 +539,7 @@ #define RADIOLIB_ERR_INVALID_CID (-1107) /*! - \brief User requested to start uplink while still inside RX window or under dutycycle. + \brief User requested to start uplink while under dutycycle. */ #define RADIOLIB_ERR_UPLINK_UNAVAILABLE (-1108) @@ -549,14 +559,14 @@ #define RADIOLIB_ERR_JOIN_NONCE_INVALID (-1111) /*! - \brief Received downlink Network frame counter is invalid (lower than last heard value). + \brief The downlink MIC could not be verified (incorrect key or invalid FCnt) */ -#define RADIOLIB_ERR_N_FCNT_DOWN_INVALID (-1112) +#define RADIOLIB_ERR_MIC_MISMATCH (-1112) /*! - \brief Received downlink Application frame counter is invalid (lower than last heard value). + \brief Multicast frame counter is invalid (outside bounds). */ -#define RADIOLIB_ERR_A_FCNT_DOWN_INVALID (-1113) +#define RADIOLIB_ERR_MULTICAST_FCNT_INVALID (-1113) /*! \brief Uplink payload length at this datarate exceeds the active dwell time limitations. @@ -626,6 +636,28 @@ #define RADIOLIB_ERR_GNSS_SOLVER(X) (RADIOLIB_ERR_GNSS_SOLVER_OFFSET - (X)) #define RADIOLIB_GET_GNSS_SOLVER_ERROR(X) (-((X) - RADIOLIB_ERR_GNSS_SOLVER_OFFSET)) +// LR2021-specific status codes +/*! + \brief Front end calibration failed. Often this is caused by a neraby high-power transmitter. +*/ +#define RADIOLIB_ERR_FRONTEND_CALIBRATION_FAILED (-1300) + +/*! + \brief Multi-SF side detector configuration is invalid. +*/ +#define RADIOLIB_ERR_INVALID_SIDE_DETECT (-1301) + +// ADS-B-specific status codes +/*! + \brief The message type is invalid for this operation. +*/ +#define RADIOLIB_ERR_ADSB_INVALID_MSG_TYPE (-1400) + +/*! + \brief The parsed aircraft category is invalid. +*/ +#define RADIOLIB_ERR_ADSB_INVALID_CATEGORY (-1401) + /*! \} */ diff --git a/lib/RadioLib/src/hal/Arduino/ArduinoHal.cpp b/lib/RadioLib/src/hal/Arduino/ArduinoHal.cpp index 0f3dd3b..c99d0df 100644 --- a/lib/RadioLib/src/hal/Arduino/ArduinoHal.cpp +++ b/lib/RadioLib/src/hal/Arduino/ArduinoHal.cpp @@ -10,6 +10,9 @@ void ArduinoHal::init() { if(initInterface) { spiBegin(); } + #if defined(ARDUINO_ARCH_STM32) && defined(DWT_BASE) + dwt_init(); + #endif } void ArduinoHal::term() { @@ -57,7 +60,7 @@ void inline ArduinoHal::delay(RadioLibTime_t ms) { #if !defined(RADIOLIB_CLOCK_DRIFT_MS) ::delay(ms); #else - ::delay(ms * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS)); + ::delay((RadioLibTime_t)((uint64_t)ms * 1000ULL / (1000ULL + (uint64_t)RADIOLIB_CLOCK_DRIFT_MS))); #endif } @@ -65,7 +68,7 @@ void inline ArduinoHal::delayMicroseconds(RadioLibTime_t us) { #if !defined(RADIOLIB_CLOCK_DRIFT_MS) ::delayMicroseconds(us); #else - ::delayMicroseconds(us * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS)); + ::delayMicroseconds((RadioLibTime_t)((uint64_t)us * 1000ULL / (1000ULL + (uint64_t)RADIOLIB_CLOCK_DRIFT_MS))); #endif } @@ -73,7 +76,7 @@ RadioLibTime_t inline ArduinoHal::millis() { #if !defined(RADIOLIB_CLOCK_DRIFT_MS) return(::millis()); #else - return(::millis() * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS)); + return (RadioLibTime_t)((uint64_t)::millis() * 1000ULL / (1000ULL + (uint64_t)RADIOLIB_CLOCK_DRIFT_MS)); #endif } @@ -81,7 +84,7 @@ RadioLibTime_t inline ArduinoHal::micros() { #if !defined(RADIOLIB_CLOCK_DRIFT_MS) return(::micros()); #else - return(::micros() * 1000 / (1000 + RADIOLIB_CLOCK_DRIFT_MS)); + return (RadioLibTime_t)((uint64_t)::micros() * 1000ULL / (1000ULL + (uint64_t)RADIOLIB_CLOCK_DRIFT_MS)); #endif } diff --git a/lib/RadioLib/src/hal/RPi/PiHal.h b/lib/RadioLib/src/hal/RPi/PiHal.h index 76a6389..f294790 100644 --- a/lib/RadioLib/src/hal/RPi/PiHal.h +++ b/lib/RadioLib/src/hal/RPi/PiHal.h @@ -27,8 +27,8 @@ class PiHal : public RadioLibHal { : RadioLibHal(PI_INPUT, PI_OUTPUT, LG_LOW, LG_HIGH, PI_RISING, PI_FALLING), _gpioDevice(gpioDevice), _spiDevice(spiDevice), - _spiChannel(spiChannel), - _spiSpeed(spiSpeed) { + _spiSpeed(spiSpeed), + _spiChannel(spiChannel) { } void init() override { @@ -63,13 +63,12 @@ class PiHal : public RadioLibHal { } int result; - int flags = 0; switch(mode) { case PI_INPUT: - result = lgGpioClaimInput(_gpioHandle, 0, pin); + result = lgGpioClaimInput(_gpioHandle, pinFlags[pin], pin); break; case PI_OUTPUT: - result = lgGpioClaimOutput(_gpioHandle, flags, pin, LG_HIGH); + result = lgGpioClaimOutput(_gpioHandle, pinFlags[pin], pin, LG_HIGH); break; default: fprintf(stderr, "Unknown pinMode mode %" PRIu32 "\n", mode); @@ -119,9 +118,11 @@ class PiHal : public RadioLibHal { // enable emulated interrupt interruptEnabled[interruptNum] = true; - interruptModes[interruptNum] = mode; interruptCallbacks[interruptNum] = interruptCb; + // lpgio reports the value of level after an interrupt, not the actual direction + interruptModes[interruptNum] = (mode == this->GpioInterruptFalling) ? LG_LOW : LG_HIGH; + lgGpioSetAlertsFunc(_gpioHandle, interruptNum, lgpioAlertHandler, (void *)this); } @@ -224,6 +225,14 @@ class PiHal : public RadioLibHal { lgTxPwm(_gpioHandle, pin, 0, 0, 0, 0); } + void pullUpDown(uint32_t pin, bool enable, bool up) { + if((pin == RADIOLIB_NC) || (pin > PI_MAX_USER_GPIO)) { + return; + } + + pinFlags[pin] = enable ? (up ? LG_SET_PULL_UP : LG_SET_PULL_DOWN) : LG_SET_PULL_NONE; + } + // interrupt emulation bool interruptEnabled[PI_MAX_USER_GPIO + 1]; uint32_t interruptModes[PI_MAX_USER_GPIO + 1]; @@ -232,12 +241,14 @@ class PiHal : public RadioLibHal { private: // the HAL can contain any additional private members - const unsigned int _spiSpeed; const uint8_t _gpioDevice; const uint8_t _spiDevice; + const unsigned int _spiSpeed; const uint8_t _spiChannel; int _gpioHandle = -1; int _spiHandle = -1; + + int pinFlags[PI_MAX_USER_GPIO + 1] = { 0 }; }; // this handler emulates interrupts diff --git a/lib/RadioLib/src/hal/RPiPico/PicoHal.cpp b/lib/RadioLib/src/hal/RPiPico/PicoHal.cpp new file mode 100644 index 0000000..03e6733 --- /dev/null +++ b/lib/RadioLib/src/hal/RPiPico/PicoHal.cpp @@ -0,0 +1,49 @@ +#include "PicoHal.h" + +#if defined(RADIOLIB_BUILD_RPI_PICO) + +// pre-calculated pulse-widths for 1200 and 2200Hz +// we do this to save calculation time (see https://github.com/khoih-prog/RP2040_PWM/issues/6) +#define SLEEP_1200 416.666 +#define SLEEP_2200 227.272 + +static uint32_t toneLoopPin; +static unsigned int toneLoopFrequency; +static unsigned long toneLoopDuration; + +// === NOTE === +// The tone(...) implementation uses the second core on the RPi Pico. This is to diminish as much +// jitter in the output tones as possible. + +static void toneLoop() { + gpio_set_dir(toneLoopPin, GPIO_OUT); + + uint32_t sleep_dur; + if(toneLoopFrequency == 1200) { + sleep_dur = SLEEP_1200; + } else if(toneLoopFrequency == 2200) { + sleep_dur = SLEEP_2200; + } else { + sleep_dur = 500000 / toneLoopFrequency; + } + + // tone bitbang + while(1) { + gpio_put(toneLoopPin, 1); + sleep_us(sleep_dur); + gpio_put(toneLoopPin, 0); + sleep_us(sleep_dur); + tight_loop_contents(); + } +} + +void PicoHal::tone(uint32_t pin, unsigned int frequency, unsigned long duration) { + // tones on the Pico are generated using bitbanging. This process is offloaded to the Pico's second core + multicore_reset_core1(); + toneLoopPin = pin; + toneLoopFrequency = frequency; + toneLoopDuration = duration; + multicore_launch_core1(toneLoop); +} + +#endif diff --git a/lib/RadioLib/src/hal/RPiPico/PicoHal.h b/lib/RadioLib/src/hal/RPiPico/PicoHal.h index ec4d12e..daf5a75 100644 --- a/lib/RadioLib/src/hal/RPiPico/PicoHal.h +++ b/lib/RadioLib/src/hal/RPiPico/PicoHal.h @@ -1,6 +1,8 @@ #ifndef PICO_HAL_H #define PICO_HAL_H +#if defined(RADIOLIB_BUILD_RPI_PICO) + // include RadioLib #include @@ -10,41 +12,27 @@ #include "hardware/timer.h" #include "hardware/pwm.h" #include "hardware/clocks.h" +#include "hardware/gpio.h" #include "pico/multicore.h" -uint32_t toneLoopPin; -unsigned int toneLoopFrequency; -unsigned long toneLoopDuration; +#define PI_PICO_MAX_USER_GPIO (48) -// pre-calculated pulse-widths for 1200 and 2200Hz -// we do this to save calculation time (see https://github.com/khoih-prog/RP2040_PWM/issues/6) -#define SLEEP_1200 416.666 -#define SLEEP_2200 227.272 +// because the Pico SDK does not allow to pass user data into interrupt handlers, +// we keep it as a global here. This is hacky and means that multiple PicoHal +// instances share the same interrupts, which is weird and will probably break. +// However, there seems to be no real use case for creating multiple intances of the HAL +static irq_handler_t picoHalUserCallbacks[PI_PICO_MAX_USER_GPIO] = { 0 }; +static uint32_t picoHalIrqEventMasks[PI_PICO_MAX_USER_GPIO] = { 0 }; +static uint64_t picoHalIrqMask = 0; -// === NOTE === -// The tone(...) implementation uses the second core on the RPi Pico. This is to diminish as much -// jitter in the output tones as possible. - -void toneLoop(){ - gpio_set_dir(toneLoopPin, GPIO_OUT); - - uint32_t sleep_dur; - if (toneLoopFrequency == 1200) { - sleep_dur = SLEEP_1200; - } else if (toneLoopFrequency == 2200) { - sleep_dur = SLEEP_2200; - } else { - sleep_dur = 500000 / toneLoopFrequency; - } - - - // tone bitbang - while(1){ - gpio_put(toneLoopPin, 1); - sleep_us(sleep_dur); - gpio_put(toneLoopPin, 0); - sleep_us(sleep_dur); - tight_loop_contents(); +static void picoInterruptHandler(void) { + for(int gpio = 0; gpio < PI_PICO_MAX_USER_GPIO; gpio++) { + if(gpio_get_irq_event_mask(gpio) == picoHalIrqEventMasks[gpio]) { + gpio_acknowledge_irq(gpio, picoHalIrqEventMasks[gpio]); + if(picoHalUserCallbacks[gpio]) { + picoHalUserCallbacks[gpio](); + } + } } } @@ -103,7 +91,28 @@ public: return; } - gpio_set_irq_enabled_with_callback(interruptNum, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, true, (gpio_irq_callback_t)interruptCb); + // set callbacks + picoHalUserCallbacks[interruptNum] = (irq_handler_t)interruptCb; + picoHalIrqEventMasks[interruptNum] = mode; + + // is it a new interrupt for us to grab ? + if (!(picoHalIrqMask & (1ULL << interruptNum))) { + // if we have a handler in place, we must remove it to avoid 'assert' in the PDK + // and we must disable interrupt to make sure we don't miss anything during that + // shuffling + if (picoHalIrqMask) { + irq_set_enabled(IO_IRQ_BANK0, false); + gpio_remove_raw_irq_handler_masked64(picoHalIrqMask, picoInterruptHandler); + } + + // (re-)add shared handler with the new mask + picoHalIrqMask |= (1ULL << interruptNum); + gpio_add_raw_irq_handler_masked64(picoHalIrqMask, picoInterruptHandler); + irq_set_enabled(IO_IRQ_BANK0, true); + } + + // enable GPIO to generate interrupt + gpio_set_irq_enabled(interruptNum, mode, true); } void detachInterrupt(uint32_t interruptNum) override { @@ -111,7 +120,12 @@ public: return; } - gpio_set_irq_enabled_with_callback(interruptNum, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, false, NULL); + // disable the IRQ + gpio_set_irq_enabled(interruptNum, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, false); + + // clear callbacks + picoHalUserCallbacks[interruptNum] = NULL; + picoHalIrqEventMasks[interruptNum] = 0; } void delay(unsigned long ms) override { @@ -148,14 +162,7 @@ public: return (this->micros() - start); } - void tone(uint32_t pin, unsigned int frequency, unsigned long duration = 0) override { - // tones on the Pico are generated using bitbanging. This process is offloaded to the Pico's second core - multicore_reset_core1(); - toneLoopPin = pin; - toneLoopFrequency = frequency; - toneLoopDuration = duration; - multicore_launch_core1(toneLoop); - } + void tone(uint32_t pin, unsigned int frequency, unsigned long duration = 0) override; void noTone(uint32_t pin) override { multicore_reset_core1(); @@ -196,3 +203,5 @@ private: }; #endif + +#endif diff --git a/lib/RadioLib/src/modules/CC1101/CC1101.cpp b/lib/RadioLib/src/modules/CC1101/CC1101.cpp index b91b949..ca0f062 100644 --- a/lib/RadioLib/src/modules/CC1101/CC1101.cpp +++ b/lib/RadioLib/src/modules/CC1101/CC1101.cpp @@ -2,7 +2,9 @@ #include #if !RADIOLIB_EXCLUDE_CC1101 -CC1101::CC1101(Module* module) : PhysicalLayer(RADIOLIB_CC1101_FREQUENCY_STEP_SIZE, RADIOLIB_CC1101_MAX_PACKET_LENGTH) { +CC1101::CC1101(Module* module) : PhysicalLayer() { + this->freqStep = RADIOLIB_CC1101_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_CC1101_MAX_PACKET_LENGTH; this->mod = module; } @@ -37,7 +39,7 @@ int16_t CC1101::transmit(const uint8_t* data, size_t len, uint8_t addr) { this->mod->hal->yield(); if(this->mod->hal->millis() - start > timeout) { - finishTransmit(); + (void)finishTransmit(); return(RADIOLIB_ERR_TX_TIMEOUT); } } @@ -48,7 +50,7 @@ int16_t CC1101::transmit(const uint8_t* data, size_t len, uint8_t addr) { this->mod->hal->yield(); if(this->mod->hal->millis() - start > timeout) { - finishTransmit(); + (void)finishTransmit(); return(RADIOLIB_ERR_TX_TIMEOUT); } } @@ -56,9 +58,12 @@ int16_t CC1101::transmit(const uint8_t* data, size_t len, uint8_t addr) { return(finishTransmit()); } -int16_t CC1101::receive(uint8_t* data, size_t len) { - // calculate timeout (500 ms + 400 full max-length packets at current bit rate) - RadioLibTime_t timeout = 500 + (1.0/(this->bitRate))*(RADIOLIB_CC1101_MAX_PACKET_LENGTH*400.0); +int16_t CC1101::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { + // calculate timeout (500 ms + 400 full max-length packets at current bit rate) + timeoutInternal = 500 + (1.0f/(this->bitRate))*(RADIOLIB_CC1101_MAX_PACKET_LENGTH*400.0f); + } // start reception int16_t state = startReceive(); @@ -69,9 +74,8 @@ int16_t CC1101::receive(uint8_t* data, size_t len) { while(this->mod->hal->digitalRead(this->mod->getIrq())) { this->mod->hal->yield(); - if(this->mod->hal->millis() - start > timeout) { - standby(); - SPIsendCommand(RADIOLIB_CC1101_CMD_FLUSH_RX); + if(this->mod->hal->millis() - start > timeoutInternal) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } } @@ -81,9 +85,8 @@ int16_t CC1101::receive(uint8_t* data, size_t len) { while(!this->mod->hal->digitalRead(this->mod->getIrq())) { this->mod->hal->yield(); - if(this->mod->hal->millis() - start > timeout) { - standby(); - SPIsendCommand(RADIOLIB_CC1101_CMD_FLUSH_RX); + if(this->mod->hal->millis() - start > timeoutInternal) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } } @@ -116,6 +119,12 @@ int16_t CC1101::standby(uint8_t mode) { return(standby()); } +int16_t CC1101::sleep() { + int16_t state =standby(); + SPIsendCommand(RADIOLIB_CC1101_CMD_POWER_DOWN); + return(state); +} + int16_t CC1101::transmitDirect(uint32_t frf) { return transmitDirect(true, frf); } @@ -230,23 +239,52 @@ int16_t CC1101::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { // flush Tx FIFO SPIsendCommand(RADIOLIB_CC1101_CMD_FLUSH_TX); - // set GDO0 mapping - int16_t state = SPIsetRegValue(RADIOLIB_CC1101_REG_IOCFG2, RADIOLIB_CC1101_GDOX_SYNC_WORD_SENT_OR_PKT_RECEIVED, 5, 0); - RADIOLIB_ASSERT(state); + // Turn on freq oscilator + SPIsendCommand(RADIOLIB_CC1101_CMD_FSTXON); + + // Check MARCSTATE and wait until ready to tx + // 724us is the longest time for calibrate per datasheet + // Needs a bit more time for reliability + RadioLibTime_t start = this->mod->hal->micros(); + while(SPIgetRegValue(RADIOLIB_CC1101_REG_MARCSTATE, 4, 0) != 0x12) { + if(this->mod->hal->micros() - start > 1600) { + standby(); + return(RADIOLIB_ERR_TX_TIMEOUT); + } + } + + // set GDO2 mapping only if we aren't refilling the FIFO + int16_t state = RADIOLIB_ERR_NONE; + if(len <= RADIOLIB_CC1101_FIFO_SIZE) { + state = SPIsetRegValue(RADIOLIB_CC1101_REG_IOCFG2, RADIOLIB_CC1101_GDOX_SYNC_WORD_SENT_OR_PKT_RECEIVED, 5, 0); + RADIOLIB_ASSERT(state); + } + + // data put on FIFO + uint8_t dataSent = 0; + uint8_t filter = SPIgetRegValue(RADIOLIB_CC1101_REG_PKTCTRL1, 1, 0); // optionally write packet length if(this->packetLengthConfig == RADIOLIB_CC1101_LENGTH_CONFIG_VARIABLE) { - SPIwriteRegister(RADIOLIB_CC1101_REG_FIFO, len); + if(len > RADIOLIB_CC1101_MAX_PACKET_LENGTH - 1) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + SPIwriteRegister(RADIOLIB_CC1101_REG_FIFO, len + (filter != RADIOLIB_CC1101_ADR_CHK_NONE? 1:0)); + dataSent+= 1; } // check address filtering - uint8_t filter = SPIgetRegValue(RADIOLIB_CC1101_REG_PKTCTRL1, 1, 0); if(filter != RADIOLIB_CC1101_ADR_CHK_NONE) { SPIwriteRegister(RADIOLIB_CC1101_REG_FIFO, addr); + dataSent += 1; } // fill the FIFO - SPIwriteRegisterBurst(RADIOLIB_CC1101_REG_FIFO, const_cast(data), len); + uint8_t initialWrite = RADIOLIB_MIN((uint8_t)len, (uint8_t)(RADIOLIB_CC1101_FIFO_SIZE - dataSent)); + SPIwriteRegisterBurst(RADIOLIB_CC1101_REG_FIFO, const_cast(data), initialWrite); + + // reset the data sent counter as it will be used later to calculate the remaining number of bytes to read from the user buffer + dataSent = initialWrite; // set RF switch (if present) this->mod->setRfSwitchState(Module::MODE_TX); @@ -254,18 +292,64 @@ int16_t CC1101::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { // set mode to transmit SPIsendCommand(RADIOLIB_CC1101_CMD_TX); + // keep feeding the FIFO until the packet is done + // calculate timeout (5ms + 500 % of expected time-on-air) + RadioLibTime_t timeout = 5 + (RadioLibTime_t)((((float)(len * 8)) / this->bitRate) * 5); + start = this->mod->hal->millis(); + while(dataSent < len) { + uint8_t fifoBytes = 0; + uint8_t prevFifobytes = 0; + + // check number of bytes on FIFO twice due to the CC1101 errata + // block until two reads are equal + do { + fifoBytes = SPIgetRegValue(RADIOLIB_CC1101_REG_TXBYTES, 6, 0); + prevFifobytes = SPIgetRegValue(RADIOLIB_CC1101_REG_TXBYTES, 6, 0); + } while(fifoBytes != prevFifobytes); + + // if there is room, add more data to the FIFO + if(fifoBytes < RADIOLIB_CC1101_FIFO_SIZE) { + uint8_t bytesToWrite = RADIOLIB_MIN((uint8_t)(RADIOLIB_CC1101_FIFO_SIZE - fifoBytes), (uint8_t)(len - dataSent)); + SPIwriteRegisterBurst(RADIOLIB_CC1101_REG_FIFO, const_cast(&data[dataSent]), bytesToWrite); + dataSent += bytesToWrite; + } + + // check a timeout - this really shouldn't happen, but some packets can be quite long + if(this->mod->hal->millis() - start > timeout) { + (void)finishTransmit(); + return(RADIOLIB_ERR_TX_TIMEOUT); + } + } + + // enable interrupt for the final part of the packet + if(len > RADIOLIB_CC1101_FIFO_SIZE) { + state = SPIsetRegValue(RADIOLIB_CC1101_REG_IOCFG2, RADIOLIB_CC1101_GDOX_SYNC_WORD_SENT_OR_PKT_RECEIVED, 5, 0); + } + return(state); } int16_t CC1101::finishTransmit() { // set mode to standby to disable transmitter/RF switch + + // Check MARCSTATE for Idle to let anything in the FIFO empty + // Timeout is 2x FIFO transmit time + RadioLibTime_t timeout = (1.0f/(this->bitRate))*(RADIOLIB_CC1101_FIFO_SIZE*2.0f); + RadioLibTime_t start = this->mod->hal->millis(); + while(SPIgetRegValue(RADIOLIB_CC1101_REG_MARCSTATE, 4, 0) != 0x01) { + if(this->mod->hal->millis() - start > timeout) { + return(RADIOLIB_ERR_TX_TIMEOUT); + } + } + int16_t state = standby(); RADIOLIB_ASSERT(state); // flush Tx FIFO SPIsendCommand(RADIOLIB_CC1101_CMD_FLUSH_TX); - - return(state); + + // reset GDO2 back to high-Z + return(SPIsetRegValue(RADIOLIB_CC1101_REG_IOCFG2, RADIOLIB_CC1101_GDOX_HIGH_Z, 5, 0)); } int16_t CC1101::startReceive() { @@ -277,8 +361,14 @@ int16_t CC1101::startReceive() { SPIsendCommand(RADIOLIB_CC1101_CMD_FLUSH_RX); // set GDO0 mapping - // GDO0 is de-asserted at packet end, hence it is inverted here - state = SPIsetRegValue(RADIOLIB_CC1101_REG_IOCFG0, RADIOLIB_CC1101_GDO0_INV | RADIOLIB_CC1101_GDOX_SYNC_WORD_SENT_OR_PKT_RECEIVED, 6, 0); + // this is the only interrupt source that works reliably + // RADIOLIB_CC1101_GDOX_SYNC_WORD_SENT_OR_PKT_RECEIVED gets triggered by both packet received as well as packet discarded, + // RADIOLIB_CC1101_GDOX_PKT_RECEIVED_CRC_OK does not get triggered with CRC disabled + state = SPIsetRegValue(RADIOLIB_CC1101_REG_IOCFG0, RADIOLIB_CC1101_GDOX_RX_FIFO_FULL_OR_PKT_END, 6, 0); + RADIOLIB_ASSERT(state); + + // set Rx FIFO threshold to the maximum Rx size + state = SPIsetRegValue(RADIOLIB_CC1101_REG_FIFOTHR, RADIOLIB_CC1101_FIFO_THR_TX_1_RX_64, 3, 0); RADIOLIB_ASSERT(state); // set RF switch (if present) @@ -318,7 +408,7 @@ int16_t CC1101::readData(uint8_t* data, size_t len) { // check if status bytes are enabled (default: RADIOLIB_CC1101_APPEND_STATUS_ON) bool isAppendStatus = SPIgetRegValue(RADIOLIB_CC1101_REG_PKTCTRL1, 2, 2) == RADIOLIB_CC1101_APPEND_STATUS_ON; - // If status byte is enabled at least 2 bytes (2 status bytes + any following packet) will remain in FIFO. + // if status byte is enabled at least 2 bytes (2 status bytes + any following packet) will remain in FIFO. int16_t state = RADIOLIB_ERR_NONE; if (isAppendStatus) { // read RSSI byte @@ -338,25 +428,30 @@ int16_t CC1101::readData(uint8_t* data, size_t len) { // clear internal flag so getPacketLength can return the new packet length this->packetLengthQueried = false; - // Flush then standby according to RXOFF_MODE (default: RADIOLIB_CC1101_RXOFF_IDLE) + // flush then standby according to RXOFF_MODE (default: RADIOLIB_CC1101_RXOFF_IDLE) if(SPIgetRegValue(RADIOLIB_CC1101_REG_MCSM1, 3, 2) == RADIOLIB_CC1101_RXOFF_IDLE) { - - // set mode to standby - standby(); - - // flush Rx FIFO - SPIsendCommand(RADIOLIB_CC1101_CMD_FLUSH_RX); + (void)finishReceive(); } return(state); } +int16_t CC1101::finishReceive() { + // go to standby and flush the FIFO + int16_t state = standby(); + SPIsendCommand(RADIOLIB_CC1101_CMD_FLUSH_RX); + RADIOLIB_ASSERT(state); + + // reset GDO0 back to high-Z + return(SPIsetRegValue(RADIOLIB_CC1101_REG_IOCFG0, RADIOLIB_CC1101_GDOX_HIGH_Z, 5, 0)); +} + int16_t CC1101::setFrequency(float freq) { // check allowed frequency range #if RADIOLIB_CHECK_PARAMS - if(!(((freq >= 300.0) && (freq <= 348.0)) || - ((freq >= 387.0) && (freq <= 464.0)) || - ((freq >= 779.0) && (freq <= 928.0)))) { + if(!(((freq >= 300.0f) && (freq <= 348.0f)) || + ((freq >= 387.0f) && (freq <= 464.0f)) || + ((freq >= 779.0f) && (freq <= 928.0f)))) { return(RADIOLIB_ERR_INVALID_FREQUENCY); } #endif @@ -366,7 +461,7 @@ int16_t CC1101::setFrequency(float freq) { //set carrier frequency uint32_t base = 1; - uint32_t FRF = (freq * (base << 16)) / 26.0; + uint32_t FRF = (freq * (base << 16)) / 26.0f; int16_t state = SPIsetRegValue(RADIOLIB_CC1101_REG_FREQ2, (FRF & 0xFF0000) >> 16, 7, 0); state |= SPIsetRegValue(RADIOLIB_CC1101_REG_FREQ1, (FRF & 0x00FF00) >> 8, 7, 0); state |= SPIsetRegValue(RADIOLIB_CC1101_REG_FREQ0, FRF & 0x0000FF, 7, 0); @@ -380,7 +475,7 @@ int16_t CC1101::setFrequency(float freq) { } int16_t CC1101::setBitRate(float br) { - RADIOLIB_CHECK_RANGE(br, 0.025, 600.0, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(br, 0.025f, 600.0f, RADIOLIB_ERR_INVALID_BIT_RATE); // set mode to standby SPIsendCommand(RADIOLIB_CC1101_CMD_IDLE); @@ -388,7 +483,7 @@ int16_t CC1101::setBitRate(float br) { // calculate exponent and mantissa values uint8_t e = 0; uint8_t m = 0; - getExpMant(br * 1000.0, 256, 28, 14, e, m); + getExpMant(br * 1000.0f, 256, 28, 14, e, m); // set bit rate value int16_t state = SPIsetRegValue(RADIOLIB_CC1101_REG_MDMCFG4, e, 3, 0); @@ -409,7 +504,7 @@ int16_t CC1101::setBitRateTolerance(uint8_t brt) { } int16_t CC1101::setRxBandwidth(float rxBw) { - RADIOLIB_CHECK_RANGE(rxBw, 58.0, 812.0, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); + RADIOLIB_CHECK_RANGE(rxBw, 58.0f, 812.0f, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); // set mode to standby SPIsendCommand(RADIOLIB_CC1101_CMD_IDLE); @@ -417,8 +512,8 @@ int16_t CC1101::setRxBandwidth(float rxBw) { // calculate exponent and mantissa values for(int8_t e = 3; e >= 0; e--) { for(int8_t m = 3; m >= 0; m --) { - float point = (RADIOLIB_CC1101_CRYSTAL_FREQ * 1000000.0)/(8 * (m + 4) * ((uint32_t)1 << e)); - if(fabs((rxBw * 1000.0) - point) <= 1000) { + float point = (RADIOLIB_CC1101_CRYSTAL_FREQ * 1000000.0f)/(8 * (m + 4) * ((uint32_t)1 << e)); + if(fabs((rxBw * 1000.0f - point) <= 1000.0f)) { // set Rx channel filter bandwidth return(SPIsetRegValue(RADIOLIB_CC1101_REG_MDMCFG4, (e << 6) | (m << 4), 7, 4)); } @@ -430,33 +525,33 @@ int16_t CC1101::setRxBandwidth(float rxBw) { } int16_t CC1101::autoSetRxBandwidth() { - // Uncertainty ~ +/- 40ppm for a cheap CC1101 - // Uncertainty * 2 for both transmitter and receiver - float uncertainty = ((this->frequency) * 40 * 2); - uncertainty = (uncertainty/1000); //Since bitrate is in kBit - float minbw = ((this->bitRate) + uncertainty); - - int possibles[16] = {58, 68, 81, 102, 116, 135, 162, 203, 232, 270, 325, 406, 464, 541, 650, 812}; - - for (int i = 0; i < 16; i++) { - if (possibles[i] > minbw) { - int16_t state = setRxBandwidth(possibles[i]); - return(state); - } + // Uncertainty ~ +/- 40ppm for a cheap CC1101 + // Uncertainty * 2 for both transmitter and receiver + float uncertainty = ((this->frequency) * 40 * 2); + uncertainty = (uncertainty/1000); //Since bitrate is in kBit + float minbw = ((this->bitRate) + uncertainty); + + const int options[16] = { 58, 68, 81, 102, 116, 135, 162, 203, 232, 270, 325, 406, 464, 541, 650, 812 }; + + for(int i = 0; i < 16; i++) { + if(options[i] > minbw) { + return(setRxBandwidth(options[i])); } - return(RADIOLIB_ERR_UNKNOWN); } + return(RADIOLIB_ERR_UNKNOWN); +} + int16_t CC1101::setFrequencyDeviation(float freqDev) { // set frequency deviation to lowest available setting (required for digimodes) float newFreqDev = freqDev; - if(freqDev < 0.0) { - newFreqDev = 1.587; + if(freqDev < 0.0f) { + newFreqDev = 1.587f; } // check range unless 0 (special value) if (freqDev != 0) { - RADIOLIB_CHECK_RANGE(newFreqDev, 1.587, 380.8, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + RADIOLIB_CHECK_RANGE(newFreqDev, 1.587f, 380.8f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); } // set mode to standby @@ -465,7 +560,7 @@ int16_t CC1101::setFrequencyDeviation(float freqDev) { // calculate exponent and mantissa values uint8_t e = 0; uint8_t m = 0; - getExpMant(newFreqDev * 1000.0, 8, 17, 7, e, m); + getExpMant(newFreqDev * 1000.0f, 8, 17, 7, e, m); // set frequency deviation value int16_t state = SPIsetRegValue(RADIOLIB_CC1101_REG_DEVIATN, (e << 4), 6, 4); @@ -494,7 +589,7 @@ int16_t CC1101::getFrequencyDeviation(float *freqDev) { // // freqDev = (fXosc / 2^17) * (8 + m) * 2^e // - *freqDev = (1000.0 / (uint32_t(1) << 17)) - (8 + m) * (uint32_t(1) << e); + *freqDev = (1000.0f / (uint32_t(1) << 17)) - (8 + m) * (uint32_t(1) << e); return(RADIOLIB_ERR_NONE); } @@ -513,7 +608,7 @@ int16_t CC1101::setOutputPower(int8_t pwr) { // PA_TABLE[0] is the power to be used when transmitting a 0 (no power) // PA_TABLE[1] is the power to be used when transmitting a 1 (full power) - uint8_t paValues[2] = {0x00, powerRaw}; + const uint8_t paValues[2] = { 0x00, powerRaw }; SPIwriteRegisterBurst(RADIOLIB_CC1101_REG_PATABLE, paValues, 2); return(RADIOLIB_ERR_NONE); @@ -558,13 +653,13 @@ int16_t CC1101::checkOutputPower(int8_t power, int8_t* clipped, uint8_t* raw) { // round to the known frequency settings uint8_t f; - if(this->frequency < 374.0) { + if(this->frequency < 374.0f) { // 315 MHz f = 0; - } else if(this->frequency < 650.5) { + } else if(this->frequency < 650.5f) { // 434 MHz f = 1; - } else if(this->frequency < 891.5) { + } else if(this->frequency < 891.5f) { // 868 MHz f = 2; } else { @@ -592,7 +687,11 @@ int16_t CC1101::checkOutputPower(int8_t power, int8_t* clipped, uint8_t* raw) { return(RADIOLIB_ERR_INVALID_OUTPUT_POWER); } -int16_t CC1101::setSyncWord(uint8_t* syncWord, uint8_t len, uint8_t maxErrBits, bool requireCarrierSense) { +int16_t CC1101::setSyncWord(uint8_t* sync, size_t len) { + return this->setSyncWord(sync, len, 0, false); +} + +int16_t CC1101::setSyncWord(const uint8_t* syncWord, uint8_t len, uint8_t maxErrBits, bool requireCarrierSense) { if((maxErrBits > 1) || (len != 2)) { return(RADIOLIB_ERR_INVALID_SYNC_WORD); } @@ -620,6 +719,9 @@ int16_t CC1101::setSyncWord(uint8_t syncH, uint8_t syncL, uint8_t maxErrBits, bo return(setSyncWord(syncWord, sizeof(syncWord), maxErrBits, requireCarrierSense)); } +int16_t CC1101::setPreambleLength(size_t len) { + return this->setPreambleLength(len, len-4); +} int16_t CC1101::setPreambleLength(uint8_t preambleLength, uint8_t qualityThreshold) { // check allowed values uint8_t value; @@ -717,9 +819,9 @@ float CC1101::getRSSI() { if(!this->directModeEnabled) { if(this->rawRSSI >= 128) { - rssi = (((float)this->rawRSSI - 256.0)/2.0) - 74.0; + rssi = (((float)this->rawRSSI - 256.0f)/2.0f) - 74.0f; } else { - rssi = (((float)this->rawRSSI)/2.0) - 74.0; + rssi = (((float)this->rawRSSI)/2.0f) - 74.0f; } } else { uint8_t rawRssi = SPIreadRegister(RADIOLIB_CC1101_REG_RSSI); @@ -1001,7 +1103,7 @@ int16_t CC1101::beginCommon(float freq, float br, float freqDev, float rxBw, int RADIOLIB_ASSERT(state); // set default sync word - uint8_t sw[RADIOLIB_CC1101_DEFAULT_SW_LEN] = RADIOLIB_CC1101_DEFAULT_SW; + const uint8_t sw[RADIOLIB_CC1101_DEFAULT_SW_LEN] = RADIOLIB_CC1101_DEFAULT_SW; state = setSyncWord(sw[0], sw[1], 0, false); RADIOLIB_ASSERT(state); @@ -1064,7 +1166,7 @@ int16_t CC1101::directMode(bool sync) { void CC1101::getExpMant(float target, uint16_t mantOffset, uint8_t divExp, uint8_t expMax, uint8_t& exp, uint8_t& mant) { // get table origin point (exp = 0, mant = 0) - float origin = (mantOffset * RADIOLIB_CC1101_CRYSTAL_FREQ * 1000000.0)/((uint32_t)1 << divExp); + float origin = (mantOffset * RADIOLIB_CC1101_CRYSTAL_FREQ * 1000000.0f)/((uint32_t)1 << divExp); // iterate over possible exponent values for(int8_t e = expMax; e >= 0; e--) { @@ -1155,7 +1257,7 @@ void CC1101::SPIwriteRegister(uint8_t reg, uint8_t data) { return(this->mod->SPIwriteRegister(reg, data)); } -void CC1101::SPIwriteRegisterBurst(uint8_t reg, uint8_t* data, size_t len) { +void CC1101::SPIwriteRegisterBurst(uint8_t reg, const uint8_t* data, size_t len) { this->mod->SPIwriteRegisterBurst(reg | RADIOLIB_CC1101_CMD_BURST, data, len); } diff --git a/lib/RadioLib/src/modules/CC1101/CC1101.h b/lib/RadioLib/src/modules/CC1101/CC1101.h index e1a71a4..b894726 100644 --- a/lib/RadioLib/src/modules/CC1101/CC1101.h +++ b/lib/RadioLib/src/modules/CC1101/CC1101.h @@ -8,8 +8,9 @@ // CC1101 physical layer properties #define RADIOLIB_CC1101_FREQUENCY_STEP_SIZE 396.7285156 -#define RADIOLIB_CC1101_MAX_PACKET_LENGTH 64 -#define RADIOLIB_CC1101_CRYSTAL_FREQ 26.0 +#define RADIOLIB_CC1101_MAX_PACKET_LENGTH 255 +#define RADIOLIB_CC1101_FIFO_SIZE 64 +#define RADIOLIB_CC1101_CRYSTAL_FREQ 26.0f #define RADIOLIB_CC1101_DIV_EXPONENT 16 // CC1101 SPI commands @@ -182,6 +183,7 @@ #define RADIOLIB_CC1101_RX_ATTEN_18_DB 0b00110000 // 5 4 18 dB #define RADIOLIB_CC1101_FIFO_THR_TX_61_RX_4 0b00000000 // 3 0 TX fifo threshold: 61, RX fifo threshold: 4 #define RADIOLIB_CC1101_FIFO_THR_TX_33_RX_32 0b00000111 // 3 0 TX fifo threshold: 33, RX fifo threshold: 32 +#define RADIOLIB_CC1101_FIFO_THR_TX_1_RX_64 0b00001111 // 3 0 TX fifo threshold: 1, RX fifo threshold: 64 #define RADIOLIB_CC1101_FIFO_THRESH_TX 33 #define RADIOLIB_CC1101_FIFO_THRESH_RX 32 @@ -595,11 +597,13 @@ class CC1101: public PhysicalLayer { /*! \brief Blocking binary receive method. Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Sets the module to standby mode. @@ -614,6 +618,12 @@ class CC1101: public PhysicalLayer { */ int16_t standby(uint8_t mode) override; + /*! + \brief Sets the module to sleep mode. + \returns \ref status_codes + */ + int16_t sleep() override; + /*! \brief Starts synchronous direct mode transmission. \param frf Raw RF frequency value. Defaults to 0, required for quick frequency shifts in RTTY. @@ -695,7 +705,10 @@ class CC1101: public PhysicalLayer { void clearPacketSentAction() override; /*! - \brief Interrupt-driven binary transmit method. + \brief Interrupt-driven binary transmit method for packets less than 64 bytes. + Method blocks for packets longer than 64 bytes up to a 255 byte limit, until + the last bytes are placed in the FIFO. Some limitations and issues apply; see discussion: + https://github.com/jgromes/RadioLib/discussions/1138 Overloads for string-based transmissions are implemented in PhysicalLayer. \param data Binary data to be sent. \param len Number of bytes to send. @@ -736,6 +749,12 @@ class CC1101: public PhysicalLayer { */ int16_t readData(uint8_t* data, size_t len) override; + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; + // configuration methods /*! @@ -815,6 +834,14 @@ class CC1101: public PhysicalLayer { */ int16_t checkOutputPower(int8_t power, int8_t* clipped, uint8_t* raw); + /*! + \brief Set 1 or 2 bytes of sync word. + \param sync Pointer to the sync word. + \param len Sync word length in bytes. Maximum length depends on the module used. + \returns \ref status_codes + */ + int16_t setSyncWord(uint8_t *sync, size_t len) override; + /*! \brief Sets 16-bit sync word as a two byte value. \param syncH MSB of the sync word. @@ -833,7 +860,14 @@ class CC1101: public PhysicalLayer { \param requireCarrierSense Require carrier sense above threshold in addition to sync word. \returns \ref status_codes */ - int16_t setSyncWord(uint8_t* syncWord, uint8_t len, uint8_t maxErrBits = 0, bool requireCarrierSense = false); + int16_t setSyncWord(const uint8_t* syncWord, uint8_t len, uint8_t maxErrBits = 0, bool requireCarrierSense = false); + + /*! + \brief Sets preamble length. + \param len Preamble length to be set (in bits), allowed values: 16, 24, 32, 48, 64, 96, 128 and 192. + \returns \ref status_codes + */ + int16_t setPreambleLength(size_t len) override; /*! \brief Sets preamble length. @@ -866,7 +900,7 @@ class CC1101: public PhysicalLayer { int16_t setOOK(bool enableOOK); /*! - \brief Gets RSSI (Recorded Signal Strength Indicator) of the last received packet. + \brief Gets RSSI (Received Signal Strength Indicator) of the last received packet. In direct or asynchronous direct mode, returns the current RSSI level. \returns RSSI in dBm. */ @@ -991,7 +1025,7 @@ class CC1101: public PhysicalLayer { \param value The value that indicates which function to place on that pin. See chip datasheet for details. \returns \ref status_codes */ - int16_t setDIOMapping(uint32_t pin, uint32_t value) override; + int16_t setDIOMapping(uint32_t pin, uint32_t value); #if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL protected: @@ -1003,7 +1037,7 @@ class CC1101: public PhysicalLayer { int16_t SPIsetRegValue(uint8_t reg, uint8_t value, uint8_t msb = 7, uint8_t lsb = 0, uint8_t checkInterval = 2); void SPIreadRegisterBurst(uint8_t reg, uint8_t numBytes, uint8_t* inBytes); uint8_t SPIreadRegister(uint8_t reg); - void SPIwriteRegisterBurst(uint8_t reg, uint8_t* data, size_t len); + void SPIwriteRegisterBurst(uint8_t reg, const uint8_t* data, size_t len); void SPIwriteRegister(uint8_t reg, uint8_t data); void SPIsendCommand(uint8_t cmd); diff --git a/lib/RadioLib/src/modules/LLCC68/LLCC68.cpp b/lib/RadioLib/src/modules/LLCC68/LLCC68.cpp index 834f5ed..8ea29f9 100644 --- a/lib/RadioLib/src/modules/LLCC68/LLCC68.cpp +++ b/lib/RadioLib/src/modules/LLCC68/LLCC68.cpp @@ -37,8 +37,58 @@ int16_t LLCC68::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t sync return(state); } +int16_t LLCC68::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t power, uint16_t preambleLength, float tcxoVoltage, bool useRegulatorLDO) { + // execute common part + int16_t state = SX126x::beginFSK(br, freqDev, rxBw, preambleLength, tcxoVoltage, useRegulatorLDO); + if(state == RADIOLIB_ERR_CHIP_NOT_FOUND) { + // bit of a hack, but some LLCC68 chips report as "SX1261", try that + // for full discussion, see https://github.com/jgromes/RadioLib/issues/1329 + chipType = RADIOLIB_SX1261_CHIP_TYPE; + state = SX126x::beginFSK(br, freqDev, rxBw, preambleLength, tcxoVoltage, useRegulatorLDO); + RADIOLIB_DEBUG_PRINTLN("LLCC68 version string not found, using SX1261 instead"); + } + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setFrequency(freq); + RADIOLIB_ASSERT(state); + + state = SX126x::fixPaClamping(); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + return(state); +} + +int16_t LLCC68::beginLRFHSS(float freq, uint8_t bw, uint8_t cr, bool narrowGrid, int8_t power, float tcxoVoltage, bool useRegulatorLDO) { + // execute common part + int16_t state = SX126x::beginLRFHSS(bw, cr, narrowGrid, tcxoVoltage, useRegulatorLDO); + if(state == RADIOLIB_ERR_CHIP_NOT_FOUND) { + // bit of a hack, but some LLCC68 chips report as "SX1261", try that + // for full discussion, see https://github.com/jgromes/RadioLib/issues/1329 + chipType = RADIOLIB_SX1261_CHIP_TYPE; + state = SX126x::beginLRFHSS(bw, cr, narrowGrid, tcxoVoltage, useRegulatorLDO); + RADIOLIB_DEBUG_PRINTLN("LLCC68 version string not found, using SX1261 instead"); + } + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setFrequency(freq); + RADIOLIB_ASSERT(state); + + state = SX126x::fixPaClamping(); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + return(state); +} + int16_t LLCC68::setBandwidth(float bw) { - RADIOLIB_CHECK_RANGE(bw, 100.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(bw, 100.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); return(SX1262::setBandwidth(bw)); } @@ -60,12 +110,26 @@ int16_t LLCC68::setSpreadingFactor(uint8_t sf) { return(SX1262::setSpreadingFactor(sf)); } -int16_t LLCC68::setDataRate(DataRate_t dr) { - int16_t state = RADIOLIB_ERR_UNKNOWN; +int16_t LLCC68::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); - // select interpretation based on active modem - uint8_t modem = this->getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { // set the bit rate state = this->setBitRate(dr.fsk.bitRate); RADIOLIB_ASSERT(state); @@ -73,7 +137,7 @@ int16_t LLCC68::setDataRate(DataRate_t dr) { // set the frequency deviation state = this->setFrequencyDeviation(dr.fsk.freqDev); - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { // set the spreading factor state = this->setSpreadingFactor(dr.lora.spreadingFactor); RADIOLIB_ASSERT(state); @@ -89,20 +153,25 @@ int16_t LLCC68::setDataRate(DataRate_t dr) { return(state); } -int16_t LLCC68::checkDataRate(DataRate_t dr) { +int16_t LLCC68::checkDataRate(DataRate_t dr, ModemType_t modem) { int16_t state = RADIOLIB_ERR_UNKNOWN; - // select interpretation based on active modem - uint8_t modem = this->getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.6, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 0.6, 200.0, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.6f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 0.6f, 200.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); return(RADIOLIB_ERR_NONE); - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 100.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); - uint8_t bw_div2 = dr.lora.bandwidth / 2 + 0.01; + } else if(modem == RADIOLIB_MODEM_LORA) { + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 100.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + uint8_t bw_div2 = dr.lora.bandwidth / 2 + 0.01f; switch (bw_div2) { case 62: // 125.0: RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 5, 9, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); diff --git a/lib/RadioLib/src/modules/LLCC68/LLCC68.h b/lib/RadioLib/src/modules/LLCC68/LLCC68.h index 7809c56..80470be 100644 --- a/lib/RadioLib/src/modules/LLCC68/LLCC68.h +++ b/lib/RadioLib/src/modules/LLCC68/LLCC68.h @@ -29,7 +29,8 @@ class LLCC68: public SX1262 { \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. \param bw LoRa bandwidth in kHz. Defaults to 125.0 kHz. \param sf LoRa spreading factor. Defaults to 9. - \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). + \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param syncWord 1-byte LoRa sync word. Defaults to RADIOLIB_SX126X_SYNC_WORD_PRIVATE (0x12). \param pwr Output power in dBm. Defaults to 10 dBm. \param preambleLength LoRa preamble length in symbols. Defaults to 8 symbols. @@ -39,8 +40,39 @@ class LLCC68: public SX1262 { \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX126X_SYNC_WORD_PRIVATE, int8_t pwr = 10, uint16_t preambleLength = 8, float tcxoVoltage = 0, bool useRegulatorLDO = false); - + int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX126X_SYNC_WORD_PRIVATE, int8_t power = 10, uint16_t preambleLength = 8, float tcxoVoltage = 0, bool useRegulatorLDO = false) override; + + /*! + \brief Initialization method for FSK modem. + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param br FSK bit rate in kbps. Defaults to 4.8 kbps. + \param freqDev Frequency deviation from carrier frequency in kHz. Defaults to 5.0 kHz. + \param rxBw Receiver bandwidth in kHz. Defaults to 156.2 kHz. + \param power Output power in dBm. Defaults to 10 dBm. + \param preambleLength FSK preamble length in bits. Defaults to 16 bits. + \param tcxoVoltage TCXO reference voltage to be set on DIO3. Defaults to 0 V (XTAL). + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set SX126x::XTAL to true. + \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. + \returns \ref status_codes + */ + int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 156.2, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 0, bool useRegulatorLDO = false) override; + + /*! + \brief Initialization method for LR-FHSS modem. This modem only supports transmission! + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param bw LR-FHSS bandwidth, one of RADIOLIB_SX126X_LR_FHSS_BW_* values. Defaults to 722.66 kHz. + \param cr LR-FHSS coding rate, one of RADIOLIB_SX126X_LR_FHSS_CR_* values. Defaults to 2/3 coding rate. + \param narrowGrid Whether to use narrow (3.9 kHz) or wide (25.39 kHz) grid spacing. Defaults to true (narrow/non-FCC) grid. + \param power Output power in dBm. Defaults to 10 dBm. + \param tcxoVoltage TCXO reference voltage to be set. Defaults to 0 V (XTAL). + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set SX126x::XTAL to true. + \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. + \returns \ref status_codes + */ + int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_SX126X_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_SX126X_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 0, bool useRegulatorLDO = false) override; + // configuration methods /*! @@ -48,28 +80,32 @@ class LLCC68: public SX1262 { \param bw LoRa bandwidth to be set in kHz. \returns \ref status_codes */ - int16_t setBandwidth(float bw); + int16_t setBandwidth(float bw) override; /*! \brief Sets LoRa spreading factor. Allowed values range from 5 to 11, depending on currently set spreading factor. \param sf LoRa spreading factor to be set. \returns \ref status_codes */ - int16_t setSpreadingFactor(uint8_t sf); + int16_t setSpreadingFactor(uint8_t sf) override; /*! - \brief Set data. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Check the data rate can be configured by this module. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t checkDataRate(DataRate_t dr) override; + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Set modem for the radio to use. Will perform full reset and reconfigure the radio diff --git a/lib/RadioLib/src/modules/LR11x0/LR1110.cpp b/lib/RadioLib/src/modules/LR11x0/LR1110.cpp index 1fbc696..20bf56c 100644 --- a/lib/RadioLib/src/modules/LR11x0/LR1110.cpp +++ b/lib/RadioLib/src/modules/LR11x0/LR1110.cpp @@ -51,7 +51,7 @@ int16_t LR1110::setFrequency(float freq) { } int16_t LR1110::setFrequency(float freq, bool skipCalibration, float band) { - RADIOLIB_CHECK_RANGE(freq, 150.0, 960.0, RADIOLIB_ERR_INVALID_FREQUENCY); + RADIOLIB_CHECK_RANGE(freq, 150.0f, 960.0f, RADIOLIB_ERR_INVALID_FREQUENCY); // check if we need to recalibrate image int16_t state; @@ -71,7 +71,7 @@ int16_t LR1110::setOutputPower(int8_t power) { return(this->setOutputPower(power, false)); } -int16_t LR1110::setOutputPower(int8_t power, bool forceHighPower) { +int16_t LR1110::setOutputPower(int8_t power, bool forceHighPower, uint32_t rampTimeUs) { // check if power value is configurable int16_t state = this->checkOutputPower(power, NULL, forceHighPower); RADIOLIB_ASSERT(state); @@ -81,12 +81,9 @@ int16_t LR1110::setOutputPower(int8_t power, bool forceHighPower) { // TODO how and when to configure OCP? - // update PA config - always use VBAT for high-power PA - state = setPaConfig((uint8_t)useHp, (uint8_t)useHp, 0x04, 0x07); - RADIOLIB_ASSERT(state); - - // set output power - state = setTxParams(power, RADIOLIB_LR11X0_PA_RAMP_48U); + // update PA config and set output power - always use VBAT for high-power PA + // the value returned by LRxxxx class is offset by 3 for LR11x0 + state = LR11x0::setOutputPower(power, (uint8_t)useHp, (uint8_t)useHp, 0x04, 0x07, roundRampTime(rampTimeUs) - 0x03); return(state); } @@ -122,6 +119,8 @@ int16_t LR1110::setModem(ModemType_t modem) { case(ModemType_t::RADIOLIB_MODEM_LRFHSS): { return(this->beginLRFHSS()); } break; + default: + return(RADIOLIB_ERR_WRONG_MODEM); } return(RADIOLIB_ERR_WRONG_MODEM); } diff --git a/lib/RadioLib/src/modules/LR11x0/LR1110.h b/lib/RadioLib/src/modules/LR11x0/LR1110.h index b203885..d5943c5 100644 --- a/lib/RadioLib/src/modules/LR11x0/LR1110.h +++ b/lib/RadioLib/src/modules/LR11x0/LR1110.h @@ -27,7 +27,8 @@ class LR1110: public LR11x0 { \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. \param bw LoRa bandwidth in kHz. Defaults to 125.0 kHz. \param sf LoRa spreading factor. Defaults to 9. - \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). + \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param syncWord 1-byte LoRa sync word. Defaults to RADIOLIB_LR11X0_LORA_SYNC_WORD_PRIVATE (0x12). \param power Output power in dBm. Defaults to 10 dBm. \param preambleLength LoRa preamble length in symbols. Defaults to 8 symbols. @@ -56,8 +57,8 @@ class LR1110: public LR11x0 { /*! \brief Initialization method for LR-FHSS modem. \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. - \param bw LR-FHSS bandwidth, one of RADIOLIB_LR11X0_LR_FHSS_BW_* values. Defaults to 722.66 kHz. - \param cr LR-FHSS coding rate, one of RADIOLIB_LR11X0_LR_FHSS_CR_* values. Defaults to 2/3 coding rate. + \param bw LR-FHSS bandwidth, one of RADIOLIB_LRXXXX_LR_FHSS_BW_* values. Defaults to 722.66 kHz. + \param cr LR-FHSS coding rate, one of RADIOLIB_LRXXXX_LR_FHSS_CR_* values. Defaults to 2/3 coding rate. \param narrowGrid Whether to use narrow (3.9 kHz) or wide (25.39 kHz) grid spacing. Defaults to true (narrow/non-FCC) grid. \param power Output power in dBm. Defaults to 10 dBm. \param tcxoVoltage TCXO reference voltage to be set. Defaults to 1.6 V. @@ -65,7 +66,7 @@ class LR1110: public LR11x0 { To use XTAL, either set this value to 0, or set LR11x0::XTAL to true. \returns \ref status_codes */ - int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_LR11X0_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_LR11X0_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 1.6); + int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_LRXXXX_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_LRXXXX_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 1.6); // configuration methods @@ -103,9 +104,11 @@ class LR1110: public LR11x0 { \param power Output power to be set in dBm. \param forceHighPower Force using the high-power PA. If set to false, PA will be determined automatically based on configured output power, preferring the low-power PA. If set to true, only high-power PA will be used. + \param rampTimeUs PA power ramping time in microseconds. Provided value is rounded up to the + nearest discrete ramp time supported by the PA. Defaults to 48 us. \returns \ref status_codes */ - int16_t setOutputPower(int8_t power, bool forceHighPower); + int16_t setOutputPower(int8_t power, bool forceHighPower, uint32_t rampTimeUs = 48); /*! \brief Check if output power is configurable. diff --git a/lib/RadioLib/src/modules/LR11x0/LR1120.cpp b/lib/RadioLib/src/modules/LR11x0/LR1120.cpp index fb62782..aa68528 100644 --- a/lib/RadioLib/src/modules/LR11x0/LR1120.cpp +++ b/lib/RadioLib/src/modules/LR11x0/LR1120.cpp @@ -9,7 +9,7 @@ LR1120::LR1120(Module* mod) : LR11x0(mod) { int16_t LR1120::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t power, uint16_t preambleLength, float tcxoVoltage) { // execute common part - int16_t state = LR11x0::begin(bw, sf, cr, syncWord, preambleLength, tcxoVoltage, freq > 1000.0); + int16_t state = LR11x0::begin(bw, sf, cr, syncWord, preambleLength, tcxoVoltage, freq > 1000.0f); RADIOLIB_ASSERT(state); // configure publicly accessible settings @@ -51,11 +51,13 @@ int16_t LR1120::setFrequency(float freq) { } int16_t LR1120::setFrequency(float freq, bool skipCalibration, float band) { - if(!(((freq >= 150.0) && (freq <= 960.0)) || - ((freq >= 1900.0) && (freq <= 2200.0)) || - ((freq >= 2400.0) && (freq <= 2500.0)))) { + #if RADIOLIB_CHECK_PARAMS + if(!(((freq >= 150.0f) && (freq <= 960.0f)) || + ((freq >= 1900.0f) && (freq <= 2200.0f)) || + ((freq >= 2400.0f) && (freq <= 2500.0f)))) { return(RADIOLIB_ERR_INVALID_FREQUENCY); } + #endif // check if we need to recalibrate image int16_t state; @@ -68,15 +70,17 @@ int16_t LR1120::setFrequency(float freq, bool skipCalibration, float band) { state = LR11x0::setRfFrequency((uint32_t)(freq*1000000.0f)); RADIOLIB_ASSERT(state); this->freqMHz = freq; - this->highFreq = (freq > 1000.0); - return(RADIOLIB_ERR_NONE); + this->highFreq = (freq > 1000.0f); + + // apply workaround for GFSK + return(workaroundGFSK()); } int16_t LR1120::setOutputPower(int8_t power) { return(this->setOutputPower(power, false)); } -int16_t LR1120::setOutputPower(int8_t power, bool forceHighPower) { +int16_t LR1120::setOutputPower(int8_t power, bool forceHighPower, uint32_t rampTimeUs) { // check if power value is configurable int16_t state = this->checkOutputPower(power, NULL, forceHighPower); RADIOLIB_ASSERT(state); @@ -93,12 +97,9 @@ int16_t LR1120::setOutputPower(int8_t power, bool forceHighPower) { // TODO how and when to configure OCP? - // update PA config - always use VBAT for high-power PA - state = setPaConfig(paSel, paSupply, 0x04, 0x07); - RADIOLIB_ASSERT(state); - - // set output power - state = setTxParams(power, RADIOLIB_LR11X0_PA_RAMP_48U); + // update PA config and set output power - always use VBAT for high-power PA + // the value returned by LRxxxx class is offset by 3 for LR11x0 + state = LR11x0::setOutputPower(power, paSel, paSupply, 0x04, 0x07, roundRampTime(rampTimeUs) - 0x03); return(state); } @@ -142,8 +143,10 @@ int16_t LR1120::setModem(ModemType_t modem) { case(ModemType_t::RADIOLIB_MODEM_LRFHSS): { return(this->beginLRFHSS()); } break; + default: + return(RADIOLIB_ERR_WRONG_MODEM); } return(RADIOLIB_ERR_WRONG_MODEM); } -#endif \ No newline at end of file +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR1120.h b/lib/RadioLib/src/modules/LR11x0/LR1120.h index 3c532eb..09d9497 100644 --- a/lib/RadioLib/src/modules/LR11x0/LR1120.h +++ b/lib/RadioLib/src/modules/LR11x0/LR1120.h @@ -27,7 +27,8 @@ class LR1120: public LR11x0 { \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. \param bw LoRa bandwidth in kHz. Defaults to 125.0 kHz. \param sf LoRa spreading factor. Defaults to 9. - \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). + \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param syncWord 1-byte LoRa sync word. Defaults to RADIOLIB_LR11X0_LORA_SYNC_WORD_PRIVATE (0x12). \param power Output power in dBm. Defaults to 10 dBm. \param preambleLength LoRa preamble length in symbols. Defaults to 8 symbols. @@ -56,8 +57,8 @@ class LR1120: public LR11x0 { /*! \brief Initialization method for LR-FHSS modem. \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. - \param bw LR-FHSS bandwidth, one of RADIOLIB_LR11X0_LR_FHSS_BW_* values. Defaults to 722.66 kHz. - \param cr LR-FHSS coding rate, one of RADIOLIB_LR11X0_LR_FHSS_CR_* values. Defaults to 2/3 coding rate. + \param bw LR-FHSS bandwidth, one of RADIOLIB_LRXXXX_LR_FHSS_BW_* values. Defaults to 722.66 kHz. + \param cr LR-FHSS coding rate, one of RADIOLIB_LRXXXX_LR_FHSS_CR_* values. Defaults to 2/3 coding rate. \param narrowGrid Whether to use narrow (3.9 kHz) or wide (25.39 kHz) grid spacing. Defaults to true (narrow/non-FCC) grid. \param power Output power in dBm. Defaults to 10 dBm. \param tcxoVoltage TCXO reference voltage to be set. Defaults to 1.6 V. @@ -65,7 +66,7 @@ class LR1120: public LR11x0 { To use XTAL, either set this value to 0, or set LR11x0::XTAL to true. \returns \ref status_codes */ - int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_LR11X0_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_LR11X0_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 1.6); + int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_LRXXXX_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_LRXXXX_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 1.6); // configuration methods @@ -112,9 +113,11 @@ class LR1120: public LR11x0 { If set to false, PA will be determined automatically based on configured output power and frequency, preferring the low-power PA but always using high-frequency PA in 2.4 GHz band. Ignored when operating in 2.4 GHz band. + \param rampTimeUs PA power ramping time in microseconds. Provided value is rounded up to the + nearest discrete ramp time supported by the PA. Defaults to 48 us. \returns \ref status_codes */ - int16_t setOutputPower(int8_t power, bool forceHighPower); + int16_t setOutputPower(int8_t power, bool forceHighPower, uint32_t rampTimeUs = 48); /*! \brief Check if output power is configurable. diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0.cpp b/lib/RadioLib/src/modules/LR11x0/LR11x0.cpp index f039bc4..c8f0dc0 100644 --- a/lib/RadioLib/src/modules/LR11x0/LR11x0.cpp +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0.cpp @@ -1,16 +1,13 @@ #include "LR11x0.h" -#include "../../utils/CRC.h" -#include "../../utils/Cryptography.h" - -#include #include +#include #if !RADIOLIB_EXCLUDE_LR11X0 -LR11x0::LR11x0(Module* mod) : PhysicalLayer(RADIOLIB_LR11X0_FREQUENCY_STEP_SIZE, RADIOLIB_LR11X0_MAX_PACKET_LENGTH) { - this->mod = mod; - this->XTAL = false; +LR11x0::LR11x0(Module* mod) : LRxxxx(mod) { + this->freqStep = RADIOLIB_LR11X0_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_LR11X0_MAX_PACKET_LENGTH; this->irqMap[RADIOLIB_IRQ_TX_DONE] = RADIOLIB_LR11X0_IRQ_TX_DONE; this->irqMap[RADIOLIB_IRQ_RX_DONE] = RADIOLIB_LR11X0_IRQ_RX_DONE; this->irqMap[RADIOLIB_IRQ_PREAMBLE_DETECTED] = RADIOLIB_LR11X0_IRQ_PREAMBLE_DETECTED; @@ -104,7 +101,7 @@ int16_t LR11x0::beginLRFHSS(uint8_t bw, uint8_t cr, bool narrowGrid, float tcxoV RADIOLIB_ASSERT(state); // set grid spacing - this->lrFhssGrid = narrowGrid ? RADIOLIB_LR11X0_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_LR11X0_LR_FHSS_GRID_STEP_FCC; + this->lrFhssGrid = narrowGrid ? RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_FCC; // configure publicly accessible settings state = setLrFhssConfig(bw, cr); @@ -118,7 +115,7 @@ int16_t LR11x0::beginLRFHSS(uint8_t bw, uint8_t cr, bool narrowGrid, float tcxoV RADIOLIB_ASSERT(state); // set fixed configuration - return(setModulationParamsLrFhss(RADIOLIB_LR11X0_LR_FHSS_BIT_RATE_RAW, RADIOLIB_LR11X0_LR_FHSS_SHAPING_GAUSSIAN_BT_1_0)); + return(setModulationParamsLrFhss(RADIOLIB_LRXXXX_LR_FHSS_BIT_RATE_RAW, RADIOLIB_LR11X0_LR_FHSS_SHAPING_GAUSSIAN_BT_1_0)); } int16_t LR11x0::beginGNSS(uint8_t constellations, float tcxoVoltage) { @@ -151,35 +148,23 @@ int16_t LR11x0::beginGNSS(uint8_t constellations, float tcxoVoltage) { return(RADIOLIB_ERR_NONE); } -int16_t LR11x0::reset() { - // run the reset sequence - this->mod->hal->pinMode(this->mod->getRst(), this->mod->hal->GpioModeOutput); - this->mod->hal->digitalWrite(this->mod->getRst(), this->mod->hal->GpioLevelLow); - this->mod->hal->delay(10); - this->mod->hal->digitalWrite(this->mod->getRst(), this->mod->hal->GpioLevelHigh); - - // the typical transition duration should be 273 ms - this->mod->hal->delay(300); - - // wait for BUSY to go low - RadioLibTime_t start = this->mod->hal->millis(); - while(this->mod->hal->digitalRead(this->mod->getGpio())) { - this->mod->hal->yield(); - if(this->mod->hal->millis() - start >= 3000) { - RADIOLIB_DEBUG_BASIC_PRINTLN("BUSY pin timeout after reset!"); - return(RADIOLIB_ERR_SPI_CMD_TIMEOUT); - } - } - - return(RADIOLIB_ERR_NONE); -} - int16_t LR11x0::transmit(const uint8_t* data, size_t len, uint8_t addr) { // set mode to standby int16_t state = standby(); RADIOLIB_ASSERT(state); // check packet length + if (this->codingRate > RADIOLIB_LR11X0_LORA_CR_4_8_SHORT) { + // Long Interleaver needs at least 8 bytes + if(len < 8) { + return(RADIOLIB_ERR_PACKET_TOO_SHORT); + } + + // Long Interleaver supports up to 253 bytes if CRC is enabled + if (this->crcTypeLoRa == RADIOLIB_LRXXXX_LORA_CRC_ENABLED && (len > RADIOLIB_LR11X0_MAX_PACKET_LENGTH - 2)) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + } if(len > RADIOLIB_LR11X0_MAX_PACKET_LENGTH) { return(RADIOLIB_ERR_PACKET_TOO_LONG); } @@ -216,52 +201,42 @@ int16_t LR11x0::transmit(const uint8_t* data, size_t len, uint8_t addr) { return(RADIOLIB_ERR_TX_TIMEOUT); } } - RadioLibTime_t elapsed = this->mod->hal->micros() - start; - - // update data rate - this->dataRateMeasured = (len*8.0)/((float)elapsed/1000000.0); return(finishTransmit()); } -int16_t LR11x0::receive(uint8_t* data, size_t len) { +int16_t LR11x0::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { // set mode to standby int16_t state = standby(); RADIOLIB_ASSERT(state); - RadioLibTime_t timeout = 0; + // calculate timeout based on the configured modem + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { + // get currently active modem + uint8_t modem = RADIOLIB_LR11X0_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if((modem == RADIOLIB_LR11X0_PACKET_TYPE_LORA) || (modem == RADIOLIB_LR11X0_PACKET_TYPE_GFSK)) { + // calculate timeout (500 % of expected time-one-air) + size_t maxLen = len; + if(len == 0) { maxLen = RADIOLIB_LR11X0_MAX_PACKET_LENGTH; } + timeoutInternal = (getTimeOnAir(maxLen) * 5) / 1000; + + } else if(modem == RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { + // this modem cannot receive + return(RADIOLIB_ERR_WRONG_MODEM); - // get currently active modem - uint8_t modem = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - state = getPacketType(&modem); - RADIOLIB_ASSERT(state); - if(modem == RADIOLIB_LR11X0_PACKET_TYPE_LORA) { - // calculate timeout (100 LoRa symbols, the default for SX127x series) - float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float)this->bandwidthKhz; - timeout = (RadioLibTime_t)(symbolLength * 100.0); - - } else if(modem == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { - // calculate timeout (500 % of expected time-one-air) - size_t maxLen = len; - if(len == 0) { - maxLen = 0xFF; + } else { + return(RADIOLIB_ERR_UNKNOWN); + } - float brBps = ((float)(RADIOLIB_LR11X0_CRYSTAL_FREQ) * 1000000.0 * 32.0) / (float)this->bitRate; - timeout = (RadioLibTime_t)(((maxLen * 8.0) / brBps) * 1000.0 * 5.0); - - } else if(modem == RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { - // this modem cannot receive - return(RADIOLIB_ERR_WRONG_MODEM); - - } else { - return(RADIOLIB_ERR_UNKNOWN); - } - RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", timeout); + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", timeoutInternal); // start reception - uint32_t timeoutValue = (uint32_t)(((float)timeout * 1000.0) / 30.52); + uint32_t timeoutValue = (uint32_t)(((float)timeoutInternal * 1000.0f) / 30.52f); state = startReceive(timeoutValue); RADIOLIB_ASSERT(state); @@ -271,7 +246,7 @@ int16_t LR11x0::receive(uint8_t* data, size_t len) { while(!this->mod->hal->digitalRead(this->mod->getIrq())) { this->mod->hal->yield(); // safety check, the timeout should be done by the radio - if(this->mod->hal->millis() - start > timeout) { + if(this->mod->hal->millis() - start > timeoutInternal) { softTimeout = true; break; } @@ -285,9 +260,8 @@ int16_t LR11x0::receive(uint8_t* data, size_t len) { } // check whether this was a timeout or not - if((getIrqStatus() & RADIOLIB_LR11X0_IRQ_TIMEOUT) || softTimeout) { - standby(); - clearIrq(RADIOLIB_LR11X0_IRQ_ALL); + if(softTimeout || (getIrqFlags() & this->irqMap[RADIOLIB_IRQ_TIMEOUT])) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } @@ -351,6 +325,10 @@ int16_t LR11x0::standby() { return(LR11x0::standby(RADIOLIB_LR11X0_STANDBY_RC)); } +int16_t LR11x0::standby(uint8_t mode) { + return(LR11x0::standby(mode, true)); +} + int16_t LR11x0::standby(uint8_t mode, bool wakeup) { // set RF switch (if present) this->mod->setRfSwitchState(Module::MODE_IDLE); @@ -382,7 +360,8 @@ int16_t LR11x0::sleep(bool retainConfig, uint32_t sleepTime) { buff[0] |= RADIOLIB_LR11X0_SLEEP_WAKEUP_ENABLED; } - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_SLEEP, true, buff, sizeof(buff)); + // in sleep, the busy line will remain high, so we have to use this method to disable waiting for it to go low + int16_t state = this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_SET_SLEEP, buff, sizeof(buff), false, false); // wait for the module to safely enter sleep mode this->mod->hal->delay(1); @@ -390,100 +369,9 @@ int16_t LR11x0::sleep(bool retainConfig, uint32_t sleepTime) { return(state); } -void LR11x0::setIrqAction(void (*func)(void)) { - this->mod->hal->attachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq()), func, this->mod->hal->GpioInterruptRising); -} - -void LR11x0::clearIrqAction() { - this->mod->hal->detachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq())); -} - -void LR11x0::setPacketReceivedAction(void (*func)(void)) { - this->setIrqAction(func); -} - -void LR11x0::clearPacketReceivedAction() { - this->clearIrqAction(); -} - -void LR11x0::setPacketSentAction(void (*func)(void)) { - this->setIrqAction(func); -} - -void LR11x0::clearPacketSentAction() { - this->clearIrqAction(); -} - -int16_t LR11x0::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { - // suppress unused variable warning - (void)addr; - - // check packet length - if(len > RADIOLIB_LR11X0_MAX_PACKET_LENGTH) { - return(RADIOLIB_ERR_PACKET_TOO_LONG); - } - - // maximum packet length is decreased by 1 when address filtering is active - if((this->addrComp != RADIOLIB_LR11X0_GFSK_ADDR_FILTER_DISABLED) && (len > RADIOLIB_LR11X0_MAX_PACKET_LENGTH - 1)) { - return(RADIOLIB_ERR_PACKET_TOO_LONG); - } - - // set packet Length - int16_t state = RADIOLIB_ERR_NONE; - uint8_t modem = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - state = getPacketType(&modem); - RADIOLIB_ASSERT(state); - if(modem == RADIOLIB_LR11X0_PACKET_TYPE_LORA) { - state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, len, this->crcTypeLoRa, this->invertIQEnabled); - - } else if(modem == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { - state = setPacketParamsGFSK(this->preambleLengthGFSK, this->preambleDetLength, this->syncWordLength, this->addrComp, this->packetType, len, this->crcTypeGFSK, this->whitening); - - } else if(modem != RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { - return(RADIOLIB_ERR_UNKNOWN); - - } - RADIOLIB_ASSERT(state); - - // set DIO mapping - state = setDioIrqParams(RADIOLIB_LR11X0_IRQ_TX_DONE | RADIOLIB_LR11X0_IRQ_TIMEOUT); - RADIOLIB_ASSERT(state); - - if(modem == RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { - // in LR-FHSS mode, the packet is built by the device - // TODO add configurable device offset - state = lrFhssBuildFrame(this->lrFhssHdrCount, this->lrFhssCr, this->lrFhssGrid, true, this->lrFhssBw, this->lrFhssHopSeq, 0, const_cast(data), len); - RADIOLIB_ASSERT(state); - - } else { - // write packet to buffer - state = writeBuffer8(const_cast(data), len); - RADIOLIB_ASSERT(state); - - } - - // clear interrupt flags - state = clearIrq(RADIOLIB_LR11X0_IRQ_ALL); - RADIOLIB_ASSERT(state); - - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_TX); - - // start transmission - state = setTx(RADIOLIB_LR11X0_TX_TIMEOUT_NONE); - RADIOLIB_ASSERT(state); - - // wait for BUSY to go low (= PA ramp up done) - while(this->mod->hal->digitalRead(this->mod->getGpio())) { - this->mod->hal->yield(); - } - - return(state); -} - int16_t LR11x0::finishTransmit() { // clear interrupt flags - clearIrq(RADIOLIB_LR11X0_IRQ_ALL); + clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); // set mode to standby to disable transmitter/RF switch return(standby()); @@ -493,56 +381,6 @@ int16_t LR11x0::startReceive() { return(this->startReceive(RADIOLIB_LR11X0_RX_TIMEOUT_INF, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, 0)); } -int16_t LR11x0::startReceive(uint32_t timeout, uint32_t irqFlags, uint32_t irqMask, size_t len) { - (void)len; - - // check active modem - int16_t state = RADIOLIB_ERR_NONE; - uint8_t modem = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - state = getPacketType(&modem); - RADIOLIB_ASSERT(state); - if((modem != RADIOLIB_LR11X0_PACKET_TYPE_LORA) && - (modem != RADIOLIB_LR11X0_PACKET_TYPE_GFSK)) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // set DIO mapping - uint32_t irq = irqMask; - if(timeout != RADIOLIB_LR11X0_RX_TIMEOUT_INF) { - irq |= (1UL << RADIOLIB_IRQ_TIMEOUT); - } - state = setDioIrqParams(getIrqMapped(irqFlags & irq)); - RADIOLIB_ASSERT(state); - - // clear interrupt flags - state = clearIrq(RADIOLIB_LR11X0_IRQ_ALL); - RADIOLIB_ASSERT(state); - - // set implicit mode and expected len if applicable - if((this->headerType == RADIOLIB_LR11X0_LORA_HEADER_IMPLICIT) && (modem == RADIOLIB_LR11X0_PACKET_TYPE_LORA)) { - state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, this->invertIQEnabled); - RADIOLIB_ASSERT(state); - } - - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_RX); - - // set mode to receive - state = setRx(timeout); - - return(state); -} - -uint32_t LR11x0::getIrqStatus() { - // there is no dedicated "get IRQ" command, the IRQ bits are sent after the status bytes - uint8_t buff[6] = { 0 }; - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_0; - mod->SPItransferStream(NULL, 0, false, NULL, buff, sizeof(buff), true); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_8; - uint32_t irq = ((uint32_t)(buff[2]) << 24) | ((uint32_t)(buff[3]) << 16) | ((uint32_t)(buff[4]) << 8) | (uint32_t)buff[5]; - return(irq); -} - int16_t LR11x0::readData(uint8_t* data, size_t len) { // check active modem int16_t state = RADIOLIB_ERR_NONE; @@ -580,7 +418,7 @@ int16_t LR11x0::readData(uint8_t* data, size_t len) { RADIOLIB_ASSERT(state); // clear interrupt flags - state = clearIrq(RADIOLIB_LR11X0_IRQ_ALL); + state = clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); // check if CRC failed - this is done after reading data to give user the option to keep them RADIOLIB_ASSERT(crcState); @@ -588,6 +426,15 @@ int16_t LR11x0::readData(uint8_t* data, size_t len) { return(state); } +int16_t LR11x0::finishReceive() { + // set mode to standby to disable RF switch + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + return(clearIrqState(RADIOLIB_LR11X0_IRQ_ALL)); +} + int16_t LR11x0::startChannelScan() { ChannelScanConfig_t cfg = { .cad = { @@ -626,7 +473,7 @@ int16_t LR11x0::startChannelScan(const ChannelScanConfig_t &config) { RADIOLIB_ASSERT(state); // clear interrupt flags - state = clearIrq(RADIOLIB_LR11X0_IRQ_ALL); + state = clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); RADIOLIB_ASSERT(state); // set mode to CAD @@ -667,22 +514,22 @@ int16_t LR11x0::setBandwidth(float bw, bool high) { // ensure byte conversion doesn't overflow if (high) { - RADIOLIB_CHECK_RANGE(bw, 203.125, 815.0, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(bw, 203.125f, 815.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); - if(fabsf(bw - 203.125) <= 0.001) { + if(fabsf(bw - 203.125f) <= 0.001f) { this->bandwidth = RADIOLIB_LR11X0_LORA_BW_203_125; - } else if(fabsf(bw - 406.25) <= 0.001) { + } else if(fabsf(bw - 406.25f) <= 0.001f) { this->bandwidth = RADIOLIB_LR11X0_LORA_BW_406_25; - } else if(fabsf(bw - 812.5) <= 0.001) { + } else if(fabsf(bw - 812.5f) <= 0.001f) { this->bandwidth = RADIOLIB_LR11X0_LORA_BW_812_50; } else { return(RADIOLIB_ERR_INVALID_BANDWIDTH); } } else { - RADIOLIB_CHECK_RANGE(bw, 0.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(bw, 0.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); // check allowed bandwidth values - uint8_t bw_div2 = bw / 2 + 0.01; + uint8_t bw_div2 = bw / 2 + 0.01f; switch (bw_div2) { case 31: // 62.5: this->bandwidth = RADIOLIB_LR11X0_LORA_BW_62_5; @@ -736,10 +583,13 @@ int16_t LR11x0::setCodingRate(uint8_t cr, bool longInterleave) { return(RADIOLIB_ERR_WRONG_MODEM); } - RADIOLIB_CHECK_RANGE(cr, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE(cr, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); if(longInterleave) { switch(cr) { + case 4: + this->codingRate = 0; + break; case 5: case 6: this->codingRate = cr; @@ -773,7 +623,7 @@ int16_t LR11x0::setSyncWord(uint8_t syncWord) { } int16_t LR11x0::setBitRate(float br) { - RADIOLIB_CHECK_RANGE(br, 0.6, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(br, 0.6f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); // check active modem uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; @@ -785,8 +635,12 @@ int16_t LR11x0::setBitRate(float br) { // set bit rate value // TODO implement fractional bit rate configuration - this->bitRate = br * 1000.0; - return(setModulationParamsGFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); + this->bitRate = br * 1000.0f; + state = setModulationParamsGFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev); + RADIOLIB_ASSERT(state); + + // apply workaround + return(workaroundGFSK()); } int16_t LR11x0::setFrequencyDeviation(float freqDev) { @@ -800,13 +654,17 @@ int16_t LR11x0::setFrequencyDeviation(float freqDev) { // set frequency deviation to lowest available setting (required for digimodes) float newFreqDev = freqDev; - if(freqDev < 0.0) { - newFreqDev = 0.6; + if(freqDev < 0.0f) { + newFreqDev = 0.6f; } - RADIOLIB_CHECK_RANGE(newFreqDev, 0.6, 200.0, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); - this->frequencyDev = newFreqDev * 1000.0; - return(setModulationParamsGFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); + RADIOLIB_CHECK_RANGE(newFreqDev, 0.6f, 200.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + this->frequencyDev = newFreqDev * 1000.0f; + state = setModulationParamsGFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev); + RADIOLIB_ASSERT(state); + + // apply workaround + return(workaroundGFSK()); } int16_t LR11x0::setRxBandwidth(float rxBw) { @@ -823,55 +681,39 @@ int16_t LR11x0::setRxBandwidth(float rxBw) { return(RADIOLIB_ERR_INVALID_MODULATION_PARAMETERS); }*/ - // check allowed receiver bandwidth values - if(fabsf(rxBw - 4.8) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_4_8; - } else if(fabsf(rxBw - 5.8) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_5_8; - } else if(fabsf(rxBw - 7.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_7_3; - } else if(fabsf(rxBw - 9.7) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_9_7; - } else if(fabsf(rxBw - 11.7) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_11_7; - } else if(fabsf(rxBw - 14.6) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_14_6; - } else if(fabsf(rxBw - 19.5) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_19_5; - } else if(fabsf(rxBw - 23.4) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_23_4; - } else if(fabsf(rxBw - 29.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_29_3; - } else if(fabsf(rxBw - 39.0) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_39_0; - } else if(fabsf(rxBw - 46.9) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_46_9; - } else if(fabsf(rxBw - 58.6) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_58_6; - } else if(fabsf(rxBw - 78.2) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_78_2; - } else if(fabsf(rxBw - 93.8) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_93_8; - } else if(fabsf(rxBw - 117.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_117_3; - } else if(fabsf(rxBw - 156.2) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_156_2; - } else if(fabsf(rxBw - 187.2) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_187_2; - } else if(fabsf(rxBw - 234.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_234_3; - } else if(fabsf(rxBw - 312.0) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_312_0; - } else if(fabsf(rxBw - 373.6) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_373_6; - } else if(fabsf(rxBw - 467.0) <= 0.001) { - this->rxBandwidth = RADIOLIB_LR11X0_GFSK_RX_BW_467_0; - } else { - return(RADIOLIB_ERR_INVALID_RX_BANDWIDTH); - } + const uint8_t rxBwLut[] = { + RADIOLIB_LR11X0_GFSK_RX_BW_4_8, + RADIOLIB_LR11X0_GFSK_RX_BW_5_8, + RADIOLIB_LR11X0_GFSK_RX_BW_7_3, + RADIOLIB_LR11X0_GFSK_RX_BW_9_7, + RADIOLIB_LR11X0_GFSK_RX_BW_11_7, + RADIOLIB_LR11X0_GFSK_RX_BW_14_6, + RADIOLIB_LR11X0_GFSK_RX_BW_19_5, + RADIOLIB_LR11X0_GFSK_RX_BW_23_4, + RADIOLIB_LR11X0_GFSK_RX_BW_29_3, + RADIOLIB_LR11X0_GFSK_RX_BW_39_0, + RADIOLIB_LR11X0_GFSK_RX_BW_46_9, + RADIOLIB_LR11X0_GFSK_RX_BW_58_6, + RADIOLIB_LR11X0_GFSK_RX_BW_78_2, + RADIOLIB_LR11X0_GFSK_RX_BW_93_8, + RADIOLIB_LR11X0_GFSK_RX_BW_117_3, + RADIOLIB_LR11X0_GFSK_RX_BW_156_2, + RADIOLIB_LR11X0_GFSK_RX_BW_187_2, + RADIOLIB_LR11X0_GFSK_RX_BW_234_3, + RADIOLIB_LR11X0_GFSK_RX_BW_312_0, + RADIOLIB_LR11X0_GFSK_RX_BW_373_6, + RADIOLIB_LR11X0_GFSK_RX_BW_467_0, + }; + + state = findRxBw(rxBw, rxBwLut, sizeof(rxBwLut)/sizeof(rxBwLut[0]), 467.0f, &this->rxBandwidth); + RADIOLIB_ASSERT(state); // update modulation parameters - return(setModulationParamsGFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); + state = setModulationParamsGFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev); + RADIOLIB_ASSERT(state); + + // apply workaround + return(workaroundGFSK()); } int16_t LR11x0::setSyncWord(uint8_t* syncWord, size_t len) { @@ -915,27 +757,6 @@ int16_t LR11x0::setSyncWord(uint8_t* syncWord, size_t len) { return(RADIOLIB_ERR_WRONG_MODEM); } -int16_t LR11x0::setSyncBits(uint8_t *syncWord, uint8_t bitsLen) { - if((!syncWord) || (!bitsLen) || (bitsLen > 8*RADIOLIB_LR11X0_GFSK_SYNC_WORD_LEN)) { - return(RADIOLIB_ERR_INVALID_SYNC_WORD); - } - - // check active modem - uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - int16_t state = getPacketType(&type); - RADIOLIB_ASSERT(state); - if(type != RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - uint8_t bytesLen = bitsLen / 8; - if ((bitsLen % 8) != 0) { - bytesLen++; - } - - return(setSyncWord(syncWord, bytesLen)); -} - int16_t LR11x0::setNodeAddress(uint8_t nodeAddr) { // check active modem uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; @@ -982,7 +803,7 @@ int16_t LR11x0::disableAddressFiltering() { return(RADIOLIB_ERR_WRONG_MODEM); } - // disable address filterin + // disable address filtering this->addrComp = RADIOLIB_LR11X0_GFSK_ADDR_FILTER_DISABLED; return(setPacketParamsGFSK(this->preambleLengthGFSK, this->preambleDetLength, this->syncWordLength, this->addrComp, this->packetType, RADIOLIB_LR11X0_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); } @@ -1058,13 +879,26 @@ int16_t LR11x0::setWhitening(bool enabled, uint16_t initial) { return(setPacketParamsGFSK(this->preambleLengthGFSK, this->preambleDetLength, this->syncWordLength, this->addrComp, this->packetType, RADIOLIB_LR11X0_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); } -int16_t LR11x0::setDataRate(DataRate_t dr) { - // select interpretation based on active modem - uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - int16_t state = getPacketType(&type); +int16_t LR11x0::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); RADIOLIB_ASSERT(state); + + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } - if(type == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { // set the bit rate state = this->setBitRate(dr.fsk.bitRate); RADIOLIB_ASSERT(state); @@ -1072,7 +906,7 @@ int16_t LR11x0::setDataRate(DataRate_t dr) { // set the frequency deviation state = this->setFrequencyDeviation(dr.fsk.freqDev); - } else if(type == RADIOLIB_LR11X0_PACKET_TYPE_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { // set the spreading factor state = this->setSpreadingFactor(dr.lora.spreadingFactor); RADIOLIB_ASSERT(state); @@ -1084,39 +918,43 @@ int16_t LR11x0::setDataRate(DataRate_t dr) { // set the coding rate state = this->setCodingRate(dr.lora.codingRate); - } else if(type == RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { + } else if(modem == RADIOLIB_MODEM_LRFHSS) { // set the basic config state = this->setLrFhssConfig(dr.lrFhss.bw, dr.lrFhss.cr); RADIOLIB_ASSERT(state); // set hopping grid - this->lrFhssGrid = dr.lrFhss.narrowGrid ? RADIOLIB_LR11X0_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_LR11X0_LR_FHSS_GRID_STEP_FCC; + this->lrFhssGrid = dr.lrFhss.narrowGrid ? RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_FCC; } return(state); } -int16_t LR11x0::checkDataRate(DataRate_t dr) { - // select interpretation based on active modem - uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - int16_t state = getPacketType(&type); - RADIOLIB_ASSERT(state); +int16_t LR11x0::checkDataRate(DataRate_t dr, ModemType_t modem) { + int16_t state = RADIOLIB_ERR_UNKNOWN; - if(type == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { - RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.6, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 0.6, 200.0, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.6f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 0.6f, 200.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); return(RADIOLIB_ERR_NONE); - } else if(type == RADIOLIB_LR11X0_PACKET_TYPE_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); - RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); return(RADIOLIB_ERR_NONE); } - return(RADIOLIB_ERR_UNKNOWN); + return(state); } int16_t LR11x0::setPreambleLength(size_t preambleLength) { @@ -1129,6 +967,7 @@ int16_t LR11x0::setPreambleLength(size_t preambleLength) { return(setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, (uint8_t)this->invertIQEnabled)); } else if(type == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { this->preambleLengthGFSK = preambleLength; + //! \TODO: [LR11x0] this can probably be simplified with a simple calculation this->preambleDetLength = preambleLength >= 32 ? RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_32_BITS : preambleLength >= 24 ? RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_24_BITS : preambleLength >= 16 ? RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_16_BITS : @@ -1158,29 +997,29 @@ int16_t LR11x0::setTCXO(float voltage, uint32_t delay) { } // check 0 V disable - if(fabsf(voltage - 0.0) <= 0.001) { + if(fabsf(voltage - 0.0f) <= 0.001f) { setTcxoMode(0, 0); return(reset()); } // check allowed voltage values uint8_t tune = 0; - if(fabsf(voltage - 1.6) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_1_6; - } else if(fabsf(voltage - 1.7) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_1_7; - } else if(fabsf(voltage - 1.8) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_1_8; - } else if(fabsf(voltage - 2.2) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_2_2; - } else if(fabsf(voltage - 2.4) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_2_4; - } else if(fabsf(voltage - 2.7) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_2_7; - } else if(fabsf(voltage - 3.0) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_3_0; - } else if(fabsf(voltage - 3.3) <= 0.001) { - tune = RADIOLIB_LR11X0_TCXO_VOLTAGE_3_3; + if(fabsf(voltage - 1.6f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_6; + } else if(fabsf(voltage - 1.7f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_7; + } else if(fabsf(voltage - 1.8f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_8; + } else if(fabsf(voltage - 2.2f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_2; + } else if(fabsf(voltage - 2.4f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_4; + } else if(fabsf(voltage - 2.7f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_7; + } else if(fabsf(voltage - 3.0f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_3_0; + } else if(fabsf(voltage - 3.3f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_3_3; } else { return(RADIOLIB_ERR_INVALID_TCXO_VOLTAGE); } @@ -1202,7 +1041,7 @@ int16_t LR11x0::setCRC(uint8_t len, uint32_t initial, uint32_t polynomial, bool RADIOLIB_ASSERT(state); if(type == RADIOLIB_LR11X0_PACKET_TYPE_LORA) { // LoRa CRC doesn't allow to set CRC polynomial, initial value, or inversion - this->crcTypeLoRa = len > 0 ? RADIOLIB_LR11X0_LORA_CRC_ENABLED : RADIOLIB_LR11X0_LORA_CRC_DISABLED; + this->crcTypeLoRa = len > 0 ? RADIOLIB_LRXXXX_LORA_CRC_ENABLED : RADIOLIB_LRXXXX_LORA_CRC_DISABLED; state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, (uint8_t)this->invertIQEnabled); } else if(type == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { @@ -1229,6 +1068,7 @@ int16_t LR11x0::setCRC(uint8_t len, uint32_t initial, uint32_t polynomial, bool return(RADIOLIB_ERR_INVALID_CRC_CONFIGURATION); } + this->crcLenGFSK = len; state = setPacketParamsGFSK(this->preambleLengthGFSK, this->preambleDetLength, this->syncWordLength, this->addrComp, this->packetType, RADIOLIB_LR11X0_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening); RADIOLIB_ASSERT(state); @@ -1269,6 +1109,22 @@ float LR11x0::getRSSI() { return(val); } +float LR11x0::getRSSI(bool packet, bool skipReceive) { + float val = 0; + + // check if RSSI of packet is requested + if (packet) { + val = getRSSI(); + } else { + if(!skipReceive) { (void)startReceive(); } + int16_t state = getRssiInst(&val); + if(!skipReceive) { (void)standby(); } + if(state != RADIOLIB_ERR_NONE) { return(0); } + } + + return(val); +} + float LR11x0::getSNR() { float val = 0; @@ -1297,117 +1153,21 @@ size_t LR11x0::getPacketLength(bool update, uint8_t* offset) { // in implicit mode, return the cached value uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; (void)getPacketType(&type); - if((type == RADIOLIB_LR11X0_PACKET_TYPE_LORA) && (this->headerType == RADIOLIB_LR11X0_LORA_HEADER_IMPLICIT)) { + if((type == RADIOLIB_LR11X0_PACKET_TYPE_LORA) && (this->headerType == RADIOLIB_LRXXXX_LORA_HEADER_IMPLICIT)) { return(this->implicitLen); } uint8_t len = 0; - (void)getRxBufferStatus(&len, offset); + int state = getRxBufferStatus(&len, offset); + RADIOLIB_DEBUG_BASIC_PRINT("getRxBufferStatus state = %d\n", state); + (void)state; return((size_t)len); } RadioLibTime_t LR11x0::getTimeOnAir(size_t len) { - // check active modem - uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - (void)getPacketType(&type); - if(type == RADIOLIB_LR11X0_PACKET_TYPE_LORA) { - // calculate number of symbols - float N_symbol = 0; - if(this->codingRate <= RADIOLIB_LR11X0_LORA_CR_4_8_SHORT) { - // legacy coding rate - nice and simple - - // get SF coefficients - float coeff1 = 0; - int16_t coeff2 = 0; - int16_t coeff3 = 0; - if(this->spreadingFactor < 7) { - // SF5, SF6 - coeff1 = 6.25; - coeff2 = 4*this->spreadingFactor; - coeff3 = 4*this->spreadingFactor; - } else if(this->spreadingFactor < 11) { - // SF7. SF8, SF9, SF10 - coeff1 = 4.25; - coeff2 = 4*this->spreadingFactor + 8; - coeff3 = 4*this->spreadingFactor; - } else { - // SF11, SF12 - coeff1 = 4.25; - coeff2 = 4*this->spreadingFactor + 8; - coeff3 = 4*(this->spreadingFactor - 2); - } - - // get CRC length - int16_t N_bitCRC = 16; - if(this->crcTypeLoRa == RADIOLIB_LR11X0_LORA_CRC_DISABLED) { - N_bitCRC = 0; - } - - // get header length - int16_t N_symbolHeader = 20; - if(this->headerType == RADIOLIB_LR11X0_LORA_HEADER_IMPLICIT) { - N_symbolHeader = 0; - } - - // calculate number of LoRa preamble symbols - uint32_t N_symbolPreamble = (this->preambleLengthLoRa & 0x0F) * (uint32_t(1) << ((this->preambleLengthLoRa & 0xF0) >> 4)); - - // calculate the number of symbols - N_symbol = (float)N_symbolPreamble + coeff1 + 8.0 + ceilf((float)RADIOLIB_MAX((int16_t)(8 * len + N_bitCRC - coeff2 + N_symbolHeader), (int16_t)0) / (float)coeff3) * (float)(this->codingRate + 4); - - } else { - // long interleaving - abandon hope all ye who enter here - /// \todo implement this mess - SX1280 datasheet v3.0 section 7.4.4.2 - - } - - // get time-on-air in us - return(((uint32_t(1) << this->spreadingFactor) / this->bandwidthKhz) * N_symbol * 1000.0); - - } else if(type == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { - return(((uint32_t)len * 8 * 1000000UL) / this->bitRate); - - } else if(type == RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { - // calculate the number of bits based on coding rate - uint16_t N_bits; - switch(this->lrFhssCr) { - case RADIOLIB_LR11X0_LR_FHSS_CR_5_6: - N_bits = ((len * 6) + 4) / 5; // this is from the official LR11xx driver, but why the extra +4? - break; - case RADIOLIB_LR11X0_LR_FHSS_CR_2_3: - N_bits = (len * 3) / 2; - break; - case RADIOLIB_LR11X0_LR_FHSS_CR_1_2: - N_bits = len * 2; - break; - case RADIOLIB_LR11X0_LR_FHSS_CR_1_3: - N_bits = len * 3; - break; - default: - return(RADIOLIB_ERR_INVALID_CODING_RATE); - } - - // calculate number of bits when accounting for unaligned last block - uint16_t N_payBits = (N_bits / RADIOLIB_LR11X0_LR_FHSS_FRAG_BITS) * RADIOLIB_LR11X0_LR_FHSS_BLOCK_BITS; - uint16_t N_lastBlockBits = N_bits % RADIOLIB_LR11X0_LR_FHSS_FRAG_BITS; - if(N_lastBlockBits) { - N_payBits += N_lastBlockBits + 2; - } - - // add header bits - uint16_t N_totalBits = (RADIOLIB_LR11X0_LR_FHSS_HEADER_BITS * this->lrFhssHdrCount) + N_payBits; - return(((uint32_t)N_totalBits * 8 * 1000000UL) / RADIOLIB_LR11X0_LR_FHSS_BIT_RATE); - - } - - return(0); -} - -RadioLibTime_t LR11x0::calculateRxTimeout(RadioLibTime_t timeoutUs) { - // the timeout value is given in units of 30.52 microseconds - // the calling function should provide some extra width, as this number of units is truncated to integer - RadioLibTime_t timeout = timeoutUs / 30.52; - return(timeout); + ModemType_t modem; + getModem(&modem); + return(LRxxxx::getTimeOnAir(len, modem)); } uint32_t LR11x0::getIrqFlags() { @@ -1419,7 +1179,7 @@ int16_t LR11x0::setIrqFlags(uint32_t irq) { } int16_t LR11x0::clearIrqFlags(uint32_t irq) { - return(this->clearIrq(irq)); + return(this->clearIrqState(irq)); } uint8_t LR11x0::randomByte() { @@ -1429,15 +1189,11 @@ uint8_t LR11x0::randomByte() { } int16_t LR11x0::implicitHeader(size_t len) { - return(this->setHeaderType(RADIOLIB_LR11X0_LORA_HEADER_IMPLICIT, len)); + return(this->setHeaderType(RADIOLIB_LRXXXX_LORA_HEADER_IMPLICIT, len)); } int16_t LR11x0::explicitHeader() { - return(this->setHeaderType(RADIOLIB_LR11X0_LORA_HEADER_EXPLICIT)); -} - -float LR11x0::getDataRate() const { - return(this->dataRateMeasured); + return(this->setHeaderType(RADIOLIB_LRXXXX_LORA_HEADER_EXPLICIT)); } int16_t LR11x0::setRegulatorLDO() { @@ -1453,6 +1209,16 @@ int16_t LR11x0::setRxBoostedGainMode(bool en) { return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RX_BOOSTED, true, buff, sizeof(buff))); } +int16_t LR11x0::setOutputPower(int8_t power, uint8_t paSel, uint8_t regPaSupply, uint8_t paDutyCycle, uint8_t paHpSel, uint8_t rampTime) { + // set PA config + int16_t state = setPaConfig(paSel, regPaSupply, paDutyCycle, paHpSel); + RADIOLIB_ASSERT(state); + + // set output power + state = setTxParams(power, rampTime); + return(state); +} + void LR11x0::setRfSwitchTable(const uint32_t (&pins)[Module::RFSWITCH_MAX_PINS], const Module::RfSwitchMode_t table[]) { // find which pins are used uint8_t enable = 0; @@ -1464,7 +1230,7 @@ void LR11x0::setRfSwitchTable(const uint32_t (&pins)[Module::RFSWITCH_MAX_PINS], // only keep DIO pins, there may be some GPIOs in the switch tabke if(pins[i] & RFSWITCH_PIN_FLAG) { - enable |= 1UL << RADIOLIB_LR11X0_DIOx_VAL(pins[i]); + enable |= 1UL << RADIOLIB_LRXXXX_DIOx_VAL(pins[i]); } } @@ -1531,9 +1297,9 @@ int16_t LR11x0::setLrFhssConfig(uint8_t bw, uint8_t cr, uint8_t hdrCount, uint16 } // check and cache all parameters - RADIOLIB_CHECK_RANGE((int8_t)cr, (int8_t)RADIOLIB_LR11X0_LR_FHSS_CR_5_6, (int8_t)RADIOLIB_LR11X0_LR_FHSS_CR_1_3, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE((int8_t)cr, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_CR_5_6, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_CR_1_3, RADIOLIB_ERR_INVALID_CODING_RATE); this->lrFhssCr = cr; - RADIOLIB_CHECK_RANGE((int8_t)bw, (int8_t)RADIOLIB_LR11X0_LR_FHSS_BW_39_06, (int8_t)RADIOLIB_LR11X0_LR_FHSS_BW_1574_2, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE((int8_t)bw, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_BW_39_06, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_BW_1574_2, RADIOLIB_ERR_INVALID_BANDWIDTH); this->lrFhssBw = bw; RADIOLIB_CHECK_RANGE(hdrCount, 1, 4, RADIOLIB_ERR_INVALID_BIT_RANGE); this->lrFhssHdrCount = hdrCount; @@ -1542,169 +1308,6 @@ int16_t LR11x0::setLrFhssConfig(uint8_t bw, uint8_t cr, uint8_t hdrCount, uint16 return(RADIOLIB_ERR_NONE); } -int16_t LR11x0::startWifiScan(char wifiType, uint8_t mode, uint16_t chanMask, uint8_t numScans, uint16_t timeout) { - // LR1121 cannot do WiFi scanning - if(this->chipType == RADIOLIB_LR11X0_DEVICE_LR1121) { - return(RADIOLIB_ERR_UNSUPPORTED); - } - - uint8_t type; - switch(wifiType) { - case('b'): - type = RADIOLIB_LR11X0_WIFI_SCAN_802_11_B; - break; - case('g'): - type = RADIOLIB_LR11X0_WIFI_SCAN_802_11_G; - break; - case('n'): - type = RADIOLIB_LR11X0_WIFI_SCAN_802_11_N; - break; - case('*'): - type = RADIOLIB_LR11X0_WIFI_SCAN_ALL; - break; - default: - return(RADIOLIB_ERR_INVALID_WIFI_TYPE); - } - - // go to standby - int16_t state = standby(); - RADIOLIB_ASSERT(state); - - // reset cumulative timings - state = wifiResetCumulTimings(); - RADIOLIB_ASSERT(state); - - // set DIO mapping - state = setDioIrqParams(RADIOLIB_LR11X0_IRQ_WIFI_DONE); - RADIOLIB_ASSERT(state); - - // start scan with the maximum number of results and abort on timeout - this->wifiScanMode = mode; - state = wifiScan(type, chanMask, this->wifiScanMode, RADIOLIB_LR11X0_WIFI_MAX_NUM_RESULTS, numScans, timeout, RADIOLIB_LR11X0_WIFI_ABORT_ON_TIMEOUT_ENABLED); - return(state); -} - -void LR11x0::setWiFiScanAction(void (*func)(void)) { - this->setIrqAction(func); -} - -void LR11x0::clearWiFiScanAction() { - this->clearIrqAction(); -} - -int16_t LR11x0::getWifiScanResultsCount(uint8_t* count) { - // clear IRQ first, as this is likely to be called right after scan has finished - int16_t state = clearIrq(RADIOLIB_LR11X0_IRQ_ALL); - RADIOLIB_ASSERT(state); - - uint8_t buff[1] = { 0 }; - state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_GET_NB_RESULTS, false, buff, sizeof(buff)); - - // pass the replies - if(count) { *count = buff[0]; } - - return(state); -} - -int16_t LR11x0::getWifiScanResult(LR11x0WifiResult_t* result, uint8_t index, bool brief) { - RADIOLIB_ASSERT_PTR(result); - - // read a single result - uint8_t format = brief ? RADIOLIB_LR11X0_WIFI_RESULT_TYPE_BASIC : RADIOLIB_LR11X0_WIFI_RESULT_TYPE_COMPLETE; - uint8_t raw[RADIOLIB_LR11X0_WIFI_RESULT_MAX_LEN] = { 0 }; - int16_t state = wifiReadResults(index, 1, format, raw); - RADIOLIB_ASSERT(state); - - // parse the information - switch(raw[0] & 0x03) { - case(RADIOLIB_LR11X0_WIFI_SCAN_802_11_B): - result->type = 'b'; - break; - case(RADIOLIB_LR11X0_WIFI_SCAN_802_11_G): - result->type = 'g'; - break; - case(RADIOLIB_LR11X0_WIFI_SCAN_802_11_N): - result->type = 'n'; - break; - } - result->dataRateId = (raw[0] & 0xFC) >> 2; - result->channelFreq = 2407 + (raw[1] & 0x0F)*5; - result->origin = (raw[1] & 0x30) >> 4; - result->ap = (raw[1] & 0x40) != 0; - result->rssi = (float)raw[2] / -2.0f;; - memcpy(result->mac, &raw[3], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); - - if(!brief) { - if(this->wifiScanMode == RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_BEACON) { - LR11x0WifiResultExtended_t* resultExtended = reinterpret_cast(result); - resultExtended->rate = raw[3]; - resultExtended->service = (((uint16_t)raw[4] << 8) | ((uint16_t)raw[5])); - resultExtended->length = (((uint16_t)raw[6] << 8) | ((uint16_t)raw[7])); - resultExtended->frameType = raw[9] & 0x03; - resultExtended->frameSubType = (raw[9] & 0x3C) >> 2; - resultExtended->toDistributionSystem = (raw[9] & 0x40) != 0; - resultExtended->fromDistributionSystem = (raw[9] & 0x80) != 0; - memcpy(resultExtended->mac0, &raw[10], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); - memcpy(resultExtended->mac, &raw[16], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); - memcpy(resultExtended->mac2, &raw[22], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); - resultExtended->timestamp = (((uint64_t)raw[28] << 56) | ((uint64_t)raw[29] << 48)) | - (((uint64_t)raw[30] << 40) | ((uint64_t)raw[31] << 32)) | - (((uint64_t)raw[32] << 24) | ((uint64_t)raw[33] << 16)) | - (((uint64_t)raw[34] << 8) | (uint64_t)raw[35]); - resultExtended->periodBeacon = (((uint16_t)raw[36] << 8) | ((uint16_t)raw[37])) * 1024UL; - resultExtended->seqCtrl = (((uint16_t)raw[38] << 8) | ((uint16_t)raw[39])); - memcpy(resultExtended->ssid, &raw[40], RADIOLIB_LR11X0_WIFI_RESULT_SSID_LEN); - resultExtended->currentChannel = raw[72]; - memcpy(resultExtended->countryCode, &raw[73], 2); - resultExtended->countryCode[2] = '\0'; - resultExtended->ioReg = raw[75]; - resultExtended->fcsCheckOk = (raw[76] != 0); - resultExtended->phiOffset = (((uint16_t)raw[77] << 8) | ((uint16_t)raw[78])); - return(RADIOLIB_ERR_NONE); - } - - LR11x0WifiResultFull_t* resultFull = reinterpret_cast(result); - resultFull->frameType = raw[3] & 0x03; - resultFull->frameSubType = (raw[3] & 0x3C) >> 2; - resultFull->toDistributionSystem = (raw[3] & 0x40) != 0; - resultFull->fromDistributionSystem = (raw[3] & 0x80) != 0; - memcpy(resultFull->mac, &raw[4], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); - resultFull->phiOffset = (((uint16_t)raw[10] << 8) | ((uint16_t)raw[11])); - resultFull->timestamp = (((uint64_t)raw[12] << 56) | ((uint64_t)raw[13] << 48)) | - (((uint64_t)raw[14] << 40) | ((uint64_t)raw[15] << 32)) | - (((uint64_t)raw[16] << 24) | ((uint64_t)raw[17] << 16)) | - (((uint64_t)raw[18] << 8) | (uint64_t)raw[19]); - resultFull->periodBeacon = (((uint16_t)raw[20] << 8) | ((uint16_t)raw[21])) * 1024UL; - } - - return(RADIOLIB_ERR_NONE); -} - -int16_t LR11x0::wifiScan(uint8_t wifiType, uint8_t* count, uint8_t mode, uint16_t chanMask, uint8_t numScans, uint16_t timeout) { - RADIOLIB_ASSERT_PTR(count); - - // start scan - RADIOLIB_DEBUG_BASIC_PRINTLN("WiFi scan start"); - int16_t state = startWifiScan(wifiType, mode, chanMask, numScans, timeout); - RADIOLIB_ASSERT(state); - - // wait for scan finished or timeout - RadioLibTime_t softTimeout = 30UL * 1000UL; - RadioLibTime_t start = this->mod->hal->millis(); - while(!this->mod->hal->digitalRead(this->mod->getIrq())) { - this->mod->hal->yield(); - if(this->mod->hal->millis() - start > softTimeout) { - RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout waiting for IRQ"); - this->standby(); - return(RADIOLIB_ERR_RX_TIMEOUT); - } - } - RADIOLIB_DEBUG_BASIC_PRINTLN("WiFi scan done in %lu ms", (long unsigned int)(this->mod->hal->millis() - start)); - - // read number of results - return(getWifiScanResultsCount(count)); -} - int16_t LR11x0::getVersionInfo(LR11x0VersionInfo_t* info) { RADIOLIB_ASSERT_PTR(info); @@ -1765,7 +1368,7 @@ int16_t LR11x0::updateFirmware(const uint32_t* image, size_t size, bool nonvolat uint32_t offset = i * maxLen; uint32_t len = (i == (numWrites - 1)) ? rem : maxLen; RADIOLIB_DEBUG_BASIC_PRINTLN("Writing chunk %d at offset %08lx (%u words)", (int)i, (unsigned long)offset, (unsigned int)len); - this->bootWriteFlashEncrypted(offset*sizeof(uint32_t), (uint32_t*)&image[offset], len, nonvolatile); + this->bootWriteFlashEncrypted(offset*sizeof(uint32_t), const_cast(&image[offset]), len, nonvolatile); } // kick the device from bootloader @@ -1783,261 +1386,14 @@ int16_t LR11x0::updateFirmware(const uint32_t* image, size_t size, bool nonvolat return(state); } -int16_t LR11x0::isGnssScanCapable() { - // get the version - LR11x0VersionInfo_t version; - int16_t state = this->getVersionInfo(&version); - RADIOLIB_ASSERT(state); - - // check the device firmware version is sufficient - uint16_t versionFull = ((uint16_t)version.fwMajor << 8) | (uint16_t)version.fwMinor; - state = RADIOLIB_ERR_UNSUPPORTED; - if((version.device == RADIOLIB_LR11X0_DEVICE_LR1110) && (versionFull >= 0x0401)) { - state = RADIOLIB_ERR_NONE; - } else if((version.device == RADIOLIB_LR11X0_DEVICE_LR1120) && (versionFull >= 0x0201)) { - state = RADIOLIB_ERR_NONE; - } - RADIOLIB_ASSERT(state); - - // in debug mode, dump the almanac - #if RADIOLIB_DEBUG_PROTOCOL - uint32_t addr = 0; - uint16_t sz = 0; - state = this->gnssAlmanacReadAddrSize(&addr, &sz); - RADIOLIB_ASSERT(state); - RADIOLIB_DEBUG_BASIC_PRINTLN("Almanac@%08x, %d bytes", addr, sz); - uint32_t buff[32] = { 0 }; - while(sz > 0) { - size_t len = sz > 32 ? 32 : sz/sizeof(uint32_t); - state = this->readRegMem32(addr, buff, len); - RADIOLIB_ASSERT(state); - RADIOLIB_DEBUG_HEXDUMP(NULL, (uint8_t*)buff, len*sizeof(uint32_t), addr); - addr += len*sizeof(uint32_t); - sz -= len*sizeof(uint32_t); - } - - uint8_t almanac[22] = { 0 }; - for(uint8_t i = 0; i < 128; i++) { - RADIOLIB_DEBUG_BASIC_PRINTLN("Almanac[%d]:", i); - state = this->gnssAlmanacReadSV(i, almanac); - RADIOLIB_ASSERT(state); - RADIOLIB_DEBUG_HEXDUMP(NULL, almanac, 22); - } - - #endif - - return(state); -} - -int16_t LR11x0::gnssScan(LR11x0GnssResult_t* res) { - RADIOLIB_ASSERT_PTR(res); - - // go to standby - int16_t state = standby(); - RADIOLIB_ASSERT(state); - - // set DIO mapping - state = setDioIrqParams(RADIOLIB_LR11X0_IRQ_GNSS_DONE | RADIOLIB_LR11X0_IRQ_GNSS_ABORT); - RADIOLIB_ASSERT(state); - - // set scan mode (single vs multiple) - state = this->gnssSetMode(0x03); - RADIOLIB_ASSERT(state); - - // set RF switch - this->mod->setRfSwitchState(LR11x0::MODE_GNSS); - - // start scan with high effort - RADIOLIB_DEBUG_BASIC_PRINTLN("GNSS scan start"); - state = this->gnssPerformScan(RADIOLIB_LR11X0_GNSS_EFFORT_MID, 0x3C, 16); - RADIOLIB_ASSERT(state); - - // wait for scan finished or timeout - // this can take very long if both GPS and BeiDou are enabled - RadioLibTime_t softTimeout = 300UL * 1000UL; - RadioLibTime_t start = this->mod->hal->millis(); - while(!this->mod->hal->digitalRead(this->mod->getIrq())) { - this->mod->hal->yield(); - if(this->mod->hal->millis() - start > softTimeout) { - this->gnssAbort(); - RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout waiting for IRQ"); - } - } - - // restore the switch - this->mod->setRfSwitchState(Module::MODE_IDLE); - RADIOLIB_DEBUG_BASIC_PRINTLN("GNSS scan done in %lu ms", (long unsigned int)(this->mod->hal->millis() - start)); - - // distinguish between GNSS-done and GNSS-abort outcomes and clear the flags - uint32_t irq = this->getIrqStatus(); - this->clearIrq(RADIOLIB_LR11X0_IRQ_ALL); - if(irq & RADIOLIB_LR11X0_IRQ_GNSS_ABORT) { - return(RADIOLIB_ERR_RX_TIMEOUT); - } - - // retrieve the demodulator status - uint8_t info = 0; - state = this->gnssReadDemodStatus(&res->demodStat, &info); - RADIOLIB_ASSERT(state); - RADIOLIB_DEBUG_BASIC_PRINTLN("Demod status %d, info %02x", (int)res->demodStat, (unsigned int)info); - - // retrieve the number of detected satellites - state = this->gnssGetNbSvDetected(&res->numSatsDet); - RADIOLIB_ASSERT(state); - - // retrieve the result size - state = this->gnssGetResultSize(&res->resSize); - RADIOLIB_ASSERT(state); - - // check and return demodulator status - if(res->demodStat < RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOW_FOUND) { - return(RADIOLIB_ERR_GNSS_DEMOD(res->demodStat)); - } - - return(state); -} - -int16_t LR11x0::getGnssAlmanacStatus(LR11x0GnssAlmanacStatus_t *stat) { - RADIOLIB_ASSERT_PTR(stat); - - // save the time the time until subframe is relative to - stat->start = this->mod->hal->millis(); - - // get the raw data - uint8_t raw[53] = { 0 }; - int16_t state = this->gnssReadAlmanacStatus(raw); - RADIOLIB_ASSERT(state); - - // parse the reply - stat->gps.status = (int8_t)raw[0]; - stat->gps.timeUntilSubframe = ((uint32_t)(raw[1]) << 24) | ((uint32_t)(raw[2]) << 16) | ((uint32_t)(raw[3]) << 8) | (uint32_t)raw[4]; - stat->gps.numSubframes = raw[5]; - stat->gps.nextSubframe4SvId = raw[6]; - stat->gps.nextSubframe5SvId = raw[7]; - stat->gps.nextSubframeStart = raw[8]; - stat->gps.numUpdateNeeded = raw[9]; - stat->gps.flagsUpdateNeeded[0] = ((uint32_t)(raw[10]) << 24) | ((uint32_t)(raw[11]) << 16) | ((uint32_t)(raw[12]) << 8) | (uint32_t)raw[13]; - stat->gps.flagsActive[0] = ((uint32_t)(raw[14]) << 24) | ((uint32_t)(raw[15]) << 16) | ((uint32_t)(raw[16]) << 8) | (uint32_t)raw[17]; - stat->beidou.status = (int8_t)raw[18]; - stat->beidou.timeUntilSubframe = ((uint32_t)(raw[19]) << 24) | ((uint32_t)(raw[20]) << 16) | ((uint32_t)(raw[21]) << 8) | (uint32_t)raw[22]; - stat->beidou.numSubframes = raw[23]; - stat->beidou.nextSubframe4SvId = raw[24]; - stat->beidou.nextSubframe5SvId = raw[25]; - stat->beidou.nextSubframeStart = raw[26]; - stat->beidou.numUpdateNeeded = raw[27]; - stat->beidou.flagsUpdateNeeded[0] = ((uint32_t)(raw[28]) << 24) | ((uint32_t)(raw[29]) << 16) | ((uint32_t)(raw[30]) << 8) | (uint32_t)raw[31]; - stat->beidou.flagsUpdateNeeded[1] = ((uint32_t)(raw[32]) << 24) | ((uint32_t)(raw[33]) << 16) | ((uint32_t)(raw[34]) << 8) | (uint32_t)raw[35]; - stat->beidou.flagsActive[0] = ((uint32_t)(raw[36]) << 24) | ((uint32_t)(raw[37]) << 16) | ((uint32_t)(raw[38]) << 8) | (uint32_t)raw[39]; - stat->beidou.flagsActive[1] = ((uint32_t)(raw[40]) << 24) | ((uint32_t)(raw[41]) << 16) | ((uint32_t)(raw[42]) << 8) | (uint32_t)raw[43]; - stat->beidouSvNoAlmanacFlags[0] = ((uint32_t)(raw[44]) << 24) | ((uint32_t)(raw[45]) << 16) | ((uint32_t)(raw[46]) << 8) | (uint32_t)raw[47]; - stat->beidouSvNoAlmanacFlags[1] = ((uint32_t)(raw[18]) << 24) | ((uint32_t)(raw[49]) << 16) | ((uint32_t)(raw[50]) << 8) | (uint32_t)raw[51]; - stat->nextAlmanacId = raw[52]; - - return(state); -} - -int16_t LR11x0::gnssDelayUntilSubframe(LR11x0GnssAlmanacStatus_t *stat, uint8_t constellation) { - RADIOLIB_ASSERT_PTR(stat); - - // almanac update has to be called at least 1.3 seconds before the subframe - // we use 2.3 seconds to be on the safe side - - // calculate absolute times - RadioLibTime_t window = stat->start + stat->gps.timeUntilSubframe - 2300; - if(constellation == RADIOLIB_LR11X0_GNSS_CONSTELLATION_BEIDOU) { - window = stat->start + stat->beidou.timeUntilSubframe - 2300; - } - RadioLibTime_t now = this->mod->hal->millis(); - if(now > window) { - // we missed the window - return(RADIOLIB_ERR_GNSS_SUBFRAME_NOT_AVAILABLE); - } - - RadioLibTime_t delay = window - now; - RADIOLIB_DEBUG_BASIC_PRINTLN("Time until subframe %lu ms", delay); - this->mod->hal->delay(delay); - return(RADIOLIB_ERR_NONE); -} - -// TODO fix last satellite always out of date -int16_t LR11x0::updateGnssAlmanac(uint8_t constellation) { - int16_t state = this->setDioIrqParams(RADIOLIB_LR11X0_IRQ_GNSS_DONE | RADIOLIB_LR11X0_IRQ_GNSS_ABORT); - RADIOLIB_ASSERT(state); - - state = this->gnssAlmanacUpdateFromSat(RADIOLIB_LR11X0_GNSS_EFFORT_MID, constellation); - RADIOLIB_ASSERT(state); - - // wait for scan finished or timeout, assumes 2 subframes and up to 2.3s pre-roll - uint32_t softTimeout = 16UL * 1000UL; - uint32_t start = this->mod->hal->millis(); - while (!this->mod->hal->digitalRead(this->mod->getIrq())) { - this->mod->hal->yield(); - if(this->mod->hal->millis() - start > softTimeout) { - this->gnssAbort(); - RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout waiting for almanac update"); - } - } - - RADIOLIB_DEBUG_BASIC_PRINTLN("GPS almanac update done in %lu ms", (long unsigned int)(this->mod->hal->millis() - start)); - - // distinguish between GNSS-done and GNSS-abort outcomes and clear the flags - uint32_t irq = this->getIrqStatus(); - this->clearIrq(RADIOLIB_LR11X0_IRQ_ALL); - if(irq & RADIOLIB_LR11X0_IRQ_GNSS_ABORT) { - state = RADIOLIB_ERR_RX_TIMEOUT; - } - - return(state); -} - -int16_t LR11x0::getGnssPosition(LR11x0GnssPosition_t* pos, bool filtered) { - RADIOLIB_ASSERT_PTR(pos); - - uint8_t error = 0; - int16_t state; - if(filtered) { - state = this->gnssReadDopplerSolverRes(&error, &pos->numSatsUsed, NULL, NULL, NULL, NULL, &pos->latitude, &pos->longitude, &pos->accuracy, NULL); - } else { - state = this->gnssReadDopplerSolverRes(&error, &pos->numSatsUsed, &pos->latitude, &pos->longitude, &pos->accuracy, NULL, NULL, NULL, NULL, NULL); - } - RADIOLIB_ASSERT(state); - - // check the solver error - if(error != 0) { - return(RADIOLIB_ERR_GNSS_SOLVER(error)); - } - - return(state); -} - -int16_t LR11x0::getGnssSatellites(LR11x0GnssSatellite_t* sats, uint8_t numSats) { - RADIOLIB_ASSERT_PTR(sats); - if(numSats >= 32) { - return(RADIOLIB_ERR_MEMORY_ALLOCATION_FAILED); - } - - uint8_t svId[32] = { 0 }; - uint8_t snr[32] = { 0 }; - int16_t doppler[32] = { 0 }; - int16_t state = this->gnssGetSvDetected(svId, snr, doppler, numSats); - RADIOLIB_ASSERT(state); - for(size_t i = 0; i < numSats; i++) { - sats[i].svId = svId[i]; - sats[i].c_n0 = snr[i] + 31; - sats[i].doppler = doppler[i]; - } - - return(state); -} - int16_t LR11x0::getModem(ModemType_t* modem) { RADIOLIB_ASSERT_PTR(modem); - uint8_t packetType = RADIOLIB_LR11X0_PACKET_TYPE_NONE; - int16_t state = getPacketType(&packetType); + uint8_t type = RADIOLIB_LR11X0_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); RADIOLIB_ASSERT(state); - switch(packetType) { + switch(type) { case(RADIOLIB_LR11X0_PACKET_TYPE_LORA): *modem = ModemType_t::RADIOLIB_MODEM_LORA; return(RADIOLIB_ERR_NONE); @@ -2052,21 +1408,173 @@ int16_t LR11x0::getModem(ModemType_t* modem) { return(RADIOLIB_ERR_WRONG_MODEM); } +int16_t LR11x0::stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) { + int16_t state; + + switch(mode) { + case(RADIOLIB_RADIO_MODE_RX): { + // check active modem + uint8_t modem = RADIOLIB_LR11X0_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if((modem != RADIOLIB_LR11X0_PACKET_TYPE_LORA) && + (modem != RADIOLIB_LR11X0_PACKET_TYPE_GFSK)) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set DIO mapping + if(cfg->receive.timeout != RADIOLIB_LR11X0_RX_TIMEOUT_INF) { + cfg->receive.irqMask |= (1UL << RADIOLIB_IRQ_TIMEOUT); + } + state = setDioIrqParams(getIrqMapped(cfg->receive.irqFlags & cfg->receive.irqMask)); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + state = clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); + RADIOLIB_ASSERT(state); + + // set implicit mode and expected len if applicable + if((this->headerType == RADIOLIB_LRXXXX_LORA_HEADER_IMPLICIT) && (modem == RADIOLIB_LR11X0_PACKET_TYPE_LORA)) { + state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, this->invertIQEnabled); + RADIOLIB_ASSERT(state); + } + + // if max(uint32_t) is used, revert to RxContinuous + if(cfg->receive.timeout == 0xFFFFFFFF) { + cfg->receive.timeout = 0xFFFFFF; + } + this->rxTimeout = cfg->receive.timeout; + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + // check packet length + if(cfg->transmit.len > RADIOLIB_LR11X0_MAX_PACKET_LENGTH) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // maximum packet length is decreased by 1 when address filtering is active + if((this->addrComp != RADIOLIB_LR11X0_GFSK_ADDR_FILTER_DISABLED) && (cfg->transmit.len > RADIOLIB_LR11X0_MAX_PACKET_LENGTH - 1)) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // set packet Length + uint8_t modem = RADIOLIB_LR11X0_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if(modem == RADIOLIB_LR11X0_PACKET_TYPE_LORA) { + state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, cfg->transmit.len, this->crcTypeLoRa, this->invertIQEnabled); + + } else if(modem == RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { + state = setPacketParamsGFSK(this->preambleLengthGFSK, this->preambleDetLength, this->syncWordLength, this->addrComp, this->packetType, cfg->transmit.len, this->crcTypeGFSK, this->whitening); + + } else if(modem != RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { + return(RADIOLIB_ERR_UNKNOWN); + + } + RADIOLIB_ASSERT(state); + + // set DIO mapping + state = setDioIrqParams(RADIOLIB_LR11X0_IRQ_TX_DONE | RADIOLIB_LR11X0_IRQ_TIMEOUT); + RADIOLIB_ASSERT(state); + + if(modem == RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS) { + // in LR-FHSS mode, the packet is built by the device + // TODO add configurable device offset + state = LRxxxx::lrFhssBuildFrame(RADIOLIB_LR11X0_CMD_LR_FHSS_BUILD_FRAME, this->lrFhssHdrCount, this->lrFhssCr, this->lrFhssGrid, true, this->lrFhssBw, this->lrFhssHopSeq, 0, cfg->transmit.data, cfg->transmit.len); + RADIOLIB_ASSERT(state); + + } else { + // write packet to buffer + state = writeBuffer8(cfg->transmit.data, cfg->transmit.len); + RADIOLIB_ASSERT(state); + + } + + // clear interrupt flags + state = clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); + RADIOLIB_ASSERT(state); + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = mode; + return(state); +} + +int16_t LR11x0::launchMode() { + int16_t state; + switch(this->stagedMode) { + case(RADIOLIB_RADIO_MODE_RX): { + this->mod->setRfSwitchState(Module::MODE_RX); + state = setRx(this->rxTimeout); + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + this->mod->setRfSwitchState(Module::MODE_TX); + state = setTx(RADIOLIB_LR11X0_TX_TIMEOUT_NONE); + RADIOLIB_ASSERT(state); + + // wait for BUSY to go low (= PA ramp up done) + while(this->mod->hal->digitalRead(this->mod->getGpio())) { + this->mod->hal->yield(); + } + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = RADIOLIB_RADIO_MODE_NONE; + return(state); +} + +int16_t LR11x0::workaroundGFSK() { + // first, check we are using GFSK modem + uint8_t modem = RADIOLIB_LR11X0_PACKET_TYPE_NONE; + int16_t state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if(modem != RADIOLIB_LR11X0_PACKET_TYPE_GFSK) { + // not in GFSK, nothing to do here + return(RADIOLIB_ERR_NONE); + } + + // this seems to always be the first step (even when resetting) + state = this->writeRegMemMask32(RADIOLIB_LR11X0_REG_GFSK_FIX1, 0x30, 0x10); + RADIOLIB_ASSERT(state); + + // these are the default values that will be applied if nothing matches + uint32_t valFix2 = 0x01; + uint32_t valFix3 = 0x0A01; + + // next, decide what to change based on modulation properties + if((this->bitRate == 1200) && (this->frequencyDev == 5000) && (this->rxBandwidth == RADIOLIB_LR11X0_GFSK_RX_BW_19_5)) { + // workaround for 1.2 kbps + valFix2 = 0x04; + + } else if((this->bitRate == 600) && (this->frequencyDev == 800) && (this->rxBandwidth == RADIOLIB_LR11X0_GFSK_RX_BW_4_8)) { + // value to write depends on the frequency + valFix3 = (this->freqMHz >= 1000.0f) ? 0x1100 : 0x0600; + + } + + // update the registers + state = this->writeRegMemMask32(RADIOLIB_LR11X0_REG_GFSK_FIX2, 0x05, valFix2); + RADIOLIB_ASSERT(state); + return(this->writeRegMemMask32(RADIOLIB_LR11X0_REG_GFSK_FIX3, 0x01FF03, valFix3)); +} + int16_t LR11x0::modSetup(float tcxoVoltage, uint8_t modem) { this->mod->init(); this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); this->mod->hal->pinMode(this->mod->getGpio(), this->mod->hal->GpioModeInput); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_32; - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_16; - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_8; - this->mod->spiConfig.statusPos = 0; this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_READ] = RADIOLIB_LR11X0_CMD_READ_REG_MEM; this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE] = RADIOLIB_LR11X0_CMD_WRITE_REG_MEM; this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_NOP] = RADIOLIB_LR11X0_CMD_NOP; this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_LR11X0_CMD_GET_STATUS; - this->mod->spiConfig.stream = true; - this->mod->spiConfig.parseStatusCb = SPIparseStatus; - this->mod->spiConfig.checkStatusCb = SPIcheckStatus; + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_32; + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_8; this->gnss = false; // try to find the LR11x0 chip - this will also reset the module at least once @@ -2082,7 +1590,7 @@ int16_t LR11x0::modSetup(float tcxoVoltage, uint8_t modem) { RADIOLIB_ASSERT(state); // set TCXO control, if requested - if(!this->XTAL && tcxoVoltage > 0.0) { + if(!this->XTAL && tcxoVoltage > 0.0f) { state = setTCXO(tcxoVoltage); RADIOLIB_ASSERT(state); } @@ -2091,51 +1599,6 @@ int16_t LR11x0::modSetup(float tcxoVoltage, uint8_t modem) { return(config(modem)); } -int16_t LR11x0::SPIparseStatus(uint8_t in) { - if((in & 0b00001110) == RADIOLIB_LR11X0_STAT_1_CMD_PERR) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } else if((in & 0b00001110) == RADIOLIB_LR11X0_STAT_1_CMD_FAIL) { - return(RADIOLIB_ERR_SPI_CMD_FAILED); - } else if((in == 0x00) || (in == 0xFF)) { - return(RADIOLIB_ERR_CHIP_NOT_FOUND); - } - return(RADIOLIB_ERR_NONE); -} - -int16_t LR11x0::SPIcheckStatus(Module* mod) { - // the status check command doesn't return status in the same place as other read commands, - // but only as the first byte (as with any other command), hence LR11x0::SPIcommand can't be used - // it also seems to ignore the actual command, and just sending in bunch of NOPs will work - uint8_t buff[6] = { 0 }; - mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_0; - int16_t state = mod->SPItransferStream(NULL, 0, false, NULL, buff, sizeof(buff), true); - mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_8; - RADIOLIB_ASSERT(state); - return(LR11x0::SPIparseStatus(buff[0])); -} - -int16_t LR11x0::SPIcommand(uint16_t cmd, bool write, uint8_t* data, size_t len, uint8_t* out, size_t outLen) { - int16_t state = RADIOLIB_ERR_UNKNOWN; - if(!write) { - // the SPI interface of LR11x0 requires two separate transactions for reading - // send the 16-bit command - state = this->mod->SPIwriteStream(cmd, out, outLen, true, false); - RADIOLIB_ASSERT(state); - - // read the result without command - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_0; - state = this->mod->SPIreadStream(RADIOLIB_LR11X0_CMD_NOP, data, len, true, false); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_16; - - } else { - // write is just a single transaction - state = this->mod->SPIwriteStream(cmd, data, len, true, true); - - } - - return(state); -} - bool LR11x0::findChip(uint8_t ver) { uint8_t i = 0; bool flagFound = false; @@ -2148,13 +1611,16 @@ bool LR11x0::findChip(uint8_t ver) { int16_t state = getVersionInfo(&info); RADIOLIB_ASSERT(state); - if(info.device == ver) { + if((info.device == ver) || (info.device == RADIOLIB_LR11X0_DEVICE_BOOT)) { RADIOLIB_DEBUG_BASIC_PRINTLN("Found LR11x0: RADIOLIB_LR11X0_CMD_GET_VERSION = 0x%02x", info.device); RADIOLIB_DEBUG_BASIC_PRINTLN("Base FW version: %d.%d", (int)info.fwMajor, (int)info.fwMinor); if(this->chipType != RADIOLIB_LR11X0_DEVICE_LR1121) { RADIOLIB_DEBUG_BASIC_PRINTLN("WiFi FW version: %d.%d", (int)info.fwMajorWiFi, (int)info.fwMinorWiFi); RADIOLIB_DEBUG_BASIC_PRINTLN("GNSS FW version: %d.%d", (int)info.fwGNSS, (int)info.almanacGNSS); } + if(info.device == RADIOLIB_LR11X0_DEVICE_BOOT) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Warning: device is in bootloader mode! Only FW update is possible now."); + } flagFound = true; } else { RADIOLIB_DEBUG_BASIC_PRINTLN("LR11x0 not found! (%d of 10 tries) RADIOLIB_LR11X0_CMD_GET_VERSION = 0x%02x", i + 1, info.device); @@ -2163,6 +1629,7 @@ bool LR11x0::findChip(uint8_t ver) { i++; } } + return(flagFound); } @@ -2175,12 +1642,12 @@ int16_t LR11x0::config(uint8_t modem) { RADIOLIB_ASSERT(state); // clear IRQ - state = this->clearIrq(RADIOLIB_LR11X0_IRQ_ALL); + state = this->clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); state |= this->setDioIrqParams(RADIOLIB_LR11X0_IRQ_NONE); RADIOLIB_ASSERT(state); // calibrate all blocks - (void)this->calibrate(RADIOLIB_LR11X0_CALIBRATE_ALL); + state = this->calibrate(RADIOLIB_LR11X0_CALIBRATE_ALL); // wait for calibration completion this->mod->hal->delay(5); @@ -2197,6 +1664,8 @@ int16_t LR11x0::config(uint8_t modem) { getErrors(&errors); RADIOLIB_DEBUG_BASIC_PRINTLN("Calibration failed, device errors: 0x%X", errors); } + #else + RADIOLIB_ASSERT(state); #endif // set modem @@ -2289,1660 +1758,4 @@ Module* LR11x0::getMod() { return(this->mod); } -int16_t LR11x0::writeRegMem32(uint32_t addr, uint32_t* data, size_t len) { - // check maximum size - if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - return(this->writeCommon(RADIOLIB_LR11X0_CMD_WRITE_REG_MEM, addr, data, len, false)); -} - -int16_t LR11x0::readRegMem32(uint32_t addr, uint32_t* data, size_t len) { - // check maximum size - if(len >= (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - // the request contains the address and length - uint8_t reqBuff[5] = { - (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), - (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), - (uint8_t)len, - }; - - // build buffers - later we need to ensure endians are correct, - // so there is probably no way to do this without copying buffers and iterating - #if RADIOLIB_STATIC_ONLY - uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* rplBuff = new uint8_t[len*sizeof(uint32_t)]; - #endif - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_READ_REG_MEM, false, rplBuff, len*sizeof(uint32_t), reqBuff, sizeof(reqBuff)); - - // convert endians - if(data && (state == RADIOLIB_ERR_NONE)) { - for(size_t i = 0; i < len; i++) { - data[i] = ((uint32_t)rplBuff[2 + i*sizeof(uint32_t)] << 24) | ((uint32_t)rplBuff[3 + i*sizeof(uint32_t)] << 16) | ((uint32_t)rplBuff[4 + i*sizeof(uint32_t)] << 8) | (uint32_t)rplBuff[5 + i*sizeof(uint32_t)]; - } - } - - #if !RADIOLIB_STATIC_ONLY - delete[] rplBuff; - #endif - - return(state); -} - -int16_t LR11x0::writeBuffer8(uint8_t* data, size_t len) { - // check maximum size - if(len > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WRITE_BUFFER, true, data, len)); -} - -int16_t LR11x0::readBuffer8(uint8_t* data, size_t len, size_t offset) { - // check maximum size - if(len > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - // build buffers - size_t reqLen = 2*sizeof(uint8_t) + len; - #if RADIOLIB_STATIC_ONLY - uint8_t reqBuff[sizeof(uint32_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* reqBuff = new uint8_t[reqLen]; - #endif - - // set the offset and length - reqBuff[0] = (uint8_t)offset; - reqBuff[1] = (uint8_t)len; - - // send the request - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_READ_BUFFER, false, data, len, reqBuff, reqLen); - #if !RADIOLIB_STATIC_ONLY - delete[] reqBuff; - #endif - return(state); -} - -int16_t LR11x0::clearRxBuffer(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CLEAR_RX_BUFFER, true, NULL, 0)); -} - -int16_t LR11x0::writeRegMemMask32(uint32_t addr, uint32_t mask, uint32_t data) { - uint8_t buff[12] = { - (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), - (uint8_t)((mask >> 24) & 0xFF), (uint8_t)((mask >> 16) & 0xFF), (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), - (uint8_t)((data >> 24) & 0xFF), (uint8_t)((data >> 16) & 0xFF), (uint8_t)((data >> 8) & 0xFF), (uint8_t)(data & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WRITE_REG_MEM_MASK, true, buff, sizeof(buff))); -} - -int16_t LR11x0::getStatus(uint8_t* stat1, uint8_t* stat2, uint32_t* irq) { - uint8_t buff[6] = { 0 }; - - // the status check command doesn't return status in the same place as other read commands - // but only as the first byte (as with any other command), hence LR11x0::SPIcommand can't be used - // it also seems to ignore the actual command, and just sending in bunch of NOPs will work - int16_t state = this->mod->SPItransferStream(NULL, 0, false, NULL, buff, sizeof(buff), true); - - // pass the replies - if(stat1) { *stat1 = buff[0]; } - if(stat2) { *stat2 = buff[1]; } - if(irq) { *irq = ((uint32_t)(buff[2]) << 24) | ((uint32_t)(buff[3]) << 16) | ((uint32_t)(buff[4]) << 8) | (uint32_t)buff[5]; } - - return(state); -} - -int16_t LR11x0::getVersion(uint8_t* hw, uint8_t* device, uint8_t* major, uint8_t* minor) { - uint8_t buff[4] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_VERSION, false, buff, sizeof(buff)); - - // pass the replies - if(hw) { *hw = buff[0]; } - if(device) { *device = buff[1]; } - if(major) { *major = buff[2]; } - if(minor) { *minor = buff[3]; } - - return(state); -} - -int16_t LR11x0::getErrors(uint16_t* err) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_ERRORS, false, buff, sizeof(buff)); - - // pass the replies - if(err) { *err = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } - - return(state); -} - -int16_t LR11x0::clearErrors(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CLEAR_ERRORS, true, NULL, 0)); -} - -int16_t LR11x0::calibrate(uint8_t params) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CALIBRATE, true, ¶ms, 1)); -} - -int16_t LR11x0::setRegMode(uint8_t mode) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_REG_MODE, true, &mode, 1)); -} - -int16_t LR11x0::calibrateImageRejection(float freqMin, float freqMax) { - uint8_t buff[2] = { - (uint8_t)floor((freqMin - 1.0f) / 4.0f), - (uint8_t)ceil((freqMax + 1.0f) / 4.0f) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CALIB_IMAGE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setDioAsRfSwitch(uint8_t en, uint8_t stbyCfg, uint8_t rxCfg, uint8_t txCfg, uint8_t txHpCfg, uint8_t txHfCfg, uint8_t gnssCfg, uint8_t wifiCfg) { - uint8_t buff[8] = { en, stbyCfg, rxCfg, txCfg, txHpCfg, txHfCfg, gnssCfg, wifiCfg }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_DIO_AS_RF_SWITCH, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setDioIrqParams(uint32_t irq1, uint32_t irq2) { - uint8_t buff[8] = { - (uint8_t)((irq1 >> 24) & 0xFF), (uint8_t)((irq1 >> 16) & 0xFF), (uint8_t)((irq1 >> 8) & 0xFF), (uint8_t)(irq1 & 0xFF), - (uint8_t)((irq2 >> 24) & 0xFF), (uint8_t)((irq2 >> 16) & 0xFF), (uint8_t)((irq2 >> 8) & 0xFF), (uint8_t)(irq2 & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_DIO_IRQ_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setDioIrqParams(uint32_t irq) { - return(setDioIrqParams(irq, this->gnss ? 0 : irq)); -} - -int16_t LR11x0::clearIrq(uint32_t irq) { - uint8_t buff[4] = { - (uint8_t)((irq >> 24) & 0xFF), (uint8_t)((irq >> 16) & 0xFF), (uint8_t)((irq >> 8) & 0xFF), (uint8_t)(irq & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CLEAR_IRQ, true, buff, sizeof(buff))); -} - -int16_t LR11x0::configLfClock(uint8_t setup) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CONFIG_LF_CLOCK, true, &setup, 1)); -} - -int16_t LR11x0::setTcxoMode(uint8_t tune, uint32_t delay) { - uint8_t buff[4] = { - tune, (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TCXO_MODE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::reboot(bool stay) { - uint8_t buff[1] = { (uint8_t)(stay*3) }; - return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_REBOOT, buff, sizeof(buff), true, false)); -} - -int16_t LR11x0::getVbat(float* vbat) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_VBAT, false, buff, sizeof(buff)); - - // pass the replies - if(vbat) { *vbat = (((float)buff[0]/51.0f) - 1.0f)*1.35f; } - - return(state); -} - -int16_t LR11x0::getTemp(float* temp) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_TEMP, false, buff, sizeof(buff)); - - // pass the replies - if(temp) { - uint16_t raw = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; - raw = raw & 0x07FF; //According LR1121 datasheet we need [0..10] bits - *temp = 25.0f - (1000.0f/1.7f)*(((float)raw/2047.0f)*1.35f - 0.7295f); //According LR1121 datasheet 1.35 - } - - return(state); -} - -int16_t LR11x0::setFs(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_FS, true, NULL, 0)); -} - -int16_t LR11x0::getRandomNumber(uint32_t* rnd) { - uint8_t buff[4] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RANDOM_NUMBER, false, buff, sizeof(buff)); - - // pass the replies - if(rnd) { *rnd = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) | (uint32_t)buff[3]; } - - return(state); -} - -int16_t LR11x0::eraseInfoPage(void) { - // only page 1 can be erased - uint8_t buff[1] = { RADIOLIB_LR11X0_INFO_PAGE }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_ERASE_INFO_PAGE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::writeInfoPage(uint16_t addr, const uint32_t* data, size_t len) { - // check maximum size - if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - // build buffers - later we need to ensure endians are correct, - // so there is probably no way to do this without copying buffers and iterating - size_t buffLen = sizeof(uint8_t) + sizeof(uint16_t) + len*sizeof(uint32_t); - #if RADIOLIB_STATIC_ONLY - uint8_t dataBuff[sizeof(uint8_t) + sizeof(uint16_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* dataBuff = new uint8_t[buffLen]; - #endif - - // set the address - dataBuff[0] = RADIOLIB_LR11X0_INFO_PAGE; - dataBuff[1] = (uint8_t)((addr >> 8) & 0xFF); - dataBuff[2] = (uint8_t)(addr & 0xFF); - - // convert endians - for(size_t i = 0; i < len; i++) { - dataBuff[3 + i] = (uint8_t)((data[i] >> 24) & 0xFF); - dataBuff[4 + i] = (uint8_t)((data[i] >> 16) & 0xFF); - dataBuff[5 + i] = (uint8_t)((data[i] >> 8) & 0xFF); - dataBuff[6 + i] = (uint8_t)(data[i] & 0xFF); - } - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WRITE_INFO_PAGE, true, dataBuff, buffLen); - #if !RADIOLIB_STATIC_ONLY - delete[] dataBuff; - #endif - return(state); -} - -int16_t LR11x0::readInfoPage(uint16_t addr, uint32_t* data, size_t len) { - // check maximum size - if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - // the request contains the address and length - uint8_t reqBuff[4] = { - RADIOLIB_LR11X0_INFO_PAGE, - (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), - (uint8_t)len, - }; - - // build buffers - later we need to ensure endians are correct, - // so there is probably no way to do this without copying buffers and iterating - #if RADIOLIB_STATIC_ONLY - uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* rplBuff = new uint8_t[len*sizeof(uint32_t)]; - #endif - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_READ_INFO_PAGE, false, rplBuff, len*sizeof(uint32_t), reqBuff, sizeof(reqBuff)); - - // convert endians - if(data && (state == RADIOLIB_ERR_NONE)) { - for(size_t i = 0; i < len; i++) { - data[i] = ((uint32_t)rplBuff[2 + i*sizeof(uint32_t)] << 24) | ((uint32_t)rplBuff[3 + i*sizeof(uint32_t)] << 16) | ((uint32_t)rplBuff[4 + i*sizeof(uint32_t)] << 8) | (uint32_t)rplBuff[5 + i*sizeof(uint32_t)]; - } - } - - #if !RADIOLIB_STATIC_ONLY - delete[] rplBuff; - #endif - - return(state); -} - -int16_t LR11x0::getChipEui(uint8_t* eui) { - RADIOLIB_ASSERT_PTR(eui); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_CHIP_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); -} - -int16_t LR11x0::getSemtechJoinEui(uint8_t* eui) { - RADIOLIB_ASSERT_PTR(eui); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_SEMTECH_JOIN_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); -} - -int16_t LR11x0::deriveRootKeysAndGetPin(uint8_t* pin) { - RADIOLIB_ASSERT_PTR(pin); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_DERIVE_ROOT_KEYS_AND_GET_PIN, false, pin, RADIOLIB_LR11X0_PIN_LEN)); -} - -int16_t LR11x0::enableSpiCrc(bool en) { - // TODO implement this - (void)en; - // LR11X0 CRC is gen 0xA6 (0x65 but reflected), init 0xFF, input and result reflected - /*RadioLibCRCInstance.size = 8; - RadioLibCRCInstance.poly = 0xA6; - RadioLibCRCInstance.init = 0xFF; - RadioLibCRCInstance.out = 0x00; - RadioLibCRCInstance.refIn = true; - RadioLibCRCInstance.refOut = true;*/ - return(RADIOLIB_ERR_UNSUPPORTED); -} - -int16_t LR11x0::driveDiosInSleepMode(bool en) { - uint8_t buff[1] = { (uint8_t)en }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_DRIVE_DIOS_IN_SLEEP_MODE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::resetStats(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_RESET_STATS, true, NULL, 0)); -} - -int16_t LR11x0::getStats(uint16_t* nbPktReceived, uint16_t* nbPktCrcError, uint16_t* data1, uint16_t* data2) { - uint8_t buff[8] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_STATS, false, buff, sizeof(buff)); - - // pass the replies - if(nbPktReceived) { *nbPktReceived = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } - if(nbPktCrcError) { *nbPktCrcError = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } - if(data1) { *data1 = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } - if(data2) { *data2 = ((uint16_t)(buff[6]) << 8) | (uint16_t)buff[7]; } - - return(state); -} - -int16_t LR11x0::getPacketType(uint8_t* type) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_PACKET_TYPE, false, buff, sizeof(buff)); - - // pass the replies - if(type) { *type = buff[0]; } - - return(state); -} - -int16_t LR11x0::getRxBufferStatus(uint8_t* len, uint8_t* startOffset) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RX_BUFFER_STATUS, false, buff, sizeof(buff)); - - // pass the replies - if(len) { *len = buff[0]; } - if(startOffset) { *startOffset = buff[1]; } - - return(state); -} - -int16_t LR11x0::getPacketStatusLoRa(float* rssiPkt, float* snrPkt, float* signalRssiPkt) { - uint8_t buff[3] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS, false, buff, sizeof(buff)); - - // pass the replies - if(rssiPkt) { *rssiPkt = (float)buff[0] / -2.0f; } - if(snrPkt) { *snrPkt = (float)((int8_t)buff[1]) / 4.0f; } - if(signalRssiPkt) { *signalRssiPkt = buff[2]; } - - return(state); -} - -int16_t LR11x0::getPacketStatusGFSK(float* rssiSync, float* rssiAvg, uint8_t* rxLen, uint8_t* stat) { - uint8_t buff[4] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS, false, buff, sizeof(buff)); - - // pass the replies - if(rssiSync) { *rssiSync = (float)buff[0] / -2.0f; } - if(rssiAvg) { *rssiAvg = (float)buff[1] / -2.0f; } - if(rxLen) { *rxLen = buff[2]; } - if(stat) { *stat = buff[3]; } - - return(state); -} - -int16_t LR11x0::getRssiInst(float* rssi) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RSSI_INST, false, buff, sizeof(buff)); - - // pass the replies - if(rssi) { *rssi = (float)buff[0] / -2.0f; } - - return(state); -} - -int16_t LR11x0::setGfskSyncWord(uint8_t* sync) { - RADIOLIB_ASSERT_PTR(sync); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_GFSK_SYNC_WORD, true, sync, RADIOLIB_LR11X0_GFSK_SYNC_WORD_LEN)); -} - -int16_t LR11x0::setLoRaPublicNetwork(bool pub) { - uint8_t buff[1] = { (uint8_t)pub }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_LORA_PUBLIC_NETWORK, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRx(uint32_t timeout) { - uint8_t buff[3] = { - (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RX, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setTx(uint32_t timeout) { - uint8_t buff[3] = { - (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRfFrequency(uint32_t rfFreq) { - uint8_t buff[4] = { - (uint8_t)((rfFreq >> 24) & 0xFF), (uint8_t)((rfFreq >> 16) & 0xFF), - (uint8_t)((rfFreq >> 8) & 0xFF), (uint8_t)(rfFreq & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RF_FREQUENCY, true, buff, sizeof(buff))); -} - -int16_t LR11x0::autoTxRx(uint32_t delay, uint8_t intMode, uint32_t timeout) { - uint8_t buff[7] = { - (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF), intMode, - (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_AUTO_TX_RX, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setCadParams(uint8_t symNum, uint8_t detPeak, uint8_t detMin, uint8_t cadExitMode, uint32_t timeout) { - uint8_t buff[7] = { - symNum, detPeak, detMin, cadExitMode, - (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_CAD_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setPacketType(uint8_t type) { - uint8_t buff[1] = { type }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_TYPE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setModulationParamsLoRa(uint8_t sf, uint8_t bw, uint8_t cr, uint8_t ldro) { - // calculate symbol length and enable low data rate optimization, if auto-configuration is enabled - if(this->ldroAuto) { - float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float)this->bandwidthKhz; - if(symbolLength >= 16.0) { - this->ldrOptimize = RADIOLIB_LR11X0_LORA_LDRO_ENABLED; - } else { - this->ldrOptimize = RADIOLIB_LR11X0_LORA_LDRO_DISABLED; - } - } else { - this->ldrOptimize = ldro; - } - - uint8_t buff[4] = { sf, bw, cr, this->ldrOptimize }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setModulationParamsGFSK(uint32_t br, uint8_t sh, uint8_t rxBw, uint32_t freqDev) { - uint8_t buff[10] = { - (uint8_t)((br >> 24) & 0xFF), (uint8_t)((br >> 16) & 0xFF), - (uint8_t)((br >> 8) & 0xFF), (uint8_t)(br & 0xFF), sh, rxBw, - (uint8_t)((freqDev >> 24) & 0xFF), (uint8_t)((freqDev >> 16) & 0xFF), - (uint8_t)((freqDev >> 8) & 0xFF), (uint8_t)(freqDev & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setModulationParamsLrFhss(uint32_t br, uint8_t sh) { - uint8_t buff[5] = { - (uint8_t)((br >> 24) & 0xFF), (uint8_t)((br >> 16) & 0xFF), - (uint8_t)((br >> 8) & 0xFF), (uint8_t)(br & 0xFF), sh - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setModulationParamsSigfox(uint32_t br, uint8_t sh) { - // same as for LR-FHSS - return(this->setModulationParamsLrFhss(br, sh)); -} - -int16_t LR11x0::setPacketParamsLoRa(uint16_t preambleLen, uint8_t hdrType, uint8_t payloadLen, uint8_t crcType, uint8_t invertIQ) { - uint8_t buff[6] = { - (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), - hdrType, payloadLen, crcType, invertIQ - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setPacketParamsGFSK(uint16_t preambleLen, uint8_t preambleDetectorLen, uint8_t syncWordLen, uint8_t addrCmp, uint8_t packType, uint8_t payloadLen, uint8_t crcType, uint8_t whiten) { - uint8_t buff[9] = { - (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), - preambleDetectorLen, syncWordLen, addrCmp, packType, payloadLen, crcType, whiten - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setPacketParamsSigfox(uint8_t payloadLen, uint16_t rampUpDelay, uint16_t rampDownDelay, uint16_t bitNum) { - uint8_t buff[7] = { - payloadLen, (uint8_t)((rampUpDelay >> 8) & 0xFF), (uint8_t)(rampUpDelay & 0xFF), - (uint8_t)((rampDownDelay >> 8) & 0xFF), (uint8_t)(rampDownDelay & 0xFF), - (uint8_t)((bitNum >> 8) & 0xFF), (uint8_t)(bitNum & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setTxParams(int8_t pwr, uint8_t ramp) { - uint8_t buff[2] = { (uint8_t)pwr, ramp }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setPacketAdrs(uint8_t node, uint8_t broadcast) { - uint8_t buff[2] = { node, broadcast }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_ADRS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRxTxFallbackMode(uint8_t mode) { - uint8_t buff[1] = { mode }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RX_TX_FALLBACK_MODE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRxDutyCycle(uint32_t rxPeriod, uint32_t sleepPeriod, uint8_t mode) { - uint8_t buff[7] = { - (uint8_t)((rxPeriod >> 16) & 0xFF), (uint8_t)((rxPeriod >> 8) & 0xFF), (uint8_t)(rxPeriod & 0xFF), - (uint8_t)((sleepPeriod >> 16) & 0xFF), (uint8_t)((sleepPeriod >> 8) & 0xFF), (uint8_t)(sleepPeriod & 0xFF), - mode - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RX_DUTY_CYCLE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setPaConfig(uint8_t paSel, uint8_t regPaSupply, uint8_t paDutyCycle, uint8_t paHpSel) { - uint8_t buff[4] = { paSel, regPaSupply, paDutyCycle, paHpSel }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PA_CONFIG, true, buff, sizeof(buff))); -} - -int16_t LR11x0::stopTimeoutOnPreamble(bool stop) { - uint8_t buff[1] = { (uint8_t)stop }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_STOP_TIMEOUT_ON_PREAMBLE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setCad(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_CAD, true, NULL, 0)); -} - -int16_t LR11x0::setTxCw(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX_CW, true, NULL, 0)); -} - -int16_t LR11x0::setTxInfinitePreamble(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX_INFINITE_PREAMBLE, true, NULL, 0)); -} - -int16_t LR11x0::setLoRaSynchTimeout(uint8_t symbolNum) { - uint8_t buff[1] = { symbolNum }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_LORA_SYNCH_TIMEOUT, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRangingAddr(uint32_t addr, uint8_t checkLen) { - uint8_t buff[5] = { - (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), - (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), checkLen - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RANGING_ADDR, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRangingReqAddr(uint32_t addr) { - uint8_t buff[4] = { - (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), - (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RANGING_REQ_ADDR, true, buff, sizeof(buff))); -} - -int16_t LR11x0::getRangingResult(uint8_t type, float* res) { - uint8_t reqBuff[1] = { type }; - uint8_t rplBuff[4] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RANGING_RESULT, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - - if(res) { - if(type == RADIOLIB_LR11X0_RANGING_RESULT_DISTANCE) { - uint32_t raw = ((uint32_t)(rplBuff[0]) << 24) | ((uint32_t)(rplBuff[1]) << 16) | ((uint32_t)(rplBuff[2]) << 8) | (uint32_t)rplBuff[3]; - *res = ((float)(raw*3e8))/((float)(4096*this->bandwidthKhz*1000)); - } else { - *res = (float)rplBuff[3]/2.0f; - } - } - - return(state); -} - -int16_t LR11x0::setRangingTxRxDelay(uint32_t delay) { - uint8_t buff[4] = { - (uint8_t)((delay >> 24) & 0xFF), (uint8_t)((delay >> 16) & 0xFF), - (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RANGING_TX_RX_DELAY, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setGfskCrcParams(uint32_t init, uint32_t poly) { - uint8_t buff[8] = { - (uint8_t)((init >> 24) & 0xFF), (uint8_t)((init >> 16) & 0xFF), - (uint8_t)((init >> 8) & 0xFF), (uint8_t)(init & 0xFF), - (uint8_t)((poly >> 24) & 0xFF), (uint8_t)((poly >> 16) & 0xFF), - (uint8_t)((poly >> 8) & 0xFF), (uint8_t)(poly & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_GFSK_CRC_PARAMS, true, buff, sizeof(buff))); - -} - -int16_t LR11x0::setGfskWhitParams(uint16_t seed) { - uint8_t buff[2] = { - (uint8_t)((seed >> 8) & 0xFF), (uint8_t)(seed & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_GFSK_WHIT_PARAMS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRangingParameter(uint8_t symbolNum) { - // the first byte is reserved - uint8_t buff[2] = { 0x00, symbolNum }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RANGING_PARAMETER, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setRssiCalibration(const int8_t* tune, int16_t gainOffset) { - uint8_t buff[11] = { - (uint8_t)((tune[0] & 0x0F) | (uint8_t)(tune[1] & 0x0F) << 4), - (uint8_t)((tune[2] & 0x0F) | (uint8_t)(tune[3] & 0x0F) << 4), - (uint8_t)((tune[4] & 0x0F) | (uint8_t)(tune[5] & 0x0F) << 4), - (uint8_t)((tune[6] & 0x0F) | (uint8_t)(tune[7] & 0x0F) << 4), - (uint8_t)((tune[8] & 0x0F) | (uint8_t)(tune[9] & 0x0F) << 4), - (uint8_t)((tune[10] & 0x0F) | (uint8_t)(tune[11] & 0x0F) << 4), - (uint8_t)((tune[12] & 0x0F) | (uint8_t)(tune[13] & 0x0F) << 4), - (uint8_t)((tune[14] & 0x0F) | (uint8_t)(tune[15] & 0x0F) << 4), - (uint8_t)((tune[16] & 0x0F) | (uint8_t)(tune[17] & 0x0F) << 4), - (uint8_t)(((uint16_t)gainOffset >> 8) & 0xFF), (uint8_t)(gainOffset & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RSSI_CALIBRATION, true, buff, sizeof(buff))); -} - -int16_t LR11x0::setLoRaSyncWord(uint8_t sync) { - uint8_t buff[1] = { sync }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_LORA_SYNC_WORD, true, buff, sizeof(buff))); -} - -int16_t LR11x0::lrFhssBuildFrame(uint8_t hdrCount, uint8_t cr, uint8_t grid, bool hop, uint8_t bw, uint16_t hopSeq, int8_t devOffset, uint8_t* payload, size_t len) { - // check maximum size - const uint8_t maxLen[4][4] = { - { 189, 178, 167, 155, }, - { 151, 142, 133, 123, }, - { 112, 105, 99, 92, }, - { 74, 69, 65, 60, }, - }; - if((cr > RADIOLIB_LR11X0_LR_FHSS_CR_1_3) || ((hdrCount - 1) > (int)sizeof(maxLen[0])) || (len > maxLen[cr][hdrCount - 1])) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - // build buffers - size_t buffLen = 9 + len; - #if RADIOLIB_STATIC_ONLY - uint8_t dataBuff[9 + 190]; - #else - uint8_t* dataBuff = new uint8_t[buffLen]; - #endif - - // set properties of the packet - dataBuff[0] = hdrCount; - dataBuff[1] = cr; - dataBuff[2] = RADIOLIB_LR11X0_LR_FHSS_MOD_TYPE_GMSK; - dataBuff[3] = grid; - dataBuff[4] = (uint8_t)hop; - dataBuff[5] = bw; - dataBuff[6] = (uint8_t)((hopSeq >> 8) & 0x01); - dataBuff[7] = (uint8_t)(hopSeq & 0xFF); - dataBuff[8] = devOffset; - memcpy(&dataBuff[9], payload, len); - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_LR_FHSS_BUILD_FRAME, true, dataBuff, buffLen); - #if !RADIOLIB_STATIC_ONLY - delete[] dataBuff; - #endif - return(state); -} - -int16_t LR11x0::lrFhssSetSyncWord(uint32_t sync) { - uint8_t buff[4] = { - (uint8_t)((sync >> 24) & 0xFF), (uint8_t)((sync >> 16) & 0xFF), - (uint8_t)((sync >> 8) & 0xFF), (uint8_t)(sync & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_LR_FHSS_SET_SYNC_WORD, true, buff, sizeof(buff))); -} - -int16_t LR11x0::configBleBeacon(uint8_t chan, uint8_t* payload, size_t len) { - return(this->bleBeaconCommon(RADIOLIB_LR11X0_CMD_CONFIG_BLE_BEACON, chan, payload, len)); -} - -int16_t LR11x0::getLoRaRxHeaderInfos(uint8_t* info) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_LORA_RX_HEADER_INFOS, false, buff, sizeof(buff)); - - // pass the replies - if(info) { *info = buff[0]; } - - return(state); -} - -int16_t LR11x0::bleBeaconSend(uint8_t chan, uint8_t* payload, size_t len) { - return(this->bleBeaconCommon(RADIOLIB_LR11X0_CMD_BLE_BEACON_SEND, chan, payload, len)); -} - -int16_t LR11x0::bleBeaconCommon(uint16_t cmd, uint8_t chan, uint8_t* payload, size_t len) { - // check maximum size - // TODO what is the actual maximum? - if(len > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - // build buffers - #if RADIOLIB_STATIC_ONLY - uint8_t dataBuff[sizeof(uint8_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* dataBuff = new uint8_t[sizeof(uint8_t) + len]; - #endif - - // set the channel - dataBuff[0] = chan; - memcpy(&dataBuff[1], payload, len); - - int16_t state = this->SPIcommand(cmd, true, dataBuff, sizeof(uint8_t) + len); - #if !RADIOLIB_STATIC_ONLY - delete[] dataBuff; - #endif - return(state); -} - -int16_t LR11x0::wifiScan(uint8_t type, uint16_t mask, uint8_t acqMode, uint8_t nbMaxRes, uint8_t nbScanPerChan, uint16_t timeout, uint8_t abortOnTimeout) { - uint8_t buff[9] = { - type, (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), - acqMode, nbMaxRes, nbScanPerChan, - (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), - abortOnTimeout - }; - - // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts - return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_WIFI_SCAN, buff, sizeof(buff), false, false)); -} - -int16_t LR11x0::wifiScanTimeLimit(uint8_t type, uint16_t mask, uint8_t acqMode, uint8_t nbMaxRes, uint16_t timePerChan, uint16_t timeout) { - uint8_t buff[9] = { - type, (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), - acqMode, nbMaxRes, - (uint8_t)((timePerChan >> 8) & 0xFF), (uint8_t)(timePerChan & 0xFF), - (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_SCAN_TIME_LIMIT, true, buff, sizeof(buff))); -} - -int16_t LR11x0::wifiCountryCode(uint16_t mask, uint8_t nbMaxRes, uint8_t nbScanPerChan, uint16_t timeout, uint8_t abortOnTimeout) { - uint8_t buff[7] = { - (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), - nbMaxRes, nbScanPerChan, - (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), - abortOnTimeout - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::wifiCountryCodeTimeLimit(uint16_t mask, uint8_t nbMaxRes, uint16_t timePerChan, uint16_t timeout) { - uint8_t buff[7] = { - (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), - nbMaxRes, - (uint8_t)((timePerChan >> 8) & 0xFF), (uint8_t)(timePerChan & 0xFF), - (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE_TIME_LIMIT, true, buff, sizeof(buff))); -} - -int16_t LR11x0::wifiReadResults(uint8_t index, uint8_t nbResults, uint8_t format, uint8_t* results) { - uint8_t buff[3] = { index, nbResults, format }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_RESULTS, false, results, RADIOLIB_LR11X0_WIFI_RESULT_MAX_LEN, buff, sizeof(buff))); -} - -int16_t LR11x0::wifiResetCumulTimings(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_RESET_CUMUL_TIMINGS, true, NULL, 0)); -} - -int16_t LR11x0::wifiReadCumulTimings(uint32_t* detection, uint32_t* capture, uint32_t* demodulation) { - uint8_t buff[16] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_CUMUL_TIMINGS, false, buff, sizeof(buff)); - - // pass the replies - if(detection) { *detection = ((uint32_t)(buff[4]) << 24) | ((uint32_t)(buff[5]) << 16) | ((uint32_t)(buff[6]) << 8) | (uint32_t)buff[7]; } - if(capture) { *capture = ((uint32_t)(buff[8]) << 24) | ((uint32_t)(buff[9]) << 16) | ((uint32_t)(buff[10]) << 8) | (uint32_t)buff[11]; } - if(demodulation) { *demodulation = ((uint32_t)(buff[12]) << 24) | ((uint32_t)(buff[13]) << 16) | ((uint32_t)(buff[14]) << 8) | (uint32_t)buff[15]; } - - return(state); -} - -int16_t LR11x0::wifiGetNbCountryCodeResults(uint8_t* nbResults) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_GET_NB_COUNTRY_CODE_RESULTS, false, buff, sizeof(buff)); - - // pass the replies - if(nbResults) { *nbResults = buff[0]; } - - return(state); -} - -int16_t LR11x0::wifiReadCountryCodeResults(uint8_t index, uint8_t nbResults, uint8_t* results) { - uint8_t reqBuff[2] = { index, nbResults }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_COUNTRY_CODE_RESULTS, false, results, nbResults, reqBuff, sizeof(reqBuff))); -} - -int16_t LR11x0::wifiCfgTimestampAPphone(uint32_t timestamp) { - uint8_t buff[4] = { - (uint8_t)((timestamp >> 24) & 0xFF), (uint8_t)((timestamp >> 16) & 0xFF), - (uint8_t)((timestamp >> 8) & 0xFF), (uint8_t)(timestamp & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE_TIME_LIMIT, true, buff, sizeof(buff))); -} - -int16_t LR11x0::wifiReadVersion(uint8_t* major, uint8_t* minor) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_VERSION, false, buff, sizeof(buff)); - - // pass the replies - if(major) { *major = buff[0]; } - if(minor) { *minor = buff[1]; } - - return(state); -} - -int16_t LR11x0::gnssReadRssi(int8_t* rssi) { - uint8_t reqBuff[1] = { 0x09 }; // some undocumented magic byte, from the official driver - uint8_t rplBuff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_RSSI, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - if(rssi) { *rssi = rplBuff[1]; } - return(state); -} - -int16_t LR11x0::gnssSetConstellationToUse(uint8_t mask) { - uint8_t buff[1] = { mask }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_CONSTELLATION_TO_USE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssReadConstellationToUse(uint8_t* mask) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_CONSTELLATION_TO_USE, false, buff, sizeof(buff)); - - // pass the replies - if(mask) { *mask = buff[0]; } - - return(state); -} - -int16_t LR11x0::gnssSetAlmanacUpdate(uint8_t mask) { - uint8_t buff[1] = { mask }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_ALMANAC_UPDATE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssReadAlmanacUpdate(uint8_t* mask) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE, false, buff, sizeof(buff)); - - // pass the replies - if(mask) { *mask = buff[0]; } - - return(state); -} - -int16_t LR11x0::gnssSetFreqSearchSpace(uint8_t freq) { - uint8_t buff[1] = { freq }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_FREQ_SEARCH_SPACE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssReadFreqSearchSpace(uint8_t* freq) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_FREQ_SEARCH_SPACE, false, buff, sizeof(buff)); - if(freq) { *freq = buff[0]; } - return(state); -} - -int16_t LR11x0::gnssReadVersion(uint8_t* fw, uint8_t* almanac) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_VERSION, false, buff, sizeof(buff)); - - // pass the replies - if(fw) { *fw = buff[0]; } - if(almanac) { *almanac = buff[1]; } - - return(state); -} - -int16_t LR11x0::gnssReadSupportedConstellations(uint8_t* mask) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_SUPPORTED_CONSTELLATIONS, false, buff, sizeof(buff)); - - // pass the replies - if(mask) { *mask = buff[0]; } - - return(state); -} - -int16_t LR11x0::gnssSetMode(uint8_t mode) { - uint8_t buff[1] = { mode }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_MODE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssAutonomous(uint32_t gpsTime, uint8_t resMask, uint8_t nbSvMask) { - uint8_t buff[7] = { - (uint8_t)((gpsTime >> 24) & 0xFF), (uint8_t)((gpsTime >> 16) & 0xFF), - (uint8_t)((gpsTime >> 8) & 0xFF), (uint8_t)(gpsTime & 0xFF), - RADIOLIB_LR11X0_GNSS_AUTO_EFFORT_MODE, resMask, nbSvMask - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_AUTONOMOUS, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssAssisted(uint32_t gpsTime, uint8_t effort, uint8_t resMask, uint8_t nbSvMask) { - uint8_t buff[7] = { - (uint8_t)((gpsTime >> 24) & 0xFF), (uint8_t)((gpsTime >> 16) & 0xFF), - (uint8_t)((gpsTime >> 8) & 0xFF), (uint8_t)(gpsTime & 0xFF), - effort, resMask, nbSvMask - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ASSISTED, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssSetAssistancePosition(float lat, float lon) { - uint16_t latRaw = (lat*2048.0f)/90.0f + 0.5f; - uint16_t lonRaw = (lon*2048.0f)/180.0f + 0.5f; - uint8_t buff[4] = { - (uint8_t)((latRaw >> 8) & 0xFF), (uint8_t)(latRaw & 0xFF), - (uint8_t)((lonRaw >> 8) & 0xFF), (uint8_t)(lonRaw & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_ASSISTANCE_POSITION, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssReadAssistancePosition(float* lat, float* lon) { - uint8_t buff[4] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ASSISTANCE_POSITION, false, buff, sizeof(buff)); - - // pass the replies - if(lat) { - uint16_t latRaw = ((uint16_t)(buff[0]) << 8) | (uint16_t)(buff[1]); - *lat = ((float)latRaw*90.0f)/2048.0f; - } - if(lon) { - uint16_t lonRaw = ((uint16_t)(buff[2]) << 8) | (uint16_t)(buff[3]); - *lon = ((float)lonRaw*180.0f)/2048.0f; - } - - return(state); -} - -int16_t LR11x0::gnssPushSolverMsg(uint8_t* payload, size_t len) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_PUSH_SOLVER_MSG, true, payload, len)); -} - -int16_t LR11x0::gnssPushDmMsg(uint8_t* payload, size_t len) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_PUSH_DM_MSG, true, payload, len)); -} - -int16_t LR11x0::gnssGetContextStatus(uint8_t* fwVersion, uint32_t* almanacCrc, uint8_t* errCode, uint8_t* almUpdMask, uint8_t* freqSpace) { - // send the command - datasheet here shows extra bytes being sent in the request - // but doing that fails so treat it like any other read command - uint8_t buff[9] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_CONTEXT_STATUS, false, buff, sizeof(buff)); - - // pass the replies - if(fwVersion) { *fwVersion = buff[2]; } - if(almanacCrc) { *almanacCrc = ((uint32_t)(buff[3]) << 24) | ((uint32_t)(buff[4]) << 16) | ((uint32_t)(buff[5]) << 8) | (uint32_t)buff[6]; } - if(errCode) { *errCode = (buff[7] & 0xF0) >> 4; } - if(almUpdMask) { *almUpdMask = (buff[7] & 0x0E) >> 1; } - if(freqSpace) { *freqSpace = ((buff[7] & 0x01) << 1) | ((buff[8] & 0x80) >> 7); } - - return(state); -} - -int16_t LR11x0::gnssGetNbSvDetected(uint8_t* nbSv) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_NB_SV_DETECTED, false, buff, sizeof(buff)); - - // pass the replies - if(nbSv) { *nbSv = buff[0]; } - - return(state); -} - -int16_t LR11x0::gnssGetSvDetected(uint8_t* svId, uint8_t* snr, int16_t* doppler, size_t nbSv) { - // TODO this is arbitrary - is there an actual maximum? - if(nbSv > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t)) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - // build buffers - size_t buffLen = nbSv*sizeof(uint32_t); - #if RADIOLIB_STATIC_ONLY - uint8_t dataBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* dataBuff = new uint8_t[buffLen]; - #endif - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_DETECTED, false, dataBuff, buffLen); - if(state == RADIOLIB_ERR_NONE) { - for(size_t i = 0; i < nbSv; i++) { - if(svId) { svId[i] = dataBuff[4*i]; } - if(snr) { snr[i] = dataBuff[4*i + 1]; } - if(doppler) { doppler[i] = ((uint16_t)(dataBuff[4*i + 2]) << 8) | (uint16_t)dataBuff[4*i + 3]; } - } - } - - #if !RADIOLIB_STATIC_ONLY - delete[] dataBuff; - #endif - return(state); -} - -int16_t LR11x0::gnssGetConsumption(uint32_t* cpu, uint32_t* radio) { - uint8_t buff[8] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_CONSUMPTION, false, buff, sizeof(buff)); - - // pass the replies - if(cpu) { *cpu = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) | (uint32_t)buff[3]; } - if(radio) { *radio = ((uint32_t)(buff[4]) << 24) | ((uint32_t)(buff[5]) << 16) | ((uint32_t)(buff[6]) << 8) | (uint32_t)buff[7]; } - - return(state); -} - -int16_t LR11x0::gnssGetResultSize(uint16_t* size) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_RESULT_SIZE, false, buff, sizeof(buff)); - - // pass the replies - if(size) { *size = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } - - return(state); -} - -int16_t LR11x0::gnssReadResults(uint8_t* result, uint16_t size) { - RADIOLIB_ASSERT_PTR(result); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_RESULTS, false, result, size)); -} - -int16_t LR11x0::gnssAlmanacFullUpdateHeader(uint16_t date, uint32_t globalCrc) { - uint8_t buff[RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE] = { - RADIOLIB_LR11X0_GNSS_ALMANAC_HEADER_ID, - (uint8_t)((date >> 8) & 0xFF), (uint8_t)(date & 0xFF), - (uint8_t)((globalCrc >> 24) & 0xFF), (uint8_t)((globalCrc >> 16) & 0xFF), - (uint8_t)((globalCrc >> 8) & 0xFF), (uint8_t)(globalCrc & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssAlmanacFullUpdateSV(uint8_t svn, uint8_t* svnAlmanac) { - uint8_t buff[RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE] = { svn }; - memcpy(&buff[1], svnAlmanac, RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE - 1); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssAlmanacReadAddrSize(uint32_t* addr, uint16_t* size) { - uint8_t buff[6] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_READ_ADDR_SIZE, false, buff, sizeof(buff)); - - if(addr) { *addr = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) | (uint32_t)buff[3]; } - if(size) { *size = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } - - return(state); -} - -int16_t LR11x0::gnssAlmanacReadSV(uint8_t svId, uint8_t* almanac) { - uint8_t reqBuff[2] = { svId, 0x01 }; // in theory multiple SV entries can be read at the same time, but we don't need that - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_PER_SATELLITE, false, almanac, 22, reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - return(state); -} - -int16_t LR11x0::gnssGetNbSvVisible(uint32_t time, float lat, float lon, uint8_t constellation, uint8_t* nbSv) { - uint16_t latRaw = (lat*2048.0f)/90.0f + 0.5f; - uint16_t lonRaw = (lon*2048.0f)/180.0f + 0.5f; - uint8_t reqBuff[9] = { - (uint8_t)((time >> 24) & 0xFF), (uint8_t)((time >> 16) & 0xFF), - (uint8_t)((time >> 8) & 0xFF), (uint8_t)(time & 0xFF), - (uint8_t)((latRaw >> 8) & 0xFF), (uint8_t)(latRaw & 0xFF), - (uint8_t)((lonRaw >> 8) & 0xFF), (uint8_t)(lonRaw & 0xFF), - constellation, - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE, false, nbSv, 1, reqBuff, sizeof(reqBuff))); -} - -int16_t LR11x0::gnssGetSvVisible(uint8_t nbSv, uint8_t** svId, int16_t** doppler, int16_t** dopplerErr) { - // enforce a maximum of 12 SVs - if(nbSv > 12) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - - uint8_t buff[60] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE_DOPPLER, false, buff, sizeof(buff)); - for(uint8_t i = 0; i < nbSv; i++) { - if(svId && svId[i]) { *svId[i] = buff[i*12]; } - if(doppler && doppler[i]) { *doppler[i] = ((uint16_t)(buff[i*12 + 1]) << 8) | (uint16_t)buff[i*12 + 2]; } - if(dopplerErr && dopplerErr[i]) { *dopplerErr[i] = ((uint16_t)(buff[i*12 + 3]) << 8) | (uint16_t)buff[i*12 + 4]; } - } - - return(state); -} - -int16_t LR11x0::gnssPerformScan(uint8_t effort, uint8_t resMask, uint8_t nbSvMax) { - uint8_t buff[3] = { effort, resMask, nbSvMax }; - // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts - return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_GNSS_SCAN, buff, sizeof(buff), false, false)); -} - -int16_t LR11x0::gnssReadLastScanModeLaunched(uint8_t* lastScanMode) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_LAST_SCAN_MODE_LAUNCHED, false, buff, sizeof(buff)); - - // pass the replies - if(lastScanMode) { *lastScanMode = buff[0]; } - - return(state); -} - -int16_t LR11x0::gnssFetchTime(uint8_t effort, uint8_t opt) { - uint8_t buff[2] = { effort, opt }; - // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts - return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_GNSS_FETCH_TIME, buff, sizeof(buff), false, false)); -} - -int16_t LR11x0::gnssReadTime(uint8_t* err, uint32_t* time, uint32_t* nbUs, uint32_t* timeAccuracy) { - uint8_t buff[12] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_TIME, false, buff, sizeof(buff)); - - // pass the replies - if(err) { *err = buff[0]; } - - if(time) { - *time = ((uint32_t)(buff[1]) << 24) | ((uint32_t)(buff[2]) << 16) | ((uint32_t)(buff[3]) << 8) | (uint32_t)buff[4]; - *time += 2UL*1024UL*7UL*24UL*3600UL; // assume WN rollover is at 2, this will fail sometime in 2038 - *time += 315964800UL; // convert to UTC - } - - if(nbUs) { - *nbUs = ((uint32_t)(buff[5]) << 16) | ((uint32_t)(buff[6]) << 8) | (uint32_t)buff[7]; - *nbUs /= 16; - } - - if(timeAccuracy) { - *timeAccuracy = ((uint32_t)(buff[8]) << 24) | ((uint32_t)(buff[9]) << 16) | ((uint32_t)(buff[10]) << 8) | (uint32_t)buff[11]; - *timeAccuracy /= 16; - } - - return(state); -} - -int16_t LR11x0::gnssResetTime(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_RESET_TIME, true, NULL, 0)); -} - -int16_t LR11x0::gnssResetPosition(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_RESET_POSITION, true, NULL, 0)); -} - -int16_t LR11x0::gnssReadWeekNumberRollover(uint8_t* status, uint8_t* rollover) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_WEEK_NUMBER_ROLLOWER, false, buff, sizeof(buff)); - if(status) { *status = buff[0]; } - if(rollover) { *rollover = buff[1]; } - return(state); -} - -int16_t LR11x0::gnssReadDemodStatus(int8_t* status, uint8_t* info) { - uint8_t buff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_DEMOD_STATUS, false, buff, sizeof(buff)); - - // pass the replies - if(status) { *status = (int8_t)buff[0]; } - if(info) { *info = buff[1]; } - - return(state); -} - -int16_t LR11x0::gnssReadCumulTiming(uint32_t* timing, uint8_t* constDemod) { - uint8_t rplBuff[125] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_CUMUL_TIMING, false, rplBuff, 125); - RADIOLIB_ASSERT(state); - - // convert endians - if(timing) { - for(size_t i = 0; i < 31; i++) { - timing[i] = ((uint32_t)rplBuff[i*sizeof(uint32_t)] << 24) | ((uint32_t)rplBuff[1 + i*sizeof(uint32_t)] << 16) | ((uint32_t)rplBuff[2 + i*sizeof(uint32_t)] << 8) | (uint32_t)rplBuff[3 + i*sizeof(uint32_t)]; - } - } - - if(constDemod) { *constDemod = rplBuff[124]; } - - return(state); -} - -int16_t LR11x0::gnssSetTime(uint32_t time, uint16_t accuracy) { - uint8_t buff[6] = { - (uint8_t)((time >> 24) & 0xFF), (uint8_t)((time >> 16) & 0xFF), - (uint8_t)((time >> 8) & 0xFF), (uint8_t)(time & 0xFF), - (uint8_t)((accuracy >> 8) & 0xFF), (uint8_t)(accuracy & 0xFF), - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_TIME, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssReadDopplerSolverRes(uint8_t* error, uint8_t* nbSvUsed, float* lat, float* lon, uint16_t* accuracy, uint16_t* xtal, float* latFilt, float* lonFilt, uint16_t* accuracyFilt, uint16_t* xtalFilt) { - uint8_t buff[18] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_DOPPLER_SOLVER_RES, false, buff, sizeof(buff)); - - // pass the replies - if(error) { *error = buff[0]; } - if(nbSvUsed) { *nbSvUsed = buff[1]; } - if(lat) { - uint16_t latRaw = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; - *lat = ((float)latRaw * 90.0f)/2048.0f; - } - if(lon) { - uint16_t lonRaw = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; - *lon = ((float)lonRaw * 180.0f)/2048.0f; - } - if(accuracy) { *accuracy = ((uint16_t)(buff[6]) << 8) | (uint16_t)buff[7]; } - if(xtal) { *xtal = ((uint16_t)(buff[8]) << 8) | (uint16_t)buff[9]; } - if(latFilt) { - uint16_t latRaw = ((uint16_t)(buff[10]) << 8) | (uint16_t)buff[11]; - *latFilt = ((float)latRaw * 90.0f)/2048.0f; - } - if(lonFilt) { - uint16_t lonRaw = ((uint16_t)(buff[12]) << 8) | (uint16_t)buff[13]; - *lonFilt = ((float)lonRaw * 180.0f)/2048.0f; - } - if(accuracyFilt) { *accuracyFilt = ((uint16_t)(buff[14]) << 8) | (uint16_t)buff[15]; } - if(xtalFilt) { *xtalFilt = ((uint16_t)(buff[16]) << 8) | (uint16_t)buff[17]; } - - return(state); -} - -int16_t LR11x0::gnssReadDelayResetAP(uint32_t* delay) { - uint8_t buff[3] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_DELAY_RESET_AP, false, buff, sizeof(buff)); - - if(delay) { *delay = ((uint32_t)(buff[0]) << 16) | ((uint32_t)(buff[1]) << 8) | (uint32_t)buff[2]; } - - return(state); -} - -int16_t LR11x0::gnssAlmanacUpdateFromSat(uint8_t effort, uint8_t bitMask) { - uint8_t buff[2] = { effort, bitMask }; - // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts - return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_UPDATE_FROM_SAT, buff, sizeof(buff), false, false)); -} - -int16_t LR11x0::gnssReadKeepSyncStatus(uint8_t mask, uint8_t* nbSvVisible, uint32_t* elapsed) { - uint8_t reqBuff[1] = { mask }; - uint8_t rplBuff[5] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_KEEP_SYNC_STATUS, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - if(nbSvVisible) { *nbSvVisible = rplBuff[0]; } - if(elapsed) { *elapsed = ((uint32_t)(rplBuff[1]) << 24) | ((uint32_t)(rplBuff[2]) << 16) | ((uint32_t)(rplBuff[3]) << 8) | (uint32_t)rplBuff[4]; } - return(state); -} - -int16_t LR11x0::gnssReadAlmanacStatus(uint8_t* status) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_STATUS, false, status, 53)); -} - -int16_t LR11x0::gnssConfigAlmanacUpdatePeriod(uint8_t bitMask, uint8_t svType, uint16_t period) { - uint8_t buff[4] = { bitMask, svType, (uint8_t)((period >> 8) & 0xFF), (uint8_t)(period & 0xFF) }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_CONFIG_ALMANAC_UPDATE_PERIOD, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssReadAlmanacUpdatePeriod(uint8_t bitMask, uint8_t svType, uint16_t* period) { - uint8_t reqBuff[2] = { bitMask, svType }; - uint8_t rplBuff[2] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE_PERIOD, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - - if(period) { *period = ((uint16_t)(rplBuff[0]) << 8) | (uint16_t)rplBuff[1]; } - - return(state); -} - -int16_t LR11x0::gnssConfigDelayResetAP(uint32_t delay) { - uint8_t buff[3] = { (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF) }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_CONFIG_DELAY_RESET_AP, true, buff, sizeof(buff))); -} - -int16_t LR11x0::gnssGetSvWarmStart(uint8_t bitMask, uint8_t* sv, uint8_t nbVisSat) { - uint8_t reqBuff[1] = { bitMask }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_WARM_START, false, sv, nbVisSat, reqBuff, sizeof(reqBuff))); -} - -int16_t LR11x0::gnssGetSvSync(uint8_t mask, uint8_t nbSv, uint8_t* syncList) { - uint8_t reqBuff[2] = { mask, nbSv }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_SYNC, false, syncList, nbSv, reqBuff, sizeof(reqBuff))); -} - -int16_t LR11x0::gnssReadWarmStartStatus(uint8_t bitMask, uint8_t* nbVisSat, uint32_t* timeElapsed) { - uint8_t reqBuff[1] = { bitMask }; - uint8_t rplBuff[5] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_WARM_START_STATUS, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - - if(nbVisSat) { *nbVisSat = rplBuff[0]; } - if(timeElapsed) { *timeElapsed = ((uint32_t)(rplBuff[1]) << 24) | ((uint32_t)(rplBuff[2]) << 16) | ((uint32_t)(rplBuff[3]) << 8) | (uint32_t)rplBuff[4]; } - - return(state); -} - -int16_t LR11x0::gnssWriteBitMaskSatActivated(uint8_t bitMask, uint32_t* bitMaskActivated0, uint32_t* bitMaskActivated1) { - uint8_t reqBuff[1] = { bitMask }; - uint8_t rplBuff[8] = { 0 }; - size_t rplLen = (bitMask & 0x01) ? 8 : 4; // GPS only has the first bit mask - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_WRITE_BIT_MASK_SAT_ACTIVATED, false, rplBuff, rplLen, reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - - if(bitMaskActivated0) { *bitMaskActivated0 = ((uint32_t)(rplBuff[0]) << 24) | ((uint32_t)(rplBuff[1]) << 16) | ((uint32_t)(rplBuff[2]) << 8) | (uint32_t)rplBuff[3]; } - if(bitMaskActivated1) { *bitMaskActivated1 = ((uint32_t)(rplBuff[4]) << 24) | ((uint32_t)(rplBuff[5]) << 16) | ((uint32_t)(rplBuff[6]) << 8) | (uint32_t)rplBuff[7]; } - - return(state); -} - -void LR11x0::gnssAbort() { - // send the abort signal (single NOP) - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_8; - // we need to call the most basic overload of the SPI write method otherwise the call will be ambiguous - uint8_t cmd[2] = { 0, 0 }; - this->mod->SPIwriteStream(cmd, 2, NULL, 0, false, false); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_16; - - // wait for at least 2.9 seconds as specified by the user manual - this->mod->hal->delay(3000); -} - -int16_t LR11x0::cryptoSetKey(uint8_t keyId, uint8_t* key) { - RADIOLIB_ASSERT_PTR(key); - uint8_t buff[1 + RADIOLIB_AES128_KEY_SIZE] = { 0 }; - buff[0] = keyId; - memcpy(&buff[1], key, RADIOLIB_AES128_KEY_SIZE); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_SET_KEY, false, buff, sizeof(buff))); -} - -int16_t LR11x0::cryptoDeriveKey(uint8_t srcKeyId, uint8_t dstKeyId, uint8_t* key) { - RADIOLIB_ASSERT_PTR(key); - uint8_t buff[2 + RADIOLIB_AES128_KEY_SIZE] = { 0 }; - buff[0] = srcKeyId; - buff[1] = dstKeyId; - memcpy(&buff[2], key, RADIOLIB_AES128_KEY_SIZE); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_DERIVE_KEY, false, buff, sizeof(buff))); -} - -int16_t LR11x0::cryptoProcessJoinAccept(uint8_t decKeyId, uint8_t verKeyId, uint8_t lwVer, uint8_t* header, uint8_t* dataIn, size_t len, uint8_t* dataOut) { - // calculate buffer sizes - size_t headerLen = 1; - if(lwVer) { - headerLen += 11; // LoRaWAN 1.1 header is 11 bytes longer than 1.0 - } - size_t reqLen = 3*sizeof(uint8_t) + headerLen + len; - size_t rplLen = sizeof(uint8_t) + len; - - // build buffers - #if RADIOLIB_STATIC_ONLY - uint8_t reqBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* reqBuff = new uint8_t[reqLen]; - uint8_t* rplBuff = new uint8_t[rplLen]; - #endif - - // set the request fields - reqBuff[0] = decKeyId; - reqBuff[1] = verKeyId; - reqBuff[2] = lwVer; - memcpy(&reqBuff[3], header, headerLen); - memcpy(&reqBuff[3 + headerLen], dataIn, len); - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_PROCESS_JOIN_ACCEPT, false, rplBuff, rplLen, reqBuff, reqLen); - #if !RADIOLIB_STATIC_ONLY - delete[] reqBuff; - #endif - if(state != RADIOLIB_ERR_NONE) { - #if !RADIOLIB_STATIC_ONLY - delete[] rplBuff; - #endif - return(state); - } - - // check the crypto engine state - if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { - RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); - #if !RADIOLIB_STATIC_ONLY - delete[] rplBuff; - #endif - return(RADIOLIB_ERR_SPI_CMD_FAILED); - } - - // pass the data - memcpy(dataOut, &rplBuff[1], len); - #if !RADIOLIB_STATIC_ONLY - delete[] rplBuff; - #endif - return(state); -} - -int16_t LR11x0::cryptoComputeAesCmac(uint8_t keyId, uint8_t* data, size_t len, uint32_t* mic) { - size_t reqLen = sizeof(uint8_t) + len; - #if RADIOLIB_STATIC_ONLY - uint8_t reqBuff[sizeof(uint8_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* reqBuff = new uint8_t[reqLen]; - #endif - uint8_t rplBuff[5] = { 0 }; - - reqBuff[0] = keyId; - memcpy(&reqBuff[1], data, len); - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_COMPUTE_AES_CMAC, false, rplBuff, sizeof(rplBuff), reqBuff, reqLen); - #if !RADIOLIB_STATIC_ONLY - delete[] reqBuff; - #endif - - // check the crypto engine state - if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { - RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); - return(RADIOLIB_ERR_SPI_CMD_FAILED); - } - - if(mic) { *mic = ((uint32_t)(rplBuff[1]) << 24) | ((uint32_t)(rplBuff[2]) << 16) | ((uint32_t)(rplBuff[3]) << 8) | (uint32_t)rplBuff[4]; } - return(state); -} - -int16_t LR11x0::cryptoVerifyAesCmac(uint8_t keyId, uint32_t micExp, uint8_t* data, size_t len, bool* result) { - size_t reqLen = sizeof(uint8_t) + sizeof(uint32_t) + len; - #if RADIOLIB_STATIC_ONLY - uint8_t reqBuff[sizeof(uint8_t) + sizeof(uint32_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* reqBuff = new uint8_t[reqLen]; - #endif - uint8_t rplBuff[1] = { 0 }; - - reqBuff[0] = keyId; - reqBuff[1] = (uint8_t)((micExp >> 24) & 0xFF); - reqBuff[2] = (uint8_t)((micExp >> 16) & 0xFF); - reqBuff[3] = (uint8_t)((micExp >> 8) & 0xFF); - reqBuff[4] = (uint8_t)(micExp & 0xFF); - memcpy(&reqBuff[5], data, len); - - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_VERIFY_AES_CMAC, false, rplBuff, sizeof(rplBuff), reqBuff, reqLen); - #if !RADIOLIB_STATIC_ONLY - delete[] reqBuff; - #endif - - // check the crypto engine state - if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { - RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); - return(RADIOLIB_ERR_SPI_CMD_FAILED); - } - - if(result) { *result = (rplBuff[0] == RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS); } - return(state); -} - -int16_t LR11x0::cryptoAesEncrypt01(uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut) { - return(this->cryptoCommon(RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT_01, keyId, dataIn, len, dataOut)); -} - -int16_t LR11x0::cryptoAesEncrypt(uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut) { - return(this->cryptoCommon(RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT, keyId, dataIn, len, dataOut)); -} - -int16_t LR11x0::cryptoAesDecrypt(uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut) { - return(this->cryptoCommon(RADIOLIB_LR11X0_CMD_CRYPTO_AES_DECRYPT, keyId, dataIn, len, dataOut)); -} - -int16_t LR11x0::cryptoStoreToFlash(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_STORE_TO_FLASH, true, NULL, 0)); -} - -int16_t LR11x0::cryptoRestoreFromFlash(void) { - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_RESTORE_FROM_FLASH, true, NULL, 0)); -} - -int16_t LR11x0::cryptoSetParam(uint8_t id, uint32_t value) { - uint8_t buff[5] = { - id, - (uint8_t)((value >> 24) & 0xFF), (uint8_t)((value >> 16) & 0xFF), - (uint8_t)((value >> 8) & 0xFF), (uint8_t)(value & 0xFF) - }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_SET_PARAM, true, buff, sizeof(buff))); -} - -int16_t LR11x0::cryptoGetParam(uint8_t id, uint32_t* value) { - uint8_t reqBuff[1] = { id }; - uint8_t rplBuff[4] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_GET_PARAM, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); - RADIOLIB_ASSERT(state); - if(value) { *value = ((uint32_t)(rplBuff[0]) << 24) | ((uint32_t)(rplBuff[1]) << 16) | ((uint32_t)(rplBuff[2]) << 8) | (uint32_t)rplBuff[3]; } - return(state); -} - -int16_t LR11x0::cryptoCheckEncryptedFirmwareImage(uint32_t offset, uint32_t* data, size_t len, bool nonvolatile) { - // check maximum size - if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - return(this->writeCommon(RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE, offset, data, len, nonvolatile)); -} - -int16_t LR11x0::cryptoCheckEncryptedFirmwareImageResult(bool* result) { - uint8_t buff[1] = { 0 }; - int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE_RESULT, false, buff, sizeof(buff)); - - // pass the replies - if(result) { *result = (bool)buff[0]; } - - return(state); -} - -int16_t LR11x0::bootEraseFlash(void) { - // erasing flash takes about 2.5 seconds, temporarily tset SPI timeout to 3 seconds - RadioLibTime_t timeout = this->mod->spiConfig.timeout; - this->mod->spiConfig.timeout = 3000; - int16_t state = this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_BOOT_ERASE_FLASH, NULL, 0, false, false); - this->mod->spiConfig.timeout = timeout; - return(state); -} - -int16_t LR11x0::bootWriteFlashEncrypted(uint32_t offset, uint32_t* data, size_t len, bool nonvolatile) { - // check maximum size - if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { - return(RADIOLIB_ERR_SPI_CMD_INVALID); - } - return(this->writeCommon(RADIOLIB_LR11X0_CMD_BOOT_WRITE_FLASH_ENCRYPTED, offset, data, len, nonvolatile)); -} - -int16_t LR11x0::bootReboot(bool stay) { - uint8_t buff[1] = { (uint8_t)stay }; - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_REBOOT, true, buff, sizeof(buff))); -} - -int16_t LR11x0::bootGetPin(uint8_t* pin) { - RADIOLIB_ASSERT_PTR(pin); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_GET_PIN, false, pin, RADIOLIB_LR11X0_PIN_LEN)); -} - -int16_t LR11x0::bootGetChipEui(uint8_t* eui) { - RADIOLIB_ASSERT_PTR(eui); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_GET_CHIP_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); -} - -int16_t LR11x0::bootGetJoinEui(uint8_t* eui) { - RADIOLIB_ASSERT_PTR(eui); - return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_GET_JOIN_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); -} - -int16_t LR11x0::writeCommon(uint16_t cmd, uint32_t addrOffset, const uint32_t* data, size_t len, bool nonvolatile) { - // build buffers - later we need to ensure endians are correct, - // so there is probably no way to do this without copying buffers and iterating - size_t buffLen = sizeof(uint32_t) + len*sizeof(uint32_t); - #if RADIOLIB_STATIC_ONLY - uint8_t dataBuff[sizeof(uint32_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* dataBuff = new uint8_t[buffLen]; - #endif - - // set the address or offset - dataBuff[0] = (uint8_t)((addrOffset >> 24) & 0xFF); - dataBuff[1] = (uint8_t)((addrOffset >> 16) & 0xFF); - dataBuff[2] = (uint8_t)((addrOffset >> 8) & 0xFF); - dataBuff[3] = (uint8_t)(addrOffset & 0xFF); - - // convert endians - for(size_t i = 0; i < len; i++) { - uint32_t bin = 0; - if(nonvolatile) { - bin = RADIOLIB_NONVOLATILE_READ_DWORD(data + i); - } else { - bin = data[i]; - } - dataBuff[4 + i*sizeof(uint32_t)] = (uint8_t)((bin >> 24) & 0xFF); - dataBuff[5 + i*sizeof(uint32_t)] = (uint8_t)((bin >> 16) & 0xFF); - dataBuff[6 + i*sizeof(uint32_t)] = (uint8_t)((bin >> 8) & 0xFF); - dataBuff[7 + i*sizeof(uint32_t)] = (uint8_t)(bin & 0xFF); - } - - int16_t state = this->mod->SPIwriteStream(cmd, dataBuff, buffLen, true, false); - #if !RADIOLIB_STATIC_ONLY - delete[] dataBuff; - #endif - return(state); -} - -int16_t LR11x0::cryptoCommon(uint16_t cmd, uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut) { - // build buffers - #if RADIOLIB_STATIC_ONLY - uint8_t reqBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; - #else - uint8_t* reqBuff = new uint8_t[sizeof(uint8_t) + len]; - uint8_t* rplBuff = new uint8_t[sizeof(uint8_t) + len]; - #endif - - // set the request fields - reqBuff[0] = keyId; - memcpy(&reqBuff[1], dataIn, len); - - int16_t state = this->SPIcommand(cmd, false, rplBuff, sizeof(uint8_t) + len, reqBuff, sizeof(uint8_t) + len); - #if !RADIOLIB_STATIC_ONLY - delete[] reqBuff; - #endif - if(state != RADIOLIB_ERR_NONE) { - #if !RADIOLIB_STATIC_ONLY - delete[] rplBuff; - #endif - return(state); - } - - // check the crypto engine state - if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { - RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); - return(RADIOLIB_ERR_SPI_CMD_FAILED); - } - - // pass the data - memcpy(dataOut, &rplBuff[1], len); - #if !RADIOLIB_STATIC_ONLY - delete[] rplBuff; - #endif - return(state); -} - #endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0.h b/lib/RadioLib/src/modules/LR11x0/LR11x0.h index 42685a9..0a7fee3 100644 --- a/lib/RadioLib/src/modules/LR11x0/LR11x0.h +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0.h @@ -7,7 +7,11 @@ #include "../../Module.h" -#include "../../protocols/PhysicalLayer/PhysicalLayer.h" +#include "../LR11x0/LR_common.h" + +#include "LR11x0_commands.h" +#include "LR11x0_registers.h" +#include "LR11x0_types.h" // LR11X0 physical layer properties #define RADIOLIB_LR11X0_FREQUENCY_STEP_SIZE 1.0 @@ -15,868 +19,18 @@ #define RADIOLIB_LR11X0_CRYSTAL_FREQ 32.0 #define RADIOLIB_LR11X0_DIV_EXPONENT 25 -// LR11X0 SPI commands -#define RADIOLIB_LR11X0_CMD_NOP (0x0000) -#define RADIOLIB_LR11X0_CMD_WRITE_REG_MEM (0x0105) -#define RADIOLIB_LR11X0_CMD_READ_REG_MEM (0x0106) -#define RADIOLIB_LR11X0_CMD_WRITE_BUFFER (0x0109) -#define RADIOLIB_LR11X0_CMD_READ_BUFFER (0x010A) -#define RADIOLIB_LR11X0_CMD_CLEAR_RX_BUFFER (0x010B) -#define RADIOLIB_LR11X0_CMD_WRITE_REG_MEM_MASK (0x010C) -#define RADIOLIB_LR11X0_CMD_GET_STATUS (0x0100) -#define RADIOLIB_LR11X0_CMD_GET_VERSION (0x0101) -#define RADIOLIB_LR11X0_CMD_GET_ERRORS (0x010D) -#define RADIOLIB_LR11X0_CMD_CLEAR_ERRORS (0x010E) -#define RADIOLIB_LR11X0_CMD_CALIBRATE (0x010F) -#define RADIOLIB_LR11X0_CMD_SET_REG_MODE (0x0110) -#define RADIOLIB_LR11X0_CMD_CALIB_IMAGE (0x0111) -#define RADIOLIB_LR11X0_CMD_SET_DIO_AS_RF_SWITCH (0x0112) -#define RADIOLIB_LR11X0_CMD_SET_DIO_IRQ_PARAMS (0x0113) -#define RADIOLIB_LR11X0_CMD_CLEAR_IRQ (0x0114) -#define RADIOLIB_LR11X0_CMD_CONFIG_LF_CLOCK (0x0116) -#define RADIOLIB_LR11X0_CMD_SET_TCXO_MODE (0x0117) -#define RADIOLIB_LR11X0_CMD_REBOOT (0x0118) -#define RADIOLIB_LR11X0_CMD_GET_VBAT (0x0119) -#define RADIOLIB_LR11X0_CMD_GET_TEMP (0x011A) -#define RADIOLIB_LR11X0_CMD_SET_SLEEP (0x011B) -#define RADIOLIB_LR11X0_CMD_SET_STANDBY (0x011C) -#define RADIOLIB_LR11X0_CMD_SET_FS (0x011D) -#define RADIOLIB_LR11X0_CMD_GET_RANDOM_NUMBER (0x0120) -#define RADIOLIB_LR11X0_CMD_ERASE_INFO_PAGE (0x0121) -#define RADIOLIB_LR11X0_CMD_WRITE_INFO_PAGE (0x0122) -#define RADIOLIB_LR11X0_CMD_READ_INFO_PAGE (0x0123) -#define RADIOLIB_LR11X0_CMD_GET_CHIP_EUI (0x0125) -#define RADIOLIB_LR11X0_CMD_GET_SEMTECH_JOIN_EUI (0x0126) -#define RADIOLIB_LR11X0_CMD_DERIVE_ROOT_KEYS_AND_GET_PIN (0x0127) -#define RADIOLIB_LR11X0_CMD_ENABLE_SPI_CRC (0x0128) -#define RADIOLIB_LR11X0_CMD_DRIVE_DIOS_IN_SLEEP_MODE (0x012A) -#define RADIOLIB_LR11X0_CMD_RESET_STATS (0x0200) -#define RADIOLIB_LR11X0_CMD_GET_STATS (0x0201) -#define RADIOLIB_LR11X0_CMD_GET_PACKET_TYPE (0x0202) -#define RADIOLIB_LR11X0_CMD_GET_RX_BUFFER_STATUS (0x0203) -#define RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS (0x0204) -#define RADIOLIB_LR11X0_CMD_GET_RSSI_INST (0x0205) -#define RADIOLIB_LR11X0_CMD_SET_GFSK_SYNC_WORD (0x0206) -#define RADIOLIB_LR11X0_CMD_SET_LORA_PUBLIC_NETWORK (0x0208) -#define RADIOLIB_LR11X0_CMD_SET_RX (0x0209) -#define RADIOLIB_LR11X0_CMD_SET_TX (0x020A) -#define RADIOLIB_LR11X0_CMD_SET_RF_FREQUENCY (0x020B) -#define RADIOLIB_LR11X0_CMD_AUTO_TX_RX (0x020C) -#define RADIOLIB_LR11X0_CMD_SET_CAD_PARAMS (0x020D) -#define RADIOLIB_LR11X0_CMD_SET_PACKET_TYPE (0x020E) -#define RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS (0x020F) -#define RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS (0x0210) -#define RADIOLIB_LR11X0_CMD_SET_TX_PARAMS (0x0211) -#define RADIOLIB_LR11X0_CMD_SET_PACKET_ADRS (0x0212) -#define RADIOLIB_LR11X0_CMD_SET_RX_TX_FALLBACK_MODE (0x0213) -#define RADIOLIB_LR11X0_CMD_SET_RX_DUTY_CYCLE (0x0214) -#define RADIOLIB_LR11X0_CMD_SET_PA_CONFIG (0x0215) -#define RADIOLIB_LR11X0_CMD_STOP_TIMEOUT_ON_PREAMBLE (0x0217) -#define RADIOLIB_LR11X0_CMD_SET_CAD (0x0218) -#define RADIOLIB_LR11X0_CMD_SET_TX_CW (0x0219) -#define RADIOLIB_LR11X0_CMD_SET_TX_INFINITE_PREAMBLE (0x021A) -#define RADIOLIB_LR11X0_CMD_SET_LORA_SYNCH_TIMEOUT (0x021B) -#define RADIOLIB_LR11X0_CMD_SET_RANGING_ADDR (0x021C) -#define RADIOLIB_LR11X0_CMD_SET_RANGING_REQ_ADDR (0x021D) -#define RADIOLIB_LR11X0_CMD_GET_RANGING_RESULT (0x021E) -#define RADIOLIB_LR11X0_CMD_SET_RANGING_TX_RX_DELAY (0x021F) -#define RADIOLIB_LR11X0_CMD_SET_GFSK_CRC_PARAMS (0x0224) -#define RADIOLIB_LR11X0_CMD_SET_GFSK_WHIT_PARAMS (0x0225) -#define RADIOLIB_LR11X0_CMD_SET_RX_BOOSTED (0x0227) -#define RADIOLIB_LR11X0_CMD_SET_RANGING_PARAMETER (0x0228) -#define RADIOLIB_LR11X0_CMD_SET_RSSI_CALIBRATION (0x0229) -#define RADIOLIB_LR11X0_CMD_SET_LORA_SYNC_WORD (0x022B) -#define RADIOLIB_LR11X0_CMD_LR_FHSS_BUILD_FRAME (0x022C) -#define RADIOLIB_LR11X0_CMD_LR_FHSS_SET_SYNC_WORD (0x022D) -#define RADIOLIB_LR11X0_CMD_CONFIG_BLE_BEACON (0x022E) -#define RADIOLIB_LR11X0_CMD_GET_LORA_RX_HEADER_INFOS (0x0230) -#define RADIOLIB_LR11X0_CMD_BLE_BEACON_SEND (0x0231) -#define RADIOLIB_LR11X0_CMD_WIFI_SCAN (0x0300) -#define RADIOLIB_LR11X0_CMD_WIFI_SCAN_TIME_LIMIT (0x0301) -#define RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE (0x0302) -#define RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE_TIME_LIMIT (0x0303) -#define RADIOLIB_LR11X0_CMD_WIFI_GET_NB_RESULTS (0x0305) -#define RADIOLIB_LR11X0_CMD_WIFI_READ_RESULTS (0x0306) -#define RADIOLIB_LR11X0_CMD_WIFI_RESET_CUMUL_TIMINGS (0x0307) -#define RADIOLIB_LR11X0_CMD_WIFI_READ_CUMUL_TIMINGS (0x0308) -#define RADIOLIB_LR11X0_CMD_WIFI_GET_NB_COUNTRY_CODE_RESULTS (0x0309) -#define RADIOLIB_LR11X0_CMD_WIFI_READ_COUNTRY_CODE_RESULTS (0x030A) -#define RADIOLIB_LR11X0_CMD_WIFI_CFG_TIMESTAMP_AP_PHONE (0x030B) -#define RADIOLIB_LR11X0_CMD_WIFI_READ_VERSION (0x0320) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_RSSI (0x0222) -#define RADIOLIB_LR11X0_CMD_GNSS_SET_CONSTELLATION_TO_USE (0x0400) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_CONSTELLATION_TO_USE (0x0401) -#define RADIOLIB_LR11X0_CMD_GNSS_SET_ALMANAC_UPDATE (0x0402) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE (0x0403) -#define RADIOLIB_LR11X0_CMD_GNSS_SET_FREQ_SEARCH_SPACE (0x0404) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_FREQ_SEARCH_SPACE (0x0405) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_VERSION (0x0406) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_SUPPORTED_CONSTELLATIONS (0x0407) -#define RADIOLIB_LR11X0_CMD_GNSS_SET_MODE (0x0408) -#define RADIOLIB_LR11X0_CMD_GNSS_AUTONOMOUS (0x0409) -#define RADIOLIB_LR11X0_CMD_GNSS_ASSISTED (0x040A) -#define RADIOLIB_LR11X0_CMD_GNSS_SCAN (0x040B) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_RESULT_SIZE (0x040C) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_RESULTS (0x040D) -#define RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE (0x040E) -#define RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_READ_ADDR_SIZE (0x040F) -#define RADIOLIB_LR11X0_CMD_GNSS_SET_ASSISTANCE_POSITION (0x0410) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_ASSISTANCE_POSITION (0x0411) -#define RADIOLIB_LR11X0_CMD_GNSS_PUSH_SOLVER_MSG (0x0414) -#define RADIOLIB_LR11X0_CMD_GNSS_PUSH_DM_MSG (0x0415) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_CONTEXT_STATUS (0x0416) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_NB_SV_DETECTED (0x0417) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_DETECTED (0x0418) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_CONSUMPTION (0x0419) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_PER_SATELLITE (0x041A) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE (0x041F) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE_DOPPLER (0x0420) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_LAST_SCAN_MODE_LAUNCHED (0x0426) -#define RADIOLIB_LR11X0_CMD_GNSS_FETCH_TIME (0x0432) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_TIME (0x0434) -#define RADIOLIB_LR11X0_CMD_GNSS_RESET_TIME (0x0435) -#define RADIOLIB_LR11X0_CMD_GNSS_RESET_POSITION (0x0437) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_WEEK_NUMBER_ROLLOWER (0x0438) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_DEMOD_STATUS (0x0439) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_CUMUL_TIMING (0x044A) -#define RADIOLIB_LR11X0_CMD_GNSS_SET_TIME (0x044B) -#define RADIOLIB_LR11X0_CMD_GNSS_CONFIG_DELAY_RESET_AP (0x044D) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_DOPPLER_SOLVER_RES (0x044F) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_DELAY_RESET_AP (0x0453) -#define RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_UPDATE_FROM_SAT (0x0454) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_KEEP_SYNC_STATUS (0x0456) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_STATUS (0x0457) -#define RADIOLIB_LR11X0_CMD_GNSS_CONFIG_ALMANAC_UPDATE_PERIOD (0x0463) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE_PERIOD (0x0464) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_WARM_START (0x0466) -#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_SYNC (0x0466) -#define RADIOLIB_LR11X0_CMD_GNSS_READ_WARM_START_STATUS (0x0469) -#define RADIOLIB_LR11X0_CMD_GNSS_WRITE_BIT_MASK_SAT_ACTIVATED (0x0472) -#define RADIOLIB_LR11X0_CMD_CRYPTO_SET_KEY (0x0502) -#define RADIOLIB_LR11X0_CMD_CRYPTO_DERIVE_KEY (0x0503) -#define RADIOLIB_LR11X0_CMD_CRYPTO_PROCESS_JOIN_ACCEPT (0x0504) -#define RADIOLIB_LR11X0_CMD_CRYPTO_COMPUTE_AES_CMAC (0x0505) -#define RADIOLIB_LR11X0_CMD_CRYPTO_VERIFY_AES_CMAC (0x0506) -#define RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT_01 (0x0507) -#define RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT (0x0508) -#define RADIOLIB_LR11X0_CMD_CRYPTO_AES_DECRYPT (0x0509) -#define RADIOLIB_LR11X0_CMD_CRYPTO_STORE_TO_FLASH (0x050A) -#define RADIOLIB_LR11X0_CMD_CRYPTO_RESTORE_FROM_FLASH (0x050B) -#define RADIOLIB_LR11X0_CMD_CRYPTO_SET_PARAM (0x050D) -#define RADIOLIB_LR11X0_CMD_CRYPTO_GET_PARAM (0x050E) -#define RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE (0x050F) -#define RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE_RESULT (0x0510) -#define RADIOLIB_LR11X0_CMD_BOOT_ERASE_FLASH (0x8000) -#define RADIOLIB_LR11X0_CMD_BOOT_WRITE_FLASH_ENCRYPTED (0x8003) -#define RADIOLIB_LR11X0_CMD_BOOT_REBOOT (0x8005) -#define RADIOLIB_LR11X0_CMD_BOOT_GET_PIN (0x800B) -#define RADIOLIB_LR11X0_CMD_BOOT_GET_CHIP_EUI (0x800C) -#define RADIOLIB_LR11X0_CMD_BOOT_GET_JOIN_EUI (0x800D) - -// LR11X0 register map -#define RADIOLIB_LR11X0_REG_SF6_SX127X_COMPAT (0x00F20414) -#define RADIOLIB_LR11X0_REG_LORA_HIGH_POWER_FIX (0x00F30054) -#define RADIOLIB_LR11X0_REG_LNA_MODE (0x00F3008C) -// TODO add fix for br 600/1200 bps - -// LR11X0 SPI command variables - -// RADIOLIB_LR11X0_CMD_GET_STATUS MSB LSB DESCRIPTION -#define RADIOLIB_LR11X0_STAT_1_CMD_FAIL (0x00UL << 1) // 3 1 command status: last command could not be executed -#define RADIOLIB_LR11X0_STAT_1_CMD_PERR (0x01UL << 1) // 3 1 processing error -#define RADIOLIB_LR11X0_STAT_1_CMD_OK (0x02UL << 1) // 3 1 successfully processed -#define RADIOLIB_LR11X0_STAT_1_CMD_DAT (0x03UL << 1) // 3 1 successfully processed, data is being transmitted -#define RADIOLIB_LR11X0_STAT_1_IRQ_INACTIVE (0x00UL << 0) // 0 0 interrupt status: inactive -#define RADIOLIB_LR11X0_STAT_1_IRQ_ACTIVE (0x01UL << 0) // 0 0 at least 1 interrupt active -#define RADIOLIB_LR11X0_STAT_2_CMD_RST_CLEARED (0x00UL << 4) // 7 4 reset status: cleared -#define RADIOLIB_LR11X0_STAT_2_CMD_RST_ANALOG (0x01UL << 4) // 7 4 analog (power on, brown-out) -#define RADIOLIB_LR11X0_STAT_2_CMD_RST_EXTERNAL (0x02UL << 4) // 7 4 NRESET pin -#define RADIOLIB_LR11X0_STAT_2_CMD_RST_SYSTEM (0x03UL << 4) // 7 4 system -#define RADIOLIB_LR11X0_STAT_2_CMD_RST_WATCHDOG (0x04UL << 4) // 7 4 watchdog -#define RADIOLIB_LR11X0_STAT_2_CMD_RST_WAKEUP (0x05UL << 4) // 7 4 NSS toggling wake-up -#define RADIOLIB_LR11X0_STAT_2_CMD_RST_RTC (0x06UL << 4) // 7 4 realtime clock -#define RADIOLIB_LR11X0_STAT_2_MODE_SLEEP (0x00UL << 1) // 3 1 chip mode: sleep -#define RADIOLIB_LR11X0_STAT_2_MODE_STBY_RC (0x01UL << 1) // 3 1 standby with RC oscillator -#define RADIOLIB_LR11X0_STAT_2_MODE_STBY_OSC (0x02UL << 1) // 3 1 standby with external oscillator -#define RADIOLIB_LR11X0_STAT_2_MODE_FS (0x03UL << 1) // 3 1 frequency synthesis -#define RADIOLIB_LR11X0_STAT_2_MODE_RX (0x04UL << 1) // 3 1 receive -#define RADIOLIB_LR11X0_STAT_2_MODE_TX (0x05UL << 1) // 3 1 transmit -#define RADIOLIB_LR11X0_STAT_2_MODE_WIFI_GNSS (0x06UL << 1) // 3 1 WiFi or GNSS geolocation -#define RADIOLIB_LR11X0_STAT_2_BOOT (0x00UL << 0) // 0 0 code executed from: bootloader -#define RADIOLIB_LR11X0_STAT_2_FLASH (0x01UL << 0) // 0 0 flash - -// RADIOLIB_LR11X0_CMD_WRITE_REG_MEM -#define RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN (256) // 7 0 maximum length of read/write SPI payload in bytes - -// RADIOLIB_LR11X0_CMD_GET_VERSION -#define RADIOLIB_LR11X0_DEVICE_LR1110 (0x01UL << 0) // 7 0 HW device: LR1110 -#define RADIOLIB_LR11X0_DEVICE_LR1120 (0x02UL << 0) // 7 0 LR1120 -#define RADIOLIB_LR11X0_DEVICE_LR1121 (0x03UL << 0) // 7 0 LR1121 -#define RADIOLIB_LR11X0_DEVICE_BOOT (0xDFUL << 0) // 7 0 bootloader mode - -// RADIOLIB_LR11X0_CMD_GET_ERRORS -#define RADIOLIB_LR11X0_ERROR_STAT_LF_RC_CALIB_ERR (0x01UL << 0) // 15 0 error: low frequency RC not calibrated -#define RADIOLIB_LR11X0_ERROR_STAT_HF_RC_CALIB_ERR (0x01UL << 1) // 15 0 high frequency RC not calibrated -#define RADIOLIB_LR11X0_ERROR_STAT_ADC_CALIB_ERR (0x01UL << 2) // 15 0 ADC not calibrated -#define RADIOLIB_LR11X0_ERROR_STAT_PLL_CALIB_ERR (0x01UL << 3) // 15 0 PLL not calibrated -#define RADIOLIB_LR11X0_ERROR_STAT_IMG_CALIB_ERR (0x01UL << 4) // 15 0 image rejection not calibrated -#define RADIOLIB_LR11X0_ERROR_STAT_HF_XOSC_START_ERR (0x01UL << 5) // 15 0 high frequency oscillator failed to start -#define RADIOLIB_LR11X0_ERROR_STAT_LF_XOSC_START_ERR (0x01UL << 6) // 15 0 low frequency oscillator failed to start -#define RADIOLIB_LR11X0_ERROR_STAT_PLL_LOCK_ERR (0x01UL << 7) // 15 0 PLL failed to lock -#define RADIOLIB_LR11X0_ERROR_STAT_RX_ADC_OFFSET_ERR (0x01UL << 8) // 15 0 ADC offset not calibrated - -// RADIOLIB_LR11X0_CMD_CALIBRATE -#define RADIOLIB_LR11X0_CALIBRATE_PLL_TX (0x01UL << 5) // 5 5 calibrate: Tx PLL -#define RADIOLIB_LR11X0_CALIBRATE_IMG (0x01UL << 4) // 4 4 image rejection -#define RADIOLIB_LR11X0_CALIBRATE_ADC (0x01UL << 3) // 3 3 A/D converter -#define RADIOLIB_LR11X0_CALIBRATE_PLL (0x01UL << 2) // 2 2 PLL -#define RADIOLIB_LR11X0_CALIBRATE_HF_RC (0x01UL << 1) // 1 1 high frequency RC -#define RADIOLIB_LR11X0_CALIBRATE_LF_RC (0x01UL << 0) // 0 0 low frequency RC -#define RADIOLIB_LR11X0_CALIBRATE_ALL (0x3FUL << 0) // 5 0 everything -#define RADIOLIB_LR11X0_CAL_IMG_FREQ_TRIG_MHZ (20.0) - -// RADIOLIB_LR11X0_CMD_SET_REG_MODE -#define RADIOLIB_LR11X0_REG_MODE_LDO (0x00UL << 0) // 0 0 regulator mode: LDO in all modes -#define RADIOLIB_LR11X0_REG_MODE_DC_DC (0x01UL << 0) // 0 0 DC-DC and LDO - -// RADIOLIB_LR11X0_CMD_SET_DIO_AS_RF_SWITCH -#define RADIOLIB_LR11X0_RFSW_DIO5_ENABLED (0x01UL << 0) // 4 0 RF switch: DIO5 enabled -#define RADIOLIB_LR11X0_RFSW_DIO5_DISABLED (0x00UL << 0) // 4 0 DIO5 disabled (default) -#define RADIOLIB_LR11X0_RFSW_DIO6_ENABLED (0x01UL << 1) // 4 0 RF switch: DIO6 enabled -#define RADIOLIB_LR11X0_RFSW_DIO6_DISABLED (0x00UL << 1) // 4 0 DIO6 disabled (default) -#define RADIOLIB_LR11X0_RFSW_DIO7_ENABLED (0x01UL << 2) // 4 0 RF switch: DIO7 enabled -#define RADIOLIB_LR11X0_RFSW_DIO7_DISABLED (0x00UL << 2) // 4 0 DIO7 disabled (default) -#define RADIOLIB_LR11X0_RFSW_DIO8_ENABLED (0x01UL << 3) // 4 0 RF switch: DIO8 enabled -#define RADIOLIB_LR11X0_RFSW_DIO8_DISABLED (0x00UL << 3) // 4 0 DIO8 disabled (default) -#define RADIOLIB_LR11X0_RFSW_DIO10_ENABLED (0x01UL << 4) // 4 0 RF switch: DIO10 enabled -#define RADIOLIB_LR11X0_RFSW_DIO10_DISABLED (0x00UL << 4) // 4 0 DIO10 disabled (default) -#define RADIOLIB_LR11X0_DIOx(X) ((X) | RFSWITCH_PIN_FLAG) -#define RADIOLIB_LR11X0_DIOx_VAL(X) ((X) & ~RFSWITCH_PIN_FLAG) -#define RADIOLIB_LR11X0_DIO5 (RADIOLIB_LR11X0_DIOx(0)) -#define RADIOLIB_LR11X0_DIO6 (RADIOLIB_LR11X0_DIOx(1)) -#define RADIOLIB_LR11X0_DIO7 (RADIOLIB_LR11X0_DIOx(2)) -#define RADIOLIB_LR11X0_DIO8 (RADIOLIB_LR11X0_DIOx(3)) -#define RADIOLIB_LR11X0_DIO10 (RADIOLIB_LR11X0_DIOx(4)) - -// RADIOLIB_LR11X0_CMD_SET_DIO_IRQ_PARAMS -#define RADIOLIB_LR11X0_IRQ_TX_DONE (0x01UL << 2) // 31 0 interrupt: packet transmitted -#define RADIOLIB_LR11X0_IRQ_RX_DONE (0x01UL << 3) // 31 0 packet received -#define RADIOLIB_LR11X0_IRQ_PREAMBLE_DETECTED (0x01UL << 4) // 31 0 preamble detected -#define RADIOLIB_LR11X0_IRQ_SYNC_WORD_HEADER_VALID (0x01UL << 5) // 31 0 sync word or LoRa header valid -#define RADIOLIB_LR11X0_IRQ_HEADER_ERR (0x01UL << 6) // 31 0 LoRa header CRC error -#define RADIOLIB_LR11X0_IRQ_CRC_ERR (0x01UL << 7) // 31 0 packet CRC error -#define RADIOLIB_LR11X0_IRQ_CAD_DONE (0x01UL << 8) // 31 0 CAD completed -#define RADIOLIB_LR11X0_IRQ_CAD_DETECTED (0x01UL << 9) // 31 0 CAD detected -#define RADIOLIB_LR11X0_IRQ_TIMEOUT (0x01UL << 10) // 31 0 Rx or Tx timeout -#define RADIOLIB_LR11X0_IRQ_LR_FHSS_HOP (0x01UL << 11) // 31 0 FHSS hop -#define RADIOLIB_LR11X0_IRQ_GNSS_DONE (0x01UL << 19) // 31 0 GNSS scan finished -#define RADIOLIB_LR11X0_IRQ_WIFI_DONE (0x01UL << 20) // 31 0 WiFi scan finished -#define RADIOLIB_LR11X0_IRQ_LBD (0x01UL << 21) // 31 0 low battery detected -#define RADIOLIB_LR11X0_IRQ_CMD_ERROR (0x01UL << 22) // 31 0 command error -#define RADIOLIB_LR11X0_IRQ_ERROR (0x01UL << 23) // 31 0 some other error than CMD_ERR -#define RADIOLIB_LR11X0_IRQ_FSK_LEN_ERROR (0x01UL << 24) // 31 0 FSK packet received with length error -#define RADIOLIB_LR11X0_IRQ_FSK_ADDR_ERROR (0x01UL << 25) // 31 0 FSK packet received with address error -#define RADIOLIB_LR11X0_IRQ_LORA_RX_TIMESTAMP (0x01UL << 27) // 31 0 last LoRa symbol was received (timestamp source) -#define RADIOLIB_LR11X0_IRQ_GNSS_ABORT (0x01UL << 28) // 31 0 GNSS scan aborted -#define RADIOLIB_LR11X0_IRQ_ALL (0x1BF80FFCUL) // 31 0 all interrupts -#define RADIOLIB_LR11X0_IRQ_NONE (0x00UL << 0) // 31 0 no interrupts - -// RADIOLIB_LR11X0_CMD_CONFIG_LF_CLOCK -#define RADIOLIB_LR11X0_LF_CLK_RC (0x00UL << 0) // 1 0 32.768 kHz source: RC oscillator -#define RADIOLIB_LR11X0_LF_CLK_XOSC (0x01UL << 0) // 1 0 crystal oscillator -#define RADIOLIB_LR11X0_LF_CLK_EXT (0x02UL << 0) // 1 0 external signal on DIO11 -#define RADIOLIB_LR11X0_LF_BUSY_RELEASE_DISABLED (0x00UL << 2) // 2 2 -#define RADIOLIB_LR11X0_LF_BUSY_RELEASE_ENABLED (0x01UL << 2) // 2 2 - -// RADIOLIB_LR11X0_CMD_SET_TCXO_MODE -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_1_6 (0x00UL << 0) // 2 0 TCXO supply voltage: 1.6V -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_1_7 (0x01UL << 0) // 2 0 1.7V -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_1_8 (0x02UL << 0) // 2 0 1.8V -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_2_2 (0x03UL << 0) // 2 0 2.2V -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_2_4 (0x04UL << 0) // 2 0 2.4V -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_2_7 (0x05UL << 0) // 2 0 2.7V -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_3_0 (0x06UL << 0) // 2 0 3.0V -#define RADIOLIB_LR11X0_TCXO_VOLTAGE_3_3 (0x07UL << 0) // 2 0 3.3V - -// RADIOLIB_LR11X0_CMD_SET_SLEEP -#define RADIOLIB_LR11X0_SLEEP_RETENTION_DISABLED (0x00UL << 0) // 0 0 configuration retention in sleep mode: disabled -#define RADIOLIB_LR11X0_SLEEP_RETENTION_ENABLED (0x01UL << 0) // 0 0 enabled -#define RADIOLIB_LR11X0_SLEEP_WAKEUP_DISABLED (0x00UL << 0) // 1 1 automated wakeup: disabled -#define RADIOLIB_LR11X0_SLEEP_WAKEUP_ENABLED (0x01UL << 0) // 1 1 enabled - -// RADIOLIB_LR11X0_CMD_SET_STANDBY -#define RADIOLIB_LR11X0_STANDBY_RC (0x00UL << 0) // 7 0 standby mode: RC oscillator -#define RADIOLIB_LR11X0_STANDBY_XOSC (0x00UL << 0) // 7 0 XTAL/TCXO oscillator - -// RADIOLIB_LR11X0_CMD_ERASE_INFO_PAGE -#define RADIOLIB_LR11X0_INFO_PAGE (1) - -// RADIOLIB_LR11X0_CMD_GET_CHIP_EUI -#define RADIOLIB_LR11X0_EUI_LEN (8) - -// RADIOLIB_LR11X0_CMD_DERIVE_ROOT_KEYS_AND_GET_PIN -#define RADIOLIB_LR11X0_PIN_LEN (4) - -// RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS -#define RADIOLIB_LR11X0_RX_STATUS_ADDR_ERR (0x01UL << 5) // 7 0 Rx status: address filtering error -#define RADIOLIB_LR11X0_RX_STATUS_CRC_ERR (0x01UL << 4) // 7 0 CRC error -#define RADIOLIB_LR11X0_RX_STATUS_LEN_ERR (0x01UL << 3) // 7 0 length filtering error -#define RADIOLIB_LR11X0_RX_STATUS_ABORTED (0x01UL << 2) // 7 0 packet reception aborted -#define RADIOLIB_LR11X0_RX_STATUS_PACKET_RECEIVED (0x01UL << 1) // 7 0 packet received -#define RADIOLIB_LR11X0_RX_STATUS_PACKET_SENT (0x01UL << 0) // 7 0 packet sent - -// RADIOLIB_LR11X0_CMD_SET_GFSK_SYNC_WORD -#define RADIOLIB_LR11X0_GFSK_SYNC_WORD_LEN (8) - -// RADIOLIB_LR11X0_CMD_SET_LORA_PUBLIC_NETWORK -#define RADIOLIB_LR11X0_LORA_PRIVATE_NETWORK (0x00UL << 0) // 7 0 LoRa sync word: private network -#define RADIOLIB_LR11X0_LORA_PUBLIC_NETWORK (0x01UL << 0) // 7 0 public network - -// RADIOLIB_LR11X0_CMD_SET_RX -#define RADIOLIB_LR11X0_RX_TIMEOUT_NONE (0x000000UL) // 23 0 Rx timeout duration: no timeout (Rx single mode) -#define RADIOLIB_LR11X0_RX_TIMEOUT_INF (0xFFFFFFUL) // 23 0 infinite (Rx continuous mode) - -// RADIOLIB_LR11X0_CMD_SET_TX -#define RADIOLIB_LR11X0_TX_TIMEOUT_NONE (0x000000UL) // 23 0 disable Tx timeout - -// RADIOLIB_LR11X0_CMD_AUTO_TX_RX -#define RADIOLIB_LR11X0_AUTO_TX_RX_DISABLED (0xFFFFFFUL) // 23 0 disable auto Tx/Rx mode -#define RADIOLIB_LR11X0_AUTO_TX_RX_SKIP_INT (0x000000UL) // 23 0 skip intermediary mode -#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_SLEEP (0x00UL << 0) // 1 0 intermediary mode: sleep -#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_STBY_RC (0x01UL << 0) // 1 0 standby with RC -#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_STBY_XOSC (0x02UL << 0) // 1 0 standby with XOSC -#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_FS (0x03UL << 0) // 1 0 frequency synthesis -#define RADIOLIB_LR11X0_AUTO_TX_RX_TIMEOUT_DISABLED (0x000000UL) // 23 0 disable timeout of the second mode - -// RADIOLIB_LR11X0_CMD_SET_CAD_PARAMS -#define RADIOLIB_LR11X0_CAD_EXIT_MODE_STBY_RC (0x00UL << 0) // 7 0 mode to set after CAD: standby with RC -#define RADIOLIB_LR11X0_CAD_EXIT_MODE_RX (0x01UL << 0) // 7 0 receive if activity detected -#define RADIOLIB_LR11X0_CAD_EXIT_MODE_LBT (0x10UL << 0) // 7 0 transmit if no activity detected -#define RADIOLIB_LR11X0_CAD_PARAM_DEFAULT (0xFFUL << 0) // 7 0 used by the CAD methods to specify default parameter value - -// RADIOLIB_LR11X0_CMD_SET_PACKET_TYPE -#define RADIOLIB_LR11X0_PACKET_TYPE_NONE (0x00UL << 0) // 2 0 packet type: none -#define RADIOLIB_LR11X0_PACKET_TYPE_GFSK (0x01UL << 0) // 2 0 (G)FSK -#define RADIOLIB_LR11X0_PACKET_TYPE_LORA (0x02UL << 0) // 2 0 LoRa -#define RADIOLIB_LR11X0_PACKET_TYPE_SIGFOX (0x03UL << 0) // 2 0 Sigfox -#define RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS (0x04UL << 0) // 2 0 GMSK/LR-FHSS -#define RADIOLIB_LR11X0_PACKET_TYPE_RANGING (0x05UL << 0) // 2 0 ranging -#define RADIOLIB_LR11X0_PACKET_TYPE_BLE (0x06UL << 0) // 2 0 BLE beacon - -// RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS -#define RADIOLIB_LR11X0_LORA_BW_62_5 (0x03UL << 0) // 7 0 LoRa bandwidth: 62.5 kHz -#define RADIOLIB_LR11X0_LORA_BW_125_0 (0x04UL << 0) // 7 0 125.0 kHz -#define RADIOLIB_LR11X0_LORA_BW_250_0 (0x05UL << 0) // 7 0 250.0 kHz -#define RADIOLIB_LR11X0_LORA_BW_500_0 (0x06UL << 0) // 7 0 500.0 kHz -#define RADIOLIB_LR11X0_LORA_BW_203_125 (0x0DUL << 0) // 7 0 203.0 kHz (2.4GHz only) -#define RADIOLIB_LR11X0_LORA_BW_406_25 (0x0EUL << 0) // 7 0 406.0 kHz (2.4GHz only) -#define RADIOLIB_LR11X0_LORA_BW_812_50 (0x0FUL << 0) // 7 0 812.0 kHz (2.4GHz only) -#define RADIOLIB_LR11X0_LORA_CR_4_5_SHORT (0x01UL << 0) // 7 0 coding rate: 4/5 with short interleaver -#define RADIOLIB_LR11X0_LORA_CR_4_6_SHORT (0x02UL << 0) // 7 0 4/6 with short interleaver -#define RADIOLIB_LR11X0_LORA_CR_4_7_SHORT (0x03UL << 0) // 7 0 4/7 with short interleaver -#define RADIOLIB_LR11X0_LORA_CR_4_8_SHORT (0x04UL << 0) // 7 0 4/8 with short interleaver -#define RADIOLIB_LR11X0_LORA_CR_4_5_LONG (0x05UL << 0) // 7 0 4/5 with long interleaver -#define RADIOLIB_LR11X0_LORA_CR_4_6_LONG (0x06UL << 0) // 7 0 4/6 with long interleaver -#define RADIOLIB_LR11X0_LORA_CR_4_8_LONG (0x07UL << 0) // 7 0 4/8 with long interleaver -#define RADIOLIB_LR11X0_LORA_LDRO_DISABLED (0x00UL << 0) // 7 0 low data rate optimize: disabled -#define RADIOLIB_LR11X0_LORA_LDRO_ENABLED (0x01UL << 0) // 7 0 enabled -#define RADIOLIB_LR11X0_GFSK_BIT_RATE_DIV_DISABLED (0x00UL << 31) // 31 0 divide bit rate value by 256: disabled -#define RADIOLIB_LR11X0_GFSK_BIT_RATE_DIV_ENABLED (0x01UL << 31) // 31 0 enabled -#define RADIOLIB_LR11X0_GFSK_SHAPING_NONE (0x00UL << 0) // 7 0 shaping filter: none -#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_0_3 (0x08UL << 0) // 7 0 Gaussian, BT = 0.3 -#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_0_5 (0x09UL << 0) // 7 0 Gaussian, BT = 0.5 -#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_0_7 (0x0AUL << 0) // 7 0 Gaussian, BT = 0.7 -#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_1_0 (0x0BUL << 0) // 7 0 Gaussian, BT = 1.0 -#define RADIOLIB_LR11X0_GFSK_SHAPING_RAISED_COSINE_BT_0_7 (0x16UL << 0) // 7 0 raised cosine, BT = 0.7 -#define RADIOLIB_LR11X0_GFSK_RX_BW_4_8 (0x1FUL << 0) // 7 0 GFSK Rx bandwidth: 4.8 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_5_8 (0x17UL << 0) // 7 0 5.8 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_7_3 (0x0FUL << 0) // 7 0 7.3 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_9_7 (0x1EUL << 0) // 7 0 9.7 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_11_7 (0x16UL << 0) // 7 0 11.7 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_14_6 (0x0EUL << 0) // 7 0 14.6 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_19_5 (0x1DUL << 0) // 7 0 19.5 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_23_4 (0x15UL << 0) // 7 0 23.4 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_29_3 (0x0DUL << 0) // 7 0 29.3 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_39_0 (0x1CUL << 0) // 7 0 39.0 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_46_9 (0x14UL << 0) // 7 0 46.9 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_58_6 (0x0CUL << 0) // 7 0 58.6 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_78_2 (0x1BUL << 0) // 7 0 78.2 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_93_8 (0x13UL << 0) // 7 0 93.8 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_117_3 (0x0BUL << 0) // 7 0 117.3 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_156_2 (0x1AUL << 0) // 7 0 156.2 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_187_2 (0x12UL << 0) // 7 0 187.2 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_234_3 (0x0AUL << 0) // 7 0 234.3 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_312_0 (0x19UL << 0) // 7 0 312.0 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_373_6 (0x11UL << 0) // 7 0 373.6 kHz -#define RADIOLIB_LR11X0_GFSK_RX_BW_467_0 (0x09UL << 0) // 7 0 467.0 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BIT_RATE (488.28215) // 31 0 LR FHSS bit rate: 488.28215 bps -#define RADIOLIB_LR11X0_LR_FHSS_BIT_RATE_RAW (0x8001E848UL) // 31 0 488.28215 bps in raw -#define RADIOLIB_LR11X0_LR_FHSS_SHAPING_GAUSSIAN_BT_1_0 (0x0BUL << 0) // 7 0 shaping filter: Gaussian, BT = 1.0 -#define RADIOLIB_LR11X0_SIGFOX_SHAPING_GAUSSIAN_BT_0_7 (0x16UL << 0) // 7 0 shaping filter: Gaussian, BT = 0.7 - -// RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS -#define RADIOLIB_LR11X0_LORA_HEADER_EXPLICIT (0x00UL << 0) // 7 0 LoRa header mode: explicit -#define RADIOLIB_LR11X0_LORA_HEADER_IMPLICIT (0x01UL << 0) // 7 0 implicit -#define RADIOLIB_LR11X0_LORA_PAYLOAD_LEN_ANY (0x00UL << 0) // 7 0 accept any payload length -#define RADIOLIB_LR11X0_LORA_CRC_ENABLED (0x01UL << 0) // 7 0 CRC: enabled -#define RADIOLIB_LR11X0_LORA_CRC_DISABLED (0x00UL << 0) // 7 0 disabled -#define RADIOLIB_LR11X0_LORA_IQ_STANDARD (0x00UL << 0) // 7 0 IQ setup: standard -#define RADIOLIB_LR11X0_LORA_IQ_INVERTED (0x01UL << 0) // 7 0 inverted -#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_DISABLED (0x00UL << 0) // 7 0 preamble detector: disabled -#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_8_BITS (0x04UL << 0) // 7 0 8 bits -#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_16_BITS (0x05UL << 0) // 7 0 16 bits -#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_24_BITS (0x06UL << 0) // 7 0 24 bits -#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_32_BITS (0x07UL << 0) // 7 0 32 bits -#define RADIOLIB_LR11X0_GFSK_ADDR_FILTER_DISABLED (0x00UL << 0) // 7 0 address filtering: disabled -#define RADIOLIB_LR11X0_GFSK_ADDR_FILTER_NODE (0x01UL << 0) // 7 0 node address -#define RADIOLIB_LR11X0_GFSK_ADDR_FILTER_NODE_BROADCAST (0x02UL << 0) // 7 0 node and broadcast address -#define RADIOLIB_LR11X0_GFSK_PACKET_LENGTH_FIXED (0x00UL << 0) // 7 0 packet length: fixed -#define RADIOLIB_LR11X0_GFSK_PACKET_LENGTH_VARIABLE (0x01UL << 0) // 7 0 variable -#define RADIOLIB_LR11X0_GFSK_PACKET_LENGTH_VARIABLE_SX128X (0x02UL << 0) // 7 0 variable, SX128x 9-bit length encoding -#define RADIOLIB_LR11X0_GFSK_PAYLOAD_LEN_ANY (0x00UL << 0) // 7 0 accept any payload length -#define RADIOLIB_LR11X0_GFSK_CRC_DISABLED (0x01UL << 0) // 7 0 CRC: disabled -#define RADIOLIB_LR11X0_GFSK_CRC_1_BYTE (0x00UL << 0) // 7 0 1-byte -#define RADIOLIB_LR11X0_GFSK_CRC_2_BYTE (0x02UL << 0) // 7 0 2-byte -#define RADIOLIB_LR11X0_GFSK_CRC_1_BYTE_INV (0x04UL << 0) // 7 0 1-byte, inverted -#define RADIOLIB_LR11X0_GFSK_CRC_2_BYTE_INV (0x06UL << 0) // 7 0 2-byte, inverted -#define RADIOLIB_LR11X0_GFSK_WHITENING_DISABLED (0x00UL << 0) // 7 0 whitening: disabled -#define RADIOLIB_LR11X0_GFSK_WHITENING_ENABLED (0x01UL << 0) // 7 0 enabled - -// RADIOLIB_LR11X0_CMD_SET_TX_PARAMS -#define RADIOLIB_LR11X0_PA_RAMP_48U (0x02UL << 0) // 7 0 PA ramp time: 48 us - -// RADIOLIB_LR11X0_CMD_SET_RX_TX_FALLBACK_MODE -#define RADIOLIB_LR11X0_FALLBACK_MODE_STBY_RC (0x01UL << 0) // 1 0 fallback mode after Rx/Tx: standby with RC -#define RADIOLIB_LR11X0_FALLBACK_MODE_STBY_XOSC (0x02UL << 0) // 1 0 standby with XOSC -#define RADIOLIB_LR11X0_FALLBACK_MODE_FS (0x03UL << 0) // 1 0 frequency synthesis - -// RADIOLIB_LR11X0_CMD_SET_RX_DUTY_CYCLE -#define RADIOLIB_LR11X0_RX_DUTY_CYCLE_MODE_RX (0x00UL << 0) // 0 0 mode in Rx windows: Rx (default) -#define RADIOLIB_LR11X0_RX_DUTY_CYCLE_MODE_CAD (0x01UL << 0) // 0 0 CAD -#define RADIOLIB_LR11X0_TIMING_STEP (1.0f/32768.0f) // 23 0 timing step fo delays - -// RADIOLIB_LR11X0_CMD_SET_PA_CONFIG -#define RADIOLIB_LR11X0_PA_SEL_LP (0x00UL << 0) // 7 0 PA select: low power PA -#define RADIOLIB_LR11X0_PA_SEL_HP (0x01UL << 0) // 7 0 high power PA -#define RADIOLIB_LR11X0_PA_SEL_HF (0x02UL << 0) // 7 0 high frequency PA -#define RADIOLIB_LR11X0_PA_SUPPLY_INTERNAL (0x00UL << 0) // 7 0 PA power source: internal -#define RADIOLIB_LR11X0_PA_SUPPLY_VBAT (0x01UL << 0) // 7 0 VBAT (required for >= 14 dBm) - -// RADIOLIB_LR11X0_CMD_STOP_TIMEOUT_ON_PREAMBLE -#define RADIOLIB_LR11X0_STOP_ON_SYNC_HEADER (0x00UL << 0) // 0 0 stop timeout on: sync word or header (default) -#define RADIOLIB_LR11X0_STOP_ON_PREAMBLE (0x01UL << 0) // 0 0 preamble - -// RADIOLIB_LR11X0_CMD_GET_RANGING_RESULT -#define RADIOLIB_LR11X0_RANGING_RESULT_DISTANCE (0) // 7 0 ranging result type: distance -#define RADIOLIB_LR11X0_RANGING_RESULT_RSSI (1) // 7 0 RSSI - -// RADIOLIB_LR11X0_CMD_SET_RX_BOOSTED -#define RADIOLIB_LR11X0_RX_BOOSTED_ENABLED (0x01UL << 0) // 0 0 Rx boosted mode: enabled -#define RADIOLIB_LR11X0_RX_BOOSTED_DISABLED (0x00UL << 0) // 0 0 disabled - -// RADIOLIB_LR11X0_CMD_SET_LORA_SYNC_WORD -#define RADIOLIB_LR11X0_LORA_SYNC_WORD_PRIVATE (0x12) -#define RADIOLIB_LR11X0_LORA_SYNC_WORD_PUBLIC (0x34) - -// RADIOLIB_LR11X0_CMD_LR_FHSS_BUILD_FRAME -#define RADIOLIB_LR11X0_LR_FHSS_CR_5_6 (0x00UL << 0) // 7 0 LR FHSS coding rate: 5/6 -#define RADIOLIB_LR11X0_LR_FHSS_CR_2_3 (0x01UL << 0) // 7 0 2/3 -#define RADIOLIB_LR11X0_LR_FHSS_CR_1_2 (0x02UL << 0) // 7 0 1/2 -#define RADIOLIB_LR11X0_LR_FHSS_CR_1_3 (0x03UL << 0) // 7 0 1/3 -#define RADIOLIB_LR11X0_LR_FHSS_MOD_TYPE_GMSK (0x00UL << 0) // 7 0 LR FHSS modulation: GMSK -#define RADIOLIB_LR11X0_LR_FHSS_GRID_STEP_FCC (0x00UL << 0) // 7 0 LR FHSS step size: 25.390625 kHz (FCC) -#define RADIOLIB_LR11X0_LR_FHSS_GRID_STEP_NON_FCC (0x01UL << 0) // 7 0 3.90625 kHz (non-FCC) -#define RADIOLIB_LR11X0_LR_FHSS_HOPPING_DISABLED (0x00UL << 0) // 7 0 LR FHSS hopping: disabled -#define RADIOLIB_LR11X0_LR_FHSS_HOPPING_ENABLED (0x01UL << 0) // 7 0 enabled -#define RADIOLIB_LR11X0_LR_FHSS_BW_39_06 (0x00UL << 0) // 7 0 LR FHSS bandwidth: 39.06 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_85_94 (0x01UL << 0) // 7 0 85.94 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_136_72 (0x02UL << 0) // 7 0 136.72 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_183_59 (0x03UL << 0) // 7 0 183.59 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_335_94 (0x04UL << 0) // 7 0 335.94 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_386_72 (0x05UL << 0) // 7 0 386.72 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_722_66 (0x06UL << 0) // 7 0 722.66 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_773_44 (0x07UL << 0) // 7 0 773.44 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_1523_4 (0x08UL << 0) // 7 0 1523.4 kHz -#define RADIOLIB_LR11X0_LR_FHSS_BW_1574_2 (0x09UL << 0) // 7 0 1574.2 kHz -#define RADIOLIB_LR11X0_LR_FHSS_HEADER_BITS (114) // 7 0 LR FHSS packet bit widths: header -#define RADIOLIB_LR11X0_LR_FHSS_FRAG_BITS (48) // 7 0 payload fragment -#define RADIOLIB_LR11X0_LR_FHSS_BLOCK_PREAMBLE_BITS (2) // 7 0 block preamble -#define RADIOLIB_LR11X0_LR_FHSS_BLOCK_BITS (RADIOLIB_LR11X0_LR_FHSS_FRAG_BITS + RADIOLIB_LR11X0_LR_FHSS_BLOCK_PREAMBLE_BITS) - -// RADIOLIB_LR11X0_CMD_GET_LORA_RX_HEADER_INFOS -#define RADIOLIB_LR11X0_LAST_HEADER_CRC_ENABLED (0x01UL << 4) // 4 4 last header CRC: enabled -#define RADIOLIB_LR11X0_LAST_HEADER_CRC_DISABLED (0x00UL << 4) // 4 4 disabled - -// RADIOLIB_LR11X0_CMD_WIFI_SCAN -#define RADIOLIB_LR11X0_WIFI_SCAN_802_11_B (0x01UL << 0) // 7 0 Wi-Fi type to scan: 802.11b -#define RADIOLIB_LR11X0_WIFI_SCAN_802_11_G (0x02UL << 0) // 7 0 802.11g -#define RADIOLIB_LR11X0_WIFI_SCAN_802_11_N (0x03UL << 0) // 7 0 802.11n -#define RADIOLIB_LR11X0_WIFI_SCAN_ALL (0x04UL << 0) // 7 0 all (802.11b first) -#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_BEACON_ONLY (0x01UL << 0) // 7 0 Wi-Fi acquisition mode: beacon only -#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_BEACON_PACKET (0x02UL << 0) // 7 0 beacon and packet -#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_TRAFFIC (0x03UL << 0) // 7 0 full traffic -#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_BEACON (0x04UL << 0) // 7 0 full beacon -#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_SSID_BEACON (0x05UL << 0) // 7 0 SSID beacon -#define RADIOLIB_LR11X0_WIFI_ABORT_ON_TIMEOUT_ENABLED (0x01UL << 0) // 7 0 abort scanning on preamble timeout: enabled -#define RADIOLIB_LR11X0_WIFI_ABORT_ON_TIMEOUT_DISABLED (0x00UL << 0) // 7 0 disabled -#define RADIOLIB_LR11X0_WIFI_MAX_NUM_RESULTS (32) // 7 0 maximum possible number of Wi-Fi scan results -#define RADIOLIB_LR11X0_WIFI_ALL_CHANNELS (0x3FFFUL) // 16 0 scan all channels - -// RADIOLIB_LR11X0_CMD_WIFI_READ_RESULTS -#define RADIOLIB_LR11X0_WIFI_RESULT_TYPE_COMPLETE (0x01UL << 0) // 7 0 Wi-Fi scan result type: complete -#define RADIOLIB_LR11X0_WIFI_RESULT_TYPE_BASIC (0x04UL << 0) // 7 0 basic -#define RADIOLIB_LR11X0_WIFI_RESULT_MAX_LEN (79) // 7 0 maximum possible Wi-Fi scan size -#define RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN (6) // 7 0 MAC address length in bytes -#define RADIOLIB_LR11X0_WIFI_RESULT_SSID_LEN (32) // 7 0 SSID length in bytes - -// RADIOLIB_LR11X0_CMD_GNSS_SET_CONSTELLATION_TO_USE -#define RADIOLIB_LR11X0_GNSS_CONSTELLATION_GPS (0x01UL << 0) // 7 0 GNSS constellation to use: GPS -#define RADIOLIB_LR11X0_GNSS_CONSTELLATION_BEIDOU (0x01UL << 1) // 7 0 BeiDou - -// RADIOLIB_LR11X0_CMD_GNSS_SET_MODE -#define RADIOLIB_LR11X0_GNSS_MODE_SINGLE_SCAN (0x00UL << 0) // 7 0 GNSS scanning mode: single/legacy -#define RADIOLIB_LR11X0_GNSS_MODE_SINGLE_MULTIPLE (0x03UL << 1) // 7 0 multiple/advanced - -// RADIOLIB_LR11X0_CMD_GNSS_AUTONOMOUS -#define RADIOLIB_LR11X0_GNSS_RES_PSEUDO_DOPPLER_ENABLED (0x01UL << 0) // 0 0 GNSS results in NAV message: pseudo-range (in single scan mode) or Doppler information (in multiple scan mode) -#define RADIOLIB_LR11X0_GNSS_RES_PSEUDO_DOPPLER_DISABLED (0x00UL << 0) // 0 0 not included -#define RADIOLIB_LR11X0_GNSS_RES_DOPPLER_ENABLED (0x01UL << 1) // 1 1 Doppler information -#define RADIOLIB_LR11X0_GNSS_RES_DOPPLER_DISABLED (0x00UL << 1) // 1 1 not included -#define RADIOLIB_LR11X0_GNSS_NB_SV_ALL (0x00UL << 0) // 7 0 include all detected satellites -#define RADIOLIB_LR11X0_GNSS_AUTO_EFFORT_MODE (0x00UL << 0) // 7 0 reserved, always 0 - -// RADIOLIB_LR11X0_CMD_GNSS_ASSISTED -#define RADIOLIB_LR11X0_GNSS_ASSIST_LOW_POWER (0x00UL << 0) // 7 0 effort mode: low power -#define RADIOLIB_LR11X0_GNSS_ASSIST_BEST_EFFORT (0x01UL << 0) // 7 0 best effort - -// RADIOLIB_LR11X0_CMD_GNSS_GET_CONTEXT_STATUS -#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_NONE (0x00UL << 0) // 7 4 error code: none -#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_ALMANAC_OLD (0x01UL << 0) // 7 4 almanac too old -#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_ALMANAC_CRC (0x02UL << 0) // 7 4 almanac CRC mismatch -#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_FLASH (0x03UL << 0) // 7 4 flash integrity error -#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_ALMANAC_UPD (0x04UL << 0) // 7 4 almanac update not allowed -#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_250_HZ (0x00UL << 0) // 8 7 frequency search space: 250 Hz -#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_500_HZ (0x01UL << 0) // 8 7 500 Hz -#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_1000_HZ (0x02UL << 0) // 8 7 1000 Hz -#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_2000_HZ (0x03UL << 0) // 8 7 2000 Hz - -// RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE -#define RADIOLIB_LR11X0_SV_CONSTELLATION_GPS (0x00UL << 0) // 7 0 GNSS constellation: GPS -#define RADIOLIB_LR11X0_SV_CONSTELLATION_BEIDOU (0x01UL << 0) // 7 0 BeiDou - -// RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE -#define RADIOLIB_LR11X0_GNSS_ALMANAC_HEADER_ID (0x80UL << 0) // 7 0 starting byte of GNSS almanac header -#define RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE (20) - -// RADIOLIB_LR11X0_CMD_GNSS_FETCH_TIME -#define RADIOLIB_LR11X0_GNSS_EFFORT_LOW (0x00UL << 0) // 7 0 GNSS effort mode: low sensitivity -#define RADIOLIB_LR11X0_GNSS_EFFORT_MID (0x01UL << 0) // 7 0 medium sensitivity -#define RADIOLIB_LR11X0_GNSS_FETCH_TIME_OPT_TOW (0x00UL << 0) // 7 0 time fetch options: ToW only, requires WN to demodulated beforehand -#define RADIOLIB_LR11X0_GNSS_FETCH_TIME_OPT_TOW_WN (0x01UL << 0) // 7 0 ToW and WN -#define RADIOLIB_LR11X0_GNSS_FETCH_TIME_OPT_TOW_WN_ROLL (0x02UL << 0) // 7 0 ToW, WN and rollover - -// RADIOLIB_LR11X0_CMD_GNSS_READ_DEMOD_STATUS -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NOT_POSSIBLE (-21) // 7 0 GNSS demodulation status: not possible to demodulate -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_SAT_LOST (-20) // 7 0 satellite lost -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_ALMANAC_DEMOD_ERROR (-19) // 7 0 almanac demodulation error -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOO_LATE (-18) // 7 0 woke up after preamble (demodulation started too late) -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_20_MS_FAIL (-17) // 7 0 20ms real-time clock failed -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WAKE_UP_FAIL (-16) // 7 0 wake up sync failed -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WN_INVALID (-15) // 7 0 week number not validated -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_ACTIVE_SAT (-14) // 7 0 no active satellite selected in satellite list -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_SLEEP_TOO_LONG (-13) // 7 0 sleep time too long -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOW_INVALID (-12) // 7 0 wrong time-of-week demodulated -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_PREAMBLE_INVALID (-11) // 7 0 preamble not validated -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_DISABLED (-10) // 7 0 demodulator disabled -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_EXTR_FAILED (-9) // 7 0 demodulator extraction failed -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_BIT_CHANGE (-8) // 7 0 no bit change found during demodulation start -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_BIT_CHANGE_ADV (-7) // 7 0 no bit change found during advanced scan -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_SAT_FOUND (-6) // 7 0 no satellites found -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_SYNC_LOST (-5) // 7 0 word sync lost -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_PARITY_NOT_ENOUGH (-3) // 7 0 parity check fail (not enough) -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_PARITY_TOO_MANY (-2) // 7 0 parity check fail (too many) -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_PARITY (-1) // 7 0 parity check fail (no parity found) -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WORD_SYNC_NONE (0) // 7 0 word sync search not started -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WORD_SYNC_POT (1) // 7 0 potential word sync found -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WORD_SYNC_OK (2) // 7 0 word sync found -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOW_FOUND (3) // 7 0 time-of-week found -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WN_FOUND (4) // 7 0 week number and time-of-week found -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_ALM_FOUND_UNSAVED (5) // 7 0 almanac found but not saved -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_HALF_ALM_SAVED (6) // 7 0 half of almanac found and saved -#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_FULL_ALM_SAVED (7) // 7 0 full almanac found and saved -#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_WORD_SYNC_FOUND (0x01UL << 0) // 7 0 GNSS demodulation info: word synchronization found -#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_TOW_FOUND (0x01UL << 1) // 7 0 time-of-week found -#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_WN_DEMODED (0x01UL << 2) // 7 0 week number demodulated -#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_WN_FOUND (0x01UL << 3) // 7 0 week number found -#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_SUBFRAME_1_FOUND (0x01UL << 4) // 7 0 subframe 1 found -#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_SUBFRAME_4_FOUND (0x01UL << 5) // 7 0 subframe 4 found -#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_SUBFRAME_5_FOUND (0x01UL << 6) // 7 0 subframe 5 found - -// RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_STATUS -#define RADIOLIB_LR11X0_GNSS_ALMANAC_STATUS_UP_TO_DATE (0) // 7 0 GPS/BeiDou almanac status: all satellites up-to-date -#define RADIOLIB_LR11X0_GNSS_ALMANAC_STATUS_OUTDATED (1) // 7 0 at least one satellite needs update - -// RADIOLIB_LR11X0_CMD_GNSS_READ_DOPPLER_SOLVER_RES -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_NONE (0) // 7 0 internal 2D solver error: no error -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_RES_HIGH (1) // 7 0 residue too high -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_NOT_CONVERGED (2) // 7 0 not converged on solution -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_NOT_ENOUGH_SV (3) // 7 0 not enough satellites -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_ILL_MATRIX (4) // 7 0 matrix error (?) -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_TIME (5) // 7 0 time error -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_ALM_PART_OLD (6) // 7 0 part of almanac too old or not available -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_INCONSISTENT (7) // 7 0 not consistent with history (?) -#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_ALM_OLD (8) // 7 0 all of almanac too old - -// RADIOLIB_LR11X0_CMD_CRYPTO_SET_KEY -#define RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS (0x00UL << 0) // 7 0 crypto engine status: success -#define RADIOLIB_LR11X0_CRYPTO_STATUS_FAIL_CMAC (0x01UL << 0) // 7 0 MIC check failed -#define RADIOLIB_LR11X0_CRYPTO_STATUS_INV_KEY_ID (0x03UL << 0) // 7 0 key/parameter source or destination ID error -#define RADIOLIB_LR11X0_CRYPTO_STATUS_BUF_SIZE (0x05UL << 0) // 7 0 data buffer size invalid -#define RADIOLIB_LR11X0_CRYPTO_STATUS_ERROR (0x06UL << 0) // 7 0 generic error - -// RADIOLIB_LR11X0_CMD_CRYPTO_PROCESS_JOIN_ACCEPT -#define RADIOLIB_LR11X0_CRYPTO_LORAWAN_VERSION_1_0 (0x00UL << 0) // 7 0 LoRaWAN version: 1.0.x -#define RADIOLIB_LR11X0_CRYPTO_LORAWAN_VERSION_1_1 (0x01UL << 0) // 7 0 1.1 - -// LR11X0 SPI register variables - -// RADIOLIB_LR11X0_REG_SF6_SX127X_COMPAT -#define RADIOLIB_LR11X0_SF6_SX126X (0x00UL << 18) // 18 18 SF6 mode: SX126x series -#define RADIOLIB_LR11X0_SF6_SX127X (0x01UL << 18) // 18 18 SX127x series - -// RADIOLIB_LR11X0_REG_LORA_HIGH_POWER_FIX -#define RADIOLIB_LR11X0_LORA_HIGH_POWER_FIX (0x00UL << 30) // 30 30 fix for errata - -// RADIOLIB_LR11X0_REG_LNA_MODE -#define RADIOLIB_LR11X0_LNA_MODE_SINGLE_RFI_N (0x01UL << 4) // 7 4 LNA mode: single-ended RFI_N -#define RADIOLIB_LR11X0_LNA_MODE_SINGLE_RFI_P (0x02UL << 4) // 7 4 single-ended RFI_P -#define RADIOLIB_LR11X0_LNA_MODE_DIFFERENTIAL (0x03UL << 4) // 7 4 differential (default) - -/*! - \struct LR11x0WifiResult_t - \brief Structure to save result of passive WiFi scan. - This result only saves the basic information. -*/ -struct LR11x0WifiResult_t { - /*! \brief WiFi (802.11) signal type, 'b', 'n' or 'g' */ - char type; - - /*! \brief Data rate ID holding information about modulation and coding rate. See LR11x0 user manual for details. */ - uint8_t dataRateId; - - /*! \brief Channel frequency in MHz */ - uint16_t channelFreq; - - /*! \brief MAC address origin: from gateway (1), phone (2) or undetermined (3) */ - uint8_t origin; - - /*! \brief Whether this signal was sent by an access point (true) or end device (false) */ - bool ap; - - /*! \brief RSSI in dBm */ - float rssi; - - /*! \brief MAC address */ - uint8_t mac[RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN]; -}; - -/*! - \struct LR11x0WifiResultFull_t - \brief Structure to save result of passive WiFi scan. - This result saves additional information alongside that in LR11x0WifiResult_t. -*/ -struct LR11x0WifiResultFull_t: public LR11x0WifiResult_t { - /*! \brief Frame type. See LR11x0 user manual for details. */ - uint8_t frameType; - - /*! \brief Frame sub type. See LR11x0 user manual for details. */ - uint8_t frameSubType; - - /*! \brief Frame sent from client station to distribution system. */ - bool toDistributionSystem; - - /*! \brief Frame sent from distribution system to client station. */ - bool fromDistributionSystem; - - /*! \brief See LR11x0 user manual for details. */ - uint16_t phiOffset; - - /*! \brief Number of microseconds the AP has been active. */ - uint64_t timestamp; - - /*! \brief Beacon period in microseconds. */ - uint32_t periodBeacon; -}; - -/*! - \struct LR11x0WifiResultExtended_t - \brief Structure to save result of passive WiFi scan. - This result saves additional information alongside that in LR11x0WifiResultFull_t. - Only scans performed with RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_BEACON acquisition mode - can yield this result! -*/ -struct LR11x0WifiResultExtended_t: public LR11x0WifiResultFull_t { - /*! \brief Data rate. See LR11x0 user manual for details. */ - uint8_t rate; - - /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ - uint16_t service; - - /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ - uint16_t length; - - /*! \brief MAC address 0 */ - uint8_t mac0[RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN]; - - /*! \brief MAC address 2 */ - uint8_t mac2[RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN]; - - /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ - uint16_t seqCtrl; - - /*! \brief SSID */ - uint8_t ssid[RADIOLIB_LR11X0_WIFI_RESULT_SSID_LEN]; - - /*! \brief WiFi channel number */ - uint8_t currentChannel; - - /*! \brief Two-letter country code (null-terminated string). */ - char countryCode[3]; - - /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ - uint8_t ioReg; - - /*! \brief True if frame check sequences is valid, false otherwise. */ - bool fcsCheckOk; -}; - -/*! - \struct LR11x0VersionInfo_t - \brief Structure to report information about versions of the LR11x0 hardware and firmware. -*/ -struct LR11x0VersionInfo_t { - /*! \brief Hardware revision. */ - uint8_t hardware; - - /*! \brief Which device this is - one of RADIOLIB_LR11X0_DEVICE_* macros. */ - uint8_t device; - - /*! \brief Major revision of the base firmware. */ - uint8_t fwMajor; - - /*! \brief Minor revision of the base firmware. */ - uint8_t fwMinor; - - /*! \brief Major revision of the WiFi firmware. */ - uint8_t fwMajorWiFi; - - /*! \brief Minor revision of the WiFi firmware. */ - uint8_t fwMinorWiFi; - - /*! \brief Revision of the GNSS firmware. */ - uint8_t fwGNSS; - - /*! \brief Almanac revision of the GNSS firmware. */ - uint8_t almanacGNSS; -}; - -/*! - \struct LR11x0GnssResult_t - \brief Structure to report information results of a GNSS scan. -*/ -struct LR11x0GnssResult_t { - /*! \brief Demodulator status. One of RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_* */ - int8_t demodStat; - - /*! \brief Number of satellites detected during the scan. */ - uint8_t numSatsDet; - - /*! \brief Result size, used when passing data to LoRa cloud. */ - uint16_t resSize; -}; - -/*! - \struct LR11x0GnssPosition_t - \brief Structure to report position from LR11x0 internal solver. -*/ -struct LR11x0GnssPosition_t { - /*! \brief Latitude in degrees. */ - float latitude; - - /*! \brief Longitude in degrees. */ - float longitude; - - /*! \brief Accuracy of this result. */ - uint16_t accuracy; - - /*! \brief Number of satellites used to solve this position. */ - uint8_t numSatsUsed; -}; - -/*! - \struct LR11x0GnssSatellite_t - \brief Structure to save information about a satellite found during GNSS scan. -*/ -struct LR11x0GnssSatellite_t { - /*! \brief Satellite vehicle (SV) identifier. */ - uint8_t svId; - - /*! \brief C/N0 in dB. */ - uint8_t c_n0; - - /*! \brief Doppler shift of the signal in Hz. */ - int16_t doppler; -}; - -/*! - \struct LR11x0GnssAlmanacStatusPart_t - \brief Structure to save information about one constellation of the GNSS almanac. -*/ -struct LR11x0GnssAlmanacStatusPart_t { - int8_t status; - uint32_t timeUntilSubframe; - uint8_t numSubframes; - uint8_t nextSubframe4SvId; - uint8_t nextSubframe5SvId; - uint8_t nextSubframeStart; - uint8_t numUpdateNeeded; - uint32_t flagsUpdateNeeded[2]; - uint32_t flagsActive[2]; -}; - -/*! - \struct LR11x0GnssAlmanacStatus_t - \brief Structure to save information about the GNSS almanac. - This is not the actual almanac, just some context information about it. -*/ -struct LR11x0GnssAlmanacStatus_t { - /*! \brief GPS part of the almanac */ - LR11x0GnssAlmanacStatusPart_t gps; - - /*! \brief BeiDou part of the almanac */ - LR11x0GnssAlmanacStatusPart_t beidou; - - /*! \brief Extra flags present for BeiDou only */ - uint32_t beidouSvNoAlmanacFlags[2]; - - /*! \brief Next almanac ID */ - uint8_t nextAlmanacId; - - /*! \brief Timestamp of when almanac status was retrieved - timeUntilSubframe is relative to this value. */ - RadioLibTime_t start; -}; - /*! \class LR11x0 \brief Base class for %LR11x0 series. All derived classes for %LR11x0 (e.g. LR1110 or LR1120) inherit from this base class. This class should not be instantiated directly from user code, only from its derived classes. */ -class LR11x0: public PhysicalLayer { +class LR11x0: public LRxxxx { public: // introduce PhysicalLayer overloads using PhysicalLayer::transmit; using PhysicalLayer::receive; using PhysicalLayer::startTransmit; + using PhysicalLayer::startReceive; using PhysicalLayer::readData; /*! @@ -907,17 +61,13 @@ class LR11x0: public PhysicalLayer { /*! WiFi scanning mode */ MODE_WIFI, }; - - /*! - \brief Whether the module has an XTAL (true) or TCXO (false). Defaults to false. - */ - bool XTAL; /*! \brief Initialization method for LoRa modem. \param bw LoRa bandwidth in kHz. \param sf LoRa spreading factor. - \param cr LoRa coding rate denominator. + \param cr LoRa coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param syncWord 1-byte LoRa sync word. \param preambleLength LoRa preamble length in symbols \param tcxoVoltage TCXO reference voltage to be set. @@ -955,12 +105,6 @@ class LR11x0: public PhysicalLayer { */ int16_t beginGNSS(uint8_t constellations = RADIOLIB_LR11X0_GNSS_CONSTELLATION_GPS | RADIOLIB_LR11X0_GNSS_CONSTELLATION_BEIDOU, float tcxoVoltage = 1.6); - /*! - \brief Reset method. Will reset the chip to the default state using RST pin. - \returns \ref status_codes - */ - int16_t reset(); - /*! \brief Blocking binary transmit method. Overloads for string-based transmissions are implemented in PhysicalLayer. @@ -974,11 +118,13 @@ class LR11x0: public PhysicalLayer { /*! \brief Blocking binary receive method. Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Starts direct mode transmission. @@ -1013,6 +159,14 @@ class LR11x0: public PhysicalLayer { */ int16_t standby() override; + /*! + \brief Sets the module to standby mode. + \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_LR11X0_STANDBY_RC (13 MHz RC oscillator) + or RADIOLIB_LR11X0_STANDBY_XOSC (32 MHz external crystal oscillator). + \returns \ref status_codes + */ + int16_t standby(uint8_t mode) override; + /*! \brief Sets the module to standby mode. \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_LR11X0_STANDBY_RC (13 MHz RC oscillator) @@ -1020,7 +174,7 @@ class LR11x0: public PhysicalLayer { \param wakeup Whether to force the module to wake up. Setting to true will immediately attempt to wake up the module. \returns \ref status_codes */ - int16_t standby(uint8_t mode, bool wakeup = true); + int16_t standby(uint8_t mode, bool wakeup); /*! \brief Sets the module to sleep mode. To wake the device up, call standby(). @@ -1040,49 +194,6 @@ class LR11x0: public PhysicalLayer { // interrupt methods - /*! - \brief Sets interrupt service routine to call when IRQ1 activates. - \param func ISR to call. - */ - void setIrqAction(void (*func)(void)); - - /*! - \brief Clears interrupt service routine to call when IRQ1 activates. - */ - void clearIrqAction(); - - /*! - \brief Sets interrupt service routine to call when a packet is received. - \param func ISR to call. - */ - void setPacketReceivedAction(void (*func)(void)) override; - - /*! - \brief Clears interrupt service routine to call when a packet is received. - */ - void clearPacketReceivedAction() override; - - /*! - \brief Sets interrupt service routine to call when a packet is sent. - \param func ISR to call. - */ - void setPacketSentAction(void (*func)(void)) override; - - /*! - \brief Clears interrupt service routine to call when a packet is sent. - */ - void clearPacketSentAction() override; - - /*! - \brief Interrupt-driven binary transmit method. - Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. - \param addr Address to send the data to. Will only be added if address filtering was enabled. - \returns \ref status_codes - */ - int16_t startTransmit(const uint8_t* data, size_t len, uint8_t addr = 0) override; - /*! \brief Clean up after transmission is done. \returns \ref status_codes @@ -1097,26 +208,6 @@ class LR11x0: public PhysicalLayer { */ int16_t startReceive() override; - /*! - \brief Interrupt-driven receive method. IRQ1 will be activated when full packet is received. - \param timeout Raw timeout value, expressed as multiples of 1/32.768 kHz (approximately 30.52 us). - Defaults to RADIOLIB_LR11X0_RX_TIMEOUT_INF for infinite timeout (Rx continuous mode), - set to RADIOLIB_LR11X0_RX_TIMEOUT_NONE for no timeout (Rx single mode). - If timeout other than infinite is set, signal will be generated on IRQ1. - - \param irqFlags Sets the IRQ flags that will trigger IRQ1, defaults to RADIOLIB_LR11X0_IRQ_RX_DONE. - \param irqMask Only for PhysicalLayer compatibility, not used. - \param len Only for PhysicalLayer compatibility, not used. - \returns \ref status_codes - */ - int16_t startReceive(uint32_t timeout, uint32_t irqFlags = RADIOLIB_LR11X0_IRQ_RX_DONE, uint32_t irqMask = 0, size_t len = 0); - - /*! - \brief Reads the current IRQ status. - \returns IRQ status bits - */ - uint32_t getIrqStatus(); - /*! \brief Reads data received after calling startReceive method. When the packet length is not known in advance, getPacketLength method must be called BEFORE calling readData! @@ -1126,6 +217,12 @@ class LR11x0: public PhysicalLayer { \returns \ref status_codes */ int16_t readData(uint8_t* data, size_t len) override; + + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; /*! \brief Interrupt-driven channel activity detection method. IRQ1 will be activated @@ -1167,10 +264,12 @@ class LR11x0: public PhysicalLayer { int16_t setSpreadingFactor(uint8_t sf, bool legacy = false); /*! - \brief Sets LoRa coding rate denominator. Allowed values range from 5 to 8. + \brief Sets LoRa coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param cr LoRa coding rate denominator to be set. \param longInterleave Enable long interleaver when set to true. - Note that CR 4/7 is not possible with long interleaver enabled! + Note that with long interleaver enabled, CR 4/7 is not possible, there are packet length restrictions, + and it is not compatible with SX127x radios! \returns \ref status_codes */ int16_t setCodingRate(uint8_t cr, bool longInterleave = false); @@ -1212,15 +311,6 @@ class LR11x0: public PhysicalLayer { */ int16_t setSyncWord(uint8_t* syncWord, size_t len) override; - /*! - \brief Sets GFSK sync word in the form of array of up to 8 bytes. - \param syncWord GFSK sync word to be set. - \param bitsLen GFSK sync word length in bits. If length is not divisible by 8, - least significant bits of syncWord will be ignored. - \returns \ref status_codes - */ - int16_t setSyncBits(uint8_t *syncWord, uint8_t bitsLen); - /*! \brief Sets node address. Calling this method will also enable address filtering for node address only. \param nodeAddr Node address to be set. @@ -1282,18 +372,22 @@ class LR11x0: public PhysicalLayer { int16_t setWhitening(bool enabled, uint16_t initial = 0x01FF); /*! - \brief Set data. - \param dr Data rate struct. Interpretation depends on currently active modem (GFSK or LoRa). + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Check the data rate can be configured by this module. - \param dr Data rate struct. Interpretation depends on currently active modem (GFSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t checkDataRate(DataRate_t dr) override; + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Sets preamble length for LoRa or GFSK modem. Allowed values range from 1 to 65535. @@ -1324,17 +418,26 @@ class LR11x0: public PhysicalLayer { /*! \brief Enable/disable inversion of the I and Q signals - \param enable QI inversion enabled (true) or disabled (false); + \param enable IQ inversion enabled (true) or disabled (false); \returns \ref status_codes */ int16_t invertIQ(bool enable) override; /*! - \brief Gets RSSI (Recorded Signal Strength Indicator) of the last received packet. Only available for LoRa or GFSK modem. + \brief Gets RSSI (Received Signal Strength Indicator) of the last received packet. Only available for LoRa or GFSK modem. \returns RSSI of the last received packet in dBm. */ float getRSSI() override; + /*! + \brief Gets RSSI (Received Signal Strength Indicator). + \param packet Whether to read last packet RSSI, or the current value. + \param skipReceive Set to true to skip putting radio in receive mode for instantaneous RSSI measurement. + If false, after the RSSI measurement, the radio will be in standby mode. + \returns RSSI value in dBm. + */ + float getRSSI(bool packet, bool skipReceive = false); + /*! \brief Gets SNR (Signal to Noise Ratio) of the last received packet. Only available for LoRa modem. \returns SNR of the last received packet in dB. @@ -1357,10 +460,19 @@ class LR11x0: public PhysicalLayer { /*! \brief Query modem for the packet length of received payload. \param update Update received packet length. Will return cached value when set to false. + \param offset Pointer to a variable that will hold the receive packet's offset in the RX buffer \returns Length of last received packet in bytes. */ size_t getPacketLength(bool update, uint8_t* offset); + /*! + \brief Get LoRa header information from last received packet. Only valid in explicit header mode. + \param cr Pointer to variable to store the coding rate. + \param hasCRC Pointer to variable to store the CRC status. + \returns \ref status_codes + */ + int16_t getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC); + /*! \brief Get expected time-on-air for a given size of payload \param len Payload length in bytes. @@ -1368,13 +480,6 @@ class LR11x0: public PhysicalLayer { */ RadioLibTime_t getTimeOnAir(size_t len) override; - /*! - \brief Calculate the timeout value for this specific module / series (in number of symbols or units of time) - \param timeoutUs Timeout in microseconds to listen for - \returns Timeout value in a unit that is specific for the used module - */ - RadioLibTime_t calculateRxTimeout(RadioLibTime_t timeoutUs) override; - /*! \brief Read currently active IRQ flags. \returns IRQ flags. @@ -1414,12 +519,6 @@ class LR11x0: public PhysicalLayer { */ int16_t explicitHeader(); - /*! - \brief Gets effective data rate for the last transmitted packet. The value is calculated only for payload bytes. - \returns Effective data rate in bps. - */ - float getDataRate() const; - /*! \brief Set regulator mode to LDO. \returns \ref status_codes @@ -1439,6 +538,25 @@ class LR11x0: public PhysicalLayer { */ int16_t setRxBoostedGainMode(bool en); + /*! + \brief Sets output power. Allowed values are in range from -9 to 22 dBm (high-power PA), + -17 to 14 dBm (low-power PA) and -18 to 13 dBm (high-frequency PA). + This method allows user full control over PA configuration parameters. + If you set incorrect PA configuration values, you can fail to reach the + desired output power level or damage your device. + Unless you can verify the output power, it is strongly advised to use + LR1110::setOutputPower(power) or LR1120::setOutputPower(power). + \param power Output power to be set in dBm. + \param paSel PA selection, low-power, high-power or high-frequency. One of RADIOLIB_LR11X0_PA_SEL_* macros. + \param regPaSupply PA power source selection, internal regulator or VBAT. One of RADIOLIB_LR11X0_PA_SUPPLY_* macros. + Must be set to RADIOLIB_LR11X0_PA_SUPPLY_VBAT when output power is more than 14 dBm. + \param paDutyCycle PA duty cycle. + \param paHpSel High-power PA size control. + \param rampTime PA power ramping time raw value, one of RADIOLIB_LRXXXX_PA_RAMP_* macros. + \returns \ref status_codes + */ + int16_t setOutputPower(int8_t power, uint8_t paSel, uint8_t regPaSupply, uint8_t paDutyCycle, uint8_t paHpSel, uint8_t rampTime); + /*! \copydoc Module::setRfSwitchTable */ void setRfSwitchTable(const uint32_t (&pins)[Module::RFSWITCH_MAX_PINS], const Module::RfSwitchMode_t table[]); @@ -1622,20 +740,29 @@ class LR11x0: public PhysicalLayer { */ int16_t calibrateImageRejection(float freqMin, float freqMax); + /*! \copydoc PhysicalLayer::stageMode */ + int16_t stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) override; + + /*! \copydoc PhysicalLayer::launchMode */ + int16_t launchMode() override; + #if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL protected: #endif Module* getMod() override; + // method that applies some magic workaround for specific bitrate, frequency deviation, + // receiver bandwidth and carrier frequencies for GFSK (and resets it in all other cases) + int16_t workaroundGFSK(); + // LR11x0 SPI command implementations - int16_t writeRegMem32(uint32_t addr, uint32_t* data, size_t len); + int16_t writeRegMem32(uint32_t addr, const uint32_t* data, size_t len); int16_t readRegMem32(uint32_t addr, uint32_t* data, size_t len); - int16_t writeBuffer8(uint8_t* data, size_t len); + int16_t writeBuffer8(const uint8_t* data, size_t len); int16_t readBuffer8(uint8_t* data, size_t len, size_t offset); int16_t clearRxBuffer(void); int16_t writeRegMemMask32(uint32_t addr, uint32_t mask, uint32_t data); - int16_t getStatus(uint8_t* stat1, uint8_t* stat2, uint32_t* irq); int16_t getVersion(uint8_t* hw, uint8_t* device, uint8_t* major, uint8_t* minor); int16_t getErrors(uint16_t* err); int16_t clearErrors(void); @@ -1644,7 +771,7 @@ class LR11x0: public PhysicalLayer { int16_t setDioAsRfSwitch(uint8_t en, uint8_t stbyCfg, uint8_t rxCfg, uint8_t txCfg, uint8_t txHpCfg, uint8_t txHfCfg, uint8_t gnssCfg, uint8_t wifiCfg); int16_t setDioIrqParams(uint32_t irq1, uint32_t irq2); int16_t setDioIrqParams(uint32_t irq); - int16_t clearIrq(uint32_t irq); + int16_t clearIrqState(uint32_t irq); int16_t configLfClock(uint8_t setup); int16_t setTcxoMode(uint8_t tune, uint32_t delay); int16_t reboot(bool stay); @@ -1702,11 +829,9 @@ class LR11x0: public PhysicalLayer { int16_t setRangingParameter(uint8_t symbolNum); int16_t setRssiCalibration(const int8_t* tune, int16_t gainOffset); int16_t setLoRaSyncWord(uint8_t sync); - int16_t lrFhssBuildFrame(uint8_t hdrCount, uint8_t cr, uint8_t grid, bool hop, uint8_t bw, uint16_t hopSeq, int8_t devOffset, uint8_t* payload, size_t len); int16_t lrFhssSetSyncWord(uint32_t sync); - int16_t configBleBeacon(uint8_t chan, uint8_t* payload, size_t len); - int16_t getLoRaRxHeaderInfos(uint8_t* info); - int16_t bleBeaconSend(uint8_t chan, uint8_t* payload, size_t len); + int16_t configBleBeacon(uint8_t chan, const uint8_t* payload, size_t len); + int16_t bleBeaconSend(uint8_t chan, const uint8_t* payload, size_t len); int16_t wifiScan(uint8_t type, uint16_t mask, uint8_t acqMode, uint8_t nbMaxRes, uint8_t nbScanPerChan, uint16_t timeout, uint8_t abortOnTimeout); int16_t wifiScanTimeLimit(uint8_t type, uint16_t mask, uint8_t acqMode, uint8_t nbMaxRes, uint16_t timePerChan, uint16_t timeout); @@ -1744,7 +869,7 @@ class LR11x0: public PhysicalLayer { int16_t gnssGetResultSize(uint16_t* size); int16_t gnssReadResults(uint8_t* result, uint16_t size); int16_t gnssAlmanacFullUpdateHeader(uint16_t date, uint32_t globalCrc); - int16_t gnssAlmanacFullUpdateSV(uint8_t svn, uint8_t* svnAlmanac); + int16_t gnssAlmanacFullUpdateSV(uint8_t svn, const uint8_t* svnAlmanac); int16_t gnssAlmanacReadAddrSize(uint32_t* addr, uint16_t* size); int16_t gnssAlmanacReadSV(uint8_t svId, uint8_t* almanac); int16_t gnssGetNbSvVisible(uint32_t time, float lat, float lon, uint8_t constellation, uint8_t* nbSv); @@ -1773,66 +898,40 @@ class LR11x0: public PhysicalLayer { int16_t gnssWriteBitMaskSatActivated(uint8_t bitMask, uint32_t* bitMaskActivated0, uint32_t* bitMaskActivated1); void gnssAbort(); - int16_t cryptoSetKey(uint8_t keyId, uint8_t* key); - int16_t cryptoDeriveKey(uint8_t srcKeyId, uint8_t dstKeyId, uint8_t* key); - int16_t cryptoProcessJoinAccept(uint8_t decKeyId, uint8_t verKeyId, uint8_t lwVer, uint8_t* header, uint8_t* dataIn, size_t len, uint8_t* dataOut); - int16_t cryptoComputeAesCmac(uint8_t keyId, uint8_t* data, size_t len, uint32_t* mic); - int16_t cryptoVerifyAesCmac(uint8_t keyId, uint32_t micExp, uint8_t* data, size_t len, bool* result); - int16_t cryptoAesEncrypt01(uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut); - int16_t cryptoAesEncrypt(uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut); - int16_t cryptoAesDecrypt(uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut); + int16_t cryptoSetKey(uint8_t keyId, const uint8_t* key); + int16_t cryptoDeriveKey(uint8_t srcKeyId, uint8_t dstKeyId, const uint8_t* key); + int16_t cryptoProcessJoinAccept(uint8_t decKeyId, uint8_t verKeyId, uint8_t lwVer, const uint8_t* header, const uint8_t* dataIn, size_t len, uint8_t* dataOut); + int16_t cryptoComputeAesCmac(uint8_t keyId, const uint8_t* data, size_t len, uint32_t* mic); + int16_t cryptoVerifyAesCmac(uint8_t keyId, uint32_t micExp, const uint8_t* data, size_t len, bool* result); + int16_t cryptoAesEncrypt01(uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut); + int16_t cryptoAesEncrypt(uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut); + int16_t cryptoAesDecrypt(uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut); int16_t cryptoStoreToFlash(void); int16_t cryptoRestoreFromFlash(void); int16_t cryptoSetParam(uint8_t id, uint32_t value); int16_t cryptoGetParam(uint8_t id, uint32_t* value); - int16_t cryptoCheckEncryptedFirmwareImage(uint32_t offset, uint32_t* data, size_t len, bool nonvolatile); + int16_t cryptoCheckEncryptedFirmwareImage(uint32_t offset, const uint32_t* data, size_t len, bool nonvolatile); int16_t cryptoCheckEncryptedFirmwareImageResult(bool* result); int16_t bootEraseFlash(void); - int16_t bootWriteFlashEncrypted(uint32_t offset, uint32_t* data, size_t len, bool nonvolatile); + int16_t bootWriteFlashEncrypted(uint32_t offset, const uint32_t* data, size_t len, bool nonvolatile); + int16_t bootGetHash(uint8_t hash[RADIOLIB_LR11X0_HASH_LEN]); int16_t bootReboot(bool stay); int16_t bootGetPin(uint8_t* pin); int16_t bootGetChipEui(uint8_t* eui); int16_t bootGetJoinEui(uint8_t* eui); - int16_t SPIcommand(uint16_t cmd, bool write, uint8_t* data, size_t len, uint8_t* out = NULL, size_t outLen = 0); - #if !RADIOLIB_GODMODE protected: #endif uint8_t chipType = 0; - float freqMHz = 0; #if !RADIOLIB_GODMODE private: #endif - Module* mod; - - // cached LoRa parameters - uint8_t bandwidth = 0, spreadingFactor = 0, codingRate = 0, ldrOptimize = 0, crcTypeLoRa = 0, headerType = 0; - uint16_t preambleLengthLoRa = 0; - float bandwidthKhz = 0; - bool ldroAuto = true; - size_t implicitLen = 0; - bool invertIQEnabled = false; - - // cached GFSK parameters - uint32_t bitRate = 0, frequencyDev = 0; - uint8_t preambleDetLength = 0, rxBandwidth = 0, pulseShape = 0, crcTypeGFSK = 0, syncWordLength = 0, addrComp = 0, whitening = 0, packetType = 0, node = 0; - uint16_t preambleLengthGFSK = 0; - - // cached LR-FHSS parameters - uint8_t lrFhssCr = 0, lrFhssBw = 0, lrFhssHdrCount = 0, lrFhssGrid = 0; - uint16_t lrFhssHopSeq = 0; - - float dataRateMeasured = 0; - uint8_t wifiScanMode = 0; bool gnss = false; - int16_t modSetup(float tcxoVoltage, uint8_t modem); - static int16_t SPIparseStatus(uint8_t in); - static int16_t SPIcheckStatus(Module* mod); bool findChip(uint8_t ver); int16_t config(uint8_t modem); int16_t setPacketMode(uint8_t mode, uint8_t len); @@ -1840,9 +939,8 @@ class LR11x0: public PhysicalLayer { int16_t setHeaderType(uint8_t hdrType, size_t len = 0xFF); // common methods to avoid some copy-paste - int16_t bleBeaconCommon(uint16_t cmd, uint8_t chan, uint8_t* payload, size_t len); - int16_t writeCommon(uint16_t cmd, uint32_t addrOffset, const uint32_t* data, size_t len, bool nonvolatile); - int16_t cryptoCommon(uint16_t cmd, uint8_t keyId, uint8_t* dataIn, size_t len, uint8_t* dataOut); + int16_t bleBeaconCommon(uint16_t cmd, uint8_t chan, const uint8_t* payload, size_t len); + int16_t cryptoCommon(uint16_t cmd, uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut); }; #endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0_commands.cpp b/lib/RadioLib/src/modules/LR11x0/LR11x0_commands.cpp new file mode 100644 index 0000000..c5dc5fb --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0_commands.cpp @@ -0,0 +1,744 @@ +#include "LR11x0.h" + +#include "../../utils/CRC.h" +#include "../../utils/Cryptography.h" +#include "LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR11X0 + +int16_t LR11x0::writeRegMem32(uint32_t addr, const uint32_t* data, size_t len) { + // check maximum size + if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + return(this->writeCommon(RADIOLIB_LR11X0_CMD_WRITE_REG_MEM, addr, data, len, false)); +} + +int16_t LR11x0::readRegMem32(uint32_t addr, uint32_t* data, size_t len) { + // check maximum size + if(len >= (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // the request contains the address and length + uint8_t reqBuff[5] = { + (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), + (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), + (uint8_t)len, + }; + + // build buffers - later we need to ensure endians are correct, + // so there is probably no way to do this without copying buffers and iterating + #if RADIOLIB_STATIC_ONLY + uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* rplBuff = new uint8_t[len*sizeof(uint32_t)]; + #endif + + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_READ_REG_MEM, false, rplBuff, len*sizeof(uint32_t), reqBuff, sizeof(reqBuff)); + + // convert endians + if(data && (state == RADIOLIB_ERR_NONE)) { + for(size_t i = 0; i < len; i++) { + data[i] = ((uint32_t)rplBuff[2 + i*sizeof(uint32_t)] << 24) | ((uint32_t)rplBuff[3 + i*sizeof(uint32_t)] << 16) | ((uint32_t)rplBuff[4 + i*sizeof(uint32_t)] << 8) | (uint32_t)rplBuff[5 + i*sizeof(uint32_t)]; + } + } + + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + + return(state); +} + +int16_t LR11x0::writeBuffer8(const uint8_t* data, size_t len) { + // check maximum size + if(len > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WRITE_BUFFER, true, const_cast(data), len)); +} + +int16_t LR11x0::readBuffer8(uint8_t* data, size_t len, size_t offset) { + // check maximum size + if(len > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // build buffers + size_t reqLen = 2*sizeof(uint8_t) + len; + #if RADIOLIB_STATIC_ONLY + uint8_t reqBuff[sizeof(uint32_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* reqBuff = new uint8_t[reqLen]; + #endif + + // set the offset and length + reqBuff[0] = (uint8_t)offset; + reqBuff[1] = (uint8_t)len; + + // send the request + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_READ_BUFFER, false, data, len, reqBuff, reqLen); + #if !RADIOLIB_STATIC_ONLY + delete[] reqBuff; + #endif + return(state); +} + +int16_t LR11x0::clearRxBuffer(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CLEAR_RX_BUFFER, true, NULL, 0)); +} + +int16_t LR11x0::writeRegMemMask32(uint32_t addr, uint32_t mask, uint32_t data) { + uint8_t buff[12] = { + (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), + (uint8_t)((mask >> 24) & 0xFF), (uint8_t)((mask >> 16) & 0xFF), (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), + (uint8_t)((data >> 24) & 0xFF), (uint8_t)((data >> 16) & 0xFF), (uint8_t)((data >> 8) & 0xFF), (uint8_t)(data & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WRITE_REG_MEM_MASK, true, buff, sizeof(buff))); +} + +int16_t LR11x0::getVersion(uint8_t* hw, uint8_t* device, uint8_t* major, uint8_t* minor) { + uint8_t buff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_VERSION, false, buff, sizeof(buff)); + + // pass the replies + if(hw) { *hw = buff[0]; } + if(device) { *device = buff[1]; } + if(major) { *major = buff[2]; } + if(minor) { *minor = buff[3]; } + + return(state); +} + +int16_t LR11x0::getErrors(uint16_t* err) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_ERRORS, false, buff, sizeof(buff)); + + // pass the replies + if(err) { *err = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + + return(state); +} + +int16_t LR11x0::clearErrors(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CLEAR_ERRORS, true, NULL, 0)); +} + +int16_t LR11x0::calibrate(uint8_t params) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CALIBRATE, true, ¶ms, 1)); +} + +int16_t LR11x0::setRegMode(uint8_t mode) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_REG_MODE, true, &mode, 1)); +} + +int16_t LR11x0::calibrateImageRejection(float freqMin, float freqMax) { + uint8_t buff[2] = { + (uint8_t)floor((freqMin - 1.0f) / 4.0f), + (uint8_t)ceil((freqMax + 1.0f) / 4.0f) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CALIB_IMAGE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setDioAsRfSwitch(uint8_t en, uint8_t stbyCfg, uint8_t rxCfg, uint8_t txCfg, uint8_t txHpCfg, uint8_t txHfCfg, uint8_t gnssCfg, uint8_t wifiCfg) { + uint8_t buff[8] = { en, stbyCfg, rxCfg, txCfg, txHpCfg, txHfCfg, gnssCfg, wifiCfg }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_DIO_AS_RF_SWITCH, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setDioIrqParams(uint32_t irq1, uint32_t irq2) { + uint8_t buff[8] = { + (uint8_t)((irq1 >> 24) & 0xFF), (uint8_t)((irq1 >> 16) & 0xFF), (uint8_t)((irq1 >> 8) & 0xFF), (uint8_t)(irq1 & 0xFF), + (uint8_t)((irq2 >> 24) & 0xFF), (uint8_t)((irq2 >> 16) & 0xFF), (uint8_t)((irq2 >> 8) & 0xFF), (uint8_t)(irq2 & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_DIO_IRQ_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setDioIrqParams(uint32_t irq) { + return(setDioIrqParams(irq, this->gnss ? 0 : irq)); +} + +int16_t LR11x0::clearIrqState(uint32_t irq) { + return(this->setU32(RADIOLIB_LR11X0_CMD_CLEAR_IRQ, irq)); +} + +int16_t LR11x0::configLfClock(uint8_t setup) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CONFIG_LF_CLOCK, true, &setup, 1)); +} + +int16_t LR11x0::setTcxoMode(uint8_t tune, uint32_t delay) { + uint8_t buff[4] = { + tune, (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TCXO_MODE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::reboot(bool stay) { + uint8_t buff[1] = { (uint8_t)(stay*3) }; + return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_REBOOT, buff, sizeof(buff), true, false)); +} + +int16_t LR11x0::getVbat(float* vbat) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_VBAT, false, buff, sizeof(buff)); + + // pass the replies + if(vbat) { *vbat = (((float)buff[0]/51.0f) - 1.0f)*1.35f; } + + return(state); +} + +int16_t LR11x0::getTemp(float* temp) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_TEMP, false, buff, sizeof(buff)); + + // pass the replies + if(temp) { + uint16_t raw = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; + raw = raw & 0x07FF; //According LR1121 datasheet we need [0..10] bits + *temp = 25.0f - (1000.0f/1.7f)*(((float)raw/2047.0f)*1.35f - 0.7295f); //According LR1121 datasheet 1.35 + } + + return(state); +} + +int16_t LR11x0::setFs(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_FS, true, NULL, 0)); +} + +int16_t LR11x0::getRandomNumber(uint32_t* rnd) { + uint8_t buff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RANDOM_NUMBER, false, buff, sizeof(buff)); + + // pass the replies + if(rnd) { *rnd = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) | (uint32_t)buff[3]; } + + return(state); +} + +int16_t LR11x0::eraseInfoPage(void) { + // only page 1 can be erased + uint8_t buff[1] = { RADIOLIB_LR11X0_INFO_PAGE }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_ERASE_INFO_PAGE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::writeInfoPage(uint16_t addr, const uint32_t* data, size_t len) { + // check maximum size + if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // build buffers - later we need to ensure endians are correct, + // so there is probably no way to do this without copying buffers and iterating + size_t buffLen = sizeof(uint8_t) + sizeof(uint16_t) + len*sizeof(uint32_t); + #if RADIOLIB_STATIC_ONLY + uint8_t dataBuff[sizeof(uint8_t) + sizeof(uint16_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* dataBuff = new uint8_t[buffLen]; + #endif + + // set the address + dataBuff[0] = RADIOLIB_LR11X0_INFO_PAGE; + dataBuff[1] = (uint8_t)((addr >> 8) & 0xFF); + dataBuff[2] = (uint8_t)(addr & 0xFF); + + // convert endians + for(size_t i = 0; i < len; i++) { + dataBuff[3 + i] = (uint8_t)((data[i] >> 24) & 0xFF); + dataBuff[4 + i] = (uint8_t)((data[i] >> 16) & 0xFF); + dataBuff[5 + i] = (uint8_t)((data[i] >> 8) & 0xFF); + dataBuff[6 + i] = (uint8_t)(data[i] & 0xFF); + } + + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WRITE_INFO_PAGE, true, dataBuff, buffLen); + #if !RADIOLIB_STATIC_ONLY + delete[] dataBuff; + #endif + return(state); +} + +int16_t LR11x0::readInfoPage(uint16_t addr, uint32_t* data, size_t len) { + // check maximum size + if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // the request contains the address and length + uint8_t reqBuff[4] = { + RADIOLIB_LR11X0_INFO_PAGE, + (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), + (uint8_t)len, + }; + + // build buffers - later we need to ensure endians are correct, + // so there is probably no way to do this without copying buffers and iterating + #if RADIOLIB_STATIC_ONLY + uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* rplBuff = new uint8_t[len*sizeof(uint32_t)]; + #endif + + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_READ_INFO_PAGE, false, rplBuff, len*sizeof(uint32_t), reqBuff, sizeof(reqBuff)); + + // convert endians + if(data && (state == RADIOLIB_ERR_NONE)) { + for(size_t i = 0; i < len; i++) { + data[i] = ((uint32_t)rplBuff[2 + i*sizeof(uint32_t)] << 24) | ((uint32_t)rplBuff[3 + i*sizeof(uint32_t)] << 16) | ((uint32_t)rplBuff[4 + i*sizeof(uint32_t)] << 8) | (uint32_t)rplBuff[5 + i*sizeof(uint32_t)]; + } + } + + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + + return(state); +} + +int16_t LR11x0::getChipEui(uint8_t* eui) { + RADIOLIB_ASSERT_PTR(eui); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_CHIP_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); +} + +int16_t LR11x0::getSemtechJoinEui(uint8_t* eui) { + RADIOLIB_ASSERT_PTR(eui); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_SEMTECH_JOIN_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); +} + +int16_t LR11x0::deriveRootKeysAndGetPin(uint8_t* pin) { + RADIOLIB_ASSERT_PTR(pin); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_DERIVE_ROOT_KEYS_AND_GET_PIN, false, pin, RADIOLIB_LR11X0_PIN_LEN)); +} + +int16_t LR11x0::enableSpiCrc(bool en) { + // TODO implement this + (void)en; + // LR11X0 CRC is gen 0xA6 (0x65 but reflected), init 0xFF, input and result reflected + /*RadioLibCRCInstance.size = 8; + RadioLibCRCInstance.poly = 0xA6; + RadioLibCRCInstance.init = 0xFF; + RadioLibCRCInstance.out = 0x00; + RadioLibCRCInstance.refIn = true; + RadioLibCRCInstance.refOut = true;*/ + return(RADIOLIB_ERR_UNSUPPORTED); +} + +int16_t LR11x0::driveDiosInSleepMode(bool en) { + uint8_t buff[1] = { (uint8_t)en }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_DRIVE_DIOS_IN_SLEEP_MODE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::resetStats(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_RESET_STATS, true, NULL, 0)); +} + +int16_t LR11x0::getStats(uint16_t* nbPktReceived, uint16_t* nbPktCrcError, uint16_t* data1, uint16_t* data2) { + uint8_t buff[8] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_STATS, false, buff, sizeof(buff)); + + // pass the replies + if(nbPktReceived) { *nbPktReceived = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(nbPktCrcError) { *nbPktCrcError = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } + if(data1) { *data1 = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + if(data2) { *data2 = ((uint16_t)(buff[6]) << 8) | (uint16_t)buff[7]; } + + return(state); +} + +int16_t LR11x0::getPacketType(uint8_t* type) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_PACKET_TYPE, false, buff, sizeof(buff)); + + // pass the replies + if(type) { *type = buff[0]; } + + return(state); +} + +int16_t LR11x0::getRxBufferStatus(uint8_t* len, uint8_t* startOffset) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RX_BUFFER_STATUS, false, buff, sizeof(buff)); + + // pass the replies + if(len) { *len = buff[0]; } + if(startOffset) { *startOffset = buff[1]; } + + return(state); +} + +int16_t LR11x0::getPacketStatusLoRa(float* rssiPkt, float* snrPkt, float* signalRssiPkt) { + uint8_t buff[3] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS, false, buff, sizeof(buff)); + + // pass the replies + if(rssiPkt) { *rssiPkt = (float)buff[0] / -2.0f; } + if(snrPkt) { *snrPkt = (float)((int8_t)buff[1]) / 4.0f; } + if(signalRssiPkt) { *signalRssiPkt = buff[2]; } + + return(state); +} + +int16_t LR11x0::getPacketStatusGFSK(float* rssiSync, float* rssiAvg, uint8_t* rxLen, uint8_t* stat) { + uint8_t buff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS, false, buff, sizeof(buff)); + + // pass the replies + if(rssiSync) { *rssiSync = (float)buff[0] / -2.0f; } + if(rssiAvg) { *rssiAvg = (float)buff[1] / -2.0f; } + if(rxLen) { *rxLen = buff[2]; } + if(stat) { *stat = buff[3]; } + + return(state); +} + +int16_t LR11x0::getRssiInst(float* rssi) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RSSI_INST, false, buff, sizeof(buff)); + + // pass the replies + if(rssi) { *rssi = (float)buff[0] / -2.0f; } + + return(state); +} + +int16_t LR11x0::setGfskSyncWord(uint8_t* sync) { + RADIOLIB_ASSERT_PTR(sync); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_GFSK_SYNC_WORD, true, sync, RADIOLIB_LR11X0_GFSK_SYNC_WORD_LEN)); +} + +int16_t LR11x0::setLoRaPublicNetwork(bool pub) { + uint8_t buff[1] = { (uint8_t)pub }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_LORA_PUBLIC_NETWORK, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRx(uint32_t timeout) { + uint8_t buff[3] = { + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RX, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setTx(uint32_t timeout) { + uint8_t buff[3] = { + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRfFrequency(uint32_t rfFreq) { + return(this->setU32(RADIOLIB_LR11X0_CMD_SET_RF_FREQUENCY, rfFreq)); +} + +int16_t LR11x0::autoTxRx(uint32_t delay, uint8_t intMode, uint32_t timeout) { + uint8_t buff[7] = { + (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF), intMode, + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_AUTO_TX_RX, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setCadParams(uint8_t symNum, uint8_t detPeak, uint8_t detMin, uint8_t cadExitMode, uint32_t timeout) { + uint8_t buff[7] = { + symNum, detPeak, detMin, cadExitMode, + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_CAD_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setPacketType(uint8_t type) { + uint8_t buff[1] = { type }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_TYPE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setModulationParamsLoRa(uint8_t sf, uint8_t bw, uint8_t cr, uint8_t ldro) { + // calculate symbol length and enable low data rate optimization, if auto-configuration is enabled + if(this->ldroAuto) { + float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float)this->bandwidthKhz; + if(symbolLength >= 16.0f) { + this->ldrOptimize = RADIOLIB_LR11X0_LORA_LDRO_ENABLED; + } else { + this->ldrOptimize = RADIOLIB_LR11X0_LORA_LDRO_DISABLED; + } + } else { + this->ldrOptimize = ldro; + } + + uint8_t buff[4] = { sf, bw, cr, this->ldrOptimize }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setModulationParamsGFSK(uint32_t br, uint8_t sh, uint8_t rxBw, uint32_t freqDev) { + uint8_t buff[10] = { + (uint8_t)((br >> 24) & 0xFF), (uint8_t)((br >> 16) & 0xFF), + (uint8_t)((br >> 8) & 0xFF), (uint8_t)(br & 0xFF), sh, rxBw, + (uint8_t)((freqDev >> 24) & 0xFF), (uint8_t)((freqDev >> 16) & 0xFF), + (uint8_t)((freqDev >> 8) & 0xFF), (uint8_t)(freqDev & 0xFF) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setModulationParamsLrFhss(uint32_t br, uint8_t sh) { + uint8_t buff[5] = { + (uint8_t)((br >> 24) & 0xFF), (uint8_t)((br >> 16) & 0xFF), + (uint8_t)((br >> 8) & 0xFF), (uint8_t)(br & 0xFF), sh + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setModulationParamsSigfox(uint32_t br, uint8_t sh) { + // same as for LR-FHSS + return(this->setModulationParamsLrFhss(br, sh)); +} + +int16_t LR11x0::setPacketParamsLoRa(uint16_t preambleLen, uint8_t hdrType, uint8_t payloadLen, uint8_t crcType, uint8_t invertIQ) { + uint8_t buff[6] = { + (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), + hdrType, payloadLen, crcType, invertIQ + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setPacketParamsGFSK(uint16_t preambleLen, uint8_t preambleDetectorLen, uint8_t syncWordLen, uint8_t addrCmp, uint8_t packType, uint8_t payloadLen, uint8_t crcType, uint8_t whiten) { + uint8_t buff[9] = { + (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), + preambleDetectorLen, syncWordLen, addrCmp, packType, payloadLen, crcType, whiten + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setPacketParamsSigfox(uint8_t payloadLen, uint16_t rampUpDelay, uint16_t rampDownDelay, uint16_t bitNum) { + uint8_t buff[7] = { + payloadLen, (uint8_t)((rampUpDelay >> 8) & 0xFF), (uint8_t)(rampUpDelay & 0xFF), + (uint8_t)((rampDownDelay >> 8) & 0xFF), (uint8_t)(rampDownDelay & 0xFF), + (uint8_t)((bitNum >> 8) & 0xFF), (uint8_t)(bitNum & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setTxParams(int8_t pwr, uint8_t ramp) { + uint8_t buff[2] = { (uint8_t)pwr, ramp }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setPacketAdrs(uint8_t node, uint8_t broadcast) { + uint8_t buff[2] = { node, broadcast }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PACKET_ADRS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRxTxFallbackMode(uint8_t mode) { + uint8_t buff[1] = { mode }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RX_TX_FALLBACK_MODE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRxDutyCycle(uint32_t rxPeriod, uint32_t sleepPeriod, uint8_t mode) { + uint8_t buff[7] = { + (uint8_t)((rxPeriod >> 16) & 0xFF), (uint8_t)((rxPeriod >> 8) & 0xFF), (uint8_t)(rxPeriod & 0xFF), + (uint8_t)((sleepPeriod >> 16) & 0xFF), (uint8_t)((sleepPeriod >> 8) & 0xFF), (uint8_t)(sleepPeriod & 0xFF), + mode + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RX_DUTY_CYCLE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setPaConfig(uint8_t paSel, uint8_t regPaSupply, uint8_t paDutyCycle, uint8_t paHpSel) { + uint8_t buff[4] = { paSel, regPaSupply, paDutyCycle, paHpSel }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_PA_CONFIG, true, buff, sizeof(buff))); +} + +int16_t LR11x0::stopTimeoutOnPreamble(bool stop) { + uint8_t buff[1] = { (uint8_t)stop }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_STOP_TIMEOUT_ON_PREAMBLE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setCad(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_CAD, true, NULL, 0)); +} + +int16_t LR11x0::setTxCw(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX_CW, true, NULL, 0)); +} + +int16_t LR11x0::setTxInfinitePreamble(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_TX_INFINITE_PREAMBLE, true, NULL, 0)); +} + +int16_t LR11x0::setLoRaSynchTimeout(uint8_t symbolNum) { + uint8_t buff[1] = { symbolNum }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_LORA_SYNCH_TIMEOUT, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRangingAddr(uint32_t addr, uint8_t checkLen) { + uint8_t buff[5] = { + (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), + (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), checkLen + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RANGING_ADDR, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRangingReqAddr(uint32_t addr) { + return(this->setU32(RADIOLIB_LR11X0_CMD_SET_RANGING_REQ_ADDR, addr)); +} + +int16_t LR11x0::getRangingResult(uint8_t type, float* res) { + uint8_t reqBuff[1] = { type }; + uint8_t rplBuff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_RANGING_RESULT, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + + if(res) { + if(type == RADIOLIB_LR11X0_RANGING_RESULT_DISTANCE) { + uint32_t raw = ((uint32_t)(rplBuff[0]) << 24) | ((uint32_t)(rplBuff[1]) << 16) | ((uint32_t)(rplBuff[2]) << 8) | (uint32_t)rplBuff[3]; + *res = ((float)(raw*3e8))/((float)(4096*this->bandwidthKhz*1000)); + } else { + *res = (float)rplBuff[3]/2.0f; + } + } + + return(state); +} + +int16_t LR11x0::setRangingTxRxDelay(uint32_t delay) { + return(this->setU32(RADIOLIB_LR11X0_CMD_SET_RANGING_TX_RX_DELAY, delay)); +} + +int16_t LR11x0::setGfskCrcParams(uint32_t init, uint32_t poly) { + uint8_t buff[8] = { + (uint8_t)((init >> 24) & 0xFF), (uint8_t)((init >> 16) & 0xFF), + (uint8_t)((init >> 8) & 0xFF), (uint8_t)(init & 0xFF), + (uint8_t)((poly >> 24) & 0xFF), (uint8_t)((poly >> 16) & 0xFF), + (uint8_t)((poly >> 8) & 0xFF), (uint8_t)(poly & 0xFF) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_GFSK_CRC_PARAMS, true, buff, sizeof(buff))); + +} + +int16_t LR11x0::setGfskWhitParams(uint16_t seed) { + uint8_t buff[2] = { + (uint8_t)((seed >> 8) & 0xFF), (uint8_t)(seed & 0xFF) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_GFSK_WHIT_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRangingParameter(uint8_t symbolNum) { + // the first byte is reserved + uint8_t buff[2] = { 0x00, symbolNum }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RANGING_PARAMETER, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setRssiCalibration(const int8_t* tune, int16_t gainOffset) { + uint8_t buff[11] = { + (uint8_t)((tune[0] & 0x0F) | (uint8_t)(tune[1] & 0x0F) << 4), + (uint8_t)((tune[2] & 0x0F) | (uint8_t)(tune[3] & 0x0F) << 4), + (uint8_t)((tune[4] & 0x0F) | (uint8_t)(tune[5] & 0x0F) << 4), + (uint8_t)((tune[6] & 0x0F) | (uint8_t)(tune[7] & 0x0F) << 4), + (uint8_t)((tune[8] & 0x0F) | (uint8_t)(tune[9] & 0x0F) << 4), + (uint8_t)((tune[10] & 0x0F) | (uint8_t)(tune[11] & 0x0F) << 4), + (uint8_t)((tune[12] & 0x0F) | (uint8_t)(tune[13] & 0x0F) << 4), + (uint8_t)((tune[14] & 0x0F) | (uint8_t)(tune[15] & 0x0F) << 4), + (uint8_t)((tune[16] & 0x0F) | (uint8_t)(tune[17] & 0x0F) << 4), + (uint8_t)(((uint16_t)gainOffset >> 8) & 0xFF), (uint8_t)(gainOffset & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_RSSI_CALIBRATION, true, buff, sizeof(buff))); +} + +int16_t LR11x0::setLoRaSyncWord(uint8_t sync) { + uint8_t buff[1] = { sync }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_SET_LORA_SYNC_WORD, true, buff, sizeof(buff))); +} + +int16_t LR11x0::lrFhssSetSyncWord(uint32_t sync) { + return(this->setU32(RADIOLIB_LR11X0_CMD_LR_FHSS_SET_SYNC_WORD, sync)); +} + +int16_t LR11x0::configBleBeacon(uint8_t chan, const uint8_t* payload, size_t len) { + return(this->bleBeaconCommon(RADIOLIB_LR11X0_CMD_CONFIG_BLE_BEACON, chan, payload, len)); +} + +int16_t LR11x0::getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC) { + // check if in explicit header mode + if(this->headerType == RADIOLIB_LRXXXX_LORA_HEADER_IMPLICIT) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GET_LORA_RX_HEADER_INFOS, false, buff, sizeof(buff)); + + // pass the replies + if(cr) { *cr = (buff[0] & 0x70) >> 4; } + if(hasCRC) { *hasCRC = (buff[0] & RADIOLIB_LR11X0_LAST_HEADER_CRC_ENABLED) != 0; } + + return(state); +} + +int16_t LR11x0::bleBeaconSend(uint8_t chan, const uint8_t* payload, size_t len) { + return(this->bleBeaconCommon(RADIOLIB_LR11X0_CMD_BLE_BEACON_SEND, chan, payload, len)); +} + +int16_t LR11x0::bleBeaconCommon(uint16_t cmd, uint8_t chan, const uint8_t* payload, size_t len) { + // check maximum size + // TODO what is the actual maximum? + if(len > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // build buffers + #if RADIOLIB_STATIC_ONLY + uint8_t dataBuff[sizeof(uint8_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* dataBuff = new uint8_t[sizeof(uint8_t) + len]; + #endif + + // set the channel + dataBuff[0] = chan; + memcpy(&dataBuff[1], payload, len); + + int16_t state = this->SPIcommand(cmd, true, dataBuff, sizeof(uint8_t) + len); + #if !RADIOLIB_STATIC_ONLY + delete[] dataBuff; + #endif + return(state); +} + +int16_t LR11x0::bootEraseFlash(void) { + // erasing flash takes about 2.5 seconds, temporarily tset SPI timeout to 3 seconds + RadioLibTime_t timeout = this->mod->spiConfig.timeout; + this->mod->spiConfig.timeout = 3000; + int16_t state = this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_BOOT_ERASE_FLASH, NULL, 0, false, false); + this->mod->spiConfig.timeout = timeout; + return(state); +} + +int16_t LR11x0::bootWriteFlashEncrypted(uint32_t offset, const uint32_t* data, size_t len, bool nonvolatile) { + // check maximum size + if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + return(this->writeCommon(RADIOLIB_LR11X0_CMD_BOOT_WRITE_FLASH_ENCRYPTED, offset, data, len, nonvolatile)); +} + +int16_t LR11x0::bootGetHash(uint8_t hash[RADIOLIB_LR11X0_HASH_LEN]) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_GET_HASH, false, hash, RADIOLIB_LR11X0_HASH_LEN)); +} + +int16_t LR11x0::bootReboot(bool stay) { + uint8_t buff[1] = { (uint8_t)stay }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_REBOOT, true, buff, sizeof(buff))); +} + +int16_t LR11x0::bootGetPin(uint8_t* pin) { + RADIOLIB_ASSERT_PTR(pin); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_GET_PIN, false, pin, RADIOLIB_LR11X0_PIN_LEN)); +} + +int16_t LR11x0::bootGetChipEui(uint8_t* eui) { + RADIOLIB_ASSERT_PTR(eui); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_GET_CHIP_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); +} + +int16_t LR11x0::bootGetJoinEui(uint8_t* eui) { + RADIOLIB_ASSERT_PTR(eui); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_BOOT_GET_JOIN_EUI, false, eui, RADIOLIB_LR11X0_EUI_LEN)); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0_commands.h b/lib/RadioLib/src/modules/LR11x0/LR11x0_commands.h new file mode 100644 index 0000000..aa4c22f --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0_commands.h @@ -0,0 +1,585 @@ +#if !defined(RADIOLIB_LR11X0_COMMANDS_H) +#define RADIOLIB_LR11X0_COMMANDS_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_LR11X0 + +// LR11X0 SPI commands +#define RADIOLIB_LR11X0_CMD_NOP (0x0000) +#define RADIOLIB_LR11X0_CMD_WRITE_REG_MEM (0x0105) +#define RADIOLIB_LR11X0_CMD_READ_REG_MEM (0x0106) +#define RADIOLIB_LR11X0_CMD_WRITE_BUFFER (0x0109) +#define RADIOLIB_LR11X0_CMD_READ_BUFFER (0x010A) +#define RADIOLIB_LR11X0_CMD_CLEAR_RX_BUFFER (0x010B) +#define RADIOLIB_LR11X0_CMD_WRITE_REG_MEM_MASK (0x010C) +#define RADIOLIB_LR11X0_CMD_GET_STATUS (0x0100) +#define RADIOLIB_LR11X0_CMD_GET_VERSION (0x0101) +#define RADIOLIB_LR11X0_CMD_GET_ERRORS (0x010D) +#define RADIOLIB_LR11X0_CMD_CLEAR_ERRORS (0x010E) +#define RADIOLIB_LR11X0_CMD_CALIBRATE (0x010F) +#define RADIOLIB_LR11X0_CMD_SET_REG_MODE (0x0110) +#define RADIOLIB_LR11X0_CMD_CALIB_IMAGE (0x0111) +#define RADIOLIB_LR11X0_CMD_SET_DIO_AS_RF_SWITCH (0x0112) +#define RADIOLIB_LR11X0_CMD_SET_DIO_IRQ_PARAMS (0x0113) +#define RADIOLIB_LR11X0_CMD_CLEAR_IRQ (0x0114) +#define RADIOLIB_LR11X0_CMD_CONFIG_LF_CLOCK (0x0116) +#define RADIOLIB_LR11X0_CMD_SET_TCXO_MODE (0x0117) +#define RADIOLIB_LR11X0_CMD_REBOOT (0x0118) +#define RADIOLIB_LR11X0_CMD_GET_VBAT (0x0119) +#define RADIOLIB_LR11X0_CMD_GET_TEMP (0x011A) +#define RADIOLIB_LR11X0_CMD_SET_SLEEP (0x011B) +#define RADIOLIB_LR11X0_CMD_SET_STANDBY (0x011C) +#define RADIOLIB_LR11X0_CMD_SET_FS (0x011D) +#define RADIOLIB_LR11X0_CMD_GET_RANDOM_NUMBER (0x0120) +#define RADIOLIB_LR11X0_CMD_ERASE_INFO_PAGE (0x0121) +#define RADIOLIB_LR11X0_CMD_WRITE_INFO_PAGE (0x0122) +#define RADIOLIB_LR11X0_CMD_READ_INFO_PAGE (0x0123) +#define RADIOLIB_LR11X0_CMD_GET_CHIP_EUI (0x0125) +#define RADIOLIB_LR11X0_CMD_GET_SEMTECH_JOIN_EUI (0x0126) +#define RADIOLIB_LR11X0_CMD_DERIVE_ROOT_KEYS_AND_GET_PIN (0x0127) +#define RADIOLIB_LR11X0_CMD_ENABLE_SPI_CRC (0x0128) +#define RADIOLIB_LR11X0_CMD_DRIVE_DIOS_IN_SLEEP_MODE (0x012A) +#define RADIOLIB_LR11X0_CMD_RESET_STATS (0x0200) +#define RADIOLIB_LR11X0_CMD_GET_STATS (0x0201) +#define RADIOLIB_LR11X0_CMD_GET_PACKET_TYPE (0x0202) +#define RADIOLIB_LR11X0_CMD_GET_RX_BUFFER_STATUS (0x0203) +#define RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS (0x0204) +#define RADIOLIB_LR11X0_CMD_GET_RSSI_INST (0x0205) +#define RADIOLIB_LR11X0_CMD_SET_GFSK_SYNC_WORD (0x0206) +#define RADIOLIB_LR11X0_CMD_SET_LORA_PUBLIC_NETWORK (0x0208) +#define RADIOLIB_LR11X0_CMD_SET_RX (0x0209) +#define RADIOLIB_LR11X0_CMD_SET_TX (0x020A) +#define RADIOLIB_LR11X0_CMD_SET_RF_FREQUENCY (0x020B) +#define RADIOLIB_LR11X0_CMD_AUTO_TX_RX (0x020C) +#define RADIOLIB_LR11X0_CMD_SET_CAD_PARAMS (0x020D) +#define RADIOLIB_LR11X0_CMD_SET_PACKET_TYPE (0x020E) +#define RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS (0x020F) +#define RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS (0x0210) +#define RADIOLIB_LR11X0_CMD_SET_TX_PARAMS (0x0211) +#define RADIOLIB_LR11X0_CMD_SET_PACKET_ADRS (0x0212) +#define RADIOLIB_LR11X0_CMD_SET_RX_TX_FALLBACK_MODE (0x0213) +#define RADIOLIB_LR11X0_CMD_SET_RX_DUTY_CYCLE (0x0214) +#define RADIOLIB_LR11X0_CMD_SET_PA_CONFIG (0x0215) +#define RADIOLIB_LR11X0_CMD_STOP_TIMEOUT_ON_PREAMBLE (0x0217) +#define RADIOLIB_LR11X0_CMD_SET_CAD (0x0218) +#define RADIOLIB_LR11X0_CMD_SET_TX_CW (0x0219) +#define RADIOLIB_LR11X0_CMD_SET_TX_INFINITE_PREAMBLE (0x021A) +#define RADIOLIB_LR11X0_CMD_SET_LORA_SYNCH_TIMEOUT (0x021B) +#define RADIOLIB_LR11X0_CMD_SET_RANGING_ADDR (0x021C) +#define RADIOLIB_LR11X0_CMD_SET_RANGING_REQ_ADDR (0x021D) +#define RADIOLIB_LR11X0_CMD_GET_RANGING_RESULT (0x021E) +#define RADIOLIB_LR11X0_CMD_SET_RANGING_TX_RX_DELAY (0x021F) +#define RADIOLIB_LR11X0_CMD_SET_GFSK_CRC_PARAMS (0x0224) +#define RADIOLIB_LR11X0_CMD_SET_GFSK_WHIT_PARAMS (0x0225) +#define RADIOLIB_LR11X0_CMD_SET_RX_BOOSTED (0x0227) +#define RADIOLIB_LR11X0_CMD_SET_RANGING_PARAMETER (0x0228) +#define RADIOLIB_LR11X0_CMD_SET_RSSI_CALIBRATION (0x0229) +#define RADIOLIB_LR11X0_CMD_SET_LORA_SYNC_WORD (0x022B) +#define RADIOLIB_LR11X0_CMD_LR_FHSS_BUILD_FRAME (0x022C) +#define RADIOLIB_LR11X0_CMD_LR_FHSS_SET_SYNC_WORD (0x022D) +#define RADIOLIB_LR11X0_CMD_CONFIG_BLE_BEACON (0x022E) +#define RADIOLIB_LR11X0_CMD_GET_LORA_RX_HEADER_INFOS (0x0230) +#define RADIOLIB_LR11X0_CMD_BLE_BEACON_SEND (0x0231) +#define RADIOLIB_LR11X0_CMD_WIFI_SCAN (0x0300) +#define RADIOLIB_LR11X0_CMD_WIFI_SCAN_TIME_LIMIT (0x0301) +#define RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE (0x0302) +#define RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE_TIME_LIMIT (0x0303) +#define RADIOLIB_LR11X0_CMD_WIFI_GET_NB_RESULTS (0x0305) +#define RADIOLIB_LR11X0_CMD_WIFI_READ_RESULTS (0x0306) +#define RADIOLIB_LR11X0_CMD_WIFI_RESET_CUMUL_TIMINGS (0x0307) +#define RADIOLIB_LR11X0_CMD_WIFI_READ_CUMUL_TIMINGS (0x0308) +#define RADIOLIB_LR11X0_CMD_WIFI_GET_NB_COUNTRY_CODE_RESULTS (0x0309) +#define RADIOLIB_LR11X0_CMD_WIFI_READ_COUNTRY_CODE_RESULTS (0x030A) +#define RADIOLIB_LR11X0_CMD_WIFI_CFG_TIMESTAMP_AP_PHONE (0x030B) +#define RADIOLIB_LR11X0_CMD_WIFI_READ_VERSION (0x0320) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_RSSI (0x0222) +#define RADIOLIB_LR11X0_CMD_GNSS_SET_CONSTELLATION_TO_USE (0x0400) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_CONSTELLATION_TO_USE (0x0401) +#define RADIOLIB_LR11X0_CMD_GNSS_SET_ALMANAC_UPDATE (0x0402) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE (0x0403) +#define RADIOLIB_LR11X0_CMD_GNSS_SET_FREQ_SEARCH_SPACE (0x0404) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_FREQ_SEARCH_SPACE (0x0405) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_VERSION (0x0406) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_SUPPORTED_CONSTELLATIONS (0x0407) +#define RADIOLIB_LR11X0_CMD_GNSS_SET_MODE (0x0408) +#define RADIOLIB_LR11X0_CMD_GNSS_AUTONOMOUS (0x0409) +#define RADIOLIB_LR11X0_CMD_GNSS_ASSISTED (0x040A) +#define RADIOLIB_LR11X0_CMD_GNSS_SCAN (0x040B) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_RESULT_SIZE (0x040C) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_RESULTS (0x040D) +#define RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE (0x040E) +#define RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_READ_ADDR_SIZE (0x040F) +#define RADIOLIB_LR11X0_CMD_GNSS_SET_ASSISTANCE_POSITION (0x0410) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_ASSISTANCE_POSITION (0x0411) +#define RADIOLIB_LR11X0_CMD_GNSS_PUSH_SOLVER_MSG (0x0414) +#define RADIOLIB_LR11X0_CMD_GNSS_PUSH_DM_MSG (0x0415) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_CONTEXT_STATUS (0x0416) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_NB_SV_DETECTED (0x0417) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_DETECTED (0x0418) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_CONSUMPTION (0x0419) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_PER_SATELLITE (0x041A) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE (0x041F) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE_DOPPLER (0x0420) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_LAST_SCAN_MODE_LAUNCHED (0x0426) +#define RADIOLIB_LR11X0_CMD_GNSS_FETCH_TIME (0x0432) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_TIME (0x0434) +#define RADIOLIB_LR11X0_CMD_GNSS_RESET_TIME (0x0435) +#define RADIOLIB_LR11X0_CMD_GNSS_RESET_POSITION (0x0437) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_WEEK_NUMBER_ROLLOWER (0x0438) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_DEMOD_STATUS (0x0439) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_CUMUL_TIMING (0x044A) +#define RADIOLIB_LR11X0_CMD_GNSS_SET_TIME (0x044B) +#define RADIOLIB_LR11X0_CMD_GNSS_CONFIG_DELAY_RESET_AP (0x044D) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_DOPPLER_SOLVER_RES (0x044F) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_DELAY_RESET_AP (0x0453) +#define RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_UPDATE_FROM_SAT (0x0454) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_KEEP_SYNC_STATUS (0x0456) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_STATUS (0x0457) +#define RADIOLIB_LR11X0_CMD_GNSS_CONFIG_ALMANAC_UPDATE_PERIOD (0x0463) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE_PERIOD (0x0464) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_WARM_START (0x0466) +#define RADIOLIB_LR11X0_CMD_GNSS_GET_SV_SYNC (0x0466) +#define RADIOLIB_LR11X0_CMD_GNSS_READ_WARM_START_STATUS (0x0469) +#define RADIOLIB_LR11X0_CMD_GNSS_WRITE_BIT_MASK_SAT_ACTIVATED (0x0472) +#define RADIOLIB_LR11X0_CMD_CRYPTO_SET_KEY (0x0502) +#define RADIOLIB_LR11X0_CMD_CRYPTO_DERIVE_KEY (0x0503) +#define RADIOLIB_LR11X0_CMD_CRYPTO_PROCESS_JOIN_ACCEPT (0x0504) +#define RADIOLIB_LR11X0_CMD_CRYPTO_COMPUTE_AES_CMAC (0x0505) +#define RADIOLIB_LR11X0_CMD_CRYPTO_VERIFY_AES_CMAC (0x0506) +#define RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT_01 (0x0507) +#define RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT (0x0508) +#define RADIOLIB_LR11X0_CMD_CRYPTO_AES_DECRYPT (0x0509) +#define RADIOLIB_LR11X0_CMD_CRYPTO_STORE_TO_FLASH (0x050A) +#define RADIOLIB_LR11X0_CMD_CRYPTO_RESTORE_FROM_FLASH (0x050B) +#define RADIOLIB_LR11X0_CMD_CRYPTO_SET_PARAM (0x050D) +#define RADIOLIB_LR11X0_CMD_CRYPTO_GET_PARAM (0x050E) +#define RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE (0x050F) +#define RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE_RESULT (0x0510) +#define RADIOLIB_LR11X0_CMD_BOOT_ERASE_FLASH (0x8000) +#define RADIOLIB_LR11X0_CMD_BOOT_WRITE_FLASH_ENCRYPTED (0x8003) +#define RADIOLIB_LR11X0_CMD_BOOT_GET_HASH (0x8004) +#define RADIOLIB_LR11X0_CMD_BOOT_REBOOT (0x8005) +#define RADIOLIB_LR11X0_CMD_BOOT_GET_PIN (0x800B) +#define RADIOLIB_LR11X0_CMD_BOOT_GET_CHIP_EUI (0x800C) +#define RADIOLIB_LR11X0_CMD_BOOT_GET_JOIN_EUI (0x800D) + +// LR11X0 SPI command variables + +// RADIOLIB_LR11X0_CMD_GET_STATUS MSB LSB DESCRIPTION +#define RADIOLIB_LR11X0_STAT_1_CMD_FAIL (0x00UL << 1) // 3 1 command status: last command could not be executed +#define RADIOLIB_LR11X0_STAT_1_CMD_PERR (0x01UL << 1) // 3 1 processing error +#define RADIOLIB_LR11X0_STAT_1_CMD_OK (0x02UL << 1) // 3 1 successfully processed +#define RADIOLIB_LR11X0_STAT_1_CMD_DAT (0x03UL << 1) // 3 1 successfully processed, data is being transmitted +#define RADIOLIB_LR11X0_STAT_1_IRQ_INACTIVE (0x00UL << 0) // 0 0 interrupt status: inactive +#define RADIOLIB_LR11X0_STAT_1_IRQ_ACTIVE (0x01UL << 0) // 0 0 at least 1 interrupt active +#define RADIOLIB_LR11X0_STAT_2_CMD_RST_CLEARED (0x00UL << 4) // 7 4 reset status: cleared +#define RADIOLIB_LR11X0_STAT_2_CMD_RST_ANALOG (0x01UL << 4) // 7 4 analog (power on, brown-out) +#define RADIOLIB_LR11X0_STAT_2_CMD_RST_EXTERNAL (0x02UL << 4) // 7 4 NRESET pin +#define RADIOLIB_LR11X0_STAT_2_CMD_RST_SYSTEM (0x03UL << 4) // 7 4 system +#define RADIOLIB_LR11X0_STAT_2_CMD_RST_WATCHDOG (0x04UL << 4) // 7 4 watchdog +#define RADIOLIB_LR11X0_STAT_2_CMD_RST_WAKEUP (0x05UL << 4) // 7 4 NSS toggling wake-up +#define RADIOLIB_LR11X0_STAT_2_CMD_RST_RTC (0x06UL << 4) // 7 4 realtime clock +#define RADIOLIB_LR11X0_STAT_2_MODE_SLEEP (0x00UL << 1) // 3 1 chip mode: sleep +#define RADIOLIB_LR11X0_STAT_2_MODE_STBY_RC (0x01UL << 1) // 3 1 standby with RC oscillator +#define RADIOLIB_LR11X0_STAT_2_MODE_STBY_OSC (0x02UL << 1) // 3 1 standby with external oscillator +#define RADIOLIB_LR11X0_STAT_2_MODE_FS (0x03UL << 1) // 3 1 frequency synthesis +#define RADIOLIB_LR11X0_STAT_2_MODE_RX (0x04UL << 1) // 3 1 receive +#define RADIOLIB_LR11X0_STAT_2_MODE_TX (0x05UL << 1) // 3 1 transmit +#define RADIOLIB_LR11X0_STAT_2_MODE_WIFI_GNSS (0x06UL << 1) // 3 1 WiFi or GNSS geolocation +#define RADIOLIB_LR11X0_STAT_2_BOOT (0x00UL << 0) // 0 0 code executed from: bootloader +#define RADIOLIB_LR11X0_STAT_2_FLASH (0x01UL << 0) // 0 0 flash + +// RADIOLIB_LR11X0_CMD_WRITE_REG_MEM +#define RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN (256) // 7 0 maximum length of read/write SPI payload in bytes + +// RADIOLIB_LR11X0_CMD_GET_VERSION +#define RADIOLIB_LR11X0_DEVICE_LR1110 (0x01UL << 0) // 7 0 HW device: LR1110 +#define RADIOLIB_LR11X0_DEVICE_LR1120 (0x02UL << 0) // 7 0 LR1120 +#define RADIOLIB_LR11X0_DEVICE_LR1121 (0x03UL << 0) // 7 0 LR1121 +#define RADIOLIB_LR11X0_DEVICE_BOOT (0xDFUL << 0) // 7 0 bootloader mode + +// RADIOLIB_LR11X0_CMD_GET_ERRORS +#define RADIOLIB_LR11X0_ERROR_STAT_LF_RC_CALIB_ERR (0x01UL << 0) // 15 0 error: low frequency RC not calibrated +#define RADIOLIB_LR11X0_ERROR_STAT_HF_RC_CALIB_ERR (0x01UL << 1) // 15 0 high frequency RC not calibrated +#define RADIOLIB_LR11X0_ERROR_STAT_ADC_CALIB_ERR (0x01UL << 2) // 15 0 ADC not calibrated +#define RADIOLIB_LR11X0_ERROR_STAT_PLL_CALIB_ERR (0x01UL << 3) // 15 0 PLL not calibrated +#define RADIOLIB_LR11X0_ERROR_STAT_IMG_CALIB_ERR (0x01UL << 4) // 15 0 image rejection not calibrated +#define RADIOLIB_LR11X0_ERROR_STAT_HF_XOSC_START_ERR (0x01UL << 5) // 15 0 high frequency oscillator failed to start +#define RADIOLIB_LR11X0_ERROR_STAT_LF_XOSC_START_ERR (0x01UL << 6) // 15 0 low frequency oscillator failed to start +#define RADIOLIB_LR11X0_ERROR_STAT_PLL_LOCK_ERR (0x01UL << 7) // 15 0 PLL failed to lock +#define RADIOLIB_LR11X0_ERROR_STAT_RX_ADC_OFFSET_ERR (0x01UL << 8) // 15 0 ADC offset not calibrated + +// RADIOLIB_LR11X0_CMD_CALIBRATE +#define RADIOLIB_LR11X0_CALIBRATE_PLL_TX (0x01UL << 5) // 5 5 calibrate: Tx PLL +#define RADIOLIB_LR11X0_CALIBRATE_IMG (0x01UL << 4) // 4 4 image rejection +#define RADIOLIB_LR11X0_CALIBRATE_ADC (0x01UL << 3) // 3 3 A/D converter +#define RADIOLIB_LR11X0_CALIBRATE_PLL (0x01UL << 2) // 2 2 PLL +#define RADIOLIB_LR11X0_CALIBRATE_HF_RC (0x01UL << 1) // 1 1 high frequency RC +#define RADIOLIB_LR11X0_CALIBRATE_LF_RC (0x01UL << 0) // 0 0 low frequency RC +#define RADIOLIB_LR11X0_CALIBRATE_ALL (0x3FUL << 0) // 5 0 everything +#define RADIOLIB_LR11X0_CAL_IMG_FREQ_TRIG_MHZ (20.0f) + +// RADIOLIB_LR11X0_CMD_SET_REG_MODE +#define RADIOLIB_LR11X0_REG_MODE_LDO (0x00UL << 0) // 0 0 regulator mode: LDO in all modes +#define RADIOLIB_LR11X0_REG_MODE_DC_DC (0x01UL << 0) // 0 0 DC-DC and LDO + +// RADIOLIB_LR11X0_CMD_SET_DIO_AS_RF_SWITCH +#define RADIOLIB_LR11X0_RFSW_DIO5_ENABLED (0x01UL << 0) // 4 0 RF switch: DIO5 enabled +#define RADIOLIB_LR11X0_RFSW_DIO5_DISABLED (0x00UL << 0) // 4 0 DIO5 disabled (default) +#define RADIOLIB_LR11X0_RFSW_DIO6_ENABLED (0x01UL << 1) // 4 0 RF switch: DIO6 enabled +#define RADIOLIB_LR11X0_RFSW_DIO6_DISABLED (0x00UL << 1) // 4 0 DIO6 disabled (default) +#define RADIOLIB_LR11X0_RFSW_DIO7_ENABLED (0x01UL << 2) // 4 0 RF switch: DIO7 enabled +#define RADIOLIB_LR11X0_RFSW_DIO7_DISABLED (0x00UL << 2) // 4 0 DIO7 disabled (default) +#define RADIOLIB_LR11X0_RFSW_DIO8_ENABLED (0x01UL << 3) // 4 0 RF switch: DIO8 enabled +#define RADIOLIB_LR11X0_RFSW_DIO8_DISABLED (0x00UL << 3) // 4 0 DIO8 disabled (default) +#define RADIOLIB_LR11X0_RFSW_DIO10_ENABLED (0x01UL << 4) // 4 0 RF switch: DIO10 enabled +#define RADIOLIB_LR11X0_RFSW_DIO10_DISABLED (0x00UL << 4) // 4 0 DIO10 disabled (default) +#define RADIOLIB_LR11X0_DIO5 (RADIOLIB_LRXXXX_DIOx(0)) +#define RADIOLIB_LR11X0_DIO6 (RADIOLIB_LRXXXX_DIOx(1)) +#define RADIOLIB_LR11X0_DIO7 (RADIOLIB_LRXXXX_DIOx(2)) +#define RADIOLIB_LR11X0_DIO8 (RADIOLIB_LRXXXX_DIOx(3)) +#define RADIOLIB_LR11X0_DIO10 (RADIOLIB_LRXXXX_DIOx(4)) + +// RADIOLIB_LR11X0_CMD_SET_DIO_IRQ_PARAMS +#define RADIOLIB_LR11X0_IRQ_TX_DONE (0x01UL << 2) // 31 0 interrupt: packet transmitted +#define RADIOLIB_LR11X0_IRQ_RX_DONE (0x01UL << 3) // 31 0 packet received +#define RADIOLIB_LR11X0_IRQ_PREAMBLE_DETECTED (0x01UL << 4) // 31 0 preamble detected +#define RADIOLIB_LR11X0_IRQ_SYNC_WORD_HEADER_VALID (0x01UL << 5) // 31 0 sync word or LoRa header valid +#define RADIOLIB_LR11X0_IRQ_HEADER_ERR (0x01UL << 6) // 31 0 LoRa header CRC error +#define RADIOLIB_LR11X0_IRQ_CRC_ERR (0x01UL << 7) // 31 0 packet CRC error +#define RADIOLIB_LR11X0_IRQ_CAD_DONE (0x01UL << 8) // 31 0 CAD completed +#define RADIOLIB_LR11X0_IRQ_CAD_DETECTED (0x01UL << 9) // 31 0 CAD detected +#define RADIOLIB_LR11X0_IRQ_TIMEOUT (0x01UL << 10) // 31 0 Rx or Tx timeout +#define RADIOLIB_LR11X0_IRQ_LR_FHSS_HOP (0x01UL << 11) // 31 0 FHSS hop +#define RADIOLIB_LR11X0_IRQ_GNSS_DONE (0x01UL << 19) // 31 0 GNSS scan finished +#define RADIOLIB_LR11X0_IRQ_WIFI_DONE (0x01UL << 20) // 31 0 WiFi scan finished +#define RADIOLIB_LR11X0_IRQ_LBD (0x01UL << 21) // 31 0 low battery detected +#define RADIOLIB_LR11X0_IRQ_CMD_ERROR (0x01UL << 22) // 31 0 command error +#define RADIOLIB_LR11X0_IRQ_ERROR (0x01UL << 23) // 31 0 some other error than CMD_ERR +#define RADIOLIB_LR11X0_IRQ_FSK_LEN_ERROR (0x01UL << 24) // 31 0 FSK packet received with length error +#define RADIOLIB_LR11X0_IRQ_FSK_ADDR_ERROR (0x01UL << 25) // 31 0 FSK packet received with address error +#define RADIOLIB_LR11X0_IRQ_LORA_RX_TIMESTAMP (0x01UL << 27) // 31 0 last LoRa symbol was received (timestamp source) +#define RADIOLIB_LR11X0_IRQ_GNSS_ABORT (0x01UL << 28) // 31 0 GNSS scan aborted +#define RADIOLIB_LR11X0_IRQ_ALL (0x1BF80FFCUL) // 31 0 all interrupts +#define RADIOLIB_LR11X0_IRQ_NONE (0x00UL << 0) // 31 0 no interrupts + +// RADIOLIB_LR11X0_CMD_CONFIG_LF_CLOCK +#define RADIOLIB_LR11X0_LF_CLK_RC (0x00UL << 0) // 1 0 32.768 kHz source: RC oscillator +#define RADIOLIB_LR11X0_LF_CLK_XOSC (0x01UL << 0) // 1 0 crystal oscillator +#define RADIOLIB_LR11X0_LF_CLK_EXT (0x02UL << 0) // 1 0 external signal on DIO11 +#define RADIOLIB_LR11X0_LF_BUSY_RELEASE_DISABLED (0x00UL << 2) // 2 2 +#define RADIOLIB_LR11X0_LF_BUSY_RELEASE_ENABLED (0x01UL << 2) // 2 2 + +// RADIOLIB_LR11X0_CMD_SET_SLEEP +#define RADIOLIB_LR11X0_SLEEP_RETENTION_DISABLED (0x00UL << 0) // 0 0 configuration retention in sleep mode: disabled +#define RADIOLIB_LR11X0_SLEEP_RETENTION_ENABLED (0x01UL << 0) // 0 0 enabled +#define RADIOLIB_LR11X0_SLEEP_WAKEUP_DISABLED (0x00UL << 0) // 1 1 automated wakeup: disabled +#define RADIOLIB_LR11X0_SLEEP_WAKEUP_ENABLED (0x01UL << 0) // 1 1 enabled + +// RADIOLIB_LR11X0_CMD_SET_STANDBY +#define RADIOLIB_LR11X0_STANDBY_RC (0x00UL << 0) // 7 0 standby mode: RC oscillator +#define RADIOLIB_LR11X0_STANDBY_XOSC (0x00UL << 0) // 7 0 XTAL/TCXO oscillator + +// RADIOLIB_LR11X0_CMD_ERASE_INFO_PAGE +#define RADIOLIB_LR11X0_INFO_PAGE (1) + +// RADIOLIB_LR11X0_CMD_GET_CHIP_EUI +#define RADIOLIB_LR11X0_EUI_LEN (8) + +// RADIOLIB_LR11X0_CMD_GET_HASH +#define RADIOLIB_LR11X0_HASH_LEN (10) + +// RADIOLIB_LR11X0_CMD_DERIVE_ROOT_KEYS_AND_GET_PIN +#define RADIOLIB_LR11X0_PIN_LEN (4) + +// RADIOLIB_LR11X0_CMD_GET_PACKET_STATUS +#define RADIOLIB_LR11X0_RX_STATUS_ADDR_ERR (0x01UL << 5) // 7 0 Rx status: address filtering error +#define RADIOLIB_LR11X0_RX_STATUS_CRC_ERR (0x01UL << 4) // 7 0 CRC error +#define RADIOLIB_LR11X0_RX_STATUS_LEN_ERR (0x01UL << 3) // 7 0 length filtering error +#define RADIOLIB_LR11X0_RX_STATUS_ABORTED (0x01UL << 2) // 7 0 packet reception aborted +#define RADIOLIB_LR11X0_RX_STATUS_PACKET_RECEIVED (0x01UL << 1) // 7 0 packet received +#define RADIOLIB_LR11X0_RX_STATUS_PACKET_SENT (0x01UL << 0) // 7 0 packet sent + +// RADIOLIB_LR11X0_CMD_SET_GFSK_SYNC_WORD +#define RADIOLIB_LR11X0_GFSK_SYNC_WORD_LEN (8) + +// RADIOLIB_LR11X0_CMD_SET_LORA_PUBLIC_NETWORK +#define RADIOLIB_LR11X0_LORA_PRIVATE_NETWORK (0x00UL << 0) // 7 0 LoRa sync word: private network +#define RADIOLIB_LR11X0_LORA_PUBLIC_NETWORK (0x01UL << 0) // 7 0 public network + +// RADIOLIB_LR11X0_CMD_SET_RX +#define RADIOLIB_LR11X0_RX_TIMEOUT_NONE (0x000000UL) // 23 0 Rx timeout duration: no timeout (Rx single mode) +#define RADIOLIB_LR11X0_RX_TIMEOUT_INF (0xFFFFFFUL) // 23 0 infinite (Rx continuous mode) + +// RADIOLIB_LR11X0_CMD_SET_TX +#define RADIOLIB_LR11X0_TX_TIMEOUT_NONE (0x000000UL) // 23 0 disable Tx timeout + +// RADIOLIB_LR11X0_CMD_AUTO_TX_RX +#define RADIOLIB_LR11X0_AUTO_TX_RX_DISABLED (0xFFFFFFUL) // 23 0 disable auto Tx/Rx mode +#define RADIOLIB_LR11X0_AUTO_TX_RX_SKIP_INT (0x000000UL) // 23 0 skip intermediary mode +#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_SLEEP (0x00UL << 0) // 1 0 intermediary mode: sleep +#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_STBY_RC (0x01UL << 0) // 1 0 standby with RC +#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_STBY_XOSC (0x02UL << 0) // 1 0 standby with XOSC +#define RADIOLIB_LR11X0_AUTO_INTERMEDIARY_MODE_FS (0x03UL << 0) // 1 0 frequency synthesis +#define RADIOLIB_LR11X0_AUTO_TX_RX_TIMEOUT_DISABLED (0x000000UL) // 23 0 disable timeout of the second mode + +// RADIOLIB_LR11X0_CMD_SET_CAD_PARAMS +#define RADIOLIB_LR11X0_CAD_EXIT_MODE_STBY_RC (0x00UL << 0) // 7 0 mode to set after CAD: standby with RC +#define RADIOLIB_LR11X0_CAD_EXIT_MODE_RX (0x01UL << 0) // 7 0 receive if activity detected +#define RADIOLIB_LR11X0_CAD_EXIT_MODE_LBT (0x10UL << 0) // 7 0 transmit if no activity detected +#define RADIOLIB_LR11X0_CAD_PARAM_DEFAULT (0xFFUL << 0) // 7 0 used by the CAD methods to specify default parameter value + +// RADIOLIB_LR11X0_CMD_SET_PACKET_TYPE +#define RADIOLIB_LR11X0_PACKET_TYPE_NONE (0x00UL << 0) // 2 0 packet type: none +#define RADIOLIB_LR11X0_PACKET_TYPE_GFSK (0x01UL << 0) // 2 0 (G)FSK +#define RADIOLIB_LR11X0_PACKET_TYPE_LORA (0x02UL << 0) // 2 0 LoRa +#define RADIOLIB_LR11X0_PACKET_TYPE_SIGFOX (0x03UL << 0) // 2 0 Sigfox +#define RADIOLIB_LR11X0_PACKET_TYPE_LR_FHSS (0x04UL << 0) // 2 0 GMSK/LR-FHSS +#define RADIOLIB_LR11X0_PACKET_TYPE_RANGING (0x05UL << 0) // 2 0 ranging +#define RADIOLIB_LR11X0_PACKET_TYPE_BLE (0x06UL << 0) // 2 0 BLE beacon + +// RADIOLIB_LR11X0_CMD_SET_MODULATION_PARAMS +#define RADIOLIB_LR11X0_LORA_BW_62_5 (0x03UL << 0) // 7 0 LoRa bandwidth: 62.5 kHz +#define RADIOLIB_LR11X0_LORA_BW_125_0 (0x04UL << 0) // 7 0 125.0 kHz +#define RADIOLIB_LR11X0_LORA_BW_250_0 (0x05UL << 0) // 7 0 250.0 kHz +#define RADIOLIB_LR11X0_LORA_BW_500_0 (0x06UL << 0) // 7 0 500.0 kHz +#define RADIOLIB_LR11X0_LORA_BW_203_125 (0x0DUL << 0) // 7 0 203.0 kHz (2.4GHz only) +#define RADIOLIB_LR11X0_LORA_BW_406_25 (0x0EUL << 0) // 7 0 406.0 kHz (2.4GHz only) +#define RADIOLIB_LR11X0_LORA_BW_812_50 (0x0FUL << 0) // 7 0 812.0 kHz (2.4GHz only) +#define RADIOLIB_LR11X0_LORA_CR_4_5_SHORT (0x01UL << 0) // 7 0 coding rate: 4/5 with short interleaver +#define RADIOLIB_LR11X0_LORA_CR_4_6_SHORT (0x02UL << 0) // 7 0 4/6 with short interleaver +#define RADIOLIB_LR11X0_LORA_CR_4_7_SHORT (0x03UL << 0) // 7 0 4/7 with short interleaver +#define RADIOLIB_LR11X0_LORA_CR_4_8_SHORT (0x04UL << 0) // 7 0 4/8 with short interleaver +#define RADIOLIB_LR11X0_LORA_CR_4_5_LONG (0x05UL << 0) // 7 0 4/5 with long interleaver +#define RADIOLIB_LR11X0_LORA_CR_4_6_LONG (0x06UL << 0) // 7 0 4/6 with long interleaver +#define RADIOLIB_LR11X0_LORA_CR_4_8_LONG (0x07UL << 0) // 7 0 4/8 with long interleaver +#define RADIOLIB_LR11X0_LORA_LDRO_DISABLED (0x00UL << 0) // 7 0 low data rate optimize: disabled +#define RADIOLIB_LR11X0_LORA_LDRO_ENABLED (0x01UL << 0) // 7 0 enabled +#define RADIOLIB_LR11X0_GFSK_BIT_RATE_DIV_DISABLED (0x00UL << 31) // 31 0 divide bit rate value by 256: disabled +#define RADIOLIB_LR11X0_GFSK_BIT_RATE_DIV_ENABLED (0x01UL << 31) // 31 0 enabled +#define RADIOLIB_LR11X0_GFSK_SHAPING_NONE (0x00UL << 0) // 7 0 shaping filter: none +#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_0_3 (0x08UL << 0) // 7 0 Gaussian, BT = 0.3 +#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_0_5 (0x09UL << 0) // 7 0 Gaussian, BT = 0.5 +#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_0_7 (0x0AUL << 0) // 7 0 Gaussian, BT = 0.7 +#define RADIOLIB_LR11X0_GFSK_SHAPING_GAUSSIAN_BT_1_0 (0x0BUL << 0) // 7 0 Gaussian, BT = 1.0 +#define RADIOLIB_LR11X0_GFSK_SHAPING_RAISED_COSINE_BT_0_7 (0x16UL << 0) // 7 0 raised cosine, BT = 0.7 +#define RADIOLIB_LR11X0_GFSK_RX_BW_4_8 (0x1FUL << 0) // 7 0 GFSK Rx bandwidth: 4.8 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_5_8 (0x17UL << 0) // 7 0 5.8 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_7_3 (0x0FUL << 0) // 7 0 7.3 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_9_7 (0x1EUL << 0) // 7 0 9.7 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_11_7 (0x16UL << 0) // 7 0 11.7 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_14_6 (0x0EUL << 0) // 7 0 14.6 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_19_5 (0x1DUL << 0) // 7 0 19.5 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_23_4 (0x15UL << 0) // 7 0 23.4 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_29_3 (0x0DUL << 0) // 7 0 29.3 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_39_0 (0x1CUL << 0) // 7 0 39.0 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_46_9 (0x14UL << 0) // 7 0 46.9 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_58_6 (0x0CUL << 0) // 7 0 58.6 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_78_2 (0x1BUL << 0) // 7 0 78.2 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_93_8 (0x13UL << 0) // 7 0 93.8 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_117_3 (0x0BUL << 0) // 7 0 117.3 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_156_2 (0x1AUL << 0) // 7 0 156.2 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_187_2 (0x12UL << 0) // 7 0 187.2 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_234_3 (0x0AUL << 0) // 7 0 234.3 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_312_0 (0x19UL << 0) // 7 0 312.0 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_373_6 (0x11UL << 0) // 7 0 373.6 kHz +#define RADIOLIB_LR11X0_GFSK_RX_BW_467_0 (0x09UL << 0) // 7 0 467.0 kHz +#define RADIOLIB_LR11X0_LR_FHSS_SHAPING_GAUSSIAN_BT_1_0 (0x0BUL << 0) // 7 0 shaping filter: Gaussian, BT = 1.0 +#define RADIOLIB_LR11X0_SIGFOX_SHAPING_GAUSSIAN_BT_0_7 (0x16UL << 0) // 7 0 shaping filter: Gaussian, BT = 0.7 + +// RADIOLIB_LR11X0_CMD_SET_PACKET_PARAMS +#define RADIOLIB_LR11X0_LORA_PAYLOAD_LEN_ANY (0x00UL << 0) // 7 0 accept any payload length +#define RADIOLIB_LR11X0_LORA_IQ_STANDARD (0x00UL << 0) // 7 0 IQ setup: standard +#define RADIOLIB_LR11X0_LORA_IQ_INVERTED (0x01UL << 0) // 7 0 inverted +#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_DISABLED (0x00UL << 0) // 7 0 preamble detector: disabled +#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_8_BITS (0x04UL << 0) // 7 0 8 bits +#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_16_BITS (0x05UL << 0) // 7 0 16 bits +#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_24_BITS (0x06UL << 0) // 7 0 24 bits +#define RADIOLIB_LR11X0_GFSK_PREAMBLE_DETECT_32_BITS (0x07UL << 0) // 7 0 32 bits +#define RADIOLIB_LR11X0_GFSK_ADDR_FILTER_DISABLED (0x00UL << 0) // 7 0 address filtering: disabled +#define RADIOLIB_LR11X0_GFSK_ADDR_FILTER_NODE (0x01UL << 0) // 7 0 node address +#define RADIOLIB_LR11X0_GFSK_ADDR_FILTER_NODE_BROADCAST (0x02UL << 0) // 7 0 node and broadcast address +#define RADIOLIB_LR11X0_GFSK_PACKET_LENGTH_FIXED (0x00UL << 0) // 7 0 packet length: fixed +#define RADIOLIB_LR11X0_GFSK_PACKET_LENGTH_VARIABLE (0x01UL << 0) // 7 0 variable +#define RADIOLIB_LR11X0_GFSK_PACKET_LENGTH_VARIABLE_SX128X (0x02UL << 0) // 7 0 variable, SX128x 9-bit length encoding +#define RADIOLIB_LR11X0_GFSK_PAYLOAD_LEN_ANY (0x00UL << 0) // 7 0 accept any payload length +#define RADIOLIB_LR11X0_GFSK_CRC_DISABLED (0x01UL << 0) // 7 0 CRC: disabled +#define RADIOLIB_LR11X0_GFSK_CRC_1_BYTE (0x00UL << 0) // 7 0 1-byte +#define RADIOLIB_LR11X0_GFSK_CRC_2_BYTE (0x02UL << 0) // 7 0 2-byte +#define RADIOLIB_LR11X0_GFSK_CRC_1_BYTE_INV (0x04UL << 0) // 7 0 1-byte, inverted +#define RADIOLIB_LR11X0_GFSK_CRC_2_BYTE_INV (0x06UL << 0) // 7 0 2-byte, inverted +#define RADIOLIB_LR11X0_GFSK_WHITENING_DISABLED (0x00UL << 0) // 7 0 whitening: disabled +#define RADIOLIB_LR11X0_GFSK_WHITENING_ENABLED (0x01UL << 0) // 7 0 enabled + +// RADIOLIB_LR11X0_CMD_SET_RX_TX_FALLBACK_MODE +#define RADIOLIB_LR11X0_FALLBACK_MODE_STBY_RC (0x01UL << 0) // 1 0 fallback mode after Rx/Tx: standby with RC +#define RADIOLIB_LR11X0_FALLBACK_MODE_STBY_XOSC (0x02UL << 0) // 1 0 standby with XOSC +#define RADIOLIB_LR11X0_FALLBACK_MODE_FS (0x03UL << 0) // 1 0 frequency synthesis + +// RADIOLIB_LR11X0_CMD_SET_RX_DUTY_CYCLE +#define RADIOLIB_LR11X0_RX_DUTY_CYCLE_MODE_RX (0x00UL << 0) // 0 0 mode in Rx windows: Rx (default) +#define RADIOLIB_LR11X0_RX_DUTY_CYCLE_MODE_CAD (0x01UL << 0) // 0 0 CAD +#define RADIOLIB_LR11X0_TIMING_STEP (1.0f/32768.0f) // 23 0 timing step fo delays + +// RADIOLIB_LR11X0_CMD_SET_PA_CONFIG +#define RADIOLIB_LR11X0_PA_SEL_LP (0x00UL << 0) // 7 0 PA select: low power PA +#define RADIOLIB_LR11X0_PA_SEL_HP (0x01UL << 0) // 7 0 high power PA +#define RADIOLIB_LR11X0_PA_SEL_HF (0x02UL << 0) // 7 0 high frequency PA +#define RADIOLIB_LR11X0_PA_SUPPLY_INTERNAL (0x00UL << 0) // 7 0 PA power source: internal +#define RADIOLIB_LR11X0_PA_SUPPLY_VBAT (0x01UL << 0) // 7 0 VBAT (required for >= 14 dBm) +#define RADIOLIB_LR11X0_PA_DC_DEFAULT (0x04UL << 0) // 7 0 PA duty cycle: default value +#define RADIOLIB_LR11X0_PA_DC_MAX (0x07UL << 0) // 7 0 maximum value + +// RADIOLIB_LR11X0_CMD_STOP_TIMEOUT_ON_PREAMBLE +#define RADIOLIB_LR11X0_STOP_ON_SYNC_HEADER (0x00UL << 0) // 0 0 stop timeout on: sync word or header (default) +#define RADIOLIB_LR11X0_STOP_ON_PREAMBLE (0x01UL << 0) // 0 0 preamble + +// RADIOLIB_LR11X0_CMD_GET_RANGING_RESULT +#define RADIOLIB_LR11X0_RANGING_RESULT_DISTANCE (0) // 7 0 ranging result type: distance +#define RADIOLIB_LR11X0_RANGING_RESULT_RSSI (1) // 7 0 RSSI + +// RADIOLIB_LR11X0_CMD_SET_RX_BOOSTED +#define RADIOLIB_LR11X0_RX_BOOSTED_ENABLED (0x01UL << 0) // 0 0 Rx boosted mode: enabled +#define RADIOLIB_LR11X0_RX_BOOSTED_DISABLED (0x00UL << 0) // 0 0 disabled + +// RADIOLIB_LR11X0_CMD_SET_LORA_SYNC_WORD +#define RADIOLIB_LR11X0_LORA_SYNC_WORD_PRIVATE (0x12) +#define RADIOLIB_LR11X0_LORA_SYNC_WORD_PUBLIC (0x34) + +// RADIOLIB_LR11X0_CMD_GET_LORA_RX_HEADER_INFOS +#define RADIOLIB_LR11X0_LAST_HEADER_CRC_ENABLED (0x01UL << 4) // 4 4 last header CRC: enabled +#define RADIOLIB_LR11X0_LAST_HEADER_CRC_DISABLED (0x00UL << 4) // 4 4 disabled + +// RADIOLIB_LR11X0_CMD_WIFI_SCAN +#define RADIOLIB_LR11X0_WIFI_SCAN_802_11_B (0x01UL << 0) // 7 0 Wi-Fi type to scan: 802.11b +#define RADIOLIB_LR11X0_WIFI_SCAN_802_11_G (0x02UL << 0) // 7 0 802.11g +#define RADIOLIB_LR11X0_WIFI_SCAN_802_11_N (0x03UL << 0) // 7 0 802.11n +#define RADIOLIB_LR11X0_WIFI_SCAN_ALL (0x04UL << 0) // 7 0 all (802.11b first) +#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_BEACON_ONLY (0x01UL << 0) // 7 0 Wi-Fi acquisition mode: beacon only +#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_BEACON_PACKET (0x02UL << 0) // 7 0 beacon and packet +#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_TRAFFIC (0x03UL << 0) // 7 0 full traffic +#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_BEACON (0x04UL << 0) // 7 0 full beacon +#define RADIOLIB_LR11X0_WIFI_ACQ_MODE_SSID_BEACON (0x05UL << 0) // 7 0 SSID beacon +#define RADIOLIB_LR11X0_WIFI_ABORT_ON_TIMEOUT_ENABLED (0x01UL << 0) // 7 0 abort scanning on preamble timeout: enabled +#define RADIOLIB_LR11X0_WIFI_ABORT_ON_TIMEOUT_DISABLED (0x00UL << 0) // 7 0 disabled +#define RADIOLIB_LR11X0_WIFI_MAX_NUM_RESULTS (32) // 7 0 maximum possible number of Wi-Fi scan results +#define RADIOLIB_LR11X0_WIFI_ALL_CHANNELS (0x3FFFUL) // 16 0 scan all channels + +// RADIOLIB_LR11X0_CMD_WIFI_READ_RESULTS +#define RADIOLIB_LR11X0_WIFI_RESULT_TYPE_COMPLETE (0x01UL << 0) // 7 0 Wi-Fi scan result type: complete +#define RADIOLIB_LR11X0_WIFI_RESULT_TYPE_BASIC (0x04UL << 0) // 7 0 basic +#define RADIOLIB_LR11X0_WIFI_RESULT_MAX_LEN (79) // 7 0 maximum possible Wi-Fi scan size + +// RADIOLIB_LR11X0_CMD_GNSS_SET_CONSTELLATION_TO_USE +#define RADIOLIB_LR11X0_GNSS_CONSTELLATION_GPS (0x01UL << 0) // 7 0 GNSS constellation to use: GPS +#define RADIOLIB_LR11X0_GNSS_CONSTELLATION_BEIDOU (0x01UL << 1) // 7 0 BeiDou + +// RADIOLIB_LR11X0_CMD_GNSS_SET_MODE +#define RADIOLIB_LR11X0_GNSS_MODE_SINGLE_SCAN (0x00UL << 0) // 7 0 GNSS scanning mode: single/legacy +#define RADIOLIB_LR11X0_GNSS_MODE_SINGLE_MULTIPLE (0x03UL << 1) // 7 0 multiple/advanced + +// RADIOLIB_LR11X0_CMD_GNSS_AUTONOMOUS +#define RADIOLIB_LR11X0_GNSS_RES_PSEUDO_DOPPLER_ENABLED (0x01UL << 0) // 0 0 GNSS results in NAV message: pseudo-range (in single scan mode) or Doppler information (in multiple scan mode) +#define RADIOLIB_LR11X0_GNSS_RES_PSEUDO_DOPPLER_DISABLED (0x00UL << 0) // 0 0 not included +#define RADIOLIB_LR11X0_GNSS_RES_DOPPLER_ENABLED (0x01UL << 1) // 1 1 Doppler information +#define RADIOLIB_LR11X0_GNSS_RES_DOPPLER_DISABLED (0x00UL << 1) // 1 1 not included +#define RADIOLIB_LR11X0_GNSS_NB_SV_ALL (0x00UL << 0) // 7 0 include all detected satellites +#define RADIOLIB_LR11X0_GNSS_AUTO_EFFORT_MODE (0x00UL << 0) // 7 0 reserved, always 0 + +// RADIOLIB_LR11X0_CMD_GNSS_ASSISTED +#define RADIOLIB_LR11X0_GNSS_ASSIST_LOW_POWER (0x00UL << 0) // 7 0 effort mode: low power +#define RADIOLIB_LR11X0_GNSS_ASSIST_BEST_EFFORT (0x01UL << 0) // 7 0 best effort + +// RADIOLIB_LR11X0_CMD_GNSS_GET_CONTEXT_STATUS +#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_NONE (0x00UL << 0) // 7 4 error code: none +#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_ALMANAC_OLD (0x01UL << 0) // 7 4 almanac too old +#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_ALMANAC_CRC (0x02UL << 0) // 7 4 almanac CRC mismatch +#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_FLASH (0x03UL << 0) // 7 4 flash integrity error +#define RADIOLIB_LR11X0_GNSS_CONTEXT_ERR_ALMANAC_UPD (0x04UL << 0) // 7 4 almanac update not allowed +#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_250_HZ (0x00UL << 0) // 8 7 frequency search space: 250 Hz +#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_500_HZ (0x01UL << 0) // 8 7 500 Hz +#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_1000_HZ (0x02UL << 0) // 8 7 1000 Hz +#define RADIOLIB_LR11X0_GNSS_CONTEXT_FREQ_SPACE_2000_HZ (0x03UL << 0) // 8 7 2000 Hz + +// RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE +#define RADIOLIB_LR11X0_SV_CONSTELLATION_GPS (0x00UL << 0) // 7 0 GNSS constellation: GPS +#define RADIOLIB_LR11X0_SV_CONSTELLATION_BEIDOU (0x01UL << 0) // 7 0 BeiDou + +// RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE +#define RADIOLIB_LR11X0_GNSS_ALMANAC_HEADER_ID (0x80UL << 0) // 7 0 starting byte of GNSS almanac header +#define RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE (20) + +// RADIOLIB_LR11X0_CMD_GNSS_FETCH_TIME +#define RADIOLIB_LR11X0_GNSS_EFFORT_LOW (0x00UL << 0) // 7 0 GNSS effort mode: low sensitivity +#define RADIOLIB_LR11X0_GNSS_EFFORT_MID (0x01UL << 0) // 7 0 medium sensitivity +#define RADIOLIB_LR11X0_GNSS_FETCH_TIME_OPT_TOW (0x00UL << 0) // 7 0 time fetch options: ToW only, requires WN to demodulated beforehand +#define RADIOLIB_LR11X0_GNSS_FETCH_TIME_OPT_TOW_WN (0x01UL << 0) // 7 0 ToW and WN +#define RADIOLIB_LR11X0_GNSS_FETCH_TIME_OPT_TOW_WN_ROLL (0x02UL << 0) // 7 0 ToW, WN and rollover + +// RADIOLIB_LR11X0_CMD_GNSS_READ_DEMOD_STATUS +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NOT_POSSIBLE (-21) // 7 0 GNSS demodulation status: not possible to demodulate +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_SAT_LOST (-20) // 7 0 satellite lost +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_ALMANAC_DEMOD_ERROR (-19) // 7 0 almanac demodulation error +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOO_LATE (-18) // 7 0 woke up after preamble (demodulation started too late) +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_20_MS_FAIL (-17) // 7 0 20ms real-time clock failed +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WAKE_UP_FAIL (-16) // 7 0 wake up sync failed +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WN_INVALID (-15) // 7 0 week number not validated +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_ACTIVE_SAT (-14) // 7 0 no active satellite selected in satellite list +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_SLEEP_TOO_LONG (-13) // 7 0 sleep time too long +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOW_INVALID (-12) // 7 0 wrong time-of-week demodulated +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_PREAMBLE_INVALID (-11) // 7 0 preamble not validated +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_DISABLED (-10) // 7 0 demodulator disabled +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_EXTR_FAILED (-9) // 7 0 demodulator extraction failed +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_BIT_CHANGE (-8) // 7 0 no bit change found during demodulation start +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_BIT_CHANGE_ADV (-7) // 7 0 no bit change found during advanced scan +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_SAT_FOUND (-6) // 7 0 no satellites found +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_SYNC_LOST (-5) // 7 0 word sync lost +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_PARITY_NOT_ENOUGH (-3) // 7 0 parity check fail (not enough) +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_PARITY_TOO_MANY (-2) // 7 0 parity check fail (too many) +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_NO_PARITY (-1) // 7 0 parity check fail (no parity found) +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WORD_SYNC_NONE (0) // 7 0 word sync search not started +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WORD_SYNC_POT (1) // 7 0 potential word sync found +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WORD_SYNC_OK (2) // 7 0 word sync found +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOW_FOUND (3) // 7 0 time-of-week found +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_WN_FOUND (4) // 7 0 week number and time-of-week found +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_ALM_FOUND_UNSAVED (5) // 7 0 almanac found but not saved +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_HALF_ALM_SAVED (6) // 7 0 half of almanac found and saved +#define RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_FULL_ALM_SAVED (7) // 7 0 full almanac found and saved +#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_WORD_SYNC_FOUND (0x01UL << 0) // 7 0 GNSS demodulation info: word synchronization found +#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_TOW_FOUND (0x01UL << 1) // 7 0 time-of-week found +#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_WN_DEMODED (0x01UL << 2) // 7 0 week number demodulated +#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_WN_FOUND (0x01UL << 3) // 7 0 week number found +#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_SUBFRAME_1_FOUND (0x01UL << 4) // 7 0 subframe 1 found +#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_SUBFRAME_4_FOUND (0x01UL << 5) // 7 0 subframe 4 found +#define RADIOLIB_LR11X0_GNSS_DEMOD_INFO_SUBFRAME_5_FOUND (0x01UL << 6) // 7 0 subframe 5 found + +// RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_STATUS +#define RADIOLIB_LR11X0_GNSS_ALMANAC_STATUS_UP_TO_DATE (0) // 7 0 GPS/BeiDou almanac status: all satellites up-to-date +#define RADIOLIB_LR11X0_GNSS_ALMANAC_STATUS_OUTDATED (1) // 7 0 at least one satellite needs update + +// RADIOLIB_LR11X0_CMD_GNSS_READ_DOPPLER_SOLVER_RES +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_NONE (0) // 7 0 internal 2D solver error: no error +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_RES_HIGH (1) // 7 0 residue too high +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_NOT_CONVERGED (2) // 7 0 not converged on solution +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_NOT_ENOUGH_SV (3) // 7 0 not enough satellites +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_ILL_MATRIX (4) // 7 0 matrix error (?) +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_TIME (5) // 7 0 time error +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_ALM_PART_OLD (6) // 7 0 part of almanac too old or not available +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_INCONSISTENT (7) // 7 0 not consistent with history (?) +#define RADIOLIB_LR11X0_GNSS_SOLVER_ERR_ALM_OLD (8) // 7 0 all of almanac too old + +// RADIOLIB_LR11X0_CMD_CRYPTO_SET_KEY +#define RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS (0x00UL << 0) // 7 0 crypto engine status: success +#define RADIOLIB_LR11X0_CRYPTO_STATUS_FAIL_CMAC (0x01UL << 0) // 7 0 MIC check failed +#define RADIOLIB_LR11X0_CRYPTO_STATUS_INV_KEY_ID (0x03UL << 0) // 7 0 key/parameter source or destination ID error +#define RADIOLIB_LR11X0_CRYPTO_STATUS_BUF_SIZE (0x05UL << 0) // 7 0 data buffer size invalid +#define RADIOLIB_LR11X0_CRYPTO_STATUS_ERROR (0x06UL << 0) // 7 0 generic error + +// RADIOLIB_LR11X0_CMD_CRYPTO_PROCESS_JOIN_ACCEPT +#define RADIOLIB_LR11X0_CRYPTO_LORAWAN_VERSION_1_0 (0x00UL << 0) // 7 0 LoRaWAN version: 1.0.x +#define RADIOLIB_LR11X0_CRYPTO_LORAWAN_VERSION_1_1 (0x01UL << 0) // 7 0 1.1 + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0_crypto.cpp b/lib/RadioLib/src/modules/LR11x0/LR11x0_crypto.cpp new file mode 100644 index 0000000..625db10 --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0_crypto.cpp @@ -0,0 +1,233 @@ +#include "LR11x0.h" + +#include "../../utils/Cryptography.h" +#include "LR_common.h" + +#include + +#if !RADIOLIB_EXCLUDE_LR11X0 + +int16_t LR11x0::cryptoSetKey(uint8_t keyId, const uint8_t* key) { + RADIOLIB_ASSERT_PTR(key); + uint8_t buff[1 + RADIOLIB_AES128_KEY_SIZE] = { 0 }; + buff[0] = keyId; + memcpy(&buff[1], key, RADIOLIB_AES128_KEY_SIZE); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_SET_KEY, false, buff, sizeof(buff))); +} + +int16_t LR11x0::cryptoDeriveKey(uint8_t srcKeyId, uint8_t dstKeyId, const uint8_t* key) { + RADIOLIB_ASSERT_PTR(key); + uint8_t buff[2 + RADIOLIB_AES128_KEY_SIZE] = { 0 }; + buff[0] = srcKeyId; + buff[1] = dstKeyId; + memcpy(&buff[2], key, RADIOLIB_AES128_KEY_SIZE); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_DERIVE_KEY, false, buff, sizeof(buff))); +} + +int16_t LR11x0::cryptoProcessJoinAccept(uint8_t decKeyId, uint8_t verKeyId, uint8_t lwVer, const uint8_t* header, const uint8_t* dataIn, size_t len, uint8_t* dataOut) { + // calculate buffer sizes + size_t headerLen = 1; + if(lwVer) { + headerLen += 11; // LoRaWAN 1.1 header is 11 bytes longer than 1.0 + } + size_t reqLen = 3*sizeof(uint8_t) + headerLen + len; + size_t rplLen = sizeof(uint8_t) + len; + + // build buffers + #if RADIOLIB_STATIC_ONLY + uint8_t reqBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* reqBuff = new uint8_t[reqLen]; + uint8_t* rplBuff = new uint8_t[rplLen]; + #endif + + // set the request fields + reqBuff[0] = decKeyId; + reqBuff[1] = verKeyId; + reqBuff[2] = lwVer; + memcpy(&reqBuff[3], header, headerLen); + memcpy(&reqBuff[3 + headerLen], dataIn, len); + + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_PROCESS_JOIN_ACCEPT, false, rplBuff, rplLen, reqBuff, reqLen); + #if !RADIOLIB_STATIC_ONLY + delete[] reqBuff; + #endif + if(state != RADIOLIB_ERR_NONE) { + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + return(state); + } + + // check the crypto engine state + if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + return(RADIOLIB_ERR_SPI_CMD_FAILED); + } + + // pass the data + memcpy(dataOut, &rplBuff[1], len); + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + return(state); +} + +int16_t LR11x0::cryptoComputeAesCmac(uint8_t keyId, const uint8_t* data, size_t len, uint32_t* mic) { + size_t reqLen = sizeof(uint8_t) + len; + #if RADIOLIB_STATIC_ONLY + uint8_t reqBuff[sizeof(uint8_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* reqBuff = new uint8_t[reqLen]; + #endif + uint8_t rplBuff[5] = { 0 }; + + reqBuff[0] = keyId; + memcpy(&reqBuff[1], data, len); + + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_COMPUTE_AES_CMAC, false, rplBuff, sizeof(rplBuff), reqBuff, reqLen); + #if !RADIOLIB_STATIC_ONLY + delete[] reqBuff; + #endif + + // check the crypto engine state + if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); + return(RADIOLIB_ERR_SPI_CMD_FAILED); + } + + if(mic) { *mic = ((uint32_t)(rplBuff[1]) << 24) | ((uint32_t)(rplBuff[2]) << 16) | ((uint32_t)(rplBuff[3]) << 8) | (uint32_t)rplBuff[4]; } + return(state); +} + +int16_t LR11x0::cryptoVerifyAesCmac(uint8_t keyId, uint32_t micExp, const uint8_t* data, size_t len, bool* result) { + size_t reqLen = sizeof(uint8_t) + sizeof(uint32_t) + len; + #if RADIOLIB_STATIC_ONLY + uint8_t reqBuff[sizeof(uint8_t) + sizeof(uint32_t) + RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* reqBuff = new uint8_t[reqLen]; + #endif + uint8_t rplBuff[1] = { 0 }; + + reqBuff[0] = keyId; + reqBuff[1] = (uint8_t)((micExp >> 24) & 0xFF); + reqBuff[2] = (uint8_t)((micExp >> 16) & 0xFF); + reqBuff[3] = (uint8_t)((micExp >> 8) & 0xFF); + reqBuff[4] = (uint8_t)(micExp & 0xFF); + memcpy(&reqBuff[5], data, len); + + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_VERIFY_AES_CMAC, false, rplBuff, sizeof(rplBuff), reqBuff, reqLen); + #if !RADIOLIB_STATIC_ONLY + delete[] reqBuff; + #endif + + // check the crypto engine state + if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); + return(RADIOLIB_ERR_SPI_CMD_FAILED); + } + + if(result) { *result = (rplBuff[0] == RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS); } + return(state); +} + +int16_t LR11x0::cryptoAesEncrypt01(uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut) { + return(this->cryptoCommon(RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT_01, keyId, dataIn, len, dataOut)); +} + +int16_t LR11x0::cryptoAesEncrypt(uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut) { + return(this->cryptoCommon(RADIOLIB_LR11X0_CMD_CRYPTO_AES_ENCRYPT, keyId, dataIn, len, dataOut)); +} + +int16_t LR11x0::cryptoAesDecrypt(uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut) { + return(this->cryptoCommon(RADIOLIB_LR11X0_CMD_CRYPTO_AES_DECRYPT, keyId, dataIn, len, dataOut)); +} + +int16_t LR11x0::cryptoStoreToFlash(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_STORE_TO_FLASH, true, NULL, 0)); +} + +int16_t LR11x0::cryptoRestoreFromFlash(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_RESTORE_FROM_FLASH, true, NULL, 0)); +} + +int16_t LR11x0::cryptoSetParam(uint8_t id, uint32_t value) { + uint8_t buff[5] = { + id, + (uint8_t)((value >> 24) & 0xFF), (uint8_t)((value >> 16) & 0xFF), + (uint8_t)((value >> 8) & 0xFF), (uint8_t)(value & 0xFF) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_SET_PARAM, true, buff, sizeof(buff))); +} + +int16_t LR11x0::cryptoGetParam(uint8_t id, uint32_t* value) { + uint8_t reqBuff[1] = { id }; + uint8_t rplBuff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_GET_PARAM, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + if(value) { *value = ((uint32_t)(rplBuff[0]) << 24) | ((uint32_t)(rplBuff[1]) << 16) | ((uint32_t)(rplBuff[2]) << 8) | (uint32_t)rplBuff[3]; } + return(state); +} + +int16_t LR11x0::cryptoCheckEncryptedFirmwareImage(uint32_t offset, const uint32_t* data, size_t len, bool nonvolatile) { + // check maximum size + if(len > (RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + return(this->writeCommon(RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE, offset, data, len, nonvolatile)); +} + +int16_t LR11x0::cryptoCheckEncryptedFirmwareImageResult(bool* result) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_CRYPTO_CHECK_ENCRYPTED_FIRMWARE_IMAGE_RESULT, false, buff, sizeof(buff)); + + // pass the replies + if(result) { *result = (bool)buff[0]; } + + return(state); +} + +int16_t LR11x0::cryptoCommon(uint16_t cmd, uint8_t keyId, const uint8_t* dataIn, size_t len, uint8_t* dataOut) { + // build buffers + #if RADIOLIB_STATIC_ONLY + uint8_t reqBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + uint8_t rplBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* reqBuff = new uint8_t[sizeof(uint8_t) + len]; + uint8_t* rplBuff = new uint8_t[sizeof(uint8_t) + len]; + #endif + + // set the request fields + reqBuff[0] = keyId; + memcpy(&reqBuff[1], dataIn, len); + + int16_t state = this->SPIcommand(cmd, false, rplBuff, sizeof(uint8_t) + len, reqBuff, sizeof(uint8_t) + len); + #if !RADIOLIB_STATIC_ONLY + delete[] reqBuff; + #endif + if(state != RADIOLIB_ERR_NONE) { + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + return(state); + } + + // check the crypto engine state + if(rplBuff[0] != RADIOLIB_LR11X0_CRYPTO_STATUS_SUCCESS) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Crypto Engine error: %02x", rplBuff[0]); + return(RADIOLIB_ERR_SPI_CMD_FAILED); + } + + // pass the data + memcpy(dataOut, &rplBuff[1], len); + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + return(state); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0_gnss.cpp b/lib/RadioLib/src/modules/LR11x0/LR11x0_gnss.cpp new file mode 100644 index 0000000..2502837 --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0_gnss.cpp @@ -0,0 +1,757 @@ +#include "LR11x0.h" + +#include + +#if !RADIOLIB_EXCLUDE_LR11X0 + +int16_t LR11x0::isGnssScanCapable() { + // get the version + LR11x0VersionInfo_t version; + int16_t state = this->getVersionInfo(&version); + RADIOLIB_ASSERT(state); + + // check the device firmware version is sufficient + uint16_t versionFull = ((uint16_t)version.fwMajor << 8) | (uint16_t)version.fwMinor; + state = RADIOLIB_ERR_UNSUPPORTED; + if((version.device == RADIOLIB_LR11X0_DEVICE_LR1110) && (versionFull >= 0x0401)) { + state = RADIOLIB_ERR_NONE; + } else if((version.device == RADIOLIB_LR11X0_DEVICE_LR1120) && (versionFull >= 0x0201)) { + state = RADIOLIB_ERR_NONE; + } + RADIOLIB_ASSERT(state); + + // in debug mode, dump the almanac + #if RADIOLIB_DEBUG_PROTOCOL + uint32_t addr = 0; + uint16_t sz = 0; + state = this->gnssAlmanacReadAddrSize(&addr, &sz); + RADIOLIB_ASSERT(state); + RADIOLIB_DEBUG_BASIC_PRINTLN("Almanac@%08x, %d bytes", addr, sz); + uint32_t buff[32] = { 0 }; + while(sz > 0) { + size_t len = sz > 32 ? 32 : sz/sizeof(uint32_t); + state = this->readRegMem32(addr, buff, len); + RADIOLIB_ASSERT(state); + RADIOLIB_DEBUG_HEXDUMP(NULL, reinterpret_cast(buff), len*sizeof(uint32_t), addr); + addr += len*sizeof(uint32_t); + sz -= len*sizeof(uint32_t); + } + + uint8_t almanac[22] = { 0 }; + for(uint8_t i = 0; i < 128; i++) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Almanac[%d]:", i); + state = this->gnssAlmanacReadSV(i, almanac); + RADIOLIB_ASSERT(state); + RADIOLIB_DEBUG_HEXDUMP(NULL, almanac, 22); + } + + #endif + + return(state); +} + +int16_t LR11x0::gnssScan(LR11x0GnssResult_t* res) { + RADIOLIB_ASSERT_PTR(res); + + // go to standby + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // set DIO mapping + state = setDioIrqParams(RADIOLIB_LR11X0_IRQ_GNSS_DONE | RADIOLIB_LR11X0_IRQ_GNSS_ABORT); + RADIOLIB_ASSERT(state); + + // set scan mode (single vs multiple) + state = this->gnssSetMode(0x03); + RADIOLIB_ASSERT(state); + + // set RF switch + this->mod->setRfSwitchState(LR11x0::MODE_GNSS); + + // start scan with high effort + RADIOLIB_DEBUG_BASIC_PRINTLN("GNSS scan start"); + state = this->gnssPerformScan(RADIOLIB_LR11X0_GNSS_EFFORT_MID, 0x3C, 16); + RADIOLIB_ASSERT(state); + + // wait for scan finished or timeout + // this can take very long if both GPS and BeiDou are enabled + RadioLibTime_t softTimeout = 300UL * 1000UL; + RadioLibTime_t start = this->mod->hal->millis(); + while(!this->mod->hal->digitalRead(this->mod->getIrq())) { + this->mod->hal->yield(); + if(this->mod->hal->millis() - start > softTimeout) { + this->gnssAbort(); + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout waiting for IRQ"); + } + } + + // restore the switch + this->mod->setRfSwitchState(Module::MODE_IDLE); + RADIOLIB_DEBUG_BASIC_PRINTLN("GNSS scan done in %lu ms", (long unsigned int)(this->mod->hal->millis() - start)); + + // distinguish between GNSS-done and GNSS-abort outcomes and clear the flags + uint32_t irq = this->getIrqStatus(); + this->clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); + if(irq & RADIOLIB_LR11X0_IRQ_GNSS_ABORT) { + return(RADIOLIB_ERR_RX_TIMEOUT); + } + + // retrieve the demodulator status + uint8_t info = 0; + state = this->gnssReadDemodStatus(&res->demodStat, &info); + RADIOLIB_ASSERT(state); + RADIOLIB_DEBUG_BASIC_PRINTLN("Demod status %d, info %02x", (int)res->demodStat, (unsigned int)info); + + // retrieve the number of detected satellites + state = this->gnssGetNbSvDetected(&res->numSatsDet); + RADIOLIB_ASSERT(state); + + // retrieve the result size + state = this->gnssGetResultSize(&res->resSize); + RADIOLIB_ASSERT(state); + + // check and return demodulator status + if(res->demodStat < RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_TOW_FOUND) { + return(RADIOLIB_ERR_GNSS_DEMOD(res->demodStat)); + } + + return(state); +} + +int16_t LR11x0::getGnssAlmanacStatus(LR11x0GnssAlmanacStatus_t *stat) { + RADIOLIB_ASSERT_PTR(stat); + + // save the time the time until subframe is relative to + stat->start = this->mod->hal->millis(); + + // get the raw data + uint8_t raw[53] = { 0 }; + int16_t state = this->gnssReadAlmanacStatus(raw); + RADIOLIB_ASSERT(state); + + // parse the reply + stat->gps.status = (int8_t)raw[0]; + stat->gps.timeUntilSubframe = ((uint32_t)(raw[1]) << 24) | ((uint32_t)(raw[2]) << 16) | ((uint32_t)(raw[3]) << 8) | (uint32_t)raw[4]; + stat->gps.numSubframes = raw[5]; + stat->gps.nextSubframe4SvId = raw[6]; + stat->gps.nextSubframe5SvId = raw[7]; + stat->gps.nextSubframeStart = raw[8]; + stat->gps.numUpdateNeeded = raw[9]; + stat->gps.flagsUpdateNeeded[0] = ((uint32_t)(raw[10]) << 24) | ((uint32_t)(raw[11]) << 16) | ((uint32_t)(raw[12]) << 8) | (uint32_t)raw[13]; + stat->gps.flagsActive[0] = ((uint32_t)(raw[14]) << 24) | ((uint32_t)(raw[15]) << 16) | ((uint32_t)(raw[16]) << 8) | (uint32_t)raw[17]; + stat->beidou.status = (int8_t)raw[18]; + stat->beidou.timeUntilSubframe = ((uint32_t)(raw[19]) << 24) | ((uint32_t)(raw[20]) << 16) | ((uint32_t)(raw[21]) << 8) | (uint32_t)raw[22]; + stat->beidou.numSubframes = raw[23]; + stat->beidou.nextSubframe4SvId = raw[24]; + stat->beidou.nextSubframe5SvId = raw[25]; + stat->beidou.nextSubframeStart = raw[26]; + stat->beidou.numUpdateNeeded = raw[27]; + stat->beidou.flagsUpdateNeeded[0] = ((uint32_t)(raw[28]) << 24) | ((uint32_t)(raw[29]) << 16) | ((uint32_t)(raw[30]) << 8) | (uint32_t)raw[31]; + stat->beidou.flagsUpdateNeeded[1] = ((uint32_t)(raw[32]) << 24) | ((uint32_t)(raw[33]) << 16) | ((uint32_t)(raw[34]) << 8) | (uint32_t)raw[35]; + stat->beidou.flagsActive[0] = ((uint32_t)(raw[36]) << 24) | ((uint32_t)(raw[37]) << 16) | ((uint32_t)(raw[38]) << 8) | (uint32_t)raw[39]; + stat->beidou.flagsActive[1] = ((uint32_t)(raw[40]) << 24) | ((uint32_t)(raw[41]) << 16) | ((uint32_t)(raw[42]) << 8) | (uint32_t)raw[43]; + stat->beidouSvNoAlmanacFlags[0] = ((uint32_t)(raw[44]) << 24) | ((uint32_t)(raw[45]) << 16) | ((uint32_t)(raw[46]) << 8) | (uint32_t)raw[47]; + stat->beidouSvNoAlmanacFlags[1] = ((uint32_t)(raw[18]) << 24) | ((uint32_t)(raw[49]) << 16) | ((uint32_t)(raw[50]) << 8) | (uint32_t)raw[51]; + stat->nextAlmanacId = raw[52]; + + return(state); +} + +int16_t LR11x0::gnssDelayUntilSubframe(LR11x0GnssAlmanacStatus_t *stat, uint8_t constellation) { + RADIOLIB_ASSERT_PTR(stat); + + // almanac update has to be called at least 1.3 seconds before the subframe + // we use 2.3 seconds to be on the safe side + + // calculate absolute times + RadioLibTime_t window = stat->start + stat->gps.timeUntilSubframe - 2300; + if(constellation == RADIOLIB_LR11X0_GNSS_CONSTELLATION_BEIDOU) { + window = stat->start + stat->beidou.timeUntilSubframe - 2300; + } + RadioLibTime_t now = this->mod->hal->millis(); + if(now > window) { + // we missed the window + return(RADIOLIB_ERR_GNSS_SUBFRAME_NOT_AVAILABLE); + } + + RadioLibTime_t delay = window - now; + RADIOLIB_DEBUG_BASIC_PRINTLN("Time until subframe %lu ms", delay); + this->mod->hal->delay(delay); + return(RADIOLIB_ERR_NONE); +} + +// TODO fix last satellite always out of date +int16_t LR11x0::updateGnssAlmanac(uint8_t constellation) { + int16_t state = this->setDioIrqParams(RADIOLIB_LR11X0_IRQ_GNSS_DONE | RADIOLIB_LR11X0_IRQ_GNSS_ABORT); + RADIOLIB_ASSERT(state); + + state = this->gnssAlmanacUpdateFromSat(RADIOLIB_LR11X0_GNSS_EFFORT_MID, constellation); + RADIOLIB_ASSERT(state); + + // wait for scan finished or timeout, assumes 2 subframes and up to 2.3s pre-roll + uint32_t softTimeout = 16UL * 1000UL; + uint32_t start = this->mod->hal->millis(); + while (!this->mod->hal->digitalRead(this->mod->getIrq())) { + this->mod->hal->yield(); + if(this->mod->hal->millis() - start > softTimeout) { + this->gnssAbort(); + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout waiting for almanac update"); + } + } + + RADIOLIB_DEBUG_BASIC_PRINTLN("GPS almanac update done in %lu ms", (long unsigned int)(this->mod->hal->millis() - start)); + + // distinguish between GNSS-done and GNSS-abort outcomes and clear the flags + uint32_t irq = this->getIrqStatus(); + this->clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); + if(irq & RADIOLIB_LR11X0_IRQ_GNSS_ABORT) { + state = RADIOLIB_ERR_RX_TIMEOUT; + } + + return(state); +} + +int16_t LR11x0::getGnssPosition(LR11x0GnssPosition_t* pos, bool filtered) { + RADIOLIB_ASSERT_PTR(pos); + + uint8_t error = 0; + int16_t state; + if(filtered) { + state = this->gnssReadDopplerSolverRes(&error, &pos->numSatsUsed, NULL, NULL, NULL, NULL, &pos->latitude, &pos->longitude, &pos->accuracy, NULL); + } else { + state = this->gnssReadDopplerSolverRes(&error, &pos->numSatsUsed, &pos->latitude, &pos->longitude, &pos->accuracy, NULL, NULL, NULL, NULL, NULL); + } + RADIOLIB_ASSERT(state); + + // check the solver error + if(error != 0) { + return(RADIOLIB_ERR_GNSS_SOLVER(error)); + } + + return(state); +} + +int16_t LR11x0::getGnssSatellites(LR11x0GnssSatellite_t* sats, uint8_t numSats) { + RADIOLIB_ASSERT_PTR(sats); + if(numSats >= 32) { + return(RADIOLIB_ERR_MEMORY_ALLOCATION_FAILED); + } + + uint8_t svId[32] = { 0 }; + uint8_t snr[32] = { 0 }; + int16_t doppler[32] = { 0 }; + int16_t state = this->gnssGetSvDetected(svId, snr, doppler, numSats); + RADIOLIB_ASSERT(state); + for(size_t i = 0; i < numSats; i++) { + sats[i].svId = svId[i]; + sats[i].c_n0 = snr[i] + 31; + sats[i].doppler = doppler[i]; + } + + return(state); +} + +int16_t LR11x0::gnssReadRssi(int8_t* rssi) { + uint8_t reqBuff[1] = { 0x09 }; // some undocumented magic byte, from the official driver + uint8_t rplBuff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_RSSI, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + if(rssi) { *rssi = rplBuff[1]; } + return(state); +} + +int16_t LR11x0::gnssSetConstellationToUse(uint8_t mask) { + uint8_t buff[1] = { mask }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_CONSTELLATION_TO_USE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssReadConstellationToUse(uint8_t* mask) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_CONSTELLATION_TO_USE, false, buff, sizeof(buff)); + + // pass the replies + if(mask) { *mask = buff[0]; } + + return(state); +} + +int16_t LR11x0::gnssSetAlmanacUpdate(uint8_t mask) { + uint8_t buff[1] = { mask }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_ALMANAC_UPDATE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssReadAlmanacUpdate(uint8_t* mask) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE, false, buff, sizeof(buff)); + + // pass the replies + if(mask) { *mask = buff[0]; } + + return(state); +} + +int16_t LR11x0::gnssSetFreqSearchSpace(uint8_t freq) { + uint8_t buff[1] = { freq }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_FREQ_SEARCH_SPACE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssReadFreqSearchSpace(uint8_t* freq) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_FREQ_SEARCH_SPACE, false, buff, sizeof(buff)); + if(freq) { *freq = buff[0]; } + return(state); +} + +int16_t LR11x0::gnssReadVersion(uint8_t* fw, uint8_t* almanac) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_VERSION, false, buff, sizeof(buff)); + + // pass the replies + if(fw) { *fw = buff[0]; } + if(almanac) { *almanac = buff[1]; } + + return(state); +} + +int16_t LR11x0::gnssReadSupportedConstellations(uint8_t* mask) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_SUPPORTED_CONSTELLATIONS, false, buff, sizeof(buff)); + + // pass the replies + if(mask) { *mask = buff[0]; } + + return(state); +} + +int16_t LR11x0::gnssSetMode(uint8_t mode) { + uint8_t buff[1] = { mode }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_MODE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssAutonomous(uint32_t gpsTime, uint8_t resMask, uint8_t nbSvMask) { + uint8_t buff[7] = { + (uint8_t)((gpsTime >> 24) & 0xFF), (uint8_t)((gpsTime >> 16) & 0xFF), + (uint8_t)((gpsTime >> 8) & 0xFF), (uint8_t)(gpsTime & 0xFF), + RADIOLIB_LR11X0_GNSS_AUTO_EFFORT_MODE, resMask, nbSvMask + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_AUTONOMOUS, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssAssisted(uint32_t gpsTime, uint8_t effort, uint8_t resMask, uint8_t nbSvMask) { + uint8_t buff[7] = { + (uint8_t)((gpsTime >> 24) & 0xFF), (uint8_t)((gpsTime >> 16) & 0xFF), + (uint8_t)((gpsTime >> 8) & 0xFF), (uint8_t)(gpsTime & 0xFF), + effort, resMask, nbSvMask + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ASSISTED, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssSetAssistancePosition(float lat, float lon) { + int16_t latRaw = (lat*2048.0f)/90.0f + 0.5f; + int16_t lonRaw = (lon*2048.0f)/180.0f + 0.5f; + uint8_t buff[4] = { + (uint8_t)((latRaw >> 8) & 0xFF), (uint8_t)(latRaw & 0xFF), + (uint8_t)((lonRaw >> 8) & 0xFF), (uint8_t)(lonRaw & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_ASSISTANCE_POSITION, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssReadAssistancePosition(float* lat, float* lon) { + uint8_t buff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ASSISTANCE_POSITION, false, buff, sizeof(buff)); + + // pass the replies + if(lat) { + int16_t latRaw = ((int16_t)(buff[0]) << 8) | (int16_t)(buff[1]); + *lat = ((float)latRaw*90.0f)/2048.0f; + } + if(lon) { + int16_t lonRaw = ((int16_t)(buff[2]) << 8) | (int16_t)(buff[3]); + *lon = ((float)lonRaw*180.0f)/2048.0f; + } + + return(state); +} + +int16_t LR11x0::gnssPushSolverMsg(uint8_t* payload, size_t len) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_PUSH_SOLVER_MSG, true, payload, len)); +} + +int16_t LR11x0::gnssPushDmMsg(uint8_t* payload, size_t len) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_PUSH_DM_MSG, true, payload, len)); +} + +int16_t LR11x0::gnssGetContextStatus(uint8_t* fwVersion, uint32_t* almanacCrc, uint8_t* errCode, uint8_t* almUpdMask, uint8_t* freqSpace) { + // send the command - datasheet here shows extra bytes being sent in the request + // but doing that fails so treat it like any other read command + uint8_t buff[9] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_CONTEXT_STATUS, false, buff, sizeof(buff)); + + // pass the replies + if(fwVersion) { *fwVersion = buff[2]; } + if(almanacCrc) { *almanacCrc = ((uint32_t)(buff[3]) << 24) | ((uint32_t)(buff[4]) << 16) | ((uint32_t)(buff[5]) << 8) | (uint32_t)buff[6]; } + if(errCode) { *errCode = (buff[7] & 0xF0) >> 4; } + if(almUpdMask) { *almUpdMask = (buff[7] & 0x0E) >> 1; } + if(freqSpace) { *freqSpace = ((buff[7] & 0x01) << 1) | ((buff[8] & 0x80) >> 7); } + + return(state); +} + +int16_t LR11x0::gnssGetNbSvDetected(uint8_t* nbSv) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_NB_SV_DETECTED, false, buff, sizeof(buff)); + + // pass the replies + if(nbSv) { *nbSv = buff[0]; } + + return(state); +} + +int16_t LR11x0::gnssGetSvDetected(uint8_t* svId, uint8_t* snr, int16_t* doppler, size_t nbSv) { + // TODO this is arbitrary - is there an actual maximum? + if(nbSv > RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t)) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // build buffers + size_t buffLen = nbSv*sizeof(uint32_t); + #if RADIOLIB_STATIC_ONLY + uint8_t dataBuff[RADIOLIB_LR11X0_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* dataBuff = new uint8_t[buffLen]; + #endif + + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_DETECTED, false, dataBuff, buffLen); + if(state == RADIOLIB_ERR_NONE) { + for(size_t i = 0; i < nbSv; i++) { + if(svId) { svId[i] = dataBuff[4*i]; } + if(snr) { snr[i] = dataBuff[4*i + 1]; } + if(doppler) { doppler[i] = ((uint16_t)(dataBuff[4*i + 2]) << 8) | (uint16_t)dataBuff[4*i + 3]; } + } + } + + #if !RADIOLIB_STATIC_ONLY + delete[] dataBuff; + #endif + return(state); +} + +int16_t LR11x0::gnssGetConsumption(uint32_t* cpu, uint32_t* radio) { + uint8_t buff[8] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_CONSUMPTION, false, buff, sizeof(buff)); + + // pass the replies + if(cpu) { *cpu = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) | (uint32_t)buff[3]; } + if(radio) { *radio = ((uint32_t)(buff[4]) << 24) | ((uint32_t)(buff[5]) << 16) | ((uint32_t)(buff[6]) << 8) | (uint32_t)buff[7]; } + + return(state); +} + +int16_t LR11x0::gnssGetResultSize(uint16_t* size) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_RESULT_SIZE, false, buff, sizeof(buff)); + + // pass the replies + if(size) { *size = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + + return(state); +} + +int16_t LR11x0::gnssReadResults(uint8_t* result, uint16_t size) { + RADIOLIB_ASSERT_PTR(result); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_RESULTS, false, result, size)); +} + +int16_t LR11x0::gnssAlmanacFullUpdateHeader(uint16_t date, uint32_t globalCrc) { + uint8_t buff[RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE] = { + RADIOLIB_LR11X0_GNSS_ALMANAC_HEADER_ID, + (uint8_t)((date >> 8) & 0xFF), (uint8_t)(date & 0xFF), + (uint8_t)((globalCrc >> 24) & 0xFF), (uint8_t)((globalCrc >> 16) & 0xFF), + (uint8_t)((globalCrc >> 8) & 0xFF), (uint8_t)(globalCrc & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssAlmanacFullUpdateSV(uint8_t svn, const uint8_t* svnAlmanac) { + uint8_t buff[RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE] = { svn }; + memcpy(&buff[1], svnAlmanac, RADIOLIB_LR11X0_GNSS_ALMANAC_BLOCK_SIZE - 1); + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_FULL_UPDATE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssAlmanacReadAddrSize(uint32_t* addr, uint16_t* size) { + uint8_t buff[6] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_READ_ADDR_SIZE, false, buff, sizeof(buff)); + + if(addr) { *addr = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) | (uint32_t)buff[3]; } + if(size) { *size = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + + return(state); +} + +int16_t LR11x0::gnssAlmanacReadSV(uint8_t svId, uint8_t* almanac) { + uint8_t reqBuff[2] = { svId, 0x01 }; // in theory multiple SV entries can be read at the same time, but we don't need that + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_PER_SATELLITE, false, almanac, 22, reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + return(state); +} + +int16_t LR11x0::gnssGetNbSvVisible(uint32_t time, float lat, float lon, uint8_t constellation, uint8_t* nbSv) { + int16_t latRaw = (lat*2048.0f)/90.0f + 0.5f; + int16_t lonRaw = (lon*2048.0f)/180.0f + 0.5f; + uint8_t reqBuff[9] = { + (uint8_t)((time >> 24) & 0xFF), (uint8_t)((time >> 16) & 0xFF), + (uint8_t)((time >> 8) & 0xFF), (uint8_t)(time & 0xFF), + (uint8_t)((latRaw >> 8) & 0xFF), (uint8_t)(latRaw & 0xFF), + (uint8_t)((lonRaw >> 8) & 0xFF), (uint8_t)(lonRaw & 0xFF), + constellation, + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE, false, nbSv, 1, reqBuff, sizeof(reqBuff))); +} + +int16_t LR11x0::gnssGetSvVisible(uint8_t nbSv, uint8_t** svId, int16_t** doppler, int16_t** dopplerErr) { + // enforce a maximum of 12 SVs + if(nbSv > 12) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + uint8_t buff[60] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_VISIBLE_DOPPLER, false, buff, sizeof(buff)); + for(uint8_t i = 0; i < nbSv; i++) { + if(svId && svId[i]) { *svId[i] = buff[i*12]; } + if(doppler && doppler[i]) { *doppler[i] = ((uint16_t)(buff[i*12 + 1]) << 8) | (uint16_t)buff[i*12 + 2]; } + if(dopplerErr && dopplerErr[i]) { *dopplerErr[i] = ((uint16_t)(buff[i*12 + 3]) << 8) | (uint16_t)buff[i*12 + 4]; } + } + + return(state); +} + +int16_t LR11x0::gnssPerformScan(uint8_t effort, uint8_t resMask, uint8_t nbSvMax) { + uint8_t buff[3] = { effort, resMask, nbSvMax }; + // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts + return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_GNSS_SCAN, buff, sizeof(buff), false, false)); +} + +int16_t LR11x0::gnssReadLastScanModeLaunched(uint8_t* lastScanMode) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_LAST_SCAN_MODE_LAUNCHED, false, buff, sizeof(buff)); + + // pass the replies + if(lastScanMode) { *lastScanMode = buff[0]; } + + return(state); +} + +int16_t LR11x0::gnssFetchTime(uint8_t effort, uint8_t opt) { + uint8_t buff[2] = { effort, opt }; + // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts + return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_GNSS_FETCH_TIME, buff, sizeof(buff), false, false)); +} + +int16_t LR11x0::gnssReadTime(uint8_t* err, uint32_t* time, uint32_t* nbUs, uint32_t* timeAccuracy) { + uint8_t buff[12] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_TIME, false, buff, sizeof(buff)); + + // pass the replies + if(err) { *err = buff[0]; } + + if(time) { + *time = ((uint32_t)(buff[1]) << 24) | ((uint32_t)(buff[2]) << 16) | ((uint32_t)(buff[3]) << 8) | (uint32_t)buff[4]; + *time += 2UL*1024UL*7UL*24UL*3600UL; // assume WN rollover is at 2, this will fail sometime in 2038 + *time += 315964800UL; // convert to UTC + } + + if(nbUs) { + *nbUs = ((uint32_t)(buff[5]) << 16) | ((uint32_t)(buff[6]) << 8) | (uint32_t)buff[7]; + *nbUs /= 16; + } + + if(timeAccuracy) { + *timeAccuracy = ((uint32_t)(buff[8]) << 24) | ((uint32_t)(buff[9]) << 16) | ((uint32_t)(buff[10]) << 8) | (uint32_t)buff[11]; + *timeAccuracy /= 16; + } + + return(state); +} + +int16_t LR11x0::gnssResetTime(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_RESET_TIME, true, NULL, 0)); +} + +int16_t LR11x0::gnssResetPosition(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_RESET_POSITION, true, NULL, 0)); +} + +int16_t LR11x0::gnssReadWeekNumberRollover(uint8_t* status, uint8_t* rollover) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_WEEK_NUMBER_ROLLOWER, false, buff, sizeof(buff)); + if(status) { *status = buff[0]; } + if(rollover) { *rollover = buff[1]; } + return(state); +} + +int16_t LR11x0::gnssReadDemodStatus(int8_t* status, uint8_t* info) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_DEMOD_STATUS, false, buff, sizeof(buff)); + + // pass the replies + if(status) { *status = (int8_t)buff[0]; } + if(info) { *info = buff[1]; } + + return(state); +} + +int16_t LR11x0::gnssReadCumulTiming(uint32_t* timing, uint8_t* constDemod) { + uint8_t rplBuff[125] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_CUMUL_TIMING, false, rplBuff, 125); + RADIOLIB_ASSERT(state); + + // convert endians + if(timing) { + for(size_t i = 0; i < 31; i++) { + timing[i] = ((uint32_t)rplBuff[i*sizeof(uint32_t)] << 24) | ((uint32_t)rplBuff[1 + i*sizeof(uint32_t)] << 16) | ((uint32_t)rplBuff[2 + i*sizeof(uint32_t)] << 8) | (uint32_t)rplBuff[3 + i*sizeof(uint32_t)]; + } + } + + if(constDemod) { *constDemod = rplBuff[124]; } + + return(state); +} + +int16_t LR11x0::gnssSetTime(uint32_t time, uint16_t accuracy) { + uint8_t buff[6] = { + (uint8_t)((time >> 24) & 0xFF), (uint8_t)((time >> 16) & 0xFF), + (uint8_t)((time >> 8) & 0xFF), (uint8_t)(time & 0xFF), + (uint8_t)((accuracy >> 8) & 0xFF), (uint8_t)(accuracy & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_SET_TIME, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssReadDopplerSolverRes(uint8_t* error, uint8_t* nbSvUsed, float* lat, float* lon, uint16_t* accuracy, uint16_t* xtal, float* latFilt, float* lonFilt, uint16_t* accuracyFilt, uint16_t* xtalFilt) { + uint8_t buff[18] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_DOPPLER_SOLVER_RES, false, buff, sizeof(buff)); + + // pass the replies + if(error) { *error = buff[0]; } + if(nbSvUsed) { *nbSvUsed = buff[1]; } + if(lat) { + int16_t latRaw = ((int16_t)(buff[2]) << 8) | (int16_t)buff[3]; + *lat = ((float)latRaw * 90.0f)/2048.0f; + } + if(lon) { + int16_t lonRaw = ((int16_t)(buff[4]) << 8) | (int16_t)buff[5]; + *lon = ((float)lonRaw * 180.0f)/2048.0f; + } + if(accuracy) { *accuracy = ((uint16_t)(buff[6]) << 8) | (uint16_t)buff[7]; } + if(xtal) { *xtal = ((uint16_t)(buff[8]) << 8) | (uint16_t)buff[9]; } + if(latFilt) { + int16_t latRaw = ((int16_t)(buff[10]) << 8) | (int16_t)buff[11]; + *latFilt = ((float)latRaw * 90.0f)/2048.0f; + } + if(lonFilt) { + int16_t lonRaw = ((int16_t)(buff[12]) << 8) | (int16_t)buff[13]; + *lonFilt = ((float)lonRaw * 180.0f)/2048.0f; + } + if(accuracyFilt) { *accuracyFilt = ((uint16_t)(buff[14]) << 8) | (uint16_t)buff[15]; } + if(xtalFilt) { *xtalFilt = ((uint16_t)(buff[16]) << 8) | (uint16_t)buff[17]; } + + return(state); +} + +int16_t LR11x0::gnssReadDelayResetAP(uint32_t* delay) { + uint8_t buff[3] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_DELAY_RESET_AP, false, buff, sizeof(buff)); + + if(delay) { *delay = ((uint32_t)(buff[0]) << 16) | ((uint32_t)(buff[1]) << 8) | (uint32_t)buff[2]; } + + return(state); +} + +int16_t LR11x0::gnssAlmanacUpdateFromSat(uint8_t effort, uint8_t bitMask) { + uint8_t buff[2] = { effort, bitMask }; + // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts + return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_GNSS_ALMANAC_UPDATE_FROM_SAT, buff, sizeof(buff), false, false)); +} + +int16_t LR11x0::gnssReadKeepSyncStatus(uint8_t mask, uint8_t* nbSvVisible, uint32_t* elapsed) { + uint8_t reqBuff[1] = { mask }; + uint8_t rplBuff[5] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_KEEP_SYNC_STATUS, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + if(nbSvVisible) { *nbSvVisible = rplBuff[0]; } + if(elapsed) { *elapsed = ((uint32_t)(rplBuff[1]) << 24) | ((uint32_t)(rplBuff[2]) << 16) | ((uint32_t)(rplBuff[3]) << 8) | (uint32_t)rplBuff[4]; } + return(state); +} + +int16_t LR11x0::gnssReadAlmanacStatus(uint8_t* status) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_STATUS, false, status, 53)); +} + +int16_t LR11x0::gnssConfigAlmanacUpdatePeriod(uint8_t bitMask, uint8_t svType, uint16_t period) { + uint8_t buff[4] = { bitMask, svType, (uint8_t)((period >> 8) & 0xFF), (uint8_t)(period & 0xFF) }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_CONFIG_ALMANAC_UPDATE_PERIOD, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssReadAlmanacUpdatePeriod(uint8_t bitMask, uint8_t svType, uint16_t* period) { + uint8_t reqBuff[2] = { bitMask, svType }; + uint8_t rplBuff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_ALMANAC_UPDATE_PERIOD, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + + if(period) { *period = ((uint16_t)(rplBuff[0]) << 8) | (uint16_t)rplBuff[1]; } + + return(state); +} + +int16_t LR11x0::gnssConfigDelayResetAP(uint32_t delay) { + uint8_t buff[3] = { (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF) }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_CONFIG_DELAY_RESET_AP, true, buff, sizeof(buff))); +} + +int16_t LR11x0::gnssGetSvWarmStart(uint8_t bitMask, uint8_t* sv, uint8_t nbVisSat) { + uint8_t reqBuff[1] = { bitMask }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_WARM_START, false, sv, nbVisSat, reqBuff, sizeof(reqBuff))); +} + +int16_t LR11x0::gnssGetSvSync(uint8_t mask, uint8_t nbSv, uint8_t* syncList) { + uint8_t reqBuff[2] = { mask, nbSv }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_GET_SV_SYNC, false, syncList, nbSv, reqBuff, sizeof(reqBuff))); +} + +int16_t LR11x0::gnssReadWarmStartStatus(uint8_t bitMask, uint8_t* nbVisSat, uint32_t* timeElapsed) { + uint8_t reqBuff[1] = { bitMask }; + uint8_t rplBuff[5] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_READ_WARM_START_STATUS, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + + if(nbVisSat) { *nbVisSat = rplBuff[0]; } + if(timeElapsed) { *timeElapsed = ((uint32_t)(rplBuff[1]) << 24) | ((uint32_t)(rplBuff[2]) << 16) | ((uint32_t)(rplBuff[3]) << 8) | (uint32_t)rplBuff[4]; } + + return(state); +} + +int16_t LR11x0::gnssWriteBitMaskSatActivated(uint8_t bitMask, uint32_t* bitMaskActivated0, uint32_t* bitMaskActivated1) { + uint8_t reqBuff[1] = { bitMask }; + uint8_t rplBuff[8] = { 0 }; + size_t rplLen = (bitMask & 0x01) ? 8 : 4; // GPS only has the first bit mask + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_GNSS_WRITE_BIT_MASK_SAT_ACTIVATED, false, rplBuff, rplLen, reqBuff, sizeof(reqBuff)); + RADIOLIB_ASSERT(state); + + if(bitMaskActivated0) { *bitMaskActivated0 = ((uint32_t)(rplBuff[0]) << 24) | ((uint32_t)(rplBuff[1]) << 16) | ((uint32_t)(rplBuff[2]) << 8) | (uint32_t)rplBuff[3]; } + if(bitMaskActivated1) { *bitMaskActivated1 = ((uint32_t)(rplBuff[4]) << 24) | ((uint32_t)(rplBuff[5]) << 16) | ((uint32_t)(rplBuff[6]) << 8) | (uint32_t)rplBuff[7]; } + + return(state); +} + +void LR11x0::gnssAbort() { + // send the abort signal (single NOP) + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_8; + // we need to call the most basic overload of the SPI write method otherwise the call will be ambiguous + const uint8_t cmd[2] = { 0, 0 }; + this->mod->SPIwriteStream(cmd, 2, NULL, 0, false, false); + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_16; + + // wait for at least 2.9 seconds as specified by the user manual + this->mod->hal->delay(3000); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0_registers.h b/lib/RadioLib/src/modules/LR11x0/LR11x0_registers.h new file mode 100644 index 0000000..6857459 --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0_registers.h @@ -0,0 +1,32 @@ +#if !defined(RADIOLIB_LR11X0_REGISTERS_H) +#define RADIOLIB_LR11X0_REGISTERS_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_LR11X0 + +// LR11X0 register map +#define RADIOLIB_LR11X0_REG_SF6_SX127X_COMPAT (0x00F20414) +#define RADIOLIB_LR11X0_REG_LORA_HIGH_POWER_FIX (0x00F30054) +#define RADIOLIB_LR11X0_REG_LNA_MODE (0x00F3008C) +#define RADIOLIB_LR11X0_REG_GFSK_FIX1 (0x00F20344) +#define RADIOLIB_LR11X0_REG_GFSK_FIX2 (0x00F20348) +#define RADIOLIB_LR11X0_REG_GFSK_FIX3 (0x00F20244) + +// LR11X0 SPI register variables + +// RADIOLIB_LR11X0_REG_SF6_SX127X_COMPAT +#define RADIOLIB_LR11X0_SF6_SX126X (0x00UL << 18) // 18 18 SF6 mode: SX126x series +#define RADIOLIB_LR11X0_SF6_SX127X (0x01UL << 18) // 18 18 SX127x series + +// RADIOLIB_LR11X0_REG_LORA_HIGH_POWER_FIX +#define RADIOLIB_LR11X0_LORA_HIGH_POWER_FIX (0x00UL << 30) // 30 30 fix for errata + +// RADIOLIB_LR11X0_REG_LNA_MODE +#define RADIOLIB_LR11X0_LNA_MODE_SINGLE_RFI_N (0x01UL << 4) // 7 4 LNA mode: single-ended RFI_N +#define RADIOLIB_LR11X0_LNA_MODE_SINGLE_RFI_P (0x02UL << 4) // 7 4 single-ended RFI_P +#define RADIOLIB_LR11X0_LNA_MODE_DIFFERENTIAL (0x03UL << 4) // 7 4 differential (default) + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0_types.h b/lib/RadioLib/src/modules/LR11x0/LR11x0_types.h new file mode 100644 index 0000000..f30e49f --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0_types.h @@ -0,0 +1,230 @@ +#if !defined(RADIOLIB_LR11X0_TYPES_H) +#define RADIOLIB_LR11X0_TYPES_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_LR11X0 + +// MAC address length in bytes +#define RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN (6) + +// SSID length in bytes +#define RADIOLIB_LR11X0_WIFI_RESULT_SSID_LEN (32) + +/*! + \struct LR11x0WifiResult_t + \brief Structure to save result of passive WiFi scan. + This result only saves the basic information. +*/ +struct LR11x0WifiResult_t { + /*! \brief WiFi (802.11) signal type, 'b', 'n' or 'g' */ + char type; + + /*! \brief Data rate ID holding information about modulation and coding rate. See LR11x0 user manual for details. */ + uint8_t dataRateId; + + /*! \brief Channel frequency in MHz */ + uint16_t channelFreq; + + /*! \brief MAC address origin: from gateway (1), phone (2) or undetermined (3) */ + uint8_t origin; + + /*! \brief Whether this signal was sent by an access point (true) or end device (false) */ + bool ap; + + /*! \brief RSSI in dBm */ + float rssi; + + /*! \brief MAC address */ + uint8_t mac[RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN]; +}; + +/*! + \struct LR11x0WifiResultFull_t + \brief Structure to save result of passive WiFi scan. + This result saves additional information alongside that in LR11x0WifiResult_t. +*/ +struct LR11x0WifiResultFull_t: public LR11x0WifiResult_t { + /*! \brief Frame type. See LR11x0 user manual for details. */ + uint8_t frameType; + + /*! \brief Frame sub type. See LR11x0 user manual for details. */ + uint8_t frameSubType; + + /*! \brief Frame sent from client station to distribution system. */ + bool toDistributionSystem; + + /*! \brief Frame sent from distribution system to client station. */ + bool fromDistributionSystem; + + /*! \brief See LR11x0 user manual for details. */ + uint16_t phiOffset; + + /*! \brief Number of microseconds the AP has been active. */ + uint64_t timestamp; + + /*! \brief Beacon period in microseconds. */ + uint32_t periodBeacon; +}; + +/*! + \struct LR11x0WifiResultExtended_t + \brief Structure to save result of passive WiFi scan. + This result saves additional information alongside that in LR11x0WifiResultFull_t. + Only scans performed with RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_BEACON acquisition mode + can yield this result! +*/ +struct LR11x0WifiResultExtended_t: public LR11x0WifiResultFull_t { + /*! \brief Data rate. See LR11x0 user manual for details. */ + uint8_t rate; + + /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ + uint16_t service; + + /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ + uint16_t length; + + /*! \brief MAC address 0 */ + uint8_t mac0[RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN]; + + /*! \brief MAC address 2 */ + uint8_t mac2[RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN]; + + /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ + uint16_t seqCtrl; + + /*! \brief SSID */ + uint8_t ssid[RADIOLIB_LR11X0_WIFI_RESULT_SSID_LEN]; + + /*! \brief WiFi channel number */ + uint8_t currentChannel; + + /*! \brief Two-letter country code (null-terminated string). */ + char countryCode[3]; + + /*! \brief Refer to IEEE Std 802.11, 2016, Part 11: Wireless LAN MAC and PHY Spec. */ + uint8_t ioReg; + + /*! \brief True if frame check sequences is valid, false otherwise. */ + bool fcsCheckOk; +}; + +/*! + \struct LR11x0VersionInfo_t + \brief Structure to report information about versions of the LR11x0 hardware and firmware. +*/ +struct LR11x0VersionInfo_t { + /*! \brief Hardware revision. */ + uint8_t hardware; + + /*! \brief Which device this is - one of RADIOLIB_LR11X0_DEVICE_* macros. */ + uint8_t device; + + /*! \brief Major revision of the base firmware. */ + uint8_t fwMajor; + + /*! \brief Minor revision of the base firmware. */ + uint8_t fwMinor; + + /*! \brief Major revision of the WiFi firmware. */ + uint8_t fwMajorWiFi; + + /*! \brief Minor revision of the WiFi firmware. */ + uint8_t fwMinorWiFi; + + /*! \brief Revision of the GNSS firmware. */ + uint8_t fwGNSS; + + /*! \brief Almanac revision of the GNSS firmware. */ + uint8_t almanacGNSS; +}; + +/*! + \struct LR11x0GnssResult_t + \brief Structure to report information results of a GNSS scan. +*/ +struct LR11x0GnssResult_t { + /*! \brief Demodulator status. One of RADIOLIB_LR11X0_GNSS_DEMOD_STATUS_* */ + int8_t demodStat; + + /*! \brief Number of satellites detected during the scan. */ + uint8_t numSatsDet; + + /*! \brief Result size, used when passing data to LoRa cloud. */ + uint16_t resSize; +}; + +/*! + \struct LR11x0GnssPosition_t + \brief Structure to report position from LR11x0 internal solver. +*/ +struct LR11x0GnssPosition_t { + /*! \brief Latitude in degrees. */ + float latitude; + + /*! \brief Longitude in degrees. */ + float longitude; + + /*! \brief Accuracy of this result. */ + uint16_t accuracy; + + /*! \brief Number of satellites used to solve this position. */ + uint8_t numSatsUsed; +}; + +/*! + \struct LR11x0GnssSatellite_t + \brief Structure to save information about a satellite found during GNSS scan. +*/ +struct LR11x0GnssSatellite_t { + /*! \brief Satellite vehicle (SV) identifier. */ + uint8_t svId; + + /*! \brief C/N0 in dB. */ + uint8_t c_n0; + + /*! \brief Doppler shift of the signal in Hz. */ + int16_t doppler; +}; + +/*! + \struct LR11x0GnssAlmanacStatusPart_t + \brief Structure to save information about one constellation of the GNSS almanac. +*/ +struct LR11x0GnssAlmanacStatusPart_t { + int8_t status; + uint32_t timeUntilSubframe; + uint8_t numSubframes; + uint8_t nextSubframe4SvId; + uint8_t nextSubframe5SvId; + uint8_t nextSubframeStart; + uint8_t numUpdateNeeded; + uint32_t flagsUpdateNeeded[2]; + uint32_t flagsActive[2]; +}; + +/*! + \struct LR11x0GnssAlmanacStatus_t + \brief Structure to save information about the GNSS almanac. + This is not the actual almanac, just some context information about it. +*/ +struct LR11x0GnssAlmanacStatus_t { + /*! \brief GPS part of the almanac */ + LR11x0GnssAlmanacStatusPart_t gps; + + /*! \brief BeiDou part of the almanac */ + LR11x0GnssAlmanacStatusPart_t beidou; + + /*! \brief Extra flags present for BeiDou only */ + uint32_t beidouSvNoAlmanacFlags[2]; + + /*! \brief Next almanac ID */ + uint8_t nextAlmanacId; + + /*! \brief Timestamp of when almanac status was retrieved - timeUntilSubframe is relative to this value. */ + RadioLibTime_t start; +}; + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR11x0_wifi.cpp b/lib/RadioLib/src/modules/LR11x0/LR11x0_wifi.cpp new file mode 100644 index 0000000..34362a3 --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR11x0_wifi.cpp @@ -0,0 +1,267 @@ +#include "LR11x0.h" + +#include + +#if !RADIOLIB_EXCLUDE_LR11X0 + +int16_t LR11x0::startWifiScan(char wifiType, uint8_t mode, uint16_t chanMask, uint8_t numScans, uint16_t timeout) { + // LR1121 cannot do WiFi scanning + if(this->chipType == RADIOLIB_LR11X0_DEVICE_LR1121) { + return(RADIOLIB_ERR_UNSUPPORTED); + } + + uint8_t type; + switch(wifiType) { + case('b'): + type = RADIOLIB_LR11X0_WIFI_SCAN_802_11_B; + break; + case('g'): + type = RADIOLIB_LR11X0_WIFI_SCAN_802_11_G; + break; + case('n'): + type = RADIOLIB_LR11X0_WIFI_SCAN_802_11_N; + break; + case('*'): + type = RADIOLIB_LR11X0_WIFI_SCAN_ALL; + break; + default: + return(RADIOLIB_ERR_INVALID_WIFI_TYPE); + } + + // go to standby + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // reset cumulative timings + state = wifiResetCumulTimings(); + RADIOLIB_ASSERT(state); + + // set DIO mapping + state = setDioIrqParams(RADIOLIB_LR11X0_IRQ_WIFI_DONE); + RADIOLIB_ASSERT(state); + + // start scan with the maximum number of results and abort on timeout + this->wifiScanMode = mode; + state = wifiScan(type, chanMask, this->wifiScanMode, RADIOLIB_LR11X0_WIFI_MAX_NUM_RESULTS, numScans, timeout, RADIOLIB_LR11X0_WIFI_ABORT_ON_TIMEOUT_ENABLED); + return(state); +} + +void LR11x0::setWiFiScanAction(void (*func)(void)) { + this->setIrqAction(func); +} + +void LR11x0::clearWiFiScanAction() { + this->clearIrqAction(); +} + +int16_t LR11x0::getWifiScanResultsCount(uint8_t* count) { + // clear IRQ first, as this is likely to be called right after scan has finished + int16_t state = clearIrqState(RADIOLIB_LR11X0_IRQ_ALL); + RADIOLIB_ASSERT(state); + + uint8_t buff[1] = { 0 }; + state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_GET_NB_RESULTS, false, buff, sizeof(buff)); + + // pass the replies + if(count) { *count = buff[0]; } + + return(state); +} + +int16_t LR11x0::getWifiScanResult(LR11x0WifiResult_t* result, uint8_t index, bool brief) { + RADIOLIB_ASSERT_PTR(result); + + // read a single result + uint8_t format = brief ? RADIOLIB_LR11X0_WIFI_RESULT_TYPE_BASIC : RADIOLIB_LR11X0_WIFI_RESULT_TYPE_COMPLETE; + uint8_t raw[RADIOLIB_LR11X0_WIFI_RESULT_MAX_LEN] = { 0 }; + int16_t state = wifiReadResults(index, 1, format, raw); + RADIOLIB_ASSERT(state); + + // parse the information + switch(raw[0] & 0x03) { + case(RADIOLIB_LR11X0_WIFI_SCAN_802_11_B): + result->type = 'b'; + break; + case(RADIOLIB_LR11X0_WIFI_SCAN_802_11_G): + result->type = 'g'; + break; + case(RADIOLIB_LR11X0_WIFI_SCAN_802_11_N): + result->type = 'n'; + break; + } + result->dataRateId = (raw[0] & 0xFC) >> 2; + result->channelFreq = 2407 + (raw[1] & 0x0F)*5; + result->origin = (raw[1] & 0x30) >> 4; + result->ap = (raw[1] & 0x40) != 0; + result->rssi = (float)raw[2] / -2.0f;; + memcpy(result->mac, &raw[3], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); + + if(!brief) { + if(this->wifiScanMode == RADIOLIB_LR11X0_WIFI_ACQ_MODE_FULL_BEACON) { + LR11x0WifiResultExtended_t* resultExtended = reinterpret_cast(result); + resultExtended->rate = raw[3]; + resultExtended->service = (((uint16_t)raw[4] << 8) | ((uint16_t)raw[5])); + resultExtended->length = (((uint16_t)raw[6] << 8) | ((uint16_t)raw[7])); + resultExtended->frameType = raw[9] & 0x03; + resultExtended->frameSubType = (raw[9] & 0x3C) >> 2; + resultExtended->toDistributionSystem = (raw[9] & 0x40) != 0; + resultExtended->fromDistributionSystem = (raw[9] & 0x80) != 0; + memcpy(resultExtended->mac0, &raw[10], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); + memcpy(resultExtended->mac, &raw[16], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); + memcpy(resultExtended->mac2, &raw[22], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); + resultExtended->timestamp = (((uint64_t)raw[28] << 56) | ((uint64_t)raw[29] << 48)) | + (((uint64_t)raw[30] << 40) | ((uint64_t)raw[31] << 32)) | + (((uint64_t)raw[32] << 24) | ((uint64_t)raw[33] << 16)) | + (((uint64_t)raw[34] << 8) | (uint64_t)raw[35]); + resultExtended->periodBeacon = (((uint16_t)raw[36] << 8) | ((uint16_t)raw[37])) * 1024UL; + resultExtended->seqCtrl = (((uint16_t)raw[38] << 8) | ((uint16_t)raw[39])); + memcpy(resultExtended->ssid, &raw[40], RADIOLIB_LR11X0_WIFI_RESULT_SSID_LEN); + resultExtended->currentChannel = raw[72]; + memcpy(resultExtended->countryCode, &raw[73], 2); + resultExtended->countryCode[2] = '\0'; + resultExtended->ioReg = raw[75]; + resultExtended->fcsCheckOk = (raw[76] != 0); + resultExtended->phiOffset = (((uint16_t)raw[77] << 8) | ((uint16_t)raw[78])); + return(RADIOLIB_ERR_NONE); + } + + LR11x0WifiResultFull_t* resultFull = reinterpret_cast(result); + resultFull->frameType = raw[3] & 0x03; + resultFull->frameSubType = (raw[3] & 0x3C) >> 2; + resultFull->toDistributionSystem = (raw[3] & 0x40) != 0; + resultFull->fromDistributionSystem = (raw[3] & 0x80) != 0; + memcpy(resultFull->mac, &raw[4], RADIOLIB_LR11X0_WIFI_RESULT_MAC_LEN); + resultFull->phiOffset = (((uint16_t)raw[10] << 8) | ((uint16_t)raw[11])); + resultFull->timestamp = (((uint64_t)raw[12] << 56) | ((uint64_t)raw[13] << 48)) | + (((uint64_t)raw[14] << 40) | ((uint64_t)raw[15] << 32)) | + (((uint64_t)raw[16] << 24) | ((uint64_t)raw[17] << 16)) | + (((uint64_t)raw[18] << 8) | (uint64_t)raw[19]); + resultFull->periodBeacon = (((uint16_t)raw[20] << 8) | ((uint16_t)raw[21])) * 1024UL; + } + + return(RADIOLIB_ERR_NONE); +} + +int16_t LR11x0::wifiScan(uint8_t wifiType, uint8_t* count, uint8_t mode, uint16_t chanMask, uint8_t numScans, uint16_t timeout) { + RADIOLIB_ASSERT_PTR(count); + + // start scan + RADIOLIB_DEBUG_BASIC_PRINTLN("WiFi scan start"); + int16_t state = startWifiScan(wifiType, mode, chanMask, numScans, timeout); + RADIOLIB_ASSERT(state); + + // wait for scan finished or timeout + RadioLibTime_t softTimeout = 30UL * 1000UL; + RadioLibTime_t start = this->mod->hal->millis(); + while(!this->mod->hal->digitalRead(this->mod->getIrq())) { + this->mod->hal->yield(); + if(this->mod->hal->millis() - start > softTimeout) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout waiting for IRQ"); + this->standby(); + return(RADIOLIB_ERR_RX_TIMEOUT); + } + } + RADIOLIB_DEBUG_BASIC_PRINTLN("WiFi scan done in %lu ms", (long unsigned int)(this->mod->hal->millis() - start)); + + // read number of results + return(getWifiScanResultsCount(count)); +} + +int16_t LR11x0::wifiScan(uint8_t type, uint16_t mask, uint8_t acqMode, uint8_t nbMaxRes, uint8_t nbScanPerChan, uint16_t timeout, uint8_t abortOnTimeout) { + uint8_t buff[9] = { + type, (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), + acqMode, nbMaxRes, nbScanPerChan, + (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + abortOnTimeout + }; + + // call the SPI write stream directly to skip waiting for BUSY - it will be set to high once the scan starts + return(this->mod->SPIwriteStream(RADIOLIB_LR11X0_CMD_WIFI_SCAN, buff, sizeof(buff), false, false)); +} + +int16_t LR11x0::wifiScanTimeLimit(uint8_t type, uint16_t mask, uint8_t acqMode, uint8_t nbMaxRes, uint16_t timePerChan, uint16_t timeout) { + uint8_t buff[9] = { + type, (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), + acqMode, nbMaxRes, + (uint8_t)((timePerChan >> 8) & 0xFF), (uint8_t)(timePerChan & 0xFF), + (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_SCAN_TIME_LIMIT, true, buff, sizeof(buff))); +} + +int16_t LR11x0::wifiCountryCode(uint16_t mask, uint8_t nbMaxRes, uint8_t nbScanPerChan, uint16_t timeout, uint8_t abortOnTimeout) { + uint8_t buff[7] = { + (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), + nbMaxRes, nbScanPerChan, + (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + abortOnTimeout + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE, true, buff, sizeof(buff))); +} + +int16_t LR11x0::wifiCountryCodeTimeLimit(uint16_t mask, uint8_t nbMaxRes, uint16_t timePerChan, uint16_t timeout) { + uint8_t buff[7] = { + (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), + nbMaxRes, + (uint8_t)((timePerChan >> 8) & 0xFF), (uint8_t)(timePerChan & 0xFF), + (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE_TIME_LIMIT, true, buff, sizeof(buff))); +} + +int16_t LR11x0::wifiReadResults(uint8_t index, uint8_t nbResults, uint8_t format, uint8_t* results) { + uint8_t buff[3] = { index, nbResults, format }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_RESULTS, false, results, RADIOLIB_LR11X0_WIFI_RESULT_MAX_LEN, buff, sizeof(buff))); +} + +int16_t LR11x0::wifiResetCumulTimings(void) { + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_RESET_CUMUL_TIMINGS, true, NULL, 0)); +} + +int16_t LR11x0::wifiReadCumulTimings(uint32_t* detection, uint32_t* capture, uint32_t* demodulation) { + uint8_t buff[16] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_CUMUL_TIMINGS, false, buff, sizeof(buff)); + + // pass the replies + if(detection) { *detection = ((uint32_t)(buff[4]) << 24) | ((uint32_t)(buff[5]) << 16) | ((uint32_t)(buff[6]) << 8) | (uint32_t)buff[7]; } + if(capture) { *capture = ((uint32_t)(buff[8]) << 24) | ((uint32_t)(buff[9]) << 16) | ((uint32_t)(buff[10]) << 8) | (uint32_t)buff[11]; } + if(demodulation) { *demodulation = ((uint32_t)(buff[12]) << 24) | ((uint32_t)(buff[13]) << 16) | ((uint32_t)(buff[14]) << 8) | (uint32_t)buff[15]; } + + return(state); +} + +int16_t LR11x0::wifiGetNbCountryCodeResults(uint8_t* nbResults) { + uint8_t buff[1] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_GET_NB_COUNTRY_CODE_RESULTS, false, buff, sizeof(buff)); + + // pass the replies + if(nbResults) { *nbResults = buff[0]; } + + return(state); +} + +int16_t LR11x0::wifiReadCountryCodeResults(uint8_t index, uint8_t nbResults, uint8_t* results) { + uint8_t reqBuff[2] = { index, nbResults }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_COUNTRY_CODE_RESULTS, false, results, nbResults, reqBuff, sizeof(reqBuff))); +} + +int16_t LR11x0::wifiCfgTimestampAPphone(uint32_t timestamp) { + uint8_t buff[4] = { + (uint8_t)((timestamp >> 24) & 0xFF), (uint8_t)((timestamp >> 16) & 0xFF), + (uint8_t)((timestamp >> 8) & 0xFF), (uint8_t)(timestamp & 0xFF) + }; + return(this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_COUNTRY_CODE_TIME_LIMIT, true, buff, sizeof(buff))); +} + +int16_t LR11x0::wifiReadVersion(uint8_t* major, uint8_t* minor) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR11X0_CMD_WIFI_READ_VERSION, false, buff, sizeof(buff)); + + // pass the replies + if(major) { *major = buff[0]; } + if(minor) { *minor = buff[1]; } + + return(state); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR11x0/LR_common.cpp b/lib/RadioLib/src/modules/LR11x0/LR_common.cpp new file mode 100644 index 0000000..cf70628 --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR_common.cpp @@ -0,0 +1,427 @@ +#include "LR_common.h" + +#include + +LRxxxx::LRxxxx(Module* mod) : PhysicalLayer() { + this->mod = mod; + this->XTAL = false; + this->mod->spiConfig.stream = true; + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_16; + this->mod->spiConfig.statusPos = 0; + this->mod->spiConfig.parseStatusCb = SPIparseStatus; + this->mod->spiConfig.checkStatusCb = SPIcheckStatus; +} + +void LRxxxx::setIrqAction(void (*func)(void)) { + this->mod->hal->attachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq()), func, this->mod->hal->GpioInterruptRising); +} + +void LRxxxx::clearIrqAction() { + this->mod->hal->detachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq())); +} + +void LRxxxx::setPacketReceivedAction(void (*func)(void)) { + this->setIrqAction(func); +} + +void LRxxxx::clearPacketReceivedAction() { + this->clearIrqAction(); +} + +void LRxxxx::setPacketSentAction(void (*func)(void)) { + this->setIrqAction(func); +} + +void LRxxxx::clearPacketSentAction() { + this->clearIrqAction(); +} + +uint32_t LRxxxx::getIrqStatus() { + // there is no dedicated "get IRQ" command, the IRQ bits are sent after the status bytes + uint8_t buff[6] = { 0 }; + Module::BitWidth_t statusWidth = mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS]; + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_0; + mod->SPItransferStream(NULL, 0, false, NULL, buff, sizeof(buff), true); + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = statusWidth; + uint32_t irq = ((uint32_t)(buff[2]) << 24) | ((uint32_t)(buff[3]) << 16) | ((uint32_t)(buff[4]) << 8) | (uint32_t)buff[5]; + return(irq); +} + +RadioLibTime_t LRxxxx::getTimeOnAir(size_t len, ModemType_t modem) { + DataRate_t dr = {}; + PacketConfig_t pc = {}; + switch(modem) { + case ModemType_t::RADIOLIB_MODEM_LORA: { + uint8_t cr = this->codingRate; + // We assume same calculation for short and long interleaving, so map CR values 0-4 and 5-7 to the same values + if (cr < 5) { + cr = cr + 4; + } else if (cr == 7) { + cr = cr + 1; + } + + dr.lora.spreadingFactor = this->spreadingFactor; + dr.lora.bandwidth = this->bandwidthKhz; + dr.lora.codingRate = cr; + + pc.lora.preambleLength = this->preambleLengthLoRa; + pc.lora.implicitHeader = (this->headerType == RADIOLIB_LRXXXX_LORA_HEADER_IMPLICIT); + pc.lora.crcEnabled = (this->crcTypeLoRa == RADIOLIB_LRXXXX_LORA_CRC_ENABLED); + pc.lora.ldrOptimize = (bool)this->ldrOptimize; + break; + } + + case ModemType_t::RADIOLIB_MODEM_FSK: { + dr.fsk.bitRate = (float)this->bitRate / 1000.0f; + dr.fsk.freqDev = (float)this->frequencyDev; + pc.fsk.preambleLength = this->preambleLengthGFSK; + pc.fsk.syncWordLength = this->syncWordLength; + pc.fsk.crcLength = this->crcLenGFSK; + break; + } + + case ModemType_t::RADIOLIB_MODEM_LRFHSS: { + dr.lrFhss.bw = this->lrFhssBw; + dr.lrFhss.cr = this->lrFhssCr; + dr.lrFhss.narrowGrid = (this->lrFhssGrid == RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_NON_FCC) ? true : false; + + pc.lrFhss.hdrCount = this->lrFhssHdrCount; + break; + } + + default: + return(RADIOLIB_ERR_WRONG_MODEM); + } + + return(this->calculateTimeOnAir(modem, dr, pc, len)); +} + +RadioLibTime_t LRxxxx::calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) { + // check active modem + if (modem == ModemType_t::RADIOLIB_MODEM_LORA) { + uint32_t symbolLength_us = ((uint32_t)(1000 * 10) << dr.lora.spreadingFactor) / (dr.lora.bandwidth * 10) ; + uint8_t sfCoeff1_x4 = 17; // (4.25 * 4) + uint8_t sfCoeff2 = 8; + if(dr.lora.spreadingFactor == 5 || dr.lora.spreadingFactor == 6) { + sfCoeff1_x4 = 25; // 6.25 * 4 + sfCoeff2 = 0; + } + uint8_t sfDivisor = 4*dr.lora.spreadingFactor; + if(pc.lora.ldrOptimize) { + sfDivisor = 4*(dr.lora.spreadingFactor - 2); + } + const int8_t bitsPerCrc = 16; + const int8_t N_symbol_header = pc.lora.implicitHeader ? 0 : 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 + pc.lora.crcEnabled * bitsPerCrc - 4 * dr.lora.spreadingFactor + 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 = (pc.lora.preambleLength + 8) * 4 + sfCoeff1_x4 + nPreCodedSymbols * dr.lora.codingRate * 4; + + // get time-on-air in us + return((symbolLength_us * nSymbol_x4) / 4); + + } else if(modem == ModemType_t::RADIOLIB_MODEM_FSK) { + return((((float)(pc.fsk.crcLength * 8) + pc.fsk.syncWordLength + pc.fsk.preambleLength + (uint32_t)len * 8) / (dr.fsk.bitRate / 1000.0f))); + + } else if(modem == ModemType_t::RADIOLIB_MODEM_LRFHSS) { + // calculate the number of bits based on coding rate + uint16_t N_bits; + switch(dr.lrFhss.cr) { + case RADIOLIB_LRXXXX_LR_FHSS_CR_5_6: + N_bits = ((len * 6) + 4) / 5; // this is from the official LR11xx driver, but why the extra +4? + break; + case RADIOLIB_LRXXXX_LR_FHSS_CR_2_3: + N_bits = (len * 3) / 2; + break; + case RADIOLIB_LRXXXX_LR_FHSS_CR_1_2: + N_bits = len * 2; + break; + case RADIOLIB_LRXXXX_LR_FHSS_CR_1_3: + N_bits = len * 3; + break; + default: + return(RADIOLIB_ERR_INVALID_CODING_RATE); + } + + // calculate number of bits when accounting for unaligned last block + uint16_t N_payBits = (N_bits / RADIOLIB_LRXXXX_LR_FHSS_FRAG_BITS) * RADIOLIB_LRXXXX_LR_FHSS_BLOCK_BITS; + uint16_t N_lastBlockBits = N_bits % RADIOLIB_LRXXXX_LR_FHSS_FRAG_BITS; + if(N_lastBlockBits) { + N_payBits += N_lastBlockBits + 2; + } + + // add header bits + uint16_t N_totalBits = (RADIOLIB_LRXXXX_LR_FHSS_HEADER_BITS * pc.lrFhss.hdrCount) + N_payBits; + return(((uint32_t)N_totalBits * 8 * 1000000UL) / RADIOLIB_LRXXXX_LR_FHSS_BIT_RATE); + + } else { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + return(0); +} + +RadioLibTime_t LRxxxx::calculateRxTimeout(RadioLibTime_t timeoutUs) { + // the timeout value is given in units of 30.52 microseconds + // the calling function should provide some extra width, as this number of units is truncated to integer + RadioLibTime_t timeout = timeoutUs / 30.52; + return(timeout); +} + +int16_t LRxxxx::reset() { + // run the reset sequence + this->mod->hal->pinMode(this->mod->getRst(), this->mod->hal->GpioModeOutput); + this->mod->hal->digitalWrite(this->mod->getRst(), this->mod->hal->GpioLevelLow); + this->mod->hal->delay(10); + this->mod->hal->digitalWrite(this->mod->getRst(), this->mod->hal->GpioLevelHigh); + + // the typical transition duration should be 273 ms + this->mod->hal->delay(300); + + // wait for BUSY to go low + RadioLibTime_t start = this->mod->hal->millis(); + while(this->mod->hal->digitalRead(this->mod->getGpio())) { + this->mod->hal->yield(); + if(this->mod->hal->millis() - start >= 3000) { + RADIOLIB_DEBUG_BASIC_PRINTLN("BUSY pin timeout after reset!"); + return(RADIOLIB_ERR_SPI_CMD_TIMEOUT); + } + } + + return(RADIOLIB_ERR_NONE); +} + +int16_t LRxxxx::getStatus(uint8_t* stat1, uint8_t* stat2, uint32_t* irq) { + uint8_t buff[6] = { 0 }; + + // the status check command doesn't return status in the same place as other read commands + // but only as the first byte (as with any other command), hence LRxxxx::SPIcommand can't be used + // it also seems to ignore the actual command, and just sending in bunch of NOPs will work + int16_t state = this->mod->SPItransferStream(NULL, 0, false, NULL, buff, sizeof(buff), true); + + // pass the replies + if(stat1) { *stat1 = buff[0]; } + if(stat2) { *stat2 = buff[1]; } + if(irq) { *irq = ((uint32_t)(buff[2]) << 24) | ((uint32_t)(buff[3]) << 16) | ((uint32_t)(buff[4]) << 8) | (uint32_t)buff[5]; } + + return(state); +} + +int16_t LRxxxx::lrFhssBuildFrame(uint16_t cmd, uint8_t hdrCount, uint8_t cr, uint8_t grid, uint8_t hop, uint8_t bw, uint16_t hopSeq, int8_t devOffset, const uint8_t* payload, size_t len) { + // check maximum size + const uint8_t maxLen[4][4] = { + { 189, 178, 167, 155, }, + { 151, 142, 133, 123, }, + { 112, 105, 99, 92, }, + { 74, 69, 65, 60, }, + }; + if((cr > RADIOLIB_LRXXXX_LR_FHSS_CR_1_3) || ((hdrCount - 1) > (int)sizeof(maxLen[0])) || (len > maxLen[cr][hdrCount - 1])) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // build buffers + size_t buffLen = 9 + len; + #if RADIOLIB_STATIC_ONLY + uint8_t dataBuff[9 + 190]; + #else + uint8_t* dataBuff = new uint8_t[buffLen]; + #endif + + // set properties of the packet + dataBuff[0] = hdrCount; + dataBuff[1] = cr; + dataBuff[2] = RADIOLIB_LRXXXX_LR_FHSS_MOD_TYPE_GMSK; + dataBuff[3] = grid; + dataBuff[4] = hop; + dataBuff[5] = bw; + dataBuff[6] = (uint8_t)((hopSeq >> 8) & 0x01); + dataBuff[7] = (uint8_t)(hopSeq & 0xFF); + dataBuff[8] = devOffset; + memcpy(&dataBuff[9], payload, len); + + int16_t state = this->SPIcommand(cmd, true, dataBuff, buffLen); + #if !RADIOLIB_STATIC_ONLY + delete[] dataBuff; + #endif + return(state); +} + +uint8_t LRxxxx::roundRampTime(uint32_t rampTimeUs) { + uint8_t regVal; + + // Round up the ramp time to nearest discrete register value + if(rampTimeUs <= 2) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_2U; + } else if(rampTimeUs <= 4) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_4U; + } else if(rampTimeUs <= 8) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_8U; + } else if(rampTimeUs <= 16) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_16U; + } else if(rampTimeUs <= 32) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_32U; + } else if(rampTimeUs <= 48) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_48U; + } else if(rampTimeUs <= 64) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_64U; + } else if(rampTimeUs <= 80) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_80U; + } else if(rampTimeUs <= 96) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_96U; + } else if(rampTimeUs <= 112) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_112U; + } else if(rampTimeUs <= 128) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_128U; + } else if(rampTimeUs <= 144) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_144U; + } else if(rampTimeUs <= 160) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_160U; + } else if(rampTimeUs <= 176) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_176U; + } else if(rampTimeUs <= 192) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_192U; + } else if(rampTimeUs <= 208) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_208U; + } else if(rampTimeUs <= 240) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_240U; + } else if(rampTimeUs <= 272) { + regVal = RADIOLIB_LRXXXX_PA_RAMP_272U; + } else { // 304 + regVal = RADIOLIB_LRXXXX_PA_RAMP_304U; + } + + return regVal; +} + +int16_t LRxxxx::findRxBw(float rxBw, const uint8_t* lut, size_t lutSize, float rxBwMax, uint8_t* val) { + // lookup tables to avoid comparing a whole bunch of floats + const uint16_t rxBwAvg[] = { + 53, 66, 85, 108, 134, 170, 211, 264, + 341, 424, 529, 682, 847, 1058, 1364, + 1695, 2116, 2729, 3390, 4233, 5159, + 6111, 7179, 9401, 16665, 24440, 28710, + }; + + // iterate through the table and find whether the user-provided value + // is lower than the pre-computed average of the adjacent bandwidth values + // if it is, we consider that to be a match even though the actual value is not precise + uint16_t rxBwInt = rxBw*10.0f; + for(size_t i = 0; i < lutSize; i++) { + if(rxBwInt < rxBwAvg[i]) { + *val = lut[i]; + return(RADIOLIB_ERR_NONE); + } + } + + // if nothing matched up to here, match with the last value + if(rxBwInt <= rxBwMax*10) { + *val = lut[lutSize - 1]; + return(RADIOLIB_ERR_NONE); + } + + return(RADIOLIB_ERR_INVALID_RX_BANDWIDTH); +} + +int16_t LRxxxx::setU32(uint16_t cmd, uint32_t u32) { + uint8_t buff[] = { + (uint8_t)((u32 >> 24) & 0xFF), (uint8_t)((u32 >> 16) & 0xFF), + (uint8_t)((u32 >> 8) & 0xFF), (uint8_t)(u32 & 0xFF), + }; + return(this->SPIcommand(cmd, true, buff, sizeof(buff))); +} + +int16_t LRxxxx::SPIparseStatus(uint8_t in) { + if((in & 0b00001110) == RADIOLIB_LRXXXX_STAT_1_CMD_PERR) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } else if((in & 0b00001110) == RADIOLIB_LRXXXX_STAT_1_CMD_FAIL) { + return(RADIOLIB_ERR_SPI_CMD_FAILED); + } else if((in == 0x00) || (in == 0xFF)) { + return(RADIOLIB_ERR_CHIP_NOT_FOUND); + } + return(RADIOLIB_ERR_NONE); +} + +int16_t LRxxxx::SPIcheckStatus(Module* mod) { + // the status check command doesn't return status in the same place as other read commands, + // but only as the first byte (as with any other command), hence LR11x0::SPIcommand can't be used + // it also seems to ignore the actual command, and just sending in bunch of NOPs will work + uint8_t buff[6] = { 0 }; + Module::BitWidth_t statusWidth = mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS]; + mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_0; + int16_t state = mod->SPItransferStream(NULL, 0, false, NULL, buff, sizeof(buff), true); + mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = statusWidth; + RADIOLIB_ASSERT(state); + return(LRxxxx::SPIparseStatus(buff[0])); +} + +int16_t LRxxxx::writeCommon(uint16_t cmd, uint32_t addrOffset, const uint32_t* data, size_t len, bool nonvolatile) { + // build buffers - later we need to ensure endians are correct, + // so there is probably no way to do this without copying buffers and iterating + size_t buffLen = sizeof(uint32_t) + len*sizeof(uint32_t); + #if RADIOLIB_STATIC_ONLY + uint8_t dataBuff[sizeof(uint32_t) + RADIOLIB_LRXXXX_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* dataBuff = new uint8_t[buffLen]; + #endif + + // set the address or offset + uint8_t* dataBuffPtr = reinterpret_cast(dataBuff); + if(this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] >= Module::BITS_32) { + // LR2021 has 24-bit address, whereas LR11x0 has 32-bit + *(dataBuffPtr++) = (uint8_t)((addrOffset >> 24) & 0xFF); + } + + *(dataBuffPtr++) = (uint8_t)((addrOffset >> 16) & 0xFF); + *(dataBuffPtr++) = (uint8_t)((addrOffset >> 8) & 0xFF); + *(dataBuffPtr++) = (uint8_t)(addrOffset & 0xFF); + + // convert endians + for(size_t i = 0; i < len; i++) { + uint32_t bin = 0; + if(nonvolatile) { + uint32_t* ptr = const_cast(data) + i; + bin = RADIOLIB_NONVOLATILE_READ_DWORD(ptr); + } else { + bin = data[i]; + } + *(dataBuffPtr++) = (uint8_t)((bin >> 24) & 0xFF); + *(dataBuffPtr++) = (uint8_t)((bin >> 16) & 0xFF); + *(dataBuffPtr++) = (uint8_t)((bin >> 8) & 0xFF); + *(dataBuffPtr++) = (uint8_t)(bin & 0xFF); + } + + int16_t state = this->mod->SPIwriteStream(cmd, dataBuff, buffLen, true, false); + #if !RADIOLIB_STATIC_ONLY + delete[] dataBuff; + #endif + return(state); +} + +int16_t LRxxxx::SPIcommand(uint16_t cmd, bool write, uint8_t* data, size_t len, const uint8_t* out, size_t outLen) { + int16_t state = RADIOLIB_ERR_UNKNOWN; + if(!write) { + // the SPI interface of LR11x0 requires two separate transactions for reading + // send the 16-bit command + state = this->mod->SPIwriteStream(cmd, out, outLen, true, false); + RADIOLIB_ASSERT(state); + + // read the result without command + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_0; + state = this->mod->SPIreadStream(RADIOLIB_LRXXXX_CMD_NOP, data, len, true, false); + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_16; + + } else { + // write is just a single transaction + state = this->mod->SPIwriteStream(cmd, data, len, true, true); + + } + + return(state); +} diff --git a/lib/RadioLib/src/modules/LR11x0/LR_common.h b/lib/RadioLib/src/modules/LR11x0/LR_common.h new file mode 100644 index 0000000..0cc5634 --- /dev/null +++ b/lib/RadioLib/src/modules/LR11x0/LR_common.h @@ -0,0 +1,207 @@ +#if !defined(RADIOLIB_LR_COMMON_H) +#define RADIOLIB_LR_COMMON_H + +#include "../../Module.h" +#include "../../protocols/PhysicalLayer/PhysicalLayer.h" + +#define RADIOLIB_LRXXXX_CMD_NOP (0x0000) +#define RADIOLIB_LRXXXX_SPI_MAX_READ_WRITE_LEN (128) // intentionally limited to the length supported by LR2021 + +// RADIOLIB_LR11X0_CMD_GET_STATUS +// RADIOLIB_LR2021_CMD_GET_STATUS MSB LSB DESCRIPTION +#define RADIOLIB_LRXXXX_STAT_1_CMD_FAIL (0x00UL << 1) // 3 1 command status: last command could not be executed +#define RADIOLIB_LRXXXX_STAT_1_CMD_PERR (0x01UL << 1) // 3 1 processing error +#define RADIOLIB_LRXXXX_STAT_1_CMD_OK (0x02UL << 1) // 3 1 successfully processed +#define RADIOLIB_LRXXXX_STAT_1_CMD_DAT (0x03UL << 1) // 3 1 successfully processed, data is being transmitted + +// RADIOLIB_LR11X0_CMD_LR_FHSS_BUILD_FRAME +// RADIOLIB_LR2021_CMD_LR_FHSS_BUILD_FRAME +#define RADIOLIB_LRXXXX_LR_FHSS_CR_5_6 (0x00UL << 0) // 7 0 LR FHSS coding rate: 5/6 +#define RADIOLIB_LRXXXX_LR_FHSS_CR_2_3 (0x01UL << 0) // 7 0 2/3 +#define RADIOLIB_LRXXXX_LR_FHSS_CR_1_2 (0x02UL << 0) // 7 0 1/2 +#define RADIOLIB_LRXXXX_LR_FHSS_CR_1_3 (0x03UL << 0) // 7 0 1/3 +#define RADIOLIB_LRXXXX_LR_FHSS_MOD_TYPE_GMSK (0x00UL << 0) // 7 0 LR FHSS modulation: GMSK +#define RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_FCC (0x00UL << 0) // 7 0 LR FHSS step size: 25.390625 kHz (FCC) +#define RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_NON_FCC (0x01UL << 0) // 7 0 3.90625 kHz (non-FCC) +#define RADIOLIB_LRXXXX_LR_FHSS_HOPPING_DISABLED (0x00UL << 0) // 7 0 LR FHSS hopping: disabled +#define RADIOLIB_LRXXXX_LR_FHSS_HOPPING_ENABLED (0x01UL << 0) // 7 0 enabled +#define RADIOLIB_LRXXXX_LR_FHSS_HOPPING_TEST_NO_HOP (0x02UL << 0) // 7 0 test mode (packet encoded, no hopping) +#define RADIOLIB_LRXXXX_LR_FHSS_HOPPING_TEST_PA_RAMP (0x03UL << 0) // 7 0 test mode (PA ramp up, no hopping) +#define RADIOLIB_LRXXXX_LR_FHSS_BW_39_06 (0x00UL << 0) // 7 0 LR FHSS bandwidth: 39.06 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_85_94 (0x01UL << 0) // 7 0 85.94 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_136_72 (0x02UL << 0) // 7 0 136.72 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_183_59 (0x03UL << 0) // 7 0 183.59 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_335_94 (0x04UL << 0) // 7 0 335.94 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_386_72 (0x05UL << 0) // 7 0 386.72 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_722_66 (0x06UL << 0) // 7 0 722.66 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_773_44 (0x07UL << 0) // 7 0 773.44 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_1523_4 (0x08UL << 0) // 7 0 1523.4 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_BW_1574_2 (0x09UL << 0) // 7 0 1574.2 kHz +#define RADIOLIB_LRXXXX_LR_FHSS_HEADER_BITS (114) // 7 0 LR FHSS packet bit widths: header +#define RADIOLIB_LRXXXX_LR_FHSS_FRAG_BITS (48) // 7 0 payload fragment +#define RADIOLIB_LRXXXX_LR_FHSS_BLOCK_PREAMBLE_BITS (2) // 7 0 block preamble +#define RADIOLIB_LRXXXX_LR_FHSS_BLOCK_BITS (RADIOLIB_LRXXXX_LR_FHSS_FRAG_BITS + RADIOLIB_LRXXXX_LR_FHSS_BLOCK_PREAMBLE_BITS) + +// RADIOLIB_LR11X0_CMD_SET_TCXO_MODE +// RADIOLIB_LR2021_CMD_SET_TCXO_MODE +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_6 (0x00UL << 0) // 2 0 TCXO supply voltage: 1.6V +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_7 (0x01UL << 0) // 2 0 1.7V +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_8 (0x02UL << 0) // 2 0 1.8V +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_2 (0x03UL << 0) // 2 0 2.2V +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_4 (0x04UL << 0) // 2 0 2.4V +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_7 (0x05UL << 0) // 2 0 2.7V +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_3_0 (0x06UL << 0) // 2 0 3.0V +#define RADIOLIB_LRXXXX_TCXO_VOLTAGE_3_3 (0x07UL << 0) // 2 0 3.3V + +// RADIOLIB_LR11X0_CMD_SET_TX_PARAMS +// RADIOLIB_LR2021_CMD_SET_TX_PARAMS +#define RADIOLIB_LRXXXX_PA_RAMP_2U (0x00UL << 0) // 7 0 PA ramp time: 2 us (LR2021 only) +#define RADIOLIB_LRXXXX_PA_RAMP_4U (0x01UL << 0) // 7 0 4 us (LR2021 only) +#define RADIOLIB_LRXXXX_PA_RAMP_8U (0x02UL << 0) // 7 0 8 us (LR2021 only) +#define RADIOLIB_LRXXXX_PA_RAMP_16U (0x03UL << 0) // 7 0 16 us +#define RADIOLIB_LRXXXX_PA_RAMP_32U (0x04UL << 0) // 7 0 32 us +#define RADIOLIB_LRXXXX_PA_RAMP_48U (0x05UL << 0) // 7 0 48 us +#define RADIOLIB_LRXXXX_PA_RAMP_64U (0x06UL << 0) // 7 0 64 us +#define RADIOLIB_LRXXXX_PA_RAMP_80U (0x07UL << 0) // 7 0 80 us +#define RADIOLIB_LRXXXX_PA_RAMP_96U (0x08UL << 0) // 7 0 96 us +#define RADIOLIB_LRXXXX_PA_RAMP_112U (0x09UL << 0) // 7 0 112 us +#define RADIOLIB_LRXXXX_PA_RAMP_128U (0x0AUL << 0) // 7 0 128 us +#define RADIOLIB_LRXXXX_PA_RAMP_144U (0x0BUL << 0) // 7 0 144 us +#define RADIOLIB_LRXXXX_PA_RAMP_160U (0x0CUL << 0) // 7 0 160 us +#define RADIOLIB_LRXXXX_PA_RAMP_176U (0x0DUL << 0) // 7 0 176 us +#define RADIOLIB_LRXXXX_PA_RAMP_192U (0x0EUL << 0) // 7 0 192 us +#define RADIOLIB_LRXXXX_PA_RAMP_208U (0x0FUL << 0) // 7 0 208 us +#define RADIOLIB_LRXXXX_PA_RAMP_240U (0x10UL << 0) // 7 0 240 us +#define RADIOLIB_LRXXXX_PA_RAMP_272U (0x11UL << 0) // 7 0 272 us +#define RADIOLIB_LRXXXX_PA_RAMP_304U (0x12UL << 0) // 7 0 304 us + +// RADIOLIB_LR11X0_CMD_SET_DIO_AS_RF_SWITCH +// RADIOLIB_LR2021_CMD_SET_DIO_AS_RF_SWITCH +#define RADIOLIB_LRXXXX_DIOx(X) ((X) | RFSWITCH_PIN_FLAG) +#define RADIOLIB_LRXXXX_DIOx_VAL(X) ((X) & ~RFSWITCH_PIN_FLAG) + +// common configuration values +#define RADIOLIB_LRXXXX_LR_FHSS_BIT_RATE (488.28215f) // 31 0 LR FHSS bit rate: 488.28215 bps +#define RADIOLIB_LRXXXX_LR_FHSS_BIT_RATE_RAW (0x8001E848UL) // 31 0 488.28215 bps in raw +#define RADIOLIB_LRXXXX_LORA_HEADER_EXPLICIT (0x00UL << 0) // 7 0 LoRa header mode: explicit +#define RADIOLIB_LRXXXX_LORA_HEADER_IMPLICIT (0x01UL << 0) // 7 0 implicit +#define RADIOLIB_LRXXXX_LORA_CRC_ENABLED (0x01UL << 0) // 7 0 CRC: enabled +#define RADIOLIB_LRXXXX_LORA_CRC_DISABLED (0x00UL << 0) // 7 0 disabled + +class LRxxxx: public PhysicalLayer { + public: + explicit LRxxxx(Module* mod); + + /*! + \brief Whether the module has an XTAL (true) or TCXO (false). Defaults to false. + */ + bool XTAL; + + /*! + \brief Reset method. Will reset the chip to the default state using RST pin. + \returns \ref status_codes + */ + int16_t reset(); + + /*! + \brief Sets interrupt service routine to call when IRQ1 activates. + \param func ISR to call. + */ + void setIrqAction(void (*func)(void)); + + /*! + \brief Clears interrupt service routine to call when IRQ1 activates. + */ + void clearIrqAction(); + + /*! + \brief Sets interrupt service routine to call when a packet is received. + \param func ISR to call. + */ + void setPacketReceivedAction(void (*func)(void)) override; + + /*! + \brief Clears interrupt service routine to call when a packet is received. + */ + void clearPacketReceivedAction() override; + + /*! + \brief Sets interrupt service routine to call when a packet is sent. + \param func ISR to call. + */ + void setPacketSentAction(void (*func)(void)) override; + + /*! + \brief Clears interrupt service routine to call when a packet is sent. + */ + void clearPacketSentAction() override; + + /*! + \brief Reads the current IRQ status. + \returns IRQ status bits + */ + uint32_t getIrqStatus(); + + /*! + \brief Calculate the expected time-on-air for a given modem, data rate, packet configuration and payload size. + \param modem Modem type. + \param dr Data rate. + \param pc Packet config. + \param len Payload length in bytes. + \returns Expected time-on-air in microseconds. + */ + RadioLibTime_t calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) override; + + /*! + \brief Calculate the timeout value for this specific module / series (in number of symbols or units of time) + \param timeoutUs Timeout in microseconds to listen for + \returns Timeout value in a unit that is specific for the used module + */ + RadioLibTime_t calculateRxTimeout(RadioLibTime_t timeoutUs) override; + + protected: + Module* mod; + + float freqMHz = 0; + uint32_t rxTimeout = 0; + + // cached LoRa parameters + uint8_t bandwidth = 0, spreadingFactor = 0, codingRate = 0, ldrOptimize = 0, crcTypeLoRa = 0, headerType = 0; + uint16_t preambleLengthLoRa = 0; + float bandwidthKhz = 0; + bool ldroAuto = true; + size_t implicitLen = 0; + bool invertIQEnabled = false; + + // cached GFSK parameters + uint32_t bitRate = 0, frequencyDev = 0; + uint8_t preambleDetLength = 0, rxBandwidth = 0, pulseShape = 0, crcTypeGFSK = 0, crcLenGFSK = 0, syncWordLength = 0, addrComp = 0, whitening = 0, packetType = 0, node = 0; + uint16_t preambleLengthGFSK = 0; + + // cached LR-FHSS parameters + uint8_t lrFhssCr = 0, lrFhssBw = 0, lrFhssHdrCount = 0, lrFhssGrid = 0; + uint16_t lrFhssHopSeq = 0; + + // a lot of SPI commands have the same structure and arguments on both LR11xx as well as LR2021 + // the only difference is the 16-bit command code - however, having everything in this base class + // will actually increase the binary size, because of the extra method calls that are needed + // for that reason, only the methods that are 100% the same are kept here + int16_t getStatus(uint8_t* stat1, uint8_t* stat2, uint32_t* irq); + int16_t lrFhssBuildFrame(uint16_t cmd, uint8_t hdrCount, uint8_t cr, uint8_t grid, uint8_t hop, uint8_t bw, uint16_t hopSeq, int8_t devOffset, const uint8_t* payload, size_t len); + uint8_t roundRampTime(uint32_t rampTimeUs); + int16_t findRxBw(float rxBw, const uint8_t* lut, size_t lutSize, float rxBwMax, uint8_t* val); + RadioLibTime_t getTimeOnAir(size_t len, ModemType_t modem); + + // several commands just send unsigned 32-bit number + int16_t setU32(uint16_t cmd, uint32_t u32); + + int16_t writeCommon(uint16_t cmd, uint32_t addrOffset, const uint32_t* data, size_t len, bool nonvolatile); + int16_t SPIcommand(uint16_t cmd, bool write, uint8_t* data, size_t len, const uint8_t* out = NULL, size_t outLen = 0); + + static int16_t SPIparseStatus(uint8_t in); + static int16_t SPIcheckStatus(Module* mod); + + private: +}; + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021.cpp b/lib/RadioLib/src/modules/LR2021/LR2021.cpp new file mode 100644 index 0000000..a7085c5 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021.cpp @@ -0,0 +1,1055 @@ +#include "LR2021.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +LR2021::LR2021(Module* mod) : LRxxxx(mod) { + this->freqStep = RADIOLIB_LR2021_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_LR2021_MAX_PACKET_LENGTH; + this->irqMap[RADIOLIB_IRQ_TX_DONE] = RADIOLIB_LR2021_IRQ_TX_DONE; + this->irqMap[RADIOLIB_IRQ_RX_DONE] = RADIOLIB_LR2021_IRQ_RX_DONE; + this->irqMap[RADIOLIB_IRQ_PREAMBLE_DETECTED] = RADIOLIB_LR2021_IRQ_PREAMBLE_DETECTED; + this->irqMap[RADIOLIB_IRQ_SYNC_WORD_VALID] = RADIOLIB_LR2021_IRQ_LORA_HEADER_VALID; + this->irqMap[RADIOLIB_IRQ_HEADER_VALID] = RADIOLIB_LR2021_IRQ_LORA_HEADER_VALID; + this->irqMap[RADIOLIB_IRQ_HEADER_ERR] = RADIOLIB_LR2021_IRQ_LORA_HDR_CRC_ERROR; + this->irqMap[RADIOLIB_IRQ_CRC_ERR] = RADIOLIB_LR2021_IRQ_CRC_ERROR; + this->irqMap[RADIOLIB_IRQ_CAD_DONE] = RADIOLIB_LR2021_IRQ_CAD_DONE; + this->irqMap[RADIOLIB_IRQ_CAD_DETECTED] = RADIOLIB_LR2021_IRQ_CAD_DETECTED; + this->irqMap[RADIOLIB_IRQ_TIMEOUT] = RADIOLIB_LR2021_IRQ_TIMEOUT; +} + +int16_t LR2021::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t power, uint16_t preambleLength, float tcxoVoltage) { + // set module properties and perform initial setup + int16_t state = this->modSetup(freq, tcxoVoltage, RADIOLIB_LR2021_PACKET_TYPE_LORA); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setBandwidth(bw); + RADIOLIB_ASSERT(state); + + state = setSpreadingFactor(sf); + RADIOLIB_ASSERT(state); + + state = setCodingRate(cr); + RADIOLIB_ASSERT(state); + + state = setSyncWord(syncWord); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + state = setPreambleLength(preambleLength); + RADIOLIB_ASSERT(state); + + // set publicly accessible settings that are not a part of begin method + state = setCRC(2); + RADIOLIB_ASSERT(state); + + state = invertIQ(false); + return(state); +} + +int16_t LR2021::beginGFSK(float freq, float br, float freqDev, float rxBw, int8_t power, uint16_t preambleLength, float tcxoVoltage) { + this->rxBandwidth = RADIOLIB_LR2021_GFSK_OOK_RX_BW_153_8; + this->frequencyDev = freqDev * 1000.0f; + + // set module properties and perform initial setup + int16_t state = this->modSetup(freq, tcxoVoltage, RADIOLIB_LR2021_PACKET_TYPE_GFSK); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setBitRate(br); + RADIOLIB_ASSERT(state); + + state = setFrequencyDeviation(freqDev); + RADIOLIB_ASSERT(state); + + state = setRxBandwidth(rxBw); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + state = setPreambleLength(preambleLength); + RADIOLIB_ASSERT(state); + + // set publicly accessible settings that are not a part of begin method + uint8_t sync[] = { 0x12, 0xAD }; + state = setSyncWord(sync, 2); + RADIOLIB_ASSERT(state); + + state = setDataShaping(RADIOLIB_SHAPING_NONE); + RADIOLIB_ASSERT(state); + + state = setEncoding(RADIOLIB_ENCODING_NRZ); + RADIOLIB_ASSERT(state); + + state = variablePacketLengthMode(RADIOLIB_LR2021_MAX_PACKET_LENGTH); + RADIOLIB_ASSERT(state); + + state = setCRC(2); + return(state); +} + +int16_t LR2021::beginOOK(float freq, float br, float rxBw, int8_t power, uint16_t preambleLength, float tcxoVoltage) { + this->rxBandwidth = RADIOLIB_LR2021_GFSK_OOK_RX_BW_153_8; + + // set module properties and perform initial setup + int16_t state = this->modSetup(freq, tcxoVoltage, RADIOLIB_LR2021_PACKET_TYPE_OOK); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setBitRate(br); + RADIOLIB_ASSERT(state); + + state = setRxBandwidth(rxBw); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + state = setPreambleLength(preambleLength); + RADIOLIB_ASSERT(state); + + // set publicly accessible settings that are not a part of begin method + uint8_t sync[] = { 0x12, 0xAD }; + state = setSyncWord(sync, 2); + RADIOLIB_ASSERT(state); + + state = setDataShaping(RADIOLIB_SHAPING_NONE); + RADIOLIB_ASSERT(state); + + state = setEncoding(RADIOLIB_ENCODING_NRZ); + RADIOLIB_ASSERT(state); + + state = variablePacketLengthMode(RADIOLIB_LR2021_MAX_PACKET_LENGTH); + RADIOLIB_ASSERT(state); + + state = setCRC(2); + return(state); +} + +int16_t LR2021::beginLRFHSS(float freq, uint8_t bw, uint8_t cr, bool narrowGrid, int8_t power, float tcxoVoltage) { +// set module properties and perform initial setup + int16_t state = this->modSetup(freq, tcxoVoltage, RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS); + RADIOLIB_ASSERT(state); + + // set grid spacing + this->lrFhssGrid = narrowGrid ? RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_FCC; + + // configure publicly accessible settings + state = setLrFhssConfig(bw, cr); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + uint8_t syncWord[] = { 0x12, 0xAD, 0x10, 0x1B }; + state = setSyncWord(syncWord, 4); + return(state); +} + +int16_t LR2021::beginFLRC(float freq, uint16_t br, uint8_t cr, int8_t pwr, uint16_t preambleLength, uint8_t dataShaping, float tcxoVoltage) { + // initialize FLRC modulation variables + this->bitRateFlrc = br; + this->codingRateFlrc = RADIOLIB_LR2021_FLRC_CR_3_4; + this->pulseShape = RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_0_5; + + // initialize FLRC packet variables + this->preambleLengthGFSK = preambleLength; + this->crcLenGFSK = 1; + + // set module properties and perform initial setup + int16_t state = this->modSetup(freq, tcxoVoltage, RADIOLIB_LR2021_PACKET_TYPE_FLRC); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setFrequency(freq); + RADIOLIB_ASSERT(state); + + state = setBitRate(br); + RADIOLIB_ASSERT(state); + + state = setCodingRate(cr); + RADIOLIB_ASSERT(state); + + state = setOutputPower(pwr); + RADIOLIB_ASSERT(state); + + state = setPreambleLength(preambleLength); + RADIOLIB_ASSERT(state); + + state = setDataShaping(dataShaping); + RADIOLIB_ASSERT(state); + + // set publicly accessible settings that are not a part of begin method + uint8_t sync[] = { 0x2D, 0x01, 0x4B, 0x1D}; + state = setSyncWord(sync, 4); + RADIOLIB_ASSERT(state); + + state = variablePacketLengthMode(RADIOLIB_LR2021_MAX_PACKET_LENGTH); + RADIOLIB_ASSERT(state); + + state = setCRC(2); + return(state); +} + +int16_t LR2021::transmit(const uint8_t* data, size_t len, uint8_t addr) { + // set mode to standby + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // check packet length + if (this->codingRate > RADIOLIB_LR2021_LORA_CR_4_8) { + // Long Interleaver needs at least 8 bytes + if(len < 8) { + return(RADIOLIB_ERR_PACKET_TOO_SHORT); + } + + // Long Interleaver supports up to 253 bytes if CRC is enabled + if (this->crcTypeLoRa == RADIOLIB_LR2021_LORA_CRC_ENABLED && (len > RADIOLIB_LR2021_MAX_PACKET_LENGTH - 2)) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + } + if(len > RADIOLIB_LR2021_MAX_PACKET_LENGTH) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // get currently active modem + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + RadioLibTime_t timeout = getTimeOnAir(len); + if(modem == RADIOLIB_LR2021_PACKET_TYPE_LORA) { + // calculate timeout (150% of expected time-on-air) + timeout = (timeout * 3) / 2; + + } else if((modem == RADIOLIB_LR2021_PACKET_TYPE_GFSK) || + (modem == RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS) || + (modem == RADIOLIB_LR2021_PACKET_TYPE_FLRC) || + (modem == RADIOLIB_LR2021_PACKET_TYPE_OOK)) { + // calculate timeout (500% of expected time-on-air) + timeout = timeout * 5; + + } else { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu us", timeout); + + // start transmission + state = startTransmit(data, len, addr); + RADIOLIB_ASSERT(state); + + // wait for packet transmission or timeout + RadioLibTime_t start = this->mod->hal->micros(); + while(!this->mod->hal->digitalRead(this->mod->getIrq())) { + this->mod->hal->yield(); + if(this->mod->hal->micros() - start > timeout) { + finishTransmit(); + return(RADIOLIB_ERR_TX_TIMEOUT); + } + } + + return(finishTransmit()); +} + +int16_t LR2021::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { + // set mode to standby + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // calculate timeout based on the configured modem + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { + // get currently active modem + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if((modem == RADIOLIB_LR2021_PACKET_TYPE_LORA) || + (modem == RADIOLIB_LR2021_PACKET_TYPE_GFSK) || + (modem == RADIOLIB_LR2021_PACKET_TYPE_FLRC) || + (modem == RADIOLIB_LR2021_PACKET_TYPE_OOK)) { + // calculate timeout (500 % of expected time-one-air) + size_t maxLen = len; + if(len == 0) { maxLen = RADIOLIB_LR2021_MAX_PACKET_LENGTH; } + timeoutInternal = (getTimeOnAir(maxLen) * 5) / 1000; + + } else if(modem == RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS) { + // this modem cannot receive + return(RADIOLIB_ERR_WRONG_MODEM); + + } else { + return(RADIOLIB_ERR_UNKNOWN); + + } + } + + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", timeoutInternal); + + // start reception + uint32_t timeoutValue = (uint32_t)(((float)timeoutInternal * 1000.0f) / 30.52f); + state = startReceive(timeoutValue); + RADIOLIB_ASSERT(state); + + // wait for packet reception or timeout + bool softTimeout = false; + RadioLibTime_t start = this->mod->hal->millis(); + while(!this->mod->hal->digitalRead(this->mod->getIrq())) { + this->mod->hal->yield(); + // safety check, the timeout should be done by the radio + if(this->mod->hal->millis() - start > timeoutInternal) { + softTimeout = true; + break; + } + } + + // if it was a timeout, this will return an error code + //! \TODO: [LR2021] taken from SX126x, does this really work? + state = standby(); + if((state != RADIOLIB_ERR_NONE) && (state != RADIOLIB_ERR_SPI_CMD_TIMEOUT)) { + return(state); + } + + // check whether this was a timeout or not + if(softTimeout || (getIrqFlags() & this->irqMap[RADIOLIB_IRQ_TIMEOUT])) { + (void)finishReceive(); + return(RADIOLIB_ERR_RX_TIMEOUT); + } + + // read the received data + return(readData(data, len)); +} + +int16_t LR2021::transmitDirect(uint32_t frf) { + // set RF switch (if present) + this->mod->setRfSwitchState(Module::MODE_TX); + + // user requested to start transmitting immediately (required for RTTY) + int16_t state = RADIOLIB_ERR_NONE; + if(frf != 0) { + state = setRfFrequency(frf); + } + RADIOLIB_ASSERT(state); + + // start transmitting + return(setTxTestMode(RADIOLIB_LR2021_TX_TEST_MODE_CW)); +} + +int16_t LR2021::receiveDirect() { + // set RF switch (if present) + this->mod->setRfSwitchState(Module::MODE_RX); + + // LR2021 is unable to output received data directly + return(RADIOLIB_ERR_UNKNOWN); +} + +int16_t LR2021::scanChannel() { + ChannelScanConfig_t cfg = { + .cad = { + .symNum = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .detPeak = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .detMin = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .exitMode = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .timeout = 0, + .irqFlags = RADIOLIB_IRQ_CAD_DEFAULT_FLAGS, + .irqMask = RADIOLIB_IRQ_CAD_DEFAULT_MASK, + }, + }; + return(this->scanChannel(cfg)); +} + +int16_t LR2021::scanChannel(const ChannelScanConfig_t &config) { + // set mode to CAD + int state = startChannelScan(config); + RADIOLIB_ASSERT(state); + + // wait for channel activity detected or timeout + while(!this->mod->hal->digitalRead(this->mod->getIrq())) { + this->mod->hal->yield(); + } + + // check CAD result + return(getChannelScanResult()); +} + +int16_t LR2021::standby() { + return(this->standby(RADIOLIB_LR2021_STANDBY_RC)); +} + +int16_t LR2021::standby(uint8_t mode) { + return(this->standby(mode, true)); +} + +int16_t LR2021::standby(uint8_t mode, bool wakeup) { + // set RF switch (if present) + this->mod->setRfSwitchState(Module::MODE_IDLE); + + if(wakeup) { + // send a NOP command - this pulls the NSS low to exit the sleep mode, + // while preventing interference with possible other SPI transactions + (void)this->mod->SPIwriteStream((uint16_t)RADIOLIB_LR2021_CMD_NOP, NULL, 0, false, false); + } + + uint8_t buff[] = { mode }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_STANDBY, true, buff, sizeof(buff))); +} + +int16_t LR2021::sleep() { + return(this->sleep(true, 0)); +} + +int16_t LR2021::sleep(bool retainConfig, uint32_t sleepTime) { + // set RF switch (if present) + this->mod->setRfSwitchState(Module::MODE_IDLE); + + uint8_t buff[] = { (uint8_t)(retainConfig ? RADIOLIB_LR2021_SLEEP_RETENTION_ENABLED : RADIOLIB_LR2021_SLEEP_RETENTION_DISABLED), + (uint8_t)((sleepTime >> 24) & 0xFF), (uint8_t)((sleepTime >> 16) & 0xFF), + (uint8_t)((sleepTime >> 8) & 0xFF), (uint8_t)(sleepTime & 0xFF), + }; + + // in sleep, the busy line will remain high, so we have to use this method to disable waiting for it to go low + int16_t state = this->mod->SPIwriteStream(RADIOLIB_LR2021_CMD_SET_SLEEP, buff, sizeof(buff), false, false); + + // wait for the module to safely enter sleep mode + this->mod->hal->delay(1); + + return(state); +} + +size_t LR2021::getPacketLength(bool update) { + (void)update; + + // in implicit mode, return the cached value + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + (void)getPacketType(&type); + if((type == RADIOLIB_LR2021_PACKET_TYPE_LORA) && (this->headerType == RADIOLIB_LR2021_LORA_HEADER_IMPLICIT)) { + return(this->implicitLen); + } + + uint16_t len = 0; + (void)getRxPktLength(&len); + return((size_t)len); +} + +int16_t LR2021::finishTransmit() { + // clear interrupt flags + clearIrqState(RADIOLIB_LR2021_IRQ_ALL); + + // set mode to standby to disable transmitter/RF switch + return(standby()); +} + +int16_t LR2021::startReceive() { + return(this->startReceive(RADIOLIB_LR2021_RX_TIMEOUT_INF, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, 0)); +} + +int16_t LR2021::readData(uint8_t* data, size_t len) { + // check active modem + int16_t state = RADIOLIB_ERR_NONE; + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if((modem != RADIOLIB_LR2021_PACKET_TYPE_LORA) && + (modem != RADIOLIB_LR2021_PACKET_TYPE_GFSK) && + (modem != RADIOLIB_LR2021_PACKET_TYPE_FLRC) && + (modem != RADIOLIB_LR2021_PACKET_TYPE_OOK)) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // check integrity CRC + uint32_t irq = getIrqStatus(); + int16_t crcState = RADIOLIB_ERR_NONE; + // report CRC mismatch when there's a payload CRC error + if(irq & RADIOLIB_LR2021_IRQ_CRC_ERROR) { + crcState = RADIOLIB_ERR_CRC_MISMATCH; + } + + // for LoRa modem and explicit header mode, check also also header valid flag + if((modem == RADIOLIB_LR2021_PACKET_TYPE_LORA) && + (this->headerType == RADIOLIB_LR2021_LORA_HEADER_EXPLICIT) && + (!(irq & RADIOLIB_LR2021_IRQ_LORA_HEADER_VALID))) { + crcState = RADIOLIB_ERR_LORA_HEADER_DAMAGED; + } + + // get packet length + size_t length = getPacketLength(); + if((len != 0) && (len < length)) { + // user requested less data than we got, only return what was requested + length = len; + } + + // read packet data + state = readRadioRxFifo(data, length); + RADIOLIB_ASSERT(state); + + // clear the Rx buffer + state = clearRxFifo(); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + state = clearIrqState(RADIOLIB_LR2021_IRQ_ALL); + + // check if CRC failed - this is done after reading data to give user the option to keep them + RADIOLIB_ASSERT(crcState); + + return(state); +} + +int16_t LR2021::finishReceive() { + // set mode to standby to disable RF switch + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + return(clearIrqState(RADIOLIB_LR2021_IRQ_ALL)); +} + +int16_t LR2021::startChannelScan() { + ChannelScanConfig_t cfg = { + .cad = { + .symNum = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .detPeak = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .detMin = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .exitMode = RADIOLIB_LR2021_CAD_PARAM_DEFAULT, + .timeout = 0, + .irqFlags = RADIOLIB_IRQ_CAD_DEFAULT_FLAGS, + .irqMask = RADIOLIB_IRQ_CAD_DEFAULT_MASK, + }, + }; + return(this->startChannelScan(cfg)); +} + +int16_t LR2021::startChannelScan(const ChannelScanConfig_t &config) { + // check active modem + int16_t state = RADIOLIB_ERR_NONE; + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if(modem != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set mode to standby + state = standby(); + RADIOLIB_ASSERT(state); + + // set RF switch (if present) + this->mod->setRfSwitchState(Module::MODE_RX); + + // set DIO pin mapping + uint32_t irqFlags = (config.cad.irqFlags == RADIOLIB_IRQ_NOT_SUPPORTED) ? RADIOLIB_LR2021_IRQ_CAD_DETECTED | RADIOLIB_LR2021_IRQ_CAD_DONE : config.cad.irqFlags; + state = setDioIrqConfig(this->irqDioNum, getIrqMapped(irqFlags)); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + state = clearIrqState(RADIOLIB_LR2021_IRQ_ALL); + RADIOLIB_ASSERT(state); + + // set mode to CAD + return(startCad(config.cad.symNum, config.cad.detPeak, this->fastCad, config.cad.exitMode, config.cad.timeout)); +} + +int16_t LR2021::getChannelScanResult() { + // check active modem + int16_t state = RADIOLIB_ERR_NONE; + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if(modem != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // check CAD result + uint32_t cadResult = getIrqStatus(); + if(cadResult & RADIOLIB_LR2021_IRQ_CAD_DETECTED) { + // detected some LoRa activity + return(RADIOLIB_LORA_DETECTED); + } else if(cadResult & RADIOLIB_LR2021_IRQ_CAD_DONE) { + // channel is free + return(RADIOLIB_CHANNEL_FREE); + } + + return(RADIOLIB_ERR_UNKNOWN); +} + +uint32_t LR2021::getIrqFlags() { + return(getIrqStatus()); +} + +int16_t LR2021::setIrqFlags(uint32_t irq) { + return(this->setDioIrqConfig(this->irqDioNum, irq)); +} + +int16_t LR2021::clearIrqFlags(uint32_t irq) { + return(this->clearIrqState(irq)); +} + +int16_t LR2021::setModem(ModemType_t modem) { + switch(modem) { + case(ModemType_t::RADIOLIB_MODEM_LORA): { + return(this->begin()); + } break; + case(ModemType_t::RADIOLIB_MODEM_FSK): { + return(this->beginGFSK()); + } break; + case(ModemType_t::RADIOLIB_MODEM_LRFHSS): { + return(this->beginLRFHSS()); + } break; + default: + return(RADIOLIB_ERR_WRONG_MODEM); + } +} + +Module* LR2021::getMod() { + return(this->mod); +} + +int16_t LR2021::modSetup(float freq, float tcxoVoltage, uint8_t modem) { + this->mod->init(); + this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); + this->mod->hal->pinMode(this->mod->getGpio(), this->mod->hal->GpioModeInput); + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_READ] = RADIOLIB_LR2021_CMD_READ_REG_MEM_32; + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE] = RADIOLIB_LR2021_CMD_WRITE_REG_MEM_32; + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_NOP] = RADIOLIB_LR2021_CMD_NOP; + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_LR2021_CMD_GET_STATUS; + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_24; + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_16; + + // try to find the chip - this will also reset the module at least once + if(!this->findChip()) { + RADIOLIB_DEBUG_BASIC_PRINTLN("No LR2021 found!"); + this->mod->term(); + return(RADIOLIB_ERR_CHIP_NOT_FOUND); + } + RADIOLIB_DEBUG_BASIC_PRINTLN("M\tLR2021"); + + // set mode to standby + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // set TCXO control, if requested + if(!this->XTAL && tcxoVoltage > 0.0f) { + state = setTCXO(tcxoVoltage); + RADIOLIB_ASSERT(state); + } + + // configure settings not accessible by API + state = config(modem); + RADIOLIB_ASSERT(state); + + state = setFrequency(freq); + return(state); +} + +bool LR2021::findChip(void) { + // this is the only version mentioned in datasheet + const uint8_t expMajor = 0x01; + const uint8_t expMinor = 0x18; + + uint8_t i = 0; + bool flagFound = false; + uint8_t fwMajor = 0, fwMinor = 0; + while((i < 10) && !flagFound) { + // reset the module + reset(); + + // read the version + int16_t state = getVersion(&fwMajor, &fwMinor); + RADIOLIB_ASSERT(state); + + if((fwMajor == expMajor) && (fwMinor == expMinor)) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Found LR2021"); + RADIOLIB_DEBUG_BASIC_PRINTLN("Base FW version: %d.%d", (int)fwMajor, (int)fwMinor); + flagFound = true; + } else { + RADIOLIB_DEBUG_BASIC_PRINTLN("LR2021 not found! (%d of 10 tries) FW version: = %d.%d", (int)fwMajor, (int)fwMinor); + RADIOLIB_DEBUG_BASIC_PRINTLN("Expected: %d.%d", (int)expMajor, (int)expMinor); + this->mod->hal->delay(10); + i++; + } + } + + return(flagFound); +} + +int16_t LR2021::config(uint8_t modem) { + // set Rx/Tx fallback mode to STDBY_RC + int16_t state = this->setRxTxFallbackMode(RADIOLIB_LR2021_FALLBACK_MODE_STBY_RC); + RADIOLIB_ASSERT(state); + + // clear IRQ + state = this->clearIrqState(RADIOLIB_LR2021_IRQ_ALL); + RADIOLIB_ASSERT(state); + + // Regulator / ramp resolution (datasheet SetRegMode); avoids relying on reset defaults. + const uint8_t rampTimes[4] = { 0x00, 0x00, 0x00, 0x00 }; + state = this->setRegMode((uint8_t)(RADIOLIB_LR2021_REG_MODE_SIMO_NORMAL | RADIOLIB_LR2021_REG_MODE_RAMP_RES_4_US), rampTimes); + RADIOLIB_ASSERT(state); + + // validate DIO pin number + if((this->irqDioNum < 5) || (this->irqDioNum > 11)) { + return(RADIOLIB_ERR_INVALID_DIO_PIN); + } + + // set the DIO to IRQ + // DIO5 can only be pull up + uint8_t pull = this->irqDioNum == 5 ? RADIOLIB_LR2021_DIO_SLEEP_PULL_UP : RADIOLIB_LR2021_DIO_SLEEP_PULL_NONE; + state = this->setDioFunction(this->irqDioNum, RADIOLIB_LR2021_DIO_FUNCTION_IRQ, pull); + RADIOLIB_ASSERT(state); + + // calibrate all blocks + state = this->calibrate(RADIOLIB_LR2021_CALIBRATE_ALL); + + // wait for calibration completion + this->mod->hal->delay(5); + while(this->mod->hal->digitalRead(this->mod->getGpio())) { + this->mod->hal->yield(); + } + + // if something failed, show the device errors + #if RADIOLIB_DEBUG_BASIC + if(state != RADIOLIB_ERR_NONE) { + uint16_t errors = 0; + getErrors(&errors); + RADIOLIB_DEBUG_BASIC_PRINTLN("Calibration failed, device errors: 0x%X", errors); + } + #else + RADIOLIB_ASSERT(state); + #endif + + // set modem + state = this->setPacketType(modem); + return(state); +} + +int16_t LR2021::startCad(uint8_t symbolNum, uint8_t detPeak, bool fast, uint8_t exitMode, RadioLibTime_t timeout) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // select CAD parameters + uint8_t num = symbolNum; + if(num == RADIOLIB_LR2021_CAD_PARAM_DEFAULT) { + num = 2; + } + + // reference values ​​from the datasheet for 2 symbols + //! \TODO: [LR2021] allow CAD peak detection autoconfiguration + const uint8_t detPeakValues[8] = { 56, 56, 56, 58, 58, 60, 64, 68 }; + uint8_t peak = detPeak; + if(peak == RADIOLIB_LR2021_CAD_PARAM_DEFAULT) { + peak = detPeakValues[this->spreadingFactor - 5]; + } + + // in Fast CAD mode enable acceleration + uint8_t pnrDelta = fast ? RADIOLIB_LR2021_LORA_CAD_PNR_DELTA_FAST : RADIOLIB_LR2021_LORA_CAD_PNR_DELTA_STANDARD; + + uint8_t mode = exitMode; + if(mode == RADIOLIB_LR2021_CAD_PARAM_DEFAULT) { + mode = RADIOLIB_LR2021_CAD_EXIT_MODE_FALLBACK; + } + + uint32_t timeout_raw = (float)timeout / 30.52f; + + // set LoRa CAD parameters + // preamble only mode is intentionally disabled, as it is unreliable according to the datasheet + state = setLoRaCadParams(num, false, pnrDelta, mode, timeout_raw, peak); + RADIOLIB_ASSERT(state); + + // start LoraCAD + return(setLoRaCad()); +} + +RadioLibTime_t LR2021::getTimeOnAir(size_t len) { + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + + switch(type) { + // basic modems are supported by the LRxxxx base class + case(RADIOLIB_LR2021_PACKET_TYPE_LORA): + return(LRxxxx::getTimeOnAir(len, ModemType_t::RADIOLIB_MODEM_LORA)); + case(RADIOLIB_LR2021_PACKET_TYPE_GFSK): + return(LRxxxx::getTimeOnAir(len, ModemType_t::RADIOLIB_MODEM_FSK)); + case(RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS): + return(LRxxxx::getTimeOnAir(len, ModemType_t::RADIOLIB_MODEM_LRFHSS)); + case(RADIOLIB_LR2021_PACKET_TYPE_FLRC): { + //! \todo [LR2021] Add FLRC to the modems supported in ModemType_t + + // calculate the bits of the uncoded part of the packet + size_t n_uncoded_bits = (this->preambleLengthGFSK + 1)*4 + 21 + this->syncWordLength*8; + if(this->packetType != RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED) { n_uncoded_bits+= 16; } + + // calculate bits in the coded part + size_t n_coded_bits = len*8; + if(this->crcLenGFSK != 0) { n_coded_bits += (this->crcLenGFSK + 1)*8; } + if(this->codingRateFlrc <= RADIOLIB_LR2021_FLRC_CR_3_4) { n_coded_bits += 6; } + float n_coded_bits_flt = n_coded_bits; + switch(this->codingRateFlrc) { + case(RADIOLIB_LR2021_FLRC_CR_1_2): + n_coded_bits += 6; + n_coded_bits_flt = (float)n_coded_bits*2.0f; + break; + case(RADIOLIB_LR2021_FLRC_CR_3_4): + n_coded_bits += 6; + n_coded_bits_flt = ((float)n_coded_bits*4.0f)/3.0f; + break; + case(RADIOLIB_LR2021_FLRC_CR_2_3): + n_coded_bits_flt = ((float)n_coded_bits*3.0f)/2.0f; + break; + } + n_coded_bits = n_coded_bits_flt + 0.5f; + + // now calculate the real time on air + return((float)(n_uncoded_bits + n_coded_bits) / (float)(this->bitRate / 1000.0f)); + } + } + + RADIOLIB_DEBUG_BASIC_PRINTLN("Called getTimeOnAir() for invalid modem (%02x)!", type); + return(0); +} + +int16_t LR2021::getModem(ModemType_t* modem) { + RADIOLIB_ASSERT_PTR(modem); + + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + + switch(type) { + case(RADIOLIB_LR2021_PACKET_TYPE_LORA): + *modem = ModemType_t::RADIOLIB_MODEM_LORA; + return(RADIOLIB_ERR_NONE); + case(RADIOLIB_LR2021_PACKET_TYPE_GFSK): + *modem = ModemType_t::RADIOLIB_MODEM_FSK; + return(RADIOLIB_ERR_NONE); + case(RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS): + *modem = ModemType_t::RADIOLIB_MODEM_LRFHSS; + return(RADIOLIB_ERR_NONE); + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) { + int16_t state; + + switch(mode) { + case(RADIOLIB_RADIO_MODE_RX): { + // check active modem + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if((modem != RADIOLIB_LR2021_PACKET_TYPE_LORA) && + (modem != RADIOLIB_LR2021_PACKET_TYPE_GFSK) && + (modem != RADIOLIB_LR2021_PACKET_TYPE_FLRC) && + (modem != RADIOLIB_LR2021_PACKET_TYPE_OOK)) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set the correct Rx path + state = setRxPath(this->highFreq ? RADIOLIB_LR2021_RX_PATH_HF : RADIOLIB_LR2021_RX_PATH_LF, this->highFreq ? this->gainModeHf : this->gainModeLf); + RADIOLIB_ASSERT(state); + + // set DIO mapping + if(cfg->receive.timeout != RADIOLIB_LR2021_RX_TIMEOUT_INF) { + cfg->receive.irqMask |= (1UL << RADIOLIB_IRQ_TIMEOUT); + } + state = setDioIrqConfig(this->irqDioNum, getIrqMapped(cfg->receive.irqFlags & cfg->receive.irqMask)); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + state = clearIrqState(RADIOLIB_LR2021_IRQ_ALL); + RADIOLIB_ASSERT(state); + + // set implicit mode and expected len if applicable + if((this->headerType == RADIOLIB_LR2021_LORA_HEADER_IMPLICIT) && (modem == RADIOLIB_LR2021_PACKET_TYPE_LORA)) { + state = setLoRaPacketParams(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, this->invertIQEnabled); + RADIOLIB_ASSERT(state); + } + + // if max(uint32_t) is used, revert to RxContinuous + if(cfg->receive.timeout == 0xFFFFFFFF) { + cfg->receive.timeout = 0xFFFFFF; + } + this->rxTimeout = cfg->receive.timeout; + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + // check packet length + if(cfg->transmit.len > RADIOLIB_LR2021_MAX_PACKET_LENGTH) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // maximum packet length is decreased by 1 when address filtering is active + //! \todo [LR2021] implement GFSK address filtering + + // set packet Length + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if(modem == RADIOLIB_LR2021_PACKET_TYPE_LORA) { + state = setLoRaPacketParams(this->preambleLengthLoRa, this->headerType, cfg->transmit.len, this->crcTypeLoRa, this->invertIQEnabled); + + } else if(modem == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + state = setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, this->packetType, cfg->transmit.len, this->crcTypeGFSK, this->whitening); + + } else if(modem == RADIOLIB_LR2021_PACKET_TYPE_OOK) { + state = setOokPacketParams(this->preambleLengthGFSK, this->addrComp, this->packetType, cfg->transmit.len, this->crcTypeGFSK, this->whitening); + + } else if(modem == RADIOLIB_LR2021_PACKET_TYPE_FLRC) { + state = setFlrcPacketParams(this->preambleLengthGFSK, this->syncWordLength, 1, 0x01, this->packetType == RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED, this->crcLenGFSK, cfg->transmit.len); + + } else { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + RADIOLIB_ASSERT(state); + + // set DIO mapping + state = setDioIrqConfig(this->irqDioNum, RADIOLIB_LR2021_IRQ_TX_DONE | RADIOLIB_LR2021_IRQ_TIMEOUT); + RADIOLIB_ASSERT(state); + + if(modem == RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS) { + // in LR-FHSS mode, the packet is built by the device + //! \todo [LR2021] add configurable LR-FHSS device offset + state = LRxxxx::lrFhssBuildFrame(RADIOLIB_LR2021_CMD_LR_FHSS_BUILD_FRAME, this->lrFhssHdrCount, this->lrFhssCr, this->lrFhssGrid, true, this->lrFhssBw, this->lrFhssHopSeq, 0, cfg->transmit.data, cfg->transmit.len); + RADIOLIB_ASSERT(state); + + } else { + // write packet to buffer + state = writeRadioTxFifo(cfg->transmit.data, cfg->transmit.len); + RADIOLIB_ASSERT(state); + + } + + // clear interrupt flags + state = clearIrqState(RADIOLIB_LR2021_IRQ_ALL); + RADIOLIB_ASSERT(state); + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = mode; + return(state); +} + +int16_t LR2021::launchMode() { + int16_t state; + switch(this->stagedMode) { + case(RADIOLIB_RADIO_MODE_RX): { + this->mod->setRfSwitchState(Module::MODE_RX); + state = setRx(this->rxTimeout); + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + this->mod->setRfSwitchState(Module::MODE_TX); + state = setTx(RADIOLIB_LR2021_TX_TIMEOUT_NONE); + RADIOLIB_ASSERT(state); + + // wait for BUSY to go low (= PA ramp up done) + while(this->mod->hal->digitalRead(this->mod->getGpio())) { + this->mod->hal->yield(); + } + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = RADIOLIB_RADIO_MODE_NONE; + return(state); +} + +float LR2021::getVoltage(uint8_t bits) { + if((bits < 8) || (bits > 13)) { + return(0); + } + + uint16_t val; + if(getVbat(bits, &val) != RADIOLIB_ERR_NONE) { + return(0); + } + + return((float)val / 1000.0f); +} + +float LR2021::getTemperature(uint8_t source, uint8_t bits) { + if((bits < 8) || (bits > 13)) { + return(0); + } + + float val; + if(getTemp(source, bits, &val) != RADIOLIB_ERR_NONE) { + return(0); + } + + return(val); +} + +float LR2021::getRSSI() { + return(this->getRSSI(true)); +} + +float LR2021::getRSSI(bool packet, bool skipReceive) { + float rssi = 0; + int16_t state; + if(!packet) { + // get instantaneous RSSI value + if(!skipReceive) { (void)startReceive(); } + state = this->getRssiInst(&rssi); + if(!skipReceive) { (void)standby(); } + if(state != RADIOLIB_ERR_NONE) { return(0); } + return(rssi); + } + + // check modem type + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + state = this->getPacketType(&modem); + if(state != RADIOLIB_ERR_NONE) { return(0); } + if(modem == RADIOLIB_LR2021_PACKET_TYPE_LORA) { + state = this->getLoRaPacketStatus(NULL, NULL, NULL, NULL, &rssi, NULL); + } else if(modem == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + state = this->getGfskPacketStatus(NULL, &rssi, NULL, NULL, NULL, NULL); + } else if(modem == RADIOLIB_LR2021_PACKET_TYPE_OOK) { + state = this->getOokPacketStatus(NULL, NULL, &rssi, NULL, NULL, NULL); + } else { + return(0); + } + + if(state != RADIOLIB_ERR_NONE) { return(0); } + return(rssi); +} + +float LR2021::getSNR() { + float snr; + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = this->getPacketType(&modem); + if(state != RADIOLIB_ERR_NONE) { return(0); } + if(modem != RADIOLIB_LR2021_PACKET_TYPE_LORA) { return(0); } + state = this->getLoRaPacketStatus(NULL, NULL, NULL, &snr, NULL, NULL); + if(state != RADIOLIB_ERR_NONE) { return(0); } + return(snr); +} + +uint8_t LR2021::randomByte() { + uint32_t num = 0; + (void)getRandomNumber(&num); + return((uint8_t)num); +} + +int16_t LR2021::getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC){ + return(this->getLoRaPacketStatus(cr, hasCRC, NULL, NULL, NULL, NULL)); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021.h b/lib/RadioLib/src/modules/LR2021/LR2021.h new file mode 100644 index 0000000..b1e8008 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021.h @@ -0,0 +1,878 @@ +#if !defined(RADIOLIB_LR2021_H) +#define RADIOLIB_LR2021_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_LR2021 + +#include "../../Module.h" + +#include "../../protocols/PhysicalLayer/PhysicalLayer.h" +#include "../LR11x0/LR_common.h" +#include "LR2021_commands.h" +#include "LR2021_types.h" + +// LR2021 physical layer properties +#define RADIOLIB_LR2021_FREQUENCY_STEP_SIZE 1.0 +#define RADIOLIB_LR2021_MAX_PACKET_LENGTH 255 +#define RADIOLIB_LR2021_CRYSTAL_FREQ 32.0 +#define RADIOLIB_LR2021_DIV_EXPONENT 25 + +/*! + \class LR2021 + \brief +*/ +class LR2021: public LRxxxx { + public: + // introduce PhysicalLayer overloads + using PhysicalLayer::transmit; + using PhysicalLayer::receive; + using PhysicalLayer::startTransmit; + using PhysicalLayer::startReceive; + using PhysicalLayer::readData; + + /*! + \brief Default constructor. + \param mod Instance of Module that will be used to communicate with the radio. + */ + LR2021(Module* mod); // cppcheck-suppress noExplicitConstructor + + /*! + \brief Which DIO pin is to be used as the interrupt pin. + */ + uint32_t irqDioNum = 5; + + /*! + \brief Determines the type of Lora CAD to perform, either "standard" CAD + (same as is implem,ented LR11x0, SX126x and others), or a "fast" CAD if set to true. + If there is no signal to be detected, fast CAD should return faster than standard CAD. + */ + bool fastCad = false; + + /*! + \brief Custom operation modes for LR2021. + Needed because LR2021 has several modems (sub-GHz, 2.4 GHz etc.) in one package + */ + enum OpMode_t { + /*! End of table marker, use \ref END_OF_MODE_TABLE constant instead */ + MODE_END_OF_TABLE = Module::MODE_END_OF_TABLE, + /*! Standby/idle mode */ + MODE_STBY = Module::MODE_IDLE, + /*! Receive mode */ + MODE_RX = Module::MODE_RX, + /*! Transmission mode */ + MODE_TX = Module::MODE_TX, + /*! High frequency receive mode */ + MODE_RX_HF, + /*! High frequency transmission mode */ + MODE_TX_HF, + }; + + // basic methods + + /*! + \brief Initialization method for LoRa modem. + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param bw LoRa bandwidth in kHz. Defaults to 125.0 kHz. + \param sf LoRa spreading factor. Defaults to 9. + \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. + \param syncWord 1-byte LoRa sync word. Defaults to RADIOLIB_LR2021_LORA_SYNC_WORD_PRIVATE (0x12). + \param power Output power in dBm. Defaults to 10 dBm. + \param preambleLength LoRa preamble length in symbols. Defaults to 8 symbols. + \param tcxoVoltage TCXO reference voltage to be set. Defaults to 1.6 V. + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set LR2021::XTAL to true. + \returns \ref status_codes + */ + int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_LR2021_LORA_SYNC_WORD_PRIVATE, int8_t power = 10, uint16_t preambleLength = 8, float tcxoVoltage = 1.6); + + /*! + \brief Initialization method for FSK modem. + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param br FSK bit rate in kbps. Defaults to 4.8 kbps. + \param freqDev Frequency deviation from carrier frequency in kHz. Defaults to 5.0 kHz. + \param rxBw Receiver bandwidth in kHz. Defaults to 153.8 kHz. + \param power Output power in dBm. Defaults to 10 dBm. + \param preambleLength FSK preamble length in bits. Defaults to 16 bits. + \param tcxoVoltage TCXO reference voltage to be set. Defaults to 1.6 V. + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set LR2021::XTAL to true. + \returns \ref status_codes + */ + int16_t beginGFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 153.8, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 1.6); + + /*! + \brief Initialization method for OOK modem. + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param br OOK bit rate in kbps. Defaults to 4.8 kbps. + \param rxBw Receiver bandwidth in kHz. Defaults to 153.8 kHz. + \param power Output power in dBm. Defaults to 10 dBm. + \param preambleLength OOK preamble length in bits. Defaults to 16 bits. + \param tcxoVoltage TCXO reference voltage to be set. Defaults to 1.6 V. + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set LR2021::XTAL to true. + \returns \ref status_codes + */ + int16_t beginOOK(float freq = 434.0, float br = 4.8, float rxBw = 153.8, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 1.6); + + /*! + \brief Initialization method for LR-FHSS modem. + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param bw LR-FHSS bandwidth, one of RADIOLIB_LRXXXX_LR_FHSS_BW_* values. Defaults to 722.66 kHz. + \param cr LR-FHSS coding rate, one of RADIOLIB_LRXXXX_LR_FHSS_CR_* values. Defaults to 2/3 coding rate. + \param narrowGrid Whether to use narrow (3.9 kHz) or wide (25.39 kHz) grid spacing. Defaults to true (narrow/non-FCC) grid. + \param power Output power in dBm. Defaults to 10 dBm. + \param tcxoVoltage TCXO reference voltage to be set. Defaults to 1.6 V. + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set LR2021::XTAL to true. + \returns \ref status_codes + */ + int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_LRXXXX_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_LRXXXX_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 1.6); + + /*! + \brief Initialization method for FLRC modem. + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param br FLRC bit rate in kbps. Defaults to 650 kbps. + \param cr FLRC coding rate. Defaults to RADIOLIB_LR2021_FLRC_CR_2_3 (coding rate 2/3). + \param pwr Output power in dBm. Defaults to 10 dBm. + \param preambleLength FLRC preamble length in bits. Defaults to 16 bits. + \param dataShaping Time-bandwidth product of the Gaussian filter to be used for shaping. Defaults to 0.5. + \returns \ref status_codes + */ + int16_t beginFLRC(float freq = 434.0, uint16_t br = 650, uint8_t cr = RADIOLIB_LR2021_FLRC_CR_2_3, int8_t pwr = 10, uint16_t preambleLength = 16, uint8_t dataShaping = RADIOLIB_SHAPING_0_5, float tcxoVoltage = 1.6); + + /*! + \brief Blocking binary transmit method. + Overloads for string-based transmissions are implemented in PhysicalLayer. + \param data Binary data to be sent. + \param len Number of bytes to send. + \param addr Address to send the data to. Will only be added if address filtering was enabled. + \returns \ref status_codes + */ + int16_t transmit(const uint8_t* data, size_t len, uint8_t addr = 0) override; + + /*! + \brief Blocking binary receive method. + Overloads for string-based transmissions are implemented in PhysicalLayer. + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. + \returns \ref status_codes + */ + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; + + /*! + \brief Starts direct mode transmission. + \param frf Raw RF frequency value. Defaults to 0, required for quick frequency shifts in RTTY. + \returns \ref status_codes + */ + int16_t transmitDirect(uint32_t frf = 0) override; + + /*! + \brief Starts direct mode reception. Only implemented for PhysicalLayer compatibility, as LR2021 does not support direct mode reception. + Will always return RADIOLIB_ERR_UNKNOWN. + \returns \ref status_codes + */ + int16_t receiveDirect() override; + + /*! + \brief Performs scan for LoRa transmission in the current channel. Detects both preamble and payload. + \returns \ref status_codes + */ + int16_t scanChannel() override; + + /*! + \brief Performs scan for LoRa transmission in the current channel. Detects both preamble and payload. + \param config CAD configuration structure. + \returns \ref status_codes + */ + int16_t scanChannel(const ChannelScanConfig_t &config) override; + + /*! + \brief Sets the module to standby mode (overload for PhysicalLayer compatibility, uses 13 MHz RC oscillator). + \returns \ref status_codes + */ + int16_t standby() override; + + /*! + \brief Sets the module to standby mode. + \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_LR2021_STANDBY_RC (13 MHz RC oscillator) + or RADIOLIB_LR2021_STANDBY_XOSC (32 MHz external crystal oscillator). + \returns \ref status_codes + */ + int16_t standby(uint8_t mode) override; + + /*! + \brief Sets the module to standby mode. + \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_LR2021_STANDBY_RC (13 MHz RC oscillator) + or RADIOLIB_LR2021_STANDBY_XOSC (32 MHz external crystal oscillator). + \param wakeup Whether to force the module to wake up. Setting to true will immediately attempt to wake up the module. + \returns \ref status_codes + */ + int16_t standby(uint8_t mode, bool wakeup); + + /*! + \brief Sets the module to sleep mode. To wake the device up, call standby(). + Overload with warm start enabled for PhysicalLayer compatibility. + \returns \ref status_codes + */ + int16_t sleep() override; + + /*! + \brief Sets the module to sleep mode. To wake the device up, call standby(). + \param retainConfig Set to true to retain configuration of the currently active modem ("warm start") + or to false to discard current configuration ("cold start"). Defaults to true. + \param sleepTime Sleep duration (enables automatic wakeup), in multiples of 30.52 us. Ignored if set to 0. + \returns \ref status_codes + */ + int16_t sleep(bool retainConfig, uint32_t sleepTime); + + /*! + \brief Query modem for the packet length of received payload. + \param update Update received packet length. Will return cached value when set to false. + \returns Length of last received packet in bytes. + */ + size_t getPacketLength(bool update = true) override; + + // interrupt methods + + /*! + \brief Clean up after transmission is done. + \returns \ref status_codes + */ + int16_t finishTransmit() override; + + /*! + \brief Interrupt-driven receive method with default parameters. + Implemented for compatibility with PhysicalLayer. + + \returns \ref status_codes + */ + int16_t startReceive() override; + + /*! + \brief Reads data received after calling startReceive method. When the packet length is not known in advance, + getPacketLength method must be called BEFORE calling readData! + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be read. When set to 0, the packet length will be retrieved automatically. + When more bytes than received are requested, only the number of bytes requested will be returned. + \returns \ref status_codes + */ + int16_t readData(uint8_t* data, size_t len) override; + + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; + + /*! + \brief Interrupt-driven channel activity detection method. IRQ1 will be activated + when LoRa preamble is detected, or upon timeout. Defaults to CAD parameter values recommended by AN1200.48. + \returns \ref status_codes + */ + int16_t startChannelScan() override; + + /*! + \brief Interrupt-driven channel activity detection method. IRQ pin will be activated + when LoRa preamble is detected, or upon timeout. + \param config CAD configuration structure. + \returns \ref status_codes + */ + int16_t startChannelScan(const ChannelScanConfig_t &config) override; + + /*! + \brief Read the channel scan result + \returns \ref status_codes + */ + int16_t getChannelScanResult() override; + + /*! + \brief Read currently active IRQ flags. + \returns IRQ flags. + */ + uint32_t getIrqFlags() override; + + /*! + \brief Set interrupt on DIO1 to be sent on a specific IRQ bit (e.g. RxTimeout, CadDone). + \param irq Module-specific IRQ flags. + \returns \ref status_codes + */ + int16_t setIrqFlags(uint32_t irq) override; + + /*! + \brief Clear interrupt on a specific IRQ bit (e.g. RxTimeout, CadDone). + \param irq Module-specific IRQ flags. + \returns \ref status_codes + */ + int16_t clearIrqFlags(uint32_t irq) override; + + /*! + \brief Set modem for the radio to use. Will perform full reset and reconfigure the radio + using its default parameters. + \param modem Modem type to set - FSK, LoRa or LR-FHSS. + \returns \ref status_codes + */ + int16_t setModem(ModemType_t modem) override; + + // configuration methods + + /*! + \brief Sets carrier frequency. Allowed values are in range from 150.0 to 960.0 MHz, + 1900 - 2200 MHz and 2400 - 2500 MHz. + Will automatically perform image calibration if the frequency changes by + more than RADIOLIB_LR2021_CAL_IMG_FREQ_TRIG MHz. + NOTE: When switching between sub-GHz and high-frequency bands, after changing the frequency, + setOutputPower() must be called in order to set the correct power amplifier! + \param freq Carrier frequency to be set in MHz. + \returns \ref status_codes + */ + int16_t setFrequency(float freq) override; + + /*! + \brief Sets carrier frequency. Allowed values are in range from 150.0 to 960.0 MHz, + 1900 - 2200 MHz and 2400 - 2500 MHz. + Will automatically perform image calibration if the frequency changes by + more than RADIOLIB_LR2021_CAL_IMG_FREQ_TRIG MHz. + NOTE: When switching between sub-GHz and high-frequency bands, after changing the frequency, + setOutputPower() must be called in order to set the correct power amplifier! + \param freq Carrier frequency to be set in MHz. + \param skipCalibration Skip automated image calibration. + \returns \ref status_codes + */ + int16_t setFrequency(float freq, bool skipCalibration); + + /*! + \brief Sets output power. Allowed values are in range from -9 to 22 dBm (sub-GHz PA) or -19 to 12 dBm (high-frequency PA). + \param power Output power to be set in dBm. + \returns \ref status_codes + */ + int16_t setOutputPower(int8_t power) override; + + /*! + \brief Sets output power. Allowed values are in range from -9 to 22 dBm (sub-GHz PA) or -19 to 12 dBm (high-frequency PA). + \param power Output power to be set in dBm. + \param rampTimeUs PA power ramping time in microseconds. Provided value is rounded up to the + nearest discrete ramp time supported by the PA. + \returns \ref status_codes + */ + int16_t setOutputPower(int8_t power, uint32_t rampTimeUs); + + /*! + \brief Check if output power is configurable. + This method is needed for compatibility with PhysicalLayer::checkOutputPower. + \param power Output power in dBm, PA will be determined automatically. + \param clipped Clipped output power value to what is possible within the module's range. + \returns \ref status_codes + */ + int16_t checkOutputPower(int8_t power, int8_t* clipped) override; + + /*! \copydoc Module::setRfSwitchTable */ + void setRfSwitchTable(const uint32_t (&pins)[Module::RFSWITCH_MAX_PINS], const Module::RfSwitchMode_t table[]); + + /*! + \brief Sets LoRa bandwidth. Allowed values are 31.25, 41.67, 62.5, 83.34, 125.0, + 101.56, 203.13, 250.0, 406.25, 500.0 kHz, 812.5 kHz and 1000.0 kHz. + \param bw LoRa bandwidth to be set in kHz. + \returns \ref status_codes + */ + int16_t setBandwidth(float bw); + + /*! + \brief Sets LoRa spreading factor. Allowed values range from 5 to 12. + \param sf LoRa spreading factor to be set. + \param legacy Enable legacy mode for SF6 - this allows to communicate with SX127x at SF6. + \returns \ref status_codes + */ + int16_t setSpreadingFactor(uint8_t sf, bool legacy = false); + + /*! + \brief Sets LoRa coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. + \param cr LoRa coding rate denominator to be set. + \param longInterleave Enable long interleaver when set to true. + Note that with long interleaver enabled, CR 4/7 is not possible, there are packet length restrictions, + and it is not compatible with SX127x radios! + \returns \ref status_codes + */ + int16_t setCodingRate(uint8_t cr, bool longInterleave = false); + + /*! + \brief Sets LoRa sync word. + \param syncWord LoRa sync word to be set. + \returns \ref status_codes + */ + int16_t setSyncWord(uint8_t syncWord); + + /*! + \brief Sets preamble length for LoRa or GFSK modem. Allowed values range from 1 to 65535. + \param preambleLength Preamble length to be set in symbols (LoRa) or bits (GFSK). + \returns \ref status_codes + */ + int16_t setPreambleLength(size_t preambleLength) override; + + /*! + \brief Sets TCXO (Temperature Compensated Crystal Oscillator) configuration. + \param voltage TCXO reference voltage in volts. Allowed values are 1.6, 1.7, 1.8, 2.2. 2.4, 2.7, 3.0 and 3.3 V. + Set to 0 to disable TCXO. + NOTE: After setting this parameter to 0, the module will be reset (since there's no other way to disable TCXO). + \param delay TCXO timeout in us. Defaults to 1000000 (1 second), because especially on the first startup, + this delay may be measured very inaccurately. + \returns \ref status_codes + */ + int16_t setTCXO(float voltage, uint32_t delay = 1000000); + + /*! + \brief Sets CRC configuration. + \param len CRC length in bytes, Allowed values are 1 or 2, set to 0 to disable CRC. + \param initial Initial CRC value. GFSK only. Defaults to 0x1D0F (CCITT CRC). + \param polynomial Polynomial for CRC calculation. GFSK only. Defaults to 0x1021 (CCITT CRC). + \param inverted Invert CRC bytes. GFSK only. Defaults to true (CCITT CRC). + \returns \ref status_codes + */ + int16_t setCRC(uint8_t len, uint32_t initial = 0x00001D0FUL, uint32_t polynomial = 0x00001021UL, bool inverted = true); + + /*! + \brief Enable/disable inversion of the I and Q signals + \param enable IQ inversion enabled (true) or disabled (false); + \returns \ref status_codes + */ + int16_t invertIQ(bool enable) override; + + /*! + \brief Sets GFSK bit rate. Allowed values range from 0.5 to 2000.0 kbps. + \param br FSK bit rate to be set in kbps. + \returns \ref status_codes + */ + int16_t setBitRate(float br) override; + + /*! + \brief Sets GFSK frequency deviation. Allowed values range from 0.6 to 500.0 kHz. + \param freqDev GFSK frequency deviation to be set in kHz. + \returns \ref status_codes + */ + int16_t setFrequencyDeviation(float freqDev) override; + + /*! + \brief Sets GFSK receiver bandwidth. Allowed values are 4.8, 5.8, 7.3, 9.7, 11.7, 14.6, 19.5, + 23.4, 29.3, 39.0, 46.9, 58.6, 78.2, 93.8, 117.3, 156.2, 187.2, 234.3, 312.0, 373.6 and 467.0 kHz. + \param rxBw GFSK receiver bandwidth to be set in kHz. + \returns \ref status_codes + */ + int16_t setRxBandwidth(float rxBw); + + /*! + \brief Sets GFSK sync word in the form of array of up to 8 bytes. + \param syncWord GFSK sync word to be set. + \param len GFSK sync word length in bytes. + \returns \ref status_codes + */ + int16_t setSyncWord(uint8_t* syncWord, size_t len) override; + + /*! + \brief Sets node address. Calling this method will also enable address filtering for node address only. + \param nodeAddr Node address to be set. + \returns \ref status_codes + */ + int16_t setNodeAddress(uint8_t nodeAddr); + + /*! + \brief Sets broadcast address. Calling this method will also enable address + filtering for node and broadcast address. + \param broadAddr Node address to be set. + \returns \ref status_codes + */ + int16_t setBroadcastAddress(uint8_t broadAddr); + + /*! + \brief Disables address filtering. Calling this method will also erase previously set addresses. + \returns \ref status_codes + */ + int16_t disableAddressFiltering(); + + /*! + \brief Sets time-bandwidth product of Gaussian filter applied for shaping. + Allowed values are RADIOLIB_SHAPING_0_3, RADIOLIB_SHAPING_0_5, RADIOLIB_SHAPING_0_7 or RADIOLIB_SHAPING_1_0. + Set to RADIOLIB_SHAPING_NONE to disable data shaping. + \param sh Time-bandwidth product of Gaussian filter to be set. + \returns \ref status_codes + */ + int16_t setDataShaping(uint8_t sh) override; + + /*! + \brief Sets transmission encoding. Available in GFSK mode only. Serves only as alias for PhysicalLayer compatibility. + \param encoding Encoding to be used. Set to 0 for NRZ, and 2 for whitening. + \returns \ref status_codes + */ + int16_t setEncoding(uint8_t encoding) override; + + /*! + \brief Set modem in fixed packet length mode. Available in GFSK mode only. + \param len Packet length. + \returns \ref status_codes + */ + int16_t fixedPacketLengthMode(uint8_t len = RADIOLIB_LR2021_MAX_PACKET_LENGTH); + + /*! + \brief Set modem in variable packet length mode. Available in GFSK mode only. + \param maxLen Maximum packet length. + \returns \ref status_codes + */ + int16_t variablePacketLengthMode(uint8_t maxLen = RADIOLIB_LR2021_MAX_PACKET_LENGTH); + + /*! + \brief Sets GFSK whitening parameters. + \param enabled True = Whitening enabled + \param initial Initial value used for the whitening LFSR in GFSK mode. + By default set to 0x01FF for compatibility with SX127x and LoRaWAN. + \returns \ref status_codes + */ + int16_t setWhitening(bool enabled, uint16_t initial = 0x01FF); + + /*! + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. + \returns \ref status_codes + */ + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; + + /*! + \brief Check the data rate can be configured by this module. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. + \returns \ref status_codes + */ + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; + + /*! + \brief Sets LR-FHSS configuration. + \param bw LR-FHSS bandwidth, one of RADIOLIB_LRXXXX_LR_FHSS_BW_* values. + \param cr LR-FHSS coding rate, one of RADIOLIB_LRXXXX_LR_FHSS_CR_* values. + \param hdrCount Header packet count, 1 - 4. Defaults to 3. + \param hopSeed 9-bit seed number for PRNG generation of the hopping sequence. Defaults to 0x13A. + \returns \ref status_codes + */ + int16_t setLrFhssConfig(uint8_t bw, uint8_t cr, uint8_t hdrCount = 3, uint16_t hopSeed = 0x13A); + + /*! + \brief Enables or disables Rx Boosted Gain mode (additional Rx gain for increased power consumption). + \param level Rx gain boost level. 0 (disabled) to 7 (maximum boost). + \returns \ref status_codes + */ + int16_t setRxBoostedGainMode(uint8_t level); + + /*! + \brief Get expected time-on-air for a given size of payload + \param len Payload length in bytes. + \returns Expected time-on-air in microseconds. + */ + RadioLibTime_t getTimeOnAir(size_t len) override; + + /*! + \brief Get modem currently in use by the radio. + \param modem Pointer to a variable to save the retrieved configuration into. + \returns \ref status_codes + */ + int16_t getModem(ModemType_t* modem) override; + + /*! \copydoc PhysicalLayer::stageMode */ + int16_t stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) override; + + /*! \copydoc PhysicalLayer::launchMode */ + int16_t launchMode() override; + + /*! + \brief Read the supply voltage on the Vbat pin. + \param bits Measurement resolution in bits, 8 to 13. + \returns \ref Supply voltage in volts. + */ + float getVoltage(uint8_t bits = 13); + + /*! + \brief Read the temperature. + \param source Measurement source, one of RADIOLIB_LR2021_TEMP_SOURCE_* macros. + \param bits Measurement resolution in bits, 8 to 13. + \returns \ref Temperature in degrees Celsius. + */ + float getTemperature(uint8_t source, uint8_t bits = 13); + + /*! + \brief Gets received signal strength indicator. + Overload with packet mode enabled for PhysicalLayer compatibility. + \returns RSSI value in dBm. + */ + float getRSSI() override; + + /*! + \brief Gets RSSI (Received Signal Strength Indicator). + \param packet Whether to read last packet RSSI, or the current value. + NOTE: With OOK modem, the "packet" RSSI value is the received power level of the high bits (digital 1). + \param skipReceive Set to true to skip putting radio in receive mode for instantaneous RSSI measurement. + If false, after the RSSI measurement, the radio will be in standby mode. + \returns RSSI value in dBm. + */ + float getRSSI(bool packet, bool skipReceive = false); + + /*! + \brief Gets SNR (Signal to Noise Ratio) of the last received packet. Only available for LoRa modem. + \returns SNR of the last received packet in dB. + */ + float getSNR() override; + + /*! + \brief Get one truly random byte from RSSI noise. + \returns TRNG byte. + */ + uint8_t randomByte() override; + + /*! + \brief Set implicit header mode for future reception/transmission. + \param len Payload length in bytes. + \returns \ref status_codes + */ + int16_t implicitHeader(size_t len); + + /*! + \brief Set explicit header mode for future reception/transmission. + \returns \ref status_codes + */ + int16_t explicitHeader(); + + /*! + \brief Set OOK detector properties. The default values are set to allow ADS-B reception. + \param pattern Preamble pattern, should end with 01 or 10 (binary). + \param len Preamble pattern length in bits. + \param repeats Number of preamble repeats, maximum of 31. + \param syncRaw Whether the sync word is send raw (unencoded) or encoded. Set to false for encoded sync word. + \param rising Whether the start of frame delimiter edge is rising (true) or falling (false). + \param sofLen Start-of-frame length in bits. + \returns \ref status_codes + */ + int16_t ookDetector(uint16_t pattern = 0x0285, uint8_t len = 16, uint8_t repeats = 0, bool syncRaw = false, bool rising = false, uint8_t sofLen = 0); + + /*! + \brief Set OOK detection threshold. + \param level Threshold level in dB + \returns \ref status_codes + */ + int16_t setOokDetectionThreshold(int16_t level); + + /*! + \brief Configure LoRa side detector, which enables to detect mutiple spreading factors and receive one of them. + The following limitations apply: + * In Rx mode, all side-detector spreading factors must be higher than the primary one (configured via begin or setSpreadingFactor) + * For CAD mode, the above condition is inverted - all side-detector spreading factors must be smaller + * All packets to be detected must have the same header type (implicit or explicit) + * If bandwidth is higher than 500 kHz, at most 2 side detectors are allowed. + * If the primary spreading factor is 10, 11 or 12, at most 2 side detectors are allowed. + * All spreading factors must be different. + * The difference between maximum and minimum spreading factor used must be less than or equal to 4. + \param cfg Pointer to an array of side detector configuration structures. Set to null to disable all side detectors. + \param numDetectors Number of side detectors to configure. Maximum of 3, set to 0 to to disable all side detectors. + \returns \ref status_codes + */ + int16_t setSideDetector(const LR2021LoRaSideDetector_t* cfg, size_t numDetectors); + + /*! + \brief Sets gain of receiver LNA (low-noise amplifier). Can be set to any integer in range 1 to 13, + where 13 is the highest gain. Set to 0 to enable automatic gain control (recommended). + \param gain Gain of receiver LNA (low-noise amplifier) to be set. + \returns \ref status_codes + */ + int16_t setGain(uint8_t gain); + + /*! + \brief Read status of the last received packet. + Each parameter can be set to NULL if the caller is not intending to process it. + \param cr Coding rate of the last received packet + \param crc Will be set to true if the last packet had a CRC, false otherwise + \param packetLen Length of the last received packet in bytes + \param snrPacket SNR of the last received packet in dB + \param rssiPacket RSSI of the last received packet in dBm + \param rssiSignalPacket Estimation of the RSSI of LoRa signal after despreading in dBm + \returns \ref status_codes + */ + int16_t getLoRaPacketStatus(uint8_t* cr, bool* crc, uint8_t* packetLen = NULL, float* snrPacket = NULL, float* rssiPacket = NULL, float* rssiSignalPacket = NULL); + + /*! + \brief Get LoRa header information from last received packet. Implementation based on getLoRaPacketStatus. + \param cr Pointer to variable to store the coding rate. + \param hasCRC Pointer to variable to store the CRC status. + \returns \ref status_codes + */ + int16_t getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC); + +#if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL + protected: +#endif + Module* getMod() override; + +#if !RADIOLIB_GODMODE + protected: +#endif + +#if !RADIOLIB_GODMODE + private: +#endif + // flag to determine whether we are in the sub-GHz or 2.4 GHz range + // this is needed to automatically detect which PA to use + bool highFreq = false; + uint8_t gainModeLf = RADIOLIB_LR2021_RX_BOOST_LF; + uint8_t gainModeHf = RADIOLIB_LR2021_RX_BOOST_HF; + + // cached FLRC parameters + uint16_t bitRateFlrc = 0; + uint8_t codingRateFlrc = 0; + + int16_t modSetup(float freq, float tcxoVoltage, uint8_t modem); + bool findChip(void); + int16_t config(uint8_t modem); + int16_t setPacketMode(uint8_t mode, uint8_t len); + int16_t startCad(uint8_t symbolNum, uint8_t detPeak, bool fast, uint8_t exitMode, RadioLibTime_t timeout); + + // chip control commands + int16_t readRadioRxFifo(uint8_t* data, size_t len); + int16_t writeRadioTxFifo(const uint8_t* data, size_t len); + int16_t writeRegMem32(uint32_t addr, const uint32_t* data, size_t len); + int16_t writeRegMemMask32(uint32_t addr, uint32_t mask, uint32_t data); + int16_t readRegMem32(uint32_t addr, uint32_t* data, size_t len); + int16_t setFs(void); + int16_t setAdditionalRegToRetain(uint8_t slot, uint32_t addr); + int16_t setRx(uint32_t timeout); + int16_t setTx(uint32_t timeout); + int16_t setRxTxFallbackMode(uint8_t mode); + int16_t setRxDutyCycle(uint32_t rxMaxTime, uint32_t cycleTime, uint8_t cfg); + int16_t autoTxRx(uint32_t delay, uint8_t mode, uint32_t timeout); + int16_t getRxPktLength(uint16_t* len); + int16_t resetRxStats(void); + int16_t setDefaultRxTxTimeout(uint32_t rxTimeout, uint32_t txTimeout); + int16_t setRegMode(uint8_t simoUsage, const uint8_t rampTimes[4]); + int16_t calibrate(uint8_t blocks); + int16_t calibrateFrontEnd(const uint16_t freq[3]); + int16_t getVbat(uint8_t resolution, uint16_t* vbat); + int16_t getTemp(uint8_t source, uint8_t resolution, float* temp); + int16_t setEolConfig(bool enable, uint8_t trim); + int16_t getRandomNumber(uint32_t* rnd); + int16_t getVersion(uint8_t* major, uint8_t* minor); + int16_t clearErrors(void); + int16_t getErrors(uint16_t* err); + int16_t setDioFunction(uint8_t dio, uint8_t func, uint8_t pullDrive); + int16_t setDioRfSwitchConfig(uint8_t dio, uint8_t func); + int16_t setDioIrqConfig(uint8_t dio, uint32_t irq); + int16_t clearIrqState(uint32_t irq); + int16_t getAndClearIrqStatus(uint32_t* irq); + int16_t configFifoIrq(uint8_t rxFifoIrq, uint8_t txFifoIrq, uint8_t rxHighThreshold, uint8_t txHighThreshold); + int16_t getFifoIrqFlags(uint8_t* rxFifoFlags, uint8_t* txFifoFlags); + int16_t clearFifoIrqFlags(uint8_t rxFifoFlags, uint8_t txFifoFlags); + int16_t getAndClearFifoIrqFlags(uint8_t* rxFifoFlags, uint8_t* txFifoFlags); + int16_t getRxFifoLevel(uint16_t* level); + int16_t getTxFifoLevel(uint16_t* level); + int16_t clearRxFifo(void); + int16_t clearTxFifo(void); + int16_t configLfClock(uint8_t cfg); + int16_t configClkOutputs(uint8_t scaling); + int16_t setTcxoMode(uint8_t tune, uint32_t startTime); + int16_t setXoscCpTrim(uint8_t xta, uint8_t xtb, uint8_t startTime); + + // radio frequency front end commands + int16_t setRfFrequency(uint32_t rfFreq); + int16_t setRxPath(uint8_t rxPath, uint8_t rxBoost); + int16_t getRssiInst(float* rssi); + int16_t setRssiCalibration(uint8_t rxPath, const uint16_t gain[RADIOLIB_LR2021_GAIN_TABLE_LENGTH], const uint8_t noiseFloor[RADIOLIB_LR2021_GAIN_TABLE_LENGTH]); + int16_t setTimestampSource(uint8_t index, uint8_t source); + int16_t getTimestampValue(uint8_t index, uint32_t* timestamp); + int16_t setCca(uint32_t duration, uint8_t gain); + int16_t getCcaResult(float* rssiMin, float* rssiMax, float* rssiAvg); + int16_t setCadParams(uint32_t cadTimeout, uint8_t threshold, uint8_t exitMode, uint32_t trxTimeout); + int16_t setCad(void); + int16_t selPa(uint8_t pa); + int16_t setPaConfig(uint8_t pa, uint8_t paLfMode, uint8_t paLfDutyCycle, uint8_t paLfSlices, uint8_t paHfDutyCycle); + int16_t setTxParams(int8_t txPower, uint8_t rampTime); + /*! \brief SetTxParams first byte as signed half-dBm steps (datasheet / lr20xx `power_half_dbm`). */ + int16_t setTxParamsHalfDbm(int8_t powerHalfDbm, uint8_t rampTime); + + // modem configuration commands + int16_t setPacketType(uint8_t packetType); + int16_t getPacketType(uint8_t* packetType); + + // LoRa commands + int16_t setLoRaModulationParams(uint8_t sf, uint8_t bw, uint8_t cr, uint8_t ldro); + int16_t setLoRaPacketParams(uint16_t preambleLen, uint8_t hdrType, uint8_t payloadLen, uint8_t crcType, uint8_t invertIQ); + int16_t setLoRaSynchTimeout(uint8_t numSymbols, bool format); + int16_t setLoRaSyncword(uint8_t syncword); + int16_t setLoRaSideDetConfig(uint8_t* configs, size_t numSideDets); + int16_t setLoRaSideDetSyncword(uint8_t* syncwords, size_t numSideDets); + int16_t setLoRaCadParams(uint8_t numSymbols, bool preambleOnly, uint8_t pnrDelta, uint8_t cadExitMode, uint32_t timeout, uint8_t detPeak); + int16_t setLoRaCad(void); + int16_t getLoRaRxStats(uint16_t* pktRxTotal, uint16_t* pktCrcError, uint16_t* headerCrcError, uint16_t* falseSynch); + int16_t setLoRaAddress(uint8_t addrLen, uint8_t addrPos, const uint8_t* addr); + int16_t setLoRaHopping(uint8_t hopCtrl, uint16_t hopPeriod, const uint32_t* freqHops, size_t numFreqHops); + int16_t setLoRaTxSync(uint8_t function, uint8_t dioNum); + int16_t setLoRaSideDetCad(const uint8_t* pnrDelta, const uint8_t* detPeak, size_t numSideDets); + int16_t setLoRaHeaderType(uint8_t hdrType, size_t len = RADIOLIB_LR2021_MAX_PACKET_LENGTH); + + // ranging commands + int16_t setRangingAddr(uint32_t addr, uint8_t checkLen); + int16_t setRangingReqAddr(uint32_t addr); + int16_t getRangingResult(uint8_t type, uint32_t* rng1, uint8_t* rssi1, uint32_t* rng2); + int16_t getRangingStats(uint16_t* exchangeValid, uint16_t* requestValid, uint16_t* responseDone, uint16_t* timeout, uint16_t* requestDiscarded); + int16_t setRangingTxRxDelay(uint32_t delay); + int16_t setRangingParams(bool spyMode, uint8_t nbSymbols); + + // GFSK commands + int16_t setGfskModulationParams(uint32_t bitRate, uint8_t pulseShape, uint8_t rxBw, uint32_t freqDev); + int16_t setGfskPacketParams(uint16_t preambleLen, uint8_t preambleDetect, bool longPreamble, bool pldLenBits, uint8_t addrComp, uint8_t packetFormat, uint16_t payloadLen, uint8_t crc, uint8_t dcFree); + int16_t setGfskWhiteningParams(uint8_t whitenType, uint16_t init); + int16_t setGfskCrcParams(uint32_t poly, uint32_t init); + int16_t setGfskSyncword(const uint8_t* syncWord, size_t syncWordLen, bool msbFirst); + int16_t setGfskAddress(uint8_t addrNode, uint8_t addrBroadcast); + int16_t getGfskRxStats(uint16_t* packetRx, uint16_t* packetCrcError, uint16_t* lenError, uint16_t* preambleDet, uint16_t* syncOk, uint16_t* syncFail, uint16_t* timeout); + int16_t getGfskPacketStatus(uint16_t* packetLen, float* rssiAvg, float* rssiSync, bool* addrMatchNode, bool* addrMatchBroadcast, float* lqi); + + // OQPSK commands + int16_t setOqpskParams(uint8_t mode, uint8_t rxBw, uint8_t payloadLen, uint16_t preambleLen, bool addrFilt, bool fcsManual); + int16_t getOqpskRxStats(uint16_t* packetRx, uint16_t* crcError, uint16_t* lenError); + int16_t getOqpskPacketStatus(uint8_t* rxHeader, uint16_t* payloadLen, float* rssiAvg, float* rssiSync, float* lqi); + int16_t setOqpskPacketLen(uint8_t len); + int16_t setOqpskAddress(const uint8_t longDestAddr[8], uint16_t shortDestAddr, uint16_t panId, uint8_t transId); + + // BPSK commands + int16_t setBpskModulationParams(uint32_t bitRate, uint8_t pulseShape, bool diff, uint8_t diffInit); + int16_t setBpskPacketParams(uint8_t payloadLen, uint8_t mode, bool sigFoxControlMsg, uint8_t sigFoxRank); + + // FLRC commands + int16_t setFlrcModulationParams(uint8_t brBw, uint8_t cr, uint8_t pulseShape); + int16_t setFlrcPacketParams(uint8_t agcPreambleLen, uint8_t syncWordLen, uint8_t syncWordTx, uint8_t syncMatch, bool fixedLength, uint8_t crc, uint16_t payloadLen); + int16_t getFlrcRxStats(uint16_t* packetRx, uint16_t* packetCrcError, uint16_t* lenError); + int16_t getFlrcPacketStatus(uint16_t* packetLen, float* rssiAvg, float* rssiSync, uint8_t* syncWordNum); + int16_t setFlrcSyncWord(uint8_t syncWordNum, uint32_t syncWord); + + // LR-FHSS commands + int16_t lrFhssSetSyncword(uint32_t syncWord); + //! \TODO: [LR2021] Implement reading/writing LR-FHSS hopping table + //int16_t readLrFhssHoppingTable(LR2021LrFhssHopTableEntry_t* hopTable[40], size_t* hopTableLen); + //int16_t writeLrFhssHoppingTable(LR2021LrFhssHopTableEntry_t* hopTable[40], size_t hopTableLen); + + // OOK commands + int16_t setOokModulationParams(uint32_t bitRate, uint8_t pulseShape, uint8_t rxBw, uint8_t depth); + int16_t setOokPacketParams(uint16_t preambleLen, uint8_t addrComp, uint8_t packetFormat, uint16_t payloadLen, uint8_t crc, uint8_t manchester); + int16_t setOokCrcParams(uint32_t poly, uint32_t init); + int16_t setOokSyncword(const uint8_t* syncWord, size_t syncWordLen, bool msbFirst); + int16_t setOokAddress(uint8_t addrNode, uint8_t addrBroadcast); + int16_t getOokRxStats(uint16_t* packetRx, uint16_t* crcError, uint16_t* lenError); + int16_t getOokPacketStatus(uint16_t* packetLen, float* rssiAvg, float* rssiHigh, bool* addrMatchNode, bool* addrMatchBroadcast, float* lqi); + int16_t setOokDetector(uint16_t preamblePattern, uint8_t patternLen, uint8_t patternNumRepeaters, bool syncWordRaw, bool sofDelimiterRising, uint8_t sofDelimiterLen); + int16_t setOokWhiteningParams(uint8_t bitIdx, uint16_t poly, uint16_t init); + + // test commands + int16_t setTxTestMode(uint8_t mode); +}; + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_chip_control.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_chip_control.cpp new file mode 100644 index 0000000..65183fa --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_chip_control.cpp @@ -0,0 +1,311 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::readRadioRxFifo(uint8_t* data, size_t len) { + // FIFO read is just a single transaction sent without the status code + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_0; + int16_t state = this->mod->SPIreadStream(RADIOLIB_LR2021_CMD_READ_RX_FIFO, data, len, true, false); + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_STATUS] = Module::BITS_16; + return(state); +} + +int16_t LR2021::writeRadioTxFifo(const uint8_t* data, size_t len) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_WRITE_TX_FIFO, true, const_cast(data), len, NULL, 0)); +} + +int16_t LR2021::writeRegMem32(uint32_t addr, const uint32_t* data, size_t len) { + // check maximum size + if(len > (RADIOLIB_LRXXXX_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + return(this->writeCommon(RADIOLIB_LR2021_CMD_WRITE_REG_MEM_32, addr, data, len, false)); +} + +int16_t LR2021::writeRegMemMask32(uint32_t addr, uint32_t mask, uint32_t data) { + uint8_t buff[11] = { + (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), + (uint8_t)((mask >> 24) & 0xFF), (uint8_t)((mask >> 16) & 0xFF), (uint8_t)((mask >> 8) & 0xFF), (uint8_t)(mask & 0xFF), + (uint8_t)((data >> 24) & 0xFF), (uint8_t)((data >> 16) & 0xFF), (uint8_t)((data >> 8) & 0xFF), (uint8_t)(data & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_WRITE_REG_MEM_MASK_32, true, buff, sizeof(buff))); +} + +int16_t LR2021::readRegMem32(uint32_t addr, uint32_t* data, size_t len) { + // check maximum size + if(len > (RADIOLIB_LRXXXX_SPI_MAX_READ_WRITE_LEN/sizeof(uint32_t))) { + return(RADIOLIB_ERR_SPI_CMD_INVALID); + } + + // the request contains the address and length + uint8_t reqBuff[4] = { + (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), + (uint8_t)(addr & 0xFF), (uint8_t)len, + }; + + // build buffers - later we need to ensure endians are correct, + // so there is probably no way to do this without copying buffers and iterating + #if RADIOLIB_STATIC_ONLY + uint8_t rplBuff[RADIOLIB_LRXXXX_SPI_MAX_READ_WRITE_LEN]; + #else + uint8_t* rplBuff = new uint8_t[len*sizeof(uint32_t)]; + #endif + + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_READ_REG_MEM_32, false, rplBuff, len*sizeof(uint32_t), reqBuff, sizeof(reqBuff)); + + // convert endians + if(data && (state == RADIOLIB_ERR_NONE)) { + for(size_t i = 0; i < len; i++) { + data[i] = ((uint32_t)rplBuff[2 + i*sizeof(uint32_t)] << 24) | ((uint32_t)rplBuff[3 + i*sizeof(uint32_t)] << 16) | ((uint32_t)rplBuff[4 + i*sizeof(uint32_t)] << 8) | (uint32_t)rplBuff[5 + i*sizeof(uint32_t)]; + } + } + + #if !RADIOLIB_STATIC_ONLY + delete[] rplBuff; + #endif + + return(state); +} + +int16_t LR2021::setFs(void) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_FS, true, NULL, 0)); +} + +int16_t LR2021::setAdditionalRegToRetain(uint8_t slot, uint32_t addr) { + uint8_t buff[] = { + slot, (uint8_t)((addr >> 16) & 0xFF), + (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), + }; + + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_ADDITIONAL_REG_TO_RETAIN, true, buff, sizeof(buff))); +} + +int16_t LR2021::setRx(uint32_t timeout) { + uint8_t buff[] = { + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RX, true, buff, sizeof(buff))); +} + +int16_t LR2021::setTx(uint32_t timeout) { + uint8_t buff[] = { + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_TX, true, buff, sizeof(buff))); +} + +int16_t LR2021::setRxTxFallbackMode(uint8_t mode) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RX_TX_FALLBACK_MODE, true, &mode, sizeof(mode))); +} + +int16_t LR2021::setRxDutyCycle(uint32_t rxMaxTime, uint32_t cycleTime, uint8_t cfg) { + uint8_t buff[] = { + (uint8_t)((rxMaxTime >> 16) & 0xFF), (uint8_t)((rxMaxTime >> 8) & 0xFF), (uint8_t)(rxMaxTime & 0xFF), + (uint8_t)((cycleTime >> 16) & 0xFF), (uint8_t)((cycleTime >> 8) & 0xFF), (uint8_t)(cycleTime & 0xFF), + cfg + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RX_DUTY_CYCLE, true, buff, sizeof(buff))); +} + +int16_t LR2021::autoTxRx(uint32_t delay, uint8_t mode, uint32_t timeout) { + uint8_t buff[] = { + (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF), mode, + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_AUTO_RX_TX, true, buff, sizeof(buff))); +} + +int16_t LR2021::getRxPktLength(uint16_t* len) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_RX_PKT_LENGTH, false, buff, sizeof(buff)); + if(len) { *len = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + return(state); +} + +int16_t LR2021::resetRxStats(void) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_RESET_RX_STATS, true, NULL, 0)); +} + +int16_t LR2021::setDefaultRxTxTimeout(uint32_t rxTimeout, uint32_t txTimeout) { + uint8_t buff[] = { + (uint8_t)((rxTimeout >> 16) & 0xFF), (uint8_t)((rxTimeout >> 8) & 0xFF), (uint8_t)(rxTimeout & 0xFF), + (uint8_t)((txTimeout >> 16) & 0xFF), (uint8_t)((txTimeout >> 8) & 0xFF), (uint8_t)(txTimeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_DEFAULT_RX_TX_TIMEOUT, true, buff, sizeof(buff))); +} + +int16_t LR2021::setRegMode(uint8_t simoUsage, const uint8_t rampTimes[4]) { + uint8_t buff[] = { simoUsage, + rampTimes[RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_RC2RU], rampTimes[RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_TX2RU], + rampTimes[RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_RU2RC], rampTimes[RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_RAMP_DOWN], + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_REG_MODE, true, buff, sizeof(buff))); +} + +int16_t LR2021::calibrate(uint8_t blocks) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CALIBRATE, true, &blocks, sizeof(blocks))); +} + +int16_t LR2021::calibrateFrontEnd(const uint16_t freq[3]) { + uint8_t buff[] = { + (uint8_t)((freq[0] >> 8) & 0xFF), (uint8_t)(freq[0] & 0xFF), + (uint8_t)((freq[1] >> 8) & 0xFF), (uint8_t)(freq[1] & 0xFF), + (uint8_t)((freq[2] >> 8) & 0xFF), (uint8_t)(freq[2] & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CALIB_FRONT_END, true, buff, sizeof(buff))); +} + +int16_t LR2021::getVbat(uint8_t resolution, uint16_t* vbat) { + uint8_t reqBuff[] = { (uint8_t)(RADIOLIB_LR2021_VBAT_FORMAT_MV | ((RADIOLIB_LR2021_MEAS_RESOLUTION_OFFSET + resolution) & 0x07)) }; + uint8_t rplBuff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_V_BAT, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + if(vbat) { *vbat = ((uint16_t)(rplBuff[0]) << 8) | (uint16_t)rplBuff[1]; } + return(state); +} + +int16_t LR2021::getTemp(uint8_t source, uint8_t resolution, float* temp) { + uint8_t reqBuff[] = { (uint8_t)((source & 0x30) | RADIOLIB_LR2021_TEMP_FORMAT_DEG_C | ((RADIOLIB_LR2021_MEAS_RESOLUTION_OFFSET + resolution) & 0x07)) }; + uint8_t rplBuff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_TEMP, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + if(temp) { + uint16_t raw = ((uint16_t)(rplBuff[0]) << 8) | (uint16_t)rplBuff[1]; + *temp = (float)raw/320.0f; + } + return(state); +} + +int16_t LR2021::setEolConfig(bool enable, uint8_t trim) { + uint8_t buff[] = { (uint8_t)((trim & 0x06) | (uint8_t)enable) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_EOL_CONFIG, true, buff, sizeof(buff))); +} + +int16_t LR2021::getRandomNumber(uint32_t* rnd) { + uint8_t buff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_RANDOM_NUMBER, false, buff, sizeof(buff)); + if(rnd) { *rnd = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) | (uint32_t)buff[3]; } + return(state); +} + +int16_t LR2021::getVersion(uint8_t* major, uint8_t* minor) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_VERSION, false, buff, sizeof(buff)); + if(major) { *major = buff[0]; } + if(minor) { *minor = buff[1]; } + return(state); +} + +int16_t LR2021::clearErrors(void) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CLEAR_ERRORS, true, NULL, 0)); +} + +int16_t LR2021::getErrors(uint16_t* err) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_ERRORS, false, buff, sizeof(buff)); + if(err) { *err = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + return(state); +} + +int16_t LR2021::setDioFunction(uint8_t dio, uint8_t func, uint8_t pullDrive) { + uint8_t buff[] = { dio, (uint8_t)((func & 0xF0) | (pullDrive & 0x0F)) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_DIO_FUNCTION, true, buff, sizeof(buff))); +} + +int16_t LR2021::setDioRfSwitchConfig(uint8_t dio, uint8_t func) { + uint8_t buff[] = { dio, func }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_DIO_RF_SWITCH_CONFIG, true, buff, sizeof(buff))); +} + +int16_t LR2021::setDioIrqConfig(uint8_t dio, uint32_t irq) { + uint8_t buff[] = { dio, + (uint8_t)((irq >> 24) & 0xFF), (uint8_t)((irq >> 16) & 0xFF), + (uint8_t)((irq >> 8) & 0xFF), (uint8_t)(irq & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_DIO_IRQ_CONFIG, true, buff, sizeof(buff))); +} + +int16_t LR2021::clearIrqState(uint32_t irq) { + return(this->setU32(RADIOLIB_LR2021_CMD_CLEAR_IRQ, irq)); +} + +int16_t LR2021::getAndClearIrqStatus(uint32_t* irq) { + uint8_t buff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_AND_CLEAR_IRQ_STATUS, false, buff, sizeof(buff)); + if(irq) { *irq = ((uint32_t)(buff[0]) << 24) | ((uint32_t)(buff[1]) << 16) | ((uint32_t)(buff[2]) << 8) |(uint32_t)buff[3]; } + return(state); +} + +int16_t LR2021::configFifoIrq(uint8_t rxFifoIrq, uint8_t txFifoIrq, uint8_t rxHighThreshold, uint8_t txHighThreshold) { + uint8_t buff[] = { rxFifoIrq, txFifoIrq, rxHighThreshold, txHighThreshold }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CONFIG_FIFO_IRQ, true, buff, sizeof(buff))); +} + +int16_t LR2021::getFifoIrqFlags(uint8_t* rxFifoFlags, uint8_t* txFifoFlags) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_FIFO_IRQ_FLAGS, false, buff, sizeof(buff)); + if(rxFifoFlags) { *rxFifoFlags = buff[0]; } + if(txFifoFlags) { *txFifoFlags = buff[1]; } + return(state); +} + +int16_t LR2021::clearFifoIrqFlags(uint8_t rxFifoFlags, uint8_t txFifoFlags) { + uint8_t buff[] = { rxFifoFlags, txFifoFlags }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CLEAR_FIFO_IRQ_FLAGS, true, buff, sizeof(buff))); +} + +int16_t LR2021::getAndClearFifoIrqFlags(uint8_t* rxFifoFlags, uint8_t* txFifoFlags) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_AND_CLEAR_FIFO_IRQ_FLAGS, false, buff, sizeof(buff)); + if(rxFifoFlags) { *rxFifoFlags = buff[0]; } + if(txFifoFlags) { *txFifoFlags = buff[1]; } + return(state); +} + +int16_t LR2021::getRxFifoLevel(uint16_t* level) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_RX_FIFO_LEVEL, false, buff, sizeof(buff)); + if(level) { *level = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + return(state); +} + +int16_t LR2021::getTxFifoLevel(uint16_t* level) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_TX_FIFO_LEVEL, false, buff, sizeof(buff)); + if(level) { *level = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + return(state); +} + +int16_t LR2021::clearRxFifo(void) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CLEAR_RX_FIFO, true, NULL, 0)); +} + +int16_t LR2021::clearTxFifo(void) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CLEAR_TX_FIFO, true, NULL, 0)); +} + +int16_t LR2021::configLfClock(uint8_t cfg) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CONFIG_LF_CLOCK, true, &cfg, sizeof(cfg))); +} + +int16_t LR2021::configClkOutputs(uint8_t scaling) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_CONFIG_CLK_OUTPUTS, true, &scaling, sizeof(scaling))); +} + +int16_t LR2021::setTcxoMode(uint8_t tune, uint32_t startTime) { + uint8_t buff[] = { (uint8_t)(tune & 0x07), + (uint8_t)((startTime >> 24) & 0xFF), (uint8_t)((startTime >> 16) & 0xFF), + (uint8_t)((startTime >> 8) & 0xFF), (uint8_t)(startTime & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_TCXO_MODE, true, buff, sizeof(buff))); +} + +int16_t LR2021::setXoscCpTrim(uint8_t xta, uint8_t xtb, uint8_t startTime) { + uint8_t buff[] = { (uint8_t)(xta & 0x3F), (uint8_t)(xtb & 0x3F), startTime }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_XOSC_CP_TRIM, true, buff, sizeof(buff))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_flrc.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_flrc.cpp new file mode 100644 index 0000000..a773190 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_flrc.cpp @@ -0,0 +1,61 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setFlrcModulationParams(uint8_t brBw, uint8_t cr, uint8_t pulseShape) { + uint8_t buff[] = { brBw, (uint8_t)((cr << 4) | (pulseShape & 0x0F)) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_FLRC_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setFlrcPacketParams(uint8_t agcPreambleLen, uint8_t syncWordLen, uint8_t syncWordTx, uint8_t syncMatch, bool fixedLength, uint8_t crc, uint16_t payloadLen) { + uint8_t buff[] = { + (uint8_t)(((agcPreambleLen & 0x0F) << 2) | (syncWordLen / 2)), + (uint8_t)(((syncWordTx & 0x03) << 6) | ((syncMatch & 0x07) << 3) | ((uint8_t)fixedLength << 2) | (crc & 0x03)), + (uint8_t)((payloadLen >> 8) & 0xFF), (uint8_t)(payloadLen & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_FLRC_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::getFlrcRxStats(uint16_t* packetRx, uint16_t* packetCrcError, uint16_t* lenError) { + uint8_t buff[14] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_FLRC_RX_STATS, false, buff, sizeof(buff)); + if(packetRx) { *packetRx = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(packetCrcError) { *packetCrcError = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } + if(lenError) { *lenError = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + return(state); +} + +int16_t LR2021::getFlrcPacketStatus(uint16_t* packetLen, float* rssiAvg, float* rssiSync, uint8_t* syncWordNum) { + uint8_t buff[5] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_FLRC_PACKET_STATUS, false, buff, sizeof(buff)); + uint16_t raw; + if(packetLen) { *packetLen = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(rssiAvg) { + raw = (uint16_t)buff[2] << 1; + raw |= (buff[4] & 0x04) >> 2; + *rssiAvg = (float)raw / -2.0f; + } + if(rssiSync) { + raw = (uint16_t)buff[3] << 1; + raw |= (buff[4] & 0x01); + *rssiSync = (float)raw / -2.0f; + } + if(syncWordNum) { *syncWordNum = (buff[4] & 0xF0) >> 4; } + return(state); +} + +int16_t LR2021::setFlrcSyncWord(uint8_t syncWordNum, uint32_t syncWord) { + uint8_t buff[] = { + syncWordNum, + (uint8_t)((syncWord >> 24) & 0xFF), (uint8_t)((syncWord >> 16) & 0xFF), + (uint8_t)((syncWord >> 8) & 0xFF), (uint8_t)(syncWord & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_FLRC_SYNCWORD, true, buff, sizeof(buff))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_gfsk.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_gfsk.cpp new file mode 100644 index 0000000..6aeeec7 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_gfsk.cpp @@ -0,0 +1,96 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setGfskModulationParams(uint32_t bitRate, uint8_t pulseShape, uint8_t rxBw, uint32_t freqDev) { + uint8_t buff[] = { + (uint8_t)((bitRate >> 24) & 0xFF), (uint8_t)((bitRate >> 16) & 0xFF), + (uint8_t)((bitRate >> 8) & 0xFF), (uint8_t)(bitRate & 0xFF), + pulseShape, rxBw, (uint8_t)((freqDev >> 16) & 0xFF), + (uint8_t)((freqDev >> 8) & 0xFF), (uint8_t)(freqDev & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_GFSK_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setGfskPacketParams(uint16_t preambleLen, uint8_t preambleDetect, bool longPreamble, bool pldLenBits, uint8_t addrComp, uint8_t packetFormat, uint16_t payloadLen, uint8_t crc, uint8_t dcFree) { + uint8_t buff[] = { + (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), preambleDetect, + (uint8_t)(((uint8_t)longPreamble << 5) | ((uint8_t)pldLenBits << 4) | (addrComp << 2) | ((uint8_t)packetFormat & 0x03)), + (uint8_t)((payloadLen >> 8) & 0xFF), (uint8_t)(payloadLen & 0xFF), + (uint8_t)((crc << 4) | (dcFree << 4)), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_GFSK_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setGfskWhiteningParams(uint8_t whitenType, uint16_t init) { + uint8_t buff[] = { + (uint8_t)((whitenType << 4) | (uint8_t)((init >> 8) & 0x0F)), + (uint8_t)(init & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_GFSK_WHITENING_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setGfskCrcParams(uint32_t poly, uint32_t init) { + uint8_t buff[] = { + (uint8_t)((poly >> 24) & 0xFF), (uint8_t)((poly >> 16) & 0xFF), + (uint8_t)((poly >> 8) & 0xFF), (uint8_t)(poly & 0xFF), + (uint8_t)((init >> 24) & 0xFF), (uint8_t)((init >> 16) & 0xFF), + (uint8_t)((init >> 8) & 0xFF), (uint8_t)(init & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_GFSK_CRC_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setGfskSyncword(const uint8_t* syncWord, size_t syncWordLen, bool msbFirst) { + uint8_t buff[9] = { 0 }; + for(int8_t i = 7; i >= (int8_t) (RADIOLIB_LR2021_GFSK_SYNC_WORD_LEN - syncWordLen); i--) { + buff[i] = syncWord[i - (int8_t) (RADIOLIB_LR2021_GFSK_SYNC_WORD_LEN - syncWordLen)]; + } + buff[8] = (uint8_t)msbFirst << 7 | ((syncWordLen*8) & 0x7F); + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_GFSK_SYNCWORD, true, buff, sizeof(buff))); +} + +int16_t LR2021::setGfskAddress(uint8_t addrNode, uint8_t addrBroadcast) { + uint8_t buff[] = { addrNode, addrBroadcast }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_GFSK_ADDRESS, true, buff, sizeof(buff))); +} + +int16_t LR2021::getGfskRxStats(uint16_t* packetRx, uint16_t* packetCrcError, uint16_t* lenError, uint16_t* preambleDet, uint16_t* syncOk, uint16_t* syncFail, uint16_t* timeout) { + uint8_t buff[14] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_GFSK_RX_STATS, false, buff, sizeof(buff)); + if(packetRx) { *packetRx = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(packetCrcError) { *packetCrcError = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } + if(lenError) { *lenError = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + if(preambleDet) { *preambleDet = ((uint16_t)(buff[6]) << 8) | (uint16_t)buff[7]; } + if(syncOk) { *syncOk = ((uint16_t)(buff[8]) << 8) | (uint16_t)buff[9]; } + if(syncFail) { *syncFail = ((uint16_t)(buff[10]) << 8) | (uint16_t)buff[11]; } + if(timeout) { *timeout = ((uint16_t)(buff[12]) << 8) | (uint16_t)buff[13]; } + return(state); +} + +int16_t LR2021::getGfskPacketStatus(uint16_t* packetLen, float* rssiAvg, float* rssiSync, bool* addrMatchNode, bool* addrMatchBroadcast, float* lqi) { + uint8_t buff[6] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_GFSK_PACKET_STATUS, false, buff, sizeof(buff)); + uint16_t raw; + if(packetLen) { *packetLen = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(rssiAvg) { + raw = (uint16_t)buff[2] << 1; + raw |= (buff[4] & 0x04) >> 2; + *rssiAvg = (float)raw / -2.0f; + } + if(rssiSync) { + raw = (uint16_t)buff[3] << 1; + raw |= (buff[4] & 0x01); + *rssiSync = (float)raw / -2.0f; + } + if(addrMatchNode) { *addrMatchNode = (buff[4] & 0x10); } + if(addrMatchBroadcast) { *addrMatchBroadcast = (buff[4] & 0x20); } + if(lqi) { *lqi = buff[5] * 4.0f; } + return(state); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_lora.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_lora.cpp new file mode 100644 index 0000000..68f6eaf --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_lora.cpp @@ -0,0 +1,130 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setLoRaModulationParams(uint8_t sf, uint8_t bw, uint8_t cr, uint8_t ldro) { + // calculate symbol length and enable low data rate optimization, if auto-configuration is enabled + if(this->ldroAuto) { + float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float)this->bandwidthKhz; + if(symbolLength >= 16.0f) { + this->ldrOptimize = RADIOLIB_LR2021_LORA_LDRO_ENABLED; + } else { + this->ldrOptimize = RADIOLIB_LR2021_LORA_LDRO_DISABLED; + } + } else { + this->ldrOptimize = ldro; + } + + uint8_t buff[] = { (uint8_t)(((sf & 0x0F) << 4) | (bw & 0x0F)), (uint8_t)(((cr & 0x0F) << 4) | this->ldrOptimize) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setLoRaPacketParams(uint16_t preambleLen, uint8_t hdrType, uint8_t payloadLen, uint8_t crcType, uint8_t invertIQ) { + uint8_t buff[] = { + (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), payloadLen, + (uint8_t)(((hdrType & 0x01) << 2) | ((crcType & 0x01) << 1) | (invertIQ & 0x01)), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setLoRaSynchTimeout(uint8_t numSymbols, bool format) { + uint8_t buff[] = { numSymbols, (uint8_t)format }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_SYNCH_TIMEOUT, true, buff, sizeof(buff))); +} + +int16_t LR2021::setLoRaSyncword(uint8_t syncword) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_SYNCWORD, true, &syncword, sizeof(syncword))); +} + +int16_t LR2021::setLoRaSideDetConfig(uint8_t* configs, size_t numSideDets) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_SIDE_DET_CONFIG, true, configs, numSideDets)); +} + +int16_t LR2021::setLoRaSideDetSyncword(uint8_t* syncwords, size_t numSideDets) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_SIDE_DET_SYNCWORD, true, syncwords, numSideDets)); +} + +int16_t LR2021::setLoRaCadParams(uint8_t numSymbols, bool preambleOnly, uint8_t pnrDelta, uint8_t cadExitMode, uint32_t timeout, uint8_t detPeak) { + uint8_t buff[] = { + numSymbols, (uint8_t)(((uint8_t)preambleOnly << 4) | (pnrDelta & 0x0F)), cadExitMode, + (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF), + (uint8_t)(detPeak & 0x7F) + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_CAD_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setLoRaCad(void) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_CAD, true, NULL, 0)); +} + +int16_t LR2021::getLoRaRxStats(uint16_t* pktRxTotal, uint16_t* pktCrcError, uint16_t* headerCrcError, uint16_t* falseSynch) { + uint8_t buff[8] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_LORA_RX_STATS, false, buff, sizeof(buff)); + if(pktRxTotal) { *pktRxTotal = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(pktCrcError) { *pktCrcError = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } + if(headerCrcError) { *headerCrcError = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + if(falseSynch) { *falseSynch = ((uint16_t)(buff[7]) << 8) | (uint16_t)buff[6]; } + return(state); +} + +int16_t LR2021::getLoRaPacketStatus(uint8_t* cr, bool* crc, uint8_t* packetLen, float* snrPacket, float* rssiPacket, float* rssiSignalPacket) { + uint8_t buff[6] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_LORA_PACKET_STATUS, false, buff, sizeof(buff)); + uint16_t raw; + if(crc) { *crc = (buff[0] & 0x10) >> 4; } + if(cr) { *cr = buff[0] & 0x0F; } + if(packetLen) { *packetLen = buff[1]; } + if(snrPacket) { *snrPacket = (float)((int8_t)buff[2]) / 4.0f; } + if(rssiPacket) { + raw = (uint16_t)buff[3] << 1; + raw |= (buff[5] & 0x02) >> 1; + *rssiPacket = (float)raw / -2.0f; + } + if(rssiSignalPacket) { + raw = (uint16_t)buff[4] << 1; + raw |= buff[5] & 0x01; + *rssiSignalPacket = (float)raw / -2.0f; + } + return(state); +} + +int16_t LR2021::setLoRaAddress(uint8_t addrLen, uint8_t addrPos, const uint8_t* addr) { + if(addrLen > 8) { return(RADIOLIB_ERR_UNKNOWN); } + uint8_t buff[9] = { (uint8_t)(((addrLen & 0x0F) << 4) | (addrPos & 0x0F)) }; + memcpy(&buff[1], addr, addrLen); + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_ADDRESS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setLoRaHopping(uint8_t hopCtrl, uint16_t hopPeriod, const uint32_t* freqHops, size_t numFreqHops) { + if(numFreqHops > 40) { return(RADIOLIB_ERR_UNKNOWN); } + uint8_t buff[2 + 160] = { (uint8_t)(hopCtrl | ((hopPeriod & 0xF00) >> 8)), (uint8_t)(hopPeriod & 0xFF) }; + for(uint8_t i = 0; i < numFreqHops; i++) { + buff[i + 2] = (freqHops[i] >> 24) & 0xFF; + buff[i + 3] = (freqHops[i] >> 16) & 0xFF; + buff[i + 4] = (freqHops[i] >> 8) & 0xFF; + buff[i + 5] = freqHops[i] & 0xFF; + } + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_HOPPING, true, buff, sizeof(buff))); +} + +int16_t LR2021::setLoRaTxSync(uint8_t function, uint8_t dioNum) { + uint8_t buff[] = { (uint8_t)(function | (dioNum & 0x3F)) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_TX_SYNC, true, buff, sizeof(buff))); +} + +int16_t LR2021::setLoRaSideDetCad(const uint8_t* pnrDelta, const uint8_t* detPeak, size_t numSideDets) { + uint8_t buff[6] = { 0 }; + for(uint8_t i = 0; i < numSideDets; i++) { + if(i >= 3) { return(RADIOLIB_ERR_UNKNOWN); } + buff[2*i] = pnrDelta[i] & 0x0F; + buff[2*i + 1] = detPeak[i] & 0x7F; + } + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_LORA_SIDE_DET_CAD, true, buff, 2*numSideDets)); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_misc.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_misc.cpp new file mode 100644 index 0000000..0be29e6 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_misc.cpp @@ -0,0 +1,35 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setBpskModulationParams(uint32_t bitRate, uint8_t pulseShape, bool diff, uint8_t diffInit) { + uint8_t buff[] = { + (uint8_t)((bitRate >> 24) & 0xFF), (uint8_t)((bitRate >> 16) & 0xFF), + (uint8_t)((bitRate >> 8) & 0xFF), (uint8_t)(bitRate & 0xFF), + (uint8_t)((pulseShape << 4) | ((uint8_t)diff << 2) | (diffInit & 0x03)), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_BPSK_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setBpskPacketParams(uint8_t payloadLen, uint8_t mode, bool sigFoxControlMsg, uint8_t sigFoxRank) { + uint8_t buff[] = { + payloadLen, + (uint8_t)((mode << 4) | ((uint8_t)sigFoxControlMsg << 2) | (sigFoxRank & 0x03)), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_BPSK_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::lrFhssSetSyncword(uint32_t syncWord) { + return(this->setU32(RADIOLIB_LR2021_CMD_LR_FHSS_SET_SYNCWORD, syncWord)); +} + +int16_t LR2021::setTxTestMode(uint8_t mode) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_TX_TEST_MODE, true, &mode, sizeof(mode))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_ook.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_ook.cpp new file mode 100644 index 0000000..392a097 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_ook.cpp @@ -0,0 +1,105 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setOokModulationParams(uint32_t bitRate, uint8_t pulseShape, uint8_t rxBw, uint8_t depth) { + uint8_t buff[] = { + (uint8_t)((bitRate >> 24) & 0xFF), (uint8_t)((bitRate >> 16) & 0xFF), + (uint8_t)((bitRate >> 8) & 0xFF), (uint8_t)(bitRate & 0xFF), + pulseShape, rxBw, depth, + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OOK_MODULATION_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setOokPacketParams(uint16_t preambleLen, uint8_t addrComp, uint8_t packetFormat, uint16_t payloadLen, uint8_t crc, uint8_t manchester) { + uint8_t buff[] = { + (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), + (uint8_t)((addrComp << 2) | ((uint8_t)packetFormat & 0x03)), + (uint8_t)((payloadLen >> 8) & 0xFF), (uint8_t)(payloadLen & 0xFF), + (uint8_t)(((crc << 4) & 0xF0) | (manchester & 0x0F)), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OOK_PACKET_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setOokCrcParams(uint32_t poly, uint32_t init) { + uint8_t buff[] = { + (uint8_t)((poly >> 24) & 0xFF), (uint8_t)((poly >> 16) & 0xFF), + (uint8_t)((poly >> 8) & 0xFF), (uint8_t)(poly & 0xFF), + (uint8_t)((init >> 24) & 0xFF), (uint8_t)((init >> 16) & 0xFF), + (uint8_t)((init >> 8) & 0xFF), (uint8_t)(init & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OOK_CRC_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setOokSyncword(const uint8_t* syncWord, size_t syncWordLen, bool msbFirst) { + // OOK maximum sync word length is just 32-bits, unlike GFSK + if(syncWordLen > RADIOLIB_LR2021_OOK_SYNC_WORD_LEN) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + + uint8_t buff[5] = { 0 }; + for(int8_t i = 3; i >= (int8_t) (RADIOLIB_LR2021_OOK_SYNC_WORD_LEN - syncWordLen); i--) { + buff[i] = syncWord[i - (int8_t) (RADIOLIB_LR2021_OOK_SYNC_WORD_LEN - syncWordLen)]; + } + buff[4] = (uint8_t)msbFirst << 7 | ((syncWordLen*8) & 0x7F); + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OOK_SYNCWORD, true, buff, sizeof(buff))); +} + +int16_t LR2021::setOokAddress(uint8_t addrNode, uint8_t addrBroadcast) { + uint8_t buff[] = { addrNode, addrBroadcast }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OOK_ADDRESS, true, buff, sizeof(buff))); +} + +int16_t LR2021::getOokRxStats(uint16_t* packetRx, uint16_t* crcError, uint16_t* lenError) { + uint8_t buff[6] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_OOK_RX_STATS, false, buff, sizeof(buff)); + if(packetRx) { *packetRx = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(crcError) { *crcError = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } + if(lenError) { *lenError = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + return(state); +} + +int16_t LR2021::getOokPacketStatus(uint16_t* packetLen, float* rssiAvg, float* rssiHigh, bool* addrMatchNode, bool* addrMatchBroadcast, float* lqi) { + uint8_t buff[6] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_OOK_PACKET_STATUS, false, buff, sizeof(buff)); + uint16_t raw; + if(packetLen) { *packetLen = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(rssiAvg) { + raw = (uint16_t)buff[2] << 1; + raw |= (buff[4] & 0x04) >> 2; + *rssiAvg = (float)raw / -2.0f; + } + if(rssiHigh) { + raw = (uint16_t)buff[3] << 1; + raw |= (buff[4] & 0x01); + *rssiHigh = (float)raw / -2.0f; + } + if(addrMatchNode) { *addrMatchNode = (buff[4] & 0x10); } + if(addrMatchBroadcast) { *addrMatchBroadcast = (buff[4] & 0x20); } + if(lqi) { *lqi = buff[5] * 4.0f; } + return(state); +} + +int16_t LR2021::setOokDetector(uint16_t preamblePattern, uint8_t patternLen, uint8_t patternNumRepeaters, bool syncWordRaw, bool sofDelimiterRising, uint8_t sofDelimiterLen) { + uint8_t buff[] = { + (uint8_t)((preamblePattern >> 8) & 0xFF), (uint8_t)(preamblePattern & 0xFF), + (uint8_t)(patternLen & 0x0F), (uint8_t)(patternNumRepeaters & 0x1F), + (uint8_t)(((uint8_t)syncWordRaw << 5) | ((uint8_t)sofDelimiterRising << 4) | (sofDelimiterLen & 0x0F)), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OOK_DETECTOR, true, buff, sizeof(buff))); +} + +int16_t LR2021::setOokWhiteningParams(uint8_t bitIdx, uint16_t poly, uint16_t init) { + uint8_t buff[] = { + (uint8_t)((bitIdx << 4) | ((poly >> 8) & 0x0FF)), (uint8_t)(poly & 0xFF), + (uint8_t)((init >> 8) & 0xFF), (uint8_t)(init & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OOK_WHITENING_PARAMS, true, buff, sizeof(buff))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_oqpsk.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_oqpsk.cpp new file mode 100644 index 0000000..9090f8c --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_oqpsk.cpp @@ -0,0 +1,62 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setOqpskParams(uint8_t mode, uint8_t rxBw, uint8_t payloadLen, uint16_t preambleLen, bool addrFilt, bool fcsManual) { + uint8_t buff[] = { + mode, rxBw, payloadLen, + (uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), + (uint8_t)((uint8_t)addrFilt << 1 | (uint8_t)fcsManual), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OQPSK_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::getOqpskRxStats(uint16_t* packetRx, uint16_t* crcError, uint16_t* lenError) { + uint8_t buff[6] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_OQPSK_RX_STATS, false, buff, sizeof(buff)); + if(packetRx) { *packetRx = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(crcError) { *crcError = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } + if(lenError) { *lenError = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + return(state); +} + +int16_t LR2021::getOqpskPacketStatus(uint8_t* rxHeader, uint16_t* payloadLen, float* rssiAvg, float* rssiSync, float* lqi) { + uint8_t buff[7] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_OQPSK_PACKET_STATUS, false, buff, sizeof(buff)); + if(rxHeader) { *rxHeader = buff[0]; } + if(payloadLen) { *payloadLen = ((uint16_t)(buff[1]) << 8) | (uint16_t)buff[2]; } + uint16_t raw; + if(rssiAvg) { + raw = (uint16_t)buff[3] << 1; + raw |= (buff[5] & 0x04) >> 2; + *rssiAvg = (float)raw / -2.0f; + } + if(rssiSync) { + raw = (uint16_t)buff[4] << 1; + raw |= (buff[5] & 0x01); + *rssiSync = (float)raw / -2.0f; + } + if(lqi) { *lqi = buff[6] * 4.0f; } + return(state); +} + +int16_t LR2021::setOqpskPacketLen(uint8_t len) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OQPSK_PACKET_LEN, true, &len, sizeof(len))); +} + +int16_t LR2021::setOqpskAddress(const uint8_t longDestAddr[8], uint16_t shortDestAddr, uint16_t panId, uint8_t transId) { + uint8_t buff[] = { + longDestAddr[7], longDestAddr[6], longDestAddr[5], longDestAddr[4], + longDestAddr[3], longDestAddr[2], longDestAddr[1], longDestAddr[0], + (uint8_t)((shortDestAddr >> 8) & 0xFF), (uint8_t)(shortDestAddr & 0xFF), + (uint8_t)((panId >> 8) & 0xFF), (uint8_t)(panId & 0xFF), transId, + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_OQPSK_ADDRESS, true, buff, sizeof(buff))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_radio.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_radio.cpp new file mode 100644 index 0000000..d3aeb0e --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_radio.cpp @@ -0,0 +1,123 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setRfFrequency(uint32_t rfFreq) { + return(this->setU32(RADIOLIB_LR2021_CMD_SET_RF_FREQUENCY, rfFreq)); +} + +int16_t LR2021::setRxPath(uint8_t rxPath, uint8_t rxBoost) { + uint8_t buff[] = { (uint8_t)(rxPath & 0x01), (uint8_t)(rxBoost & 0x07) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RX_PATH, true, buff, sizeof(buff))); +} + +int16_t LR2021::getRssiInst(float* rssi) { + uint8_t buff[2] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_RSSI_INST, false, buff, sizeof(buff)); + if(rssi) { + uint16_t raw = ((uint16_t)(buff[0]) << 1) | (uint16_t)((buff[1] >> 7) & 0x01); + *rssi = (float)raw/-2.0f; + } + return(state); +} + +int16_t LR2021::setRssiCalibration(uint8_t rxPath, const uint16_t gain[RADIOLIB_LR2021_GAIN_TABLE_LENGTH], const uint8_t noiseFloor[RADIOLIB_LR2021_GAIN_TABLE_LENGTH]) { + uint8_t buff[1 + 3*RADIOLIB_LR2021_GAIN_TABLE_LENGTH] = { 0 }; + buff[0] = rxPath; + for(uint8_t i = 0; i < RADIOLIB_LR2021_GAIN_TABLE_LENGTH; i++) { + buff[1 + 3*i] = (uint8_t)((gain[i] & 0x300) >> 8); + buff[2 + 3*i] = (uint8_t)(gain[i] & 0xFF); + buff[3 + 3*i] = noiseFloor[i]; + } + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RSSI_CALIBRATION, true, buff, sizeof(buff))); +} + +int16_t LR2021::setTimestampSource(uint8_t index, uint8_t source) { + uint8_t buff[] = { (uint8_t)(((index & 0x03) << 4) | (source & 0x0F)) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_TIMESTAMP_SOURCE, true, buff, sizeof(buff))); +} + +int16_t LR2021::getTimestampValue(uint8_t index, uint32_t* timestamp) { + uint8_t reqBuff[] = { (uint8_t)(index & 0x03) }; + uint8_t rplBuff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_TIMESTAMP_VALUE, false, rplBuff, sizeof(rplBuff), reqBuff, sizeof(reqBuff)); + if(timestamp) { *timestamp = ((uint32_t)(rplBuff[0]) << 24) | ((uint32_t)(rplBuff[1]) << 16) | ((uint32_t)(rplBuff[2]) << 8) | (uint32_t)rplBuff[3]; } + return(state); +} + +int16_t LR2021::setCca(uint32_t duration, uint8_t gain) { + uint8_t buff[] = { + (uint8_t)((duration >> 16) & 0xFF), (uint8_t)((duration >> 8) & 0xFF), (uint8_t)(duration & 0xFF), gain, + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_CCA, true, buff, sizeof(buff))); +} + +int16_t LR2021::getCcaResult(float* rssiMin, float* rssiMax, float* rssiAvg) { + uint8_t buff[4] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_CCA_RESULT, false, buff, sizeof(buff)); + uint16_t raw; + if(rssiMin) { + raw = ((uint16_t)(buff[0]) << 1) | (uint16_t)((buff[3] >> 2) & 0x01); + *rssiMin = (float)raw/-2.0f; + } + if(rssiMax) { + raw = ((uint16_t)(buff[1]) << 1) | (uint16_t)((buff[3] >> 1) & 0x01); + *rssiMax = (float)raw/-2.0f; + } + if(rssiAvg) { + raw = ((uint16_t)(buff[2]) << 1) | (uint16_t)((buff[3] >> 0) & 0x01); + *rssiAvg = (float)raw/-2.0f; + } + return(state); +} + +int16_t LR2021::setCadParams(uint32_t cadTimeout, uint8_t threshold, uint8_t exitMode, uint32_t trxTimeout) { + uint8_t buff[] = { + (uint8_t)((cadTimeout >> 16) & 0xFF), (uint8_t)((cadTimeout >> 8) & 0xFF), (uint8_t)(cadTimeout & 0xFF), + threshold, (uint8_t)(exitMode & 0x03), + (uint8_t)((trxTimeout >> 16) & 0xFF), (uint8_t)((trxTimeout >> 8) & 0xFF), (uint8_t)(trxTimeout & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_CAD_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setCad(void) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_CAD, true, NULL, 0)); +} + +int16_t LR2021::selPa(uint8_t pa) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SEL_PA, true, &pa, sizeof(pa))); +} + +int16_t LR2021::setPaConfig(uint8_t pa, uint8_t paLfMode, uint8_t paLfDutyCycle, uint8_t paLfSlices, uint8_t paHfDutyCycle) { + // Matches Semtech lr20xx_radio_common_set_pa_cfg(): 3 payload bytes after opcode. + uint8_t buff[] = { + (uint8_t)(((pa & 0x01) << 7) | (paLfMode & 0x03)), + (uint8_t)(((paLfDutyCycle & 0x0F) << 4) | (paLfSlices & 0x0F)), + (uint8_t)(paHfDutyCycle & 0x1F), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_PA_CONFIG, true, buff, sizeof(buff))); +} + +int16_t LR2021::setTxParamsHalfDbm(int8_t powerHalfDbm, uint8_t rampTime) { + uint8_t buff[] = { (uint8_t)powerHalfDbm, rampTime }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_TX_PARAMS, true, buff, sizeof(buff))); +} + +int16_t LR2021::setTxParams(int8_t txPower, uint8_t rampTime) { + return(this->setTxParamsHalfDbm((int8_t)(txPower * 2), rampTime)); +} + +int16_t LR2021::setPacketType(uint8_t packetType) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_PACKET_TYPE, true, &packetType, sizeof(packetType))); +} + +int16_t LR2021::getPacketType(uint8_t* packetType) { + return(this->SPIcommand(RADIOLIB_LR2021_CMD_GET_PACKET_TYPE, false, packetType, sizeof(uint8_t))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_cmds_ranging.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_ranging.cpp new file mode 100644 index 0000000..7cc4998 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_cmds_ranging.cpp @@ -0,0 +1,64 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +int16_t LR2021::setRangingAddr(uint32_t addr, uint8_t checkLen) { + uint8_t buff[] = { + (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), + (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), + checkLen, + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RANGING_ADDR, true, buff, sizeof(buff))); +} + +int16_t LR2021::setRangingReqAddr(uint32_t addr) { + uint8_t buff[] = { + (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), + (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF), + }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RANGING_REQ_ADDR, true, buff, sizeof(buff))); +} + +int16_t LR2021::getRangingResult(uint8_t type, uint32_t* rng1, uint8_t* rssi1, uint32_t* rng2) { + const uint8_t reqBuff[] = { type }; + uint8_t rplBuff[7] = { 0 }; + + //! \TODO: [LR2021] implement AGC gains readout + size_t rplLen = (type == RADIOLIB_LR2021_RANGING_RESULT_TYPE_RAW) ? 7 : 4; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_RANGING_RESULT, false, rplBuff, sizeof(rplBuff), reqBuff, rplLen); + + if(rng1) { *rng1 = ((uint32_t)(rplBuff[0]) << 16) | ((uint32_t)(rplBuff[1]) << 8) | (uint32_t)rplBuff[2]; } + if(rssi1) { *rssi1 = rplBuff[3]; } + if(rng2 && (type == RADIOLIB_LR2021_RANGING_RESULT_TYPE_RAW_EXT)) { + *rng2 = ((uint32_t)(rplBuff[4]) << 16) | ((uint32_t)(rplBuff[5]) << 8) | (uint32_t)rplBuff[6]; + } + + return(state); +} + +int16_t LR2021::getRangingStats(uint16_t* exchangeValid, uint16_t* requestValid, uint16_t* responseDone, uint16_t* timeout, uint16_t* requestDiscarded) { + uint8_t buff[10] = { 0 }; + int16_t state = this->SPIcommand(RADIOLIB_LR2021_CMD_GET_RANGING_STATS, false, buff, sizeof(buff)); + if(exchangeValid) { *exchangeValid = ((uint16_t)(buff[0]) << 8) | (uint16_t)buff[1]; } + if(requestValid) { *requestValid = ((uint16_t)(buff[2]) << 8) | (uint16_t)buff[3]; } + if(responseDone) { *responseDone = ((uint16_t)(buff[4]) << 8) | (uint16_t)buff[5]; } + if(timeout) { *timeout = ((uint16_t)(buff[6]) << 8) | (uint16_t)buff[7]; } + if(requestDiscarded) { *requestDiscarded = ((uint16_t)(buff[8]) << 8) | (uint16_t)buff[9]; } + return(state); +} + +int16_t LR2021::setRangingTxRxDelay(uint32_t delay) { + return(this->setU32(RADIOLIB_LR2021_CMD_SET_RANGING_TX_RX_DELAY, delay)); +} + +int16_t LR2021::setRangingParams(bool spyMode, uint8_t nbSymbols) { + uint8_t buff[] = { (uint8_t)(((uint8_t)spyMode << 6) | (nbSymbols & 0x3F)) }; + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_RANGING_PARAMS, true, buff, sizeof(buff))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_commands.h b/lib/RadioLib/src/modules/LR2021/LR2021_commands.h new file mode 100644 index 0000000..c503c79 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_commands.h @@ -0,0 +1,534 @@ +#if !defined(RADIOLIB_LR2021_COMMANDS_H) +#define RADIOLIB_LR2021_COMMANDS_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_LR2021 + +// LR2021 SPI commands +#define RADIOLIB_LR2021_CMD_NOP (0x0000) +#define RADIOLIB_LR2021_CMD_READ_RX_FIFO (0x0001) +#define RADIOLIB_LR2021_CMD_WRITE_TX_FIFO (0x0002) +#define RADIOLIB_LR2021_CMD_WRITE_REG_MEM_32 (0x0104) +#define RADIOLIB_LR2021_CMD_WRITE_REG_MEM_MASK_32 (0x0105) +#define RADIOLIB_LR2021_CMD_READ_REG_MEM_32 (0x0106) +#define RADIOLIB_LR2021_CMD_SET_SLEEP (0x0127) +#define RADIOLIB_LR2021_CMD_SET_STANDBY (0x0128) +#define RADIOLIB_LR2021_CMD_SET_FS (0x0129) +#define RADIOLIB_LR2021_CMD_SET_ADDITIONAL_REG_TO_RETAIN (0x012A) +#define RADIOLIB_LR2021_CMD_SET_RX (0x020C) +#define RADIOLIB_LR2021_CMD_SET_TX (0x020D) +#define RADIOLIB_LR2021_CMD_SET_RX_TX_FALLBACK_MODE (0x0206) +#define RADIOLIB_LR2021_CMD_SET_RX_DUTY_CYCLE (0x0210) +#define RADIOLIB_LR2021_CMD_SET_AUTO_RX_TX (0x0211) +#define RADIOLIB_LR2021_CMD_GET_RX_PKT_LENGTH (0x0212) +#define RADIOLIB_LR2021_CMD_STOP_TIMEOUT_ON_PREAMBLE (0x0209) +#define RADIOLIB_LR2021_CMD_RESET_RX_STATS (0x020A) +#define RADIOLIB_LR2021_CMD_SET_DEFAULT_RX_TX_TIMEOUT (0x0215) +#define RADIOLIB_LR2021_CMD_SET_REG_MODE (0x0121) +#define RADIOLIB_LR2021_CMD_CALIBRATE (0x0122) +#define RADIOLIB_LR2021_CMD_CALIB_FRONT_END (0x0123) +#define RADIOLIB_LR2021_CMD_GET_V_BAT (0x0124) +#define RADIOLIB_LR2021_CMD_GET_TEMP (0x0125) +#define RADIOLIB_LR2021_CMD_SET_EOL_CONFIG (0x0130) +#define RADIOLIB_LR2021_CMD_GET_RANDOM_NUMBER (0x0126) +#define RADIOLIB_LR2021_CMD_GET_STATUS (0x0100) +#define RADIOLIB_LR2021_CMD_GET_VERSION (0x0101) +#define RADIOLIB_LR2021_CMD_CLEAR_ERRORS (0x0111) +#define RADIOLIB_LR2021_CMD_GET_ERRORS (0x0110) +#define RADIOLIB_LR2021_CMD_SET_DIO_FUNCTION (0x0112) +#define RADIOLIB_LR2021_CMD_SET_DIO_RF_SWITCH_CONFIG (0x0113) +#define RADIOLIB_LR2021_CMD_SET_DIO_IRQ_CONFIG (0x0115) +#define RADIOLIB_LR2021_CMD_CLEAR_IRQ (0x0116) +#define RADIOLIB_LR2021_CMD_GET_AND_CLEAR_IRQ_STATUS (0x0117) +#define RADIOLIB_LR2021_CMD_CONFIG_FIFO_IRQ (0x011A) +#define RADIOLIB_LR2021_CMD_GET_FIFO_IRQ_FLAGS (0x011B) +#define RADIOLIB_LR2021_CMD_CLEAR_FIFO_IRQ_FLAGS (0x0114) +#define RADIOLIB_LR2021_CMD_GET_AND_CLEAR_FIFO_IRQ_FLAGS (0x012E) +#define RADIOLIB_LR2021_CMD_GET_RX_FIFO_LEVEL (0x011C) +#define RADIOLIB_LR2021_CMD_GET_TX_FIFO_LEVEL (0x011D) +#define RADIOLIB_LR2021_CMD_CLEAR_RX_FIFO (0x011E) +#define RADIOLIB_LR2021_CMD_CLEAR_TX_FIFO (0x011F) +#define RADIOLIB_LR2021_CMD_CONFIG_LF_CLOCK (0x0118) +#define RADIOLIB_LR2021_CMD_CONFIG_CLK_OUTPUTS (0x0119) +#define RADIOLIB_LR2021_CMD_SET_TCXO_MODE (0x0120) +#define RADIOLIB_LR2021_CMD_SET_XOSC_CP_TRIM (0x0131) +#define RADIOLIB_LR2021_CMD_SET_RF_FREQUENCY (0x0200) +#define RADIOLIB_LR2021_CMD_SET_RX_PATH (0x0201) +#define RADIOLIB_LR2021_CMD_GET_RSSI_INST (0x020B) +#define RADIOLIB_LR2021_CMD_SET_RSSI_CALIBRATION (0x0205) +#define RADIOLIB_LR2021_CMD_SET_TIMESTAMP_SOURCE (0x0216) +#define RADIOLIB_LR2021_CMD_GET_TIMESTAMP_VALUE (0x0217) +#define RADIOLIB_LR2021_CMD_SET_CCA (0x0218) +#define RADIOLIB_LR2021_CMD_GET_CCA_RESULT (0x0219) +#define RADIOLIB_LR2021_CMD_SET_AGC_GAIN_MANUAL (0x021A) +#define RADIOLIB_LR2021_CMD_SET_CAD_PARAMS (0x021B) +#define RADIOLIB_LR2021_CMD_SET_CAD (0x021C) +#define RADIOLIB_LR2021_CMD_SEL_PA (0x020F) +#define RADIOLIB_LR2021_CMD_SET_PA_CONFIG (0x0202) +#define RADIOLIB_LR2021_CMD_SET_TX_PARAMS (0x0203) +#define RADIOLIB_LR2021_CMD_SET_PACKET_TYPE (0x0207) +#define RADIOLIB_LR2021_CMD_GET_PACKET_TYPE (0x0208) +#define RADIOLIB_LR2021_CMD_SET_LORA_MODULATION_PARAMS (0x0220) +#define RADIOLIB_LR2021_CMD_SET_LORA_PACKET_PARAMS (0x0221) +#define RADIOLIB_LR2021_CMD_SET_LORA_SYNCH_TIMEOUT (0x0222) +#define RADIOLIB_LR2021_CMD_SET_LORA_SYNCWORD (0x0223) +#define RADIOLIB_LR2021_CMD_SET_LORA_SIDE_DET_CONFIG (0x0224) +#define RADIOLIB_LR2021_CMD_SET_LORA_SIDE_DET_SYNCWORD (0x0225) +#define RADIOLIB_LR2021_CMD_SET_LORA_CAD_PARAMS (0x0227) +#define RADIOLIB_LR2021_CMD_SET_LORA_CAD (0x0228) +#define RADIOLIB_LR2021_CMD_GET_LORA_RX_STATS (0x0229) +#define RADIOLIB_LR2021_CMD_GET_LORA_PACKET_STATUS (0x022A) +#define RADIOLIB_LR2021_CMD_SET_LORA_ADDRESS (0x022B) +#define RADIOLIB_LR2021_CMD_SET_LORA_HOPPING (0x022C) +#define RADIOLIB_LR2021_CMD_SET_LORA_TX_SYNC (0x021D) +#define RADIOLIB_LR2021_CMD_SET_LORA_SIDE_DET_CAD (0x021E) +#define RADIOLIB_LR2021_CMD_SET_RANGING_ADDR (0x0278) +#define RADIOLIB_LR2021_CMD_SET_RANGING_REQ_ADDR (0x0279) +#define RADIOLIB_LR2021_CMD_GET_RANGING_RESULT (0x027A) +#define RADIOLIB_LR2021_CMD_GET_RANGING_STATS (0x027D) +#define RADIOLIB_LR2021_CMD_SET_RANGING_TX_RX_DELAY (0x027B) +#define RADIOLIB_LR2021_CMD_SET_RANGING_PARAMS (0x027C) +#define RADIOLIB_LR2021_CMD_SET_GFSK_MODULATION_PARAMS (0x0240) +#define RADIOLIB_LR2021_CMD_SET_GFSK_PACKET_PARAMS (0x0241) +#define RADIOLIB_LR2021_CMD_SET_GFSK_WHITENING_PARAMS (0x0242) +#define RADIOLIB_LR2021_CMD_SET_GFSK_CRC_PARAMS (0x0243) +#define RADIOLIB_LR2021_CMD_SET_GFSK_SYNCWORD (0x0244) +#define RADIOLIB_LR2021_CMD_SET_GFSK_ADDRESS (0x0245) +#define RADIOLIB_LR2021_CMD_GET_GFSK_RX_STATS (0x0246) +#define RADIOLIB_LR2021_CMD_GET_GFSK_PACKET_STATUS (0x0247) +#define RADIOLIB_LR2021_CMD_SET_WMBUS_PARAMS (0x026A) +#define RADIOLIB_LR2021_CMD_GET_WMBUS_RX_STATS (0x026C) +#define RADIOLIB_LR2021_CMD_GET_WMBUS_PACKET_STATUS (0x026D) +#define RADIOLIB_LR2021_CMD_SET_WMBUS_FILTERING_ADDRESS (0x026E) +#define RADIOLIB_LR2021_CMD_SET_WISUN_MODE (0x0270) +#define RADIOLIB_LR2021_CMD_SET_WISUN_PACKET_PARAMS (0x0271) +#define RADIOLIB_LR2021_CMD_GET_WISUN_RX_STATS (0x0272) +#define RADIOLIB_LR2021_CMD_GET_WISUN_PACKET_STATUS (0x0273) +#define RADIOLIB_LR2021_CMD_SET_WISUN_PACKET_LEN (0x0274) +#define RADIOLIB_LR2021_CMD_SET_ZWAVE_PARAMS (0x0297) +#define RADIOLIB_LR2021_CMD_SET_ZWAVE_HOME_ID_FILTERING (0x0298) +#define RADIOLIB_LR2021_CMD_GET_ZWAVE_RX_STATS (0x0299) +#define RADIOLIB_LR2021_CMD_GET_ZWAVE_PACKET_STATUS (0x029A) +#define RADIOLIB_LR2021_CMD_SET_ZWAVE_BEAM_FILTERING (0x029B) +#define RADIOLIB_LR2021_CMD_SET_ZWAVE_SCAN_CONFIG (0x029C) +#define RADIOLIB_LR2021_CMD_SET_ZWAVE_SCAN (0x029D) +#define RADIOLIB_LR2021_CMD_SET_BLE_MODULATION_PARAMS (0x0260) +#define RADIOLIB_LR2021_CMD_SET_BLE_CHANNEL_PARAMS (0x0261) +#define RADIOLIB_LR2021_CMD_SET_BLE_PDU_LEN (0x0266) +#define RADIOLIB_LR2021_CMD_SET_BLE_TX (0x0262) +#define RADIOLIB_LR2021_CMD_GET_BLE_RX_STATS (0x0264) +#define RADIOLIB_LR2021_CMD_GET_BLE_PACKET_STATUS (0x0265) +#define RADIOLIB_LR2021_CMD_SET_OQPSK_PARAMS (0x029F) +#define RADIOLIB_LR2021_CMD_GET_OQPSK_RX_STATS (0x02A0) +#define RADIOLIB_LR2021_CMD_GET_OQPSK_PACKET_STATUS (0x02A1) +#define RADIOLIB_LR2021_CMD_SET_OQPSK_PACKET_LEN (0x02A2) +#define RADIOLIB_LR2021_CMD_SET_OQPSK_ADDRESS (0x02A3) +#define RADIOLIB_LR2021_CMD_SET_BPSK_MODULATION_PARAMS (0x0250) +#define RADIOLIB_LR2021_CMD_SET_BPSK_PACKET_PARAMS (0x0251) +#define RADIOLIB_LR2021_CMD_SET_FLRC_MODULATION_PARAMS (0x0248) +#define RADIOLIB_LR2021_CMD_SET_FLRC_PACKET_PARAMS (0x0249) +#define RADIOLIB_LR2021_CMD_GET_FLRC_RX_STATS (0x024A) +#define RADIOLIB_LR2021_CMD_GET_FLRC_PACKET_STATUS (0x024B) +#define RADIOLIB_LR2021_CMD_SET_FLRC_SYNCWORD (0x024C) +#define RADIOLIB_LR2021_CMD_LR_FHSS_BUILD_FRAME (0x0256) +#define RADIOLIB_LR2021_CMD_LR_FHSS_SET_SYNCWORD (0x0257) +#define RADIOLIB_LR2021_CMD_SET_OOK_MODULATION_PARAMS (0x0281) +#define RADIOLIB_LR2021_CMD_SET_OOK_PACKET_PARAMS (0x0282) +#define RADIOLIB_LR2021_CMD_SET_OOK_CRC_PARAMS (0x0283) +#define RADIOLIB_LR2021_CMD_SET_OOK_SYNCWORD (0x0284) +#define RADIOLIB_LR2021_CMD_SET_OOK_ADDRESS (0x0285) +#define RADIOLIB_LR2021_CMD_GET_OOK_RX_STATS (0x0286) +#define RADIOLIB_LR2021_CMD_GET_OOK_PACKET_STATUS (0x0287) +#define RADIOLIB_LR2021_CMD_SET_OOK_DETECTOR (0x0288) +#define RADIOLIB_LR2021_CMD_SET_OOK_WHITENING_PARAMS (0x0289) +#define RADIOLIB_LR2021_CMD_SET_TX_TEST_MODE (0x020E) + +// RADIOLIB_LR2021_CMD_SET_DIO_IRQ_CONFIG +#define RADIOLIB_LR2021_IRQ_RX_FIFO (0x01UL << 0) // 31 0 interrupt: Rx FIFO threshold reached +#define RADIOLIB_LR2021_IRQ_TX_FIFO (0x01UL << 1) // 31 0 Tx FIFO threshold reached +#define RADIOLIB_LR2021_IRQ_RNG_REQ_VALID (0x01UL << 2) // 31 0 ranging slave received valid request +#define RADIOLIB_LR2021_IRQ_TX_TIMESTAMP (0x01UL << 3) // 31 0 end of packet Tx timestamp +#define RADIOLIB_LR2021_IRQ_RX_TIMESTAMP (0x01UL << 4) // 31 0 end of packet Rx timestamp +#define RADIOLIB_LR2021_IRQ_PREAMBLE_DETECTED (0x01UL << 5) // 31 0 preamble detected +#define RADIOLIB_LR2021_IRQ_LORA_HEADER_VALID (0x01UL << 6) // 31 0 LoRa header received and valid +#define RADIOLIB_LR2021_IRQ_SYNCWORD_VALID (0x01UL << 6) // 31 0 sync word valid +#define RADIOLIB_LR2021_IRQ_CAD_DETECTED (0x01UL << 7) // 31 0 channel activity detected +#define RADIOLIB_LR2021_IRQ_LORA_HDR_TIMESTAMP (0x01UL << 8) // 31 0 LoRa header timestamp +#define RADIOLIB_LR2021_IRQ_LORA_HDR_CRC_ERROR (0x01UL << 9) // 31 0 LoRa header CRC error +#define RADIOLIB_LR2021_IRQ_EOL (0x01UL << 10) // 31 0 end of life +#define RADIOLIB_LR2021_IRQ_PA_OCP_OVP (0x01UL << 11) // 31 0 PA overcurrent/overvoltage triggered +#define RADIOLIB_LR2021_IRQ_LORA_TX_RX_HOP (0x01UL << 12) // 31 0 LoRa intra-packet hopping +#define RADIOLIB_LR2021_IRQ_SYNC_FAIL (0x01UL << 13) // 31 0 sync word match detection failed +#define RADIOLIB_LR2021_IRQ_LORA_SYMBOL_END (0x01UL << 14) // 31 0 symbol end +#define RADIOLIB_LR2021_IRQ_LORA_TIMESTAMP_STAT (0x01UL << 15) // 31 0 new stats available +#define RADIOLIB_LR2021_IRQ_ERROR (0x01UL << 16) // 31 0 error other than command error +#define RADIOLIB_LR2021_IRQ_CMD_ERROR (0x01UL << 17) // 31 0 command error +#define RADIOLIB_LR2021_IRQ_RX_DONE (0x01UL << 18) // 31 0 packet received +#define RADIOLIB_LR2021_IRQ_TX_DONE (0x01UL << 19) // 31 0 packet transmitted +#define RADIOLIB_LR2021_IRQ_CAD_DONE (0x01UL << 20) // 31 0 CAD finished +#define RADIOLIB_LR2021_IRQ_TIMEOUT (0x01UL << 21) // 31 0 Rx or Tx timeout +#define RADIOLIB_LR2021_IRQ_CRC_ERROR (0x01UL << 22) // 31 0 CRC error +#define RADIOLIB_LR2021_IRQ_LEN_ERROR (0x01UL << 23) // 31 0 length error on received packet +#define RADIOLIB_LR2021_IRQ_ADDR_ERROR (0x01UL << 24) // 31 0 packet with incorrect address received +#define RADIOLIB_LR2021_IRQ_FHSS (0x01UL << 25) // 31 0 FHSS intra-packet hopping +#define RADIOLIB_LR2021_IRQ_INTER_PACKET_FREQ (0x01UL << 26) // 31 0 inter packet hopping can load new frequency table +#define RADIOLIB_LR2021_IRQ_INTER_NEW_PAYLOAD (0x01UL << 27) // 31 0 inter packet hopping can load new payload +#define RADIOLIB_LR2021_IRQ_RNG_RESP_DONE (0x01UL << 28) // 31 0 slave ranging response sent +#define RADIOLIB_LR2021_IRQ_RNG_REQ_DIS (0x01UL << 29) // 31 0 ranging request discarded +#define RADIOLIB_LR2021_IRQ_RNG_EXCH_VALID (0x01UL << 30) // 31 0 master receive valid ranging response +#define RADIOLIB_LR2021_IRQ_RNG_TIMEOUT (0x01UL << 31) // 31 0 ranging timeout +#define RADIOLIB_LR2021_IRQ_ALL (0xFFFFFFFFUL) // 31 0 all interrupts + +// RADIOLIB_LR2021_CMD_SET_SLEEP +#define RADIOLIB_LR2021_SLEEP_32K_CLK_DISABLED (0x00UL << 0) // 0 0 32 kHz clock: disabled +#define RADIOLIB_LR2021_SLEEP_32K_CLK_ENABLED (0x01UL << 0) // 0 0 enabled +#define RADIOLIB_LR2021_SLEEP_RETENTION_DISABLED (0x00UL << 1) // 1 1 configuration retention in sleep mode: disabled +#define RADIOLIB_LR2021_SLEEP_RETENTION_ENABLED (0x01UL << 1) // 1 1 enabled + +// RADIOLIB_LR2021_CMD_SET_STANDBY +#define RADIOLIB_LR2021_STANDBY_RC (0x00UL << 0) // 7 0 standby mode: RC oscillator +#define RADIOLIB_LR2021_STANDBY_XOSC (0x01UL << 0) // 7 0 XOSC oscillator + +// RADIOLIB_LR2021_CMD_SET_RX +#define RADIOLIB_LR2021_RX_TIMEOUT_NONE (0x000000UL) // 23 0 Rx timeout duration: no timeout (Rx single mode) +#define RADIOLIB_LR2021_RX_TIMEOUT_INF (0xFFFFFFUL) // 23 0 infinite (Rx continuous mode) + +// RADIOLIB_LR2021_CMD_SET_TX +#define RADIOLIB_LR2021_TX_TIMEOUT_NONE (0x000000UL) // 23 0 disable Tx timeout + +// RADIOLIB_LR2021_CMD_SET_RX_TX_FALLBACK_MODE +#define RADIOLIB_LR2021_FALLBACK_MODE_STBY_RC (0x01UL << 0) // 1 0 fallback mode after Rx/Tx: standby with RC +#define RADIOLIB_LR2021_FALLBACK_MODE_STBY_XOSC (0x02UL << 0) // 1 0 standby with XOSC +#define RADIOLIB_LR2021_FALLBACK_MODE_FS (0x03UL << 0) // 1 0 frequency synthesis + +// RADIOLIB_LR2021_CMD_SET_RX_DUTY_CYCLE +#define RADIOLIB_LR2021_RX_DUTY_CYCLE_MODE_RX (0x00UL << 0) // 0 0 mode in Rx windows: Rx (default) +#define RADIOLIB_LR2021_RX_DUTY_CYCLE_MODE_CAD (0x01UL << 0) // 0 0 CAD + +// RADIOLIB_LR20210_CMD_AUTO_TX_RX +#define RADIOLIB_LR2021_AUTO_MODE_NONE (0x00UL << 0) // 1 0 auto rx-tx mode: never enable auto rx-tx +#define RADIOLIB_LR2021_AUTO_MODE_ALWAYS (0x01UL << 0) // 1 0 auto rx-tx on every RxDone or TxDone event +#define RADIOLIB_LR2021_AUTO_MODE_OK (0x02UL << 0) // 1 0 auto rx-tx on valid Rx packet only (Tx always) +#define RADIOLIB_LR2021_AUTO_MODE_CLEAR_DISABLED (0x00UL << 7) // 7 7 automatically disable auto rx-tx on timeout: disabled +#define RADIOLIB_LR2021_AUTO_MODE_CLEAR_ENABLED (0x01UL << 7) // 7 7 enabled + +// RADIOLIB_LR2021_CMD_SET_REG_MODE +#define RADIOLIB_LR2021_REG_MODE_SIMO_OFF (0x00UL << 0) // 7 0 SIMO mode: disabled +#define RADIOLIB_LR2021_REG_MODE_SIMO_NORMAL (0x02UL << 0) // 7 0 normal +#define RADIOLIB_LR2021_REG_MODE_RAMP_RES_2_US (0x00UL << 5) // 6 5 ramp timing resolution: 2 us +#define RADIOLIB_LR2021_REG_MODE_RAMP_RES_4_US (0x01UL << 5) // 6 5 4 us +#define RADIOLIB_LR2021_REG_MODE_RAMP_RES_8_US (0x02UL << 5) // 6 5 8 us +#define RADIOLIB_LR2021_REG_MODE_RAMP_RES_16_US (0x03UL << 5) // 6 5 16 us +#define RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_RC2RU (0) +#define RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_TX2RU (1) +#define RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_RU2RC (2) +#define RADIOLIB_LR2021_REG_MODE_RAMP_INDEX_RAMP_DOWN (3) + +// RADIOLIB_LR2021_CMD_CALIBRATE +#define RADIOLIB_LR2021_CALIBRATE_LF_RC (0x01UL << 0) // 0 0 blocks to calibrate: low-frequency RC +#define RADIOLIB_LR2021_CALIBRATE_HF_RC (0x01UL << 1) // 1 1 high-frequency RC +#define RADIOLIB_LR2021_CALIBRATE_PLL (0x01UL << 2) // 2 2 phase-locked loop +#define RADIOLIB_LR2021_CALIBRATE_AAF (0x01UL << 3) // 3 3 anti-aliasing filter +#define RADIOLIB_LR2021_CALIBRATE_MU (0x01UL << 5) // 4 4 measurement unit +#define RADIOLIB_LR2021_CALIBRATE_PA_OFF (0x01UL << 6) // 5 5 power amplifier offset +#define RADIOLIB_LR2021_CALIBRATE_ALL (0x6FUL << 0) // 7 0 everything + +// RADIOLIB_LR2021_CMD_CALIB_FRONT_END +#define RADIOLIB_LR2021_CALIBRATE_FE_LF_PATH (0x00UL << 15) // 15 15 calibration path: low-frequency +#define RADIOLIB_LR2021_CALIBRATE_FE_HF_PATH (0x01UL << 15) // 15 15 high-frequency +#define RADIOLIB_LR2021_CAL_IMG_FREQ_TRIG_MHZ (20.0f) +#define RADIOLIB_LR2021_LF_CUTOFF_FREQ (1500.0f) + +// RADIOLIB_LR2021_CMD_GET_V_BAT +#define RADIOLIB_LR2021_VBAT_FORMAT_RAW (0x00UL << 3) // 3 3 readout format: raw +#define RADIOLIB_LR2021_VBAT_FORMAT_MV (0x01UL << 3) // 3 3 millivolts +#define RADIOLIB_LR2021_MEAS_RESOLUTION_OFFSET (8) + +// RADIOLIB_LR2021_CMD_GET_TEMP +#define RADIOLIB_LR2021_TEMP_SOURCE_VBE (0x00UL << 4) // 4 4 temperature source: sensor near Vbe junction +#define RADIOLIB_LR2021_TEMP_SOURCE_XOSC (0x01UL << 4) // 4 4 sensor near XOSC +#define RADIOLIB_LR2021_TEMP_FORMAT_RAW (0x00UL << 3) // 3 3 readout format: raw +#define RADIOLIB_LR2021_TEMP_FORMAT_DEG_C (0x01UL << 3) // 3 3 degrees Celsius + +// RADIOLIB_LR2021_CMD_SET_EOL_CONFIG +#define RADIOLIB_LR2021_EOL_TRIM_1V6 (0x00UL << 1) // 3 1 EoL trigger threshold: 1.60 V +#define RADIOLIB_LR2021_EOL_TRIM_1V67 (0x01UL << 1) // 3 1 1.67 V +#define RADIOLIB_LR2021_EOL_TRIM_1V74 (0x02UL << 1) // 3 1 1.74 V +#define RADIOLIB_LR2021_EOL_TRIM_1V8 (0x03UL << 1) // 3 1 1.80 V +#define RADIOLIB_LR2021_EOL_TRIM_1V88 (0x04UL << 1) // 3 1 1.88 V (default) +#define RADIOLIB_LR2021_EOL_TRIM_1V95 (0x05UL << 1) // 3 1 1.95 V +#define RADIOLIB_LR2021_EOL_TRIM_2V0 (0x06UL << 1) // 3 1 2.00 V +#define RADIOLIB_LR2021_EOL_TRIM_2V1 (0x07UL << 1) // 3 1 2.10 V + +// RADIOLIB_LR2021_CMD_GET_ERRORS +#define RADIOLIB_LR2021_HF_XOSC_START_ERR (0x01UL << 0) // 15 0 error: high-frequency XOSC failed to start +#define RADIOLIB_LR2021_LF_XOSC_START_ERR (0x01UL << 1) // 15 0 low-frequency XOSC failed to start +#define RADIOLIB_LR2021_PLL_LOCK_ERR (0x01UL << 2) // 15 0 PLL failed to lock +#define RADIOLIB_LR2021_LF_RC_CALIB_ERR (0x01UL << 3) // 15 0 low-frequency RC calibration failed +#define RADIOLIB_LR2021_HF_RC_CALIB_ERR (0x01UL << 4) // 15 0 high-frequency RC calibration failed +#define RADIOLIB_LR2021_PLL_CALIB_ERR (0x01UL << 5) // 15 0 PLL calibration failed +#define RADIOLIB_LR2021_AAF_CALIB_ERR (0x01UL << 6) // 15 0 anti-aliasing filter calibration failed +#define RADIOLIB_LR2021_IMG_CALIB_ERR (0x01UL << 7) // 15 0 image rejection calibration failed +#define RADIOLIB_LR2021_CHIP_BUSY_ERR (0x01UL << 8) // 15 0 Tx or Rx could not be processed because chips was busy +#define RADIOLIB_LR2021_RXFREQ_NO_FE_CAL_ERR (0x01UL << 9) // 15 0 front-end calibration nto available for this Rx frequency +#define RADIOLIB_LR2021_MEAS_UNIT_ADC_CALIB_ERR (0x01UL << 10) // 15 0 measurement unit ADC calibration failed +#define RADIOLIB_LR2021_PA_OFFSET_CALIB_ERR (0x01UL << 11) // 15 0 PA offset calibration failed +#define RADIOLIB_LR2021_PPF_CALIB_ERR (0x01UL << 12) // 15 0 poly-phase filter calibration failed +#define RADIOLIB_LR2021_SRC_CALIB_ERR (0x01UL << 13) // 15 0 self-reception cancellation calibration failed +#define RADIOLIB_LR2021_SRC_SATURATION_CALIB_ERR (0x01UL << 14) // 15 0 RSSI saturation during SRC calibration +#define RADIOLIB_LR2021_SRC_TOLERANCE_CALIB_ERR (0x01UL << 15) // 15 0 self-reception cancellation values out of tolernce + +// RADIOLIB_LR2021_CMD_SET_DIO_FUNCTION +#define RADIOLIB_LR2021_DIO_FUNCTION_NONE (0x00UL << 4) // 7 4 DIO function: none +#define RADIOLIB_LR2021_DIO_FUNCTION_IRQ (0x01UL << 4) // 7 4 interrupt +#define RADIOLIB_LR2021_DIO_FUNCTION_RF_SWITCH (0x02UL << 4) // 7 4 RF switch +#define RADIOLIB_LR2021_DIO_FUNCTION_GPIO_OUTPUT_LOW (0x05UL << 4) // 7 4 low output +#define RADIOLIB_LR2021_DIO_FUNCTION_GPIO_OUTPUT_HIGH (0x06UL << 4) // 7 4 high output +#define RADIOLIB_LR2021_DIO_FUNCTION_HF_CLK_OUT (0x07UL << 4) // 7 4 high-frequency clock output +#define RADIOLIB_LR2021_DIO_FUNCTION_LF_CLK_OUT (0x08UL << 4) // 7 4 low-frequency clock output (DIO7-11 only) +#define RADIOLIB_LR2021_DIO_FUNCTION_TX_TRIGGER (0x09UL << 4) // 7 4 Tx trigger +#define RADIOLIB_LR2021_DIO_FUNCTION_RX_TRIGGER (0x0AUL << 4) // 7 4 Rx trigger +#define RADIOLIB_LR2021_DIO_SLEEP_PULL_NONE (0x00UL << 0) // 3 0 pull up/down in sleep mode: none +#define RADIOLIB_LR2021_DIO_SLEEP_PULL_DOWN (0x01UL << 0) // 3 0 pull-down +#define RADIOLIB_LR2021_DIO_SLEEP_PULL_UP (0x02UL << 0) // 3 0 pull-up +#define RADIOLIB_LR2021_DIO_SLEEP_PULL_AUTO (0x03UL << 0) // 3 0 auto + +// RADIOLIB_LR2021_CMD_SET_DIO_RF_SWITCH_CONFIG +#define RADIOLIB_LR2021_DIO5 (RADIOLIB_LRXXXX_DIOx(0)) +#define RADIOLIB_LR2021_DIO6 (RADIOLIB_LRXXXX_DIOx(1)) +#define RADIOLIB_LR2021_DIO7 (RADIOLIB_LRXXXX_DIOx(2)) +#define RADIOLIB_LR2021_DIO8 (RADIOLIB_LRXXXX_DIOx(3)) +#define RADIOLIB_LR2021_DIO9 (RADIOLIB_LRXXXX_DIOx(4)) +#define RADIOLIB_LR2021_DIO10 (RADIOLIB_LRXXXX_DIOx(5)) +#define RADIOLIB_LR2021_DIO11 (RADIOLIB_LRXXXX_DIOx(6)) + +// RADIOLIB_LR2021_CMD_CONFIG_FIFO_IRQ +#define RADIOLIB_LR2021_FIFO_IRQ_EMPTY (0x01UL << 0) // 7 0 FIFO interrupt on: empty FIFO +#define RADIOLIB_LR2021_FIFO_IRQ_LOW (0x01UL << 1) // 7 0 level below threshold +#define RADIOLIB_LR2021_FIFO_IRQ_HIGH (0x01UL << 2) // 7 0 level above threshold +#define RADIOLIB_LR2021_FIFO_IRQ_FULL (0x01UL << 3) // 7 0 full FIFO +#define RADIOLIB_LR2021_FIFO_IRQ_OVERFLOW (0x01UL << 4) // 7 0 overflow +#define RADIOLIB_LR2021_FIFO_IRQ_UNDERFLOW (0x01UL << 5) // 7 0 underflow + +// RADIOLIB_LR2021_CMD_CONFIG_LF_CLOCK +#define RADIOLIB_LR2021_LF_CLOCK_INTERNAL_RC (0x00UL << 0) // 7 0 low-frequency source: internal 32 kHz RC oscillator +#define RADIOLIB_LR2021_LF_CLOCK_EXTERNAL (0x02UL << 0) // 7 0 external 32.768 kHz signal on DIO11 + +// RADIOLIB_LR2021_CMD_SET_RX_PATH +#define RADIOLIB_LR2021_RX_PATH_LF (0x00UL << 0) // 7 0 Rx path: low-frequency +#define RADIOLIB_LR2021_RX_PATH_HF (0x01UL << 0) // 7 0 high-frequency +#define RADIOLIB_LR2021_RX_BOOST_LF (0x00UL << 0) // 7 0 Rx boost: low-frequency +#define RADIOLIB_LR2021_RX_BOOST_HF (0x04UL << 0) // 7 0 high-frequency + +// RADIOLIB_LR2021_CMD_SET_RSSI_CALIBRATION +#define RADIOLIB_LR2021_RSSI_PATH_LF (0x01UL << 0) // 0 0 Rx path for RSSI: low-frequency +#define RADIOLIB_LR2021_RSSI_PATH_HF (0x01UL << 1) // 1 1 high-frequency +#define RADIOLIB_LR2021_GAIN_TABLE_LENGTH (27) + +// RADIOLIB_LR2021_CMD_SET_TIMESTAMP_SOURCE +#define RADIOLIB_LR2021_TIMESTAMP_SOURCE_NONE (0x00UL << 0) // 3 0 timestamp source: none +#define RADIOLIB_LR2021_TIMESTAMP_SOURCE_TX_DONE (0x01UL << 0) // 3 0 Tx done +#define RADIOLIB_LR2021_TIMESTAMP_SOURCE_RX_DONE (0x02UL << 0) // 3 0 Rx done +#define RADIOLIB_LR2021_TIMESTAMP_SOURCE_SYNC (0x03UL << 0) // 3 0 sync +#define RADIOLIB_LR2021_TIMESTAMP_SOURCE_HEADER (0x04UL << 0) // 3 0 LoRa header + +// RADIOLIB_LR2021_CMD_SET_CAD_PARAMS +#define RADIOLIB_LR2021_CAD_EXIT_MODE_FALLBACK (0x00UL << 0) // 1 0 CAD exit mode: the configured fallback mode +#define RADIOLIB_LR2021_CAD_EXIT_MODE_TX (0x01UL << 0) // 1 0 Tx +#define RADIOLIB_LR2021_CAD_EXIT_MODE_RX (0x02UL << 0) // 1 0 Rx +#define RADIOLIB_LR2021_CAD_PARAM_DEFAULT (0xFFUL << 0) // 7 0 used by the CAD methods to specify default parameter value + +// RADIOLIB_LR2021_CMD_SEL_PA +#define RADIOLIB_LR2021_PA_LOW_POWER (0x00UL << 0) // 1 0 PA to use: low-power +#define RADIOLIB_LR2021_PA_HIGH_POWER (0x01UL << 0) // 1 0 high-power + +// RADIOLIB_LR2021_CMD_SET_PA_CONFIG +#define RADIOLIB_LR2021_PA_LF_MODE_FSM (0x00UL << 0) // 1 0 PA LF mode: full single-ended mode +#define RADIOLIB_LR2021_PA_LF_DUTY_CYCLE_UNUSED (0x06UL << 0) // 7 4 PA LF duty cycle: PA not used (nibble; packed in setPaConfig) +#define RADIOLIB_LR2021_PA_LF_SLICES_UNUSED (0x07UL << 0) // 3 0 PA LF slices: PA not used +#define RADIOLIB_LR2021_PA_HF_DUTY_CYCLE_UNUSED (0x10UL << 0) // 4 0 PA HF duty cycle: PA not used + +// RADIOLIB_LR2021_CMD_SET_PACKET_TYPE +#define RADIOLIB_LR2021_PACKET_TYPE_LORA (0x00UL << 0) // 7 0 packet type: LoRa +#define RADIOLIB_LR2021_PACKET_TYPE_GFSK (0x02UL << 0) // 7 0 FSK +#define RADIOLIB_LR2021_PACKET_TYPE_BLE (0x03UL << 0) // 7 0 BLE +#define RADIOLIB_LR2021_PACKET_TYPE_RTTOF (0x04UL << 0) // 7 0 RTToF +#define RADIOLIB_LR2021_PACKET_TYPE_FLRC (0x05UL << 0) // 7 0 FLRC +#define RADIOLIB_LR2021_PACKET_TYPE_BPSK (0x06UL << 0) // 7 0 BPSK +#define RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS (0x07UL << 0) // 7 0 LR-FHSS +#define RADIOLIB_LR2021_PACKET_TYPE_WM_BUS (0x08UL << 0) // 7 0 WM-BUS +#define RADIOLIB_LR2021_PACKET_TYPE_WI_SUN (0x09UL << 0) // 7 0 WI-SUN +#define RADIOLIB_LR2021_PACKET_TYPE_OOK (0x0AUL << 0) // 7 0 OOK +#define RADIOLIB_LR2021_PACKET_TYPE_RAW (0x0BUL << 0) // 7 0 RAW +#define RADIOLIB_LR2021_PACKET_TYPE_Z_WAVE (0x0CUL << 0) // 7 0 Z-WAVE +#define RADIOLIB_LR2021_PACKET_TYPE_OQPSK (0x0DUL << 0) // 7 0 OQPSK +#define RADIOLIB_LR2021_PACKET_TYPE_NONE (0xFFUL << 0) // 2 0 none + +// RADIOLIB_LR2021_CMD_SET_LORA_MODULATION_PARAMS +#define RADIOLIB_LR2021_LORA_BW_31 (0x02UL << 0) // 3 0 LoRa bandwidth: 31.25 kHz +#define RADIOLIB_LR2021_LORA_BW_41 (0x0AUL << 0) // 3 0 41.67 kHz +#define RADIOLIB_LR2021_LORA_BW_83 (0x0BUL << 0) // 3 0 83.34 kHz +#define RADIOLIB_LR2021_LORA_BW_62 (0x03UL << 0) // 3 0 62.50 kHz +#define RADIOLIB_LR2021_LORA_BW_125 (0x04UL << 0) // 3 0 125 kHz +#define RADIOLIB_LR2021_LORA_BW_250 (0x05UL << 0) // 3 0 250 kHz +#define RADIOLIB_LR2021_LORA_BW_500 (0x06UL << 0) // 3 0 500 kHz +#define RADIOLIB_LR2021_LORA_BW_1000 (0x07UL << 0) // 3 0 1000 kHz +#define RADIOLIB_LR2021_LORA_BW_812 (0x0FUL << 0) // 3 0 812 kHz +#define RADIOLIB_LR2021_LORA_BW_406 (0x0EUL << 0) // 3 0 406 kHz +#define RADIOLIB_LR2021_LORA_BW_203 (0x0DUL << 0) // 3 0 203 kHz +#define RADIOLIB_LR2021_LORA_BW_101 (0x0CUL << 0) // 3 0 101 kHz +#define RADIOLIB_LR2021_LORA_CR_4_5 (0x01UL << 0) // 3 0 LoRa coding rate: 4/5 +#define RADIOLIB_LR2021_LORA_CR_4_6 (0x02UL << 0) // 3 0 4/6 +#define RADIOLIB_LR2021_LORA_CR_4_7 (0x03UL << 0) // 3 0 4/7 +#define RADIOLIB_LR2021_LORA_CR_4_8 (0x04UL << 0) // 3 0 4/8 +#define RADIOLIB_LR2021_LORA_CR_4_5_LI (0x05UL << 0) // 3 0 4/5 long interleaver +#define RADIOLIB_LR2021_LORA_CR_4_6_LI (0x06UL << 0) // 3 0 4/6 long interleaver +#define RADIOLIB_LR2021_LORA_CR_4_7_LI (0x07UL << 0) // 3 0 4/7 long interleaver +#define RADIOLIB_LR2021_LORA_LDRO_DISABLED (0x00UL << 0) // 1 0 LDRO/PPM configuration: disabled +#define RADIOLIB_LR2021_LORA_LDRO_ENABLED (0x01UL << 0) // 1 0 enabled + +// RADIOLIB_LR2021_CMD_SET_LORA_PACKET_PARAMS +#define RADIOLIB_LR2021_LORA_HEADER_EXPLICIT (0x00UL << 2) // 2 2 LoRa header mode: explicit +#define RADIOLIB_LR2021_LORA_HEADER_IMPLICIT (0x01UL << 2) // 2 2 implicit +#define RADIOLIB_LR2021_LORA_CRC_DISABLED (0x00UL << 1) // 1 1 LoRa CRC: disabled +#define RADIOLIB_LR2021_LORA_CRC_ENABLED (0x01UL << 1) // 1 1 enabled +#define RADIOLIB_LR2021_LORA_IQ_STANDARD (0x00UL << 0) // 0 0 LoRa IQ: standard +#define RADIOLIB_LR2021_LORA_IQ_INVERTED (0x01UL << 0) // 0 0 inverted + +// RADIOLIB_LR2021_CMD_SET_LORA_SYNCH_TIMEOUT +#define RADIOLIB_LR2021_LORA_SYNCH_TIMEOUT_FORMAT_SYMBOLS (0x00UL << 0) // 7 0 LoRa synch timeout format: number of symbols +#define RADIOLIB_LR2021_LORA_SYNCH_TIMEOUT_FORMAT_MANT_EXP (0x01UL << 0) // 7 0 mantissa-exponent + +// RADIOLIB_LR2021_CMD_SET_LORA_SYNCWORD +#define RADIOLIB_LR2021_LORA_SYNC_WORD_PRIVATE (0x12UL << 0) // 7 0 LoRa sync word: 0x12 (private networks) +#define RADIOLIB_LR2021_LORA_SYNC_WORD_LORAWAN (0x34UL << 0) // 7 0 0x34 (LoRaWAN reserved) + +// RADIOLIB_LR2021_CMD_SET_LORA_CAD_PARAMS +#define RADIOLIB_LR2021_LORA_CAD_PNR_DELTA_STANDARD (0x00UL << 0) // 7 0 LoRa CAD speed: normal +#define RADIOLIB_LR2021_LORA_CAD_PNR_DELTA_FAST (0x08UL << 0) // 7 0 fast CAD + +// RADIOLIB_LR2021_CMD_SET_LORA_HOPPING +#define RADIOLIB_LR2021_LORA_HOPPING_DISABLED (0x00UL << 6) // 7 6 LoRa intra-packet hopping: disabled +#define RADIOLIB_LR2021_LORA_HOPPING_ENABLED (0x01UL << 6) // 7 6 enabled + +// RADIOLIB_LR2021_CMD_SET_LORA_TX_SYNC +#define RADIOLIB_LR2021_LORA_TX_SYNC_DISABLED (0x00UL << 6) // 7 6 Tx sync: disabled +#define RADIOLIB_LR2021_LORA_TX_SYNC_MASTER (0x01UL << 6) // 7 6 master (wait for signal to transmit sync frame) +#define RADIOLIB_LR2021_LORA_TX_SYNC_SLAVE (0x02UL << 6) // 7 6 slave (output signal on sync frame) + +// RADIOLIB_LR2021_CMD_GET_RANGING_RESULT +#define RADIOLIB_LR2021_RANGING_RESULT_TYPE_RAW (0x00UL << 0) // 7 0 ranging result type: raw +#define RADIOLIB_LR2021_RANGING_RESULT_TYPE_RAW_EXT (0x01UL << 0) // 7 0 extended raw +#define RADIOLIB_LR2021_RANGING_RESULT_TYPE_GAINS (0x02UL << 0) // 7 0 AGC gain steps + +// RADIOLIB_LR2021_CMD_SET_GFSK_MODULATION_PARAMS +#define RADIOLIB_LR2021_GFSK_BPSK_OOK_BITRATE_BPS (0x00UL << 31) // 7 0 bitrate units: bits per second +#define RADIOLIB_LR2021_GFSK_BPSK_OOK_BITRATE_FRACTIONAL (0x01UL << 31) // 7 0 fractional (1/256 bps) +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_NONE (0x00UL << 0) // 7 0 shaping filter: none +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_2_0 (0x02UL << 0) // 7 0 Gaussian, BT = 2.0 +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_RRC_ROLLOFF_0_4 (0x03UL << 0) // 7 0 Root-Raised-Cosine with 0.4 roll-off +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_0_3 (0x04UL << 0) // 7 0 Gaussian, BT = 0.3 +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_0_5 (0x05UL << 0) // 7 0 Gaussian, BT = 0.5 +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_0_7 (0x06UL << 0) // 7 0 Gaussian, BT = 0.7 +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_1_0 (0x07UL << 0) // 7 0 Gaussian, BT = 1.0 +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_RRC_ROLLOFF_0_3 (0x08UL << 0) // 7 0 Root-Raised-Cosine with 0.3 roll-off +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_RRC_ROLLOFF_0_5 (0x09UL << 0) // 7 0 Root-Raised-Cosine with 0.5 roll-off +#define RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_RRC_ROLLOFF_0_7 (0x0AUL << 0) // 7 0 Root-Raised-Cosine with 0.7 roll-off +// TODO implement the other bandwidths as well (and figure out a way how to calculate it) +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_4_8 (39) // 7 0 GFSK Rx bandwidth: 4.8 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_5_8 (215) // 7 0 5.8 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_7_4 (87) // 7 0 7.4 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_9_7 (38) // 7 0 9.6 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_12_0 (30) // 7 0 12.0 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_14_9 (86) // 7 0 14.9 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_19_2 (37) // 7 0 19.2 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_23_1 (213) // 7 0 21.3 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_29_8 (85) // 7 0 29.8 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_38_5 (36) // 7 0 38.5 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_46_3 (212) // 7 0 46.3 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_59_5 (84) // 7 0 59.5 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_76_9 (35) // 7 0 76.9 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_92_6 (211) // 7 0 92.6 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_119_0 (83) // 7 0 119.0 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_153_8 (34) // 7 0 153.8 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_185_2 (210) // 7 0 185.2 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_238_1 (82) // 7 0 238.1 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_307_7 (33) // 7 0 307.7 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_370_4 (209) // 7 0 370.4 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_476_2 (81) // 7 0 476.2 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_555_6 (216) // 7 0 555.6 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_666_7 (152) // 7 0 666.7 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_769_2 (24) // 7 0 769.2 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_1111 (200) // 7 0 1111 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_2222 (192) // 7 0 2222 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_2666 (128) // 7 0 2667 kHz +#define RADIOLIB_LR2021_GFSK_OOK_RX_BW_3076 (0) // 7 0 3077 kHz + +// RADIOLIB_LR2021_CMD_SET_GFSK_PACKET_PARAMS +#define RADIOLIB_LR2021_GFSK_OOK_ADDR_FILT_DISABLED (0x00UL << 0) // 7 0 address filtering: disabled +#define RADIOLIB_LR2021_GFSK_OOK_ADDR_FILT_NODE (0x01UL << 0) // 7 0 node only +#define RADIOLIB_LR2021_GFSK_OOK_ADDR_FILT_NODE_BROADCAST (0x02UL << 0) // 7 0 node and broadcast +#define RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED (0x00UL << 0) // 7 0 packet format: fixed length +#define RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_VARIABLE_8BIT (0x01UL << 0) // 7 0 variable, 8-bit length +#define RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_VARIABLE_9BIT (0x02UL << 0) // 7 0 variable, 9-bit length (for SX128x compatibility) +#define RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_VARIABLE_15BIT (0x03UL << 0) // 7 0 variable, 15-bit length +#define RADIOLIB_LR2021_GFSK_OOK_CRC_OFF (0x00UL << 0) // 7 0 CRC: disabled +#define RADIOLIB_LR2021_GFSK_OOK_CRC8 (0x01UL << 0) // 7 0 1-byte +#define RADIOLIB_LR2021_GFSK_OOK_CRC16 (0x02UL << 0) // 7 0 2-byte +#define RADIOLIB_LR2021_GFSK_OOK_CRC24 (0x03UL << 0) // 7 0 3-byte +#define RADIOLIB_LR2021_GFSK_OOK_CRC32 (0x04UL << 0) // 7 0 4-byte +#define RADIOLIB_LR2021_GFSK_OOK_CRC8_INV (0x09UL << 0) // 7 0 1-byte, inverted +#define RADIOLIB_LR2021_GFSK_OOK_CRC16_INV (0x0AUL << 0) // 7 0 2-byte, inverted +#define RADIOLIB_LR2021_GFSK_OOK_CRC24_INV (0x0BUL << 0) // 7 0 3-byte, inverted +#define RADIOLIB_LR2021_GFSK_OOK_CRC32_INV (0x0CUL << 0) // 7 0 4-byte, inverted + +// RADIOLIB_LR2021_CMD_SET_GFSK_WHITENING_PARAMS +#define RADIOLIB_LR2021_GFSK_WHITENING_TYPE_SX126X_LR11XX (0x00UL << 0) // 7 0 whitening type: compatible with SX126x and LR2021 +#define RADIOLIB_LR2021_GFSK_WHITENING_TYPE_SX128X (0x01UL << 0) // 7 0 compatible with SX128x + +// RADIOLIB_LR2021_CMD_SET_GFSK_SYNCWORD +#define RADIOLIB_LR2021_GFSK_SYNC_WORD_LEN (8) + +// RADIOLIB_LR2021_CMD_SET_OQPSK_PARAMS +#define RADIOLIB_LR2021_OQPSK_TYPE_15_4 (0x00UL << 0) // 7 0 OQPSK type: 802.15.4 PHY, 250 kbps bit rate + +// RADIOLIB_LR2021_CMD_SET_BPSK_PACKET_PARAMS +#define RADIOLIB_LR2021_BPSK_MODE_RAW (0x00UL << 0) // 7 0 encoding mode: raw +#define RADIOLIB_LR2021_BPSK_MODE_SIGFOX (0x01UL << 0) // 7 0 SigFox PHY + +// RADIOLIB_LR2021_CMD_SET_FLRC_MODULATION_PARAMS +#define RADIOLIB_LR2021_FLRC_BR_2600 (0x00UL << 0) // 7 0 bitrate/bandwidth: 2600 kbps, 2666 kHz +#define RADIOLIB_LR2021_FLRC_BR_2080 (0x01UL << 0) // 7 0 2080 kbps, 2222 kHz +#define RADIOLIB_LR2021_FLRC_BR_1300 (0x02UL << 0) // 7 0 1300 kbps, 1333 kHz +#define RADIOLIB_LR2021_FLRC_BR_1040 (0x03UL << 0) // 7 0 1040 kbps, 1333 kHz +#define RADIOLIB_LR2021_FLRC_BR_650 (0x04UL << 0) // 7 0 650 kbps, 888 kHz +#define RADIOLIB_LR2021_FLRC_BR_520 (0x05UL << 0) // 7 0 520 kbps, 769 kHz +#define RADIOLIB_LR2021_FLRC_BR_325 (0x06UL << 0) // 7 0 325 kbps, 444 kHz +#define RADIOLIB_LR2021_FLRC_BR_260 (0x07UL << 0) // 7 0 260 kbps, 444 kHz +#define RADIOLIB_LR2021_FLRC_CR_1_2 (0x00UL << 0) // 7 0 coding rate: 1/2 +#define RADIOLIB_LR2021_FLRC_CR_3_4 (0x01UL << 0) // 7 0 3/4 +#define RADIOLIB_LR2021_FLRC_CR_1_0 (0x02UL << 0) // 7 0 1 (uncoded) +#define RADIOLIB_LR2021_FLRC_CR_2_3 (0x03UL << 0) // 7 0 2/3 + +// RADIOLIB_LR2021_CMD_SET_OOK_MODULATION_PARAMS +#define RADIOLIB_LR2021_OOK_DEPTH_FULL (0x00UL << 0) // 7 0 magnitude depth: limited by the PA +#define RADIOLIB_LR2021_OOK_DEPTH_20_DB (0x01UL << 0) // 7 0 20 dB maximum + +// RADIOLIB_LR2021_CMD_SET_OOK_PACKET_PARAMS +#define RADIOLIB_LR2021_OOK_MANCHESTER_OFF (0x00UL << 0) // 3 0 Manchester encoding: disabled +#define RADIOLIB_LR2021_OOK_MANCHESTER_ON (0x01UL << 0) // 3 0 enabled +#define RADIOLIB_LR2021_OOK_MANCHESTER_ON_INV (0x09UL << 0) // 3 0 enabled, inverted + +// RADIOLIB_LR2021_CMD_SET_OOK_SYNCWORD +#define RADIOLIB_LR2021_OOK_SYNC_WORD_LEN (4) + +// RADIOLIB_LR2021_CMD_SET_TX_TEST_MODE +#define RADIOLIB_LR2021_TX_TEST_MODE_NORMAL_TX (0x00UL << 0) // 7 0 Tx test mode: normal +#define RADIOLIB_LR2021_TX_TEST_MODE_INF_PREAMBLE (0x01UL << 0) // 7 0 infinite preamble +#define RADIOLIB_LR2021_TX_TEST_MODE_CW (0x02UL << 0) // 7 0 continuous wave +#define RADIOLIB_LR2021_TX_TEST_MODE_PRBS9 (0x03UL << 0) // 7 0 pseudo-random bits + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_config.cpp b/lib/RadioLib/src/modules/LR2021/LR2021_config.cpp new file mode 100644 index 0000000..af8a36b --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_config.cpp @@ -0,0 +1,1197 @@ +#include "LR2021.h" + +#include "../LR11x0/LR_common.h" +#include "LR2021_registers.h" + +#include +#include + +#if !RADIOLIB_EXCLUDE_LR2021 + +// maximum number of allowed frontend calibration attempts +#define RADIOLIB_LR2021_MAX_CAL_ATTEMPTS (10) + +// Sub-GHz: below this RF frequency (MHz) use Table 7-17 (490 MHz ref.); at/above use Table 7-16 (915 MHz ref.). +#define RADIOLIB_LR2021_LF_PA_TABLE_490_MHZ_MAX (700.0f) + +// Table 7-16: Optimal Values for 915 MHz Semtech Reference Design (LF PA). +// Integer targeted dBm 22..10 only: half-dBm rows (e.g. 21.5) need a future API that passes 0.5 dB steps. +// SetTxParams first byte = `txHalfDbm` (signed half-dBm); matches datasheet TX_PARAM column * 2. +static const struct { + int8_t txHalfDbm; + uint8_t paLfDutyCycle; + uint8_t paLfSlices; +} RADIOLIB_LR2021_TABLE_7_16_915_LF[] = { + /* 22 */ { 44, 7, 6 }, + /* 21 */ { 42, 7, 7 }, + /* 20 */ { 41, 6, 6 }, + /* 19 */ { 39, 6, 6 }, + /* 18 */ { 38, 5, 6 }, + /* 17 */ { 36, 5, 6 }, + /* 16 */ { 36, 4, 4 }, + /* 15 */ { 33, 5, 4 }, + /* 14 */ { 34, 4, 2 }, + /* 13 */ { 31, 4, 3 }, + /* 12 */ { 30, 5, 1 }, + /* 11 */ { 32, 2, 2 }, + /* 10 */ { 32, 2, 1 }, +}; + +// `targetedDbm` integer 10..22 only (Table 7-16 rows). +static void lr2021Table716LfRow(int8_t targetedDbm, int8_t* txHalfDbm, uint8_t* duty, uint8_t* slices) { + if(targetedDbm < 10) { targetedDbm = 10; } + if(targetedDbm > 22) { targetedDbm = 22; } + const auto& e = RADIOLIB_LR2021_TABLE_7_16_915_LF[22 - targetedDbm]; + *txHalfDbm = e.txHalfDbm; + *duty = e.paLfDutyCycle; + *slices = e.paLfSlices; +} + +// Table 7-17: Optimal Values for 490 MHz Semtech Reference Design (LF PA). Integer targeted dBm 20..10. +static const struct { + int8_t txHalfDbm; + uint8_t paLfDutyCycle; + uint8_t paLfSlices; +} RADIOLIB_LR2021_TABLE_7_17_490_LF[] = { + /* 20 */ { 40, 7, 7 }, + /* 19 */ { 38, 7, 7 }, + /* 18 */ { 36, 7, 6 }, + /* 17 */ { 34, 7, 6 }, + /* 16 */ { 32, 7, 6 }, + /* 15 */ { 31, 7, 4 }, + /* 14 */ { 31, 6, 4 }, + /* 13 */ { 29, 7, 2 }, + /* 12 */ { 30, 5, 3 }, + /* 11 */ { 29, 5, 2 }, + /* 10 */ { 31, 4, 2 }, +}; + +static void lr2021Table717LfRow(int8_t targetedDbm, int8_t* txHalfDbm, uint8_t* duty, uint8_t* slices) { + if(targetedDbm < 10) { targetedDbm = 10; } + if(targetedDbm > 20) { targetedDbm = 20; } + const auto& e = RADIOLIB_LR2021_TABLE_7_17_490_LF[20 - targetedDbm]; + *txHalfDbm = e.txHalfDbm; + *duty = e.paLfDutyCycle; + *slices = e.paLfSlices; +} + +// Table 7-18: Optimal Values for 2445 MHz Semtech Reference Design (HF PA). Integer targeted dBm 0..12. +static const struct { + int8_t txHalfDbm; + uint8_t paHfDutyCycle; +} RADIOLIB_LR2021_TABLE_7_18_2445_HF[] = { + /* 12 */ { 24, 16 }, + /* 11 */ { 24, 26 }, + /* 10 */ { 24, 30 }, + /* 9 */ { 22, 30 }, + /* 8 */ { 21, 31 }, + /* 7 */ { 18, 30 }, + /* 6 */ { 16, 30 }, + /* 5 */ { 15, 31 }, + /* 4 */ { 10, 25 }, + /* 3 */ { 8, 25 }, + /* 2 */ { 7, 28 }, + /* 1 */ { 6, 30 }, + /* 0 */ { 4, 30 }, +}; + +static void lr2021Table718HfRow(int8_t targetedDbm, int8_t* txHalfDbm, uint8_t* hfDuty) { + if(targetedDbm < 0) { targetedDbm = 0; } + if(targetedDbm > 12) { targetedDbm = 12; } + const auto& e = RADIOLIB_LR2021_TABLE_7_18_2445_HF[12 - targetedDbm]; + *txHalfDbm = e.txHalfDbm; + *hfDuty = e.paHfDutyCycle; +} + +int16_t LR2021::setFrequency(float freq) { + return(this->setFrequency(freq, false)); +} + +int16_t LR2021::setFrequency(float freq, bool skipCalibration) { + #if RADIOLIB_CHECK_PARAMS + if(!(((freq >= 150.0f) && (freq <= 1090.0f)) || + ((freq >= 1900.0f) && (freq <= 2200.0f)) || + ((freq >= 2400.0f) && (freq <= 2500.0f)))) { + return(RADIOLIB_ERR_INVALID_FREQUENCY); + } + #endif + + // check if we need to recalibrate image + int16_t state; + if(!skipCalibration && (fabsf(freq - this->freqMHz) >= RADIOLIB_LR2021_CAL_IMG_FREQ_TRIG_MHZ)) { + // calibration can fail if there is a strong interfering source + // run it several times until it passes + int i = 0; + for(; i < RADIOLIB_LR2021_MAX_CAL_ATTEMPTS; i++) { + // get the nearest multiple of 4 MHz + uint16_t frequencies[3] = { (uint16_t)((freq / 4.0f) + 0.5f), 0, 0 }; + frequencies[0] |= (freq > RADIOLIB_LR2021_LF_CUTOFF_FREQ) ? RADIOLIB_LR2021_CALIBRATE_FE_HF_PATH : RADIOLIB_LR2021_CALIBRATE_FE_LF_PATH; + state = calibrateFrontEnd(const_cast(frequencies)); + + // if something failed, check the device errors + if(state != RADIOLIB_ERR_NONE) { + uint16_t errors = 0; + getErrors(&errors); + RADIOLIB_DEBUG_BASIC_PRINTLN("Frontend calibration #%d failed, device errors: 0x%X", i, errors); + + // if this is caused by something else than RSSI saturation, repeating will not help + if((errors & RADIOLIB_LR2021_SRC_SATURATION_CALIB_ERR) == 0) { + return(state); + } + + // wait a little while before the next attempt + this->mod->hal->delay(5); + + } else { + // calibration passed + break; + } + + } + + if(i == RADIOLIB_LR2021_MAX_CAL_ATTEMPTS) { + return(RADIOLIB_ERR_FRONTEND_CALIBRATION_FAILED); + } + + } + + // set frequency + state = setRfFrequency((uint32_t)(freq*1000000.0f)); + RADIOLIB_ASSERT(state); + this->freqMHz = freq; + this->highFreq = (freq > RADIOLIB_LR2021_LF_CUTOFF_FREQ); + return(state); +} + +int16_t LR2021::setOutputPower(int8_t power) { + return(this->setOutputPower(power, 48)); +} + +int16_t LR2021::setOutputPower(int8_t power, uint32_t rampTimeUs) { + int16_t state = this->checkOutputPower(power, NULL); + RADIOLIB_ASSERT(state); + + // pa_sel: 0 = LF (Sub-GHz), 1 = HF (1.9–2.5 GHz). Same encoding as lr20xx reference driver. + uint8_t paSel = this->highFreq ? (uint8_t)1 : (uint8_t)0; + uint8_t paLfMode = RADIOLIB_LR2021_PA_LF_MODE_FSM; + uint8_t paLfDutyCycle = RADIOLIB_LR2021_PA_LF_DUTY_CYCLE_UNUSED; + uint8_t paLfSlices = RADIOLIB_LR2021_PA_LF_SLICES_UNUSED; + uint8_t paHfDutyCycle = RADIOLIB_LR2021_PA_HF_DUTY_CYCLE_UNUSED; + // TX_PARAM from tables is signed half-dBm (not always 2 * targeted dBm). + int8_t lfTxHalfDbm = (int8_t)(power * 2); + int8_t hfTxHalfDbm = (int8_t)(power * 2); + + if(this->highFreq) { + // HF PA: Table 7-18 (2445 MHz); LF nibbles per Semtech reference (7/6). + paLfDutyCycle = (uint8_t)0x07; + paLfSlices = (uint8_t)0x06; + if(power >= 0) { + lr2021Table718HfRow(power, &hfTxHalfDbm, &paHfDutyCycle); + } else { + lr2021Table718HfRow(0, &hfTxHalfDbm, &paHfDutyCycle); + hfTxHalfDbm = (int8_t)(power * 2); + } + } else if(this->freqMHz < RADIOLIB_LR2021_LF_PA_TABLE_490_MHZ_MAX) { + // LF PA: Table 7-17 (490 MHz ref.), max +20 dBm in table; 21–22 use row 20 PA + requested TX half-dBm. + if(power > 20) { + lr2021Table717LfRow(20, &lfTxHalfDbm, &paLfDutyCycle, &paLfSlices); + lfTxHalfDbm = (int8_t)(power * 2); + } else if(power >= 10) { + lr2021Table717LfRow(power, &lfTxHalfDbm, &paLfDutyCycle, &paLfSlices); + } else { + lr2021Table717LfRow(10, &lfTxHalfDbm, &paLfDutyCycle, &paLfSlices); + lfTxHalfDbm = (int8_t)(power * 2); + } + } else { + // LF PA: Table 7-16 (915 MHz ref.) + if(power >= 10) { + lr2021Table716LfRow(power, &lfTxHalfDbm, &paLfDutyCycle, &paLfSlices); + } else { + lr2021Table716LfRow(10, &lfTxHalfDbm, &paLfDutyCycle, &paLfSlices); + lfTxHalfDbm = (int8_t)(power * 2); + } + } + + (void)clearErrors(); + + state = setPaConfig(paSel, paLfMode, paLfDutyCycle, paLfSlices, paHfDutyCycle); + RADIOLIB_ASSERT(state); + #if RADIOLIB_DEBUG_BASIC + RADIOLIB_DEBUG_BASIC_PRINTLN("LR2021 PA cfg: hf=%d lf_dc=0x%X lf_sl=0x%X hf_dc=0x%X", + (int)this->highFreq, (int)paLfDutyCycle, (int)paLfSlices, (int)paHfDutyCycle); + #endif + + state = selPa(paSel); + RADIOLIB_ASSERT(state); + #if RADIOLIB_DEBUG_BASIC + RADIOLIB_DEBUG_BASIC_PRINTLN("LR2021 PA sel: %s", paSel ? "HF" : "LF"); + #endif + + if(this->highFreq) { + state = setTxParamsHalfDbm(hfTxHalfDbm, roundRampTime(rampTimeUs)); + } else { + state = setTxParamsHalfDbm(lfTxHalfDbm, roundRampTime(rampTimeUs)); + } + RADIOLIB_ASSERT(state); + #if RADIOLIB_DEBUG_BASIC + uint16_t err = 0; + if(getErrors(&err) == RADIOLIB_ERR_NONE) { + RADIOLIB_DEBUG_BASIC_PRINTLN("LR2021 device errors after PA/TX: 0x%X", err); + } + #endif + + return(state); +} + +int16_t LR2021::checkOutputPower(int8_t power, int8_t* clipped) { + if(this->highFreq) { + if(clipped) { + *clipped = RADIOLIB_MAX(-19, RADIOLIB_MIN(12, power)); + } + RADIOLIB_CHECK_RANGE(power, -19, 12, RADIOLIB_ERR_INVALID_OUTPUT_POWER); + + } else { + if(clipped) { + *clipped = RADIOLIB_MAX(-9, RADIOLIB_MIN(22, power)); + } + RADIOLIB_CHECK_RANGE(power, -9, 22, RADIOLIB_ERR_INVALID_OUTPUT_POWER); + + } + + return(RADIOLIB_ERR_NONE); +} + +void LR2021::setRfSwitchTable(const uint32_t (&pins)[Module::RFSWITCH_MAX_PINS], const Module::RfSwitchMode_t table[]) { + // find which pins are used + // on LR2021, modes are configured per DIO (exact opposite of LR11x0) + uint8_t dioConfigs[7] = { 0 }; + for(size_t i = 0; i < Module::RFSWITCH_MAX_PINS; i++) { + // check if this pin is unused + if(pins[i] == RADIOLIB_NC) { continue; } + + // only keep DIO pins, there may be some GPIOs in the switch tabke + if((pins[i] & RFSWITCH_PIN_FLAG) == 0) { continue; } + + // find modes in which this pin is used + uint32_t dioNum = RADIOLIB_LRXXXX_DIOx_VAL(pins[i]); + size_t j = 0; + while(table[j].mode != LR2021::MODE_END_OF_TABLE) { + dioConfigs[dioNum] |= (table[j].values[i] == this->mod->hal->GpioLevelHigh) ? (1UL << (table[j].mode - 1)) : 0; + j++; + } + + // For DIO = 5, only DIO_SLEEP_PULL_UP is accepted. Otherwise the SetDioFunction returns FAIL. + uint8_t pull = dioNum == 0 ? RADIOLIB_LR2021_DIO_SLEEP_PULL_UP : RADIOLIB_LR2021_DIO_SLEEP_PULL_AUTO; + // enable RF control for this pin and set the modes in which it is active + (void)this->setDioFunction(dioNum + 5, RADIOLIB_LR2021_DIO_FUNCTION_RF_SWITCH, pull); + (void)this->setDioRfSwitchConfig(dioNum + 5, dioConfigs[i]); + } +} + +int16_t LR2021::setBandwidth(float bw) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // convert to int to avoid bunch of math + int bw_div2 = bw / 2 + 0.01f; + + // check allowed bandwidth values + switch (bw_div2) { + case 15: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_31; + break; + case 20: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_41; + break; + case 31: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_62; + break; + case 41: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_83; + break; + case 50: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_101; + break; + case 101: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_203; + break; + case 62: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_125; + break; + case 125: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_250; + break; + case 203: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_406; + break; + case 250: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_500; + break; + case 406: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_812; + break; + case 500: + this->bandwidth = RADIOLIB_LR2021_LORA_BW_1000; + break; + default: + return(RADIOLIB_ERR_INVALID_BANDWIDTH); + } + + // update modulation parameters + this->bandwidthKhz = bw; + return(setLoRaModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); +} + +int16_t LR2021::setSpreadingFactor(uint8_t sf, bool legacy) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + RADIOLIB_CHECK_RANGE(sf, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); + + //! \TODO: [LR2021] enable SF6 legacy mode + if(legacy && (sf == 6)) { + //this->mod->SPIsetRegValue(RADIOLIB_LR11X0_REG_SF6_SX127X_COMPAT, RADIOLIB_LR11X0_SF6_SX127X, 18, 18); + } + + // update modulation parameters + this->spreadingFactor = sf; + return(setLoRaModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); +} + +int16_t LR2021::setCodingRate(uint8_t cr, bool longInterleave) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type == RADIOLIB_LR2021_PACKET_TYPE_LORA) { + RADIOLIB_CHECK_RANGE(cr, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + + if(longInterleave) { + switch(cr) { + case 4: + this->codingRate = 0; + break; + case 5: + case 6: + this->codingRate = cr; + break; + case 8: + this->codingRate = cr - 1; + break; + default: + return(RADIOLIB_ERR_INVALID_CODING_RATE); + } + + } else { + this->codingRate = cr - 4; + + } + + // update modulation parameters + return(setLoRaModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_FLRC) { + if(cr > RADIOLIB_LR2021_FLRC_CR_2_3) { + return(RADIOLIB_ERR_INVALID_CODING_RATE); + } + + // update modulation parameters + this->codingRateFlrc = cr; + return(setFlrcModulationParams(this->bitRateFlrc, this->codingRateFlrc, this->pulseShape)); + + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::setSyncWord(uint8_t syncWord) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + return(setLoRaSyncword(syncWord)); +} + +int16_t LR2021::setPreambleLength(size_t preambleLength) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type == RADIOLIB_LR2021_PACKET_TYPE_LORA) { + this->preambleLengthLoRa = preambleLength; + return(setLoRaPacketParams(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, (uint8_t)this->invertIQEnabled)); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + this->preambleLengthGFSK = preambleLength; + this->preambleDetLength = (preambleLength / 8) << 3; + return(setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_OOK) { + this->preambleLengthGFSK = preambleLength; + this->preambleDetLength = (preambleLength / 8) << 3; + return(setOokPacketParams(this->preambleLengthGFSK, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_FLRC) { + if((preambleLength % 4) != 0) { + return(RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH); + } + this->preambleLengthGFSK = (preambleLength / 4) - 1; + return(setFlrcPacketParams(this->preambleLengthGFSK, this->syncWordLength, 1, 0x01, this->packetType == RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED, this->crcLenGFSK, RADIOLIB_LR2021_MAX_PACKET_LENGTH)); + + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::setTCXO(float voltage, uint32_t delay) { + // check if TCXO is enabled at all + if(this->XTAL) { + return(RADIOLIB_ERR_INVALID_TCXO_VOLTAGE); + } + + // set mode to standby + standby(); + + // check oscillator startup error flag and clear it + uint16_t errors = 0; + int16_t state = getErrors(&errors); + RADIOLIB_ASSERT(state); + if(errors & RADIOLIB_LR2021_HF_XOSC_START_ERR) { + clearErrors(); + } + + // check 0 V disable + if(fabsf(voltage - 0.0f) <= 0.001f) { + setTcxoMode(0, 0); + return(reset()); + } + + // check allowed voltage values + uint8_t tune = 0; + if(fabsf(voltage - 1.6f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_6; + } else if(fabsf(voltage - 1.7f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_7; + } else if(fabsf(voltage - 1.8f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_1_8; + } else if(fabsf(voltage - 2.2f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_2; + } else if(fabsf(voltage - 2.4f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_4; + } else if(fabsf(voltage - 2.7f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_2_7; + } else if(fabsf(voltage - 3.0f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_3_0; + } else if(fabsf(voltage - 3.3f) <= 0.001f) { + tune = RADIOLIB_LRXXXX_TCXO_VOLTAGE_3_3; + } else { + return(RADIOLIB_ERR_INVALID_TCXO_VOLTAGE); + } + + // calculate delay value + uint32_t delayValue = (uint32_t)((float)delay / 30.52f); + if(delayValue == 0) { + delayValue = 1; + } + + // enable TCXO control + return(setTcxoMode(tune, delayValue)); +} + +int16_t LR2021::setCRC(uint8_t len, uint32_t initial, uint32_t polynomial, bool inverted) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type == RADIOLIB_LR2021_PACKET_TYPE_LORA) { + // LoRa CRC doesn't allow to set CRC polynomial, initial value, or inversion + this->crcTypeLoRa = len > 0; + return(setLoRaPacketParams(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, (uint8_t)this->invertIQEnabled)); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + if(len > 4) { + return(RADIOLIB_ERR_INVALID_CRC_CONFIGURATION); + } + + this->crcTypeGFSK = len; + if((this->crcTypeGFSK != RADIOLIB_LR2021_GFSK_OOK_CRC_OFF) && inverted) { + this->crcTypeGFSK += 0x08; + } + + state = setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening); + RADIOLIB_ASSERT(state); + + return(setGfskCrcParams(polynomial, initial)); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_OOK) { + if(len > 4) { + return(RADIOLIB_ERR_INVALID_CRC_CONFIGURATION); + } + + this->crcTypeGFSK = len; + if((this->crcTypeGFSK != RADIOLIB_LR2021_GFSK_OOK_CRC_OFF) && inverted) { + this->crcTypeGFSK += 0x08; + } + + state = setOokPacketParams(this->preambleLengthGFSK, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening); + RADIOLIB_ASSERT(state); + + return(setOokCrcParams(polynomial, initial)); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_FLRC) { + if((len == 1) || (len > 4)) { + return(RADIOLIB_ERR_INVALID_CRC_CONFIGURATION); + } + + this->crcLenGFSK = len ? len - 1 : 0; + return(setFlrcPacketParams(this->preambleLengthGFSK, this->syncWordLength, 1, 0x01, this->packetType == RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED, this->crcLenGFSK, RADIOLIB_LR2021_MAX_PACKET_LENGTH)); + + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::invertIQ(bool enable) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + this->invertIQEnabled = enable; + return(setLoRaPacketParams(this->preambleLengthLoRa, this->headerType, this->implicitLen, this->crcTypeLoRa, (uint8_t)this->invertIQEnabled)); +} + +int16_t LR2021::setBitRate(float br) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + RADIOLIB_CHECK_RANGE(br, 0.5f, 2000.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + //! \TODO: [LR2021] implement fractional bit rate configuration + this->bitRate = br * 1000.0f; + state = setGfskModulationParams(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev); + return(state); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_OOK) { + RADIOLIB_CHECK_RANGE(br, 0.5f, 2000.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + //! \TODO: [LR2021] implement fractional bit rate configuration + this->bitRate = br * 1000.0f; + //! \TODO: [LR2021] implement OOK magnitude depth configuration + state = setOokModulationParams(this->bitRate, this->pulseShape, this->rxBandwidth, RADIOLIB_LR2021_OOK_DEPTH_FULL); + return(state); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_FLRC) { + if((uint16_t)br == 260) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_260; + } else if((uint16_t)br == 325) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_325; + } else if((uint16_t)br == 520) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_520; + } else if((uint16_t)br == 650) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_650; + } else if((uint16_t)br == 1040) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_1040; + } else if((uint16_t)br == 1300) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_1300; + } else if((uint16_t)br == 2080) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_2080; + } else if((uint16_t)br == 2600) { + this->bitRateFlrc = RADIOLIB_LR2021_FLRC_BR_2600; + } else { + return(RADIOLIB_ERR_INVALID_BIT_RATE); + } + + // it is slightly weird to reuse the GFSK bitrate variable in this way + // but if GFSK gets enabled it should get reset anyway ... I think + this->bitRate = br; + + // update modulation parameters + return(setFlrcModulationParams(this->bitRateFlrc, this->codingRateFlrc, this->pulseShape)); + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::setFrequencyDeviation(float freqDev) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set frequency deviation to lowest available setting (required for digimodes) + float newFreqDev = freqDev; + if(freqDev < 0.6f) { + newFreqDev = 0.6f; + } + + RADIOLIB_CHECK_RANGE(newFreqDev, 0.6f, 500.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + this->frequencyDev = newFreqDev * 1000.0f; + state = setGfskModulationParams(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev); + return(state); +} + +int16_t LR2021::setRxBandwidth(float rxBw) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(!((type == RADIOLIB_LR2021_PACKET_TYPE_GFSK) || + (type == RADIOLIB_LR2021_PACKET_TYPE_OOK))) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + const uint8_t rxBwLut[] = { + RADIOLIB_LR2021_GFSK_OOK_RX_BW_4_8, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_5_8, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_7_4, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_9_7, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_12_0, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_14_9, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_19_2, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_23_1, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_29_8, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_38_5, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_46_3, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_59_5, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_76_9, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_92_6, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_119_0, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_153_8, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_185_2, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_238_1, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_307_7, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_370_4, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_476_2, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_555_6, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_666_7, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_769_2, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_1111, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_2222, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_2666, + RADIOLIB_LR2021_GFSK_OOK_RX_BW_3076, + }; + + state = findRxBw(rxBw, rxBwLut, sizeof(rxBwLut)/sizeof(rxBwLut[0]), 3076.0f, &this->rxBandwidth); + RADIOLIB_ASSERT(state); + + // update modulation parameters + if(type == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + state = setGfskModulationParams(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev); + } else { + state = setOokModulationParams(this->bitRate, this->pulseShape, this->rxBandwidth, RADIOLIB_LR2021_OOK_DEPTH_FULL); + } + return(state); +} + +int16_t LR2021::setSyncWord(uint8_t* syncWord, size_t len) { + if(len > RADIOLIB_LR2021_GFSK_SYNC_WORD_LEN) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + + uint32_t sync = 0; + switch(type) { + case(RADIOLIB_LR2021_PACKET_TYPE_GFSK): + // default to MSB-first + return(setGfskSyncword(const_cast(syncWord), len, true)); + + case(RADIOLIB_LR2021_PACKET_TYPE_OOK): + // default to MSB-first + return(setOokSyncword(const_cast(syncWord), len, true)); + + case(RADIOLIB_LR2021_PACKET_TYPE_LORA): + // with length set to 1 and LoRa modem active, assume it is the LoRa sync word + if(len > 1) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + return(setSyncWord(syncWord[0])); + + case(RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS): + // with length set to 4 and LR-FHSS modem active, assume it is the LR-FHSS sync word + if(len != sizeof(uint32_t)) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + memcpy(&sync, syncWord, sizeof(uint32_t)); + return(lrFhssSetSyncword(sync)); + + case(RADIOLIB_LR2021_PACKET_TYPE_FLRC): + // FLRC requires 16 or 32-bit sync word + if(!((len == 0) || (len == 2) || (len == 4))) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + + // update sync word length + this->syncWordLength = len; + state = setFlrcPacketParams(this->preambleLengthGFSK, this->syncWordLength, 1, 0x01, this->packetType == RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED, this->crcLenGFSK, RADIOLIB_LR2021_MAX_PACKET_LENGTH); + RADIOLIB_ASSERT(state); + + sync |= (uint32_t)syncWord[0] << 24; + sync |= (uint32_t)syncWord[1] << 16; + sync |= (uint32_t)syncWord[2] << 8; + sync |= (uint32_t)syncWord[3]; + return(setFlrcSyncWord(1, sync)); + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::setDataShaping(uint8_t sh) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + + // set data shaping + switch(sh) { + case RADIOLIB_SHAPING_NONE: + this->pulseShape = RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_NONE; + break; + case RADIOLIB_SHAPING_0_3: + this->pulseShape = RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_0_3; + break; + case RADIOLIB_SHAPING_0_5: + this->pulseShape = RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_0_5; + break; + case RADIOLIB_SHAPING_0_7: + this->pulseShape = RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_0_7; + break; + case RADIOLIB_SHAPING_1_0: + this->pulseShape = RADIOLIB_LR2021_GFSK_BPSK_FLRC_OOK_SHAPING_GAUSS_BT_1_0; + break; + default: + return(RADIOLIB_ERR_INVALID_DATA_SHAPING); + } + + // update modulation parameters + if(type == RADIOLIB_LR2021_PACKET_TYPE_FLRC) { + return(setFlrcModulationParams(this->bitRateFlrc, this->codingRateFlrc, this->pulseShape)); + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + return(setGfskModulationParams(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_OOK) { + return(setOokModulationParams(this->bitRate, this->pulseShape, this->rxBandwidth, RADIOLIB_LR2021_OOK_DEPTH_FULL)); + } + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::setEncoding(uint8_t encoding) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + + switch(type) { + case(RADIOLIB_LR2021_PACKET_TYPE_GFSK): + return(setWhitening(encoding == RADIOLIB_ENCODING_WHITENING)); + + case(RADIOLIB_LR2021_PACKET_TYPE_OOK): + switch(encoding) { + case(RADIOLIB_ENCODING_NRZ): + case(RADIOLIB_ENCODING_WHITENING): + return(setWhitening(encoding == RADIOLIB_ENCODING_WHITENING)); + + case(RADIOLIB_ENCODING_MANCHESTER): + state = setWhitening(false); + RADIOLIB_ASSERT(state); + this->whitening = RADIOLIB_LR2021_OOK_MANCHESTER_ON; + return(setOokPacketParams(this->preambleLengthGFSK, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); + + case(RADIOLIB_ENCODING_MANCHESTER_INV): + state = setWhitening(false); + RADIOLIB_ASSERT(state); + this->whitening = RADIOLIB_LR2021_OOK_MANCHESTER_ON_INV; + return(setOokPacketParams(this->preambleLengthGFSK, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); + + default: + return(RADIOLIB_ERR_INVALID_ENCODING); + } + + default: + return(RADIOLIB_ERR_WRONG_MODEM); + } + + return(state); +} + +int16_t LR2021::fixedPacketLengthMode(uint8_t len) { + return(setPacketMode(RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED, len)); +} + +int16_t LR2021::variablePacketLengthMode(uint8_t maxLen) { + return(setPacketMode(RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_VARIABLE_8BIT, maxLen)); +} + +int16_t LR2021::setWhitening(bool enabled, uint16_t initial) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + + switch(type) { + case(RADIOLIB_LR2021_PACKET_TYPE_GFSK): + //! \TODO: [LR2021] Implement SX128x-compatible whitening + if(enabled) { + state = setGfskWhiteningParams(RADIOLIB_LR2021_GFSK_WHITENING_TYPE_SX126X_LR11XX, initial); + RADIOLIB_ASSERT(state); + } + this->whitening = enabled; + return(setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); + + case(RADIOLIB_LR2021_PACKET_TYPE_OOK): + this->whitening = enabled; + if(enabled) { + //! \TODO: [LR2021] Implement configurable index and polynomial + state = setOokWhiteningParams(12, 0x01FF, initial); + } else { + state = setOokWhiteningParams(0, 0, 0); + } + RADIOLIB_ASSERT(state); + return(setOokPacketParams(this->preambleLengthGFSK, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::setDataRate(DataRate_t dr, ModemType_t modem ) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); + + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + // set the bit rate + state = this->setBitRate(dr.fsk.bitRate); + RADIOLIB_ASSERT(state); + + // set the frequency deviation + state = this->setFrequencyDeviation(dr.fsk.freqDev); + + } else if(modem == RADIOLIB_MODEM_LORA) { + // set the spreading factor + state = this->setSpreadingFactor(dr.lora.spreadingFactor); + RADIOLIB_ASSERT(state); + + // set the bandwidth + state = this->setBandwidth(dr.lora.bandwidth); + RADIOLIB_ASSERT(state); + + // set the coding rate + state = this->setCodingRate(dr.lora.codingRate); + + } else if(modem == RADIOLIB_MODEM_LRFHSS) { + // set the basic config + state = this->setLrFhssConfig(dr.lrFhss.bw, dr.lrFhss.cr); + RADIOLIB_ASSERT(state); + + // set hopping grid + this->lrFhssGrid = dr.lrFhss.narrowGrid ? RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_LRXXXX_LR_FHSS_GRID_STEP_FCC; + + } + + return(state); +} + +int16_t LR2021::checkDataRate(DataRate_t dr, ModemType_t modem) { + int16_t state = RADIOLIB_ERR_UNKNOWN; + + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5f, 2000.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 0.6f, 500.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + return(RADIOLIB_ERR_NONE); + + } else if(modem == RADIOLIB_MODEM_LORA) { + RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + return(RADIOLIB_ERR_NONE); + + } + + return(state); +} + +int16_t LR2021::setLrFhssConfig(uint8_t bw, uint8_t cr, uint8_t hdrCount, uint16_t hopSeed) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_LR_FHSS) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // check and cache all parameters + RADIOLIB_CHECK_RANGE((int8_t)cr, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_CR_5_6, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_CR_1_3, RADIOLIB_ERR_INVALID_CODING_RATE); + this->lrFhssCr = cr; + RADIOLIB_CHECK_RANGE((int8_t)bw, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_BW_39_06, (int8_t)RADIOLIB_LRXXXX_LR_FHSS_BW_1574_2, RADIOLIB_ERR_INVALID_BANDWIDTH); + this->lrFhssBw = bw; + RADIOLIB_CHECK_RANGE(hdrCount, 1, 4, RADIOLIB_ERR_INVALID_BIT_RANGE); + this->lrFhssHdrCount = hdrCount; + RADIOLIB_CHECK_RANGE((int16_t)hopSeed, (int16_t)0x000, (int16_t)0x1FF, RADIOLIB_ERR_INVALID_DATA_SHAPING); + this->lrFhssHopSeq = hopSeed; + return(RADIOLIB_ERR_NONE); +} + +int16_t LR2021::setRxBoostedGainMode(uint8_t level) { + int16_t state = this->setRxPath(this->highFreq ? RADIOLIB_LR2021_RX_PATH_HF : RADIOLIB_LR2021_RX_PATH_LF, this->highFreq ? this->gainModeHf : this->gainModeLf); + RADIOLIB_ASSERT(state); + if(this->highFreq) { + this->gainModeHf = level; + } else { + this->gainModeLf = level; + } + return(state); +} + +int16_t LR2021::setPacketMode(uint8_t mode, uint8_t len) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type == RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + // set requested packet mode + state = setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, mode, len, this->crcTypeGFSK, this->whitening); + RADIOLIB_ASSERT(state); + + // update cached value + this->packetType = mode; + return(state); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_OOK) { + // set requested packet mode + state = setOokPacketParams(this->preambleLengthGFSK, this->addrComp, mode, len, this->crcTypeGFSK, this->whitening); + RADIOLIB_ASSERT(state); + + // update cached value + this->packetType = mode; + return(state); + + } else if(type == RADIOLIB_LR2021_PACKET_TYPE_FLRC) { + state = setFlrcPacketParams(this->preambleLengthGFSK, this->syncWordLength, 1, 0x01, mode == RADIOLIB_LR2021_GFSK_OOK_PACKET_FORMAT_FIXED, this->crcLenGFSK, len); + RADIOLIB_ASSERT(state); + + this->packetType = mode; + return(state); + + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t LR2021::setLoRaHeaderType(uint8_t hdrType, size_t len) { + uint8_t modem = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&modem); + RADIOLIB_ASSERT(state); + if(modem != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set requested packet mode + state = setLoRaPacketParams(this->preambleLengthLoRa, hdrType, len, this->crcTypeLoRa, this->invertIQEnabled); + RADIOLIB_ASSERT(state); + + // update cached value + this->headerType = hdrType; + this->implicitLen = len; + + return(state); +} + +int16_t LR2021::implicitHeader(size_t len) { + return(this->setLoRaHeaderType(RADIOLIB_LR2021_LORA_HEADER_IMPLICIT, len)); +} + +int16_t LR2021::explicitHeader() { + return(this->setLoRaHeaderType(RADIOLIB_LR2021_LORA_HEADER_EXPLICIT)); +} + +int16_t LR2021::setNodeAddress(uint8_t nodeAddr) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // enable address filtering (node only) + this->addrComp = RADIOLIB_LR2021_GFSK_OOK_ADDR_FILT_NODE; + state = setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening); + RADIOLIB_ASSERT(state); + + // set node address + this->node = nodeAddr; + return(setGfskAddress(this->node, 0)); +} + +int16_t LR2021::setBroadcastAddress(uint8_t broadAddr) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // enable address filtering (node and broadcast) + this->addrComp = RADIOLIB_LR2021_GFSK_OOK_ADDR_FILT_NODE_BROADCAST; + state = setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening); + RADIOLIB_ASSERT(state); + + // set node and broadcast address + return(setGfskAddress(this->node, broadAddr)); +} + +int16_t LR2021::disableAddressFiltering() { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // disable address filtering + this->addrComp = RADIOLIB_LR2021_GFSK_OOK_ADDR_FILT_DISABLED; + return(setGfskPacketParams(this->preambleLengthGFSK, this->preambleDetLength, false, false, this->addrComp, this->packetType, RADIOLIB_LR2021_MAX_PACKET_LENGTH, this->crcTypeGFSK, this->whitening)); +} + +int16_t LR2021::ookDetector(uint16_t pattern, uint8_t len, uint8_t repeats, bool syncRaw, bool rising, uint8_t sofLen) { + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_OOK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + return(setOokDetector(pattern, len - 1, repeats, syncRaw, rising, sofLen)); +} + +int16_t LR2021::setOokDetectionThreshold(int16_t level) { + int16_t levelRaw = 64 + level; + return(this->writeRegMemMask32(RADIOLIB_LR2021_REG_OOK_DETECTION_THRESHOLD, (0x7FUL << 20), (uint32_t)levelRaw << 20)); +} + +int16_t LR2021::setSideDetector(const LR2021LoRaSideDetector_t* cfg, size_t numDetectors) { + // some basic sanity checks + if((cfg == nullptr) || (numDetectors == 0)) { + return(RADIOLIB_ERR_NONE); + } + + if(numDetectors > 3) { + return(RADIOLIB_ERR_INVALID_SIDE_DETECT); + } + + // if bandwidth is higher than 500 kHz, at most 2 side detectors are allowed + if((this->bandwidthKhz > 500.0f) && (numDetectors > 2)) { + return(RADIOLIB_ERR_INVALID_SIDE_DETECT); + } + + // if the primary spreading factor is 10, 11 or 12, at most 2 side detectors are allowed + if((this->spreadingFactor >= 10) && (numDetectors > 2)) { + return(RADIOLIB_ERR_INVALID_SIDE_DETECT); + } + + // condition of the primary spreading factor being the smallest/largest is not checked + // this is intentional, because it depends on whether the user wants to start Rx or CAD + + uint8_t detectors[3] = { 0 }; + uint8_t syncWords[3] = { 0 }; + uint8_t minSf = this->spreadingFactor; + for(size_t i = 0; i < numDetectors; i++) { + // all side-detector spreading factors must be higher than the primary one + //! \todo [LR2021] implement multi-SF for CAD (main SF must be smallest!) + if(this->spreadingFactor >= cfg[i].sf) { + return(RADIOLIB_ERR_INVALID_SIDE_DETECT); + } + + // the difference between maximum and minimum spreading factor used must be less than or equal to 4 + if(cfg[i].sf - minSf > 4) { + return(RADIOLIB_ERR_INVALID_SIDE_DETECT); + } + + if(cfg[i].sf < minSf) { minSf = cfg[i].sf; } + + detectors[i] = cfg[i].sf << 4 | cfg[i].ldro << 2 | cfg[i].invertIQ; + syncWords[i] = cfg[i].syncWord; + } + + // all spreading factors must be different + if(numDetectors >= 2) { + if(cfg[0].sf == cfg[1].sf) { + return(RADIOLIB_ERR_INVALID_SIDE_DETECT); + } + } + + if(numDetectors == 3) { + if((cfg[1].sf == cfg[2].sf) || (cfg[0].sf == cfg[2].sf)) { + return(RADIOLIB_ERR_INVALID_SIDE_DETECT); + } + } + + // check active modem + uint8_t type = RADIOLIB_LR2021_PACKET_TYPE_NONE; + int16_t state = getPacketType(&type); + RADIOLIB_ASSERT(state); + if(type != RADIOLIB_LR2021_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + state = setLoRaSideDetConfig(detectors, numDetectors); + RADIOLIB_ASSERT(state); + + return(setLoRaSideDetSyncword(syncWords, numDetectors)); +} + +int16_t LR2021::setGain(uint8_t gain) { + if(gain > 13) { + return(RADIOLIB_ERR_INVALID_GAIN); + } + return(this->SPIcommand(RADIOLIB_LR2021_CMD_SET_AGC_GAIN_MANUAL, true, &gain, sizeof(gain))); +} + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_registers.h b/lib/RadioLib/src/modules/LR2021/LR2021_registers.h new file mode 100644 index 0000000..c39a01a --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_registers.h @@ -0,0 +1,29 @@ +#if !defined(RADIOLIB_LR2021_REGISTERS_H) +#define RADIOLIB_LR2021_REGISTERS_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_LR2021 + +// LR2021 SPI registers +#define RADIOLIB_LR2021_REG_DCDC_FREQ_LF (0x80004C) +#define RADIOLIB_LR2021_REG_DCDC_SWITCHER (0xF20024) +#define RADIOLIB_LR2021_REG_RTTOF_RSSI_POWER_OFFSET (0xF30128) +#define RADIOLIB_LR2021_REG_RESULT_DEVIATION_CHANNEL_FILTER (0xF3013C) +#define RADIOLIB_LR2021_REG_RESULT_DEVIATION_DCC (0xF30134) +#define RADIOLIB_LR2021_REG_RTTOF_RSSI_MAX_GAIN (0xF301A4) +#define RADIOLIB_LR2021_REG_LORA_MODEM_TXRX_CFG0 (0xF30A14) +#define RADIOLIB_LR2021_REG_LORA_MODEM_MAIN_TX_CFG1 (0xF30A24) +#define RADIOLIB_LR2021_REG_LORA_EXT_FREQ_ERR_CTRL (0xF30A2C) +#define RADIOLIB_LR2021_REG_RTTOF_EXTENDED_STUCK (0xF30B50) +#define RADIOLIB_LR2021_REG_BLE_PHY_CODED_FREQ_DRIFT (0xF30C28) +#define RADIOLIB_LR2021_REG_OOK_DETECTION_THRESHOLD (0xF30E14) +#define RADIOLIB_LR2021_REG_RTTOF_RF_FREQ (0xF40144) +#define RADIOLIB_LR2021_REG_DCDC_ADC_CTRL (0xF40200) +#define RADIOLIB_LR2021_REG_OCP_CONTROL_UNLOCK (0xF40338) +#define RADIOLIB_LR2021_REG_OCP_THRESHOLDS (0xF40300) +#define RADIOLIB_LR2021_REG_DCDC_RX_PATH (0xF40430) + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/LR2021/LR2021_types.h b/lib/RadioLib/src/modules/LR2021/LR2021_types.h new file mode 100644 index 0000000..c04aee3 --- /dev/null +++ b/lib/RadioLib/src/modules/LR2021/LR2021_types.h @@ -0,0 +1,42 @@ +#if !defined(RADIOLIB_LR2021_TYPES_H) +#define RADIOLIB_LR2021_TYPES_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_LR2021 + +/*! + \struct LR2021LrFhssHopTableEntry_t + \brief Structure to save information about LR-FHSS hopping table entry. +*/ +struct LR2021LrFhssHopTableEntry_t { + bool hoppingEnable; + bool convertFreq; + uint16_t packetLen; + uint8_t numUsedFrequencies; + uint8_t numHoppingBlocks; + uint32_t freq; + uint16_t numSymbols; +}; + +/*! + \struct LR2021LoRaSideDetector_t + \brief Structure to configure multi-SF detection +*/ +struct LR2021LoRaSideDetector_t { + /*! \brief Spreading factor value */ + uint8_t sf; + + /*! \brief Low datarate optimization enabled for this detector */ + bool ldro; + + /*! \brief IQ inversion for this detector */ + bool invertIQ; + + /*! \brief LoRa sync word for this detector */ + uint8_t syncWord; +}; + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/RF69/RF69.cpp b/lib/RadioLib/src/modules/RF69/RF69.cpp index f87270b..c47f6d0 100644 --- a/lib/RadioLib/src/modules/RF69/RF69.cpp +++ b/lib/RadioLib/src/modules/RF69/RF69.cpp @@ -2,7 +2,9 @@ #include #if !RADIOLIB_EXCLUDE_RF69 -RF69::RF69(Module* module) : PhysicalLayer(RADIOLIB_RF69_FREQUENCY_STEP_SIZE, RADIOLIB_RF69_MAX_PACKET_LENGTH) { +RF69::RF69(Module* module) : PhysicalLayer() { + this->freqStep = RADIOLIB_RF69_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_RF69_MAX_PACKET_LENGTH; this->mod = module; } @@ -120,9 +122,12 @@ int16_t RF69::transmit(const uint8_t* data, size_t len, uint8_t addr) { return(finishTransmit()); } -int16_t RF69::receive(uint8_t* data, size_t len) { - // calculate timeout (500 ms + 400 full 64-byte packets at current bit rate) - RadioLibTime_t timeout = 500 + (1.0/(this->bitRate))*(RADIOLIB_RF69_MAX_PACKET_LENGTH*400.0); +int16_t RF69::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { + // calculate timeout (500 ms + 400 full 64-byte packets at current bit rate) + timeoutInternal = 500 + (1.0f/(this->bitRate))*(RADIOLIB_RF69_MAX_PACKET_LENGTH*400.0f); + } // start reception int16_t state = startReceive(); @@ -133,9 +138,8 @@ int16_t RF69::receive(uint8_t* data, size_t len) { while(!this->mod->hal->digitalRead(this->mod->getIrq())) { this->mod->hal->yield(); - if(this->mod->hal->millis() - start > timeout) { - standby(); - clearIRQFlags(); + if(this->mod->hal->millis() - start > timeoutInternal) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } } @@ -219,7 +223,7 @@ int16_t RF69::packetMode() { return(this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_DATA_MODUL, RADIOLIB_RF69_PACKET_MODE, 6, 5)); } -void RF69::setAESKey(uint8_t* key) { +void RF69::setAESKey(const uint8_t* key) { this->mod->SPIwriteRegisterBurst(RADIOLIB_RF69_REG_AES_KEY_1, key, 16); } @@ -364,7 +368,7 @@ bool RF69::fifoAdd(uint8_t* data, int totalLen, int* remLen) { bool RF69::fifoGet(volatile uint8_t* data, int totalLen, volatile int* rcvLen) { // get pointer to the correct position in data buffer - uint8_t* dataPtr = (uint8_t*)&data[*rcvLen]; + uint8_t* dataPtr = const_cast(&data[*rcvLen]); // check how much data are we still expecting uint8_t len = RADIOLIB_RF69_FIFO_THRESH - 1; @@ -419,12 +423,6 @@ int16_t RF69::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { } this->mod->SPIwriteRegisterBurst(RADIOLIB_RF69_REG_FIFO, const_cast(data), packetLen); - // this is a hack, but it seems than in Stream mode, Rx FIFO level is getting triggered 1 byte before it should - // just add a padding byte that can be dropped without consequence - if(len > RADIOLIB_RF69_MAX_PACKET_LENGTH) { - this->mod->SPIwriteRegister(RADIOLIB_RF69_REG_FIFO, '/'); - } - // enable +20 dBm operation if(this->power > 17) { state = this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_OCP, RADIOLIB_RF69_OCP_OFF | 0x0F); @@ -481,12 +479,20 @@ int16_t RF69::readData(uint8_t* data, size_t len) { // clear internal flag so getPacketLength can return the new packet length this->packetLengthQueried = false; - // clear interrupt flags - clearIRQFlags(); + finishReceive(); return(RADIOLIB_ERR_NONE); } +int16_t RF69::finishReceive() { + // set mode to standby to disable RF switch + int16_t state = standby(); + + // clear interrupt flags + clearIRQFlags(); + return(state); +} + int16_t RF69::setOOK(bool enable) { // set OOK and if successful, save the new setting int16_t state = RADIOLIB_ERR_NONE; @@ -523,9 +529,9 @@ int16_t RF69::setOokPeakThresholdDecrement(uint8_t value) { int16_t RF69::setFrequency(float freq) { // check allowed frequency range - if(!(((freq > 290.0) && (freq < 340.0)) || - ((freq > 431.0) && (freq < 510.0)) || - ((freq > 862.0) && (freq < 1020.0)))) { + if(!(((freq > 290.0f) && (freq < 340.0f)) || + ((freq > 431.0f) && (freq < 510.0f)) || + ((freq > 862.0f) && (freq < 1020.0f)))) { return(RADIOLIB_ERR_INVALID_FREQUENCY); } @@ -559,7 +565,7 @@ int16_t RF69::getFrequency(float *freq) { int16_t RF69::setBitRate(float br) { // datasheet says 1.2 kbps should be the smallest possible, but 0.512 works fine - RADIOLIB_CHECK_RANGE(br, 0.5, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(br, 0.5f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); // check bitrate-bandwidth ratio if(!(br < 2000 * this->rxBandwidth)) { @@ -592,8 +598,8 @@ int16_t RF69::setRxBandwidth(float rxBw) { // calculate exponent and mantissa values for receiver bandwidth for(int8_t e = 7; e >= 0; e--) { for(int8_t m = 2; m >= 0; m--) { - float point = (RADIOLIB_RF69_CRYSTAL_FREQ * 1000000.0)/(((4 * m) + 16) * ((uint32_t)1 << (e + (this->ookEnabled ? 3 : 2)))); - if(fabsf(rxBw - (point / 1000.0)) <= 0.1) { + float point = (RADIOLIB_RF69_CRYSTAL_FREQ * 1000000.0f)/(((4 * m) + 16) * ((uint32_t)1 << (e + (this->ookEnabled ? 3 : 2)))); + if(fabsf(rxBw - (point / 1000.0f)) <= 0.1f) { // set Rx bandwidth state = this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_RX_BW, (m << 3) | e, 4, 0); if(state == RADIOLIB_ERR_NONE) { @@ -610,8 +616,8 @@ int16_t RF69::setRxBandwidth(float rxBw) { int16_t RF69::setFrequencyDeviation(float freqDev) { // set frequency deviation to lowest available setting (required for digimodes) float newFreqDev = freqDev; - if(freqDev < 0.0) { - newFreqDev = 0.6; + if(freqDev < 0.0f) { + newFreqDev = 0.6f; } // check frequency deviation range @@ -648,7 +654,7 @@ int16_t RF69::getFrequencyDeviation(float *freqDev) { // calculate frequency deviation from raw value obtained from register // Fdev = Fstep * Fdev(13:0) (pag. 20 of datasheet) - *freqDev = (1000.0 * fdev * RADIOLIB_RF69_CRYSTAL_FREQ) / + *freqDev = (1000.0f * fdev * RADIOLIB_RF69_CRYSTAL_FREQ) / (uint32_t(1) << RADIOLIB_RF69_DIV_EXPONENT); return(RADIOLIB_ERR_NONE); @@ -692,9 +698,9 @@ int16_t RF69::setOutputPower(int8_t pwr, bool highPower) { return(state); } -int16_t RF69::setSyncWord(uint8_t* syncWord, size_t len, uint8_t maxErrBits) { +int16_t RF69::setSyncWord(const uint8_t* syncWord, size_t len, uint8_t maxErrBits) { // check constraints - if((maxErrBits > 7) || (len > 8)) { + if((maxErrBits > 7) || (len == 0) || (len > 8)) { return(RADIOLIB_ERR_INVALID_SYNC_WORD); } @@ -705,20 +711,19 @@ int16_t RF69::setSyncWord(uint8_t* syncWord, size_t len, uint8_t maxErrBits) { } } + // enable filtering int16_t state = enableSyncWordFiltering(maxErrBits); RADIOLIB_ASSERT(state); + // set the length + state = this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_SYNC_CONFIG, (len-1)<<3, 5, 3); + // set sync word register this->mod->SPIwriteRegisterBurst(RADIOLIB_RF69_REG_SYNC_VALUE_1, syncWord, len); - - if(state == RADIOLIB_ERR_NONE) { - this->syncWordLength = len; - } - return(state); } -int16_t RF69::setPreambleLength(uint8_t preambleLen) { +int16_t RF69::setPreambleLength(size_t preambleLen) { // RF69 configures preamble length in bytes if(preambleLen % 8 != 0) { return(RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH); @@ -805,7 +810,11 @@ int16_t RF69::variablePacketLengthMode(uint8_t maxLen) { int16_t RF69::enableSyncWordFiltering(uint8_t maxErrBits) { // enable sync word recognition - return(this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_SYNC_CONFIG, RADIOLIB_RF69_SYNC_ON | RADIOLIB_RF69_FIFO_FILL_CONDITION_SYNC | (this->syncWordLength - 1) << 3 | maxErrBits, 7, 0)); + int16_t state = this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_SYNC_CONFIG, RADIOLIB_RF69_SYNC_ON | RADIOLIB_RF69_FIFO_FILL_CONDITION_SYNC, 7, 6); + RADIOLIB_ASSERT(state); + + // set maximum error bits + return(this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_SYNC_CONFIG, maxErrBits, 2, 0)); } int16_t RF69::disableSyncWordFiltering() { @@ -928,9 +937,9 @@ float RF69::getRSSI() { } int16_t RF69::setRSSIThreshold(float dbm) { - RADIOLIB_CHECK_RANGE(dbm, -127.5, 0, RADIOLIB_ERR_INVALID_RSSI_THRESHOLD); + RADIOLIB_CHECK_RANGE(dbm, -127.5f, 0.0f, RADIOLIB_ERR_INVALID_RSSI_THRESHOLD); - return this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_RSSI_THRESH, (uint8_t)(-2.0 * dbm), 7, 0); + return this->mod->SPIsetRegValue(RADIOLIB_RF69_REG_RSSI_THRESH, (uint8_t)(-2.0f * dbm), 7, 0); } void RF69::setRfSwitchPins(uint32_t rxEn, uint32_t txEn) { diff --git a/lib/RadioLib/src/modules/RF69/RF69.h b/lib/RadioLib/src/modules/RF69/RF69.h index 00ea43b..fa612a9 100644 --- a/lib/RadioLib/src/modules/RF69/RF69.h +++ b/lib/RadioLib/src/modules/RF69/RF69.h @@ -12,7 +12,7 @@ // RF69 physical layer properties #define RADIOLIB_RF69_FREQUENCY_STEP_SIZE 61.03515625 #define RADIOLIB_RF69_MAX_PACKET_LENGTH 64 -#define RADIOLIB_RF69_CRYSTAL_FREQ 32.0 +#define RADIOLIB_RF69_CRYSTAL_FREQ 32.0f #define RADIOLIB_RF69_DIV_EXPONENT 19 // RF69 register map @@ -528,11 +528,13 @@ class RF69: public PhysicalLayer { /*! \brief Blocking binary receive method. Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Sets the module to sleep mode. @@ -577,7 +579,7 @@ class RF69: public PhysicalLayer { \brief Sets AES key. \param key Key to be used for AES encryption. Must be exactly 16 bytes long. */ - void setAESKey(uint8_t* key); + void setAESKey(const uint8_t* key); /*! \brief Enables AES encryption. @@ -727,6 +729,12 @@ class RF69: public PhysicalLayer { */ int16_t readData(uint8_t* data, size_t len) override; + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; + // configuration methods /*! @@ -789,14 +797,14 @@ class RF69: public PhysicalLayer { \param len Sync word length in bytes. \param maxErrBits Maximum allowed number of bit errors in received sync word. Defaults to 0. */ - int16_t setSyncWord(uint8_t* syncWord, size_t len, uint8_t maxErrBits = 0); + int16_t setSyncWord(const uint8_t* syncWord, size_t len, uint8_t maxErrBits = 0); /*! \brief Sets preamble length. \param preambleLen Preamble length to be set (in bits), allowed values: 16, 24, 32, 48, 64, 96, 128 and 192. \returns \ref status_codes */ - int16_t setPreambleLength(uint8_t preambleLen); + int16_t setPreambleLength(size_t preambleLen) override; /*! \brief Sets node address. Calling this method will also enable address filtering for node address only. @@ -949,7 +957,7 @@ class RF69: public PhysicalLayer { int16_t setLnaTestBoost(bool value); /*! - \brief Gets RSSI (Recorded Signal Strength Indicator) of the last received packet. + \brief Gets RSSI (Received Signal Strength Indicator) of the last received packet. \returns Last packet RSSI in dBm. */ float getRSSI() override; @@ -999,7 +1007,7 @@ class RF69: public PhysicalLayer { \param value The value that indicates which function to place on that pin. See chip datasheet for details. \returns \ref status_codes */ - int16_t setDIOMapping(uint32_t pin, uint32_t value) override; + int16_t setDIOMapping(uint32_t pin, uint32_t value); #if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL protected: @@ -1031,8 +1039,6 @@ class RF69: public PhysicalLayer { bool promiscuous = false; - uint8_t syncWordLength = RADIOLIB_RF69_DEFAULT_SW_LEN; - bool bitSync = true; int16_t directMode(); diff --git a/lib/RadioLib/src/modules/SX123x/SX1231.cpp b/lib/RadioLib/src/modules/SX123x/SX1231.cpp index 11424ee..2b64ff6 100644 --- a/lib/RadioLib/src/modules/SX123x/SX1231.cpp +++ b/lib/RadioLib/src/modules/SX123x/SX1231.cpp @@ -17,7 +17,10 @@ int16_t SX1231::begin(float freq, float br, float freqDev, float rxBw, int8_t po bool flagFound = false; while((i < 10) && !flagFound) { int16_t version = getChipVersion(); - if((version == RADIOLIB_SX123X_CHIP_REVISION_2_A) || (version == RADIOLIB_SX123X_CHIP_REVISION_2_B) || (version == RADIOLIB_SX123X_CHIP_REVISION_2_C)) { + if((version == RADIOLIB_SX123X_CHIP_REVISION_2_A) || + (version == RADIOLIB_SX123X_CHIP_REVISION_2_B) || + (version == RADIOLIB_SX123X_CHIP_REVISION_2_C) || + (version == RADIOLIB_SX123X_CHIP_REVISION_2_D)) { flagFound = true; this->chipRevision = version; } else { diff --git a/lib/RadioLib/src/modules/SX123x/SX1231.h b/lib/RadioLib/src/modules/SX123x/SX1231.h index 6dc3735..6e9b66d 100644 --- a/lib/RadioLib/src/modules/SX123x/SX1231.h +++ b/lib/RadioLib/src/modules/SX123x/SX1231.h @@ -11,6 +11,7 @@ #define RADIOLIB_SX123X_CHIP_REVISION_2_A 0x21 #define RADIOLIB_SX123X_CHIP_REVISION_2_B 0x22 #define RADIOLIB_SX123X_CHIP_REVISION_2_C 0x23 +#define RADIOLIB_SX123X_CHIP_REVISION_2_D 0x24 // RADIOLIB_SX1231 specific register map #define RADIOLIB_SX1231_REG_TEST_OOK 0x6E @@ -108,7 +109,7 @@ class SX1231: public RF69 { \param preambleLen Preamble Length in bits. Defaults to 16 bits. \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint8_t preambleLen = 16); + virtual int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint8_t preambleLen = 16); #if !RADIOLIB_GODMODE protected: diff --git a/lib/RadioLib/src/modules/SX123x/SX1233.cpp b/lib/RadioLib/src/modules/SX123x/SX1233.cpp index 23eb72c..e414095 100644 --- a/lib/RadioLib/src/modules/SX123x/SX1233.cpp +++ b/lib/RadioLib/src/modules/SX123x/SX1233.cpp @@ -18,7 +18,10 @@ int16_t SX1233::begin(float freq, float br, float freqDev, float rxBw, int8_t po bool flagFound = false; while((i < 10) && !flagFound) { int16_t version = getChipVersion(); - if((version == RADIOLIB_SX123X_CHIP_REVISION_2_A) || (version == RADIOLIB_SX123X_CHIP_REVISION_2_B) || (version == RADIOLIB_SX123X_CHIP_REVISION_2_C)) { + if((version == RADIOLIB_SX123X_CHIP_REVISION_2_A) || + (version == RADIOLIB_SX123X_CHIP_REVISION_2_B) || + (version == RADIOLIB_SX123X_CHIP_REVISION_2_C) || + (version == RADIOLIB_SX123X_CHIP_REVISION_2_D)) { flagFound = true; this->chipRevision = version; } else { @@ -93,11 +96,11 @@ int16_t SX1233::begin(float freq, float br, float freqDev, float rxBw, int8_t po int16_t SX1233::setBitRate(float br) { // check high bit-rate operation uint8_t pllBandwidth = RADIOLIB_SX1233_PLL_BW_LOW_BIT_RATE; - if((fabsf(br - 500.0f) < 0.1) || (fabsf(br - 600.0f) < 0.1)) { + if((fabsf(br - 500.0f) < 0.1f) || (fabsf(br - 600.0f) < 0.1f)) { pllBandwidth = RADIOLIB_SX1233_PLL_BW_HIGH_BIT_RATE; } else { // datasheet says 1.2 kbps should be the smallest possible, but 0.512 works fine - RADIOLIB_CHECK_RANGE(br, 0.5, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(br, 0.5f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); } diff --git a/lib/RadioLib/src/modules/SX123x/SX1233.h b/lib/RadioLib/src/modules/SX123x/SX1233.h index bf9bb14..2cff2c6 100644 --- a/lib/RadioLib/src/modules/SX123x/SX1233.h +++ b/lib/RadioLib/src/modules/SX123x/SX1233.h @@ -38,7 +38,7 @@ class SX1233: public SX1231 { \param preambleLen Preamble Length in bits. Defaults to 16 bits. \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint8_t preambleLen = 16); + int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint8_t preambleLen = 16) override; /*! \brief Sets bit rate. Allowed values range from 0.5 to 300.0 kbps. diff --git a/lib/RadioLib/src/modules/SX126x/STM32WLx.cpp b/lib/RadioLib/src/modules/SX126x/STM32WLx.cpp index e9f4716..d32477a 100644 --- a/lib/RadioLib/src/modules/SX126x/STM32WLx.cpp +++ b/lib/RadioLib/src/modules/SX126x/STM32WLx.cpp @@ -45,7 +45,7 @@ int16_t STM32WLx::setOutputPower(int8_t power) { RADIOLIB_ASSERT(state); // check the user did not request power output that is not possible - Module* mod = this->getMod(); + const Module* mod = this->getMod(); bool hp_supported = mod->findRfSwitchMode(MODE_TX_HP); bool lp_supported = mod->findRfSwitchMode(MODE_TX_LP); if((!lp_supported && (power < -9)) || (!hp_supported && (power > 14))) { diff --git a/lib/RadioLib/src/modules/SX126x/STM32WLx.h b/lib/RadioLib/src/modules/SX126x/STM32WLx.h index 993791a..317922c 100644 --- a/lib/RadioLib/src/modules/SX126x/STM32WLx.h +++ b/lib/RadioLib/src/modules/SX126x/STM32WLx.h @@ -66,12 +66,12 @@ class STM32WLx : public SX1262 { /*! \copydoc SX1262::begin */ - int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX126X_SYNC_WORD_PRIVATE, int8_t power = 10, uint16_t preambleLength = 8, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); + int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX126X_SYNC_WORD_PRIVATE, int8_t power = 10, uint16_t preambleLength = 8, float tcxoVoltage = 1.6, bool useRegulatorLDO = false) override; /*! \copydoc SX1262::beginFSK */ - int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 156.2, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); + int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 156.2, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 1.6, bool useRegulatorLDO = false) override; // configuration methods @@ -113,12 +113,12 @@ class STM32WLx : public SX1262 { \brief Sets interrupt service routine to call when DIO1/2/3 activates. \param func ISR to call. */ - void setDio1Action(void (*func)(void)); + void setDio1Action(void (*func)(void)) override; /*! \brief Clears interrupt service routine to call when DIO1/2/3 activates. */ - void clearDio1Action(); + void clearDio1Action() override; /*! \brief Sets interrupt service routine to call when a packet is received. diff --git a/lib/RadioLib/src/modules/SX126x/SX1262.cpp b/lib/RadioLib/src/modules/SX126x/SX1262.cpp index 426c2d0..63c221a 100644 --- a/lib/RadioLib/src/modules/SX126x/SX1262.cpp +++ b/lib/RadioLib/src/modules/SX126x/SX1262.cpp @@ -3,6 +3,45 @@ #if !RADIOLIB_EXCLUDE_SX126X +// this is a lookup table for optimized PA configuration +// it was determined by testing in https://github.com/jgromes/RadioLib/issues/1628 +// see also https://github.com/radiolib-org/power-tests +static const SX126x::paTableEntry_t paOptTable[32] = { + { .paDutyCycle = 2, .hpMax = 2, .paVal = -5 }, + { .paDutyCycle = 2, .hpMax = 1, .paVal = 0 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 3 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 0 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 6 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 3 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 2 }, + { .paDutyCycle = 4, .hpMax = 1, .paVal = 6 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 11 }, + { .paDutyCycle = 2, .hpMax = 1, .paVal = 11 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 14 }, + { .paDutyCycle = 2, .hpMax = 1, .paVal = 14 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 20 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 22 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 11 }, + { .paDutyCycle = 3, .hpMax = 1, .paVal = 21 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 17 }, + { .paDutyCycle = 4, .hpMax = 2, .paVal = 13 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 20 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 22 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 21 }, + { .paDutyCycle = 3, .hpMax = 2, .paVal = 21 }, + { .paDutyCycle = 1, .hpMax = 4, .paVal = 19 }, + { .paDutyCycle = 1, .hpMax = 4, .paVal = 20 }, + { .paDutyCycle = 3, .hpMax = 3, .paVal = 20 }, + { .paDutyCycle = 2, .hpMax = 5, .paVal = 19 }, + { .paDutyCycle = 1, .hpMax = 6, .paVal = 22 }, + { .paDutyCycle = 2, .hpMax = 5, .paVal = 22 }, + { .paDutyCycle = 3, .hpMax = 5, .paVal = 22 }, + { .paDutyCycle = 3, .hpMax = 6, .paVal = 22 }, + { .paDutyCycle = 4, .hpMax = 6, .paVal = 22 }, + { .paDutyCycle = 4, .hpMax = 7, .paVal = 22 }, +}; + + SX1262::SX1262(Module* mod) : SX126x(mod) { chipType = RADIOLIB_SX1262_CHIP_TYPE; } @@ -49,6 +88,24 @@ int16_t SX1262::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t return(state); } +int16_t SX1262::beginBPSK(float freq, float br, int8_t power, float tcxoVoltage, bool useRegulatorLDO) { + // execute common part + int16_t state = SX126x::beginBPSK(br, tcxoVoltage, useRegulatorLDO); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setFrequency(freq); + RADIOLIB_ASSERT(state); + + state = SX126x::fixPaClamping(); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + return(state); +} + int16_t SX1262::beginLRFHSS(float freq, uint8_t bw, uint8_t cr, bool narrowGrid, int8_t power, float tcxoVoltage, bool useRegulatorLDO) { // execute common part int16_t state = SX126x::beginLRFHSS(bw, cr, narrowGrid, tcxoVoltage, useRegulatorLDO); @@ -72,7 +129,7 @@ int16_t SX1262::setFrequency(float freq) { } int16_t SX1262::setFrequency(float freq, bool skipCalibration) { - RADIOLIB_CHECK_RANGE(freq, 150.0, 960.0, RADIOLIB_ERR_INVALID_FREQUENCY); + RADIOLIB_CHECK_RANGE(freq, 150.0f, 960.0f, RADIOLIB_ERR_INVALID_FREQUENCY); // check if we need to recalibrate image if(!skipCalibration && (fabsf(freq - this->freqMHz) >= RADIOLIB_SX126X_CAL_IMG_FREQ_TRIG_MHZ)) { @@ -85,25 +142,19 @@ int16_t SX1262::setFrequency(float freq, bool skipCalibration) { } int16_t SX1262::setOutputPower(int8_t power) { + return(setOutputPower(power, true)); +} + +int16_t SX1262::setOutputPower(int8_t power, bool optimize) { // check if power value is configurable int16_t state = checkOutputPower(power, NULL); RADIOLIB_ASSERT(state); - // get current OCP configuration - uint8_t ocp = 0; - state = readRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1); - RADIOLIB_ASSERT(state); - // set PA config - state = SX126x::setPaConfig(0x04, RADIOLIB_SX126X_PA_CONFIG_SX1262); - RADIOLIB_ASSERT(state); - - // set output power with default 200us ramp - state = SX126x::setTxParams(power, RADIOLIB_SX126X_PA_RAMP_200U); - RADIOLIB_ASSERT(state); - - // restore OCP configuration - return(writeRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1)); + int8_t paVal = optimize ? paOptTable[power + 9].paVal : power; + uint8_t paDutyCycle = optimize ? paOptTable[power + 9].paDutyCycle : 0x04; + uint8_t hpMax = optimize ? paOptTable[power + 9].hpMax : 0x07; + return(SX126x::setOutputPower(paVal, paDutyCycle, hpMax, RADIOLIB_SX126X_PA_CONFIG_SX1262)); } int16_t SX1262::checkOutputPower(int8_t power, int8_t* clipped) { diff --git a/lib/RadioLib/src/modules/SX126x/SX1262.h b/lib/RadioLib/src/modules/SX126x/SX1262.h index a7e0b67..454e00a 100644 --- a/lib/RadioLib/src/modules/SX126x/SX1262.h +++ b/lib/RadioLib/src/modules/SX126x/SX1262.h @@ -34,7 +34,8 @@ class SX1262: public SX126x { \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. \param bw LoRa bandwidth in kHz. Defaults to 125.0 kHz. \param sf LoRa spreading factor. Defaults to 9. - \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). + \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param syncWord 1-byte LoRa sync word. Defaults to RADIOLIB_SX126X_SYNC_WORD_PRIVATE (0x12). \param power Output power in dBm. Defaults to 10 dBm. \param preambleLength LoRa preamble length in symbols. Defaults to 8 symbols. @@ -44,7 +45,7 @@ class SX1262: public SX126x { \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX126X_SYNC_WORD_PRIVATE, int8_t power = 10, uint16_t preambleLength = 8, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); + virtual int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX126X_SYNC_WORD_PRIVATE, int8_t power = 10, uint16_t preambleLength = 8, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); /*! \brief Initialization method for FSK modem. @@ -60,7 +61,21 @@ class SX1262: public SX126x { \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. \returns \ref status_codes */ - int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 156.2, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); + virtual int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 156.2, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); + + /*! + \brief Initialization method for BPSK modem. + NOTE: Proceed with caution! BPSK support in SX126x is epxerimental and poorly documented! + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param br FSK bit rate in kbps. Defaults to 600 bps, only 100 and 600 bps is supported + \param power Output power in dBm. Defaults to 10 dBm. + \param tcxoVoltage TCXO reference voltage to be set on DIO3. Defaults to 1.6 V. + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set SX126x::XTAL to true. + \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. + \returns \ref status_codes + */ + virtual int16_t beginBPSK(float freq = 434.0, float br = 0.6, int8_t power = 10, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); /*! \brief Initialization method for LR-FHSS modem. This modem only supports transmission! @@ -75,7 +90,7 @@ class SX1262: public SX126x { \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. \returns \ref status_codes */ - int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_SX126X_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_SX126X_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); + virtual int16_t beginLRFHSS(float freq = 434.0, uint8_t bw = RADIOLIB_SX126X_LR_FHSS_BW_722_66, uint8_t cr = RADIOLIB_SX126X_LR_FHSS_CR_2_3, bool narrowGrid = true, int8_t power = 10, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); // configuration methods @@ -106,6 +121,14 @@ class SX1262: public SX126x { */ virtual int16_t setOutputPower(int8_t power) override; + /*! + \brief Sets output power. Allowed values are in range from -9 to 22 dBm. + \param power Output power to be set in dBm. + \param optimize Whether to use power-optimized PA configuration (true) or datasheet default (false). + \returns \ref status_codes + */ + int16_t setOutputPower(int8_t power, bool optimize); + /*! \brief Check if output power is configurable. \param power Output power in dBm. diff --git a/lib/RadioLib/src/modules/SX126x/SX1268.cpp b/lib/RadioLib/src/modules/SX126x/SX1268.cpp index 7de82a2..93cd6b3 100644 --- a/lib/RadioLib/src/modules/SX126x/SX1268.cpp +++ b/lib/RadioLib/src/modules/SX126x/SX1268.cpp @@ -3,6 +3,44 @@ #if !RADIOLIB_EXCLUDE_SX126X +// this is a lookup table for optimized PA configuration +// it was determined by testing in https://github.com/jgromes/RadioLib/issues/1628 +// see also https://github.com/radiolib-org/power-tests +static const SX126x::paTableEntry_t paOptTable[32] = { + { .paDutyCycle = 2, .hpMax = 1, .paVal = -3 }, + { .paDutyCycle = 2, .hpMax = 1, .paVal = -2 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 0 }, + { .paDutyCycle = 4, .hpMax = 1, .paVal = -1 }, + { .paDutyCycle = 2, .hpMax = 1, .paVal = 2 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 0 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 1 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 3 }, + { .paDutyCycle = 1, .hpMax = 3, .paVal = 3 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 5 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 9 }, + { .paDutyCycle = 4, .hpMax = 1, .paVal = 8 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 7 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 13 }, + { .paDutyCycle = 4, .hpMax = 1, .paVal = 11 }, + { .paDutyCycle = 1, .hpMax = 1, .paVal = 19 }, + { .paDutyCycle = 2, .hpMax = 1, .paVal = 19 }, + { .paDutyCycle = 4, .hpMax = 1, .paVal = 17 }, + { .paDutyCycle = 1, .hpMax = 6, .paVal = 12 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 16 }, + { .paDutyCycle = 4, .hpMax = 1, .paVal = 22 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 18 }, + { .paDutyCycle = 1, .hpMax = 2, .paVal = 21 }, + { .paDutyCycle = 2, .hpMax = 2, .paVal = 21 }, + { .paDutyCycle = 3, .hpMax = 2, .paVal = 21 }, + { .paDutyCycle = 2, .hpMax = 3, .paVal = 20 }, + { .paDutyCycle = 1, .hpMax = 6, .paVal = 20 }, + { .paDutyCycle = 1, .hpMax = 5, .paVal = 22 }, + { .paDutyCycle = 2, .hpMax = 5, .paVal = 22 }, + { .paDutyCycle = 3, .hpMax = 5, .paVal = 22 }, + { .paDutyCycle = 3, .hpMax = 7, .paVal = 22 }, + { .paDutyCycle = 4, .hpMax = 7, .paVal = 22 }, +}; + SX1268::SX1268(Module* mod) : SX126x(mod) { chipType = RADIOLIB_SX1268_CHIP_TYPE; } @@ -49,6 +87,24 @@ int16_t SX1268::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t return(state); } +int16_t SX1268::beginBPSK(float freq, float br, int8_t power, float tcxoVoltage, bool useRegulatorLDO) { + // execute common part + int16_t state = SX126x::beginBPSK(br, tcxoVoltage, useRegulatorLDO); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setFrequency(freq); + RADIOLIB_ASSERT(state); + + state = SX126x::fixPaClamping(); + RADIOLIB_ASSERT(state); + + state = setOutputPower(power); + RADIOLIB_ASSERT(state); + + return(state); +} + int16_t SX1268::beginLRFHSS(float freq, uint8_t bw, uint8_t cr, bool narrowGrid, int8_t power, float tcxoVoltage, bool useRegulatorLDO) { // execute common part int16_t state = SX126x::beginLRFHSS(bw, cr, narrowGrid, tcxoVoltage, useRegulatorLDO); @@ -73,7 +129,7 @@ int16_t SX1268::setFrequency(float freq) { /// \todo integers only (all modules - frequency, data rate, bandwidth etc.) int16_t SX1268::setFrequency(float freq, bool skipCalibration) { - RADIOLIB_CHECK_RANGE(freq, 410.0, 810.0, RADIOLIB_ERR_INVALID_FREQUENCY); + RADIOLIB_CHECK_RANGE(freq, 410.0f, 810.0f, RADIOLIB_ERR_INVALID_FREQUENCY); // check if we need to recalibrate image if(!skipCalibration && (fabsf(freq - this->freqMHz) >= RADIOLIB_SX126X_CAL_IMG_FREQ_TRIG_MHZ)) { @@ -86,25 +142,19 @@ int16_t SX1268::setFrequency(float freq, bool skipCalibration) { } int16_t SX1268::setOutputPower(int8_t power) { + return(setOutputPower(power, true)); +} + +int16_t SX1268::setOutputPower(int8_t power, bool optimize) { // check if power value is configurable int16_t state = checkOutputPower(power, NULL); RADIOLIB_ASSERT(state); - // get current OCP configuration - uint8_t ocp = 0; - state = readRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1); - RADIOLIB_ASSERT(state); - // set PA config - state = SX126x::setPaConfig(0x04, RADIOLIB_SX126X_PA_CONFIG_SX1268); - RADIOLIB_ASSERT(state); - - // set output power with default 200us ramp - state = SX126x::setTxParams(power, RADIOLIB_SX126X_PA_RAMP_200U); - RADIOLIB_ASSERT(state); - - // restore OCP configuration - return(writeRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1)); + int8_t paVal = optimize ? paOptTable[power + 9].paVal : power; + uint8_t paDutyCycle = optimize ? paOptTable[power + 9].paDutyCycle : 0x04; + uint8_t hpMax = optimize ? paOptTable[power + 9].hpMax : 0x07; + return(SX126x::setOutputPower(paVal, paDutyCycle, hpMax, RADIOLIB_SX126X_PA_CONFIG_SX1268)); } int16_t SX1268::checkOutputPower(int8_t power, int8_t* clipped) { diff --git a/lib/RadioLib/src/modules/SX126x/SX1268.h b/lib/RadioLib/src/modules/SX126x/SX1268.h index c34bec8..d97da55 100644 --- a/lib/RadioLib/src/modules/SX126x/SX1268.h +++ b/lib/RadioLib/src/modules/SX126x/SX1268.h @@ -33,7 +33,8 @@ class SX1268: public SX126x { \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. \param bw LoRa bandwidth in kHz. Defaults to 125.0 kHz. \param sf LoRa spreading factor. Defaults to 9. - \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). + \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). Allowed values range from 4 to 8. + Note that a value of 4 means no coding, is undocumented and not recommended without your own FEC. \param syncWord 1-byte LoRa sync word. Defaults to RADIOLIB_SX126X_SYNC_WORD_PRIVATE (0x12). \param power Output power in dBm. Defaults to 10 dBm. \param preambleLength LoRa preamble length in symbols. Defaults to 8 symbols. @@ -60,7 +61,21 @@ class SX1268: public SX126x { \returns \ref status_codes */ int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 156.2, int8_t power = 10, uint16_t preambleLength = 16, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); - + + /*! + \brief Initialization method for BPSK modem. + NOTE: Proceed with caution! BPSK support in SX126x is epxerimental and poorly documented! + \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. + \param br FSK bit rate in kbps. Defaults to 600 bps, only 100 and 600 bps is supported. + \param power Output power in dBm. Defaults to 10 dBm. + \param tcxoVoltage TCXO reference voltage to be set on DIO3. Defaults to 1.6 V. + If you are seeing -706/-707 error codes, it likely means you are using non-0 value for module with XTAL. + To use XTAL, either set this value to 0, or set SX126x::XTAL to true. + \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. + \returns \ref status_codes + */ + virtual int16_t beginBPSK(float freq = 434.0, float br = 0.6, int8_t power = 10, float tcxoVoltage = 1.6, bool useRegulatorLDO = false); + /*! \brief Initialization method for LR-FHSS modem. This modem only supports transmission! \param freq Carrier frequency in MHz. Defaults to 434.0 MHz. @@ -104,6 +119,14 @@ class SX1268: public SX126x { */ int16_t setOutputPower(int8_t power) override; + /*! + \brief Sets output power. Allowed values are in range from -9 to 22 dBm. + \param power Output power to be set in dBm. + \param optimize Whether to use power-optimized PA configuration (true) or datasheet default (false). + \returns \ref status_codes + */ + int16_t setOutputPower(int8_t power, bool optimize); + /*! \brief Check if output power is configurable. \param power Output power in dBm. diff --git a/lib/RadioLib/src/modules/SX126x/SX126x.cpp b/lib/RadioLib/src/modules/SX126x/SX126x.cpp index f14e0f8..e4a786f 100644 --- a/lib/RadioLib/src/modules/SX126x/SX126x.cpp +++ b/lib/RadioLib/src/modules/SX126x/SX126x.cpp @@ -3,7 +3,9 @@ #include #if !RADIOLIB_EXCLUDE_SX126X -SX126x::SX126x(Module* mod) : PhysicalLayer(RADIOLIB_SX126X_FREQUENCY_STEP_SIZE, RADIOLIB_SX126X_MAX_PACKET_LENGTH) { +SX126x::SX126x(Module* mod) : PhysicalLayer() { + this->freqStep = RADIOLIB_SX126X_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_SX126X_MAX_PACKET_LENGTH; this->mod = mod; this->XTAL = false; this->standbyXOSC = false; @@ -118,6 +120,22 @@ int16_t SX126x::beginFSK(float br, float freqDev, float rxBw, uint16_t preambleL return(state); } +int16_t SX126x::beginBPSK(float br, float tcxoVoltage, bool useRegulatorLDO) { + // set module properties and perform initial setup + int16_t state = this->modSetup(tcxoVoltage, useRegulatorLDO, RADIOLIB_SX126X_PACKET_TYPE_BPSK); + RADIOLIB_ASSERT(state); + + // configure publicly accessible settings + state = setBitRate(br); + RADIOLIB_ASSERT(state); + + // set publicly accessible settings that are not a part of begin method + state = setDio2AsRfSwitch(true); + RADIOLIB_ASSERT(state); + + return(state); +} + int16_t SX126x::beginLRFHSS(uint8_t bw, uint8_t cr, bool narrowGrid, float tcxoVoltage, bool useRegulatorLDO) { this->lrFhssGridNonFcc = narrowGrid; @@ -198,6 +216,17 @@ int16_t SX126x::transmit(const uint8_t* data, size_t len, uint8_t addr) { RADIOLIB_ASSERT(state); // check packet length + if(this->codingRate > RADIOLIB_SX126X_LORA_CR_4_8) { + // Long Interleaver needs at least 8 bytes + if(len < 8) { + return(RADIOLIB_ERR_PACKET_TOO_SHORT); + } + + // Long Interleaver supports up to 253 bytes if CRC is enabled + if(this->crcTypeLoRa == RADIOLIB_SX126X_LORA_CRC_ON && (len > RADIOLIB_SX126X_MAX_PACKET_LENGTH - 2)) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + } if(len > RADIOLIB_SX126X_MAX_PACKET_LENGTH) { return(RADIOLIB_ERR_PACKET_TOO_LONG); } @@ -235,51 +264,31 @@ int16_t SX126x::transmit(const uint8_t* data, size_t len, uint8_t addr) { break; } else { // handle frequency hop - this->setLRFHSSHop(this->lrFhssHopNum % 16); - clearIrqStatus(); + this->hopLRFHSS(); } } } - // update data rate - RadioLibTime_t elapsed = this->mod->hal->millis() - start; - this->dataRateMeasured = (len*8.0)/((float)elapsed/1000.0); - return(finishTransmit()); } -int16_t SX126x::receive(uint8_t* data, size_t len) { +int16_t SX126x::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { // set mode to standby int16_t state = standby(); RADIOLIB_ASSERT(state); - RadioLibTime_t timeout = 0; - - // get currently active modem - uint8_t modem = getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - // calculate timeout (100 LoRa symbols, the default for SX127x series) - float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float)this->bandwidthKhz; - timeout = (RadioLibTime_t)(symbolLength * 100.0); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { // calculate timeout (500 % of expected time-one-air) size_t maxLen = len; - if(len == 0) { - maxLen = 0xFF; - } - float brBps = ((float)(RADIOLIB_SX126X_CRYSTAL_FREQ) * 1000000.0 * 32.0) / (float)this->bitRate; - timeout = (RadioLibTime_t)(((maxLen * 8.0) / brBps) * 1000.0 * 5.0); - - } else { - return(RADIOLIB_ERR_UNKNOWN); - + if(len == 0) { maxLen = RADIOLIB_SX126X_MAX_PACKET_LENGTH; } + timeoutInternal = (getTimeOnAir(maxLen) * 5) / 1000; } - RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", timeout); + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", timeoutInternal); // start reception - uint32_t timeoutValue = (uint32_t)(((float)timeout * 1000.0) / 15.625); + uint32_t timeoutValue = (uint32_t)(((float)timeoutInternal * 1000.0f) / 15.625f); state = startReceive(timeoutValue); RADIOLIB_ASSERT(state); @@ -289,7 +298,7 @@ int16_t SX126x::receive(uint8_t* data, size_t len) { while(!this->mod->hal->digitalRead(this->mod->getIrq())) { this->mod->hal->yield(); // safety check, the timeout should be done by the radio - if(this->mod->hal->millis() - start > timeout) { + if(this->mod->hal->millis() - start > timeoutInternal) { softTimeout = true; break; } @@ -302,19 +311,11 @@ int16_t SX126x::receive(uint8_t* data, size_t len) { } // check whether this was a timeout or not - if((getIrqFlags() & RADIOLIB_SX126X_IRQ_TIMEOUT) || softTimeout) { - standby(); - fixImplicitTimeout(); - clearIrqStatus(); + if(softTimeout || (getIrqFlags() & this->irqMap[RADIOLIB_IRQ_TIMEOUT])) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } - // fix timeout in implicit LoRa mode - if(((this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT) && (getPacketType() == RADIOLIB_SX126X_PACKET_TYPE_LORA))) { - state = fixImplicitTimeout(); - RADIOLIB_ASSERT(state); - } - // read the received data return(readData(data, len)); } @@ -331,8 +332,7 @@ int16_t SX126x::transmitDirect(uint32_t frf) { RADIOLIB_ASSERT(state); // direct mode activation intentionally skipped here, as it seems to lead to much worse results - uint8_t data[] = { RADIOLIB_SX126X_CMD_NOP }; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_TX_CONTINUOUS_WAVE, data, 1)); + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_TX_CONTINUOUS_WAVE, NULL, 0)); } int16_t SX126x::receiveDirect() { @@ -438,184 +438,14 @@ int16_t SX126x::scanChannel(const ChannelScanConfig_t &config) { return(getChannelScanResult()); } -int16_t SX126x::sleep() { - return(SX126x::sleep(true)); -} - -int16_t SX126x::sleep(bool retainConfig) { - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_IDLE); - - uint8_t sleepMode = RADIOLIB_SX126X_SLEEP_START_WARM | RADIOLIB_SX126X_SLEEP_RTC_OFF; - if(!retainConfig) { - sleepMode = RADIOLIB_SX126X_SLEEP_START_COLD | RADIOLIB_SX126X_SLEEP_RTC_OFF; - } - int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_SLEEP, &sleepMode, 1, false, false); - - // wait for SX126x to safely enter sleep mode - this->mod->hal->delay(1); - - return(state); -} - -int16_t SX126x::standby() { - return(SX126x::standby(this->standbyXOSC ? RADIOLIB_SX126X_STANDBY_XOSC : RADIOLIB_SX126X_STANDBY_RC)); -} - -int16_t SX126x::standby(uint8_t mode, bool wakeup) { - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_IDLE); - - if(wakeup) { - // send a NOP command - this pulls the NSS low to exit the sleep mode, - // while preventing interference with possible other SPI transactions - // see https://github.com/jgromes/RadioLib/discussions/1364 - (void)this->mod->SPIwriteStream((uint16_t)RADIOLIB_SX126X_CMD_NOP, NULL, 0, false, false); +int16_t SX126x::hopLRFHSS() { + if(!(this->getIrqFlags() & RADIOLIB_SX126X_IRQ_LR_FHSS_HOP)) { + return(RADIOLIB_ERR_TX_TIMEOUT); } - uint8_t data[] = { mode }; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_STANDBY, data, 1)); -} - -void SX126x::setDio1Action(void (*func)(void)) { - this->mod->hal->attachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq()), func, this->mod->hal->GpioInterruptRising); -} - -void SX126x::clearDio1Action() { - this->mod->hal->detachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq())); -} - -void SX126x::setPacketReceivedAction(void (*func)(void)) { - this->setDio1Action(func); -} - -void SX126x::clearPacketReceivedAction() { - this->clearDio1Action(); -} - -void SX126x::setPacketSentAction(void (*func)(void)) { - this->setDio1Action(func); -} - -void SX126x::clearPacketSentAction() { - this->clearDio1Action(); -} - -void SX126x::setChannelScanAction(void (*func)(void)) { - this->setDio1Action(func); -} - -void SX126x::clearChannelScanAction() { - this->clearDio1Action(); -} - -int16_t SX126x::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { - (void)addr; - - // check packet length - if(len > RADIOLIB_SX126X_MAX_PACKET_LENGTH) { - return(RADIOLIB_ERR_PACKET_TOO_LONG); - } - - // maximum packet length is decreased by 1 when address filtering is active - if((RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF != RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF) && (len > RADIOLIB_SX126X_MAX_PACKET_LENGTH - 1)) { - return(RADIOLIB_ERR_PACKET_TOO_LONG); - } - - // set packet Length - int16_t state = RADIOLIB_ERR_NONE; - uint8_t modem = getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - state = setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, len, this->headerType, this->invertIQEnabled); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType, len); - - } else if(modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { - return(RADIOLIB_ERR_UNKNOWN); - - } + int16_t state = this->setLRFHSSHop(this->lrFhssHopNum % 16); RADIOLIB_ASSERT(state); - - // set DIO mapping - if(modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { - state = setDioIrqParams(RADIOLIB_SX126X_IRQ_TX_DONE | RADIOLIB_SX126X_IRQ_TIMEOUT, RADIOLIB_SX126X_IRQ_TX_DONE); - } else { - state = setDioIrqParams(RADIOLIB_SX126X_IRQ_TX_DONE | RADIOLIB_SX126X_IRQ_LR_FHSS_HOP, RADIOLIB_SX126X_IRQ_TX_DONE | RADIOLIB_SX126X_IRQ_LR_FHSS_HOP); - } - RADIOLIB_ASSERT(state); - - // set buffer pointers - state = setBufferBaseAddress(); - RADIOLIB_ASSERT(state); - - // write packet to buffer - if(modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { - state = writeBuffer(const_cast(data), len); - - } else { - // first, reset the LR-FHSS state machine - state = resetLRFHSS(); - RADIOLIB_ASSERT(state); - - // skip hopping for the first 4 - lrFhssHdrCount blocks - for(int i = 0; i < 4 - this->lrFhssHdrCount; ++i ) { - stepLRFHSS(); - } - - // in LR-FHSS mode, we need to build the entire packet manually - uint8_t frame[RADIOLIB_SX126X_MAX_PACKET_LENGTH] = { 0 }; - size_t frameLen = 0; - this->lrFhssFrameBitsRem = 0; - this->lrFhssFrameHopsRem = 0; - this->lrFhssHopNum = 0; - state = buildLRFHSSPacket(const_cast(data), len, frame, &frameLen, &this->lrFhssFrameBitsRem, &this->lrFhssFrameHopsRem); - RADIOLIB_ASSERT(state); - - // FIXME check max len for FHSS - state = writeBuffer(frame, frameLen); - RADIOLIB_ASSERT(state); - - // activate hopping - uint8_t hopCfg[] = { RADIOLIB_SX126X_HOPPING_ENABLED, (uint8_t)frameLen, (uint8_t)this->lrFhssFrameHopsRem }; - state = writeRegister(RADIOLIB_SX126X_REG_HOPPING_ENABLE, hopCfg, 3); - RADIOLIB_ASSERT(state); - - // write the initial hopping table - uint8_t initHops = this->lrFhssFrameHopsRem; - if(initHops > 16) { - initHops = 16; - }; - for(size_t i = 0; i < initHops; i++) { - // set the hop frequency and symbols - state = this->setLRFHSSHop(i); - RADIOLIB_ASSERT(state); - } - - } - RADIOLIB_ASSERT(state); - - // clear interrupt flags - state = clearIrqStatus(); - RADIOLIB_ASSERT(state); - - // fix sensitivity - state = fixSensitivity(); - RADIOLIB_ASSERT(state); - - // set RF switch (if present) - this->mod->setRfSwitchState(this->txMode); - - // start transmission - state = setTx(RADIOLIB_SX126X_TX_TIMEOUT_NONE); - RADIOLIB_ASSERT(state); - - // wait for BUSY to go low (= PA ramp up done) - while(this->mod->hal->digitalRead(this->mod->getGpio())) { - this->mod->hal->yield(); - } - - return(state); + return(clearIrqStatus()); } int16_t SX126x::finishTransmit() { @@ -627,27 +457,22 @@ int16_t SX126x::finishTransmit() { return(standby()); } -int16_t SX126x::startReceive() { - return(this->startReceive(RADIOLIB_SX126X_RX_TIMEOUT_INF, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, 0)); -} - -int16_t SX126x::startReceive(uint32_t timeout, RadioLibIrqFlags_t irqFlags, RadioLibIrqFlags_t irqMask, size_t len) { - // in implicit header mode, use the provided length if it is nonzero - // otherwise we trust the user has previously set the payload length manually - if((this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT) && (len != 0)) { - this->implicitLen = len; - } - - int16_t state = startReceiveCommon(timeout, irqFlags, irqMask); +int16_t SX126x::finishReceive() { + // set mode to standby to disable RF switch + int16_t state = standby(); RADIOLIB_ASSERT(state); - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_RX); + // try to fix timeout error in implicit header mode + // check for modem type and header mode is done in fixImplicitTimeout() + state = fixImplicitTimeout(); + RADIOLIB_ASSERT(state); - // set mode to receive - state = setRx(timeout); + // clear interrupt flags + return(clearIrqStatus()); +} - return(state); +int16_t SX126x::startReceive() { + return(this->startReceive(RADIOLIB_SX126X_RX_TIMEOUT_INF, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, 0)); } int16_t SX126x::startReceiveDutyCycle(uint32_t rxPeriod, uint32_t sleepPeriod, RadioLibIrqFlags_t irqFlags, RadioLibIrqFlags_t irqMask) { @@ -672,7 +497,7 @@ int16_t SX126x::startReceiveDutyCycle(uint32_t rxPeriod, uint32_t sleepPeriod, R int16_t state = startReceiveCommon(RADIOLIB_SX126X_RX_TIMEOUT_INF, irqFlags, irqMask); RADIOLIB_ASSERT(state); - uint8_t data[6] = {(uint8_t)((rxPeriodRaw >> 16) & 0xFF), (uint8_t)((rxPeriodRaw >> 8) & 0xFF), (uint8_t)(rxPeriodRaw & 0xFF), + const uint8_t data[6] = {(uint8_t)((rxPeriodRaw >> 16) & 0xFF), (uint8_t)((rxPeriodRaw >> 8) & 0xFF), (uint8_t)(rxPeriodRaw & 0xFF), (uint8_t)((sleepPeriodRaw >> 16) & 0xFF), (uint8_t)((sleepPeriodRaw >> 8) & 0xFF), (uint8_t)(sleepPeriodRaw & 0xFF)}; return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_RX_DUTY_CYCLE, data, 6)); } @@ -680,6 +505,16 @@ int16_t SX126x::startReceiveDutyCycle(uint32_t rxPeriod, uint32_t sleepPeriod, R int16_t SX126x::startReceiveDutyCycleAuto(uint16_t senderPreambleLength, uint16_t minSymbols, RadioLibIrqFlags_t irqFlags, RadioLibIrqFlags_t irqMask) { if(senderPreambleLength == 0) { senderPreambleLength = this->preambleLengthLoRa; + } else if (senderPreambleLength > this->preambleLengthLoRa) { + // the unit must be configured to expect a preamble length at least as long as the sender is using + return(RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH); + } + if(minSymbols == 0) { + if (this->spreadingFactor <= 6) { + minSymbols = 12; + } else { + minSymbols = 8; + } } // worst case is that the sender starts transmitting when we're just less than minSymbols from going back to sleep. @@ -733,6 +568,7 @@ int16_t SX126x::startReceiveCommon(uint32_t timeout, RadioLibIrqFlags_t irqFlags // clear interrupt flags state = clearIrqStatus(); + RADIOLIB_ASSERT(state); // restore original packet length uint8_t modem = getPacketType(); @@ -847,518 +683,6 @@ int16_t SX126x::getChannelScanResult() { return(RADIOLIB_ERR_UNKNOWN); } -int16_t SX126x::setBandwidth(float bw) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // ensure byte conversion doesn't overflow - RADIOLIB_CHECK_RANGE(bw, 0.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - - // check allowed bandwidth values - uint8_t bw_div2 = bw / 2 + 0.01; - switch (bw_div2) { - case 3: // 7.8: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_7_8; - break; - case 5: // 10.4: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_10_4; - break; - case 7: // 15.6: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_15_6; - break; - case 10: // 20.8: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_20_8; - break; - case 15: // 31.25: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_31_25; - break; - case 20: // 41.7: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_41_7; - break; - case 31: // 62.5: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_62_5; - break; - case 62: // 125.0: - this->bandwidth = RADIOLIB_SX126X_LORA_BW_125_0; - break; - case 125: // 250.0 - this->bandwidth = RADIOLIB_SX126X_LORA_BW_250_0; - break; - case 250: // 500.0 - this->bandwidth = RADIOLIB_SX126X_LORA_BW_500_0; - break; - default: - return(RADIOLIB_ERR_INVALID_BANDWIDTH); - } - - // update modulation parameters - this->bandwidthKhz = bw; - return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); -} - -int16_t SX126x::setSpreadingFactor(uint8_t sf) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - RADIOLIB_CHECK_RANGE(sf, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); - - // update modulation parameters - this->spreadingFactor = sf; - return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); -} - -int16_t SX126x::setCodingRate(uint8_t cr) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - RADIOLIB_CHECK_RANGE(cr, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); - - // update modulation parameters - this->codingRate = cr - 4; - return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); -} - -int16_t SX126x::setSyncWord(uint8_t syncWord, uint8_t controlBits) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // update register - uint8_t data[2] = {(uint8_t)((syncWord & 0xF0) | ((controlBits & 0xF0) >> 4)), (uint8_t)(((syncWord & 0x0F) << 4) | (controlBits & 0x0F))}; - return(writeRegister(RADIOLIB_SX126X_REG_LORA_SYNC_WORD_MSB, data, 2)); -} - -int16_t SX126x::setCurrentLimit(float currentLimit) { - // check allowed range - if(!((currentLimit >= 0) && (currentLimit <= 140))) { - return(RADIOLIB_ERR_INVALID_CURRENT_LIMIT); - } - - // calculate raw value - uint8_t rawLimit = (uint8_t)(currentLimit / 2.5); - - // update register - return(writeRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &rawLimit, 1)); -} - -float SX126x::getCurrentLimit() { - // get the raw value - uint8_t ocp = 0; - readRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1); - - // return the actual value - return((float)ocp * 2.5); -} - -int16_t SX126x::setPreambleLength(size_t preambleLength) { - uint8_t modem = getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - this->preambleLengthLoRa = preambleLength; - return(setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, this->implicitLen, this->headerType, this->invertIQEnabled)); - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - this->preambleLengthFSK = preambleLength; - // maximum preamble detector length is limited by sync word length - // for details, see the note in SX1261 datasheet, Rev 2.1, section 6.2.2.1, page 45 - uint8_t maxDetLen = RADIOLIB_MIN(this->syncWordLength, this->preambleLengthFSK); - this->preambleDetLength = maxDetLen >= 32 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_32 : - maxDetLen >= 24 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_24 : - maxDetLen >= 16 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_16 : - maxDetLen > 0 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_8 : - RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_OFF; - return(setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType)); - } - - return(RADIOLIB_ERR_UNKNOWN); -} - -int16_t SX126x::setFrequencyDeviation(float freqDev) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // set frequency deviation to lowest available setting (required for digimodes) - float newFreqDev = freqDev; - if(freqDev < 0.0) { - newFreqDev = 0.6; - } - - RADIOLIB_CHECK_RANGE(newFreqDev, 0.6, 200.0, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); - - // calculate raw frequency deviation value - uint32_t freqDevRaw = (uint32_t)(((newFreqDev * 1000.0) * (float)((uint32_t)(1) << 25)) / (RADIOLIB_SX126X_CRYSTAL_FREQ * 1000000.0)); - - // check modulation parameters - this->frequencyDev = freqDevRaw; - - // update modulation parameters - return(setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); -} - -int16_t SX126x::setBitRate(float br) { - // check active modem - uint8_t modem = getPacketType(); - if((modem != RADIOLIB_SX126X_PACKET_TYPE_GFSK) && (modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS)) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - if(modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { - RADIOLIB_CHECK_RANGE(br, 0.6, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - } - - // calculate raw bit rate value - uint32_t brRaw = (uint32_t)((RADIOLIB_SX126X_CRYSTAL_FREQ * 1000000.0 * 32.0) / (br * 1000.0)); - - // check modulation parameters - this->bitRate = brRaw; - - // update modulation parameters - return(setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); -} - -int16_t SX126x::setDataRate(DataRate_t dr) { - int16_t state = RADIOLIB_ERR_UNKNOWN; - - // select interpretation based on active modem - uint8_t modem = this->getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - // set the bit rate - state = this->setBitRate(dr.fsk.bitRate); - RADIOLIB_ASSERT(state); - - // set the frequency deviation - state = this->setFrequencyDeviation(dr.fsk.freqDev); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - // set the spreading factor - state = this->setSpreadingFactor(dr.lora.spreadingFactor); - RADIOLIB_ASSERT(state); - - // set the bandwidth - state = this->setBandwidth(dr.lora.bandwidth); - RADIOLIB_ASSERT(state); - - // set the coding rate - state = this->setCodingRate(dr.lora.codingRate); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { - // set the basic config - state = this->setLrFhssConfig(dr.lrFhss.bw, dr.lrFhss.cr); - RADIOLIB_ASSERT(state); - - // set hopping grid - this->lrFhssGridNonFcc = dr.lrFhss.narrowGrid ? RADIOLIB_SX126X_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_SX126X_LR_FHSS_GRID_STEP_FCC; - - } - - return(state); -} - -int16_t SX126x::checkDataRate(DataRate_t dr) { - int16_t state = RADIOLIB_ERR_UNKNOWN; - - // select interpretation based on active modem - uint8_t modem = this->getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.6, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 0.6, 200.0, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); - return(RADIOLIB_ERR_NONE); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); - RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); - return(RADIOLIB_ERR_NONE); - - } - - return(state); -} - -int16_t SX126x::setRxBandwidth(float rxBw) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // check modulation parameters - /*if(2 * this->frequencyDev + this->bitRate > rxBw * 1000.0) { - return(RADIOLIB_ERR_INVALID_MODULATION_PARAMETERS); - }*/ - this->rxBandwidthKhz = rxBw; - - // check allowed receiver bandwidth values - if(fabsf(rxBw - 4.8) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_4_8; - } else if(fabsf(rxBw - 5.8) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_5_8; - } else if(fabsf(rxBw - 7.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_7_3; - } else if(fabsf(rxBw - 9.7) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_9_7; - } else if(fabsf(rxBw - 11.7) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_11_7; - } else if(fabsf(rxBw - 14.6) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_14_6; - } else if(fabsf(rxBw - 19.5) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_19_5; - } else if(fabsf(rxBw - 23.4) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_23_4; - } else if(fabsf(rxBw - 29.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_29_3; - } else if(fabsf(rxBw - 39.0) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_39_0; - } else if(fabsf(rxBw - 46.9) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_46_9; - } else if(fabsf(rxBw - 58.6) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_58_6; - } else if(fabsf(rxBw - 78.2) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_78_2; - } else if(fabsf(rxBw - 93.8) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_93_8; - } else if(fabsf(rxBw - 117.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_117_3; - } else if(fabsf(rxBw - 156.2) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_156_2; - } else if(fabsf(rxBw - 187.2) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_187_2; - } else if(fabsf(rxBw - 234.3) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_234_3; - } else if(fabsf(rxBw - 312.0) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_312_0; - } else if(fabsf(rxBw - 373.6) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_373_6; - } else if(fabsf(rxBw - 467.0) <= 0.001) { - this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_467_0; - } else { - return(RADIOLIB_ERR_INVALID_RX_BANDWIDTH); - } - - // update modulation parameters - return(setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); -} - -int16_t SX126x::setRxBoostedGainMode(bool rxbgm, bool persist) { - // update RX gain setting register - uint8_t rxGain = rxbgm ? RADIOLIB_SX126X_RX_GAIN_BOOSTED : RADIOLIB_SX126X_RX_GAIN_POWER_SAVING; - int16_t state = writeRegister(RADIOLIB_SX126X_REG_RX_GAIN, &rxGain, 1); - RADIOLIB_ASSERT(state); - - // add Rx Gain register to retention memory if requested - if(persist) { - // values and registers below are specified in SX126x datasheet v2.1 section 9.6, just below table 9-3 - uint8_t data[] = { 0x01, (uint8_t)((RADIOLIB_SX126X_REG_RX_GAIN >> 8) & 0xFF), (uint8_t)(RADIOLIB_SX126X_REG_RX_GAIN & 0xFF) }; - state = writeRegister(RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_0, data, 3); - } - - return(state); -} - -int16_t SX126x::setDataShaping(uint8_t sh) { - // check active modem - uint8_t modem = getPacketType(); - if((modem != RADIOLIB_SX126X_PACKET_TYPE_GFSK) && (modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS)) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // set data shaping - switch(sh) { - case RADIOLIB_SHAPING_NONE: - this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_NONE; - break; - case RADIOLIB_SHAPING_0_3: - this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_3; - break; - case RADIOLIB_SHAPING_0_5: - this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_5; - break; - case RADIOLIB_SHAPING_0_7: - this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_7; - break; - case RADIOLIB_SHAPING_1_0: - this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_1; - break; - default: - return(RADIOLIB_ERR_INVALID_DATA_SHAPING); - } - - // update modulation parameters - return(setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); -} - -int16_t SX126x::setSyncWord(uint8_t* syncWord, size_t len) { - // check active modem - uint8_t modem = getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - // check sync word Length - if(len > 8) { - return(RADIOLIB_ERR_INVALID_SYNC_WORD); - } - - // write sync word - int16_t state = writeRegister(RADIOLIB_SX126X_REG_SYNC_WORD_0, syncWord, len); - RADIOLIB_ASSERT(state); - - // update packet parameters - this->syncWordLength = len * 8; - - // maximum preamble detector length is limited by sync word length - // for details, see the note in SX1261 datasheet, Rev 2.1, section 6.2.2.1, page 45 - uint8_t maxDetLen = RADIOLIB_MIN(this->syncWordLength, this->preambleLengthFSK); - this->preambleDetLength = maxDetLen >= 32 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_32 : - maxDetLen >= 24 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_24 : - maxDetLen >= 16 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_16 : - maxDetLen > 0 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_8 : - RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_OFF; - state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); - - return(state); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - // with length set to 1 and LoRa modem active, assume it is the LoRa sync word - if(len > 1) { - return(RADIOLIB_ERR_INVALID_SYNC_WORD); - } - return(setSyncWord(syncWord[0])); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { - // with length set to 4 and LR-FHSS modem active, assume it is the LR-FHSS sync word - if(len != sizeof(uint32_t)) { - return(RADIOLIB_ERR_INVALID_SYNC_WORD); - } - memcpy(this->lrFhssSyncWord, syncWord, sizeof(uint32_t)); - - } - - return(RADIOLIB_ERR_WRONG_MODEM); -} - -int16_t SX126x::setSyncBits(uint8_t *syncWord, uint8_t bitsLen) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // check sync word Length - if(bitsLen > 0x40) { - return(RADIOLIB_ERR_INVALID_SYNC_WORD); - } - - uint8_t bytesLen = bitsLen / 8; - if ((bitsLen % 8) != 0) { - bytesLen++; - } - - return(setSyncWord(syncWord, bytesLen)); -} - -int16_t SX126x::setCRC(uint8_t len, uint16_t initial, uint16_t polynomial, bool inverted) { - // check active modem - uint8_t modem = getPacketType(); - - if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - // update packet parameters - switch(len) { - case 0: - this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_OFF; - break; - case 1: - if(inverted) { - this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_1_BYTE_INV; - } else { - this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_1_BYTE; - } - break; - case 2: - if(inverted) { - this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_2_BYTE_INV; - } else { - this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_2_BYTE; - } - break; - default: - return(RADIOLIB_ERR_INVALID_CRC_CONFIGURATION); - } - - int16_t state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); - RADIOLIB_ASSERT(state); - - // write initial CRC value - uint8_t data[2] = {(uint8_t)((initial >> 8) & 0xFF), (uint8_t)(initial & 0xFF)}; - state = writeRegister(RADIOLIB_SX126X_REG_CRC_INITIAL_MSB, data, 2); - RADIOLIB_ASSERT(state); - - // write CRC polynomial value - data[0] = (uint8_t)((polynomial >> 8) & 0xFF); - data[1] = (uint8_t)(polynomial & 0xFF); - state = writeRegister(RADIOLIB_SX126X_REG_CRC_POLYNOMIAL_MSB, data, 2); - - return(state); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - // LoRa CRC doesn't allow to set CRC polynomial, initial value, or inversion - - // update packet parameters - if(len) { - this->crcTypeLoRa = RADIOLIB_SX126X_LORA_CRC_ON; - } else { - this->crcTypeLoRa = RADIOLIB_SX126X_LORA_CRC_OFF; - } - - return(setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, this->implicitLen, this->headerType, this->invertIQEnabled)); - } - - return(RADIOLIB_ERR_UNKNOWN); -} - -int16_t SX126x::setWhitening(bool enabled, uint16_t initial) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - int16_t state = RADIOLIB_ERR_NONE; - if(!enabled) { - // disable whitening - this->whitening = RADIOLIB_SX126X_GFSK_WHITENING_OFF; - - state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); - RADIOLIB_ASSERT(state); - - } else { - // enable whitening - this->whitening = RADIOLIB_SX126X_GFSK_WHITENING_ON; - - // write initial whitening value - // as per note on pg. 65 of datasheet v1.2: "The user should not change the value of the 7 MSB's of this register" - uint8_t data[2]; - // first read the actual value and mask 7 MSB which we can not change - // if different value is written in 7 MSB, the Rx won't even work (tested on HW) - state = readRegister(RADIOLIB_SX126X_REG_WHITENING_INITIAL_MSB, data, 1); - RADIOLIB_ASSERT(state); - - data[0] = (data[0] & 0xFE) | (uint8_t)((initial >> 8) & 0x01); - data[1] = (uint8_t)(initial & 0xFF); - state = writeRegister(RADIOLIB_SX126X_REG_WHITENING_INITIAL_MSB, data, 2); - RADIOLIB_ASSERT(state); - - state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); - RADIOLIB_ASSERT(state); - } - return(state); -} - -float SX126x::getDataRate() const { - return(this->dataRateMeasured); -} - float SX126x::getRSSI() { return(this->getRSSI(true)); } @@ -1373,7 +697,7 @@ float SX126x::getRSSI(bool packet) { // get instantaneous RSSI value uint8_t rssiRaw = 0; this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_RSSI_INST, &rssiRaw, 1); - return((float)rssiRaw / (-2.0)); + return((float)rssiRaw / (-2.0f)); } } @@ -1402,11 +726,11 @@ float SX126x::getFrequencyError() { // read the raw frequency error register values uint8_t efeRaw[3] = {0}; - int16_t state = readRegister(RADIOLIB_SX126X_REG_FREQ_ERROR, &efeRaw[0], 1); + int16_t state = readRegister(RADIOLIB_SX126X_REG_FREQ_ERROR_RX_CRC, &efeRaw[0], 1); RADIOLIB_ASSERT(state); - state = readRegister(RADIOLIB_SX126X_REG_FREQ_ERROR + 1, &efeRaw[1], 1); + state = readRegister(RADIOLIB_SX126X_REG_FREQ_ERROR_RX_CRC + 1, &efeRaw[1], 1); RADIOLIB_ASSERT(state); - state = readRegister(RADIOLIB_SX126X_REG_FREQ_ERROR + 2, &efeRaw[2], 1); + state = readRegister(RADIOLIB_SX126X_REG_FREQ_ERROR_RX_CRC + 2, &efeRaw[2], 1); RADIOLIB_ASSERT(state); uint32_t efe = ((uint32_t) efeRaw[0] << 16) | ((uint32_t) efeRaw[1] << 8) | efeRaw[2]; efe &= 0x0FFFFF; @@ -1418,9 +742,9 @@ float SX126x::getFrequencyError() { // frequency error is negative efe |= (uint32_t) 0xFFF00000; efe = ~efe + 1; - error = 1.55 * (float) efe / (1600.0 / (float) this->bandwidthKhz) * -1.0; + error = 1.55f * (float) efe / (1600.0f / (float) this->bandwidthKhz) * -1.0f; } else { - error = 1.55 * (float) efe / (1600.0 / (float) this->bandwidthKhz); + error = 1.55f * (float) efe / (1600.0f / (float) this->bandwidthKhz); } return(error); @@ -1433,11 +757,12 @@ size_t SX126x::getPacketLength(bool update) { size_t SX126x::getPacketLength(bool update, uint8_t* offset) { (void)update; - // in implicit mode, return the cached value - if((getPacketType() == RADIOLIB_SX126X_PACKET_TYPE_LORA) && (this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT)) { + // in implicit mode, return the cached value if the offset was not requested + if((getPacketType() == RADIOLIB_SX126X_PACKET_TYPE_LORA) && (this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT) && (!offset)) { return(this->implicitLen); } + // if offset was requested, or in explicit mode, we always have to perform the SPI transaction uint8_t rxBufStatus[2] = {0, 0}; this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_RX_BUFFER_STATUS, rxBufStatus, 2); @@ -1446,89 +771,164 @@ size_t SX126x::getPacketLength(bool update, uint8_t* offset) { return((size_t)rxBufStatus[0]); } -int16_t SX126x::fixedPacketLengthMode(uint8_t len) { - return(setPacketMode(RADIOLIB_SX126X_GFSK_PACKET_FIXED, len)); +int16_t SX126x::getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC) { + int16_t state = RADIOLIB_ERR_NONE; + + // check if in explicit header mode + if(this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + if(cr) { *cr = this->mod->SPIgetRegValue(RADIOLIB_SX126X_REG_LORA_RX_CODING_RATE, 6, 4) >> 4; } + if(hasCRC) { *hasCRC = (this->mod->SPIgetRegValue(RADIOLIB_SX126X_REG_FREQ_ERROR_RX_CRC, 4, 4) != 0); } + + return(state); } -int16_t SX126x::variablePacketLengthMode(uint8_t maxLen) { - return(setPacketMode(RADIOLIB_SX126X_GFSK_PACKET_VARIABLE, maxLen)); -} - -RadioLibTime_t SX126x::getTimeOnAir(size_t len) { +RadioLibTime_t SX126x::calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) { // 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 - uint8_t modem = getPacketType(); - if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { - uint32_t symbolLength_us = ((uint32_t)(1000 * 10) << this->spreadingFactor) / (this->bandwidthKhz * 10) ; - uint8_t sfCoeff1_x4 = 17; // (4.25 * 4) - uint8_t sfCoeff2 = 8; - if(this->spreadingFactor == 5 || this->spreadingFactor == 6) { - sfCoeff1_x4 = 25; // 6.25 * 4 - sfCoeff2 = 0; - } - uint8_t sfDivisor = 4*this->spreadingFactor; - if(symbolLength_us >= 16000) { - sfDivisor = 4*(this->spreadingFactor - 2); - } - const int8_t bitsPerCrc = 16; - const int8_t N_symbol_header = this->headerType == RADIOLIB_SX126X_LORA_HEADER_EXPLICIT ? 20 : 0; + switch (modem) { + case RADIOLIB_MODEM_LORA: { + uint32_t symbolLength_us = ((uint32_t)(1000 * 10) << dr.lora.spreadingFactor) / (dr.lora.bandwidth * 10) ; + uint8_t sfCoeff1_x4 = 17; // (4.25 * 4) + uint8_t sfCoeff2 = 8; + if(dr.lora.spreadingFactor == 5 || dr.lora.spreadingFactor == 6) { + sfCoeff1_x4 = 25; // 6.25 * 4 + sfCoeff2 = 0; + } + uint8_t sfDivisor = 4*dr.lora.spreadingFactor; + if(pc.lora.ldrOptimize) { + sfDivisor = 4*(dr.lora.spreadingFactor - 2); + } + const int8_t bitsPerCrc = 16; + const int8_t N_symbol_header = pc.lora.implicitHeader ? 0 : 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 + this->crcTypeLoRa * bitsPerCrc - 4 * this->spreadingFactor + sfCoeff2 + N_symbol_header; - if(bitCount < 0) { - bitCount = 0; + // 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 + pc.lora.crcEnabled * bitsPerCrc - 4 * dr.lora.spreadingFactor + 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 = (pc.lora.preambleLength + 8) * 4 + sfCoeff1_x4 + nPreCodedSymbols * dr.lora.codingRate * 4; + + return((symbolLength_us * nSymbol_x4) / 4); } - // 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 = (this->preambleLengthLoRa + 8) * 4 + sfCoeff1_x4 + nPreCodedSymbols * (this->codingRate + 4) * 4; - - return((symbolLength_us * nSymbol_x4) / 4); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - return(((uint32_t)len * 8 * this->bitRate) / (RADIOLIB_SX126X_CRYSTAL_FREQ * 32)); - - } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { - // calculate the number of bits based on coding rate - uint16_t N_bits; - switch(this->lrFhssCr) { - case RADIOLIB_SX126X_LR_FHSS_CR_5_6: - N_bits = ((len * 6) + 4) / 5; // this is from the official LR11xx driver, but why the extra +4? - break; - case RADIOLIB_SX126X_LR_FHSS_CR_2_3: - N_bits = (len * 3) / 2; - break; - case RADIOLIB_SX126X_LR_FHSS_CR_1_2: - N_bits = len * 2; - break; - case RADIOLIB_SX126X_LR_FHSS_CR_1_3: - N_bits = len * 3; - break; - default: - return(RADIOLIB_ERR_INVALID_CODING_RATE); + case RADIOLIB_MODEM_FSK: { + return((((float)(pc.fsk.crcLength * 8) + pc.fsk.syncWordLength + pc.fsk.preambleLength + (uint32_t)len * 8) / (dr.fsk.bitRate / 1000.0f))); } + case RADIOLIB_MODEM_LRFHSS: { + // calculate the number of bits based on coding rate + uint16_t N_bits; + switch(dr.lrFhss.cr) { + case RADIOLIB_SX126X_LR_FHSS_CR_5_6: + N_bits = ((len * 6) + 4) / 5; // this is from the official LR11xx driver, but why the extra +4? + break; + case RADIOLIB_SX126X_LR_FHSS_CR_2_3: + N_bits = (len * 3) / 2; + break; + case RADIOLIB_SX126X_LR_FHSS_CR_1_2: + N_bits = len * 2; + break; + case RADIOLIB_SX126X_LR_FHSS_CR_1_3: + N_bits = len * 3; + break; + default: + return(RADIOLIB_ERR_INVALID_CODING_RATE); + } - // calculate number of bits when accounting for unaligned last block - uint16_t N_payBits = (N_bits / RADIOLIB_SX126X_LR_FHSS_FRAG_BITS) * RADIOLIB_SX126X_LR_FHSS_BLOCK_BITS; - uint16_t N_lastBlockBits = N_bits % RADIOLIB_SX126X_LR_FHSS_FRAG_BITS; - if(N_lastBlockBits) { - N_payBits += N_lastBlockBits + 2; + // calculate number of bits when accounting for unaligned last block + uint16_t N_payBits = (N_bits / RADIOLIB_SX126X_LR_FHSS_FRAG_BITS) * RADIOLIB_SX126X_LR_FHSS_BLOCK_BITS; + uint16_t N_lastBlockBits = N_bits % RADIOLIB_SX126X_LR_FHSS_FRAG_BITS; + if(N_lastBlockBits) { + N_payBits += N_lastBlockBits + 2; + } + + // add header bits + uint16_t N_totalBits = (RADIOLIB_SX126X_LR_FHSS_HEADER_BITS * pc.lrFhss.hdrCount) + N_payBits; + return(((uint32_t)N_totalBits * 8 * 1000000UL) / 488.28215f); } - - // add header bits - uint16_t N_totalBits = (RADIOLIB_SX126X_LR_FHSS_HEADER_BITS * this->lrFhssHdrCount) + N_payBits; - return(((uint32_t)N_totalBits * 8 * 1000000UL) / 488.28215f); - + default: + return(RADIOLIB_ERR_WRONG_MODEM); } return(RADIOLIB_ERR_UNKNOWN); } +RadioLibTime_t SX126x::getTimeOnAir(size_t len) { + uint8_t type = getPacketType(); + ModemType_t modem = RADIOLIB_MODEM_LORA; + DataRate_t dataRate = {}; + PacketConfig_t packetConfig = {}; + + if(type == RADIOLIB_SX126X_PACKET_TYPE_LORA) { + uint8_t cr = this->codingRate; + // We assume same calculation for short and long interleaving, so map CR values 0-4 and 5-7 to the same values + if (cr < 5) { + cr = cr + 4; + } else if (cr == 7) { + cr = cr + 1; + } + + dataRate.lora.codingRate = cr; + dataRate.lora.spreadingFactor = this->spreadingFactor; + dataRate.lora.bandwidth = this->bandwidthKhz; + + packetConfig.lora.preambleLength = this->preambleLengthLoRa; + packetConfig.lora.crcEnabled = (bool)this->crcTypeLoRa; + packetConfig.lora.implicitHeader = this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT; + packetConfig.lora.ldrOptimize = (bool)this->ldrOptimize; + } else if(type == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + modem = RADIOLIB_MODEM_FSK; + + dataRate.fsk.bitRate = RADIOLIB_SX126X_CRYSTAL_FREQ * 32.0f * 1000.0f / (float)this->bitRate; + dataRate.fsk.freqDev = (float)this->frequencyDev; + + uint8_t crcLen = 0; + if(this->crcTypeFSK == RADIOLIB_SX126X_GFSK_CRC_1_BYTE || this->crcTypeFSK == RADIOLIB_SX126X_GFSK_CRC_1_BYTE_INV) { + crcLen = 1; + } else if(this->crcTypeFSK == RADIOLIB_SX126X_GFSK_CRC_2_BYTE || this->crcTypeFSK == RADIOLIB_SX126X_GFSK_CRC_2_BYTE_INV) { + crcLen = 2; + } + + packetConfig.fsk.preambleLength = this->preambleLengthFSK; + packetConfig.fsk.syncWordLength = this->syncWordLength; + packetConfig.fsk.crcLength = crcLen; + } else if(type == RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { + modem = RADIOLIB_MODEM_LRFHSS; + + dataRate.lrFhss.bw = this->lrFhssBw; + dataRate.lrFhss.cr = this->lrFhssCr; + dataRate.lrFhss.narrowGrid = this->lrFhssGridNonFcc; + + packetConfig.lrFhss.hdrCount = this->lrFhssHdrCount; + } else if(type == RADIOLIB_SX126X_PACKET_TYPE_BPSK) { + // BPSK is so experimental it does not have a specific data rate structure + // so just reuse FSK + modem = RADIOLIB_MODEM_FSK; + + dataRate.fsk.bitRate = RADIOLIB_SX126X_CRYSTAL_FREQ * 32.0f * 1000.0f / (float)this->bitRate; + dataRate.fsk.freqDev = 0; + + packetConfig.fsk.preambleLength = 0; + packetConfig.fsk.syncWordLength = 0; + packetConfig.fsk.crcLength = 0; + + } else { + return(RADIOLIB_ERR_WRONG_MODEM); + + } + + return(calculateTimeOnAir(modem, dataRate, packetConfig, len)); +} + RadioLibTime_t SX126x::calculateRxTimeout(RadioLibTime_t timeoutUs) { // the timeout value is given in units of 15.625 microseconds // the calling function should provide some extra width, as this number of units is truncated to integer - RadioLibTime_t timeout = timeoutUs / 15.625; + RadioLibTime_t timeout = timeoutUs / 15.625f; return(timeout); } @@ -1546,55 +946,6 @@ int16_t SX126x::clearIrqFlags(uint32_t irq) { return(this->clearIrqStatus(irq)); } -int16_t SX126x::implicitHeader(size_t len) { - return(setHeaderType(RADIOLIB_SX126X_LORA_HEADER_IMPLICIT, len)); -} - -int16_t SX126x::explicitHeader() { - return(setHeaderType(RADIOLIB_SX126X_LORA_HEADER_EXPLICIT)); -} - -int16_t SX126x::setRegulatorLDO() { - return(setRegulatorMode(RADIOLIB_SX126X_REGULATOR_LDO)); -} - -int16_t SX126x::setRegulatorDCDC() { - return(setRegulatorMode(RADIOLIB_SX126X_REGULATOR_DC_DC)); -} - -int16_t SX126x::setEncoding(uint8_t encoding) { - return(setWhitening(encoding)); -} - -void SX126x::setRfSwitchPins(uint32_t rxEn, uint32_t txEn) { - this->mod->setRfSwitchPins(rxEn, txEn); -} - -void SX126x::setRfSwitchTable(const uint32_t (&pins)[Module::RFSWITCH_MAX_PINS], const Module::RfSwitchMode_t table[]) { - this->mod->setRfSwitchTable(pins, table); -} - -int16_t SX126x::forceLDRO(bool enable) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // update modulation parameters - this->ldroAuto = false; - this->ldrOptimize = (uint8_t)enable; - return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); -} - -int16_t SX126x::autoLDRO() { - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - this->ldroAuto = true; - return(RADIOLIB_ERR_NONE); -} - uint8_t SX126x::randomByte() { // set some magic registers this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_ANA_LNA, RADIOLIB_SX126X_LNA_RNG_ENABLED, 0, 0); @@ -1624,25 +975,11 @@ uint8_t SX126x::randomByte() { return(randByte); } -int16_t SX126x::invertIQ(bool enable) { - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - if(enable) { - this->invertIQEnabled = RADIOLIB_SX126X_LORA_IQ_INVERTED; - } else { - this->invertIQEnabled = RADIOLIB_SX126X_LORA_IQ_STANDARD; - } - - return(setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, this->implicitLen, this->headerType, this->invertIQEnabled)); -} - int16_t SX126x::getModem(ModemType_t* modem) { RADIOLIB_ASSERT_PTR(modem); - uint8_t packetType = getPacketType(); - switch(packetType) { + uint8_t type = getPacketType(); + switch(type) { case(RADIOLIB_SX126X_PACKET_TYPE_LORA): *modem = ModemType_t::RADIOLIB_MODEM_LORA; return(RADIOLIB_ERR_NONE); @@ -1657,6 +994,165 @@ int16_t SX126x::getModem(ModemType_t* modem) { return(RADIOLIB_ERR_WRONG_MODEM); } +int16_t SX126x::stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) { + int16_t state; + + switch(mode) { + case(RADIOLIB_RADIO_MODE_RX): { + // in implicit header mode, use the provided length if it is nonzero + // otherwise we trust the user has previously set the payload length manually + if((this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT) && (cfg->receive.len != 0)) { + this->implicitLen = cfg->receive.len; + } + + state = startReceiveCommon(cfg->receive.timeout, cfg->receive.irqFlags, cfg->receive.irqMask); + RADIOLIB_ASSERT(state); + + // if max(uint32_t) is used, revert to RxContinuous + if(cfg->receive.timeout == 0xFFFFFFFF) { + cfg->receive.timeout = 0xFFFFFF; + } + this->rxTimeout = cfg->receive.timeout; + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + // check packet length + if(cfg->transmit.len > RADIOLIB_SX126X_MAX_PACKET_LENGTH) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // maximum packet length is decreased by 1 when address filtering is active + if((RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF != RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF) && + (cfg->transmit.len > RADIOLIB_SX126X_MAX_PACKET_LENGTH - 1)) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // set packet Length + state = RADIOLIB_ERR_NONE; + uint8_t modem = getPacketType(); + if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { + state = setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, cfg->transmit.len, this->headerType, this->invertIQEnabled); + + } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType, cfg->transmit.len); + + } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_BPSK) { + uint16_t rampUp = RADIOLIB_SX126X_BPSK_RAMP_UP_TIME_600_BPS; + uint16_t rampDown = RADIOLIB_SX126X_BPSK_RAMP_DOWN_TIME_600_BPS; + if(this->bitRate == 100) { + rampUp = RADIOLIB_SX126X_BPSK_RAMP_UP_TIME_100_BPS; + rampDown = RADIOLIB_SX126X_BPSK_RAMP_DOWN_TIME_100_BPS; + } + state = setPacketParamsBPSK(cfg->transmit.len, rampUp, rampDown, 8*cfg->transmit.len); + + } else if(modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { + return(RADIOLIB_ERR_UNKNOWN); + + } + RADIOLIB_ASSERT(state); + + // set DIO mapping + if(modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { + state = setDioIrqParams(RADIOLIB_SX126X_IRQ_TX_DONE | RADIOLIB_SX126X_IRQ_TIMEOUT, RADIOLIB_SX126X_IRQ_TX_DONE); + } else { + state = setDioIrqParams(RADIOLIB_SX126X_IRQ_TX_DONE | RADIOLIB_SX126X_IRQ_LR_FHSS_HOP, RADIOLIB_SX126X_IRQ_TX_DONE | RADIOLIB_SX126X_IRQ_LR_FHSS_HOP); + } + RADIOLIB_ASSERT(state); + + // set buffer pointers + state = setBufferBaseAddress(); + RADIOLIB_ASSERT(state); + + // write packet to buffer + if(modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { + state = writeBuffer(cfg->transmit.data, cfg->transmit.len); + + } else { + // first, reset the LR-FHSS state machine + state = resetLRFHSS(); + RADIOLIB_ASSERT(state); + + // skip hopping for the first 4 - lrFhssHdrCount blocks + for(int i = 0; i < 4 - this->lrFhssHdrCount; ++i ) { + stepLRFHSS(); + } + + // in LR-FHSS mode, we need to build the entire packet manually + uint8_t frame[RADIOLIB_SX126X_MAX_PACKET_LENGTH] = { 0 }; + size_t frameLen = 0; + this->lrFhssFrameBitsRem = 0; + this->lrFhssFrameHopsRem = 0; + this->lrFhssHopNum = 0; + state = buildLRFHSSPacket(cfg->transmit.data, cfg->transmit.len, frame, &frameLen, &this->lrFhssFrameBitsRem, &this->lrFhssFrameHopsRem); + RADIOLIB_ASSERT(state); + + // FIXME check max len for FHSS + state = writeBuffer(frame, frameLen); + RADIOLIB_ASSERT(state); + + // activate hopping + const uint8_t hopCfg[] = { RADIOLIB_SX126X_HOPPING_ENABLED, (uint8_t)frameLen, (uint8_t)this->lrFhssFrameHopsRem }; + state = writeRegister(RADIOLIB_SX126X_REG_HOPPING_ENABLE, hopCfg, 3); + RADIOLIB_ASSERT(state); + + // write the initial hopping table + uint8_t initHops = this->lrFhssFrameHopsRem; + if(initHops > 16) { + initHops = 16; + }; + for(size_t i = 0; i < initHops; i++) { + // set the hop frequency and symbols + state = this->setLRFHSSHop(i); + RADIOLIB_ASSERT(state); + } + + } + RADIOLIB_ASSERT(state); + + // clear interrupt flags + state = clearIrqStatus(); + RADIOLIB_ASSERT(state); + + // fix sensitivity + state = fixSensitivity(); + RADIOLIB_ASSERT(state); + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = mode; + return(state); +} + +int16_t SX126x::launchMode() { + int16_t state; + switch(this->stagedMode) { + case(RADIOLIB_RADIO_MODE_RX): { + this->mod->setRfSwitchState(Module::MODE_RX); + state = setRx(this->rxTimeout); + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + this->mod->setRfSwitchState(this->txMode); + state = setTx(RADIOLIB_SX126X_TX_TIMEOUT_NONE); + RADIOLIB_ASSERT(state); + + // wait for BUSY to go low (= PA ramp up done) + while(this->mod->hal->digitalRead(this->mod->getGpio())) { + this->mod->hal->yield(); + } + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = RADIOLIB_RADIO_MODE_NONE; + return(state); +} + #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE void SX126x::setDirectAction(void (*func)(void)) { setDio1Action(func); @@ -1687,7 +1183,8 @@ int16_t SX126x::uploadPatch(const uint32_t* patch, size_t len, bool nonvolatile) for(uint32_t i = 0; i < len / sizeof(uint32_t); i++) { uint32_t bin = 0; if(nonvolatile) { - bin = RADIOLIB_NONVOLATILE_READ_DWORD(patch + i); + uint32_t* ptr = const_cast(patch) + i; + bin = RADIOLIB_NONVOLATILE_READ_DWORD(ptr); } else { bin = patch[i]; } @@ -1726,7 +1223,7 @@ int16_t SX126x::spectralScanStart(uint16_t numSamples, uint8_t window, uint8_t i RADIOLIB_ASSERT(state); // now set the actual spectral scan parameters - uint8_t data[3] = { (uint8_t)((numSamples >> 8) & 0xFF), (uint8_t)(numSamples & 0xFF), interval }; + const uint8_t data[3] = { (uint8_t)((numSamples >> 8) & 0xFF), (uint8_t)(numSamples & 0xFF), interval }; return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_SPECTR_SCAN_PARAMS, data, 3)); } @@ -1754,177 +1251,6 @@ int16_t SX126x::spectralScanGetResult(uint16_t* results) { return(RADIOLIB_ERR_NONE); } -int16_t SX126x::setTCXO(float voltage, uint32_t delay) { - // check if TCXO is enabled at all - if(this->XTAL) { - return(RADIOLIB_ERR_INVALID_TCXO_VOLTAGE); - } - - // set mode to standby - standby(); - - // check RADIOLIB_SX126X_XOSC_START_ERR flag and clear it - if(getDeviceErrors() & RADIOLIB_SX126X_XOSC_START_ERR) { - clearDeviceErrors(); - } - - // check 0 V disable - if(fabsf(voltage - 0.0) <= 0.001) { - return(reset(true)); - } - - // check alowed voltage values - uint8_t data[4]; - if(fabsf(voltage - 1.6) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_1_6; - } else if(fabsf(voltage - 1.7) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_1_7; - } else if(fabsf(voltage - 1.8) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_1_8; - } else if(fabsf(voltage - 2.2) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_2_2; - } else if(fabsf(voltage - 2.4) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_2_4; - } else if(fabsf(voltage - 2.7) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_2_7; - } else if(fabsf(voltage - 3.0) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_3_0; - } else if(fabsf(voltage - 3.3) <= 0.001) { - data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_3_3; - } else { - return(RADIOLIB_ERR_INVALID_TCXO_VOLTAGE); - } - - // calculate delay - uint32_t delayValue = (float)delay / 15.625; - data[1] = (uint8_t)((delayValue >> 16) & 0xFF); - data[2] = (uint8_t)((delayValue >> 8) & 0xFF); - data[3] = (uint8_t)(delayValue & 0xFF); - - this->tcxoDelay = delay; - - // enable TCXO control on DIO3 - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_DIO3_AS_TCXO_CTRL, data, 4)); -} - -int16_t SX126x::setDio2AsRfSwitch(bool enable) { - uint8_t data = 0; - if(enable) { - data = RADIOLIB_SX126X_DIO2_AS_RF_SWITCH; - } else { - data = RADIOLIB_SX126X_DIO2_AS_IRQ; - } - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL, &data, 1)); -} - -int16_t SX126x::setFs() { - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_FS, NULL, 0)); -} - -int16_t SX126x::setTx(uint32_t timeout) { - uint8_t data[] = { (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF)} ; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_TX, data, 3)); -} - -int16_t SX126x::setRx(uint32_t timeout) { - uint8_t data[] = { (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF) }; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_RX, data, 3, true, false)); -} - -int16_t SX126x::setCad(uint8_t symbolNum, uint8_t detPeak, uint8_t detMin, uint8_t exitMode, RadioLibTime_t timeout) { - // default CAD parameters are shown in Semtech AN1200.48, page 41. - const uint8_t detPeakValues[6] = { 22, 22, 24, 25, 26, 30}; - - // CAD parameters aren't available for SF-6. Just to be safe. - if(this->spreadingFactor < 7) { - this->spreadingFactor = 7; - } else if(this->spreadingFactor > 12) { - this->spreadingFactor = 12; - } - - // build the packet with default configuration - uint8_t data[7]; - data[0] = RADIOLIB_SX126X_CAD_ON_2_SYMB; - data[1] = detPeakValues[this->spreadingFactor - 7]; - data[2] = RADIOLIB_SX126X_CAD_PARAM_DET_MIN; - data[3] = RADIOLIB_SX126X_CAD_GOTO_STDBY; - uint32_t timeout_raw = (float)timeout / 15.625f; - data[4] = (uint8_t)((timeout_raw >> 16) & 0xFF); - data[5] = (uint8_t)((timeout_raw >> 8) & 0xFF); - data[6] = (uint8_t)(timeout_raw & 0xFF); - - // set user-provided values - if(symbolNum != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { - data[0] = symbolNum; - } - - if(detPeak != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { - data[1] = detPeak; - } - - if(detMin != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { - data[2] = detMin; - } - - if(exitMode != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { - data[3] = exitMode; - } - - // configure parameters - int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_CAD_PARAMS, data, 7); - RADIOLIB_ASSERT(state); - - // start CAD - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_CAD, NULL, 0)); -} - -int16_t SX126x::setPaConfig(uint8_t paDutyCycle, uint8_t deviceSel, uint8_t hpMax, uint8_t paLut) { - uint8_t data[] = { paDutyCycle, hpMax, deviceSel, paLut }; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PA_CONFIG, data, 4)); -} - -int16_t SX126x::writeRegister(uint16_t addr, uint8_t* data, uint8_t numBytes) { - this->mod->SPIwriteRegisterBurst(addr, data, numBytes); - return(RADIOLIB_ERR_NONE); -} - -int16_t SX126x::readRegister(uint16_t addr, uint8_t* data, uint8_t numBytes) { - // send the command - this->mod->SPIreadRegisterBurst(addr, numBytes, data); - - // check the status - int16_t state = this->mod->SPIcheckStream(); - return(state); -} - -int16_t SX126x::writeBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset) { - uint8_t cmd[] = { RADIOLIB_SX126X_CMD_WRITE_BUFFER, offset }; - return(this->mod->SPIwriteStream(cmd, 2, data, numBytes)); -} - -int16_t SX126x::readBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset) { - uint8_t cmd[] = { RADIOLIB_SX126X_CMD_READ_BUFFER, offset }; - return(this->mod->SPIreadStream(cmd, 2, data, numBytes)); -} - -int16_t SX126x::setDioIrqParams(uint16_t irqMask, uint16_t dio1Mask, uint16_t dio2Mask, uint16_t dio3Mask) { - uint8_t data[8] = {(uint8_t)((irqMask >> 8) & 0xFF), (uint8_t)(irqMask & 0xFF), - (uint8_t)((dio1Mask >> 8) & 0xFF), (uint8_t)(dio1Mask & 0xFF), - (uint8_t)((dio2Mask >> 8) & 0xFF), (uint8_t)(dio2Mask & 0xFF), - (uint8_t)((dio3Mask >> 8) & 0xFF), (uint8_t)(dio3Mask & 0xFF)}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_DIO_IRQ_PARAMS, data, 8)); -} - -int16_t SX126x::clearIrqStatus(uint16_t clearIrqParams) { - uint8_t data[] = { (uint8_t)((clearIrqParams >> 8) & 0xFF), (uint8_t)(clearIrqParams & 0xFF) }; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CLEAR_IRQ_STATUS, data, 2)); -} - -int16_t SX126x::setRfFrequency(uint32_t frf) { - uint8_t data[] = { (uint8_t)((frf >> 24) & 0xFF), (uint8_t)((frf >> 16) & 0xFF), (uint8_t)((frf >> 8) & 0xFF), (uint8_t)(frf & 0xFF) }; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_RF_FREQUENCY, data, 4)); -} - int16_t SX126x::calibrateImage(float freq) { uint8_t data[2] = { 0, 0 }; @@ -1970,152 +1296,6 @@ int16_t SX126x::calibrateImageRejection(float freqMin, float freqMax) { return(this->calibrateImage(data)); } -int16_t SX126x::setPaRampTime(uint8_t rampTime) { - return(this->setTxParams(this->pwr, rampTime)); -} - -int16_t SX126x::calibrateImage(uint8_t* data) { - int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CALIBRATE_IMAGE, data, 2); - - // if something failed, show the device errors - #if RADIOLIB_DEBUG_BASIC - if(state != RADIOLIB_ERR_NONE) { - // unless mode is forced to standby, device errors will be 0 - standby(); - uint16_t errors = getDeviceErrors(); - RADIOLIB_DEBUG_BASIC_PRINTLN("Calibration failed, device errors: 0x%X", errors); - } - #endif - return(state); -} - -uint8_t SX126x::getPacketType() { - uint8_t data = 0xFF; - this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_PACKET_TYPE, &data, 1); - return(data); -} - -int16_t SX126x::setTxParams(uint8_t pwr, uint8_t rampTime) { - uint8_t data[] = { pwr, rampTime }; - int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_TX_PARAMS, data, 2); - if(state == RADIOLIB_ERR_NONE) { - this->pwr = pwr; - } - return(state); -} - -int16_t SX126x::setPacketMode(uint8_t mode, uint8_t len) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // set requested packet mode - int16_t state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, mode, len); - RADIOLIB_ASSERT(state); - - // update cached value - this->packetType = mode; - return(state); -} - -int16_t SX126x::setHeaderType(uint8_t hdrType, size_t len) { - // check active modem - if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // set requested packet mode - int16_t state = setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, len, hdrType, this->invertIQEnabled); - RADIOLIB_ASSERT(state); - - // update cached value - this->headerType = hdrType; - this->implicitLen = len; - - return(state); -} - -int16_t SX126x::setModulationParams(uint8_t sf, uint8_t bw, uint8_t cr, uint8_t ldro) { - // calculate symbol length and enable low data rate optimization, if auto-configuration is enabled - if(this->ldroAuto) { - float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float)this->bandwidthKhz; - if(symbolLength >= 16.0) { - this->ldrOptimize = RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_ON; - } else { - this->ldrOptimize = RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_OFF; - } - } else { - this->ldrOptimize = ldro; - } - // 500/9/8 - 0x09 0x04 0x03 0x00 - SF9, BW125, 4/8 - // 500/11/8 - 0x0B 0x04 0x03 0x00 - SF11 BW125, 4/7 - uint8_t data[4] = {sf, bw, cr, this->ldrOptimize}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS, data, 4)); -} - -int16_t SX126x::setModulationParamsFSK(uint32_t br, uint8_t sh, uint8_t rxBw, uint32_t freqDev) { - uint8_t data[8] = {(uint8_t)((br >> 16) & 0xFF), (uint8_t)((br >> 8) & 0xFF), (uint8_t)(br & 0xFF), - sh, rxBw, - (uint8_t)((freqDev >> 16) & 0xFF), (uint8_t)((freqDev >> 8) & 0xFF), (uint8_t)(freqDev & 0xFF)}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS, data, 8)); -} - -int16_t SX126x::setPacketParams(uint16_t preambleLen, uint8_t crcType, uint8_t payloadLen, uint8_t hdrType, uint8_t invertIQ) { - int16_t state = fixInvertedIQ(invertIQ); - RADIOLIB_ASSERT(state); - uint8_t data[6] = {(uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), hdrType, payloadLen, crcType, invertIQ}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS, data, 6)); -} - -int16_t SX126x::setPacketParamsFSK(uint16_t preambleLen, uint8_t preambleDetectorLen, uint8_t crcType, uint8_t syncWordLen, uint8_t addrCmp, uint8_t whiten, uint8_t packType, uint8_t payloadLen) { - uint8_t data[9] = {(uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), - preambleDetectorLen, syncWordLen, addrCmp, - packType, payloadLen, crcType, whiten}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS, data, 9)); -} - -int16_t SX126x::setBufferBaseAddress(uint8_t txBaseAddress, uint8_t rxBaseAddress) { - uint8_t data[2] = {txBaseAddress, rxBaseAddress}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_BUFFER_BASE_ADDRESS, data, 2)); -} - -int16_t SX126x::setRegulatorMode(uint8_t mode) { - uint8_t data[1] = {mode}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_REGULATOR_MODE, data, 1)); -} - -uint8_t SX126x::getStatus() { - uint8_t data = 0; - this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_STATUS, &data, 0); - return(data); -} - -uint32_t SX126x::getPacketStatus() { - uint8_t data[3] = {0, 0, 0}; - this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_PACKET_STATUS, data, 3); - return((((uint32_t)data[0]) << 16) | (((uint32_t)data[1]) << 8) | (uint32_t)data[2]); -} - -uint16_t SX126x::getDeviceErrors() { - uint8_t data[2] = {0, 0}; - this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_DEVICE_ERRORS, data, 2); - uint16_t opError = (((uint16_t)data[0] & 0xFF) << 8) | ((uint16_t)data[1]); - return(opError); -} - -int16_t SX126x::clearDeviceErrors() { - uint8_t data[2] = {RADIOLIB_SX126X_CMD_NOP, RADIOLIB_SX126X_CMD_NOP}; - return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CLEAR_DEVICE_ERRORS, data, 2)); -} - -int16_t SX126x::setFrequencyRaw(float freq) { - // calculate raw value - this->freqMHz = freq; - uint32_t frf = (this->freqMHz * (uint32_t(1) << RADIOLIB_SX126X_DIV_EXPONENT)) / RADIOLIB_SX126X_CRYSTAL_FREQ; - return(setRfFrequency(frf)); -} - int16_t SX126x::fixSensitivity() { // fix receiver sensitivity for 500 kHz LoRa // see SX1262/SX1268 datasheet, chapter 15 Known Limitations, section 15.1 for details @@ -2126,7 +1306,7 @@ int16_t SX126x::fixSensitivity() { RADIOLIB_ASSERT(state); // fix the value for LoRa with 500 kHz bandwidth - if((getPacketType() == RADIOLIB_SX126X_PACKET_TYPE_LORA) && (fabsf(this->bandwidthKhz - 500.0) <= 0.001)) { + if((getPacketType() == RADIOLIB_SX126X_PACKET_TYPE_LORA) && (fabsf(this->bandwidthKhz - 500.0f) <= 0.001f)) { sensitivityConfig &= 0xFB; } else { sensitivityConfig |= 0x04; @@ -2158,7 +1338,8 @@ int16_t SX126x::fixImplicitTimeout() { //check if we're in implicit LoRa mode if(!((this->headerType == RADIOLIB_SX126X_LORA_HEADER_IMPLICIT) && (getPacketType() == RADIOLIB_SX126X_PACKET_TYPE_LORA))) { - return(RADIOLIB_ERR_WRONG_MODEM); + // not in the correct mode, nothing to do here + return(RADIOLIB_ERR_NONE); } // stop RTC counter @@ -2196,6 +1377,48 @@ int16_t SX126x::fixInvertedIQ(uint8_t iqConfig) { return(writeRegister(RADIOLIB_SX126X_REG_IQ_CONFIG, &iqConfigCurrent, 1)); } +int16_t SX126x::fixGFSK() { + // method that applies some magic workaround for specific bitrate, frequency deviation, + // receiver bandwidth and carrier frequencies for GFSK (and resets it in all other cases) + // this is not documented in the datasheet, only in Semtech repositories for SX126x and LR11xx + + // first, check we are using GFSK modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + // not in GFSK, nothing to do here + return(RADIOLIB_ERR_NONE); + } + + // next, decide what to change based on modulation properties + int16_t state = RADIOLIB_ERR_UNKNOWN; + if(this->bitRate == 1200) { + // workaround for 1.2 kbps + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_GFSK_FIX_3, 0x00, 4, 4); + + } else if(this->bitRate == 600) { + // workaround for 0.6 kbps + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_GFSK_FIX_1, 0x18, 4, 3); + RADIOLIB_ASSERT(state); + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_RSSI_AVG_WINDOW, 0x04, 4, 2); + RADIOLIB_ASSERT(state); + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_GFSK_FIX_3, 0x00, 4, 4); + RADIOLIB_ASSERT(state); + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_GFSK_FIX_4, 0x50, 6, 4); + + } else { + // reset + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_GFSK_FIX_1, 0x08, 4, 3); + RADIOLIB_ASSERT(state); + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_RSSI_AVG_WINDOW, 0x00, 4, 2); + RADIOLIB_ASSERT(state); + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_GFSK_FIX_3, 0x10, 4, 4); + RADIOLIB_ASSERT(state); + state = this->mod->SPIsetRegValue(RADIOLIB_SX126X_REG_GFSK_FIX_4, 0x00, 6, 4); + + } + + return(state); +} + Module* SX126x::getMod() { return(this->mod); } @@ -2214,8 +1437,8 @@ int16_t SX126x::modSetup(float tcxoVoltage, bool useRegulatorLDO, uint8_t modem) this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_SX126X_CMD_GET_STATUS; this->mod->spiConfig.stream = true; this->mod->spiConfig.parseStatusCb = SPIparseStatus; - - // try to find the SX126x chip + + // find the SX126x chip - this will also reset the module and verify the module if(!SX126x::findChip(this->chipType)) { RADIOLIB_DEBUG_BASIC_PRINTLN("No SX126x found!"); this->mod->term(); @@ -2223,22 +1446,37 @@ int16_t SX126x::modSetup(float tcxoVoltage, bool useRegulatorLDO, uint8_t modem) } RADIOLIB_DEBUG_BASIC_PRINTLN("M\tSX126x"); - // reset the module and verify startup - int16_t state = reset(); - RADIOLIB_ASSERT(state); - - // set mode to standby - state = standby(); - RADIOLIB_ASSERT(state); + int16_t state = RADIOLIB_ERR_NONE; // set TCXO control, if requested - if(!this->XTAL && tcxoVoltage > 0.0) { + if(!this->XTAL && tcxoVoltage > 0.0f) { state = setTCXO(tcxoVoltage); RADIOLIB_ASSERT(state); } // configure settings not accessible by API state = config(modem); + + // if something failed, check the device errors + if(state != RADIOLIB_ERR_NONE) { + // unless mode is forced to standby, device errors will be 0 + (void)standby(); + uint16_t errors = getDeviceErrors(); + RADIOLIB_DEBUG_BASIC_PRINTLN("Config failed, device errors: 0x%X", errors); + + // SPI command fail and oscillator start error flag indicate incorrectly set oscillator + if((state == RADIOLIB_ERR_SPI_CMD_FAILED) && (errors & RADIOLIB_SX126X_XOSC_START_ERR)) { + // typically users with XTAL devices will try to call the default begin method + // disable TCXO and try to run config again + this->XTAL = false; + RADIOLIB_DEBUG_BASIC_PRINTLN("Bad oscillator selected, trying XTAL"); + + state = setTCXO(0); + RADIOLIB_ASSERT(state); + + state = config(modem); + } + } RADIOLIB_ASSERT(state); if (useRegulatorLDO) { @@ -2249,65 +1487,6 @@ int16_t SX126x::modSetup(float tcxoVoltage, bool useRegulatorLDO, uint8_t modem) return(state); } -int16_t SX126x::config(uint8_t modem) { - // reset buffer base address - int16_t state = setBufferBaseAddress(); - RADIOLIB_ASSERT(state); - - // set modem - uint8_t data[7]; - data[0] = modem; - state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PACKET_TYPE, data, 1); - RADIOLIB_ASSERT(state); - - // set Rx/Tx fallback mode to STDBY_RC - data[0] = this->standbyXOSC ? RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_XOSC : RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_RC; - state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_RX_TX_FALLBACK_MODE, data, 1); - RADIOLIB_ASSERT(state); - - // set some CAD parameters - will be overwritten when calling CAD anyway - data[0] = RADIOLIB_SX126X_CAD_ON_8_SYMB; - data[1] = this->spreadingFactor + 13; - data[2] = RADIOLIB_SX126X_CAD_PARAM_DET_MIN; - data[3] = RADIOLIB_SX126X_CAD_GOTO_STDBY; - data[4] = 0x00; - data[5] = 0x00; - data[6] = 0x00; - state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_CAD_PARAMS, data, 7); - RADIOLIB_ASSERT(state); - - // clear IRQ - state = clearIrqStatus(); - state |= setDioIrqParams(RADIOLIB_SX126X_IRQ_NONE, RADIOLIB_SX126X_IRQ_NONE); - RADIOLIB_ASSERT(state); - - // calibrate all blocks - data[0] = RADIOLIB_SX126X_CALIBRATE_ALL; - state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CALIBRATE, data, 1, true, false); - RADIOLIB_ASSERT(state); - - // wait for calibration completion - this->mod->hal->delay(5); - while(this->mod->hal->digitalRead(this->mod->getGpio())) { - this->mod->hal->yield(); - } - - // check calibration result - state = this->mod->SPIcheckStream(); - - // if something failed, show the device errors - #if RADIOLIB_DEBUG_BASIC - if(state != RADIOLIB_ERR_NONE) { - // unless mode is forced to standby, device errors will be 0 - standby(); - uint16_t errors = getDeviceErrors(); - RADIOLIB_DEBUG_BASIC_PRINTLN("Calibration failed, device errors: 0x%X", errors); - } - #endif - - return(state); -} - int16_t SX126x::SPIparseStatus(uint8_t in) { if((in & 0b00001110) == RADIOLIB_SX126X_STATUS_CMD_TIMEOUT) { return(RADIOLIB_ERR_SPI_CMD_TIMEOUT); @@ -2326,10 +1505,10 @@ bool SX126x::findChip(const char* verStr) { bool flagFound = false; while((i < 10) && !flagFound) { // reset the module - reset(); + reset(true); // read the version string - char version[16]; + char version[16] = { 0 }; this->mod->SPIreadRegisterBurst(RADIOLIB_SX126X_REG_VERSION_STRING, 16, reinterpret_cast(version)); // check version register diff --git a/lib/RadioLib/src/modules/SX126x/SX126x.h b/lib/RadioLib/src/modules/SX126x/SX126x.h index 5fba5a3..984fb92 100644 --- a/lib/RadioLib/src/modules/SX126x/SX126x.h +++ b/lib/RadioLib/src/modules/SX126x/SX126x.h @@ -11,453 +11,15 @@ #include "../../utils/FEC.h" #include "../../utils/CRC.h" +#include "SX126x_commands.h" +#include "SX126x_registers.h" + // SX126X physical layer properties #define RADIOLIB_SX126X_FREQUENCY_STEP_SIZE 0.9536743164 #define RADIOLIB_SX126X_MAX_PACKET_LENGTH 255 -#define RADIOLIB_SX126X_CRYSTAL_FREQ 32.0 +#define RADIOLIB_SX126X_CRYSTAL_FREQ 32.0f #define RADIOLIB_SX126X_DIV_EXPONENT 25 -// SX126X SPI commands -// operational modes commands -#define RADIOLIB_SX126X_CMD_NOP 0x00 -#define RADIOLIB_SX126X_CMD_SET_SLEEP 0x84 -#define RADIOLIB_SX126X_CMD_SET_STANDBY 0x80 -#define RADIOLIB_SX126X_CMD_SET_FS 0xC1 -#define RADIOLIB_SX126X_CMD_SET_TX 0x83 -#define RADIOLIB_SX126X_CMD_SET_RX 0x82 -#define RADIOLIB_SX126X_CMD_STOP_TIMER_ON_PREAMBLE 0x9F -#define RADIOLIB_SX126X_CMD_SET_RX_DUTY_CYCLE 0x94 -#define RADIOLIB_SX126X_CMD_SET_CAD 0xC5 -#define RADIOLIB_SX126X_CMD_SET_TX_CONTINUOUS_WAVE 0xD1 -#define RADIOLIB_SX126X_CMD_SET_TX_INFINITE_PREAMBLE 0xD2 -#define RADIOLIB_SX126X_CMD_SET_REGULATOR_MODE 0x96 -#define RADIOLIB_SX126X_CMD_CALIBRATE 0x89 -#define RADIOLIB_SX126X_CMD_CALIBRATE_IMAGE 0x98 -#define RADIOLIB_SX126X_CMD_SET_PA_CONFIG 0x95 -#define RADIOLIB_SX126X_CMD_SET_RX_TX_FALLBACK_MODE 0x93 - -// register and buffer access commands -#define RADIOLIB_SX126X_CMD_WRITE_REGISTER 0x0D -#define RADIOLIB_SX126X_CMD_READ_REGISTER 0x1D -#define RADIOLIB_SX126X_CMD_WRITE_BUFFER 0x0E -#define RADIOLIB_SX126X_CMD_READ_BUFFER 0x1E - -// DIO and IRQ control -#define RADIOLIB_SX126X_CMD_SET_DIO_IRQ_PARAMS 0x08 -#define RADIOLIB_SX126X_CMD_GET_IRQ_STATUS 0x12 -#define RADIOLIB_SX126X_CMD_CLEAR_IRQ_STATUS 0x02 -#define RADIOLIB_SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL 0x9D -#define RADIOLIB_SX126X_CMD_SET_DIO3_AS_TCXO_CTRL 0x97 - -// RF, modulation and packet commands -#define RADIOLIB_SX126X_CMD_SET_RF_FREQUENCY 0x86 -#define RADIOLIB_SX126X_CMD_SET_PACKET_TYPE 0x8A -#define RADIOLIB_SX126X_CMD_GET_PACKET_TYPE 0x11 -#define RADIOLIB_SX126X_CMD_SET_TX_PARAMS 0x8E -#define RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS 0x8B -#define RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS 0x8C -#define RADIOLIB_SX126X_CMD_SET_CAD_PARAMS 0x88 -#define RADIOLIB_SX126X_CMD_SET_BUFFER_BASE_ADDRESS 0x8F -#define RADIOLIB_SX126X_CMD_SET_LORA_SYMB_NUM_TIMEOUT 0xA0 - -// status commands -#define RADIOLIB_SX126X_CMD_GET_STATUS 0xC0 -#define RADIOLIB_SX126X_CMD_GET_RSSI_INST 0x15 -#define RADIOLIB_SX126X_CMD_GET_RX_BUFFER_STATUS 0x13 -#define RADIOLIB_SX126X_CMD_GET_PACKET_STATUS 0x14 -#define RADIOLIB_SX126X_CMD_GET_DEVICE_ERRORS 0x17 -#define RADIOLIB_SX126X_CMD_CLEAR_DEVICE_ERRORS 0x07 -#define RADIOLIB_SX126X_CMD_GET_STATS 0x10 -#define RADIOLIB_SX126X_CMD_RESET_STATS 0x00 - -#define RADIOLIB_SX126X_CMD_PRAM_UPDATE 0xD9 -#define RADIOLIB_SX126X_CMD_SET_LBT_SCAN_PARAMS 0x9A -#define RADIOLIB_SX126X_CMD_SET_SPECTR_SCAN_PARAMS 0x9B - -// SX126X register map -#define RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_0 0x029F // SX1268 datasheet v1.1, section 9.6 -#define RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_1 0x02A0 // SX1268 datasheet v1.1, section 9.6 -#define RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_2 0x02A1 // SX1268 datasheet v1.1, section 9.6 -#define RADIOLIB_SX126X_REG_VERSION_STRING 0x0320 -#define RADIOLIB_SX126X_REG_HOPPING_ENABLE 0x0385 -#define RADIOLIB_SX126X_REG_LR_FHSS_PACKET_LENGTH 0x0386 -#define RADIOLIB_SX126X_REG_LR_FHSS_NUM_HOPPING_BLOCKS 0x0387 -#define RADIOLIB_SX126X_REG_LR_FHSS_NUM_SYMBOLS_FREQX_MSB(X) (0x0388 + (X)*6) -#define RADIOLIB_SX126X_REG_LR_FHSS_NUM_SYMBOLS_FREQX_LSB(X) (0x0389 + (X)*6) -#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_0(X) (0x038A + (X)*6) -#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_1(X) (0x038B + (X)*6) -#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_2(X) (0x038C + (X)*6) -#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_3(X) (0x038D + (X)*6) -#define RADIOLIB_SX126X_REG_SPECTRAL_SCAN_RESULT 0x0401 -#define RADIOLIB_SX126X_REG_DIOX_OUT_ENABLE 0x0580 -#define RADIOLIB_SX126X_REG_DIOX_DRIVE_STRENGTH 0x0582 -#define RADIOLIB_SX126X_REG_DIOX_IN_ENABLE 0x0583 -#define RADIOLIB_SX126X_REG_DIOX_PULL_UP_CTRL 0x0584 -#define RADIOLIB_SX126X_REG_DIOX_PULL_DOWN_CTRL 0x0585 -#define RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_0 0x0587 -#define RADIOLIB_SX126X_REG_PATCH_UPDATE_ENABLE 0x0610 -#define RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_1 0x0680 -#define RADIOLIB_SX126X_REG_WHITENING_INITIAL_MSB 0x06B8 -#define RADIOLIB_SX126X_REG_WHITENING_INITIAL_LSB 0x06B9 -#define RADIOLIB_SX126X_REG_RX_TX_PLD_LEN 0x06BB -#define RADIOLIB_SX126X_REG_CRC_INITIAL_MSB 0x06BC -#define RADIOLIB_SX126X_REG_CRC_INITIAL_LSB 0x06BD -#define RADIOLIB_SX126X_REG_CRC_POLYNOMIAL_MSB 0x06BE -#define RADIOLIB_SX126X_REG_CRC_POLYNOMIAL_LSB 0x06BF -#define RADIOLIB_SX126X_REG_SYNC_WORD_0 0x06C0 -#define RADIOLIB_SX126X_REG_SYNC_WORD_1 0x06C1 -#define RADIOLIB_SX126X_REG_SYNC_WORD_2 0x06C2 -#define RADIOLIB_SX126X_REG_SYNC_WORD_3 0x06C3 -#define RADIOLIB_SX126X_REG_SYNC_WORD_4 0x06C4 -#define RADIOLIB_SX126X_REG_SYNC_WORD_5 0x06C5 -#define RADIOLIB_SX126X_REG_SYNC_WORD_6 0x06C6 -#define RADIOLIB_SX126X_REG_SYNC_WORD_7 0x06C7 -#define RADIOLIB_SX126X_REG_NODE_ADDRESS 0x06CD -#define RADIOLIB_SX126X_REG_BROADCAST_ADDRESS 0x06CE -#define RADIOLIB_SX126X_REG_PAYLOAD_LENGTH 0x0702 -#define RADIOLIB_SX126X_REG_PACKET_PARAMS 0x0704 -#define RADIOLIB_SX126X_REG_LORA_SYNC_TIMEOUT 0x0706 -#define RADIOLIB_SX126X_REG_IQ_CONFIG 0x0736 -#define RADIOLIB_SX126X_REG_LORA_SYNC_WORD_MSB 0x0740 -#define RADIOLIB_SX126X_REG_LORA_SYNC_WORD_LSB 0x0741 -#define RADIOLIB_SX126X_REG_FREQ_ERROR 0x076B -#define RADIOLIB_SX126X_REG_SPECTRAL_SCAN_STATUS 0x07CD -#define RADIOLIB_SX126X_REG_RX_ADDR_PTR 0x0803 -#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_0 0x0819 -#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_1 0x081A -#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_2 0x081B -#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_3 0x081C -#define RADIOLIB_SX126X_REG_SENSITIVITY_CONFIG 0x0889 // SX1268 datasheet v1.1, section 15.1 -#define RADIOLIB_SX126X_REG_RF_FREQUENCY_0 0x088B -#define RADIOLIB_SX126X_REG_RF_FREQUENCY_1 0x088C -#define RADIOLIB_SX126X_REG_RF_FREQUENCY_2 0x088D -#define RADIOLIB_SX126X_REG_RF_FREQUENCY_3 0x088E -#define RADIOLIB_SX126X_REG_RSSI_AVG_WINDOW 0x089B -#define RADIOLIB_SX126X_REG_RX_GAIN 0x08AC -#define RADIOLIB_SX126X_REG_TX_CLAMP_CONFIG 0x08D8 -#define RADIOLIB_SX126X_REG_ANA_LNA 0x08E2 -#define RADIOLIB_SX126X_REG_LNA_CAP_TUNE_N 0x08E3 -#define RADIOLIB_SX126X_REG_LNA_CAP_TUNE_P 0x08E4 -#define RADIOLIB_SX126X_REG_ANA_MIXER 0x08E5 -#define RADIOLIB_SX126X_REG_OCP_CONFIGURATION 0x08E7 -#define RADIOLIB_SX126X_REG_RTC_CTRL 0x0902 -#define RADIOLIB_SX126X_REG_XTA_TRIM 0x0911 -#define RADIOLIB_SX126X_REG_XTB_TRIM 0x0912 -#define RADIOLIB_SX126X_REG_DIO3_OUT_VOLTAGE_CTRL 0x0920 -#define RADIOLIB_SX126X_REG_EVENT_MASK 0x0944 -#define RADIOLIB_SX126X_REG_PATCH_MEMORY_BASE 0x8000 - -// SX126X SPI command variables -//RADIOLIB_SX126X_CMD_SET_SLEEP MSB LSB DESCRIPTION -#define RADIOLIB_SX126X_SLEEP_START_COLD 0b00000000 // 2 2 sleep mode: cold start, configuration is lost (default) -#define RADIOLIB_SX126X_SLEEP_START_WARM 0b00000100 // 2 2 warm start, configuration is retained -#define RADIOLIB_SX126X_SLEEP_RTC_OFF 0b00000000 // 0 0 wake on RTC timeout: disabled -#define RADIOLIB_SX126X_SLEEP_RTC_ON 0b00000001 // 0 0 enabled - -//RADIOLIB_SX126X_CMD_SET_STANDBY -#define RADIOLIB_SX126X_STANDBY_RC 0x00 // 7 0 standby mode: 13 MHz RC oscillator -#define RADIOLIB_SX126X_STANDBY_XOSC 0x01 // 7 0 32 MHz crystal oscillator - -//RADIOLIB_SX126X_CMD_SET_RX -#define RADIOLIB_SX126X_RX_TIMEOUT_NONE 0x000000 // 23 0 Rx timeout duration: no timeout (Rx single mode) -#define RADIOLIB_SX126X_RX_TIMEOUT_INF 0xFFFFFF // 23 0 infinite (Rx continuous mode) - -//RADIOLIB_SX126X_CMD_SET_TX -#define RADIOLIB_SX126X_TX_TIMEOUT_NONE 0x000000 // 23 0 Tx timeout duration: no timeout (Tx single mode) - -//RADIOLIB_SX126X_CMD_STOP_TIMER_ON_PREAMBLE -#define RADIOLIB_SX126X_STOP_ON_PREAMBLE_OFF 0x00 // 7 0 stop timer on: sync word or header (default) -#define RADIOLIB_SX126X_STOP_ON_PREAMBLE_ON 0x01 // 7 0 preamble detection - -//RADIOLIB_SX126X_CMD_SET_REGULATOR_MODE -#define RADIOLIB_SX126X_REGULATOR_LDO 0x00 // 7 0 set regulator mode: LDO (default) -#define RADIOLIB_SX126X_REGULATOR_DC_DC 0x01 // 7 0 DC-DC - -//RADIOLIB_SX126X_CMD_CALIBRATE -#define RADIOLIB_SX126X_CALIBRATE_IMAGE_OFF 0b00000000 // 6 6 image calibration: disabled -#define RADIOLIB_SX126X_CALIBRATE_IMAGE_ON 0b01000000 // 6 6 enabled -#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_P_OFF 0b00000000 // 5 5 ADC bulk P calibration: disabled -#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_P_ON 0b00100000 // 5 5 enabled -#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_N_OFF 0b00000000 // 4 4 ADC bulk N calibration: disabled -#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_N_ON 0b00010000 // 4 4 enabled -#define RADIOLIB_SX126X_CALIBRATE_ADC_PULSE_OFF 0b00000000 // 3 3 ADC pulse calibration: disabled -#define RADIOLIB_SX126X_CALIBRATE_ADC_PULSE_ON 0b00001000 // 3 3 enabled -#define RADIOLIB_SX126X_CALIBRATE_PLL_OFF 0b00000000 // 2 2 PLL calibration: disabled -#define RADIOLIB_SX126X_CALIBRATE_PLL_ON 0b00000100 // 2 2 enabled -#define RADIOLIB_SX126X_CALIBRATE_RC13M_OFF 0b00000000 // 1 1 13 MHz RC osc. calibration: disabled -#define RADIOLIB_SX126X_CALIBRATE_RC13M_ON 0b00000010 // 1 1 enabled -#define RADIOLIB_SX126X_CALIBRATE_RC64K_OFF 0b00000000 // 0 0 64 kHz RC osc. calibration: disabled -#define RADIOLIB_SX126X_CALIBRATE_RC64K_ON 0b00000001 // 0 0 enabled -#define RADIOLIB_SX126X_CALIBRATE_ALL 0b01111111 // 6 0 calibrate all blocks - -//RADIOLIB_SX126X_CMD_CALIBRATE_IMAGE -#define RADIOLIB_SX126X_CAL_IMG_430_MHZ_1 0x6B -#define RADIOLIB_SX126X_CAL_IMG_430_MHZ_2 0x6F -#define RADIOLIB_SX126X_CAL_IMG_470_MHZ_1 0x75 -#define RADIOLIB_SX126X_CAL_IMG_470_MHZ_2 0x81 -#define RADIOLIB_SX126X_CAL_IMG_779_MHZ_1 0xC1 -#define RADIOLIB_SX126X_CAL_IMG_779_MHZ_2 0xC5 -#define RADIOLIB_SX126X_CAL_IMG_863_MHZ_1 0xD7 -#define RADIOLIB_SX126X_CAL_IMG_863_MHZ_2 0xDB -#define RADIOLIB_SX126X_CAL_IMG_902_MHZ_1 0xE1 -#define RADIOLIB_SX126X_CAL_IMG_902_MHZ_2 0xE9 -#define RADIOLIB_SX126X_CAL_IMG_FREQ_TRIG_MHZ (20.0) - -//RADIOLIB_SX126X_CMD_SET_PA_CONFIG -#define RADIOLIB_SX126X_PA_CONFIG_HP_MAX 0x07 -#define RADIOLIB_SX126X_PA_CONFIG_PA_LUT 0x01 -#define RADIOLIB_SX126X_PA_CONFIG_SX1262_8 0x00 - -//RADIOLIB_SX126X_CMD_SET_RX_TX_FALLBACK_MODE -#define RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_FS 0x40 // 7 0 after Rx/Tx go to: FS mode -#define RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_XOSC 0x30 // 7 0 standby with crystal oscillator -#define RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_RC 0x20 // 7 0 standby with RC oscillator (default) - -//RADIOLIB_SX126X_CMD_SET_DIO_IRQ_PARAMS -#define RADIOLIB_SX126X_IRQ_LR_FHSS_HOP 0b0100000000000000 // 14 14 PA ramped up during LR-FHSS hop -#define RADIOLIB_SX126X_IRQ_TIMEOUT 0b0000001000000000 // 9 9 Rx or Tx timeout -#define RADIOLIB_SX126X_IRQ_CAD_DETECTED 0b0000000100000000 // 8 8 channel activity detected -#define RADIOLIB_SX126X_IRQ_CAD_DONE 0b0000000010000000 // 7 7 channel activity detection finished -#define RADIOLIB_SX126X_IRQ_CRC_ERR 0b0000000001000000 // 6 6 wrong CRC received -#define RADIOLIB_SX126X_IRQ_HEADER_ERR 0b0000000000100000 // 5 5 LoRa header CRC error -#define RADIOLIB_SX126X_IRQ_HEADER_VALID 0b0000000000010000 // 4 4 valid LoRa header received -#define RADIOLIB_SX126X_IRQ_SYNC_WORD_VALID 0b0000000000001000 // 3 3 valid sync word detected -#define RADIOLIB_SX126X_IRQ_PREAMBLE_DETECTED 0b0000000000000100 // 2 2 preamble detected -#define RADIOLIB_SX126X_IRQ_RX_DONE 0b0000000000000010 // 1 1 packet received -#define RADIOLIB_SX126X_IRQ_TX_DONE 0b0000000000000001 // 0 0 packet transmission completed -#define RADIOLIB_SX126X_IRQ_ALL 0b0100001111111111 // 14 0 all interrupts -#define RADIOLIB_SX126X_IRQ_NONE 0b0000000000000000 // 14 0 no interrupts - -//RADIOLIB_SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL -#define RADIOLIB_SX126X_DIO2_AS_IRQ 0x00 // 7 0 DIO2 configuration: IRQ -#define RADIOLIB_SX126X_DIO2_AS_RF_SWITCH 0x01 // 7 0 RF switch control - -//RADIOLIB_SX126X_CMD_SET_DIO3_AS_TCXO_CTRL -#define RADIOLIB_SX126X_DIO3_OUTPUT_1_6 0x00 // 7 0 DIO3 voltage output for TCXO: 1.6 V -#define RADIOLIB_SX126X_DIO3_OUTPUT_1_7 0x01 // 7 0 1.7 V -#define RADIOLIB_SX126X_DIO3_OUTPUT_1_8 0x02 // 7 0 1.8 V -#define RADIOLIB_SX126X_DIO3_OUTPUT_2_2 0x03 // 7 0 2.2 V -#define RADIOLIB_SX126X_DIO3_OUTPUT_2_4 0x04 // 7 0 2.4 V -#define RADIOLIB_SX126X_DIO3_OUTPUT_2_7 0x05 // 7 0 2.7 V -#define RADIOLIB_SX126X_DIO3_OUTPUT_3_0 0x06 // 7 0 3.0 V -#define RADIOLIB_SX126X_DIO3_OUTPUT_3_3 0x07 // 7 0 3.3 V - -//RADIOLIB_SX126X_CMD_SET_PACKET_TYPE -#define RADIOLIB_SX126X_PACKET_TYPE_GFSK 0x00 // 7 0 packet type: GFSK -#define RADIOLIB_SX126X_PACKET_TYPE_LORA 0x01 // 7 0 LoRa -#define RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS 0x03 // 7 0 LR-FHSS - -//RADIOLIB_SX126X_CMD_SET_TX_PARAMS -#define RADIOLIB_SX126X_PA_RAMP_10U 0x00 // 7 0 ramp time: 10 us -#define RADIOLIB_SX126X_PA_RAMP_20U 0x01 // 7 0 20 us -#define RADIOLIB_SX126X_PA_RAMP_40U 0x02 // 7 0 40 us -#define RADIOLIB_SX126X_PA_RAMP_80U 0x03 // 7 0 80 us -#define RADIOLIB_SX126X_PA_RAMP_200U 0x04 // 7 0 200 us -#define RADIOLIB_SX126X_PA_RAMP_800U 0x05 // 7 0 800 us -#define RADIOLIB_SX126X_PA_RAMP_1700U 0x06 // 7 0 1700 us -#define RADIOLIB_SX126X_PA_RAMP_3400U 0x07 // 7 0 3400 us - -//RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS -#define RADIOLIB_SX126X_GFSK_FILTER_NONE 0x00 // 7 0 GFSK filter: none -#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_3 0x08 // 7 0 Gaussian, BT = 0.3 -#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_5 0x09 // 7 0 Gaussian, BT = 0.5 -#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_7 0x0A // 7 0 Gaussian, BT = 0.7 -#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_1 0x0B // 7 0 Gaussian, BT = 1 -#define RADIOLIB_SX126X_GFSK_RX_BW_4_8 0x1F // 7 0 GFSK Rx bandwidth: 4.8 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_5_8 0x17 // 7 0 5.8 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_7_3 0x0F // 7 0 7.3 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_9_7 0x1E // 7 0 9.7 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_11_7 0x16 // 7 0 11.7 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_14_6 0x0E // 7 0 14.6 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_19_5 0x1D // 7 0 19.5 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_23_4 0x15 // 7 0 23.4 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_29_3 0x0D // 7 0 29.3 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_39_0 0x1C // 7 0 39.0 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_46_9 0x14 // 7 0 46.9 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_58_6 0x0C // 7 0 58.6 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_78_2 0x1B // 7 0 78.2 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_93_8 0x13 // 7 0 93.8 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_117_3 0x0B // 7 0 117.3 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_156_2 0x1A // 7 0 156.2 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_187_2 0x12 // 7 0 187.2 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_234_3 0x0A // 7 0 234.3 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_312_0 0x19 // 7 0 312.0 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_373_6 0x11 // 7 0 373.6 kHz -#define RADIOLIB_SX126X_GFSK_RX_BW_467_0 0x09 // 7 0 467.0 kHz -#define RADIOLIB_SX126X_LORA_BW_7_8 0x00 // 7 0 LoRa bandwidth: 7.8 kHz -#define RADIOLIB_SX126X_LORA_BW_10_4 0x08 // 7 0 10.4 kHz -#define RADIOLIB_SX126X_LORA_BW_15_6 0x01 // 7 0 15.6 kHz -#define RADIOLIB_SX126X_LORA_BW_20_8 0x09 // 7 0 20.8 kHz -#define RADIOLIB_SX126X_LORA_BW_31_25 0x02 // 7 0 31.25 kHz -#define RADIOLIB_SX126X_LORA_BW_41_7 0x0A // 7 0 41.7 kHz -#define RADIOLIB_SX126X_LORA_BW_62_5 0x03 // 7 0 62.5 kHz -#define RADIOLIB_SX126X_LORA_BW_125_0 0x04 // 7 0 125.0 kHz -#define RADIOLIB_SX126X_LORA_BW_250_0 0x05 // 7 0 250.0 kHz -#define RADIOLIB_SX126X_LORA_BW_500_0 0x06 // 7 0 500.0 kHz -#define RADIOLIB_SX126X_LORA_CR_4_5 0x01 // 7 0 LoRa coding rate: 4/5 -#define RADIOLIB_SX126X_LORA_CR_4_6 0x02 // 7 0 4/6 -#define RADIOLIB_SX126X_LORA_CR_4_7 0x03 // 7 0 4/7 -#define RADIOLIB_SX126X_LORA_CR_4_8 0x04 // 7 0 4/8 -#define RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_OFF 0x00 // 7 0 LoRa low data rate optimization: disabled -#define RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_ON 0x01 // 7 0 enabled - -//RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS -#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_OFF 0x00 // 7 0 GFSK minimum preamble length before reception starts: detector disabled -#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_8 0x04 // 7 0 8 bits -#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_16 0x05 // 7 0 16 bits -#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_24 0x06 // 7 0 24 bits -#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_32 0x07 // 7 0 32 bits -#define RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF 0x00 // 7 0 GFSK address filtering: disabled -#define RADIOLIB_SX126X_GFSK_ADDRESS_FILT_NODE 0x01 // 7 0 node only -#define RADIOLIB_SX126X_GFSK_ADDRESS_FILT_NODE_BROADCAST 0x02 // 7 0 node and broadcast -#define RADIOLIB_SX126X_GFSK_PACKET_FIXED 0x00 // 7 0 GFSK packet type: fixed (payload length known in advance to both sides) -#define RADIOLIB_SX126X_GFSK_PACKET_VARIABLE 0x01 // 7 0 variable (payload length added to packet) -#define RADIOLIB_SX126X_GFSK_CRC_OFF 0x01 // 7 0 GFSK packet CRC: disabled -#define RADIOLIB_SX126X_GFSK_CRC_1_BYTE 0x00 // 7 0 1 byte -#define RADIOLIB_SX126X_GFSK_CRC_2_BYTE 0x02 // 7 0 2 byte -#define RADIOLIB_SX126X_GFSK_CRC_1_BYTE_INV 0x04 // 7 0 1 byte, inverted -#define RADIOLIB_SX126X_GFSK_CRC_2_BYTE_INV 0x06 // 7 0 2 byte, inverted -#define RADIOLIB_SX126X_GFSK_WHITENING_OFF 0x00 // 7 0 GFSK data whitening: disabled -#define RADIOLIB_SX126X_GFSK_WHITENING_ON 0x01 // 7 0 enabled -#define RADIOLIB_SX126X_LORA_HEADER_EXPLICIT 0x00 // 7 0 LoRa header mode: explicit -#define RADIOLIB_SX126X_LORA_HEADER_IMPLICIT 0x01 // 7 0 implicit -#define RADIOLIB_SX126X_LORA_CRC_OFF 0x00 // 7 0 LoRa CRC mode: disabled -#define RADIOLIB_SX126X_LORA_CRC_ON 0x01 // 7 0 enabled -#define RADIOLIB_SX126X_LORA_IQ_STANDARD 0x00 // 7 0 LoRa IQ setup: standard -#define RADIOLIB_SX126X_LORA_IQ_INVERTED 0x01 // 7 0 inverted - -//RADIOLIB_SX126X_CMD_SET_CAD_PARAMS -#define RADIOLIB_SX126X_CAD_ON_1_SYMB 0x00 // 7 0 number of symbols used for CAD: 1 -#define RADIOLIB_SX126X_CAD_ON_2_SYMB 0x01 // 7 0 2 -#define RADIOLIB_SX126X_CAD_ON_4_SYMB 0x02 // 7 0 4 -#define RADIOLIB_SX126X_CAD_ON_8_SYMB 0x03 // 7 0 8 -#define RADIOLIB_SX126X_CAD_ON_16_SYMB 0x04 // 7 0 16 -#define RADIOLIB_SX126X_CAD_GOTO_STDBY 0x00 // 7 0 after CAD is done, always go to STDBY_RC mode -#define RADIOLIB_SX126X_CAD_GOTO_RX 0x01 // 7 0 after CAD is done, go to Rx mode if activity is detected -#define RADIOLIB_SX126X_CAD_PARAM_DEFAULT 0xFF // 7 0 used by the CAD methods to specify default parameter value -#define RADIOLIB_SX126X_CAD_PARAM_DET_MIN 10 // 7 0 default detMin CAD parameter - -//RADIOLIB_SX126X_CMD_GET_STATUS -#define RADIOLIB_SX126X_STATUS_MODE_STDBY_RC 0b00100000 // 6 4 current chip mode: STDBY_RC -#define RADIOLIB_SX126X_STATUS_MODE_STDBY_XOSC 0b00110000 // 6 4 STDBY_XOSC -#define RADIOLIB_SX126X_STATUS_MODE_FS 0b01000000 // 6 4 FS -#define RADIOLIB_SX126X_STATUS_MODE_RX 0b01010000 // 6 4 RX -#define RADIOLIB_SX126X_STATUS_MODE_TX 0b01100000 // 6 4 TX -#define RADIOLIB_SX126X_STATUS_DATA_AVAILABLE 0b00000100 // 3 1 command status: packet received and data can be retrieved -#define RADIOLIB_SX126X_STATUS_CMD_TIMEOUT 0b00000110 // 3 1 SPI command timed out -#define RADIOLIB_SX126X_STATUS_CMD_INVALID 0b00001000 // 3 1 invalid SPI command -#define RADIOLIB_SX126X_STATUS_CMD_FAILED 0b00001010 // 3 1 SPI command failed to execute -#define RADIOLIB_SX126X_STATUS_TX_DONE 0b00001100 // 3 1 packet transmission done -#define RADIOLIB_SX126X_STATUS_SPI_FAILED 0b11111111 // 7 0 SPI transaction failed - -//RADIOLIB_SX126X_CMD_GET_PACKET_STATUS -#define RADIOLIB_SX126X_GFSK_RX_STATUS_PREAMBLE_ERR 0b10000000 // 7 7 GFSK Rx status: preamble error -#define RADIOLIB_SX126X_GFSK_RX_STATUS_SYNC_ERR 0b01000000 // 6 6 sync word error -#define RADIOLIB_SX126X_GFSK_RX_STATUS_ADRS_ERR 0b00100000 // 5 5 address error -#define RADIOLIB_SX126X_GFSK_RX_STATUS_CRC_ERR 0b00010000 // 4 4 CRC error -#define RADIOLIB_SX126X_GFSK_RX_STATUS_LENGTH_ERR 0b00001000 // 3 3 length error -#define RADIOLIB_SX126X_GFSK_RX_STATUS_ABORT_ERR 0b00000100 // 2 2 abort error -#define RADIOLIB_SX126X_GFSK_RX_STATUS_PACKET_RECEIVED 0b00000010 // 2 2 packet received -#define RADIOLIB_SX126X_GFSK_RX_STATUS_PACKET_SENT 0b00000001 // 2 2 packet sent - -//RADIOLIB_SX126X_CMD_GET_DEVICE_ERRORS -#define RADIOLIB_SX126X_PA_RAMP_ERR 0b100000000 // 8 8 device errors: PA ramping failed -#define RADIOLIB_SX126X_PLL_LOCK_ERR 0b001000000 // 6 6 PLL failed to lock -#define RADIOLIB_SX126X_XOSC_START_ERR 0b000100000 // 5 5 crystal oscillator failed to start -#define RADIOLIB_SX126X_IMG_CALIB_ERR 0b000010000 // 4 4 image calibration failed -#define RADIOLIB_SX126X_ADC_CALIB_ERR 0b000001000 // 3 3 ADC calibration failed -#define RADIOLIB_SX126X_PLL_CALIB_ERR 0b000000100 // 2 2 PLL calibration failed -#define RADIOLIB_SX126X_RC13M_CALIB_ERR 0b000000010 // 1 1 RC13M calibration failed -#define RADIOLIB_SX126X_RC64K_CALIB_ERR 0b000000001 // 0 0 RC64K calibration failed - -//RADIOLIB_SX126X_CMD_SET_LBT_SCAN_PARAMS + RADIOLIB_SX126X_CMD_SET_SPECTR_SCAN_PARAMS -#define RADIOLIB_SX126X_SCAN_INTERVAL_7_68_US 10 // 7 0 RSSI reading interval: 7.68 us -#define RADIOLIB_SX126X_SCAN_INTERVAL_8_20_US 11 // 7 0 8.20 us -#define RADIOLIB_SX126X_SCAN_INTERVAL_8_68_US 12 // 7 0 8.68 us - -// SX126X SPI register variables -//RADIOLIB_SX126X_REG_HOPPING_ENABLE -#define RADIOLIB_SX126X_HOPPING_ENABLED 0b00000001 // 0 0 intra-packet hopping for LR-FHSS: enabled -#define RADIOLIB_SX126X_HOPPING_DISABLED 0b00000000 // 0 0 (disabled) - -//RADIOLIB_SX126X_REG_LORA_SYNC_WORD_MSB + LSB -#define RADIOLIB_SX126X_SYNC_WORD_PUBLIC 0x34 // actually 0x3444 NOTE: The low nibbles in each byte (0x_4_4) are masked out since apparently, they're reserved. -#define RADIOLIB_SX126X_SYNC_WORD_PRIVATE 0x12 // actually 0x1424 You couldn't make this up if you tried. - -// RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_1 -#define RADIOLIB_SX126X_TX_BITBANG_1_DISABLED 0b00000000 // 6 4 Tx bitbang: disabled (default) -#define RADIOLIB_SX126X_TX_BITBANG_1_ENABLED 0b00010000 // 6 4 enabled - -// RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_0 -#define RADIOLIB_SX126X_TX_BITBANG_0_DISABLED 0b00000000 // 3 0 Tx bitbang: disabled (default) -#define RADIOLIB_SX126X_TX_BITBANG_0_ENABLED 0b00001100 // 3 0 enabled - -// RADIOLIB_SX126X_REG_DIOX_OUT_ENABLE -#define RADIOLIB_SX126X_DIO1_OUT_DISABLED 0b00000010 // 1 1 DIO1 output: disabled -#define RADIOLIB_SX126X_DIO1_OUT_ENABLED 0b00000000 // 1 1 enabled -#define RADIOLIB_SX126X_DIO2_OUT_DISABLED 0b00000100 // 2 2 DIO2 output: disabled -#define RADIOLIB_SX126X_DIO2_OUT_ENABLED 0b00000000 // 2 2 enabled -#define RADIOLIB_SX126X_DIO3_OUT_DISABLED 0b00001000 // 3 3 DIO3 output: disabled -#define RADIOLIB_SX126X_DIO3_OUT_ENABLED 0b00000000 // 3 3 enabled - -// RADIOLIB_SX126X_REG_DIOX_IN_ENABLE -#define RADIOLIB_SX126X_DIO1_IN_DISABLED 0b00000000 // 1 1 DIO1 input: disabled -#define RADIOLIB_SX126X_DIO1_IN_ENABLED 0b00000010 // 1 1 enabled -#define RADIOLIB_SX126X_DIO2_IN_DISABLED 0b00000000 // 2 2 DIO2 input: disabled -#define RADIOLIB_SX126X_DIO2_IN_ENABLED 0b00000100 // 2 2 enabled -#define RADIOLIB_SX126X_DIO3_IN_DISABLED 0b00000000 // 3 3 DIO3 input: disabled -#define RADIOLIB_SX126X_DIO3_IN_ENABLED 0b00001000 // 3 3 enabled - -// RADIOLIB_SX126X_REG_RX_GAIN -#define RADIOLIB_SX126X_RX_GAIN_BOOSTED 0x96 // 7 0 Rx gain: boosted -#define RADIOLIB_SX126X_RX_GAIN_POWER_SAVING 0x94 // 7 0 power saving -#define RADIOLIB_SX126X_RX_GAIN_SPECTRAL_SCAN 0xCB // 7 0 spectral scan - -// RADIOLIB_SX126X_REG_PATCH_UPDATE_ENABLE -#define RADIOLIB_SX126X_PATCH_UPDATE_DISABLED 0b00000000 // 4 4 patch update: disabled -#define RADIOLIB_SX126X_PATCH_UPDATE_ENABLED 0b00010000 // 4 4 enabled - -// RADIOLIB_SX126X_REG_SPECTRAL_SCAN_STATUS -#define RADIOLIB_SX126X_SPECTRAL_SCAN_NONE 0x00 // 7 0 spectral scan status: none -#define RADIOLIB_SX126X_SPECTRAL_SCAN_ONGOING 0x0F // 7 0 ongoing -#define RADIOLIB_SX126X_SPECTRAL_SCAN_ABORTED 0xF0 // 7 0 aborted -#define RADIOLIB_SX126X_SPECTRAL_SCAN_COMPLETED 0xFF // 7 0 completed - -// RADIOLIB_SX126X_REG_RSSI_AVG_WINDOW -#define RADIOLIB_SX126X_SPECTRAL_SCAN_WINDOW_DEFAULT (0x05 << 2) // 7 0 default RSSI average window - -// RADIOLIB_SX126X_REG_ANA_LNA -#define RADIOLIB_SX126X_LNA_RNG_DISABLED 0b00000001 // 0 0 random number: disabled -#define RADIOLIB_SX126X_LNA_RNG_ENABLED 0b00000000 // 0 0 enabled - -// RADIOLIB_SX126X_REG_ANA_MIXER -#define RADIOLIB_SX126X_MIXER_RNG_DISABLED 0b00000001 // 7 7 random number: disabled -#define RADIOLIB_SX126X_MIXER_RNG_ENABLED 0b00000000 // 7 7 enabled - -// size of the spectral scan result -#define RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE (33) - -// LR-FHSS configuration -#define RADIOLIB_SX126X_LR_FHSS_CR_5_6 (0x00UL << 0) // 7 0 LR FHSS coding rate: 5/6 -#define RADIOLIB_SX126X_LR_FHSS_CR_2_3 (0x01UL << 0) // 7 0 2/3 -#define RADIOLIB_SX126X_LR_FHSS_CR_1_2 (0x02UL << 0) // 7 0 1/2 -#define RADIOLIB_SX126X_LR_FHSS_CR_1_3 (0x03UL << 0) // 7 0 1/3 -#define RADIOLIB_SX126X_LR_FHSS_MOD_TYPE_GMSK (0x00UL << 0) // 7 0 LR FHSS modulation: GMSK -#define RADIOLIB_SX126X_LR_FHSS_GRID_STEP_FCC (0x00UL << 0) // 7 0 LR FHSS step size: 25.390625 kHz (FCC) -#define RADIOLIB_SX126X_LR_FHSS_GRID_STEP_NON_FCC (0x01UL << 0) // 7 0 3.90625 kHz (non-FCC) -#define RADIOLIB_SX126X_LR_FHSS_HOPPING_DISABLED (0x00UL << 0) // 7 0 LR FHSS hopping: disabled -#define RADIOLIB_SX126X_LR_FHSS_HOPPING_ENABLED (0x01UL << 0) // 7 0 enabled -#define RADIOLIB_SX126X_LR_FHSS_BW_39_06 (0x00UL << 0) // 7 0 LR FHSS bandwidth: 39.06 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_85_94 (0x01UL << 0) // 7 0 85.94 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_136_72 (0x02UL << 0) // 7 0 136.72 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_183_59 (0x03UL << 0) // 7 0 183.59 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_335_94 (0x04UL << 0) // 7 0 335.94 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_386_72 (0x05UL << 0) // 7 0 386.72 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_722_66 (0x06UL << 0) // 7 0 722.66 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_773_44 (0x07UL << 0) // 7 0 773.44 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_1523_4 (0x08UL << 0) // 7 0 1523.4 kHz -#define RADIOLIB_SX126X_LR_FHSS_BW_1574_2 (0x09UL << 0) // 7 0 1574.2 kHz - // LR-FHSS packet lengths #define RADIOLIB_SX126X_LR_FHSS_MAX_ENC_SIZE (608) #define RADIOLIB_SX126X_LR_FHSS_HEADER_BITS (114) @@ -478,8 +40,20 @@ class SX126x: public PhysicalLayer { using PhysicalLayer::transmit; using PhysicalLayer::receive; using PhysicalLayer::startTransmit; + using PhysicalLayer::startReceive; using PhysicalLayer::readData; + /*! + \struct paTableEntry_t + \brief This structure is used as entry in the PA lookup table, + to optimize PA configuration for minimum power consumption. + */ + struct __attribute__((packed)) paTableEntry_t { + uint8_t paDutyCycle: 4; + uint8_t hpMax: 4; + int8_t paVal; + }; + /*! \brief Default constructor. \param mod Instance of Module that will be used to communicate with the radio. @@ -500,7 +74,8 @@ class SX126x: public PhysicalLayer { /*! \brief Initialization method for LoRa modem. - \param cr LoRa coding rate denominator. Allowed values range from 5 to 8. + \param cr LoRa coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param syncWord 1-byte LoRa sync word. \param preambleLength LoRa preamble length in symbols. Allowed values range from 1 to 65535. \param tcxoVoltage TCXO reference voltage to be set on DIO3. Defaults to 1.6 V, set to 0 to skip. @@ -522,6 +97,15 @@ class SX126x: public PhysicalLayer { */ int16_t beginFSK(float br, float freqDev, float rxBw, uint16_t preambleLength, float tcxoVoltage, bool useRegulatorLDO = false); + /*! + \brief Initialization method for BPSK modem. + \param br FSK bit rate in kbps. Only 100 and 600 bps is supported. + \param tcxoVoltage TCXO reference voltage to be set on DIO3. Defaults to 1.6 V, set to 0 to skip. + \param useRegulatorLDO Whether to use only LDO regulator (true) or DC-DC regulator (false). Defaults to false. + \returns \ref status_codes + */ + int16_t beginBPSK(float br, float tcxoVoltage, bool useRegulatorLDO = false); + /*! \brief Initialization method for LR-FHSS modem. This modem only supports transmission! \param bw LR-FHSS bandwidth, one of RADIOLIB_SX126X_LR_FHSS_BW_* values. @@ -564,11 +148,13 @@ class SX126x: public PhysicalLayer { /*! \brief Blocking binary receive method. Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Starts direct mode transmission. @@ -598,6 +184,22 @@ class SX126x: public PhysicalLayer { */ int16_t scanChannel(const ChannelScanConfig_t &config) override; + /*! + \brief Reset the AGC gain state by performing a warm sleep, recalibration, and + image rejection calibration cycle. Re-applies DIO2 RF switch and RX boosted gain + settings if previously configured. Leaves the radio in standby mode. + \returns \ref status_codes + */ + int16_t resetAGC(); + + /*! + \brief Perform calibration of the specified blocks. + \param params Calibration parameters - bitfield of RADIOLIB_SX126X_CALIBRATE_* values. + Use RADIOLIB_SX126X_CALIBRATE_ALL to calibrate all blocks. + \returns \ref status_codes + */ + int16_t calibrate(uint8_t params); + /*! \brief Sets the module to sleep mode. To wake the device up, call standby(). Overload with warm start enabled for PhysicalLayer compatibility. @@ -619,6 +221,14 @@ class SX126x: public PhysicalLayer { */ int16_t standby() override; + /*! + \brief Sets the module to standby mode. + \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_SX126X_STANDBY_RC (13 MHz RC oscillator) + or RADIOLIB_SX126X_STANDBY_XOSC (32 MHz external crystal oscillator). + \returns \ref status_codes + */ + int16_t standby(uint8_t mode) override; + /*! \brief Sets the module to standby mode. \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_SX126X_STANDBY_RC (13 MHz RC oscillator) @@ -626,7 +236,14 @@ class SX126x: public PhysicalLayer { \param wakeup Whether to force the module to wake up. Setting to true will immediately attempt to wake up the module. \returns \ref status_codes */ - int16_t standby(uint8_t mode, bool wakeup = true); + int16_t standby(uint8_t mode, bool wakeup); + + /*! + \brief Handle LR-FHSS hop. + When using LR-FHSS in interrupt-driven mode, this method MUST be called each time an interrupt is triggered! + \returns \ref status_codes + */ + int16_t hopLRFHSS(); // interrupt methods @@ -634,12 +251,12 @@ class SX126x: public PhysicalLayer { \brief Sets interrupt service routine to call when DIO1 activates. \param func ISR to call. */ - void setDio1Action(void (*func)(void)); + virtual void setDio1Action(void (*func)(void)); /*! \brief Clears interrupt service routine to call when DIO1 activates. */ - void clearDio1Action(); + virtual void clearDio1Action(); /*! \brief Sets interrupt service routine to call when a packet is received. @@ -674,21 +291,17 @@ class SX126x: public PhysicalLayer { */ void clearChannelScanAction() override; - /*! - \brief Interrupt-driven binary transmit method. - Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. - \param addr Address to send the data to. Will only be added if address filtering was enabled. - \returns \ref status_codes - */ - int16_t startTransmit(const uint8_t* data, size_t len, uint8_t addr = 0) override; - /*! \brief Clean up after transmission is done. \returns \ref status_codes */ int16_t finishTransmit() override; + + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; /*! \brief Interrupt-driven receive method with default parameters. @@ -698,23 +311,6 @@ class SX126x: public PhysicalLayer { */ int16_t startReceive() override; - /*! - \brief Interrupt-driven receive method. DIO1 will be activated when full packet is received. - \param timeout Receive mode type and/or raw timeout value, expressed as multiples of 15.625 us. - When set to RADIOLIB_SX126X_RX_TIMEOUT_INF, the timeout will be infinite and the device will remain - in Rx mode until explicitly commanded to stop (Rx continuous mode). - When set to RADIOLIB_SX126X_RX_TIMEOUT_NONE, there will be no timeout and the device will return - to standby when a packet is received (Rx single mode). - For any other value, timeout will be applied and signal will be generated on DIO1 for conditions - defined by irqFlags and irqMask. - - \param irqFlags Sets the IRQ flags, defaults to RX done, RX timeout, CRC error and header error. - \param irqMask Sets the mask of IRQ flags that will trigger DIO1, defaults to RX done. - \param len Only for PhysicalLayer compatibility, not used. - \returns \ref status_codes - */ - int16_t startReceive(uint32_t timeout, RadioLibIrqFlags_t irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RadioLibIrqFlags_t irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK, size_t len = 0); - /*! \brief Interrupt-driven receive method where the device mostly sleeps and periodically wakes to listen. Note that this function assumes the unit will take 500us + TCXO_delay to change state. @@ -733,17 +329,21 @@ class SX126x: public PhysicalLayer { \brief Calls \ref startReceiveDutyCycle with rxPeriod and sleepPeriod set so the unit shouldn't miss any messages. \param senderPreambleLength Expected preamble length of the messages to receive. If set to zero, the currently configured preamble length will be used. Defaults to zero. + This value cannot exceed the configured preamble length. If the sender preamble length is variable, set the + maximum expected length by calling setPreambleLength(maximumExpectedLength) prior to this method, and use the + minimum expected length here. - \param minSymbols Parameters will be chosen to ensure that the unit will catch at least this many symbols - of any preamble of the specified length. Defaults to 8. - According to Semtech, receiver requires 8 symbols to reliably latch a preamble. - This makes this method redundant when transmitter preamble length is less than 17 (2*minSymbols + 1). + \param minSymbols Ensure that the unit will catch at least this many symbols of any preamble of the specified senderPreambleLength. + To reliably latch a preamble, the receiver requires 8 symbols for SF7-12 and 12 symbols for SF5-6 (see datasheet section 6.1.1.1, version 1.2). + If set to zero, the minimum required symbols will be used. Defaults to 0. + + If senderPreambleLength is less than 2*minSymbols + 1, this method is equivalent to startReceive(). \param irqFlags Sets the IRQ flags, defaults to RX done, RX timeout, CRC error and header error. \param irqMask Sets the mask of IRQ flags that will trigger DIO1, defaults to RX done. \returns \ref status_codes */ - int16_t startReceiveDutyCycleAuto(uint16_t senderPreambleLength = 0, uint16_t minSymbols = 8, RadioLibIrqFlags_t irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RadioLibIrqFlags_t irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK); + int16_t startReceiveDutyCycleAuto(uint16_t senderPreambleLength = 0, uint16_t minSymbols = 0, RadioLibIrqFlags_t irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RadioLibIrqFlags_t irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK); /*! \brief Reads data received after calling startReceive method. When the packet length is not known in advance, @@ -783,21 +383,25 @@ class SX126x: public PhysicalLayer { \param bw LoRa bandwidth to be set in kHz. \returns \ref status_codes */ - int16_t setBandwidth(float bw); + virtual int16_t setBandwidth(float bw); /*! \brief Sets LoRa spreading factor. Allowed values range from 5 to 12. \param sf LoRa spreading factor to be set. \returns \ref status_codes */ - int16_t setSpreadingFactor(uint8_t sf); + virtual int16_t setSpreadingFactor(uint8_t sf); /*! - \brief Sets LoRa coding rate denominator. Allowed values range from 5 to 8. + \brief Sets LoRa coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param cr LoRa coding rate denominator to be set. + \param longInterleave Enable long interleaver when set to true. + Note that with long interleaver enabled, CR 4/7 is not possible, there are packet length restrictions, + and it is not compatible with SX127x radios. \returns \ref status_codes */ - int16_t setCodingRate(uint8_t cr); + int16_t setCodingRate(uint8_t cr, bool longInterleave = false); /*! \brief Sets LoRa sync word. @@ -846,18 +450,22 @@ class SX126x: public PhysicalLayer { int16_t setBitRate(float br) override; /*! - \brief Set data. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Check the data rate can be configured by this module. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t checkDataRate(DataRate_t dr) override; + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Sets FSK receiver bandwidth. Allowed values are 4.8, 5.8, 7.3, 9.7, 11.7, 14.6, 19.5, @@ -899,36 +507,6 @@ class SX126x: public PhysicalLayer { */ int16_t setSyncWord(uint8_t* syncWord, size_t len) override; - /*! - \brief Sets FSK sync word in the form of array of up to 8 bytes. - \param syncWord FSK sync word to be set. - \param bitsLen FSK sync word length in bits. If length is not divisible by 8, - least significant bits of syncWord will be ignored. - \returns \ref status_codes - */ - int16_t setSyncBits(uint8_t *syncWord, uint8_t bitsLen); - - /*! - \brief Sets node address. Calling this method will also enable address filtering for node address only. - \param addr Node address to be set. - \returns \ref status_codes - */ - int16_t setNodeAddress(uint8_t addr); - - /*! - \brief Sets broadcast address. Calling this method will also enable address - filtering for node and broadcast address. - \param broadAddr Node address to be set. - \returns \ref status_codes - */ - int16_t setBroadcastAddress(uint8_t broadAddr); - - /*! - \brief Disables address filtering. Calling this method will also erase previously set addresses. - \returns \ref status_codes - */ - int16_t disableAddressFiltering(); - /*! \brief Sets CRC configuration. \param len CRC length in bytes, Allowed values are 1 or 2, set to 0 to disable CRC. @@ -966,20 +544,14 @@ class SX126x: public PhysicalLayer { int16_t setDio2AsRfSwitch(bool enable = true); /*! - \brief Gets effective data rate for the last transmitted packet. The value is calculated only for payload bytes. - \returns Effective data rate in bps. - */ - float getDataRate() const; - - /*! - \brief Gets recorded signal strength indicator. + \brief Gets received signal strength indicator. Overload with packet mode enabled for PhysicalLayer compatibility. \returns RSSI value in dBm. */ float getRSSI() override; /*! - \brief Gets RSSI (Recorded Signal Strength Indicator). + \brief Gets RSSI (Received Signal Strength Indicator). \param packet Whether to read last packet RSSI, or the current value. \returns RSSI value in dBm. */ @@ -1002,19 +574,27 @@ class SX126x: public PhysicalLayer { /*! \brief Query modem for the packet length of received payload. - \param update Update received packet length. Will return cached value when set to false. + \param update Not used for SX126x modules. \returns Length of last received packet in bytes. */ size_t getPacketLength(bool update = true) override; /*! \brief Query modem for the packet length of received payload and Rx buffer offset. - \param update Update received packet length. Will return cached value when set to false. + \param update Not used for SX126x modules. \param offset Pointer to variable to store the Rx buffer offset. \returns Length of last received packet in bytes. */ size_t getPacketLength(bool update, uint8_t* offset); + /*! + \brief Get LoRa header information from last received packet. Only valid in explicit header mode. + \param cr Pointer to variable to store the coding rate. + \param hasCRC Pointer to variable to store the CRC status. + \returns \ref status_codes + */ + int16_t getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC); + /*! \brief Set modem in fixed packet length mode. Available in FSK mode only. \param len Packet length. @@ -1029,6 +609,16 @@ class SX126x: public PhysicalLayer { */ int16_t variablePacketLengthMode(uint8_t maxLen = RADIOLIB_SX126X_MAX_PACKET_LENGTH); + /*! + \brief Calculate the expected time-on-air for a given modem, data rate, packet configuration and payload size. + \param modem Modem type. + \param dr Data rate. + \param pc Packet config. + \param len Payload length in bytes. + \returns Expected time-on-air in microseconds. + */ + RadioLibTime_t calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) override; + /*! \brief Get expected time-on-air for a given size of payload \param len Payload length in bytes. @@ -1127,7 +717,7 @@ class SX126x: public PhysicalLayer { /*! \brief Enable/disable inversion of the I and Q signals - \param enable QI inversion enabled (true) or disabled (false); + \param enable IQ inversion enabled (true) or disabled (false); \returns \ref status_codes */ int16_t invertIQ(bool enable) override; @@ -1138,6 +728,12 @@ class SX126x: public PhysicalLayer { \returns \ref status_codes */ int16_t getModem(ModemType_t* modem) override; + + /*! \copydoc PhysicalLayer::stageMode */ + int16_t stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) override; + + /*! \copydoc PhysicalLayer::launchMode */ + int16_t launchMode() override; #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE /*! @@ -1228,6 +824,21 @@ class SX126x: public PhysicalLayer { */ int16_t setPaRampTime(uint8_t rampTime); + /*! + \brief Sets output power. Allowed values are in range from -9 to 22 dBm. + This method allows user full control over PA configuration parameters. + If you set incorrect PA configuration values, you can fail to reach the + desired output power level or damage your device. + Unless you can verify the output power, it is strongly advised to use + SX1262::setOutputPower(power) or SX1268::setOutputPower(power). + \param power Output power to be set in dBm. + \param paDutyCycle Raw PA duty cycle value. + \param hpMax Raw hpMax value. + \param deviceSel Device select. Use either RADIOLIB_SX126X_PA_CONFIG_SX1262 or RADIOLIB_SX126X_PA_CONFIG_SX1268. + \returns \ref status_codes + */ + int16_t setOutputPower(int8_t power, uint8_t paDutyCycle, uint8_t hpMax, uint8_t deviceSel); + #if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL protected: #endif @@ -1238,20 +849,22 @@ class SX126x: public PhysicalLayer { int16_t setTx(uint32_t timeout = 0); int16_t setRx(uint32_t timeout); int16_t setCad(uint8_t symbolNum, uint8_t detPeak, uint8_t detMin, uint8_t exitMode, RadioLibTime_t timeout); - int16_t writeRegister(uint16_t addr, uint8_t* data, uint8_t numBytes); + int16_t writeRegister(uint16_t addr, const uint8_t* data, uint8_t numBytes); int16_t readRegister(uint16_t addr, uint8_t* data, uint8_t numBytes); - int16_t writeBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset = 0x00); + int16_t writeBuffer(const uint8_t* data, uint8_t numBytes, uint8_t offset = 0x00); int16_t readBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset = 0x00); int16_t setDioIrqParams(uint16_t irqMask, uint16_t dio1Mask, uint16_t dio2Mask = RADIOLIB_SX126X_IRQ_NONE, uint16_t dio3Mask = RADIOLIB_SX126X_IRQ_NONE); virtual int16_t clearIrqStatus(uint16_t clearIrqParams = RADIOLIB_SX126X_IRQ_ALL); int16_t setRfFrequency(uint32_t frf); - int16_t calibrateImage(uint8_t* data); + int16_t calibrateImage(const uint8_t* data); uint8_t getPacketType(); int16_t setTxParams(uint8_t power, uint8_t rampTime); int16_t setModulationParams(uint8_t sf, uint8_t bw, uint8_t cr, uint8_t ldro); int16_t setModulationParamsFSK(uint32_t br, uint8_t sh, uint8_t rxBw, uint32_t freqDev); + int16_t setModulationParamsBPSK(uint32_t br, uint8_t sh = RADIOLIB_SX126X_BPSK_PULSE_SHAPE); int16_t setPacketParams(uint16_t preambleLen, uint8_t crcType, uint8_t payloadLen, uint8_t hdrType, uint8_t invertIQ); int16_t setPacketParamsFSK(uint16_t preambleLen, uint8_t preambleDetectorLen, uint8_t crcType, uint8_t syncWordLen, uint8_t addrCmp, uint8_t whiten, uint8_t packType = RADIOLIB_SX126X_GFSK_PACKET_VARIABLE, uint8_t payloadLen = 0xFF); + int16_t setPacketParamsBPSK(uint8_t payloadLen, uint16_t rampUpDelay, uint16_t rampDownDelay, uint16_t payloadLenBits); int16_t setBufferBaseAddress(uint8_t txBaseAddress = 0x00, uint8_t rxBaseAddress = 0x00); int16_t setRegulatorMode(uint8_t mode); uint8_t getStatus(); @@ -1290,13 +903,14 @@ class SX126x: public PhysicalLayer { uint16_t preambleLengthFSK = 0; float rxBandwidthKhz = 0; - float dataRateMeasured = 0; - uint32_t tcxoDelay = 0; uint8_t pwr = 0; + bool dio2RfSwitch = false; + bool rxBoostedGainMode = false; size_t implicitLen = 0; uint8_t invertIQEnabled = RADIOLIB_SX126X_LORA_IQ_STANDARD; + uint32_t rxTimeout = 0; // LR-FHSS stuff - there's a lot of it because all the encoding happens in software uint8_t lrFhssCr = RADIOLIB_SX126X_LR_FHSS_CR_2_3; @@ -1326,6 +940,7 @@ class SX126x: public PhysicalLayer { int16_t fixSensitivity(); int16_t fixImplicitTimeout(); int16_t fixInvertedIQ(uint8_t iqConfig); + int16_t fixGFSK(); // LR-FHSS utilities int16_t buildLRFHSSPacket(const uint8_t* in, size_t in_len, uint8_t* out, size_t* out_len, size_t* out_bits, size_t* out_hops); diff --git a/lib/RadioLib/src/modules/SX126x/SX126x_LR_FHSS.cpp b/lib/RadioLib/src/modules/SX126x/SX126x_LR_FHSS.cpp index 0f491f9..42c071a 100644 --- a/lib/RadioLib/src/modules/SX126x/SX126x_LR_FHSS.cpp +++ b/lib/RadioLib/src/modules/SX126x/SX126x_LR_FHSS.cpp @@ -87,7 +87,7 @@ int16_t SX126x::buildLRFHSSPacket(const uint8_t* in, size_t in_len, uint8_t* out // for rates other than the 1/3 base, puncture the code if(this->lrFhssCr != RADIOLIB_SX126X_LR_FHSS_CR_1_3) { uint32_t matrix_index = 0; - uint8_t matrix[15] = { 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0 }; + const uint8_t matrix[15] = { 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0 }; uint8_t matrix_len = 0; switch(this->lrFhssCr) { case RADIOLIB_SX126X_LR_FHSS_CR_5_6: @@ -364,7 +364,7 @@ int16_t SX126x::setLRFHSSHop(uint8_t index) { } } - uint8_t frq[4] = { (uint8_t)((freq_raw >> 24) & 0xFF), (uint8_t)((freq_raw >> 16) & 0xFF), (uint8_t)((freq_raw >> 8) & 0xFF), (uint8_t)(freq_raw & 0xFF) }; + const uint8_t frq[4] = { (uint8_t)((freq_raw >> 24) & 0xFF), (uint8_t)((freq_raw >> 16) & 0xFF), (uint8_t)((freq_raw >> 8) & 0xFF), (uint8_t)(freq_raw & 0xFF) }; int16_t state = writeRegister(RADIOLIB_SX126X_REG_LR_FHSS_FREQX_0(index), frq, sizeof(freq_raw)); RADIOLIB_ASSERT(state); @@ -380,7 +380,7 @@ int16_t SX126x::setLRFHSSHop(uint8_t index) { } // write hop length in symbols - uint8_t sym[2] = { (uint8_t)((numSymbols >> 8) & 0xFF), (uint8_t)(numSymbols & 0xFF) }; + const uint8_t sym[2] = { (uint8_t)((numSymbols >> 8) & 0xFF), (uint8_t)(numSymbols & 0xFF) }; state = writeRegister(RADIOLIB_SX126X_REG_LR_FHSS_NUM_SYMBOLS_FREQX_MSB(index), sym, sizeof(uint16_t)); RADIOLIB_ASSERT(state); diff --git a/lib/RadioLib/src/modules/SX126x/SX126x_commands.cpp b/lib/RadioLib/src/modules/SX126x/SX126x_commands.cpp new file mode 100644 index 0000000..f8e1cbd --- /dev/null +++ b/lib/RadioLib/src/modules/SX126x/SX126x_commands.cpp @@ -0,0 +1,311 @@ +#include "SX126x.h" + +// this file contains implementation of all commands +// supported by the SX126x SPI interface +// in most cases, the names of methods match those in the datasheet +// however, sometimes slight changes had to be made in order to +// better fit the RadioLib API + +#if !RADIOLIB_EXCLUDE_SX126X + +int16_t SX126x::resetAGC() { + // warm sleep to power down the analog frontend + int16_t state = sleep(true); + RADIOLIB_ASSERT(state); + + // wake to RC standby + state = standby(RADIOLIB_SX126X_STANDBY_RC, true); + RADIOLIB_ASSERT(state); + + // recalibrate all blocks + state = calibrate(RADIOLIB_SX126X_CALIBRATE_ALL); + RADIOLIB_ASSERT(state); + + // re-calibrate image rejection for the operating frequency + state = calibrateImage(this->freqMHz); + RADIOLIB_ASSERT(state); + + // re-apply DIO2 RF switch if it was configured + if(this->dio2RfSwitch) { + state = setDio2AsRfSwitch(true); + RADIOLIB_ASSERT(state); + } + + // re-apply RX boosted gain if it was configured + if(this->rxBoostedGainMode) { + state = setRxBoostedGainMode(true); + RADIOLIB_ASSERT(state); + } + + return(RADIOLIB_ERR_NONE); +} + +int16_t SX126x::calibrate(uint8_t params) { + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CALIBRATE, ¶ms, 1, true, false)); +} + +int16_t SX126x::sleep() { + return(SX126x::sleep(true)); +} + +int16_t SX126x::sleep(bool retainConfig) { + // set RF switch (if present) + this->mod->setRfSwitchState(Module::MODE_IDLE); + + uint8_t sleepMode = RADIOLIB_SX126X_SLEEP_START_WARM | RADIOLIB_SX126X_SLEEP_RTC_OFF; + if(!retainConfig) { + sleepMode = RADIOLIB_SX126X_SLEEP_START_COLD | RADIOLIB_SX126X_SLEEP_RTC_OFF; + } + int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_SLEEP, &sleepMode, 1, false, false); + + // wait for SX126x to safely enter sleep mode + this->mod->hal->delay(1); + + return(state); +} + +int16_t SX126x::standby() { + return(SX126x::standby(this->standbyXOSC ? RADIOLIB_SX126X_STANDBY_XOSC : RADIOLIB_SX126X_STANDBY_RC, true)); +} + +int16_t SX126x::standby(uint8_t mode) { + return(SX126x::standby(mode, true)); +} + +int16_t SX126x::standby(uint8_t mode, bool wakeup) { + // set RF switch (if present) + this->mod->setRfSwitchState(Module::MODE_IDLE); + + if(wakeup) { + // send a NOP command - this pulls the NSS low to exit the sleep mode, + // while preventing interference with possible other SPI transactions + // see https://github.com/jgromes/RadioLib/discussions/1364 + (void)this->mod->SPIwriteStream((uint16_t)RADIOLIB_SX126X_CMD_NOP, NULL, 0, false, false); + } + + const uint8_t data[] = { mode }; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_STANDBY, data, 1)); +} + +int16_t SX126x::setFs() { + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_FS, NULL, 0)); +} + +int16_t SX126x::setTx(uint32_t timeout) { + const uint8_t data[] = { (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF)} ; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_TX, data, 3)); +} + +int16_t SX126x::setRx(uint32_t timeout) { + const uint8_t data[] = { (uint8_t)((timeout >> 16) & 0xFF), (uint8_t)((timeout >> 8) & 0xFF), (uint8_t)(timeout & 0xFF) }; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_RX, data, 3, true, false)); +} + +int16_t SX126x::setCad(uint8_t symbolNum, uint8_t detPeak, uint8_t detMin, uint8_t exitMode, RadioLibTime_t timeout) { + // default CAD parameters are selected according to recommendations on Semtech DS.SX1261-2.W.APP rev. 1.1, page 92. + + // build the packet with default configuration + uint8_t data[7]; + data[0] = RADIOLIB_SX126X_CAD_ON_4_SYMB; + data[1] = this->spreadingFactor + 13; + data[2] = RADIOLIB_SX126X_CAD_PARAM_DET_MIN; + data[3] = RADIOLIB_SX126X_CAD_GOTO_STDBY; + uint32_t timeout_raw = (float)timeout / 15.625f; + data[4] = (uint8_t)((timeout_raw >> 16) & 0xFF); + data[5] = (uint8_t)((timeout_raw >> 8) & 0xFF); + data[6] = (uint8_t)(timeout_raw & 0xFF); + + // set user-provided values + if(symbolNum != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { + data[0] = symbolNum; + } + + if(detPeak != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { + data[1] = detPeak; + } + + if(detMin != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { + data[2] = detMin; + } + + if(exitMode != RADIOLIB_SX126X_CAD_PARAM_DEFAULT) { + data[3] = exitMode; + } + + // configure parameters + int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_CAD_PARAMS, data, 7); + RADIOLIB_ASSERT(state); + + // start CAD + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_CAD, NULL, 0)); +} + +int16_t SX126x::setPaConfig(uint8_t paDutyCycle, uint8_t deviceSel, uint8_t hpMax, uint8_t paLut) { + const uint8_t data[] = { paDutyCycle, hpMax, deviceSel, paLut }; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PA_CONFIG, data, 4)); +} + +int16_t SX126x::writeRegister(uint16_t addr, const uint8_t* data, uint8_t numBytes) { + this->mod->SPIwriteRegisterBurst(addr, data, numBytes); + return(RADIOLIB_ERR_NONE); +} + +int16_t SX126x::readRegister(uint16_t addr, uint8_t* data, uint8_t numBytes) { + // send the command + this->mod->SPIreadRegisterBurst(addr, numBytes, data); + + // check the status + int16_t state = this->mod->SPIcheckStream(); + return(state); +} + +int16_t SX126x::writeBuffer(const uint8_t* data, uint8_t numBytes, uint8_t offset) { + const uint8_t cmd[] = { RADIOLIB_SX126X_CMD_WRITE_BUFFER, offset }; + return(this->mod->SPIwriteStream(cmd, 2, data, numBytes)); +} + +int16_t SX126x::readBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset) { + const uint8_t cmd[] = { RADIOLIB_SX126X_CMD_READ_BUFFER, offset }; + return(this->mod->SPIreadStream(cmd, 2, data, numBytes)); +} + +int16_t SX126x::setDioIrqParams(uint16_t irqMask, uint16_t dio1Mask, uint16_t dio2Mask, uint16_t dio3Mask) { + const uint8_t data[8] = {(uint8_t)((irqMask >> 8) & 0xFF), (uint8_t)(irqMask & 0xFF), + (uint8_t)((dio1Mask >> 8) & 0xFF), (uint8_t)(dio1Mask & 0xFF), + (uint8_t)((dio2Mask >> 8) & 0xFF), (uint8_t)(dio2Mask & 0xFF), + (uint8_t)((dio3Mask >> 8) & 0xFF), (uint8_t)(dio3Mask & 0xFF)}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_DIO_IRQ_PARAMS, data, 8)); +} + +int16_t SX126x::clearIrqStatus(uint16_t clearIrqParams) { + const uint8_t data[] = { (uint8_t)((clearIrqParams >> 8) & 0xFF), (uint8_t)(clearIrqParams & 0xFF) }; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CLEAR_IRQ_STATUS, data, 2)); +} + +int16_t SX126x::setRfFrequency(uint32_t frf) { + const uint8_t data[] = { (uint8_t)((frf >> 24) & 0xFF), (uint8_t)((frf >> 16) & 0xFF), (uint8_t)((frf >> 8) & 0xFF), (uint8_t)(frf & 0xFF) }; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_RF_FREQUENCY, data, 4)); +} + +int16_t SX126x::calibrateImage(const uint8_t* data) { + int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CALIBRATE_IMAGE, data, 2); + + // if something failed, show the device errors + #if RADIOLIB_DEBUG_BASIC + if(state != RADIOLIB_ERR_NONE) { + // unless mode is forced to standby, device errors will be 0 + standby(); + uint16_t errors = getDeviceErrors(); + RADIOLIB_DEBUG_BASIC_PRINTLN("Calibration failed, device errors: 0x%X", errors); + } + #endif + return(state); +} + +uint8_t SX126x::getPacketType() { + uint8_t data = 0xFF; + this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_PACKET_TYPE, &data, 1); + return(data); +} + +int16_t SX126x::setTxParams(uint8_t pwr, uint8_t rampTime) { + const uint8_t data[] = { pwr, rampTime }; + int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_TX_PARAMS, data, 2); + if(state == RADIOLIB_ERR_NONE) { + this->pwr = pwr; + } + return(state); +} + +int16_t SX126x::setModulationParams(uint8_t sf, uint8_t bw, uint8_t cr, uint8_t ldro) { + // calculate symbol length and enable low data rate optimization, if auto-configuration is enabled + if(this->ldroAuto) { + float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float)this->bandwidthKhz; + if(symbolLength >= 16.0f) { + this->ldrOptimize = RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_ON; + } else { + this->ldrOptimize = RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_OFF; + } + } else { + this->ldrOptimize = ldro; + } + // 500/9/8 - 0x09 0x04 0x03 0x00 - SF9, BW125, 4/8 + // 500/11/8 - 0x0B 0x04 0x03 0x00 - SF11 BW125, 4/7 + const uint8_t data[4] = {sf, bw, cr, this->ldrOptimize}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS, data, 4)); +} + +int16_t SX126x::setModulationParamsFSK(uint32_t br, uint8_t sh, uint8_t rxBw, uint32_t freqDev) { + const uint8_t data[8] = {(uint8_t)((br >> 16) & 0xFF), (uint8_t)((br >> 8) & 0xFF), (uint8_t)(br & 0xFF), + sh, rxBw, + (uint8_t)((freqDev >> 16) & 0xFF), (uint8_t)((freqDev >> 8) & 0xFF), (uint8_t)(freqDev & 0xFF)}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS, data, 8)); +} + +int16_t SX126x::setModulationParamsBPSK(uint32_t br, uint8_t sh) { + const uint8_t data[] = {(uint8_t)((br >> 16) & 0xFF), (uint8_t)((br >> 8) & 0xFF), (uint8_t)(br & 0xFF), sh}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS, data, sizeof(data))); +} + +int16_t SX126x::setPacketParams(uint16_t preambleLen, uint8_t crcType, uint8_t payloadLen, uint8_t hdrType, uint8_t invertIQ) { + int16_t state = fixInvertedIQ(invertIQ); + RADIOLIB_ASSERT(state); + const uint8_t data[6] = {(uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), hdrType, payloadLen, crcType, invertIQ}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS, data, 6)); +} + +int16_t SX126x::setPacketParamsFSK(uint16_t preambleLen, uint8_t preambleDetectorLen, uint8_t crcType, uint8_t syncWordLen, uint8_t addrCmp, uint8_t whiten, uint8_t packType, uint8_t payloadLen) { + const uint8_t data[9] = {(uint8_t)((preambleLen >> 8) & 0xFF), (uint8_t)(preambleLen & 0xFF), + preambleDetectorLen, syncWordLen, addrCmp, + packType, payloadLen, crcType, whiten}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS, data, 9)); +} + +int16_t SX126x::setPacketParamsBPSK(uint8_t payloadLen, uint16_t rampUpDelay, uint16_t rampDownDelay, uint16_t payloadLenBits) { + const uint8_t data[] = { payloadLen, + (uint8_t)((rampUpDelay >> 8) & 0xFF), (uint8_t)(rampUpDelay & 0xFF), + (uint8_t)((rampDownDelay >> 8) & 0xFF), (uint8_t)(rampDownDelay & 0xFF), + (uint8_t)((payloadLenBits >> 8) & 0xFF), (uint8_t)(payloadLenBits & 0xFF) + }; + + // this one is a bit different, it seems to be split into command transaction and then a register write + int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS, data, sizeof(uint8_t)); + RADIOLIB_ASSERT(state); + return(this->writeRegister(RADIOLIB_SX126X_REG_BPSK_PACKET_PARAMS, &data[1], sizeof(data) - sizeof(uint8_t))); +} + +int16_t SX126x::setBufferBaseAddress(uint8_t txBaseAddress, uint8_t rxBaseAddress) { + const uint8_t data[2] = {txBaseAddress, rxBaseAddress}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_BUFFER_BASE_ADDRESS, data, 2)); +} + +int16_t SX126x::setRegulatorMode(uint8_t mode) { + const uint8_t data[1] = {mode}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_REGULATOR_MODE, data, 1)); +} + +uint8_t SX126x::getStatus() { + uint8_t data = 0; + this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_STATUS, &data, 0); + return(data); +} + +uint32_t SX126x::getPacketStatus() { + uint8_t data[3] = {0, 0, 0}; + this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_PACKET_STATUS, data, 3); + return((((uint32_t)data[0]) << 16) | (((uint32_t)data[1]) << 8) | (uint32_t)data[2]); +} + +uint16_t SX126x::getDeviceErrors() { + uint8_t data[2] = {0, 0}; + this->mod->SPIreadStream(RADIOLIB_SX126X_CMD_GET_DEVICE_ERRORS, data, 2); + uint16_t opError = (((uint16_t)data[0] & 0xFF) << 8) | ((uint16_t)data[1]); + return(opError); +} + +int16_t SX126x::clearDeviceErrors() { + const uint8_t data[2] = {RADIOLIB_SX126X_CMD_NOP, RADIOLIB_SX126X_CMD_NOP}; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CLEAR_DEVICE_ERRORS, data, 2)); +} + +#endif \ No newline at end of file diff --git a/lib/RadioLib/src/modules/SX126x/SX126x_commands.h b/lib/RadioLib/src/modules/SX126x/SX126x_commands.h new file mode 100644 index 0000000..b66124b --- /dev/null +++ b/lib/RadioLib/src/modules/SX126x/SX126x_commands.h @@ -0,0 +1,306 @@ +#if !defined(_RADIOLIB_SX126X_COMMANDS_H) +#define _RADIOLIB_SX126X_COMMANDS_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_SX126X + +// SX126X SPI commands +// operational modes commands +#define RADIOLIB_SX126X_CMD_NOP 0x00 +#define RADIOLIB_SX126X_CMD_SET_SLEEP 0x84 +#define RADIOLIB_SX126X_CMD_SET_STANDBY 0x80 +#define RADIOLIB_SX126X_CMD_SET_FS 0xC1 +#define RADIOLIB_SX126X_CMD_SET_TX 0x83 +#define RADIOLIB_SX126X_CMD_SET_RX 0x82 +#define RADIOLIB_SX126X_CMD_STOP_TIMER_ON_PREAMBLE 0x9F +#define RADIOLIB_SX126X_CMD_SET_RX_DUTY_CYCLE 0x94 +#define RADIOLIB_SX126X_CMD_SET_CAD 0xC5 +#define RADIOLIB_SX126X_CMD_SET_TX_CONTINUOUS_WAVE 0xD1 +#define RADIOLIB_SX126X_CMD_SET_TX_INFINITE_PREAMBLE 0xD2 +#define RADIOLIB_SX126X_CMD_SET_REGULATOR_MODE 0x96 +#define RADIOLIB_SX126X_CMD_CALIBRATE 0x89 +#define RADIOLIB_SX126X_CMD_CALIBRATE_IMAGE 0x98 +#define RADIOLIB_SX126X_CMD_SET_PA_CONFIG 0x95 +#define RADIOLIB_SX126X_CMD_SET_RX_TX_FALLBACK_MODE 0x93 + +// register and buffer access commands +#define RADIOLIB_SX126X_CMD_WRITE_REGISTER 0x0D +#define RADIOLIB_SX126X_CMD_READ_REGISTER 0x1D +#define RADIOLIB_SX126X_CMD_WRITE_BUFFER 0x0E +#define RADIOLIB_SX126X_CMD_READ_BUFFER 0x1E + +// DIO and IRQ control +#define RADIOLIB_SX126X_CMD_SET_DIO_IRQ_PARAMS 0x08 +#define RADIOLIB_SX126X_CMD_GET_IRQ_STATUS 0x12 +#define RADIOLIB_SX126X_CMD_CLEAR_IRQ_STATUS 0x02 +#define RADIOLIB_SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL 0x9D +#define RADIOLIB_SX126X_CMD_SET_DIO3_AS_TCXO_CTRL 0x97 + +// RF, modulation and packet commands +#define RADIOLIB_SX126X_CMD_SET_RF_FREQUENCY 0x86 +#define RADIOLIB_SX126X_CMD_SET_PACKET_TYPE 0x8A +#define RADIOLIB_SX126X_CMD_GET_PACKET_TYPE 0x11 +#define RADIOLIB_SX126X_CMD_SET_TX_PARAMS 0x8E +#define RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS 0x8B +#define RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS 0x8C +#define RADIOLIB_SX126X_CMD_SET_CAD_PARAMS 0x88 +#define RADIOLIB_SX126X_CMD_SET_BUFFER_BASE_ADDRESS 0x8F +#define RADIOLIB_SX126X_CMD_SET_LORA_SYMB_NUM_TIMEOUT 0xA0 + +// status commands +#define RADIOLIB_SX126X_CMD_GET_STATUS 0xC0 +#define RADIOLIB_SX126X_CMD_GET_RSSI_INST 0x15 +#define RADIOLIB_SX126X_CMD_GET_RX_BUFFER_STATUS 0x13 +#define RADIOLIB_SX126X_CMD_GET_PACKET_STATUS 0x14 +#define RADIOLIB_SX126X_CMD_GET_DEVICE_ERRORS 0x17 +#define RADIOLIB_SX126X_CMD_CLEAR_DEVICE_ERRORS 0x07 +#define RADIOLIB_SX126X_CMD_GET_STATS 0x10 +#define RADIOLIB_SX126X_CMD_RESET_STATS 0x00 + +#define RADIOLIB_SX126X_CMD_PRAM_UPDATE 0xD9 +#define RADIOLIB_SX126X_CMD_SET_LBT_SCAN_PARAMS 0x9A +#define RADIOLIB_SX126X_CMD_SET_SPECTR_SCAN_PARAMS 0x9B + +// SX126X SPI command variables +//RADIOLIB_SX126X_CMD_SET_SLEEP MSB LSB DESCRIPTION +#define RADIOLIB_SX126X_SLEEP_START_COLD 0b00000000 // 2 2 sleep mode: cold start, configuration is lost (default) +#define RADIOLIB_SX126X_SLEEP_START_WARM 0b00000100 // 2 2 warm start, configuration is retained +#define RADIOLIB_SX126X_SLEEP_RTC_OFF 0b00000000 // 0 0 wake on RTC timeout: disabled +#define RADIOLIB_SX126X_SLEEP_RTC_ON 0b00000001 // 0 0 enabled + +//RADIOLIB_SX126X_CMD_SET_STANDBY +#define RADIOLIB_SX126X_STANDBY_RC 0x00 // 7 0 standby mode: 13 MHz RC oscillator +#define RADIOLIB_SX126X_STANDBY_XOSC 0x01 // 7 0 32 MHz crystal oscillator + +//RADIOLIB_SX126X_CMD_SET_RX +#define RADIOLIB_SX126X_RX_TIMEOUT_NONE 0x000000 // 23 0 Rx timeout duration: no timeout (Rx single mode) +#define RADIOLIB_SX126X_RX_TIMEOUT_INF 0xFFFFFF // 23 0 infinite (Rx continuous mode) + +//RADIOLIB_SX126X_CMD_SET_TX +#define RADIOLIB_SX126X_TX_TIMEOUT_NONE 0x000000 // 23 0 Tx timeout duration: no timeout (Tx single mode) + +//RADIOLIB_SX126X_CMD_STOP_TIMER_ON_PREAMBLE +#define RADIOLIB_SX126X_STOP_ON_PREAMBLE_OFF 0x00 // 7 0 stop timer on: sync word or header (default) +#define RADIOLIB_SX126X_STOP_ON_PREAMBLE_ON 0x01 // 7 0 preamble detection + +//RADIOLIB_SX126X_CMD_SET_REGULATOR_MODE +#define RADIOLIB_SX126X_REGULATOR_LDO 0x00 // 7 0 set regulator mode: LDO (default) +#define RADIOLIB_SX126X_REGULATOR_DC_DC 0x01 // 7 0 DC-DC + +//RADIOLIB_SX126X_CMD_CALIBRATE +#define RADIOLIB_SX126X_CALIBRATE_IMAGE_OFF 0b00000000 // 6 6 image calibration: disabled +#define RADIOLIB_SX126X_CALIBRATE_IMAGE_ON 0b01000000 // 6 6 enabled +#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_P_OFF 0b00000000 // 5 5 ADC bulk P calibration: disabled +#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_P_ON 0b00100000 // 5 5 enabled +#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_N_OFF 0b00000000 // 4 4 ADC bulk N calibration: disabled +#define RADIOLIB_SX126X_CALIBRATE_ADC_BULK_N_ON 0b00010000 // 4 4 enabled +#define RADIOLIB_SX126X_CALIBRATE_ADC_PULSE_OFF 0b00000000 // 3 3 ADC pulse calibration: disabled +#define RADIOLIB_SX126X_CALIBRATE_ADC_PULSE_ON 0b00001000 // 3 3 enabled +#define RADIOLIB_SX126X_CALIBRATE_PLL_OFF 0b00000000 // 2 2 PLL calibration: disabled +#define RADIOLIB_SX126X_CALIBRATE_PLL_ON 0b00000100 // 2 2 enabled +#define RADIOLIB_SX126X_CALIBRATE_RC13M_OFF 0b00000000 // 1 1 13 MHz RC osc. calibration: disabled +#define RADIOLIB_SX126X_CALIBRATE_RC13M_ON 0b00000010 // 1 1 enabled +#define RADIOLIB_SX126X_CALIBRATE_RC64K_OFF 0b00000000 // 0 0 64 kHz RC osc. calibration: disabled +#define RADIOLIB_SX126X_CALIBRATE_RC64K_ON 0b00000001 // 0 0 enabled +#define RADIOLIB_SX126X_CALIBRATE_ALL 0b01111111 // 6 0 calibrate all blocks + +//RADIOLIB_SX126X_CMD_CALIBRATE_IMAGE +#define RADIOLIB_SX126X_CAL_IMG_430_MHZ_1 0x6B +#define RADIOLIB_SX126X_CAL_IMG_430_MHZ_2 0x6F +#define RADIOLIB_SX126X_CAL_IMG_470_MHZ_1 0x75 +#define RADIOLIB_SX126X_CAL_IMG_470_MHZ_2 0x81 +#define RADIOLIB_SX126X_CAL_IMG_779_MHZ_1 0xC1 +#define RADIOLIB_SX126X_CAL_IMG_779_MHZ_2 0xC5 +#define RADIOLIB_SX126X_CAL_IMG_863_MHZ_1 0xD7 +#define RADIOLIB_SX126X_CAL_IMG_863_MHZ_2 0xDB +#define RADIOLIB_SX126X_CAL_IMG_902_MHZ_1 0xE1 +#define RADIOLIB_SX126X_CAL_IMG_902_MHZ_2 0xE9 +#define RADIOLIB_SX126X_CAL_IMG_FREQ_TRIG_MHZ (20.0f) + +//RADIOLIB_SX126X_CMD_SET_PA_CONFIG +#define RADIOLIB_SX126X_PA_CONFIG_HP_MAX 0x07 +#define RADIOLIB_SX126X_PA_CONFIG_PA_LUT 0x01 +#define RADIOLIB_SX126X_PA_CONFIG_SX1262_8 0x00 + +//RADIOLIB_SX126X_CMD_SET_RX_TX_FALLBACK_MODE +#define RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_FS 0x40 // 7 0 after Rx/Tx go to: FS mode +#define RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_XOSC 0x30 // 7 0 standby with crystal oscillator +#define RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_RC 0x20 // 7 0 standby with RC oscillator (default) + +//RADIOLIB_SX126X_CMD_SET_DIO_IRQ_PARAMS +#define RADIOLIB_SX126X_IRQ_LR_FHSS_HOP 0b0100000000000000 // 14 14 PA ramped up during LR-FHSS hop +#define RADIOLIB_SX126X_IRQ_TIMEOUT 0b0000001000000000 // 9 9 Rx or Tx timeout +#define RADIOLIB_SX126X_IRQ_CAD_DETECTED 0b0000000100000000 // 8 8 channel activity detected +#define RADIOLIB_SX126X_IRQ_CAD_DONE 0b0000000010000000 // 7 7 channel activity detection finished +#define RADIOLIB_SX126X_IRQ_CRC_ERR 0b0000000001000000 // 6 6 wrong CRC received +#define RADIOLIB_SX126X_IRQ_HEADER_ERR 0b0000000000100000 // 5 5 LoRa header CRC error +#define RADIOLIB_SX126X_IRQ_HEADER_VALID 0b0000000000010000 // 4 4 valid LoRa header received +#define RADIOLIB_SX126X_IRQ_SYNC_WORD_VALID 0b0000000000001000 // 3 3 valid sync word detected +#define RADIOLIB_SX126X_IRQ_PREAMBLE_DETECTED 0b0000000000000100 // 2 2 preamble detected +#define RADIOLIB_SX126X_IRQ_RX_DONE 0b0000000000000010 // 1 1 packet received +#define RADIOLIB_SX126X_IRQ_TX_DONE 0b0000000000000001 // 0 0 packet transmission completed +#define RADIOLIB_SX126X_IRQ_ALL 0b0100001111111111 // 14 0 all interrupts +#define RADIOLIB_SX126X_IRQ_NONE 0b0000000000000000 // 14 0 no interrupts + +//RADIOLIB_SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL +#define RADIOLIB_SX126X_DIO2_AS_IRQ 0x00 // 7 0 DIO2 configuration: IRQ +#define RADIOLIB_SX126X_DIO2_AS_RF_SWITCH 0x01 // 7 0 RF switch control + +//RADIOLIB_SX126X_CMD_SET_DIO3_AS_TCXO_CTRL +#define RADIOLIB_SX126X_DIO3_OUTPUT_1_6 0x00 // 7 0 DIO3 voltage output for TCXO: 1.6 V +#define RADIOLIB_SX126X_DIO3_OUTPUT_1_7 0x01 // 7 0 1.7 V +#define RADIOLIB_SX126X_DIO3_OUTPUT_1_8 0x02 // 7 0 1.8 V +#define RADIOLIB_SX126X_DIO3_OUTPUT_2_2 0x03 // 7 0 2.2 V +#define RADIOLIB_SX126X_DIO3_OUTPUT_2_4 0x04 // 7 0 2.4 V +#define RADIOLIB_SX126X_DIO3_OUTPUT_2_7 0x05 // 7 0 2.7 V +#define RADIOLIB_SX126X_DIO3_OUTPUT_3_0 0x06 // 7 0 3.0 V +#define RADIOLIB_SX126X_DIO3_OUTPUT_3_3 0x07 // 7 0 3.3 V + +//RADIOLIB_SX126X_CMD_SET_PACKET_TYPE +#define RADIOLIB_SX126X_PACKET_TYPE_GFSK 0x00 // 7 0 packet type: GFSK +#define RADIOLIB_SX126X_PACKET_TYPE_LORA 0x01 // 7 0 LoRa +#define RADIOLIB_SX126X_PACKET_TYPE_BPSK 0x02 // 7 0 BPSK +#define RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS 0x03 // 7 0 LR-FHSS + +//RADIOLIB_SX126X_CMD_SET_TX_PARAMS +#define RADIOLIB_SX126X_PA_RAMP_10U 0x00 // 7 0 ramp time: 10 us +#define RADIOLIB_SX126X_PA_RAMP_20U 0x01 // 7 0 20 us +#define RADIOLIB_SX126X_PA_RAMP_40U 0x02 // 7 0 40 us +#define RADIOLIB_SX126X_PA_RAMP_80U 0x03 // 7 0 80 us +#define RADIOLIB_SX126X_PA_RAMP_200U 0x04 // 7 0 200 us +#define RADIOLIB_SX126X_PA_RAMP_800U 0x05 // 7 0 800 us +#define RADIOLIB_SX126X_PA_RAMP_1700U 0x06 // 7 0 1700 us +#define RADIOLIB_SX126X_PA_RAMP_3400U 0x07 // 7 0 3400 us + +//RADIOLIB_SX126X_CMD_SET_MODULATION_PARAMS +#define RADIOLIB_SX126X_GFSK_FILTER_NONE 0x00 // 7 0 GFSK filter: none +#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_3 0x08 // 7 0 Gaussian, BT = 0.3 +#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_5 0x09 // 7 0 Gaussian, BT = 0.5 +#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_7 0x0A // 7 0 Gaussian, BT = 0.7 +#define RADIOLIB_SX126X_GFSK_FILTER_GAUSS_1 0x0B // 7 0 Gaussian, BT = 1 +#define RADIOLIB_SX126X_GFSK_RX_BW_4_8 0x1F // 7 0 GFSK Rx bandwidth: 4.8 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_5_8 0x17 // 7 0 5.8 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_7_3 0x0F // 7 0 7.3 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_9_7 0x1E // 7 0 9.7 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_11_7 0x16 // 7 0 11.7 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_14_6 0x0E // 7 0 14.6 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_19_5 0x1D // 7 0 19.5 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_23_4 0x15 // 7 0 23.4 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_29_3 0x0D // 7 0 29.3 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_39_0 0x1C // 7 0 39.0 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_46_9 0x14 // 7 0 46.9 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_58_6 0x0C // 7 0 58.6 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_78_2 0x1B // 7 0 78.2 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_93_8 0x13 // 7 0 93.8 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_117_3 0x0B // 7 0 117.3 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_156_2 0x1A // 7 0 156.2 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_187_2 0x12 // 7 0 187.2 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_234_3 0x0A // 7 0 234.3 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_312_0 0x19 // 7 0 312.0 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_373_6 0x11 // 7 0 373.6 kHz +#define RADIOLIB_SX126X_GFSK_RX_BW_467_0 0x09 // 7 0 467.0 kHz +#define RADIOLIB_SX126X_LORA_BW_7_8 0x00 // 7 0 LoRa bandwidth: 7.8 kHz +#define RADIOLIB_SX126X_LORA_BW_10_4 0x08 // 7 0 10.4 kHz +#define RADIOLIB_SX126X_LORA_BW_15_6 0x01 // 7 0 15.6 kHz +#define RADIOLIB_SX126X_LORA_BW_20_8 0x09 // 7 0 20.8 kHz +#define RADIOLIB_SX126X_LORA_BW_31_25 0x02 // 7 0 31.25 kHz +#define RADIOLIB_SX126X_LORA_BW_41_7 0x0A // 7 0 41.7 kHz +#define RADIOLIB_SX126X_LORA_BW_62_5 0x03 // 7 0 62.5 kHz +#define RADIOLIB_SX126X_LORA_BW_125_0 0x04 // 7 0 125.0 kHz +#define RADIOLIB_SX126X_LORA_BW_250_0 0x05 // 7 0 250.0 kHz +#define RADIOLIB_SX126X_LORA_BW_500_0 0x06 // 7 0 500.0 kHz +#define RADIOLIB_SX126X_LORA_CR_4_5 0x01 // 7 0 LoRa coding rate: 4/5 +#define RADIOLIB_SX126X_LORA_CR_4_6 0x02 // 7 0 4/6 +#define RADIOLIB_SX126X_LORA_CR_4_7 0x03 // 7 0 4/7 +#define RADIOLIB_SX126X_LORA_CR_4_8 0x04 // 7 0 4/8 +#define RADIOLIB_SX126X_LORA_CR_4_5_LI 0x05 // 7 0 4/5, long interleaver +#define RADIOLIB_SX126X_LORA_CR_4_6_LI 0x06 // 7 0 4/6, long interleaver +#define RADIOLIB_SX126X_LORA_CR_4_8_LI 0x07 // 7 0 4/8, long interleaver +#define RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_OFF 0x00 // 7 0 LoRa low data rate optimization: disabled +#define RADIOLIB_SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_ON 0x01 // 7 0 enabled +#define RADIOLIB_SX126X_BPSK_PULSE_SHAPE 0x16 // 7 0 BSPK pulse shape double OSR, RRC, BT=0.7 + +//RADIOLIB_SX126X_CMD_SET_PACKET_PARAMS +#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_OFF 0x00 // 7 0 GFSK minimum preamble length before reception starts: detector disabled +#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_8 0x04 // 7 0 8 bits +#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_16 0x05 // 7 0 16 bits +#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_24 0x06 // 7 0 24 bits +#define RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_32 0x07 // 7 0 32 bits +#define RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF 0x00 // 7 0 GFSK address filtering: disabled +#define RADIOLIB_SX126X_GFSK_ADDRESS_FILT_NODE 0x01 // 7 0 node only +#define RADIOLIB_SX126X_GFSK_ADDRESS_FILT_NODE_BROADCAST 0x02 // 7 0 node and broadcast +#define RADIOLIB_SX126X_GFSK_PACKET_FIXED 0x00 // 7 0 GFSK packet type: fixed (payload length known in advance to both sides) +#define RADIOLIB_SX126X_GFSK_PACKET_VARIABLE 0x01 // 7 0 variable (payload length added to packet) +#define RADIOLIB_SX126X_GFSK_CRC_OFF 0x01 // 7 0 GFSK packet CRC: disabled +#define RADIOLIB_SX126X_GFSK_CRC_1_BYTE 0x00 // 7 0 1 byte +#define RADIOLIB_SX126X_GFSK_CRC_2_BYTE 0x02 // 7 0 2 byte +#define RADIOLIB_SX126X_GFSK_CRC_1_BYTE_INV 0x04 // 7 0 1 byte, inverted +#define RADIOLIB_SX126X_GFSK_CRC_2_BYTE_INV 0x06 // 7 0 2 byte, inverted +#define RADIOLIB_SX126X_GFSK_WHITENING_OFF 0x00 // 7 0 GFSK data whitening: disabled +#define RADIOLIB_SX126X_GFSK_WHITENING_ON 0x01 // 7 0 enabled +#define RADIOLIB_SX126X_LORA_HEADER_EXPLICIT 0x00 // 7 0 LoRa header mode: explicit +#define RADIOLIB_SX126X_LORA_HEADER_IMPLICIT 0x01 // 7 0 implicit +#define RADIOLIB_SX126X_LORA_CRC_OFF 0x00 // 7 0 LoRa CRC mode: disabled +#define RADIOLIB_SX126X_LORA_CRC_ON 0x01 // 7 0 enabled +#define RADIOLIB_SX126X_LORA_IQ_STANDARD 0x00 // 7 0 LoRa IQ setup: standard +#define RADIOLIB_SX126X_LORA_IQ_INVERTED 0x01 // 7 0 inverted +#define RADIOLIB_SX126X_BPSK_RAMP_UP_TIME_NONE 0x0000 // 15 0 BPSK ramp-up time optimization: none +#define RADIOLIB_SX126X_BPSK_RAMP_UP_TIME_100_BPS 0x370F // 15 0 for 100 bps +#define RADIOLIB_SX126X_BPSK_RAMP_UP_TIME_600_BPS 0x092F // 15 0 for 600 bps +#define RADIOLIB_SX126X_BPSK_RAMP_DOWN_TIME_NONE 0x0000 // 15 0 BPSK ramp-down time optimization: none +#define RADIOLIB_SX126X_BPSK_RAMP_DOWN_TIME_100_BPS 0x1D70 // 15 0 for 100 bps +#define RADIOLIB_SX126X_BPSK_RAMP_DOWN_TIME_600_BPS 0x04E1 // 15 0 for 600 bps + +//RADIOLIB_SX126X_CMD_SET_CAD_PARAMS +#define RADIOLIB_SX126X_CAD_ON_1_SYMB 0x00 // 7 0 number of symbols used for CAD: 1 +#define RADIOLIB_SX126X_CAD_ON_2_SYMB 0x01 // 7 0 2 +#define RADIOLIB_SX126X_CAD_ON_4_SYMB 0x02 // 7 0 4 +#define RADIOLIB_SX126X_CAD_ON_8_SYMB 0x03 // 7 0 8 +#define RADIOLIB_SX126X_CAD_ON_16_SYMB 0x04 // 7 0 16 +#define RADIOLIB_SX126X_CAD_GOTO_STDBY 0x00 // 7 0 after CAD is done, always go to STDBY_RC mode +#define RADIOLIB_SX126X_CAD_GOTO_RX 0x01 // 7 0 after CAD is done, go to Rx mode if activity is detected +#define RADIOLIB_SX126X_CAD_PARAM_DEFAULT 0xFF // 7 0 used by the CAD methods to specify default parameter value +#define RADIOLIB_SX126X_CAD_PARAM_DET_MIN 10 // 7 0 default detMin CAD parameter + +//RADIOLIB_SX126X_CMD_GET_STATUS +#define RADIOLIB_SX126X_STATUS_MODE_STDBY_RC 0b00100000 // 6 4 current chip mode: STDBY_RC +#define RADIOLIB_SX126X_STATUS_MODE_STDBY_XOSC 0b00110000 // 6 4 STDBY_XOSC +#define RADIOLIB_SX126X_STATUS_MODE_FS 0b01000000 // 6 4 FS +#define RADIOLIB_SX126X_STATUS_MODE_RX 0b01010000 // 6 4 RX +#define RADIOLIB_SX126X_STATUS_MODE_TX 0b01100000 // 6 4 TX +#define RADIOLIB_SX126X_STATUS_DATA_AVAILABLE 0b00000100 // 3 1 command status: packet received and data can be retrieved +#define RADIOLIB_SX126X_STATUS_CMD_TIMEOUT 0b00000110 // 3 1 SPI command timed out +#define RADIOLIB_SX126X_STATUS_CMD_INVALID 0b00001000 // 3 1 invalid SPI command +#define RADIOLIB_SX126X_STATUS_CMD_FAILED 0b00001010 // 3 1 SPI command failed to execute +#define RADIOLIB_SX126X_STATUS_TX_DONE 0b00001100 // 3 1 packet transmission done +#define RADIOLIB_SX126X_STATUS_SPI_FAILED 0b11111111 // 7 0 SPI transaction failed + +//RADIOLIB_SX126X_CMD_GET_PACKET_STATUS +#define RADIOLIB_SX126X_GFSK_RX_STATUS_PREAMBLE_ERR 0b10000000 // 7 7 GFSK Rx status: preamble error +#define RADIOLIB_SX126X_GFSK_RX_STATUS_SYNC_ERR 0b01000000 // 6 6 sync word error +#define RADIOLIB_SX126X_GFSK_RX_STATUS_ADRS_ERR 0b00100000 // 5 5 address error +#define RADIOLIB_SX126X_GFSK_RX_STATUS_CRC_ERR 0b00010000 // 4 4 CRC error +#define RADIOLIB_SX126X_GFSK_RX_STATUS_LENGTH_ERR 0b00001000 // 3 3 length error +#define RADIOLIB_SX126X_GFSK_RX_STATUS_ABORT_ERR 0b00000100 // 2 2 abort error +#define RADIOLIB_SX126X_GFSK_RX_STATUS_PACKET_RECEIVED 0b00000010 // 2 2 packet received +#define RADIOLIB_SX126X_GFSK_RX_STATUS_PACKET_SENT 0b00000001 // 2 2 packet sent + +//RADIOLIB_SX126X_CMD_GET_DEVICE_ERRORS +#define RADIOLIB_SX126X_PA_RAMP_ERR 0b100000000 // 8 8 device errors: PA ramping failed +#define RADIOLIB_SX126X_PLL_LOCK_ERR 0b001000000 // 6 6 PLL failed to lock +#define RADIOLIB_SX126X_XOSC_START_ERR 0b000100000 // 5 5 crystal oscillator failed to start +#define RADIOLIB_SX126X_IMG_CALIB_ERR 0b000010000 // 4 4 image calibration failed +#define RADIOLIB_SX126X_ADC_CALIB_ERR 0b000001000 // 3 3 ADC calibration failed +#define RADIOLIB_SX126X_PLL_CALIB_ERR 0b000000100 // 2 2 PLL calibration failed +#define RADIOLIB_SX126X_RC13M_CALIB_ERR 0b000000010 // 1 1 RC13M calibration failed +#define RADIOLIB_SX126X_RC64K_CALIB_ERR 0b000000001 // 0 0 RC64K calibration failed + +//RADIOLIB_SX126X_CMD_SET_LBT_SCAN_PARAMS + RADIOLIB_SX126X_CMD_SET_SPECTR_SCAN_PARAMS +#define RADIOLIB_SX126X_SCAN_INTERVAL_7_68_US 10 // 7 0 RSSI reading interval: 7.68 us +#define RADIOLIB_SX126X_SCAN_INTERVAL_8_20_US 11 // 7 0 8.20 us +#define RADIOLIB_SX126X_SCAN_INTERVAL_8_68_US 12 // 7 0 8.68 us + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/SX126x/SX126x_config.cpp b/lib/RadioLib/src/modules/SX126x/SX126x_config.cpp new file mode 100644 index 0000000..c8b56e6 --- /dev/null +++ b/lib/RadioLib/src/modules/SX126x/SX126x_config.cpp @@ -0,0 +1,826 @@ +#include "SX126x.h" + +#include +#include + +// this file contains all configuration methods +// of the SX126x, which let user control the +// modulation properties, packet configuration etc. + +#if !RADIOLIB_EXCLUDE_SX126X + +void SX126x::setDio1Action(void (*func)(void)) { + this->mod->hal->attachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq()), func, this->mod->hal->GpioInterruptRising); +} + +void SX126x::clearDio1Action() { + this->mod->hal->detachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq())); +} + +void SX126x::setPacketReceivedAction(void (*func)(void)) { + this->setDio1Action(func); +} + +void SX126x::clearPacketReceivedAction() { + this->clearDio1Action(); +} + +void SX126x::setPacketSentAction(void (*func)(void)) { + this->setDio1Action(func); +} + +void SX126x::clearPacketSentAction() { + this->clearDio1Action(); +} + +void SX126x::setChannelScanAction(void (*func)(void)) { + this->setDio1Action(func); +} + +void SX126x::clearChannelScanAction() { + this->clearDio1Action(); +} + +int16_t SX126x::setBandwidth(float bw) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // ensure byte conversion doesn't overflow + RADIOLIB_CHECK_RANGE(bw, 0.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + + // check allowed bandwidth values + uint8_t bw_div2 = bw / 2 + 0.01f; + switch (bw_div2) { + case 3: // 7.8: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_7_8; + break; + case 5: // 10.4: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_10_4; + break; + case 7: // 15.6: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_15_6; + break; + case 10: // 20.8: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_20_8; + break; + case 15: // 31.25: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_31_25; + break; + case 20: // 41.7: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_41_7; + break; + case 31: // 62.5: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_62_5; + break; + case 62: // 125.0: + this->bandwidth = RADIOLIB_SX126X_LORA_BW_125_0; + break; + case 125: // 250.0 + this->bandwidth = RADIOLIB_SX126X_LORA_BW_250_0; + break; + case 250: // 500.0 + this->bandwidth = RADIOLIB_SX126X_LORA_BW_500_0; + break; + default: + return(RADIOLIB_ERR_INVALID_BANDWIDTH); + } + + // update modulation parameters + this->bandwidthKhz = bw; + return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); +} + +int16_t SX126x::setSpreadingFactor(uint8_t sf) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + RADIOLIB_CHECK_RANGE(sf, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); + + // update modulation parameters + this->spreadingFactor = sf; + return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); +} + +int16_t SX126x::setCodingRate(uint8_t cr, bool longInterleave) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + RADIOLIB_CHECK_RANGE(cr, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + + if(longInterleave) { + switch(cr) { + case 4: + this->codingRate = 0; + break; + case 5: + case 6: + this->codingRate = cr; + break; + case 8: + this->codingRate = cr - 1; + break; + default: + return(RADIOLIB_ERR_INVALID_CODING_RATE); + } + } else { + this->codingRate = cr - 4; + } + + // update modulation parameters + return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); +} + +int16_t SX126x::setSyncWord(uint8_t syncWord, uint8_t controlBits) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // update register + const uint8_t data[2] = {(uint8_t)((syncWord & 0xF0) | ((controlBits & 0xF0) >> 4)), (uint8_t)(((syncWord & 0x0F) << 4) | (controlBits & 0x0F))}; + return(writeRegister(RADIOLIB_SX126X_REG_LORA_SYNC_WORD_MSB, data, 2)); +} + +int16_t SX126x::setCurrentLimit(float currentLimit) { + // check allowed range + if(!((currentLimit >= 0) && (currentLimit <= 140))) { + return(RADIOLIB_ERR_INVALID_CURRENT_LIMIT); + } + + // calculate raw value + uint8_t rawLimit = (uint8_t)(currentLimit / 2.5f); + + // update register + return(writeRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &rawLimit, 1)); +} + +float SX126x::getCurrentLimit() { + // get the raw value + uint8_t ocp = 0; + readRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1); + + // return the actual value + return((float)ocp * 2.5f); +} + +int16_t SX126x::setPreambleLength(size_t preambleLength) { + uint8_t modem = getPacketType(); + if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { + this->preambleLengthLoRa = preambleLength; + return(setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, this->implicitLen, this->headerType, this->invertIQEnabled)); + } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + this->preambleLengthFSK = preambleLength; + // maximum preamble detector length is limited by sync word length + // for details, see the note in SX1261 datasheet, Rev 2.1, section 6.2.2.1, page 45 + uint8_t maxDetLen = RADIOLIB_MIN(this->syncWordLength, this->preambleLengthFSK); + this->preambleDetLength = maxDetLen >= 32 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_32 : + maxDetLen >= 24 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_24 : + maxDetLen >= 16 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_16 : + maxDetLen > 0 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_8 : + RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_OFF; + return(setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType)); + } + + return(RADIOLIB_ERR_UNKNOWN); +} + +int16_t SX126x::setFrequencyDeviation(float freqDev) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set frequency deviation to lowest available setting (required for digimodes) + float newFreqDev = freqDev; + if(freqDev < 0.0f) { + newFreqDev = 0.6f; + } + + RADIOLIB_CHECK_RANGE(newFreqDev, 0.6f, 200.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + + // calculate raw frequency deviation value + uint32_t freqDevRaw = (uint32_t)(((newFreqDev * 1000.0f) * (float)((uint32_t)(1) << 25)) / (RADIOLIB_SX126X_CRYSTAL_FREQ * 1000000.0f)); + + // check modulation parameters + this->frequencyDev = freqDevRaw; + + // update modulation parameters + return(setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); +} + +int16_t SX126x::setBitRate(float br) { + // check active modem + uint8_t modem = getPacketType(); + if((modem != RADIOLIB_SX126X_PACKET_TYPE_GFSK) && + (modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) && + (modem != RADIOLIB_SX126X_PACKET_TYPE_BPSK)) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + if(modem == RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { + // at the moment only the very specific 488.28125 bps rate is supported + RADIOLIB_CHECK_RANGE(br, 0.488f, 0.489f, RADIOLIB_ERR_INVALID_BIT_RATE); + } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_BPSK) { + // this should be just either 100 or 600 bps, not the range + // but the BPSK support is so experimental it probably does not matter + RADIOLIB_CHECK_RANGE(br, 0.1f, 0.6f, RADIOLIB_ERR_INVALID_BIT_RATE); + } + + // calculate raw bit rate value + uint32_t brRaw = (uint32_t)((RADIOLIB_SX126X_CRYSTAL_FREQ * 1000000.0f * 32.0f) / (br * 1000.0f)); + + // check modulation parameters + this->bitRate = brRaw; + + // update modulation parameters + int16_t state = RADIOLIB_ERR_UNKNOWN; + if(modem == RADIOLIB_SX126X_PACKET_TYPE_BPSK) { + state = setModulationParamsBPSK(this->bitRate); + } else { + state = setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev); + } + RADIOLIB_ASSERT(state); + + // apply workaround or reset it, as needed + return(fixGFSK()); +} + +int16_t SX126x::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); + + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + // set the bit rate + state = this->setBitRate(dr.fsk.bitRate); + RADIOLIB_ASSERT(state); + + // set the frequency deviation + state = this->setFrequencyDeviation(dr.fsk.freqDev); + + } else if(modem == RADIOLIB_MODEM_LORA) { + // set the spreading factor + state = this->setSpreadingFactor(dr.lora.spreadingFactor); + RADIOLIB_ASSERT(state); + + // set the bandwidth + state = this->setBandwidth(dr.lora.bandwidth); + RADIOLIB_ASSERT(state); + + // set the coding rate + state = this->setCodingRate(dr.lora.codingRate); + + } else if(modem == RADIOLIB_MODEM_LRFHSS) { + // set the basic config + state = this->setLrFhssConfig(dr.lrFhss.bw, dr.lrFhss.cr); + RADIOLIB_ASSERT(state); + + // set hopping grid + this->lrFhssGridNonFcc = dr.lrFhss.narrowGrid ? RADIOLIB_SX126X_LR_FHSS_GRID_STEP_NON_FCC : RADIOLIB_SX126X_LR_FHSS_GRID_STEP_FCC; + + } + + return(state); +} + + +int16_t SX126x::checkDataRate(DataRate_t dr, ModemType_t modem) { + int16_t state = RADIOLIB_ERR_UNKNOWN; + + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.6f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 0.6f, 200.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + return(RADIOLIB_ERR_NONE); + + } else if(modem == RADIOLIB_MODEM_LORA) { + RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + return(RADIOLIB_ERR_NONE); + + } + + return(state); +} + +int16_t SX126x::setRxBandwidth(float rxBw) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // check modulation parameters + /*if(2 * this->frequencyDev + this->bitRate > rxBw * 1000.0) { + return(RADIOLIB_ERR_INVALID_MODULATION_PARAMETERS); + }*/ + this->rxBandwidthKhz = rxBw; + + // check allowed receiver bandwidth values + if(fabsf(rxBw - 4.8f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_4_8; + } else if(fabsf(rxBw - 5.8f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_5_8; + } else if(fabsf(rxBw - 7.3f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_7_3; + } else if(fabsf(rxBw - 9.7f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_9_7; + } else if(fabsf(rxBw - 11.7f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_11_7; + } else if(fabsf(rxBw - 14.6f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_14_6; + } else if(fabsf(rxBw - 19.5f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_19_5; + } else if(fabsf(rxBw - 23.4f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_23_4; + } else if(fabsf(rxBw - 29.3f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_29_3; + } else if(fabsf(rxBw - 39.0f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_39_0; + } else if(fabsf(rxBw - 46.9f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_46_9; + } else if(fabsf(rxBw - 58.6f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_58_6; + } else if(fabsf(rxBw - 78.2f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_78_2; + } else if(fabsf(rxBw - 93.8f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_93_8; + } else if(fabsf(rxBw - 117.3f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_117_3; + } else if(fabsf(rxBw - 156.2f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_156_2; + } else if(fabsf(rxBw - 187.2f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_187_2; + } else if(fabsf(rxBw - 234.3f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_234_3; + } else if(fabsf(rxBw - 312.0f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_312_0; + } else if(fabsf(rxBw - 373.6f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_373_6; + } else if(fabsf(rxBw - 467.0f) <= 0.001f) { + this->rxBandwidth = RADIOLIB_SX126X_GFSK_RX_BW_467_0; + } else { + return(RADIOLIB_ERR_INVALID_RX_BANDWIDTH); + } + + // update modulation parameters + return(setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); +} + +int16_t SX126x::setRxBoostedGainMode(bool rxbgm, bool persist) { + this->rxBoostedGainMode = rxbgm; + + // update RX gain setting register + uint8_t rxGain = rxbgm ? RADIOLIB_SX126X_RX_GAIN_BOOSTED : RADIOLIB_SX126X_RX_GAIN_POWER_SAVING; + int16_t state = writeRegister(RADIOLIB_SX126X_REG_RX_GAIN, &rxGain, 1); + RADIOLIB_ASSERT(state); + + // add Rx Gain register to retention memory if requested + if(persist) { + // values and registers below are specified in SX126x datasheet v2.1 section 9.6, just below table 9-3 + const uint8_t data[] = { 0x01, (uint8_t)((RADIOLIB_SX126X_REG_RX_GAIN >> 8) & 0xFF), (uint8_t)(RADIOLIB_SX126X_REG_RX_GAIN & 0xFF) }; + state = writeRegister(RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_0, data, 3); + } + + return(state); +} + +int16_t SX126x::setDataShaping(uint8_t sh) { + // check active modem + uint8_t modem = getPacketType(); + if((modem != RADIOLIB_SX126X_PACKET_TYPE_GFSK) && (modem != RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS)) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set data shaping + switch(sh) { + case RADIOLIB_SHAPING_NONE: + this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_NONE; + break; + case RADIOLIB_SHAPING_0_3: + this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_3; + break; + case RADIOLIB_SHAPING_0_5: + this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_5; + break; + case RADIOLIB_SHAPING_0_7: + this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_0_7; + break; + case RADIOLIB_SHAPING_1_0: + this->pulseShape = RADIOLIB_SX126X_GFSK_FILTER_GAUSS_1; + break; + default: + return(RADIOLIB_ERR_INVALID_DATA_SHAPING); + } + + // update modulation parameters + return(setModulationParamsFSK(this->bitRate, this->pulseShape, this->rxBandwidth, this->frequencyDev)); +} + +int16_t SX126x::setSyncWord(uint8_t* syncWord, size_t len) { + // check active modem + uint8_t modem = getPacketType(); + if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + // check sync word Length + if(len > 8) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + + // write sync word + int16_t state = writeRegister(RADIOLIB_SX126X_REG_SYNC_WORD_0, syncWord, len); + RADIOLIB_ASSERT(state); + + // update packet parameters + this->syncWordLength = len * 8; + + // maximum preamble detector length is limited by sync word length + // for details, see the note in SX1261 datasheet, Rev 2.1, section 6.2.2.1, page 45 + uint8_t maxDetLen = RADIOLIB_MIN(this->syncWordLength, this->preambleLengthFSK); + this->preambleDetLength = maxDetLen >= 32 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_32 : + maxDetLen >= 24 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_24 : + maxDetLen >= 16 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_16 : + maxDetLen > 0 ? RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_8 : + RADIOLIB_SX126X_GFSK_PREAMBLE_DETECT_OFF; + state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); + + return(state); + + } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { + // with length set to 1 and LoRa modem active, assume it is the LoRa sync word + if(len > 1) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + return(setSyncWord(syncWord[0])); + + } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LR_FHSS) { + // with length set to 4 and LR-FHSS modem active, assume it is the LR-FHSS sync word + if(len != sizeof(uint32_t)) { + return(RADIOLIB_ERR_INVALID_SYNC_WORD); + } + memcpy(this->lrFhssSyncWord, syncWord, sizeof(uint32_t)); + + } + + return(RADIOLIB_ERR_WRONG_MODEM); +} + +int16_t SX126x::setCRC(uint8_t len, uint16_t initial, uint16_t polynomial, bool inverted) { + // check active modem + uint8_t modem = getPacketType(); + + if(modem == RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + // update packet parameters + switch(len) { + case 0: + this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_OFF; + break; + case 1: + if(inverted) { + this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_1_BYTE_INV; + } else { + this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_1_BYTE; + } + break; + case 2: + if(inverted) { + this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_2_BYTE_INV; + } else { + this->crcTypeFSK = RADIOLIB_SX126X_GFSK_CRC_2_BYTE; + } + break; + default: + return(RADIOLIB_ERR_INVALID_CRC_CONFIGURATION); + } + + int16_t state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); + RADIOLIB_ASSERT(state); + + // write initial CRC value + uint8_t data[2] = {(uint8_t)((initial >> 8) & 0xFF), (uint8_t)(initial & 0xFF)}; + state = writeRegister(RADIOLIB_SX126X_REG_CRC_INITIAL_MSB, data, 2); + RADIOLIB_ASSERT(state); + + // write CRC polynomial value + data[0] = (uint8_t)((polynomial >> 8) & 0xFF); + data[1] = (uint8_t)(polynomial & 0xFF); + state = writeRegister(RADIOLIB_SX126X_REG_CRC_POLYNOMIAL_MSB, data, 2); + + return(state); + + } else if(modem == RADIOLIB_SX126X_PACKET_TYPE_LORA) { + // LoRa CRC doesn't allow to set CRC polynomial, initial value, or inversion + + // update packet parameters + if(len) { + this->crcTypeLoRa = RADIOLIB_SX126X_LORA_CRC_ON; + } else { + this->crcTypeLoRa = RADIOLIB_SX126X_LORA_CRC_OFF; + } + + return(setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, this->implicitLen, this->headerType, this->invertIQEnabled)); + } + + return(RADIOLIB_ERR_UNKNOWN); +} + +int16_t SX126x::setWhitening(bool enabled, uint16_t initial) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + int16_t state = RADIOLIB_ERR_NONE; + if(!enabled) { + // disable whitening + this->whitening = RADIOLIB_SX126X_GFSK_WHITENING_OFF; + + state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); + RADIOLIB_ASSERT(state); + + } else { + // enable whitening + this->whitening = RADIOLIB_SX126X_GFSK_WHITENING_ON; + + // write initial whitening value + // as per note on pg. 65 of datasheet v1.2: "The user should not change the value of the 7 MSB's of this register" + uint8_t data[2]; + // first read the actual value and mask 7 MSB which we can not change + // if different value is written in 7 MSB, the Rx won't even work (tested on HW) + state = readRegister(RADIOLIB_SX126X_REG_WHITENING_INITIAL_MSB, data, 1); + RADIOLIB_ASSERT(state); + + data[0] = (data[0] & 0xFE) | (uint8_t)((initial >> 8) & 0x01); + data[1] = (uint8_t)(initial & 0xFF); + state = writeRegister(RADIOLIB_SX126X_REG_WHITENING_INITIAL_MSB, data, 2); + RADIOLIB_ASSERT(state); + + state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, this->packetType); + RADIOLIB_ASSERT(state); + } + return(state); +} + +int16_t SX126x::fixedPacketLengthMode(uint8_t len) { + return(setPacketMode(RADIOLIB_SX126X_GFSK_PACKET_FIXED, len)); +} + +int16_t SX126x::variablePacketLengthMode(uint8_t maxLen) { + return(setPacketMode(RADIOLIB_SX126X_GFSK_PACKET_VARIABLE, maxLen)); +} +int16_t SX126x::implicitHeader(size_t len) { + return(setHeaderType(RADIOLIB_SX126X_LORA_HEADER_IMPLICIT, len)); +} + +int16_t SX126x::explicitHeader() { + return(setHeaderType(RADIOLIB_SX126X_LORA_HEADER_EXPLICIT)); +} + +int16_t SX126x::setRegulatorLDO() { + return(setRegulatorMode(RADIOLIB_SX126X_REGULATOR_LDO)); +} + +int16_t SX126x::setRegulatorDCDC() { + return(setRegulatorMode(RADIOLIB_SX126X_REGULATOR_DC_DC)); +} + +int16_t SX126x::setEncoding(uint8_t encoding) { + return(setWhitening(encoding)); +} + +void SX126x::setRfSwitchPins(uint32_t rxEn, uint32_t txEn) { + this->mod->setRfSwitchPins(rxEn, txEn); +} + +void SX126x::setRfSwitchTable(const uint32_t (&pins)[Module::RFSWITCH_MAX_PINS], const Module::RfSwitchMode_t table[]) { + this->mod->setRfSwitchTable(pins, table); +} + +int16_t SX126x::forceLDRO(bool enable) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // update modulation parameters + this->ldroAuto = false; + this->ldrOptimize = (uint8_t)enable; + return(setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRate, this->ldrOptimize)); +} + +int16_t SX126x::autoLDRO() { + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + this->ldroAuto = true; + return(RADIOLIB_ERR_NONE); +} + +int16_t SX126x::invertIQ(bool enable) { + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + if(enable) { + this->invertIQEnabled = RADIOLIB_SX126X_LORA_IQ_INVERTED; + } else { + this->invertIQEnabled = RADIOLIB_SX126X_LORA_IQ_STANDARD; + } + + return(setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, this->implicitLen, this->headerType, this->invertIQEnabled)); +} + +int16_t SX126x::setTCXO(float voltage, uint32_t delay) { + // check if TCXO is enabled at all + if(this->XTAL) { + return(RADIOLIB_ERR_INVALID_TCXO_VOLTAGE); + } + + // set mode to standby + standby(); + + // check RADIOLIB_SX126X_XOSC_START_ERR flag and clear it + if(getDeviceErrors() & RADIOLIB_SX126X_XOSC_START_ERR) { + clearDeviceErrors(); + } + + // check 0 V disable + if(fabsf(voltage - 0.0f) <= 0.001f) { + return(reset(true)); + } + + // check alowed voltage values + uint8_t data[4]; + if(fabsf(voltage - 1.6f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_1_6; + } else if(fabsf(voltage - 1.7f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_1_7; + } else if(fabsf(voltage - 1.8f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_1_8; + } else if(fabsf(voltage - 2.2f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_2_2; + } else if(fabsf(voltage - 2.4f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_2_4; + } else if(fabsf(voltage - 2.7f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_2_7; + } else if(fabsf(voltage - 3.0f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_3_0; + } else if(fabsf(voltage - 3.3f) <= 0.001f) { + data[0] = RADIOLIB_SX126X_DIO3_OUTPUT_3_3; + } else { + return(RADIOLIB_ERR_INVALID_TCXO_VOLTAGE); + } + + // calculate delay + uint32_t delayValue = (float)delay / 15.625f; + data[1] = (uint8_t)((delayValue >> 16) & 0xFF); + data[2] = (uint8_t)((delayValue >> 8) & 0xFF); + data[3] = (uint8_t)(delayValue & 0xFF); + + this->tcxoDelay = delay; + + // enable TCXO control on DIO3 + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_DIO3_AS_TCXO_CTRL, data, 4)); +} + +int16_t SX126x::setDio2AsRfSwitch(bool enable) { + this->dio2RfSwitch = enable; + uint8_t data = enable ? RADIOLIB_SX126X_DIO2_AS_RF_SWITCH : RADIOLIB_SX126X_DIO2_AS_IRQ; + return(this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_DIO2_AS_RF_SWITCH_CTRL, &data, 1)); +} + +int16_t SX126x::setPaRampTime(uint8_t rampTime) { + return(this->setTxParams(this->pwr, rampTime)); +} + +int16_t SX126x::setOutputPower(int8_t power, uint8_t paDutyCycle, uint8_t hpMax, uint8_t deviceSel) { + // get current OCP configuration + uint8_t ocp = 0; + int16_t state = readRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1); + RADIOLIB_ASSERT(state); + + // set PA config + state = SX126x::setPaConfig(paDutyCycle, deviceSel, hpMax); + RADIOLIB_ASSERT(state); + + // set output power with default 200us ramp + state = SX126x::setTxParams(power, RADIOLIB_SX126X_PA_RAMP_200U); + RADIOLIB_ASSERT(state); + + // restore OCP configuration + return(writeRegister(RADIOLIB_SX126X_REG_OCP_CONFIGURATION, &ocp, 1)); +} + +int16_t SX126x::setPacketMode(uint8_t mode, uint8_t len) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_GFSK) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set requested packet mode + int16_t state = setPacketParamsFSK(this->preambleLengthFSK, this->preambleDetLength, this->crcTypeFSK, this->syncWordLength, RADIOLIB_SX126X_GFSK_ADDRESS_FILT_OFF, this->whitening, mode, len); + RADIOLIB_ASSERT(state); + + // update cached value + this->packetType = mode; + return(state); +} + +int16_t SX126x::setHeaderType(uint8_t hdrType, size_t len) { + // check active modem + if(getPacketType() != RADIOLIB_SX126X_PACKET_TYPE_LORA) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set requested packet mode + int16_t state = setPacketParams(this->preambleLengthLoRa, this->crcTypeLoRa, len, hdrType, this->invertIQEnabled); + RADIOLIB_ASSERT(state); + + // update cached value + this->headerType = hdrType; + this->implicitLen = len; + + return(state); +} + +int16_t SX126x::setFrequencyRaw(float freq) { + // calculate raw value + this->freqMHz = freq; + uint32_t frf = (this->freqMHz * (uint32_t(1) << RADIOLIB_SX126X_DIV_EXPONENT)) / RADIOLIB_SX126X_CRYSTAL_FREQ; + return(setRfFrequency(frf)); +} + +int16_t SX126x::config(uint8_t modem) { + // reset buffer base address + int16_t state = setBufferBaseAddress(); + RADIOLIB_ASSERT(state); + + // set modem + uint8_t data[7]; + data[0] = modem; + state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_PACKET_TYPE, data, 1); + RADIOLIB_ASSERT(state); + + // set Rx/Tx fallback mode to STDBY_RC + data[0] = this->standbyXOSC ? RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_XOSC : RADIOLIB_SX126X_RX_TX_FALLBACK_MODE_STDBY_RC; + state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_RX_TX_FALLBACK_MODE, data, 1); + RADIOLIB_ASSERT(state); + + // set some CAD parameters - will be overwritten when calling CAD anyway + data[0] = RADIOLIB_SX126X_CAD_ON_8_SYMB; + data[1] = this->spreadingFactor + 13; + data[2] = RADIOLIB_SX126X_CAD_PARAM_DET_MIN; + data[3] = RADIOLIB_SX126X_CAD_GOTO_STDBY; + data[4] = 0x00; + data[5] = 0x00; + data[6] = 0x00; + state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_SET_CAD_PARAMS, data, 7); + RADIOLIB_ASSERT(state); + + // clear IRQ + state = clearIrqStatus(); + state |= setDioIrqParams(RADIOLIB_SX126X_IRQ_NONE, RADIOLIB_SX126X_IRQ_NONE); + RADIOLIB_ASSERT(state); + + // calibrate all blocks + data[0] = RADIOLIB_SX126X_CALIBRATE_ALL; + state = this->mod->SPIwriteStream(RADIOLIB_SX126X_CMD_CALIBRATE, data, 1, true, false); + RADIOLIB_ASSERT(state); + + // wait for calibration completion + this->mod->hal->delay(5); + while(this->mod->hal->digitalRead(this->mod->getGpio())) { + this->mod->hal->yield(); + } + + // check calibration result + return(this->mod->SPIcheckStream()); +} + +#endif diff --git a/lib/RadioLib/src/modules/SX126x/SX126x_registers.h b/lib/RadioLib/src/modules/SX126x/SX126x_registers.h new file mode 100644 index 0000000..e1dd762 --- /dev/null +++ b/lib/RadioLib/src/modules/SX126x/SX126x_registers.h @@ -0,0 +1,171 @@ +#if !defined(_RADIOLIB_SX126X_REGISTERS_H) +#define _RADIOLIB_SX126X_REGISTERS_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_SX126X + +// SX126X register map +#define RADIOLIB_SX126X_REG_BPSK_PACKET_PARAMS 0x00F0 +#define RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_0 0x029F // SX1268 datasheet v1.1, section 9.6 +#define RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_1 0x02A0 // SX1268 datasheet v1.1, section 9.6 +#define RADIOLIB_SX126X_REG_RX_GAIN_RETENTION_2 0x02A1 // SX1268 datasheet v1.1, section 9.6 +#define RADIOLIB_SX126X_REG_VERSION_STRING 0x0320 +#define RADIOLIB_SX126X_REG_HOPPING_ENABLE 0x0385 +#define RADIOLIB_SX126X_REG_LR_FHSS_PACKET_LENGTH 0x0386 +#define RADIOLIB_SX126X_REG_LR_FHSS_NUM_HOPPING_BLOCKS 0x0387 +#define RADIOLIB_SX126X_REG_LR_FHSS_NUM_SYMBOLS_FREQX_MSB(X) (0x0388 + (X)*6) +#define RADIOLIB_SX126X_REG_LR_FHSS_NUM_SYMBOLS_FREQX_LSB(X) (0x0389 + (X)*6) +#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_0(X) (0x038A + (X)*6) +#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_1(X) (0x038B + (X)*6) +#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_2(X) (0x038C + (X)*6) +#define RADIOLIB_SX126X_REG_LR_FHSS_FREQX_3(X) (0x038D + (X)*6) +#define RADIOLIB_SX126X_REG_SPECTRAL_SCAN_RESULT 0x0401 +#define RADIOLIB_SX126X_REG_DIOX_OUT_ENABLE 0x0580 +#define RADIOLIB_SX126X_REG_DIOX_DRIVE_STRENGTH 0x0582 +#define RADIOLIB_SX126X_REG_DIOX_IN_ENABLE 0x0583 +#define RADIOLIB_SX126X_REG_DIOX_PULL_UP_CTRL 0x0584 +#define RADIOLIB_SX126X_REG_DIOX_PULL_DOWN_CTRL 0x0585 +#define RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_0 0x0587 +#define RADIOLIB_SX126X_REG_PATCH_UPDATE_ENABLE 0x0610 +#define RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_1 0x0680 +#define RADIOLIB_SX126X_REG_GFSK_FIX_4 0x06AC +#define RADIOLIB_SX126X_REG_WHITENING_INITIAL_MSB 0x06B8 +#define RADIOLIB_SX126X_REG_WHITENING_INITIAL_LSB 0x06B9 +#define RADIOLIB_SX126X_REG_RX_TX_PLD_LEN 0x06BB +#define RADIOLIB_SX126X_REG_CRC_INITIAL_MSB 0x06BC +#define RADIOLIB_SX126X_REG_CRC_INITIAL_LSB 0x06BD +#define RADIOLIB_SX126X_REG_CRC_POLYNOMIAL_MSB 0x06BE +#define RADIOLIB_SX126X_REG_CRC_POLYNOMIAL_LSB 0x06BF +#define RADIOLIB_SX126X_REG_SYNC_WORD_0 0x06C0 +#define RADIOLIB_SX126X_REG_SYNC_WORD_1 0x06C1 +#define RADIOLIB_SX126X_REG_SYNC_WORD_2 0x06C2 +#define RADIOLIB_SX126X_REG_SYNC_WORD_3 0x06C3 +#define RADIOLIB_SX126X_REG_SYNC_WORD_4 0x06C4 +#define RADIOLIB_SX126X_REG_SYNC_WORD_5 0x06C5 +#define RADIOLIB_SX126X_REG_SYNC_WORD_6 0x06C6 +#define RADIOLIB_SX126X_REG_SYNC_WORD_7 0x06C7 +#define RADIOLIB_SX126X_REG_NODE_ADDRESS 0x06CD +#define RADIOLIB_SX126X_REG_BROADCAST_ADDRESS 0x06CE +#define RADIOLIB_SX126X_REG_GFSK_FIX_1 0x06D1 +#define RADIOLIB_SX126X_REG_PAYLOAD_LENGTH 0x0702 +#define RADIOLIB_SX126X_REG_PACKET_PARAMS 0x0704 +#define RADIOLIB_SX126X_REG_LORA_SYNC_TIMEOUT 0x0706 +#define RADIOLIB_SX126X_REG_IQ_CONFIG 0x0736 +#define RADIOLIB_SX126X_REG_LORA_SYNC_WORD_MSB 0x0740 +#define RADIOLIB_SX126X_REG_LORA_SYNC_WORD_LSB 0x0741 +#define RADIOLIB_SX126X_REG_LORA_RX_CODING_RATE 0x0749 +#define RADIOLIB_SX126X_REG_FREQ_ERROR_RX_CRC 0x076B +#define RADIOLIB_SX126X_REG_SPECTRAL_SCAN_STATUS 0x07CD +#define RADIOLIB_SX126X_REG_RX_ADDR_PTR 0x0803 +#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_0 0x0819 +#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_1 0x081A +#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_2 0x081B +#define RADIOLIB_SX126X_REG_RANDOM_NUMBER_3 0x081C +#define RADIOLIB_SX126X_REG_SENSITIVITY_CONFIG 0x0889 // SX1268 datasheet v1.1, section 15.1 +#define RADIOLIB_SX126X_REG_RF_FREQUENCY_0 0x088B +#define RADIOLIB_SX126X_REG_RF_FREQUENCY_1 0x088C +#define RADIOLIB_SX126X_REG_RF_FREQUENCY_2 0x088D +#define RADIOLIB_SX126X_REG_RF_FREQUENCY_3 0x088E +#define RADIOLIB_SX126X_REG_RSSI_AVG_WINDOW 0x089B +#define RADIOLIB_SX126X_REG_RX_GAIN 0x08AC +#define RADIOLIB_SX126X_REG_GFSK_FIX_3 0x08B8 +#define RADIOLIB_SX126X_REG_TX_CLAMP_CONFIG 0x08D8 +#define RADIOLIB_SX126X_REG_ANA_LNA 0x08E2 +#define RADIOLIB_SX126X_REG_LNA_CAP_TUNE_N 0x08E3 +#define RADIOLIB_SX126X_REG_LNA_CAP_TUNE_P 0x08E4 +#define RADIOLIB_SX126X_REG_ANA_MIXER 0x08E5 +#define RADIOLIB_SX126X_REG_OCP_CONFIGURATION 0x08E7 +#define RADIOLIB_SX126X_REG_RTC_CTRL 0x0902 +#define RADIOLIB_SX126X_REG_XTA_TRIM 0x0911 +#define RADIOLIB_SX126X_REG_XTB_TRIM 0x0912 +#define RADIOLIB_SX126X_REG_DIO3_OUT_VOLTAGE_CTRL 0x0920 +#define RADIOLIB_SX126X_REG_EVENT_MASK 0x0944 +#define RADIOLIB_SX126X_REG_PATCH_MEMORY_BASE 0x8000 + +// SX126X SPI register variables +//RADIOLIB_SX126X_REG_HOPPING_ENABLE MSB LSB DESCRIPTION +#define RADIOLIB_SX126X_HOPPING_ENABLED 0b00000001 // 0 0 intra-packet hopping for LR-FHSS: enabled +#define RADIOLIB_SX126X_HOPPING_DISABLED 0b00000000 // 0 0 (disabled) + +//RADIOLIB_SX126X_REG_LORA_SYNC_WORD_MSB + LSB +#define RADIOLIB_SX126X_SYNC_WORD_PUBLIC 0x34 // actually 0x3444 NOTE: The low nibbles in each byte (0x_4_4) are masked out since apparently, they're reserved. +#define RADIOLIB_SX126X_SYNC_WORD_PRIVATE 0x12 // actually 0x1424 You couldn't make this up if you tried. + +// RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_1 +#define RADIOLIB_SX126X_TX_BITBANG_1_DISABLED 0b00000000 // 6 4 Tx bitbang: disabled (default) +#define RADIOLIB_SX126X_TX_BITBANG_1_ENABLED 0b00010000 // 6 4 enabled + +// RADIOLIB_SX126X_REG_TX_BITBANG_ENABLE_0 +#define RADIOLIB_SX126X_TX_BITBANG_0_DISABLED 0b00000000 // 3 0 Tx bitbang: disabled (default) +#define RADIOLIB_SX126X_TX_BITBANG_0_ENABLED 0b00001100 // 3 0 enabled + +// RADIOLIB_SX126X_REG_DIOX_OUT_ENABLE +#define RADIOLIB_SX126X_DIO1_OUT_DISABLED 0b00000010 // 1 1 DIO1 output: disabled +#define RADIOLIB_SX126X_DIO1_OUT_ENABLED 0b00000000 // 1 1 enabled +#define RADIOLIB_SX126X_DIO2_OUT_DISABLED 0b00000100 // 2 2 DIO2 output: disabled +#define RADIOLIB_SX126X_DIO2_OUT_ENABLED 0b00000000 // 2 2 enabled +#define RADIOLIB_SX126X_DIO3_OUT_DISABLED 0b00001000 // 3 3 DIO3 output: disabled +#define RADIOLIB_SX126X_DIO3_OUT_ENABLED 0b00000000 // 3 3 enabled + +// RADIOLIB_SX126X_REG_DIOX_IN_ENABLE +#define RADIOLIB_SX126X_DIO1_IN_DISABLED 0b00000000 // 1 1 DIO1 input: disabled +#define RADIOLIB_SX126X_DIO1_IN_ENABLED 0b00000010 // 1 1 enabled +#define RADIOLIB_SX126X_DIO2_IN_DISABLED 0b00000000 // 2 2 DIO2 input: disabled +#define RADIOLIB_SX126X_DIO2_IN_ENABLED 0b00000100 // 2 2 enabled +#define RADIOLIB_SX126X_DIO3_IN_DISABLED 0b00000000 // 3 3 DIO3 input: disabled +#define RADIOLIB_SX126X_DIO3_IN_ENABLED 0b00001000 // 3 3 enabled + +// RADIOLIB_SX126X_REG_RX_GAIN +#define RADIOLIB_SX126X_RX_GAIN_BOOSTED 0x96 // 7 0 Rx gain: boosted +#define RADIOLIB_SX126X_RX_GAIN_POWER_SAVING 0x94 // 7 0 power saving +#define RADIOLIB_SX126X_RX_GAIN_SPECTRAL_SCAN 0xCB // 7 0 spectral scan + +// RADIOLIB_SX126X_REG_PATCH_UPDATE_ENABLE +#define RADIOLIB_SX126X_PATCH_UPDATE_DISABLED 0b00000000 // 4 4 patch update: disabled +#define RADIOLIB_SX126X_PATCH_UPDATE_ENABLED 0b00010000 // 4 4 enabled + +// RADIOLIB_SX126X_REG_SPECTRAL_SCAN_STATUS +#define RADIOLIB_SX126X_SPECTRAL_SCAN_NONE 0x00 // 7 0 spectral scan status: none +#define RADIOLIB_SX126X_SPECTRAL_SCAN_ONGOING 0x0F // 7 0 ongoing +#define RADIOLIB_SX126X_SPECTRAL_SCAN_ABORTED 0xF0 // 7 0 aborted +#define RADIOLIB_SX126X_SPECTRAL_SCAN_COMPLETED 0xFF // 7 0 completed + +// RADIOLIB_SX126X_REG_RSSI_AVG_WINDOW +#define RADIOLIB_SX126X_SPECTRAL_SCAN_WINDOW_DEFAULT (0x05 << 2) // 7 0 default RSSI average window + +// RADIOLIB_SX126X_REG_ANA_LNA +#define RADIOLIB_SX126X_LNA_RNG_DISABLED 0b00000001 // 0 0 random number: disabled +#define RADIOLIB_SX126X_LNA_RNG_ENABLED 0b00000000 // 0 0 enabled + +// RADIOLIB_SX126X_REG_ANA_MIXER +#define RADIOLIB_SX126X_MIXER_RNG_DISABLED 0b00000001 // 7 7 random number: disabled +#define RADIOLIB_SX126X_MIXER_RNG_ENABLED 0b00000000 // 7 7 enabled + +// size of the spectral scan result +#define RADIOLIB_SX126X_SPECTRAL_SCAN_RES_SIZE (33) + +// LR-FHSS configuration +#define RADIOLIB_SX126X_LR_FHSS_CR_5_6 (0x00UL << 0) // 7 0 LR FHSS coding rate: 5/6 +#define RADIOLIB_SX126X_LR_FHSS_CR_2_3 (0x01UL << 0) // 7 0 2/3 +#define RADIOLIB_SX126X_LR_FHSS_CR_1_2 (0x02UL << 0) // 7 0 1/2 +#define RADIOLIB_SX126X_LR_FHSS_CR_1_3 (0x03UL << 0) // 7 0 1/3 +#define RADIOLIB_SX126X_LR_FHSS_MOD_TYPE_GMSK (0x00UL << 0) // 7 0 LR FHSS modulation: GMSK +#define RADIOLIB_SX126X_LR_FHSS_GRID_STEP_FCC (0x00UL << 0) // 7 0 LR FHSS step size: 25.390625 kHz (FCC) +#define RADIOLIB_SX126X_LR_FHSS_GRID_STEP_NON_FCC (0x01UL << 0) // 7 0 3.90625 kHz (non-FCC) +#define RADIOLIB_SX126X_LR_FHSS_HOPPING_DISABLED (0x00UL << 0) // 7 0 LR FHSS hopping: disabled +#define RADIOLIB_SX126X_LR_FHSS_HOPPING_ENABLED (0x01UL << 0) // 7 0 enabled +#define RADIOLIB_SX126X_LR_FHSS_BW_39_06 (0x00UL << 0) // 7 0 LR FHSS bandwidth: 39.06 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_85_94 (0x01UL << 0) // 7 0 85.94 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_136_72 (0x02UL << 0) // 7 0 136.72 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_183_59 (0x03UL << 0) // 7 0 183.59 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_335_94 (0x04UL << 0) // 7 0 335.94 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_386_72 (0x05UL << 0) // 7 0 386.72 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_722_66 (0x06UL << 0) // 7 0 722.66 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_773_44 (0x07UL << 0) // 7 0 773.44 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_1523_4 (0x08UL << 0) // 7 0 1523.4 kHz +#define RADIOLIB_SX126X_LR_FHSS_BW_1574_2 (0x09UL << 0) // 7 0 1574.2 kHz + +#endif + +#endif diff --git a/lib/RadioLib/src/modules/SX127x/SX1272.cpp b/lib/RadioLib/src/modules/SX127x/SX1272.cpp index 4b118d6..c4a91c7 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1272.cpp +++ b/lib/RadioLib/src/modules/SX127x/SX1272.cpp @@ -83,7 +83,7 @@ void SX1272::reset() { } int16_t SX1272::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 860.0, 1020.0, RADIOLIB_ERR_INVALID_FREQUENCY); + RADIOLIB_CHECK_RANGE(freq, 860.0f, 1020.0f, RADIOLIB_ERR_INVALID_FREQUENCY); // set frequency and if successful, save the new setting int16_t state = SX127x::setFrequencyRaw(freq); @@ -102,11 +102,11 @@ int16_t SX1272::setBandwidth(float bw) { uint8_t newBandwidth; // check allowed bandwidth values - if(fabsf(bw - 125.0) <= 0.001) { + if(fabsf(bw - 125.0f) <= 0.001f) { newBandwidth = RADIOLIB_SX1272_BW_125_00_KHZ; - } else if(fabsf(bw - 250.0) <= 0.001) { + } else if(fabsf(bw - 250.0f) <= 0.001f) { newBandwidth = RADIOLIB_SX1272_BW_250_00_KHZ; - } else if(fabsf(bw - 500.0) <= 0.001) { + } else if(fabsf(bw - 500.0f) <= 0.001f) { newBandwidth = RADIOLIB_SX1272_BW_500_00_KHZ; } else { return(RADIOLIB_ERR_INVALID_BANDWIDTH); @@ -121,9 +121,11 @@ int16_t SX1272::setBandwidth(float bw) { if(this->ldroAuto) { float symbolLength = (float)(uint32_t(1) << SX127x::spreadingFactor) / (float)SX127x::bandwidth; Module* mod = this->getMod(); - if(symbolLength >= 16.0) { + if(symbolLength >= 16.0f) { + this->ldroEnabled = true; state = mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, RADIOLIB_SX1272_LOW_DATA_RATE_OPT_ON, 0, 0); } else { + this->ldroEnabled = false; state = mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, RADIOLIB_SX1272_LOW_DATA_RATE_OPT_OFF, 0, 0); } } @@ -175,7 +177,7 @@ int16_t SX1272::setSpreadingFactor(uint8_t sf) { if(this->ldroAuto) { float symbolLength = (float)(uint32_t(1) << SX127x::spreadingFactor) / (float)SX127x::bandwidth; Module* mod = this->getMod(); - if(symbolLength >= 16.0) { + if(symbolLength >= 16.0f) { state = mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, RADIOLIB_SX1272_LOW_DATA_RATE_OPT_ON, 0, 0); } else { state = mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, RADIOLIB_SX1272_LOW_DATA_RATE_OPT_OFF, 0, 0); @@ -195,6 +197,9 @@ int16_t SX1272::setCodingRate(uint8_t cr) { // check allowed coding rate values switch(cr) { + case 4: + newCodingRate = RADIOLIB_SX1272_CR_4_4; + break; case 5: newCodingRate = RADIOLIB_SX1272_CR_4_5; break; @@ -223,12 +228,26 @@ int16_t SX1272::setBitRate(float br) { return(SX127x::setBitRateCommon(br, RADIOLIB_SX1272_REG_BIT_RATE_FRAC)); } -int16_t SX1272::setDataRate(DataRate_t dr) { - int16_t state = RADIOLIB_ERR_UNKNOWN; +int16_t SX1272::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); - // select interpretation based on active modem - uint8_t modem = this->getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { // set the bit rate state = this->setBitRate(dr.fsk.bitRate); RADIOLIB_ASSERT(state); @@ -236,7 +255,7 @@ int16_t SX1272::setDataRate(DataRate_t dr) { // set the frequency deviation state = this->setFrequencyDeviation(dr.fsk.freqDev); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { // set the spreading factor state = this->setSpreadingFactor(dr.lora.spreadingFactor); RADIOLIB_ASSERT(state); @@ -252,22 +271,27 @@ int16_t SX1272::setDataRate(DataRate_t dr) { return(state); } -int16_t SX1272::checkDataRate(DataRate_t dr) { +int16_t SX1272::checkDataRate(DataRate_t dr, ModemType_t modem) { int16_t state = RADIOLIB_ERR_UNKNOWN; - // select interpretation based on active modem - int16_t modem = getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { - RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0 <= 250.0) && (dr.fsk.freqDev <= 200.0))) { + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0f <= 250.0f) && (dr.fsk.freqDev <= 200.0f))) { return(RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); } return(RADIOLIB_ERR_NONE); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 6, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); - RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 100.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 100.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); return(RADIOLIB_ERR_NONE); } @@ -279,8 +303,9 @@ int16_t SX1272::setOutputPower(int8_t power) { return(this->setOutputPower(power, false)); } -int16_t SX1272::setOutputPower(int8_t power, bool useRfo) { +int16_t SX1272::setOutputPower(int8_t power, bool forceRfo) { // check if power value is configurable + bool useRfo = (power < 2) || forceRfo; int16_t state = checkOutputPower(power, NULL, useRfo); RADIOLIB_ASSERT(state); @@ -479,6 +504,7 @@ int16_t SX1272::forceLDRO(bool enable) { } this->ldroAuto = false; + this->ldroEnabled = enable; Module* mod = this->getMod(); if(enable) { return(mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, RADIOLIB_SX1272_LOW_DATA_RATE_OPT_ON, 0, 0)); diff --git a/lib/RadioLib/src/modules/SX127x/SX1272.h b/lib/RadioLib/src/modules/SX127x/SX1272.h index 337558e..1a0da34 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1272.h +++ b/lib/RadioLib/src/modules/SX127x/SX1272.h @@ -31,7 +31,8 @@ #define RADIOLIB_SX1272_BW_125_00_KHZ 0b00000000 // 7 6 bandwidth: 125 kHz #define RADIOLIB_SX1272_BW_250_00_KHZ 0b01000000 // 7 6 250 kHz #define RADIOLIB_SX1272_BW_500_00_KHZ 0b10000000 // 7 6 500 kHz -#define RADIOLIB_SX1272_CR_4_5 0b00001000 // 5 3 error coding rate: 4/5 +#define RADIOLIB_SX1272_CR_4_4 0b00000000 // 5 3 error coding rate: 4/4 (undocumented) +#define RADIOLIB_SX1272_CR_4_5 0b00001000 // 5 3 4/5 #define RADIOLIB_SX1272_CR_4_6 0b00010000 // 5 3 4/6 #define RADIOLIB_SX1272_CR_4_7 0b00011000 // 5 3 4/7 #define RADIOLIB_SX1272_CR_4_8 0b00100000 // 5 3 4/8 @@ -109,7 +110,8 @@ class SX1272: public SX127x { \param freq Carrier frequency in MHz. Allowed values range from 860.0 MHz to 1020.0 MHz. \param bw %LoRa link bandwidth in kHz. Allowed values are 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 cr %LoRa link coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \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 preambleLength Length of %LoRa transmission preamble in symbols. The actual preamble length is 4.25 symbols longer than the set number. @@ -118,7 +120,7 @@ class SX1272: public SX127x { 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 = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); + virtual int16_t begin(float freq = 915.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); /*! \brief FSK modem initialization method. Must be called at least once from Arduino sketch to initialize the module. @@ -160,10 +162,11 @@ class SX1272: public SX127x { \param sf %LoRa link spreading factor to be set. \returns \ref status_codes */ - int16_t setSpreadingFactor(uint8_t sf); + virtual int16_t setSpreadingFactor(uint8_t sf); /*! - \brief Sets %LoRa link coding rate denominator. Allowed values range from 5 to 8. Only available in %LoRa mode. + \brief Sets %LoRa link coding rate denominator. Allowed values range from 4 to 8. Only available in %LoRa mode. + Note that a value of 4 means no coding, is undocumented and not recommended without your own FEC. \param cr %LoRa link coding rate denominator to be set. \returns \ref status_codes */ @@ -177,18 +180,22 @@ class SX1272: public SX127x { int16_t setBitRate(float br) override; /*! - \brief Set data. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Check the data rate can be configured by this module. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t checkDataRate(DataRate_t dr) override; + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Sets transmission output power. Allowed values range from -1 to 14 dBm (RFO pin) or +2 to +20 dBm (PA_BOOST pin). @@ -201,10 +208,11 @@ class SX1272: public SX127x { /*! \brief Sets transmission output power. Allowed values range from -1 to 14 dBm (RFO pin) or +2 to +20 dBm (PA_BOOST pin). \param power Transmission output power in dBm. - \param useRfo Whether to use the RFO (true) or the PA_BOOST (false) pin for the RF output. + \param forceRfo Whether to force using the RFO pin for the RF output (true) + or to leave the selection up to user (false) based on power output. \returns \ref status_codes */ - int16_t setOutputPower(int8_t power, bool useRfo); + int16_t setOutputPower(int8_t power, bool forceRfo); /*! \brief Check if output power is configurable. @@ -250,14 +258,14 @@ class SX1272: public SX127x { int16_t setDataShapingOOK(uint8_t sh); /*! - \brief Gets recorded signal strength indicator. + \brief Gets received signal strength indicator. Overload with packet mode enabled for PhysicalLayer compatibility. \returns RSSI value in dBm. */ float getRSSI() override; /*! - \brief Gets recorded signal strength indicator. + \brief Gets received signal strength indicator. \param packet Whether to read last packet RSSI, or the current value. LoRa mode only, ignored for FSK. \param skipReceive Set to true to skip putting radio in receive mode for the RSSI measurement in FSK/OOK mode. \returns RSSI value in dBm. @@ -317,15 +325,9 @@ class SX1272: public SX127x { int16_t setSpreadingFactorRaw(uint8_t newSpreadingFactor); int16_t setCodingRateRaw(uint8_t newCodingRate); - int16_t configFSK(); + int16_t configFSK() override; void errataFix(bool rx) override; -#if !RADIOLIB_GODMODE - private: -#endif - bool ldroAuto = true; - bool ldroEnabled = false; - }; #endif diff --git a/lib/RadioLib/src/modules/SX127x/SX1273.cpp b/lib/RadioLib/src/modules/SX127x/SX1273.cpp index 6a3af96..25bd1de 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1273.cpp +++ b/lib/RadioLib/src/modules/SX127x/SX1273.cpp @@ -67,12 +67,26 @@ int16_t SX1273::setSpreadingFactor(uint8_t sf) { return(state); } -int16_t SX1273::setDataRate(DataRate_t dr) { - int16_t state = RADIOLIB_ERR_UNKNOWN; +int16_t SX1273::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); - // select interpretation based on active modem - uint8_t modem = this->getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { // set the bit rate state = this->setBitRate(dr.fsk.bitRate); RADIOLIB_ASSERT(state); @@ -80,7 +94,7 @@ int16_t SX1273::setDataRate(DataRate_t dr) { // set the frequency deviation state = this->setFrequencyDeviation(dr.fsk.freqDev); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { // set the spreading factor state = this->setSpreadingFactor(dr.lora.spreadingFactor); RADIOLIB_ASSERT(state); @@ -92,22 +106,27 @@ int16_t SX1273::setDataRate(DataRate_t dr) { return(state); } -int16_t SX1273::checkDataRate(DataRate_t dr) { +int16_t SX1273::checkDataRate(DataRate_t dr, ModemType_t modem) { int16_t state = RADIOLIB_ERR_UNKNOWN; - // select interpretation based on active modem - int16_t modem = getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { - RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0 <= 250.0) && (dr.fsk.freqDev <= 200.0))) { + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0f <= 250.0f) && (dr.fsk.freqDev <= 200.0f))) { return(RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); } return(RADIOLIB_ERR_NONE); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 6, 9, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); - RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 100.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 100.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); return(RADIOLIB_ERR_NONE); } diff --git a/lib/RadioLib/src/modules/SX127x/SX1273.h b/lib/RadioLib/src/modules/SX127x/SX1273.h index 4e9dd1e..24d4bc9 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1273.h +++ b/lib/RadioLib/src/modules/SX127x/SX1273.h @@ -29,7 +29,8 @@ class SX1273: public SX1272 { \param freq Carrier frequency in MHz. Allowed values range from 860.0 MHz to 1020.0 MHz. \param bw %LoRa link bandwidth in kHz. Allowed values are 125, 250 and 500 kHz. \param sf %LoRa link spreading factor. Allowed values range from 6 to 9. - \param cr %LoRa link coding rate denominator. Allowed values range from 5 to 8. + \param cr %LoRa link coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \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 preambleLength Length of %LoRa transmission preamble in symbols. The actual preamble length is 4.25 symbols longer than the set number. @@ -38,7 +39,7 @@ class SX1273: public SX1272 { 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 = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); + int16_t begin(float freq = 915.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0) override; // configuration methods @@ -47,21 +48,25 @@ class SX1273: public SX1272 { \param sf %LoRa link spreading factor to be set. \returns \ref status_codes */ - int16_t setSpreadingFactor(uint8_t sf); + int16_t setSpreadingFactor(uint8_t sf) override; /*! - \brief Set data. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Check the data rate can be configured by this module. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t checkDataRate(DataRate_t dr) override; + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Set modem for the radio to use. Will perform full reset and reconfigure the radio diff --git a/lib/RadioLib/src/modules/SX127x/SX1276.cpp b/lib/RadioLib/src/modules/SX127x/SX1276.cpp index 062d11b..9da2d19 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1276.cpp +++ b/lib/RadioLib/src/modules/SX127x/SX1276.cpp @@ -7,7 +7,7 @@ SX1276::SX1276(Module* mod) : SX1278(mod) { int16_t SX1276::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t power, uint16_t preambleLength, uint8_t gain) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::begin(versions, 3, syncWord, preambleLength); RADIOLIB_ASSERT(state); @@ -39,7 +39,7 @@ int16_t SX1276::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t sync int16_t SX1276::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t power, uint16_t preambleLength, bool enableOOK) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::beginFSK(versions, 3, freqDev, rxBw, preambleLength, enableOOK); RADIOLIB_ASSERT(state); @@ -69,7 +69,15 @@ int16_t SX1276::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t } int16_t SX1276::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 137.0, 1020.0, RADIOLIB_ERR_INVALID_FREQUENCY); + // NOTE: The datasheet specifies Band 2 as 410-525 MHz, but the hardware has been + // verified to work down to ~395 MHz. The lower bound is set here to 395 MHz to + // accommodate real-world use cases (e.g. TinyGS satellites, radiosondes) while + // adding a small margin below the 400 MHz practical limit. + if(!(((freq >= 137.0f) && (freq <= 175.0f)) || + ((freq >= 395.0f) && (freq <= 525.0f)) || + ((freq >= 862.0f) && (freq <= 1020.0f)))) { + return(RADIOLIB_ERR_INVALID_FREQUENCY); + } // set frequency and if successful, save the new setting int16_t state = SX127x::setFrequencyRaw(freq); diff --git a/lib/RadioLib/src/modules/SX127x/SX1276.h b/lib/RadioLib/src/modules/SX127x/SX1276.h index 64dbaa3..402b8cd 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1276.h +++ b/lib/RadioLib/src/modules/SX127x/SX1276.h @@ -27,9 +27,10 @@ class SX1276: public SX1278 { /*! \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 137.0 MHz to 1020.0 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 bw %LoRa link bandwidth in kHz. Allowed values are 7.8, 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 cr %LoRa link coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \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 preambleLength Length of %LoRa transmission preamble in symbols. The actual preamble length is 4.25 symbols longer than the set number. @@ -38,7 +39,7 @@ class SX1276: public SX1278 { Set to 0 to enable automatic gain control (recommended). \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); + int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0) override; /*! \brief FSK modem initialization method. Must be called at least once from Arduino sketch to initialize the module. @@ -52,12 +53,12 @@ class SX1276: public SX1278 { \param enableOOK Use OOK modulation instead of FSK. \returns \ref status_codes */ - int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false); + int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false) override; // configuration methods /*! - \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 1020.0 MHz. + \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 175.0 MHz, 395.0 to 525.0 MHz (datasheet minimum is 410.0 MHz, hardware works lower) and 862.0 to 1020 MHz. \param freq Carrier frequency to be set in MHz. \returns \ref status_codes */ diff --git a/lib/RadioLib/src/modules/SX127x/SX1277.cpp b/lib/RadioLib/src/modules/SX127x/SX1277.cpp index 59729e8..aae1c78 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1277.cpp +++ b/lib/RadioLib/src/modules/SX127x/SX1277.cpp @@ -7,7 +7,7 @@ SX1277::SX1277(Module* mod) : SX1278(mod) { int16_t SX1277::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t power, uint16_t preambleLength, uint8_t gain) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::begin(versions, 3, syncWord, preambleLength); RADIOLIB_ASSERT(state); @@ -39,7 +39,7 @@ int16_t SX1277::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t sync int16_t SX1277::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t power, uint16_t preambleLength, bool enableOOK) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::beginFSK(versions, 3, freqDev, rxBw, preambleLength, enableOOK); RADIOLIB_ASSERT(state); @@ -69,7 +69,15 @@ int16_t SX1277::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t } int16_t SX1277::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 137.0, 1020.0, RADIOLIB_ERR_INVALID_FREQUENCY); + // NOTE: The datasheet specifies Band 2 as 410-525 MHz, but the hardware has been + // verified to work down to ~395 MHz. The lower bound is set here to 395 MHz to + // accommodate real-world use cases (e.g. TinyGS satellites, radiosondes) while + // adding a small margin below the 400 MHz practical limit. + if(!(((freq >= 137.0f) && (freq <= 175.0f)) || + ((freq >= 395.0f) && (freq <= 525.0f)) || + ((freq >= 862.0f) && (freq <= 1020.0f)))) { + return(RADIOLIB_ERR_INVALID_FREQUENCY); + } // set frequency and if successful, save the new setting int16_t state = SX127x::setFrequencyRaw(freq); @@ -109,12 +117,26 @@ int16_t SX1277::setSpreadingFactor(uint8_t sf) { return(state); } -int16_t SX1277::setDataRate(DataRate_t dr) { - int16_t state = RADIOLIB_ERR_UNKNOWN; +int16_t SX1277::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); - // select interpretation based on active modem - uint8_t modem = this->getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { // set the bit rate state = this->setBitRate(dr.fsk.bitRate); RADIOLIB_ASSERT(state); @@ -122,7 +144,7 @@ int16_t SX1277::setDataRate(DataRate_t dr) { // set the frequency deviation state = this->setFrequencyDeviation(dr.fsk.freqDev); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { // set the spreading factor state = this->setSpreadingFactor(dr.lora.spreadingFactor); RADIOLIB_ASSERT(state); @@ -134,22 +156,27 @@ int16_t SX1277::setDataRate(DataRate_t dr) { return(state); } -int16_t SX1277::checkDataRate(DataRate_t dr) { +int16_t SX1277::checkDataRate(DataRate_t dr, ModemType_t modem) { int16_t state = RADIOLIB_ERR_UNKNOWN; - // select interpretation based on active modem - int16_t modem = getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { - RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0 <= 250.0) && (dr.fsk.freqDev <= 200.0))) { + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0f <= 250.0f) && (dr.fsk.freqDev <= 200.0f))) { return(RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); } return(RADIOLIB_ERR_NONE); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 6, 9, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); - RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); return(RADIOLIB_ERR_NONE); } diff --git a/lib/RadioLib/src/modules/SX127x/SX1277.h b/lib/RadioLib/src/modules/SX127x/SX1277.h index fe068c0..3c0c071 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1277.h +++ b/lib/RadioLib/src/modules/SX127x/SX1277.h @@ -27,9 +27,10 @@ class SX1277: public SX1278 { /*! \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 137.0 MHz to 1020.0 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 bw %LoRa link bandwidth in kHz. Allowed values are 7.8, 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 9. - \param cr %LoRa link coding rate denominator. Allowed values range from 5 to 8. + \param cr %LoRa link coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \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 preambleLength Length of %LoRa transmission preamble in symbols. The actual preamble length is 4.25 symbols longer than the set number. @@ -38,7 +39,7 @@ class SX1277: public SX1278 { Set to 0 to enable automatic gain control (recommended). \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); + int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0) override; /*! \brief FSK modem initialization method. Must be called at least once from Arduino sketch to initialize the module. @@ -52,12 +53,12 @@ class SX1277: public SX1278 { \param enableOOK Use OOK modulation instead of FSK. \returns \ref status_codes */ - int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false); + int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false) override; // configuration methods /*! - \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 1020.0 MHz. + \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 175.0 MHz, 395.0 to 525.0 MHz (datasheet minimum is 410.0 MHz, hardware works lower) and 862.0 to 1020 MHz. \param freq Carrier frequency to be set in MHz. \returns \ref status_codes */ @@ -68,21 +69,25 @@ class SX1277: public SX1278 { \param sf %LoRa link spreading factor to be set. \returns \ref status_codes */ - int16_t setSpreadingFactor(uint8_t sf); + int16_t setSpreadingFactor(uint8_t sf) override; /*! - \brief Set data. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Check the data rate can be configured by this module. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t checkDataRate(DataRate_t dr) override; + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Set modem for the radio to use. Will perform full reset and reconfigure the radio diff --git a/lib/RadioLib/src/modules/SX127x/SX1278.cpp b/lib/RadioLib/src/modules/SX127x/SX1278.cpp index df76e56..0605620 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1278.cpp +++ b/lib/RadioLib/src/modules/SX127x/SX1278.cpp @@ -8,7 +8,7 @@ SX1278::SX1278(Module* mod) : SX127x(mod) { int16_t SX1278::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t power, uint16_t preambleLength, uint8_t gain) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::begin(versions, 3, syncWord, preambleLength); RADIOLIB_ASSERT(state); @@ -40,7 +40,7 @@ int16_t SX1278::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t sync int16_t SX1278::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t power, uint16_t preambleLength, bool enableOOK) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::beginFSK(versions, 3, freqDev, rxBw, preambleLength, enableOOK); RADIOLIB_ASSERT(state); @@ -83,7 +83,14 @@ void SX1278::reset() { } int16_t SX1278::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 137.0, 525.0, RADIOLIB_ERR_INVALID_FREQUENCY); + // NOTE: The datasheet specifies Band 2 as 410-525 MHz, but the hardware has been + // verified to work down to ~395 MHz. The lower bound is set here to 395 MHz to + // accommodate real-world use cases (e.g. TinyGS satellites, radiosondes) while + // adding a small margin below the 400 MHz practical limit. + if(!(((freq >= 137.0f) && (freq <= 175.0f)) || + ((freq >= 395.0f) && (freq <= 525.0f)))) { + return(RADIOLIB_ERR_INVALID_FREQUENCY); + } // set frequency and if successful, save the new setting int16_t state = SX127x::setFrequencyRaw(freq); @@ -102,25 +109,25 @@ int16_t SX1278::setBandwidth(float bw) { uint8_t newBandwidth; // check allowed bandwidth values - if(fabsf(bw - 7.8) <= 0.001) { + if(fabsf(bw - 7.8f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_7_80_KHZ; - } else if(fabsf(bw - 10.4) <= 0.001) { + } else if(fabsf(bw - 10.4f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_10_40_KHZ; - } else if(fabsf(bw - 15.6) <= 0.001) { + } else if(fabsf(bw - 15.6f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_15_60_KHZ; - } else if(fabsf(bw - 20.8) <= 0.001) { + } else if(fabsf(bw - 20.8f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_20_80_KHZ; - } else if(fabsf(bw - 31.25) <= 0.001) { + } else if(fabsf(bw - 31.25f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_31_25_KHZ; - } else if(fabsf(bw - 41.7) <= 0.001) { + } else if(fabsf(bw - 41.7f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_41_70_KHZ; - } else if(fabsf(bw - 62.5) <= 0.001) { + } else if(fabsf(bw - 62.5f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_62_50_KHZ; - } else if(fabsf(bw - 125.0) <= 0.001) { + } else if(fabsf(bw - 125.0f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_125_00_KHZ; - } else if(fabsf(bw - 250.0) <= 0.001) { + } else if(fabsf(bw - 250.0f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_250_00_KHZ; - } else if(fabsf(bw - 500.0) <= 0.001) { + } else if(fabsf(bw - 500.0f) <= 0.001f) { newBandwidth = RADIOLIB_SX1278_BW_500_00_KHZ; } else { return(RADIOLIB_ERR_INVALID_BANDWIDTH); @@ -135,9 +142,11 @@ int16_t SX1278::setBandwidth(float bw) { if(this->ldroAuto) { float symbolLength = (float)(uint32_t(1) << SX127x::spreadingFactor) / (float)SX127x::bandwidth; Module* mod = this->getMod(); - if(symbolLength >= 16.0) { + if(symbolLength >= 16.0f) { + this->ldroEnabled = true; state = mod->SPIsetRegValue(RADIOLIB_SX1278_REG_MODEM_CONFIG_3, RADIOLIB_SX1278_LOW_DATA_RATE_OPT_ON, 3, 3); } else { + this->ldroEnabled = false; state = mod->SPIsetRegValue(RADIOLIB_SX1278_REG_MODEM_CONFIG_3, RADIOLIB_SX1278_LOW_DATA_RATE_OPT_OFF, 3, 3); } } @@ -189,7 +198,7 @@ int16_t SX1278::setSpreadingFactor(uint8_t sf) { if(this->ldroAuto) { float symbolLength = (float)(uint32_t(1) << SX127x::spreadingFactor) / (float)SX127x::bandwidth; Module* mod = this->getMod(); - if(symbolLength >= 16.0) { + if(symbolLength >= 16.0f) { state = mod->SPIsetRegValue(RADIOLIB_SX1278_REG_MODEM_CONFIG_3, RADIOLIB_SX1278_LOW_DATA_RATE_OPT_ON, 3, 3); } else { state = mod->SPIsetRegValue(RADIOLIB_SX1278_REG_MODEM_CONFIG_3, RADIOLIB_SX1278_LOW_DATA_RATE_OPT_OFF, 3, 3); @@ -209,6 +218,9 @@ int16_t SX1278::setCodingRate(uint8_t cr) { // check allowed coding rate values switch(cr) { + case 4: + newCodingRate = RADIOLIB_SX1278_CR_4_4; + break; case 5: newCodingRate = RADIOLIB_SX1278_CR_4_5; break; @@ -237,12 +249,26 @@ int16_t SX1278::setBitRate(float br) { return(SX127x::setBitRateCommon(br, RADIOLIB_SX1278_REG_BIT_RATE_FRAC)); } -int16_t SX1278::setDataRate(DataRate_t dr) { - int16_t state = RADIOLIB_ERR_UNKNOWN; +int16_t SX1278::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); - // select interpretation based on active modem - uint8_t modem = this->getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { // set the bit rate state = this->setBitRate(dr.fsk.bitRate); RADIOLIB_ASSERT(state); @@ -250,7 +276,7 @@ int16_t SX1278::setDataRate(DataRate_t dr) { // set the frequency deviation state = this->setFrequencyDeviation(dr.fsk.freqDev); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { // set the spreading factor state = this->setSpreadingFactor(dr.lora.spreadingFactor); RADIOLIB_ASSERT(state); @@ -266,22 +292,27 @@ int16_t SX1278::setDataRate(DataRate_t dr) { return(state); } -int16_t SX1278::checkDataRate(DataRate_t dr) { +int16_t SX1278::checkDataRate(DataRate_t dr, ModemType_t modem) { int16_t state = RADIOLIB_ERR_UNKNOWN; - // select interpretation based on active modem - int16_t modem = getActiveModem(); - if(modem == RADIOLIB_SX127X_FSK_OOK) { - RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); - if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0 <= 250.0) && (dr.fsk.freqDev <= 200.0))) { + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 0.5f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + if(!((dr.fsk.freqDev + dr.fsk.bitRate/2.0f <= 250.0f) && (dr.fsk.freqDev <= 200.0f))) { return(RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); } return(RADIOLIB_ERR_NONE); - } else if(modem == RADIOLIB_SX127X_LORA) { + } else if(modem == RADIOLIB_MODEM_LORA) { RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 6, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); - RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0, 510.0, RADIOLIB_ERR_INVALID_BANDWIDTH); - RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 0.0f, 510.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); return(RADIOLIB_ERR_NONE); } @@ -293,8 +324,9 @@ int16_t SX1278::setOutputPower(int8_t power) { return(this->setOutputPower(power, false)); } -int16_t SX1278::setOutputPower(int8_t power, bool useRfo) { +int16_t SX1278::setOutputPower(int8_t power, bool forceRfo) { // check if power value is configurable + bool useRfo = (power < 2) || forceRfo; int16_t state = checkOutputPower(power, NULL, useRfo); RADIOLIB_ASSERT(state); @@ -344,9 +376,9 @@ int16_t SX1278::checkOutputPower(int8_t power, int8_t* clipped, bool useRfo) { if(useRfo) { // RFO output if(clipped) { - *clipped = RADIOLIB_MAX(-3, RADIOLIB_MIN(15, power)); + *clipped = RADIOLIB_MAX(-4, RADIOLIB_MIN(15, power)); } - RADIOLIB_CHECK_RANGE(power, -3, 15, RADIOLIB_ERR_INVALID_OUTPUT_POWER); + RADIOLIB_CHECK_RANGE(power, -4, 15, RADIOLIB_ERR_INVALID_OUTPUT_POWER); } else { // PA_BOOST output, check high-power operation if(clipped) { @@ -476,7 +508,7 @@ float SX1278::getRSSI() { float SX1278::getRSSI(bool packet, bool skipReceive) { int16_t offset = -157; - if(frequency < 868.0) { + if(frequency < 868.0f) { offset = -164; } return(SX127x::getRSSI(packet, skipReceive, offset)); @@ -518,6 +550,7 @@ int16_t SX1278::forceLDRO(bool enable) { Module* mod = this->getMod(); this->ldroAuto = false; + this->ldroEnabled = enable; if(enable) { return(mod->SPIsetRegValue(RADIOLIB_SX1278_REG_MODEM_CONFIG_3, RADIOLIB_SX1278_LOW_DATA_RATE_OPT_ON, 3, 3)); } else { @@ -606,11 +639,11 @@ void SX1278::errataFix(bool rx) { // sensitivity optimization for 500kHz bandwidth // see SX1276/77/78 Errata, section 2.1 for details Module* mod = this->getMod(); - if(fabsf(SX127x::bandwidth - 500.0) <= 0.001) { - if((frequency >= 862.0) && (frequency <= 1020.0)) { + if(fabsf(SX127x::bandwidth - 500.0f) <= 0.001f) { + if((frequency >= 862.0f) && (frequency <= 1020.0f)) { mod->SPIwriteRegister(0x36, 0x02); mod->SPIwriteRegister(0x3a, 0x64); - } else if((frequency >= 410.0) && (frequency <= 525.0)) { + } else if((frequency >= 410.0f) && (frequency <= 525.0f)) { mod->SPIwriteRegister(0x36, 0x02); mod->SPIwriteRegister(0x3a, 0x7F); } @@ -622,49 +655,49 @@ void SX1278::errataFix(bool rx) { // figure out what we need to set uint8_t fixedRegs[3] = { 0x00, 0x00, 0x00 }; float rxFreq = frequency; - if(fabsf(SX127x::bandwidth - 7.8) <= 0.001) { + if(fabsf(SX127x::bandwidth - 7.8f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x48; fixedRegs[2] = 0x00; - rxFreq += 0.00781; - } else if(fabsf(SX127x::bandwidth - 10.4) <= 0.001) { + rxFreq += 0.00781f; + } else if(fabsf(SX127x::bandwidth - 10.4f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x44; fixedRegs[2] = 0x00; - rxFreq += 0.01042; - } else if(fabsf(SX127x::bandwidth - 15.6) <= 0.001) { + rxFreq += 0.01042f; + } else if(fabsf(SX127x::bandwidth - 15.6f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x44; fixedRegs[2] = 0x00; - rxFreq += 0.01562; - } else if(fabsf(SX127x::bandwidth - 20.8) <= 0.001) { + rxFreq += 0.01562f; + } else if(fabsf(SX127x::bandwidth - 20.8f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x44; fixedRegs[2] = 0x00; - rxFreq += 0.02083; - } else if(fabsf(SX127x::bandwidth - 31.25) <= 0.001) { + rxFreq += 0.02083f; + } else if(fabsf(SX127x::bandwidth - 31.25f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x44; fixedRegs[2] = 0x00; - rxFreq += 0.03125; - } else if(fabsf(SX127x::bandwidth - 41.7) <= 0.001) { + rxFreq += 0.03125f; + } else if(fabsf(SX127x::bandwidth - 41.7f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x44; fixedRegs[2] = 0x00; - rxFreq += 0.04167; - } else if(fabsf(SX127x::bandwidth - 62.5) <= 0.001) { + rxFreq += 0.04167f; + } else if(fabsf(SX127x::bandwidth - 62.5f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x40; fixedRegs[2] = 0x00; - } else if(fabsf(SX127x::bandwidth - 125.0) <= 0.001) { + } else if(fabsf(SX127x::bandwidth - 125.0f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x40; fixedRegs[2] = 0x00; - } else if(fabsf(SX127x::bandwidth - 250.0) <= 0.001) { + } else if(fabsf(SX127x::bandwidth - 250.0f) <= 0.001f) { fixedRegs[0] = 0b00000000; fixedRegs[1] = 0x40; fixedRegs[2] = 0x00; - } else if(fabsf(SX127x::bandwidth - 500.0) <= 0.001) { + } else if(fabsf(SX127x::bandwidth - 500.0f) <= 0.001f) { fixedRegs[0] = 0b10000000; fixedRegs[1] = mod->SPIreadRegister(0x2F); fixedRegs[2] = mod->SPIreadRegister(0x30); diff --git a/lib/RadioLib/src/modules/SX127x/SX1278.h b/lib/RadioLib/src/modules/SX127x/SX1278.h index 1fadf64..600283f 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1278.h +++ b/lib/RadioLib/src/modules/SX127x/SX1278.h @@ -49,7 +49,8 @@ #define RADIOLIB_SX1278_BW_125_00_KHZ 0b01110000 // 7 4 125.00 kHz #define RADIOLIB_SX1278_BW_250_00_KHZ 0b10000000 // 7 4 250.00 kHz #define RADIOLIB_SX1278_BW_500_00_KHZ 0b10010000 // 7 4 500.00 kHz -#define RADIOLIB_SX1278_CR_4_5 0b00000010 // 3 1 error coding rate: 4/5 +#define RADIOLIB_SX1278_CR_4_4 0b00000000 // 3 1 error coding rate: 4/4 (undocumented) +#define RADIOLIB_SX1278_CR_4_5 0b00000010 // 3 1 4/5 #define RADIOLIB_SX1278_CR_4_6 0b00000100 // 3 1 4/6 #define RADIOLIB_SX1278_CR_4_7 0b00000110 // 3 1 4/7 #define RADIOLIB_SX1278_CR_4_8 0b00001000 // 3 1 4/8 @@ -118,9 +119,10 @@ class SX1278: public SX127x { /*! \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 137.0 MHz to 525.0 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 bw %LoRa link bandwidth in kHz. Allowed values are 7.8, 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 cr %LoRa link coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \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 preambleLength Length of %LoRa transmission preamble in symbols. The actual preamble length is 4.25 symbols longer than the set number. @@ -129,7 +131,7 @@ class SX1278: public SX127x { Set to 0 to enable automatic gain control (recommended). \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); + virtual int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); /*! \brief FSK modem initialization method. Must be called at least once from Arduino sketch to initialize the module. @@ -143,7 +145,7 @@ class SX1278: public SX127x { \param enableOOK Use OOK modulation instead of FSK. \returns \ref status_codes */ - int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false); + virtual int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false); /*! \brief Reset method. Will reset the chip to the default state using RST pin. @@ -153,14 +155,14 @@ class SX1278: public SX127x { // configuration methods /*! - \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 525.0 MHz. + \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 175.0 MHz and 395.0 to 525.0 MHz (datasheet minimum is 410.0 MHz, hardware works lower). \param freq Carrier frequency to be set in MHz. \returns \ref status_codes */ int16_t setFrequency(float freq) override; /*! - \brief Sets %LoRa link bandwidth. Allowed values are 10.4, 15.6, 20.8, 31.25, 41.7, 62.5, 125, 250 and 500 kHz. Only available in %LoRa mode. + \brief Sets %LoRa link bandwidth. Allowed values are 7.8, 10.4, 15.6, 20.8, 31.25, 41.7, 62.5, 125, 250 and 500 kHz. Only available in %LoRa mode. \param bw %LoRa link bandwidth to be set in kHz. \returns \ref status_codes */ @@ -171,10 +173,11 @@ class SX1278: public SX127x { \param sf %LoRa link spreading factor to be set. \returns \ref status_codes */ - int16_t setSpreadingFactor(uint8_t sf); + virtual int16_t setSpreadingFactor(uint8_t sf); /*! - \brief Sets %LoRa link coding rate denominator. Allowed values range from 5 to 8. Only available in %LoRa mode. + \brief Sets %LoRa link coding rate denominator. Allowed values range from 4 to 8. Only available in %LoRa mode. + Note that a value of 4 means no coding, is undocumented and not recommended without your own FEC. \param cr %LoRa link coding rate denominator to be set. \returns \ref status_codes */ @@ -188,21 +191,25 @@ class SX1278: public SX127x { int16_t setBitRate(float br) override; /*! - \brief Set data. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \brief Set data rate. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Check the data rate can be configured by this module. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK or LoRa). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - int16_t checkDataRate(DataRate_t dr) override; + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! - \brief Sets transmission output power. Allowed values range from -3 to 15 dBm (RFO pin) or +2 to +17 dBm (PA_BOOST pin). + \brief Sets transmission output power. Allowed values range from -4 to 15 dBm (RFO pin) or +2 to +17 dBm (PA_BOOST pin). High power +20 dBm operation is also supported, on the PA_BOOST pin. Defaults to PA_BOOST. \param power Transmission output power in dBm. \returns \ref status_codes @@ -210,13 +217,14 @@ class SX1278: public SX127x { int16_t setOutputPower(int8_t power) override; /*! - \brief Sets transmission output power. Allowed values range from -3 to 15 dBm (RFO pin) or +2 to +17 dBm (PA_BOOST pin). + \brief Sets transmission output power. Allowed values range from -4 to 15 dBm (RFO pin) or +2 to +17 dBm (PA_BOOST pin). High power +20 dBm operation is also supported, on the PA_BOOST pin. \param power Transmission output power in dBm. - \param useRfo Whether to use the RFO (true) or the PA_BOOST (false) pin for the RF output. + \param forceRfo Whether to force using the RFO pin for the RF output (true) + or to leave the selection up to user (false) based on power output. \returns \ref status_codes */ - int16_t setOutputPower(int8_t power, bool useRfo); + int16_t setOutputPower(int8_t power, bool forceRfo); /*! \brief Check if output power is configurable. @@ -262,14 +270,14 @@ class SX1278: public SX127x { int16_t setDataShapingOOK(uint8_t sh); /*! - \brief Gets recorded signal strength indicator. + \brief Gets received signal strength indicator. Overload with packet mode enabled for PhysicalLayer compatibility. \returns RSSI value in dBm. */ float getRSSI() override; /*! - \brief Gets recorded signal strength indicator. + \brief Gets received signal strength indicator. \param packet Whether to read last packet RSSI, or the current value. LoRa mode only, ignored for FSK. \param skipReceive Set to true to skip putting radio in receive mode for the RSSI measurement in FSK/OOK mode. \returns RSSI value in dBm. @@ -329,15 +337,9 @@ class SX1278: public SX127x { int16_t setSpreadingFactorRaw(uint8_t newSpreadingFactor); int16_t setCodingRateRaw(uint8_t newCodingRate); - int16_t configFSK(); + int16_t configFSK() override; void errataFix(bool rx) override; -#if !RADIOLIB_GODMODE - private: -#endif - bool ldroAuto = true; - bool ldroEnabled = false; - }; /*! diff --git a/lib/RadioLib/src/modules/SX127x/SX1279.cpp b/lib/RadioLib/src/modules/SX127x/SX1279.cpp index a91273f..e356f62 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1279.cpp +++ b/lib/RadioLib/src/modules/SX127x/SX1279.cpp @@ -7,7 +7,7 @@ SX1279::SX1279(Module* mod) : SX1278(mod) { int16_t SX1279::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t power, uint16_t preambleLength, uint8_t gain) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::begin(versions, 3, syncWord, preambleLength); RADIOLIB_ASSERT(state); @@ -39,7 +39,7 @@ int16_t SX1279::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t sync int16_t SX1279::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t power, uint16_t preambleLength, bool enableOOK) { // execute common part - uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; + const uint8_t versions[] = { RADIOLIB_SX1278_CHIP_VERSION, RADIOLIB_SX1278_CHIP_VERSION_ALT, RADIOLIB_SX1278_CHIP_VERSION_RFM9X }; int16_t state = SX127x::beginFSK(versions, 3, freqDev, rxBw, preambleLength, enableOOK); RADIOLIB_ASSERT(state); @@ -69,7 +69,15 @@ int16_t SX1279::beginFSK(float freq, float br, float freqDev, float rxBw, int8_t } int16_t SX1279::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 137.0, 960.0, RADIOLIB_ERR_INVALID_FREQUENCY); + // NOTE: The datasheet specifies Band 2 as 410-480 MHz, but the hardware has been + // verified to work down to ~395 MHz. The lower bound is set here to 395 MHz to + // accommodate real-world use cases (e.g. TinyGS satellites, radiosondes) while + // adding a small margin below the 400 MHz practical limit. + if(!(((freq >= 137.0f) && (freq <= 160.0f)) || + ((freq >= 395.0f) && (freq <= 480.0f)) || + ((freq >= 779.0f) && (freq <= 960.0f)))) { + return(RADIOLIB_ERR_INVALID_FREQUENCY); + } // set frequency and if successful, save the new setting int16_t state = SX127x::setFrequencyRaw(freq); diff --git a/lib/RadioLib/src/modules/SX127x/SX1279.h b/lib/RadioLib/src/modules/SX127x/SX1279.h index 865b1b2..467807f 100644 --- a/lib/RadioLib/src/modules/SX127x/SX1279.h +++ b/lib/RadioLib/src/modules/SX127x/SX1279.h @@ -27,9 +27,10 @@ class SX1279: public SX1278 { /*! \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 137.0 MHz to 960.0 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 bw %LoRa link bandwidth in kHz. Allowed values are 7.8, 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 cr %LoRa link coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \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 preambleLength Length of %LoRa transmission preamble in symbols. The actual preamble length is 4.25 symbols longer than the set number. @@ -38,7 +39,7 @@ class SX1279: public SX1278 { Set to 0 to enable automatic gain control (recommended). \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0); + int16_t begin(float freq = 434.0, float bw = 125.0, uint8_t sf = 9, uint8_t cr = 7, uint8_t syncWord = RADIOLIB_SX127X_SYNC_WORD, int8_t power = 10, uint16_t preambleLength = 8, uint8_t gain = 0) override; /*! \brief FSK modem initialization method. Must be called at least once from Arduino sketch to initialize the module. @@ -52,12 +53,12 @@ class SX1279: public SX1278 { \param enableOOK Use OOK modulation instead of FSK. \returns \ref status_codes */ - int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false); + int16_t beginFSK(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 125.0, int8_t power = 10, uint16_t preambleLength = 16, bool enableOOK = false) override; // configuration methods /*! - \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 960.0 MHz. + \brief Sets carrier frequency. Allowed values range from 137.0 MHz to 160.0 MHz, 395.0 to 480.0 MHz (datasheet minimum is 410.0 MHz, hardware works lower) and 779.0 to 960 MHz. \param freq Carrier frequency to be set in MHz. \returns \ref status_codes */ diff --git a/lib/RadioLib/src/modules/SX127x/SX127x.cpp b/lib/RadioLib/src/modules/SX127x/SX127x.cpp index 9774b3a..19a3ff9 100644 --- a/lib/RadioLib/src/modules/SX127x/SX127x.cpp +++ b/lib/RadioLib/src/modules/SX127x/SX127x.cpp @@ -2,11 +2,13 @@ #include #if !RADIOLIB_EXCLUDE_SX127X -SX127x::SX127x(Module* mod) : PhysicalLayer(RADIOLIB_SX127X_FREQUENCY_STEP_SIZE, RADIOLIB_SX127X_MAX_PACKET_LENGTH) { +SX127x::SX127x(Module* mod) : PhysicalLayer() { + this->freqStep = RADIOLIB_SX127X_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_SX127X_MAX_PACKET_LENGTH; this->mod = mod; } -int16_t SX127x::begin(uint8_t* chipVersions, uint8_t numVersions, uint8_t syncWord, uint16_t preambleLength) { +int16_t SX127x::begin(const uint8_t* chipVersions, uint8_t numVersions, uint8_t syncWord, uint16_t preambleLength) { // set module properties this->mod->init(); this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); @@ -63,13 +65,10 @@ int16_t SX127x::begin(uint8_t* chipVersions, uint8_t numVersions, uint8_t syncWo state = SX127x::invertIQ(false); RADIOLIB_ASSERT(state); - // initialize internal variables - this->dataRate = 0.0; - return(state); } -int16_t SX127x::beginFSK(uint8_t* chipVersions, uint8_t numVersions, float freqDev, float rxBw, uint16_t preambleLength, bool enableOOK) { +int16_t SX127x::beginFSK(const uint8_t* chipVersions, uint8_t numVersions, float freqDev, float rxBw, uint16_t preambleLength, bool enableOOK) { // set module properties this->mod->init(); this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); @@ -202,78 +201,69 @@ int16_t SX127x::transmit(const uint8_t* data, size_t len, uint8_t addr) { } } - // update data rate - RadioLibTime_t elapsed = this->mod->hal->millis() - start; - this->dataRate = (len*8.0)/((float)elapsed/1000.0); - return(finishTransmit()); } -int16_t SX127x::receive(uint8_t* data, size_t len) { +int16_t SX127x::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { // set mode to standby int16_t state = setMode(RADIOLIB_SX127X_STANDBY); RADIOLIB_ASSERT(state); - int16_t modem = getActiveModem(); - if(modem == RADIOLIB_SX127X_LORA) { - // set mode to receive - state = startReceive(100, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, len); - RADIOLIB_ASSERT(state); + // calculate timeout based on the configured modem + RadioLibTime_t timeoutInternal = timeout; + uint32_t timeoutValue = 0; + if(!timeoutInternal) { + // calculate timeout (500 % of expected time-one-air) + size_t maxLen = len; + if(len == 0) { maxLen = RADIOLIB_SX127X_MAX_PACKET_LENGTH; } + timeoutInternal = (getTimeOnAir(maxLen) * 5) / 1000; - // if no DIO1 is provided, use software timeout (100 LoRa symbols, same as hardware timeout) - RadioLibTime_t timeout = 0; - if(this->mod->getGpio() == RADIOLIB_NC) { - float symbolLength = (float) (uint32_t(1) << this->spreadingFactor) / (float) this->bandwidth; - timeout = (RadioLibTime_t)(symbolLength * 100.0); - } + // convert to symbols + float symbolLength = (float)(uint32_t(1) << this->spreadingFactor) / (float) this->bandwidth; + timeoutValue = (float)timeoutInternal / symbolLength; + } - // wait for packet reception or timeout - RadioLibTime_t start = this->mod->hal->millis(); - while(!this->mod->hal->digitalRead(this->mod->getIrq())) { - this->mod->hal->yield(); + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", timeoutInternal); - if(this->mod->getGpio() == RADIOLIB_NC) { - // no GPIO pin provided, use software timeout - if(this->mod->hal->millis() - start > timeout) { - clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); - return(RADIOLIB_ERR_RX_TIMEOUT); - } - } else { - // GPIO provided, use that - if(this->mod->hal->digitalRead(this->mod->getGpio())) { - clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); - return(RADIOLIB_ERR_RX_TIMEOUT); - } - } + // start reception + state = startReceive(timeoutValue, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, len); + RADIOLIB_ASSERT(state); - } - - } else if(modem == RADIOLIB_SX127X_FSK_OOK) { - // calculate timeout in ms (500 % of expected time-on-air) - RadioLibTime_t timeout = (getTimeOnAir(len) * 5) / 1000; - - // set mode to receive - state = startReceive(0, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, len); - RADIOLIB_ASSERT(state); - - // wait for packet reception or timeout - RadioLibTime_t start = this->mod->hal->millis(); - while(!this->mod->hal->digitalRead(this->mod->getIrq())) { - this->mod->hal->yield(); - if(this->mod->hal->millis() - start > timeout) { - clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); - return(RADIOLIB_ERR_RX_TIMEOUT); - } + // wait for packet reception or timeout + bool softTimeout = false; + RadioLibTime_t start = this->mod->hal->millis(); + while(!this->mod->hal->digitalRead(this->mod->getIrq())) { + this->mod->hal->yield(); + // check the blocking timeout + if(this->mod->hal->millis() - start > timeoutInternal) { + softTimeout = true; + break; } } - // read the received data - state = readData(data, len); + // check whether this was a timeout or not + if(softTimeout || (getIRQFlags() & this->irqMap[RADIOLIB_IRQ_TIMEOUT])) { + (void)finishReceive(); + return(RADIOLIB_ERR_RX_TIMEOUT); + } - return(state); + // read the received data + return(readData(data, len)); +} + +void SX127x::reset() { + // should be implemented in derived class } int16_t SX127x::scanChannel() { + // the configuration is not actually used + const ChannelScanConfig_t cfg = { .rssi = { .limit = 0 } }; + return(scanChannel(cfg)); +} + +int16_t SX127x::scanChannel(const ChannelScanConfig_t &config) { + (void)config; + // start CAD int16_t state = startChannelScan(); RADIOLIB_ASSERT(state); @@ -294,7 +284,12 @@ int16_t SX127x::sleep() { this->mod->setRfSwitchState(Module::MODE_IDLE); // set mode to sleep - return(setMode(RADIOLIB_SX127X_SLEEP)); + int16_t state = setMode(RADIOLIB_SX127X_SLEEP); + + // wait for SX127x to safely enter sleep mode + this->mod->hal->delay(1); + + return(state); } int16_t SX127x::standby() { @@ -389,67 +384,6 @@ int16_t SX127x::startReceive() { return(this->startReceive(0, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, 0)); } -int16_t SX127x::startReceive(uint32_t timeout, RadioLibIrqFlags_t irqFlags, RadioLibIrqFlags_t irqMask, size_t len) { - uint8_t mode = RADIOLIB_SX127X_RXCONTINUOUS; - - // set mode to standby - int16_t state = setMode(RADIOLIB_SX127X_STANDBY); - RADIOLIB_ASSERT(state); - - // set DIO pin mapping - state = this->setIrqFlags(getIrqMapped(irqFlags & irqMask)); - RADIOLIB_ASSERT(state); - - int16_t modem = getActiveModem(); - if(modem == RADIOLIB_SX127X_LORA) { - if(timeout != 0) { - // for non-zero timeout value, change mode to Rx single and set the timeout - mode = RADIOLIB_SX127X_RXSINGLE; - uint8_t msb_sym = (timeout > 0x3FF) ? 0x3 : (uint8_t)(timeout >> 8); - uint8_t lsb_sym = (timeout > 0x3FF) ? 0xFF : (uint8_t)(timeout & 0xFF); - state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_2, msb_sym, 1, 0); - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_SYMB_TIMEOUT_LSB, lsb_sym); - RADIOLIB_ASSERT(state); - } - - // in FHSS mode, enable channel change interrupt - if(this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_HOP_PERIOD) > RADIOLIB_SX127X_HOP_PERIOD_OFF) { - state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO1_LORA_FHSS_CHANGE_CHANNEL, 5, 4); - } - - // in implicit header mode, use the provided length if it is nonzero - // otherwise we trust the user has previously set the payload length manually - if((this->implicitHdr) && (len != 0)) { - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH, len); - this->packetLength = len; - } - - // apply fixes to errata - RADIOLIB_ERRATA_SX127X(true); - - // clear interrupt flags - clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); - - // set FIFO pointers - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_RX_BASE_ADDR, RADIOLIB_SX127X_FIFO_RX_BASE_ADDR_MAX); - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_ADDR_PTR, RADIOLIB_SX127X_FIFO_RX_BASE_ADDR_MAX); - RADIOLIB_ASSERT(state); - - } else if(modem == RADIOLIB_SX127X_FSK_OOK) { - // clear interrupt flags - clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); - - // FSK modem does not distinguish between Rx single and continuous - mode = RADIOLIB_SX127X_RX; - } - - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_RX); - - // set mode to receive - return(setMode(mode)); -} - void SX127x::setDio0Action(void (*func)(void), uint32_t dir) { this->mod->hal->attachInterrupt(this->mod->hal->pinToInterrupt(this->mod->getIrq()), func, dir); } @@ -523,6 +457,11 @@ void SX127x::clearFifoFullAction() { this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, 0x00, 5, 4); } +void SX127x::errataFix(bool rx) { + (void)rx; + // should be implemented in derived class +} + bool SX127x::fifoAdd(uint8_t* data, int totalLen, int* remLen) { // subtract first (this may be the first time we get to modify the remaining length) *remLen -= RADIOLIB_SX127X_FIFO_THRESH - 1; @@ -548,7 +487,7 @@ bool SX127x::fifoAdd(uint8_t* data, int totalLen, int* remLen) { bool SX127x::fifoGet(volatile uint8_t* data, int totalLen, volatile int* rcvLen) { // get pointer to the correct position in data buffer - uint8_t* dataPtr = (uint8_t*)&data[*rcvLen]; + uint8_t* dataPtr = const_cast(&data[*rcvLen]); // check how much data are we still expecting uint8_t len = RADIOLIB_SX127X_FIFO_THRESH - 1; @@ -568,80 +507,6 @@ bool SX127x::fifoGet(volatile uint8_t* data, int totalLen, volatile int* rcvLen) return(false); } -int16_t SX127x::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { - // set mode to standby - int16_t state = setMode(RADIOLIB_SX127X_STANDBY); - - int16_t modem = getActiveModem(); - if(modem == RADIOLIB_SX127X_LORA) { - // check packet length - if(len > RADIOLIB_SX127X_MAX_PACKET_LENGTH) { - return(RADIOLIB_ERR_PACKET_TOO_LONG); - } - - // set DIO mapping - if(this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_HOP_PERIOD) > RADIOLIB_SX127X_HOP_PERIOD_OFF) { - this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO0_LORA_TX_DONE | RADIOLIB_SX127X_DIO1_LORA_FHSS_CHANGE_CHANNEL, 7, 4); - } else { - this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO0_LORA_TX_DONE, 7, 6); - } - - // apply fixes to errata - RADIOLIB_ERRATA_SX127X(false); - - // clear interrupt flags - clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); - - // set packet length - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH, len); - - // set FIFO pointers - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_TX_BASE_ADDR, RADIOLIB_SX127X_FIFO_TX_BASE_ADDR_MAX); - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_ADDR_PTR, RADIOLIB_SX127X_FIFO_TX_BASE_ADDR_MAX); - - } else if(modem == RADIOLIB_SX127X_FSK_OOK) { - // clear interrupt flags - clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); - - // set DIO mapping - if(len > RADIOLIB_SX127X_MAX_PACKET_LENGTH_FSK) { - this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO1_PACK_FIFO_EMPTY, 5, 4); - } else { - this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO0_PACK_PACKET_SENT, 7, 6); - } - - // set packet length - increased by 1 when address filter is enabled - uint8_t filter = this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PACKET_CONFIG_1, 2, 1); - if(this->packetLengthConfig == RADIOLIB_SX127X_PACKET_VARIABLE) { - if((filter == RADIOLIB_SX127X_ADDRESS_FILTERING_NODE) || (filter == RADIOLIB_SX127X_ADDRESS_FILTERING_NODE_BROADCAST)) { - this->mod->SPIwriteRegister(RADIOLIB_SX127X_REG_FIFO, len + 1); - this->mod->SPIwriteRegister(RADIOLIB_SX127X_REG_FIFO, addr); - } else { - this->mod->SPIwriteRegister(RADIOLIB_SX127X_REG_FIFO, len); - } - - } - - } - - // write packet to FIFO - size_t packetLen = len; - if((modem == RADIOLIB_SX127X_FSK_OOK) && (len > RADIOLIB_SX127X_MAX_PACKET_LENGTH_FSK)) { - packetLen = RADIOLIB_SX127X_FIFO_THRESH - 1; - this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_THRESH, RADIOLIB_SX127X_TX_START_FIFO_NOT_EMPTY, 7, 7); - } - this->mod->SPIwriteRegisterBurst(RADIOLIB_SX127X_REG_FIFO, const_cast(data), packetLen); - - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_TX); - - // start transmission - state |= setMode(RADIOLIB_SX127X_TX); - RADIOLIB_ASSERT(state); - - return(RADIOLIB_ERR_NONE); -} - int16_t SX127x::finishTransmit() { // wait for at least 1 bit at the lowest possible bit rate before clearing IRQ flags // not doing this and clearing RADIOLIB_SX127X_FLAG_FIFO_OVERRUN will dump the FIFO, @@ -711,7 +576,24 @@ int16_t SX127x::readData(uint8_t* data, size_t len) { return(state); } +int16_t SX127x::finishReceive() { + // set mode to standby to disable RF switch + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + return(clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL)); +} + int16_t SX127x::startChannelScan() { + // the configuration is not actually used + const ChannelScanConfig_t cfg = { .rssi = { .limit = 0 } }; + return(startChannelScan(cfg)); +} + +int16_t SX127x::startChannelScan(const ChannelScanConfig_t &config) { + (void)config; + // check active modem if(getActiveModem() != RADIOLIB_SX127X_LORA) { return(RADIOLIB_ERR_WRONG_MODEM); @@ -844,14 +726,14 @@ float SX127x::getFrequencyError(bool autoCorrect) { // frequency error is negative raw |= (uint32_t)0xFFF00000; raw = ~raw + 1; - error = (((float)raw * (float)base)/32000000.0) * (this->bandwidth/500.0) * -1.0; + error = (((float)raw * (float)base)/32000000.0f) * (this->bandwidth/500.0f) * -1.0f; } else { - error = (((float)raw * (float)base)/32000000.0) * (this->bandwidth/500.0); + error = (((float)raw * (float)base)/32000000.0f) * (this->bandwidth/500.0f); } if(autoCorrect) { // adjust LoRa modem data rate - float ppmOffset = 0.95 * (error/32.0); + float ppmOffset = 0.95f * (error/32.0f); this->mod->SPIwriteRegister(0x27, (uint8_t)ppmOffset); } @@ -870,9 +752,9 @@ float SX127x::getFrequencyError(bool autoCorrect) { // frequency error is negative raw |= (uint32_t)0xFFF00000; raw = ~raw + 1; - error = (float)raw * (32000000.0 / (float)(base << 19)) * -1.0; + error = (float)raw * (32000000.0f / (float)(base << 19)) * -1.0f; } else { - error = (float)raw * (32000000.0 / (float)(base << 19)); + error = (float)raw * (32000000.0f / (float)(base << 19)); } return(error); @@ -894,7 +776,7 @@ float SX127x::getAFCError() raw |= this->mod->SPIreadRegister(RADIOLIB_SX127X_REG_AFC_LSB); uint32_t base = 1; - return raw * (32000000.0 / (float)(base << 19)); + return raw * (32000000.0f / (float)(base << 19)); } float SX127x::getSNR() { @@ -908,10 +790,6 @@ float SX127x::getSNR() { return(rawSNR / 4.0); } -float SX127x::getDataRate() const { - return(this->dataRate); -} - int16_t SX127x::setBitRateCommon(float br, uint8_t fracRegAddr) { // check active modem if(getActiveModem() != RADIOLIB_SX127X_FSK_OOK) { @@ -921,9 +799,9 @@ int16_t SX127x::setBitRateCommon(float br, uint8_t fracRegAddr) { // check allowed bit rate // datasheet says 1.2 kbps should be the smallest possible, but 0.512 works fine if(ookEnabled) { - RADIOLIB_CHECK_RANGE(br, 0.5, 32.768002, RADIOLIB_ERR_INVALID_BIT_RATE); // Found that 32.768 is 32.768002 + RADIOLIB_CHECK_RANGE(br, 0.5f, 32.768002f, RADIOLIB_ERR_INVALID_BIT_RATE); // Found that 32.768 is 32.768002 } else { - RADIOLIB_CHECK_RANGE(br, 0.5, 300.0, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(br, 0.5f, 300.0f, RADIOLIB_ERR_INVALID_BIT_RATE); } // set mode to STANDBY @@ -931,13 +809,13 @@ int16_t SX127x::setBitRateCommon(float br, uint8_t fracRegAddr) { RADIOLIB_ASSERT(state); // set bit rate - uint16_t bitRateRaw = (RADIOLIB_SX127X_CRYSTAL_FREQ * 1000.0) / br; + uint16_t bitRateRaw = (RADIOLIB_SX127X_CRYSTAL_FREQ * 1000.0f) / br; state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_BITRATE_MSB, (bitRateRaw & 0xFF00) >> 8, 7, 0); state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_BITRATE_LSB, bitRateRaw & 0x00FF, 7, 0); // set fractional part of bit rate if(!ookEnabled) { - float bitRateRem = ((RADIOLIB_SX127X_CRYSTAL_FREQ * 1000.0) / (float)br) - (float)bitRateRaw; + float bitRateRem = ((RADIOLIB_SX127X_CRYSTAL_FREQ * 1000.0f) / br) - (float)bitRateRaw; uint8_t bitRateFrac = bitRateRem * 16; state |= this->mod->SPIsetRegValue(fracRegAddr, bitRateFrac, 7, 0); } @@ -956,15 +834,17 @@ int16_t SX127x::setFrequencyDeviation(float freqDev) { // set frequency deviation to lowest available setting (required for digimodes) float newFreqDev = freqDev; - if(freqDev < 0.0) { - newFreqDev = 0.6; + if(freqDev < 0.0f) { + newFreqDev = 0.6f; } // check frequency deviation range - if(!((newFreqDev + this->bitRate/2.0 <= 250.0) && (freqDev <= 200.0))) { + if(!((newFreqDev + this->bitRate/2.0f <= 250.0f) && (freqDev <= 200.0f))) { return(RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); } + this->frequencyDev = newFreqDev; + // set mode to STANDBY int16_t state = setMode(RADIOLIB_SX127X_STANDBY); RADIOLIB_ASSERT(state); @@ -981,8 +861,8 @@ uint8_t SX127x::calculateBWManExp(float bandwidth) { for(uint8_t e = 7; e >= 1; e--) { for(int8_t m = 2; m >= 0; m--) { - float point = (RADIOLIB_SX127X_CRYSTAL_FREQ * 1000000.0)/(((4 * m) + 16) * ((uint32_t)1 << (e + 2))); - if(fabsf(bandwidth - ((point / 1000.0) + 0.05)) <= 0.5) { + float point = (RADIOLIB_SX127X_CRYSTAL_FREQ * 1000000.0f)/(((4 * m) + 16) * ((uint32_t)1 << (e + 2))); + if(fabsf(bandwidth - ((point / 1000.0f) + 0.05f)) <= 0.5f) { return((m << 3) | e); } } @@ -996,7 +876,7 @@ int16_t SX127x::setRxBandwidth(float rxBw) { return(RADIOLIB_ERR_WRONG_MODEM); } - RADIOLIB_CHECK_RANGE(rxBw, 2.6, 250.0, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); + RADIOLIB_CHECK_RANGE(rxBw, 2.6f, 250.0f, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); // set mode to STANDBY int16_t state = setMode(RADIOLIB_SX127X_STANDBY); @@ -1012,7 +892,7 @@ int16_t SX127x::setAFCBandwidth(float rxBw) { return(RADIOLIB_ERR_WRONG_MODEM); } - RADIOLIB_CHECK_RANGE(rxBw, 2.6, 250.0, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); + RADIOLIB_CHECK_RANGE(rxBw, 2.6f, 250.0f, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); // set mode to STANDBY int16_t state = setMode(RADIOLIB_SX127X_STANDBY); @@ -1237,6 +1117,20 @@ size_t SX127x::getPacketLength(bool update) { return(this->packetLength); } +int16_t SX127x::getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC) { + int16_t state = RADIOLIB_ERR_NONE; + + // check if in explicit header mode + if(this->implicitHdr) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + if(cr) { *cr = this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_MODEM_STAT, 7, 5) >> 5; } + if(hasCRC) { *hasCRC = this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_HOP_CHANNEL, 6, 6) != 0; } + + return(state); +} + int16_t SX127x::fixedPacketLengthMode(uint8_t len) { return(SX127x::setPacketMode(RADIOLIB_SX127X_PACKET_FIXED, len)); } @@ -1245,75 +1139,115 @@ int16_t SX127x::variablePacketLengthMode(uint8_t maxLen) { return(SX127x::setPacketMode(RADIOLIB_SX127X_PACKET_VARIABLE, maxLen)); } -float SX127x::getNumSymbols(size_t len) { - // get symbol length in us - float symbolLength = (float) (uint32_t(1) << this->spreadingFactor) / (float) this->bandwidth; - +float SX127x::getNumSymbols(size_t len, DataRate_t dr, PacketConfig_t pc) { // get Low Data Rate optimization flag - float de = 0; - if (symbolLength >= 16.0) { - de = 1; - } + float de = pc.lora.ldrOptimize ? 1.0f : 0.0f; // get explicit/implicit header enabled flag - float ih = (float) this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, 0, 0); - + float ih = (float) pc.lora.implicitHeader; + // get CRC enabled flag - float crc = (float) (this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_2, 2, 2) >> 2); + float crc = (float) pc.lora.crcEnabled; // get number of preamble symbols - float n_pre = (float) ((this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_MSB) << 8) | this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_LSB)); + float n_pre = (float) pc.lora.preambleLength; // get number of payload symbols - float n_pay = 8.0 + RADIOLIB_MAX(ceilf((8.0 * (float) len - 4.0 * (float) this->spreadingFactor + 28.0 + 16.0 * crc - 20.0 * ih) / (4.0 * (float) this->spreadingFactor - 8.0 * de)) * (float) this->codingRate, 0.0); + float n_pay = 8.0f + RADIOLIB_MAX(ceilf((8.0f * (float) len - 4.0f * (float) dr.lora.spreadingFactor + 28.0f + 16.0f * crc - 20.0f * ih) / (4.0f * (float) dr.lora.spreadingFactor - 8.0f * de)) * (float) dr.lora.codingRate, 0.0f); // add 4.25 symbols for the sync return(n_pre + n_pay + 4.25f); } -RadioLibTime_t SX127x::getTimeOnAir(size_t len) { - // check active modem - uint8_t modem = getActiveModem(); - if (modem == RADIOLIB_SX127X_LORA) { +RadioLibTime_t SX127x::calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) { + if (modem == RADIOLIB_MODEM_LORA) { // get symbol length in us - float symbolLength = (float) (uint32_t(1) << this->spreadingFactor) / (float) this->bandwidth; + float symbolLength = (float) (uint32_t(1) << dr.lora.spreadingFactor) / (float) dr.lora.bandwidth; // get number of symbols - float n_sym = getNumSymbols(len); + float n_sym = getNumSymbols(len, dr, pc); // get time-on-air in us return ceil((double)symbolLength * (double)n_sym) * 1000; - } else if(modem == RADIOLIB_SX127X_FSK_OOK) { - // get number of bits preamble - float n_pre = (float) ((this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_MSB_FSK) << 8) | this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_LSB_FSK)) * 8; - // get the number of bits of the sync word - float n_syncWord = (float) (this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_SYNC_CONFIG, 2, 0) + 1) * 8; - // get CRC bits - float crc = (this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PACKET_CONFIG_1, 4, 4) == RADIOLIB_SX127X_CRC_ON) * 16; - - if (this->packetLengthConfig == RADIOLIB_SX127X_PACKET_FIXED) { - // if packet size fixed -> len = fixed packet length - len = this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH_FSK); - } else { - // if packet variable -> Add 1 extra byte for payload length - len += 1; - } - + } else if(modem == RADIOLIB_MODEM_FSK) { + // calculate time-on-air in us {[(length in bytes) * (8 bits / 1 byte)] / [(Bit Rate in kbps) * (1000 bps / 1 kbps)]} * (1000000 us in 1 sec) - return((uint32_t) (((crc + n_syncWord + n_pre + (float) (len * 8)) / (this->bitRate * 1000.0)) * 1000000.0)); + return((uint32_t) ((((float)(pc.fsk.crcLength * 8) + pc.fsk.syncWordLength + pc.fsk.preambleLength + (float) (len * 8)) / (dr.fsk.bitRate * 1000.0f)) * 1000000.0f)); + } else { + return(RADIOLIB_ERR_WRONG_MODEM); } return(RADIOLIB_ERR_UNKNOWN); } +RadioLibTime_t SX127x::getTimeOnAir(size_t len) { + uint8_t modem = getActiveModem(); + DataRate_t dr = {}; + PacketConfig_t pc = {}; + + switch (modem) { + case(RADIOLIB_SX127X_LORA): { + dr.lora.spreadingFactor = this->spreadingFactor; + dr.lora.bandwidth = this->bandwidth; + dr.lora.codingRate = this->codingRate; + + // Get number of preamble symbols + uint16_t n_pre = ((this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_MSB) << 8) | this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_LSB)); + + pc.lora.preambleLength = n_pre; + pc.lora.implicitHeader = this->implicitHdr; + pc.lora.crcEnabled = this->crcEnabled; + pc.lora.ldrOptimize = this->ldroEnabled; + + return(calculateTimeOnAir((ModemType_t)RADIOLIB_MODEM_LORA, dr, pc, len)); + } + case(RADIOLIB_SX127X_FSK_OOK): { + dr.fsk.bitRate = this->bitRate; + dr.fsk.freqDev = this->frequencyDev; + + // get number of bits preamble + uint16_t n_pre = (uint16_t) ((this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_MSB_FSK) << 8) | this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PREAMBLE_LSB_FSK)) * 8; + // get the number of bits of the sync word + uint8_t n_syncWord = (uint8_t) ((this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_SYNC_CONFIG, 2, 0) + 1) * 8); + // get CRC enabled status + bool crcEn = (this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PACKET_CONFIG_1, 4, 4) == RADIOLIB_SX127X_CRC_ON); + + pc.fsk.preambleLength = n_pre; + pc.fsk.syncWordLength = n_syncWord; + pc.fsk.crcLength = (uint8_t)(crcEn * 2); + + if (this->packetLengthConfig == RADIOLIB_SX127X_PACKET_FIXED) { + // if packet size fixed -> len = fixed packet length + len = this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH_FSK); + } else { + // if packet variable -> Add 1 extra byte for payload length + len += 1; + } + + return(calculateTimeOnAir((ModemType_t)RADIOLIB_MODEM_FSK, dr, pc, len)); + } + default: + return(RADIOLIB_ERR_WRONG_MODEM); + } +} + RadioLibTime_t SX127x::calculateRxTimeout(RadioLibTime_t timeoutUs) { - // the timeout is given as the number of symbols - // the calling function should provide some extra width, as this number of symbols is truncated to integer - // the order of operators is swapped here to decrease the effects of this truncation error - float symbolLength = (float) (uint32_t(1) << this->spreadingFactor) / (float) this->bandwidth; - RadioLibTime_t numSymbols = (timeoutUs / symbolLength) / 1000; - return(numSymbols); + RadioLibTime_t timeout = 0; + if(getActiveModem() == RADIOLIB_SX127X_LORA) { + // for LoRa, the timeout is given as the number of symbols + // the calling function should provide some extra width, as this number of symbols is truncated to integer + // the order of operators is swapped here to decrease the effects of this truncation error + float symbolLength = (float) (uint32_t(1) << this->spreadingFactor) / (float) this->bandwidth; + timeout = (timeoutUs / symbolLength) / 1000; + + } else { + // for FSK, the timeout is in units of 16x bit time + timeout = ((float)timeoutUs / ((16.0f * 1000.0f) / this->bitRate)); + + } + + return(timeout); } uint32_t SX127x::getIrqFlags() { @@ -1448,9 +1382,9 @@ int16_t SX127x::setCrcFiltering(bool enable) { } int16_t SX127x::setRSSIThreshold(float dbm) { - RADIOLIB_CHECK_RANGE(dbm, -127.5, 0, RADIOLIB_ERR_INVALID_RSSI_THRESHOLD); + RADIOLIB_CHECK_RANGE(dbm, -127.5f, 0.0f, RADIOLIB_ERR_INVALID_RSSI_THRESHOLD); - return this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_RSSI_THRESH, (uint8_t)(-2.0 * dbm), 7, 0); + return this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_RSSI_THRESH, (uint8_t)(-2.0f * dbm), 7, 0); } int16_t SX127x::setRSSIConfig(uint8_t smoothingSamples, int8_t offset) { @@ -1724,7 +1658,9 @@ int16_t SX127x::setActiveModem(uint8_t modem) { int16_t state = setMode(RADIOLIB_SX127X_SLEEP); // set modem - state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_OP_MODE, modem, 7, 7, 5); + // low frequency access (bit 3) automatically resets when switching modem + // so we exclude it from the check + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_OP_MODE, modem, 7, 7, 5, 0xF7); // set mode to STANDBY state |= setMode(RADIOLIB_SX127X_STANDBY); @@ -1776,6 +1712,170 @@ int16_t SX127x::getModem(ModemType_t* modem) { return(RADIOLIB_ERR_WRONG_MODEM); } +int16_t SX127x::stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) { + int16_t state; + + switch(mode) { + case(RADIOLIB_RADIO_MODE_RX): { + this->rxMode = RADIOLIB_SX127X_RXCONTINUOUS; + + // set mode to standby + state = setMode(RADIOLIB_SX127X_STANDBY); + RADIOLIB_ASSERT(state); + + // set DIO pin mapping + state = this->setIrqFlags(getIrqMapped(cfg->receive.irqFlags & cfg->receive.irqMask)); + RADIOLIB_ASSERT(state); + + int16_t modem = getActiveModem(); + if(modem == RADIOLIB_SX127X_LORA) { + // if max(uint32_t) is used, revert to RxContinuous + if(cfg->receive.timeout == 0xFFFFFFFF) { + cfg->receive.timeout = 0; + } + if(cfg->receive.timeout != 0) { + // for non-zero timeout value, change mode to Rx single and set the timeout + this->rxMode = RADIOLIB_SX127X_RXSINGLE; + uint8_t msb_sym = (cfg->receive.timeout > 0x3FF) ? 0x3 : (uint8_t)(cfg->receive.timeout >> 8); + uint8_t lsb_sym = (cfg->receive.timeout > 0x3FF) ? 0xFF : (uint8_t)(cfg->receive.timeout & 0xFF); + state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_2, msb_sym, 1, 0); + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_SYMB_TIMEOUT_LSB, lsb_sym); + RADIOLIB_ASSERT(state); + } + + // in FHSS mode, enable channel change interrupt + if(this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_HOP_PERIOD) > RADIOLIB_SX127X_HOP_PERIOD_OFF) { + state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO1_LORA_FHSS_CHANGE_CHANNEL, 5, 4); + } + + // in implicit header mode, use the provided length if it is nonzero + // otherwise we trust the user has previously set the payload length manually + if((this->implicitHdr) && (cfg->receive.len != 0)) { + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH, cfg->receive.len); + this->packetLength = cfg->receive.len; + } + + // apply fixes to errata + RADIOLIB_ERRATA_SX127X(true); + + // clear interrupt flags + clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); + + // set FIFO pointers + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_RX_BASE_ADDR, RADIOLIB_SX127X_FIFO_RX_BASE_ADDR_MAX); + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_ADDR_PTR, RADIOLIB_SX127X_FIFO_RX_BASE_ADDR_MAX); + RADIOLIB_ASSERT(state); + + } else if(modem == RADIOLIB_SX127X_FSK_OOK) { + // for non-zero timeout value, emulate timeout + state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_RX_TIMEOUT_3, cfg->receive.timeout & 0xFF); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); + + // FSK modem does not actually distinguish between Rx single and continuous mode, + // Rx single is emulated using timeout + this->rxMode = RADIOLIB_SX127X_RX; + } + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + // set mode to standby + state = setMode(RADIOLIB_SX127X_STANDBY); + + int16_t modem = getActiveModem(); + if(modem == RADIOLIB_SX127X_LORA) { + // check packet length + if(cfg->transmit.len > RADIOLIB_SX127X_MAX_PACKET_LENGTH) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // set DIO mapping + if(this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_HOP_PERIOD) > RADIOLIB_SX127X_HOP_PERIOD_OFF) { + this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO0_LORA_TX_DONE | RADIOLIB_SX127X_DIO1_LORA_FHSS_CHANGE_CHANNEL, 7, 4); + } else { + this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO0_LORA_TX_DONE, 7, 6); + } + + // apply fixes to errata + RADIOLIB_ERRATA_SX127X(false); + + // clear interrupt flags + clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); + + // set packet length + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH, cfg->transmit.len); + + // set FIFO pointers + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_TX_BASE_ADDR, RADIOLIB_SX127X_FIFO_TX_BASE_ADDR_MAX); + state |= this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_ADDR_PTR, RADIOLIB_SX127X_FIFO_TX_BASE_ADDR_MAX); + + } else if(modem == RADIOLIB_SX127X_FSK_OOK) { + // clear interrupt flags + clearIrqFlags(RADIOLIB_SX127X_FLAGS_ALL); + + // set DIO mapping + if(cfg->transmit.len > RADIOLIB_SX127X_MAX_PACKET_LENGTH_FSK) { + this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO1_PACK_FIFO_EMPTY, 5, 4); + } else { + this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_DIO_MAPPING_1, RADIOLIB_SX127X_DIO0_PACK_PACKET_SENT, 7, 6); + } + + // set packet length - increased by 1 when address filter is enabled + uint8_t filter = this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_PACKET_CONFIG_1, 2, 1); + if(this->packetLengthConfig == RADIOLIB_SX127X_PACKET_VARIABLE) { + if((filter == RADIOLIB_SX127X_ADDRESS_FILTERING_NODE) || (filter == RADIOLIB_SX127X_ADDRESS_FILTERING_NODE_BROADCAST)) { + this->mod->SPIwriteRegister(RADIOLIB_SX127X_REG_FIFO, cfg->transmit.len + 1); + this->mod->SPIwriteRegister(RADIOLIB_SX127X_REG_FIFO, cfg->transmit.addr); + } else { + this->mod->SPIwriteRegister(RADIOLIB_SX127X_REG_FIFO, cfg->transmit.len); + } + + } + + } + + // write packet to FIFO + size_t packetLen = cfg->transmit.len; + if((modem == RADIOLIB_SX127X_FSK_OOK) && (cfg->transmit.len > RADIOLIB_SX127X_MAX_PACKET_LENGTH_FSK)) { + packetLen = RADIOLIB_SX127X_FIFO_THRESH - 1; + this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_FIFO_THRESH, RADIOLIB_SX127X_TX_START_FIFO_NOT_EMPTY, 7, 7); + } + this->mod->SPIwriteRegisterBurst(RADIOLIB_SX127X_REG_FIFO, cfg->transmit.data, packetLen); + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = mode; + return(state); +} + +int16_t SX127x::launchMode() { + int16_t state; + switch(this->stagedMode) { + case(RADIOLIB_RADIO_MODE_RX): { + this->mod->setRfSwitchState(Module::MODE_RX); + state = setMode(this->rxMode); + RADIOLIB_ASSERT(state); + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + this->mod->setRfSwitchState(Module::MODE_TX); + state = setMode(RADIOLIB_SX127X_TX); + RADIOLIB_ASSERT(state); + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = RADIOLIB_RADIO_MODE_NONE; + return(state); +} + #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE void SX127x::setDirectAction(void (*func)(void)) { setDio1Action(func, this->mod->hal->GpioInterruptRising); @@ -1830,7 +1930,7 @@ float SX127x::getRSSI(bool packet, bool skipReceive, int16_t offset) { // spread-spectrum modulation signal can be received below noise floor // check last packet SNR and if it's less than 0, add it to reported RSSI to get the correct value float lastPacketSNR = SX127x::getSNR(); - if(lastPacketSNR < 0.0) { + if(lastPacketSNR < 0.0f) { lastPacketRSSI += lastPacketSNR; } return(lastPacketRSSI); @@ -1850,7 +1950,7 @@ float SX127x::getRSSI(bool packet, bool skipReceive, int16_t offset) { } // read the value for FSK - float rssi = (float)this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_RSSI_VALUE_FSK) / -2.0; + float rssi = (float)this->mod->SPIgetRegValue(RADIOLIB_SX127X_REG_RSSI_VALUE_FSK) / -2.0f; // set mode back to standby if(!skipReceive) { @@ -1869,12 +1969,11 @@ int16_t SX127x::setHeaderType(uint8_t headerType, uint8_t bitIndex, size_t len) } // set requested packet mode - Module* mod = this->getMod(); - int16_t state = mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, headerType, bitIndex, bitIndex); + int16_t state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_MODEM_CONFIG_1, headerType, bitIndex, bitIndex); RADIOLIB_ASSERT(state); // set length to register - state = mod->SPIsetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH, len); + state = this->mod->SPIsetRegValue(RADIOLIB_SX127X_REG_PAYLOAD_LENGTH, len); RADIOLIB_ASSERT(state); // update cached value diff --git a/lib/RadioLib/src/modules/SX127x/SX127x.h b/lib/RadioLib/src/modules/SX127x/SX127x.h index 593f27e..7eb8a80 100644 --- a/lib/RadioLib/src/modules/SX127x/SX127x.h +++ b/lib/RadioLib/src/modules/SX127x/SX127x.h @@ -12,8 +12,8 @@ // SX127x physical layer properties #define RADIOLIB_SX127X_FREQUENCY_STEP_SIZE 61.03515625 #define RADIOLIB_SX127X_MAX_PACKET_LENGTH 255 -#define RADIOLIB_SX127X_MAX_PACKET_LENGTH_FSK 64 -#define RADIOLIB_SX127X_CRYSTAL_FREQ 32.0 +#define RADIOLIB_SX127X_MAX_PACKET_LENGTH_FSK 64 // as per datasheet Rev. 7, page 66, the FSK FIFO is just 64 bytes +#define RADIOLIB_SX127X_CRYSTAL_FREQ 32.0f #define RADIOLIB_SX127X_DIV_EXPONENT 19 // SX127x series common LoRa registers @@ -586,6 +586,7 @@ class SX127x: public PhysicalLayer { using PhysicalLayer::transmit; using PhysicalLayer::receive; using PhysicalLayer::startTransmit; + using PhysicalLayer::startReceive; using PhysicalLayer::readData; // constructor @@ -606,12 +607,12 @@ class SX127x: public PhysicalLayer { \param preambleLength Length of %LoRa transmission preamble in symbols. \returns \ref status_codes */ - int16_t begin(uint8_t* chipVersions, uint8_t numVersions, uint8_t syncWord, uint16_t preambleLength); + int16_t begin(const uint8_t* chipVersions, uint8_t numVersions, uint8_t syncWord, uint16_t preambleLength); /*! - \brief Reset method. Will reset the chip to the default state using RST pin. Declared pure virtual since SX1272 and SX1278 implementations differ. + \brief Reset method. Will reset the chip to the default state using RST pin. Should be implemented in derived class since SX1272 and SX1278 implementations differ. */ - virtual void reset() = 0; + virtual void reset(); /*! \brief Initialization method for FSK modem. Will be called with appropriate parameters when calling FSK initialization method from derived class. @@ -623,7 +624,7 @@ class SX127x: public PhysicalLayer { \param enableOOK Flag to specify OOK mode. This modulation is similar to FSK. \returns \ref status_codes */ - int16_t beginFSK(uint8_t* chipVersions, uint8_t numVersions, float freqDev, float rxBw, uint16_t preambleLength, bool enableOOK); + int16_t beginFSK(const uint8_t* chipVersions, uint8_t numVersions, float freqDev, float rxBw, uint16_t preambleLength, bool enableOOK); /*! \brief Binary transmit method. Will transmit arbitrary binary data up to 255 bytes long using %LoRa or up to 63 bytes using FSK modem. @@ -640,9 +641,11 @@ class SX127x: public PhysicalLayer { For overloads to receive Arduino String, see PhysicalLayer::receive. \param data Pointer to array to save the received binary data. \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Performs scan for valid %LoRa preamble in the current channel. @@ -650,6 +653,13 @@ class SX127x: public PhysicalLayer { */ int16_t scanChannel() override; + /*! + \brief Performs scan for LoRa transmission in the current channel. Detects both preamble and payload. + \param config Ignored. Implemented only for PhysicalLayer compatibility. + \returns \ref status_codes + */ + int16_t scanChannel(const ChannelScanConfig_t &config) override; + /*! \brief Sets the %LoRa module to sleep to save power. %Module will not be able to transmit or receive any data while in sleep mode. %Module will wake up automatically when methods like transmit or receive are called. @@ -798,15 +808,6 @@ class SX127x: public PhysicalLayer { */ bool fifoGet(volatile uint8_t* data, int totalLen, volatile int* rcvLen); - /*! - \brief Interrupt-driven binary transmit method. Will start transmitting arbitrary binary data up to 255 bytes long using %LoRa or up to 63 bytes using FSK modem. - \param data Binary data that will be transmitted. - \param len Length of binary data to transmit (in bytes). - \param addr Node address to transmit the packet to. Only used in FSK mode. - \returns \ref status_codes - */ - int16_t startTransmit(const uint8_t* data, size_t len, uint8_t addr = 0) override; - /*! \brief Clean up after transmission is done. \returns \ref status_codes @@ -820,19 +821,6 @@ class SX127x: public PhysicalLayer { */ int16_t startReceive() override; - /*! - \brief Interrupt-driven receive method, implemented for compatibility with PhysicalLayer. - \param timeout Receive mode type and/or raw timeout value in symbols. - When set to 0, the timeout will be infinite and the device will remain - in Rx mode until explicitly commanded to stop (Rx continuous mode). - When non-zero (maximum 1023), the device will be set to Rx single mode and timeout will be set. - \param irqFlags Sets the IRQ flags, defaults to RX done, RX timeout, CRC error and header error. - \param irqMask Sets the mask of IRQ flags that will trigger DIO1, defaults to RX done. - \param len Expected length of packet to be received. Required for LoRa spreading factor 6. - \returns \ref status_codes - */ - int16_t startReceive(uint32_t timeout, RadioLibIrqFlags_t irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RadioLibIrqFlags_t irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK, size_t len = 0) override; - /*! \brief Reads data that was received after calling startReceive method. When the packet length is not known in advance, getPacketLength method must be called BEFORE calling readData! @@ -844,12 +832,26 @@ class SX127x: public PhysicalLayer { int16_t readData(uint8_t* data, size_t len) override; /*! - \brief Interrupt-driven channel activity detection method. DIO0 will be activated when LoRa preamble is detected. - DIO1 will be activated if there's no preamble detected before timeout. + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; + + /*! + \brief Interrupt-driven channel activity detection method. DIO1 will be activated when LoRa preamble is detected. + DIO0 will be activated if there's no preamble detected before timeout. \returns \ref status_codes */ int16_t startChannelScan() override; + /*! + \brief Interrupt-driven channel activity detection method. DIO1 will be activated + when LoRa preamble is detected, or upon timeout. + \param config Ignored. Implemented only for PhysicalLayer compatibility. + \returns \ref status_codes + */ + int16_t startChannelScan(const ChannelScanConfig_t &config) override; + /*! \brief Read the channel scan result. \returns \ref status_codes @@ -905,12 +907,6 @@ class SX127x: public PhysicalLayer { */ float getSNR() override; - /*! - \brief Get data rate of the latest transmitted packet. - \returns Last packet data rate in bps (bits per second). - */ - float getDataRate() const; - /*! \brief Sets FSK frequency deviation from carrier frequency. Allowed values depend on bit rate setting and must be lower than 200 kHz. Only available in FSK mode. \param freqDev Frequency deviation to be set (in kHz). @@ -1028,6 +1024,14 @@ class SX127x: public PhysicalLayer { */ size_t getPacketLength(bool update = true) override; + /*! + \brief Get LoRa header information from last received packet. Only valid in explicit header mode. + \param cr Pointer to variable to store the coding rate. + \param hasCRC Pointer to variable to store the CRC status. + \returns \ref status_codes + */ + int16_t getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC); + /*! \brief Set modem in fixed packet length mode. Available in FSK mode only. \param len Packet length. @@ -1045,9 +1049,11 @@ class SX127x: public PhysicalLayer { /*! \brief Convert from bytes to LoRa symbols. \param len Payload length in bytes. + \param dr Data rate. + \param pc Packet configuration. \returns The total number of LoRa symbols, including preamble, sync and possible header. */ - float getNumSymbols(size_t len); + float getNumSymbols(size_t len, DataRate_t dr, PacketConfig_t pc); /*! \brief Get expected time-on-air for a given size of payload. @@ -1056,6 +1062,16 @@ class SX127x: public PhysicalLayer { */ RadioLibTime_t getTimeOnAir(size_t len) override; + /*! + \brief Calculate the expected time-on-air for a given modem, data rate, packet configuration and payload size. + \param modem Modem type. + \param dr Data rate. + \param pc Packet config. + \param len Payload length in bytes. + \returns Expected time-on-air in microseconds. + */ + RadioLibTime_t calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) override; + /*! \brief Calculate the timeout value for this specific module / series (in number of symbols or units of time) \param timeoutUs Timeout in microseconds to listen for @@ -1152,7 +1168,7 @@ class SX127x: public PhysicalLayer { /*! \brief Enable/disable inversion of the I and Q signals - \param enable QI inversion enabled (true) or disabled (false); + \param enable IQ inversion enabled (true) or disabled (false); \returns \ref status_codes */ int16_t invertIQ(bool enable) override; @@ -1163,6 +1179,12 @@ class SX127x: public PhysicalLayer { \returns \ref status_codes */ int16_t getModem(ModemType_t* modem) override; + + /*! \copydoc PhysicalLayer::stageMode */ + int16_t stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) override; + + /*! \copydoc PhysicalLayer::launchMode */ + int16_t launchMode() override; #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE /*! @@ -1208,7 +1230,7 @@ class SX127x: public PhysicalLayer { \param value The value that indicates which function to place on that pin. See chip datasheet for details. \returns \ref status_codes */ - int16_t setDIOMapping(uint32_t pin, uint32_t value) override; + int16_t setDIOMapping(uint32_t pin, uint32_t value); /*! \brief Configure DIO mapping to use RSSI or Preamble Detect for pins that support it. @@ -1243,15 +1265,17 @@ class SX127x: public PhysicalLayer { protected: #endif float frequency = 0; - float bandwidth = 0; - uint8_t spreadingFactor = 0; + float bandwidth = 125; + uint8_t spreadingFactor = 9; size_t packetLength = 0; uint8_t codingRate = 0; bool crcEnabled = false; bool ookEnabled = false; bool implicitHdr = false; + bool ldroAuto = true; + bool ldroEnabled = false; - int16_t configFSK(); + virtual int16_t configFSK(); int16_t getActiveModem(); int16_t setFrequencyRaw(float newFreq); int16_t setBitRateCommon(float br, uint8_t fracRegAddr); @@ -1263,11 +1287,11 @@ class SX127x: public PhysicalLayer { #endif Module* mod; - float bitRate = 0; + float bitRate = 0, frequencyDev = 0; bool crcOn = true; // default value used in FSK mode - float dataRate = 0; bool packetLengthQueried = false; // FSK packet length is the first byte in FIFO, length can only be queried once uint8_t packetLengthConfig = RADIOLIB_SX127X_PACKET_VARIABLE; + uint8_t rxMode = RADIOLIB_SX127X_RXCONTINUOUS; int16_t config(); int16_t directMode(); @@ -1284,7 +1308,7 @@ class SX127x: public PhysicalLayer { */ static uint8_t calculateBWManExp(float bandwidth); - virtual void errataFix(bool rx) = 0; + virtual void errataFix(bool rx); // should be implemented in derived class }; #endif diff --git a/lib/RadioLib/src/modules/SX128x/SX1280.cpp b/lib/RadioLib/src/modules/SX128x/SX1280.cpp index fae3516..fa496e2 100644 --- a/lib/RadioLib/src/modules/SX128x/SX1280.cpp +++ b/lib/RadioLib/src/modules/SX128x/SX1280.cpp @@ -3,7 +3,7 @@ #if !RADIOLIB_EXCLUDE_SX128X SX1280::SX1280(Module* mod) : SX1281(mod) { - + chipType = RADIOLIB_SX1280_CHIP_TYPE; } int16_t SX1280::range(bool master, uint32_t addr, uint16_t calTable[3][6]) { @@ -17,23 +17,15 @@ int16_t SX1280::range(bool master, uint32_t addr, uint16_t calTable[3][6]) { while(!mod->hal->digitalRead(mod->getIrq())) { mod->hal->yield(); if(mod->hal->millis() - start > 10000) { - clearIrqStatus(); - standby(); + (void)finishRanging(); return(RADIOLIB_ERR_RANGING_TIMEOUT); } } - // clear interrupt flags - state = clearIrqStatus(); - RADIOLIB_ASSERT(state); - - // set mode to standby - state = standby(); - - return(state); + return(finishRanging()); } -int16_t SX1280::startRanging(bool master, uint32_t addr, uint16_t calTable[3][6]) { +int16_t SX1280::startRanging(bool master, uint32_t addr, const uint16_t calTable[3][6]) { // check active modem uint8_t modem = getPacketType(); if(!((modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) || (modem == RADIOLIB_SX128X_PACKET_TYPE_RANGING))) { @@ -80,7 +72,7 @@ int16_t SX1280::startRanging(bool master, uint32_t addr, uint16_t calTable[3][6] } // set ranging address - uint8_t addrBuff[] = { (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF) }; + const uint8_t addrBuff[] = { (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF) }; state = writeRegister(addrReg, addrBuff, 4); RADIOLIB_ASSERT(state); @@ -116,7 +108,7 @@ int16_t SX1280::startRanging(bool master, uint32_t addr, uint16_t calTable[3][6] default: return(RADIOLIB_ERR_INVALID_BANDWIDTH); } - uint8_t calBuff[] = { (uint8_t)((val >> 8) & 0xFF), (uint8_t)(val & 0xFF) }; + const uint8_t calBuff[] = { (uint8_t)((val >> 8) & 0xFF), (uint8_t)(val & 0xFF) }; state = writeRegister(RADIOLIB_SX128X_REG_RANGING_CALIBRATION_MSB, calBuff, 2); RADIOLIB_ASSERT(state); @@ -140,13 +132,42 @@ int16_t SX1280::startRanging(bool master, uint32_t addr, uint16_t calTable[3][6] return(state); } +int16_t SX1280::finishRanging() { + // start by clearing interrupt flags + int16_t state = clearIrqStatus(); + RADIOLIB_ASSERT(state); + + // set mode to standby + state = standby(); + RADIOLIB_ASSERT(state); + + // restore back to LoRa communication + // config sets up the bare minimum + state = config(RADIOLIB_SX128X_PACKET_TYPE_LORA); + RADIOLIB_ASSERT(state); + + // restore modulation and packet parameters and we're done + state = setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRateLoRa); + RADIOLIB_ASSERT(state); + return(setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->payloadLen, this->crcLoRa)); +} + +int32_t SX1280::getRangingResultRaw() { + return(getRangingResultCommon(false)); +} + float SX1280::getRangingResult() { + int32_t raw = getRangingResultCommon(false); + return((float)raw * 150.0f / (4.096f * this->bandwidthKhz)); +} + +int32_t SX1280::getRangingResultCommon(bool filtered) { // set mode to standby XOSC int16_t state = standby(RADIOLIB_SX128X_STANDBY_XOSC); RADIOLIB_ASSERT(state); // enable clock - uint8_t data[4]; + uint8_t data[3] = { 0 }; state = readRegister(RADIOLIB_SX128X_REG_RANGING_LORA_CLOCK_ENABLE, data, 1); RADIOLIB_ASSERT(state); @@ -154,31 +175,29 @@ float SX1280::getRangingResult() { state = writeRegister(RADIOLIB_SX128X_REG_RANGING_LORA_CLOCK_ENABLE, data, 1); RADIOLIB_ASSERT(state); - // set result type to filtered + // set result type filtered/raw + // TODO: at the moment, filtered values do not work and just return huge numbers + // the datasheet also isn't exactly clear on how to use the filtering + // (when to reset, when are samples added etc.) state = readRegister(RADIOLIB_SX128X_REG_RANGING_TYPE, data, 1); RADIOLIB_ASSERT(state); data[0] &= 0xCF; - data[0] |= (1 << 4); + data[0] |= ((uint8_t)filtered << 4); state = writeRegister(RADIOLIB_SX128X_REG_RANGING_TYPE, data, 1); RADIOLIB_ASSERT(state); // read the register values - state = readRegister(RADIOLIB_SX128X_REG_RANGING_RESULT_MSB, &data[0], 1); - RADIOLIB_ASSERT(state); - state = readRegister(RADIOLIB_SX128X_REG_RANGING_RESULT_MID, &data[1], 1); - RADIOLIB_ASSERT(state); - state = readRegister(RADIOLIB_SX128X_REG_RANGING_RESULT_LSB, &data[2], 1); + state = readRegister(RADIOLIB_SX128X_REG_RANGING_RESULT_MSB, data, 3); RADIOLIB_ASSERT(state); // set mode to standby RC state = standby(); RADIOLIB_ASSERT(state); - // calculate the real result - uint32_t uraw = ((uint32_t)data[0] << 16) | ((uint32_t)data[1] << 8) | data[2]; - int32_t raw = (uraw & ((1UL << 23) - 1)) | (uraw >> 23 << 31); - return((float)raw * 150.0 / (4.096 * this->bandwidthKhz)); + // shifting everything by 8 bits more to the left will convert the result to signed number + int32_t raw = ((((int32_t)data[0]) << 24) | (((int32_t)data[1]) << 16) | (((int32_t)data[2]) << 8)) >> 8; + return(raw); } #endif diff --git a/lib/RadioLib/src/modules/SX128x/SX1280.h b/lib/RadioLib/src/modules/SX128x/SX1280.h index e06faec..2e2bc04 100644 --- a/lib/RadioLib/src/modules/SX128x/SX1280.h +++ b/lib/RadioLib/src/modules/SX128x/SX1280.h @@ -9,6 +9,9 @@ #include "SX128x.h" #include "SX1281.h" +// RADIOLIB_SX128X_REG_VERSION_STRING +#define RADIOLIB_SX1280_CHIP_TYPE "SX1280" + /*! \class SX1280 \brief Derived class for %SX1280 modules. @@ -37,7 +40,13 @@ class SX1280: public SX1281 { \param calTable Ranging calibration table - set to NULL to use the default. \returns \ref status_codes */ - int16_t startRanging(bool master, uint32_t addr, uint16_t calTable[3][6] = NULL); + int16_t startRanging(bool master, uint32_t addr, const uint16_t calTable[3][6] = NULL); + + /*! + \brief Clean up after ranging is done. Will set modem back to LoRa mode. + \returns \ref status_codes + */ + int16_t finishRanging(); /*! \brief Gets ranging result of the last ranging exchange. @@ -45,10 +54,18 @@ class SX1280: public SX1281 { */ float getRangingResult(); + /*! + \brief Gets ranging result of the last ranging exchange. + \returns Ranging result in arbitrary raw units. For conversion to meters, + see SX1280 datasheet, or use the getRangingResult method. + */ + int32_t getRangingResultRaw(); + #if !RADIOLIB_GODMODE private: #endif + int32_t getRangingResultCommon(bool filtered); }; #endif diff --git a/lib/RadioLib/src/modules/SX128x/SX1281.cpp b/lib/RadioLib/src/modules/SX128x/SX1281.cpp index 71e7476..b6bdf77 100644 --- a/lib/RadioLib/src/modules/SX128x/SX1281.cpp +++ b/lib/RadioLib/src/modules/SX128x/SX1281.cpp @@ -2,7 +2,7 @@ #if !RADIOLIB_EXCLUDE_SX128X SX1281::SX1281(Module* mod) : SX128x(mod) { - + chipType = RADIOLIB_SX1281_CHIP_TYPE; } #endif diff --git a/lib/RadioLib/src/modules/SX128x/SX1281.h b/lib/RadioLib/src/modules/SX128x/SX1281.h index 3d697da..9cdc95e 100644 --- a/lib/RadioLib/src/modules/SX128x/SX1281.h +++ b/lib/RadioLib/src/modules/SX128x/SX1281.h @@ -8,6 +8,9 @@ #include "../../Module.h" #include "SX128x.h" +// RADIOLIB_SX128X_REG_VERSION_STRING +#define RADIOLIB_SX1281_CHIP_TYPE "SX1281" + /*! \class SX1281 \brief Derived class for %SX1281 modules. diff --git a/lib/RadioLib/src/modules/SX128x/SX1282.cpp b/lib/RadioLib/src/modules/SX128x/SX1282.cpp index d58ba3d..f801d62 100644 --- a/lib/RadioLib/src/modules/SX128x/SX1282.cpp +++ b/lib/RadioLib/src/modules/SX128x/SX1282.cpp @@ -3,7 +3,7 @@ /// \todo implement advanced ranging SX1282::SX1282(Module* mod) : SX1280(mod) { - + chipType = RADIOLIB_SX1282_CHIP_TYPE; } #endif diff --git a/lib/RadioLib/src/modules/SX128x/SX1282.h b/lib/RadioLib/src/modules/SX128x/SX1282.h index dc51ba9..0b98c94 100644 --- a/lib/RadioLib/src/modules/SX128x/SX1282.h +++ b/lib/RadioLib/src/modules/SX128x/SX1282.h @@ -9,6 +9,9 @@ #include "SX128x.h" #include "SX1280.h" +// RADIOLIB_SX128X_REG_VERSION_STRING +#define RADIOLIB_SX1282_CHIP_TYPE "SX1282" + /*! \class SX1282 \brief Derived class for %SX1282 modules. diff --git a/lib/RadioLib/src/modules/SX128x/SX128x.cpp b/lib/RadioLib/src/modules/SX128x/SX128x.cpp index 139fac5..966db18 100644 --- a/lib/RadioLib/src/modules/SX128x/SX128x.cpp +++ b/lib/RadioLib/src/modules/SX128x/SX128x.cpp @@ -1,8 +1,11 @@ #include "SX128x.h" #include +#include #if !RADIOLIB_EXCLUDE_SX128X -SX128x::SX128x(Module* mod) : PhysicalLayer(RADIOLIB_SX128X_FREQUENCY_STEP_SIZE, RADIOLIB_SX128X_MAX_PACKET_LENGTH) { +SX128x::SX128x(Module* mod) : PhysicalLayer() { + this->freqStep = RADIOLIB_SX128X_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_SX128X_MAX_PACKET_LENGTH; this->mod = mod; this->irqMap[RADIOLIB_IRQ_TX_DONE] = RADIOLIB_SX128X_IRQ_TX_DONE; this->irqMap[RADIOLIB_IRQ_RX_DONE] = RADIOLIB_SX128X_IRQ_RX_DONE; @@ -17,21 +20,6 @@ SX128x::SX128x(Module* mod) : PhysicalLayer(RADIOLIB_SX128X_FREQUENCY_STEP_SIZE, } int16_t SX128x::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t syncWord, int8_t pwr, uint16_t preambleLength) { - // set module properties - this->mod->init(); - this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); - this->mod->hal->pinMode(this->mod->getGpio(), this->mod->hal->GpioModeInput); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_16; - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_8; - this->mod->spiConfig.statusPos = 1; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_READ] = RADIOLIB_SX128X_CMD_READ_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE] = RADIOLIB_SX128X_CMD_WRITE_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_NOP] = RADIOLIB_SX128X_CMD_NOP; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_SX128X_CMD_GET_STATUS; - this->mod->spiConfig.stream = true; - this->mod->spiConfig.parseStatusCb = SPIparseStatus; - RADIOLIB_DEBUG_BASIC_PRINTLN("M\tSX128x"); - // initialize LoRa modulation variables this->bandwidthKhz = bw; this->spreadingFactor = RADIOLIB_SX128X_LORA_SF_9; @@ -43,16 +31,8 @@ int16_t SX128x::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t sync this->payloadLen = 0xFF; this->crcLoRa = RADIOLIB_SX128X_LORA_CRC_ON; - // reset the module and verify startup - int16_t state = reset(); - RADIOLIB_ASSERT(state); - - // set mode to standby - state = standby(); - RADIOLIB_ASSERT(state); - - // configure settings not accessible by API - state = config(RADIOLIB_SX128X_PACKET_TYPE_LORA); + // set module properties and perform initial setup + int16_t state = this->modSetup(RADIOLIB_SX128X_PACKET_TYPE_LORA); RADIOLIB_ASSERT(state); // configure publicly accessible settings @@ -81,21 +61,6 @@ int16_t SX128x::begin(float freq, float bw, uint8_t sf, uint8_t cr, uint8_t sync } int16_t SX128x::beginGFSK(float freq, uint16_t br, float freqDev, int8_t pwr, uint16_t preambleLength) { - // set module properties - this->mod->init(); - this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); - this->mod->hal->pinMode(this->mod->getGpio(), this->mod->hal->GpioModeInput); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_16; - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_8; - this->mod->spiConfig.statusPos = 1; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_READ] = RADIOLIB_SX128X_CMD_READ_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE] = RADIOLIB_SX128X_CMD_WRITE_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_NOP] = RADIOLIB_SX128X_CMD_NOP; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_SX128X_CMD_GET_STATUS; - this->mod->spiConfig.stream = true; - this->mod->spiConfig.parseStatusCb = SPIparseStatus; - RADIOLIB_DEBUG_BASIC_PRINTLN("M\tSX128x"); - // initialize GFSK modulation variables this->bitRateKbps = br; this->bitRate = RADIOLIB_SX128X_BLE_GFSK_BR_0_800_BW_2_4; @@ -110,16 +75,8 @@ int16_t SX128x::beginGFSK(float freq, uint16_t br, float freqDev, int8_t pwr, ui this->crcGFSK = RADIOLIB_SX128X_GFSK_FLRC_CRC_2_BYTE; this->whitening = RADIOLIB_SX128X_GFSK_BLE_WHITENING_ON; - // reset the module and verify startup - int16_t state = reset(); - RADIOLIB_ASSERT(state); - - // set mode to standby - state = standby(); - RADIOLIB_ASSERT(state); - - // configure settings not accessible by API - state = config(RADIOLIB_SX128X_PACKET_TYPE_GFSK); + // set module properties and perform initial setup + int16_t state = this->modSetup(RADIOLIB_SX128X_PACKET_TYPE_GFSK); RADIOLIB_ASSERT(state); // configure publicly accessible settings @@ -153,21 +110,6 @@ int16_t SX128x::beginGFSK(float freq, uint16_t br, float freqDev, int8_t pwr, ui } int16_t SX128x::beginBLE(float freq, uint16_t br, float freqDev, int8_t pwr, uint8_t dataShaping) { - // set module properties - this->mod->init(); - this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); - this->mod->hal->pinMode(this->mod->getGpio(), this->mod->hal->GpioModeInput); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_16; - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_8; - this->mod->spiConfig.statusPos = 1; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_READ] = RADIOLIB_SX128X_CMD_READ_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE] = RADIOLIB_SX128X_CMD_WRITE_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_NOP] = RADIOLIB_SX128X_CMD_NOP; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_SX128X_CMD_GET_STATUS; - this->mod->spiConfig.stream = true; - this->mod->spiConfig.parseStatusCb = SPIparseStatus; - RADIOLIB_DEBUG_BASIC_PRINTLN("M\tSX128x"); - // initialize BLE modulation variables this->bitRateKbps = br; this->bitRate = RADIOLIB_SX128X_BLE_GFSK_BR_0_800_BW_2_4; @@ -179,16 +121,8 @@ int16_t SX128x::beginBLE(float freq, uint16_t br, float freqDev, int8_t pwr, uin this->crcGFSK = RADIOLIB_SX128X_BLE_CRC_3_BYTE; this->whitening = RADIOLIB_SX128X_GFSK_BLE_WHITENING_ON; - // reset the module and verify startup - int16_t state = reset(); - RADIOLIB_ASSERT(state); - - // set mode to standby - state = standby(); - RADIOLIB_ASSERT(state); - - // configure settings not accessible by API - state = config(RADIOLIB_SX128X_PACKET_TYPE_BLE); + // set module properties and perform initial setup + int16_t state = this->modSetup(RADIOLIB_SX128X_PACKET_TYPE_BLE); RADIOLIB_ASSERT(state); // configure publicly accessible settings @@ -211,21 +145,6 @@ int16_t SX128x::beginBLE(float freq, uint16_t br, float freqDev, int8_t pwr, uin } int16_t SX128x::beginFLRC(float freq, uint16_t br, uint8_t cr, int8_t pwr, uint16_t preambleLength, uint8_t dataShaping) { - // set module properties - this->mod->init(); - this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); - this->mod->hal->pinMode(this->mod->getGpio(), this->mod->hal->GpioModeInput); - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_16; - this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_8; - this->mod->spiConfig.statusPos = 1; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_READ] = RADIOLIB_SX128X_CMD_READ_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE] = RADIOLIB_SX128X_CMD_WRITE_REGISTER; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_NOP] = RADIOLIB_SX128X_CMD_NOP; - this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_SX128X_CMD_GET_STATUS; - this->mod->spiConfig.stream = true; - this->mod->spiConfig.parseStatusCb = SPIparseStatus; - RADIOLIB_DEBUG_BASIC_PRINTLN("M\tSX128x"); - // initialize FLRC modulation variables this->bitRateKbps = br; this->bitRate = RADIOLIB_SX128X_FLRC_BR_0_650_BW_0_6; @@ -239,16 +158,8 @@ int16_t SX128x::beginFLRC(float freq, uint16_t br, uint8_t cr, int8_t pwr, uint1 this->crcGFSK = RADIOLIB_SX128X_GFSK_FLRC_CRC_2_BYTE; this->whitening = RADIOLIB_SX128X_GFSK_BLE_WHITENING_OFF; - // reset the module and verify startup - int16_t state = reset(); - RADIOLIB_ASSERT(state); - - // set mode to standby - state = standby(); - RADIOLIB_ASSERT(state); - - // configure settings not accessible by API - state = config(RADIOLIB_SX128X_PACKET_TYPE_FLRC); + // set module properties and perform initial setup + int16_t state = this->modSetup(RADIOLIB_SX128X_PACKET_TYPE_FLRC); RADIOLIB_ASSERT(state); // configure publicly accessible settings @@ -313,7 +224,12 @@ int16_t SX128x::reset(bool verify) { int16_t SX128x::transmit(const uint8_t* data, size_t len, uint8_t addr) { // check packet length - if(len > RADIOLIB_SX128X_MAX_PACKET_LENGTH) { + if(this->codingRateLoRa == RADIOLIB_SX128X_LORA_CR_4_8_LI && this->crcLoRa == RADIOLIB_SX128X_LORA_CRC_ON) { + // Long Interleaver at CR 4/8 supports up to 253 bytes if CRC is enabled + if(len > RADIOLIB_SX128X_MAX_PACKET_LENGTH - 2) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + } else if(len > RADIOLIB_SX128X_MAX_PACKET_LENGTH) { return(RADIOLIB_ERR_PACKET_TOO_LONG); } @@ -348,7 +264,7 @@ int16_t SX128x::transmit(const uint8_t* data, size_t len, uint8_t addr) { return(finishTransmit()); } -int16_t SX128x::receive(uint8_t* data, size_t len) { +int16_t SX128x::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { // check active modem uint8_t modem = getPacketType(); if(modem == RADIOLIB_SX128X_PACKET_TYPE_RANGING) { @@ -360,21 +276,26 @@ int16_t SX128x::receive(uint8_t* data, size_t len) { RADIOLIB_ASSERT(state); // calculate timeout (1000% of expected time-on-air) - RadioLibTime_t timeout = getTimeOnAir(len) * 10; - RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", timeout); + // for most other modules, it is 500%, however, the overall datarates of SX128x are higher + // so we use higher value for the default timeout + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { + timeoutInternal = getTimeOnAir(len) * 10; + } + RADIOLIB_DEBUG_BASIC_PRINTLN("Timeout in %lu ms", (uint32_t)((timeout + 999) / 1000)); // start reception - uint32_t timeoutValue = (uint32_t)((float)timeout / 15.625); + uint32_t timeoutValue = (uint32_t)((float)timeoutInternal / 15.625f); state = startReceive(timeoutValue); RADIOLIB_ASSERT(state); // wait for packet reception or timeout bool softTimeout = false; - RadioLibTime_t start = this->mod->hal->millis(); + RadioLibTime_t start = this->mod->hal->micros(); while(!this->mod->hal->digitalRead(this->mod->getIrq())) { this->mod->hal->yield(); // safety check, the timeout should be done by the radio - if(this->mod->hal->millis() - start > timeout) { + if(this->mod->hal->micros() - start > timeout) { softTimeout = true; break; } @@ -387,9 +308,8 @@ int16_t SX128x::receive(uint8_t* data, size_t len) { } // check whether this was a timeout or not - if((getIrqStatus() & RADIOLIB_SX128X_IRQ_RX_TX_TIMEOUT) || softTimeout) { - standby(); - clearIrqStatus(); + if(softTimeout || (getIrqStatus() & this->irqMap[RADIOLIB_IRQ_TIMEOUT])) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } @@ -461,7 +381,7 @@ int16_t SX128x::sleep(bool retainConfig) { if(!retainConfig) { sleepConfig = RADIOLIB_SX128X_SLEEP_DATA_BUFFER_FLUSH | RADIOLIB_SX128X_SLEEP_DATA_RAM_FLUSH; } - int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SAVE_CONTEXT, 0, 1, false, false); + int16_t state = this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SAVE_CONTEXT, NULL, 0, false, false); RADIOLIB_ASSERT(state); state = this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_SLEEP, &sleepConfig, 1, false, false); @@ -475,6 +395,10 @@ int16_t SX128x::standby() { return(SX128x::standby(RADIOLIB_SX128X_STANDBY_RC)); } +int16_t SX128x::standby(uint8_t mode) { + return(SX128x::standby(mode, true)); +} + int16_t SX128x::standby(uint8_t mode, bool wakeup) { // set RF switch (if present) this->mod->setRfSwitchState(Module::MODE_IDLE); @@ -485,7 +409,7 @@ int16_t SX128x::standby(uint8_t mode, bool wakeup) { (void)this->mod->SPIwriteStream((uint16_t)RADIOLIB_SX128X_CMD_NOP, NULL, 0, false, false); } - uint8_t data[] = { mode }; + const uint8_t data[] = { mode }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_STANDBY, data, 1)); } @@ -513,70 +437,6 @@ void SX128x::clearPacketSentAction() { this->clearDio1Action(); } -int16_t SX128x::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { - // suppress unused variable warning - (void)addr; - - // check packet length - if(len > RADIOLIB_SX128X_MAX_PACKET_LENGTH) { - return(RADIOLIB_ERR_PACKET_TOO_LONG); - } - - // set packet Length - int16_t state = RADIOLIB_ERR_NONE; - uint8_t modem = getPacketType(); - if(modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) { - state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, len, this->crcLoRa, this->invertIQEnabled); - } else if((modem == RADIOLIB_SX128X_PACKET_TYPE_GFSK) || (modem == RADIOLIB_SX128X_PACKET_TYPE_FLRC)) { - state = setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening, len); - } else if(modem == RADIOLIB_SX128X_PACKET_TYPE_BLE) { - state = setPacketParamsBLE(this->connectionState, this->crcBLE, this->bleTestPayload, this->whitening); - } else { - return(RADIOLIB_ERR_WRONG_MODEM); - } - RADIOLIB_ASSERT(state); - - // update output power - state = setTxParams(this->power); - RADIOLIB_ASSERT(state); - - // set buffer pointers - state = setBufferBaseAddress(); - RADIOLIB_ASSERT(state); - - // write packet to buffer - if(modem == RADIOLIB_SX128X_PACKET_TYPE_BLE) { - // first 2 bytes of BLE payload are PDU header - state = writeBuffer(const_cast(data), len, 2); - RADIOLIB_ASSERT(state); - } else { - state = writeBuffer(const_cast(data), len); - RADIOLIB_ASSERT(state); - } - - // set DIO mapping - state = setDioIrqParams(RADIOLIB_SX128X_IRQ_TX_DONE | RADIOLIB_SX128X_IRQ_RX_TX_TIMEOUT, RADIOLIB_SX128X_IRQ_TX_DONE); - RADIOLIB_ASSERT(state); - - // clear interrupt flags - state = clearIrqStatus(); - RADIOLIB_ASSERT(state); - - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_TX); - - // start transmission - state = setTx(RADIOLIB_SX128X_TX_TIMEOUT_NONE); - RADIOLIB_ASSERT(state); - - // wait for BUSY to go low (= PA ramp up done) - while(this->mod->hal->digitalRead(this->mod->getGpio())) { - this->mod->hal->yield(); - } - - return(state); -} - int16_t SX128x::finishTransmit() { // clear interrupt flags clearIrqStatus(); @@ -589,49 +449,6 @@ int16_t SX128x::startReceive() { return(this->startReceive(RADIOLIB_SX128X_RX_TIMEOUT_INF, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, 0)); } -int16_t SX128x::startReceive(uint16_t timeout, RadioLibIrqFlags_t irqFlags, RadioLibIrqFlags_t irqMask, size_t len) { - // in implicit header mode, use the provided length if it is nonzero - // otherwise we trust the user has previously set the payload length manually - if((this->headerType == RADIOLIB_SX128X_LORA_HEADER_IMPLICIT) && (len != 0)) { - this->payloadLen = len; - } - - // check active modem - if(getPacketType() == RADIOLIB_SX128X_PACKET_TYPE_RANGING) { - return(RADIOLIB_ERR_WRONG_MODEM); - } - - // set DIO mapping - if(timeout != RADIOLIB_SX128X_RX_TIMEOUT_INF) { - irqMask |= (1UL << RADIOLIB_IRQ_TIMEOUT); - } - - int16_t state = setDioIrqParams(getIrqMapped(irqFlags), getIrqMapped(irqMask)); - RADIOLIB_ASSERT(state); - - // set buffer pointers - state = setBufferBaseAddress(); - RADIOLIB_ASSERT(state); - - // clear interrupt flags - state = clearIrqStatus(); - RADIOLIB_ASSERT(state); - - // set implicit mode and expected len if applicable - if((this->headerType == RADIOLIB_SX128X_LORA_HEADER_IMPLICIT) && (getPacketType() == RADIOLIB_SX128X_PACKET_TYPE_LORA)) { - state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->payloadLen, this->crcLoRa, this->invertIQEnabled); - RADIOLIB_ASSERT(state); - } - - // set RF switch (if present) - this->mod->setRfSwitchState(Module::MODE_RX); - - // set mode to receive - state = setRx(timeout); - - return(state); -} - int16_t SX128x::readData(uint8_t* data, size_t len) { // check active modem if(getPacketType() == RADIOLIB_SX128X_PACKET_TYPE_RANGING) { @@ -671,6 +488,15 @@ int16_t SX128x::readData(uint8_t* data, size_t len) { return(state); } +int16_t SX128x::finishReceive() { + // set mode to standby to disable RF switch + int16_t state = standby(); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + return(clearIrqStatus()); +} + uint32_t SX128x::getIrqFlags() { return((uint32_t)this->getIrqStatus()); } @@ -745,7 +571,7 @@ int16_t SX128x::getChannelScanResult() { } int16_t SX128x::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 2400.0, 2500.0, RADIOLIB_ERR_INVALID_FREQUENCY); + RADIOLIB_CHECK_RANGE(freq, 2400.0f, 2500.0f, RADIOLIB_ERR_INVALID_FREQUENCY); // calculate raw value uint32_t frf = (freq * (uint32_t(1) << RADIOLIB_SX128X_DIV_EXPONENT)) / RADIOLIB_SX128X_CRYSTAL_FREQ; @@ -757,21 +583,21 @@ int16_t SX128x::setBandwidth(float bw) { uint8_t modem = getPacketType(); if(modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) { // check range for LoRa - RADIOLIB_CHECK_RANGE(bw, 203.125, 1625.0, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(bw, 203.125f, 1625.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); } else if(modem == RADIOLIB_SX128X_PACKET_TYPE_RANGING) { // check range for ranging - RADIOLIB_CHECK_RANGE(bw, 406.25, 1625.0, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(bw, 406.25f, 1625.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); } else { return(RADIOLIB_ERR_WRONG_MODEM); } - if(fabsf(bw - 203.125) <= 0.001) { + if(fabsf(bw - 203.125f) <= 0.001f) { this->bandwidth = RADIOLIB_SX128X_LORA_BW_203_125; - } else if(fabsf(bw - 406.25) <= 0.001) { + } else if(fabsf(bw - 406.25f) <= 0.001f) { this->bandwidth = RADIOLIB_SX128X_LORA_BW_406_25; - } else if(fabsf(bw - 812.5) <= 0.001) { + } else if(fabsf(bw - 812.5f) <= 0.001f) { this->bandwidth = RADIOLIB_SX128X_LORA_BW_812_50; - } else if(fabsf(bw - 1625.0) <= 0.001) { + } else if(fabsf(bw - 1625.0f) <= 0.001f) { this->bandwidth = RADIOLIB_SX128X_LORA_BW_1625_00; } else { return(RADIOLIB_ERR_INVALID_BANDWIDTH); @@ -800,7 +626,7 @@ int16_t SX128x::setSpreadingFactor(uint8_t sf) { int16_t state = setModulationParams(this->spreadingFactor, this->bandwidth, this->codingRateLoRa); RADIOLIB_ASSERT(state); - // update mystery register in LoRa mode - SX1280 datasheet v3.0 section 13.4.1 + // update mystery register in LoRa mode - SX1280 datasheet rev 3.2 section 14.4.1 if(modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) { uint8_t data = 0; if((this->spreadingFactor == RADIOLIB_SX128X_LORA_SF_5) || (this->spreadingFactor == RADIOLIB_SX128X_LORA_SF_6)) { @@ -811,6 +637,15 @@ int16_t SX128x::setSpreadingFactor(uint8_t sf) { data = 0x32; } state = SX128x::writeRegister(RADIOLIB_SX128X_REG_LORA_SF_CONFIG, &data, 1); + RADIOLIB_ASSERT(state); + + // this register must also be updated for some reason + state = SX128x::readRegister(RADIOLIB_SX128X_REG_FREQ_ERROR_CORRECTION, &data, 1); + RADIOLIB_ASSERT(state); + + data |= 0x01; + state = SX128x::writeRegister(RADIOLIB_SX128X_REG_FREQ_ERROR_CORRECTION, &data, 1); + RADIOLIB_ASSERT(state); } return(state); @@ -822,11 +657,24 @@ int16_t SX128x::setCodingRate(uint8_t cr, bool longInterleaving) { // LoRa/ranging if((modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) || (modem == RADIOLIB_SX128X_PACKET_TYPE_RANGING)) { - RADIOLIB_CHECK_RANGE(cr, 5, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + RADIOLIB_CHECK_RANGE(cr, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); // update modulation parameters if(longInterleaving && (modem == RADIOLIB_SX128X_PACKET_TYPE_LORA)) { - this->codingRateLoRa = cr; + switch(cr) { + case 4: + this->codingRateLoRa = 0; + break; + case 5: + case 6: + this->codingRateLoRa = cr; + break; + case 8: + this->codingRateLoRa = cr - 1; + break; + default: + return(RADIOLIB_ERR_INVALID_CODING_RATE); + } } else { this->codingRateLoRa = cr - 4; } @@ -877,8 +725,7 @@ int16_t SX128x::setModem(ModemType_t modem) { int16_t SX128x::getModem(ModemType_t* modem) { RADIOLIB_ASSERT_PTR(modem); - uint8_t packetType = getPacketType(); - switch(packetType) { + switch(getPacketType()) { case(RADIOLIB_SX128X_PACKET_TYPE_LORA): *modem = ModemType_t::RADIOLIB_MODEM_LORA; return(RADIOLIB_ERR_NONE); @@ -890,11 +737,12 @@ int16_t SX128x::getModem(ModemType_t* modem) { return(RADIOLIB_ERR_WRONG_MODEM); } -int16_t SX128x::setPreambleLength(uint32_t preambleLength) { +int16_t SX128x::setPreambleLength(size_t preambleLength) { uint8_t modem = getPacketType(); if((modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) || (modem == RADIOLIB_SX128X_PACKET_TYPE_RANGING)) { // LoRa or ranging - RADIOLIB_CHECK_RANGE(preambleLength, 2, 491520, RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH); + // the actual limit is 491520, however, some platforms (notably AVR) limit size_t to 16 bits + RADIOLIB_CHECK_RANGE(preambleLength, 2, 65534, RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH); // check preamble length is even - no point even trying odd numbers if(preambleLength % 2 != 0) { @@ -932,17 +780,32 @@ int16_t SX128x::setPreambleLength(uint32_t preambleLength) { // update packet parameters this->preambleLengthGFSK = ((preambleLength / 4) - 1) << 4; - return(setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening)); + return(setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening, this->packetType)); } return(RADIOLIB_ERR_WRONG_MODEM); } -int16_t SX128x::setDataRate(DataRate_t dr) { - // check active modem - uint8_t modem = getPacketType(); - int16_t state = RADIOLIB_ERR_NONE; - if (modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) { +int16_t SX128x::setDataRate(DataRate_t dr, ModemType_t modem) { + // get the current modem + ModemType_t currentModem; + int16_t state = this->getModem(¤tModem); + RADIOLIB_ASSERT(state); + + // switch over if the requested modem is different + if(modem != RADIOLIB_MODEM_NONE && modem != currentModem) { + state = this->standby(); + RADIOLIB_ASSERT(state); + state = this->setModem(modem); + RADIOLIB_ASSERT(state); + } + + if(modem == RADIOLIB_MODEM_NONE) { + modem = currentModem; + } + + // select interpretation based on modem + if (modem == RADIOLIB_MODEM_LORA) { state = this->setBandwidth(dr.lora.bandwidth); RADIOLIB_ASSERT(state); state = this->setSpreadingFactor(dr.lora.spreadingFactor); @@ -954,6 +817,32 @@ int16_t SX128x::setDataRate(DataRate_t dr) { return(state); } +int16_t SX128x::checkDataRate(DataRate_t dr, ModemType_t modem) { + int16_t state = RADIOLIB_ERR_UNKNOWN; + + // retrieve modem if not supplied + if(modem == RADIOLIB_MODEM_NONE) { + state = this->getModem(&modem); + RADIOLIB_ASSERT(state); + } + + // select interpretation based on modem + if(modem == RADIOLIB_MODEM_FSK) { + RADIOLIB_CHECK_RANGE(dr.fsk.bitRate, 125.0f, 2000.0f, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(dr.fsk.freqDev, 62.5f, 1000.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + return(RADIOLIB_ERR_NONE); + + } else if(modem == RADIOLIB_MODEM_LORA) { + RADIOLIB_CHECK_RANGE(dr.lora.spreadingFactor, 5, 12, RADIOLIB_ERR_INVALID_SPREADING_FACTOR); + RADIOLIB_CHECK_RANGE(dr.lora.bandwidth, 203.0f, 1625.0f, RADIOLIB_ERR_INVALID_BANDWIDTH); + RADIOLIB_CHECK_RANGE(dr.lora.codingRate, 4, 8, RADIOLIB_ERR_INVALID_CODING_RATE); + return(RADIOLIB_ERR_NONE); + + } + + return(state); +} + int16_t SX128x::setBitRate(float br) { // check active modem uint8_t modem = getPacketType(); @@ -1020,26 +909,27 @@ int16_t SX128x::setFrequencyDeviation(float freqDev) { // set frequency deviation to lowest available setting (required for digimodes) float newFreqDev = freqDev; - if(freqDev < 0.0) { - newFreqDev = 62.5; + if(freqDev < 0.0f) { + newFreqDev = 62.5f; } - RADIOLIB_CHECK_RANGE(newFreqDev, 62.5, 1000.0, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + RADIOLIB_CHECK_RANGE(newFreqDev, 62.5f, 1000.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); // override for the lowest possible frequency deviation - required for some PhysicalLayer protocols - if(newFreqDev == 0.0) { + if(newFreqDev == 0.0f) { this->modIndex = RADIOLIB_SX128X_BLE_GFSK_MOD_IND_0_35; this->bitRate = RADIOLIB_SX128X_BLE_GFSK_BR_0_125_BW_0_3; return(setModulationParams(this->bitRate, this->modIndex, this->shaping)); } // update modulation parameters - uint8_t modInd = (uint8_t)((8.0 * (newFreqDev / (float)this->bitRateKbps)) - 1.0); + uint8_t modInd = (uint8_t)((8.0f * (newFreqDev / (float)this->bitRateKbps)) - 1.0f); if(modInd > RADIOLIB_SX128X_BLE_GFSK_MOD_IND_4_00) { return(RADIOLIB_ERR_INVALID_MODULATION_PARAMETERS); } // update modulation parameters + this->frequencyDev = newFreqDev; this->modIndex = modInd; return(setModulationParams(this->bitRate, this->modIndex, this->shaping)); } @@ -1074,7 +964,7 @@ int16_t SX128x::setDataShaping(uint8_t sh) { } } -int16_t SX128x::setSyncWord(const uint8_t* syncWord, uint8_t len) { +int16_t SX128x::setSyncWord(uint8_t* sync, size_t len) { // check active modem uint8_t modem = getPacketType(); if(!((modem == RADIOLIB_SX128X_PACKET_TYPE_GFSK) || (modem == RADIOLIB_SX128X_PACKET_TYPE_FLRC))) { @@ -1102,14 +992,8 @@ int16_t SX128x::setSyncWord(const uint8_t* syncWord, uint8_t len) { this->syncWordLen = len; } - // reverse sync word byte order - uint8_t syncWordBuff[] = { 0x00, 0x00, 0x00, 0x00, 0x00 }; - for(uint8_t i = 0; i < len; i++) { - syncWordBuff[4 - i] = syncWord[i]; - } - // update sync word - int16_t state = SX128x::writeRegister(RADIOLIB_SX128X_REG_SYNC_WORD_1_BYTE_4, syncWordBuff, 5); + int16_t state = SX128x::writeRegister(RADIOLIB_SX128X_REG_SYNC_WORD_1_BYTE_4 + (5 - len), sync, len); RADIOLIB_ASSERT(state); // update packet parameters @@ -1119,7 +1003,7 @@ int16_t SX128x::setSyncWord(const uint8_t* syncWord, uint8_t len) { /// \todo add support for multiple sync words this->syncWordMatch = RADIOLIB_SX128X_GFSK_FLRC_SYNC_WORD_1; } - return(setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening)); + return(setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening, this->packetType)); } int16_t SX128x::setSyncWord(uint8_t syncWord, uint8_t controlBits) { @@ -1129,7 +1013,7 @@ int16_t SX128x::setSyncWord(uint8_t syncWord, uint8_t controlBits) { } // update register - uint8_t data[2] = {(uint8_t)((syncWord & 0xF0) | ((controlBits & 0xF0) >> 4)), (uint8_t)(((syncWord & 0x0F) << 4) | (controlBits & 0x0F))}; + const uint8_t data[2] = {(uint8_t)((syncWord & 0xF0) | ((controlBits & 0xF0) >> 4)), (uint8_t)(((syncWord & 0x0F) << 4) | (controlBits & 0x0F))}; return(writeRegister(RADIOLIB_SX128X_REG_LORA_SYNC_WORD_MSB, data, 2)); } @@ -1150,7 +1034,7 @@ int16_t SX128x::setCRC(uint8_t len, uint32_t initial, uint16_t polynomial) { } } this->crcGFSK = len << 4; - state = setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening); + state = setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening, this->packetType); RADIOLIB_ASSERT(state); // set initial CRC value @@ -1177,7 +1061,7 @@ int16_t SX128x::setCRC(uint8_t len, uint32_t initial, uint16_t polynomial) { RADIOLIB_ASSERT(state); // set initial CRC value - uint8_t data[] = { (uint8_t)((initial >> 16) & 0xFF), (uint8_t)((initial >> 8) & 0xFF), (uint8_t)(initial & 0xFF) }; + const uint8_t data[] = { (uint8_t)((initial >> 16) & 0xFF), (uint8_t)((initial >> 8) & 0xFF), (uint8_t)(initial & 0xFF) }; state = writeRegister(RADIOLIB_SX128X_REG_BLE_CRC_INITIAL_MSB, data, 3); return(state); @@ -1212,7 +1096,7 @@ int16_t SX128x::setWhitening(bool enabled) { } if(modem == RADIOLIB_SX128X_PACKET_TYPE_GFSK) { - return(setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening)); + return(setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening, this->packetType)); } return(setPacketParamsBLE(this->connectionState, this->crcBLE, this->bleTestPayload, this->whitening)); } @@ -1224,7 +1108,7 @@ int16_t SX128x::setAccessAddress(uint32_t addr) { } // set the address - uint8_t addrBuff[] = { (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF) }; + const uint8_t addrBuff[] = { (uint8_t)((addr >> 24) & 0xFF), (uint8_t)((addr >> 16) & 0xFF), (uint8_t)((addr >> 8) & 0xFF), (uint8_t)(addr & 0xFF) }; return(SX128x::writeRegister(RADIOLIB_SX128X_REG_ACCESS_ADDRESS_BYTE_3, addrBuff, 4)); } @@ -1293,7 +1177,7 @@ float SX128x::getRSSI() { uint8_t rssiSync = packetStatus[0]; float rssiMeasured = -1.0 * rssiSync/2.0; float snr = getSNR(); - if(snr <= 0.0) { + if(snr <= 0.0f) { return(rssiMeasured - snr); } else { return(rssiMeasured); @@ -1310,7 +1194,7 @@ float SX128x::getRSSI(bool packet) { // get instantaneous RSSI value uint8_t data[3] = {0, 0, 0}; // RssiInst, Status, RFU this->mod->SPIreadStream(RADIOLIB_SX128X_CMD_GET_RSSI_INST, data, 3); - return ((float)data[0] / (-2.0)); + return ((float)data[0] / (-2.0f)); } else { return this->getRSSI(); } @@ -1332,7 +1216,7 @@ float SX128x::getSNR() { if(snr < 128) { return(snr/4.0); } else { - return((snr - 256)/4.0); + return((snr - 256)/4.0f); } } @@ -1361,9 +1245,9 @@ float SX128x::getFrequencyError() { // frequency error is negative efe |= (uint32_t) 0xFFF00000; efe = ~efe + 1; - error = 1.55 * (float) efe / (1600.0 / (float) this->bandwidthKhz) * -1.0; + error = 1.55f * (float) efe / (1600.0f / this->bandwidthKhz) * -1.0f; } else { - error = 1.55 * (float) efe / (1600.0 / (float) this->bandwidthKhz); + error = 1.55f * (float) efe / (1600.0f / this->bandwidthKhz); } return(error); @@ -1389,15 +1273,35 @@ size_t SX128x::getPacketLength(bool update, uint8_t* offset) { return((size_t)rxBufStatus[0]); } -RadioLibTime_t SX128x::getTimeOnAir(size_t len) { - // check active modem - uint8_t modem = getPacketType(); - if(modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) { - // calculate number of symbols - float N_symbol = 0; - uint8_t sf = this->spreadingFactor >> 4; - if(this->codingRateLoRa <= RADIOLIB_SX128X_LORA_CR_4_8) { - // legacy coding rate - nice and simple +int16_t SX128x::getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC) { + int16_t state = RADIOLIB_ERR_NONE; + + // check if in explicit header mode + if(this->headerType == RADIOLIB_SX128X_LORA_HEADER_IMPLICIT) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + if(cr) { *cr = this->mod->SPIgetRegValue(RADIOLIB_SX128X_REG_LORA_RX_CODING_RATE, 6, 4) >> 4; } + if(hasCRC) { *hasCRC = (this->mod->SPIgetRegValue(RADIOLIB_SX128X_REG_FEI_MSB, 4, 4) != 0); } + + return(state); +} + +int16_t SX128x::fixedPacketLengthMode(uint8_t len) { + return(setPacketMode(RADIOLIB_SX128X_GFSK_FLRC_PACKET_FIXED, len)); +} + +int16_t SX128x::variablePacketLengthMode(uint8_t maxLen) { + return(setPacketMode(RADIOLIB_SX128X_GFSK_FLRC_PACKET_VARIABLE, maxLen)); +} + +RadioLibTime_t SX128x::calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) { + switch(modem) { + case (ModemType_t::RADIOLIB_MODEM_LORA): { + // calculate number of symbols + float N_symbol = 0; + uint8_t sf = dr.lora.spreadingFactor; + float cr = (float)dr.lora.codingRate; // get SF coefficients float coeff1 = 0; @@ -1422,37 +1326,84 @@ RadioLibTime_t SX128x::getTimeOnAir(size_t len) { // get CRC length int16_t N_bitCRC = 16; - if(this->crcLoRa == RADIOLIB_SX128X_LORA_CRC_OFF) { + if(!pc.lora.crcEnabled) { N_bitCRC = 0; } // get header length int16_t N_symbolHeader = 20; - if(this->headerType == RADIOLIB_SX128X_LORA_HEADER_IMPLICIT) { + if(pc.lora.implicitHeader) { N_symbolHeader = 0; } // calculate number of LoRa preamble symbols - uint32_t N_symbolPreamble = (this->preambleLengthLoRa & 0x0F) * (uint32_t(1) << ((this->preambleLengthLoRa & 0xF0) >> 4)); + uint32_t N_symbolPreamble = pc.lora.preambleLength; // calculate the number of symbols - N_symbol = (float)N_symbolPreamble + coeff1 + 8.0 + ceilf((float)RADIOLIB_MAX((int16_t)(8 * len + N_bitCRC - coeff2 + N_symbolHeader), (int16_t)0) / (float)coeff3) * (float)(this->codingRateLoRa + 4); - - } else { - // long interleaving - abandon hope all ye who enter here - /// \todo implement this mess - SX1280 datasheet v3.0 section 7.4.4.2 + N_symbol = (float)N_symbolPreamble + coeff1 + 8.0f + ceilf((float)RADIOLIB_MAX((int16_t)(8 * len + N_bitCRC - coeff2 + N_symbolHeader), (int16_t)0) / (float)coeff3) * cr; + // get time-on-air in us + return(((uint32_t(1) << sf) / dr.lora.bandwidth) * N_symbol * 1000.0f); } + case (ModemType_t::RADIOLIB_MODEM_FSK): + return((((float)(pc.fsk.crcLength * 8) + pc.fsk.syncWordLength + pc.fsk.preambleLength + (uint32_t)len * 8) / (dr.fsk.bitRate / 1000.0f))); - // get time-on-air in us - return(((uint32_t(1) << sf) / this->bandwidthKhz) * N_symbol * 1000.0); + default: + return(RADIOLIB_ERR_WRONG_MODEM); + } + +} +RadioLibTime_t SX128x::getTimeOnAir(size_t len) { + // check active modem + uint8_t modem = getPacketType(); + DataRate_t dr = {}; + PacketConfig_t pc = {}; + + if(modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) { + uint8_t sf = this->spreadingFactor >> 4; + uint8_t cr = this->codingRateLoRa; + // We assume same calculation for short and long interleaving, so map CR values 0-4 and 5-7 to the same values + if (cr < 5) { + cr = cr + 4; + } else if (cr == 7) { + cr = cr + 1; + } + + dr.lora.spreadingFactor = sf; + dr.lora.codingRate = cr; + dr.lora.bandwidth = this->bandwidthKhz; + + uint16_t preambleLength = (this->preambleLengthLoRa & 0x0F) * (uint32_t(1) << ((this->preambleLengthLoRa & 0xF0) >> 4)); + + pc.lora.preambleLength = preambleLength; + pc.lora.implicitHeader = this->headerType == RADIOLIB_SX128X_LORA_HEADER_IMPLICIT; + pc.lora.crcEnabled = this->crcLoRa == RADIOLIB_SX128X_LORA_CRC_ON; + pc.lora.ldrOptimize = false; + + return(calculateTimeOnAir(ModemType_t::RADIOLIB_MODEM_LORA, dr, pc, len)); + } else if (modem == RADIOLIB_SX128X_PACKET_TYPE_GFSK) { + dr.fsk.bitRate = (float)this->bitRateKbps; + dr.fsk.freqDev = this->frequencyDev; + + pc.fsk.preambleLength = ((uint16_t)this->preambleLengthGFSK >> 2) + 4; + pc.fsk.syncWordLength = ((this->syncWordLen >> 1) + 1) * 8; + pc.fsk.crcLength = this->crcGFSK >> 4; + + return(calculateTimeOnAir(ModemType_t::RADIOLIB_MODEM_FSK, dr, pc, len)); } else { - return(((uint32_t)len * 8 * 1000) / this->bitRateKbps); + return(RADIOLIB_ERR_WRONG_MODEM); } } +RadioLibTime_t SX128x::calculateRxTimeout(RadioLibTime_t timeoutUs) { + // the timeout value is given in units of 15.625 microseconds + // the calling function should provide some extra width, as this number of units is truncated to integer + RadioLibTime_t timeout = timeoutUs / 15.625f; + return(timeout); +} + int16_t SX128x::implicitHeader(size_t len) { return(setHeaderType(RADIOLIB_SX128X_LORA_HEADER_IMPLICIT, len)); } @@ -1493,6 +1444,132 @@ int16_t SX128x::invertIQ(bool enable) { return(setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->payloadLen, this->crcLoRa, this->invertIQEnabled)); } +int16_t SX128x::stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) { + int16_t state; + + switch(mode) { + case(RADIOLIB_RADIO_MODE_RX): { + // in implicit header mode, use the provided length if it is nonzero + // otherwise we trust the user has previously set the payload length manually + if((this->headerType == RADIOLIB_SX128X_LORA_HEADER_IMPLICIT) && (cfg->receive.len != 0)) { + this->payloadLen = cfg->receive.len; + } + + // check active modem + if(getPacketType() == RADIOLIB_SX128X_PACKET_TYPE_RANGING) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set DIO mapping + if(cfg->receive.timeout != RADIOLIB_SX128X_RX_TIMEOUT_INF) { + cfg->receive.irqMask |= (1UL << RADIOLIB_IRQ_TIMEOUT); + } + + state = setDioIrqParams(getIrqMapped(cfg->receive.irqFlags), getIrqMapped(cfg->receive.irqMask)); + RADIOLIB_ASSERT(state); + + // set buffer pointers + state = setBufferBaseAddress(); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + state = clearIrqStatus(); + RADIOLIB_ASSERT(state); + + // set implicit mode and expected len if applicable + if((this->headerType == RADIOLIB_SX128X_LORA_HEADER_IMPLICIT) && (getPacketType() == RADIOLIB_SX128X_PACKET_TYPE_LORA)) { + state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, this->payloadLen, this->crcLoRa, this->invertIQEnabled); + RADIOLIB_ASSERT(state); + } + // if max(uint32_t) is used, revert to RxContinuous + if(cfg->receive.timeout == 0xFFFFFFFF) { + cfg->receive.timeout = 0xFFFF; + } + this->rxTimeout = cfg->receive.timeout; + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + // check packet length + if(cfg->transmit.len > RADIOLIB_SX128X_MAX_PACKET_LENGTH) { + return(RADIOLIB_ERR_PACKET_TOO_LONG); + } + + // set packet Length + uint8_t modem = getPacketType(); + if(modem == RADIOLIB_SX128X_PACKET_TYPE_LORA) { + state = setPacketParamsLoRa(this->preambleLengthLoRa, this->headerType, cfg->transmit.len, this->crcLoRa, this->invertIQEnabled); + } else if((modem == RADIOLIB_SX128X_PACKET_TYPE_GFSK) || (modem == RADIOLIB_SX128X_PACKET_TYPE_FLRC)) { + state = setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening, this->packetType, cfg->transmit.len); + } else if(modem == RADIOLIB_SX128X_PACKET_TYPE_BLE) { + state = setPacketParamsBLE(this->connectionState, this->crcBLE, this->bleTestPayload, this->whitening); + } else { + return(RADIOLIB_ERR_WRONG_MODEM); + } + RADIOLIB_ASSERT(state); + + // update output power + state = setTxParams(this->power); + RADIOLIB_ASSERT(state); + + // set buffer pointers + state = setBufferBaseAddress(); + RADIOLIB_ASSERT(state); + + // write packet to buffer + if(modem == RADIOLIB_SX128X_PACKET_TYPE_BLE) { + // first 2 bytes of BLE payload are PDU header + state = writeBuffer(cfg->transmit.data, cfg->transmit.len, 2); + RADIOLIB_ASSERT(state); + } else { + state = writeBuffer(cfg->transmit.data, cfg->transmit.len); + RADIOLIB_ASSERT(state); + } + + // set DIO mapping + state = setDioIrqParams(RADIOLIB_SX128X_IRQ_TX_DONE | RADIOLIB_SX128X_IRQ_RX_TX_TIMEOUT, RADIOLIB_SX128X_IRQ_TX_DONE); + RADIOLIB_ASSERT(state); + + // clear interrupt flags + state = clearIrqStatus(); + RADIOLIB_ASSERT(state); + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = mode; + return(state); +} + +int16_t SX128x::launchMode() { + int16_t state; + switch(this->stagedMode) { + case(RADIOLIB_RADIO_MODE_RX): { + this->mod->setRfSwitchState(Module::MODE_RX); + state = setRx(this->rxTimeout); + RADIOLIB_ASSERT(state); + } break; + + case(RADIOLIB_RADIO_MODE_TX): { + this->mod->setRfSwitchState(Module::MODE_TX); + state = setTx(RADIOLIB_SX128X_TX_TIMEOUT_NONE); + RADIOLIB_ASSERT(state); + + // wait for BUSY to go low (= PA ramp up done) + while(this->mod->hal->digitalRead(this->mod->getGpio())) { + this->mod->hal->yield(); + } + } break; + + default: + return(RADIOLIB_ERR_UNSUPPORTED); + } + + this->stagedMode = RADIOLIB_RADIO_MODE_NONE; + return(state); +} + #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE void SX128x::setDirectAction(void (*func)(void)) { // SX128x is unable to perform direct mode reception @@ -1511,13 +1588,40 @@ Module* SX128x::getMod() { return(this->mod); } +int16_t SX128x::modSetup(uint8_t modem) { + // set module properties + this->mod->init(); + this->mod->hal->pinMode(this->mod->getIrq(), this->mod->hal->GpioModeInput); + this->mod->hal->pinMode(this->mod->getGpio(), this->mod->hal->GpioModeInput); + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_ADDR] = Module::BITS_16; + this->mod->spiConfig.widths[RADIOLIB_MODULE_SPI_WIDTH_CMD] = Module::BITS_8; + this->mod->spiConfig.statusPos = 1; + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_READ] = RADIOLIB_SX128X_CMD_READ_REGISTER; + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_WRITE] = RADIOLIB_SX128X_CMD_WRITE_REGISTER; + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_NOP] = RADIOLIB_SX128X_CMD_NOP; + this->mod->spiConfig.cmds[RADIOLIB_MODULE_SPI_COMMAND_STATUS] = RADIOLIB_SX128X_CMD_GET_STATUS; + this->mod->spiConfig.stream = true; + this->mod->spiConfig.parseStatusCb = SPIparseStatus; + + // find the chip - this will also reset the module and verify the module + if(!SX128x::findChip(this->chipType)) { + RADIOLIB_DEBUG_BASIC_PRINTLN("No SX128x found!"); + this->mod->term(); + return(RADIOLIB_ERR_CHIP_NOT_FOUND); + } + RADIOLIB_DEBUG_BASIC_PRINTLN("M\tSX128x"); + + // configure settings not accessible by API + return(config(modem)); +} + uint8_t SX128x::getStatus() { uint8_t data = 0; this->mod->SPIreadStream(RADIOLIB_SX128X_CMD_GET_STATUS, &data, 0); return(data); } -int16_t SX128x::writeRegister(uint16_t addr, uint8_t* data, uint8_t numBytes) { +int16_t SX128x::writeRegister(uint16_t addr, const uint8_t* data, uint8_t numBytes) { this->mod->SPIwriteRegisterBurst(addr, data, numBytes); return(RADIOLIB_ERR_NONE); } @@ -1531,23 +1635,23 @@ int16_t SX128x::readRegister(uint16_t addr, uint8_t* data, uint8_t numBytes) { return(state); } -int16_t SX128x::writeBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset) { - uint8_t cmd[] = { RADIOLIB_SX128X_CMD_WRITE_BUFFER, offset }; +int16_t SX128x::writeBuffer(const uint8_t* data, uint8_t numBytes, uint8_t offset) { + const uint8_t cmd[] = { RADIOLIB_SX128X_CMD_WRITE_BUFFER, offset }; return(this->mod->SPIwriteStream(cmd, 2, data, numBytes)); } int16_t SX128x::readBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset) { - uint8_t cmd[] = { RADIOLIB_SX128X_CMD_READ_BUFFER, offset }; + const uint8_t cmd[] = { RADIOLIB_SX128X_CMD_READ_BUFFER, offset }; return(this->mod->SPIreadStream(cmd, 2, data, numBytes)); } int16_t SX128x::setTx(uint16_t periodBaseCount, uint8_t periodBase) { - uint8_t data[] = { periodBase, (uint8_t)((periodBaseCount >> 8) & 0xFF), (uint8_t)(periodBaseCount & 0xFF) }; + const uint8_t data[] = { periodBase, (uint8_t)((periodBaseCount >> 8) & 0xFF), (uint8_t)(periodBaseCount & 0xFF) }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_TX, data, 3)); } int16_t SX128x::setRx(uint16_t periodBaseCount, uint8_t periodBase) { - uint8_t data[] = { periodBase, (uint8_t)((periodBaseCount >> 8) & 0xFF), (uint8_t)(periodBaseCount & 0xFF) }; + const uint8_t data[] = { periodBase, (uint8_t)((periodBaseCount >> 8) & 0xFF), (uint8_t)(periodBaseCount & 0xFF) }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_RX, data, 3)); } @@ -1567,42 +1671,42 @@ uint8_t SX128x::getPacketType() { } int16_t SX128x::setRfFrequency(uint32_t frf) { - uint8_t data[] = { (uint8_t)((frf >> 16) & 0xFF), (uint8_t)((frf >> 8) & 0xFF), (uint8_t)(frf & 0xFF) }; + const uint8_t data[] = { (uint8_t)((frf >> 16) & 0xFF), (uint8_t)((frf >> 8) & 0xFF), (uint8_t)(frf & 0xFF) }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_RF_FREQUENCY, data, 3)); } int16_t SX128x::setTxParams(uint8_t pwr, uint8_t rampTime) { - uint8_t data[] = { pwr, rampTime }; + const uint8_t data[] = { pwr, rampTime }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_TX_PARAMS, data, 2)); } int16_t SX128x::setBufferBaseAddress(uint8_t txBaseAddress, uint8_t rxBaseAddress) { - uint8_t data[] = { txBaseAddress, rxBaseAddress }; + const uint8_t data[] = { txBaseAddress, rxBaseAddress }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_BUFFER_BASE_ADDRESS, data, 2)); } int16_t SX128x::setModulationParams(uint8_t modParam1, uint8_t modParam2, uint8_t modParam3) { - uint8_t data[] = { modParam1, modParam2, modParam3 }; + const uint8_t data[] = { modParam1, modParam2, modParam3 }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_MODULATION_PARAMS, data, 3)); } -int16_t SX128x::setPacketParamsGFSK(uint8_t preambleLen, uint8_t syncLen, uint8_t syncMatch, uint8_t crcLen, uint8_t whiten, uint8_t payLen, uint8_t hdrType) { - uint8_t data[] = { preambleLen, syncLen, syncMatch, hdrType, payLen, crcLen, whiten }; +int16_t SX128x::setPacketParamsGFSK(uint8_t preambleLen, uint8_t syncLen, uint8_t syncMatch, uint8_t crcLen, uint8_t whiten, uint8_t hdrType, uint8_t payLen) { + const uint8_t data[] = { preambleLen, syncLen, syncMatch, hdrType, payLen, crcLen, whiten }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_PACKET_PARAMS, data, 7)); } int16_t SX128x::setPacketParamsBLE(uint8_t connState, uint8_t crcLen, uint8_t bleTest, uint8_t whiten) { - uint8_t data[] = { connState, crcLen, bleTest, whiten, 0x00, 0x00, 0x00 }; + const uint8_t data[] = { connState, crcLen, bleTest, whiten, 0x00, 0x00, 0x00 }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_PACKET_PARAMS, data, 7)); } int16_t SX128x::setPacketParamsLoRa(uint8_t preambleLen, uint8_t hdrType, uint8_t payLen, uint8_t crc, uint8_t invIQ) { - uint8_t data[] = { preambleLen, hdrType, payLen, crc, invIQ, 0x00, 0x00 }; + const uint8_t data[] = { preambleLen, hdrType, payLen, crc, invIQ, 0x00, 0x00 }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_PACKET_PARAMS, data, 7)); } int16_t SX128x::setDioIrqParams(uint16_t irqMask, uint16_t dio1Mask, uint16_t dio2Mask, uint16_t dio3Mask) { - uint8_t data[] = { (uint8_t)((irqMask >> 8) & 0xFF), (uint8_t)(irqMask & 0xFF), + const uint8_t data[] = { (uint8_t)((irqMask >> 8) & 0xFF), (uint8_t)(irqMask & 0xFF), (uint8_t)((dio1Mask >> 8) & 0xFF), (uint8_t)(dio1Mask & 0xFF), (uint8_t)((dio2Mask >> 8) & 0xFF), (uint8_t)(dio2Mask & 0xFF), (uint8_t)((dio3Mask >> 8) & 0xFF), (uint8_t)(dio3Mask & 0xFF) }; @@ -1616,20 +1720,36 @@ uint16_t SX128x::getIrqStatus() { } int16_t SX128x::clearIrqStatus(uint16_t clearIrqParams) { - uint8_t data[] = { (uint8_t)((clearIrqParams >> 8) & 0xFF), (uint8_t)(clearIrqParams & 0xFF) }; + const uint8_t data[] = { (uint8_t)((clearIrqParams >> 8) & 0xFF), (uint8_t)(clearIrqParams & 0xFF) }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_CLEAR_IRQ_STATUS, data, 2)); } int16_t SX128x::setRangingRole(uint8_t role) { - uint8_t data[] = { role }; + const uint8_t data[] = { role }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_RANGING_ROLE, data, 1)); } int16_t SX128x::setPacketType(uint8_t type) { - uint8_t data[] = { type }; + const uint8_t data[] = { type }; return(this->mod->SPIwriteStream(RADIOLIB_SX128X_CMD_SET_PACKET_TYPE, data, 1)); } +int16_t SX128x::setPacketMode(uint8_t mode, uint8_t len) { + // check active modem + uint8_t modem = getPacketType(); + if(!((modem == RADIOLIB_SX128X_PACKET_TYPE_GFSK) || (modem == RADIOLIB_SX128X_PACKET_TYPE_FLRC))) { + return(RADIOLIB_ERR_WRONG_MODEM); + } + + // set requested packet mode + int16_t state = setPacketParamsGFSK(this->preambleLengthGFSK, this->syncWordLen, this->syncWordMatch, this->crcGFSK, this->whitening, mode, len); + RADIOLIB_ASSERT(state); + + // update cached value + this->packetType = mode; + return(state); +} + int16_t SX128x::setHeaderType(uint8_t hdrType, size_t len) { // check active modem uint8_t modem = getPacketType(); @@ -1680,4 +1800,35 @@ int16_t SX128x::SPIparseStatus(uint8_t in) { return(RADIOLIB_ERR_NONE); } +bool SX128x::findChip(const char* verStr) { + uint8_t i = 0; + bool flagFound = false; + while((i < 10) && !flagFound) { + // reset the module + reset(true); + + // read the version string + char version[16] = { 0 }; + this->mod->SPIreadRegisterBurst(RADIOLIB_SX128X_REG_VERSION_STRING, 16, reinterpret_cast(version)); + + // check version register + if(strncmp(verStr, version, 6) == 0) { + RADIOLIB_DEBUG_BASIC_PRINTLN("Found SX128x: RADIOLIB_SX128X_REG_VERSION_STRING:"); + RADIOLIB_DEBUG_BASIC_HEXDUMP(reinterpret_cast(version), 16, RADIOLIB_SX128X_REG_VERSION_STRING); + RADIOLIB_DEBUG_BASIC_PRINTLN(); + flagFound = true; + } else { + #if RADIOLIB_DEBUG_BASIC + RADIOLIB_DEBUG_BASIC_PRINTLN("SX128x not found! (%d of 10 tries) RADIOLIB_SX128X_REG_VERSION_STRING:", i + 1); + RADIOLIB_DEBUG_BASIC_HEXDUMP(reinterpret_cast(version), 16, RADIOLIB_SX128X_REG_VERSION_STRING); + RADIOLIB_DEBUG_BASIC_PRINTLN("Expected string: %s", verStr); + #endif + this->mod->hal->delay(10); + i++; + } + } + + return(flagFound); +} + #endif diff --git a/lib/RadioLib/src/modules/SX128x/SX128x.h b/lib/RadioLib/src/modules/SX128x/SX128x.h index ae1d468..2e968aa 100644 --- a/lib/RadioLib/src/modules/SX128x/SX128x.h +++ b/lib/RadioLib/src/modules/SX128x/SX128x.h @@ -12,7 +12,7 @@ // SX128X physical layer properties #define RADIOLIB_SX128X_FREQUENCY_STEP_SIZE 198.3642578 #define RADIOLIB_SX128X_MAX_PACKET_LENGTH 255 -#define RADIOLIB_SX128X_CRYSTAL_FREQ 52.0 +#define RADIOLIB_SX128X_CRYSTAL_FREQ 52.0f #define RADIOLIB_SX128X_DIV_EXPONENT 18 // SX128X SPI commands @@ -57,6 +57,7 @@ #define RADIOLIB_SX128X_CMD_SET_ADVANCED_RANGING 0x9A // SX128X register map +#define RADIOLIB_SX128X_REG_VERSION_STRING 0x01F0 #define RADIOLIB_SX128X_REG_GAIN_MODE 0x0891 #define RADIOLIB_SX128X_REG_MANUAL_GAIN_CONTROL_ENABLE_2 0x0895 #define RADIOLIB_SX128X_REG_MANUAL_GAIN_SETTING 0x089E @@ -84,6 +85,7 @@ #define RADIOLIB_SX128X_REG_FREQ_ERROR_CORRECTION 0x093C #define RADIOLIB_SX128X_REG_LORA_SYNC_WORD_MSB 0x0944 #define RADIOLIB_SX128X_REG_LORA_SYNC_WORD_LSB 0x0945 +#define RADIOLIB_SX128X_REG_LORA_RX_CODING_RATE 0x0950 #define RADIOLIB_SX128X_REG_RANGING_FILTER_RSSI_OFFSET 0x0953 #define RADIOLIB_SX128X_REG_FEI_MSB 0x0954 #define RADIOLIB_SX128X_REG_FEI_MID 0x0955 @@ -252,7 +254,7 @@ #define RADIOLIB_SX128X_LORA_CR_4_8 0x04 // 7 0 4/8 #define RADIOLIB_SX128X_LORA_CR_4_5_LI 0x05 // 7 0 4/5, long interleaving #define RADIOLIB_SX128X_LORA_CR_4_6_LI 0x06 // 7 0 4/6, long interleaving -#define RADIOLIB_SX128X_LORA_CR_4_7_LI 0x07 // 7 0 4/7, long interleaving +#define RADIOLIB_SX128X_LORA_CR_4_8_LI 0x07 // 7 0 4/8, long interleaving //RADIOLIB_SX128X_CMD_SET_PACKET_PARAMS #define RADIOLIB_SX128X_GFSK_FLRC_SYNC_WORD_OFF 0x00 // 7 0 GFSK/FLRC sync word used: none @@ -354,6 +356,7 @@ class SX128x: public PhysicalLayer { using PhysicalLayer::transmit; using PhysicalLayer::receive; using PhysicalLayer::startTransmit; + using PhysicalLayer::startReceive; using PhysicalLayer::readData; /*! @@ -369,7 +372,8 @@ class SX128x: public PhysicalLayer { \param freq Carrier frequency in MHz. Defaults to 2400.0 MHz. \param bw LoRa bandwidth in kHz. Defaults to 812.5 kHz. \param sf LoRa spreading factor. Defaults to 9. - \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). + \param cr LoRa coding rate denominator. Defaults to 7 (coding rate 4/7). Allowed values range from 4 to 8. Note that a value of 4 means no coding, + is undocumented and not recommended without your own FEC. \param syncWord 2-byte LoRa sync word. Defaults to RADIOLIB_SX128X_SYNC_WORD_PRIVATE (0x12). \param pwr Output power in dBm. Defaults to 10 dBm. \param preambleLength LoRa preamble length in symbols. Defaults to 12 symbols. @@ -432,11 +436,13 @@ class SX128x: public PhysicalLayer { /*! \brief Blocking binary receive method. Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in microseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Starts direct mode transmission. @@ -486,6 +492,14 @@ class SX128x: public PhysicalLayer { */ int16_t standby() override; + /*! + \brief Sets the module to standby mode. + \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_SX128X_STANDBY_RC + (13 MHz RC oscillator) or RADIOLIB_SX128X_STANDBY_XOSC (52 MHz external crystal oscillator). + \returns \ref status_codes + */ + int16_t standby(uint8_t mode) override; + /*! \brief Sets the module to standby mode. \param mode Oscillator to be used in standby mode. Can be set to RADIOLIB_SX128X_STANDBY_RC @@ -493,7 +507,7 @@ class SX128x: public PhysicalLayer { \param wakeup Whether to force the module to wake up. Setting to true will immediately attempt to wake up the module. \returns \ref status_codes */ - int16_t standby(uint8_t mode, bool wakeup = false); + int16_t standby(uint8_t mode, bool wakeup); // interrupt methods @@ -530,16 +544,6 @@ class SX128x: public PhysicalLayer { */ void clearPacketSentAction() override; - /*! - \brief Interrupt-driven binary transmit method. - Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. - \param addr Address to send the data to. Unsupported, compatibility only. - \returns \ref status_codes - */ - int16_t startTransmit(const uint8_t* data, size_t len, uint8_t addr = 0) override; - /*! \brief Clean up after transmission is done. \returns \ref status_codes @@ -554,20 +558,6 @@ class SX128x: public PhysicalLayer { */ int16_t startReceive() override; - /*! - \brief Interrupt-driven receive method. DIO1 will be activated when full packet is received. - \param timeout Raw timeout value, expressed as multiples of 15.625 us. Defaults to - RADIOLIB_SX128X_RX_TIMEOUT_INF for infinite timeout (Rx continuous mode), - set to RADIOLIB_SX128X_RX_TIMEOUT_NONE for no timeout (Rx single mode). - If timeout other than infinite is set, signal will be generated on DIO1. - - \param irqFlags Sets the IRQ flags, defaults to RX done, RX timeout, CRC error and header error. - \param irqMask Sets the mask of IRQ flags that will trigger DIO1, defaults to RX done. - \param len Only for PhysicalLayer compatibility, not used. - \returns \ref status_codes - */ - int16_t startReceive(uint16_t timeout, RadioLibIrqFlags_t irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RadioLibIrqFlags_t irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK, size_t len = 0); - /*! \brief Reads the current IRQ status. \returns IRQ status bits @@ -583,6 +573,12 @@ class SX128x: public PhysicalLayer { \returns \ref status_codes */ int16_t readData(uint8_t* data, size_t len) override; + + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; /*! \brief Read currently active IRQ flags. @@ -649,7 +645,8 @@ class SX128x: public PhysicalLayer { int16_t setSpreadingFactor(uint8_t sf); /*! - \brief Sets LoRa coding rate denominator. Allowed values range from 5 to 8. + \brief Sets LoRa coding rate denominator. Allowed values range from 4 to 8. Note that a value of 4 + means no coding, is undocumented and not recommended without your own FEC. \param cr LoRa coding rate denominator to be set. \param longInterleaving Whether to enable long interleaving mode. Not available for coding rate 4/7, defaults to false. @@ -692,14 +689,23 @@ class SX128x: public PhysicalLayer { \param preambleLength Preamble length to be set in symbols (LoRa) or bits (FSK/BLE/FLRC). \returns \ref status_codes */ - int16_t setPreambleLength(uint32_t preambleLength); + int16_t setPreambleLength(size_t preambleLength) override; /*! \brief Set data rate. \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). \returns \ref status_codes */ - int16_t setDataRate(DataRate_t dr) override; + int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; + + /*! + \brief Check the data rate can be configured by this module. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. + \returns \ref status_codes + */ + int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE) override; /*! \brief Sets FSK or FLRC bit rate. Allowed values are 125, 250, 400, 500, 800, 1000, @@ -727,11 +733,11 @@ class SX128x: public PhysicalLayer { /*! \brief Sets FSK/FLRC sync word in the form of array of up to 5 bytes (FSK). For FLRC modem, the sync word must be exactly 4 bytes long - \param syncWord Sync word to be set. + \param sync Sync word to be set. \param len Sync word length in bytes. \returns \ref status_codes */ - int16_t setSyncWord(const uint8_t* syncWord, uint8_t len); + int16_t setSyncWord(uint8_t* sync, size_t len) override; /*! \brief Sets LoRa sync word. @@ -779,13 +785,13 @@ class SX128x: public PhysicalLayer { int16_t setGainControl(uint8_t gain = 0); /*! - \brief Gets RSSI (Recorded Signal Strength Indicator) of the last received packet. + \brief Gets RSSI (Received Signal Strength Indicator) of the last received packet. \returns RSSI of the last received packet in dBm. */ float getRSSI() override; /*! - \brief Gets RSSI (Recorded Signal Strength Indicator). + \brief Gets RSSI (Received Signal Strength Indicator). \param packet Whether to read last packet RSSI, or the current value. \returns RSSI value in dBm. */ @@ -818,6 +824,38 @@ class SX128x: public PhysicalLayer { */ size_t getPacketLength(bool update, uint8_t* offset); + /*! + \brief Get LoRa header information from last received packet. Only valid in explicit header mode. + \param cr Pointer to variable to store the coding rate. + \param hasCRC Pointer to variable to store the CRC status. + \returns \ref status_codes + */ + int16_t getLoRaRxHeaderInfo(uint8_t* cr, bool* hasCRC); + + /*! + \brief Set modem in fixed packet length mode. Available in GFSK and FLRC modes only. + \param len Packet length. + \returns \ref status_codes + */ + int16_t fixedPacketLengthMode(uint8_t len = RADIOLIB_SX128X_MAX_PACKET_LENGTH); + + /*! + \brief Set modem in variable packet length mode. Available in GFSK and FLRC modes only. + \param maxLen Maximum packet length. + \returns \ref status_codes + */ + int16_t variablePacketLengthMode(uint8_t maxLen = RADIOLIB_SX128X_MAX_PACKET_LENGTH); + + /*! + \brief Calculate the expected time-on-air for a given modem, data rate, packet configuration and payload size. + \param modem Modem type. + \param dr Data rate. + \param pc Packet config. + \param len Payload length in bytes. + \returns Expected time-on-air in microseconds. + */ + RadioLibTime_t calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) override; + /*! \brief Get expected time-on-air for a given size of payload. \param len Payload length in bytes. @@ -825,6 +863,13 @@ class SX128x: public PhysicalLayer { */ RadioLibTime_t getTimeOnAir(size_t len) override; + /*! + \brief Calculate the timeout value for this specific module / series (in number of symbols or units of time) + \param timeoutUs Timeout in microseconds to listen for + \returns Timeout value in a unit that is specific for the used module + */ + RadioLibTime_t calculateRxTimeout(RadioLibTime_t timeoutUs) override; + /*! \brief Set implicit header mode for future reception/transmission. \returns \ref status_codes @@ -859,10 +904,16 @@ class SX128x: public PhysicalLayer { /*! \brief Enable/disable inversion of the I and Q signals - \param enable QI inversion enabled (true) or disabled (false); + \param enable IQ inversion enabled (true) or disabled (false); \returns \ref status_codes */ int16_t invertIQ(bool enable) override; + + /*! \copydoc PhysicalLayer::stageMode */ + int16_t stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) override; + + /*! \copydoc PhysicalLayer::launchMode */ + int16_t launchMode() override; #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE /*! @@ -881,7 +932,10 @@ class SX128x: public PhysicalLayer { #if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL protected: #endif + const char* chipType = NULL; + Module* getMod() override; + int16_t modSetup(uint8_t modem); // cached LoRa parameters float bandwidthKhz = 0; @@ -890,9 +944,9 @@ class SX128x: public PhysicalLayer { // SX128x SPI command implementations uint8_t getStatus(); - int16_t writeRegister(uint16_t addr, uint8_t* data, uint8_t numBytes); + int16_t writeRegister(uint16_t addr, const uint8_t* data, uint8_t numBytes); int16_t readRegister(uint16_t addr, uint8_t* data, uint8_t numBytes); - int16_t writeBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset = 0x00); + int16_t writeBuffer(const uint8_t* data, uint8_t numBytes, uint8_t offset = 0x00); int16_t readBuffer(uint8_t* data, uint8_t numBytes, uint8_t offset = 0x00); int16_t setTx(uint16_t periodBaseCount = RADIOLIB_SX128X_TX_TIMEOUT_NONE, uint8_t periodBase = RADIOLIB_SX128X_PERIOD_BASE_15_625_US); int16_t setRx(uint16_t periodBaseCount, uint8_t periodBase = RADIOLIB_SX128X_PERIOD_BASE_15_625_US); @@ -902,7 +956,7 @@ class SX128x: public PhysicalLayer { int16_t setTxParams(uint8_t pwr, uint8_t rampTime = RADIOLIB_SX128X_PA_RAMP_10_US); int16_t setBufferBaseAddress(uint8_t txBaseAddress = 0x00, uint8_t rxBaseAddress = 0x00); int16_t setModulationParams(uint8_t modParam1, uint8_t modParam2, uint8_t modParam3); - int16_t setPacketParamsGFSK(uint8_t preambleLen, uint8_t syncLen, uint8_t syncMatch, uint8_t crcLen, uint8_t whiten, uint8_t payLen = 0xFF, uint8_t hdrType = RADIOLIB_SX128X_GFSK_FLRC_PACKET_VARIABLE); + int16_t setPacketParamsGFSK(uint8_t preambleLen, uint8_t syncLen, uint8_t syncMatch, uint8_t crcLen, uint8_t whiten, uint8_t hdrType, uint8_t payLen = 0xFF); int16_t setPacketParamsBLE(uint8_t connState, uint8_t crcLen, uint8_t bleTest, uint8_t whiten); int16_t setPacketParamsLoRa(uint8_t preambleLen, uint8_t hdrType, uint8_t payLen, uint8_t crc, uint8_t invIQ = RADIOLIB_SX128X_LORA_IQ_STANDARD); int16_t setDioIrqParams(uint16_t irqMask, uint16_t dio1Mask, uint16_t dio2Mask = RADIOLIB_SX128X_IRQ_NONE, uint16_t dio3Mask = RADIOLIB_SX128X_IRQ_NONE); @@ -910,6 +964,9 @@ class SX128x: public PhysicalLayer { int16_t setRangingRole(uint8_t role); int16_t setPacketType(uint8_t type); + // protected so that it can be accessed from SX1280 class during reinit after ranging is complete + int16_t config(uint8_t modem); + #if !RADIOLIB_GODMODE private: #endif @@ -920,15 +977,17 @@ class SX128x: public PhysicalLayer { // common parameters uint8_t power = 0; + uint32_t rxTimeout = 0; // cached LoRa parameters uint8_t invertIQEnabled = RADIOLIB_SX128X_LORA_IQ_STANDARD; // cached GFSK parameters - float modIndexReal = 0; + float modIndexReal = 0, frequencyDev = 0; uint16_t bitRateKbps = 0; uint8_t bitRate = 0, modIndex = 0, shaping = 0; uint8_t preambleLengthGFSK = 0, syncWordLen = 0, syncWordMatch = 0, crcGFSK = 0, whitening = 0; + uint8_t packetType = RADIOLIB_SX128X_GFSK_FLRC_PACKET_VARIABLE; // cached FLRC parameters uint8_t codingRateFLRC = 0; @@ -936,7 +995,8 @@ class SX128x: public PhysicalLayer { // cached BLE parameters uint8_t connectionState = 0, crcBLE = 0, bleTestPayload = 0; - int16_t config(uint8_t modem); + bool findChip(const char* verStr); + int16_t setPacketMode(uint8_t mode, uint8_t len); int16_t setHeaderType(uint8_t hdrType, size_t len = 0xFF); }; diff --git a/lib/RadioLib/src/modules/Si443x/Si4430.cpp b/lib/RadioLib/src/modules/Si443x/Si4430.cpp index 7f9ed5f..6470f5e 100644 --- a/lib/RadioLib/src/modules/Si443x/Si4430.cpp +++ b/lib/RadioLib/src/modules/Si443x/Si4430.cpp @@ -22,7 +22,7 @@ int16_t Si4430::begin(float freq, float br, float freqDev, float rxBw, int8_t po } int16_t Si4430::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 900.0, 960.0, RADIOLIB_ERR_INVALID_FREQUENCY); + RADIOLIB_CHECK_RANGE(freq, 900.0f, 960.0f, RADIOLIB_ERR_INVALID_FREQUENCY); // set frequency return(Si443x::setFrequencyRaw(freq)); diff --git a/lib/RadioLib/src/modules/Si443x/Si4430.h b/lib/RadioLib/src/modules/Si443x/Si4430.h index 2d212e0..e792368 100644 --- a/lib/RadioLib/src/modules/Si443x/Si4430.h +++ b/lib/RadioLib/src/modules/Si443x/Si4430.h @@ -35,7 +35,7 @@ class Si4430: public Si4432 { \param preambleLen Preamble Length in bits. Defaults to 16 bits. \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 181.1, int8_t power = 10, uint8_t preambleLen = 16); + int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 181.1, int8_t power = 10, uint8_t preambleLen = 16) override; // configuration methods diff --git a/lib/RadioLib/src/modules/Si443x/Si4431.h b/lib/RadioLib/src/modules/Si443x/Si4431.h index a8939ea..9eddc26 100644 --- a/lib/RadioLib/src/modules/Si443x/Si4431.h +++ b/lib/RadioLib/src/modules/Si443x/Si4431.h @@ -35,7 +35,7 @@ class Si4431: public Si4432 { \param preambleLen Preamble Length in bits. Defaults to 16 bits. \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 181.1, int8_t power = 10, uint8_t preambleLen = 16); + int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 181.1, int8_t power = 10, uint8_t preambleLen = 16) override; // configuration methods diff --git a/lib/RadioLib/src/modules/Si443x/Si4432.cpp b/lib/RadioLib/src/modules/Si443x/Si4432.cpp index 5669086..1725bb4 100644 --- a/lib/RadioLib/src/modules/Si443x/Si4432.cpp +++ b/lib/RadioLib/src/modules/Si443x/Si4432.cpp @@ -22,7 +22,7 @@ int16_t Si4432::begin(float freq, float br, float freqDev, float rxBw, int8_t po } int16_t Si4432::setFrequency(float freq) { - RADIOLIB_CHECK_RANGE(freq, 240.0, 930.0, RADIOLIB_ERR_INVALID_FREQUENCY); + RADIOLIB_CHECK_RANGE(freq, 240.0f, 930.0f, RADIOLIB_ERR_INVALID_FREQUENCY); // set frequency return(Si443x::setFrequencyRaw(freq)); diff --git a/lib/RadioLib/src/modules/Si443x/Si4432.h b/lib/RadioLib/src/modules/Si443x/Si4432.h index f3ac066..8bfe310 100644 --- a/lib/RadioLib/src/modules/Si443x/Si4432.h +++ b/lib/RadioLib/src/modules/Si443x/Si4432.h @@ -35,7 +35,7 @@ class Si4432: public Si443x { \param preambleLen Preamble Length in bits. Defaults to 16 bits. \returns \ref status_codes */ - int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 181.1, int8_t power = 10, uint8_t preambleLen = 16); + virtual int16_t begin(float freq = 434.0, float br = 4.8, float freqDev = 5.0, float rxBw = 181.1, int8_t power = 10, uint8_t preambleLen = 16); // configuration methods diff --git a/lib/RadioLib/src/modules/Si443x/Si443x.cpp b/lib/RadioLib/src/modules/Si443x/Si443x.cpp index 4db2ffc..4d2e866 100644 --- a/lib/RadioLib/src/modules/Si443x/Si443x.cpp +++ b/lib/RadioLib/src/modules/Si443x/Si443x.cpp @@ -2,7 +2,9 @@ #include #if !RADIOLIB_EXCLUDE_SI443X -Si443x::Si443x(Module* mod) : PhysicalLayer(RADIOLIB_SI443X_FREQUENCY_STEP_SIZE, RADIOLIB_SI443X_MAX_PACKET_LENGTH) { +Si443x::Si443x(Module* mod) : PhysicalLayer() { + this->freqStep = RADIOLIB_SI443X_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_SI443X_MAX_PACKET_LENGTH; this->mod = mod; } @@ -26,7 +28,7 @@ int16_t Si443x::begin(float br, float freqDev, float rxBw, uint8_t preambleLen) this->mod->SPIwriteRegister(RADIOLIB_SI443X_REG_OP_FUNC_CONTROL_1, RADIOLIB_SI443X_SOFTWARE_RESET); // clear POR interrupt - clearIRQFlags(); + clearIrqStatus(); // configure settings not accessible by API int16_t state = config(); @@ -52,10 +54,13 @@ int16_t Si443x::begin(float br, float freqDev, float rxBw, uint8_t preambleLen) state = packetMode(); RADIOLIB_ASSERT(state); - state = setDataShaping(0); + state = setDataShaping(RADIOLIB_SHAPING_NONE); RADIOLIB_ASSERT(state); - state = setEncoding(0); + state = setEncoding(RADIOLIB_ENCODING_NRZ); + RADIOLIB_ASSERT(state); + + state = setCRC(true); RADIOLIB_ASSERT(state); state = variablePacketLengthMode(); @@ -92,9 +97,12 @@ int16_t Si443x::transmit(const uint8_t* data, size_t len, uint8_t addr) { return(finishTransmit()); } -int16_t Si443x::receive(uint8_t* data, size_t len) { - // calculate timeout (500 ms + 400 full 64-byte packets at current bit rate) - RadioLibTime_t timeout = 500 + (1.0/(this->bitRate))*(RADIOLIB_SI443X_MAX_PACKET_LENGTH*400.0); +int16_t Si443x::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { + // calculate timeout (500 ms + 400 full max-length packets at current bit rate) + timeoutInternal = 500 + (1.0f/(this->bitRate))*(RADIOLIB_SI443X_MAX_PACKET_LENGTH*400.0f); + } // start reception int16_t state = startReceive(); @@ -103,9 +111,8 @@ int16_t Si443x::receive(uint8_t* data, size_t len) { // wait for packet reception or timeout RadioLibTime_t start = this->mod->hal->millis(); while(this->mod->hal->digitalRead(this->mod->getIrq())) { - if(this->mod->hal->millis() - start > timeout) { - standby(); - clearIRQFlags(); + if(this->mod->hal->millis() - start > timeoutInternal) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } } @@ -153,7 +160,7 @@ int16_t Si443x::transmitDirect(uint32_t frf) { // check high/low band uint8_t bandSelect = RADIOLIB_SI443X_BAND_SELECT_LOW; uint8_t freqBand = (newFreq / 10) - 24; - if(newFreq >= 480.0) { + if(newFreq >= 480.0f) { bandSelect = RADIOLIB_SI443X_BAND_SELECT_HIGH; freqBand = (newFreq / 20) - 24; } @@ -241,7 +248,7 @@ int16_t Si443x::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { this->mod->SPIsetRegValue(RADIOLIB_SI443X_REG_OP_FUNC_CONTROL_2, RADIOLIB_SI443X_TX_FIFO_CLEAR, 0, 0); // clear interrupt flags - clearIRQFlags(); + clearIrqStatus(); // set packet length if (this->packetLengthConfig == RADIOLIB_SI443X_FIXED_PACKET_LENGTH_OFF) { @@ -269,7 +276,7 @@ int16_t Si443x::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { int16_t Si443x::finishTransmit() { // clear interrupt flags - clearIRQFlags(); + clearIrqStatus(); // set mode to standby to disable transmitter/RF switch return(standby()); @@ -285,13 +292,14 @@ int16_t Si443x::startReceive() { this->mod->SPIsetRegValue(RADIOLIB_SI443X_REG_OP_FUNC_CONTROL_2, RADIOLIB_SI443X_RX_FIFO_CLEAR, 1, 1); // clear interrupt flags - clearIRQFlags(); + clearIrqStatus(); // set RF switch (if present) this->mod->setRfSwitchState(Module::MODE_RX); // set interrupt mapping - this->mod->SPIwriteRegister(RADIOLIB_SI443X_REG_INTERRUPT_ENABLE_1, RADIOLIB_SI443X_VALID_PACKET_RECEIVED_ENABLED | RADIOLIB_SI443X_CRC_ERROR_ENABLED); + uint8_t irq = this->crcEnabled ? (RADIOLIB_SI443X_VALID_PACKET_RECEIVED_ENABLED | RADIOLIB_SI443X_CRC_ERROR_ENABLED) : RADIOLIB_SI443X_VALID_PACKET_RECEIVED_ENABLED; + this->mod->SPIwriteRegister(RADIOLIB_SI443X_REG_INTERRUPT_ENABLE_1, irq); this->mod->SPIwriteRegister(RADIOLIB_SI443X_REG_INTERRUPT_ENABLE_2, 0x00); // set mode to receive @@ -309,8 +317,15 @@ int16_t Si443x::startReceive(uint32_t timeout, uint32_t irqFlags, uint32_t irqMa } int16_t Si443x::readData(uint8_t* data, size_t len) { - // clear interrupt flags - clearIRQFlags(); + // read interrupt flags + uint32_t irq = getIrqFlags(); + + // check integrity CRC + // Si443x does not have the option to keep the data after CRC failed + // reading the FIFO will just repeat the first byte (see https://github.com/jgromes/RadioLib/issues/1430) + if(irq & RADIOLIB_SI443X_CRC_ERROR_INTERRUPT) { + return(RADIOLIB_ERR_CRC_MISMATCH); + } // get packet length size_t length = getPacketLength(); @@ -332,30 +347,32 @@ int16_t Si443x::readData(uint8_t* data, size_t len) { // clear internal flag so getPacketLength can return the new packet length this->packetLengthQueried = false; - // set mode to standby + return(finishReceive()); +} + +int16_t Si443x::finishReceive() { + // set mode to standby to disable RF switch int16_t state = standby(); - RADIOLIB_ASSERT(state); - + // clear interrupt flags - clearIRQFlags(); - - return(RADIOLIB_ERR_NONE); + clearIrqStatus(); + return(state); } int16_t Si443x::setBitRate(float br) { - RADIOLIB_CHECK_RANGE(br, 0.123, 256.0, RADIOLIB_ERR_INVALID_BIT_RATE); + RADIOLIB_CHECK_RANGE(br, 0.123f, 256.0f, RADIOLIB_ERR_INVALID_BIT_RATE); // check high data rate uint8_t dataRateMode = RADIOLIB_SI443X_LOW_DATA_RATE_MODE; uint8_t exp = 21; - if(br >= 30.0) { + if(br >= 30.0f) { // bit rate above 30 kbps dataRateMode = RADIOLIB_SI443X_HIGH_DATA_RATE_MODE; exp = 16; } // calculate raw data rate value - uint16_t txDr = (br * ((uint32_t)1 << exp)) / 1000.0; + uint16_t txDr = (br * ((uint32_t)1 << exp)) / 1000.0f; // update registers int16_t state = this->mod->SPIsetRegValue(RADIOLIB_SI443X_REG_MODULATION_MODE_CONTROL_1, dataRateMode, 5, 5); @@ -376,14 +393,14 @@ int16_t Si443x::setBitRate(float br) { int16_t Si443x::setFrequencyDeviation(float freqDev) { // set frequency deviation to lowest available setting (required for digimodes) float newFreqDev = freqDev; - if(freqDev < 0.0) { - newFreqDev = 0.625; + if(freqDev < 0.0f) { + newFreqDev = 0.625f; } - RADIOLIB_CHECK_RANGE(newFreqDev, 0.625, 320.0, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); + RADIOLIB_CHECK_RANGE(newFreqDev, 0.625f, 320.0f, RADIOLIB_ERR_INVALID_FREQUENCY_DEVIATION); // calculate raw frequency deviation value - uint16_t fdev = (uint16_t)(newFreqDev / 0.625); + uint16_t fdev = (uint16_t)(newFreqDev / 0.625f); // update registers int16_t state = this->mod->SPIsetRegValue(RADIOLIB_SI443X_REG_MODULATION_MODE_CONTROL_2, (uint8_t)((fdev & 0x0100) >> 6), 2, 2); @@ -397,7 +414,7 @@ int16_t Si443x::setFrequencyDeviation(float freqDev) { } int16_t Si443x::setRxBandwidth(float rxBw) { - RADIOLIB_CHECK_RANGE(rxBw, 2.6, 620.7, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); + RADIOLIB_CHECK_RANGE(rxBw, 2.6f, 620.7f, RADIOLIB_ERR_INVALID_RX_BANDWIDTH); // decide which approximation to use for decimation rate and filter tap calculation uint8_t bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_OFF; @@ -405,84 +422,84 @@ int16_t Si443x::setRxBandwidth(float rxBw) { uint8_t filterSet = RADIOLIB_SI443X_IF_FILTER_COEFF_SET; // this is the "well-behaved" section - can be linearly approximated - if((rxBw >= 2.6) && (rxBw <= 4.5)) { + if((rxBw >= 2.6f) && (rxBw <= 4.5f)) { decRate = 5; - filterSet = ((rxBw - 2.1429)/0.3250 + 0.5); - } else if((rxBw > 4.5) && (rxBw <= 8.8)) { + filterSet = ((rxBw - 2.1429f)/0.3250f + 0.5f); + } else if((rxBw > 4.5f) && (rxBw <= 8.8f)) { decRate = 4; - filterSet = ((rxBw - 3.9857)/0.6643 + 0.5); - } else if((rxBw > 8.8) && (rxBw <= 17.5)) { + filterSet = ((rxBw - 3.9857f)/0.6643f + 0.5f); + } else if((rxBw > 8.8f) && (rxBw <= 17.5f)) { decRate = 3; - filterSet = ((rxBw - 7.6714)/1.3536 + 0.5); - } else if((rxBw > 17.5) && (rxBw <= 34.7)) { + filterSet = ((rxBw - 7.6714f)/1.3536f + 0.5f); + } else if((rxBw > 17.5f) && (rxBw <= 34.7f)) { decRate = 2; - filterSet = ((rxBw - 15.2000)/2.6893 + 0.5); - } else if((rxBw > 34.7) && (rxBw <= 69.2)) { + filterSet = ((rxBw - 15.2000f)/2.6893f + 0.5f); + } else if((rxBw > 34.7f) && (rxBw <= 69.2f)) { decRate = 1; - filterSet = ((rxBw - 30.2430)/5.3679 + 0.5); - } else if((rxBw > 69.2) && (rxBw <= 137.9)) { + filterSet = ((rxBw - 30.2430f)/5.3679f + 0.5f); + } else if((rxBw > 69.2f) && (rxBw <= 137.9f)) { decRate = 0; - filterSet = ((rxBw - 60.286)/10.7000 + 0.5); + filterSet = ((rxBw - 60.286f)/10.7000f + 0.5f); // this is the "Lord help thee who tread 'ere" section - no way to approximate this mess /// \todo float tolerance equality as macro? - } else if(fabsf(rxBw - 142.8) <= 0.001) { + } else if(fabsf(rxBw - 142.8f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 1; filterSet = 4; - } else if(fabsf(rxBw - 167.8) <= 0.001) { + } else if(fabsf(rxBw - 167.8f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 1; filterSet = 5; - } else if(fabsf(rxBw - 181.1) <= 0.001) { + } else if(fabsf(rxBw - 181.1f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 1; filterSet = 6; - } else if(fabsf(rxBw - 191.5) <= 0.001) { + } else if(fabsf(rxBw - 191.5f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 15; - } else if(fabsf(rxBw - 225.1) <= 0.001) { + } else if(fabsf(rxBw - 225.1f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 1; - } else if(fabsf(rxBw - 248.8) <= 0.001) { + } else if(fabsf(rxBw - 248.8f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 2; - } else if(fabsf(rxBw - 269.3) <= 0.001) { + } else if(fabsf(rxBw - 269.3f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 3; - } else if(fabsf(rxBw - 284.8) <= 0.001) { + } else if(fabsf(rxBw - 284.8f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 4; - } else if(fabsf(rxBw -335.5) <= 0.001) { + } else if(fabsf(rxBw -335.5f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 8; - } else if(fabsf(rxBw - 391.8) <= 0.001) { + } else if(fabsf(rxBw - 391.8f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 9; - } else if(fabsf(rxBw - 420.2) <= 0.001) { + } else if(fabsf(rxBw - 420.2f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 10; - } else if(fabsf(rxBw - 468.4) <= 0.001) { + } else if(fabsf(rxBw - 468.4f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 11; - } else if(fabsf(rxBw - 518.8) <= 0.001) { + } else if(fabsf(rxBw - 518.8f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 12; - } else if(fabsf(rxBw - 577.0) <= 0.001) { + } else if(fabsf(rxBw - 577.0f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 13; - } else if(fabsf(rxBw - 620.7) <= 0.001) { + } else if(fabsf(rxBw - 620.7f) <= 0.001f) { bypass = RADIOLIB_SI443X_BYPASS_DEC_BY_3_ON; decRate = 0; filterSet = 14; @@ -520,7 +537,7 @@ int16_t Si443x::setSyncWord(uint8_t* syncWord, size_t len) { return(state); } -int16_t Si443x::setPreambleLength(uint8_t preambleLen) { +int16_t Si443x::setPreambleLength(size_t preambleLen) { // Si443x configures preamble length in 4-bit nibbles if(preambleLen % 4 != 0) { return(RADIOLIB_ERR_INVALID_PREAMBLE_LENGTH); @@ -633,6 +650,25 @@ int16_t Si443x::variablePacketLengthMode(uint8_t maxLen) { return(Si443x::setPacketMode(RADIOLIB_SI443X_FIXED_PACKET_LENGTH_OFF, maxLen)); } +uint32_t Si443x::getIrqFlags() { + uint8_t data[] = { 0x00, 0x00 }; + this->mod->SPIreadRegisterBurst(RADIOLIB_SI443X_REG_INTERRUPT_STATUS_1, 2, data); + return(((uint32_t)(data[0]) << 8) | data[1]); +} + +int16_t Si443x::clearIrqFlags(uint32_t irq) { + (void)irq; + (void)getIrqFlags(); + return(RADIOLIB_ERR_NONE); +} + +int16_t Si443x::setCRC(bool enable, bool mode) { + this->crcEnabled = enable; + uint8_t crcEn = enable ? RADIOLIB_SI443X_CRC_ON : RADIOLIB_SI443X_CRC_OFF; + uint8_t crcCfg = mode ? RADIOLIB_SI443X_CRC_IBM_CRC16 : RADIOLIB_SI443X_CRC_CCITT; + return(this->mod->SPIsetRegValue(RADIOLIB_SI443X_REG_DATA_ACCESS_CONTROL, crcEn | crcCfg, 2, 0)); +} + Module* Si443x::getMod() { return(this->mod); } @@ -647,7 +683,7 @@ int16_t Si443x::setFrequencyRaw(float newFreq) { uint8_t freqBand = (newFreq / 10) - 24; uint8_t afcLimiter = 80; this->frequency = newFreq; - if(newFreq >= 480.0) { + if(newFreq >= 480.0f) { bandSelect = RADIOLIB_SI443X_BAND_SELECT_HIGH; freqBand = (newFreq / 20) - 24; afcLimiter = 40; @@ -705,9 +741,8 @@ bool Si443x::findChip() { return(flagFound); } -void Si443x::clearIRQFlags() { - uint8_t buff[2]; - this->mod->SPIreadRegisterBurst(RADIOLIB_SI443X_REG_INTERRUPT_STATUS_1, 2, buff); +void Si443x::clearIrqStatus() { + (void)getIrqFlags(); } void Si443x::clearFIFO(size_t count) { @@ -757,17 +792,17 @@ int16_t Si443x::updateClockRecovery() { ndec = (uint16_t)1 << ndecExp; } else { ndecExp *= -1; - ndec = 1.0/(float)((uint16_t)1 << ndecExp); + ndec = 1.0f/(float)((uint16_t)1 << ndecExp); } float rxOsr = ((float)(500 * (1 + 2*bypass))) / (ndec * this->bitRate * ((float)(1 + manch))); uint32_t ncoOff = (this->bitRate * (1 + manch) * ((uint32_t)(1) << (20 + decRate))) / (500 * (1 + 2*bypass)); - uint16_t crGain = 2 + (((float)(65536.0 * (1 + manch)) * this->bitRate) / (rxOsr * (this->frequencyDev / 0.625))); + uint16_t crGain = 2 + (((float)(65536.0f * (1 + manch)) * this->bitRate) / (rxOsr * (this->frequencyDev / 0.625f))); uint16_t rxOsr_fixed = (uint16_t)rxOsr; // print that whole mess - RADIOLIB_DEBUG_BASIC_PRINTLN("%X\n%X\n%X", bypass, decRate, manch); - RADIOLIB_DEBUG_BASIC_PRINT_FLOAT(rxOsr, 2); - RADIOLIB_DEBUG_BASIC_PRINTLN("\t%d\t%X\n%lu\t%lX\n%d\t%X", rxOsr_fixed, rxOsr_fixed, (long unsigned int)ncoOff, (long unsigned int)ncoOff, crGain, crGain); + RADIOLIB_DEBUG_BASIC_PRINTLN("%X %X %X", bypass, decRate, manch); + RADIOLIB_DEBUG_BASIC_PRINT_FLOAT((double)rxOsr, 2); + RADIOLIB_DEBUG_BASIC_PRINTLN("\t%d\t%X" RADIOLIB_LINE_FEED "%lu\t%lX" RADIOLIB_LINE_FEED "%d\t%X", rxOsr_fixed, rxOsr_fixed, (long unsigned int)ncoOff, (long unsigned int)ncoOff, crGain, crGain); // update oversampling ratio int16_t state = this->mod->SPIsetRegValue(RADIOLIB_SI443X_REG_CLOCK_REC_OFFSET_2, (uint8_t)((rxOsr_fixed & 0x0700) >> 3), 7, 5); diff --git a/lib/RadioLib/src/modules/Si443x/Si443x.h b/lib/RadioLib/src/modules/Si443x/Si443x.h index c100b04..93bd9c9 100644 --- a/lib/RadioLib/src/modules/Si443x/Si443x.h +++ b/lib/RadioLib/src/modules/Si443x/Si443x.h @@ -128,19 +128,19 @@ #define RADIOLIB_SI443X_IDLE 0b00000000 // 1 0 idle // RADIOLIB_SI443X_REG_INTERRUPT_STATUS_1 -#define RADIOLIB_SI443X_FIFO_LEVEL_ERROR_INTERRUPT 0b10000000 // 7 7 Tx/Rx FIFO overflow or underflow -#define RADIOLIB_SI443X_TX_FIFO_ALMOST_FULL_INTERRUPT 0b01000000 // 6 6 Tx FIFO almost full -#define RADIOLIB_SI443X_TX_FIFO_ALMOST_EMPTY_INTERRUPT 0b00100000 // 5 5 Tx FIFO almost empty -#define RADIOLIB_SI443X_RX_FIFO_ALMOST_FULL_INTERRUPT 0b00010000 // 4 4 Rx FIFO almost full -#define RADIOLIB_SI443X_EXTERNAL_INTERRUPT 0b00001000 // 3 3 external interrupt occurred on GPIOx -#define RADIOLIB_SI443X_PACKET_SENT_INTERRUPT 0b00000100 // 2 2 packet transmission done -#define RADIOLIB_SI443X_VALID_PACKET_RECEIVED_INTERRUPT 0b00000010 // 1 1 valid packet has been received -#define RADIOLIB_SI443X_CRC_ERROR_INTERRUPT 0b00000001 // 0 0 CRC failed +#define RADIOLIB_SI443X_FIFO_LEVEL_ERROR_INTERRUPT 0b10000000 << 8 // 7 7 Tx/Rx FIFO overflow or underflow +#define RADIOLIB_SI443X_TX_FIFO_ALMOST_FULL_INTERRUPT 0b01000000 << 8 // 6 6 Tx FIFO almost full +#define RADIOLIB_SI443X_TX_FIFO_ALMOST_EMPTY_INTERRUPT 0b00100000 << 8 // 5 5 Tx FIFO almost empty +#define RADIOLIB_SI443X_RX_FIFO_ALMOST_FULL_INTERRUPT 0b00010000 << 8 // 4 4 Rx FIFO almost full +#define RADIOLIB_SI443X_EXTERNAL_INTERRUPT 0b00001000 << 8 // 3 3 external interrupt occurred on GPIOx +#define RADIOLIB_SI443X_PACKET_SENT_INTERRUPT 0b00000100 << 8 // 2 2 packet transmission done +#define RADIOLIB_SI443X_VALID_PACKET_RECEIVED_INTERRUPT 0b00000010 << 8 // 1 1 valid packet has been received +#define RADIOLIB_SI443X_CRC_ERROR_INTERRUPT 0b00000001 << 8 // 0 0 CRC failed // RADIOLIB_SI443X_REG_INTERRUPT_STATUS_2 #define RADIOLIB_SI443X_SYNC_WORD_DETECTED_INTERRUPT 0b10000000 // 7 7 sync word has been detected -#define RADIOLIB_SI443X_VALID_RADIOLIB_PREAMBLE_DETECTED_INTERRUPT 0b01000000 // 6 6 valid preamble has been detected -#define RADIOLIB_SI443X_INVALID_RADIOLIB_PREAMBLE_DETECTED_INTERRUPT 0b00100000 // 5 5 invalid preamble has been detected +#define RADIOLIB_SI443X_VALID_PREAMBLE_DETECTED_INTERRUPT 0b01000000 // 6 6 valid preamble has been detected +#define RADIOLIB_SI443X_INVALID_PREAMBLE_DETECTED_INTERRUPT 0b00100000 // 5 5 invalid preamble has been detected #define RADIOLIB_SI443X_RSSI_INTERRUPT 0b00010000 // 4 4 RSSI exceeded programmed threshold #define RADIOLIB_SI443X_WAKEUP_TIMER_INTERRUPT 0b00001000 // 3 3 wake-up timer expired #define RADIOLIB_SI443X_LOW_BATTERY_INTERRUPT 0b00000100 // 2 2 low battery detected @@ -159,8 +159,8 @@ // RADIOLIB_SI443X_REG_INTERRUPT_ENABLE_2 #define RADIOLIB_SI443X_SYNC_WORD_DETECTED_ENABLED 0b10000000 // 7 7 sync word interrupt enabled -#define RADIOLIB_SI443X_VALID_RADIOLIB_PREAMBLE_DETECTED_ENABLED 0b01000000 // 6 6 valid preamble interrupt enabled -#define RADIOLIB_SI443X_INVALID_RADIOLIB_PREAMBLE_DETECTED_ENABLED 0b00100000 // 5 5 invalid preamble interrupt enabled +#define RADIOLIB_SI443X_VALID_PREAMBLE_DETECTED_ENABLED 0b01000000 // 6 6 valid preamble interrupt enabled +#define RADIOLIB_SI443X_INVALID_PREAMBLE_DETECTED_ENABLED 0b00100000 // 5 5 invalid preamble interrupt enabled #define RADIOLIB_SI443X_RSSI_ENABLED 0b00010000 // 4 4 RSSI exceeded programmed threshold interrupt enabled #define RADIOLIB_SI443X_WAKEUP_TIMER_ENABLED 0b00001000 // 3 3 wake-up timer interrupt enabled #define RADIOLIB_SI443X_LOW_BATTERY_ENABLED 0b00000100 // 2 2 low battery interrupt enabled @@ -598,9 +598,11 @@ class Si443x: public PhysicalLayer { For overloads to receive Arduino String, see PhysicalLayer::receive. \param data Pointer to array to save the received binary data. \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Sets the module to sleep to save power. %Module will not be able to transmit or receive any data while in sleep mode. @@ -717,6 +719,12 @@ class Si443x: public PhysicalLayer { */ int16_t readData(uint8_t* data, size_t len) override; + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; + // configuration methods /*! @@ -752,7 +760,7 @@ class Si443x: public PhysicalLayer { \param preambleLen Preamble length to be set (in bits). \returns \ref status_codes */ - int16_t setPreambleLength(uint8_t preambleLen); + int16_t setPreambleLength(size_t preambleLen) override; /*! \brief Query modem for the packet length of received payload. @@ -810,18 +818,39 @@ class Si443x: public PhysicalLayer { #endif /*! - \brief Set modem in fixed packet length mode. - \param len Packet length. - \returns \ref status_codes - */ - int16_t fixedPacketLengthMode(uint8_t len = RADIOLIB_SI443X_MAX_PACKET_LENGTH); + \brief Set modem in fixed packet length mode. + \param len Packet length. + \returns \ref status_codes + */ + int16_t fixedPacketLengthMode(uint8_t len = RADIOLIB_SI443X_MAX_PACKET_LENGTH); /*! - \brief Set modem in variable packet length mode. - \param maxLen Maximum packet length. + \brief Set modem in variable packet length mode. + \param maxLen Maximum packet length. \returns \ref status_codes - */ - int16_t variablePacketLengthMode(uint8_t maxLen = RADIOLIB_SI443X_MAX_PACKET_LENGTH); + */ + int16_t variablePacketLengthMode(uint8_t maxLen = RADIOLIB_SI443X_MAX_PACKET_LENGTH); + + /*! + \brief Read currently active IRQ flags. + \returns IRQ flags. + */ + uint32_t getIrqFlags() override; + + /*! + \brief Clear interrupt on a specific IRQ bit (e.g. RxTimeout, CadDone). + \param irq Module-specific IRQ flags. + \returns \ref status_codes + */ + int16_t clearIrqFlags(uint32_t irq) override; + + /*! + \brief Enables/disables CRC of transmitted or received packets. + \param enable Enable (true) or disable (false) CRC. + \param mode Set CRC mode + \returns \ref status_codes + */ + int16_t setCRC(bool enable, bool mode = false); #if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL protected: @@ -845,9 +874,10 @@ class Si443x: public PhysicalLayer { size_t packetLength = 0; bool packetLengthQueried = false; uint8_t packetLengthConfig = RADIOLIB_SI443X_FIXED_PACKET_LENGTH_ON; + bool crcEnabled = false; bool findChip(); - void clearIRQFlags(); + void clearIrqStatus(); void clearFIFO(size_t count); int16_t config(); int16_t updateClockRecovery(); diff --git a/lib/RadioLib/src/modules/nRF24/nRF24.cpp b/lib/RadioLib/src/modules/nRF24/nRF24.cpp index 0218ddd..10cad0d 100644 --- a/lib/RadioLib/src/modules/nRF24/nRF24.cpp +++ b/lib/RadioLib/src/modules/nRF24/nRF24.cpp @@ -2,7 +2,9 @@ #include #if !RADIOLIB_EXCLUDE_NRF24 -nRF24::nRF24(Module* mod) : PhysicalLayer(RADIOLIB_NRF24_FREQUENCY_STEP_SIZE, RADIOLIB_NRF24_MAX_PACKET_LENGTH) { +nRF24::nRF24(Module* mod) : PhysicalLayer() { + this->freqStep = RADIOLIB_NRF24_FREQUENCY_STEP_SIZE; + this->maxPacketLength = RADIOLIB_NRF24_MAX_PACKET_LENGTH; this->mod = mod; } @@ -108,7 +110,13 @@ int16_t nRF24::transmit(const uint8_t* data, size_t len, uint8_t addr) { return(finishTransmit()); } -int16_t nRF24::receive(uint8_t* data, size_t len) { +int16_t nRF24::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { + RadioLibTime_t timeoutInternal = timeout; + if(!timeoutInternal) { + // calculate timeout (15 retries * 4ms (max Tx time as per datasheet) + 10 ms) + timeoutInternal = ((15 * 4) + 10); + } + // start reception int16_t state = startReceive(); RADIOLIB_ASSERT(state); @@ -118,10 +126,9 @@ int16_t nRF24::receive(uint8_t* data, size_t len) { while(this->mod->hal->digitalRead(this->mod->getIrq())) { this->mod->hal->yield(); - // check timeout: 15 retries * 4ms (max Tx time as per datasheet) + 10 ms - if(this->mod->hal->millis() - start >= ((15 * 4) + 10)) { - standby(); - clearIRQ(); + // check timeout + if(this->mod->hal->millis() - start >= timeoutInternal) { + (void)finishReceive(); return(RADIOLIB_ERR_RX_TIMEOUT); } } @@ -272,10 +279,15 @@ int16_t nRF24::readData(uint8_t* data, size_t len) { // read packet data SPIreadRxPayload(data, length); - // clear interrupt + return(finishReceive()); +} + +int16_t nRF24::finishReceive() { + // clear interrupt flags clearIRQ(); - return(RADIOLIB_ERR_NONE); + // set mode to standby to disable transmitter/RF switch + return(standby()); } int16_t nRF24::setFrequency(float freq) { @@ -387,7 +399,7 @@ int16_t nRF24::setAddressWidth(uint8_t addrWidth) { return(state); } -int16_t nRF24::setTransmitPipe(uint8_t* addr) { +int16_t nRF24::setTransmitPipe(const uint8_t* addr) { // set mode to standby int16_t state = standby(); RADIOLIB_ASSERT(state); @@ -402,7 +414,7 @@ int16_t nRF24::setTransmitPipe(uint8_t* addr) { return(state); } -int16_t nRF24::setReceivePipe(uint8_t pipeNum, uint8_t* addr) { +int16_t nRF24::setReceivePipe(uint8_t pipeNum, const uint8_t* addr) { // set mode to standby int16_t state = standby(); RADIOLIB_ASSERT(state); @@ -561,6 +573,10 @@ int16_t nRF24::setEncoding(uint8_t encoding) { return(RADIOLIB_ERR_NONE); } +int16_t nRF24::setLNA(bool enable) { + return(this->mod->SPIsetRegValue(RADIOLIB_NRF24_REG_RF_SETUP, enable ? RADIOLIB_NRF24_RF_LNA_ON : RADIOLIB_NRF24_RF_LNA_OFF, 0, 0)); +} + void nRF24::clearIRQ() { // clear status bits this->mod->SPIsetRegValue(RADIOLIB_NRF24_REG_STATUS, RADIOLIB_NRF24_RX_DR | RADIOLIB_NRF24_TX_DS | RADIOLIB_NRF24_MAX_RT, 6, 4); @@ -610,11 +626,11 @@ void nRF24::SPIreadRxPayload(uint8_t* data, uint8_t numBytes) { SPItransfer(RADIOLIB_NRF24_CMD_READ_RX_PAYLOAD, false, NULL, data, numBytes); } -void nRF24::SPIwriteTxPayload(uint8_t* data, uint8_t numBytes) { +void nRF24::SPIwriteTxPayload(const uint8_t* data, uint8_t numBytes) { SPItransfer(RADIOLIB_NRF24_CMD_WRITE_TX_PAYLOAD, true, data, NULL, numBytes); } -void nRF24::SPItransfer(uint8_t cmd, bool write, uint8_t* dataOut, uint8_t* dataIn, uint8_t numBytes) { +void nRF24::SPItransfer(uint8_t cmd, bool write, const uint8_t* dataOut, uint8_t* dataIn, uint8_t numBytes) { (void)this->mod->SPItransferStream(&cmd, 1, write, dataOut, dataIn, numBytes, false); } diff --git a/lib/RadioLib/src/modules/nRF24/nRF24.h b/lib/RadioLib/src/modules/nRF24/nRF24.h index 428df70..686a63c 100644 --- a/lib/RadioLib/src/modules/nRF24/nRF24.h +++ b/lib/RadioLib/src/modules/nRF24/nRF24.h @@ -123,6 +123,8 @@ #define RADIOLIB_NRF24_RF_PWR_12_DBM 0b00000010 // 2 1 -12 dBm #define RADIOLIB_NRF24_RF_PWR_6_DBM 0b00000100 // 2 1 -6 dBm #define RADIOLIB_NRF24_RF_PWR_0_DBM 0b00000110 // 2 1 0 dBm (default) +#define RADIOLIB_NRF24_RF_LNA_OFF 0b00000000 // 0 0 LNA gain: Off +#define RADIOLIB_NRF24_RF_LNA_ON 0b00000001 // 0 0 On // RADIOLIB_NRF24_REG_STATUS #define RADIOLIB_NRF24_RX_DR 0b01000000 // 6 6 Rx data ready @@ -241,13 +243,15 @@ class nRF24: public PhysicalLayer { int16_t transmit(const uint8_t* data, size_t len, uint8_t addr) override; /*! - \brief Blocking binary receive method. - Overloads for string-based transmissions are implemented in PhysicalLayer. - \param data Binary data to be sent. - \param len Number of bytes to send. + \brief Binary receive method. Will attempt to receive arbitrary binary data up to 64 bytes long. + For overloads to receive Arduino String, see PhysicalLayer::receive. + \param data Pointer to array to save the received binary data. + \param len Number of bytes that will be received. Must be known in advance for binary transmissions. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(uint8_t* data, size_t len) override; + int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0) override; /*! \brief Starts direct mode transmission. @@ -338,6 +342,12 @@ class nRF24: public PhysicalLayer { */ int16_t readData(uint8_t* data, size_t len) override; + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + int16_t finishReceive() override; + // configuration methods /*! @@ -374,7 +384,7 @@ class nRF24: public PhysicalLayer { \param addr Address to which the next packet shall be transmitted. \returns \ref status_codes */ - int16_t setTransmitPipe(uint8_t* addr); + int16_t setTransmitPipe(const uint8_t* addr); /*! \brief Sets address of receive pipes 0 or 1. The address width must be the same as the same @@ -384,7 +394,7 @@ class nRF24: public PhysicalLayer { \param addr Address from which %nRF24 shall receive new packets on the specified pipe. \returns \ref status_codes */ - int16_t setReceivePipe(uint8_t pipeNum, uint8_t* addr); + int16_t setReceivePipe(uint8_t pipeNum, const uint8_t* addr); /*! \brief Sets address of receive pipes 2 - 5. The first 2 - 4 address bytes for these pipes @@ -464,6 +474,14 @@ class nRF24: public PhysicalLayer { \returns \ref status_codes */ int16_t setEncoding(uint8_t encoding) override; + + /*! + \brief Enable or disable the low-noise amplifier. + Improves receive performance at the cost of increased power consumption. + \param enable True to enable. + \returns \ref status_codes + */ + int16_t setLNA(bool enable); #if !RADIOLIB_GODMODE && !RADIOLIB_LOW_LEVEL protected: @@ -471,8 +489,8 @@ class nRF24: public PhysicalLayer { Module* getMod() override; void SPIreadRxPayload(uint8_t* data, uint8_t numBytes); - void SPIwriteTxPayload(uint8_t* data, uint8_t numBytes); - void SPItransfer(uint8_t cmd, bool write = false, uint8_t* dataOut = NULL, uint8_t* dataIn = NULL, uint8_t numBytes = 0); + void SPIwriteTxPayload(const uint8_t* data, uint8_t numBytes); + void SPItransfer(uint8_t cmd, bool write = false, const uint8_t* dataOut = NULL, uint8_t* dataIn = NULL, uint8_t numBytes = 0); #if !RADIOLIB_GODMODE private: diff --git a/lib/RadioLib/src/protocols/ADSB/ADSB.cpp b/lib/RadioLib/src/protocols/ADSB/ADSB.cpp new file mode 100644 index 0000000..7ae5d6e --- /dev/null +++ b/lib/RadioLib/src/protocols/ADSB/ADSB.cpp @@ -0,0 +1,256 @@ +#include "ADSB.h" + +#if !RADIOLIB_EXCLUDE_ADSB + +#include + +ADSBClient::ADSBClient(PhysicalLayer* phy) { + phyLayer = phy; +} + +int16_t ADSBClient::begin() { + // set what is supported by PHY + int16_t state = phyLayer->setFrequency(RADIOLIB_ADSB_CARRIER_FREQUENCY); + RADIOLIB_ASSERT(state); + + state = phyLayer->setPreambleLength(16); + RADIOLIB_ASSERT(state); + + state = phyLayer->setSyncWord(NULL, 0); + RADIOLIB_ASSERT(state); + + state = phyLayer->setEncoding(RADIOLIB_ENCODING_MANCHESTER_INV); + return(state); +} + +int16_t ADSBClient::decode(const uint8_t in[RADIOLIB_ADSB_FRAME_LEN_BYTES], ADSBFrame* out) { + RADIOLIB_ASSERT_PTR(out); + + // get the basic information + out->downlinkFormat = (in[0] & 0xF8) >> 3; + out->capability = in[0] & 0x07; + for(int i = 0; i < RADIOLIB_ADSB_FRAME_ICAO_LEN_BYTES; i++) { + out->icao[i] = in[RADIOLIB_ADSB_FRAME_ICAO_POS + i]; + } + + // lookup table to avoid a whole bunch of if-else statements + const ADSBMessageType msgTypeLut[] = { + ADSBMessageType::RESERVED, + ADSBMessageType::AIRCRAFT_ID, ADSBMessageType::AIRCRAFT_ID, + ADSBMessageType::AIRCRAFT_ID, ADSBMessageType::AIRCRAFT_ID, + ADSBMessageType::SURFACE_POS, ADSBMessageType::SURFACE_POS, + ADSBMessageType::SURFACE_POS, ADSBMessageType::SURFACE_POS, + ADSBMessageType::AIRBORNE_POS_ALT_BARO, ADSBMessageType::AIRBORNE_POS_ALT_BARO, + ADSBMessageType::AIRBORNE_POS_ALT_BARO, ADSBMessageType::AIRBORNE_POS_ALT_BARO, + ADSBMessageType::AIRBORNE_POS_ALT_BARO, ADSBMessageType::AIRBORNE_POS_ALT_BARO, + ADSBMessageType::AIRBORNE_POS_ALT_BARO, ADSBMessageType::AIRBORNE_POS_ALT_BARO, + ADSBMessageType::AIRBORNE_POS_ALT_BARO, ADSBMessageType::AIRBORNE_POS_ALT_BARO, + ADSBMessageType::AIRBORNE_VEL, + ADSBMessageType::AIRBORNE_POS_ALT_GNSS, + ADSBMessageType::AIRBORNE_POS_ALT_GNSS, + ADSBMessageType::AIRBORNE_POS_ALT_GNSS, + ADSBMessageType::RESERVED, ADSBMessageType::RESERVED, + ADSBMessageType::RESERVED, ADSBMessageType::RESERVED, ADSBMessageType::RESERVED, + ADSBMessageType::AIRCRAFT_STATUS, + ADSBMessageType::TARGET_STATE, + ADSBMessageType::RESERVED, + ADSBMessageType::AIRCRAFT_OPS_STATUS, + }; + + // get the message type and then the message itself + uint8_t typeCode = (in[RADIOLIB_ADSB_FRAME_MESSAGE_POS] & (0x1F << 3)) >> 3; + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ADS-B Type Code = %d", typeCode); + out->messageType = msgTypeLut[typeCode]; + for(int i = 0; i < RADIOLIB_ADSB_FRAME_MESSAGE_LEN_BYTES; i++) { + out->message[i] = in[RADIOLIB_ADSB_FRAME_MESSAGE_POS + i]; + } + + return(RADIOLIB_ERR_NONE); +} + +int16_t ADSBClient::parseHexId(const ADSBFrame* in, char id[RADIOLIB_ADSB_HEX_ID_LEN]) { + RADIOLIB_ASSERT_PTR(in); + + for(int i = 0; i < RADIOLIB_ADSB_HEX_ID_LEN / 2; i++) { + snprintf(&id[2*i], 3, "%02X", in->icao[i]); + } + + id[RADIOLIB_ADSB_HEX_ID_LEN - 1] = '\0'; + return(RADIOLIB_ERR_NONE); +} + +int16_t ADSBClient::parseCallsign(const ADSBFrame* in, char callsign[RADIOLIB_ADSB_CALLSIGN_LEN], ADSBAircraftCategory* cat) { + RADIOLIB_ASSERT_PTR(in); + + if(in->messageType != ADSBMessageType::AIRCRAFT_ID) { + return(RADIOLIB_ERR_ADSB_INVALID_MSG_TYPE); + } + + // precomputed bitshifts + callsign[0] = (in->message[1] & (0x3F << 2)) >> 2; + callsign[1] = ((in->message[1] & (0x03 >> 0)) << 4) | ((in->message[2] & (0x0F << 4)) >> 4); + callsign[2] = ((in->message[2] & (0x0F << 0)) << 2) | ((in->message[3] & (0x03 << 6)) >> 6); + callsign[3] = in->message[3] & 0x3F; + callsign[4] = (in->message[4] & (0x3F << 2)) >> 2; + callsign[5] = ((in->message[4] & (0x03 >> 0)) << 4) | ((in->message[5] & (0x0F << 4)) >> 4); + callsign[6] = ((in->message[5] & (0x0F << 0)) << 2) | ((in->message[6] & (0x03 << 6)) >> 6); + callsign[7] = in->message[6] & 0x3F; + callsign[RADIOLIB_ADSB_CALLSIGN_LEN - 1] = '\0'; + + // convert to ASCII + for(int i = 0; i < RADIOLIB_ADSB_CALLSIGN_LEN - 1; i++) { + if((callsign[i] >= 1) && (callsign[i] <= 26)) { + callsign[i] += '@'; + } else if(callsign[i] == 32) { + callsign[i] = ' '; + } else if(!((callsign[i] >= '0') && (callsign[i] <= '9'))) { + callsign[i] = '\0'; + } + } + + // only continue processing if category was requested by user + if(!cat) { return(RADIOLIB_ERR_NONE);} + + uint8_t type = (in->message[0] & 0xF8) >> 3; + uint8_t category = in->message[0] & 0x03; + if(type < 2) { + *cat = ADSBAircraftCategory::RESERVED; + return(RADIOLIB_ERR_NONE); + } else if(category == 0) { + *cat = ADSBAircraftCategory::NONE; + return(RADIOLIB_ERR_NONE); + } + + // lookup table to avoid a whole bunch of if-else statements + const ADSBAircraftCategory catLut[] = { + ADSBAircraftCategory::SURFACE_EMERGENCY, + ADSBAircraftCategory::RESERVED, + ADSBAircraftCategory::SURFACE_SERVICE, + ADSBAircraftCategory::GROUND_OBSTRUCTION, + ADSBAircraftCategory::GROUND_OBSTRUCTION, + ADSBAircraftCategory::GROUND_OBSTRUCTION, + ADSBAircraftCategory::GROUND_OBSTRUCTION, + ADSBAircraftCategory::GLIDER, + ADSBAircraftCategory::LIGHTER_THAN_AIR, + ADSBAircraftCategory::PARACHUTIST, + ADSBAircraftCategory::ULTRALIGHT_PARAGLIDER, + ADSBAircraftCategory::RESERVED, + ADSBAircraftCategory::UAV, + ADSBAircraftCategory::SPACE_VEHICLE, + ADSBAircraftCategory::LIGHT, + ADSBAircraftCategory::MEDIUM_1, + ADSBAircraftCategory::MEDIUM_2, + ADSBAircraftCategory::HIGH_VORTEX, + ADSBAircraftCategory::HEAVY, + ADSBAircraftCategory::HIGH_PERFORMANCE, + ADSBAircraftCategory::ROTORCRAFT, + }; + + // the index is parsed from the type and category + // in real world values overflowing the lookup table should not appear, + // but better to check anyway + size_t index = (type - 2)*7 + (category - 1); + if(index >= sizeof(catLut)/sizeof(catLut[0])) { + return(RADIOLIB_ERR_ADSB_INVALID_CATEGORY); + } + + *cat = catLut[index]; + return(RADIOLIB_ERR_NONE); +} + +void ADSBClient::setReferencePosition(float lat, float lon) { + this->refPos[0] = lat; + this->refPos[1] = lon; +} + +// lookup table for longitude zones +// having this as lookup avoids a whole bunch of floating-point calculations +static const float lonZoneLut[] = { + 87.0000000000000f, 86.5353699751210f, 85.7554162094442f, 84.8916619070209f, 83.9917356298057f, + 83.0719944471981f, 82.1395698051061f, 81.1980134927195f, 80.2492321328051f, 79.2942822545693f, + 78.3337408292275f, 77.3678946132819f, 76.3968439079447f, 75.4205625665336f, 74.4389341572514f, + 73.4517744166787f, 72.4588454472895f, 71.4598647302898f, 70.4545107498760f, 69.4424263114402f, + 68.4232202208333f, 67.3964677408467f, 66.3617100838262f, 65.3184530968209f, 64.2661652256744f, + 63.2042747938193f, 62.1321665921033f, 61.0491777424635f, 59.9545927669403f, 58.8476377614846f, + 57.7274735386611f, 56.5931875620592f, 55.4437844449504f, 54.2781747227290f, 53.0951615279600f, + 51.8934246916877f, 50.6715016555384f, 49.4277643925569f, 48.1603912809662f, 46.8673325249875f, + 45.5462672266023f, 44.1945495141927f, 42.8091401224356f, 41.3865183226024f, 39.9225668433386f, + 38.4124189241226f, 36.8502510759353f, 35.2289959779639f, 33.5399343629848f, 31.7720970768108f, + 29.9113568573181f, 27.9389871012190f, 25.8292470705878f, 23.5450448655707f, 21.0293949260285f, + 18.1862635707134f, 14.8281743686868f, 10.4704712999685f, +}; + +int16_t ADSBClient::parseAirbornePosition(const ADSBFrame* in, int* alt, float* lat, float* lon, bool* altGnss) { + RADIOLIB_ASSERT_PTR(in); + + if((in->messageType != ADSBMessageType::AIRBORNE_POS_ALT_BARO) && + (in->messageType != ADSBMessageType::AIRBORNE_POS_ALT_GNSS)) { + return(RADIOLIB_ERR_ADSB_INVALID_MSG_TYPE); + } + + // parse altitude + if(alt) { + if(in->messageType == ADSBMessageType::AIRBORNE_POS_ALT_BARO) { + // barometric altitude, get the raw value without the Q bit + uint16_t altRaw = ((in->message[1] & 0xFE) << 3) | ((in->message[2] & 0xF0) >> 4); + + // now get the step size based on the Q bit and calculate + int step = (in->message[1] & 0x01) ? 25 : 100; + *alt = step*(int)altRaw - 1000; + + } else { + // GNSS altitude, which is just meters + *alt = (in->message[1] << 4) | ((in->message[2] & 0xF0) >> 4); + + } + + // pass the source flag, if requested + if(altGnss) { *altGnss = (in->messageType == ADSBMessageType::AIRBORNE_POS_ALT_GNSS); } + } + + // check if this is an even or odd frame + bool odd = in->message[2] & 0x04; + + // always calculate the latitude - it is needed to also calculate longitude + uint32_t latRaw = (((uint32_t)(in->message[2] & 0x03)) << 15) | ((uint32_t)in->message[3] << 7) | (uint32_t)((in->message[4] & 0xFE) >> 1); + float latCpr = (float)latRaw / (float)(1UL << 17); + float latZoneSize = odd ? 360.0f/59.0f : 6.0f; + int latZoneIdx = floor(this->refPos[0] / latZoneSize) + floor((fmod(this->refPos[0], latZoneSize) / latZoneSize) - latCpr + 0.5f); + float tmpLat = latZoneSize * (latZoneIdx + (float)latCpr); + if(lat) { *lat = tmpLat; } + RADIOLIB_DEBUG_PROTOCOL_PRINT("latRaw=%d\n", latRaw); + RADIOLIB_DEBUG_PROTOCOL_PRINT("latCpr=%f\n", (double)latCpr); + RADIOLIB_DEBUG_PROTOCOL_PRINT("latZoneSize=%f\n", (double)latZoneSize); + RADIOLIB_DEBUG_PROTOCOL_PRINT("latZoneIdx=%d\n", latZoneIdx); + + // only calculate longitude if the user requested it + if(lon) { + int lonZone = 1; + if(abs(tmpLat) < 87.0f) { + for(size_t i = 0; i < sizeof(lonZoneLut)/sizeof(lonZoneLut[0]); i++) { + if(abs(tmpLat) >= lonZoneLut[i]) { + lonZone = i + 1; + break; + } + } + if(lonZone == 1) { + lonZone = 59; + } + } + uint32_t lonRaw = (((uint32_t)(in->message[4] & 0x01)) << 16) | ((uint32_t)in->message[5] << 8) | (uint32_t)in->message[6]; + float lonCpr = (float)lonRaw / (float)(1UL << 17); + float lonZoneSize = 360.0f / RADIOLIB_MAX(lonZone - (int)odd, 1); + int lonZoneIdx = floor(this->refPos[1] / lonZoneSize) + floor((fmod(this->refPos[1], lonZoneSize) / lonZoneSize) - lonCpr + 0.5f); + *lon = lonZoneSize * (lonZoneIdx + (float)lonCpr); + + RADIOLIB_DEBUG_PROTOCOL_PRINT("lonRaw=%d\n", lonRaw); + RADIOLIB_DEBUG_PROTOCOL_PRINT("lonCpr=%f\n", (double)lonCpr); + RADIOLIB_DEBUG_PROTOCOL_PRINT("lonZone=%d\n", lonZone); + RADIOLIB_DEBUG_PROTOCOL_PRINT("lonZoneSize=%f\n", (double)lonZoneSize); + RADIOLIB_DEBUG_PROTOCOL_PRINT("lonZoneIdx=%d\n", lonZoneIdx); + } + + return(RADIOLIB_ERR_NONE); +} + +#endif diff --git a/lib/RadioLib/src/protocols/ADSB/ADSB.h b/lib/RadioLib/src/protocols/ADSB/ADSB.h new file mode 100644 index 0000000..9e91bb6 --- /dev/null +++ b/lib/RadioLib/src/protocols/ADSB/ADSB.h @@ -0,0 +1,165 @@ +#if !defined(RADIOLIB_ADSB_H) +#define RADIOLIB_ADSB_H + +#include "../../TypeDef.h" + +#if !RADIOLIB_EXCLUDE_ADSB + +#include "../PhysicalLayer/PhysicalLayer.h" + +#define RADIOLIB_ADSB_CARRIER_FREQUENCY (1090.0f) + +// basic ADS-B frame structure +#define RADIOLIB_ADSB_FRAME_LEN_BYTES (14) +#define RADIOLIB_ADSB_FRAME_DF_CA_POS (0) +#define RADIOLIB_ADSB_FRAME_ICAO_LEN_BYTES (3) +#define RADIOLIB_ADSB_FRAME_ICAO_POS (1) +#define RADIOLIB_ADSB_FRAME_MESSAGE_LEN_BYTES (7) +#define RADIOLIB_ADSB_FRAME_MESSAGE_POS (4) +#define RADIOLIB_ADSB_FRAME_PARITY_INTERROGATOR_LEN_BYTES (3) +#define RADIOLIB_ADSB_FRAME_PARITY_INTERROGATOR_POS (11) + +// length of the ICAO address, including a terminating null +#define RADIOLIB_ADSB_HEX_ID_LEN (6 + 1) + +// length of the callsign, including a terminating null +#define RADIOLIB_ADSB_CALLSIGN_LEN (8 + 1) + +/*! + \enum ADSBMessageType + \brief ADS-B Message Type +*/ +enum class ADSBMessageType { + AIRCRAFT_ID = 0, + SURFACE_POS, + AIRBORNE_POS_ALT_BARO, + AIRBORNE_VEL, + AIRBORNE_POS_ALT_GNSS, + AIRCRAFT_STATUS, + TARGET_STATE, + AIRCRAFT_OPS_STATUS, + RESERVED, +}; + +/*! + \enum ADSBAircraftCategory + \brief ADS-B Aircraft category +*/ +enum class ADSBAircraftCategory { + NONE = 0, + SURFACE_EMERGENCY, + SURFACE_SERVICE, + GROUND_OBSTRUCTION, + GLIDER, + LIGHTER_THAN_AIR, + PARACHUTIST, + ULTRALIGHT_PARAGLIDER, + UAV, + SPACE_VEHICLE, + LIGHT, + MEDIUM_1, + MEDIUM_2, + HIGH_VORTEX, + HEAVY, + HIGH_PERFORMANCE, + ROTORCRAFT, + RESERVED, +}; + +/*! + \struct ADSBFrame + \brief ADS-B Frame structure +*/ +struct ADSBFrame { + public: + /*! \brief Downlink format (DF). Received frames should always have DF = 17. */ + uint8_t downlinkFormat; + + /*! \brief Transponder capability. */ + uint8_t capability; + + /*! \brief Transponder ICAO address. */ + uint8_t icao[RADIOLIB_ADSB_FRAME_ICAO_LEN_BYTES]; + + /*! \brief Message type. */ + ADSBMessageType messageType; + + /*! \brief Message buffer, interpretation is dependent on the value of messageType. */ + uint8_t message[RADIOLIB_ADSB_FRAME_MESSAGE_LEN_BYTES]; +}; + +/*! + \class ADSBClient + \brief Client for receiving and decoding ADS-B broadcast. +*/ +class ADSBClient { + public: + /*! + \brief Default constructor. + \param phy Pointer to the wireless module providing PhysicalLayer communication. + */ + explicit ADSBClient(PhysicalLayer* phy); + + /*! + \brief Initialization method. + \returns \ref status_codes + */ + int16_t begin(); + + /*! + \brief Frame decoding method, turns raw received binary data into ADS-B frame. + \param in Received raw data. + \param out Pointer to ADSBFrame where the decoded frame will be saved. + \returns \ref status_codes + */ + int16_t decode(const uint8_t in[RADIOLIB_ADSB_FRAME_LEN_BYTES], ADSBFrame* out); + + /*! + \brief Method to parse the transponder ICAO address (hex ID). + \param in Pointer to ADSBFrame where decoded frame was saved. + \param callsign Buffer where the parsed ID will be saved as null-terminated string. + \returns \ref status_codes + */ + int16_t parseHexId(const ADSBFrame* in, char id[RADIOLIB_ADSB_HEX_ID_LEN]); + + /*! + \brief Method to parse callsign from a received frame. + \param in Pointer to ADSBFrame where decoded frame was saved. + \param callsign Buffer where the parsed callsign will be saved as null-terminated string. + \param cat If set, parsed aircraft category will be saved here. + \returns \ref status_codes + */ + int16_t parseCallsign(const ADSBFrame* in, char callsign[RADIOLIB_ADSB_CALLSIGN_LEN], ADSBAircraftCategory* cat = NULL); + + /*! + \brief Method to set reference position to be used during airborne position calculation. + \param lat Reference latitude in degrees (north positive, south negative). + \param lat Reference longitude in degrees (east positive, west negative). + */ + void setReferencePosition(float lat, float lon); + + /*! + \brief Parse aircraft position from incoming frame, uasing reference position set by setReferencePosition. + The reference position is the "rough area" where the aircraft is located, typically it is the receiver location. + Aircraft position will be calcualted accurately only within 180 nautical miles (about 333 km) from the reference position! + \param in Pointer to ADSBFrame where decoded frame was saved. + \param alt Pointer to variable where the parsed altitude will be saved. Can be set to null to skip altitude calculation. + Units are feet for barometric altitude, meters for GNSS altitude. + \param lat Pointer to variable where the parsed latitude in degrees will be saved. Can be set to null to skip latitude calculation. + \param lon Pointer to variable where the parsed longitude in degrees will be saved. Can be set to null to skip longitude calculation. + \param altGnss If set, this variable will be set to true if the altitude source is GNSS, or false if the altitude is barometric. + */ + int16_t parseAirbornePosition(const ADSBFrame* in, int* alt, float* lat, float* lon, bool* altGnss = NULL); + +#if !RADIOLIB_GODMODE + private: +#endif + PhysicalLayer* phyLayer; + + // reference position + float refPos[2] = { 0, 0 }; +}; + +#endif + +#endif diff --git a/lib/RadioLib/src/protocols/APRS/APRS.cpp b/lib/RadioLib/src/protocols/APRS/APRS.cpp index c2fb72f..8fa932ad 100644 --- a/lib/RadioLib/src/protocols/APRS/APRS.cpp +++ b/lib/RadioLib/src/protocols/APRS/APRS.cpp @@ -14,7 +14,7 @@ APRSClient::APRSClient(PhysicalLayer* phy) { phyLayer = phy; } -int16_t APRSClient::begin(char sym, char* callsign, uint8_t ssid, bool alt) { +int16_t APRSClient::begin(char sym, const char* callsign, uint8_t ssid, bool alt) { RADIOLIB_CHECK_RANGE(sym, ' ', '}', RADIOLIB_ERR_INVALID_SYMBOL); symbol = sym; @@ -39,7 +39,7 @@ int16_t APRSClient::begin(char sym, char* callsign, uint8_t ssid, bool alt) { return(RADIOLIB_ERR_NONE); } -int16_t APRSClient::sendPosition(char* destCallsign, uint8_t destSSID, char* lat, char* lon, char* msg, char* time) { +int16_t APRSClient::sendPosition(char* destCallsign, uint8_t destSSID, const char* lat, const char* lon, const char* msg, const char* time) { size_t len = 1 + strlen(lat) + 1 + strlen(lon); if(msg != NULL) { len += 1 + strlen(msg); @@ -50,7 +50,7 @@ int16_t APRSClient::sendPosition(char* destCallsign, uint8_t destSSID, char* lat #if !RADIOLIB_STATIC_ONLY char* info = new char[len + 2]; #else - char info[RADIOLIB_STATIC_ARRAY_SIZE]; + char info[RADIOLIB_STATIC_ARRAY_SIZE + 2]; #endif // build the info field @@ -84,7 +84,7 @@ int16_t APRSClient::sendPosition(char* destCallsign, uint8_t destSSID, char* lat return(state); } -int16_t APRSClient::sendMicE(float lat, float lon, uint16_t heading, uint16_t speed, uint8_t type, uint8_t* telem, size_t telemLen, char* grid, char* status, int32_t alt) { +int16_t APRSClient::sendMicE(float lat, float lon, uint16_t heading, uint16_t speed, uint8_t type, const uint8_t* telem, size_t telemLen, const char* grid, const char* status, int32_t alt) { // sanity checks first if(((telemLen == 0) && (telem != NULL)) || ((telemLen != 0) && (telem == NULL))) { return(RADIOLIB_ERR_INVALID_MIC_E_TELEMETRY); diff --git a/lib/RadioLib/src/protocols/APRS/APRS.h b/lib/RadioLib/src/protocols/APRS/APRS.h index 44031fd..f496f3b 100644 --- a/lib/RadioLib/src/protocols/APRS/APRS.h +++ b/lib/RadioLib/src/protocols/APRS/APRS.h @@ -106,7 +106,7 @@ class APRSClient { \param alt Whether to use the primary (false) or alternate (true) symbol table. Defaults to primary table. \returns \ref status_codes */ - int16_t begin(char sym, char* callsign = NULL, uint8_t ssid = 0, bool alt = false); + int16_t begin(char sym, const char* callsign = NULL, uint8_t ssid = 0, bool alt = false); /*! \brief Transmit position. @@ -118,7 +118,7 @@ class APRSClient { \param time Position timestamp. Defaults to NULL (no timestamp). \returns \ref status_codes */ - int16_t sendPosition(char* destCallsign, uint8_t destSSID, char* lat, char* lon, char* msg = NULL, char* time = NULL); + int16_t sendPosition(char* destCallsign, uint8_t destSSID, const char* lat, const char* lon, const char* msg = NULL, const char* time = NULL); /*! \brief Transmit position using Mic-E encoding. @@ -133,7 +133,7 @@ class APRSClient { \param status Status message to send. NULL when not used. \param alt Altitude to send. RADIOLIB_APRS_MIC_E_ALTITUDE_UNUSED when not used. */ - int16_t sendMicE(float lat, float lon, uint16_t heading, uint16_t speed, uint8_t type, uint8_t* telem = NULL, size_t telemLen = 0, char* grid = NULL, char* status = NULL, int32_t alt = RADIOLIB_APRS_MIC_E_ALTITUDE_UNUSED); + int16_t sendMicE(float lat, float lon, uint16_t heading, uint16_t speed, uint8_t type, const uint8_t* telem = NULL, size_t telemLen = 0, const char* grid = NULL, const char* status = NULL, int32_t alt = RADIOLIB_APRS_MIC_E_ALTITUDE_UNUSED); /*! \brief Transmit generic APRS frame. diff --git a/lib/RadioLib/src/protocols/AX25/AX25.cpp b/lib/RadioLib/src/protocols/AX25/AX25.cpp index 22e1220..ea16083 100644 --- a/lib/RadioLib/src/protocols/AX25/AX25.cpp +++ b/lib/RadioLib/src/protocols/AX25/AX25.cpp @@ -14,7 +14,7 @@ AX25Frame::AX25Frame(const char* destCallsign, uint8_t destSSID, const char* src } -AX25Frame::AX25Frame(const char* destCallsign, uint8_t destSSID, const char* srcCallsign, uint8_t srcSSID, uint8_t control, uint8_t protocolID, uint8_t* info, uint16_t infoLen) { +AX25Frame::AX25Frame(const char* destCallsign, uint8_t destSSID, const char* srcCallsign, uint8_t srcSSID, uint8_t control, uint8_t protocolID, const uint8_t* info, uint16_t infoLen) { // destination callsign/SSID memcpy(this->destCallsign, destCallsign, strlen(destCallsign)); this->destCallsign[strlen(destCallsign)] = '\0'; @@ -142,7 +142,7 @@ AX25Frame& AX25Frame::operator=(const AX25Frame& frame) { return(*this); } -int16_t AX25Frame::setRepeaters(char** repeaterCallsigns, uint8_t* repeaterSSIDs, uint8_t numRepeaters) { +int16_t AX25Frame::setRepeaters(char** repeaterCallsigns, const uint8_t* repeaterSSIDs, uint8_t numRepeaters) { // check number of repeaters if((numRepeaters < 1) || (numRepeaters > 8)) { return(RADIOLIB_ERR_INVALID_NUM_REPEATERS); @@ -263,6 +263,11 @@ int16_t AX25Client::begin(const char* srcCallsign, uint8_t srcSSID, uint8_t preL return(phyLayer->startDirect()); } +void AX25Client::setScrambler(uint32_t poly, uint32_t init) { + this->scramblerPoly = poly; + this->scramblerInit = init; +} + #if defined(RADIOLIB_BUILD_ARDUINO) int16_t AX25Client::transmit(String& str, const char* destCallsign, uint8_t destSSID) { return(transmit(str.c_str(), destCallsign, destSSID)); @@ -307,7 +312,7 @@ int16_t AX25Client::sendFrame(AX25Frame* frame) { #if !RADIOLIB_STATIC_ONLY uint8_t* frameBuff = new uint8_t[frameBuffLen + 2]; #else - uint8_t frameBuff[RADIOLIB_STATIC_ARRAY_SIZE]; + uint8_t frameBuff[RADIOLIB_STATIC_ARRAY_SIZE + 2]; #endif uint8_t* frameBuffPtr = frameBuff; @@ -390,7 +395,7 @@ int16_t AX25Client::sendFrame(AX25Frame* frame) { // worst-case scenario: sequence of 1s, will have 120% of the original length, stuffed frame also includes both flags uint8_t* stuffedFrameBuff = new uint8_t[preambleLen + 1 + (6*frameBuffLen)/5 + 2]; #else - uint8_t stuffedFrameBuff[RADIOLIB_STATIC_ARRAY_SIZE]; + uint8_t stuffedFrameBuff[1 + (6*RADIOLIB_STATIC_ARRAY_SIZE)/5 + 2]; #endif // initialize buffer to all zeros @@ -474,6 +479,11 @@ int16_t AX25Client::sendFrame(AX25Frame* frame) { } } + // do the scrambling + if(scramblerPoly) { + rlb_scrambler(stuffedFrameBuff, stuffedFrameBuffLen, scramblerPoly, scramblerInit, true); + } + // transmit int16_t state = RADIOLIB_ERR_NONE; #if !RADIOLIB_EXCLUDE_AFSK diff --git a/lib/RadioLib/src/protocols/AX25/AX25.h b/lib/RadioLib/src/protocols/AX25/AX25.h index c7678a3..250cf17 100644 --- a/lib/RadioLib/src/protocols/AX25/AX25.h +++ b/lib/RadioLib/src/protocols/AX25/AX25.h @@ -185,7 +185,7 @@ class AX25Frame { \param info Information field, in the form of arbitrary binary buffer. \param infoLen Number of bytes in the information field. */ - AX25Frame(const char* destCallsign, uint8_t destSSID, const char* srcCallsign, uint8_t srcSSID, uint8_t control, uint8_t protocolID, uint8_t* info, uint16_t infoLen); + AX25Frame(const char* destCallsign, uint8_t destSSID, const char* srcCallsign, uint8_t srcSSID, uint8_t control, uint8_t protocolID, const uint8_t* info, uint16_t infoLen); /*! \brief Copy constructor. @@ -211,7 +211,7 @@ class AX25Frame { \param numRepeaters Number of repeaters, maximum is 8. \returns \ref status_codes */ - int16_t setRepeaters(char** repeaterCallsigns, uint8_t* repeaterSSIDs, uint8_t numRepeaters); + int16_t setRepeaters(char** repeaterCallsigns, const uint8_t* repeaterSSIDs, uint8_t numRepeaters); /*! \brief Method to set receive sequence number. @@ -281,6 +281,13 @@ class AX25Client { */ int16_t begin(const char* srcCallsign, uint8_t srcSSID = 0x00, uint8_t preLen = 8); + /*! + \brief Set scrambling polynomail and initial value. + \param poly Scramling polynomial. Use RADIOLIB_SCRAMBLER_G3RUH_POLY for G3RUH coding. + \param poly Initial scrambler value. Use RADIOLIB_SCRAMBLER_G3RUH_INIT for G3RUH coding. + */ + void setScrambler(uint32_t poly, uint32_t init = 0); + #if defined(RADIOLIB_BUILD_ARDUINO) /*! \brief Transmit unnumbered information (UI) frame. @@ -324,6 +331,8 @@ class AX25Client { char sourceCallsign[RADIOLIB_AX25_MAX_CALLSIGN_LEN + 1] = { 0 }; uint8_t sourceSSID = 0; uint16_t preambleLen = 0; + uint32_t scramblerInit = 0; + uint32_t scramblerPoly = 0; void getCallsign(char* buff); uint8_t getSSID(); diff --git a/lib/RadioLib/src/protocols/BellModem/BellModem.cpp b/lib/RadioLib/src/protocols/BellModem/BellModem.cpp index 30da937..a683393 100644 --- a/lib/RadioLib/src/protocols/BellModem/BellModem.cpp +++ b/lib/RadioLib/src/protocols/BellModem/BellModem.cpp @@ -43,7 +43,7 @@ int16_t BellClient::begin(const BellModem_t& modem) { int16_t BellClient::setModem(const BellModem_t& modem) { this->modemType = modem; - this->toneLen = (1000000.0/(float)this->modemType.baudRate)*this->correction; + this->toneLen = (1000000.0f/(float)this->modemType.baudRate)*this->correction; return(RADIOLIB_ERR_NONE); } diff --git a/lib/RadioLib/src/protocols/ExternalRadio/ExternalRadio.cpp b/lib/RadioLib/src/protocols/ExternalRadio/ExternalRadio.cpp index 212f8a1..b597f6f 100644 --- a/lib/RadioLib/src/protocols/ExternalRadio/ExternalRadio.cpp +++ b/lib/RadioLib/src/protocols/ExternalRadio/ExternalRadio.cpp @@ -1,20 +1,23 @@ #include "ExternalRadio.h" #if defined(RADIOLIB_BUILD_ARDUINO) -ExternalRadio::ExternalRadio(uint32_t pin) : PhysicalLayer(1, 0) { +ExternalRadio::ExternalRadio(uint32_t pin) : PhysicalLayer() { + this->freqStep = 1; mod = new Module(RADIOLIB_NC, RADIOLIB_NC, RADIOLIB_NC, pin); mod->hal->pinMode(pin, mod->hal->GpioModeOutput); this->prevFrf = 0; } #endif -ExternalRadio::ExternalRadio(RadioLibHal *hal, uint32_t pin) : PhysicalLayer(1, 0) { +ExternalRadio::ExternalRadio(RadioLibHal *hal, uint32_t pin) : PhysicalLayer() { + this->freqStep = 1; mod = new Module(hal, RADIOLIB_NC, RADIOLIB_NC, RADIOLIB_NC, pin); mod->hal->pinMode(pin, mod->hal->GpioModeOutput); this->prevFrf = 0; } -ExternalRadio::ExternalRadio(const ExternalRadio& ext) : PhysicalLayer(1, 0) { +ExternalRadio::ExternalRadio(const ExternalRadio& ext) : PhysicalLayer() { + this->freqStep = 1; this->prevFrf = ext.prevFrf; if(ext.mod) { this->mod = new Module(ext.mod->hal, RADIOLIB_NC, RADIOLIB_NC, RADIOLIB_NC, ext.mod->getGpio()); @@ -32,9 +35,7 @@ ExternalRadio& ExternalRadio::operator=(const ExternalRadio& ext) { } ExternalRadio::~ExternalRadio() { - if(this->mod) { - delete this->mod; - } + delete this->mod; } Module* ExternalRadio::getMod() { diff --git a/lib/RadioLib/src/protocols/FSK4/FSK4.cpp b/lib/RadioLib/src/protocols/FSK4/FSK4.cpp index 7e2d737..b96362e 100644 --- a/lib/RadioLib/src/protocols/FSK4/FSK4.cpp +++ b/lib/RadioLib/src/protocols/FSK4/FSK4.cpp @@ -34,7 +34,7 @@ int16_t FSK4Client::begin(float base, uint32_t shift, uint16_t rate) { } // calculate 24-bit frequency - baseFreq = (base * 1000000.0) / phyLayer->getFreqStep(); + baseFreq = (base * 1000000.0f) / phyLayer->freqStep; // configure for direct mode return(phyLayer->startDirect()); @@ -54,7 +54,7 @@ int16_t FSK4Client::setCorrection(int16_t offsets[], float length) { return(RADIOLIB_ERR_NONE); } -size_t FSK4Client::write(uint8_t* buff, size_t len) { +size_t FSK4Client::write(const uint8_t* buff, size_t len) { size_t n = 0; for(size_t i = 0; i < len; i++) { n += FSK4Client::write(buff[i]); @@ -109,7 +109,7 @@ int16_t FSK4Client::standby() { int32_t FSK4Client::getRawShift(int32_t shift) { // calculate module carrier frequency resolution - int32_t step = round(phyLayer->getFreqStep()); + int32_t step = round(phyLayer->freqStep); // check minimum shift value if(RADIOLIB_ABS(shift) < step / 2) { diff --git a/lib/RadioLib/src/protocols/FSK4/FSK4.h b/lib/RadioLib/src/protocols/FSK4/FSK4.h index 31df410..757e556 100644 --- a/lib/RadioLib/src/protocols/FSK4/FSK4.h +++ b/lib/RadioLib/src/protocols/FSK4/FSK4.h @@ -59,7 +59,7 @@ class FSK4Client { \param len Number of bytes to transmit. \returns Number of transmitted bytes. */ - size_t write(uint8_t* buff, size_t len); + size_t write(const uint8_t* buff, size_t len); /*! \brief Transmit a single byte. diff --git a/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.cpp b/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.cpp index b79e7a4..5e5d3c2 100644 --- a/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.cpp +++ b/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.cpp @@ -21,10 +21,10 @@ HellClient::HellClient(AFSKClient* audio) { int16_t HellClient::begin(float base, float rate) { // calculate 24-bit frequency baseFreqHz = base; - baseFreq = (base * 1000000.0) / phyLayer->getFreqStep(); + baseFreq = (base * 1000000.0f) / phyLayer->freqStep; // calculate "pixel" duration - pixelDuration = 1000000.0/rate; + pixelDuration = 1000000.0f/rate; // configure for direct mode return(phyLayer->startDirect()); @@ -73,7 +73,8 @@ size_t HellClient::write(uint8_t b) { uint8_t buff[RADIOLIB_HELL_FONT_WIDTH]; buff[0] = 0x00; for(uint8_t i = 0; i < RADIOLIB_HELL_FONT_WIDTH - 2; i++) { - buff[i + 1] = RADIOLIB_NONVOLATILE_READ_BYTE(&HellFont[pos][i]); + uint8_t* ptr = const_cast(&HellFont[pos][i]); + buff[i + 1] = RADIOLIB_NONVOLATILE_READ_BYTE(ptr); } buff[RADIOLIB_HELL_FONT_WIDTH - 1] = 0x00; diff --git a/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.h b/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.h index 0c26697..10e6727 100644 --- a/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.h +++ b/lib/RadioLib/src/protocols/Hellschreiber/Hellschreiber.h @@ -144,9 +144,6 @@ class HellClient: public RadioLibPrint { uint32_t pixelDuration = 0; bool invert = false; - size_t printNumber(unsigned long, uint8_t); - size_t printFloat(double, uint8_t); - int16_t transmitDirect(uint32_t freq = 0, uint32_t freqHz = 0); int16_t standby(); }; diff --git a/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.cpp b/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.cpp index 07281be..340b581 100644 --- a/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.cpp +++ b/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.cpp @@ -9,10 +9,11 @@ LoRaWANNode::LoRaWANNode(PhysicalLayer* phy, const LoRaWANBand_t* band, uint8_t subBand) { this->phyLayer = phy; this->band = band; - this->channels[RADIOLIB_LORAWAN_DIR_RX2] = this->band->rx2; - this->txPowerMax = this->band->powerMax; this->subBand = subBand; - memset(this->channelPlan, 0, sizeof(this->channelPlan)); + memset(this->dynamicChannels, 0, sizeof(this->dynamicChannels)); + for(int i = 0; i < RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES; i++) { + this->packages[i] = RADIOLIB_LORAWAN_PACKAGE_NONE; + } } #if defined(RADIOLIB_BUILD_ARDUINO) @@ -24,16 +25,16 @@ int16_t LoRaWANNode::sendReceive(const String& strUp, uint8_t fPort, String& str // build a temporary buffer // LoRaWAN downlinks can have 250 bytes at most with 1 extra byte for NULL size_t lenDown = 0; - uint8_t dataDown[251]; + uint8_t dataDown[RADIOLIB_LORAWAN_MAX_PAYLOAD_SIZE + 1]; - state = this->sendReceive((const uint8_t*)dataUp, strlen(dataUp), fPort, dataDown, &lenDown, isConfirmed, eventUp, eventDown); + state = this->sendReceive(reinterpret_cast(dataUp), strlen(dataUp), fPort, dataDown, &lenDown, isConfirmed, eventUp, eventDown); - if(state == RADIOLIB_ERR_NONE) { + if(state > RADIOLIB_ERR_NONE) { // add null terminator dataDown[lenDown] = '\0'; // initialize Arduino String class - strDown = String((char*)dataDown); + strDown = String(reinterpret_cast(dataDown)); } return(state); @@ -44,30 +45,29 @@ int16_t LoRaWANNode::sendReceive(const char* strUp, uint8_t fPort, bool isConfir // build a temporary buffer // LoRaWAN downlinks can have 250 bytes at most with 1 extra byte for NULL size_t lenDown = 0; - uint8_t dataDown[251]; + uint8_t dataDown[RADIOLIB_LORAWAN_MAX_PAYLOAD_SIZE + 1]; - return(this->sendReceive((uint8_t*)strUp, strlen(strUp), fPort, dataDown, &lenDown, isConfirmed, eventUp, eventDown)); + return(this->sendReceive(reinterpret_cast(const_cast(strUp)), strlen(strUp), fPort, dataDown, &lenDown, isConfirmed, eventUp, eventDown)); } int16_t LoRaWANNode::sendReceive(const char* strUp, uint8_t fPort, uint8_t* dataDown, size_t* lenDown, bool isConfirmed, LoRaWANEvent_t* eventUp, LoRaWANEvent_t* eventDown) { - return(this->sendReceive((uint8_t*)strUp, strlen(strUp), fPort, dataDown, lenDown, isConfirmed, eventUp, eventDown)); + return(this->sendReceive(reinterpret_cast(const_cast(strUp)), strlen(strUp), fPort, dataDown, lenDown, isConfirmed, eventUp, eventDown)); } int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fPort, bool isConfirmed, LoRaWANEvent_t* eventUp, LoRaWANEvent_t* eventDown) { // build a temporary buffer // LoRaWAN downlinks can have 250 bytes at most with 1 extra byte for NULL size_t lenDown = 0; - uint8_t dataDown[251]; + uint8_t dataDown[RADIOLIB_LORAWAN_MAX_PAYLOAD_SIZE + 1]; return(this->sendReceive(dataUp, lenUp, fPort, dataDown, &lenDown, isConfirmed, eventUp, eventDown)); } int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fPort, uint8_t* dataDown, size_t* lenDown, bool isConfirmed, LoRaWANEvent_t* eventUp, LoRaWANEvent_t* eventDown) { - if(!dataUp || !dataDown || !lenDown) { + if((lenUp > 0 && !dataUp) || !dataDown || !lenDown) { return(RADIOLIB_ERR_NULL_POINTER); } int16_t state = RADIOLIB_ERR_UNKNOWN; - Module* mod = this->phyLayer->getMod(); // if after (at) ADR_ACK_LIMIT frames no RekeyConf was received, revert to Join state if(this->fCntUp == (1UL << this->adrLimitExp)) { @@ -82,26 +82,62 @@ int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fP return(RADIOLIB_ERR_NETWORK_NOT_JOINED); } + Module *mod = this->phyLayer->getMod(); + RadioLibTime_t tNow = mod->hal->millis(); + // if scheduled uplink time is in the past, reschedule to now + if(this->tUplink < tNow) { + this->tUplink = tNow; + } + + // if dutycycle is enabled and the time since last uplink + interval has not elapsed, return an error + if(this->dutyCycleEnabled) { + if(this->tUplinkEnd + (RadioLibTime_t)dutyCycleInterval(this->dutyCycle, this->lastToA) > this->tUplink) { + return(RADIOLIB_ERR_UPLINK_UNAVAILABLE); + } + } + + if(lenUp == 0 && fPort == 0) { + this->isMACPayload = true; + } + // check if the requested payload + fPort are allowed, also given dutycycle - uint8_t totalLen = lenUp + this->fOptsUpLen; - state = this->isValidUplink(&totalLen, fPort); + state = this->isValidUplink(lenUp + this->fOptsUpLen, fPort); RADIOLIB_ASSERT(state); - // in case of TS009, a payload that is too long may have gotten clipped, - // so recalculate the actual payload length - // (outside of TS009, a payload that is too long throws an error) - lenUp = totalLen - this->fOptsUpLen; + // clear the MAC downlink buffer as we are going to transmit a new uplink + memset(this->fOptsDown, 0, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); + this->fOptsDownLen = 0; // the first 16 bytes are reserved for MIC calculation blocks size_t uplinkMsgLen = RADIOLIB_LORAWAN_FRAME_LEN(lenUp, this->fOptsUpLen); #if RADIOLIB_STATIC_ONLY uint8_t uplinkMsg[RADIOLIB_STATIC_ARRAY_SIZE]; + uint8_t frmPayload[RADIOLIB_STATIC_ARRAY_SIZE]; #else uint8_t* uplinkMsg = new uint8_t[uplinkMsgLen]; + uint8_t* frmPayload = new uint8_t[lenUp + this->fOptsUpLen]; #endif + + uint8_t frmLen = 0; + + // if the payload consists of piggybacked MAC only, move this to the FRMPayload + if(this->isMACPayload && lenUp == 0) { + memcpy(frmPayload, this->fOptsUp, this->fOptsUpLen); + frmLen = this->fOptsUpLen; + + memset(this->fOptsUp, 0, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); + this->fOptsUpLen = 0; + + this->isMACPayload = false; // reset for next uplink + + // if there is user payload, move this to the FRMPayload + } else { + memcpy(frmPayload, dataUp, lenUp); + frmLen = lenUp; + } // build the encrypted uplink message - this->composeUplink(dataUp, lenUp, uplinkMsg, fPort, isConfirmed); + this->composeUplink(frmPayload, frmLen, uplinkMsg, fPort, isConfirmed); // reset Time-on-Air as we are starting new uplink sequence this->lastToA = 0; @@ -116,7 +152,7 @@ int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fP // number of additional CAD tries uint8_t numBackoff = 0; if(this->backoffMax) { - numBackoff = this->phyLayer->random(1, this->backoffMax + 1); + numBackoff = 1 + rand() % this->backoffMax; } do { @@ -132,23 +168,21 @@ int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fP // send it (without the MIC calculation blocks) state = this->transmitUplink(&this->channels[RADIOLIB_LORAWAN_UPLINK], &uplinkMsg[RADIOLIB_LORAWAN_FHDR_LEN_START_OFFS], - (uint8_t)(uplinkMsgLen - RADIOLIB_LORAWAN_FHDR_LEN_START_OFFS), - trans > 0); + (uint8_t)(uplinkMsgLen - RADIOLIB_LORAWAN_FHDR_LEN_START_OFFS)); if(state != RADIOLIB_ERR_NONE) { + // sometimes, a spurious error can occur even though the uplink was transmitted + // therefore, just to be safe, increase frame counter by one for the next uplink + this->fCntUp += 1; + #if !RADIOLIB_STATIC_ONLY delete[] uplinkMsg; + delete[] frmPayload; #endif return(state); } - // handle Rx1 and Rx2 windows - returns window > 0 if a downlink is received - state = receiveCommon(RADIOLIB_LORAWAN_DOWNLINK, this->channels, this->rxDelays, 2, this->rxDelayStart); - - // RETRANSMIT_TIMEOUT is 2s +/- 1s (RP v1.0.4) - // must be present after any confirmed frame, so we force this here - if(isConfirmed) { - mod->hal->delay(this->phyLayer->random(1000, 3000)); - } + // handle Rx windows - returns window > 0 if a downlink is received + state = this->receiveDownlink(); // if an error occured or a downlink was received, stop retransmission if(state != RADIOLIB_ERR_NONE) { @@ -156,10 +190,22 @@ int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fP } // if no downlink was received, go on + // When an end-device has requested an ACK from the Network but has not yet received it, + // it SHALL wait RETRANSMIT_TIMEOUT seconds after RECEIVE_DELAY2 seconds have elapsed + // after the end of the previous uplink transmission before sending a new uplink (repetition or new frame). + // The RETRANSMIT_TIMEOUT delay is not required between unconfirmed uplinks, + // or after the ACK has been successfully demodulated by the end-device. + if(isConfirmed) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Retransmit timeout"); + int min = RADIOLIB_LORAWAN_RETRANSMIT_TIMEOUT_MIN_MS; + int max = RADIOLIB_LORAWAN_RETRANSMIT_TIMEOUT_MAX_MS; + this->sleepDelay(min + rand() % (max - min)); + } + } // end of transmission & reception - // note: if an error occured, it may still be the case that a transmission occured - // therefore, we act as if a transmission occured before throwing the actual error + // note: if an error occurred, it may still be the case that a transmission occurred + // therefore, we act as if a transmission occurred before throwing the actual error // this feels to be the best way to comply to spec // increase frame counter by one for the next uplink @@ -179,10 +225,12 @@ int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fP eventUp->fCnt = this->fCntUp; eventUp->fPort = fPort; eventUp->nbTrans = trans; + eventUp->multicast = false; } #if !RADIOLIB_STATIC_ONLY delete[] uplinkMsg; + delete[] frmPayload; #endif // if a hardware error occurred, return @@ -202,15 +250,16 @@ int16_t LoRaWANNode::sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fP LoRaWANNode::clearMacCommands(this->fOptsUp, &this->fOptsUpLen, RADIOLIB_LORAWAN_UPLINK); return(rxWindow); } - - // a downlink was received, so we can clear the whole MAC uplink buffer - memset(this->fOptsUp, 0, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); - this->fOptsUpLen = 0; - - state = this->parseDownlink(dataDown, lenDown, eventDown); - // return an error code, if any, otherwise return Rx window (which is > 0) + state = this->parseDownlink(dataDown, lenDown, rxWindow, eventDown); RADIOLIB_ASSERT(state); + + // if in Class C, open up RxC window + if(this->lwClass == RADIOLIB_LORAWAN_CLASS_C) { + this->receiveClassC(); + } + + // return Rx window (which is > 0) return(rxWindow); } @@ -220,15 +269,13 @@ void LoRaWANNode::clearNonces() { this->keyCheckSum = 0; this->devNonce = 0; this->joinNonce = 0; - this->isActive = false; - this->rev = 0; + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_NONE; } uint8_t* LoRaWANNode::getBufferNonces() { // set the device credentials LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_VERSION], RADIOLIB_LORAWAN_NONCES_VERSION_VAL); LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_MODE], this->lwMode); - LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_CLASS], this->lwClass); LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_PLAN], this->band->bandNum); LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_CHECKSUM], this->keyCheckSum); @@ -245,18 +292,23 @@ int16_t LoRaWANNode::setBufferNonces(const uint8_t* persistentBuffer) { return(RADIOLIB_ERR_NONE); } + // // this code can be used in case breaking chances must be caught: + // uint8_t nvm_table_version = this->bufferNonces[RADIOLIB_LORAWAN_NONCES_VERSION]; + // if (RADIOLIB_LORAWAN_NONCES_VERSION_VAL > nvm_table_version) { + // // set default values for variables that are new or something + // } + int16_t state = LoRaWANNode::checkBufferCommon(persistentBuffer, RADIOLIB_LORAWAN_NONCES_BUF_SIZE); RADIOLIB_ASSERT(state); bool isSameKeys = LoRaWANNode::ntoh(&persistentBuffer[RADIOLIB_LORAWAN_NONCES_CHECKSUM]) == this->keyCheckSum; bool isSameMode = LoRaWANNode::ntoh(&persistentBuffer[RADIOLIB_LORAWAN_NONCES_MODE]) == this->lwMode; - bool isSameClass = LoRaWANNode::ntoh(&persistentBuffer[RADIOLIB_LORAWAN_NONCES_CLASS]) == this->lwClass; bool isSamePlan = LoRaWANNode::ntoh(&persistentBuffer[RADIOLIB_LORAWAN_NONCES_PLAN]) == this->band->bandNum; // check if Nonces buffer matches the current configuration - if(!isSameKeys || !isSameMode || !isSameClass || !isSamePlan) { + if(!isSameKeys || !isSameMode || !isSamePlan) { // if configuration did not match, discard whatever is currently in the buffers and start fresh - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Configuration mismatch (keys: %d, mode: %d, class: %d, plan: %d)", isSameKeys, isSameMode, isSameClass, isSamePlan); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Configuration mismatch (keys: %d, mode: %d, plan: %d)", isSameKeys, isSameMode, isSamePlan); RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Discarding the Nonces buffer:"); RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(persistentBuffer, RADIOLIB_LORAWAN_NONCES_BUF_SIZE); return(RADIOLIB_ERR_NONCES_DISCARDED); @@ -268,10 +320,6 @@ int16_t LoRaWANNode::setBufferNonces(const uint8_t* persistentBuffer) { this->devNonce = LoRaWANNode::ntoh(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_DEV_NONCE]); this->joinNonce = LoRaWANNode::ntoh(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_JOIN_NONCE], 3); - // revert to inactive as long as no session is restored - this->bufferNonces[RADIOLIB_LORAWAN_NONCES_ACTIVE] = (uint8_t)false; - this->isActive = false; - return(state); } @@ -279,8 +327,6 @@ void LoRaWANNode::clearSession() { memset(this->bufferSession, 0, RADIOLIB_LORAWAN_SESSION_BUF_SIZE); memset(this->fOptsUp, 0, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); memset(this->fOptsDown, 0, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); - this->bufferNonces[RADIOLIB_LORAWAN_NONCES_ACTIVE] = (uint8_t)false; - this->isActive = false; // reset all frame counters this->fCntUp = 0; @@ -290,74 +336,71 @@ void LoRaWANNode::clearSession() { this->confFCntDown = RADIOLIB_LORAWAN_FCNT_NONE; this->adrFCnt = 0; - // reset ADR state + // reset Tx steps and power limit this->txPowerSteps = 0; - this->nbTrans = 1; + this->txPowerMax = this->band->powerMax; // clear CSMA settings this->csmaEnabled = false; this->maxChanges = 0; this->difsSlots = 0; this->backoffMax = 0; + + // revert to default Class A + this->lwClass = RADIOLIB_LORAWAN_CLASS_A; + + // reset all channels + memset(this->channels, 0, sizeof(this->channels)); + memset(this->dynamicChannels, 0, sizeof(this->dynamicChannels)); + + // reset the JoinRequest datarate + this->channels[RADIOLIB_LORAWAN_UPLINK].dr = RADIOLIB_LORAWAN_DATA_RATE_UNUSED; + + // reset Rx2 channel to default value + this->channels[RADIOLIB_LORAWAN_RX2] = this->band->rx2; + + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_NONE; } -void LoRaWANNode::createSession(uint16_t lwMode, uint8_t initialDr) { - this->clearSession(); +void LoRaWANNode::createSession() { + // set a seed for the pseudo-rng using a truly random value from radio noise + srand(this->phyLayer->random(INT32_MAX)); - // setup JoinRequest uplink/downlink frequencies and datarates + // setup default channels if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - this->selectChannelPlanDyn(); - } else { - this->selectChannelPlanFix(); - } - - uint8_t drUp = RADIOLIB_LORAWAN_DATA_RATE_UNUSED; - - // on fixed bands, the first OTAA uplink (JoinRequest) is sent on fixed datarate - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_FIXED && lwMode == RADIOLIB_LORAWAN_MODE_OTAA) { - // randomly select one of 8 or 9 channels and find corresponding datarate - uint8_t numChannels = this->band->numTxSpans == 1 ? 8 : 9; - uint8_t rand = this->phyLayer->random(numChannels) + 1; // range 1-8 or 1-9 - if(rand <= 8) { - drUp = this->band->txSpans[0].drJoinRequest; // if one of the first 8 channels, select datarate of span 0 - } else { - drUp = this->band->txSpans[1].drJoinRequest; // if ninth channel, select datarate of span 1 - } - } else { - // on dynamic bands, the first OTAA uplink (JoinRequest) can be any available datarate - // this is also true for ABP on both dynamic and fixed bands, as there is no JoinRequest - if(initialDr != RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { - uint8_t i = 0; - for(; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - if(this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].enabled) { - if(initialDr >= this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].drMin - && initialDr <= this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].drMax) { - drUp = initialDr; - break; - } - } - } - // if there is no channel that allowed the user-specified datarate, revert to default datarate - if(i == RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Datarate %d is not valid - using default", initialDr); - initialDr = RADIOLIB_LORAWAN_DATA_RATE_UNUSED; + for(int num = 0; num < 3; num++) { + if(this->band->txFreqs[num].freq) { + // copy the channels from the current channel plan + this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][num] = this->band->txFreqs[num]; + this->dynamicChannels[RADIOLIB_LORAWAN_DOWNLINK][num] = this->band->txFreqs[num]; } } - - // if there is no (channel that allowed the) user-specified datarate, use a default datarate - if(initialDr == RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { - // use the specified datarate from the first channel (this is always defined) - drUp = this->channelPlan[RADIOLIB_LORAWAN_UPLINK][0].dr; - } } + this->enableDefaultChannels(); + // set default MAC state uint8_t cOcts[5]; // 5 = maximum downlink payload length + + // set data rate and Tx power uint8_t cid = RADIOLIB_LORAWAN_MAC_LINK_ADR; uint8_t cLen = 1; // only apply Dr/Tx field - cOcts[0] = (drUp << 4); // set uplink datarate - cOcts[0] |= 0; // default to max Tx Power + + // DR and TxPower may have been configured before creating session, + // otherwise they are default values (see ::clearSession) + uint8_t drUp = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; + if(drUp == RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { + drUp = (this->band->txFreqs[0].drMin + this->band->txFreqs[0].drMax + 1) / 2; + } else { // RADIOLIB_LORAWAN_BAND_FIXED + drUp = (this->band->txSpans[0].drMin + this->band->txSpans[0].drMax + 1) / 2; + } + } + uint8_t txSteps = this->txPowerSteps; + cOcts[0] = (drUp << 4); + cOcts[0] |= txSteps; (void)execMacCommand(cid, cOcts, cLen); + // set maximum dutycycle cid = RADIOLIB_LORAWAN_MAC_DUTY_CYCLE; this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); uint8_t maxDCyclePower = 0; @@ -372,18 +415,21 @@ void LoRaWANNode::createSession(uint16_t lwMode, uint8_t initialDr) { cOcts[0] = maxDCyclePower; (void)execMacCommand(cid, cOcts, cLen); + // set Rx2 frequency and datarate cid = RADIOLIB_LORAWAN_MAC_RX_PARAM_SETUP; (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); cOcts[0] = (RADIOLIB_LORAWAN_RX1_DR_OFFSET << 4); - cOcts[0] |= this->channels[RADIOLIB_LORAWAN_DIR_RX2].dr; // may be set by user, otherwise band's default upon initialization - LoRaWANNode::hton(&cOcts[1], this->channels[RADIOLIB_LORAWAN_DIR_RX2].freq, 3); + cOcts[0] |= this->channels[RADIOLIB_LORAWAN_RX2].dr; // user may override the Rx2 datarate + LoRaWANNode::hton(&cOcts[1], this->band->rx2.freq, 3); (void)execMacCommand(cid, cOcts, cLen); + // set Rx1 and Rx2 delay cid = RADIOLIB_LORAWAN_MAC_RX_TIMING_SETUP; (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); cOcts[0] = (RADIOLIB_LORAWAN_RECEIVE_DELAY_1_MS / 1000); (void)execMacCommand(cid, cOcts, cLen); + // set dwelltime and maximum Tx power cid = RADIOLIB_LORAWAN_MAC_TX_PARAM_SETUP; (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); cOcts[0] = (this->band->dwellTimeDn > 0 ? 1 : 0) << 5; @@ -412,17 +458,22 @@ void LoRaWANNode::createSession(uint16_t lwMode, uint8_t initialDr) { cOcts[0] |= maxEIRPRaw; (void)execMacCommand(cid, cOcts, cLen); + // set ADR backoff parameters cid = RADIOLIB_LORAWAN_MAC_ADR_PARAM_SETUP; (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); cOcts[0] = (RADIOLIB_LORAWAN_ADR_ACK_LIMIT_EXP << 4); cOcts[0] |= RADIOLIB_LORAWAN_ADR_ACK_DELAY_EXP; (void)execMacCommand(cid, cOcts, cLen); + // set Rejoin parameters cid = RADIOLIB_LORAWAN_MAC_REJOIN_PARAM_SETUP; (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); cOcts[0] = (RADIOLIB_LORAWAN_REJOIN_MAX_TIME_N << 4); cOcts[0] |= RADIOLIB_LORAWAN_REJOIN_MAX_COUNT_N; (void)execMacCommand(cid, cOcts, cLen); + + // set up a new session, ready for activation + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_ACTIVATING; } uint8_t* LoRaWANNode::getBufferSession() { @@ -433,23 +484,19 @@ uint8_t* LoRaWANNode::getBufferSession() { LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_CONF_FCNT_DOWN], this->confFCntDown); LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_ADR_FCNT], this->adrFCnt); LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_FCNT_UP], this->fCntUp); - - // store the enabled channels - uint64_t chMaskGrp0123 = 0; - uint32_t chMaskGrp45 = 0; - this->getChannelPlanMask(&chMaskGrp0123, &chMaskGrp45); - LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_LINK_ADR] + 1, chMaskGrp0123); - LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_LINK_ADR] + 9, chMaskGrp45); - - // store the available/unused channels - uint16_t chMask = 0x0000; - (void)this->getAvailableChannels(&chMask); - LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS], chMask); - + LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_CLASS], this->lwClass); + // store the current uplink MAC command queue memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_MAC_QUEUE], this->fOptsUp, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_MAC_QUEUE_LEN], &this->fOptsUpLen, 1); + // store the channel masks and unused channel flags + memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_LINK_ADR] + 1, this->channelMasks, sizeof(this->channelMasks)); + memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS], this->channelFlags, sizeof(this->channelFlags)); + + // store the session status + LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_STATUS], this->sessionStatus); + // generate the signature of the Session buffer, and store it in the last two bytes of the Session buffer uint16_t signature = LoRaWANNode::checkSum16(this->bufferSession, RADIOLIB_LORAWAN_SESSION_BUF_SIZE - 2); LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_SIGNATURE], signature); @@ -478,13 +525,90 @@ int16_t LoRaWANNode::setBufferSession(const uint8_t* persistentBuffer) { // copy the whole buffer over memcpy(this->bufferSession, persistentBuffer, RADIOLIB_LORAWAN_SESSION_BUF_SIZE); - //// this code can be used in case breaking chances must be caught: - // uint8_t nvm_table_version = this->bufferNonces[RADIOLIB_LORAWAN_NONCES_VERSION]; - // if (RADIOLIB_LORAWAN_NONCES_VERSION_VAL > nvm_table_version) { - // // set default values for variables that are new or something - // } + // setup the default channels + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { + for(int num = 0; num < 3; num++) { + if(this->band->txFreqs[num].freq) { + // copy the channels from the current channel plan + this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][num] = this->band->txFreqs[num]; + this->dynamicChannels[RADIOLIB_LORAWAN_DOWNLINK][num] = this->band->txFreqs[num]; + } + } + } + this->enableDefaultChannels(); - // pull all authentication keys from persistent storage + uint8_t cOcts[14] = { 0 }; // see Wiki dev notes for this odd size + uint8_t cid; + uint8_t cLen; + + // for dynamic bands, the additional channels must be restored per-channel + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { + // all-zero buffer used for checking if MAC commands are set + const uint8_t bufferZeroes[RADIOLIB_LORAWAN_MAX_MAC_COMMAND_LEN_DOWN] = { 0 }; + + // restore the session channels + const uint8_t *startChannelsUp = &this->bufferSession[RADIOLIB_LORAWAN_SESSION_UL_CHANNELS]; + + cid = RADIOLIB_LORAWAN_MAC_NEW_CHANNEL; + (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); + for(int i = 0; i < RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS; i++) { + memcpy(cOcts, startChannelsUp + (i * cLen), cLen); + if(memcmp(cOcts, bufferZeroes, cLen) != 0) { // only execute if it is not all zeroes + (void)execMacCommand(cid, cOcts, cLen); + } + } + + const uint8_t *startChannelsDown = &this->bufferSession[RADIOLIB_LORAWAN_SESSION_DL_CHANNELS]; + + cid = RADIOLIB_LORAWAN_MAC_DL_CHANNEL; + (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); + for(int i = 0; i < RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS; i++) { + memcpy(cOcts, startChannelsDown + (i * cLen), cLen); + if(memcmp(cOcts, bufferZeroes, cLen) != 0) { // only execute if it is not all zeroes + (void)execMacCommand(cid, cOcts, cLen); + } + } + } + + // restore the datarate and channels + cid = RADIOLIB_LORAWAN_MAC_LINK_ADR; + cLen = 14; // only apply Dr/Tx field + memcpy(cOcts, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_LINK_ADR], cLen); + (void)execMacCommand(cid, cOcts, cLen); + + // always restore the channels, so as to adhere to channel hopping between JoinRequests + memcpy(this->channelFlags, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS], RADIOLIB_LORAWAN_MAX_NUM_SUBBANDS); + + // restore the session status + this->sessionStatus = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_STATUS]); + + // check if the session is active, if not, don't restore anything else + if(this->sessionStatus != RADIOLIB_LORAWAN_SESSION_ACTIVE) { + return(RADIOLIB_ERR_NETWORK_NOT_JOINED); + } + + // restore the rest of the MAC state + const uint8_t cids[6] = { + RADIOLIB_LORAWAN_MAC_DUTY_CYCLE, RADIOLIB_LORAWAN_MAC_RX_PARAM_SETUP, + RADIOLIB_LORAWAN_MAC_RX_TIMING_SETUP, RADIOLIB_LORAWAN_MAC_TX_PARAM_SETUP, + RADIOLIB_LORAWAN_MAC_ADR_PARAM_SETUP, RADIOLIB_LORAWAN_MAC_REJOIN_PARAM_SETUP + }; + const uint16_t locs[6] = { + RADIOLIB_LORAWAN_SESSION_DUTY_CYCLE, RADIOLIB_LORAWAN_SESSION_RX_PARAM_SETUP, + RADIOLIB_LORAWAN_SESSION_RX_TIMING_SETUP, RADIOLIB_LORAWAN_SESSION_TX_PARAM_SETUP, + RADIOLIB_LORAWAN_SESSION_ADR_PARAM_SETUP, RADIOLIB_LORAWAN_SESSION_REJOIN_PARAM_SETUP + }; + for(uint8_t i = 0; i < 6; i++) { + (void)this->getMacLen(cids[i], &cLen, RADIOLIB_LORAWAN_DOWNLINK); + memcpy(cOcts, &this->bufferSession[locs[i]], cLen); + (void)execMacCommand(cids[i], cOcts, cLen); + } + + // copy uplink MAC command queue back in place + memcpy(this->fOptsUp, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_MAC_QUEUE], RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); + memcpy(&this->fOptsUpLen, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_MAC_QUEUE_LEN], 1); + + // restore authentication keys this->devAddr = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_DEV_ADDR]); memcpy(this->appSKey, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_APP_SKEY], RADIOLIB_AES128_BLOCK_SIZE); memcpy(this->nwkSEncKey, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_NWK_SENC_KEY], RADIOLIB_AES128_BLOCK_SIZE); @@ -493,7 +617,7 @@ int16_t LoRaWANNode::setBufferSession(const uint8_t* persistentBuffer) { // restore session parameters this->rev = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_VERSION]); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("LoRaWAN session: v1.%d", this->rev); + this->lwClass = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_CLASS]); this->homeNetId = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_HOMENET_ID]); this->aFCntDown = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_A_FCNT_DOWN]); this->nFCntDown = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_N_FCNT_DOWN]); @@ -501,82 +625,9 @@ int16_t LoRaWANNode::setBufferSession(const uint8_t* persistentBuffer) { this->confFCntDown = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_CONF_FCNT_DOWN]); this->adrFCnt = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_ADR_FCNT]); this->fCntUp = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_FCNT_UP]); - - // restore the complete MAC state - - uint8_t cOcts[14] = { 0 }; // TODO explain - uint8_t cid; - uint8_t cLen = 0; - - // setup the default channels - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - this->selectChannelPlanDyn(); - } else { // type == RADIOLIB_LORAWAN_BAND_FIXED) - this->selectChannelPlanFix(); - } - - // for dynamic bands, the additional channels must be restored per-channel - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - // all-zero buffer used for checking if MAC commands are set - uint8_t bufferZeroes[RADIOLIB_LORAWAN_MAX_MAC_COMMAND_LEN_DOWN] = { 0 }; - - // restore the session channels - uint8_t *startChannelsUp = &this->bufferSession[RADIOLIB_LORAWAN_SESSION_UL_CHANNELS]; - - cid = RADIOLIB_LORAWAN_MAC_NEW_CHANNEL; - (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); - for(int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - memcpy(cOcts, startChannelsUp + (i * cLen), cLen); - if(memcmp(cOcts, bufferZeroes, cLen) != 0) { // only execute if it is not all zeroes - (void)execMacCommand(cid, cOcts, cLen); - } - } - - uint8_t *startChannelsDown = &this->bufferSession[RADIOLIB_LORAWAN_SESSION_DL_CHANNELS]; - - cid = RADIOLIB_LORAWAN_MAC_DL_CHANNEL; - (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); - for(int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - memcpy(cOcts, startChannelsDown + (i * cLen), cLen); - if(memcmp(cOcts, bufferZeroes, cLen) != 0) { // only execute if it is not all zeroes - (void)execMacCommand(cid, cOcts, cLen); - } - } - } - - // restore the MAC state - ADR needs special care, the rest is straight default - cid = RADIOLIB_LORAWAN_MAC_LINK_ADR; - cLen = 14; // special internal ADR command - memcpy(cOcts, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_LINK_ADR], cLen); - (void)execMacCommand(cid, cOcts, cLen); - - uint8_t cids[6] = { - RADIOLIB_LORAWAN_MAC_DUTY_CYCLE, RADIOLIB_LORAWAN_MAC_RX_PARAM_SETUP, - RADIOLIB_LORAWAN_MAC_RX_TIMING_SETUP, RADIOLIB_LORAWAN_MAC_TX_PARAM_SETUP, - RADIOLIB_LORAWAN_MAC_ADR_PARAM_SETUP, RADIOLIB_LORAWAN_MAC_REJOIN_PARAM_SETUP - }; - uint16_t locs[6] = { - RADIOLIB_LORAWAN_SESSION_DUTY_CYCLE, RADIOLIB_LORAWAN_SESSION_RX_PARAM_SETUP, - RADIOLIB_LORAWAN_SESSION_RX_TIMING_SETUP, RADIOLIB_LORAWAN_SESSION_TX_PARAM_SETUP, - RADIOLIB_LORAWAN_SESSION_ADR_PARAM_SETUP, RADIOLIB_LORAWAN_SESSION_REJOIN_PARAM_SETUP - }; - - for(uint8_t i = 0; i < 6; i++) { - (void)this->getMacLen(cids[i], &cLen, RADIOLIB_LORAWAN_DOWNLINK); - memcpy(cOcts, &this->bufferSession[locs[i]], cLen); - (void)execMacCommand(cids[i], cOcts, cLen); - } - - // set the available channels - uint16_t chMask = LoRaWANNode::ntoh(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS]); - this->setAvailableChannels(chMask); - - // copy uplink MAC command queue back in place - memcpy(this->fOptsUp, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_MAC_QUEUE], RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); - memcpy(&this->fOptsUpLen, &this->bufferSession[RADIOLIB_LORAWAN_SESSION_MAC_QUEUE_LEN], 1); // as both the Nonces and session are restored, revert to active session - this->bufferNonces[RADIOLIB_LORAWAN_NONCES_ACTIVE] = (uint8_t)true; + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_PENDING; return(state); } @@ -585,8 +636,9 @@ int16_t LoRaWANNode::beginOTAA(uint64_t joinEUI, uint64_t devEUI, const uint8_t* if(!appKey) { return(RADIOLIB_ERR_NULL_POINTER); } - // clear all the device credentials in case there were any + // clear all the device parameters in case there were any this->clearNonces(); + this->clearSession(); this->joinEUI = joinEUI; this->devEUI = devEUI; @@ -605,7 +657,6 @@ int16_t LoRaWANNode::beginOTAA(uint64_t joinEUI, uint64_t devEUI, const uint8_t* } this->lwMode = RADIOLIB_LORAWAN_MODE_OTAA; - this->lwClass = RADIOLIB_LORAWAN_CLASS_A; return(RADIOLIB_ERR_NONE); } @@ -614,8 +665,9 @@ int16_t LoRaWANNode::beginABP(uint32_t addr, const uint8_t* fNwkSIntKey, const u if(!nwkSEncKey || !appSKey) { return(RADIOLIB_ERR_NULL_POINTER); } - // clear all the device credentials in case there were any + // clear all the device parameters in case there were any this->clearNonces(); + this->clearSession(); this->devAddr = addr; memcpy(this->appSKey, appSKey, RADIOLIB_AES128_KEY_SIZE); @@ -637,7 +689,6 @@ int16_t LoRaWANNode::beginABP(uint32_t addr, const uint8_t* fNwkSIntKey, const u if(sNwkSIntKey) { this->keyCheckSum ^= LoRaWANNode::checkSum16(sNwkSIntKey, RADIOLIB_AES128_KEY_SIZE); } this->lwMode = RADIOLIB_LORAWAN_MODE_ABP; - this->lwClass = RADIOLIB_LORAWAN_CLASS_A; return(RADIOLIB_ERR_NONE); } @@ -747,28 +798,23 @@ int16_t LoRaWANNode::processJoinAccept(LoRaWANJoinEvent_t *joinEvent) { memcpy(&micBuff[11], joinAcceptMsg, lenRx); if(!verifyMIC(micBuff, lenRx + 11, this->jSIntKey)) { - return(RADIOLIB_ERR_CRC_MISMATCH); + return(RADIOLIB_ERR_MIC_MISMATCH); } } else { // 1.0 version if(!verifyMIC(joinAcceptMsg, lenRx, this->appKey)) { - return(RADIOLIB_ERR_CRC_MISMATCH); + return(RADIOLIB_ERR_MIC_MISMATCH); } } - - // in case of dynamic band, reset the channels to clear JoinRequest-specific channels - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - this->selectChannelPlanDyn(); - } uint8_t cOcts[5]; uint8_t cid = RADIOLIB_LORAWAN_MAC_RX_PARAM_SETUP; uint8_t cLen = 0; (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); cOcts[0] = dlSettings & 0x7F; - LoRaWANNode::hton(&cOcts[1], this->channels[RADIOLIB_LORAWAN_DIR_RX2].freq, 3); + LoRaWANNode::hton(&cOcts[1], this->channels[RADIOLIB_LORAWAN_RX2].freq, 3); (void)execMacCommand(cid, cOcts, cLen); cid = RADIOLIB_LORAWAN_MAC_RX_TIMING_SETUP; @@ -836,27 +882,17 @@ int16_t LoRaWANNode::processJoinAccept(LoRaWANJoinEvent_t *joinEvent) { LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_JOIN_NONCE], this->joinNonce, 3); - this->bufferNonces[RADIOLIB_LORAWAN_NONCES_ACTIVE] = (uint8_t)true; - - // generate the signature of the Nonces buffer, and store it in the last two bytes of the Nonces buffer - // also store this signature in the Session buffer to make sure these buffers match - uint16_t signature = LoRaWANNode::checkSum16(this->bufferNonces, RADIOLIB_LORAWAN_NONCES_BUF_SIZE - 2); - LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_SIGNATURE], signature); - LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_NONCES_SIGNATURE], signature); - // store DevAddr and all keys LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_DEV_ADDR], this->devAddr); memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_APP_SKEY], this->appSKey, RADIOLIB_AES128_KEY_SIZE); memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_NWK_SENC_KEY], this->nwkSEncKey, RADIOLIB_AES128_KEY_SIZE); memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_FNWK_SINT_KEY], this->fNwkSIntKey, RADIOLIB_AES128_KEY_SIZE); memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_SNWK_SINT_KEY], this->sNwkSIntKey, RADIOLIB_AES128_KEY_SIZE); - + // store network parameters LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_HOMENET_ID], this->homeNetId); LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_VERSION], this->rev); - this->isActive = true; - // received JoinAccept, so update JoinNonce value in event if(joinEvent) { joinEvent->joinNonce = this->joinNonce; @@ -865,20 +901,43 @@ int16_t LoRaWANNode::processJoinAccept(LoRaWANJoinEvent_t *joinEvent) { return(state); } -int16_t LoRaWANNode::activateOTAA(uint8_t joinDr, LoRaWANJoinEvent_t *joinEvent) { +int16_t LoRaWANNode::activateOTAA(LoRaWANJoinEvent_t *joinEvent) { + // only allow OTAA mode + if(this->lwMode != RADIOLIB_LORAWAN_MODE_OTAA) { + return(RADIOLIB_ERR_INVALID_MODE); + } + // check if there is an active session if(this->isActivated()) { // already activated, don't do anything return(RADIOLIB_ERR_NONE); } - if(this->bufferNonces[RADIOLIB_LORAWAN_NONCES_ACTIVE]) { + + // check if there is a restored session + if(this->sessionStatus == RADIOLIB_LORAWAN_SESSION_PENDING) { // session restored but not yet activated - do so now - this->isActive = true; + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_ACTIVE; return(RADIOLIB_LORAWAN_SESSION_RESTORED); } - int16_t state = RADIOLIB_ERR_UNKNOWN; - Module* mod = this->phyLayer->getMod(); + // if there is no session, reset everything to defaults + if(this->sessionStatus == RADIOLIB_LORAWAN_SESSION_NONE) { + this->createSession(); + } + + Module *mod = this->phyLayer->getMod(); + RadioLibTime_t tNow = mod->hal->millis(); + // if scheduled uplink time is in the past, reschedule to now + if(this->tUplink < tNow) { + this->tUplink = tNow; + } + + // if dutycycle is enabled and the time since last uplink + interval has not elapsed, return an error + if(this->dutyCycleEnabled) { + if(this->tUplinkEnd + (RadioLibTime_t)dutyCycleInterval(this->dutyCycle, this->lastToA) > this->tUplink) { + return(RADIOLIB_ERR_UPLINK_UNAVAILABLE); + } + } // starting a new session, so make sure to update event fields already if(joinEvent) { @@ -887,61 +946,38 @@ int16_t LoRaWANNode::activateOTAA(uint8_t joinDr, LoRaWANJoinEvent_t *joinEvent) joinEvent->joinNonce = this->joinNonce; } - // setup all MAC properties to default values - this->createSession(RADIOLIB_LORAWAN_MODE_OTAA, joinDr); - // build the JoinRequest message uint8_t joinRequestMsg[RADIOLIB_LORAWAN_JOIN_REQUEST_LEN]; this->composeJoinRequest(joinRequestMsg); // select a random pair of Tx/Rx channels - state = this->selectChannels(); + int16_t state = this->selectChannels(); RADIOLIB_ASSERT(state); - - // set the physical layer configuration for uplink - state = this->setPhyProperties(&this->channels[RADIOLIB_LORAWAN_UPLINK], - RADIOLIB_LORAWAN_UPLINK, - this->txPowerMax - 2*this->txPowerSteps); - RADIOLIB_ASSERT(state); - - // calculate JoinRequest time-on-air in milliseconds - if(this->dwellTimeUp) { - RadioLibTime_t toa = this->phyLayer->getTimeOnAir(RADIOLIB_LORAWAN_JOIN_REQUEST_LEN) / 1000; - if(toa > this->dwellTimeUp) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Dwell time exceeded: ToA = %lu, max = %d", (unsigned long)toa, this->dwellTimeUp); - return(RADIOLIB_ERR_DWELL_TIME_EXCEEDED); - } - } - - // if requested, delay until transmitting JoinRequest - RadioLibTime_t tNow = mod->hal->millis(); - if(this->tUplink > tNow) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Delaying transmission by %lu ms", (unsigned long)(this->tUplink - tNow)); - if(this->tUplink > mod->hal->millis()) { - mod->hal->delay(this->tUplink - mod->hal->millis()); - } - } - - // send it - state = this->phyLayer->transmit(joinRequestMsg, RADIOLIB_LORAWAN_JOIN_REQUEST_LEN); - this->rxDelayStart = mod->hal->millis(); - RADIOLIB_ASSERT(state); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("JoinRequest sent (DevNonce = %d) <-- Rx Delay start", this->devNonce); + + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("JoinRequest (DevNonce = %d):", this->devNonce); RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(joinRequestMsg, RADIOLIB_LORAWAN_JOIN_REQUEST_LEN); + state = this->transmitUplink(&this->channels[RADIOLIB_LORAWAN_UPLINK], + joinRequestMsg, + RADIOLIB_LORAWAN_JOIN_REQUEST_LEN); + RADIOLIB_ASSERT(state); + // JoinRequest successfully sent, so increase & save devNonce this->devNonce += 1; LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_DEV_NONCE], this->devNonce); - // set the Time on Air of the JoinRequest - this->lastToA = this->phyLayer->getTimeOnAir(RADIOLIB_LORAWAN_JOIN_REQUEST_LEN) / 1000; + // generate the signature of the Nonces buffer, and store it in the last two bytes of the Nonces buffer + // also store this signature in the Session buffer to make sure these buffers match + uint16_t signature = LoRaWANNode::checkSum16(this->bufferNonces, RADIOLIB_LORAWAN_NONCES_BUF_SIZE - 2); + LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_SIGNATURE], signature); + LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_NONCES_SIGNATURE], signature); // configure Rx1 and Rx2 delay for JoinAccept message - these are re-configured once a valid JoinAccept is received this->rxDelays[1] = RADIOLIB_LORAWAN_JOIN_ACCEPT_DELAY_1_MS; this->rxDelays[2] = RADIOLIB_LORAWAN_JOIN_ACCEPT_DELAY_2_MS; - // handle Rx1 and Rx2 windows - returns window > 0 if a downlink is received - state = receiveCommon(RADIOLIB_LORAWAN_DOWNLINK, this->channels, this->rxDelays, 2, this->rxDelayStart); + // handle Rx windows - returns window > 0 if a downlink is received + state = this->receiveDownlink(); if(state < RADIOLIB_ERR_NONE) { return(state); } else if (state == RADIOLIB_ERR_NONE) { @@ -952,26 +988,42 @@ int16_t LoRaWANNode::activateOTAA(uint8_t joinDr, LoRaWANJoinEvent_t *joinEvent) state = this->processJoinAccept(joinEvent); RADIOLIB_ASSERT(state); + // regenerate the Nonces signature as we received new Nonces in the JoinAccept + signature = LoRaWANNode::checkSum16(this->bufferNonces, RADIOLIB_LORAWAN_NONCES_BUF_SIZE - 2); + LoRaWANNode::hton(&this->bufferNonces[RADIOLIB_LORAWAN_NONCES_SIGNATURE], signature); + LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_NONCES_SIGNATURE], signature); + + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_ACTIVE; + + // calculate channel flags after setting session to active + (void)this->calculateChannelFlags(); + return(RADIOLIB_LORAWAN_NEW_SESSION); } -int16_t LoRaWANNode::activateABP(uint8_t initialDr) { +int16_t LoRaWANNode::activateABP() { + // only allow ABP mode + if(this->lwMode != RADIOLIB_LORAWAN_MODE_ABP) { + return(RADIOLIB_ERR_INVALID_MODE); + } + // check if there is an active session if(this->isActivated()) { // already activated, don't do anything return(RADIOLIB_ERR_NONE); } - if(this->bufferNonces[RADIOLIB_LORAWAN_NONCES_ACTIVE]) { + + // check if there is a restored session + if(this->sessionStatus == RADIOLIB_LORAWAN_SESSION_PENDING) { // session restored but not yet activated - do so now - this->isActive = true; + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_ACTIVE; return(RADIOLIB_LORAWAN_SESSION_RESTORED); } - // setup all MAC properties to default values - this->createSession(RADIOLIB_LORAWAN_MODE_ABP, initialDr); - - // new session all good, so set active-bit to true - this->bufferNonces[RADIOLIB_LORAWAN_NONCES_ACTIVE] = (uint8_t)true; + // if there is no session, reset everything to defaults + if(this->sessionStatus == RADIOLIB_LORAWAN_SESSION_NONE) { + this->createSession(); + } // generate the signature of the Nonces buffer, and store it in the last two bytes of the Nonces buffer // also store this signature in the Session buffer to make sure these buffers match @@ -990,32 +1042,36 @@ int16_t LoRaWANNode::activateABP(uint8_t initialDr) { LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_HOMENET_ID], this->homeNetId); LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_VERSION], this->rev); - this->isActive = true; + if(this->rev == 1) { + LoRaWANNode::pushMacCommand(RADIOLIB_LORAWAN_MAC_RESET, &this->rev, this->fOptsUp, &this->fOptsUpLen, RADIOLIB_LORAWAN_UPLINK); + } + + this->sessionStatus = RADIOLIB_LORAWAN_SESSION_ACTIVE; return(RADIOLIB_LORAWAN_NEW_SESSION); } -void LoRaWANNode::processCFList(uint8_t* cfList) { +void LoRaWANNode::processCFList(const uint8_t* cfList) { RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Processing CFList"); - uint8_t cOcts[14] = { 0 }; // TODO explain + uint8_t cOcts[14] = { 0 }; // see Wiki for special length uint8_t cid; uint8_t cLen = 0; - + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - // retrieve number of existing (default) channels + // retrieve number of default channels size_t num = 0; - for(int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - if(!this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].enabled) { + for(int i = 0; i < 3; i++) { + if(this->band->txFreqs[i].freq == 0) { break; } num++; } - + cid = RADIOLIB_LORAWAN_MAC_NEW_CHANNEL; (void)this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_DOWNLINK); - uint8_t freqZero[3] = { 0 }; + const uint8_t freqZero[3] = { 0 }; // datarate range for all new channels is equal to the default channels cOcts[4] = (this->band->txFreqs[0].drMax << 4) | this->band->txFreqs[0].drMin; @@ -1029,71 +1085,166 @@ void LoRaWANNode::processCFList(uint8_t* cfList) { (void)execMacCommand(cid, cOcts, cLen); } } else { // RADIOLIB_LORAWAN_BAND_FIXED - // complete channel mask received, so clear all existing channels - for(int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i] = RADIOLIB_LORAWAN_CHANNEL_NONE; - } - - // copy channel mask straight over to LinkAdr MAC command + // apply channel mask cid = RADIOLIB_LORAWAN_MAC_LINK_ADR; - cLen = 14; // special internal ADR length - cOcts[0] = 0xFF; // same datarate and cOcts - memcpy(&cOcts[1], cfList, 12); // copy mask - cOcts[13] = 0; // set NbTrans = 0 -> keep the same + cLen = 14; + cOcts[0] = RADIOLIB_LORAWAN_DATA_RATE_UNUSED << 4; // keep datarate the same + cOcts[0] |= RADIOLIB_LORAWAN_TX_POWER_UNUSED; // keep Tx Power the same + cOcts[13] = 0x01; // default NbTrans = 1 + memcpy(&cOcts[1], cfList, sizeof(this->channelMasks)); (void)execMacCommand(cid, cOcts, cLen); } } bool LoRaWANNode::isActivated() { - return(this->isActive); + return(this->sessionStatus == RADIOLIB_LORAWAN_SESSION_ACTIVE); } -int16_t LoRaWANNode::isValidUplink(uint8_t* len, uint8_t fPort) { +int16_t LoRaWANNode::setClass(uint8_t cls) { + // only allow switching class once activated + if(!this->isActivated()) { + return(RADIOLIB_ERR_NETWORK_NOT_JOINED); + } + + // only Class A/B/C exist + if(cls > RADIOLIB_LORAWAN_CLASS_C) { + return(RADIOLIB_ERR_UNSUPPORTED); + } + + // Class B is not implemented + if(cls == RADIOLIB_LORAWAN_CLASS_B) { + return(RADIOLIB_ERR_UNSUPPORTED); + } + + // for LoRaWAN v1.0.4, simply switch class + if(this->rev == 0) { + this->lwClass = cls; + + // stop any ongoing activity + this->phyLayer->standby(); + + // if switching to Class C, open the RxC window + if(cls == RADIOLIB_LORAWAN_CLASS_C) { + this->receiveClassC(); + } + return(RADIOLIB_ERR_NONE); + } + + // for LoRaWAN v1.1, queue the DeviceModeInd MAC command + // it will only switch once DeviceModeConf is received + uint8_t cOct = cls; + int16_t state = LoRaWANNode::pushMacCommand(RADIOLIB_LORAWAN_MAC_DEVICE_MODE, &cOct, this->fOptsUp, &this->fOptsUpLen, RADIOLIB_LORAWAN_UPLINK); + return(state); +} + +int16_t LoRaWANNode::startMulticastSession(uint8_t cls, uint32_t mcAddr, const uint8_t* mcAppSKey, const uint8_t* mcNwkSKey, uint32_t mcFCntMin, uint32_t mcFCntMax, uint32_t mcFreq, uint8_t mcDr) { + this->multicast = false; + + if(!this->isActivated()) { + return(RADIOLIB_ERR_NETWORK_NOT_JOINED); + } + + // currently only possible for Class C + if(cls == RADIOLIB_LORAWAN_CLASS_B) { + return(RADIOLIB_ERR_UNSUPPORTED); + } + + if(mcAppSKey == nullptr || mcNwkSKey == nullptr) { + return(RADIOLIB_ERR_NULL_POINTER); + } + + // check if frequency is within band + if(mcFreq == 0) { + mcFreq = this->channels[RADIOLIB_LORAWAN_RX2].freq * 100; + } + if(mcFreq / 100 < this->band->freqMin || mcFreq / 100 > this->band->freqMax) { + return(RADIOLIB_ERR_INVALID_FREQUENCY); + } + + // check if datarate is defined + if(mcDr == RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { + mcDr = this->channels[RADIOLIB_LORAWAN_RX2].dr; + } + if(this->band->dataRates[mcDr].modem == RADIOLIB_MODEM_NONE) { + return(RADIOLIB_ERR_INVALID_DATA_RATE); + } + + // check the frame counter range + if(mcFCntMin >= mcFCntMax) { + return(RADIOLIB_ERR_MULTICAST_FCNT_INVALID); + } + + // all checks passed, so apply configuration + this->multicast = cls; + this->channels[RADIOLIB_LORAWAN_RX_BC].freq = mcFreq / 100; + this->channels[RADIOLIB_LORAWAN_RX_BC].dr = mcDr; + this->channels[RADIOLIB_LORAWAN_RX_BC].drMin = mcDr; + this->channels[RADIOLIB_LORAWAN_RX_BC].drMax = mcDr; + this->mcAddr = mcAddr; + memcpy(this->mcAppSKey, mcAppSKey, RADIOLIB_AES128_KEY_SIZE); + memcpy(this->mcNwkSKey, mcNwkSKey, RADIOLIB_AES128_KEY_SIZE); + this->mcAFCnt = mcFCntMin; + this->mcAFCntMax = mcFCntMax; + + // open the RxC window with Multicast configuration + if(cls == RADIOLIB_LORAWAN_CLASS_C) { + this->receiveClassC(); + } + + return(RADIOLIB_ERR_NONE); +} + +void LoRaWANNode::stopMulticastSession() { + this->multicast = false; + + // stop any ongoing activity + this->phyLayer->standby(); + + if(this->ledPins[RADIOLIB_LORAWAN_RX_BC] != RADIOLIB_NC) { + Module *mod = this->phyLayer->getMod(); + mod->hal->digitalWrite(this->ledPins[RADIOLIB_LORAWAN_RX_BC], mod->hal->GpioLevelLow); + } + + // if in Class C, re-open RxC window with normal unicast configuration + if(this->lwClass == RADIOLIB_LORAWAN_CLASS_C) { + this->receiveClassC(); + } +} + +int16_t LoRaWANNode::isValidUplink(size_t len, uint8_t fPort) { // check destination fPort - switch(fPort) { - case RADIOLIB_LORAWAN_FPORT_MAC_COMMAND: { - // MAC FPort only good if internally overruled - if (!this->isMACPayload) { - return(RADIOLIB_ERR_INVALID_PORT); + bool ok = false; + if(fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND && this->isMACPayload) { + ok = true; + } + if(fPort >= RADIOLIB_LORAWAN_FPORT_PAYLOAD_MIN && fPort <= RADIOLIB_LORAWAN_FPORT_PAYLOAD_MAX) { + ok = true; + } + if(fPort >= RADIOLIB_LORAWAN_FPORT_RESERVED) { + for(int id = 0; id < RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES; id++) { + if(this->packages[id].enabled && fPort == this->packages[id].packFPort) { + ok = true; + break; } - // if this is MAC only payload, continue and reset for next uplink - this->isMACPayload = false; - } break; - case RADIOLIB_LORAWAN_FPORT_PAYLOAD_MIN ... RADIOLIB_LORAWAN_FPORT_PAYLOAD_MAX: { - // all good - } break; - case RADIOLIB_LORAWAN_FPORT_TS009: { - // TS009 FPort only good if overruled during verification testing - if(!this->TS009) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Requested uplink at FPort %d - rejected! This FPort is not enabled.", fPort); - return(RADIOLIB_ERR_INVALID_PORT); - } - } break; - case RADIOLIB_LORAWAN_FPORT_TS011: { - // TS011 FPort only good if overruled during relay exchange - if(!this->TS011) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Requested uplink at FPort %d - rejected! This FPort is not enabled.", fPort); - return(RADIOLIB_ERR_INVALID_PORT); - } - } break; - default: { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Requested uplink at FPort %d - rejected! This FPort is reserved.", fPort); - } break; + } + } + + if(!ok) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Requested uplink at FPort %d - rejected! This FPort is reserved.", fPort); + return(RADIOLIB_ERR_INVALID_PORT); } // check maximum payload len as defined in band uint8_t maxPayLen = this->band->payloadLenMax[this->channels[RADIOLIB_LORAWAN_UPLINK].dr]; - if(this->TS011) { - maxPayLen = RADIOLIB_MIN(maxPayLen, 230); // payload length is limited to 230 if under repeater + if(this->packages[RADIOLIB_LORAWAN_PACKAGE_TS011].enabled) { + maxPayLen = RADIOLIB_MIN(maxPayLen, 222); // payload length is limited to 222 if under repeater } - if(*len > maxPayLen) { - // normally, throw an error if the packet is too long - if(this->TS009 == false) { - return(RADIOLIB_ERR_PACKET_TOO_LONG); - } - // if testing with TS009 Specification Verification Protocol, don't throw error but clip the message - *len = maxPayLen; + + // throw an error if the packet is too long + if(len > maxPayLen) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("%d bytes payload exceeding limit of %d bytes", len, maxPayLen); + return(RADIOLIB_ERR_PACKET_TOO_LONG); } return(RADIOLIB_ERR_NONE); @@ -1131,28 +1282,40 @@ void LoRaWANNode::adrBackoff() { } // if datarate can be decreased, try it - if(this->channels[RADIOLIB_LORAWAN_UPLINK].dr > 0) { - uint8_t oldDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; + uint8_t currentDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; + if(currentDr > 0) { - if(this->setDatarate(oldDr - 1) == RADIOLIB_ERR_NONE) { - // if there is no dwell time limit, a lower datarate is OK - if(!this->dwellTimeUp) { + // check if dwelltime limitation allows a lower datarate + if(this->dwellTimeUp) { + const ModemType_t modem = this->band->dataRates[currentDr - 1].modem; + const DataRate_t* dr = &this->band->dataRates[currentDr - 1].dr; + const PacketConfig_t* pc = &this->band->dataRates[currentDr - 1].pc; + if(this->phyLayer->calculateTimeOnAir(modem, *dr, *pc, 13) / 1000 > this->dwellTimeUp) { return; } - // if there is a dwell time limit, check if this datarate allows an empty uplink - if(this->phyLayer->getTimeOnAir(13) / 1000 < this->dwellTimeUp) { - return; - } - // if the Time on Air of an empty uplink exceeded the dwell time, revert - this->setDatarate(oldDr); + } + + // try to decrease datarate (given channelplan and radio) + if(this->setDatarate(currentDr - 1) == RADIOLIB_ERR_NONE) { + return; } } - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - this->selectChannelPlanDyn(); // revert to default frequencies - } else { - this->selectChannelPlanFix(); // go back to default selected subband + // last resort: enable all (default) channels + this->enableDefaultChannels(); + + // re-enabling default channels may have enabled channels that do support + // the next required datarate; if datarate can be decreased, try it + if(currentDr > 0) { + + // dwelltime check is already done a few lines ago + + // try to decrease datarate (given channelplan and radio) + if(this->setDatarate(currentDr - 1) == RADIOLIB_ERR_NONE) { + return; + } } + this->nbTrans = 1; // as there is nothing more to do, set ADR counter to maximum value to indicate that we've tried everything @@ -1195,12 +1358,14 @@ void LoRaWANNode::composeUplink(const uint8_t* in, uint8_t lenIn, uint8_t* out, // check if we have some MAC commands to append out[RADIOLIB_LORAWAN_FHDR_FCTRL_POS] |= this->fOptsUpLen; - // if the saved confirm-fCnt is set, set the ACK bit + // if the ConfirmFCnt is set, there is a downlink to acknowledge, so set the ACK bit if(this->confFCntDown != RADIOLIB_LORAWAN_FCNT_NONE) { out[RADIOLIB_LORAWAN_FHDR_FCTRL_POS] |= RADIOLIB_LORAWAN_FCTRL_ACK; } + // set FCnt and FPort fields LoRaWANNode::hton(&out[RADIOLIB_LORAWAN_FHDR_FCNT_POS], (uint16_t)this->fCntUp); + out[RADIOLIB_LORAWAN_FHDR_FPORT_POS(this->fOptsUpLen)] = fPort; if(this->fOptsUpLen > 0) { RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Uplink MAC payload:"); @@ -1208,28 +1373,31 @@ void LoRaWANNode::composeUplink(const uint8_t* in, uint8_t lenIn, uint8_t* out, if(this->rev == 1) { // in LoRaWAN v1.1, the FOpts are encrypted using the NwkSEncKey - processAES(this->fOptsUp, this->fOptsUpLen, this->nwkSEncKey, &out[RADIOLIB_LORAWAN_FHDR_FOPTS_POS], this->fCntUp, RADIOLIB_LORAWAN_UPLINK, 0x01, true); + processAES(this->fOptsUp, this->fOptsUpLen, this->nwkSEncKey, &out[RADIOLIB_LORAWAN_FHDR_FOPTS_POS], this->devAddr, this->fCntUp, RADIOLIB_LORAWAN_UPLINK, 0x01, true); } else { - // in LoRaWAN v1.0.x, the FOpts are unencrypted + // in LoRaWAN v1.0, the FOpts are unencrypted memcpy(&out[RADIOLIB_LORAWAN_FHDR_FOPTS_POS], this->fOptsUp, this->fOptsUpLen); } - } - // set the fPort - out[RADIOLIB_LORAWAN_FHDR_FPORT_POS(this->fOptsUpLen)] = fPort; - // select encryption key based on the target fPort uint8_t* encKey = this->appSKey; - if((fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND) || (fPort == RADIOLIB_LORAWAN_FPORT_TS011)) { + if(fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND) { encKey = this->nwkSEncKey; } + // check if any of the packages uses this FPort + for(int id = 0; id < RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES; id++) { + if(this->packages[id].enabled && fPort == this->packages[id].packFPort) { + encKey = this->packages[id].isAppPack ? this->appSKey : this->nwkSEncKey; + break; + } + } // encrypt the frame payload - processAES(in, lenIn, encKey, &out[RADIOLIB_LORAWAN_FRAME_PAYLOAD_POS(this->fOptsUpLen)], this->fCntUp, RADIOLIB_LORAWAN_UPLINK, 0x00, true); + processAES(in, lenIn, encKey, &out[RADIOLIB_LORAWAN_FRAME_PAYLOAD_POS(this->fOptsUpLen)], this->devAddr, this->fCntUp, RADIOLIB_LORAWAN_UPLINK, 0x00, true); } -void LoRaWANNode::micUplink(uint8_t* inOut, uint8_t lenInOut) { +void LoRaWANNode::micUplink(uint8_t* inOut, size_t lenInOut) { // create blocks for MIC calculation uint8_t block0[RADIOLIB_AES128_BLOCK_SIZE] = { 0 }; block0[RADIOLIB_LORAWAN_BLOCK_MAGIC_POS] = RADIOLIB_LORAWAN_MIC_BLOCK_MAGIC; @@ -1246,7 +1414,7 @@ void LoRaWANNode::micUplink(uint8_t* inOut, uint8_t lenInOut) { block1[RADIOLIB_LORAWAN_MIC_DATA_RATE_POS] = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; block1[RADIOLIB_LORAWAN_MIC_CH_INDEX_POS] = this->channels[RADIOLIB_LORAWAN_UPLINK].idx; - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Uplink (FCntUp = %lu) decoded:", (unsigned long)this->fCntUp); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Uplink (FCntUp = %lu) encoded:", (unsigned long)this->fCntUp); RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(inOut, lenInOut); // calculate authentication codes @@ -1264,28 +1432,20 @@ void LoRaWANNode::micUplink(uint8_t* inOut, uint8_t lenInOut) { } } -int16_t LoRaWANNode::transmitUplink(LoRaWANChannel_t* chnl, uint8_t* in, uint8_t len, bool retrans) { +int16_t LoRaWANNode::transmitUplink(const LoRaWANChannel_t* chnl, uint8_t* in, uint8_t len) { int16_t state = RADIOLIB_ERR_UNKNOWN; Module* mod = this->phyLayer->getMod(); - // check if the Rx windows were closed after sending the previous uplink - // this FORCES a user to call downlink() after an uplink() - if(this->rxDelayEnd < this->rxDelayStart) { - // not enough time elapsed since the last uplink, we may still be in an Rx window - return(RADIOLIB_ERR_UPLINK_UNAVAILABLE); - } + const uint8_t currentDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; + const ModemType_t modem = this->band->dataRates[currentDr].modem; + const DataRate_t* dr = &this->band->dataRates[currentDr].dr; + const PacketConfig_t* pc = &this->band->dataRates[currentDr].pc; + RadioLibTime_t toa = this->phyLayer->calculateTimeOnAir(modem, *dr, *pc, len) / 1000; - RadioLibTime_t tNow = mod->hal->millis(); - // if scheduled uplink time is in the past, reschedule to now - if(this->tUplink < tNow) { - this->tUplink = tNow; - } - - // if dutycycle is enabled and the time since last uplink + interval has not elapsed, return an error - // but: don't check this for retransmissions - if(!retrans && this->dutyCycleEnabled) { - if(this->rxDelayStart + (RadioLibTime_t)dutyCycleInterval(this->dutyCycle, this->lastToA) > this->tUplink) { - return(RADIOLIB_ERR_UPLINK_UNAVAILABLE); + if(this->dwellTimeUp) { + if(toa > this->dwellTimeUp) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Dwell time exceeded: ToA = %lu, max = %d", (unsigned long)toa, this->dwellTimeUp); + return(RADIOLIB_ERR_DWELL_TIME_EXCEEDED); } } @@ -1294,24 +1454,61 @@ int16_t LoRaWANNode::transmitUplink(LoRaWANChannel_t* chnl, uint8_t* in, uint8_t RADIOLIB_LORAWAN_UPLINK, this->txPowerMax - 2*this->txPowerSteps); RADIOLIB_ASSERT(state); + + RadioModeConfig_t modeCfg; + modeCfg.transmit.data = in; + modeCfg.transmit.len = len; + modeCfg.transmit.addr = 0; + state = this->phyLayer->stageMode(RADIOLIB_RADIO_MODE_TX, &modeCfg); + RADIOLIB_ASSERT(state); // if requested, wait until transmitting uplink - tNow = mod->hal->millis(); - if(this->tUplink > tNow) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Delaying transmission by %lu ms", (unsigned long)(this->tUplink - tNow)); - if(this->tUplink > mod->hal->millis()) { - mod->hal->delay(this->tUplink - mod->hal->millis()); + RadioLibTime_t tNow = mod->hal->millis(); + if(this->tUplink > tNow + this->launchDuration) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Delaying transmission by %lu ms", (unsigned long)(this->tUplink - tNow - this->launchDuration)); + tNow = mod->hal->millis(); + if(this->tUplink > tNow + this->launchDuration) { + this->sleepDelay(this->tUplink - tNow - this->launchDuration); } } - state = this->phyLayer->transmit(in, len); + if(this->ledPins[0] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[0], mod->hal->GpioLevelHigh); + } + + // start transmission, and time the duration of launchMode() to offset window timing + RadioLibTime_t spiStart = mod->hal->millis(); + state = this->phyLayer->launchMode(); + RadioLibTime_t spiEnd = mod->hal->millis(); + this->launchDuration = spiEnd - spiStart; + RADIOLIB_ASSERT(state); + + // sleep for the duration of the transmission + this->sleepDelay(toa, false); + RadioLibTime_t txEnd = mod->hal->millis(); + + // wait for an additional transmission duration as Tx timeout period + while(!mod->hal->digitalRead(mod->getIrq())) { + // yield for multi-threaded platforms + mod->hal->yield(); + + if(mod->hal->millis() > txEnd + this->scanGuard) { + return(RADIOLIB_ERR_TX_TIMEOUT); + } + } + state = this->phyLayer->finishTransmit(); // set the timestamp so that we can measure when to start receiving - this->rxDelayStart = mod->hal->millis(); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Uplink sent <-- Rx Delay start"); + this->tUplinkEnd = mod->hal->millis(); + + if(this->ledPins[0] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[0], mod->hal->GpioLevelLow); + } + + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Uplink sent (ToA = %d ms)", toa); // increase Time on Air of the uplink sequence - this->lastToA += this->phyLayer->getTimeOnAir(len) / 1000; + this->lastToA += toa; return(state); } @@ -1327,123 +1524,138 @@ static void LoRaWANNodeOnDownlinkAction(void) { downlinkAction = true; } -int16_t LoRaWANNode::receiveCommon(uint8_t dir, const LoRaWANChannel_t* dlChannels, const RadioLibTime_t* dlDelays, uint8_t numWindows, RadioLibTime_t tReference) { +int16_t LoRaWANNode::receiveClassA(uint8_t dir, const LoRaWANChannel_t* dlChannel, uint8_t window, const RadioLibTime_t dlDelay, RadioLibTime_t tReference) { Module* mod = this->phyLayer->getMod(); int16_t state = RADIOLIB_ERR_UNKNOWN; - // check if there are any upcoming Rx windows - // if the Rx1 window has already started, you're too late, because most downlinks happen in Rx1 - RadioLibTime_t now = mod->hal->millis(); // fix the current timestamp to prevent negative delays - if(now > tReference + dlDelays[1] - this->scanGuard) { - // if function was called while Rx windows are in progress, - // wait until last window closes to prevent very bad stuff - if(now < tReference + dlDelays[numWindows]) { - mod->hal->delay(dlDelays[numWindows] + tReference - now); - } - // update the end timestamp in case user got stuck between uplink and downlink - this->rxDelayEnd = mod->hal->millis(); + // either both must be set or none + if((dlDelay == 0 && tReference > 0) || (dlDelay > 0 && tReference == 0)) { return(RADIOLIB_ERR_NO_RX_WINDOW); } - // setup interrupt - this->phyLayer->setPacketReceivedAction(LoRaWANNodeOnDownlinkAction); - - RadioLibTime_t tOpen = 0; - int16_t timedOut = 0; - - // listen during the specified windows - uint8_t window = 1; - for(; window <= numWindows; window++) { - downlinkAction = false; - - // set the physical layer configuration for downlink - this->phyLayer->standby(); - state = this->setPhyProperties(&dlChannels[window], dir, this->txPowerMax - 2*this->txPowerSteps); - RADIOLIB_ASSERT(state); - - // calculate the Rx timeout - RadioLibTime_t timeoutHost = this->phyLayer->getTimeOnAir(0) + 2*this->scanGuard*1000; - RadioLibTime_t timeoutMod = this->phyLayer->calculateRxTimeout(timeoutHost); - - // wait for the start of the Rx window - RadioLibTime_t waitLen = tReference + dlDelays[window] - mod->hal->millis(); - // make sure that no underflow occured; if so, clip the delay (although this will likely miss any downlink) - if(waitLen > dlDelays[window]) { - waitLen = dlDelays[window]; - } - // the waiting duration is shortened a bit to cover any possible timing errors - if(waitLen > this->scanGuard) { - waitLen -= this->scanGuard; - } - mod->hal->delay(waitLen); - - // open Rx window by starting receive with specified timeout - // TODO remove default arguments - state = this->phyLayer->startReceive(timeoutMod, RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RADIOLIB_IRQ_RX_DEFAULT_MASK, 0); - tOpen = mod->hal->millis(); - RADIOLIB_ASSERT(state); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Opening Rx%d window (%d ms timeout)... <-- Rx Delay end ", window, (int)(timeoutHost / 1000 + scanGuard / 2)); - - // wait for the timeout to complete (and a small additional delay) - mod->hal->delay(timeoutHost / 1000 + this->scanGuard / 2); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Closing Rx%d window", window); - - // if the IRQ bit for Rx Timeout is not set, something is received, so stop the windows - timedOut = this->phyLayer->checkIrq(RADIOLIB_IRQ_TIMEOUT); - if(timedOut == RADIOLIB_ERR_UNSUPPORTED) { - return(timedOut); - } - if(!timedOut) { - break; - } - } - // Rx windows are now closed - this->rxDelayEnd = mod->hal->millis(); - - // if we got here due to a timeout, stop ongoing activities - if(timedOut) { - this->phyLayer->standby(); - return(RADIOLIB_ERR_NONE); - } + const uint8_t currentDr = dlChannel->dr; + const ModemType_t modem = this->band->dataRates[currentDr].modem; + const DataRate_t* dr = &this->band->dataRates[currentDr].dr; + const PacketConfig_t* pc = &this->band->dataRates[currentDr].pc; + RadioLibTime_t toaMinUs = this->phyLayer->calculateTimeOnAir(modem, *dr, *pc, 0); // get the maximum allowed Time-on-Air of a packet given the current datarate - uint8_t maxPayLen = this->band->payloadLenMax[dlChannels[window].dr]; - if(this->TS011) { + uint8_t maxPayLen = this->band->payloadLenMax[dlChannel->dr]; + if(this->packages[RADIOLIB_LORAWAN_PACKAGE_TS011].enabled) { maxPayLen = RADIOLIB_MIN(maxPayLen, 222); // payload length is limited to 222 if under repeater } - RadioLibTime_t tMax = this->phyLayer->getTimeOnAir(maxPayLen + 13) / 1000; // mandatory FHDR is 12/13 bytes - bool downlinkComplete = true; + RadioLibTime_t toaMaxMs = this->phyLayer->calculateTimeOnAir(modem, *dr, *pc, maxPayLen + 13) / 1000; + + // set the physical layer configuration for downlink + state = this->setPhyProperties(dlChannel, dir, this->txPowerMax - 2*this->txPowerSteps); + RADIOLIB_ASSERT(state); + + // calculate the timeout of an empty packet plus scanGuard + RadioLibTime_t timeoutUs = toaMinUs + this->scanGuard*1000; + + // set the radio Rx parameters + RadioModeConfig_t modeCfg; + modeCfg.receive.irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS; + modeCfg.receive.irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK; + modeCfg.receive.len = 0; + modeCfg.receive.timeout = this->phyLayer->calculateRxTimeout(timeoutUs); + + state = this->phyLayer->stageMode(RADIOLIB_RADIO_MODE_RX, &modeCfg); + RADIOLIB_ASSERT(state); + + // setup interrupt + this->phyLayer->setPacketReceivedAction(LoRaWANNodeOnDownlinkAction); + downlinkAction = false; + + // if the Rx window must be awaited, do so + RadioLibTime_t tNow = mod->hal->millis(); + if(dlDelay > 0 && tReference > 0) { + // calculate time at which the window should open + // - the launch of Rx window takes a few milliseconds, so shorten the waitLen a bit (launchDuration) + // - the Rx window is padded using scanGuard, so shorten the waitLen a bit (scanGuard / 2) + RadioLibTime_t tWindow = tReference + dlDelay - this->launchDuration - this->scanGuard / 2; + if(tNow > tWindow) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Window too late by %d ms", tNow - tWindow); + return(RADIOLIB_ERR_NO_RX_WINDOW); + } + this->sleepDelay(tWindow - tNow); + } + + if(window < 4 && this->ledPins[window] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[window], mod->hal->GpioLevelHigh); + } + + // open Rx window by starting receive with specified timeout + state = this->phyLayer->launchMode(); + RadioLibTime_t tOpen = mod->hal->millis(); + RADIOLIB_ASSERT(state); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Rx%d window open (%lu + %lu ms)", window, timeoutUs / 1000UL, this->scanGuard); - // wait for the DIO to fire indicating a downlink is received - while(!downlinkAction) { + // sleep for the duration of the padded Rx window + this->sleepDelay(timeoutUs / 1000, false); + + // wait for the DIO interrupt to fire (RxDone or RxTimeout) + // use a small additional delay in case the RxTimeout interrupt is slow to fire + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Rx%d window closing", window); + while(!downlinkAction && mod->hal->millis() - tOpen <= timeoutUs / 1000 + this->scanGuard) { mod->hal->yield(); - // stay in Rx mode for the maximum allowed Time-on-Air plus small grace period - if(mod->hal->millis() - tOpen > tMax + scanGuard) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Downlink missing!"); - downlinkComplete = false; + } + + // check IRQ bit for RxTimeout + int16_t timedOut = this->phyLayer->checkIrq(RADIOLIB_IRQ_TIMEOUT); + if(timedOut == RADIOLIB_ERR_UNSUPPORTED) { + return(timedOut); + } + + // if the IRQ bit for RxTimeout is set, put chip in standby and return + if(timedOut) { + this->phyLayer->clearPacketReceivedAction(); + this->phyLayer->clearIrq(1UL << RADIOLIB_IRQ_TIMEOUT); + this->phyLayer->standby(); + if(window < 4 && this->ledPins[window] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[window], mod->hal->GpioLevelLow); + } + return(0); // no downlink + } + + // if the IRQ bit for RxTimeout is not set, something is being received, + // so keep listening for maximum ToA waiting for the DIO to fire + while(!downlinkAction && mod->hal->millis() - tOpen < toaMaxMs + this->scanGuard) { + mod->hal->yield(); + } + + // sometimes we can get to a state when reception is still ongoing, but has not finished yet + // this has been observed on LR2021 - wait until either timeout, or Rx done is raised + // it should never take more than 300 ms + RadioLibTime_t start = mod->hal->millis(); + while(!this->phyLayer->checkIrq(RADIOLIB_IRQ_TIMEOUT) && !this->phyLayer->checkIrq(RADIOLIB_IRQ_RX_DONE)) { + mod->hal->yield(); + if(mod->hal->millis() - start >= 300) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Timeout without IRQ!"); break; } } // update time of downlink reception - if(downlinkComplete) { + if(downlinkAction) { this->tDownlink = mod->hal->millis(); } // we have a message, clear actions, go to standby this->phyLayer->clearPacketReceivedAction(); this->phyLayer->standby(); - - // if all windows passed without receiving anything, set return value to 0 - if(!downlinkComplete) { - state = 0; - - // if we received something during a window, set return value to the window number - } else { - state = window; + if(window < 4 && this->ledPins[window] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[window], mod->hal->GpioLevelLow); } + // if all windows passed without receiving anything, return 0 for no window + if(!downlinkAction) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Downlink missing!"); + return(0); + } + downlinkAction = false; + // Any frame received by an end-device containing a MACPayload greater than // the specified maximum length M over the data rate used to receive the frame // SHALL be silently discarded. @@ -1451,10 +1663,153 @@ int16_t LoRaWANNode::receiveCommon(uint8_t dir, const LoRaWANChannel_t* dlChanne return(0); // act as if no downlink was received } + // return downlink window number (1/2) + return(window); +} + +int16_t LoRaWANNode::receiveClassC(RadioLibTime_t timeout) { + // only open RxC if the device is Unicast-C or Multicast-C, otherwise ignore without error + if(this->lwClass != RADIOLIB_LORAWAN_CLASS_C && this->multicast != RADIOLIB_LORAWAN_CLASS_C) { + return(RADIOLIB_ERR_NONE); + } + Module* mod = this->phyLayer->getMod(); + + RadioLibTime_t tStart = mod->hal->millis(); + + // set the physical layer configuration for Class C window + int16_t state = this->setPhyProperties(&this->channels[RADIOLIB_LORAWAN_RX_BC], RADIOLIB_LORAWAN_DOWNLINK, this->txPowerMax - 2*this->txPowerSteps); + RADIOLIB_ASSERT(state); + + // setup interrupt + this->phyLayer->setPacketReceivedAction(LoRaWANNodeOnDownlinkAction); + downlinkAction = false; + + // configure radio + RadioModeConfig_t modeCfg; + if(timeout) { + timeout -= (mod->hal->millis() - tStart); + timeout -= this->launchDuration; + modeCfg.receive.timeout = this->phyLayer->calculateRxTimeout(timeout * 1000); + } else { + modeCfg.receive.timeout = 0xFFFFFFFF; // max(uint32_t) is used for RxContinuous + } + modeCfg.receive.irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS; + modeCfg.receive.irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK; + modeCfg.receive.len = 0; + state = this->phyLayer->stageMode(RADIOLIB_RADIO_MODE_RX, &modeCfg); + RADIOLIB_ASSERT(state); + + if(this->ledPins[RADIOLIB_LORAWAN_RX_BC] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[RADIOLIB_LORAWAN_RX_BC], mod->hal->GpioLevelHigh); + } + + // open RxC window by starting receive with specified timeout + state = this->phyLayer->launchMode(); + RadioLibTime_t tOpen = mod->hal->millis(); + RADIOLIB_ASSERT(state); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Opened RxC window"); + + if(timeout) { + // wait for the DIO interrupt to fire (RxDone or RxTimeout) + while(!downlinkAction && mod->hal->millis() - tOpen <= timeout) { + mod->hal->yield(); + } + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Closed RxC window"); + + // check IRQ bit for RxTimeout + int16_t timedOut = this->phyLayer->checkIrq(RADIOLIB_IRQ_TIMEOUT); + if(timedOut == RADIOLIB_ERR_UNSUPPORTED) { + return(timedOut); + } + + // if the IRQ bit for RxTimeout is set, put chip in standby and return + if(timedOut) { + this->phyLayer->clearPacketReceivedAction(); + this->phyLayer->clearIrq(1UL << RADIOLIB_IRQ_TIMEOUT); + this->phyLayer->standby(); + if(this->ledPins[RADIOLIB_LORAWAN_RX_BC] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[RADIOLIB_LORAWAN_RX_BC], mod->hal->GpioLevelLow); + } + return(0); // no downlink + } + + // update time of downlink reception + if(downlinkAction) { + this->tDownlink = mod->hal->millis(); + } + + // we have a message, clear actions, go to standby + this->phyLayer->clearPacketReceivedAction(); + this->phyLayer->standby(); + if(this->ledPins[RADIOLIB_LORAWAN_RX_BC] != RADIOLIB_NC) { + mod->hal->digitalWrite(this->ledPins[RADIOLIB_LORAWAN_RX_BC], mod->hal->GpioLevelLow); + } + + // if all windows passed without receiving anything, return 0 for no window + if(!downlinkAction) { + return(0); + } + downlinkAction = false; + + // Any frame received by an end-device containing a MACPayload greater than + // the specified maximum length M over the data rate used to receive the frame + // SHALL be silently discarded. + uint8_t maxPayLen = this->band->payloadLenMax[this->channels[RADIOLIB_LORAWAN_RX_BC].dr]; + if(this->packages[RADIOLIB_LORAWAN_PACKAGE_TS011].enabled) { + maxPayLen = RADIOLIB_MIN(maxPayLen, 222); // payload length is limited to 222 if under repeater + } + if(this->phyLayer->getPacketLength() > (size_t)(maxPayLen + 13)) { // mandatory FHDR is 12/13 bytes + return(0); // act as if no downlink was received + } + + // return downlink window number (3 = RxC) + return(RADIOLIB_LORAWAN_RX_BC); + } + return(state); } -int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* event) { +int16_t LoRaWANNode::receiveDownlink() { + Module* mod = this->phyLayer->getMod(); + + // if applicable, open Class C between uplink and Rx1 + RadioLibTime_t timeoutClassC = this->tUplinkEnd + this->rxDelays[RADIOLIB_LORAWAN_RX1] - \ + mod->hal->millis() - 5*this->scanGuard; + int16_t state = this->receiveClassC(timeoutClassC); + RADIOLIB_ASSERT(state); + + // open Rx1 window + state = this->receiveClassA(RADIOLIB_LORAWAN_DOWNLINK, + &this->channels[RADIOLIB_LORAWAN_RX1], + RADIOLIB_LORAWAN_RX1, + this->rxDelays[RADIOLIB_LORAWAN_RX1], + this->tUplinkEnd); + RADIOLIB_ASSERT(state); + + // for LoRaWAN v1.1 Class C, there is no Rx2 window: it keeps RxC open uninterrupted + // HOWEVER, since Multicast sessions may use different frequency and datarate, + // and it is NOT specified by the spec if the device should then ignore normal Rx2, + // we choose to ignore this part of the spec and open Rx2 as specified in v1.0.4 + + // for LoRaWAN v1.0.4 Class C, there is an RxC window between Rx1 and Rx2 + timeoutClassC = this->tUplinkEnd + this->rxDelays[RADIOLIB_LORAWAN_RX2] - \ + mod->hal->millis() - 5*this->scanGuard; + state = this->receiveClassC(timeoutClassC); + RADIOLIB_ASSERT(state); + + // open Rx2 window + state = this->receiveClassA(RADIOLIB_LORAWAN_DOWNLINK, + &this->channels[RADIOLIB_LORAWAN_RX2], + RADIOLIB_LORAWAN_RX2, + this->rxDelays[RADIOLIB_LORAWAN_RX2], + this->tUplinkEnd); + RADIOLIB_ASSERT(state); + + state = this->receiveClassC(); + return(state); +} + +int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, uint8_t window, LoRaWANEvent_t* event) { int16_t state = RADIOLIB_ERR_UNKNOWN; // set user-data length to 0 to prevent undefined behaviour in case of bad use @@ -1476,7 +1831,7 @@ int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* e #if !RADIOLIB_STATIC_ONLY uint8_t* downlinkMsg = new uint8_t[RADIOLIB_AES128_BLOCK_SIZE + downlinkMsgLen]; #else - uint8_t downlinkMsg[RADIOLIB_STATIC_ARRAY_SIZE]; + uint8_t downlinkMsg[RADIOLIB_AES128_BLOCK_SIZE + RADIOLIB_STATIC_ARRAY_SIZE]; #endif // read the data @@ -1496,9 +1851,13 @@ int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* e // check the address uint32_t addr = LoRaWANNode::ntoh(&downlinkMsg[RADIOLIB_LORAWAN_FHDR_DEV_ADDR_POS]); - if(addr != this->devAddr) { + uint32_t expectedAddr = this->devAddr; + if(this->multicast && window == RADIOLIB_LORAWAN_RX_BC) { + expectedAddr = this->mcAddr; + } + if(addr != expectedAddr) { RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Device address mismatch, expected 0x%08lX, got 0x%08lX", - (unsigned long)this->devAddr, (unsigned long)addr); + (unsigned long)expectedAddr, (unsigned long)addr); #if !RADIOLIB_STATIC_ONLY delete[] downlinkMsg; #endif @@ -1506,11 +1865,13 @@ int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* e } // calculate length of piggy-backed FOpts - uint8_t fOptsPbLen = downlinkMsg[RADIOLIB_LORAWAN_FHDR_FCTRL_POS] & RADIOLIB_LORAWAN_FHDR_FOPTS_LEN_MASK; + bool isPiggyBacking = false; + uint8_t fOptsLen = downlinkMsg[RADIOLIB_LORAWAN_FHDR_FCTRL_POS] & RADIOLIB_LORAWAN_FHDR_FOPTS_LEN_MASK; + isPiggyBacking = fOptsLen > 0; - // MHDR(1) - DevAddr(4) - FCtrl(1) - FCnt(2) - FOptsPb - Payload - MIC(4) + // MHDR(1) - DevAddr(4) - FCtrl(1) - FCnt(2) - FOpts - Payload - MIC(4) // potentially also an FPort, will find out next - uint8_t payLen = downlinkMsgLen - 1 - 4 - 1 - 2 - fOptsPbLen - 4; + uint8_t payLen = downlinkMsgLen - 1 - 4 - 1 - 2 - fOptsLen - 4; // in LoRaWAN v1.1, a frame is a Network frame if there is no Application payload // i.e.: either no payload at all (empty frame or FOpts only), or MAC only payload @@ -1521,53 +1882,64 @@ int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* e } if(payLen > 0) { payLen -= 1; // subtract one as fPort is set - fPort = downlinkMsg[RADIOLIB_LORAWAN_FHDR_FPORT_POS(fOptsPbLen)]; + fPort = downlinkMsg[RADIOLIB_LORAWAN_FHDR_FPORT_POS(fOptsLen)]; - // check if fPort value is actually allowed - switch(fPort) { - case RADIOLIB_LORAWAN_FPORT_MAC_COMMAND: { + // check destination fPort + bool ok = false; + + // LoRaWAN v1.0.4 only: A Class B/C downlink SHALL NOT transport any MAC command. + // (...) it SHALL silently discard the entire frame. + // However, we also enforce this for LoRaWAN v1.1 (TTS does not allow this anyway). + if(fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND) { + if(this->lwClass == RADIOLIB_LORAWAN_CLASS_A || window < RADIOLIB_LORAWAN_RX_BC) { // payload consists of all MAC commands (or is empty) - } break; - case RADIOLIB_LORAWAN_FPORT_PAYLOAD_MIN ... RADIOLIB_LORAWAN_FPORT_PAYLOAD_MAX: { - // payload is user-defined (or empty) - may carry piggybacked MAC commands - isAppDownlink = true; - } break; - case RADIOLIB_LORAWAN_FPORT_TS009: { - // TS009 FPort only good if overruled during verification testing - if(!this->TS009) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Downlink at FPort %d - rejected! This FPort is not enabled.", fPort); - #if !RADIOLIB_STATIC_ONLY - delete[] downlinkMsg; - #endif - return(RADIOLIB_ERR_INVALID_PORT); + ok = true; + } + } + if(fPort >= RADIOLIB_LORAWAN_FPORT_PAYLOAD_MIN && fPort <= RADIOLIB_LORAWAN_FPORT_PAYLOAD_MAX) { + ok = true; + isAppDownlink = true; + } + // check if any of the packages uses this FPort + if(fPort >= RADIOLIB_LORAWAN_FPORT_RESERVED) { + for(int id = 0; id < RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES; id++) { + if(this->packages[id].enabled && fPort == this->packages[id].packFPort) { + ok = true; + isAppDownlink = this->packages[id].isAppPack; + break; } - isAppDownlink = true; - } break; - case RADIOLIB_LORAWAN_FPORT_TS011: { - // TS011 FPort only good if overruled during relay exchange - if(!this->TS011) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Downlink at FPort %d - rejected! This FPort is not enabled.", fPort); - #if !RADIOLIB_STATIC_ONLY - delete[] downlinkMsg; - #endif - return(RADIOLIB_ERR_INVALID_PORT); - } - isAppDownlink = true; - } break; - default: { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Downlink at FPort %d - rejected! This FPort is reserved.", fPort); - #if !RADIOLIB_STATIC_ONLY - delete[] downlinkMsg; - #endif - return(RADIOLIB_ERR_INVALID_PORT); - } break; + } } + if(!ok) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Received downlink at FPort %d - rejected! This FPort is reserved.", fPort); + #if !RADIOLIB_STATIC_ONLY + delete[] downlinkMsg; + #endif + return(RADIOLIB_ERR_INVALID_PORT); + } } - // MAC commands SHALL NOT be present in the payload field and the frame options field simultaneously. - // Should this occur, the end-device SHALL silently discard the frame. - if(fOptsPbLen > 0 && payLen > 0 && fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND) { + // get FOpts length if FPort = 0 and there is downlink payload + if(fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND && payLen > 0) { + if(fOptsLen > 0) { + // MAC commands SHALL NOT be present in the payload field and the frame options field simultaneously. + // Should this occur, the end-device SHALL silently discard the frame. + #if !RADIOLIB_STATIC_ONLY + delete[] downlinkMsg; + #endif + return(RADIOLIB_ERR_DOWNLINK_MALFORMED); + } + // there is no application payload as all of it is FOpts + fOptsLen = payLen; + payLen = 0; + } + + // LoRaWAN v1.0.4 only: A Class B/C downlink SHALL NOT transport any MAC command. + // (...) it SHALL silently discard the entire frame. + // However, we also enforce this for LoRaWAN v1.1 (TTS does not allow this anyway). + // Note: we check Device Class == A because Relay also uses a third Rx window + if(fOptsLen > 0 && this->lwClass != RADIOLIB_LORAWAN_CLASS_A && window == RADIOLIB_LORAWAN_RX_BC) { #if !RADIOLIB_STATIC_ONLY delete[] downlinkMsg; #endif @@ -1575,33 +1947,39 @@ int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* e } // get the frame counter - uint16_t fCnt16 = LoRaWANNode::ntoh(&downlinkMsg[RADIOLIB_LORAWAN_FHDR_FCNT_POS]); + uint16_t payFCnt16 = LoRaWANNode::ntoh(&downlinkMsg[RADIOLIB_LORAWAN_FHDR_FCNT_POS]); - // check the fCntDown value (Network or Application) - uint32_t fCntDownPrev = 0; - if (isAppDownlink) { - fCntDownPrev = this->aFCntDown; + // check the FCntDown value (Network or Application, or Multicast) + uint32_t devFCnt32 = 0; + if(this->multicast && window == RADIOLIB_LORAWAN_RX_BC) { + // multicast: McApp downlink counter + devFCnt32 = this->mcAFCnt; } else { - fCntDownPrev = this->nFCntDown; + // unicast: App or Nwk downlink + if(isAppDownlink) { + devFCnt32 = this->aFCntDown; + } else { + devFCnt32 = this->nFCntDown; + } } - // if this is not the first downlink... - // assume a 16-bit to 32-bit rollover if difference between counters in LSB is smaller than MAX_FCNT_GAP - // if that isn't the case and the received fCnt is smaller or equal to the last heard fCnt, then error - uint32_t fCnt32 = fCnt16; - if(fCntDownPrev > 0) { - if((fCnt16 <= fCntDownPrev) && ((0xFFFF - (uint16_t)fCntDownPrev + fCnt16) > RADIOLIB_LORAWAN_MAX_FCNT_GAP)) { + // assume a rollover if the FCnt16 in the payload is equal to / smaller + // than the previous FCnt16 known by device + // (MAX_FCNT_GAP is deprecated for 1.0.4 / 1.1, TTS and CS both apply a 16-bit rollover) + if(devFCnt32 > 0 && payFCnt16 <= (uint16_t)devFCnt32) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("FCnt rollover: %d -> %d", (uint16_t)devFCnt32, payFCnt16); + devFCnt32 += 0x10000; // add 16-bit value + } + devFCnt32 &= ~0xFFFF; // clear lower 16 bits known by device + devFCnt32 |= payFCnt16; // set lower 16 bits from payload + + // for multicast, a maximum FCnt value is defined in TS005 + if(this->multicast && window == RADIOLIB_LORAWAN_RX_BC) { + if(devFCnt32 > this->mcAFCntMax) { #if !RADIOLIB_STATIC_ONLY delete[] downlinkMsg; #endif - if (isAppDownlink) { - return(RADIOLIB_ERR_A_FCNT_DOWN_INVALID); - } else { - return(RADIOLIB_ERR_N_FCNT_DOWN_INVALID); - } - } else if (fCnt16 <= fCntDownPrev) { - uint16_t msb = (fCntDownPrev >> 16) + 1; // assume a rollover - fCnt32 |= ((uint32_t)msb << 16); // add back the MSB part + return(RADIOLIB_ERR_MULTICAST_FCNT_INVALID); } } @@ -1620,229 +1998,303 @@ int16_t LoRaWANNode::parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* e LoRaWANNode::hton(&downlinkMsg[RADIOLIB_LORAWAN_BLOCK_CONF_FCNT_POS], (uint16_t)this->confFCntUp); } downlinkMsg[RADIOLIB_LORAWAN_BLOCK_DIR_POS] = RADIOLIB_LORAWAN_DOWNLINK; - LoRaWANNode::hton(&downlinkMsg[RADIOLIB_LORAWAN_BLOCK_DEV_ADDR_POS], this->devAddr); - LoRaWANNode::hton(&downlinkMsg[RADIOLIB_LORAWAN_BLOCK_FCNT_POS], fCnt32); + LoRaWANNode::hton(&downlinkMsg[RADIOLIB_LORAWAN_BLOCK_DEV_ADDR_POS], addr); + LoRaWANNode::hton(&downlinkMsg[RADIOLIB_LORAWAN_BLOCK_FCNT_POS], devFCnt32); downlinkMsg[RADIOLIB_LORAWAN_MIC_BLOCK_LEN_POS] = downlinkMsgLen - sizeof(uint32_t); // check the MIC - if(!verifyMIC(downlinkMsg, RADIOLIB_AES128_BLOCK_SIZE + downlinkMsgLen, this->sNwkSIntKey)) { + // (if a rollover was more than 16-bit, this will always result in MIC mismatch) + uint8_t* micKey = this->sNwkSIntKey; + if(this->multicast && window == RADIOLIB_LORAWAN_RX_BC) { + micKey = this->mcNwkSKey; + } + if(!verifyMIC(downlinkMsg, RADIOLIB_AES128_BLOCK_SIZE + downlinkMsgLen, micKey)) { #if !RADIOLIB_STATIC_ONLY delete[] downlinkMsg; #endif - return(RADIOLIB_ERR_CRC_MISMATCH); - } - - // save current fCnt to respective frame counter - if (isAppDownlink) { - this->aFCntDown = fCnt32; - } else { - this->nFCntDown = fCnt32; + return(RADIOLIB_ERR_MIC_MISMATCH); } - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Downlink (%sFCntDown = %lu) encoded:", - isAppDownlink ? "A" : "N", - (unsigned long)(isAppDownlink ? this->aFCntDown : this->nFCntDown)); + // all checks passed, so start processing + + // save new FCnt to respective frame counter + if(this->multicast && window == RADIOLIB_LORAWAN_RX_BC) { + // multicast: McApp downlink + this->mcAFCnt = devFCnt32; + } else { + // unicast: App or Nwk downlink + if(isAppDownlink) { + this->aFCntDown = devFCnt32; + } else { + this->nFCntDown = devFCnt32; + } + } + + bool isConfirmedDown = false; + + // do some housekeeping for normal Class A downlinks (not allowed for Class B/C) + if(window < RADIOLIB_LORAWAN_RX_BC) { + // if this is a confirmed frame, save the downlink number (only app frames can be confirmed) + if((downlinkMsg[RADIOLIB_LORAWAN_FHDR_LEN_START_OFFS] & 0xFE) == RADIOLIB_LORAWAN_MHDR_MTYPE_CONF_DATA_DOWN) { + this->confFCntDown = this->aFCntDown; + isConfirmedDown = true; + } + + // a Class A downlink was received, so restart the ADR counter with the next uplink + this->adrFCnt = this->getFCntUp() + 1; + + // a Class A downlink was received, so we can clear the MAC uplink buffer + memset(this->fOptsUp, 0, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); + this->fOptsUpLen = 0; + } + + uint8_t* fOptsPtr = NULL; + // decrypt any piggy-backed FOpts (in-place) + if(fOptsLen > 0 && isPiggyBacking) { + fOptsPtr = &downlinkMsg[RADIOLIB_LORAWAN_FHDR_FOPTS_POS]; + // the decryption depends on the LoRaWAN version + // in LoRaWAN v1.0, the piggy-backed FOpts are unencrypted + // in LoRaWAN v1.1, the piggy-backed FOpts are encrypted using the NwkSEncKey + if(this->rev == 1) { + uint8_t ctrId = 0x01 + isAppDownlink; // see LoRaWAN v1.1 errata + processAES(fOptsPtr, (size_t)fOptsLen, this->nwkSEncKey, fOptsPtr, this->devAddr, devFCnt32, RADIOLIB_LORAWAN_DOWNLINK, ctrId, true); + } + + // decrypt any FOpts in the payload (in-place) + } else if(fOptsLen > 0) { + fOptsPtr = &downlinkMsg[RADIOLIB_LORAWAN_FRAME_PAYLOAD_POS(0)]; + processAES(fOptsPtr, (size_t)fOptsLen, this->nwkSEncKey, fOptsPtr, this->devAddr, devFCnt32, RADIOLIB_LORAWAN_DOWNLINK, 0x00, true); + } + + // figure out which key to use to decrypt the application payload + uint8_t* encKey = this->appSKey; + if(this->multicast && window == RADIOLIB_LORAWAN_RX_BC) { + encKey = this->mcAppSKey; + } + for(int id = 0; id < RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES; id++) { + if(this->packages[id].enabled && fPort == this->packages[id].packFPort) { + encKey = this->packages[id].isAppPack ? this->appSKey : this->nwkSEncKey; + break; + } + } + + // decrypt the frame payload (in-place to allow a fully decrypted hex-dump next) + uint8_t* payloadPtr = &downlinkMsg[RADIOLIB_LORAWAN_FRAME_PAYLOAD_POS(fOptsLen)]; + processAES(payloadPtr, payLen, encKey, payloadPtr, addr, devFCnt32, RADIOLIB_LORAWAN_DOWNLINK, 0x00, true); + memcpy(data, payloadPtr, payLen); + + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Downlink (%sFCntDown = %lu) decoded:", + (this->multicast && window == RADIOLIB_LORAWAN_RX_BC) ? "M" : + (isAppDownlink ? "A" : "N"), + (unsigned long)devFCnt32); RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(downlinkMsg, RADIOLIB_AES128_BLOCK_SIZE + downlinkMsgLen); - // if this is a confirmed frame, save the downlink number (only app frames can be confirmed) - bool isConfirmedDown = false; - if((downlinkMsg[RADIOLIB_LORAWAN_FHDR_LEN_START_OFFS] & 0xFE) == RADIOLIB_LORAWAN_MHDR_MTYPE_CONF_DATA_DOWN) { - this->confFCntDown = this->aFCntDown; - isConfirmedDown = true; - } - // a downlink was received, so restart the ADR counter with the next uplink - this->adrFCnt = this->getFCntUp() + 1; - - // if this downlink is on FPort 0, the FOptsLen is the length of the payload - // in any other case, the payload (length) is user accessible - uint8_t fOptsLen = fOptsPbLen; - if(fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND && payLen > 0) { - fOptsLen = payLen; - } else { - *len = payLen; - } + // process any FOpts + if(fOptsLen > 0) { + uint8_t* mPtr = fOptsPtr; + uint8_t procLen = 0; + uint8_t fOptsRe[RADIOLIB_LORAWAN_MAX_PAYLOAD_SIZE] = { 0 }; + uint8_t fOptsReLen = 0; - #if !RADIOLIB_STATIC_ONLY - uint8_t* fOpts = new uint8_t[fOptsLen]; - #else - uint8_t fOpts[RADIOLIB_STATIC_ARRAY_SIZE]; - #endif + // indication whether LinkAdr MAC command has been processed + bool mAdr = false; - // figure out if the payload should end up in user data or internal FOpts buffer - uint8_t* dest; - if(fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND) { - dest = fOpts; - } else { - dest = data; - } + while(procLen < fOptsLen) { + uint8_t cid = *mPtr; // MAC id is the first byte - // figure out which key to use to decrypt the payload - uint8_t* encKey = this->appSKey; - if((fPort == RADIOLIB_LORAWAN_FPORT_MAC_COMMAND) || (fPort == RADIOLIB_LORAWAN_FPORT_TS011)) { - encKey = this->nwkSEncKey; - } + // fetch length of MAC downlink command and uplink response + uint8_t fLen = 1; + uint8_t fLenRe = 1; + state = this->getMacLen(cid, &fLen, RADIOLIB_LORAWAN_DOWNLINK, true, mPtr + 1); + if(state != RADIOLIB_ERR_NONE) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Unknown MAC CID %02x", cid); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Skipping remaining MAC payload"); + fOptsLen = procLen; // truncate to last processed MAC command + break; + } + (void)this->getMacLen(cid, &fLenRe, RADIOLIB_LORAWAN_UPLINK, true); - // decrypt the frame payload - processAES(&downlinkMsg[RADIOLIB_LORAWAN_FRAME_PAYLOAD_POS(fOptsPbLen)], payLen, encKey, dest, fCnt32, RADIOLIB_LORAWAN_DOWNLINK, 0x00, true); - - // decrypt any piggy-backed FOpts - if(fOptsPbLen > 0) { - // the decryption depends on the LoRaWAN version - if(this->rev == 1) { - // in LoRaWAN v1.1, the piggy-backed FOpts are encrypted using the NwkSEncKey - uint8_t ctrId = 0x01 + isAppDownlink; // see LoRaWAN v1.1 errata - processAES(&downlinkMsg[RADIOLIB_LORAWAN_FHDR_FOPTS_POS], (size_t)fOptsPbLen, this->nwkSEncKey, fOpts, fCnt32, RADIOLIB_LORAWAN_DOWNLINK, ctrId, true); - } else { - // in LoRaWAN v1.0.x, the piggy-backed FOpts are unencrypted - memcpy(fOpts, &downlinkMsg[RADIOLIB_LORAWAN_FHDR_FOPTS_POS], (size_t)fOptsPbLen); - } - } - - // clear the previous MAC commands, if any - memset(this->fOptsDown, 0, RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN); - - // process FOpts (if there are any) - uint8_t cid; - uint8_t fLen = 1; - uint8_t* mPtr = fOpts; - uint8_t procLen = 0; - - #if !RADIOLIB_STATIC_ONLY - uint8_t* fOptsRe = new uint8_t[250]; - #else - uint8_t fOptsRe[RADIOLIB_STATIC_ARRAY_SIZE]; - #endif - uint8_t fOptsReLen = 0; - - // indication whether LinkAdr MAC command has been processed - bool mAdr = false; - - while(procLen < fOptsLen) { - cid = *mPtr; // MAC id is the first byte - - // fetch length of MAC downlink payload - state = this->getMacLen(cid, &fLen, RADIOLIB_LORAWAN_DOWNLINK, true); - if(state != RADIOLIB_ERR_NONE) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Unknown MAC CID %02x", cid); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Skipping remaining MAC commands"); - break; - } - - // already fetch length of MAC answer payload (if any) - uint8_t fLenRe = 0; - (void)this->getMacLen(cid, &fLenRe, RADIOLIB_LORAWAN_UPLINK, true); - // don't care about return value: the previous getMacLen() would have failed anyway - - if(procLen + fLen > fOptsLen) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Incomplete MAC command %02x (%d bytes, expected %d)", cid, fOptsLen - procLen, fLen); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Skipping remaining MAC commands"); - break; - } - - bool reply = false; - - // if this is a LinkAdr MAC command, pre-process contiguous commands into one atomic block - if(cid == RADIOLIB_LORAWAN_MAC_LINK_ADR) { - // if there was any LinkAdr command before, set NACK and continue without processing - if(mAdr) { - reply = true; - fOptsRe[fOptsReLen + 1] = 0x00; - - // if this is the first LinkAdr command, do some special treatment: - } else { - mAdr = true; - uint8_t fAdrLen = 5; - uint8_t mAdrOpt[14] = { 0 }; - - // retrieve all contiguous LinkAdr commands - while(procLen + fLen + fAdrLen < fOptsLen + 1 && *(mPtr + fLen) == RADIOLIB_LORAWAN_MAC_LINK_ADR) { - fLen += 5; // ADR command is 5 bytes - fLenRe += 2; // ADR response is 2 bytes - } - - // pre-process them into a single complete channel mask (stored in mAdrOpt) - LoRaWANNode::preprocessMacLinkAdr(mPtr, fLen, mAdrOpt); - - // execute like a normal MAC command (but pointing to mAdrOpt instead) - reply = this->execMacCommand(cid, mAdrOpt, 14, &fOptsRe[fOptsReLen + 1]); - - // in LoRaWAN v1.0.x, all ACK bytes should have equal status - fix in post-processing - if(this->rev == 0) { - LoRaWANNode::postprocessMacLinkAdr(&fOptsRe[fOptsReLen], fLen); - - // in LoRaWAN v1.1, just provide one ACK, so no post-processing but cut off reply length - } else { - fLenRe = 2; - } + // check whether the complete payload is present + if(procLen + fLen > fOptsLen) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Incomplete MAC command %02x (%d bytes, expected %d)", cid, fOptsLen - procLen, fLen); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("WARNING: Skipping remaining MAC payload"); + fOptsLen = procLen; // truncate to last processed MAC command + break; } - // MAC command other than LinkAdr, just process the payload - } else { - reply = this->execMacCommand(cid, mPtr + 1, fLen - 1, &fOptsRe[fOptsReLen + 1]); + bool reply = false; + + // if this is a LinkAdr MAC command, pre-process contiguous commands into one atomic block + if(cid == RADIOLIB_LORAWAN_MAC_LINK_ADR) { + // if there was any LinkAdr command before, set NACK and continue without processing + if(mAdr) { + reply = true; + fOptsRe[fOptsReLen + 1] = 0x00; + + // if this is the first LinkAdr command, do some special treatment: + } else { + mAdr = true; + uint8_t fAdrLen = 5; + uint8_t mAdrOpt[14] = { 0 }; + + // retrieve all contiguous LinkAdr commands + while(procLen + fLen + fAdrLen < fOptsLen + 1 && *(mPtr + fLen) == RADIOLIB_LORAWAN_MAC_LINK_ADR) { + fLen += 5; // ADR command is 5 bytes + fLenRe += 2; // ADR response is 2 bytes + } + + // pre-process them into a single complete channel mask (stored in mAdrOpt) + LoRaWANNode::preprocessMacLinkAdr(mPtr, fLen, mAdrOpt); + + // execute like a normal MAC command (but pointing to mAdrOpt instead) + reply = this->execMacCommand(cid, mAdrOpt, 14, &fOptsRe[fOptsReLen + 1]); + + // in LoRaWAN v1.0.x, all ACK bytes should have equal status - fix in post-processing + if(this->rev == 0) { + LoRaWANNode::postprocessMacLinkAdr(&fOptsRe[fOptsReLen], fLen); + + // in LoRaWAN v1.1, just provide one ACK, so no post-processing but cut off reply length + } else { + fLenRe = 2; + } + } + + // MAC command other than LinkAdr, just process the payload + } else { + reply = this->execMacCommand(cid, mPtr + 1, fLen - 1, &fOptsRe[fOptsReLen + 1]); + } + + // if there is a reply, add it to the response payload + if(reply) { + fOptsRe[fOptsReLen] = cid; + fOptsReLen += fLenRe; + } + + procLen += fLen; + mPtr += fLen; } - if(reply) { - fOptsRe[fOptsReLen] = cid; - fOptsReLen += fLenRe; + // remove all MAC commands except those whose payload can be requested by the user + // (which are LinkCheck and DeviceTime) + LoRaWANNode::clearMacCommands(fOptsPtr, &fOptsLen, RADIOLIB_LORAWAN_DOWNLINK); + + // copy over the remaining FOpts from the downlink to an internal buffer + this->fOptsDownLen = fOptsLen; + memcpy(this->fOptsDown, fOptsPtr, this->fOptsDownLen); + + // if fOptsLen for the next uplink is larger than can be piggybacked onto an uplink, send separate uplink + if(fOptsReLen > RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN) { + this->isMACPayload = true; } - procLen += fLen; - mPtr += fLen; + // get the maximum uplink payload size + uint8_t maxReLen = this->getMaxPayloadLen(); + + // truncate uplink payload size if necessary, and send separate uplink + if(fOptsReLen > maxReLen) { + this->isMACPayload = true; + + fOptsReLen = 0; + uint8_t fLenRe = 0; + + // move back to the start of the uplink buffer + mPtr = fOptsRe; + // and add as many MAC commands as space is available + while(fOptsReLen + fLenRe <= maxReLen) { + fOptsReLen += fLenRe; + + // fetch length of MAC uplink response + (void)this->getMacLen(*mPtr, &fLenRe, RADIOLIB_LORAWAN_UPLINK, true, mPtr + 1); + mPtr += fLenRe; + } + } + + // if the limit on number of FOpts is reached, send a MAC-only uplink + // otherwise, the user might get stuck as the app payload won't fit + if(this->isMACPayload) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("! Sending MAC-only uplink (%d bytes):", fOptsReLen); + RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(fOptsRe, fOptsReLen); + + // temporarily lift dutyCycle restrictions to allow immediate MAC response + bool prevDC = this->dutyCycleEnabled; + this->dutyCycleEnabled = false; + this->sendReceive(fOptsRe, fOptsReLen, RADIOLIB_LORAWAN_FPORT_MAC_COMMAND); + this->dutyCycleEnabled = prevDC; + + } else { // fOptsReLen <= 15 + memcpy(this->fOptsUp, fOptsRe, fOptsReLen); + this->fOptsUpLen = fOptsReLen; + } } - // remove all MAC commands except those whose payload can be requested by the user - // (which are LinkCheck and DeviceTime) - if(fOptsLen > 0) { - LoRaWANNode::clearMacCommands(fOpts, &fOptsLen, RADIOLIB_LORAWAN_DOWNLINK); - memcpy(this->fOptsDown, fOpts, fOptsLen); - } - this->fOptsDownLen = fOptsLen; - - // if fOptsLen for the next uplink is larger than can be piggybacked onto an uplink, send separate uplink - if(fOptsReLen > RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN) { + // by default, the data and length are user-accessible + *len = payLen; - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Uplink MAC-only payload (%d bytes):", fOptsReLen); - RADIOLIB_DEBUG_PROTOCOL_HEXDUMP(fOptsRe, fOptsReLen); - - this->isMACPayload = true; - // temporarily lift dutyCycle restrictions to allow immediate MAC response - bool prevDC = this->dutyCycleEnabled; - this->dutyCycleEnabled = false; - - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Sending MAC-only uplink .. "); - - this->sendReceive(fOptsRe, fOptsReLen, RADIOLIB_LORAWAN_FPORT_MAC_COMMAND); - - this->dutyCycleEnabled = prevDC; - - } else { // fOptsReLen <= 15 - memcpy(this->fOptsUp, fOptsRe, fOptsReLen); - this->fOptsUpLen = fOptsReLen; + // however, if this frame belongs to an application package, + // redirect instead and 'hide' contents from the user + // just to be sure that it doesn't get re-interpreted... + for(int id = 0; id < RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES; id++) { + if(this->packages[id].enabled && this->packages[id].isAppPack && fPort == this->packages[id].packFPort) { + this->packages[id].callback(data, *len); + memset(data, 0, *len); + *len = 0; + } } - // pass the extra info if requested + // pass the event info if requested if(event) { event->dir = RADIOLIB_LORAWAN_DOWNLINK; event->confirmed = isConfirmedDown; event->confirming = isConfirmingUp; event->frmPending = (downlinkMsg[RADIOLIB_LORAWAN_FHDR_FCTRL_POS] & RADIOLIB_LORAWAN_FCTRL_FRAME_PENDING) != 0; - event->datarate = this->channels[RADIOLIB_LORAWAN_DOWNLINK].dr; - event->freq = channels[event->dir].freq / 10000.0; + event->datarate = this->channels[window].dr; + event->freq = this->channels[window].freq / 10000.0; event->power = this->txPowerMax - this->txPowerSteps * 2; - event->fCnt = isAppDownlink ? this->aFCntDown : this->nFCntDown; + event->fCnt = devFCnt32; event->fPort = fPort; + event->multicast = (bool)this->multicast; } #if !RADIOLIB_STATIC_ONLY - delete[] fOpts; - delete[] fOptsRe; delete[] downlinkMsg; #endif return(RADIOLIB_ERR_NONE); } +int16_t LoRaWANNode::getDownlinkClassC(uint8_t* dataDown, size_t* lenDown, LoRaWANEvent_t* eventDown) { + // only allow if the device is Unicast-C or Multicast-C, otherwise ignore without error + if(this->lwClass != RADIOLIB_LORAWAN_CLASS_C && this->multicast != RADIOLIB_LORAWAN_CLASS_C) { + return(RADIOLIB_ERR_NONE); + } + + int16_t state = RADIOLIB_ERR_NONE; + + if(downlinkAction) { + state = this->parseDownlink(dataDown, lenDown, RADIOLIB_LORAWAN_RX_BC, eventDown); + downlinkAction = false; + + // if downlink parsed successfully, set state to RxC window + if(state == RADIOLIB_ERR_NONE) { + state = RADIOLIB_LORAWAN_RX_BC; + + // otherwise, if device is acting as Multicast on top of the same Unicast class, + // try decrypting it as a Unicast downlink by temporarily disabling Multicast + } else if(this->multicast == this->lwClass) { + this->multicast = false; + state = this->parseDownlink(dataDown, lenDown, RADIOLIB_LORAWAN_RX_BC, eventDown); + this->multicast = this->lwClass; + // if downlink parsed succesfully, set state to RxC window + if(state == RADIOLIB_ERR_NONE) { + state = RADIOLIB_LORAWAN_RX_BC; + } + } + } + + return(state); +} + bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn) { uint8_t buff[RADIOLIB_LORAWAN_MAX_MAC_COMMAND_LEN_DOWN]; return(this->execMacCommand(cid, optIn, lenIn, buff)); @@ -1862,9 +2314,10 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin // get the server version uint8_t srvVersion = optIn[0]; RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ResetConf: server version 1.%d", srvVersion); - if(srvVersion == this->rev) { - // valid server version, stop sending the ResetInd MAC command - LoRaWANNode::deleteMacCommand(RADIOLIB_LORAWAN_MAC_RESET, this->fOptsUp, &this->fOptsUpLen, RADIOLIB_LORAWAN_UPLINK); + if(srvVersion != this->rev) { + // invalid server version, resend the ResetInd MAC command + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ERROR! Please disable your device and consult supported LoRaWAN versions"); + (void)LoRaWANNode::pushMacCommand(cid, &this->rev, this->fOptsUp, &this->fOptsUpLen, RADIOLIB_LORAWAN_UPLINK); } return(false); } break; @@ -1887,69 +2340,77 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin uint8_t pwrAck = 0; // first, get current configuration - uint64_t chMaskGrp0123 = 0; - uint32_t chMaskGrp45 = 0; - this->getChannelPlanMask(&chMaskGrp0123, &chMaskGrp45); - uint16_t chMaskActive = 0; - (void)this->getAvailableChannels(&chMaskActive); + uint16_t currentMasks[RADIOLIB_LORAWAN_MAX_NUM_FIXED_CHANNELS / 16]; + uint16_t currentFlags[RADIOLIB_LORAWAN_MAX_NUM_FIXED_CHANNELS / 16]; + memcpy(currentMasks, this->channelMasks, sizeof(this->channelMasks)); + memcpy(currentFlags, this->channelFlags, sizeof(this->channelFlags)); uint8_t currentDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; // only apply channel mask if present (internal Dr/Tx commands do not set channel mask) + chMaskAck = true; if(lenIn > 1) { - uint64_t macChMaskGrp0123 = LoRaWANNode::ntoh(&optIn[1]); - uint32_t macChMaskGrp45 = LoRaWANNode::ntoh(&optIn[9]); - // apply requested channel mask and enable all of them for testing datarate - chMaskAck = this->applyChannelMask(macChMaskGrp0123, macChMaskGrp45); - } else { - chMaskAck = true; + this->enableDefaultChannels(true); + for(int i = 0; i < RADIOLIB_LORAWAN_MAX_NUM_FIXED_CHANNELS / 16; i++) { + uint16_t m8 = (uint16_t)optIn[1 + 2*i] | ((uint16_t)optIn[2 + 2*i] << 8); + uint16_t m16 = this->channelMasks[i]; + + // If m8 has a bit that m16 doesn't have, it will show up here + uint16_t diff = m8 & ~m16; + + if(diff) { + chMaskAck = false; + break; // found one, no need to check further + } + + // save new mask already, will revert if a rejection occurs + this->channelMasks[i] = m8; + } } - this->setAvailableChannels(0xFFFF); - int16_t state; // try to apply the datarate configuration // if value is set to 'keep current values', retrieve current value - if(macDrUp == 0x0F) { + if(macDrUp == RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { macDrUp = currentDr; } - if (this->band->dataRates[macDrUp] != RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { + if(this->band->dataRates[macDrUp].modem != RADIOLIB_MODEM_NONE) { // check if the module supports this data rate - DataRate_t dr; - state = this->findDataRate(macDrUp, &dr); - + state = this->phyLayer->checkDataRate(this->band->dataRates[macDrUp].dr, + this->band->dataRates[macDrUp].modem); + // if datarate in hardware all good, set datarate for now // and check if there are any available Tx channels for this datarate if(state == RADIOLIB_ERR_NONE) { this->channels[RADIOLIB_LORAWAN_UPLINK].dr = macDrUp; + drAck = this->calculateChannelFlags(); - // only if we have available Tx channels, we set an Ack - if(this->getAvailableChannels(NULL) > 0) { - drAck = 1; - } else { + if(!drAck) { RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ADR: no channels available for datarate %d", macDrUp); } } else { RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ADR: hardware failure configurating datarate %d, code %d", macDrUp, state); } - } // try to apply the power configuration // if value is set to 'keep current values', retrieve current value - if(macTxSteps == 0x0F) { + if(macTxSteps == RADIOLIB_LORAWAN_TX_POWER_UNUSED) { macTxSteps = this->txPowerSteps; } - int8_t power = this->txPowerMax - 2*macTxSteps; - int8_t powerActual = 0; - state = this->phyLayer->checkOutputPower(power, &powerActual); - // only acknowledge if the radio is able to operate at or below the requested power level - if(state == RADIOLIB_ERR_NONE || (state == RADIOLIB_ERR_INVALID_OUTPUT_POWER && powerActual < power)) { - pwrAck = 1; - } else { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ADR failed to configure Tx power %d, code %d!", power, state); + // only allow TxPower if less than / equal to the maximum number of defined steps + if(macTxSteps <= this->band->powerNumSteps) { + int8_t power = this->txPowerMax - 2*macTxSteps; + int8_t powerActual = 0; + state = this->phyLayer->checkOutputPower(power, &powerActual); + // only acknowledge if the radio is able to operate at or below the requested power level + if(state == RADIOLIB_ERR_NONE || (state == RADIOLIB_ERR_INVALID_OUTPUT_POWER && powerActual < power)) { + pwrAck = 1; + } else { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ADR failed to configure Tx power %d, code %d!", power, state); + } } // set ACK bits @@ -1961,10 +2422,11 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin if(optOut[0] != 0x07) { // according to paragraph 4.3.1.1, if ADR is disabled, // the ADR channel mask must be accepted even if drAck/pwrAck fails. - // therefore, only revert the channel mask if ADR is enabled. + // therefore, only revert the channel masks/flags if ADR is enabled. if(this->adrEnabled) { - this->applyChannelMask(chMaskGrp0123, chMaskGrp45); - this->setAvailableChannels(chMaskActive); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Reverting to previous channel masks"); + memcpy(this->channelMasks, currentMasks, sizeof(this->channelMasks)); + memcpy(this->channelFlags, currentFlags, sizeof(this->channelFlags)); } // revert datarate this->channels[RADIOLIB_LORAWAN_UPLINK].dr = currentDr; @@ -1989,12 +2451,8 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin // for LoRaWAN v1.1, if NbTrans == 0, the end-device SHALL keep the current NbTrans value unchanged // so, don't do anything } - } - // restore original active channels - this->setAvailableChannels(chMaskActive); - // save to the ADR MAC location // but first re-set the Dr/Tx/NbTrans field to make sure they're not set to 0xF optIn[0] = (this->channels[RADIOLIB_LORAWAN_UPLINK].dr) << 4; @@ -2031,20 +2489,25 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin uint8_t rx2DrAck = 0; uint8_t rx2FreqAck = 0; - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("RXParamSetupReq: Rx1DrOffset = %d, rx2DataRate = %d, freq = %7.3f", - macRx1DrOffset, macRx2Dr, macRx2Freq / 10000.0); + RADIOLIB_DEBUG_PROTOCOL_PRINT("RXParamSetupReq: Rx1DrOffset = %d, rx2DataRate = %d, freq = ", macRx1DrOffset, macRx2Dr); + RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG(macRx2Freq / 10000.0, 3); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(""); // check the requested configuration uint8_t uplinkDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; - DataRate_t dr; - if(this->band->rx1DrTable[uplinkDr][macRx1DrOffset] != RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { - if(this->findDataRate(this->band->rx1DrTable[uplinkDr][macRx1DrOffset], &dr) == RADIOLIB_ERR_NONE) { + uint8_t rx1Dr = this->band->rx1DrTable[uplinkDr][macRx1DrOffset]; + if(rx1Dr != RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { + int16_t state = this->phyLayer->checkDataRate(this->band->dataRates[rx1Dr].dr, + this->band->dataRates[rx1Dr].modem); + if(state == RADIOLIB_ERR_NONE) { rx1DrOsAck = 1; } } if(macRx2Dr >= this->band->rx2.drMin && macRx2Dr <= this->band->rx2.drMax) { - if(this->band->dataRates[macRx2Dr] != RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { - if(this->findDataRate(macRx2Dr, &dr) == RADIOLIB_ERR_NONE) { + if(this->band->dataRates[macRx2Dr].modem != RADIOLIB_MODEM_NONE) { + int16_t state = this->phyLayer->checkDataRate(this->band->dataRates[macRx2Dr].dr, + this->band->dataRates[macRx2Dr].modem); + if(state == RADIOLIB_ERR_NONE) { rx2DrAck = 1; } } @@ -2063,8 +2526,10 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin // passed ACK, so apply configuration this->rx1DrOffset = macRx1DrOffset; - this->channels[RADIOLIB_LORAWAN_DIR_RX2].dr = macRx2Dr; - this->channels[RADIOLIB_LORAWAN_DIR_RX2].freq = macRx2Freq; + this->channels[RADIOLIB_LORAWAN_RX2].dr = macRx2Dr; + this->channels[RADIOLIB_LORAWAN_RX2].freq = macRx2Freq; + this->channels[RADIOLIB_LORAWAN_RX_BC].dr = macRx2Dr; + this->channels[RADIOLIB_LORAWAN_RX_BC].freq = macRx2Freq; memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_RX_PARAM_SETUP], optIn, lenIn); return(true); @@ -2092,27 +2557,32 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin uint8_t macDrMax = (optIn[4] & 0xF0) >> 4; uint8_t macDrMin = optIn[4] & 0x0F; + RADIOLIB_DEBUG_PROTOCOL_PRINT("NewChannelReq: index = %d, freq = ", macChIndex); + RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG((double)macFreq / 10000.0, 3); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(" MHz, DR %d-%d", macDrMin, macDrMax); + uint8_t drAck = 0; uint8_t freqAck = 0; // the default channels shall not be modified, so check if this is a default channel // if the channel index is set, this channel is defined, so return a NACK - if(macChIndex < 3 && this->band->txFreqs[macChIndex].idx != RADIOLIB_LORAWAN_CHANNEL_INDEX_NONE) { + if(macChIndex < 3 && this->band->txFreqs[macChIndex].freq > 0) { optOut[0] = 0; return(true); } // check if the outermost datarates are defined and if the device supports them - DataRate_t dr; - if(this->band->dataRates[macDrMin] != RADIOLIB_LORAWAN_DATA_RATE_UNUSED && this->findDataRate(macDrMin, &dr) == RADIOLIB_ERR_NONE) { - if(this->band->dataRates[macDrMax] != RADIOLIB_LORAWAN_DATA_RATE_UNUSED && this->findDataRate(macDrMax, &dr) == RADIOLIB_ERR_NONE) { - drAck = 1; + if(this->band->dataRates[macDrMin].modem != RADIOLIB_MODEM_NONE && this->band->dataRates[macDrMax].modem != RADIOLIB_MODEM_NONE) { + if(this->phyLayer->checkDataRate(this->band->dataRates[macDrMin].dr, this->band->dataRates[macDrMin].modem) == RADIOLIB_ERR_NONE) { + if(this->phyLayer->checkDataRate(this->band->dataRates[macDrMax].dr, this->band->dataRates[macDrMax].modem) == RADIOLIB_ERR_NONE) { + drAck = 1; + } } } // check if the frequency is allowed and possible if(macFreq >= this->band->freqMin && macFreq <= this->band->freqMax) { - if(this->phyLayer->setFrequency((float)macFreq / 10000.0) == RADIOLIB_ERR_NONE) { + if(this->phyLayer->setFrequency((float)macFreq / 10000.0f) == RADIOLIB_ERR_NONE) { freqAck = 1; } // otherwise, if frequency is 0, disable the channel which is also a valid option @@ -2130,34 +2600,25 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin // ACK successful, so apply and save if(macFreq > 0) { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].enabled = true; - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].idx = macChIndex; - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].freq = macFreq; - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].drMin = macDrMin; - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].drMax = macDrMax; - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].available = true; + this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][macChIndex].idx = macChIndex; + this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][macChIndex].freq = macFreq; + this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][macChIndex].drMin = macDrMin; + this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][macChIndex].drMax = macDrMax; // downlink channel is identical to uplink channel - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex] = this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex]; + this->dynamicChannels[RADIOLIB_LORAWAN_DOWNLINK][macChIndex] = this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][macChIndex]; + + // add the new channel + this->channelMasks[0] |= (0x0001 << macChIndex); + this->channelFlags[0] |= (0x0001 << macChIndex); } else { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex] = RADIOLIB_LORAWAN_CHANNEL_NONE; - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex] = RADIOLIB_LORAWAN_CHANNEL_NONE; + this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][macChIndex] = RADIOLIB_LORAWAN_CHANNEL_NONE; + this->dynamicChannels[RADIOLIB_LORAWAN_DOWNLINK][macChIndex] = RADIOLIB_LORAWAN_CHANNEL_NONE; + // remove this channel + this->channelMasks[0] &= ~(0x0001 << macChIndex); + this->channelFlags[0] &= ~(0x0001 << macChIndex); } - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("UL: %3d %d %7.3f (%d - %d) | DL: %3d %d %7.3f (%d - %d)", - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].idx, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].enabled, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].freq / 10000.0, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].drMin, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].drMax, - - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex].idx, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex].enabled, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex].freq / 10000.0, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex].drMin, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex].drMax - ); - memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_UL_CHANNELS] + macChIndex * lenIn, optIn, lenIn); return(true); @@ -2172,7 +2633,9 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin // get the configuration uint8_t macChIndex = optIn[0]; uint32_t macFreq = LoRaWANNode::ntoh(&optIn[1], 3); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("DlChannelReq: index = %d, freq = %7.3f MHz", macChIndex, macFreq / 10000.0); + RADIOLIB_DEBUG_PROTOCOL_PRINT("DlChannelReq: index = %d, freq = ", macChIndex); + RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG((double)macFreq / 10000.0, 3); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(" MHz"); uint8_t freqDlAck = 0; uint8_t freqUlAck = 0; @@ -2184,7 +2647,7 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin } // check if the corresponding uplink frequency is actually set - if(this->channelPlan[RADIOLIB_LORAWAN_UPLINK][macChIndex].freq > 0) { + if(this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][macChIndex].freq > 0) { freqUlAck = 1; } @@ -2197,7 +2660,7 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin } // ACK successful, so apply and save - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][macChIndex].freq = macFreq; + this->dynamicChannels[RADIOLIB_LORAWAN_DOWNLINK][macChIndex].freq = macFreq; memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_DL_CHANNELS] + macChIndex * lenIn, optIn, lenIn); @@ -2213,7 +2676,7 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin if(delay == 0) { delay = 1; } - this->rxDelays[1] = delay * 1000; // Rx1 delay + this->rxDelays[1] = (RadioLibTime_t)delay * (RadioLibTime_t)1000; // Rx1 delay this->rxDelays[2] = this->rxDelays[1] + 1000; // Rx2 delay memcpy(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_RX_TIMING_SETUP], optIn, lenIn); @@ -2249,25 +2712,12 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin uint8_t srvVersion = optIn[0]; RADIOLIB_DEBUG_PROTOCOL_PRINTLN("RekeyConf: server version = 1.%d", srvVersion); - // If the server’s version is invalid the device SHALL discard the RekeyConf command and retransmit the RekeyInd in the next uplink frame - if((srvVersion > 0) && (srvVersion <= this->rev)) { - // valid server version, accept - this->rev = srvVersion; - - } else { - // if not a valid server version, retransmit RekeyInd - uint8_t cLen = 0; - this->getMacLen(cid, &cLen, RADIOLIB_LORAWAN_UPLINK); - uint8_t cOcts[1] = { this->rev }; - (void)LoRaWANNode::pushMacCommand(cid, cOcts, this->fOptsUp, &this->fOptsUpLen, RADIOLIB_LORAWAN_UPLINK); - - // discard RekeyConf, therefore return false so it doesn't send a reply - return(false); + // If the server's version is invalid the device SHALL discard the RekeyConf command and retransmit the RekeyInd in the next uplink frame + if(srvVersion != this->rev) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("ERROR! Please disable your device and consult supported LoRaWAN versions"); + (void)LoRaWANNode::pushMacCommand(cid, &this->rev, this->fOptsUp, &this->fOptsUpLen, RADIOLIB_LORAWAN_UPLINK); } - - optOut[0] = this->rev; - - LoRaWANNode::hton(&this->bufferSession[RADIOLIB_LORAWAN_SESSION_VERSION], this->rev); + return(false); } break; @@ -2318,6 +2768,26 @@ bool LoRaWANNode::execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn, uin return(true); } break; + case(RADIOLIB_LORAWAN_MAC_DEVICE_MODE): { + // only implemented on LoRaWAN v1.1 + if(this->rev == 0) { + return(false); + } + + if(optIn[0] > RADIOLIB_LORAWAN_CLASS_C) { + return(false); + } + + // retrieve pending class from MAC uplink queue + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("DeviceMode: Switching to LoRaWAN Class %s", + optIn[0] == RADIOLIB_LORAWAN_CLASS_A ? "A" : + optIn[0] == RADIOLIB_LORAWAN_CLASS_B ? "B" : "C"); + + this->lwClass = optIn[0]; + + return(false); + } break; + default: { // derived classes may implement additional MAC commands return(derivedMacHandler(cid, optIn, lenIn, optOut)); @@ -2338,70 +2808,85 @@ bool LoRaWANNode::derivedMacHandler(uint8_t cid, uint8_t* optIn, uint8_t lenIn, void LoRaWANNode::preprocessMacLinkAdr(uint8_t* mPtr, uint8_t cLen, uint8_t* mAdrOpt) { uint8_t fLen = 5; // single ADR command is 5 bytes uint8_t numOpts = cLen / fLen; - uint64_t chMaskGrp0123 = 0; - uint32_t chMaskGrp45 = 0; // set Dr/Tx field from last MAC command mAdrOpt[0] = mPtr[cLen - fLen + 1]; + uint16_t adrMasks[RADIOLIB_LORAWAN_MAX_NUM_SUBBANDS / 2]; + memcpy(adrMasks, this->channelMasks, sizeof(this->channelMasks)); + // set NbTrans partial field from last MAC command mAdrOpt[13] = mPtr[cLen - fLen + 4] & 0x0F; - uint8_t opt = 0; - while(opt < numOpts) { + for(uint8_t opt = 0; opt < numOpts; opt++) { uint8_t chMaskCntl = (mPtr[opt * fLen + 4] & 0x70) >> 4; uint16_t chMask = LoRaWANNode::ntoh(&mPtr[opt * fLen + 2]); switch(chMaskCntl) { - case 0 ... 3: - chMaskGrp0123 |= (uint64_t)chMask << (16 * chMaskCntl); - break; + case 0: + case 1: + case 2: + case 3: case 4: - chMaskGrp45 |= (uint32_t)chMask; + // set the new 16-bit value in that block + adrMasks[chMaskCntl] = chMask; break; case 5: - // for CN500, this is just a normal channel mask + // for CN470, this is just a normal channel mask + if(this->band->bandNum == BandCN470) { + // set the new 16-bit value in that block + adrMasks[chMaskCntl] = chMask; + // for all other bands, the first 10 bits enable banks of 8 125kHz channels - if(this->band->bandNum == BandCN500) { - chMaskGrp45 |= (uint32_t)chMask << 16; } else { - int bank = 0; - for(; bank < 8; bank++) { + for(int bank = 0; bank < 10; bank++) { if(chMask & ((uint16_t)1 << bank)) { - chMaskGrp0123 |= (0xFF << (8 * bank)); - } - } - for(; bank < 10; bank++) { - if(chMask & ((uint16_t)1 << bank)) { - chMaskGrp45 |= (0xFF << (8 * (bank - 8))); + // add bank of 8 125kHz channels + uint8_t bank16 = bank / 2; + uint16_t mask16 = 0x00FF << 8 * (bank % 2); + adrMasks[bank16] |= mask16; + // for banks 0 to 7, also add the corresponding 500 kHz channel + if(bank < 8) { + adrMasks[5] |= 0x0001 << bank; + } } } } break; case 6: // for dynamic bands: all channels ON (that are currently defined) - // for fixed bands: all 125kHz channels ON, channel mask similar to ChMask = 4 - // except for CN500: all 125kHz channels ON - - // for dynamic bands: retrieve all currently defined channels - // for fixed bands: cannot store all defined channels, so select a random one from each bank - this->getChannelPlanMask(&chMaskGrp0123, &chMaskGrp45); - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_FIXED && this->band->bandNum != BandCN500) { - chMaskGrp45 |= (uint32_t)chMask; + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { + for(int i = 0; i < RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS; i++) { + if(this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][i].freq > 0) { + adrMasks[0] |= (0x0001 << i); + } + } + } + // for fixed bands: all default 125kHz channels ON, channel mask similar to ChMaskCntl = 4 + // except for CN470: all default 125kHz channels ON + else if(this->band->bandNum != BandCN470) { + for(int cnt = 0; cnt < 4; cnt++) { + adrMasks[cnt] = 0xFFFF; + } + adrMasks[4] = chMask; + } else { // BandCN470 + for(int cnt = 0; cnt < 5; cnt++) { + adrMasks[cnt] = 0xFFFF; + } } break; case 7: - // for fixed bands: all 125kHz channels ON, channel mask similar to ChMask = 4 - // except for CN500: RFU - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_FIXED && this->band->bandNum != BandCN500) { - chMaskGrp0123 = 0; - chMaskGrp45 |= (uint32_t)chMask; + // for fixed bands: all 125kHz channels OFF, channel mask similar to ChMaskCntl = 4 + // except for CN470: RFU + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_FIXED && this->band->bandNum != BandCN470) { + for(int cnt = 0; cnt < 4; cnt++) { + adrMasks[cnt] = 0x0000; + } + adrMasks[4] = chMask; } break; } - opt++; } - LoRaWANNode::hton(&mAdrOpt[1], chMaskGrp0123); - LoRaWANNode::hton(&mAdrOpt[9], chMaskGrp45); + memcpy(&mAdrOpt[1], adrMasks, sizeof(adrMasks)); } void LoRaWANNode::postprocessMacLinkAdr(uint8_t* ack, uint8_t cLen) { @@ -2419,7 +2904,7 @@ void LoRaWANNode::postprocessMacLinkAdr(uint8_t* ack, uint8_t cLen) { int16_t LoRaWANNode::getMacCommand(uint8_t cid, LoRaWANMacCommand_t* cmd) { for(size_t i = 0; i < RADIOLIB_LORAWAN_NUM_MAC_COMMANDS; i++) { if(MacTable[i].cid == cid) { - memcpy((void*)cmd, (void*)&MacTable[i], sizeof(LoRaWANMacCommand_t)); + memcpy(reinterpret_cast(cmd), reinterpret_cast(const_cast(&MacTable[i])), sizeof(LoRaWANMacCommand_t)); return(RADIOLIB_ERR_NONE); } } @@ -2460,7 +2945,7 @@ int16_t LoRaWANNode::sendMacCommandReq(uint8_t cid) { int16_t LoRaWANNode::getMacLinkCheckAns(uint8_t* margin, uint8_t* gwCnt) { uint8_t payload[2] = { 0 }; - int16_t state = this->getMacPayload(RADIOLIB_LORAWAN_MAC_LINK_CHECK, this->fOptsDown, fOptsDownLen, payload, RADIOLIB_LORAWAN_DOWNLINK); + int16_t state = this->getMacPayload(RADIOLIB_LORAWAN_MAC_LINK_CHECK, this->fOptsDown, this->fOptsDownLen, payload, RADIOLIB_LORAWAN_DOWNLINK); RADIOLIB_ASSERT(state); if(margin) { *margin = payload[0]; } @@ -2469,34 +2954,47 @@ int16_t LoRaWANNode::getMacLinkCheckAns(uint8_t* margin, uint8_t* gwCnt) { return(RADIOLIB_ERR_NONE); } -int16_t LoRaWANNode::getMacDeviceTimeAns(uint32_t* gpsEpoch, uint8_t* fraction, bool returnUnix) { +int16_t LoRaWANNode::getMacDeviceTimeAns(uint32_t* timestamp, uint16_t* fraction, bool returnUnix) { uint8_t payload[5] = { 0 }; - int16_t state = this->getMacPayload(RADIOLIB_LORAWAN_MAC_DEVICE_TIME, this->fOptsDown, fOptsDownLen, payload, RADIOLIB_LORAWAN_DOWNLINK); + int16_t state = this->getMacPayload(RADIOLIB_LORAWAN_MAC_DEVICE_TIME, this->fOptsDown, this->fOptsDownLen, payload, RADIOLIB_LORAWAN_DOWNLINK); RADIOLIB_ASSERT(state); - if(gpsEpoch) { - *gpsEpoch = LoRaWANNode::ntoh(&payload[0]); + Module* mod = this->phyLayer->getMod(); + + // calculate the millisecond fraction + RadioLibTime_t ms = (RadioLibTime_t)payload[4] * 1000UL / 256UL; + + // add offset between current time and end of uplink transmission + ms += mod->hal->millis() - this->tUplinkEnd; + + if(timestamp) { + *timestamp = LoRaWANNode::ntoh(&payload[0]); + *timestamp += ms / 1000; if(returnUnix) { uint32_t unixOffset = 315964800UL - 18UL; // 18 leap seconds since GPS epoch (Jan. 6th 1980) - *gpsEpoch += unixOffset; + *timestamp += unixOffset; } } - if(fraction) { *fraction = payload[4]; } + if(fraction) { *fraction = ms % 1000; } return(RADIOLIB_ERR_NONE); } -int16_t LoRaWANNode::getMacLen(uint8_t cid, uint8_t* len, uint8_t dir, bool inclusive) { +int16_t LoRaWANNode::getMacLen(uint8_t cid, uint8_t* len, uint8_t dir, bool inclusive, uint8_t* payload) { + (void)payload; + + *len = 0; + if(inclusive) { + *len += 1; // add one byte for CID + } + LoRaWANMacCommand_t cmd = RADIOLIB_LORAWAN_MAC_COMMAND_NONE; int16_t state = this->getMacCommand(cid, &cmd); RADIOLIB_ASSERT(state); if(dir == RADIOLIB_LORAWAN_UPLINK) { - *len = cmd.lenUp; + *len += cmd.lenUp; } else { - *len = cmd.lenDn; - } - if(inclusive) { - *len += 1; // add one byte for CID + *len += cmd.lenDn; } return(RADIOLIB_ERR_NONE); } @@ -2518,7 +3016,7 @@ bool LoRaWANNode::isPersistentMacCommand(uint8_t cid, uint8_t dir) { return(false); } -int16_t LoRaWANNode::pushMacCommand(uint8_t cid, uint8_t* cOcts, uint8_t* out, uint8_t* lenOut, uint8_t dir) { +int16_t LoRaWANNode::pushMacCommand(uint8_t cid, const uint8_t* cOcts, uint8_t* out, uint8_t* lenOut, uint8_t dir) { uint8_t fLen = 0; int16_t state = this->getMacLen(cid, &fLen, dir, true); RADIOLIB_ASSERT(state); @@ -2535,7 +3033,7 @@ int16_t LoRaWANNode::pushMacCommand(uint8_t cid, uint8_t* cOcts, uint8_t* out, u return(RADIOLIB_ERR_NONE); } -int16_t LoRaWANNode::getMacPayload(uint8_t cid, uint8_t* in, uint8_t lenIn, uint8_t* out, uint8_t dir) { +int16_t LoRaWANNode::getMacPayload(uint8_t cid, const uint8_t* in, uint8_t lenIn, uint8_t* out, uint8_t dir) { size_t i = 0; while(i < lenIn) { @@ -2598,8 +3096,9 @@ void LoRaWANNode::clearMacCommands(uint8_t* inOut, uint8_t* lenInOut, uint8_t di uint8_t numDeleted = 0; while(i < *lenInOut) { uint8_t id = inOut[i]; - uint8_t fLen = 1; // if there is an incorrect MAC command, we should at least move forward by one byte - (void)this->getMacLen(id, &fLen, dir, true); + uint8_t fLen = 0; + // include CID byte, so if command fails, we still move one byte forward + (void)this->getMacLen(id, &fLen, dir, true, &inOut[i+1]); // only clear MAC command if it should not persist until a downlink is received if(!this->isPersistentMacCommand(id, dir)) { @@ -2619,32 +3118,21 @@ void LoRaWANNode::clearMacCommands(uint8_t* inOut, uint8_t* lenInOut, uint8_t di } int16_t LoRaWANNode::setDatarate(uint8_t drUp) { - // scan through all enabled channels and check if the requested datarate is available - bool isValidDR = false; - for(size_t i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - LoRaWANChannel_t *chnl = &(this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i]); - if(chnl->enabled) { - if(drUp >= chnl->drMin && drUp <= chnl->drMax) { - isValidDR = true; - break; - } - } + // if called before activation, already create a session + if(this->sessionStatus == RADIOLIB_LORAWAN_SESSION_NONE) { + this->createSession(); } - if(!isValidDR) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("No defined channel allows datarate %d", drUp); - return(RADIOLIB_ERR_INVALID_DATA_RATE); - } - uint8_t cOcts[1]; uint8_t cAck[1]; uint8_t cid = RADIOLIB_LORAWAN_MAC_LINK_ADR; - uint8_t cLen = 1; // only apply Dr/Tx field - cOcts[0] = (drUp << 4); // set requested datarate - cOcts[0] |= 0x0F; // keep Tx Power the same + uint8_t cLen = 1; // only apply Dr/Tx field + cOcts[0] = (drUp << 4); // set requested datarate + cOcts[0] |= RADIOLIB_LORAWAN_TX_POWER_UNUSED; // keep Tx Power the same (void)execMacCommand(cid, cOcts, cLen, cAck); // check if ACK is set for Datarate if(!(cAck[0] & 0x02)) { + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("No defined channel allows datarate %d", drUp); return(RADIOLIB_ERR_INVALID_DATA_RATE); } @@ -2652,6 +3140,10 @@ int16_t LoRaWANNode::setDatarate(uint8_t drUp) { } int16_t LoRaWANNode::setTxPower(int8_t txPower) { + // if called before activation, already create a session + if(this->sessionStatus == RADIOLIB_LORAWAN_SESSION_NONE) { + this->createSession(); + } // only allow values within the band's (or MAC state) maximum if(txPower > this->txPowerMax) { return(RADIOLIB_ERR_INVALID_OUTPUT_POWER); @@ -2664,9 +3156,9 @@ int16_t LoRaWANNode::setTxPower(int8_t txPower) { uint8_t cOcts[1]; uint8_t cAck[1]; uint8_t cid = RADIOLIB_LORAWAN_MAC_LINK_ADR; - uint8_t cLen = 1; // only apply Dr/Tx field - cOcts[0] = 0xF0; // keep datarate the same - cOcts[0] |= numSteps; // set requested Tx Power + uint8_t cLen = 1; // only apply Dr/Tx field + cOcts[0] = RADIOLIB_LORAWAN_DATA_RATE_UNUSED << 4; // keep datarate the same + cOcts[0] |= numSteps; // set requested Tx Power (void)execMacCommand(cid, cOcts, cLen, cAck); // check if ACK is set for Tx Power @@ -2685,21 +3177,26 @@ int16_t LoRaWANNode::setRx2Dr(uint8_t dr) { // can only configure different datarate for dynamic bands if(this->band->bandType == RADIOLIB_LORAWAN_BAND_FIXED) { - return(RADIOLIB_ERR_NO_CHANNEL_AVAILABLE); + return(RADIOLIB_ERR_INVALID_MODE); } // check if datarate is available in the selected band - if(this->band->dataRates[dr] == RADIOLIB_LORAWAN_DATA_RATE_UNUSED) { + if(this->band->dataRates[dr].modem != RADIOLIB_MODEM_NONE) { + return(RADIOLIB_ERR_INVALID_DATA_RATE); + } + + // check if datarate is within the allowed range for Rx2 + if(dr < this->band->rx2.drMin || dr > this->band->rx2.drMax) { return(RADIOLIB_ERR_INVALID_DATA_RATE); } // find and check if the datarate is available for this radio module - DataRate_t dataRate; - int16_t state = findDataRate(dr, &dataRate); + int16_t state = this->phyLayer->checkDataRate(this->band->dataRates[dr].dr, this->band->dataRates[dr].modem); RADIOLIB_ASSERT(state); // passed all checks, so configure the datarate - this->channels[RADIOLIB_LORAWAN_DIR_RX2].dr = dr; + this->channels[RADIOLIB_LORAWAN_RX2].dr = dr; + this->channels[RADIOLIB_LORAWAN_RX_BC].dr = dr; return(state); } @@ -2712,6 +3209,7 @@ void LoRaWANNode::setDutyCycle(bool enable, RadioLibTime_t msPerHour) { this->dutyCycleEnabled = enable; if(!enable) { this->dutyCycle = 0; + return; } if(msPerHour == 0) { this->dutyCycle = this->band->dutyCycle; @@ -2751,10 +3249,33 @@ void LoRaWANNode::setDeviceStatus(uint8_t battLevel) { this->battLevel = battLevel; } +void LoRaWANNode::setActivityLeds(const uint32_t pins[4]) { + Module *mod = this->phyLayer->getMod(); + // configure each provided pin and store in the ledPins array + for(uint8_t i = 0; i < 4; i++) { + if(pins[i] != RADIOLIB_NC) { + mod->hal->pinMode(pins[i], mod->hal->GpioModeOutput); + } + this->ledPins[i] = pins[i]; + } +} + void LoRaWANNode::scheduleTransmission(RadioLibTime_t tUplink) { this->tUplink = tUplink; } +const LoRaWANBand_t* LoRaWANNode::getBand() { + return(this->band); +} + +uint8_t LoRaWANNode::getClass() { + return(this->lwClass); +} + +uint8_t LoRaWANNode::getVersionMajor() { + return(this->rev); +} + // return fCnt of last uplink; also return 0 if no uplink occured yet uint32_t LoRaWANNode::getFCntUp() { if(this->fCntUp == 0) { @@ -2771,11 +3292,6 @@ uint32_t LoRaWANNode::getAFCntDown() { return(this->aFCntDown); } -void LoRaWANNode::resetFCntDown() { - this->nFCntDown = 0; - this->aFCntDown = 0; -} - uint32_t LoRaWANNode::getDevAddr() { return(this->devAddr); } @@ -2785,61 +3301,19 @@ RadioLibTime_t LoRaWANNode::getLastToA() { } int16_t LoRaWANNode::setPhyProperties(const LoRaWANChannel_t* chnl, uint8_t dir, int8_t pwr, size_t pre) { - // set the physical layer configuration - int16_t state = this->phyLayer->standby(); - if(state != RADIOLIB_ERR_NONE) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Failed to set radio into standby - is it connected?"); - return(state); - } + int16_t state = RADIOLIB_ERR_NONE; - // get the currently configured modem from the radio - ModemType_t modem; - state = this->phyLayer->getModem(&modem); + // set datarate (and modem implicitly) + const DataRate_t* dr = &this->band->dataRates[chnl->dr].dr; + state = this->phyLayer->checkDataRate(*dr, this->band->dataRates[chnl->dr].modem); + RADIOLIB_ASSERT(state); + state = this->phyLayer->setDataRate(*dr, this->band->dataRates[chnl->dr].modem); RADIOLIB_ASSERT(state); - // set modem-dependent functions - switch(this->band->dataRates[chnl->dr] & RADIOLIB_LORAWAN_DATA_RATE_MODEM) { - case(RADIOLIB_LORAWAN_DATA_RATE_LORA): - if(modem != ModemType_t::RADIOLIB_MODEM_LORA) { - state = this->phyLayer->setModem(ModemType_t::RADIOLIB_MODEM_LORA); - RADIOLIB_ASSERT(state); - } - modem = ModemType_t::RADIOLIB_MODEM_LORA; - // downlink messages are sent with inverted IQ - if(dir == RADIOLIB_LORAWAN_DOWNLINK) { - state = this->phyLayer->invertIQ(true); - } else { - state = this->phyLayer->invertIQ(false); - } - RADIOLIB_ASSERT(state); - break; - - case(RADIOLIB_LORAWAN_DATA_RATE_FSK): - if(modem != ModemType_t::RADIOLIB_MODEM_FSK) { - state = this->phyLayer->setModem(ModemType_t::RADIOLIB_MODEM_FSK); - RADIOLIB_ASSERT(state); - } - modem = ModemType_t::RADIOLIB_MODEM_FSK; - state = this->phyLayer->setDataShaping(RADIOLIB_SHAPING_1_0); - RADIOLIB_ASSERT(state); - state = this->phyLayer->setEncoding(RADIOLIB_ENCODING_WHITENING); - RADIOLIB_ASSERT(state); - break; - - case(RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS): - if(modem != ModemType_t::RADIOLIB_MODEM_LRFHSS) { - state = this->phyLayer->setModem(ModemType_t::RADIOLIB_MODEM_LRFHSS); - RADIOLIB_ASSERT(state); - } - modem = ModemType_t::RADIOLIB_MODEM_LRFHSS; - break; - - default: - return(RADIOLIB_ERR_UNSUPPORTED); - } - - RADIOLIB_DEBUG_PROTOCOL_PRINTLN(""); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("PHY: Frequency = %7.3f MHz, TX = %d dBm", chnl->freq / 10000.0, pwr); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(""); + RADIOLIB_DEBUG_PROTOCOL_PRINT("Frequency = "); + RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG(chnl->freq / 10000.0, 3); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(" MHz, TX = %d dBm", pwr); state = this->phyLayer->setFrequency(chnl->freq / 10000.0); RADIOLIB_ASSERT(state); @@ -2849,33 +3323,47 @@ int16_t LoRaWANNode::setPhyProperties(const LoRaWANChannel_t* chnl, uint8_t dir, state = this->phyLayer->setOutputPower(pwr); RADIOLIB_ASSERT(state); - DataRate_t dr; - state = findDataRate(chnl->dr, &dr); - RADIOLIB_ASSERT(state); - state = this->phyLayer->setDataRate(dr); - RADIOLIB_ASSERT(state); - // this only needs to be done once-ish uint8_t syncWord[4] = { 0 }; uint8_t syncWordLen = 0; - size_t preLen = 0; - switch(modem) { + + switch(this->band->dataRates[chnl->dr].modem) { case(ModemType_t::RADIOLIB_MODEM_FSK): { - preLen = 8*RADIOLIB_LORAWAN_GFSK_PREAMBLE_LEN; + state = this->phyLayer->setDataShaping(RADIOLIB_SHAPING_1_0); + RADIOLIB_ASSERT(state); + state = this->phyLayer->setEncoding(RADIOLIB_ENCODING_WHITENING); + RADIOLIB_ASSERT(state); + state = this->phyLayer->setPreambleLength(pre ? pre : 8*RADIOLIB_LORAWAN_GFSK_PREAMBLE_LEN); + RADIOLIB_ASSERT(state); + syncWord[0] = (uint8_t)(RADIOLIB_LORAWAN_GFSK_SYNC_WORD >> 16); syncWord[1] = (uint8_t)(RADIOLIB_LORAWAN_GFSK_SYNC_WORD >> 8); syncWord[2] = (uint8_t)RADIOLIB_LORAWAN_GFSK_SYNC_WORD; syncWordLen = 3; - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("FSK: BR = %4.1f, FD = %4.1f kHz", - dr.fsk.bitRate, dr.fsk.freqDev); + RADIOLIB_DEBUG_PROTOCOL_PRINT("[FSK] BR = "); + RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG((double)dr->fsk.bitRate, 1); + RADIOLIB_DEBUG_PROTOCOL_PRINT(", FD = "); + RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG((double)dr->fsk.freqDev, 1); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(" kHz"); + } break; case(ModemType_t::RADIOLIB_MODEM_LORA): { - preLen = RADIOLIB_LORAWAN_LORA_PREAMBLE_LEN; + if(dir == RADIOLIB_LORAWAN_DOWNLINK) { + state = this->phyLayer->invertIQ(true); + } else { + state = this->phyLayer->invertIQ(false); + } + RADIOLIB_ASSERT(state); + state = this->phyLayer->setPreambleLength(pre ? pre : RADIOLIB_LORAWAN_LORA_PREAMBLE_LEN); + RADIOLIB_ASSERT(state); + syncWord[0] = RADIOLIB_LORAWAN_LORA_SYNC_WORD; syncWordLen = 1; - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("LoRa: SF = %d, BW = %5.1f kHz, CR = 4/%d, IQ: %c", - dr.lora.spreadingFactor, dr.lora.bandwidth, dr.lora.codingRate, dir ? 'D' : 'U'); + RADIOLIB_DEBUG_PROTOCOL_PRINT("[LoRa] SF = %d, BW = ", dr->lora.spreadingFactor); + RADIOLIB_DEBUG_PROTOCOL_PRINT_FLOAT_NOTAG((double)dr->lora.bandwidth, 1); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN_NOTAG(" kHz, CR = 4/%d, IQ: %c", dr->lora.codingRate, dir ? 'D' : 'U'); + } break; case(ModemType_t::RADIOLIB_MODEM_LRFHSS): { @@ -2884,8 +3372,8 @@ int16_t LoRaWANNode::setPhyProperties(const LoRaWANChannel_t* chnl, uint8_t dir, syncWord[2] = (uint8_t)(RADIOLIB_LORAWAN_LR_FHSS_SYNC_WORD >> 8); syncWord[3] = (uint8_t)RADIOLIB_LORAWAN_LR_FHSS_SYNC_WORD; syncWordLen = 4; - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("LR-FHSS: BW = 0x%02x, CR = 0x%02x kHz, grid = %c", - dr.lrFhss.bw, dr.lrFhss.cr, dr.lrFhss.narrowGrid ? 'N' : 'W'); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN("[LR-FHSS] BW = 0x%02x, CR = 0x%02x kHz, grid = %c", + dr->lrFhss.bw, dr->lrFhss.cr, dr->lrFhss.narrowGrid ? 'N' : 'W'); } break; default: @@ -2895,13 +3383,6 @@ int16_t LoRaWANNode::setPhyProperties(const LoRaWANChannel_t* chnl, uint8_t dir, state = this->phyLayer->setSyncWord(syncWord, syncWordLen); RADIOLIB_ASSERT(state); - // if a preamble length is supplied, overrule the 'calculated' preamble length - if(pre) { - preLen = pre; - } - if(modem != ModemType_t::RADIOLIB_MODEM_LRFHSS) { - state = this->phyLayer->setPreambleLength(preLen); - } return(state); } @@ -2936,288 +3417,221 @@ bool LoRaWANNode::cadChannelClear() { return(true); } -void LoRaWANNode::getChannelPlanMask(uint64_t* chMaskGrp0123, uint32_t* chMaskGrp45) { - // clear masks in case anything was set - *chMaskGrp0123 = 0; - *chMaskGrp45 = 0; - - // if there are any channels selected, create the mask from those channels - // channels are always selected for dynamic bands and/or when a device is active - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC || this->isActivated()) { - for(int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - uint8_t idx = this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].idx; - if(idx != RADIOLIB_LORAWAN_CHANNEL_INDEX_NONE) { - if(idx < 64) { - *chMaskGrp0123 |= ((uint64_t)1 << idx); - } else { - *chMaskGrp45 |= ((uint32_t)1 << (idx - 64)); +void LoRaWANNode::enableDefaultChannels(bool addDynamic) { + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { + int num = 0; + // there are at most three default channels for dynamic bands + for(; num < 3; num++) { + if(this->band->txFreqs[num].freq) { + this->channelMasks[0] |= (0x0001 << num); + this->channelFlags[0] |= (0x0001 << num); + } + } + if(addDynamic) { + for(; num < RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS; num++) { + if(this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][num].freq) { + this->channelMasks[0] |= (0x0001 << num); + this->channelFlags[0] |= (0x0001 << num); } } } - return; } else { // bandType == RADIOLIB_LORAWAN_BAND_FIXED // if a subband is set, we can set the channel indices straight from subband - if(this->subBand > 0 && this->subBand <= 8) { - // for sub band 1-8, set bank of 8 125kHz + single 500kHz channel - *chMaskGrp0123 |= 0xFF << ((this->subBand - 1) * 8); - *chMaskGrp45 |= 0x01 << ((this->subBand - 1) * 8); - } else if(this->subBand > 8 && this->subBand <= 12) { - // CN500 only: for sub band 9-12, set bank of 8 125kHz channels - *chMaskGrp45 |= 0xFF << ((this->subBand - 9) * 8); + if(this->subBand) { + // add bank of 8 125kHz channels + uint8_t bank16 = (this->subBand - 1) / 2; + uint16_t mask16 = 0x00FF << 8 * ((this->subBand - 1) % 2); + this->channelMasks[bank16] |= mask16; + + // for all bands except CN470: add 500kHz channel + if (this->band->bandNum != BandCN470) { + this->channelMasks[4] |= (0x0001 << (this->subBand - 1)); + } } else { - // if subband is set to 0, all 125kHz channels are enabled. - // however, we can 'only' store 16 channels, so we don't use all channels at once. - // instead, we select a random channel from each bank of 8 channels + 1 from second plan. + // if subband is set to 0, all channels are enabled uint8_t num125kHz = this->band->txSpans[0].numChannels; - uint8_t numBanks = num125kHz / 8; - for(uint8_t bank = 0; bank < numBanks; bank++) { - uint8_t bankIdx = this->phyLayer->random(8); - uint8_t idx = bank * 8 + bankIdx; - if(idx < 64) { - *chMaskGrp0123 |= ((uint64_t)1 << idx); - } else { - *chMaskGrp45 |= ((uint32_t)1 << (idx - 64)); - } + uint8_t numBanks16 = num125kHz / 16; + for(uint8_t bank = 0; bank < numBanks16; bank++) { + this->channelMasks[bank] |= 0xFFFF; } - // the 500 kHz channels are in the usual channel plan however - // these are the channel indices 64-71 for bands other than CN500 - if(this->band->bandNum != BandCN500) { - for(int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - uint8_t idx = this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].idx; - if(idx != RADIOLIB_LORAWAN_CHANNEL_INDEX_NONE && idx >= 64) { - *chMaskGrp45 |= ((uint32_t)1 << (idx - 64)); - } + + // for all bands except CN470: add 500kHz channels + if(this->band->bandNum != BandCN470) { + this->channelMasks[4] |= 0x00FF; + } + } + } +} + +bool LoRaWANNode::calculateChannelFlags() { + // clear all flags + memset(this->channelFlags, 0, sizeof(this->channelFlags)); + bool any = false; + + uint8_t drUp = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; + + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { + for(size_t i = 0; i < RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS; i++) { + // skip channel if not available + if((this->channelMasks[0] & (0x0001 << i)) == 0) { + continue; + } + // check if datarate is allowed for this channel + if(drUp >= this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][i].drMin \ + && drUp <= this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][i].drMax) { + this->channelFlags[0] |= (0x0001 << i); + any = true; + } + } + + } else { // RADIOLIB_LORAWAN_BAND_FIXED + // during activation of fixed bands, flag all available channels + // the datarate will be determined from there + if(!this->isActivated()) { + memcpy(this->channelFlags, this->channelMasks, sizeof(this->channelMasks)); + return(true); + } + + // check first frequency span to see if the datarate is allowed and any channel is available + if(drUp >= this->band->txSpans[0].drMin && drUp <= this->band->txSpans[0].drMax) { + // if the datarate is OK, all channel in this span can be used + for(int i = 0; i < this->band->txSpans[0].numChannels / 16; i++) { + this->channelFlags[i] = this->channelMasks[i]; + if(this->channelMasks[i]) { + any = true; } } } - } -} -void LoRaWANNode::selectChannelPlanDyn() { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Setting up dynamic channels"); - - size_t num = 0; - // copy the default defined channels into the first slots (where Tx = Rx) - for(; num < 3 && this->band->txFreqs[num].enabled; num++) { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][num] = this->band->txFreqs[num]; - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][num] = this->band->txFreqs[num]; - } - - // clear all remaining channels - for(; num < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; num++) { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][num] = RADIOLIB_LORAWAN_CHANNEL_NONE; - } - - // make sure the Rx2 settings are back to this band's default - this->channels[RADIOLIB_LORAWAN_DIR_RX2] = this->band->rx2; - - // make all enabled channels available for uplink selection - this->setAvailableChannels(0xFFFF); - - #if RADIOLIB_DEBUG_PROTOCOL - this->printChannels(); - #endif -} - -// setup a subband and its corresponding JoinRequest datarate -// WARNING: subBand starts at 1 (corresponds to all populair schemes) -void LoRaWANNode::selectChannelPlanFix() { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Setting up fixed channels (subband %d)", this->subBand); - - // clear all existing channels - for(size_t i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i] = RADIOLIB_LORAWAN_CHANNEL_NONE; - } - - // get channel masks for this subband - uint64_t chMaskGrp0123 = 0; - uint32_t chMaskGrp45 = 0; - this->getChannelPlanMask(&chMaskGrp0123, &chMaskGrp45); - - // apply channel mask - this->applyChannelMask(chMaskGrp0123, chMaskGrp45); - - // make sure the Rx2 settings are back to this band's default - this->channels[RADIOLIB_LORAWAN_DIR_RX2] = this->band->rx2; - - // make all enabled channels available for uplink selection - this->setAvailableChannels(0xFFFF); -} - -uint8_t LoRaWANNode::getAvailableChannels(uint16_t* chMask) { - uint8_t num = 0; - uint16_t mask = 0; - uint8_t currentDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; - for(uint8_t i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - // if channel is available and usable for current datarate, set corresponding bit - if(this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].available) { - if(currentDr >= this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].drMin && - currentDr <= this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].drMax) { - num++; - mask |= (0x0001 << i); + // check second frequency span to see if the datarate is allowed and any channel is available + if(drUp >= this->band->txSpans[1].drMin && drUp <= this->band->txSpans[1].drMax) { + this->channelFlags[4] = this->channelMasks[4]; + if(this->channelMasks[4]) { + any = true; } } } - if(chMask) { - *chMask = mask; - } - return(num); -} - -void LoRaWANNode::setAvailableChannels(uint16_t mask) { - for(uint8_t i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - // if channel is enabled, set to available - if(mask & (0x0001 << i) && this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].enabled) { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].available = true; - } else { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].available = false; - } - } + return(any); } int16_t LoRaWANNode::selectChannels() { - uint16_t chMask = 0x0000; - uint8_t numChannels = this->getAvailableChannels(&chMask); + // save the current uplink datarate + uint8_t uplinkDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; - // if there are no available channels, try resetting them all to available - if(numChannels == 0) { - this->setAvailableChannels(0xFFFF); - numChannels = this->getAvailableChannels(&chMask); + int channelMax = RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS; + if(this->band->bandType == RADIOLIB_LORAWAN_BAND_FIXED) { + channelMax = this->band->txSpans[0].numChannels + this->band->txSpans[1].numChannels; + } - // if there are still no channels available, give up - if(numChannels == 0) { + // check if any channel is flagged available + bool flag = false; + for(int i = 0; i < (channelMax + 15) / 16; i++) { + if(this->channelFlags[i]) { + flag = true; + break; + } + } + + // if all channels are exhausted, mark all channels as available again + if(flag == false) { + bool any = this->calculateChannelFlags(); + if(!any) { return(RADIOLIB_ERR_NO_CHANNEL_AVAILABLE); } } - // select a random value within the number of possible channels - int chRand = this->phyLayer->random(numChannels); + int start = 0; + int end = channelMax; - // retrieve the index of this channel by looping through the channel mask - int chIdx = -1; - while(chRand >= 0) { - chIdx++; - if(chMask & 0x0001) { - chRand--; + // for fixed bands without subband (subband = 0), + // join requests should be sent using a specific scheme (see RP 1.0.4 / 1.1B) + if(!this->isActivated() && this->band->bandType == RADIOLIB_LORAWAN_BAND_FIXED && this->subBand == 0) { + // retrieve the number of 125 kHz banks + uint8_t num125kHzBanks = this->band->txSpans[0].numChannels / 8; + // if there is a 500 kHz span, add a 'virtual' bank + uint8_t divisor = num125kHzBanks + (this->band->txSpans[1].numChannels ? 1 : 0); + uint8_t bank = (this->devNonce - this->joinNonce) % divisor; + // if we selected a 125 kHz bank, select a random channel from this bank + if(bank < num125kHzBanks) { + start = bank * 8; + end = (bank + 1) * 8; + + // if we selected the 500 kHz bank, select a random channel from this whole span + } else { + start = this->band->txSpans[0].numChannels; + end = start + this->band->txSpans[1].numChannels; } - chMask >>= 1; } - // as we are now going to use this channel, mark unavailable for next uplink - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][chIdx].available = false; + // select a random channel index using reservoir sampling + uint8_t idx = 0; + uint8_t seen = 0; + for(int i = start; i < end; i++) { + if(this->channelFlags[i/16] & (0x0001 << (i % 16))) { + seen++; + if(rand() % seen == 0) { + idx = i; + } + } + } + + // remove the channel from the available channels + uint16_t mask = ~(0x01 << (idx % 16)); + this->channelFlags[idx/16] &= mask; - uint8_t currentDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; - this->channels[RADIOLIB_LORAWAN_UPLINK] = this->channelPlan[RADIOLIB_LORAWAN_UPLINK][chIdx]; - this->channels[RADIOLIB_LORAWAN_UPLINK].dr = currentDr; - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - // for dynamic bands, the downlink channel is the one matched to the uplink channel - this->channels[RADIOLIB_LORAWAN_DOWNLINK] = this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][chIdx]; - - } else { // RADIOLIB_LORAWAN_BAND_FIXED - // for fixed bands, the downlink channel is the uplink channel ID `modulo` number of downlink channels - LoRaWANChannel_t channelDn = RADIOLIB_LORAWAN_CHANNEL_NONE; - channelDn.enabled = true; - channelDn.idx = this->channels[RADIOLIB_LORAWAN_UPLINK].idx % this->band->rx1Span.numChannels; - channelDn.freq = this->band->rx1Span.freqStart + channelDn.idx*this->band->rx1Span.freqStep; - channelDn.drMin = this->band->rx1Span.drMin; - channelDn.drMax = this->band->rx1Span.drMax; - this->channels[RADIOLIB_LORAWAN_DOWNLINK] = channelDn; + // copy the channels from the current channel plan + this->channels[RADIOLIB_LORAWAN_UPLINK] = this->dynamicChannels[RADIOLIB_LORAWAN_UPLINK][idx]; + this->channels[RADIOLIB_LORAWAN_RX1] = this->dynamicChannels[RADIOLIB_LORAWAN_DOWNLINK][idx]; + } else { // RADIOLIB_LORAWAN_BAND_FIXED + uint8_t offs = 0; + uint8_t span = 0; + if(idx >= this->band->txSpans[0].numChannels && this->band->numTxSpans == 2) { + idx -= this->band->txSpans[0].numChannels; + offs = this->band->txSpans[0].numChannels; + span = 1; + } + + // calculated the frequency based on the channel index + LoRaWANChannel_t chnl = RADIOLIB_LORAWAN_CHANNEL_NONE; + chnl.idx = idx + offs; + chnl.freq = this->band->txSpans[span].freqStart + idx*this->band->txSpans[span].freqStep; + chnl.drMin = this->band->txSpans[span].drMin; + chnl.drMax = this->band->txSpans[span].drMax; + this->channels[RADIOLIB_LORAWAN_UPLINK] = chnl; + + // the downlink channel is the uplink channel ID `modulo` number of downlink channels + chnl.idx = this->channels[RADIOLIB_LORAWAN_UPLINK].idx % this->band->rx1Span.numChannels; + chnl.freq = this->band->rx1Span.freqStart + chnl.idx*this->band->rx1Span.freqStep; + chnl.drMin = this->band->rx1Span.drMin; + chnl.drMax = this->band->rx1Span.drMax; + this->channels[RADIOLIB_LORAWAN_RX1] = chnl; + + // for JoinRequests, pick the datarate required for this channel + if(!this->isActivated()) { + uplinkDr = this->band->txSpans[span].drJoinRequest; + } } - uint8_t rx1Dr = this->band->rx1DrTable[currentDr][this->rx1DrOffset]; + + // set the uplink datarate + this->channels[RADIOLIB_LORAWAN_UPLINK].dr = uplinkDr; + + // lookup the Rx1 datarate + uint8_t rx1Dr = this->band->rx1DrTable[this->channels[RADIOLIB_LORAWAN_UPLINK].dr][this->rx1DrOffset]; // if downlink dwelltime is enabled, datarate < 2 cannot be used, so clip to 2 // only in use on AS923_x bands if(this->dwellTimeDn && rx1Dr < 2) { rx1Dr = 2; } - this->channels[RADIOLIB_LORAWAN_DOWNLINK].dr = rx1Dr; + this->channels[RADIOLIB_LORAWAN_RX1].dr = rx1Dr; return(RADIOLIB_ERR_NONE); } -bool LoRaWANNode::applyChannelMask(uint64_t chMaskGrp0123, uint32_t chMaskGrp45) { - if(this->band->bandType == RADIOLIB_LORAWAN_BAND_DYNAMIC) { - for(int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - if(chMaskGrp0123 & ((uint64_t)1 << i)) { - // if it should be enabled but is not currently defined, stop immediately - if(this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].idx == RADIOLIB_LORAWAN_CHANNEL_INDEX_NONE) { - return(false); - } - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].enabled = true; - } else { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].enabled = false; - } - } - } else { // bandType == RADIOLIB_LORAWAN_BAND_FIXED - // full channel mask received, so clear all existing channels - LoRaWANChannel_t chnl = RADIOLIB_LORAWAN_CHANNEL_NONE; - for(size_t i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i] = chnl; - } - int num = 0; - uint8_t spanNum = 0; - int chNum = 0; - int chOfs = 0; - for(; chNum < 64; chNum++) { - if(chMaskGrp0123 & ((uint64_t)1 << chNum)) { - chnl.enabled = true; - chnl.idx = chNum; - chnl.freq = this->band->txSpans[spanNum].freqStart + chNum*this->band->txSpans[spanNum].freqStep; - chnl.drMin = this->band->txSpans[spanNum].drMin; - chnl.drMax = this->band->txSpans[spanNum].drMax; - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][num++] = chnl; - } - } - if(this->band->numTxSpans > 1) { - spanNum += 1; - chNum = 0; - chOfs = 64; - } - for(; chNum < this->band->txSpans[spanNum].numChannels; chNum++) { - if(chMaskGrp45 & ((uint32_t)1 << chNum)) { - chnl.enabled = true; - chnl.idx = chNum + chOfs; - chnl.freq = this->band->txSpans[spanNum].freqStart + chNum*this->band->txSpans[spanNum].freqStep; - chnl.drMin = this->band->txSpans[spanNum].drMin; - chnl.drMax = this->band->txSpans[spanNum].drMax; - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][num++] = chnl; - } - } - } - -#if RADIOLIB_DEBUG_PROTOCOL - this->printChannels(); -#endif - - return(true); -} - -#if RADIOLIB_DEBUG_PROTOCOL -void LoRaWANNode::printChannels() { - for (int i = 0; i < RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS; i++) { - if(this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].enabled) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("UL: %3d %d %7.3f (%d - %d) | DL: %3d %d %7.3f (%d - %d)", - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].idx, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].enabled, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].freq / 10000.0, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].drMin, - this->channelPlan[RADIOLIB_LORAWAN_UPLINK][i].drMax, - - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][i].idx, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][i].enabled, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][i].freq / 10000.0, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][i].drMin, - this->channelPlan[RADIOLIB_LORAWAN_DOWNLINK][i].drMax - ); - } - } -} -#endif - -uint32_t LoRaWANNode::generateMIC(uint8_t* msg, size_t len, uint8_t* key) { +uint32_t LoRaWANNode::generateMIC(const uint8_t* msg, size_t len, uint8_t* key) { if((msg == NULL) || (len == 0)) { return(0); } @@ -3261,7 +3675,7 @@ RadioLibTime_t LoRaWANNode::dutyCycleInterval(RadioLibTime_t msPerHour, RadioLib RadioLibTime_t LoRaWANNode::timeUntilUplink() { Module* mod = this->phyLayer->getMod(); - RadioLibTime_t nextUplink = this->rxDelayStart + dutyCycleInterval(this->dutyCycle, this->lastToA); + RadioLibTime_t nextUplink = this->tUplinkEnd + dutyCycleInterval(this->dutyCycle, this->lastToA); if(mod->hal->millis() > nextUplink){ return(0); } @@ -3269,14 +3683,9 @@ RadioLibTime_t LoRaWANNode::timeUntilUplink() { } uint8_t LoRaWANNode::getMaxPayloadLen() { - // configure the uplink channel properties - this->setPhyProperties(&this->channels[RADIOLIB_LORAWAN_UPLINK], - RADIOLIB_LORAWAN_UPLINK, - this->txPowerMax - 2*this->txPowerSteps); - uint8_t minLen = 0; uint8_t maxLen = this->band->payloadLenMax[this->channels[RADIOLIB_LORAWAN_UPLINK].dr]; - if(this->TS011) { + if(this->packages[RADIOLIB_LORAWAN_PACKAGE_TS011].enabled) { maxLen = RADIOLIB_MIN(maxLen, 222); // payload length is limited to N=222 if under repeater } maxLen += 13; // mandatory FHDR is 12/13 bytes @@ -3287,8 +3696,13 @@ uint8_t LoRaWANNode::getMaxPayloadLen() { return(maxLen - 13 - this->fOptsUpLen); } + const uint8_t currentDr = this->channels[RADIOLIB_LORAWAN_UPLINK].dr; + const ModemType_t modem = this->band->dataRates[currentDr].modem; + const DataRate_t* dr = &this->band->dataRates[currentDr].dr; + const PacketConfig_t* pc = &this->band->dataRates[currentDr].pc; + // fast exit in case upper limit is already good - if(this->phyLayer->getTimeOnAir(maxLen) / 1000 <= this->dwellTimeUp) { + if(this->phyLayer->calculateTimeOnAir(modem, *dr, *pc, maxLen) / 1000 <= this->dwellTimeUp) { // subtract FHDR (13 bytes) as well as any FOpts return(maxLen - 13 - this->fOptsUpLen); } @@ -3296,7 +3710,7 @@ uint8_t LoRaWANNode::getMaxPayloadLen() { // do some binary search to find maximum allowed length uint8_t curLen = (minLen + maxLen) / 2; while(curLen != minLen && curLen != maxLen) { - if(this->phyLayer->getTimeOnAir(curLen) / 1000 > this->dwellTimeUp) { + if(this->phyLayer->calculateTimeOnAir(modem, *dr, *pc, curLen) / 1000 > this->dwellTimeUp) { maxLen = curLen; } else { minLen = curLen; @@ -3307,90 +3721,63 @@ uint8_t LoRaWANNode::getMaxPayloadLen() { return(curLen - 13 - this->fOptsUpLen); } -int16_t LoRaWANNode::findDataRate(uint8_t dr, DataRate_t* dataRate) { - int16_t state = this->phyLayer->standby(); - if(state != RADIOLIB_ERR_NONE) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("Failed to set radio into standby - is it connected?"); - return(state); - } - - ModemType_t modemNew; - - uint8_t dataRateBand = this->band->dataRates[dr]; - - switch(dataRateBand & RADIOLIB_LORAWAN_DATA_RATE_MODEM) { - case(RADIOLIB_LORAWAN_DATA_RATE_LORA): - modemNew = ModemType_t::RADIOLIB_MODEM_LORA; - dataRate->lora.spreadingFactor = ((dataRateBand & RADIOLIB_LORAWAN_DATA_RATE_SF) >> 3) + 7; - switch(dataRateBand & RADIOLIB_LORAWAN_DATA_RATE_BW) { - case(RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ): - dataRate->lora.bandwidth = 125.0; - break; - case(RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ): - dataRate->lora.bandwidth = 250.0; - break; - case(RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ): - dataRate->lora.bandwidth = 500.0; - break; - default: - return(RADIOLIB_ERR_UNSUPPORTED); - } - dataRate->lora.codingRate = 5; - break; - case(RADIOLIB_LORAWAN_DATA_RATE_FSK): - modemNew = ModemType_t::RADIOLIB_MODEM_FSK; - dataRate->fsk.bitRate = 50; - dataRate->fsk.freqDev = 25; - break; - case(RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS): - modemNew = ModemType_t::RADIOLIB_MODEM_LRFHSS; - switch(dataRateBand & RADIOLIB_LORAWAN_DATA_RATE_BW) { - case(RADIOLIB_LORAWAN_DATA_RATE_BW_137_KHZ): - dataRate->lrFhss.bw = 0x02; // specific encoding - dataRate->lrFhss.narrowGrid = 1; - break; - case(RADIOLIB_LORAWAN_DATA_RATE_BW_336_KHZ): - dataRate->lrFhss.bw = 0x04; // specific encoding - dataRate->lrFhss.narrowGrid = 1; - break; - case(RADIOLIB_LORAWAN_DATA_RATE_BW_1523_KHZ): - dataRate->lrFhss.bw = 0x08; // specific encoding - dataRate->lrFhss.narrowGrid = 0; - break; - default: - return(RADIOLIB_ERR_UNSUPPORTED); - } - switch(dataRateBand & RADIOLIB_LORAWAN_DATA_RATE_CR) { - case(RADIOLIB_LORAWAN_DATA_RATE_CR_1_3): - dataRate->lrFhss.cr = 0x03; - break; - case(RADIOLIB_LORAWAN_DATA_RATE_CR_2_3): - dataRate->lrFhss.cr = 0x01; - break; - default: - return(RADIOLIB_ERR_UNSUPPORTED); - } - break; - default: - return(RADIOLIB_ERR_UNSUPPORTED); - } - - // get the currently configured modem from the radio - ModemType_t modemCurrent; - state = this->phyLayer->getModem(&modemCurrent); - RADIOLIB_ASSERT(state); - - // if the required modem is different than the current one, change over - if(modemNew != modemCurrent) { - state = this->phyLayer->setModem(modemNew); - RADIOLIB_ASSERT(state); - } - - state = this->phyLayer->checkDataRate(*dataRate); - return(state); +void LoRaWANNode::setSleepFunction(SleepCb_t cb) { + this->sleepCb = cb; } -void LoRaWANNode::processAES(const uint8_t* in, size_t len, uint8_t* key, uint8_t* out, uint32_t fCnt, uint8_t dir, uint8_t ctrId, bool counter) { +int16_t LoRaWANNode::addAppPackage(uint8_t packageId, PackageCb_t callback) { + if(packageId >= RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES) { + return(RADIOLIB_ERR_INVALID_MODE); + } + return(this->addAppPackage(packageId, callback, PackageTable[packageId].packFPort)); +} + +int16_t LoRaWANNode::addAppPackage(uint8_t packageId, PackageCb_t callback, uint8_t fPort) { + if(packageId >= RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES) { + return(RADIOLIB_ERR_INVALID_MODE); + } + if(PackageTable[packageId].isAppPack == false) { + return(RADIOLIB_ERR_INVALID_MODE); + } + if(PackageTable[packageId].fixedFPort && fPort != PackageTable[packageId].packFPort) { + return(RADIOLIB_ERR_INVALID_PORT); + } + if(callback == NULL) { + return(RADIOLIB_ERR_NULL_POINTER); + } + this->packages[packageId] = PackageTable[packageId]; + this->packages[packageId].packFPort = fPort; + this->packages[packageId].callback = callback; + this->packages[packageId].enabled = true; + return(RADIOLIB_ERR_NONE); +} + +int16_t LoRaWANNode::addNwkPackage(uint8_t packageId) { + if(packageId >= RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES) { + return(RADIOLIB_ERR_INVALID_MODE); + } + if(PackageTable[packageId].isAppPack == true) { + return(RADIOLIB_ERR_INVALID_MODE); + } + this->packages[packageId] = PackageTable[packageId]; + this->packages[packageId].enabled = true; + return(RADIOLIB_ERR_NONE); +} + +void LoRaWANNode::removePackage(uint8_t packageId) { + // silently ignore, assume that the user supplies decent index + if(packageId >= RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES) { + return; + } + this->packages[packageId].enabled = false; + return; +} + +void LoRaWANNode::processAES(const uint8_t* in, size_t len, uint8_t* key, uint8_t* out, uint32_t addr, uint32_t fCnt, uint8_t dir, uint8_t ctrId, bool counter) { + if(len == 0) { + return; + } + // figure out how many encryption blocks are there size_t numBlocks = len/RADIOLIB_AES128_BLOCK_SIZE; if(len % RADIOLIB_AES128_BLOCK_SIZE) { @@ -3403,7 +3790,7 @@ void LoRaWANNode::processAES(const uint8_t* in, size_t len, uint8_t* key, uint8_ encBlock[RADIOLIB_LORAWAN_BLOCK_MAGIC_POS] = RADIOLIB_LORAWAN_ENC_BLOCK_MAGIC; encBlock[RADIOLIB_LORAWAN_ENC_BLOCK_COUNTER_ID_POS] = ctrId; encBlock[RADIOLIB_LORAWAN_BLOCK_DIR_POS] = dir; - LoRaWANNode::hton(&encBlock[RADIOLIB_LORAWAN_BLOCK_DEV_ADDR_POS], this->devAddr); + LoRaWANNode::hton(&encBlock[RADIOLIB_LORAWAN_BLOCK_DEV_ADDR_POS], addr); LoRaWANNode::hton(&encBlock[RADIOLIB_LORAWAN_BLOCK_FCNT_POS], fCnt); // now encrypt the input @@ -3431,6 +3818,34 @@ void LoRaWANNode::processAES(const uint8_t* in, size_t len, uint8_t* key, uint8_ } } +void LoRaWANNode::sleepDelay(RadioLibTime_t ms, bool radioOff) { + // if the duration is short, just call delay + if(ms <= 2 || ms <= RADIOLIB_LORAWAN_DELAY_SLEEP_THRESHOLD) { + Module* mod = this->phyLayer->getMod(); + mod->hal->delay(ms); + return; + } + + // if radioOff is requested, put the radio to sleep + if(radioOff) { + this->phyLayer->sleep(); + ms -= 2; + } + + // call the user-provided callback if provided + if(this->sleepCb) { + this->sleepCb(ms); + } else { + // if no callback is provided, just delay + Module* mod = this->phyLayer->getMod(); + mod->hal->delay(ms); + } + + if(radioOff) { + this->phyLayer->standby(); + } +} + int16_t LoRaWANNode::checkBufferCommon(const uint8_t *buffer, uint16_t size) { // check if there are actually values in the buffer size_t i = 0; diff --git a/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.h b/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.h index 90a51ab..994d966 100644 --- a/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.h +++ b/lib/RadioLib/src/protocols/LoRaWAN/LoRaWAN.h @@ -11,9 +11,9 @@ #define RADIOLIB_LORAWAN_MODE_NONE (0x0000) // operation mode -#define RADIOLIB_LORAWAN_CLASS_A (0x0A) -#define RADIOLIB_LORAWAN_CLASS_B (0x0B) -#define RADIOLIB_LORAWAN_CLASS_C (0x0C) +#define RADIOLIB_LORAWAN_CLASS_A (0x00) +#define RADIOLIB_LORAWAN_CLASS_B (0x01) +#define RADIOLIB_LORAWAN_CLASS_C (0x02) // preamble format #define RADIOLIB_LORAWAN_LORA_SYNC_WORD (0x34) @@ -44,42 +44,21 @@ #define RADIOLIB_LORAWAN_FPORT_MAC_COMMAND (0x00 << 0) // 7 0 payload contains MAC commands only #define RADIOLIB_LORAWAN_FPORT_PAYLOAD_MIN (0x01 << 0) // 7 0 start of user-allowed fPort range #define RADIOLIB_LORAWAN_FPORT_PAYLOAD_MAX (0xDF << 0) // 7 0 end of user-allowed fPort range -#define RADIOLIB_LORAWAN_FPORT_TS009 (0xE0 << 0) // 7 0 fPort used for TS009 testing -#define RADIOLIB_LORAWAN_FPORT_TS011 (0xE2 << 0) // 7 0 fPort used for TS011 Forwarding #define RADIOLIB_LORAWAN_FPORT_RESERVED (0xE0 << 0) // 7 0 fPort values equal to and larger than this are reserved // data rate encoding -#define RADIOLIB_LORAWAN_DATA_RATE_MODEM (0x03 << 6) // 7 6 modem mask -#define RADIOLIB_LORAWAN_DATA_RATE_LORA (0x00 << 6) // 7 6 use LoRa modem -#define RADIOLIB_LORAWAN_DATA_RATE_FSK (0x01 << 6) // 7 6 use FSK modem -#define RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS (0x02 << 6) // 7 6 use LR-FHSS modem -#define RADIOLIB_LORAWAN_DATA_RATE_SF (0x07 << 3) // 5 3 LoRa spreading factor mask -#define RADIOLIB_LORAWAN_DATA_RATE_SF_12 (0x05 << 3) // 5 3 LoRa spreading factor: SF12 -#define RADIOLIB_LORAWAN_DATA_RATE_SF_11 (0x04 << 3) // 5 3 SF11 -#define RADIOLIB_LORAWAN_DATA_RATE_SF_10 (0x03 << 3) // 5 3 SF10 -#define RADIOLIB_LORAWAN_DATA_RATE_SF_9 (0x02 << 3) // 5 3 SF9 -#define RADIOLIB_LORAWAN_DATA_RATE_SF_8 (0x01 << 3) // 5 3 SF8 -#define RADIOLIB_LORAWAN_DATA_RATE_SF_7 (0x00 << 3) // 5 3 SF7 -#define RADIOLIB_LORAWAN_DATA_RATE_BW (0x03 << 1) // 2 1 bandwidth mask -#define RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ (0x00 << 1) // 2 1 125 kHz -#define RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ (0x01 << 1) // 2 1 250 kHz -#define RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ (0x02 << 1) // 2 1 LoRa bandwidth: 500 kHz -#define RADIOLIB_LORAWAN_DATA_RATE_BW_137_KHZ (0x00 << 1) // 2 1 137 kHz -#define RADIOLIB_LORAWAN_DATA_RATE_BW_336_KHZ (0x01 << 1) // 2 1 336 kHz -#define RADIOLIB_LORAWAN_DATA_RATE_BW_1523_KHZ (0x02 << 1) // 2 1 LR-FHSS bandwidth: 1523 kHz -#define RADIOLIB_LORAWAN_DATA_RATE_CR (0x01 << 0) // 0 0 coding rate mask -#define RADIOLIB_LORAWAN_DATA_RATE_CR_1_3 (0x00 << 0) // 0 0 LR-FHSS coding rate: 1/3 -#define RADIOLIB_LORAWAN_DATA_RATE_CR_2_3 (0x01 << 0) // 0 0 2/3 -#define RADIOLIB_LORAWAN_DATA_RATE_UNUSED (0xFF << 0) // 7 0 unused data rate +#define RADIOLIB_LORAWAN_DATA_RATE_UNUSED (0x0F << 0) // reserved / unused data rate +#define RADIOLIB_LORAWAN_TX_POWER_UNUSED (0x0F << 0) // reserved / unused Tx power // channels and channel plans -#define RADIOLIB_LORAWAN_UPLINK (0x00 << 0) -#define RADIOLIB_LORAWAN_DOWNLINK (0x01 << 0) -#define RADIOLIB_LORAWAN_DIR_RX2 (0x02 << 0) +#define RADIOLIB_LORAWAN_UPLINK (0x00 << 0) +#define RADIOLIB_LORAWAN_DOWNLINK (0x01 << 0) +#define RADIOLIB_LORAWAN_RX1 (0x01 << 0) +#define RADIOLIB_LORAWAN_RX2 (0x02 << 0) +#define RADIOLIB_LORAWAN_RX_BC (0x03 << 0) #define RADIOLIB_LORAWAN_BAND_DYNAMIC (0) #define RADIOLIB_LORAWAN_BAND_FIXED (1) #define RADIOLIB_LORAWAN_CHANNEL_NUM_DATARATES (15) -#define RADIOLIB_LORAWAN_CHANNEL_INDEX_NONE (0xFF >> 0) // recommended default settings #define RADIOLIB_LORAWAN_RECEIVE_DELAY_1_MS (1000) @@ -87,7 +66,6 @@ #define RADIOLIB_LORAWAN_RX1_DR_OFFSET (0) #define RADIOLIB_LORAWAN_JOIN_ACCEPT_DELAY_1_MS (5000) #define RADIOLIB_LORAWAN_JOIN_ACCEPT_DELAY_2_MS (6000) -#define RADIOLIB_LORAWAN_MAX_FCNT_GAP (16384) #define RADIOLIB_LORAWAN_ADR_ACK_LIMIT_EXP (0x06) #define RADIOLIB_LORAWAN_ADR_ACK_DELAY_EXP (0x05) #define RADIOLIB_LORAWAN_RETRANSMIT_TIMEOUT_MIN_MS (1000) @@ -178,7 +156,7 @@ #define RADIOLIB_LORAWAN_MAX_CHANGES_DEFAULT (4) // MAC commands -#define RADIOLIB_LORAWAN_NUM_MAC_COMMANDS (23) +#define RADIOLIB_LORAWAN_NUM_MAC_COMMANDS (24) #define RADIOLIB_LORAWAN_MAC_RESET (0x01) #define RADIOLIB_LORAWAN_MAC_LINK_CHECK (0x02) @@ -195,19 +173,51 @@ #define RADIOLIB_LORAWAN_MAC_DEVICE_TIME (0x0D) #define RADIOLIB_LORAWAN_MAC_FORCE_REJOIN (0x0E) #define RADIOLIB_LORAWAN_MAC_REJOIN_PARAM_SETUP (0x0F) +#define RADIOLIB_LORAWAN_MAC_DEVICE_MODE (0x20) #define RADIOLIB_LORAWAN_MAC_PROPRIETARY (0x80) -// the length of internal MAC command queue - hopefully this is enough for most use cases -#define RADIOLIB_LORAWAN_MAC_COMMAND_QUEUE_SIZE (9) +// number of supported LoRaWAN TS packages +#define RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES (7) + +// Package ID numbering as per TS008 (TS011 ID is made up) +#define RADIOLIB_LORAWAN_PACKAGE_TS007 (0) +#define RADIOLIB_LORAWAN_PACKAGE_TS003 (1) +#define RADIOLIB_LORAWAN_PACKAGE_TS005 (2) +#define RADIOLIB_LORAWAN_PACKAGE_TS004 (3) +#define RADIOLIB_LORAWAN_PACKAGE_TS006 (4) +#define RADIOLIB_LORAWAN_PACKAGE_TS009 (5) +#define RADIOLIB_LORAWAN_PACKAGE_TS011 (6) + +// Package FPort (specified or recommended) +#define RADIOLIB_LORAWAN_FPORT_TS007 (225) +#define RADIOLIB_LORAWAN_FPORT_TS003 (202) +#define RADIOLIB_LORAWAN_FPORT_TS005 (200) +#define RADIOLIB_LORAWAN_FPORT_TS004 (201) +#define RADIOLIB_LORAWAN_FPORT_TS006 (203) +#define RADIOLIB_LORAWAN_FPORT_TS009 (224) +#define RADIOLIB_LORAWAN_FPORT_TS011 (226) // the maximum number of simultaneously available channels -#define RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS (16) +#define RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS (16) +#define RADIOLIB_LORAWAN_MAX_NUM_SUBBANDS (12) +#define RADIOLIB_LORAWAN_MAX_NUM_FIXED_CHANNELS (96) // maximum MAC command sizes #define RADIOLIB_LORAWAN_MAX_MAC_COMMAND_LEN_DOWN (5) #define RADIOLIB_LORAWAN_MAX_MAC_COMMAND_LEN_UP (2) #define RADIOLIB_LORAWAN_MAX_NUM_ADR_COMMANDS (8) +#define RADIOLIB_LORAWAN_MAX_PAYLOAD_SIZE (242) + +// session states +#define RADIOLIB_LORAWAN_SESSION_NONE (0x00) +#define RADIOLIB_LORAWAN_SESSION_ACTIVATING (0x01) +#define RADIOLIB_LORAWAN_SESSION_PENDING (0x02) +#define RADIOLIB_LORAWAN_SESSION_ACTIVE (0x03) + +// threshold at which sleeping via user callback enabled, in ms +#define RADIOLIB_LORAWAN_DELAY_SLEEP_THRESHOLD (50) + /*! \struct LoRaWANMacCommand_t \brief MAC command specification structure. @@ -247,34 +257,73 @@ constexpr LoRaWANMacCommand_t MacTable[RADIOLIB_LORAWAN_NUM_MAC_COMMANDS] = { { RADIOLIB_LORAWAN_MAC_DEVICE_TIME, 5, 0, false, true }, { RADIOLIB_LORAWAN_MAC_FORCE_REJOIN, 2, 0, false, false }, { RADIOLIB_LORAWAN_MAC_REJOIN_PARAM_SETUP, 1, 1, false, false }, + { RADIOLIB_LORAWAN_MAC_DEVICE_MODE, 1, 1, true, false }, { RADIOLIB_LORAWAN_MAC_PROPRIETARY, 5, 0, false, true }, }; -#define RADIOLIB_LORAWAN_NONCES_VERSION_VAL (0x0001) +/*! \brief A user-supplied callback for LoRaWAN Application Packages (TSxxx) */ +typedef void (*PackageCb_t)(uint8_t* dataDown, size_t lenDown); + +/*! + \struct LoRaWANPackage_t + \brief LoRaWAN Packages structure (for TSxxx documents). +*/ +struct LoRaWANPackage_t { + /*! \brief Package ID as per TS008 */ + uint8_t packId; + + /*! \brief Package default FPort (specified or recommended) */ + uint8_t packFPort; + + /*! \brief Whether the package runs through the Application layer */ + bool isAppPack; + + /*! \brief Whether the FPort value has a fixed value by specification */ + bool fixedFPort; + + /*! \brief Whether the package is currently in use */ + bool enabled; + + /*! \brief User-provided callback for handling package downlinks */ + PackageCb_t callback; +}; + +constexpr LoRaWANPackage_t PackageTable[RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES] = { + { RADIOLIB_LORAWAN_PACKAGE_TS007, RADIOLIB_LORAWAN_FPORT_TS007, true, true, false, NULL }, + { RADIOLIB_LORAWAN_PACKAGE_TS003, RADIOLIB_LORAWAN_FPORT_TS003, true, false, false, NULL }, + { RADIOLIB_LORAWAN_PACKAGE_TS005, RADIOLIB_LORAWAN_FPORT_TS005, true, false, false, NULL }, + { RADIOLIB_LORAWAN_PACKAGE_TS004, RADIOLIB_LORAWAN_FPORT_TS004, true, false, false, NULL }, + { RADIOLIB_LORAWAN_PACKAGE_TS006, RADIOLIB_LORAWAN_FPORT_TS006, true, false, false, NULL }, + { RADIOLIB_LORAWAN_PACKAGE_TS009, RADIOLIB_LORAWAN_FPORT_TS009, true, true, false, NULL }, + { RADIOLIB_LORAWAN_PACKAGE_TS011, RADIOLIB_LORAWAN_FPORT_TS011, false, true, false, NULL } +}; + +#define RADIOLIB_LORAWAN_PACKAGE_NONE { .packId = 0, .packFPort = 0, .isAppPack = false, .fixedFPort = false, .enabled = false, .callback = NULL } + +#define RADIOLIB_LORAWAN_NONCES_VERSION_VAL (0x0003) enum LoRaWANSchemeBase_t { RADIOLIB_LORAWAN_NONCES_START = 0x00, RADIOLIB_LORAWAN_NONCES_VERSION = RADIOLIB_LORAWAN_NONCES_START, // 2 bytes RADIOLIB_LORAWAN_NONCES_MODE = RADIOLIB_LORAWAN_NONCES_VERSION + sizeof(uint16_t), // 2 bytes - RADIOLIB_LORAWAN_NONCES_CLASS = RADIOLIB_LORAWAN_NONCES_MODE + sizeof(uint16_t), // 1 byte - RADIOLIB_LORAWAN_NONCES_PLAN = RADIOLIB_LORAWAN_NONCES_CLASS + sizeof(uint8_t), // 1 byte + RADIOLIB_LORAWAN_NONCES_PLAN = RADIOLIB_LORAWAN_NONCES_MODE + sizeof(uint16_t), // 1 byte RADIOLIB_LORAWAN_NONCES_CHECKSUM = RADIOLIB_LORAWAN_NONCES_PLAN + sizeof(uint8_t), // 2 bytes RADIOLIB_LORAWAN_NONCES_DEV_NONCE = RADIOLIB_LORAWAN_NONCES_CHECKSUM + sizeof(uint16_t), // 2 bytes RADIOLIB_LORAWAN_NONCES_JOIN_NONCE = RADIOLIB_LORAWAN_NONCES_DEV_NONCE + sizeof(uint16_t), // 3 bytes - RADIOLIB_LORAWAN_NONCES_ACTIVE = RADIOLIB_LORAWAN_NONCES_JOIN_NONCE + 3, // 1 byte - RADIOLIB_LORAWAN_NONCES_SIGNATURE = RADIOLIB_LORAWAN_NONCES_ACTIVE + sizeof(uint8_t), // 2 bytes + RADIOLIB_LORAWAN_NONCES_SIGNATURE = RADIOLIB_LORAWAN_NONCES_JOIN_NONCE + 3, // 2 bytes RADIOLIB_LORAWAN_NONCES_BUF_SIZE = RADIOLIB_LORAWAN_NONCES_SIGNATURE + sizeof(uint16_t) // Nonces buffer size }; enum LoRaWANSchemeSession_t { RADIOLIB_LORAWAN_SESSION_START = 0x00, - RADIOLIB_LORAWAN_SESSION_NWK_SENC_KEY = RADIOLIB_LORAWAN_SESSION_START, // 16 bytes + RADIOLIB_LORAWAN_SESSION_STATUS = RADIOLIB_LORAWAN_SESSION_START, // 1 byte + RADIOLIB_LORAWAN_SESSION_NWK_SENC_KEY = RADIOLIB_LORAWAN_SESSION_STATUS + 1, // 16 bytes RADIOLIB_LORAWAN_SESSION_APP_SKEY = RADIOLIB_LORAWAN_SESSION_NWK_SENC_KEY + RADIOLIB_AES128_KEY_SIZE, // 16 bytes RADIOLIB_LORAWAN_SESSION_FNWK_SINT_KEY = RADIOLIB_LORAWAN_SESSION_APP_SKEY + RADIOLIB_AES128_KEY_SIZE, // 16 bytes RADIOLIB_LORAWAN_SESSION_SNWK_SINT_KEY = RADIOLIB_LORAWAN_SESSION_FNWK_SINT_KEY + RADIOLIB_AES128_KEY_SIZE, // 16 bytes RADIOLIB_LORAWAN_SESSION_DEV_ADDR = RADIOLIB_LORAWAN_SESSION_SNWK_SINT_KEY + RADIOLIB_AES128_KEY_SIZE, // 4 bytes - RADIOLIB_LORAWAN_SESSION_NONCES_SIGNATURE = RADIOLIB_LORAWAN_SESSION_DEV_ADDR + sizeof(uint32_t), // 2 bytes - RADIOLIB_LORAWAN_SESSION_FCNT_UP = RADIOLIB_LORAWAN_SESSION_NONCES_SIGNATURE + sizeof(uint16_t), // 4 bytes + RADIOLIB_LORAWAN_SESSION_NONCES_SIGNATURE = RADIOLIB_LORAWAN_SESSION_DEV_ADDR + sizeof(uint32_t), // 2 bytes + RADIOLIB_LORAWAN_SESSION_FCNT_UP = RADIOLIB_LORAWAN_SESSION_NONCES_SIGNATURE + sizeof(uint16_t), // 4 bytes RADIOLIB_LORAWAN_SESSION_N_FCNT_DOWN = RADIOLIB_LORAWAN_SESSION_FCNT_UP + sizeof(uint32_t), // 4 bytes RADIOLIB_LORAWAN_SESSION_A_FCNT_DOWN = RADIOLIB_LORAWAN_SESSION_N_FCNT_DOWN + sizeof(uint32_t), // 4 bytes RADIOLIB_LORAWAN_SESSION_ADR_FCNT = RADIOLIB_LORAWAN_SESSION_A_FCNT_DOWN + sizeof(uint32_t), // 4 bytes @@ -284,18 +333,19 @@ enum LoRaWANSchemeSession_t { RADIOLIB_LORAWAN_SESSION_RJ_COUNT1 = RADIOLIB_LORAWAN_SESSION_RJ_COUNT0 + sizeof(uint16_t), // 2 bytes RADIOLIB_LORAWAN_SESSION_HOMENET_ID = RADIOLIB_LORAWAN_SESSION_RJ_COUNT1 + sizeof(uint16_t), // 4 bytes RADIOLIB_LORAWAN_SESSION_VERSION = RADIOLIB_LORAWAN_SESSION_HOMENET_ID + sizeof(uint32_t), // 1 byte - RADIOLIB_LORAWAN_SESSION_LINK_ADR = RADIOLIB_LORAWAN_SESSION_VERSION + sizeof(uint8_t), // 14 bytes - RADIOLIB_LORAWAN_SESSION_DUTY_CYCLE = RADIOLIB_LORAWAN_SESSION_LINK_ADR + 14, // 1 byte - RADIOLIB_LORAWAN_SESSION_RX_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_DUTY_CYCLE + 1, // 4 bytes - RADIOLIB_LORAWAN_SESSION_RX_TIMING_SETUP = RADIOLIB_LORAWAN_SESSION_RX_PARAM_SETUP + 4, // 1 byte - RADIOLIB_LORAWAN_SESSION_TX_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_RX_TIMING_SETUP + 1, // 1 byte - RADIOLIB_LORAWAN_SESSION_ADR_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_TX_PARAM_SETUP + 1, // 1 byte - RADIOLIB_LORAWAN_SESSION_REJOIN_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_ADR_PARAM_SETUP + 1, // 1 byte - RADIOLIB_LORAWAN_SESSION_UL_CHANNELS = RADIOLIB_LORAWAN_SESSION_REJOIN_PARAM_SETUP + 1, // 16*5 bytes - RADIOLIB_LORAWAN_SESSION_DL_CHANNELS = RADIOLIB_LORAWAN_SESSION_UL_CHANNELS + RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS*5, // 16*4 bytes - RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS = RADIOLIB_LORAWAN_SESSION_DL_CHANNELS + RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS*4, // 2 bytes - RADIOLIB_LORAWAN_SESSION_MAC_QUEUE = RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS + sizeof(uint16_t), // 15 bytes - RADIOLIB_LORAWAN_SESSION_MAC_QUEUE_LEN = RADIOLIB_LORAWAN_SESSION_MAC_QUEUE + RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN, // 1 byte + RADIOLIB_LORAWAN_SESSION_CLASS = RADIOLIB_LORAWAN_SESSION_VERSION + 1, // 1 byte + RADIOLIB_LORAWAN_SESSION_LINK_ADR = RADIOLIB_LORAWAN_SESSION_CLASS + sizeof(uint8_t), // 14 bytes + RADIOLIB_LORAWAN_SESSION_DUTY_CYCLE = RADIOLIB_LORAWAN_SESSION_LINK_ADR + 14, // 1 byte + RADIOLIB_LORAWAN_SESSION_RX_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_DUTY_CYCLE + 1, // 4 bytes + RADIOLIB_LORAWAN_SESSION_RX_TIMING_SETUP = RADIOLIB_LORAWAN_SESSION_RX_PARAM_SETUP + 4, // 1 byte + RADIOLIB_LORAWAN_SESSION_TX_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_RX_TIMING_SETUP + 1, // 1 byte + RADIOLIB_LORAWAN_SESSION_ADR_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_TX_PARAM_SETUP + 1, // 1 byte + RADIOLIB_LORAWAN_SESSION_REJOIN_PARAM_SETUP = RADIOLIB_LORAWAN_SESSION_ADR_PARAM_SETUP + 1, // 1 byte + RADIOLIB_LORAWAN_SESSION_UL_CHANNELS = RADIOLIB_LORAWAN_SESSION_REJOIN_PARAM_SETUP + 1, // 16*5 bytes + RADIOLIB_LORAWAN_SESSION_DL_CHANNELS = RADIOLIB_LORAWAN_SESSION_UL_CHANNELS + RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS*5, // 16*4 bytes + RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS = RADIOLIB_LORAWAN_SESSION_DL_CHANNELS + RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS*4, // 2 bytes + RADIOLIB_LORAWAN_SESSION_MAC_QUEUE = RADIOLIB_LORAWAN_SESSION_AVAILABLE_CHANNELS + RADIOLIB_LORAWAN_MAX_NUM_SUBBANDS, // 12 bytes // 15 bytes + RADIOLIB_LORAWAN_SESSION_MAC_QUEUE_LEN = RADIOLIB_LORAWAN_SESSION_MAC_QUEUE + RADIOLIB_LORAWAN_FHDR_FOPTS_MAX_LEN, // 1 byte RADIOLIB_LORAWAN_SESSION_SIGNATURE = RADIOLIB_LORAWAN_SESSION_MAC_QUEUE_LEN + sizeof(uint8_t), // 2 bytes RADIOLIB_LORAWAN_SESSION_BUF_SIZE = RADIOLIB_LORAWAN_SESSION_SIGNATURE + sizeof(uint16_t) // Session buffer size }; @@ -306,9 +356,6 @@ enum LoRaWANSchemeSession_t { To save space, adjacent channels are saved in "spans". */ struct LoRaWANChannel_t { - /*! \brief Whether this channel is enabled (can be used) or is disabled */ - bool enabled; - /*! \brief The channel number, as specified by defaults or the network */ uint8_t idx; @@ -323,14 +370,11 @@ struct LoRaWANChannel_t { /*! \brief Datarate currently in use on this channel */ uint8_t dr; - - /*! \brief Whether this channel is available for channel selection */ - bool available; }; // alias for unused channel -#define RADIOLIB_LORAWAN_CHANNEL_NONE { .enabled = false, .idx = RADIOLIB_LORAWAN_CHANNEL_INDEX_NONE, .freq = 0, \ - .drMin = 0, .drMax = 0, .dr = RADIOLIB_LORAWAN_DATA_RATE_UNUSED, .available = false } +#define RADIOLIB_LORAWAN_CHANNEL_NONE { .idx = 0, .freq = 0, .drMin = 0, .drMax = 0, \ + .dr = RADIOLIB_LORAWAN_DATA_RATE_UNUSED } /*! \struct LoRaWANChannelSpan_t @@ -360,6 +404,14 @@ struct LoRaWANChannelSpan_t { // alias for unused channel span #define RADIOLIB_LORAWAN_CHANNEL_SPAN_NONE { .numChannels = 0, .freqStart = 0, .freqStep = 0, .drMin = 0, .drMax = 0, .drJoinRequest = RADIOLIB_LORAWAN_DATA_RATE_UNUSED } +struct LoRaWANDataRate_t { + ModemType_t modem; + DataRate_t dr; + PacketConfig_t pc; +}; + +#define RADIOLIB_DATARATE_NONE { .modem = RADIOLIB_MODEM_NONE, .dr = {.lora = {0, 0, 0}}, .pc = {.lora = { 8, 0, 0, 0}}} + /*! \struct LoRaWANBand_t \brief Structure to save information about LoRaWAN band @@ -422,7 +474,7 @@ struct LoRaWANBand_t { LoRaWANChannel_t txAck[2]; /*! \brief The corresponding datarates, bandwidths and coding rates for DR index */ - uint8_t dataRates[RADIOLIB_LORAWAN_CHANNEL_NUM_DATARATES]; + LoRaWANDataRate_t dataRates[RADIOLIB_LORAWAN_CHANNEL_NUM_DATARATES]; }; // supported bands @@ -430,7 +482,7 @@ extern const LoRaWANBand_t EU868; extern const LoRaWANBand_t US915; extern const LoRaWANBand_t EU433; extern const LoRaWANBand_t AU915; -extern const LoRaWANBand_t CN500; +extern const LoRaWANBand_t CN470; extern const LoRaWANBand_t AS923; extern const LoRaWANBand_t AS923_2; extern const LoRaWANBand_t AS923_3; @@ -447,7 +499,7 @@ enum LoRaWANBandNum_t { BandUS915, BandEU433, BandAU915, - BandCN500, + BandCN470, BandAS923, BandAS923_2, BandAS923_3, @@ -513,6 +565,9 @@ struct LoRaWANEvent_t { /*! \brief Number of times this uplink was transmitted (ADR)*/ uint8_t nbTrans; + + /*! \brief Multicast or unicast */ + bool multicast; }; /*! @@ -544,7 +599,7 @@ class LoRaWANNode { int16_t setBufferNonces(const uint8_t* persistentBuffer); /*! - \brief Clear an active session, so that the device will have to rejoin the network. + \brief Clear an active session. This requires the device to rejoin the network. */ void clearSession(); @@ -586,22 +641,40 @@ class LoRaWANNode { /*! \brief Join network by restoring OTAA session or performing over-the-air activation. By this procedure, the device will perform an exchange with the network server and set all necessary configuration. - \param joinDr The datarate at which to send the join-request and any subsequent uplinks (unless ADR is enabled) \returns \ref status_codes */ - virtual int16_t activateOTAA(uint8_t initialDr = RADIOLIB_LORAWAN_DATA_RATE_UNUSED, LoRaWANJoinEvent_t *joinEvent = NULL); + virtual int16_t activateOTAA(LoRaWANJoinEvent_t *joinEvent = NULL); /*! \brief Join network by restoring ABP session or performing over-the-air activation. In this procedure, all necessary configuration must be provided by the user. - \param initialDr The datarate at which to send the first uplink and any subsequent uplinks (unless ADR is enabled). \returns \ref status_codes */ - virtual int16_t activateABP(uint8_t initialDr = RADIOLIB_LORAWAN_DATA_RATE_UNUSED); + virtual int16_t activateABP(); /*! \brief Whether there is an ongoing session active */ bool isActivated(); + /*! \brief Configure class (RADIOLIB_LORAWAN_CLASS_A or RADIOLIB_LORAWAN_CLASS_C) */ + int16_t setClass(uint8_t cls); + + /*! + \brief Start a Multicast session. + \param cls The LoRaWAN Class used for this session (only C is supported). + \param mcAddr The Multicast address. + \param mcAppSKey The Multicast payload encryption key. + \param mcNwkSKey The Multicast payload integrity key. + \param mcFCntMin The minimum expected Multicast frame counter. + \param mcFCntMin The maximum allowed Multicast frame counter. + \param mcFreq The frequency used for the Multicast downlinks (in Hz). Default = 0 uses Rx2 frequency. + \param mcDr The datarate used for the Multicast downlinks. Default = 0 uses Rx2 datarate. + \returns \ref status_codes + */ + int16_t startMulticastSession(uint8_t cls, uint32_t mcAddr, const uint8_t* mcAppSKey, const uint8_t* mcNwkSKey, uint32_t mcFCntMin = 0, uint32_t mcFCntMax = 0xFFFFFFFF, uint32_t mcFreq = 0, uint8_t mcDr = RADIOLIB_LORAWAN_DATA_RATE_UNUSED); + + /*! \brief Stop an ongoing multicast session */ + void stopMulticastSession(); + #if defined(RADIOLIB_BUILD_ARDUINO) /*! \brief Send a message to the server and wait for a downlink during Rx1 and/or Rx2 window. @@ -676,6 +749,16 @@ class LoRaWANNode { */ virtual int16_t sendReceive(const uint8_t* dataUp, size_t lenUp, uint8_t fPort, uint8_t* dataDown, size_t* lenDown, bool isConfirmed = false, LoRaWANEvent_t* eventUp = NULL, LoRaWANEvent_t* eventDown = NULL); + /*! + \brief Check if there is an RxC downlink and parse it if available. + \param dataDown Buffer to save received data into. + \param lenDown Pointer to variable that will be used to save the number of received bytes. + \param eventDown Pointer to a structure to store extra information about the downlink event + (fPort, frame counter, etc.). If set to NULL, no extra information will be passed to the user. + \returns Window number > 0 if downlink was received, 0 is no downlink was received, otherwise \ref status_codes + */ + int16_t getDownlinkClassC(uint8_t* dataDown, size_t* lenDown, LoRaWANEvent_t* eventDown = NULL); + /*! \brief Add a MAC command to the uplink queue. Only LinkCheck and DeviceTime are available to the user. @@ -687,8 +770,6 @@ class LoRaWANNode { /*! \brief Returns the quality of connectivity after requesting a LinkCheck MAC command. - Returns 'true' if a network response was successfully parsed. - Returns 'false' if there was no network response / parsing failed. \param margin Link margin in dB of LinkCheckReq demodulation at gateway side. \param gwCnt Number of gateways that received the LinkCheckReq. \returns \ref status_codes @@ -697,14 +778,15 @@ class LoRaWANNode { /*! \brief Returns the network time after requesting a DeviceTime MAC command. - Returns 'true' if a network response was successfully parsed. - Returns 'false' if there was no network response / parsing failed. - \param gpsEpoch Number of seconds since GPS epoch (Jan. 6th 1980) - \param fraction Fractional-second, in 1/256-second steps - \param returnUnix If true, returns Unix timestamp instead of GPS (default true) + Note: the network returns the time at the end of the uplink transmission. + The return value of this function automatically adjusts to the current time. + This time is supposed to be <100ms accurate, but may be accurate to 1 second. + \param timestamp Number of seconds since GPS epoch (Jan. 6th 1980). + \param milliseconds Milliseconds on top of the timestamp. + \param returnUnix If true, returns Unix timestamp instead of GPS (default true). \returns \ref status_codes */ - int16_t getMacDeviceTimeAns(uint32_t* gpsEpoch, uint8_t* fraction, bool returnUnix = true); + int16_t getMacDeviceTimeAns(uint32_t* timestamp, uint16_t* milliseconds, bool returnUnix = true); /*! \brief Set uplink datarate. This should not be used when ADR is enabled. @@ -766,6 +848,13 @@ class LoRaWANNode { */ void setDeviceStatus(uint8_t battLevel); + /*! + \brief Set pins for activity LEDs that will indicate when the radio is transmitting (Tx) or receiving (Rx). + \param pins Array of 4 pin numbers: [Tx, Rx1, Rx2, RxBC]. + Use RADIOLIB_NC to disable individual indicators. + */ + void setActivityLeds(const uint32_t pins[4]); + /*! \brief Set the exact time a transmission should occur. Note: this is the internal clock time. On Arduino platforms, this is the usual time supplied by millis(). @@ -775,6 +864,24 @@ class LoRaWANNode { */ void scheduleTransmission(RadioLibTime_t tUplink); + /*! + \brief Get the LoRaWAN band used by this node. + \returns Pointer to the used band. + */ + const LoRaWANBand_t* getBand(); + + /*! + \brief Get the LoRaWAN class of this node. + \returns Class type (RADIOLIB_LORAWAN_CLASS_*). + */ + uint8_t getClass(); + + /*! + \brief Get the LoRaWAN version of this node. + \returns Version major number (0 for LoRaWAN 1.0.x, 1 for LoRaWAN 1.1). + */ + uint8_t getVersionMajor(); + /*! \brief Returns the last uplink's frame counter; also 0 if no uplink occured yet. @@ -793,13 +900,6 @@ class LoRaWANNode { */ uint32_t getAFCntDown(); - /*! - \brief Reset the downlink frame counters (application and network) - This is unsafe and can possibly allow replay attacks using downlinks. - It mainly exists as part of the TS009 Specification Verification protocol. - */ - void resetFCntDown(); - /*! \brief Returns the DevAddr of the device, regardless of OTAA or ABP mode \returns 4-byte DevAddr @@ -830,11 +930,49 @@ class LoRaWANNode { */ uint8_t getMaxPayloadLen(); + /*! \brief Callback to a user-provided sleep function. */ + typedef void (*SleepCb_t)(RadioLibTime_t ms); + /*! - \brief TS009 Protocol Specification Verification switch - (allows FPort 224 and cuts off uplink payload instead of rejecting if maximum length exceeded). + \brief Set custom delay/sleep function callback. If set, LoRaWAN node will call + this function to wait for periods of time longer than RADIOLIB_LORAWAN_DELAY_SLEEP_THRESHOLD. + This can be used to lower the power consumption by putting the host microcontroller to sleep. + NOTE: Since this method will call a user-provided function, it is up to the user to ensure + that the time duration spent in that sleep function is accurate to at least 1 ms! */ - bool TS009 = false; + void setSleepFunction(SleepCb_t cb); + + /*! + \brief Add a LoRaWAN Application Package as defined in one of the TSxxx documents. + Any downlinks that occur on the corresponding FPort will be redirected to + a supplied callback that implements this package. These downlink contents will be + hidden from the user as the downlink buffer will be empty and the length zero. + The package may need to overrule the behaviour of your device - refer to the examples. + Advanced users only! + \param packageId The ID of the package (one of RADIOLIB_LORAWAN_PACKAGE_TSxxx). + \param callback The downlink handler for this package of type (uint8_t* dataDown, size_t lenDown). + \returns \ref status_codes + */ + int16_t addAppPackage(uint8_t packageId, PackageCb_t callback); + + /*! + \brief Add a LoRaWAN Application Package as defined in one of the TSxxx documents. + Any downlinks that occur on the corresponding FPort will be redirected to + a supplied callback that implements this package. These downlink contents will be + hidden from the user as the downlink buffer will be empty and the length zero. + The package may need to overrule the behaviour of your device - refer to the examples. + Advanced users only! + \param packageId The ID of the package (one of RADIOLIB_LORAWAN_PACKAGE_TSxxx). + \param callback The downlink handler for this package of type (uint8_t* dataDown, size_t lenDown). + \param fPort A custom FPort for packages that have a default FPort < 224. + \returns \ref status_codes + */ + int16_t addAppPackage(uint8_t packageId, PackageCb_t callback, uint8_t fPort); + + /*! + \brief Disable a package that was previously added. + */ + void removePackage(uint8_t packageId); /*! \brief Rx window padding in milliseconds @@ -869,7 +1007,7 @@ class LoRaWANNode { uint16_t lwMode = RADIOLIB_LORAWAN_MODE_NONE; uint8_t lwClass = RADIOLIB_LORAWAN_CLASS_A; - bool isActive = false; + uint8_t sessionStatus = RADIOLIB_LORAWAN_SESSION_NONE; uint64_t joinEUI = 0; uint64_t devEUI = 0; @@ -919,6 +1057,17 @@ class LoRaWANNode { RadioLibTime_t tUplink = 0; // scheduled uplink transmission time (internal clock) RadioLibTime_t tDownlink = 0; // time at end of downlink reception + // multicast parameters + uint8_t multicast = false; + uint32_t mcAddr = 0; + uint8_t mcAppSKey[RADIOLIB_AES128_KEY_SIZE] = { 0 }; + uint8_t mcNwkSKey[RADIOLIB_AES128_KEY_SIZE] = { 0 }; + uint32_t mcAFCnt = 0; + uint32_t mcAFCntMax = 0; + + // enabled TS packages + LoRaWANPackage_t packages[RADIOLIB_LORAWAN_NUM_SUPPORTED_PACKAGES]; + // enable/disable CSMA for LoRaWAN bool csmaEnabled = false; @@ -930,21 +1079,30 @@ class LoRaWANNode { // process at the same time. uint8_t backoffMax = RADIOLIB_LORAWAN_BACKOFF_MAX_DEFAULT; - // number of CADs to estimate a clear CH + // number of CADs to estimate a clear channel uint8_t difsSlots = RADIOLIB_LORAWAN_DIFS_DEFAULT; - // available channel frequencies from list passed during OTA activation - LoRaWANChannel_t channelPlan[2][RADIOLIB_LORAWAN_NUM_AVAILABLE_CHANNELS]; + // dynamic channels + LoRaWANChannel_t dynamicChannels[2][RADIOLIB_LORAWAN_MAX_NUM_DYNAMIC_CHANNELS]; - // currently configured channels for TX, RX1, RX2 - LoRaWANChannel_t channels[3] = { RADIOLIB_LORAWAN_CHANNEL_NONE, RADIOLIB_LORAWAN_CHANNEL_NONE, - RADIOLIB_LORAWAN_CHANNEL_NONE }; + // masks: which channels are defined/active; flags: which should be used next + uint16_t channelMasks[RADIOLIB_LORAWAN_MAX_NUM_FIXED_CHANNELS / 16] = { 0 }; + uint16_t channelFlags[RADIOLIB_LORAWAN_MAX_NUM_FIXED_CHANNELS / 16] = { 0 }; - // delays between the uplink and RX1/2 windows - // the first field is meaningless, but is used for offsetting for Rx windows 1 and 2 - RadioLibTime_t rxDelays[3] = { 0, RADIOLIB_LORAWAN_RECEIVE_DELAY_1_MS, RADIOLIB_LORAWAN_RECEIVE_DELAY_2_MS }; + // currently configured channels for Tx, Rx1, Rx2, RxBC + LoRaWANChannel_t channels[4] = { RADIOLIB_LORAWAN_CHANNEL_NONE, RADIOLIB_LORAWAN_CHANNEL_NONE, + RADIOLIB_LORAWAN_CHANNEL_NONE, RADIOLIB_LORAWAN_CHANNEL_NONE }; - // offset between TX and RX1 (such that RX1 has equal or lower DR) + // delays between the uplink and Rx windows + // the first field is meaningless, but is used for offsetting the Rx windows + RadioLibTime_t rxDelays[4] = { 0, + RADIOLIB_LORAWAN_RECEIVE_DELAY_1_MS, + RADIOLIB_LORAWAN_RECEIVE_DELAY_2_MS, + 0 }; + + uint32_t ledPins[4] = { RADIOLIB_NC, RADIOLIB_NC, RADIOLIB_NC, RADIOLIB_NC }; + + // offset between Tx and Rx1 (such that Rx1 has equal or lower DR) uint8_t rx1DrOffset = 0; // LoRaWAN revision (1.0 vs 1.1) @@ -953,11 +1111,11 @@ class LoRaWANNode { // Time on Air of last uplink RadioLibTime_t lastToA = 0; - // timestamp to measure the RX1/2 delay (from uplink end) - RadioLibTime_t rxDelayStart = 0; + // timestamp to measure the Rx1/2 delay (from uplink end) + RadioLibTime_t tUplinkEnd = 0; - // timestamp when the Rx1/2 windows were closed (timeout or uplink received) - RadioLibTime_t rxDelayEnd = 0; + // duration of SPI transaction for phyLayer->launchMode() + RadioLibTime_t launchDuration = 0; // device status - battery level uint8_t battLevel = 0xFF; @@ -968,14 +1126,14 @@ class LoRaWANNode { // save the selected sub-band in case this must be restored in ADR control uint8_t subBand = 0; - // allow port 226 for devices implementing TS011 - bool TS011 = false; + // user-provided sleep callback + SleepCb_t sleepCb = nullptr; // this will reset the device credentials, so the device starts completely new void clearNonces(); - // start a fresh session using default parameters - void createSession(uint16_t lwMode, uint8_t initialDr); + // setup an empty session with default parameters + void createSession(); // setup Join-Request payload void composeJoinRequest(uint8_t* joinRequestMsg); @@ -984,10 +1142,10 @@ class LoRaWANNode { int16_t processJoinAccept(LoRaWANJoinEvent_t *joinEvent); // a join-accept can piggy-back a set of channels or channel masks - void processCFList(uint8_t* cfList); + void processCFList(const uint8_t* cfList); // check whether payload length and fport are allowed - int16_t isValidUplink(uint8_t* len, uint8_t fPort); + int16_t isValidUplink(size_t len, uint8_t fPort); // perform ADR backoff void adrBackoff(); @@ -996,16 +1154,26 @@ class LoRaWANNode { void composeUplink(const uint8_t* in, uint8_t lenIn, uint8_t* out, uint8_t fPort, bool isConfirmed); // generate and set the MIC of an uplink buffer (depends on selected channels) - void micUplink(uint8_t* inOut, uint8_t lenInOut); + void micUplink(uint8_t* inOut, size_t lenInOut); // transmit uplink buffer on a specified channel - int16_t transmitUplink(LoRaWANChannel_t* chnl, uint8_t* in, uint8_t len, bool retrans); + int16_t transmitUplink(const LoRaWANChannel_t* chnl, uint8_t* in, uint8_t len); - // wait for, open and listen during receive windows; only performs listening - int16_t receiveCommon(uint8_t dir, const LoRaWANChannel_t* dlChannels, const RadioLibTime_t* dlDelays, uint8_t numWindows, RadioLibTime_t tReference); + // handle one of the Class A receive windows with a given channel and certain timestamps + int16_t receiveClassA(uint8_t dir, const LoRaWANChannel_t* dlChannel, uint8_t window, const RadioLibTime_t dlDelay, RadioLibTime_t tReference); + + // handle a Class C receive window with timeout (between Class A windows) or without (between uplinks) + int16_t receiveClassC(RadioLibTime_t timeout = 0); + + // open a series of Class A (and C) downlinks + virtual int16_t receiveDownlink(); // extract downlink payload and process MAC commands - int16_t parseDownlink(uint8_t* data, size_t* len, LoRaWANEvent_t* event = NULL); + int16_t parseDownlink(uint8_t* data, size_t* len, uint8_t window, LoRaWANEvent_t* event = NULL); + + // add a LoRaWAN package that runs through the network layer + // (not available to users, they are only allowed to add application packages) + int16_t addNwkPackage(uint8_t packageId); // execute mac command, return the number of processed bytes for sequential processing bool execMacCommand(uint8_t cid, uint8_t* optIn, uint8_t lenIn); @@ -1028,7 +1196,8 @@ class LoRaWANNode { // get the length of a certain MAC command in a specific direction (up/down) // if inclusive is true, add one for the CID byte - int16_t getMacLen(uint8_t cid, uint8_t* len, uint8_t dir, bool inclusive = false); + // include payload in case the MAC command has a dynamic length + virtual int16_t getMacLen(uint8_t cid, uint8_t* len, uint8_t dir, bool inclusive = false, uint8_t* payload = NULL); // find out of a MAC command should persist destruction // in uplink direction, some commands must persist if no downlink is received @@ -1036,10 +1205,10 @@ class LoRaWANNode { bool isPersistentMacCommand(uint8_t cid, uint8_t dir); // push MAC command to queue, done by copy - int16_t pushMacCommand(uint8_t cid, uint8_t* cOcts, uint8_t* out, uint8_t* lenOut, uint8_t dir); + int16_t pushMacCommand(uint8_t cid, const uint8_t* cOcts, uint8_t* out, uint8_t* lenOut, uint8_t dir); // retrieve the payload of a certain MAC command, if present in the buffer - int16_t getMacPayload(uint8_t cid, uint8_t* in, uint8_t lenIn, uint8_t* out, uint8_t dir); + int16_t getMacPayload(uint8_t cid, const uint8_t* in, uint8_t lenIn, uint8_t* out, uint8_t dir); // delete a specific MAC command from queue, indicated by the command ID int16_t deleteMacCommand(uint8_t cid, uint8_t* inOut, uint8_t* lenInOut, uint8_t dir); @@ -1056,48 +1225,28 @@ class LoRaWANNode { // perform a single CAD operation for the under SF/CH combination. Returns either busy or otherwise. bool cadChannelClear(); - // (dynamic bands:) get or (fixed bands:) create a complete 80-bit channel mask for current configuration - void getChannelPlanMask(uint64_t* chMaskGrp0123, uint32_t* chMaskGrp45); + // enable all default channels on top of the current channels + void enableDefaultChannels(bool addDynamic = false); - // setup uplink/downlink channel data rates and frequencies - // for dynamic channels, there is a small set of predefined channels - // in case of JoinRequest, add some optional extra frequencies - void selectChannelPlanDyn(); - - // setup uplink/downlink channel data rates and frequencies - // for fixed bands, we only allow one sub-band at a time to be selected - void selectChannelPlanFix(); - - // get the number of available channels, - // along with a 16-bit mask indicating which channels can be used next for uplink/downlink - uint8_t getAvailableChannels(uint16_t* mask); - - // (re)set/restore which channels can be used next for uplink/downlink - void setAvailableChannels(uint16_t mask); + // calculate which channels are available given the current datarate + // returns true if there is any such channel, false otherwise + bool calculateChannelFlags(); // select a set of random TX/RX channels for up- and downlink int16_t selectChannels(); - // apply a 96-bit channel mask - bool applyChannelMask(uint64_t chMaskGrp0123, uint32_t chMaskGrp45); - -#if RADIOLIB_DEBUG_PROTOCOL - // print the available channels through debug - void printChannels(); -#endif - // method to generate message integrity code - uint32_t generateMIC(uint8_t* msg, size_t len, uint8_t* key); + uint32_t generateMIC(const uint8_t* msg, size_t len, uint8_t* key); // method to verify message integrity code // it assumes that the MIC is the last 4 bytes of the message bool verifyMIC(uint8_t* msg, size_t len, uint8_t* key); - // find the first usable data rate for the given band - int16_t findDataRate(uint8_t dr, DataRate_t* dataRate); - // function to encrypt and decrypt payloads (regular uplink/downlink) - void processAES(const uint8_t* in, size_t len, uint8_t* key, uint8_t* out, uint32_t fCnt, uint8_t dir, uint8_t ctrId, bool counter); + void processAES(const uint8_t* in, size_t len, uint8_t* key, uint8_t* out, uint32_t addr, uint32_t fCnt, uint8_t dir, uint8_t ctrId, bool counter); + + // function that allows sleeping via user-provided callback + void sleepDelay(RadioLibTime_t ms, bool radioOff = true); // 16-bit checksum method that takes a uint8_t array of even length and calculates the checksum static uint16_t checkSum16(const uint8_t *key, uint16_t keyLen); diff --git a/lib/RadioLib/src/protocols/LoRaWAN/LoRaWANBands.cpp b/lib/RadioLib/src/protocols/LoRaWAN/LoRaWANBands.cpp index 398de51..38c8fed 100644 --- a/lib/RadioLib/src/protocols/LoRaWAN/LoRaWANBands.cpp +++ b/lib/RadioLib/src/protocols/LoRaWAN/LoRaWANBands.cpp @@ -8,7 +8,7 @@ const LoRaWANBand_t* LoRaWANBands[RADIOLIB_LORAWAN_NUM_SUPPORTED_BANDS] = { &US915, &EU433, &AU915, - &CN500, + &CN470, &AS923, &AS923_2, &AS923_3, @@ -30,9 +30,9 @@ const LoRaWANBand_t EU868 = { .dwellTimeDn = 0, .txParamSupported = false, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 8681000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 8683000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 2, .freq = 8685000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, + { .idx = 0, .freq = 8681000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 8683000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 2, .freq = 8685000, .drMin = 0, .drMax = 5, .dr = 3 }, }, .numTxSpans = 0, .txSpans = { @@ -41,47 +41,47 @@ const LoRaWANBand_t EU868 = { }, .rx1Span = RADIOLIB_LORAWAN_CHANNEL_SPAN_NONE, .rx1DrTable = { - { 0, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 1, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 2, 1, 0, 0, 0, 0, 0xFF, 0xFF }, - { 3, 2, 1, 0, 0, 0, 0xFF, 0xFF }, - { 4, 3, 2, 1, 0, 0, 0xFF, 0xFF }, - { 5, 4, 3, 2, 1, 0, 0xFF, 0xFF }, - { 6, 5, 4, 3, 2, 1, 0xFF, 0xFF }, - { 7, 6, 5, 4, 3, 2, 0xFF, 0xFF }, - { 1, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 2, 1, 0, 0, 0, 0, 0xFF, 0xFF }, - { 1, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 2, 1, 0, 0, 0, 0, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 1, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 2, 1, 0, 0, 0, 0, 0x0F, 0x0F }, + { 3, 2, 1, 0, 0, 0, 0x0F, 0x0F }, + { 4, 3, 2, 1, 0, 0, 0x0F, 0x0F }, + { 5, 4, 3, 2, 1, 0, 0x0F, 0x0F }, + { 6, 5, 4, 3, 2, 1, 0x0F, 0x0F }, + { 7, 6, 5, 4, 3, 2, 0x0F, 0x0F }, + { 1, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 2, 1, 0, 0, 0, 0, 0x0F, 0x0F }, + { 1, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 2, 1, 0, 0, 0, 0, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 8695250, .drMin = 0, .drMax = 7, .dr = 0, .available = true }, + .rx2 = { .idx = 0, .freq = 8695250, .drMin = 0, .drMax = 7, .dr = 0 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 8651000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 8655000, .drMin = 3, .drMax = 3, .dr = 3, .available = true } + { .idx = 0, .freq = 8651000, .drMin = 3, .drMax = 3, .dr = 3 }, + { .idx = 1, .freq = 8655000, .drMin = 3, .drMax = 3, .dr = 3 } }, .txAck = { - { .enabled = true, .idx = 0, .freq = 8653000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 8659000, .drMin = 3, .drMax = 3, .dr = 3, .available = true } + { .idx = 0, .freq = 8653000, .drMin = 3, .drMax = 3, .dr = 3 }, + { .idx = 1, .freq = 8659000, .drMin = 3, .drMax = 3, .dr = 3 } }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_FSK, - RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS | RADIOLIB_LORAWAN_DATA_RATE_CR_1_3 | RADIOLIB_LORAWAN_DATA_RATE_BW_137_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS | RADIOLIB_LORAWAN_DATA_RATE_CR_2_3 | RADIOLIB_LORAWAN_DATA_RATE_BW_137_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS | RADIOLIB_LORAWAN_DATA_RATE_CR_1_3 | RADIOLIB_LORAWAN_DATA_RATE_BW_336_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS | RADIOLIB_LORAWAN_DATA_RATE_CR_2_3 | RADIOLIB_LORAWAN_DATA_RATE_BW_336_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 250, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_FSK, .dr = {.fsk = {50, 25}}, .pc = {.fsk = {40, 24, 2}}}, + { .modem = RADIOLIB_MODEM_LRFHSS, .dr = {.lrFhss = {2, 3, 1}}, .pc = {.lrFhss = {3}}}, + { .modem = RADIOLIB_MODEM_LRFHSS, .dr = {.lrFhss = {2, 1, 1}}, .pc = {.lrFhss = {2}}}, + { .modem = RADIOLIB_MODEM_LRFHSS, .dr = {.lrFhss = {4, 3, 1}}, .pc = {.lrFhss = {3}}}, + { .modem = RADIOLIB_MODEM_LRFHSS, .dr = {.lrFhss = {4, 1, 1}}, .pc = {.lrFhss = {2}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -92,7 +92,7 @@ const LoRaWANBand_t US915 = { .freqMax = 9280000, .payloadLenMax = { 11, 53, 125, 242, 242, 50, 125, 0, 53, 129, 242, 242, 242, 242, 0 }, .powerMax = 30, - .powerNumSteps = 10, + .powerNumSteps = 14, .dutyCycle = 0, .dwellTimeUp = RADIOLIB_LORAWAN_DWELL_TIME, .dwellTimeDn = 0, @@ -130,47 +130,47 @@ const LoRaWANBand_t US915 = { .drJoinRequest = RADIOLIB_LORAWAN_DATA_RATE_UNUSED }, .rx1DrTable = { - { 10, 9, 8, 8, 0xFF, 0xFF, 0xFF, 0xFF }, - { 11, 10, 9, 8, 0xFF, 0xFF, 0xFF, 0xFF }, - { 12, 11, 10, 9, 0xFF, 0xFF, 0xFF, 0xFF }, - { 13, 12, 11, 10, 0xFF, 0xFF, 0xFF, 0xFF }, - { 13, 13, 12, 11, 0xFF, 0xFF, 0xFF, 0xFF }, - { 10, 9, 8, 8, 0xFF, 0xFF, 0xFF, 0xFF }, - { 11, 10, 9, 8, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 10, 9, 8, 8, 0x0F, 0x0F, 0x0F, 0x0F }, + { 11, 10, 9, 8, 0x0F, 0x0F, 0x0F, 0x0F }, + { 12, 11, 10, 9, 0x0F, 0x0F, 0x0F, 0x0F }, + { 13, 12, 11, 10, 0x0F, 0x0F, 0x0F, 0x0F }, + { 13, 13, 12, 11, 0x0F, 0x0F, 0x0F, 0x0F }, + { 10, 9, 8, 8, 0x0F, 0x0F, 0x0F, 0x0F }, + { 11, 10, 9, 8, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 9233000, .drMin = 8, .drMax = 13, .dr = 8, .available = true }, + .rx2 = { .idx = 0, .freq = 9233000, .drMin = 8, .drMax = 13, .dr = 8 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 9167000, .drMin = 10, .drMax = 10, .dr = 10, .available = true }, - { .enabled = true, .idx = 1, .freq = 9199000, .drMin = 10, .drMax = 10, .dr = 10, .available = true } + { .idx = 0, .freq = 9167000, .drMin = 10, .drMax = 10, .dr = 10 }, + { .idx = 1, .freq = 9199000, .drMin = 10, .drMax = 10, .dr = 10 } }, .txAck = { - { .enabled = true, .idx = 0, .freq = 9183000, .drMin = 10, .drMax = 10, .dr = 10, .available = true }, - { .enabled = true, .idx = 1, .freq = 9215000, .drMin = 10, .drMax = 10, .dr = 10, .available = true } + { .idx = 0, .freq = 9183000, .drMin = 10, .drMax = 10, .dr = 10 }, + { .idx = 1, .freq = 9215000, .drMin = 10, .drMax = 10, .dr = 10 } }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS | RADIOLIB_LORAWAN_DATA_RATE_CR_1_3 | RADIOLIB_LORAWAN_DATA_RATE_BW_1523_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS | RADIOLIB_LORAWAN_DATA_RATE_CR_2_3 | RADIOLIB_LORAWAN_DATA_RATE_BW_1523_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LRFHSS, .dr = {.lrFhss = {8, 3, 0}}, .pc = {.lrFhss = {3}}}, + { .modem = RADIOLIB_MODEM_LRFHSS, .dr = {.lrFhss = {8, 1, 0}}, .pc = {.lrFhss = {2}}}, + RADIOLIB_DATARATE_NONE, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + RADIOLIB_DATARATE_NONE } }; @@ -187,9 +187,9 @@ const LoRaWANBand_t EU433 = { .dwellTimeDn = 0, .txParamSupported = false, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 4331750, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 4333750, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 2, .freq = 4335750, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, + { .idx = 0, .freq = 4331750, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 4333750, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 2, .freq = 4335750, .drMin = 0, .drMax = 5, .dr = 3 }, }, .numTxSpans = 0, .txSpans = { @@ -198,23 +198,23 @@ const LoRaWANBand_t EU433 = { }, .rx1Span = RADIOLIB_LORAWAN_CHANNEL_SPAN_NONE, .rx1DrTable = { - { 0, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 1, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 2, 1, 0, 0, 0, 0, 0xFF, 0xFF }, - { 3, 2, 1, 0, 0, 0, 0xFF, 0xFF }, - { 4, 3, 2, 1, 0, 0, 0xFF, 0xFF }, - { 5, 4, 3, 2, 1, 0, 0xFF, 0xFF }, - { 6, 5, 4, 3, 2, 1, 0xFF, 0xFF }, - { 7, 6, 5, 4, 3, 2, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 1, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 2, 1, 0, 0, 0, 0, 0x0F, 0x0F }, + { 3, 2, 1, 0, 0, 0, 0x0F, 0x0F }, + { 4, 3, 2, 1, 0, 0, 0x0F, 0x0F }, + { 5, 4, 3, 2, 1, 0, 0x0F, 0x0F }, + { 6, 5, 4, 3, 2, 1, 0x0F, 0x0F }, + { 7, 6, 5, 4, 3, 2, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 4346650, .drMin = 0, .drMax = 7, .dr = 0, .available = true }, + .rx2 = { .idx = 0, .freq = 4346650, .drMin = 0, .drMax = 7, .dr = 0 }, .txWoR = { RADIOLIB_LORAWAN_CHANNEL_NONE, RADIOLIB_LORAWAN_CHANNEL_NONE @@ -224,21 +224,21 @@ const LoRaWANBand_t EU433 = { RADIOLIB_LORAWAN_CHANNEL_NONE }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_FSK, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 250, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_FSK, .dr = {.fsk = {50, 25}}, .pc = {.fsk = {40, 24, 2}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -253,7 +253,7 @@ const LoRaWANBand_t AU915 = { .dutyCycle = 0, .dwellTimeUp = RADIOLIB_LORAWAN_DWELL_TIME, .dwellTimeDn = 0, - .txParamSupported = true, // conflict: not implemented according to RP v1.1 + .txParamSupported = true, .txFreqs = { RADIOLIB_LORAWAN_CHANNEL_NONE, RADIOLIB_LORAWAN_CHANNEL_NONE, @@ -287,52 +287,52 @@ const LoRaWANBand_t AU915 = { .drJoinRequest = RADIOLIB_LORAWAN_DATA_RATE_UNUSED }, .rx1DrTable = { - { 8, 8, 8, 8, 8, 8, 0xFF, 0xFF }, - { 9, 8, 8, 8, 8, 8, 0xFF, 0xFF }, - { 10, 9, 8, 8, 8, 8, 0xFF, 0xFF }, - { 11, 10, 9, 8, 8, 8, 0xFF, 0xFF }, - { 12, 11, 10, 9, 8, 8, 0xFF, 0xFF }, - { 13, 12, 11, 10, 9, 8, 0xFF, 0xFF }, - { 13, 13, 12, 11, 10, 9, 0xFF, 0xFF }, - { 9, 8, 8, 8, 8, 8, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 8, 8, 8, 8, 8, 8, 0x0F, 0x0F }, + { 9, 8, 8, 8, 8, 8, 0x0F, 0x0F }, + { 10, 9, 8, 8, 8, 8, 0x0F, 0x0F }, + { 11, 10, 9, 8, 8, 8, 0x0F, 0x0F }, + { 12, 11, 10, 9, 8, 8, 0x0F, 0x0F }, + { 13, 12, 11, 10, 9, 8, 0x0F, 0x0F }, + { 13, 13, 12, 11, 10, 9, 0x0F, 0x0F }, + { 9, 8, 8, 8, 8, 8, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 9233000, .drMin = 8, .drMax = 13, .dr = 8, .available = true }, + .rx2 = { .idx = 0, .freq = 9233000, .drMin = 8, .drMax = 13, .dr = 8 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 9167000, .drMin = 10, .drMax = 10, .dr = 10, .available = true }, - { .enabled = true, .idx = 1, .freq = 9199000, .drMin = 10, .drMax = 10, .dr = 10, .available = true } + { .idx = 0, .freq = 9167000, .drMin = 10, .drMax = 10, .dr = 10 }, + { .idx = 1, .freq = 9199000, .drMin = 10, .drMax = 10, .dr = 10 } }, .txAck = { - { .enabled = true, .idx = 0, .freq = 9183000, .drMin = 10, .drMax = 10, .dr = 10, .available = true }, - { .enabled = true, .idx = 1, .freq = 9215000, .drMin = 10, .drMax = 10, .dr = 10, .available = true } + { .idx = 0, .freq = 9183000, .drMin = 10, .drMax = 10, .dr = 10 }, + { .idx = 1, .freq = 9215000, .drMin = 10, .drMax = 10, .dr = 10 } }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LR_FHSS | RADIOLIB_LORAWAN_DATA_RATE_CR_1_3 | RADIOLIB_LORAWAN_DATA_RATE_BW_1523_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_500_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LRFHSS, .dr = {.lrFhss = {8, 3, 0}}, .pc = {.lrFhss = {3}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 500, 5}}, .pc = {.lora = {8, false, true, false}}}, + RADIOLIB_DATARATE_NONE } }; -const LoRaWANBand_t CN500 = { - .bandNum = BandCN500, +const LoRaWANBand_t CN470 = { + .bandNum = BandCN470, .bandType = RADIOLIB_LORAWAN_BAND_FIXED, .freqMin = 4700000, .freqMax = 5100000, @@ -356,7 +356,7 @@ const LoRaWANBand_t CN500 = { .freqStep = 2000, .drMin = 0, .drMax = 5, - .drJoinRequest = 0 + .drJoinRequest = 3 }, RADIOLIB_LORAWAN_CHANNEL_SPAN_NONE }, @@ -369,23 +369,23 @@ const LoRaWANBand_t CN500 = { .drJoinRequest = RADIOLIB_LORAWAN_DATA_RATE_UNUSED }, .rx1DrTable = { - { 0, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 1, 1, 1, 1, 1, 1, 0xFF, 0xFF }, - { 2, 1, 1, 1, 1, 1, 0xFF, 0xFF }, - { 3, 2, 1, 1, 1, 1, 0xFF, 0xFF }, - { 4, 3, 2, 1, 1, 1, 0xFF, 0xFF }, - { 5, 4, 3, 2, 1, 1, 0xFF, 0xFF }, - { 6, 5, 4, 3, 2, 1, 0xFF, 0xFF }, - { 7, 6, 5, 4, 3, 2, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 1, 1, 1, 1, 1, 1, 0x0F, 0x0F }, + { 2, 1, 1, 1, 1, 1, 0x0F, 0x0F }, + { 3, 2, 1, 1, 1, 1, 0x0F, 0x0F }, + { 4, 3, 2, 1, 1, 1, 0x0F, 0x0F }, + { 5, 4, 3, 2, 1, 1, 0x0F, 0x0F }, + { 6, 5, 4, 3, 2, 1, 0x0F, 0x0F }, + { 7, 6, 5, 4, 3, 2, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 5053000, .drMin = 0, .drMax = 5, .dr = 0, .available = true }, + .rx2 = { .idx = 0, .freq = 5053000, .drMin = 0, .drMax = 5, .dr = 0 }, .txWoR = { RADIOLIB_LORAWAN_CHANNEL_NONE, RADIOLIB_LORAWAN_CHANNEL_NONE @@ -395,21 +395,21 @@ const LoRaWANBand_t CN500 = { RADIOLIB_LORAWAN_CHANNEL_NONE }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -426,8 +426,8 @@ const LoRaWANBand_t AS923 = { .dwellTimeDn = RADIOLIB_LORAWAN_DWELL_TIME, .txParamSupported = true, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 9232000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 9234000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, + { .idx = 0, .freq = 9232000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 9234000, .drMin = 0, .drMax = 5, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .numTxSpans = 0, @@ -445,39 +445,39 @@ const LoRaWANBand_t AS923 = { { 5, 4, 3, 2, 1, 0, 6, 7 }, { 6, 5, 4, 3, 2, 1, 7, 7 }, { 7, 6, 5, 4, 3, 2, 7, 7 }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 9232000, .drMin = 0, .drMax = 7, .dr = 2, .available = true }, + .rx2 = { .idx = 0, .freq = 9232000, .drMin = 0, .drMax = 7, .dr = 2 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 9236000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9236000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .txAck = { - { .enabled = true, .idx = 0, .freq = 9238000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9238000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_FSK, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 250, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_FSK, .dr = {.fsk = {50, 25}}, .pc = {.fsk = {40, 24, 2}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -494,8 +494,8 @@ const LoRaWANBand_t AS923_2 = { .dwellTimeDn = RADIOLIB_LORAWAN_DWELL_TIME, .txParamSupported = true, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 9214000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 9216000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, + { .idx = 0, .freq = 9214000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 9216000, .drMin = 0, .drMax = 5, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .numTxSpans = 0, @@ -513,39 +513,39 @@ const LoRaWANBand_t AS923_2 = { { 5, 4, 3, 2, 1, 0, 6, 7 }, { 6, 5, 4, 3, 2, 1, 7, 7 }, { 7, 6, 5, 4, 3, 2, 7, 7 }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 9214000, .drMin = 0, .drMax = 7, .dr = 2, .available = true }, + .rx2 = { .idx = 0, .freq = 9214000, .drMin = 0, .drMax = 7, .dr = 2 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 9218000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9218000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .txAck = { - { .enabled = true, .idx = 0, .freq = 9220000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9220000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_FSK, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 250, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_FSK, .dr = {.fsk = {50, 25}}, .pc = {.fsk = {40, 24, 2}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -562,8 +562,8 @@ const LoRaWANBand_t AS923_3 = { .dwellTimeDn = RADIOLIB_LORAWAN_DWELL_TIME, .txParamSupported = true, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 9166000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 9168000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, + { .idx = 0, .freq = 9166000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 9168000, .drMin = 0, .drMax = 5, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .numTxSpans = 0, @@ -581,39 +581,39 @@ const LoRaWANBand_t AS923_3 = { { 5, 4, 3, 2, 1, 0, 6, 7 }, { 6, 5, 4, 3, 2, 1, 7, 7 }, { 7, 6, 5, 4, 3, 2, 7, 7 }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 9166000, .drMin = 0, .drMax = 7, .dr = 2, .available = true }, + .rx2 = { .idx = 0, .freq = 9166000, .drMin = 0, .drMax = 7, .dr = 2 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 9170000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9170000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .txAck = { - { .enabled = true, .idx = 0, .freq = 9172000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9172000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_FSK, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 250, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_FSK, .dr = {.fsk = {50, 25}}, .pc = {.fsk = {40, 24, 2}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -630,8 +630,8 @@ const LoRaWANBand_t AS923_4 = { .dwellTimeDn = RADIOLIB_LORAWAN_DWELL_TIME, .txParamSupported = true, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 9173000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 9175000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, + { .idx = 0, .freq = 9173000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 9175000, .drMin = 0, .drMax = 5, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .numTxSpans = 0, @@ -649,39 +649,39 @@ const LoRaWANBand_t AS923_4 = { { 5, 4, 3, 2, 1, 0, 6, 7 }, { 6, 5, 4, 3, 2, 1, 7, 7 }, { 7, 6, 5, 4, 3, 2, 7, 7 }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 9173000, .drMin = 0, .drMax = 7, .dr = 2, .available = true }, + .rx2 = { .idx = 0, .freq = 9173000, .drMin = 0, .drMax = 7, .dr = 2 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 9177000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9177000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .txAck = { - { .enabled = true, .idx = 0, .freq = 9179000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, + { .idx = 0, .freq = 9179000, .drMin = 3, .drMax = 3, .dr = 3 }, RADIOLIB_LORAWAN_CHANNEL_NONE }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_250_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_FSK, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 250, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_FSK, .dr = {.fsk = {50, 25}}, .pc = {.fsk = {40, 24, 2}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -698,9 +698,9 @@ const LoRaWANBand_t KR920 = { .dwellTimeDn = 0, .txParamSupported = false, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 9221000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 9223000, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 2, .freq = 9225000, .drMin = 0, .drMax = 5, .dr = 3, .available = true } + { .idx = 0, .freq = 9221000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 9223000, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 2, .freq = 9225000, .drMin = 0, .drMax = 5, .dr = 3 } }, .numTxSpans = 0, .txSpans = { @@ -709,47 +709,47 @@ const LoRaWANBand_t KR920 = { }, .rx1Span = RADIOLIB_LORAWAN_CHANNEL_SPAN_NONE, .rx1DrTable = { - { 0, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 1, 0, 0, 0, 0, 0, 0xFF, 0xFF }, - { 2, 1, 0, 0, 0, 0, 0xFF, 0xFF }, - { 3, 2, 1, 0, 0, 0, 0xFF, 0xFF }, - { 4, 3, 2, 1, 0, 0, 0xFF, 0xFF }, - { 5, 4, 3, 2, 1, 0, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 1, 0, 0, 0, 0, 0, 0x0F, 0x0F }, + { 2, 1, 0, 0, 0, 0, 0x0F, 0x0F }, + { 3, 2, 1, 0, 0, 0, 0x0F, 0x0F }, + { 4, 3, 2, 1, 0, 0, 0x0F, 0x0F }, + { 5, 4, 3, 2, 1, 0, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 9219000, .drMin = 0, .drMax = 5, .dr = 0, .available = true }, + .rx2 = { .idx = 0, .freq = 9219000, .drMin = 0, .drMax = 5, .dr = 0 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 9227000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 9231000, .drMin = 3, .drMax = 3, .dr = 3, .available = true } + { .idx = 0, .freq = 9227000, .drMin = 3, .drMax = 3, .dr = 3 }, + { .idx = 1, .freq = 9231000, .drMin = 3, .drMax = 3, .dr = 3 } }, .txAck = { - { .enabled = true, .idx = 0, .freq = 9229000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 9231000, .drMin = 3, .drMax = 3, .dr = 3, .available = true } + { .idx = 0, .freq = 9229000, .drMin = 3, .drMax = 3, .dr = 3 }, + { .idx = 1, .freq = 9231000, .drMin = 3, .drMax = 3, .dr = 3 } }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; @@ -766,9 +766,9 @@ const LoRaWANBand_t IN865 = { .dwellTimeDn = 0, .txParamSupported = false, .txFreqs = { - { .enabled = true, .idx = 0, .freq = 8650625, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 8654025, .drMin = 0, .drMax = 5, .dr = 3, .available = true }, - { .enabled = true, .idx = 2, .freq = 8659850, .drMin = 0, .drMax = 5, .dr = 3, .available = true } + { .idx = 0, .freq = 8650625, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 1, .freq = 8654025, .drMin = 0, .drMax = 5, .dr = 3 }, + { .idx = 2, .freq = 8659850, .drMin = 0, .drMax = 5, .dr = 3 } }, .numTxSpans = 0, .txSpans = { @@ -783,41 +783,41 @@ const LoRaWANBand_t IN865 = { { 3, 2, 1, 0, 0, 0, 4, 5 }, { 4, 3, 2, 1, 0, 0, 5, 5 }, { 5, 4, 3, 2, 1, 0, 5, 7 }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, { 7, 6, 5, 4, 3, 2, 7, 7 }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }, - { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF } + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F }, + { 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F } }, - .rx2 = { .enabled = true, .idx = 0, .freq = 8665500, .drMin = 0, .drMax = 7, .dr = 2, .available = true }, + .rx2 = { .idx = 0, .freq = 8665500, .drMin = 0, .drMax = 7, .dr = 2 }, .txWoR = { - { .enabled = true, .idx = 0, .freq = 8660000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 8667000, .drMin = 3, .drMax = 3, .dr = 3, .available = true } + { .idx = 0, .freq = 8660000, .drMin = 3, .drMax = 3, .dr = 3 }, + { .idx = 1, .freq = 8667000, .drMin = 3, .drMax = 3, .dr = 3 } }, .txAck = { - { .enabled = true, .idx = 0, .freq = 8662000, .drMin = 3, .drMax = 3, .dr = 3, .available = true }, - { .enabled = true, .idx = 1, .freq = 8669000, .drMin = 3, .drMax = 3, .dr = 3, .available = true } + { .idx = 0, .freq = 8662000, .drMin = 3, .drMax = 3, .dr = 3 }, + { .idx = 1, .freq = 8669000, .drMin = 3, .drMax = 3, .dr = 3 } }, .dataRates = { - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_12 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_11 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_10 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_9 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_8 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_LORA | RADIOLIB_LORAWAN_DATA_RATE_SF_7 | RADIOLIB_LORAWAN_DATA_RATE_BW_125_KHZ, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_FSK, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED, - RADIOLIB_LORAWAN_DATA_RATE_UNUSED + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {12, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {11, 125, 5}}, .pc = {.lora = {8, false, true, true}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = {10, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 9, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 8, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + { .modem = RADIOLIB_MODEM_LORA, .dr = {.lora = { 7, 125, 5}}, .pc = {.lora = {8, false, true, false}}}, + RADIOLIB_DATARATE_NONE, + { .modem = RADIOLIB_MODEM_FSK, .dr = {.fsk = {50, 25}}, .pc = {.fsk = {40, 24, 2}}}, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE, + RADIOLIB_DATARATE_NONE } }; diff --git a/lib/RadioLib/src/protocols/Morse/Morse.cpp b/lib/RadioLib/src/protocols/Morse/Morse.cpp index b41dae7..b5de274 100644 --- a/lib/RadioLib/src/protocols/Morse/Morse.cpp +++ b/lib/RadioLib/src/protocols/Morse/Morse.cpp @@ -23,7 +23,7 @@ MorseClient::MorseClient(AFSKClient* audio) { int16_t MorseClient::begin(float base, uint8_t speed) { // calculate 24-bit frequency baseFreqHz = base; - baseFreq = (base * 1000000.0) / phyLayer->getFreqStep(); + baseFreq = (base * 1000000.0f) / phyLayer->freqStep; // calculate tone period for decoding basePeriod = (1000000.0f/base)/2.0f; @@ -48,7 +48,8 @@ char MorseClient::decode(uint8_t symbol, uint8_t len) { // iterate over the table for(uint8_t i = 0; i < sizeof(MorseTable); i++) { - uint8_t code = RADIOLIB_NONVOLATILE_READ_BYTE(&MorseTable[i]); + uint8_t* ptr = const_cast(&MorseTable[i]); + uint8_t code = RADIOLIB_NONVOLATILE_READ_BYTE(ptr); if(code == symbol) { // match, return the index + ASCII offset return((char)(i + RADIOLIB_MORSE_ASCII_OFFSET)); @@ -56,7 +57,7 @@ char MorseClient::decode(uint8_t symbol, uint8_t len) { } // nothing found - return(RADIOLIB_MORSE_UNSUPPORTED); + return(RADIOLIB_MORSE_UNKNOWN_SYMBOL); } #if !RADIOLIB_EXCLUDE_AFSK @@ -85,7 +86,7 @@ int MorseClient::read(uint8_t* symbol, uint8_t* len, float low, float high) { if((pauseLen >= low*(float)letterSpace) && (pauseLen <= high*(float)letterSpace)) { return(RADIOLIB_MORSE_CHAR_COMPLETE); } else if(pauseLen > wordSpace) { - RADIOLIB_DEBUG_PROTOCOL_PRINTLN("\n"); + RADIOLIB_DEBUG_PROTOCOL_PRINTLN(RADIOLIB_LINE_FEED ""); return(RADIOLIB_MORSE_WORD_COMPLETE); } @@ -129,7 +130,8 @@ size_t MorseClient::write(uint8_t b) { } // get morse code from lookup table - uint8_t code = RADIOLIB_NONVOLATILE_READ_BYTE(&MorseTable[(uint8_t)(toupper(b) - RADIOLIB_MORSE_ASCII_OFFSET)]); + uint8_t* ptr = const_cast(&MorseTable[(uint8_t)(toupper(b) - RADIOLIB_MORSE_ASCII_OFFSET)]); + uint8_t code = RADIOLIB_NONVOLATILE_READ_BYTE(ptr); // check unsupported characters if(code == RADIOLIB_MORSE_UNSUPPORTED) { @@ -137,15 +139,16 @@ size_t MorseClient::write(uint8_t b) { } // iterate through codeword until guard bit is reached + RADIOLIB_DEBUG_PROTOCOL_PRINT("%c ", b); while(code > RADIOLIB_MORSE_GUARDBIT) { // send dot or dash if (code & RADIOLIB_MORSE_DASH) { - RADIOLIB_DEBUG_PROTOCOL_PRINT("-"); + RADIOLIB_DEBUG_PROTOCOL_PRINT_NOTAG("-"); transmitDirect(baseFreq, baseFreqHz); mod->waitForMicroseconds(mod->hal->micros(), dashLength*1000); } else { - RADIOLIB_DEBUG_PROTOCOL_PRINT("."); + RADIOLIB_DEBUG_PROTOCOL_PRINT_NOTAG("."); transmitDirect(baseFreq, baseFreqHz); mod->waitForMicroseconds(mod->hal->micros(), dotLength*1000); } @@ -161,7 +164,7 @@ size_t MorseClient::write(uint8_t b) { // letter space standby(); mod->waitForMicroseconds(mod->hal->micros(), letterSpace*1000 - dotLength*1000); - RADIOLIB_DEBUG_PROTOCOL_PRINTLN(); + RADIOLIB_DEBUG_PROTOCOL_PRINT_NOTAG(RADIOLIB_LINE_FEED); return(1); } diff --git a/lib/RadioLib/src/protocols/Morse/Morse.h b/lib/RadioLib/src/protocols/Morse/Morse.h index 78d6a91..3bcf0f9 100644 --- a/lib/RadioLib/src/protocols/Morse/Morse.h +++ b/lib/RadioLib/src/protocols/Morse/Morse.h @@ -14,6 +14,7 @@ #define RADIOLIB_MORSE_INTER_SYMBOL 0x00 #define RADIOLIB_MORSE_CHAR_COMPLETE 0x01 #define RADIOLIB_MORSE_WORD_COMPLETE 0x02 +#define RADIOLIB_MORSE_UNKNOWN_SYMBOL '*' // Morse character table: - using codes defined in ITU-R M.1677-1 // - Morse code representation is saved LSb first, using additional bit as guard @@ -171,9 +172,6 @@ class MorseClient: public RadioLibPrint { uint32_t pauseCounter = 0; RadioLibTime_t pauseStart = 0; - size_t printNumber(unsigned long, uint8_t); - size_t printFloat(double, uint8_t); - int16_t transmitDirect(uint32_t freq = 0, uint32_t freqHz = 0); int16_t standby(); }; diff --git a/lib/RadioLib/src/protocols/Pager/Pager.cpp b/lib/RadioLib/src/protocols/Pager/Pager.cpp index f286395..b3a14b1 100644 --- a/lib/RadioLib/src/protocols/Pager/Pager.cpp +++ b/lib/RadioLib/src/protocols/Pager/Pager.cpp @@ -39,10 +39,10 @@ int16_t PagerClient::begin(float base, uint16_t speed, bool invert, uint16_t shi // calculate 24-bit frequency baseFreq = base; - baseFreqRaw = (baseFreq * 1000000.0) / phyLayer->getFreqStep(); + baseFreqRaw = (baseFreq * 1000000.0f) / phyLayer->freqStep; // calculate module carrier frequency resolution - uint16_t step = round(phyLayer->getFreqStep()); + uint16_t step = round(phyLayer->freqStep); // calculate raw frequency shift shiftFreqHz = shift; @@ -67,10 +67,10 @@ int16_t PagerClient::transmit(String& str, uint32_t addr, uint8_t encoding, uint #endif int16_t PagerClient::transmit(const char* str, uint32_t addr, uint8_t encoding, uint8_t function) { - return(PagerClient::transmit((uint8_t*)str, strlen(str), addr, encoding, function)); + return(PagerClient::transmit(reinterpret_cast(const_cast(str)), strlen(str), addr, encoding, function)); } -int16_t PagerClient::transmit(uint8_t* data, size_t len, uint32_t addr, uint8_t encoding, uint8_t function) { +int16_t PagerClient::transmit(const uint8_t* data, size_t len, uint32_t addr, uint8_t encoding, uint8_t function) { if(addr > RADIOLIB_PAGER_ADDRESS_MAX) { return(RADIOLIB_ERR_INVALID_ADDRESS_WIDTH); } @@ -124,13 +124,8 @@ int16_t PagerClient::transmit(uint8_t* data, size_t len, uint32_t addr, uint8_t numDataBlocks += 1; } - // calculate number of batches - size_t numBatches = (1 + framePos + numDataBlocks) / RADIOLIB_PAGER_BATCH_LEN + 1; - if((1 + numDataBlocks) % RADIOLIB_PAGER_BATCH_LEN == 0) { - numBatches -= 1; - } - - // calculate message length in 32-bit code words + // calculate number of batches and message length in 32-bit code words + size_t numBatches = (framePos + numDataBlocks + RADIOLIB_PAGER_BATCH_LEN) / RADIOLIB_PAGER_BATCH_LEN; size_t msgLen = RADIOLIB_PAGER_PREAMBLE_LENGTH + (1 + RADIOLIB_PAGER_BATCH_LEN) * numBatches; #if RADIOLIB_STATIC_ONLY @@ -172,6 +167,7 @@ int16_t PagerClient::transmit(uint8_t* data, size_t len, uint32_t addr, uint8_t blockPos++; i++; } + RADIOLIB_DEBUG_PROTOCOL_PRINT("blockPos = %d\n", blockPos); // mark this as a message code word msg[blockPos] = RADIOLIB_PAGER_MESSAGE_CODE_WORD << (RADIOLIB_PAGER_CODE_WORD_LEN - 1); @@ -326,14 +322,14 @@ int16_t PagerClient::readData(String& str, size_t len, uint32_t* addr) { // check tone-only transmissions if(length == 0) { length = 6; - strncpy((char*)data, "", length + 1); + strncpy(reinterpret_cast(data), "", length + 1); } // add null terminator data[length] = 0; // initialize Arduino String class - str = String((char*)data); + str = String(reinterpret_cast(data)); } // deallocate temporary buffer @@ -494,7 +490,7 @@ bool PagerClient::addressMatched(uint32_t addr) { return(false); } -void PagerClient::write(uint32_t* data, size_t len) { +void PagerClient::write(const uint32_t* data, size_t len) { // write code words from buffer for(size_t i = 0; i < len; i++) { RADIOLIB_DEBUG_PROTOCOL_PRINTLN("POCSAG W\t%lu\t%08lX", (long unsigned int)i, (long unsigned int)data[i]); diff --git a/lib/RadioLib/src/protocols/Pager/Pager.h b/lib/RadioLib/src/protocols/Pager/Pager.h index 6963a68..4de4634 100644 --- a/lib/RadioLib/src/protocols/Pager/Pager.h +++ b/lib/RadioLib/src/protocols/Pager/Pager.h @@ -117,7 +117,7 @@ class PagerClient { \param function bits (NUMERIC, TONE, ACTIVATION, ALPHANUMERIC). Allowed values 0 to 3. Defaults to auto select by specified encoding \returns \ref status_codes */ - int16_t transmit(uint8_t* data, size_t len, uint32_t addr, uint8_t encoding = RADIOLIB_PAGER_BCD, uint8_t function = RADIOLIB_PAGER_FUNC_AUTO); + int16_t transmit(const uint8_t* data, size_t len, uint32_t addr, uint8_t encoding = RADIOLIB_PAGER_BCD, uint8_t function = RADIOLIB_PAGER_FUNC_AUTO); #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE /*! @@ -190,7 +190,7 @@ class PagerClient { size_t filterNumAddresses = 0; bool inv = false; - void write(uint32_t* data, size_t len); + void write(const uint32_t* data, size_t len); void write(uint32_t codeWord); int16_t startReceiveCommon(); bool addressMatched(uint32_t addr); diff --git a/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.cpp b/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.cpp index 2872cca..67888de 100644 --- a/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.cpp +++ b/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.cpp @@ -2,9 +2,9 @@ #include -PhysicalLayer::PhysicalLayer(float step, size_t maxLen) { - this->freqStep = step; - this->maxPacketLength = maxLen; +PhysicalLayer::PhysicalLayer() { + this->freqStep = 1; + this->maxPacketLength = 1; #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE this->bufferBitPos = 0; this->bufferWritePos = 0; @@ -51,7 +51,7 @@ int16_t PhysicalLayer::transmit(String& str, uint8_t addr) { #endif int16_t PhysicalLayer::transmit(const char* str, uint8_t addr) { - return(transmit((uint8_t*)str, strlen(str), addr)); + return(transmit(reinterpret_cast(const_cast(str)), strlen(str), addr)); } int16_t PhysicalLayer::transmit(const uint8_t* data, size_t len, uint8_t addr) { @@ -62,7 +62,7 @@ int16_t PhysicalLayer::transmit(const uint8_t* data, size_t len, uint8_t addr) { } #if defined(RADIOLIB_BUILD_ARDUINO) -int16_t PhysicalLayer::receive(String& str, size_t len) { +int16_t PhysicalLayer::receive(String& str, size_t len, RadioLibTime_t timeout) { int16_t state = RADIOLIB_ERR_NONE; // user can override the length of data to read @@ -82,7 +82,7 @@ int16_t PhysicalLayer::receive(String& str, size_t len) { #endif // attempt packet reception - state = receive(data, length); + state = receive(data, length, timeout); // any of the following leads to at least some data being available // let's leave the decision of whether to keep it or not up to the user @@ -96,7 +96,7 @@ int16_t PhysicalLayer::receive(String& str, size_t len) { data[length] = 0; // initialize Arduino String class - str = String((char*)data); + str = String(reinterpret_cast(data)); } // deallocate temporary buffer @@ -108,9 +108,10 @@ int16_t PhysicalLayer::receive(String& str, size_t len) { } #endif -int16_t PhysicalLayer::receive(uint8_t* data, size_t len) { +int16_t PhysicalLayer::receive(uint8_t* data, size_t len, RadioLibTime_t timeout) { (void)data; (void)len; + (void)timeout; return(RADIOLIB_ERR_UNSUPPORTED); } @@ -132,11 +133,18 @@ int16_t PhysicalLayer::startReceive() { } int16_t PhysicalLayer::startReceive(uint32_t timeout, RadioLibIrqFlags_t irqFlags, RadioLibIrqFlags_t irqMask, size_t len) { - (void)timeout; - (void)irqFlags; - (void)irqMask; - (void)len; - return(RADIOLIB_ERR_UNSUPPORTED); + RadioModeConfig_t cfg = { + .receive = { + .timeout = timeout, + .irqFlags = irqFlags, + .irqMask = irqMask, + .len = len, + } + }; + + int16_t state = this->stageMode(RADIOLIB_RADIO_MODE_RX, &cfg); + RADIOLIB_ASSERT(state); + return(this->launchMode()); } #if defined(RADIOLIB_BUILD_ARDUINO) @@ -146,20 +154,31 @@ int16_t PhysicalLayer::startTransmit(String& str, uint8_t addr) { #endif int16_t PhysicalLayer::startTransmit(const char* str, uint8_t addr) { - return(startTransmit((uint8_t*)str, strlen(str), addr)); + return(startTransmit(reinterpret_cast(const_cast(str)), strlen(str), addr)); } int16_t PhysicalLayer::startTransmit(const uint8_t* data, size_t len, uint8_t addr) { - (void)data; - (void)len; - (void)addr; - return(RADIOLIB_ERR_UNSUPPORTED); + RadioModeConfig_t cfg = { + .transmit = { + .data = data, + .len = len, + .addr = addr, + } + }; + + int16_t state = this->stageMode(RADIOLIB_RADIO_MODE_TX, &cfg); + RADIOLIB_ASSERT(state); + return(this->launchMode()); } int16_t PhysicalLayer::finishTransmit() { return(RADIOLIB_ERR_UNSUPPORTED); } +int16_t PhysicalLayer::finishReceive() { + return(RADIOLIB_ERR_UNSUPPORTED); +} + #if defined(RADIOLIB_BUILD_ARDUINO) int16_t PhysicalLayer::readData(String& str, size_t len) { int16_t state = RADIOLIB_ERR_NONE; @@ -191,7 +210,7 @@ int16_t PhysicalLayer::readData(String& str, size_t len) { data[length] = 0; // initialize Arduino String class - str = String((char*)data); + str = String(reinterpret_cast(data)); } // deallocate temporary buffer @@ -270,20 +289,18 @@ int16_t PhysicalLayer::setPreambleLength(size_t len) { return(RADIOLIB_ERR_UNSUPPORTED); } -int16_t PhysicalLayer::setDataRate(DataRate_t dr) { +int16_t PhysicalLayer::setDataRate(DataRate_t dr, ModemType_t modem) { (void)dr; + (void)modem; return(RADIOLIB_ERR_UNSUPPORTED); } -int16_t PhysicalLayer::checkDataRate(DataRate_t dr) { +int16_t PhysicalLayer::checkDataRate(DataRate_t dr, ModemType_t modem) { (void)dr; + (void)modem; return(RADIOLIB_ERR_UNSUPPORTED); } -float PhysicalLayer::getFreqStep() const { - return(this->freqStep); -} - size_t PhysicalLayer::getPacketLength(bool update) { (void)update; return(0); @@ -297,6 +314,14 @@ float PhysicalLayer::getSNR() { return(RADIOLIB_ERR_UNSUPPORTED); } +RadioLibTime_t PhysicalLayer::calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len) { + (void)modem; + (void)dr; + (void)pc; + (void)len; + return(0); +} + RadioLibTime_t PhysicalLayer::getTimeOnAir(size_t len) { (void)len; return(0); @@ -324,7 +349,7 @@ int16_t PhysicalLayer::checkIrq(RadioLibIrqType_t irq) { return(RADIOLIB_ERR_UNSUPPORTED); } - return(getIrqFlags() & this->irqMap[irq]); + return((getIrqFlags() & this->irqMap[irq]) != 0); } int16_t PhysicalLayer::setIrq(RadioLibIrqFlags_t irq) { @@ -497,12 +522,6 @@ void PhysicalLayer::readBit(uint32_t pin) { #endif -int16_t PhysicalLayer::setDIOMapping(uint32_t pin, uint32_t value) { - (void)pin; - (void)value; - return(RADIOLIB_ERR_UNSUPPORTED); -} - void PhysicalLayer::setPacketReceivedAction(void (*func)(void)) { (void)func; } @@ -537,6 +556,16 @@ int16_t PhysicalLayer::getModem(ModemType_t* modem) { return(RADIOLIB_ERR_UNSUPPORTED); } +int16_t PhysicalLayer::stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg) { + (void)mode; + (void)cfg; + return(RADIOLIB_ERR_UNSUPPORTED); +} + +int16_t PhysicalLayer::launchMode() { + return(RADIOLIB_ERR_UNSUPPORTED); +} + #if RADIOLIB_INTERRUPT_TIMING void PhysicalLayer::setInterruptSetup(void (*func)(uint32_t)) { Module* mod = getMod(); diff --git a/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.h b/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.h index a8f66ce..dcb6ce7 100644 --- a/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.h +++ b/lib/RadioLib/src/protocols/PhysicalLayer/PhysicalLayer.h @@ -35,8 +35,8 @@ struct LoRaRate_t { /*! \brief LoRa bandwidth in kHz */ float bandwidth; - - /*! \brief LoRa coding rate */ + + /*! \brief LoRa coding rate denominator */ uint8_t codingRate; }; @@ -82,6 +82,46 @@ union DataRate_t { LrFhssRate_t lrFhss; }; +struct LoRaPacketConfig_t { + /*! \brief LoRa preamble length */ + uint16_t preambleLength; + + /*! \brief LoRa implicit header mode */ + bool implicitHeader; + + /*! \brief LoRa CRC mode */ + bool crcEnabled; + + /*! \brief LoRa low data rate optimization */ + bool ldrOptimize; +}; + +struct FSKPacketConfig_t { + /*! \brief FSK preamble length in bits */ + uint16_t preambleLength; + + /*! \brief Length of the sync word in bits */ + uint8_t syncWordLength; + + /*! \brief FSK CRC length in bytes */ + uint8_t crcLength; +}; + +struct LrFhssPacketConfig_t { + /*! \brief LR-FHSS header count (1 - 4) */ + uint8_t hdrCount; +}; + +/*! + \union PacketConfig_t + \brief Common packet configuration structure +*/ +union PacketConfig_t { + LoRaPacketConfig_t lora; + FSKPacketConfig_t fsk; + LrFhssPacketConfig_t lrFhss; +}; + /*! \struct CADScanConfig_t \brief Channel scan configuration interpretation in case LoRa CAD is used @@ -130,6 +170,58 @@ union ChannelScanConfig_t { RSSIScanConfig_t rssi; }; +struct StandbyConfig_t { + /*! \brief Module-specific standby mode configuration. */ + uint8_t mode; +}; + +struct ReceiveConfig_t { + /*! \brief Raw timeout value. Some modules use this argument to specify operation mode (single vs. continuous receive). */ + uint32_t timeout; + + /*! \brief Sets the IRQ flags. */ + RadioLibIrqFlags_t irqFlags; + + /*! \brief Sets the mask of IRQ flags that will trigger the radio interrupt pin. */ + RadioLibIrqFlags_t irqMask; + + /*! \brief Packet length, needed for some modules under special circumstances (e.g. LoRa implicit header mode). */ + size_t len; +}; + +struct TransmitConfig_t { + /*! \brief Binary data that will be transmitted. */ + const uint8_t* data; + + /*! \brief Length of binary data to transmit (in bytes). */ + size_t len; + + /*! \brief Node address to transmit the packet to. Only used in FSK mode. */ + uint8_t addr; +}; + +struct SleepConfig_t { + /*! \brief Module-specific sleep mode configuration. */ + uint8_t mode; +}; + +union RadioModeConfig_t { + /*! \brief Interpretation for standby mode */ + StandbyConfig_t standby; + + /*! \brief Interpretation for Rx mode */ + ReceiveConfig_t receive; + + /*! \brief Interpretation for Tx mode */ + TransmitConfig_t transmit; + + /*! \brief Interpretation for scanning */ + ChannelScanConfig_t scan; + + /*! \brief Interpretation for sleep mode */ + SleepConfig_t sleep; +}; + /*! \enum ModemType_t \brief Type of modem, used by setModem. @@ -138,6 +230,20 @@ enum ModemType_t { RADIOLIB_MODEM_FSK = 0, RADIOLIB_MODEM_LORA, RADIOLIB_MODEM_LRFHSS, + RADIOLIB_MODEM_NONE, // last entry +}; + +/*! + \enum RadioModeType_t + \brief Basic radio operating modes, used by stageMode. +*/ +enum RadioModeType_t { + RADIOLIB_RADIO_MODE_NONE = 0, + RADIOLIB_RADIO_MODE_STANDBY, + RADIOLIB_RADIO_MODE_RX, + RADIOLIB_RADIO_MODE_TX, + RADIOLIB_RADIO_MODE_SCAN, + RADIOLIB_RADIO_MODE_SLEEP, }; /*! @@ -151,14 +257,23 @@ enum ModemType_t { class PhysicalLayer { public: + /*! \brief Frequency step of the synthesizer in Hz. */ + float freqStep; + + /*! \brief Maximum length of packet that can be received by the module. */ + size_t maxPacketLength; + // constructor /*! \brief Default constructor. - \param step Frequency step of the synthesizer in Hz. - \param maxLen Maximum length of packet that can be received by the module. */ - PhysicalLayer(float step, size_t maxLen); + PhysicalLayer(); + + /*! + \brief Default destructor. + */ + virtual ~PhysicalLayer() = default; // basic methods @@ -201,10 +316,12 @@ class PhysicalLayer { /*! \brief Arduino String receive method. \param str Address of Arduino String to save the received data. - \param len Expected number of characters in the message. Leave as 0 if expecting a unknown size packet + \param len Expected number of characters in the message. Leave as 0 if expecting a unknown size packet. + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - int16_t receive(String& str, size_t len = 0); + int16_t receive(String& str, size_t len = 0, RadioLibTime_t timeout = 0); #endif /*! @@ -241,15 +358,17 @@ class PhysicalLayer { \param len Packet length, needed for some modules under special circumstances (e.g. LoRa implicit header mode). \returns \ref status_codes */ - virtual int16_t startReceive(uint32_t timeout, RadioLibIrqFlags_t irqFlags, RadioLibIrqFlags_t irqMask, size_t len); + virtual int16_t startReceive(uint32_t timeout, RadioLibIrqFlags_t irqFlags = RADIOLIB_IRQ_RX_DEFAULT_FLAGS, RadioLibIrqFlags_t irqMask = RADIOLIB_IRQ_RX_DEFAULT_MASK, size_t len = 0); /*! \brief Binary receive method. Must be implemented in module class. \param data Pointer to array to save the received binary data. \param len Packet length, needed for some modules under special circumstances (e.g. LoRa implicit header mode). + \param timeout Reception timeout in milliseconds. If set to 0, + timeout period will be calculated automatically based on the radio configuration. \returns \ref status_codes */ - virtual int16_t receive(uint8_t* data, size_t len); + virtual int16_t receive(uint8_t* data, size_t len, RadioLibTime_t timeout = 0); #if defined(RADIOLIB_BUILD_ARDUINO) /*! @@ -286,6 +405,12 @@ class PhysicalLayer { */ virtual int16_t finishTransmit(); + /*! + \brief Clean up after reception is done. + \returns \ref status_codes + */ + virtual int16_t finishReceive(); + #if defined(RADIOLIB_BUILD_ARDUINO) /*! \brief Reads data that was received after calling startReceive method. @@ -397,24 +522,22 @@ class PhysicalLayer { virtual int16_t setPreambleLength(size_t len); /*! - \brief Set data. Must be implemented in module class if the module supports it. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \brief Set data rate. Must be implemented in module class if the module supports it. + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - virtual int16_t setDataRate(DataRate_t dr); + virtual int16_t setDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE); /*! \brief Check the data rate can be configured by this module. Must be implemented in module class if the module supports it. - \param dr Data rate struct. Interpretation depends on currently active modem (FSK or LoRa). + \param dr Data rate struct. + \param modem The modem corresponding to the requested datarate (FSK, LoRa or LR-FHSS). + Defaults to currently active modem if not supplied. \returns \ref status_codes */ - virtual int16_t checkDataRate(DataRate_t dr); - - /*! - \brief Gets the module frequency step size that was set in constructor. - \returns Synthesizer frequency step size in Hz. - */ - float getFreqStep() const; + virtual int16_t checkDataRate(DataRate_t dr, ModemType_t modem = RADIOLIB_MODEM_NONE); /*! \brief Query modem for the packet length of received payload. Must be implemented in module class. @@ -424,7 +547,7 @@ class PhysicalLayer { virtual size_t getPacketLength(bool update = true); /*! - \brief Gets RSSI (Recorded Signal Strength Indicator) of the last received packet. + \brief Gets RSSI (Received Signal Strength Indicator) of the last received packet. \returns RSSI of the last received packet in dBm. */ virtual float getRSSI(); @@ -434,6 +557,16 @@ class PhysicalLayer { \returns SNR of the last received packet in dB. */ virtual float getSNR(); + + /*! + \brief Calculate the expected time-on-air for a given modem, data rate, packet configuration and payload size. + \param modem Modem type. + \param dr Data rate. + \param pc Packet config. + \param len Payload length in bytes. + \returns Expected time-on-air in microseconds. + */ + virtual RadioLibTime_t calculateTimeOnAir(ModemType_t modem, DataRate_t dr, PacketConfig_t pc, size_t len); /*! \brief Get expected time-on-air for a given size of payload @@ -613,14 +746,6 @@ class PhysicalLayer { uint8_t read(bool drop = true); #endif - /*! - \brief Configure DIO pin mapping to get a given signal on a DIO pin (if available). - \param pin Pin number onto which a signal is to be placed. - \param value The value that indicates which function to place on that pin. See chip datasheet for details. - \returns \ref status_codes - */ - virtual int16_t setDIOMapping(uint32_t pin, uint32_t value); - /*! \brief Sets interrupt service routine to call when a packet is received. \param func ISR to call. @@ -669,6 +794,20 @@ class PhysicalLayer { */ virtual int16_t getModem(ModemType_t* modem); + /*! + \brief Stage mode of the radio to be launched later using launchMode. + \param mode Radio mode to prepare. + \param cfg Configuration of this mode (mode-dependent). + \returns \ref status_codes + */ + virtual int16_t stageMode(RadioModeType_t mode, RadioModeConfig_t* cfg); + + /*! + \brief Launch previously staged mode. + \returns \ref status_codes + */ + virtual int16_t launchMode(); + #if RADIOLIB_INTERRUPT_TIMING /*! @@ -690,6 +829,7 @@ class PhysicalLayer { protected: #endif uint32_t irqMap[10] = { 0 }; + RadioModeType_t stagedMode = RADIOLIB_RADIO_MODE_NONE; #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE void updateDirectBuffer(uint8_t bit); @@ -698,8 +838,6 @@ class PhysicalLayer { #if !RADIOLIB_GODMODE private: #endif - float freqStep; - size_t maxPacketLength; #if !RADIOLIB_EXCLUDE_DIRECT_RECEIVE uint8_t bufferBitPos = 0; diff --git a/lib/RadioLib/src/protocols/Print/ITA2String.cpp b/lib/RadioLib/src/protocols/Print/ITA2String.cpp index 368edeb..809a1c5 100644 --- a/lib/RadioLib/src/protocols/Print/ITA2String.cpp +++ b/lib/RadioLib/src/protocols/Print/ITA2String.cpp @@ -122,11 +122,15 @@ uint16_t ITA2String::getBits(char c) { // search ITA2 table uint16_t code = 0x0000; for(uint8_t i = 0; i < RADIOLIB_ITA2_LENGTH; i++) { - if(RADIOLIB_NONVOLATILE_READ_BYTE(&ITA2Table[i][0]) == c) { + char* ptr = const_cast(&ITA2Table[i][0]); + if(RADIOLIB_NONVOLATILE_READ_BYTE(ptr) == c) { // character is in letter shift code = (RADIOLIB_ITA2_LTRS << 5) | i; break; - } else if(RADIOLIB_NONVOLATILE_READ_BYTE(&ITA2Table[i][1]) == c) { + } + + ptr = const_cast(&ITA2Table[i][1]); + if(RADIOLIB_NONVOLATILE_READ_BYTE(ptr) == c) { // character is in figures shift code = (RADIOLIB_ITA2_FIGS << 5) | i; break; diff --git a/lib/RadioLib/src/protocols/Print/Print.cpp b/lib/RadioLib/src/protocols/Print/Print.cpp index c7abe69..fffa26c 100644 --- a/lib/RadioLib/src/protocols/Print/Print.cpp +++ b/lib/RadioLib/src/protocols/Print/Print.cpp @@ -59,7 +59,7 @@ size_t RadioLibPrint::print(const __FlashStringHelper* fstr) { ITA2String ita2 = ITA2String(str); n = RadioLibPrint::print(ita2); } else { - n = write((uint8_t*)str, len); + n = write(reinterpret_cast(str), len); } #if !RADIOLIB_STATIC_ONLY delete[] str; @@ -73,7 +73,7 @@ size_t RadioLibPrint::print(const String& str) { ITA2String ita2 = ITA2String(str.c_str()); n = RadioLibPrint::print(ita2); } else { - n = write((uint8_t*)str.c_str(), str.length()); + n = write(reinterpret_cast(const_cast(str.c_str())), str.length()); } return(n); } @@ -97,7 +97,7 @@ size_t RadioLibPrint::print(const char str[]) { ITA2String ita2 = ITA2String(str); n = RadioLibPrint::print(ita2); } else { - n = write((uint8_t*)str, strlen(str)); + n = write(reinterpret_cast(const_cast(str)), strlen(str)); } return(n); } diff --git a/lib/RadioLib/src/protocols/RTTY/RTTY.cpp b/lib/RadioLib/src/protocols/RTTY/RTTY.cpp index 17da7d2..61fe7cd 100644 --- a/lib/RadioLib/src/protocols/RTTY/RTTY.cpp +++ b/lib/RadioLib/src/protocols/RTTY/RTTY.cpp @@ -31,7 +31,7 @@ int16_t RTTYClient::begin(float base, uint32_t shift, uint16_t rate, uint8_t enc bitDuration = (RadioLibTime_t)1000000/rate; // calculate module carrier frequency resolution - uint32_t step = round(phyLayer->getFreqStep()); + uint32_t step = round(phyLayer->freqStep); // check minimum shift value if(shift < step / 2) { @@ -46,7 +46,7 @@ int16_t RTTYClient::begin(float base, uint32_t shift, uint16_t rate, uint8_t enc } // calculate 24-bit frequency - baseFreq = (base * 1000000.0) / phyLayer->getFreqStep(); + baseFreq = (base * 1000000.0f) / phyLayer->freqStep; // configure for direct mode return(phyLayer->startDirect()); diff --git a/lib/RadioLib/src/protocols/SSTV/SSTV.cpp b/lib/RadioLib/src/protocols/SSTV/SSTV.cpp index 3f72a3b..397dc80 100644 --- a/lib/RadioLib/src/protocols/SSTV/SSTV.cpp +++ b/lib/RadioLib/src/protocols/SSTV/SSTV.cpp @@ -219,7 +219,7 @@ int16_t SSTVClient::begin(float base, const SSTVMode_t& mode) { txMode = mode; // calculate 24-bit frequency - baseFreq = (base * 1000000.0) / phyLayer->getFreqStep(); + baseFreq = (base * 1000000.0f) / phyLayer->freqStep; // configure for direct mode return(phyLayer->startDirect()); @@ -345,7 +345,7 @@ void SSTVClient::sendLine(const uint32_t* imgLine) { case(tone_t::GENERIC): break; } - this->tone(RADIOLIB_SSTV_TONE_BRIGHTNESS_MIN + ((float)color * 3.1372549), len); + this->tone(RADIOLIB_SSTV_TONE_BRIGHTNESS_MIN + ((float)color * 3.1372549f), len); } } } @@ -365,10 +365,10 @@ void SSTVClient::tone(float freq, RadioLibTime_t len) { if(audioClient != nullptr) { audioClient->tone(freq, false); } else { - phyLayer->transmitDirect(baseFreq + (freq / phyLayer->getFreqStep())); + phyLayer->transmitDirect(baseFreq + (freq / phyLayer->freqStep)); } #else - phyLayer->transmitDirect(baseFreq + (freq / phyLayer->getFreqStep())); + phyLayer->transmitDirect(baseFreq + (freq / phyLayer->freqStep)); #endif mod->waitForMicroseconds(start, len); } diff --git a/lib/RadioLib/src/utils/Cryptography.cpp b/lib/RadioLib/src/utils/Cryptography.cpp index 9411bd1..7ea4acb 100644 --- a/lib/RadioLib/src/utils/Cryptography.cpp +++ b/lib/RadioLib/src/utils/Cryptography.cpp @@ -11,7 +11,7 @@ void RadioLibAES128::init(uint8_t* key) { this->keyExpansion(this->roundKey, key); } -size_t RadioLibAES128::encryptECB(uint8_t* in, size_t len, uint8_t* out) { +size_t RadioLibAES128::encryptECB(const uint8_t* in, size_t len, uint8_t* out) { size_t num_blocks = len / RADIOLIB_AES128_BLOCK_SIZE; if(len % RADIOLIB_AES128_BLOCK_SIZE) { num_blocks++; @@ -27,7 +27,7 @@ size_t RadioLibAES128::encryptECB(uint8_t* in, size_t len, uint8_t* out) { return(num_blocks*RADIOLIB_AES128_BLOCK_SIZE); } -size_t RadioLibAES128::decryptECB(uint8_t* in, size_t len, uint8_t* out) { +size_t RadioLibAES128::decryptECB(const uint8_t* in, size_t len, uint8_t* out) { size_t num_blocks = len / RADIOLIB_AES128_BLOCK_SIZE; if(len % RADIOLIB_AES128_BLOCK_SIZE) { num_blocks++; @@ -43,46 +43,103 @@ size_t RadioLibAES128::decryptECB(uint8_t* in, size_t len, uint8_t* out) { return(num_blocks*RADIOLIB_AES128_BLOCK_SIZE); } -void RadioLibAES128::generateCMAC(uint8_t* in, size_t len, uint8_t* cmac) { - uint8_t key1[RADIOLIB_AES128_BLOCK_SIZE]; - uint8_t key2[RADIOLIB_AES128_BLOCK_SIZE]; - this->generateSubkeys(key1, key2); +/* + * CMAC streaming API + * + * Usage: + * RadioLibCMAC_State st; + * RadioLibAES128_initCMACState(&RadioLibAES128Instance, &st); + * RadioLibAES128_updateCMACState(&RadioLibAES128Instance, &st, chunk1, len1); + * RadioLibAES128_updateCMACState(&RadioLibAES128Instance, &st, chunk2, len2); + * uint8_t mac[16]; + * RadioLibAES128_finishCMACState(&RadioLibAES128Instance, &st, mac); + */ - size_t num_blocks = len / RADIOLIB_AES128_BLOCK_SIZE; - bool flag = true; - if(len % RADIOLIB_AES128_BLOCK_SIZE) { - num_blocks++; - flag = false; +void RadioLibAES128::initCMAC(RadioLibCmacState* st) { + if(!st) { + return; } - - uint8_t* buff = new uint8_t[num_blocks * RADIOLIB_AES128_BLOCK_SIZE]; - memset(buff, 0, num_blocks * RADIOLIB_AES128_BLOCK_SIZE); - memcpy(buff, in, len); - if (flag) { - this->blockXor(&buff[(num_blocks - 1)*RADIOLIB_AES128_BLOCK_SIZE], &buff[(num_blocks - 1)*RADIOLIB_AES128_BLOCK_SIZE], key1); - } else { - buff[len] = 0x80; - this->blockXor(&buff[(num_blocks - 1)*RADIOLIB_AES128_BLOCK_SIZE], &buff[(num_blocks - 1)*RADIOLIB_AES128_BLOCK_SIZE], key2); - } - - uint8_t X[] = { - 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00 - }; - uint8_t Y[RADIOLIB_AES128_BLOCK_SIZE]; - - for(size_t i = 0; i < num_blocks - 1; i++) { - this->blockXor(Y, &buff[i*RADIOLIB_AES128_BLOCK_SIZE], X); - this->encryptECB(Y, RADIOLIB_AES128_BLOCK_SIZE, X); - } - this->blockXor(Y, &buff[(num_blocks - 1)*RADIOLIB_AES128_BLOCK_SIZE], X); - this->encryptECB(Y, RADIOLIB_AES128_BLOCK_SIZE, cmac); - delete[] buff; + memset(st->X, 0x00, RADIOLIB_AES128_BLOCK_SIZE); + memset(st->buffer, 0x00, RADIOLIB_AES128_BLOCK_SIZE); + st->buffer_len = 0; + st->subkeys_generated = false; } -bool RadioLibAES128::verifyCMAC(uint8_t* in, size_t len, const uint8_t* cmac) { +void RadioLibAES128::updateCMAC(RadioLibCmacState* st, const uint8_t* data, size_t len) { + if(!st || (!data && len != 0)) { + return; + } + + // ensure subkeys are present + if(!st->subkeys_generated) { + this->generateSubkeys(st->k1, st->k2); + st->subkeys_generated = true; + } + + uint8_t tmp[RADIOLIB_AES128_BLOCK_SIZE]; + size_t offset = 0; + + while(len > 0) { + + // fill buffer up to one full block + size_t to_copy = RADIOLIB_AES128_BLOCK_SIZE - st->buffer_len; + if(to_copy > len) { + to_copy = len; + } + + // copy the data into the buffer + memcpy(&st->buffer[st->buffer_len], &data[offset], to_copy); + st->buffer_len += to_copy; + offset += to_copy; + len -= to_copy; + + // if we now have a full block AND there is still more input remaining, + // this block is NOT the final one, so process it. + if(st->buffer_len == RADIOLIB_AES128_BLOCK_SIZE && len > 0) { + this->blockXor(tmp, st->buffer, st->X); + this->encryptECB(tmp, RADIOLIB_AES128_BLOCK_SIZE, st->X); + st->buffer_len = 0; + } + } +} + +void RadioLibAES128::finishCMAC(RadioLibCmacState* st, uint8_t* out) { + if(!st || !out) { + return; + } + + // ensure subkeys are present + if(!st->subkeys_generated) { + this->generateSubkeys(st->k1, st->k2); + st->subkeys_generated = true; + } + + uint8_t last[RADIOLIB_AES128_BLOCK_SIZE]; + uint8_t Y[RADIOLIB_AES128_BLOCK_SIZE]; + + if(st->buffer_len == RADIOLIB_AES128_BLOCK_SIZE) { + this->blockXor(last, st->buffer, st->k1); + } else { + memset(last, 0x00, RADIOLIB_AES128_BLOCK_SIZE); + if(st->buffer_len > 0) { + memcpy(last, st->buffer, st->buffer_len); + } + last[st->buffer_len] = 0x80; + this->blockXor(last, last, st->k2); + } + + this->blockXor(Y, last, st->X); + this->encryptECB(Y, RADIOLIB_AES128_BLOCK_SIZE, out); +} + +void RadioLibAES128::generateCMAC(const uint8_t* in, size_t len, uint8_t* cmac) { + RadioLibCmacState st; + this->initCMAC(&st); + this->updateCMAC(&st, in, len); + this->finishCMAC(&st, cmac); +} + +bool RadioLibAES128::verifyCMAC(const uint8_t* in, size_t len, const uint8_t* cmac) { uint8_t cmacReal[RADIOLIB_AES128_BLOCK_SIZE]; this->generateCMAC(in, len, cmacReal); for(size_t i = 0; i < RADIOLIB_AES128_BLOCK_SIZE; i++) { @@ -155,7 +212,8 @@ void RadioLibAES128::decipher(state_t* state, uint8_t* roundKey) { void RadioLibAES128::subWord(uint8_t* word) { for(size_t i = 0; i < 4; i++) { - word[i] = RADIOLIB_NONVOLATILE_READ_BYTE(&aesSbox[word[i]]); + uint8_t* ptr = const_cast(&aesSbox[word[i]]); + word[i] = RADIOLIB_NONVOLATILE_READ_BYTE(ptr); } } @@ -191,14 +249,14 @@ void RadioLibAES128::blockLeftshift(uint8_t* dst, const uint8_t* src) { } void RadioLibAES128::generateSubkeys(uint8_t* key1, uint8_t* key2) { - uint8_t const_Zero[] = { + const uint8_t const_Zero[] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; - uint8_t const_Rb[] = { + const uint8_t const_Rb[] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, @@ -221,7 +279,8 @@ void RadioLibAES128::generateSubkeys(uint8_t* key1, uint8_t* key2) { void RadioLibAES128::subBytes(state_t* state, const uint8_t* box) { for(size_t row = 0; row < 4; row++) { for(size_t col = 0; col < 4; col++) { - (*state)[col][row] = RADIOLIB_NONVOLATILE_READ_BYTE(&box[(*state)[col][row]]); + uint8_t* ptr = const_cast(&box[(*state)[col][row]]); + (*state)[col][row] = RADIOLIB_NONVOLATILE_READ_BYTE(ptr); } } } @@ -291,4 +350,4 @@ uint8_t RadioLibAES128::mul(uint8_t a, uint8_t b) { return(out); } -RadioLibAES128 RadioLibAES128Instance; +RadioLibAES128 RadioLibAES128Instance; \ No newline at end of file diff --git a/lib/RadioLib/src/utils/Cryptography.h b/lib/RadioLib/src/utils/Cryptography.h index ed8f4d7..bb5d237 100644 --- a/lib/RadioLib/src/utils/Cryptography.h +++ b/lib/RadioLib/src/utils/Cryptography.h @@ -12,6 +12,15 @@ #define RADIOLIB_AES128_N_R (10) #define RADIOLIB_AES128_KEY_EXP_SIZE (176) +typedef struct { + uint8_t X[RADIOLIB_AES128_BLOCK_SIZE]; + uint8_t buffer[RADIOLIB_AES128_BLOCK_SIZE]; + size_t buffer_len; + uint8_t k1[RADIOLIB_AES128_BLOCK_SIZE]; + uint8_t k2[RADIOLIB_AES128_BLOCK_SIZE]; + bool subkeys_generated; +} RadioLibCmacState; + // helper type typedef uint8_t state_t[4][4]; @@ -115,7 +124,7 @@ class RadioLibAES128 { to ensure the buffer is sufficiently large to save the data! \returns The number of bytes saved into the output buffer. */ - size_t encryptECB(uint8_t* in, size_t len, uint8_t* out); + size_t encryptECB(const uint8_t* in, size_t len, uint8_t* out); /*! \brief Perform ECB-type AES decryption. @@ -125,7 +134,7 @@ class RadioLibAES128 { to ensure the buffer is sufficiently large to save the data! \returns The number of bytes saved into the output buffer. */ - size_t decryptECB(uint8_t* in, size_t len, uint8_t* out); + size_t decryptECB(const uint8_t* in, size_t len, uint8_t* out); /*! \brief Calculate message authentication code according to RFC4493. @@ -133,7 +142,28 @@ class RadioLibAES128 { \param len Length of the input data. \param cmac Buffer to save the output MAC into. The buffer must be at least 16 bytes long! */ - void generateCMAC(uint8_t* in, size_t len, uint8_t* cmac); + void generateCMAC(const uint8_t* in, size_t len, uint8_t* cmac); + + /*! + \brief Initialize the CMAC state. This must be called before any updateCMAC calls. + \param st State to initialize. + */ + void initCMAC(RadioLibCmacState* st); + + /*! + \brief Update the CMAC state with a chunk of data. This can be called multiple times to process the data in chunks. + \param st State to update. + \param data Input data (unpadded). + \param len Length of the input data. + */ + void updateCMAC(RadioLibCmacState* st, const uint8_t* data, size_t len); + + /*! + \brief Finalize the CMAC calculation and save the result. This must be called after all updateCMAC calls are done. + \param st State to finalize. + \param out Buffer to save the output MAC into. The buffer must be at least 16 bytes long! + */ + void finishCMAC(RadioLibCmacState* st, uint8_t* out); /*! \brief Verify the received CMAC. This just calculates the CMAC again and compares the results. @@ -142,7 +172,7 @@ class RadioLibAES128 { \param cmac CMAC to verify. \returns True if valid, false otherwise. */ - bool verifyCMAC(uint8_t* in, size_t len, const uint8_t* cmac); + bool verifyCMAC(const uint8_t* in, size_t len, const uint8_t* cmac); private: uint8_t* keyPtr = nullptr; diff --git a/lib/RadioLib/src/utils/Utils.cpp b/lib/RadioLib/src/utils/Utils.cpp index 4111818..e384ac6 100644 --- a/lib/RadioLib/src/utils/Utils.cpp +++ b/lib/RadioLib/src/utils/Utils.cpp @@ -1,7 +1,9 @@ #include "Utils.h" +#include "../Hal.h" #include #include +#include #include #include @@ -13,6 +15,55 @@ uint32_t rlb_reflect(uint32_t in, uint8_t bits) { return(res); } +// fast-ish popcount function for use in calculating LFSR feedback value +// without relying on __builtin_popcount() which may or may not be available +// from https://stackoverflow.com/a/51388846 +static uint8_t rlb_popcount(uint32_t in) { + in = (in & 0x55555555UL) + ((in >> 1) & 0x55555555UL); + in = (in & 0x33333333UL) + ((in >> 2) & 0x33333333UL); + in = (in & 0x0F0F0F0FUL) + ((in >> 4) & 0x0F0F0F0FUL); + in = (in & 0x00FF00FFUL) + ((in >> 8) & 0x00FF00FFUL); + in = (in & 0x0000FFFFUL) + ((in >>16) & 0x0000FFFFUL); + return(in); +} + +void rlb_scrambler(uint8_t* data, size_t len, const uint32_t poly, const uint32_t init, bool scramble) { + if(!poly) { + return; + } + + // set the inital feedback register state + uint32_t lsfr = init; + + // now do the shifting + uint8_t out = 0; + for(size_t i = 0; i < len; i++) { + // for each data byte + for(int j = 7; j >= 0; j--) { + // for each bit in each data byte, calculate the next bit + uint8_t feedback = rlb_popcount(lsfr & poly) & 1UL; + uint8_t inbit = (data[i] & (1UL << j)) >> j; + uint32_t nextbit = feedback ^ inbit; + + // shift the feedback register + lsfr <<= 1; + + // now add the next bit + // when scrambling, it is the calculated next bit + // when descrambling, it is the input bit + lsfr |= scramble ? nextbit : inbit; + + // shift the output buffer and add the next bit + out <<= 1; + out |= nextbit; + } + + // extract the new byte + data[i] = out; + out = 0; + } +} + void rlb_hexdump(const char* level, const uint8_t* data, size_t len, uint32_t offset, uint8_t width, bool be) { #if RADIOLIB_DEBUG size_t rem_len = len; @@ -59,9 +110,9 @@ void rlb_hexdump(const char* level, const uint8_t* data, size_t len, uint32_t of sprintf(strPtr++, " "); } if(level) { - RADIOLIB_DEBUG_PRINT(level); + RADIOLIB_DEBUG_PRINT_LVL("", "%s", level); } - RADIOLIB_DEBUG_PRINT(str); + RADIOLIB_DEBUG_PRINT("%s", str); RADIOLIB_DEBUG_PRINTLN(); rem_len -= 16; } @@ -78,14 +129,20 @@ void rlb_hexdump(const char* level, const uint8_t* data, size_t len, uint32_t of #endif } -#if RADIOLIB_DEBUG && defined(RADIOLIB_BUILD_ARDUINO) +#if RADIOLIB_DEBUG // https://github.com/esp8266/Arduino/blob/65579d29081cb8501e4d7f786747bf12e7b37da2/cores/esp8266/Print.cpp#L50 -size_t rlb_printf(const char* format, ...) { +size_t rlb_printf(bool ts, const char* format, ...) { va_list arg; va_start(arg, format); char temp[64]; char* buffer = temp; - size_t len = vsnprintf(temp, sizeof(temp), format, arg); + RadioLibTime_t timestamp = rlb_time_us(); + unsigned long sec = timestamp/1000000UL; + unsigned long usec = timestamp%1000000UL; + size_t len_ts = 0; + if(ts) { len_ts = snprintf(temp, sizeof(temp), "[%lu.%06lu] ", sec, usec); } + size_t len_str = vsnprintf(&temp[len_ts], sizeof(temp) - len_ts, format, arg); + size_t len = len_ts + len_str; va_end(arg); if (len > sizeof(temp) - 1) { buffer = new char[len + 1]; @@ -93,10 +150,15 @@ size_t rlb_printf(const char* format, ...) { return 0; } va_start(arg, format); - vsnprintf(buffer, len + 1, format, arg); + if(ts) { len_ts = snprintf(buffer, len_ts + 1, "[%lu.%06lu] ", sec, usec); } + vsnprintf(buffer + len_ts, len_str + 1, format, arg); va_end(arg); } + #if defined(RADIOLIB_BUILD_ARDUINO) len = RADIOLIB_DEBUG_PORT.write(reinterpret_cast(buffer), len); + #else + len = fwrite(buffer, sizeof(temp[0]), len, RADIOLIB_DEBUG_PORT); + #endif if (buffer != temp) { delete[] buffer; } diff --git a/lib/RadioLib/src/utils/Utils.h b/lib/RadioLib/src/utils/Utils.h index b8c4ac6..f668a13 100644 --- a/lib/RadioLib/src/utils/Utils.h +++ b/lib/RadioLib/src/utils/Utils.h @@ -16,6 +16,11 @@ #define TEST_BIT_IN_ARRAY_LSB(A, k) ( A[((k)/8)] & (1 << (7 - ((k)%8))) ) #define GET_BIT_IN_ARRAY_LSB(A, k) ( (A[((k)/8)] & (1 << (7 - ((k)%8)))) ? 1 : 0 ) +// frequently used scrambling configurations +// the final bit (x^0 term in polynomial notation) is assumed to always be present +#define RADIOLIB_SCRAMBLER_G3RUH_POLY (0x00010800UL) // x^17 + x^12 + 1 +#define RADIOLIB_SCRAMBLER_G3RUH_INIT (0x00000000UL) + /*! \brief Function to reflect bits within a byte. \param in The input to reflect. @@ -24,6 +29,16 @@ */ uint32_t rlb_reflect(uint32_t in, uint8_t bits); +/*! + \brief Function to scramble or descramble input using a linear feedback shift register (LFSR). + \param data The input data to (de)scramble. + \param len Number of input bytes. + \param poly Polynomial to use for scrambling. + \param init Initial LFSR value, sometimes called seed. + \param scramble Whether to perform scrambling (true) or de-scrambling (false). +*/ +void rlb_scrambler(uint8_t* data, size_t len, const uint32_t poly, const uint32_t init, bool scramble); + /*! \brief Function to dump data as hex into the debug port. \param level RadioLib debug level, set to NULL to not print. @@ -35,8 +50,8 @@ uint32_t rlb_reflect(uint32_t in, uint8_t bits); */ void rlb_hexdump(const char* level, const uint8_t* data, size_t len, uint32_t offset = 0, uint8_t width = 1, bool be = false); -#if RADIOLIB_DEBUG && defined(RADIOLIB_BUILD_ARDUINO) -size_t rlb_printf(const char* format, ...); +#if RADIOLIB_DEBUG +size_t rlb_printf(bool ts, const char* format, ...); #endif #endif diff --git a/lib/SensorLib/.gitattributes b/lib/SensorLib/.gitattributes new file mode 100644 index 0000000..fb6e038 --- /dev/null +++ b/lib/SensorLib/.gitattributes @@ -0,0 +1,3 @@ +*.hpp linguist-language=C++ +* text=auto eol=lf + diff --git a/lib/SensorLib/.piopm b/lib/SensorLib/.piopm deleted file mode 100644 index bc9268b..0000000 --- a/lib/SensorLib/.piopm +++ /dev/null @@ -1 +0,0 @@ -{"type": "library", "name": "SensorLib", "version": "0.3.3", "spec": {"owner": "lewisxhe", "id": 15035, "name": "SensorLib", "requirements": null, "uri": null}} \ No newline at end of file diff --git a/lib/SensorLib/CMakeLists.txt b/lib/SensorLib/CMakeLists.txt new file mode 100644 index 0000000..8872396 --- /dev/null +++ b/lib/SensorLib/CMakeLists.txt @@ -0,0 +1,33 @@ +set(src_dirs + src + src/touch + src/platform + src/bosch + src/bosch/BMM150 + src/bosch/bma4xx + src/bosch/bhi260x + src/bosch/bhi36x +) +set(include_dirs + src + src/touch + src/platform + src/bosch + src/bosch/firmware/bhi260 + src/bosch/firmware/bhi360 + src/bosch/BMM150 + src/bosch/bma4xx + src/bosch/bhi260x + src/bosch/bhi36x + src/sensor +) + +idf_component_register( + SRC_DIRS ${src_dirs} + INCLUDE_DIRS ${include_dirs} + REQUIRES esp_timer + esp_driver_gpio + esp_driver_i2c + esp_driver_spi + driver +) diff --git a/lib/SensorLib/Kconfig b/lib/SensorLib/Kconfig new file mode 100644 index 0000000..224b5e7 --- /dev/null +++ b/lib/SensorLib/Kconfig @@ -0,0 +1,16 @@ +menu "SensorLib Configuration" + + choice SensorLib_ESP_IDF_API + prompt "SensorLib library esp-idf api version" + default SENSORLIB_ESP_IDF_NEW_API + help + Define API version + + config SENSORLIB_ESP_IDF_NEW_API + bool "Use esp-idf higher version (>= 5.0) API" + config SENSORLIB_ESP_IDF_OLD_API + bool "Use esp-idf lower version ( < 5.0) API , Compatible with lower versions of esp-idf" + endchoice + + +endmenu diff --git a/lib/SensorLib/README.md b/lib/SensorLib/README.md index a06d82f..94138d5 100644 --- a/lib/SensorLib/README.md +++ b/lib/SensorLib/README.md @@ -1,20 +1,128 @@ +

+ +

-
+

SensorLib

+

+ A multi-platform sensor driver library for Arduino / PlatformIO / ESP-IDF. +

-[![Build with ESP-IDF](https://github.com/lewisxhe/SensorLib/actions/workflows/esp-idf.yml/badge.svg)](https://github.com/lewisxhe/SensorLib/actions/workflows/esp-idf.yml) -[![Build with Arduino](https://github.com/lewisxhe/SensorLib/actions/workflows/arduino_ci.yml/badge.svg)](https://github.com/lewisxhe/SensorLib/actions/workflows/arduino_ci.yml) -[![Build with PlatformIO](https://github.com/lewisxhe/SensorLib/actions/workflows/platformio.yml/badge.svg)](https://github.com/lewisxhe/SensorLib/actions/workflows/platformio.yml) -[![arduino-library-badge](https://www.ardu-badge.com/badge/SensorLib.svg?)](https://www.ardu-badge.com/SensorLib) -[![PlatformIO Registry](https://badges.registry.platformio.org/packages/lewisxhe/library/SensorLib.svg)](https://registry.platformio.org/libraries/lewisxhe/SensorLib) +

+ + + + + + + ESP-IDF Component Registry +

-[![LICENSE](https://img.shields.io/github/license/lewisxhe/SensorLib)](https://github.com/lewisxhe/SensorLib/blob/master/LICENSE) -[![ISSUES](https://img.shields.io/github/issues/lewisxhe/SensorsLib)](https://github.com/lewisxhe/SensorsLib/issues) -[![FORK](https://img.shields.io/github/forks/lewisxhe/SensorsLib)](https://github.com/lewisxhe/SensorsLib/graphs/contributors) -[![STAR](https://img.shields.io/github/stars/lewisxhe/SensorsLib)](https://github.com/lewisxhe/SensorsLib/stargazers) -[![releases](https://img.shields.io/github/release/lewisxhe/SensorsLib)](https://github.com/lewisxhe/SensorLib/releases) +

+ + + + + +

-Support list: +--- + +### Highlights +- One library for **Arduino / PlatformIO / ESP-IDF** +- Supports **I2C** and **SPI** devices +- A collection of ready-to-run examples under `examples/` + +--- + +## Contents +- [Contents](#contents) +- [Installation](#installation) + - [Arduino IDE](#arduino-ide) + - [PlatformIO](#platformio) + - [ESP-IDF](#esp-idf) +- [Examples](#examples) +- [Support list](#support-list) +- [Notes](#notes) +- [License](#license) + - [Third-party licenses](#third-party-licenses) + +## Installation + +### Arduino IDE + +**Option A: Install from Library Manager (recommended)** +1. Open Arduino IDE +2. Go to `Tools` → `Manage Libraries...` +3. Search for **SensorLib** +4. Click **Install** +5. Restart Arduino IDE if needed + +**Option B: Install from ZIP** +1. GitHub page → `Code` → `Download ZIP` +2. Arduino IDE → `Sketch` → `Include Library` → `Add .ZIP Library...` +3. Select the downloaded ZIP file +4. Restart Arduino IDE if the library does not appear immediately + +**Option C: Install with Git (manual)** +1. Clone this repository into your Arduino libraries folder: + - Windows: `Documents/Arduino/libraries/` + - macOS: `~/Documents/Arduino/libraries/` + - Linux: `~/Arduino/libraries/` +2. Folder name should be `SensorLib` +3. Restart Arduino IDE + +### PlatformIO + +**Option A: Install from PlatformIO Registry (recommended)** + +Add to your `platformio.ini`: + +```ini +[env:your_env] +platform = espressif32 +board = esp32dev +framework = arduino +lib_deps = + lewisxhe/SensorLib@^0.4.0 +``` + +**Option B: Install from GitHub (latest)** + +```ini +[env:your_env] +platform = espressif32 +board = esp32dev +framework = arduino +lib_deps = + https://github.com/lewisxhe/SensorLib.git +``` + +**Option C: Put it into `lib/` (local library)** +1. Copy/clone this repository into your PlatformIO project folder: + - `/lib/SensorLib/` +2. PlatformIO will auto-detect it as a local library + +### ESP-IDF + +SensorLib is now published in the official **ESP-IDF Component Registry**, and supports ESP-IDF v4.4+ (recommended v5.1+). + +**1. Add Dependency (in project root `idf_component.yml`)** + +Create or edit `idf_component.yml` in your ESP-IDF project root: + +```yaml +dependencies: + lewisxhe/sensorlib: + version: "^0.4.0" # or use "*" to get the latest version +``` + +## Examples + +- PlatformIO examples: see `platformio.ini` and uncomment the example `src_dir` you want to build. +- More examples are located in the `examples/` folder. + +## Support list | Sensor | Description | I2C | SPI | | --------------- | ------------------------ | --- | --- | @@ -22,12 +130,18 @@ Support list: | PCF85063 | Real-time clock | ✔️ | ❌ | | QMI8658 | IMU | ✔️ | ✔️ | | BHI260AP | IMU | ✔️ | ✔️ | +| BHI360 | IMU | ✔️ | ✔️ | | QMC6310U/N | Magnetic Sensor | ✔️ | ❌ | | QMC5883P | Magnetic Sensor | ✔️ | ❌ | +| QMC5883L | Magnetic Sensor | ✔️ | ❌ | | BMM150 | Magnetic Sensor | ✔️ | ❌ | | XL9555 | I/O expander | ✔️ | ❌ | +| PCA9570 | I/O expander | ✔️ | ❌ | +| BMA422 | Accelerometer | ✔️ | ❌ | | BMA423 | Accelerometer | ✔️ | ❌ | +| BMA456 | Accelerometer | ✔️ | ❌ | | DRV2605 | Haptic Driver | ✔️ | ❌ | +| AW86224 | Haptic Driver | ✔️ | ❌ | | CM32181 | Ambient Light Sensor | ✔️ | ❌ | | LTR553 | Light & Proximity Sensor | ✔️ | ❌ | | FT3267 | Capacitive touch | ✔️ | ❌ | @@ -42,4 +156,22 @@ Support list: | CST9217 | Capacitive touch | ✔️ | ❌ | | CST9220 | Capacitive touch | ✔️ | ❌ | | GT9895 | Capacitive touch | ✔️ | ❌ | +| HI8561 | Capacitive touch | ✔️ | ❌ | | AW9364 | Led Driver (GPIO) | ❌ | ❌ | +| BQ27220 | Gauge Meter | ✔️ | ❌ | +| AXP2602 | Gauge Meter | ✔️ | ❌ | + +## Notes + +- I2C devices typically require proper pull-up resistors on SDA/SCL. +- If you cannot detect devices, check wiring, address selection, and I2C speed (100kHz / 400kHz). + +## License + +SensorLib is licensed under the **MIT License**. See `LICENSE`. + +### Third-party licenses + +This repository includes third-party code under `src/bosch/` from **Bosch Sensortec**, licensed under the **BSD 3-Clause License (BSD-3-Clause)**. + +See `THIRD_PARTY_NOTICES.md` for details. \ No newline at end of file diff --git a/lib/SensorLib/THIRD_PARTY_NOTICES.md b/lib/SensorLib/THIRD_PARTY_NOTICES.md new file mode 100644 index 0000000..c216383 --- /dev/null +++ b/lib/SensorLib/THIRD_PARTY_NOTICES.md @@ -0,0 +1,22 @@ +# Third-Party Notices + +SensorLib includes third-party software components under their respective licenses. + +If you believe any notice is missing or inaccurate, please open an issue or pull request. + +--- + +## Bosch Sensortec open-source SDK + +**Location in this repository** +- `src/bosch/` + +**License** +- BSD 3-Clause License (BSD-3-Clause) + +**Copyright** +- Copyright (c) 2023 Bosch Sensortec GmbH + +**Notes** +- The original license text and copyright notices are retained in the header of each source file under `src/bosch/`. +- Use of the Bosch components is governed by their license terms, which may differ from SensorLib’s main license. diff --git a/lib/SensorLib/examples/AXP2602_GaugeExample/AXP2602_GaugeExample.ino b/lib/SensorLib/examples/AXP2602_GaugeExample/AXP2602_GaugeExample.ino new file mode 100644 index 0000000..dca4bc9 --- /dev/null +++ b/lib/SensorLib/examples/AXP2602_GaugeExample/AXP2602_GaugeExample.ino @@ -0,0 +1,178 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file AXP2602_GaugeExample.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-14 + * + */ +#include +#include +#include +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 3 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 2 +#endif + +GaugeAXP2602 gauge; + +void setup() +{ + Serial.begin(115200); + // while (!Serial); + + if (!gauge.begin(Wire, SENSOR_SDA, SENSOR_SCL)) { + Serial.println("Failed to AXP2602 - check your wiring!"); + while (1) { + delay(1000); + } + } + Serial.println("Init AXP2602 Sensor success!"); + + /* + * Gauge Work mode: + * // It has relatively high power consumption, but can be used for both charging and discharging. + * - OPERATING_MODE_HIGH_PRECISION + * + * // In default mode, it can be used for both charging and discharging. + * - OPERATING_MODE_NORMAL + * + * // With relatively low power consumption, it can only be used in low-power scenarios during discharge. + * // In other scenarios, software switching to normal mode or high-precision mode is required. + * - OPERATING_MODE_LOW_POWER + */ + // gauge.setOperatingMode(GaugeAXP2602::OPERATING_MODE_HIGH_PRECISION); + + /* + * The sampling resistor size is 10 milliohms by default. + * SENSE_RESISTOR_10_MOHM + * SENSE_RESISTOR_5_MOHM + * SENSE_RESISTOR_20_MOHM + * SENSE_RESISTOR_40_MOHM + */ + // gauge.setCurrentSenseResistor(GaugeAXP2602::SENSE_RESISTOR_10_MOHM); + + // gauge.setBatteryDetection(true); // Enabled by default + + // gauge.setCurrentMeasurement(true); // Enabled by default + + // gauge.setThermalDieMeasurement(true); // Enabled by default + + // gauge.setLowBatterySOCThreshold(60); // Set low battery SOC threshold to 60% + + //! =========================== Battery calibration array, 128 bytes =========================== + //! The calibration battery only needs to be written once. + + /* + + Replace with the battery curve you want to use. + + static uint8_t BATTER_PARAMS[] = { + 0x01, 0xf5, 0x40, 0x00, 0x1b, 0x1e, 0x28, 0x0f, 0x0c, 0x1e, 0x32, 0x02, 0x14, 0x05, 0x0a, 0x04, + 0x74, 0xfc, 0xf4, 0x0d, 0x43, 0x10, 0x52, 0xfb, 0xa6, 0x01, 0xea, 0x04, 0x64, 0x06, 0x52, 0x06, + 0x18, 0x0a, 0xe7, 0x0f, 0x9f, 0x0f, 0x51, 0x09, 0xf7, 0x0e, 0x89, 0x0e, 0x71, 0x04, 0x58, 0x04, + 0x43, 0x09, 0x32, 0x0e, 0x1c, 0x0e, 0x14, 0x09, 0x04, 0x0d, 0xe9, 0x0d, 0xde, 0x03, 0xc8, 0x03, + 0xb3, 0x08, 0x9d, 0x0d, 0x79, 0x0d, 0x3a, 0x07, 0xf5, 0x9e, 0x56, 0x47, 0x36, 0x20, 0x24, 0x17, + 0xc5, 0x98, 0x7e, 0x66, 0x4e, 0x44, 0x38, 0x1a, 0x12, 0x0a, 0xf6, 0x00, 0x00, 0xf6, 0x00, 0xf6, + 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xf6, 0x00, 0x00, 0xf6, 0x00, 0xf6, + 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xf6, 0x00, 0x00, 0xf6, 0x00, 0xf6 + }; + + + if (gauge.writeGaugeData(BATTER_PARAMS, sizeof(BATTER_PARAMS))) { + Serial.println("Battery calibration data write success"); + } else { + Serial.println("Battery calibration data write failed"); + } + + */ +} + + +void loop() +{ + uint32_t startMeasTime = millis(); + + if (gauge.refresh()) { + + uint32_t endMesTime = millis(); + + Serial.print("Polling time: "); Serial.print(endMesTime - startMeasTime); Serial.println(" ms"); + Serial.print("\t- Sleep: "); Serial.print(gauge.isSleepModeEnabled() ? "Enabled" : "Disabled"); Serial.println(); + Serial.print("\t- Temperature:"); Serial.print(gauge.getTemperature()); Serial.println(" ℃"); + Serial.print("\t- BatteryVoltage:"); Serial.print(gauge.getVoltage()); Serial.println(" mV"); + Serial.print("\t- InstantaneousCurrent:"); Serial.print(gauge.getCurrent()); Serial.println(" mAh"); + Serial.print("\t- InstantaneousCurrentRaw:"); Serial.print(gauge.getCurrentRaw()); Serial.println(" RAW"); + Serial.print("\t- ThermalDieTemperature:"); Serial.print(gauge.getThermalDieTemperature()); Serial.println(" ℃"); + Serial.print("\t- ThermalDieTemperatureRaw:"); Serial.print(gauge.getThermalDieTemperatureRaw()); Serial.println(" RAW"); + Serial.print("\t- ChargingPower:"); Serial.print(gauge.getChargingPower()); Serial.println(" W"); + Serial.print("\t- DischargingPower:"); Serial.print(gauge.getDischargingPower()); Serial.println(" W"); + Serial.print("\t- AbsolutePower:"); Serial.print(gauge.getAbsolutePower()); Serial.println(" W"); + Serial.print("\t- isCharging:"); Serial.print(gauge.isCharging() ? "Yes" : "No"); Serial.println(); + Serial.print("\t- isDischarging:"); Serial.print(gauge.isDischarging() ? "Yes" : "No"); Serial.println(); + Serial.print("\t- TimeToEmpty:"); Serial.print(gauge.getTimeToEmpty()); Serial.println(" minutes"); + Serial.print("\t- TimeToFull:"); Serial.print(gauge.getTimeToFull()); Serial.println(" minutes"); + Serial.print("\t- StateOfCharge:"); Serial.print(gauge.getStateOfCharge()); Serial.println(" %"); + Serial.print("\t- Battery Status:"); Serial.print(gauge.getBatteryStatus()); Serial.println(" RAW"); + + GaugeAXP2602::IRQStatus irqStatus = gauge.getIRQStatus(); + + switch (irqStatus) { + case GaugeAXP2602::IRQ_STATUS_LOW_BATTERY: + Serial.println("Low battery detected!"); + Serial.println("Low battery detected!"); + break; + case GaugeAXP2602::IRQ_STATUS_WDT_TIMEOUT: + Serial.println("Watchdog timer timeout!"); + Serial.println("Watchdog timer timeout!"); + break; + case GaugeAXP2602::IRQ_STATUS_OVER_TEMPERATURE: + Serial.println("Over temperature detected!"); + Serial.println("Over temperature detected!"); + break; + case GaugeAXP2602::IRQ_STATUS_SOC_UPDATE: + Serial.println("State of Charge updated!"); + Serial.println("State of Charge updated!"); + break; + default: + break; + } + + if (irqStatus != GaugeAXP2602::IRQ_STATUS_NONE) { + gauge.clearIRQStatus(); + } + + Serial.println("==============================================="); + + } + delay(3000); +} + + + diff --git a/lib/SensorLib/examples/AXP2602_GaugeExample_UDP/AXP2602_GaugeExample_UDP.ino b/lib/SensorLib/examples/AXP2602_GaugeExample_UDP/AXP2602_GaugeExample_UDP.ino new file mode 100644 index 0000000..6df5ec5 --- /dev/null +++ b/lib/SensorLib/examples/AXP2602_GaugeExample_UDP/AXP2602_GaugeExample_UDP.ino @@ -0,0 +1,238 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file AXP2602_GaugeExample_UDP.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-14 + * + */ +#include +#include +#include +#include + +#ifdef ARDUINO_ARCH_ESP32 +#include + + +#ifndef SENSOR_SDA +#define SENSOR_SDA 3 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 2 +#endif + + +//IP address to send UDP data to: +// either use the ip address of the server or +// a network broadcast address +const char *udpAddress = "Your_UDP_IP"; +const int udpPort = 3333; // Replace with your UDP port +const char *ssid = "Your_SSID"; +const char *password = "Your_PASSWORD"; + +WiFiUDP udp; +GaugeAXP2602 gauge; + +void setup() +{ + Serial.begin(115200); + // while (!Serial); + + + WiFi.begin(ssid, password); + while (WiFi.status() != WL_CONNECTED) { + delay(1000); + Serial.println("Connecting to WiFi..."); + } + Serial.println("Connected to WiFi!"); + Serial.print("IP Address: "); + Serial.println(WiFi.localIP()); + + udp.begin(WiFi.localIP(), udpPort); + Serial.println("UDP started"); + + if (!gauge.begin(Wire, SENSOR_SDA, SENSOR_SCL)) { + Serial.println("Failed to AXP2602 - check your wiring!"); + while (1) { + delay(1000); + } + } + Serial.println("Init AXP2602 Sensor success!"); + + /* + * Gauge Work mode: + * // It has relatively high power consumption, but can be used for both charging and discharging. + * - OPERATING_MODE_HIGH_PRECISION + * + * // In default mode, it can be used for both charging and discharging. + * - OPERATING_MODE_NORMAL + * + * // With relatively low power consumption, it can only be used in low-power scenarios during discharge. + * // In other scenarios, software switching to normal mode or high-precision mode is required. + * - OPERATING_MODE_LOW_POWER + */ + // gauge.setOperatingMode(GaugeAXP2602::OPERATING_MODE_HIGH_PRECISION); + + /* + * The sampling resistor size is 10 milliohms by default. + * SENSE_RESISTOR_10_MOHM + * SENSE_RESISTOR_5_MOHM + * SENSE_RESISTOR_20_MOHM + * SENSE_RESISTOR_40_MOHM + */ + // gauge.setCurrentSenseResistor(GaugeAXP2602::SENSE_RESISTOR_10_MOHM); + + // gauge.setBatteryDetection(true); // Enabled by default + + // gauge.setCurrentMeasurement(true); // Enabled by default + + // gauge.setThermalDieMeasurement(true); // Enabled by default + + // gauge.setLowBatterySOCThreshold(60); // Set low battery SOC threshold to 60% + + //! =========================== Battery calibration array, 128 bytes =========================== + //! The calibration battery only needs to be written once. + + /* + + Replace with the battery curve you want to use. + + static uint8_t BATTER_PARAMS[] = { + 0x01, 0xf5, 0x40, 0x00, 0x1b, 0x1e, 0x28, 0x0f, 0x0c, 0x1e, 0x32, 0x02, 0x14, 0x05, 0x0a, 0x04, + 0x74, 0xfc, 0xf4, 0x0d, 0x43, 0x10, 0x52, 0xfb, 0xa6, 0x01, 0xea, 0x04, 0x64, 0x06, 0x52, 0x06, + 0x18, 0x0a, 0xe7, 0x0f, 0x9f, 0x0f, 0x51, 0x09, 0xf7, 0x0e, 0x89, 0x0e, 0x71, 0x04, 0x58, 0x04, + 0x43, 0x09, 0x32, 0x0e, 0x1c, 0x0e, 0x14, 0x09, 0x04, 0x0d, 0xe9, 0x0d, 0xde, 0x03, 0xc8, 0x03, + 0xb3, 0x08, 0x9d, 0x0d, 0x79, 0x0d, 0x3a, 0x07, 0xf5, 0x9e, 0x56, 0x47, 0x36, 0x20, 0x24, 0x17, + 0xc5, 0x98, 0x7e, 0x66, 0x4e, 0x44, 0x38, 0x1a, 0x12, 0x0a, 0xf6, 0x00, 0x00, 0xf6, 0x00, 0xf6, + 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xf6, 0x00, 0x00, 0xf6, 0x00, 0xf6, + 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xfb, 0x00, 0x00, 0xf6, 0x00, 0x00, 0xf6, 0x00, 0xf6 + }; + + + if (gauge.writeGaugeData(BATTER_PARAMS, sizeof(BATTER_PARAMS))) { + Serial.println("Battery calibration data write success"); + } else { + Serial.println("Battery calibration data write failed"); + } + + */ + +} + +void loop() +{ + uint32_t startMeasTime = millis(); + + if (gauge.refresh()) { + + uint32_t endMesTime = millis(); + + udp.beginPacket(udpAddress, udpPort); + + udp.print("Polling time: "); udp.print(endMesTime - startMeasTime); udp.println(" ms"); + udp.print("\t- Sleep: "); udp.print(gauge.isSleepModeEnabled() ? "Enabled" : "Disabled"); udp.println(); + udp.print("\t- Temperature:"); udp.print(gauge.getTemperature() ); udp.println(" ℃"); + udp.print("\t- BatteryVoltage:"); udp.print(gauge.getVoltage()); udp.println(" mV"); + udp.print("\t- InstantaneousCurrent:"); udp.print(gauge.getCurrent()); udp.println(" mAh"); + udp.print("\t- InstantaneousCurrentRaw:"); udp.print(gauge.getCurrentRaw()); udp.println(" RAW"); + udp.print("\t- ThermalDieTemperature:"); udp.print(gauge.getThermalDieTemperature()); udp.println(" ℃"); + udp.print("\t- ThermalDieTemperatureRaw:"); udp.print(gauge.getThermalDieTemperatureRaw()); udp.println(" RAW"); + udp.print("\t- ChargingPower:"); udp.print(gauge.getChargingPower()); udp.println(" W"); + udp.print("\t- DischargingPower:"); udp.print(gauge.getDischargingPower()); udp.println(" W"); + udp.print("\t- AbsolutePower:"); udp.print(gauge.getAbsolutePower()); udp.println(" W"); + udp.print("\t- isCharging:"); udp.print(gauge.isCharging() ? "Yes" : "No"); udp.println(); + udp.print("\t- isDischarging:"); udp.print(gauge.isDischarging() ? "Yes" : "No"); udp.println(); + udp.print("\t- TimeToEmpty:"); udp.print(gauge.getTimeToEmpty()); udp.println(" minutes"); + udp.print("\t- TimeToFull:"); udp.print(gauge.getTimeToFull()); udp.println(" minutes"); + udp.print("\t- StateOfCharge:"); udp.print(gauge.getStateOfCharge()); udp.println(" %"); + udp.print("\t- Battery Status:"); udp.print(gauge.getBatteryStatus()); udp.println(" RAW"); + + + Serial.print("Polling time: "); Serial.print(endMesTime - startMeasTime); Serial.println(" ms"); + Serial.print("\t- Sleep: "); Serial.print(gauge.isSleepModeEnabled() ? "Enabled" : "Disabled"); Serial.println(); + Serial.print("\t- Temperature:"); Serial.print(gauge.getTemperature()); Serial.println(" ℃"); + Serial.print("\t- BatteryVoltage:"); Serial.print(gauge.getVoltage()); Serial.println(" mV"); + Serial.print("\t- InstantaneousCurrent:"); Serial.print(gauge.getCurrent()); Serial.println(" mAh"); + Serial.print("\t- InstantaneousCurrentRaw:"); Serial.print(gauge.getCurrentRaw()); Serial.println(" RAW"); + Serial.print("\t- ThermalDieTemperature:"); Serial.print(gauge.getThermalDieTemperature()); Serial.println(" ℃"); + Serial.print("\t- ThermalDieTemperatureRaw:"); Serial.print(gauge.getThermalDieTemperatureRaw()); Serial.println(" RAW"); + Serial.print("\t- ChargingPower:"); Serial.print(gauge.getChargingPower()); Serial.println(" W"); + Serial.print("\t- DischargingPower:"); Serial.print(gauge.getDischargingPower()); Serial.println(" W"); + Serial.print("\t- AbsolutePower:"); Serial.print(gauge.getAbsolutePower()); Serial.println(" W"); + Serial.print("\t- isCharging:"); Serial.print(gauge.isCharging() ? "Yes" : "No"); Serial.println(); + Serial.print("\t- isDischarging:"); Serial.print(gauge.isDischarging() ? "Yes" : "No"); Serial.println(); + Serial.print("\t- TimeToEmpty:"); Serial.print(gauge.getTimeToEmpty()); Serial.println(" minutes"); + Serial.print("\t- TimeToFull:"); Serial.print(gauge.getTimeToFull()); Serial.println(" minutes"); + Serial.print("\t- StateOfCharge:"); Serial.print(gauge.getStateOfCharge()); Serial.println(" %"); + Serial.print("\t- Battery Status:"); Serial.print(gauge.getBatteryStatus()); Serial.println(" RAW"); + + + GaugeAXP2602::IRQStatus irqStatus = gauge.getIRQStatus(); + + switch (irqStatus) { + case GaugeAXP2602::IRQ_STATUS_LOW_BATTERY: + Serial.println("Low battery detected!"); + udp.println("Low battery detected!"); + break; + case GaugeAXP2602::IRQ_STATUS_WDT_TIMEOUT: + Serial.println("Watchdog timer timeout!"); + udp.println("Watchdog timer timeout!"); + break; + case GaugeAXP2602::IRQ_STATUS_OVER_TEMPERATURE: + Serial.println("Over temperature detected!"); + udp.println("Over temperature detected!"); + break; + case GaugeAXP2602::IRQ_STATUS_SOC_UPDATE: + Serial.println("State of Charge updated!"); + udp.println("State of Charge updated!"); + break; + default: + break; + } + + if (irqStatus != GaugeAXP2602::IRQ_STATUS_NONE) { + gauge.clearIRQStatus(); + } + + udp.endPacket(); + + Serial.println("==============================================="); + + } + delay(3000); +} +#else +void setup() +{ + Serial.begin(115200); +} + +void loop() +{ + Serial.println("This example only supports ESP32 platform."); + delay(5000); +} +#endif diff --git a/lib/SensorLib/examples/BHI260AP_6DoF/BHI260AP_6DoF.ino b/lib/SensorLib/examples/BHI260AP_6DoF/BHI260AP_6DoF.ino index 807e360..9badb30 100644 --- a/lib/SensorLib/examples/BHI260AP_6DoF/BHI260AP_6DoF.ino +++ b/lib/SensorLib/examples/BHI260AP_6DoF/BHI260AP_6DoF.ino @@ -94,8 +94,8 @@ SensorBHI260AP bhy; #define USING_DATA_HELPER #ifdef USING_DATA_HELPER -SensorXYZ accel(SensorBHI260AP::ACCEL_PASSTHROUGH, bhy); -SensorXYZ gyro(SensorBHI260AP::GYRO_PASSTHROUGH, bhy); +SensorAcceleration accel(bhy); +SensorGyroscope gyro(bhy); #endif // The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run. @@ -134,17 +134,17 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ #ifndef USING_DATA_HELPER -void xyz_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void xyz_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { struct bhy2_data_xyz data; float scaling_factor = bhy.getScaling(sensor_id); @@ -162,7 +162,7 @@ void xyz_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, ui #endif // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -224,10 +224,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif float sample_rate = 100.0; /* Read out data measured at 100Hz */ @@ -240,13 +248,13 @@ void setup() gyro.enable(sample_rate, report_latency_ms); #else // Enable acceleration - bhy.configure(SensorBHI260AP::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); // Enable gyroscope - bhy.configure(SensorBHI260AP::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); // Set the acceleration sensor result callback function - bhy.onResultEvent(SensorBHI260AP::ACCEL_PASSTHROUGH, xyz_process_callback); + bhy.onResultEvent(BoschSensorID::ACCEL_PASSTHROUGH, xyz_process_callback); // Set the gyroscope sensor result callback function - bhy.onResultEvent(SensorBHI260AP::GYRO_PASSTHROUGH, xyz_process_callback); + bhy.onResultEvent(BoschSensorID::GYRO_PASSTHROUGH, xyz_process_callback); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -265,8 +273,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, @@ -280,36 +288,47 @@ void loop() #ifdef USING_DATA_HELPER - if (accel.hasUpdated() && gyro.hasUpdated()) { - uint32_t s; - uint32_t ns; + uint32_t s; + uint32_t ns; + AccelerometerData accel_data; + if (accel.readData(accel_data)) { accel.getLastTime(s, ns); - #ifdef PLATFORM_HAS_PRINTF - Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] AX:%+7.2f AY:%+7.2f AZ:%+7.2f GX:%+7.2f GY:%+7.2f GZ:%+7.2f \n", - s, ns, accel.getX(), accel.getY(), accel.getZ(), - gyro.getX(), gyro.getY(), gyro.getZ()); - + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [AX:%+7.2f AY:%+7.2f AZ:%+7.2f] \n", + s, ns, accel_data.mps2.x, accel_data.mps2.y, accel_data.mps2.z); #else Serial.print("[T: "); Serial.print(s); Serial.print("."); Serial.print(ns); - Serial.print("] AX:"); - Serial.print(accel.getX(), 2); + Serial.print("] [AX:"); + Serial.print(accel_data.mps2.x, 2); Serial.print(" AY:"); - Serial.print(accel.getY(), 2); + Serial.print(accel_data.mps2.y, 2); Serial.print(" AZ:"); - Serial.print(accel.getZ(), 2); - Serial.print(" GX:"); - Serial.print(gyro.getX(), 2); - Serial.print(" GY:"); - Serial.print(gyro.getY(), 2); - Serial.print(" GZ:"); - Serial.print(gyro.getZ(), 2); - Serial.println(); + Serial.print(accel_data.mps2.z, 2); + Serial.println("]"); +#endif + } + GyroscopeData gyro_data; + if (gyro.readData(gyro_data)) { + gyro.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [GX:%+7.2f GY:%+7.2f GZ:%+7.2f] \n", + s, ns, gyro_data.dps.x, gyro_data.dps.y, gyro_data.dps.z); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [GX:"); + Serial.print(gyro_data.dps.x, 2); + Serial.print(" GY:"); + Serial.print(gyro_data.dps.y, 2); + Serial.print(" GZ:"); + Serial.print(gyro_data.dps.z, 2); + Serial.println("]"); #endif - } #endif /*USING_DATA_HELPER*/ delay(50); diff --git a/lib/SensorLib/examples/BHI260AP_Activity/BHI260AP_Activity.ino b/lib/SensorLib/examples/BHI260AP_Activity/BHI260AP_Activity.ino index 2071d5b..d95d15b 100644 --- a/lib/SensorLib/examples/BHI260AP_Activity/BHI260AP_Activity.ino +++ b/lib/SensorLib/examples/BHI260AP_Activity/BHI260AP_Activity.ino @@ -122,16 +122,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -194,10 +194,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif float sample_rate = 1.0; @@ -278,8 +286,8 @@ void loop() } #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_Euler/BHI260AP_Euler.ino b/lib/SensorLib/examples/BHI260AP_Euler/BHI260AP_Euler.ino index 7048c99..5ecfc1c 100644 --- a/lib/SensorLib/examples/BHI260AP_Euler/BHI260AP_Euler.ino +++ b/lib/SensorLib/examples/BHI260AP_Euler/BHI260AP_Euler.ino @@ -133,16 +133,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -166,7 +166,7 @@ void progress_callback(void *user_data, uint32_t total, uint32_t transferred) * @param user_data A generic pointer to user - defined data. */ #ifndef USING_DATA_HELPER -void parse_quaternion(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void parse_quaternion(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { // Declare variables to store the Euler angles (roll, pitch, and yaw). float roll, pitch, yaw; @@ -239,10 +239,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif /** @@ -260,21 +268,21 @@ void setup() // Set the sensor's axis remapping based on the chip's orientation. // These commented-out lines show different ways to configure the sensor according to the chip's corners. // When the chip is viewed from the top, set the orientation to the top-left corner. - // bhy.setRemapAxes(SensorBHI260AP::TOP_LAYER_LEFT_CORNER); + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_LEFT_CORNER); // When the chip is viewed from the top, set the orientation to the top-right corner. - // bhy.setRemapAxes(SensorBHI260AP::TOP_LAYER_RIGHT_CORNER); + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); // When the chip is viewed from the top, set the orientation to the bottom-right corner of the top layer. - // bhy.setRemapAxes(SensorBHI260AP::TOP_LAYER_BOTTOM_RIGHT_CORNER); + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_BOTTOM_RIGHT_CORNER); // When the chip is viewed from the top, set the orientation to the bottom-left corner of the top layer. - // bhy.setRemapAxes(SensorBHI260AP::TOP_LAYER_BOTTOM_LEFT_CORNER); + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_BOTTOM_LEFT_CORNER); // When the chip is viewed from the bottom, set the orientation to the top-left corner of the bottom layer. - // bhy.setRemapAxes(SensorBHI260AP::BOTTOM_LAYER_TOP_LEFT_CORNER); + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_TOP_LEFT_CORNER); // When the chip is viewed from the bottom, set the orientation to the top-right corner of the bottom layer. - // bhy.setRemapAxes(SensorBHI260AP::BOTTOM_LAYER_TOP_RIGHT_CORNER); + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_TOP_RIGHT_CORNER); // When the chip is viewed from the bottom, set the orientation to the bottom-right corner of the bottom layer. - // bhy.setRemapAxes(SensorBHI260AP::BOTTOM_LAYER_BOTTOM_RIGHT_CORNER); + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_BOTTOM_RIGHT_CORNER); // When the chip is viewed from the bottom, set the orientation to the bottom-left corner of the bottom layer. - // bhy.setRemapAxes(SensorBHI260AP::BOTTOM_LAYER_BOTTOM_LEFT_CORNER); + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_BOTTOM_LEFT_CORNER); // Define the sample rate for data reading. // The sensor will read out data measured at a frequency of 100Hz. @@ -289,10 +297,10 @@ void setup() // GAME_ROTATION_VECTOR virtual sensor does not rely on external magnetometers, such as BMM150, BMM350 // Configure the sensor to measure the game rotation vector. // Set the sample rate and report latency for this measurement. - bhy.configure(SensorBHI260AP::GAME_ROTATION_VECTOR, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::GAME_ROTATION_VECTOR, sample_rate, report_latency_ms); // Register a callback function 'parse_quaternion' to handle the result events of the game rotation vector measurement. // When the sensor has new data for the game rotation vector, the 'parse_quaternion' function will be called. - bhy.onResultEvent(SensorBHI260AP::GAME_ROTATION_VECTOR, parse_quaternion); + bhy.onResultEvent(BoschSensorID::GAME_ROTATION_VECTOR, parse_quaternion); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -311,8 +319,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino b/lib/SensorLib/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino index 4aac81a..8aec96c 100644 --- a/lib/SensorLib/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino +++ b/lib/SensorLib/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino @@ -89,25 +89,11 @@ void initialiseCommander(); SensorBHI260AP bhy; // The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run. -// #define BOSCH_APP30_SHUTTLE_BHI260_FW -// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW -// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X -// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390 -// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO -// #define BOSCH_BHI260_AUX_BEM280 -// #define BOSCH_BHI260_AUX_BMM150_BEM280 // #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO // #define BOSCH_BHI260_AUX_BMM150_GPIO #define BOSCH_BHI260_GPIO // Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash -// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH -// #define BOSCH_BHI260_AUX_BEM280_FLASH -// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH // #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH // #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH // #define BOSCH_BHI260_GPIO_FLASH @@ -124,16 +110,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -196,10 +182,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif initialiseCommander(); @@ -228,8 +222,8 @@ void loop() cmd.update(); #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_InterruptSettings/BHI260AP_InterruptSettings.ino b/lib/SensorLib/examples/BHI260AP_InterruptSettings/BHI260AP_InterruptSettings.ino new file mode 100644 index 0000000..49e6805 --- /dev/null +++ b/lib/SensorLib/examples/BHI260AP_InterruptSettings/BHI260AP_InterruptSettings.ino @@ -0,0 +1,333 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI260AP_InterruptSettings.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-04 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI260_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI260_IRQ +#define BHI260_IRQ 37 +#endif + +#ifndef BHI260_CS +#define BHI260_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI260_SDA +#define BHI260_SDA 2 +#endif + +#ifndef BHI260_SCL +#define BHI260_SCL 3 +#endif + +// If BHI260_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI260_IRQ +#define BHI260_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI260_RST +#define BHI260_RST -1 +#endif + +SensorBHI260AP bhy; +SensorAcceleration accel(bhy); +SensorGyroscope gyro(bhy); + +// The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run. +#define BOSCH_APP30_SHUTTLE_BHI260_FW +// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW +// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X +// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390 +// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO +// #define BOSCH_BHI260_AUX_BEM280 +// #define BOSCH_BHI260_AUX_BMM150_BEM280 +// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO +// #define BOSCH_BHI260_AUX_BMM150_GPIO +// #define BOSCH_BHI260_GPIO + +// Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash +// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH +// #define BOSCH_BHI260_AUX_BEM280_FLASH +// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH +// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH +// #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH +// #define BOSCH_BHI260_GPIO_FLASH + +#include + +// Force update of current firmware, whether it exists or not. +// Only works when external SPI Flash is connected to BHI260. +// After uploading firmware once, you can change this to false to speed up boot time. +bool force_update_flash_firmware = true; + +#if BHI260_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI260_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size, bosch_firmware_type, force_update_flash_firmware); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + + // Set to load firmware from flash + bhy.setBootFromFlash(bosch_firmware_type); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI260AP_SLAVE_ADDRESS_L = 0x28 + // BHI260AP_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI260AP_SLAVE_ADDRESS_L, BHI260_SDA, BHI260_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI260_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + + // Interrupt configuration + InterruptConfig config; + config.wakeUpFIFOEnabled = false; + config.nonWakeUpFIFOEnabled = true; // It must be enabled, otherwise FIFO cannot be updated. + config.faultEnabled = false; + config.debuggingEnabled = false; + config.polarity = InterruptConfig::Polarity::ACTIVE_HIGH; + config.triggerMode = InterruptConfig::TriggerMode::EDGE; + bhy.configureInterrupt(config); + + uint8_t regValue = bhy.getInterruptRegisterValue(); + String desc; + desc += "Register Value: 0x" + String(regValue, HEX) + "\n"; + desc += "Bit 0 - Wake-up FIFO: " + String((regValue & (1 << 0)) ? "MASKED" : "ACTIVE") + "\n"; + desc += "Bit 1 - Non-Wake FIFO: " + String((regValue & (1 << 1)) ? "MASKED" : "ACTIVE") + "\n"; + desc += "Bit 2 - Status FIFO: " + String((regValue & (1 << 2)) ? "MASKED" : "ACTIVE") + "\n"; + desc += "Bit 3 - Debug: " + String((regValue & (1 << 3)) ? "MASKED" : "ACTIVE") + "\n"; + desc += "Bit 4 - Fault: " + String((regValue & (1 << 4)) ? "MASKED" : "ACTIVE") + "\n"; + desc += "Bit 5 - Polarity: " + String((regValue & (1 << 5)) ? "ACTIVE_LOW" : "ACTIVE_HIGH") + "\n"; + desc += "Bit 6 - Trigger: " + String((regValue & (1 << 6)) ? "EDGE" : "LEVEL") + "\n"; + desc += "Bit 7 - Pin Mode: " + String((regValue & (1 << 7)) ? "OPEN_DRAIN" : "PUSH_PULL"); + + /* + Register Value: 0x59 + Bit 0 - Wake-up FIFO: MASKED + Bit 1 - Non-Wake FIFO: ACTIVE + Bit 2 - Status FIFO: ACTIVE + Bit 3 - Debug: MASKED + Bit 4 - Fault: MASKED + Bit 5 - Polarity: ACTIVE_HIGH + Bit 6 - Trigger: EDGE + Bit 7 - Pin Mode: PUSH_PULL + */ + Serial.println(desc); + + + float sample_rate = 1.0; /* Read out data measured at 1Hz */ + uint32_t report_latency_ms = 0; /* Report immediately */ + + // Enable acceleration + accel.enable(sample_rate, report_latency_ms); + // Enable gyroscope + gyro.enable(sample_rate, report_latency_ms); + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI260_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI260_IRQ is equal to -1 then the polling method will be used + pinMode(BHI260_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI260_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI260_IRQ, dataReadyISR, RISING); +#endif +} + + +void loop() +{ +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + + + uint32_t s; + uint32_t ns; + AccelerometerData accel_data; + if (accel.readData(accel_data)) { + accel.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [AX:%+7.2f AY:%+7.2f AZ:%+7.2f] \n", + s, ns, accel_data.mps2.x, accel_data.mps2.y, accel_data.mps2.z); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [AX:"); + Serial.print(accel_data.mps2.x, 2); + Serial.print(" AY:"); + Serial.print(accel_data.mps2.y, 2); + Serial.print(" AZ:"); + Serial.print(accel_data.mps2.z, 2); + Serial.println("]"); +#endif + } + GyroscopeData gyro_data; + if (gyro.readData(gyro_data)) { + gyro.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [GX:%+7.2f GY:%+7.2f GZ:%+7.2f] \n", + s, ns, gyro_data.dps.x, gyro_data.dps.y, gyro_data.dps.z); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [GX:"); + Serial.print(gyro_data.dps.x, 2); + Serial.print(" GY:"); + Serial.print(gyro_data.dps.y, 2); + Serial.print(" GZ:"); + Serial.print(gyro_data.dps.z, 2); + Serial.println("]"); +#endif + } + delay(50); +} + + + diff --git a/lib/SensorLib/examples/BHI260AP_Klio_Recognition/BHI260AP_Klio_Recognition.ino b/lib/SensorLib/examples/BHI260AP_Klio_Recognition/BHI260AP_Klio_Recognition.ino index b8f16df..aaf4819 100644 --- a/lib/SensorLib/examples/BHI260AP_Klio_Recognition/BHI260AP_Klio_Recognition.ino +++ b/lib/SensorLib/examples/BHI260AP_Klio_Recognition/BHI260AP_Klio_Recognition.ino @@ -132,16 +132,16 @@ uint8_t action1_pattern[] = { #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -202,10 +202,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif // Attempt to initialize the KLIO sensor. @@ -279,8 +287,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_Klio_RecognizeMultiple/BHI260AP_Klio_RecognizeMultiple.ino b/lib/SensorLib/examples/BHI260AP_Klio_RecognizeMultiple/BHI260AP_Klio_RecognizeMultiple.ino index 7a487fa..9d4ba5f 100644 --- a/lib/SensorLib/examples/BHI260AP_Klio_RecognizeMultiple/BHI260AP_Klio_RecognizeMultiple.ino +++ b/lib/SensorLib/examples/BHI260AP_Klio_RecognizeMultiple/BHI260AP_Klio_RecognizeMultiple.ino @@ -157,16 +157,16 @@ const uint8_t action2_pattern[] = { #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -308,10 +308,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif // Try to initialize the KLIO sensor. @@ -349,8 +357,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_Klio_Selflearning/BHI260AP_Klio_Selflearning.ino b/lib/SensorLib/examples/BHI260AP_Klio_Selflearning/BHI260AP_Klio_Selflearning.ino index 1173b36..7749e55 100644 --- a/lib/SensorLib/examples/BHI260AP_Klio_Selflearning/BHI260AP_Klio_Selflearning.ino +++ b/lib/SensorLib/examples/BHI260AP_Klio_Selflearning/BHI260AP_Klio_Selflearning.ino @@ -105,16 +105,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -158,7 +158,7 @@ void recognition_event_callback(uint8_t pattern_id, float count, void *user_data * and takes actions based on the learning results. * * @param reason The reason for the learning change. It is an enumeration value from the - * SensorBHI260AP_Klio::LeaningChangeReason type, indicating why the learning state has changed. + * SensorBHI260AP_Klio::LearningChangeReason type, indicating why the learning state has changed. * @param progress The current progress of the learning process, represented as an unsigned 32 - bit integer. * This value typically ranges from 0 to 100, indicating the percentage of the learning completion. * @param learn_index The index of the learned pattern. If the learning is invalid, it will be set to @@ -166,7 +166,7 @@ void recognition_event_callback(uint8_t pattern_id, float count, void *user_data * @param user_data A pointer to user - defined data. It can be used to pass additional context information * from the calling code to this callback function. In this implementation, it may not be used actively. */ -void learning_event_callback(SensorBHI260AP_Klio::LeaningChangeReason reason, uint32_t progress, int learn_index, void *user_data) +void learning_event_callback(SensorBHI260AP_Klio::LearningChangeReason reason, uint32_t progress, int learn_index, void *user_data) { // Print the learning event details to the serial monitor, including the progress, reason, and learned pattern index. Serial.print("->Learning [Progress:"); @@ -280,10 +280,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif // Try to initialize the KLIO sensor. @@ -351,8 +359,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_Multiple/BHI260AP_Multiple.ino b/lib/SensorLib/examples/BHI260AP_Multiple/BHI260AP_Multiple.ino index d707edb..6356d6a 100644 --- a/lib/SensorLib/examples/BHI260AP_Multiple/BHI260AP_Multiple.ino +++ b/lib/SensorLib/examples/BHI260AP_Multiple/BHI260AP_Multiple.ino @@ -115,24 +115,24 @@ SensorOrientation orientation2(bhy2); // After uploading firmware once, you can change this to false to speed up boot time. bool force_update_flash_firmware = false; -bool isReadyFlag1 = false; -bool isReadyFlag2 = false; +bool isInterruptTriggered1 = false; +bool isInterruptTriggered2 = false; void dataReady1_ISR() { - isReadyFlag1 = true; + isInterruptTriggered1 = true; } void dataReady2_ISR() { - isReadyFlag2 = true; + isInterruptTriggered2 = true; } void print_orientation(uint8_t direction) { char report[256]; switch (direction) { - case SensorBHI260AP::DIRECTION_BOTTOM_LEFT: + case SensorDirection::DIRECTION_BOTTOM_LEFT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | | " \ @@ -143,7 +143,7 @@ void print_orientation(uint8_t direction) "\r\n |________________| \r\n" ); break; - case SensorBHI260AP::DIRECTION_TOP_RIGHT: + case SensorDirection::DIRECTION_TOP_RIGHT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | * | " \ @@ -153,7 +153,7 @@ void print_orientation(uint8_t direction) "\r\n | | " \ "\r\n |________________| \r\n" ); break; - case SensorBHI260AP::DIRECTION_TOP_LEFT: + case SensorDirection::DIRECTION_TOP_LEFT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | * | " \ @@ -163,7 +163,7 @@ void print_orientation(uint8_t direction) "\r\n | | " \ "\r\n |________________| \r\n" ); break; - case SensorBHI260AP::DIRECTION_BOTTOM_RIGHT: + case SensorDirection::DIRECTION_BOTTOM_RIGHT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | | " \ @@ -183,7 +183,7 @@ void print_orientation(uint8_t direction) } #ifndef USING_DATA_HELPER -void orientation_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void orientation_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { uint8_t direction = *data_ptr; if (user_data) { @@ -194,7 +194,7 @@ void orientation_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_ #endif // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -203,11 +203,11 @@ void progress_callback(void *user_data, uint32_t total, uint32_t transferred) } -void initSensor(SensorBHI260AP & sensor, int rst, int sda, int scl, int irq, +void initSensor(SensorBHI260AP &sensor, int rst, int sda, int scl, int irq, TwoWire &wire, void(*interrupts)(), void *user_data #ifdef USING_DATA_HELPER - , SensorOrientation&orientation + , SensorOrientation &orientation #endif ) { @@ -246,10 +246,18 @@ void initSensor(SensorBHI260AP & sensor, int rst, int sda, int scl, int irq, // Output all sensors info to Serial BoschSensorInfo info = sensor.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif // The orientation sensor will only report when it changes, so the value is 0 ~ 1 @@ -260,9 +268,9 @@ void initSensor(SensorBHI260AP & sensor, int rst, int sda, int scl, int irq, orientation.enable(sample_rate, report_latency_ms); #else // Enable direction detection - sensor.configure(SensorBHI260AP::DEVICE_ORIENTATION, sample_rate, report_latency_ms); + sensor.configure(BoschSensorID::DEVICE_ORIENTATION, sample_rate, report_latency_ms); // Set the direction detection result output processing function - sensor.onResultEvent(SensorBHI260AP::DEVICE_ORIENTATION, orientation_process_callback, user_data); + sensor.onResultEvent(BoschSensorID::DEVICE_ORIENTATION, orientation_process_callback, user_data); #endif // Set the specified pin (BHI260_IRQ1) as an input pin. pinMode(irq, INPUT_PULLUP); @@ -277,12 +285,12 @@ void setup() const char *sensor1_user_data = "Sensor1"; const char *sensor2_user_data = "Sensor2"; - initSensor(bhy1, BHI260_RST1, BHI260_SDA1, BHI260_SCL1, BHI260_IRQ1, Wire, dataReady1_ISR, (void*)sensor1_user_data + initSensor(bhy1, BHI260_RST1, BHI260_SDA1, BHI260_SCL1, BHI260_IRQ1, Wire, dataReady1_ISR, (void *)sensor1_user_data #ifdef USING_DATA_HELPER , orientation1 #endif ); - initSensor(bhy2, BHI260_RST2, BHI260_SDA2, BHI260_SCL2, BHI260_IRQ2, Wire1, dataReady2_ISR, (void*)sensor2_user_data + initSensor(bhy2, BHI260_RST2, BHI260_SDA2, BHI260_SCL2, BHI260_IRQ2, Wire1, dataReady2_ISR, (void *)sensor2_user_data #ifdef USING_DATA_HELPER , orientation2 #endif @@ -295,15 +303,15 @@ void setup() void loop() { // Update sensor fifo - if (isReadyFlag1) { - isReadyFlag1 = false; - Serial.println("isReadyFlag1:"); + if (isInterruptTriggered1) { + isInterruptTriggered1 = false; + Serial.println("isInterruptTriggered1:"); bhy1.update(); } - if (isReadyFlag2) { - isReadyFlag2 = false; - Serial.println("isReadyFlag2:"); + if (isInterruptTriggered2) { + isInterruptTriggered2 = false; + Serial.println("isInterruptTriggered2:"); bhy2.update(); } diff --git a/lib/SensorLib/examples/BHI260AP_Orientation/BHI260AP_Orientation.ino b/lib/SensorLib/examples/BHI260AP_Orientation/BHI260AP_Orientation.ino index e1ef03f..b93a84f 100644 --- a/lib/SensorLib/examples/BHI260AP_Orientation/BHI260AP_Orientation.ino +++ b/lib/SensorLib/examples/BHI260AP_Orientation/BHI260AP_Orientation.ino @@ -134,16 +134,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -155,7 +155,7 @@ void print_orientation(uint8_t direction) { char report[256]; switch (direction) { - case SensorBHI260AP::DIRECTION_BOTTOM_LEFT: + case SensorDirection::DIRECTION_BOTTOM_LEFT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | | " \ @@ -166,7 +166,7 @@ void print_orientation(uint8_t direction) "\r\n |________________| \r\n" ); break; - case SensorBHI260AP::DIRECTION_TOP_RIGHT: + case SensorDirection::DIRECTION_TOP_RIGHT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | * | " \ @@ -176,7 +176,7 @@ void print_orientation(uint8_t direction) "\r\n | | " \ "\r\n |________________| \r\n" ); break; - case SensorBHI260AP::DIRECTION_TOP_LEFT: + case SensorDirection::DIRECTION_TOP_LEFT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | * | " \ @@ -186,7 +186,7 @@ void print_orientation(uint8_t direction) "\r\n | | " \ "\r\n |________________| \r\n" ); break; - case SensorBHI260AP::DIRECTION_BOTTOM_RIGHT: + case SensorDirection::DIRECTION_BOTTOM_RIGHT: sprintf( report, "\r\n ________________ " \ "\r\n | | " \ "\r\n | | " \ @@ -206,7 +206,7 @@ void print_orientation(uint8_t direction) } #ifndef USING_DATA_HELPER -void orientation_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void orientation_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { uint8_t direction = *data_ptr; Serial.print(bhy.getSensorName(sensor_id)); @@ -268,10 +268,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif // The orientation sensor will only report when it changes, so the value is 0 ~ 1 @@ -282,9 +290,9 @@ void setup() orientation.enable(sample_rate, report_latency_ms); #else // Enable direction detection - bhy.configure(SensorBHI260AP::DEVICE_ORIENTATION, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::DEVICE_ORIENTATION, sample_rate, report_latency_ms); // Set the direction detection result output processing function - bhy.onResultEvent(SensorBHI260AP::DEVICE_ORIENTATION, orientation_process_callback); + bhy.onResultEvent(BoschSensorID::DEVICE_ORIENTATION, orientation_process_callback); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -303,8 +311,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_StepCounter/BHI260AP_StepCounter.ino b/lib/SensorLib/examples/BHI260AP_StepCounter/BHI260AP_StepCounter.ino index 47666af..902fbd6 100644 --- a/lib/SensorLib/examples/BHI260AP_StepCounter/BHI260AP_StepCounter.ino +++ b/lib/SensorLib/examples/BHI260AP_StepCounter/BHI260AP_StepCounter.ino @@ -134,22 +134,22 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ #ifndef USING_DATA_HELPER -void step_detector_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void step_detector_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { Serial.print(bhy.getSensorName(sensor_id)); Serial.println(" detected."); } -void step_counter_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void step_counter_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { Serial.print(bhy.getSensorName(sensor_id)); Serial.print(":"); @@ -158,7 +158,7 @@ void step_counter_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32 #endif // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -221,10 +221,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif // The stepcount sensor will only report when it changes, so the value is 0 ~ 1 @@ -236,12 +244,12 @@ void setup() stepCounter.enable(sample_rate, report_latency_ms); #else // Enable Step detector - bhy.configure(SensorBHI260AP::STEP_DETECTOR, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::STEP_DETECTOR, sample_rate, report_latency_ms); // Enable Step counter - bhy.configure(SensorBHI260AP::STEP_COUNTER, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::STEP_COUNTER, sample_rate, report_latency_ms); // Set the number of steps to detect the callback function - bhy.onResultEvent(SensorBHI260AP::STEP_DETECTOR, step_detector_process_callback); - bhy.onResultEvent(SensorBHI260AP::STEP_COUNTER, step_counter_process_callback); + bhy.onResultEvent(BoschSensorID::STEP_DETECTOR, step_detector_process_callback); + bhy.onResultEvent(BoschSensorID::STEP_COUNTER, step_counter_process_callback); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -263,8 +271,8 @@ void loop() uint32_t ns; #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_TiltDetector/BHI260AP_TiltDetector.ino b/lib/SensorLib/examples/BHI260AP_TiltDetector/BHI260AP_TiltDetector.ino new file mode 100644 index 0000000..dd29636 --- /dev/null +++ b/lib/SensorLib/examples/BHI260AP_TiltDetector/BHI260AP_TiltDetector.ino @@ -0,0 +1,309 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI260AP_TiltDetector.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-05 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI260_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI260_IRQ +#define BHI260_IRQ 37 +#endif + +#ifndef BHI260_CS +#define BHI260_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI260_SDA +#define BHI260_SDA 2 +#endif + +#ifndef BHI260_SCL +#define BHI260_SCL 3 +#endif + +// If BHI260_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI260_IRQ +#define BHI260_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI260_RST +#define BHI260_RST -1 +#endif + +SensorBHI260AP bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +// #define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorStepCounter stepCounter(bhy); +SensorStepDetector stepDetector(bhy); +#endif + +// The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run. +#define BOSCH_APP30_SHUTTLE_BHI260_FW +// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW +// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X +// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390 +// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO +// #define BOSCH_BHI260_AUX_BEM280 +// #define BOSCH_BHI260_AUX_BMM150_BEM280 +// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO +// #define BOSCH_BHI260_AUX_BMM150_GPIO +// #define BOSCH_BHI260_GPIO + +// Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash +// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH +// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH +// #define BOSCH_BHI260_AUX_BEM280_FLASH +// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH +// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH +// #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH +// #define BOSCH_BHI260_GPIO_FLASH + +#include + +// Force update of current firmware, whether it exists or not. +// Only works when external SPI Flash is connected to BHI260. +// After uploading firmware once, you can change this to false to speed up boot time. +bool force_update_flash_firmware = true; + +#if BHI260_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifndef USING_DATA_HELPER +void tilt_detector_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + Serial.print(bhy.getSensorName(sensor_id)); + Serial.println(" detected."); +} +#endif + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI260_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size, bosch_firmware_type, force_update_flash_firmware); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + + // Set to load firmware from flash + bhy.setBootFromFlash(bosch_firmware_type); + + Serial.println("Initializing Sensors..."); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI260AP_SLAVE_ADDRESS_L = 0x28 + // BHI260AP_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI260AP_SLAVE_ADDRESS_L, BHI260_SDA, BHI260_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI260_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + // The stepcount sensor will only report when it changes, so the value is 0 ~ 1 + float sample_rate = 1.0; + uint32_t report_latency_ms = 0; /* Report immediately */ + +#ifdef USING_DATA_HELPER + stepDetector.enable(sample_rate, report_latency_ms); + stepCounter.enable(sample_rate, report_latency_ms); +#else + // Enable Step detector + bhy.configure(BoschSensorID::TILT_DETECTOR, sample_rate, report_latency_ms); + bhy.onResultEvent(BoschSensorID::TILT_DETECTOR, tilt_detector_process_callback); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI260_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI260_IRQ is equal to -1 then the polling method will be used + pinMode(BHI260_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI260_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI260_IRQ, dataReadyISR, RISING); +#endif +} + + +void loop() +{ + uint32_t s; + uint32_t ns; + +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + if (stepCounter.hasUpdated()) { + stepCounter.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "]: Step Count:", s, ns); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]: Step Count:"); +#endif + Serial.println(stepCounter.getStepCount()); + } + if (stepDetector.hasUpdated()) { + if (stepDetector.isDetected()) { + stepDetector.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "]:", s, ns); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]:"); +#endif + Serial.println("Step detector detects steps"); + } + } +#endif + delay(50); +} + + diff --git a/lib/SensorLib/examples/BHI260AP_UpdateFirmware/BHI260AP_UpdateFirmware.ino b/lib/SensorLib/examples/BHI260AP_UpdateFirmware/BHI260AP_UpdateFirmware.ino index 32719cb..5b4e972 100644 --- a/lib/SensorLib/examples/BHI260AP_UpdateFirmware/BHI260AP_UpdateFirmware.ino +++ b/lib/SensorLib/examples/BHI260AP_UpdateFirmware/BHI260AP_UpdateFirmware.ino @@ -108,29 +108,29 @@ SdFat32 sd; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ -void parse_bme280_sensor_data(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void parse_bme280_sensor_data(uint8_t sensor_id,const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { float humidity = 0; float temperature = 0; float pressure = 0; switch (sensor_id) { - case SensorBHI260AP::HUMIDITY: + case BoschSensorID::HUMIDITY: bhy2_parse_humidity(data_ptr, &humidity); Serial.print("humidity:"); Serial.print(humidity); Serial.println("%"); break; - case SensorBHI260AP::TEMPERATURE: + case BoschSensorID::TEMPERATURE: bhy2_parse_temperature_celsius(data_ptr, &temperature); Serial.print("temperature:"); Serial.print(temperature); Serial.println("*C"); break; - case SensorBHI260AP::BAROMETER: + case BoschSensorID::BAROMETER: bhy2_parse_pressure(data_ptr, &pressure); Serial.print("pressure:"); Serial.print(pressure); Serial.println("hPa"); break; @@ -140,7 +140,7 @@ void parse_bme280_sensor_data(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len } } -void printResult(uint8_t sensor_id, float sample_rate, bool rlst) +void printResult(uint8_t sensor_id, float sample_rate, bool rslt) { const char *sensorName = bhy.getSensorName(sensor_id); Serial.print("Configure "); @@ -148,7 +148,7 @@ void printResult(uint8_t sensor_id, float sample_rate, bool rlst) Serial.print(" sensor "); Serial.print(sample_rate, 2); Serial.print(" HZ "); - if (rlst) { + if (rslt) { Serial.print("successfully"); } else { Serial.print("failed"); @@ -252,10 +252,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif /* @@ -265,20 +273,20 @@ void setup() * * */ float sample_rate = 1.0; /* Set to 1Hz update frequency */ uint32_t report_latency_ms = 0; /* Report immediately */ - bool rlst = false; + bool rslt = false; - rlst = bhy.configure(SensorBHI260AP::TEMPERATURE, sample_rate, report_latency_ms); - printResult(SensorBHI260AP::TEMPERATURE, sample_rate, rlst); - rlst = bhy.configure(SensorBHI260AP::BAROMETER, sample_rate, report_latency_ms); - printResult(SensorBHI260AP::BAROMETER, sample_rate, rlst); - rlst = bhy.configure(SensorBHI260AP::HUMIDITY, sample_rate, report_latency_ms); - printResult(SensorBHI260AP::HUMIDITY, sample_rate, rlst); + rslt = bhy.configure(BoschSensorID::TEMPERATURE, sample_rate, report_latency_ms); + printResult(BoschSensorID::TEMPERATURE, sample_rate, rslt); + rslt = bhy.configure(BoschSensorID::BAROMETER, sample_rate, report_latency_ms); + printResult(BoschSensorID::BAROMETER, sample_rate, rslt); + rslt = bhy.configure(BoschSensorID::HUMIDITY, sample_rate, report_latency_ms); + printResult(BoschSensorID::HUMIDITY, sample_rate, rslt); // Register BME280 data parse callback function Serial.println("Register sensor result callback function"); - bhy.onResultEvent(SensorBHI260AP::TEMPERATURE, parse_bme280_sensor_data); - bhy.onResultEvent(SensorBHI260AP::HUMIDITY, parse_bme280_sensor_data); - bhy.onResultEvent(SensorBHI260AP::BAROMETER, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::TEMPERATURE, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::HUMIDITY, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::BAROMETER, parse_bme280_sensor_data); #ifdef USING_SENSOR_IRQ_METHOD // Set the specified pin (BHI260_IRQ) ​​to an input pin. @@ -295,8 +303,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_aux_BMM150/BHI260AP_aux_BMM150.ino b/lib/SensorLib/examples/BHI260AP_aux_BMM150/BHI260AP_aux_BMM150.ino index 4091fb5..80bff3e 100644 --- a/lib/SensorLib/examples/BHI260AP_aux_BMM150/BHI260AP_aux_BMM150.ino +++ b/lib/SensorLib/examples/BHI260AP_aux_BMM150/BHI260AP_aux_BMM150.ino @@ -44,24 +44,24 @@ #if defined(USE_SPI_INTERFACE) #ifndef SPI_MOSI -#define SPI_MOSI 33 +#define SPI_MOSI 4 #endif #ifndef SPI_MISO -#define SPI_MISO 34 +#define SPI_MISO 7 #endif #ifndef SPI_SCK -#define SPI_SCK 35 +#define SPI_SCK 26 #endif // If BHI260_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. #ifndef BHI260_IRQ -#define BHI260_IRQ 37 +#define BHI260_IRQ 5 #endif #ifndef BHI260_CS -#define BHI260_CS 36 +#define BHI260_CS 27 #endif #else //* I2C */ @@ -95,9 +95,9 @@ SensorBHI260AP bhy; #define USING_DATA_HELPER #ifdef USING_DATA_HELPER -SensorXYZ accel(SensorBHI260AP::ACCEL_PASSTHROUGH, bhy); -SensorXYZ gyro(SensorBHI260AP::GYRO_PASSTHROUGH, bhy); -SensorXYZ mag(SensorBHI260AP::MAGNETOMETER_PASSTHROUGH, bhy); +SensorAcceleration accel(bhy); +SensorGyroscope gyro(bhy); +SensorMagnetometer mag(bhy); #endif // The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run. @@ -136,16 +136,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ #ifndef USING_DATA_HELPER -void xyz_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void xyz_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { struct bhy2_data_xyz data; float scaling_factor = bhy.getScaling(sensor_id); @@ -163,7 +163,7 @@ void xyz_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, ui #endif // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -224,10 +224,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif float sample_rate = 10.0; /* Read out data measured at 10Hz */ @@ -242,17 +250,17 @@ void setup() mag.enable(sample_rate, report_latency_ms); #else // Enable acceleration - bhy.configure(SensorBHI260AP::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); // Enable gyroscope - bhy.configure(SensorBHI260AP::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); // Enable magnetometer - bhy.configure(SensorBHI260AP::MAGNETOMETER_PASSTHROUGH, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::MAGNETOMETER_PASSTHROUGH, sample_rate, report_latency_ms); // Set the acceleration sensor result callback function - bhy.onResultEvent(SensorBHI260AP::ACCEL_PASSTHROUGH, xyz_process_callback); + bhy.onResultEvent(BoschSensorID::ACCEL_PASSTHROUGH, xyz_process_callback); // Set the gyroscope sensor result callback function - bhy.onResultEvent(SensorBHI260AP::GYRO_PASSTHROUGH, xyz_process_callback); + bhy.onResultEvent(BoschSensorID::GYRO_PASSTHROUGH, xyz_process_callback); // Set the magnetometer sensor result callback function - bhy.onResultEvent(SensorBHI260AP::MAGNETOMETER_PASSTHROUGH, xyz_process_callback); + bhy.onResultEvent(BoschSensorID::MAGNETOMETER_PASSTHROUGH, xyz_process_callback); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -272,8 +280,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, @@ -286,34 +294,70 @@ void loop() #endif /*USING_SENSOR_IRQ_METHOD*/ #ifdef USING_DATA_HELPER - if (accel.hasUpdated() && gyro.hasUpdated() && mag.hasUpdated()) { - uint32_t s; - uint32_t ns; - accel.getLastTime(s, ns); + uint32_t s; + uint32_t ns; + AccelerometerData accel_data; + if (accel.readData(accel_data)) { + accel.getLastTime(s, ns); #ifdef PLATFORM_HAS_PRINTF - Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] AX:%+7.2f AY:%+7.2f AZ:%+7.2f GX:%+7.2f GY:%+7.2f GZ:%+7.2f MX:%+7.2f MY:%+7.2f MZ:%+7.2f\n", - s, ns, accel.getX(), accel.getY(), accel.getZ(), - gyro.getX(), gyro.getY(), gyro.getZ(), - mag.getX(), mag.getY(), mag.getZ()); + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [AX:%+7.2f AY:%+7.2f AZ:%+7.2f] \n", + s, ns, accel_data.mps2.x, accel_data.mps2.y, accel_data.mps2.z); #else - Serial.print("[T: "); Serial.print(s); - Serial.print("."); Serial.print(ns); Serial.print("] "); - Serial.print("AX:"); Serial.print(accel.getX(), 2); - Serial.print(" AY:"); Serial.print(accel.getY(), 2); - Serial.print(" AZ:"); Serial.print(accel.getZ(), 2); - Serial.print(" GX:"); Serial.print(gyro.getX(), 2); - Serial.print(" GY:"); Serial.print(gyro.getY(), 2); - Serial.print(" GZ:"); Serial.print(gyro.getZ(), 2); - Serial.print(" MX:"); Serial.print(mag.getX(), 2); - Serial.print(" MY:"); Serial.print(mag.getY(), 2); - Serial.print(" MZ:"); Serial.print(mag.getZ(), 2); - Serial.println(); + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [AX:"); + Serial.print(accel_data.mps2.x, 2); + Serial.print(" AY:"); + Serial.print(accel_data.mps2.y, 2); + Serial.print(" AZ:"); + Serial.print(accel_data.mps2.z, 2); + Serial.println("]"); +#endif + } + GyroscopeData gyro_data; + if (gyro.readData(gyro_data)) { + gyro.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [GX:%+7.2f GY:%+7.2f GZ:%+7.2f] \n", + s, ns, gyro_data.dps.x, gyro_data.dps.y, gyro_data.dps.z); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [GX:"); + Serial.print(gyro_data.dps.x, 2); + Serial.print(" GY:"); + Serial.print(gyro_data.dps.y, 2); + Serial.print(" GZ:"); + Serial.print(gyro_data.dps.z, 2); + Serial.println("]"); +#endif + } + + MagnetometerData mag_data; + if (mag.readData(mag_data)) { + mag.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [MX:%+7.2f MY:%+7.2f MZ:%+7.2f] \n", + s, ns, mag_data.magnetic_field.x, mag_data.magnetic_field.y, mag_data.magnetic_field.z); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [MX:"); + Serial.print(mag_data.magnetic_field.x, 2); + Serial.print(" MY:"); + Serial.print(mag_data.magnetic_field.y, 2); + Serial.print(" MZ:"); + Serial.print(mag_data.magnetic_field.z, 2); + Serial.println("]"); #endif } #endif delay(50); } - - - diff --git a/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280/BHI260AP_aux_BMM150_BME280.ino b/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280/BHI260AP_aux_BMM150_BME280.ino index bd5b755..e8b306a 100644 --- a/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280/BHI260AP_aux_BMM150_BME280.ino +++ b/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280/BHI260AP_aux_BMM150_BME280.ino @@ -100,28 +100,14 @@ SensorPressure pressure(bhy); #endif // The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run. -// #define BOSCH_APP30_SHUTTLE_BHI260_FW -// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW -// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X -// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390 -// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO // #define BOSCH_BHI260_AUX_BEM280 #define BOSCH_BHI260_AUX_BMM150_BEM280 // #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO -// #define BOSCH_BHI260_AUX_BMM150_GPIO -// #define BOSCH_BHI260_GPIO // Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash -// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH -// #define BOSCH_BHI260_AUX_BEM280_FLASH // #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH // #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH // #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH -// #define BOSCH_BHI260_GPIO_FLASH #include @@ -135,30 +121,30 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ #ifndef USING_DATA_HELPER -void parse_bme280_sensor_data(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void parse_bme280_sensor_data(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { float humidity = 0; float temperature = 0; float pressure = 0; switch (sensor_id) { - case SensorBHI260AP::HUMIDITY: + case BoschSensorID::HUMIDITY: bhy2_parse_humidity(data_ptr, &humidity); Serial.print("humidity:"); Serial.print(humidity); Serial.println("%"); break; - case SensorBHI260AP::TEMPERATURE: + case BoschSensorID::TEMPERATURE: bhy2_parse_temperature_celsius(data_ptr, &temperature); Serial.print("temperature:"); Serial.print(temperature); Serial.println("*C"); break; - case SensorBHI260AP::BAROMETER: + case BoschSensorID::BAROMETER: bhy2_parse_pressure(data_ptr, &pressure); Serial.print("pressure:"); Serial.print(pressure); Serial.println("Pa"); break; @@ -170,7 +156,7 @@ void parse_bme280_sensor_data(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len #endif // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -178,7 +164,7 @@ void progress_callback(void *user_data, uint32_t total, uint32_t transferred) Serial.println("%"); } -void printResult(uint8_t sensor_id, float sample_rate, bool rlst) +void printResult(uint8_t sensor_id, float sample_rate, bool rslt) { const char *sensorName = bhy.getSensorName(sensor_id); Serial.print("Configure "); @@ -186,7 +172,7 @@ void printResult(uint8_t sensor_id, float sample_rate, bool rlst) Serial.print(" sensor "); Serial.print(sample_rate, 2); Serial.print(" HZ "); - if (rlst) { + if (rslt) { Serial.print("successfully"); } else { Serial.print("failed"); @@ -248,10 +234,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif /* @@ -272,18 +266,18 @@ void setup() humidity.enable(); pressure.enable(sample_rate, report_latency_ms); #else - bool rlst = false; - rlst = bhy.configure(SensorBHI260AP::TEMPERATURE, sample_rate, report_latency_ms); - printResult(SensorBHI260AP::TEMPERATURE, sample_rate, rlst); - rlst = bhy.configure(SensorBHI260AP::BAROMETER, sample_rate, report_latency_ms); - printResult(SensorBHI260AP::BAROMETER, sample_rate, rlst); - rlst = bhy.configure(SensorBHI260AP::HUMIDITY, sample_rate, report_latency_ms); - printResult(SensorBHI260AP::HUMIDITY, sample_rate, rlst); + bool rslt = false; + rslt = bhy.configure(BoschSensorID::TEMPERATURE, sample_rate, report_latency_ms); + printResult(BoschSensorID::TEMPERATURE, sample_rate, rslt); + rslt = bhy.configure(BoschSensorID::BAROMETER, sample_rate, report_latency_ms); + printResult(BoschSensorID::BAROMETER, sample_rate, rslt); + rslt = bhy.configure(BoschSensorID::HUMIDITY, sample_rate, report_latency_ms); + printResult(BoschSensorID::HUMIDITY, sample_rate, rslt); // Register BME280 data parse callback function Serial.println("Register sensor result callback function"); - bhy.onResultEvent(SensorBHI260AP::TEMPERATURE, parse_bme280_sensor_data); - bhy.onResultEvent(SensorBHI260AP::HUMIDITY, parse_bme280_sensor_data); - bhy.onResultEvent(SensorBHI260AP::BAROMETER, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::TEMPERATURE, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::HUMIDITY, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::BAROMETER, parse_bme280_sensor_data); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -306,8 +300,8 @@ void loop() uint32_t ns; #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280_Expand_GPIO/BHI260AP_aux_BMM150_BME280_Expand_GPIO.ino b/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280_Expand_GPIO/BHI260AP_aux_BMM150_BME280_Expand_GPIO.ino index e46e5e3..6082056 100644 --- a/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280_Expand_GPIO/BHI260AP_aux_BMM150_BME280_Expand_GPIO.ino +++ b/lib/SensorLib/examples/BHI260AP_aux_BMM150_BME280_Expand_GPIO/BHI260AP_aux_BMM150_BME280_Expand_GPIO.ino @@ -89,25 +89,11 @@ void initialiseCommander(); SensorBHI260AP bhy; // The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run. -// #define BOSCH_APP30_SHUTTLE_BHI260_FW -// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW -// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X -// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390 -// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO -// #define BOSCH_BHI260_AUX_BEM280 -// #define BOSCH_BHI260_AUX_BMM150_BEM280 #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO // #define BOSCH_BHI260_AUX_BMM150_GPIO // #define BOSCH_BHI260_GPIO // Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash -// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH -// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH -// #define BOSCH_BHI260_AUX_BEM280_FLASH -// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH // #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH // #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH // #define BOSCH_BHI260_GPIO_FLASH @@ -124,29 +110,29 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ -void parse_bme280_sensor_data(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void parse_bme280_sensor_data(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { float humidity = 0; float temperature = 0; float pressure = 0; switch (sensor_id) { - case SensorBHI260AP::HUMIDITY: + case BoschSensorID::HUMIDITY: bhy2_parse_humidity(data_ptr, &humidity); Serial.print("humidity:"); Serial.print(humidity); Serial.println("%"); break; - case SensorBHI260AP::TEMPERATURE: + case BoschSensorID::TEMPERATURE: bhy2_parse_temperature_celsius(data_ptr, &temperature); Serial.print("temperature:"); Serial.print(temperature); Serial.println("*C"); break; - case SensorBHI260AP::BAROMETER: + case BoschSensorID::BAROMETER: bhy2_parse_pressure(data_ptr, &pressure); Serial.print("pressure:"); Serial.print(pressure); Serial.println("hPa"); break; @@ -156,30 +142,8 @@ void parse_bme280_sensor_data(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len } } -void sensor_event_callback(uint8_t event, uint8_t sensor_id, uint8_t data) -{ - Serial.print("Sensor Event:"); - const char *sensorName = bhy.getSensorName(sensor_id); - switch (event) { - case BHY2_META_EVENT_SAMPLE_RATE_CHANGED: - Serial.print("Sample rate changed for "); - Serial.print(sensorName); - Serial.println(" sensor"); - break; - case BHY2_META_EVENT_POWER_MODE_CHANGED: - Serial.print("Power mode changed for "); - Serial.print(sensorName); - Serial.println(" sensor"); - break; - default: - Serial.print("Other event : "); - Serial.println(event); - break; - } -} - // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -240,20 +204,25 @@ void setup() Serial.println("Initializing the sensor successfully!"); - // Register sensor change event callback - bhy.onEvent(sensor_event_callback); - // Register BME280 data parse callback function - bhy.onResultEvent(SensorBHI260AP::TEMPERATURE, parse_bme280_sensor_data); - bhy.onResultEvent(SensorBHI260AP::HUMIDITY, parse_bme280_sensor_data); - bhy.onResultEvent(SensorBHI260AP::BAROMETER, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::TEMPERATURE, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::HUMIDITY, parse_bme280_sensor_data); + bhy.onResultEvent(BoschSensorID::BAROMETER, parse_bme280_sensor_data); // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif initialiseCommander(); @@ -278,10 +247,10 @@ void loop() { //Call the update functions using the activeCommander pointer cmd.update(); - + #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, @@ -337,7 +306,7 @@ bool setTemperature(Commander &Cmdr) return 0; } Cmdr.getFloat(sample_rate); - bhy.configure(SensorBHI260AP::TEMPERATURE, sample_rate, 0); + bhy.configure(BoschSensorID::TEMPERATURE, sample_rate, 0); return 0; } @@ -349,7 +318,7 @@ bool setHumidity(Commander &Cmdr) return 0; } Cmdr.getFloat(sample_rate); - bhy.configure(SensorBHI260AP::HUMIDITY, sample_rate, 0); + bhy.configure(BoschSensorID::HUMIDITY, sample_rate, 0); return 0; } @@ -361,7 +330,7 @@ bool setPressure(Commander &Cmdr) return 0; } Cmdr.getFloat(sample_rate); - bhy.configure(SensorBHI260AP::BAROMETER, sample_rate, 0); + bhy.configure(BoschSensorID::BAROMETER, sample_rate, 0); return 0; } diff --git a/lib/SensorLib/examples/BHI260AP_aux_BMM150_euler/BHI260AP_aux_BMM150_euler.ino b/lib/SensorLib/examples/BHI260AP_aux_BMM150_euler/BHI260AP_aux_BMM150_euler.ino index 79ddf51..725effc 100644 --- a/lib/SensorLib/examples/BHI260AP_aux_BMM150_euler/BHI260AP_aux_BMM150_euler.ino +++ b/lib/SensorLib/examples/BHI260AP_aux_BMM150_euler/BHI260AP_aux_BMM150_euler.ino @@ -133,16 +133,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ #ifndef USING_DATA_HELPER -void parse_euler(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void parse_euler(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { struct bhy2_data_orientation data; uint32_t s, ns; @@ -150,29 +150,27 @@ void parse_euler(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *t // Function to parse FIFO frame data into orientation bhy2_parse_orientation(data_ptr, &data); uint64_t _timestamp = *timestamp; - time_to_s_ns(_timestamp, &s, &ns, &tns); + BoschSensorUtils::time_to_s_ns(_timestamp, &s, &ns, &tns); uint8_t accuracy = bhy.getAccuracy(); if (accuracy) { - Serial.print("SID:"); Serial.print(sensor_id); Serial.print(" T:"); Serial.print(s); Serial.print("."); Serial.print(ns); - Serial.print(" x:"); Serial.print(data.heading * 360.0f / 32768.0f); - Serial.print(" y:"); Serial.print(data.pitch * 360.0f / 32768.0f); - Serial.print(" x:"); Serial.print(data.roll * 360.0f / 32768.0f); - Serial.print(" acc:"); Serial.println(accuracy); + Serial.print(" R:"); Serial.print(data.roll * 360.0f / 32768.0f); + Serial.print(" P:"); Serial.print(data.pitch * 360.0f / 32768.0f); + Serial.print(" H:"); Serial.print(data.heading * 360.0f / 32768.0f); + Serial.print(" A:"); Serial.println(accuracy); } else { - Serial.print("SID:"); Serial.print(sensor_id); Serial.print(" T:"); Serial.print(s); Serial.print("."); Serial.print(ns); - Serial.print(" x:"); Serial.print(data.heading * 360.0f / 32768.0f); - Serial.print(" y:"); Serial.print(data.pitch * 360.0f / 32768.0f); - Serial.print(" x:"); Serial.println(data.roll * 360.0f / 32768.0f); + Serial.print(" R:"); Serial.print(data.roll * 360.0f / 32768.0f); + Serial.print(" P:"); Serial.print(data.pitch * 360.0f / 32768.0f); + Serial.print(" H:"); Serial.println(data.heading * 360.0f / 32768.0f); } } #endif // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -233,10 +231,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif float sample_rate = 100.0; /* Read out data measured at 100Hz */ @@ -250,9 +256,9 @@ void setup() #ifdef USING_DATA_HELPER euler.enable(sample_rate, report_latency_ms); #else - bhy.configure(SensorBHI260AP::ORIENTATION_WAKE_UP, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::ORIENTATION_WAKE_UP, sample_rate, report_latency_ms); // Register event callback function - bhy.onResultEvent(SensorBHI260AP::ORIENTATION_WAKE_UP, parse_euler); + bhy.onResultEvent(BoschSensorID::ORIENTATION_WAKE_UP, parse_euler); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -271,8 +277,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI260AP_aux_BMM150_quaternion/BHI260AP_aux_BMM150_quaternion.ino b/lib/SensorLib/examples/BHI260AP_aux_BMM150_quaternion/BHI260AP_aux_BMM150_quaternion.ino index e28d4af..d313542 100644 --- a/lib/SensorLib/examples/BHI260AP_aux_BMM150_quaternion/BHI260AP_aux_BMM150_quaternion.ino +++ b/lib/SensorLib/examples/BHI260AP_aux_BMM150_quaternion/BHI260AP_aux_BMM150_quaternion.ino @@ -133,16 +133,16 @@ bool force_update_flash_firmware = true; #endif #ifdef USING_SENSOR_IRQ_METHOD -bool isReadyFlag = false; +volatile bool isInterruptTriggered = false; void dataReadyISR() { - isReadyFlag = true; + isInterruptTriggered = true; } #endif /*USING_SENSOR_IRQ_METHOD*/ #ifndef USING_DATA_HELPER -void parse_quaternion(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +void parse_quaternion(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { struct bhy2_data_quaternion data; uint32_t s, ns; @@ -150,7 +150,7 @@ void parse_quaternion(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64 // Function to parse FIFO frame data into orientation bhy2_parse_quaternion(data_ptr, &data); uint64_t _timestamp = *timestamp; - time_to_s_ns(_timestamp, &s, &ns, &tns); + BoschSensorUtils::time_to_s_ns(_timestamp, &s, &ns, &tns); Serial.print("SID:"); Serial.print(sensor_id); Serial.print(" T:"); Serial.print(s); Serial.print("."); Serial.print(ns); @@ -163,7 +163,7 @@ void parse_quaternion(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64 #endif // Firmware update progress callback -void progress_callback(void *user_data, uint32_t total, uint32_t transferred) +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) { float progress = (float)transferred / total * 100; Serial.print("Upload progress: "); @@ -224,10 +224,18 @@ void setup() // Output all sensors info to Serial BoschSensorInfo info = bhy.getSensorInfo(); -#ifdef PLATFORM_HAS_PRINTF - info.printInfo(Serial); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); #else - info.printInfo(); + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); #endif float sample_rate = 100.0; /* Read out data measured at 100Hz */ @@ -241,9 +249,9 @@ void setup() #ifdef USING_DATA_HELPER quaternion.enable(sample_rate, report_latency_ms); #else - bhy.configure(SensorBHI260AP::ROTATION_VECTOR, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::ROTATION_VECTOR, sample_rate, report_latency_ms); // Register event callback function - bhy.onResultEvent(SensorBHI260AP::ROTATION_VECTOR, parse_quaternion); + bhy.onResultEvent(BoschSensorID::ROTATION_VECTOR, parse_quaternion); #endif #ifdef USING_SENSOR_IRQ_METHOD @@ -262,8 +270,8 @@ void setup() void loop() { #ifdef USING_SENSOR_IRQ_METHOD - if (isReadyFlag) { - isReadyFlag = false; + if (isInterruptTriggered) { + isInterruptTriggered = false; #endif /*USING_SENSOR_IRQ_METHOD*/ /* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1, diff --git a/lib/SensorLib/examples/BHI360_6DoF/BHI360_6DoF.ino b/lib/SensorLib/examples/BHI360_6DoF/BHI360_6DoF.ino new file mode 100644 index 0000000..b08465e --- /dev/null +++ b/lib/SensorLib/examples/BHI360_6DoF/BHI360_6DoF.ino @@ -0,0 +1,337 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_6DoF.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-06 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +#define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorAcceleration accel(bhy); +SensorGyroscope gyro(bhy); +#endif + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +#define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +#include + + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + + +#ifndef USING_DATA_HELPER +void xyz_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + struct bhy2_data_xyz data; + float scaling_factor = bhy.getScaling(sensor_id); + bhy2_parse_xyz(data_ptr, &data); + Serial.print(bhy.getSensorName(sensor_id)); + Serial.print(" "); + Serial.print("x: "); + Serial.print(data.x * scaling_factor); + Serial.print(", y: "); + Serial.print(data.y * scaling_factor); + Serial.print(", z: "); + Serial.print(data.z * scaling_factor); + Serial.println(";"); +} +#endif + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + + float sample_rate = 100.0; /* Read out data measured at 100Hz */ + uint32_t report_latency_ms = 0; /* Report immediately */ + +#ifdef USING_DATA_HELPER + // Enable acceleration + accel.enable(sample_rate, report_latency_ms); + // Enable gyroscope + gyro.enable(sample_rate, report_latency_ms); +#else + // Enable acceleration + bhy.configure(BoschSensorID::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); + // Enable gyroscope + bhy.configure(BoschSensorID::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); + // Set the acceleration sensor result callback function + bhy.onResultEvent(BoschSensorID::ACCEL_PASSTHROUGH, xyz_process_callback); + // Set the gyroscope sensor result callback function + bhy.onResultEvent(BoschSensorID::GYRO_PASSTHROUGH, xyz_process_callback); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif +} + + +void loop() +{ +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + + +#ifdef USING_DATA_HELPER + uint32_t s; + uint32_t ns; + AccelerometerData accel_data; + if (accel.readData(accel_data)) { + accel.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [AX:%+7.2f AY:%+7.2f AZ:%+7.2f] \n", + s, ns, accel_data.mps2.x, accel_data.mps2.y, accel_data.mps2.z); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [AX:"); + Serial.print(accel_data.mps2.x, 2); + Serial.print(" AY:"); + Serial.print(accel_data.mps2.y, 2); + Serial.print(" AZ:"); + Serial.print(accel_data.mps2.z, 2); + Serial.println("]"); +#endif + } + GyroscopeData gyro_data; + if (gyro.readData(gyro_data)) { + gyro.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [GX:%+7.2f GY:%+7.2f GZ:%+7.2f] \n", + s, ns, gyro_data.dps.x, gyro_data.dps.y, gyro_data.dps.z); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] [GX:"); + Serial.print(gyro_data.dps.x, 2); + Serial.print(" GY:"); + Serial.print(gyro_data.dps.y, 2); + Serial.print(" GZ:"); + Serial.print(gyro_data.dps.z, 2); + Serial.println("]"); +#endif + } +#endif /*USING_DATA_HELPER*/ + delay(50); +} + + + diff --git a/lib/SensorLib/examples/BHI360_AnyMotion/BHI360_AnyMotion.ino b/lib/SensorLib/examples/BHI360_AnyMotion/BHI360_AnyMotion.ino new file mode 100644 index 0000000..39d6017 --- /dev/null +++ b/lib/SensorLib/examples/BHI360_AnyMotion/BHI360_AnyMotion.ino @@ -0,0 +1,244 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_AnyMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-07 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; +SensorAnyMotion anyMotion(bhy); + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +#define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +// The selected firmware for running the BHI360 is included by including `#include `. +#include + + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif + + // Enable any motion detection + // A single trigger can be performed by passing MotionMode::ONCE, + // anyMotion.enable(MotionMode::ONCE); + + // Continuous triggering can be achieved by passing MotionMode::CONTINUOUS. + anyMotion.enable(MotionMode::CONTINUOUS); + + // If no action is detected, the callback function will be triggered. + anyMotion.setOnMotionCallback([]() { + Serial.print("["); + Serial.print(millis()); + Serial.print("] "); + Serial.print("Any motion detected."); + Serial.print(" state :"); + Serial.println(anyMotion.isEnabled() ? "continuous mode" : "disabled"); + }); + + Serial.println("Sensor is ready, please keep moving the sensor."); +} + + +void loop() +{ +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + + + delay(50); +} diff --git a/lib/SensorLib/examples/BHI360_Euler/BHI360_Euler.ino b/lib/SensorLib/examples/BHI360_Euler/BHI360_Euler.ino new file mode 100644 index 0000000..b0ca9a6 --- /dev/null +++ b/lib/SensorLib/examples/BHI360_Euler/BHI360_Euler.ino @@ -0,0 +1,353 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2025 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. + * + * @file BHI360_Euler.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-14 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +#define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorQuaternion quaternion(bhy); +#endif + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +#define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +#include + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +bool isReadyFlag = false; + +void dataReadyISR() +{ + isReadyFlag = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +/** + * @brief Parse the quaternion data from the sensor and convert it to Euler angles. + * + * This function serves as a callback to handle the sensor data related to the game rotation vector. + * It takes the raw quaternion data received from the sensor, converts it into Euler angles (roll, pitch, and yaw), + * + * @param sensor_id The ID of the sensor that generated the data. It helps in identifying which specific sensor + * the data is coming from, especially in systems with multiple sensors. + * @param data_ptr A pointer to the buffer containing the raw quaternion data. The data in this buffer + * represents the orientation of the sensor in quaternion format. + * @param len The length of the data buffer, indicating the size of the quaternion data in bytes. + * @param timestamp A pointer to a 64 - bit unsigned integer representing the timestamp when the sensor data was captured. + * This can be used to correlate the data with a specific point in time. + * @param user_data A generic pointer to user - defined data. + */ +#ifndef USING_DATA_HELPER +void parse_quaternion(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + // Declare variables to store the Euler angles (roll, pitch, and yaw). + float roll, pitch, yaw; + // Call the bhy2_quaternion_to_euler function to convert the raw quaternion data + // pointed to by data_ptr into Euler angles (roll, pitch, and yaw). + bhy2_quaternion_to_euler(data_ptr, &roll, &pitch, &yaw); + // Print the roll angle to the serial monitor. + Serial.print(roll); + // Print a comma as a separator between the roll and pitch angles. + Serial.print(","); + // Print the pitch angle to the serial monitor. + Serial.print(pitch); + // Print a comma as a separator between the pitch and yaw angles. + Serial.print(","); + // Print the yaw angle to the serial monitor and start a new line. + Serial.println(yaw); +} +#endif + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + + Serial.println("Initializing Sensors..."); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + /** + * @brief Set the axis remapping for the sensor based on the specified orientation. + * + * This function allows you to configure the sensor's axis remapping according to a specific + * physical orientation of the chip. By passing one of the values from the SensorRemap enum, + * you can ensure that the sensor data is correctly interpreted based on how the chip is placed. + * [bst-bhi260ab-ds000.pdf](https://www.mouser.com/datasheet/2/783/bst-bhi260ab-ds000-1816249.pdf) + * 20.3 Sensing axes and axes remapping + * @param remap An enumeration value from SensorRemap that specifies the desired axis remapping. + * @return Returns true if the axis remapping is successfully set; false otherwise. + */ + + // Set the sensor's axis remapping based on the chip's orientation. + // These commented-out lines show different ways to configure the sensor according to the chip's corners. + // When the chip is viewed from the top, set the orientation to the top-left corner. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_LEFT_CORNER); + // When the chip is viewed from the top, set the orientation to the top-right corner. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + // When the chip is viewed from the top, set the orientation to the bottom-right corner of the top layer. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_BOTTOM_RIGHT_CORNER); + // When the chip is viewed from the top, set the orientation to the bottom-left corner of the top layer. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_BOTTOM_LEFT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the top-left corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_TOP_LEFT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the top-right corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_TOP_RIGHT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the bottom-right corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_BOTTOM_RIGHT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the bottom-left corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_BOTTOM_LEFT_CORNER); + + // Define the sample rate for data reading. + // The sensor will read out data measured at a frequency of 100Hz. + float sample_rate = 100.0; + // Define the report latency in milliseconds. + // A value of 0 means the sensor will report the measured data immediately. + uint32_t report_latency_ms = 0; + +#ifdef USING_DATA_HELPER + quaternion.enable(sample_rate, report_latency_ms); +#else + // GAME_ROTATION_VECTOR virtual sensor does not rely on external magnetometers, such as BMM150, BMM350 + // Configure the sensor to measure the game rotation vector. + // Set the sample rate and report latency for this measurement. + bhy.configure(BoschSensorID::GAME_ROTATION_VECTOR, sample_rate, report_latency_ms); + // Register a callback function 'parse_quaternion' to handle the result events of the game rotation vector measurement. + // When the sensor has new data for the game rotation vector, the 'parse_quaternion' function will be called. + bhy.onResultEvent(BoschSensorID::GAME_ROTATION_VECTOR, parse_quaternion); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif +} + + +void loop() +{ +#ifdef USING_SENSOR_IRQ_METHOD + if (isReadyFlag) { + isReadyFlag = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + if (quaternion.hasUpdated()) { + // Convert rotation vector to Euler angles + quaternion.toEuler(); + // Print the roll angle to the serial monitor. + Serial.print(quaternion.getRoll()); + // Print a comma as a separator between the roll and pitch angles. + Serial.print(","); + // Print the pitch angle to the serial monitor. + Serial.print(quaternion.getPitch()); + // Print a comma as a separator between the pitch and yaw angles. + Serial.print(","); + // Print the yaw angle to the serial monitor and start a new line. + Serial.println(quaternion.getHeading()); + } +#endif + + delay(50); +} + + + diff --git a/lib/SensorLib/examples/BHI360_Multi_Tap/BHI360_Multi_Tap.ino b/lib/SensorLib/examples/BHI360_Multi_Tap/BHI360_Multi_Tap.ino new file mode 100644 index 0000000..0f801c2 --- /dev/null +++ b/lib/SensorLib/examples/BHI360_Multi_Tap/BHI360_Multi_Tap.ino @@ -0,0 +1,396 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_Multi_Tap.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-24 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +#define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorMultiTap multiTap(bhy); +#endif + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +#define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +#include + +// Force update of current firmware, whether it exists or not. +// Only works when external SPI Flash is connected to BHI360. +// After uploading firmware once, you can change this to false to speed up boot time. +bool force_update_flash_firmware = true; + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifndef USING_DATA_HELPER +void parse_multitap(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + MultiTapDataType multitap_data = BHI360_NO_TAP; + if (data_ptr == NULL) { + Serial.println("Data pointer is null"); + return; + } + multitap_data = (MultiTapDataType)(*data_ptr); + Serial.print("SID: "); + Serial.print(sensor_id); + Serial.print("; T: "); + Serial.print((uint32_t)(*timestamp / 1000000000ULL)); + Serial.print("."); + Serial.print((uint32_t)(*timestamp % 1000000000ULL)); + Serial.print("; "); + Serial.print(bhi360_event_data_multi_tap_string_out[multitap_data]); + Serial.println("; "); +} +#endif + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + + Serial.println("Initializing Sensors..."); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + // The tap detect sensor will only report when it changes, so the value is 0 ~ 1 + float sample_rate = 1.0; + uint32_t report_latency_ms = 0; /* Report immediately */ + +#ifdef USING_DATA_HELPER + multiTap.enable(sample_rate, report_latency_ms); +#else + // Enable Multi Tap detector + bhy.configure(BoschSensorID::MULTI_TAP, sample_rate, report_latency_ms); + // Set the callback function for multi tap events + bhy.onResultEvent(BoschSensorID::MULTI_TAP, parse_multitap); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif + + MultiTapDataType buffer[8] {}; + MultiTapDataType multitap_setting = BHI360_TRIPLE_DOUBLE_SINGLE_TAP; + MultiTapDetectorConfig multitap_cnfg {}; + + Serial.println("--- Multi tap log start ---"); + + if (bhy.getMultiTapParamConfig(buffer)) { + Serial.print("Multi Tap Info : "); + Serial.println(bhi360_event_data_multi_tap_string_out[buffer[0]]); + } else { + Serial.println("Failed to get multi tap config"); + } + + if (bhy.setMultiTapParamConfig(multitap_setting)) { + Serial.println("Set multi tap config successfully"); + } else { + Serial.println("Failed to set multi tap config"); + } + + if (bhy.getMultiTapDetectorConfig(multitap_cnfg)) { + Serial.print("Single Tap CNFG : "); + Serial.println(((multitap_setting & (uint8_t)BHI360_SINGLE_TAP) == (uint8_t)BHI360_SINGLE_TAP) ? "Enabled" : "Disabled"); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.stap_setting.as_s.axis_sel); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.stap_setting.as_s.wait_for_timeout); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.stap_setting.as_s.max_peaks_for_tap); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.stap_setting.as_s.mode); + Serial.print("Double Tap CNFG : "); + Serial.println(((multitap_setting & (uint8_t)BHI360_DOUBLE_TAP) == (uint8_t)BHI360_DOUBLE_TAP) ? "Enabled" : "Disabled"); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.dtap_setting.as_s.tap_peak_thres); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.dtap_setting.as_s.max_gesture_dur); + Serial.print("Triple Tap CNFG : "); + Serial.println(((multitap_setting & (uint8_t)BHI360_TRIPLE_TAP) == (uint8_t)BHI360_TRIPLE_TAP) ? "Enabled" : "Disabled"); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.ttap_setting.as_s.max_dur_between_peaks); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.ttap_setting.as_s.tap_shock_settling_dur); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.ttap_setting.as_s.min_quite_dur_between_taps); + Serial.print(" \t\t - : "); + Serial.println(multitap_cnfg.ttap_setting.as_s.quite_time_after_gesture); + + multitap_cnfg.stap_setting.as_s.mode = 0; /* Sensitive mode*/ + + if (!bhy.setMultiTapDetectorConfig(multitap_cnfg)) { + Serial.println("Failed to set multi tap detector config"); + return; + } + + if (bhy.getMultiTapDetectorConfig(multitap_cnfg)) { + Serial.print("Multi tap mode after setting : "); + Serial.println(multitap_cnfg.stap_setting.as_s.mode); + } else { + Serial.println("Failed to get multi tap detector config"); + } + } else { + Serial.println("Failed to get multi tap detector config"); + } +} + +void loop() +{ + +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + uint32_t s; + uint32_t ns; + if (multiTap.hasUpdated()) { + multiTap.getLastTime(s, ns); + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]: Multi Tap:"); + MultiTapDataType tap = multiTap.getValue(); + switch (tap) { + case BHI360_NO_TAP: + Serial.println("No Tap"); + break; + case BHI360_SINGLE_TAP: + Serial.println("Single Tap"); + break; + case BHI360_DOUBLE_TAP: + Serial.println("Double Tap"); + break; + case BHI360_DOUBLE_SINGLE_TAP: + Serial.println("Double Single Tap"); + break; + case BHI360_TRIPLE_TAP: + Serial.println("Triple Tap"); + break; + case BHI360_TRIPLE_SINGLE_TAP: + Serial.println("Triple Single Tap"); + break; + case BHI360_TRIPLE_DOUBLE_TAP: + Serial.println("Triple Double Tap"); + break; + case BHI360_TRIPLE_DOUBLE_SINGLE_TAP: + Serial.println("Triple Double Single Tap"); + break; + default: + Serial.println("Unknown Tap"); + break; + } + } +#endif + delay(50); +} + + diff --git a/lib/SensorLib/examples/BHI360_NoMotion/BHI360_NoMotion.ino b/lib/SensorLib/examples/BHI360_NoMotion/BHI360_NoMotion.ino new file mode 100644 index 0000000..d68bf2e --- /dev/null +++ b/lib/SensorLib/examples/BHI360_NoMotion/BHI360_NoMotion.ino @@ -0,0 +1,244 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_NoMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-07 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; +SensorNoMotion noMotion(bhy); + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +#define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +// The selected firmware for running the BHI360 is included by including `#include `. +#include + + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif + + // Enable no motion detection + // A single trigger can be performed by passing MotionMode::ONCE, + // noMotion.enable(MotionMode::ONCE); + + // Continuous triggering can be achieved by passing MotionMode::CONTINUOUS. + noMotion.enable(MotionMode::CONTINUOUS); + + // If no action is detected, the callback function will be triggered. + noMotion.setOnMotionCallback([]() { + Serial.print("["); + Serial.print(millis()); + Serial.print("] "); + Serial.print("No motion detected."); + Serial.print(" state :"); + Serial.println(noMotion.isEnabled() ? "continuous mode" : "disabled"); + }); + + Serial.println("Sensor is ready, please keep the sensor stationary."); +} + + +void loop() +{ +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + + + delay(50); +} diff --git a/lib/SensorLib/examples/BHI360_StepCounter/BHI360_StepCounter.ino b/lib/SensorLib/examples/BHI360_StepCounter/BHI360_StepCounter.ino new file mode 100644 index 0000000..ee3f50a --- /dev/null +++ b/lib/SensorLib/examples/BHI360_StepCounter/BHI360_StepCounter.ino @@ -0,0 +1,446 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_StepCounter.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-24 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +#define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorStepCounter stepCounter(bhy); +SensorStepDetector stepDetector(bhy); +#endif + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +#define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +#include + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifndef USING_DATA_HELPER +void step_detector_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + Serial.print(bhy.getSensorName(sensor_id)); + Serial.println(" detected."); +} + +void step_counter_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + Serial.print("Step Count: "); + Serial.println(bhy2_parse_step_counter(data_ptr)); +} +#endif + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + + Serial.println("Initializing Sensors..."); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + // The stepcount sensor will only report when it changes, so the value is 0 ~ 1 + float sample_rate = 1.0; + uint32_t report_latency_ms = 0; /* Report immediately */ + +#ifdef USING_DATA_HELPER + stepDetector.enable(sample_rate, report_latency_ms); + stepCounter.enable(sample_rate, report_latency_ms); +#else + // Enable Step detector + bhy.configure(BoschSensorID::STEP_DETECTOR_LOW_POWER, sample_rate, report_latency_ms); + // Enable Step counter + bhy.configure(BoschSensorID::STEP_COUNTER_LOW_POWER, sample_rate, report_latency_ms); + // Set the number of steps to detect the callback function + bhy.onResultEvent(BoschSensorID::STEP_DETECTOR_LOW_POWER, step_detector_process_callback); + bhy.onResultEvent(BoschSensorID::STEP_COUNTER_LOW_POWER, step_counter_process_callback); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif + + + StepCounterConfig conf; + Serial.println("Get Step Counter configuration."); + if (!bhy.getStepCounterConfig(conf)) { + Serial.println("Failed to get Step Counter configuration"); + return; + } + Serial.println(" Step Counter configuration:"); + Serial.print(" - : "); + Serial.println(conf.env_min_dist_up); /* threshold to up envelope curve */ + Serial.print(" - : "); + Serial.println(conf.env_coef_up); /* decay filter coefficient to up envelope curve */ + Serial.print(" - : "); + Serial.println(conf.env_min_dist_down); /* threshold to down envelope curve */ + Serial.print(" - : "); + Serial.println(conf.env_coef_down); /* decay filter coefficient to down envelope curve */ + Serial.print(" - : "); + Serial.println(conf.step_buffer_size); /* buffer size to step count, step can be count only buffer is full */ + Serial.print(" - : "); + Serial.println(conf.mean_val_decay); /* decay filter coefficient to mean value */ + Serial.print(" - : "); + Serial.println(conf.mean_step_dur); /* decay filter coefficient to step duration */ + Serial.print(" - : "); + Serial.println(conf.filter_coeff_b2); /* filter coefficient to input signal */ + Serial.print(" - : "); + Serial.println(conf.filter_coeff_b1); /* filter coefficient to input signal */ + Serial.print(" - : "); + Serial.println(conf.filter_coeff_b0); /* filter coefficient to input signal */ + Serial.print(" - : "); + Serial.println(conf.filter_coeff_a2); /* filter coefficient to input signal */ + Serial.print(" - : "); + Serial.println(conf.filter_coeff_a1); /* filter coefficient to input signal */ + Serial.print(" - : "); + Serial.println(conf.filter_cascade_enabled); /* enable cascade filter for input signal */ + Serial.print(" - : "); + Serial.println(conf.peak_duration_min_walking); /* minimal peak duration for walking activity */ + Serial.print(" - : "); + Serial.println(conf.peak_duration_min_running); /* minimal peak duration for running activity */ + Serial.print(" - : "); + Serial.println(conf.step_duration_max); /* maximal samples since last step to reset step buffer and recognize activity as still */ + Serial.print(" - : "); + Serial.println(conf.step_duration_window); /* step duration threshold to determine if one step is missed */ + Serial.print(" - : "); + Serial.println(conf.half_step_enabled); /* enable half step compensation function */ + Serial.print(" - : "); + Serial.println(conf.activity_detection_factor); /* gain for signal magnitude variance in activity identify function */ + Serial.print(" - : "); + Serial.println(conf.activity_detection_thres); /* threshold for signal magnitude variance in activity identify function */ + Serial.print(" - : "); + Serial.println(conf.step_counter_increment); /* scale factor of step counter */ + Serial.print(" - : "); + Serial.println(conf.step_duration_pp_enabled); /* enable post-process of duration between steps */ + Serial.print(" - : "); + Serial.println(conf.step_dur_thres); /* gain threshold of mean step duration in post-processing check */ + Serial.print(" - : "); + Serial.println(conf.en_mcr_pp); /* enable post-process of mean crossings */ + Serial.print(" - : "); + Serial.println(conf.mcr_thres); /* threshold of mean crossings in post-processing check */ + Serial.print(" - : "); + Serial.println(conf.sc_26); /* reserved */ + Serial.print(" - : "); + Serial.println(conf.sc_27); /* reserved */ + Serial.println("Change Step Counter configuration."); + conf.env_min_dist_up = 10; /* threshold to up envelope curve */ + if (!bhy.setStepCounterConfig(conf)) { + Serial.println("Failed to set Step Counter configuration"); + return; + } + Serial.println("Get Step Counter configuration again."); + if (!bhy.getStepCounterConfig(conf)) { + Serial.println("Failed to get Step Counter configuration"); + return; + } + Serial.println(" Step Counter configuration:"); + Serial.print(" - : "); + Serial.println(conf.env_min_dist_up); + Serial.print(" - : "); + Serial.println(conf.env_coef_up); + Serial.print(" - : "); + Serial.println(conf.env_min_dist_down); + Serial.print(" - : "); + Serial.println(conf.env_coef_down); + Serial.print(" - : "); + Serial.println(conf.step_buffer_size); + Serial.print(" - : "); + Serial.println(conf.mean_val_decay); + Serial.print(" - : "); + Serial.println(conf.mean_step_dur); + Serial.print(" - : "); + Serial.println(conf.filter_coeff_b2); + Serial.print(" - : "); + Serial.println(conf.filter_coeff_b1); + Serial.print(" - : "); + Serial.println(conf.filter_coeff_b0); + Serial.print(" - : "); + Serial.println(conf.filter_coeff_a2); + Serial.print(" - : "); + Serial.println(conf.filter_coeff_a1); + Serial.print(" - : "); + Serial.println(conf.filter_cascade_enabled); + Serial.print(" - : "); + Serial.println(conf.peak_duration_min_walking); + Serial.print(" - : "); + Serial.println(conf.peak_duration_min_running); + Serial.print(" - : "); + Serial.println(conf.step_duration_max); + Serial.print(" - : "); + Serial.println(conf.step_duration_window); + Serial.print(" - : "); + Serial.println(conf.half_step_enabled); + Serial.print(" - : "); + Serial.println(conf.activity_detection_factor); + Serial.print(" - : "); + Serial.println(conf.activity_detection_thres); + Serial.print(" - : "); + Serial.println(conf.step_counter_increment); + Serial.print(" - : "); + Serial.println(conf.step_duration_pp_enabled); + Serial.print(" - : "); + Serial.println(conf.step_dur_thres); + Serial.print(" - : "); + Serial.println(conf.en_mcr_pp); + Serial.print(" - : "); + Serial.println(conf.mcr_thres); + Serial.print(" - : "); + Serial.println(conf.sc_26); + Serial.print(" - : "); + Serial.println(conf.sc_27); +} + + +void loop() +{ + + +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + uint32_t s; + uint32_t ns; + if (stepCounter.hasUpdated()) { + stepCounter.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "]: Step Count:", s, ns); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]: Step Count:"); +#endif + Serial.println(stepCounter.getStepCount()); + } + if (stepDetector.hasUpdated()) { + if (stepDetector.isDetected()) { + stepDetector.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "]:", s, ns); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]:"); +#endif + Serial.println("Step detector detects steps"); + } + } +#endif + delay(50); +} + + diff --git a/lib/SensorLib/examples/BHI360_aux_BMM350_BME688_IAQ/BHI360_aux_BMM350_BME688_IAQ.ino b/lib/SensorLib/examples/BHI360_aux_BMM350_BME688_IAQ/BHI360_aux_BMM350_BME688_IAQ.ino new file mode 100644 index 0000000..68f6978 --- /dev/null +++ b/lib/SensorLib/examples/BHI360_aux_BMM350_BME688_IAQ/BHI360_aux_BMM350_BME688_IAQ.ino @@ -0,0 +1,327 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_aux_BMM350_BME688_IAQ.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-11 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +// #define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorIAQ air_quality(bhy); +#endif + + +#define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ + +#include + + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifndef USING_DATA_HELPER +void parse_sensor_data(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + float humidity = 0; + float temperature = 0; + float pressure = 0; + switch (sensor_id) { + case BoschSensorID::HUMIDITY: + bhy2_parse_humidity(data_ptr, &humidity); + Serial.print("humidity:"); Serial.print(humidity); Serial.println("%"); + break; + case BoschSensorID::TEMPERATURE: + bhy2_parse_temperature_celsius(data_ptr, &temperature); + Serial.print("temperature:"); Serial.print(temperature); Serial.println("*C"); + break; + case BoschSensorID::BAROMETER: + bhy2_parse_pressure(data_ptr, &pressure); + Serial.print("pressure:"); Serial.print(pressure); Serial.println("Pa"); + break; + case BoschSensorID::IAQ: { + /*SCALE FACTOR from BHI3 data sheet, IAQ data format*/ + const float SCALE_IAQ_VOC = 100.0; + const float SCALE_IAQ_TEMP = 256.0; + const float SCALE_IAQ_HUMI = 500.0; + bhi360_event_data_iaq_output_t data{}; + bhi360_event_data_parse_air_quality(data_ptr, &data); + Serial.print("ACCU:"); Serial.print(data.iaq_accuracy); Serial.print(" "); + Serial.print("IAQ:"); Serial.print(data.iaq); Serial.print(" "); + Serial.print("SIAQ:"); Serial.print(data.siaq); Serial.print(" "); + Serial.print("VOC:"); Serial.print(data.voc / SCALE_IAQ_VOC); Serial.print("ppm "); + Serial.print("CO2:"); Serial.print(data.co2); Serial.print("ppm "); + Serial.print("Temperature:"); Serial.print(data.comp_temperature / SCALE_IAQ_TEMP); Serial.print("*C "); + Serial.print("Humidity:"); Serial.print(data.comp_humidity / SCALE_IAQ_HUMI); Serial.print("% "); + Serial.print("GAS:"); Serial.print(data.raw_gas); Serial.println(" ohms "); + } + break; + default: + Serial.println("Unkown."); + break; + } +} +#endif + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +void printResult(uint8_t sensor_id, float sample_rate, bool rslt) +{ + const char *sensorName = bhy.getSensorName(sensor_id); + Serial.print("Configure "); + Serial.print(sensorName); + Serial.print(" sensor "); + Serial.print(sample_rate, 2); + Serial.print(" HZ "); + if (rslt) { + Serial.print("successfully"); + } else { + Serial.print("failed"); + } + Serial.println(); +} + + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + /* + * Enable BME688 function + * Function depends on BME688. + * If the hardware is not connected to BME688, the function cannot be used. + * * */ +#ifdef USING_DATA_HELPER + air_quality.enable(); +#else + + float sample_rate = 1.0; // Invalid param,iaq sensor only be updated when there is a change. + uint32_t report_latency_ms = 0; // Invalid param,iaq sensor only be updated when there is a change. + bool rslt = false; + rslt = bhy.configure(BoschSensorID::IAQ, sample_rate, report_latency_ms); + printResult(BoschSensorID::IAQ, sample_rate, rslt); + + // Register BME688 data parse callback function + bhy.onResultEvent(BoschSensorID::IAQ, parse_sensor_data); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif + +} + + +void loop() +{ + +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + uint32_t s; + uint32_t ns; + if (air_quality.hasUpdated()) { + air_quality.getLastTime(s, ns); + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]:"); + Serial.print("TEMP:"); Serial.print(air_quality.getCelsius()); Serial.print("°C"); + Serial.print("ACCU:"); Serial.print(air_quality.getIAQAccuracy()); Serial.print(" "); + Serial.print("IAQ:"); Serial.print(air_quality.getIAQ()); Serial.print(" "); + Serial.print("SIAQ:"); Serial.print(air_quality.getSIAQ()); Serial.print(" "); + Serial.print("VOC:"); Serial.print(air_quality.getVOC()); Serial.print("ppm "); + Serial.print("CO2:"); Serial.print(air_quality.getCO2()); Serial.print("ppm "); + Serial.print("HUMI:"); Serial.println(air_quality.getHumidity()); + Serial.print("GAS:"); Serial.print(air_quality.getRawGas()); Serial.print(" ohms "); + Serial.println(); + } +#endif + delay(50); +} + + + diff --git a/lib/SensorLib/examples/BHI360_aux_BMM350_BMP580_BME688/BHI360_aux_BMM350_BMP580_BME688.ino b/lib/SensorLib/examples/BHI360_aux_BMM350_BMP580_BME688/BHI360_aux_BMM350_BMP580_BME688.ino new file mode 100644 index 0000000..8cb07bb --- /dev/null +++ b/lib/SensorLib/examples/BHI360_aux_BMM350_BMP580_BME688/BHI360_aux_BMM350_BMP580_BME688.ino @@ -0,0 +1,361 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_aux_BMM350_BMP580_BME688.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-11 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +#define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorTemperature temperature(bhy); +SensorHumidity humidity(bhy); +SensorPressure pressure(bhy); +#endif + + +#define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 + +#include + + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifndef USING_DATA_HELPER +void parse_sensor_data(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + float humidity = 0; + float temperature = 0; + float pressure = 0; + switch (sensor_id) { + case BoschSensorID::HUMIDITY: + bhy2_parse_humidity(data_ptr, &humidity); + Serial.print("humidity:"); Serial.print(humidity); Serial.println("%"); + break; + case BoschSensorID::TEMPERATURE: + bhy2_parse_temperature_celsius(data_ptr, &temperature); + Serial.print("temperature:"); Serial.print(temperature); Serial.println("*C"); + break; + case BoschSensorID::BAROMETER: + bhy2_parse_pressure(data_ptr, &pressure); + Serial.print("pressure:"); Serial.print(pressure); Serial.println("Pa"); + break; + default: + Serial.println("Unkown."); + break; + } +} +#endif + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +void printResult(uint8_t sensor_id, float sample_rate, bool rslt) +{ + const char *sensorName = bhy.getSensorName(sensor_id); + Serial.print("Configure "); + Serial.print(sensorName); + Serial.print(" sensor "); + Serial.print(sample_rate, 2); + Serial.print(" HZ "); + if (rslt) { + Serial.print("successfully"); + } else { + Serial.print("failed"); + } + Serial.println(); +} + + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + /* + * Enable monitoring. + * sample_rate ​​can only control the rate of the pressure sensor. + * Temperature and humidity will only be updated when there is a change. + * * */ + float sample_rate = 2.0; /* Set pressure sensor to 2Hz update frequency */ + uint32_t report_latency_ms = 0; /* Report immediately */ + + /* + * Enable BME280 function + * Function depends on BME280. + * If the hardware is not connected to BME280, the function cannot be used. + * * */ +#ifdef USING_DATA_HELPER + temperature.enable(); + humidity.enable(); + pressure.enable(sample_rate, report_latency_ms); +#else + bool rslt = false; + rslt = bhy.configure(BoschSensorID::TEMPERATURE, sample_rate, report_latency_ms); + printResult(BoschSensorID::TEMPERATURE, sample_rate, rslt); + rslt = bhy.configure(BoschSensorID::BAROMETER, sample_rate, report_latency_ms); + printResult(BoschSensorID::BAROMETER, sample_rate, rslt); + rslt = bhy.configure(BoschSensorID::HUMIDITY, sample_rate, report_latency_ms); + printResult(BoschSensorID::HUMIDITY, sample_rate, rslt); + // Register BME280 data parse callback function + Serial.println("Register sensor result callback function"); + bhy.onResultEvent(BoschSensorID::TEMPERATURE, parse_sensor_data); + bhy.onResultEvent(BoschSensorID::HUMIDITY, parse_sensor_data); + bhy.onResultEvent(BoschSensorID::BAROMETER, parse_sensor_data); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif + +} + + +void loop() +{ + uint32_t s; + uint32_t ns; + +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + if (temperature.hasUpdated()) { + temperature.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] ", s, ns); + Serial.printf("Temperature: %.2f *C %.2f *F %.2f K\n", + temperature.getCelsius(), temperature.getFahrenheit(), temperature.getKelvin()); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]:"); + Serial.print("Temperature: "); + Serial.print(temperature.getCelsius()); Serial.print(" *C"); + Serial.print(temperature.getFahrenheit()); Serial.print(" *F"); + Serial.print(temperature.getKelvin()); Serial.print(" *F"); + Serial.println(); +#endif + } + + if (humidity.hasUpdated()) { + humidity.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] ", s, ns); + Serial.printf("Humidity: %.2f %%\n", humidity.getHumidity()); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]:"); + Serial.print("Humidity: "); + Serial.print(humidity.getHumidity()); Serial.print(" %"); + Serial.println(); +#endif + } + + if (pressure.hasUpdated()) { + pressure.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] ", s, ns); + Serial.printf("Pressure: %.2f Pascal %.2f hPa %.2f kPa\n", pressure.getPressure(), pressure.getPressureHPa(), pressure.getPressureKPa()); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("]:"); + Serial.print("Pressure: "); + Serial.print(pressure.getPressure()); Serial.print(" Pascal"); + Serial.println(); +#endif + } +#endif + delay(50); +} + + + diff --git a/lib/SensorLib/examples/BHI360_aux_BMM350_euler/BHI360_aux_BMM350_euler.ino b/lib/SensorLib/examples/BHI360_aux_BMM350_euler/BHI360_aux_BMM350_euler.ino new file mode 100644 index 0000000..ff5223c --- /dev/null +++ b/lib/SensorLib/examples/BHI360_aux_BMM350_euler/BHI360_aux_BMM350_euler.ino @@ -0,0 +1,361 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_aux_BMM350_euler.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-25 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +// #define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorEuler euler(bhy); +#endif + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +// #define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +#define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +#include + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +bool isReadyFlag = false; + +void dataReadyISR() +{ + isReadyFlag = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +/** + * @brief Parse the quaternion data from the sensor and convert it to Euler angles. + * + * This function serves as a callback to handle the sensor data related to the game rotation vector. + * It takes the raw quaternion data received from the sensor, converts it into Euler angles (roll, pitch, and heading), + * + * @param sensor_id The ID of the sensor that generated the data. It helps in identifying which specific sensor + * the data is coming from, especially in systems with multiple sensors. + * @param data_ptr A pointer to the buffer containing the raw quaternion data. The data in this buffer + * represents the orientation of the sensor in quaternion format. + * @param len The length of the data buffer, indicating the size of the quaternion data in bytes. + * @param timestamp A pointer to a 64 - bit unsigned integer representing the timestamp when the sensor data was captured. + * This can be used to correlate the data with a specific point in time. + * @param user_data A generic pointer to user - defined data. + */ +#ifndef USING_DATA_HELPER +void parse_euler_data(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + struct bhy2_data_orientation data; + uint32_t s, ns; + uint64_t tns; + // Function to parse FIFO frame data into orientation + bhy2_parse_orientation(data_ptr, &data); + uint64_t _timestamp = *timestamp; + BoschSensorUtils::time_to_s_ns(_timestamp, &s, &ns, &tns); + uint8_t accuracy = bhy.getAccuracy(); + if (accuracy) { + Serial.print(" T:"); Serial.print(s); + Serial.print("."); Serial.print(ns); + Serial.print(" R:"); Serial.print(data.roll * 360.0f / 32768.0f); + Serial.print(" P:"); Serial.print(data.pitch * 360.0f / 32768.0f); + Serial.print(" H:"); Serial.print(data.heading * 360.0f / 32768.0f); + Serial.print(" A:"); Serial.println(accuracy); + } else { + Serial.print(" T:"); Serial.print(s); + Serial.print("."); Serial.print(ns); + Serial.print(" R:"); Serial.print(data.roll * 360.0f / 32768.0f); + Serial.print(" P:"); Serial.print(data.pitch * 360.0f / 32768.0f); + Serial.print(" H:"); Serial.println(data.heading * 360.0f / 32768.0f); + } +} +#endif + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + + Serial.println("Initializing Sensors..."); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + /** + * @brief Set the axis remapping for the sensor based on the specified orientation. + * + * This function allows you to configure the sensor's axis remapping according to a specific + * physical orientation of the chip. By passing one of the values from the SensorRemap enum, + * you can ensure that the sensor data is correctly interpreted based on how the chip is placed. + * [bst-bhi260ab-ds000.pdf](https://www.mouser.com/datasheet/2/783/bst-bhi260ab-ds000-1816249.pdf) + * 20.3 Sensing axes and axes remapping + * @param remap An enumeration value from SensorRemap that specifies the desired axis remapping. + * @return Returns true if the axis remapping is successfully set; false otherwise. + */ + + // Set the sensor's axis remapping based on the chip's orientation. + // These commented-out lines show different ways to configure the sensor according to the chip's corners. + // When the chip is viewed from the top, set the orientation to the top-left corner. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_LEFT_CORNER); + // When the chip is viewed from the top, set the orientation to the top-right corner. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + // When the chip is viewed from the top, set the orientation to the bottom-right corner of the top layer. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_BOTTOM_RIGHT_CORNER); + // When the chip is viewed from the top, set the orientation to the bottom-left corner of the top layer. + // bhy.setRemapAxes(SensorRemap::TOP_LAYER_BOTTOM_LEFT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the top-left corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_TOP_LEFT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the top-right corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_TOP_RIGHT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the bottom-right corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_BOTTOM_RIGHT_CORNER); + // When the chip is viewed from the bottom, set the orientation to the bottom-left corner of the bottom layer. + // bhy.setRemapAxes(SensorRemap::BOTTOM_LAYER_BOTTOM_LEFT_CORNER); + + // Define the sample rate for data reading. + // The sensor will read out data measured at a frequency of 100Hz. + float sample_rate = 100.0; + // Define the report latency in milliseconds. + // A value of 0 means the sensor will report the measured data immediately. + uint32_t report_latency_ms = 0; + + /* + * Enable Euler function + * The Euler function depends on BMM150 or BMM350. + * If the hardware is not connected to BMM150 or BMM350, the Euler function cannot be used. + * * */ +#ifdef USING_DATA_HELPER + euler.enable(sample_rate, report_latency_ms); +#else + // Set the sample rate and report latency for this measurement. + bhy.configure(BoschSensorID::ORIENTATION_WAKE_UP, sample_rate, report_latency_ms); + // Register a callback function 'parse_euler_data' to handle the result events of the orientation wake-up vector measurement. + // When the sensor has new data for the orientation wake-up vector, the 'parse_euler_data' function will be called. + bhy.onResultEvent(BoschSensorID::ORIENTATION_WAKE_UP, parse_euler_data); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif +} + + +void loop() +{ +#ifdef USING_SENSOR_IRQ_METHOD + if (isReadyFlag) { + isReadyFlag = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + if (euler.hasUpdated()) { + // Print the roll angle to the serial monitor. + Serial.print(euler.getRoll()); + // Print a comma as a separator between the roll and pitch angles. + Serial.print(","); + // Print the pitch angle to the serial monitor. + Serial.print(euler.getPitch()); + // Print a comma as a separator between the pitch and yaw angles. + Serial.print(","); + // Print the yaw angle to the serial monitor and start a new line. + Serial.println(euler.getHeading()); + } +#endif + + delay(50); +} + + + diff --git a/lib/SensorLib/examples/BHI360_aux_BMM350_quaternion/BHI360_aux_BMM350_quaternion.ino b/lib/SensorLib/examples/BHI360_aux_BMM350_quaternion/BHI360_aux_BMM350_quaternion.ino new file mode 100644 index 0000000..f173573 --- /dev/null +++ b/lib/SensorLib/examples/BHI360_aux_BMM350_quaternion/BHI360_aux_BMM350_quaternion.ino @@ -0,0 +1,319 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BHI360_aux_BMM350_quaternion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-25 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include +#include + +// #define USE_I2C_INTERFACE true +// #define USE_SPI_INTERFACE true + +#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE) +#define USE_I2C_INTERFACE +#warning "No interface type is selected, use I2C interface" +#endif + +#if defined(USE_SPI_INTERFACE) +#ifndef SPI_MOSI +#define SPI_MOSI 33 +#endif + +#ifndef SPI_MISO +#define SPI_MISO 34 +#endif + +#ifndef SPI_SCK +#define SPI_SCK 35 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 37 +#endif + +#ifndef BHI360_CS +#define BHI360_CS 36 +#endif + +#else //* I2C */ + +#ifndef BHI360_SDA +#define BHI360_SDA 2 +#endif + +#ifndef BHI360_SCL +#define BHI360_SCL 3 +#endif + +// If BHI360_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead. +#ifndef BHI360_IRQ +#define BHI360_IRQ 8 +#endif +#endif /*USE_SPI_INTERFACE*/ + +#ifndef BHI360_RST +#define BHI360_RST -1 +#endif + +SensorBHI360 bhy; + +/* +* Define the USING_DATA_HELPER use of data assistants. +* No callback function will be used. Data can be obtained directly through +* the data assistant. Note that this method is not a thread-safe function. +* Please pay attention to protecting data access security. +* */ +// #define USING_DATA_HELPER + +#ifdef USING_DATA_HELPER +SensorQuaternion quaternion(bhy); +#endif + +// #define BOSCH_DATA_INJECT_BHI360 +// #define BOSCH_DATA_INJECT_BHI360_BMM150 +// #define BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_BMM350 +// #define BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_ENV +// #define BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION +// #define BOSCH_DATA_INJECT_BHI360_MOTION_AI +// #define BOSCH_SHUTTLE3_BHI360 +// #define BOSCH_SHUTTLE3_BHI360_AUX_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION +#define BOSCH_SHUTTLE3_BHI360_BMM350C +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688 +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_POLL +// #define BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO +// #define BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY +// #define BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO +// #define BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION +// #define BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER +// #define BOSCH_SHUTTLE3_BHI360_TEMP +// #define BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE +// #define BOSCH_SHUTTLE3_BHI360_TURBO + +#include + +// Force update of current firmware, whether it exists or not. +// Only works when external SPI Flash is connected to BHI360. +// After uploading firmware once, you can change this to false to speed up boot time. +bool force_update_flash_firmware = true; + +#if BHI360_IRQ > 0 +#define USING_SENSOR_IRQ_METHOD +#endif + +#ifdef USING_SENSOR_IRQ_METHOD +volatile bool isInterruptTriggered = false; + +void dataReadyISR() +{ + isInterruptTriggered = true; +} +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifndef USING_DATA_HELPER +void parse_quaternion(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +{ + struct bhy2_data_quaternion data; + uint32_t s, ns; + uint64_t tns; + // Function to parse FIFO frame data into orientation + bhy2_parse_quaternion(data_ptr, &data); + uint64_t _timestamp = *timestamp; + BoschSensorUtils::time_to_s_ns(_timestamp, &s, &ns, &tns); + Serial.print("SID:"); Serial.print(sensor_id); + Serial.print(" T:"); Serial.print(s); + Serial.print("."); Serial.print(ns); + Serial.print(" x:"); Serial.print(data.x / 16384.0f); + Serial.print(" y:"); Serial.print(data.y / 16384.0f); + Serial.print(" x:"); Serial.print(data.z / 16384.0f); + Serial.print(" w:"); Serial.print(data.w / 16384.0f); + Serial.print(" acc:"); Serial.println(((data.accuracy * 180.0f) / 16384.0f) / 3.141592653589793f); +} +#endif + +// Firmware update progress callback +void progress_callback(uint32_t total, uint32_t transferred, void *user_data) +{ + float progress = (float)transferred / total * 100; + Serial.print("Upload progress: "); + Serial.print(progress); + Serial.println("%"); +} + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin + bhy.setPins(BHI360_RST); + + Serial.println("Initializing Sensors..."); + + // Set the firmware array address and firmware size + bhy.setFirmware(bosch_firmware_image, bosch_firmware_size); + + // Set the firmware update processing progress callback function + // bhy.setUpdateProcessCallback(progress_callback, NULL); + + // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes. + // bhy.setMaxiTransferSize(256); + + // Set the processing fifo data buffer size,The default size is 512 bytes. + // bhy.setProcessBufferSize(1024); + + Serial.println("Initializing Sensors..."); + +#ifdef USE_I2C_INTERFACE + // Using I2C interface + // BHI360_SLAVE_ADDRESS_L = 0x28 + // BHI360_SLAVE_ADDRESS_H = 0x29 + if (!bhy.begin(Wire, BHI360_SLAVE_ADDRESS_L, BHI360_SDA, BHI360_SCL)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + +#ifdef USE_SPI_INTERFACE + // Using SPI interface + if (!bhy.begin(SPI, BHI360_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all sensors info to Serial + BoschSensorInfo info = bhy.getSensorInfo(); + +#ifdef ARDUINO + ArduinoStreamPrinter printer(Serial); + info.printInfo(printer); +#else + info.printInfo([](const char *format, ...) -> int { + va_list args; + va_start(args, format); + int result = vprintf(format, args); + va_end(args); + return result; + }); +#endif + + // The stepcount sensor will only report when it changes, so the value is 0 ~ 1 + float sample_rate = 100.0; + uint32_t report_latency_ms = 0; /* Report immediately */ + +#ifdef USING_DATA_HELPER + stepDetector.enable(sample_rate, report_latency_ms); + stepCounter.enable(sample_rate, report_latency_ms); +#else + // Enable Step detector + bhy.configure(BoschSensorID::ROTATION_VECTOR, sample_rate, report_latency_ms); + bhy.onResultEvent(BoschSensorID::ROTATION_VECTOR, parse_quaternion); +#endif + +#ifdef USING_SENSOR_IRQ_METHOD + // Set the specified pin (BHI360_IRQ) ​​to an input pin. + // This makes the pin ready to receive external signals. + // If the interrupt is already connected, if BHI360_IRQ is equal to -1 then the polling method will be used + pinMode(BHI360_IRQ, INPUT); + + // Attach an interrupt service routine (ISR) to the specified pin (BHI360_IRQ). + // The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin. + attachInterrupt(BHI360_IRQ, dataReadyISR, RISING); +#endif +} + + +void loop() +{ + uint32_t s; + uint32_t ns; + +#ifdef USING_SENSOR_IRQ_METHOD + if (isInterruptTriggered) { + isInterruptTriggered = false; +#endif /*USING_SENSOR_IRQ_METHOD*/ + + /* If the interrupt is connected to the sensor and BHI360_IRQ is not equal to -1, + * the interrupt function will be enabled, otherwise the method of polling the sensor is used + */ + bhy.update(); + +#ifdef USING_SENSOR_IRQ_METHOD + } +#endif /*USING_SENSOR_IRQ_METHOD*/ + +#ifdef USING_DATA_HELPER + if (quaternion.hasUpdated()) { + uint32_t s; + uint32_t ns; + quaternion.getLastTime(s, ns); +#ifdef PLATFORM_HAS_PRINTF + Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] QX:%+7.2f QY:%+7.2f QZ:%+7.2f QW:%+7.2f\n", + s, ns, quaternion.getX(), quaternion.getY(), quaternion.getZ(), quaternion.getW()); +#else + Serial.print("[T: "); + Serial.print(s); + Serial.print("."); + Serial.print(ns); + Serial.print("] "); + Serial.print("QX:"); + Serial.print(quaternion.getX(), 2); + Serial.print(" QY:"); + Serial.print(quaternion.getY(), 2); + Serial.print(" QZ:"); + Serial.print(quaternion.getZ(), 2); + Serial.print(" QW:"); + Serial.print(quaternion.getW(), 2); + Serial.println(); +#endif + } +#endif + delay(50); +} + + diff --git a/lib/SensorLib/examples/BMA422_Accelerometer/BMA422_Accelerometer.ino b/lib/SensorLib/examples/BMA422_Accelerometer/BMA422_Accelerometer.ino new file mode 100644 index 0000000..b1a39ef --- /dev/null +++ b/lib/SensorLib/examples/BMA422_Accelerometer/BMA422_Accelerometer.ino @@ -0,0 +1,136 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA422_Accelerometer.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-30 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA422 accelSensor; + +volatile bool isInterruptTriggered = false; + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + // Enable data ready feature + rslt = accelSensor.enableDataReady(true); + if (!rslt) { + Serial.println("Failed to enable data ready"); + while (1); + } + + delay(3000); + + Serial.println("Now read accelerometer data form sensor"); +} + +void loop() +{ + AccelerometerData accelData; + if (accelSensor.isDataReady()) { + // Read the accelerometer data + if (accelSensor.readData(accelData)) { + Serial.print("Temperature: "); + Serial.print(accelData.temperature); + Serial.print(" °C, Acc_Raw: ("); + Serial.print(accelData.raw.x); + Serial.print(", "); + Serial.print(accelData.raw.y); + Serial.print(", "); + Serial.print(accelData.raw.z); + Serial.print("), Acc_ms2: ("); + Serial.print(accelData.mps2.x, 2); + Serial.print(", "); + Serial.print(accelData.mps2.y, 2); + Serial.print(", "); + Serial.print(accelData.mps2.z, 2); + Serial.print(") "); + uint32_t timeSampleMs = accelSensor.getTimeSampleMs(); + Serial.print(timeSampleMs); + Serial.print("(ms)/"); + Serial.print(millis()); + Serial.println(" "); + } else { + Serial.println("Failed to read accelerometer data"); + } + } +} diff --git a/lib/SensorLib/examples/BMA422_AnyMotion/BMA422_AnyMotion.ino b/lib/SensorLib/examples/BMA422_AnyMotion/BMA422_AnyMotion.ino new file mode 100644 index 0000000..cc6bf84 --- /dev/null +++ b/lib/SensorLib/examples/BMA422_AnyMotion/BMA422_AnyMotion.ino @@ -0,0 +1,158 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA422_AnyMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA422 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onAnyMotionDetected() +{ + Serial.println("Any motion detected"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 50.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + /* + * Set the slope threshold: + * Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG) + */ + uint16_t threshold = 10; + + /* + * Set the duration for any-motion interrupt: + * Duration defines the number of consecutive data points for which threshold condition must be true(1 bit = 20ms) + */ + uint16_t duration = 4; + + if (!accelSensor.configAnyMotion( threshold, duration)) { + Serial.println("Failed to configure any-motion detection"); + } + + // Motion axes configuration + SensorBMA422::MotionAxesConfig cfg; + cfg.x_axis = 1; ///< Enable motion detection on X-axis (1=enabled, 0=disabled) + cfg.y_axis = 1; ///< Enable motion detection on Y-axis (1=enabled, 0=disabled) + cfg.z_axis = 1; ///< Enable motion detection on Z-axis (1=enabled, 0=disabled) + + // Enable any-motion detection feature + rslt = accelSensor.enableAnyMotionDetection(cfg, feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable any-motion detection"); + while (1); + } + + // Set any-motion detection callback + accelSensor.setOnAnyMotionCallback(onAnyMotionDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA422_NoMotion/BMA422_NoMotion.ino b/lib/SensorLib/examples/BMA422_NoMotion/BMA422_NoMotion.ino new file mode 100644 index 0000000..91edd0f --- /dev/null +++ b/lib/SensorLib/examples/BMA422_NoMotion/BMA422_NoMotion.ino @@ -0,0 +1,159 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA422_NoMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA422 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onNoMotionDetected() +{ + Serial.println("No motion detected"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 50.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + /* + * Set the slope threshold: + * Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG) + */ + uint16_t threshold = 10; + + /* + * Set the duration for any-motion interrupt: + * Duration defines the number of consecutive data points for which threshold condition must be true(1 bit = 20ms) + */ + uint16_t duration = 4; + + if (!accelSensor.configNoMotion( threshold, duration)) { + Serial.println("Failed to configure no-motion detection"); + } + + // Motion axes configuration + SensorBMA422::MotionAxesConfig cfg; + cfg.x_axis = 1; ///< Enable no-motion detection on X-axis (1=enabled, 0=disabled) + cfg.y_axis = 1; ///< Enable no-motion detection on Y-axis (1=enabled, 0=disabled) + cfg.z_axis = 1; ///< Enable no-motion detection on Z-axis (1=enabled, 0=disabled) + + // Enable no-motion detection feature + rslt = accelSensor.enableNoMotionDetection(cfg, feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable no-motion detection"); + while (1); + } + + // Set no-motion detection callback + accelSensor.setOnNoMotionCallback(onNoMotionDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA423_Accelerometer/BMA423_Accelerometer.ino b/lib/SensorLib/examples/BMA423_Accelerometer/BMA423_Accelerometer.ino index 70f50a8..410fe3e 100644 --- a/lib/SensorLib/examples/BMA423_Accelerometer/BMA423_Accelerometer.ino +++ b/lib/SensorLib/examples/BMA423_Accelerometer/BMA423_Accelerometer.ino @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -24,13 +24,9 @@ * * @file BMA423_Accelerometer.ino * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-01 - * + * @date 2026-01-31 */ -#include -#include -#include -#include "SensorBMA423.hpp" +#include #ifndef SENSOR_SDA #define SENSOR_SDA 21 @@ -44,49 +40,97 @@ #define SENSOR_IRQ 39 #endif -SensorBMA423 accel; -uint32_t intervalue; +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; void setup() { + bool rslt; + Serial.begin(115200); while (!Serial); pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); - /* - * BMA423_I2C_ADDR_PRIMARY = 0x18 - * BMA423_I2C_ADDR_SECONDARY = 0x19 - * * */ - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check your wiring!"); + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { while (1) { + Serial.println("BMA4xx sensor initialization failed"); delay(1000); } } - Serial.println("Init BAM423 Sensor success!"); - //Default 4G ,200HZ - accel.configAccelerometer(); + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); - accel.enableAccelerometer(); + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + // Enable data ready feature + rslt = accelSensor.enableDataReady(true); + if (!rslt) { + Serial.println("Failed to enable data ready"); + while (1); + } + + delay(3000); + + Serial.println("Now read accelerometer data form sensor"); } - void loop() { - int16_t x = 0, y = 0, z = 0; - accel.getAccelerometer(x, y, z); - Serial.print("X:"); - Serial.print(x); Serial.print(" "); - Serial.print("Y:"); - Serial.print(y); Serial.print(" "); - Serial.print("Z:"); - Serial.print(z); - Serial.println(); - - delay(50); + AccelerometerData accelData; + if (accelSensor.isDataReady()) { + // Read the accelerometer data + if (accelSensor.readData(accelData)) { + Serial.print("Temperature: "); + Serial.print(accelData.temperature); + Serial.print(" °C, Acc_Raw: ("); + Serial.print(accelData.raw.x); + Serial.print(", "); + Serial.print(accelData.raw.y); + Serial.print(", "); + Serial.print(accelData.raw.z); + Serial.print("), Acc_ms2: ("); + Serial.print(accelData.mps2.x, 2); + Serial.print(", "); + Serial.print(accelData.mps2.y, 2); + Serial.print(", "); + Serial.print(accelData.mps2.z, 2); + Serial.print(") "); + uint32_t timeSampleMs = accelSensor.getTimeSampleMs(); + Serial.print(timeSampleMs); + Serial.print("(ms)/"); + Serial.print(millis()); + Serial.println(" "); + } else { + Serial.println("Failed to read accelerometer data"); + } + } } - - - diff --git a/lib/SensorLib/examples/BMA423_AnyMotion/BMA423_AnyMotion.ino b/lib/SensorLib/examples/BMA423_AnyMotion/BMA423_AnyMotion.ino new file mode 100644 index 0000000..5caf3df --- /dev/null +++ b/lib/SensorLib/examples/BMA423_AnyMotion/BMA423_AnyMotion.ino @@ -0,0 +1,158 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA423_AnyMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onAnyMotionDetected() +{ + Serial.println("Any motion detected"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 50.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + /* + * Set the slope threshold: + * Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG) + */ + uint16_t threshold = 10; + + /* + * Set the duration for any-motion interrupt: + * Duration defines the number of consecutive data points for which threshold condition must be true(1 bit = 20ms) + */ + uint16_t duration = 4; + + if (!accelSensor.configAnyMotion( threshold, duration)) { + Serial.println("Failed to configure any-motion detection"); + } + + // Motion axes configuration + SensorBMA423::MotionAxesConfig cfg; + cfg.x_axis = 1; ///< Enable motion detection on X-axis (1=enabled, 0=disabled) + cfg.y_axis = 1; ///< Enable motion detection on Y-axis (1=enabled, 0=disabled) + cfg.z_axis = 1; ///< Enable motion detection on Z-axis (1=enabled, 0=disabled) + + // Enable any-motion detection feature + rslt = accelSensor.enableAnyMotionDetection(cfg, feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable any-motion detection"); + while (1); + } + + // Set any-motion detection callback + accelSensor.setOnAnyMotionCallback(onAnyMotionDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA423_DataReadyInterrupt/BMA423_DataReadyInterrupt.ino b/lib/SensorLib/examples/BMA423_DataReadyInterrupt/BMA423_DataReadyInterrupt.ino new file mode 100644 index 0000000..07651b6 --- /dev/null +++ b/lib/SensorLib/examples/BMA423_DataReadyInterrupt/BMA423_DataReadyInterrupt.ino @@ -0,0 +1,150 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorBMA423.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onDataReady(AccelerometerData data) +{ + Serial.print("Data ready: "); + Serial.print("Temperature: "); + Serial.print(data.temperature); + Serial.print(" °C, Acc_Raw: ("); + Serial.print(data.raw.x); + Serial.print(", "); + Serial.print(data.raw.y); + Serial.print(", "); + Serial.print(data.raw.z); + Serial.print("), Acc_mps2: ("); + Serial.print(data.mps2.x); + Serial.print(", "); + Serial.print(data.mps2.y); + Serial.print(", "); + Serial.print(data.mps2.z); + Serial.println(")"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // Enable data ready feature + rslt = accelSensor.enableDataReady(feature_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable data ready"); + while (1); + } + + // Set data ready callback + accelSensor.setOnDataReadyCallback(onDataReady); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA423_Feature/BMA423_Feature.ino b/lib/SensorLib/examples/BMA423_Feature/BMA423_Feature.ino deleted file mode 100644 index 0b2bc98..0000000 --- a/lib/SensorLib/examples/BMA423_Feature/BMA423_Feature.ino +++ /dev/null @@ -1,148 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file BMA423_Feature.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-03 - * - */ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 21 -#endif - -#ifndef SENSOR_SCL -#define SENSOR_SCL 22 -#endif - -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 39 -#endif -#ifndef IRAM_ATTR -#define IRAM_ATTR -#endif - -SensorBMA423 accel; -uint32_t intervalue; -bool sensorIRQ = false; - - -void IRAM_ATTR setFlag() -{ - sensorIRQ = true; -} - -void setup() -{ - Serial.begin(115200); - while (!Serial); - - pinMode(SENSOR_IRQ, INPUT); - attachInterrupt(SENSOR_IRQ, setFlag, RISING); - - /* - * BMA423_I2C_ADDR_PRIMARY = 0x18 - * BMA423_I2C_ADDR_SECONDARY = 0x19 - * * */ - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check your wiring!"); - while (1) { - delay(1000); - } - } - - Serial.println("Init BAM423 Sensor success!"); - - //Default 4G ,200HZ - accel.configAccelerometer(); - - // Enable acceleration sensor - accel.enableAccelerometer(); - - // Enable pedometer steps - accel.enablePedometer(); - - // Emptying the pedometer steps - accel.resetPedometer(); - - // Enable sensor features - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR | - SensorBMA423::FEATURE_ANY_MOTION | - SensorBMA423::FEATURE_ACTIVITY | - SensorBMA423::FEATURE_TILT | - SensorBMA423::FEATURE_WAKEUP, - true); - - // Pedometer interrupt enable - accel.enablePedometerIRQ(); - // Tilt interrupt enable - accel.enableTiltIRQ(); - // DoubleTap interrupt enable - accel.enableWakeupIRQ(); - // Any motion / no motion interrupt enable - accel.enableAnyNoMotionIRQ(); - // Activity interruption enable - accel.enableActivityIRQ(); - // Chip interrupt function enable - accel.configInterrupt(); - -} - - -void loop() -{ - if (sensorIRQ) { - sensorIRQ = false; - // The interrupt status must be read after an interrupt is detected - uint16_t status = accel.readIrqStatus(); - Serial.print("Accelerometer interrupt mask : 0x"); - Serial.println(status, HEX); - - if (accel.isPedometer()) { - uint32_t stepCounter = accel.getPedometerCounter(); - Serial.print("Step count interrupt,step Counter:"); - Serial.println(stepCounter); - } - if (accel.isActivity()) { - Serial.println("Activity interrupt"); - } - if (accel.isTilt()) { - Serial.println("Tilt interrupt"); - } - if (accel.isDoubleTap()) { - Serial.println("DoubleTap interrupt"); - } - if (accel.isAnyNoMotion()) { - Serial.println("Any motion / no motion interrupt"); - } - } - delay(50); -} - - - diff --git a/lib/SensorLib/examples/BMA423_Feature_AnyMotion/BMA423_Feature_AnyMotion.ino b/lib/SensorLib/examples/BMA423_Feature_AnyMotion/BMA423_Feature_AnyMotion.ino deleted file mode 100644 index 846c96b..0000000 --- a/lib/SensorLib/examples/BMA423_Feature_AnyMotion/BMA423_Feature_AnyMotion.ino +++ /dev/null @@ -1,100 +0,0 @@ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 10 -#endif -#ifndef SENSOR_SCL -#define SENSOR_SCL 11 -#endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 14 -#endif - -#ifndef IRAM_ATTR -#define IRAM_ATTR -#endif - -SensorBMA423 accel; -volatile bool sensorIRQ = false; -void IRAM_ATTR setFlag() { sensorIRQ = true; } // IRAM_ATTR ok on ESP; harmless elsewhere - -void setup() { - Serial.begin(115200); - while (!Serial) {} - - pinMode(SENSOR_IRQ, INPUT); - - // Many watch boards use the "secondary" address 0x19 - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check wiring!"); - for(;;) delay(1000); - } - Serial.println("Init BMA423 Sensor success!"); - - // --- Accel running (ODR is fine with lib default) --- - accel.configAccelerometer(); // lib’s default: 4G, ~200 Hz - accel.enableAccelerometer(); - - // --- Force board orientation (preset 5 = bottom layer, top-right corner) --- - accel.setRemapAxes(SensorBMA423::REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER); - Serial.println("Remap preset: REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER"); - - // --- HARD RESET THE FEATURE ENGINE STATE / IRQ MAPS --- - // Unmap all feature IRQs (public helpers) - accel.disablePedometerIRQ(); - accel.disableActivityIRQ(); - accel.disableAnyNoMotionIRQ(); - accel.disableWakeupIRQ(); - accel.disableTiltIRQ(); - - // Disable features you don’t want - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR, false); - accel.enableFeature(SensorBMA423::FEATURE_ACTIVITY, false); - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION,false); - accel.enableFeature(SensorBMA423::FEATURE_NO_MOTION, false); - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, false); - // Clear any latched status from the blob defaults - accel.readIrqStatus(); - - // --- Configure the INT pin and enable ONLY ANY-MOTION --- - // edge_ctrl=0(level), level=1(active-high), od=0(push-pull), - // output_en=1, input_en=0, int_line=0 (INT1) - accel.configInterrupt(/*edge*/0, /*level*/1, /*od*/0, /*out_en*/1, /*in_en*/0, /*INT1*/0); - - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION, true); - accel.enableAnyNoMotionIRQ(); // map any-motion to INT1 - - // Attach ISR (if your MCU requires digitalPinToInterrupt, use it) -#if defined(ESP_PLATFORM) - attachInterrupt(SENSOR_IRQ, setFlag, RISING); -#else - attachInterrupt(digitalPinToInterrupt(SENSOR_IRQ), setFlag, RISING); -#endif - - Serial.println("Any-motion IRQ armed. Move the device to trigger events..."); -} - -void loop() { - if (sensorIRQ) { - sensorIRQ = false; - - // Reading status clears the event (and releases the pin if latched by default) - uint16_t status = accel.readIrqStatus(); - Serial.print("INT_STATUS: 0x"); - Serial.println(status,HEX); - - if (accel.isAnyNoMotion()) { - Serial.println("ANY MOTION!"); - } - // Optional: debug—if you still see other bits, uncomment to inspect - // if (accel.isPedometer()) Serial.println("Step INT (unexpected)"); - // if (accel.isActivity()) Serial.println("Activity INT (unexpected)"); - // if (accel.isDoubleTap()) Serial.println("Wakeup/DoubleTap INT (unexpected)"); - // if (accel.isTilt()) Serial.println("Tilt INT (unexpected)"); - } - - delay(10); -} diff --git a/lib/SensorLib/examples/BMA423_Feature_DoubleTap_WakeUp/BMA423_Feature_DoubleTap_WakeUp.ino b/lib/SensorLib/examples/BMA423_Feature_DoubleTap_WakeUp/BMA423_Feature_DoubleTap_WakeUp.ino deleted file mode 100644 index 1bd38f5..0000000 --- a/lib/SensorLib/examples/BMA423_Feature_DoubleTap_WakeUp/BMA423_Feature_DoubleTap_WakeUp.ino +++ /dev/null @@ -1,99 +0,0 @@ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 10 -#endif -#ifndef SENSOR_SCL -#define SENSOR_SCL 11 -#endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 14 -#endif - -#ifndef IRAM_ATTR -#define IRAM_ATTR -#endif - -SensorBMA423 accel; -volatile bool sensorIRQ = false; -void IRAM_ATTR setFlag() { sensorIRQ = true; } // IRAM_ATTR ok on ESP; harmless elsewhere - -void setup() { - Serial.begin(115200); - while (!Serial) {} - - pinMode(SENSOR_IRQ, INPUT); - - // Many watch boards use the "secondary" address 0x19 - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check wiring!"); - for(;;) delay(1000); - } - Serial.println("Init BMA423 Sensor success!"); - - // --- Accel running (ODR is fine with lib default) --- - accel.configAccelerometer(); // lib’s default: 4G, ~200 Hz - accel.enableAccelerometer(); - - // --- Force board orientation (preset 7 = bottom layer, top-left corner) --- - accel.setRemapAxes(SensorBMA423::REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER); - - // --- HARD RESET THE FEATURE ENGINE STATE / IRQ MAPS --- - // Unmap all feature IRQs (public helpers) - accel.disablePedometerIRQ(); - accel.disableActivityIRQ(); - accel.disableAnyNoMotionIRQ(); - accel.disableWakeupIRQ(); - accel.disableTiltIRQ(); - - // Disable features you don’t want - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR, false); - accel.enableFeature(SensorBMA423::FEATURE_ACTIVITY, false); - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION,false); - accel.enableFeature(SensorBMA423::FEATURE_NO_MOTION, false); - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, false); - // Clear any latched status from the blob defaults - accel.readIrqStatus(); - - // --- Configure the INT pin and enable ONLY WAKEUP/DOUBLE-TAP --- - // edge_ctrl=0(level), level=1(active-high), od=0(push-pull), - // output_en=1, input_en=0, int_line=0 (INT1) - accel.configInterrupt(/*edge*/0, /*level*/1, /*od*/0, /*out_en*/1, /*in_en*/0, /*INT1*/0); - - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, true); - accel.enableWakeupIRQ(); // map wakeup/double tap to INT1 - - // Attach ISR (if your MCU requires digitalPinToInterrupt, use it) -#if defined(ESP_PLATFORM) - attachInterrupt(SENSOR_IRQ, setFlag, RISING); -#else - attachInterrupt(digitalPinToInterrupt(SENSOR_IRQ), setFlag, RISING); -#endif - - Serial.println("Wakeup/Double-tap IRQ armed. Double-tap the device to trigger events..."); -} - -void loop() { - if (sensorIRQ) { - sensorIRQ = false; - - // Reading status clears the event (and releases the pin if latched by default) - uint16_t status = accel.readIrqStatus(); - Serial.print("INT_STATUS: 0x"); - Serial.println(status,HEX); - - if (accel.isDoubleTap()) { - Serial.println("DOUBLE TAP / WAKEUP!"); - } - // Optional: debug—if you still see other bits, uncomment to inspect - // if (accel.isPedometer()) Serial.println("Step INT (unexpected)"); - // if (accel.isActivity()) Serial.println("Activity INT (unexpected)"); - // if (accel.isAnyNoMotion()) Serial.println("Any/No-motion INT (unexpected)"); - // if (accel.isTilt()) Serial.println("Tilt INT (unexpected)"); - } - - delay(10); -} diff --git a/lib/SensorLib/examples/BMA423_Feature_Multi/BMA423_Feature_Multi.ino b/lib/SensorLib/examples/BMA423_Feature_Multi/BMA423_Feature_Multi.ino deleted file mode 100644 index 1e571bb..0000000 --- a/lib/SensorLib/examples/BMA423_Feature_Multi/BMA423_Feature_Multi.ino +++ /dev/null @@ -1,128 +0,0 @@ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 10 -#endif -#ifndef SENSOR_SCL -#define SENSOR_SCL 11 -#endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 14 -#endif - -#ifndef IRAM_ATTR -#define IRAM_ATTR -#endif - -SensorBMA423 accel; -volatile bool sensorIRQ = false; -void IRAM_ATTR setFlag() { sensorIRQ = true; } // IRAM_ATTR ok on ESP; harmless elsewhere - -void setup() -{ - Serial.begin(115200); - while (!Serial) - { - } - - pinMode(SENSOR_IRQ, INPUT); - - // Many watch boards use the "secondary" address 0x19 - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) - { - Serial.println("Failed to find BMA423 - check wiring!"); - for (;;) - delay(1000); - } - Serial.println("Init BMA423 Sensor success!"); - - // --- Accel running (ODR is fine with lib default) --- - accel.configAccelerometer(); // lib’s default: 4G, ~200 Hz - accel.enableAccelerometer(); - - // --- Force board orientation (preset 7 = bottom layer, top-left corner) --- - accel.setRemapAxes(SensorBMA423::REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER); - - - // --- HARD RESET THE FEATURE ENGINE STATE / IRQ MAPS --- - // Unmap all feature IRQs (public helpers) - accel.disablePedometerIRQ(); - accel.disableActivityIRQ(); - accel.disableAnyNoMotionIRQ(); - accel.disableWakeupIRQ(); - accel.disableTiltIRQ(); - - // Disable features you don’t want - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR, false); - accel.enableFeature(SensorBMA423::FEATURE_ACTIVITY, false); - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION, false); - accel.enableFeature(SensorBMA423::FEATURE_NO_MOTION, false); - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, false); - // Clear any latched status from the blob defaults - accel.readIrqStatus(); - - // --- Configure INT1 for level-high push-pull output --- - // edge_ctrl=0(level), level=1(active-high), od=0(push-pull), - // output_en=1, input_en=0, int_line=0 (INT1) - accel.configInterrupt(/*edge*/ 0, /*level*/ 1, /*od*/ 0, /*out_en*/ 1, /*in_en*/ 0, /*INT1*/ 0); - - // Enable and map multiple features - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR, true); - accel.enablePedometer(true); - accel.enablePedometerIRQ(); - - accel.enableFeature(SensorBMA423::FEATURE_TILT, true); - accel.enableTiltIRQ(); - - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, true); - accel.enableWakeupIRQ(); - - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION, true); - accel.enableAnyNoMotionIRQ(); - - // Attach ISR (if your MCU requires digitalPinToInterrupt, use it) -#if defined(ESP_PLATFORM) - attachInterrupt(SENSOR_IRQ, setFlag, RISING); -#else - attachInterrupt(digitalPinToInterrupt(SENSOR_IRQ), setFlag, RISING); -#endif - - Serial.println("Multi-feature IRQ armed. Move, tilt, walk, or double-tap to trigger events..."); -} - -void loop() -{ - if (sensorIRQ) - { - sensorIRQ = false; - - // Reading status clears the event (and releases the pin if latched by default) - uint16_t status = accel.readIrqStatus(); - Serial.print("INT_STATUS: 0x"); - Serial.println(status,HEX); - - if (accel.isPedometer()) - { - uint32_t steps = accel.getPedometerCounter(); - Serial.print("STEP COUNTER IRQ. Steps: "); - Serial.println(steps); - } - if (accel.isTilt()) - { - Serial.println("TILT EVENT!"); - } - if (accel.isDoubleTap()) - { - Serial.println("DOUBLE TAP / WAKEUP!"); - } - if (accel.isAnyNoMotion()) - { - Serial.println("ANY-MOTION EVENT!"); - } - } - - delay(10); -} diff --git a/lib/SensorLib/examples/BMA423_Feature_No_Motion/BMA423_Feature_No_Motion.ino b/lib/SensorLib/examples/BMA423_Feature_No_Motion/BMA423_Feature_No_Motion.ino deleted file mode 100644 index e4364a1..0000000 --- a/lib/SensorLib/examples/BMA423_Feature_No_Motion/BMA423_Feature_No_Motion.ino +++ /dev/null @@ -1,100 +0,0 @@ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 10 -#endif -#ifndef SENSOR_SCL -#define SENSOR_SCL 11 -#endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 14 -#endif - -#ifndef IRAM_ATTR -#define IRAM_ATTR -#endif - -SensorBMA423 accel; -volatile bool sensorIRQ = false; -void IRAM_ATTR setFlag() { sensorIRQ = true; } // IRAM_ATTR ok on ESP; harmless elsewhere - -void setup() { - Serial.begin(115200); - while (!Serial) {} - - pinMode(SENSOR_IRQ, INPUT); - - // Many watch boards use the "secondary" address 0x19 - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check wiring!"); - for(;;) delay(1000); - } - Serial.println("Init BMA423 Sensor success!"); - - // --- Accel running (ODR is fine with lib default) --- - accel.configAccelerometer(); // lib’s default: 4G, ~200 Hz - accel.enableAccelerometer(); - - // --- Force board orientation (preset 7 = bottom layer, top-left corner) --- - accel.setRemapAxes(SensorBMA423::REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER); - - - // --- HARD RESET THE FEATURE ENGINE STATE / IRQ MAPS --- - // Unmap all feature IRQs (public helpers) - accel.disablePedometerIRQ(); - accel.disableActivityIRQ(); - accel.disableAnyNoMotionIRQ(); - accel.disableWakeupIRQ(); - accel.disableTiltIRQ(); - - // Disable features you don’t want - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR, false); - accel.enableFeature(SensorBMA423::FEATURE_ACTIVITY, false); - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION,false); - accel.enableFeature(SensorBMA423::FEATURE_NO_MOTION, false); - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, false); - // Clear any latched status from the blob defaults - accel.readIrqStatus(); - - // --- Configure the INT pin and enable ONLY NO-MOTION --- - // edge_ctrl=0(level), level=1(active-high), od=0(push-pull), - // output_en=1, input_en=0, int_line=0 (INT1) - accel.configInterrupt(/*edge*/0, /*level*/1, /*od*/0, /*out_en*/1, /*in_en*/0, /*INT1*/0); - - accel.enableFeature(SensorBMA423::FEATURE_NO_MOTION, true); - accel.enableAnyNoMotionIRQ(); // map no-motion to INT1 - - // Attach ISR (if your MCU requires digitalPinToInterrupt, use it) -#if defined(ESP_PLATFORM) - attachInterrupt(SENSOR_IRQ, setFlag, RISING); -#else - attachInterrupt(digitalPinToInterrupt(SENSOR_IRQ), setFlag, RISING); -#endif - - Serial.println("No-motion IRQ armed. Keep the device still to trigger events..."); -} - -void loop() { - if (sensorIRQ) { - sensorIRQ = false; - - // Reading status clears the event (and releases the pin if latched by default) - uint16_t status = accel.readIrqStatus(); - Serial.print("INT_STATUS: 0x"); - Serial.println(status,HEX); - - if (accel.isAnyNoMotion()) { - Serial.println("NO MOTION!"); - } - // Optional: debug—if you still see other bits, uncomment to inspect - // if (accel.isPedometer()) Serial.println("Step INT (unexpected)"); - // if (accel.isActivity()) Serial.println("Activity INT (unexpected)"); - // if (accel.isDoubleTap()) Serial.println("Wakeup/DoubleTap INT (unexpected)"); - // if (accel.isTilt()) Serial.println("Tilt INT (unexpected)"); - } - - delay(10); -} diff --git a/lib/SensorLib/examples/BMA423_Feature_Steps/BMA423_Feature_Steps.ino b/lib/SensorLib/examples/BMA423_Feature_Steps/BMA423_Feature_Steps.ino deleted file mode 100644 index 891fe8f..0000000 --- a/lib/SensorLib/examples/BMA423_Feature_Steps/BMA423_Feature_Steps.ino +++ /dev/null @@ -1,75 +0,0 @@ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 10 -#endif -#ifndef SENSOR_SCL -#define SENSOR_SCL 11 -#endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 14 -#endif -#ifndef IRAM_ATTR -#define IRAM_ATTR -#endif - -SensorBMA423 accel; -static uint32_t lastStepCount = 0; - -void setup() { - Serial.begin(115200); - while (!Serial) {} - - // Many watch boards use the "secondary" address 0x19 - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check wiring!"); - for(;;) delay(1000); - } - Serial.println("Init BMA423 Sensor success!"); - - // Keep the accelerometer running for the step counter algorithm - accel.configAccelerometer(); // library default: 4G, ~200 Hz - accel.enableAccelerometer(); - - // Force board orientation (preset 5 = bottom layer, top-right corner) - accel.setRemapAxes(SensorBMA423::REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER); - Serial.println("Remap preset: REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER"); - - // Unmap all feature IRQs so the INT line stays idle - accel.disablePedometerIRQ(); - accel.disableActivityIRQ(); - accel.disableAnyNoMotionIRQ(); - accel.disableWakeupIRQ(); - accel.disableTiltIRQ(); - - // Disable any features that may be enabled by default - accel.enableFeature(SensorBMA423::FEATURE_ACTIVITY, false); - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION,false); - accel.enableFeature(SensorBMA423::FEATURE_NO_MOTION, false); - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, false); - accel.enableFeature(SensorBMA423::FEATURE_TILT, false); - - // Enable only the step counter block - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR, true); - accel.enablePedometer(true); - accel.resetPedometer(); - lastStepCount = 0; - - // Clear any latched status bits from the firmware blob - accel.readIrqStatus(); - - Serial.println("Step counter enabled (polling mode, interrupts disabled)."); -} - -void loop() { - uint32_t steps = accel.getPedometerCounter(); - if (steps != lastStepCount) { - Serial.print("Steps: "); - Serial.println(steps); - lastStepCount = steps; - } - delay(200); -} diff --git a/lib/SensorLib/examples/BMA423_Feature_Tilt/BMA423_Feature_Tilt.ino b/lib/SensorLib/examples/BMA423_Feature_Tilt/BMA423_Feature_Tilt.ino deleted file mode 100644 index 260c776..0000000 --- a/lib/SensorLib/examples/BMA423_Feature_Tilt/BMA423_Feature_Tilt.ino +++ /dev/null @@ -1,102 +0,0 @@ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 10 -#endif -#ifndef SENSOR_SCL -#define SENSOR_SCL 11 -#endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 14 -#endif -#ifndef IRAM_ATTR -#define IRAM_ATTR -#endif - -SensorBMA423 accel; -volatile bool sensorIRQ = false; -void IRAM_ATTR setFlag() { sensorIRQ = true; } // IRAM_ATTR ok on ESP; harmless elsewhere - -void setup() { - Serial.begin(115200); - - delay(5000); - - while (!Serial) {} - - pinMode(SENSOR_IRQ, INPUT); - - // Many watch boards use the "secondary" address 0x19 - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check wiring!"); - for(;;) delay(1000); - } - Serial.println("Init BMA423 Sensor success!"); - - // --- Accel running (ODR is fine with lib default) --- - accel.configAccelerometer(); // lib’s default: 4G, ~200 Hz - accel.enableAccelerometer(); - - // --- Force board orientation (preset 7 = bottom layer, top-left corner) --- - accel.setRemapAxes(SensorBMA423::REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER); - - - // --- HARD RESET THE FEATURE ENGINE STATE / IRQ MAPS --- - // Unmap all feature IRQs (public helpers) - accel.disablePedometerIRQ(); - accel.disableActivityIRQ(); - accel.disableAnyNoMotionIRQ(); - accel.disableWakeupIRQ(); - accel.disableTiltIRQ(); // start clean; we’ll re-enable below - - // Disable features you don’t want - accel.enableFeature(SensorBMA423::FEATURE_STEP_CNTR, false); - accel.enableFeature(SensorBMA423::FEATURE_ACTIVITY, false); - accel.enableFeature(SensorBMA423::FEATURE_ANY_MOTION,false); - accel.enableFeature(SensorBMA423::FEATURE_NO_MOTION, false); - accel.enableFeature(SensorBMA423::FEATURE_WAKEUP, false); - // Clear any latched status from the blob defaults - accel.readIrqStatus(); - - // --- Configure the INT pin and enable ONLY TILT --- - // edge_ctrl=0(level), level=1(active-high), od=0(push-pull), - // output_en=1, input_en=0, int_line=0 (INT1) - accel.configInterrupt(/*edge*/0, /*level*/1, /*od*/0, /*out_en*/1, /*in_en*/0, /*INT1*/0); - - accel.enableFeature(SensorBMA423::FEATURE_TILT, true); - accel.enableTiltIRQ(); // map tilt to INT1 - - // Attach ISR (if your MCU requires digitalPinToInterrupt, use it) -#if defined(ESP_PLATFORM) - attachInterrupt(SENSOR_IRQ, setFlag, RISING); -#else - attachInterrupt(digitalPinToInterrupt(SENSOR_IRQ), setFlag, RISING); -#endif - - Serial.println("Tilt IRQ armed. Tilt the device to trigger events..."); -} - -void loop() { - if (sensorIRQ) { - sensorIRQ = false; - - // Reading status clears the event (and releases the pin if latched by default) - uint16_t status = accel.readIrqStatus(); - Serial.print("INT_STATUS: 0x"); - Serial.println(status,HEX); - - if (accel.isTilt()) { - Serial.println("TILT!"); - } - // Optional: debug—if you still see other bits, uncomment to inspect - // if (accel.isPedometer()) Serial.println("Step INT (unexpected)"); - // if (accel.isActivity()) Serial.println("Activity INT (unexpected)"); - // if (accel.isDoubleTap()) Serial.println("Wakeup/DoubleTap INT (unexpected)"); - // if (accel.isAnyNoMotion()) Serial.println("Any/No motion INT (unexpected)"); - } - - delay(10); -} diff --git a/lib/SensorLib/examples/BMA423_NoMotion/BMA423_NoMotion.ino b/lib/SensorLib/examples/BMA423_NoMotion/BMA423_NoMotion.ino new file mode 100644 index 0000000..4f13c67 --- /dev/null +++ b/lib/SensorLib/examples/BMA423_NoMotion/BMA423_NoMotion.ino @@ -0,0 +1,158 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA423_NoMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onNoMotionDetected() +{ + Serial.println("No motion detected"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 50.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + /* + * Set the slope threshold: + * Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG) + */ + uint16_t threshold = 10; + + /* + * Set the duration for any-motion interrupt: + * Duration defines the number of consecutive data points for which threshold condition must be true(1 bit = 20ms) + */ + uint16_t duration = 4; + + if (!accelSensor.configNoMotion( threshold, duration)) { + Serial.println("Failed to configure no-motion detection"); + } + + // Motion axes configuration + SensorBMA423::MotionAxesConfig cfg; + cfg.x_axis = 1; ///< Enable no-motion detection on X-axis (1=enabled, 0=disabled) + cfg.y_axis = 1; ///< Enable no-motion detection on Y-axis (1=enabled, 0=disabled) + cfg.z_axis = 1; ///< Enable no-motion detection on Z-axis (1=enabled, 0=disabled) + + // Enable no-motion detection feature + rslt = accelSensor.enableNoMotionDetection(cfg, feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable no-motion detection"); + while (1); + } + + // Set no-motion detection callback + accelSensor.setOnNoMotionCallback(onNoMotionDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA423_Orientation/BMA423_Orientation.ino b/lib/SensorLib/examples/BMA423_Orientation/BMA423_Orientation.ino deleted file mode 100644 index 139663c..0000000 --- a/lib/SensorLib/examples/BMA423_Orientation/BMA423_Orientation.ino +++ /dev/null @@ -1,147 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file BMA423_Orientation.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-03 - * - */ -#include -#include -#include -#include "SensorBMA423.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 21 -#endif - -#ifndef SENSOR_SCL -#define SENSOR_SCL 22 -#endif - -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 39 -#endif - -SensorBMA423 accel; -char report[256]; - -void setup() -{ - Serial.begin(115200); - while (!Serial); - - pinMode(SENSOR_IRQ, INPUT); - - /* - * BMA423_I2C_ADDR_PRIMARY = 0x18 - * BMA423_I2C_ADDR_SECONDARY = 0x19 - * * */ - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check your wiring!"); - while (1) { - delay(1000); - } - } - Serial.println("Init BAM423 Sensor success!"); - - //Default 4G ,200HZ - accel.configAccelerometer(); - - accel.enableAccelerometer(); - - - Serial.println("Output ..."); -} - - - -void loop() -{ - uint8_t direction = accel.direction(); - switch (direction) { - case SensorBMA423::DIRECTION_BOTTOM_LEFT: - - sprintf( report, "\r\n ________________ " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | * | " \ - "\r\n |________________| \r\n" ); - - break; - case SensorBMA423::DIRECTION_TOP_RIGHT: - sprintf( report, "\r\n ________________ " \ - "\r\n | | " \ - "\r\n | * | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n |________________| \r\n" ); - break; - case SensorBMA423::DIRECTION_TOP_LEFT: - sprintf( report, "\r\n ________________ " \ - "\r\n | | " \ - "\r\n | * | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n |________________| \r\n" ); - break; - case SensorBMA423::DIRECTION_BOTTOM_RIGHT: - sprintf( report, "\r\n ________________ " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | | " \ - "\r\n | * | " \ - "\r\n |________________| \r\n" ); - break; - case SensorBMA423::DIRECTION_BOTTOM: - sprintf( report, "\r\n ________________ " \ - "\r\n |________________| " \ - "\r\n * \r\n" ); - break; - case SensorBMA423::DIRECTION_TOP: - sprintf( report, "\r\n __*_____________ " \ - "\r\n |________________| \r\n" ); - break; - default: - sprintf( report, "None of the 3D orientation axes is set in BMA423 - accelerometer.\r\n" ); - break; - } - - Serial.println(direction); - Serial.println(report); - - delay(1000); -} - - - diff --git a/lib/SensorLib/examples/BMA423_StepActivity/BMA423_StepActivity.ino b/lib/SensorLib/examples/BMA423_StepActivity/BMA423_StepActivity.ino new file mode 100644 index 0000000..55cb2f7 --- /dev/null +++ b/lib/SensorLib/examples/BMA423_StepActivity/BMA423_StepActivity.ino @@ -0,0 +1,150 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA423_StepActivity.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onActivity(ActivityType activity) +{ + Serial.print("Activity detected: "); + switch (activity) { + case ActivityType::STATIONARY: + Serial.println("Stationary"); + break; + case ActivityType::WALKING: + Serial.println("Walking"); + break; + case ActivityType::RUNNING: + Serial.println("Running"); + break; + default: + Serial.println("Unknown"); + break; + } +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // Enable activity recognition feature + rslt = accelSensor.enableActivityRecognition(feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable activity recognition"); + while (1); + } + + // Set activity detection callback + accelSensor.setOnActivityCallback(onActivity); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA423_StepDetector/BMA423_StepDetector.ino b/lib/SensorLib/examples/BMA423_StepDetector/BMA423_StepDetector.ino new file mode 100644 index 0000000..367aa6d --- /dev/null +++ b/lib/SensorLib/examples/BMA423_StepDetector/BMA423_StepDetector.ino @@ -0,0 +1,157 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA423_StepDetector.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onStepDetected() +{ + Serial.println("Step detected"); +} + +void onStepCount(uint32_t stepCount) +{ + Serial.print("Step count: "); + Serial.println(stepCount); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + bool reset_counter = true; // True: reset step counter on new activity + /* Setting watermark level 1, the output step resolution is 20 steps. + * Eg: 1 means, 1 * 20 = 20. Every 20 steps once output triggers + */ + uint16_t step_counter_wm = 1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // Enable step counter feature + rslt = accelSensor.enableStepCounter(feature_enable, step_counter_wm, reset_counter); + if (!rslt) { + Serial.println("Failed to enable step counter"); + while (1); + } + + // Enable step detector feature + rslt = accelSensor.enableStepDetector(feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable step detector"); + while (1); + } + + // Set step count callback + accelSensor.setOnStepCountCallback(onStepCount); + + // Set step detected callback + accelSensor.setOnStepDetectedCallback(onStepDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA423_Tap/BMA423_Tap.ino b/lib/SensorLib/examples/BMA423_Tap/BMA423_Tap.ino new file mode 100644 index 0000000..5415b49 --- /dev/null +++ b/lib/SensorLib/examples/BMA423_Tap/BMA423_Tap.ino @@ -0,0 +1,152 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA423_Tap.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onTapDetected(TapType tap) +{ + Serial.print("Tap detected: "); + switch (tap) { + case TapType::SINGLE_TAP: + Serial.println("Single Tap"); + break; + case TapType::DOUBLE_TAP: + Serial.println("Double Tap"); + break; + default: + Serial.println("No Tap"); + break; + } +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 200.0f; // A minimum sampling frequency of 200Hz is required for tapping. + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // This function selects the tap detection tap type. Allowed values are DOUBLE_TAP or SINGLE_TAP + // If not selected, the default is double-tap + TapType tapType = TapType::DOUBLE_TAP; + accelSensor.selectTapType(tapType); + + // Enable tap detector feature + rslt = accelSensor.enableTapDetector(feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable tap detector"); + while (1); + } + + // Set tap detection callback + accelSensor.setOnTapCallback(onTapDetected); + + delay(3000); + + Serial.println("Now you can tap once, twice, or three times."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA423_Tilt/BMA423_Tilt.ino b/lib/SensorLib/examples/BMA423_Tilt/BMA423_Tilt.ino new file mode 100644 index 0000000..a77bbd8 --- /dev/null +++ b/lib/SensorLib/examples/BMA423_Tilt/BMA423_Tilt.ino @@ -0,0 +1,142 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA423_Tilt.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +SensorBMA423 accelSensor; + +volatile bool isInterruptTriggered = false; + +void onTiltDetected() +{ + Serial.println("Tilt detected"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + + // This setting affects tilt detection. Allowed values are SMARTPHONE or WRISTBAND + SensorBMA423::Platform platform = SensorBMA423::Platform::SMARTPHONE; + accelSensor.selectPlatform(platform); + + // @warning The correct axis must be set for proper tilt detection. + // Enable tilt detector feature + rslt = accelSensor.enableTiltDetector(feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable tilt detector"); + while (1); + } + + // Set tilt detection callback + accelSensor.setOnTiltDetectedCallback(onTiltDetected); + + delay(3000); + + Serial.println("Now you can tilt the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA456H_Accelerometer/BMA456H_Accelerometer.ino b/lib/SensorLib/examples/BMA456H_Accelerometer/BMA456H_Accelerometer.ino new file mode 100644 index 0000000..7fa94ca --- /dev/null +++ b/lib/SensorLib/examples/BMA456H_Accelerometer/BMA456H_Accelerometer.ino @@ -0,0 +1,138 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA456H_Accelerometer.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-30 + * @note Example of initializing the Bosch BMA456H characteristic profile using the BMA456 triaxial accelerometer. + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA456H accelSensor; + +volatile bool isInterruptTriggered = false; + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + // Enable data ready feature + rslt = accelSensor.enableDataReady(true); + if (!rslt) { + Serial.println("Failed to enable data ready"); + while (1); + } + + delay(3000); + + Serial.println("Now read accelerometer data form sensor"); +} + +void loop() +{ + AccelerometerData accelData; + if (accelSensor.isDataReady()) { + // Read the accelerometer data + if (accelSensor.readData(accelData)) { + Serial.print("Temperature: "); + Serial.print(accelData.temperature); + Serial.print(" °C, Acc_Raw: ("); + Serial.print(accelData.raw.x); + Serial.print(", "); + Serial.print(accelData.raw.y); + Serial.print(", "); + Serial.print(accelData.raw.z); + Serial.print("), Acc_ms2: ("); + Serial.print(accelData.mps2.x, 2); + Serial.print(", "); + Serial.print(accelData.mps2.y, 2); + Serial.print(", "); + Serial.print(accelData.mps2.z, 2); + Serial.print(") "); + uint32_t timeSampleMs = accelSensor.getTimeSampleMs(); + Serial.print(timeSampleMs); + Serial.print("(ms)/"); + Serial.print(millis()); + Serial.println(" "); + } else { + Serial.println("Failed to read accelerometer data"); + } + } +} diff --git a/lib/SensorLib/examples/BMA456H_AnyMotion/BMA456H_AnyMotion.ino b/lib/SensorLib/examples/BMA456H_AnyMotion/BMA456H_AnyMotion.ino new file mode 100644 index 0000000..9f4c858 --- /dev/null +++ b/lib/SensorLib/examples/BMA456H_AnyMotion/BMA456H_AnyMotion.ino @@ -0,0 +1,160 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA456H_AnyMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + * @note Example of initializing the Bosch BMA456H characteristic profile using the BMA456 triaxial accelerometer. + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA456H accelSensor; + +volatile bool isInterruptTriggered = false; + +void onAnyMotionDetected() +{ + Serial.println("Any motion detected"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 50.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + /* + * Set the slope threshold: + * Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG) + */ + uint16_t threshold = 10; + + /* + * Set the duration for any-motion interrupt: + * Duration defines the number of consecutive data points for which threshold condition must be true(1 bit = 20ms) + */ + uint16_t duration = 4; + + if (!accelSensor.configAnyMotion( threshold, duration)) { + Serial.println("Failed to configure any-motion detection"); + } + + // Motion axes configuration + SensorBMA456H::MotionAxesConfig cfg; + cfg.x_axis = 1; ///< Enable motion detection on X-axis (1=enabled, 0=disabled) + cfg.y_axis = 1; ///< Enable motion detection on Y-axis (1=enabled, 0=disabled) + cfg.z_axis = 1; ///< Enable motion detection on Z-axis (1=enabled, 0=disabled) + + // Enable any-motion detection feature + rslt = accelSensor.enableAnyMotionDetection(cfg, feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable any-motion detection"); + while (1); + } + + // Set any-motion detection callback + accelSensor.setOnAnyMotionCallback(onAnyMotionDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA456H_DataReadyInterrupt/BMA456H_DataReadyInterrupt.ino b/lib/SensorLib/examples/BMA456H_DataReadyInterrupt/BMA456H_DataReadyInterrupt.ino new file mode 100644 index 0000000..31514c2 --- /dev/null +++ b/lib/SensorLib/examples/BMA456H_DataReadyInterrupt/BMA456H_DataReadyInterrupt.ino @@ -0,0 +1,153 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA456H_DataReadyInterrupt.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-30 + * @note Example of initializing the Bosch BMA456H characteristic profile using the BMA456 triaxial accelerometer. + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA456H accelSensor; + +volatile bool isInterruptTriggered = false; + +void onDataReady(AccelerometerData data) +{ + Serial.print("Data ready: "); + Serial.print("Temperature: "); + Serial.print(data.temperature); + Serial.print(" °C, Acc_Raw: ("); + Serial.print(data.raw.x); + Serial.print(", "); + Serial.print(data.raw.y); + Serial.print(", "); + Serial.print(data.raw.z); + Serial.print("), Acc_mps2: ("); + Serial.print(data.mps2.x); + Serial.print(", "); + Serial.print(data.mps2.y); + Serial.print(", "); + Serial.print(data.mps2.z); + Serial.println(")"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // Enable data ready feature + rslt = accelSensor.enableDataReady(feature_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable data ready"); + while (1); + } + + // Set data ready callback + accelSensor.setOnDataReadyCallback(onDataReady); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA456H_NoMotion/BMA456H_NoMotion.ino b/lib/SensorLib/examples/BMA456H_NoMotion/BMA456H_NoMotion.ino new file mode 100644 index 0000000..e493473 --- /dev/null +++ b/lib/SensorLib/examples/BMA456H_NoMotion/BMA456H_NoMotion.ino @@ -0,0 +1,160 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA456H_NoMotion.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + * @note Example of initializing the Bosch BMA456H characteristic profile using the BMA456 triaxial accelerometer. + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA456H accelSensor; + +volatile bool isInterruptTriggered = false; + +void onNoMotionDetected() +{ + Serial.println("No motion detected"); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 50.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + /* + * Set the slope threshold: + * Interrupt will be generated if the slope of all the axis exceeds the threshold (1 bit = 0.48mG) + */ + uint16_t threshold = 10; + + /* + * Set the duration for any-motion interrupt: + * Duration defines the number of consecutive data points for which threshold condition must be true(1 bit = 20ms) + */ + uint16_t duration = 4; + + if (!accelSensor.configNoMotion( threshold, duration)) { + Serial.println("Failed to configure no-motion detection"); + } + + // Motion axes configuration + SensorBMA456H::MotionAxesConfig cfg; + cfg.x_axis = 1; ///< Enable no-motion detection on X-axis (1=enabled, 0=disabled) + cfg.y_axis = 1; ///< Enable no-motion detection on Y-axis (1=enabled, 0=disabled) + cfg.z_axis = 1; ///< Enable no-motion detection on Z-axis (1=enabled, 0=disabled) + + // Enable no-motion detection feature + rslt = accelSensor.enableNoMotionDetection(cfg, feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable no-motion detection"); + while (1); + } + + // Set no-motion detection callback + accelSensor.setOnNoMotionCallback(onNoMotionDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA456H_StepActivity/BMA456H_StepActivity.ino b/lib/SensorLib/examples/BMA456H_StepActivity/BMA456H_StepActivity.ino new file mode 100644 index 0000000..ebde17f --- /dev/null +++ b/lib/SensorLib/examples/BMA456H_StepActivity/BMA456H_StepActivity.ino @@ -0,0 +1,152 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA456H_StepActivity.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-30 + * @note Example of initializing the Bosch BMA456H characteristic profile using the BMA456 triaxial accelerometer. + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA456H accelSensor; + +volatile bool isInterruptTriggered = false; + +void onActivity(ActivityType activity) +{ + Serial.print("Activity detected: "); + switch (activity) { + case ActivityType::STATIONARY: + Serial.println("Stationary"); + break; + case ActivityType::WALKING: + Serial.println("Walking"); + break; + case ActivityType::RUNNING: + Serial.println("Running"); + break; + default: + Serial.println("Unknown"); + break; + } +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // Enable activity recognition feature + rslt = accelSensor.enableActivityRecognition(feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable activity recognition"); + while (1); + } + + // Set activity detection callback + accelSensor.setOnActivityCallback(onActivity); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA456H_StepDetector/BMA456H_StepDetector.ino b/lib/SensorLib/examples/BMA456H_StepDetector/BMA456H_StepDetector.ino new file mode 100644 index 0000000..1f8d77b --- /dev/null +++ b/lib/SensorLib/examples/BMA456H_StepDetector/BMA456H_StepDetector.ino @@ -0,0 +1,159 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA456H_StepDetector.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-30 + * @note Example of initializing the Bosch BMA456H characteristic profile using the BMA456 triaxial accelerometer. + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA456H accelSensor; + +volatile bool isInterruptTriggered = false; + +void onStepDetected() +{ + Serial.println("Step detected"); +} + +void onStepCount(uint32_t stepCount) +{ + Serial.print("Step count: "); + Serial.println(stepCount); +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 100.0f; + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + bool reset_counter = true; // True: reset step counter on new activity + /* Setting watermark level 1, the output step resolution is 20 steps. + * Eg: 1 means, 1 * 20 = 20. Every 20 steps once output triggers + */ + uint16_t step_counter_wm = 1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // Enable step counter feature + rslt = accelSensor.enableStepCounter(feature_enable, step_counter_wm, reset_counter); + if (!rslt) { + Serial.println("Failed to enable step counter"); + while (1); + } + + // Enable step detector feature + rslt = accelSensor.enableStepDetector(feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable step detector"); + while (1); + } + + // Set step count callback + accelSensor.setOnStepCountCallback(onStepCount); + + // Set step detected callback + accelSensor.setOnStepDetectedCallback(onStepDetected); + + delay(3000); + + Serial.println("Now you can move the sensor."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/BMA456H_Tap/BMA456H_Tap.ino b/lib/SensorLib/examples/BMA456H_Tap/BMA456H_Tap.ino new file mode 100644 index 0000000..bd81c79 --- /dev/null +++ b/lib/SensorLib/examples/BMA456H_Tap/BMA456H_Tap.ino @@ -0,0 +1,152 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BMA456H_Tap.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-30 + * @note Example of initializing the Bosch BMA456H characteristic profile using the BMA456 triaxial accelerometer. + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 21 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 22 +#endif + +#ifndef SENSOR_IRQ +#define SENSOR_IRQ 39 +#endif + +// Configuring using BMA456H features +SensorBMA456H accelSensor; + +volatile bool isInterruptTriggered = false; + +void onTapDetected(TapType tap) +{ + Serial.print("Tap detected: "); + switch (tap) { + case TapType::SINGLE_TAP: + Serial.println("Single Tap"); + break; + case TapType::DOUBLE_TAP: + Serial.println("Double Tap"); + break; + case TapType::TRIPLE_TAP: + Serial.println("Triple Tap"); + break; + default: + Serial.println("No Tap"); + break; + } +} + +void setup() +{ + bool rslt; + + Serial.begin(115200); + while (!Serial); + + pinMode(SENSOR_IRQ, INPUT); + attachInterrupt(SENSOR_IRQ, []() { + isInterruptTriggered = true; + }, RISING); + + // Sensor initialization + rslt = accelSensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH, SENSOR_SDA, SENSOR_SCL); + if (!rslt) { + while (1) { + Serial.println("BMA4xx sensor initialization failed"); + delay(1000); + } + } + + Serial.print(accelSensor.getModelName()); + Serial.println(" Sensor initialized successfully"); + + // Set sensor orientation, based on the hardware placement setting + rslt = accelSensor.setRemapAxes(SensorRemap::TOP_LAYER_RIGHT_CORNER); + if (!rslt) { + Serial.println("Failed to set remap axes"); + } + + // Accelerometer configuration + // The desired operation mode. Allowed values are SUSPEND, NORMAL. + OperationMode operationMode = OperationMode::NORMAL; + // The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + AccelFullScaleRange fullScaleRange = AccelFullScaleRange::FS_2G; + // The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + AccelBandwidth bandwidth = AccelBandwidth::OSR2_AVG2; + // The desired data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + float data_rate_hz = 200.0f; // A minimum sampling frequency of 200Hz is required for tapping. + // The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE + AccelPerfMode perfMode = AccelPerfMode::CIC_AVG_MODE; + + if (!accelSensor.configAccelerometer(operationMode, fullScaleRange, data_rate_hz, bandwidth, perfMode)) { + Serial.println("Failed to configure accelerometer"); + while (1); + } + + bool feature_enable = true; // Enable feature + bool interrupt_enable = true; //True: hardware interrupt enabled + InterruptPinMap pin_map = InterruptPinMap::PIN1; + + rslt = accelSensor.setInterruptPinConfig( + pin_map, // Which pin should the hardware interrupt be routed to? + false, // level trigger + false, // active high + true, // output enable + false); // input disable + if (!rslt) { + Serial.println("Failed to set interrupt pin configuration"); + while (1); + } + + // Enable tap detector feature + rslt = accelSensor.enableTapDetector(feature_enable, interrupt_enable, pin_map); + if (!rslt) { + Serial.println("Failed to enable tap detector"); + while (1); + } + + // Set tap detection callback + accelSensor.setOnTapCallback(onTapDetected); + + delay(3000); + + Serial.println("Now you can tap once, twice, or three times."); +} + +void loop() +{ + if (isInterruptTriggered) { + isInterruptTriggered = false; + accelSensor.update(); + } + delay(30); +} diff --git a/lib/SensorLib/examples/CM32181_LightSensor/CM32181_LightSensor.ino b/lib/SensorLib/examples/CM32181_LightSensor/CM32181_LightSensor.ino index 373cfa9..45f8908 100644 --- a/lib/SensorLib/examples/CM32181_LightSensor/CM32181_LightSensor.ino +++ b/lib/SensorLib/examples/CM32181_LightSensor/CM32181_LightSensor.ino @@ -33,11 +33,11 @@ #include "SensorCM32181.hpp" #ifndef SENSOR_SDA -#define SENSOR_SDA 39 +#define SENSOR_SDA 1 #endif #ifndef SENSOR_SCL -#define SENSOR_SCL 40 +#define SENSOR_SCL 2 #endif #ifndef SENSOR_IRQ @@ -54,7 +54,7 @@ void setup() pinMode(SENSOR_IRQ, INPUT_PULLUP); - if (!light.begin(Wire, CM32181_ADDR_PRIMARY, SENSOR_SDA, SENSOR_SCL)) { + if (!light.begin(Wire, CM32181_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { Serial.println("Failed to find CM32181 - check your wiring!"); while (1) { delay(1000); diff --git a/lib/SensorLib/examples/CustomCallbackTouchDrvInterface/CustomCallbackTouchDrvInterface.ino b/lib/SensorLib/examples/CustomCallbackTouchDrvInterface/CustomCallbackTouchDrvInterface.ino index 7b6c1fd..0d4967d 100644 --- a/lib/SensorLib/examples/CustomCallbackTouchDrvInterface/CustomCallbackTouchDrvInterface.ino +++ b/lib/SensorLib/examples/CustomCallbackTouchDrvInterface/CustomCallbackTouchDrvInterface.ino @@ -30,14 +30,9 @@ * The example demonstrates using custom callbacks to read touch or sensors. This method is also applicable to other platforms. * The prerequisite compilation platform must support C++11. */ -#include -#include -#include -#include "TouchDrvFT6X36.hpp" -#include "TouchDrvCSTXXX.hpp" -#include "TouchDrvGT911.hpp" -#include "ExtensionIOXL9555.hpp" -#include "SensorWireHelper.h" +#include +#include +#include #ifndef TOUCH_SDA #define TOUCH_SDA 8 @@ -58,11 +53,12 @@ // Use the TouchDrvInterface base class for automatic discovery and use of multi-touch devices TouchDrvInterface *touchDrv; // T-RGB uses XL9555 as the reset control of the touch screen -ExtensionIOXL9555 extension; +IoExpanderXL9555 expander; int16_t x[5], y[5]; -ExtensionIOXL9555::ExtensionGPIO tp_reset = ExtensionIOXL9555::IO1; +// Expander gpio 1 +uint8_t expander_io_tp_reset = 1; /** * @brief i2c_wr_function @@ -155,7 +151,7 @@ uint32_t hal_callback(SensorCommCustomHal::Operation op, void *param1, void *par void TouchDrvDigitalWrite(uint8_t gpio, uint8_t level) { if (gpio & 0x80) { - extension.digitalWrite(gpio & 0x7F, level); + expander.digitalWrite(gpio & 0x7F, level); } else { digitalWrite(gpio, level); } @@ -164,7 +160,7 @@ void TouchDrvDigitalWrite(uint8_t gpio, uint8_t level) uint8_t TouchDrvDigitalRead(uint8_t gpio) { if (gpio & 0x80) { - return extension.digitalRead(gpio & 0x7F); + return expander.digitalRead(gpio & 0x7F); } else { return digitalRead(gpio); } @@ -173,7 +169,7 @@ uint8_t TouchDrvDigitalRead(uint8_t gpio) void TouchDrvPinMode(uint8_t gpio, uint8_t mode) { if (gpio & 0x80) { - extension.pinMode(gpio & 0x7F, mode); + expander.pinMode(gpio & 0x7F, mode); } else { pinMode(gpio, mode); } @@ -181,8 +177,8 @@ void TouchDrvPinMode(uint8_t gpio, uint8_t mode) bool setupTouchDrv() { - // Add the highest bit to indicate that the GPIO extension is used, not the ESP's GPIO - const uint8_t touch_reset_pin = tp_reset | 0x80; + // Add the highest bit to indicate that the GPIO expander is used, not the ESP's GPIO + const uint8_t touch_reset_pin = expander_io_tp_reset | 0x80; const uint8_t touch_irq_pin = TOUCH_IRQ; bool result = false; @@ -254,7 +250,7 @@ void setup() // Use unspecified address to test the address discovery function. // T-RGB XL9555 uses 0X20 device address - if (!extension.begin(i2c_wr_function, XL9555_UNKOWN_ADDRESS)) { + if (!expander.begin(i2c_wr_function, XL9555_UNKNOWN_ADDRESS)) { Serial.println("Failed to find XL9555 - check your wiring!"); while (1) { delay(1000); @@ -272,18 +268,19 @@ void setup() void loop() { if (touchDrv->isPressed()) { - uint8_t touched = touchDrv->getPoint(x, y, touchDrv->getSupportTouchPoint()); - if (touched) { - for (int i = 0; i < touched; ++i) { + TouchPoints touch_points = touchDrv->getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); Serial.print("X["); Serial.print(i); Serial.print("]:"); - Serial.print(x[i]); + Serial.print(point.x); Serial.print(" "); Serial.print(" Y["); Serial.print(i); Serial.print("]:"); - Serial.print(y[i]); + Serial.print(point.y); Serial.print(" "); } Serial.println(); diff --git a/lib/SensorLib/examples/CustomCallbackUsageExamples/CustomCallbackUsageExamples.ino b/lib/SensorLib/examples/CustomCallbackUsageExamples/CustomCallbackUsageExamples.ino index 33e5f0a..06b25a7 100644 --- a/lib/SensorLib/examples/CustomCallbackUsageExamples/CustomCallbackUsageExamples.ino +++ b/lib/SensorLib/examples/CustomCallbackUsageExamples/CustomCallbackUsageExamples.ino @@ -31,7 +31,6 @@ #include #include #include "SensorPCF8563.hpp" -#include "SensorBMA423.hpp" #ifndef SENSOR_SDA #define SENSOR_SDA 21 @@ -42,7 +41,6 @@ #endif SensorPCF8563 rtc; -SensorBMA423 accel; uint32_t intervalue; char buf[64]; @@ -159,17 +157,6 @@ void setup() timeinfo.tm_sec = 30; rtc.setDateTime(timeinfo); - if (!accel.begin(i2c_wr_function, hal_callback)) { - Serial.println("Failed to find BMA423 - check your wiring!"); - while (1) { - delay(1000); - } - } - - //Default 4G ,200HZ - accel.configAccelerometer(); - - accel.enableAccelerometer(); } @@ -203,15 +190,6 @@ void loop() if (written != 0) { Serial.println(buf); } - - Serial.print("Temperature:"); - Serial.print(accel.getTemperature(SensorBMA423::TEMP_DEG)); - Serial.print("*C "); - Serial.print(accel.getTemperature(SensorBMA423::TEMP_FAHRENHEIT)); - Serial.print("*F"); - Serial.print("Dir:"); - Serial.print(accel.direction()); - Serial.println(); } } diff --git a/lib/SensorLib/examples/DRV2605_Basic/DRV2605_Basic.ino b/lib/SensorLib/examples/DRV2605_Basic/DRV2605_Basic.ino deleted file mode 100644 index ed90190..0000000 --- a/lib/SensorLib/examples/DRV2605_Basic/DRV2605_Basic.ino +++ /dev/null @@ -1,464 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file DRV2605_Basic.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-03 - * - */ -#include -#include -#include -#include "SensorDRV2605.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 21 -#endif - -#ifndef SENSOR_SCL -#define SENSOR_SCL 22 -#endif - - -SensorDRV2605 drv; - -uint8_t effect = 1; - -void setup() -{ - Serial.begin(115200); - while (!Serial); - - - if (!drv.begin(Wire, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find DRV2605 - check your wiring!"); - while (1) { - delay(1000); - } - } - Serial.println("Init DRV2605 Sensor success!"); - - - drv.selectLibrary(1); - - // I2C trigger by sending 'run' command - // default, internal trigger when sending RUN command - drv.setMode(SensorDRV2605::MODE_INTTRIG); -} - - -void loop() -{ - Serial.print("Effect #"); Serial.println(effect); - - if (effect == 1) { - Serial.println("11.2 Waveform Library Effects List"); - } - - if (effect == 1) { - Serial.println(F("1 - Strong Click - 100%")); - } - if (effect == 2) { - Serial.println(F("2 - Strong Click - 60%")); - } - if (effect == 3) { - Serial.println(F("3 - Strong Click - 30%")); - } - if (effect == 4) { - Serial.println(F("4 - Sharp Click - 100%")); - } - if (effect == 5) { - Serial.println(F("5 - Sharp Click - 60%")); - } - if (effect == 6) { - Serial.println(F("6 - Sharp Click - 30%")); - } - if (effect == 7) { - Serial.println(F("7 - Soft Bump - 100%")); - } - if (effect == 8) { - Serial.println(F("8 - Soft Bump - 60%")); - } - if (effect == 9) { - Serial.println(F("9 - Soft Bump - 30%")); - } - if (effect == 10) { - Serial.println(F("10 - Double Click - 100%")); - } - if (effect == 11) { - Serial.println(F("11 - Double Click - 60%")); - } - if (effect == 12) { - Serial.println(F("12 - Triple Click - 100%")); - } - if (effect == 13) { - Serial.println(F("13 - Soft Fuzz - 60%")); - } - if (effect == 14) { - Serial.println(F("14 - Strong Buzz - 100%")); - } - if (effect == 15) { - Serial.println(F("15 - 750 ms Alert 100%")); - } - if (effect == 16) { - Serial.println(F("16 - 1000 ms Alert 100%")); - } - if (effect == 17) { - Serial.println(F("17 - Strong Click 1 - 100%")); - } - if (effect == 18) { - Serial.println(F("18 - Strong Click 2 - 80%")); - } - if (effect == 19) { - Serial.println(F("19 - Strong Click 3 - 60%")); - } - if (effect == 20) { - Serial.println(F("20 - Strong Click 4 - 30%")); - } - if (effect == 21) { - Serial.println(F("21 - Medium Click 1 - 100%")); - } - if (effect == 22) { - Serial.println(F("22 - Medium Click 2 - 80%")); - } - if (effect == 23) { - Serial.println(F("23 - Medium Click 3 - 60%")); - } - if (effect == 24) { - Serial.println(F("24 - Sharp Tick 1 - 100%")); - } - if (effect == 25) { - Serial.println(F("25 - Sharp Tick 2 - 80%")); - } - if (effect == 26) { - Serial.println(F("26 - Sharp Tick 3 - 60%")); - } - if (effect == 27) { - Serial.println(F("27 - Short Double Click Strong 1 - 100%")); - } - if (effect == 28) { - Serial.println(F("28 - Short Double Click Strong 2 - 80%")); - } - if (effect == 29) { - Serial.println(F("29 - Short Double Click Strong 3 - 60%")); - } - if (effect == 30) { - Serial.println(F("30 - Short Double Click Strong 4 - 30%")); - } - if (effect == 31) { - Serial.println(F("31 - Short Double Click Medium 1 - 100%")); - } - if (effect == 32) { - Serial.println(F("32 - Short Double Click Medium 2 - 80%")); - } - if (effect == 33) { - Serial.println(F("33 - Short Double Click Medium 3 - 60%")); - } - if (effect == 34) { - Serial.println(F("34 - Short Double Sharp Tick 1 - 100%")); - } - if (effect == 35) { - Serial.println(F("35 - Short Double Sharp Tick 2 - 80%")); - } - if (effect == 36) { - Serial.println(F("36 - Short Double Sharp Tick 3 - 60%")); - } - if (effect == 37) { - Serial.println(F("37 - Long Double Sharp Click Strong 1 - 100%")); - } - if (effect == 38) { - Serial.println(F("38 - Long Double Sharp Click Strong 2 - 80%")); - } - if (effect == 39) { - Serial.println(F("39 - Long Double Sharp Click Strong 3 - 60%")); - } - if (effect == 40) { - Serial.println(F("40 - Long Double Sharp Click Strong 4 - 30%")); - } - if (effect == 41) { - Serial.println(F("41 - Long Double Sharp Click Medium 1 - 100%")); - } - if (effect == 42) { - Serial.println(F("42 - Long Double Sharp Click Medium 2 - 80%")); - } - if (effect == 43) { - Serial.println(F("43 - Long Double Sharp Click Medium 3 - 60%")); - } - if (effect == 44) { - Serial.println(F("44 - Long Double Sharp Tick 1 - 100%")); - } - if (effect == 45) { - Serial.println(F("45 - Long Double Sharp Tick 2 - 80%")); - } - if (effect == 46) { - Serial.println(F("46 - Long Double Sharp Tick 3 - 60%")); - } - if (effect == 47) { - Serial.println(F("47 - Buzz 1 - 100%")); - } - if (effect == 48) { - Serial.println(F("48 - Buzz 2 - 80%")); - } - if (effect == 49) { - Serial.println(F("49 - Buzz 3 - 60%")); - } - if (effect == 50) { - Serial.println(F("50 - Buzz 4 - 40%")); - } - if (effect == 51) { - Serial.println(F("51 - Buzz 5 - 20%")); - } - if (effect == 52) { - Serial.println(F("52 - Pulsing Strong 1 - 100%")); - } - if (effect == 53) { - Serial.println(F("53 - Pulsing Strong 2 - 60%")); - } - if (effect == 54) { - Serial.println(F("54 - Pulsing Medium 1 - 100%")); - } - if (effect == 55) { - Serial.println(F("55 - Pulsing Medium 2 - 60%")); - } - if (effect == 56) { - Serial.println(F("56 - Pulsing Sharp 1 - 100%")); - } - if (effect == 57) { - Serial.println(F("57 - Pulsing Sharp 2 - 60%")); - } - if (effect == 58) { - Serial.println(F("58 - Transition Click 1 - 100%")); - } - if (effect == 59) { - Serial.println(F("59 - Transition Click 2 - 80%")); - } - if (effect == 60) { - Serial.println(F("60 - Transition Click 3 - 60%")); - } - if (effect == 61) { - Serial.println(F("61 - Transition Click 4 - 40%")); - } - if (effect == 62) { - Serial.println(F("62 - Transition Click 5 - 20%")); - } - if (effect == 63) { - Serial.println(F("63 - Transition Click 6 - 10%")); - } - if (effect == 64) { - Serial.println(F("64 - Transition Hum 1 - 100%")); - } - if (effect == 65) { - Serial.println(F("65 - Transition Hum 2 - 80%")); - } - if (effect == 66) { - Serial.println(F("66 - Transition Hum 3 - 60%")); - } - if (effect == 67) { - Serial.println(F("67 - Transition Hum 4 - 40%")); - } - if (effect == 68) { - Serial.println(F("68 - Transition Hum 5 - 20%")); - } - if (effect == 69) { - Serial.println(F("69 - Transition Hum 6 - 10%")); - } - if (effect == 70) { - Serial.println(F("70 - Transition Ramp Down Long Smooth 1 - 100 to 0%")); - } - if (effect == 71) { - Serial.println(F("71 - Transition Ramp Down Long Smooth 2 - 100 to 0%")); - } - if (effect == 72) { - Serial.println(F("72 - Transition Ramp Down Medium Smooth 1 - 100 to 0%")); - } - if (effect == 73) { - Serial.println(F("73 - Transition Ramp Down Medium Smooth 2 - 100 to 0%")); - } - if (effect == 74) { - Serial.println(F("74 - Transition Ramp Down Short Smooth 1 - 100 to 0%")); - } - if (effect == 75) { - Serial.println(F("75 - Transition Ramp Down Short Smooth 2 - 100 to 0%")); - } - if (effect == 76) { - Serial.println(F("76 - Transition Ramp Down Long Sharp 1 - 100 to 0%")); - } - if (effect == 77) { - Serial.println(F("77 - Transition Ramp Down Long Sharp 2 - 100 to 0%")); - } - if (effect == 78) { - Serial.println(F("78 - Transition Ramp Down Medium Sharp 1 - 100 to 0%")); - } - if (effect == 79) { - Serial.println(F("79 - Transition Ramp Down Medium Sharp 2 - 100 to 0%")); - } - if (effect == 80) { - Serial.println(F("80 - Transition Ramp Down Short Sharp 1 - 100 to 0%")); - } - if (effect == 81) { - Serial.println(F("81 - Transition Ramp Down Short Sharp 2 - 100 to 0%")); - } - if (effect == 82) { - Serial.println(F("82 - Transition Ramp Up Long Smooth 1 - 0 to 100%")); - } - if (effect == 83) { - Serial.println(F("83 - Transition Ramp Up Long Smooth 2 - 0 to 100%")); - } - if (effect == 84) { - Serial.println(F("84 - Transition Ramp Up Medium Smooth 1 - 0 to 100%")); - } - if (effect == 85) { - Serial.println(F("85 - Transition Ramp Up Medium Smooth 2 - 0 to 100%")); - } - if (effect == 86) { - Serial.println(F("86 - Transition Ramp Up Short Smooth 1 - 0 to 100%")); - } - if (effect == 87) { - Serial.println(F("87 - Transition Ramp Up Short Smooth 2 - 0 to 100%")); - } - if (effect == 88) { - Serial.println(F("88 - Transition Ramp Up Long Sharp 1 - 0 to 100%")); - } - if (effect == 89) { - Serial.println(F("89 - Transition Ramp Up Long Sharp 2 - 0 to 100%")); - } - if (effect == 90) { - Serial.println(F("90 - Transition Ramp Up Medium Sharp 1 - 0 to 100%")); - } - if (effect == 91) { - Serial.println(F("91 - Transition Ramp Up Medium Sharp 2 - 0 to 100%")); - } - if (effect == 92) { - Serial.println(F("92 - Transition Ramp Up Short Sharp 1 - 0 to 100%")); - } - if (effect == 93) { - Serial.println(F("93 - Transition Ramp Up Short Sharp 2 - 0 to 100%")); - } - if (effect == 94) { - Serial.println(F("94 - Transition Ramp Down Long Smooth 1 - 50 to 0%")); - } - if (effect == 95) { - Serial.println(F("95 - Transition Ramp Down Long Smooth 2 - 50 to 0%")); - } - if (effect == 96) { - Serial.println(F("96 - Transition Ramp Down Medium Smooth 1 - 50 to 0%")); - } - if (effect == 97) { - Serial.println(F("97 - Transition Ramp Down Medium Smooth 2 - 50 to 0%")); - } - if (effect == 98) { - Serial.println(F("98 - Transition Ramp Down Short Smooth 1 - 50 to 0%")); - } - if (effect == 99) { - Serial.println(F("99 - Transition Ramp Down Short Smooth 2 - 50 to 0%")); - } - if (effect == 100) { - Serial.println(F("100 - Transition Ramp Down Long Sharp 1 - 50 to 0%")); - } - if (effect == 101) { - Serial.println(F("101 - Transition Ramp Down Long Sharp 2 - 50 to 0%")); - } - if (effect == 102) { - Serial.println(F("102 - Transition Ramp Down Medium Sharp 1 - 50 to 0%")); - } - if (effect == 103) { - Serial.println(F("103 - Transition Ramp Down Medium Sharp 2 - 50 to 0%")); - } - if (effect == 104) { - Serial.println(F("104 - Transition Ramp Down Short Sharp 1 - 50 to 0%")); - } - if (effect == 105) { - Serial.println(F("105 - Transition Ramp Down Short Sharp 2 - 50 to 0%")); - } - if (effect == 106) { - Serial.println(F("106 - Transition Ramp Up Long Smooth 1 - 0 to 50%")); - } - if (effect == 107) { - Serial.println(F("107 - Transition Ramp Up Long Smooth 2 - 0 to 50%")); - } - if (effect == 108) { - Serial.println(F("108 - Transition Ramp Up Medium Smooth 1 - 0 to 50%")); - } - if (effect == 109) { - Serial.println(F("109 - Transition Ramp Up Medium Smooth 2 - 0 to 50%")); - } - if (effect == 110) { - Serial.println(F("110 - Transition Ramp Up Short Smooth 1 - 0 to 50%")); - } - if (effect == 111) { - Serial.println(F("111 - Transition Ramp Up Short Smooth 2 - 0 to 50%")); - } - if (effect == 112) { - Serial.println(F("112 - Transition Ramp Up Long Sharp 1 - 0 to 50%")); - } - if (effect == 113) { - Serial.println(F("113 - Transition Ramp Up Long Sharp 2 - 0 to 50%")); - } - if (effect == 114) { - Serial.println(F("114 - Transition Ramp Up Medium Sharp 1 - 0 to 50%")); - } - if (effect == 115) { - Serial.println(F("115 - Transition Ramp Up Medium Sharp 2 - 0 to 50%")); - } - if (effect == 116) { - Serial.println(F("116 - Transition Ramp Up Short Sharp 1 - 0 to 50%")); - } - if (effect == 117) { - Serial.println(F("117 - Transition Ramp Up Short Sharp 2 - 0 to 50%")); - } - if (effect == 118) { - Serial.println(F("118 - Long buzz for programmatic stopping - 100%")); - } - if (effect == 119) { - Serial.println(F("119 - Smooth Hum 1 (No kick or brake pulse) - 50%")); - } - if (effect == 120) { - Serial.println(F("120 - Smooth Hum 2 (No kick or brake pulse) - 40%")); - } - if (effect == 121) { - Serial.println(F("121 - Smooth Hum 3 (No kick or brake pulse) - 30%")); - } - if (effect == 122) { - Serial.println(F("122 - Smooth Hum 4 (No kick or brake pulse) - 20%")); - } - if (effect == 123) { - Serial.println(F("123 - Smooth Hum 5 (No kick or brake pulse) - 10%")); - } - - // set the effect to play - drv.setWaveform(0, effect); // play effect - drv.setWaveform(1, 0); // end waveform - - // play the effect! - drv.run(); - - // wait a bit - delay(500); - - effect++; - if (effect > 117) effect = 1; -} - - - diff --git a/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bhi260.cpp b/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bhi260.cpp index 3b93759..6d6689a 100644 --- a/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bhi260.cpp +++ b/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bhi260.cpp @@ -100,10 +100,10 @@ static void bhi260_isr_init() #endif } -static void accel_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +static void accel_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { struct bhy2_data_xyz data; - float scaling_factor = get_sensor_default_scaling(sensor_id); + float scaling_factor = BoschSensorUtils::get_sensor_default_scaling(sensor_id); bhy2_parse_xyz(data_ptr, &data); ESP_LOGI(TAG, "%s: x: %f, y: %f, z: %f;", bhy.getSensorName(sensor_id), data.x * scaling_factor, @@ -111,10 +111,10 @@ static void accel_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_ data.z * scaling_factor); } -static void gyro_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) +static void gyro_process_callback(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { struct bhy2_data_xyz data; - float scaling_factor = get_sensor_default_scaling(sensor_id); + float scaling_factor = BoschSensorUtils::get_sensor_default_scaling(sensor_id); bhy2_parse_xyz(data_ptr, &data); ESP_LOGI(TAG, "%s: x: %f, y: %f, z: %f;", bhy.getSensorName(sensor_id), data.x * scaling_factor, @@ -201,15 +201,15 @@ esp_err_t bhi260_init() uint32_t report_latency_ms = 0; /* Report immediately */ // Enable acceleration - bhy.configure(SensorBHI260AP::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); // Enable gyroscope - bhy.configure(SensorBHI260AP::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); + bhy.configure(BoschSensorID::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); // Set the acceleration sensor result callback function - bhy.onResultEvent(SensorBHI260AP::ACCEL_PASSTHROUGH, accel_process_callback); + bhy.onResultEvent(BoschSensorID::ACCEL_PASSTHROUGH, accel_process_callback); // Set the gyroscope sensor result callback function - bhy.onResultEvent(SensorBHI260AP::GYRO_PASSTHROUGH, gyro_process_callback); + bhy.onResultEvent(BoschSensorID::GYRO_PASSTHROUGH, gyro_process_callback); // Registration interruption bhi260_isr_init(); diff --git a/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bma423.cpp b/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bma423.cpp index d8d70d3..6e68bf6 100644 --- a/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bma423.cpp +++ b/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_bma423.cpp @@ -96,11 +96,6 @@ esp_err_t bma423_init() #endif //ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5,0,0) #endif //CONFIG_I2C_COMMUNICATION_METHOD_BUILTIN_RW - //Default 4G ,200HZ - accel.configAccelerometer(); - - accel.enableAccelerometer(); - init_done = true; return ESP_OK; @@ -111,9 +106,7 @@ void bma423_loop() if (!init_done) { return; } - ESP_LOGI("BMA423", "Temperature:%.2f*C", accel.getTemperature(SensorBMA423::TEMP_DEG)); - ESP_LOGI("BMA423", "Temperature:%.2f*F", accel.getTemperature(SensorBMA423::TEMP_FAHRENHEIT)); - ESP_LOGI("BMA423", "Direction:%u", accel.direction()); + ESP_LOGI("BMA423", "Temperature:%.2f*C", accel.getTemperature()); } #endif diff --git a/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_xl9555.cpp b/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_xl9555.cpp index 6172b3d..2f9abc7 100644 --- a/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_xl9555.cpp +++ b/lib/SensorLib/examples/ESP_IDF_SensorExamples/main/sensor_xl9555.cpp @@ -35,11 +35,11 @@ #ifdef CONFIG_XL9555 -#include "ExtensionIOXL9555.hpp" +#include "IoExpanderXL9555.hpp" static const char *TAG = "XL9555"; -ExtensionIOXL9555 io; +IoExpanderXL9555 io; static bool init_done = false; diff --git a/lib/SensorLib/examples/ESP_IDF_TouchDrvExample/main/touch_drv.cpp b/lib/SensorLib/examples/ESP_IDF_TouchDrvExample/main/touch_drv.cpp index b2c2a2b..099b026 100644 --- a/lib/SensorLib/examples/ESP_IDF_TouchDrvExample/main/touch_drv.cpp +++ b/lib/SensorLib/examples/ESP_IDF_TouchDrvExample/main/touch_drv.cpp @@ -32,7 +32,7 @@ #include "esp_err.h" #include "i2c_driver.h" #include "freertos/FreeRTOS.h" -#include "TouchDrvCSTXXX.hpp" +#include static const char *TAG = "TOUCH"; @@ -197,22 +197,12 @@ esp_err_t touch_drv_init() void touch_drv_isr_handler() { - int16_t x[5], y[5]; - uint8_t touched = touch.getPoint(x, y, touch.getSupportTouchPoint()); - if (touched) { - for (int i = 0; i < touched; ++i) { - printf("X["); - printf("%d", i); - printf("]:"); - printf("%d", x[i]); - printf(" "); - printf(" Y["); - printf("%d", i); - printf("]:"); - printf("%d", y[i]); - printf(" "); + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + printf("Point %u: X=%u, Y=%u\n", i, point.x, point.y); } - printf("\n"); } } @@ -221,7 +211,7 @@ void touch_loop() uint32_t io_num; // if (xQueueReceive(xQueue, &io_num, pdMS_TO_TICKS(10))) { // if (gpio_get_level((gpio_num_t)CONFIG_SENSOR_IRQ) == 0) { - touch_drv_isr_handler(); + touch_drv_isr_handler(); // } // } } diff --git a/lib/SensorLib/examples/HapticDrv_AW86224_Full/HapticDrv_AW86224_Full.ino b/lib/SensorLib/examples/HapticDrv_AW86224_Full/HapticDrv_AW86224_Full.ino new file mode 100644 index 0000000..cd780aa --- /dev/null +++ b/lib/SensorLib/examples/HapticDrv_AW86224_Full/HapticDrv_AW86224_Full.ino @@ -0,0 +1,447 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDrv_AW86224_Full.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-07 + */ + +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 20 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 21 +#endif + +HapticDriver_AW86224 haptic; + +void printBanner() +{ + Serial.println(""); + Serial.println("╔══════════════════════════════════════════╗"); + Serial.println("║ AW86224 Haptic Driver Test ║"); + Serial.println("╚══════════════════════════════════════════╝"); + Serial.println(""); +} + +void testCapabilities() +{ + Serial.println("\n[TEST] Device Capabilities"); + auto cap = haptic.getCapabilities(); + + Serial.print(" F0 Calibration: "); Serial.println(cap.hasF0Calibration ? "Yes" : "No"); + Serial.print(" VBAT Compensation: "); Serial.println(cap.hasVbatCompensation ? "Yes" : "No"); + Serial.print(" RTP Mode: "); Serial.println(cap.hasRTP ? "Yes" : "No"); + Serial.print(" Sequence: "); Serial.println(cap.hasSequence ? "Yes" : "No"); + Serial.print(" Break Effect: "); Serial.println(cap.hasBreakEffect ? "Yes" : "No"); + Serial.print(" Continuous Mode: "); Serial.println(cap.hasContinuousMode ? "Yes" : "No"); + Serial.print(" Max Effects: "); Serial.println(cap.maxEffectCount); + Serial.print(" Max Sequence: "); Serial.println(cap.maxSequenceLength); + Serial.print(" Max Duration: "); Serial.println(cap.maxDurationMs == 0 ? "Unlimited" : String(cap.maxDurationMs)); + Serial.println("[OK] Done"); +} + +void testInit() +{ + Serial.println("\n=== Driver Initialization ==="); + Serial.print("Wire: SDA="); Serial.print(SENSOR_SDA); Serial.print(", SCL="); Serial.println(SENSOR_SCL); + + if (!haptic.begin(Wire, AW8624_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { + Serial.println("[FATAL] AW86224 init failed!"); + while (1) delay(1000); + } + + Serial.println("[OK] Driver initialized"); + Serial.print(" Chip Name: "); Serial.println(haptic.getChipName()); + Serial.print(" Chip ID: 0x"); Serial.println(haptic.getChipID(), HEX); + Serial.print(" Actuator: "); Serial.println(haptic.getActuatorType() == HapticActuatorType::LRA ? "LRA" : "ERM"); + Serial.print(" F0: "); Serial.print(haptic.getF0()); Serial.println(" Hz"); + Serial.print(" VBAT: "); Serial.print(haptic.getVbat()); Serial.println(" mV"); + Serial.print(" RAM Waveforms: "); Serial.println(haptic.getRamNum()); + Serial.print(" F0 Cali Data: 0x"); Serial.println(haptic.getF0CaliData(), HEX); +} + +void testPlayEffect() +{ + Serial.println("\n[TEST] playEffect() - HapticBase Interface"); + Serial.println(" Playing effect 1..."); + haptic.playEffect(1); + delay(300); + Serial.println("[OK] Done"); +} + +void testPlayEffectAll() +{ + Serial.println("\n[TEST] playEffect() - All Waveforms"); + for (uint8_t i = 1; i <= haptic.getRamNum(); i++) { + Serial.print(" Effect "); Serial.print(i); Serial.println("..."); + haptic.playEffect(i); + delay(400); + } + Serial.println("[OK] Done"); +} + +void testShortVibration() +{ + Serial.println("\n[TEST] shortVibration()"); + Serial.println(" index=1, gain=0x80, loop=1"); + haptic.shortVibration(1, 0x80, 1); + Serial.println("[OK] Done"); +} + +void testShortVibrationGain() +{ + Serial.println("\n[TEST] shortVibration() - Different Gains"); + + uint8_t gains[] = {0x20, 0x40, 0x60, 0x80, 0xA0, 0xC0, 0xFF}; + for (size_t i = 0; i < sizeof(gains); i++) { + Serial.print(" Gain 0x"); Serial.print(gains[i], HEX); Serial.println("..."); + haptic.shortVibration(1, gains[i], 1); + delay(300); + } + Serial.println("[OK] Done"); +} + +void testShortVibrationLoop() +{ + Serial.println("\n[TEST] shortVibration() - Loop Count"); + for (uint8_t loop = 1; loop <= 5; loop++) { + Serial.print(" Loop "); Serial.print(loop); Serial.println("..."); + haptic.shortVibration(1, 0x80, loop); + delay(500); + } + Serial.println("[OK] Done"); +} + +void testContinuousVibration() +{ + Serial.println("\n[TEST] continuousVibration() - HapticBase Interface"); + Serial.println(" Using unified interface: 2000ms blocking"); + haptic.setGain(0x80); + haptic.continuousVibration(2000, true); + Serial.println("[OK] Done"); +} + +void testLongVibrationBlocking() +{ + Serial.println("\n[TEST] longVibration() - Blocking Mode"); + Serial.println(" index=2, gain=0x80, duration=2000ms, blocking=true"); + uint32_t start = millis(); + haptic.longVibration(2, 0x80, 2000, true); + uint32_t elapsed = millis() - start; + Serial.print("[OK] Done (elapsed: "); Serial.print(elapsed); Serial.println(" ms)"); +} + +void testLongVibrationNonBlocking() +{ + Serial.println("\n[TEST] longVibration() - Non-Blocking Mode"); + Serial.println(" index=2, gain=0x80, duration=5000ms, blocking=false"); + haptic.longVibration(2, 0x80, 5000, false); + Serial.println(" Started! Use 's' to stop or wait..."); +} + +void testWaveformSwitching() +{ + Serial.println("\n[TEST] Waveform Switching (Non-Blocking)"); + Serial.println(" Rapid switching between waveforms during vibration"); + + haptic.longVibration(1, 0x80, 5000, false); + delay(500); + + for (int i = 0; i < 3; i++) { + for (uint8_t w = 1; w <= haptic.getRamNum(); w++) { + if (!haptic.isPlaying()) break; + Serial.print(" Switch to waveform "); Serial.print(w); Serial.println("..."); + haptic.longVibration(w, 0x80, 1000, false); + delay(100); + } + } + + if (haptic.isPlaying()) { + Serial.println(" Stopping..."); + haptic.stop(); + } + Serial.println("[OK] Done"); +} + +void testSetSequence() +{ + Serial.println("\n[TEST] setSequence() - HapticBase Interface"); + haptic.clearSequence(); + haptic.setSequence(0, 1); + haptic.setSequence(1, 2); + haptic.setSequence(2, 0); + Serial.println(" Sequence set: [1, 2, 0]"); + Serial.println(" Playing sequence..."); + haptic.playSequence(); + delay(1000); + Serial.println("[OK] Done"); +} + +void testStop() +{ + Serial.println("\n[TEST] stop() - HapticBase Interface"); + haptic.continuousVibration(5000, false); + Serial.println(" Started 5s vibration..."); + delay(1000); + Serial.println(" Calling stop()..."); + haptic.stop(); + Serial.print(" isPlaying: "); Serial.println(haptic.isPlaying() ? "Yes" : "No"); + Serial.println("[OK] Done"); +} + +void testStatus() +{ + Serial.println("\n[TEST] getStatus() - HapticBase Interface"); + HapticStatus status = haptic.getStatus(); + const char *statusStr = "UNKNOWN"; + switch (status) { + case HapticStatus::IDLE: statusStr = "IDLE"; break; + case HapticStatus::PLAYING: statusStr = "PLAYING"; break; + case HapticStatus::PAUSED: statusStr = "PAUSED"; break; + case HapticStatus::CALIBRATING: statusStr = "CALIBRATING"; break; + case HapticStatus::ERROR: statusStr = "ERROR"; break; + } + Serial.print(" Status: "); Serial.println(statusStr); + Serial.println("[OK] Done"); +} + +void testIntensitySweep() +{ + Serial.println("\n[TEST] Intensity Sweep"); + Serial.println(" Gradually increasing intensity"); + + for (uint16_t gain = 0x20; gain <= 0xFF; gain += 0x20) { + Serial.print(" Gain: 0x"); Serial.println(gain, HEX); + haptic.shortVibration(1, gain, 3); + delay(400); + } + Serial.println("[OK] Done"); +} + +void testAutoDemo() +{ + Serial.println("\n=== Auto Demo Sequence ==="); + delay(1000); + + Serial.println("\n[1/12] Basic playEffect()..."); + haptic.playEffect(1); + delay(800); + + Serial.println("\n[2/12] Basic short vibration..."); + haptic.shortVibration(1, 0x80, 1); + delay(800); + + Serial.println("\n[3/12] All waveforms (short)..."); + for (uint8_t i = 1; i <= haptic.getRamNum(); i++) { + Serial.print(" Wave "); Serial.print(i); Serial.println("..."); + haptic.shortVibration(i, 0x80, 1); + delay(400); + } + + Serial.println("\n[4/12] Continuous vibration (HapticBase)..."); + haptic.continuousVibration(1500, true); + + Serial.println("\n[5/12] Long vibration (2s)..."); + haptic.longVibration(2, 0x80, 2000, true); + + Serial.println("\n[6/12] Intensity sweep..."); + testIntensitySweep(); + + Serial.println("\n[7/12] Non-blocking long vibration (3s)..."); + haptic.longVibration(2, 0xA0, 3000, false); + uint32_t start = millis(); + while (haptic.isPlaying() && (millis() - start < 3500)) { + delay(100); + } + if (haptic.isPlaying()) { + haptic.stop(); + Serial.println(" Stopped by demo"); + } + + Serial.println("\n[8/12] Sequence test..."); + testSetSequence(); + delay(500); + + Serial.println("\n[9/12] Status check..."); + testStatus(); + + Serial.println("\n[10/12] Rapid waveform switching..."); + testWaveformSwitching(); + + Serial.println("\n[11/12] Gain test..."); + testShortVibrationGain(); + + Serial.println("\n[12/12] Final short vibration..."); + haptic.shortVibration(1, 0xFF, 2); + + Serial.println("\n=== Demo Complete ==="); +} + +void printHelp() +{ + Serial.println("\n========== Commands =========="); + Serial.println("Initialization:"); + Serial.println(" i - Re-initialize driver"); + Serial.println(""); + Serial.println("HapticBase Interface:"); + Serial.println(" e - playEffect(1)"); + Serial.println(" E - playEffect() all waveforms"); + Serial.println(" c - continuousVibration()"); + Serial.println(" S - setSequence() test"); + Serial.println(" p - stop() test"); + Serial.println(" t - getStatus()"); + Serial.println(""); + Serial.println("AW86224 Extended:"); + Serial.println(" 1 - Short vibration"); + Serial.println(" a - All waveforms (short)"); + Serial.println(" g - Different gains test"); + Serial.println(" l - Loop count test (1-5)"); + Serial.println(" 2 - Long vibration (blocking, 2s)"); + Serial.println(" L - Long vibration all waveforms"); + Serial.println(" n - Non-blocking long vibration (5s)"); + Serial.println(" w - Waveform switching"); + Serial.println(""); + Serial.println("Special Tests:"); + Serial.println(" x - Sweep: gradual intensity increase"); + Serial.println(" d - Auto demo sequence"); + Serial.println(""); + Serial.println("Info:"); + Serial.println(" k - Show capabilities"); + Serial.println(" v - Read voltage"); + Serial.println(" f - Read F0"); + Serial.println(" h - Help (this message)"); + Serial.println("=============================="); +} + +void setup() +{ + Serial.begin(115200); + delay(1000); + + printBanner(); + testInit(); + testCapabilities(); + + Serial.println("\n========== Quick Test =========="); + Serial.println("Running auto demo sequence..."); + + testAutoDemo(); + + printHelp(); +} + +void loop() +{ + if (haptic.isPlaying()) { + haptic.vibrationUpdate(); + } + + if (Serial.available()) { + char cmd = Serial.read(); + + switch (cmd) { + case 'i': + testInit(); + break; + case 'k': + testCapabilities(); + break; + case 'e': + testPlayEffect(); + break; + case 'E': + testPlayEffectAll(); + break; + case 'c': + testContinuousVibration(); + break; + case 'S': + testSetSequence(); + break; + case 'p': + testStop(); + break; + case 't': + testStatus(); + break; + case '1': + testShortVibration(); + break; + case 'a': + testPlayEffectAll(); + break; + case 'g': + testShortVibrationGain(); + break; + case 'l': + testShortVibrationLoop(); + break; + case '2': + testLongVibrationBlocking(); + break; + case 'L': + for (uint8_t i = 1; i <= haptic.getRamNum(); i++) { + Serial.print(" Waveform "); Serial.print(i); Serial.println(", 1000ms..."); + haptic.longVibration(i, 0x80, 1000, true); + delay(200); + } + Serial.println("[OK] Done"); + break; + case 'n': + testLongVibrationNonBlocking(); + break; + case 'w': + testWaveformSwitching(); + break; + case 'x': + testIntensitySweep(); + break; + case 'd': + testAutoDemo(); + break; + case 'v': + Serial.print("[VBAT] "); Serial.print(haptic.getVbat()); Serial.println(" mV"); + break; + case 'f': + Serial.print("[F0] "); Serial.print(haptic.getF0()); Serial.println(" Hz"); + break; + case 'h': + case 'H': + case '?': + printHelp(); + break; + default: + if (cmd != '\n' && cmd != '\r' && cmd != ' ') { + Serial.print("[?] Unknown: '"); Serial.print(cmd); Serial.print(" (0x"); Serial.print(cmd, HEX); Serial.println(")"); + } + break; + } + } + + delay(10); +} diff --git a/lib/SensorLib/examples/HapticDrv_DRV2605_Effect/HapticDrv_DRV2605_Effect.ino b/lib/SensorLib/examples/HapticDrv_DRV2605_Effect/HapticDrv_DRV2605_Effect.ino new file mode 100644 index 0000000..578ed80 --- /dev/null +++ b/lib/SensorLib/examples/HapticDrv_DRV2605_Effect/HapticDrv_DRV2605_Effect.ino @@ -0,0 +1,171 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDrv_DRV2605_Effect.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-07 + */ +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 3 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 2 +#endif + +HapticDriver_DRV2605 haptic; + +static const char *effectList[] = { + "1 - Strong Click 100%", "2 - Strong Click 60%", "3 - Strong Click 30%", + "4 - Sharp Click 100%", "5 - Sharp Click 60%", "6 - Sharp Click 30%", + "7 - Soft Bump 100%", "8 - Soft Bump 60%", "9 - Soft Bump 30%", + "10 - Double Click 100%", "11 - Double Click 60%", "12 - Triple Click 100%", + "13 - Soft Fuzz 60%", "14 - Strong Buzz 100%", "15 - Alert 750ms 100%", + "16 - Alert 1000ms 100%" +}; + +void printBanner() +{ + Serial.println(""); + Serial.println("╔══════════════════════════════════════════╗"); + Serial.println("║ DRV2605 Haptic Driver Test ║"); + Serial.println("╚══════════════════════════════════════════╝"); + Serial.println(""); +} + +void printHelp() +{ + Serial.println("\n========== Commands =========="); + Serial.println("1-16 : Play effect (ERM Library 1)"); + Serial.println("e : List all effects (1-117)"); + Serial.println("l 1-6 : Select ROM library"); + Serial.println("a : Toggle ERM/LRA mode"); + Serial.println("s : Stop playback"); + Serial.println("r : RTP test (0-255)"); + Serial.println("c : Calibrate"); + Serial.println("h : Help"); + Serial.println("=============================="); +} + +void setup() +{ + Serial.begin(115200); + delay(500); + + printBanner(); + + Serial.println("\n=== Driver Initialization ==="); + + if (!haptic.begin(Wire, DRV2605_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { + Serial.println("[FATAL] DRV2605 init failed!"); + while (1) delay(1000); + } + + Serial.println("[OK] Driver initialized"); + Serial.print(" Chip Name: "); Serial.println(haptic.getChipName()); + Serial.print(" Chip ID: 0x"); Serial.println(haptic.getChipID(), HEX); + Serial.print(" Actuator: "); Serial.println(haptic.getActuatorType() == HapticActuatorType::LRA ? "LRA" : "ERM"); + Serial.print(" VBAT: "); Serial.print(haptic.getVbat()); Serial.println(" mV"); + Serial.print(" Mode: "); Serial.println(static_cast(haptic.getMode())); + printHelp(); +} + +void loop() +{ + if (Serial.available()) { + char cmd = Serial.read(); + + if (cmd >= '1' && cmd <= '9') { + uint8_t idx = cmd - '1'; + Serial.print("Playing: "); Serial.println(effectList[idx]); + haptic.playEffect(idx + 1); + } else if (cmd == 'e' || cmd == 'E') { + Serial.println("\n--- Effect List (1-117) ---"); + Serial.println("ERM Library 1: Strong/Sharp/Soft Click, Double/Triple Click, Buzz"); + Serial.println("ERM Library 2-5: Various click patterns"); + Serial.println("ERM Library 6: LRA Library (use 'l 6')"); + Serial.println("Send number 1-117 to play effect"); + } else if (cmd == 'l' || cmd == 'L') { + Serial.read(); // skip space + while (Serial.available() == 0) delay(10); + char lib = Serial.read(); + uint8_t libNum = lib - '0'; + if (libNum >= 1 && libNum <= 6) { + haptic.selectLibrary(libNum); + Serial.print("Library set to: "); Serial.println(libNum); + } + } else if (cmd == 'a' || cmd == 'A') { + auto type = haptic.getActuatorType(); + haptic.setActuatorType(type == HapticActuatorType::ERM ? HapticActuatorType::LRA : HapticActuatorType::ERM); + Serial.print("Actuator: "); Serial.println(haptic.getActuatorType() == HapticActuatorType::ERM ? "ERM" : "LRA"); + } else if (cmd == 's' || cmd == 'S') { + haptic.stop(); + Serial.println("Stopped"); + } else if (cmd == 'r' || cmd == 'R') { + haptic.setMode(HapticMode::REAL_TIME_PLAYBACK); + Serial.println("RTP Mode: Send 0-255 for intensity"); + while (Serial.available() == 0) delay(10); + int val = Serial.parseInt(); + if (val >= 0 && val <= 255) { + haptic.setRealtimeValue(static_cast(val)); + Serial.print("RTP Value: "); Serial.println(val); + } + haptic.setMode(HapticMode::INTERNAL_TRIGGER); + } else if (cmd == 'c' || cmd == 'C') { + Serial.println("Calibrating..."); + if (haptic.calibrate()) { + Serial.println("[OK] Calibration done"); + } else { + Serial.println("[FAIL] Calibration failed"); + } + } else if (cmd == 'h' || cmd == 'H' || cmd == '?') { + printHelp(); + } else if (cmd >= '0' && cmd <= '9') { + // Multi-digit effect number + String numStr = String(cmd); + while (Serial.available()) { + char c = Serial.peek(); + if (c >= '0' && c <= '9') { + numStr += Serial.read(); + } else { + Serial.read(); // consume non-digit + break; + } + } + uint8_t effectNum = numStr.toInt(); + if (effectNum >= 1 && effectNum <= 117) { + Serial.print("Playing effect: "); Serial.println(effectNum); + haptic.playEffect(effectNum); + } else { + Serial.print("Invalid: "); Serial.print(effectNum); Serial.println(" (range 1-117)"); + } + } else if (cmd != '\n' && cmd != '\r' && cmd != ' ') { + Serial.print("[?] Unknown: '"); Serial.println(cmd); + } + } + + delay(10); +} diff --git a/lib/SensorLib/examples/HapticDrv_DRV2605_Full/HapticDrv_DRV2605_Full.ino b/lib/SensorLib/examples/HapticDrv_DRV2605_Full/HapticDrv_DRV2605_Full.ino new file mode 100644 index 0000000..6611fd7 --- /dev/null +++ b/lib/SensorLib/examples/HapticDrv_DRV2605_Full/HapticDrv_DRV2605_Full.ino @@ -0,0 +1,416 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDrv_DRV2605_Full.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-07 + */ + +#include + +#ifndef SENSOR_SDA +#define SENSOR_SDA 3 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 2 +#endif + +HapticDriver_DRV2605 haptic; + +void printBanner() +{ + Serial.println(""); + Serial.println("╔══════════════════════════════════════════╗"); + Serial.println("║ DRV2605 Haptic Driver Test ║"); + Serial.println("╚══════════════════════════════════════════╝"); + Serial.println(""); +} + +void testCapabilities() +{ + Serial.println("\n[TEST] Device Capabilities"); + auto cap = haptic.getCapabilities(); + + Serial.print(" F0 Calibration: "); Serial.println(cap.hasF0Calibration ? "Yes" : "No"); + Serial.print(" VBAT Compensation: "); Serial.println(cap.hasVbatCompensation ? "Yes" : "No"); + Serial.print(" RTP Mode: "); Serial.println(cap.hasRTP ? "Yes" : "No"); + Serial.print(" Sequence: "); Serial.println(cap.hasSequence ? "Yes" : "No"); + Serial.print(" Auto Calibration: "); Serial.println(cap.hasAutoCalibration ? "Yes" : "No"); + Serial.print(" Break Effect: "); Serial.println(cap.hasBreakEffect ? "Yes" : "No"); + Serial.print(" Overdrive: "); Serial.println(cap.hasOverdrive ? "Yes" : "No"); + Serial.print(" Continuous Mode: "); Serial.println(cap.hasContinuousMode ? "Yes" : "No"); + Serial.print(" Max Effects: "); Serial.println(cap.maxEffectCount); + Serial.print(" Max Sequence: "); Serial.println(cap.maxSequenceLength); + Serial.println("[OK] Done"); +} + +void testInit() +{ + Serial.println("\n=== Driver Initialization ==="); + Serial.print("Wire: SDA="); Serial.print(SENSOR_SDA); Serial.print(", SCL="); Serial.println(SENSOR_SCL); + + if (!haptic.begin(Wire, DRV2605_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { + Serial.println("[FATAL] DRV2605 init failed!"); + while (1) delay(1000); + } + + Serial.println("[OK] Driver initialized"); + Serial.print(" Chip Name: "); Serial.println(haptic.getChipName()); + Serial.print(" Chip ID: 0x"); Serial.println(haptic.getChipID(), HEX); + Serial.print(" Actuator: "); Serial.println(haptic.getActuatorType() == HapticActuatorType::LRA ? "LRA" : "ERM"); + Serial.print(" VBAT: "); Serial.print(haptic.getVbat()); Serial.println(" mV"); + Serial.print(" Mode: "); Serial.println(static_cast(haptic.getMode())); +} + +void testActuatorType() +{ + Serial.println("\n[TEST] Actuator Type"); + + Serial.println(" Current: "); + haptic.getActuatorType() == HapticActuatorType::ERM ? Serial.println("ERM") : Serial.println("LRA"); + + Serial.println(" Switching to LRA..."); + haptic.setActuatorType(HapticActuatorType::LRA); + Serial.print(" Now: "); Serial.println(haptic.getActuatorType() == HapticActuatorType::LRA ? "LRA" : "ERM"); + + Serial.println(" Switching to ERM..."); + haptic.setActuatorType(HapticActuatorType::ERM); + Serial.print(" Now: "); Serial.println(haptic.getActuatorType() == HapticActuatorType::ERM ? "ERM" : "LRA"); + + Serial.println("[OK] Done"); +} + +void testLibrarySelection() +{ + Serial.println("\n[TEST] Library Selection"); + + Serial.println(" Selecting ERM Library 1 (Strong Click)..."); + haptic.selectLibrary(1); + haptic.playEffect(1); + delay(500); + + Serial.println(" Selecting ERM Library 2 (Sharp Click)..."); + haptic.selectLibrary(2); + haptic.playEffect(1); + delay(500); + + Serial.println(" Selecting ERM Library 5 (Buzz)..."); + haptic.selectLibrary(5); + haptic.playEffect(1); + delay(500); + + Serial.println(" Reset to Library 1..."); + haptic.selectLibrary(1); + Serial.println("[OK] Done"); +} + +void testPlayEffect() +{ + Serial.println("\n[TEST] playEffect() - HapticBase Interface"); + Serial.println(" Playing effect 1..."); + haptic.playEffect(1); + delay(300); + Serial.println("[OK] Done"); +} + +void testPlayEffectRange() +{ + Serial.println("\n[TEST] playEffect() - Effect Range (1-10)"); + for (uint8_t i = 1; i <= 10; i++) { + Serial.print(" Effect "); Serial.print(i); Serial.println("..."); + haptic.playEffect(i); + delay(400); + } + Serial.println("[OK] Done"); +} + +void testSetSequence() +{ + Serial.println("\n[TEST] setSequence() - HapticBase Interface"); + haptic.clearSequence(); + haptic.setSequence(0, 1); + haptic.setSequence(1, 2); + haptic.setSequence(2, 3); + haptic.setSequence(3, 0); + Serial.println(" Sequence set: [1, 2, 3, 0]"); + Serial.println(" Playing sequence..."); + haptic.playSequence(); + delay(2000); + Serial.println("[OK] Done"); +} + +void testRTP() +{ + Serial.println("\n[TEST] setRealtimeValue() - HapticBase Interface"); + + haptic.setMode(HapticMode::REAL_TIME_PLAYBACK); + Serial.println(" Mode set to RTP"); + + Serial.println(" Playing RTP values..."); + uint8_t values[] = {0x00, 0x40, 0x80, 0xC0, 0xFF, 0xC0, 0x80, 0x40}; + for (size_t i = 0; i < sizeof(values); i++) { + Serial.print(" Value: 0x"); Serial.println(values[i], HEX); + haptic.setRealtimeValue(values[i]); + delay(2000); + } + + haptic.stop(); + haptic.setMode(HapticMode::INTERNAL_TRIGGER); + Serial.println("[OK] Done"); +} + +void testStop() +{ + Serial.println("\n[TEST] stop() - HapticBase Interface"); + haptic.playEffect(1); + Serial.println(" Started playback, waiting..."); + delay(500); + Serial.println(" Calling stop()..."); + haptic.stop(); + Serial.print(" isPlaying: "); Serial.println(haptic.isPlaying() ? "Yes" : "No"); + Serial.println("[OK] Done"); +} + +void testStatus() +{ + Serial.println("\n[TEST] getStatus() - HapticBase Interface"); + HapticStatus status = haptic.getStatus(); + const char *statusStr = "UNKNOWN"; + switch (status) { + case HapticStatus::IDLE: statusStr = "IDLE"; break; + case HapticStatus::PLAYING: statusStr = "PLAYING"; break; + case HapticStatus::PAUSED: statusStr = "PAUSED"; break; + case HapticStatus::CALIBRATING: statusStr = "CALIBRATING"; break; + case HapticStatus::ERROR: statusStr = "ERROR"; break; + } + Serial.print(" Status: "); Serial.println(statusStr); + Serial.println("[OK] Done"); +} + +void testModes() +{ + Serial.println("\n[TEST] Mode Switching"); + + Serial.println(" Mode: INTERNAL_TRIGGER"); + haptic.setMode(HapticMode::INTERNAL_TRIGGER); + Serial.print(" Current: "); Serial.println(static_cast(haptic.getMode())); + + Serial.println(" Mode: REAL_TIME_PLAYBACK"); + haptic.setMode(HapticMode::REAL_TIME_PLAYBACK); + Serial.print(" Current: "); Serial.println(static_cast(haptic.getMode())); + + Serial.println(" Mode: DIAGNOSTICS"); + haptic.setMode(HapticMode::DIAGNOSTICS); + Serial.print(" Current: "); Serial.println(static_cast(haptic.getMode())); + + haptic.setMode(HapticMode::INTERNAL_TRIGGER); + Serial.println("[OK] Done"); +} + +void testCalibration() +{ + Serial.println("\n[TEST] calibrate() - HapticBase Interface"); + Serial.println(" WARNING: May take a few seconds..."); + + if (haptic.calibrate()) { + Serial.println(" Calibration successful!"); + } else { + Serial.println(" Calibration failed!"); + } + Serial.println("[OK] Done"); +} + +void testF0() +{ + Serial.println("\n[TEST] getF0() - HapticBase Interface"); + uint32_t f0 = haptic.getF0(); + if (f0 > 0) { + Serial.print(" LRA F0: "); Serial.print(f0); Serial.println(" Hz"); + } else { + Serial.println(" F0 not available or LRA not detected"); + } + Serial.println("[OK] Done"); +} + +void testAutoDemo() +{ + Serial.println("\n=== Auto Demo Sequence ==="); + delay(1000); + + Serial.println("\n[1/11] Basic playEffect()..."); + haptic.playEffect(1); + delay(800); + + Serial.println("\n[2/11] Library selection..."); + testLibrarySelection(); + + Serial.println("\n[3/11] Effect range (1-10)..."); + testPlayEffectRange(); + + Serial.println("\n[4/11] Sequence test..."); + testSetSequence(); + + Serial.println("\n[5/11] RTP test..."); + testRTP(); + + Serial.println("\n[6/11] Status check..."); + testStatus(); + + Serial.println("\n[7/11] Mode switching..."); + testModes(); + + Serial.println("\n[8/11] Actuator type switching..."); + testActuatorType(); + + Serial.println("\n[9/11] Stop test..."); + haptic.playEffect(1); + delay(200); + haptic.stop(); + delay(300); + + Serial.println("\n[10/11] Calibration..."); + haptic.calibrate(); + delay(500); + + Serial.println("\n[11/11] F0 reading..."); + testF0(); + + Serial.println("\n=== Demo Complete ==="); +} + +void printHelp() +{ + Serial.println("\n========== Commands =========="); + Serial.println("Initialization:"); + Serial.println(" i - Re-initialize driver"); + Serial.println(""); + Serial.println("HapticBase Interface:"); + Serial.println(" e - playEffect(1)"); + Serial.println(" E - playEffect() range (1-10)"); + Serial.println(" S - setSequence() test"); + Serial.println(" r - setRealtimeValue() (RTP)"); + Serial.println(" p - stop() test"); + Serial.println(" t - getStatus()"); + Serial.println(" c - calibrate()"); + Serial.println(" f - getF0()"); + Serial.println(" k - Show capabilities"); + Serial.println(""); + Serial.println("DRV2605 Extended:"); + Serial.println(" l - Library selection"); + Serial.println(" a - Actuator type switch"); + Serial.println(" m - Mode switching"); + Serial.println(""); + Serial.println("Special Tests:"); + Serial.println(" d - Auto demo sequence"); + Serial.println(""); + Serial.println("Info:"); + Serial.println(" v - Read voltage"); + Serial.println(" h - Help (this message)"); + Serial.println("=============================="); +} + +void setup() +{ + Serial.begin(115200); + delay(1000); + + printBanner(); + testInit(); + testCapabilities(); + + Serial.println("\n========== Quick Test =========="); + Serial.println("Running auto demo sequence..."); + + testAutoDemo(); + + printHelp(); +} + +void loop() +{ + if (Serial.available()) { + char cmd = Serial.read(); + + switch (cmd) { + case 'i': + testInit(); + break; + case 'k': + testCapabilities(); + break; + case 'e': + testPlayEffect(); + break; + case 'E': + testPlayEffectRange(); + break; + case 'S': + testSetSequence(); + break; + case 'r': + testRTP(); + break; + case 'p': + testStop(); + break; + case 't': + testStatus(); + break; + case 'c': + testCalibration(); + break; + case 'f': + testF0(); + break; + case 'l': + testLibrarySelection(); + break; + case 'a': + testActuatorType(); + break; + case 'm': + testModes(); + break; + case 'd': + testAutoDemo(); + break; + case 'v': + Serial.print("[VBAT] "); Serial.print(haptic.getVbat()); Serial.println(" mV"); + break; + case 'h': + case 'H': + case '?': + printHelp(); + break; + default: + if (cmd != '\n' && cmd != '\r' && cmd != ' ') { + Serial.print("[?] Unknown: '"); Serial.print(cmd); Serial.print(" (0x"); Serial.print(cmd, HEX); Serial.println(")"); + } + break; + } + } + + delay(10); +} diff --git a/lib/SensorLib/examples/LTR553ALS_Sensor/LTR553ALS_Sensor.ino b/lib/SensorLib/examples/LTR553ALS_Sensor/LTR553ALS_Sensor.ino index d9a29df..6efdcbf 100644 --- a/lib/SensorLib/examples/LTR553ALS_Sensor/LTR553ALS_Sensor.ino +++ b/lib/SensorLib/examples/LTR553ALS_Sensor/LTR553ALS_Sensor.ino @@ -53,7 +53,7 @@ void setup() pinMode(SENSOR_IRQ, INPUT_PULLUP); - if (!als.begin(Wire, SENSOR_SDA, SENSOR_SCL)) { + if (!als.begin(Wire, LTR553_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { Serial.println("Failed to find LTR553 - check your wiring!"); while (1) { delay(1000); diff --git a/lib/SensorLib/examples/MagInterface_GetDataExample/MagInterface_GetDataExample.ino b/lib/SensorLib/examples/MagInterface_GetDataExample/MagInterface_GetDataExample.ino new file mode 100644 index 0000000..3010301 --- /dev/null +++ b/lib/SensorLib/examples/MagInterface_GetDataExample/MagInterface_GetDataExample.ino @@ -0,0 +1,245 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file MagInterface_GetDataExample.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-08 + * + */ +#include +#include +#include + +#ifdef ARDUINO_T_BEAM_S3_SUPREME +#include //PMU Library https://github.com/lewisxhe/XPowersLib.git +#endif + +#ifndef SENSOR_SDA +#define SENSOR_SDA 17 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 18 +#endif + +MagnetometerBase *magnetometer; + +void beginPower() +{ +#if defined(ARDUINO_T_BEAM_S3_SUPREME) + XPowersAXP2101 power; + power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41); + power.disableALDO1(); + power.disableALDO2(); + delay(250); + power.setALDO1Voltage(3300); + power.enableALDO1(); + power.setALDO2Voltage(3300); + power.enableALDO2(); +#endif +} + +void setup() +{ + + // The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_8G, FS_16G ,FS_32G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored. + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; + + + Serial.begin(115200); + while (!Serial); + + // LilyGo T-Beam-Supreme sensor requires a power source to function. + beginPower(); + + Wire.begin(SENSOR_SDA, SENSOR_SCL); + + SensorWireHelper::dumpDevices(Wire); + + if (magnetometer == nullptr) { + magnetometer = new SensorQMC6310(); + if (!static_cast(magnetometer)->begin(Wire, QMC6310U_SLAVE_ADDRESS)) { + Serial.println("Failed to find QMC6310U - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6310U found!"); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + if (magnetometer == nullptr) { + magnetometer = new SensorQMC6310(); + if (!static_cast(magnetometer)->begin(Wire, QMC6310N_SLAVE_ADDRESS)) { + Serial.println("Failed to find QMC6310 - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6310N found!"); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + if (magnetometer == nullptr) { + magnetometer = new SensorQMC6309(); + if (!static_cast(magnetometer)->begin(Wire, QMC6309_SLAVE_ADDRESS)) { + Serial.println("Failed to find QMC6309 - check your wiring!"); + delete magnetometer; + magnetometer = nullptr; + } else { + Serial.println("QMC6309 found!"); + // The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_8G, FS_16G ,FS_32G + full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored. + down_sample_ratio = MagDownSampleRatio::DSR_1; + } + } + + while (magnetometer == nullptr) { + Serial.println("No magnetometer found!"); + delay(1000); + } + + /* Config Magnetometer */ + if (magnetometer->configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } + + SensorInfo info = magnetometer->getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer->getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer->setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer->getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); + + Serial.println("Read data now..."); +} + +void loop() +{ + + MagnetometerData data; + + if (magnetometer->readData(data)) { + + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); + + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); + Serial.print(" Y:"); + Serial.print(data.raw.y); + Serial.print(" Z:"); + Serial.print(data.raw.z); + + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } + } + delay(10); +} diff --git a/lib/SensorLib/examples/BMA423_Temperature/BMA423_Temperature.ino b/lib/SensorLib/examples/PCA9570_IoExpander/PCA9570_IoExpander.ino similarity index 58% rename from lib/SensorLib/examples/BMA423_Temperature/BMA423_Temperature.ino rename to lib/SensorLib/examples/PCA9570_IoExpander/PCA9570_IoExpander.ino index 285d83c..4ee27e1 100644 --- a/lib/SensorLib/examples/BMA423_Temperature/BMA423_Temperature.ino +++ b/lib/SensorLib/examples/PCA9570_IoExpander/PCA9570_IoExpander.ino @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -22,63 +22,57 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. * - * @file BMA423_Temperature.ino + * @file IoExpanderPCA9570.ino * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-01 + * @date 2026-03-03 * */ -#include -#include #include -#include "SensorBMA423.hpp" +#include "IoExpanderPCA9570.hpp" #ifndef SENSOR_SDA -#define SENSOR_SDA 21 +#define SENSOR_SDA 17 #endif #ifndef SENSOR_SCL -#define SENSOR_SCL 22 +#define SENSOR_SCL 18 #endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 39 -#endif - -SensorBMA423 accel; +IoExpanderPCA9570 expander; void setup() { Serial.begin(115200); - while (!Serial); - pinMode(SENSOR_IRQ, INPUT); - - Serial.println("BMA423 Sensor Temperature"); - - /* - * BMA423_I2C_ADDR_PRIMARY = 0x18 - * BMA423_I2C_ADDR_SECONDARY = 0x19 - * * */ - if (!accel.begin(Wire, BMA423_I2C_ADDR_SECONDARY, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find BMA423 - check your wiring!"); + if (!expander.begin(Wire, PCA9570_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { while (1) { + Serial.println("Failed to find PCA9570 - check your wiring!"); delay(1000); } } - Serial.println("Init BAM423 Sensor success!"); -} + // Since PCA9570 pins are fixed as outputs, this call merely updates the software pin mode + // cache and does not perform any actual hardware configuration. + expander.configPins(IoExpanderPCA9570::PORT_ALL, OUTPUT); +} void loop() { - Serial.print("getTemperature:"); - Serial.print(accel.getTemperature(SensorBMA423::TEMP_DEG)); - Serial.print("*C "); - Serial.print(accel.getTemperature(SensorBMA423::TEMP_FAHRENHEIT)); - Serial.print("*F"); - Serial.println(); + // Set all pins to 1 + Serial.println("Set port HIGH"); + expander.digitalWritePort(0x0F, HIGH); + delay(1000); + + Serial.println("Set port LOW"); + // Set all pins to 0 + expander.digitalWritePort(0x00, LOW); + delay(1000); + + Serial.println("digitalWrite 0"); + expander.digitalWrite(0, HIGH); + delay(1000); + + Serial.println("digitalToggle 0"); + expander.digitalToggle(0); delay(1000); } - - - diff --git a/lib/SensorLib/examples/PCF8563_SimpleTime/PCF8563_SimpleTime.ino b/lib/SensorLib/examples/PCF8563_SimpleTime/PCF8563_SimpleTime.ino index 168d82a..319dee6 100644 --- a/lib/SensorLib/examples/PCF8563_SimpleTime/PCF8563_SimpleTime.ino +++ b/lib/SensorLib/examples/PCF8563_SimpleTime/PCF8563_SimpleTime.ino @@ -66,7 +66,7 @@ void setup() // Try to initialize the RTC module using I2C with specified SDA and SCL pins if (!rtc.begin(Wire, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find PCF85063 - check your wiring!"); + Serial.println("Failed to find PCF8563 - check your wiring!"); // Enter an infinite loop to halt the program while (1) { delay(1000); diff --git a/lib/SensorLib/examples/QMC5883L_GetDataExample/QMC5883L_GetDataExample.ino b/lib/SensorLib/examples/QMC5883L_GetDataExample/QMC5883L_GetDataExample.ino new file mode 100644 index 0000000..7a1c9ee --- /dev/null +++ b/lib/SensorLib/examples/QMC5883L_GetDataExample/QMC5883L_GetDataExample.ino @@ -0,0 +1,162 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file QMC5883L_GetDataExample.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-26 + * + */ +#include +#include +#include +#include "SensorQMC5883L.hpp" + + +#ifndef SENSOR_SDA +#define SENSOR_SDA 27 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 26 +#endif + +SensorQMC5883L magnetometer; + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + if (!magnetometer.begin(Wire, QMC5883L_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { + while (1) { + Serial.println("Failed to find QMC5883L - check your wiring!"); + delay(1000); + } + } + + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G + MagFullScaleRange full_scale = MagFullScaleRange::FS_2G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + + /* Config Magnetometer */ + if (magnetometer.configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } + + SensorInfo info = magnetometer.getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer.getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer.setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); + + Serial.println("Read data now..."); +} + + +void loop() +{ + MagnetometerData data; + + if (magnetometer.readData(data)) { + + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); + + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.print(" Gauss/LSB"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); + Serial.print(" Y:"); + Serial.print(data.raw.y); + Serial.print(" Z:"); + Serial.print(data.raw.z); + + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } + if (data.skip_data) { + Serial.println("\tWarning: Data Skip occurred!"); + } + } + delay(50); +} diff --git a/lib/SensorLib/examples/QMC5883P_GetDataExample/QMC5883P_GetDataExample.ino b/lib/SensorLib/examples/QMC5883P_GetDataExample/QMC5883P_GetDataExample.ino new file mode 100644 index 0000000..eb3a91a --- /dev/null +++ b/lib/SensorLib/examples/QMC5883P_GetDataExample/QMC5883P_GetDataExample.ino @@ -0,0 +1,165 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file QMC5883P_GetDataExample.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-26 + * + */ +#include +#include +#include +#include "SensorQMC5883P.hpp" + +#ifndef SENSOR_SDA +#define SENSOR_SDA 3 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 2 +#endif + +SensorQMC5883P magnetometer; + + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + + if (!magnetometer.begin(Wire, QMC5883P_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { + while (1) { + Serial.println("Failed to find QMC5883P - check your wiring!"); + delay(1000); + } + } + + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G, FS_30G + MagFullScaleRange full_scale = MagFullScaleRange::FS_2G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; + + /* Config Magnetometer */ + if (magnetometer.configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } + + SensorInfo info = magnetometer.getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer.getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer.setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); + + Serial.println("Read data now..."); +} + +void loop() +{ + MagnetometerData data; + + if (magnetometer.readData(data)) { + + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); + + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.print(" Gauss/LSB"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); + Serial.print(" Y:"); + Serial.print(data.raw.y); + Serial.print(" Z:"); + Serial.print(data.raw.z); + + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } + } + delay(10); +} + + + diff --git a/lib/SensorLib/examples/QMC6309_GetDataExample/QMC6309_GetDataExample.ino b/lib/SensorLib/examples/QMC6309_GetDataExample/QMC6309_GetDataExample.ino new file mode 100644 index 0000000..c53aac3 --- /dev/null +++ b/lib/SensorLib/examples/QMC6309_GetDataExample/QMC6309_GetDataExample.ino @@ -0,0 +1,179 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file QMC6309_GetDataExample.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-08 + * + */ +#include +#include +#include +#include "SensorQMC6309.hpp" + +#ifdef ARDUINO_T_BEAM_S3_SUPREME +#include //PMU Library https://github.com/lewisxhe/XPowersLib.git +#endif + +#ifndef SENSOR_SDA +#define SENSOR_SDA 17 +#endif + +#ifndef SENSOR_SCL +#define SENSOR_SCL 18 +#endif + +SensorQMC6309 magnetometer; + +void beginPower() +{ +#if defined(ARDUINO_T_BEAM_S3_SUPREME) + XPowersAXP2101 power; + power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41); + power.disableALDO1(); + power.disableALDO2(); + delay(250); + power.setALDO1Voltage(3300); + power.enableALDO1(); + power.setALDO2Voltage(3300); + power.enableALDO2(); +#endif +} + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // LilyGo T-Beam-Supreme sensor requires a power source to function. + beginPower(); + + if (!magnetometer.begin(Wire, QMC6309_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { + while (1) { + Serial.println("Failed to find QMC6309 - check your wiring!"); + delay(1000); + } + } + + // The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_8G, FS_16G ,FS_32G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored. + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; + + /* Config Magnetometer */ + if (magnetometer.configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } + + SensorInfo info = magnetometer.getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer.getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer.setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); + + Serial.println("Read data now..."); +} + +void loop() +{ + + MagnetometerData data; + + if (magnetometer.readData(data)) { + + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); + + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); + Serial.print(" Y:"); + Serial.print(data.raw.y); + Serial.print(" Z:"); + Serial.print(data.raw.z); + + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } + } + delay(10); +} diff --git a/lib/SensorLib/examples/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino b/lib/SensorLib/examples/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino index d7b00ce..61b1679 100644 --- a/lib/SensorLib/examples/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino +++ b/lib/SensorLib/examples/QMC6310_CalibrateExample/QMC6310_CalibrateExample.ino @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -24,7 +24,7 @@ * * @file QMC6310_CalibrateExample.ino * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 + * @date 2026-01-26 * */ #include @@ -43,11 +43,10 @@ #define SENSOR_SCL 18 #endif -SensorQMC6310 qmc; +SensorQMC6310 magnetometer; void beginPower() { - // T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor #if defined(ARDUINO_T_BEAM_S3_SUPREME) XPowersAXP2101 power; power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41); @@ -63,8 +62,10 @@ void beginPower() void calibrate() { - qmc.setDataOutputRate(SensorQMC6310::DATARATE_200HZ); - + if (!magnetometer.setOutputDataRate(200.0f)) { + Serial.println("Failed to set output data rate"); + return ; + } int32_t x_min = 65535; int32_t x_max = -65535; int32_t y_min = 65535; @@ -81,16 +82,17 @@ void calibrate() float y_offset = 0; float z_offset = 0; + MagnetometerData data; while (i < range) { i += 1; - if (qmc.isDataReady()) { + if (magnetometer.isDataReady()) { - qmc.readData(); + magnetometer.readData(data); - x = a * qmc.getRawX() + (1 - a) * x; - y = a * qmc.getRawY() + (1 - a) * y; - z = a * qmc.getRawZ() + (1 - a) * z; + x = a * data.raw.x + (1 - a) * x; + y = a * data.raw.y + (1 - a) * y; + z = a * data.raw.z + (1 - a) * z; if (x < x_min) { x_min = x; i = 0; @@ -148,8 +150,6 @@ void calibrate() Serial.print("z_max:"); Serial.println(z_max); - - Serial.print("x_offset:"); Serial.print(x_offset); @@ -161,7 +161,7 @@ void calibrate() // Set the calibration value and the user calculates the deviation - qmc.setOffset(x_offset, y_offset, z_offset); + magnetometer.setOffset(x_offset, y_offset, z_offset); } @@ -170,110 +170,135 @@ void setup() Serial.begin(115200); while (!Serial); + // LilyGo T-Beam-Supreme sensor requires a power source to function. beginPower(); - if (!qmc.begin(Wire, QMC6310U_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); + /** + * Supports QMC6310U and QMC6310N; simply pass the corresponding device address + * during initialization. + * - QMC6310U_SLAVE_ADDRESS + * - QMC6310N_SLAVE_ADDRESS + */ + uint8_t address = QMC6310U_SLAVE_ADDRESS; + // uint8_t address = QMC6310N_SLAVE_ADDRESS; + + if (!magnetometer.begin(Wire, address, SENSOR_SDA, SENSOR_SCL)) { while (1) { + Serial.println("Failed to find QMC6310 - check your wiring!"); delay(1000); } } - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; /* Config Magnetometer */ - qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_CONTINUOUS, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_8G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_200HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_1, - - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); + if (magnetometer.configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } // Calibration algorithm reference from // https://github.com/CoreElectronics/CE-PiicoDev-QMC6310-MicroPython-Module calibrate(); - Serial.println("Calibration done ."); + Serial.println("Calibration done."); delay(5000); + SensorInfo info = magnetometer.getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer.getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer.setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); + Serial.println("Read data now..."); } void loop() { - //Wait data ready - if (qmc.isDataReady()) { + MagnetometerData data; - qmc.readData(); + if (magnetometer.readData(data)) { - Serial.print("GYR: "); - Serial.print("X:"); - Serial.print(qmc.getX()); - Serial.print(" Y:"); - Serial.print(qmc.getY()); - Serial.print(" Z:"); - Serial.print(qmc.getZ()); - Serial.println(" uT"); - Serial.print("RAW: "); - Serial.print("X:"); - Serial.print(qmc.getRawX()); - Serial.print(" Y:"); - Serial.print(qmc.getRawY()); - Serial.print(" Z:"); - Serial.println(qmc.getRawZ()); + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); - /* - float x, y, z; - qmc.getMag(x, y, z); - Serial.print("X:"); - Serial.print(x); + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.print(" Gauss/LSB"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); Serial.print(" Y:"); - Serial.print(y); + Serial.print(data.raw.y); Serial.print(" Z:"); - Serial.println(x); - */ + Serial.print(data.raw.z); + + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } } - - - delay(100); + delay(10); } diff --git a/lib/SensorLib/examples/QMC6310_CompassExample/QMC6310_CompassExample.ino b/lib/SensorLib/examples/QMC6310_CompassExample/QMC6310_CompassExample.ino index 1c3955f..4c8f982 100644 --- a/lib/SensorLib/examples/QMC6310_CompassExample/QMC6310_CompassExample.ino +++ b/lib/SensorLib/examples/QMC6310_CompassExample/QMC6310_CompassExample.ino @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -24,7 +24,7 @@ * * @file QMC6310_GetDataExample.ino * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 + * @date 2026-01-26 * */ #include @@ -55,13 +55,7 @@ #endif SH1106Wire display(0x3c, OLED_SDA, OLED_SCL); -SensorQMC6310 qmc; - -int last_dx, last_dy, dx, dy, angle; - -const int centreX = 32; -const int centreY = 30; -const int radius = 22; +SensorQMC6310 magnetometer; //Compass application from https://github.com/G6EJD/ESP8266_micro_compass_HMC5883_OLED void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, OLEDDISPLAY_COLOR color) @@ -86,10 +80,8 @@ void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, OLEDDISPLAY_ display.drawLine(x2, y2, x4, y4); } - void beginPower() { - // T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor #if defined(ARDUINO_T_BEAM_S3_SUPREME) XPowersAXP2101 power; power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41); @@ -108,137 +100,134 @@ void setup() Serial.begin(115200); while (!Serial); + // LilyGo T-Beam-Supreme sensor requires a power source to function. beginPower(); - if (!qmc.begin(Wire, QMC6310U_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); + /** + * Supports QMC6310U and QMC6310N; simply pass the corresponding device address + * during initialization. + * - QMC6310U_SLAVE_ADDRESS + * - QMC6310N_SLAVE_ADDRESS + */ + uint8_t address = QMC6310U_SLAVE_ADDRESS; + // uint8_t address = QMC6310N_SLAVE_ADDRESS; + + if (!magnetometer.begin(Wire, address, SENSOR_SDA, SENSOR_SCL)) { while (1) { + Serial.println("Failed to find QMC6310 - check your wiring!"); delay(1000); } } - display.init(); - - last_dx = centreX; - last_dy = centreY; - - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; /* Config Magnetometer */ - int r = qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_NORMAL, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_2G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_100HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_1, - - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); - - if (r < 0) { - Serial.println("Device config failed!"); - while (1)delay(1000); + if (magnetometer.configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); } - // Print register configuration information - qmc.dumpCtrlRegister(); + SensorInfo info = magnetometer.getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer.getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + + display.init(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer.setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.println(" Gauss/LSB"); - Serial.println("Read data now..."); } void loop() { + MagnetometerData data; - //Wait data ready - if (qmc.isDataReady()) { + static int last_angle = -1; - qmc.readData(); + if (magnetometer.readData(data)) { + int angle = static_cast(data.heading_degrees + 0.5f); + if (angle != last_angle) { + display.clear(); - display.drawString(29, 0, "N"); - display.drawString( 0, 28, "W"); - display.drawString(60, 28, "E"); - display.drawString(29, 53, "S"); + display.setFont(ArialMT_Plain_10); + display.setTextAlignment(TEXT_ALIGN_CENTER); + display.drawString(32, 0, "N"); // North + display.drawString(0, 28, "W"); // West + display.drawString(64, 28, "E"); // East + display.drawString(32, 53, "S"); // South - display.drawLine(1, 1, 7, 7); - display.drawLine(62, 1, 56, 7); - display.drawLine(1, 62, 7, 56); - display.drawLine(56, 56, 62, 62); + display.drawCircle(32, 32, 20); - //Compass application from https://github.com/G6EJD/ESP8266_micro_compass_HMC5883_OLED - float heading = atan2(qmc.getY(), qmc.getX()); // Result is in radians - // Now add the 'Declination Angle' for you location. Declination is the variation in magnetic field at your location. - // Find your declination here: http://www.magnetic-declination.com/ - // At my location it is : -2° 20' W, or -2.33 Degrees, which needs to be in radians so = -2.33 / 180 * PI = -0.041 West is + E is - - // Make declination = 0 if you can't find your Declination value, the error is negible for nearly all locations - float declination = -0.041; - heading = heading + declination; + // Calculate arrow direction + // Note: data.heading_degrees is already 0-360°, 0° = North, 90° = East + // Display coordinate system: 0° points to the top of the screen (North), and the angle increases clockwise. + float arrow_angle_rad = data.heading_degrees * M_PI / 180.0f; + // Note: sin corresponds to the x-axis + int arrow_x = 32 + static_cast(25 * cosf(arrow_angle_rad)); + // Note: cos corresponds to the y-axis, the negative sign is because the screen's y-axis points downwards. + int arrow_y = 32 - static_cast(25 * sinf(arrow_angle_rad)); - if (heading < 0) heading += 2 * PI; // Correct for when signs are reversed. - if (heading > 2 * PI) heading -= 2 * PI; // Correct for when heading exceeds 360-degree, especially when declination is included - angle = int(heading * 180 / M_PI); // Convert radians to degrees for more a more usual result - // For the screen -X = up and +X = down and -Y = left and +Y = right, so does not follow coordinate conventions - dx = (0.7 * radius * cos((angle - 90) * 3.14 / 180)) + centreX; // calculate X position for the screen coordinates - can be confusing! - dy = (0.7 * radius * sin((angle - 90) * 3.14 / 180)) + centreY; // calculate Y position for the screen coordinates - can be confusing! - arrow(last_dx, last_dy, centreX, centreY, 2, 2, BLACK); // Erase last arrow - arrow(dx, dy, centreX, centreY, 2, 2, WHITE); // Draw arrow in new position + display.drawLine(32, 32, arrow_x, arrow_y); + display.fillCircle(arrow_x, arrow_y, 2); - display.setColor(BLACK); - display.fillRect(80, 50, 25, 48); - display.setColor(WHITE); - display.drawString(80, 50, String(angle) + "°"); - display.display(); + display.setTextAlignment(TEXT_ALIGN_LEFT); + display.drawString(75, 5, "Angle:" + String(angle) + "°"); + display.drawString(75, 25, "Decl:" + String(magnetometer.getDeclinationDeg(), 1) + "°"); + float strength = MagnetometerUtils::calculateMagneticStrength(data); + display.drawString(75, 45, "Str:" + String(strength, 1) + "uT"); - last_dx = dx; - last_dy = dy; + display.display(); - // for debug. - Serial.print("GYR: "); - Serial.print("X:"); - Serial.print(qmc.getX()); - Serial.print(" Y:"); - Serial.print(qmc.getY()); - Serial.print(" Z:"); - Serial.print(qmc.getZ()); - Serial.println(" uT"); + Serial.print("Heading: "); + Serial.print(angle); + Serial.print("°, Raw: "); + Serial.print(data.heading_degrees, 2); + Serial.print("°, Declination: "); + Serial.print(magnetometer.getDeclinationDeg(), 2); + Serial.println("°"); + + last_angle = angle; + } } - delay(100); } #else diff --git a/lib/SensorLib/examples/QMC6310_GetDataExample/QMC6310_GetDataExample.ino b/lib/SensorLib/examples/QMC6310_GetDataExample/QMC6310_GetDataExample.ino index 730ccff..4e7dd07 100644 --- a/lib/SensorLib/examples/QMC6310_GetDataExample/QMC6310_GetDataExample.ino +++ b/lib/SensorLib/examples/QMC6310_GetDataExample/QMC6310_GetDataExample.ino @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -24,7 +24,7 @@ * * @file QMC6310_GetDataExample.ino * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 + * @date 2026-01-26 * */ #include @@ -43,11 +43,10 @@ #define SENSOR_SCL 18 #endif -SensorQMC6310 qmc; +SensorQMC6310 magnetometer; void beginPower() { - // T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor #if defined(ARDUINO_T_BEAM_S3_SUPREME) XPowersAXP2101 power; power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41); @@ -66,62 +65,77 @@ void setup() Serial.begin(115200); while (!Serial); + // LilyGo T-Beam-Supreme sensor requires a power source to function. beginPower(); - if (!qmc.begin(Wire, QMC6310U_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); + /** + * Supports QMC6310U and QMC6310N; simply pass the corresponding device address + * during initialization. + * - QMC6310U_SLAVE_ADDRESS + * - QMC6310N_SLAVE_ADDRESS + */ + uint8_t address = QMC6310U_SLAVE_ADDRESS; + // uint8_t address = QMC6310N_SLAVE_ADDRESS; + + if (!magnetometer.begin(Wire, address, SENSOR_SDA, SENSOR_SCL)) { while (1) { + Serial.println("Failed to find QMC6310 - check your wiring!"); delay(1000); } } - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); + // The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + float data_rate_hz = 200.0f; + // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT; + // full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G + MagFullScaleRange full_scale = MagFullScaleRange::FS_8G; + // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8 + MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1; + // down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8 + MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1; /* Config Magnetometer */ - qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_CONTINUOUS, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_8G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_200HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_1, + if (magnetometer.configMagnetometer( + op_mode, + full_scale, + data_rate_hz, + over_sample_ratio, + down_sample_ratio)) { + Serial.println("Magnetometer configured successfully."); + } else { + Serial.println("Magnetometer configuration failed."); + while (1); + } - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); + SensorInfo info = magnetometer.getSensorInfo(); + Serial.print("Manufacturer: "); Serial.println(info.manufacturer); + Serial.print("Model: "); Serial.println(info.model); + Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX); + Serial.print("Version: "); Serial.println(info.version); + Serial.print("UID: 0x"); Serial.println(info.uid); + Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type)); + + SensorConfig cfg = magnetometer.getConfig(); + Serial.print("DataRate: "); Serial.println(cfg.sample_rate); + Serial.print("FullScaleRange: "); Serial.println(cfg.range); + Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode); + Serial.println(); + + //Find the magnetic declination : https://www.magnetic-declination.com/ + float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333 + + magnetometer.setDeclination(declination_deg); + + Serial.print(" Magnetic Declination: "); + Serial.print(declination_deg, 2); + Serial.println("°"); + + Serial.print(" Sensitivity: "); + Serial.print(magnetometer.getSensitivity(), 6); + Serial.println(" Gauss/LSB"); + + delay(3000); Serial.println("Read data now..."); } @@ -129,41 +143,47 @@ void setup() void loop() { - //Wiat data ready - if (qmc.isDataReady()) { + MagnetometerData data; - qmc.readData(); + if (magnetometer.readData(data)) { - Serial.print("GYR: "); - Serial.print("X:"); - Serial.print(qmc.getX()); - Serial.print(" Y:"); - Serial.print(qmc.getY()); - Serial.print(" Z:"); - Serial.print(qmc.getZ()); - Serial.println(" uT"); - Serial.print("RAW: "); - Serial.print("X:"); - Serial.print(qmc.getRawX()); - Serial.print(" Y:"); - Serial.print(qmc.getRawY()); - Serial.print(" Z:"); - Serial.println(qmc.getRawZ()); + // Gauss to μT + float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x); + float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y); + float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z); - /* - float x, y, z; - qmc.getMag(x, y, z); - Serial.print("X:"); - Serial.print(x); + Serial.print("Mag:"); + Serial.print(" X:"); Serial.print(x); + Serial.print(" Y:"); Serial.print(y); + Serial.print(" Z:"); Serial.print(z); + Serial.print(" μT"); + + Serial.print(" Metadata:"); + Serial.print(" X:"); + Serial.print(data.raw.x); Serial.print(" Y:"); - Serial.print(y); + Serial.print(data.raw.y); Serial.print(" Z:"); - Serial.println(x); - */ + Serial.print(data.raw.z); + + Serial.print(" Heading (rad): "); + Serial.print(data.heading, 6); + Serial.print(" rad"); + + Serial.print(" Heading (deg): "); + Serial.print(data.heading_degrees, 2); + Serial.print("°"); + + float strength = MagnetometerUtils::calculateMagneticStrength(data); + Serial.print(" Magnetic Strength: "); + Serial.print(strength, 2); + Serial.println(" μT"); + + if (data.overflow) { + Serial.println("\tWarning: Data Overflow occurred!"); + } } - - - delay(100); + delay(10); } diff --git a/lib/SensorLib/examples/QMC6310_GetPolarExample/QMC6310_GetPolarExample.ino b/lib/SensorLib/examples/QMC6310_GetPolarExample/QMC6310_GetPolarExample.ino deleted file mode 100644 index ba0dc96..0000000 --- a/lib/SensorLib/examples/QMC6310_GetPolarExample/QMC6310_GetPolarExample.ino +++ /dev/null @@ -1,148 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file QMC6310_GetPolarExample.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 - * - */ -#include -#include -#include -#include "SensorQMC6310.hpp" -#ifdef ARDUINO_T_BEAM_S3_SUPREME -#include //PMU Library https://github.com/lewisxhe/XPowersLib.git -#endif - -#ifndef SENSOR_SDA -#define SENSOR_SDA 17 -#endif - -#ifndef SENSOR_SCL -#define SENSOR_SCL 18 -#endif - -SensorQMC6310 qmc; - -void beginPower() -{ - // T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor -#if defined(ARDUINO_T_BEAM_S3_SUPREME) - XPowersAXP2101 power; - power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41); - power.disableALDO1(); - power.disableALDO2(); - delay(250); - power.setALDO1Voltage(3300); - power.enableALDO1(); - power.setALDO2Voltage(3300); - power.enableALDO2(); -#endif -} - -void setup() -{ - Serial.begin(115200); - while (!Serial); - - beginPower(); - - if (!qmc.begin(Wire, QMC6310U_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) { - Serial.println("Failed to find QMC6310 - check your wiring!"); - while (1) { - delay(1000); - } - } - - /* Get Magnetometer chip id*/ - Serial.print("Device ID:"); - Serial.println(qmc.getChipID(), HEX); - - /* Config Magnetometer */ - qmc.configMagnetometer( - /* - * Run Mode - * MODE_SUSPEND - * MODE_NORMAL - * MODE_SINGLE - * MODE_CONTINUOUS - * * */ - SensorQMC6310::MODE_NORMAL, - /* - * Full Range - * RANGE_30G - * RANGE_12G - * RANGE_8G - * RANGE_2G - * * */ - SensorQMC6310::RANGE_8G, - /* - * Output data rate - * DATARATE_10HZ - * DATARATE_50HZ - * DATARATE_100HZ - * DATARATE_200HZ - * * */ - SensorQMC6310::DATARATE_200HZ, - /* - * Over sample Ratio1 - * OSR_8 - * OSR_4 - * OSR_2 - * OSR_1 - * * * */ - SensorQMC6310::OSR_8, - - /* - * Down sample Ratio1 - * DSR_8 - * DSR_4 - * DSR_2 - * DSR_1 - * * */ - SensorQMC6310::DSR_1); - - qmc.dumpCtrlRegister(); - - // Declination is the difference between magnetic-north and true-north ("heading") and depends on location - qmc.setDeclination(-2.77); // Found with: https://www.magnetic-declination.com/CHINA/SHENZHEN/475119.html - - Serial.println("Read data now..."); -} - -void loop() -{ - Polar data; - // Wait for data ready - if (qmc.readPolar(data)) { - Serial.print(" polar:"); Serial.print(data.polar); Serial.print("°"); - Serial.print(" Gauss:"); Serial.print(data.Gauss); - Serial.print(" uT:"); Serial.println(data.uT); - } - - delay(100); -} - - - diff --git a/lib/SensorLib/examples/TouchDrvInterface_Example/TouchDrvInterface_Example.ino b/lib/SensorLib/examples/TouchDrvInterface_Example/TouchDrvInterface_Example.ino index 82fb887..92fa228 100644 --- a/lib/SensorLib/examples/TouchDrvInterface_Example/TouchDrvInterface_Example.ino +++ b/lib/SensorLib/examples/TouchDrvInterface_Example/TouchDrvInterface_Example.ino @@ -28,14 +28,9 @@ * @note TouchDrvInterface_Example use LilyGo T-RGB,T-RGB has three types of screens, each of which uses different touch driver chips. * The example demonstrates using the touch interface class and one sketch is suitable for three types of touch chips. */ -#include -#include -#include -#include "TouchDrvFT6X36.hpp" -#include "TouchDrvCSTXXX.hpp" -#include "TouchDrvGT911.hpp" -#include "ExtensionIOXL9555.hpp" -#include "SensorWireHelper.h" +#include +#include +#include #ifndef TOUCH_SDA #define TOUCH_SDA 8 @@ -56,16 +51,17 @@ // Use the TouchDrvInterface base class for automatic discovery and use of multi-touch devices TouchDrvInterface *touchDrv; // T-RGB uses XL9555 as the reset control of the touch screen -ExtensionIOXL9555 extension; +IoExpanderXL9555 expander; int16_t x[5], y[5]; -ExtensionIOXL9555::ExtensionGPIO tp_reset = ExtensionIOXL9555::IO1; +// Expander gpio 1 +uint8_t expander_io_tp_reset = 1; void TouchDrvDigitalWrite(uint8_t gpio, uint8_t level) { if (gpio & 0x80) { - extension.digitalWrite(gpio & 0x7F, level); + expander.digitalWrite(gpio & 0x7F, level); } else { digitalWrite(gpio, level); } @@ -74,7 +70,7 @@ void TouchDrvDigitalWrite(uint8_t gpio, uint8_t level) uint8_t TouchDrvDigitalRead(uint8_t gpio) { if (gpio & 0x80) { - return extension.digitalRead(gpio & 0x7F); + return expander.digitalRead(gpio & 0x7F); } else { return digitalRead(gpio); } @@ -83,7 +79,7 @@ uint8_t TouchDrvDigitalRead(uint8_t gpio) void TouchDrvPinMode(uint8_t gpio, uint8_t mode) { if (gpio & 0x80) { - extension.pinMode(gpio & 0x7F, mode); + expander.pinMode(gpio & 0x7F, mode); } else { pinMode(gpio, mode); } @@ -91,8 +87,8 @@ void TouchDrvPinMode(uint8_t gpio, uint8_t mode) bool setupTouchDrv() { - // Add the highest bit to indicate that the GPIO extension is used, not the ESP's GPIO - const uint8_t touch_reset_pin = tp_reset | 0x80; + // Add the highest bit to indicate that the GPIO expander is used, not the ESP's GPIO + const uint8_t touch_reset_pin = expander_io_tp_reset | 0x80; const uint8_t touch_irq_pin = TOUCH_IRQ; bool result = false; @@ -164,7 +160,7 @@ void setup() // Use unspecified address to test the address discovery function. // T-RGB XL9555 uses 0X20 device address - if (!extension.begin(Wire, XL9555_UNKOWN_ADDRESS, TOUCH_SDA, TOUCH_SCL)) { + if (!expander.begin(Wire, XL9555_UNKNOWN_ADDRESS, TOUCH_SDA, TOUCH_SCL)) { Serial.println("Failed to find XL9555 - check your wiring!"); while (1) { delay(1000); @@ -181,23 +177,24 @@ void setup() void loop() { - if (touchDrv->isPressed()) { - uint8_t touched = touchDrv->getPoint(x, y, touchDrv->getSupportTouchPoint()); - if (touched) { - for (int i = 0; i < touched; ++i) { - Serial.print("X["); - Serial.print(i); - Serial.print("]:"); - Serial.print(x[i]); - Serial.print(" "); - Serial.print(" Y["); - Serial.print(i); - Serial.print("]:"); - Serial.print(y[i]); - Serial.print(" "); - } - Serial.println(); + TouchPoints touch_points = touchDrv->getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + + const TouchPoint &point = touch_points.getPoint(i); + + Serial.print("X["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.x); + Serial.print(" "); + Serial.print(" Y["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.y); + Serial.print(" "); } + Serial.println(); } delay(5); } diff --git a/lib/SensorLib/examples/TouchDrv_CHSC5816_GetPoint/TouchDrv_CHSC5816_GetPoint.ino b/lib/SensorLib/examples/TouchDrv_CHSC5816_GetPoint/TouchDrv_CHSC5816_GetPoint.ino index 8bb3995..aa1635d 100644 --- a/lib/SensorLib/examples/TouchDrv_CHSC5816_GetPoint/TouchDrv_CHSC5816_GetPoint.ino +++ b/lib/SensorLib/examples/TouchDrv_CHSC5816_GetPoint/TouchDrv_CHSC5816_GetPoint.ino @@ -27,10 +27,7 @@ * @date 2023-04-17 * */ -#include -#include -#include -#include "TouchDrvCHSC5816.hpp" +#include #ifndef TOUCH_SDA #define TOUCH_SDA 1 @@ -86,35 +83,41 @@ void setup() Serial.println("Init CHSC5816 Touch device success!"); - int16_t width = 0, height = 0; - touch.getResolution(&width, &height); - Serial.print("Display Width:"); - Serial.print(width); - Serial.print(" Height:"); - Serial.println(height); + Serial.println("Touch Info:"); + Serial.print("Model: "); Serial.println(touch.getModelName()); + Serial.print("ID: 0x"); Serial.println(touch.getChipID(), HEX); + Serial.print("Max Touch Points: "); Serial.println(touch.getSupportTouchPoint()); + uint16_t resX = touch.getResolutionX(); + uint16_t resY = touch.getResolutionY(); + if (resX == 0 || resY == 0) { + Serial.println("The touch driver not support get touch resolution,please use setResolution() to set touch resolution."); + // touch.setResolution(480, 320); + } else { + Serial.print("Resolution: "); Serial.print(resX); Serial.print(" x "); Serial.println(resY); + } + delay(3000); } void loop() { - int16_t x[2], y[2]; - if (digitalRead(TOUCH_IRQ) == LOW) { - uint8_t touched = touch.getPoint(x, y); - for (int i = 0; i < touched; ++i) { - Serial.print("X["); - Serial.print(i); - Serial.print("]:"); - Serial.print(x[i]); - Serial.print(" "); - Serial.print(" Y["); - Serial.print(i); - Serial.print("]:"); - Serial.print(y[i]); - Serial.print(" "); + if (touch.isPressed()) { + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("X["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.x); + Serial.print(" "); + Serial.print(" Y["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.y); + Serial.print(" "); + } + Serial.println(); } - Serial.println(); } } - - - diff --git a/lib/SensorLib/examples/TouchDrv_CST3530_GetPoint/TouchDrv_CST3530_GetPoint.ino b/lib/SensorLib/examples/TouchDrv_CST3530_GetPoint/TouchDrv_CST3530_GetPoint.ino new file mode 100644 index 0000000..120022c --- /dev/null +++ b/lib/SensorLib/examples/TouchDrv_CST3530_GetPoint/TouchDrv_CST3530_GetPoint.ino @@ -0,0 +1,160 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrv_CST9217_GetPoint.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-22 + * + */ +#include +#include + +#ifndef TOUCH_SDA +#define TOUCH_SDA 13 +#endif + +#ifndef TOUCH_SCL +#define TOUCH_SCL 14 +#endif + +#ifndef TOUCH_IRQ +#define TOUCH_IRQ 12 +#endif + +#ifndef TOUCH_RST +#define TOUCH_RST 38 +#endif + +TouchDrvCST3530 touch; +volatile bool isPressed = false; + +void setup() +{ + Serial.begin(115200); + while (!Serial); + +#if TOUCH_RST != -1 + pinMode(TOUCH_RST, OUTPUT); + digitalWrite(TOUCH_RST, LOW); + delay(30); + digitalWrite(TOUCH_RST, HIGH); + delay(50); +#endif + +#if (defined(ARDUINO_ARCH_RP2040) || defined(ARDUINO_ARCH_STM32)) && !defined(ARDUINO_ARCH_MBED) + Wire.setSCL(TOUCH_SCL); + Wire.setSDA(TOUCH_SDA); + Wire.begin(); +#elif defined(ARDUINO_ARCH_NRF52) + Wire.setPins(TOUCH_SDA, TOUCH_SCL); + Wire.begin(); +#elif defined(ARDUINO_ARCH_ESP32) + Wire.begin(TOUCH_SDA, TOUCH_SCL); +#else + Wire.begin(); +#endif + + // Scan I2C devices + SensorWireHelper::dumpDevices(Wire); + + + uint8_t touchAddress = 0x1A; // Other device addresses are determined by the touch firmware and are generally 0X5A by default. + // uint8_t touchAddress = 0x5A; // The device address is determined according to the actual situation. Not all device addresses are 0X5A. There can also be other customized device addresses. + + touch.setPins(TOUCH_RST, TOUCH_IRQ); + bool result = touch.begin(Wire, touchAddress, TOUCH_SDA, TOUCH_SCL); + if (result == false) { + Serial.println("touch is not online..."); + while (1)delay(1000); + } + Serial.print("Model :"); Serial.println(touch.getModelName()); + + + // Serial.println("Enter touch sleep mode."); + // touch.sleep(); + + // int i = 10; + // while (i--) { + // Serial.print("Wake up after "); + // Serial.print(i); + // Serial.println(" seconds"); + // delay(1000); + // } + + // Serial.println("Wakeup touch"); + // touch.wakeup(); + + // Set touch max xy + // touch.setMaxCoordinates(240, 296); + + // Set swap xy + // touch.setSwapXY(true); + + // Set mirror xy + // touch.setMirrorXY(true, true); + + //Register touch plane interrupt pin + attachInterrupt(TOUCH_IRQ, []() { + isPressed = true; + }, FALLING); + + Serial.println("Touch Info:"); + Serial.print("Model: "); Serial.println(touch.getModelName()); + Serial.print("ID: 0x"); Serial.println(touch.getChipID(), HEX); + Serial.print("Max Touch Points: "); Serial.println(touch.getSupportTouchPoint()); + uint16_t resX = touch.getResolutionX(); + uint16_t resY = touch.getResolutionY(); + if (resX == 0 || resY == 0) { + Serial.println("The touch driver not support get touch resolution,please use setResolution() to set touch resolution."); + // touch.setResolution(480, 320); + } else { + Serial.print("Resolution: "); Serial.print(resX); Serial.print(" x "); Serial.println(resY); + } + delay(3000); +} + +void loop() +{ + if (isPressed) { + isPressed = false; + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("X["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.x); + Serial.print(" "); + Serial.print(" Y["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.y); + Serial.print(" "); + } + Serial.println(); + } + } + delay(30); +} diff --git a/lib/SensorLib/examples/TouchDrv_CST9217_GetPoint/TouchDrv_CST9217_GetPoint.ino b/lib/SensorLib/examples/TouchDrv_CST9217_GetPoint/TouchDrv_CST9217_GetPoint.ino index 7bc4c23..2c7b6c5 100644 --- a/lib/SensorLib/examples/TouchDrv_CST9217_GetPoint/TouchDrv_CST9217_GetPoint.ino +++ b/lib/SensorLib/examples/TouchDrv_CST9217_GetPoint/TouchDrv_CST9217_GetPoint.ino @@ -27,12 +27,8 @@ * @date 2024-07-27 * */ -#include -#include -#include -#include "TouchDrvCSTXXX.hpp" -#include "SensorWireHelper.h" - +#include +#include #ifndef TOUCH_SDA #define TOUCH_SDA 8 @@ -51,9 +47,7 @@ #endif TouchDrvCST92xx touch; -int16_t x[5], y[5]; -bool isPressed = false; - +volatile bool isPressed = false; void setup() { @@ -85,7 +79,6 @@ void setup() // Scan I2C devices SensorWireHelper::dumpDevices(Wire); - // uint8_t touchAddress = 0x1A; // Other device addresses are determined by the touch firmware and are generally 0X5A by default. uint8_t touchAddress = 0x5A; // The device address is determined according to the actual situation. Not all device addresses are 0X5A. There can also be other customized device addresses. @@ -97,7 +90,8 @@ void setup() touch.setPins(TOUCH_RST, TOUCH_IRQ); bool result = touch.begin(Wire, touchAddress, TOUCH_SDA, TOUCH_SCL); if (result == false) { - Serial.println("touch is not online..."); while (1)delay(1000); + Serial.println("touch is not online..."); + while (1)delay(1000); } Serial.print("Model :"); Serial.println(touch.getModelName()); @@ -107,11 +101,11 @@ void setup() }, NULL); - Serial.println("Enter touch sleep mode."); + // Serial.println("Enter touch sleep mode."); // Unable to obtain coordinates after turning on sleep // CST9217 Work current ~= 1.3mA // CST9217 sleep current = 3.4 uA - touch.sleep(); + // touch.sleep(); // int i = 10; // while (i--) { @@ -123,7 +117,7 @@ void setup() // Wakeup touch - touch.reset(); + // touch.reset(); // Set touch max xy // touch.setMaxCoordinates(240, 296); @@ -134,32 +128,26 @@ void setup() // Set mirror xy // touch.setMirrorXY(true, true); - //Register touch plane interrupt pin - attachInterrupt(TOUCH_IRQ, []() { - isPressed = true; - }, FALLING); } void loop() { - if (isPressed) { - isPressed = false; - uint8_t touched = touch.getPoint(x, y, touch.getSupportTouchPoint()); - if (touched) { - for (int i = 0; i < touched; ++i) { - Serial.print("X["); - Serial.print(i); - Serial.print("]:"); - Serial.print(x[i]); - Serial.print(" "); - Serial.print(" Y["); - Serial.print(i); - Serial.print("]:"); - Serial.print(y[i]); - Serial.print(" "); - } - Serial.println(); + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("X["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.x); + Serial.print(" "); + Serial.print(" Y["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.y); + Serial.print(" "); } + Serial.println(); } delay(30); } diff --git a/lib/SensorLib/examples/TouchDrv_CSTxxx_GetPoint/TouchDrv_CSTxxx_GetPoint.ino b/lib/SensorLib/examples/TouchDrv_CSTxxx_GetPoint/TouchDrv_CSTxxx_GetPoint.ino index 8af5c10..8aab63b 100644 --- a/lib/SensorLib/examples/TouchDrv_CSTxxx_GetPoint/TouchDrv_CSTxxx_GetPoint.ino +++ b/lib/SensorLib/examples/TouchDrv_CSTxxx_GetPoint/TouchDrv_CSTxxx_GetPoint.ino @@ -27,30 +27,26 @@ * @date 2023-04-24 * */ -#include -#include -#include -#include "TouchDrvCSTXXX.hpp" +#include #ifndef TOUCH_SDA -#define TOUCH_SDA 8 +#define TOUCH_SDA 3 #endif #ifndef TOUCH_SCL -#define TOUCH_SCL 10 +#define TOUCH_SCL 2 #endif #ifndef TOUCH_IRQ -#define TOUCH_IRQ 5 +#define TOUCH_IRQ 21 #endif #ifndef TOUCH_RST -#define TOUCH_RST -1 +#define TOUCH_RST 16 #endif TouchDrvCSTXXX touch; -int16_t x[5], y[5]; -bool isPressed = false; +volatile bool isPressed = false; void scanDevices(void) { @@ -129,16 +125,20 @@ void setup() /* * Support type. - * TouchDrv_UNKOWN : Judging by identification ID - * TouchDrv_CST8XX : CST816X,CST328,CST716,CST820 - * TouchDrv_CST226 : CST226X + * TouchDrv_UNKNOWN : Judging by identification ID + * TouchDrv_CST8XX : CST816X,CST716,CST820 + * TouchDrv_CST226 : CST226X,CST328 * TouchDrv_CST92XX : CST9217,CST9220 */ // Can choose fixed touch model or automatic identification by ID + // touch.setTouchDrvModel(TouchDrv_CST8XX); // touch.setTouchDrvModel(TouchDrv_CST226); + // touch.setTouchDrvModel(TouchDrv_CST92XX); + // For touchscreens without an RST pin, the actual model may not be + // accurately detected, or some undefined behavior may occur. - // Support CST81X CST226 CST9217 CST9220 .... + // Support CST81X CST226 CST9217 CST9220 CST3530 .... bool result = touch.begin(Wire, address, TOUCH_SDA, TOUCH_SCL); if (result == false) { while (1) { @@ -147,8 +147,6 @@ void setup() } } - Serial.print("Model :"); Serial.println(touch.getModelName()); - // T-Display-S3 CST328 touch panel, touch button coordinates are is 85 , 360 // touch.setCenterButtonCoordinate(85, 360); @@ -183,32 +181,51 @@ void setup() isPressed = true; }, FALLING); + Serial.println("Touch Info:"); + Serial.print("Model: "); Serial.println(touch.getModelName()); + Serial.print("ID: 0x"); Serial.println(touch.getChipID(), HEX); + Serial.print("Max Touch Points: "); Serial.println(touch.getSupportTouchPoint()); + uint16_t resX = touch.getResolutionX(); + uint16_t resY = touch.getResolutionY(); + if (resX == 0 || resY == 0) { + Serial.println("The touch driver not support get touch resolution,please use setResolution() to set touch resolution."); + // touch.setResolution(480, 320); + } else { + Serial.print("Resolution: "); Serial.print(resX); Serial.print(" x "); Serial.println(resY); + } + delay(3000); } void loop() { if (isPressed) { isPressed = false; - uint8_t touched = touch.getPoint(x, y, touch.getSupportTouchPoint()); - if (touched) { - for (int i = 0; i < touched; ++i) { - Serial.print("X["); - Serial.print(i); - Serial.print("]:"); - Serial.print(x[i]); + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("ID: "); + Serial.print(point.id); Serial.print(" "); - Serial.print(" Y["); - Serial.print(i); - Serial.print("]:"); - Serial.print(y[i]); + Serial.print("X: "); + Serial.print(point.x); Serial.print(" "); + Serial.print("Y: "); + Serial.print(point.y); + Serial.print(" "); + Serial.print("Pressure: "); + Serial.print(point.pressure); + Serial.print(" "); + Serial.print("Event: "); + switch (point.event) { + case 0: Serial.print("Released"); break; + case 6: Serial.print("Pressed"); break; + default: Serial.print("Unknown"); break; + } + Serial.println(); } Serial.println(); } } - delay(5); } - - - diff --git a/lib/SensorLib/examples/TouchDrv_FT6232_GetPoint/TouchDrv_FT6232_GetPoint.ino b/lib/SensorLib/examples/TouchDrv_FT6232_GetPoint/TouchDrv_FT6232_GetPoint.ino index 459dc34..280b828 100644 --- a/lib/SensorLib/examples/TouchDrv_FT6232_GetPoint/TouchDrv_FT6232_GetPoint.ino +++ b/lib/SensorLib/examples/TouchDrv_FT6232_GetPoint/TouchDrv_FT6232_GetPoint.ino @@ -27,10 +27,7 @@ * @date 2023-04-02 * */ -#include -#include -#include -#include "TouchDrvFT6X36.hpp" +#include #ifndef TOUCH_SDA #define TOUCH_SDA 23 @@ -47,11 +44,32 @@ TouchDrvFT6X36 touch; +#ifdef ARDUINO_T_WATCH +#include //PMU Library https://github.com/lewisxhe/XPowersLib.git +XPowersAXP202 power; +#endif + +void beginPower() +{ + // T_AMOLED_147 The PMU voltage needs to be turned on to use the sensor +#if defined(ARDUINO_T_WATCH) + bool ret = power.begin(Wire1, AXP202_SLAVE_ADDRESS, 21, 22); + if (!ret) { + Serial.println("PMU NOT FOUND!\n"); + } + power.disableLDO2(); + power.setLDO2Voltage(3300); power.enableLDO2(); +#endif +} + + void setup() { Serial.begin(115200); while (!Serial); + beginPower(); + pinMode(TOUCH_IRQ, INPUT); if (!touch.begin(Wire, FT6X36_SLAVE_ADDRESS, TOUCH_SDA, TOUCH_SCL)) { @@ -62,31 +80,67 @@ void setup() } touch.interruptPolling(); - Serial.println("Init FT6X36 Sensor success!"); + // Set swap xy coordinates + // touch.setSwapXY(true); + + // Set max coordinates + // touch.setMaxCoordinates(320, 320); + + // Set mirror xy coordinates + // touch.setMirrorXY(true, true); + + Serial.println("Touch Info:"); + Serial.print("Model: "); Serial.println(touch.getModelName()); + Serial.print("ID: 0x"); Serial.println(touch.getChipID(), HEX); + /* + * The default maximum number of touch fingers is the number of touch + * fingers supported by the chip, not the maximum number of touch fingers + * supported by the current device. The actual maximum number of touch + * fingers is determined by the touch chip firmware and hardware. + * */ + Serial.print("Max Touch Points: "); Serial.println(touch.getSupportTouchPoint()); + uint16_t resX = touch.getResolutionX(); + uint16_t resY = touch.getResolutionY(); + if (resX == 0 || resY == 0) { + Serial.println("The touch driver not support get touch resolution,please use setResolution() to set touch resolution."); + // touch.setResolution(480, 320); + } else { + Serial.print("Resolution: "); Serial.print(resX); Serial.print(" x "); Serial.println(resY); + } + delay(3000); } void loop() { - int16_t x[2], y[2]; if (digitalRead(TOUCH_IRQ) == LOW) { - uint8_t touched = touch.getPoint(x, y, 2); - for (int i = 0; i < touched; ++i) { - Serial.print("X["); - Serial.print(i); - Serial.print("]:"); - Serial.print(x[i]); - Serial.print(" "); - Serial.print(" Y["); - Serial.print(i); - Serial.print("]:"); - Serial.print(y[i]); - Serial.print(" "); + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("ID: "); + Serial.print(point.id); + Serial.print(" "); + Serial.print("X: "); + Serial.print(point.x); + Serial.print(" "); + Serial.print("Y: "); + Serial.print(point.y); + Serial.print(" "); + Serial.print("Pressure: "); + Serial.print(point.pressure); + Serial.print(" "); + Serial.print("Event: "); + switch (point.event) { + case 0: Serial.print("Put Down"); break; + case 1: Serial.print("Put Up"); break; + case 2: Serial.print("Contact"); break; + default: Serial.print("Unknown"); break; + } + Serial.println(); + } + Serial.println(); } - Serial.println(); } delay(50); } - - - diff --git a/lib/SensorLib/examples/TouchDrv_GT911_GetPoint/TouchDrv_GT911_GetPoint.ino b/lib/SensorLib/examples/TouchDrv_GT911_GetPoint/TouchDrv_GT911_GetPoint.ino index 77c56d8..9a24f9a 100644 --- a/lib/SensorLib/examples/TouchDrv_GT911_GetPoint/TouchDrv_GT911_GetPoint.ino +++ b/lib/SensorLib/examples/TouchDrv_GT911_GetPoint/TouchDrv_GT911_GetPoint.ino @@ -27,31 +27,25 @@ * @date 2023-04-12 * */ -#include -#include -#include -#include "TouchDrvGT911.hpp" +#include #ifndef TOUCH_SDA -#define TOUCH_SDA 2 +#define TOUCH_SDA 18 #endif #ifndef TOUCH_SCL -#define TOUCH_SCL 3 +#define TOUCH_SCL 8 #endif #ifndef TOUCH_IRQ -#define TOUCH_IRQ 1 +#define TOUCH_IRQ 16 #endif #ifndef TOUCH_RST -#define TOUCH_RST 10 +#define TOUCH_RST -1 #endif TouchDrvGT911 touch; -int16_t x[5], y[5]; - - void setup() { @@ -61,7 +55,7 @@ void setup() // If the reset pin and interrupt pin can be controlled by GPIO, the device address can be set arbitrarily // If the interrupt and reset pins are not connected, you can pass in the -1 parameter and the library will automatically determine the address. touch.setPins(TOUCH_RST, TOUCH_IRQ); - if (!touch.begin(Wire, GT911_SLAVE_ADDRESS_L, TOUCH_SDA, TOUCH_SCL)) { + if (!touch.begin(Wire, GT911_SLAVE_ADDRESS_UNKNOWN, TOUCH_SDA, TOUCH_SCL)) { while (1) { Serial.println("Failed to find GT911 - check your wiring!"); delay(1000); @@ -78,7 +72,7 @@ void setup() /* * GT911 Interrupt mode ,It is not recommended to modify any touch settings - * Please do not modify the touch interrupt mode without a touch screen configuration file, + * Please do not modify the touch interrupt mode without a touch screen configuration file, * otherwise the touch screen may become unusable. * * */ // Low level when idle, converts to high level when touched @@ -93,26 +87,38 @@ void setup() // Maintains high level when idle, and is triggered by the falling edge after being touched. The frequency is 100HZ and is triggered once. Maintains 10ms in the low level interval // touch.setInterruptMode(FALLING); + Serial.println("Touch Info:"); + Serial.print("Model: "); Serial.println(touch.getModelName()); + Serial.print("ID: 0x"); Serial.println(touch.getChipID(), HEX); + Serial.print("Max Touch Points: "); Serial.println(touch.getSupportTouchPoint()); + uint16_t resX = touch.getResolutionX(); + uint16_t resY = touch.getResolutionY(); + if (resX == 0 || resY == 0) { + Serial.println("The touch driver not support get touch resolution,please use setResolution() to set touch resolution."); + // touch.setResolution(480, 320); + } else { + Serial.print("Resolution: "); Serial.print(resX); Serial.print(" x "); Serial.println(resY); + } + delay(3000); } void loop() { if (touch.isPressed()) { - uint8_t touched = touch.getPoint(x, y, touch.getSupportTouchPoint()); - if (touched > 0) { - Serial.print(millis()); - Serial.print("ms "); - for (int i = 0; i < touched; ++i) { + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); Serial.print("X["); Serial.print(i); Serial.print("]:"); - Serial.print(x[i]); + Serial.print(point.x); Serial.print(" "); Serial.print(" Y["); Serial.print(i); Serial.print("]:"); - Serial.print(y[i]); + Serial.print(point.y); Serial.print(" "); } Serial.println(); @@ -120,6 +126,3 @@ void loop() } delay(100); } - - - diff --git a/lib/SensorLib/examples/TouchDrv_GT9895_GetPoint/TouchDrv_GT9895_GetPoint.ino b/lib/SensorLib/examples/TouchDrv_GT9895_GetPoint/TouchDrv_GT9895_GetPoint.ino index b5cf76e..357b9f8 100644 --- a/lib/SensorLib/examples/TouchDrv_GT9895_GetPoint/TouchDrv_GT9895_GetPoint.ino +++ b/lib/SensorLib/examples/TouchDrv_GT9895_GetPoint/TouchDrv_GT9895_GetPoint.ino @@ -27,8 +27,7 @@ * @date 2024-09-21 * */ -#include -#include "TouchDrvGT9895.hpp" +#include #ifndef TOUCH_SDA #define TOUCH_SDA 2 @@ -48,8 +47,6 @@ TouchDrvGT9895 touch; -int16_t x[GT9895_MAX_TOUCH], y[GT9895_MAX_TOUCH]; - void setup() { Serial.begin(115200); @@ -104,26 +101,21 @@ void loop() * This requires the touch screen manufacturer to provide a firmware update, which is currently unavailable. * 2. Use polling registers instead of interrupts, but this will consume CPU */ - if (touch.isPressed()) { //IRQ Trigger - - uint8_t touched = touch.getPoint(x, y, touch.getSupportTouchPoint()); - if (touched > 0) { - for (int i = 0; i < touched; ++i) { - Serial.print("X["); - Serial.print(i); - Serial.print("]:"); - Serial.print(x[i]); - Serial.print(" "); - Serial.print(" Y["); - Serial.print(i); - Serial.print("]:"); - Serial.print(y[i]); - Serial.print(" "); - } - Serial.println(); + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("X["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.x); + Serial.print(" "); + Serial.print(" Y["); + Serial.print(i); + Serial.print("]:"); + Serial.print(point.y); + Serial.print(" "); } - + Serial.println(); } - } - diff --git a/lib/SensorLib/examples/TouchDrv_GT9895_GetPoint/dev_config.h b/lib/SensorLib/examples/TouchDrv_GT9895_GetPoint/dev_config.h deleted file mode 100644 index 9b7a55e..0000000 --- a/lib/SensorLib/examples/TouchDrv_GT9895_GetPoint/dev_config.h +++ /dev/null @@ -1,131 +0,0 @@ - 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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 TouchDrv_GT9895_GetPoint_LilyGoP4.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-05 + * + */ +#include +#include +#include + +// Pin definitions for the LilyGo-P4 +#define P4_TOUCH_SDA 7 +#define P4_TOUCH_SCL 8 +#define P4_IO_EXPANDER_IRQ 5 +#define IO_EXPANDER_TOUCH_RST (3 | 0x80) +#define IO_EXPANDER_TOUCH_IRQ (4 | 0x80) + +#ifdef ARDUINO_ESP32P4_DEV + +TouchDrvGT9895 touch; +IoExpanderXL9555 expander; +volatile bool ioExpanderInterruptTriggered = false; + +void TouchDrvDigitalWrite(uint8_t gpio, uint8_t level) +{ + if (gpio & 0x80) { + Serial.print("Expander DigitalWrite: "); Serial.print(gpio & 0x7F); Serial.print(" Level: "); Serial.println(level); + expander.digitalWrite(gpio & 0x7F, level); + } else { + Serial.print("GPIO DigitalWrite: "); Serial.print(gpio); Serial.print(" Level: "); Serial.println(level); + digitalWrite(gpio, level); + } +} + +uint8_t TouchDrvDigitalRead(uint8_t gpio) +{ + if (gpio & 0x80) { + Serial.print("Expander DigitalRead: "); Serial.print(gpio & 0x7F); Serial.println(); + return expander.digitalRead(gpio & 0x7F); + } else { + Serial.print("GPIO DigitalRead: "); Serial.print(gpio); Serial.println(); + return digitalRead(gpio); + } +} + +void TouchDrvPinMode(uint8_t gpio, uint8_t mode) +{ + if (gpio & 0x80) { + Serial.print("Expander PinMode: "); Serial.print(gpio & 0x7F); Serial.print(" Mode: "); Serial.println(mode); + expander.pinMode(gpio & 0x7F, mode); + } else { + Serial.print("GPIO PinMode: "); Serial.print(gpio); Serial.print(" Mode: "); Serial.println(mode); + pinMode(gpio, mode); + } +} + +void setup() +{ + Serial.begin(115200); + + while (!Serial); + + Serial.println("Sketch only works with LilyGo-T-Display-P4 AMOLED(GT9895) Version"); + + Wire.begin(P4_TOUCH_SDA, P4_TOUCH_SCL); + + // Scan I2C bus for devices + SensorWireHelper::dumpDevices(Wire); + + // The LilyGo-P4 relies on an external I/O extender to control the power supply of peripheral devices. + // First, initialize the external extender. + if (!expander.begin(Wire, XL9555_SLAVE_ADDRESS0)) { + while (1) { + Serial.println("Failed to find io expander - check your wiring!"); + delay(1000); + } + } + Serial.println("Sensor Expander Initialized"); + + // LilyGo-Display-P4 touch interrupt pin and touch reset pin aux to expander , use gpio custom callback + touch.setGpioCallback(TouchDrvPinMode, TouchDrvDigitalWrite, TouchDrvDigitalRead); + + // Set touch interrupt and reset Pin + touch.setPins(IO_EXPANDER_TOUCH_RST, IO_EXPANDER_TOUCH_IRQ); + + if (!touch.begin(Wire, GT9895_SLAVE_ADDRESS_L)) { + while (1) { + Serial.println("Failed to find touch device - check your wiring!"); + delay(1000); + } + } + + Serial.println("GT9895 Touch Initialized"); + + Serial.print("Chip ID : 0x"); Serial.println(touch.getChipID(), HEX); + + // Sleep touch + // touch.sleep(); + + // int i = 10; + // while (i--) { + // Serial.print("Wake up after "); + // Serial.print(i); + // Serial.println(" seconds"); + // delay(1000); + // } + + // Wakeup touch + // touch.wakeup(); + + // Set the original touch panel resolution, LilyGo-P4 chip cannot automatically obtain the resolution; + // the original resolution must be manually set. + touch.setResolution(1060, 2400); + + // Set the target resolution, and the scaling factor will be calculated automatically. + touch.setTargetResolution(568, 1232); + + // Set the maximum coordinates ，used for mirroring touch coordinates + // touch.setMaxCoordinates(568, 1232); + + // Set swap xy + // touch.setSwapXY(true); + + // Set mirror xy + // touch.setMirrorXY(true, true); +} + +void loop() +{ + /* + * Methods to increase the refresh rate: + * 1. Set the touch interrupt to a low level when touching, rather than a falling edge. + * Some are falling edge triggered, with a trigger period of about 10ms, depending on the firmware + * This requires the touch screen manufacturer to provide a firmware update, which is currently unavailable. + * 2. Use polling registers instead of interrupts, but this will consume CPU + */ + + // * TouchPoints is configured with a 5-point touch point buffer by default, + // * so it can return touch data from a maximum of 5 points. Although the GT9895 + // * supports 10-point touch + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("ID: "); + Serial.print(point.id); + Serial.print(" "); + Serial.print("X: "); + Serial.print(point.x); + Serial.print(" "); + Serial.print("Y: "); + Serial.print(point.y); + Serial.print(" "); + Serial.print("Pressure: "); + Serial.print(point.pressure); + Serial.println(); + } + Serial.println(); + } + } + delay(50); +} + +#else +void setup() +{ + Serial.begin(115200); +} +void loop() +{ + Serial.println("Sketch only works with LilyGo-T-Display-P4 AMOLED(GT9895) Version"); + delay(1000); +} +#endif diff --git a/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/TouchDrv_HI8561_GetPoint_LilyGoP4.ino b/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/TouchDrv_HI8561_GetPoint_LilyGoP4.ino new file mode 100644 index 0000000..4dc85be --- /dev/null +++ b/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/TouchDrv_HI8561_GetPoint_LilyGoP4.ino @@ -0,0 +1,348 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrv_HI8561_GetPoint_LilyGoP4.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-05 + * @note The LilyGo-P4 TFT version integrates an HI8561 MIPI DSI display and a touch controller connected via I2C. + * The display reset and touch interrupt pins are connected to an I/O extender (XL9555), which is also accessed via I2C. + * This example demonstrates how to initialize the display and read touch points from the HI8561 touch controller. + * Note: The screen must be initialized before touch can be initialized; initializing touch alone is not possible. + * This is consistent with the characteristics of most touch display integrated chips. + * HI8561 driver is available at https://github.com/Xinyuan-LilyGO/T-Display-P4 + * + */ +#include +#include + +#ifdef ARDUINO_ESP32P4_DEV + +#if ESP_ARDUINO_VERSION_VAL(3,3,7) > ESP_ARDUINO_VERSION +#error "This example requires Arduino-ESP32 version 3.3.7 or higher.Please update your Arduino-ESP32 core to the latest version to run this example." +#endif + +#include +#include +#include "esp_lcd_mipi_dsi.h" +#include "esp_lcd_panel_ops.h" +#include "hi8561_driver.h" +#include "esp_ldo_regulator.h" +#include + +#if (ESP_ARDUINO_VERSION < ESP_ARDUINO_VERSION_VAL(3,2,0)) +#error "This example requires Arduino-ESP32 version 3.2.0 or higher. Please update your Arduino-ESP32 core to the latest version to run this example." +#endif + +// Pin definitions for the LilyGo-P4 +#define P4_TOUCH_SDA 7 +#define P4_TOUCH_SCL 8 +#define P4_DISPLAY_BACKLIGHT 51 +#define P4_IO_EXPANDER_IRQ 5 +#define IO_EXPANDER_TOUCH_RST (3 | 0x80) +#define IO_EXPANDER_TOUCH_IRQ (4 | 0x80) +#define IO_EXPANDER_3V3_POWER_EN 0 +#define IO_EXPANDER_5V0_POWER_EN 6 +#define IO_EXPANDER_P4_VCCA_POWER_EN 8 +#define IO_EXPANDER_DISP_RST 2 + +// HI8561 display parameters +#define HI8561_SCREEN_WIDTH 540 +#define HI8561_SCREEN_HEIGHT 1168 +#define HI8561_SCREEN_MIPI_DSI_DPI_CLK_MHZ 60 +#define HI8561_SCREEN_MIPI_DSI_HSYNC 28 +#define HI8561_SCREEN_MIPI_DSI_HBP 26 +#define HI8561_SCREEN_MIPI_DSI_HFP 20 +#define HI8561_SCREEN_MIPI_DSI_VSYNC 2 +#define HI8561_SCREEN_MIPI_DSI_VBP 22 +#define HI8561_SCREEN_MIPI_DSI_VFP 200 +#define HI8561_SCREEN_DATA_LANE_NUM 2 +#define HI8561_SCREEN_LANE_BIT_RATE_MBPS 1000 +#define DISPLAY_WIDTH 540 +#define DISPLAY_HEIGHT 1168 + +static uint16_t *drawBuffer = nullptr; +static const size_t pixel_count = DISPLAY_WIDTH * DISPLAY_HEIGHT; +static const size_t buffer_size = pixel_count * sizeof(uint16_t); + +TouchDrvHI8561 touch; +IoExpanderXL9555 expander; +esp_lcd_panel_handle_t panelDrv = NULL; + +static bool setupDisplay(esp_lcd_panel_handle_t *disp_panel); + +void TouchDrvDigitalWrite(uint8_t gpio, uint8_t level) +{ + if (gpio & 0x80) { + Serial.print("Expander DigitalWrite: "); Serial.print(gpio & 0x7F); Serial.print(" Level: "); Serial.println(level); + expander.digitalWrite(gpio & 0x7F, level); + } else { + Serial.print("GPIO DigitalWrite: "); Serial.print(gpio); Serial.print(" Level: "); Serial.println(level); + digitalWrite(gpio, level); + } +} + +uint8_t TouchDrvDigitalRead(uint8_t gpio) +{ + if (gpio & 0x80) { + Serial.print("Expander DigitalRead: "); Serial.print(gpio & 0x7F); Serial.println(); + return expander.digitalRead(gpio & 0x7F); + } else { + Serial.print("GPIO DigitalRead: "); Serial.print(gpio); Serial.println(); + return digitalRead(gpio); + } +} + +void TouchDrvPinMode(uint8_t gpio, uint8_t mode) +{ + if (gpio & 0x80) { + Serial.print("Expander PinMode: "); Serial.print(gpio & 0x7F); Serial.print(" Mode: "); Serial.println(mode); + expander.pinMode(gpio & 0x7F, mode); + } else { + Serial.print("GPIO PinMode: "); Serial.print(gpio); Serial.print(" Mode: "); Serial.println(mode); + pinMode(gpio, mode); + } +} + +void setup() +{ + Serial.begin(115200); + + while (!Serial); + + Wire.begin(P4_TOUCH_SDA, P4_TOUCH_SCL); + + // Scan I2C bus for devices + SensorWireHelper::dumpDevices(Wire); + + // The LilyGo-P4 relies on an external I/O extender to control the power supply of peripheral devices. + // First, initialize the external extender. + if (!expander.begin(Wire, XL9555_SLAVE_ADDRESS0)) { + while (1) { + Serial.println("Failed to find XL9555 - check your wiring!"); + delay(1000); + } + } + Serial.println("Sensor Expander Initialized"); + + // Enable power supply for T-Display-P4 peripherals + expander.pinMode(IO_EXPANDER_P4_VCCA_POWER_EN, OUTPUT); + expander.digitalWrite(IO_EXPANDER_P4_VCCA_POWER_EN, LOW); + + expander.pinMode(IO_EXPANDER_5V0_POWER_EN, OUTPUT); + expander.digitalWrite(IO_EXPANDER_5V0_POWER_EN, HIGH); + + expander.pinMode(IO_EXPANDER_3V3_POWER_EN, OUTPUT); + expander.digitalWrite(IO_EXPANDER_3V3_POWER_EN, LOW); + + // Configure LDO for 1.8V output + esp_ldo_channel_handle_t ldo_channel_handle = NULL; + esp_ldo_channel_config_t ldo_channel_config = { + .chan_id = 3, + .voltage_mv = 2500, + }; + if (esp_ldo_acquire_channel(&ldo_channel_config, &ldo_channel_handle) != ESP_OK) { + Serial.println("Set LDO channel failed"); + return; + } + + // Reset the display + expander.pinMode(IO_EXPANDER_DISP_RST, OUTPUT); + expander.digitalWrite(IO_EXPANDER_DISP_RST, HIGH); + delay(20); + expander.digitalWrite(IO_EXPANDER_DISP_RST, LOW); + delay(60); + expander.digitalWrite(IO_EXPANDER_DISP_RST, HIGH); + delay(20); + + + // The screen must be initialized and made functional before touch initialization can proceed. + if (!setupDisplay(&panelDrv)) { + while (1) { + Serial.println("Failed to setup display - check your wiring!"); + delay(1000); + } + } + + // LilyGo-Display-P4 touch interrupt pin and touch reset pin aux to expander , use gpio custom callback + touch.setGpioCallback(TouchDrvPinMode, TouchDrvDigitalWrite, TouchDrvDigitalRead); + + // Set touch interrupt and reset Pin + touch.setPins(IO_EXPANDER_TOUCH_RST, IO_EXPANDER_TOUCH_IRQ); + + // Screen must be initialized first before calling this class for initialization. + if (!touch.begin(Wire, HI8561_SLAVE_ADDRESS)) { + while (1) { + Serial.println("Failed to find HI8561 - check your wiring!"); + delay(1000); + } + } + Serial.println("Touch Driver Initialized"); + + Serial.print("Chip ID : 0x"); Serial.println(touch.getChipID(), HEX); + + // Set the maximum coordinates ，used for mirroring touch coordinates + // touch.setMaxCoordinates(568, 1232); + + // Set swap xy + // touch.setSwapXY(true); + + // Set mirror xy + // touch.setMirrorXY(true, true); +} + +void loop() +{ + + // * TouchPoints is configured with a 5-point touch point buffer by default, + // * so it can return touch data from a maximum of 5 points. Although the HI8561 + // * supports 10-point touch + TouchPoints touch_points = touch.getTouchPoints(); + if (touch_points.hasPoints()) { + for (int i = 0; i < touch_points.getPointCount(); ++i) { + const TouchPoint &point = touch_points.getPoint(i); + Serial.print("ID: "); + Serial.print(point.id); + Serial.print(" "); + Serial.print("X: "); + Serial.print(point.x); + Serial.print(" "); + Serial.print("Y: "); + Serial.print(point.y); + Serial.print(" "); + Serial.print("Pressure: "); + Serial.print(point.pressure); + Serial.println(); + } + + Serial.println(); + + // When touch points are detected, fill the draw buffer with random colors + std::fill(drawBuffer, drawBuffer + pixel_count, random(0x0000, 0xFFFF)); + esp_lcd_panel_draw_bitmap(panelDrv, 0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, drawBuffer); + + } + delay(50); +} + + +static bool setupDisplay(esp_lcd_panel_handle_t *disp_panel) +{ + esp_lcd_dsi_bus_handle_t mipi_dsi_bus; + esp_lcd_panel_io_handle_t mipi_dbi_io; + esp_lcd_dsi_bus_config_t bus_config = { + .bus_id = 0, + .num_data_lanes = HI8561_SCREEN_DATA_LANE_NUM, + .phy_clk_src = MIPI_DSI_PHY_PLLREF_CLK_SRC_DEFAULT_LEGACY, + .lane_bit_rate_mbps = HI8561_SCREEN_LANE_BIT_RATE_MBPS, + }; + + esp_err_t ret = esp_lcd_new_dsi_bus(&bus_config, &mipi_dsi_bus); + if (ret != ESP_OK) { + Serial.printf("esp_lcd_new_dsi_bus fail (error code: %#X)\n", ret); + return false; + } + esp_lcd_dbi_io_config_t dbi_io_config = { + .virtual_channel = 0, + .lcd_cmd_bits = 8, + .lcd_param_bits = 8, + }; + ret = esp_lcd_new_panel_io_dbi(mipi_dsi_bus, &dbi_io_config, &mipi_dbi_io); + if (ret != ESP_OK) { + Serial.printf("esp_lcd_new_panel_io_dbi fail (error code: %#X)\n", ret); + return false; + } + esp_lcd_dpi_panel_config_t dpi_config = { + .virtual_channel = 0, + .dpi_clk_src = MIPI_DSI_DPI_CLK_SRC_DEFAULT, + .dpi_clock_freq_mhz = HI8561_SCREEN_MIPI_DSI_DPI_CLK_MHZ, + .pixel_format = LCD_COLOR_PIXEL_FORMAT_RGB565, + .num_fbs = 0, + .video_timing = { + .h_size = HI8561_SCREEN_WIDTH, + .v_size = HI8561_SCREEN_HEIGHT, + .hsync_pulse_width = HI8561_SCREEN_MIPI_DSI_HSYNC, + .hsync_back_porch = HI8561_SCREEN_MIPI_DSI_HBP, + .hsync_front_porch = HI8561_SCREEN_MIPI_DSI_HFP, + .vsync_pulse_width = HI8561_SCREEN_MIPI_DSI_VSYNC, + .vsync_back_porch = HI8561_SCREEN_MIPI_DSI_VBP, + .vsync_front_porch = HI8561_SCREEN_MIPI_DSI_VFP, + }, + .flags = { + .use_dma2d = true, + } + }; + hi8561_vendor_config_t vendor_config = { + .mipi_config = { + .dsi_bus = mipi_dsi_bus, + .dpi_config = &dpi_config, + }, + }; + esp_lcd_panel_dev_config_t dev_config = { + .reset_gpio_num = -1, + .rgb_ele_order = LCD_RGB_ELEMENT_ORDER_RGB, + .bits_per_pixel = 16, + .vendor_config = &vendor_config, + }; + ret = esp_lcd_new_panel_hi8561(mipi_dbi_io, &dev_config, disp_panel); + if (ret != ESP_OK) { + Serial.printf("esp_lcd_new_panel_hi8561 fail (error code: %#X)\n", ret); + return false; + } + + // Initialize the display panel + ret = esp_lcd_panel_init(*disp_panel); + if (ret != ESP_OK) { + Serial.printf("esp_lcd_panel_init fail (error code: %#X)\n", ret); + } + + // Allocate memory for the draw buffer + drawBuffer = (uint16_t*)heap_caps_malloc(buffer_size, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT); + if (!drawBuffer) { + Serial.println("Failed to allocate memory for draw buffer"); + while (1); + } + + // Fill the draw buffer with random colors + std::fill(drawBuffer, drawBuffer + pixel_count, random(0x0000, 0xFFFF)); + + esp_lcd_panel_draw_bitmap(panelDrv, 0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, drawBuffer); + + // Enable backlight + ledcAttach(P4_DISPLAY_BACKLIGHT, 200, 8); + ledcWrite(P4_DISPLAY_BACKLIGHT, 255); + + return true; +} + +#else +void setup() +{ + Serial.begin(115200); +} +void loop() +{ + Serial.println("Sketch only works with LilyGo-T-Display-P4 TFT(HI8561) Version"); + delay(1000); +} +#endif diff --git a/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/hi8561_driver.cpp b/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/hi8561_driver.cpp new file mode 100644 index 0000000..41b2d4c --- /dev/null +++ b/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/hi8561_driver.cpp @@ -0,0 +1,306 @@ +/* + * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD + * + * SPDX-License-Identifier: Apache-2.0 + */ +#include + +#if defined(ARDUINO) && defined(ARDUINO_ESP32P4_DEV) + +#include "soc/soc_caps.h" + +#ifndef SOC_MIPI_DSI_SUPPORTED +#define SOC_MIPI_DSI_SUPPORTED +#endif + +#if SOC_MIPI_DSI_SUPPORTED +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/gpio.h" +#include "esp_check.h" +#include "esp_lcd_panel_commands.h" +#include "esp_lcd_panel_interface.h" +#include "esp_lcd_panel_io.h" +#include "esp_lcd_mipi_dsi.h" +#include "esp_lcd_panel_vendor.h" +#include "esp_log.h" +#include "hi8561_driver.h" + + +#define HI8561_CMD_SHLR_BIT (1ULL << 0) +#define HI8561_CMD_UPDN_BIT (1ULL << 1) +#define HI8561_MDCTL_VALUE_DEFAULT (0x01) + +static const hi8561_lcd_init_cmd_t vendor_specific_init_default[] = { + // {cmd, { data }, data_size, delay_ms} + /**** CMD_Page 3 ****/ + {0xDF, (uint8_t[]){0x90, 0x69, 0xF9}, 3, 0}, + {0xDE, (uint8_t[]){0x00}, 1, 0}, + {0xBB, (uint8_t[]){0x0F, 0x10, 0x43, 0x50, 0x32, 0x44, 0x44}, 7, 0}, + {0xBF, (uint8_t[]){0x46, 0x32}, 2, 0}, + {0xC0, (uint8_t[]){0x01, 0xAD, 0x01, 0xAD}, 4, 0}, + {0xBD, (uint8_t[]){0x00, 0xB4}, 2, 0}, + {0xC6, (uint8_t[]){0x00, 0x7D, 0x00, 0xC8, 0x00, 0x17, 0x1A, 0x82, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01}, 23, 0}, + {0xC8, (uint8_t[]){0x23, 0x48, 0x87}, 3, 0}, + // {0xCC, (uint8_t[]){0x33}, 1, 0},//4lane + {0xCC, (uint8_t[]){0x31}, 1, 0}, // 2lane + // {0xCC, (uint8_t[]){0x30}, 1, 0}, // 1lane + {0xBC, (uint8_t[]){0x2E, 0x80, 0x84}, 3, 0}, + {0xC3, (uint8_t[]){0x3B, 0x01, 0x02, 0x05, 0x0C, 0x0C, 0x75, 0x0A, 0x79, 0x0A, 0x79, 0x02, 0x6E, 0x02, 0x6E, 0x02, 0x6E, 0x0A, 0x0D, 0x0A, 0x0F, 0x0A, 0x0F, 0x0A, 0x0F}, 25, 0}, + {0xC4, (uint8_t[]){0x01, 0x02, 0x05, 0x0C, 0x0C, 0x75, 0x0A, 0x79, 0x0A, 0x79, 0x02, 0x6E, 0x02, 0x6E, 0x02, 0x6E, 0x0A, 0x0D, 0x0A, 0x0F, 0x0A, 0x0F, 0x0A, 0x0F}, 24, 0}, + {0xC5, (uint8_t[]){0x03, 0x05, 0x0C, 0x0C, 0x75, 0x0A, 0x79, 0x0A, 0x79, 0x02, 0x6E, 0x02, 0x6E, 0x02, 0x6E, 0x0A, 0x0D, 0x0A, 0x0F, 0x0A, 0x0F, 0x0A, 0x0F}, 23, 0}, + {0xD7, (uint8_t[]){0x00, 0x0A, 0x63, 0x0A, 0x63, 0x0A, 0x63, 0x0A, 0x63, 0x0A, 0x63, 0x0A, 0x63, 0x0A, 0x63, 0x0A, 0x63}, 17, 0}, + {0xCB, (uint8_t[]){0x7F, 0x78, 0x71, 0x64, 0x5A, 0x58, 0x4B, 0x51, 0x3A, 0x53, 0x51, 0x4F, 0x6A, 0x54, 0x57, 0x46, 0x3F, 0x2F, 0x1B, 0x0F, 0x08, 0x7F, 0x78, 0x71, 0x64, 0x5A, 0x58, 0x4B, 0x51, 0x3A, 0x53, 0x51, 0x4F, 0x6A, 0x54, 0x57, 0x46, 0x3F, 0x2F, 0x1B, 0x0F, 0x08, 0x00}, 43, 0}, + {0xCE, (uint8_t[]){0x00, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C}, 23, 0}, + {0xCF, (uint8_t[]){0x00, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, 45, 0}, + {0xD0, (uint8_t[]){0x00, 0x1F, 0x1F, 0x11, 0x1E, 0x1F, 0x0F, 0x0F, 0x0D, 0x0D, 0x0B, 0x0B, 0x09, 0x09, 0x07, 0x07, 0x05, 0x05, 0x01, 0x1F, 0x1F, 0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, 29, 0}, + {0xD1, (uint8_t[]){0x00, 0x1F, 0x1F, 0x10, 0x1E, 0x1F, 0x0E, 0x0E, 0x0C, 0x0C, 0x0A, 0x0A, 0x08, 0x08, 0x06, 0x06, 0x04, 0x04, 0x00, 0x1F, 0x1F, 0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, 29, 0}, + {0xD2, (uint8_t[]){0x00, 0x5F, 0x1F, 0x10, 0x1F, 0x1E, 0x08, 0x08, 0x4A, 0x0A, 0x0C, 0x0C, 0x0E, 0x0E, 0x04, 0x04, 0x06, 0x06, 0x00, 0x1F, 0x1F, 0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, 29, 0}, + {0xD3, (uint8_t[]){0x00, 0x1F, 0x1F, 0x11, 0x1F, 0x1E, 0x09, 0x09, 0x0B, 0x0B, 0x0D, 0x0D, 0x0F, 0x0F, 0x05, 0x05, 0x07, 0x07, 0x01, 0x1F, 0x1F, 0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, 29, 0}, + {0xD4, (uint8_t[]){0x00, 0x20, 0x0B, 0x00, 0x0D, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x03, 0x03, 0x00, 0x81, 0x04, 0xAE, 0x04, 0xB0, 0x04, 0xB2, 0x04, 0xB4, 0x04, 0xB6, 0x04, 0xB8, 0x00, 0x00, 0x00, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x00, 0x06, 0x44, 0x06, 0x46, 0x03, 0x03, 0x00, 0x00, 0x07, 0x00, 0x06, 0x04, 0xA7, 0x04, 0xA8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x01, 0x00, 0x00, 0x20, 0x00}, 87, 0}, + {0xD5, (uint8_t[]){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x00, 0x00, 0x00, 0x07, 0x32, 0x5A, 0x00, 0x00, 0x3C, 0x00, 0x1E, 0x00, 0x1E, 0xB3, 0x00, 0x0F, 0x06, 0x0C, 0x00, 0x71, 0x20, 0x04, 0x10, 0x04, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}, 61, 0}, + {0xCD, (uint8_t[]){0x00, 0x00}, 2, 0}, + + {0xDE, (uint8_t[]){0x01}, 1, 0}, + {0xB9, (uint8_t[]){0x00, 0xFF, 0xFF, 0x04}, 4, 0}, + {0xC7, (uint8_t[]){0x1F, 0x14, 0x0E}, 3, 0}, + + {0xDE, (uint8_t[]){0x02}, 1, 0}, + {0xE5, (uint8_t[]){0x00, 0x60, 0x60, 0x02, 0x18, 0x60, 0x18, 0x60, 0x09, 0x04, 0x00, 0xC5, 0x01, 0x2C, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x04}, 24, 0}, + {0xE6, (uint8_t[]){0x10, 0x10, 0x82}, 3, 0}, + {0xC4, (uint8_t[]){0x00, 0x11, 0x07, 0x00, 0x11, 0x01, 0x08}, 7, 0}, + {0xC3, (uint8_t[]){0x20, 0xFF}, 2, 0}, + {0xBD, (uint8_t[]){0x1B}, 1, 0}, + {0xC6, (uint8_t[]){0x4A, 0x00}, 2, 0}, + {0xCD, (uint8_t[]){0x14, 0x64, 0x11, 0x40}, 4, 0}, + {0xC1, (uint8_t[]){0x00, 0x40, 0x00, 0x02, 0x02, 0x02, 0x02, 0x7F, 0x00, 0x00}, 10, 0}, + {0xB3, (uint8_t[]){0x00, 0xA8}, 2, 0}, + {0xBB, (uint8_t[]){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x41, 0x40, 0x43, 0x04}, 11, 0}, + {0xC2, (uint8_t[]){0x02, 0x42, 0x50, 0x00, 0x02, 0xE4, 0x61, 0x73, 0xF9, 0x08}, 10, 0}, + {0xEC, (uint8_t[]){0x07, 0x07, 0x40, 0x00, 0x22, 0x02, 0x00, 0xFF, 0x08, 0x7C, 0x00, 0x00, 0x00, 0x00}, 14, 0}, + + {0xDE, (uint8_t[]){0x03}, 1, 0}, + {0xD1, (uint8_t[]){0x00, 0x00, 0x21, 0xFF, 0x00}, 5, 0}, + + {0xDE, (uint8_t[]){0x00}, 1, 0}, + {0x35, (uint8_t[]){0x00}, 0, 30}, + + {0x11, (uint8_t[]){0x00}, 0, 120}, + + {0x29, (uint8_t[]){0x00}, 0, 50}, + + //============ Gamma END=========== +}; + +typedef struct { + esp_lcd_panel_io_handle_t io; + int reset_gpio_num; + uint8_t madctl_val; // save current value of LCD_CMD_MADCTL register + const hi8561_lcd_init_cmd_t *init_cmds; + uint16_t init_cmds_size; + uint8_t lane_num; + struct { + unsigned int reset_level : 1; + } flags; + // To save the original functions of MIPI DPI panel + esp_err_t (*del)(esp_lcd_panel_t *panel); + esp_err_t (*init)(esp_lcd_panel_t *panel); +} hi8561_panel_t; + +static const char *TAG = "hi8561"; + +static esp_err_t panel_hi8561_send_init_cmds(hi8561_panel_t *hi8561); + +static esp_err_t panel_hi8561_del(esp_lcd_panel_t *panel); +static esp_err_t panel_hi8561_init(esp_lcd_panel_t *panel); +static esp_err_t panel_hi8561_reset(esp_lcd_panel_t *panel); +static esp_err_t panel_hi8561_mirror(esp_lcd_panel_t *panel, bool mirror_x, bool mirror_y); +static esp_err_t panel_hi8561_invert_color(esp_lcd_panel_t *panel, bool invert_color_data); +static esp_err_t panel_hi8561_sleep(esp_lcd_panel_t *panel, bool sleep); +static esp_err_t panel_hi8561_on_off(esp_lcd_panel_t *panel, bool on_off); + +esp_err_t esp_lcd_new_panel_hi8561(const esp_lcd_panel_io_handle_t io, const esp_lcd_panel_dev_config_t *panel_dev_config, + esp_lcd_panel_handle_t *ret_panel) +{ + ESP_RETURN_ON_FALSE(io && panel_dev_config && ret_panel, ESP_ERR_INVALID_ARG, TAG, "Invalid arguments"); + hi8561_vendor_config_t *vendor_config = (hi8561_vendor_config_t *)panel_dev_config->vendor_config; + ESP_RETURN_ON_FALSE(vendor_config && vendor_config->mipi_config.dpi_config && vendor_config->mipi_config.dsi_bus, ESP_ERR_INVALID_ARG, TAG, + "Invalid vendor config"); + + esp_err_t ret = ESP_OK; + hi8561_panel_t *hi8561 = (hi8561_panel_t *)calloc(1, sizeof(hi8561_panel_t)); + ESP_RETURN_ON_FALSE(hi8561, ESP_ERR_NO_MEM, TAG, "No mem for hi8561 panel"); + + if (panel_dev_config->reset_gpio_num >= 0) { + gpio_config_t io_conf = { + .pin_bit_mask = 1ULL << panel_dev_config->reset_gpio_num, + .mode = GPIO_MODE_OUTPUT, + }; + ESP_GOTO_ON_ERROR(gpio_config(&io_conf), err, TAG, "Configure GPIO for RST line failed"); + } + + hi8561->io = io; + hi8561->init_cmds = vendor_config->init_cmds; + hi8561->init_cmds_size = vendor_config->init_cmds_size; + hi8561->lane_num = vendor_config->mipi_config.lane_num; + hi8561->reset_gpio_num = panel_dev_config->reset_gpio_num; + hi8561->flags.reset_level = panel_dev_config->flags.reset_active_high; + hi8561->madctl_val = HI8561_MDCTL_VALUE_DEFAULT; + + // Create MIPI DPI panel + ESP_GOTO_ON_ERROR(esp_lcd_new_panel_dpi(vendor_config->mipi_config.dsi_bus, vendor_config->mipi_config.dpi_config, ret_panel), err, TAG, + "Create MIPI DPI panel Failed"); + // Save the original functions of MIPI DPI panel + hi8561->del = (*ret_panel)->del; + hi8561->init = (*ret_panel)->init; + // Overwrite the functions of MIPI DPI panel + (*ret_panel)->del = panel_hi8561_del; + (*ret_panel)->init = panel_hi8561_init; + (*ret_panel)->reset = panel_hi8561_reset; + (*ret_panel)->mirror = panel_hi8561_mirror; + (*ret_panel)->invert_color = panel_hi8561_invert_color; + (*ret_panel)->disp_sleep = panel_hi8561_sleep; + (*ret_panel)->disp_on_off = panel_hi8561_on_off; + (*ret_panel)->user_data = hi8561; + + ESP_LOGD(TAG, "New hi8561 panel @%p", hi8561); + + return ESP_OK; + +err: + if (hi8561) { + if (panel_dev_config->reset_gpio_num >= 0) { + gpio_reset_pin((gpio_num_t)panel_dev_config->reset_gpio_num); + } + free(hi8561); + } + return ret; +} + +static esp_err_t panel_hi8561_send_init_cmds(hi8561_panel_t *hi8561) +{ + esp_lcd_panel_io_handle_t io = hi8561->io; + const hi8561_lcd_init_cmd_t *init_cmds = NULL; + uint16_t init_cmds_size = 0; + + init_cmds = vendor_specific_init_default; + init_cmds_size = sizeof(vendor_specific_init_default) / sizeof(hi8561_lcd_init_cmd_t); + for (int i = 0; i < init_cmds_size; i++) { + esp_lcd_panel_io_tx_param(io, init_cmds[i].cmd, init_cmds[i].data, init_cmds[i].data_bytes); + vTaskDelay(pdMS_TO_TICKS(init_cmds[i].delay_ms)); + } + return ESP_OK; +} + +static esp_err_t panel_hi8561_del(esp_lcd_panel_t *panel) +{ + hi8561_panel_t *hi8561 = (hi8561_panel_t *)panel->user_data; + + if (hi8561->reset_gpio_num >= 0) { + gpio_reset_pin((gpio_num_t)hi8561->reset_gpio_num); + } + hi8561->del(panel); + free(hi8561); + return ESP_OK; +} + +static esp_err_t panel_hi8561_init(esp_lcd_panel_t *panel) +{ + hi8561_panel_t *hi8561 = (hi8561_panel_t *)panel->user_data; + + ESP_RETURN_ON_ERROR(panel_hi8561_send_init_cmds(hi8561), TAG, "Send init commands failed"); + ESP_RETURN_ON_ERROR(hi8561->init(panel), TAG, "Init MIPI DPI panel failed"); + + return ESP_OK; +} + +static esp_err_t panel_hi8561_reset(esp_lcd_panel_t *panel) +{ + hi8561_panel_t *hi8561 = (hi8561_panel_t *)panel->user_data; + esp_lcd_panel_io_handle_t io = hi8561->io; + if (hi8561->reset_gpio_num >= 0) { + gpio_set_level((gpio_num_t)hi8561->reset_gpio_num, hi8561->flags.reset_level); + vTaskDelay(pdMS_TO_TICKS(10)); + gpio_set_level((gpio_num_t)hi8561->reset_gpio_num, !hi8561->flags.reset_level); + vTaskDelay(pdMS_TO_TICKS(20)); + } else if (io) { + ESP_RETURN_ON_ERROR(esp_lcd_panel_io_tx_param(io, LCD_CMD_SWRESET, NULL, 0), TAG, "Send command failed"); + vTaskDelay(pdMS_TO_TICKS(20)); + } + return ESP_OK; +} + +static esp_err_t panel_hi8561_sleep(esp_lcd_panel_t *panel, bool sleep) +{ + hi8561_panel_t *hi8561 = (hi8561_panel_t *)panel->user_data; + esp_lcd_panel_io_handle_t io = hi8561->io; + if (sleep == true) { + ESP_RETURN_ON_ERROR(esp_lcd_panel_io_tx_param(io, 0x10, 0x00, 0), TAG, "esp_lcd_panel_io_tx_param failed"); + ESP_LOGI(TAG, "sleep on"); + } else { + ESP_RETURN_ON_ERROR(esp_lcd_panel_io_tx_param(io, 0x11, 0x00, 0), TAG, "esp_lcd_panel_io_tx_param failed"); + ESP_LOGI(TAG, "sleep off"); + } + + vTaskDelay(pdMS_TO_TICKS(120)); + return ESP_OK; +} + +static esp_err_t panel_hi8561_on_off(esp_lcd_panel_t *panel, bool on_off) +{ + hi8561_panel_t *hi8561 = (hi8561_panel_t *)panel->user_data; + esp_lcd_panel_io_handle_t io = hi8561->io; + if (on_off == true) { + ESP_RETURN_ON_ERROR(esp_lcd_panel_io_tx_param(io, 0x29, 0x00, 0), TAG, "esp_lcd_panel_io_tx_param failed"); + ESP_LOGI(TAG, "display on"); + } else { + ESP_RETURN_ON_ERROR(esp_lcd_panel_io_tx_param(io, 0x28, 0x00, 0), TAG, "esp_lcd_panel_io_tx_param failed"); + ESP_LOGI(TAG, "display off"); + } + vTaskDelay(pdMS_TO_TICKS(120)); + return ESP_OK; +} + +static esp_err_t panel_hi8561_mirror(esp_lcd_panel_t *panel, bool mirror_x, bool mirror_y) +{ + hi8561_panel_t *hi8561 = (hi8561_panel_t *)panel->user_data; + esp_lcd_panel_io_handle_t io = hi8561->io; + uint8_t madctl_val = hi8561->madctl_val; + ESP_RETURN_ON_FALSE(io, ESP_ERR_INVALID_STATE, TAG, "Invalid panel gpio"); + // Control mirror through LCD command + if (mirror_x) { + madctl_val |= HI8561_CMD_SHLR_BIT; + } else { + madctl_val &= ~HI8561_CMD_SHLR_BIT; + } + if (mirror_y) { + madctl_val |= HI8561_CMD_UPDN_BIT; + } else { + madctl_val &= ~HI8561_CMD_UPDN_BIT; + } + ESP_RETURN_ON_ERROR(esp_lcd_panel_io_tx_param(io, LCD_CMD_MADCTL, (uint8_t[]) { + madctl_val + }, 1), TAG, "Send command failed"); + hi8561->madctl_val = madctl_val; + return ESP_OK; +} + +static esp_err_t panel_hi8561_invert_color(esp_lcd_panel_t *panel, bool invert_color_data) +{ + hi8561_panel_t *hi8561 = (hi8561_panel_t *)panel->user_data; + esp_lcd_panel_io_handle_t io = hi8561->io; + uint8_t command = 0; + ESP_RETURN_ON_FALSE(io, ESP_ERR_INVALID_STATE, TAG, "Invalid panel IO"); + if (invert_color_data) { + command = LCD_CMD_INVON; + } else { + command = LCD_CMD_INVOFF; + } + ESP_RETURN_ON_ERROR(esp_lcd_panel_io_tx_param(io, command, NULL, 0), TAG, "Send command failed"); + return ESP_OK; +} + +#endif + +#endif + diff --git a/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/hi8561_driver.h b/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/hi8561_driver.h new file mode 100644 index 0000000..f2c4d2f --- /dev/null +++ b/lib/SensorLib/examples/TouchDrv_HI8561_GetPoint_LilyGoP4/hi8561_driver.h @@ -0,0 +1,70 @@ +/* + * @Description: hi8561_driver + * @Author: LILYGO_L + * @Date: 2025-06-13 11:02:44 + * @LastEditTime: 2025-10-09 10:37:00 + * @License: GPL 3.0 + */ +#pragma once + +#include + +#if defined(ARDUINO) && defined(ARDUINO_ESP32P4_DEV) + +#include +#include "soc/soc_caps.h" + +#if SOC_MIPI_DSI_SUPPORTED +#include "esp_lcd_panel_vendor.h" + +/** + * @brief LCD panel initialization commands. + * + */ +typedef struct +{ + int cmd; /* -#include "ExtensionIOXL9555.hpp" +#include "IoExpanderXL9555.hpp" #include "AW9364LedDriver.hpp" #ifdef ENABLE_TFT @@ -51,7 +51,7 @@ TFT_eSPI tft; // Drive LED pin, corresponding to XL9555 GPIO2 #define BACKLIGHT_PIN 2 -ExtensionIOXL9555 io; +IoExpanderXL9555 expander; AW9364LedDriver ledDriver; uint8_t level = 0; @@ -74,7 +74,7 @@ void setup() * * If the device address is not known, the 0xFF parameter can be passed in. * - * XL9555_UNKOWN_ADDRESS = 0xFF + * XL9555_UNKNOWN_ADDRESS = 0xFF * * If the device address is known, the device address is given * @@ -87,16 +87,16 @@ void setup() * XL9555_SLAVE_ADDRESS6 = 0x26 * XL9555_SLAVE_ADDRESS7 = 0x27 */ - const uint8_t chip_address = XL9555_UNKOWN_ADDRESS; + const uint8_t chip_address = XL9555_UNKNOWN_ADDRESS; - if (!io.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { + if (!expander.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { while (1) { Serial.println("Failed to find XL9555 - check your wiring!"); delay(1000); } } - ledDriver.begin(&io, BACKLIGHT_PIN); + ledDriver.begin(expander, BACKLIGHT_PIN); } diff --git a/lib/SensorLib/examples/XL9555_ExtensionIOInterrupt/XL9555_ExtensionIOInterrupt.ino b/lib/SensorLib/examples/XL9555_ExtensionIOInterrupt/XL9555_ExtensionIOInterrupt.ino index e6c2f35..35925c4 100644 --- a/lib/SensorLib/examples/XL9555_ExtensionIOInterrupt/XL9555_ExtensionIOInterrupt.ino +++ b/lib/SensorLib/examples/XL9555_ExtensionIOInterrupt/XL9555_ExtensionIOInterrupt.ino @@ -28,7 +28,7 @@ * */ #include -#include "ExtensionIOXL9555.hpp" +#include "IoExpanderXL9555.hpp" #ifndef SENSOR_SDA #define SENSOR_SDA 17 @@ -42,7 +42,7 @@ #define SENSOR_IRQ 10 #endif -ExtensionIOXL9555 io; +IoExpanderXL9555 expander; void printBinary(uint8_t port, uint32_t num, int bits, bool new_line = false) { @@ -82,7 +82,7 @@ void setup() * * If the device address is not known, the 0xFF parameter can be passed in. * - * XL9555_UNKOWN_ADDRESS = 0xFF + * XL9555_UNKNOWN_ADDRESS = 0xFF * * If the device address is known, the device address is given * @@ -95,9 +95,9 @@ void setup() * XL9555_SLAVE_ADDRESS6 = 0x26 * XL9555_SLAVE_ADDRESS7 = 0x27 */ - const uint8_t chip_address = XL9555_UNKOWN_ADDRESS; + const uint8_t chip_address = XL9555_UNKNOWN_ADDRESS; - if (!io.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { + if (!expander.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { while (1) { Serial.println("Failed to find XL9555 - check your wiring!"); delay(1000); @@ -110,13 +110,8 @@ void setup() * XL9535 has a floating input internally and an uncertain state when idle, requiring an external pull-up/pull-down resistor * * */ - // Set PORT0 as input,mask = 0xFF = all pin input - io.configPort(ExtensionIOXL9555::PORT0, 0xFF); - - // Set PORT1 as input,mask = 0xFF = all pin input - io.configPort(ExtensionIOXL9555::PORT1, 0xFF); - - + // Set all pins as input + expander.configPins(IoExpanderXL9555::PORT_ALL, INPUT); } void loop() @@ -124,27 +119,19 @@ void loop() // When the interrupt occurs, we read the mask value of PORT if (digitalRead(SENSOR_IRQ) == LOW) { - // Read 8-bit port 0 input status - int val = io.readPort(0); - - // Read 8-bit port 1 input status - int val1 = io.readPort(1); - - printBinary(1, val1, 8); - printBinary(0, val, 8); - + // Read 16-bit port 0 and port 1 input status + uint16_t value = expander.digitalReadPort(); // Read 16-bit gpio input status - uint16_t all_val = io.read(); - printBinary(3, all_val, 16, true); + printBinary(3, value, 16, true); int i = 15; for (; i >= 0; i--) { - if (!(all_val & 1)) { + if (!(value & 1)) { Serial.print("GPIO: "); Serial.print(15 - i); Serial.println(" is low"); } - all_val >>= 1; + value >>= 1; } } } diff --git a/lib/SensorLib/examples/XL9555_ExtensionIORead/XL9555_ExtensionIORead.ino b/lib/SensorLib/examples/XL9555_ExtensionIORead/XL9555_ExtensionIORead.ino index 0a8e0ff..c38454c 100644 --- a/lib/SensorLib/examples/XL9555_ExtensionIORead/XL9555_ExtensionIORead.ino +++ b/lib/SensorLib/examples/XL9555_ExtensionIORead/XL9555_ExtensionIORead.ino @@ -28,7 +28,7 @@ * */ #include -#include "ExtensionIOXL9555.hpp" +#include "IoExpanderXL9555.hpp" #ifndef SENSOR_SDA #define SENSOR_SDA 17 @@ -42,7 +42,7 @@ #define SENSOR_IRQ 10 #endif -ExtensionIOXL9555 io; +IoExpanderXL9555 expander; void setup() { @@ -55,7 +55,7 @@ void setup() * * If the device address is not known, the 0xFF parameter can be passed in. * - * XL9555_UNKOWN_ADDRESS = 0xFF + * XL9555_UNKNOWN_ADDRESS = 0xFF * * If the device address is known, the device address is given * @@ -68,62 +68,60 @@ void setup() * XL9555_SLAVE_ADDRESS6 = 0x26 * XL9555_SLAVE_ADDRESS7 = 0x27 */ - const uint8_t chip_address = XL9555_UNKOWN_ADDRESS; + const uint8_t chip_address = XL9555_UNKNOWN_ADDRESS; - if (!io.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { + if (!expander.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { while (1) { Serial.println("Failed to find XL9555 - check your wiring!"); delay(1000); } } - // Set PORT0 as input,mask = 0xFF = all pin input - io.configPort(ExtensionIOXL9555::PORT0, 0xFF); - // Set PORT1 as input,mask = 0xFF = all pin input - io.configPort(ExtensionIOXL9555::PORT1, 0xFF); + // Set all pins as input + expander.configPins(IoExpanderXL9555::PORT_ALL, INPUT); } void loop() { Serial.print("PORT0:0b"); - Serial.print(io.readPort(ExtensionIOXL9555::PORT0), BIN); + Serial.print(expander.digitalReadPort(), BIN); Serial.print("\tPORT1:0b"); - Serial.println(io.readPort(ExtensionIOXL9555::PORT1), BIN); + Serial.println(expander.digitalReadPort(), BIN); //Allowable range of parameter input: IO0 ~ IO15 Serial.println("IO0:\tIO1:\tIO2:\tIO3:\tIO4:\tIO5:\tIO6:\tIO7:\tIO8:\tIO9:\tIO10:\tIO11:\tIO12:\tIO13:\tIO14:\tIO15:\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO0)); + Serial.print(expander.digitalRead(0)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO1)); + Serial.print(expander.digitalRead(1)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO2)); + Serial.print(expander.digitalRead(2)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO3)); + Serial.print(expander.digitalRead(3)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO4)); + Serial.print(expander.digitalRead(4)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO5)); + Serial.print(expander.digitalRead(5)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO6)); + Serial.print(expander.digitalRead(6)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO7)); + Serial.print(expander.digitalRead(7)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO8)); + Serial.print(expander.digitalRead(8)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO9)); + Serial.print(expander.digitalRead(9)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO10)); + Serial.print(expander.digitalRead(10)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO11)); + Serial.print(expander.digitalRead(11)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO12)); + Serial.print(expander.digitalRead(12)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO13)); + Serial.print(expander.digitalRead(13)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO14)); + Serial.print(expander.digitalRead(14)); Serial.print("\t"); - Serial.print(io.digitalRead(ExtensionIOXL9555::IO15)); + Serial.print(expander.digitalRead(15)); Serial.println(); delay(1000); } diff --git a/lib/SensorLib/examples/XL9555_ExtensionIOWrite/XL9555_ExtensionIOWrite.ino b/lib/SensorLib/examples/XL9555_ExtensionIOWrite/XL9555_ExtensionIOWrite.ino index 7c7ae75..73f9f9a 100644 --- a/lib/SensorLib/examples/XL9555_ExtensionIOWrite/XL9555_ExtensionIOWrite.ino +++ b/lib/SensorLib/examples/XL9555_ExtensionIOWrite/XL9555_ExtensionIOWrite.ino @@ -28,7 +28,7 @@ * */ #include -#include "ExtensionIOXL9555.hpp" +#include "IoExpanderXL9555.hpp" #ifndef SENSOR_SDA #define SENSOR_SDA 17 @@ -38,24 +38,17 @@ #define SENSOR_SCL 18 #endif -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 10 -#endif - -ExtensionIOXL9555 io; +IoExpanderXL9555 expander; void setup() { Serial.begin(115200); - // Set the interrupt input to input pull-up - pinMode(SENSOR_IRQ, INPUT_PULLUP); - /* * * If the device address is not known, the 0xFF parameter can be passed in. * - * XL9555_UNKOWN_ADDRESS = 0xFF + * XL9555_UNKNOWN_ADDRESS = 0xFF * * If the device address is known, the device address is given * @@ -68,39 +61,37 @@ void setup() * XL9555_SLAVE_ADDRESS6 = 0x26 * XL9555_SLAVE_ADDRESS7 = 0x27 */ - const uint8_t chip_address = XL9555_UNKOWN_ADDRESS; + const uint8_t chip_address = XL9555_UNKNOWN_ADDRESS; - if (!io.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { + if (!expander.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { while (1) { Serial.println("Failed to find XL9555 - check your wiring!"); delay(1000); } } - // Set PORT0 as output ,mask = 0x00 = all pin output - io.configPort(ExtensionIOXL9555::PORT0, 0x00); - // Set PORT1 as output ,mask = 0x00 = all pin output - io.configPort(ExtensionIOXL9555::PORT1, 0x00); + // Set PORT0 as output + expander.configPins(IoExpanderXL9555::PORT_ALL, OUTPUT); } void loop() { - // Set all PORTs to 1, and the parameters here are mask values, corresponding to the 0~7 bits + // Set all PORTs to 1, and the parameters here are mask values, corresponding to the 0~15 bits Serial.println("Set port HIGH"); - io.writePort(ExtensionIOXL9555::PORT0, 0xFF); + expander.digitalWritePort(0xFFFF, HIGH); delay(1000); Serial.println("Set port LOW"); - // Set all PORTs to 0, and the parameters here are mask values, corresponding to the 0~7 bits - io.writePort(ExtensionIOXL9555::PORT1, 0x00); + // Set all PORTs to 0, and the parameters here are mask values, corresponding to the 0~15 bits + expander.digitalWritePort(0x0000, LOW); delay(1000); Serial.println("digitalWrite"); - io.digitalWrite(ExtensionIOXL9555::IO0, HIGH); + expander.digitalWrite(0, HIGH); delay(1000); Serial.println("digitalToggle"); - io.digitalToggle(ExtensionIOXL9555::IO0); + expander.digitalToggle(0); delay(1000); diff --git a/lib/SensorLib/examples/XL9555_ExtensionSPI/XL9555_ExtensionSPI.ino b/lib/SensorLib/examples/XL9555_ExtensionSPI/XL9555_ExtensionSPI.ino index d02f6c5..a4f3215 100644 --- a/lib/SensorLib/examples/XL9555_ExtensionSPI/XL9555_ExtensionSPI.ino +++ b/lib/SensorLib/examples/XL9555_ExtensionSPI/XL9555_ExtensionSPI.ino @@ -29,8 +29,8 @@ * */ #include -#include "ExtensionIOXL9555.hpp" - +#include "IoExpanderXL9555.hpp" +#include "IoExpanderSPI.hpp" #ifdef ARDUINO_ARCH_ESP32 #include @@ -129,21 +129,23 @@ DRAM_ATTR static const lcd_init_cmd_t st7701_2_1_inches[] = { {0, {0}, 0xff} }; -ExtensionIOXL9555 io; -ExtensionIOXL9555::ExtensionGPIO cs = ExtensionIOXL9555::IO3; -ExtensionIOXL9555::ExtensionGPIO mosi = ExtensionIOXL9555::IO4; -ExtensionIOXL9555::ExtensionGPIO sclk = ExtensionIOXL9555::IO5; -ExtensionIOXL9555::ExtensionGPIO reset = ExtensionIOXL9555::IO6; -ExtensionIOXL9555::ExtensionGPIO power_enable = ExtensionIOXL9555::IO2; +IoExpanderXL9555 expander; +IoExpanderSPI expanderSPI; + +uint8_t cs = 3; +uint8_t mosi = 4; +uint8_t sclk = 5; +uint8_t reset = 6; +uint8_t power_enable = 2; static const lcd_init_cmd_t *_init_cmd = st7701_2_1_inches; esp_lcd_panel_handle_t _panelDrv; -std::vector draw_buf(BOARD_TFT_WIDTH * BOARD_TFT_HEIGHT * 2, 0x000); +std::vector < uint16_t > draw_buf(BOARD_TFT_WIDTH * BOARD_TFT_HEIGHT * 2, 0x000); void writeCommand(const uint8_t cmd) { uint16_t data = cmd; - io.transfer9(data); + expanderSPI.transfer9(data); } void writeData(const uint8_t *data, int len) @@ -153,7 +155,7 @@ void writeData(const uint8_t *data, int len) do { // The ninth bit of data, 1, represents data, 0 represents command uint16_t pdat = (*(data + i)) | 1 << 8; - io.transfer9(pdat); + expanderSPI.transfer9(pdat); i++; } while (len--); } @@ -167,7 +169,7 @@ void setup() * * If the device address is not known, the 0xFF parameter can be passed in. * - * XL9555_UNKOWN_ADDRESS = 0xFF + * XL9555_UNKNOWN_ADDRESS = 0xFF * * If the device address is known, the device address is given * @@ -180,9 +182,9 @@ void setup() * XL9555_SLAVE_ADDRESS6 = 0x26 * XL9555_SLAVE_ADDRESS7 = 0x27 */ - const uint8_t chip_address = XL9555_UNKOWN_ADDRESS; + const uint8_t chip_address = XL9555_UNKNOWN_ADDRESS; - if (!io.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { + if (!expander.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { while (1) { Serial.println("Failed to find XL9555 - check your wiring!"); delay(1000); @@ -193,20 +195,20 @@ void setup() * * The power enable is connected to the XL9555 expansion chip GPIO. * * It must be turned on and can only be started when using a battery. */ - io.pinMode(power_enable, OUTPUT); - io.digitalWrite(power_enable, HIGH); + expander.pinMode(power_enable, OUTPUT); + expander.digitalWrite(power_enable, HIGH); - io.pinMode(reset, OUTPUT); - io.digitalWrite(reset, LOW); + expander.pinMode(reset, OUTPUT); + expander.digitalWrite(reset, LOW); delay(20); - io.digitalWrite(reset, HIGH); + expander.digitalWrite(reset, HIGH); delay(10); Wire.setClock(1000000UL); uint32_t start = millis(); - io.beginSPI(mosi, -1, sclk, cs); + expanderSPI.beginSPI(expander, mosi, -1, sclk, cs); int i = 0; while (_init_cmd[i].databytes != 0xff) { @@ -245,10 +247,15 @@ void setup() .vsync_front_porch = 20, .flags = { + .hsync_idle_low = 0, + .vsync_idle_low = 0, + .de_idle_high = 0, .pclk_active_neg = 1, + .pclk_idle_high = 0 }, }, .data_width = 16, // RGB565 in parallel mode, thus 16bit in width + .sram_trans_align = 0, .psram_trans_align = 64, .hsync_gpio_num = BOARD_TFT_HSYNC, .vsync_gpio_num = BOARD_TFT_VSYNC, diff --git a/lib/SensorLib/examples/XL9555_ioEvent/XL9555_ioEvent.ino b/lib/SensorLib/examples/XL9555_ioEvent/XL9555_ioEvent.ino deleted file mode 100644 index 47091c9..0000000 --- a/lib/SensorLib/examples/XL9555_ioEvent/XL9555_ioEvent.ino +++ /dev/null @@ -1,127 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2024 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. - * - * @file XL9555_ioEvent.ino - * @author Lewis He (lewishe@outlook.com) - * @date 2024-09-14 - * - */ -#include -#include "ExtensionIOXL9555.hpp" - -#ifndef SENSOR_SDA -#define SENSOR_SDA 17 -#endif - -#ifndef SENSOR_SCL -#define SENSOR_SCL 18 -#endif - -#ifndef SENSOR_IRQ -#define SENSOR_IRQ 10 -#endif - -ExtensionIOXL9555 io; - - -void gpio5_event_cb(void *user_data) -{ - Serial.println((const char *)user_data); -} - - -void gpio7_event_cb(void *user_data) -{ - Serial.println((const char *)user_data); -} - -void setup() -{ - Serial.begin(115200); - - // Set the interrupt input to input pull-up - pinMode(SENSOR_IRQ, INPUT_PULLUP); - - /* - * - * If the device address is not known, the 0xFF parameter can be passed in. - * - * XL9555_UNKOWN_ADDRESS = 0xFF - * - * If the device address is known, the device address is given - * - * XL9555_SLAVE_ADDRESS0 = 0x20 - * XL9555_SLAVE_ADDRESS1 = 0x21 - * XL9555_SLAVE_ADDRESS2 = 0x22 - * XL9555_SLAVE_ADDRESS3 = 0x23 - * XL9555_SLAVE_ADDRESS4 = 0x24 - * XL9555_SLAVE_ADDRESS5 = 0x25 - * XL9555_SLAVE_ADDRESS6 = 0x26 - * XL9555_SLAVE_ADDRESS7 = 0x27 - */ - const uint8_t chip_address = XL9555_UNKOWN_ADDRESS; - - if (!io.begin(Wire, chip_address, SENSOR_SDA, SENSOR_SCL)) { - while (1) { - Serial.println("Failed to find XL9555 - check your wiring!"); - delay(1000); - } - } - - /* - * Note: - * XL9555 has an internal pull-up resistor and maintains a high level when idle. - * XL9535 has a floating input internally and an uncertain state when idle, requiring an external pull-up/pull-down resistor - * * */ - - // Set PORT0 as input,mask = 0xFF = all pin input - io.configPort(ExtensionIOXL9555::PORT0, 0xFF); - - // Set PORT1 as input,mask = 0xFF = all pin input - io.configPort(ExtensionIOXL9555::PORT1, 0xFF); - - - // Passing in user parameters - static const char *gpio5_data = "GPIO 5 SET HIGH TRIGGER"; - static const char *gpio7_data = "GPIO 7 SET LOW TRIGGER"; - - // Set GPIO5 high level to trigger callback event - io.setPinEvent(5, HIGH, gpio7_event_cb, (void *)gpio5_data); - - // Set GPIO7 low level to trigger callback event - io.setPinEvent(7, LOW, gpio7_event_cb, (void *)gpio7_data); - - - // Remove gpio 5 callback event - // io.removePinEvent(5); -} - -void loop() -{ - // Refresh registers when an interrupt comes - if (digitalRead(SENSOR_IRQ) == LOW) { - io.update(); - } -} - diff --git a/lib/SensorLib/idf_component.yml b/lib/SensorLib/idf_component.yml new file mode 100644 index 0000000..b7834aa --- /dev/null +++ b/lib/SensorLib/idf_component.yml @@ -0,0 +1,65 @@ +version: "0.4.1" +description: "Commonly used I2C & SPI sensor drivers for ESP-IDF / Arduino" +license: "MIT" +url: "https://github.com/lewisxhe/SensorLib" +repository: "https://github.com/lewisxhe/SensorLib.git" +files: + use_gitignore: true + exclude: + - "tests/**/*" + - "**/.github/**/*" + - "docs/**/*" + - "filters/**/*" + - "tools/**/*" + - ".vscode/**/*" + - ".pio/**/*" + - "datasheet/**/*" + - "examples/**/*" + - "library.json" + - "keywords.txt" + - "platformio.ini" + - "library.properties" + - ".gitattributes" +tags: + - PCF8563 + - PCF85063 + - QMI8658 + - BHI260AP + - BHI360 + - QMC6310N + - QMC6310U + - QMC5883P + - QMC5883L + - BMM150 + - XL9555 + - PCA9570 + - BMA422 + - BMA423 + - BMA456 + - DRV2605 + - AW86224 + - CM32181 + - LTR553 + - FT3267 + - FT5206 + - FT6206 + - FT6236 + - CST820 + - CST816S + - CST816D + - CST816T + - CST226SE + - CHSC5816 + - GT911 + - CST9217 + - CST9220 + - GT9895 + - HI8561 + - AW9364 + - BQ27220 + - AXP2602 +dependencies: + idf: + version: ">=4.4" +maintainers: + - Lewis He diff --git a/lib/SensorLib/keywords.txt b/lib/SensorLib/keywords.txt index 0f2fe20..ed14024 100644 --- a/lib/SensorLib/keywords.txt +++ b/lib/SensorLib/keywords.txt @@ -6,7 +6,9 @@ ####################################### # Datatypes (KEYWORD1) ####################################### -ExtensionIOXL9555 KEYWORD1 +IoExpanderBase KEYWORD1 +IoExpanderXL9555 KEYWORD1 +IoExpanderPCA9570 KEYWORD1 SensorPCF8563 KEYWORD1 SensorQMC6310 KEYWORD1 @@ -224,7 +226,7 @@ isHighThreshold KEYWORD2 ### SensorBHI260AP Coloring Map ### setPins KEYWORD2 setBootFromFlash KEYWORD2 -getHandler KEYWORD2 +getDev KEYWORD2 printInfo KEYWORD2 setInterruptCtrl KEYWORD2 getInterruptCtrl KEYWORD2 @@ -346,6 +348,8 @@ wakeup KEYWORD2 idle KEYWORD2 getSupportTouchPoint KEYWORD2 getResolution KEYWORD2 +getResolutionX KEYWORD2 +getResolutionY KEYWORD2 setGpioCallback KEYWORD2 ### TouchDrvCST92xx Coloring Map ### diff --git a/lib/SensorLib/library.json b/lib/SensorLib/library.json index 6284bf0..4929825 100644 --- a/lib/SensorLib/library.json +++ b/lib/SensorLib/library.json @@ -1,8 +1,39 @@ { "name": "SensorLib", - "version": "0.3.3", + "version": "0.4.1", "description": "Commonly used I2C , SPI device multi-platform libraries", - "keywords": "QMC6310, QMI8658, PCF8563, PCF85063, XL9555, BMA423, BHI260AP, DRV2605, CM32181, LTR553, FT5206, FT3267, FT6236, FT6336, CST816S,CST816T,CST816D, CST820, CST226, CHSC5816, GT911, CST9217, CST9220, AW9364", + "keywords": [ + "QMC6310N", + "QMC6310U", + "QMI8658", + "PCF8563", + "PCF85063", + "XL9555", + "BMA423", + "BHI260AP", + "BHI360", + "DRV2605", + "AW86224", + "CM32181", + "LTR553", + "FT5206", + "FT3267", + "FT6236", + "FT6336", + "CST816S", + "CST816T", + "CST816D", + "CST820", + "CST226", + "CHSC5816", + "GT911", + "CST9217", + "CST9220", + "HI8561", + "AW9364", + "QMC5883L", + "QMC5883P" + ], "authors": [ { "name": "LewisHe", @@ -12,9 +43,9 @@ ], "repository": { "type": "git", - "url": "https://github.com/lewisxhe/SensorsLib.git" + "url": "https://github.com/lewisxhe/SensorLib.git" }, - "homepage": "https://github.com/lewisxhe/SensorsLib", + "homepage": "https://github.com/lewisxhe/SensorLib", "export": { "include": [ "LICENSE", @@ -30,6 +61,11 @@ "arduino", "espidf" ], - "platforms": "ststm32,espressif32,nordicnrf52,raspberrypi", + "platforms": [ + "ststm32", + "espressif32", + "nordicnrf52", + "raspberrypi" + ], "license": "MIT" } \ No newline at end of file diff --git a/lib/SensorLib/library.properties b/lib/SensorLib/library.properties index b6db4f6..baebe35 100644 --- a/lib/SensorLib/library.properties +++ b/lib/SensorLib/library.properties @@ -1,9 +1,9 @@ name=SensorLib -version=0.3.3 +version=0.4.1 author=Lewis He maintainer=Lewis He sentence=Commonly used I2C , SPI device multi-platform libraries -paragraph=Support QMC6310,QMI8658,PCF8563,PCF85063,XL9555,BMA423,BHI260AP,DRV2605,CM32181,LTR553,FT5206,FT3267,FT6236,FT6336,CST816S/T/D,CST820,CST226,CHSC5816,GT911,CST9217,CST9220,AW9364 +paragraph=Support QMC6310,QMI8658,PCF8563,PCF85063,XL9555,BMA423,BHI260AP,BHI360,DRV2605,CM32181,LTR553,FT5206,FT3267,FT6236,FT6336,CST816S/T/D,CST820,CST226,CHSC5816,GT911,CST9217,CST9220,AW9364,AW86224 category=Communication -url=https://github.com/lewisxhe/SensorsLib +url=https://github.com/lewisxhe/SensorLib architectures=* diff --git a/lib/SensorLib/platformio.ini b/lib/SensorLib/platformio.ini new file mode 100644 index 0000000..5b847d6 --- /dev/null +++ b/lib/SensorLib/platformio.ini @@ -0,0 +1,287 @@ +;PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[platformio] +; !LedDriver +; src_dir = examples/AW9364_LedDriver + +; !Fuel gauge +; src_dir = examples/BQ27220_GaugeExample +; src_dir = examples/AXP2602_GaugeExample +; src_dir = examples/AXP2602_GaugeExample_UDP + +; !Haptic Driver +src_dir = examples/HapticDrv_DRV2605_Effect +; src_dir = examples/HapticDrv_DRV2605_Full +; src_dir = examples/HapticDrv_AW86224_Full + +; !Light Sensor +; src_dir = examples/LTR553ALS_Sensor +; src_dir = examples/CM32181_LightSensor +; src_dir = examples/CM32181_LightSensorInterrupt + +; !Real-time clock +; src_dir = examples/PCF85063_AlarmByUnits +; src_dir = examples/PCF85063_ClockOutput +; src_dir = examples/PCF85063_SimpleTime + +; src_dir = examples/PCF8563_AlarmByUnits +; src_dir = examples/PCF8563_ClockOutput +; src_dir = examples/PCF8563_SimpleTime +; src_dir = examples/PCF8563_TimeLib +; src_dir = examples/PCF8563_TimeSynchronization + +; !IMU examples +; src_dir = examples/BHI260AP_6DoF +; src_dir = examples/BHI260AP_Orientation +; src_dir = examples/BHI260AP_StepCounter +; src_dir = examples/BHI260AP_aux_BMM150 +; src_dir = examples/BHI260AP_aux_BMM150_BME280 +; src_dir = examples/BHI260AP_aux_BMM150_euler +; src_dir = examples/BHI260AP_aux_BMM150_quaternion +; src_dir = examples/BHI260AP_aux_BMM150_BME280_Expand_GPIO +; src_dir = examples/BHI260AP_Activity +; src_dir = examples/BHI260AP_Euler +; src_dir = examples/BHI260AP_Multiple + +; src_dir = examples/BHI260AP_Expand_GPIO +; src_dir = examples/BHI260AP_UpdateFirmware +; src_dir = examples/BHI260AP_Debug +; src_dir = examples/BHI260AP_Commander +; src_dir = examples/BHI260AP_Klio_RecognizeMultiple +; src_dir = examples/BHI260AP_Klio_Recognition +; src_dir = examples/BHI260AP_Klio_Selflearning +; src_dir = examples/BHI260AP_TiltDetector +; src_dir = examples/BHI260AP_InterruptSettings + +; src_dir = examples/BHI360_6DoF +; src_dir = examples/BHI360_AnyMotion +; src_dir = examples/BHI360_NoMotion +; src_dir = examples/BHI360_StepCounter +; src_dir = examples/BHI360_Multi_Tap +; src_dir = examples/BHI360_aux_BMM350_euler +; src_dir = examples/BHI360_aux_BMM350_BMP580_BME688 +; src_dir = examples/BHI360_aux_BMM350_BME688_IAQ +; src_dir = examples/BHI360_aux_BMM350_quaternion + + +; src_dir = examples/QMI8658_BlockExample +; src_dir = examples/QMI8658_CalibrationExample +; src_dir = examples/QMI8658_GetDataExample +; src_dir = examples/QMI8658_InterruptBlockExample +; src_dir = examples/QMI8658_InterruptExample +; src_dir = examples/QMI8658_LockingMechanismExample +; src_dir = examples/QMI8658_MadgwickAHRS +; src_dir = examples/QMI8658_MotionDetectionExample +; src_dir = examples/QMI8658_PedometerExample +; src_dir = examples/QMI8658_ReadFromFifoExample +; src_dir = examples/QMI8658_TapDetectionExample +; src_dir = examples/QMI8658_WakeOnMotion +; src_dir = examples/QMI8658_WakeOnMotionCallBackExample + +; !Magnetometer +; src_dir = examples/QMC6310_CalibrateExample +; src_dir = examples/QMC6310_CompassExample +; src_dir = examples/QMC6310_GetDataExample +; src_dir = examples/QMC5883L_GetDataExample +; src_dir = examples/QMC5883P_GetDataExample + + +; src_dir = examples/BMM150_GetDataExample + +; !Accelerometer +; src_dir = examples/BMA423_Accelerometer +; src_dir = examples/BMA423_AnyMotion +; src_dir = examples/BMA423_NoMotion +; src_dir = examples/BMA423_StepDetector +; src_dir = examples/BMA423_StepActivity +; src_dir = examples/BMA423_Tap +; src_dir = examples/BMA423_Tilt +; src_dir = examples/BMA423_DataReadyInterrupt + +; src_dir = examples/BMA456H_Accelerometer +; src_dir = examples/BMA456H_AnyMotion +; src_dir = examples/BMA456H_NoMotion +; src_dir = examples/BMA456H_StepDetector +; src_dir = examples/BMA456H_StepActivity +; src_dir = examples/BMA456H_Tap +; src_dir = examples/BMA456H_DataReadyInterrupt + +; src_dir = examples/BMA422_Accelerometer +; src_dir = examples/BMA422_AnyMotion +; src_dir = examples/BMA422_NoMotion + + +; !GPIO Expansion examples +; src_dir = examples/XL9555_AdjustBacklight +; src_dir = examples/XL9555_ExtensionIOInterrupt +; src_dir = examples/XL9555_ExtensionIORead +; src_dir = examples/XL9555_ExtensionIOWrite +; src_dir = examples/XL9555_ExtensionSPI + +; !Custom callback examples +; src_dir = examples/CustomCallbackTouchDrvInterface +; src_dir = examples/CustomCallbackUsageExamples +; src_dir = examples/SensorWireHelper + +; !Touch devices support list +; src_dir = examples/TouchDrvInterface_Example +; src_dir = examples/TouchDrv_CHSC5816_GetPoint +; src_dir = examples/TouchDrv_CST9217_GetPoint +; src_dir = examples/TouchDrv_CSTxxx_GetPoint +; src_dir = examples/TouchDrv_FT6232_GetPoint +; src_dir = examples/TouchDrv_GT911_GetPoint +; src_dir = examples/TouchDrv_GT9895_GetPoint +; src_dir = examples/TouchDrv_CST3530_GetPoint + +; !Device envs +; default_envs = esp32dev_arduino +default_envs = esp32s3_arduino +; default_envs = esp32c3_arduino +; default_envs = rp2040_arduino +; default_envs = nrf52840_arduino +; default_envs = stm32_arduino +; default_envs = pico_mbed + +; !Test all +; default_envs = esp32dev_arduino , rp2040_arduino , nrf52840_arduino , stm32_arduino , pico_mbed + +[env] +lib_extra_dirs = . +upload_speed = 921600 +monitor_speed = 115200 + +build_flags = + ; -DSENSOR_SDA=3 + ; -DSENSOR_SCL=2 + ; -DSENSOR_IRQ=-1 + + ; -DARDUINO_T_DECK + ; -DARDUINO_T_AMOLED_191 + ; -DARDUINO_T_AMOLED_191_QWIIC + ; -DARDUINO_T_AMOLED_241 + ; -DARDUINO_T_AMOLED_147 + ; -DARDUINO_T_DISPLAY_S3_PRO + ; -DARDUINO_T_DISPLAY_S3 + ; -DARDUINO_T_EPD47_S3 + ; -DARDUINO_T_WATCH_S3_ULTRA + ; -DARDUINO_T_WATCH_S3 + ; -DARDUINO_T_DECK + ; -DARDUINO_T_ULTIMA + ; -DUSE_SPI_INTERFACE=1 + ; -DLOG_PORT=Serial + ; -DBOSCH_PARSE_DATA_DUMP + -Wignored-qualifiers + -Wnarrowing + -Wtype-limits + ; -Werror + -Wall + -Wunused-variable + -Werror=format + -Wmissing-field-initializers + -std=c++11 + -Werror=nonnull + + ; -DUSING_DATA_HELPER + ; -DCUSTOM_SENSOR_EVB + +lib_deps = + ; creativerobotics/Commander @ ^4.3.0 + ; arduino-libraries/Madgwick @ ^1.2.0 + ; lewisxhe/XPowersLib @ ^0.3.2 + ; thingpulse/ESP8266 and ESP32 OLED driver for SSD1306 displays @ ^4.6.2 + +monitor_filters = + default + esp32_exception_decoder + time + +[esp32_base] +extends = env +upload_protocol = esptool +board_upload.wait_for_upload_port = yes +upload_flags = + --no-stub + +[env:esp32dev_arduino] +extends = ${esp32_base} +platform = espressif32@6.12.0 +framework = arduino +board = esp32dev + +build_flags = + ${env.build_flags} + -DCORE_DEBUG_LEVEL=4 + +[env:esp32c3_arduino] +extends = ${esp32_base} +platform = espressif32@6.12.0 +framework = arduino +board = esp32-c3-devkitm-1 +board_build.flash_mode = dio +build_flags = + ${env.build_flags} + -DCORE_DEBUG_LEVEL=0 + +[env:esp32s3_arduino] +extends = ${esp32_base} +platform = espressif32@6.12.0 +framework = arduino +; board = esp32-s3-devkitm-1 +board = esp32s3box +build_flags = + ${env.build_flags} + -DARDUINO_USB_CDC_ON_BOOT=1 + ; -UARDUINO_USB_CDC_ON_BOOT + -DCORE_DEBUG_LEVEL=0 + +[env:rp2040_arduino] +extends = env +; platform = raspberrypi +platform = https://github.com/maxgerhardt/platform-raspberrypi.git +board = pico +framework = arduino +board_build.core = earlephilhower + +[env:nrf52840_arduino] +extends = env +platform = nordicnrf52@10.6.0 +board = nrf52840_dk_adafruit +framework = arduino +monitor_speed = 115200 + +upload_protocol = nrfutil +; upload_protocol = nrfjprog +; upload_protocol = jlink + +build_flags = + ${env.build_flags} + -DCFG_DEBUG=3 + -DCFG_LOGGER=0 + -DCFG_SYSVIEW=1 + +lib_deps = + adafruit/SdFat - Adafruit Fork @ 2.2.3 ;BHI260AP_UpdateFirmware example use + creativerobotics/Commander @ ^4.3.0 ;BHI260AP_aux_BMM150_BME280_Expand_GPIO example use + +[env:stm32_arduino] +extends = env +platform = ststm32 +framework = arduino +board = nucleo_f411re +upload_protocol = stlink + +[env:pico_mbed] +extends = env +platform = raspberrypi +framework = arduino +board = pico + + diff --git a/lib/SensorLib/src/AW9364LedDriver.hpp b/lib/SensorLib/src/AW9364LedDriver.hpp index 40a8c4d..5255e0f 100644 --- a/lib/SensorLib/src/AW9364LedDriver.hpp +++ b/lib/SensorLib/src/AW9364LedDriver.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2024 lewis he + * Copyright (c) 2026 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 @@ -24,108 +24,170 @@ * * @file AW9364LedDriver.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2024-11-22 - * + * @date 2026-03-03 */ + #pragma once -#include "SensorLib.h" -#include "VirtualGpio.hpp" +#include "IoExpanderBase.hpp" +/** @brief Maximum brightness steps (0‑16). */ constexpr uint8_t MAX_BRIGHTNESS_STEPS = 16; +/** + * @class AW9364LedDriver + * @brief Controls LED brightness by generating a specific number of pulses on a GPIO pin. + * + * The driver toggles the pin rapidly to produce a perceived brightness level. + * It can operate either directly on an Arduino pin or via an IoExpanderBase + * (e.g., an I2C GPIO expander). + * + * @warning When using an I2C expander, the I2C bus speed must be set to 1 MHz; + * lower speeds will cause insufficient pulse rate and incorrect brightness. + */ class AW9364LedDriver { public: - + /** + * @brief Initialize the driver for use with a native Arduino pin. + * + * @param pin Arduino pin number (must support OUTPUT mode). + */ void begin(uint8_t pin) { _driver_pin = pin; - _virtualGpio = NULL; + _base = nullptr; this->_pinMode(_driver_pin, OUTPUT); this->_digitalWrite(_driver_pin, LOW); } - void begin(VirtualGpio *handler, uint8_t pin) + /** + * @brief Initialize the driver for use with a GPIO expander pin. + * + * @param base Reference to an IoExpanderBase instance (e.g., XL9555). + * @param pin Pin number on the expander (0‑pinCount‑1). + * + * @warning The I2C bus speed of the expander MUST be configured to 1 MHz + * before calling this function. Failure to do so will result in + * incorrect brightness levels. + */ + void begin(IoExpanderBase &base, uint8_t pin) { - _virtualGpio = handler; + _base = &base; _driver_pin = pin; this->_pinMode(_driver_pin, OUTPUT); this->_digitalWrite(_driver_pin, LOW); } + /** + * @brief Set the LED brightness level. + * + * Brightness is controlled by the number of pulses generated. + * A value of 0 turns the LED off (pin LOW). Non‑zero values are mapped to + * a number of pulses that adjust the brightness upward or downward from + * the current setting. Pulses are generated by quickly toggling the pin + * LOW→HIGH. + * + * @param value Desired brightness (0‑16). Values >16 are clamped to 16. + * + * @note When using an I2C expander, ensure the bus speed is 1 MHz; otherwise + * the pulse timing will be incorrect. + */ void setBrightness(uint8_t value) { if (_brightness == value) { return; } - if (value > 16) { - value = 16; + if (value > MAX_BRIGHTNESS_STEPS) { + value = MAX_BRIGHTNESS_STEPS; } + + // Turn off if brightness is zero if (value == 0) { this->_digitalWrite(_driver_pin, 0); _brightness = 0; return; } + + // If coming from zero, start with a HIGH pulse to enable output if (_brightness == 0) { this->_digitalWrite(_driver_pin, 1); _brightness = MAX_BRIGHTNESS_STEPS; } + + // Calculate number of pulses needed to change from current brightness int from = MAX_BRIGHTNESS_STEPS - _brightness; - int to = MAX_BRIGHTNESS_STEPS - value; - int num = (MAX_BRIGHTNESS_STEPS + to - from) % MAX_BRIGHTNESS_STEPS; + int to = MAX_BRIGHTNESS_STEPS - value; + int num = (MAX_BRIGHTNESS_STEPS + to - from) % MAX_BRIGHTNESS_STEPS; - uint32_t frequency = 0; - if (_virtualGpio) { - // If use I / O port Expander for driving, need to increase the I2C communication rate. - // The test uses XINLUDA XL9555. The manual advertises the maximum communication rate as 400K. - // In fact, it can be driven normally at 1000K. - // https://item.szlcsc.com/datasheet/XL9555/639796.html - frequency = _virtualGpio->getClock(); - _virtualGpio->setClock(1000000UL); - } + /* // Optional speed boost when using I2C expanders + // uint32_t frequency = 0; + // if (_base) { + // // Increasing I2C speed may be necessary for enough pulse rate. + // // Tested with XL9555: can run at 1000 kHz despite 400 kHz spec. + // frequency = _base->getClock(); + // _base->setClock(1000000UL); + // } + */ + // Generate the required number of pulses for (int i = 0; i < num; i++) { this->_digitalWrite(_driver_pin, 0); this->_digitalWrite(_driver_pin, 1); } - if (_virtualGpio) { - // Restore the original communication speed to avoid disrupting - // the communication of other devices that do not support high-speed rates - _virtualGpio->setClock(frequency); - } + /* // Restore original communication speed + // if (_base) { + // _base->setClock(frequency); + // } + */ + _brightness = value; } - + /** + * @brief Get the current brightness setting. + * + * @return uint8_t Current brightness (0‑16). + */ uint8_t getBrightness() const { return _brightness; } protected: - + /** + * @brief Internal helper to set pin mode, handling both native and expander pins. + * + * @param pin Pin number. + * @param mode INPUT or OUTPUT. + */ void _pinMode(uint8_t pin, uint8_t mode) { - if (_virtualGpio) { - _virtualGpio->pinMode(pin, mode); + if (_base) { + _base->pinMode(pin, mode); } else { pinMode(pin, mode); } } + /** + * @brief Internal helper to write digital value, handling both native and expander pins. + * + * @param pin Pin number. + * @param value HIGH (true) or LOW (false). + */ void _digitalWrite(uint8_t pin, uint8_t value) { - if (_virtualGpio) { - _virtualGpio->digitalWrite(pin, value); + if (_base) { + _base->digitalWrite(pin, value); } else { digitalWrite(pin, value); } } private: - VirtualGpio *_virtualGpio = NULL; - uint8_t _driver_pin; - uint8_t _brightness = 0; -}; \ No newline at end of file + IoExpanderBase *_base; ///< Pointer to expander instance (nullptr when using native pins) + uint8_t _driver_pin; ///< Pin number used for LED control + uint8_t _brightness = 0; ///< Current brightness level (0‑16) +}; diff --git a/lib/SensorLib/src/BoschFirmware.h b/lib/SensorLib/src/BoschFirmware.h index 902afc3..e5c3930 100644 --- a/lib/SensorLib/src/BoschFirmware.h +++ b/lib/SensorLib/src/BoschFirmware.h @@ -30,53 +30,111 @@ +// BHI260 Firmwares #if defined(BOSCH_APP30_SHUTTLE_BHI260_FW) - #include "bosch/firmware/bosch_app30_shuttle_bhi260.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_BME68X) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_bme68x.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_BMP390) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_bmp390.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_TURBO) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_turbo.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo.h" #elif defined(BOSCH_BHI260_AUX_BEM280) - #include "bosch/firmware/bosch_bhi260_aux_bem280.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bem280.h" #elif defined(BOSCH_BHI260_AUX_BMM150_BEM280) - #include "bosch/firmware/bosch_bhi260_aux_bmm150_bem280.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280.h" #elif defined(BOSCH_BHI260_AUX_BMM150_BEM280_GPIO) - #include "bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio.h" #elif defined(BOSCH_BHI260_AUX_BMM150_GPIO) - #include "bosch/firmware/bosch_bhi260_aux_bmm150_gpio.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio.h" #elif defined(BOSCH_BHI260_GPIO) - #include "bosch/firmware/bosch_bhi260_gpio.h" + #include "bosch/firmware/bhi260/bosch_bhi260_gpio.h" #elif defined(BOSCH_BHI260_KLIO) - #include "bosch/firmware/bosch_bhi260_klio.h" + #include "bosch/firmware/bhi260/bosch_bhi260_klio.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_bme68x_flash.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x_flash.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_bmp390_flash.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390_flash.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_FLASH) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_flash.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_flash.h" #elif defined(BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH) - #include "bosch/firmware/bosch_app30_shuttle_bhi260_turbo_flash.h" + #include "bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo_flash.h" #elif defined(BOSCH_BHI260_AUX_BEM280_FLASH) - #include "bosch/firmware/bosch_bhi260_aux_bem280_flash.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bem280_flash.h" #elif defined(BOSCH_BHI260_AUX_BMM150_BEM280_FLASH) - #include "bosch/firmware/bosch_bhi260_aux_bmm150_bem280_flash.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_flash.h" #elif defined(BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH) - #include "bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h" #elif defined(BOSCH_BHI260_AUX_BMM150_GPIO_FLASH) - #include "bosch/firmware/bosch_bhi260_aux_bmm150_gpio_flash.h" + #include "bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio_flash.h" #elif defined(BOSCH_BHI260_GPIO_FLASH) - #include "bosch/firmware/bosch_bhi260_gpio_flash.h" + #include "bosch/firmware/bhi260/bosch_bhi260_gpio_flash.h" #elif defined(BOSCH_BHI260_KLIO_FLASH) - #include "bosch/firmware/bosch_bhi260_klio_flash.h" + #include "bosch/firmware/bhi260/bosch_bhi260_klio_flash.h" #elif defined(BOSCH_BHI260_KLIO_TURBO_FLASH) - #include "bosch/firmware/bosch_bhi260_klio_turbo_flash.h" + #include "bosch/firmware/bhi260/bosch_bhi260_klio_turbo_flash.h" + +// BHI360 Firmwares +#elif defined(BOSCH_DATA_INJECT_BHI360) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360.h" +#elif defined(BOSCH_DATA_INJECT_BHI360_BMM150) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150.h" +#elif defined(BOSCH_DATA_INJECT_BHI360_BMM150_HEAD_ORIENTATION) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150_head_orientation.h" +#elif defined(BOSCH_DATA_INJECT_BHI360_BMM350) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350.h" +#elif defined(BOSCH_DATA_INJECT_BHI360_BMM350_HEAD_ORIENTATION) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350_head_orientation.h" +#elif defined(BOSCH_DATA_INJECT_BHI360_ENV) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360_env.h" +#elif defined(BOSCH_DATA_INJECT_BHI360_HEAD_ORIENTATION) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360_head_orientation.h" +#elif defined(BOSCH_DATA_INJECT_BHI360_MOTION_AI) + #include "bosch/firmware/bhi360/bosch_data_inject_bhi360_motion_ai.h" +#elif defined(BOSCH_SHUTTLE3_BHI360) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_AUX_BMM150) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_aux_bmm150.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM150) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM150_BMP580_BME688) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_bmp580_bme688.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM150_HEAD_ORIENTATION) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_head_orientation.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM350C) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM350C_BME688_IAQ) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bme688_iaq.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM350C_BMP580_BME688) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580_bme688.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM350C_HEAD_ORIENTATION) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_head_orientation.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM350C_POLL) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_poll.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMM350C_TURBO) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_turbo.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_BMP580_TEST_EXAMPLE) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmp580_test_example.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_HW_ACTIVITY_TURBO) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity_turbo.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_IMU_HEAD_ORIENTATION) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_imu_head_orientation.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_POLLING_STEP_COUNTER) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_polling_step_counter.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_TEMP) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_temp.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_TEST_DATA_SOURCE) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_test_data_source.h" +#elif defined(BOSCH_SHUTTLE3_BHI360_TURBO) + #include "bosch/firmware/bhi360/bosch_shuttle3_bhi360_turbo.h" #else #warning "None of the defined conditions were met, so no firmware will be included". #endif - diff --git a/lib/SensorLib/src/DevicesPins.h b/lib/SensorLib/src/DevicesPins.h index ceeceb8..7c4fccc 100644 --- a/lib/SensorLib/src/DevicesPins.h +++ b/lib/SensorLib/src/DevicesPins.h @@ -81,21 +81,21 @@ #define SENSOR_SCL 5 #define SENSOR_IRQ 15 #define SENSOR_RST 41 -#elif defined(ARDUINO_T_WATCH_S3_U) +#elif defined(ARDUINO_T_WATCH_S3_ULTRA) // T-Watch-S3-U -#define SENSOR_SDA 2 -#define SENSOR_SCL 3 -#define SENSOR_IRQ 12 -#define SENSOR_RST 16 +#define TOUCH_SDA 3 +#define TOUCH_SCL 2 +#define TOUCH_IRQ 12 +#define TOUCH_RST -1 #elif defined(ARDUINO_T_WATCH_S3) // T-Watch-S3 #define SENSOR_SDA 10 #define SENSOR_SCL 11 #define PCF8563_IRQ 17 #define BMA423_IRQ 14 -#define FT6336_SDA 39 -#define FT6336_SCL 40 -#define FT6336_IRQ 16 +#define TOUCH_SDA 39 +#define TOUCH_SCL 40 +#define TOUCH_IRQ 16 #elif defined(ARDUINO_T_BEAM_S3_SUPREME) #define OLED_SDA (17) #define OLED_SCL (18) @@ -128,6 +128,14 @@ #define BHI260_IRQ 5 #define BHI260_RST -1 #define USE_SPI_INTERFACE 1 +#elif defined(CUSTOM_SENSOR_EVB) +#define SPI_MOSI 11 +#define SPI_MISO 10 +#define SPI_SCK 12 +#define BHI360_CS 13 +#define BHI360_IRQ 9 +#define BHI360_RST 14 +#define USE_SPI_INTERFACE 1 #endif diff --git a/lib/SensorLib/src/ExtensionIOXL9555.hpp b/lib/SensorLib/src/ExtensionIOXL9555.hpp index 07c58f8..a843127 100644 --- a/lib/SensorLib/src/ExtensionIOXL9555.hpp +++ b/lib/SensorLib/src/ExtensionIOXL9555.hpp @@ -29,292 +29,13 @@ */ #pragma once -#include "REG/XL9555Constants.h" -#include "SensorPlatform.hpp" -#include "ExtensionSPI.hpp" -#include "VirtualGpio.hpp" +#warning "CRITICAL: File 'ExtensionIOXL9555.hpp' has been renamed to 'IoExpanderXL9555.hpp'." -typedef void (*gpio_event_t)(void *user_data); -typedef struct ioEvent { - uint8_t mode; - gpio_event_t cb; - void *user_data; - uint8_t last_state; - ioEvent() : mode(0), cb(NULL), user_data(NULL), last_state(LOW) - { - } -} ioEvent_t; +/* +* Action Required: +* 1. Search your codebase for: #include "ExtensionIOXL9555.hpp" replace #include "IoExpanderXL9555.hpp" +* 2. Replace all instances with: ExtensionIOXL9555 with IoExpanderXL9555" + */ +#include "IoExpanderXL9555.hpp" - - -class ExtensionIOXL9555 : - public VirtualGpio, - public XL95xxConstants, - public ExtensionSPI -{ - friend class ExtensionSPI; -public: - - - enum { - PORT0, - PORT1, - }; - - enum ExtensionGPIO { - IO0, - IO1, - IO2, - IO3, - IO4, - IO5, - IO6, - IO7, - IO8, - IO9, - IO10, - IO11, - IO12, - IO13, - IO14, - IO15, - }; - - ExtensionIOXL9555() : comm(nullptr) {} - - ~ExtensionIOXL9555() - { - if (comm) { - comm->deinit(); - } - } - -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = XL9555_UNKOWN_ADDRESS, int sda = -1, int scl = -1) - { - comm = std::make_unique(wire, addr, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(addr); - } - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = XL9555_UNKOWN_ADDRESS, int sda = -1, int scl = -1) - { - comm = std::make_unique(port_num, addr, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(addr); - } -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = XL9555_UNKOWN_ADDRESS) - { - comm = std::make_unique(handle, addr); - if (!comm) { - return false; - } - comm->init(); - return initImpl(addr); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback, uint8_t addr) - { - comm = std::make_unique(callback, addr); - if (!comm) { - return false; - } - comm->init(); - return initImpl(addr); - } - - void deinit() - { - // end(); - } - - void pinMode(uint8_t pin, uint8_t mode) - { - uint8_t registers = 0; - if (pin >= IO8) { - pin -= IO8; - registers = XL9555_CTRL_CFG1; - } else { - registers = XL9555_CTRL_CFG0; - } - switch (mode) { - case INPUT: - comm->setRegisterBit(registers, pin); - break; - case OUTPUT: - comm->clrRegisterBit(registers, pin); - break; - default: - break; - } - } - - int digitalRead(uint8_t pin) - { - uint8_t registers = 0; - if (pin >= IO8) { - pin -= IO8; - registers = XL9555_CTRL_INP1; - } else { - registers = XL9555_CTRL_INP0; - } - return comm->getRegisterBit(registers, pin); - } - - void digitalWrite(uint8_t pin, uint8_t val) - { - uint8_t registers = 0; - if (pin >= IO8) { - pin -= IO8; - registers = XL9555_CTRL_OUTP1; - } else { - registers = XL9555_CTRL_OUTP0; - } - val ? comm->setRegisterBit(registers, pin) : comm->clrRegisterBit(registers, pin); - } - - // Invert gpio - void digitalToggle(uint8_t pin) - { - int state = 1 - digitalRead(pin); - digitalWrite(pin, state); - } - - // Read 8-bit gpio input status - int readPort(uint8_t port) - { - return comm->readRegister(port == PORT0 ? XL9555_CTRL_INP0 : XL9555_CTRL_INP1); - } - - // Write 8 bits of data to the specified port - int writePort(uint8_t port, uint8_t mask) - { - return comm->writeRegister(port == PORT0 ? XL9555_CTRL_OUTP0 : XL9555_CTRL_OUTP1, mask); - } - - // Read 16-bit gpio input status - uint16_t read() - { - uint16_t val = 0x0; - comm->readRegister(XL9555_CTRL_INP0, (uint8_t *)&val, 2); - return val; - } - - // Write 16-bit data to gpio, low bit port 0 - void write(uint16_t value) - { - uint8_t buffer[2] = {highByte(value), lowByte(value)}; - comm->writeRegister(XL9555_CTRL_OUTP0, buffer, 2); - } - - // Read the specified port configuration status - int readConfig(uint8_t port) - { - return comm->readRegister(port == PORT0 ? XL9555_CTRL_CFG0 : XL9555_CTRL_CFG1); - } - - // Configure the specified port as input or output , 0xFF = all pin input , 0x00 = all pin output - int configPort(uint8_t port, uint8_t mask) - { - return comm->writeRegister(port == PORT0 ? XL9555_CTRL_CFG0 : XL9555_CTRL_CFG1, mask); - } - - void setPinEvent(uint8_t pin, uint8_t mode, gpio_event_t event, void *user_data) - { - if (pin > XL9555_MAX_PIN) { - log_e("XL9555 Max use io pin is 0 ~ 15 ."); - return; - } - this->event[pin].cb = event; - this->event[pin].mode = mode; - this->event[pin].user_data = user_data; - } - - void removePinEvent(uint8_t pin) - { - if (pin > XL9555_MAX_PIN) { - log_e("XL9555 Max use io pin is 0 ~ 15 ."); - return; - } - this->event[pin].cb = NULL; - } - - void update() - { - uint16_t val = this->read(); - - int i = XL9555_MAX_PIN; - - for (; i >= 0; i--) { - - uint8_t _index = XL9555_MAX_PIN - i; - - if (this->event[_index].cb != NULL) { - - if (!(val & 1)) { - if (this->event[_index].mode == LOW) { - this->event[_index].cb(this->event[_index].user_data); - } - this->event[_index].last_state = LOW; - } else { - if (this->event[_index].mode == HIGH && this->event[_index].last_state == LOW) { - this->event[_index].cb(this->event[_index].user_data); - } - this->event[_index].last_state = HIGH; - } - } - val >>= 1; - } - } - - void setClock(uint32_t frequency) - { - //TODO: - } - - uint32_t getClock() - { - //TODO: - return 0; - } -private: - - bool initImpl(uint8_t addr) - { - if (addr == XL9555_UNKOWN_ADDRESS) { - log_d("Try to automatically discover the device"); - for (uint8_t a = XL9555_SLAVE_ADDRESS0; a <= XL9555_SLAVE_ADDRESS7; ++a) { - I2CParam params(I2CParam::I2C_SET_ADDR, a); - comm->setParams(params); - log_d("Try to use 0x%02x address.", a); - if (comm->readRegister(XL9555_CTRL_INP0) != -1) { - log_d("Found the xl9555 chip address is 0x%X", a); - return true; - } - } - log_e("No found xl9555 chip ..."); - return false; - } - if (comm->readRegister(XL9555_CTRL_INP0) < 0 ) { - return false; - } - return true; - } - - ioEvent_t event[16]; -protected: - uint32_t _frequency; - std::unique_ptr comm; -}; +using ExtensionIOXL9555 = IoExpanderXL9555; diff --git a/lib/SensorLib/src/ExtensionSPI.hpp b/lib/SensorLib/src/ExtensionSPI.hpp deleted file mode 100644 index aea5699..0000000 --- a/lib/SensorLib/src/ExtensionSPI.hpp +++ /dev/null @@ -1,124 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2024 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. - * - * @file ExtensionSPI.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2024-01-19 - * - */ -#pragma once - -#include "SensorLib.h" - -template -class ExtensionSPI -{ -public: - void beginSPI(int mosi, - int miso, - int sck, - int cs - ) - { - _mosi = mosi; - _miso = miso; - _sck = sck; - _cs = cs; - - thisChip().pinMode(_mosi, OUTPUT); - thisChip().pinMode(_sck, OUTPUT); - - if (_cs != -1) { - thisChip().pinMode(_cs, OUTPUT); - thisChip().digitalWrite(_cs, HIGH); - } - - if (_miso != -1) { - thisChip().pinMode(_miso, INPUT); - } - thisChip().digitalWrite(_mosi, HIGH); - thisChip().digitalWrite(_sck, HIGH); - - } - - void setBitOrder(uint8_t order) - { - _order = order & 1; - } - - uint8_t transfer8(uint8_t val) - { - return transferDataBits(val, 8); - } - - uint16_t transfer9(uint16_t val) - { - return transferDataBits(val, 9); - } - - uint32_t transferDataBits(uint32_t val, uint32_t bits) - { - uint32_t mask = _BV(bits - 1); - uint8_t out = 0; - if (_cs != -1) { - thisChip().digitalWrite(_cs, LOW); - } - for (int i = 0; i < bits ; i++) { - thisChip().digitalWrite(_sck, LOW); - out <<= 1; - if (_miso != -1) { - if (thisChip().digitalRead(_miso)) { - out |= 0x01; - } - } - thisChip().digitalWrite(_mosi, val & mask ? HIGH : LOW); - val <<= 1; - thisChip().digitalWrite(_sck, HIGH); - } - if (_cs != -1) { - thisChip().digitalWrite(_cs, HIGH); - } - return out; - } - - -protected: - - inline const chipType &thisChip() const - { - return static_cast(*this); - } - - inline chipType &thisChip() - { - return static_cast(*this); - } - -private: - int _mosi; - int _sck; - int _miso; - int _order; - int _cs; -}; \ No newline at end of file diff --git a/lib/SensorLib/src/GaugeAXP2602.hpp b/lib/SensorLib/src/GaugeAXP2602.hpp new file mode 100644 index 0000000..137619d --- /dev/null +++ b/lib/SensorLib/src/GaugeAXP2602.hpp @@ -0,0 +1,868 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2025 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. + * + * @file GaugeAXP2602.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2025-12-05 + */ + +#pragma once + +#include "platform/comm/I2CDeviceWithHal.hpp" + +// AXP2602 Unique device address +static constexpr uint8_t AXP2602_SLAVE_ADDRESS = (0x62); + +class GaugeAXP2602 : public I2CDeviceWithHal +{ +public: + enum CurrentSenseResistor { + SENSE_RESISTOR_10_MOHM = 0x00, + SENSE_RESISTOR_5_MOHM = 0x01, + SENSE_RESISTOR_20_MOHM = 0x02, + SENSE_RESISTOR_40_MOHM = 0x03 + }; + + enum IRQStatus { + IRQ_STATUS_NONE = 0x00, + IRQ_STATUS_LOW_BATTERY = 0x01, + IRQ_STATUS_SOC_UPDATE = 0x02, + IRQ_STATUS_OVER_TEMPERATURE = 0x03, + IRQ_STATUS_WDT_TIMEOUT = 0x04 + }; + + enum IRQEnable { + IRQ_ENABLE_WDT_TIMEOUT = 0x08, + IRQ_ENABLE_OVER_TEMPERATURE = 0x04, + IRQ_ENABLE_SOC_UPDATE = 0x02, + IRQ_ENABLE_LOW_BATTERY = 0x01 + }; + enum OperatingMode { + // It has relatively high power consumption, but can be used for both charging and discharging. + OPERATING_MODE_HIGH_PRECISION = 0x00, + // In default mode, it can be used for both charging and discharging. + OPERATING_MODE_NORMAL = 0x02, + // With relatively low power consumption, it can only be used in low-power scenarios during discharge. + // In other scenarios, software switching to normal mode or high-precision mode is required. + OPERATING_MODE_LOW_POWER = 0x06, + }; + + struct GaugeData { + + uint8_t chipID; // Chip ID + // Voltage, current, and temperature measurements + uint16_t voltage; // mV + int16_t currentRaw; // mA (Signed, two's complement representation) + int8_t temperature; // °C + uint16_t tdieTemperatureRaw; // Thermosensitive Temperature ADC Raw Value + + // Battery status information + uint8_t soc; // Battery percentage (0-100) + uint8_t soh; // Battery health status (0-100) + uint16_t timeToEmpty; // Time remaining (minutes) + uint16_t timeToFull; // Full time (minutes) + + // IRQ status + IRQStatus irqStatus; + + // Operating mode + OperatingMode operatingMode; + + // Configuration status + bool thermalDieEnabled; + bool currentMeasurementEnabled; + bool batteryDetectionEnabled; + bool sleepModeEnabled; + CurrentSenseResistor senseResistor; + + float current; // Actual current calculated from the sampling resistor（mA） + float actualDieTemperature; // die temperature calculated according to the formula（℃） + float power; // Instantaneous power (W), positive indicates discharging, negative indicates charging. + + GaugeData() : + chipID(0), + voltage(0), + currentRaw(0), + temperature(0), + tdieTemperatureRaw(0), + soc(0), + soh(0), + timeToEmpty(0), + timeToFull(0), + irqStatus(IRQ_STATUS_NONE), + operatingMode(OPERATING_MODE_NORMAL), + thermalDieEnabled(true), + currentMeasurementEnabled(true), + batteryDetectionEnabled(true), + sleepModeEnabled(false), + senseResistor(SENSE_RESISTOR_10_MOHM), + current(0.0f), + actualDieTemperature(0.0f), + power(0.0f) + {} + }; + + GaugeAXP2602() = default; + + ~GaugeAXP2602() = default; + +#if defined(ARDUINO) + /** + * @brief Begin with Arduino TwoWire instance. + * @note This function initializes the AXP2602 chip with the specified I2C parameters. + * @param &wire: The TwoWire instance to use for I2C communication. + * @param sda: The SDA pin number (default is -1). + * @param scl: The SCL pin number (default is -1). + * @retval True if initialization is successful, false otherwise. + */ + bool begin(TwoWire &wire, int sda = -1, int scl = -1) + { + return I2CDeviceWithHal::begin(wire, AXP2602_SLAVE_ADDRESS, sda, scl); + } + +#elif defined(ESP_PLATFORM) + +#if defined(USEING_I2C_LEGACY) + /** + * @brief Begin with ESP-IDF I2C port number. + * @note This function initializes the AXP2602 chip with the specified I2C parameters. + * @param port_num: The I2C port number to use. + * @param sda: The SDA pin number (default is -1). + * @param scl: The SCL pin number (default is -1). + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_port_t port_num, int sda = -1, int scl = -1) + { + return I2CDeviceWithHal::begin(port_num, AXP2602_SLAVE_ADDRESS, sda, scl); + } +#else + /** + * @brief Begin with ESP-IDF I2C master bus handle. + * @note This function initializes the AXP2602 chip with the specified I2C parameters. + * @param handle: The I2C master bus handle to use. + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_master_bus_handle_t handle) + { + return I2CDeviceWithHal::begin(handle, AXP2602_SLAVE_ADDRESS); + } +#endif //ESP_PLATFORM +#endif //ARDUINO + + /** + * @brief Begin with custom callback functions. + * @note This function initializes the AXP2602 chip with user-defined callback functions. + * @param callback: The custom callback function for communication. + * @param hal_callback: The custom callback function for hardware abstraction layer. + * @retval True if initialization is successful, false otherwise. + */ + bool begin(SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback) + { + return I2CDeviceWithHal::begin(callback, hal_callback, AXP2602_SLAVE_ADDRESS); + } + + /** + * @brief Refresh the AXP2602 chip data. + * @note This function reads the latest data from the AXP2602 chip registers. + * @retval True if refresh is successful, false otherwise. + */ + bool refresh() + { + if (!comm) return false; + + if (data.chipID != AXP2602_CHIP_ID) { + log_e("Chip id not match : %02X\n", data.chipID); + return false; + } + + if (data.sleepModeEnabled) { + // Chip is in sleep mode, no need to read other registers + return true; + } + + // Read voltage (14-bit ADC, 0-4500mV) + int vbatHigh = readReg(REG_VBAT_ADC_HIGH); + int vbatLow = readReg(REG_VBAT_ADC_LOW); + if (vbatHigh >= 0 && vbatLow >= 0) { + data.voltage = ((vbatHigh & 0x3F) << 8) | vbatLow; // High 6 bits + Low 8 bits + } + + // Read current (16-bit ADC, two's complement) + int ibatHigh = readReg(REG_IBAT_ADC_HIGH); + int ibatLow = readReg(REG_IBAT_ADC_LOW); + if (ibatHigh >= 0 && ibatLow >= 0) { + uint16_t raw = (ibatHigh << 8) | ibatLow; + data.currentRaw = static_cast(raw); // Convert to signed 16-bit + + // Calculate actual current value (mA) based on sense resistor + float resolution = getCurrentResolution(data.senseResistor); + data.current = data.currentRaw * resolution; + } + + // Read temperature + int temp = readReg(REG_TEMP_RESULT); + if (temp >= 0) { + // 1 LSB = 1°C, range -128°C to +127°C + data.temperature = static_cast(temp); + } + + // Read die temperature (13-bit ADC) + int tdieHigh = readReg(REG_TDIE_ADC_HIGH); + int tdieLow = readReg(REG_TDIE_ADC_LOW); + if (tdieHigh >= 0 && tdieLow >= 0) { + data.tdieTemperatureRaw = ((tdieHigh & 0x1F) << 8) | tdieLow; // High 5 bits + Low 8 bits + // Formula on page 10 of the manual: Temperature (°C) = (3415 - xDie) * 10 / 95 + 26 + data.actualDieTemperature = (3415.0 - data.tdieTemperatureRaw) * 10.0 / 95.0 + 26.0; + if (data.actualDieTemperature < -40 || data.actualDieTemperature > 85) { + log_e("Die temperature out of range: %d\n", data.actualDieTemperature); + data.actualDieTemperature = 0; // Reset to 0 if out of range + } + } + + // Read battery status + data.soc = readReg(REG_SOC); + data.soh = readReg(REG_SOH); + + // Read time to empty estimation + int timeEmptyHigh = readReg(REG_TIME_TO_EMPTY_HIGH); + int timeEmptyLow = readReg(REG_TIME_TO_EMPTY_LOW); + if (timeEmptyHigh >= 0 && timeEmptyLow >= 0) { + data.timeToEmpty = (timeEmptyHigh << 8) | timeEmptyLow; + } + + int timeFullHigh = readReg(REG_TIME_TO_FULL_HIGH); + int timeFullLow = readReg(REG_TIME_TO_FULL_LOW); + if (timeFullHigh >= 0 && timeFullLow >= 0) { + data.timeToFull = (timeFullHigh << 8) | timeFullLow; + } + + // Read IRQ status + int irqStatus = readReg(REG_IRQ_STATUS); + if (irqStatus >= 0) { + data.irqStatus = static_cast(irqStatus & 0x0F); + } + + // Read configuration + int config = readReg(REG_COMM_CONFIG); + if (config >= 0) { + data.thermalDieEnabled = (config & _BV(6)) != 0; + data.currentMeasurementEnabled = (config & _BV(5)) != 0; + data.batteryDetectionEnabled = (config & _BV(4)) != 0; + data.senseResistor = static_cast(config & 0x03); + } + + // Calculate instantaneous power (W): P = V * I + data.power = (data.voltage * data.current) / 1000000.0f; + + return true; + } + + /** + * @brief Obtain current resolution based on the sampling resistor + * @param resistor Sampling resistor value + * @retval Current resolution (mA/LSB) + */ + float getCurrentResolution(CurrentSenseResistor resistor) + { + switch (resistor) { + case SENSE_RESISTOR_5_MOHM: + return 0.5f; // 500uA/LSB = 0.5mA/LSB + case SENSE_RESISTOR_10_MOHM: + return 0.25f; // 250uA/LSB = 0.25mA/LSB + case SENSE_RESISTOR_20_MOHM: + return 0.125f; // 125uA/LSB = 0.125mA/LSB + case SENSE_RESISTOR_40_MOHM: + return 0.0625f; // 62.5uA/LSB = 0.0625mA/LSB + default: + return 0.25f; // Default 10mΩ + } + } + + /** + * @brief Get the chip ID. + * @note This function retrieves the unique identifier for the AXP2602 chip. + * @retval The chip ID as an integer. Default value is 0x1C for AXP2602. + */ + int getChipID() + { + return readReg(REG_ID); + } + + /** + * @brief Get the temperature. + * @retval The temperature in degrees Celsius (°C). + */ + int8_t getTemperature() + { + return data.temperature; + } + + /** + * @brief Get the battery health status. + * @retval The battery health status as an 8-bit unsigned integer. + */ + uint8_t getBatteryStatus() + { + return data.soh; + } + + /** + * @brief Get the battery percentage. + * @retval The battery percentage as an 8-bit unsigned integer. + */ + uint8_t getStateOfCharge() + { + return data.soc; + } + + /** + * @brief Get the battery time to empty. + * @retval The battery time to empty in minutes. + */ + uint16_t getTimeToEmpty() + { + return data.timeToEmpty; + } + + /** + * @brief Get the battery time to full. + * @retval The battery time to full in minutes. + */ + uint16_t getTimeToFull() + { + return data.timeToFull; + } + + /** + * @brief Get the low battery SOC threshold. + * @retval The low battery SOC threshold as an 8-bit unsigned integer. + */ + uint8_t getLowBatterySOCThreshold() + { + int lowSoc = readReg(REG_LOW_SOC_THLD); + if (lowSoc >= 0) { + return lowSoc & 0x3F; // Low 6 bits valid + } + return 0; + } + + /** + * @brief Get the over-temperature threshold. + * @retval The over-temperature threshold as an 8-bit unsigned integer. + */ + uint8_t getOverTemperatureThreshold() + { + int otThld = readReg(REG_OT_THLD); + if (otThld >= 0) { + return otThld & 0x7F; // Low 7 bits valid + } + return 0; + } + + /** + * @brief Get the actual die temperature + * @retval Actual temperature value (°C) + */ + float getThermalDieTemperature() + { + return data.actualDieTemperature; + } + + /** + * @brief Get the thermal die temperature. + * @retval The thermal die temperature ADC value. + */ + uint16_t getThermalDieTemperatureRaw() + { + return data.tdieTemperatureRaw; + } + + /** + * @brief Get the battery voltage. + * @retval The battery voltage in millivolts (mV). + */ + uint16_t getVoltage() + { + return data.voltage; + } + + + /** + * @brief Checks if the battery is charging + * @retval Returns true for charging, false for discharging + */ + bool isCharging() + { + return data.current > 0; + } + + /** + * @brief Checks if the battery is discharging + * @retval Returns true for discharging and false for charging + */ + bool isDischarging() + { + return data.current < 0; + } + + /** + * @brief Get charging power (positive or 0) + * @retval Charging power (W), returns 0 if not charging + */ + float getChargingPower() + { + return (data.current > 0) ? data.power : 0.0f; + } + + /** + * @brief Get discharging power (positive or 0) + * @retval Discharging power (W), returns 0 if not discharging + */ + float getDischargingPower() + { + return (data.current < 0) ? -data.power : 0.0f; + } + + /** + * @brief Get the absolute power (always positive) + * @retval The absolute power (W) + */ + float getAbsolutePower() + { + return fabs(data.power); + } + + /** + * @brief Get the actual current value (considering the sampling resistor) + * @retval Actual current value (mA) + */ + float getCurrent() + { + return data.current; + } + + /** + * @brief Get the battery current. + * @retval The battery current ADC value. + */ + int16_t getCurrentRaw() + { + return data.currentRaw; + } + + /** + * @brief Reset Gauge AXP2602. + */ + void reset() + { + setRegBit(REG_MODE, 5); + hal->delay(50); + clrRegBit(REG_MODE, 5); + hal->delay(100); + } + + /** + * @brief Put the AXP2602 chip into sleep mode. + */ + void sleep() + { + if (setRegBit(REG_MODE, 0)) { + data.sleepModeEnabled = true; + } + } + + /** + * @brief Check if the AXP2602 chip is in sleep mode. + * @retval True if the chip is in sleep mode, false otherwise. + */ + bool isSleepModeEnabled() + { + return getRegBit(REG_MODE, 0); + } + + /** + * @brief Wake up the AXP2602 chip. + */ + void wakeup() + { + if (clrRegBit(REG_MODE, 0)) { + data.sleepModeEnabled = false; + } + } + + /** + * @brief Set the low battery SOC threshold. + * @param threshold The low battery SOC threshold (0% to 63%). + */ + void setLowBatterySOCThreshold(uint8_t threshold) + { + if (threshold > 63) { + threshold = 63; + } + // Read low SOC threshold + int lowSoc = readReg(REG_LOW_SOC_THLD); + if (lowSoc >= 0) { + lowSoc &= 0xC0; + lowSoc |= (threshold & 0x3F); // Low 6 bits valid + writeReg(REG_LOW_SOC_THLD, lowSoc); + } + } + + /** + * @brief Set the over-temperature threshold. + * @param threshold The over-temperature threshold (0°C to 127°C). + */ + void setOverTemperatureThreshold(uint8_t threshold) + { + if (threshold > 127) { + threshold = 127; + } + writeReg(REG_OT_THLD, threshold & 0x7F); + } + + /** + * @brief Enable or disable the thermal die measurement. + * @param enable A boolean value to enable (true) or disable (false) the thermal die measurement. + */ + void setThermalDieMeasurement(bool enable) + { + if (enable) { + setRegBit(REG_COMM_CONFIG, 6); + } else { + clrRegBit(REG_COMM_CONFIG, 6); + } + data.thermalDieEnabled = enable; + } + + /** + * @brief Check if thermal die measurement is enabled. + * @retval True if thermal die measurement is enabled, false otherwise. + */ + bool isThermalDieMeasurementEnabled() + { + return data.thermalDieEnabled; + } + + /** + * @brief Enable or disable battery current detection. + * @param enable A boolean value to enable (true) or disable (false) battery current detection. + */ + void setCurrentMeasurement(bool enable) + { + if (enable) { + setRegBit(REG_COMM_CONFIG, 5); + } else { + clrRegBit(REG_COMM_CONFIG, 5); + } + data.currentMeasurementEnabled = enable; + } + + /** + * @brief Check if battery current measurement is enabled. + * @retval True if battery current measurement is enabled, false otherwise. + */ + bool isCurrentMeasurementEnabled() + { + return data.currentMeasurementEnabled; + } + + /** + * @brief Enable or disable battery voltage detection. + * @param enable A boolean value to enable (true) or disable (false) the battery detection. + */ + void setBatteryDetection(bool enable) + { + if (enable) { + setRegBit(REG_COMM_CONFIG, 4); + } else { + clrRegBit(REG_COMM_CONFIG, 4); + } + data.batteryDetectionEnabled = enable; + } + + /** + * @brief Check if battery voltage measurement is enabled. + * @retval True if battery voltage measurement is enabled, false otherwise. + */ + bool isBatteryVoltageMeasurementEnabled() + { + return data.batteryDetectionEnabled; + } + + /** + * @brief Set the current sense resistor value. + * @param resistorValue: The desired current sense resistor value. + */ + void setCurrentSenseResistor(CurrentSenseResistor resistorValue) + { + int val = readReg(REG_COMM_CONFIG); + if (val < 0) return; + + val = (val & ~0x03) | (resistorValue & 0x03); + writeReg(REG_COMM_CONFIG, val); + data.senseResistor = resistorValue; + } + + /** + * @brief Get the current sense resistor value. + * @retval The current sense resistor value. + */ + CurrentSenseResistor getCurrentSenseResistor() + { + return data.senseResistor; + } + + + /** + * @brief Get the IRQ status. + * @retval The IRQ status. + */ + IRQStatus getIRQStatus() + { + return data.irqStatus; + } + + /** + * @brief Enable a specific IRQ. + * @param irq The IRQ to enable. + */ + void enableIRQ(IRQEnable irq) + { + enableIRQ(irq, true); + } + + /** + * @brief Disable a specific IRQ. + * @param irq The IRQ to disable. + */ + void disableIRQ(IRQEnable irq) + { + enableIRQ(irq, false); + } + + /** + * @brief Disable all IRQs. + * @note This function disables all IRQs by writing 0x00 to the IRQ_ENABLE register. + */ + void disableAllIRQ() + { + writeReg(REG_IRQ_ENABLE, 0x00); + } + + /** + * @brief Enable or disable specific IRQs. + * @param irq The IRQ to enable or disable. + * @param enable A boolean value to enable (true) or disable (false) the specified IRQ. + * @param low_level_trigger A boolean value to set the IRQ trigger level. + */ + void enableIRQ(IRQEnable irq, bool enable, bool low_level_trigger = true) + { + int val = readReg(REG_IRQ_ENABLE); + if (val < 0) { + return; + } + // Set trigger mode: bit7=0 for low level, bit7=1 for low pulse. + if (low_level_trigger) { + val &= ~0x80; // Low level trigger + } else { + val |= 0x80; // Low pulse trigger + } + // Set IRQ enable bit + if (enable) { + val |= irq; + } else { + val &= ~irq; + } + writeReg(REG_IRQ_ENABLE, val); + } + + /** + * @brief Clear the IRQ status. + */ + void clearIRQStatus() + { + writeReg(REG_IRQ_STATUS, 0x00); + hal->delay(2); + writeReg(REG_IRQ_STATUS, 0x0F); + data.irqStatus = IRQ_STATUS_NONE; + } + + /** + * @brief Set the operating mode. + * @param mode: The operating mode to set. + */ + void setOperatingMode(OperatingMode mode) + { + switch (mode) { + case OPERATING_MODE_HIGH_PRECISION: + case OPERATING_MODE_NORMAL: + case OPERATING_MODE_LOW_POWER: + break; + default: + return; + } + writeReg(REG_OPERATING_MODE, mode); + data.operatingMode = mode; + } + + /** + * @brief Get the operating mode. + * @retval The current operating mode. + */ + OperatingMode getOperatingMode() + { + // Read operating mode + int opMode = readReg(REG_OPERATING_MODE); + if (opMode >= 0) { + data.operatingMode = static_cast(opMode & 0x07); + } + return data.operatingMode; + } + + /** + * @brief Write Gauge Data + * @note This function writes the provided gauge data to battery parameter. + * @param *data: Pointer to the data buffer to compare. + * @param len: Length of the data buffer (should be 128 bytes). + * @retval True if the data successfully wrote to ROM by comparing with the written data, false otherwise. + */ + bool writeGaugeData(uint8_t *data, uint8_t len) + { + if (len != 128 || data == NULL)return false; + // Reset gauge first + writeReg(REG_MODE, 0x01); + hal->delay(50); + writeReg(REG_MODE, 0x00); + hal->delay(50); + + // Enabled BROM register + clrRegBit(REG_PARA_CONFIG, 0); + setRegBit(REG_PARA_CONFIG, 0); + // Write data to buffer + for (uint8_t i = 0; i < 128; i++) { + writeReg(REG_BROM, data[i]); + } + + // Reenable ROM register + clrRegBit(REG_PARA_CONFIG, 0); + setRegBit(REG_PARA_CONFIG, 0); + + return compareGaugeData(data, len); + } + + /** + * @brief Compare Gauge Data + * @note This function compares the provided gauge data with the data in the gauge. + * @param *data: Pointer to the data buffer to compare. + * @param len: Length of the data buffer (should be 128 bytes). + * @retval True if the data matches, false otherwise. + */ + bool compareGaugeData(uint8_t *data, uint8_t len) + { + if (len != 128 || data == NULL)return false; + // Reset gauge to load new data + uint8_t buffer[128]; + memset(buffer, 0, sizeof(buffer)); + // Reenable BROM register + clrRegBit(REG_PARA_CONFIG, 0); + setRegBit(REG_PARA_CONFIG, 0); + for (uint8_t i = 0; i < 128; i++) { + buffer[i] = readReg(REG_BROM); + } + // Disable BROM register + clrRegBit(REG_PARA_CONFIG, 0); + // Set data interface + setRegBit(REG_PARA_CONFIG, 4); + // Reset gauge + setRegBit(REG_MODE, 5); + clrRegBit(REG_MODE, 5); + + return memcmp(data, buffer, 128) == 0; + } + + void enableWDT() + { + setRegBit(REG_PARA_CONFIG, 5); + } + + void disableWDT() + { + clrRegBit(REG_PARA_CONFIG, 5); + } + +private: + bool initImpl(uint8_t param) override + { + data.chipID = getChipID(); + if (data.chipID != AXP2602_CHIP_ID) { + log_e("Chip id not match : %02X\n", data.chipID); + return false; + } + reset(); // Reset Configuration + hal->delay(100); + wakeup(); // Wake Up Chip + setCurrentSenseResistor(SENSE_RESISTOR_10_MOHM); + setOperatingMode(OPERATING_MODE_NORMAL); + data.sleepModeEnabled = isSleepModeEnabled(); + return true; + } + +protected: + GaugeData data; + + static constexpr uint8_t REG_ID = 0x00; + static constexpr uint8_t REG_BROM = 0x01; + static constexpr uint8_t REG_MODE = 0x02; + static constexpr uint8_t REG_PARA_CONFIG = 0x03; + static constexpr uint8_t REG_VBAT_ADC_HIGH = 0x04; + static constexpr uint8_t REG_VBAT_ADC_LOW = 0x05; + static constexpr uint8_t REG_TEMP_RESULT = 0x06; + static constexpr uint8_t REG_SOH = 0x07; + static constexpr uint8_t REG_SOC = 0x08; + + static constexpr uint8_t REG_TIME_TO_EMPTY_HIGH = 0x0A; + static constexpr uint8_t REG_TIME_TO_EMPTY_LOW = 0x0B; + static constexpr uint8_t REG_TIME_TO_FULL_HIGH = 0x0C; + static constexpr uint8_t REG_TIME_TO_FULL_LOW = 0x0D; + static constexpr uint8_t REG_LOW_SOC_THLD = 0x0E; + static constexpr uint8_t REG_OT_THLD = 0x0F; + + static constexpr uint8_t REG_COMM_CONFIG = 0x11; + static constexpr uint8_t REG_IBAT_ADC_HIGH = 0x14; + static constexpr uint8_t REG_IBAT_ADC_LOW = 0x15; + static constexpr uint8_t REG_RDC25_CONFIG_HIGH = 0x1A; + static constexpr uint8_t REG_RDC25_CONFIG_LOW = 0x1B; + static constexpr uint8_t REG_QMAX_CONFIG_HIGH = 0x1E; + static constexpr uint8_t REG_QMAX_CONFIG_LOW = 0x1F; + + static constexpr uint8_t REG_IRQ_STATUS = 0x20; + static constexpr uint8_t REG_IRQ_ENABLE = 0x21; + static constexpr uint8_t REG_TDIE_ADC_HIGH = 0xC2; + static constexpr uint8_t REG_TDIE_ADC_LOW = 0xC3; + static constexpr uint8_t REG_RDC25_QMAX_SEL = 0xC5; + static constexpr uint8_t REG_OPERATING_MODE = 0xC6; + + static constexpr uint8_t AXP2602_CHIP_ID = 0x1C; +}; diff --git a/lib/SensorLib/src/GaugeBQ27220.hpp b/lib/SensorLib/src/GaugeBQ27220.hpp index 1ce6ab0..66c6f05 100644 --- a/lib/SensorLib/src/GaugeBQ27220.hpp +++ b/lib/SensorLib/src/GaugeBQ27220.hpp @@ -28,8 +28,7 @@ */ #pragma once -#include "REG/BQ27220Constants.h" -#include "SensorPlatform.hpp" +#include "platform/comm/I2CDeviceWithHal.hpp" // BQ27220 Unique device address static constexpr uint8_t BQ27220_SLAVE_ADDRESS = (0x55); @@ -386,7 +385,7 @@ public: // Parse high - byte bits defaultSeal = (rawB >> 3) & 1; nonRemovable = (rawB >> 2) & 1; - + // Parse low - byte bits intBrem = (rawB >> 15) & 1; intBatL = (rawB >> 14) & 1; @@ -585,7 +584,7 @@ public: }; // *INDENT-ON* -class GaugeBQ27220 : public BQ27220Constants +class GaugeBQ27220 : public I2CDeviceWithHal { private: typedef struct { @@ -635,22 +634,14 @@ public: SEALED_ACCESS, }; - GaugeBQ27220() : comm(nullptr), hal(nullptr), accessKey(0xFFFFFFFF) {} + GaugeBQ27220() : accessKey(0xFFFFFFFF) {} - ~GaugeBQ27220() - { - if (comm) { - comm->deinit(); - } - } + ~GaugeBQ27220() = default; #if defined(ARDUINO) bool begin(TwoWire &wire, int sda = -1, int scl = -1) { - if (!beginCommon(comm, hal, wire, BQ27220_SLAVE_ADDRESS, sda, scl)) { - return false; - } - return initImpl(); + return I2CDeviceWithHal::begin(wire, BQ27220_SLAVE_ADDRESS, sda, scl); } #elif defined(ESP_PLATFORM) @@ -658,18 +649,12 @@ public: #if defined(USEING_I2C_LEGACY) bool begin(i2c_port_t port_num, int sda = -1, int scl = -1) { - if (!beginCommon(comm, hal, port_num, BQ27220_SLAVE_ADDRESS, sda, scl)) { - return false; - } - return initImpl(); + return I2CDeviceWithHal::begin(port_num, BQ27220_SLAVE_ADDRESS, sda, scl); } #else bool begin(i2c_master_bus_handle_t handle) { - if (!beginCommon(comm, hal, handle, BQ27220_SLAVE_ADDRESS)) { - return false; - } - return initImpl(); + return I2CDeviceWithHal::begin(handle, BQ27220_SLAVE_ADDRESS); } #endif //ESP_PLATFORM #endif //ARDUINO @@ -677,11 +662,7 @@ public: bool begin(SensorCommCustom::CustomCallback callback, SensorCommCustomHal::CustomHalCallback hal_callback) { - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, BQ27220_SLAVE_ADDRESS, comm, hal)) { - return false; - } - return initImpl(); + return I2CDeviceWithHal::begin(callback, hal_callback, BQ27220_SLAVE_ADDRESS); } @@ -694,7 +675,7 @@ public: bool refresh() { uint8_t buffer[REGISTER_COUNT]; - if (comm->readRegister(START_REGISTER, buffer, REGISTER_COUNT) < 0) { + if (readRegBuff(START_REGISTER, buffer, REGISTER_COUNT) < 0) { return false; } uint8_t *ptr = (uint8_t *)&data; @@ -704,7 +685,7 @@ public: ptr += 2; } - if (comm->readRegister(0x3A, buffer, 4) < 0) { + if (readRegBuff(0x3A, buffer, 4) < 0) { return false; } data.OperationStatus = (buffer[1] << 8) | buffer[0]; @@ -958,21 +939,21 @@ public: /** * @brief Retrieve the operation configuration of the device. * - * This function is responsible for obtaining the current operation configuration of the device. - * The operation configuration typically includes various settings and parameters that govern + * This function is responsible for obtaining the current operation configuration of the device. + * The operation configuration typically includes various settings and parameters that govern * the device's behavior, such as operating modes, thresholds, and enable/disable flags. - * + * * @return An `OperationConfig` object that contains the current operation configuration of the device. */ OperationConfig getOperationConfig() { return performConfigUpdate([this]() { - comm->writeRegister(BQ27220_REG_ROM_START, lowByte(BQ27220_ROM_OPERATION_CONFIG_A)); + writeReg(BQ27220_REG_ROM_START, lowByte(BQ27220_ROM_OPERATION_CONFIG_A)); hal->delay(10); - comm->writeRegister(BQ27220_REG_ROM_START + 1, highByte(BQ27220_ROM_OPERATION_CONFIG_A)); + writeReg(BQ27220_REG_ROM_START + 1, highByte(BQ27220_ROM_OPERATION_CONFIG_A)); hal->delay(10); uint8_t buffer[4]; - comm->readRegister(0x40, buffer, 4); + readRegBuff(0x40, buffer, 4); uint16_t bitmapsA = (buffer[0] << 8) | buffer[1]; uint16_t bitmapsB = (buffer[2] << 8) | buffer[3]; OperationConfig value((bitmapsA << 16) | bitmapsB); @@ -982,7 +963,7 @@ public: /** * @brief Retrieve the unique identifier of the chip. - * @return A 16 - bit unsigned integer representing the chip's unique identifier. + * @return A 16 - bit unsigned integer representing the chip's unique identifier. */ uint16_t getChipID() { @@ -1009,7 +990,7 @@ public: { uint8_t buffer[2]; constexpr uint8_t value = 0x00; - comm->writeRegister(BQ27220_SUB_CMD_HW_VERSION, value); + writeReg(BQ27220_SUB_CMD_HW_VERSION, value); if (this->getMACData(buffer, arraySize(buffer)) < 0) { return -1; } @@ -1074,7 +1055,7 @@ private: return -1; } uint8_t reg = BQ27220_REG_MAC_BUFFER_START; - return comm->writeThenRead(®, 1, buffer, request_len); + return writeThenRead(®, 1, buffer, request_len); } // This read and write function returns the checksum of the current subcommand and data block. @@ -1082,7 +1063,7 @@ private: uint16_t getMACDataSum() { uint8_t sum = 0x00; - if (comm->readRegister(BQ27220_REG_MAC_DATA_SUM, &sum, 1) < 0) { + if (readRegBuff(BQ27220_REG_MAC_DATA_SUM, &sum, 1) < 0) { return 0; } return sum; @@ -1093,7 +1074,7 @@ private: uint16_t getMACDataLen() { uint8_t length = 0x00; - if (comm->readRegister(BQ27220_REG_MAC_DATA_LEN, &length, 1) < 0) { + if (readRegBuff(BQ27220_REG_MAC_DATA_LEN, &length, 1) < 0) { return 0; } return length; @@ -1106,7 +1087,7 @@ private: buffer[0] = 0x00; buffer[1] = lowByte(subCmd); buffer[2] = highByte(subCmd); - if (comm->writeBuffer(buffer, arraySize(buffer)) < 0) { + if (writeBuff(buffer, arraySize(buffer)) < 0) { return -1; } if (!waitConfirm) { @@ -1117,7 +1098,7 @@ private: int waitCount = 20; hal->delay(10); while (waitCount--) { - comm->writeThenRead(&statusReg, 1, buffer, 2); + writeThenRead(&statusReg, 1, buffer, 2); uint16_t *value = reinterpret_cast(buffer); if (*value == 0xFFA5) { return 0; @@ -1132,12 +1113,12 @@ private: int unsealDevice() { uint8_t cmd1[] = {0x00, 0x14, 0x04}; - if (comm->writeBuffer(cmd1, arraySize(cmd1)) < 0) { + if (writeBuff(cmd1, arraySize(cmd1)) < 0) { return -1; } hal->delay(10); uint8_t cmd2[] = {0x00, 0x72, 0x36}; - if (comm->writeBuffer(cmd2, arraySize(cmd2)) < 0) { + if (writeBuff(cmd2, arraySize(cmd2)) < 0) { return -1; } hal->delay(10); @@ -1151,13 +1132,13 @@ private: buffer[0] = 0x00; buffer[1] = lowByte((accessKey >> 24)); buffer[2] = lowByte((accessKey >> 16)); - if (comm->writeBuffer(buffer, arraySize(buffer)) < 0) { + if (writeBuff(buffer, arraySize(buffer)) < 0) { return -1; } hal->delay(10); buffer[1] = lowByte((accessKey >> 8)); buffer[2] = lowByte((accessKey)); - if (comm->writeBuffer(buffer, arraySize(buffer)) < 0) { + if (writeBuff(buffer, arraySize(buffer)) < 0) { return -1; } hal->delay(10); @@ -1248,27 +1229,27 @@ private: constexpr uint8_t fixedDataLength = 0x06; // Write to access the MSB of Capacity - comm->writeRegister(BQ27220_REG_ROM_START, msbAccessValue); + writeReg(BQ27220_REG_ROM_START, msbAccessValue); hal->delay(10); // Write to access the LSB of Capacity - comm->writeRegister(BQ27220_REG_ROM_START + 1, lsbAccessValue); + writeReg(BQ27220_REG_ROM_START + 1, lsbAccessValue); hal->delay(10); // Write two Capacity bytes starting from 0x40 uint8_t newCapacityMsb = highByte(newCapacity); uint8_t newCapacityLsb = lowByte(newCapacity); uint8_t capacityRaw[] = {newCapacityMsb, newCapacityLsb}; - comm->writeRegister(BQ27220_REG_MAC_BUFFER_START, capacityRaw, 2); + writeRegBuff(BQ27220_REG_MAC_BUFFER_START, capacityRaw, 2); // Calculate new checksum uint8_t newChksum = 0xFF - ((msbAccessValue + lsbAccessValue + newCapacityMsb + newCapacityLsb) & 0xFF); // Write new checksum (0x60) - comm->writeRegister(BQ27220_REG_MAC_DATA_SUM, newChksum); + writeReg(BQ27220_REG_MAC_DATA_SUM, newChksum); // Write the block length - comm->writeRegister(BQ27220_REG_MAC_DATA_LEN, fixedDataLength); + writeReg(BQ27220_REG_MAC_DATA_LEN, fixedDataLength); return true; } @@ -1276,14 +1257,14 @@ private: int getHalfWord(uint8_t reg) { uint8_t buffer[2] = {0}; - if (comm->writeThenRead(®, 1, buffer, arraySize(buffer)) < 0) { + if (writeThenRead(®, 1, buffer, arraySize(buffer)) < 0) { log_e("Read register %02X failed!", reg); return UINT16_MAX; } return (buffer[1] << 8) | buffer[0]; } - bool initImpl() + bool initImpl(uint8_t param) override { int chipID = getChipID(); if (chipID != BQ27220_CHIP_ID) { @@ -1309,11 +1290,83 @@ private: } protected: - std::unique_ptr comm; - std::unique_ptr hal; uint32_t accessKey; BatteryData data; const uint8_t START_REGISTER = 0x02; const uint8_t REGISTER_COUNT = 54; + + //* Sub command + static constexpr uint16_t BQ27220_SUB_CMD_CTRL_STATUS = (0x0000); + static constexpr uint16_t BQ27220_SUB_CMD_DEVICE_NUMBER = (0x0001); + static constexpr uint16_t BQ27220_SUB_CMD_FW_VERSION = (0x0002); + static constexpr uint16_t BQ27220_SUB_CMD_HW_VERSION = (0x0003); + static constexpr uint16_t BQ27220_SUB_CMD_BOARD_OFFSET = (0x0009); + static constexpr uint16_t BQ27220_SUB_CMD_CC_OFFSET = (0x000A); + static constexpr uint16_t BQ27220_SUB_CMD_CC_OFFSET_SAVE = (0x000B); + static constexpr uint16_t BQ27220_SUB_CMD_OCV_CMD = (0x000C); + static constexpr uint16_t BQ27220_SUB_CMD_BAT_INSERT = (0x000D); + static constexpr uint16_t BQ27220_SUB_CMD_BAT_REMOVE = (0x000E); + static constexpr uint16_t BQ27220_SUB_CMD_SET_SNOOZE = (0x0013); + static constexpr uint16_t BQ27220_SUB_CMD_CLEAR_SNOOZE = (0x0014); + static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_1 = (0x0015); + static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_2 = (0x0016); + static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_3 = (0x0017); + static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_4 = (0x0018); + static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_5 = (0x0019); + static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_6 = (0x001A); + static constexpr uint16_t BQ27220_SUB_CMD_CAL_TOGGLE = (0x002D); + static constexpr uint16_t BQ27220_SUB_CMD_SEALED = (0x0030); + static constexpr uint16_t BQ27220_SUB_CMD_RESET = (0x0041); + static constexpr uint16_t BQ27220_SUB_CMD_EXIT_CAL = (0x0080); + static constexpr uint16_t BQ27220_SUB_CMD_ENTER_CAL = (0x0081); + static constexpr uint16_t BQ27220_SUB_CMD_ENTER_CFG_UPDATE = (0x0090); + static constexpr uint16_t BQ27220_SUB_CMD_EXIT_CFG_UPDATE_REINIT = (0x0091); + static constexpr uint16_t BQ27220_SUB_CMD_EXIT_CFG_UPDATE = (0x0092); + static constexpr uint16_t BQ27220_SUB_CMD_RETURN_TO_ROM = (0x0F00); + + //* Standard commands + static constexpr uint8_t BQ27220_REG_STA_AT_RATE = (0x02); + static constexpr uint8_t BQ27220_REG_STA_AT_RATE_TIME_TO_EMPTY = (0x04); + static constexpr uint8_t BQ27220_REG_STA_NTC_TEMP = (0x06); + static constexpr uint8_t BQ27220_REG_STA_BAT_VOLTAGE = (0x08); + static constexpr uint8_t BQ27220_REG_STA_BAT_STATUS = (0x0A); + static constexpr uint8_t BQ27220_REG_STA_CURRENT = (0x0C); + static constexpr uint8_t BQ27220_REG_STA_REMAINING_CAPACITY = (0x10); + static constexpr uint8_t BQ27220_REG_STA_FULL_CHARGE_CAPACITY = (0x12); + static constexpr uint8_t BQ27220_REG_STA_TIME_TO_EMPTY = (0x16); + static constexpr uint8_t BQ27220_REG_STA_TIME_TO_FULL = (0x18); + static constexpr uint8_t BQ27220_REG_STA_STANDBY_CURRENT = (0x1A); + static constexpr uint8_t BQ27220_REG_STA_STANDBY_TIME_TO_EMPTY = (0x1C); + static constexpr uint8_t BQ27220_REG_STA_MAX_LOAD_CURRENT = (0x1E); + static constexpr uint8_t BQ27220_REG_STA_MAX_LOAD_TO_EMPTY = (0x20); + static constexpr uint8_t BQ27220_REG_STA_COULOMB_COUNT = (0x22); + static constexpr uint8_t BQ27220_REG_STA_AVG_POWER = (0x24); + static constexpr uint8_t BQ27220_REG_STA_INTER_TEMP = (0x28); + static constexpr uint8_t BQ27220_REG_STA_CYCLE_COUNT = (0x2A); + static constexpr uint8_t BQ27220_REG_STA_STATE_OF_CHARGE = (0x2C); + static constexpr uint8_t BQ27220_REG_STA_STATE_OF_HEALTH = (0x2E); + static constexpr uint8_t BQ27220_REG_STA_CHARGING_VOLTAGE = (0x30); + static constexpr uint8_t BQ27220_REG_STA_CHARGING_CURRENT = (0x32); + static constexpr uint8_t BQ27220_REG_STA_BTP_DISC_SET = (0x34); + static constexpr uint8_t BQ27220_REG_STA_BTP_CHARGE_SET = (0x36); + static constexpr uint8_t BQ27220_REG_STA_OPERATION_STATUS = (0x3A); + static constexpr uint8_t BQ27220_REG_STA_DESIGN_CAPACITY = (0x3C); + static constexpr uint8_t BQ27220_REG_STA_DESIGN_CAPACITY_MSB = (0x3E); + static constexpr uint8_t BQ27220_REG_STA_DESIGN_CAPACITY_LSB = (0x3F); + static constexpr uint8_t BQ27220_REG_MAC_BUFFER_START = (0x40); + static constexpr uint8_t BQ27220_REG_MAC_BUFFER_END = (0x5F); + static constexpr uint8_t BQ27220_REG_MAC_DATA_SUM = (0x60); + static constexpr uint8_t BQ27220_REG_MAC_DATA_LEN = (0x61); + static constexpr uint8_t BQ27220_REG_ANALOG_COUNT = (0x79); + static constexpr uint8_t BQ27220_REG_RAW_CURRENT = (0x7A); + static constexpr uint8_t BQ27220_REG_RAW_VOLTAGE = (0x7C); + static constexpr uint8_t BQ27220_REG_ROM_START = (0x3E); + + static constexpr uint16_t BQ27220_CHIP_ID = (0x0220); + + static constexpr uint16_t BQ27220_ROM_FULL_CHARGE_CAPACITY = (0x929D); + static constexpr uint16_t BQ27220_ROM_DESIGN_CAPACITY = (0x929F); + static constexpr uint16_t BQ27220_ROM_OPERATION_CONFIG_A = (0x9206); + static constexpr uint16_t BQ27220_ROM_OPERATION_CONFIG_B = (0x9208); }; diff --git a/lib/SensorLib/src/REG/CHSC5816Constants.h b/lib/SensorLib/src/HapticDrivers.hpp similarity index 85% rename from lib/SensorLib/src/REG/CHSC5816Constants.h rename to lib/SensorLib/src/HapticDrivers.hpp index 90f07c9..3f7865e 100644 --- a/lib/SensorLib/src/REG/CHSC5816Constants.h +++ b/lib/SensorLib/src/HapticDrivers.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -22,11 +22,12 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. * - * @file CHSC5816Constants.h + * @file HapticDrivers.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-17 - * + * @date 2026-04-07 */ - #pragma once +#include "./haptic_drivers/HapticDriver_DRV2605.hpp" +#include "./haptic_drivers/HapticDriver_AW86224.hpp" + diff --git a/lib/SensorLib/src/IoExpanderBase.hpp b/lib/SensorLib/src/IoExpanderBase.hpp new file mode 100644 index 0000000..486d0fb --- /dev/null +++ b/lib/SensorLib/src/IoExpanderBase.hpp @@ -0,0 +1,350 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file IoExpanderBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-03 + */ +#pragma once + +#include "SensorPlatform.hpp" + +/** + * @class IoExpanderBase + * @brief Abstract base class for GPIO expander devices. + * + * This class provides a common interface for controlling GPIO expanders + * with any number of pins. It manages pin mode caching, output state caching, + * and delegates hardware‑specific operations to pure virtual functions + * implemented by derived classes. + */ +class IoExpanderBase +{ +public: + /** + * @brief Construct a new IoExpanderBase object. + * + * Allocates internal arrays for pin modes and output states. + * If allocation fails, _pinCount is set to 0 and subsequent operations + * will be safely rejected. + * + * @param pinCount Number of GPIO pins provided by the expander. + */ + IoExpanderBase(uint8_t pinCount) : _pinCount(pinCount) + { + _pinModes = std::unique_ptr(new (std::nothrow) uint8_t[pinCount]()); + _outputStates = std::unique_ptr(new (std::nothrow) bool[pinCount]()); + if (!_pinModes || !_outputStates) { + _pinCount = 0; + } + } + + /** + * @brief Virtual destructor. + * + * Ensures proper cleanup of derived classes. The std::unique_ptr members + * automatically release their memory. + */ + virtual ~IoExpanderBase() = default; + + /** + * @brief Deinitialize the expander. + * + * Can be overridden by derived classes to perform chip‑specific cleanup + * (e.g., power‑down, reset). The base implementation does nothing. + */ + virtual void deinit() + { + } + + /** + * @brief Configure multiple pins as input or output simultaneously. + * + * This function sets the direction of all pins specified in the mask to the + * given mode. It validates the arguments and updates the internal pin mode + * cache before delegating the hardware configuration to the pure virtual + * function configPinsImpl(), which must be implemented by derived classes. + * + * @param pinMask Bitmask where a 1 indicates the pin should be configured. + * Bit 0 corresponds to pin 0, bit 15 to pin 15 (if applicable). + * Only the lowest _pinCount bits are considered. + * @param mode Desired mode: INPUT or OUTPUT (as defined in the Arduino framework). + * + * @note This function logs errors and returns early if: + * - The expander is not initialized (comm is null). + * - The internal pin mode cache is uninitialized. + * - An invalid mode is provided. + */ + void configPins(uint16_t pinMask, uint8_t mode) + { + if (_pinModes == nullptr) { + log_e("Pin modes array not initialized"); + return; + } + if (mode != INPUT && mode != OUTPUT) { + log_e("Invalid pin mode"); + return; + } + configPinsImpl(pinMask, mode); + } + + + /** + * @brief Set the direction of a GPIO pin. + * + * The mode is cached in _pinModes and the hardware is updated via + * the pure virtual function pinModeImpl(). + * + * @param pin Pin number (0 .. pinCount()-1). + * @param mode Pin mode: INPUT or OUTPUT (as defined in Arduino framework). + */ + void pinMode(uint8_t pin, uint8_t mode) + { + if (pin >= _pinCount) { + log_e("Invalid pin number"); + return; + } + if (_pinModes == nullptr) { + log_e("Pin modes array not initialized"); + return; + } + if (mode != INPUT && mode != OUTPUT) { + log_e("Invalid pin mode"); + return; + } + + _pinModes[pin] = mode; + pinModeImpl(pin, mode); + } + + /** + * @brief Write a digital value to an output pin. + * + * The value is cached in _outputStates and the hardware is updated via + * digitalWriteImpl(). + * + * @param pin Pin number (0 .. pinCount()-1). Must be configured as OUTPUT. + * @param value true for HIGH, false for LOW. + */ + void digitalWrite(uint8_t pin, bool value) + { + if (pin >= _pinCount) { + log_e("Invalid pin number"); + return; + } + if (_pinModes == nullptr) { + log_e("Pin modes array not initialized"); + return; + } + if (_outputStates == nullptr) { + log_e("Output states array not initialized"); + return; + } + if (_pinModes[pin] != OUTPUT) { + log_e("Pin %d is not configured as OUTPUT", pin); + return; + } + + _outputStates[pin] = value; + digitalWriteImpl(pin, value); + } + + /** + * @brief Read the digital value from an input pin. + * + * Reads the current state from hardware via digitalReadImpl(). + * + * @param pin Pin number (0 .. pinCount()-1). Must be configured as INPUT. + * @return true Pin is HIGH. + * @return false Pin is LOW (or error, logged). + */ + bool digitalRead(uint8_t pin) + { + if (pin >= _pinCount) { + log_e("Invalid pin number"); + return false; + } + if (_pinModes == nullptr) { + log_e("Pin modes array not initialized"); + return false; + } + if (_pinModes[pin] != INPUT) { + log_e("Pin %d is not configured as INPUT", pin); + return false; + } + + return digitalReadImpl(pin); + } + + /** + * @brief Toggle the state of an output pin. + * + * Inverts the current cached output state and writes it to the pin. + * + * @param pin Pin number (0 .. pinCount()-1). Must be configured as OUTPUT. + */ + void digitalToggle(uint8_t pin) + { + if (!_pinModes || !_outputStates) { + log_e("Expander not properly initialized"); + return; + } + if (_pinModes[pin] != OUTPUT) { + log_e("Pin %d is not configured as OUTPUT", pin); + return; + } + int state = 1 - _outputStates[pin]; + digitalWrite(pin, state); + } + + /** + * @brief Write to multiple pins simultaneously using a mask. + * + * The default implementation writes each selected pin individually. + * Derived classes may override this with a more efficient register‑based + * write when the hardware supports it. + * + * @param mask Bitmask where a 1 indicates the pin should be updated. + * @param values Bitmask of the new values for the selected pins. + */ + virtual void digitalWritePort(uint16_t mask, uint16_t values) + { + for (uint8_t i = 0; i < _pinCount; i++) { + if (mask & (1UL << i)) { + digitalWrite(i, (values >> i) & 1); + } + } + } + + /** + * @brief Read the values of all input pins. + * + * The default implementation reads each input pin individually. + * Derived classes may override this to perform a faster register read. + * + * @return uint16_t Bitmask where bit i is 1 if input pin i is HIGH. + */ + virtual uint16_t digitalReadPort() + { + uint16_t result = 0; + if (!_pinModes || !_outputStates) { + log_e("Expander not properly initialized"); + return 0; + } + for (uint8_t i = 0; i < _pinCount; i++) { + if (_pinModes[i] == INPUT) { + result |= (digitalRead(i) ? (1UL << i) : 0); + } + } + return result; + } + + /** + * @brief Get the total number of pins provided by this expander. + * + * @return uint8_t Pin count. + */ + uint8_t pinCount() const + { + return _pinCount; + } + + + /** + * @brief Convert a pin number to its corresponding bitmask. + * + * This utility function returns a 16-bit mask with a single bit set at the + * position corresponding to the given pin number. The mask can be used with + * batch functions such as digitalWritePort() or configPins(). + * + * @param pin Pin number (0 to pinCount()-1). + * @return uint16_t Bitmask with bit (pin) set to 1. Returns 0 and logs an error + * if the pin number is out of range. + */ + uint16_t pinToMask(uint8_t pin) const + { + if (pin >= _pinCount) { + log_e("Invalid pin number"); + return 0; + } + return (1UL << pin); + } + +protected: + /** + * @brief Chip‑specific initialization. + * + * Called by all begin() overloads after the communication object is set up. + * Derived classes should perform any necessary hardware configuration + * (e.g., reset, verify device ID, set default registers). + * + * @param param Opaque parameter passed from begin() (typically I2C address). + * @return true Initialization successful. + * @return false Initialization failed. + */ + virtual bool initImpl(uint8_t param) = 0; + + /** + * @brief Hardware‑specific implementation of batch pin mode configuration. + * + * @param pinMask Bitmask of pins to configure. + * @param mode Desired mode (INPUT or OUTPUT). + */ + virtual void configPinsImpl(uint16_t pinMask, uint8_t mode) = 0; + + /** + * @brief Hardware‑specific implementation of pinMode(). + * + * Called by pinMode() after validating arguments and updating the cache. + * + * @param pin Pin number. + * @param mode Desired mode (INPUT or OUTPUT). + */ + virtual void pinModeImpl(uint8_t pin, uint8_t mode) = 0; + + /** + * @brief Hardware‑specific implementation of digitalWrite(). + * + * Called by digitalWrite() after validating arguments and updating the cache. + * + * @param pin Pin number. + * @param value true for HIGH, false for LOW. + */ + virtual void digitalWriteImpl(uint8_t pin, bool value) = 0; + + /** + * @brief Hardware‑specific implementation of digitalRead(). + * + * Called by digitalRead() after validating arguments. + * + * @param pin Pin number. + * @return true Pin is HIGH. + * @return false Pin is LOW. + */ + virtual bool digitalReadImpl(uint8_t pin) = 0; + + uint8_t _pinCount; ///< Number of GPIO pins + std::unique_ptr _pinModes; ///< Cached pin modes (INPUT/OUTPUT) + std::unique_ptr _outputStates; ///< Cached output states (true = HIGH) +}; diff --git a/lib/SensorLib/src/IoExpanderPCA9570.hpp b/lib/SensorLib/src/IoExpanderPCA9570.hpp new file mode 100644 index 0000000..11d984b --- /dev/null +++ b/lib/SensorLib/src/IoExpanderPCA9570.hpp @@ -0,0 +1,247 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file IoExpanderPCA9570.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-03 + */ + +#pragma once + +#include "platform/comm/I2CDeviceNoHal.hpp" +#include "IoExpanderBase.hpp" + +/** @brief Default I2C slave address for PCA9570 (hardwired, cannot be changed). */ +static constexpr uint8_t PCA9570_SLAVE_ADDRESS = (0x24); + +/** + * @class IoExpanderPCA9570 + * @brief Concrete driver for the PCA9570 4‑bit output‑only I2C GPIO expander. + * + * The PCA9570 provides 4 output‑only pins. All pins are configured as outputs + * by default; pinMode() will accept only OUTPUT. Reading a pin returns the + * last written value (output register). + */ +class IoExpanderPCA9570 : public IoExpanderBase, public I2CDeviceNoHal +{ +public: + + enum Port { + PORT_ALL = 0x0F + }; + + /** + * @brief Construct a new IoExpanderPCA9570 object. + * + * Initializes the base class with the fixed pin count of 4. + */ + IoExpanderPCA9570() : IoExpanderBase(PCA9570_PINS_COUNT) {} + + /** + * @brief Destroy the IoExpanderPCA9570 object. + */ + ~IoExpanderPCA9570() = default; + + /** + * @brief Write to multiple pins simultaneously using a mask. + * + * Reads the current output register, modifies only the bits specified by + * the mask, and writes the result back. The internal output state cache + * is also updated. + * + * @param mask Bitmask where a 1 indicates the pin should be updated. + * @param values Bitmask of the new values for the selected pins. + */ + void digitalWritePort(uint16_t mask, uint16_t values) override + { + // Read current output state + uint8_t current; + if (readBuff(¤t, 1) < 0) { + log_e("Failed to read current output state"); + return; + } + + // Update only the bits specified by mask (mask is 16-bit, but only low 4 bits used) + uint8_t newVal = current; + for (uint8_t i = 0; i < PCA9570_PINS_COUNT; i++) { + if (mask & (1UL << i)) { + if ((values >> i) & 1) { + newVal |= (1 << i); + } else { + newVal &= ~(1 << i); + } + } + } + + // Write back the new value + if (writeRegBuff(newVal, nullptr, 0) < 0) { + log_e("Failed to write output state"); + return; + } + + // Update cache + for (uint8_t i = 0; i < PCA9570_PINS_COUNT; i++) { + if (mask & (1UL << i)) { + _outputStates[i] = (values >> i) & 1; + } + } + } + + /** + * @brief Read the current output register value. + * + * @return uint16_t Low 4 bits contain the output state of pins 0‑3. + */ + uint16_t digitalReadPort() override + { + uint8_t state; + if (readBuff(&state, 1) < 0) { + log_e("Failed to read output state"); + return 0; + } + return state & 0x0F; // Only low 4 bits are valid + } + +protected: + /** + * @brief Set the direction of a single pin. + * + * The PCA9570 only supports output mode; therefore, any request for INPUT mode + * is rejected with an error. No hardware configuration is performed because + * all pins are fixed as outputs. + * + * @param pin Pin number (0‑3). (Not used, as all pins behave identically.) + * @param mode Desired mode. Only OUTPUT is accepted. + * + */ + void pinModeImpl(uint8_t pin, uint8_t mode) override + { + if (mode != OUTPUT) { + log_e("Invalid pin mode, only OUTPUT is supported"); + return; + } + // No hardware configuration needed; all pins are fixed as outputs. + } + + /** + * @brief Hardware‑specific implementation for configuring multiple pins simultaneously. + * + * The PCA9570 has fixed output‑only pins; therefore, this function does not + * perform any hardware configuration. It validates that the requested mode is + * OUTPUT (as INPUT is not supported) and updates the internal pin mode cache + * accordingly. + * + * @param pinMask Bitmask of pins to configure (ignored, as all pins behave identically). + * @param mode Desired mode. Only OUTPUT is accepted; INPUT will log an error. + * + * @note This function assumes that comm and _pinModes are valid (checked in the + * base class configPins() before calling here). + */ + void configPinsImpl(uint16_t pinMask, uint8_t mode) override + { + // PCA9570 only supports output mode; ignore any input request + if (mode != OUTPUT) { + log_e("PCA9570 only supports OUTPUT mode"); + return; + } + // No hardware configuration needed; all pins are fixed as outputs. + // Update the internal cache for all pins specified in the mask. + for (uint8_t i = 0; i < PCA9570_PINS_COUNT; i++) { + if (pinMask & (1UL << i)) { + _pinModes[i] = OUTPUT; + } + } + } + + /** + * @brief Write a digital value to an output pin. + * + * Reads the current output register, updates the specified bit, and writes + * the new value back. + * + * @param pin Pin number (0‑3). + * @param value true for HIGH, false for LOW. + */ + void digitalWriteImpl(uint8_t pin, bool value) override + { + uint8_t current = digitalReadPort(); // Read current output state + if (value) { + current |= (1 << pin); + } else { + current &= ~(1 << pin); + } + writeRegBuff(current, nullptr, 0); // Write back to output register + } + + /** + * @brief Read the current output value of a pin. + * + * Since PCA9570 has no input capability, this returns the last written value + * (output register state). + * + * @param pin Pin number (0‑3). + * @return true Pin is currently set HIGH. + * @return false Pin is currently set LOW. + */ + bool digitalReadImpl(uint8_t pin) override + { + uint8_t value = digitalReadPort(); + return (value >> pin) & 1; + } + + /** + * @brief Perform chip‑specific initialization. + * + * Reads the device ID registers to verify communication and logs the + * manufacturer ID, part ID, and revision. + * + * @param param No use + * @return true Initialization successful (device ID read succeeded). + * @return false Initialization failed. + */ + bool initImpl(uint8_t param) override + { + uint8_t buffer[3] = {}; + if (readRegBuff(PCA9570_DEVICE_ID_READ, buffer, 3) < 0 ) { + log_e("Failed to read device ID"); + return false; + } + uint16_t manufacturerID, partID; + uint8_t revision; + manufacturerID = (buffer[0] << 4) | ((buffer[1] >> 4) & 0x0F); // 12‑bit manufacturer ID + partID = ((buffer[1] & 0x0F) << 5) | ((buffer[2] >> 3) & 0x1F); // 9‑bit part ID + revision = buffer[2] & 0x07; // 3‑bit revision + log_d("ManufacturerID:0x%03X, PartID:0x%03X, Revision:0x%02X", + manufacturerID, partID, revision); + return true; + } + +private: + // Special addresses and commands (refer to PCA9570 datasheet) + static constexpr uint8_t PCA9570_GENERAL_CALL_ADDR = 0x00; ///< General call address (software reset) + static constexpr uint8_t PCA9570_DEVICE_ID_WRITE = 0xF8; ///< Device ID write address + static constexpr uint8_t PCA9570_DEVICE_ID_READ = 0xF9; ///< Device ID read address + static constexpr uint8_t PCA9570_SOFT_RESET_CMD = 0x06; ///< Software reset command (see datasheet §7.2.1) + static constexpr uint8_t PCA9570_PINS_COUNT = 4; ///< Number of GPIO pins on the chip +}; \ No newline at end of file diff --git a/lib/SensorLib/src/IoExpanderSPI.hpp b/lib/SensorLib/src/IoExpanderSPI.hpp new file mode 100644 index 0000000..78e7519 --- /dev/null +++ b/lib/SensorLib/src/IoExpanderSPI.hpp @@ -0,0 +1,177 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file IoExpanderSPI.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-03 + */ +#pragma once + +#include "IoExpanderBase.hpp" + +/** + * @class IoExpanderSPI + * @brief Software SPI master class for driving GPIO expanders via bit-banging. + * + * This class implements a software SPI master using the pin control functions + * provided by any IoExpanderBase-derived class. It allows expanders without + * dedicated hardware SPI to be controlled via general-purpose I/O pins. + */ +class IoExpanderSPI +{ +public: + /** + * @brief Construct a new IoExpanderSPI object. + * + * Initializes all pin numbers to -1 (unused) and bit order to 0 (MSB first). + */ + IoExpanderSPI(): _mosi(-1), _sck(-1), _miso(-1), _order(0), _cs(-1) {} + + /** + * @brief Destroy the IoExpanderSPI object. + */ + ~IoExpanderSPI() = default; + + /** + * @brief Initialize the software SPI interface. + * + * Configures the specified pins for SPI operation using the provided + * expander instance. MOSI and SCK are mandatory and set as outputs; + * CS is optional (if not -1) and set as output high; MISO is optional + * and set as input if provided. + * + * @param base Reference to the IoExpanderBase instance used for pin control. + * @param mosi MOSI pin number (must be specified). + * @param miso MISO pin number (set to -1 if not used). + * @param sck SCK pin number (must be specified). + * @param cs Chip select pin number (set to -1 if not used). + * @return true Initialization successful. + * @return false Initialization failed (e.g., missing MOSI or SCK). + */ + bool beginSPI(IoExpanderBase &base, int mosi, int miso, int sck, int cs) + { + _base = &base; + _mosi = mosi; + _miso = miso; + _sck = sck; + _cs = cs; + + if (_mosi == -1 || sck == -1) { + log_e("MOSI and SCK pins must be specified"); + return false; + } + + _base->pinMode(_mosi, OUTPUT); + _base->pinMode(_sck, OUTPUT); + + if (_cs != -1) { + _base->pinMode(_cs, OUTPUT); + _base->digitalWrite(_cs, HIGH); + } + + if (_miso != -1) { + _base->pinMode(_miso, INPUT); + } + _base->digitalWrite(_mosi, HIGH); + _base->digitalWrite(_sck, HIGH); + return true; + } + + /** + * @brief Set the bit order for SPI transfers. + * + * @param order 0 for MSB first, 1 for LSB first. Only the least significant + * bit is used; any other bits are ignored. + */ + void setBitOrder(uint8_t order) + { + _order = order & 1; + } + + /** + * @brief Transfer 8 bits over SPI. + * + * @param val 8-bit data to send. + * @return uint8_t 8-bit data received. + */ + uint8_t transfer8(uint8_t val) + { + return transferDataBits(val, 8); + } + + /** + * @brief Transfer 9 bits over SPI. + * + * Useful for devices requiring 9-bit transfers (e.g., certain sensors). + * + * @param val 9-bit data to send (only lower 9 bits are used). + * @return uint16_t 9-bit data received (only lower 9 bits are valid). + */ + uint16_t transfer9(uint16_t val) + { + return transferDataBits(val, 9); + } + + /** + * @brief Transfer an arbitrary number of bits over SPI. + * + * Performs a full-duplex software SPI transfer of the specified number of bits. + * The data is shifted out MSB-first or LSB-first according to the current bit order. + * + * @param val Data to send (only the lower 'bits' bits are used). + * @param bits Number of bits to transfer (1-32). + * @return uint32_t Data received (only the lower 'bits' bits are valid). + */ + uint32_t transferDataBits(uint32_t val, uint32_t bits) + { + if (!_base) { + log_e("SPI not initialized (call beginSPI first)"); + return 0; + } + uint32_t out = 0; + if (_cs != -1) _base->digitalWrite(_cs, LOW); + for (uint32_t i = 0; i < bits; i++) { + _base->digitalWrite(_sck, LOW); + out <<= 1; + if (_miso != -1 && _base->digitalRead(_miso)) out |= 0x01; + bool bitVal; + if (_order == 0) // MSB first + bitVal = (val >> (bits - 1 - i)) & 1; + else // LSB first + bitVal = (val >> i) & 1; + _base->digitalWrite(_mosi, bitVal ? HIGH : LOW); + _base->digitalWrite(_sck, HIGH); + } + if (_cs != -1) _base->digitalWrite(_cs, HIGH); + return out; + } + +private: + int _mosi; ///< MOSI pin number + int _sck; ///< SCK pin number + int _miso; ///< MISO pin number (-1 if unused) + int _order; ///< Bit order: 0 = MSB first, 1 = LSB first + int _cs; ///< Chip select pin number (-1 if unused) + IoExpanderBase *_base; ///< Pointer to the expander used for pin I/O +}; \ No newline at end of file diff --git a/lib/SensorLib/src/IoExpanderXL9555.hpp b/lib/SensorLib/src/IoExpanderXL9555.hpp new file mode 100644 index 0000000..703e73b --- /dev/null +++ b/lib/SensorLib/src/IoExpanderXL9555.hpp @@ -0,0 +1,366 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file IoExpanderXL9555.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-03 + */ +#pragma once + +#include "platform/comm/I2CDeviceNoHal.hpp" +#include "IoExpanderBase.hpp" + +/** + * @defgroup XL9555_Constants XL9555 I2C Address Constants + * @{ + */ + +/** @brief Unknown / auto‑discovery address marker. */ +static constexpr uint8_t XL9555_UNKNOWN_ADDRESS = (0xFF); + +/** @brief I2C slave address when ADDR pins are 000. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS0 = (0x20); + +/** @brief I2C slave address when ADDR pins are 001. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS1 = (0x21); + +/** @brief I2C slave address when ADDR pins are 010. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS2 = (0x22); + +/** @brief I2C slave address when ADDR pins are 011. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS3 = (0x23); + +/** @brief I2C slave address when ADDR pins are 100. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS4 = (0x24); + +/** @brief I2C slave address when ADDR pins are 101. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS5 = (0x25); + +/** @brief I2C slave address when ADDR pins are 110. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS6 = (0x26); + +/** @brief I2C slave address when ADDR pins are 111. */ +static constexpr uint8_t XL9555_SLAVE_ADDRESS7 = (0x27); + + +/** @} */ // end of XL9555_Constants + +#ifdef __GNUC__ +/** @brief Attribute to mark a declaration as deprecated with a custom message. */ +#define DEPRECATED_ATTR __attribute__((deprecated("use XL9555_UNKNOWN_ADDRESS instead"))) +#else +#define DEPRECATED_ATTR +#endif + +/** + * @brief Deprecated spelling of XL9555_UNKNOWN_ADDRESS. + * + * This constant is kept for backward compatibility. New code should use + * XL9555_UNKNOWN_ADDRESS. + */ +static const int XL9555_UNKOWN_ADDRESS DEPRECATED_ATTR = XL9555_UNKNOWN_ADDRESS; + + + +/** + * @class IoExpanderXL9555 + * @brief Concrete driver for the XL9555 16‑bit I2C GPIO expander. + * + * The XL9555 provides 16 bidirectional I/O pins, organized as two 8‑bit ports. + * This class implements the hardware‑specific operations required by the + * IoExpanderBase interface using I2C communication. + */ +class IoExpanderXL9555 : public IoExpanderBase, public I2CDeviceNoHal +{ +public: + enum Port { + PORT0 = 0x00FF, + PORT1 = 0xFF00, + PORT_ALL = 0xFFFF + }; + + enum IoExpanderGPIO { + IO0 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO1 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO2 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO3 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO4 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO5 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO6 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO7 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO8 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO9 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO10 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO11 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO12 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO13 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO14 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + IO15 __attribute__((deprecated("Use integer pin numbers (0-15) directly instead."))) , + }; + + /** + * @brief Construct a new IoExpanderXL9555 object. + * + * Initializes the base class with the fixed pin count of 16. + */ + IoExpanderXL9555() : IoExpanderBase(XL9555_PINS_COUNT) {} + + /** + * @brief Destroy the IoExpanderXL9555 object. + */ + ~IoExpanderXL9555() = default; + + /** + * @brief Write to multiple pins simultaneously using a mask. + * + * This override writes whole output registers when the mask covers + * an entire port, and updates the internal output state cache. + * + * @param mask Bitmask where a 1 indicates the pin should be updated. + * @param values Bitmask of the new values for the selected pins. + */ + void digitalWritePort(uint16_t mask, uint16_t values) override + { + uint8_t lowByte = values & 0xFF; + uint8_t highByte = (values >> 8) & 0xFF; + if (!_outputStates) { + log_e("Output states array not initialized"); + return; + } + if (mask & 0x00FF) { + writeReg(XL9555_CTRL_OUTP0, lowByte); + } + if (mask & 0xFF00) { + writeReg(XL9555_CTRL_OUTP1, highByte); + } + for (uint8_t i = 0; i < XL9555_PINS_COUNT; i++) { + if (mask & (1UL << i)) { + _outputStates[i] = (values >> i) & 1; + } + } + } + + /** + * @brief Read the values of all 16 input pins as a single 16-bit word. + * + * Reads both input registers (INP0 and INP1) and combines them into a 16-bit + * value where the lower 8 bits correspond to Port 0 (pins 0‑7) and the upper + * 8 bits correspond to Port 1 (pins 8‑15). + * + * @return uint16_t Bitmask of all input pin states. Bit 0 is pin 0, bit 15 is pin 15. + * Returns 0 and logs an error if the expander is not initialized. + */ + uint16_t digitalReadPort() override + { + uint16_t result = 0; + uint8_t lowByte = readReg(XL9555_CTRL_INP0); + uint8_t highByte = readReg(XL9555_CTRL_INP1); + result = (highByte << 8) | lowByte; + return result; + } + +protected: + /** + * @brief Set the direction of a single pin. + * + * This function configures the corresponding bit in the configuration + * register (CFG0 for pins 0‑7, CFG1 for pins 8‑15). A 0 in the + * configuration register means output, a 1 means input. + * + * @param pin Pin number (0‑15). + * @param mode Desired mode: OUTPUT (0) or INPUT (1). + */ + void pinModeImpl(uint8_t pin, uint8_t mode) override + { + if (pin >= XL9555_PINS_COUNT) { + log_e("Invalid pin number, pin range is 0-%d", XL9555_PINS_COUNT - 1); + return; + } + uint8_t reg = (pin < 8) ? XL9555_CTRL_CFG0 : XL9555_CTRL_CFG1; + uint8_t bit = pin % 8; + if (mode == OUTPUT) { + clrRegBit(reg, bit); + } else { + setRegBit(reg, bit); + } + } + + + /** + * @brief Hardware‑specific implementation for configuring multiple pins simultaneously. + * + * This function modifies the configuration registers (CFG0/CFG1) of the XL9555. + * It reads the current register values, updates only the bits specified in + * pinMask, and writes the new values back. This ensures that the direction of + * pins not listed in the mask remains unchanged. + * + * After updating the hardware, the internal pin mode cache (_pinModes) is also + * updated for consistency, so that subsequent individual pin operations see the + * correct cached state. + * + * @param pinMask Bitmask of pins to configure. Bits 0‑7 correspond to Port 0 + * (pins 0‑7), bits 8‑15 correspond to Port 1 (pins 8‑15). + * @param mode Desired mode: INPUT or OUTPUT. + * + * @note This function assumes that comm and _pinModes are valid (they are + * checked in the base class configPins() before calling here). + */ + void configPinsImpl(uint16_t pinMask, uint8_t mode) override + { + uint8_t lowMask = pinMask & 0xFF; // Bits for Port 0 (pins 0‑7) + uint8_t highMask = (pinMask >> 8) & 0xFF; // Bits for Port 1 (pins 8‑15) + + // --- Configure Port 0 (CFG0) --- + if (lowMask) { + // Read current configuration + uint8_t cur = readReg(XL9555_CTRL_CFG0); + // Modify only the bits specified in lowMask + if (mode == INPUT) { + cur |= lowMask; // Set bits to 1 for INPUT + } else { + cur &= ~lowMask; // Clear bits to 0 for OUTPUT + } + // Write back updated value + writeReg(XL9555_CTRL_CFG0, cur); + + // Update the internal pin mode cache for Port 0 pins + for (uint8_t i = 0; i < 8; i++) { + if (lowMask & (1 << i)) { + _pinModes[i] = mode; + } + } + } + + // --- Configure Port 1 (CFG1) --- + if (highMask) { + uint8_t cur = readReg(XL9555_CTRL_CFG1); + if (mode == INPUT) { + cur |= highMask; + } else { + cur &= ~highMask; + } + writeReg(XL9555_CTRL_CFG1, cur); + + // Update the internal pin mode cache for Port 1 pins + for (uint8_t i = 0; i < 8; i++) { + if (highMask & (1 << i)) { + _pinModes[i + 8] = mode; + } + } + } + } + + /** + * @brief Write a digital value to an output pin. + * + * Updates the output register (OUTP0 for pins 0‑7, OUTP1 for pins 8‑15) + * accordingly. + * + * @param pin Pin number (0‑15). + * @param value true for HIGH, false for LOW. + */ + void digitalWriteImpl(uint8_t pin, bool value) override + { + if (pin >= XL9555_PINS_COUNT) { + log_e("Invalid pin number, pin range is 0-%d", XL9555_PINS_COUNT - 1); + return; + } + uint8_t reg = (pin < 8) ? XL9555_CTRL_OUTP0 : XL9555_CTRL_OUTP1; + uint8_t bit = pin % 8; + if (value) { + setRegBit(reg, bit); + } else { + clrRegBit(reg, bit); + } + } + + /** + * @brief Read the digital value from an input pin. + * + * Reads the input register (INP0 for pins 0‑7, INP1 for pins 8‑15). + * + * @param pin Pin number (0‑15). + * @return true Pin is HIGH. + * @return false Pin is LOW. + */ + bool digitalReadImpl(uint8_t pin) override + { + if (pin >= XL9555_PINS_COUNT) { + log_e("Invalid pin number, pin range is 0-%d", XL9555_PINS_COUNT - 1); + return false; + } + if (!ensureValid()) { + return false; + } + uint8_t reg = (pin < 8) ? XL9555_CTRL_INP0 : XL9555_CTRL_INP1; + uint8_t bit = pin % 8; + uint8_t value = readReg(reg); + return (value >> bit) & 1; + } + + /** + * @brief Perform chip‑specific initialization. + * + * If the provided address is XL9555_UNKNOWN_ADDRESS, this function + * attempts to auto‑discover the device by scanning the standard XL9555 + * I2C addresses (0x20‑0x27). Otherwise, it verifies communication by + * reading the input port 0 register. + * + * @param param I2C device address, or XL9555_UNKNOWN_ADDRESS for auto‑discovery. + * @return true Initialization successful. + * @return false Initialization failed (device not found or communication error). + */ + bool initImpl(uint8_t param) override + { + if (param == XL9555_UNKNOWN_ADDRESS) { + log_d("Try to automatically discover the device"); + for (uint8_t address = XL9555_SLAVE_ADDRESS0; address <= XL9555_SLAVE_ADDRESS7; ++address) { + setAddress(address); + log_d("Try to use 0x%02x address.", address); + if (readReg(XL9555_CTRL_INP0) != -1) { + log_d("Found the xl9555 chip address is 0x%X", address); + return true; + } + } + log_e("No found xl9555 chip ..."); + return false; + } + if (readReg(XL9555_CTRL_INP0) < 0 ) { + return false; + } + return true; + } + +private: + // Register addresses (as per XL9555 datasheet) + static constexpr uint8_t XL9555_CTRL_INP0 = (0x00); ///< Input Port 0 /R + static constexpr uint8_t XL9555_CTRL_INP1 = (0x01); ///< Input Port 1 /R + static constexpr uint8_t XL9555_CTRL_OUTP0 = (0x02); ///< Output Port 0 /RW + static constexpr uint8_t XL9555_CTRL_OUTP1 = (0x03); ///< Output Port 1 /RW + static constexpr uint8_t XL9555_CTRL_PIP0 = (0x04); ///< Polarity Inversion Port 0 /RW + static constexpr uint8_t XL9555_CTRL_PIP1 = (0x05); ///< Polarity Inversion Port 1 /RW + static constexpr uint8_t XL9555_CTRL_CFG0 = (0x06); ///< Configuration Port 0 /RW + static constexpr uint8_t XL9555_CTRL_CFG1 = (0x07); ///< Configuration Port 1 /RW + static constexpr uint8_t XL9555_PINS_COUNT = 16; ///< Number of GPIO pins on the chip +}; diff --git a/lib/SensorLib/src/REG/BMA423Config.h b/lib/SensorLib/src/REG/BMA423Config.h deleted file mode 100644 index b86f53e..0000000 --- a/lib/SensorLib/src/REG/BMA423Config.h +++ /dev/null @@ -1,545 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2025 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. - * - * @file BMA423Config.h - * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-20 - * - */ -#pragma once -/**\name Feature configuration file */ -static const unsigned char bma423_config_file[6144] = { - 0x80, 0x2e, 0xfc, 0x00, 0x80, 0x2e, 0xfe, 0x00, 0xc8, 0x2e, 0x00, 0x2e, - 0x80, 0x2e, 0xfa, 0x00, 0x80, 0x2e, 0x23, 0xb1, 0x80, 0x2e, 0xfd, 0x00, - 0x80, 0x2e, 0xfb, 0x00, 0x80, 0x2e, 0x5a, 0xb1, 0x50, 0x39, 0x21, 0x2e, - 0xb0, 0xf0, 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xfc, 0x01, - 0x5d, 0x50, 0x45, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41, 0x30, 0x01, 0x42, - 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, - 0xb8, 0x2e, 0xb6, 0xd6, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, - 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0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00 -}; diff --git a/lib/SensorLib/src/REG/BMA423Constants.h b/lib/SensorLib/src/REG/BMA423Constants.h deleted file mode 100644 index ba5d61a..0000000 --- a/lib/SensorLib/src/REG/BMA423Constants.h +++ /dev/null @@ -1,213 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2025 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. - * - * @file BMA423Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-17 - * - */ -#pragma once - -#include - -#define BMA423_I2C_ADDR_PRIMARY (0x18) -#define BMA423_I2C_ADDR_SECONDARY (0x19) - -class BMA423Constants -{ -protected: - static constexpr uint8_t BAM423_SENSOR_RESOLUTION = (12) ; //* - static constexpr uint8_t RESET_REG = (0x7E); //* - static constexpr uint8_t CHIP_ID_ADDR = (0x00); /**\name CHIP ID ADDRESS*/ - static constexpr uint8_t CHIP_ID = (0x13); /**\name Chip ID of BMA423 sensor */ - static constexpr uint8_t POWER_CONF_ADDR = (0x7C); /**\name POWER_CTRL REGISTER*/ - static constexpr uint8_t POWER_CTRL_ADDR = (0x7D); /**\name POWER_CTRL REGISTER*/ - static constexpr uint8_t ADVANCE_POWER_SAVE_MSK = (0x01); /**\name ADVANCE POWER SAVE POSITION AND MASK*/ - static constexpr uint8_t INT_MAP_1_ADDR = (0X56); /**\name MAP INTERRUPT 1 and 2 REGISTERS*/ - static constexpr uint8_t INT_MAP_2_ADDR = (0X57); /**\name MAP INTERRUPT 1 and 2 REGISTERS*/ - static constexpr uint8_t INT_MAP_DATA_ADDR = (0x58); /**\name MAP INTERRUPT 1 and 2 REGISTERS*/ - static constexpr uint8_t INIT_CTRL_ADDR = (0x59); /**\name MAP INTERRUPT 1 and 2 REGISTERS*/ - static constexpr uint8_t RESERVED_REG_5B_ADDR = (0x5B); /**\name FEATURE CONFIG RELATED */ - static constexpr uint8_t RESERVED_REG_5C_ADDR = (0x5C); /**\name FEATURE CONFIG RELATED */ - static constexpr uint8_t FEATURE_CONFIG_ADDR = (0x5E); /**\name FEATURE CONFIG RELATED */ - static constexpr uint8_t INTERNAL_ERROR = (0x5F); /**\name FEATURE CONFIG RELATED */ - static constexpr uint8_t STEP_CNT_OUT_0_ADDR = (0x1E); /**\name GPIO REGISTERS*/ - static constexpr uint8_t HIGH_G_OUT_ADDR = (0x1F); /**\name GPIO REGISTERS*/ - static constexpr uint8_t ACTIVITY_OUT_ADDR = (0x27); /**\name GPIO REGISTERS*/ - static constexpr uint8_t ORIENTATION_OUT_ADDR = (0x28); /**\name GPIO REGISTERS*/ - static constexpr uint8_t INTERNAL_STAT = (0x2A); /**\name GPIO REGISTERS*/ - static constexpr uint8_t SENSORTIME_0_ADDR = (0X18); /**\name SENSOR TIME REGISTERS*/ - static constexpr uint8_t INT_STAT_0_ADDR = (0X1C); /**\name INTERRUPT/FEATURE STATUS REGISTERS*/ - static constexpr uint8_t INT_STAT_1_ADDR = (0X1D); /**\name INTERRUPT/FEATURE STATUS REGISTERS*/ - static constexpr uint8_t DATA_0_ADDR = (0X0A); /**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ - static constexpr uint8_t DATA_8_ADDR = (0X12); /**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ - static constexpr uint8_t ACCEL_CONFIG_ADDR = (0X40); /**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ - static constexpr uint8_t TEMPERATURE_ADDR = (0X22); /**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ - static constexpr uint8_t INT1_IO_CTRL_ADDR = (0X53); /**\name INTERRUPT ENABLE REGISTERS*/ - static constexpr uint8_t INT2_IO_CTRL_ADDR = (0X54); /**\name INTERRUPT ENABLE REGISTERS*/ - static constexpr uint8_t INTR_LATCH_ADDR = (0X55); /**\name LATCH DURATION REGISTERS*/ - - - /**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/ - static constexpr uint8_t MAG_TRIM_DATA_SIZE = (16); - static constexpr uint8_t MAG_XYZ_DATA_LENGTH = (6); - static constexpr uint8_t MAG_XYZR_DATA_LENGTH = (8); - static constexpr uint8_t ACCEL_DATA_LENGTH = (6); - static constexpr uint8_t FIFO_DATA_LENGTH = (2); - static constexpr uint8_t TEMP_DATA_SIZE = (1); - - - - /**\name Feature offset address */ - static constexpr uint8_t ANY_NO_MOTION_OFFSET = (0x00); - static constexpr uint8_t STEP_CNTR_OFFSET = (0x36); - static constexpr uint8_t STEP_CNTR_PARAM_OFFSET = (0x04); - static constexpr uint8_t WAKEUP_OFFSET = (0x38); - static constexpr uint8_t TILT_OFFSET = (0x3A); - static constexpr uint8_t CONFIG_ID_OFFSET = (0x3C); - static constexpr uint8_t AXES_REMAP_OFFSET = (0x3E); - - /**\name Sensor feature size */ - static constexpr uint8_t FEATURE_SIZE = (64); - static constexpr uint8_t ANYMOTION_EN_LEN = (2); - static constexpr uint8_t RD_WR_MIN_LEN = (2); - - /**************************************************************/ - /**\name Remap Axes */ - /**************************************************************/ - static constexpr uint8_t X_AXIS_MASK = (0x03); - static constexpr uint8_t X_AXIS_SIGN_MASK = (0x04); - static constexpr uint8_t Y_AXIS_MASK = (0x18); - static constexpr uint8_t Y_AXIS_SIGN_MASK = (0x20); - static constexpr uint8_t Z_AXIS_MASK = (0xC0); - static constexpr uint8_t Z_AXIS_SIGN_MASK = (0x01); - - - - /**\name ACCELEROMETER ENABLE POSITION AND MASK*/ - static constexpr uint8_t ACCEL_ENABLE_MSK = (0x04); - static constexpr uint8_t ASIC_INITIALIZED = (0x01); - - /**************************************************************/ - /**\name Step Counter & Detector */ - /**************************************************************/ - /**\name Step counter enable macros */ - static constexpr uint8_t STEP_CNTR_EN_POS = (4); - static constexpr uint8_t STEP_CNTR_EN_MSK = (0x10); - static constexpr uint8_t ACTIVITY_EN_MSK = (0x20); - - /**\name Step counter watermark macros */ - static constexpr uint16_t STEP_CNTR_WM_MSK = (0x03FF); - - /**\name Step counter reset macros */ - static constexpr uint8_t STEP_CNTR_RST_POS = (2); - static constexpr uint8_t STEP_CNTR_RST_MSK = (0x04); - - /**\name Step detector enable macros */ - static constexpr uint8_t STEP_DETECTOR_EN_POS = (3); - static constexpr uint8_t STEP_DETECTOR_EN_MSK = (0x08); - - /**\name Tilt enable macros */ - static constexpr uint8_t TILT_EN_MSK = (0x01); - - /**\name Step count output length*/ - static constexpr uint8_t STEP_CNTR_DATA_SIZE = (4); - - /**\name Wakeup enable macros */ - static constexpr uint8_t WAKEUP_EN_MSK = (0x01); - - /**\name Wake up sensitivity macros */ - static constexpr uint8_t WAKEUP_SENS_POS = (1); - static constexpr uint8_t WAKEUP_SENS_MSK = (0x0E); - - /**\name Tap selection macro */ - static constexpr uint8_t TAP_SEL_POS = (4); - static constexpr uint8_t TAP_SEL_MSK = (0x10); - - /**************************************************************/ - /**\name Any Motion */ - /**************************************************************/ - /**\name Any motion threshold macros */ - static constexpr uint8_t ANY_NO_MOTION_THRES_POS = (0); - static constexpr uint16_t ANY_NO_MOTION_THRES_MSK = (0x07FF); - - /**\name Any motion selection macros */ - static constexpr uint8_t ANY_NO_MOTION_SEL_POS = (3); - static constexpr uint8_t ANY_NO_MOTION_SEL_MSK = (0x08); - - /**\name Any motion enable macros */ - static constexpr uint8_t ANY_NO_MOTION_AXIS_EN_POS = (5); - static constexpr uint8_t ANY_NO_MOTION_AXIS_EN_MSK = (0xE0); - - /**\name Any motion duration macros */ - static constexpr uint16_t ANY_NO_MOTION_DUR_MSK = (0x1FFF); - - /**\name INTERRUPT MAPS */ - static constexpr uint8_t INTR1_MAP = (0); - static constexpr uint8_t INTR2_MAP = (1); - - - - /**\name CONSTANTS */ - static constexpr uint8_t FIFO_CONFIG_LENGTH = (2); - static constexpr uint8_t ACCEL_CONFIG_LENGTH = (2); - static constexpr uint8_t FIFO_WM_LENGTH = (2); - static constexpr uint16_t CONFIG_STREAM_SIZE = (6144); - static constexpr uint8_t NON_LATCH_MODE = (0); - static constexpr uint8_t LATCH_MODE = (1); - static constexpr uint8_t PUSH_PULL = (0); - static constexpr uint8_t ACTIVE_HIGH = (1); - static constexpr uint8_t ACTIVE_LOW = (0); - static constexpr uint8_t EDGE_TRIGGER = (1); - static constexpr uint8_t LEVEL_TRIGGER = (0); - static constexpr uint8_t OUTPUT_ENABLE = (1); - static constexpr uint8_t OUTPUT_DISABLE = (0); - static constexpr uint8_t INPUT_ENABLE = (1); - static constexpr uint8_t INPUT_DISABLE = (0); - - - /**\name OUTPUT TYPE ENABLE POSITION AND MASK*/ - static constexpr uint8_t INT_EDGE_CTRL_MASK = (0x01); - static constexpr uint8_t INT_EDGE_CTRL_POS = (0x00); - static constexpr uint8_t INT_LEVEL_MASK = (0x02); - static constexpr uint8_t INT_LEVEL_POS = (0x01); - static constexpr uint8_t INT_OPEN_DRAIN_MASK = (0x04); - static constexpr uint8_t INT_OPEN_DRAIN_POS = (0x02); - static constexpr uint8_t INT_OUTPUT_EN_MASK = (0x08); - static constexpr uint8_t INT_OUTPUT_EN_POS = (0x03); - static constexpr uint8_t INT_INPUT_EN_MASK = (0x10); - static constexpr uint8_t INT_INPUT_EN_POS = (0x04); - - - /**\name Interrupt status macros */ - static constexpr uint8_t STEP_CNTR_INT = (0x02); - static constexpr uint8_t ACTIVITY_INT = (0x04); - static constexpr uint8_t TILT_INT = (0x08); - static constexpr uint8_t WAKEUP_INT = (0x20); - static constexpr uint8_t ANY_NO_MOTION_INT = (0x40); - static constexpr uint8_t ERROR_INT = (0x80); - -}; - - diff --git a/lib/SensorLib/src/REG/BQ27220Constants.h b/lib/SensorLib/src/REG/BQ27220Constants.h deleted file mode 100644 index cabdfeb..0000000 --- a/lib/SensorLib/src/REG/BQ27220Constants.h +++ /dev/null @@ -1,113 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2025 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. - * - * @file BQ27220Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-16 - * - */ - -#pragma once - -#include - - -class BQ27220Constants -{ -protected: - - //* Sub command - static constexpr uint16_t BQ27220_SUB_CMD_CTRL_STATUS = (0x0000); - static constexpr uint16_t BQ27220_SUB_CMD_DEVICE_NUMBER = (0x0001); - static constexpr uint16_t BQ27220_SUB_CMD_FW_VERSION = (0x0002); - static constexpr uint16_t BQ27220_SUB_CMD_HW_VERSION = (0x0003); - static constexpr uint16_t BQ27220_SUB_CMD_BOARD_OFFSET = (0x0009); - static constexpr uint16_t BQ27220_SUB_CMD_CC_OFFSET = (0x000A); - static constexpr uint16_t BQ27220_SUB_CMD_CC_OFFSET_SAVE = (0x000B); - static constexpr uint16_t BQ27220_SUB_CMD_OCV_CMD = (0x000C); - static constexpr uint16_t BQ27220_SUB_CMD_BAT_INSERT = (0x000D); - static constexpr uint16_t BQ27220_SUB_CMD_BAT_REMOVE = (0x000E); - static constexpr uint16_t BQ27220_SUB_CMD_SET_SNOOZE = (0x0013); - static constexpr uint16_t BQ27220_SUB_CMD_CLEAR_SNOOZE = (0x0014); - static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_1 = (0x0015); - static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_2 = (0x0016); - static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_3 = (0x0017); - static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_4 = (0x0018); - static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_5 = (0x0019); - static constexpr uint16_t BQ27220_SUB_CMD_SET_PROFILE_6 = (0x001A); - static constexpr uint16_t BQ27220_SUB_CMD_CAL_TOGGLE = (0x002D); - static constexpr uint16_t BQ27220_SUB_CMD_SEALED = (0x0030); - static constexpr uint16_t BQ27220_SUB_CMD_RESET = (0x0041); - static constexpr uint16_t BQ27220_SUB_CMD_EXIT_CAL = (0x0080); - static constexpr uint16_t BQ27220_SUB_CMD_ENTER_CAL = (0x0081); - static constexpr uint16_t BQ27220_SUB_CMD_ENTER_CFG_UPDATE = (0x0090); - static constexpr uint16_t BQ27220_SUB_CMD_EXIT_CFG_UPDATE_REINIT = (0x0091); - static constexpr uint16_t BQ27220_SUB_CMD_EXIT_CFG_UPDATE = (0x0092); - static constexpr uint16_t BQ27220_SUB_CMD_RETURN_TO_ROM = (0x0F00); - - //* Standard commands - static constexpr uint8_t BQ27220_REG_STA_AT_RATE = (0x02); - static constexpr uint8_t BQ27220_REG_STA_AT_RATE_TIME_TO_EMPTY = (0x04); - static constexpr uint8_t BQ27220_REG_STA_NTC_TEMP = (0x06); - static constexpr uint8_t BQ27220_REG_STA_BAT_VOLTAGE = (0x08); - static constexpr uint8_t BQ27220_REG_STA_BAT_STATUS = (0x0A); - static constexpr uint8_t BQ27220_REG_STA_CURRENT = (0x0C); - static constexpr uint8_t BQ27220_REG_STA_REMAINING_CAPACITY = (0x10); - static constexpr uint8_t BQ27220_REG_STA_FULL_CHARGE_CAPACITY = (0x12); - static constexpr uint8_t BQ27220_REG_STA_TIME_TO_EMPTY = (0x16); - static constexpr uint8_t BQ27220_REG_STA_TIME_TO_FULL = (0x18); - static constexpr uint8_t BQ27220_REG_STA_STANDBY_CURRENT = (0x1A); - static constexpr uint8_t BQ27220_REG_STA_STANDBY_TIME_TO_EMPTY = (0x1C); - static constexpr uint8_t BQ27220_REG_STA_MAX_LOAD_CURRENT = (0x1E); - static constexpr uint8_t BQ27220_REG_STA_MAX_LOAD_TO_EMPTY = (0x20); - static constexpr uint8_t BQ27220_REG_STA_COULOMB_COUNT = (0x22); - static constexpr uint8_t BQ27220_REG_STA_AVG_POWER = (0x24); - static constexpr uint8_t BQ27220_REG_STA_INTER_TEMP = (0x28); - static constexpr uint8_t BQ27220_REG_STA_CYCLE_COUNT = (0x2A); - static constexpr uint8_t BQ27220_REG_STA_STATE_OF_CHARGE = (0x2C); - static constexpr uint8_t BQ27220_REG_STA_STATE_OF_HEALTH = (0x2E); - static constexpr uint8_t BQ27220_REG_STA_CHARGING_VOLTAGE = (0x30); - static constexpr uint8_t BQ27220_REG_STA_CHARGING_CURRENT = (0x32); - static constexpr uint8_t BQ27220_REG_STA_BTP_DISC_SET = (0x34); - static constexpr uint8_t BQ27220_REG_STA_BTP_CHARGE_SET = (0x36); - static constexpr uint8_t BQ27220_REG_STA_OPERATION_STATUS = (0x3A); - static constexpr uint8_t BQ27220_REG_STA_DESIGN_CAPACITY = (0x3C); - static constexpr uint8_t BQ27220_REG_STA_DESIGN_CAPACITY_MSB = (0x3E); - static constexpr uint8_t BQ27220_REG_STA_DESIGN_CAPACITY_LSB = (0x3F); - static constexpr uint8_t BQ27220_REG_MAC_BUFFER_START = (0x40); - static constexpr uint8_t BQ27220_REG_MAC_BUFFER_END = (0x5F); - static constexpr uint8_t BQ27220_REG_MAC_DATA_SUM = (0x60); - static constexpr uint8_t BQ27220_REG_MAC_DATA_LEN = (0x61); - static constexpr uint8_t BQ27220_REG_ANALOG_COUNT = (0x79); - static constexpr uint8_t BQ27220_REG_RAW_CURRENT = (0x7A); - static constexpr uint8_t BQ27220_REG_RAW_VOLTAGE = (0x7C); - static constexpr uint8_t BQ27220_REG_ROM_START = (0x3E); - - static constexpr uint16_t BQ27220_CHIP_ID = (0x0220); - - static constexpr uint16_t BQ27220_ROM_FULL_CHARGE_CAPACITY = (0x929D); - static constexpr uint16_t BQ27220_ROM_DESIGN_CAPACITY = (0x929F); - static constexpr uint16_t BQ27220_ROM_OPERATION_CONFIG_A = (0x9206); - static constexpr uint16_t BQ27220_ROM_OPERATION_CONFIG_B = (0x9208); -}; diff --git a/lib/SensorLib/src/REG/CST9xxConstants.h b/lib/SensorLib/src/REG/CST9xxConstants.h deleted file mode 100644 index 42faf32..0000000 --- a/lib/SensorLib/src/REG/CST9xxConstants.h +++ /dev/null @@ -1,2788 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2024 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. - * - * @file CST9xxConstants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2024-07-07 - * - */ -#pragma once - -#include - -#define CST92XX_SLAVE_ADDRESS (0x5A) - -class CST92xxConstants -{ -protected: - typedef struct { - uint8_t finger_id; - uint8_t evt; - uint16_t x; - uint16_t y; - } cst9xx_point_t; - //Fixed, immutable - static constexpr uint8_t CST92XX_BOOT_ADDRESS = (0x5A); - - static constexpr uint16_t CST9220_CHIP_ID = (0x9220); - static constexpr uint16_t CST9217_CHIP_ID = (0x9217); - static constexpr uint16_t CST92XX_READ_COMMAND = (0xD000); - static constexpr uint16_t CST92XX_REG_DEBUG_MODE = (0xD101); - static constexpr uint16_t CST92XX_REG_SLEEP_MODE = (0xD105); - static constexpr uint16_t CST92XX_REG_DIS_LOW_POWER_SCAN_MODE = (0xD106); - static constexpr uint16_t CST92XX_REG_NORMAL_MODE = (0xD109); - static constexpr uint16_t CST92XX_REG_RAW_MODE = (0xD10A); - static constexpr uint16_t CST92XX_REG_DIFF_MODE = (0xD10D); - static constexpr uint16_t CST92XX_REG_BASE_LINE_MODE = (0xD10E); - static constexpr uint16_t CST92XX_REG_LOWPOWER_MODE = (0xD10F); - static constexpr uint16_t CST92XX_REG_FACTORY_MODE = (0xD114); - static constexpr uint8_t CST92XX_ACK = (0xAB); - static constexpr uint8_t CST92XX_MAX_FINGER_NUM = (2); - static constexpr uint8_t CST92XX_PROGRAM_PAGE_SIZE = (128); - static constexpr uint32_t CST92XX_MEM_SIZE = (0x007F80);// 31KB -}; - -const unsigned char cst92xx_firmware[] = { - 0xFC, 0x0F, 0x00, 0x20, 0xAD, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xF5, 0x2D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 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0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, - 0xFF, 0xFF, 0xFF, 0xFF, 0x07, 0x00, 0x09, 0x00, 0x2C, 0x01, 0x2C, 0x01, - 0x20, 0x4E, 0xCA, 0xCA, 0xAA, 0x55, 0xAA, 0x55, 0x62, 0x47, 0x17, 0x92, - 0x06, 0x00, 0x00, 0x01, 0x2D, 0x11, 0x65, 0x57, 0xFF, 0xFF, 0xFF, 0xFF, - 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88, 0x32, 0xEB, 0x8B, 0xB3, -}; - diff --git a/lib/SensorLib/src/REG/DRV2605Constants.h b/lib/SensorLib/src/REG/DRV2605Constants.h deleted file mode 100644 index 40d558b..0000000 --- a/lib/SensorLib/src/REG/DRV2605Constants.h +++ /dev/null @@ -1,89 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file DRV2605Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-03 - * - */ - -#pragma once -#include - - -class DRV2605Constants -{ -protected: - - const uint8_t DRV2605_SLAVE_ADDRESS = 0x5A; - - // Chip IDs - static constexpr uint8_t DRV2604_CHIP_ID = 0x04; //* DRV2604 (contains RAM, does not contain licensed ROM library) - static constexpr uint8_t DRV2605_CHIP_ID = 0x03; //* DRV2605 (contains licensed ROM library, does not contain RAM) - static constexpr uint8_t DRV2604L_CHIP_ID = 0x06; //* DRV2604L (low-voltage version of the DRV2604 device) - static constexpr uint8_t DRV2605L_CHIP_ID = 0x07; //* DRV2605L (low-voltage version of the DRV2605 device) - - // Registers - static constexpr uint8_t DRV2605_REG_STATUS = 0x00; //* Status register - static constexpr uint8_t DRV2605_REG_MODE = 0x01; //* Mode register - static constexpr uint8_t DRV2605_REG_RTPIN = 0x02; //* Real-time playback input register - static constexpr uint8_t DRV2605_REG_LIBRARY = 0x03; //* Waveform library selection register - static constexpr uint8_t DRV2605_REG_WAVESEQ1 = 0x04; //* Waveform sequence register 1 - static constexpr uint8_t DRV2605_REG_WAVESEQ2 = 0x05; //* Waveform sequence register 2 - static constexpr uint8_t DRV2605_REG_WAVESEQ3 = 0x06; //* Waveform sequence register 3 - static constexpr uint8_t DRV2605_REG_WAVESEQ4 = 0x07; //* Waveform sequence register 4 - static constexpr uint8_t DRV2605_REG_WAVESEQ5 = 0x08; //* Waveform sequence register 5 - static constexpr uint8_t DRV2605_REG_WAVESEQ6 = 0x09; //* Waveform sequence register 6 - static constexpr uint8_t DRV2605_REG_WAVESEQ7 = 0x0A; //* Waveform sequence register 7 - static constexpr uint8_t DRV2605_REG_WAVESEQ8 = 0x0B; //* Waveform sequence register 8 - static constexpr uint8_t DRV2605_REG_GO = 0x0C; //* Go register - static constexpr uint8_t DRV2605_REG_OVERDRIVE = 0x0D; //* Overdrive time offset register - static constexpr uint8_t DRV2605_REG_SUSTAINPOS = 0x0E; //* Sustain time offset, positive register - static constexpr uint8_t DRV2605_REG_SUSTAINNEG = 0x0F; //* Sustain time offset, negative register - static constexpr uint8_t DRV2605_REG_BREAK = 0x10; //* Brake time offset register - static constexpr uint8_t DRV2605_REG_AUDIOCTRL = 0x11; //* Audio-to-vibe control register - static constexpr uint8_t DRV2605_REG_AUDIOLVL = 0x12; //* Audio-to-vibe minimum input level register - static constexpr uint8_t DRV2605_REG_AUDIOMAX = 0x13; //* Audio-to-vibe maximum input level register - static constexpr uint8_t DRV2605_REG_AUDIOOUTMIN = 0x14; //* Audio-to-vibe minimum output drive register - static constexpr uint8_t DRV2605_REG_AUDIOOUTMAX = 0x15; //* Audio-to-vibe maximum output drive register - static constexpr uint8_t DRV2605_REG_RATEDV = 0x16; //* Rated voltage register - static constexpr uint8_t DRV2605_REG_CLAMPV = 0x17; //* Overdrive clamp voltage register - static constexpr uint8_t DRV2605_REG_AUTOCALCOMP = 0x18; //* Auto-calibration compensation result register - static constexpr uint8_t DRV2605_REG_AUTOCALEMP = 0x19; //* Auto-calibration back-EMF result register - static constexpr uint8_t DRV2605_REG_FEEDBACK = 0x1A; //* Feedback control register - static constexpr uint8_t DRV2605_REG_CONTROL1 = 0x1B; //* Control1 Register - static constexpr uint8_t DRV2605_REG_CONTROL2 = 0x1C; //* Control2 Register - static constexpr uint8_t DRV2605_REG_CONTROL3 = 0x1D; //* Control3 Register - static constexpr uint8_t DRV2605_REG_CONTROL4 = 0x1E; //* Control4 Register - static constexpr uint8_t DRV2605_REG_VBAT = 0x21; //* Vbat voltage-monitor register - static constexpr uint8_t DRV2605_REG_LRARESON = 0x22; //* LRA resonance-period register - -}; - - - - - - - diff --git a/lib/SensorLib/src/REG/FT6X36Constants.h b/lib/SensorLib/src/REG/FT6X36Constants.h deleted file mode 100644 index 867099d..0000000 --- a/lib/SensorLib/src/REG/FT6X36Constants.h +++ /dev/null @@ -1,65 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file FT6X36Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-01 - * - */ - -#pragma once - -#define FT3267_SLAVE_ADDRESS (0x38) -#define FT5206_SLAVE_ADDRESS (0x38) -#define FT6X36_SLAVE_ADDRESS (0x38) - -#define FT6X36_VEND_ID ((uint8_t)0x11) -#define FT3267_CHIP_ID ((uint8_t)0x33) -#define FT6206_CHIP_ID ((uint8_t)0x06) -#define FT6236_CHIP_ID ((uint8_t)0x36) -#define FT6236U_CHIP_ID ((uint8_t)0x64) -#define FT5206U_CHIP_ID ((uint8_t)0x64) - -#define FT6X36_REG_MODE ((uint8_t)0x00) -#define FT6X36_REG_GEST ((uint8_t)0x01) -#define FT6X36_REG_STATUS ((uint8_t)0x02) -#define FT6X36_REG_TOUCH1_XH ((uint8_t)0x03) -#define FT6X36_REG_TOUCH1_XL ((uint8_t)0x04) -#define FT6X36_REG_TOUCH1_YH ((uint8_t)0x05) -#define FT6X36_REG_TOUCH1_YL ((uint8_t)0x06) -#define FT6X36_REG_THRESHOLD ((uint8_t)0x80) -#define FT6X36_REG_MONITOR_TIME ((uint8_t)0x87) -#define FT6X36_REG_PERIOD_ACTIVE ((uint8_t)0x88) -#define FT6X36_REG_PERIOD_MONITOR ((uint8_t)0x89) - - -#define FT6X36_REG_AUTO_CLB_MODE ((uint8_t)0xA0) -#define FT6X36_REG_LIB_VERSION_H ((uint8_t)0xA1) -#define FT6X36_REG_LIB_VERSION_L ((uint8_t)0xA2) -#define FT6X36_REG_INT_STATUS ((uint8_t)0xA4) -#define FT6X36_REG_POWER_MODE ((uint8_t)0xA5) -#define FT6X36_REG_FIRM_VERS ((uint8_t)0xA6) -#define FT6X36_REG_CHIP_ID ((uint8_t)0xA3) -#define FT6X36_REG_VENDOR1_ID ((uint8_t)0xA8) -#define FT6X36_REG_ERROR_STATUS ((uint8_t)0xA9) \ No newline at end of file diff --git a/lib/SensorLib/src/REG/GT9895Constants.h b/lib/SensorLib/src/REG/GT9895Constants.h deleted file mode 100644 index d5862fa..0000000 --- a/lib/SensorLib/src/REG/GT9895Constants.h +++ /dev/null @@ -1,251 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2024 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. - * - * @file GT9895Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2024-09-21 - * - */ - -#pragma once - -#include - -#define GT9895_SLAVE_ADDRESS_H (0x14) -#define GT9895_SLAVE_ADDRESS_L (0x5D) - -class GT9895Constants -{ -public: -#define GT9895_MAX_TOUCH (10) -#define GT9895_MAX_PEN_KEY (2) -#define GT9895_INFO_MAX_LENGTH (1024) -#define GT9895_MAX_SCAN_RATE_NUM (8) -#define GT9895_MAX_SCAN_FREQ_NUM (8) -#define GT9895_MAX_FREQ_NUM_STYLUS (8) -#define GT9895_GESTURE_DATA_LEN (16) -#define GT9895_IRQ_EVENT_HEAD_LEN (8) -#define GT9895_BYTES_PER_POINT (8) -#define GT9895_COORDS_DATA_CHECKSUM_SIZE (2) - - enum CHECKSUM_MODE { - CHECKSUM_MODE_U8_LE, - CHECKSUM_MODE_U16_LE, - }; - - enum TouchPointStatus { - TS_NONE, - TS_RELEASE, - TS_TOUCH, - }; - - /* interrupt event type */ - enum TsEventType { - EVENT_INVALID = 0, - EVENT_TOUCH = (1 << 0), /* finger touch event */ - EVENT_PEN = (1 << 1), /* pen event */ - EVENT_REQUEST = (1 << 2), - EVENT_GESTURE = (1 << 3), - }; - - enum brl_request_code { - BRL_REQUEST_CODE_CONFIG = 0x01, - BRL_REQUEST_CODE_REF_ERR = 0x02, - BRL_REQUEST_CODE_RESET = 0x03, - BRL_REQUEST_CODE_CLOCK = 0x04, - }; - - /* coordinate package */ - typedef struct { - int status; /* NONE, RELEASE, TOUCH */ - unsigned int x, y, w, p; - } TsCoords; - - /* touch event data */ - typedef struct { - int touch_num; - uint64_t timestamp; - TsCoords coords[GT9895_MAX_TOUCH]; - } TouchData; - - typedef struct { - int status; - int code; - } TsKey; - - typedef struct { - int status; /* NONE, RELEASE, TOUCH */ - int tool_type; /* BTN_TOOL_RUBBER BTN_TOOL_PEN */ - unsigned int x, y, p; - signed char tilt_x; - signed char tilt_y; - } PenCoords; - - typedef struct { - PenCoords coords; - TsKey keys[GT9895_MAX_PEN_KEY]; - } PenData; - - typedef struct { - int id; - int x; - int y; - int w; - int p; - int tool_type; - } PointData; - - /* - * ChipTsEvent - touch event struct - * @event_type: touch event type, touch data or - * request event - * @event_data: event data - */ - typedef struct { - enum TsEventType event_type; - uint8_t fp_flag; /* finger print DOWN flag */ - uint8_t request_code; /* represent the request type */ - uint8_t gesture_type; - uint8_t gesture_data[GT9895_GESTURE_DATA_LEN]; - TouchData touch_data; - PenData pen_data; - } ChipTsEvent; - - typedef struct { - uint8_t rom_pid[6]; /* rom PID */ - uint8_t rom_vid[3]; /* Mask VID */ - uint8_t rom_vid_reserved; - uint8_t patch_pid[8]; /* Patch PID */ - uint8_t patch_vid[4]; /* Patch VID */ - uint8_t patch_vid_reserved; - uint8_t sensor_id; - uint8_t reserved[2]; - uint16_t checksum; - } ChipFirmwareVersion; - - typedef struct { - uint8_t info_customer_id; - uint8_t info_version_id; - uint8_t ic_die_id; - uint8_t ic_version_id; - uint32_t config_id; - uint8_t config_version; - uint8_t frame_data_customer_id; - uint8_t frame_data_version_id; - uint8_t touch_data_customer_id; - uint8_t touch_data_version_id; - uint8_t reserved[3]; - } ChipInfoVersion; - - typedef struct { /* feature info*/ - uint16_t freqhop_feature; - uint16_t calibration_feature; - uint16_t gesture_feature; - uint16_t side_touch_feature; - uint16_t stylus_feature; - } ChipInfoFeature; - - typedef struct { /* param */ - uint8_t drv_num; - uint8_t sen_num; - uint8_t button_num; - uint8_t force_num; - uint8_t active_scan_rate_num; - uint16_t active_scan_rate[GT9895_MAX_SCAN_RATE_NUM]; - uint8_t mutual_freq_num; - uint16_t mutual_freq[GT9895_MAX_SCAN_FREQ_NUM]; - uint8_t self_tx_freq_num; - uint16_t self_tx_freq[GT9895_MAX_SCAN_FREQ_NUM]; - uint8_t self_rx_freq_num; - uint16_t self_rx_freq[GT9895_MAX_SCAN_FREQ_NUM]; - uint8_t stylus_freq_num; - uint16_t stylus_freq[GT9895_MAX_FREQ_NUM_STYLUS]; - } ChipInfoParams; - - typedef struct { /* other data */ - uint32_t cmd_addr; - uint16_t cmd_max_len; - uint32_t cmd_reply_addr; - uint16_t cmd_reply_len; - uint32_t fw_state_addr; - uint16_t fw_state_len; - uint32_t fw_buffer_addr; - uint16_t fw_buffer_max_len; - uint32_t frame_data_addr; - uint16_t frame_data_head_len; - uint16_t fw_attr_len; - uint16_t fw_log_len; - uint8_t pack_max_num; - uint8_t pack_compress_version; - uint16_t stylus_struct_len; - uint16_t mutual_struct_len; - uint16_t self_struct_len; - uint16_t noise_struct_len; - uint32_t touch_data_addr; - uint16_t touch_data_head_len; - uint16_t point_struct_len; - uint16_t reserved1; - uint16_t reserved2; - uint32_t mutual_rawdata_addr; - uint32_t mutual_diffdata_addr; - uint32_t mutual_refdata_addr; - uint32_t self_rawdata_addr; - uint32_t self_diffdata_addr; - uint32_t self_refdata_addr; - uint32_t iq_rawdata_addr; - uint32_t iq_refdata_addr; - uint32_t im_rawdata_addr; - uint16_t im_readata_len; - uint32_t noise_rawdata_addr; - uint16_t noise_rawdata_len; - uint32_t stylus_rawdata_addr; - uint16_t stylus_rawdata_len; - uint32_t noise_data_addr; - uint32_t esd_addr; - } ChipInfoMisc; - - typedef struct { - uint16_t length; - ChipInfoVersion version; - ChipInfoFeature feature; - ChipInfoParams parm; - ChipInfoMisc misc; - } ChipInfo; -protected: - static constexpr uint8_t GT9895_POINT_TYPE_STYLUS_HOVER = (0x01); - static constexpr uint8_t GT9895_POINT_TYPE_STYLUS = (0x03); - static constexpr uint8_t GT9895_TOUCH_EVENT = (0x80); - static constexpr uint8_t GT9895_REQUEST_EVENT = (0x40); - static constexpr uint8_t GT9895_GESTURE_EVENT = (0x20); - static constexpr uint8_t GT9895_FP_EVENT = (0x08); - -#define GT9895_REG_FW_VERSION (0x00010014u) -#define GT9895_REG_INFO (0x00010070u) -#define GT9895_REG_CMD (0x00010174u) -#define GT9895_REG_POINT (0x00010308u) - -}; - - - diff --git a/lib/SensorLib/src/REG/LTR533Constants.h b/lib/SensorLib/src/REG/LTR533Constants.h deleted file mode 100644 index 3304e74..0000000 --- a/lib/SensorLib/src/REG/LTR533Constants.h +++ /dev/null @@ -1,71 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2023 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. - * - * @file LTR533Constants.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-09-09 - */ -#pragma once - -#include - - -class LTR553Constants -{ -protected: - // Unique I2C device address - const uint8_t LTR553_SLAVE_ADDRESS = 0x23; - - // Registers - static constexpr uint8_t REG_ALS_CONTR = 0x80; - static constexpr uint8_t REG_PS_CONTR = 0x81; - static constexpr uint8_t REG_PS_LED = 0x82; - static constexpr uint8_t REG_PS_N_PULSES = 0x83; - static constexpr uint8_t REG_PS_MEAS_RATE = 0x84; - static constexpr uint8_t REG_ALS_MEAS_RATE = 0x85; - static constexpr uint8_t REG_PART_ID = 0x86; - static constexpr uint8_t REG_MANUFAC_ID = 0x87; - static constexpr uint8_t REG_ALS_DATA_CH1_0 = 0x88; - static constexpr uint8_t REG_ALS_DATA_CH1_1 = 0x89; - static constexpr uint8_t REG_ALS_DATA_CH0_0 = 0x8A; - static constexpr uint8_t REG_ALS_DATA_CH0_1 = 0x8B; - static constexpr uint8_t REG_ALS_PS_STATUS = 0x8C; - static constexpr uint8_t REG_PS_DATA_0 = 0x8D; - static constexpr uint8_t REG_PS_DATA_1 = 0x8E; - static constexpr uint8_t REG_INTERRUPT = 0x8F; - static constexpr uint8_t REG_PS_THRES_UP_0 = 0x90; - static constexpr uint8_t REG_PS_THRES_UP_1 = 0x91; - static constexpr uint8_t REG_PS_THRES_LOW_0 = 0x92; - static constexpr uint8_t REG_PS_THRES_LOW_1 = 0x93; - static constexpr uint8_t REG_PS_OFFSET_1 = 0x94; - static constexpr uint8_t REG_PS_OFFSET_0 = 0x95; - static constexpr uint8_t REG_ALS_THRES_UP_0 = 0x97; - static constexpr uint8_t REG_ALS_THRES_UP_1 = 0x98; - static constexpr uint8_t REG_ALS_THRES_LOW_0 = 0x99; - static constexpr uint8_t REG_ALS_THRES_LOW_1 = 0x9A; - static constexpr uint8_t REG_INTERRUPT_PERSIST = 0x9E; - - // Default Manufacturer ID - static constexpr uint8_t LTR553_DEFAULT_MAN_ID = 0x05; -}; \ No newline at end of file diff --git a/lib/SensorLib/src/REG/MPU6886Constants.h b/lib/SensorLib/src/REG/MPU6886Constants.h deleted file mode 100644 index 1de1dfa..0000000 --- a/lib/SensorLib/src/REG/MPU6886Constants.h +++ /dev/null @@ -1,115 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file MPU6886Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 - * - */ - -#pragma once - - -#define MPU6886_SLAVE_ADDRESS (0x68) - -#define MPU6886_REG_XG_OFFS_TC_H ((uint8_t)0x04) -#define MPU6886_REG_XG_OFFS_TC_L ((uint8_t)0x05) -#define MPU6886_REG_YG_OFFS_TC_H ((uint8_t)0x07) -#define MPU6886_REG_YG_OFFS_TC_L ((uint8_t)0x08) -#define MPU6886_REG_ZG_OFFS_TC_H ((uint8_t)0x0A) -#define MPU6886_REG_ZG_OFFS_TC_L ((uint8_t)0x0B) -#define MPU6886_REG_SELF_TEST_X_ACCEL ((uint8_t)0x0D) -#define MPU6886_REG_SELF_TEST_Y_ACCEL ((uint8_t)0x0E) -#define MPU6886_REG_SELF_TEST_Z_ACCEL ((uint8_t)0x0F) -#define MPU6886_REG_XG_OFFS_USRH ((uint8_t)0x13) -#define MPU6886_REG_XG_OFFS_USRL ((uint8_t)0x14) -#define MPU6886_REG_YG_OFFS_USRH ((uint8_t)0x15) -#define MPU6886_REG_YG_OFFS_USRL ((uint8_t)0x16) -#define MPU6886_REG_ZG_OFFS_USRH ((uint8_t)0x17) -#define MPU6886_REG_ZG_OFFS_USRL ((uint8_t)0x18) -#define MPU6886_REG_SMPLRT_DIV ((uint8_t)0x19) -#define MPU6886_REG_CONFIG ((uint8_t)0x1A) -#define MPU6886_REG_GYRO_CONFIG ((uint8_t)0x1B) -#define MPU6886_REG_ACCEL_CONFIG ((uint8_t)0x1C) -#define MPU6886_REG_ACCEL_CONFIG_2 ((uint8_t)0x1D) -#define MPU6886_REG_LP_MODE_CFG ((uint8_t)0x1E) -#define MPU6886_REG_ACCEL_WOM_X_THR ((uint8_t)0x20) -#define MPU6886_REG_ACCEL_WOM_Y_THR ((uint8_t)0x21) -#define MPU6886_REG_ACCEL_WOM_Z_THR ((uint8_t)0x22) -#define MPU6886_REG_FIFO_EN ((uint8_t)0x23) -#define MPU6886_REG_FSYNC_INT ((uint8_t)0x36) -#define MPU6886_REG_INT_PIN_CFG ((uint8_t)0x37) -#define MPU6886_REG_INT_ENABLE ((uint8_t)0x38) -#define MPU6886_REG_FIFO_WM_INT_STATUS ((uint8_t)0x39) -#define MPU6886_REG_INT_STATUS ((uint8_t)0x3A) -#define MPU6886_REG_ACCEL_XOUT_H ((uint8_t)0x3B) -#define MPU6886_REG_ACCEL_XOUT_L ((uint8_t)0x3C) -#define MPU6886_REG_ACCEL_YOUT_H ((uint8_t)0x3D) -#define MPU6886_REG_ACCEL_YOUT_L ((uint8_t)0x3E) -#define MPU6886_REG_ACCEL_ZOUT_H ((uint8_t)0x3F) -#define MPU6886_REG_ACCEL_ZOUT_L ((uint8_t)0x40) -#define MPU6886_REG_TEMP_OUT_H ((uint8_t)0x41) -#define MPU6886_REG_TEMP_OUT_L ((uint8_t)0x42) -#define MPU6886_REG_GYRO_XOUT_H ((uint8_t)0x43) -#define MPU6886_REG_GYRO_XOUT_L ((uint8_t)0x44) -#define MPU6886_REG_GYRO_YOUT_H ((uint8_t)0x45) -#define MPU6886_REG_GYRO_YOUT_L ((uint8_t)0x46) -#define MPU6886_REG_GYRO_ZOUT_H ((uint8_t)0x47) -#define MPU6886_REG_GYRO_ZOUT_L ((uint8_t)0x48) -#define MPU6886_REG_SELF_TEST_X_GYRO ((uint8_t)0x50) -#define MPU6886_REG_SELF_TEST_Y_GYRO ((uint8_t)0x51) -#define MPU6886_REG_SELF_TEST_Z_GYRO ((uint8_t)0x52) -#define MPU6886_REG_E_ID0 ((uint8_t)0x53) -#define MPU6886_REG_E_ID1 ((uint8_t)0x54) -#define MPU6886_REG_E_ID2 ((uint8_t)0x55) -#define MPU6886_REG_E_ID3 ((uint8_t)0x56) -#define MPU6886_REG_E_ID4 ((uint8_t)0x57) -#define MPU6886_REG_E_ID5 ((uint8_t)0x58) -#define MPU6886_REG_E_ID6 ((uint8_t)0x59) -#define MPU6886_REG_FIFO_WM_TH1 ((uint8_t)0x60) -#define MPU6886_REG_FIFO_WM_TH2 ((uint8_t)0x61) -#define MPU6886_REG_SIGNAL_PATH_RESET ((uint8_t)0x68) -#define MPU6886_REG_ACCEL_INTEL_CTRL ((uint8_t)0x69) -#define MPU6886_REG_USER_CTRL ((uint8_t)0x6A) -#define MPU6886_REG_PWR_MGMT_1 ((uint8_t)0x6B) -#define MPU6886_REG_PWR_MGMT_2 ((uint8_t)0x6C) -#define MPU6886_REG_I2C_IF ((uint8_t)0x70) -#define MPU6886_REG_FIFO_COUNTH ((uint8_t)0x72) -#define MPU6886_REG_FIFO_COUNTL ((uint8_t)0x73) -#define MPU6886_REG_FIFO_R_W ((uint8_t)0x74) -#define MPU6886_REG_WHO_AM_I ((uint8_t)0x75) -#define MPU6886_REG_XA_OFFSET_H ((uint8_t)0x77) -#define MPU6886_REG_XA_OFFSET_L ((uint8_t)0x78) -#define MPU6886_REG_YA_OFFSET_H ((uint8_t)0x7A) -#define MPU6886_REG_YA_OFFSET_L ((uint8_t)0x7B) -#define MPU6886_REG_ZA_OFFSET_H ((uint8_t)0x7D) -#define MPU6886_REG_ZA_OFFSET_L ((uint8_t)0x7E) - - -#define MPU6886_WHO_AM_I_RES ((uint8_t)0x19) - - - - - diff --git a/lib/SensorLib/src/REG/PCF85063Constants.h b/lib/SensorLib/src/REG/PCF85063Constants.h deleted file mode 100644 index 06196d1..0000000 --- a/lib/SensorLib/src/REG/PCF85063Constants.h +++ /dev/null @@ -1,71 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file PCF85063Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2023-09-07 - * - */ - -#pragma once - -#include - -class PCF85063Constants -{ -protected: - // Unique I2C device address - const uint8_t PCF85063_SLAVE_ADDRESS = 0x51; - - // Register addresses - static constexpr uint8_t PCF85063_CTRL1_REG = 0x00; - static constexpr uint8_t PCF85063_CTRL2_REG = 0x01; - static constexpr uint8_t PCF85063_OFFSET_REG = 0x02; - static constexpr uint8_t PCF85063_RAM_REG = 0x03; - static constexpr uint8_t PCF85063_SEC_REG = 0x04; - static constexpr uint8_t PCF85063_MIN_REG = 0x05; - static constexpr uint8_t PCF85063_HR_REG = 0x06; - static constexpr uint8_t PCF85063_DAY_REG = 0x07; - static constexpr uint8_t PCF85063_WEEKDAY_REG = 0x08; - static constexpr uint8_t PCF85063_MONTH_REG = 0x09; - static constexpr uint8_t PCF85063_YEAR_REG = 0x0A; - static constexpr uint8_t PCF85063_ALRM_SEC_REG = 0x0B; - static constexpr uint8_t PCF85063_ALRM_MIN_REG = 0x0C; - static constexpr uint8_t PCF8563_ALRM_HR_REG = 0x0D; - static constexpr uint8_t PCF85063_ALRM_DAY_REG = 0x0E; - static constexpr uint8_t PCF85063_ALRM_WEEK_REG = 0x0F; - static constexpr uint8_t PCF85063_TIMER_VAL_REG = 0x10; - static constexpr uint8_t PCF85063_TIMER_MD_REG = 0x11; - - // Mask values - static constexpr uint8_t PCF85063_CTRL1_TEST_EN_MASK = (1 << 7u); - static constexpr uint8_t PCF85063_CTRL1_CLOCK_EN_MASK = (1 << 5u); - static constexpr uint8_t PCF85063_CTRL1_SOFTRST_EN_MASK = (1 << 4u); - static constexpr uint8_t PCF85063_CTRL1_CIE_EN_MASK = (1 << 2u); - static constexpr uint8_t PCF85063_CTRL1_HOUR_FORMAT_12H_MASK = (1 << 1u); - - // Other constants - static constexpr uint8_t PCF85063_NO_ALARM = 0xFF; - static constexpr uint8_t PCF85063_ALARM_ENABLE = 0x80; -}; \ No newline at end of file diff --git a/lib/SensorLib/src/REG/PCF8563Constants.h b/lib/SensorLib/src/REG/PCF8563Constants.h deleted file mode 100644 index d764b61..0000000 --- a/lib/SensorLib/src/REG/PCF8563Constants.h +++ /dev/null @@ -1,79 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file PCF8563Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2022-12-09 - * - */ - -#pragma once - -#include - - -class PCF8563Constants -{ -protected: - // Unique I2C device address - const uint8_t PCF8563_SLAVE_ADDRESS = 0x51; - - // Register addresses - static constexpr uint8_t STAT1_REG = 0x00; - static constexpr uint8_t STAT2_REG = 0x01; - static constexpr uint8_t SEC_REG = 0x02; - static constexpr uint8_t MIN_REG = 0x03; - static constexpr uint8_t HR_REG = 0x04; - static constexpr uint8_t DAY_REG = 0x05; - static constexpr uint8_t WEEKDAY_REG = 0x06; - static constexpr uint8_t MONTH_REG = 0x07; - static constexpr uint8_t YEAR_REG = 0x08; - static constexpr uint8_t ALRM_MIN_REG = 0x09; - static constexpr uint8_t SQW_REG = 0x0D; - static constexpr uint8_t TIMER1_REG = 0x0E; - static constexpr uint8_t TIMER2_REG = 0x0F; - - // Mask values - static constexpr uint8_t VOL_LOW_MASK = 0x80; - static constexpr uint8_t MINUTES_MASK = 0x7F; - static constexpr uint8_t HOUR_MASK = 0x3F; - static constexpr uint8_t WEEKDAY_MASK = 0x07; - static constexpr uint8_t CENTURY_MASK = 0x80; - static constexpr uint8_t DAY_MASK = 0x3F; - static constexpr uint8_t MONTH_MASK = 0x1F; - static constexpr uint8_t TIMER_CTL_MASK = 0x03; - - // Alarm and Timer flags - static constexpr uint8_t ALARM_AF = 0x08; - static constexpr uint8_t TIMER_TF = 0x04; - static constexpr uint8_t ALARM_AIE = 0x02; - static constexpr uint8_t TIMER_TIE = 0x01; - static constexpr uint8_t TIMER_TE = 0x80; - static constexpr uint8_t TIMER_TD10 = 0x03; - - // Other constants - static constexpr uint8_t NO_ALARM = 0xFF; - static constexpr uint8_t ALARM_ENABLE = 0x80; - static constexpr uint8_t CLK_ENABLE = 0x80; -}; \ No newline at end of file diff --git a/lib/SensorLib/src/REG/QMI8658Constants.h b/lib/SensorLib/src/REG/QMI8658Constants.h deleted file mode 100644 index 07c2f46..0000000 --- a/lib/SensorLib/src/REG/QMI8658Constants.h +++ /dev/null @@ -1,150 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file QMI8658Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2022-10-16 - * - */ -#pragma once - -#include - -// @brief device address -#define QMI8658_L_SLAVE_ADDRESS (0x6B) -#define QMI8658_H_SLAVE_ADDRESS (0x6A) - -class QMI8658Constants -{ -protected: - - // @brief registers default value - static constexpr uint8_t QMI8658_REG_WHOAMI_DEFAULT = 0x05; - static constexpr uint8_t QMI8658_REG_STATUS_DEFAULT = 0x03; - static constexpr uint8_t QMI8658_REG_RESET_DEFAULT = 0xB0; - - - //* General Purpose Registers - static constexpr uint8_t QMI8658_REG_WHOAMI = 0x00; - static constexpr uint8_t QMI8658_REG_REVISION = 0x01; - - - //* Setup and Control Registers - static constexpr uint8_t QMI8658_REG_CTRL1 = 0x02; - static constexpr uint8_t QMI8658_REG_CTRL2 = 0x03; - static constexpr uint8_t QMI8658_REG_CTRL3 = 0x04; - // Reserved - static constexpr uint8_t QMI8658_REG_CTRL5 = 0x06; - // Reserved - static constexpr uint8_t QMI8658_REG_CTRL7 = 0x08; - static constexpr uint8_t QMI8658_REG_CTRL8 = 0x09; - static constexpr uint8_t QMI8658_REG_CTRL9 = 0x0A; - - //* Host Controlled Calibration Registers (See CTRL9, Usage is Optional) - static constexpr uint8_t QMI8658_REG_CAL1_L = 0x0B; - static constexpr uint8_t QMI8658_REG_CAL1_H = 0x0C; - static constexpr uint8_t QMI8658_REG_CAL2_L = 0x0D; - static constexpr uint8_t QMI8658_REG_CAL2_H = 0x0E; - static constexpr uint8_t QMI8658_REG_CAL3_L = 0x0F; - static constexpr uint8_t QMI8658_REG_CAL3_H = 0x10; - static constexpr uint8_t QMI8658_REG_CAL4_L = 0x11; - static constexpr uint8_t QMI8658_REG_CAL4_H = 0x12; - - //* FIFO Registers - static constexpr uint8_t QMI8658_REG_FIFO_WTM_TH = 0x13; - static constexpr uint8_t QMI8658_REG_FIFO_CTRL = 0x14; - static constexpr uint8_t QMI8658_REG_FIFO_COUNT = 0x15; - static constexpr uint8_t QMI8658_REG_FIFO_STATUS = 0x16; - static constexpr uint8_t QMI8658_REG_FIFO_DATA = 0x17; - - //* Status Registers - static constexpr uint8_t QMI8658_REG_STATUS_INT = 0x2D; - static constexpr uint8_t QMI8658_REG_STATUS0 = 0x2E; - static constexpr uint8_t QMI8658_REG_STATUS1 = 0x2F; - - //* Timestamp Register - static constexpr uint8_t QMI8658_REG_TIMESTAMP_L = 0x30; - static constexpr uint8_t QMI8658_REG_TIMESTAMP_M = 0x31; - static constexpr uint8_t QMI8658_REG_TIMESTAMP_H = 0x32; - - //* Data Output Registers (16 bits 2’s Complement Except COD Sensor Data) - static constexpr uint8_t QMI8658_REG_TEMPERATURE_L = 0x33; - static constexpr uint8_t QMI8658_REG_TEMPERATURE_H = 0x34; - static constexpr uint8_t QMI8658_REG_AX_L = 0x35; - static constexpr uint8_t QMI8658_REG_AX_H = 0x36; - static constexpr uint8_t QMI8658_REG_AY_L = 0x37; - static constexpr uint8_t QMI8658_REG_AY_H = 0x38; - static constexpr uint8_t QMI8658_REG_AZ_L = 0x39; - static constexpr uint8_t QMI8658_REG_AZ_H = 0x3A; - static constexpr uint8_t QMI8658_REG_GX_L = 0x3B; - static constexpr uint8_t QMI8658_REG_GX_H = 0x3C; - static constexpr uint8_t QMI8658_REG_GY_L = 0x3D; - static constexpr uint8_t QMI8658_REG_GY_H = 0x3E; - static constexpr uint8_t QMI8658_REG_GZ_L = 0x3F; - static constexpr uint8_t QMI8658_REG_GZ_H = 0x40; - - //* COD Indication and General Purpose Registers - - // Calibration-On-Demand status register - static constexpr uint8_t QMI8658_REG_COD_STATUS = 0x46; - static constexpr uint8_t QMI8658_REG_DQW_L = 0x49; - static constexpr uint8_t QMI8658_REG_DQW_H = 0x4A; - static constexpr uint8_t QMI8658_REG_DQX_L = 0x4B; - static constexpr uint8_t QMI8658_REG_DQX_H = 0x4C; - - static constexpr uint8_t QMI8658_REG_DQY_L = 0x4D; - static constexpr uint8_t QMI8658_REG_DQY_H = 0x4E; - static constexpr uint8_t QMI8658_REG_DQZ_L = 0x4F; - static constexpr uint8_t QMI8658_REG_DQZ_H = 0x50; - - static constexpr uint8_t QMI8658_REG_DVX_L = 0x51; - static constexpr uint8_t QMI8658_REG_DVX_H = 0x52; - static constexpr uint8_t QMI8658_REG_DVY_L = 0x53; - static constexpr uint8_t QMI8658_REG_DVY_H = 0x54; - static constexpr uint8_t QMI8658_REG_DVZ_L = 0x55; - static constexpr uint8_t QMI8658_REG_DVZ_H = 0x56; - - //* Activity Detection Output Registers - static constexpr uint8_t QMI8658_REG_TAP_STATUS = 0x59; - static constexpr uint8_t QMI8658_REG_STEP_CNT_LOW = 0x5A; - static constexpr uint8_t QMI8658_REG_STEP_CNT_MID = 0x5B; - static constexpr uint8_t QMI8658_REG_STEP_CNT_HIGH = 0x5C; - static constexpr uint8_t QMI8658_REG_RESET = 0x60; - - //* Reset Register - static constexpr uint8_t QMI8658_REG_RST_RESULT = 0x4D; - static constexpr uint8_t QMI8658_REG_RST_RESULT_VAL = 0x80; - - static constexpr uint8_t STATUS0_ACCEL_AVAIL = 0x01; - static constexpr uint8_t STATUS0_GYRO_AVAIL = 0x02; - static constexpr uint8_t QMI8658_ACCEL_LPF_MASK = 0xF9; - static constexpr uint8_t QMI8658_GYRO_LPF_MASK = 0x9F; - - static constexpr uint8_t QMI8658_ACCEL_EN_MASK = 0x01; - static constexpr uint8_t QMI8658_GYRO_EN_MASK = 0x02; - static constexpr uint8_t QMI8658_ACCEL_GYRO_EN_MASK = 0x03; - - - static constexpr uint8_t QMI8658_FIFO_MAP_INT1 = 0x04; // ctrl1 -}; \ No newline at end of file diff --git a/lib/SensorLib/src/REG/XL9555Constants.h b/lib/SensorLib/src/REG/XL9555Constants.h deleted file mode 100644 index e24baac..0000000 --- a/lib/SensorLib/src/REG/XL9555Constants.h +++ /dev/null @@ -1,58 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2025 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. - * - * @file XL9555Constants.h - * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-17 - * - */ -#pragma once - -#include - -// A0, A1, A2 connect to GND -#define XL9555_UNKOWN_ADDRESS (0xFF) -#define XL9555_SLAVE_ADDRESS0 (0x20) -#define XL9555_SLAVE_ADDRESS1 (0x21) -#define XL9555_SLAVE_ADDRESS2 (0x22) -#define XL9555_SLAVE_ADDRESS3 (0x23) -#define XL9555_SLAVE_ADDRESS4 (0x24) -#define XL9555_SLAVE_ADDRESS5 (0x25) -#define XL9555_SLAVE_ADDRESS6 (0x26) -#define XL9555_SLAVE_ADDRESS7 (0x27) - - -class XL95xxConstants -{ -protected: - static constexpr uint8_t XL9555_CTRL_INP0 = (0x00); // Input Port 0 /R - static constexpr uint8_t XL9555_CTRL_INP1 = (0x01); // Input Port 1 /R - static constexpr uint8_t XL9555_CTRL_OUTP0 = (0x02); // Output Port 0 /RW - static constexpr uint8_t XL9555_CTRL_OUTP1 = (0x03); // Output Port 1 /RW - static constexpr uint8_t XL9555_CTRL_PIP0 = (0x04); // Polarity Inversion Port 0 /RW - static constexpr uint8_t XL9555_CTRL_PIP1 = (0x05); // Polarity Inversion Port 1 /RW - static constexpr uint8_t XL9555_CTRL_CFG0 = (0x06); // Configuration Port 0 /RW - static constexpr uint8_t XL9555_CTRL_CFG1 = (0x07); // Configuration Port 1 /RW - static constexpr uint8_t XL9555_MAX_PIN = (15); -}; diff --git a/lib/SensorLib/src/SensorBHI260AP.cpp b/lib/SensorLib/src/SensorBHI260AP.cpp index b0ad5b2..2cfea64 100644 --- a/lib/SensorLib/src/SensorBHI260AP.cpp +++ b/lib/SensorLib/src/SensorBHI260AP.cpp @@ -28,500 +28,12 @@ * */ #include "SensorBHI260AP.hpp" -#include "bosch/BoschParseStatic.hpp" -#define BHY2_RLST_CHECK(ret, str, val) \ - do \ - { \ - if (ret) \ - { \ - log_e(str); \ - return val; \ - } \ - } while (0) - -static constexpr uint16_t max_process_buffer_size = 512; - -SensorBHI260AP::SensorBHI260AP(): comm(nullptr), - hal(nullptr), - staticComm(nullptr), - _rst(-1), _error_code(0), - _processBuffer(nullptr), - _processBufferSize(max_process_buffer_size), - _firmware_stream(nullptr), - _firmware_size(0), - _write_flash(false), - _boot_from_flash(false), - _force_update(false), - _max_rw_length(-1), - _accuracy(0), - _debug(false), - _process_callback(nullptr), - _process_callback_user_data(nullptr), - _event_callback(nullptr), - _debug_callback(nullptr) -{ -} - -SensorBHI260AP::~SensorBHI260AP() -{ - if (_processBuffer) { - free(_processBuffer); - } - _processBuffer = NULL; -} - -void SensorBHI260AP::setPins(int rst) -{ - _rst = rst; -} - -#if defined(ARDUINO) -bool SensorBHI260AP::begin(TwoWire &wire, uint8_t addr, int sda, int scl) -{ - if (!beginCommonStatic(comm, staticComm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(BHY2_I2C_INTERFACE); -} - -bool SensorBHI260AP::begin(SPIClass &spi, uint8_t csPin, int mosi, int miso, int sck) -{ - if (!beginCommonStatic(comm, - staticComm, hal, - spi, csPin, mosi, miso, sck)) { - return false; - } - return initImpl(BHY2_SPI_INTERFACE); -} - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) -bool SensorBHI260AP::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) -{ - if (!beginCommonStatic(comm, staticComm, hal, port_num, addr, sda, scl)) { - return false; - } - return initImpl(BHY2_I2C_INTERFACE); -} -#else //USEING_I2C_LEGACY -bool SensorBHI260AP::begin(i2c_master_bus_handle_t handle, uint8_t addr) -{ - if (!beginCommonStatic(comm, staticComm, hal, handle, addr)) { - return false; - } - return initImpl(BHY2_I2C_INTERFACE); -} -#endif //USEING_I2C_LEGACY - - -bool SensorBHI260AP::begin(spi_host_device_t host, spi_device_handle_t handle, uint8_t csPin, int mosi, int miso, int sck) -{ - if (!beginCommonStatic(comm, - staticComm, hal, - host, handle, csPin, mosi, miso, sck)) { - return false; - } - return initImpl(BHY2_SPI_INTERFACE); -} - -#endif //ARDUINO - -bool SensorBHI260AP::begin(CommInterface interface, - SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) -{ - if (!beginCommCustomCallback(interface, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(static_cast(interface)); -} - -/** - * @brief reset - * @note Reset sensor - * @retval None - */ -void SensorBHI260AP::reset() -{ - if (_rst != -1) { - hal->digitalWrite(_rst, HIGH); - hal->delay(5); - hal->digitalWrite(_rst, LOW); - hal->delay(10); - hal->digitalWrite(_rst, HIGH); - hal->delay(5); - } -} - -/** - * @brief update - * @note Update sensor fifo data - * @retval None - */ -void SensorBHI260AP::update() -{ - if (!_processBuffer) { - log_e("Process buffer is empty."); - return; - } - bhy2_get_and_process_fifo(_processBuffer, _processBufferSize, _bhy2.get()); -} - -/** - * @brief setBootFromFlash - * @note Set whether to start from external flash - * @param boot_from_flash: true boot form flash or boot form ram - * @retval None - */ void SensorBHI260AP::setBootFromFlash(bool boot_from_flash) { _boot_from_flash = boot_from_flash; } -/** - * @brief getHandler - * @note Get the native BHI API handle - * @retval handle - */ -bhy2_dev *SensorBHI260AP::getHandler() -{ - return _bhy2.get(); -} - -/** - * @brief setInterruptCtrl - * @note Set the interrupt control mask - * @param data: - * BHY2_ICTL_DISABLE_FIFO_W - * BHY2_ICTL_DISABLE_FIFO_NW - * BHY2_ICTL_DISABLE_STATUS_FIFO - * BHY2_ICTL_DISABLE_DEBUG - * BHY2_ICTL_DISABLE_FAULT - * BHY2_ICTL_ACTIVE_LOW - * BHY2_ICTL_EDGE - * BHY2_ICTL_OPEN_DRAIN - * - * @retval true is success , false is failed - */ -bool SensorBHI260AP::setInterruptCtrl(uint8_t data) -{ - _error_code = bhy2_set_host_interrupt_ctrl(data, _bhy2.get()); - if (_error_code != BHY2_OK) { - return false; - } - return true; -} - -/** - * @brief getInterruptCtrl - * @note Get interrupt control info - * @retval SensorBHI260APCtrl class - */ -SensorBHI260APControl SensorBHI260AP::getInterruptCtrl() -{ - uint8_t data; - _error_code = bhy2_get_host_interrupt_ctrl(&data, _bhy2.get()); - SensorBHI260APControl result; - if (_error_code == BHY2_OK) { - result.wakeUpFIFOEnabled = !(data & BHY2_ICTL_DISABLE_FIFO_W); - result.nonWakeUpFIFOEnabled = !(data & BHY2_ICTL_DISABLE_FIFO_NW); - result.statusFIFOEnabled = !(data & BHY2_ICTL_DISABLE_STATUS_FIFO); - result.debuggingEnabled = !(data & BHY2_ICTL_DISABLE_DEBUG); - result.faultEnabled = !(data & BHY2_ICTL_DISABLE_FAULT); - result.interruptIsActiveLow = (data & BHY2_ICTL_ACTIVE_LOW); - result.interruptIsPulseTriggered = (data & BHY2_ICTL_EDGE); - result.interruptPinDriveIsOpenDrain = (data & BHY2_ICTL_OPEN_DRAIN); - } - return result; -} - - -/** - * @brief isReady - * @note Query whether the sensor is ready - * @retval 1 OK , 0 Not ready - */ -bool SensorBHI260AP::isReady() -{ - uint8_t boot_status = 0; - _error_code = bhy2_get_boot_status(&boot_status, _bhy2.get()); - log_d("boot_status:0x%x", boot_status); - if (_error_code != BHY2_OK) { - return false; - } - return (boot_status & BHY2_BST_HOST_INTERFACE_READY); -} - -/** - * @brief getKernelVersion - * @note Get the sensor firmware kernel version - * @retval 2 bytes - */ -uint16_t SensorBHI260AP::getKernelVersion() -{ - uint16_t version = 0; - _error_code = bhy2_get_kernel_version(&version, _bhy2.get()); - if ((_error_code != BHY2_OK) && (version == 0)) { - return 0; - } - log_d("Boot successful. Kernel version %u.", version); - return version; -} - - -/** - * @brief onEvent - * @note Registered sensor event callback function - * @param callback: Callback Function - * @retval None - */ -void SensorBHI260AP::onEvent(SensorEventCallback callback) -{ - _event_callback = callback; -} - -/** - * @brief removeEvent - * @note Remove sensor event callback function - * @retval None - */ -void SensorBHI260AP::removeEvent() -{ - _event_callback = NULL; -} - -/** - * @brief onResultEvent - * @note Registered sensor result callback function , The same sensor ID can register multiple event callbacks. - * Please note that you should not register the same event callback repeatedly. - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param callback: Callback Function - * @param *user_data: user data,can be null - * @retval bool true-> Success false-> failure - */ -bool SensorBHI260AP::onResultEvent(BoschSensorID sensor_id, SensorDataParseCallback callback, void *user_data) -{ - if (!bhy2_is_sensor_available(sensor_id, _bhy2.get())) { - log_e("%s not present", getSensorName(sensor_id)); return false; - } - return _callback_manager.add(sensor_id, callback, user_data); -} - -/** - * @brief removeResultEvent - * @note Remove the registered result callback function - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param callback: Callback Function - * @retval bool true-> Success false-> failure - */ -bool SensorBHI260AP::removeResultEvent(BoschSensorID sensor_id, SensorDataParseCallback callback) -{ - if (!bhy2_is_sensor_available(sensor_id, _bhy2.get())) { - log_e("%s not present", getSensorName(sensor_id)); return false; - } - return _callback_manager.remove(sensor_id, callback); -} - -/** - * @brief setProcessBufferSize - * @note The default value is 512Bytes , Must be called before initialization - * @param size: The set buffer size is requested by malloc, and if PSRAM is enabled, it is requested from PSRAM - * @retval None - */ -void SensorBHI260AP::setProcessBufferSize(uint32_t size) -{ - if (_processBuffer) { - log_e("The buffer size must be set before begin"); - return; - } - _processBufferSize = size; -} - -/** - * @brief uploadFirmware - * @note Update BHI sensor firmware - * @param *firmware: Firmware data address - * @param length: Firmware data length - * @param write2Flash: 1 is written to external flash, 0 is written to RAM - * @retval true success or failed - */ -bool SensorBHI260AP::uploadFirmware(const uint8_t *firmware, uint32_t length, bool write2Flash) -{ - uint8_t sensor_error; - uint8_t boot_status; - - log_d("Upload Firmware ..."); - - _error_code = bhy2_get_boot_status(&boot_status, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_get_boot_status failed!", false); - - if (write2Flash) { - if (boot_status & BHY2_BST_FLASH_DETECTED) { - uint32_t start_addr = BHY2_FLASH_SECTOR_START_ADDR; - uint32_t end_addr = start_addr + length; - log_d("Flash detected. Erasing flash to upload firmware"); - _error_code = bhy2_erase_flash(start_addr, end_addr, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_erase_flash failed!", false); - } else { - log_e("Flash not detected"); - return false; - } - log_d("Loading firmware into FLASH."); - _error_code = bhy2_upload_firmware_to_flash(firmware, length, _bhy2.get(), - _process_callback, - _process_callback_user_data); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_upload_firmware_to_flash failed!", false); - log_d("Loading firmware into FLASH Done"); - } else { - log_d("Loading firmware into RAM."); - log_d("upload size = %lu", length); - _error_code = bhy2_upload_firmware_to_ram(firmware, length, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_upload_firmware_to_ram failed!", false); - log_d("Loading firmware into RAM Done"); - } - - _error_code = bhy2_get_error_value(&sensor_error, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_get_error_value failed!", false); - if (sensor_error != BHY2_OK) { - _error_code = bhy2_get_error_value(&sensor_error, _bhy2.get()); - log_e("%s", get_sensor_error_text(sensor_error)); - return false; - } - - - if (write2Flash) { - log_d("Booting from FLASH."); - _error_code = bhy2_boot_from_flash(_bhy2.get()); - } else { - log_d("Booting from RAM."); - _error_code = bhy2_boot_from_ram(_bhy2.get()); - } - BHY2_RLST_CHECK(_error_code != BHY2_OK, "_bhy2 boot failed!", false); - - _error_code = bhy2_get_error_value(&sensor_error, _bhy2.get()); - if (sensor_error) { - log_e("%s", get_sensor_error_text(sensor_error)); - return false; - } - return sensor_error == BHY2_OK; -} - - -/** - * @brief getError - * @note Get the error status string - * @retval string - */ -const char *SensorBHI260AP::getError() -{ - snprintf(_err_buffer, 128, "API:%s\nSensor:%s\n", get_api_error(_error_code), get_sensor_error_text(_error_code)); - return static_cast(_err_buffer); -} - -/** - * @brief configure - * @note Sensor Configuration - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param sample_rate: Data output rate, unit: HZ - * @param report_latency_ms: Report interval in milliseconds - * @return bool true-> Success false-> failure - */ -bool SensorBHI260AP::configure(uint8_t sensor_id, float sample_rate, uint32_t report_latency_ms) -{ - if (!bhy2_is_sensor_available(sensor_id, _bhy2.get())) { - log_e("%s not present", getSensorName(sensor_id)); return false; - } - _error_code = bhy2_set_virt_sensor_cfg(sensor_id, sample_rate, report_latency_ms, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_set_virt_sensor_cfg failed!", false); - log_d("Enable %s at %.2fHz.", get_sensor_name(sensor_id), sample_rate); - return true; -} - -/** - * @brief configureRange - * @note Set range of the sensor - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param range: Range for selected SensorID. See Table 79 in BHY260 datasheet 109 page - * @retval bool true-> Success false-> failure - */ -bool SensorBHI260AP::configureRange(uint8_t sensor_id, uint16_t range) -{ - _error_code = bhy2_set_virt_sensor_range(sensor_id, range, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_set_virt_sensor_range failed!", false); - return true; -} - - -/** - * @brief getConfigure - * @note Get sensor configuration - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @retval SensorConfig - */ -SensorConfig SensorBHI260AP::getConfigure(uint8_t sensor_id) -{ - bhy2_virt_sensor_conf conf; - bhy2_get_virt_sensor_cfg(sensor_id, &conf, _bhy2.get()); - log_d("range:%u sample_rate:%f latency:%lu sensitivity:%u\n", conf.range, conf.sample_rate, conf.latency, conf.sensitivity); - return conf; -} - -/** - * @brief getScaling - * @note Get sensor scale factor - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @retval scale factor - */ -float SensorBHI260AP::getScaling(uint8_t sensor_id) -{ - return get_sensor_default_scaling(sensor_id); -} - -/** - * @brief setFirmware - * @note Set the firmware - * @param *image: firmware data address - * @param image_len: firmware length - * @param write_flash: true : write to flash otherwise ram - * @param force_update: true, rewrite to flash or ram regardless of whether there is firmware, false, do not write if firmware is detected - * @retval None - */ -void SensorBHI260AP::setFirmware(const uint8_t *image, size_t image_len, bool write_flash, bool force_update) -{ - _firmware_stream = image; - _firmware_size = image_len; - _write_flash = write_flash; - _force_update = force_update; -} - -/** - * @brief getSensorName - * @note Get sensor name - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @retval sensor name - */ -const char *SensorBHI260AP::getSensorName(uint8_t sensor_id) -{ - return get_sensor_name(sensor_id); -} - -// Get an accuracy report -uint8_t SensorBHI260AP::getAccuracy() -{ - return _accuracy; -} - -/** - * @brief digitalRead - * @note Read GPIO level, only for custom firmware - * @param pin: see BHI260AP_aux_BMM150_BME280_Expand_GPIO example - * @param pullup: true is set pullup or input mode - * @retval 1 is high ,0 is low - */ uint8_t SensorBHI260AP::digitalRead(uint8_t pin, bool pullup) { if (pin > JTAG_DIO)return 0; @@ -531,664 +43,30 @@ uint8_t SensorBHI260AP::digitalRead(uint8_t pin, bool pullup) } else { pin_mask |= (BHY2_INPUT << 8); } - bhy2_set_virt_sensor_cfg(BoschSensorID::GPIO_EXP, (float)pin_mask, 0, _bhy2.get()); + bhy2_set_virt_sensor_cfg(BHY2_SENSOR_ID_GPIO_EXP, (float)pin_mask, 0, dev.get()); pin_mask = pin /*GetCmd*/; - bhy2_set_virt_sensor_cfg(BoschSensorID::GPIO_EXP, (float)pin_mask, 0, _bhy2.get()); + bhy2_set_virt_sensor_cfg(BHY2_SENSOR_ID_GPIO_EXP, (float)pin_mask, 0, dev.get()); bhy2_virt_sensor_conf conf; - bhy2_get_virt_sensor_cfg(BoschSensorID::GPIO_EXP, &conf, _bhy2.get()); + bhy2_get_virt_sensor_cfg(BHY2_SENSOR_ID_GPIO_EXP, &conf, dev.get()); uint8_t level = conf.sample_rate; return level; } -/** - * @brief hal->digitalWrite - * @note Write GPIO level, only for custom firmware - * @param pin: see BHI260AP_aux_BMM150_BME280_Expand_GPIO example - * @param level: 1 is high ,0 is low - * @retval None - */ void SensorBHI260AP::digitalWrite(uint8_t pin, uint8_t level) { if (pin > JTAG_DIO)return; uint32_t pin_mask = pin | (BHY2_OUTPUT << 8) | (level << 6) | BHY2_GPIO_SET ; - bhy2_set_virt_sensor_cfg(BoschSensorID::GPIO_EXP, (float)pin_mask, 0, _bhy2.get()); + bhy2_set_virt_sensor_cfg(BHY2_SENSOR_ID_GPIO_EXP, (float)pin_mask, 0, dev.get()); } -/** - * @brief disableGpio - * @note Disable GPIO function - * @param pin: see BHI260AP_aux_BMM150_BME280_Expand_GPIO example - * @retval None - */ void SensorBHI260AP::disableGpio(uint8_t pin) { if (pin > JTAG_DIO)return; uint32_t pin_mask = pin | (BHY2_OPEN_DRAIN << 8) | BHY2_GPIO_SET; - bhy2_set_virt_sensor_cfg(BoschSensorID::GPIO_EXP, (float)pin_mask, 0, _bhy2.get()); + bhy2_set_virt_sensor_cfg(BHY2_SENSOR_ID_GPIO_EXP, (float)pin_mask, 0, dev.get()); } -/** - * @brief setDebugKernel - * @note Whether to enable chip debug output , Must be called before begin, otherwise it will be invalid - * @param enable: true Enable message debug , false disable debug , Requires firmware support, the default firmware will not output any messages - * @retval None - */ -void SensorBHI260AP::setDebugKernel(bool enable) +uint16_t SensorBHI260AP::getConfirmationIDImpl() { - _debug = enable; -} - -/** - * @brief setDebugCallback - * @param cb: Sensor debug output callback function , Requires firmware support, the default firmware will not output any messages - * @retval None - */ -void SensorBHI260AP::setDebugCallback(SensorDebugMessageCallback cb) -{ - _debug_callback = cb; -} - - -/** - * @brief getPhySensorInfo - * @note Get all information about physical sensors - * @param sens_id: ID of the physical sensor - * @retval BoschPhySensorInfo Class - */ -#define INT4_TO_INT8(INT4) ((int8_t)(((INT4) > 1) ? -1 : (INT4))) - -BoschPhySensorInfo SensorBHI260AP::getPhySensorInfo(uint8_t sens_id) -{ - BoschPhySensorInfo result; - - struct bhy2_phys_sensor_info psi; - - memset(&psi, 0, sizeof(psi)); - - if (!_bhy2.get()) return result; - - uint16_t param_id = (uint16_t)(0x0120 | sens_id); - if (param_id >= 0x0121 && param_id <= 0x0160) { - int8_t assert_rslt = (bhy2_get_phys_sensor_info(sens_id, &psi, _bhy2.get())); - if (assert_rslt == BHY2_OK) { - result.sensor_type = psi.sensor_type; - result.driver_id = psi.driver_id; - result.driver_version = psi.driver_version; - result.power_current = psi.power_current / 10.f; - result.curr_range = psi.curr_range.u16_val; - result.irq_status = psi.flags & 0x01; - result.master_intf = (psi.flags >> 1) & 0x0F; - result.power_mode = (psi.flags >> 5) & 0x07; - result.slave_address = psi.slave_address; - result.gpio_assignment = psi.gpio_assignment; - result.curr_rate = psi.curr_rate.f_val; - result.num_axis = psi.num_axis; - struct bhy2_orient_matrix ort_mtx = { 0 }; - - ort_mtx.c[0] = INT4_TO_INT8(psi.orientation_matrix[0] & 0x0F); - ort_mtx.c[1] = INT4_TO_INT8(psi.orientation_matrix[0] >> 8); - ort_mtx.c[2] = INT4_TO_INT8(psi.orientation_matrix[1] & 0x0F); - ort_mtx.c[3] = INT4_TO_INT8(psi.orientation_matrix[1] >> 8); - ort_mtx.c[4] = INT4_TO_INT8(psi.orientation_matrix[2] & 0x0F); - ort_mtx.c[5] = INT4_TO_INT8(psi.orientation_matrix[2] >> 8); - ort_mtx.c[6] = INT4_TO_INT8(psi.orientation_matrix[3] & 0x0F); - ort_mtx.c[7] = INT4_TO_INT8(psi.orientation_matrix[3] >> 8); - ort_mtx.c[8] = INT4_TO_INT8(psi.orientation_matrix[4] & 0x0F); - for (int i = 0; i < 9; ++i) { - result.orientation_matrix[i] = ort_mtx.c[i]; - } - result.reserved = psi.reserved; - } - } - return result; -} - -/** - * @brief getSensorInfo - * @note Get all information about sensors - * @retval BoschSensorInfo Class - */ -BoschSensorInfo SensorBHI260AP::getSensorInfo() -{ - BoschSensorInfo sensorInfo; - if (bhy2_get_product_id(&sensorInfo.product_id, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_product_id failed!"); - } - if (bhy2_get_kernel_version(&sensorInfo.kernel_version, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_kernel_version failed!"); - } - if (bhy2_get_user_version(&sensorInfo.user_version, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_user_version failed!"); - } - if (bhy2_get_rom_version(&sensorInfo.rom_version, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_rom_version failed!"); - } - if (bhy2_get_host_status(&sensorInfo.host_status, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_host_status failed!"); - } - if (bhy2_get_feature_status(&sensorInfo.feat_status, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_feature_status failed!"); - } - if (bhy2_get_boot_status(&sensorInfo.boot_status, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_boot_status failed!"); - } - if (bhy2_get_error_value(&sensorInfo.sensor_error, _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_error_value failed!"); - } - if (sensorInfo.info) { - for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) { - if (bhy2_is_sensor_available(i, _bhy2.get())) { - if (bhy2_get_sensor_info(i, &sensorInfo.info[i], _bhy2.get()) != BHY2_OK) { - log_e("bhy2_get_sensor_info [%u] failed!", i); - } - } - } - } - sensorInfo.dev = _bhy2.get(); - return sensorInfo; -} - - -/** - * @brief setMaxiTransferSize - * @note Set the maximum number of bytes transmitted by the interface , Called before begin - * @param size_of_bytes: The maximum transmission bytes of different platforms are different. - * Set it according to the platform. If not set, the default is I2C 32 bytes, SPI 256 bytes. - * @retval None - */ -void SensorBHI260AP::setMaxiTransferSize(uint16_t size_of_bytes) -{ - if (_processBuffer) { - log_e("Must be called before begin"); - return; - } - _max_rw_length = size_of_bytes; -} - -/** - * @brief setUpdateProcessCallback - * @note Set the callback function of the firmware update process to obtain the update progress - * @param callback: callback function - * @param *user_data: user data, can be nullptr - * @retval None - */ -void SensorBHI260AP::setUpdateProcessCallback(ProcessCallback callback, void *user_data) -{ - _process_callback = callback; -} - -/** - * @brief availableSensorNums - * @note Get the number of available sensors - * @retval available sensors - */ -uint8_t SensorBHI260AP::availableSensorNums() -{ - return _sensor_available_nums; -} - -/** -* @brief Set the axis remapping for the sensor based on the specified orientation. -* -* This function allows you to configure the sensor's axis remapping according to a specific -* physical orientation of the chip. By passing one of the values from the SensorRemap enum, -* you can ensure that the sensor data is correctly interpreted based on how the chip is placed. -* -* @param remap An enumeration value from SensorRemap that specifies the desired axis remapping. -* @return Returns true if the axis remapping is successfully set; false otherwise. -*/ -bool SensorBHI260AP::setRemapAxes(SensorRemap remap) -{ - if (remap > BOTTOM_LAYER_BOTTOM_LEFT_CORNER) { - log_e("Invalid SensorRemap value passed to setRemapAxes!"); - return false; - } - - // Acceleration - related orientation matrices for different mounting directions - struct bhy2_orient_matrix acc_matrices[] = { - // P0 mounting direction, default direction, axis direction is consistent with the default coordinate system - {1, 0, 0, 0, 1, 0, 0, 0, 1}, - // P1 mounting direction, P0 is rotated 90° clockwise around the Z - axis - {0, -1, 0, 1, 0, 0, 0, 0, 1}, - // P2 mounting direction, P0 is rotated 180° clockwise around the Z - axis - {-1, 0, 0, 0, -1, 0, 0, 0, 1}, - // P3 mounting direction, P0 is rotated 270° clockwise around the Z - axis - {0, 1, 0, -1, 0, 0, 0, 0, 1}, - // P4 mounting direction, P0 is flipped vertically (rotated 180° around the X - axis) - {1, 0, 0, 0, -1, 0, 0, 0, -1}, - // P5 mounting direction, P4 is rotated 90° clockwise around the Z - axis - {0, 1, 0, 1, 0, 0, 0, 0, -1}, - // P6 mounting direction, P4 is rotated 180° clockwise around the Z - axis - {-1, 0, 0, 0, 1, 0, 0, 0, -1}, - // P7 mounting direction, P4 is rotated 270° clockwise around the Z - axis - {0, -1, 0, -1, 0, 0, 0, 0, -1} - }; - - // Gyroscope - related orientation matrices for different mounting directions - struct bhy2_orient_matrix gyro_matrices[] = { - // P0 mounting direction, default direction, axis direction is consistent with the default coordinate system - {1, 0, 0, 0, 1, 0, 0, 0, 1}, - // P1 mounting direction, P0 is rotated 90° clockwise around the Z - axis - {0, -1, 0, 1, 0, 0, 0, 0, 1}, - // P2 mounting direction, P0 is rotated 180° clockwise around the Z - axis - {-1, 0, 0, 0, -1, 0, 0, 0, 1}, - // P3 mounting direction, P0 is rotated 270° clockwise around the Z - axis - {0, 1, 0, -1, 0, 0, 0, 0, 1}, - // P4 mounting direction, P0 is flipped vertically (rotated 180° around the X - axis) - {1, 0, 0, 0, -1, 0, 0, 0, -1}, - // P5 mounting direction, P4 is rotated 90° clockwise around the Z - axis - {0, 1, 0, 1, 0, 0, 0, 0, -1}, - // P6 mounting direction, P4 is rotated 180° clockwise around the Z - axis - {-1, 0, 0, 0, 1, 0, 0, 0, -1}, - // P7 mounting direction, P4 is rotated 270° clockwise around the Z - axis - {0, -1, 0, -1, 0, 0, 0, 0, -1} - }; - - // Set the orientation matrix for the accelerometer - _error_code = bhy2_set_orientation_matrix(BHY2_PHYS_SENSOR_ID_ACCELEROMETER, acc_matrices[remap], _bhy2.get()); - if (_error_code != BHY2_OK) { - log_e("Set acceleration orientation matrix failed!"); - return false; - } - // Set the orientation matrix for the gyroscope - _error_code = bhy2_set_orientation_matrix(BHY2_PHYS_SENSOR_ID_GYROSCOPE, gyro_matrices[remap], _bhy2.get()); - if (_error_code != BHY2_OK) { - log_e("Set gyroscope orientation matrix failed!"); - return false; - } - return true; -} - -/** - * @brief bootFromFlash - * @note Boot from external flash - * @retval bool true-> Success false-> failure - */ -bool SensorBHI260AP::bootFromFlash() -{ - int8_t rslt; - uint8_t boot_status, feat_status; - uint8_t error_val = 0; - uint16_t tries = 300; /* Wait for up to little over 3s */ - - log_d("Waiting for firmware verification to complete"); - do { - _error_code = bhy2_get_boot_status(&boot_status, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_get_boot_status failed!", false); - if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) { - break; - } - hal->delay(10); - } while (tries--); - - _error_code = bhy2_get_boot_status(&boot_status, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_get_boot_status failed!", false); - print_boot_status(boot_status); - - if (boot_status & BHY2_BST_HOST_INTERFACE_READY) { - - if (boot_status & BHY2_BST_FLASH_DETECTED) { - - /* If no firmware is running, boot from Flash */ - log_d("Booting from flash"); - rslt = bhy2_boot_from_flash(_bhy2.get()); - if (rslt != BHY2_OK) { - log_e("%s. Booting from flash failed.\r\n", get_api_error(rslt)); - _error_code = bhy2_get_regs(BHY2_REG_ERROR_VALUE, &error_val, 1, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_get_regs failed!", false); - if (error_val) { - log_e("%s\r\n", get_sensor_error_text(error_val)); - } - return false; - } - - _error_code = bhy2_get_boot_status(&boot_status, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_get_boot_status failed!", false); - print_boot_status(boot_status); - - if (!(boot_status & BHY2_BST_HOST_INTERFACE_READY)) { - /* hub is not ready, need reset hub */ - log_d("Host interface is not ready, triggering a reset"); - _error_code = bhy2_soft_reset(_bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_soft_reset failed!", false); - } - - _error_code = (bhy2_get_feature_status(&feat_status, _bhy2.get())); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "Reading Feature status failed, booting from flash failed!", false); - - } else { - log_e("Can't detect external flash"); - return false; - } - } else { - log_e("Host interface is not ready"); - return false; - } - - log_d("Booting from flash successful"); - return true; -} - - -void SensorBHI260AP::print_boot_status(uint8_t boot_status) -{ - log_d("Boot Status : 0x%02x: ", boot_status); - if (boot_status & BHY2_BST_FLASH_DETECTED) { - log_d("Flash detected. "); - } - - if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) { - log_d("Flash verify done. "); - } - - if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) { - log_d("Flash verification failed. "); - } - - if (boot_status & BHY2_BST_NO_FLASH) { - log_d("No flash installed. "); - } - - if (boot_status & BHY2_BST_HOST_INTERFACE_READY) { - log_d("Host interface ready. "); - } - - if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) { - log_d("Firmware verification done. "); - } - - if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) { - log_d("Firmware verification error. "); - } - - if (boot_status & BHY2_BST_HOST_FW_IDLE) { - log_d("Firmware halted. "); - } -} - -void SensorBHI260AP::parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data) -{ - if (user_data != this) { - return; - } -#ifdef BHI260AP_PARSE_DATA_DUMP - log_i("ID:[%d]:%s: DATA LEN:%u", fifo->sensor_id, get_sensor_name(fifo->sensor_id), fifo->data_size); - SensorLibDumpBuffer(fifo->data_ptr, fifo->data_size); -#endif - _callback_manager.call(fifo->sensor_id, fifo->data_ptr, fifo->data_size, fifo->time_stamp); -} - -void SensorBHI260AP::parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) -{ - if (user_data != this) { - return; - } - uint8_t meta_event_type = callback_info->data_ptr[0]; - uint8_t byte1 = callback_info->data_ptr[1]; - uint8_t byte2 = callback_info->data_ptr[2]; - const char *event_text; - // Remove warning - UNUSED(byte1); - UNUSED(byte2); - UNUSED(event_text); - - if (callback_info->sensor_id == BHY2_SYS_ID_META_EVENT) { - event_text = "[META EVENT]"; - } else if (callback_info->sensor_id == BHY2_SYS_ID_META_EVENT_WU) { - event_text = "[META EVENT WAKE UP]"; - } else { - return; - } - - switch (meta_event_type) { - case BHY2_META_EVENT_FLUSH_COMPLETE: - log_i("%s Flush complete for sensor id %u", event_text, byte1); - break; - case BHY2_META_EVENT_SAMPLE_RATE_CHANGED: - log_i("%s Sample rate changed for sensor id %u", event_text, byte1); - break; - case BHY2_META_EVENT_POWER_MODE_CHANGED: - log_i("%s Power mode changed for sensor id %u", event_text, byte1); - break; - case BHY2_META_EVENT_ALGORITHM_EVENTS: - log_i("%s Algorithm event", event_text); - break; - case BHY2_META_EVENT_SENSOR_STATUS: - log_i("%s Accuracy for sensor id %u changed to %u", event_text, byte1, byte2); - _accuracy = byte2; - break; - case BHY2_META_EVENT_BSX_DO_STEPS_MAIN: - log_i("%s BSX event (do steps main)", event_text); - break; - case BHY2_META_EVENT_BSX_DO_STEPS_CALIB: - log_i("%s BSX event (do steps calib)", event_text); - break; - case BHY2_META_EVENT_BSX_GET_OUTPUT_SIGNAL: - log_i("%s BSX event (get output signal)", event_text); - break; - case BHY2_META_EVENT_SENSOR_ERROR: - log_i("%s Sensor id %u reported error 0x%02X", event_text, byte1, byte2); - break; - case BHY2_META_EVENT_FIFO_OVERFLOW: - log_i("%s FIFO overflow", event_text); - break; - case BHY2_META_EVENT_DYNAMIC_RANGE_CHANGED: - log_i("%s Dynamic range changed for sensor id %u", event_text, byte1); - break; - case BHY2_META_EVENT_FIFO_WATERMARK: - log_i("%s FIFO watermark reached", event_text); - break; - case BHY2_META_EVENT_INITIALIZED: - log_i("%s Firmware initialized. Firmware version %u", event_text, ((uint16_t)byte2 << 8) | byte1); - break; - case BHY2_META_TRANSFER_CAUSE: - log_i("%s Transfer cause for sensor id %u", event_text, byte1); - break; - case BHY2_META_EVENT_SENSOR_FRAMEWORK: - log_i("%s Sensor framework event for sensor id %u", event_text, byte1); - break; - case BHY2_META_EVENT_RESET: - log_i("%s Reset event", event_text); - break; - case BHY2_META_EVENT_SPACER: - return; - default: - log_i("%s Unknown meta event with id: %u", event_text, meta_event_type); - break; - } - - if (_event_callback) { - _event_callback(meta_event_type, byte1, byte2); - } -} - -void SensorBHI260AP::parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) -{ - if (user_data != this) { - return; - } - uint8_t msg_length = 0; - uint8_t debug_msg[17] = { 0 }; /* Max payload size is 16 bytes, adds a trailing zero if the payload is full */ - if (!callback_info) { - log_i("Null reference"); - return; - } - msg_length = callback_info->data_ptr[0]; - memcpy(debug_msg, &callback_info->data_ptr[1], msg_length); - debug_msg[msg_length] = '\0'; /* Terminate the string */ - log_d("[DEBUG MSG]: %s", debug_msg); - - if (_debug_callback) { - _debug_callback((const char *)debug_msg); - } -} - - -bool SensorBHI260AP::initImpl(bhy2_intf interface) -{ - uint8_t product_id = 0; - - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - } - - reset(); - - _bhy2 = std::make_unique(); - BHY2_RLST_CHECK(!_bhy2, " Device handler malloc failed!", false); - - if (_max_rw_length == -1) { - -#if defined(ARDUINO_ARCH_ESP32) - switch (interface) { - case BHY2_I2C_INTERFACE: - // esp32s3 test I2C maximum read and write is 64 bytes - _max_rw_length = 64; - break; - case BHY2_SPI_INTERFACE: - // esp32s3 test SPI maximum read and write is 256 bytes - _max_rw_length = 256; - break; - default: - return false; - } -#else - // Other platforms,I2C 32 Bytes , SPI 256 Bytes - _max_rw_length = interface == BHY2_I2C_INTERFACE ? 32 : 256; -#endif - } - - _error_code = bhy2_init(interface, - SensorCommStatic::sensor_static_read_data, - SensorCommStatic::sensor_static_write_data, - SensorCommStatic::sensor_static_delay_us, - _max_rw_length, - staticComm.get(), - _bhy2.get()); - - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_init failed!", false); - - - _error_code = bhy2_soft_reset(_bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "reset _bhy2 failed!", false); - - _error_code = bhy2_get_product_id(&product_id, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_get_product_id failed!", false); - - /* Check for a valid product ID */ - if (product_id != BHY2_PRODUCT_ID) { - log_e("Product ID read 0x%02X. Expected 0x%02X", product_id, BHY2_PRODUCT_ID); - return false; - } else { - log_i("BHI260/BHA260 found. Product ID read 0x%02X", product_id); - } - - // Set default interrupt configure - uint8_t data = 0, data_exp; - bhy2_get_host_interrupt_ctrl(&data, _bhy2.get()); - data &= ~BHY2_ICTL_DISABLE_STATUS_FIFO; /* Enable status interrupts */ - if (_debug) { - data &= ~BHY2_ICTL_DISABLE_DEBUG; /* Enable debug interrupts */ - } else { - data |= BHY2_ICTL_DISABLE_DEBUG; /* Disable debug interrupts */ - } - data &= ~BHY2_ICTL_EDGE; /* Level */ - data &= ~BHY2_ICTL_ACTIVE_LOW; /* Active high */ - data &= ~BHY2_ICTL_OPEN_DRAIN; /* Push-pull */ - data_exp = data; - bhy2_set_host_interrupt_ctrl(data, _bhy2.get()); - bhy2_get_host_interrupt_ctrl(&data, _bhy2.get()); - if (data != data_exp) { - log_d("Expected Host Interrupt Control (0x07) to have value 0x%x but instead read 0x%x\r\n", data_exp, data); - } - /* Config status channel */ - bhy2_set_host_intf_ctrl(BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL, _bhy2.get()); - bhy2_get_host_intf_ctrl(&data, _bhy2.get()); - if (!(data & BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL)) { - log_d("Expected Host Interface Control (0x06) to have bit 0x%x to be set\r\n", BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL); - } - - if (_boot_from_flash) { - if (!bootFromFlash()) { - return false; - } - if (_force_update) { - if ((_firmware_stream == NULL) || (_firmware_size == 0)) { - log_e("No valid firmware is set. Please use the \"setFirmware\" method to set the valid firmware."); - return false; - } - _error_code = bhy2_soft_reset(_bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "reset _bhy2 failed!", false); - log_i("Force update firmware."); - if (!uploadFirmware(_firmware_stream, _firmware_size, _write_flash)) { - log_e("uploadFirmware failed!"); - return false; - } - } - } else { - if ((_firmware_stream == NULL) || (_firmware_size == 0)) { - log_e("No valid firmware is set. Please use the \"setFirmware\" method to set the valid firmware."); - return false; - } - - // ** Upload firmware to RAM **// - if (!uploadFirmware(_firmware_stream, _firmware_size, false)) { - log_e("uploadFirmware failed!"); - return false; - } - } - - uint16_t version = getKernelVersion(); - BHY2_RLST_CHECK(!version, "getKernelVersion failed!", false); - log_i("Boot successful. Kernel version %u.", version); - - _error_code = bhy2_register_fifo_parse_callback(BHY2_SYS_ID_META_EVENT, BoschParseStatic::parseMetaEvent, this, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_register_fifo_parse_callback failed!", false); - - _error_code = bhy2_register_fifo_parse_callback(BHY2_SYS_ID_META_EVENT_WU, BoschParseStatic::parseMetaEvent, this, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_register_fifo_parse_callback failed!", false); - - if (_debug) { - _error_code = bhy2_register_fifo_parse_callback(BHY2_SYS_ID_DEBUG_MSG, BoschParseStatic::parseDebugMessage, this, _bhy2.get()); - BHY2_RLST_CHECK(_error_code != BHY2_OK, "bhy2_register_fifo_parse_callback parseDebugMessage failed!", false); - } - - //Set process buffer -#if defined(ARDUINO_ARCH_ESP32) - if (psramFound()) { - _processBuffer = (uint8_t *)ps_malloc(_processBufferSize); - // In older versions of esp-core, even if psramFound returns true, it may not initialize psram correctly. - // This situation is common when OPI type SPI-RAM is selected as QSPI, or QSPI is selected as OPI. - if (!_processBuffer) { - log_e("malloc psram buffer failed,try to alloc sram buffer!"); - _processBuffer = (uint8_t *)malloc(_processBufferSize); - } - } else { - _processBuffer = (uint8_t *)malloc(_processBufferSize); - } -#else - _processBuffer = (uint8_t *)malloc(_processBufferSize); -#endif - BHY2_RLST_CHECK(!_processBuffer, "process buffer malloc failed!", false); - - _error_code = bhy2_get_and_process_fifo(_processBuffer, _processBufferSize, _bhy2.get()); - if (_error_code != BHY2_OK) { - log_e("bhy2_get_and_process_fifo failed"); - return false; - } - - /* Update the callback table to enable parsing of sensor hintr_ctrl */ - bhy2_update_virtual_sensor_list(_bhy2.get()); - - /* Get present virtual sensor */ - bhy2_get_virt_sensor_list(_bhy2.get()); - - // Only register valid sensor IDs - for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) { - if (bhy2_is_sensor_available(i, _bhy2.get())) { - _sensor_available_nums++; - bhy2_register_fifo_parse_callback(i, BoschParseStatic::parseData, this, _bhy2.get()); - } - } - return _error_code == BHY2_OK; + return BHI260_CHIP_ID; } diff --git a/lib/SensorLib/src/SensorBHI260AP.hpp b/lib/SensorLib/src/SensorBHI260AP.hpp index e9b08c3..92ea30f 100644 --- a/lib/SensorLib/src/SensorBHI260AP.hpp +++ b/lib/SensorLib/src/SensorBHI260AP.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2023 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 @@ -29,156 +29,18 @@ * Simplification for Arduino */ #pragma once -#include "bosch/BoschSensorControl.hpp" -#include "bosch/BoschPhySensorInfo.hpp" -#include "bosch/BoschSensorInfo.hpp" -#include "SensorPlatform.hpp" -#include "bosch/BoschSensorID.hpp" -#include "bosch/BoschParseBase.hpp" -#include "bosch/BoschParseCallbackManager.hpp" +#include "bosch/BoschSensorBase.hpp" + +// The BHI260 I2C address can be either 0x28 or 0x29, depending on the state of the HSDO pin. +// HSDO pin set low +static constexpr uint8_t BHI260AP_SLAVE_ADDRESS_L = (0x28); +// HSDO pin set high +static constexpr uint8_t BHI260AP_SLAVE_ADDRESS_H = (0x29); -#define BHI260AP_SLAVE_ADDRESS_L 0x28 -#define BHI260AP_SLAVE_ADDRESS_H 0x29 - -using SensorConfig = struct bhy2_virt_sensor_conf; -using ProcessCallback = void (*)(void *user_data, uint32_t total, uint32_t transferred); - -class SensorBHI260AP : public BoschVirtualSensor, BoschParseBase +class SensorBHI260AP final: public BoschSensorBase { public: - using SensorDebugMessageCallback = void (*)(const char *message); - using SensorEventCallback = void (*)(uint8_t event, uint8_t sensor_id, uint8_t data); - - enum BoschOrientation { - DIRECTION_TOP_RIGHT, - DIRECTION_TOP_LEFT, - DIRECTION_BOTTOM_LEFT, - DIRECTION_BOTTOM_RIGHT, - }; - - enum SensorEvent { - EVENT_FLUSH_COMPLETE = 1, - EVENT_SAMPLE_RATE_CHANGED, - EVENT_POWER_MODE_CHANGED, - EVENT_ALGORITHM_EVENTS = 5, - EVENT_SENSOR_STATUS, - EVENT_BSX_DO_STEPS_MAIN, - EVENT_BSX_DO_STEPS_CALIB, - EVENT_BSX_GET_OUTPUT_SIGNAL, - EVENT_SENSOR_ERROR = 11, - EVENT_FIFO_OVERFLOW, - EVENT_DYNAMIC_RANGE_CHANGED, - EVENT_FIFO_WATERMARK, - EVENT_INITIALIZED = 16, - EVENT_TRANSFER_CAUSE, - EVENT_SENSOR_FRAMEWORK, - EVENT_RESET, - }; - - /** - * @enum SensorRemap - * @brief Enumeration representing different remapping options for the sensor's orientation. - * - * This enum defines various positions and orientations of the sensor chip. Each value corresponds - * to a specific corner or location of the chip, which can be used to remap the axes of the sensor - * according to its physical placement. - * - * Top view of the chip, where 'T' stands for top, - * 'B' stands for bottom, - * 'L' stands for left, and 'R' stands for right - * ------------- - * | TL TR | - * | | - * | | - * | | - * | BL BR | - * ------------- - * - * There is also a bottom view of the chip： - * - * ------------- - * | BT BB | - * | | - * | | - * | | - * | LT RT | - * ------------- - */ - enum SensorRemap { - // Chip top view, upper left corner - // ------------- - // | * | - // | | - // | | - // | | - // | | - // ------------- - TOP_LAYER_LEFT_CORNER, - // Chip top view, upper right corner - // ------------- - // | * | - // | | - // | | - // | | - // | | - // ------------- - TOP_LAYER_RIGHT_CORNER, - // Chip top view, bottom right corner of the top - // ------------- - // | | - // | | - // | | - // | | - // | * | - // ------------- - TOP_LAYER_BOTTOM_RIGHT_CORNER, - // The top view of the chip, the lower left corner of the front bottom - // ------------- - // | | - // | | - // | | - // | | - // | * | - // ------------- - TOP_LAYER_BOTTOM_LEFT_CORNER, - // The bottom view of the chip, the upper left corner of the top - // ------------- - // | * | - // | | - // | | - // | | - // | | - // ------------- - BOTTOM_LAYER_TOP_LEFT_CORNER, - // The bottom view of the chip, the upper right corner of the top - // ------------- - // | * | - // | | - // | | - // | | - // | | - // ------------- - BOTTOM_LAYER_TOP_RIGHT_CORNER, - // The bottom view of the chip, the lower right corner of the bottom - // ------------- - // | | - // | | - // | | - // | | - // | * | - // ------------- - BOTTOM_LAYER_BOTTOM_RIGHT_CORNER, - // Chip bottom view, bottom left corner - // ------------- - // | | - // | | - // | | - // | | - // | * | - // ------------- - BOTTOM_LAYER_BOTTOM_LEFT_CORNER, - }; // The pin names are named according to the sensor manual. enum BHI260AP_GPIO { @@ -210,108 +72,8 @@ public: RESV3 = 130, // Invalid Pin }; - ~SensorBHI260AP(); - - SensorBHI260AP(); - - /** - * @brief setPins - * @note Set the reset pin. reset pin is not set by default. - * @param rst: - * @retval None - */ - void setPins(int rst); - -#if defined(ARDUINO) - /** - * @brief begin - * @note Initialization using the Arduino Wire Interface - * @param &wire: TwoWire Class - * @param addr: Device address, default 0x28, can also be changed to 0x29 - * @param sda: Set I2C SCL Pin, not set by default - * @param scl: Set I2C SDA Pin, not set by default - * @retval bool true-> Success false-> failure - */ - bool begin(TwoWire &wire, uint8_t addr = BHI260AP_SLAVE_ADDRESS_L, int sda = -1, int scl = -1); - - /** - * @brief begin - * @note Initialization using the Arduino SPI Interface - * @param &spi: SPIClass - * @param csPin: Set CS SCL Pin, not set by default - * @param mosi: Set SPI MOSI SCL Pin, not set by default - * @param miso: Set SPI MISO SCL Pin, not set by default - * @param sck: Set SPI SCK SCL Pin, not set by default - * @retval bool true-> Success false-> failure - */ - bool begin(SPIClass &spi, uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1); - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - /** - * @brief begin - * @note Initialization using the ESP-IDF I2C Legacy Interface - * @param port_num: I2C_NUM0 or I2C_NUM1 - * @param addr: Device address, default 0x28, can also be changed to 0x29 - * @param sda: Set I2C SCL Pin, not set by default - * @param scl: Set I2C SDA Pin, not set by default - * @retval bool true-> Success false-> failure - */ - bool begin(i2c_port_t port_num, uint8_t addr = BHI260AP_SLAVE_ADDRESS_L, int sda = -1, int scl = -1); -#else - /** - * @brief begin - * @note Initialization using the ESP-IDF I2C LL Interface idf version > 5.0.0 - * @param handle: I2C Handle - * @param addr: Device address, default 0x28, can also be changed to 0x29 - * @retval bool true-> Success false-> failure - */ - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = BHI260AP_SLAVE_ADDRESS_L); -#endif //ESP_PLATFORM - - - /** - * @brief begin - * @note Initialization using the ESP-IDF SPI Interface - * @param host: spi_host_device_t enum - * @param handle: spi_device_handle_t handle - * @param csPin: cs pin - * @param mosi: spi mosi pin - * @param miso: spi miso pin - * @param sck: spi sck pin - * @retval bool true-> Success false-> failure - */ - bool begin(spi_host_device_t host, spi_device_handle_t handle, uint8_t csPin, int mosi, int miso, int sck); - -#endif //ARDUINO - - /** - * @brief begin - * @note Custom callback interface, suitable for other platforms - * @param interface: Communication mode, COMM_SPI or COMM_I2C - * @param callback: Register read and write callback function - * @param hal_callback: Platform digital IO and delay callback function - * @param addr: Device address, default 0x28, can also be changed to 0x29 - * @retval bool true-> Success false-> failure - */ - bool begin(CommInterface interface, SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = BHI260AP_SLAVE_ADDRESS_L); - - /** - * @brief reset - * @note Reset sensor - * @retval None - */ - void reset(); - - /** - * @brief update - * @note Update sensor fifo data - * @retval None - */ - void update(); + ~SensorBHI260AP() = default; + SensorBHI260AP() = default; /** * @brief setBootFromFlash @@ -321,175 +83,6 @@ public: */ void setBootFromFlash(bool boot_from_flash); - /** - * @brief getHandler - * @note Get the native BHI API handle - * @retval handle - */ - bhy2_dev *getHandler(); - - /** - * @brief setInterruptCtrl - * @note Set the interrupt control mask - * @param data: - * BHY2_ICTL_DISABLE_FIFO_W - * BHY2_ICTL_DISABLE_FIFO_NW - * BHY2_ICTL_DISABLE_STATUS_FIFO - * BHY2_ICTL_DISABLE_DEBUG - * BHY2_ICTL_DISABLE_FAULT - * BHY2_ICTL_ACTIVE_LOW - * BHY2_ICTL_EDGE - * BHY2_ICTL_OPEN_DRAIN - * - * @retval true is success , false is failed - */ - bool setInterruptCtrl(uint8_t data); - - /** - * @brief getInterruptCtrl - * @note Get interrupt control info - * @retval SensorBHI260APControl class - */ - SensorBHI260APControl getInterruptCtrl(); - - - /** - * @brief isReady - * @note Query whether the sensor is ready - * @retval true OK , false Not ready - */ - bool isReady(); - - /** - * @brief getKernelVersion - * @note Get the sensor firmware kernel version - * @retval 2 bytes - */ - uint16_t getKernelVersion(); - - - /** - * @brief onEvent - * @note Registered sensor event callback function - * @param callback: Callback Function - * @retval None - */ - void onEvent(SensorEventCallback callback); - - /** - * @brief removeEvent - * @note Remove sensor event callback function - * @retval None - */ - void removeEvent(); - - /** - * @brief onResultEvent - * @note Registered sensor result callback function , The same sensor ID can register multiple event callbacks. - * Please note that you should not register the same event callback repeatedly. - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param callback: Callback Function - * @param *user_data: user data,can be null - * @retval bool true-> Success false-> failure - */ - bool onResultEvent(BoschSensorID sensor_id, SensorDataParseCallback callback, void *user_data = nullptr); - - /** - * @brief removeResultEvent - * @note Remove the registered result callback function - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param callback: Callback Function - * @retval bool true-> Success false-> failure - */ - bool removeResultEvent(BoschSensorID sensor_id, SensorDataParseCallback callback); - - /** - * @brief setProcessBufferSize - * @note The default value is 512Bytes , Must be called before initialization - * @param size: The set buffer size is requested by malloc, and if PSRAM is enabled, it is requested from PSRAM - * @retval None - */ - void setProcessBufferSize(uint32_t size); - - /** - * @brief uploadFirmware - * @note Update BHI sensor firmware - * @param *firmware: Firmware data address - * @param length: Firmware data length - * @param write2Flash: 1 is written to external flash, 0 is written to RAM - * @retval bool true-> Success false-> failure - */ - bool uploadFirmware(const uint8_t *firmware, uint32_t length, bool write2Flash = false); - - /** - * @brief getError - * @note Get the error status string - * @retval string - */ - const char *getError(); - - /** - * @brief configure - * @note Sensor Configuration - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param sample_rate: Data output rate, unit: HZ - * @param report_latency_ms: Report interval in milliseconds - * @return bool true-> Success false-> failure - */ - bool configure(uint8_t sensor_id, float sample_rate, uint32_t report_latency_ms); - - /** - * @brief configureRange - * @note Set range of the sensor - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @param range: Range for selected SensorID. See Table 79 in BHY260 datasheet 109 page - * @retval bool true-> Success false-> failure - */ - bool configureRange(uint8_t sensor_id, uint16_t range); - - - /** - * @brief getConfigure - * @note Get sensor configuration - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @retval SensorConfig - */ - SensorConfig getConfigure(uint8_t sensor_id); - - /** - * @brief getScaling - * @note Get sensor scale factor - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @retval scale factor - */ - float getScaling(uint8_t sensor_id); - - /** - * @brief setFirmware - * @note Set the firmware - * @param *image: firmware data address - * @param image_len: firmware length - * @param write_flash: true : write to flash otherwise ram - * @param force_update: true, rewrite to flash or ram regardless of whether there is firmware, false, do not write if firmware is detected - * @retval None - */ - void setFirmware(const uint8_t *image, size_t image_len, bool write_flash = false, bool force_update = false); - - /** - * @brief getSensorName - * @note Get sensor name - * @param sensor_id: Sensor ID , see enum BoschSensorID - * @retval sensor name - */ - const char *getSensorName(uint8_t sensor_id); - - /** - * @brief getAccuracy - * @note Get an accuracy report - * @retval Current report accuracy - */ - uint8_t getAccuracy(); - /** * @brief digitalRead * @note Read GPIO level, only for custom firmware @@ -516,123 +109,11 @@ public: */ void disableGpio(uint8_t pin); - /** - * @brief setDebug - * @note Whether to enable chip debug output - * @param enable: true Enable message debug , false disable debug , Requires firmware support, the default firmware will not output any messages - * @param &serial: Stream - * @retval None - */ - void setDebugKernel(bool enable); - - /** - * @brief setDebugCallback - * @param cb: Sensor debug output callback function , Requires firmware support, the default firmware will not output any messages - * @retval None - */ - void setDebugCallback(SensorDebugMessageCallback cb); - - /** - * @brief getPhySensorInfo - * @note Get all information about physical sensors - * @param sens_id: ID of the physical sensor - * @retval BoschPhySensorInfo Class - */ - BoschPhySensorInfo getPhySensorInfo(uint8_t sens_id); - - /** - * @brief getSensorInfo - * @note Get all information about sensors - * @retval BoschSensorInfo Class - */ - BoschSensorInfo getSensorInfo(); - - - /** - * @brief setMaxiTransferSize - * @note Set the maximum number of bytes transmitted by the interface , Called before begin - * @param size_of_bytes: The maximum transmission bytes of different platforms are different. - * Set it according to the platform. If not set, the default is I2C 32 bytes, SPI 256 bytes. - * @retval None - */ - void setMaxiTransferSize(uint16_t size_of_bytes); - - - /** - * @brief setUpdateProcessCallback - * @note Set the callback function of the firmware update process to obtain the update progress - * @param callback: callback function - * @param *user_data: user data, can be nullptr - * @retval None - */ - void setUpdateProcessCallback(ProcessCallback callback, void *user_data = nullptr); - - /** - * @brief availableSensorNums - * @note Get the number of available sensors - * @retval available sensors - */ - uint8_t availableSensorNums(); - - - /** - * @brief Set the axis remapping for the sensor based on the specified orientation. - * - * This function allows you to configure the sensor's axis remapping according to a specific - * physical orientation of the chip. By passing one of the values from the SensorRemap enum, - * you can ensure that the sensor data is correctly interpreted based on how the chip is placed. - * [bst-bhi260ab-ds000.pdf](https://www.mouser.com/datasheet/2/783/bst-bhi260ab-ds000-1816249.pdf) - * 20.3 Sensing axes and axes remapping - * @param remap An enumeration value from SensorRemap that specifies the desired axis remapping. - * @return Returns true if the axis remapping is successfully set; false otherwise. - */ - bool setRemapAxes(SensorRemap remap); - protected: - - void parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data) override; - - void parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) override; - - void parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) override; - -private: - /** - * @brief bootFromFlash - * @note Boot from external flash - * @retval bool true-> Success false-> failure + * @brief Get the confirmation ID for the sensor. + * @note This ID is used to confirm the sensor's identity during communication. + * @retval The confirmation ID. */ - bool bootFromFlash(); - - void print_boot_status(uint8_t boot_status); - - bool initImpl(bhy2_intf interface); - -protected: - - std::unique_ptr comm; - std::unique_ptr hal; - std::unique_ptr staticComm; - std::unique_ptr _bhy2; - int _rst; - int8_t _error_code; - uint8_t *_processBuffer; - size_t _processBufferSize; - const uint8_t *_firmware_stream; - size_t _firmware_size; - bool _write_flash; - bool _boot_from_flash; - bool _force_update; - int _max_rw_length; - uint8_t _accuracy; /* Accuracy is reported as a meta event. */ - bool _debug; - ProcessCallback _process_callback; - void *_process_callback_user_data; - SensorEventCallback _event_callback; - SensorDebugMessageCallback _debug_callback; - BoschParseCallbackManager _callback_manager; - uint8_t _sensor_available_nums; - char _err_buffer[128]; - + uint16_t getConfirmationIDImpl() override; }; diff --git a/lib/SensorLib/src/SensorBHI260AP_Klio.cpp b/lib/SensorLib/src/SensorBHI260AP_Klio.cpp index 1666c70..7895856 100644 --- a/lib/SensorLib/src/SensorBHI260AP_Klio.cpp +++ b/lib/SensorLib/src/SensorBHI260AP_Klio.cpp @@ -63,10 +63,10 @@ SensorBHI260AP_Klio::~SensorBHI260AP_Klio() void SensorBHI260AP_Klio::end() { if (sensor) { - sensor->configure(SensorBHI260AP::KLIO, 0, 0); - sensor->removeResultEvent(SensorBHI260AP::KLIO, static_klio_callback); - sensor->configure(SensorBHI260AP::KLIO_LOG, 0, 0); - sensor->removeResultEvent(SensorBHI260AP::KLIO_LOG, static_klio_log_callback); + sensor->configure(BoschSensorID::KLIO, 0, 0); + sensor->removeResultEvent(BoschSensorID::KLIO, static_klio_callback); + sensor->configure(BoschSensorID::KLIO_LOG, 0, 0); + sensor->removeResultEvent(BoschSensorID::KLIO_LOG, static_klio_log_callback); } if (similarity_result_buf ) { @@ -86,7 +86,7 @@ bool SensorBHI260AP_Klio::begin() return true; } if (!sensor) { - log_e("BHI260 data pointer is empty"); + log_e("The sensor handle is null"); return false; } const uint8_t PARAM_BUF_LEN = 252; @@ -149,9 +149,9 @@ bool SensorBHI260AP_Klio::begin() sizeof(ignore_insignificant_movement)); - sensor->onResultEvent(SensorBHI260AP::KLIO_LOG, static_klio_log_callback, this); + sensor->onResultEvent(BoschSensorID::KLIO_LOG, static_klio_log_callback, this); - return sensor->onResultEvent(SensorBHI260AP::KLIO, static_klio_callback, this); + return sensor->onResultEvent(BoschSensorID::KLIO, static_klio_callback, this); } bool SensorBHI260AP_Klio::setState(bool learning_enable, bool learning_reset, bool recognition_enable, bool recognition_reset) @@ -168,19 +168,22 @@ bool SensorBHI260AP_Klio::setState(bool learning_enable, bool learning_reset, bo SensorBHI260AP_Klio::KlioState SensorBHI260AP_Klio::getState() { - assert(sensor); bhy2_klio_sensor_state_t sensor_state; - bhy2_klio_get_state(&sensor_state, sensor->getHandler()); + if (!sensor) { + log_e("The sensor handle is null"); + return {}; + } + bhy2_klio_get_state(&sensor_state, sensor->getDev()); return sensor_state; } bool SensorBHI260AP_Klio::setState(KlioState sensor_state) { if (!sensor) { - log_e("BHI260 data pointer is empty"); + log_e("The sensor handle is null"); return false; } - return bhy2_klio_set_state(&sensor_state, sensor->getHandler()) == BHY2_OK; + return bhy2_klio_set_state(&sensor_state, sensor->getDev()) == BHY2_OK; } bool SensorBHI260AP_Klio::learning() @@ -212,13 +215,13 @@ uint8_t SensorBHI260AP_Klio::getMaxPatterns() return max_patterns; } -void SensorBHI260AP_Klio::static_klio_callback(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data) +void SensorBHI260AP_Klio::static_klio_callback(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data) { SensorBHI260AP_Klio *self = static_cast(user_data); self->klio_call_local(sensor_id, data, size, timestamp, self); } -void SensorBHI260AP_Klio::klio_call_local(uint8_t sensor_id, uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data) +void SensorBHI260AP_Klio::klio_call_local(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data) { bhy2_klio_sensor_frame_t data; if (size != 11) { @@ -227,7 +230,7 @@ void SensorBHI260AP_Klio::klio_call_local(uint8_t sensor_id, uint8_t *data_ptr, memcpy(&data, data_ptr, sizeof(data)); if (learning_callback) { if (k_state.learning_enabled) { - learning_callback(static_cast(data.learn.change_reason), + learning_callback(static_cast(data.learn.change_reason), data.learn.progress, data.learn.index, learning_callback_user_data); } } @@ -238,13 +241,13 @@ void SensorBHI260AP_Klio::klio_call_local(uint8_t sensor_id, uint8_t *data_ptr, } } -void SensorBHI260AP_Klio::static_klio_log_callback(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data) +void SensorBHI260AP_Klio::static_klio_log_callback(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data) { SensorBHI260AP_Klio *self = static_cast(user_data); self->klio_log_call_local(sensor_id, data, size, timestamp, self); } -void SensorBHI260AP_Klio::klio_log_call_local(uint8_t sensor_id, uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data) +void SensorBHI260AP_Klio::klio_log_call_local(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data) { bhy2_klio_log_frame_t data; memcpy(&data, data_ptr, sizeof(data)); @@ -301,28 +304,28 @@ bool SensorBHI260AP_Klio::readPattern(uint8_t idx, uint8_t *buffer, uint16_t *le bool SensorBHI260AP_Klio::enable(float sample_rate, uint32_t report_latency_ms) { if (!sensor) { - log_e("BHI260 data pointer is empty"); + log_e("The sensor handle is null"); return false; } - return sensor->configure(SensorBHI260AP::KLIO, sample_rate, report_latency_ms); + return sensor->configure(BoschSensorID::KLIO, sample_rate, report_latency_ms); } void SensorBHI260AP_Klio::disable() { if (!sensor) { - log_e("BHI260 data pointer is empty"); + log_e("The sensor handle is null"); return; } - sensor->configure(SensorBHI260AP::KLIO, 0, 0); + sensor->configure(BoschSensorID::KLIO, 0, 0); } bool SensorBHI260AP_Klio::logout(float sample_rate, uint32_t report_latency_ms) { if (!sensor) { - log_e("BHI260 data pointer is empty"); + log_e("The sensor handle is null"); return false; } - return sensor->configure(SensorBHI260AP::KLIO_LOG, sample_rate, report_latency_ms); + return sensor->configure(BoschSensorID::KLIO_LOG, sample_rate, report_latency_ms); } void SensorBHI260AP_Klio::setLearningCallback(LearningCallback cb, void *user_data) @@ -340,11 +343,11 @@ void SensorBHI260AP_Klio::setRecognitionCallback(RecognitionCallback cb, void *u bool SensorBHI260AP_Klio::checkError() { if (!sensor) { - log_e("BHI260 data pointer is empty"); + log_e("The sensor handle is null"); return false; } uint32_t klio_status; - int8_t rslt = bhy2_klio_read_reset_driver_status(&klio_status, sensor->getHandler()); + int8_t rslt = bhy2_klio_read_reset_driver_status(&klio_status, sensor->getDev()); if (rslt != BHY2_OK) { errorCode = static_cast(klio_status); return true; @@ -371,12 +374,12 @@ template bool SensorBHI260AP_Klio::KlioTemplate(Func func, Args &&... args) { if (!sensor) { - log_e("BHI260 data pointer is empty"); + log_e("The sensor handle is null"); return false; } - int8_t rslt = func(std::forward(args)..., sensor->getHandler()); + int8_t rslt = func(std::forward(args)..., sensor->getDev()); if (rslt != BHY2_OK) { - log_e("Interface access error, %s", get_api_error(rslt)); + log_e("Interface access error, %s", BoschSensorUtils::get_api_error(rslt)); return false; } if (checkError()) { diff --git a/lib/SensorLib/src/SensorBHI260AP_Klio.hpp b/lib/SensorLib/src/SensorBHI260AP_Klio.hpp index 822fd36..14b98ae 100644 --- a/lib/SensorLib/src/SensorBHI260AP_Klio.hpp +++ b/lib/SensorLib/src/SensorBHI260AP_Klio.hpp @@ -30,13 +30,15 @@ */ #pragma once #include "SensorBHI260AP.hpp" +#include "bosch/bhi260x/bhy2_klio_defs.h" +#include "bosch/bhi260x/bhy2_klio.h" class SensorBHI260AP_Klio { public: static constexpr int8_t INVALID_LEARNING_INDEX = -1; - enum LeaningChangeReason { + enum LearningChangeReason { LEARNING_PROGRESSING, //Learning is progressing. LEARNING_NO_REPETITIVE_ACTIVITY, //Learning was interrupted by a non-repetitive activity. LEARNING_NO_SIGNIFICANT, //Learning was interrupted because no significant movement was detected. @@ -53,7 +55,7 @@ public: using KlioError = bhy2_klio_driver_error_state_t; using KlioState = bhy2_klio_sensor_state_t; using RecognitionCallback = void (*)(uint8_t pattern_id, float count, void *user_data); - using LearningCallback = void (*)(LeaningChangeReason reason, uint32_t progress, int learn_index, void *user_data); + using LearningCallback = void (*)(LearningChangeReason reason, uint32_t progress, int learn_index, void *user_data); /** * @brief Constructor to initialize the SensorBHI260AP_Klio object. @@ -299,7 +301,7 @@ private: * @param timestamp The timestamp of the data. * @param user_data A pointer to user - defined data. */ - static void static_klio_callback(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data); + static void static_klio_callback(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data); /** * @brief Local KLIO callback function to actually handle sensor data. @@ -310,7 +312,7 @@ private: * @param timestamp The timestamp of the data. * @param user_data A pointer to user - defined data. */ - void klio_call_local(uint8_t sensor_id, uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data); + void klio_call_local(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data); /** * @brief Static KLIO log callback function to handle sensor log data. @@ -322,7 +324,7 @@ private: * @param timestamp The timestamp of the log data. * @param user_data A pointer to user - defined data. */ - static void static_klio_log_callback(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data); + static void static_klio_log_callback(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data); /** * @brief Local KLIO log callback function to actually handle sensor log data. @@ -333,7 +335,7 @@ private: * @param timestamp The timestamp of the log data. * @param user_data A pointer to user - defined data. */ - void klio_log_call_local(uint8_t sensor_id, uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data); + void klio_log_call_local(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data); template bool KlioTemplate(Func func, Args &&... args); diff --git a/lib/SensorLib/src/SensorBHI360.cpp b/lib/SensorLib/src/SensorBHI360.cpp new file mode 100644 index 0000000..0311448 --- /dev/null +++ b/lib/SensorLib/src/SensorBHI360.cpp @@ -0,0 +1,96 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorBHI360.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-06 + * + */ +#include "SensorBHI360.hpp" + +uint16_t SensorBHI360::getConfirmationIDImpl() +{ + return BHI360_CHIP_ID; +} + +bool SensorBHI360::getStepCounterConfig(StepCounterConfig &config) +{ + int8_t rslt = bhi360_phy_sensor_ctrl_param_get_step_counter_config(&config, getDev()); + if (rslt != BHY2_OK) { + log_e("Failed to get Step Counter configuration, error code: %d", rslt); + return false; + } + return true; +} + +bool SensorBHI360::setStepCounterConfig(const StepCounterConfig &config) +{ + int8_t rslt = bhi360_phy_sensor_ctrl_param_set_step_counter_config(&config, getDev()); + if (rslt != BHY2_OK) { + log_e("Failed to set Step Counter configuration, error code: %d", rslt); + return false; + } + return true; +} + +bool SensorBHI360::getMultiTapDetectorConfig(MultiTapDetectorConfig &config) +{ + int8_t rslt = bhi360_multi_tap_param_detector_get_config(&config, getDev()); + if (rslt != BHY2_OK) { + log_e("Failed to get Multi Tap Detector configuration, error code: %d", rslt); + return false; + } + return true; +} + +bool SensorBHI360::setMultiTapDetectorConfig(const MultiTapDetectorConfig &config) +{ + int8_t rslt = bhi360_multi_tap_param_detector_set_config(&config, getDev()); + if (rslt != BHY2_OK) { + log_e("Failed to set Multi Tap Detector configuration, error code: %d", rslt); + return false; + } + return true; +} + +bool SensorBHI360::getMultiTapParamConfig(MultiTapDataType (&config)[8]) +{ + int8_t rslt = bhi360_multi_tap_param_get_config(config, getDev()); + if (rslt != BHY2_OK) { + log_e("Failed to get Multi Tap Param configuration, error code: %d", rslt); + return false; + } + return true; +} + +bool SensorBHI360::setMultiTapParamConfig(const MultiTapDataType &config) +{ + int8_t rslt = bhi360_multi_tap_param_set_config(&config, getDev()); + if (rslt != BHY2_OK) { + log_e("Failed to set Multi Tap Param configuration, error code: %d", rslt); + return false; + } + return true; +} + diff --git a/lib/SensorLib/src/SensorBHI360.hpp b/lib/SensorLib/src/SensorBHI360.hpp new file mode 100644 index 0000000..5eeb921 --- /dev/null +++ b/lib/SensorLib/src/SensorBHI360.hpp @@ -0,0 +1,107 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorBHI360.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-06 + * @note Most source code references come from the https://github.com/boschsensortec/BHY2-Sensor-API + * Simplification for Arduino + */ +#pragma once +#include "bosch/BoschSensorBase.hpp" +#include "bosch/bhi36x/bhi360_event_data.h" +#include "bosch/bhi36x/bhi360_multi_tap_param.h" +#include "bosch/bhi36x/bhi360_phy_sensor_ctrl_param.h" +#include "bosch/bhi36x/bhi360_head_orientation_param.h" +#include "bosch/bhi36x/bhi360_bsx_algo_param.h" +#include "bosch/bhi36x/bhi360_bsec_param.h" + +// The BHI360 I2C address can be either 0x28 or 0x29, depending on the state of the HSDO pin. +// HSDO pin set low +static constexpr uint8_t BHI360_SLAVE_ADDRESS_L = (0x28); +// HSDO pin set high +static constexpr uint8_t BHI360_SLAVE_ADDRESS_H = (0x29); + +using MultiTapDataType = bhi360_event_data_multi_tap; +using StepCounterConfig = bhi360_phy_sensor_ctrl_param_step_counter; +using MultiTapDetectorConfig = bhi360_multi_tap_param_detector; + +class SensorBHI360 final: public BoschSensorBase +{ +public: + ~SensorBHI360() = default; + SensorBHI360() = default; + + + /** + * @brief Get the current configuration of the Step Counter algorithm. + * @param config Reference to a StepCounterConfig structure to store the retrieved configuration. + * @return true if the configuration was successfully retrieved, false otherwise. + */ + bool getStepCounterConfig(StepCounterConfig &config); + + /** + * @brief Set the configuration for the Step Counter algorithm. + * @param config Reference to a StepCounterConfig structure containing the desired configuration. + * @return true if the configuration was successfully set, false otherwise. + */ + bool setStepCounterConfig(const StepCounterConfig &config); + + /** + * @brief Get the current configuration of the Multi Tap Detector algorithm. + * @param config Reference to a MultiTapDetectorConfig structure to store the retrieved configuration. + * @return true if the configuration was successfully retrieved, false otherwise. + */ + bool getMultiTapDetectorConfig(MultiTapDetectorConfig &config); + + /** + * @brief Set the configuration for the Multi Tap Detector algorithm. + * @param config Reference to a MultiTapDetectorConfig structure containing the desired configuration. + * @return true if the configuration was successfully set, false otherwise. + */ + bool setMultiTapDetectorConfig(const MultiTapDetectorConfig &config); + + /** + * @brief Get the current configuration of the Multi Tap parameters. + * @param config Reference to an array of MultiTapDataType to store the retrieved configuration. + * @note The array should have a size of 8 to accommodate all possible Multi Tap parameters. + * @return true if the configuration was successfully retrieved, false otherwise. + */ + bool getMultiTapParamConfig(MultiTapDataType (&config)[8]); + + /** + * @brief Set the configuration for the Multi Tap parameters. + * @param config Reference to a MultiTapDataType containing the desired configuration. + * @return true if the configuration was successfully set, false otherwise. + */ + bool setMultiTapParamConfig(const MultiTapDataType &config); + +protected: + /** + * @brief Get the confirmation ID for the sensor. + * @note This ID is used to confirm the sensor's identity during communication. + * @retval The confirmation ID. + */ + uint16_t getConfirmationIDImpl() override; +}; diff --git a/lib/SensorLib/src/SensorBMA422.hpp b/lib/SensorLib/src/SensorBMA422.hpp new file mode 100644 index 0000000..abbfb85 --- /dev/null +++ b/lib/SensorLib/src/SensorBMA422.hpp @@ -0,0 +1,571 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorBMA422.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-31 + * @note BMA422 class based on [BMA456 Sensor API](https://github.com/boschsensortec/BMA456_SensorAPI) + * Simplification for Arduino + */ +#pragma once + +#include "SensorBMA4XX.hpp" +#include "bosch/bma4xx/bma422_an.h" + +class SensorBMA422 : public SensorBMA4XX +{ +public: + + /** + * @brief Event callbacks for the sensor + * @note This structure holds the callback functions for various sensor events. + * Each callback can be set individually and will be called when the + * corresponding event occurs. + */ + struct EventCallbacks { + std::function onAnyMotion = nullptr; ///< Callback for any motion detection + std::function onNoMotion = nullptr; ///< Callback for no-motion detection + std::function onDataReady = nullptr; ///< Callback for new accelerometer data + }; + + /** + * @brief Motion axes configuration + * @note This structure is used to configure which axes are monitored for + * motion and no-motion detection. Each bit enables/disables detection + * on a specific axis. + */ + struct MotionAxesConfig { + uint8_t x_axis : 1; ///< Enable motion detection on X-axis (1=enabled, 0=disabled) + uint8_t y_axis : 1; ///< Enable motion detection on Y-axis (1=enabled, 0=disabled) + uint8_t z_axis : 1; ///< Enable motion detection on Z-axis (1=enabled, 0=disabled) + + /** + * @brief Constructor for MotionAxesConfig + * @param x_axis Enable motion detection on X-axis (default: 1) + * @param y_axis Enable motion detection on Y-axis (default: 1) + * @param z_axis Enable motion detection on Z-axis (default: 1) + */ + MotionAxesConfig(uint8_t x = 1, uint8_t y = 1, uint8_t z = 1) + : x_axis(x), y_axis(y), z_axis(z) {} + }; + + + /** + * @brief Constructor for the SensorBMA422 class + * @note Initializes the sensor with default settings and sets the remap offset + * for BMA422 specific features. + */ + SensorBMA422() : SensorBMA4XX(), _status(0) + { + _remap_reg_offset = BMA422_AN_AXES_REMAP_START_ADDR; + } + + /** + * @brief Destructor for the SensorBMA422 class + * @note Cleans up the sensor resources (default implementation). + */ + ~SensorBMA422() = default; + + /** + * @brief Set the any-motion callback for motion events + * @note The callback will be invoked when motion state changes. + * @param cb Callback function that accepts void + */ + void setOnAnyMotionCallback(std::function cb) + { + callbacks.onAnyMotion = std::move(cb); + } + + /** + * @brief Set the callback for no-motion events + * @note The callback will be invoked when no motion is detected. + * @param cb Callback function that accepts void + */ + void setOnNoMotionCallback(std::function cb) + { + callbacks.onNoMotion = std::move(cb); + } + + /** + * @brief Set the callback for data ready events + * @note The callback will be invoked when new accelerometer data is available. + * @param cb Callback function that accepts AccelerometerData reference + */ + void setOnDataReadyCallback(std::function cb) + { + callbacks.onDataReady = std::move(cb); + } + + /** + * @brief Set all callbacks at once + * @note This function copies the entire EventCallbacks structure. + * @param cbs Reference to EventCallbacks structure containing all callbacks + */ + void setCallbacks(const EventCallbacks &cbs) + { + callbacks = cbs; + } + + /** + * @brief Get the current callbacks + * @return Reference to the EventCallbacks structure + * @note Use this to modify callbacks directly or check current settings + */ + EventCallbacks &getCallbacks() + { + return callbacks; + } + + /** + * @brief Get the current callbacks (const version) + * @return Const reference to the EventCallbacks structure + */ + const EventCallbacks &getCallbacks() const + { + return callbacks; + } + + /** + * @brief Enable data ready interrupt + * @note Configures the interrupt for accelerometer data ready events + * @param enable Enable/disable the data ready feature + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableDataReady(bool enable = true, InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + return enableInterrupt(pin_map, BMA4_DATA_RDY_INT, enable); + } + + /** + * @brief Enable or disable any-motion detection + * @note Configures motion any-motion detection on selected axes + * @param &cfg Configuration for which axes to monitor + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableAnyMotionDetection(MotionAxesConfig &cfg, bool enable, + bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + int8_t rslt = 0; + struct bma422_an_any_no_mot_config any_mot_config = { 0, 0, 0}; + + rslt = bma422_an_get_any_mot_config(&any_mot_config, dev.get()); + if (rslt != 0) { + log_e("bma422_an_get_any_mot_config failed"); + return false; + } + + any_mot_config.axes_en = 0x00; + if (enable) { + if (cfg.x_axis) any_mot_config.axes_en |= BMA422_AN_X_AXIS_EN; + if (cfg.y_axis) any_mot_config.axes_en |= BMA422_AN_Y_AXIS_EN; + if (cfg.z_axis) any_mot_config.axes_en |= BMA422_AN_Z_AXIS_EN; + } + + if (!enableInterrupt(pin_map, BMA422_AN_ANY_MOT_INT, interrupt_enable)) { + return false; + } + + rslt = bma422_an_set_any_mot_config(&any_mot_config, dev.get()); + return rslt == 0; + } + + /** + * @brief Enable or disable no-motion detection + * @note Configures motion no-motion detection on selected axes + * @param &cfg Configuration for which axes to monitor + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableNoMotionDetection(MotionAxesConfig &cfg, bool enable, + bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + int8_t rslt = 0; + struct bma422_an_any_no_mot_config no_mot_config = { 0, 0, 0}; + rslt = bma422_an_get_no_mot_config(&no_mot_config, dev.get()); + if (rslt != 0) { + log_e("bma422_an_get_no_mot_config failed"); + return false; + } + no_mot_config.axes_en = 0x00; + if (enable) { + if (cfg.x_axis) no_mot_config.axes_en |= BMA422_AN_X_AXIS_EN; + if (cfg.y_axis) no_mot_config.axes_en |= BMA422_AN_Y_AXIS_EN; + if (cfg.z_axis) no_mot_config.axes_en |= BMA422_AN_Z_AXIS_EN; + } + + if (!enableInterrupt(pin_map, BMA422_AN_NO_MOT_INT, interrupt_enable)) { + return false; + } + + rslt = bma422_an_set_no_mot_config(&no_mot_config, dev.get()); + return rslt == 0; + } + + /** + * @brief Configure no-motion detection parameters with detailed unit conversion + * @note This function sets both the threshold (sensitivity) and duration (time) + * for no-motion detection. + * + * = Threshold Units = + * The threshold is specified in LSB (Least Significant Bits), where: + * 1 LSB = 0.48 mG = 0.48 × 0.001 g = 0.00048 g ≈ 0.0047 m/s² + * + * To convert from milli-g to LSB: + * LSB = mg_value / 0.48 + * + * Example conversions: + * - 10 LSB = 10 × 0.48 mG = 4.8 mG = 0.0048 g + * - 100 mG = 100 / 0.48 ≈ 208 LSB + * + * = Duration Units = + * The duration is specified in LSB, where at 50Hz ODR: + * 1 LSB = 20 milliseconds + * + * Duration in seconds = duration_LSB × 0.020 + * + * Example conversions: + * - 4 LSB = 4 × 20ms = 80ms = 0.08s + * - 50ms = 50 / 20 = 2.5 LSB (round to nearest integer) + * + * @warning The duration unit (20ms/LSB) is only accurate at 50Hz ODR. + * For other ODR settings, the time per sample changes. + * Time per sample = 1 / ODR + * Example at 100Hz ODR: 1 sample = 10ms, so duration = LSB × 10ms + * + * @param threshold Motion detection threshold in LSB units (1 LSB = 0.48 mG) + * Recommended range: 10-200 (4.8-96 mG) + * Higher values = less sensitive, lower values = more sensitive + * + * @param duration Detection duration in LSB units (1 LSB = 20ms at 50Hz ODR) + * Recommended range: 1-20 (20ms to 400ms) + * Longer duration = more stable detection, less false positives + * + * @return true if configuration successful, false on error + */ + bool configNoMotion(uint16_t threshold, uint16_t duration) + { + return configMotion(false, threshold, duration); + } + + /** + * @brief Configure any-motion detection parameters with detailed unit conversion + * @note This function sets both the threshold (sensitivity) and duration (time) + * for any-motion detection. + * + * = Threshold Units = + * The threshold is specified in LSB (Least Significant Bits), where: + * 1 LSB = 0.48 mG = 0.48 × 0.001 g = 0.00048 g ≈ 0.0047 m/s² + * + * To convert from milli-g to LSB: + * LSB = mg_value / 0.48 + * + * Example conversions: + * - 10 LSB = 10 × 0.48 mG = 4.8 mG = 0.0048 g + * - 100 mG = 100 / 0.48 ≈ 208 LSB + * + * = Duration Units = + * The duration is specified in LSB, where at 50Hz ODR: + * 1 LSB = 20 milliseconds + * + * Duration in seconds = duration_LSB × 0.020 + * + * Example conversions: + * - 4 LSB = 4 × 20ms = 80ms = 0.08s + * - 50ms = 50 / 20 = 2.5 LSB (round to nearest integer) + * + * @warning The duration unit (20ms/LSB) is only accurate at 50Hz ODR. + * For other ODR settings, the time per sample changes. + * Time per sample = 1 / ODR + * Example at 100Hz ODR: 1 sample = 10ms, so duration = LSB × 10ms + * + * @param threshold Motion detection threshold in LSB units (1 LSB = 0.48 mG) + * Recommended range: 10-200 (4.8-96 mG) + * Higher values = less sensitive, lower values = more sensitive + * + * @param duration Detection duration in LSB units (1 LSB = 20ms at 50Hz ODR) + * Recommended range: 1-20 (20ms to 400ms) + * Longer duration = more stable detection, less false positives + * + * @return true if configuration successful, false on error + */ + bool configAnyMotion(uint16_t threshold, uint16_t duration) + { + return configMotion(true, threshold, duration); + } + + /** + * @brief Configure any-motion or no-motion detection parameters with detailed unit conversion + * @note This function sets both the threshold (sensitivity) and duration (time) + * for any-motion/no-motion detection. + * + * = Threshold Units = + * The threshold is specified in LSB (Least Significant Bits), where: + * 1 LSB = 0.48 mG = 0.48 × 0.001 g = 0.00048 g ≈ 0.0047 m/s² + * + * To convert from milli-g to LSB: + * LSB = mg_value / 0.48 + * + * Example conversions: + * - 10 LSB = 10 × 0.48 mG = 4.8 mG = 0.0048 g + * - 100 mG = 100 / 0.48 ≈ 208 LSB + * + * = Duration Units = + * The duration is specified in LSB, where at 50Hz ODR: + * 1 LSB = 20 milliseconds + * + * Duration in seconds = duration_LSB × 0.020 + * + * Example conversions: + * - 4 LSB = 4 × 20ms = 80ms = 0.08s + * - 50ms = 50 / 20 = 2.5 LSB (round to nearest integer) + * + * @warning The duration unit (20ms/LSB) is only accurate at 50Hz ODR. + * For other ODR settings, the time per sample changes. + * Time per sample = 1 / ODR + * Example at 100Hz ODR: 1 sample = 10ms, so duration = LSB × 10ms + * + * @param any_motion true to configure any-motion, false for no-motion + * + * @param threshold Motion detection threshold in LSB units (1 LSB = 0.48 mG) + * Recommended range: 10-200 (4.8-96 mG) + * Higher values = less sensitive, lower values = more sensitive + * + * @param duration Detection duration in LSB units (1 LSB = 20ms at 50Hz ODR) + * Recommended range: 1-20 (20ms to 400ms) + * Longer duration = more stable detection, less false positives + * + * @return true if configuration successful, false on error + */ + bool configMotion(bool any_motion, uint16_t threshold, uint16_t duration) + { + int8_t rslt = 0; + + if (threshold > 16380) { // Max threshold based on 0.48mg resolution for 16g range + log_e("Threshold %u exceeds recommended maximum (16380)", threshold); + } + + if (duration > 16383) { // Maximum 14-bit value + log_e("Duration %u exceeds recommended maximum (16383)", duration); + } + + struct bma422_an_any_no_mot_config any_mot_config = {0, 0, 0}; + + if (any_motion) { + rslt = bma422_an_get_any_mot_config(&any_mot_config, dev.get()); + if (rslt != 0) { + log_e("bma422_an_get_any_mot_config failed"); + return false; + } + } else { + rslt = bma422_an_get_no_mot_config(&any_mot_config, dev.get()); + if (rslt != 0) { + log_e("bma422_an_get_no_mot_config failed"); + return false; + } + } + + any_mot_config.threshold = threshold; + any_mot_config.duration = duration; + + log_d("Configuring motion detection: threshold=%u LSB (%.2f mG), duration=%u LSB (%.2f ms at 50Hz)", + threshold, threshold * 0.48f, + duration, duration * 20.0f); + + if (any_motion) { + if (bma422_an_set_any_mot_config(&any_mot_config, dev.get()) != 0) { + log_e("Failed to configure any-motion detection"); + return false; + } + } else { + if (bma422_an_set_no_mot_config(&any_mot_config, dev.get()) != 0) { + log_e("Failed to configure no-motion detection"); + return false; + } + } + return true; + } + + + /** + * @brief Configure any-motion detection using physical units + * @note Easier to use than configAnyMotion() as it accepts physical units + * + * @param threshold_mg Threshold in milli-g (1 mG = 0.001 g) + * Will be converted to LSB: LSB = threshold_mg / 0.48 + * @param duration_ms Duration in milliseconds (at 50Hz ODR) + * Will be converted to LSB: LSB = duration_ms / 20 + * @return true if successful, false on error + */ + bool configAnyMotionInPhysicalUnits(float threshold_mg, float duration_ms) + { + uint16_t threshold_lsb = static_cast(threshold_mg / 0.48f + 0.5f); + uint16_t duration_lsb = static_cast(duration_ms / 20.0f + 0.5f); + + log_d("Converting: %.2f mg -> %u LSB, %.2f ms -> %u LSB", + threshold_mg, threshold_lsb, duration_ms, duration_lsb); + + return configAnyMotion(threshold_lsb, duration_lsb); + } + + + /** + * @brief Configure no-motion detection using physical units + * @note Easier to use than configNoMotion() as it accepts physical units + * + * @param threshold_mg Threshold in milli-g (1 mG = 0.001 g) + * Will be converted to LSB: LSB = threshold_mg / 0.48 + * @param duration_ms Duration in milliseconds (at 50Hz ODR) + * Will be converted to LSB: LSB = duration_ms / 20 + * @return true if successful, false on error + */ + bool configNoMotionInPhysicalUnits(float threshold_mg, float duration_ms) + { + uint16_t threshold_lsb = static_cast(threshold_mg / 0.48f + 0.5f); + uint16_t duration_lsb = static_cast(duration_ms / 20.0f + 0.5f); + + log_d("Converting: %.2f mg -> %u LSB, %.2f ms -> %u LSB", + threshold_mg, threshold_lsb, duration_ms, duration_lsb); + + return configNoMotion(threshold_lsb, duration_lsb); + } + + /** + * @brief Get current motion detection configuration + * @note Reads back the current threshold and duration settings + * + * @param[out] threshold_mg Returns threshold in milli-g + * @param[out] duration_ms Returns duration in milliseconds (at 50Hz ODR) + * @return true if successful, false on error + */ + bool getAnyMotionConfig(float &threshold_mg, float &duration_ms) + { + struct bma422_an_any_no_mot_config any_mot_config; + if (bma422_an_get_any_mot_config(&any_mot_config, dev.get()) != 0) { + log_e("Failed to read motion configuration"); + return false; + } + + threshold_mg = any_mot_config.threshold * 0.48f; + duration_ms = any_mot_config.duration * 20.0f; + + log_d("Current config: threshold=%u LSB (%.2f mg), duration=%u LSB (%.2f ms)", + any_mot_config.threshold, threshold_mg, + any_mot_config.duration, duration_ms); + + return true; + } + + /** + * @brief Get current no-motion detection configuration + * @note Reads back the current threshold and duration settings + * + * @param[out] threshold_mg Returns threshold in milli-g + * @param[out] duration_ms Returns duration in milliseconds (at 50Hz ODR) + * @return true if successful, false on error + */ + bool getNoMotionConfig(float &threshold_mg, float &duration_ms) + { + struct bma422_an_any_no_mot_config no_mot_config; + if (bma422_an_get_no_mot_config(&no_mot_config, dev.get()) != 0) { + log_e("Failed to read no-motion configuration"); + return false; + } + + threshold_mg = no_mot_config.threshold * 0.48f; + duration_ms = no_mot_config.duration * 20.0f; + + log_d("Current no-motion config: threshold=%u LSB (%.2f mg), duration=%u LSB (%.2f ms)", + no_mot_config.threshold, threshold_mg, + no_mot_config.duration, duration_ms); + + return true; + } + + /** + * @brief Update sensor state and process interrupts + * @note This method should be called periodically (e.g., in main loop) + * to check for and process sensor interrupts. It reads the interrupt + * status register and invokes the appropriate callbacks. + * @return void + */ + void update() override + { + if (bma4_read_int_status(&_status, dev.get()) != 0) { + return; + } + + if (_status == 0) { + return; + } + + if ((_status & BMA422_AN_ANY_MOT_INT) && callbacks.onAnyMotion) { + callbacks.onAnyMotion(); + } + + if ((_status & BMA422_AN_NO_MOT_INT) && callbacks.onNoMotion) { + callbacks.onNoMotion(); + } + + if ((_status & BMA4_ACCEL_DATA_RDY_INT) && callbacks.onDataReady) { + AccelerometerData data; + if (readData(data)) { + callbacks.onDataReady(data); + } + } + + _status = 0; + } + +private: + /** + * @brief Bosch-specific initialization implementation + * @note Initializes the bma422_an sensor and loads its configuration file + * @return true if initialization successful, false otherwise + */ + bool boschInitImpl() override + { + int8_t rslt = bma422_an_init(dev.get()); + if ( rslt != 0 ) { + log_e("bma422_an_init failed with code %d", rslt); + return false; + } + rslt = bma422_an_write_config_file(dev.get()); + if (rslt != 0) { + log_e("bma422_an_write_config_file failed with code %d", rslt); + return false; + } + return true; + } +protected: + EventCallbacks callbacks; + uint16_t _status; +}; diff --git a/lib/SensorLib/src/SensorBMA423.cpp b/lib/SensorLib/src/SensorBMA423.cpp deleted file mode 100644 index f165ffd..0000000 --- a/lib/SensorLib/src/SensorBMA423.cpp +++ /dev/null @@ -1,724 +0,0 @@ -/** - * - * @license MIT License - *Z_Altered - * Copyright (c) 2022 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. - * - * @file SensorBMA423.cpp - * @author Lewis He (lewishe@outlook.com) - * @date 2022-03-31 - * @note Most source code references come from the https://github.com/boschsensortec/BMA423-Sensor-API - * Simplification for Arduino - */ -#include "SensorBMA423.hpp" -#include "REG/BMA423Config.h" - -SensorBMA423::SensorBMA423() : comm(nullptr) {} - -SensorBMA423::~SensorBMA423() -{ - if (comm) { - comm->deinit(); - } -} - -#if defined(ARDUINO) -bool SensorBMA423::begin(TwoWire &wire, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); -} - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) -bool SensorBMA423::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return initImpl(); -} -#else /*USEING_I2C_LEGACY*/ -bool SensorBMA423::begin(i2c_master_bus_handle_t handle, uint8_t addr) -{ - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return initImpl(); -} -#endif //ESP_PLATFORM -#endif //ARDUINO - - -bool SensorBMA423::begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) -{ - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); -} - -void SensorBMA423::reset() -{ - comm->writeRegister(RESET_REG, 0xB6); - hal->delay(20); -} - -bool SensorBMA423::enablePowerSave() -{ - uint8_t val; - val = comm->readRegister(POWER_CONF_ADDR); - val |= ADVANCE_POWER_SAVE_MSK; - comm->writeRegister(POWER_CONF_ADDR, val); - return true; -} - -bool SensorBMA423::disablePowerSave() -{ - uint8_t val; - val = comm->readRegister(POWER_CONF_ADDR); - val &= ~(ADVANCE_POWER_SAVE_MSK); - comm->writeRegister(POWER_CONF_ADDR, val); - return true; -} - -void SensorBMA423::disableInterruptCtrl() -{ - comm->writeRegister(INIT_CTRL_ADDR, (uint8_t)0x00); -} - -void SensorBMA423::enableInterruptCtrl() -{ - comm->writeRegister(INIT_CTRL_ADDR, (uint8_t)0x01); -} - -bool SensorBMA423::enableAccelerometer() -{ - uint8_t val; - val = comm->readRegister(POWER_CTRL_ADDR); - val |= ACCEL_ENABLE_MSK; - comm->writeRegister(POWER_CTRL_ADDR, val); - return true; -} - -bool SensorBMA423::disableAccelerometer() -{ - uint8_t val; - val = comm->readRegister( POWER_CTRL_ADDR); - val &= (~ACCEL_ENABLE_MSK); - comm->writeRegister(POWER_CTRL_ADDR, val); - return true; -} - -bool SensorBMA423::configAccelerometer(AccelRange range, AccelODR odr, - BandWidth bw, - PerformanceMode perfMode ) - -{ - uint8_t buffer[2] = {0, 0}; - if (perfMode == PERF_CONTINUOUS_MODE) { - if (bw > BW_NORMAL_AVG4) { - return false; - } - } else if (perfMode == PERF_CIC_AVG_MODE) { - if (bw > BW_RES_AVG128) { - return false; - } - } else { - return false; - } - if ((odr < ODR_0_78HZ) || (odr > ODR_1600HZ)) { - return false; - } - - buffer[0] = odr & 0x0F; - buffer[0] |= (uint8_t)(bw << 4); - buffer[0] |= (uint8_t)(perfMode << 7); - buffer[1] = range & 0x03; - - /* Burst write is not possible in - suspend mode hence individual write is - used with hal->delay of 1 ms */ - comm->writeRegister(ACCEL_CONFIG_ADDR, buffer[0]); - hal->delay(2); - comm->writeRegister(ACCEL_CONFIG_ADDR + 1, buffer[1]); - return true; -} - - -bool SensorBMA423::getAccelRaw(int16_t *rawBuffer) -{ - uint8_t buffer[6] = {0}; - if (comm->readRegister(DATA_8_ADDR, buffer, 6) != -1) { - /* Accel data x axis */ - rawBuffer[0] = (int16_t)(buffer[1] << 8) | (buffer[0]); - /* Accel data y axis */ - rawBuffer[1] = (int16_t)(buffer[3] << 8) | (buffer[2]); - /* Accel data z axis */ - rawBuffer[2] = (int16_t)(buffer[5] << 8) | (buffer[4]); - } else { - return false; - } - return true; -} - -bool SensorBMA423::getAccelerometer(int16_t &x, int16_t &y, int16_t &z) -{ - int16_t raw[3]; - if (getAccelRaw(raw)) { - x = raw[0] / 16; - y = raw[1] / 16; - z = raw[2] / 16; - return true; - } - return false; -} - -float SensorBMA423::getTemperature(TemperatureUnit unit) -{ - int32_t raw = comm->readRegister(TEMPERATURE_ADDR); - /* '0' value read from the register corresponds to 23 degree C */ - raw = (raw * 1000) + (23 * 1000); - switch (unit) { - case TEMP_FAHRENHEIT: - /* Temperature in degree Fahrenheit */ - /* 1800 = 1.8 * 1000 */ - raw = ((raw / 1000) * 1800) + (32 * 1000); - break; - case TEMP_KELVIN: - /* Temperature in degree Kelvin */ - /* 273150 = 273.15 * 1000 */ - raw = raw + 273150; - break; - default: - break; - } - float res = (float)raw / (float)1000.0; - /* 0x80 - raw read from the register and 23 is the ambient raw added. - * If the raw read from register is 0x80, it means no valid - * information is available */ - if (((raw - 23) / 1000) == 0x80) { - return 0; - } - return res; -} - - -uint8_t SensorBMA423::direction() -{ - int16_t x = 0, y = 0, z = 0; - getAccelerometer(x, y, z); - uint16_t absX = abs(x); - uint16_t absY = abs(y); - uint16_t absZ = abs(z); - if ((absZ > absX) && (absZ > absY)) { - if (z > 0) { - return DIRECTION_TOP; - } else { - return DIRECTION_BOTTOM; - } - } else if ((absY > absX) && (absY > absZ)) { - if (y > 0) { - return DIRECTION_TOP_RIGHT; - } else { - return DIRECTION_BOTTOM_LEFT; - } - } else { - if (x < 0) { - return DIRECTION_BOTTOM_RIGHT; - } else { - return DIRECTION_TOP_LEFT; - } - } - return 0; -} - -bool SensorBMA423::setRemapAxes(SensorRemap remap) -{ - //Top - // No.1 REG: 0x3e -> 0x88 REG: 0x3f -> 0x0 - // No.2 REG: 0x3e -> 0xac REG: 0x3f -> 0x0 - // No.3 REG: 0x3e -> 0x85 REG: 0x3f -> 0x0 - // No.4 REG: 0x3e -> 0xa1 REG: 0x3f -> 0x0 - - // Bottom - // No.5 REG: 0x3e -> 0x81 REG: 0x3f -> 0x1 - // No.6 REG: 0x3e -> 0xa5 REG: 0x3f -> 0x1 - // No.7 REG: 0x3e -> 0x8c REG: 0x3f -> 0x1 - // No.8 REG: 0x3e -> 0xa8 REG: 0x3f -> 0x1 - - uint8_t configReg0[] = {0x88, 0xAC, 0x85, 0xA1, 0x81, 0xA5, 0x8C, 0xA8}; - if (remap > sizeof(configReg0) / sizeof(configReg0[0])) { - return false; - } - uint8_t buffer[FEATURE_SIZE] = {0}; - uint8_t index = AXES_REMAP_OFFSET; - if (comm->readRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE) == -1) { - return false; - } - buffer[index] = configReg0[remap]; - buffer[index + 1] = remap >= 4 ? 0x01 : 0x00; - return comm->writeRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE) != -1; -} - -bool SensorBMA423::setStepCounterWatermark(uint16_t watermark) -{ - uint8_t buffer[FEATURE_SIZE] = {0}; - uint8_t index = STEP_CNTR_OFFSET; - uint16_t wm_lsb = 0; - uint16_t wm_msb = 0; - int rslt; - uint16_t data = 0; - - rslt = comm->readRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE); - if (rslt != -1) { - wm_lsb = buffer[index]; - wm_msb = buffer[index + 1] << 8; - data = wm_lsb | wm_msb; - /* Sets only watermark bits in the complete 16 bits of data */ - data = ((data & ~(0x03FFU)) | (watermark & 0x03FFU)); - /* Splits 16 bits of data to individual 8 bits data */ - buffer[index] = (uint8_t)(data & 0x00FFU); - buffer[index + 1] = (uint8_t)((data & 0xFF00U) >> 8); - /* Writes stepcounter watermark settings in the sensor */ - rslt = comm->writeRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE); - } - return rslt != -1; -} - -bool SensorBMA423::disablePedometer() -{ - return enablePedometer(false); -} - -bool SensorBMA423::enablePedometer(bool enable) -{ - int rslt; - uint8_t buffer[FEATURE_SIZE] = {0}; - /* Step detector enable bit pos. is 1 byte ahead of the base address */ - uint8_t index = STEP_CNTR_OFFSET + 1; - rslt = comm->readRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE); - if (rslt != -1) { - buffer[index] = ((buffer[index] & ~0x08) | ((enable << 3) & 0x08)); - rslt = comm->writeRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE); - } - return rslt != -1; -} - -uint32_t SensorBMA423::getPedometerCounter() -{ - uint8_t buffer[4] = {0}; - /* Reads the step counter output data from the gpio register */ - int rslt = comm->readRegister(STEP_CNT_OUT_0_ADDR, buffer, 4); - if (rslt != -1) { - return ((uint32_t)buffer[0]) | ((uint32_t)buffer[1] << 8) | ((uint32_t)buffer[2] << 16) | ((uint32_t)buffer[3] << 24); - } - return 0; -} - -void SensorBMA423::resetPedometer() -{ - uint8_t buffer[FEATURE_SIZE] = {0}; - /* Reset bit is 1 byte ahead of base address */ - uint8_t index = STEP_CNTR_OFFSET + 1; - int rslt = comm->readRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE); - if (rslt != -1) { - buffer[index] = ((buffer[index] & ~0x04U) | ((1 << 2U) & 0x04U)); - comm->writeRegister(FEATURE_CONFIG_ADDR, buffer, FEATURE_SIZE); - } -} - -bool SensorBMA423::enableFeature(uint8_t feature, uint8_t enable) -{ - uint8_t buffer[FEATURE_SIZE] = {0}; - int rslt; - uint8_t len; - /* Update the length for read and write */ - update_len(&len, feature, enable); - rslt = comm->readRegister(FEATURE_CONFIG_ADDR, buffer, len); - if (rslt != -1) { - if (enable) { - /* Enables the feature */ - rslt = feature_enable(feature, len, buffer); - } else { - /* Disables the feature */ - rslt = feature_disable(feature, len, buffer); - } - } - return rslt != -1; -} - -uint16_t SensorBMA423::readIrqStatus() -{ - uint8_t data[2] = {0}; - if (comm->readRegister(INT_STAT_0_ADDR, data, 2) != -1) { - int_status = data[0] | (data[1] << 8); - return int_status; - } - return 0; -} - -uint16_t SensorBMA423::getIrqStatus() -{ - return int_status; -} - -bool SensorBMA423::configInterrupt( - /*! Trigger condition of interrupt pin */ - uint8_t edge_ctrl, - /*! Level of interrupt pin */ - uint8_t level, - /*! Behaviour of interrupt pin to open drain */ - uint8_t od, - /*! Output enable for interrupt pin */ - uint8_t output_en, - /*! Input enable for interrupt pin */ - uint8_t input_en, - /*! Variable used to select the interrupt pin1 or pin2 for interrupt configuration. */ - uint8_t int_line -) -{ - uint8_t interrupt_address_array[2] = {INT1_IO_CTRL_ADDR, INT2_IO_CTRL_ADDR}; - uint8_t data = 0; - if (int_line > 1) { - return false; - } - data = ((uint8_t)((edge_ctrl & INT_EDGE_CTRL_MASK) | - ((level << 1) & INT_LEVEL_MASK) | - ((od << 2) & INT_OPEN_DRAIN_MASK) | - ((output_en << 3) & INT_OUTPUT_EN_MASK) | - ((input_en << 4) & INT_INPUT_EN_MASK))); - - this->int_line = int_line; - - return comm->writeRegister(interrupt_address_array[int_line], &data, 1) != -1; -} - -bool SensorBMA423::configFeatureInterrupt(uint16_t feature_interrupt_mask, bool enable) -{ - return interruptMap(int_line, feature_interrupt_mask, enable); -} - - -bool SensorBMA423::enablePedometerIRQ() -{ - return (interruptMap(int_line, INT_STEP_CNTR, true)); -} - -bool SensorBMA423::enableTiltIRQ() -{ - return (interruptMap(int_line, INT_TILT, true)); -} - -bool SensorBMA423::enableWakeupIRQ() -{ - return (interruptMap(int_line, INT_WAKEUP, true)); -} - -bool SensorBMA423::enableAnyNoMotionIRQ() -{ - return (interruptMap(int_line, INT_ANY_NO_MOTION, true)); -} - -bool SensorBMA423::enableActivityIRQ() -{ - return (interruptMap(int_line, INT_ACTIVITY, true)); -} - -bool SensorBMA423::disablePedometerIRQ() -{ - return (interruptMap(int_line, INT_STEP_CNTR, false)); -} - -bool SensorBMA423::disableTiltIRQ() -{ - return (interruptMap(int_line, INT_TILT, false)); -} - -bool SensorBMA423::disableWakeupIRQ() -{ - return (interruptMap(int_line, INT_WAKEUP, false)); -} - -bool SensorBMA423::disableAnyNoMotionIRQ() -{ - return (interruptMap(int_line, INT_ANY_NO_MOTION, false)); -} - -bool SensorBMA423::disableActivityIRQ() -{ - return (interruptMap(int_line, INT_ACTIVITY, false)); -} - - -bool SensorBMA423::isActivity() -{ - return (int_status & ACTIVITY_INT); -} - -bool SensorBMA423::isTilt() -{ - return (int_status & TILT_INT); -} - -bool SensorBMA423::isDoubleTap() -{ - return (int_status & WAKEUP_INT); -} - -bool SensorBMA423::isAnyNoMotion() -{ - return (int_status & ANY_NO_MOTION_INT); -} - -bool SensorBMA423::isPedometer() -{ - return (int_status & STEP_CNTR_INT); -} - -bool SensorBMA423::interruptMap(uint8_t int_line, uint16_t int_map, uint8_t enable) -{ - int rslt; - uint8_t data[3] = {0, 0, 0}; - uint8_t index[2] = {INT_MAP_1_ADDR, INT_MAP_2_ADDR}; - rslt = comm->readRegister(INT_MAP_1_ADDR, data, 3); - if (enable) { - /* Feature interrupt mapping */ - data[int_line] |= (uint8_t)(int_map & (0x00FF)); - /* Hardware interrupt mapping */ - if (int_line == INTR2_MAP) - data[2] |= (uint8_t)((int_map & (0xFF00)) >> 4); - else - data[2] |= (uint8_t)((int_map & (0xFF00)) >> 8); - - rslt = comm->writeRegister(index[int_line], &data[int_line], 1); - rslt = comm->writeRegister(INT_MAP_DATA_ADDR, &data[2], 1); - - } else { - /* Feature interrupt un-mapping */ - data[int_line] &= (~(uint8_t)(int_map & (0x00FF))); - /* Hardware interrupt un-mapping */ - if (int_line == INTR2_MAP) - data[2] &= (~(uint8_t)((int_map & (0xFF00)) >> 4)); - else - data[2] &= (~(uint8_t)((int_map & (0xFF00)) >> 8)); - - rslt = comm->writeRegister(index[int_line], &data[int_line], 1); - rslt = comm->writeRegister(INT_MAP_DATA_ADDR, &data[2], 1); - - } - return rslt != -1; -} - -/*! - * @brief This API sets the interrupt mode in the sensor. - */ -bool SensorBMA423::setInterruptMode(uint8_t mode) -{ - if (mode == NON_LATCH_MODE || mode == LATCH_MODE) - return comm->writeRegister(INTR_LATCH_ADDR, &mode, 1) != -1; - return false; -} - - -bool SensorBMA423::feature_disable(uint8_t feature, uint8_t len, uint8_t *buffer) -{ - uint8_t index = 0; - - /* Disable step counter */ - if ((feature & FEATURE_STEP_CNTR) > 0) { - /* Step counter enable bit pos. is 1 byte ahead of the - base address */ - index = STEP_CNTR_OFFSET + 1; - buffer[index] = buffer[index] & (~STEP_CNTR_EN_MSK); - } - - /* Disable activity */ - if ((feature & FEATURE_ACTIVITY) > 0) { - /* Activity enable bit pos. is 1 byte ahead of the - base address */ - index = STEP_CNTR_OFFSET + 1; - buffer[index] = buffer[index] & (~ACTIVITY_EN_MSK); - } - /* Disable tilt */ - if ((feature & FEATURE_TILT) > 0) { - /* Tilt enable bit pos. is the base address(0x3A) of tilt */ - index = TILT_OFFSET; - buffer[index] = buffer[index] & (~TILT_EN_MSK); - } - - /* Disable wakeup */ - if ((feature & FEATURE_WAKEUP) > 0) { - /* Tilt enable bit pos. is the base address(0x38) of wakeup */ - index = WAKEUP_OFFSET; - buffer[index] = buffer[index] & (~WAKEUP_EN_MSK); - } - - /* Disable anymotion/nomotion */ - if ((feature & FEATURE_ANY_MOTION) > 0 || (feature & FEATURE_NO_MOTION) > 0) { - /* Any/Nomotion enable bit pos. is 1 bytes ahead of the - any/nomotion base address(0x00) */ - index = 1; - - if ((feature & FEATURE_ANY_MOTION) > 0) { - /* Disable anymotion */ - buffer[index] = buffer[index] | ANY_NO_MOTION_SEL_MSK; - } else { - /* Disable nomotion */ - buffer[index] = buffer[index] & (~ANY_NO_MOTION_SEL_MSK); - } - /* Any/Nomotion axis enable bit pos. is 3 byte ahead of the - any/nomotion base address(0x00) */ - index = 3; - buffer[index] = buffer[index] & (~ANY_NO_MOTION_AXIS_EN_MSK); - } - /* Write the configured settings in the sensor */ - return comm->writeRegister(FEATURE_CONFIG_ADDR, buffer, len) != -1; -} - -int SensorBMA423::feature_enable(uint8_t feature, uint8_t len, uint8_t *buffer) -{ - uint8_t index = 0; - - /* Enable step counter */ - if ((feature & FEATURE_STEP_CNTR) > 0) { - /* Step counter enable bit pos. is 1 byte ahead of the - base address */ - index = STEP_CNTR_OFFSET + 1; - buffer[index] = buffer[index] | STEP_CNTR_EN_MSK; - } - - /* Enable activity */ - if ((feature & FEATURE_ACTIVITY) > 0) { - /* Activity enable bit pos. is 1 byte ahead of the - base address */ - index = STEP_CNTR_OFFSET + 1; - buffer[index] = buffer[index] | ACTIVITY_EN_MSK; - } - /* Enable tilt */ - if ((feature & FEATURE_TILT) > 0) { - /* Tilt enable bit pos. is the base address(0x3A) of tilt */ - index = TILT_OFFSET; - buffer[index] = buffer[index] | TILT_EN_MSK; - } - - /* Enable wakeup */ - if ((feature & FEATURE_WAKEUP) > 0) { - /* Wakeup enable bit pos. is the base address(0x38) of wakeup */ - index = WAKEUP_OFFSET; - buffer[index] = buffer[index] | WAKEUP_EN_MSK; - } - - /* Enable anymotion/nomotion */ - if ((feature & FEATURE_ANY_MOTION) > 0 || (feature & FEATURE_NO_MOTION) > 0) { - /* Any/Nomotion enable bit pos. is 1 bytes ahead of the - any/nomotion base address(0x00) */ - index = 1; - - if ((feature & FEATURE_ANY_MOTION) > 0) { - /* Enable anymotion */ - buffer[index] = buffer[index] & (~ANY_NO_MOTION_SEL_MSK); - } else { - /* Enable nomotion */ - buffer[index] = buffer[index] | ANY_NO_MOTION_SEL_MSK; - } - /* Ensure XYZ axes participate when enabling any/no-motion */ - index = 3; - buffer[index] = buffer[index] | ANY_NO_MOTION_AXIS_EN_MSK; - } - - /* Write the feature enable settings in the sensor */ - return comm->writeRegister(FEATURE_CONFIG_ADDR, buffer, len) != -1; -} - -void SensorBMA423::update_len(uint8_t *len, uint8_t feature, uint8_t enable) -{ - uint8_t length = FEATURE_SIZE; - - if ((feature == FEATURE_ANY_MOTION) || (feature == FEATURE_NO_MOTION)) { - /* Always read/write the axis-enable byte (base+3) when updating any/no-motion */ - length = ANYMOTION_EN_LEN + 2; - } - *len = length; -} - -bool SensorBMA423::configure() -{ - uint8_t val; - val = comm->readRegister(INTERNAL_STAT); - if (val == ASIC_INITIALIZED) { - log_d("No need configure!"); - readIrqStatus(); //clear irq status - return true; - } - - disablePowerSave(); - hal->delay(1); - disableInterruptCtrl(); - - - const uint8_t *stream_data = bma423_config_file; - const uint8_t maxReadWriteLength = 32; - - for (size_t index = 0; index < CONFIG_STREAM_SIZE; index += maxReadWriteLength) { - uint8_t msb = (uint8_t)((index / 2) >> 4); - uint8_t lsb = ((index / 2) & 0x0F); - comm->writeRegister(RESERVED_REG_5B_ADDR, lsb); - comm->writeRegister(RESERVED_REG_5C_ADDR, msb); - comm->writeRegister(FEATURE_CONFIG_ADDR, (uint8_t *)(stream_data + index), maxReadWriteLength); - } - - enableInterruptCtrl(); - - hal->delay(150); - - val = comm->readRegister(INTERNAL_STAT); - if (val == ASIC_INITIALIZED) { - log_d("BMA configure SUCCESS!"); - } else { - log_d("BMA configure FAILED!"); - } - return val == ASIC_INITIALIZED; -} - -bool SensorBMA423::initImpl() -{ - uint8_t id = 0x00; - int retry = 5; - while (retry--) { - id = comm->readRegister(CHIP_ID_ADDR); - if (id != CHIP_ID) { - reset(); - } - } - if (id == CHIP_ID) { - return configure(); - } - log_d("ChipID:0x%x should be 0x%x", id, CHIP_ID); - return false; -} - diff --git a/lib/SensorLib/src/SensorBMA423.hpp b/lib/SensorLib/src/SensorBMA423.hpp index 084cddb..523aa80 100644 --- a/lib/SensorLib/src/SensorBMA423.hpp +++ b/lib/SensorLib/src/SensorBMA423.hpp @@ -1,10 +1,8 @@ /** - *----Tilt--- - - + * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -26,246 +24,816 @@ * * @file SensorBMA423.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2022-03-31 - * @note Most source code references come from the https://github.com/boschsensortec/BMA423-Sensor-API + * @date 2026-01-28 + * @note BMA423 class based on [BMA456 Sensor API](https://github.com/boschsensortec/BMA456_SensorAPI) * Simplification for Arduino */ #pragma once -#include "REG/BMA423Constants.h" -#include "SensorPlatform.hpp" +#include "SensorBMA4XX.hpp" +#include "bosch/bma4xx/bma423.h" -class SensorBMA423 : public BMA423Constants +/** + * @brief Utility class for BMA423-specific conversions + */ +class BMA423Utils { public: - enum AccelRange { - RANGE_2G, - RANGE_4G, - RANGE_8G, - RANGE_16G + /** + * @brief Converts threshold values ​​in 5.11g format to milligrams (mg) + * @note 5.11g format: 11-bit signed fixed-point number, 1 sign bit + 10 decimal places + * Value range: -1g to +1g (excluding +1g), resolution: ~0.5mg + * Formula: Physical value (g) = Register value / 2048 + */ + static float threshold5_11ToMg(uint16_t threshold_5_11) + { + float g_value = static_cast(threshold_5_11) / 2048.0f; + return g_value * 1000.0f; // Convert g to mg + } + + /** + * @brief Convert threshold from milli-g to 5.11g format + * @param threshold_mg Threshold in milli-g (0-1000mg) + * @return uint16_t Threshold in 5.11g format + */ + static uint16_t mgToThreshold5_11(float threshold_mg) + { + if (threshold_mg < 0 || threshold_mg > 1000.0f) { + log_e("Threshold out of range (0-1000mg): %.1f mg, will be clamped", threshold_mg); + threshold_mg = (threshold_mg < 0) ? 0 : 1000.0f; + } + float g_value = threshold_mg / 1000.0f; // Convert mg to g + return static_cast(g_value * 2048.0f + 0.5f); + } + + /** + * @brief Convert duration from 50Hz samples to milliseconds + * @param samples Duration in 50Hz samples + * @return float Duration in milliseconds + */ + static float samples50HzToMs(uint16_t samples) + { + return static_cast(samples) * 20.0f; // 20ms per sample at 50Hz + } + + /** + * @brief Convert duration from milliseconds to 50Hz samples + * @param ms Duration in milliseconds + * * @return uint16_t Duration in 50Hz samples + */ + static uint16_t msToSamples50Hz(float ms) + { + return static_cast(ms / 20.0f + 0.5f); + } + +}; + +class SensorBMA423 : public SensorBMA4XX +{ + struct MotionCfg { + uint8_t motion_feature_enabled = 0; // Any-motion and No-motion feature enable flag + uint16_t any_motion_threshold = 0x00AA; // 83mg + uint16_t any_motion_duration = 0x0005; // 100ms + uint16_t no_motion_threshold = 0x00AA; // 83mg + uint16_t no_motion_duration = 0x0032; // 1000ms }; - /*! Output data rate in Hz */ - enum AccelODR { - ODR_0_78HZ = 1, - ODR_1_56HZ, - ODR_3_12HZ, - ODR_6_25HZ, - ODR_12_5HZ, - ODR_25HZ, - ODR_50HZ, - ODR_100HZ, - ODR_200HZ, - ODR_400HZ, - ODR_800HZ, - ODR_1600HZ, + /** + * @brief Tap detection type + */ + enum class BMA423_TapType { + DOUBLE_TAP = 0, + SINGLE_TAP, }; - /*! Bandwidth parameter, determines filter configuration */ - enum BandWidth { - BW_OSR4_AVG1, - BW_OSR2_AVG2, - BW_NORMAL_AVG4, - BW_CIC_AVG8, - BW_RES_AVG16, - BW_RES_AVG32, - BW_RES_AVG64, - BW_RES_AVG128, +public: + + /** + * @brief Select the platform for the sensor + * @note This setting affects tilt detection. + */ + enum class Platform { + SMARTPHONE, + WRISTBAND }; - enum PerformanceMode { - PERF_CIC_AVG_MODE, - PERF_CONTINUOUS_MODE, + /** + * @brief Event callbacks for the sensor + * @note This structure holds the callback functions for various sensor events. + * Each callback can be set individually and will be called when the + * corresponding event occurs. + */ + struct EventCallbacks { + std::function onTap = nullptr; ///< Callback for tap detection events + std::function onStepDetected = nullptr; ///< Callback for step detection events + std::function onStepCount = nullptr; ///< Callback for step count updates + std::function onActivity = nullptr; ///< Callback for activity recognition events + std::function onAnyMotion = nullptr; ///< Callback for any-motion detection + std::function onNoMotion = nullptr; ///< Callback for no-motion detection + std::function onTiltDetected = nullptr; ///< Callback for tilt detection + std::function onDataReady = nullptr; ///< Callback for new accelerometer data }; - enum TemperatureUnit { - TEMP_DEG, - TEMP_FAHRENHEIT, - TEMP_KELVIN, + /** + * @brief Motion axes configuration + * @note This structure is used to configure which axes are monitored for + * motion and no-motion detection. Each bit enables/disables detection + * on a specific axis. + */ + struct MotionAxesConfig { + uint8_t x_axis : 1; ///< Enable motion detection on X-axis (1=enabled, 0=disabled) + uint8_t y_axis : 1; ///< Enable motion detection on Y-axis (1=enabled, 0=disabled) + uint8_t z_axis : 1; ///< Enable motion detection on Z-axis (1=enabled, 0=disabled) + + /** + * @brief Constructor for MotionAxesConfig + * @param x_axis Enable motion detection on X-axis (default: 1) + * @param y_axis Enable motion detection on Y-axis (default: 1) + * @param z_axis Enable motion detection on Z-axis (default: 1) + */ + MotionAxesConfig(uint8_t x = 1, uint8_t y = 1, uint8_t z = 1) + : x_axis(x), y_axis(y), z_axis(z) {} }; - // Calculate direction facing the front of the chip - enum SensorDir { - DIRECTION_BOTTOM_LEFT, - DIRECTION_TOP_RIGHT, - DIRECTION_TOP_LEFT, - DIRECTION_BOTTOM_RIGHT, - DIRECTION_BOTTOM, - DIRECTION_TOP - }; - // Chip orientation and orientation - enum SensorRemap { - // Top right corner - REMAP_TOP_LAYER_RIGHT_CORNER, - // Front bottom left corner - REMAP_TOP_LAYER_BOTTOM_LEFT_CORNER, - // Top left corner - REMAP_TOP_LAYER_LEFT_CORNER, - // Top bottom right corner - REMAP_TOP_LAYER_BOTTOM_RIGHT_CORNER, - // Bottom top right corner - REMAP_BOTTOM_LAYER_TOP_RIGHT_CORNER, - // Bottom bottom left corner - REMAP_BOTTOM_LAYER_BOTTOM_LEFT_CORNER, - // Bottom bottom right corner - REMAP_BOTTOM_LAYER_BOTTOM_RIGHT_CORNER, - // Bottom top left corner - REMAP_BOTTOM_LAYER_TOP_LEFT_CORNER, - }; + /** + * @brief Constructor for the SensorBMA423 class + * @note Initializes the sensor with default settings and sets the remap offset + * for BMA423 specific features. + */ + SensorBMA423() : SensorBMA4XX(), _status(0) + { + _remap_reg_offset = BMA423_AXES_REMAP_OFFSET; + _mon_cfg.any_motion_threshold = 0x00AA; + _mon_cfg.any_motion_duration = 0x0005; + _mon_cfg.no_motion_threshold = 0x00AA; + _mon_cfg.no_motion_duration = 0x0032; + _tapType = BMA423_TapType::DOUBLE_TAP; + } - enum Feature { - /**\name Feature enable macros for the sensor */ - FEATURE_STEP_CNTR = 0x01, - /**\name Below macros are mutually exclusive */ - FEATURE_ANY_MOTION = 0x02, - FEATURE_NO_MOTION = 0x04, - FEATURE_ACTIVITY = 0x08, - FEATURE_TILT = 0x10, - FEATURE_WAKEUP = 0x20, - }; + /** + * @brief Destructor for the SensorBMA423 class + * @note Cleans up the sensor resources (default implementation). + */ + ~SensorBMA423() = default; - /**\name Interrupt status macros */ - enum FeatureInterrupt { - INT_STEP_CNTR = 0x02, - INT_ACTIVITY = 0x04, - INT_TILT = 0x08, - INT_WAKEUP = 0x20, - INT_ANY_NO_MOTION = 0x40, - }; + /** + * @brief Set the callback for tap events + * @note The callback will be invoked when a tap (single/double/triple) is detected. + * @param cb Callback function that accepts TapType as parameter + */ + void setOnTapCallback(std::function cb) + { + callbacks.onTap = std::move(cb); + } - SensorBMA423(); + /** + * @brief Set the callback for step detection events + * @note The callback will be invoked when a step is detected (each step). + */ + void setOnStepDetectedCallback(std::function cb) + { + callbacks.onStepDetected = std::move(cb); + } - ~SensorBMA423(); + /** + * @brief Set the callback for step count events + * @note The callback will be invoked when step count is updated (provides total step count). + * @param cb Callback function that accepts uint32_t step count as parameter + */ + void setOnStepCountCallback(std::function cb) + { + callbacks.onStepCount = std::move(cb); + } -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = BMA423_I2C_ADDR_SECONDARY, int sda = -1, int scl = -1); + /** + * @brief Set the callback for activity events + * @note The callback will be invoked when activity type changes (e.g., walking to running). + * @param cb Callback function that accepts ActivityType as parameter + */ + void setOnActivityCallback(std::function cb) + { + callbacks.onActivity = std::move(cb); + } -#elif defined(ESP_PLATFORM) + /** + * @brief Set the any-motion callback for motion events + * @note The callback will be invoked when motion state changes. + * @param cb Callback function that accepts void + */ + void setOnAnyMotionCallback(std::function cb) + { + callbacks.onAnyMotion = std::move(cb); + } -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = BMA423_I2C_ADDR_SECONDARY, int sda = -1, int scl = -1); -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = BMA423_I2C_ADDR_SECONDARY); -#endif //ESP_PLATFORM -#endif //ARDUINO + /** + * @brief Set the callback for no-motion events + * @note The callback will be invoked when no motion is detected. + * @param cb Callback function that accepts void + */ + void setOnNoMotionCallback(std::function cb) + { + callbacks.onNoMotion = std::move(cb); + } - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = BMA423_I2C_ADDR_SECONDARY); + /** + * @brief Set the callback for data ready events + * @note The callback will be invoked when new accelerometer data is available. + * @param cb Callback function that accepts AccelerometerData reference + */ + void setOnDataReadyCallback(std::function cb) + { + callbacks.onDataReady = std::move(cb); + } - void reset(); + /** + * @brief Set the callback for tilt detection events + * @note The callback will be invoked when a tilt is detected. + * @param cb Callback function that accepts void + */ + void setOnTiltDetectedCallback(std::function cb) + { + callbacks.onTiltDetected = std::move(cb); + } - bool enablePowerSave(); + /** + * @brief Set all callbacks at once + * @note This function copies the entire EventCallbacks structure. + * @param cbs Reference to EventCallbacks structure containing all callbacks + */ + void setCallbacks(const EventCallbacks &cbs) + { + callbacks = cbs; + } - bool disablePowerSave(); + /** + * @brief Get the current callbacks + * @return Reference to the EventCallbacks structure + * @note Use this to modify callbacks directly or check current settings + */ + EventCallbacks &getCallbacks() + { + return callbacks; + } - void disableInterruptCtrl(); + /** + * @brief Get the current callbacks (const version) + * @return Const reference to the EventCallbacks structure + */ + const EventCallbacks &getCallbacks() const + { + return callbacks; + } - void enableInterruptCtrl(); + /** + * @brief Enable or disable a specific feature + * @note Enables/disables sensor features using bitmask. For step counter, + * also enables the step detector if needed. + * @warning Ensure that only one of any-motion or no-motion is enabled at a time. + * @param feature Bitmask of features to enable/disable (BMA423_*_EN constants) + * @param enable true to enable, false to disable + * @return true if successful, false on error + */ + bool enableFeature(uint16_t feature, bool enable) + { + const uint16_t motion_mask = BMA423_ANY_MOTION | BMA423_NO_MOTION; - bool enableAccelerometer(); + if ((feature & (BMA423_ANY_MOTION | BMA423_NO_MOTION)) == (BMA423_ANY_MOTION | BMA423_NO_MOTION)) { + log_e("Both any-motion and no-motion are specified, only any-motion will be enabled."); + feature &= (~BMA423_NO_MOTION); + } - bool disableAccelerometer(); + if (enable && (feature & motion_mask)) { + uint16_t motion_to_enable = feature & motion_mask; + if (_mon_cfg.motion_feature_enabled != 0 && + _mon_cfg.motion_feature_enabled != motion_to_enable) { + if (bma423_feature_enable(_mon_cfg.motion_feature_enabled, 0, dev.get()) != 0) { + log_e("Failed to disable motion feature 0x%02X", + _mon_cfg.motion_feature_enabled); + return false; + } + log_d("Disabled previous motion feature 0x%02X", + _mon_cfg.motion_feature_enabled); + } + } - bool configAccelerometer(AccelRange range = RANGE_4G, AccelODR odr = ODR_200HZ, - BandWidth bw = BW_NORMAL_AVG4, - PerformanceMode perfMode = PERF_CONTINUOUS_MODE); + if (feature & BMA423_STEP_CNTR) { + if (bma423_step_detector_enable(enable ? BMA4_ENABLE : BMA4_DISABLE, dev.get()) != 0) { + log_e("Failed to %s step detector", enable ? "enable" : "disable"); + return false; + } + } - bool getAccelRaw(int16_t *rawBuffer); + if (bma423_feature_enable(feature, enable, dev.get()) != 0) { + log_e("Failed to %s feature 0x%04X", + enable ? "enable" : "disable", feature); + return false; + } - bool getAccelerometer(int16_t &x, int16_t &y, int16_t &z); + if (feature & motion_mask) { + if (enable) { + _mon_cfg.motion_feature_enabled = feature & motion_mask; + } else { + if ((feature & motion_mask) == _mon_cfg.motion_feature_enabled) { + _mon_cfg.motion_feature_enabled = 0; + } + } + } - float getTemperature(TemperatureUnit unit); + return true; + } - uint8_t direction(); + /** + * @brief Enable data ready interrupt + * @note Configures the interrupt for accelerometer data ready events + * @param enable Enable/disable the data ready feature + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableDataReady(bool enable = true, InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + return enableInterrupt(pin_map, BMA4_DATA_RDY_INT, enable); + } - bool setRemapAxes(SensorRemap remap); + /** + * @brief Enable or disable step counter + * @note Step counter counts total steps since last reset. Step detector + * must be enabled separately for step-by-step detection. + * @param enable true to enable, false to disable + * @param step_counter_wm Watermark level for step counter interrupt (default: 1) + * Setting watermark level 1, the output step resolution is 20 steps. + * Eg: 1 means, 1 * 20 = 20. Every 20 steps once output triggers + * @param reset_counter true to reset counter to zero + * @return true if successful, false on error + */ + bool enableStepCounter(bool enable, uint16_t step_counter_wm = 1, bool reset_counter = false) + { + if (enable) { + if (bma423_step_counter_set_watermark(step_counter_wm, dev.get()) != 0) { + log_e("Failed to set step counter watermark"); + return false; + } + } + if (reset_counter) { + if (bma423_reset_step_counter(dev.get()) != 0) { + log_e("Failed to reset step counter"); + return false; + } + } + return enableFeature(BMA423_STEP_CNTR, enable); + } - bool setStepCounterWatermark(uint16_t watermark); + /** + * @brief Get the current step counter watermark + * @note This function retrieves the current watermark level for the step counter. + * @param &step_counter_wm: Reference to the variable to store the watermark level + * @retval true if successful, false on error + */ + bool getStepCounterWatermark(uint16_t &step_counter_wm) const + { + return bma423_step_counter_get_watermark(&step_counter_wm, dev.get()) == 0; + } - bool disablePedometer(); + /** + * @brief Enable or disable step detector + * @note Step detector generates interrupt for each step detected. + * Use for real-time step detection rather than total count. + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableStepDetector(bool enable, bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + if (!enableInterrupt(pin_map, BMA423_STEP_CNTR_INT, interrupt_enable)) { + return false; + } + return enableFeature(BMA423_STEP_CNTR, enable); + } - bool enablePedometer(bool enable = true); + /** + * @brief Enable or disable tilt detection + * @note Enables double tap detection simultaneously. + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableTiltDetector(bool enable, bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + if (!enableInterrupt(pin_map, BMA423_TILT_INT, interrupt_enable)) { + return false; + } + return enableFeature(BMA423_TILT, enable); + } - uint32_t getPedometerCounter(); + /** + * @brief Select the platform for the sensor + * @note This function configures the sensor for the specified platform. + * @warranty This setting affects tilt detection. + * @param platform: The platform to select, allowed values are: + * - SMARTPHONE + * - WRISTBAND + * @retval None + */ + bool selectPlatform(Platform platform) + { + return bma423_select_platform(static_cast(platform), dev.get()) == 0; + } - void resetPedometer(); + /** + * @brief Enable or disable tap detection + * @note Enables double tap detection simultaneously. + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableTapDetector(bool enable, bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + if (!enableInterrupt(pin_map, BMA423_WAKEUP_INT, interrupt_enable)) { + return false; + } + return enableFeature(BMA423_WAKEUP, enable); + } - bool enableFeature(uint8_t feature, uint8_t enable); + /** + * @brief Select tap detection tap type + * @note This function selects the tap detection tap type. + * @param tap: The tap type to select, allowed values are: + * - DOUBLE_TAP + * - SINGLE_TAP + * @retval true if successful, false on error + */ + bool selectTapType(TapType tap) + { + switch (tap) { + case TapType::DOUBLE_TAP: + _tapType = BMA423_TapType::DOUBLE_TAP; + break; + case TapType::SINGLE_TAP: + _tapType = BMA423_TapType::SINGLE_TAP; + break; + default: + break; + } + return bma423_tap_selection(static_cast(_tapType), dev.get()) == 0; + } - uint16_t readIrqStatus(); + /** + * @brief Enable or disable activity recognition + * @note Activity recognition can detect stationary, walking, running, etc. + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableActivityRecognition(bool enable, bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + if (!enableInterrupt(pin_map, BMA423_ACTIVITY_INT, interrupt_enable)) { + return false; + } + return enableFeature(BMA423_ACTIVITY, enable); + } - uint16_t getIrqStatus(); + /** + * @brief Enable or disable any-motion detection + * @note Configures motion any-motion detection on selected axes + * @warning Any-Motion and No-Motion is mutually exclusive + * @param &cfg Configuration for which axes to monitor + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableAnyMotionDetection(const MotionAxesConfig &cfg, bool enable, + bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + uint16_t axis = 0; - bool configInterrupt( - /*! Trigger condition of interrupt pin */ - uint8_t edge_ctrl = LEVEL_TRIGGER, - /*! Level of interrupt pin */ - uint8_t level = ACTIVE_HIGH, - /*! Behaviour of interrupt pin to open drain */ - uint8_t od = PUSH_PULL, - /*! Output enable for interrupt pin */ - uint8_t output_en = OUTPUT_ENABLE, - /*! Input enable for interrupt pin */ - uint8_t input_en = INPUT_DISABLE, - /*! Variable used to select the interrupt pin1 or pin2 for interrupt configuration. */ - uint8_t int_line = INTR1_MAP - ); + if (cfg.x_axis == 0 && cfg.y_axis == 0 && cfg.z_axis == 0 && enable) { + log_e("No motion detection axis enabled"); + return false; + } - bool configFeatureInterrupt(uint16_t feature_interrupt_mask, bool enable); + if (cfg.x_axis) axis |= BMA423_X_AXIS_EN; + if (cfg.y_axis) axis |= BMA423_Y_AXIS_EN; + if (cfg.z_axis) axis |= BMA423_Z_AXIS_EN; - bool enablePedometerIRQ(); + if (bma423_anymotion_enable_axis(axis, dev.get()) != 0) { + log_e("Failed to configure any-motion axes"); + return false; + } - bool enableTiltIRQ(); + if (!enableInterrupt(pin_map, BMA423_ANY_NO_MOTION_INT, interrupt_enable)) { + return false; + } - bool enableWakeupIRQ(); + if (!configMotion(false, _mon_cfg.any_motion_threshold, _mon_cfg.any_motion_duration)) { + return false; + } - bool enableAnyNoMotionIRQ(); + return enableFeature(BMA423_ANY_MOTION, enable); + } - bool enableActivityIRQ(); + /** + * @brief Enable or disable no-motion detection + * @note Configures motion no-motion detection on selected axes + * @warning Any-Motion and No-Motion is mutually exclusive + * @param &cfg Configuration for which axes to monitor + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableNoMotionDetection(const MotionAxesConfig &cfg, bool enable, + bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + uint16_t axis = 0; - bool disablePedometerIRQ(); + if (cfg.x_axis == 0 && cfg.y_axis == 0 && cfg.z_axis == 0 && enable) { + log_e("No motion detection axis enabled"); + return false; + } - bool disableTiltIRQ(); + if (cfg.x_axis) axis |= BMA423_X_AXIS_EN; + if (cfg.y_axis) axis |= BMA423_Y_AXIS_EN; + if (cfg.z_axis) axis |= BMA423_Z_AXIS_EN; - bool disableWakeupIRQ(); + if (bma423_anymotion_enable_axis(axis, dev.get()) != 0) { + log_e("Failed to configure no-motion axes"); + return false; + } - bool disableAnyNoMotionIRQ(); + if (!enableInterrupt(pin_map, BMA423_ANY_NO_MOTION_INT, interrupt_enable)) { + return false; + } - bool disableActivityIRQ(); + if (!configMotion(true, _mon_cfg.no_motion_threshold, _mon_cfg.no_motion_duration)) { + return false; + } - bool isActivity(); + return enableFeature(BMA423_NO_MOTION, enable); + } - bool isTilt(); + /** + * @brief Configure no-motion detection using raw register values + * + * Sets the threshold and duration for no-motion detection. + * Threshold: 5.11g format (16-bit) + * Duration: 50Hz samples (20ms per sample) + * + * @param threshold Slope threshold in 5.11g format (0-2047 = 0-~1g) + * Default: 0x00AA = 170 / 2048 ≈ 0.083g = 83mg + * @param duration Number of consecutive 50Hz samples (20ms each) required + * Range: 0-8191 (0-163.82 seconds) + * Default: 0x0005 = 5 samples = 100ms + * @return This method is compatible with other classes and will always return true. + */ + bool configNoMotion(uint16_t threshold, uint16_t duration) + { + _mon_cfg.no_motion_duration = duration; + _mon_cfg.no_motion_threshold = threshold; + return true; + } - bool isDoubleTap(); + /** + * @brief Configure any-motion detection using raw register values + * + * Sets the threshold and duration for any-motion detection. + * Threshold: 5.11g format (16-bit) + * Duration: 50Hz samples (20ms per sample) + * + * @param threshold Slope threshold in 5.11g format (0-2047 = 0-~1g) + * Default: 0x00AA = 170 / 2048 ≈ 0.083g = 83mg + * @param duration Number of consecutive 50Hz samples (20ms each) required + * Range: 0-8191 (0-163.82 seconds) + * Default: 0x0005 = 5 samples = 100ms + * @return This method is compatible with other classes and will always return true. + */ + bool configAnyMotion(uint16_t threshold, uint16_t duration) + { + _mon_cfg.any_motion_duration = duration; + _mon_cfg.any_motion_threshold = threshold; + return true; + } - bool isAnyNoMotion(); + /** + * @brief Configure motion detection parameters using raw register values + * + * This function sets the threshold and duration directly using register values. + * For physical units, use configMotion() instead. + * + * @param no_motion true for no-motion detection, false for any-motion detection + * @param threshold Slope threshold in 5.11g format (0-2047 = 0-~1g) + * Default: 0x00AA = 170 / 2048 ≈ 0.083g = 83mg + * @param duration Number of consecutive 50Hz samples (20ms each) required + * Range: 0-8191 (0-163.82 seconds) + * Default: 0x0005 = 5 samples = 100ms + * @return true if successful, false on error + */ + bool configMotion(bool no_motion, uint16_t threshold, uint16_t duration) + { + struct bma423_anymotion_config any_motion; + any_motion.threshold = threshold; + any_motion.duration = duration; + any_motion.nomotion_sel = no_motion ? 1 : 0; - bool isPedometer(); + if (no_motion) { + _mon_cfg.no_motion_threshold = threshold; + _mon_cfg.no_motion_duration = duration; + } else { + _mon_cfg.any_motion_threshold = threshold; + _mon_cfg.any_motion_duration = duration; + } + + log_d("BMA423 motion config (raw): threshold=0x%04X, duration=%u, type: %s", + threshold, duration, + no_motion ? "No-motion" : "Any-motion"); + + return bma423_set_any_motion_config(&any_motion, dev.get()) == 0; + } + + /** + * @brief Get current no-motion/any-motion detection configuration for BMA423 + * @note Returns parameters in user-friendly units + * + * @param[out] threshold Slope threshold in 5.11g format (0-2047 = 0-~1g) + * Default: 0x00AA = 170 / 2048 ≈ 0.083g = 83mg + * @param[out] duration Number of consecutive 50Hz samples (20ms each) required + * Range: 0-8191 (0-163.82 seconds) + * Default: 0x0005 = 5 samples = 100ms + * @param[out] no_motion true is no-motion,false is any-motion + * @return true if successful, false on error + */ + bool getMotionConfig(uint16_t &threshold, uint16_t &duration, bool &no_motion) + { + struct bma423_anymotion_config any_motion; + if (bma423_get_any_motion_config(&any_motion, dev.get()) != 0) { + log_e("Failed to read BMA423 motion configuration"); + return false; + } + threshold = any_motion.threshold; + duration = any_motion.duration; + no_motion = any_motion.nomotion_sel; + return true; + } + + + /** + * @brief Get the current step count + * @note Reads the accumulated step count from the sensor. + * Step counter must be enabled first. + * @return Current step count, or 0 on error + */ + uint32_t getStepCount() + { + uint32_t step_count = 0; + if (bma423_step_counter_output(&step_count, dev.get()) != 0) { + log_e("Failed to read step count"); + return 0; + } + return step_count; + } + + /** + * @brief Reset the step counter + * @note This function resets the internal step counter to zero. + * @retval true if successful, false on error + */ + bool resetStepCounter() + { + return bma423_reset_step_counter(dev.get()) == 0; + } + + /** + * @brief Get the current activity type + * @note Reads the current activity classification from the sensor. + * Activity recognition must be enabled first. + * @return ActivityType enum value, or UNKNOWN on error + */ + ActivityType getActivityType() + { + uint8_t activity_type = 0; + if (bma423_activity_output(&activity_type, dev.get()) != 0) { + log_e("Failed to get activity type"); + return ActivityType::UNKNOWN; + } + return static_cast(activity_type); + } + + /** + * @brief Get which motion detection feature is currently enabled + * @return 0 = none, BMA423_ANY_MOTION = any-motion, BMA423_NO_MOTION = no-motion + */ + uint8_t getEnabledMotionFeature() const + { + return _mon_cfg.motion_feature_enabled; + } + + /** + * @brief Check if any-motion detection is enabled + */ + bool isAnyMotionEnabled() const + { + return _mon_cfg.motion_feature_enabled == BMA423_ANY_MOTION; + } + + /** + * @brief Check if no-motion detection is enabled + */ + bool isNoMotionEnabled() const + { + return _mon_cfg.motion_feature_enabled == BMA423_NO_MOTION; + } + + /** + * @brief Update sensor state and process interrupts + * @note This method should be called periodically (e.g., in main loop) + * to check for and process sensor interrupts. It reads the interrupt + * status register and invokes the appropriate callbacks. + * @return void + */ + void update() override + { + if (bma4_read_int_status(&_status, dev.get()) != 0) { + log_e("Failed to read interrupt status"); + return; + } + + if (_status == 0) { + return; + } + + if ((_status & BMA423_WAKEUP_INT) && callbacks.onTap) { + callbacks.onTap(_tapType == BMA423_TapType::DOUBLE_TAP ? TapType::DOUBLE_TAP : TapType::SINGLE_TAP); + } + + if ((_status & BMA423_STEP_CNTR_INT) && callbacks.onStepDetected) { + callbacks.onStepDetected(); + if (callbacks.onStepCount) { + callbacks.onStepCount(getStepCount()); + } + } + + if ((_status & BMA423_ACTIVITY_INT) && callbacks.onActivity) { + callbacks.onActivity(getActivityType()); + } + + if ((_status & BMA423_ANY_NO_MOTION_INT)) { + if (_mon_cfg.motion_feature_enabled == BMA423_ANY_MOTION && callbacks.onAnyMotion) { + callbacks.onAnyMotion(); + } else if (_mon_cfg.motion_feature_enabled == BMA423_NO_MOTION && callbacks.onNoMotion) { + callbacks.onNoMotion(); + } + } + + if ((_status & BMA4_ACCEL_DATA_RDY_INT) && callbacks.onDataReady) { + AccelerometerData data; + if (readData(data)) { + callbacks.onDataReady(data); + } + } + + if ((_status & BMA423_TILT_INT) && callbacks.onTiltDetected) { + callbacks.onTiltDetected(); + } + + _status = 0; + } private: - - bool interruptMap(uint8_t int_line, uint16_t int_map, uint8_t enable); - - /*! - * @brief This API sets the interrupt mode in the sensor. + /** + * @brief Bosch-specific initialization implementation + * @note Initializes the BMA423 sensor and loads its configuration file + * @return true if initialization successful, false otherwise */ - bool setInterruptMode(uint8_t mode); + bool boschInitImpl() override + { + int8_t rslt = bma423_init(dev.get()); + if ( rslt != 0 ) { + log_e("bma423_init failed with code %d", rslt); + return false; + } - bool feature_disable(uint8_t feature, uint8_t len, uint8_t *buffer); + dev->config_size = BMA423_CONFIG_FILE_SIZE; - int feature_enable(uint8_t feature, uint8_t len, uint8_t *buffer); - - void update_len(uint8_t *len, uint8_t feature, uint8_t enable); - - bool configure(); - - bool initImpl(); - - uint16_t int_status; - uint8_t int_line; - std::unique_ptr comm; - std::unique_ptr hal; + rslt = bma423_write_config_file(dev.get()); + if (rslt != 0) { + log_e("bma423_write_config_file failed with code %d", rslt); + return false; + } + return true; + } +protected: + EventCallbacks callbacks; + uint16_t _status; + MotionCfg _mon_cfg; + BMA423_TapType _tapType; }; diff --git a/lib/SensorLib/src/SensorBMA456H.hpp b/lib/SensorLib/src/SensorBMA456H.hpp new file mode 100644 index 0000000..c30bd97 --- /dev/null +++ b/lib/SensorLib/src/SensorBMA456H.hpp @@ -0,0 +1,794 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorBMA456H.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-28 + * @note BMA456H class based on [BMA456 Sensor API](https://github.com/boschsensortec/BMA456_SensorAPI) + * Simplification for Arduino + */ +#pragma once + +#include "SensorBMA4XX.hpp" +#include "bosch/bma4xx/bma456h.h" + +class SensorBMA456H : public SensorBMA4XX +{ +public: + + /** + * @brief Event callbacks for the sensor + * @note This structure holds the callback functions for various sensor events. + * Each callback can be set individually and will be called when the + * corresponding event occurs. + */ + struct EventCallbacks { + std::function onTap = nullptr; ///< Callback for tap detection events + std::function onStepDetected = nullptr; ///< Callback for step detection events + std::function onStepCount = nullptr; ///< Callback for step count updates + std::function onActivity = nullptr; ///< Callback for activity recognition events + std::function onAnyMotion = nullptr; ///< Callback for any motion detection + std::function onNoMotion = nullptr; ///< Callback for no-motion detection + std::function onDataReady = nullptr; ///< Callback for new accelerometer data + }; + + /** + * @brief Motion axes configuration + * @note This structure is used to configure which axes are monitored for + * motion and no-motion detection. Each bit enables/disables detection + * on a specific axis. + */ + struct MotionAxesConfig { + uint8_t x_axis : 1; ///< Enable motion detection on X-axis (1=enabled, 0=disabled) + uint8_t y_axis : 1; ///< Enable motion detection on Y-axis (1=enabled, 0=disabled) + uint8_t z_axis : 1; ///< Enable motion detection on Z-axis (1=enabled, 0=disabled) + + /** + * @brief Constructor for MotionAxesConfig + * @param x_axis Enable motion detection on X-axis (default: 1) + * @param y_axis Enable motion detection on Y-axis (default: 1) + * @param z_axis Enable motion detection on Z-axis (default: 1) + */ + MotionAxesConfig(uint8_t x = 1, uint8_t y = 1, uint8_t z = 1) + : x_axis(x), y_axis(y), z_axis(z) {} + }; + + + /** + * @brief Constructor for the SensorBMA456H class + * @note Initializes the sensor with default settings and sets the remap offset + * for BMA456H specific features. + */ + SensorBMA456H() : SensorBMA4XX(), _status(0) + { + _remap_reg_offset = BMA456H_AXES_REMAP_OFFSET; + } + + /** + * @brief Destructor for the SensorBMA456H class + * @note Cleans up the sensor resources (default implementation). + */ + ~SensorBMA456H() = default; + + /** + * @brief Set the callback for tap events + * @note The callback will be invoked when a tap (single/double/triple) is detected. + * @param cb Callback function that accepts TapType as parameter + */ + void setOnTapCallback(std::function cb) + { + callbacks.onTap = std::move(cb); + } + + /** + * @brief Set the callback for step detection events + * @note The callback will be invoked when a step is detected (each step). + */ + void setOnStepDetectedCallback(std::function cb) + { + callbacks.onStepDetected = std::move(cb); + } + + /** + * @brief Set the callback for step count events + * @note The callback will be invoked when step count is updated (provides total step count). + * @param cb Callback function that accepts uint32_t step count as parameter + */ + void setOnStepCountCallback(std::function cb) + { + callbacks.onStepCount = std::move(cb); + } + + /** + * @brief Set the callback for activity events + * @note The callback will be invoked when activity type changes (e.g., walking to running). + * @param cb Callback function that accepts ActivityType as parameter + */ + void setOnActivityCallback(std::function cb) + { + callbacks.onActivity = std::move(cb); + } + + /** + * @brief Set the any-motion callback for motion events + * @note The callback will be invoked when motion state changes. + * @param cb Callback function that accepts void + */ + void setOnAnyMotionCallback(std::function cb) + { + callbacks.onAnyMotion = std::move(cb); + } + + /** + * @brief Set the callback for no-motion events + * @note The callback will be invoked when no motion is detected. + * @param cb Callback function that accepts void + */ + void setOnNoMotionCallback(std::function cb) + { + callbacks.onNoMotion = std::move(cb); + } + + /** + * @brief Set the callback for data ready events + * @note The callback will be invoked when new accelerometer data is available. + * @param cb Callback function that accepts AccelerometerData reference + */ + void setOnDataReadyCallback(std::function cb) + { + callbacks.onDataReady = std::move(cb); + } + + /** + * @brief Set all callbacks at once + * @note This function copies the entire EventCallbacks structure. + * @param cbs Reference to EventCallbacks structure containing all callbacks + */ + void setCallbacks(const EventCallbacks &cbs) + { + callbacks = cbs; + } + + /** + * @brief Get the current callbacks + * @return Reference to the EventCallbacks structure + * @note Use this to modify callbacks directly or check current settings + */ + EventCallbacks &getCallbacks() + { + return callbacks; + } + + /** + * @brief Get the current callbacks (const version) + * @return Const reference to the EventCallbacks structure + */ + const EventCallbacks &getCallbacks() const + { + return callbacks; + } + + /** + * @brief Enable or disable a specific feature + * @note Enables/disables sensor features using bitmask. For step counter, + * also enables the step detector if needed. + * @param feature Bitmask of features to enable/disable (BMA456H_*_EN constants) + * @param enable true to enable, false to disable + * @return true if successful, false on error + */ + bool enableFeature(uint16_t feature, bool enable) + { + if (feature & BMA456H_STEP_COUNTER_EN) { + if (bma456h_step_detector_enable(BMA4_ENABLE, dev.get()) != 0) { + log_e("bma456h_step_detector_enable failed"); + return false; + } + } + if (bma456h_feature_enable(feature, enable, dev.get()) != 0) { + log_e("bma456h_feature_enable failed"); + return false; + } + return true; + } + + /** + * @brief Enable data ready interrupt + * @note Configures the interrupt for accelerometer data ready events + * @param enable Enable/disable the data ready feature + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableDataReady(bool enable = true, InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + return enableInterrupt(pin_map, BMA4_DATA_RDY_INT, enable); + } + + /** + * @brief Enable or disable step counter + * @note Step counter counts total steps since last reset. Step detector + * must be enabled separately for step-by-step detection. + * @param enable true to enable, false to disable + * @param step_counter_wm Watermark level for step counter interrupt (default: 1) + * Setting watermark level 1, the output step resolution is 20 steps. + * Eg: 1 means, 1 * 20 = 20. Every 20 steps once output triggers + * @param reset_counter true to reset counter to zero + * @return true if successful, false on error + */ + bool enableStepCounter(bool enable, uint16_t step_counter_wm = 1, bool reset_counter = false) + { + + if (bma456h_step_counter_set_watermark(step_counter_wm, dev.get()) != 0) { + log_e("Failed to set step counter watermark"); + return false; + } + + if (reset_counter) { + if (bma456h_reset_step_counter(dev.get()) != 0) { + log_e("Failed to reset step counter"); + return false; + } + } + return enableFeature(BMA456H_STEP_COUNTER_EN, enable); + } + + /** + * @brief Get the current step counter watermark + * @note This function retrieves the current watermark level for the step counter. + * @param &step_counter_wm: Reference to the variable to store the watermark level + * @retval true if successful, false on error + */ + bool getStepCounterWatermark(uint16_t &step_counter_wm) const + { + return bma456h_step_counter_get_watermark(&step_counter_wm, dev.get()) == 0; + } + + /** + * @brief Enable or disable step detector + * @note Step detector generates interrupt for each step detected. + * Use for real-time step detection rather than total count. + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableStepDetector(bool enable, bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + if (!enableInterrupt(pin_map, BMA456H_STEP_CNTR_INT, interrupt_enable)) { + return false; + } + return enableFeature(BMA456H_STEP_DETECTOR_EN, enable); + } + + /** + * @brief Enable or disable tap detection + * @note Enables single, double, and triple tap detection simultaneously. + * Use getTapType() to distinguish between tap types. + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableTapDetector(bool enable, bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + if (!enableInterrupt(pin_map, BMA456H_TAP_OUT_INT, interrupt_enable)) { + return false; + } + return enableFeature(BMA456H_SINGLE_TAP_EN | BMA456H_DOUBLE_TAP_EN | BMA456H_TRIPLE_TAP_EN, enable); + } + + /** + * @brief Enable or disable activity recognition + * @note Activity recognition can detect stationary, walking, running, etc. + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableActivityRecognition(bool enable, bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + if (!enableInterrupt(pin_map, BMA456H_ACTIVITY_INT, interrupt_enable)) { + return false; + } + return enableFeature(BMA456H_STEP_ACTIVITY_EN, enable); + } + + /** + * @brief Enable or disable any-motion detection + * @note Configures motion any-motion detection on selected axes + * @param &cfg Configuration for which axes to monitor + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableAnyMotionDetection(MotionAxesConfig &cfg, bool enable, + bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + uint16_t interrupt_sources = 0; + uint16_t feature = 0; + if (cfg.x_axis) feature |= BMA456H_ANY_MOTION_X_AXIS_EN; + if (cfg.y_axis) feature |= BMA456H_ANY_MOTION_Y_AXIS_EN; + if (cfg.z_axis) feature |= BMA456H_ANY_MOTION_Z_AXIS_EN; + + if (cfg.x_axis || cfg.y_axis || cfg.z_axis) { + interrupt_sources |= BMA456H_ANY_MOT_INT; + } + + if (!enableInterrupt(pin_map, BMA456H_ANY_MOT_INT, interrupt_enable)) { + return false; + } + return enableFeature(feature, enable); + } + + + /** + * @brief Enable or disable no-motion detection + * @note Configures motion no-motion detection on selected axes + * @param &cfg Configuration for which axes to monitor + * @param enable true to enable, false to disable + * @param interrupt_enable Enable/disable interrupt generation + * @param pin_map Interrupt pin to use (PIN1 or PIN2) + * @return true if successful, false on error + */ + bool enableNoMotionDetection(MotionAxesConfig &cfg, bool enable, + bool interrupt_enable = false, + InterruptPinMap pin_map = InterruptPinMap::PIN1) + { + uint16_t feature = 0; + if (cfg.x_axis) feature |= BMA456H_NO_MOTION_X_AXIS_EN; + if (cfg.y_axis) feature |= BMA456H_NO_MOTION_Y_AXIS_EN; + if (cfg.z_axis) feature |= BMA456H_NO_MOTION_Z_AXIS_EN; + + if (!enableInterrupt(pin_map, BMA456H_NO_MOT_INT, interrupt_enable)) { + return false; + } + return enableFeature(feature, enable); + } + + /** + * @brief Configure no-motion detection parameters with detailed unit conversion + * @note This function sets both the threshold (sensitivity) and duration (time) + * for no-motion detection. + * + * = Threshold Units = + * The threshold is specified in LSB (Least Significant Bits), where: + * 1 LSB = 0.48 mG = 0.48 × 0.001 g = 0.00048 g ≈ 0.0047 m/s² + * + * To convert from milli-g to LSB: + * LSB = mg_value / 0.48 + * + * Example conversions: + * - 10 LSB = 10 × 0.48 mG = 4.8 mG = 0.0048 g + * - 100 mG = 100 / 0.48 ≈ 208 LSB + * + * = Duration Units = + * The duration is specified in LSB, where at 50Hz ODR: + * 1 LSB = 20 milliseconds + * + * Duration in seconds = duration_LSB × 0.020 + * + * Example conversions: + * - 4 LSB = 4 × 20ms = 80ms = 0.08s + * - 50ms = 50 / 20 = 2.5 LSB (round to nearest integer) + * + * @warning The duration unit (20ms/LSB) is only accurate at 50Hz ODR. + * For other ODR settings, the time per sample changes. + * Time per sample = 1 / ODR + * Example at 100Hz ODR: 1 sample = 10ms, so duration = LSB × 10ms + * + * @param threshold Motion detection threshold in LSB units (1 LSB = 0.48 mG) + * Recommended range: 10-200 (4.8-96 mG) + * Higher values = less sensitive, lower values = more sensitive + * + * @param duration Detection duration in LSB units (1 LSB = 20ms at 50Hz ODR) + * Recommended range: 1-20 (20ms to 400ms) + * Longer duration = more stable detection, less false positives + * + * @return true if configuration successful, false on error + */ + bool configNoMotion(uint16_t threshold, uint16_t duration) + { + return configMotion(false, threshold, duration); + } + + /** + * @brief Configure any-motion detection parameters with detailed unit conversion + * @note This function sets both the threshold (sensitivity) and duration (time) + * for any-motion detection. + * + * = Threshold Units = + * The threshold is specified in LSB (Least Significant Bits), where: + * 1 LSB = 0.48 mG = 0.48 × 0.001 g = 0.00048 g ≈ 0.0047 m/s² + * + * To convert from milli-g to LSB: + * LSB = mg_value / 0.48 + * + * Example conversions: + * - 10 LSB = 10 × 0.48 mG = 4.8 mG = 0.0048 g + * - 100 mG = 100 / 0.48 ≈ 208 LSB + * + * = Duration Units = + * The duration is specified in LSB, where at 50Hz ODR: + * 1 LSB = 20 milliseconds + * + * Duration in seconds = duration_LSB × 0.020 + * + * Example conversions: + * - 4 LSB = 4 × 20ms = 80ms = 0.08s + * - 50ms = 50 / 20 = 2.5 LSB (round to nearest integer) + * + * @warning The duration unit (20ms/LSB) is only accurate at 50Hz ODR. + * For other ODR settings, the time per sample changes. + * Time per sample = 1 / ODR + * Example at 100Hz ODR: 1 sample = 10ms, so duration = LSB × 10ms + * + * @param threshold Motion detection threshold in LSB units (1 LSB = 0.48 mG) + * Recommended range: 10-200 (4.8-96 mG) + * Higher values = less sensitive, lower values = more sensitive + * + * @param duration Detection duration in LSB units (1 LSB = 20ms at 50Hz ODR) + * Recommended range: 1-20 (20ms to 400ms) + * Longer duration = more stable detection, less false positives + * + * @return true if configuration successful, false on error + */ + bool configAnyMotion(uint16_t threshold, uint16_t duration) + { + return configMotion(true, threshold, duration); + } + + /** + * @brief Configure any-motion or no-motion detection parameters with detailed unit conversion + * @note This function sets both the threshold (sensitivity) and duration (time) + * for any-motion/no-motion detection. + * + * = Threshold Units = + * The threshold is specified in LSB (Least Significant Bits), where: + * 1 LSB = 0.48 mG = 0.48 × 0.001 g = 0.00048 g ≈ 0.0047 m/s² + * + * To convert from milli-g to LSB: + * LSB = mg_value / 0.48 + * + * Example conversions: + * - 10 LSB = 10 × 0.48 mG = 4.8 mG = 0.0048 g + * - 100 mG = 100 / 0.48 ≈ 208 LSB + * + * = Duration Units = + * The duration is specified in LSB, where at 50Hz ODR: + * 1 LSB = 20 milliseconds + * + * Duration in seconds = duration_LSB × 0.020 + * + * Example conversions: + * - 4 LSB = 4 × 20ms = 80ms = 0.08s + * - 50ms = 50 / 20 = 2.5 LSB (round to nearest integer) + * + * @warning The duration unit (20ms/LSB) is only accurate at 50Hz ODR. + * For other ODR settings, the time per sample changes. + * Time per sample = 1 / ODR + * Example at 100Hz ODR: 1 sample = 10ms, so duration = LSB × 10ms + * + * @param any_motion true to configure any-motion, false for no-motion + * + * @param threshold Motion detection threshold in LSB units (1 LSB = 0.48 mG) + * Recommended range: 10-200 (4.8-96 mG) + * Higher values = less sensitive, lower values = more sensitive + * + * @param duration Detection duration in LSB units (1 LSB = 20ms at 50Hz ODR) + * Recommended range: 1-20 (20ms to 400ms) + * Longer duration = more stable detection, less false positives + * + * @return true if configuration successful, false on error + */ + bool configMotion(bool any_motion, uint16_t threshold, uint16_t duration) + { + int8_t rslt = 0; + + if (threshold > 16380) { // Max threshold based on 0.48mg resolution for 16g range + log_e("Threshold %u exceeds recommended maximum (16380)", threshold); + } + + if (duration > 16383) { // Maximum 14-bit value + log_e("Duration %u exceeds recommended maximum (16383)", duration); + } + + struct bma456h_any_no_mot_config any_mot_config = {0, 0, 0, 0}; + + if (any_motion) { + rslt = bma456h_get_any_mot_config(&any_mot_config, dev.get()); + if (rslt != 0) { + log_e("bma456h_an_get_any_mot_config failed"); + return false; + } + } else { + rslt = bma456h_get_no_mot_config(&any_mot_config, dev.get()); + if (rslt != 0) { + log_e("bma456h_get_no_mot_config failed"); + return false; + } + } + + any_mot_config.threshold = threshold; + any_mot_config.duration = duration; + + log_d("Configuring motion detection: threshold=%u LSB (%.2f mG), duration=%u LSB (%.2f ms at 50Hz)", + threshold, threshold * 0.48f, + duration, duration * 20.0f); + + if (any_motion) { + if (bma456h_set_any_mot_config(&any_mot_config, dev.get()) != 0) { + log_e("Failed to configure any-motion detection"); + return false; + } + } else { + if (bma456h_set_no_mot_config(&any_mot_config, dev.get()) != 0) { + log_e("Failed to configure no-motion detection"); + return false; + } + } + return true; + } + + + /** + * @brief Configure any-motion detection using physical units + * @note Easier to use than configAnyMotion() as it accepts physical units + * + * @param threshold_mg Threshold in milli-g (1 mG = 0.001 g) + * Will be converted to LSB: LSB = threshold_mg / 0.48 + * @param duration_ms Duration in milliseconds (at 50Hz ODR) + * Will be converted to LSB: LSB = duration_ms / 20 + * @return true if successful, false on error + */ + bool configAnyMotionInPhysicalUnits(float threshold_mg, float duration_ms) + { + uint16_t threshold_lsb = static_cast(threshold_mg / 0.48f + 0.5f); + uint16_t duration_lsb = static_cast(duration_ms / 20.0f + 0.5f); + + log_d("Converting: %.2f mg -> %u LSB, %.2f ms -> %u LSB", + threshold_mg, threshold_lsb, duration_ms, duration_lsb); + + return configAnyMotion(threshold_lsb, duration_lsb); + } + + + /** + * @brief Configure no-motion detection using physical units + * @note Easier to use than configNoMotion() as it accepts physical units + * + * @param threshold_mg Threshold in milli-g (1 mG = 0.001 g) + * Will be converted to LSB: LSB = threshold_mg / 0.48 + * @param duration_ms Duration in milliseconds (at 50Hz ODR) + * Will be converted to LSB: LSB = duration_ms / 20 + * @return true if successful, false on error + */ + bool configNoMotionInPhysicalUnits(float threshold_mg, float duration_ms) + { + uint16_t threshold_lsb = static_cast(threshold_mg / 0.48f + 0.5f); + uint16_t duration_lsb = static_cast(duration_ms / 20.0f + 0.5f); + + log_d("Converting: %.2f mg -> %u LSB, %.2f ms -> %u LSB", + threshold_mg, threshold_lsb, duration_ms, duration_lsb); + + return configNoMotion(threshold_lsb, duration_lsb); + } + + /** + * @brief Get current motion detection configuration + * @note Reads back the current threshold and duration settings + * + * @param[out] threshold_mg Returns threshold in milli-g + * @param[out] duration_ms Returns duration in milliseconds (at 50Hz ODR) + * @return true if successful, false on error + */ + bool getAnyMotionConfig(float &threshold_mg, float &duration_ms) + { + struct bma456h_any_no_mot_config any_mot_config; + if (bma456h_get_any_mot_config(&any_mot_config, dev.get()) != 0) { + log_e("Failed to read motion configuration"); + return false; + } + + threshold_mg = any_mot_config.threshold * 0.48f; + duration_ms = any_mot_config.duration * 20.0f; + + log_d("Current config: threshold=%u LSB (%.2f mg), duration=%u LSB (%.2f ms)", + any_mot_config.threshold, threshold_mg, + any_mot_config.duration, duration_ms); + + return true; + } + + /** + * @brief Get current no-motion detection configuration + * @note Reads back the current threshold and duration settings + * + * @param[out] threshold_mg Returns threshold in milli-g + * @param[out] duration_ms Returns duration in milliseconds (at 50Hz ODR) + * @return true if successful, false on error + */ + bool getNoMotionConfig(float &threshold_mg, float &duration_ms) + { + struct bma456h_any_no_mot_config no_mot_config; + if (bma456h_get_no_mot_config(&no_mot_config, dev.get()) != 0) { + log_e("Failed to read no-motion configuration"); + return false; + } + + threshold_mg = no_mot_config.threshold * 0.48f; + duration_ms = no_mot_config.duration * 20.0f; + + log_d("Current no-motion config: threshold=%u LSB (%.2f mg), duration=%u LSB (%.2f ms)", + no_mot_config.threshold, threshold_mg, + no_mot_config.duration, duration_ms); + + return true; + } + + /** + * @brief Get the current step count + * @note Reads the accumulated step count from the sensor. + * Step counter must be enabled first. + * @return Current step count, or 0 on error + */ + uint32_t getStepCount() + { + uint32_t step_count = 0; + if (bma456h_step_counter_output(&step_count, dev.get()) != 0) { + log_e("Failed to read step count"); + return 0; + } + return step_count; + } + + /** + * @brief Reset the step counter + * @note This function resets the internal step counter to zero. + * @retval true if successful, false on error + */ + bool resetStepCounter() + { + return bma456h_reset_step_counter(dev.get()) == 0; + } + + /** + * @brief Get the current activity type + * @note Reads the current activity classification from the sensor. + * Activity recognition must be enabled first. + * @return ActivityType enum value, or UNKNOWN on error + */ + ActivityType getActivityType() + { + bma456h_out_state activity_type = {0, 0, 0, 0}; + if (bma456h_output_state(&activity_type, dev.get()) != 0) { + log_e("bma456h_get_activity_type failed"); + return ActivityType::UNKNOWN; + } + return static_cast(activity_type.activity_type); + } + + /** + * @brief Get the detected tap type + * @note Determines what type of tap was detected (single, double, or triple). + * Tap detection must be enabled first. + * @return TapType enum value, or NO_TAP on error or no tap detected + */ + TapType getTapType() + { + bma456h_out_state tap_type = { 0, 0, 0, 0 }; + if (bma456h_output_state(&tap_type, dev.get()) != 0) { + log_e("bma456h_get_tap_type failed"); + return TapType::NO_TAP; + } + if (tap_type.triple_tap) { + return TapType::TRIPLE_TAP; + } else if (tap_type.double_tap) { + return TapType::DOUBLE_TAP; + } else if (tap_type.single_tap) { + return TapType::SINGLE_TAP; + } + return TapType::NO_TAP; + } + + /** + * @brief Update sensor state and process interrupts + * @note This method should be called periodically (e.g., in main loop) + * to check for and process sensor interrupts. It reads the interrupt + * status register and invokes the appropriate callbacks. + * @return void + */ + void update() override + { + if (bma4_read_int_status(&_status, dev.get()) != 0) { + return; + } + + if (_status == 0) { + return; + } + + if ((_status & BMA456H_TAP_OUT_INT) && callbacks.onTap) { + callbacks.onTap(getTapType()); + } + + if ((_status & BMA456H_STEP_CNTR_INT) && callbacks.onStepDetected) { + callbacks.onStepDetected(); + if (callbacks.onStepCount) { + uint32_t step_count = 0; + if (bma456h_step_counter_output(&step_count, dev.get()) == 0) { + callbacks.onStepCount(static_cast(step_count)); + } + } + } + + if ((_status & BMA456H_ACTIVITY_INT) && callbacks.onActivity) { + callbacks.onActivity(getActivityType()); + } + + if ((_status & BMA456H_ANY_MOT_INT) && callbacks.onAnyMotion) { + callbacks.onAnyMotion(); + } + + if ((_status & BMA456H_NO_MOT_INT) && callbacks.onNoMotion) { + callbacks.onNoMotion(); + } + + if ((_status & BMA4_ACCEL_DATA_RDY_INT) && callbacks.onDataReady) { + AccelerometerData data; + if (readData(data)) { + callbacks.onDataReady(data); + } + } + + _status = 0; + } + +private: + /** + * @brief Bosch-specific initialization implementation + * @note Initializes the BMA456H sensor and loads its configuration file + * @return true if initialization successful, false otherwise + */ + bool boschInitImpl() override + { + int8_t rslt = bma456h_init(dev.get()); + if ( rslt != 0 ) { + log_e("bma456h_init failed with code %d", rslt); + return false; + } + rslt = bma456h_write_config_file(dev.get()); + if (rslt != 0) { + log_e("bma456h_write_config_file failed with code %d", rslt); + return false; + } + return true; + } +protected: + EventCallbacks callbacks; + uint16_t _status; +}; diff --git a/lib/SensorLib/src/SensorBMA4XX.hpp b/lib/SensorLib/src/SensorBMA4XX.hpp new file mode 100644 index 0000000..9afa6a2 --- /dev/null +++ b/lib/SensorLib/src/SensorBMA4XX.hpp @@ -0,0 +1,837 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorBMA4XX.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-28 + * @note BMA4XX class based on [BMA456 Sensor API](https://github.com/boschsensortec/BMA456_SensorAPI) + * Simplification for Arduino + */ +#pragma once + +#include "platform/comm/ComplexStaticDeviceWithHal.hpp" +#include "sensor/AccelerometerBase.hpp" +#include "bosch/bma4xx/bma4.h" + +/** + * @note This address is used when the SDO pin is connected to GND. + */ +static constexpr uint8_t BMA4XX_I2C_ADDR_SDO_LOW = (0x18); +/** + * @note This address is used when the SDO pin is connected to VDD. + */ +static constexpr uint8_t BMA4XX_I2C_ADDR_SDO_HIGH = (0x19); + + +/** + * @brief BMA4 Accelerometer averaging filter configuration + * These values configure the internal averaging filter to reduce noise. + * Higher averaging provides better noise reduction but increases power consumption. + */ +enum class AccelBandwidth : uint8_t { + OSR4_AVG1 = 0, ///< OSR4 mode with 1 sample averaging (lowest power, highest noise) + OSR2_AVG2 = 1, ///< OSR2 mode with 2 samples averaged + NORMAL_AVG4 = 2, ///< Normal mode with 4 samples averaged + CIC_AVG8 = 3, ///< CIC filter with 8 samples averaged + RES_AVG16 = 4, ///< Resolution mode with 16 samples averaged + RES_AVG32 = 5, ///< Resolution mode with 32 samples averaged + RES_AVG64 = 6, ///< Resolution mode with 64 samples averaged + RES_AVG128 = 7 ///< Resolution mode with 128 samples averaged (best noise reduction, highest power) +}; + +/** +* @brief BMA4 Accelerometer performance mode configuration +* Configures the internal filter behavior for sample averaging. +*/ +enum class AccelPerfMode : uint8_t { + CIC_AVG_MODE = 0, ///< Averaging filter mode: samples are averaged based on configured bandwidth and ODR + CONTINUOUS_MODE = 1 ///< Continuous mode: no averaging, raw samples with lower latency +}; + +/** + * @brief Tap detection type + * @note This enum defines the different types of tap events that can be detected by the sensor. + * @note Whether or not such attributes exist depends on the specific sensor or the different feature configurations. + */ +enum class TapType { + NO_TAP = 0, + SINGLE_TAP = 1, + DOUBLE_TAP = 2, + TRIPLE_TAP = 3, +}; + +/** + * @brief Activity detection type + * @note This enum defines the different types of activity events that can be detected by the sensor. + * @note Whether or not such attributes exist depends on the specific sensor or the different feature configurations. + */ +enum class ActivityType { + STATIONARY = 0, + WALKING = 1, + RUNNING = 2, + UNKNOWN = 3, +}; + +/** + * @brief Abstract base class for BMA4XX series accelerometer sensors. + * + * This class defines the common interface for BMA4XX family accelerometers (BMA422, BMA423, BMA456). + * It provides core functionality for sensor initialization, data reading, and configuration. + * + * @warning This is an abstract base class and cannot be instantiated directly. + * You must use one of the derived classes such as: + * - SensorBMA422 for BMA422 sensors + * - SensorBMA423 for BMA423 sensors + * - SensorBMA456 for BMA456 sensors + * + * @note Implementation details and sensor-specific features are handled by derived classes. + * This class only provides the common interface and shared functionality. + * + * @example + * // Correct usage (through derived class): + * SensorBMA456 sensor; + * if (sensor.begin(Wire, BMA4XX_I2C_ADDR_SDO_HIGH)) { + * AccelerometerData data; + * if (sensor.readData(data)) { + * // Process data + * } + * } + * + * Incorrect usage (will not compile): + * SensorBMA4XX sensor; // Error: Cannot instantiate abstract class + * + * @see SensorBMA422, SensorBMA423, SensorBMA456 + */ +class SensorBMA4XX : public AccelerometerBase, public ComplexStaticDeviceWithHal +{ +public: + + /** + * @brief typedef for BMA4 device structure + */ + using bma4_dev_t = struct bma4_dev ; + + /** + * @brief Enumeration of BMA4XX models + */ + enum BMA4XXModel { + BMA422 = 0x12, + BMA423 = 0x13, + BMA456 = 0x16, + BMA456_AN_SEC = 0x1A + }; + +protected: + /** + * @brief Constructor for the SensorBMA4XX class + * @note Initializes the communication interfaces and hardware abstraction layer. + */ + SensorBMA4XX(): dev(nullptr), _remap_reg_offset(0), _half_scale(0) + { + } + + /** + * @brief Destructor for the SensorBMA4XX class + * @note Cleans up the resources used by the class. + */ + ~SensorBMA4XX() = default; + + +public: + /** + * @brief Get the accelerometer data. + * @note This function retrieves the current accelerometer data from the sensor. + * @param &data: Reference to the data structure to be filled. + * @retval True if data retrieval is successful, false otherwise. + */ + bool readData(AccelerometerData &data) override + { + if (!dev) { + log_e("Device not initialized"); + return false; + } + struct bma4_accel sens_data = { 0, 0, 0 }; + if (bma4_read_accel_xyz(&sens_data, dev.get()) != 0) { + log_e("Failed to read acceleration data"); + return false; + } + data.raw.x = sens_data.x - _x_offset; + data.raw.y = sens_data.y - _y_offset; + data.raw.z = sens_data.z - _z_offset; + + data.temperature = getTemperature(); + + data.mps2.x = (float)(sens_data.x) * _sensitivity; + data.mps2.y = (float)(sens_data.y) * _sensitivity; + data.mps2.z = (float)(sens_data.z) * _sensitivity; + + data.mps2.x = AccelerometerUtils::gToMps2(data.mps2.x); + data.mps2.y = AccelerometerUtils::gToMps2(data.mps2.y); + data.mps2.z = AccelerometerUtils::gToMps2(data.mps2.z); + + return true; + } + + /** + * @brief Check if new accelerometer data is available. + * @note This function checks the interrupt status to determine if new data is ready to be read. + * @retval True if new data is available, false otherwise. + */ + bool isDataReady() override + { + uint16_t int_status = 0; + bma4_read_int_status(&int_status, dev.get()); + return (int_status & BMA4_ACCEL_DATA_RDY_INT) != 0; + } + + /** + * @brief Reset the sensor. + * @note This function performs a software reset on the sensor. + * @retval True if reset is successful, false otherwise. + */ + bool reset() override + { + if (!dev) { + log_e("Device not initialized"); + return false; + } + return bma4_soft_reset(dev.get()) == 0; + } + + /** + * @brief Perform a self-test on the sensor. + * @note This function checks the functionality of the sensor by performing a self-test. + * @retval True if self-test is successful, false otherwise. + */ + bool selfTest() override + { + if (!dev) { + log_e("Device not initialized"); + return false; + } + int8_t selftest_rslt = 0; + if (bma4_perform_accel_selftest(&selftest_rslt, dev.get()) != 0) { + log_i("Self test failed"); + return false; + } + return selftest_rslt == 0; + } + + + /** + * @brief Set the full-scale range of the accelerometer. + * @note This function configures the accelerometer to operate within a specific range. + * @param range: FS_2G, FS_4G, FS_8G, FS_16G + * @retval True if the configuration is successful, false otherwise. + */ + bool setFullScaleRange(AccelFullScaleRange range) override + { + uint8_t regValue = 0; + switch (range) { + case AccelFullScaleRange::FS_2G: // ±2g + regValue = BMA4_ACCEL_RANGE_2G; + break; + case AccelFullScaleRange::FS_4G: // ±4g + regValue = BMA4_ACCEL_RANGE_4G; + break; + case AccelFullScaleRange::FS_8G: // ±8g + regValue = BMA4_ACCEL_RANGE_8G; + break; + case AccelFullScaleRange::FS_16G: // ±16g + regValue = BMA4_ACCEL_RANGE_16G; + break; + default: + log_e("Error: Invalid range %d\n", static_cast(range)); + return false; + } + _accel_conf.range = regValue; + if (bma4_set_accel_config(&_accel_conf, dev.get()) == 0) { + float tmp_range = AccelerometerUtils::rangeToG(range); + _config.range = (int)tmp_range; + _sensitivity = tmp_range / _half_scale; + return true; + } + return false; + } + + /** + * @brief Set the output data rate of the accelerometer. + * @note This function configures the accelerometer to output data at a specific rate. + * @param data_rate_hz: The desired output data rate in Hz. Allowed values are 0.78, 1.56, + * 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + * @retval True if the configuration is successful, false otherwise. + */ + bool setOutputDataRate(float data_rate_hz) override + { + int rangeInt = static_cast(data_rate_hz * 100 + 0.5); + log_d("Input: %.2f, Integer: %d\n", data_rate_hz, rangeInt); + uint8_t regValue = 0; + switch (rangeInt) { + case 78: // 0.78HZ + regValue = BMA4_OUTPUT_DATA_RATE_0_78HZ; + break; + case 156: // 1.56HZ + regValue = BMA4_OUTPUT_DATA_RATE_1_56HZ; + break; + case 312: // 3.12HZ + regValue = BMA4_OUTPUT_DATA_RATE_3_12HZ; + break; + case 625: // 6.25HZ + regValue = BMA4_OUTPUT_DATA_RATE_6_25HZ; + break; + case 1250: // 12.5HZ + regValue = BMA4_OUTPUT_DATA_RATE_12_5HZ; + break; + case 2500: // 25.0HZ + regValue = BMA4_OUTPUT_DATA_RATE_25HZ; + break; + case 5000: // 50.0HZ + regValue = BMA4_OUTPUT_DATA_RATE_50HZ; + break; + case 10000: // 100.0HZ + regValue = BMA4_OUTPUT_DATA_RATE_100HZ; + break; + case 20000: // 200.0HZ + regValue = BMA4_OUTPUT_DATA_RATE_200HZ; + break; + case 40000: // 400.0HZ + regValue = BMA4_OUTPUT_DATA_RATE_400HZ; + break; + case 80000: // 800.0HZ + regValue = BMA4_OUTPUT_DATA_RATE_800HZ; + break; + case 160000: // 1600.0HZ + regValue = BMA4_OUTPUT_DATA_RATE_1600HZ; + break; + default: + log_e("Error: Invalid range %.2f\n", data_rate_hz); + break; + } + _accel_conf.odr = regValue; + if (bma4_set_accel_config(&_accel_conf, dev.get()) == 0) { + _config.sample_rate = data_rate_hz; + return true; + } + return false; + } + + /** + * @brief Set the bandwidth of the accelerometer. + * @note This function configures the accelerometer to operate with a specific bandwidth. + * @param bandwidth: The desired bandwidth setting. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + * @retval True if the configuration is successful, false otherwise. + */ + bool setBandwidth(AccelBandwidth bandwidth) + { + uint8_t regValue = 0; + switch (bandwidth) { + case AccelBandwidth::OSR4_AVG1: + regValue = BMA4_ACCEL_OSR4_AVG1; + break; + case AccelBandwidth::OSR2_AVG2: + regValue = BMA4_ACCEL_OSR2_AVG2; + break; + case AccelBandwidth::NORMAL_AVG4: + regValue = BMA4_ACCEL_NORMAL_AVG4; + break; + case AccelBandwidth::CIC_AVG8: + regValue = BMA4_ACCEL_CIC_AVG8; + break; + case AccelBandwidth::RES_AVG16: + regValue = BMA4_ACCEL_RES_AVG16; + break; + case AccelBandwidth::RES_AVG32: + regValue = BMA4_ACCEL_RES_AVG32; + break; + case AccelBandwidth::RES_AVG64: + regValue = BMA4_ACCEL_RES_AVG64; + break; + case AccelBandwidth::RES_AVG128: + regValue = BMA4_ACCEL_RES_AVG128; + break; + default: + log_e("Error: Invalid bandwidth %d\n", static_cast(bandwidth)); + return false; + } + _accel_conf.bandwidth = regValue; + if (bma4_set_accel_config(&_accel_conf, dev.get()) == 0) { + return true; + } + return false; + } + + /** + * @brief Set the performance mode of the accelerometer. + * @note This function configures the accelerometer to operate in a specific performance mode. + * @param mode: The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE. + * CIC_AVG_MODE: Averaging samples (Default) + * CONTINUOUS_MODE: No averaging + * @retval True if the configuration is successful, false otherwise. + */ + bool setPerformanceMode(AccelPerfMode mode) + { + uint8_t regValue = 0; + switch (mode) { + case AccelPerfMode::CIC_AVG_MODE: + regValue = BMA4_CIC_AVG_MODE; + break; + case AccelPerfMode::CONTINUOUS_MODE: + regValue = BMA4_CONTINUOUS_MODE; + break; + default: + log_e("Error: Invalid performance mode %d\n", static_cast(mode)); + return false; + } + _accel_conf.perf_mode = regValue; + if (bma4_set_accel_config(&_accel_conf, dev.get()) == 0) { + return true; + } + return false; + } + + /** + * @brief Set the operation mode of the accelerometer. + * @note This function configures the accelerometer to operate in a specific mode. + * @param mode: The desired operation mode. Allowed values are SUSPEND, NORMAL. + * @retval True if the configuration is successful, false otherwise. + */ + bool setOperationMode(OperationMode mode) override + { + bool enable = false; + switch (mode) { + case OperationMode::SUSPEND: + enable = false; + break; + case OperationMode::NORMAL: + enable = true; + break; + default: + log_e("Error: Invalid operation mode %d\n", static_cast(mode)); + break; + } + if (bma4_set_accel_enable(enable, dev.get()) == 0) { + _config.mode = mode; + return true; + } + return false; + } + + /** + * @brief Configure the accelerometer. + * @note This function sets various parameters of the accelerometer in a single call. + * @param mode: The desired operation mode. Allowed values are SUSPEND, NORMAL. + * @param range: The desired full-scale range. Allowed values are FS_2G, FS_4G, FS_8G, FS_16G. + * @param data_rate_hz: The desired output data rate in Hz. Allowed values are 0.78, 1.56, 3.12, 6.25, 12.5, 25, 50, 100, 200, 400, 800, 1600. + * @param bandwidth: The desired bandwidth. Allowed values are OSR4_AVG1, OSR2_AVG2, NORMAL_AVG4, etc. + * @param perf_mode: The desired performance mode. Allowed values are CIC_AVG_MODE, CONTINUOUS_MODE. + * @retval True if the configuration is successful, false otherwise. + */ + bool configAccelerometer(OperationMode mode, AccelFullScaleRange range, float data_rate_hz, + AccelBandwidth bandwidth, AccelPerfMode perf_mode) + + { + bool rslt; + + rslt = setFullScaleRange(range); + if (!rslt) { + return false; + } + + rslt = setOutputDataRate(data_rate_hz); + if (!rslt) { + return false; + } + + rslt = setBandwidth(bandwidth); + if (!rslt) { + return false; + } + + rslt = setPerformanceMode(perf_mode); + if (!rslt) { + return false; + } + + rslt = setOperationMode(mode); + if (!rslt) { + return false; + } + return true; + } + + /** + * @brief Get the temperature reading from the sensor. + * @note This function retrieves the current temperature reading from the sensor. + * @retval The temperature in degrees Celsius, or NaN if the reading fails. + */ + float getTemperature() const + { + float temperature = NAN; + int32_t raw_temperature = 0; + if (bma4_get_temperature(&raw_temperature, BMA4_DEG, dev.get()) == 0) { + if (((raw_temperature - 23) / BMA4_SCALE_TEMP) != 0x80) { + temperature = static_cast(raw_temperature) / BMA4_SCALE_TEMP; + } + } + return temperature; + } + + /** + * @brief Get the current interrupt status flags. + * + * Reads the interrupt status register which indicates which interrupts have occurred. + * Each bit in the returned 16-bit value represents a different interrupt source. + * + * @note Use with interrupt masks (e.g., BMA4_ACCEL_DATA_RDY_INT, BMA4_FIFO_FULL_INT) + * to check specific interrupts. + * @return uint16_t Bitmask of active interrupt flags, or 0 on error. + */ + uint16_t getInterruptStatus() + { + uint16_t int_status = 0; + if (bma4_read_int_status(&int_status, dev.get()) != 0) { + return 0; + } + return int_status; + } + + /** + * @brief Check if a specific interrupt is active. + * + * Convenience function to check if a particular interrupt flag is set. + * + * @param interrupt_mask Bitmask of the interrupt(s) to check. + * @return True if any of the specified interrupts are active, false otherwise. + */ + bool isInterruptActive(uint16_t interrupt_mask) + { + uint16_t int_status = getInterruptStatus(); + return (int_status & interrupt_mask) != 0; + } + + /** + * @brief Configure the electrical properties of an interrupt pin. + * + * Sets up the physical characteristics of the interrupt pin, including: + * - Trigger type (edge or level) + * - Active level (active low or active high) + * - Output type (open-drain or push-pull) + * - Input/output enables + * + * @param pin_map Which interrupt pin to configure (PIN1 or PIN2). + * @param edge_trigger True for edge-triggered, false for level-triggered. + * @param active_low True for active-low, false for active-high. + * @param output_en True to enable output driver. + * @param input_en True to enable input buffer + * @return True if configuration succeeded, false otherwise. + */ + bool setInterruptPinConfig(InterruptPinMap pin_map, + bool edge_trigger = false, + bool active_low = true, + bool output_en = true, + bool input_en = false) + { + struct bma4_int_pin_config config ; + config.edge_ctrl = edge_trigger ? BMA4_EDGE_TRIGGER : BMA4_LEVEL_TRIGGER; + config.lvl = active_low ? BMA4_ACTIVE_LOW : BMA4_ACTIVE_HIGH; + config.od = active_low ? BMA4_OPEN_DRAIN : BMA4_PUSH_PULL; + config.output_en = output_en ? BMA4_OUTPUT_ENABLE : BMA4_OUTPUT_DISABLE; + config.input_en = input_en ? BMA4_INPUT_ENABLE : BMA4_INPUT_DISABLE; + uint8_t int_line = pin_map == InterruptPinMap::PIN1 ? BMA4_INTR1_MAP : BMA4_INTR2_MAP; + return bma4_set_int_pin_config(&config, int_line, dev.get()) == 0; + } + + /** + * @brief Enable or disable specific interrupt sources on a pin. + * + * Maps interrupt sources (e.g., data ready, FIFO full) to a physical interrupt pin. + * Multiple interrupt sources can be combined using bitwise OR. + * + * Example: enableInterrupt(PIN1, BMA4_DATA_RDY_INT | BMA4_FIFO_FULL_INT, true) + * + * @param pin_map Which interrupt pin to map to (PIN1 or PIN2). + * @param interrupt_sources Bitmask of interrupt sources to enable/disable. + * @param enable True to enable, false to disable. + * @return True if operation succeeded, false otherwise. + */ + bool enableInterrupt(InterruptPinMap pin_map, uint16_t interrupt_sources, bool enable) + { + uint8_t int_line = 0; + switch (pin_map) { + case InterruptPinMap::PIN1: + int_line = 0x00; + break; + case InterruptPinMap::PIN2: + int_line = 0x01; + break; + default: + log_e("Invalid interrupt pin specified"); + return false; + } + + int8_t result = bma4_map_interrupt(int_line, interrupt_sources, enable, dev.get()); + if (result != 0) { + log_e("Failed to %s interrupt 0x%04X on pin %d: %d", + enable ? "enable" : "disable", + interrupt_sources, + (pin_map == InterruptPinMap::PIN1) ? 1 : 2, + result); + return false; + } + + return true; + } + + /** + * @brief Set the remapping of axes for the BMA4XX sensor. + * @note This function configures the sensor to use a specific axis remapping. + * @param remap: The desired axis remapping configuration, See SensorRemap enum for options. + * @retval True if the remapping is successful, false otherwise. + */ + virtual bool setRemapAxes(SensorRemap remap) + { + if (_remap_reg_offset == 0) { + log_e("Remap feature not supported for this model"); + return false; + } + struct bma4_remap remap_data; + switch (remap) { + case SensorRemap::TOP_LAYER_LEFT_CORNER: + remap_data.x = BMA4_NEG_Y; + remap_data.y = BMA4_X; + remap_data.z = BMA4_Z; + break; + case SensorRemap::TOP_LAYER_RIGHT_CORNER: + remap_data.x = BMA4_X; + remap_data.y = BMA4_Y; + remap_data.z = BMA4_Z; + break; + case SensorRemap::TOP_LAYER_BOTTOM_RIGHT_CORNER: + remap_data.x = BMA4_Y; + remap_data.y = BMA4_NEG_Y; + remap_data.z = BMA4_Z; + break; + case SensorRemap::TOP_LAYER_BOTTOM_LEFT_CORNER: + remap_data.x = BMA4_NEG_X; + remap_data.y = BMA4_NEG_Y; + remap_data.z = BMA4_Z; + break; + case SensorRemap::BOTTOM_LAYER_TOP_LEFT_CORNER: + remap_data.x = BMA4_NEG_X; + remap_data.y = BMA4_Y; + remap_data.z = BMA4_NEG_Z; + break; + case SensorRemap::BOTTOM_LAYER_TOP_RIGHT_CORNER: + remap_data.x = BMA4_Y; + remap_data.y = BMA4_X; + remap_data.z = BMA4_NEG_Z; + break; + case SensorRemap::BOTTOM_LAYER_BOTTOM_RIGHT_CORNER: + remap_data.x = BMA4_X; + remap_data.y = BMA4_NEG_Y; + remap_data.z = BMA4_NEG_Z; + break; + case SensorRemap::BOTTOM_LAYER_BOTTOM_LEFT_CORNER: + remap_data.x = BMA4_NEG_Y; + remap_data.y = BMA4_NEG_X; + remap_data.z = BMA4_NEG_Z; + break; + default: + log_e("Invalid remap option"); + return false; + } + log_d("Remap register offset: 0x%X", _remap_reg_offset); + auto feature_config = std::unique_ptr(new uint8_t[dev->feature_len]()); + return bma4_set_remap_axes(&remap_data, feature_config.get(), + _remap_reg_offset, dev->feature_len, dev.get()) == 0; + } + + /** + * @brief Get the model name of the BMA4XX sensor. + * @note This function returns a string representing the model name based on the chip ID. + * @retval The model name as a string. + */ + const char *getModelName() const + { + if (!dev) { + log_e("Device not initialized"); + return "Unknown"; + } + switch (dev->chip_id) { + case BMA4XXModel::BMA422: + return "BMA422"; + case BMA4XXModel::BMA423: + return "BMA423"; + case BMA4XXModel::BMA456: + return "BMA456"; + case BMA4XXModel::BMA456_AN_SEC: + return "BMA456_AN_SEC"; + default: + return "Unknown"; + } + } + + /** + * @brief Get the device structure for the BMA4XX sensor. + * @note This function returns a pointer to the internal device structure. + * @retval Pointer to the bma4_dev_t structure. + */ + bma4_dev_t *getDev() + { + return dev.get(); + } + + /** + * @brief Get the current sensor time in milliseconds. + * + * Reads the 24-bit free-running sensor time counter and converts it to milliseconds. + * The counter increments at 39.0625 μs per tick (0.0390625 ms per tick) and overflows + * after approximately 10.9 minutes. + * + * @return uint32_t Sensor time in milliseconds, or 0 on error. + */ + uint32_t getTimeSampleMs() const + { + uint32_t sensor_time_ticks = 0; + bma4_get_sensor_time(&sensor_time_ticks, dev.get()); + // Convert ticks to milliseconds (1 tick = 39.0625 μs = 0.0390625 ms) + float time_ms = sensor_time_ticks * 0.0390625f; + return static_cast(time_ms); + } + + /** + * @brief Update the sensor data, this method is implemented by a subclass. + * @note This function is called periodically to update the sensor data. + * @retval None + */ + virtual void update() = 0; + +private: + /** + * @brief Bosch sensor initialization implementation. + * @note This function is called during the initialization process to perform + * any Bosch-specific setup. + * @retval True if initialization is successful, false otherwise. + */ + virtual bool boschInitImpl() = 0; + + /** + * @brief Bosch sensor initialization implementation. + * @note This function is called during the initialization process to perform + * any Bosch-specific setup. + * @param param: Interface-specific parameter (e.g., I2C or SPI CS). + * @retval True if initialization is successful, false otherwise. + */ + bool initImpl(uint8_t param) override + { + dev = std::make_unique(); + if (!dev) { + log_e(" Device handler malloc failed!"); + return false; + } + switch (_iface) { + case COMM_I2C: + dev->intf = BMA4_I2C_INTF; + break; + case COMM_SPI: + dev->intf = BMA4_SPI_INTF; + break; + default: + return false; + } + dev->bus_read = SensorCommStatic::sensor_static_read_data; + dev->bus_write = SensorCommStatic::sensor_static_write_data; + dev->intf_ptr = staticComm.get(); + dev->delay_us = SensorCommStatic::sensor_static_delay_us; + dev->read_write_len = 32; + dev->perf_mode_status = BMA4_DISABLE; + + if (bma4_soft_reset(dev.get()) != 0) { + log_e("BMA4xx soft reset failed"); + return false; + } + hal->delay(20); + + + if (!boschInitImpl()) { + log_e("BMA4xx sensor initialization failed"); + return false; + } + + _info.uid = dev->chip_id; + _info.manufacturer = "Bosch-Sensortec"; + _info.model = getModelName(); + _info.type = SensorType::ACCELEROMETER; + _info.i2c_address = _addr; + _info.version = 1; // Set a default version + + // Set default axis remapping + struct bma4_axes_remap axes_remap; + axes_remap.x_axis = BMA4_MAP_X_AXIS; + axes_remap.x_axis_sign = BMA4_MAP_POSITIVE; + axes_remap.y_axis = BMA4_MAP_Y_AXIS; + axes_remap.y_axis_sign = BMA4_MAP_POSITIVE; + axes_remap.z_axis = BMA4_MAP_Z_AXIS; + axes_remap.z_axis_sign = BMA4_MAP_POSITIVE; + dev->remap = axes_remap; + + // Set accelerometer configuration values + _accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4; + _accel_conf.odr = BMA4_OUTPUT_DATA_RATE_50HZ; + _accel_conf.perf_mode = BMA4_CIC_AVG_MODE; + _accel_conf.range = BMA4_ACCEL_RANGE_2G; + + _config.mode = OperationMode::SUSPEND; + _config.range = 2.0f; + _config.sample_rate = 50.0f; + _config.latency = 0; + _config.type = SensorType::ACCELEROMETER; + + // Calculate half scale + _half_scale = powf(2.0f, (float)dev->resolution) / 2.0f; + + log_d("Half scale calculated: %.0f (for %d-bit sensor)", + _half_scale, dev->resolution); + + // Set default full scale range to 2g + if (!setFullScaleRange(AccelFullScaleRange::FS_2G)) { + log_e("Failed to set default 2g range"); + return false; + } + + // Set default output data rate to 50Hz + if (!setOutputDataRate(50.0f)) { + log_e("Failed to set default ODR 50Hz"); + return false; + } + + return true; + } + +protected: + std::unique_ptr dev; + struct bma4_accel_config _accel_conf; + uint8_t _remap_reg_offset; + float _half_scale; +}; diff --git a/lib/SensorLib/src/SensorBMM150.hpp b/lib/SensorLib/src/SensorBMM150.hpp index 09cf703..4978959 100644 --- a/lib/SensorLib/src/SensorBMM150.hpp +++ b/lib/SensorLib/src/SensorBMM150.hpp @@ -30,19 +30,16 @@ */ #pragma once +#include "platform/comm/ComplexStaticDeviceWithHal.hpp" #include "bosch/BMM150/bmm150.h" -#include "SensorPlatform.hpp" - -#if defined(ARDUINO) /*! @name I2C ADDRESS */ -#define BMM150_DEFAULT_I2C_ADDRESS UINT8_C(0x10) -#define BMM150_I2C_ADDRESS_CSB_LOW_SDO_HIGH UINT8_C(0x11) -#define BMM150_I2C_ADDRESS_CSB_HIGH_SDO_LOW UINT8_C(0x12) -#define BMM150_I2C_ADDRESS_CSB_HIGH_SDO_HIGH UINT8_C(0x13) +static constexpr uint8_t BMM150_DEFAULT_I2C_ADDRESS = (0x10); +static constexpr uint8_t BMM150_I2C_ADDRESS_CSB_LOW_SDO_HIGH = (0x11); +static constexpr uint8_t BMM150_I2C_ADDRESS_CSB_HIGH_SDO_LOW = (0x12); +static constexpr uint8_t BMM150_I2C_ADDRESS_CSB_HIGH_SDO_HIGH = (0x13); - -class SensorBMM150 +class SensorBMM150 : public ComplexStaticDeviceWithHal { public: enum PowerMode { @@ -57,76 +54,17 @@ public: INTERRUPT_LOW_ACTIVE, }; - SensorBMM150(): comm(nullptr), - hal(nullptr), - staticComm(nullptr), - dev(nullptr), - _rst(-1), - _error_code(0) + SensorBMM150(): dev(nullptr), _rst(-1), _error_code(0) { } - ~SensorBMM150() - { - } + ~SensorBMM150() = default; void setPins(int rst) { _rst = rst; } -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr, int sda, int scl) - { - if (!beginCommonStatic(comm, staticComm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(BMM150_I2C_INTF); - } - - bool begin(SPIClass &spi, uint8_t csPin, int mosi, int miso, int sck) - { - if (!beginCommonStatic(comm, - staticComm, hal, - spi, csPin, mosi, miso, sck)) { - return false; - } - return initImpl(BMM150_I2C_INTF); - } - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) - { - if (!beginCommonStatic(comm, staticComm, hal, port_num, addr, sda, scl)) { - return false; - } - return initImpl(BHY2_I2C_INTERFACE); - } -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr) - { - if (!beginCommonStatic(comm, staticComm, hal, handle, addr)) { - return false; - } - return initImpl(BHY2_I2C_INTERFACE); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(CommInterface interface, - SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) - { - if (!beginCommCustomCallback(interface, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(static_cast(interface)); - } - void reset() { if (_rst != -1) { @@ -234,8 +172,7 @@ public: private: - - bool initImpl(bmm150_intf interface) + bool initImpl(uint8_t param) override { memset(&settings, 0, sizeof(settings)); @@ -251,7 +188,16 @@ private: return false; } - dev->intf = interface; + switch (_iface) { + case COMM_I2C: + dev->intf = BMM150_I2C_INTF; + break; + case COMM_SPI: + dev->intf = BMM150_SPI_INTF; + break; + default: + return false; + } dev->read = SensorCommStatic::sensor_static_read_data; dev->write = SensorCommStatic::sensor_static_write_data; dev->intf_ptr = staticComm.get(); @@ -269,19 +215,9 @@ private: return _error_code == BMM150_OK; } - std::unique_ptr comm; - std::unique_ptr hal; - std::unique_ptr staticComm; std::unique_ptr dev; int _rst; int8_t _error_code; struct bmm150_settings settings; }; - - -#endif /*defined(ARDUINO)*/ - - - - diff --git a/lib/SensorLib/src/SensorCM32181.hpp b/lib/SensorLib/src/SensorCM32181.hpp index 848e861..ca1bb39 100644 --- a/lib/SensorLib/src/SensorCM32181.hpp +++ b/lib/SensorLib/src/SensorCM32181.hpp @@ -29,198 +29,333 @@ */ #pragma once -#include "REG/CM32181Constants.h" -#include "SensorPlatform.hpp" +#include "platform/comm/I2CDeviceNoHal.hpp" -class SensorCM32181 : public CM32181Constants +/** + * @brief I2C addresses for CM32181. + * + * The address is determined by the ADDR pin configuration. + */ +/** + * @brief Primary I2C address (0x10). + */ +static constexpr uint8_t CM32181_ADDR_PRIMARY = 0x10; + +/** + * @brief Secondary I2C address (0x48), determined by ADDR pin. + */ +static constexpr uint8_t CM32181_ADDR_SECONDARY = 0x48; + +/** + * @brief Backward-compatible default address definition (0x10). + */ +static constexpr uint8_t CM32181_SLAVE_ADDRESS = 0x10; + +/** + * @brief High Sensitivity I2C Ambient Light Sensor (CM32181) driver. + * + * This driver provides: + * - ALS configuration (sensitivity / integration time) + * - Power on/off + * - Interrupt threshold window configuration and interrupt enable/disable + * - IRQ status read (also clears IRQ per datasheet behavior) + * - Raw ALS read and approximate lux conversion + * + * @note Lux conversion uses a fixed calibration factor, because the datasheet/manual + * does not provide a readable calibration register. + * + * @warning Always call begin() and ensure it returns true before using other APIs. + */ +class SensorCM32181 : public I2CDeviceNoHal { public: - enum Sampling { - SAMPLING_X1, //ALS Sensitivity x 1 - SAMPLING_X2, //ALS Sensitivity x 2 - SAMPLING_X1_8, //ALS Sensitivity x (1/8) - SAMPLING_X1_4, //ALS Sensitivity x (1/4) + /** + * @brief ALS sensitivity selection (REG_ALS_CONF bits 12:11). + * + * Datasheet mapping: + * - 00: x1 + * - 01: x2 + * - 10: x1/8 + * - 11: x1/4 + */ + enum Sampling : uint8_t { + SAMPLING_X1 = 0, //!< ALS Sensitivity x1 + SAMPLING_X2 = 1, //!< ALS Sensitivity x2 + SAMPLING_X1_8 = 2, //!< ALS Sensitivity x(1/8) + SAMPLING_X1_4 = 3, //!< ALS Sensitivity x(1/4) }; - enum IntegrationTime { - INTEGRATION_TIME_25MS = 0x0C, - INTEGRATION_TIME_50MS = 0x08, - INTEGRATION_TIME_100MS = 0x00, //0000 = 100ms - INTEGRATION_TIME_200MS, //0001 = 200ms - INTEGRATION_TIME_400MS, //0010 = 400ms - INTEGRATION_TIME_800MS, //0011 = 800ms + /** + * @brief ALS integration time (REG_ALS_CONF bits 9:6). + * + * Datasheet mapping (bits 9:6): + * - 1100: 25ms (0x0C) + * - 1000: 50ms (0x08) + * - 0000: 100ms (0x00) + * - 0001: 200ms (0x01) + * - 0010: 400ms (0x02) + * - 0011: 800ms (0x03) + */ + enum IntegrationTime : uint8_t { + INTEGRATION_TIME_25MS = 0x0C, //!< 25ms + INTEGRATION_TIME_50MS = 0x08, //!< 25ms + INTEGRATION_TIME_100MS = 0x00, //!< 100ms + INTEGRATION_TIME_200MS = 0x01, //!< 200ms + INTEGRATION_TIME_400MS = 0x02, //!< 400ms + INTEGRATION_TIME_800MS = 0x03, //!< 800ms }; - enum PowerSaveMode { - PowerSaveMode1 = 0x00, - PowerSaveMode2, - PowerSaveMode3, - PowerSaveMode4 + /** + * @brief Power saving mode (REG_ALS_PSM bits 2:1). + * + * Datasheet mapping: + * - 00: Mode1 + * - 01: Mode2 + * - 10: Mode3 + * - 11: Mode4 + */ + enum PowerSaveMode : uint8_t { + PowerSaveMode1 = 0, + PowerSaveMode2 = 1, + PowerSaveMode3 = 2, + PowerSaveMode4 = 3 }; - enum InterruptEvent { - ALS_EVENT_LOW_TRIGGER = 0x00, - ALS_EVENT_HIGH_TRIGGER, - ALS_EVENT_NULL, + /** + * @brief Interrupt event type reported by getIrqStatus(). + */ + enum InterruptEvent : uint8_t { + ALS_EVENT_LOW_TRIGGER = 0, //!< Low threshold window interrupt + ALS_EVENT_HIGH_TRIGGER, //!< High threshold window interrupt + ALS_EVENT_NULL, //!< No interrupt event }; - SensorCM32181() : comm(nullptr) {} + /** + * @brief Construct a CM32181 driver instance. + */ + SensorCM32181() = default; - ~SensorCM32181() + /** + * @brief Destructor. Deinitializes communication backend if created. + */ + ~SensorCM32181() = default; + + /** + * @brief Configure ALS sensitivity and integration time. + * + * This updates REG_ALS_CONF bits: + * - bits 12:11: sensitivity + * - bits 9:6: integration time + * + * @param sampling ALS sensitivity. + * @param int_time Integration time. + */ + void setSampling(Sampling sampling = SAMPLING_X1, + IntegrationTime int_time = INTEGRATION_TIME_200MS) { - if (comm) { - comm->deinit(); - } - } - -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = CM32181_ADDR_PRIMARY, int sda = -1, int scl = -1) - { - comm = std::make_unique(wire, addr, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = CM32181_ADDR_PRIMARY, int sda = -1, int scl = -1) - { - comm = std::make_unique(port_num, addr, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = CM32181_ADDR_PRIMARY) - { - comm = std::make_unique(handle, addr); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback, uint8_t addr = CM32181_ADDR_PRIMARY) - { - comm = std::make_unique(callback, addr); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } - - void setSampling(Sampling tempSampling = SAMPLING_X1, - IntegrationTime int_time = INTEGRATION_TIME_200MS - ) - { - uint16_t data; - comm->readRegister(REG_ALS_CONF, (uint8_t *)&data, 2); - data &= ~(0x03 << 11); - data |= tempSampling << 11; - data &= ~(0xF << 6); - data |= int_time << 6; - comm->readRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + uint16_t data = 0; + readRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); + + // Sensitivity bits [12:11] + data &= (uint16_t)~ALS_CONF_SENS_MASK; + data |= (uint16_t)(sampling & 0x03u) << ALS_CONF_SENS_SHIFT; + + // Integration time bits [9:6] + data &= (uint16_t)~ALS_CONF_IT_MASK; + data |= (uint16_t)(int_time & 0x0Fu) << ALS_CONF_IT_SHIFT; + + // FIX: Write back configuration (original code mistakenly read instead of write) + writeRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); } + /** + * @brief Set ALS interrupt thresholds. + * + * @param low_threshold Low threshold (raw 16-bit). + * @param high_threshold High threshold (raw 16-bit). + */ void setIntThreshold(uint16_t low_threshold, uint16_t high_threshold) { - uint8_t buffer[2] = {0}; + + // High threshold window (REG_ALS_THDH) buffer[1] = highByte(high_threshold); - buffer[0] = lowByte(high_threshold);; - comm->writeRegister(REG_ALS_THDH, buffer, 2); + buffer[0] = lowByte(high_threshold); + writeRegBuff(REG_ALS_THDH, buffer, 2); + + // Low threshold window (REG_ALS_THDL) buffer[1] = highByte(low_threshold); buffer[0] = lowByte(low_threshold); - comm->writeRegister(REG_ALS_THDL, buffer, 2); + writeRegBuff(REG_ALS_THDL, buffer, 2); } - + /** + * @brief Configure power saving mode. + * + * REG_ALS_PSM (0x03): + * - bits 2:1: mode (Mode1..Mode4) + * - bit 0: enable power saving + * + * @param mode Power saving mode. + * @param enable true to enable power saving, false to disable. + */ void powerSave(PowerSaveMode mode, bool enable) { - uint16_t data = 0x00; - comm->readRegister(REG_ALS_PSM, (uint8_t *)&data, 2); - data |= mode << 1; - enable ? data |= 0x01 : data |= 0x00; - comm->writeRegister(REG_ALS_PSM, (uint8_t *)&data, 2); + uint16_t data = 0; + readRegBuff(REG_ALS_PSM, (uint8_t *)&data, 2); + + // Clear mode bits [2:1] and enable bit [0] + data &= (uint16_t)~ALS_PSM_MODE_MASK; + data &= (uint16_t)~ALS_PSM_EN_BIT; + + // Set mode + data |= (uint16_t)(mode & 0x03u) << ALS_PSM_MODE_SHIFT; + + // Set enable + if (enable) { + data |= ALS_PSM_EN_BIT; + } + + writeRegBuff(REG_ALS_PSM, (uint8_t *)&data, 2); } - // Read REG_ALS_STATUS register to clear interrupt + /** + * @brief Read IRQ status (and clear interrupt by reading status register). + * + * @return Interrupt event type. + */ InterruptEvent getIrqStatus() { - uint16_t data; - comm->readRegister(REG_ALS_STATUS, (uint8_t *)&data, 2); - return bitRead(data, 15) ? ALS_EVENT_LOW_TRIGGER : bitRead(data, 14) ? ALS_EVENT_HIGH_TRIGGER : ALS_EVENT_NULL; + uint16_t data = 0; + readRegBuff(REG_ALS_STATUS, (uint8_t *)&data, 2); + + // Keep original mapping: + // bit15 => low threshold trigger + // bit14 => high threshold trigger + if (bitRead(data, 15)) { + return ALS_EVENT_LOW_TRIGGER; + } + if (bitRead(data, 14)) { + return ALS_EVENT_HIGH_TRIGGER; + } + return ALS_EVENT_NULL; } + /** + * @brief Enable interrupt function (REG_ALS_CONF bit1). + */ void enableINT() { - uint16_t data; - comm->readRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + uint16_t data = 0; + readRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); bitWrite(data, 1, 1); - comm->writeRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + writeRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); } + /** + * @brief Disable interrupt function (REG_ALS_CONF bit1). + */ void disableINT() { - uint16_t data; - comm->readRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + uint16_t data = 0; + readRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); bitWrite(data, 1, 0); - comm->writeRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + writeRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); } + /** + * @brief Power on sensor (REG_ALS_CONF bit0 = 0). + */ void powerOn() { - uint16_t data; - comm->readRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + uint16_t data = 0; + readRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); bitClear(data, 0); - comm->writeRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + writeRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); } + /** + * @brief Shutdown sensor (REG_ALS_CONF bit0 = 1). + */ void powerDown() { - uint16_t data; - comm->readRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + uint16_t data = 0; + readRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); bitSet(data, 0); - comm->writeRegister(REG_ALS_CONF, (uint8_t *)&data, 2); + writeRegBuff(REG_ALS_CONF, (uint8_t *)&data, 2); } + /** + * @brief Read raw ALS data (16-bit). + * + * @return Raw data. + */ uint16_t getRaw() { uint8_t buffer[2] = {0}; - comm->readRegister(REG_ALS_DATA, buffer, 2); - return (uint16_t) buffer[0] | (uint16_t)(buffer[1] << 8); + readRegBuff(REG_ALS_DATA, buffer, 2); + return (uint16_t)buffer[0] | (uint16_t)(buffer[1] << 8); } + /** + * @brief Convert raw ALS to lux (approximate). + * + * @return Lux value. + */ float getLux() { return getRaw() * calibration_factor; } + /** + * @brief Read chip ID. + * + * @return Chip ID (8-bit). + */ int getChipID() { uint8_t buffer[2] = {0}; - comm->readRegister(REG_ID, buffer, 2); - return lowByte(buffer[0]); + readRegBuff(REG_ID, buffer, 2); + return lowByte(buffer[0]); } private: + // ---- Register addresses (datasheet command codes) ---- + static constexpr uint8_t REG_ALS_CONF = 0x00; + static constexpr uint8_t REG_ALS_THDH = 0x01; + static constexpr uint8_t REG_ALS_THDL = 0x02; + static constexpr uint8_t REG_ALS_PSM = 0x03; + static constexpr uint8_t REG_ALS_DATA = 0x04; + static constexpr uint8_t REG_ALS_STATUS = 0x06; + static constexpr uint8_t REG_ID = 0x07; - bool initImpl() + // ---- Chip ID ---- + static constexpr uint8_t CM32181_CHIP_ID = 0x81; + + // ---- Bit field masks/shifts (from datasheet screenshot) ---- + // REG_ALS_CONF (0x00): bits 12:11 sensitivity, bits 9:6 integration time + static constexpr uint16_t ALS_CONF_SENS_SHIFT = 11; + static constexpr uint16_t ALS_CONF_SENS_MASK = (uint16_t)(0x03u << ALS_CONF_SENS_SHIFT); + + static constexpr uint16_t ALS_CONF_IT_SHIFT = 6; + static constexpr uint16_t ALS_CONF_IT_MASK = (uint16_t)(0x0Fu << ALS_CONF_IT_SHIFT); + + // REG_ALS_PSM (0x03): bits 2:1 mode, bit0 enable + static constexpr uint16_t ALS_PSM_EN_BIT = (uint16_t)(1u << 0); + static constexpr uint16_t ALS_PSM_MODE_SHIFT = 1; + static constexpr uint16_t ALS_PSM_MODE_MASK = (uint16_t)(0x03u << ALS_PSM_MODE_SHIFT); + + /** + * @brief Internal initialization: configure I2C params and verify chip ID. + */ + bool initImpl(uint8_t param) override { - I2CParam params(I2CParam::I2C_SET_FLAG, false); - comm->setParams(params); + setAck(false); + int chipID = getChipID(); log_i("chipID:%d\n", chipID); - if (chipID < 0 ) { + + if (chipID < 0) { return false; } if (chipID != CM32181_CHIP_ID) { @@ -229,11 +364,9 @@ private: return true; } - std::unique_ptr comm; - // The default calibration value, learned from the manual, - // is now unable to obtain the calibration value from the specified register - const float calibration_factor = 0.286; +protected: + /** + * @brief Fixed raw-to-lux conversion factor (datasheet/manual derived). + */ + const float calibration_factor = 0.286f; }; - - - diff --git a/lib/SensorLib/src/SensorDRV2605.hpp b/lib/SensorLib/src/SensorDRV2605.hpp index 59ff0f7..348a7fd 100644 --- a/lib/SensorLib/src/SensorDRV2605.hpp +++ b/lib/SensorLib/src/SensorDRV2605.hpp @@ -1,252 +1,12 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file SensorDRV2605.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-03 - * @note Source code from https://github.com/adafruit/Adafruit_DRV2605_Library - */ #pragma once -#include "REG/DRV2605Constants.h" -#include "SensorPlatform.hpp" - -class SensorDRV2605 : public DRV2605Constants -{ -public: - static constexpr uint8_t MODE_INTTRIG = 0x00; //* Internal trigger mode - static constexpr uint8_t MODE_EXTTRIGEDGE = 0x01; //* External edge trigger mode - static constexpr uint8_t MODE_EXTTRIGLVL = 0x02; //* External level trigger mode - static constexpr uint8_t MODE_PWMANALOG = 0x03; //* PWM/Analog input mode - static constexpr uint8_t MODE_AUDIOVIBE = 0x04; //* Audio-to-vibe mode - static constexpr uint8_t MODE_REALTIME = 0x05; //* Real-time playback (RTP) mode - static constexpr uint8_t MODE_DIAGNOS = 0x06; //* Diagnostics mode - static constexpr uint8_t MODE_AUTOCAL = 0x07; //* Auto calibration mode - - SensorDRV2605() : comm(nullptr) {} - - ~SensorDRV2605() - { - if (comm) { - comm->deinit(); - } - } - -#if defined(ARDUINO) - bool begin(TwoWire &wire, int sda = -1, int scl = -1) - { - comm = std::make_unique(wire, DRV2605_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, int sda = -1, int scl = -1) - { - comm = std::make_unique(port_num, DRV2605_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#else - bool begin(i2c_master_bus_handle_t handle) - { - comm = std::make_unique(handle, DRV2605_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback) - { - comm = std::make_unique(callback, DRV2605_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } - - /**************************************************************************/ - /*! - @brief Select the haptic waveform to use. - @param slot The waveform slot to set, from 0 to 7 - @param w The waveform sequence value, refers to an index in the ROM library. - - Playback starts at slot 0 and continues through to slot 7, stopping if it - encounters a value of 0. A list of available waveforms can be found in - section 11.2 of the datasheet: http://www.adafruit.com/datasheets/DRV2605.pdf - */ - /**************************************************************************/ - void setWaveform(uint8_t slot, uint8_t w) - { - comm->writeRegister(DRV2605_REG_WAVESEQ1 + slot, w); - } - - /**************************************************************************/ - /*! - @brief Select the waveform library to use. - @param lib Library to use, 0 = Empty, 1-5 are ERM, 6 is LRA. - - See section 7.6.4 in the datasheet for more details: - http://www.adafruit.com/datasheets/DRV2605.pdf - */ - /**************************************************************************/ - void selectLibrary(uint8_t lib) - { - comm->writeRegister(DRV2605_REG_LIBRARY, lib); - } - - /**************************************************************************/ - /*! - @brief Start playback of the waveforms (start moving!). - */ - /**************************************************************************/ - void run() - { - comm->writeRegister(DRV2605_REG_GO, 1); - } - - /**************************************************************************/ - /*! - @brief Stop playback. - */ - /**************************************************************************/ - void stop() - { - comm->writeRegister(DRV2605_REG_GO, (uint8_t)0); - } - - /**************************************************************************/ - /*! - @brief Set the device mode. - @param mode Mode value, see datasheet section 7.6.2: - http://www.adafruit.com/datasheets/DRV2605.pdf - - 0: Internal trigger, call run() to start playback\n - 1: External trigger, rising edge on IN pin starts playback\n - 2: External trigger, playback follows the state of IN pin\n - 3: PWM/analog input\n - 4: Audio\n - 5: Real-time playback\n - 6: Diagnostics\n - 7: Auto calibration - */ - /**************************************************************************/ - void setMode(uint8_t mode) - { - comm->writeRegister(DRV2605_REG_MODE, mode); - } - - /**************************************************************************/ - /*! - @brief Set the realtime value when in RTP mode, used to directly drive the - haptic motor. - @param rtp 8-bit drive value. - */ - /**************************************************************************/ - void setRealtimeValue(uint8_t rtp) - { - comm->writeRegister(DRV2605_REG_RTPIN, rtp); - } - - /**************************************************************************/ - /*! - @brief Use ERM (Eccentric Rotating Mass) mode. - */ - /**************************************************************************/ - void useERM() - { - comm->writeRegister(DRV2605_REG_FEEDBACK, comm->readRegister(DRV2605_REG_FEEDBACK) & 0x7F); - } - - /**************************************************************************/ - /*! - @brief Use LRA (Linear Resonance Actuator) mode. - */ - /**************************************************************************/ - void useLRA() - { - comm->writeRegister(DRV2605_REG_FEEDBACK, comm->readRegister(DRV2605_REG_FEEDBACK) | 0x80); - } - -private: - bool initImpl() - { - int chipID = comm->readRegister(DRV2605_REG_STATUS); - if (chipID < 0) { - return false; - } - chipID >>= 5; - - if (chipID != DRV2604_CHIP_ID && - chipID != DRV2605_CHIP_ID && - chipID != DRV2604L_CHIP_ID && - chipID != DRV2605L_CHIP_ID ) { - log_e("ChipID:0x%x should be 0x03 or 0x04 or 0x06 or 0x07\n", chipID); - return false; - } - - comm->writeRegister(DRV2605_REG_MODE, (uint8_t)0x00); // out of standby - - comm->writeRegister(DRV2605_REG_RTPIN, (uint8_t)0x00); // no real-time-playback - - comm->writeRegister(DRV2605_REG_WAVESEQ1, (uint8_t)1); // strong click - comm->writeRegister(DRV2605_REG_WAVESEQ2, (uint8_t)0); // end sequence - - comm->writeRegister(DRV2605_REG_OVERDRIVE, (uint8_t)0); // no overdrive - - comm->writeRegister(DRV2605_REG_SUSTAINPOS, (uint8_t)0); - comm->writeRegister(DRV2605_REG_SUSTAINNEG, (uint8_t)0); - comm->writeRegister(DRV2605_REG_BREAK, (uint8_t)0); - comm->writeRegister(DRV2605_REG_AUDIOMAX, (uint8_t)0x64); - - // ERM open loop - - // turn off N_ERM_LRA - comm->writeRegister(DRV2605_REG_FEEDBACK, - comm->readRegister(DRV2605_REG_FEEDBACK) & 0x7F); - // turn on ERM_OPEN_LOOP - comm->writeRegister(DRV2605_REG_CONTROL3, - comm->readRegister(DRV2605_REG_CONTROL3) | 0x20); - - return true; - } - -protected: - std::unique_ptr comm; -}; - +#warning "CRITICAL: File 'SensorDRV2605.hpp' has been renamed to 'HapticDrivers.hpp'." +/* +* Action Required: +* 1. Search your codebase for: #include "SensorDRV2605.hpp" replace #include "HapticDrivers.hpp" +* 2. Replace all instances with: SensorDRV2605 with HapticDriver_DRV2605" + */ +#include "HapticDrivers.hpp" +using SensorDRV2605 = HapticDriver_DRV2605; diff --git a/lib/SensorLib/src/SensorLTR553.hpp b/lib/SensorLib/src/SensorLTR553.hpp index dcefa9d..0e2c5f5 100644 --- a/lib/SensorLib/src/SensorLTR553.hpp +++ b/lib/SensorLib/src/SensorLTR553.hpp @@ -29,55 +29,108 @@ */ #pragma once -#include "REG/LTR533Constants.h" -#include "SensorPlatform.hpp" +#include "platform/comm/I2CDeviceNoHal.hpp" -class SensorLTR553 : public LTR553Constants +// Unique I2C device address +static constexpr uint8_t LTR553_SLAVE_ADDRESS = 0x23; + +/** + * @brief Driver for the LTR-553ALS-01 ambient light + proximity sensor (I2C). + * + * This class provides a lightweight register-level driver for: + * - ALS (Ambient Light Sensing) configuration and reading + * - PS (Proximity Sensing) configuration and reading + * - Threshold window configuration + * - Interrupt configuration (polarity + source selection) + * + * The register map and bit fields follow the LTR-553ALS-01 datasheet. + * + * @warning You must call begin() successfully before calling any other methods. + */ +class SensorLTR553 : public I2CDeviceNoHal { public: - + /** + * @brief Interrupt pin active level. + */ enum IrqLevel { - ALS_IRQ_ACTIVE_LOW, // INT pin is considered active when it is a logic 0 (default) - ALS_IRQ_ACTIVE_HIGH // INT pin is considered active when it is a logic 1 + ALS_IRQ_ACTIVE_LOW, //!< INT pin is active-low (default) + ALS_IRQ_ACTIVE_HIGH //!< INT pin is active-high }; + + /** + * @brief Interrupt trigger source. + * + * This selects which measurement(s) can assert the interrupt pin. + */ enum IrqMode { - ALS_IRQ_ONLY_PS = 1, // Only PS measurement can trigger interrupt - ALS_IRQ_ONLY_ALS, // Only ALS measurement can trigger interrupt - ALS_IRQ_BOTH, // Both ALS and PS measurement can trigger interrupt + ALS_IRQ_DISABLE = 0, //!< No measurement can trigger interrupt (default) + ALS_IRQ_ONLY_PS = 1, //!< Only PS measurement can trigger interrupt + ALS_IRQ_ONLY_ALS = 2, //!< Only ALS measurement can trigger interrupt + ALS_IRQ_BOTH = 3, //!< Both ALS and PS measurement can trigger interrupt }; + /** + * @brief ALS gain selection. + * + * Note: Actual lux range depends on gain and integration time. + */ enum LightSensorGain { - ALS_GAIN_1X = 0x00, // 1 lux to 64k lux (default) - ALS_GAIN_2X = 0x01, // 0.5 lux to 32k lux - ALS_GAIN_4X = 0x02, // 0.25 lux to 16k lux - ALS_GAIN_8X = 0x03, // 0.125 lux to 8k lux - ALS_GAIN_48X = 0x06, // 0.02 lux to 1.3k lux - ALS_GAIN_96X = 0x07, // 0.01 lux to 600 lux + ALS_GAIN_1X = 0x00, //!< 1 lux to 64k lux (default) + ALS_GAIN_2X = 0x01, //!< 0.5 lux to 32k lux + ALS_GAIN_4X = 0x02, //!< 0.25 lux to 16k lux + ALS_GAIN_8X = 0x03, //!< 0.125 lux to 8k lux + ALS_GAIN_48X = 0x06, //!< 0.02 lux to 1.3k lux + ALS_GAIN_96X = 0x07, //!< 0.01 lux to 600 lux }; + /** + * @brief PS LED pulse modulation frequency (REG_PS_LED bits 7:5). + * + * Datasheet: 000=30kHz ... 111=100kHz. + */ enum PsLedPeriod { - PS_LED_PLUSE_30KHZ = 0x00, - PS_LED_PLUSE_40KHZ, - PS_LED_PLUSE_50KHZ, - PS_LED_PLUSE_60KHZ, - PS_LED_PLUSE_70KHZ, - PS_LED_PLUSE_80KHZ, - PS_LED_PLUSE_90KHZ, - PS_LED_PLUSE_100KHZ, + PS_LED_PLUSE_30KHZ, //!< 30kHz + PS_LED_PLUSE_40KHZ, //!< 40kHz + PS_LED_PLUSE_50KHZ, //!< 50kHz + PS_LED_PLUSE_60KHZ, //!< 60kHz (default) + PS_LED_PLUSE_70KHZ, //!< 70kHz + PS_LED_PLUSE_80KHZ, //!< 80kHz + PS_LED_PLUSE_90KHZ, //!< 90kHz + PS_LED_PLUSE_100KHZ, //!< 100kHz }; + + /** + * @brief PS LED duty cycle (REG_PS_LED bits 4:3). + * + * Datasheet: 00=25%, 01=50%, 10=75%, 11=100%. + */ enum PsLedDuty { - PS_LED_DUTY_25 = 0x00, - PS_LED_DUTY_50, - PS_LED_DUTY_75, - PS_LED_DUTY_100, + PS_LED_DUTY_25, //!< 25% + PS_LED_DUTY_50, //!< 50% + PS_LED_DUTY_75, //!< 75% + PS_LED_DUTY_100, //!< 100% (default) }; + + /** + * @brief PS LED peak current selection (REG_PS_LED bits 2:0). + * + * @note The enum values are kept consistent with the original library design. + * Please refer to the datasheet current encoding table if you need strict mapping. + */ enum PsLedCurrent { - PS_LED_CUR_5MA = 0x00, - PS_LED_CUR_10MA, - PS_LED_CUR_20MA, - PS_LED_CUR_50MA, - PS_LED_CUR_100MA, + PS_LED_CUR_5MA, //!< 5mA + PS_LED_CUR_10MA, //!< 10mA + PS_LED_CUR_20MA, //!< 20mA + PS_LED_CUR_50MA, //!< 50mA + PS_LED_CUR_100MA, //!< 100mA }; + + /** + * @brief PS measurement rate (REG_PS_MEAS_RATE field). + * + * @note PS_MEAS_RATE_10MS uses value 8, matching the original implementation. + */ enum PsRate { PS_MEAS_RATE_50MS, PS_MEAS_RATE_70MS, @@ -89,8 +142,21 @@ public: PS_MEAS_RATE_10MS = 8, }; + /** + * @brief ALS integration time (REG_ALS_MEAS_RATE bits 5:3). + * + * Datasheet mapping (bits 5:3): + * - 000: 100ms (default) + * - 001: 50ms + * - 010: 200ms + * - 011: 400ms + * - 100: 150ms + * - 101: 250ms + * - 110: 300ms + * - 111: 350ms + */ enum IntegrationTime { - ALS_INTEGRATION_TIME_100MS = 0x00, + ALS_INTEGRATION_TIME_100MS, ALS_INTEGRATION_TIME_50MS, ALS_INTEGRATION_TIME_200MS, ALS_INTEGRATION_TIME_400MS, @@ -100,6 +166,19 @@ public: ALS_INTEGRATION_TIME_350MS, }; + /** + * @brief ALS measurement repeat rate (REG_ALS_MEAS_RATE bits 2:0). + * + * Datasheet mapping (bits 2:0): + * - 000: 50ms + * - 001: 100ms + * - 010: 200ms + * - 011: 500ms (default) + * - 100: 1000ms + * - 110: 2000ms + * + * @note Some values may be reserved per datasheet. + */ enum MeasurementRate { ALS_MEASUREMENT_TIME_50MS, ALS_MEASUREMENT_TIME_100MS, @@ -109,247 +188,407 @@ public: ALS_MEASUREMENT_TIME_2000MS, }; - SensorLTR553() : comm(nullptr) {} + /** + * @brief Construct an uninitialized driver instance. + */ + SensorLTR553() = default; - ~SensorLTR553() - { - if (comm) { - comm->deinit(); - } - } - -#if defined(ARDUINO) - bool begin(TwoWire &wire, int sda = -1, int scl = -1) - { - comm = std::make_unique(wire, LTR553_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, int sda = -1, int scl = -1) - { - comm = std::make_unique(port_num, LTR553_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#else - bool begin(i2c_master_bus_handle_t handle) - { - comm = std::make_unique(handle, LTR553_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback) - { - comm = std::make_unique(callback, LTR553_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } + /** + * @brief Destructor. Deinitializes the communication backend if created. + */ + ~SensorLTR553() = default; + /** + * @brief Set interrupt pin polarity. + * + * @param level Desired active level. + */ void setIRQLevel(IrqLevel level) { - level ? comm->setRegisterBit(REG_INTERRUPT, 2) : comm->clrRegisterBit(REG_INTERRUPT, 2); + if (level) { + setRegBit(REG_INTERRUPT, 2); + } else { + clrRegBit(REG_INTERRUPT, 2); + } } + /** + * @brief Enable interrupts and select which measurement sources can trigger them. + * + * @param mode Interrupt source mode. + */ void enableIRQ(IrqMode mode) { - comm->writeRegister(REG_INTERRUPT, 0xFC, mode); + // RESERVED:7:3 + // Interrupt Polarity : 2 + // Interrupt Mode : 1:0 + updateBits(REG_INTERRUPT, 0x03, mode); } + /** + * @brief Disable all interrupt sources (mode bits = 0). + */ void disableIRQ() { - comm->writeRegister(REG_INTERRUPT, 0xFC, 0x00); + updateBits(REG_INTERRUPT, 0x03, 0x00); } - //! Light Sensor ! + // ----------------------- + // ALS (Ambient Light) + // ----------------------- + + /** + * @brief Check PS data ready flag. + * + * @return true if PS data is ready (REG_ALS_PS_STATUS bit0), false otherwise. + * + * @note Function name follows original implementation. + */ bool psAvailable() { - return comm->getRegisterBit(REG_ALS_PS_STATUS, 0); + return getRegBit(REG_ALS_PS_STATUS, 0); } + /** + * @brief Set ALS threshold window. + * + * If ALS measurement is outside [low, high], interrupt may be asserted depending on IRQ settings. + * + * @param low Low threshold. + * @param high High threshold. + */ void setLightSensorThreshold(uint16_t low, uint16_t high) { - uint8_t buffer[4] = {lowByte(high), highByte(high), - lowByte(low), highByte(low) - }; - comm->writeRegister(REG_ALS_THRES_UP_0, buffer, 4); + uint8_t buffer[4] = { + lowByte(high), highByte(high), + lowByte(low), highByte(low) + }; + writeRegBuff(REG_ALS_THRES_UP_0, buffer, 4); } - // Controls the N number of times the measurement data is outside the range - // defined by the upper and lower threshold limits before asserting the interrupt. + /** + * @brief Configure ALS interrupt persistence count. + * + * Datasheet (REG_INTERRUPT_PERSIST 0x9E): + * - ALS Persist bits [3:0] + * + * @param count Number of consecutive ALS out-of-range events before asserting interrupt. + * + * @warning Passing 0 will underflow due to (count - 1). Keep as-is to match original behavior. + */ void setLightSensorPersists(uint8_t count) { - comm->writeRegister(REG_INTERRUPT_PERSIST, 0xF0, count - 1); + updateBits(REG_INTERRUPT_PERSIST, 0x0F, count - 1); } - void setLightSensorRate(IntegrationTime integrationTime, MeasurementRate measurementRate) + /** + * @brief Configure ALS integration time and measurement repeat rate. + * + * Datasheet (REG_ALS_MEAS_RATE 0x85): + * - ALS integration time bits [5:3] + * - ALS measurement repeat rate bits [2:0] + * + * @param alsIntegrationTime ALS integration time. + * @param alsMeasurementRate ALS measurement repeat rate. + */ + void setLightSensorRate(IntegrationTime alsIntegrationTime, MeasurementRate alsMeasurementRate) { - uint8_t value = (integrationTime & 0xF) << 8 | (measurementRate & 0xF); - comm->writeRegister(REG_ALS_MEAS_RATE, 0x00, value); + uint8_t value = (uint8_t)(((alsIntegrationTime & 0x07) << 3) | (alsMeasurementRate & 0x07)); + writeReg(REG_ALS_MEAS_RATE, value); } + /** + * @brief Enable ALS measurement. + */ void enableLightSensor() { - comm->setRegisterBit(REG_ALS_CONTR, 0); + setRegBit(REG_ALS_CONTR, 0); } + /** + * @brief Disable ALS measurement. + */ void disableLightSensor() { - comm->clrRegisterBit(REG_ALS_CONTR, 0); + clrRegBit(REG_ALS_CONTR, 0); } + /** + * @brief Set ALS gain. + * + * @param gain Gain selection. + */ void setLightSensorGain(LightSensorGain gain) { - comm->writeRegister(REG_ALS_CONTR, 0xE3, gain << 2); + updateBits(REG_ALS_CONTR, 0x1C, gain << 2); } + /** + * @brief Read ALS raw data from channel 0 or 1. + * + * @param ch Channel index (0 or 1). Any non-1 value will be treated as channel 0. + * @return Raw 16-bit value on success, -1 on invalid data or I2C error. + */ int getLightSensor(uint8_t ch) { uint8_t buffer[2] = {0}; - // Check ALS Data is Valid - if (comm->getRegisterBit(REG_ALS_PS_STATUS, 7) != false) { - return 0; + + // Check ALS Data is Valid (datasheet bit definition should be checked if needed) + if (getRegBit(REG_ALS_PS_STATUS, 7) != false) { + return -1; } - int val = comm->readRegister(ch == 1 ? REG_ALS_DATA_CH1_0 : REG_ALS_DATA_CH0_0, buffer, 2); + + int val = readRegBuff(ch == 1 ? REG_ALS_DATA_CH1_0 : REG_ALS_DATA_CH0_0, buffer, 2); if (val == -1) { return -1; } - return buffer[0] | (buffer[1] << 8); + + return (int)buffer[0] | ((int)buffer[1] << 8); } - //! Proximity sensor ! - // Controls the N number of times the measurement data is outside the range - // defined by the upper and lower threshold limits before asserting the interrupt. + // ----------------------- + // PS (Proximity) + // ----------------------- + + /** + * @brief Configure PS interrupt persistence count. + * + * Datasheet (REG_INTERRUPT_PERSIST 0x9E): + * - PS Persist bits [7:4] + * + * @param count Number of consecutive PS out-of-range events before asserting interrupt. + * count=0 maps to register value 0 (every PS out of range). + */ void setProximityPersists(uint8_t count) { - comm->writeRegister(REG_INTERRUPT_PERSIST, 0x0F, count == 0 ? 0 : count - 1); + uint8_t val = (count == 0) ? 0 : (count - 1); + if (val > 0x0F) { + val = 0x0F; + } + updateBits(REG_INTERRUPT_PERSIST, 0xF0, val << 4); } + /** + * @brief Set PS threshold window. + * + * @param low Low threshold (12-bit effective). + * @param high High threshold (12-bit effective). + */ void setProximityThreshold(uint16_t low, uint16_t high) { - comm->writeRegister(REG_PS_THRES_UP_0, lowByte(high)); - comm->writeRegister(REG_PS_THRES_UP_1, lowByte(high >> 8) & 0x0F); - comm->writeRegister(REG_PS_THRES_LOW_0, lowByte(low)); - comm->writeRegister(REG_PS_THRES_LOW_1, lowByte(low >> 8) & 0x0F); + writeReg(REG_PS_THRES_UP_0, lowByte(high)); + writeReg(REG_PS_THRES_UP_1, lowByte(high >> 8) & 0x0F); + writeReg(REG_PS_THRES_LOW_0, lowByte(low)); + writeReg(REG_PS_THRES_LOW_1, lowByte(low >> 8) & 0x0F); } + /** + * @brief Set PS measurement rate. + * + * @param rate Proximity measurement rate selection. + */ void setProximityRate(PsRate rate) { - comm->writeRegister(REG_PS_MEAS_RATE, 0xF0, rate & 0x0F); + updateBits(REG_PS_MEAS_RATE, 0x0F, rate & 0x0F); } + /** + * @brief Enable proximity measurement. + */ void enableProximity() { - comm->writeRegister(REG_PS_CONTR, 0xF3u, 0x03u); + updateBits(REG_PS_CONTR, 0x03, 0x03); } + /** + * @brief Disable proximity measurement. + */ void disableProximity() { - comm->writeRegister(REG_PS_CONTR, 0xF3u, 0x00u); + updateBits(REG_PS_CONTR, 0x03, 0x00); } + /** + * @brief Enable PS indicator. + */ void enablePsIndicator() { - comm->setRegisterBit(REG_PS_CONTR, 5); + setRegBit(REG_PS_CONTR, 5); } + /** + * @brief Disable PS indicator. + */ void disablePsIndicator() { - comm->clrRegisterBit(REG_PS_CONTR, 5); + clrRegBit(REG_PS_CONTR, 5); } + /** + * @brief Read proximity raw data. + * + * Proximity data is 11-bit: + * - Low 8 bits: REG_PS_DATA_0 + * - High 3 bits: REG_PS_DATA_1 bits [2:0] + * + * @param saturated Optional pointer; will be set true if saturation flag is asserted (bit7). + * @return Proximity value on success, -1 on I2C error. + */ int getProximity(bool *saturated = NULL ) { uint8_t buffer[2] = {0}; - int val = comm->readRegister(REG_PS_DATA_0, buffer, 2); + int val = readRegBuff(REG_PS_DATA_0, buffer, 2); if (val == -1) { return -1; } if (saturated) { - *saturated = buffer[1] & 0x80; + *saturated = (buffer[1] & 0x80) == 0x80; } - return buffer[0] | (buffer[1] & 0x07); + return (int)buffer[0] | ((int)(buffer[1] & 0x07) << 8); } + // ----------------------- + // PS LED configuration + // ----------------------- + + /** + * @brief Set PS LED pulse modulation frequency (REG_PS_LED bits 7:5). + * + * @param period LED pulse modulation frequency selection. + */ void setPsLedPulsePeriod(PsLedPeriod period) { - comm->writeRegister(REG_PS_LED, 0x1F, period); + updateBits(REG_PS_LED, 0xE0, static_cast(period) << 5); } + /** + * @brief Set PS LED duty cycle (REG_PS_LED bits 4:3). + * + * @param duty LED duty cycle selection. + */ void setPsLedDutyCycle(PsLedDuty duty) { - comm->writeRegister(REG_PS_LED, 0xE7, duty); + updateBits(REG_PS_LED, 0x18, static_cast(duty) << 3); } + /** + * @brief Set PS LED peak current (REG_PS_LED bits 2:0). + * + * @param cur LED peak current selection. + */ void setPsLedCurrent(PsLedCurrent cur) { - comm->writeRegister(REG_PS_LED, 0xF8, cur); + updateBits(REG_PS_LED, 0x07, static_cast(cur)); } + /** + * @brief Set number of PS LED pulses (REG_PS_N_PULSES bits 3:0). + * + * @param pulesNum Number of pulses (0..15). + */ void setPsLedPulses(uint8_t pulesNum) { - comm->writeRegister(REG_PS_N_PULSES, 0xF0, pulesNum & 0x0F); + updateBits(REG_PS_N_PULSES, 0x0F, pulesNum & 0x0F); } + // ----------------------- + // Identification / reset + // ----------------------- + + /** + * @brief Get Part ID (REG_PART_ID high nibble). + * + * @return Part ID on success, -1 on error. + */ int getPartID() { - int val = comm->readRegister(REG_PART_ID); + int val = readReg(REG_PART_ID); if (val == -1) { return -1; } return (val >> 4) & 0x0F; } + /** + * @brief Get Revision ID (REG_PART_ID low nibble). + * + * @return Revision ID on success, -1 on error. + */ int getRevisionID() { - int val = comm->readRegister(REG_PART_ID); + int val = readReg(REG_PART_ID); if (val == -1) { return -1; } return (val) & 0x0F; } + /** + * @brief Read Manufacturer ID (REG_MANUFAC_ID). + * + * Expected value is LTR553_DEFAULT_MAN_ID. + * + * @return Manufacturer ID (or -1 on I2C error depending on backend). + */ int getManufacturerID() { // Manufacturer ID (0x05H) - return comm->readRegister(REG_MANUFAC_ID); + return readReg(REG_MANUFAC_ID); } + /** + * @brief Software reset (REG_ALS_CONTR bit1). + */ void reset() { - comm->setRegisterBit(REG_ALS_CONTR, 1); + setRegBit(REG_ALS_CONTR, 1); } private: - - bool initImpl() + /** + * @brief Internal initialization. + * + * - Configure I2C params + * - Reset device + * - Verify manufacturer ID + */ + bool initImpl(uint8_t param) { - I2CParam params(I2CParam::I2C_SET_FLAG, false); - comm->setParams(params); + setAck(false); reset(); return getManufacturerID() == LTR553_DEFAULT_MAN_ID; } protected: - std::unique_ptr comm; + // Register map + static constexpr uint8_t REG_ALS_CONTR = 0x80; + static constexpr uint8_t REG_PS_CONTR = 0x81; + static constexpr uint8_t REG_PS_LED = 0x82; + static constexpr uint8_t REG_PS_N_PULSES = 0x83; + static constexpr uint8_t REG_PS_MEAS_RATE = 0x84; + static constexpr uint8_t REG_ALS_MEAS_RATE = 0x85; + static constexpr uint8_t REG_PART_ID = 0x86; + static constexpr uint8_t REG_MANUFAC_ID = 0x87; + static constexpr uint8_t REG_ALS_DATA_CH1_0 = 0x88; + static constexpr uint8_t REG_ALS_DATA_CH1_1 = 0x89; + static constexpr uint8_t REG_ALS_DATA_CH0_0 = 0x8A; + static constexpr uint8_t REG_ALS_DATA_CH0_1 = 0x8B; + static constexpr uint8_t REG_ALS_PS_STATUS = 0x8C; + static constexpr uint8_t REG_PS_DATA_0 = 0x8D; + static constexpr uint8_t REG_PS_DATA_1 = 0x8E; + static constexpr uint8_t REG_INTERRUPT = 0x8F; + static constexpr uint8_t REG_PS_THRES_UP_0 = 0x90; + static constexpr uint8_t REG_PS_THRES_UP_1 = 0x91; + static constexpr uint8_t REG_PS_THRES_LOW_0 = 0x92; + static constexpr uint8_t REG_PS_THRES_LOW_1 = 0x93; + static constexpr uint8_t REG_PS_OFFSET_1 = 0x94; + static constexpr uint8_t REG_PS_OFFSET_0 = 0x95; + static constexpr uint8_t REG_ALS_THRES_UP_0 = 0x97; + static constexpr uint8_t REG_ALS_THRES_UP_1 = 0x98; + static constexpr uint8_t REG_ALS_THRES_LOW_0 = 0x99; + static constexpr uint8_t REG_ALS_THRES_LOW_1 = 0x9A; + static constexpr uint8_t REG_INTERRUPT_PERSIST = 0x9E; + + /// Default manufacturer ID. + static constexpr uint8_t LTR553_DEFAULT_MAN_ID = 0x05; }; - - - diff --git a/lib/SensorLib/src/SensorLib.h b/lib/SensorLib/src/SensorLib.h index 5069eda..7307e0f 100644 --- a/lib/SensorLib/src/SensorLib.h +++ b/lib/SensorLib/src/SensorLib.h @@ -105,6 +105,10 @@ #define log_d(fmt, ...) LOG_PORT.printf("[D][%s:%d] " fmt "\n", LOG_FILE_LINE_INFO, ##__VA_ARGS__) #endif /*log_d*/ +#ifndef log_w +#define log_w(fmt, ...) LOG_PORT.printf("[W][%s:%d] " fmt "\n", LOG_FILE_LINE_INFO, ##__VA_ARGS__) +#endif /*log_w*/ + #elif defined(ARDUINO_ARCH_MBED) || defined(ARDUINO_ARCH_ZEPHYR) #define LOG_FILE_LINE_INFO __FILE__, __LINE__ @@ -121,6 +125,10 @@ #define log_d(fmt, ...) printf("[D][%s:%d] " fmt "\n", LOG_FILE_LINE_INFO, ##__VA_ARGS__) #endif /*log_d*/ +#ifndef log_w +#define log_w(fmt, ...) printf("[W][%s:%d] " fmt "\n", LOG_FILE_LINE_INFO, ##__VA_ARGS__) +#endif /*log_w*/ + #elif defined(ESP_PLATFORM) && !defined(ARDUINO) #include "esp_log.h" @@ -155,6 +163,10 @@ #define log_d(...) #endif +#ifndef log_w +#define log_w(...) +#endif + #endif /*ARDUINO*/ #if !defined(ARDUINO) && defined(ESP_PLATFORM) diff --git a/lib/SensorLib/src/SensorLibExceptionFix.cpp b/lib/SensorLib/src/SensorLibExceptionFix.cpp new file mode 100644 index 0000000..7fe0fae --- /dev/null +++ b/lib/SensorLib/src/SensorLibExceptionFix.cpp @@ -0,0 +1,123 @@ +/** + * @file SensorLibExceptionFix.cpp + * @brief Exception compatibility layer for Arduino nRF52 platform without C++ exceptions support + * + * This file provides minimal implementations of missing C++ standard library functions + * required for compiling with -fno-exceptions flag (default in Arduino nRF52 BSP). + * + * @note This file is only compiled when targeting Arduino nRF52 architecture with + * C++ exceptions disabled (Only Arduino IDE). It uses weak symbol attributes to avoid conflicts + * with any potential existing implementations. + */ + +// Only activate this fix for Arduino nRF52 platforms with C++ exceptions disabled +#if defined(ARDUINO_ARCH_NRF52) && !defined(__cpp_exceptions) + +#include +#include +#include + +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wpedantic" + +namespace std { + /** + * @brief Stub implementation of __throw_bad_function_call() + * + * This function is called by std::function when attempting to invoke an empty/null + * function object. In a proper C++ environment, this would throw std::bad_function_call. + * Since exceptions are disabled, we provide a stub that asserts. + * + * @note Marked as weak symbol to allow overriding by other libraries or user code + */ + __attribute__((weak)) + void __throw_bad_function_call() { + assert(false && "Attempted to call an empty std::function"); + } + + /** + * @brief Stub implementation of __throw_length_error() + * + * Called by standard containers when a length error would normally occur + * (e.g., vector::reserve with size exceeding max_size()). + * + * @param msg Error message (included in assert output for debugging) + */ + __attribute__((weak)) + void __throw_length_error(char const* msg) { + // Use assert to indicate programming error + assert(false && msg); + } + + /** + * @brief Stub implementation of __throw_out_of_range() + * + * Called by standard containers when an out-of-bounds access would normally occur + * (e.g., vector::at() with invalid index). + * + * @param msg Error message (included in assert output for debugging) + */ + __attribute__((weak)) + void __throw_out_of_range(char const* msg) { + assert(false && msg); + } + + const nothrow_t nothrow{}; +} + +/** + * @brief Single-object nothrow new operator. + * + * Allocates memory using malloc and returns nullptr on failure instead of throwing. + * + * @param size Number of bytes to allocate. + * @param tag The std::nothrow_t dummy argument (unused). + * @return Pointer to allocated memory, or nullptr if allocation fails. + */ +__attribute__((weak)) +void* operator new(std::size_t size, const std::nothrow_t&) noexcept { + return malloc(size); +} + +/** + * @brief Single-object nothrow delete operator. + * + * Corresponding deallocation function for nothrow new. Frees memory using free. + * + * @param ptr Pointer to memory to deallocate. + * @param tag The std::nothrow_t dummy argument (unused). + */ +__attribute__((weak)) +void operator delete(void* ptr, const std::nothrow_t&) noexcept { + free(ptr); +} + +/** + * @brief Array nothrow new[] operator. + * + * Allocates memory for an array using malloc and returns nullptr on failure. + * + * @param size Number of bytes to allocate. + * @param tag The std::nothrow_t dummy argument (unused). + * @return Pointer to allocated memory, or nullptr if allocation fails. + */ +__attribute__((weak)) +void* operator new[](std::size_t size, const std::nothrow_t&) noexcept { + return malloc(size); +} + +/** + * @brief Array nothrow delete[] operator. + * + * Corresponding deallocation function for nothrow new[]. Frees memory using free. + * + * @param ptr Pointer to memory to deallocate. + * @param tag The std::nothrow_t dummy argument (unused). + */ +__attribute__((weak)) +void operator delete[](void* ptr, const std::nothrow_t&) noexcept { + free(ptr); +} +#pragma GCC diagnostic pop + +#endif // defined(ARDUINO_ARCH_NRF52) && !defined(__cpp_exceptions) \ No newline at end of file diff --git a/lib/SensorLib/src/SensorLib_Version.h b/lib/SensorLib/src/SensorLib_Version.h index d1bd755..bcf5a29 100644 --- a/lib/SensorLib/src/SensorLib_Version.h +++ b/lib/SensorLib/src/SensorLib_Version.h @@ -33,9 +33,9 @@ /** Major version number (X.x.x) */ #define SENSORLIB_VERSION_MAJOR 0 /** Minor version number (x.X.x) */ -#define SENSORLIB_VERSION_MINOR 3 +#define SENSORLIB_VERSION_MINOR 4 /** Patch version number (x.x.X) */ -#define SENSORLIB_VERSION_PATCH 3 +#define SENSORLIB_VERSION_PATCH 1 /** * Macro to convert SENSORLIB version number into an integer @@ -53,4 +53,4 @@ SENSORLIB_VERSION_MINOR, \ SENSORLIB_VERSION_PATCH) -#define SENSORLIB_VERSION_STR "v0.3.2" +#define SENSORLIB_VERSION_STR "v0.4.1" diff --git a/lib/SensorLib/src/SensorPCF85063.hpp b/lib/SensorLib/src/SensorPCF85063.hpp index 88b0723..4cccf59 100644 --- a/lib/SensorLib/src/SensorPCF85063.hpp +++ b/lib/SensorLib/src/SensorPCF85063.hpp @@ -28,207 +28,299 @@ * */ #pragma once -#include "REG/PCF85063Constants.h" + +#include "platform/comm/I2CDeviceNoHal.hpp" #include "SensorRTC.h" -#include "SensorPlatform.hpp" -class SensorPCF85063 : public SensorRTC, public PCF85063Constants + +/** + * @class PCF85063 I2C addresses. + * @brief Unique address, cannot be changed by hardware configuration. + */ +const uint8_t PCF85063_SLAVE_ADDRESS = 0x51; + +/** + * @class SensorPCF85063 + * @brief Driver for the PCF85063 real-time clock (RTC) over I2C. + */ +class SensorPCF85063 : public SensorRTC, public I2CDeviceNoHal { public: using SensorRTC::setDateTime; using SensorRTC::getDateTime; + /** + * @brief Clock output frequency selection. + * + * Values map to the PCF85063 clock output control bits (see datasheet). + */ enum ClockHz { - CLK_32768HZ = 0, - CLK_16384HZ, - CLK_8192HZ, - CLK_4096HZ, - CLK_2048HZ, - CLK_1024HZ, - CLK_1HZ, - CLK_LOW, + CLK_32768HZ = 0, //!< 32.768 kHz output + CLK_16384HZ, //!< 16.384 kHz output + CLK_8192HZ, //!< 8.192 kHz output + CLK_4096HZ, //!< 4.096 kHz output + CLK_2048HZ, //!< 2.048 kHz output + CLK_1024HZ, //!< 1.024 kHz output + CLK_1HZ, //!< 1 Hz output + CLK_LOW, //!< Lowest/low-power output option (chip-specific) }; - SensorPCF85063() : comm(nullptr) {} + /** + * @brief Construct a SensorPCF85063 instance. + * + * The instance is not usable until begin() succeeds. + */ + SensorPCF85063() = default; - ~SensorPCF85063() - { - if (comm) { - comm->deinit(); - } - } + /** + * @brief Destructor. Deinitializes the communication backend if created. + */ + ~SensorPCF85063() = default; #if defined(ARDUINO) + /** + * @brief Initialize device using Arduino Wire (I2C). + * + * @param wire TwoWire instance (e.g. Wire). + * @param sda SDA pin; pass -1 to keep default. + * @param scl SCL pin; pass -1 to keep default. + * @return true if the device is found and initialization succeeds, false otherwise. + */ bool begin(TwoWire &wire, int sda = -1, int scl = -1) { - comm = std::make_unique(wire, PCF85063_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(wire, PCF85063_SLAVE_ADDRESS, sda, scl); } #elif defined(ESP_PLATFORM) #if defined(USEING_I2C_LEGACY) + /** + * @brief Initialize device using ESP-IDF legacy I2C driver. + * + * @param port_num I2C port number. + * @param sda SDA pin; pass -1 to keep default. + * @param scl SCL pin; pass -1 to keep default. + * @return true if the device is found and initialization succeeds, false otherwise. + */ bool begin(i2c_port_t port_num, int sda = -1, int scl = -1) { - comm = std::make_unique(port_num, PCF85063_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(port_num, PCF85063_SLAVE_ADDRESS, sda, scl); } #else + /** + * @brief Initialize device using ESP-IDF new I2C master bus handle. + * + * @param handle I2C master bus handle. + * @return true if the device is found and initialization succeeds, false otherwise. + */ bool begin(i2c_master_bus_handle_t handle) { - comm = std::make_unique(handle, PCF85063_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(handle, PCF85063_SLAVE_ADDRESS); } -#endif //ESP_PLATFORM -#endif //ARDUINO +#endif // USEING_I2C_LEGACY +#endif // ESP_PLATFORM + /** + * @brief Initialize device using a custom transport callback. + * + * @param callback User-provided callback used by SensorCommCustom. + * @return true if the device is found and initialization succeeds, false otherwise. + */ bool begin(SensorCommCustom::CustomCallback callback) { - comm = std::make_unique(callback, PCF85063_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(callback, PCF85063_SLAVE_ADDRESS); } + /** + * @brief Set the RTC date and time. + * + * This method converts @ref RTC_DateTime into the PCF85063 register format (BCD) + * and writes to the seconds register onward. + * + * @param datetime Date-time object to set. + */ void setDateTime(RTC_DateTime datetime) { uint8_t buffer[7]; - buffer[0] = DEC2BCD(datetime.getSecond()) & 0x7F; - buffer[1] = DEC2BCD(datetime.getMinute()); - buffer[2] = DEC2BCD(datetime.getHour()); - buffer[3] = DEC2BCD(datetime.getDay()); - buffer[4] = getDayOfWeek(datetime.getDay(), datetime.getMonth(), datetime.getYear()); - buffer[5] = DEC2BCD(datetime.getMonth()); - buffer[6] = DEC2BCD(datetime.getYear() % 100); + buffer[0] = DEC2BCD(datetime.getSecond()) & 0x7F; // seconds (mask OS flag) + buffer[1] = DEC2BCD(datetime.getMinute()); // minutes + buffer[2] = DEC2BCD(datetime.getHour()); // hours + buffer[3] = DEC2BCD(datetime.getDay()); // day of month + buffer[4] = getDayOfWeek(datetime.getDay(), datetime.getMonth(), datetime.getYear()); // weekday + buffer[5] = DEC2BCD(datetime.getMonth()); // month + buffer[6] = DEC2BCD(datetime.getYear() % 100); // year (00-99) - comm->writeRegister(PCF85063_SEC_REG, buffer, 7); + writeRegBuff(PCF85063_SEC_REG, buffer, 7); } - + /** + * @brief Read the RTC date and time. + * + * Reads 7 bytes starting from the seconds register and converts BCD values to + * a @ref RTC_DateTime instance. + * + * @return Current date-time from the chip. + */ RTC_DateTime getDateTime() { + // Note: variable kept for compatibility with existing style (not used) RTC_DateTime datetime; + uint8_t buffer[7]; uint8_t hour = 0; - comm->readRegister(PCF85063_SEC_REG, buffer, 7); + + readRegBuff(PCF85063_SEC_REG, buffer, 7); + uint8_t second = BCD2DEC(buffer[0] & 0x7F); uint8_t minute = BCD2DEC(buffer[1] & 0x7F); + if (is24Hour) { - hour = BCD2DEC(buffer[2] & 0x3F); // 24-hour mode + hour = BCD2DEC(buffer[2] & 0x3F); // 24-hour mode } else { // datetime.AMPM = (buffer[2] & 0x20) == 0x20 ? 'A' : 'P'; - hour = BCD2DEC(buffer[2] & 0x1F); // 12-hour mode + hour = BCD2DEC(buffer[2] & 0x1F); // 12-hour mode (AM/PM bit not exposed here) } - uint8_t day = BCD2DEC(buffer[3] & 0x3F); - uint8_t week = BCD2DEC(buffer[4] & 0x07); - uint8_t month = BCD2DEC(buffer[5] & 0x1F); - uint16_t year = BCD2DEC(buffer[6]) + 2000; + + uint8_t day = BCD2DEC(buffer[3] & 0x3F); + uint8_t week = BCD2DEC(buffer[4] & 0x07); + uint8_t month = BCD2DEC(buffer[5] & 0x1F); + uint16_t year = BCD2DEC(buffer[6]) + 2000; + return RTC_DateTime(year, month, day, hour, minute, second, week); } + /** + * @brief Check whether the clock integrity is guaranteed. + * + * Typically this is determined by the "OS" (oscillator stop) flag in the seconds register. + * If the oscillator has stopped, the time registers may not be reliable. + * + * @return true if the oscillator has not stopped (clock is reliable), false otherwise. + */ bool isClockIntegrityGuaranteed() { - return comm->getRegisterBit(PCF85063_SEC_REG, 7) == 0; + return getRegBit(PCF85063_SEC_REG, 7) == 0; } /* - Default use 24H mode - bool is24HourMode() - { - return is24Hour; - } - - bool is12HourMode() - { - return !is24Hour; - } - - void set24Hour() - { - is24Hour = true; - comm->clrRegisterBit(PCF85063_CTRL1_REG, 1); - } - - void set12Hour() - { - is24Hour = false; - comm->setRegisterBit(PCF85063_CTRL1_REG, 1); - } - */ + * 24H/12H mode APIs were intentionally kept disabled in original code. + * If needed, enable and document them similarly. + */ + /** + * @brief Stop the RTC oscillator (timekeeping stops). + * + * Sets the STOP bit in CTRL1. + */ void stop() { - comm->setRegisterBit(PCF85063_CTRL1_REG, 5); + setRegBit(PCF85063_CTRL1_REG, 5); } + /** + * @brief Start the RTC oscillator (timekeeping runs). + * + * Clears the STOP bit in CTRL1. + */ void start() { - comm->clrRegisterBit(PCF85063_CTRL1_REG, 5); + clrRegBit(PCF85063_CTRL1_REG, 5); } + /** + * @brief Check whether the RTC oscillator is currently running. + * + * @return true if running, false if stopped. + */ bool isRunning() { - return !comm->getRegisterBit(PCF85063_CTRL1_REG, 5); + return !getRegBit(PCF85063_CTRL1_REG, 5); } + /** + * @brief Enable alarm interrupt/event generation. + */ void enableAlarm() { - comm->setRegisterBit(PCF85063_CTRL2_REG, 7); + setRegBit(PCF85063_CTRL2_REG, 7); } + /** + * @brief Disable alarm interrupt/event generation. + */ void disableAlarm() { - comm->clrRegisterBit(PCF85063_CTRL2_REG, 7); + clrRegBit(PCF85063_CTRL2_REG, 7); } + /** + * @brief Clear/reset the alarm flag. + */ void resetAlarm() { - comm->clrRegisterBit(PCF85063_CTRL2_REG, 6); + clrRegBit(PCF85063_CTRL2_REG, 6); } + /** + * @brief Check whether the alarm flag is active. + * + * @return true if alarm flag is set, false otherwise. + */ bool isAlarmActive() { - return comm->getRegisterBit(PCF85063_CTRL2_REG, 6); + return getRegBit(PCF85063_CTRL2_REG, 6); } + /** + * @brief Read current alarm configuration from the device. + * + * @return Alarm configuration as @ref RTC_Alarm. + * + * @note The chip supports enabling/disabling each alarm field via MSB bits. + * The conversion logic here follows original implementation. + */ RTC_Alarm getAlarm() { uint8_t buffer[5]; - comm->readRegister(PCF85063_ALRM_MIN_REG, buffer, 5); - buffer[0] = BCD2DEC(buffer[0] & 0x80); //second - buffer[1] = BCD2DEC(buffer[1] & 0x40); //minute - buffer[2] = BCD2DEC(buffer[2] & 0x40); //hour - buffer[3] = BCD2DEC(buffer[3] & 0x08); //day - buffer[4] = BCD2DEC(buffer[4] & 0x08); //weekday + readRegBuff(PCF85063_ALRM_MIN_REG, buffer, 5); + buffer[0] = BCD2DEC(buffer[0] & 0x80); // second + buffer[1] = BCD2DEC(buffer[1] & 0x40); // minute + buffer[2] = BCD2DEC(buffer[2] & 0x40); // hour + buffer[3] = BCD2DEC(buffer[3] & 0x08); // day + buffer[4] = BCD2DEC(buffer[4] & 0x08); // weekday + return RTC_Alarm(buffer[2], buffer[1], buffer[0], buffer[3], buffer[4]); } + /** + * @brief Set alarm using @ref RTC_Alarm object. + * + * @param alarm Alarm configuration object. + */ void setAlarm(RTC_Alarm alarm) { setAlarm(alarm.getHour(), alarm.getMinute(), alarm.getSecond(), alarm.getDay(), alarm.getWeek()); } + /** + * @brief Set the alarm fields (hour/minute/second/day/weekday). + * + * Any field can be disabled by passing @c PCF85063_NO_ALARM. + * Values out of range will be clamped where appropriate. + * + * @param hour Hour [0..23] (24H mode) or chip-specific in 12H mode; or PCF85063_NO_ALARM. + * @param minute Minute [0..59]; or PCF85063_NO_ALARM. + * @param second Second [0..59]; or PCF85063_NO_ALARM. + * @param day Day of month [1..daysInMonth]; or PCF85063_NO_ALARM. + * @param week Weekday [0..6]; or PCF85063_NO_ALARM. + */ void setAlarm(uint8_t hour, uint8_t minute, uint8_t second, uint8_t day, uint8_t week) { uint8_t buffer[5] = {0}; - RTC_DateTime datetime = getDateTime(); - - uint8_t daysInMonth = getDaysInMonth(datetime.getMonth(), datetime.getYear()); + RTC_DateTime datetime = getDateTime(); + uint8_t daysInMonth = getDaysInMonth(datetime.getMonth(), datetime.getYear()); + // Seconds if (second != PCF85063_NO_ALARM) { if (second > 59) { second = 59; @@ -239,6 +331,7 @@ public: buffer[0] = PCF85063_ALARM_ENABLE; } + // Minutes if (minute != PCF85063_NO_ALARM) { if (minute > 59) { minute = 59; @@ -248,6 +341,8 @@ public: } else { buffer[1] = PCF85063_ALARM_ENABLE; } + + // Hours if (hour != PCF85063_NO_ALARM) { if (is24Hour) { if (hour > 23) { @@ -255,25 +350,20 @@ public: } buffer[2] = DEC2BCD(hour); buffer[2] &= ~PCF85063_ALARM_ENABLE; - } else { - /* - if (hour > 12) { - hour = 12; - } - buffer[2] = DEC2BCD(hour); - buffer[2] |= isAM ? 0 : _BV(5); - buffer[2] &= ~PCF85063_ALARM_ENABLE; - */ } } else { buffer[2] = PCF85063_ALARM_ENABLE; } + + // Day of month if (day != PCF85063_NO_ALARM) { buffer[3] = DEC2BCD(((day) < (1) ? (1) : ((day) > (daysInMonth) ? (daysInMonth) : (day)))); buffer[3] &= ~PCF85063_ALARM_ENABLE; } else { buffer[3] = PCF85063_ALARM_ENABLE; } + + // Weekday if (week != PCF85063_NO_ALARM) { if (week > 6) { week = 6; @@ -283,9 +373,16 @@ public: } else { buffer[4] = PCF85063_ALARM_ENABLE; } - comm->writeRegister(PCF85063_ALRM_SEC_REG, buffer, 4); + + // Write alarm registers + writeRegBuff(PCF85063_ALRM_SEC_REG, buffer, 4); } + /** + * @brief Convenience: enable only hour alarm. + * + * @param hour Hour [0..23]. + */ void setAlarmByHours(uint8_t hour) { setAlarm(hour, @@ -295,6 +392,11 @@ public: PCF85063_NO_ALARM); } + /** + * @brief Convenience: enable only second alarm. + * + * @param second Second [0..59]. + */ void setAlarmBySecond(uint8_t second) { setAlarm(PCF85063_NO_ALARM, @@ -304,6 +406,11 @@ public: PCF85063_NO_ALARM); } + /** + * @brief Convenience: enable only minute alarm. + * + * @param minute Minute [0..59]. + */ void setAlarmByMinutes(uint8_t minute) { setAlarm(PCF85063_NO_ALARM, @@ -313,6 +420,11 @@ public: PCF85063_NO_ALARM); } + /** + * @brief Convenience: enable only day-of-month alarm. + * + * @param day Day of month [1..31] (will be clamped to valid range for current month). + */ void setAlarmByDays(uint8_t day) { setAlarm(PCF85063_NO_ALARM, @@ -322,6 +434,11 @@ public: PCF85063_NO_ALARM); } + /** + * @brief Convenience: enable only weekday alarm. + * + * @param week Weekday [0..6]. + */ void setAlarmByWeekDay(uint8_t week) { setAlarm(PCF85063_NO_ALARM, @@ -331,41 +448,63 @@ public: week); } + /** + * @brief Configure the clock output frequency. + * + * @param hz Output frequency selection. + */ void setClockOutput(ClockHz hz) { - int val = comm->readRegister(PCF85063_CTRL2_REG); - if (val == -1)return; - val &= 0xF8; - val |= hz; - comm->writeRegister(PCF85063_CTRL2_REG, val); + int val = readReg(PCF85063_CTRL2_REG); + if (val == -1) return; + + val &= 0xF8; // clear frequency bits + val |= hz; // set new frequency + writeReg(PCF85063_CTRL2_REG, val); } + /** + * @brief Get RTC chip name. + * + * @return Constant string "PCF85063". + */ const char *getChipName() { return "PCF85063"; } private: - - bool initImpl() + /** + * @brief Internal initialization routine. + * + * - Checks device presence via a RAM register + * - Verifies that RAM register bit 7 is writable to distinguish PCF85063 vs others + * - Forces 24-hour mode (if needed) + * - Starts the oscillator + * + * @return true if initialization succeeds and RTC is running, false otherwise. + */ + bool initImpl(uint8_t param) override { - //Check device is online - int val = comm->readRegister(PCF85063_RAM_REG); + // Check device is online + int val = readReg(PCF85063_RAM_REG); if (val < 0) { log_e("Device is offline!"); return false; } - // Read the contents of a RAM register - uint8_t tmp = comm->readRegister(PCF85063_RAM_REG); + + // Backup original RAM register value + uint8_t tmp = readReg(PCF85063_RAM_REG); bool rlst = false; - // By judging whether the highest bit of the RAM register can be changed, - // it can be judged whether it belongs to PCF85063 - comm->writeRegister(PCF85063_RAM_REG, val | _BV(7)); - val = comm->readRegister(PCF85063_RAM_REG); + + // Determine whether this is PCF85063 by testing RAM register bit writability: + // If bit 7 can be set/cleared, it is likely PCF85063. + writeReg(PCF85063_RAM_REG, val | _BV(7)); + val = readReg(PCF85063_RAM_REG); if (val & 0x80) { - comm->writeRegister(PCF85063_RAM_REG, val & ~_BV(7)); - val = comm->readRegister(PCF85063_RAM_REG); + writeReg(PCF85063_RAM_REG, val & ~_BV(7)); + val = readReg(PCF85063_RAM_REG); if ((val & 0x80) == 0) { rlst = true; } @@ -376,27 +515,59 @@ private: return false; } - // Restore the contents of the RAM registers - comm->writeRegister(PCF85063_RAM_REG, tmp); + // Restore RAM register + writeReg(PCF85063_RAM_REG, tmp); - //Default use 24-hour mode - is24Hour = !comm->getRegisterBit(PCF85063_CTRL1_REG, 1); + // Default to 24-hour mode + is24Hour = !getRegBit(PCF85063_CTRL1_REG, 1); if (!is24Hour) { - // Set 24H Mode - comm->clrRegisterBit(PCF85063_CTRL1_REG, 1); + // Force 24H Mode + clrRegBit(PCF85063_CTRL1_REG, 1); is24Hour = true; } - //Turn on RTC + // Turn on RTC start(); return isRunning(); } protected: - std::unique_ptr comm; + /** + * @brief Hour mode flag (true = 24-hour mode). + * + * This is detected (and forced to 24H) during initialization. + */ bool is24Hour; + + // Register addresses + static constexpr uint8_t PCF85063_CTRL1_REG = 0x00; + static constexpr uint8_t PCF85063_CTRL2_REG = 0x01; + static constexpr uint8_t PCF85063_OFFSET_REG = 0x02; + static constexpr uint8_t PCF85063_RAM_REG = 0x03; + static constexpr uint8_t PCF85063_SEC_REG = 0x04; + static constexpr uint8_t PCF85063_MIN_REG = 0x05; + static constexpr uint8_t PCF85063_HR_REG = 0x06; + static constexpr uint8_t PCF85063_DAY_REG = 0x07; + static constexpr uint8_t PCF85063_WEEKDAY_REG = 0x08; + static constexpr uint8_t PCF85063_MONTH_REG = 0x09; + static constexpr uint8_t PCF85063_YEAR_REG = 0x0A; + static constexpr uint8_t PCF85063_ALRM_SEC_REG = 0x0B; + static constexpr uint8_t PCF85063_ALRM_MIN_REG = 0x0C; + static constexpr uint8_t PCF8563_ALRM_HR_REG = 0x0D; + static constexpr uint8_t PCF85063_ALRM_DAY_REG = 0x0E; + static constexpr uint8_t PCF85063_ALRM_WEEK_REG = 0x0F; + static constexpr uint8_t PCF85063_TIMER_VAL_REG = 0x10; + static constexpr uint8_t PCF85063_TIMER_MD_REG = 0x11; + + // Mask values + static constexpr uint8_t PCF85063_CTRL1_TEST_EN_MASK = (1 << 7u); + static constexpr uint8_t PCF85063_CTRL1_CLOCK_EN_MASK = (1 << 5u); + static constexpr uint8_t PCF85063_CTRL1_SOFTRST_EN_MASK = (1 << 4u); + static constexpr uint8_t PCF85063_CTRL1_CIE_EN_MASK = (1 << 2u); + static constexpr uint8_t PCF85063_CTRL1_HOUR_FORMAT_12H_MASK = (1 << 1u); + + // Other constants + static constexpr uint8_t PCF85063_NO_ALARM = 0xFF; + static constexpr uint8_t PCF85063_ALARM_ENABLE = 0x80; }; - - - diff --git a/lib/SensorLib/src/SensorPCF8563.hpp b/lib/SensorLib/src/SensorPCF8563.hpp index e92dede..68ff61a 100644 --- a/lib/SensorLib/src/SensorPCF8563.hpp +++ b/lib/SensorLib/src/SensorPCF8563.hpp @@ -23,84 +23,116 @@ * SOFTWARE. * * @file SensorPCF8563.hpp + * @brief PCF8563 RTC driver wrapper for SensorLib. * @author Lewis He (lewishe@outlook.com) * @date 2022-12-09 * */ #pragma once -#include "REG/PCF8563Constants.h" +#include "platform/comm/I2CDeviceNoHal.hpp" #include "SensorRTC.h" -#include "SensorPlatform.hpp" -class SensorPCF8563 : public SensorRTC, public PCF8563Constants +/** + * @class PCF8563 I2C addresses. + * @brief Unique address, cannot be changed by hardware configuration. + */ +static const uint8_t PCF8563_SLAVE_ADDRESS = 0x51; + +/** + * @class SensorPCF8563 + * @brief Driver for the PCF8563 real-time clock (RTC) over I2C. + */ +class SensorPCF8563 : public SensorRTC, public I2CDeviceNoHal { public: using SensorRTC::setDateTime; using SensorRTC::getDateTime; + using I2CDeviceNoHal::begin; + /** + * @brief Clock output frequencies for the CLKOUT pin. + */ enum ClockHz { - CLK_32768HZ, - CLK_1024HZ, - CLK_32HZ, - CLK_1HZ, - CLK_DISABLE, + CLK_32768HZ, /**< 32.768 kHz output */ + CLK_1024HZ, /**< 1.024 kHz output */ + CLK_32HZ, /**< 32 Hz output */ + CLK_1HZ, /**< 1 Hz output */ + CLK_DISABLE, /**< Disable CLKOUT */ }; - SensorPCF8563() : comm(nullptr) {} + /** + * @brief Construct a PCF8563 driver instance. + */ + SensorPCF8563() = default; - ~SensorPCF8563() - { - if (comm) { - comm->deinit(); - } - } + /** + * @brief Destructor. + * + * Deinitializes the underlying communication bus if it has been created. + */ + ~SensorPCF8563() = default; #if defined(ARDUINO) + /** + * @brief Initialize the device using Arduino TwoWire. + * + * @param wire TwoWire instance. + * @param sda SDA pin (optional, -1 keeps default). + * @param scl SCL pin (optional, -1 keeps default). + * @return true if the device responds and passes basic sanity checks. + */ bool begin(TwoWire &wire, int sda = -1, int scl = -1) { - comm = std::make_unique(wire, PCF8563_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(wire, PCF8563_SLAVE_ADDRESS, sda, scl); } #elif defined(ESP_PLATFORM) #if defined(USEING_I2C_LEGACY) + /** + * @brief Initialize the device using ESP-IDF legacy I2C driver. + * + * @param port_num I2C port number. + * @param sda SDA pin (optional, -1 keeps default). + * @param scl SCL pin (optional, -1 keeps default). + * @return true if initialization succeeds. + */ bool begin(i2c_port_t port_num, int sda = -1, int scl = -1) { - comm = std::make_unique(port_num, PCF8563_SLAVE_ADDRESS, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(port_num, PCF8563_SLAVE_ADDRESS, sda, scl); } #else + /** + * @brief Initialize the device using ESP-IDF I2C master bus handle. + * + * @param handle I2C master bus handle. + * @return true if initialization succeeds. + */ bool begin(i2c_master_bus_handle_t handle) { - comm = std::make_unique(handle, PCF8563_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(handle, PCF8563_SLAVE_ADDRESS); } -#endif //ESP_PLATFORM -#endif //ARDUINO +#endif // USEING_I2C_LEGACY +#endif // ESP_PLATFORM + /** + * @brief Initialize the device using a user-provided transport callback. + * + * @param callback Custom communication callback. + * @return true if initialization succeeds. + */ bool begin(SensorCommCustom::CustomCallback callback) { - comm = std::make_unique(callback, PCF8563_SLAVE_ADDRESS); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); + return I2CDeviceNoHal::begin(callback, PCF8563_SLAVE_ADDRESS); } + /** + * @brief Set the RTC date/time. + * + * Converts the provided datetime to BCD and writes it to the device. + * + * @param datetime Date/time to write. + */ void setDateTime(RTC_DateTime datetime) { uint8_t buffer[7]; @@ -112,81 +144,131 @@ public: buffer[5] = DEC2BCD(datetime.getMonth()); buffer[6] = DEC2BCD(datetime.getYear() % 100); + // Set century bit according to year. if ((2000 % datetime.getYear()) == 2000) { buffer[5] &= 0x7F; } else { buffer[5] |= 0x80; } - comm->writeRegister(SEC_REG, buffer, 7); + writeRegBuff(SEC_REG, buffer, 7); } + /** + * @brief Get the current RTC date/time. + * + * Reads the registers and converts the BCD values into a RTC_DateTime. + * + * @return Current date/time. + */ RTC_DateTime getDateTime() { uint8_t buffer[7]; - comm->readRegister(SEC_REG, buffer, 7); + readRegBuff(SEC_REG, buffer, 7); uint8_t second = BCD2DEC(buffer[0] & 0x7F); uint8_t minute = BCD2DEC(buffer[1] & 0x7F); uint8_t hour = BCD2DEC(buffer[2] & 0x3F); uint8_t day = BCD2DEC(buffer[3] & 0x3F); uint8_t week = BCD2DEC(buffer[4] & 0x07); uint8_t month = BCD2DEC(buffer[5] & 0x1F); - uint16_t year = BCD2DEC(buffer[6]); - //century : 0 = 1900 , 1 = 2000 - year += (buffer[5] & CENTURY_MASK) ? 1900 : 2000; + uint16_t year = BCD2DEC(buffer[6]); + + // Century: 0 = 1900, 1 = 2000. + year += (buffer[5] & CENTURY_MASK) ? 1900 : 2000; return RTC_DateTime(year, month, day, hour, minute, second, week); } - + /** + * @brief Check whether the clock integrity is guaranteed. + * + * The PCF8563 sets the VL (Voltage Low) flag when the supply voltage has + * dropped below the minimum for reliable timekeeping. + * + * @return true if the VL flag is clear; false otherwise. + */ bool isClockIntegrityGuaranteed() { - return comm->getRegisterBit(SEC_REG, 7) == 0; + return getRegBit(SEC_REG, 7) == 0; } - + /** + * @brief Read the currently configured alarm settings. + * + * @note This returns the currently stored alarm registers; it does not imply + * that the alarm is enabled. + * + * @return Alarm configuration. + */ RTC_Alarm getAlarm() { uint8_t buffer[4]; - comm->readRegister(ALRM_MIN_REG, buffer, 4); - buffer[0] = BCD2DEC(buffer[0] & 0x80); //minute - buffer[1] = BCD2DEC(buffer[1] & 0x40); //hour - buffer[2] = BCD2DEC(buffer[2] & 0x40); //day - buffer[3] = BCD2DEC(buffer[3] & 0x08); //weekday + readRegBuff(ALRM_MIN_REG, buffer, 4); + buffer[0] = BCD2DEC(buffer[0] & 0x80); // minute + buffer[1] = BCD2DEC(buffer[1] & 0x40); // hour + buffer[2] = BCD2DEC(buffer[2] & 0x40); // day + buffer[3] = BCD2DEC(buffer[3] & 0x08); // weekday // RTC_Alarm(uint8_t hour, uint8_t minute, uint8_t second, uint8_t day, uint8_t week) return RTC_Alarm(buffer[1], buffer[0], 0, buffer[2], buffer[3]); } + /** + * @brief Enable the alarm interrupt. + */ void enableAlarm() { - comm->setRegisterBit(STAT2_REG, 1); + setRegBit(STAT2_REG, 1); } + /** + * @brief Disable the alarm interrupt. + */ void disableAlarm() { - comm->clrRegisterBit(STAT2_REG, 1); + clrRegBit(STAT2_REG, 1); } + /** + * @brief Clear the alarm flag. + */ void resetAlarm() { - comm->clrRegisterBit(STAT2_REG, 3); + clrRegBit(STAT2_REG, 3); } + /** + * @brief Check whether the alarm flag is active. + * @return true if active. + */ bool isAlarmActive() { - return comm->getRegisterBit(STAT2_REG, 3); + return getRegBit(STAT2_REG, 3); } + /** + * @brief Set the alarm configuration. + * @param alarm Alarm configuration object. + */ void setAlarm(RTC_Alarm alarm) { - setAlarm( alarm.getHour(), alarm.getMinute(), alarm.getDay(), alarm.getWeek()); + setAlarm(alarm.getHour(), alarm.getMinute(), alarm.getDay(), alarm.getWeek()); } + /** + * @brief Set the alarm configuration. + * + * Any field can be disabled by passing NO_ALARM. + * + * @param hour Hour value [0..23] or NO_ALARM. + * @param minute Minute value [0..59] or NO_ALARM. + * @param day Day-of-month [1..31] or NO_ALARM (clamped to the current month). + * @param week Weekday [0..6] or NO_ALARM. + */ void setAlarm(uint8_t hour, uint8_t minute, uint8_t day, uint8_t week) { uint8_t buffer[4] = {0}; - RTC_DateTime datetime = getDateTime(); + RTC_DateTime datetime = getDateTime(); - uint8_t daysInMonth = getDaysInMonth(datetime.getMonth(), datetime.getYear()); + uint8_t daysInMonth = getDaysInMonth(datetime.getMonth(), datetime.getYear()); if (minute != NO_ALARM) { if (minute > 59) { @@ -222,92 +304,152 @@ public: } else { buffer[3] = ALARM_ENABLE; } - comm->writeRegister(ALRM_MIN_REG, buffer, 4); + writeRegBuff(ALRM_MIN_REG, buffer, 4); } + /** + * @brief Convenience API to set an alarm that matches only minutes. + * @param minute Minute value [0..59]. + */ void setAlarmByMinutes(uint8_t minute) { setAlarm(NO_ALARM, minute, NO_ALARM, NO_ALARM); } + + /** + * @brief Convenience API to set an alarm that matches only day-of-month. + * @param day Day-of-month value. + */ void setAlarmByDays(uint8_t day) { setAlarm(NO_ALARM, NO_ALARM, day, NO_ALARM); } + + /** + * @brief Convenience API to set an alarm that matches only hours. + * @param hour Hour value. + */ void setAlarmByHours(uint8_t hour) { setAlarm(hour, NO_ALARM, NO_ALARM, NO_ALARM); } + + /** + * @brief Convenience API to set an alarm that matches only weekday. + * @param week Weekday [0..6]. + */ void setAlarmByWeekDay(uint8_t week) { setAlarm(NO_ALARM, NO_ALARM, NO_ALARM, week); } + /** + * @brief Check whether the countdown timer is enabled. + * + * This checks both the timer interrupt enable (TIE) and timer enable (TE) + * bits. + * + * @return true if enabled. + */ bool isCountdownTimerEnable() { uint8_t buffer[2]; - buffer[0] = comm->readRegister(STAT2_REG); - buffer[1] = comm->readRegister(TIMER1_REG); + buffer[0] = readReg(STAT2_REG); + buffer[1] = readReg(TIMER1_REG); if (buffer[0] & TIMER_TIE) { return buffer[1] & TIMER_TE ? true : false; } return false; } + /** + * @brief Check whether the countdown timer flag is active. + * @return true if active. + */ bool isCountdownTimerActive() { - return comm->getRegisterBit(STAT2_REG, 2); + return getRegBit(STAT2_REG, 2); } + /** + * @brief Enable the countdown timer interrupt. + */ void enableCountdownTimer() { - comm->setRegisterBit(STAT2_REG, 0); + setRegBit(STAT2_REG, 0); } + /** + * @brief Disable the countdown timer interrupt. + */ void disableCountdownTimer() { - comm->clrRegisterBit(STAT2_REG, 0); + clrRegBit(STAT2_REG, 0); } + /** + * @brief Configure countdown timer. + * + * @param val Countdown value. + * @param freq Timer frequency selection (see PCF8563Constants). + */ void setCountdownTimer(uint8_t val, uint8_t freq) { uint8_t buffer[3]; - buffer[1] = comm->readRegister(TIMER1_REG); - buffer[1] |= (freq & TIMER_TD10); + buffer[1] = readReg(TIMER1_REG); + buffer[1] |= (freq & TIMER_TD10); buffer[2] = val; - comm->writeRegister(TIMER1_REG, buffer[1]); - comm->writeRegister(TIMER2_REG, buffer[2]); + writeReg(TIMER1_REG, buffer[1]); + writeReg(TIMER2_REG, buffer[2]); } + /** + * @brief Clear and disable the countdown timer. + */ void clearCountdownTimer() { uint8_t val; - val = comm->readRegister(STAT2_REG); + val = readReg(STAT2_REG); val &= ~(TIMER_TF | TIMER_TIE); val |= ALARM_AF; - comm->writeRegister(STAT2_REG, val); - comm->writeRegister(TIMER1_REG, (uint8_t)0x00); + writeReg(STAT2_REG, val); + writeReg(TIMER1_REG, (uint8_t)0x00); } + /** + * @brief Configure the clock output (CLKOUT) pin. + * @param freq Output frequency selection. + */ void setClockOutput(ClockHz freq) { if (freq == CLK_DISABLE) { - comm->clrRegisterBit(SQW_REG, 7); + clrRegBit(SQW_REG, 7); } else { - comm->writeRegister(SQW_REG, freq | CLK_ENABLE); + writeReg(SQW_REG, freq | CLK_ENABLE); } } + /** + * @brief Get the chip name string. + * @return Constant chip name string. + */ const char *getChipName() { return "PCF8563"; } private: - - bool initImpl() + /** + * @brief Common initialization routine shared by all begin() overloads. + * + * Performs a basic probe and sanity-check of the seconds register. + * + * @return true if the device responds and the register contents are sane. + */ + bool initImpl(uint8_t param) override { - //Check device is online - int ret = comm->readRegister(SEC_REG); + // Check device is online. + int ret = readReg(SEC_REG); if (ret < 0) { return false; } @@ -318,8 +460,41 @@ private: } protected: - std::unique_ptr comm; + // Register addresses + static constexpr uint8_t STAT1_REG = 0x00; + static constexpr uint8_t STAT2_REG = 0x01; + static constexpr uint8_t SEC_REG = 0x02; + static constexpr uint8_t MIN_REG = 0x03; + static constexpr uint8_t HR_REG = 0x04; + static constexpr uint8_t DAY_REG = 0x05; + static constexpr uint8_t WEEKDAY_REG = 0x06; + static constexpr uint8_t MONTH_REG = 0x07; + static constexpr uint8_t YEAR_REG = 0x08; + static constexpr uint8_t ALRM_MIN_REG = 0x09; + static constexpr uint8_t SQW_REG = 0x0D; + static constexpr uint8_t TIMER1_REG = 0x0E; + static constexpr uint8_t TIMER2_REG = 0x0F; + + // Mask values + static constexpr uint8_t VOL_LOW_MASK = 0x80; + static constexpr uint8_t MINUTES_MASK = 0x7F; + static constexpr uint8_t HOUR_MASK = 0x3F; + static constexpr uint8_t WEEKDAY_MASK = 0x07; + static constexpr uint8_t CENTURY_MASK = 0x80; + static constexpr uint8_t DAY_MASK = 0x3F; + static constexpr uint8_t MONTH_MASK = 0x1F; + static constexpr uint8_t TIMER_CTL_MASK = 0x03; + + // Alarm and Timer flags + static constexpr uint8_t ALARM_AF = 0x08; + static constexpr uint8_t TIMER_TF = 0x04; + static constexpr uint8_t ALARM_AIE = 0x02; + static constexpr uint8_t TIMER_TIE = 0x01; + static constexpr uint8_t TIMER_TE = 0x80; + static constexpr uint8_t TIMER_TD10 = 0x03; + + // Other constants + static constexpr uint8_t NO_ALARM = 0xFF; + static constexpr uint8_t ALARM_ENABLE = 0x80; + static constexpr uint8_t CLK_ENABLE = 0x80; }; - - - diff --git a/lib/SensorLib/src/SensorPlatform.hpp b/lib/SensorLib/src/SensorPlatform.hpp index d87203e..2d9cea4 100644 --- a/lib/SensorLib/src/SensorPlatform.hpp +++ b/lib/SensorLib/src/SensorPlatform.hpp @@ -33,6 +33,7 @@ #include "platform/arduino/SensorCommArduino_HW.hpp" #include "platform/arduino/SensorCommArduino_I2C.hpp" #include "platform/arduino/SensorCommArduino_SPI.hpp" +#include "platform/arduino/StreamArduinoAdapter.hpp" #elif !defined(ARDUINO) && defined(ESP_PLATFORM) #include "platform/espidf/SensorCommEspIDF_HW.hpp" #include "platform/espidf/SensorCommEspIDF_I2C.hpp" @@ -42,6 +43,7 @@ #include "platform/SensorCommCustomHal.hpp" #include "platform/SensorCommDebug.hpp" #include "platform/SensorCommStatic.hpp" +#include enum CommInterface { COMM_CUSTOM = 0, @@ -114,3 +116,15 @@ bool beginCommCustomCallback(CommInterface interface, comm->init(); return true; } + +inline void addrToBeBuf(uint32_t addr, uint8_t buf[4]) { + buf[0] = (addr >> 24) & 0xFF; + buf[1] = (addr >> 16) & 0xFF; + buf[2] = (addr >> 8) & 0xFF; + buf[3] = addr & 0xFF; +} + +inline void addrToBeBuf(uint16_t addr, uint8_t buf[2]) { + buf[0] = (addr >> 8) & 0xFF; + buf[1] = addr & 0xFF; +} diff --git a/lib/SensorLib/src/SensorQMC5883L.hpp b/lib/SensorLib/src/SensorQMC5883L.hpp new file mode 100644 index 0000000..538c7c1 --- /dev/null +++ b/lib/SensorLib/src/SensorQMC5883L.hpp @@ -0,0 +1,454 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorQMC5883L.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-20 + * + */ +#pragma once +#include "platform/comm/I2CDeviceWithHal.hpp" +#include "sensor/MagnetometerBase.hpp" + +static constexpr uint8_t QMC5883L_SLAVE_ADDRESS = 0x0D; + +class SensorQMC5883L : public MagnetometerBase , public I2CDeviceWithHal +{ +public: + + /** + * @brief Default constructor. Initializes communication and hardware abstraction pointers to nullptr. + * + * Creates a SensorQMC5883L object with no active communication or hardware + * abstraction instances. + */ + SensorQMC5883L() = default; + + /** + * @brief Destructor. Deinitializes the communication object if it exists. + * + * Ensures proper cleanup by deinitializing the communication interface + * when the sensor object is destroyed. + */ + ~SensorQMC5883L() = default; + + /** + * @brief Reads the magnetic field data from the sensor. + * @note This function retrieves the latest magnetic field measurements + * from the sensor and stores them in the provided data structure. + * @param data: A reference to a MagnetometerData structure to store the + * retrieved magnetic field data. + * @retval True if the data was read successfully, false otherwise. + */ + bool readData(MagnetometerData &data) override + { + uint8_t buffer[6] = {0}; + int16_t x = 0, y = 0, z = 0; + + int status = readReg(REG_0x06_STATUS); + if (status < 0) { + log_e("Failed to read status register"); + return false; + } + + // OVL (Overflow) + if (isBitSet(status, 1)) { + data.overflow = true; + log_e("Data overflow detected"); + } else { + data.overflow = false; + } + + // DOR (Data Skip) + if (isBitSet(status, 2)) { + log_e("Data skip detected"); + data.skip_data = true; + } else { + data.skip_data = false; + } + + // DRDY (Data Ready) + if (!isBitSet(status, 0)) { + // log_w("Data not ready"); + return false; + } + + if (readRegBuff(REG_0x00_LSB_DX, buffer, 6) < 0) { + log_e("Failed to read magnetic field data"); + return false; + } + + x = (int16_t)(buffer[1] << 8) | (buffer[0]); // Combine X LSB and MSB + y = (int16_t)(buffer[3] << 8) | (buffer[2]); // Combine Y LSB and MSB + z = (int16_t)(buffer[5] << 8) | (buffer[4]); // Combine Z LSB and MSB + + data.raw.x = x - _x_offset; + data.raw.y = y - _y_offset; + data.raw.z = z - _z_offset; + + // Convert raw values to Gauss using sensitivity (depends on selected magnetic range) + data.magnetic_field.x = (float)(data.raw.x) * _sensitivity; + data.magnetic_field.y = (float)(data.raw.y) * _sensitivity; + data.magnetic_field.z = (float)(data.raw.z) * _sensitivity; + + // Calculate heading + data.heading = MagnetometerUtils::calculateHeading(data, _declination_rad); + + // Convert heading to degrees + data.heading_degrees = data.heading * (180.0 / M_PI); + + return true; + } + + /** + * @brief Checks if new data is available from the sensor. + * @note This function reads the status register to determine if new + * magnetic field data is ready to be processed. + * @retval True if new data is available, false otherwise. + */ + bool isDataReady() override + { + return getRegBit(REG_0x06_STATUS, 0); + } + + /** + * @brief Checks if data overflow has occurred. + * @note This function reads the status register to determine if + * the magnetic field data has overflowed. + * @retval True if data overflow has occurred, false otherwise. + */ + bool isDataOverflow() + { + return getRegBit(REG_0x06_STATUS, 1); + } + + /** + * @brief Checks if data has been skipped. + * @note This function reads the status register to determine if + * the magnetic field data has been skipped. + * @retval True if data has been skipped, false otherwise. + */ + bool isDataSkipped() + { + return getRegBit(REG_0x06_STATUS, 2); + } + + /** + * @brief Resets the sensor to its default state. + * @note This function sends a reset command to the sensor and waits + * for a short period to allow the reset to take effect. + * @retval True if the reset command was successful, false otherwise. + */ + bool reset() override + { + writeReg(REG_0x0A_CMD2, 0x80); + hal->delay(10); + writeReg(REG_0x0A_CMD2, 0x00); + return true; + } + + /** + * @brief QMC5883L does not support self-test checks. + * @note This function is a placeholder and does not perform any actual self-test. + * @retval Always return True. + */ + bool selfTest() override + { + log_e("QMC5883L not self-test function"); + return true; + } + + /** + * @brief Sets the full-scale range of the magnetometer. + * @note This function configures the magnetometer to operate within a + * specific range, affecting the sensitivity and maximum measurable + * magnetic field strength. + * @param range: FS_2G, FS_8G + * @retval True if the range was set successfully, false otherwise. + */ + bool setFullScaleRange(MagFullScaleRange range) override + { + float full_scale = 0; + float sensitivity = 0.0f; + uint8_t range_value = 0; + switch (range) { + case MagFullScaleRange::FS_8G: + sensitivity = 0.00033333f; // 3000 LSB/Gauss + range_value = 0x01 << 4; + full_scale = 8.0f; + break; + case MagFullScaleRange::FS_2G: + sensitivity = 0.00008333f; // 12000 LSB/Gauss + range_value = 0x00 << 4; + full_scale = 2.0f; + break; + default: + log_e("Invalid magnetometer range"); + return false; + } + if (updateBits(REG_0x09_CMD1, 0x30, range_value) > 0) { + log_e("Failed to set full scale range"); + return false; + } + _config.range = full_scale; + _sensitivity = sensitivity; + return true; + } + + /** + * @brief Sets the bandwidth of the magnetometer. + * @note This function configures the magnetometer's bandwidth, affecting + * the trade-off between noise and response time. + * @param data_rate_hz: The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + * @retval True if the bandwidth was set successfully, false otherwise. + */ + bool setOutputDataRate(float data_rate_hz) override + { + int rangeInt = static_cast(data_rate_hz * 100 + 0.5); + log_d("Input: %.2f, Integer: %d\n", data_rate_hz, rangeInt); + uint8_t regValue = 0; + switch (rangeInt) { + case 1000: // 10.0 + regValue = 0x00 << 2; + break; + case 5000: // 50.0 + regValue = 0x01 << 2; + break; + case 10000: // 100.0 + regValue = 0x02 << 2; + break; + case 20000: // 200.0 + regValue = 0x03 << 2; + break; + default: + log_e("Invalid output data rate"); + return false; + } + if (updateBits(REG_0x09_CMD1, 0x0C, regValue) < 0) { + log_e("Failed to set bandwidth"); + return false; + } + _config.sample_rate = data_rate_hz; + return true; + } + + /** + * @brief Sets the operation mode of the magnetometer. + * @note This function configures the magnetometer to operate in a specific + * mode, affecting its power consumption and measurement behavior. + * @param mode: SUSPEND, NORMAL, CONTINUOUS_MEASUREMENT + * @retval True if the mode was set successfully, false otherwise. + */ + bool setOperationMode(OperationMode mode) override + { + uint8_t mode_val = 0; + switch (mode) { + case OperationMode::SUSPEND: + mode_val = 0x00; + break; + case OperationMode::NORMAL: + case OperationMode::CONTINUOUS_MEASUREMENT: + mode_val = 0x01; + break; + default: + log_e("Invalid operation mode"); + return false; + } + if (updateBits(REG_0x09_CMD1, 0x03, mode_val) < 0) { + log_e("Failed to set operation mode"); + return false; + } + _config.mode = mode; + return true; + } + + /** + * @brief Sets the oversampling rate of the magnetometer. + * @note This function configures the magnetometer's oversampling rate, + * affecting the trade-off between noise and measurement speed. + * @param osr: OSR_8, OSR_4, OSR_2, OSR_1 + * @retval True if the oversampling rate was set successfully, false otherwise. + */ + bool setOversamplingRate(MagOverSampleRatio osr) override + { + uint8_t osr_val = 0; + switch (osr) { + // 512 + case MagOverSampleRatio::OSR_8: + osr_val = 0x00 << 6; + _oversampling_rate = 512; + break; + // 256 + case MagOverSampleRatio::OSR_4: + osr_val = 0x01 << 6; + _oversampling_rate = 256; + break; + // 128 + case MagOverSampleRatio::OSR_2: + osr_val = 0x02 << 6; + _oversampling_rate = 128; + break; + // 64 + case MagOverSampleRatio::OSR_1: + osr_val = 0x03 << 6; + _oversampling_rate = 64; + break; + default: + log_e("Invalid oversampling rate"); + return false; + } + return updateBits(REG_0x09_CMD1, 0xC0, osr_val) == 0; + } + + /** + * @brief QM5883L does not support downsampling. + * @note This function is a placeholder and does not perform any action. + * @retval always false. + */ + bool setDownsamplingRate(MagDownSampleRatio dsr) override + { + log_e("QSTMagnetic does not support downsampling"); + return false; + } + + /** + * @todo The actual test result was 0, which may be due to a chip problem. + * @brief Gets the temperature reading from the sensor. + * @note This function retrieves the temperature data from the sensor. + * @param &temperature: The temperature value in degrees Celsius. + * @param &raw_temp: The raw temperature value from the sensor. + * @retval True if the temperature was read successfully, false otherwise. + */ + bool getTemperature(float &temperature, int16_t &raw_temp) + { + uint8_t buffer[2] = {0}; + + if (readRegBuff(REG_0x07_TOUT_LOW, buffer, 2) < 0) { + log_e("Failed to read temperature registers"); + return false; + } + raw_temp = (int16_t)((buffer[1] << 8) | buffer[0]); + // 100 LSB/°C + temperature = (float)raw_temp / 100.0f; + //TODO: The actual test result was 0, which may be due to a chip problem. + return true; + } + + /** + * @brief Gets the chip ID of the magnetometer. + * @note This function retrieves the chip ID from the sensor. + * @retval The chip ID. + */ + uint8_t getChipID() const + { + return _info.uid; + } + + /** + * @brief Configures the magnetometer with multiple parameters. + * @note This function sets the operation mode, full-scale range, output data rate, + * oversampling ratio, and downsampling ratio of the magnetometer. + * @param mode: SUSPEND, NORMAL, CONTINUOUS_MEASUREMENT + * @param range: FS_2G, FS_8G + * @param data_rate_hz: The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + * @param osr: OSR_8, OSR_4, OSR_2, OSR_1 + * @param dsr: Placeholder parameters, meaningless + * @retval True if the configuration was successful, false otherwise. + */ + bool configMagnetometer(OperationMode mode, MagFullScaleRange range, float data_rate_hz, + MagOverSampleRatio osr, MagDownSampleRatio dsr = MagDownSampleRatio::DSR_1) override + { + if (!setOperationMode(mode)) { + log_e("Failed to set operation mode"); + return false; + } + if (!setFullScaleRange(range)) { + log_e("Failed to set full scale range"); + return false; + } + if (!setOutputDataRate(data_rate_hz)) { + log_e("Failed to set bandwidth"); + return false; + } + if (!setOversamplingRate(osr)) { + log_e("Failed to set oversampling rate"); + return false; + } + return true; + } + +private: + + static constexpr uint8_t REG_0x00_LSB_DX = 0x00; + static constexpr uint8_t REG_0x01_MSB_DX = 0x01; + static constexpr uint8_t REG_0x02_LSB_DY = 0x02; + static constexpr uint8_t REG_0x03_MSB_DY = 0x03; + static constexpr uint8_t REG_0x04_LSB_DZ = 0x04; + static constexpr uint8_t REG_0x05_MSB_DZ = 0x05; + static constexpr uint8_t REG_0x06_STATUS = 0x06; + static constexpr uint8_t REG_0x07_TOUT_LOW = 0x07; + static constexpr uint8_t REG_0x08_TOUT_HIGH = 0x08; + static constexpr uint8_t REG_0x09_CMD1 = 0x09; + static constexpr uint8_t REG_0x0A_CMD2 = 0x0A; + static constexpr uint8_t REG_0x0B_CMD3 = 0x0B; + static constexpr uint8_t REG_0x0D_CHIP_ID = 0x0D; + static constexpr uint8_t QMC5883L_CHIP_ID = 0xFF; + + bool initImpl(uint8_t param) override + { + reset(); + + hal->delay(20); + + // SET/RESET Period is controlled by FBR [7:0]. + // It is recommended that the register 0BH is written by 0x01. + uint8_t set_reset_period = 0x01; + if (writeReg(REG_0x0B_CMD3, set_reset_period) < 0) { + log_e("Failed to set SET/RESET period"); + return false; + } + _info.uid = readReg(REG_0x0D_CHIP_ID); + _info.manufacturer = "QSTMagnetic"; + _info.model = "QMC5883L"; + _info.type = SensorType::MAGNETOMETER; + _info.i2c_address = _addr; + _info.version = 1; // Set a default version + + + // Set default configuration + configMagnetometer(OperationMode::SUSPEND, + MagFullScaleRange::FS_8G, + 50.0f, + MagOverSampleRatio::OSR_8); + + _config.mode = OperationMode::SUSPEND; + _config.range = 2.0f; + _config.sample_rate = 50.0f; + _config.latency = 0; + _config.type = SensorType::MAGNETOMETER; + + return _info.uid == QMC5883L_CHIP_ID; + } + +}; diff --git a/lib/SensorLib/src/REG/CSTxxxConstants.h b/lib/SensorLib/src/SensorQMC5883P.hpp similarity index 82% rename from lib/SensorLib/src/REG/CSTxxxConstants.h rename to lib/SensorLib/src/SensorQMC5883P.hpp index c3b7c22..2a6add0 100644 --- a/lib/SensorLib/src/REG/CSTxxxConstants.h +++ b/lib/SensorLib/src/SensorQMC5883P.hpp @@ -22,22 +22,16 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. * - * @file CSTxxxConstants.h + * @file SensorQMC5883P.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-24 + * @date 2022-10-16 * */ - #pragma once +#include "SensorQSTMagnetic.hpp" - -// #define CST816S_CHIP_ID (0xB4) -// #define CST816T_CHIP_ID (0xB5) -// #define CST716_CHIP_ID (0x20) -// #define CST226SE_CHIP_ID (0xA8) - - - - - +/** + * @brief Typedef to create an alias for SensorQSTMagnetic specifically for QMC5883P compatibility. + */ +typedef SensorQSTMagnetic SensorQMC5883P; diff --git a/lib/SensorLib/src/SensorQMC6309.hpp b/lib/SensorLib/src/SensorQMC6309.hpp new file mode 100644 index 0000000..ae41a1b --- /dev/null +++ b/lib/SensorLib/src/SensorQMC6309.hpp @@ -0,0 +1,574 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorQMC6309.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-20 + * + */ +#pragma once + +#include "platform/comm/I2CDeviceWithHal.hpp" +#include "sensor/MagnetometerBase.hpp" + +static constexpr uint8_t QMC6309_SLAVE_ADDRESS = (0x7C); + +class SensorQMC6309 : public MagnetometerBase, public I2CDeviceWithHal +{ +public: + + enum class MagSetResetMode { + SET_AND_RESET_ON, + SET_ONLY_ON, + SET_AND_RESET_OFF + }; + + /** + * @brief Default constructor. Initializes communication and hardware abstraction pointers to nullptr. + * + * Creates a SensorQMC6309 object with no active communication or hardware + * abstraction instances. + */ + SensorQMC6309() = default; + + /** + * @brief Destructor. Deinitializes the communication object if it exists. + * + * Ensures proper cleanup by deinitializing the communication interface + * when the sensor object is destroyed. + */ + ~SensorQMC6309() = default; + + /** + * @brief Reads the magnetic field data from the sensor. + * @note This function retrieves the latest magnetic field measurements + * from the sensor and stores them in the provided data structure. + * @param data: A reference to a MagnetometerData structure to store the + * retrieved magnetic field data. + * @retval True if the data was read successfully, false otherwise. + */ + bool readData(MagnetometerData &data) override + { + uint8_t buffer[6] = {0}; + + int status = readReg(REG_0x09_STAT); + if (status < 0) { + log_e("Failed to read status register"); + return false; + } + + // OVL (Overflow) + if (isBitSet(status, 1)) { + data.overflow = true; + log_w("Data overflow detected"); + } else { + data.overflow = false; + } + + // DRDY (Data Ready) + if (!isBitSet(status, 0)) { + // log_e("Data not ready"); + return false; + } + + if (readRegBuff(REG_0x01_LSB_DX, buffer, sizeof(buffer)) < 0) { + log_e("Failed to read magnetic field data"); + return false; + } + data.raw.x = (int16_t)(buffer[1] << 8) | (buffer[0]); // Combine X LSB and MSB + data.raw.y = (int16_t)(buffer[3] << 8) | (buffer[2]); // Combine Y LSB and MSB + data.raw.z = (int16_t)(buffer[5] << 8) | (buffer[4]); // Combine Z LSB and MSB + + data.raw.x -= _x_offset; + data.raw.y -= _y_offset; + data.raw.z -= _z_offset; + + // Convert raw values to Gauss using sensitivity (depends on selected magnetic range) + data.magnetic_field.x = (float)(data.raw.x) * _sensitivity; + data.magnetic_field.y = (float)(data.raw.y) * _sensitivity; + data.magnetic_field.z = (float)(data.raw.z) * _sensitivity; + + // Calculate heading + data.heading = MagnetometerUtils::calculateHeading(data, _declination_rad); + + // Convert heading to degrees + data.heading_degrees = data.heading * (180.0 / M_PI); + + return true; + } + + /** + * @brief Checks if new data is available from the sensor. + * @note This function reads the status register to determine if new + * magnetic field data is ready to be processed. + * @retval True if new data is available, false otherwise. + */ + bool isDataReady() override + { + return getRegBit(REG_0x09_STAT, 0); + } + + /** + * @brief Checks if data overflow has occurred. + * @note This function reads the status register to determine if + * the magnetic field data has overflowed. + * @retval True if data overflow has occurred, false otherwise. + */ + bool isDataOverflow() + { + return getRegBit(REG_0x09_STAT, 1); + } + + /** + * @brief Checks if the NVM is ready for access. + * @note This function reads the status register to determine if + * the NVM is ready. + * @retval True if the NVM is ready, false otherwise. + */ + bool isNVMReady() + { + return getRegBit(REG_0x09_STAT, 3); + } + + /** + * @brief Checks if the NVM load is complete. + * @note This function reads the status register to determine if + * the NVM load is complete. + * @retval True if the NVM load is complete, false otherwise. + */ + bool isNVMLoadDone() + { + return getRegBit(REG_0x09_STAT, 4); + } + + /** + * @brief Resets the sensor to its default state. + * @note This function sends a reset command to the sensor and waits + * for a short period to allow the reset to take effect. + * @retval True if the reset command was successful, false otherwise. + */ + bool reset() override + { + if (updateBits(REG_0x0B_CMD2, 0x80, 0x80) < 0) { + log_e("Failed to set soft reset"); + return false; + } + hal->delay(10); + if (updateBits(REG_0x0B_CMD2, 0x80, 0x00) < 0) { + log_e("Failed to clear soft reset"); + return false; + } + return true; + } + + /** + * @brief Checks if the sensor is functioning correctly. + * @note This function performs a self-test by comparing the + * magnetic field readings before and after enabling self-test mode. + * @retval True if the self-test passed, false otherwise. + */ + bool selfTest() override + { + int16_t x_result = 0, y_result = 0, z_result = 0; + return selfTest(x_result, y_result, z_result); + } + + /** + * @brief Performs a self-test on the sensor. + * @param &x_result: Self-test X-axis value from register 0x13 + * @param &y_result: Self-test Y-axis value from register 0x14 + * @param &z_result: Self-test Z-axis value from register 0x15 + * @retval True if the self-test passed, false otherwise. + */ + bool selfTest(int16_t &x_result, int16_t &y_result, int16_t &z_result) + { + if (!setOperationMode(OperationMode::SUSPEND)) { + log_e("Failed to set SUSPEND mode for selfTest"); + return false; + } + + if (!setOperationMode(OperationMode::CONTINUOUS_MEASUREMENT)) { + log_e("Failed to set CONTINUOUS_MEASUREMENT for selfTest"); + return false; + } + + hal->delay(20); + + writeReg(REG_0x0E_SELFTEST_CTRL, MASK_SOFT_RST); + + hal->delay(1); + + if (!getRegBit(REG_0x09_STAT, 2)) { + log_e("Self-test not ready (ST_RDY bit is 0)"); + return false; + } + + uint8_t x_test = readReg(REG_0x13_SELFTEST_X); + uint8_t y_test = readReg(REG_0x14_SELFTEST_Y); + uint8_t z_test = readReg(REG_0x15_SELFTEST_Z); + + x_result = (int8_t)x_test; + y_result = (int8_t)y_test; + z_result = (int8_t)z_test; + + setOperationMode(OperationMode::SUSPEND); + + bool x_ok = (x_result >= -50 && x_result <= -1); + bool y_ok = (y_result >= -50 && y_result <= -1); + bool z_ok = (z_result >= -50 && z_result <= -1); + + if (!x_ok || !y_ok || !z_ok) { + log_w("Self-test data out of range: X=%d, Y=%d, Z=%d (expected -50 to -1)", + x_result, y_result, z_result); + } + + return x_ok && y_ok && z_ok; + } + + /** + * @brief Sets the full-scale range of the magnetometer. + * @note This function configures the magnetometer to operate within a + * specific range, affecting the sensitivity and maximum measurable + * magnetic field strength. + * @param range: FS_8G, FS_16G, FS_32G + * @retval True if the range was set successfully, false otherwise. + */ + bool setFullScaleRange(MagFullScaleRange range) override + { + float full_scale = 0.0f; + float sensitivity = 0.0f; + uint8_t range_value = 0; + switch (range) { + case MagFullScaleRange::FS_32G: + sensitivity = 0.001f; // 1000 LSB/Gauss + range_value = 0x00 << 2; + full_scale = 32.0f; + break; + case MagFullScaleRange::FS_16G: + sensitivity = 0.0005f; // 2000 LSB/Gauss + range_value = 0x01 << 2; + full_scale = 16.0f; + break; + case MagFullScaleRange::FS_8G: + sensitivity = 0.00025f; // 4000 LSB/Gauss + range_value = 0x02 << 2; + full_scale = 8.0f; + break; + default: + log_e("Invalid magnetometer range."); + return false; + } + + if (updateBits(REG_0x0B_CMD2, 0x0C, range_value) < 0) { + log_e("Failed to set full scale range."); + return false; + } + _sensitivity = sensitivity; + _config.range = full_scale; + return true; + } + + /** + * @brief Sets the output data rate for the magnetometer. + * @note This function should be called to configure the sensor's output data rate. + * @param data_rate_hz: The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + * @retval True if the output data rate was set successfully, false otherwise. + */ + bool setOutputDataRate(float data_rate_hz) override + { + int rangeInt = static_cast(data_rate_hz * 100 + 0.5); + log_d("Input: %.2f, Integer: %d\n", data_rate_hz, rangeInt); + uint8_t regValue = 0; + switch (rangeInt) { + case 100: // 1.0 + regValue = 0x00 << 4; + break; + case 1000: // 10.0 + regValue = 0x01 << 4; + break; + case 5000: // 50.0 + regValue = 0x02 << 4; + break; + case 10000: // 100.0 + regValue = 0x03 << 4; + break; + case 20000: // 200.0 + regValue = 0x04 << 4; + break; + default: + log_e("Invalid output data rate"); + return false; + } + if (updateBits(REG_0x0A_CMD1, 0x70, regValue) < 0) { + log_e("Failed to set bandwidth"); + return false; + } + _config.sample_rate = data_rate_hz; + return true; + } + + /** + * @brief Sets the operation mode of the magnetometer. + * @note This function configures the magnetometer to operate in a specific + * mode, affecting its power consumption and measurement behavior. + * @param mode: SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + * @retval True if the mode was set successfully, false otherwise. + */ + bool setOperationMode(OperationMode mode) override + { + uint8_t mode_val = 0x00; + switch (mode) { + case OperationMode::SUSPEND: + mode_val = 0x00; + break; + case OperationMode::NORMAL: + mode_val = 0x01; + break; + case OperationMode::SINGLE_MEASUREMENT: + mode_val = 0x02; + break; + case OperationMode::CONTINUOUS_MEASUREMENT: + mode_val = 0x03; + break; + default: + log_e("Invalid operation mode"); + return false; + } + if (updateBits(REG_0x0A_CMD1, 0x03, mode_val) < 0) { + log_e("Failed to set operation mode"); + return false; + } + _config.mode = mode; + return true; + } + + /** + * @brief Sets the oversampling rate of the magnetometer. + * @note This function configures the magnetometer's oversampling rate, + * affecting the trade-off between noise and measurement speed. + * @param osr: OSR_8, OSR_4, OSR_2, OSR_1 + * @retval True if the oversampling rate was set successfully, false otherwise. + */ + bool setOversamplingRate(MagOverSampleRatio osr) override + { + uint8_t osr_val = 0x00; + switch (osr) { + case MagOverSampleRatio::OSR_8: + osr_val = 0x00 << 3; + _oversampling_rate = 8; + break; + case MagOverSampleRatio::OSR_4: + osr_val = 0x01 << 3; + _oversampling_rate = 4; + break; + case MagOverSampleRatio::OSR_2: + osr_val = 0x02 << 3; + _oversampling_rate = 2; + break; + case MagOverSampleRatio::OSR_1: + osr_val = 0x03 << 3; + _oversampling_rate = 1; + break; + default: + log_e("Invalid oversampling rate"); + return false; + } + return updateBits(REG_0x0A_CMD1, 0x18, osr_val) == 0; + } + + /** + * @brief Sets the downsampling rate of the magnetometer. + * @retval True if the downsampling rate was set successfully, false otherwise. + */ + bool setDownsamplingRate(MagDownSampleRatio dsr) override + { + log_e("QMC6309 does not support downsampling rate setting"); + return false; + } + + /** + * @brief Sets the low-pass filter of the magnetometer. + * @note This function configures the magnetometer's low-pass filter, + * affecting the trade-off between noise and measurement speed. + * @param lpf: LPF_1, LPF_2, LPF_4, LPF_8, LPF_16 + * @retval True if the low-pass filter was set successfully, false otherwise. + */ + bool setLowPassFilter(MagLowPassFilter lpf) + { + uint8_t lpf_val = 0x00; + switch (lpf) { + case MagLowPassFilter::LPF_1: + lpf_val = 0x00 << 5; + break; + case MagLowPassFilter::LPF_2: + lpf_val = 0x01 << 5; + break; + case MagLowPassFilter::LPF_4: + lpf_val = 0x02 << 5; + break; + case MagLowPassFilter::LPF_8: + lpf_val = 0x03 << 5; + break; + case MagLowPassFilter::LPF_16: + lpf_val = 0x04 << 5; + break; + default: + log_e("Invalid low-pass filter"); + return false; + } + return updateBits(REG_0x0A_CMD1, 0xE0, lpf_val) == 0; + } + + /** + * @brief Gets the chip ID of the magnetometer. + * @note This function retrieves the chip ID from the sensor. + * @retval The chip ID. + */ + uint8_t getChipID() const + { + return _info.uid; + } + + /** + * @brief Configures the magnetometer with multiple parameters. + * @note QMC6309 supports oversampling rate (OSR) settings. + * @param mode: SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + * @param range: FS_8G, FS_16G, FS_32G + * @param data_rate_hz: Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ. + * @param osr: OSR_8, OSR_4, OSR_2, OSR_1 + * @param dsr: QMC6309 does not support downsampling rate settings; this parameter is ignored. + * @retval True if the configuration was successful, false otherwise. + */ + bool configMagnetometer(OperationMode mode, MagFullScaleRange range, float data_rate_hz, + MagOverSampleRatio osr, MagDownSampleRatio dsr = MagDownSampleRatio::DSR_1) override + { + if (!setOperationMode(mode)) { + return false; + } + if (!setFullScaleRange(range)) { + return false; + } + if (!setOutputDataRate(data_rate_hz)) { + return false; + } + if (!setOversamplingRate(osr)) { + return false; + } + return true; + } + + /** + * @brief Sets the set/reset mode of the magnetometer. + * @note According to datasheet section 9.2.4, there are 3 modes: + * - SET_AND_RESET_ON: Both set and reset enabled (default) + * - SET_ONLY_ON: Only set enabled + * - SET_AND_RESET_OFF: Both disabled + * Note: Value 0b10 is reserved. + * @param mode: The desired set/reset mode. + * @retval True if the mode was set successfully, false otherwise. + */ + bool setSetResetMode(MagSetResetMode mode) + { + uint8_t sr_val = 0x00; + switch (mode) { + case MagSetResetMode::SET_AND_RESET_ON: + sr_val = 0x00; + break; + case MagSetResetMode::SET_ONLY_ON: + sr_val = 0x01; + break; + case MagSetResetMode::SET_AND_RESET_OFF: + sr_val = 0x03; + break; + default: + log_e("Invalid set/reset mode"); + return false; + } + return updateBits(REG_0x0B_CMD2, 0x03, sr_val) == 0; + } + +private: + + static constexpr uint8_t QMC6309_CHIP_ID = 0x90; + static constexpr uint8_t REG_0x00_CHIP_ID = 0x00; + static constexpr uint8_t REG_0x01_LSB_DX = 0x01; + static constexpr uint8_t REG_0x02_MSB_DX = 0x02; + static constexpr uint8_t REG_0x03_LSB_DY = 0x03; + static constexpr uint8_t REG_0x04_MSB_DY = 0x04; + static constexpr uint8_t REG_0x05_LSB_DZ = 0x05; + static constexpr uint8_t REG_0x06_MSB_DZ = 0x06; + static constexpr uint8_t REG_0x09_STAT = 0x09; + static constexpr uint8_t REG_0x0A_CMD1 = 0x0A; + static constexpr uint8_t REG_0x0B_CMD2 = 0x0B; + static constexpr uint8_t REG_0x29_SIGN = 0x29; + + static constexpr uint8_t REG_0x0E_SELFTEST_CTRL = 0x0E; // Self-test control register + static constexpr uint8_t REG_0x13_SELFTEST_X = 0x13; // Self-test X-axis data register + static constexpr uint8_t REG_0x14_SELFTEST_Y = 0x14; // Self-test Y-axis data register + static constexpr uint8_t REG_0x15_SELFTEST_Z = 0x15; // Self-test Z-axis data register + + static constexpr uint8_t MASK_DRDY = 0x01; + static constexpr uint8_t MASK_OVFL = 0x02; + static constexpr uint8_t MASK_ST_RDY = 0x04; + static constexpr uint8_t MASK_NVM_RDY = 0x08; + static constexpr uint8_t MASK_NVM_LOAD_DONE = 0x10; + static constexpr uint8_t MASK_SOFT_RST = 0x80; + static constexpr uint8_t MASK_ODR = 0x70; + static constexpr uint8_t MASK_RNG = 0x0C; + static constexpr uint8_t MASK_SET_RESET_MODE = 0x03; + + bool initImpl(uint8_t param) override + { + reset(); + + hal->delay(20); + + _info.uid = readReg(REG_0x00_CHIP_ID); + _info.manufacturer = "QSTMagnetic"; + _info.type = SensorType::MAGNETOMETER; + _info.model = "QMC6309"; + _info.i2c_address = _addr; + _info.version = 1; // Set a default version + + + // Set default configuration + configMagnetometer(OperationMode::SUSPEND, + MagFullScaleRange::FS_8G, + 50.0f, + MagOverSampleRatio::OSR_8); + + _config.mode = OperationMode::SUSPEND; + _config.range = 8.0f; + _config.sample_rate = 50.0f; + _config.latency = 0; + _config.type = SensorType::MAGNETOMETER; + + if (_info.uid != QMC6309_CHIP_ID) { + log_e("Unsupported chip ID"); + return false; + } + + return true; + } +}; diff --git a/lib/SensorLib/src/SensorQMI8658.hpp b/lib/SensorLib/src/SensorQMI8658.hpp index e93015e..ed3d4df 100644 --- a/lib/SensorLib/src/SensorQMI8658.hpp +++ b/lib/SensorLib/src/SensorQMI8658.hpp @@ -29,8 +29,10 @@ */ #pragma once -#include "REG/QMI8658Constants.h" -#include "SensorPlatform.hpp" +#include "platform/comm/ComplexStaticDeviceWithHal.hpp" + +static constexpr uint8_t QMI8658_L_SLAVE_ADDRESS = (0x6B); +static constexpr uint8_t QMI8658_H_SLAVE_ADDRESS = (0x6A); typedef struct { float x; @@ -38,99 +40,98 @@ typedef struct { float z; } IMUdata; -class SensorQMI8658 : public QMI8658Constants +class SensorQMI8658 : public ComplexStaticDeviceWithHal { public: - typedef void (*EventCallBack_t)(void); enum AccelRange { - ACC_RANGE_2G, - ACC_RANGE_4G, - ACC_RANGE_8G, - ACC_RANGE_16G + ACC_RANGE_2G, // ±2g + ACC_RANGE_4G, // ±4g + ACC_RANGE_8G, // ±8g + ACC_RANGE_16G // ±16g }; enum GyroRange { - GYR_RANGE_16DPS, - GYR_RANGE_32DPS, - GYR_RANGE_64DPS, - GYR_RANGE_128DPS, - GYR_RANGE_256DPS, - GYR_RANGE_512DPS, - GYR_RANGE_1024DPS, + GYR_RANGE_16DPS, // 16 degrees per second + GYR_RANGE_32DPS, // 32 degrees per second + GYR_RANGE_64DPS, // 64 degrees per second + GYR_RANGE_128DPS, // 128 degrees per second + GYR_RANGE_256DPS, // 256 degrees per second + GYR_RANGE_512DPS, // 512 degrees per second + GYR_RANGE_1024DPS, // 1024 degrees per second }; // In 6DOF mode (accelerometer and gyroscope are both enabled), // the output data rate is derived from the nature frequency of gyroscope enum AccelODR { - ACC_ODR_1000Hz = 3, - ACC_ODR_500Hz, - ACC_ODR_250Hz, - ACC_ODR_125Hz, - ACC_ODR_62_5Hz, - ACC_ODR_31_25Hz, - ACC_ODR_LOWPOWER_128Hz = 12, //The accelerometer low power mode is only available when the gyroscope is disabled - ACC_ODR_LOWPOWER_21Hz, //The accelerometer low power mode is only available when the gyroscope is disabled - ACC_ODR_LOWPOWER_11Hz, //The accelerometer low power mode is only available when the gyroscope is disabled - ACC_ODR_LOWPOWER_3Hz //The accelerometer low power mode is only available when the gyroscope is disabled + ACC_ODR_1000Hz = 3, // 1000 Hz + ACC_ODR_500Hz, // 500 Hz + ACC_ODR_250Hz, // 250 Hz + ACC_ODR_125Hz, // 125 Hz + ACC_ODR_62_5Hz, // 62.5 Hz + ACC_ODR_31_25Hz, // 31.25 Hz + ACC_ODR_LOWPOWER_128Hz = 12, // The accelerometer low power mode is only available when the gyroscope is disabled + ACC_ODR_LOWPOWER_21Hz, // The accelerometer low power mode is only available when the gyroscope is disabled + ACC_ODR_LOWPOWER_11Hz, // The accelerometer low power mode is only available when the gyroscope is disabled + ACC_ODR_LOWPOWER_3Hz // The accelerometer low power mode is only available when the gyroscope is disabled }; enum GyroODR { - GYR_ODR_7174_4Hz, - GYR_ODR_3587_2Hz, - GYR_ODR_1793_6Hz, - GYR_ODR_896_8Hz, - GYR_ODR_448_4Hz, - GYR_ODR_224_2Hz, - GYR_ODR_112_1Hz, - GYR_ODR_56_05Hz, - GYR_ODR_28_025Hz + GYR_ODR_7174_4Hz, // 7174.4 Hz + GYR_ODR_3587_2Hz, // 3587.2 Hz + GYR_ODR_1793_6Hz, // 1793.6 Hz + GYR_ODR_896_8Hz, // 896.8 Hz + GYR_ODR_448_4Hz, // 448.4 Hz + GYR_ODR_224_2Hz, // 224.2 Hz + GYR_ODR_112_1Hz, // 112.1 Hz + GYR_ODR_56_05Hz, // 56.05 Hz + GYR_ODR_28_025Hz // 28.025 Hz }; enum TapEvent { - INVALID_TAP, - SINGLE_TAP, - DOUBLE_TAP, + INVALID_TAP, // Invalid tap event + SINGLE_TAP, // Single tap event + DOUBLE_TAP, // Double tap event }; //Low-Pass Filter. enum LpfMode { - LPF_MODE_0, //2.66% of ODR - LPF_MODE_1, //3.63% of ODR - LPF_MODE_2, //5.39% of ODR - LPF_MODE_3, //13.37% of ODR + LPF_MODE_0, //2.66% of output data rate + LPF_MODE_1, //3.63% of output data rate + LPF_MODE_2, //5.39% of output data rate + LPF_MODE_3, //13.37% of output data rate LPF_OFF, //OFF Low-Pass Filter }; enum MotionEvent { - MOTION_TAP, - MOTION_ANT_MOTION, - MOTION_NO_MOTION, - MOTION_SIGNIFICANT, - MOTION_PEDOMETER, + MOTION_TAP, // Tap motion detected + MOTION_ANT_MOTION, // Any motion detected + MOTION_NO_MOTION, // No motion detected + MOTION_SIGNIFICANT, // Significant motion detected + MOTION_PEDOMETER, // Pedometer motion detected }; enum IntPin { - INTERRUPT_PIN_1, - INTERRUPT_PIN_2, - INTERRUPT_PIN_DISABLE + INTERRUPT_PIN_1, // Interrupt pin 1 + INTERRUPT_PIN_2, // Interrupt pin 2 + INTERRUPT_PIN_DISABLE // Disable interrupt }; enum FIFO_Samples { - FIFO_SAMPLES_16, - FIFO_SAMPLES_32, - FIFO_SAMPLES_64, - FIFO_SAMPLES_128, - } ; + FIFO_SAMPLES_16, // Configure the FIFO watermark level to 16 samples. + FIFO_SAMPLES_32, // Configure the FIFO watermark level to 32 samples. + FIFO_SAMPLES_64, // Configure the FIFO watermark level to 64 samples. + FIFO_SAMPLES_128, // Configure the FIFO watermark level to 128 samples. + }; enum FIFO_Mode { - // Configure the FIFO_MODE to ‘Bypass’ (0) mode, will disable the FIFO functionality. + // Configure the FIFO_MODE to Bypass (0) mode, will disable the FIFO functionality. FIFO_MODE_BYPASS, - // In ‘FIFO’ mode, once FIFO is full, + // In FIFO mode, once FIFO is full, // the data filling will stop and new data will be discarded until host reads out the FIFO data and release the space for new data to be written to. FIFO_MODE_FIFO, - // In ‘Stream’ mode, once FIFO is full, + // In Stream mode, once FIFO is full, // the data filling will continue and the oldest data will be discarded, // until host reads out the FIFO data and release the space for new data to be written to FIFO_MODE_STREAM, @@ -208,90 +209,44 @@ public: NO_MOTION_LOGIC_OR = _BV(7), }; - SensorQMI8658() : comm(nullptr), hal(nullptr) {} + /** + * @brief Constructor for SensorQMI8658. + * @note This function initializes the SensorQMI8658 object. + * @retval None + */ + SensorQMI8658() = default; + /** + * @brief Destructor for SensorQMI8658. + * @note This function cleans up the resources used by the SensorQMI8658 object. + * @retval None + */ ~SensorQMI8658() { - if (comm) { - comm->deinit(); - } if (fifo_buffer) { free(fifo_buffer); fifo_buffer = NULL; } } -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = QMI8658_L_SLAVE_ADDRESS, int sda = -1, int scl = -1) + /** + * @brief Set sensor interrupt pins + * @note This function sets the interrupt pins for the sensor. + * @param _irq: Interrupt pin number + * @retval None + */ + void setPins(int _irq) { - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); - } - - bool begin(SPIClass &spi, uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1) - { - if (!beginCommon(comm, hal, spi, csPin, mosi, miso, sck)) { - return false; - } - return initImpl(); - } - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = QMI8658_L_SLAVE_ADDRESS, int sda = -1, int scl = -1) - { - hal = std::make_unique(); - if (!hal) { - return false; - } - comm = std::make_unique(port_num, addr, sda, scl); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = QMI8658_L_SLAVE_ADDRESS) - { - hal = std::make_unique(); - if (!hal) { - return false; - } - comm = std::make_unique(handle, addr); - if (!comm) { - return false; - } - comm->init(); - return initImpl(); - } -#endif //ESP_PLATFORM - - - bool begin(spi_host_device_t host, spi_device_handle_t handle, uint8_t csPin, int mosi, int miso, int sck) - { - if (!beginCommon(comm, hal, - host, handle, csPin, mosi, miso, sck)) { - return false; - } - return initImpl(); - } -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = QMI8658_L_SLAVE_ADDRESS) - { - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); + this->_irq = _irq; } + /** + * @brief Reset the sensor + * @note Call this function to reset the sensor to its default state + * @param waitResult: True to wait for the reset result, false to return immediately + * @param timeout: Timeout duration in milliseconds + * @retval true on success, false on failure + */ bool reset(bool waitResult = true, uint32_t timeout = 500) { int val = 0; // initialize with some value to avoid compilation errors @@ -320,16 +275,30 @@ public: return true; } + /** + * @brief Get the chip ID + * @retval Chip ID + */ uint8_t getChipID() { return comm->readRegister(QMI8658_REG_REVISION); } + /** + * @brief Get the WHO_AM_I register value + * @note This register is used to identify the device + * @retval WHO_AM_I register value + */ int whoAmI() { return comm->readRegister(QMI8658_REG_WHOAMI); } + /** + * @brief Get the timestamp + * @note This timestamp is generated by the sensor + * @retval Timestamp value + */ uint32_t getTimestamp() { uint8_t buffer[3]; @@ -346,7 +315,10 @@ public: return lastTimestamp; } - + /** + * @brief Get the temperature in degree Celsius + * @retval Temperature value in degree Celsius + */ float getTemperature_C() { uint8_t buffer[2]; @@ -356,6 +328,11 @@ public: return NAN; } + /** + * @brief Enable or disable the interrupt + * @param pin: Interrupt pin to enable/disable,see IntPin enum + * @param enable: True to enable, false to disable + */ void enableINT(IntPin pin, bool enable = true) { switch (pin) { @@ -372,20 +349,34 @@ public: } } + /** + * @brief Get the IRQ status + * @note This status indicates which interrupt has occurred + * @retval IRQ status register value + */ uint8_t getIrqStatus() { return comm->readRegister(QMI8658_REG_STATUS_INT); } - + /** + * @brief Enable or disable the Data Ready interrupt + * @param enable: True to enable, false to disable + */ void enableDataReadyINT(bool enable = true) { enable ? comm->clrRegisterBit(QMI8658_REG_CTRL7, 5) : comm->setRegisterBit(QMI8658_REG_CTRL7, 5); } - - int configAccelerometer(AccelRange range, AccelODR odr, LpfMode lpfOdr = LPF_MODE_0) + /** + * @brief Configure the accelerometer + * @param range: Accelerometer range setting + * @param odr: Accelerometer output data rate setting + * @param lpfOdr: Accelerometer low-pass filter setting + * @retval true on success, false on failure + */ + bool configAccelerometer(AccelRange range, AccelODR odr, LpfMode lpfOdr = LPF_MODE_0) { bool en = isEnableAccelerometer(); @@ -395,7 +386,7 @@ public: //setAccelRange if (comm->writeRegister(QMI8658_REG_CTRL2, 0x8F, (range << 4)) != 0) { - return -1; + return false; } switch (range) { @@ -403,21 +394,29 @@ public: // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). // Here's a bit of an algorithm to calculate DPS/(ADC tick) based on that // 2-bit value: - case ACC_RANGE_2G: accelScales = 2.0 / 32768.0; break; - case ACC_RANGE_4G: accelScales = 4.0 / 32768.0; break; - case ACC_RANGE_8G: accelScales = 8.0 / 32768.0; break; - case ACC_RANGE_16G: accelScales = 16.0 / 32768.0; break; + case ACC_RANGE_2G: + accelScales = 2.0 / 32768.0; + break; + case ACC_RANGE_4G: + accelScales = 4.0 / 32768.0; + break; + case ACC_RANGE_8G: + accelScales = 8.0 / 32768.0; + break; + case ACC_RANGE_16G: + accelScales = 16.0 / 32768.0; + break; } // setAccelOutputDataRate if (comm->writeRegister(QMI8658_REG_CTRL2, 0xF0, odr) != 0) { - return -1; + return false; } if (lpfOdr != LPF_OFF) { // setAccelLowPassFitterOdr if (comm->writeRegister(QMI8658_REG_CTRL5, QMI8658_ACCEL_LPF_MASK, (lpfOdr << 1)) != 0) { - return -1; + return false; } // Enable Low-Pass Fitter comm->setRegisterBit(QMI8658_REG_CTRL5, 0); @@ -433,11 +432,19 @@ public: enableAccelerometer(); } - return 0; + return true; } - int configGyroscope(GyroRange range, GyroODR odr, LpfMode lpfOdr = LPF_MODE_0) + /** + * @brief Configure the gyroscope + * @note Call this function to configure the gyroscope settings + * @param range: Gyroscope range setting + * @param odr: Gyroscope output data rate setting + * @param lpfOdr: Gyroscope low-pass filter setting + * @retval true on success, false on failure + */ + bool configGyroscope(GyroRange range, GyroODR odr, LpfMode lpfOdr = LPF_MODE_0) { bool en = isEnableGyroscope(); @@ -447,7 +454,7 @@ public: // setGyroRange if (comm->writeRegister(QMI8658_REG_CTRL3, 0x8F, (range << 4)) != 0) { - return -1; + return false; } switch (range) { @@ -455,24 +462,38 @@ public: // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). // Here's a bit of an algorithm to calculate DPS/(ADC tick) based on that // 2-bit value: - case GYR_RANGE_16DPS: gyroScales = 16.0 / 32768.0; break; - case GYR_RANGE_32DPS: gyroScales = 32.0 / 32768.0; break; - case GYR_RANGE_64DPS: gyroScales = 64.0 / 32768.0; break; - case GYR_RANGE_128DPS: gyroScales = 128.0 / 32768.0; break; - case GYR_RANGE_256DPS: gyroScales = 256.0 / 32768.0; break; - case GYR_RANGE_512DPS: gyroScales = 512.0 / 32768.0; break; - case GYR_RANGE_1024DPS: gyroScales = 1024.0 / 32768.0; break; + case GYR_RANGE_16DPS: + gyroScales = 16.0 / 32768.0; + break; + case GYR_RANGE_32DPS: + gyroScales = 32.0 / 32768.0; + break; + case GYR_RANGE_64DPS: + gyroScales = 64.0 / 32768.0; + break; + case GYR_RANGE_128DPS: + gyroScales = 128.0 / 32768.0; + break; + case GYR_RANGE_256DPS: + gyroScales = 256.0 / 32768.0; + break; + case GYR_RANGE_512DPS: + gyroScales = 512.0 / 32768.0; + break; + case GYR_RANGE_1024DPS: + gyroScales = 1024.0 / 32768.0; + break; } // setGyroOutputDataRate if (comm->writeRegister(QMI8658_REG_CTRL3, 0xF0, odr) != 0) { - return -1; + return false; } // setGyroLowPassFitterOdr if (lpfOdr != LPF_OFF) { if (comm->writeRegister(QMI8658_REG_CTRL5, QMI8658_GYRO_LPF_MASK, (lpfOdr << 5)) != 0) { - return -1; + return false; } // Enable Low-Pass Fitter comm->setRegisterBit(QMI8658_REG_CTRL5, 4); @@ -488,14 +509,20 @@ public: enableGyroscope(); } - return 0; + return true; } - - int configFIFO(FIFO_Mode mode, - FIFO_Samples samples = FIFO_SAMPLES_16, - IntPin pin = INTERRUPT_PIN_DISABLE, //Disable interrupt mode - uint8_t trigger_samples = 16) + /** + * @brief Configure the FIFO + * @note Call this function to configure FIFO before using readFromFifo function + * @param mode: FIFO mode setting + * @param samples: Number of samples to store in FIFO + * @param pin: Interrupt pin to output FIFO watermark interrupt, see IntPin enum + * @param trigger_samples: Number of samples to trigger FIFO watermark interrupt + * @retval true on success, false on failure + */ + bool configFIFO(FIFO_Mode mode, FIFO_Samples samples = FIFO_SAMPLES_16, + IntPin pin = INTERRUPT_PIN_DISABLE, uint8_t trigger_samples = 16) { bool enGyro = isEnableGyroscope(); bool enAccel = isEnableAccelerometer(); @@ -511,7 +538,7 @@ public: // Reset FIFO configure if (writeCommand(CTRL_CMD_RST_FIFO) != 0) { log_e("Reset fifo failed!"); - return -1; + return false; } _fifo_interrupt = true; @@ -534,7 +561,7 @@ public: // Set fifo mode and samples len _fifo_mode = (samples << 2) | mode; if (comm->writeRegister(QMI8658_REG_FIFO_CTRL, _fifo_mode) == -1) { - return -1; + return false; } /* @@ -542,7 +569,7 @@ public: * The unit is sample, which means 6 bytes if one of accelerometer and gyroscope is enabled, and 12 bytes if both are enabled. * */ if (comm->writeRegister(QMI8658_REG_FIFO_WTM_TH, trigger_samples ) == -1) { - return -1; + return false; } if (enGyro) { @@ -573,9 +600,18 @@ public: log_d("16 samples."); } - return 0; + return true; } + /** + * @brief readFromFifo + * @note Read the data in the FIFO buffer. configFIFO should be called before use. + * @param acc: Pointer to store accelerometer data + * @param accLength: Length of the accelerometer data array + * @param gyro: Pointer to store gyroscope data + * @param gyrLength: Length of the gyroscope data array + * @retval Number of samples read per sensor + */ uint16_t readFromFifo(IMUdata *acc, uint16_t accLength, IMUdata *gyro, uint16_t gyrLength) { if (_fifo_mode == FIFO_MODE_BYPASS) { @@ -608,7 +644,7 @@ public: uint16_t gyro_index = 0; for (uint16_t i = 0; i < total_samples; ++i) { - auto data = reinterpret_cast(&fifo_buffer[i * 6]); + auto data = reinterpret_cast < int16_t * > (&fifo_buffer[i * 6]); int16_t x = data[0]; int16_t y = data[1]; int16_t z = data[2]; @@ -650,122 +686,11 @@ public: return samples_per_sensor; } - -private: - - uint16_t getFifoNeedBytes() - { - uint8_t sam[] = {16, 32, 64, 128}; - uint8_t sensors = 0; - if (_gyro_enabled && _accel_enabled) { - sensors = 2; - } else if (_gyro_enabled || _accel_enabled) { - sensors = 1; - } - uint8_t samples = ((_fifo_mode >> 2) & 0x03) ; - return sam[samples] * 6 * sensors; - } - /** - * @brief readFromFifo - * @note Read the data in the FIFO buffer. configFIFO should be called before use. - * @retval Returns the size of the element read + * @brief Enable the accelerometer + * @note This function will enable the accelerometer + * @retval true on success, false on failure */ - uint16_t readFromFifo() - { - uint8_t status[2]; - uint16_t fifo_bytes = 0; - - if ((_irq != -1) && _fifo_interrupt) { - /* - * Once the corresponds INT pin is configured to the push-pull mode, the FIFO watermark interrupt can be seen on the - * corresponds INT pin. It will keep high level as long as the FIFO filled level is equal to or higher than the watermark, will - * drop to low level as long as the FIFO filled level is lower than the configured FIFO watermark after reading out by host - * and FIFO_RD_MODE is cleared. - */ - if (hal->digitalRead(_irq) == LOW) { - return false; - } - } - - size_t alloc_size = getFifoNeedBytes(); - if (!fifo_buffer) { - fifo_buffer = (uint8_t *)calloc(alloc_size, sizeof(uint8_t)); - if (!fifo_buffer) { - log_e("Calloc buffer size %u bytes failed!", alloc_size); - return 0; - } - _fifo_size = alloc_size; - - } else if (alloc_size > _fifo_size) { - fifo_buffer = (uint8_t *)realloc(fifo_buffer, alloc_size); - if (!fifo_buffer) { - log_e("Realloc buffer size %u bytes failed!", alloc_size); - return 0; - } - } - - // 1.Got FIFO watermark interrupt by INT pin or polling the FIFO_STATUS register (FIFO_WTM and/or FIFO_FULL). - int val = comm->readRegister(QMI8658_REG_FIFO_STATUS); - if (val == -1) { - return 0; - } - log_d("FIFO status:0x%x", val); - - if (!(val & _BV(4))) { - log_d("FIFO is Empty"); - return 0; - } - if (val & _BV(5)) { - log_d("FIFO Overflow condition has happened (data dropping happened)"); - // return 0; - } - if (val & _BV(6)) { - log_d("FIFO Water Mark Level Hit"); - } - if (val & _BV(7)) { - log_d("FIFO is Full"); - } - - // 2.Read the FIFO_SMPL_CNT and FIFO_STATUS registers, to calculate the level of FIFO content data, refer to 8.4 FIFO Sample Count. - if (comm->readRegister(QMI8658_REG_FIFO_COUNT, status, 2) == -1) { - log_e("Bus communication failed!"); - return 0; - } - - // FIFO_Sample_Count (in byte) = 2 * (fifo_smpl_cnt_msb[1:0] * 256 + fifo_smpl_cnt_lsb[7:0]) - fifo_bytes = 2 * (((status[1] & 0x03)) << 8 | status[0]); - - log_d("reg fifo_bytes:%d ", fifo_bytes); - - //Samples 16 * 6 * 2 = 192 - //Samples 32 * 6 * 2 = 384 - //Samples 64 * 6 * 2 = 768 - //Samples 128 * 6 * 2 = 1536 - - // 3.Send CTRL_CMD_REQ_FIFO (0x05) by CTRL9 command, to enable FIFO read mode. Refer to CTRL_CMD_REQ_FIFO for details. - if (writeCommand(CTRL_CMD_REQ_FIFO) != 0) { - log_e("Request FIFO failed!"); - return 0; - } - // 4.Read from the FIFO_DATA register per FIFO_Sample_Count. - if (comm->readRegister(QMI8658_REG_FIFO_DATA, fifo_buffer, fifo_bytes) == -1) { - log_e("Request FIFO data failed !"); - return 0; - } - - // 5.Disable the FIFO Read Mode by setting FIFO_CTRL.FIFO_rd_mode to 0. New data will be filled into FIFO afterwards. - if (comm->writeRegister(QMI8658_REG_FIFO_CTRL, _fifo_mode) == -1) { - log_e("Clear FIFO flag failed!"); - return 0; - } - - return fifo_bytes; - } - -public: - - bool enableAccelerometer() { if (comm->setRegisterBit(QMI8658_REG_CTRL7, 0)) { @@ -774,6 +699,11 @@ public: return _accel_enabled; } + /** + * @brief Disable the accelerometer + * @note This function will disable the accelerometer + * @retval true on success, false on failure + */ bool disableAccelerometer() { if (comm->clrRegisterBit(QMI8658_REG_CTRL7, 0)) { @@ -783,16 +713,31 @@ public: return false; } + /** + * @brief Check if the accelerometer is enabled + * @note This function will check if the accelerometer is enabled + * @retval true if enabled, false otherwise + */ bool isEnableAccelerometer() { return _accel_enabled; } + /** + * @brief Check if the gyroscope is enabled + * @note This function will check if the gyroscope is enabled + * @retval true if enabled, false otherwise + */ bool isEnableGyroscope() { return _gyro_enabled; } + /** + * @brief Enable the gyroscope + * @note This function will enable the gyroscope + * @retval true on success, false on failure + */ bool enableGyroscope() { if (comm->setRegisterBit(QMI8658_REG_CTRL7, 1)) { @@ -801,6 +746,11 @@ public: return _gyro_enabled; } + /** + * @brief Disable the gyroscope + * @note This function will disable the gyroscope + * @retval true on success, false on failure + */ bool disableGyroscope() { if (comm->clrRegisterBit(QMI8658_REG_CTRL7, 1)) { @@ -810,6 +760,12 @@ public: return false; } + /** + * @brief Get the raw accelerometer data + * @note This function will read the raw accelerometer data from the sensor + * @param *rawBuffer: Pointer to the buffer to store the raw data + * @retval true on success, false on failure + */ bool getAccelRaw(int16_t *rawBuffer) { if (!_accel_enabled) { @@ -826,6 +782,14 @@ public: return true; } + /** + * @brief Get the accelerometer data + * @note This function will read the accelerometer data from the sensor + * @param &x: accelerometer X-axis data + * @param &y: accelerometer Y-axis data + * @param &z: accelerometer Z-axis data + * @retval true on success, false on failure + */ bool getAccelerometer(float &x, float &y, float &z) { if (!_accel_enabled) { @@ -841,16 +805,32 @@ public: return false; } + /** + * @brief Get the accelerometer scales + * @note This function will return the current accelerometer scales + * @retval The current accelerometer scales + */ float getAccelerometerScales() { return accelScales; } + /** + * @brief Get the gyroscope scales + * @note This function will return the current gyroscope scales + * @retval The current gyroscope scales + */ float getGyroscopeScales() { return gyroScales; } + /** + * @brief Get the raw gyroscope data + * @note This function will read the raw gyroscope data from the sensor + * @param *rawBuffer: Pointer to the buffer to store the raw data + * @retval true on success, false on failure + */ bool getGyroRaw(int16_t *rawBuffer) { if (!_gyro_enabled) { @@ -867,7 +847,15 @@ public: return true; } - int getGyroscope(float &x, float &y, float &z) + /** + * @brief Get the raw gyroscope data + * @note This function will read the raw gyroscope data from the sensor + * @param &x: Reference to the variable to store the X-axis data + * @param &y: Reference to the variable to store the Y-axis data + * @param &z: Reference to the variable to store the Z-axis data + * @retval true on success, false on failure + */ + bool getGyroscope(float &x, float &y, float &z) { if (!_gyro_enabled) { return false; @@ -882,6 +870,11 @@ public: return false; } + /** + * @brief Check if new data is available + * @note This function will check the status register to see if new data is available + * @retval true if new data is available, false otherwise + */ bool getDataReady() { if ((_irq_enable_mask & 0x03) && (_irq != -1)) { @@ -895,7 +888,7 @@ public: return comm->getRegisterBit(QMI8658_REG_STATUS_INT, 1); case ASYNC_MODE: //TODO: When Accel and Gyro are configured with different rates, this will always be false - if (_accel_enabled & _gyro_enabled) { + if (_accel_enabled && _gyro_enabled) { return comm->readRegister(QMI8658_REG_STATUS0) & 0x03; } else if (_gyro_enabled) { return comm->readRegister(QMI8658_REG_STATUS0) & 0x02; @@ -909,37 +902,61 @@ public: return false; } - int enableSyncSampleMode() + /** + * @brief Enable the synchronous sample mode + * @note This function will enable the synchronous sample mode for the sensor + * @retval true on success, false on failure + */ + bool enableSyncSampleMode() { sampleMode = SYNC_MODE; return comm->setRegisterBit(QMI8658_REG_CTRL7, 7); } - int disableSyncSampleMode() + /** + * @brief Disable the synchronous sample mode + * @note This function will disable the synchronous sample mode for the sensor + * @retval true on success, false on failure + */ + bool disableSyncSampleMode() { sampleMode = ASYNC_MODE; return comm->clrRegisterBit(QMI8658_REG_CTRL7, 7); } - int enableLockingMechanism() + /** + * @brief Enable the locking mechanism + * @note This function will enable the locking mechanism for the sensor + * @retval true on success, false on failure + */ + bool enableLockingMechanism() { enableSyncSampleMode(); if (comm->writeRegister(QMI8658_REG_CAL1_L, 0x01) != 0) { - return -1; + return false; } - return writeCommand(CTRL_CMD_AHB_CLOCK_GATING); - + return writeCommand(CTRL_CMD_AHB_CLOCK_GATING) == 0; } - int disableLockingMechanism() + /** + * @brief Disable the locking mechanism + * @note This function will disable the locking mechanism for the sensor + * @retval true on success, false on failure + */ + bool disableLockingMechanism() { disableSyncSampleMode(); if (comm->writeRegister(QMI8658_REG_CAL1_L, (uint8_t)0x00) != 0) { return -1; } - return writeCommand(CTRL_CMD_AHB_CLOCK_GATING); + return writeCommand(CTRL_CMD_AHB_CLOCK_GATING) == 0; } + /** + * @brief Dump the control register values + * @note This function will read and log the values of the control registers + * @retval None + */ void dumpCtrlRegister() { uint8_t buffer[9]; @@ -952,6 +969,11 @@ public: log_d("FIFO_CTRL: REG:0x%02X HEX:0x%02X\n", QMI8658_REG_FIFO_CTRL, buffer[0]); } + /** + * @brief Power down the sensor + * @note This function will disable the accelerometer and gyroscope + * @retval None + */ void powerDown() { disableAccelerometer(); @@ -959,16 +981,32 @@ public: comm->setRegisterBit(QMI8658_REG_CTRL1, 1); } + + /** + * @brief Power on the sensor + * @note This function will enable the accelerometer and gyroscope + * @retval None + */ void powerOn() { comm->clrRegisterBit(QMI8658_REG_CTRL1, 1); } + /** + * @brief Get the Pedometer counter + * @note This function will return the current Pedometer step count + * @retval Pedometer step count + */ int getStatusRegister() { return comm->readRegister(QMI8658_REG_STATUS1); } + /** + * @brief Config activity interrupt pin mapping + * @param pin: Interrupt pin to map activity interrupt, see IntPin enum + * @retval true on success, false on failure + */ int configActivityInterruptMap(IntPin pin) { return pin == INTERRUPT_PIN_1 ? comm->setRegisterBit(QMI8658_REG_CTRL8, 6) @@ -1003,9 +1041,9 @@ public: * E.g., ped_sig_count = 4, every 4 valid steps is detected, update the registers once (added by 4). * @retval */ - int configPedometer(uint16_t ped_sample_cnt, uint16_t ped_fix_peak2peak, uint16_t ped_fix_peak, - uint16_t ped_time_up, uint8_t ped_time_low = 0x14, uint8_t ped_time_cnt_entry = 0x0A, uint8_t ped_fix_precision = 0x00, - uint8_t ped_sig_count = 0x04) + bool configPedometer(uint16_t ped_sample_cnt, uint16_t ped_fix_peak2peak, uint16_t ped_fix_peak, + uint16_t ped_time_up, uint8_t ped_time_low = 0x14, uint8_t ped_time_cnt_entry = 0x0A, uint8_t ped_fix_precision = 0x00, + uint8_t ped_sig_count = 0x04) { // The Pedometer can only work in Non-SyncSample mode disableSyncSampleMode(); @@ -1050,9 +1088,14 @@ public: if (enAccel) { enableAccelerometer(); } - return 0; + return true; } + /** + * @brief Get the Pedometer counter + * @note This function will return the current Pedometer step count + * @retval Pedometer step count + */ uint32_t getPedometerCounter() { uint8_t buffer[3]; @@ -1062,12 +1105,22 @@ public: return 0; } - int clearPedometerCounter() + /** + * @brief Clear the Pedometer counter + * @note This function will reset the Pedometer step count to zero + * @retval True on success, false on failure + */ + bool clearPedometerCounter() { - return writeCommand(CTRL_CMD_RESET_PEDOMETER); + return writeCommand(CTRL_CMD_RESET_PEDOMETER) == 0; } - // The Pedometer can only work in Non-SyncSample mode + /** + * @brief enablePedometer + * @note Enable the Pedometer function , pedometer can only work in Non-SyncSample mode + * @param pin: Interrupt pin to output Pedometer interrupt, see IntPin enum + * @retval true on success, false on failure + */ bool enablePedometer(IntPin pin = INTERRUPT_PIN_DISABLE) { if (!_accel_enabled)return false; @@ -1123,12 +1176,14 @@ public: Linear Acceleration for quiet status. E.g., 0.4g2 * @retval */ - int configTap(uint8_t priority, uint8_t peakWindow, uint16_t tapWindow, uint16_t dTapWindow, - float alpha, float gamma, float peakMagThr, float UDMThr) + bool configTap(uint8_t priority, uint8_t peakWindow, uint16_t tapWindow, uint16_t dTapWindow, + float alpha, float gamma, float peakMagThr, float UDMThr) { // The Tap detection can only work in Non-SyncSample mode - disableSyncSampleMode(); + if (!disableSyncSampleMode()) { + return false; + } bool enGyro = isEnableGyroscope(); bool enAccel = isEnableAccelerometer(); @@ -1186,10 +1241,16 @@ public: enableAccelerometer(); } - return 0; + return true; } - bool enableTap(IntPin pin = INTERRUPT_PIN_DISABLE) + /** + * @brief Enable tap detection + * @note The Tap Detection can only work in Non-SyncSample mode + * @param pin: Interrupt Pin( 1 or 2 ) ,default is INTERRUPT_PIN_1 + * @retval True if successful, false otherwise + */ + bool enableTap(IntPin pin = INTERRUPT_PIN_1) { if (!_accel_enabled)return false; switch (pin) { @@ -1204,11 +1265,21 @@ public: return comm->setRegisterBit(QMI8658_REG_CTRL8, 0); } + /** + * @brief Disable tap detection + * @note This function disables tap detection and the associated interrupt + * @retval True if successful, false otherwise + */ bool disableTap() { return comm->clrRegisterBit(QMI8658_REG_CTRL8, 0); } + /** + * @brief Get the current tap status + * @note This function reads the tap status register and returns the tap event + * @retval The current tap event + */ TapEvent getTapStatus() { int val = comm->readRegister(QMI8658_REG_TAP_STATUS); @@ -1253,7 +1324,7 @@ public: //TODO:Need Test - int configMotion( + bool configMotion( //* See enum MotionCtrl uint8_t modeCtrl, //* Define the slope threshold of the x-axis for arbitrary motion detection @@ -1282,7 +1353,9 @@ public: uint16_t SigMotionConfirmWindow) { // Only work in Non-SyncSample mode - disableSyncSampleMode(); + if (!disableSyncSampleMode()) { + return false; + } bool enGyro = isEnableGyroscope(); bool enAccel = isEnableAccelerometer(); @@ -1324,10 +1397,16 @@ public: if (enAccel) { enableAccelerometer(); } - return 0; + return true; } - bool enableMotionDetect(IntPin pin = INTERRUPT_PIN_DISABLE) + /** + * @brief Enable motion detection + * @note The Motion Detection can only work in Non-SyncSample mode + * @param pin: Interrupt Pin( 1 or 2 ) ,default use pin1 + * @retval True if successful, false otherwise + */ + bool enableMotionDetect(IntPin pin = INTERRUPT_PIN_1) { if (!_accel_enabled)return false; switch (pin) { @@ -1345,6 +1424,11 @@ public: return true; } + /** + * @brief Disable motion detection + * @note This function disables motion detection and the associated interrupt + * @retval True if successful, false otherwise + */ bool disableMotionDetect() { comm->clrRegisterBit(QMI8658_REG_CTRL8, 1); @@ -1369,39 +1453,40 @@ public: * (in number of accelerometer samples), the * number of consecutive samples that will be ignored after * enabling the WoM, to screen out unwanted fake detection - * @retval + * @param accRange: Accelerometer Range ,default ±8g + * @retval True if successful, false otherwise */ - int configWakeOnMotion(uint8_t WoMThreshold = 200, - AccelODR odr = ACC_ODR_LOWPOWER_128Hz, - IntPin pin = INTERRUPT_PIN_2, - uint8_t defaultPinValue = 1, - uint8_t blankingTime = 0x20 - ) + bool configWakeOnMotion(uint8_t WoMThreshold = 200, + AccelODR odr = ACC_ODR_LOWPOWER_128Hz, + IntPin pin = INTERRUPT_PIN_2, + uint8_t defaultPinValue = 1, + uint8_t blankingTime = 0x20, + AccelRange accRange = ACC_RANGE_8G) { uint8_t val = 0; - //Reset default value + // Reset default value if (!reset()) { - return -1; + return false; } // Disable sensors comm->clrRegisterBit(QMI8658_REG_CTRL7, 0); - //setAccelRange - if (comm->writeRegister(QMI8658_REG_CTRL2, 0x8F, (ACC_RANGE_8G << 4)) != 0) { - return -1; + // SetAccelRange + if (comm->writeRegister(QMI8658_REG_CTRL2, 0x8F, (accRange << 4)) != 0) { + return false; } // setAccelOutputDataRate if (comm->writeRegister(QMI8658_REG_CTRL2, 0xF0, odr) != 0) { - return -1; + return false; } - //set wom + // Set wom if (comm->writeRegister(QMI8658_REG_CAL1_L, WoMThreshold) != 0) { - return -1; + return false; } if ( pin == INTERRUPT_PIN_1) { @@ -1413,22 +1498,27 @@ public: val <<= 6; val |= (blankingTime & 0x3F); if (comm->writeRegister(QMI8658_REG_CAL1_H, val) != 0) { - return -1; + return false; } if (writeCommand(CTRL_CMD_WRITE_WOM_SETTING) != 0) { - return -1; + return false; } enableAccelerometer(); enableINT(pin); - return 0; + return true; } - + /** + * @brief Get Sensor chip USID + * @param *buffer: Input buffer to store the USID , must be uint8_t[6] + * @param length: Length of the buffer , must be less than or equal to 6 + * @retval None + */ void getChipUsid(uint8_t *buffer, uint8_t length) { if (length > 6) { @@ -1438,15 +1528,20 @@ public: } + /** + * @brief Get Sensor chip firmware version + * @note This function retrieves the firmware version of the sensor chip + * @retval Firmware version number + */ uint32_t getChipFirmwareVersion() { return revisionID; } /** - * @brief update - * @note Get the interrupt status and status 0, status 1 of the sensor - * @retval Return SensorStatus + * @brief Update sensor status + * @note This function updates the sensor status by reading the interrupt status and status registers + * @retval Updated sensor status */ uint16_t update() { @@ -1606,6 +1701,14 @@ public: } + /** + * @brief Set Gyroscope calibration gains + * @note This function sets the calibration gains for the gyroscope + * @param *gX_gain: Pointer to the gain value for the X axis + * @param *gY_gain: Pointer to the gain value for the Y axis + * @param *gZ_gain: Pointer to the gain value for the Z axis + * @retval True if successful, false otherwise + */ bool calibration(uint16_t *gX_gain = NULL, uint16_t *gY_gain = NULL, uint16_t *gZ_gain = NULL) { // 1.Set CTRL7.aEN = 0 and CTRL7.gEN = 0, to disable the accelerometer and gyroscope. @@ -1676,6 +1779,14 @@ public: } + /** + * @brief Write Gyroscope calibration gains + * @note This function writes the calibration gains for the gyroscope + * @param gX_gain: Gain value for the X axis + * @param gY_gain: Gain value for the Y axis + * @param gZ_gain: Gain value for the Z axis + * @retval True if successful, false otherwise + */ bool writeCalibration(uint16_t gX_gain, uint16_t gY_gain, uint16_t gZ_gain) { // 1. Disable Accelerometer and Gyroscope by setting CTRL7.aEN = 0 and CTRL7.gEN = 0 @@ -1684,7 +1795,6 @@ public: } uint8_t buffer[] = { - // 2. write Gyro-X gain (16 bits) to registers CAL1_L and CAL1_H registers (0x0B, 0x0C) lowByte(gX_gain), highByte(gX_gain), @@ -1706,7 +1816,11 @@ public: return true; } - + /** + * @brief Perform self-test on the accelerometer + * @note This function triggers a self-test on the accelerometer and checks the results + * @retval True if self-test passed, false otherwise + */ bool selfTestAccel() { // 1- Disable the sensors (CTRL7 = 0x00). @@ -1788,6 +1902,11 @@ public: } + /** + * @brief Perform self-test on the gyroscope + * @note This function triggers a self-test on the gyroscope and checks the results + * @retval True if self-test passed, false otherwise + */ bool selfTestGyro() { // 1- Disable the sensors (CTRL7 = 0x00). @@ -1795,7 +1914,7 @@ public: return false; } - // 2- Set the bit gST to 1. (CTRL3.bit7 = 1’b1). + // 2- Set the bit gST to 1. (CTRL3.bit7 = 1"b1). comm->setRegisterBit(QMI8658_REG_CTRL3, 7); // 3- Wait for QMI8658A to drive INT2 to High, if INT2 is enabled, or STATUS_INT.bit0 is set to 1. @@ -1864,11 +1983,17 @@ public: return true; } - // This offset change is lost when the sensor is power cycled, or the system is reset - // Each delta offset value should contain 16 bits and the format is signed 11.5 (5 fraction bits, unit is 1 / 2^5). + /** + * @brief Write accelerometer calibration offsets + * @note This function writes the calibration offsets for the accelerometer , + * this offset change is lost when the sensor is power cycled, or the system is reset + * @param offset_x: Offset value for the X axis + * @param offset_y: Offset value for the Y axis + * @param offset_z: Offset value for the Z axis + * @retval None + */ void setAccelOffset(int16_t offset_x, int16_t offset_y, int16_t offset_z) { - uint8_t data[6]; data[0] = lowByte(offset_x); data[1] = highByte(offset_x); @@ -1876,19 +2001,23 @@ public: data[3] = highByte(offset_y); data[4] = lowByte(offset_z); data[5] = highByte(offset_z); - comm->writeRegister(QMI8658_REG_CAL1_L, data, 2); comm->writeRegister(QMI8658_REG_CAL2_L, data + 2, 2); comm->writeRegister(QMI8658_REG_CAL3_L, data + 4, 2); - writeCommand(CTRL_CMD_ACCEL_HOST_DELTA_OFFSET); } - // This offset change is lost when the sensor is power cycled, or the system is reset - // Each delta offset value should contain 16 bits and the format is signed 11.5 (5 fraction bits, unit is 1 / 2^5). + /** + * @brief Write gyroscope calibration offsets + * @note This function writes the calibration offsets for the gyroscope, + * this offset change is lost when the sensor is power cycled, or the system is reset + * @param offset_x: Offset value for the X axis + * @param offset_y: Offset value for the Y axis + * @param offset_z: Offset value for the Z axis + * @retval None + */ void setGyroOffset(int16_t offset_x, int16_t offset_y, int16_t offset_z) { - uint8_t data[6]; data[0] = lowByte(offset_x); data[1] = highByte(offset_x); @@ -1896,48 +2025,138 @@ public: data[3] = highByte(offset_y); data[4] = lowByte(offset_z); data[5] = highByte(offset_z); - comm->writeRegister(QMI8658_REG_CAL1_L, data, 2); comm->writeRegister(QMI8658_REG_CAL2_L, data + 2, 2); comm->writeRegister(QMI8658_REG_CAL3_L, data + 4, 2); - writeCommand(CTRL_CMD_GYRO_HOST_DELTA_OFFSET); - - } - - void setPins(int _irq) - { - _irq = _irq; } private: - float accelScales, gyroScales; - uint32_t lastTimestamp = 0; - uint8_t sampleMode = ASYNC_MODE; - bool _accel_enabled = false; - bool _gyro_enabled = false; - uint32_t revisionID; - uint8_t usid[6]; - bool _gDataReady = false; - bool _aDataReady = false; - int _irq = -1; - uint8_t _irq_enable_mask = false; - uint8_t _fifo_mode; - bool _fifo_interrupt = false;; - uint8_t *fifo_buffer = NULL; - uint16_t _fifo_size = 0; - EventCallBack_t eventWomEvent = NULL; - EventCallBack_t eventTagEvent = NULL; - EventCallBack_t eventPedometerEvent = NULL; - EventCallBack_t eventNoMotionEvent = NULL; - EventCallBack_t eventAnyMotionEvent = NULL; - EventCallBack_t eventSignificantMotion = NULL; - EventCallBack_t eventGyroDataReady = NULL; - EventCallBack_t eventAccelDataReady = NULL; - EventCallBack_t eventDataLocking = NULL; + /** + * @brief Get the number of bytes needed for the FIFO buffer + * @note This function will calculate the required FIFO buffer size based on the current configuration. + * @retval The number of bytes needed for the FIFO buffer + */ + uint16_t getFifoNeedBytes() + { + uint8_t sam[] = {16, 32, 64, 128}; + uint8_t sensors = 0; + if (_gyro_enabled && _accel_enabled) { + sensors = 2; + } else if (_gyro_enabled || _accel_enabled) { + sensors = 1; + } + uint8_t samples = ((_fifo_mode >> 2) & 0x03) ; + return sam[samples] * 6 * sensors; + } + /** + * @brief Get sensor data from FIFO buffer + * @note This function will parse the FIFO buffer and extract accelerometer and gyroscope data,call configFIFO() first. + * @retval The number of samples read from the FIFO buffer + */ + uint16_t readFromFifo() + { + uint8_t status[2]; + uint16_t fifo_bytes = 0; + + if ((_irq != -1) && _fifo_interrupt) { + /* + * Once the corresponds INT pin is configured to the push-pull mode, the FIFO watermark interrupt can be seen on the + * corresponds INT pin. It will keep high level as long as the FIFO filled level is equal to or higher than the watermark, will + * drop to low level as long as the FIFO filled level is lower than the configured FIFO watermark after reading out by host + * and FIFO_RD_MODE is cleared. + */ + if (hal->digitalRead(_irq) == LOW) { + return false; + } + } + + size_t alloc_size = getFifoNeedBytes(); + if (!fifo_buffer) { + fifo_buffer = (uint8_t *)calloc(alloc_size, sizeof(uint8_t)); + if (!fifo_buffer) { + log_e("Calloc buffer size %u bytes failed!", alloc_size); + return 0; + } + _fifo_size = alloc_size; + + } else if (alloc_size > _fifo_size) { + fifo_buffer = (uint8_t *)realloc(fifo_buffer, alloc_size); + if (!fifo_buffer) { + log_e("Realloc buffer size %u bytes failed!", alloc_size); + return 0; + } + } + + // Got FIFO watermark interrupt by INT pin or polling the FIFO_STATUS register (FIFO_WTM and/or FIFO_FULL). + int val = comm->readRegister(QMI8658_REG_FIFO_STATUS); + if (val == -1) { + return 0; + } + log_d("FIFO status:0x%x", val); + + if (!(val & _BV(4))) { + log_d("FIFO is Empty"); + return 0; + } + if (val & _BV(5)) { + log_d("FIFO Overflow condition has happened (data dropping happened)"); + // return 0; + } + if (val & _BV(6)) { + log_d("FIFO Water Mark Level Hit"); + } + if (val & _BV(7)) { + log_d("FIFO is Full"); + } + + // Read the FIFO_SMPL_CNT and FIFO_STATUS registers, to calculate the level of FIFO content data, refer to 8.4 FIFO Sample Count. + if (comm->readRegister(QMI8658_REG_FIFO_COUNT, status, 2) == -1) { + log_e("Bus communication failed!"); + return 0; + } + + // FIFO_Sample_Count (in byte) = 2 * (fifo_smpl_cnt_msb[1:0] * 256 + fifo_smpl_cnt_lsb[7:0]) + fifo_bytes = 2 * (((status[1] & 0x03)) << 8 | status[0]); + + log_d("reg fifo_bytes:%d ", fifo_bytes); + + //Samples 16 * 6 * 2 = 192 + //Samples 32 * 6 * 2 = 384 + //Samples 64 * 6 * 2 = 768 + //Samples 128 * 6 * 2 = 1536 + + // Send CTRL_CMD_REQ_FIFO (0x05) by CTRL9 command, to enable FIFO read mode. Refer to CTRL_CMD_REQ_FIFO for details. + if (writeCommand(CTRL_CMD_REQ_FIFO) != 0) { + log_e("Request FIFO failed!"); + return 0; + } + + // Read from the FIFO_DATA register per FIFO_Sample_Count. + if (comm->readRegister(QMI8658_REG_FIFO_DATA, fifo_buffer, fifo_bytes) == -1) { + log_e("Request FIFO data failed !"); + return 0; + } + + // Disable the FIFO Read Mode by setting FIFO_CTRL.FIFO_rd_mode to 0. New data will be filled into FIFO afterwards. + if (comm->writeRegister(QMI8658_REG_FIFO_CTRL, _fifo_mode) == -1) { + log_e("Clear FIFO flag failed!"); + return 0; + } + + return fifo_bytes; + } + + + /** + * @brief Get the accelerometer scales + * @note This function retrieves the current accelerometer scales + * @param None + * @retval Current accelerometer scales + */ int writeCommand(CommandTable cmd, uint32_t wait_ms = 1000) { int val; @@ -1973,7 +2192,12 @@ private: } - + /** + * @brief Get the accelerometer scales + * @note This function retrieves the current accelerometer scales + * @param None + * @retval Current accelerometer scales + */ uint8_t mgToBytes(float mg) { float g = mg / 1000.0; // Convert to grams @@ -1982,9 +2206,38 @@ private: } + int _irq = -1; + float accelScales = 0.0f, gyroScales = 0.0f; + bool _accel_enabled = false; + bool _gyro_enabled = false; + bool _gDataReady = false; + bool _aDataReady = false; + bool _fifo_interrupt = false; + + uint8_t usid[6]; + uint8_t sampleMode = ASYNC_MODE; + uint8_t _irq_enable_mask = false; + uint8_t _fifo_mode = 0x00; + uint8_t *fifo_buffer = NULL; + uint16_t _fifo_size = 0; + + uint32_t lastTimestamp = 0; + uint32_t revisionID = 0x00; + + EventCallBack_t eventWomEvent = NULL; + EventCallBack_t eventTagEvent = NULL; + EventCallBack_t eventPedometerEvent = NULL; + EventCallBack_t eventNoMotionEvent = NULL; + EventCallBack_t eventAnyMotionEvent = NULL; + EventCallBack_t eventSignificantMotion = NULL; + EventCallBack_t eventGyroDataReady = NULL; + EventCallBack_t eventAccelDataReady = NULL; + EventCallBack_t eventDataLocking = NULL; + + protected: - bool initImpl() + bool initImpl(uint8_t param) override { uint8_t buffer[6] = {0}; @@ -2032,15 +2285,112 @@ protected: return true; } -protected: - std::unique_ptr comm; - std::unique_ptr hal; + // @brief registers default value + static constexpr uint8_t QMI8658_REG_WHOAMI_DEFAULT = 0x05; + static constexpr uint8_t QMI8658_REG_STATUS_DEFAULT = 0x03; + static constexpr uint8_t QMI8658_REG_RESET_DEFAULT = 0xB0; + + + //* General Purpose Registers + static constexpr uint8_t QMI8658_REG_WHOAMI = 0x00; + static constexpr uint8_t QMI8658_REG_REVISION = 0x01; + + + //* Setup and Control Registers + static constexpr uint8_t QMI8658_REG_CTRL1 = 0x02; + static constexpr uint8_t QMI8658_REG_CTRL2 = 0x03; + static constexpr uint8_t QMI8658_REG_CTRL3 = 0x04; + // Reserved + static constexpr uint8_t QMI8658_REG_CTRL5 = 0x06; + // Reserved + static constexpr uint8_t QMI8658_REG_CTRL7 = 0x08; + static constexpr uint8_t QMI8658_REG_CTRL8 = 0x09; + static constexpr uint8_t QMI8658_REG_CTRL9 = 0x0A; + + //* Host Controlled Calibration Registers (See CTRL9, Usage is Optional) + static constexpr uint8_t QMI8658_REG_CAL1_L = 0x0B; + static constexpr uint8_t QMI8658_REG_CAL1_H = 0x0C; + static constexpr uint8_t QMI8658_REG_CAL2_L = 0x0D; + static constexpr uint8_t QMI8658_REG_CAL2_H = 0x0E; + static constexpr uint8_t QMI8658_REG_CAL3_L = 0x0F; + static constexpr uint8_t QMI8658_REG_CAL3_H = 0x10; + static constexpr uint8_t QMI8658_REG_CAL4_L = 0x11; + static constexpr uint8_t QMI8658_REG_CAL4_H = 0x12; + + //* FIFO Registers + static constexpr uint8_t QMI8658_REG_FIFO_WTM_TH = 0x13; + static constexpr uint8_t QMI8658_REG_FIFO_CTRL = 0x14; + static constexpr uint8_t QMI8658_REG_FIFO_COUNT = 0x15; + static constexpr uint8_t QMI8658_REG_FIFO_STATUS = 0x16; + static constexpr uint8_t QMI8658_REG_FIFO_DATA = 0x17; + + //* Status Registers + static constexpr uint8_t QMI8658_REG_STATUS_INT = 0x2D; + static constexpr uint8_t QMI8658_REG_STATUS0 = 0x2E; + static constexpr uint8_t QMI8658_REG_STATUS1 = 0x2F; + + //* Timestamp Register + static constexpr uint8_t QMI8658_REG_TIMESTAMP_L = 0x30; + static constexpr uint8_t QMI8658_REG_TIMESTAMP_M = 0x31; + static constexpr uint8_t QMI8658_REG_TIMESTAMP_H = 0x32; + + //* Data Output Registers (16 bits 2’s Complement Except COD Sensor Data) + static constexpr uint8_t QMI8658_REG_TEMPERATURE_L = 0x33; + static constexpr uint8_t QMI8658_REG_TEMPERATURE_H = 0x34; + static constexpr uint8_t QMI8658_REG_AX_L = 0x35; + static constexpr uint8_t QMI8658_REG_AX_H = 0x36; + static constexpr uint8_t QMI8658_REG_AY_L = 0x37; + static constexpr uint8_t QMI8658_REG_AY_H = 0x38; + static constexpr uint8_t QMI8658_REG_AZ_L = 0x39; + static constexpr uint8_t QMI8658_REG_AZ_H = 0x3A; + static constexpr uint8_t QMI8658_REG_GX_L = 0x3B; + static constexpr uint8_t QMI8658_REG_GX_H = 0x3C; + static constexpr uint8_t QMI8658_REG_GY_L = 0x3D; + static constexpr uint8_t QMI8658_REG_GY_H = 0x3E; + static constexpr uint8_t QMI8658_REG_GZ_L = 0x3F; + static constexpr uint8_t QMI8658_REG_GZ_H = 0x40; + + //* COD Indication and General Purpose Registers + + // Calibration-On-Demand status register + static constexpr uint8_t QMI8658_REG_COD_STATUS = 0x46; + static constexpr uint8_t QMI8658_REG_DQW_L = 0x49; + static constexpr uint8_t QMI8658_REG_DQW_H = 0x4A; + static constexpr uint8_t QMI8658_REG_DQX_L = 0x4B; + static constexpr uint8_t QMI8658_REG_DQX_H = 0x4C; + + static constexpr uint8_t QMI8658_REG_DQY_L = 0x4D; + static constexpr uint8_t QMI8658_REG_DQY_H = 0x4E; + static constexpr uint8_t QMI8658_REG_DQZ_L = 0x4F; + static constexpr uint8_t QMI8658_REG_DQZ_H = 0x50; + + static constexpr uint8_t QMI8658_REG_DVX_L = 0x51; + static constexpr uint8_t QMI8658_REG_DVX_H = 0x52; + static constexpr uint8_t QMI8658_REG_DVY_L = 0x53; + static constexpr uint8_t QMI8658_REG_DVY_H = 0x54; + static constexpr uint8_t QMI8658_REG_DVZ_L = 0x55; + static constexpr uint8_t QMI8658_REG_DVZ_H = 0x56; + + //* Activity Detection Output Registers + static constexpr uint8_t QMI8658_REG_TAP_STATUS = 0x59; + static constexpr uint8_t QMI8658_REG_STEP_CNT_LOW = 0x5A; + static constexpr uint8_t QMI8658_REG_STEP_CNT_MID = 0x5B; + static constexpr uint8_t QMI8658_REG_STEP_CNT_HIGH = 0x5C; + static constexpr uint8_t QMI8658_REG_RESET = 0x60; + + //* Reset Register + static constexpr uint8_t QMI8658_REG_RST_RESULT = 0x4D; + static constexpr uint8_t QMI8658_REG_RST_RESULT_VAL = 0x80; + + static constexpr uint8_t STATUS0_ACCEL_AVAIL = 0x01; + static constexpr uint8_t STATUS0_GYRO_AVAIL = 0x02; + static constexpr uint8_t QMI8658_ACCEL_LPF_MASK = 0xF9; + static constexpr uint8_t QMI8658_GYRO_LPF_MASK = 0x9F; + + static constexpr uint8_t QMI8658_ACCEL_EN_MASK = 0x01; + static constexpr uint8_t QMI8658_GYRO_EN_MASK = 0x02; + static constexpr uint8_t QMI8658_ACCEL_GYRO_EN_MASK = 0x03; + + + static constexpr uint8_t QMI8658_FIFO_MAP_INT1 = 0x04; }; - - - - - - - - diff --git a/lib/SensorLib/src/SensorQSTMagnetic.hpp b/lib/SensorLib/src/SensorQSTMagnetic.hpp index c788dd1..6213588 100644 --- a/lib/SensorLib/src/SensorQSTMagnetic.hpp +++ b/lib/SensorLib/src/SensorQSTMagnetic.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2025 lewis he + * Copyright (c) 2026 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 @@ -24,50 +24,24 @@ * * @file SensorQSTMagnetic.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2025-08-16 + * @date 2026-01-20 * */ #pragma once -#include "REG/QSTMagneticConstants.h" -#include "SensorPlatform.hpp" + +#include "platform/comm/I2CDeviceWithHal.hpp" +#include "sensor/MagnetometerBase.hpp" static constexpr uint8_t QMC6310U_SLAVE_ADDRESS = 0x1C; static constexpr uint8_t QMC6310N_SLAVE_ADDRESS = 0x3C; static constexpr uint8_t QMC5883P_SLAVE_ADDRESS = 0x2C; -class Polar +class SensorQSTMagnetic : public MagnetometerBase, public I2CDeviceWithHal { public: /** - * @brief Default constructor. Initializes all member variables to 0. - * - * This constructor creates a Polar object with initial values of 0 for - * polar angle, Gauss, and microtesla fields. + * @brief Enumeration defining the types of supported magnetic sensor chips. */ - Polar() : polar(0), Gauss(0), uT(0) {} - - /** - * @brief Parameterized constructor. Initializes member variables with user-provided values. - * - * @param polar The polar angle value to initialize. - * @param Gauss The magnetic field strength in Gauss to initialize. - * @param uT The magnetic field strength in microtesla to initialize. - */ - Polar(float polar, float Gauss, float uT) : polar(polar), Gauss(Gauss), uT(uT) {} - - float polar; ///< Stores the polar angle value - float Gauss; ///< Stores the magnetic field strength in Gauss - float uT; ///< Stores the magnetic field strength in microtesla -}; - - - -class SensorQSTMagnetic : public QSTMagneticConstants -{ -public: - /** - * @brief Enumeration defining the types of supported magnetic sensor chips. - */ enum ChipType { CHIP_QMC6310U, ///< Represents the QMC6310U chip type CHIP_QMC6310N, ///< Represents the QMC6310N chip type @@ -75,72 +49,13 @@ public: CHIP_UNKNOWN ///< Represents an unknown or unsupported chip type }; - /** - * @brief Enumeration defining the operating modes of the sensor. - */ - enum SensorMode { - MODE_SUSPEND, ///< Low-power suspend mode with limited functionality - MODE_NORMAL, ///< Normal continuous measurement mode - MODE_SINGLE, ///< Single measurement mode (enters suspend after one reading) - MODE_CONTINUOUS ///< Continuous uninterrupted measurement mode - }; - - /** - * @brief Enumeration defining the magnetic field measurement ranges (in Gauss). - */ - enum MagRange { - RANGE_30G, ///< 30 Gauss measurement range - RANGE_12G, ///< 12 Gauss measurement range - RANGE_8G, ///< 8 Gauss measurement range - RANGE_2G ///< 2 Gauss measurement range - }; - - /** - * @brief Enumeration defining the data output rates of the sensor. - */ - enum OutputRate { - DATARATE_10HZ, ///< 10 Hz data output rate - DATARATE_50HZ, ///< 50 Hz data output rate - DATARATE_100HZ, ///< 100 Hz data output rate - DATARATE_200HZ ///< 200 Hz data output rate - }; - - /** - * @brief Enumeration defining control register operations. - */ - enum CtrlReg { - SET_RESET_ON, ///< Operation to set reset enable - SET_ONLY_ON, ///< Operation to only set enable - SET_RESET_OFF ///< Operation to set reset disable - }; - - /** - * @brief Enumeration defining oversample ratios for the sensor. - */ - enum OverSampleRatio { - OSR_8, ///< 8x oversample ratio - OSR_4, ///< 4x oversample ratio - OSR_2, ///< 2x oversample ratio - OSR_1 ///< 1x oversample ratio - }; - - /** - * @brief Enumeration defining downsample ratios for the sensor. - */ - enum DownSampleRatio { - DSR_1, ///< 1x downsample ratio - DSR_2, ///< 2x downsample ratio - DSR_4, ///< 4x downsample ratio - DSR_8 ///< 8x downsample ratio - }; - /** * @brief Default constructor. Initializes communication and hardware abstraction pointers to nullptr. * * Creates a SensorQSTMagnetic object with no active communication or hardware * abstraction instances. */ - SensorQSTMagnetic() : comm(nullptr), hal(nullptr) {} + SensorQSTMagnetic() {} /** * @brief Destructor. Deinitializes the communication object if it exists. @@ -148,538 +63,467 @@ public: * Ensures proper cleanup by deinitializing the communication interface * when the sensor object is destroyed. */ - ~SensorQSTMagnetic() - { - if (comm) { - comm->deinit(); - } - } + ~SensorQSTMagnetic() = default; -#if defined(ARDUINO) /** - * @brief Initialization function for the Arduino platform. Sets up the sensor over I2C. - * - * @param wire Reference to a TwoWire object (typically Wire) for I2C communication. - * @param addr I2C slave address of the sensor. Defaults to QMC6310U_SLAVE_ADDRESS. - * @param sda I2C SDA pin number. Defaults to -1 (use board's default pin). - * @param scl I2C SCL pin number. Defaults to -1 (use board's default pin). - * @return true if initialization is successful, false otherwise. - */ - bool begin(TwoWire &wire, uint8_t addr = QMC6310U_SLAVE_ADDRESS, int sda = -1, int scl = -1) + * @brief Reads the magnetic field data from the sensor. + * @note This function retrieves the latest magnetic field measurements + * from the sensor and stores them in the provided data structure. + * @param data: A reference to a MagnetometerData structure to store the + * retrieved magnetic field data. + * @retval True if the data was read successfully, false otherwise. + */ + bool readData(MagnetometerData &data) override { - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { + uint8_t buffer[6] = {0}; + int16_t x = 0, y = 0, z = 0; + + // QMC has no data skipping bit + data.skip_data = false; + + int status = readReg(REG_0x09_STAT); + if (status < 0) { + log_e("Failed to read status register"); return false; } - return initImpl(addr); - } -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) - /** - * @brief Initialization function for ESP32 platform (legacy I2C mode). - * - * @param port_num I2C port number to use for communication. - * @param addr I2C slave address of the sensor. Defaults to QMC6310U_SLAVE_ADDRESS. - * @param sda I2C SDA pin number. Defaults to -1 (use default pin). - * @param scl I2C SCL pin number. Defaults to -1 (use default pin). - * @return true if initialization is successful, false otherwise. - */ - bool begin(i2c_port_t port_num, uint8_t addr = QMC6310U_SLAVE_ADDRESS, int sda = -1, int scl = -1) - { - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { + // OVL (Overflow) + if (isBitSet(status, 1)) { + data.overflow = true; + log_w("Data overflow detected"); + } else { + data.overflow = false; + } + + // DRDY (Data Ready) + if (!isBitSet(status, 0)) { + // log_e("Data not ready"); return false; } - return initImpl(addr); - } -#else - /** - * @brief Initialization function for ESP32 platform (new I2C master mode). - * - * @param handle I2C master bus handle for communication. - * @param addr I2C slave address of the sensor. Defaults to QMC6310U_SLAVE_ADDRESS. - * @return true if initialization is successful, false otherwise. - * - * @note Assumes `sda` and `scl` are handled via the bus handle configuration. - */ - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = QMC6310U_SLAVE_ADDRESS) - { - if (!beginCommon(comm, hal, handle, addr, sda, scl)) { + + if (readRegBuff(REG_0x01_LSB_DX, buffer, 6) < 0) { + log_e("Failed to read magnetic field data"); return false; } - return initImpl(addr); + + x = (int16_t)(buffer[1] << 8) | (buffer[0]); // Combine X LSB and MSB + y = (int16_t)(buffer[3] << 8) | (buffer[2]); // Combine Y LSB and MSB + z = (int16_t)(buffer[5] << 8) | (buffer[4]); // Combine Z LSB and MSB + + data.raw.x = x - _x_offset; + data.raw.y = y - _y_offset; + data.raw.z = z - _z_offset; + + // Convert raw values to Gauss using sensitivity (depends on selected magnetic range) + data.magnetic_field.x = (float)(data.raw.x) * _sensitivity; + data.magnetic_field.y = (float)(data.raw.y) * _sensitivity; + data.magnetic_field.z = (float)(data.raw.z) * _sensitivity; + + // Calculate heading + data.heading = MagnetometerUtils::calculateHeading(data, _declination_rad); + + // Convert heading to degrees + data.heading_degrees = data.heading * (180.0 / M_PI); + + return true; } -#endif -#endif /** - * @brief Initialization function for custom communication with callback support. - * - * @param callback Custom communication callback function for read/write operations. - * @param hal_callback Custom hardware abstraction callback function (e.g., delays). - * @param addr I2C slave address of the sensor. Defaults to QMC6310U_SLAVE_ADDRESS. - * @return true if initialization is successful, false otherwise. + * @brief Checks if new data is available from the sensor. + * @note This function reads the status register to determine if new + * magnetic field data is ready to be processed. + * @retval True if new data is available, false otherwise. */ - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = QMC6310U_SLAVE_ADDRESS) + bool isDataReady() override { - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(addr); + return getRegBit(REG_0x09_STAT, 0); } /** - * @brief Resets the sensor by writing to the command register. - * - * Performs a soft reset by writing a reset command to REG_CMD2, then clears - * the reset bit after a short delay. - */ - void reset() - { - comm->writeRegister(REG_CMD2, (uint8_t)0x80); - hal->delay(10); - comm->writeRegister(REG_CMD2, (uint8_t)0x00); - } - - /** - * @brief Reads the chip ID from the sensor. - * - * @return The chip ID value read from REG_CHIP_ID. - */ - uint8_t getChipID() - { - return comm->readRegister(REG_CHIP_ID); - } - - /** - * @brief Gets the status of the sensor by reading the status register. - * - * @return The status register value from REG_STAT. - */ - int getStatus() - { - return comm->readRegister(REG_STAT); - } - - /** - * @brief Checks if new sensor data is ready to be read. - * - * @return true if the data ready bit (bit 0) in REG_STAT is set, false otherwise. - */ - bool isDataReady() - { - if (comm->readRegister(REG_STAT) & 0x01) { - return true; - } - return false; - } - - /** - * @brief Checks if a data overflow has occurred. - * - * @return true if the data overflow bit (bit 1) in REG_STAT is set, false otherwise. - */ + * @brief Checks if data overflow has occurred. + * @note This function reads the status register to determine if + * the magnetic field data has overflowed. + * @retval True if data overflow has occurred, false otherwise. + */ bool isDataOverflow() { - if (comm->readRegister(REG_STAT) & 0x02) { - return true; + return getRegBit(REG_0x09_STAT, 1); + } + + /** + * @brief Resets the sensor to its default state. + * @note This function sends a reset command to the sensor and waits + * for a short period to allow the reset to take effect. + * @retval True if the reset command was successful, false otherwise. + */ + bool reset() override + { + writeReg(REG_0x0B_CMD2, (uint8_t)0x80); + hal->delay(10); + writeReg(REG_0x0B_CMD2, (uint8_t)0x00); + return true; + } + + /** + * @brief Checks if the sensor is functioning correctly. + * @note This function performs a self-test by comparing the + * magnetic field readings before and after enabling self-test mode. + * @retval True if the self-test passed, false otherwise. + */ + bool selfTest() override + { + int16_t x_result = 0, y_result = 0, z_result = 0; + return selfTest(x_result, y_result, z_result); + } + + /** + * @brief Performs a self-test on the sensor. + * @note This function compares the magnetic field readings before and after + * enabling self-test mode to determine if the sensor is functioning + * correctly. + * @param &x_result: Return the difference between before and after self-check. + * @param &y_result: Return the difference between before and after self-check. + * @param &z_result: Return the difference between before and after self-check. + * @retval True if the self-test passed, false otherwise. + */ + bool selfTest(int16_t &x_result, int16_t &y_result, int16_t &z_result) + { + if (!setOperationMode(OperationMode::CONTINUOUS_MEASUREMENT)) { + log_e("Failed to set CONTINUOUS_MEASUREMENT for selfTest"); + return false; } - return false; - } + hal->delay(20); - /** - * @brief Enables or disables the self-test feature of the sensor. - * - * @param en true to enable self-test (sets bit 1 in REG_CMD2), false to disable (clears bit 1). - */ - void setSelfTest(bool en) - { - en ? comm->setRegisterBit(REG_CMD2, 1) - : comm->clrRegisterBit(REG_CMD2, 1); - } + MagnetometerData data; - /** - * @brief Sets the operating mode of the sensor. - * - * @param m The SensorMode to set. Writes the mode value to REG_CMD1. - * @return The result of the register write operation (0 for success, non-zero for failure). - */ - int setMode(SensorMode m) - { - return comm->writeRegister(REG_CMD1, 0xFC, m); - } - - /** - * @brief Configures the control register (REG_CMD2) with the specified operation. - * - * @param c The CtrlReg operation to perform. Writes the control value to REG_CMD2. - * @return The result of the register write operation (0 for success, non-zero for failure). - */ - int setCtrlRegister(CtrlReg c) - { - return comm->writeRegister(REG_CMD2, 0xFC, c); - } - - /** - * @brief Sets the data output rate of the sensor. - * - * @param odr The OutputRate to set. Shifts the rate value and writes to REG_CMD1. - * @return The result of the register write operation (0 for success, non-zero for failure). - */ - int setDataOutputRate(OutputRate odr) - { - return comm->writeRegister(REG_CMD1, 0xF3, (odr << 2)); - } - - /** - * @brief Sets the oversample rate of the sensor. - * - * @param osr The OverSampleRatio to set. Shifts the ratio value and writes to REG_CMD1. - * @return The result of the register write operation (0 for success, non-zero for failure). - */ - int setOverSampleRate(OverSampleRatio osr) - { - return comm->writeRegister(REG_CMD1, 0xCF, (osr << 4)); - } - - /** - * @brief Sets the downsample rate of the sensor. - * - * @param dsr The DownSampleRatio to set. Shifts the ratio value and writes to REG_CMD1. - * @return The result of the register write operation (0 for success, non-zero for failure). - */ - int setDownSampleRate(DownSampleRatio dsr) - { - return comm->writeRegister(REG_CMD1, 0x3F, (dsr << 6)); - } - - /** - * @brief Sets the sign configuration for the X, Y, and Z axes. - * - * @param x Sign bit for the X axis (0 or 1). - * @param y Sign bit for the Y axis (0 or 1). - * @param z Sign bit for the Z axis (0 or 1). - * @return The result of the register write operation (0 for success, non-zero for failure). - * - * Computes a combined sign value and writes it to REG_SIGN. - */ - int setSign(uint8_t x, uint8_t y, uint8_t z) - { - int sign = x + y * 2 + z * 4; - return comm->writeRegister(REG_SIGN, sign); - } - - /** - * @brief Configures the magnetometer with multiple parameters. - * - * @param mode The SensorMode to set. - * @param range The MagRange to set. - * @param odr The OutputRate to set. - * @param osr The OverSampleRatio to set. - * @param dsr The DownSampleRatio to set. - * @return 0 if all configuration steps succeed, -1 if any step fails. - * - * Calls individual configuration functions and checks for errors. - */ - int configMagnetometer(SensorMode mode, MagRange range, OutputRate odr, - OverSampleRatio osr, DownSampleRatio dsr) - { - if (setMagRange(range) < 0) { - return -1;; + if (!readData(data)) { + log_e("Failed to read data before selfTest"); + return false; } - if (comm->writeRegister(REG_CMD1, 0xFC, mode) < 0) { - return -1;; + int16_t x_pre = data.raw.x; + int16_t y_pre = data.raw.y; + int16_t z_pre = data.raw.z; + + setRegBit(REG_0x0B_CMD2, 6); + hal->delay(5); + + if (!readData(data)) { + log_e("Failed to read data before selfTest"); + return false; } - if (comm->writeRegister(REG_CMD1, 0xF3, (odr << 2)) < 0) { - return -1;; - } - if (comm->writeRegister(REG_CMD1, 0xCF, (osr << 4)) < 0) { - return -1;; - } - if (comm->writeRegister(REG_CMD1, 0x3F, (dsr << 6)) < 0) { - return -1;; - } - return 0; + x_result = data.raw.x - x_pre; + y_result = data.raw.y - y_pre; + z_result = data.raw.z - z_pre; + + clrRegBit(REG_0x0B_CMD2, 6); + + return setOperationMode(OperationMode::SUSPEND); } /** - * @brief Sets the magnetic field range and updates the sensitivity. - * - * @param range The MagRange to set. - * @return The result of the register write operation (0 for success, non-zero for failure). - * - * Updates the _sensitivity member based on the selected range and writes - * the range value to REG_CMD2. - */ - int setMagRange(MagRange range) + * @brief Sets the full-scale range of the magnetometer. + * @note This function configures the magnetometer to operate within a + * specific range, affecting the sensitivity and maximum measurable + * magnetic field strength. + * @param range: FS_2G, FS_8G, FS_12G, FS_30G + * @retval True if the range was set successfully, false otherwise. + */ + bool setFullScaleRange(MagFullScaleRange range) override { + float full_scale = 0; + float sensitivity = 0.0f; + uint8_t range_value = 0; switch (range) { - case RANGE_30G: - _sensitivity = 0.1; + case MagFullScaleRange::FS_30G: + sensitivity = 0.001f; // 1000 LSB/Gauss + range_value = 0x00 << 2; + full_scale = 30.0f; break; - case RANGE_12G: - _sensitivity = 0.04; + case MagFullScaleRange::FS_12G: + sensitivity = 0.0004f; // 2500 LSB/Gauss + range_value = 0x01 << 2; + full_scale = 12.0f; break; - case RANGE_8G: - _sensitivity = 0.026; + case MagFullScaleRange::FS_8G: + sensitivity = 0.00026667f; // 3750 LSB/Gauss + range_value = 0x02 << 2; + full_scale = 8.0f; break; - case RANGE_2G: - _sensitivity = 0.0066; + case MagFullScaleRange::FS_2G: + sensitivity = 0.00006667f; // 15000 LSB/Gauss + range_value = 0x03 << 2; + full_scale = 2.0f; break; default: + log_e("Invalid magnetometer range"); + return false; + } + + if (updateBits(REG_0x0B_CMD2, 0x0C, range_value) < 0) { + log_e("Failed to set full scale range."); + return false; + } + _sensitivity = sensitivity; + _config.range = full_scale; + return true; + } + + /** + * @brief Sets the output data rate for the magnetometer. + * @note This function should be called to configure the sensor's output data rate. + * @param odr: The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + * @retval True if the output data rate was set successfully, false otherwise. + */ + bool setOutputDataRate(float odr) override + { + int rangeInt = static_cast(odr * 100 + 0.5); + log_d("Input: %.2f, Integer: %d\n", odr, rangeInt); + uint8_t regValue = 0; + switch (rangeInt) { + case 1000: // 10.0 + regValue = 0x00 << 2; + break; + case 5000: // 50.0 + regValue = 0x01 << 2; + break; + case 10000: // 100.0 + regValue = 0x02 << 2; + break; + case 20000: // 200.0 + regValue = 0x03 << 2; break; - } - return comm->writeRegister(REG_CMD2, 0xF3, (range << 2)); - } - - /** - * @brief Sets offset values for X, Y, and Z axes to calibrate the sensor. - * - * These offsets are subtracted from the raw sensor data during read operations to compensate for constant errors. - * @param x Offset value for X-axis (in raw sensor units). - * @param y Offset value for Y-axis (in raw sensor units). - * @param z Offset value for Z-axis (in raw sensor units). - */ - void setOffset(int x, int y, int z) - { - _x_offset = x; _y_offset = y; _z_offset = z; - } - - /** - * @brief Reads raw magnetic field data from the sensor, processes it, and stores the results. - * - * Reads 6 bytes of data (LSB and MSB for X, Y, Z axes) from the data register (starting at REG_LSB_DX), - * converts them to 16-bit values, applies offset correction, and calculates the magnetic field strength in Gauss. - * @return 0 if data read and processing is successful; -1 if read fails. - */ - int readData() - { - uint8_t buffer[6]; - int16_t x, y, z; - if (comm->readRegister(REG_LSB_DX, buffer, - 6) != -1) { - x = (int16_t)(buffer[1] << 8) | (buffer[0]); // Combine X LSB and MSB - y = (int16_t)(buffer[3] << 8) | (buffer[2]); // Combine Y LSB and MSB - z = (int16_t)(buffer[5] << 8) | (buffer[4]); // Combine Z LSB and MSB - - // Handle special case for negative maximum value (2's complement adjustment) - if (x == 32767) { - x = -((65535 - x) + 1); - } - x = (x - _x_offset); // Apply X-axis offset - if (y == 32767) { - y = -((65535 - y) + 1); - } - y = (y - _y_offset); // Apply Y-axis offset - if (z == 32767) { - z = -((65535 - z) + 1); - } - z = (z - _z_offset); // Apply Z-axis offset - - _raw[0] = x; // Store processed raw X value - _raw[1] = y; // Store processed raw Y value - _raw[2] = z; // Store processed raw Z value - - // Convert raw values to Gauss using sensitivity (depends on selected magnetic range) - _mag[0] = (float)x * _sensitivity; - _mag[1] = (float)y * _sensitivity; - _mag[2] = (float)z * _sensitivity; - return 0; - } - return -1;; - } - - /** - * @brief Sets the declination angle for compass heading correction. - * - * Declination is the angle between magnetic north and true north, used to adjust the calculated heading to true north. - * @param dec Declination angle in degrees. - */ - void setDeclination(float dec) - { - _declination = dec; - } - - /** - * @brief Reads magnetic field data and calculates polar coordinates (angle and magnitude). - * - * Checks if new data is ready, reads the data, computes the heading angle (adjusted by declination), - * and calculates the total magnetic field magnitude. - * @param p Reference to a Polar object to store the calculated angle (degrees), magnitude in Gauss, and magnitude in microtesla. - * @return true if data is ready and calculation is successful; false otherwise. - */ - bool readPolar(Polar &p) - { - if (isDataReady()) { - readData(); - float x = getX(); - float y = getY(); - float z = getZ(); - // Calculate heading angle (converted from radians to degrees) and adjust with declination - float angle = (atan2(x, -y) / PI) * 180.0 + _declination; - angle = _convertAngleToPositive(angle); // Ensure angle is in 0-360 degrees - float magnitude = sqrt(x * x + y * y + z * z); // Total magnetic field magnitude in Gauss - p = Polar(angle, magnitude * 100, magnitude); // Convert Gauss to microtesla (1 Gauss = 100 microtesla) - return true; - } - return false; - } - - /** - * @brief Gets the processed raw X-axis magnetic field value. - * @return Raw X-axis value (after offset correction) in sensor units. - */ - int16_t getRawX() - { - return _raw[0]; - } - - /** - * @brief Gets the processed raw Y-axis magnetic field value. - * @return Raw Y-axis value (after offset correction) in sensor units. - */ - int16_t getRawY() - { - return _raw[1]; - } - - /** - * @brief Gets the processed raw Z-axis magnetic field value. - * @return Raw Z-axis value (after offset correction) in sensor units. - */ - int16_t getRawZ() - { - return _raw[2]; - } - - /** - * @brief Gets the X-axis magnetic field strength in Gauss. - * @return X-axis magnetic field strength in Gauss. - */ - float getX() - { - return _mag[0]; - } - - /** - * @brief Gets the Y-axis magnetic field strength in Gauss. - * @return Y-axis magnetic field strength in Gauss. - */ - float getY() - { - return _mag[1]; - } - - /** - * @brief Gets the Z-axis magnetic field strength in Gauss. - * @return Z-axis magnetic field strength in Gauss. - */ - float getZ() - { - return _mag[2]; - } - - /** - * @brief Retrieves all three axes' magnetic field strengths in Gauss. - * @param x Reference to store X-axis magnetic field strength in Gauss. - * @param y Reference to store Y-axis magnetic field strength in Gauss. - * @param z Reference to store Z-axis magnetic field strength in Gauss. - */ - void getMag(float &x, float &y, float &z) - { - x = _mag[0]; - y = _mag[1]; - z = _mag[2]; - } - - /** - * @brief Reads and logs the control registers (REG_CMD1 and REG_CMD2) for debugging. - * - * Reads 2 bytes starting from REG_CMD1 and prints their hexadecimal values using log_d. - */ - void dumpCtrlRegister() - { - uint8_t buffer[2]; - comm->readRegister(REG_CMD1, buffer, 2); - for (int i = 0; i < 2; ++i) { - log_d("CMD%d: 0x%02x", i + 1, buffer[i]); - } - } - - /** - * @brief Gets the name of the connected sensor chip. - * @return String literal representing the chip name (e.g., "QMC6310U", "QMC5883P") or "UNKNOWN" if not recognized. - */ - const char *getChipName() - { - switch (_type) { - case CHIP_QMC6310U: return "QMC6310U"; - case CHIP_QMC6310N: return "QMC6310N"; - case CHIP_QMC5883P: return "QMC5883P"; default: - break; + log_e("Invalid output data rate"); + return false; } - return "UNKNOWN"; + if (updateBits(REG_0x0A_CMD1, 0x0C, regValue) < 0) { + log_e("Failed to set bandwidth"); + return false; + } + _config.sample_rate = odr; + return true; } + /** + * @brief Sets the operation mode of the magnetometer. + * @note This function configures the magnetometer to operate in a specific + * mode, affecting its power consumption and measurement behavior. + * @param mode: SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + * @retval True if the mode was set successfully, false otherwise. + */ + bool setOperationMode(OperationMode mode) override + { + uint8_t mode_val = 0; + switch (mode) { + case OperationMode::SUSPEND: + mode_val = 0x00; + break; + case OperationMode::NORMAL: + mode_val = 0x01; + break; + case OperationMode::SINGLE_MEASUREMENT: + mode_val = 0x02; + break; + case OperationMode::CONTINUOUS_MEASUREMENT: + mode_val = 0x03; + break; + default: + log_e("Invalid operation mode"); + return false; + } + if (updateBits(REG_0x0A_CMD1, 0x03, mode_val) < 0) { + log_e("Failed to set operation mode"); + return false; + } + _config.mode = mode; + return true; + } + + /** + * @brief Sets the oversampling rate of the magnetometer. + * @note This function configures the magnetometer's oversampling rate, + * affecting the trade-off between noise and measurement speed. + * @param osr: OSR_8, OSR_4, OSR_2, OSR_1 + * @retval True if the oversampling rate was set successfully, false otherwise. + */ + bool setOversamplingRate(MagOverSampleRatio osr) override + { + uint8_t osr_val = 0; + switch (osr) { + case MagOverSampleRatio::OSR_8: + osr_val = 0x00 << 4; + _oversampling_rate = 8; + break; + case MagOverSampleRatio::OSR_4: + osr_val = 0x01 << 4; + _oversampling_rate = 4; + break; + case MagOverSampleRatio::OSR_2: + osr_val = 0x02 << 4; + _oversampling_rate = 2; + break; + case MagOverSampleRatio::OSR_1: + osr_val = 0x03 << 4; + _oversampling_rate = 1; + break; + default: + log_e("Invalid oversampling rate"); + return false; + } + return updateBits(REG_0x0A_CMD1, 0x30, osr_val) == 0; + } + + /** + * @brief Sets the downsampling rate of the magnetometer. + * @note This function configures the magnetometer's downsampling rate, + * affecting the trade-off between noise and measurement speed. + * @param dsr: DSR_1, DSR_2, DSR_4, DSR_8 + * @retval True if the downsampling rate was set successfully, false otherwise. + */ + bool setDownsamplingRate(MagDownSampleRatio dsr) override + { + uint8_t dsr_val = 0; + switch (dsr) { + case MagDownSampleRatio::DSR_1: + dsr_val = 0x00 << 6; + break; + case MagDownSampleRatio::DSR_2: + dsr_val = 0x01 << 6; + break; + case MagDownSampleRatio::DSR_4: + dsr_val = 0x02 << 6; + break; + case MagDownSampleRatio::DSR_8: + dsr_val = 0x03 << 6; + break; + default: + log_e("Invalid downsampling rate"); + return false; + } + return updateBits(REG_0x0A_CMD1, 0xC0, dsr_val) == 0; + } + + /** + * @brief Gets the chip ID of the magnetometer. + * @note This function retrieves the chip ID from the sensor. + * @retval The chip ID. + */ + uint8_t getChipID() const + { + return _info.uid; + } + + /** + * @brief Configures the magnetometer with multiple parameters. + * @note This function sets the operation mode, full-scale range, output data rate, + * oversampling ratio, and downsampling ratio of the magnetometer. + * @param mode: SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT + * @param range: FS_2G, FS_8G, FS_12G, FS_30G + * @param odr: Allowed values are 10.0, 50.0, 100.0 and 200.0HZ. + * @param osr: OSR_8, OSR_4, OSR_2, OSR_1 + * @param dsr: DSR_1, DSR_2, DSR_4, DSR_8 + * @retval True if the configuration was successful, false otherwise. + */ + bool configMagnetometer(OperationMode mode, MagFullScaleRange range, float odr, + MagOverSampleRatio osr, MagDownSampleRatio dsr) override + { + if (!setOperationMode(mode)) { + return false; + } + if (!setFullScaleRange(range)) { + return false; + } + if (!setOutputDataRate(odr)) { + return false; + } + if (!setOversamplingRate(osr)) { + return false; + } + if (!setDownsamplingRate(dsr)) { + return false; + } + return true; + } private: + static constexpr uint8_t REG_0x00_CHIP_ID = 0x00; + static constexpr uint8_t REG_0x01_LSB_DX = 0x01; + static constexpr uint8_t REG_0x02_MSB_DX = 0x02; + static constexpr uint8_t REG_0x03_LSB_DY = 0x03; + static constexpr uint8_t REG_0x04_MSB_DY = 0x04; + static constexpr uint8_t REG_0x05_LSB_DZ = 0x05; + static constexpr uint8_t REG_0x06_MSB_DZ = 0x06; + static constexpr uint8_t REG_0x09_STAT = 0x09; + static constexpr uint8_t REG_0x0A_CMD1 = 0x0A; + static constexpr uint8_t REG_0x0B_CMD2 = 0x0B; + static constexpr uint8_t REG_0x29_SIGN = 0x29; - /** - * @brief Converts an angle to a positive value within the range [0.0, 360.0) degrees. - * - * This function adjusts the input angle to ensure it falls within the standard compass heading range (0 to 360 degrees). - * If the angle is 360 degrees or more, it subtracts 360 degrees until it is less than 360. - * If the angle is negative, it adds 360 degrees until it is non-negative. - * This aligns with the compass heading accuracy (1° to 2°) supported by the sensors, as specified in the datasheets. - * @param angle The input angle in degrees (may be negative or greater than/equal to 360.0). - * @return The adjusted angle in degrees, within the range [0.0, 360.0). - */ - float _convertAngleToPositive(float angle) - { - if (angle >= 360.0) { - angle = angle - 360.0; - } - if (angle < 0) { - angle = angle + 360.0; - } - return angle; - } + static constexpr uint8_t QMC6310_CHIP_ID = 0x80; + static constexpr uint8_t QMC5883P_CHIP_ID = 0x80; + static constexpr uint8_t QMC6309_CHIP_ID = 0x90; - - bool initImpl(uint8_t addr) - { - reset(); - // QMC5883P Chip id same QMC6310 - if (getChipID() == QMC6310_CHIP_ID) { - switch (addr) { - case QMC6310U_SLAVE_ADDRESS: - _type = CHIP_QMC6310U; - break; - case QMC6310N_SLAVE_ADDRESS: - _type = CHIP_QMC6310N; - break; - case QMC5883P_SLAVE_ADDRESS: - _type = CHIP_QMC5883P; - break; - default: - _type = CHIP_UNKNOWN; - break; - } - return true; - } - return false; - } - -protected: - std::unique_ptr comm; - std::unique_ptr hal; - int16_t _raw[3]; - float _mag[3]; - float _declination; - float _sensitivity; - int16_t _x_offset = 0, _y_offset = 0, _z_offset = 0; ChipType _type; + + bool initImpl(uint8_t param) override + { + uint8_t _chipId = 0; + reset(); + + hal->delay(20); + + _info.uid = readReg(REG_0x00_CHIP_ID); + _info.manufacturer = "QSTMagnetic"; + _info.type = SensorType::MAGNETOMETER; + _info.i2c_address = _addr; + _info.version = 1; // Set a default version + + switch (_addr) { + case QMC6310U_SLAVE_ADDRESS: + _type = CHIP_QMC6310U; + _info.model = "QMC6310U"; + _chipId = QMC6310_CHIP_ID; + break; + case QMC6310N_SLAVE_ADDRESS: + _type = CHIP_QMC6310N; + _info.model = "QMC6310N"; + _chipId = QMC6310_CHIP_ID; + break; + case QMC5883P_SLAVE_ADDRESS: + _type = CHIP_QMC5883P; + _info.model = "QMC5883P"; + _chipId = QMC5883P_CHIP_ID; + break; + default: + _type = CHIP_UNKNOWN; + _info.model = "UNKNOWN"; + return false; + } + + if (_info.uid == 0) { + log_e("Failed to read chip ID."); + return false; + } + + if (_info.uid != _chipId) { + log_e("Unexpected chip ID: 0x%02X", _chipId); + return false; + } + + log_d("Magnetometer initialized successfully. read chip ID: 0x%02X", _info.uid ); + // Set default configuration + configMagnetometer(OperationMode::SUSPEND, + MagFullScaleRange::FS_8G, + 50.0f, + MagOverSampleRatio::OSR_8, + MagDownSampleRatio::DSR_1); + + _config.mode = OperationMode::SUSPEND; + _config.range = 8.0f; + _config.sample_rate = 50.0f; + _config.latency = 0; + _config.type = SensorType::MAGNETOMETER; + + return true; + } + }; diff --git a/lib/SensorLib/src/TouchDrv.hpp b/lib/SensorLib/src/TouchDrv.hpp new file mode 100644 index 0000000..5e8faa1 --- /dev/null +++ b/lib/SensorLib/src/TouchDrv.hpp @@ -0,0 +1,44 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrv.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-29 + * @brief Aggregated header for all touch drivers + */ +#pragma once + +#include "touch/TouchDrvInterface.hpp" +#include "touch/TouchPoints.hpp" + +#include "touch/TouchDrvCST226.h" +#include "touch/TouchDrvCST816.h" +#include "touch/TouchDrvCST92xx.h" +#include "touch/TouchDrvCST3530.h" +#include "touch/TouchDrvCSTXXX.hpp" +#include "touch/TouchDrvFT6X36.hpp" +#include "touch/TouchDrvGT911.hpp" +#include "touch/TouchDrvGT9895.hpp" +#include "touch/TouchDrvHI8561.hpp" +#include "touch/TouchDrvCHSC5816.hpp" diff --git a/lib/SensorLib/src/TouchDrvCHSC5816.hpp b/lib/SensorLib/src/TouchDrvCHSC5816.hpp index dfa5425..7f822fa 100644 --- a/lib/SensorLib/src/TouchDrvCHSC5816.hpp +++ b/lib/SensorLib/src/TouchDrvCHSC5816.hpp @@ -1,331 +1,5 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file TouchDrvCHSC5816.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-12 - * - */ #pragma once -#include "REG/CHSC5816Constants.h" -#include "TouchDrvInterface.hpp" - -#define CHSC5816_SLAVE_ADDRESS (0x2E) - -class TouchDrvCHSC5816 : public TouchDrvInterface -{ - typedef struct { - uint16_t fw_ver; - uint16_t checksum; - uint32_t sig; - uint32_t vid_pid; - uint16_t raw_offset; - uint16_t dif_offset; - } Header_t; - - union PointReg { - struct { - uint8_t status; - uint8_t fingerNumber; - uint8_t x_l8; - uint8_t y_l8; - uint8_t z; - uint8_t x_h4: 4; - uint8_t y_h4: 4; - uint8_t id: 4; - uint8_t event: 4; - uint8_t p2; - } report; - unsigned char data[8]; - }; - -public: - - TouchDrvCHSC5816() : comm(nullptr), hal(nullptr) {} - - ~TouchDrvCHSC5816() - { - if (comm) { - comm->deinit(); - } - } - -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = CHSC5816_SLAVE_ADDRESS, int sda = -1, int scl = -1) - { - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); - } -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = CHSC5816_SLAVE_ADDRESS, int sda = -1, int scl = -1) - { - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return initImpl(); - } -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = CHSC5816_SLAVE_ADDRESS) - { - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return initImpl(); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = CHSC5816_SLAVE_ADDRESS) - { - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); - } - - void reset() - { - if (_rst != -1) { - hal->digitalWrite(_rst, LOW); - hal->delay(3); - hal->digitalWrite(_rst, HIGH); - hal->delay(5); - } - } - - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point = 1) - { - PointReg touch; - uint8_t CHSC5816_REG_POINT[] = {0x20, 0x00, 0x00, 0x2c}; - comm->writeThenRead(CHSC5816_REG_POINT, arraySize(CHSC5816_REG_POINT), touch.data, 8); - if (touch.report.status == 0xFF && touch.report.fingerNumber == 0) { - return 0; - } - if (x_array) { - *x_array = (unsigned int)(touch.report.x_h4 << 8) | touch.report.x_l8; - } - if (y_array) { - *y_array = (unsigned int)(touch.report.y_h4 << 8) | touch.report.y_l8; - } - - updateXY(1, x_array, y_array); - - return 1; - } - - bool isPressed() - { - if (_irq != -1) { - return hal->digitalRead(_irq) == LOW; - } - return getPoint(NULL, NULL); - } - - const char *getModelName() - { - return "CHSC5816"; - } - - //2uA - void sleep() - { - uint8_t CHSC5816_REG_SLEEP[] = { - 0x20, 0x00, 0x00, 0x00, // CHSC5816_REG_CMD_BUFF - 0xF8, 0x16, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xE9 - }; - comm->writeBuffer(CHSC5816_REG_SLEEP, arraySize(CHSC5816_REG_SLEEP)); - } - - void wakeup() - { - reset(); - } - - void idle() - { - uint8_t CHSC5816_REG_IDEL[] = { - 0x20, 0x00, 0x00, 0x00, // CHSC5816_REG_CMD_BUFF - 0x20, 0x16, 0x02, 0x00, 0xDB, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xE9 - }; - comm->writeBuffer(CHSC5816_REG_IDEL, arraySize(CHSC5816_REG_IDEL)); - } - - uint8_t getSupportTouchPoint() - { - return 1; - } - - bool getResolution(int16_t *width, int16_t *height) - { -#if 0 - //TODO: NEED TEST - uint8_t CHSC5816_REG_FW[] = { - 0x20, 0x00, 0x00, 0x00, // CHSC5816_REG_CMD_BUFF - 0xFC, 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0xe9 - }; - if (comm->writeThenRead(CHSC5816_REG_FW, - arraySize(CHSC5816_REG_FW), - CHSC5816_REG_FW, - arraySize(CHSC5816_REG_FW)) < 0) { - return false; - } - - SensorLibDumpBuffer(CHSC5816_REG_FW, arraySize(CHSC5816_REG_FW)); - - int16_t res_w = (CHSC5816_REG_FW[2] << 8) | CHSC5816_REG_FW[3]; - int16_t res_h = (CHSC5816_REG_FW[4] << 8) | CHSC5816_REG_FW[5]; - if (width) { - *width = res_w; - } - if (height) { - *height = res_h; - } - return true; -#endif - return false; - } - - void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) - { - SensorHalCustom::setCustomMode(mode_cb); - SensorHalCustom::setCustomWrite(write_cb); - SensorHalCustom::setCustomRead(read_cb); - } - -private: - bool checkOnline() - { - Header_t first; - Header_t second; - - memset(&second, 0, sizeof(Header_t)); - memset(&first, 0, sizeof(Header_t)); - - // CHSC5816_REG_BOOT_STATE 0x20000018 - uint8_t CHSC5816_REG_BOOT_STATE[] = {0x20, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00}; - if (comm->writeBuffer(CHSC5816_REG_BOOT_STATE, arraySize(CHSC5816_REG_BOOT_STATE)) < 0) { - log_e("comm->writeBuffer clean boot state failed!\n"); - return false; - } - - reset(); - - for (int i = 0; i < 10; ++i) { - hal->delay(10); - // CHSC5816_REG_IMG_HEAD 0x20000014 - uint8_t CHSC5816_REG_IMG_HEAD[] = {0x20, 0x00, 0x00, 0x14}; - if (comm->writeThenRead(CHSC5816_REG_IMG_HEAD, - arraySize(CHSC5816_REG_IMG_HEAD), - (uint8_t *)&first, - sizeof(Header_t)) < 0) { - return false; - } - - if (comm->writeThenRead(CHSC5816_REG_IMG_HEAD, - arraySize(CHSC5816_REG_IMG_HEAD), - (uint8_t *)&second, - sizeof(Header_t)) < 0) { - return false; - } - - if (memcmp(&second, &first, sizeof(Header_t)) != 0 ) { - continue; - } - if (first.sig == CHSC5816_SIG_VALUE) { - return true; - } - } - return false; - } - - bool initImpl() - { - - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - } - - reset(); - - if (checkOnline()) { - reset(); - return true; - } - - return false; - } - - -protected: - std::unique_ptr comm; - std::unique_ptr hal; - - static constexpr uint32_t CHSC5816_SIG_VALUE = (0x43534843U); -}; - - -// #define CHSC5816_REG_CMD_BUFF (0x20000000U) -// #define CHSC5816_REG_RSP_BUFF (0x20000000U) -// #define CHSC5816_REG_IMG_HEAD (0x20000014U) -// #define CHSC5816_REG_POINT (0x2000002CU) -// #define CHSC5816_REG_WR_BUFF (0x20002000U) -// #define CHSC5816_REG_RD_BUFF (0x20002400U) -// #define CHSC5816_REG_HOLD_MCU (0x40007000U) -// #define CHSC5816_REG_AUTO_FEED (0x40007010U) -// #define CHSC5816_REG_REMAP_MCU (0x40007000U) -// #define CHSC5816_REG_RELEASE_MCU (0x40007000U) -// #define CHSC5816_REG_BOOT_STATE (0x20000018U) -// #define CHSC5816_HOLD_MCU_VAL (0x12044000U) -// #define CHSC5816_AUTO_FEED_VAL (0x0000925aU) -// #define CHSC5816_REMAP_MCU_VAL (0x12044002U) -// #define CHSC5816_RELEASE_MCU_VAL (0x12044003U) -// #define CHSC5816_REG_VID_PID_BACKUP (40 * 1024 + 0x10U) -// /*ctp work staus*/ -// #define CHSC5816_POINTING_WORK (0x00000000U) -// #define CHSC5816_READY_UPGRADE (1 << 1) -// #define CHSC5816_UPGRAD_RUNING (1 << 2) -// #define CHSC5816_SLFTEST_RUNING (1 << 3) -// #define CHSC5816_SUSPEND_GATE (1 << 16) -// #define CHSC5816_GUESTURE_GATE (1 << 17) -// #define CHSC5816_PROXIMITY_GATE (1 << 18) -// #define CHSC5816_GLOVE_GATE (1 << 19) -// #define CHSC5816_ORIENTATION_GATE (1 << 20) +#pragma message("WARNING: TouchDrvCHSC5816.hpp is deprecated. Include TouchDrv.hpp instead for all touch drivers.") +#include "touch/TouchDrvCHSC5816.hpp" diff --git a/lib/SensorLib/src/TouchDrvCSTXXX.cpp b/lib/SensorLib/src/TouchDrvCSTXXX.cpp deleted file mode 100644 index 70bf327..0000000 --- a/lib/SensorLib/src/TouchDrvCSTXXX.cpp +++ /dev/null @@ -1,269 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file TouchDrvCSTXXX.cpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-24 - * @date last 2025-01-20 - * - */ -#include "TouchDrvCSTXXX.hpp" - -#define CSTXXX_SLAVE_ADDRESS (0x15) -#define CST328_SLAVE_ADDRESS (0x1A) - -TouchDrvCSTXXX::DriverCreator TouchDrvCSTXXX::driverCreators[TouchDrvCSTXXX::driverCreatorMaxNum] = { - []() -> std::unique_ptr { return std::make_unique(); }, - []() -> std::unique_ptr { return std::make_unique(); }, - []() -> std::unique_ptr { return std::make_unique(); } -}; - -TouchDrvCSTXXX::TouchDrvCSTXXX(): - _writePtr(nullptr), - _readPtr(nullptr), - _modePtr(nullptr), - _touchType(TouchDrv_UNKOWN), - _drv(nullptr) {} - -TouchDrvCSTXXX::~TouchDrvCSTXXX() {} - -void TouchDrvCSTXXX::setTouchDrvModel(TouchDrvType model) -{ - _touchType = model; -} - -void TouchDrvCSTXXX::setupDriver() -{ - if (_drv) { - _drv->setPins(_rst, _irq); - _drv->setCustomMode(_modePtr); - _drv->setCustomWrite(_writePtr); - _drv->setCustomRead(_readPtr); - } -} - -#if defined(ARDUINO) -bool TouchDrvCSTXXX::begin(TwoWire &wire, uint8_t addr, int sda, int scl) -{ - bool success = false; - for (int i = (_touchType == TouchDrv_UNKOWN) ? 0 : _touchType; i < driverCreatorMaxNum; ++i) { - _drv = createDriver(static_cast(i)); - setupDriver(); - if (_drv && _drv->begin(wire, addr, sda, scl)) { - _touchType = static_cast(i); - success = true; - break; - } - } - if (!success) { - _touchType = TouchDrv_UNKOWN; - } - return success; -} -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) -bool TouchDrvCSTXXX::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) -{ - bool success = false; - for (int i = (_touchType == TouchDrv_UNKOWN) ? 0 : _touchType; i < driverCreatorMaxNum; ++i) { - _drv = createDriver(static_cast(i)); - setupDriver(); - if (_drv && _drv->begin(port_num, addr, sda, scl)) { - _touchType = static_cast(i); - success = true; - break; - } - } - if (!success) { - _touchType = TouchDrv_UNKOWN; - } - return success; -} -#else -bool TouchDrvCSTXXX::begin(i2c_master_bus_handle_t handle, uint8_t addr) -{ - bool success = false; - for (int i = (_touchType == TouchDrv_UNKOWN) ? 0 : _touchType; i < driverCreatorMaxNum; ++i) { - _drv = createDriver(static_cast(i)); - setupDriver(); - if (_drv && _drv->begin(handle, addr)) { - _touchType = static_cast(i); - success = true; - break; - } - } - if (!success) { - _touchType = TouchDrv_UNKOWN; - } - return success; -} -#endif // ESP_PLATFORM -#endif // ARDUINO - -void TouchDrvCSTXXX::setGpioCallback(SensorHalCustom::CustomMode mode_cb, - SensorHalCustom::CustomWrite write_cb, - SensorHalCustom::CustomRead read_cb) -{ - _writePtr = write_cb; - _readPtr = read_cb; - _modePtr = mode_cb; -} - -bool TouchDrvCSTXXX::begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) -{ - bool success = false; - for (int i = (_touchType == TouchDrv_UNKOWN) ? 0 : _touchType; i < driverCreatorMaxNum; ++i) { - _drv = createDriver(static_cast(i)); - setupDriver(); - if (_drv && _drv->begin(callback, hal_callback, addr)) { - _touchType = static_cast(i); - success = true; - break; - } - } - if (!success) { - _touchType = TouchDrv_UNKOWN; - } - return success; -} - - -void TouchDrvCSTXXX::reset() -{ - if (!_drv)return; - _drv->reset(); -} - -uint8_t TouchDrvCSTXXX::getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point) -{ - if (!_drv)return 0; - return _drv->getPoint(x_array, y_array, get_point); -} - -bool TouchDrvCSTXXX::isPressed() -{ - if (!_drv)return false; - return _drv->isPressed(); -} - -const char *TouchDrvCSTXXX::getModelName() -{ - if (!_drv)return "NULL"; - return _drv->getModelName(); -} - -void TouchDrvCSTXXX::sleep() -{ - if (!_drv)return; - _drv->sleep(); -} - -void TouchDrvCSTXXX::wakeup() -{ - if (!_drv)return; - _drv->reset(); -} - -void TouchDrvCSTXXX::idle() -{ - if (!_drv)return; - _drv->idle(); -} - -uint8_t TouchDrvCSTXXX::getSupportTouchPoint() -{ - if (!_drv)return 0; - return _drv->getSupportTouchPoint(); -} - -bool TouchDrvCSTXXX::getResolution(int16_t *x, int16_t *y) -{ - if (!_drv)return false; - return _drv->getResolution(x, y); -} - -void TouchDrvCSTXXX::setCenterButtonCoordinate(uint16_t x, uint16_t y) -{ - if (!_drv)return ; - const char *model = _drv->getModelName(); - if (strncmp(model, "CST8", 3) == 0) { - TouchDrvCST816 *pT = static_cast(_drv.get()); - pT->setCenterButtonCoordinate(x, y); - } -} - -void TouchDrvCSTXXX::setHomeButtonCallback(TouchDrvInterface::HomeButtonCallback callback, void *user_data) -{ - if (!_drv)return ; - const char *model = _drv->getModelName(); - if (strncmp(model, "CST8", 3) == 0) { - TouchDrvCST816 *pT = static_cast(_drv.get()); - pT->setHomeButtonCallback(callback, user_data); - - } else if (strncmp(model, "CST2", 3) == 0) { - TouchDrvCST226 *pT = static_cast(_drv.get()); - pT->setHomeButtonCallback(callback, user_data); - } -} - -void TouchDrvCSTXXX::disableAutoSleep() -{ - if (!_drv)return ; - const char *model = _drv->getModelName(); - if (strncmp(model, "CST8", 3) == 0) { - TouchDrvCST816 *pT = static_cast(_drv.get()); - pT->disableAutoSleep(); - } -} - -void TouchDrvCSTXXX::enableAutoSleep() -{ - if (!_drv)return ; - const char *model = _drv->getModelName(); - if (strncmp(model, "CST8", 3) == 0) { - TouchDrvCST816 *pT = static_cast(_drv.get()); - pT->enableAutoSleep(); - } -} - -void TouchDrvCSTXXX::setSwapXY(bool swap) -{ - if (!_drv)return ; - _drv->setSwapXY(swap); -} - -void TouchDrvCSTXXX::setMirrorXY(bool mirrorX, bool mirrorY) -{ - if (!_drv)return ; - _drv->setMirrorXY(mirrorX, mirrorY); -} - -void TouchDrvCSTXXX::setMaxCoordinates(uint16_t x, uint16_t y) -{ - if (!_drv)return ; - _drv->setMaxCoordinates(x, y); -} - diff --git a/lib/SensorLib/src/TouchDrvCSTXXX.hpp b/lib/SensorLib/src/TouchDrvCSTXXX.hpp index b37a7f7..c343a49 100644 --- a/lib/SensorLib/src/TouchDrvCSTXXX.hpp +++ b/lib/SensorLib/src/TouchDrvCSTXXX.hpp @@ -1,151 +1,5 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file TouchDrvCSTXXX.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-24 - * @date last 2025-01-20 - * - */ #pragma once -#include "touch/TouchDrvCST226.h" -#include "touch/TouchDrvCST816.h" -#include "touch/TouchDrvCST92xx.h" +#pragma message("WARNING: TouchDrvCSTXXX.hpp is deprecated. Include TouchDrv.hpp instead for all touch drivers.") -#define CSTXXX_SLAVE_ADDRESS (0x15) -#define CST328_SLAVE_ADDRESS (0x1A) - -enum TouchDrvType { - TouchDrv_CST226, - TouchDrv_CST8XX, - TouchDrv_CST92XX, - TouchDrv_UNKOWN, -}; - -class TouchDrvCSTXXX : public TouchDrvInterface -{ -public: - TouchDrvCSTXXX(); - - ~TouchDrvCSTXXX(); - - // Set the touch screen model. If not set, the default is to read - // the touch screen version information to determine which screen it is. - void setTouchDrvModel(TouchDrvType model); - -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr, int sda, int scl)override; -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr, int sda = -1, int scl = -1)override; -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr)override; -#endif // ESP_PLATFORM -#endif // ARDUINO - - // Set the callback I2C read and write method and initialize the touch screen. - // If successful, return true, otherwise false - - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) override; - - // Set other ways to control touch RST or INT - void setGpioCallback(SensorHalCustom::CustomMode mode_cb, - SensorHalCustom::CustomWrite write_cb, - SensorHalCustom::CustomRead read_cb) override; - - // Reset Touch - void reset()override; - - // Get the XY coordinates of the touch screen touch - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point = 1)override; - - // Get whether the touch screen is pressed - bool isPressed()override; - - // Get the touch screen model - const char *getModelName()override; - - // Set the touch screen to sleep mode - void sleep()override; - - // Wake up the touch screen, depends on the RST Pin, if it is not connected, it will be invalid - void wakeup()override; - - // Idle mode, this is not implemented, most of the CSTXXX series have automatic sleep function - void idle()override; - - // Get the maximum number of touch points supported by the touch screen - uint8_t getSupportTouchPoint()override; - - // Get touch screen resolution, not implemented - bool getResolution(int16_t *x, int16_t *y)override; - - // Set the screen touch button coordinates - void setCenterButtonCoordinate(uint16_t x, uint16_t y); - - // Set screen touch button callback function - void setHomeButtonCallback(TouchDrvInterface::HomeButtonCallback callback, void *user_data = NULL); - - // Disable automatic sleep, only for CST328 - void disableAutoSleep(); - - // Enable automatic sleep, only for CST328 - void enableAutoSleep(); - - // Swap XY coordinates - void setSwapXY(bool swap); - - // Mirror XY Coordinates - void setMirrorXY(bool mirrorX, bool mirrorY); - - // Set the maximum X, Y coordinates of the screen - void setMaxCoordinates(uint16_t x, uint16_t y); - -private: - - using DriverCreator = std::unique_ptr (*)(); - - static constexpr uint8_t driverCreatorMaxNum = 3; - static DriverCreator driverCreators[driverCreatorMaxNum]; - - std::unique_ptr createDriver(TouchDrvType type) - { - if (/*type >= TouchDrv_UNKOWN &&*/ - type < sizeof(driverCreators) / sizeof(driverCreators[0])) { - return driverCreators[type](); - } - return nullptr; - } - - void setupDriver(); - - SensorHalCustom::CustomWrite _writePtr; - SensorHalCustom::CustomRead _readPtr; - SensorHalCustom::CustomMode _modePtr; - TouchDrvType _touchType; - std::unique_ptr _drv; -}; +#include "touch/TouchDrvCSTXXX.hpp" diff --git a/lib/SensorLib/src/TouchDrvFT6X36.hpp b/lib/SensorLib/src/TouchDrvFT6X36.hpp index 48f22f2..3b2eb30 100644 --- a/lib/SensorLib/src/TouchDrvFT6X36.hpp +++ b/lib/SensorLib/src/TouchDrvFT6X36.hpp @@ -1,386 +1,5 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file TouchDrvFT6X36.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-01 - * - */ #pragma once -#include "REG/FT6X36Constants.h" -#include "TouchDrvInterface.hpp" - -class TouchDrvFT6X36 : public TouchDrvInterface -{ -public: - enum GesTrue { - NO_GESTURE, - MOVE_UP, - MOVE_LEFT, - MOVE_DOWN, - MOVE_RIGHT, - ZOOM_IN, - ZOOM_OUT, - } ; - - enum EventFlag { - EVENT_PUT_DOWN, - EVENT_PUT_UP, - EVENT_CONTACT, - EVENT_NONE, - } ; - - enum PowerMode { - PMODE_ACTIVE = 0, // ~4mA - PMODE_MONITOR = 1, // ~3mA - PMODE_DEEP_SLEEP = 3, // ~100uA The reset pin must be pulled down to wake up - } ; - - EventFlag event; - - TouchDrvFT6X36() : comm(nullptr), hal(nullptr) {} - - ~TouchDrvFT6X36() - { - if (comm) { - comm->deinit(); - } - } - -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = FT6X36_SLAVE_ADDRESS, int sda = -1, int scl = -1) - { - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); - } - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = FT6X36_SLAVE_ADDRESS, int sda = -1, int scl = -1) - { - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return initImpl(); - } -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = FT6X36_SLAVE_ADDRESS) - { - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return initImpl(); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) - { - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); - } - - uint8_t getDeviceMode(void) - { - return comm->readRegister(FT6X36_REG_MODE) & 0x03; - } - - // Obtaining gestures depends on whether the built-in firmware of the chip has this function - uint8_t getGesture() - { - int val = comm->readRegister(FT6X36_REG_GEST); - switch (val) { - case 0x10: - return MOVE_UP; - case 0x14: - return MOVE_RIGHT; - case 0x18: - return MOVE_DOWN; - case 0x1C: - return MOVE_LEFT; - case 0x48: - return ZOOM_IN; - case 0x49: - return ZOOM_OUT; - default: - break; - } - return NO_GESTURE; - } - - void setThreshold(uint8_t value) - { - comm->writeRegister(FT6X36_REG_THRESHOLD, value); - } - - uint8_t getThreshold(void) - { - return comm->readRegister(FT6X36_REG_THRESHOLD); - } - - uint8_t getMonitorTime(void) - { - return comm->readRegister(FT6X36_REG_MONITOR_TIME); - } - - void setMonitorTime(uint8_t sec) - { - comm->writeRegister(FT6X36_REG_MONITOR_TIME, sec); - } - - // Calibration useless actually, - // any value set will not be valid, - // depending on the internal firmware of the chip. - /* - void enableAutoCalibration(void) - { - comm->writeRegister(FT6X36_REG_AUTO_CLB_MODE, 0x00); - } - - void disableAutoCalibration(void) - { - comm->writeRegister(FT6X36_REG_AUTO_CLB_MODE, 0xFF); - } - */ - - uint16_t getLibraryVersion() - { - uint8_t buffer[2]; - comm->readRegister(FT6X36_REG_LIB_VERSION_H, buffer, 2); - return (buffer[0] << 8) | buffer[1]; - } - - // The interrupt pin is pulled down when a touch is detected until the touch is released - void interruptPolling(void) - { - comm->writeRegister(FT6X36_REG_INT_STATUS, 0x00); - } - - // The interrupt pin will continue to output pulse once the touch is detected until released - void interruptTrigger(void) - { - comm->writeRegister(FT6X36_REG_INT_STATUS, 0x01); - } - - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t size = 1) - { - uint8_t buffer[16]; - - if (!x_array || !y_array || !size) - return 0; - - if (comm->readRegister(FT6X36_REG_MODE, buffer, 16) == -1) { - return 0; - } - - // uint8_t mode = buffer[0]; - //REG 0x01 - // uint8_t gesture = buffer[1]; - //REG 0x02 - uint8_t numPoints = buffer[2] & 0x0F; - if (numPoints == 0 || numPoints == 0x0F) { - return 0; - } - - //REG 0x03 ~ 0x04 - // uint8_t eventFlag = (buffer[3] & 0xC0) >> 6; - uint16_t posX = ((buffer[3] & 0x0F) << 8) | buffer[4]; - //REG 0x05 ~ 0x06 - uint16_t posY = ((buffer[5] & 0x0F) << 8) | buffer[6] ; - - - x_array[0] = posX; - y_array[0] = posY; - - if (numPoints == 2) { - //REG 0x09 ~ 0x0A - posX = ((buffer[9] & 0x0F) << 8) | buffer[10]; - //REG 0x0B ~ 0x0C - posY = ((buffer[11] & 0x0F) << 8) | buffer[12] ; - - if (size == 2) { - x_array[1] = posX; - y_array[1] = posY; - } - } - updateXY(numPoints, x_array, y_array); - - return numPoints; - } - - bool isPressed() - { - if (_irq != -1) { - return hal->digitalRead(_irq) == LOW; - } - return comm->readRegister(FT6X36_REG_STATUS) & 0x0F; - } - - void setPowerMode(PowerMode mode) - { - comm->writeRegister(FT6X36_REG_POWER_MODE, mode); - } - - void sleep() - { - comm->writeRegister(FT6X36_REG_POWER_MODE, PMODE_DEEP_SLEEP); - } - - void wakeup() - { - reset(); - } - - void idle() - { - - } - - uint8_t getSupportTouchPoint() - { - return 1; - } - - uint32_t getChipID(void) - { - return comm->readRegister(FT6X36_REG_CHIP_ID); - } - - uint8_t getVendorID(void) - { - return comm->readRegister(FT6X36_REG_VENDOR1_ID); - } - - uint8_t getErrorCode(void) - { - return comm->readRegister(FT6X36_REG_ERROR_STATUS); - } - - const char *getModelName() - { - switch (_chipID) { - case FT6206_CHIP_ID: return "FT6206"; - case FT6236_CHIP_ID: return "FT6236"; - case FT6236U_CHIP_ID: return "FT6236U"; - case FT3267_CHIP_ID: return "FT3267"; - default: return "UNKNOWN"; - } - } - - - bool getResolution(int16_t *x, int16_t *y) - { - return false; - } - - void reset() - { - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - hal->digitalWrite(_rst, HIGH); - hal->delay(10); - hal->digitalWrite(_rst, LOW); - hal->delay(30); - hal->digitalWrite(_rst, HIGH); - // For the variant of GPIO extended RST, - // communication and hal->delay are carried out simultaneously, and 160ms is measured in T-RGB esp-idf new api - hal->delay(160); - } - } - - - void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) - { - SensorHalCustom::setCustomMode(mode_cb); - SensorHalCustom::setCustomWrite(write_cb); - SensorHalCustom::setCustomRead(read_cb); - } - -private: - bool initImpl() - { - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - - reset(); - - uint8_t vendId = comm->readRegister(FT6X36_REG_VENDOR1_ID); - - - if (vendId != FT6X36_VEND_ID) { - log_e("Vendor id is 0x%X not match!", vendId); - return false; - } - - _chipID = comm->readRegister(FT6X36_REG_CHIP_ID); - - if ((_chipID != FT6206_CHIP_ID) && - (_chipID != FT6236_CHIP_ID) && - (_chipID != FT6236U_CHIP_ID) && - (_chipID != FT3267_CHIP_ID) - ) { - log_e("Vendor id is not match!"); - log_e("ChipID:0x%lx should be 0x06 or 0x36 or 0x64", _chipID); - return false; - } - - log_i("Vend ID: 0x%X", vendId); - log_i("Chip ID: 0x%lx", _chipID); - log_i("Firm Version: 0x%X", comm->readRegister(FT6X36_REG_FIRM_VERS)); - log_i("Point Rate Hz: %u", comm->readRegister(FT6X36_REG_PERIOD_ACTIVE)); - log_i("Thresh : %u", comm->readRegister(FT6X36_REG_THRESHOLD)); - - // change threshold to be higher/lower - comm->writeRegister(FT6X36_REG_THRESHOLD, 60); - - log_i("Chip library version : 0x%x", getLibraryVersion()); - - // This register describes period of monitor status, it should not less than 30. - log_i("Chip period of monitor status : 0x%x", comm->readRegister(FT6X36_REG_PERIOD_MONITOR)); - - // This register describes the period of active status, it should not less than 12 - - - return true; - } - -protected: - std::unique_ptr comm; - std::unique_ptr hal; -}; - - +#pragma message("WARNING: TouchDrvFT6X36.hpp is deprecated. Include TouchDrv.hpp instead for all touch drivers.") +#include "touch/TouchDrvFT6X36.hpp" diff --git a/lib/SensorLib/src/TouchDrvGT911.hpp b/lib/SensorLib/src/TouchDrvGT911.hpp index 55a3367..0da3edd 100644 --- a/lib/SensorLib/src/TouchDrvGT911.hpp +++ b/lib/SensorLib/src/TouchDrvGT911.hpp @@ -1,704 +1,5 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file TouchDrvGT911.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-12 - * - */ #pragma once -#include "REG/GT911Constants.h" -#include "TouchDrvInterface.hpp" +#pragma message("WARNING: TouchDrvGT911.hpp is deprecated. Include TouchDrv.hpp instead for all touch drivers.") -#if defined(ARDUINO_ARCH_NRF52) -// NRF52840 I2C BUFFER : 64 Bytes , -#warning "NRF Platform I2C Buffer expansion is not implemented , GT911 requires at least 188 bytes to read all configurations" -#endif - -#define GT911_GET_POINT(x) (x & 0x0F) -#define GT911_GET_BUFFER_STATUS(x) (x & 0x80) -#define GT911_GET_HAVE_KEY(x) (x & 0x10) - -class TouchDrvGT911 : public TouchDrvInterface, public GT911Constants -{ - typedef struct { - uint8_t trackID; - int16_t x; - int16_t y; - int16_t size; - } PointReg; - -public: - - TouchDrvGT911() : comm(nullptr), hal(nullptr) {} - - ~TouchDrvGT911() - { - if (comm) { - comm->deinit(); - } - } - -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = GT911_SLAVE_ADDRESS_H, int sda = -1, int scl = -1) - { - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(addr); - } - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = GT911_SLAVE_ADDRESS_H, int sda = -1, int scl = -1) - { - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return initImpl(addr); - } -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = GT911_SLAVE_ADDRESS_H) - { - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return initImpl(addr); - } -#endif //ESP_PLATFORM -#endif //ARDUINO - - - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) - { - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(addr); - } - - void reset() - { - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - hal->digitalWrite(_rst, HIGH); - hal->delay(10); - } - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - /* - * If you perform a software reset on a board without a reset pin connected, - * subsequent interrupt settings or re-writing of configurations will be invalid. - * For example, when debugging a LilyGo T-Deck, resetting the interrupt mode will - * be invalid after a software reset. - * */ - // comm->writeRegister(GT911_COMMAND, 0x02); - // writeCommand(0x02); - } - - void sleep() - { - if (_irq != -1) { - hal->pinMode(_irq, OUTPUT); - hal->digitalWrite(_irq, LOW); - } - // comm->writeRegister(GT911_COMMAND, 0x05); - writeCommand(0x05); - - /* - * Depending on the chip and platform, setting it to input after removing sleep will affect power consumption. - * The chip platform determines whether - * - * * */ - // if (_irq != -1) { - // hal->digitalWrite(_irq, INPUT); - // } - } - - - - void wakeup() - { - if (_irq != -1) { - hal->pinMode(_irq, OUTPUT); - hal->digitalWrite(_irq, HIGH); - hal->delay(8); - hal->pinMode(_irq, INPUT); - } else { - reset(); - } - } - - void idle() - { - - } - - uint8_t getSupportTouchPoint() - { - return 5; - } - - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t size = 1) - { - uint8_t buffer[39]; - uint8_t touchPoint = 0; - PointReg p[5]; - - if (!x_array || !y_array || size == 0) - return 0; - - uint8_t val = readGT911(GT911_POINT_INFO); - - bool haveKey = GT911_GET_HAVE_KEY(val); - // bool bufferStatus = GT911_GET_BUFFER_STATUS(val); - // log_i("REG:0x%X S:0X%d K:%d\n", val,bufferStatus,haveKey); - - if (_HButtonCallback && haveKey) { - _HButtonCallback(_userData); - } - - clearBuffer(); - - touchPoint = GT911_GET_POINT(val); - if (touchPoint == 0) { - return 0; - } - - // GT911_POINT_1 0X814F - uint8_t write_buffer[2] = {0x81, 0x4F}; - if (comm->writeThenRead(write_buffer, arraySize(write_buffer), - buffer, 39) == -1) { - return 0; - } - - for (uint8_t i = 0; i < size; i++) { - p[i].trackID = buffer[i * 8]; - p[i].x = buffer[0x01 + i * 8] ; - p[i].x |= (buffer[0x02 + i * 8] << 8 ); - p[i].y = buffer[0x03 + i * 8] ; - p[i].y |= (buffer[0x04 + i * 8] << 8); - p[i].size = buffer[0x05 + i * 8] ; - p[i].size |= (buffer[0x06 + i * 8] << 8) ; - - x_array[i] = p[i].x; - y_array[i] = p[i].y; - } - - updateXY(touchPoint, x_array, y_array); - - return touchPoint; - } - - - bool isPressed() - { - if (_irq != -1) { - if (_irq_mode == FALLING) { - return hal->digitalRead(_irq) == LOW; - } else if (_irq_mode == RISING ) { - return hal->digitalRead(_irq) == HIGH; - } else if (_irq_mode == LOW_LEVEL_QUERY) { - return hal->digitalRead(_irq) == LOW; - } else if (_irq_mode == HIGH_LEVEL_QUERY) { - return hal->digitalRead(_irq) == HIGH; - } - } - return getPoint(); - } - - bool setInterruptMode(uint8_t mode) - { - // GT911_MODULE_SWITCH_1 0x804D - uint8_t val = readGT911(GT911_MODULE_SWITCH_1); - val &= 0XFC; - if (mode == FALLING) { - val |= 0x01; - } else if (mode == RISING ) { - val |= 0x00; - } else if (mode == LOW_LEVEL_QUERY ) { - val |= 0x02; - } else if (mode == HIGH_LEVEL_QUERY ) { - val |= 0x03; - } - _irq_mode = mode; - writeGT911(GT911_MODULE_SWITCH_1, val); - return reloadConfig(); - } - - /** - * @retval - * * 0x0: Rising edge trigger - * * 0x1: Falling edge trigger - * * 0x2: Low level query - * * 0x3: High level query - */ - uint8_t getInterruptMode() - { - uint8_t val = readGT911(GT911_MODULE_SWITCH_1); - // return val & 0x03; - val &= 0x03; - if (val == 0x00) { - _irq_mode = RISING; - } else if (val == 0x01) { - _irq_mode = FALLING; - } else if (val == 0x02) { - _irq_mode = LOW_LEVEL_QUERY; - } else if (val == 0x03) { - _irq_mode = HIGH_LEVEL_QUERY; - } - return val; - } - - - uint8_t getPoint() - { - // GT911_POINT_INFO 0X814E - uint8_t val = readGT911(GT911_POINT_INFO); - clearBuffer(); - return GT911_GET_POINT(val); - } - - - uint32_t getChipID() - { - char product_id[4] = {0}; - // GT911_PRODUCT_ID 0x8140 - for (int i = 0; i < 4; ++i) { - product_id[i] = readGT911(GT911_PRODUCT_ID + i); - } - return atoi(product_id); - } - - uint16_t getFwVersion() - { - uint8_t fw_ver[2] = {0}; - // GT911_FIRMWARE_VERSION 0x8144 - for (int i = 0; i < 2; ++i) { - fw_ver[i] = readGT911(GT911_FIRMWARE_VERSION + i); - } - return fw_ver[0] | (fw_ver[1] << 8); - } - - uint8_t getConfigVersion() - { - return readGT911(GT911_CONFIG_VERSION); - } - - - bool getResolution(int16_t *x, int16_t *y) - { - uint8_t x_resolution[2] = {0}, y_resolution[2] = {0}; - - for (int i = 0; i < 2; ++i) { - x_resolution[i] = readGT911(GT911_X_RESOLUTION + i); - } - for (int i = 0; i < 2; ++i) { - y_resolution[i] = readGT911(GT911_Y_RESOLUTION + i); - } - - *x = x_resolution[0] | (x_resolution[1] << 8); - *y = y_resolution[0] | (y_resolution[1] << 8); - return true; - } - - //Range : 5 ~ 15 ms - void updateRefreshRate(uint8_t rate_ms) - { - if ((rate_ms - 5) < 5) { - rate_ms = 5; - } - if (rate_ms > 15) { - rate_ms = 15; - } - rate_ms -= 5; - writeGT911(GT911_REFRESH_RATE, rate_ms); - reloadConfig(); - } - - uint8_t getRefreshRate() - { - uint8_t rate_ms = readGT911(GT911_REFRESH_RATE); - return rate_ms + GT911_BASE_REF_RATE ; - } - - - int getVendorID() - { - return readGT911(GT911_VENDOR_ID); - } - - - const char *getModelName() - { - return "GT911"; - } - - void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) - { - SensorHalCustom::setCustomMode(mode_cb); - SensorHalCustom::setCustomWrite(write_cb); - SensorHalCustom::setCustomRead(read_cb); - } - - void setHomeButtonCallback(HomeButtonCallback cb, void *user_data) - { - _HButtonCallback = cb; - _userData = user_data; - } - - bool writeConfig(const uint8_t *config_buffer, size_t buffer_size) - { -#if 0 //TODO: - uint8_t check_sum = 0; - for (int i = 0; i < (GT911_REG_LENGTH - 2 ); i++) { - check_sum += config_buffer[i]; - } - check_sum = (~check_sum) + 1; - if (check_sum != config_buffer[GT911_REG_LENGTH - 2]) { - log_e("Config checksum error !"); - return false; - } - log_d("Update touch config , write %lu Bytes check sum:0x%X", buffer_size, check_sum); - uint8_t cmd[] = {lowByte(GT911_CONFIG_VERSION), highByte(GT911_CONFIG_VERSION)}; - int err = comm->writeRegister(GT911_CONFIG_VERSION, (uint8_t *)config_buffer, buffer_size); - - -#if 0 - while (digitalRead(_irq)) { - log_i("Wait irq.."); hal->delay(500); - } - int err = comm->writeBuffer((uint8_t *)config_buffer, buffer_size); -#endif - return err == 0; -#endif - return false; - } - - uint8_t *loadConfig(size_t *output_size, bool print_out = false) - { - *output_size = 0; - uint8_t *buffer = (uint8_t * )malloc(GT911_REG_LENGTH * sizeof(uint8_t)); - if (!buffer)return NULL; - uint8_t write_buffer[2] = {highByte(GT911_CONFIG_VERSION), lowByte(GT911_CONFIG_VERSION)}; - if (comm->writeThenRead(write_buffer, arraySize(write_buffer), buffer, GT911_REG_LENGTH) == -1) { - free(buffer); - return NULL; - } - if (print_out) { - printf("const unsigned char config[186] = {"); - for (int i = 0; i < GT911_REG_LENGTH; ++i) { - if ( (i % 8) == 0) { - printf("\n"); - } - printf(" 0x%02X", buffer[i]); - if ((i + 1) < GT911_REG_LENGTH) { - printf(","); - } - } - printf("};\n"); - } - *output_size = GT911_REG_LENGTH; - return buffer; - } - - bool reloadConfig() - { - uint8_t buffer[GT911_REG_LENGTH] = {highByte(GT911_CONFIG_VERSION), lowByte(GT911_CONFIG_VERSION)}; - if (comm->writeThenRead(buffer, 2, buffer, GT911_REG_LENGTH - 2) == -1) { - return false; - } - - uint8_t check_sum = 0; - for (int i = 0; i < (GT911_REG_LENGTH - 2 ); i++) { - check_sum += buffer[i]; - } - check_sum = (~check_sum) + 1; - log_d("reloadConfig check_sum : 0x%X\n", check_sum); - writeGT911(GT911_CONFIG_CHKSUM, check_sum); - writeGT911(GT911_CONFIG_FRESH, 0x01); - return true; - } - - void dumpRegister() - { - size_t output_size = 0; - uint8_t *buffer = loadConfig(&output_size, true); - if (output_size == 0) { - return; - } - - if (buffer == NULL)return; - printf("----------Dump register------------\n"); - for (size_t i = 0; i < output_size; ++i) { - printf("[%d] REG: 0x%X : 0x%02X\n", i, GT911_CONFIG_VERSION + i, buffer[i]); - } - free(buffer); - } - - // Range : 1~5 - void setMaxTouchPoint(uint8_t num) - { - if (num < 1)num = 1; - if (num > 5) num = 5; - writeGT911(GT911_TOUCH_NUMBER, num); - reloadConfig(); - } - - uint8_t getMaxTouchPoint() - { - uint8_t num = readGT911(GT911_TOUCH_NUMBER); - return num & 0x0F; - } - - void setConfigData(uint8_t *data, uint16_t length) - { - _config = data; - _config_size = length; - } - -private: - - uint8_t readGT911(uint16_t cmd) - { - uint8_t value = 0x00; - uint8_t write_buffer[2] = {highByte(cmd), lowByte(cmd)}; - comm->writeThenRead(write_buffer, arraySize(write_buffer), - &value, 1); - return value; - } - - int writeGT911(uint16_t cmd, uint8_t value) - { - uint8_t write_buffer[3] = {highByte(cmd), lowByte(cmd), value}; - return comm->writeBuffer(write_buffer, arraySize(write_buffer)); - } - - - void writeCommand(uint8_t command) - { - // GT911_COMMAND 0x8040 - uint8_t write_buffer[3] = {0x80, 0x40, command}; - comm->writeBuffer(write_buffer, arraySize(write_buffer)); - } - - void inline clearBuffer() - { - writeGT911(GT911_POINT_INFO, 0x00); - } - - bool probeAddress() - { - const uint8_t device_address[2] = {GT911_SLAVE_ADDRESS_L, GT911_SLAVE_ADDRESS_H}; - for (size_t i = 0; i < arraySize(device_address); ++i) { - I2CParam params(I2CParam::I2C_SET_ADDR, device_address[i]); - comm->setParams(params); - for (int retry = 0; retry < 3; ++retry) { - _chipID = getChipID(); - if (_chipID == GT911_DEV_ID) { - log_i("Touch device address found is : 0x%X", device_address[i]); - return true; - } - } - } - log_e("GT911 not found, touch device 7-bit address should be 0x5D or 0x14"); - return false; - } - - - bool initImpl(uint8_t addr) - { - int16_t x = 0, y = 0; - - if (addr == GT911_SLAVE_ADDRESS_H && _rst != -1 && _irq != -1) { - - log_i("Try using 0x14 as the device address"); - - hal->pinMode(_rst, OUTPUT); - hal->pinMode(_irq, OUTPUT); - - hal->digitalWrite(_rst, LOW); - hal->digitalWrite(_irq, HIGH); - hal->delayMicroseconds(120); - hal->digitalWrite(_rst, HIGH); - -#if defined(ARDUINO) - // In the Arduino ESP32 platform, the test delay is 8ms and the GT911 - // can be accessed correctly. If the time is too long, it will not be accessible. - hal->delay(8); -#elif defined(ESP_PLATFORM) - // For the variant of GPIO extended RST, - // communication and delay are carried out simultaneously, and 18 ms is measured in T-RGB esp-idf new api - hal->delay(18); -#endif - - hal->pinMode(_irq, INPUT); - - } else if (addr == GT911_SLAVE_ADDRESS_L && _rst != -1 && _irq != -1) { - - log_i("Try using 0x5D as the device address"); - - hal->pinMode(_rst, OUTPUT); - hal->pinMode(_irq, OUTPUT); - - hal->digitalWrite(_rst, LOW); - hal->digitalWrite(_irq, LOW); - hal->delayMicroseconds(120); - hal->digitalWrite(_rst, HIGH); -#if defined(ARDUINO) - // In the Arduino ESP32 platform, the test hal->delay is 8ms and the GT911 - // can be accessed correctly. If the time is too long, it will not be accessible. - hal->delay(8); -#elif defined(ESP_PLATFORM) - // For the variant of GPIO extended RST, - // communication and hal->delay are carried out simultaneously, and 18 ms is measured in T-RGB esp-idf new api - hal->delay(18); -#endif - hal->pinMode(_irq, INPUT); - - } else { - if (!autoProbe()) { - return false; - } - } - - // For variants where the GPIO is controlled by I2C, a hal->delay is required here - hal->delay(20); - - - /* - * For the ESP32 platform, the default buffer is 128. - * Need to re-apply for a larger buffer to fully read the configuration table. - * - * TODO: NEED FIX - if (!this->reallocBuffer(GT911_REG_LENGTH + 2)) { - log_e("realloc i2c buffer failed !"); - return false; - } - */ - - _chipID = getChipID(); - - if (_chipID != GT911_DEV_ID) { - log_i("Not found device GT911,Try to found the GT911"); - if (!autoProbe()) { - return false; - } - } - - log_i("Product id:%ld", _chipID); - -#if 0 - /*If the configuration is not written, the touch screen may be damaged. */ - if (_config && _config_size != 0) { - - log_d("Current version char :%x", getConfigVersion()); - hal->delay(100); - writeConfig(_config, _config_size); - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - log_d("WriteConfig version char :%x", getConfigVersion()); - // hal->delay(1000); - // size_t output_size; - // loadConfig(&output_size, true); - // log_d("loadConfig version char :%x", version_char); - } -#endif - - - log_i("Firmware version: 0x%x", getFwVersion()); - getResolution(&x, &y); - log_i("Resolution : X = %d Y = %d", x, y); - log_i("Vendor id:%d", getVendorID()); - log_i("Refresh Rate:%d ms", getRefreshRate()); - log_i("MaxTouchPoint:%d", getMaxTouchPoint()); - - - // Get the default interrupt trigger mode of the current screen - getInterruptMode(); - - if ( _irq_mode == RISING) { - log_i("Interrupt Mode: RISING"); - } else if (_irq_mode == FALLING) { - log_i("Interrupt Mode: FALLING"); - } else if (_irq_mode == LOW_LEVEL_QUERY) { - log_i("Interrupt Mode: LOW_LEVEL_QUERY"); - } else if (_irq_mode == HIGH_LEVEL_QUERY) { - log_i("Interrupt Mode: HIGH_LEVEL_QUERY"); - } else { - log_e("UNKOWN"); - } - - if (x == -1 || y == -1) { - log_e("The screen configuration is lost, please update the configuration file again !"); - return false; - } - - return true; - } - - bool autoProbe() - { - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - hal->digitalWrite(_rst, HIGH); - hal->delay(10); - } - - // Automatically determine the current device - // address when using the reset pin without connection - if (!probeAddress()) { - return false; - } - - // Reset Config - reset(); - - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - - return true; - } - - static constexpr uint8_t LOW_LEVEL_QUERY = 0x03; - static constexpr uint8_t HIGH_LEVEL_QUERY = 0x04; - -protected: - std::unique_ptr comm; - std::unique_ptr hal; - - int _irq_mode; - uint8_t *_config = NULL; - uint16_t _config_size = 0; -}; +#include "touch/TouchDrvGT911.hpp" diff --git a/lib/SensorLib/src/TouchDrvGT9895.cpp b/lib/SensorLib/src/TouchDrvGT9895.cpp deleted file mode 100644 index 1f257d2..0000000 --- a/lib/SensorLib/src/TouchDrvGT9895.cpp +++ /dev/null @@ -1,640 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2024 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. - * - * @file TouchDrvGT9895.cpp - * @author Lewis He (lewishe@outlook.com) - * @date 2024-09-21 - * - */ -#include "TouchDrvGT9895.hpp" - -TouchDrvGT9895::TouchDrvGT9895() : comm(nullptr), hal(nullptr) {} - -TouchDrvGT9895::~TouchDrvGT9895() -{ - if (comm) { - comm->deinit(); - } -} - -#if defined(ARDUINO) -bool TouchDrvGT9895::begin(TwoWire &wire, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); -} - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) -bool TouchDrvGT9895::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return initImpl(); -} -#else -bool TouchDrvGT9895::begin(i2c_master_bus_handle_t handle, uint8_t addr) -{ - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return initImpl(); -} -#endif //ESP_PLATFORM -#endif //ARDUINO - -bool TouchDrvGT9895::begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) -{ - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); -} - -void TouchDrvGT9895::deinit() -{ - -} - -void TouchDrvGT9895::reset() -{ - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - hal->digitalWrite(_rst, HIGH); - hal->delay(10); - hal->digitalWrite(_rst, LOW); - hal->delay(30); - hal->digitalWrite(_rst, HIGH); - hal->delay(100); - } - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } -} - -void TouchDrvGT9895::sleep() -{ - if (_irq != -1) { - hal->pinMode(_irq, OUTPUT); - hal->digitalWrite(_irq, LOW); - } - - uint8_t sleep_cmd[] = { - ((GT9895_REG_CMD >> 24) & 0xFF), - ((GT9895_REG_CMD >> 16) & 0xFF), - ((GT9895_REG_CMD >> 8) & 0xFF), - (GT9895_REG_CMD & 0xFF), - 0x00, 0x00, 0x04, 0x84, 0x88, 0x00 - }; - comm->writeBuffer(sleep_cmd, sizeof(sleep_cmd)); -} - -void TouchDrvGT9895::wakeup() -{ - if (_irq != -1) { - hal->pinMode(_irq, OUTPUT); - hal->digitalWrite(_irq, HIGH); - hal->delay(8); - } - reset(); -} - -void TouchDrvGT9895::idle() -{ - -} - -uint8_t TouchDrvGT9895::getSupportTouchPoint() -{ - return GT9895_MAX_TOUCH; -} - -uint8_t TouchDrvGT9895::getPoint(int16_t *x_array, int16_t *y_array, uint8_t size) -{ - uint8_t buffer[32] = {0}; - uint8_t event_status; - - int length = GT9895_IRQ_EVENT_HEAD_LEN + GT9895_BYTES_PER_POINT * 2 + GT9895_COORDS_DATA_CHECKSUM_SIZE; - - ByteUnion u; - u.value = GT9895_REG_POINT; - if (comm->writeThenRead(u.byte_array, 4, buffer, length) == -1) { - return 0; - } - - if (buffer[0] == 0x00) { - return 0; - } - - if (checksum_cmp(buffer, GT9895_IRQ_EVENT_HEAD_LEN, CHECKSUM_MODE_U8_LE)) { - // log_e("touch head checksum err[%*ph]", GT9895_IRQ_EVENT_HEAD_LEN, buffer); - return 0; - } - - event_status = buffer[0]; - - if (event_status & GT9895_TOUCH_EVENT) { - - int touchNum = getTouchData(buffer, length); - - if (!touchNum) { - return 0; - } - - if ( x_array && y_array && size) { - uint8_t length = size < touchNum ? size : touchNum; - for (int i = 0; i < length; ++i) { - x_array[i] = _ts_event.touch_data.coords[i].x; - y_array[i] = _ts_event.touch_data.coords[i].y; - } - updateXY(touchNum, x_array, y_array); - } - - return touchNum; - } - -#if 0 - if (event_status & GT9895_REQUEST_EVENT) { - _ts_event.event_type = EVENT_REQUEST; - - if (buffer[2] == BRL_REQUEST_CODE_CONFIG) - _ts_event.request_code = REQUEST_TYPE_CONFIG; - else if (buffer[2] == BRL_REQUEST_CODE_RESET) - _ts_event.request_code = REQUEST_TYPE_RESET; - else - log_e("unsupported request code 0x%x", buffer[2]); - } - - if (event_status & GT9895_GESTURE_EVENT) { - _ts_event.event_type = EVENT_GESTURE; - _ts_event.gesture_type = buffer[4]; - memcpy(_ts_event.gesture_data, &buffer[8], GT9895_GESTURE_DATA_LEN); - } -#endif - - clearStatus(); - - return 0; -} - -bool TouchDrvGT9895::isPressed() -{ - if (_irq != -1) { - return hal->digitalRead(_irq) == LOW; - } else { - return getPoint(NULL, NULL, 0); - } - return false; -} - -uint32_t TouchDrvGT9895::getChipID() -{ - return (uint32_t)strtol((const char *)_version.patch_pid, NULL, 16); -} - - -bool TouchDrvGT9895::getResolution(int16_t *x, int16_t *y) -{ - return 0; -} - -const char *TouchDrvGT9895::getModelName() -{ - return "GT9895"; -} - -void TouchDrvGT9895::setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) -{ - SensorHalCustom::setCustomMode(mode_cb); - SensorHalCustom::setCustomWrite(write_cb); - SensorHalCustom::setCustomRead(read_cb); -} - -int TouchDrvGT9895::is_risk_data(const uint8_t *data, int size) -{ - int zero_count = 0; - int ff_count = 0; - - for (int i = 0; i < size; i++) { - if (data[i] == 0) - zero_count++; - else if (data[i] == 0xFF) - ff_count++; - } - if (zero_count == size || ff_count == size) { - log_e("warning data is all %s\n", zero_count == size ? "0x00" : "0xFF"); - return 1; - } - return 0; -} - -int TouchDrvGT9895::checksum_cmp(const uint8_t *data, int size, int mode) -{ - uint32_t cal_checksum = 0; - uint32_t r_checksum = 0; - if (mode == CHECKSUM_MODE_U8_LE) { - if (size < 2) - return 1; - for (int i = 0; i < size - 2; i++) - cal_checksum += data[i]; - r_checksum = data[size - 2] + (data[size - 1] << 8); - return (cal_checksum & 0xFFFF) == r_checksum ? 0 : 1; - } - - if (size < 4) - return 1; - for (int i = 0; i < size - 4; i += 2) - cal_checksum += data[i] + (data[i + 1] << 8); - r_checksum = data[size - 4] + (data[size - 3] << 8) + - (data[size - 2] << 16) + (data[size - 1] << 24); - return cal_checksum == r_checksum ? 0 : 1; -} - -int TouchDrvGT9895::readVersion(ChipFirmwareVersion *version) -{ - int ret = 0; - uint8_t buffer[sizeof(ChipFirmwareVersion)] = {0}; - uint8_t temp_pid[8] = {0}; - - if (!version) { - return -1; - } - - for (int i = 0; i < 2; i++) { - - ByteUnion u; - u.value = GT9895_REG_FW_VERSION; - if (comm->writeThenRead(u.byte_array, 4, buffer, sizeof(buffer)) == -1) { - log_e("read fw version: %d, retry %d", ret, i); - ret = -1; - hal->delay(5); - continue; - } - if (!checksum_cmp(buffer, sizeof(buffer), CHECKSUM_MODE_U8_LE)) { - ret = 0; - break; - } - - log_e("Invalid fw version: checksum error!"); - log_e("Firmware version:%*ph", (int)sizeof(buffer), buffer); - ret = -1; - hal->delay(15); - - } - if (ret == -1) { - log_e("Failed get valid firmware version"); - return ret; - } - - memcpy(version, buffer, sizeof(*version)); - memcpy(temp_pid, version->rom_pid, sizeof(version->rom_pid)); - log_d("Rom_pid:%s", (const char *)temp_pid); - log_d("Rom_vid:%*p", (int)sizeof(version->rom_vid), version->rom_vid); - log_d("PID:%s", (const char *)version->patch_pid); - log_d("VID:%*p", (int)sizeof(version->patch_vid), version->patch_vid); - log_d("Sensor ID:%d", version->sensor_id); - - return 0; -} - -int TouchDrvGT9895::convertChipInfo(ChipInfo *info, const uint8_t *data) -{ - int i = 0; - ChipInfoVersion *version = &info->version; - ChipInfoFeature *feature = &info->feature; - ChipInfoParams *parm = &info->parm; - ChipInfoMisc *misc = &info->misc; - - info->length = *((uint16_t *)data); - data += 2; - - memcpy(version, data, sizeof(*version)); - data += sizeof(ChipInfoVersion); - - memcpy(feature, data, sizeof(*feature)); - data += sizeof(ChipInfoFeature); - - parm->drv_num = *(data++); - parm->sen_num = *(data++); - parm->button_num = *(data++); - parm->force_num = *(data++); - parm->active_scan_rate_num = *(data++); - - if (parm->active_scan_rate_num > GT9895_MAX_SCAN_RATE_NUM) { - log_e("Invalid scan rate num %d > %d", parm->active_scan_rate_num, GT9895_MAX_SCAN_RATE_NUM); - return -1; - } - for (i = 0; i < parm->active_scan_rate_num; i++) - parm->active_scan_rate[i] = *((uint16_t *)(data + i * 2)); - - data += parm->active_scan_rate_num * 2; - parm->mutual_freq_num = *(data++); - if (parm->mutual_freq_num > GT9895_MAX_SCAN_FREQ_NUM) { - log_e("invalid mutual freq num %d > %d", parm->mutual_freq_num, GT9895_MAX_SCAN_FREQ_NUM); - return -1; - } - for (i = 0; i < parm->mutual_freq_num; i++) - parm->mutual_freq[i] = *((uint16_t *)(data + i * 2)); - - data += parm->mutual_freq_num * 2; - parm->self_tx_freq_num = *(data++); - if (parm->self_tx_freq_num > GT9895_MAX_SCAN_FREQ_NUM) { - log_e("Invalid tx freq num %d > %d", parm->self_tx_freq_num, GT9895_MAX_SCAN_FREQ_NUM); - return -1; - } - for (i = 0; i < parm->self_tx_freq_num; i++) - parm->self_tx_freq[i] = *((uint16_t *)(data + i * 2)); - - data += parm->self_tx_freq_num * 2; - parm->self_rx_freq_num = *(data++); - if (parm->self_rx_freq_num > GT9895_MAX_SCAN_FREQ_NUM) { - log_e("Invalid rx freq num %d > %d", parm->self_rx_freq_num, GT9895_MAX_SCAN_FREQ_NUM); - return -1; - } - for (i = 0; i < parm->self_rx_freq_num; i++) - parm->self_rx_freq[i] = *((uint16_t *)(data + i * 2)); - - data += parm->self_rx_freq_num * 2; - parm->stylus_freq_num = *(data++); - if (parm->stylus_freq_num > GT9895_MAX_FREQ_NUM_STYLUS) { - log_e("Invalid stylus freq num %d > %d", parm->stylus_freq_num, GT9895_MAX_FREQ_NUM_STYLUS); - return -1; - } - for (i = 0; i < parm->stylus_freq_num; i++) - parm->stylus_freq[i] = *((uint16_t *)(data + i * 2)); - - data += parm->stylus_freq_num * 2; - memcpy(misc, data, sizeof(*misc)); - return 0; -} - -void TouchDrvGT9895::printChipInfo(ChipInfo *ic_info) -{ - ChipInfoVersion *version = &ic_info->version; - ChipInfoFeature *feature = &ic_info->feature; - ChipInfoParams *parm = &ic_info->parm; - ChipInfoMisc *misc = &ic_info->misc; - - (void)version; - (void)feature; - (void)parm; - (void)misc; - - log_d("ic_info_length: %d", ic_info->length); - log_d("info_customer_id: 0x%01X", version->info_customer_id); - log_d("info_version_id: 0x%01X", version->info_version_id); - log_d("ic_die_id: 0x%01X", version->ic_die_id); - log_d("ic_version_id: 0x%01X", version->ic_version_id); - log_d("config_id: 0x%4lX", version->config_id); - log_d("config_version: 0x%01X", version->config_version); - log_d("frame_data_customer_id: 0x%01X", version->frame_data_customer_id); - log_d("frame_data_version_id: 0x%01X", version->frame_data_version_id); - log_d("touch_data_customer_id: 0x%01X", version->touch_data_customer_id); - log_d("touch_data_version_id: 0x%01X", version->touch_data_version_id); - log_d("freq_hop_feature: 0x%04X", feature->freqhop_feature); - log_d("calibration_feature: 0x%04X", feature->calibration_feature); - log_d("gesture_feature: 0x%04X", feature->gesture_feature); - log_d("side_touch_feature: 0x%04X", feature->side_touch_feature); - log_d("stylus_feature: 0x%04X", feature->stylus_feature); - log_d("Drv*Sen,Button,Force num: %u x %u, %u, %u", parm->drv_num, parm->sen_num, parm->button_num, parm->force_num); - log_d("Cmd: 0x%04lX, %u", misc->cmd_addr, misc->cmd_max_len); - log_d("Cmd-Reply: 0x%04lX, %u", misc->cmd_reply_addr, misc->cmd_reply_len); - log_d("FW-State: 0x%04lX, %u", misc->fw_state_addr, misc->fw_state_len); - log_d("FW-Buffer: 0x%04lX, %u", misc->fw_buffer_addr, misc->fw_buffer_max_len); - log_d("Touch-Data: 0x%04lX, %u", misc->touch_data_addr, misc->touch_data_head_len); - log_d("point_struct_len: %u", misc->point_struct_len); - log_d("mutual_raw_data_addr: 0x%04lX", misc->mutual_rawdata_addr); - log_d("mutual_diff_data_addr: 0x%04lX", misc->mutual_diffdata_addr); - log_d("self_raw_data_addr: 0x%04lX", misc->self_rawdata_addr); - log_d("self_diff_data_addr: 0x%04lX", misc->self_diffdata_addr); - log_d("stylus_raw_data_addr: 0x%04lX, %u", misc->stylus_rawdata_addr, misc->stylus_rawdata_len); - log_d("esd_addr: 0x%04lX", misc->esd_addr); -} - -int TouchDrvGT9895::readChipInfo(ChipInfo *ic_info) -{ - int i = 0; - uint16_t length = 0; - uint8_t afe_data[GT9895_INFO_MAX_LENGTH] = {0}; - - for (i = 0; i < 3; i++) { - - ByteUnion u; - u.value = GT9895_REG_INFO; - if (comm->writeThenRead(u.byte_array, 4, (uint8_t *)&length, sizeof(length)) == -1) { - log_e("Failed get ic info length"); - hal->delay(5); - continue; - } - if (length >= GT9895_INFO_MAX_LENGTH || length == 0) { - log_e("Invalid ic info length %d, retry %d", length, i); - continue; - } - if (comm->writeThenRead(u.byte_array, 4, afe_data, length) == -1) { - log_e("Failed get ic info data"); - hal->delay(5); - continue; - } - /* judge whether the data is valid */ - if (is_risk_data((const uint8_t *)afe_data, length)) { - log_e("Firmware info data invalid"); - hal->delay(5); - continue; - } - if (checksum_cmp((const uint8_t *)afe_data, length, CHECKSUM_MODE_U8_LE)) { - log_e("Firmware info checksum error!"); - hal->delay(5); - continue; - } - break; - } - if (i == 3) { - log_e("Failed get ic info"); - return -1; - } - if (convertChipInfo(ic_info, afe_data) == -1) { - log_e("Convert ic info encounter error"); - return -1; - } - printChipInfo(ic_info); - /* check some key info */ - if (!ic_info->misc.cmd_addr || !ic_info->misc.fw_buffer_addr || - !ic_info->misc.touch_data_addr) { - log_e("cmd_addr fw_buf_addr and touch_data_addr is null"); - return -1; - } - return 0; -} - -void TouchDrvGT9895::clearStatus() -{ - uint8_t buffer[5] = { 0x00, 0x01, 0x03, 0x08, 0x00}; - comm->writeBuffer(buffer, 5); -} - -int TouchDrvGT9895::getTouchData(uint8_t *pre_buf, uint32_t pre_buf_len) -{ - uint8_t touch_num = 0; - uint8_t point_type = 0; - uint8_t buffer[GT9895_IRQ_EVENT_HEAD_LEN + GT9895_BYTES_PER_POINT * GT9895_MAX_TOUCH + 2]; - - /* clean event buffer */ - memset(&_ts_event, 0, sizeof(_ts_event)); - /* copy pre-data to buffer */ - memcpy(buffer, pre_buf, pre_buf_len); - - touch_num = buffer[2] & 0x0F; - if (touch_num > GT9895_MAX_TOUCH) { - log_e("invalid touch num %d", touch_num); - return 0; - } - - if (touch_num > 2) { - ByteUnion u; - u.value = GT9895_REG_POINT + pre_buf_len; - if (comm->writeThenRead(u.byte_array, 4, &buffer[pre_buf_len], (touch_num - 2) * GT9895_BYTES_PER_POINT) == -1) { - log_e("Failed get touch data"); - return 0; - } - } - - if (touch_num > 0) { - point_type = buffer[GT9895_IRQ_EVENT_HEAD_LEN] & 0x0F; - if (point_type == GT9895_POINT_TYPE_STYLUS || point_type == GT9895_POINT_TYPE_STYLUS_HOVER) { - if (checksum_cmp(&buffer[GT9895_IRQ_EVENT_HEAD_LEN], GT9895_BYTES_PER_POINT * 2 + 2, CHECKSUM_MODE_U8_LE)) { - // log_e("Touch data checksum error"); - return 0; - } - } else { - if (checksum_cmp(&buffer[GT9895_IRQ_EVENT_HEAD_LEN], touch_num * GT9895_BYTES_PER_POINT + 2, CHECKSUM_MODE_U8_LE)) { - // log_e("Touch data checksum error"); - return 0; - } - } - } - - _ts_event.fp_flag = pre_buf[0] & GT9895_FP_EVENT; - /* finger info */ - _ts_event.event_type = EVENT_TOUCH; - - uint32_t id = 0, x = 0, y = 0, w = 0; - uint8_t *pdat = &buffer[GT9895_IRQ_EVENT_HEAD_LEN]; - for (int i = 0; i < touch_num; i++) { - id = (pdat[0] >> 4) & 0x0F; - if (id >= GT9895_MAX_TOUCH) { - log_e("Invalid finger id"); - _ts_event.touch_data.touch_num = 0; - return 0; - } - x = *((uint16_t *)(pdat + 2)); - y = *((uint16_t *)(pdat + 4)); - w = *((uint16_t *)(pdat + 6)); - _ts_event.touch_data.coords[id].status = TS_TOUCH; - _ts_event.touch_data.coords[id].x = x; - _ts_event.touch_data.coords[id].y = y; - _ts_event.touch_data.coords[id].w = w; - pdat += GT9895_BYTES_PER_POINT; - } - - _ts_event.touch_data.touch_num = touch_num; - return touch_num; -} - -bool TouchDrvGT9895::initImpl() -{ - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - - reset(); - - if (readVersion(&_version) != 0) { - return false; - } - - readChipInfo(&_ic_info); - - return true; -} - -/* -[ 7142][I][SensorCommon.hpp:65] begin(): Using Arduino Wire interface. -[ 7148][W][Wire.cpp:301] begin(): Bus already started in Master Mode. -[ 7197][D][TouchDrvGT9895.cpp:348] readVersion(): Rom_pid:BERLIN -[ 7203][D][TouchDrvGT9895.cpp:349] readVersion(): Rom_vid:0x3fc95c33 -[ 7210][D][TouchDrvGT9895.cpp:350] readVersion(): PID:9895 -[ 7215][D][TouchDrvGT9895.cpp:351] readVersion(): VID:0x3fc95c3f -[ 7221][D][TouchDrvGT9895.cpp:352] readVersion(): Sensor ID:255 -[ 7244][I][TouchDrvGT9895.cpp:435] printChipInfo(): ic_info_length: 173 -[ 7252][I][TouchDrvGT9895.cpp:436] printChipInfo(): info_customer_id: 0x1 -[ 7260][I][TouchDrvGT9895.cpp:437] printChipInfo(): info_version_id: 0x0 -[ 7267][I][TouchDrvGT9895.cpp:438] printChipInfo(): ic_die_id: 0x0 -[ 7275][I][TouchDrvGT9895.cpp:439] printChipInfo(): ic_version_id: 0x0 -[ 7283][I][TouchDrvGT9895.cpp:440] printChipInfo(): config_id: 0x650BFC22 -[ 7291][I][TouchDrvGT9895.cpp:441] printChipInfo(): config_version: 0x2 -[ 7299][I][TouchDrvGT9895.cpp:442] printChipInfo(): frame_data_customer_id: 0x1 -[ 7307][I][TouchDrvGT9895.cpp:443] printChipInfo(): frame_data_version_id: 0x0 -[ 7315][I][TouchDrvGT9895.cpp:444] printChipInfo(): touch_data_customer_id: 0x1 -[ 7323][I][TouchDrvGT9895.cpp:445] printChipInfo(): touch_data_version_id: 0x0 -[ 7330][I][TouchDrvGT9895.cpp:446] printChipInfo(): freq_hop_feature: 0x0000 -[ 7338][I][TouchDrvGT9895.cpp:447] printChipInfo(): calibration_feature: 0x0000 -[ 7346][I][TouchDrvGT9895.cpp:448] printChipInfo(): gesture_feature: 0x0000 -[ 7354][I][TouchDrvGT9895.cpp:449] printChipInfo(): side_touch_feature: 0x0000 -[ 7363][I][TouchDrvGT9895.cpp:450] printChipInfo(): stylus_feature: 0x0000 -[ 7371][I][TouchDrvGT9895.cpp:452] printChipInfo(): Drv*Sen,Button,Force num: 10 x 23, 0, 0 -[ 7379][I][TouchDrvGT9895.cpp:453] printChipInfo(): Cmd: 0x10174, 16 -[ 7388][I][TouchDrvGT9895.cpp:454] printChipInfo(): Cmd-Reply: 0x10184, 16 -[ 7396][I][TouchDrvGT9895.cpp:455] printChipInfo(): FW-State: 0x10218, 92 -[ 7405][I][TouchDrvGT9895.cpp:456] printChipInfo(): FW-Buffer: 0x13D80, 4096 -[ 7413][I][TouchDrvGT9895.cpp:457] printChipInfo(): Touch-Data: 0x10308, 8 -[ 7422][I][TouchDrvGT9895.cpp:458] printChipInfo(): point_struct_len: 8 -[ 7429][I][TouchDrvGT9895.cpp:459] printChipInfo(): mutual_raw_data_addr: 0x13830 -[ 7438][I][TouchDrvGT9895.cpp:460] printChipInfo(): mutual_diff_data_addr: 0x11224 -[ 7446][I][TouchDrvGT9895.cpp:461] printChipInfo(): self_raw_data_addr: 0x137C4 -[ 7454][I][TouchDrvGT9895.cpp:462] printChipInfo(): self_diff_data_addr: 0x13758 -[ 7462][I][TouchDrvGT9895.cpp:463] printChipInfo(): stylus_raw_data_addr: 0x0000, 0 -[ 7471][I][TouchDrvGT9895.cpp:464] printChipInfo(): esd_addr: 0x10170 -*/ - - - - - - - - - - - - - diff --git a/lib/SensorLib/src/TouchDrvGT9895.hpp b/lib/SensorLib/src/TouchDrvGT9895.hpp index d79cb7e..dbe11a3 100644 --- a/lib/SensorLib/src/TouchDrvGT9895.hpp +++ b/lib/SensorLib/src/TouchDrvGT9895.hpp @@ -1,98 +1,5 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2024 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. - * - * @file TouchDrvGT9895.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2024-09-21 - * - */ #pragma once -#include "REG/GT9895Constants.h" -#include "TouchDrvInterface.hpp" - -class TouchDrvGT9895 : public TouchDrvInterface, public GT9895Constants -{ -public: - TouchDrvGT9895(); - ~TouchDrvGT9895(); - -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t address = GT9895_SLAVE_ADDRESS_L, int sda = -1, int scl = -1); -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = GT9895_SLAVE_ADDRESS_L, int sda = -1, int scl = -1); -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = GT9895_SLAVE_ADDRESS_L); -#endif //ESP_PLATFORM -#endif //ARDUINO - - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = GT9895_SLAVE_ADDRESS_L); - - void deinit(); - void reset(); - void sleep(); - void wakeup(); - void idle(); - - uint8_t getSupportTouchPoint(); - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t size = 1); - bool isPressed(); - - uint32_t getChipID(); - bool getResolution(int16_t *x, int16_t *y); - - const char *getModelName(); - - void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb); - -private: - - int is_risk_data(const uint8_t *data, int size); - int checksum_cmp(const uint8_t *data, int size, int mode); - - int readVersion(ChipFirmwareVersion *version); - int convertChipInfo(ChipInfo *info, const uint8_t *data); - void printChipInfo(ChipInfo *ic_info); - int readChipInfo(ChipInfo *ic_info); - - void clearStatus(); - int getTouchData( uint8_t *pre_buf, uint32_t pre_buf_len); - - bool initImpl(); - -protected: - std::unique_ptr comm; - std::unique_ptr hal; - - ChipTsEvent _ts_event; - ChipFirmwareVersion _version; - ChipInfo _ic_info; -}; - +#pragma message("WARNING: TouchDrvGT9895.hpp is deprecated. Include TouchDrv.hpp instead for all touch drivers.") +#include "touch/TouchDrvGT9895.hpp" diff --git a/lib/SensorLib/src/TouchDrvHI8561.hpp b/lib/SensorLib/src/TouchDrvHI8561.hpp new file mode 100644 index 0000000..75a2e6c --- /dev/null +++ b/lib/SensorLib/src/TouchDrvHI8561.hpp @@ -0,0 +1,5 @@ +#pragma once + +#pragma message("WARNING: TouchDrvHI8561.hpp is deprecated. Include TouchDrv.hpp instead for all touch drivers.") + +#include "touch/TouchDrvHI8561.hpp" diff --git a/lib/SensorLib/src/TouchDrvInterface.cpp b/lib/SensorLib/src/TouchDrvInterface.cpp deleted file mode 100644 index e0e5fb7..0000000 --- a/lib/SensorLib/src/TouchDrvInterface.cpp +++ /dev/null @@ -1,100 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file TouchDrvInterface.cpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-09-21 - * - */ -#include "TouchDrvInterface.hpp" - -TouchDrvInterface::TouchDrvInterface() : - _resX(0), - _resY(0), - _xMax(0), - _yMax(0), - _swapXY(false), - _mirrorX(false), - _mirrorY(false), - _rst(-1), - _irq(-1), - _chipID(0x00), - _HButtonCallback(nullptr), - _userData(nullptr) -{ - -} - -TouchDrvInterface::~TouchDrvInterface() -{ - -} - -uint32_t TouchDrvInterface::getChipID() -{ - return _chipID; -} - - -void TouchDrvInterface::setPins(int rst, int irq) -{ - _irq = irq; - _rst = rst; -} - -void TouchDrvInterface::setSwapXY(bool swap) -{ - _swapXY = swap; -} - -void TouchDrvInterface::setMirrorXY(bool mirrorX, bool mirrorY) -{ - _mirrorX = mirrorX; - _mirrorY = mirrorY; -} - -void TouchDrvInterface::setMaxCoordinates(uint16_t x, uint16_t y) -{ - _xMax = x; - _yMax = y; -} - -void TouchDrvInterface::updateXY(uint8_t pointNum, int16_t *xBuffer, int16_t *yBuffer) -{ - if (!pointNum) - return; - for (int i = 0; i < pointNum; ++i) { - if (_swapXY) { - uint16_t tmp = xBuffer[i]; - xBuffer[i] = yBuffer[i]; - yBuffer[i] = tmp; - } - if (_mirrorX && _xMax ) { - xBuffer[i] = _xMax - xBuffer[i]; - } - if (_mirrorY && _yMax) { - yBuffer[i] = _yMax - yBuffer[i]; - } - } -} diff --git a/lib/SensorLib/src/TouchDrvInterface.hpp b/lib/SensorLib/src/TouchDrvInterface.hpp index 02c3937..012dd83 100644 --- a/lib/SensorLib/src/TouchDrvInterface.hpp +++ b/lib/SensorLib/src/TouchDrvInterface.hpp @@ -1,133 +1,5 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2022 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. - * - * @file TouchDrvInterface.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-17 - * - */ #pragma once -#include "SensorPlatform.hpp" +#pragma message("WARNING: TouchDrvInterface.hpp is deprecated. Include TouchDrv.hpp instead.") -class TouchData -{ -public: - TouchData() {} - ~TouchData() {}; - uint8_t available; - uint8_t id[5]; - int16_t x[5]; - int16_t y[5]; - uint8_t status[5]; - uint8_t pressure[5]; - - uint16_t getX(uint8_t index = 0) - { - return x[index]; - } - uint16_t getY(uint8_t index = 0) - { - return y[index]; - } - uint16_t getPressure(uint8_t index = 0) - { - return pressure[index]; - } - uint16_t getStatus(uint8_t index = 0) - { - return status[index]; - } -}; - - - -class TouchDrvInterface : public SensorHalCustom -{ -public: - using HomeButtonCallback = void(*)(void *user_data); - - TouchDrvInterface(); - - virtual ~TouchDrvInterface(); - -#if defined(ARDUINO) - virtual bool begin(TwoWire &wire, uint8_t address, int sda, int scl) = 0; -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) - virtual bool begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) = 0; -#else - virtual bool begin(i2c_master_bus_handle_t handle, uint8_t addr) = 0; -#endif -#endif // defined(ARDUINO) - - - virtual bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) = 0; - - virtual void reset() = 0; - - virtual uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point) = 0; - - virtual bool isPressed() = 0; - - virtual const char *getModelName() = 0; - - virtual void sleep() = 0; - - virtual void wakeup() = 0; - - virtual void idle() = 0; - - virtual uint8_t getSupportTouchPoint() = 0; - - virtual bool getResolution(int16_t *x, int16_t *y) = 0; - - virtual void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) = 0; - - uint32_t getChipID(); - - void setPins(int rst, int irq); - - void setSwapXY(bool swap); - - void setMirrorXY(bool mirrorX, bool mirrorY); - - void setMaxCoordinates(uint16_t x, uint16_t y); - - void updateXY(uint8_t pointNum, int16_t *xBuffer, int16_t *yBuffer); - -protected: - uint16_t _resX, _resY, _xMax, _yMax; - bool _swapXY, _mirrorX, _mirrorY; - int _rst; - int _irq; - uint32_t _chipID; - HomeButtonCallback _HButtonCallback; - void *_userData; - -}; +#include "touch/TouchDrvInterface.hpp" diff --git a/lib/SensorLib/src/bosch/BoschInterruptConfig.hpp b/lib/SensorLib/src/bosch/BoschInterruptConfig.hpp new file mode 100644 index 0000000..98aa6af --- /dev/null +++ b/lib/SensorLib/src/bosch/BoschInterruptConfig.hpp @@ -0,0 +1,187 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BoschInterruptConfig.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-05 + * + */ +#pragma once + +#include + +/** +* @brief Interrupt control configuration for BHI260 or BHI360 sensor +* +* Provides a high-level interface for configuring interrupt settings +* with full support for reading/writing raw register values. +*/ +struct InterruptConfig { + // Interrupt source enables (masks) + bool wakeUpFIFOEnabled = true; ///< Wake-up FIFO interrupt enabled (bit 0) + bool nonWakeUpFIFOEnabled = true; ///< Non-wake-up FIFO interrupt enabled (bit 1) + bool statusFIFOEnabled = true; ///< Status FIFO interrupt enabled (bit 2) + bool debuggingEnabled = false; ///< Debugging interrupt enabled (bit 3) + bool faultEnabled = true; ///< Fault interrupt enabled (bit 4) + + // Interrupt signal characteristics + enum class Polarity { ACTIVE_HIGH, ACTIVE_LOW }; + enum class TriggerMode { LEVEL, EDGE }; + enum class PinMode { MODE_PUSH_PULL, MODE_OPEN_DRAIN }; + + Polarity polarity = Polarity::ACTIVE_HIGH; ///< Interrupt polarity (bit 5) + TriggerMode triggerMode = TriggerMode::LEVEL; ///< Trigger mode (bit 6) + PinMode pinMode = PinMode::MODE_PUSH_PULL; ///< Interrupt pin mode (bit 7) + + /** + * @brief Get the current register configuration as a bitmask + * @return uint8_t register value reflecting current configuration + * + * Bits: + * 0: Wake-up FIFO Interrupt Mask (0=active, 1=masked) + * 1: Non-Wake-up FIFO Interrupt Mask (0=active, 1=masked) + * 2: Status FIFO Interrupt Mask (0=active, 1=masked) + * 3: Debug Interrupt Mask (0=active, 1=masked) + * 4: Fault Interrupt Mask (0=active, 1=masked) + * 5: Active Low (0=active high, 1=active low) + * 6: Edge Trigger (0=level, 1=edge) + * 7: Open Drain (0=push-pull, 1=open drain) + */ + uint8_t getRegisterValue() const + { + uint8_t reg = 0; + + // Bit 0: Wake-up FIFO (inverted: 0=active, 1=masked) + if (!wakeUpFIFOEnabled) reg |= (1 << 0); + + // Bit 1: Non-Wake-up FIFO (inverted: 0=active, 1=masked) + if (!nonWakeUpFIFOEnabled) reg |= (1 << 1); + + // Bit 2: Status FIFO (inverted: 0=active, 1=masked) + if (!statusFIFOEnabled) reg |= (1 << 2); + + // Bit 3: Debug (inverted: 0=active, 1=masked) + if (!debuggingEnabled) reg |= (1 << 3); + + // Bit 4: Fault (inverted: 0=active, 1=masked) + if (!faultEnabled) reg |= (1 << 4); + + // Bit 5: Active Low + if (polarity == Polarity::ACTIVE_LOW) reg |= (1 << 5); + + // Bit 6: Edge Trigger + if (triggerMode == TriggerMode::EDGE) reg |= (1 << 6); + + // Bit 7: Open Drain + if (pinMode == PinMode::MODE_OPEN_DRAIN) reg |= (1 << 7); + + return reg; + } + + /** + * @brief Update configuration from register value + * @param regValue Raw register value to parse + * @return Reference to self for chaining + */ + InterruptConfig &setFromRegisterValue(uint8_t regValue) + { + // Bit 0: Wake-up FIFO (0=active, 1=masked) + wakeUpFIFOEnabled = !(regValue & (1 << 0)); + + // Bit 1: Non-Wake-up FIFO (0=active, 1=masked) + nonWakeUpFIFOEnabled = !(regValue & (1 << 1)); + + // Bit 2: Status FIFO (0=active, 1=masked) + statusFIFOEnabled = !(regValue & (1 << 2)); + + // Bit 3: Debug (0=active, 1=masked) + debuggingEnabled = !(regValue & (1 << 3)); + + // Bit 4: Fault (0=active, 1=masked) + faultEnabled = !(regValue & (1 << 4)); + + // Bit 5: Active Low + polarity = (regValue & (1 << 5)) ? Polarity::ACTIVE_LOW : Polarity::ACTIVE_HIGH; + + // Bit 6: Edge Trigger + triggerMode = (regValue & (1 << 6)) ? TriggerMode::EDGE : TriggerMode::LEVEL; + + // Bit 7: Open Drain + pinMode = (regValue & (1 << 7)) ? PinMode::MODE_OPEN_DRAIN : PinMode::MODE_PUSH_PULL; + + return *this; + } + + /** + * @brief Create InterruptConfig from register value + * @param regValue Raw register value + * @return InterruptConfig object + */ + static InterruptConfig fromRegisterValue(uint8_t regValue) + { + InterruptConfig config; + config.setFromRegisterValue(regValue); + return config; + } + + + /** + * @brief Check if configuration would produce given register value + * @param expectedRegValue Expected register value + * @return true if configuration matches register value + */ + bool matchesRegisterValue(uint8_t expectedRegValue) const + { + return getRegisterValue() == expectedRegValue; + } + + /** + * @brief Get mask of enabled interrupt sources + * @return Bitmask of enabled sources (bits 0-4, 1=enabled) + */ + uint8_t getEnabledSourcesMask() const + { + uint8_t mask = 0; + if (wakeUpFIFOEnabled) mask |= (1 << 0); + if (nonWakeUpFIFOEnabled) mask |= (1 << 1); + if (statusFIFOEnabled) mask |= (1 << 2); + if (debuggingEnabled) mask |= (1 << 3); + if (faultEnabled) mask |= (1 << 4); + return mask; + } + + /** + * @brief Get mask of interrupt signal configuration + * @return Bitmask of signal config (bits 5-7) + */ + uint8_t getSignalConfigMask() const + { + uint8_t mask = 0; + if (polarity == Polarity::ACTIVE_LOW) mask |= (1 << 5); + if (triggerMode == TriggerMode::EDGE) mask |= (1 << 6); + if (pinMode == PinMode::MODE_OPEN_DRAIN) mask |= (1 << 7); + return mask; + } + +}; diff --git a/lib/SensorLib/src/bosch/BoschParseBase.hpp b/lib/SensorLib/src/bosch/BoschParseBase.hpp index 75d4da7..2647aa8 100644 --- a/lib/SensorLib/src/bosch/BoschParseBase.hpp +++ b/lib/SensorLib/src/bosch/BoschParseBase.hpp @@ -29,7 +29,7 @@ */ #pragma once -#include "bhy2_defs.h" +#include "bhi260x/bhy2_defs.h" class BoschParseBase { diff --git a/lib/SensorLib/src/bosch/BoschParseCallbackManager.hpp b/lib/SensorLib/src/bosch/BoschParseCallbackManager.hpp index e935b87..bcb9410 100644 --- a/lib/SensorLib/src/bosch/BoschParseCallbackManager.hpp +++ b/lib/SensorLib/src/bosch/BoschParseCallbackManager.hpp @@ -1,8 +1,7 @@ /** - * * @license MIT License * - * Copyright (c) 2025 lewis he + * Copyright (c) 2026 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 @@ -24,146 +23,354 @@ * * @file BoschParseCallbackManager.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-31 + * @date 2026-03-07 + * @brief Template-based sensor callback manager supporting registration, removal, + * and invocation of callbacks keyed by sensor ID. + * + * This class automatically selects an appropriate container based on the platform: + * - On ArduinoIDE nRF52 (or if BOSCH_FORCE_VECTOR_FALLBACK is defined), a std::vector-based + * implementation is used for maximum compatibility. + * - On platformio platform uses unordered map by default. + * - Otherwise, std::unordered_map (or std::map if forced) is used for efficient lookup. + * + * Note: The vector-based implementation is not thread-safe and provides O(n) lookup. + * The size() method returns the total number of registered callbacks, not the + * number of distinct sensor IDs. */ + #pragma once #include -#include -#include - -#if __GNUC__ < 10 -#define USE_CUSTOM_VECTOR -#else #include + +// ----------------------------------------------------------------------------- +// Platform detection and container selection +// ----------------------------------------------------------------------------- + +// If we are on nRF52 and not explicitly forcing map usage, fall back to vector. +#if (defined(ARDUINO_ARCH_NRF52) || defined(NRF52) || defined(__NRF52__)) && !defined(BOSCH_FORCE_USE_MAP) && !defined(PLATFORMIO) +#define BOSCH_USE_VECTOR_FALLBACK #endif -using SensorDataParseCallback = void (*)(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data); +// User can force vector fallback regardless of platform. +#ifdef BOSCH_FORCE_VECTOR_FALLBACK +#define BOSCH_USE_VECTOR_FALLBACK +#endif -class BoschParseCallbackManager +// If not using vector, decide between unordered_map and map. +#ifndef BOSCH_USE_VECTOR_FALLBACK +#if (defined(ARDUINO_ARCH_NRF52) || defined(NRF52) || defined(__NRF52__) || defined(BOSCH_FORCE_USE_MAP)) && !defined(PLATFORMIO) +#include +template +using BoschCallbackMap = std::map; +#else +#include +template +using BoschCallbackMap = std::unordered_map; +#endif +#endif + +// ----------------------------------------------------------------------------- +// Callback type definitions +// ----------------------------------------------------------------------------- + +/** + * @brief Callback type for sensor data parsing. + * @param sensor_id Sensor identifier. + * @param data Pointer to the data buffer. + * @param size Size of the data buffer in bytes. + * @param timestamp Pointer to a timestamp value (may be used as input or output). + * @param user_data Opaque user pointer provided during registration. + */ +using SensorDataParseCallback = void (*)(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data); + +/** + * @brief Callback type for sensor meta‑events. + * @param sensor_id Sensor identifier. + * @param event_id Event identifier. + * @param event_data Event‑specific data byte. + * @param user_data Opaque user pointer provided during registration. + */ +using SensorMetaEventCallback = void (*)(uint8_t sensor_id, uint8_t event_id, uint8_t event_data, void *user_data); + +// ----------------------------------------------------------------------------- +// Main template class +// ----------------------------------------------------------------------------- + +/** + * @brief Template class that manages callbacks for sensors. + * @tparam CallbackType The function pointer type of the callback, e.g. + * SensorDataParseCallback or SensorMetaEventCallback. + * + * Multiple callbacks can be registered for the same sensor ID. + * When adding a callback, a user_data pointer is stored and passed back + * to the callback during invocation. + */ +template +class BoschSensorCallbackTemplate { private: + // ------------------------------------------------------------------------- + // Internal storage (selected by platform) + // ------------------------------------------------------------------------- +#ifdef BOSCH_USE_VECTOR_FALLBACK + /** + * @brief Entry for vector-based storage. + */ struct Entry { - uint8_t id; - SensorDataParseCallback cb; - uint32_t length; - uint8_t *data; - void *user_data; - Entry() : id(0), cb(nullptr), length(0), data(nullptr), user_data(nullptr) {} + uint8_t sensor_id; ///< Sensor identifier. + CallbackType callback; ///< Function pointer to the callback. + void *user_data; ///< User data to be passed to the callback. }; -#ifdef USE_CUSTOM_VECTOR - Entry *entries; - uint32_t size; - uint32_t capacity; - bool expand() - { - capacity *= 2; - Entry *newEntries = static_cast(std::realloc(entries, capacity * sizeof(Entry))); - if (!newEntries) { - return false; - } - entries = newEntries; - return true; - } -#else - std::vector entries; -#endif + std::vector entries; ///< Linear list of all registered callbacks. public: - BoschParseCallbackManager() + // ------------------------------------------------------------------------- + // Vector-based implementation + // ------------------------------------------------------------------------- + bool add(uint8_t sensor_id, CallbackType callback, void *user_data) { -#ifdef USE_CUSTOM_VECTOR - size = 0; - capacity = 10; - entries = static_cast(std::malloc(capacity * sizeof(Entry))); - if (!entries) { - assert(0); - } -#else -#endif - } - - ~BoschParseCallbackManager() - { -#ifdef USE_CUSTOM_VECTOR - std::free(entries); -#endif - } - - bool add(uint8_t sensor_id, SensorDataParseCallback callback, void *user_data) - { - if (!callback) { - return false; - } -#ifdef USE_CUSTOM_VECTOR - if (size == capacity) { - if (!expand()) { - return false; - } - } - Entry newEntry; - newEntry.id = sensor_id; - newEntry.cb = callback; - newEntry.user_data = user_data; - entries[size++] = newEntry; -#else - Entry newEntry; - newEntry.id = sensor_id; - newEntry.cb = callback; - newEntry.user_data = user_data; - entries.push_back(newEntry); -#endif + if (!callback) return false; + entries.push_back({sensor_id, callback, user_data}); return true; } - - bool remove(uint8_t sensor_id, SensorDataParseCallback callback) + bool remove(uint8_t sensor_id) { - if (!callback) { - return false; - } -#ifdef USE_CUSTOM_VECTOR - for (uint32_t i = 0; i < size; i++) { - if (entries[i].cb == callback && entries[i].id == sensor_id) { - for (uint32_t j = i; j < size - 1; j++) { - entries[j] = entries[j + 1]; - } - size--; - break; + bool removed = false; + for (auto it = entries.begin(); it != entries.end(); ) { + if (it->sensor_id == sensor_id) { + it = entries.erase(it); + removed = true; + } else { + ++it; } } -#else + return removed; + } + + bool remove(uint8_t sensor_id, CallbackType callback) + { for (auto it = entries.begin(); it != entries.end(); ++it) { - if (it->cb == callback && it->id == sensor_id) { + if (it->sensor_id == sensor_id && it->callback == callback) { entries.erase(it); - break; + return true; } } -#endif + return false; + } + + void clear() + { + entries.clear(); + } + + void call(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp) const + { + for (const auto &entry : entries) { + if (entry.sensor_id == sensor_id) { + entry.callback(sensor_id, data, size, timestamp, entry.user_data); + } + } + } + + void call(uint8_t sensor_id, uint8_t event_id, uint8_t event_data) const + { + for (const auto &entry : entries) { + if (entry.sensor_id == sensor_id) { + entry.callback(sensor_id, event_id, event_data, entry.user_data); + } + } + } + + bool contains(uint8_t sensor_id) const + { + for (const auto &entry : entries) { + if (entry.sensor_id == sensor_id) return true; + } + return false; + } + + /** + * @brief Returns the total number of registered callbacks (not distinct sensor IDs). + */ + size_t size() const + { + return entries.size(); + } + + bool empty() const + { + return entries.empty(); + } + +#else // !BOSCH_USE_VECTOR_FALLBACK + // ------------------------------------------------------------------------- + // Map-based implementation (unordered_map or map) + // ------------------------------------------------------------------------- + /** + * @brief Internal entry holding a callback and its associated user data. + */ + struct CallbackEntry { + CallbackType callback; ///< Function pointer to the callback. + void *user_data; ///< User data to be passed to the callback. + }; + + BoschCallbackMap> callback_map; ///< Maps sensor ID to a list of callback entries. + +public: + /** + * @brief Add a callback for a specific sensor. + * @param sensor_id Sensor identifier. + * @param callback Function pointer to the callback. Must not be null. + * @param user_data Opaque pointer that will be passed to the callback. + * @return true if the callback was added, false if callback was null. + */ + bool add(uint8_t sensor_id, CallbackType callback, void *user_data) + { + if (!callback) return false; + callback_map[sensor_id].push_back({callback, user_data}); return true; } - - void call(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp) + /** + * @brief Remove all callbacks associated with a specific sensor. + * @param sensor_id Sensor identifier. + * @return true if any callbacks were removed, false otherwise. + */ + bool remove(uint8_t sensor_id) { -#ifdef USE_CUSTOM_VECTOR - for (uint32_t i = 0; i < size; i++) { - if (entries[i].cb) { - if (entries[i].id == sensor_id) { - entries[i].cb(sensor_id, data, size, timestamp, entries[i].user_data); - } - } - } -#else - for (uint32_t i = 0; i < entries.size(); i++) { - if (entries[i].cb) { - if (entries[i].id == sensor_id) { - entries[i].cb(sensor_id, data, size, timestamp, entries[i].user_data); - } - } - } -#endif + return callback_map.erase(sensor_id) > 0; } + /** + * @brief Remove a specific callback for a given sensor. + * @param sensor_id Sensor identifier. + * @param callback The exact callback function pointer to remove. + * @return true if the callback was found and removed, false otherwise. + * + * @note If multiple identical callbacks are registered for the same sensor, + * only the first one encountered is removed. + */ + bool remove(uint8_t sensor_id, CallbackType callback) + { + auto it = callback_map.find(sensor_id); + if (it == callback_map.end()) return false; + auto &vec = it->second; + for (auto vec_it = vec.begin(); vec_it != vec.end(); ++vec_it) { + if (vec_it->callback == callback) { + vec.erase(vec_it); + if (vec.empty()) { + callback_map.erase(it); + } + return true; + } + } + return false; + } + + /** + * @brief Remove all registered callbacks for all sensors. + */ + void clear() + { + callback_map.clear(); + } + + /** + * @brief Invoke all callbacks registered for a sensor with data‑parse signature. + * @param sensor_id Sensor identifier. + * @param data Pointer to the data buffer. + * @param size Size of the data buffer. + * @param timestamp Pointer to a timestamp value (may be used as input/output). + * + * @note This overload participates in overload resolution only if + * CallbackType is SensorDataParseCallback. Otherwise it may still + * be present but will cause compilation errors when used. + */ + void call(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp) const + { + auto it = callback_map.find(sensor_id); + if (it != callback_map.end()) { + for (const auto &entry : it->second) { + entry.callback(sensor_id, data, size, timestamp, entry.user_data); + } + } + } + + /** + * @brief Invoke all callbacks registered for a sensor with meta‑event signature. + * @param sensor_id Sensor identifier. + * @param event_id Event identifier. + * @param event_data Event‑specific data byte. + * + * @note This overload participates in overload resolution only if + * CallbackType is SensorMetaEventCallback. + */ + void call(uint8_t sensor_id, uint8_t event_id, uint8_t event_data) const + { + auto it = callback_map.find(sensor_id); + if (it != callback_map.end()) { + for (const auto &entry : it->second) { + entry.callback(sensor_id, event_id, event_data, entry.user_data); + } + } + } + + /** + * @brief Check whether any callbacks are registered for a given sensor. + * @param sensor_id Sensor identifier. + * @return true if at least one callback exists for the sensor, false otherwise. + */ + bool contains(uint8_t sensor_id) const + { + return callback_map.find(sensor_id) != callback_map.end(); + } + + /** + * @brief Returns the number of distinct sensor IDs that have at least one callback registered. + */ + size_t size() const + { + return callback_map.size(); + } + + /** + * @brief Check whether no callbacks are registered for any sensor. + * @return true if the manager is empty, false otherwise. + */ + bool empty() const + { + return callback_map.empty(); + } +#endif // BOSCH_USE_VECTOR_FALLBACK + + // ------------------------------------------------------------------------- + // Common constructors / destructor / copy / move control + // ------------------------------------------------------------------------- + BoschSensorCallbackTemplate() = default; + ~BoschSensorCallbackTemplate() = default; + + // Non-copyable + BoschSensorCallbackTemplate(const BoschSensorCallbackTemplate &) = delete; + BoschSensorCallbackTemplate& operator = (const BoschSensorCallbackTemplate &) = delete; + + // Movable (efficient) + BoschSensorCallbackTemplate(BoschSensorCallbackTemplate &&) noexcept = default; + BoschSensorCallbackTemplate& operator = (BoschSensorCallbackTemplate &&) noexcept = default; }; + +// ----------------------------------------------------------------------------- +// Concrete type aliases +// ----------------------------------------------------------------------------- + +/** + * @brief Concrete manager for SensorDataParseCallback callbacks. + */ +using BoschParseCallbackManager = BoschSensorCallbackTemplate; + +/** + * @brief Concrete manager for SensorMetaEventCallback callbacks. + */ +using BoschMetaEventCallbackManager = BoschSensorCallbackTemplate; diff --git a/lib/SensorLib/src/bosch/BoschPhySensorInfo.hpp b/lib/SensorLib/src/bosch/BoschPhySensorInfo.hpp index ad99346..788c02f 100644 --- a/lib/SensorLib/src/bosch/BoschPhySensorInfo.hpp +++ b/lib/SensorLib/src/bosch/BoschPhySensorInfo.hpp @@ -31,7 +31,7 @@ #include #include -#include "bhy2_parse.h" +#include "bhi260x/bhy2_parse.h" #ifdef ARDUINO #include #endif diff --git a/lib/SensorLib/src/bosch/BoschSensorBase.cpp b/lib/SensorLib/src/bosch/BoschSensorBase.cpp new file mode 100644 index 0000000..fe3170a --- /dev/null +++ b/lib/SensorLib/src/bosch/BoschSensorBase.cpp @@ -0,0 +1,1068 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BoschSensorBase.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-06 + * @note Most source code references come from the https://github.com/boschsensortec/BHY2-Sensor-API + * Simplification for Arduino + */ +#include "BoschSensorBase.hpp" + +#ifndef BOSCH_SMART_SENSOR_FIFO_PARSE_BUFFER_SIZE +#define BOSCH_SMART_SENSOR_FIFO_PARSE_BUFFER_SIZE 512 +#endif + +#ifndef I2C_BUFFER_LENGTH +#define I2C_BUFFER_LENGTH 32 +#endif + +#define INT4_TO_INT8(INT4) ((int8_t)(((INT4) > 1) ? -1 : (INT4))) + +BoschSensorBase::BoschSensorBase(): comm(nullptr), + hal(nullptr), + staticComm(nullptr), + _rst(-1), _error_code(0), + _processBuffer(nullptr), + _processBufferSize(BOSCH_SMART_SENSOR_FIFO_PARSE_BUFFER_SIZE), + _firmware_stream(nullptr), + _firmware_size(0), + _write_flash(false), + _boot_from_flash(false), + _force_update(false), + _max_rw_length(-1), + _accuracy(0), + _debugKernel(false), + _process_callback(nullptr), + _process_callback_user_data(nullptr) +{ +} + +BoschSensorBase::~BoschSensorBase() +{ + if (_processBuffer) { + free(_processBuffer); + } + _processBuffer = NULL; +} + +void BoschSensorBase::setPins(int rst) +{ + _rst = rst; +} + +#if defined(ARDUINO) +bool BoschSensorBase::begin(TwoWire &wire, uint8_t addr, int sda, int scl) +{ + if (!beginCommonStatic(comm, staticComm, hal, wire, addr, sda, scl)) { + return false; + } + return initImpl(COMM_I2C); +} + +bool BoschSensorBase::begin(SPIClass &spi, uint8_t csPin, int mosi, int miso, int sck) +{ + if (!beginCommonStatic(comm, + staticComm, hal, + spi, csPin, mosi, miso, sck)) { + return false; + } + return initImpl(COMM_SPI); +} + +#elif defined(ESP_PLATFORM) + +#if defined(USEING_I2C_LEGACY) +bool BoschSensorBase::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) +{ + if (!beginCommonStatic(comm, staticComm, hal, port_num, addr, sda, scl)) { + return false; + } + return initImpl(COMM_I2C); +} +#else //USEING_I2C_LEGACY +bool BoschSensorBase::begin(i2c_master_bus_handle_t handle, uint8_t addr) +{ + if (!beginCommonStatic(comm, staticComm, hal, handle, addr)) { + return false; + } + return initImpl(COMM_I2C); +} +#endif //USEING_I2C_LEGACY + + +bool BoschSensorBase::begin(spi_host_device_t host, spi_device_handle_t handle, uint8_t csPin, int mosi, int miso, int sck) +{ + if (!beginCommonStatic(comm, + staticComm, hal, + host, handle, csPin, mosi, miso, sck)) { + return false; + } + return initImpl(COMM_SPI); +} + +#endif //ARDUINO + +bool BoschSensorBase::begin(CommInterface interface, + SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback, + uint8_t addr) +{ + if (!beginCommCustomCallback(interface, + callback, hal_callback, addr, comm, hal)) { + return false; + } + return initImpl(interface); +} + +BoschSensorType BoschSensorBase::getModel() +{ + if (dev) { + switch (_chipID) { + case BHI260_CHIP_ID: + return BoschSensorType::BOSCH_SENSORTEC_BHI260; + break; + case BHI360_CHIP_ID: + return BoschSensorType::BOSCH_SENSORTEC_BHI360; + default: + break; + } + } + return BoschSensorType::BOSCH_SENSORTEC_UNKNOWN; +} + +void BoschSensorBase::reset() +{ + if (_rst != -1) { + hal->digitalWrite(_rst, HIGH); + hal->delay(5); + hal->digitalWrite(_rst, LOW); + hal->delay(10); + hal->digitalWrite(_rst, HIGH); + hal->delay(5); + } +} + +void BoschSensorBase::update() +{ + if (!_processBuffer) { + log_e("Process buffer is not allocated."); + return; + } + bhy2_get_and_process_fifo(_processBuffer, _processBufferSize, dev.get()); +} + +bhy2_dev *BoschSensorBase::getDev() +{ + return dev.get(); +} + +bool BoschSensorBase::configureInterrupt(const InterruptConfig &config) +{ + uint8_t regValue = config.getRegisterValue(); + return setInterruptRegisterValue(regValue); +} + +InterruptConfig BoschSensorBase::getInterruptConfig() const +{ + uint8_t regValue = getInterruptRegisterValue(); + return InterruptConfig::fromRegisterValue(regValue); +} + +uint8_t BoschSensorBase::getInterruptRegisterValue() const +{ + uint8_t data = 0; + bhy2_get_host_interrupt_ctrl(&data, dev.get()); + return data; +} + +bool BoschSensorBase::setInterruptRegisterValue(uint8_t data) +{ + _error_code = bhy2_set_host_interrupt_ctrl(data, dev.get()); + return _error_code == BHY2_OK; +} + +bool BoschSensorBase::isReady() +{ + uint8_t boot_status = 0; + _error_code = bhy2_get_boot_status(&boot_status, dev.get()); + if (_error_code != BHY2_OK) { + return false; + } + return (boot_status & BHY2_BST_HOST_INTERFACE_READY); +} + +uint16_t BoschSensorBase::getKernelVersion() +{ + uint16_t version = 0; + _error_code = bhy2_get_kernel_version(&version, dev.get()); + if ((_error_code != BHY2_OK) && (version == 0)) { + return 0; + } + return version; +} + +void BoschSensorBase::onEvent(SensorMetaEventCallback callback, uint8_t sensor_id, void *user_data) +{ + _meta_event_callback_manager.add(sensor_id, callback, user_data); +} + +void BoschSensorBase::removeEvent(uint8_t sensor_id) +{ + _meta_event_callback_manager.remove(sensor_id); +} + +bool BoschSensorBase::onResultEvent(uint8_t sensor_id, SensorDataParseCallback callback, void *user_data) +{ + if (!bhy2_is_sensor_available(sensor_id, dev.get())) { + log_e("%s not present", getSensorName(sensor_id)); return false; + } + return _callback_manager.add(sensor_id, callback, user_data); +} + +bool BoschSensorBase::removeResultEvent(uint8_t sensor_id, SensorDataParseCallback callback) +{ + if (!bhy2_is_sensor_available(sensor_id, dev.get())) { + log_e("%s not present", getSensorName(sensor_id)); return false; + } + return _callback_manager.remove(sensor_id, callback); +} + +void BoschSensorBase::setProcessBufferSize(uint32_t size) +{ + if (_processBuffer) { + log_e("Process buffer setting is invalid. You must call `setProcessBufferSize()` before calling `begin()`."); + return; + } + _processBufferSize = size; +} + +const char *BoschSensorBase::getError() +{ + snprintf(_err_buffer, 128, "API:%s\nSensor:%s\n", BoschSensorUtils::get_api_error(_error_code), BoschSensorUtils::get_sensor_error_text(_error_code)); + return static_cast(_err_buffer); +} + +bool BoschSensorBase::configure(uint8_t sensor_id, float sample_rate, uint32_t report_latency_ms) +{ + if (!bhy2_is_sensor_available(sensor_id, dev.get())) { + log_e("%s not present", getSensorName(sensor_id)); return false; + } + _error_code = bhy2_set_virt_sensor_cfg(sensor_id, sample_rate, report_latency_ms, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to set virt sensor cfg with error code %d", _error_code); + return false; + } + log_d("Enable %s at %.2fHz.", BoschSensorUtils::get_sensor_name(sensor_id), sample_rate); + return true; +} + +bool BoschSensorBase::configureRange(uint8_t sensor_id, uint16_t range) +{ + _error_code = bhy2_set_virt_sensor_range(sensor_id, range, dev.get()); + return _error_code == BHY2_OK; +} + +SensorConfig BoschSensorBase::getConfigure(uint8_t sensor_id) +{ + bhy2_virt_sensor_conf conf {}; + bhy2_get_virt_sensor_cfg(sensor_id, &conf, dev.get()); + log_d("Range:%u sample_rate:%f latency:%lu sensitivity:%u\n", conf.range, conf.sample_rate, conf.latency, conf.sensitivity); + return SensorConfig{SensorType::MULTI_AXIS, static_cast(conf.range), conf.sample_rate, conf.latency, OperationMode::NORMAL}; +} + +float BoschSensorBase::getScaling(uint8_t sensor_id) +{ + return BoschSensorUtils::get_sensor_default_scaling(sensor_id); +} + +void BoschSensorBase::setFirmware(const uint8_t *image, size_t image_len, bool write_flash, bool force_update) +{ + _firmware_stream = image; + _firmware_size = image_len; + _write_flash = write_flash; + _force_update = force_update; +} + +uint8_t BoschSensorBase::getChipID() +{ + return getConfirmationIDImpl(); +} + +const char *BoschSensorBase::getSensorName(uint8_t sensor_id) +{ + return BoschSensorUtils::get_sensor_name(sensor_id); +} + +uint8_t BoschSensorBase::getAccuracy() +{ + return _accuracy; +} + +void BoschSensorBase::setDebugKernel(bool enable) +{ + _debugKernel = enable; +} + +void BoschSensorBase::setDebugCallback(KernelDebugCb cb) +{ + cbs.onDebug = std::move(cb); +} + +BoschPhySensorInfo BoschSensorBase::getPhySensorInfo(uint8_t sensor_id) +{ + BoschPhySensorInfo result; + + struct bhy2_phys_sensor_info psi; + + memset(&psi, 0, sizeof(psi)); + + if (!dev.get()) return result; + + uint16_t param_id = (uint16_t)(0x0120 | sensor_id); + if (param_id >= 0x0121 && param_id <= 0x0160) { + int8_t assert_rslt = (bhy2_get_phys_sensor_info(sensor_id, &psi, dev.get())); + if (assert_rslt == BHY2_OK) { + result.sensor_type = psi.sensor_type; + result.driver_id = psi.driver_id; + result.driver_version = psi.driver_version; + result.power_current = psi.power_current / 10.f; + result.curr_range = psi.curr_range.u16_val; + result.irq_status = psi.flags & 0x01; + result.master_intf = (psi.flags >> 1) & 0x0F; + result.power_mode = (psi.flags >> 5) & 0x07; + result.slave_address = psi.slave_address; + result.gpio_assignment = psi.gpio_assignment; + result.curr_rate = psi.curr_rate.f_val; + result.num_axis = psi.num_axis; + struct bhy2_orient_matrix ort_mtx = { 0 }; + + ort_mtx.c[0] = INT4_TO_INT8(psi.orientation_matrix[0] & 0x0F); + ort_mtx.c[1] = INT4_TO_INT8(psi.orientation_matrix[0] >> 8); + ort_mtx.c[2] = INT4_TO_INT8(psi.orientation_matrix[1] & 0x0F); + ort_mtx.c[3] = INT4_TO_INT8(psi.orientation_matrix[1] >> 8); + ort_mtx.c[4] = INT4_TO_INT8(psi.orientation_matrix[2] & 0x0F); + ort_mtx.c[5] = INT4_TO_INT8(psi.orientation_matrix[2] >> 8); + ort_mtx.c[6] = INT4_TO_INT8(psi.orientation_matrix[3] & 0x0F); + ort_mtx.c[7] = INT4_TO_INT8(psi.orientation_matrix[3] >> 8); + ort_mtx.c[8] = INT4_TO_INT8(psi.orientation_matrix[4] & 0x0F); + for (int i = 0; i < 9; ++i) { + result.orientation_matrix[i] = ort_mtx.c[i]; + } + result.reserved = psi.reserved; + } + } + return result; +} + +BoschSensorInfo BoschSensorBase::getSensorInfo() +{ + BoschSensorInfo sensorInfo; + uint8_t product_id = 0x00; + uint16_t kernel_version; + uint16_t user_version; + uint16_t rom_version; + uint8_t host_status; + uint8_t feat_status; + uint8_t boot_status; + uint8_t sensor_error; + + if (bhy2_get_product_id(&product_id, dev.get()) != BHY2_OK) { + log_e("Failed to get product id"); + } + if (bhy2_get_kernel_version(&kernel_version, dev.get()) != BHY2_OK) { + log_e("Failed to get kernel version"); + } + if (bhy2_get_user_version(&user_version, dev.get()) != BHY2_OK) { + log_e("Failed to get user version"); + } + if (bhy2_get_rom_version(&rom_version, dev.get()) != BHY2_OK) { + log_e("Failed to get ROM version"); + } + if (bhy2_get_host_status(&host_status, dev.get()) != BHY2_OK) { + log_e("Failed to get host status"); + } + if (bhy2_get_feature_status(&feat_status, dev.get()) != BHY2_OK) { + log_e("Failed to get feature status"); + } + if (bhy2_get_boot_status(&boot_status, dev.get()) != BHY2_OK) { + log_e("Failed to get boot status"); + } + if (bhy2_get_error_value(&sensor_error, dev.get()) != BHY2_OK) { + log_e("Failed to get error value"); + } + sensorInfo.setProductId(product_id); + sensorInfo.setKernelVersion(kernel_version); + sensorInfo.setUserVersion(user_version); + sensorInfo.setRomVersion(rom_version); + sensorInfo.setHostStatus(host_status); + sensorInfo.setFeatStatus(feat_status); + sensorInfo.setBootStatus(boot_status); + sensorInfo.setSensorError(sensor_error); + sensorInfo.setDevice(dev.get()); + sensorInfo.updateFromDevice(); + return sensorInfo; +} + +void BoschSensorBase::setMaxiTransferSize(uint16_t size_of_bytes) +{ + if (_processBuffer) { + log_e("Must be called before begin"); + return; + } + _max_rw_length = size_of_bytes; +} + +void BoschSensorBase::setUpdateProcessCallback(FirmwareUpgradeProgressCb callback, void *user_data) +{ + _process_callback = callback; + _process_callback_user_data = user_data; +} + +uint8_t BoschSensorBase::availableSensorNums() +{ + return _sensor_available_nums; +} + +const char *BoschSensorBase::getModelName() +{ + BoschSensorType mode = getModel(); + switch (mode) { + case BoschSensorType::BOSCH_SENSORTEC_BHI260: return "BHI260"; + case BoschSensorType::BOSCH_SENSORTEC_BHI360: return "BHI360"; + default: break; + } + return "UNKNOWN"; +} + +bool BoschSensorBase::setRemapAxes(SensorRemap remap) +{ + if (remap > SensorRemap::BOTTOM_LAYER_BOTTOM_LEFT_CORNER) { + log_e("Invalid SensorRemap value passed to setRemapAxes!"); + return false; + } + + // Acceleration - related orientation matrices for different mounting directions + struct bhy2_orient_matrix acc_matrices[] = { + // P0 mounting direction, default direction, axis direction is consistent with the default coordinate system + {1, 0, 0, 0, 1, 0, 0, 0, 1}, + // P1 mounting direction, P0 is rotated 90° clockwise around the Z - axis + {0, -1, 0, 1, 0, 0, 0, 0, 1}, + // P2 mounting direction, P0 is rotated 180° clockwise around the Z - axis + {-1, 0, 0, 0, -1, 0, 0, 0, 1}, + // P3 mounting direction, P0 is rotated 270° clockwise around the Z - axis + {0, 1, 0, -1, 0, 0, 0, 0, 1}, + // P4 mounting direction, P0 is flipped vertically (rotated 180° around the X - axis) + {1, 0, 0, 0, -1, 0, 0, 0, -1}, + // P5 mounting direction, P4 is rotated 90° clockwise around the Z - axis + {0, 1, 0, 1, 0, 0, 0, 0, -1}, + // P6 mounting direction, P4 is rotated 180° clockwise around the Z - axis + {-1, 0, 0, 0, 1, 0, 0, 0, -1}, + // P7 mounting direction, P4 is rotated 270° clockwise around the Z - axis + {0, -1, 0, -1, 0, 0, 0, 0, -1} + }; + + // Gyroscope - related orientation matrices for different mounting directions + struct bhy2_orient_matrix gyro_matrices[] = { + // P0 mounting direction, default direction, axis direction is consistent with the default coordinate system + {1, 0, 0, 0, 1, 0, 0, 0, 1}, + // P1 mounting direction, P0 is rotated 90° clockwise around the Z - axis + {0, -1, 0, 1, 0, 0, 0, 0, 1}, + // P2 mounting direction, P0 is rotated 180° clockwise around the Z - axis + {-1, 0, 0, 0, -1, 0, 0, 0, 1}, + // P3 mounting direction, P0 is rotated 270° clockwise around the Z - axis + {0, 1, 0, -1, 0, 0, 0, 0, 1}, + // P4 mounting direction, P0 is flipped vertically (rotated 180° around the X - axis) + {1, 0, 0, 0, -1, 0, 0, 0, -1}, + // P5 mounting direction, P4 is rotated 90° clockwise around the Z - axis + {0, 1, 0, 1, 0, 0, 0, 0, -1}, + // P6 mounting direction, P4 is rotated 180° clockwise around the Z - axis + {-1, 0, 0, 0, 1, 0, 0, 0, -1}, + // P7 mounting direction, P4 is rotated 270° clockwise around the Z - axis + {0, -1, 0, -1, 0, 0, 0, 0, -1} + }; + + uint8_t remap_index = static_cast(remap); + // Set the orientation matrix for the accelerometer + _error_code = bhy2_set_orientation_matrix(BHY2_PHYS_SENSOR_ID_ACCELEROMETER, acc_matrices[remap_index], dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to set acceleration orientation matrix!"); + return false; + } + // Set the orientation matrix for the gyroscope + _error_code = bhy2_set_orientation_matrix(BHY2_PHYS_SENSOR_ID_GYROSCOPE, gyro_matrices[remap_index], dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to set gyroscope orientation matrix!"); + return false; + } + return true; +} + +bool BoschSensorBase::bootFromFlash() +{ + int8_t rslt; + uint8_t boot_status, feat_status; + uint8_t error_val = 0; + uint16_t tries = 300; /* Wait for up to little over 3s */ + + log_d("Waiting for firmware verification to complete"); + do { + _error_code = bhy2_get_boot_status(&boot_status, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get boot status"); + return false; + } + hal->delay(10); + } while (tries--); + + _error_code = bhy2_get_boot_status(&boot_status, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get boot status"); + return false; + } + print_boot_status(boot_status); + + if (boot_status & BHY2_BST_HOST_INTERFACE_READY) { + + if (boot_status & BHY2_BST_FLASH_DETECTED) { + + // If no firmware is running, boot from Flash + log_d("Booting from flash"); + rslt = bhy2_boot_from_flash(dev.get()); + if (rslt != BHY2_OK) { + log_e("%s. Booting from flash failed.\r\n", BoschSensorUtils::get_api_error(rslt)); + _error_code = bhy2_get_regs(BHY2_REG_ERROR_VALUE, &error_val, 1, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get error registers"); + return false; + } + return false; + } + + _error_code = bhy2_get_boot_status(&boot_status, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get boot status"); + return false; + } + print_boot_status(boot_status); + + if (!(boot_status & BHY2_BST_HOST_INTERFACE_READY)) { + /* hub is not ready, need reset hub */ + log_d("Host interface is not ready, triggering a reset"); + _error_code = bhy2_soft_reset(dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to reset device"); + return false; + } + } + + _error_code = (bhy2_get_feature_status(&feat_status, dev.get())); + if (_error_code != BHY2_OK) { + log_e("Failed to get feature status"); + return false; + } + + } else { + log_e("Can't detect external flash"); + return false; + } + } else { + log_e("Host interface is not ready"); + return false; + } + + log_d("Booting from flash successful"); + return true; +} + +void BoschSensorBase::print_boot_status(uint8_t boot_status) +{ + log_d("Boot Status : 0x%02x: ", boot_status); + if (boot_status & BHY2_BST_FLASH_DETECTED) { + log_d("Flash detected. "); + } + + if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) { + log_d("Flash verify done. "); + } + + if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) { + log_d("Flash verification failed. "); + } + + if (boot_status & BHY2_BST_NO_FLASH) { + log_d("No flash installed. "); + } + + if (boot_status & BHY2_BST_HOST_INTERFACE_READY) { + log_d("Host interface ready. "); + } + + if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) { + log_d("Firmware verification done. "); + } + + if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) { + log_d("Firmware verification error. "); + } + + if (boot_status & BHY2_BST_HOST_FW_IDLE) { + log_d("Firmware halted. "); + } +} + +void BoschSensorBase::bosch_static_parse_data(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) +{ + auto *self = static_cast(user_data); + if (self && callback_info) { + self->parseData(callback_info, user_data); + } +} + +void BoschSensorBase::bosch_static_parse_meta_event(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) +{ + auto *self = static_cast(user_data); + if (self && callback_info) { + self->parseMetaEvent(callback_info, user_data); + } +} + +void BoschSensorBase::bosch_static_parse_debug_message(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) +{ + auto *self = static_cast(user_data); + if (self && callback_info) { + self->parseDebugMessage(callback_info, user_data); + } +} + +void BoschSensorBase::parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data) +{ + if (user_data != this) { + return; + } +#ifdef BOSCH_PARSE_DATA_DUMP + log_i("ID:[%d]:%s: DATA LEN:%u", fifo->sensor_id, BoschSensorUtils::get_sensor_name(fifo->sensor_id), fifo->data_size); + SensorLibDumpBuffer(fifo->data_ptr, fifo->data_size); +#endif + if (_callback_manager.contains(fifo->sensor_id)) { + _callback_manager.call(fifo->sensor_id, fifo->data_ptr, fifo->data_size, fifo->time_stamp); + } +} + +void BoschSensorBase::parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) +{ + if (user_data != this) { + return; + } + uint8_t meta_event_type = callback_info->data_ptr[0]; + uint8_t sensor_id = callback_info->data_ptr[1]; + uint8_t byte2 = callback_info->data_ptr[2]; + const char *event_text; + + UNUSED(sensor_id); + UNUSED(byte2); + UNUSED(event_text); + + if (callback_info->sensor_id == BHY2_SYS_ID_META_EVENT) { + event_text = "[META EVENT]"; + } else if (callback_info->sensor_id == BHY2_SYS_ID_META_EVENT_WU) { + event_text = "[META EVENT WAKE UP]"; + } else { + return; + } + + MetaEventType event = static_cast(meta_event_type); + switch (event) { + case MetaEventType::BOSCH_META_EVENT_FLUSH_COMPLETE: + log_d("%s Flush complete for sensor id %u", event_text, sensor_id); + break; + case MetaEventType::BOSCH_META_EVENT_SAMPLE_RATE_CHANGED: + log_d("%s Sample rate changed for sensor id %u", event_text, sensor_id); + break; + case MetaEventType::BOSCH_META_EVENT_POWER_MODE_CHANGED: + log_d("%s Power mode changed for sensor id %u value: %u", event_text, sensor_id, byte2); + break; + case MetaEventType::BOSCH_META_EVENT_ALGORITHM_EVENTS: + log_d("%s Algorithm event", event_text); + break; + case MetaEventType::BOSCH_META_EVENT_SENSOR_STATUS: + log_d("%s Accuracy for sensor id %u changed to %u", event_text, sensor_id, byte2); + _accuracy = byte2; + break; + case MetaEventType::BOSCH_META_EVENT_BSX_DO_STEPS_MAIN: + log_d("%s BSX event (do steps main)", event_text); + break; + case MetaEventType::BOSCH_META_EVENT_BSX_DO_STEPS_CALIB: + log_d("%s BSX event (do steps calibration)", event_text); + break; + case MetaEventType::BOSCH_META_EVENT_BSX_GET_OUTPUT_SIGNAL: + log_d("%s BSX event (get output signal)", event_text); + break; + case MetaEventType::BOSCH_META_EVENT_SENSOR_ERROR: + log_d("%s Sensor id %u reported error 0x%02X", event_text, sensor_id, byte2); + break; + case MetaEventType::BOSCH_META_EVENT_FIFO_OVERFLOW: + log_d("%s FIFO overflow", event_text); + break; + case MetaEventType::BOSCH_META_EVENT_DYNAMIC_RANGE_CHANGED: + log_d("%s Dynamic range changed for sensor id %u", event_text, sensor_id); + break; + case MetaEventType::BOSCH_META_EVENT_FIFO_WATERMARK: + log_d("%s FIFO watermark reached", event_text); + break; + case MetaEventType::BOSCH_META_EVENT_INITIALIZED: + log_d("%s Firmware initialized. Firmware version %u", event_text, ((uint16_t)byte2 << 8) | sensor_id); + break; + case MetaEventType::BOSCH_META_TRANSFER_CAUSE: + log_d("%s Transfer cause for sensor id %u", event_text, sensor_id); + break; + case MetaEventType::BOSCH_META_EVENT_SENSOR_FRAMEWORK: + log_d("%s Sensor framework event for sensor id %u", event_text, sensor_id); + break; + case MetaEventType::BOSCH_META_EVENT_RESET: + log_d("%s Reset event", event_text); + break; + case MetaEventType::BOSCH_META_EVENT_SPACER: + return; + default: + log_d("%s Unknown meta event with id: %u", event_text, meta_event_type); + break; + } + + if (_meta_event_callback_manager.contains(sensor_id)) { + _meta_event_callback_manager.call(sensor_id, meta_event_type, byte2); + } +} + +void BoschSensorBase::parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) +{ + if (user_data != this) { + return; + } + uint8_t msg_length = 0; + uint8_t debug_msg[17] = { 0 }; /* Max payload size is 16 bytes, adds a trailing zero if the payload is full */ + if (!callback_info) { + log_i("Invalid debug message callback info"); + return; + } + msg_length = callback_info->data_ptr[0]; + memcpy(debug_msg, &callback_info->data_ptr[1], msg_length); + debug_msg[msg_length] = '\0'; /* Terminate the string */ + log_d("[DEBUG MSG]: %s", debug_msg); + + if (cbs.onDebug) { + cbs.onDebug((const char *)debug_msg); + } +} + +bool BoschSensorBase::uploadFirmware(const uint8_t *firmware, uint32_t length, bool write2Flash) +{ + uint8_t sensor_error; + uint8_t boot_status; + + log_d("Upload Firmware ..."); + _error_code = bhy2_get_boot_status(&boot_status, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get boot status"); + return false; + } + if (write2Flash) { + if (boot_status & BHY2_BST_FLASH_DETECTED) { + uint32_t start_addr = BHY2_FLASH_SECTOR_START_ADDR; + uint32_t end_addr = start_addr + length; + log_d("Flash detected. Erasing flash to upload firmware"); + _error_code = bhy2_erase_flash(start_addr, end_addr, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to erase flash"); + return false; + } + } else { + log_e("Flash not detected"); + return false; + } + log_d("Loading firmware into FLASH."); + _error_code = bhy2_upload_firmware_to_flash(firmware, length, + _process_callback, + _process_callback_user_data, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to upload firmware to flash"); + return false; + } + log_d("Loading firmware into FLASH Done"); + } else { + log_d("Loading firmware into RAM."); + log_d("upload size = %lu", length); + _error_code = bhy2_upload_firmware_to_ram(firmware, length, + _process_callback, + _process_callback_user_data, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to upload firmware to ram"); + return false; + } + log_d("Loading firmware into RAM Done"); + } + + _error_code = bhy2_get_error_value(&sensor_error, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get error value"); + return false; + } + if (sensor_error != BHY2_OK) { + _error_code = bhy2_get_error_value(&sensor_error, dev.get()); + log_e("%s", BoschSensorUtils::get_sensor_error_text(sensor_error)); + return false; + } + if (write2Flash) { + log_d("Booting from FLASH."); + _error_code = bhy2_boot_from_flash(dev.get()); + } else { + log_d("Booting from RAM."); + _error_code = bhy2_boot_from_ram(dev.get()); + } + if (_error_code != BHY2_OK) { + log_e("Failed to boot device!"); + return false; + } + _error_code = bhy2_get_error_value(&sensor_error, dev.get()); + if (sensor_error) { + log_e("%s", BoschSensorUtils::get_sensor_error_text(sensor_error)); + return false; + } + return sensor_error == BHY2_OK; +} + +bool BoschSensorBase::initImpl(CommInterface interface) +{ + uint8_t chip_id = 0, product_id = 0; + + if (_rst != -1) { + hal->pinMode(_rst, OUTPUT); + } + + reset(); + + dev = std::make_unique(); + if (!dev) { + log_e("Failed to allocate device handler!"); + return false; + } + + if (_max_rw_length == -1) { + switch (interface) { + case BHY2_I2C_INTERFACE: + // esp32s3 test I2C maximum read and write is 64 bytes + _max_rw_length = I2C_BUFFER_LENGTH; +#ifdef ARDUINO_ARCH_ESP32 + // The test data was obtained from tests conducted on the ESP32S3-R8. + // ESP32 series has an issue with reading large data, so we need to reduce + // the max read/write length by half as a workaround. + _max_rw_length /= 2; +#endif + break; + case BHY2_SPI_INTERFACE: + // esp32s3 test SPI maximum read and write is 256 bytes + _max_rw_length = 256; + break; + default: + return false; + } + } + + bhy2_intf intf = interface == COMM_I2C ? BHY2_I2C_INTERFACE : BHY2_SPI_INTERFACE; + + _error_code = bhy2_init(intf, + SensorCommStatic::sensor_static_read_data, + SensorCommStatic::sensor_static_write_data, + SensorCommStatic::sensor_static_delay_us, + _max_rw_length, + staticComm.get(), dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to initialize device"); + return false; + } + + _error_code = bhy2_soft_reset(dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to reset device"); + return false; + } + + _error_code = bhy2_get_chip_id(&chip_id, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get chip ID"); + return false; + } + + bhy2_get_product_id(&product_id, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get product ID"); + return false; + } + + // Check for a valid product ID + if (chip_id != BHI260_CHIP_ID && chip_id != BHI360_CHIP_ID) { + log_e("Chip ID read 0x%02X. Expected 0x%02X or 0x%02X", chip_id, BHI260_CHIP_ID, BHI360_CHIP_ID); + return false; + } else { + log_i("%s found. Chip ID read 0x%02X, Product ID read 0x%02X", chip_id == BHI260_CHIP_ID ? "BHI260" : "BHI360", chip_id, product_id); + } + + // Check confirmation ID + if (getConfirmationIDImpl() != chip_id) { + log_e("Confirmation ID mismatch: expected 0x%02X, got 0x%02X", chip_id, getConfirmationIDImpl()); + return false; + } + + _chipID = chip_id; + + // Set default interrupt configuration + uint8_t data = 0, data_exp; + bhy2_get_host_interrupt_ctrl(&data, dev.get()); + data &= ~BHY2_ICTL_DISABLE_STATUS_FIFO; ///> Enable status interrupts + if (_debugKernel) { + data &= ~BHY2_ICTL_DISABLE_DEBUG; ///> Enable debug interrupts + } else { + data |= BHY2_ICTL_DISABLE_DEBUG; ///> Disable debug interrupts + } + data &= ~BHY2_ICTL_EDGE; ///> Level + data &= ~BHY2_ICTL_ACTIVE_LOW; ///> Active high + data &= ~BHY2_ICTL_OPEN_DRAIN; ///> Push-pull + data_exp = data; + bhy2_set_host_interrupt_ctrl(data, dev.get()); + bhy2_get_host_interrupt_ctrl(&data, dev.get()); + if (data != data_exp) { + log_d("Expected Host Interrupt Control (0x07) to have value 0x%x but instead read 0x%x\r\n", data_exp, data); + } + + // Config status channel + bhy2_set_host_intf_ctrl(BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL, dev.get()); + bhy2_get_host_intf_ctrl(&data, dev.get()); + if (!(data & BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL)) { + log_d("Expected Host Interface Control (0x06) to have bit 0x%x to be set\r\n", BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL); + } + + if (_boot_from_flash) { + if (!bootFromFlash()) { + return false; + } + if (_force_update) { + if ((_firmware_stream == NULL) || (_firmware_size == 0)) { + log_e("No valid firmware is set. Please use the \"setFirmware\" method to set the valid firmware."); + return false; + } + _error_code = bhy2_soft_reset(dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to reset device"); + return false; + } + log_i("Force update firmware."); + if (!uploadFirmware(_firmware_stream, _firmware_size, _write_flash)) { + log_e("Failed to upload firmware to flash"); + return false; + } + } + } else { + if ((_firmware_stream == NULL) || (_firmware_size == 0)) { + log_e("No valid firmware is set. Please use the \"setFirmware\" method to set the valid firmware."); + return false; + } + + // Upload firmware to RAM + if (!uploadFirmware(_firmware_stream, _firmware_size, false)) { + log_e("Failed to upload firmware to RAM"); + return false; + } + } + + uint16_t version = getKernelVersion(); + if (version == 0) { + log_e("Failed to get kernel version"); + return false; + } + log_i("Boot successful. Kernel version %u.", version); + + _error_code = bhy2_register_fifo_parse_callback(BHY2_SYS_ID_META_EVENT, bosch_static_parse_data, this, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to register FIFO parse callback for META_EVENT"); + return false; + } + + _error_code = bhy2_register_fifo_parse_callback(BHY2_SYS_ID_META_EVENT_WU, bosch_static_parse_meta_event, this, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to register FIFO parse callback for META_EVENT_WU"); + return false; + } + + if (_debugKernel) { + _error_code = bhy2_register_fifo_parse_callback(BHY2_SYS_ID_DEBUG_MSG, bosch_static_parse_debug_message, this, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to register FIFO parse callback for DEBUG_MSG"); + return false; + } + } + +#if defined(ARDUINO_ARCH_ESP32) + if (psramFound()) { + _processBuffer = (uint8_t *)ps_malloc(_processBufferSize); + // In older versions of esp-core, even if psramFound returns true, it may not initialize psram correctly. + // This situation is common when OPI type SPI-RAM is selected as QSPI, or QSPI is selected as OPI. + if (!_processBuffer) { + log_e("Failed to allocate PSRAM buffer, trying to allocate SRAM buffer!"); + _processBuffer = (uint8_t *)malloc(_processBufferSize); + } + } else { + _processBuffer = (uint8_t *)malloc(_processBufferSize); + } +#else + _processBuffer = (uint8_t *)malloc(_processBufferSize); +#endif + + if (!_processBuffer) { + log_e("Failed to allocate process buffer"); + return false; + } + + _error_code = bhy2_get_and_process_fifo(_processBuffer, _processBufferSize, dev.get()); + if (_error_code != BHY2_OK) { + log_e("Failed to get and process FIFO"); + free(_processBuffer); + _processBuffer = nullptr; + return false; + } + + // Update the callback table to enable parsing of sensor hintr_ctrl + bhy2_update_virtual_sensor_list(dev.get()); + + // Get present virtual sensor + bhy2_get_virt_sensor_list(dev.get()); + + // Only register valid sensor IDs + for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) { + if (bhy2_is_sensor_available(i, dev.get())) { + _sensor_available_nums++; + bhy2_register_fifo_parse_callback(i, bosch_static_parse_data, this, dev.get()); + } + } + return _error_code == BHY2_OK; +} diff --git a/lib/SensorLib/src/bosch/BoschSensorBase.hpp b/lib/SensorLib/src/bosch/BoschSensorBase.hpp new file mode 100644 index 0000000..6d8dada --- /dev/null +++ b/lib/SensorLib/src/bosch/BoschSensorBase.hpp @@ -0,0 +1,552 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BoschSensorBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-06 + * @note Most source code references come from the https://github.com/boschsensortec/BHY2-Sensor-API + * Simplification for Arduino + */ +#pragma once +#include "../SensorPlatform.hpp" +#include "../sensor/SensorDefs.hpp" +#include "BoschParseCallbackManager.hpp" +#include "BoschInterruptConfig.hpp" +#include "BoschPhySensorInfo.hpp" +#include "BoschSensorInfo.hpp" +#include "BoschSensorID.hpp" +#include + +/** + * @brief Enumeration of Bosch sensor types supported by this library. + */ +enum class BoschSensorType { + BOSCH_SENSORTEC_UNKNOWN, + BOSCH_SENSORTEC_BHI260, + BOSCH_SENSORTEC_BHI360, +}; + +/** + * @brief Enumeration of meta event types that can be received from the sensor. + */ +enum class MetaEventType { + BOSCH_META_EVENT_FLUSH_COMPLETE = 1, ///< Flush complete event + BOSCH_META_EVENT_SAMPLE_RATE_CHANGED, ///< Sample rate changed event + BOSCH_META_EVENT_POWER_MODE_CHANGED, ///< Power mode changed event + BOSCH_META_EVENT_ALGORITHM_EVENTS = 5, ///< Algorithm events + BOSCH_META_EVENT_SENSOR_STATUS, ///< Sensor status event + BOSCH_META_EVENT_BSX_DO_STEPS_MAIN, ///< BSX do steps main event + BOSCH_META_EVENT_BSX_DO_STEPS_CALIB, ///< BSX do steps calibration event + BOSCH_META_EVENT_BSX_GET_OUTPUT_SIGNAL, ///< BSX get output signal event + BOSCH_META_EVENT_RESERVED1, ///< Reserved event + BOSCH_META_EVENT_SENSOR_ERROR, ///< Sensor error event + BOSCH_META_EVENT_FIFO_OVERFLOW, ///< FIFO overflow event + BOSCH_META_EVENT_DYNAMIC_RANGE_CHANGED, ///< Dynamic range changed event + BOSCH_META_EVENT_FIFO_WATERMARK, ///< FIFO watermark event + BOSCH_META_EVENT_RESERVED2, ///< Reserved event + BOSCH_META_EVENT_INITIALIZED, ///< Sensor initialized event + BOSCH_META_TRANSFER_CAUSE, ///< Data transfer cause event + BOSCH_META_EVENT_SENSOR_FRAMEWORK, ///< Sensor framework event + BOSCH_META_EVENT_RESET, ///< Sensor reset event + BOSCH_META_EVENT_SPACER, ///< Spacer event +}; + +/** + * @brief Base class for Bosch sensor devices (BHI260, BHI360). + * + * This class provides a unified interface for initializing, configuring, and reading data + * from Bosch sensors. It supports multiple communication interfaces (I2C, SPI) and platforms + * (Arduino, ESP-IDF). + */ +class BoschSensorBase +{ +public: + /** + * @brief Callback type for firmware upgrade progress monitoring. + */ + using FirmwareUpgradeProgressCb = void (*)(uint32_t total, uint32_t transferred, void *user_data); + + /** + * @brief Callback type for kernel debug messages. + */ + using KernelDebugCb = std::function; + + + /** + * @brief Structure to hold event callback functions. + */ + struct EventCallbacks { + KernelDebugCb onDebug = nullptr; ///< Callback for debug messages + }; + + + /** + * @brief Set the reset pin for the sensor. + * @note This method must be called before calling begin(). Calling it after begin() will have no effect. + * @param rst GPIO pin number used for hardware reset of the sensor. + */ + void setPins(int rst); + +#if defined(ARDUINO) + /** + * @brief Initialize the sensor using Arduino I2C interface. + * @param wire Reference to TwoWire object. + * @param addr I2C device address (default 0x28, can also be 0x29). + * @param sda I2C SDA pin number (optional, uses default if -1). + * @param scl I2C SCL pin number (optional, uses default if -1). + * @return true if initialization succeeded, false otherwise. + */ + bool begin(TwoWire &wire, uint8_t addr, int sda = -1, int scl = -1); + + /** + * @brief Initialize the sensor using Arduino SPI interface. + * @param spi Reference to SPIClass object. + * @param csPin SPI chip select pin number. + * @param mosi SPI MOSI pin number (optional, uses default if -1). + * @param miso SPI MISO pin number (optional, uses default if -1). + * @param sck SPI clock pin number (optional, uses default if -1). + * @return true if initialization succeeded, false otherwise. + */ + bool begin(SPIClass &spi, uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1); + +#elif defined(ESP_PLATFORM) + +#if defined(USEING_I2C_LEGACY) + /** + * @brief Initialize the sensor using ESP-IDF I2C legacy interface. + * @param port_num I2C port number (I2C_NUM0 or I2C_NUM1). + * @param addr I2C device address (default 0x28, can also be 0x29). + * @param sda I2C SDA pin number (optional, uses default if -1). + * @param scl I2C SCL pin number (optional, uses default if -1). + * @return true if initialization succeeded, false otherwise. + */ + bool begin(i2c_port_t port_num, uint8_t addr, int sda = -1, int scl = -1); +#else + /** + * @brief Initialize the sensor using ESP-IDF I2C LL interface (IDF version > 5.0.0). + * @param handle I2C master bus handle. + * @param addr I2C device address (default 0x28, can also be 0x29). + * @return true if initialization succeeded, false otherwise. + */ + bool begin(i2c_master_bus_handle_t handle, uint8_t addr); +#endif // ESP_PLATFORM + + /** + * @brief Initialize the sensor using ESP-IDF SPI interface. + * @param host SPI host device. + * @param handle SPI device handle. + * @param csPin SPI chip select pin number. + * @param mosi SPI MOSI pin number. + * @param miso SPI MISO pin number. + * @param sck SPI clock pin number. + * @return true if initialization succeeded, false otherwise. + */ + bool begin(spi_host_device_t host, spi_device_handle_t handle, uint8_t csPin, int mosi, int miso, int sck); + +#endif // ARDUINO + + /** + * @brief Initialize the sensor using custom callback interface. + * @note Suitable for other platforms not covered by standard implementations. + * @param interface Communication interface type (COMM_SPI or COMM_I2C). + * @param callback Register read/write callback function. + * @param hal_callback Platform digital IO and delay callback function. + * @param addr Device address (default 0x28, can also be 0x29). + * @return true if initialization succeeded, false otherwise. + */ + bool begin(CommInterface interface, SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback, + uint8_t addr); + + /** + * @brief Get the sensor model. + * @return BoschSensorType representing the sensor model. + */ + BoschSensorType getModel(); + + /** + * @brief Perform a hardware reset of the sensor. + * @note If using an external flash for firmware storage, no additional action is required after reset. + * If firmware was uploaded to RAM (volatile memory), you must manually call uploadFirmware() + * after each reset to reload the firmware into RAM. + * The sensor will return to its default state after reset. + */ + void reset(); + + /** + * @brief Update sensor data by processing the FIFO. + * @note This function should be called periodically to read and process sensor data. + * It triggers registered callbacks for available sensor data. + */ + void update(); + + /** + * @brief Get the native BHY API device handle. + * @return Pointer to the underlying bhy2_dev structure. + */ + bhy2_dev *getDev(); + + /** + * @brief Configure sensor interrupt settings. + * @param config Interrupt configuration object. + * @return true if configuration succeeded, false otherwise. + */ + bool configureInterrupt(const InterruptConfig& config); + + /** + * @brief Get the current interrupt configuration. + * @return Current interrupt configuration as an InterruptConfig object. + */ + InterruptConfig getInterruptConfig() const; + + /** + * @brief Reads current value from interrupt status register. + * @return 8-bit interrupt status register value. + */ + uint8_t getInterruptRegisterValue() const; + + /** + * @brief Manually sets interrupt register value (for testing/debugging). + * @param value Value to set in interrupt register. + * @return true if setting the register succeeded, false otherwise. + */ + bool setInterruptRegisterValue(uint8_t data); + + /** + * @brief Check if the sensor is ready for communication. + * @return true if sensor is ready, false otherwise. + */ + bool isReady(); + + /** + * @brief Get the sensor firmware kernel version. + * @return Kernel version as a 16-bit value. + */ + uint16_t getKernelVersion(); + + /** + * @brief Register a callback for sensor meta events. + * @note This function allows the user to register a callback that will be called + * when a meta event occurs for the specified sensor. + * @param callback: Callback function to handle meta events. + * @param sensor_id: ID of the sensor to register the callback for. + * @param *user_data: Optional user data to pass to the callback. + * @retval None + */ + void onEvent(SensorMetaEventCallback callback, uint8_t sensor_id, void *user_data = nullptr); + + /** + * @brief Remove a registered meta event callback. + * @note This function allows the user to remove a previously registered callback + * for a specific sensor's meta events. + * @param sensor_id: ID of the sensor to remove the callback from. + * @retval None + */ + void removeEvent(uint8_t sensor_id); + + /** + * @brief Register a callback for sensor data results. + * @note Multiple callbacks can be registered for the same sensor ID. + * Do not register the same callback function multiple times. + * @param sensor_id Sensor ID (see BoschSensorID enum). + * @param callback Callback function to handle sensor data. + * @param user_data Optional user data passed to the callback. + * @return true if registration succeeded, false otherwise. + */ + bool onResultEvent(uint8_t sensor_id, SensorDataParseCallback callback, void *user_data = nullptr); + + /** + * @brief Remove a registered result callback function. + * @param sensor_id Sensor ID (see BoschSensorID enum). + * @param callback Callback function to remove. + * @return true if removal succeeded, false otherwise. + */ + bool removeResultEvent(uint8_t sensor_id, SensorDataParseCallback callback); + + /** + * @brief Set the size of the internal FIFO processing buffer. + * @note This method must be called before calling begin(). If called after begin(), it will have no effect. + * The buffer is allocated during initialization and used for FIFO data processing. + * Default size is 512 bytes (BOSCH_SMART_SENSOR_FIFO_PARSE_BUFFER_SIZE). + * @param size The desired buffer size in bytes. + */ + void setProcessBufferSize(uint32_t size); + + /** + * @brief Get the last error message. + * @return Human-readable error message string. + */ + const char *getError(); + + /** + * @brief Configure sensor parameters. + * @param sensor_id Sensor ID (see BoschSensorID enum). + * @param sample_rate Data output rate in Hz. + * @param report_latency_ms Report interval in milliseconds. + * @return true if configuration succeeded, false otherwise. + */ + bool configure(uint8_t sensor_id, float sample_rate, uint32_t report_latency_ms); + + /** + * @brief Configure sensor measurement range. + * @param sensor_id Sensor ID (see BoschSensorID enum). + * @param range Measurement range value (see sensor datasheet). + * @return true if configuration succeeded, false otherwise. + */ + bool configureRange(uint8_t sensor_id, uint16_t range); + + /** + * @brief Get current sensor configuration. + * @param sensor_id Sensor ID (see BoschSensorID enum). + * @return Sensor configuration as a SensorConfig object. + */ + SensorConfig getConfigure(uint8_t sensor_id); + + /** + * @brief Get sensor scale factor. + * @param sensor_id Sensor ID (see BoschSensorID enum). + * @return Scale factor for the specified sensor. + */ + float getScaling(uint8_t sensor_id); + + /** + * @brief Get sensor name by ID. + * @param sensor_id Sensor ID (see BoschSensorID enum). + * @return Human-readable sensor name. + */ + const char *getSensorName(uint8_t sensor_id); + + /** + * @brief Get current sensor accuracy. + * @return Accuracy value (0-3, where 3 is highest accuracy). + */ + uint8_t getAccuracy(); + + /** + * @brief Enable or disable kernel debug message output. + * @note This method must be called before calling begin(). If called after begin(), it will have no effect. + * Debug messages require firmware support and are not available in default firmware. + * @param enable true to enable debug output, false to disable. + */ + void setDebugKernel(bool enable); + + /** + * @brief Register a callback function for receiving kernel debug messages. + * @note This method must be called before calling begin(). If called after begin(), it will have no effect. + * Debug messages require firmware support and are not available in default firmware. + * @param cb Callback function of type KernelDebugCb that will receive debug messages. + */ + void setDebugCallback(KernelDebugCb cb); + + /** + * @brief Get information about a physical sensor. + * @param sensor_id Physical sensor ID. + * @return BoschPhySensorInfo object containing sensor information. + */ + BoschPhySensorInfo getPhySensorInfo(uint8_t sensor_id); + + /** + * @brief Get comprehensive sensor information. + * @return BoschSensorInfo object containing all sensor information. + */ + BoschSensorInfo getSensorInfo(); + + /** + * @brief Set the maximum transfer size for the communication interface. + * @note This method must be called before calling begin(). If called after begin(), it will have no effect. + * Different platforms have different maximum transfer sizes. + * Default is 32 bytes for I2C and 256 bytes for SPI. + * @param size_of_bytes Maximum number of bytes per transfer. + */ + void setMaxiTransferSize(uint16_t size_of_bytes); + + /** + * @brief Register a callback function for monitoring firmware upgrade progress. + * @note This method must be called before calling begin(). If called after begin(), it will have no effect. + * The callback will be invoked during firmware upload operations to report progress. + * @param callback Callback function that receives progress updates (total bytes, transferred bytes, user data). + * @param user_data Optional user-defined data passed to the callback. + */ + void setUpdateProcessCallback(FirmwareUpgradeProgressCb callback, void *user_data = nullptr); + + /** + * @brief Get the number of available sensors. + * @return Number of sensors currently available. + */ + uint8_t availableSensorNums(); + + /** + * @brief Get the sensor model name as a string. + * @return Human-readable model name (e.g., "BHI260", "BHI360"). + */ + const char *getModelName(); + + /** + * @brief Set the axis remapping for the sensor based on the specified orientation. + * + * This function allows you to configure the sensor's axis remapping according to a specific + * physical orientation of the chip. By passing one of the values from the SensorRemap enum, + * you can ensure that the sensor data is correctly interpreted based on how the chip is placed. + * + * Reference: Bosch BHI260AB datasheet, Section 20.3 "Sensing axes and axes remapping" + * + * @param remap An enumeration value from SensorRemap that specifies the desired axis remapping. + * @return true if axis remapping was successfully set, false otherwise. + */ + bool setRemapAxes(SensorRemap remap); + + /** + * @brief Upload firmware to the sensor. + * @note This function is required if firmware is loaded to RAM (volatile memory). After calling reset(), + * firmware in RAM is lost and must be reloaded using this function. + * For sensors using external flash, firmware persists across resets. + * @param firmware Pointer to the firmware binary data. + * @param length Length of the firmware data in bytes. + * @param write2Flash If true, write firmware to external flash; if false, load to RAM only. + * @return true if firmware upload was successful, false otherwise. + */ + bool uploadFirmware(const uint8_t *firmware, uint32_t length, bool write2Flash = false); + + /** + * @brief Set firmware to be uploaded during initialization. + * @note This method must be called before calling begin(). It pre-configures firmware + * that will be automatically uploaded during the initialization process. + * @param image Pointer to the firmware binary data. + * @param image_len Length of the firmware data in bytes. + * @param write_flash If true, write firmware to external flash; if false, load to RAM only. + * @param force_update If true, force firmware update even if already present. + */ + void setFirmware(const uint8_t *image, size_t image_len, bool write_flash = false, bool force_update = false); + + /** + * @brief Get the chip ID of the sensor. + * @note This function retrieves the chip ID by calling the pure virtual getConfirmationIDImpl() method, + * which must be implemented by derived classes to return the expected product ID for the specific + * @return 8-bit chip ID value. + */ + uint8_t getChipID(); + +protected: + /** + * @brief Pure virtual function to get the confirmation ID for the specific sensor model. + * @return Expected product ID for the sensor. + */ + virtual uint16_t getConfirmationIDImpl() = 0; + + /** + * @brief Parse sensor data from FIFO. + * @param fifo Pointer to FIFO parse data information. + * @param user_data User data pointer (should be 'this'). + */ + void parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data); + + /** + * @brief Parse meta events from FIFO. + * @param callback_info Pointer to FIFO parse data information. + * @param user_data User data pointer (should be 'this'). + */ + void parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data); + + /** + * @brief Parse debug messages from FIFO. + * @param callback_info Pointer to FIFO parse data information. + * @param user_data User data pointer (should be 'this'). + */ + void parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data); + +private: + /** + * @brief Static wrapper for parseData to be used as a C-style callback. + */ + static void bosch_static_parse_data(const struct bhy2_fifo_parse_data_info *fifo, void *user_data); + + /** + * @brief Static wrapper for parseMetaEvent to be used as a C-style callback. + */ + static void bosch_static_parse_meta_event(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data); + + /** + * @brief Static wrapper for parseDebugMessage to be used as a C-style callback. + */ + static void bosch_static_parse_debug_message(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data); + + /** + * @brief Boot the sensor from external flash memory. + * @return true if booting from flash succeeded, false otherwise. + */ + bool bootFromFlash(); + + /** + * @brief Print boot status information for debugging. + * @param boot_status Boot status register value. + */ + void print_boot_status(uint8_t boot_status); + + /** + * @brief Internal implementation of initialization. + * @param interface Communication interface type. + * @return true if initialization succeeded, false otherwise. + */ + bool initImpl(CommInterface interface); + +protected: + // Disable copy constructor and assignment operator + BoschSensorBase(const BoschSensorBase &) = delete; + BoschSensorBase &operator=(const BoschSensorBase &) = delete; + + /** + * @brief Destructor for BoschSensorBase. + */ + ~BoschSensorBase(); + + /** + * @brief Constructor for BoschSensorBase. + */ + BoschSensorBase(); + + std::unique_ptr comm; ///< Communication interface + std::unique_ptr hal; ///< Hardware abstraction layer + std::unique_ptr staticComm; ///< Static communication wrapper + std::unique_ptr dev; ///< Native BHY device handle + uint8_t _chipID; + int _rst; ///< Reset pin number + int8_t _error_code; ///< Last error code + uint8_t *_processBuffer; ///< FIFO processing buffer + size_t _processBufferSize; ///< Size of processing buffer + const uint8_t *_firmware_stream; ///< Pointer to firmware data + size_t _firmware_size; ///< Size of firmware data + bool _write_flash; ///< Write firmware to flash flag + bool _boot_from_flash; ///< Boot from flash flag + bool _force_update; ///< Force firmware update flag + int _max_rw_length; ///< Maximum read/write length + uint8_t _accuracy; ///< Current sensor accuracy + bool _debugKernel; ///< Debug output enabled flag + FirmwareUpgradeProgressCb _process_callback; ///< Firmware upgrade progress callback + void *_process_callback_user_data; ///< User data for progress callback + BoschParseCallbackManager _callback_manager; ///< Callback manager for sensor data + uint8_t _sensor_available_nums; ///< Number of available sensors + BoschMetaEventCallbackManager _meta_event_callback_manager; ///< Callback manager for meta events + char _err_buffer[128]; ///< Buffer for error messages + EventCallbacks cbs; ///< Event callback functions +}; \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/BoschSensorControl.hpp b/lib/SensorLib/src/bosch/BoschSensorControl.hpp deleted file mode 100644 index cd704c2..0000000 --- a/lib/SensorLib/src/bosch/BoschSensorControl.hpp +++ /dev/null @@ -1,82 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2025 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. - * - * @file BoschSensorControl.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-22 - * - */ -#pragma once - -#include -#include -#ifdef ARDUINO -#include -#endif - -class SensorBHI260APControl -{ -public: - bool wakeUpFIFOEnabled; - bool nonWakeUpFIFOEnabled; - bool statusFIFOEnabled; - bool debuggingEnabled; - bool faultEnabled; - bool interruptIsActiveLow; - bool interruptIsPulseTriggered; - bool interruptPinDriveIsOpenDrain; - - SensorBHI260APControl() : wakeUpFIFOEnabled(true), nonWakeUpFIFOEnabled(true), statusFIFOEnabled(true), - debuggingEnabled(true), faultEnabled(true), interruptIsActiveLow(false), - interruptIsPulseTriggered(false), interruptPinDriveIsOpenDrain(false) {} - -#if defined(ARDUINO) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_ZEPHYR) - void print(Stream &stream) - { - stream.printf("Host interrupt control\n"); - stream.printf("-- Wake up FIFO :%s\n", (wakeUpFIFOEnabled ? "enabled" : "disabled")); - stream.printf("-- Non wake up FIFO :%s\n", (nonWakeUpFIFOEnabled ? "enabled" : "disabled")); - stream.printf("-- Status FIFO :%s\n", (statusFIFOEnabled ? "enabled" : "disabled")); - stream.printf("-- Debugging :%s\n", (debuggingEnabled ? "enabled" : "disabled")); - stream.printf("-- Fault :%s\n", (faultEnabled ? "enabled" : "disabled")); - stream.printf("-- Interrupt is :%s\n", (interruptIsActiveLow ? "active low" : "active high")); - stream.printf("-- Interrupt is :%s triggered.\n", (interruptIsPulseTriggered ? "pulse" : "level")); - stream.printf("-- Interrupt pin drive is :%s\n", (interruptPinDriveIsOpenDrain ? "open drain" : "push-pull")); - } -#else - void print() - { - printf("Host interrupt control\n"); - printf("-- Wake up FIFO :%s\n", (wakeUpFIFOEnabled ? "enabled" : "disabled")); - printf("-- Non wake up FIFO :%s\n", (nonWakeUpFIFOEnabled ? "enabled" : "disabled")); - printf("-- Status FIFO :%s\n", (statusFIFOEnabled ? "enabled" : "disabled")); - printf("-- Debugging :%s\n", (debuggingEnabled ? "enabled" : "disabled")); - printf("-- Fault :%s\n", (faultEnabled ? "enabled" : "disabled")); - printf("-- Interrupt is :%s\n", (interruptIsActiveLow ? "active low" : "active high")); - printf("-- Interrupt is :%s triggered.\n", (interruptIsPulseTriggered ? "pulse" : "level")); - printf("-- Interrupt pin drive is :%s\n", (interruptPinDriveIsOpenDrain ? "open drain" : "push-pull")); - } -#endif -}; - diff --git a/lib/SensorLib/src/bosch/BoschSensorDataHelper.hpp b/lib/SensorLib/src/bosch/BoschSensorDataHelper.hpp index 16e94dd..b7371d6 100644 --- a/lib/SensorLib/src/bosch/BoschSensorDataHelper.hpp +++ b/lib/SensorLib/src/bosch/BoschSensorDataHelper.hpp @@ -28,9 +28,10 @@ * */ #pragma once -#include "../SensorBHI260AP.hpp" -#include "bhy2_defs.h" -#include +#include "BoschSensorBase.hpp" +#include "bhi260x/bhy2_defs.h" +#include "bosch/bhi36x/bhi360_event_data.h" +#include "bosch/bhi36x/bhi360_multi_tap_param_defs.h" class BoschSensorDataHelperBase { @@ -40,6 +41,7 @@ public: float humidity; float pressure; float altitude; + unified_air_quality_t iaq; bhy2_data_quaternion quaternion; bhy2_data_orientation orientation; bhy2_data_xyz vector; @@ -47,10 +49,11 @@ public: uint32_t gas; uint16_t activity_bitmap; uint8_t dev_ori; + bhi360_event_data_multi_tap multi_tap; bool detected; } SensorData; - BoschSensorDataHelperBase(SensorBHI260AP::BoschSensorID sensor_id, SensorBHI260AP &handle) + BoschSensorDataHelperBase(BoschSensorID sensor_id, BoschSensorBase &handle) : _sensor_id(sensor_id), _handle(handle) { _scaling_factor = _handle.getScaling(_sensor_id); @@ -149,30 +152,79 @@ protected: break; case BHY2_SENSOR_ID_STC: case BHY2_SENSOR_ID_STC_WU: + case BHY2_SENSOR_ID_STC_LP: result.step_counter = bhy2_parse_step_counter(data); break; case BHY2_SENSOR_ID_STD: + case BHY2_SENSOR_ID_STD_LP: result.detected = true; break; case BHY2_SENSOR_ID_AR: result.activity_bitmap = (data[1] << 8) | data[0]; break; + case BHY2_SENSOR_ID_AIR_QUALITY: + if (_handle.getChipID() == BHI260_CHIP_ID) { + bhy2_bsec_air_quality raw; + bhy2_bsec_parse_air_quality(data, &raw); + result.iaq.co2 = raw.e_co2; + result.iaq.humidity = raw.comp_hum; + result.iaq.iaq_accuracy = raw.iaq_accuracy; + result.iaq.temperature = raw.comp_temp; + result.iaq.voc = raw.voc; + result.iaq.static_iaq = raw.static_iaq; + result.iaq.gas_resistance = raw.comp_gas; + } else { + /*SCALE FACTOR from BHI3 data sheet, IAQ data format*/ + const float SCALE_IAQ_VOC = 100.0; + const float SCALE_IAQ_TEMP = 256.0; + const float SCALE_IAQ_HUMI = 500.0; + bhi360_event_data_iaq_output_t raw; + bhi360_event_data_parse_air_quality(data, &raw); + result.iaq.co2 = raw.co2; + result.iaq.humidity = raw.comp_humidity / SCALE_IAQ_HUMI; + result.iaq.iaq_accuracy = raw.iaq_accuracy; + result.iaq.temperature = raw.comp_temperature / SCALE_IAQ_TEMP; + result.iaq.voc = raw.voc / SCALE_IAQ_VOC; + result.iaq.static_iaq = raw.siaq; + result.iaq.gas_resistance = raw.raw_gas; + } + break; + case BHY2_SENSOR_ID_ANY_MOTION_LP: + case BHY2_SENSOR_ID_ANY_MOTION_LP_WU: + result.detected = true; + break; + case BHI360_SENSOR_ID_MULTI_TAP: + result.multi_tap = static_cast(data[0]); + break; + case BHI360_SENSOR_ID_AR_WEAR_WU: + log_d("AR wear detected"); + break; + case BHI360_SENSOR_ID_WRIST_GEST_DETECT_LP_WU: + log_d("Wrist gesture detected"); + break; + case BHI360_SENSOR_ID_WRIST_WEAR_LP_WU: + log_d("Wrist wear detected"); + break; + case BHI360_SENSOR_ID_NO_MOTION_LP_WU: + log_d("No motion detected"); + result.detected = true; + break; default: - log_e("Sensor ID Undefined"); + log_e("Sensor ID Undefined : %d", sensor_id); break; } return result; } - SensorBHI260AP::BoschSensorID _sensor_id; + BoschSensorID _sensor_id; float _scaling_factor; - SensorBHI260AP &_handle; + BoschSensorBase &_handle; }; template class SensorTemplateBase : public BoschSensorDataHelperBase { public: - SensorTemplateBase(SensorBHI260AP::BoschSensorID sensor_id, SensorBHI260AP &handle) + SensorTemplateBase(BoschSensorID sensor_id, BoschSensorBase &handle) : BoschSensorDataHelperBase(sensor_id, handle) { } @@ -200,8 +252,10 @@ public: bool hasUpdated() { - bool result = _lastUpdateTime != _currentTime; - _lastUpdateTime = _currentTime; + // bool result = _lastUpdateTime != _currentTime; + // _lastUpdateTime = _currentTime; + bool result = _hasNewData; + _hasNewData = false; return result; } @@ -235,26 +289,28 @@ protected: DataType _value; uint64_t _lastUpdateTime; uint64_t _currentTime; + bool _hasNewData; private: uint64_t getNanosecondsFromCurrentTime() const { return _currentTime * 15625; } - static void staticCallback(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data) + static void staticCallback(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data) { auto self = static_cast*>(user_data); SensorData parsedData = self->parse_data(sensor_id, data); self->updateValue(parsedData); self->_lastUpdateTime = self->_currentTime; self->_currentTime = *timestamp; + self->_hasNewData = true; } }; class SensorTemperature : public SensorTemplateBase { public: - SensorTemperature(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::TEMPERATURE, handle) {} + SensorTemperature(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::TEMPERATURE, handle) {} float getCelsius() const { @@ -286,8 +342,8 @@ protected: class SensorHumidity : public SensorTemplateBase { public: - SensorHumidity(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::HUMIDITY, handle) {} + SensorHumidity(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::HUMIDITY, handle) {} float getHumidity() const { @@ -309,14 +365,27 @@ protected: class SensorPressure : public SensorTemplateBase { public: - SensorPressure(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::BAROMETER, handle) {} + SensorPressure(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::BAROMETER, handle) {} + // Pressure in Pa (pascals) float getPressure() const { return getValue(); } + // Pressure in hPa (hectopascals) + float getPressureHPa() const + { + return getPressure() / 100.0f; + } + + // Pressure in kPa (kilopascals) + float getPressureKPa() const + { + return getPressure() / 1000.0f; + } + protected: void updateValue(const SensorData &data) override { @@ -328,8 +397,8 @@ protected: class SensorGas : public SensorTemplateBase { public: - SensorGas(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::GAS, handle) {} + SensorGas(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::GAS, handle) {} uint32_t getGas() const { @@ -346,8 +415,8 @@ protected: class SensorOrientation : public SensorTemplateBase { public: - SensorOrientation(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::DEVICE_ORIENTATION, handle) {} + SensorOrientation(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::DEVICE_ORIENTATION, handle) {} uint32_t getOrientation() const { @@ -363,8 +432,8 @@ protected: class SensorEuler : public SensorTemplateBase { public: - SensorEuler(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::ORIENTATION, handle) {} + SensorEuler(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::ORIENTATION, handle) {} float getHeading() const { @@ -391,8 +460,8 @@ protected: class SensorQuaternion : public SensorTemplateBase { public: - SensorQuaternion(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::GAME_ROTATION_VECTOR, handle) {} + SensorQuaternion(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::GAME_ROTATION_VECTOR, handle) {} float getX() const { @@ -455,8 +524,17 @@ protected: class SensorStepCounter : public SensorTemplateBase { public: - SensorStepCounter(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::STEP_COUNTER, handle) {} + SensorStepCounter(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::STEP_COUNTER, handle) + { + if (_handle.getChipID() == BHI360_CHIP_ID) { + _sensor_id = BoschSensorID::STEP_COUNTER_LOW_POWER; + } else if (_handle.getChipID() == BHI260_CHIP_ID) { + _sensor_id = BoschSensorID::STEP_COUNTER; + } else { + log_e("Unknown chip ID 0x%02X. Step Counter sensor may not function correctly.", _handle.getChipID()); + } + } uint32_t getStepCount() const { @@ -473,8 +551,17 @@ protected: class SensorStepDetector : public SensorTemplateBase { public: - SensorStepDetector(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::STEP_DETECTOR, handle) {} + SensorStepDetector(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::STEP_DETECTOR, handle) + { + if (_handle.getChipID() == BHI360_CHIP_ID) { + _sensor_id = BoschSensorID::STEP_DETECTOR_LOW_POWER; + } else if (_handle.getChipID() == BHI260_CHIP_ID) { + _sensor_id = BoschSensorID::STEP_DETECTOR; + } else { + log_e("Unknown chip ID 0x%02X. Step Detector sensor may not function correctly.", _handle.getChipID()); + } + } bool isDetected() { @@ -493,7 +580,7 @@ protected: class SensorXYZ : public SensorTemplateBase { public: - SensorXYZ(SensorBHI260AP::BoschSensorID sensor_id, SensorBHI260AP &handle) + SensorXYZ(BoschSensorID sensor_id, BoschSensorBase &handle) : SensorTemplateBase(sensor_id, handle) {} float getX() const @@ -515,6 +602,73 @@ protected: } }; + +class SensorAcceleration : public SensorXYZ +{ +public: + SensorAcceleration(BoschSensorBase &handle) + : SensorXYZ(BoschSensorID::ACCEL_PASSTHROUGH, handle) {} + + bool readData(AccelerometerData &data) + { + if (hasUpdated()) { + data.temperature = NAN; + data.mps2.x = getX(); + data.mps2.y = getY(); + data.mps2.z = getZ(); + data.raw.x = getValue().x; + data.raw.y = getValue().y; + data.raw.z = getValue().z; + return true; + } + return false; + } +}; + +class SensorGyroscope : public SensorXYZ +{ +public: + SensorGyroscope(BoschSensorBase &handle) + : SensorXYZ(BoschSensorID::GYRO_PASSTHROUGH, handle) {} + + bool readData(GyroscopeData &data) + { + if (hasUpdated()) { + data.temperature = NAN; + data.dps.x = getX(); + data.dps.y = getY(); + data.dps.z = getZ(); + data.raw.x = getValue().x; + data.raw.y = getValue().y; + data.raw.z = getValue().z; + return true; + } + return false; + } +}; + +class SensorMagnetometer : public SensorXYZ +{ +public: + SensorMagnetometer(BoschSensorBase &handle) + : SensorXYZ(BoschSensorID::MAGNETOMETER_PASSTHROUGH, handle) {} + + bool readData(MagnetometerData &data) + { + if (hasUpdated()) { + data.temperature = NAN; + data.magnetic_field.x = getX(); + data.magnetic_field.y = getY(); + data.magnetic_field.z = getZ(); + data.raw.x = getValue().x; + data.raw.y = getValue().y; + data.raw.z = getValue().z; + return true; + } + return false; + } +}; + class SensorActivity : public SensorTemplateBase { public: @@ -538,8 +692,8 @@ public: IN_VEHICLE_STILL_STARTED, RESERVED_HIGH }; - SensorActivity(SensorBHI260AP &handle) - : SensorTemplateBase(SensorBHI260AP::ACTIVITY_RECOGNITION, handle) {} + SensorActivity(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::ACTIVITY_RECOGNITION, handle) {} /** * @brief Check if a specific activity status is set in the activity bitmap. @@ -573,3 +727,225 @@ protected: } }; +class SensorIAQ : public SensorTemplateBase +{ +public: + SensorIAQ(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::IAQ, handle) {} + + float getCelsius() const + { + return getValue().temperature; + } + + float getFahrenheit() const + { + return getCelsius() * 9.0f / 5.0f + 32; + } + float getKelvin() const + { + return getCelsius() + 273.15f; + } + + float getVOC() const + { + return getValue().voc; + } + + float getHumidity() const + { + return getValue().humidity; + } + + uint16_t getIAQ() const + { + return getValue().iaq; + } + + uint16_t getSIAQ() const + { + return getValue().static_iaq; + } + + uint32_t getCO2() const + { + return getValue().co2; + } + + uint8_t getIAQAccuracy() const + { + return getValue().iaq_accuracy; + } + + uint32_t getRawGas() const + { + return getValue().gas_resistance; + } + + uint8_t getIAQLevel() const + { + uint16_t iaq = getIAQ(); + if (iaq <= 50) { + return 0; // Excellent + } else if (iaq <= 100) { + return 1; // Good + } else if (iaq <= 150) { + return 2; // Lightly Polluted + } else if (iaq <= 200) { + return 3; // Moderately Polluted + } else if (iaq <= 300) { + return 4; // Heavily Polluted + } else { + return 5; // Severely Polluted + } + } + + uint8_t getIAQLevelText(char *buffer, size_t buffer_size) const + { + uint16_t iaq = getIAQ(); + const char *level_text; + if (iaq <= 50) { + level_text = "Excellent"; + } else if (iaq <= 100) { + level_text = "Good"; + } else if (iaq <= 150) { + level_text = "Lightly Polluted"; + } else if (iaq <= 200) { + level_text = "Moderately Polluted"; + } else if (iaq <= 300) { + level_text = "Heavily Polluted"; + } else { + level_text = "Severely Polluted"; + } + strncpy(buffer, level_text, buffer_size - 1); + buffer[buffer_size - 1] = '\0'; // Ensure null-termination + return getIAQLevel(); + } + + uint8_t getIAQAccuracyText(char *buffer, size_t buffer_size) const + { + uint8_t accuracy = getIAQAccuracy(); + const char *accuracy_text; + switch (accuracy) { + case 0: + accuracy_text = "Unreliable"; + break; + case 1: + accuracy_text = "Low Accuracy"; + break; + case 2: + accuracy_text = "Medium Accuracy"; + break; + case 3: + accuracy_text = "High Accuracy"; + break; + default: + accuracy_text = "Unknown Accuracy"; + break; + } + strncpy(buffer, accuracy_text, buffer_size - 1); + buffer[buffer_size - 1] = '\0'; // Ensure null-termination + return accuracy; + } + + bool enable() + { + return SensorTemplateBase::enable(1, 0); + } + +protected: + void updateValue(const SensorData &data) override + { + _value = data.iaq; + } +}; + + +class SensorMultiTap : public SensorTemplateBase +{ +public: + SensorMultiTap(BoschSensorBase &handle) + : SensorTemplateBase(BoschSensorID::MULTI_TAP, handle) + { + if (_handle.getChipID() == BHI260_CHIP_ID) { + log_e("BHI260 does not support Multi Tap sensor."); + } + } +protected: + void updateValue(const SensorData &data) override + { + _value = data.multi_tap; + } +}; + + +enum class MotionMode : uint8_t { + OFF, + ONCE, + CONTINUOUS +}; + +template +class SensorMotionBase : public SensorTemplateBase +{ +public: + SensorMotionBase(BoschSensorBase &handle) + : SensorTemplateBase(SensorID, handle), _mode(MotionMode::OFF) + { + if (_handle.getChipID() == BHI260_CHIP_ID) { + log_e("BHI260 does not support this motion sensor."); + } + _handle.onEvent(staticEventCallback, SensorID, this); + } + + bool enable(MotionMode mode) + { + _mode = mode; + return SensorTemplateBase::enable(1, 0); + } + + bool isEnabled() const + { + return _mode != MotionMode::OFF; + } + + void setOnMotionCallback(std::function cb) + { + onMotion = std::move(cb); + } + +protected: + void updateValue(const SensorData &data) override + { + if (data.detected && onMotion) { + onMotion(); + } + _value = data.detected; + } + +private: + static void staticEventCallback(uint8_t sensor_id, uint8_t event_id, uint8_t event_data, void *user_data) + { + auto self = static_cast(user_data); + if (sensor_id == static_cast(SensorID) && event_data == 0x01) { + if (self->_mode != MotionMode::CONTINUOUS) { + self->_mode = MotionMode::OFF; + } else { + self->SensorTemplateBase::enable(1, 0); + } + } + } + + MotionMode _mode; + std::function onMotion; +}; + +class SensorAnyMotion : public SensorMotionBase +{ + using SensorMotionBase::SensorMotionBase; +}; + +class SensorNoMotion : public SensorMotionBase +{ + using SensorMotionBase::SensorMotionBase; +}; diff --git a/lib/SensorLib/src/bosch/BoschSensorID.hpp b/lib/SensorLib/src/bosch/BoschSensorID.hpp index d691814..27943e5 100644 --- a/lib/SensorLib/src/bosch/BoschSensorID.hpp +++ b/lib/SensorLib/src/bosch/BoschSensorID.hpp @@ -30,85 +30,85 @@ #pragma once -class BoschVirtualSensor -{ -public: - enum BoschSensorID { - ACCEL_PASSTHROUGH = (1), /*BHY2_SENSOR_ID_ACC_PASS: Accelerometer passthrough */ - ACCEL_UNCALIBRATED = (3), /*BHY2_SENSOR_ID_ACC_RAW: Accelerometer uncalibrated */ - ACCEL_CORRECTED = (4), /*BHY2_SENSOR_ID_ACC: Accelerometer corrected */ - ACCEL_OFFSET = (5), /*BHY2_SENSOR_ID_ACC_BIAS: Accelerometer offset */ - ACCEL_CORRECTED_WAKE_UP = (6), /*BHY2_SENSOR_ID_ACC_WU: Accelerometer corrected wake up */ - ACCEL_UNCALIBRATED_WAKE_UP = (7), /*BHY2_SENSOR_ID_ACC_RAW_WU: Accelerometer uncalibrated wake up */ - // VIRTUAL_SENSOR_ID_FOR_ACCEL = (8), /*BHY2_SENSOR_ID_SI_ACCEL: Virtual Sensor ID for Accelerometer */ - GYRO_PASSTHROUGH = (10), /*BHY2_SENSOR_ID_GYRO_PASS: Gyroscope passthrough */ - GYRO_UNCALIBRATED = (12), /*BHY2_SENSOR_ID_GYRO_RAW: Gyroscope uncalibrated */ - GYRO_CORRECTED = (13), /*BHY2_SENSOR_ID_GYRO: Gyroscope corrected */ - GYRO_OFFSET = (14), /*BHY2_SENSOR_ID_GYRO_BIAS: Gyroscope offset */ - GYRO_WAKE_UP = (15), /*BHY2_SENSOR_ID_GYRO_WU: Gyroscope wake up */ - GYRO_UNCALIBRATED_WAKE_UP = (16), /*BHY2_SENSOR_ID_GYRO_RAW_WU: Gyroscope uncalibrated wake up */ - // VIRTUAL_SENSOR_ID_FOR_GYRO = (17), /*BHY2_SENSOR_ID_SI_GYROS: Virtual Sensor ID for Gyroscope */ - MAGNETOMETER_PASSTHROUGH = (19), /*BHY2_SENSOR_ID_MAG_PASS: Magnetometer passthrough */ - MAGNETOMETER_UNCALIBRATED = (21), /*BHY2_SENSOR_ID_MAG_RAW: Magnetometer uncalibrated */ - MAGNETOMETER_CORRECTED = (22), /*BHY2_SENSOR_ID_MAG: Magnetometer corrected */ - MAGNETOMETER_OFFSET = (23), /*BHY2_SENSOR_ID_MAG_BIAS: Magnetometer offset */ - MAGNETOMETER_WAKE_UP = (24), /*BHY2_SENSOR_ID_MAG_WU: Magnetometer wake up */ - MAGNETOMETER_UNCALIBRATED_WAKE_UP = (25), /*BHY2_SENSOR_ID_MAG_RAW_WU: Magnetometer uncalibrated wake up */ - GRAVITY_VECTOR = (28), /*BHY2_SENSOR_ID_GRA: Gravity vector */ - GRAVITY_VECTOR_WAKE_UP = (29), /*BHY2_SENSOR_ID_GRA_WU: Gravity vector wake up */ - LINEAR_ACCELERATION = (31), /*BHY2_SENSOR_ID_LACC: Linear acceleration */ - LINEAR_ACCELERATION_WAKE_UP = (32), /*BHY2_SENSOR_ID_LACC_WU: Linear acceleration wake up */ - ROTATION_VECTOR = (34), /*BHY2_SENSOR_ID_RV: Rotation vector , quaternion*/ - ROTATION_VECTOR_WAKE_UP = (35), /*BHY2_SENSOR_ID_RV_WU: Rotation vector wake up */ - GAME_ROTATION_VECTOR = (37), /*BHY2_SENSOR_ID_GAMERV: Game rotation vector */ - GAME_ROTATION_VECTOR_WAKE_UP = (38), /*BHY2_SENSOR_ID_GAMERV_WU: Game rotation vector wake up */ - GEO_MAGNETIC_ROTATION_VECTOR = (40), /*BHY2_SENSOR_ID_GEORV: Geo-magnetic rotation vector */ - GEO_MAGNETIC_ROTATION_VECTOR_WAKE_UP = (41), /*BHY2_SENSOR_ID_GEORV_WU: Geo-magnetic rotation vector wake up */ - ORIENTATION = (43), /*BHY2_SENSOR_ID_ORI: Orientation */ - ORIENTATION_WAKE_UP = (44), /*BHY2_SENSOR_ID_ORI_WU: Orientation wake up , Euler*/ - TILT_DETECTOR = (48), /*BHY2_SENSOR_ID_TILT_DETECTOR: Tilt detector */ - STEP_DETECTOR = (50), /*BHY2_SENSOR_ID_STD: Step detector */ - STEP_COUNTER = (52), /*BHY2_SENSOR_ID_STC: Step counter */ - STEP_COUNTER_WAKE_UP = (53), /*BHY2_SENSOR_ID_STC_WU: Step counter wake up */ - SIGNIFICANT_MOTION = (55), /*BHY2_SENSOR_ID_SIG: Significant motion */ - WAKE_GESTURE = (57), /*BHY2_SENSOR_ID_WAKE_GESTURE: Wake gesture */ - GLANCE_GESTURE = (59), /*BHY2_SENSOR_ID_GLANCE_GESTURE: Glance gesture */ - PICKUP_GESTURE = (61), /*BHY2_SENSOR_ID_PICKUP_GESTURE: Pickup gesture */ - ACTIVITY_RECOGNITION = (63), /*BHY2_SENSOR_ID_AR: Activity recognition */ - WRIST_TILT_GESTURE = (67), /*BHY2_SENSOR_ID_WRIST_TILT_GESTURE: Wrist tilt gesture */ - DEVICE_ORIENTATION = (69), /*BHY2_SENSOR_ID_DEVICE_ORI: Device orientation */ - DEVICE_ORIENTATION_WAKE_UP = (70), /*BHY2_SENSOR_ID_DEVICE_ORI_WU: Device orientation wake up */ - STATIONARY_DETECT = (75), /*BHY2_SENSOR_ID_STATIONARY_DET: Stationary detect */ - MOTION_DETECT = (77), /*BHY2_SENSOR_ID_MOTION_DET: Motion detect */ - ACCEL_OFFSET_WAKE_UP = (91), /*BHY2_SENSOR_ID_ACC_BIAS_WU: Accelerometer offset wake up */ - GYRO_OFFSET_WAKE_UP = (92), /*BHY2_SENSOR_ID_GYRO_BIAS_WU: Gyroscope offset wake up */ - MAGNETOMETER_OFFSET_WAKE_UP = (93), /*BHY2_SENSOR_ID_MAG_BIAS_WU: Magnetometer offset wake up */ - STEP_DETECTOR_WAKE_UP = (94), /*BHY2_SENSOR_ID_STD_WU: Step detector wake up */ - KLIO = (112), /*BHY2_SENSOR_ID_KLIO Supported by klio firmware ,defined in bhy2_klio_defs.h */ - SWIM = (114), /*BHY2_SENSOR_ID_SWIM:Supported by swim firmware ,defined in bhy2_swim_defs.h */ - KLIO_LOG = (127), /*BHY2_SENSOR_ID_KLIO_LOG Supported by klio firmware ,defined in bhy2_klio_defs.h */ - TEMPERATURE = (128), /*BHY2_SENSOR_ID_TEMP: Temperature */ - BAROMETER = (129), /*BHY2_SENSOR_ID_BARO: Barometer */ - HUMIDITY = (130), /*BHY2_SENSOR_ID_HUM: Humidity */ - GAS = (131), /*BHY2_SENSOR_ID_GAS: Gas */ - TEMPERATURE_WAKE_UP = (132), /*BHY2_SENSOR_ID_TEMP_WU: Temperature wake up */ - BAROMETER_WAKE_UP = (133), /*BHY2_SENSOR_ID_BARO_WU: Barometer wake up */ - HUMIDITY_WAKE_UP = (134), /*BHY2_SENSOR_ID_HUM_WU: Humidity wake up */ - GAS_WAKE_UP = (135), /*BHY2_SENSOR_ID_GAS_WU: Gas wake up */ - STEP_COUNTER_LOW_POWER = (136), /*BHY2_SENSOR_ID_STC_LP: Step counter Low Power */ - STEP_DETECTOR_LOW_POWER = (137), /*BHY2_SENSOR_ID_STD_LP: Step detector Low Power */ - SIGNIFICANT_MOTION_LOW_POWER = (138), /*BHY2_SENSOR_ID_SIG_LP: Significant motion Low Power */ - STEP_COUNTER_LOW_POWER_WAKE_UP = (139), /*BHY2_SENSOR_ID_STC_LP_WU: Step counter Low Power wake up */ - STEP_DETECTOR_LOW_POWER_WAKE_UP = (140), /*BHY2_SENSOR_ID_STD_LP_WU: Step detector Low Power wake up */ - SIGNIFICANT_MOTION_LOW_POWER_WAKE_UP = (141), /*BHY2_SENSOR_ID_SIG_LP_WU: Significant motion Low Power wake up */ - ANY_MOTION_LOW_POWER = (142), /*BHY2_SENSOR_ID_ANY_MOTION_LP: Any motion Low Power */ - ANY_MOTION_LOW_POWER_WAKE_UP = (143), /*BHY2_SENSOR_ID_ANY_MOTION_LP_WU: Any motion Low Power wake up */ - EXTERNAL_CAMERA_TRIGGER = (144), /*BHY2_SENSOR_ID_EXCAMERA: External camera trigger */ - GPS = (145), /*BHY2_SENSOR_ID_GPS: GPS */ - LIGHT = (146), /*BHY2_SENSOR_ID_LIGHT: Light */ - PROXIMITY = (147), /*BHY2_SENSOR_ID_PROX: Proximity */ - LIGHT_WAKE_UP = (148), /*BHY2_SENSOR_ID_LIGHT_WU: Light wake up */ - PROXIMITY_WAKE_UP = (149), /*BHY2_SENSOR_ID_PROX_WU: Proximity wake up */ - GPIO_EXP = (151), /*BHY2_SENSOR_ID_GPIO_EXP: GPIO_EXP*/ - }; + +enum BoschSensorID { + ACCEL_PASSTHROUGH = (1), /*BHY2_SENSOR_ID_ACC_PASS: Accelerometer passthrough */ + ACCEL_UNCALIBRATED = (3), /*BHY2_SENSOR_ID_ACC_RAW: Accelerometer uncalibrated */ + ACCEL_CORRECTED = (4), /*BHY2_SENSOR_ID_ACC: Accelerometer corrected */ + ACCEL_OFFSET = (5), /*BHY2_SENSOR_ID_ACC_BIAS: Accelerometer offset */ + ACCEL_CORRECTED_WAKE_UP = (6), /*BHY2_SENSOR_ID_ACC_WU: Accelerometer corrected wake up */ + ACCEL_UNCALIBRATED_WAKE_UP = (7), /*BHY2_SENSOR_ID_ACC_RAW_WU: Accelerometer uncalibrated wake up */ + // VIRTUAL_SENSOR_ID_FOR_ACCEL = (8), /*BHY2_SENSOR_ID_SI_ACCEL: Virtual Sensor ID for Accelerometer */ + GYRO_PASSTHROUGH = (10), /*BHY2_SENSOR_ID_GYRO_PASS: Gyroscope passthrough */ + GYRO_UNCALIBRATED = (12), /*BHY2_SENSOR_ID_GYRO_RAW: Gyroscope uncalibrated */ + GYRO_CORRECTED = (13), /*BHY2_SENSOR_ID_GYRO: Gyroscope corrected */ + GYRO_OFFSET = (14), /*BHY2_SENSOR_ID_GYRO_BIAS: Gyroscope offset */ + GYRO_WAKE_UP = (15), /*BHY2_SENSOR_ID_GYRO_WU: Gyroscope wake up */ + GYRO_UNCALIBRATED_WAKE_UP = (16), /*BHY2_SENSOR_ID_GYRO_RAW_WU: Gyroscope uncalibrated wake up */ + // VIRTUAL_SENSOR_ID_FOR_GYRO = (17), /*BHY2_SENSOR_ID_SI_GYROS: Virtual Sensor ID for Gyroscope */ + MAGNETOMETER_PASSTHROUGH = (19), /*BHY2_SENSOR_ID_MAG_PASS: Magnetometer passthrough */ + MAGNETOMETER_UNCALIBRATED = (21), /*BHY2_SENSOR_ID_MAG_RAW: Magnetometer uncalibrated */ + MAGNETOMETER_CORRECTED = (22), /*BHY2_SENSOR_ID_MAG: Magnetometer corrected */ + MAGNETOMETER_OFFSET = (23), /*BHY2_SENSOR_ID_MAG_BIAS: Magnetometer offset */ + MAGNETOMETER_WAKE_UP = (24), /*BHY2_SENSOR_ID_MAG_WU: Magnetometer wake up */ + MAGNETOMETER_UNCALIBRATED_WAKE_UP = (25), /*BHY2_SENSOR_ID_MAG_RAW_WU: Magnetometer uncalibrated wake up */ + GRAVITY_VECTOR = (28), /*BHY2_SENSOR_ID_GRA: Gravity vector */ + GRAVITY_VECTOR_WAKE_UP = (29), /*BHY2_SENSOR_ID_GRA_WU: Gravity vector wake up */ + LINEAR_ACCELERATION = (31), /*BHY2_SENSOR_ID_LACC: Linear acceleration */ + LINEAR_ACCELERATION_WAKE_UP = (32), /*BHY2_SENSOR_ID_LACC_WU: Linear acceleration wake up */ + ROTATION_VECTOR = (34), /*BHY2_SENSOR_ID_RV: Rotation vector , quaternion*/ + ROTATION_VECTOR_WAKE_UP = (35), /*BHY2_SENSOR_ID_RV_WU: Rotation vector wake up */ + GAME_ROTATION_VECTOR = (37), /*BHY2_SENSOR_ID_GAMERV: Game rotation vector */ + GAME_ROTATION_VECTOR_WAKE_UP = (38), /*BHY2_SENSOR_ID_GAMERV_WU: Game rotation vector wake up */ + GEO_MAGNETIC_ROTATION_VECTOR = (40), /*BHY2_SENSOR_ID_GEORV: Geo-magnetic rotation vector */ + GEO_MAGNETIC_ROTATION_VECTOR_WAKE_UP = (41), /*BHY2_SENSOR_ID_GEORV_WU: Geo-magnetic rotation vector wake up */ + ORIENTATION = (43), /*BHY2_SENSOR_ID_ORI: Orientation */ + ORIENTATION_WAKE_UP = (44), /*BHY2_SENSOR_ID_ORI_WU: Orientation wake up , Euler*/ + TILT_DETECTOR = (48), /*BHY2_SENSOR_ID_TILT_DETECTOR: Tilt detector */ + STEP_DETECTOR = (50), /*BHY2_SENSOR_ID_STD: Step detector */ + STEP_COUNTER = (52), /*BHY2_SENSOR_ID_STC: Step counter */ + STEP_COUNTER_WAKE_UP = (53), /*BHY2_SENSOR_ID_STC_WU: Step counter wake up */ + SIGNIFICANT_MOTION = (55), /*BHY2_SENSOR_ID_SIG: Significant motion */ + WAKE_GESTURE = (57), /*BHY2_SENSOR_ID_WAKE_GESTURE: Wake gesture */ + GLANCE_GESTURE = (59), /*BHY2_SENSOR_ID_GLANCE_GESTURE: Glance gesture */ + PICKUP_GESTURE = (61), /*BHY2_SENSOR_ID_PICKUP_GESTURE: Pickup gesture */ + ACTIVITY_RECOGNITION = (63), /*BHY2_SENSOR_ID_AR: Activity recognition */ + WRIST_TILT_GESTURE = (67), /*BHY2_SENSOR_ID_WRIST_TILT_GESTURE: Wrist tilt gesture */ + DEVICE_ORIENTATION = (69), /*BHY2_SENSOR_ID_DEVICE_ORI: Device orientation */ + DEVICE_ORIENTATION_WAKE_UP = (70), /*BHY2_SENSOR_ID_DEVICE_ORI_WU: Device orientation wake up */ + STATIONARY_DETECT = (75), /*BHY2_SENSOR_ID_STATIONARY_DET: Stationary detect */ + MOTION_DETECT = (77), /*BHY2_SENSOR_ID_MOTION_DET: Motion detect */ + ACCEL_OFFSET_WAKE_UP = (91), /*BHY2_SENSOR_ID_ACC_BIAS_WU: Accelerometer offset wake up */ + GYRO_OFFSET_WAKE_UP = (92), /*BHY2_SENSOR_ID_GYRO_BIAS_WU: Gyroscope offset wake up */ + MAGNETOMETER_OFFSET_WAKE_UP = (93), /*BHY2_SENSOR_ID_MAG_BIAS_WU: Magnetometer offset wake up */ + STEP_DETECTOR_WAKE_UP = (94), /*BHY2_SENSOR_ID_STD_WU: Step detector wake up */ + KLIO = (112), /*BHY2_SENSOR_ID_KLIO Supported by klio firmware ,defined in bhy2_klio_defs.h */ + SWIM = (114), /*BHY2_SENSOR_ID_SWIM:Supported by swim firmware ,defined in bhy2_swim_defs.h */ + IAQ = (115), /*BHY2_SENSOR_ID_AIR_QUALITY: IAQ */ + KLIO_LOG = (127), /*BHY2_SENSOR_ID_KLIO_LOG Supported by klio firmware ,defined in bhy2_klio_defs.h */ + TEMPERATURE = (128), /*BHY2_SENSOR_ID_TEMP: Temperature */ + BAROMETER = (129), /*BHY2_SENSOR_ID_BARO: Barometer */ + HUMIDITY = (130), /*BHY2_SENSOR_ID_HUM: Humidity */ + GAS = (131), /*BHY2_SENSOR_ID_GAS: Gas */ + TEMPERATURE_WAKE_UP = (132), /*BHY2_SENSOR_ID_TEMP_WU: Temperature wake up */ + BAROMETER_WAKE_UP = (133), /*BHY2_SENSOR_ID_BARO_WU: Barometer wake up */ + HUMIDITY_WAKE_UP = (134), /*BHY2_SENSOR_ID_HUM_WU: Humidity wake up */ + GAS_WAKE_UP = (135), /*BHY2_SENSOR_ID_GAS_WU: Gas wake up */ + STEP_COUNTER_LOW_POWER = (136), /*BHY2_SENSOR_ID_STC_LP: Step counter Low Power */ + STEP_DETECTOR_LOW_POWER = (137), /*BHY2_SENSOR_ID_STD_LP: Step detector Low Power */ + SIGNIFICANT_MOTION_LOW_POWER = (138), /*BHY2_SENSOR_ID_SIG_LP: Significant motion Low Power */ + STEP_COUNTER_LOW_POWER_WAKE_UP = (139), /*BHY2_SENSOR_ID_STC_LP_WU: Step counter Low Power wake up */ + STEP_DETECTOR_LOW_POWER_WAKE_UP = (140), /*BHY2_SENSOR_ID_STD_LP_WU: Step detector Low Power wake up */ + SIGNIFICANT_MOTION_LOW_POWER_WAKE_UP = (141), /*BHY2_SENSOR_ID_SIG_LP_WU: Significant motion Low Power wake up */ + ANY_MOTION_LOW_POWER = (142), /*BHY2_SENSOR_ID_ANY_MOTION_LP: Any motion Low Power */ + ANY_MOTION_LOW_POWER_WAKE_UP = (143), /*BHY2_SENSOR_ID_ANY_MOTION_LP_WU: Any motion Low Power wake up */ + EXTERNAL_CAMERA_TRIGGER = (144), /*BHY2_SENSOR_ID_EXCAMERA: External camera trigger */ + GPS = (145), /*BHY2_SENSOR_ID_GPS: GPS */ + LIGHT = (146), /*BHY2_SENSOR_ID_LIGHT: Light */ + PROXIMITY = (147), /*BHY2_SENSOR_ID_PROX: Proximity */ + LIGHT_WAKE_UP = (148), /*BHY2_SENSOR_ID_LIGHT_WU: Light wake up */ + PROXIMITY_WAKE_UP = (149), /*BHY2_SENSOR_ID_PROX_WU: Proximity wake up */ + GPIO_EXP = (151), /*BHY2_SENSOR_ID_GPIO_EXP: GPIO_EXP*/ + MULTI_TAP = (153), /*BHY2_SENSOR_ID_MULTI_TAP: Multi tap only supported by BHI360 */ + NO_MOTION_LOW_POWER_WAKE_UP = (159) /*BHY2_SENSOR_ID_NO_MOTION_DET: No motion detect only supported by BHI360 */ }; diff --git a/lib/SensorLib/src/bosch/BoschSensorInfo.cpp b/lib/SensorLib/src/bosch/BoschSensorInfo.cpp new file mode 100644 index 0000000..077ef5e --- /dev/null +++ b/lib/SensorLib/src/bosch/BoschSensorInfo.cpp @@ -0,0 +1,157 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file BoschSensorInfo.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-18 + * + */ + +#include "BoschSensorInfo.hpp" +#include +#include + +BoschSensorInfo::BoschSensorInfo() + : kernel_version(0), + user_version(0), + rom_version(0), + product_id(0), + host_status(0), + feat_status(0), + boot_status(0), + sensor_error(0), + dev(nullptr) { + initializeSensorInfo(); +} + +BoschSensorInfo::~BoschSensorInfo() = default; + +BoschSensorInfo::BoschSensorInfo(BoschSensorInfo&& other) noexcept + : kernel_version(other.kernel_version), + user_version(other.user_version), + rom_version(other.rom_version), + product_id(other.product_id), + host_status(other.host_status), + feat_status(other.feat_status), + boot_status(other.boot_status), + sensor_error(other.sensor_error), + dev(other.dev), + info(std::move(other.info)) { + other.clear(); +} + +BoschSensorInfo& BoschSensorInfo::operator=(BoschSensorInfo&& other) noexcept { + if (this != &other) { + kernel_version = other.kernel_version; + user_version = other.user_version; + rom_version = other.rom_version; + product_id = other.product_id; + host_status = other.host_status; + feat_status = other.feat_status; + boot_status = other.boot_status; + sensor_error = other.sensor_error; + dev = other.dev; + info = std::move(other.info); + + other.clear(); + } + return *this; +} + +void BoschSensorInfo::initializeSensorInfo() { + info = std::unique_ptr(new bhy2_sensor_info[BHY2_SENSOR_ID_MAX]()); +} + +void BoschSensorInfo::clear() { + kernel_version = 0; + user_version = 0; + rom_version = 0; + product_id = 0; + host_status = 0; + feat_status = 0; + boot_status = 0; + sensor_error = 0; + dev = nullptr; + info.reset(); +} + +bool BoschSensorInfo::isSensorAvailable(uint8_t sensorId) const { + if (!dev || !info) { + return false; + } + return bhy2_is_sensor_available(sensorId, dev) != 0; +} + +std::vector BoschSensorInfo::getAvailableSensors() const { + std::vector available; + + if (!dev || !info) { + return available; + } + + for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; ++i) { + if (bhy2_is_sensor_available(i, dev)) { + available.push_back(i); + } + } + + return available; +} + +size_t BoschSensorInfo::getAvailableSensorCount() const { + if (!dev || !info) { + return 0; + } + + size_t count = 0; + for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; ++i) { + if (bhy2_is_sensor_available(i, dev)) { + ++count; + } + } + return count; +} + +const char* BoschSensorInfo::getSensorName(uint8_t sensorId) { + return BoschSensorUtils::get_sensor_name(sensorId); +} + +bool BoschSensorInfo::updateFromDevice() { + if (!dev) { + return false; + } + + bool success = true; + for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; ++i) { + if (bhy2_get_sensor_info(i, &info[i], dev) != BHY2_OK) { + success = false; + } + } + + return success; +} + +const char* BoschSensorInfo::getErrorText(uint8_t error) { + return BoschSensorUtils::get_sensor_error_text(error); +} \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/BoschSensorInfo.hpp b/lib/SensorLib/src/bosch/BoschSensorInfo.hpp index 9f0a513..388aecf 100644 --- a/lib/SensorLib/src/bosch/BoschSensorInfo.hpp +++ b/lib/SensorLib/src/bosch/BoschSensorInfo.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2025 lewis he + * Copyright (c) 2026 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 @@ -24,23 +24,141 @@ * * @file BoschSensorInfo.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-22 + * @date 2026-02-18 * */ + #pragma once -#include -#include -#include "bhy2_parse.h" -#include "bhy2_defs.h" -#include "common/common.h" -#ifdef ARDUINO -#include -#endif +#include +#include +#include +#include +#include "bhi260x/bhy2_bsec.h" +#include "bhi260x/bhy2_parse.h" +#include "bhi260x/bhy2_defs.h" +#include "BoschSensorUtils.hpp" +/** + * @class BoschSensorInfo + * @brief Manages and displays sensor information for Bosch BHI260AP/BMI270 sensors + * + * This class encapsulates all sensor information including version numbers, + * status flags, and metadata for available virtual sensors. It provides + * methods to display this information through a flexible output system. + * + * The class uses RAII principles for memory management and supports move + * semantics for efficient transfer of ownership. + */ class BoschSensorInfo { public: + /** + * @brief Default constructor + */ + BoschSensorInfo(); + + /** + * @brief Destructor + */ + ~BoschSensorInfo(); + + // Delete copy constructor and assignment operator + BoschSensorInfo(const BoschSensorInfo&) = delete; + BoschSensorInfo& operator=(const BoschSensorInfo&) = delete; + + /** + * @brief Move constructor + */ + BoschSensorInfo(BoschSensorInfo&& other) noexcept; + + /** + * @brief Move assignment operator + */ + BoschSensorInfo& operator=(BoschSensorInfo&& other) noexcept; + + // Getters + uint16_t getKernelVersion() const { return kernel_version; } + uint16_t getUserVersion() const { return user_version; } + uint16_t getRomVersion() const { return rom_version; } + uint8_t getProductId() const { return product_id; } + uint8_t getHostStatus() const { return host_status; } + uint8_t getFeatStatus() const { return feat_status; } + uint8_t getBootStatus() const { return boot_status; } + uint8_t getSensorError() const { return sensor_error; } + bhy2_dev* getDevice() const { return dev; } + const bhy2_sensor_info* getSensorInfo() const { return info.get(); } + bhy2_sensor_info* getSensorInfo() { return info.get(); } + + // Setters + void setKernelVersion(uint16_t version) { kernel_version = version; } + void setUserVersion(uint16_t version) { user_version = version; } + void setRomVersion(uint16_t version) { rom_version = version; } + void setProductId(uint8_t id) { product_id = id; } + void setHostStatus(uint8_t status) { host_status = status; } + void setFeatStatus(uint8_t status) { feat_status = status; } + void setBootStatus(uint8_t status) { boot_status = status; } + void setSensorError(uint8_t error) { sensor_error = error; } + void setDevice(bhy2_dev* device) { dev = device; } + + /** + * @brief Check if the sensor information is valid + */ + bool isValid() const { return dev != nullptr && info != nullptr; } + + /** + * @brief Check if a specific sensor is available + */ + bool isSensorAvailable(uint8_t sensorId) const; + + /** + * @brief Get a list of all available sensor IDs + */ + std::vector getAvailableSensors() const; + + /** + * @brief Get the number of available sensors + */ + size_t getAvailableSensorCount() const; + + /** + * @brief Get sensor name by ID + */ + static const char* getSensorName(uint8_t sensorId); + + /** + * @brief Print all sensor information + * + * @tparam Printer A callable type that supports printf-style formatting + * @param printer Output function (defaults to printf) + */ + template + void printInfo(Printer printer = printf) const; + + /** + * @brief Print boot status information + * + * @tparam Printer A callable type that supports printf-style formatting + * @param printer Output function (defaults to printf) + */ + template + void printBootStatus(Printer printer = printf) const; + + /** + * @brief Print list of virtual sensors + * + * @tparam Printer A callable type that supports printf-style formatting + * @param printer Output function (defaults to printf) + */ + template + void printVirtualSensorList(Printer printer = printf) const; + + /** + * @brief Update sensor information from device + */ + bool updateFromDevice(); + +protected: uint16_t kernel_version; uint16_t user_version; uint16_t rom_version; @@ -49,249 +167,102 @@ public: uint8_t feat_status; uint8_t boot_status; uint8_t sensor_error; - bhy2_dev *dev; - struct bhy2_sensor_info *info; + + bhy2_dev* dev; - BoschSensorInfo() : kernel_version(0), user_version(0), rom_version(0), - product_id(0), host_status(0), feat_status(0), boot_status(0), sensor_error(0), dev(nullptr), info(nullptr) - { - info = (struct bhy2_sensor_info *)calloc(BHY2_SENSOR_ID_MAX, sizeof(struct bhy2_sensor_info)); - } - - ~BoschSensorInfo() - { - if (info) { - free(info); - } - } - - BoschSensorInfo(const BoschSensorInfo &other) - : kernel_version(other.kernel_version), - user_version(other.user_version), - rom_version(other.rom_version), - product_id(other.product_id), - host_status(other.host_status), - feat_status(other.feat_status), - boot_status(other.boot_status), - sensor_error(other.sensor_error), - dev(other.dev), - info(nullptr) - { - if (other.info) { - info = (struct bhy2_sensor_info *)calloc(BHY2_SENSOR_ID_MAX, sizeof(struct bhy2_sensor_info)); - for (int i = 0; i < BHY2_SENSOR_ID_MAX; ++i) { - info[i] = other.info[i]; - } - } - } - - BoschSensorInfo &operator=(const BoschSensorInfo &other) - { - if (this != &other) { - if (info) { - free(info); - } - kernel_version = other.kernel_version; - user_version = other.user_version; - rom_version = other.rom_version; - product_id = other.product_id; - host_status = other.host_status; - feat_status = other.feat_status; - boot_status = other.boot_status; - sensor_error = other.sensor_error; - dev = other.dev; - info = nullptr; - if (other.info) { - info = (struct bhy2_sensor_info *)calloc(BHY2_SENSOR_ID_MAX, sizeof(struct bhy2_sensor_info)); - for (int i = 0; i < BHY2_SENSOR_ID_MAX; ++i) { - info[i] = other.info[i]; - } - } - } - return *this; - } - - BoschSensorInfo(BoschSensorInfo &&other) noexcept - : kernel_version(other.kernel_version), - user_version(other.user_version), - rom_version(other.rom_version), - product_id(other.product_id), - host_status(other.host_status), - feat_status(other.feat_status), - boot_status(other.boot_status), - sensor_error(other.sensor_error), - dev(other.dev), - info(other.info) - { - other.info = nullptr; - other.dev = nullptr; - } - - BoschSensorInfo &operator=(BoschSensorInfo &&other) noexcept - { - if (this != &other) { - if (info) { - free(info); - } - kernel_version = other.kernel_version; - user_version = other.user_version; - rom_version = other.rom_version; - product_id = other.product_id; - host_status = other.host_status; - feat_status = other.feat_status; - boot_status = other.boot_status; - sensor_error = other.sensor_error; - dev = other.dev; - info = other.info; - other.info = nullptr; - other.dev = nullptr; - } - return *this; - } - -#if defined(ARDUINO) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_ZEPHYR) - void printVirtualSensorList(Stream &stream) - { - if (!dev) { - return; - } - if (!info) { - return; - } - if (feat_status & BHY2_FEAT_STATUS_OPEN_RTOS_MSK) { - stream.printf("Virtual sensor list.\n"); - stream.printf("Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |\n"); - stream.printf("----------+--------------------------------------+-----+-----+-----------+-----------|\n"); - for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) { - if (bhy2_is_sensor_available(i, dev)) { - if (i < BHY2_SENSOR_ID_CUSTOM_START) { - stream.printf(" %8u | %36s ", i, get_sensor_name(i)); - } - stream.printf("| %3u | %3u | %9.4f | %9.4f |\n", - (unsigned int)info[i].driver_id, - (unsigned int)info[i].driver_version, - info[i].min_rate.f_val, - info[i].max_rate.f_val); - } - } - } - } - - void printBootStatus(Stream &stream) - { - stream.printf("Boot Status : 0x%02x: ", boot_status); - if (boot_status & BHY2_BST_FLASH_DETECTED) { - stream.printf("\tFlash detected. \n"); - } - if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) { - stream.printf("\tFlash verify done. \n"); - } - if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) { - stream.printf("Flash verification failed. \n"); - } - if (boot_status & BHY2_BST_NO_FLASH) { - stream.printf("\tNo flash installed. \n"); - } - if (boot_status & BHY2_BST_HOST_INTERFACE_READY) { - stream.printf("\tHost interface ready. \n"); - } - if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) { - stream.printf("\tFirmware verification done. \n"); - } - if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) { - stream.printf("\tFirmware verification error. \n"); - } - if (boot_status & BHY2_BST_HOST_FW_IDLE) { - stream.printf("\tFirmware halted. \n"); - } - } - - void printInfo(Stream &stream) - { - stream.printf("Product ID : %02x\n", product_id); - stream.printf("Kernel version : %04u\n", kernel_version); - stream.printf("User version : %04u\n", user_version); - stream.printf("ROM version : %04u\n", rom_version); - stream.printf("Power state : %s\n", (host_status & BHY2_HST_POWER_STATE) ? "sleeping" : "active"); - stream.printf("Host interface : %s\n", (host_status & BHY2_HST_HOST_PROTOCOL) ? "SPI" : "I2C"); - stream.printf("Feature status : 0x%02x\n", feat_status); - printBootStatus(stream); - if (sensor_error) { - stream.printf( "%s\n", get_sensor_error_text(sensor_error)); - } - printVirtualSensorList(stream); - } -#else - void printVirtualSensorList() - { - if (!dev) { - return; - } - if (!info) { - return; - } - if (feat_status & BHY2_FEAT_STATUS_OPEN_RTOS_MSK) { - printf("Virtual sensor list.\n"); - printf("Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |\n"); - printf("----------+--------------------------------------+-----+-----+-----------+-----------|\n"); - for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) { - if (bhy2_is_sensor_available(i, dev)) { - if (i < BHY2_SENSOR_ID_CUSTOM_START) { - printf(" %8u | %36s ", i, get_sensor_name(i)); - } - printf("| %3u | %3u | %9.4f | %9.4f |\n", - (unsigned int)info[i].driver_id, - (unsigned int)info[i].driver_version, - info[i].min_rate.f_val, - info[i].max_rate.f_val); - } - } - } - } - - void printBootStatus() - { - printf("Boot Status : 0x%02x: ", boot_status); - if (boot_status & BHY2_BST_FLASH_DETECTED) { - printf("\tFlash detected. \n"); - } - if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) { - printf("\tFlash verify done. \n"); - } - if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) { - printf("Flash verification failed. \n"); - } - if (boot_status & BHY2_BST_NO_FLASH) { - printf("\tNo flash installed. \n"); - } - if (boot_status & BHY2_BST_HOST_INTERFACE_READY) { - printf("\tHost interface ready. \n"); - } - if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) { - printf("\tFirmware verification done. \n"); - } - if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) { - printf("\tFirmware verification error. \n"); - } - if (boot_status & BHY2_BST_HOST_FW_IDLE) { - printf("\tFirmware halted. \n"); - } - } - - void printInfo() - { - printf("Product ID : %02x\n", product_id); - printf("Kernel version : %04u\n", kernel_version); - printf("User version : %04u\n", user_version); - printf("ROM version : %04u\n", rom_version); - printf("Power state : %s\n", (host_status & BHY2_HST_POWER_STATE) ? "sleeping" : "active"); - printf("Host interface : %s\n", (host_status & BHY2_HST_HOST_PROTOCOL) ? "SPI" : "I2C"); - printf("Feature status : 0x%02x\n", feat_status); - if (sensor_error) { - printf( "%s\n", get_sensor_error_text(sensor_error)); - } - printBootStatus(); - printVirtualSensorList(); - } -#endif +private: + std::unique_ptr info; + + /** + * @brief Initialize sensor information array + */ + void initializeSensorInfo(); + + /** + * @brief Clear all data members + */ + void clear(); + + /** + * @brief Get formatted error text for sensor error code + */ + static const char* getErrorText(uint8_t error); }; + +// Template method implementations in header (required for templates) +template +void BoschSensorInfo::printInfo(Printer printer) const { + printer("Product ID : %02x\n", product_id); + printer("Kernel version : %04u\n", kernel_version); + printer("User version : %04u\n", user_version); + printer("ROM version : %04u\n", rom_version); + printer("Power state : %s\n", (host_status & BHY2_HST_POWER_STATE) ? "sleeping" : "active"); + printer("Host interface : %s\n", (host_status & BHY2_HST_HOST_PROTOCOL) ? "SPI" : "I2C"); + printer("Feature status : 0x%02x\n", feat_status); + + if (sensor_error) { + printer("%s\n", getErrorText(sensor_error)); + } + + printBootStatus(printer); + printVirtualSensorList(printer); +} + +template +void BoschSensorInfo::printBootStatus(Printer printer) const { + printer("Boot Status : 0x%02x: ", boot_status); + + if (boot_status & BHY2_BST_FLASH_DETECTED) { + printer("\tFlash detected.\n"); + } + if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) { + printer("\tFlash verify done.\n"); + } + if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) { + printer("\tFlash verification failed.\n"); + } + if (boot_status & BHY2_BST_NO_FLASH) { + printer("\tNo flash installed.\n"); + } + if (boot_status & BHY2_BST_HOST_INTERFACE_READY) { + printer("\tHost interface ready.\n"); + } + if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) { + printer("\tFirmware verification done.\n"); + } + if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) { + printer("\tFirmware verification error.\n"); + } + if (boot_status & BHY2_BST_HOST_FW_IDLE) { + printer("\tFirmware halted.\n"); + } +} + +template +void BoschSensorInfo::printVirtualSensorList(Printer printer) const { + if (!dev || !info) { + return; + } + + if (feat_status & BHY2_FEAT_STATUS_OPEN_RTOS_MSK) { + printer("Virtual sensor list.\n"); + printer("Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |\n"); + printer("----------+--------------------------------------+-----+-----+-----------+-----------|\n"); + + for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; ++i) { + if (bhy2_is_sensor_available(i, dev)) { + const char* sensorName = ""; + if (i < BHY2_SENSOR_ID_CUSTOM_START) { + sensorName = getSensorName(i); + } + + printer(" %8u | %36s | %3u | %3u | %9.4f | %9.4f |\n", + i, sensorName, + static_cast(info[i].driver_id), + static_cast(info[i].driver_version), + info[i].min_rate.f_val, + info[i].max_rate.f_val); + } + } + } +} \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/BoschSensorUtils.cpp b/lib/SensorLib/src/bosch/BoschSensorUtils.cpp new file mode 100644 index 0000000..54c682f --- /dev/null +++ b/lib/SensorLib/src/bosch/BoschSensorUtils.cpp @@ -0,0 +1,984 @@ +/** + * Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. + * + * BSD-3-Clause + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * @file BoschSensorUtils.cpp + * @brief BoschSensorUtils source file for the BHy260 examples + * @note Adapting Arduino based on BHY2-Sensor-API by lewis + */ + +#include "bosch/bhi260x/bhy2.h" +#include "bosch/bhi260x/bhi3.h" +#include "bosch/bhi260x/bhi3_multi_tap.h" +#include "bosch/bhi260x/bhy2_klio.h" +#include "bosch/bhi260x/bhy2_swim.h" +#include "bosch/bhi260x/bhy2_bsec.h" +#include "bosch/bhi260x/bhy2_head_tracker.h" +#include "BoschSensorUtils.hpp" + +// *INDENT-OFF* +namespace BoschSensorUtils { + + void time_to_s_ns(uint64_t time_ticks, uint32_t *s, uint32_t *ns, uint64_t *tns) + { + *tns = time_ticks * 15625; /* timestamp is now in nanoseconds */ + *s = (uint32_t)(*tns / UINT64_C(1000000000)); + *ns = (uint32_t)(*tns - ((*s) * UINT64_C(1000000000))); + } + + const char *get_api_error(int8_t error_code) + { + const char *ret; + + switch (error_code) { + case BHY2_OK: + ret = "[API Success]"; + break; + case BHY2_E_NULL_PTR: + ret = "[API Error] Null pointer"; + break; + case BHY2_E_INVALID_PARAM: + ret = "[API Error] Invalid parameter"; + break; + case BHY2_E_IO: + ret = "[API Error] IO error"; + break; + case BHY2_E_MAGIC: + ret = "[API Error] Invalid firmware"; + break; + case BHY2_E_TIMEOUT: + ret = "[API Error] Timed out"; + break; + case BHY2_E_BUFFER: + ret = "[API Error] Invalid buffer"; + break; + case BHY2_E_INVALID_FIFO_TYPE: + ret = "[API Error] Invalid FIFO type"; + break; + case BHY2_E_INVALID_EVENT_SIZE: + ret = "[API Error] Invalid Event size"; + break; + case BHY2_E_PARAM_NOT_SET: + ret = "[API Error] Parameter not set"; + break; + default: + ret = "[API Error] Unknown API error code"; + } + + return ret; + } + + const char *get_sensor_error_text(uint8_t sensor_error) + { + const char *ret; + + switch (sensor_error) { + case 0x00: + break; + case 0x10: + ret = "[Sensor error] Bootloader reports: Firmware Expected Version Mismatch"; + break; + case 0x11: + ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Header CRC"; + break; + case 0x12: + ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: SHA Hash Mismatch"; + break; + case 0x13: + ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Image CRC"; + break; + case 0x14: + ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: ECDSA Signature Verification Failed"; + break; + case 0x15: + ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Public Key CRC"; + break; + case 0x16: + ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Signed Firmware Required"; + break; + case 0x17: + ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: FW Header Missing"; + break; + case 0x19: + ret = "[Sensor error] Bootloader reports: Unexpected Watchdog Reset"; + break; + case 0x1A: + ret = "[Sensor error] ROM Version Mismatch"; + break; + case 0x1B: + ret = "[Sensor error] Bootloader reports: Fatal Firmware Error"; + break; + case 0x1C: + ret = "[Sensor error] Chained Firmware Error: Next Payload Not Found"; + break; + case 0x1D: + ret = "[Sensor error] Chained Firmware Error: Payload Not Valid"; + break; + case 0x1E: + ret = "[Sensor error] Chained Firmware Error: Payload Entries Invalid"; + break; + case 0x1F: + ret = "[Sensor error] Bootloader reports: Bootloader Error: OTP CRC Invalid"; + break; + case 0x20: + ret = "[Sensor error] Firmware Init Failed"; + break; + case 0x21: + ret = "[Sensor error] Sensor Init Failed: Unexpected Device ID"; + break; + case 0x22: + ret = "[Sensor error] Sensor Init Failed: No Response from Device"; + break; + case 0x23: + ret = "[Sensor error] Sensor Init Failed: Unknown"; + break; + case 0x24: + ret = "[Sensor error] Sensor Error: No Valid Data"; + break; + case 0x25: + ret = "[Sensor error] Slow Sample Rate"; + break; + case 0x26: + ret = "[Sensor error] Data Overflow (saturated sensor data)"; + break; + case 0x27: + ret = "[Sensor error] Stack Overflow"; + break; + case 0x28: + ret = "[Sensor error] Insufficient Free RAM"; + break; + case 0x29: + ret = "[Sensor error] Sensor Init Failed: Driver Parsing Error"; + break; + case 0x2A: + ret = "[Sensor error] Too Many RAM Banks Required"; + break; + case 0x2B: + ret = "[Sensor error] Invalid Event Specified"; + break; + case 0x2C: + ret = "[Sensor error] More than 32 On Change"; + break; + case 0x2D: + ret = "[Sensor error] Firmware Too Large"; + break; + case 0x2F: + ret = "[Sensor error] Invalid RAM Banks"; + break; + case 0x30: + ret = "[Sensor error] Math Error"; + break; + case 0x40: + ret = "[Sensor error] Memory Error"; + break; + case 0x41: + ret = "[Sensor error] SWI3 Error"; + break; + case 0x42: + ret = "[Sensor error] SWI4 Error"; + break; + case 0x43: + ret = "[Sensor error] Illegal Instruction Error"; + break; + case 0x44: + ret = "[Sensor error] Bootloader reports: Unhandled Interrupt Error / Exception / Postmortem Available"; + break; + case 0x45: + ret = "[Sensor error] Invalid Memory Access"; + break; + case 0x50: + ret = "[Sensor error] Algorithm Error: BSX Init"; + break; + case 0x51: + ret = "[Sensor error] Algorithm Error: BSX Do Step"; + break; + case 0x52: + ret = "[Sensor error] Algorithm Error: Update Sub"; + break; + case 0x53: + ret = "[Sensor error] Algorithm Error: Get Sub"; + break; + case 0x54: + ret = "[Sensor error] Algorithm Error: Get Phys"; + break; + case 0x55: + ret = "[Sensor error] Algorithm Error: Unsupported Phys Rate"; + break; + case 0x56: + ret = "[Sensor error] Algorithm Error: Cannot find BSX Driver"; + break; + case 0x60: + ret = "[Sensor error] Sensor Self-Test Failure"; + break; + case 0x61: + ret = "[Sensor error] Sensor Self-Test X Axis Failure"; + break; + case 0x62: + ret = "[Sensor error] Sensor Self-Test Y Axis Failure"; + break; + case 0x64: + ret = "[Sensor error] Sensor Self-Test Z Axis Failure"; + break; + case 0x65: + ret = "[Sensor error] FOC Failure"; + break; + case 0x66: + ret = "[Sensor error] Sensor Busy"; + break; + case 0x6F: + ret = "[Sensor error] Self-Test or FOC Test Unsupported"; + break; + case 0x72: + ret = "[Sensor error] No Host Interrupt Set"; + break; + case 0x73: + ret = "[Sensor error] Event ID Passed to Host Interface Has No Known Size"; + break; + case 0x75: + ret = "[Sensor error] Host Download Channel Underflow (Host Read Too Fast)"; + break; + case 0x76: + ret = "[Sensor error] Host Upload Channel Overflow (Host Wrote Too Fast)"; + break; + case 0x77: + ret = "[Sensor error] Host Download Channel Empty"; + break; + case 0x78: + ret = "[Sensor error] DMA Error"; + break; + case 0x79: + ret = "[Sensor error] Corrupted Input Block Chain"; + break; + case 0x7A: + ret = "[Sensor error] Corrupted Output Block Chain"; + break; + case 0x7B: + ret = "[Sensor error] Buffer Block Manager Error"; + break; + case 0x7C: + ret = "[Sensor error] Input Channel Not Word Aligned"; + break; + case 0x7D: + ret = "[Sensor error] Too Many Flush Events"; + break; + case 0x7E: + ret = "[Sensor error] Unknown Host Channel Error"; + break; + case 0x81: + ret = "[Sensor error] Decimation Too Large"; + break; + case 0x90: + ret = "[Sensor error] Master SPI/I2C Queue Overflow"; + break; + case 0x91: + ret = "[Sensor error] SPI/I2C Callback Error"; + break; + case 0xA0: + ret = "[Sensor error] Timer Scheduling Error"; + break; + case 0xB0: + ret = "[Sensor error] Invalid GPIO for Host IRQ"; + break; + case 0xB1: + ret = "[Sensor error] Error Sending Initialized Meta Events"; + break; + case 0xC0: + ret = "[Sensor error] Bootloader reports: Command Error"; + break; + case 0xC1: + ret = "[Sensor error] Bootloader reports: Command Too Long"; + break; + case 0xC2: + ret = "[Sensor error] Bootloader reports: Command Buffer Overflow"; + break; + case 0xD0: + ret = "[Sensor error] User Mode Error: Sys Call Invalid"; + break; + case 0xD1: + ret = "[Sensor error] User Mode Error: Trap Invalid"; + break; + case 0xE1: + ret = "[Sensor error] Firmware Upload Failed: Firmware header corrupt"; + break; + case 0xE2: + ret = "[Sensor error] Sensor Data Injection: Invalid input stream"; + break; + default: + ret = "[Sensor error] Unknown error code"; + } + + return ret; + } + + const char *get_sensor_name(uint8_t sensor_id) + { + const char *ret; + + switch (sensor_id) { + case BHY2_SENSOR_ID_ACC_PASS: + ret = "Accelerometer passthrough"; + break; + case BHY2_SENSOR_ID_ACC_RAW: + ret = "Accelerometer uncalibrated"; + break; + case BHY2_SENSOR_ID_ACC: + ret = "Accelerometer corrected"; + break; + case BHY2_SENSOR_ID_ACC_BIAS: + ret = "Accelerometer offset"; + break; + case BHY2_SENSOR_ID_ACC_WU: + ret = "Accelerometer corrected wake up"; + break; + case BHY2_SENSOR_ID_ACC_RAW_WU: + ret = "Accelerometer uncalibrated wake up"; + break; + case BHY2_SENSOR_ID_GYRO_PASS: + ret = "Gyroscope passthrough"; + break; + case BHY2_SENSOR_ID_GYRO_RAW: + ret = "Gyroscope uncalibrated"; + break; + case BHY2_SENSOR_ID_GYRO: + ret = "Gyroscope corrected"; + break; + case BHY2_SENSOR_ID_GYRO_BIAS: + ret = "Gyroscope offset"; + break; + case BHY2_SENSOR_ID_GYRO_WU: + ret = "Gyroscope wake up"; + break; + case BHY2_SENSOR_ID_GYRO_RAW_WU: + ret = "Gyroscope uncalibrated wake up"; + break; + case BHY2_SENSOR_ID_MAG_PASS: + ret = "Magnetometer passthrough"; + break; + case BHY2_SENSOR_ID_MAG_RAW: + ret = "Magnetometer uncalibrated"; + break; + case BHY2_SENSOR_ID_MAG: + ret = "Magnetometer corrected"; + break; + case BHY2_SENSOR_ID_MAG_BIAS: + ret = "Magnetometer offset"; + break; + case BHY2_SENSOR_ID_MAG_WU: + ret = "Magnetometer wake up"; + break; + case BHY2_SENSOR_ID_MAG_RAW_WU: + ret = "Magnetometer uncalibrated wake up"; + break; + case BHY2_SENSOR_ID_GRA: + ret = "Gravity vector"; + break; + case BHY2_SENSOR_ID_GRA_WU: + ret = "Gravity vector wake up"; + break; + case BHY2_SENSOR_ID_LACC: + ret = "Linear acceleration"; + break; + case BHY2_SENSOR_ID_LACC_WU: + ret = "Linear acceleration wake up"; + break; + case BHY2_SENSOR_ID_RV: + ret = "Rotation vector"; + break; + case BHY2_SENSOR_ID_RV_WU: + ret = "Rotation vector wake up"; + break; + case BHY2_SENSOR_ID_GAMERV: + ret = "Game rotation vector"; + break; + case BHY2_SENSOR_ID_GAMERV_WU: + ret = "Game rotation vector wake up"; + break; + case BHY2_SENSOR_ID_GEORV: + ret = "Geo-magnetic rotation vector"; + break; + case BHY2_SENSOR_ID_GEORV_WU: + ret = "Geo-magnetic rotation vector wake up"; + break; + case BHY2_SENSOR_ID_ORI: + ret = "Orientation"; + break; + case BHY2_SENSOR_ID_ORI_WU: + ret = "Orientation wake up"; + break; + case BHY2_SENSOR_ID_ACC_BIAS_WU: + ret = "Accelerometer offset wake up"; + break; + case BHY2_SENSOR_ID_GYRO_BIAS_WU: + ret = "Gyroscope offset wake up"; + break; + case BHY2_SENSOR_ID_MAG_BIAS_WU: + ret = "Magnetometer offset wake up"; + break; + case BHY2_SENSOR_ID_TEMP: + ret = "Temperature"; + break; + case BHY2_SENSOR_ID_BARO: + ret = "Barometer"; + break; + case BHY2_SENSOR_ID_HUM: + ret = "Humidity"; + break; + case BHY2_SENSOR_ID_GAS: + ret = "Gas"; + break; + case BHY2_SENSOR_ID_TEMP_WU: + ret = "Temperature wake up"; + break; + case BHY2_SENSOR_ID_BARO_WU: + ret = "Barometer wake up"; + break; + case BHY2_SENSOR_ID_HUM_WU: + ret = "Humidity wake up"; + break; + case BHY2_SENSOR_ID_GAS_WU: + ret = "Gas wake up"; + break; + case BHY2_SENSOR_ID_KLIO: + ret = "Klio"; + break; + case BHY2_SENSOR_ID_KLIO_LOG: + ret = "Klio log"; + break; + case BHY2_SENSOR_ID_SWIM: + ret = "Swim recognition"; + break; + case BHY2_SENSOR_ID_SI_ACCEL: + ret = "SI Accel"; + break; + case BHY2_SENSOR_ID_SI_GYROS: + ret = "SI Gyro"; + break; + case BHY2_SENSOR_ID_LIGHT: + ret = "Light"; + break; + case BHY2_SENSOR_ID_LIGHT_WU: + ret = "Light wake up"; + break; + case BHY2_SENSOR_ID_PROX: + ret = "Proximity"; + break; + case BHY2_SENSOR_ID_PROX_WU: + ret = "Proximity wake up"; + break; + case BHY2_SENSOR_ID_STC: + ret = "Step counter"; + break; + case BHY2_SENSOR_ID_STC_WU: + ret = "Step counter wake up"; + break; + case BHY2_SENSOR_ID_STC_LP: + ret = "Low Power Step counter"; + break; + case BHY2_SENSOR_ID_STC_LP_WU: + ret = "Low Power Step counter wake up"; + break; + case BHY2_SENSOR_ID_SIG: + ret = "Significant motion"; + break; + case BHY2_SENSOR_ID_STD: + ret = "Step detector"; + break; + case BHY2_SENSOR_ID_STD_WU: + ret = "Step detector wake up"; + break; + case BHY2_SENSOR_ID_TILT_DETECTOR: + ret = "Tilt detector"; + break; + case BHY2_SENSOR_ID_WAKE_GESTURE: + ret = "Wake gesture"; + break; + case BHY2_SENSOR_ID_GLANCE_GESTURE: + ret = "Glance gesture"; + break; + case BHY2_SENSOR_ID_PICKUP_GESTURE: + ret = "Pickup gesture"; + break; + case BHY2_SENSOR_ID_SIG_LP: + ret = "Low Power Significant motion"; + break; + case BHY2_SENSOR_ID_SIG_LP_WU: + ret = "Low Power Significant motion wake up"; + break; + case BHY2_SENSOR_ID_STD_LP: + ret = "Low Power Step detector"; + break; + case BHY2_SENSOR_ID_STD_LP_WU: + ret = "Low Power Step detector wake up"; + break; + case BHY2_SENSOR_ID_AR: + ret = "Activity recognition"; + break; + case BHY2_SENSOR_ID_EXCAMERA: + ret = "External camera trigger"; + break; + case BHY2_SENSOR_ID_GPS: + ret = "GPS"; + break; + case BHY2_SENSOR_ID_WRIST_TILT_GESTURE: + ret = "Wrist tilt gesture"; + break; + case BHY2_SENSOR_ID_DEVICE_ORI: + ret = "Device orientation"; + break; + case BHY2_SENSOR_ID_DEVICE_ORI_WU: + ret = "Device orientation wake up"; + break; + case BHY2_SENSOR_ID_STATIONARY_DET: + ret = "Stationary detect"; + break; + case BHY2_SENSOR_ID_ANY_MOTION_LP: + ret = "Low Power Any motion"; + break; + case BHY2_SENSOR_ID_ANY_MOTION_LP_WU: + ret = "Low Power Any motion wake up"; + break; + case BHI3_SENSOR_ID_NO_MOTION_LP_WU: + ret = "Low Power No Motion wake up"; + break; + case BHY2_SENSOR_ID_MOTION_DET: + ret = "Motion detect"; + break; + case BHI3_SENSOR_ID_AR_WEAR_WU: + ret = "Activity recognition for Wearables"; + break; + case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU: + ret = "Low Power Wrist Wear wake up"; + break; + case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU: + ret = "Low Power Wrist Gesture wake up"; + break; + case BHI3_SENSOR_ID_MULTI_TAP: + ret = "Multi Tap Detector"; + break; + case BHY2_SENSOR_ID_AIR_QUALITY: + ret = "Air Quality"; + break; + case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: + ret = "Head Misalignment Calibrator"; + break; + case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: + ret = "IMU Head Orientation Quaternion"; + break; + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: + ret = "NDOF Head Orientation Quaternion"; + break; + case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: + ret = "IMU Head Orientation Euler"; + break; + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: + ret = "NDOF Head Orientation Euler"; + break; + case BHY2_SENSOR_ID_GPIO_EXP: + ret = "Expansion GPIO"; + break; + default: + if ((sensor_id >= BHY2_SENSOR_ID_CUSTOM_START) && (sensor_id <= BHY2_SENSOR_ID_CUSTOM_END)) { + ret = "Custom sensor ID "; + } else { + ret = "Undefined sensor ID "; + } + } + + return ret; + } + + float get_sensor_default_scaling(uint8_t sensor_id) + { + float scaling = -1.0f; + + switch (sensor_id) { + case BHY2_SENSOR_ID_ACC_PASS: + case BHY2_SENSOR_ID_ACC_RAW: + case BHY2_SENSOR_ID_ACC: + case BHY2_SENSOR_ID_ACC_BIAS: + case BHY2_SENSOR_ID_ACC_WU: + case BHY2_SENSOR_ID_ACC_RAW_WU: + case BHY2_SENSOR_ID_GRA: + case BHY2_SENSOR_ID_GRA_WU: + case BHY2_SENSOR_ID_LACC: + case BHY2_SENSOR_ID_LACC_WU: + case BHY2_SENSOR_ID_ACC_BIAS_WU: + scaling = 1.0f / 4096.0f; + break; + case BHY2_SENSOR_ID_GYRO_PASS: + case BHY2_SENSOR_ID_GYRO_RAW: + case BHY2_SENSOR_ID_GYRO: + case BHY2_SENSOR_ID_GYRO_BIAS: + case BHY2_SENSOR_ID_GYRO_WU: + case BHY2_SENSOR_ID_GYRO_RAW_WU: + case BHY2_SENSOR_ID_GYRO_BIAS_WU: + scaling = 2000.0f / 32768.0f; + break; + case BHY2_SENSOR_ID_MAG_PASS: + case BHY2_SENSOR_ID_MAG_RAW: + case BHY2_SENSOR_ID_MAG: + case BHY2_SENSOR_ID_MAG_BIAS: + case BHY2_SENSOR_ID_MAG_WU: + case BHY2_SENSOR_ID_MAG_RAW_WU: + case BHY2_SENSOR_ID_MAG_BIAS_WU: + scaling = 2500.0f / 32768.0f; + break; + case BHY2_SENSOR_ID_RV: + case BHY2_SENSOR_ID_RV_WU: + case BHY2_SENSOR_ID_GAMERV: + case BHY2_SENSOR_ID_GAMERV_WU: + case BHY2_SENSOR_ID_GEORV: + case BHY2_SENSOR_ID_GEORV_WU: + scaling = 1.0f / 16384.0f; + break; + case BHY2_SENSOR_ID_ORI: + case BHY2_SENSOR_ID_ORI_WU: + scaling = 360.0f / 32768.0f; + break; + case BHY2_SENSOR_ID_TEMP: + case BHY2_SENSOR_ID_TEMP_WU: + scaling = 1.0f / 100.0f; + break; + case BHY2_SENSOR_ID_BARO: + case BHY2_SENSOR_ID_BARO_WU: + scaling = 100.0f / 128.0f; + break; + case BHY2_SENSOR_ID_HUM: + case BHY2_SENSOR_ID_HUM_WU: + scaling = 1.0f; + break; + case BHY2_SENSOR_ID_GAS: + case BHY2_SENSOR_ID_GAS_WU: + scaling = 1.0f; + break; + case BHY2_SENSOR_ID_LIGHT: + case BHY2_SENSOR_ID_LIGHT_WU: + scaling = 10000.0f / 216.0f; + break; + case BHY2_SENSOR_ID_PROX: + case BHY2_SENSOR_ID_PROX_WU: + scaling = 1.0f; + break; + case BHY2_SENSOR_ID_SI_ACCEL: + case BHY2_SENSOR_ID_SI_GYROS: + + /* Scaling factor already applied in firmware*/ + break; + case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: + case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: + scaling = 1.0f / 16384.0f; /*2^14 -> 16384*/ + break; + case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: + scaling = 360.0f / 32768.0f; /*2^15 -> 32768*/ + break; + default: + scaling = -1.0f; /* Do not apply the scaling factor */ + } + + return scaling; + } + + const char *get_sensor_parse_format(uint8_t sensor_id) + { + const char *ret; + + switch (sensor_id) { + case BHY2_SENSOR_ID_ACC_PASS: + case BHY2_SENSOR_ID_ACC_RAW: + case BHY2_SENSOR_ID_ACC: + case BHY2_SENSOR_ID_ACC_BIAS: + case BHY2_SENSOR_ID_ACC_BIAS_WU: + case BHY2_SENSOR_ID_ACC_WU: + case BHY2_SENSOR_ID_ACC_RAW_WU: + case BHY2_SENSOR_ID_GYRO_PASS: + case BHY2_SENSOR_ID_GYRO_RAW: + case BHY2_SENSOR_ID_GYRO: + case BHY2_SENSOR_ID_GYRO_BIAS: + case BHY2_SENSOR_ID_GYRO_BIAS_WU: + case BHY2_SENSOR_ID_GYRO_WU: + case BHY2_SENSOR_ID_GYRO_RAW_WU: + case BHY2_SENSOR_ID_MAG_PASS: + case BHY2_SENSOR_ID_MAG_RAW: + case BHY2_SENSOR_ID_MAG: + case BHY2_SENSOR_ID_MAG_BIAS: + case BHY2_SENSOR_ID_MAG_BIAS_WU: + case BHY2_SENSOR_ID_MAG_WU: + case BHY2_SENSOR_ID_MAG_RAW_WU: + case BHY2_SENSOR_ID_GRA: + case BHY2_SENSOR_ID_GRA_WU: + case BHY2_SENSOR_ID_LACC: + case BHY2_SENSOR_ID_LACC_WU: + ret = "s16,s16,s16"; + break; + case BHY2_SENSOR_ID_RV: + case BHY2_SENSOR_ID_RV_WU: + case BHY2_SENSOR_ID_GAMERV: + case BHY2_SENSOR_ID_GAMERV_WU: + case BHY2_SENSOR_ID_GEORV: + case BHY2_SENSOR_ID_GEORV_WU: + ret = "s16,s16,s16,s16,u16"; + break; + case BHY2_SENSOR_ID_ORI: + case BHY2_SENSOR_ID_ORI_WU: + ret = "s16,s16,s16"; + break; + case BHY2_SENSOR_ID_DEVICE_ORI: + case BHY2_SENSOR_ID_DEVICE_ORI_WU: + case BHY2_SENSOR_ID_HUM: + case BHY2_SENSOR_ID_HUM_WU: + case BHY2_SENSOR_ID_PROX: + case BHY2_SENSOR_ID_PROX_WU: + case BHY2_SENSOR_ID_EXCAMERA: + case BHI3_SENSOR_ID_MULTI_TAP: + ret = "u8"; + break; + case BHY2_SENSOR_ID_TEMP: + case BHY2_SENSOR_ID_TEMP_WU: + ret = "s16"; + break; + case BHY2_SENSOR_ID_BARO: + case BHY2_SENSOR_ID_BARO_WU: + ret = "u24"; + break; + case BHY2_SENSOR_ID_GAS: + case BHY2_SENSOR_ID_GAS_WU: + case BHY2_SENSOR_ID_STC: + case BHY2_SENSOR_ID_STC_WU: + case BHY2_SENSOR_ID_STC_LP: + case BHY2_SENSOR_ID_STC_LP_WU: + ret = "u32"; + break; + case BHY2_SENSOR_ID_KLIO: + ret = "u8,u8,u8,u8,u8,u8,f"; + break; + case BHY2_SENSOR_ID_SWIM: + ret = "u16,u16,u16,u16,u16,u16,u16"; + break; + case BHY2_SENSOR_ID_SI_ACCEL: + case BHY2_SENSOR_ID_SI_GYROS: + ret = "f,f,f"; + break; + case BHY2_SENSOR_ID_LIGHT: + case BHY2_SENSOR_ID_LIGHT_WU: + ret = "s16"; + break; + case BHY2_SENSOR_ID_SIG: + case BHY2_SENSOR_ID_STD: + case BHY2_SENSOR_ID_STD_WU: + case BHY2_SENSOR_ID_TILT_DETECTOR: + case BHY2_SENSOR_ID_WAKE_GESTURE: + case BHY2_SENSOR_ID_GLANCE_GESTURE: + case BHY2_SENSOR_ID_PICKUP_GESTURE: + case BHY2_SENSOR_ID_SIG_LP: + case BHY2_SENSOR_ID_SIG_LP_WU: + case BHY2_SENSOR_ID_STD_LP: + case BHY2_SENSOR_ID_STD_LP_WU: + case BHY2_SENSOR_ID_WRIST_TILT_GESTURE: + case BHY2_SENSOR_ID_STATIONARY_DET: + case BHY2_SENSOR_ID_ANY_MOTION_LP: + case BHY2_SENSOR_ID_ANY_MOTION_LP_WU: + case BHI3_SENSOR_ID_NO_MOTION_LP_WU: + case BHY2_SENSOR_ID_MOTION_DET: + case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU: + ret = ""; + break; + case BHY2_SENSOR_ID_AR: + case BHI3_SENSOR_ID_AR_WEAR_WU: + ret = "u16"; + break; + case BHY2_SENSOR_ID_GPS: + ret = "st"; + break; + case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU: + ret = "u8"; + break; + case BHY2_SENSOR_ID_AIR_QUALITY: + ret = "f32,f32,f32,f32,f32,f32,f32,u8"; + break; + case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: + case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: + ret = "s16,s16,s16,s16,u8"; + break; + + case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: + ret = "s16,s16,s16,u8"; + break; + default: + ret = ""; + } + + return ret; + } + + const char *get_sensor_axis_names(uint8_t sensor_id) + { + const char *ret; + + switch (sensor_id) { + case BHY2_SENSOR_ID_ACC_PASS: + case BHY2_SENSOR_ID_ACC_RAW: + case BHY2_SENSOR_ID_ACC: + case BHY2_SENSOR_ID_ACC_BIAS: + case BHY2_SENSOR_ID_ACC_BIAS_WU: + case BHY2_SENSOR_ID_ACC_WU: + case BHY2_SENSOR_ID_ACC_RAW_WU: + case BHY2_SENSOR_ID_GYRO_PASS: + case BHY2_SENSOR_ID_GYRO_RAW: + case BHY2_SENSOR_ID_GYRO: + case BHY2_SENSOR_ID_GYRO_BIAS: + case BHY2_SENSOR_ID_GYRO_BIAS_WU: + case BHY2_SENSOR_ID_GYRO_WU: + case BHY2_SENSOR_ID_GYRO_RAW_WU: + case BHY2_SENSOR_ID_MAG_PASS: + case BHY2_SENSOR_ID_MAG_RAW: + case BHY2_SENSOR_ID_MAG: + case BHY2_SENSOR_ID_MAG_BIAS: + case BHY2_SENSOR_ID_MAG_BIAS_WU: + case BHY2_SENSOR_ID_MAG_WU: + case BHY2_SENSOR_ID_MAG_RAW_WU: + case BHY2_SENSOR_ID_GRA: + case BHY2_SENSOR_ID_GRA_WU: + case BHY2_SENSOR_ID_LACC: + case BHY2_SENSOR_ID_LACC_WU: + case BHY2_SENSOR_ID_SI_ACCEL: + case BHY2_SENSOR_ID_SI_GYROS: + ret = "x,y,z"; + break; + case BHY2_SENSOR_ID_RV: + case BHY2_SENSOR_ID_RV_WU: + case BHY2_SENSOR_ID_GAMERV: + case BHY2_SENSOR_ID_GAMERV_WU: + case BHY2_SENSOR_ID_GEORV: + case BHY2_SENSOR_ID_GEORV_WU: + ret = "x,y,z,w,ar"; + break; + case BHY2_SENSOR_ID_ORI: + case BHY2_SENSOR_ID_ORI_WU: + ret = "h,p,r"; + break; + case BHY2_SENSOR_ID_DEVICE_ORI: + case BHY2_SENSOR_ID_DEVICE_ORI_WU: + ret = "o"; + break; + case BHY2_SENSOR_ID_TEMP: + case BHY2_SENSOR_ID_TEMP_WU: + ret = "t"; + break; + case BHY2_SENSOR_ID_BARO: + case BHY2_SENSOR_ID_BARO_WU: + ret = "p"; + break; + case BHY2_SENSOR_ID_HUM: + case BHY2_SENSOR_ID_HUM_WU: + ret = "h"; + break; + case BHY2_SENSOR_ID_GAS: + case BHY2_SENSOR_ID_GAS_WU: + ret = "g"; + break; + case BHY2_SENSOR_ID_KLIO: + ret = "lin,lid,lpr,lcr,rin,rid,rc"; + break; + case BHY2_SENSOR_ID_SWIM: + ret = "d,lc,f,br,bu,ba,sc"; + break; + case BHY2_SENSOR_ID_LIGHT: + case BHY2_SENSOR_ID_LIGHT_WU: + ret = "l"; + break; + case BHY2_SENSOR_ID_PROX: + case BHY2_SENSOR_ID_PROX_WU: + ret = "p"; + break; + case BHY2_SENSOR_ID_STC: + case BHY2_SENSOR_ID_STC_WU: + case BHY2_SENSOR_ID_STC_LP: + case BHY2_SENSOR_ID_STC_LP_WU: + case BHY2_SENSOR_ID_EXCAMERA: + ret = "c"; + break; + case BHY2_SENSOR_ID_SIG: + case BHY2_SENSOR_ID_STD: + case BHY2_SENSOR_ID_STD_WU: + case BHY2_SENSOR_ID_TILT_DETECTOR: + case BHY2_SENSOR_ID_WAKE_GESTURE: + case BHY2_SENSOR_ID_GLANCE_GESTURE: + case BHY2_SENSOR_ID_PICKUP_GESTURE: + case BHY2_SENSOR_ID_SIG_LP: + case BHY2_SENSOR_ID_SIG_LP_WU: + case BHY2_SENSOR_ID_STD_LP: + case BHY2_SENSOR_ID_STD_LP_WU: + case BHY2_SENSOR_ID_WRIST_TILT_GESTURE: + case BHY2_SENSOR_ID_STATIONARY_DET: + case BHY2_SENSOR_ID_ANY_MOTION_LP: + case BHY2_SENSOR_ID_ANY_MOTION_LP_WU: + case BHI3_SENSOR_ID_NO_MOTION_LP_WU: + case BHY2_SENSOR_ID_MOTION_DET: + case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU: + ret = "e"; + break; + case BHY2_SENSOR_ID_AR: + case BHI3_SENSOR_ID_AR_WEAR_WU: + ret = "a"; + break; + case BHY2_SENSOR_ID_GPS: + ret = "g"; + break; + case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU: + ret = "wrist_gesture"; + break; + case BHI3_SENSOR_ID_MULTI_TAP: + ret = "taps"; + break; + case BHY2_SENSOR_ID_AIR_QUALITY: + ret = "t,h,g,i,si,c,v,a"; + break; + case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: + case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: + ret = "x,y,z,w,a"; + break; + case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: + case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: + ret = "h,p,r,a"; + break; + default: + ret = ""; + } + + return ret; + } +} +// *INDENT-ON* diff --git a/lib/SensorLib/src/bosch/common/common.h b/lib/SensorLib/src/bosch/BoschSensorUtils.hpp similarity index 71% rename from lib/SensorLib/src/bosch/common/common.h rename to lib/SensorLib/src/bosch/BoschSensorUtils.hpp index 4bbdc76..01ef3ce 100644 --- a/lib/SensorLib/src/bosch/common/common.h +++ b/lib/SensorLib/src/bosch/BoschSensorUtils.hpp @@ -30,30 +30,25 @@ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * - * @file common.h + * @file BoschSensorUtils.h * @brief Common header file for the BHI260/BHA260 examples * @note Adapting Arduino based on BHY2-Sensor-API by lewis */ -#ifndef _COMMON_H_ -#define _COMMON_H_ +#pragma once -#include "bosch/bhy2.h" -#include "bosch/bhi3.h" -#include "bosch/bhi3_multi_tap.h" -#include "bosch/bhy2_klio.h" -#include "bosch/bhy2_swim.h" -#include "bosch/bhy2_bsec.h" -#include "bosch/bhy2_head_tracker.h" +#include +// *INDENT-OFF* +namespace BoschSensorUtils { -void time_to_s_ns(uint64_t time_ticks, uint32_t *s, uint32_t *ns, uint64_t *tns); -const char *get_api_error(int8_t error_code); -const char *get_sensor_error_text(uint8_t sensor_error); -const char *get_sensor_name(uint8_t sensor_id); -float get_sensor_default_scaling(uint8_t sensor_id); -const char *get_sensor_parse_format(uint8_t sensor_id); -const char *get_sensor_axis_names(uint8_t sensor_id); + void time_to_s_ns(uint64_t time_ticks, uint32_t *s, uint32_t *ns, uint64_t *tns); + const char *get_api_error(int8_t error_code); + const char *get_sensor_error_text(uint8_t sensor_error); + const char *get_sensor_name(uint8_t sensor_id); + float get_sensor_default_scaling(uint8_t sensor_id); + const char *get_sensor_parse_format(uint8_t sensor_id); + const char *get_sensor_axis_names(uint8_t sensor_id); - -#endif /* _COMMON_H_ */ +} +// *INDENT-ON* diff --git a/lib/SensorLib/src/bosch/bhi3.c b/lib/SensorLib/src/bosch/bhi260x/bhi3.c similarity index 100% rename from lib/SensorLib/src/bosch/bhi3.c rename to lib/SensorLib/src/bosch/bhi260x/bhi3.c diff --git a/lib/SensorLib/src/bosch/bhi3.h b/lib/SensorLib/src/bosch/bhi260x/bhi3.h similarity index 100% rename from lib/SensorLib/src/bosch/bhi3.h rename to lib/SensorLib/src/bosch/bhi260x/bhi3.h diff --git a/lib/SensorLib/src/bosch/bhi3_defs.h b/lib/SensorLib/src/bosch/bhi260x/bhi3_defs.h similarity index 97% rename from lib/SensorLib/src/bosch/bhi3_defs.h rename to lib/SensorLib/src/bosch/bhi260x/bhi3_defs.h index a88ce30..fbd0a94 100644 --- a/lib/SensorLib/src/bosch/bhi3_defs.h +++ b/lib/SensorLib/src/bosch/bhi260x/bhi3_defs.h @@ -46,9 +46,6 @@ extern "C" { #include "bhy2_defs.h" -/*! The Product ID needs to be replaced with Chip ID for explicit HW specific Identification*/ -#define BHI3_PRODUCT_ID BHY2_PRODUCT_ID - /*! Firmware header identifier */ /*#define BHY2_FW_MAGIC UINT16_C(0x662B) */ diff --git a/lib/SensorLib/src/bosch/bhi3_multi_tap.c b/lib/SensorLib/src/bosch/bhi260x/bhi3_multi_tap.c similarity index 100% rename from lib/SensorLib/src/bosch/bhi3_multi_tap.c rename to lib/SensorLib/src/bosch/bhi260x/bhi3_multi_tap.c diff --git a/lib/SensorLib/src/bosch/bhi3_multi_tap.h b/lib/SensorLib/src/bosch/bhi260x/bhi3_multi_tap.h similarity index 100% rename from lib/SensorLib/src/bosch/bhi3_multi_tap.h rename to lib/SensorLib/src/bosch/bhi260x/bhi3_multi_tap.h diff --git a/lib/SensorLib/src/bosch/bhi3_multi_tap_defs.h b/lib/SensorLib/src/bosch/bhi260x/bhi3_multi_tap_defs.h similarity index 100% rename from lib/SensorLib/src/bosch/bhi3_multi_tap_defs.h rename to lib/SensorLib/src/bosch/bhi260x/bhi3_multi_tap_defs.h diff --git a/lib/SensorLib/src/bosch/bhy2.c b/lib/SensorLib/src/bosch/bhi260x/bhy2.c similarity index 99% rename from lib/SensorLib/src/bosch/bhy2.c rename to lib/SensorLib/src/bosch/bhi260x/bhy2.c index d43539a..ae28326 100644 --- a/lib/SensorLib/src/bosch/bhy2.c +++ b/lib/SensorLib/src/bosch/bhi260x/bhy2.c @@ -629,7 +629,7 @@ int8_t bhy2_get_virt_sensor_list(struct bhy2_dev *dev) return rslt; } -int8_t bhy2_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, struct bhy2_dev *dev) +int8_t bhy2_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, bhy2_progress_callback progress_cb, void *user_data, struct bhy2_dev *dev) { int8_t rslt = BHY2_OK; @@ -639,7 +639,7 @@ int8_t bhy2_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, str } else { - rslt = bhy2_hif_upload_firmware_to_ram(firmware, length, &dev->hif); + rslt = bhy2_hif_upload_firmware_to_ram(firmware, length, progress_cb, user_data, &dev->hif); } return rslt; @@ -697,8 +697,8 @@ int8_t bhy2_erase_flash(uint32_t start_address, uint32_t end_addr, struct bhy2_d return rslt; } -int8_t bhy2_upload_firmware_to_flash(const uint8_t *firmware, uint32_t length, struct bhy2_dev *dev, - bhy2_progress_callback progress_cb, void *user_data) +int8_t bhy2_upload_firmware_to_flash(const uint8_t *firmware, uint32_t length, + bhy2_progress_callback progress_cb, void *user_data, struct bhy2_dev *dev) { int8_t rslt = BHY2_OK; uint8_t buffer[20] = { 0 }; @@ -710,8 +710,8 @@ int8_t bhy2_upload_firmware_to_flash(const uint8_t *firmware, uint32_t length, s } else { - rslt = bhy2_hif_upload_to_flash(firmware, length, buffer, sizeof(buffer), &bytes_read, &dev->hif, - progress_cb, user_data); + rslt = bhy2_hif_upload_to_flash(firmware, length, buffer, sizeof(buffer), &bytes_read, + progress_cb, user_data, &dev->hif); } return rslt; diff --git a/lib/SensorLib/src/bosch/bhy2.h b/lib/SensorLib/src/bosch/bhi260x/bhy2.h similarity index 97% rename from lib/SensorLib/src/bosch/bhy2.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2.h index a6b4fd8..3c3637f 100644 --- a/lib/SensorLib/src/bosch/bhy2.h +++ b/lib/SensorLib/src/bosch/bhi260x/bhy2.h @@ -262,10 +262,13 @@ int8_t bhy2_set_fifo_format_ctrl(uint8_t param, struct bhy2_dev *dev); * @brief Function to upload firmware to RAM * @param[in] firmware : Reference to the data buffer containing the firmware * @param[in] length : Size of the firmware + * @param[in] progress_cb : Callback function to report the progress of the firmware upload + * @param[in] user_data : User data to be passed to the callback function * @param[in] dev : Device reference * @return API error codes */ -int8_t bhy2_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, struct bhy2_dev *dev); +int8_t bhy2_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, bhy2_progress_callback progress_cb, void *user_data, + struct bhy2_dev *dev); /** * @brief Function to upload part of the firmware to RAM @@ -301,12 +304,15 @@ int8_t bhy2_erase_flash(uint32_t start_address, uint32_t end_addr, struct bhy2_d /** * @brief Function to upload firmware to Flash * @param[in] firmware : Reference to the data buffer containing the firmware - * @param[in] length : Size of the firwmare + * @param[in] length : Size of the firmware + * @param[in] progress_cb : Callback function to report the progress of the firmware upload + * @param[in] user_data : User data to be passed to the callback function * @param[in] dev : Device reference * @return API error codes */ -int8_t bhy2_upload_firmware_to_flash(const uint8_t *firmware, uint32_t length, struct bhy2_dev *dev, - bhy2_progress_callback progress_cb, void *user_data); +int8_t bhy2_upload_firmware_to_flash(const uint8_t *firmware, uint32_t length, + bhy2_progress_callback progress_cb, void *user_data, + struct bhy2_dev *dev); /** * @brief Function to upload part of the firmware to Flash diff --git a/lib/SensorLib/src/bosch/bhy2_bsec.c b/lib/SensorLib/src/bosch/bhi260x/bhy2_bsec.c similarity index 99% rename from lib/SensorLib/src/bosch/bhy2_bsec.c rename to lib/SensorLib/src/bosch/bhi260x/bhy2_bsec.c index e32f708..0fc8745 100644 --- a/lib/SensorLib/src/bosch/bhy2_bsec.c +++ b/lib/SensorLib/src/bosch/bhi260x/bhy2_bsec.c @@ -75,3 +75,4 @@ void bhy2_bsec_parse_air_quality(const uint8_t *payload, struct bhy2_bsec_air_qu data->iaq_accuracy = payload[i]; } } + diff --git a/lib/SensorLib/src/bosch/bhy2_bsec.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_bsec.h similarity index 81% rename from lib/SensorLib/src/bosch/bhy2_bsec.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_bsec.h index 2d018fe..4b65e93 100644 --- a/lib/SensorLib/src/bosch/bhy2_bsec.h +++ b/lib/SensorLib/src/bosch/bhi260x/bhy2_bsec.h @@ -52,8 +52,18 @@ extern "C" { #define BHY2_SENSOR_ID_AIR_QUALITY UINT8_C(115) -struct bhy2_bsec_air_quality -{ +typedef struct { + float temperature; /* Compensated temperature (deg C) */ + float humidity; /* Compensated humidity (%rH) */ + float gas_resistance; /* Compensated gas resistivity (ohms) */ + float iaq; /* Indoor air quality index (IAQ) */ + float static_iaq; /* Static IAQ index */ + float co2; /* Equivalent CO2 concentration (ppm) */ + float voc; /* Volatile organic compound concentration (ppb) */ + uint8_t iaq_accuracy; /* IAQ index accuracy (0-3) */ +} unified_air_quality_t; + +struct bhy2_bsec_air_quality { float comp_temp; /* Sensor heat compensated temperature (deg C) */ float comp_hum; /* Sensor heat compensated humidity (%rH) */ float comp_gas; /* Compensated gas resistance (ohms) */ diff --git a/lib/SensorLib/src/bosch/bhy2_defs.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_defs.h similarity index 98% rename from lib/SensorLib/src/bosch/bhy2_defs.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_defs.h index 9731588..d4a6791 100644 --- a/lib/SensorLib/src/bosch/bhy2_defs.h +++ b/lib/SensorLib/src/bosch/bhi260x/bhy2_defs.h @@ -146,7 +146,10 @@ extern "C" { #error "BHY2_COMMAND_PACKET_LEN should be at least 4 bytes" #endif -#define BHY2_PRODUCT_ID UINT8_C(0x89) +#define BHI260_PRODUCT_ID UINT8_C(0x89) +#define BHI360_PRODUCT_ID UINT8_C(0x89) +#define BHI360_CHIP_ID UINT8_C(0x7A) +#define BHI260_CHIP_ID UINT8_C(0x70) /*! Register map */ #define BHY2_REG_CHAN_CMD UINT8_C(0x00) @@ -573,6 +576,9 @@ extern "C" { (uint32_t)(x)[3] << 24)) #define BHY2_LE2S32(x) ((int32_t)BHY2_LE2U32(x)) #define BHY2_LE2U40(x) (BHY2_LE2U32(x) | (uint64_t)(x)[4] << 32) +#define BHY2_LE2U48(x) ((BHY2_LE2U32(x) | (uint64_t)(x)[4] << 32 | \ + (uint64_t)(x)[5] << 40)) + #define BHY2_LE2U64(x) (BHY2_LE2U32(x) | (uint64_t)BHY2_LE2U32(&(x)[4]) << 32) #define BHY2_LE24MUL(x) (((x) % 4) ? (uint16_t)((((x) / 4) + 1) * 4) : (uint16_t)((x) + 4)) @@ -600,7 +606,7 @@ typedef BHY2_INTF_RET_TYPE (*bhy2_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_da typedef BHY2_INTF_RET_TYPE (*bhy2_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr); typedef void (*bhy2_delay_us_fptr_t)(uint32_t period_us, void *intf_ptr); -typedef void (*bhy2_progress_callback)(void *user_data, uint32_t total, uint32_t transferred); +typedef void (*bhy2_progress_callback)(uint32_t total, uint32_t transferred, void *user_data); enum bhy2_intf { BHY2_SPI_INTERFACE = 1, @@ -648,6 +654,7 @@ struct bhy2_dev { uint8_t event_size[BHY2_N_VIRTUAL_SENSOR_MAX]; uint64_t last_time_stamp[BHY2_FIFO_TYPE_MAX]; uint8_t present_buff[32]; + uint8_t phy_present_buff[8]; }; struct bhy2_fifo_buffer { diff --git a/lib/SensorLib/src/bosch/bhy2_head_tracker.c b/lib/SensorLib/src/bosch/bhi260x/bhy2_head_tracker.c similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_head_tracker.c rename to lib/SensorLib/src/bosch/bhi260x/bhy2_head_tracker.c diff --git a/lib/SensorLib/src/bosch/bhy2_head_tracker.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_head_tracker.h similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_head_tracker.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_head_tracker.h diff --git a/lib/SensorLib/src/bosch/bhy2_head_tracker_defs.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_head_tracker_defs.h similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_head_tracker_defs.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_head_tracker_defs.h diff --git a/lib/SensorLib/src/bosch/bhy2_hif.c b/lib/SensorLib/src/bosch/bhi260x/bhy2_hif.c similarity index 97% rename from lib/SensorLib/src/bosch/bhy2_hif.c rename to lib/SensorLib/src/bosch/bhi260x/bhy2_hif.c index f430002..e307df5 100644 --- a/lib/SensorLib/src/bosch/bhy2_hif.c +++ b/lib/SensorLib/src/bosch/bhi260x/bhy2_hif.c @@ -113,6 +113,8 @@ static int8_t bhy2_hif_exec_cmd_generic(uint16_t cmd, const uint8_t *pre_payload, uint32_t pre_length, uint32_t cmd_length, + bhy2_progress_callback progress_cb, + void *user_data, struct bhy2_hif_dev *hif) { int8_t rslt = BHY2_OK; @@ -174,7 +176,9 @@ static int8_t bhy2_hif_exec_cmd_generic(uint16_t cmd, else if (remain > length) { memcpy(&command_buf[pos], &pre_payload[total_len - remain], remain - length); - memcpy(&command_buf[pos + remain - length], payload, copy_len - (remain - length)); + if (payload != NULL) { + memcpy(&command_buf[pos + remain - length], payload, copy_len - (remain - length)); + } } else { @@ -196,6 +200,9 @@ static int8_t bhy2_hif_exec_cmd_generic(uint16_t cmd, pos = 0; remain -= copy_len; loop_remain_len = remain; + if(progress_cb!=NULL){ + progress_cb(length, length-remain, user_data); + } } } else @@ -319,7 +326,7 @@ static int8_t bhy2_hif_check_boot_status_flash(struct bhy2_hif_dev *hif) return BHY2_OK; } -static int8_t bhy2_hif_get_fifo(uint8_t reg, +int8_t bhy2_hif_get_fifo(uint8_t reg, uint8_t *fifo, uint32_t fifo_len, uint32_t *bytes_read, @@ -486,7 +493,7 @@ int8_t bhy2_hif_delay_us(uint32_t period_us, const struct bhy2_hif_dev *hif) int8_t bhy2_hif_exec_cmd(uint16_t cmd, const uint8_t *payload, uint32_t length, struct bhy2_hif_dev *hif) { - return bhy2_hif_exec_cmd_generic(cmd, payload, length, NULL, 0, 0, hif); + return bhy2_hif_exec_cmd_generic(cmd, payload, length, NULL, 0, 0, NULL, NULL, hif); } int8_t bhy2_hif_get_parameter(uint16_t param, @@ -685,7 +692,7 @@ int8_t bhy2_hif_reset(struct bhy2_hif_dev *hif) return rslt; } -int8_t bhy2_hif_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, struct bhy2_hif_dev *hif) +int8_t bhy2_hif_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length,bhy2_progress_callback progress_cb, void *user_data, struct bhy2_hif_dev *hif) { int8_t rslt = BHY2_OK; uint16_t magic; @@ -699,7 +706,7 @@ int8_t bhy2_hif_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, } else { - rslt = bhy2_hif_exec_cmd(BHY2_CMD_UPLOAD_TO_PROGRAM_RAM, firmware, length, hif); + rslt = bhy2_hif_exec_cmd_generic(BHY2_CMD_UPLOAD_TO_PROGRAM_RAM, firmware, length, NULL, 0, 0, progress_cb, user_data,hif); if (rslt == BHY2_OK) { rslt = bhy2_hif_check_boot_status_ram(hif); @@ -742,7 +749,7 @@ int8_t bhy2_hif_upload_firmware_to_ram_partly(const uint8_t *firmware, packet_len, NULL, 0, - total_size, + total_size,NULL, NULL, hif); } } @@ -1179,7 +1186,7 @@ int8_t bhy2_hif_set_sensor_ctrl(uint8_t sensor_id, param_num = (uint16_t)(BHY2_PARAM_SET_SENSOR_CTRL | sensor_id); command = (uint8_t)(ctrl_code & (~BHY2_PARAM_SENSOR_CTRL_READ)); - return bhy2_hif_exec_cmd_generic(param_num, payload, payload_len, &command, 1, 0, hif); + return bhy2_hif_exec_cmd_generic(param_num, payload, payload_len, &command, 1, 0, NULL, NULL, hif); } int8_t bhy2_hif_get_bsx_state(uint16_t param_id, @@ -1349,9 +1356,9 @@ int8_t bhy2_hif_upload_to_flash(const uint8_t *firmware, uint8_t *work_buffer, uint32_t work_buf_len, uint32_t *exp_size, - struct bhy2_hif_dev *hif, bhy2_progress_callback progress_cb, - void *user_data) + void *user_data, + struct bhy2_hif_dev *hif) { int8_t rslt = BHY2_OK; uint16_t magic; @@ -1395,7 +1402,7 @@ int8_t bhy2_hif_upload_to_flash(const uint8_t *firmware, addr_buf[3] = (uint8_t)((sector_addr >> 24) & 0xFF); /* Transfer firmware to the flash */ - rslt = bhy2_hif_exec_cmd_generic(BHY2_CMD_WRITE_FLASH, &firmware[pos], trans_len, addr_buf, 4, 0, hif); + rslt = bhy2_hif_exec_cmd_generic(BHY2_CMD_WRITE_FLASH, &firmware[pos], trans_len, addr_buf, 4, 0, NULL, NULL, hif); if (rslt != BHY2_OK) { break; @@ -1425,7 +1432,7 @@ int8_t bhy2_hif_upload_to_flash(const uint8_t *firmware, sector_addr += hif->read_write_len; if (progress_cb != NULL) { - progress_cb(user_data, length, pos); + progress_cb(length, pos, user_data); } } } @@ -1471,7 +1478,7 @@ int8_t bhy2_hif_upload_to_flash_partly(const uint8_t *firmware, addr_buf[3] = (uint8_t)((sector_addr >> 24) & 0xFF); /* Transfer firmware to the flash */ - rslt = bhy2_hif_exec_cmd_generic(BHY2_CMD_WRITE_FLASH, firmware, packet_len, addr_buf, 4, 0, hif); + rslt = bhy2_hif_exec_cmd_generic(BHY2_CMD_WRITE_FLASH, firmware, packet_len, addr_buf, 4, 0, NULL, NULL, hif); if (rslt == BHY2_OK) { rslt = bhy2_hif_wait_status_ready(hif); diff --git a/lib/SensorLib/src/bosch/bhy2_hif.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_hif.h similarity index 96% rename from lib/SensorLib/src/bosch/bhy2_hif.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_hif.h index 173f8ce..4866cb1 100644 --- a/lib/SensorLib/src/bosch/bhy2_hif.h +++ b/lib/SensorLib/src/bosch/bhi260x/bhy2_hif.h @@ -144,6 +144,8 @@ int8_t bhy2_hif_erase_flash(uint32_t start_addr, uint32_t end_addr, struct bhy2_ * @param[in/out] work_buffer : Reference to the work buffer * @param[in] work_buf_len : Length of the work buffer * @param[out] exp_size : Expected size of the work buffer if insufficient size + * @param[in] progress_cb : Callback function to report the progress of the firmware upload + * @param[in] user_data : User data to be passed to the callback function * @param[in] hif : HIF device reference * @return API error codes */ @@ -152,9 +154,9 @@ int8_t bhy2_hif_upload_to_flash(const uint8_t *firmware, uint8_t *work_buffer, uint32_t work_buf_len, uint32_t *exp_size, - struct bhy2_hif_dev *hif, bhy2_progress_callback progress_cb, - void *user_data); + void *user_data, + struct bhy2_hif_dev *hif); /** * @brief Function to upload data to flash partly @@ -267,10 +269,12 @@ int8_t bhy2_hif_reset(struct bhy2_hif_dev *hif); * @brief Function to upload a firmware to RAM * @param[in] firmware : Reference to the data buffer storing the firmware * @param[in] length : Length of the firmware + * @param[in] progress_cb : Callback function to report progress + * @param[in] user_data : User data pointer for the callback function * @param[in] hif : HIF device reference * @return API error codes */ -int8_t bhy2_hif_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, struct bhy2_hif_dev *hif); +int8_t bhy2_hif_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, bhy2_progress_callback progress_cb, void *user_data, struct bhy2_hif_dev *hif); /** * @brief Function to upload a part of the firmware to RAM @@ -570,6 +574,12 @@ int8_t bhy2_hif_inject_data(const uint8_t *payload, uint32_t payload_len, struct */ int8_t bhy2_hif_wait_status_ready(struct bhy2_hif_dev *hif); +int8_t bhy2_hif_get_fifo(uint8_t reg, + uint8_t *fifo, + uint32_t fifo_len, + uint32_t *bytes_read, + uint32_t *bytes_remain, + struct bhy2_hif_dev *hif); /* End of CPP Guard */ #ifdef __cplusplus } diff --git a/lib/SensorLib/src/bosch/bhy2_klio.c b/lib/SensorLib/src/bosch/bhi260x/bhy2_klio.c similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_klio.c rename to lib/SensorLib/src/bosch/bhi260x/bhy2_klio.c diff --git a/lib/SensorLib/src/bosch/bhy2_klio.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_klio.h similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_klio.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_klio.h diff --git a/lib/SensorLib/src/bosch/bhy2_klio_defs.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_klio_defs.h similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_klio_defs.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_klio_defs.h diff --git a/lib/SensorLib/src/bosch/bhy2_parse.c b/lib/SensorLib/src/bosch/bhi260x/bhy2_parse.c similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_parse.c rename to lib/SensorLib/src/bosch/bhi260x/bhy2_parse.c diff --git a/lib/SensorLib/src/bosch/bhy2_parse.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_parse.h similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_parse.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_parse.h diff --git a/lib/SensorLib/src/bosch/bhy2_swim.c b/lib/SensorLib/src/bosch/bhi260x/bhy2_swim.c similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_swim.c rename to lib/SensorLib/src/bosch/bhi260x/bhy2_swim.c diff --git a/lib/SensorLib/src/bosch/bhy2_swim.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_swim.h similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_swim.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_swim.h diff --git a/lib/SensorLib/src/bosch/bhy2_swim_defs.h b/lib/SensorLib/src/bosch/bhi260x/bhy2_swim_defs.h similarity index 100% rename from lib/SensorLib/src/bosch/bhy2_swim_defs.h rename to lib/SensorLib/src/bosch/bhi260x/bhy2_swim_defs.h diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param.c new file mode 100644 index 0000000..bee000f --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param.c @@ -0,0 +1,163 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_activity_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_activity_param.h" +// #include "bhi360.h" + +/** + * Sets the hearble activity configuration. + * + * This function is used to set the hearable activity configuration in the BHY device. + * + * @param[in] hearable_conf : Reference to hearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_set_hearable_config(const bhi360_activity_param_hearable *hearable_conf, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id = BHI360_ACTIVITY_PARAM_PAGE_BASE | BHI360_ACTIVITY_PARAM_HEARABLE_ID; + + if ((hearable_conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_set_parameter(param_id, (const uint8_t*)hearable_conf, BHI360_ACTIVITY_PARAM_LENGTH, dev); + } + + return rslt; +} + +/** + * Retrieves the hearable activity configuration from the sensor payload. + * + * @param[out] hearable_conf : Reference to hearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_get_hearable_config(bhi360_activity_param_hearable *hearable_conf, struct bhy2_dev *dev) +{ + int8_t rslt; + uint32_t act_len; + uint16_t param_id = BHI360_ACTIVITY_PARAM_PAGE_BASE | BHI360_ACTIVITY_PARAM_HEARABLE_ID; + uint8_t buffer[BHI360_ACTIVITY_PARAM_LENGTH] = { 0U }; + + if ((hearable_conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, (uint8_t*)buffer, BHI360_ACTIVITY_PARAM_LENGTH, &act_len, dev); + if (rslt == BHY2_OK) + { + hearable_conf->seg_size = BHY2_LE2U16(&buffer[0]); + hearable_conf->post_process_en = BHY2_LE2U16(&buffer[2]); + hearable_conf->min_gdi_thre = BHY2_LE2U16(&buffer[4]); + hearable_conf->max_gdi_thre = BHY2_LE2U16(&buffer[6]); + hearable_conf->out_buff_size = BHY2_LE2U16(&buffer[8]); + hearable_conf->min_seg_moder_conf = BHY2_LE2U16(&buffer[10]); + } + } + + return rslt; +} + +/** + * Sets the wearble activity configuration. + * + * This function is used to set the wearable activity configuration in the BHY device. + * + * @param[in] wearable_conf : Reference to wearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_set_wearable_config(const bhi360_activity_param_wearable *wearable_conf, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id = BHI360_ACTIVITY_PARAM_PAGE_BASE | BHI360_ACTIVITY_PARAM_WEARABLE_ID; + + if ((wearable_conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_set_parameter(param_id, (const uint8_t*)wearable_conf, BHI360_ACTIVITY_PARAM_LENGTH, dev); + } + + return rslt; +} + +/** + * Retrieves the wearable activity configuration from the sensor payload. + * + * @param[out] wearable_conf : Reference to wearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_get_wearable_config(bhi360_activity_param_wearable *wearable_conf, struct bhy2_dev *dev) +{ + int8_t rslt; + uint32_t act_len; + uint16_t param_id = BHI360_ACTIVITY_PARAM_PAGE_BASE | BHI360_ACTIVITY_PARAM_WEARABLE_ID; + uint8_t buffer[BHI360_ACTIVITY_PARAM_LENGTH] = { 0U }; + + if ((wearable_conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, (uint8_t*)buffer, BHI360_ACTIVITY_PARAM_LENGTH, &act_len, dev); + if (rslt == BHY2_OK) + { + wearable_conf->post_process_en = BHY2_LE2U16(&buffer[0]); + wearable_conf->min_gdi_thre = BHY2_LE2U16(&buffer[2]); + wearable_conf->max_gdi_thre = BHY2_LE2U16(&buffer[4]); + wearable_conf->out_buff_size = BHY2_LE2U16(&buffer[6]); + wearable_conf->min_seg_moder_conf = BHY2_LE2U16(&buffer[8]); + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param.h new file mode 100644 index 0000000..63fe2b3 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param.h @@ -0,0 +1,97 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_activity_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_ACTIVITY_PARAM_H__ +#define __BHI360_ACTIVITY_PARAM_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_activity_param_defs.h" +#include "../bhi260x/bhy2.h" + +/** + * Sets the hearble activity configuration. + * + * This function is used to set the hearable activity configuration in the BHY device. + * + * @param[in] hearable_conf : Reference to hearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_set_hearable_config(const bhi360_activity_param_hearable *hearable_conf, + struct bhy2_dev *dev); + +/** + * Retrieves the hearable activity configuration from the sensor payload. + * + * @param[out] hearable_conf : Reference to hearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_get_hearable_config(bhi360_activity_param_hearable *hearable_conf, struct bhy2_dev *dev); + +/** + * Sets the wearble activity configuration. + * + * This function is used to set the wearable activity configuration in the BHY device. + * + * @param[in] wearable_conf : Reference to wearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_set_wearable_config(const bhi360_activity_param_wearable *wearable_conf, + struct bhy2_dev *dev); + +/** + * Retrieves the wearable activity configuration from the sensor payload. + * + * @param[out] wearable_conf : Reference to wearable activity configuration. + * @param[in] dev : Pointer to the BHY device structure. + * @return API error codes. + */ +int8_t bhi360_activity_param_get_wearable_config(bhi360_activity_param_wearable *wearable_conf, struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_ACTIVITY_PARAM_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param_defs.h new file mode 100644 index 0000000..4547a24 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_activity_param_defs.h @@ -0,0 +1,85 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_activity_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_ACTIVITY_PARAM_DEFS_H__ +#define __BHI360_ACTIVITY_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_defs.h" + +/*! Activity recognition Parameter Page Base Address*/ +#define BHI360_ACTIVITY_PARAM_PAGE_BASE UINT16_C(0xF00) + +#define BHI360_ACTIVITY_PARAM_HEARABLE_ID UINT16_C(0x01) +#define BHI360_ACTIVITY_PARAM_WEARABLE_ID UINT16_C(0x01) + +/*! Activity recognition Parameter Length */ +#define BHI360_ACTIVITY_PARAM_LENGTH UINT8_C(12) + +/*! BHY Hearable Activity recognition structure */ +typedef struct +{ + uint16_t seg_size; + uint16_t post_process_en; + uint16_t min_gdi_thre; + uint16_t max_gdi_thre; + uint16_t out_buff_size; + uint16_t min_seg_moder_conf; +} BHI360_PACKED bhi360_activity_param_hearable; + +/*! BHY Wearable Activity recognition structure */ +typedef struct +{ + uint16_t post_process_en; + uint16_t min_gdi_thre; + uint16_t max_gdi_thre; + uint16_t out_buff_size; + uint16_t min_seg_moder_conf; + uint16_t reserved; +} BHI360_PACKED bhi360_activity_param_wearable; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_ACTIVITY_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param.c new file mode 100644 index 0000000..e5b0738 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param.c @@ -0,0 +1,209 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_bsec_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_bsec_param.h" +// #include "bhi360.h" + +/** + * Sets the BSEC algorithm state. + * + * @param[in] algo_state : Reference to BSEC algorithm state. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_set_algo_state(const bhi360_bsec_param_algo_state *algo_state, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id = BHI360_BSEC_PARAM_PAGE_BASE | BHI360_BSEC_PARAM_IAQ_PARAM_STATE_ID; + + if ((algo_state == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_set_parameter(param_id, (const uint8_t*)algo_state, BHI360_BSEC_PARAM_IAQ_PARAM_STATE_LENGTH, dev); + } + + return rslt; +} + +/** + * Retrieves the BSEC algorithm state from the sensor payload. + * + * @param[out] algo_state : Reference to BSEC algorithm state. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_get_algo_state(bhi360_bsec_param_algo_state *algo_state, struct bhy2_dev *dev) +{ + int8_t rslt; + uint32_t act_len; + uint16_t param_id = BHI360_BSEC_PARAM_PAGE_BASE | BHI360_BSEC_PARAM_IAQ_PARAM_STATE_ID; + + if ((algo_state == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, + (uint8_t*)algo_state, + BHI360_BSEC_PARAM_IAQ_PARAM_STATE_LENGTH, + &act_len, + dev); + } + + return rslt; +} + +/** + * Sets the BSEC temperature offset. + * + * @param[in] offset : Reference to BSEC temperature offset. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_set_temp_offset(const union bhi360_float_conv *offset, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id = BHI360_BSEC_PARAM_PAGE_BASE | BHI360_BSEC_PARAM_IAQ_TEMP_OFFSET_ID; + + if ((offset == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_set_parameter(param_id, (const uint8_t*)offset, BHI360_BSEC_PARAM_IAQ_TEMP_OFFSET_LENGTH, dev); + } + + return rslt; +} + +/** + * Retrieves the BSEC temperature offset. + * + * @param[out] offset : Reference to BSEC temperature offset. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_get_temp_offset(union bhi360_float_conv *offset, struct bhy2_dev *dev) +{ + int8_t rslt; + uint32_t act_len; + uint16_t param_id = BHI360_BSEC_PARAM_PAGE_BASE | BHI360_BSEC_PARAM_IAQ_TEMP_OFFSET_ID; + uint8_t buffer[BHI360_BSEC_PARAM_IAQ_TEMP_OFFSET_LENGTH] = { 0U }; + + if ((offset == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_get_parameter(param_id, (uint8_t*)buffer, BHI360_BSEC_PARAM_IAQ_TEMP_OFFSET_LENGTH, &act_len, dev); + if (rslt == BHY2_OK) + { + offset->bytes[0] = buffer[0]; + offset->bytes[1] = buffer[1]; + offset->bytes[2] = buffer[2]; + offset->bytes[3] = buffer[3]; + offset->u32_val = BHY2_LE2U32(offset->bytes); + } + } + + return rslt; +} + +/** + * Sets the BSEC sample rate. + * + * @param[in] sample_rate : Reference to BSEC sample rate. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_set_sample_rate(const bhi360_bsec_param_sample_rate *sample_rate, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id = BHI360_BSEC_PARAM_PAGE_BASE | BHI360_BSEC_PARAM_IAQ_SAMPLE_RATE_ID; + + if ((sample_rate == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_set_parameter(param_id, (const uint8_t*)sample_rate, BHI360_BSEC_PARAM_IAQ_SAMPLE_RATE_LENGTH, dev); + } + + return rslt; +} + +/** + * Retrieves the BSEC sample rate. + * + * @param[in] sample_rate : Reference to BSEC sample rate. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_get_sample_rate(bhi360_bsec_param_sample_rate *sample_rate, struct bhy2_dev *dev) +{ + int8_t rslt; + uint32_t act_len; + uint16_t param_id = BHI360_BSEC_PARAM_PAGE_BASE | BHI360_BSEC_PARAM_IAQ_SAMPLE_RATE_ID; + uint8_t buffer[BHI360_BSEC_PARAM_IAQ_SAMPLE_RATE_LENGTH] = { 0U }; + + if ((sample_rate == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_get_parameter(param_id, (uint8_t*)buffer, BHI360_BSEC_PARAM_IAQ_SAMPLE_RATE_LENGTH, &act_len, dev); + if (rslt == BHY2_OK) + { + sample_rate->sample_rate_index = (bhi360_bsec_param_sample_rate_index)buffer[0]; + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param.h new file mode 100644 index 0000000..8f81a94 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param.h @@ -0,0 +1,109 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_bsec_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_BSEC_PARAM_H__ +#define __BHI360_BSEC_PARAM_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_bsec_param_defs.h" +#include "../bhi260x/bhy2.h" + +/** + * Sets the BSEC algorithm state. + * + * @param[in] algo_state : Reference to BSEC algorithm state. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_set_algo_state(const bhi360_bsec_param_algo_state *algo_state, struct bhy2_dev *dev); + +/** + * Retrieves the BSEC algorithm state from the sensor payload. + * + * @param[out] algo_state : Reference to BSEC algorithm state. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_get_algo_state(bhi360_bsec_param_algo_state *algo_state, struct bhy2_dev *dev); + +/** + * Sets the BSEC temperature offset. + * + * @param[in] offset : Reference to BSEC temperature offset. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_set_temp_offset(const union bhi360_float_conv *offset, struct bhy2_dev *dev); + +/** + * Retrieves the BSEC temperature offset. + * + * @param[out] offset : Reference to BSEC temperature offset. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_get_temp_offset(union bhi360_float_conv *offset, struct bhy2_dev *dev); + +/** + * Sets the BSEC sample rate. + * + * @param[in] sample_rate : Reference to BSEC sample rate. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_set_sample_rate(const bhi360_bsec_param_sample_rate *sample_rate, struct bhy2_dev *dev); + +/** + * Retrieves the BSEC sample rate. + * + * @param[in] sample_rate : Reference to BSEC sample rate. + * @param[in] dev : Device instance. + * @return API error codes. + */ +int8_t bhi360_bsec_param_get_sample_rate(bhi360_bsec_param_sample_rate *sample_rate, struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_BSEC_PARAM_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param_defs.h new file mode 100644 index 0000000..e31235e --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsec_param_defs.h @@ -0,0 +1,90 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_bsec_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_BSEC_PARAM_DEFS_H__ +#define __BHI360_BSEC_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_defs.h" + +/*! BSEC Parameter Page Base Address*/ +#define BHI360_BSEC_PARAM_PAGE_BASE UINT16_C(0x800) + +#define BHI360_BSEC_PARAM_IAQ_PARAM_STATE_ID UINT16_C(0x00) +#define BHI360_BSEC_PARAM_IAQ_TEMP_OFFSET_ID UINT16_C(0x05) +#define BHI360_BSEC_PARAM_IAQ_SAMPLE_RATE_ID UINT16_C(0x06) + +/*! BSEC Parameter Length */ +#define BHI360_BSEC_PARAM_IAQ_PARAM_STATE_LENGTH UINT8_C(164) +#define BHI360_BSEC_PARAM_IAQ_TEMP_OFFSET_LENGTH UINT8_C(4) +#define BHI360_BSEC_PARAM_IAQ_SAMPLE_RATE_LENGTH UINT8_C(4) + +#define BHI360_BSEC_PARAM_BSEC_ALGO_STATE_LENGTH UINT8_C(163) + +/*! BSEC algo state structure */ +typedef struct +{ + uint8_t algo_state[BHI360_BSEC_PARAM_BSEC_ALGO_STATE_LENGTH]; + uint8_t padding; +} BHI360_PACKED bhi360_bsec_param_algo_state; + +/*! BSEC Sample rate index */ +typedef enum +{ + BSEC_PARAM_SAMPLE_RATE_CONT = 0U, + BSEC_PARAM_SAMPLE_RATE_LP = 1U, + BSEC_PARAM_SAMPLE_RATE_ULP = 2U +} bhi360_bsec_param_sample_rate_index; + +/*! BSEC Sample rate structure */ +typedef struct +{ + bhi360_bsec_param_sample_rate_index sample_rate_index; + uint8_t padding[3]; +} BHI360_PACKED bhi360_bsec_param_sample_rate; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_BSEC_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param.c new file mode 100644 index 0000000..7675702 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param.c @@ -0,0 +1,199 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_bsx_algo_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_bsx_algo_param.h" +#include "bhi360_hif.h" +#include "../bhi260x/bhy2_hif.h" + +/** + * @brief Function to get the calibration profile of BSX fusion for physical sensors + * @param[in] param_id : Parameter ID for the physical sensors + * @param[out] bsx_state : Reference to the data buffer to store the calibration profile + * @param[in] state_len : Length of the data buffer + * @param[out] actual_len : Actual length of the calibration profile + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_bsx_algo_param_get_bsx_states(uint16_t param_id, + bhi360_bsx_algo_param_state_exg *bsx_state, + uint16_t state_len, + uint32_t *actual_len, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + bhi360_bsx_algo_param_state_exg bsx_state_exg; + + if ((dev == NULL) || (bsx_state == NULL) || (actual_len == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + uint8_t complete_flag = 0; + uint16_t tmp_state_len = 0; + uint32_t read_len; + uint16_t state_index = 0; + + while (complete_flag == 0) + { + rslt = bhy2_hif_get_parameter(param_id, + (uint8_t *)&bsx_state_exg, + BHI360_BSX_STATE_STRUCT_LEN, + &read_len, + &dev->hif); + if (rslt != BHY2_OK) + { + break; + } + + if (read_len > BHI360_BSX_STATE_STRUCT_LEN) + { + rslt = BHY2_E_INVALID_PARAM - 50; + break; + } + + complete_flag = bsx_state_exg.block_info & BHI360_BSX_STATE_TRANSFER_COMPLETE; + tmp_state_len = bsx_state_exg.struct_len; + if (tmp_state_len == 0) + { + rslt = BHY2_E_INVALID_PARAM - 70; + break; + } + + *actual_len = tmp_state_len; /* Report actual length, in case of invalid buffer */ + + if (state_len < tmp_state_len) + { + rslt = BHI360_E_BUFFER; + break; + } + + bsx_state[state_index] = bsx_state_exg; + state_index++; + } + } + + return rslt; +} + +/** + * @brief Function to set the calibration profile of physical sensors to the BSX fusion + * @param[in] param_id : Parameter ID for the physical sensors + * @param[in] bsx_state : Reference to the data buffer storing the calibration profile + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_bsx_algo_param_set_bsx_states(uint16_t param_id, + const bhi360_bsx_algo_param_state_exg *bsx_state, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint8_t complete_flag = 0; + uint16_t state_index = 0; + bhi360_bsx_algo_param_state_exg bsx_state_exg; + + if ((dev == NULL) || (bsx_state == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + + while (complete_flag == 0) + { + bsx_state_exg = bsx_state[state_index]; + state_index++; + + if (bsx_state_exg.struct_len == 0) + { + rslt = BHY2_E_INVALID_PARAM - 70; + break; + } + + complete_flag = bsx_state_exg.block_info & BHI360_BSX_STATE_TRANSFER_COMPLETE; + + rslt = bhy2_hif_set_parameter(param_id, (uint8_t *)&bsx_state_exg, sizeof(bsx_state_exg), &dev->hif); + if (rslt != BHY2_OK) + { + break; + } + + if ((bsx_state_exg.block_len == 0) || (complete_flag != 0)) + { + break; + } + } + } + + return rslt; +} + +/** + * @brief Function to get the BSX version + * @param[out] bsx_ver : Reference to the data buffer to store the BSX version + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_bsx_algo_param_get_bsx_version(struct bhi360_bsx_algo_param_version *bsx_ver, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + uint8_t buffer[4] = { 0 }; + + if ((dev == NULL) || (bsx_ver == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter(BHI360_BSX_VERSION, buffer, 4, &bytes_read, &dev->hif); + if (rslt != BHY2_OK) + { + return rslt; + } + else + { + bsx_ver->major_version = buffer[0]; /* BSX major version */ + bsx_ver->minor_version = buffer[1]; /* BSX minor version */ + bsx_ver->major_bug_fix_version = buffer[2]; /* BSX major bug fix version */ + bsx_ver->minor_bug_fix_version = buffer[3]; /* BSX minor bug fix version */ + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param.h new file mode 100644 index 0000000..766931f --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param.h @@ -0,0 +1,89 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_bsx_algo_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_BSX_ALGO_PARAM_H__ +#define __BHI360_BSX_ALGO_PARAM_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_bsx_algo_param_defs.h" +#include "../bhi260x/bhy2.h" + +/** + * @brief Function to get the calibration profile of BSX fusion for physical sensors + * @param[in] param_id : Parameter ID for the physical sensors + * @param[out] bsx_state : Reference to the data buffer to store the calibration profile + * @param[in] state_len : Length of the data buffer + * @param[out] actual_len : Actual length of the calibration profile + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_bsx_algo_param_get_bsx_states(uint16_t param_id, + bhi360_bsx_algo_param_state_exg *bsx_state, + uint16_t state_len, + uint32_t *actual_len, + struct bhy2_dev *dev); + +/** + * @brief Function to set the calibration profile of physical sensors to the BSX fusion + * @param[in] param_id : Parameter ID for the physical sensors + * @param[in] bsx_state : Reference to the data buffer storing the calibration profile + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_bsx_algo_param_set_bsx_states(uint16_t param_id, + const bhi360_bsx_algo_param_state_exg *bsx_state, + struct bhy2_dev *dev); + +/** + * @brief Function to get the BSX version + * @param[out] bsx_ver : Reference to the data buffer to store the BSX version + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_bsx_algo_param_get_bsx_version(struct bhi360_bsx_algo_param_version *bsx_ver, struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_BSX_ALGO_PARAM_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param_defs.h new file mode 100644 index 0000000..8520d25 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_bsx_algo_param_defs.h @@ -0,0 +1,80 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_bsx_algo_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_BSX_ALGO_PARAM_DEFS_H__ +#define __BHI360_BSX_ALGO_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_defs.h" + +#define BHI360_BSX_CALIBRATE_STATE_BASE UINT16_C(0x200) + +#define BHI360_BSX_SIC_MATRIX UINT16_C(0x27D) +#define BHI360_BSX_VERSION UINT16_C(0x27E) + +#define BHI360_BSX_STATE_STRUCT_LEN UINT8_C(68) +#define BHI360_BSX_STATE_BLOCK_LEN UINT8_C(64) +#define BHI360_BSX_STATE_TRANSFER_COMPLETE UINT8_C(0x80) +#define BHI360_BSX_STATE_MAX_BLOCKS UINT8_C(20) + +typedef struct +{ + uint8_t block_info; + uint8_t block_len; + uint16_t struct_len; + uint8_t state_data[BHI360_BSX_STATE_BLOCK_LEN]; +} BHI360_PACKED bhi360_bsx_algo_param_state_exg; + +struct BHI360_PACKED bhi360_bsx_algo_param_version +{ + uint8_t major_version; + uint8_t minor_version; + uint8_t major_bug_fix_version; + uint8_t minor_bug_fix_version; +}; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_BSX_ALGO_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_defs.h new file mode 100644 index 0000000..7cc8ba1 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_defs.h @@ -0,0 +1,924 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_DEFS_H__ +#define __BHI360_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#ifdef __KERNEL__ +#include +#include +#include +#else +#include +#include +#endif /*~ __KERNEL__ */ + +#ifndef UNUSED +#define UNUSED(__x__) ((void)(__x__)) +#endif /*~ UNUSED */ + +#ifdef __KERNEL__ +#define bhi360_float u32 +#else +#define bhi360_float float +#endif /*~ __KERNEL__ */ + +#ifdef __KERNEL__ + +#if !defined(UINT8_C) && !defined(INT8_C) +#define INT8_C(x) S8_C(x) +#define UINT8_C(x) U8_C(x) +#endif + +#if !defined(UINT16_C) && !defined(INT16_C) +#define INT16_C(x) S16_C(x) +#define UINT16_C(x) U16_C(x) +#endif + +#if !defined(INT32_C) && !defined(UINT32_C) +#define INT32_C(x) S32_C(x) +#define UINT32_C(x) U32_C(x) +#endif + +#if !defined(INT64_C) && !defined(UINT64_C) +#define INT64_C(x) S64_C(x) +#define UINT64_C(x) U64_C(x) +#endif + +#else /* __KERNEL__ */ + +#if !defined(UINT8_C) && !defined(INT8_C) +#define INT8_C(x) (x) +#define UINT8_C(x) (x##U) +#endif + +#if !defined(UINT16_C) && !defined(INT16_C) +#define INT16_C(x) (x) +#define UINT16_C(x) (x##U) +#endif + +#if !defined(INT32_C) && !defined(UINT32_C) +#define INT32_C(x) (x) +#define UINT32_C(x) (x##U) +#endif + +#if !defined(INT64_C) && !defined(UINT64_C) +#define INT64_C(x) (x##LL) +#define UINT64_C(x) (x##ULL) +#endif + +#endif /* __KERNEL__ */ + +#ifndef NULL +#ifdef __cplusplus +#define NULL 0 +#else +#define NULL ((void *) 0) +#endif +#endif + +#ifndef BHI360_PACKED +#define BHI360_PACKED __attribute__ ((__packed__)) +#endif + +#define BHI360_CHIP_ID UINT8_C(0x7A) + +/*! Firmware header identifier */ +/*#define BHI360_FW_MAGIC UINT16_C(0x662B) */ + +/*! BHI3 Variant IDs */ +#define BHI360_VARIANT_ID_BHI360 UINT32_C(0x18BC5434) + +/*! BHI3 Specifc Sensor IDs */ +#define BHI360_SENSOR_ID_AR_WEAR_WU UINT8_C(154) /* Activity Recognition (wear/hear) + * */ +#define BHI360_SENSOR_ID_WRIST_GEST_DETECT_LP_WU UINT8_C(156) /* Wrist Gesture Detector Low Power + * Wakeup*/ +#define BHI360_SENSOR_ID_WRIST_WEAR_LP_WU UINT8_C(158) /* Wrist Wear Low Power Wakeup */ +#define BHI360_SENSOR_ID_NO_MOTION_LP_WU UINT8_C(159) /* No motion Low Power */ + +/*! Physical Sensor Control Parameter Page Base Address*/ +#define BHI360_PHY_SENSOR_CTRL_PAGE UINT16_C(0x0E) + +/*! Physical Sensor Control pages + * Here the 'id' refers to the Sensor ID of requisite Physical Sensors (Acc/Gyro) + * */ +#define BHI360_PHY_SENSOR_CTRL_PARAM(id) (((BHI360_PHY_SENSOR_CTRL_PAGE) << 8) | (id)) +#define BHI360_PHY_SENSOR_CTRL_CODE(dir, code) ((dir << 7) | (code)) + +#define BHI360_PHY_SENSOR_CTRL_WRITE UINT8_C(0x00) +#define BHI360_PHY_SENSOR_CTRL_READ UINT8_C(0x01) + +#define BHI360_PHY_ACC_FOC_CTRL_CODE UINT8_C(0x01) +#define BHI360_PHY_ACC_FOC_CTRL_LEN 6 +#define BHI360_PHY_ACC_FOC_CTRL_CODE UINT8_C(0x01) +#define BHI360_PHY_ACC_FOC_CTRL_LEN 6 + +#define BHI360_PHY_ACC_LOW_POWER_MODE_CTRL_CODE UINT8_C(0x05) +#define BHI360_PHY_ACC_NORMAL_POWER_MODE UINT8_C(0x00) +#define BHI360_PHY_ACC_LOW_POWER_MODE UINT8_C(0x02) +#define BHI360_PHY_ACC_LOW_POWER_MODE_CTRL_LEN 1 + +#define BHI360_PHY_GYRO_FOC_CTRL_CODE UINT8_C(0x01) +#define BHI360_PHY_GYRO_FOC_CTRL_LEN 6 + +#define BHI360_PHY_GYRO_OIS_CTRL_CODE UINT8_C(0x02) +#define BHI360_PHY_GYRO_DISABLE_OIS UINT8_C(0x00) +#define BHI360_PHY_GYRO_ENABLE_OIS UINT8_C(0x01) +#define BHI360_PHY_GYRO_OIS_CTRL_LEN 1 + +#define BHI360_PHY_GYRO_FAST_STARTUP_CTRL_CODE UINT8_C(0x03) +#define BHI360_PHY_GYRO_DISABLE_FAST_STARTUP UINT8_C(0x00) +#define BHI360_PHY_GYRO_ENABLE_FAST_STARTUP UINT8_C(0x01) +#define BHI360_PHY_GYRO_FAST_STARTUP_CTRL_LEN 1 + +#define BHI360_PHY_GYRO_CRT_CTRL_CODE UINT8_C(0x04) +#define BHI360_PHY_GYRO_CRT_STATUS_SUCCESS UINT8_C(0x00) +#define BHI360_PHY_GYRO_ENABLE_CRT UINT8_C(0x01) +#define BHI360_PHY_GYRO_CRT_CTRL_LEN 1 + +#define BHI360_PHY_GYRO_LOW_POWER_MODE_CTRL_CODE UINT8_C(0x05) +#define BHI360_PHY_GYRO_NORMAL_POWER_MODE UINT8_C(0x00) +#define BHI360_PHY_GYRO_PERFORMANCE_POWER_MODE UINT8_C(0x01) +#define BHI360_PHY_GYRO_LOW_POWER_MODE UINT8_C(0x02) +#define BHI360_PHY_GYRO_LOW_POWER_MODE_CTRL_LEN 1 + +#define BHI360_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_CODE UINT8_C(0x06) +#define BHI360_PHY_GYRO_DISABLE_TIMER_AUTO_TRIM UINT8_C(0x00) +#define BHI360_PHY_GYRO_ENABLE_TIMER_AUTO_TRIM UINT8_C(0x01) +#define BHI360_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_LEN 1 + +#define BHI360_PHY_WRIST_WEAR_WAKEUP_CTRL_CODE UINT8_C(0x01) +#define BHI360_PHY_WRIST_WEAR_WAKEUP_CTRL_LEN 10 + +#define BHI360_PHY_ANY_MOTION_CTRL_CODE UINT8_C(0x01) +#define BHI360_PHY_ANY_MOTION_CTRL_LEN 4 + +#define BHI360_PHY_NO_MOTION_CTRL_CODE UINT8_C(0x01) +#define BHI360_PHY_NO_MOTION_CTRL_LEN 4 + +#define BHI360_PHY_WRIST_GESTURE_DETECT_CTRL_CODE UINT8_C(0x07) +#define BHI360_PHY_WRIST_GESTURE_DETECT_CTRL_LEN 19 + +/** API error codes */ +#define BHI360_OK INT8_C(0) +#define BHI360_E_NULL_PTR INT8_C(-1) +#define BHI360_E_INVALID_PARAM INT8_C(-2) +#define BHI360_E_IO INT8_C(-3) +#define BHI360_E_MAGIC INT8_C(-4) +#define BHI360_E_TIMEOUT INT8_C(-5) +#define BHI360_E_BUFFER INT8_C(-6) +#define BHI360_E_INVALID_FIFO_TYPE INT8_C(-7) +#define BHI360_E_INVALID_EVENT_SIZE INT8_C(-8) +#define BHI360_E_PARAM_NOT_SET INT8_C(-9) +#define BHI360_E_INSUFFICIENT_MAX_SIMUL_SENSORS INT8_C(-10) + +#ifndef BHI360_COMMAND_PACKET_LEN +#define BHI360_COMMAND_PACKET_LEN UINT16_C(256) +#endif + +#ifndef BHI360_COMMAND_HEADER_LEN +#define BHI360_COMMAND_HEADER_LEN UINT16_C(4) +#endif + +#if (BHI360_COMMAND_PACKET_LEN < BHI360_COMMAND_HEADER_LEN) +#error "BHI360_COMMAND_PACKET_LEN should be at least 4 bytes" +#endif + +// #define BHI360_PRODUCT_ID UINT8_C(0x89) + +/*! Register map */ +#define BHI360_REG_CHAN_CMD UINT8_C(0x00) +#define BHI360_REG_CHAN_FIFO_W UINT8_C(0x01) +#define BHI360_REG_CHAN_FIFO_NW UINT8_C(0x02) +#define BHI360_REG_CHAN_STATUS UINT8_C(0x03) +#define BHI360_REG_CHIP_CTRL UINT8_C(0x05) +#define BHI360_REG_HOST_INTERFACE_CTRL UINT8_C(0x06) +#define BHI360_REG_HOST_INTERRUPT_CTRL UINT8_C(0x07) +#define BHI360_REG_RESET_REQ UINT8_C(0x14) +#define BHI360_REG_TIME_EV_REQ UINT8_C(0x15) +#define BHI360_REG_HOST_CTRL UINT8_C(0x16) +#define BHI360_REG_HOST_STATUS UINT8_C(0x17) +#define BHI360_REG_CRC_0 UINT8_C(0x18) /* Totally 4 */ +#define BHI360_REG_PRODUCT_ID UINT8_C(0x1C) +#define BHI360_REG_REVISION_ID UINT8_C(0x1D) +#define BHI360_REG_ROM_VERSION_0 UINT8_C(0x1E) /* Totally 2 */ +#define BHI360_REG_KERNEL_VERSION_0 UINT8_C(0x20) /* Totally 2 */ +#define BHI360_REG_USER_VERSION_0 UINT8_C(0x22) /* Totally 2 */ +#define BHI360_REG_FEATURE_STATUS UINT8_C(0x24) +#define BHI360_REG_BOOT_STATUS UINT8_C(0x25) +#define BHI360_REG_HOST_INTR_TIME_0 UINT8_C(0x26) /* Totally 5 */ +#define BHI360_REG_CHIP_ID UINT8_C(0x2B) +#define BHI360_REG_INT_STATUS UINT8_C(0x2D) +#define BHI360_REG_ERROR_VALUE UINT8_C(0x2E) +#define BHI360_REG_ERROR_AUX UINT8_C(0x2F) +#define BHI360_REG_DEBUG_VALUE UINT8_C(0x30) +#define BHI360_REG_DEBUG_STATE UINT8_C(0x31) +#define BHI360_REG_GP_5 UINT8_C(0x32) +#define BHI360_REG_GP_6 UINT8_C(0x36) +#define BHI360_REG_GP_7 UINT8_C(0x3A) + +/*! Command packets */ +#define BHI360_CMD_REQ_POST_MORTEM_DATA UINT16_C(0x0001) +#define BHI360_CMD_UPLOAD_TO_PROGRAM_RAM UINT16_C(0x0002) +#define BHI360_CMD_BOOT_PROGRAM_RAM UINT16_C(0x0003) +#define BHI360_CMD_SET_INJECT_MODE UINT16_C(0x0007) +#define BHI360_CMD_INJECT_DATA UINT16_C(0x0008) +#define BHI360_CMD_FIFO_FLUSH UINT16_C(0x0009) +#define BHI360_CMD_SW_PASSTHROUGH UINT16_C(0x000A) +#define BHI360_CMD_REQ_SELF_TEST UINT16_C(0x000B) +#define BHI360_CMD_REQ_FOC UINT16_C(0x000C) +#define BHI360_CMD_CONFIG_SENSOR UINT16_C(0x000D) +#define BHI360_CMD_CHANGE_RANGE UINT16_C(0x000E) +#define BHI360_CMD_FIFO_FORMAT_CTRL UINT16_C(0x0015) + +/*! Soft passthrough feature */ +#define BHI360_SPASS_READ UINT8_C(0) +#define BHI360_SPASS_WRITE UINT8_C(1) +#define BHI360_SPASS_SINGLE_TRANS UINT8_C(0) +#define BHI360_SPASS_MULTI_TRANS UINT8_C(1) +#define BHI360_SPASS_DELAY_DIS UINT8_C(0) +#define BHI360_SPASS_DELAY_EN UINT8_C(1) +#define BHI360_SPASS_SIF1 UINT8_C(1) +#define BHI360_SPASS_SIF2 UINT8_C(2) +#define BHI360_SPASS_SIF3 UINT8_C(3) +#define BHI360_SPASS_SPI_4_WIRE UINT8_C(0) +#define BHI360_SPASS_SPI_3_WIRE UINT8_C(1) +#define BHI360_SPASS_SPI_CPOL_0 UINT8_C(0) +#define BHI360_SPASS_SPI_CPOL_1 UINT8_C(1) +#define BHI360_SPASS_SPI_CPHA_0 UINT8_C(0) +#define BHI360_SPASS_SPI_CPHA_1 UINT8_C(1) +#define BHI360_SPASS_SPI_CS_LOW UINT8_C(0) +#define BHI360_SPASS_SPI_CS_HIGH UINT8_C(1) +#define BHI360_SPASS_SPI_LSB_FIRST_DIS UINT8_C(0) +#define BHI360_SPASS_SPI_LSB_FIRST_EN UINT8_C(1) +#define BHI360_SPASS_SPI_READ_BIT_POL_LOW UINT8_C(0) +#define BHI360_SPASS_SPI_READ_BIT_POL_HIGH UINT8_C(1) +#define BHI360_SPASS_SPI_READ_BIT_POS_0 UINT8_C(0) +#define BHI360_SPASS_SPI_READ_BIT_POS_1 UINT8_C(1) +#define BHI360_SPASS_SPI_READ_BIT_POS_2 UINT8_C(2) +#define BHI360_SPASS_SPI_READ_BIT_POS_3 UINT8_C(3) +#define BHI360_SPASS_SPI_READ_BIT_POS_4 UINT8_C(4) +#define BHI360_SPASS_SPI_READ_BIT_POS_5 UINT8_C(5) +#define BHI360_SPASS_SPI_READ_BIT_POS_6 UINT8_C(6) +#define BHI360_SPASS_SPI_READ_BIT_POS_7 UINT8_C(7) +#define BHI360_SPASS_READ_PACKET_LEN UINT8_C(0x13) +#define BHI360_SPASS_WRITE_RESP_PACKET_LEN UINT8_C(16) + +/*! Helper macros */ +#define BHI360_CHK_BIT(data, bit) (((uint32_t)data >> bit) & 0x01) +#define BHI360_ROUND_WORD_LOWER(x) ((x >> 2) << 2) +#define BHI360_ROUND_WORD_HIGHER(x) (((x >> 2) + 1) << 2) + +#define BHI360_COUNTOF(__BUFFER__) (sizeof(__BUFFER__) / sizeof(*(__BUFFER__))) +#define BHI360_DATA_INJECT_MODE_PAYLOAD_LEN UINT8_C(0x04) + +/*! Firmware header identifier */ +#define BHI360_FW_MAGIC UINT16_C(0x662B) + +/*! Boot status */ +#define BHI360_BST_HOST_INTERFACE_READY UINT8_C(0x10) +#define BHI360_BST_HOST_FW_VERIFY_DONE UINT8_C(0x20) +#define BHI360_BST_HOST_FW_VERIFY_ERROR UINT8_C(0x40) +#define BHI360_BST_HOST_FW_IDLE UINT8_C(0x80) +#define BHI360_BST_CHECK_RETRY UINT8_C(100) + +/*! Host status */ +#define BHI360_HST_POWER_STATE UINT8_C(0x01) +#define BHI360_HST_HOST_PROTOCOL UINT8_C(0x02) +#define BHI360_HST_HOST_CHANNEL_0 UINT8_C(0x10) +#define BHI360_HST_HOST_CHANNEL_1 UINT8_C(0x20) +#define BHI360_HST_HOST_CHANNEL_2 UINT8_C(0x40) +#define BHI360_HST_HOST_CHANNEL_3 UINT8_C(0x80) + +/*! Interrupt status masks */ +#define BHI360_IST_MASK_ASSERTED (0x1) +#define BHI360_IST_MASK_FIFO_W (0x6) +#define BHI360_IST_MASK_FIFO_NW (0x18) +#define BHI360_IST_MASK_STATUS (0x20) +#define BHI360_IST_MASK_DEBUG (0x40) +#define BHI360_IST_MASK_RESET_FAULT (0x80) +#define BHI360_IST_FIFO_W_DRDY UINT8_C(0x2) +#define BHI360_IST_FIFO_W_LTCY UINT8_C(0x4) +#define BHI360_IST_FIFO_W_WM UINT8_C(0x6) +#define BHI360_IST_FIFO_NW_DRDY UINT8_C(0x8) +#define BHI360_IST_FIFO_NW_LTCY UINT8_C(0x10) +#define BHI360_IST_FIFO_NW_WM UINT8_C(0x18) +#define BHI360_IS_INT_FIFO_W(status) (status & BHI360_IST_MASK_FIFO_W) +#define BHI360_IS_INT_FIFO_NW(status) (status & BHI360_IST_MASK_FIFO_NW) +#define BHI360_IS_INT_STATUS(status) (status & BHI360_IST_MASK_STATUS) +#define BHI360_IS_INT_ASYNC_STATUS(status) (status & BHI360_IST_MASK_DEBUG) +#define BHI360_IS_INT_RESET(status) (status & BHI360_IST_MASK_RESET_FAULT) +#define BHI360_IST_MASK_FIFO (BHI360_IST_MASK_FIFO_W | \ + BHI360_IST_MASK_FIFO_NW) +#define BHI360_IS_INT_FIFO(status) (status & BHI360_IST_MASK_FIFO) + +/*! Chip control bits */ +#define BHI360_CHIP_CTRL_DISABLE UINT8_C(0x00) +#define BHI360_CHIP_CTRL_TURBO_ENABLE UINT8_C(0x01) +#define BHI360_CHIP_CTRL_CLR_ERR_REG UINT8_C(0x02) + +/*! Host interface control bits */ +#define BHI360_HIF_CTRL_ABORT_TRANSFER_CHANNEL_0 UINT8_C(0x01) +#define BHI360_HIF_CTRL_ABORT_TRANSFER_CHANNEL_1 UINT8_C(0x02) +#define BHI360_HIF_CTRL_ABORT_TRANSFER_CHANNEL_2 UINT8_C(0x04) +#define BHI360_HIF_CTRL_ABORT_TRANSFER_CHANNEL_3 UINT8_C(0x08) +#define BHI360_HIF_CTRL_AP_SUSPENDED UINT8_C(0x10) +#define BHI360_HIF_CTRL_TIMESTAMP_EV_CTRL UINT8_C(0x40) +#define BHI360_HIF_CTRL_ASYNC_STATUS_CHANNEL UINT8_C(0x80) + +/*! Interrupt control bits */ +#define BHI360_ICTL_DISABLE_FIFO_W UINT8_C(0x01) +#define BHI360_ICTL_DISABLE_FIFO_NW UINT8_C(0x02) +#define BHI360_ICTL_DISABLE_STATUS_FIFO UINT8_C(0x04) +#define BHI360_ICTL_DISABLE_DEBUG UINT8_C(0x08) +#define BHI360_ICTL_DISABLE_FAULT UINT8_C(0x10) +#define BHI360_ICTL_ACTIVE_LOW UINT8_C(0x20) +#define BHI360_ICTL_EDGE UINT8_C(0x40) +#define BHI360_ICTL_OPEN_DRAIN UINT8_C(0x80) + +/*! Reset command */ +#define BHI360_REQUEST_RESET UINT8_C(0x01) + +/*! FIFO Format bit */ +#define BHI360_FIFO_FORMAT_CTRL_MASK UINT8_C(0x03) +#define BHI360_FIFO_FORMAT_CTRL_DIS_DELTA_TS UINT8_C(0x01) +#define BHI360_FIFO_FORMAT_CTRL_DIS_FULL_TS UINT8_C(0x02) +#define BHI360_FIFO_FORMAT_CTRL_DIS_ALL_TS UINT8_C(0x03) + +/*! System parameters */ +#define BHI360_PARAM_READ_MASK UINT16_C(0x1000) +#define BHI360_PARAM_FIFO_CTRL UINT16_C(0x103) +#define BHI360_PARAM_SYS_VIRT_SENSOR_PRESENT UINT16_C(0x11F) +#define BHI360_PARAM_SYS_PHYS_SENSOR_PRESENT UINT16_C(0x120) +#define BHI360_PARAM_PHYSICAL_SENSOR_BASE UINT16_C(0x120) + +#define BHI360_QUERY_PARAM_STATUS_READY_MAX_RETRY UINT16_C(1000) + +/*! Meta event definitions */ +#define BHI360_META_EVENT_FLUSH_COMPLETE UINT8_C(1) +#define BHI360_META_EVENT_SAMPLE_RATE_CHANGED UINT8_C(2) +#define BHI360_META_EVENT_POWER_MODE_CHANGED UINT8_C(3) +#define BHI360_META_EVENT_ALGORITHM_EVENTS UINT8_C(5) +#define BHI360_META_EVENT_SENSOR_STATUS UINT8_C(6) +#define BHI360_META_EVENT_BSX_DO_STEPS_MAIN UINT8_C(7) +#define BHI360_META_EVENT_BSX_DO_STEPS_CALIB UINT8_C(8) +#define BHI360_META_EVENT_BSX_GET_OUTPUT_SIGNAL UINT8_C(9) +#define BHI360_META_EVENT_RESERVED1 UINT8_C(10) +#define BHI360_META_EVENT_SENSOR_ERROR UINT8_C(11) +#define BHI360_META_EVENT_FIFO_OVERFLOW UINT8_C(12) +#define BHI360_META_EVENT_DYNAMIC_RANGE_CHANGED UINT8_C(13) +#define BHI360_META_EVENT_FIFO_WATERMARK UINT8_C(14) +#define BHI360_META_EVENT_RESERVED2 UINT8_C(15) +#define BHI360_META_EVENT_INITIALIZED UINT8_C(16) +#define BHI360_META_TRANSFER_CAUSE UINT8_C(17) +#define BHI360_META_EVENT_SENSOR_FRAMEWORK UINT8_C(18) +#define BHI360_META_EVENT_RESET UINT8_C(19) +#define BHI360_META_EVENT_SPACER UINT8_C(20) + +/* Sensor IDs */ +#define BHI360_SENSOR_ID_CUSTOM_START UINT8_C(160) +#define BHI360_SENSOR_ID_CUSTOM_END UINT8_C(191) + +#define BHI360_SENSOR_ID_MAX UINT8_C(200) +#define BHI360_SENSOR_ID_TBD UINT8_C(BHI360_SENSOR_ID_MAX - 1) +#define BHI360_PHYSICAL_SENSOR_ID_MAX UINT8_C(64) + +/* Virtual Sensor IDs */ +#define BHI360_SENSOR_ID_ACC_PASS UINT8_C(1) /* Accelerometer passthrough */ +#define BHI360_SENSOR_ID_ACC_RAW UINT8_C(3) /* Accelerometer uncalibrated */ +#define BHI360_SENSOR_ID_ACC UINT8_C(4) /* Accelerometer corrected */ +#define BHI360_SENSOR_ID_ACC_BIAS UINT8_C(5) /* Accelerometer offset */ +#define BHI360_SENSOR_ID_ACC_WU UINT8_C(6) /* Accelerometer corrected wake up */ +#define BHI360_SENSOR_ID_ACC_RAW_WU UINT8_C(7) /* Accelerometer uncalibrated wake up + * */ +#define BHI360_SENSOR_ID_SI_ACCEL UINT8_C(8) /* Virtual Sensor ID for Accelerometer + * */ +#define BHI360_SENSOR_ID_GYRO_PASS UINT8_C(10) /* Gyroscope passthrough */ +#define BHI360_SENSOR_ID_GYRO_RAW UINT8_C(12) /* Gyroscope uncalibrated */ +#define BHI360_SENSOR_ID_GYRO UINT8_C(13) /* Gyroscope corrected */ +#define BHI360_SENSOR_ID_GYRO_BIAS UINT8_C(14) /* Gyroscope offset */ +#define BHI360_SENSOR_ID_GYRO_WU UINT8_C(15) /* Gyroscope wake up */ +#define BHI360_SENSOR_ID_GYRO_RAW_WU UINT8_C(16) /* Gyroscope uncalibrated wake up */ +#define BHI360_SENSOR_ID_SI_GYROS UINT8_C(17) /* Virtual Sensor ID for Gyroscope */ +#define BHI360_SENSOR_ID_MAG_PASS UINT8_C(19) /* Magnetometer passthrough */ +#define BHI360_SENSOR_ID_MAG_RAW UINT8_C(21) /* Magnetometer uncalibrated */ +#define BHI360_SENSOR_ID_MAG UINT8_C(22) /* Magnetometer corrected */ +#define BHI360_SENSOR_ID_MAG_BIAS UINT8_C(23) /* Magnetometer offset */ +#define BHI360_SENSOR_ID_MAG_WU UINT8_C(24) /* Magnetometer wake up */ +#define BHI360_SENSOR_ID_MAG_RAW_WU UINT8_C(25) /* Magnetometer uncalibrated wake up + * */ +#define BHI360_SENSOR_ID_GRA UINT8_C(28) /* Gravity vector */ +#define BHI360_SENSOR_ID_GRA_WU UINT8_C(29) /* Gravity vector wake up */ +#define BHI360_SENSOR_ID_LACC UINT8_C(31) /* Linear acceleration */ +#define BHI360_SENSOR_ID_LACC_WU UINT8_C(32) /* Linear acceleration wake up */ +#define BHI360_SENSOR_ID_RV UINT8_C(34) /* Rotation vector */ +#define BHI360_SENSOR_ID_RV_WU UINT8_C(35) /* Rotation vector wake up */ +#define BHI360_SENSOR_ID_GAMERV UINT8_C(37) /* Game rotation vector */ +#define BHI360_SENSOR_ID_GAMERV_WU UINT8_C(38) /* Game rotation vector wake up */ +#define BHI360_SENSOR_ID_GEORV UINT8_C(40) /* Geo-magnetic rotation vector */ +#define BHI360_SENSOR_ID_GEORV_WU UINT8_C(41) /* Geo-magnetic rotation vector wake up + * */ +#define BHI360_SENSOR_ID_ORI UINT8_C(43) /* Orientation */ +#define BHI360_SENSOR_ID_ORI_WU UINT8_C(44) /* Orientation wake up */ +#define BHI360_SENSOR_ID_TILT_DETECTOR UINT8_C(48) /* Tilt detector */ +#define BHI360_SENSOR_ID_STD UINT8_C(50) /* Step detector */ +#define BHI360_SENSOR_ID_STC UINT8_C(52) /* Step counter */ +#define BHI360_SENSOR_ID_STC_WU UINT8_C(53) /* Step counter wake up */ +#define BHI360_SENSOR_ID_SIG UINT8_C(55) /* Significant motion */ +#define BHI360_SENSOR_ID_WAKE_GESTURE UINT8_C(57) /* Wake gesture */ +#define BHI360_SENSOR_ID_GLANCE_GESTURE UINT8_C(59) /* Glance gesture */ +#define BHI360_SENSOR_ID_PICKUP_GESTURE UINT8_C(61) /* Pickup gesture */ +#define BHI360_SENSOR_ID_AR UINT8_C(63) /* Activity recognition */ +#define BHI360_SENSOR_ID_WRIST_TILT_GESTURE UINT8_C(67) /* Wrist tilt gesture */ +#define BHI360_SENSOR_ID_DEVICE_ORI UINT8_C(69) /* Device orientation */ +#define BHI360_SENSOR_ID_DEVICE_ORI_WU UINT8_C(70) /* Device orientation wake up */ +#define BHI360_SENSOR_ID_STATIONARY_DET UINT8_C(75) /* Stationary detect */ +#define BHI360_SENSOR_ID_MOTION_DET UINT8_C(77) /* Motion detect */ +#define BHI360_SENSOR_ID_ACC_BIAS_WU UINT8_C(91) /* Accelerometer offset wake up */ +#define BHI360_SENSOR_ID_GYRO_BIAS_WU UINT8_C(92) /* Gyroscope offset wake up */ +#define BHI360_SENSOR_ID_MAG_BIAS_WU UINT8_C(93) /* Magnetometer offset wake up */ +#define BHI360_SENSOR_ID_STD_WU UINT8_C(94) /* Step detector wake up */ +#define BHI360_SENSOR_ID_ML_1 UINT8_C(95) /* Machine learning 1 */ +#define BHI360_SENSOR_ID_ML_2 UINT8_C(96) /* Machine learning 2 */ +#define BHI360_SENSOR_ID_ML_3 UINT8_C(97) /* Machine learning 3 */ +#define BHI360_SENSOR_ID_AIR_QUALITY UINT8_C(115) /* Air Quality*/ +#define BHI360_SENSOR_ID_HEAD_ORI_MIS_ALG UINT8_C(120) /* Head Orientation Misalignment */ +#define BHI360_SENSOR_ID_IMU_HEAD_ORI_Q UINT8_C(121) /* Head Orientation in Quaternion*/ +#define BHI360_SENSOR_ID_NDOF_HEAD_ORI_Q UINT8_C(122) /* NDOF Head Orientation in + * Quaternion*/ +#define BHI360_SENSOR_ID_IMU_HEAD_ORI_E UINT8_C(123) /* Head Orientation in Euler*/ +#define BHI360_SENSOR_ID_NDOF_HEAD_ORI_E UINT8_C(124) /* NDOF Head Orientation in Euler*/ +#define BHI360_SENSOR_ID_TEMP UINT8_C(128) /* Temperature */ +#define BHI360_SENSOR_ID_BARO UINT8_C(129) /* Barometer */ +#define BHI360_SENSOR_ID_HUM UINT8_C(130) /* Humidity */ +#define BHI360_SENSOR_ID_GAS UINT8_C(131) /* Gas */ +#define BHI360_SENSOR_ID_TEMP_WU UINT8_C(132) /* Temperature wake up */ +#define BHI360_SENSOR_ID_BARO_WU UINT8_C(133) /* Barometer wake up */ +#define BHI360_SENSOR_ID_HUM_WU UINT8_C(134) /* Humidity wake up */ +#define BHI360_SENSOR_ID_GAS_WU UINT8_C(135) /* Gas wake up */ +#define BHI360_SENSOR_ID_STC_LP UINT8_C(136) /* Step counter Low Power */ +#define BHI360_SENSOR_ID_STD_LP UINT8_C(137) /* Step detector Low Power */ +#define BHI360_SENSOR_BMP_TEMPERATURE UINT8_C(138) /* BMP temperature */ +#define BHI360_SENSOR_ID_STC_LP_WU UINT8_C(139) /* Step counter Low Power wake up */ +#define BHI360_SENSOR_ID_STD_LP_WU UINT8_C(140) /* Step detector Low Power wake up + * */ +#define BHI360_SENSOR_ID_SIG_LP_WU UINT8_C(141) /* Significant motion Low Power wake + * up */ +#define BHI360_SENSOR_BMP_TEMPERATURE_WU UINT8_C(142) /* BMP temperature wakeup */ +#define BHI360_SENSOR_ID_ANY_MOTION_LP_WU UINT8_C(143) /* Any motion Low Power wake up */ +#define BHI360_SENSOR_ID_EXCAMERA UINT8_C(144) /* External camera trigger */ +#define BHI360_SENSOR_ID_GPS UINT8_C(145) /* GPS */ +#define BHI360_SENSOR_ID_LIGHT UINT8_C(146) /* Light */ +#define BHI360_SENSOR_ID_PROX UINT8_C(147) /* Proximity */ +#define BHI360_SENSOR_ID_LIGHT_WU UINT8_C(148) /* Light wake up */ +#define BHI360_SENSOR_ID_PROX_WU UINT8_C(149) /* Proximity wake up */ + +/*! Physical sensor IDs*/ +#define BHI360_PHYS_SENSOR_ID_ACCELEROMETER UINT8_C(1) +#define BHI360_PHYS_SENSOR_ID_NOT_SUPPORTED UINT8_C(2) +#define BHI360_PHYS_SENSOR_ID_GYROSCOPE UINT8_C(3) +#define BHI360_PHYS_SENSOR_ID_MAGNETOMETER UINT8_C(5) +#define BHI360_PHYS_SENSOR_ID_TEMP_GYRO UINT8_C(7) +#define BHI360_PHYS_SENSOR_ID_ANY_MOTION UINT8_C(9) +#define BHI360_PHYS_SENSOR_ID_PRESSURE UINT8_C(11) +#define BHI360_PHYS_SENSOR_ID_POSITION UINT8_C(13) +#define BHI360_PHYS_SENSOR_ID_HUMIDITY UINT8_C(15) +#define BHI360_PHYS_SENSOR_ID_TEMPERATURE UINT8_C(17) +#define BHI360_PHYS_SENSOR_ID_GAS_RESISTOR UINT8_C(19) +#define BHI360_PHYS_SENSOR_ID_PHYS_STEP_COUNTER UINT8_C(32) +#define BHI360_PHYS_SENSOR_ID_PHYS_STEP_DETECTOR UINT8_C(33) +#define BHI360_PHYS_SENSOR_ID_PHYS_SIGN_MOTION UINT8_C(34) +#define BHI360_PHYS_SENSOR_ID_PHYS_ANY_MOTION UINT8_C(35) +#define BHI360_PHYS_SENSOR_ID_EX_CAMERA_INPUT UINT8_C(36) +#define BHI360_PHYS_SENSOR_ID_GPS UINT8_C(48) +#define BHI360_PHYS_SENSOR_ID_LIGHT UINT8_C(49) +#define BHI360_PHYS_SENSOR_ID_PROXIMITY UINT8_C(50) +#define BHI360_PHYS_SENSOR_ID_ACT_REC UINT8_C(52) +#define BHI360_PHYS_SENSOR_ID_PHYS_NO_MOTION UINT8_C(55) +#define BHI360_PHYS_SENSOR_ID_WRIST_GESTURE_DETECT UINT8_C(56) +#define BHI360_PHYS_SENSOR_ID_WRIST_WEAR_WAKEUP UINT8_C(57) + +/*! System data IDs */ +#define BHI360_IS_SYS_ID(sid) ((sid) >= 224) + +#define BHI360_SYS_ID_PADDING UINT8_C(0) +#define BHI360_SYS_ID_TS_SMALL_DELTA UINT8_C(251) +#define BHI360_SYS_ID_TS_LARGE_DELTA UINT8_C(252) +#define BHI360_SYS_ID_TS_FULL UINT8_C(253) +#define BHI360_SYS_ID_META_EVENT UINT8_C(254) +#define BHI360_SYS_ID_TS_SMALL_DELTA_WU UINT8_C(245) +#define BHI360_SYS_ID_TS_LARGE_DELTA_WU UINT8_C(246) +#define BHI360_SYS_ID_TS_FULL_WU UINT8_C(247) +#define BHI360_SYS_ID_META_EVENT_WU UINT8_C(248) +#define BHI360_SYS_ID_FILLER UINT8_C(255) +#define BHI360_SYS_ID_DEBUG_MSG UINT8_C(250) +#define BHI360_SYS_ID_BHI360_LOG_UPDATE_SUB UINT8_C(243) +#define BHI360_SYS_ID_BHI360_LOG_DOSTEP UINT8_C(244) + +/*! Status code definitions */ +#define BHI360_STATUS_INITIALIZED UINT8_C(0x1) +#define BHI360_STATUS_DEBUG_OUTPUT UINT8_C(0x2) +#define BHI360_STATUS_CRASH_DUMP UINT8_C(0x3) +#define BHI360_STATUS_INJECT_SENSOR_CONF_REQ UINT8_C(0x4) +#define BHI360_STATUS_SW_PASS_THRU_RES UINT8_C(0x5) +#define BHI360_STATUS_SELF_TEST_RES UINT8_C(0x6) +#define BHI360_STATUS_FOC_RES UINT8_C(0x7) +#define BHI360_STATUS_SYSTEM_ERROR UINT8_C(0x8) +#define BHI360_STATUS_SENSOR_ERROR UINT8_C(0x9) +#define BHI360_STATUS_HOST_EV_TIMESTAMP UINT8_C(0xD) +#define BHI360_STATUS_DUT_TEST_RES UINT8_C(0xE) +#define BHI360_STATUS_CMD_ERR UINT8_C(0xF) + +#define BHI360_IS_STATUS_GET_PARAM_OUTPUT(status) ((status) >= 0x100 && (status) <= 0xFFF) + +/*! Activity bits */ +#define BHI360_STILL_ACTIVITY_ENDED (0x0001) +#define BHI360_WALKING_ACTIVITY_ENDED (0x0002) +#define BHI360_RUNNING_ACTIVITY_ENDED (0x0004) +#define BHI360_ON_BICYCLE_ACTIVITY_ENDED (0x0008) +#define BHI360_IN_VEHICLE_ACTIVITY_ENDED (0x0010) +#define BHI360_TILTING_ACTIVITY_ENDED (0x0020) + +#define BHI360_STILL_ACTIVITY_STARTED (0x0100) +#define BHI360_WALKING_ACTIVITY_STARTED (0x0200) +#define BHI360_RUNNING_ACTIVITY_STARTED (0x0400) +#define BHI360_ON_BICYCLE_ACTIVITY_STARTED (0x0800) +#define BHI360_IN_VEHICLE_ACTIVITY_STARTED (0x1000) +#define BHI360_TILTING_ACTIVITY_STARTED (0x2000) + +/*! Feature status */ +#define BHI360_FEAT_STATUS_OPEN_RTOS_MSK UINT8_C(0x02) +#define BHI360_FEAT_STATUS_OPEN_RTOS_POS (1) +#define BHI360_FEAT_STATUS_HOST_ID_MSK UINT8_C(0x1C) +#define BHI360_FEAT_STATUS_HOST_ID_POS (2) +#define BHI360_FEAT_STATUS_ALGO_ID_MSK UINT8_C(0xE0) +#define BHI360_FEAT_STATUS_ALGO_ID_POS (5) + +/*! Fast offset compensation status codes */ +#define BHI360_FOC_PASS UINT8_C(0x00) +#define BHI360_FOC_FAILED UINT8_C(0x65) +#define BHI360_FOC_UNKNOWN_FAILURE UINT8_C(0x23) + +/*! Self test status codes */ +#define BHI360_ST_PASSED UINT8_C(0x00) +#define BHI360_ST_X_AXIS_FAILED UINT8_C(0x01) +#define BHI360_ST_Y_AXIS_FAILED UINT8_C(0x02) +#define BHI360_ST_Z_AXIS_FAILED UINT8_C(0x04) +#define BHI360_ST_MULTI_AXIS_FAILURE UINT8_C(0x07) +#define BHI360_ST_NOT_SUPPORTED UINT8_C(0x08) +#define BHI360_ST_INVALID_PHYS_ID UINT8_C(0x09) + +/*! Gyroscope dynamic ranges */ +#define BHI360_GYRO_125DPS UINT8_C(0x7D) +#define BHI360_GYRO_250DPS UINT8_C(0xFA) +#define BHI360_GYRO_500DPS UINT16_C(0x1F4) +#define BHI360_GYRO_1000DPS UINT16_C(0x3E8) +#define BHI360_GYRO_2000DPS UINT16_C(0x7D0) + +/*! Accelerometer dynamic ranges */ +#define BHI360_ACCEL_2G UINT8_C(0x2) +#define BHI360_ACCEL_4G UINT8_C(0x4) +#define BHI360_ACCEL_8G UINT8_C(0x8) +#define BHI360_ACCEL_16G UINT8_C(0x10) + +/*! Magnetometer dynamic ranges */ +#define BHI360_MAG_1300MICROTESLA UINT16_C(0x514) +#define BHI360_MAG_2500MICROTESLA UINT16_C(0x9C4) + +#define BHI360_LE2U16(x) ((uint16_t)((x)[0] | (x)[1] << 8)) +#define BHI360_LE2S16(x) ((int16_t)BHI360_LE2U16(x)) +#define BHI360_LE2U24(x) ((uint32_t)((x)[0] | (uint32_t)(x)[1] << 8 | \ + (uint32_t)(x)[2] << 16)) +#define BHI360_LE2S24(x) ((int32_t)(BHI360_LE2U24(x) << 8) >> 8) +#define BHI360_LE2U32(x) ((uint32_t)((x)[0] | (uint32_t)(x)[1] << 8 | \ + (uint32_t)(x)[2] << 16 | \ + (uint32_t)(x)[3] << 24)) +#define BHI360_LE2S32(x) ((int32_t)BHI360_LE2U32(x)) +#define BHI360_LE2U40(x) (BHI360_LE2U32(x) | (uint64_t)(x)[4] << 32) +#define BHI360_LE2U48(x) ((BHI360_LE2U32(x) | (uint64_t)(x)[4] << 32 | \ + (uint64_t)(x)[5] << 40)) +#define BHI360_LE2U64(x) (BHI360_LE2U32(x) | \ + (uint64_t)BHI360_LE2U32(&(x)[4]) << \ + 32) + +/*! Error register values */ +#define BHI360_ERR_NO_ERROR UINT8_C(0x00) +#define BHI360_ERR_FW_EXPECTED_VERSION_MISMATCH UINT8_C(0x10) +#define BHI360_ERR_FW_BAD_HEADER_CRC UINT8_C(0x11) +#define BHI360_ERR_FW_SHA_HASH_MISMATCH UINT8_C(0x12) +#define BHI360_ERR_FW_BAD_IMAGE_CRC UINT8_C(0x13) +#define BHI360_ERR_FW_ECDSA_SIGNATURE_VERIFICATION_FAILED UINT8_C(0x14) +#define BHI360_ERR_FW_BAD_PUBLIC_KEY_CRC UINT8_C(0x15) +#define BHI360_ERR_FW_SIGNED_FW_REQUIRED UINT8_C(0x16) +#define BHI360_ERR_FW_HEADER_MISSING UINT8_C(0x17) +#define BHI360_ERR_UNEXPECTED_WATCHDOG_RESET UINT8_C(0x19) +#define BHI360_ERR_ROM_VERSION_MISMATCH UINT8_C(0x1A) +#define BHI360_ERR_FATAL_FIRMWARE_ERROR UINT8_C(0x1B) +#define BHI360_ERR_NEXT_PAYLOAD_NOT_FOUND UINT8_C(0x1C) +#define BHI360_ERR_PAYLOAD_NOT_VALID UINT8_C(0x1D) +#define BHI360_ERR_PAYLOAD_ENTRIES_INVALID UINT8_C(0x1E) +#define BHI360_ERR_OTP_CRC_INVALID UINT8_C(0x1F) +#define BHI360_ERR_FIRMWARE_INIT_FAILED UINT8_C(0x20) +#define BHI360_ERR_UNEXPECTED_DEVICE_ID UINT8_C(0x21) +#define BHI360_ERR_NO_RESPONSE_FROM_DEVICE UINT8_C(0x22) +#define BHI360_ERR_SENSOR_INIT_FAILED_UNKNOWN UINT8_C(0x23) +#define BHI360_ERR_SENSOR_ERROR_NO_VALID_DATA UINT8_C(0x24) +#define BHI360_ERR_SLOW_SAMPLE_RATE UINT8_C(0x25) +#define BHI360_ERR_DATA_OVERFLOW UINT8_C(0x26) +#define BHI360_ERR_STACK_OVERFLOW UINT8_C(0x27) +#define BHI360_ERR_INSUFFICIENT_FREE_RAM UINT8_C(0x28) +#define BHI360_ERR_DRIVER_PARSING_ERROR UINT8_C(0x29) +#define BHI360_ERR_RAM_BANKS UINT8_C(0x2A) +#define BHI360_ERR_INVALID_EVENT UINT8_C(0x2B) +#define BHI360_ERR_MORE_THAN_32_ON_CHANGE UINT8_C(0x2C) +#define BHI360_ERR_FIRMWARE_TOO_LARGE UINT8_C(0x2D) +#define BHI360_ERR_INVALID_RAM_BANKS UINT8_C(0x2F) +#define BHI360_ERR_MATH_ERROR UINT8_C(0x30) +#define BHI360_ERR_MEMORRY_ERROR UINT8_C(0x40) +#define BHI360_ERR_SWI3_ERROR UINT8_C(0x41) +#define BHI360_ERR_SWI4_ERROR UINT8_C(0x42) +#define BHI360_ERR_ILLEGAL_INSTRUCTION_ERROR UINT8_C(0x43) +#define BHI360_ERR_UNHANDLED_INTERRUPT_EXCEPTION_POSTMORTEM_AVAILABLE UINT8_C(0x44) +#define BHI360_ERR_INVALID_MEMORY_ACCESS UINT8_C(0x45) +#define BHI360_ERR_ALGO_BSX_INIT UINT8_C(0x50) +#define BHI360_ERR_ALGO_BSX_DO_STEP UINT8_C(0x51) +#define BHI360_ERR_ALGO_UPDATE_SUB UINT8_C(0x52) +#define BHI360_ERR_ALGO_GET_SUB UINT8_C(0x53) +#define BHI360_ERR_ALGO_GET_PHYS UINT8_C(0x54) +#define BHI360_ERR_ALGO_UNSUPPORTED_PHYS_RATE UINT8_C(0x55) +#define BHI360_ERR_ALGO_BSX_DRIVER_NOT_FOUND UINT8_C(0x56) +#define BHI360_ERR_SENSOR_SELF_TEST_FAILURE UINT8_C(0x60) +#define BHI360_ERR_SENSOR_SELF_TEST_X_AXIS_FAILURE UINT8_C(0x61) +#define BHI360_ERR_SENSOR_SELF_TEST_Y_AXIS_FAILURE UINT8_C(0x62) +#define BHI360_ERR_SENSOR_SELF_TEST_Z_AXIS_FAILURE UINT8_C(0x64) +#define BHI360_ERR_SENSOR_FOC_FAILURE UINT8_C(0x65) +#define BHI360_ERR_SENSOR_BUSY UINT8_C(0x66) +#define BHI360_ERR_SELF_TEST_FOC_UNSUPPORTED UINT8_C(0x6F) +#define BHI360_ERR_NO_HOST_INTERRUPT_SET UINT8_C(0x72) +#define BHI360_ERR_EVENT_ID_SIZE UINT8_C(0x73) +#define BHI360_ERR_HOST_DOWNLOAD_CHANNEL_UNDERFLOW UINT8_C(0x75) +#define BHI360_ERR_HOST_UPLOAD_CHANNEL_OVERFLOW UINT8_C(0x76) +#define BHI360_ERR_HOST_DOWNLOAD_CHANNEL_EMPTY UINT8_C(0x77) +#define BHI360_ERR_DMA_ERROR UINT8_C(0x78) +#define BHI360_ERR_CORRUPTED_INPUT_BLOCK_CHAIN UINT8_C(0x79) +#define BHI360_ERR_CORRUPTED_OUTPUT_BLOCK_CHAIN UINT8_C(0x7A) +#define BHI360_ERR_BUFFER_BLOCK_MANAGER UINT8_C(0x7B) +#define BHI360_ERR_INPUT_CHANNEL_NOT_WORD_ALIGNED UINT8_C(0x7C) +#define BHI360_ERR_TOO_MANY_FLUSH_EVENTS UINT8_C(0x7D) +#define BHI360_ERR_UNKNOWN_HOST_CHANNEL_ERROR UINT8_C(0x7E) +#define BHI360_ERR_DECIMATION_TOO_LARGE UINT8_C(0x81) +#define BHI360_ERR_MASTER_SPI_I2C_QUEUE_OVERFLOW UINT8_C(0x90) +#define BHI360_ERR_SPI_I2C_CALLBACK_ERROR UINT8_C(0x91) +#define BHI360_ERR_TIMER_SCHEDULING_ERROR UINT8_C(0xA0) +#define BHI360_ERR_INVALID_GPIO_FOR_HOST_IRQ UINT8_C(0xB0) +#define BHI360_ERR_SENDING_INITIALIZED_META_EVENTS UINT8_C(0xB1) +#define BHI360_ERR_CMD_ERROR UINT8_C(0xC0) +#define BHI360_ERR_CMD_TOO_LONG UINT8_C(0xC1) +#define BHI360_ERR_CMD_BUFFER_OVERFLOW UINT8_C(0xC2) +#define BHI360_ERR_SYS_CALL_INVALID UINT8_C(0xD0) +#define BHI360_ERR_TRAP_INVALID UINT8_C(0xD2) +#define BHI360_ERR_FW_HEADER_CORRUPT UINT8_C(0xE0) +#define BHI360_ERR_SENSOR_DATA_INJECTION UINT8_C(0xE2) + +#define BHI360_LE24MUL(x) (((x) % 4) ? (uint16_t)((((x) / 4) + 1) * \ + 4) : (uint16_t)((x) + 4)) + +/*! Maximum no of available virtual sensor */ +#define BHI360_N_VIRTUAL_SENSOR_MAX UINT8_C(256) + +#ifndef BHI360_MAX_SIMUL_SENSORS +#define BHI360_MAX_SIMUL_SENSORS 48 +#endif + +/* Special & debug virtual sensor id starts at 245 */ +#define BHI360_SPECIAL_SENSOR_ID_OFFSET UINT8_C(245) + +#ifndef BHI360_INTF_RET_TYPE +#define BHI360_INTF_RET_TYPE int8_t +#endif + +#ifndef BHI360_INTF_RET_SUCCESS +#define BHI360_INTF_RET_SUCCESS 0 +#endif + +/* Macros to replace the constants */ +#define BHI360_TS_SMALL_DELTA_FIFO_RD_SIZE UINT8_C(2) +#define BHI360_TS_LARGE_DELTA_RD_FIFO_SIZE UINT8_C(3) +#define BHI360_TS_FULL_RD_FIFO_SIZE UINT8_C(6) +#define BHI360_LOG_DOSTEP_RD_FIFO_SIZE UINT8_C(23) +#define BHI360_FOC_STATUS_RD_FIFO_SIZE UINT8_C(12) + +#define BHI360_ACCEL_FOC UINT8_C(1) +#define BHI360_GYRO_FOC UINT8_C(3) + +/*FOC status values*/ +#define BHI360_FOC_SUCCESS UINT8_C(0x00) +#define BHI360_FOC_FAILURE UINT8_C(0x65) +#define BHI360_FOC_UNKNOWN_ERROR UINT8_C(0x23) + +/* Type definitions for the function pointers */ +typedef BHI360_INTF_RET_TYPE (*bhi360_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, + void *intf_ptr); +typedef BHI360_INTF_RET_TYPE (*bhi360_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, + void *intf_ptr); +typedef void (*bhi360_delay_us_fptr_t)(uint32_t period_us, void *intf_ptr); + +enum bhi360_intf { + BHI360_SPI_INTERFACE = 1, + BHI360_I2C_INTERFACE +}; + +/* HIF device structure */ +struct bhi360_hif_dev +{ + bhi360_read_fptr_t read; + bhi360_write_fptr_t write; + bhi360_delay_us_fptr_t delay_us; + enum bhi360_intf intf; + void *intf_ptr; + BHI360_INTF_RET_TYPE intf_rslt; + uint32_t read_write_len; +}; + +enum bhi360_fifo_type { + BHI360_FIFO_TYPE_WAKEUP, + BHI360_FIFO_TYPE_NON_WAKEUP, + BHI360_FIFO_TYPE_STATUS, + BHI360_FIFO_TYPE_MAX +}; + +struct BHI360_PACKED bhi360_fifo_parse_data_info +{ + uint8_t sensor_id; + enum bhi360_fifo_type fifo_type; + uint8_t data_size; + uint8_t *data_ptr; + uint64_t *time_stamp; +}; + +typedef void (*bhi360_fifo_parse_callback_t)(const struct bhi360_fifo_parse_data_info *callback_info, + void *private_data); + +struct BHI360_PACKED bhi360_fifo_parse_callback_table +{ + uint8_t sensor_id; + bhi360_fifo_parse_callback_t callback; + void *callback_ref; +}; + +/* Device structure */ +struct bhi360_dev +{ + struct bhi360_hif_dev hif; + struct bhi360_fifo_parse_callback_table table[BHI360_MAX_SIMUL_SENSORS]; + uint8_t event_size[BHI360_N_VIRTUAL_SENSOR_MAX]; + uint64_t last_time_stamp[BHI360_FIFO_TYPE_MAX]; + uint8_t present_buff[32]; + uint8_t phy_present_buff[8]; +}; + +struct bhi360_fifo_buffer +{ + uint32_t read_pos; + uint32_t read_length; + uint32_t remain_length; + uint32_t buffer_size; + uint8_t *buffer; +}; + +typedef int16_t (*bhi360_frame_parse_func_t)(struct bhi360_fifo_buffer *p_fifo_buffer, struct bhi360_dev *bhi360_p); + +struct bhi360_virt_sensor_conf +{ + uint16_t sensitivity; + uint16_t range; + uint32_t latency; + bhi360_float sample_rate; +}; + +union BHI360_PACKED bhi360_spt_dev_id +{ + uint8_t slave_address; + uint8_t cs_pin; +}; + +struct BHI360_PACKED bhi360_spt_bits +{ + /*! byte 1 */ + uint8_t direction : 1; /**< 0: read; 1: write. */ + uint8_t trans_type : 1; /**< 0: single burst; 1:multi single transfers. */ + uint8_t delay_ctrl : 1; /**< 0: none; 1: delay between bytes. */ + uint8_t master_bus : 2; /**< 1: SIF1; 2: SIF2; 3:SIF3. */ + uint8_t spi_mode : 1; /**< 0: 4 wire; 1: 3 wire. */ + uint8_t cpol : 1; /**< spi clock polarity. */ + uint8_t cpha : 1; /**< spi clock phase. */ + /*! byte 2 */ + uint8_t delay_val : 6; /**< multiples of 50us. min is 200us (4LSB) */ + uint8_t cs_level : 1; /**< chip select level. */ + uint8_t lsb_first : 1; /**< least significant byte first. */ + /*! byte 3~4 */ + uint16_t trans_rate; /**< spi clock rate. */ + /*! byte 5 */ + uint8_t address_shift : 4; /**< number of bits to shift register address. */ + uint8_t read_bit_pol : 1; /**< 0: active low; 1: active high. */ + uint8_t read_bit_pos : 3; /**< bit number of read bit in command byte. */ + /*! byte 6 */ + union bhi360_spt_dev_id func_set; + + /*! byte 7 */ + uint8_t trans_count; + + /*! byte 8 */ + uint8_t reg; +}; + +union bhi360_soft_passthrough_conf +{ + struct bhi360_spt_bits conf; + uint8_t data[8]; +}; + +union bhi360_u16_conv +{ + uint16_t u16_val; + uint8_t bytes[2]; +}; +union bhi360_u32_conv +{ + uint32_t u32_val; + uint8_t bytes[4]; +}; +union bhi360_float_conv +{ + bhi360_float f_val; + uint32_t u32_val; + uint8_t bytes[4]; +}; + +struct bhi360_self_test_resp +{ + uint8_t test_status; + int16_t x_offset, y_offset, z_offset; +}; + +struct bhi360_foc_resp +{ + uint8_t foc_status; + int16_t x_offset, y_offset, z_offset; +}; + +enum bhi360_data_inj_mode { + BHI360_NORMAL_MODE = 0, + BHI360_REAL_TIME_INJECTION = 1, + BHI360_STEP_BY_STEP_INJECTION = 2 +}; + +#define BHI360_BYTE_TO_NIBBLE(X) (((uint8_t)(X)[0] & 0x0F) | (((uint8_t)(X)[1] << 4) & 0xF0)) + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data.c new file mode 100644 index 0000000..6703a74 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data.c @@ -0,0 +1,211 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_event_data.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_event_data.h" +// #include "bhi360_hif.h" +#include "../bhi260x/bhy2_hif.h" + +/** + * @brief Function to parse FIFO frame data into 3 axes vector + * @param[in] data : Reference to the data buffer storing data from the FIFO + * @param[out] vector : Reference to the data buffer to store vector + */ +void bhi360_event_data_parse_xyz(const uint8_t *data, struct bhi360_event_data_xyz *vector) +{ + vector->x = BHY2_LE2S16(data); + vector->y = BHY2_LE2S16(data + 2); + vector->z = BHY2_LE2S16(data + 4); +} + +/** + * @brief Function to parse FIFO frame data into quaternion + * @param[in] data : Reference to the data buffer storing data from the FIFO + * @param[out] quaternion : Reference to the data buffer to store quaternion + */ +void bhi360_event_data_parse_quaternion(const uint8_t *data, struct bhi360_event_data_quaternion *quaternion) +{ + quaternion->x = BHY2_LE2S16(data); + quaternion->y = BHY2_LE2S16(data + 2); + quaternion->z = BHY2_LE2S16(data + 4); + quaternion->w = BHY2_LE2S16(data + 6); + quaternion->accuracy = BHY2_LE2U16(data + 8); +} + +/** + * @brief Function to parse FIFO frame data into orientation + * @param[in] data : Reference to the data buffer storing data from the FIFO + * @param[out] orientation : Reference to the data buffer to store orientation + */ +void bhi360_event_data_parse_orientation(const uint8_t *data, struct bhi360_event_data_orientation *orientation) +{ + orientation->heading = BHY2_LE2S16(data); + orientation->pitch = BHY2_LE2S16(data + 2); + orientation->roll = BHY2_LE2S16(data + 4); +} + +/*! + * @brief Parsing the FIFO data to Head Orientation Quaternion output format + * + * @param[in] payload Reference to FIFO data + * @param[out] data Reference to store Head Orientation [Quaternion] data + * + * @return API error codes + * + */ +void bhi360_event_data_head_orientation_quat_parsing(const uint8_t *payload, + bhi360_event_data_head_orientation_quat *data) +{ + uint8_t i = 0; + + if ((payload != NULL) && (data != NULL)) + { + data->x = BHY2_LE2S16(&payload[i]); + i += 2; + data->y = BHY2_LE2S16(&payload[i]); + i += 2; + data->z = BHY2_LE2S16(&payload[i]); + i += 2; + data->w = BHY2_LE2S16(&payload[i]); + } +} + +/*! + * @brief Parsing the FIFO data to Head Orientation Euler output format + * + * @param[in] payload Reference to FIFO data + * @param[out] data Reference to store Head Orientation [Euler] data + * + * @return API error codes + * + */ +void bhi360_event_data_head_orientation_eul_parsing(const uint8_t *payload, + bhi360_event_data_head_orientation_eul *data) +{ + uint8_t i = 0; + + if ((payload != NULL) && (data != NULL)) + { + data->heading = BHY2_LE2S16(&payload[i]); + i += 2; + data->pitch = BHY2_LE2S16(&payload[i]); + i += 2; + data->roll = BHY2_LE2S16(&payload[i]); + } +} + +/*! + * @brief Parsing the fifo data to Multi Tap output format + * + * @param[in] data Multi Tap data + * @param[out] output Reference to store parameter data + * + * @return API error codes + * + */ +int8_t bhi360_event_data_multi_tap_parsing(const uint8_t *data, uint8_t* output) +{ + int8_t rslt = BHY2_OK; + + if ((data == NULL) || (output == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + *output = *data; + } + + return rslt; +} + +/*! + * @brief To parse Wrist Gesture Detection Data + * + * @param[in] data : Gesture Detection Data + * @param[out] Wrist : Gesture Detection Output Structure + * + * @return API error codes + * + */ +int8_t bhi360_event_data_wrist_gesture_detect_parsing(const uint8_t *data, + bhi360_event_data_wrist_gesture_detect_t *output) +{ + int8_t rslt = BHY2_OK; + + if ((data == NULL) || (output == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + output->wrist_gesture = (enum bhi360_event_data_wrist_gesture_activity)*(data); + } + + return rslt; +} + +/** + * @brief Parses the payload data and extracts the air quality information. + * + * @param[in] payload : Pointer to the payload data. + * @param[out] air_quality_data : Pointer to the `bhi360_event_data_iaq_output_t` structure where the extracted air quality + * data will be stored. + */ +void bhi360_event_data_parse_air_quality(const uint8_t *payload, bhi360_event_data_iaq_output_t *air_quality_data) +{ + uint8_t i = 0; + + if ((payload != NULL) && (air_quality_data != NULL)) + { + air_quality_data->iaq = BHY2_LE2U16(payload + i); + i += 2; + air_quality_data->siaq = BHY2_LE2U16(payload + i); + i += 2; + air_quality_data->voc = BHY2_LE2U16(payload + i); + i += 2; + air_quality_data->co2 = BHY2_LE2U24(payload + i); + i += 3; + air_quality_data->iaq_accuracy = payload[i]; + i += 1; + air_quality_data->comp_temperature = BHY2_LE2S16(payload + i); + i += 2; + air_quality_data->comp_humidity = BHY2_LE2U16(payload + i); + i += 2; + air_quality_data->raw_gas = BHY2_LE2U32(payload + i); + } +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data.h new file mode 100644 index 0000000..c08810a --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data.h @@ -0,0 +1,125 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_event_data.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_EVENT_DATA_H__ +#define __BHI360_EVENT_DATA_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_event_data_defs.h" + +/** + * @brief Function to parse FIFO frame data into quaternion + * @param[in] data : Reference to the data buffer storing data from the FIFO + * @param[out] quaternion : Reference to the data buffer to store quaternion + */ +void bhi360_event_data_parse_quaternion(const uint8_t *data, struct bhi360_event_data_quaternion *quaternion); + +/** + * @brief Function to parse FIFO frame data into orientation + * @param[in] data : Reference to the data buffer storing data from the FIFO + * @param[out] orientation : Reference to the data buffer to store orientation + */ +void bhi360_event_data_parse_orientation(const uint8_t *data, struct bhi360_event_data_orientation *orientation); + +/** + * @brief Function to parse FIFO frame data into 3 axes vector + * @param[in] data : Reference to the data buffer storing data from the FIFO + * @param[out] vector : Reference to the data buffer to store vector + */ +void bhi360_event_data_parse_xyz(const uint8_t *data, struct bhi360_event_data_xyz *vector); + +/** + * @brief Parses the payload and extracts the head orientation quaternion data. + * + * @param[in] payload : The payload containing the head orientation quaternion data. + * @param[out] data : Pointer to the structure where the extracted data will be stored. + */ +void bhi360_event_data_head_orientation_quat_parsing(const uint8_t *payload, + bhi360_event_data_head_orientation_quat *data); + +/** + * @brief Parses the payload data and populates the head orientation euler data. + * + * @param[in] payload : Pointer to the payload data. + * @param[out] data : Pointer to the bhi360_event_data_head_orientation_eul structure to be populated. + */ +void bhi360_event_data_head_orientation_eul_parsing(const uint8_t *payload, + bhi360_event_data_head_orientation_eul *data); + +/*! + * @brief Parsing the fifo data to MULTI_TAP output structure format + * + * @param[in] data Multi Tap data + * @param[out] output Reference to store parameter data + * + * @return API error codes + * + */ +int8_t bhi360_event_data_multi_tap_parsing(const uint8_t *data, uint8_t *output); + +/*! + * @brief To parse Wrist Gesture Detection Data + * + * @param[in] data : Gesture Detection Data + * @param[out] Wrist : Gesture Detection Output Structure + * + * @return API error codes + * + */ +int8_t bhi360_event_data_wrist_gesture_detect_parsing(const uint8_t *data, + bhi360_event_data_wrist_gesture_detect_t *output); + +/** + * @brief Parses the payload data and extracts the air quality information. + * + * @param[in] payload : Pointer to the payload data. + * @param[out] air_quality_data : Pointer to the `bhi360_event_data_iaq_output_t` structure where the extracted air quality + * data will be stored. + */ +void bhi360_event_data_parse_air_quality(const uint8_t *payload, bhi360_event_data_iaq_output_t *air_quality_data); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_EVENT_DATA_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data_defs.h new file mode 100644 index 0000000..302ce5a --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_event_data_defs.h @@ -0,0 +1,151 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_event_data_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_EVENT_DATA_DEFS_H__ +#define __BHI360_EVENT_DATA_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include +#include + +#ifndef BHI360_PACKED +#define BHI360_PACKED __attribute__ ((__packed__)) +#endif + +struct bhi360_event_data_xyz { + int16_t x; + int16_t y; + int16_t z; +}; + +struct bhi360_event_data_quaternion { + int16_t x; + int16_t y; + int16_t z; + int16_t w; + uint16_t accuracy; +}; + +struct bhi360_event_data_orientation { + int16_t heading; + int16_t pitch; + int16_t roll; +}; + +/*! Sensor Structure for Head Orientation Quaternion */ +typedef struct { + int16_t x; + int16_t y; + int16_t z; + int16_t w; +} BHI360_PACKED bhi360_event_data_head_orientation_quat; + +/*! Sensor Structure for Head Orientation Euler */ +typedef struct { + int16_t heading; + int16_t pitch; + int16_t roll; +} BHI360_PACKED bhi360_event_data_head_orientation_eul; + +/*! + * Multi Tap Setting. + */ +typedef enum { + BHI360_NO_TAP, + BHI360_SINGLE_TAP, + BHI360_DOUBLE_TAP, + BHI360_DOUBLE_SINGLE_TAP, + BHI360_TRIPLE_TAP, + BHI360_TRIPLE_SINGLE_TAP, + BHI360_TRIPLE_DOUBLE_TAP, + BHI360_TRIPLE_DOUBLE_SINGLE_TAP +} bhi360_event_data_multi_tap; + +/*! + * Multi Tap Output. + */ +static const char *const bhi360_event_data_multi_tap_string_out[] = { + "NO_TAP", + "SINGLE_TAP", + "DOUBLE_TAP", + "DOUBLE_SINGLE_TAP", + "TRIPLE_TAP", + "TRIPLE_SINGLE_TAP", + "TRIPLE_DOUBLE_TAP", + "TRIPLE_DOUBLE_SINGLE_TAP" +}; + +enum bhi360_event_data_wrist_gesture_activity { + BHI360_NO_GESTURE, + BHI360_WRIST_SHAKE_JIGGLE = 0x03, + BHI360_FLICK_IN, + BHI360_FLICK_OUT +}; + +typedef struct bhi360_event_data_wrist_gesture_detect { + enum bhi360_event_data_wrist_gesture_activity wrist_gesture; +} __attribute__ ((packed)) bhi360_event_data_wrist_gesture_detect_t; + +static const char *const bhi360_event_data_wrist_gesture_detect_output[] = { + "NO_GESTURE", + "WRIST_SHAKE_JIGGLE", + "FLICK_IN", + "FLICK_OUT" +}; + +typedef struct { + uint16_t iaq; + uint16_t siaq; + uint16_t voc; + uint32_t co2; + uint8_t iaq_accuracy; + int16_t comp_temperature; + uint16_t comp_humidity; + uint32_t raw_gas; +} BHI360_PACKED bhi360_event_data_iaq_output_t; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_EVENT_DATA_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param.c new file mode 100644 index 0000000..35ff7a4 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param.c @@ -0,0 +1,526 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_head_orientation_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +/*********************************************************************/ +/* system header files */ +/*********************************************************************/ +#include +#include + +/*********************************************************************/ +/* BHY SensorAPI header files */ +/*********************************************************************/ +// #include "bhi360.h" +#include "../bhi260x/bhy2.h" + +/*********************************************************************/ +/* own header files */ +/*********************************************************************/ +#include "bhi360_head_orientation_param.h" + +#define BHI360_ROUND_UP_4_MUL(x) (((x) % 4) ? (uint16_t)((((x) / 4) + 1) * \ + 4) : (uint16_t)(x)) + +/*lint -e506 */ + +/*! + * @brief To trigger the Head Misalignment Calibration + * + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_trigger_hmc_calibration(struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_TRIGGER_CALIB_ID; + uint8_t trig_set[BHI360_HEAD_ORIENTATION_PARAM_HMC_TRIGGER_CALIB_LENGTH] = { 0 }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + trig_set[0] = BHI360_HEAD_ORIENTATION_PARAM_HMC_TRIGGER_CALIB_SET; + rslt = bhy2_set_parameter(param_id, + (const uint8_t*)trig_set, + BHI360_HEAD_ORIENTATION_PARAM_HMC_TRIGGER_CALIB_LENGTH, + dev); + } + + return rslt; +} + +/*! + * @brief To set the Head Misalignment Calibration Configuration + * + * @param[in] config Reference to hold the Head Misalignment Calibration Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_hmc_configuration( + const bhi360_head_orientation_param_misalignment_config *config, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_CONFIG_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_set_parameter(param_id, + (const uint8_t*)config, + BHI360_HEAD_ORIENTATION_PARAM_HMC_CONFIG_LENGTH, + dev); + } + + return rslt; +} + +/*! + * @brief To get the Head Misalignment Calibration Configuration + * + * @param[out] config Reference to hold the Head Misalignment Calibration Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_configuration(bhi360_head_orientation_param_misalignment_config *config, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t act_len; + uint8_t buffer[BHI360_HEAD_ORIENTATION_PARAM_HMC_CONFIG_LENGTH] = { 0U }; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_CONFIG_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, buffer, BHI360_HEAD_ORIENTATION_PARAM_HMC_CONFIG_LENGTH, &act_len, dev); + if (rslt == BHY2_OK) + { + config->still_phase_max_dur = buffer[0]; + config->still_phase_min_dur = buffer[1]; + config->still_phase_max_samples = buffer[2]; + config->acc_diff_threshold = BHI360_LE2S32(&buffer[3]); + } + } + + return rslt; +} + +/*! + * @brief To set Head Misalignment Calibration Configuration to default + * + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_default_hmc_cfg(struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_SET_DEF_CONFIG_ID; + uint8_t default_set[BHI360_HEAD_ORIENTATION_PARAM_HMC_SET_DEF_CONFIG_LENGTH] = { 0 }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + default_set[0] = BHI360_HEAD_ORIENTATION_PARAM_HMC_SET_DEF_CONFIG_SET; + rslt = bhy2_set_parameter(param_id, + (const uint8_t*)default_set, + BHI360_HEAD_ORIENTATION_PARAM_HMC_SET_DEF_CONFIG_LENGTH, + dev); + } + + return rslt; +} + +/*! + * @brief To get the Head Misalignment Calibrator Version + * + * @param[out] hmc_version Reference to hold the Head Misalignment Calibrator Version + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_version(bhi360_head_orientation_param_ver *hmc_version, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t act_len; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_VERSION_ID; + + if ((hmc_version == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, + (uint8_t*)hmc_version, + BHI360_HEAD_ORIENTATION_PARAM_HMC_VERSION_LENGTH, + &act_len, + dev); + } + + return rslt; +} + +/*! + * @brief To set the Head Misalignment Quaternion Calibration Correction Configuration + * + * @param[in] config Reference to hold the Head Misalignment Quaternion Calibration Correction Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_hmc_quat_cal_cor_cfg( + const bhi360_head_orientation_param_misalignment_quat_corr *config, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_set_parameter(param_id, + (uint8_t*)config, + BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_WLENGTH, + dev); + } + + return rslt; +} + +/*! + * @brief To get the Head Misalignment Quaternion Calibration Correction Configuration + * + * @param[out] config Reference to hold the Head Misalignment Quaternion Calibration Correction Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_quat_cal_cor_cfg( + bhi360_head_orientation_param_misalignment_quat_corr *config, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t act_len; + uint8_t buffer[BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_RLENGTH] = { 0U }; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, + buffer, + BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_RLENGTH, + &act_len, + dev); + if (rslt == BHY2_OK) + { + config->quaternion_x.u32_val = BHY2_LE2U32(&buffer[0]); + config->quaternion_y.u32_val = BHY2_LE2U32(&buffer[4]); + config->quaternion_z.u32_val = BHY2_LE2U32(&buffer[8]); + config->quaternion_w.u32_val = BHY2_LE2U32(&buffer[12]); + config->accuracy.u32_val = BHY2_LE2U32(&buffer[16]); + } + } + + return rslt; +} + +/*! + * @brief To set the Head Misalignment Mode and Vector X value + * + * @param[in] config Reference to hold the Head Misalignment Mode and Vector X value + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_hmc_mode_vector_x(const bhi360_head_misalignment_mode_vector_x *config, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_PARAM_SET_MODE_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_set_parameter(param_id, + (const uint8_t*)config, + BHI360_ROUND_UP_4_MUL(BHI360_HEAD_ORIENTATION_PARAM_HMC_PARAM_SET_MODE_LENGTH), + dev); + } + + return rslt; +} + +/*! + * @brief To get the Head Misalignment Mode and Vector X value + * + * @param[out] config Reference to hold the Head Misalignment Mode and Vector X value + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_mode_vector_x(bhi360_head_misalignment_mode_vector_x *config, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t act_len; + uint8_t buffer[BHI360_ROUND_UP_4_MUL(BHI360_HEAD_ORIENTATION_PARAM_HMC_PARAM_SET_MODE_LENGTH)] = { 0U }; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_HMC_PARAM_SET_MODE_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_get_parameter(param_id, + buffer, + BHI360_ROUND_UP_4_MUL(BHI360_HEAD_ORIENTATION_PARAM_HMC_PARAM_SET_MODE_LENGTH), + &act_len, + dev); + if (rslt == BHY2_OK) + { + config->mode = buffer[0]; + config->vector_x_0.u32_val = BHY2_LE2U32(&buffer[1]); + config->vector_x_1.u32_val = BHY2_LE2U32(&buffer[5]); + config->vector_x_2.u32_val = BHY2_LE2U32(&buffer[9]); + } + } + + return rslt; +} + +/*! + * @brief To set the Head Misalignment Quaternion Initial Head Correction + * + * @param[in] config Reference to hold the Head Misalignment Quaternion Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_quat_init_head_corr(const uint8_t *config, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + + BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_set_parameter(param_id, config, BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_LENGTH, dev); + } + + return rslt; +} + +/*! + * @brief To get the Head Misalignment Quaternion Initial Head Correction + * + * @param[out] config Reference to hold the Head Misalignment Quaternion Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_quat_init_head_corr(uint8_t *config, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t act_len; + uint8_t buffer[BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_LENGTH] = { 0U }; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + + BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, + buffer, + BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_LENGTH, + &act_len, + dev); + if (rslt == BHY2_OK) + { + *config = buffer[0]; + } + } + + return rslt; +} + +/*! + * @brief To get the IMU/NDOF Head Orientation Version + * + * @param[out] ho_version Reference to hold the IMU/NDOF Head Orientation Version + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_ho_version(bhi360_head_orientation_param_ver *ho_version, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t act_len; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + BHI360_HEAD_ORIENTATION_PARAM_VERSION_ID; + + if ((ho_version == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, + (uint8_t*)ho_version, + BHI360_HEAD_ORIENTATION_PARAM_VERSION_LENGTH, + &act_len, + dev); + } + + return rslt; +} + +/*! + * @brief To set the Head Misalignment Euler Initial Head Correction + * + * @param[in] config Reference to hold the Head Misalignment Euler Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_eul_init_head_corr(const uint8_t *config, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + + BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_set_parameter(param_id, + (const uint8_t*)config, + BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_LENGTH, + dev); + } + + return rslt; +} + +/*! + * @brief To get the Head Misalignment Euler Initial Head Correction + * + * @param[out] config Reference to hold the Head Misalignment Euler Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_eul_init_head_corr(uint8_t *config, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t act_len; + uint8_t buffer[BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_LENGTH] = { 0U }; + uint16_t param_id = BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE + + BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_ID; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_get_parameter(param_id, + buffer, + BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_LENGTH, + &act_len, + dev); + if (rslt == BHY2_OK) + { + *config = buffer[0]; + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param.h new file mode 100644 index 0000000..8d9f227 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param.h @@ -0,0 +1,223 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_head_orientation_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef _BHI360_HEAD_ORIENTATION_PARAM_H_ +#define _BHI360_HEAD_ORIENTATION_PARAM_H_ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include +#include +#include + +// #include "bhi360.h" +#include "../bhi260x/bhy2.h" +#include "bhi360_head_orientation_param_defs.h" + +/*! + * @brief To trigger the Head Misalignment Calibration + * + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_trigger_hmc_calibration(struct bhy2_dev *dev); + +/*! + * @brief To set the Head Misalignment Calibration Configuration + * + * @param[in] config Reference to hold the Head Misalignment Calibration Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_hmc_configuration( + const bhi360_head_orientation_param_misalignment_config *config, + struct bhy2_dev *dev); + +/*! + * @brief To get the Head Misalignment Calibration Configuration + * + * @param[out] config Reference to hold the Head Misalignment Calibration Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_configuration(bhi360_head_orientation_param_misalignment_config *config, + struct bhy2_dev *dev); + +/*! + * @brief To set Head Misalignment Calibration Configuration to default + * + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_default_hmc_cfg(struct bhy2_dev *dev); + +/*! + * @brief To get the Head Misalignment Calibrator Version + * + * @param[out] hmc_version Referenceto hold the Head Misalignment Calibrator Version + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_version(bhi360_head_orientation_param_ver *hmc_version, + struct bhy2_dev *dev); + +/*! + * @brief To set the Head Misalignment Quaternion Calibration Correction Configuration + * + * @param[in] config Reference to hold the Head Misalignment Quaternion Calibration Correction Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_hmc_quat_cal_cor_cfg( + const bhi360_head_orientation_param_misalignment_quat_corr *config, + struct bhy2_dev *dev); + +/*! + * @brief To get the Head Misalignment Quaternion Calibration Correction Configuration + * + * @param[out] config Reference to hold the Head Misalignment Quaternion Calibration Correction Configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_quat_cal_cor_cfg( + bhi360_head_orientation_param_misalignment_quat_corr *config, + struct bhy2_dev *dev); + +/*! + * @brief To set the Head Misalignment Mode and Vector X value + * + * @param[in] config Reference to hold the Head Misalignment Mode and Vector X value + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_hmc_mode_vector_x(const bhi360_head_misalignment_mode_vector_x *config, + struct bhy2_dev *dev); + +/*! + * @brief To get the Head Misalignment Mode and Vector X value + * + * @param[out] config Reference to hold the Head Misalignment Mode and Vector X value + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_hmc_mode_vector_x(bhi360_head_misalignment_mode_vector_x *config, + struct bhy2_dev *dev); + +/*! + * @brief To set the Head Misalignment Quaternion Initial Head Correction + * + * @param[in] config Reference to hold the Head Misalignment Quaternion Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_quat_init_head_corr(const uint8_t* config, struct bhy2_dev *dev); + +/*! + * @brief To get the Head Misalignment Quaternion Initial Head Correction + * + * @param[out] config Reference to hold the Head Misalignment Quaternion Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_quat_init_head_corr(uint8_t *buffer, struct bhy2_dev *dev); + +/*! + * @brief To get the IMU/NDOF Head Orientation Version + * + * @param[out] ho_version Reference to hold the IMU/NDOF Head Orientation Version + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_ho_version(bhi360_head_orientation_param_ver *ho_version, + struct bhy2_dev *dev); + +/*! + * @brief To set the Head Misalignment Euler Initial Head Correction + * + * @param[in] config Reference to hold the Head Misalignment Euler Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_set_eul_init_head_corr(const uint8_t *config, struct bhy2_dev *dev); + +/*! + * @brief To get the Head Misalignment Euler Initial Head Correction + * + * @param[out] config Reference to hold the Head Misalignment Euler Initial Head Correction + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_head_orientation_param_get_eul_init_head_corr(uint8_t *config, struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* _BHI360_HEAD_ORIENTATION_PARAM_H_ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param_defs.h new file mode 100644 index 0000000..f02acda --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_head_orientation_param_defs.h @@ -0,0 +1,149 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_head_orientation_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef _BHI360_HEAD_ORIENTATION_PARAM_DEFS_H_ +#define _BHI360_HEAD_ORIENTATION_PARAM_DEFS_H_ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include +#include +#include + +#include "bhi360_defs.h" + +/*! Virtual Sensor Macros */ +#define BHI360_SENSOR_ID_HEAD_ORI_MIS_ALG UINT8_C(120) /*Head Orientation + * Misalignment*/ +#define BHI360_SENSOR_ID_IMU_HEAD_ORI_Q UINT8_C(121) /*IMU Head + * Orientation + * Quaternion*/ +#define BHI360_SENSOR_ID_NDOF_HEAD_ORI_Q UINT8_C(122) /*NDOF Head + * Orientation + * Quaternion*/ +#define BHI360_SENSOR_ID_IMU_HEAD_ORI_E UINT8_C(123) /*IMU Head + * Orientation + * Euler*/ +#define BHI360_SENSOR_ID_NDOF_HEAD_ORI_E UINT8_C(124) /*NDOF Head + * Orientation + * Euler*/ + +#define BHI360_HEAD_ORIENTATION_PARAM_PAGE_BASE UINT16_C(0xC00) + +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_TRIGGER_CALIB_ID UINT8_C(1) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_TRIGGER_CALIB_LENGTH UINT8_C(4) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_TRIGGER_CALIB_SET UINT8_C(1) + +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_CONFIG_ID UINT8_C(2) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_CONFIG_LENGTH UINT8_C(8) + +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_SET_DEF_CONFIG_ID UINT8_C(3) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_SET_DEF_CONFIG_LENGTH UINT8_C(4) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_SET_DEF_CONFIG_SET UINT8_C(1) + +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_VERSION_ID UINT8_C(4) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_VERSION_LENGTH UINT8_C(4) + +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_ID UINT8_C(5) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_WLENGTH UINT8_C(16) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_QUAT_CALIB_CORR_RLENGTH UINT8_C(20) + +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_PARAM_SET_MODE_ID UINT8_C(6) +#define BHI360_HEAD_ORIENTATION_PARAM_HMC_PARAM_SET_MODE_LENGTH UINT8_C(13) + +#define BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_ID UINT8_C(10) +#define BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_LENGTH UINT8_C(4) +#define BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_DISABLE UINT8_C(0) +#define BHI360_HEAD_ORIENTATION_PARAM_QUAT_INITIAL_HEAD_CORR_ENABLE UINT8_C(1) + +#define BHI360_HEAD_ORIENTATION_PARAM_VERSION_ID UINT8_C(11) +#define BHI360_HEAD_ORIENTATION_PARAM_VERSION_LENGTH UINT8_C(4) + +#define BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_ID UINT8_C(12) +#define BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_LENGTH UINT8_C(4) +#define BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_DISABLE UINT8_C(0) +#define BHI360_HEAD_ORIENTATION_PARAM_EUL_INITIAL_HEAD_CORR_ENABLE UINT8_C(1) + +/*! Structure for Head Misalignment Configuration */ +typedef struct +{ + uint8_t still_phase_max_dur; + uint8_t still_phase_min_dur; + uint8_t still_phase_max_samples; + int32_t acc_diff_threshold; + uint8_t reserved; +} BHI360_PACKED bhi360_head_orientation_param_misalignment_config; + +/*! Structure for Head Orientation /Head Misalignment version */ +typedef struct +{ + uint8_t major; + uint8_t minor; + uint8_t patch; + uint8_t reserved; +} BHI360_PACKED bhi360_head_orientation_param_ver; + +/*! Structure for Head Misalignment Quaternion Correction */ +typedef struct +{ + union bhi360_float_conv quaternion_x; + union bhi360_float_conv quaternion_y; + union bhi360_float_conv quaternion_z; + union bhi360_float_conv quaternion_w; + union bhi360_float_conv accuracy; +} BHI360_PACKED bhi360_head_orientation_param_misalignment_quat_corr; + +/*! Structure for Head Misalignment Mode and Vector X value */ +typedef struct +{ + uint8_t mode; + union bhi360_float_conv vector_x_0; + union bhi360_float_conv vector_x_1; + union bhi360_float_conv vector_x_2; + uint8_t reserved[3]; +} BHI360_PACKED bhi360_head_misalignment_mode_vector_x; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* _BHI360_HEAD_ORIENTATION_PARAM_DEFS_H_ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_hif.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_hif.c new file mode 100644 index 0000000..d0ac868 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_hif.c @@ -0,0 +1,292 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_hif.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_hif.h" + +/*! Mask definitions for SPI read/write address */ +#define BHI360_SPI_RD_MASK UINT8_C(0x80) +#define BHI360_SPI_WR_MASK UINT8_C(0x7F) + +union bhi360_hif_float_u32 +{ + bhi360_float as_float; + uint32_t reg; +}; + +static void bhi360_hif_exec_cmd_generic_support(const uint16_t *cmd, + uint8_t *cmd_buf, + uint32_t *temp_length, + uint32_t *total_length, + const uint32_t *len, + const uint32_t *pre_len, + const uint32_t *cmd_len) +{ + *total_length = *pre_len + *len; + + if (*cmd_len) + { + *temp_length = *pre_len + *cmd_len; + } + else + { + *temp_length = *total_length; + } + + /* Align 4 bytes */ + if (*temp_length % 4) + { + + *temp_length = BHI360_ROUND_WORD_HIGHER(*temp_length); + } + + cmd_buf[0] = (uint8_t)(*cmd & 0xFF); + cmd_buf[1] = (uint8_t)((*cmd >> 8) & 0xFF); + + /* Length in word */ + if (*cmd == BHI360_CMD_UPLOAD_TO_PROGRAM_RAM) + { + cmd_buf[2] = (*temp_length / 4) & 0xFF; + cmd_buf[3] = ((*temp_length / 4) >> 8) & 0xFF; + } + /* Length in byte */ + else + { + cmd_buf[2] = *temp_length & 0xFF; + cmd_buf[3] = (*temp_length >> 8) & 0xFF; + } +} + +/* + * If a command need several frames to upload to sensor, + * this command only be used in the first frame. + * + * |------------------------------------------------|---------------| + * |<-- frame one -->|<--frame two-->| + * |------------------------------------------------|---------------| + * | |<--pre_length-->|<--length-->| | + * |------------------|----------------|------------|---------------| + * | cmd | cmd_length | pre_payload | data 1 | data 2 | + * |-----------------------------------|------------|---------------| + * | payload | + * |------------|---------------| + * |<-- cmd_length -->| + * |----------------------------| + */ +int8_t bhi360_hif_exec_cmd_generic(uint16_t cmd, + const uint8_t *payload, + uint32_t length, + const uint8_t *pre_payload, + uint32_t pre_length, + uint32_t cmd_length, + struct bhy2_hif_dev *hif) +{ + int8_t rslt = BHI360_OK; + uint32_t remain, trans_len, copy_len, pos, total_len, temp_total_len, loop_remain_len, max_len; + uint8_t command_buf[BHI360_COMMAND_PACKET_LEN]; + + if ((hif != NULL) && !((length != 0) && (payload == NULL)) && !((pre_length != 0) && (pre_payload == NULL))) + { + if (hif->read_write_len != 0) + { + bhi360_hif_exec_cmd_generic_support(&cmd, + command_buf, + &temp_total_len, + &total_len, + &length, + &pre_length, + &cmd_length); + pos = BHI360_COMMAND_HEADER_LEN; + remain = total_len; + loop_remain_len = remain + pos; + max_len = BHI360_COMMAND_PACKET_LEN - BHI360_COMMAND_HEADER_LEN; + + if (hif->read_write_len < max_len) + { + max_len = hif->read_write_len; + } + + while ((loop_remain_len > 0) && (rslt == BHI360_OK)) + { + if ((remain + pos) > max_len) + { + trans_len = max_len; + copy_len = max_len - pos; + } + else + { + trans_len = remain + pos; + copy_len = remain; + + /* Align to 4 bytes */ + if (trans_len % 4) + { + + trans_len = BHI360_ROUND_WORD_HIGHER(trans_len); + } + + if (trans_len > (BHI360_COMMAND_PACKET_LEN - BHI360_COMMAND_HEADER_LEN)) + { + trans_len = BHI360_COMMAND_PACKET_LEN - BHI360_COMMAND_HEADER_LEN; + } + } + + if (copy_len > 0) + { + if (remain >= (length + copy_len)) + { + memcpy(&command_buf[pos], &pre_payload[total_len - remain], copy_len); + } + else if (remain > length) + { + memcpy(&command_buf[pos], &pre_payload[total_len - remain], remain - length); + memcpy(&command_buf[pos + remain - length], payload, copy_len - (remain - length)); + } + else + { + memcpy(&command_buf[pos], &payload[length - remain], copy_len); + } + } + + if ((trans_len - (pos + copy_len)) > 0) + { + memset(&command_buf[pos + copy_len], 0, BHI360_COMMAND_PACKET_LEN - (pos + copy_len)); + } + + rslt = bhy2_hif_set_regs(BHI360_REG_CHAN_CMD, command_buf, trans_len, hif); + if (rslt != BHI360_OK) + { + break; + } + + pos = 0; + remain -= copy_len; + loop_remain_len = remain; + } + } + else + { + rslt = BHI360_E_INVALID_PARAM; + } + } + else + { + rslt = BHI360_E_NULL_PTR; + } + + return rslt; +} + +static int8_t bhi360_hif_get_fifo(uint8_t reg, + uint8_t *fifo, + uint32_t fifo_len, + uint32_t *bytes_read, + uint32_t *bytes_remain, + struct bhy2_hif_dev *hif) +{ + return bhy2_hif_get_fifo(reg, fifo, fifo_len, bytes_read, bytes_remain, hif); +} + +int8_t bhi360_hif_exec_cmd(uint16_t cmd, const uint8_t *payload, uint32_t length, struct bhy2_hif_dev *hif) +{ + return bhi360_hif_exec_cmd_generic(cmd, payload, length, NULL, 0, 0, hif); +} + +int8_t bhi360_hif_get_nonwakeup_fifo(uint8_t *fifo, + uint32_t fifo_len, + uint32_t *bytes_read, + uint32_t *bytes_remain, + struct bhy2_hif_dev *hif) +{ + return bhi360_hif_get_fifo(BHI360_REG_CHAN_FIFO_NW, fifo, fifo_len, bytes_read, bytes_remain, hif); +} + +int8_t bhi360_hif_set_orientation_matrix(uint8_t sensor_id, + struct bhi360_system_param_orient_matrix orient_matrix, + struct bhy2_hif_dev *hif) +{ + int8_t rslt; + uint8_t tmp_matrix_buf[8]; /* Includes 2 reserved bytes */ + + memset(tmp_matrix_buf, 0, sizeof(tmp_matrix_buf)); + + tmp_matrix_buf[0] = BHY2_BYTE_TO_NIBBLE(&orient_matrix.c[0]); + tmp_matrix_buf[1] = BHY2_BYTE_TO_NIBBLE(&orient_matrix.c[2]); + tmp_matrix_buf[2] = BHY2_BYTE_TO_NIBBLE(&orient_matrix.c[4]); + tmp_matrix_buf[3] = BHY2_BYTE_TO_NIBBLE(&orient_matrix.c[6]); + tmp_matrix_buf[4] = orient_matrix.c[8] & 0x0F; + + rslt = bhy2_hif_set_parameter((uint16_t)(BHI360_PARAM_PHYSICAL_SENSOR_BASE + sensor_id), tmp_matrix_buf, 8, hif); + + return rslt; +} + +/*lint -e{715} suppressed parameters not referenced info as all the calling functions are parsing the valid values to + * all parameters*/ +int8_t bhi360_hif_set_inject_data_mode(const uint8_t *payload, + uint8_t payload_len, + const uint8_t *work_buf, + uint32_t work_buf_len, + const uint32_t *actual_len, + struct bhy2_hif_dev *hif) +{ + uint8_t tmp_buf; + int8_t rslt; + + rslt = bhy2_hif_get_regs(BHI360_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif); + if (rslt == BHI360_OK) + { + tmp_buf &= (uint8_t)(~(BHI360_HIF_CTRL_ASYNC_STATUS_CHANNEL)); + rslt = bhy2_hif_set_regs(BHI360_REG_HOST_INTERFACE_CTRL, &tmp_buf, 1, hif); + if (rslt == BHI360_OK) + { + /* Set injection mode */ + rslt = bhy2_hif_set_regs(BHI360_REG_CHAN_CMD, payload, payload_len, hif); + if (rslt != BHI360_OK) + { + rslt = BHI360_E_NULL_PTR; + } + } + } + + return rslt; +} + +int8_t bhi360_hif_inject_data(const uint8_t *payload, uint32_t payload_len, struct bhy2_hif_dev *hif) +{ + return bhi360_hif_exec_cmd(BHI360_CMD_INJECT_DATA, payload, payload_len, hif); +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_hif.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_hif.h new file mode 100644 index 0000000..072c24f --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_hif.h @@ -0,0 +1,139 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_hif.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_HIF_H__ +#define __BHI360_HIF_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_defs.h" +#include "bhi360_system_param_defs.h" +#include "bhi360_param_defs.h" +#include "../bhi260x/bhy2_defs.h" +#include "../bhi260x/bhy2_hif.h" +/** + * Function to execute a generic command + * @param[in] cmd : Command code + * @param[in] payload : Reference to the data buffer containing the command's payload + * @param[in] length : Length of the data buffer + * @param[in] pre_payload: Reference to the data buffer containing the command's pre-payload + * @param[in] pre_length : Length of the pre-payload + * @param[in] cmd_length : Length of command + * @param[in] hif : HIF device reference + * @return API error codes + */ +int8_t bhi360_hif_exec_cmd_generic(uint16_t cmd, + const uint8_t *payload, + uint32_t length, + const uint8_t *pre_payload, + uint32_t pre_length, + uint32_t cmd_length, + struct bhy2_hif_dev *hif); + +/** + * Function to execute a command + * @param[in] cmd : Command code + * @param[in] payload : Reference to the data buffer containing the command's payload + * @param[in] length : Length of the data buffer + * @param[in] hif : HIF device reference + * @return API error codes + */ +int8_t bhi360_hif_exec_cmd(uint16_t cmd, const uint8_t *payload, uint32_t length, struct bhy2_hif_dev *hif); + +/** + * @brief Function to get data from the Non-wake-up FIFO + * @param[out] fifo : Reference to the data buffer to store data from the FIFO + * @param[in] fifo_len : Length of the data buffer + * @param[out] bytes_read : Number of bytes read into the data buffer + * @param[out] bytes_remain : Bytes remaining in the sensor FIFO + * @param[in] hif : HIF device reference + * @return API error codes + */ +int8_t bhi360_hif_get_nonwakeup_fifo(uint8_t *fifo, + uint32_t fifo_len, + uint32_t *bytes_read, + uint32_t *bytes_remain, + struct bhy2_hif_dev *hif); + + /** + * @brief Function to get the orientation matrix of a virtual sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] orient_matrix : Reference to the data buffer to store the orientation matrix + * @param[in] hif : HIF device reference + * @return API error codes + */ +int8_t bhi360_hif_set_orientation_matrix(uint8_t sensor_id, + struct bhi360_system_param_orient_matrix orient_matrix, + struct bhy2_hif_dev *hif); + +/** + * @brief Function to set the data injection mode + * @param[in] payload : Reference to the data buffer containing the host injection mode + * @param[in] payload_len : Length of the data buffer + * @param[in/out] work_buf : Reference to the work buffer + * @param[in] work_buf_len : Length of the work buffer + * @param[out] actual_len : Expected length of the work buffer + * @param[in] hif : HIF device reference + * @return API error codes + */ +int8_t bhi360_hif_set_inject_data_mode(const uint8_t *payload, + uint8_t payload_len, + const uint8_t *work_buf, + uint32_t work_buf_len, + const uint32_t *actual_len, + struct bhy2_hif_dev *hif); + +/** + * @brief Function to inject data + * @param[in] payload : Reference to the data buffer + * @param[in] payload_len : Length of the data buffer + * @param[in] hif : HIF device reference + * @return API error codes + */ +int8_t bhi360_hif_inject_data(const uint8_t *payload, uint32_t payload_len, struct bhy2_hif_dev *hif); + + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_HIF_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param.c new file mode 100644 index 0000000..b75a67f --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param.c @@ -0,0 +1,231 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_multi_tap_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +/*********************************************************************/ +/* system header files */ +/*********************************************************************/ +#include +#include + +/*********************************************************************/ +/* BHI3 SensorAPI header files */ +/*********************************************************************/ + +/*********************************************************************/ +/* own header files */ +/*********************************************************************/ +#include "bhi360_multi_tap_param.h" +// #include "bhi360.h" + +#define BHI360_ROUND_UP_4_MUL(x) (((x) % 4) ? (uint16_t)((((x) / 4) + 1) * \ + 4) : (uint16_t)(x)) + +/*lint -e506, -e778*/ + +/*! + * @brief This API writes to the configuration parameter + * + * @param[in] conf Reference to store MULTI_TAP configuration + * @param[in] dev Device instance + * + * @return API error codes + */ +int8_t bhi360_multi_tap_param_set_config(const bhi360_event_data_multi_tap *conf, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_MULTI_TAP_PARAM_PAGE_BASE + BHI360_MULTI_TAP_PARAM_ENABLE_PARAM_ID; + + if ((conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_set_parameter(param_id, + (const uint8_t*)conf, + BHI360_ROUND_UP_4_MUL(BHI360_MULTI_TAP_PARAM_ENABLE_LENGTH), + dev); + } + + return rslt; +} + +/*! + * @brief To get the MULTI-TAP configuration parameters + * + * @param[out] conf Reference to store MULTI_TAP configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_multi_tap_param_get_config(bhi360_event_data_multi_tap *conf, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t ret_length; + uint16_t param_id = BHI360_MULTI_TAP_PARAM_PAGE_BASE + BHI360_MULTI_TAP_PARAM_ENABLE_PARAM_ID; + uint8_t buffer[BHI360_ROUND_UP_4_MUL(BHI360_MULTI_TAP_PARAM_ENABLE_LENGTH)] = { 0U }; + + if ((conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_get_parameter(param_id, + (uint8_t *)buffer, + BHI360_ROUND_UP_4_MUL(BHI360_MULTI_TAP_PARAM_ENABLE_LENGTH), + &ret_length, + dev); + + if (rslt == BHY2_OK) + { + *conf = (bhi360_event_data_multi_tap)buffer[0]; + } + else + { + /*! Invalid number of parameters readout */ + rslt = BHY2_E_INVALID_EVENT_SIZE; + } + } + + return rslt; +} + +/*! + * @brief This API writes to the tap detector configuration parameter + * + * @param[in] conf Reference to store MULTI_TAP Detector configuration + * @param[in] dev Device instance + * + * @return API error codes + */ +int8_t bhi360_multi_tap_param_detector_set_config(const bhi360_multi_tap_param_detector *conf, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint16_t param_id = BHI360_MULTI_TAP_PARAM_PAGE_BASE + BHI360_MULTI_TAP_PARAM_DETECTOR_CONFIG_PARAM_ID; + + if ((conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_set_parameter(param_id, + (const uint8_t*)conf, + BHI360_ROUND_UP_4_MUL(BHI360_MULTI_TAP_PARAM_DETECTOR_CONFIG_LENGTH), + dev); + } + + return rslt; +} + +/*! + * @brief To get the MULTI-TAP Detector configuration parameters + * + * @param[out] conf Reference to store MULTI_TAP Detector configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_multi_tap_param_detector_get_config(bhi360_multi_tap_param_detector *conf, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t ret_length; + uint16_t param_id = BHI360_MULTI_TAP_PARAM_PAGE_BASE + BHI360_MULTI_TAP_PARAM_DETECTOR_CONFIG_PARAM_ID; + uint8_t buffer[BHI360_ROUND_UP_4_MUL(BHI360_MULTI_TAP_PARAM_DETECTOR_CONFIG_LENGTH)] = { 0U }; + + if ((conf == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_get_parameter(param_id, + buffer, + BHI360_ROUND_UP_4_MUL(BHI360_MULTI_TAP_PARAM_DETECTOR_CONFIG_LENGTH), + &ret_length, + dev); + + if (rslt == BHY2_OK) + { + conf->stap_setting.as_s.axis_sel = + ((uint16_t)buffer[0] & BHI360_MULTI_TAP_PARAM_SINGLE_TAP_AXIS_SEL_MASK) >> + BHI360_MULTI_TAP_PARAM_SINGLE_TAP_AXIS_SEL_SHIFT; + conf->stap_setting.as_s.wait_for_timeout = + (((uint16_t)buffer[0] & BHI360_MULTI_TAP_PARAM_SINGLE_TAP_WAIT_TIMEOUT_MASK) >> + BHI360_MULTI_TAP_PARAM_SINGLE_TAP_WAIT_TIMEOUT_SHIFT); + conf->stap_setting.as_s.max_peaks_for_tap = + (((uint16_t)buffer[0] & BHI360_MULTI_TAP_PARAM_SINGLE_TAP_MAX_PEAKS_FOR_TAP_MASK) >> + BHI360_MULTI_TAP_PARAM_SINGLE_TAP_MAX_PEAKS_FOR_TAP_SHIFT); + conf->stap_setting.as_s.mode = + (((uint16_t)buffer[0] & BHI360_MULTI_TAP_PARAM_SINGLE_TAP_FILTER_MODE_MASK) >> + BHI360_MULTI_TAP_PARAM_SINGLE_TAP_FILTER_MODE_SHIFT); + conf->dtap_setting.as_s.tap_peak_thres = + (BHY2_LE2U16(&buffer[2]) & BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_TAP_PEAK_DUR_MASK) >> + BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_TAP_PEAK_DUR_SHIFT; + conf->dtap_setting.as_s.max_gesture_dur = + ((BHY2_LE2U16(&buffer[2]) & BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_MAX_GES_DUR_MASK) >> + BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_MAX_GES_DUR_SHIFT); + conf->ttap_setting.as_s.max_dur_between_peaks = + ((uint16_t)buffer[4] & BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MAX_DUR_BW_PEAKS_MASK) >> + BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MAX_DUR_BW_PEAKS_SHIFT; + conf->ttap_setting.as_s.tap_shock_settling_dur = + (((uint16_t)buffer[4] & BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_TAP_SHOCK_SETL_DUR_MASK) >> + BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_TAP_SHOCK_SETL_DUR_SHIFT); + conf->ttap_setting.as_s.min_quite_dur_between_taps = + ((uint16_t)buffer[5] & BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MIN_QT_DUR_BW_PEAKS_MASK) >> + BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MIN_QT_DUR_BW_PEAKS_SHIFT; + conf->ttap_setting.as_s.quite_time_after_gesture = + (((uint16_t)buffer[5] & BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_QT_TM_AFTER_GESTURE_MASK) >> + BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_QT_TM_AFTER_GESTURE_SHIFT); + } + else + { + /*! Invalid number of parameters readout */ + rslt = BHY2_E_INVALID_EVENT_SIZE; + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param.h new file mode 100644 index 0000000..9709943 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param.h @@ -0,0 +1,99 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_multi_tap_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef _BHI360_MULTI_TAP_PARAM_H_ +#define _BHI360_MULTI_TAP_PARAM_H_ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include +#include +#include "../bhi260x/bhy2.h" +#include "bhi360_multi_tap_param_defs.h" + +/*! + * @brief To set the MULTI_TAP configuration parameters + * @param[in] conf Reference to store MULTI_TAP configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_multi_tap_param_set_config(const bhi360_event_data_multi_tap *conf, struct bhy2_dev *dev); + +/*! + * @brief To get the MULTI_TAP configuration parameters + * + * @param[out] conf Reference to store MULTI_TAP configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_multi_tap_param_get_config(bhi360_event_data_multi_tap *conf, struct bhy2_dev *dev); + +/*! + * @brief To set the MULTI_TAP Detector configuration parameters + * @param[in] conf Reference to store MULTI_TAP Detector configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_multi_tap_param_detector_set_config(const bhi360_multi_tap_param_detector *conf, struct bhy2_dev *dev); + +/*! + * @brief To get the MULTI_TAP Detector configuration parameters + * + * @param[out] conf Reference to store MULTI_TAP Detector configuration + * @param[in] dev Device instance + * + * @return API error codes + * + */ +int8_t bhi360_multi_tap_param_detector_get_config(bhi360_multi_tap_param_detector *conf, struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* _BHI360_MULTI_TAP_PARAM_H_ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param_defs.h new file mode 100644 index 0000000..c42507f --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_multi_tap_param_defs.h @@ -0,0 +1,168 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_multi_tap_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef _BHI360_MULTI_TAP_PARAM_DEFS_H_ +#define _BHI360_MULTI_TAP_PARAM_DEFS_H_ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include +#include + +#include "bhi360_defs.h" +#include "bhi360_event_data.h" + +/*! Sensor ID for Multi-Tap */ +#define BHI360_SENSOR_ID_MULTI_TAP UINT8_C(153) + +/*! Multi-Tap Parameter Page Base Address*/ +#define BHI360_MULTI_TAP_PARAM_PAGE_BASE UINT16_C(0xD00) + +/*! Multi-Tap Configuration pages */ +#define BHI360_MULTI_TAP_PARAM_ENABLE_PARAM_ID UINT8_C(0x01) +#define BHI360_MULTI_TAP_PARAM_DETECTOR_CONFIG_PARAM_ID UINT8_C(0x02) + +#define BHI360_MULTI_TAP_PARAM_ENABLE_LENGTH UINT8_C(4) +#define BHI360_MULTI_TAP_PARAM_DETECTOR_CONFIG_LENGTH UINT8_C(6) + +#define BHI360_MULTI_TAP_PARAM_AXIS_SEL_X UINT8_C(0) +#define BHI360_MULTI_TAP_PARAM_AXIS_SEL_Y UINT8_C(1) +#define BHI360_MULTI_TAP_PARAM_AXIS_SEL_Z UINT8_C(2) + +#define BHI360_MULTI_TAP_PARAM_WAIT_TIMEOUT_DISABLE UINT8_C(0) +#define BHI360_MULTI_TAP_PARAM_WAIT_TIMEOUT_ENABLE UINT8_C(1) + +#define BHI360_MULTI_TAP_PARAM_FILTER_MODE_SENSITIVE UINT8_C(0) +#define BHI360_MULTI_TAP_PARAM_FILTER_MODE_NORMAL UINT8_C(1) +#define BHI360_MULTI_TAP_PARAM_FILTER_MODE_ROBUST UINT8_C(2) + +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_AXIS_SEL_MASK 0x03 +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_WAIT_TIMEOUT_MASK 0x04 +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_MAX_PEAKS_FOR_TAP_MASK 0x38 +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_FILTER_MODE_MASK 0xC0 + +#define BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_TAP_PEAK_DUR_MASK 0x03FF +#define BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_MAX_GES_DUR_MASK 0xFC00 + +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MAX_DUR_BW_PEAKS_MASK 0x0F +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_TAP_SHOCK_SETL_DUR_MASK 0xF0 +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MIN_QT_DUR_BW_PEAKS_MASK 0x0F +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_QT_TM_AFTER_GESTURE_MASK 0xF0 + +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_AXIS_SEL_SHIFT UINT8_C(0) +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_WAIT_TIMEOUT_SHIFT UINT8_C(2) +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_MAX_PEAKS_FOR_TAP_SHIFT UINT8_C(3) +#define BHI360_MULTI_TAP_PARAM_SINGLE_TAP_FILTER_MODE_SHIFT UINT8_C(6) + +#define BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_TAP_PEAK_DUR_SHIFT UINT8_C(0) +#define BHI360_MULTI_TAP_PARAM_DOUBLE_TAP_MAX_GES_DUR_SHIFT UINT8_C(10) + +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MAX_DUR_BW_PEAKS_SHIFT UINT8_C(0) +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_TAP_SHOCK_SETL_DUR_SHIFT UINT8_C(4) +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_MIN_QT_DUR_BW_PEAKS_SHIFT UINT8_C(0) +#define BHI360_MULTI_TAP_PARAM_TRIPLE_TAP_QT_TM_AFTER_GESTURE_SHIFT UINT8_C(4) + +/*! + * Single Tap Configuration. + */ +typedef union +{ + uint16_t as_uint16; + struct + { + uint16_t axis_sel : 2; /* Tap axis selection */ + uint16_t wait_for_timeout : 1; /* Wait for gesture confirmation */ + uint16_t max_peaks_for_tap : 3; /* Maximum number of peaks that can occur when a tap is done + * */ + uint16_t mode : 2; /* Filter configuration for various detection mode: SENSITIVE, NORMAL and + * ROBUST */ + uint16_t reserved8 : 8; + } as_s; +} BHI360_PACKED bhi360_multi_tap_param_singletap_detector_settings; + +/*! + * Double Tap Configuration. + */ +typedef union +{ + uint16_t as_uint16; + struct + { + uint16_t tap_peak_thres : 10; /* Minimum threshold for peak detection */ + uint16_t max_gesture_dur : 6; /* Maximum time duration from first tap within which matching + * tap/s should happen to be detected as double/triple tap */ + } as_s; +} BHI360_PACKED bhi360_multi_tap_param_doubletap_detector_settings; + +/*! + * Triple Tap Configuration. + */ +typedef union +{ + uint16_t as_uint16; + struct + { + uint16_t max_dur_between_peaks : 4; /* Maximum time duration within which matching peaks of tap + * should occur */ + uint16_t tap_shock_settling_dur : 4; /* Maximum duration to wait for tap shock settling */ + uint16_t min_quite_dur_between_taps : 4; /* Minimum quite time between detection of consecutive taps + * of double/triple taps*/ + uint16_t quite_time_after_gesture : 4; /* Minimum quite time between detection of 2 consecutive + * selected gesture */ + } as_s; +} BHI360_PACKED bhi360_multi_tap_param_tripletap_detector_settings; + +/*! + * Multi Tap Configuration. + */ +typedef struct +{ + bhi360_multi_tap_param_singletap_detector_settings stap_setting; + bhi360_multi_tap_param_doubletap_detector_settings dtap_setting; + bhi360_multi_tap_param_tripletap_detector_settings ttap_setting; +} BHI360_PACKED bhi360_multi_tap_param_detector; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* _BHI360_MULTI_TAP_PARAM_DEFS_H_ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_param_defs.h new file mode 100644 index 0000000..2d7baf2 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_param_defs.h @@ -0,0 +1,62 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_PARAM_DEFS_H__ +#define __BHI360_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_activity_param_defs.h" +#include "bhi360_bsec_param_defs.h" +#include "bhi360_bsx_algo_param_defs.h" +#include "bhi360_head_orientation_param_defs.h" +#include "bhi360_multi_tap_param_defs.h" +#include "bhi360_phy_sensor_ctrl_param_defs.h" +#include "bhi360_system_param_defs.h" +#include "bhi360_virtual_sensor_conf_param_defs.h" +#include "bhi360_virtual_sensor_info_param_defs.h" + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param.c new file mode 100644 index 0000000..c3ac15e --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param.c @@ -0,0 +1,1580 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_phy_sensor_ctrl_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_phy_sensor_ctrl_param.h" +#include "bhi360_hif.h" +#include "../bhi260x/bhy2_hif.h" + +#define BHI360_PHY_SENSOR_CTRL_PARAM_READ_LENGTH UINT8_C(4) + +#define BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH UINT8_C(1) + +#define BHI360_PHY_PARAM_ANY_MOTION_DURATION_UPPER_MASK UINT16_C(0x1F) +#define BHI360_PHY_PARAM_ANY_MOTION_AXIS_SEL_SHIFT UINT16_C(0x05) +#define BHI360_PHY_PARAM_ANY_MOTION_AXIS_SEL_MASK UINT16_C(0x07) +#define BHI360_PHY_PARAM_ANY_MOTION_THRESHOLD_UPPER_MASK UINT16_C(0x07) + +#define BHI360_PHY_PARAM_NO_MOTION_DURATION_UPPER_MASK UINT16_C(0x1F) +#define BHI360_PHY_PARAM_NO_MOTION_AXIS_SEL_SHIFT UINT16_C(0x05) +#define BHI360_PHY_PARAM_NO_MOTION_AXIS_SEL_MASK UINT16_C(0x07) +#define BHI360_PHY_PARAM_NO_MOTION_THRESHOLD_UPPER_MASK UINT16_C(0x07) + +#define BHI360_PHY_PARAM_BARO_OSR_PRESSURE_SHIFT UINT16_C(0x00) +#define BHI360_PHY_PARAM_BARO_OSR_PRESSURE_MASK UINT16_C(0x07) +#define BHI360_PHY_PARAM_BARO_OSR_TEMP_SHIFT UINT16_C(0x03) +#define BHI360_PHY_PARAM_BARO_OSR_TEMP_MASK UINT16_C(0x07) +#define BHI360_PHY_PARAM_BARO_IIR_FILTER_SHIFT UINT16_C(0x00) +#define BHI360_PHY_PARAM_BARO_IIR_FILTER_MASK UINT16_C(0x07) +#define BHI360_PHY_PARAM_BARO_IIR_FILTER_PRESSURE_SHIFT UINT16_C(0x00) +#define BHI360_PHY_PARAM_BARO_IIR_FILTER_PRESSURE_MASK UINT16_C(0x07) +#define BHI360_PHY_PARAM_BARO_IIR_FILTER_TEMP_SHIFT UINT16_C(0x03) +#define BHI360_PHY_PARAM_BARO_IIR_FILTER_TEMP_MASK UINT16_C(0x07) + +#define BHI360_ROUND_UP_4_MUL(x) (((x) % 4) ? (uint16_t)((((x) / 4) + 1) * \ + 4) : (uint16_t)(x)) + +/*lint -e506, -e778*/ + +static int8_t bhi360_get_phy_sensor_ctrl_info(uint8_t sensor_id, + uint8_t ctrl_code, + uint8_t *payload, + uint32_t payload_len, + uint32_t *actual_len, + struct bhy2_hif_dev *hif); + +static int8_t bhi360_get_phy_sensor_ctrl_info(uint8_t sensor_id, + uint8_t ctrl_code, + uint8_t *payload, + uint32_t payload_len, + uint32_t *actual_len, + struct bhy2_hif_dev *hif) +{ + uint16_t code = 0; + uint8_t old_status; + uint8_t tmp_buf[BHI360_PHY_SENSOR_CTRL_PARAM_READ_LENGTH] = { 0 }; + uint8_t buf = 0; + uint32_t length; + int8_t rslt; + uint16_t param_id = BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | sensor_id; + + /* Change Status FIFO to Sync mode */ + rslt = bhy2_hif_get_regs(BHI360_REG_HOST_INTERFACE_CTRL, &buf, 1, hif); + if (rslt != BHY2_OK) + { + return rslt; + } + + old_status = buf; + buf &= (uint8_t)(~(BHI360_HIF_CTRL_ASYNC_STATUS_CHANNEL)); + rslt = bhy2_hif_set_regs(BHI360_REG_HOST_INTERFACE_CTRL, &buf, 1, hif); + if (rslt != BHY2_OK) + { + return rslt; + } + + /* Execute 'Set parameter' command to request data */ + tmp_buf[0] = ctrl_code | BHI360_PARAM_PHY_SENSOR_CTRL_READ; + length = BHI360_PHY_SENSOR_CTRL_PARAM_READ_LENGTH; + rslt = bhy2_hif_set_parameter(param_id, tmp_buf, length, hif); + if (rslt != BHY2_OK) + { + return rslt; + } + + /* Execute 'Get parameter' command to read data */ + length = 0U; + rslt = bhy2_hif_set_parameter(param_id | BHI360_PARAM_READ_MASK, NULL, length, hif); + if (rslt != BHY2_OK) + { + return rslt; + } + + /* Wait and process the return data */ + rslt = bhy2_hif_wait_status_ready(hif); + if (rslt != BHY2_OK) + { + return rslt; + } + + rslt = bhy2_hif_get_status_fifo(&code, payload, payload_len, actual_len, hif); + if (rslt != BHY2_OK) + { + return rslt; + } + + /* Revert previous Status FIFO mode */ + buf = old_status; + rslt = bhy2_hif_set_regs(BHI360_REG_HOST_INTERFACE_CTRL, &buf, 1, hif); + if (rslt == BHY2_OK) + { + if (code != param_id) + { + rslt = BHY2_E_INVALID_PARAM; + } + else if (payload[0] != ctrl_code) + { + rslt = BHY2_E_INVALID_PARAM; + } + } + + return rslt; +} + +/** + * @brief Function to set accelerometer FOC calibration + * @param[in] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_set_foc_calibration( + const bhi360_phy_sensor_ctrl_param_accel_fast_offset_calib * calib, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((calib == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_ACCELEROMETER; + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_FAST_OFFSET_CALIB_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)calib, + BHI360_PHY_PARAM_ACCEL_FAST_OFFSET_CALIB_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get accelerometer FOC calibration + * @param[out] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_foc_calibration( + bhi360_phy_sensor_ctrl_param_accel_fast_offset_calib * calib, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_FAST_OFFSET_CALIB_CTRL_LENGTH)] = { 0U }; + + if ((calib == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_FAST_OFFSET_CALIB_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_ACCELEROMETER, + command, + payload, + BHI360_ROUND_UP_4_MUL( + BHI360_PHY_PARAM_ACCEL_FAST_OFFSET_CALIB_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + calib->x_offset = BHY2_LE2S16(&payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + calib->y_offset = BHY2_LE2S16(&payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + calib->z_offset = BHY2_LE2S16(&payload[4 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + } + } + + return rslt; +} + +/** + * @brief Function to set accelerometer power mode + * @param[in] mode : Accelerometer power mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_set_power_mode(uint8_t mode, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_ACCELEROMETER; + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = mode; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get accelerometer mode + * @param[out] mode : Reference to accelerometer mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_power_mode(uint8_t* mode, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_CTRL_LENGTH)] = { 0U }; + + if ((mode == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_ACCELEROMETER, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *mode = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set axis remapping for internal imu features + * @param[in] remap : Reference to axis remapping + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_set_axis_remapping( + const bhi360_phy_sensor_ctrl_param_accel_axis_remap * remap, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((remap == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_ACCELEROMETER; + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_AXIS_REMAP_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)remap, + BHI360_PHY_PARAM_ACCEL_AXIS_REMAP_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get axis remapping for internal imu features + * @param[in] remap : Reference to axis remapping + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_axis_remapping(bhi360_phy_sensor_ctrl_param_accel_axis_remap * remap, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_AXIS_REMAP_CTRL_LENGTH)] = { 0U }; + + if ((remap == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_AXIS_REMAP_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_ACCELEROMETER, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_AXIS_REMAP_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + remap->map_x_axis = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + remap->map_x_axis_sign = payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + remap->map_y_axis = payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + remap->map_y_axis_sign = payload[3 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + remap->map_z_axis = payload[4 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + remap->map_z_axis_sign = payload[5 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to trigger a NVM writing for accelerometer + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_trigger_nvm_writing(struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_ACCELEROMETER; + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_ENABLE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get NVM writing status for accelerometer + * @param[out] status : Reference to NVM writing status + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_nvm_status(uint8_t* status, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_CTRL_LENGTH)] = { 0U }; + + if ((status == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_ACCELEROMETER, + command, + payload, + BHI360_ROUND_UP_4_MUL( + BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *status = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set gyroscope FOC calibration + * @param[in] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_foc_calibration( + const bhi360_phy_sensor_ctrl_param_gyro_fast_offset_calib * calib, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((calib == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_GYROSCOPE; + command = (uint8_t)BHI360_PHY_PARAM_GYRO_FAST_OFFSET_CALIB_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)calib, + BHI360_PHY_PARAM_GYRO_FAST_OFFSET_CALIB_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get gyroscope FOC calibration + * @param[out] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_foc_calibration( + bhi360_phy_sensor_ctrl_param_gyro_fast_offset_calib * calib, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_FAST_OFFSET_CALIB_CTRL_LENGTH)] = { 0U }; + + if ((calib == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_GYRO_FAST_OFFSET_CALIB_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_GYROSCOPE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_FAST_OFFSET_CALIB_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + calib->x_offset = BHY2_LE2S16(&payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + calib->y_offset = BHY2_LE2S16(&payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + calib->z_offset = BHY2_LE2S16(&payload[4 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + } + } + + return rslt; +} + +/** + * @brief Function to set gyroscope OIS configuration + * @param[in] config : OIS configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_ois_config(uint8_t config, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_OIS_ENABLE_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_GYROSCOPE; + command = (uint8_t)BHI360_PHY_PARAM_GYRO_OIS_ENABLE_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = config; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_GYRO_OIS_ENABLE_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get gyroscope OIS configuration + * @param[out] config : Reference to OIS configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_ois_config(uint8_t* config, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_OIS_ENABLE_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_GYRO_OIS_ENABLE_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_GYROSCOPE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_OIS_ENABLE_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *config = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set gyroscope Fast start up configuration + * @param[in] config : Fast start up configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_fast_startup_cfg(uint8_t config, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_GYROSCOPE; + command = (uint8_t)BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = config; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get gyroscope Fast start up configuration + * @param[out] config : Reference to Fast start up configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_fast_startup_cfg(uint8_t* config, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_GYROSCOPE, + command, + payload, + BHI360_ROUND_UP_4_MUL( + BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *config = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to start gyroscope Component ReTrim (CRT) + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_start_comp_retrim(struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_COMP_RETRIM_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_GYROSCOPE; + command = (uint8_t)BHI360_PHY_PARAM_GYRO_COMP_RETRIM_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_GYRO_COMP_RETRIM_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get gyroscope Component ReTrim (CRT) status + * @param[out] crt : Reference to CRT status + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_crt_status(bhi360_phy_sensor_ctrl_param_gyro_crt_status* crt, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_COMP_RETRIM_CTRL_LENGTH)] = { 0U }; + + if ((crt == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_GYRO_COMP_RETRIM_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_GYROSCOPE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_COMP_RETRIM_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + crt->status = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + crt->x = payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + crt->y = payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + crt->z = payload[3 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set gyroscope power mode + * @param[in] mode : Gyroscope power mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_power_mode(uint8_t mode, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_PERF_MODE_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_GYROSCOPE; + command = (uint8_t)BHI360_PHY_PARAM_GYRO_PERF_MODE_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = mode; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_GYRO_PERF_MODE_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to set gyroscope mode + * @param[out] mode : Reference to gyroscope mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_power_mode(uint8_t* mode, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_PERF_MODE_CTRL_LENGTH)] = { 0U }; + + if ((mode == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_GYRO_PERF_MODE_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_GYROSCOPE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_PERF_MODE_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *mode = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set gyroscope timer auto trim configuration + * @param[in] config : Timer auto trim configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_auto_trim_cfg(uint8_t config, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_GYROSCOPE; + command = (uint8_t)BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = config; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get gyroscope timer auto trim configuration + * @param[out] config : Reference to Timer auto trim configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_auto_trim_cfg(uint8_t* config, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_GYROSCOPE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *config = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to trigger a NVM writing for gyroscope + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_trigger_nvm_writing(struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_GYROSCOPE; + command = (uint8_t)BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_ENABLE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get NVM writing status for gyroscope + * @param[out] status : Reference to NVM writing status + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_nvm_status(uint8_t* status, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_CTRL_LENGTH)] = { 0U }; + + if ((status == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_GYROSCOPE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *status = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set magnetometer power mode + * @param[in] mode : Magnetometer power mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_magnet_set_power_mode(uint8_t mode, struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_MAGNET_POWER_MODE_CTRL_LENGTH)] = { 0U }; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_MAGNETOMETER; + command = (uint8_t)BHI360_PHY_PARAM_MAGNET_POWER_MODE_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + payload[0] = mode; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)payload, + BHI360_PHY_PARAM_MAGNET_POWER_MODE_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get magnetometer mode + * @param[out] mode : Reference to magnetometer mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_magnet_get_power_mode(uint8_t* mode, struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_MAGNET_POWER_MODE_CTRL_LENGTH)] = { 0U }; + + if ((mode == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_MAGNET_POWER_MODE_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_MAGNETOMETER, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_MAGNET_POWER_MODE_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + *mode = payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set Wrist Wear Wakeup configuration + * @param[in] config : Reference to Wrist Wear Wakeup configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_wrist_wear_wakeup_cfg( + const bhi360_phy_sensor_ctrl_param_wrist_wear_wakeup* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_WRIST_WEAR_WAKEUP; + command = (uint8_t)BHI360_PHY_PARAM_WRIST_WEAR_WAKEUP_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)config, + BHI360_PHY_PARAM_WRIST_WEAR_WAKEUP_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get Wrist Wear Wakeup configuration + * @param[out] config : Reference to Wrist Wear Wakeup configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_wrist_wear_wakeup_cfg(bhi360_phy_sensor_ctrl_param_wrist_wear_wakeup* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_WRIST_WEAR_WAKEUP_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_WRIST_WEAR_WAKEUP_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_WRIST_WEAR_WAKEUP, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_WRIST_WEAR_WAKEUP_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + config->min_angle_focus = BHY2_LE2U16(&payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->min_angle_non_focus = BHY2_LE2U16(&payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->angle_landscape_right = payload[4 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->angle_landscape_left = payload[5 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->angle_portrait_down = payload[6 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->angle_portrait_up = payload[7 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->min_dur_moved = payload[8 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->min_dur_quite = payload[9 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set Any Motion configuration + * @param[in] config : Reference to Any Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_any_motion_config(const bhi360_phy_sensor_ctrl_param_any_motion* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_PHYS_ANY_MOTION; + command = (uint8_t)BHI360_PHY_PARAM_ANY_MOTION_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)config, + BHI360_PHY_PARAM_ANY_MOTION_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get Any Motion configuration + * @param[out] config : Reference to Any Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_any_motion_config(bhi360_phy_sensor_ctrl_param_any_motion* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ANY_MOTION_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_ANY_MOTION_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_PHYS_ANY_MOTION, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_ANY_MOTION_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + config->duration = (uint16_t)payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->duration |= + (uint16_t)(((uint16_t)payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] & + BHI360_PHY_PARAM_ANY_MOTION_DURATION_UPPER_MASK) << 8U); + config->axis_sel = + (uint16_t)(((uint16_t)payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_ANY_MOTION_AXIS_SEL_SHIFT) & BHI360_PHY_PARAM_ANY_MOTION_AXIS_SEL_MASK); + config->threshold = (uint16_t)payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->threshold |= + (uint16_t)(((uint16_t)payload[3 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] & + BHI360_PHY_PARAM_ANY_MOTION_THRESHOLD_UPPER_MASK) << 8U); + } + } + + return rslt; +} + +/** + * @brief Function to set No Motion configuration + * @param[in] config : Reference to No Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_no_motion_config(const bhi360_phy_sensor_ctrl_param_no_motion* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_PHYS_NO_MOTION; + command = (uint8_t)BHI360_PHY_PARAM_NO_MOTION_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)config, + BHI360_PHY_PARAM_NO_MOTION_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get No Motion configuration + * @param[out] config : Reference to No Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_no_motion_config(bhi360_phy_sensor_ctrl_param_no_motion* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_NO_MOTION_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_NO_MOTION_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_PHYS_NO_MOTION, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_NO_MOTION_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + config->duration = (uint16_t)payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->duration |= + (uint16_t)(((uint16_t)payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] & + BHI360_PHY_PARAM_NO_MOTION_DURATION_UPPER_MASK) << 8U); + config->axis_sel = + (uint16_t)(((uint16_t)payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_NO_MOTION_AXIS_SEL_SHIFT) & BHI360_PHY_PARAM_NO_MOTION_AXIS_SEL_MASK); + config->threshold = (uint16_t)payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + config->threshold |= + (uint16_t)(((uint16_t)payload[3 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] & + BHI360_PHY_PARAM_NO_MOTION_THRESHOLD_UPPER_MASK) << 8U); + } + } + + return rslt; +} + +/** + * @brief Function to set Wrist Gesture Detector configuration + * @param[in] config : Reference to Wrist Gesture Detector configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_wrist_gesture_cfg( + const bhi360_phy_sensor_ctrl_param_wrist_gesture_detector* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_WRIST_GESTURE_DETECT; + command = (uint8_t)BHI360_PHY_PARAM_WRIST_GESTURE_DETECTOR_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)config, + BHI360_PHY_PARAM_WRIST_GESTURE_DETECTOR_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get Wrist Gesture Detector configuration + * @param[out] config : Reference to Wrist Gesture Detector configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_wrist_gesture_cfg(bhi360_phy_sensor_ctrl_param_wrist_gesture_detector* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_WRIST_GESTURE_DETECTOR_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_WRIST_GESTURE_DETECTOR_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_WRIST_GESTURE_DETECT, + command, + payload, + BHI360_ROUND_UP_4_MUL( + BHI360_PHY_PARAM_WRIST_GESTURE_DETECTOR_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + config->min_flick_peak_y_thres = BHY2_LE2U16(&payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->min_flick_peak_z_thres = BHY2_LE2U16(&payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->gravity_bounds_x_pos = BHY2_LE2U16(&payload[4 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->gravity_bounds_x_neg = BHY2_LE2U16(&payload[6 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->gravity_bounds_y_neg = BHY2_LE2U16(&payload[8 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->gravity_bounds_z_neg = BHY2_LE2U16(&payload[10 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->flick_peak_decay_coeff = BHY2_LE2U16(&payload[12 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->lp_mean_filter_coeff = BHY2_LE2U16(&payload[14 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->max_duration_jiggle_peaks = BHY2_LE2U16(&payload[16 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->device_pos = payload[18 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set Barometric Pressure Type 1 configuration + * @param[in] config : Reference to Barometric Pressure Type 1 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_set_press_type_1_cfg(const bhi360_phy_sensor_ctrl_param_baro_type_1* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_PRESSURE; + command = (uint8_t)BHI360_PHY_PARAM_BARO_PRESSURE_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)config, + BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_1_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get Barometric Pressure Type 1 configuration + * @param[out] config : Reference to Barometric Pressure Type 1 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_get_press_type_1_cfg(bhi360_phy_sensor_ctrl_param_baro_type_1* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_1_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_BARO_PRESSURE_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_PRESSURE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_1_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + config->osr_p = + (uint16_t)(((uint16_t)payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_BARO_OSR_PRESSURE_SHIFT) & BHI360_PHY_PARAM_BARO_OSR_PRESSURE_MASK); + config->osr_t = + (uint16_t)(((uint16_t)payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_BARO_OSR_TEMP_SHIFT) & BHI360_PHY_PARAM_BARO_OSR_TEMP_MASK); + config->iir_filter = + (uint16_t)(((uint16_t)payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_BARO_IIR_FILTER_SHIFT) & BHI360_PHY_PARAM_BARO_IIR_FILTER_MASK); + } + } + + return rslt; +} + +/** + * @brief Function to set Barometric Pressure Type 2 configuration + * @param[in] config : Reference to Barometric Pressure Type 2 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_set_press_type_2_cfg(const bhi360_phy_sensor_ctrl_param_baro_type_2* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_PRESSURE; + command = (uint8_t)BHI360_PHY_PARAM_BARO_PRESSURE_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)config, + BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_2_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get Barometric Pressure Type 2 configuration + * @param[out] config : Reference to Barometric Pressure Type 2 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_get_press_type_2_cfg(bhi360_phy_sensor_ctrl_param_baro_type_2* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_2_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_BARO_PRESSURE_COD; + rslt = + bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_PRESSURE, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_2_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + config->osr_p = + (uint16_t)(((uint16_t)payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_BARO_OSR_PRESSURE_SHIFT) & BHI360_PHY_PARAM_BARO_OSR_PRESSURE_MASK); + config->osr_t = + (uint16_t)(((uint16_t)payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_BARO_OSR_TEMP_SHIFT) & BHI360_PHY_PARAM_BARO_OSR_TEMP_MASK); + config->iir_filter_p = + (uint16_t)(((uint16_t)payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_BARO_IIR_FILTER_PRESSURE_SHIFT) & + BHI360_PHY_PARAM_BARO_IIR_FILTER_PRESSURE_MASK); + config->iir_filter_t = + (uint16_t)(((uint16_t)payload[1 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH] >> + BHI360_PHY_PARAM_BARO_IIR_FILTER_TEMP_SHIFT) & BHI360_PHY_PARAM_BARO_IIR_FILTER_TEMP_MASK); + config->dsp_config = payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]; + } + } + + return rslt; +} + +/** + * @brief Function to set Step Counter configuration + * @param[in] config : Reference to Step Counter configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_step_counter_config(const bhi360_phy_sensor_ctrl_param_step_counter* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint16_t param_id; + uint8_t command; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + param_id = (uint16_t)BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE | BHI360_PHYS_SENSOR_ID_PHYS_STEP_COUNTER; + command = (uint8_t)BHI360_PHY_PARAM_STEP_COUNTER_COD | BHI360_PARAM_PHY_SENSOR_CTRL_WRITE; + rslt = bhi360_hif_exec_cmd_generic(param_id, + (const uint8_t *)config, + BHI360_PHY_PARAM_STEP_COUNTER_CTRL_LENGTH, + &command, + 1, + 0, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get Step Counter configuration + * @param[out] config : Reference to Step Counter configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_step_counter_config(bhi360_phy_sensor_ctrl_param_step_counter* config, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint8_t command; + uint32_t act_len; + uint8_t payload[BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_STEP_COUNTER_CTRL_LENGTH)] = { 0U }; + + if ((config == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + command = (uint8_t)BHI360_PHY_PARAM_STEP_COUNTER_COD; + rslt = bhi360_get_phy_sensor_ctrl_info(BHI360_PHYS_SENSOR_ID_PHYS_STEP_COUNTER, + command, + payload, + BHI360_ROUND_UP_4_MUL(BHI360_PHY_PARAM_STEP_COUNTER_CTRL_LENGTH), + &act_len, + &dev->hif); + if (rslt == BHY2_OK) + { + config->env_min_dist_up = BHY2_LE2U16(&payload[0 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->env_coef_up = BHY2_LE2U16(&payload[2 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->env_min_dist_down = BHY2_LE2U16(&payload[4 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->env_coef_down = BHY2_LE2U16(&payload[6 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->step_buffer_size = BHY2_LE2U16(&payload[8 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->mean_val_decay = BHY2_LE2U16(&payload[10 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->mean_step_dur = BHY2_LE2U16(&payload[12 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->filter_coeff_b2 = BHY2_LE2U16(&payload[14 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->filter_coeff_b1 = BHY2_LE2U16(&payload[16 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->filter_coeff_b0 = BHY2_LE2U16(&payload[18 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->filter_coeff_a2 = BHY2_LE2U16(&payload[20 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->filter_coeff_a1 = BHY2_LE2U16(&payload[22 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->filter_cascade_enabled = BHY2_LE2U16(&payload[24 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->peak_duration_min_walking = BHY2_LE2U16(&payload[26 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->peak_duration_min_running = BHY2_LE2U16(&payload[28 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->step_duration_max = BHY2_LE2U16(&payload[30 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->step_duration_window = BHY2_LE2U16(&payload[32 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->half_step_enabled = BHY2_LE2U16(&payload[34 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->activity_detection_factor = BHY2_LE2U16(&payload[36 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->activity_detection_thres = BHY2_LE2U16(&payload[38 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->step_counter_increment = BHY2_LE2U16(&payload[40 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->step_duration_pp_enabled = BHY2_LE2U16(&payload[42 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->step_dur_thres = BHY2_LE2U16(&payload[44 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->en_mcr_pp = BHY2_LE2U16(&payload[46 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->mcr_thres = BHY2_LE2U16(&payload[48 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->sc_26 = BHY2_LE2U16(&payload[50 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + config->sc_27 = BHY2_LE2U16(&payload[52 + BHI360_PHY_SENSOR_CTRL_PARAM_CODE_LENGTH]); + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param.h new file mode 100644 index 0000000..757c206 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param.h @@ -0,0 +1,383 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_phy_sensor_ctrl_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_PHY_SENSOR_CTRL_PARAM_H__ +#define __BHI360_PHY_SENSOR_CTRL_PARAM_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_phy_sensor_ctrl_param_defs.h" +#include "../bhi260x/bhy2.h" +/** + * @brief Function to set accelerometer FOC calibration + * @param[in] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_set_foc_calibration( + const bhi360_phy_sensor_ctrl_param_accel_fast_offset_calib * calib, + struct bhy2_dev *dev); + +/** + * @brief Function to get accelerometer FOC calibration + * @param[out] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_foc_calibration( + bhi360_phy_sensor_ctrl_param_accel_fast_offset_calib * calib, + struct bhy2_dev *dev); + +/** + * @brief Function to set accelerometer power mode + * @param[in] mode : Accelerometer power mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_set_power_mode(uint8_t mode, struct bhy2_dev *dev); + +/** + * @brief Function to get accelerometer mode + * @param[out] mode : Reference to accelerometer mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_power_mode(uint8_t* mode, struct bhy2_dev *dev); + +/** + * @brief Function to set axis remapping for internal imu features + * @param[in] remap : Reference to axis remapping + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_set_axis_remapping( + const bhi360_phy_sensor_ctrl_param_accel_axis_remap * remap, + struct bhy2_dev *dev); + +/** + * @brief Function to get axis remapping for internal imu features + * @param[in] remap : Reference to axis remapping + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_axis_remapping(bhi360_phy_sensor_ctrl_param_accel_axis_remap * remap, + struct bhy2_dev *dev); + +/** + * @brief Function to trigger a NVM writing for accelerometer + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_trigger_nvm_writing(struct bhy2_dev *dev); + +/** + * @brief Function to get NVM writing status for accelerometer + * @param[out] status : Reference to NVM writing status + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_accel_get_nvm_status(uint8_t* status, struct bhy2_dev *dev); + +/** + * @brief Function to set gyroscope FOC calibration + * @param[in] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_foc_calibration( + const bhi360_phy_sensor_ctrl_param_gyro_fast_offset_calib * calib, + struct bhy2_dev *dev); + +/** + * @brief Function to get gyroscope FOC calibration + * @param[out] calib : Reference to FOC calibration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_foc_calibration( + bhi360_phy_sensor_ctrl_param_gyro_fast_offset_calib * calib, + struct bhy2_dev *dev); + +/** + * @brief Function to set gyroscope OIS configuration + * @param[in] config : OIS configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_ois_config(uint8_t config, struct bhy2_dev *dev); + +/** + * @brief Function to get gyroscope OIS configuration + * @param[out] config : Reference to OIS configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_ois_config(uint8_t* config, struct bhy2_dev *dev); + +/** + * @brief Function to set gyroscope Fast start up configuration + * @param[in] config : Fast start up configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_fast_startup_cfg(uint8_t config, struct bhy2_dev *dev); + +/** + * @brief Function to get gyroscope Fast start up configuration + * @param[out] config : Reference to Fast start up configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_fast_startup_cfg(uint8_t* config, struct bhy2_dev *dev); + +/** + * @brief Function to start gyroscope Component ReTrim (CRT) + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_start_comp_retrim(struct bhy2_dev *dev); + +/** + * @brief Function to get gyroscope Component ReTrim (CRT) status + * @param[out] crt : Reference to CRT status + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_crt_status(bhi360_phy_sensor_ctrl_param_gyro_crt_status* crt, + struct bhy2_dev *dev); + +/** + * @brief Function to set gyroscope power mode + * @param[in] mode : Gyroscope power mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_power_mode(uint8_t mode, struct bhy2_dev *dev); + +/** + * @brief Function to set gyroscope mode + * @param[out] mode : Reference to gyroscope mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_power_mode(uint8_t* mode, struct bhy2_dev *dev); + +/** + * @brief Function to set gyroscope timer auto trim configuration + * @param[in] config : Timer auto trim configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_set_auto_trim_cfg(uint8_t config, struct bhy2_dev *dev); + +/** + * @brief Function to get gyroscope timer auto trim configuration + * @param[out] config : Reference to Timer auto trim configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_auto_trim_cfg(uint8_t* config, struct bhy2_dev *dev); + +/** + * @brief Function to trigger a NVM writing for gyroscope + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_trigger_nvm_writing(struct bhy2_dev *dev); + +/** + * @brief Function to get NVM writing status for gyroscope + * @param[out] status : Reference to NVM writing status + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_gyro_get_nvm_status(uint8_t* status, struct bhy2_dev *dev); + +/** + * @brief Function to set magnetometer power mode + * @param[in] mode : Magnetometer power mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_magnet_set_power_mode(uint8_t mode, struct bhy2_dev *dev); + +/** + * @brief Function to get magnetometer mode + * @param[out] mode : Reference to magnetometer mode + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_magnet_get_power_mode(uint8_t* mode, struct bhy2_dev *dev); + +/** + * @brief Function to set Wrist Wear Wakeup configuration + * @param[in] config : Reference to Wrist Wear Wakeup configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_wrist_wear_wakeup_cfg( + const bhi360_phy_sensor_ctrl_param_wrist_wear_wakeup* config, + struct bhy2_dev *dev); + +/** + * @brief Function to get Wrist Wear Wakeup configuration + * @param[out] config : Reference to Wrist Wear Wakeup configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_wrist_wear_wakeup_cfg(bhi360_phy_sensor_ctrl_param_wrist_wear_wakeup* config, + struct bhy2_dev *dev); + +/** + * @brief Function to set Any Motion configuration + * @param[in] config : Reference to Any Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_any_motion_config(const bhi360_phy_sensor_ctrl_param_any_motion* config, + struct bhy2_dev *dev); + +/** + * @brief Function to get Any Motion configuration + * @param[out] config : Reference to Any Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_any_motion_config(bhi360_phy_sensor_ctrl_param_any_motion* config, + struct bhy2_dev *dev); + +/** + * @brief Function to set No Motion configuration + * @param[in] config : Reference to No Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_no_motion_config(const bhi360_phy_sensor_ctrl_param_no_motion* config, + struct bhy2_dev *dev); + +/** + * @brief Function to get No Motion configuration + * @param[out] config : Reference to No Motion configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_no_motion_config(bhi360_phy_sensor_ctrl_param_no_motion* config, + struct bhy2_dev *dev); + +/** + * @brief Function to set Wrist Gesture Detector configuration + * @param[in] config : Reference to Wrist Gesture Detector configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_wrist_gesture_cfg( + const bhi360_phy_sensor_ctrl_param_wrist_gesture_detector* config, + struct bhy2_dev *dev); + +/** + * @brief Function to get Wrist Gesture Detector configuration + * @param[out] config : Reference to Wrist Gesture Detector configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_wrist_gesture_cfg(bhi360_phy_sensor_ctrl_param_wrist_gesture_detector* config, + struct bhy2_dev *dev); + +/** + * @brief Function to set Barometric Pressure Type 1 configuration + * @param[in] config : Reference to Barometric Pressure Type 1 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_set_press_type_1_cfg(const bhi360_phy_sensor_ctrl_param_baro_type_1* config, + struct bhy2_dev *dev); + +/** + * @brief Function to get Barometric Pressure Type 1 configuration + * @param[out] config : Reference to Barometric Pressure Type 1 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_get_press_type_1_cfg(bhi360_phy_sensor_ctrl_param_baro_type_1* config, + struct bhy2_dev *dev); + +/** + * @brief Function to set Barometric Pressure Type 2 configuration + * @param[in] config : Reference to Barometric Pressure Type 2 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_set_press_type_2_cfg(const bhi360_phy_sensor_ctrl_param_baro_type_2* config, + struct bhy2_dev *dev); + +/** + * @brief Function to get Barometric Pressure Type 2 configuration + * @param[out] config : Reference to Barometric Pressure Type 2 configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_baro_get_press_type_2_cfg(bhi360_phy_sensor_ctrl_param_baro_type_2* config, + struct bhy2_dev *dev); + +/** + * @brief Function to set Step Counter configuration + * @param[in] config : Reference to Step Counter configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_set_step_counter_config(const bhi360_phy_sensor_ctrl_param_step_counter* config, + struct bhy2_dev *dev); + +/** + * @brief Function to get Step Counter configuration + * @param[out] config : Reference to Step Counter configuration + * @param[in] dev : Device instance + * @return API error codes + */ +int8_t bhi360_phy_sensor_ctrl_param_get_step_counter_config(bhi360_phy_sensor_ctrl_param_step_counter* config, + struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_PHY_SENSOR_CTRL_PARAM_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param_defs.h new file mode 100644 index 0000000..4244ed0 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_phy_sensor_ctrl_param_defs.h @@ -0,0 +1,328 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_phy_sensor_ctrl_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_PHY_SENSOR_CTRL_PARAM_DEFS_H__ +#define __BHI360_PHY_SENSOR_CTRL_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_defs.h" + +/*! Physical Sensor Control Parameter Page Base Address*/ +#define BHI360_PARAM_PHY_SENSOR_CTRL_PAGE_BASE UINT16_C(0xE00) + +#define BHI360_PARAM_PHY_SENSOR_CTRL_READ UINT8_C(0x80) +#define BHI360_PARAM_PHY_SENSOR_CTRL_WRITE UINT8_C(0x00) + +/* Control code */ +#define BHI360_PHY_PARAM_ACCEL_FAST_OFFSET_CALIB_COD UINT8_C(0x01) +#define BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_COD UINT8_C(0x05) +#define BHI360_PHY_PARAM_ACCEL_AXIS_REMAP_COD UINT8_C(0x07) +#define BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_COD UINT8_C(0x08) +#define BHI360_PHY_PARAM_GYRO_FAST_OFFSET_CALIB_COD UINT8_C(0x01) +#define BHI360_PHY_PARAM_GYRO_OIS_ENABLE_COD UINT8_C(0x02) +#define BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_COD UINT8_C(0x03) +#define BHI360_PHY_PARAM_GYRO_COMP_RETRIM_COD UINT8_C(0x04) +#define BHI360_PHY_PARAM_GYRO_PERF_MODE_COD UINT8_C(0x05) +#define BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_COD UINT8_C(0x06) +#define BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_COD UINT8_C(0x08) +#define BHI360_PHY_PARAM_MAGNET_POWER_MODE_COD UINT8_C(0x05) +#define BHI360_PHY_PARAM_WRIST_WEAR_WAKEUP_COD UINT8_C(0x01) +#define BHI360_PHY_PARAM_ANY_MOTION_COD UINT8_C(0x01) +#define BHI360_PHY_PARAM_NO_MOTION_COD UINT8_C(0x01) +#define BHI360_PHY_PARAM_WRIST_GESTURE_DETECTOR_COD UINT8_C(0x07) +#define BHI360_PHY_PARAM_BARO_PRESSURE_COD UINT8_C(0x01) +#define BHI360_PHY_PARAM_STEP_COUNTER_COD UINT8_C(0x01) + +/* Control length : payload + control code */ +#define BHI360_PHY_PARAM_ACCEL_FAST_OFFSET_CALIB_CTRL_LENGTH UINT8_C(7) +#define BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_ACCEL_AXIS_REMAP_CTRL_LENGTH UINT8_C(7) +#define BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_GYRO_FAST_OFFSET_CALIB_CTRL_LENGTH UINT8_C(7) +#define BHI360_PHY_PARAM_GYRO_OIS_ENABLE_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_GYRO_COMP_RETRIM_CTRL_LENGTH UINT8_C(5) +#define BHI360_PHY_PARAM_GYRO_PERF_MODE_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_MAGNET_POWER_MODE_CTRL_LENGTH UINT8_C(2) +#define BHI360_PHY_PARAM_WRIST_WEAR_WAKEUP_CTRL_LENGTH UINT8_C(11) +#define BHI360_PHY_PARAM_ANY_MOTION_CTRL_LENGTH UINT8_C(5) +#define BHI360_PHY_PARAM_NO_MOTION_CTRL_LENGTH UINT8_C(5) +#define BHI360_PHY_PARAM_WRIST_GESTURE_DETECTOR_CTRL_LENGTH UINT8_C(20) +#define BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_1_CTRL_LENGTH UINT8_C(3) +#define BHI360_PHY_PARAM_BARO_PRESSURE_TYPE_2_CTRL_LENGTH UINT8_C(4) +#define BHI360_PHY_PARAM_STEP_COUNTER_CTRL_LENGTH UINT8_C(55) + +/* Accelerometer control parameter */ +#define BHI360_PHY_PARAM_ACCEL_NORMAL_MODE UINT8_C(0) +#define BHI360_PHY_PARAM_ACCEL_LOW_POWER_MODE UINT8_C(2) +#define BHI360_PHY_PARAM_ACCEL_NVM_WRITE_TRIGGER_ENABLE UINT8_C(2) +#define BHI360_PHY_PARAM_ACCEL_NVM_WRITE_STATUS_DONE UINT8_C(0) +#define BHI360_PHY_PARAM_ACCEL_NVM_WRITE_STATUS_IN_PROGRESS UINT8_C(1) + +/* Gyroscope control parameter */ +#define BHI360_PHY_PARAM_GYRO_OIS_DISABLE UINT8_C(0) +#define BHI360_PHY_PARAM_GYRO_OIS_ENABLE UINT8_C(1) +#define BHI360_PHY_PARAM_GYRO_FAST_STARTUP_DISABLE UINT8_C(0) +#define BHI360_PHY_PARAM_GYRO_FAST_STARTUP_ENABLE UINT8_C(1) +#define BHI360_PHY_PARAM_GYRO_COMP_RETRIM_SUCCESS UINT8_C(0) +#define BHI360_PHY_PARAM_GYRO_COMP_RETRIM_START UINT8_C(1) +#define BHI360_PHY_PARAM_GYRO_NORMAL_MODE UINT8_C(0) +#define BHI360_PHY_PARAM_GYRO_PERF_MODE UINT8_C(1) +#define BHI360_PHY_PARAM_GYRO_LOW_POWER_MODE UINT8_C(2) +#define BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_DISABLE UINT8_C(0) +#define BHI360_PHY_PARAM_GYRO_TIMER_AUTO_TRIM_START UINT8_C(1) +#define BHI360_PHY_PARAM_GYRO_NVM_WRITE_TRIGGER_ENABLE UINT8_C(2) +#define BHI360_PHY_PARAM_GYRO_NVM_WRITE_STATUS_DONE UINT8_C(0) +#define BHI360_PHY_PARAM_GYRO_NVM_WRITE_STATUS_IN_PROGRESS UINT8_C(1) + +/* Magnetometer control parameter */ +#define BHI360_PHY_PARAM_MAGNET_NORMAL_MODE UINT8_C(0) +#define BHI360_PHY_PARAM_MAGNET_LOW_POWER_MODE UINT8_C(2) + +/* Baro control parameter */ +#define BHI360_PHY_PARAM_BARO_NO_OVERSAMPLING UINT8_C(0) +#define BHI360_PHY_PARAM_BARO_X2_OVERSAMPLING UINT8_C(1) +#define BHI360_PHY_PARAM_BARO_X4_OVERSAMPLING UINT8_C(2) +#define BHI360_PHY_PARAM_BARO_X8_OVERSAMPLING UINT8_C(3) +#define BHI360_PHY_PARAM_BARO_X16_OVERSAMPLING UINT8_C(4) +#define BHI360_PHY_PARAM_BARO_X32_OVERSAMPLING UINT8_C(5) + +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_0 UINT8_C(0) +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_1 UINT8_C(1) +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_3 UINT8_C(2) +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_7 UINT8_C(3) +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_15 UINT8_C(4) +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_31 UINT8_C(5) +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_63 UINT8_C(6) +#define BHI360_PHY_PARAM_BARO_FILTER_COEFF_127 UINT8_C(7) + +/*! + * + * @brief bhy accel fast offset calibration + * + */ +typedef struct +{ + int16_t x_offset; + int16_t y_offset; + int16_t z_offset; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_accel_fast_offset_calib; + +/*! + * + * @brief bhy accel axis remapping for internal imu features + * + */ +typedef struct +{ + uint8_t map_x_axis; + uint8_t map_x_axis_sign; + uint8_t map_y_axis; + uint8_t map_y_axis_sign; + uint8_t map_z_axis; + uint8_t map_z_axis_sign; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_accel_axis_remap; + +/*! + * + * @brief bhy gyro fast offset calibration + * + */ +typedef struct +{ + int16_t x_offset; + int16_t y_offset; + int16_t z_offset; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_gyro_fast_offset_calib; + +/*! + * + * @brief bhy Gyroscope Component Retrim + * + */ +typedef struct +{ + uint8_t status; + uint8_t x; + uint8_t y; + uint8_t z; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_gyro_crt_status; + +/*! + * + * @brief bhy wrist wear wakeup control + * + */ +typedef struct +{ + uint16_t min_angle_focus; /* Cosine of minimum expected attitude change within \ + 1 second time window when moving with focus position */ + uint16_t min_angle_non_focus; /* Cosine of minimum expected attitude change within 1 second time window \ + when moving from non-focus to focus position */ + uint8_t angle_landscape_right; /* Sine of maximum allowed tilt angle in landscape right direction */ + uint8_t angle_landscape_left; /* Sine of maximum allowed tilt angle in landscape left direction */ + uint8_t angle_portrait_down; /* Sine of maximum allowed backward tilt angle in portrait down direction */ + uint8_t angle_portrait_up; /* Sine of maximum allowed forward tilt angle in portrait up direction */ + uint8_t min_dur_moved; /* Minimum duration the arm should be moved while performing gesture */ + uint8_t min_dur_quite; /* Minimum duration the arm should be static between 2 consecutive gestures */ +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_wrist_wear_wakeup; + +/*! + * + * @brief bhy any motion control + * + */ +typedef struct +{ + uint16_t duration : 13; /* Number of consecutive dat points the threshold condition must be respected */ + uint16_t axis_sel : 3; /* Axis selection */ + uint16_t threshold : 11; /* Slope threshold for any motion detection */ + uint16_t reserved : 5; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_any_motion; + +/*! + * + * @brief bhy no motion control + * + */ +typedef struct +{ + uint16_t duration : 13; /* Number of consecutive dat points the threshold condition must be respected */ + uint16_t axis_sel : 3; /* Axis selection */ + uint16_t threshold : 11; /* Slope threshold for no motion detection */ + uint16_t reserved : 5; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_no_motion; + +/*! + * + * @brief bhy wrist gesture detector control + * + */ +typedef struct +{ + uint16_t min_flick_peak_y_thres; /* Minimum threshold for flick peak y-axis */ + uint16_t min_flick_peak_z_thres; /* Minimum threshold for flick peak z-axis */ + uint16_t gravity_bounds_x_pos; /* Maximum expected value of positive gravitational accel on x-axis */ + uint16_t gravity_bounds_x_neg; /* Maximum expected value of negative gravitational accel on x-axis */ + uint16_t gravity_bounds_y_neg; /* Maximum expected value of negative gravitational accel on y-axis */ + uint16_t gravity_bounds_z_neg; /* Maximum expected value of negative gravitational accel on z-axis */ + uint16_t flick_peak_decay_coeff; /* Exponential smoothing coefficient for adaptive peak threshold decay */ + uint16_t lp_mean_filter_coeff; /* Exponential smoothing coefficient for accel mean estimation */ + uint16_t max_duration_jiggle_peaks; /* Maximum duration between 2 peaks of jiggle in sample @50Hz */ + uint8_t device_pos; /* Device in left(0) or right (1) arm */ +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_wrist_gesture_detector; + +/*! + * + * @brief bhy barometer pressure type 1 + * + */ +typedef struct +{ + uint8_t osr_p : 3; /* Oversampling setting pressure measurement */ + uint8_t osr_t : 3; /* Oversampling setting temperature measurement */ + uint8_t reserved_1 : 2; + uint8_t iir_filter : 3; /* Filter coefficient for IIR filter */ + uint8_t reserved_2 : 5; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_baro_type_1; /* For BMP390 */ + +/*! + * + * @brief bhy barometer pressure type 2 + * + */ +typedef struct +{ + uint8_t osr_p : 3; /* Oversampling setting pressure measurement */ + uint8_t osr_t : 3; /* Oversampling setting temperature measurement */ + uint8_t reserved_1 : 2; + uint8_t iir_filter_p : 3; /* Filter coefficient for pressure IIR filter */ + uint8_t iir_filter_t : 3; /* Filter coefficient for temperature IIR filter */ + uint8_t reserved_2 : 2; + uint8_t dsp_config; /* DSP configuration */ +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_baro_type_2; /* For BMP581 */ + +/*! + * + * @brief bhy step counter control + * + */ +typedef struct +{ + uint16_t env_min_dist_up; /* threshold to up envelope curve */ + uint16_t env_coef_up; /* decay filter coefficient to up envelope curve */ + uint16_t env_min_dist_down; /* threshold to down envelope curve */ + uint16_t env_coef_down; /* decay filter coefficient to down envelope curve */ + uint16_t step_buffer_size; /* buffer size to step count, step can be count only buffer is full */ + uint16_t mean_val_decay; /* decay filter coefficient to mean value */ + uint16_t mean_step_dur; /* decay filter coefficient to step duration */ + uint16_t filter_coeff_b2; /* filter coefficient to input signal */ + uint16_t filter_coeff_b1; /* filter coefficient to input signal */ + uint16_t filter_coeff_b0; /* filter coefficient to input signal */ + uint16_t filter_coeff_a2; /* filter coefficient to input signal */ + uint16_t filter_coeff_a1; /* filter coefficient to input signal */ + uint16_t filter_cascade_enabled; /* enable cascade filter for input signal */ + uint16_t peak_duration_min_walking; /* minimal peak duration for walking activity */ + uint16_t peak_duration_min_running; /* minimal peak duration for running activity */ + uint16_t step_duration_max; /* maximal samples since last step to reset step buffer and recognize activity as still + * */ + uint16_t step_duration_window; /* step duration threshold to determine if one step is missed */ + uint16_t half_step_enabled; /* enable half step compensation function */ + uint16_t activity_detection_factor; /* gain for signal magnitude variance in activity identify function */ + uint16_t activity_detection_thres; /* threshold for signal magnitude variance in activity identify function */ + uint16_t step_counter_increment; /* scale factor of step counter */ + uint16_t step_duration_pp_enabled; /* enable post-process of duration between steps */ + uint16_t step_dur_thres; /* gain threshold of mean step duration in post-processing check */ + uint16_t en_mcr_pp; /* enable post-process of mean crossings */ + uint16_t mcr_thres; /* threshold of mean crossings in post-processing check */ + uint16_t sc_26; + uint16_t sc_27; +} BHI360_PACKED bhi360_phy_sensor_ctrl_param_step_counter; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_PHY_SENSOR_CTRL_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param.c new file mode 100644 index 0000000..ca6d6b0 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param.c @@ -0,0 +1,504 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_system_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_system_param.h" +// #include "bhi360_hif.h" +#include "../bhi260x/bhy2_hif.h" +#include + +/*! + * @brief Set Meta Event Control for FIFO (wake-up and non-wake-up) + * + * @param[in] param : Parameter to set. + * @param[in] info : Buffer containing new parameter value. + * @param[in] dev : Device reference. + * + * @return BHY API error codes. + */ +int8_t bhi360_system_param_set_meta_event_control(uint16_t param, + const bhi360_system_param_multi_meta_event_ctrl_t *info, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint8_t buffer[8] = { 0 }; + + if (dev == NULL || info == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + for (uint8_t idx = 0; idx < 8; idx++) + { + buffer[idx] = info->group[idx].as_uint8; + } + + rslt = bhy2_hif_set_parameter(param, buffer, sizeof(buffer), &dev->hif); + + if (rslt != BHY2_OK) + { + return rslt; + } + } + + return rslt; +} + +/*! + * @brief Get Meta Event Control for FIFOs (wake-up and non-wake-up) + * + * @param[in] param : Parameter to set. + * @param[out] info : Buffer containing new parameter value. + * @param[in] dev : Device reference. + * + * @return BHY API error codes. + */ +int8_t bhi360_system_param_get_meta_event_control(uint16_t param, + bhi360_system_param_multi_meta_event_ctrl_t *info, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + uint8_t buffer[8] = { 0 }; + + if (dev == NULL || info == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter(param, buffer, sizeof(buffer), &bytes_read, &dev->hif); + + if (rslt != BHY2_OK) + { + return rslt; + } + + for (uint8_t idx = 0; idx < 8; idx++) + { + info->group[idx].as_s.meta_event4_enable_state = ((buffer[idx] & 0x80) >> 7); + info->group[idx].as_s.meta_event4_int_enable_state = ((buffer[idx] & 0x40) >> 6); + + info->group[idx].as_s.meta_event3_enable_state = ((buffer[idx] & 0x20) >> 5); + info->group[idx].as_s.meta_event3_int_enable_state = ((buffer[idx] & 0x10) >> 4); + + info->group[idx].as_s.meta_event2_enable_state = ((buffer[idx] & 0x08) >> 3); + info->group[idx].as_s.meta_event2_int_enable_state = ((buffer[idx] & 0x04) >> 2); + + info->group[idx].as_s.meta_event1_enable_state = ((buffer[idx] & 0x02) >> 1); + info->group[idx].as_s.meta_event1_int_enable_state = buffer[idx] & 0x01; + } + } + + return rslt; +} + +/*! + * @brief Function set the Wakeup FIFO control register + * @param[in] fifo_ctrl : Fifo control + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_set_wakeup_fifo_control(const struct bhi360_system_param_fifo_control *fifo_ctrl, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + uint8_t buffer[20] = { 0 }; + uint32_t read_wakeup_fifo_watermark = 0; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + /* Setting watermark value for Wake-up FIFO*/ + rslt = + bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_FIFO_CONTROL, buffer, sizeof(buffer), &bytes_read, &dev->hif); + if (rslt != BHY2_OK) + { + return rslt; + } + + buffer[0] = (uint8_t)((fifo_ctrl->wakeup_fifo_watermark & 0xFF)); + buffer[1] = (uint8_t)(((fifo_ctrl->wakeup_fifo_watermark >> 8) & 0xFF)); + buffer[2] = (uint8_t)(((fifo_ctrl->wakeup_fifo_watermark >> 16) & 0xFF)); + buffer[3] = (uint8_t)(((fifo_ctrl->wakeup_fifo_watermark >> 24) & 0xFF)); + + rslt = bhy2_hif_set_parameter(BHI360_SYSTEM_PARAM_FIFO_CONTROL, buffer, sizeof(buffer), &dev->hif); + + if (rslt != BHY2_OK) + { + return rslt; + } + + rslt = + bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_FIFO_CONTROL, buffer, sizeof(buffer), &bytes_read, &dev->hif); + + if (rslt != BHY2_OK) + { + return rslt; + } + + read_wakeup_fifo_watermark = BHY2_LE2U32(buffer); + + if (read_wakeup_fifo_watermark != fifo_ctrl->wakeup_fifo_watermark) + { + rslt = BHY2_E_PARAM_NOT_SET; + + return rslt; + } + } + + return rslt; +} + +/*! + * @brief Function set the non-wakeup FIFO control register + * @param[in] fifo_ctrl : FIFO control + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_set_nonwakeup_fifo_control(const struct bhi360_system_param_fifo_control *fifo_ctrl, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + uint8_t buffer[20] = { 0 }; + uint32_t read_nonwakeup_fifo_watermark = 0; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = + bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_FIFO_CONTROL, buffer, sizeof(buffer), &bytes_read, &dev->hif); + if (rslt < 0) + { + return rslt; + } + + buffer[8] = (uint8_t)((fifo_ctrl->non_wakeup_fifo_watermark & 0xFF)); + buffer[9] = (uint8_t)(((fifo_ctrl->non_wakeup_fifo_watermark >> 8) & 0xFF)); + buffer[10] = (uint8_t)(((fifo_ctrl->non_wakeup_fifo_watermark >> 16) & 0xFF)); + buffer[11] = (uint8_t)(((fifo_ctrl->non_wakeup_fifo_watermark >> 24) & 0xFF)); + + rslt = bhy2_hif_set_parameter(BHI360_SYSTEM_PARAM_FIFO_CONTROL, buffer, sizeof(buffer), &dev->hif); + + if (rslt < 0) + { + return rslt; + } + + rslt = + bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_FIFO_CONTROL, buffer, sizeof(buffer), &bytes_read, &dev->hif); + + if (rslt < 0) + { + return rslt; + } + + read_nonwakeup_fifo_watermark = BHY2_LE2U32(&buffer[8]); + + if (read_nonwakeup_fifo_watermark != fifo_ctrl->non_wakeup_fifo_watermark) + { + rslt = BHY2_E_PARAM_NOT_SET; + } + } + + return rslt; +} + +/*! + * @brief Function get the FIFO control register + * @param[out] fifo_ctrl : FIFO control + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_fifo_control(struct bhi360_system_param_fifo_control *fifo_ctrl, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + uint8_t buffer[20] = { 0 }; + + if ((dev == NULL) || (fifo_ctrl == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_FIFO_CONTROL, buffer, 20, &bytes_read, &dev->hif); + + if (rslt != BHY2_OK) + { + return rslt; + } + + fifo_ctrl->wakeup_fifo_watermark = BHY2_LE2U32(buffer); + fifo_ctrl->wakeup_fifo_size = BHY2_LE2U32(&buffer[4]); + fifo_ctrl->non_wakeup_fifo_watermark = BHY2_LE2U32(&buffer[8]); + fifo_ctrl->non_wakeup_fifo_size = BHY2_LE2U32(&buffer[12]); + } + + return rslt; +} + +/*! + * @brief Function get the firmware version + * @param[out] fw_ver : Reference to the data buffer to store firmware version + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_firmware_version(struct bhi360_system_param_firmware_version *fw_ver, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + uint8_t buffer[20] = { 0 }; + + if ((dev == NULL) || (fw_ver == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_FIRM_VERSION, buffer, 20, &bytes_read, &dev->hif); + + if (rslt != BHY2_OK) + { + return rslt; + } + + fw_ver->custom_ver_num = BHY2_LE2U16(buffer); + fw_ver->em_hash = BHY2_LE2U48(&buffer[2]); + fw_ver->bst_hash = BHY2_LE2U48(&buffer[8]); + fw_ver->user_hash = BHY2_LE2U48(&buffer[14]); + } + + return rslt; +} + +/*! + * @brief Function get the timestamp + * @param[out] ts : Reference to the data buffer to store timestamp + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_timestamps(struct bhi360_system_param_timestamp *ts, struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + uint8_t buffer[16] = { 0 }; + + if ((dev == NULL) || (ts == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_TIMESTAMPS, buffer, 16, &bytes_read, &dev->hif); + + if (rslt != BHY2_OK) + { + return rslt; + } + + ts->host_int_ts = BHY2_LE2U40(buffer); /* Host interrupt timestamp */ + ts->cur_ts = BHY2_LE2U40(&buffer[5]); /* Current timestamp */ + ts->event_ts = BHY2_LE2U40(&buffer[10]); /* Timestamp event */ + } + + return rslt; +} + +/*! + * @brief Function get the virtual sensor present + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_virtual_sensor_present(struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_VIR_SENSOR_PRESENT, + dev->present_buff, + 32, + &bytes_read, + &dev->hif); + } + + return rslt; +} + +/*! + * @brief Function get the physical sensor present + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_physical_sensor_present(struct bhy2_dev *dev) +{ + uint32_t bytes_read = 0; + + int8_t rslt = BHY2_OK; + + if (dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter(BHI360_SYSTEM_PARAM_PHY_SENSOR_PRESENT, + dev->phy_present_buff, + 8, + &bytes_read, + &dev->hif); + } + + return rslt; +} + +/** + * @brief Function to get the physical sensor information of a virtual sensor + * @param[in] sensor_id : Sensor ID of the physical sensor + * @param[out] info : Reference to the data buffer to store the physical sensor info + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_physical_sensor_info(uint8_t sensor_id, + struct bhi360_system_param_phys_sensor_info *info, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t length; + uint8_t bytes[20]; + + if (info == NULL || dev == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter((uint16_t)(BHI360_SYSTEM_PARAM_PHY_SENSOR_INFO_BASE + sensor_id), + bytes, + 20, + &length, + &dev->hif); + if (rslt == BHY2_OK) + { + if (length != 20) + { + rslt = BHY2_E_INVALID_PARAM; + } + else + { + info->sensor_type = bytes[0]; + info->driver_id = bytes[1]; + info->driver_version = bytes[2]; + info->power_current = bytes[3]; + info->curr_range.bytes[0] = bytes[4]; + info->curr_range.bytes[1] = bytes[5]; + info->flags = bytes[6]; + info->slave_address = bytes[7]; + info->gpio_assignment = bytes[8]; + info->curr_rate.bytes[0] = bytes[9]; + info->curr_rate.bytes[1] = bytes[10]; + info->curr_rate.bytes[2] = bytes[11]; + info->curr_rate.bytes[3] = bytes[12]; + info->num_axis = bytes[13]; + info->orientation_matrix[0] = bytes[14]; + info->orientation_matrix[1] = bytes[15]; + info->orientation_matrix[2] = bytes[16]; + info->orientation_matrix[3] = bytes[17]; + info->orientation_matrix[4] = bytes[18]; + + info->curr_range.u16_val = BHY2_LE2U16(info->curr_range.bytes); + info->curr_rate.u32_val = BHY2_LE2U32(info->curr_rate.bytes); + } + } + } + + return rslt; +} + +/** + * @brief Function to set the orientation matrix of physical sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] orient_matrix : Reference to the data buffer to store the orientation matrix + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_set_physical_sensor_info(uint8_t sensor_id, + const struct bhi360_system_param_orient_matrix *orient_matrix, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + + if (dev == NULL || orient_matrix == NULL) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + uint8_t tmp_matrix_buf[8]; /* Includes 2 reserved bytes */ + + memset(tmp_matrix_buf, 0, sizeof(tmp_matrix_buf)); + + tmp_matrix_buf[0] = BHY2_BYTE_TO_NIBBLE(&orient_matrix->c[0]); + tmp_matrix_buf[1] = BHY2_BYTE_TO_NIBBLE(&orient_matrix->c[2]); + tmp_matrix_buf[2] = BHY2_BYTE_TO_NIBBLE(&orient_matrix->c[4]); + tmp_matrix_buf[3] = BHY2_BYTE_TO_NIBBLE(&orient_matrix->c[6]); + tmp_matrix_buf[4] = orient_matrix->c[8] & 0x0F; + + rslt = bhy2_hif_set_parameter((uint16_t)(BHI360_SYSTEM_PARAM_PHY_SENSOR_INFO_BASE + sensor_id), + tmp_matrix_buf, + 8, + &dev->hif); + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param.h new file mode 100644 index 0000000..8680657 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param.h @@ -0,0 +1,164 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_system_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_SYSTEM_PARAM_H__ +#define __BHI360_SYSTEM_PARAM_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include +#include + +// #include "bhi360.h" +#include "../bhi260x/bhy2.h" +#include "bhi360_system_param_defs.h" + +/*! + * @brief Set Meta Event Control for FIFO (wake-up and non-wake-up) + * + * @param[in] param : Parameter to set. + * @param[in] info : Buffer containing new parameter value. + * @param[in] dev : Device reference. + * + * @return BHY API error codes. + */ +int8_t bhi360_system_param_set_meta_event_control(uint16_t param, + const bhi360_system_param_multi_meta_event_ctrl_t *info, + struct bhy2_dev *dev); + +/*! + * @brief Get Meta Event Control for FIFOs (wake-up and non-wake-up) + * + * @param[in] param : Parameter to set. + * @param[out] info : Buffer containing new parameter value. + * @param[in] dev : Device reference. + * + * @return BHY API error codes. + */ +int8_t bhi360_system_param_get_meta_event_control(uint16_t param, + bhi360_system_param_multi_meta_event_ctrl_t *info, + struct bhy2_dev *dev); + +/*! + * @brief Function set the Wakeup FIFO control register + * @param[in] fifo_ctrl : Fifo control + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_set_wakeup_fifo_control(const struct bhi360_system_param_fifo_control *fifo_ctrl, + struct bhy2_dev *dev); + +/*! + * @brief Function set the non-wakeup FIFO control register + * @param[in] fifo_ctrl : FIFO control + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_set_nonwakeup_fifo_control(const struct bhi360_system_param_fifo_control *fifo_ctrl, + struct bhy2_dev *dev); + +/*! + * @brief Function get the FIFO control register + * @param[out] fifo_ctrl : FIFO control + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_fifo_control(struct bhi360_system_param_fifo_control *fifo_ctrl, struct bhy2_dev *dev); + +/*! + * @brief Function get the firmware version + * @param[out] fw_ver : Reference to the data buffer to store firmware version + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_firmware_version(struct bhi360_system_param_firmware_version *fw_ver, + struct bhy2_dev *dev); + +/*! + * @brief Function get the timestamp + * @param[out] ts : Reference to the data buffer to store timestamp + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_timestamps(struct bhi360_system_param_timestamp *ts, struct bhy2_dev *dev); + +/*! + * @brief Function get the virtual sensor present + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_virtual_sensor_present(struct bhy2_dev *dev); + +/*! + * @brief Function get the physical sensor present + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_physical_sensor_present(struct bhy2_dev *dev); + +/** + * @brief Function to get the physical sensor information of a virtual sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] info : Reference to the data buffer to store the physical sensor info + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_get_physical_sensor_info(uint8_t sensor_id, + struct bhi360_system_param_phys_sensor_info *info, + struct bhy2_dev *dev); + +/** + * @brief Function to set the orientation matrix of physical sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] orient_matrix : Reference to the data buffer to store the orientation matrix + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_system_param_set_physical_sensor_info(uint8_t sensor_id, + const struct bhi360_system_param_orient_matrix *orient_matrix, + struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param_defs.h new file mode 100644 index 0000000..b28738a --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_system_param_defs.h @@ -0,0 +1,138 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_system_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_SYSTEM_PARAM_DEFS_H__ +#define __BHI360_SYSTEM_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include +#include "bhi360_defs.h" + +#define BHI360_PHYS_SENSOR_ID_ACCELEROMETER UINT8_C(1) + +/*! System parameters */ +#define BHI360_SYSTEM_PARAM_META_EVENT_CONTROL_NON_WAKE_UP_FIFO UINT16_C(0x101) +#define BHI360_SYSTEM_PARAM_META_EVENT_CONTROL_WAKE_UP_FIFO UINT16_C(0x102) +#define BHI360_SYSTEM_PARAM_FIFO_CONTROL UINT16_C(0x103) +#define BHI360_SYSTEM_PARAM_FIRM_VERSION UINT16_C(0x104) +#define BHI360_SYSTEM_PARAM_TIMESTAMPS UINT16_C(0x105) +#define BHI360_SYSTEM_PARAM_FRAME_WORK_STATUS UINT16_C(0x106) +#define BHI360_SYSTEM_PARAM_VIR_SENSOR_PRESENT UINT16_C(0x11F) +#define BHI360_SYSTEM_PARAM_PHY_SENSOR_PRESENT UINT16_C(0x120) + +#define BHI360_SYSTEM_PARAM_PHY_SENSOR_INFO_BASE UINT16_C(0x120) + +struct bhi360_system_param_phys_sensor_info +{ + uint8_t sensor_type; + uint8_t driver_id; + uint8_t driver_version; + uint8_t power_current; + union bhi360_u16_conv curr_range; + uint8_t flags; + uint8_t slave_address; + uint8_t gpio_assignment; + union bhi360_float_conv curr_rate; + uint8_t num_axis; + uint8_t orientation_matrix[5]; + uint8_t reserved; +}; + +struct bhi360_system_param_orient_matrix +{ + int8_t c[9]; +}; + +typedef union bhi360_system_param_meta_event_states +{ + uint8_t as_uint8; + struct + { + uint8_t meta_event1_int_enable_state : 1; + uint8_t meta_event1_enable_state : 1; + uint8_t meta_event2_int_enable_state : 1; + uint8_t meta_event2_enable_state : 1; + uint8_t meta_event3_int_enable_state : 1; + uint8_t meta_event3_enable_state : 1; + uint8_t meta_event4_int_enable_state : 1; + uint8_t meta_event4_enable_state : 1; + + } as_s; +} __attribute__ ((packed)) bhi360_system_param_meta_event_states_t; + +/*! + * Multi BHY meta events control. + */ +typedef struct bhi360_system_param_multi_meta_event_ctrl +{ + bhi360_system_param_meta_event_states_t group[8]; +} __attribute__ ((packed)) bhi360_system_param_multi_meta_event_ctrl_t; + +struct bhi360_system_param_fifo_control +{ + uint32_t wakeup_fifo_watermark; + uint32_t wakeup_fifo_size; + uint32_t non_wakeup_fifo_watermark; + uint32_t non_wakeup_fifo_size; +}; + +struct bhi360_system_param_firmware_version +{ + uint16_t custom_ver_num; + uint64_t em_hash; + uint64_t bst_hash; + uint64_t user_hash; +}; + +struct bhi360_system_param_timestamp +{ + uint64_t host_int_ts; + uint64_t cur_ts; + uint64_t event_ts; +}; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_SYSTEM_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param.c new file mode 100644 index 0000000..a033c70 --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param.c @@ -0,0 +1,104 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_virtual_sensor_conf_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_virtual_sensor_conf_param.h" +// #include "bhi360_hif.h" +#include "../bhi260x/bhy2_hif.h" +#include "../bhi260x/bhy2.h" +/** + * @brief Function to set the sample rate and latency of the virtual sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[in] sample_rate : Sample rate in Hz + * @param[in] latency : Report latency in milliseconds + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_virtual_sensor_conf_param_set_cfg(uint8_t sensor_id, + const struct bhi360_virtual_sensor_conf_param_conf *sensor_conf, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + + if ((dev != NULL) && (sensor_conf != NULL)) + { + rslt = bhy2_hif_exec_sensor_conf_cmd(sensor_id, sensor_conf->sample_rate, sensor_conf->latency, &dev->hif); + } + else + { + rslt = BHY2_E_NULL_PTR; + } + + return rslt; +} + +/** + * @brief Function to get the virtual sensor configuration + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] virt_sensor_conf : Reference to the data buffer to store the virtual sensor configuration + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_virtual_sensor_conf_param_get_cfg(uint8_t sensor_id, + struct bhi360_virtual_sensor_conf_param_conf *virt_sensor_conf, + struct bhy2_dev *dev) +{ + int8_t rslt = BHY2_OK; + uint32_t bytes_read = 0; + union bhi360_virtual_sensor_conf_param_float_u32 sample_rate; + uint8_t buffer[12] = { 0 }; /* Size of parameter to get sensor config */ + + if ((dev == NULL) || (virt_sensor_conf == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter((uint16_t)(BHI360_VIRTUAL_SENSOR_CONF_BASE + sensor_id), + buffer, + 12, + &bytes_read, + &dev->hif); + sample_rate.reg = BHY2_LE2U32(buffer); + virt_sensor_conf->sample_rate = sample_rate.as_float; + virt_sensor_conf->latency = BHY2_LE2U32(&buffer[4]); + virt_sensor_conf->reserved = BHY2_LE2U16(&buffer[8]); + virt_sensor_conf->range = BHY2_LE2U16(&buffer[10]); + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param.h new file mode 100644 index 0000000..056b17c --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param.h @@ -0,0 +1,78 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_virtual_sensor_conf_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_VIRTUAL_SENSOR_CONF_PARAM_H__ +#define __BHI360_VIRTUAL_SENSOR_CONF_PARAM_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_virtual_sensor_conf_param_defs.h" +#include "../bhi260x/bhy2.h" + +/** + * @brief Function to set the sample rate and latency of the virtual sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[in] sample_rate : Sample rate in Hz + * @param[in] latency : Report latency in milliseconds + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_virtual_sensor_conf_param_set_cfg(uint8_t sensor_id, + const struct bhi360_virtual_sensor_conf_param_conf *sensor_conf, + struct bhy2_dev *dev); + +/** + * @brief Function to get the virtual sensor configuration + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] virt_sensor_conf : Reference to the data buffer to store the virtual sensor configuration + * @param[in] dev : Device reference + * @return API error codes + */ +int8_t bhi360_virtual_sensor_conf_param_get_cfg(uint8_t sensor_id, + struct bhi360_virtual_sensor_conf_param_conf *virt_sensor_conf, + struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_VIRTUAL_SENSOR_CONF_PARAM_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param_defs.h new file mode 100644 index 0000000..6b697ed --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_conf_param_defs.h @@ -0,0 +1,70 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_virtual_sensor_conf_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_VIRTUAL_SENSOR_CONF_PARAM_DEFS_H__ +#define __BHI360_VIRTUAL_SENSOR_CONF_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_defs.h" + +#define BHI360_VIRTUAL_SENSOR_CONF_BASE UINT16_C(0x500) + +union bhi360_virtual_sensor_conf_param_float_u32 +{ + bhi360_float as_float; + uint32_t reg; +}; + +struct bhi360_virtual_sensor_conf_param_conf +{ + uint16_t reserved; + uint16_t range; + uint32_t latency; + bhi360_float sample_rate; +}; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_VIRTUAL_SENSOR_CONF_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param.c b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param.c new file mode 100644 index 0000000..828635c --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param.c @@ -0,0 +1,118 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_virtual_sensor_info_param.c +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#include "bhi360_virtual_sensor_info_param.h" +// #include "bhi360_hif.h" +#include "../bhi260x/bhy2_hif.h" + +/** + * @brief Function get information of a virtual sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] info : Reference to the data buffer to store the sensor info + * @param[in] dev : BHY device instance + * @return API error codes + */ + +int8_t bhi360_virtual_sensor_info_param_get_info(uint8_t sensor_id, + struct bhi360_virtual_sensor_info_param_info *info, + struct bhy2_dev *dev) +{ + int8_t rslt; + uint32_t length; + uint8_t bytes[BHI360_PARAM_NUM_BYTES]; + + if (sensor_id > BHI360_SPECIAL_SENSOR_ID_OFFSET) + { + rslt = BHY2_E_INVALID_PARAM; + } + else if ((info == NULL) || (dev == NULL)) + { + rslt = BHY2_E_NULL_PTR; + } + else + { + rslt = bhy2_hif_get_parameter((uint16_t)(BHI360_PARAM_VIRTUAL_SENSOR_INFO + sensor_id), + bytes, + BHI360_PARAM_NUM_BYTES, + &length, + &dev->hif); + if (rslt == BHY2_OK) + { + if (length != BHI360_PARAM_NUM_BYTES) + { + rslt = BHY2_E_INVALID_PARAM; + } + else + { + info->sensor_type = bytes[0]; + info->driver_id = bytes[1]; + info->driver_version = bytes[2]; + info->power = bytes[3]; + info->max_range.bytes[0] = bytes[4]; + info->max_range.bytes[1] = bytes[5]; + info->resolution.bytes[0] = bytes[6]; + info->resolution.bytes[1] = bytes[7]; + info->max_rate.bytes[0] = bytes[8]; + info->max_rate.bytes[1] = bytes[9]; + info->max_rate.bytes[2] = bytes[10]; + info->max_rate.bytes[3] = bytes[11]; + info->fifo_reserved.bytes[0] = bytes[12]; + info->fifo_reserved.bytes[1] = bytes[13]; + info->fifo_reserved.bytes[2] = bytes[14]; + info->fifo_reserved.bytes[3] = bytes[15]; + info->fifo_max.bytes[0] = bytes[16]; + info->fifo_max.bytes[1] = bytes[17]; + info->fifo_max.bytes[2] = bytes[18]; + info->fifo_max.bytes[3] = bytes[19]; + info->event_size = bytes[20]; + info->min_rate.bytes[0] = bytes[21]; + info->min_rate.bytes[1] = bytes[22]; + info->min_rate.bytes[2] = bytes[23]; + info->min_rate.bytes[3] = bytes[24]; + info->max_range.u16_val = BHY2_LE2U16(info->max_range.bytes); + info->resolution.u16_val = BHY2_LE2U16(info->resolution.bytes); + info->max_rate.u32_val = BHY2_LE2U32(info->max_rate.bytes); + info->fifo_reserved.u32_val = BHY2_LE2U32(info->fifo_reserved.bytes); + info->fifo_max.u32_val = BHY2_LE2U32(info->fifo_max.bytes); + info->min_rate.u32_val = BHY2_LE2U32(info->min_rate.bytes); + } + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param.h new file mode 100644 index 0000000..ead544c --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param.h @@ -0,0 +1,65 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_virtual_sensor_info_param.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_VIRTUAL_SENSOR_INFO_PARAM_H__ +#define __BHI360_VIRTUAL_SENSOR_INFO_PARAM_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_virtual_sensor_info_param_defs.h" +#include "../bhi260x/bhy2.h" +/** + * @brief Function get information of a virtual sensor + * @param[in] sensor_id : Sensor ID of the virtual sensor + * @param[out] info : Reference to the data buffer to store the sensor info + * @param[in] dev : BHY device instance + * @return API error codes + */ +int8_t bhi360_virtual_sensor_info_param_get_info(uint8_t sensor_id, + struct bhi360_virtual_sensor_info_param_info *info, + struct bhy2_dev *dev); + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_VIRTUAL_SENSOR_INFO_PARAM_H__ */ diff --git a/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param_defs.h b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param_defs.h new file mode 100644 index 0000000..1f4069b --- /dev/null +++ b/lib/SensorLib/src/bosch/bhi36x/bhi360_virtual_sensor_info_param_defs.h @@ -0,0 +1,73 @@ +/** +* Copyright (c) 2025 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bhi360_virtual_sensor_info_param_defs.h +* @date 2025-03-28 +* @version v2.2.0 +* +*/ + +#ifndef __BHI360_VIRTUAL_SENSOR_INFO_PARAM_DEFS_H__ +#define __BHI360_VIRTUAL_SENSOR_INFO_PARAM_DEFS_H__ + +/* Start of CPP Guard */ +#ifdef __cplusplus +extern "C" { +#endif /*__cplusplus */ + +#include "bhi360_defs.h" + +#define BHI360_PARAM_VIRTUAL_SENSOR_INFO UINT16_C(0x300) + +#define BHI360_PARAM_NUM_BYTES UINT8_C(28) + +struct bhi360_virtual_sensor_info_param_info +{ + uint8_t sensor_type; + uint8_t driver_id; + uint8_t driver_version; + uint8_t power; + union bhi360_u16_conv max_range; + union bhi360_u16_conv resolution; + union bhi360_float_conv max_rate; + union bhi360_u32_conv fifo_reserved; + union bhi360_u32_conv fifo_max; + uint8_t event_size; + union bhi360_float_conv min_rate; +}; + +/* End of CPP Guard */ +#ifdef __cplusplus +} +#endif /*__cplusplus */ + +#endif /* __BHI360_VIRTUAL_SENSOR_INFO_PARAM_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/bma4xx/LICENSE b/lib/SensorLib/src/bosch/bma4xx/LICENSE new file mode 100644 index 0000000..dca3eee --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/LICENSE @@ -0,0 +1,30 @@ +Copyright (c) 2024 Bosch Sensortec GmbH. All rights reserved. + +BSD-3-Clause + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/bma4xx/README.md b/lib/SensorLib/src/bosch/bma4xx/README.md new file mode 100644 index 0000000..5230574 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/README.md @@ -0,0 +1,58 @@ +# BMA456 Sensor API + +> This package contains SensorAPIs for BMA456 Sensor + +## Sensor Overview + +The BMA456 is an ultra-small, triaxial, low-g acceleration sensor with digital interfaces, aiming for low-power consumer electronics applications. Featuring 16 bit digital resolution and embedded intelligence, the device is optimized to fulfill low power accelerometer requirements. + +## Applications + +### BMA456W +- Any motion +- No motion +- Step detector +- Step counter +- Step activity +- Tap + - Single tap + - Double tap + +### BMA456H + +- Any motion +- No motion +- Step detector +- Step counter +- Step activity +- Auto low power +- Tap + - Single tap + - Double tap + - Triple tap + +### BMA456MM + +- Any motion +- No motion +- Orientation +- High-g +- Low-g +- Significant motion +- Auto low power +- Tap + - Single tap + - Double tap + - Triple tap + +### BMA456AN + +- Any motion +- No motion + +### BMA456 tablet + +- Any/no motion +- Low-g +- Single, double and triple tap +- Orientation \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/bma4xx/bma4.c b/lib/SensorLib/src/bosch/bma4xx/bma4.c new file mode 100644 index 0000000..f1fc042 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma4.c @@ -0,0 +1,5859 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma4.c +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/* + * @file bma4.c + * @brief Source file for the BMA4 Sensor API + */ + +/***************************************************************************/ + +/*! + * @defgroup bma4 BMA4 + */ + +/**\name Header files + ****************************************************************************/ +#include "bma4.h" + +/***************************************************************************/ + +/**\name Local structures + ****************************************************************************/ + +/*! + * @brief Accel data deviation from ideal value + */ +struct bma4_offset_delta +{ + /*! X axis */ + int16_t x; + + /*! Y axis */ + int16_t y; + + /*! Z axis */ + int16_t z; +}; + +/*! + * @brief Accel offset xyz structure + */ +struct bma4_accel_offset +{ + /*! Accel offset X data */ + uint8_t x; + + /*! Accel offset Y data */ + uint8_t y; + + /*! Accel offset Z data */ + uint8_t z; +}; + +/***************************************************************************/ + +/*! Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This API validates the bandwidth, odr and perf_mode + * combinations set by the user. + * + * param bandwidth[in] : bandwidth value set by the user. + * param perf_mode[in] : perf_mode value set by the user. + * param odr[in] : odr value set by the user. + */ +static int8_t validate_odr_bandwidth_perfmode(uint8_t odr, uint8_t bandwidth, uint8_t perf_mode); + +/*! + * @brief This API validates the bandwidth and perfmode + * value set by the user. + * + * param bandwidth[in] : bandwidth value set by the user. + * param perf_mode[in] : perf_mode value set by the user. + */ +static int8_t validate_bandwidth_perfmode(uint8_t bandwidth, uint8_t perf_mode); + +/*! + * @brief @brief This API validates the ODR value set by the user. + * + * param odr[in] : odr value set by the user. + */ +static int8_t validate_odr(uint8_t odr); + +/*! + * @brief This API validates the bandwidth and odr when perf_mode = BMA4_CIC_AVG_MODE + * + * param bandwidth[in] : bandwidth value set by the user. + * param odr[in] : odr value set by the user. + */ +static int8_t validate_bandwidth_odr(uint8_t bandwidth, uint8_t odr); + +/*! + * @brief This API is used to reset the FIFO related configurations + * in the fifo_frame structure. + * + * @param fifo[in,out] : Structure instance of bma4_fifo_frame + * + */ +static void reset_fifo_data_structure(struct bma4_fifo_frame *fifo); + +/*! + * @brief This API computes the number of bytes of accel FIFO data + * which is to be parsed in header-less mode + * + * @param[out] start_idx : The start index for parsing data + * @param[out] len : Number of bytes to be parsed + * @param[in] acc_count : Number of accelerometer frames to be read + * @param[in] fifo : Structure instance of bma4_fifo_frame. + * + */ +static void get_accel_len_to_parse(uint16_t *start_idx, + uint16_t *len, + const uint16_t *acc_count, + const struct bma4_fifo_frame *fifo); + +/*! + * @brief This API checks the fifo read data as empty frame, if it + * is empty frame then moves the index to last byte. + * + * @param[in,out] data_index : The index of the current data to + * be parsed from fifo data + * @param[in] fifo : Structure instance of bma4_fifo_frame. + */ +static void check_empty_fifo(uint16_t *data_index, const struct bma4_fifo_frame *fifo); + +/*! + * @brief This API is used to parse the accelerometer data from the + * FIFO data in header mode. + * + * @param[in,out] accel_data : Structure instance of bma4_accel where + * the accelerometer data in FIFO is stored. + * @param[in,out] accel_length : Number of accelerometer frames + * (x,y,z axes data) + * @param[in,out] fifo : Structure instance of bma4_fifo_frame + * @param[in,out] dev : Structure instance of bma4_dev. + * + */ +static void extract_accel_header_mode(struct bma4_accel *accel_data, + uint16_t *accel_length, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/*! + * @brief This API is used to parse the accelerometer data from the + * FIFO data in both header mode and header-less mode. + * It update the idx value which is used to store the index of + * the current data byte which is parsed. + * + * @param[in,out] acc : Structure instance of bma4_accel. + * @param[in,out] idx : Index value of number of bytes parsed + * @param[in,out] acc_idx : Index value of accelerometer data + * (x,y,z axes) frame to be parsed + * @param[in] frm : It consists of either fifo_data_enable + * parameter (Accel and/or mag data enabled in FIFO) + * in header-less mode or frame header data + * in header mode + * @param[in] fifo : Structure instance of bma4_fifo_frame. + * @param[in] dev : Structure instance of bma4_dev. + * + */ +static void unpack_acc_frm(struct bma4_accel *acc, + uint16_t *idx, + uint16_t *acc_idx, + uint8_t frm, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/*! + * @brief This API is used to parse the accelerometer data from the + * FIFO data and store it in the instance of the structure bma4_accel. + * + * @param[out] accel_data : Structure instance of bma4_accel where + * the parsed accel data bytes are stored. + * @param[in] data_start_index : Index value of the accel data bytes + * which is to be parsed from the fifo data. + * @param[in] fifo : Structure instance of bma4_fifo_frame. + * @param[in] dev : Structure instance of bma4_dev. + * + */ +static void unpack_accel_data(struct bma4_accel *accel_data, + uint16_t data_start_index, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/*! + * @brief This API computes the number of bytes of Mag FIFO data which is + * to be parsed in header-less mode + * + * @param[out] start_idx : The start index for parsing data + * @param[out] len : Number of bytes to be parsed + * @param[in] mag_count : Number of magnetometer frames to be read + * @param[in] fifo : Structure instance of bma4_fifo_frame. + * + */ +static void get_mag_len_to_parse(uint16_t *start_idx, + uint16_t *len, + const uint16_t *mag_count, + const struct bma4_fifo_frame *fifo); + +/*! + * @brief This API is used to parse the magnetometer data from the + * FIFO data in header mode. + * + * @param[in,out] data : Structure instance of bma4_mag_xyzr where + * the magnetometer data in FIFO is extracted + * and stored. + * @param[in,out] len : Number of magnetometer frames + * (x,y,z,r data) + * @param[in,out] fifo : Structure instance of bma4_fifo_frame. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +static int8_t extract_mag_header_mode(const struct bma4_mag *data, + uint16_t *len, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/*! + * @brief This API is used to parse the magnetometer data from the + * FIFO data in both header mode and header-less mode and update the + * idx value which is used to store the index of the current + * data byte which is parsed. + * + * @param data : Structure instance of bma4_mag_xyzr. + * @param idx : Index value of number of bytes parsed + * @param mag_idx : Index value magnetometer data frame (x,y,z,r) + * to be parsed + * @param frm : It consists of either the fifo_data_enable parameter + * (Accel and/or mag data enabled in FIFO) in + * header-less mode and frame header data in header mode + * @param fifo : Structure instance of bma4_fifo_frame. + * @param dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +static int8_t unpack_mag_frm(const struct bma4_mag *data, + uint16_t *idx, + uint16_t *mag_idx, + uint8_t frm, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/*! + * @brief This API is used to parse the auxiliary magnetometer data from + * the FIFO data and store it in the instance of the structure mag_data. + * + * @param mag_data : Structure instance of bma4_mag_xyzr where the + * parsed magnetometer data bytes are stored. + * @param start_idx : Index value of the magnetometer data bytes + * which is to be parsed from the FIFO data + * @param fifo : Structure instance of bma4_fifo_frame. + * @param dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +static int8_t unpack_mag_data(const struct bma4_mag *mag_data, + uint16_t start_idx, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/*! + * @brief This API is used to parse and store the sensor time from the + * FIFO data in the structure instance dev. + * + * @param[in,out] data_index : Index of the FIFO data which + * has the sensor time. + * @param[in,out] fifo : Structure instance of bma4_fifo_frame. + * + */ +static void unpack_sensortime_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo); + +/*! + * @brief This API is used to parse and store the skipped_frame_count from + * the FIFO data in the structure instance dev. + * + * @param[in,out] data_index : Index of the FIFO data which + * has the skipped frame count. + * @param[in,out] fifo : Structure instance of bma4_fifo_frame. + * + */ +static void unpack_skipped_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo); + +/*! + * @brief This API is used to parse and store the dropped_frame_count from + * the FIFO data in the structure instance dev. + * + * @param[in,out] data_index : Index of the FIFO data which + * has the dropped frame data. + * @param[in,out] fifo : Structure instance of bma4_fifo_frame. + * + */ +static void unpack_dropped_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo); + +/*! + * @brief This API is used to move the data index ahead of the + * current_frame_length parameter when unnecessary FIFO data appears while + * extracting the user specified data. + * + * @param[in,out] data_index : Index of the FIFO data which + * is to be moved ahead of the + * current_frame_length + * @param[in] current_frame_length : Number of bytes in a particular frame + * @param[in] fifo : Structure instance of bma4_fifo_frame. + * + */ +static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bma4_fifo_frame *fifo); + +/*! + * @brief This API writes the config stream data in memory using burst mode + * + * @param[in] stream_data : Pointer to store data of 32 bytes + * @param[in] index : Represents value in multiple of 32 bytes + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t stream_transfer_write(const uint8_t *stream_data, uint16_t index, struct bma4_dev *dev); + +/*! + * @brief This API enables or disables the Accel self-test feature in the + * sensor. + * + * @param[in] accel_self-test_enable : Variable used to enable or disable + * the Accel self-test feature + * Value | Description + * --------|--------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +static int8_t set_accel_selftest_enable(uint8_t accel_selftest_axis, struct bma4_dev *dev); + +/*! + * @brief This API selects the sign of Accel self-test excitation + * + * @param[in] accel_selftest_sign: Variable used to select the Accel + * self-test sign + * Value | Description + * --------|-------------------------- + * 0x00 | BMA4_DISABLE (negative) + * 0x01 | BMA4_ENABLE (positive) + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +static int8_t set_accel_selftest_sign(uint8_t accel_selftest_sign, struct bma4_dev *dev); + +/*! + * @brief This API sets the Accel self-test amplitude in the sensor. + * + * @param[in] accel_selftest_amp : Variable used to specify the Accel self + * test amplitude + * Value | Description + * --------|------------------------------------ + * 0x00 | BMA4_SELFTEST_AMP_LOW + * 0x01 | BMA4_SELFTEST_AMP_HIGH + * + * @param[in] dev : structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +static int8_t set_accel_selftest_amp(uint8_t accel_selftest_amp, struct bma4_dev *dev); + +/*! + * @brief This function enables and configures the Accel which is needed + * for self-test operation. + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return results of self-test + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +static int8_t set_accel_selftest_config(struct bma4_dev *dev); + +/*! + * @brief This function validates the Accel self-test data and decides the + * result of self-test operation. + * + * @param[in] accel_data_diff : Pointer to structure variable which holds + * the Accel data difference of self-test operation + * @param[in] dev : Structure instance of bma4_dev + * + * @return results of self-test operation + * @retval 0 -> Success + * @retval Any non zero value -> Fail + * + */ +static int8_t validate_selftest(const struct bma4_selftest_delta_limit *accel_data_diff, const struct bma4_dev *dev); + +/*! + * @brief This API converts lsb value of axes to mg for self-test + * + * @param[in] accel_data_diff : Pointer variable used to pass accel difference + * values in g + * @param[out] accel_data_diff_mg : Pointer variable used to store accel + * difference values in mg + * @param[out] dev : Structure instance of bma4_dev + * + */ +static void convert_lsb_g(const struct bma4_selftest_delta_limit *accel_data_diff, + struct bma4_selftest_delta_limit *accel_data_diff_mg, + const struct bma4_dev *dev); + +/*! + * @brief This API sets the feature config. data start address in the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t set_feature_config_start_addr(struct bma4_dev *dev); + +/*! + * @brief This API increments the feature config. data address according to the user + * provided read/write length in the dev structure. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t increment_feature_config_addr(struct bma4_dev *dev); + +/*! + * @brief This API reads the 8-bit data from the given register + * in the sensor. + * + * @param[in] addr : Register address. + * @param[in] data : Read data buffer. + * @param[in] len : No of bytes to read. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t read_regs(uint8_t addr, uint8_t *data, uint32_t len, struct bma4_dev *dev); + +/*! + * @brief This API reads the 8-bit data from the given register + * when length is less than read write length + * + * @param[in] data : Read data buffer. + * @param[in] len : No of bytes to read. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t read_within_len_regs(uint8_t *data, uint32_t len, struct bma4_dev *dev); + +/*! + * @brief This API writes the 8-bit data to the given register + * in the sensor. + * + * @param[in] addr : Register address. + * @param[in] data : Write data buffer + * @param[in] len : No of bytes to write + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t write_regs(uint8_t addr, const uint8_t *data, uint32_t len, struct bma4_dev *dev); + +/*! + * @brief This API writes the 8-bit data to the given register + * in the sensor for length less than read write length + * + * @param[in] data : Write data buffer + * @param[in] len : No of bytes to write + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t write_within_len_regs(const uint8_t *data, uint32_t len, struct bma4_dev *dev); + +/*! + * @brief This API sets the feature config. data start address in the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t get_feature_config_start_addr(struct bma4_dev *dev); + +/*! + * @brief This API is used to calculate the power of given + * base value. + * + * @param[in] base : value of base + * @param[in] resolution : resolution of the sensor + * + * @return : Return the value of base^resolution + */ +static int32_t power(int16_t base, uint8_t resolution); + +/*! + * @brief This API finds the the null error of the device pointer structure + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval BMA4_OK -> Success + * @retval BMA4_E_NULL_PTR -> Null pointer Error + */ +static int8_t null_pointer_check(const struct bma4_dev *dev); + +/*! + * @brief This internal API gets the re-mapped x, y and z axes from the sensor. + * + * @param[out] remap_data : Structure instance of bma4_axes_remap + * @param[in] feature_config : Array data containing feature configurations + * @param[in] index : Index to which mapping has to be applied + * @param[in] feature_len : Length of feature configurations + * @param[in, out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t get_remap_axes(struct bma4_axes_remap *remap_data, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev); + +/*! + * @brief This internal API sets the re-mapped x, y and z axes in the sensor. + * + * @param[in] remap_data : Structure instance of bma4_axes_remap + * @param[in] feature_config : Array data containing feature configurations + * @param[in] index : Index to which mapping has to be applied + * @param[in] feature_len : Length of feature configurations + * @param[in, out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t set_remap_axes(const struct bma4_axes_remap *remap_data, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev); + +/*! + * @brief This internal API is to store re-mapped axis and sign values + * in device structure + * + * @param[in] remap_axis : Value of re-mapped axis + * @param[out] axis : Re-mapped axis value stored in device structure + * @param[out] sign : Re-mapped axis sign stored in device structure + * + * @return None + * + * @retval None + */ +static void assign_remap_axis(uint8_t remap_axis, uint8_t *axis, uint8_t *sign); + +/*! + * @brief This internal API is to receive re-mapped axis and sign values + * in device structure + * + * @param[in] remap_axis : Re-mapped axis value + * @param[in] remap_sign : Re-mapped axis sign value + * @param[out] axis : Re-mapped axis stored in local structure + * + * @return None + * + * @retval None + */ +static void receive_remap_axis(uint8_t remap_axis, uint8_t remap_sign, uint8_t *axis); + +/*! + * @brief This internal API gets the re-mapped accelerometer/gyroscope data. + * + * @param[out] data : Structure instance of bma4_accel. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return None + * + * @retval None + */ +static void get_remapped_data(struct bma4_accel *data, const struct bma4_dev *dev); + +/*! + * @brief This API performs the steps needed for Self test operation + * before reading the Accel Self test data. + * + * @param[in] sign: Variable used to specify the self test sign + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t selftest_config(uint8_t sign, struct bma4_dev *dev); + +/*! + * @brief This internal API brings up the secondary interface to access + * auxiliary sensor + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t set_aux_interface_config(struct bma4_dev *dev); + +/*! + * @brief This internal API reads the data from the auxiliary sensor + * depending on burst length configured + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[out] aux_data : Pointer variable to store data read + * @param[in] aux_reg_addr : Variable to pass address from where + * data is to be read + * + * @return Result of API execution status + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t extract_aux_data(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); + +/*! + * @brief This internal API maps the actual burst read length with user length set. + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[out] len : Pointer variable to store mapped length + * + * @return Result of API execution status + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t map_read_len(uint8_t *len, const struct bma4_dev *dev); + +/*! + * @brief This internal API validates accel self-test status from positive and negative axes input + * + * @param[in] positive : Positive accel data. + * @param[in] negative : Negative accel data. + * @param[in/out] accel_data_diff_mg : accel data difference data between positive and negative in mg. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t get_accel_data_difference_and_validate(struct bma4_accel positive, + struct bma4_accel negative, + struct bma4_selftest_delta_limit *accel_data_diff_mg, + const struct bma4_dev *dev); + +/*! + * @brief This internal API saves the configurations before performing FOC. + * + * @param[out] acc_cfg : Accelerometer configuration value + * @param[out] aps : Advance power mode value + * @param[out] acc_en : Accelerometer enable value + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval BMA4_OK - Success. + * @retval BMA4_E_COM_FAIL - Error: Communication fail + * @retval BMA4_E_INVALID_SENSOR - Error: Invalid sensor + */ +static int8_t save_accel_foc_config(struct bma4_accel_config *acc_cfg, + uint8_t *aps, + uint8_t *acc_en, + struct bma4_dev *dev); + +/*! + * @brief This internal API sets configurations for performing accelerometer FOC. + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval BMA4_OK - Success. + * @retval BMA4_E_COM_FAIL - Error: Communication fail + * @retval BMA4_E_INVALID_SENSOR - Error: Invalid sensor + */ +static int8_t set_accel_foc_config(struct bma4_dev *dev); + +/*! + * @brief This internal API enables/disables the offset compensation for + * filtered and un-filtered accelerometer data. + * + * @param[in] offset_en : Enables/Disables offset compensation. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval BMA4_OK - Success. + * @retval BMA4_E_COM_FAIL - Error: Communication fail + */ +static int8_t set_bma4_accel_offset_comp(uint8_t offset_en, struct bma4_dev *dev); + +/*! + * @brief This internal API performs Fast Offset Compensation for accelerometer. + * + * @param[in] accel_g_value : This parameter selects the accel FOC + * axis to be performed + * + * Input format is {x, y, z, sign}. '1' to enable. '0' to disable + * + * Eg:- To choose x axis {1, 0, 0, 0} + * Eg:- To choose -x axis {1, 0, 0, 1} + * + * @param[in] acc_cfg : Accelerometer configuration value + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * + * @retval BMA4_OK - Success. + * @retval BMA4_E_NULL_PTR - Error: Null pointer error + * @retval BMA4_E_COM_FAIL - Error: Communication fail + */ +static int8_t perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value, + const struct bma4_accel_config *acc_cfg, + struct bma4_dev *dev); + +/*! + * @brief This internal API converts the range value into accelerometer + * corresponding integer value. + * + * @param[in] range_in : Input range value. + * @param[out] range_out : Stores the integer value of range. + * + * @return None + * @retval None + */ +static void map_accel_range(uint8_t range_in, uint8_t *range_out); + +/*! + * @brief This internal API compensate the accelerometer data against gravity. + * + * @param[in] lsb_per_g : LSB value per 1g. + * @param[in] g_val : Gravity reference value of all axes. + * @param[in] data : Accelerometer data + * @param[out] comp_data : Stores the data that is compensated by taking the + * difference in accelerometer data and lsb_per_g + * value. + * + * @return None + * @retval None + */ +static void comp_for_gravity(uint16_t lsb_per_g, + const struct bma4_accel_foc_g_value *g_val, + const struct bma4_accel *data, + struct bma4_offset_delta *comp_data); + +/*! + * @brief This internal API scales the compensated accelerometer data according + * to the offset register resolution. + * + * @param[in] range : Gravity range of the accelerometer. + * @param[out] comp_data : Data that is compensated by taking the + * difference in accelerometer data and lsb_per_g + * value. + * @param[out] data : Stores offset data + * @param[in] resolution : Resolution of bma4 sensor + * + * @return None + * @retval None + */ +static void scale_bma4_accel_offset(uint8_t range, + const struct bma4_offset_delta *comp_data, + struct bma4_accel_offset *data, + uint8_t resolution); + +/*! + * @brief This internal API inverts the accelerometer offset data. + * + * @param[out] offset_data : Stores the inverted offset data + * + * @return None + * @retval None + */ +static void invert_bma4_accel_offset(struct bma4_accel_offset *offset_data); + +/*! + * @brief This internal API writes the offset data in the offset compensation + * register. + * + * @param[in] offset : Offset data + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval BMA4_OK - Success. + * @retval BMA4_E_COM_FAIL - Error: Communication fail + */ +static int8_t write_bma4_accel_offset(const struct bma4_accel_offset *offset, struct bma4_dev *dev); + +/*! + * @brief This internal API finds the bit position of 3.9mg according to given + * range and resolution. + * + * @param[in] range : Gravity range of the accelerometer. + * @param[in] resolution : Resolution of sensor + * + * @return Result of API execution status + * @retval Bit position of 3.9mg + */ +static int8_t get_bit_pos_3_9mg(uint8_t range, uint8_t resolution); + +/*! + * @brief This internal API restores the configurations saved before performing + * accelerometer FOC. + * + * @param[in] acc_cfg : Accelerometer configuration value + * @param[in] aps : Advance power mode value + * @param[in] acc_en : Accelerometer enable value + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval BMA4_OK - Success. + * @retval BMA4_E_COM_FAIL - Error: Communication fail + * @retval BMA4_E_INVALID_SENSOR - Error: Invalid sensor + * @retval BMA4_E_SET_APS_FAIL - Error: Set Advance Power Save Fail + */ +static int8_t restore_accel_foc_config(const struct bma4_accel_config *acc_cfg, + uint8_t aps, + uint8_t acc_en, + struct bma4_dev *dev); + +/***************************************************************************/ + +/**\name Extern Declarations + ****************************************************************************/ + +/***************************************************************************/ + +/**\name Globals + ****************************************************************************/ + +/***************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor which is the first step to + * verify the sensor and also it configures the read mechanism of SPI and + * I2C interface. + */ +int8_t bma4_init(struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + uint8_t dummy_read = 0; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + if (dev->intf == BMA4_SPI_INTF) + { + dev->dummy_byte = 1; + rslt = bma4_read_regs(BMA4_CHIP_ID_ADDR, &dummy_read, 1, dev); + } + else + { + dev->dummy_byte = 0; + } + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_CHIP_ID_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + /* Assign Chip Id */ + dev->chip_id = data; + } + } + } + + return rslt; +} + +/*! + * @brief This API is used to write the binary configuration in the sensor + */ +int8_t bma4_write_config_file(struct bma4_dev *dev) +{ + int8_t rslt; + + /* Config loading disable*/ + uint8_t config_load = 0; + uint16_t index = 0; + uint8_t config_stream_status = 0; + + /* Disable advanced power save */ + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + if (rslt == BMA4_OK) + { + /* Disable config loading*/ + rslt = bma4_write_regs(BMA4_INIT_CTRL_ADDR, &config_load, 1, dev); + + if (rslt == BMA4_OK) + { + /* Write the config stream */ + for (index = 0; index < dev->config_size; index += dev->read_write_len) + { + rslt = stream_transfer_write((dev->config_file_ptr + index), index, dev); + } + + if (rslt == BMA4_OK) + { + /* Enable config loading and FIFO mode */ + config_load = 0x01; + rslt = bma4_write_regs(BMA4_INIT_CTRL_ADDR, &config_load, 1, dev); + + if (rslt == BMA4_OK) + { + /* Wait till ASIC is initialized. Refer the data-sheet for + * more information + */ + dev->delay_us(BMA4_MS_TO_US(150), dev->intf_ptr); + + /* Read the status of config stream operation */ + rslt = bma4_read_regs(BMA4_INTERNAL_STAT, &config_stream_status, 1, dev); + config_stream_status = config_stream_status & BMA4_CONFIG_STREAM_MESSAGE_MSK; + + if (rslt == BMA4_OK) + { + if (config_stream_status != BMA4_ASIC_INITIALIZED) + { + rslt = BMA4_E_CONFIG_STREAM_ERROR; + } + else + { + /* Enable advanced power save */ + rslt = bma4_set_advance_power_save(BMA4_ENABLE, dev); + if (rslt == BMA4_OK) + { + rslt = get_feature_config_start_addr(dev); + } + } + } + } + } + } + } + + return rslt; +} + +/*! + * @brief This API checks whether the write operation requested is for feature + * config or register write and accordingly writes the data in the sensor. + */ +int8_t bma4_write_regs(uint8_t addr, const uint8_t *data, uint32_t len, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t adv_pwr_save = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (data != NULL)) + { + if (addr == BMA4_FEATURE_CONFIG_ADDR) + { + /* Disable APS if enabled before writing the feature + * config register + */ + rslt = bma4_get_advance_power_save(&adv_pwr_save, dev); + if ((adv_pwr_save == BMA4_ENABLE) && (rslt == BMA4_OK)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + } + + if (((len % 2) == 0) && (len <= dev->feature_len) && (rslt == BMA4_OK)) + { + if (dev->read_write_len < len) + { + rslt = write_within_len_regs(data, len, dev); + } + else + { + rslt = write_regs(BMA4_FEATURE_CONFIG_ADDR, data, len, dev); + } + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + + if (rslt == BMA4_OK) + { + /* Enable APS if previously enabled */ + if (adv_pwr_save == BMA4_ENABLE) + { + rslt = bma4_set_advance_power_save(BMA4_ENABLE, dev); + } + } + } + else + { + rslt = write_regs(addr, data, len, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/*! + * @brief This API writes the 8-bit data to the given register + * in the sensor. + */ +static int8_t write_regs(uint8_t addr, const uint8_t *data, uint32_t len, struct bma4_dev *dev) +{ + int8_t rslt; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (data != NULL)) + { + if (dev->intf == BMA4_SPI_INTF) + { + addr = addr & BMA4_SPI_WR_MASK; + } + + /* write data in the register*/ + dev->intf_rslt = dev->bus_write(addr, data, len, dev->intf_ptr); + + if (dev->intf_rslt == BMA4_INTF_RET_SUCCESS) + { + /* After write operation 2us delay is required when + * device operates in performance mode whereas + * 450us is required when the device operates in suspend and low power mode. + * NOTE: For more information refer datasheet */ + if (dev->perf_mode_status == BMA4_ENABLE) + { + dev->delay_us(2, dev->intf_ptr); + } + else + { + dev->delay_us(450, dev->intf_ptr); + } + } + else + { + rslt = BMA4_E_COM_FAIL; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API writes the 8-bit data to the given register + * in the sensor for length less than read write length + */ +static int8_t write_within_len_regs(const uint8_t *data, uint32_t len, struct bma4_dev *dev) +{ + int8_t rslt; + uint32_t loop_count; + uint16_t overflow; + uint16_t index; + uint32_t i; + + /* Calculate the no of writes to be + * performed according to the read/write + * length + */ + loop_count = len / dev->read_write_len; + overflow = len % dev->read_write_len; + index = 0; + rslt = set_feature_config_start_addr(dev); + + if (rslt == BMA4_OK) + { + for (i = 0; i < loop_count; i++) + { + rslt = write_regs(BMA4_FEATURE_CONFIG_ADDR, data + index, dev->read_write_len, dev); + if (rslt == BMA4_OK) + { + rslt = increment_feature_config_addr(dev); + if (rslt == BMA4_OK) + { + index = index + dev->read_write_len; + } + } + } + + if ((overflow) && (rslt == BMA4_OK)) + { + rslt = write_regs(BMA4_FEATURE_CONFIG_ADDR, data + index, overflow, dev); + } + + if (rslt == BMA4_OK) + { + rslt = set_feature_config_start_addr(dev); + } + } + + return rslt; +} + +/*! + * @brief This API sets the feature config. data start address in the sensor. + */ +static int8_t get_feature_config_start_addr(struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t asic_lsb = 0; + uint8_t asic_msb = 0; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = read_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev); + if (rslt == BMA4_OK) + { + rslt = read_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev); + } + + if (rslt == BMA4_OK) + { + /* Store asic info in dev structure */ + dev->asic_data.asic_lsb = asic_lsb & 0x0F; + dev->asic_data.asic_msb = asic_msb; + } + } + + return rslt; +} + +/*! + * @brief This API sets the feature config. data start address in the sensor. + */ +static int8_t set_feature_config_start_addr(struct bma4_dev *dev) +{ + int8_t rslt; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = write_regs(BMA4_RESERVED_REG_5B_ADDR, &dev->asic_data.asic_lsb, 1, dev); + if (rslt == BMA4_OK) + { + rslt = write_regs(BMA4_RESERVED_REG_5C_ADDR, &dev->asic_data.asic_msb, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API increments the feature config. data address according to the user + * provided read/write length in the dev structure. + */ +static int8_t increment_feature_config_addr(struct bma4_dev *dev) +{ + int8_t rslt; + uint16_t asic_addr; + uint8_t asic_lsb = 0; + uint8_t asic_msb = 0; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Read the asic address from the sensor */ + rslt = read_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev); + if (rslt == BMA4_OK) + { + rslt = read_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev); + } + else + { + rslt = BMA4_E_COM_FAIL; + } + + if (rslt == BMA4_OK) + { + /* Get the asic address */ + asic_addr = (asic_msb << 4) | (asic_lsb & 0x0F); + + /* Sum the asic address with read/write length after converting from + * byte to word + */ + asic_addr = asic_addr + (dev->read_write_len / 2); + + /* Split the asic address */ + asic_lsb = asic_addr & 0x0F; + asic_msb = (uint8_t)(asic_addr >> 4); + + /* Write the asic address in the sensor */ + rslt = write_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev); + if (rslt == BMA4_OK) + { + rslt = write_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev); + } + } + else + { + rslt = BMA4_E_COM_FAIL; + } + } + + return rslt; +} + +/*! @endcond */ + +/*! + * @brief This API checks whether the read operation requested is for feature + * or register read and accordingly reads the data from the sensor. + */ +int8_t bma4_read_regs(uint8_t addr, uint8_t *data, uint32_t len, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t adv_pwr_save = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (data != NULL)) + { + if (addr == BMA4_FEATURE_CONFIG_ADDR) + { + /* Disable APS if enabled before reading the feature + * config register + */ + rslt = bma4_get_advance_power_save(&adv_pwr_save, dev); + if (adv_pwr_save == BMA4_ENABLE) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + } + + if (((len % 2) == 0) && (len <= dev->feature_len) && (rslt == BMA4_OK)) + { + if (dev->read_write_len < len) + { + rslt = read_within_len_regs(data, len, dev); + } + else + { + rslt = read_regs(BMA4_FEATURE_CONFIG_ADDR, data, len, dev); + } + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + + if (rslt == BMA4_OK) + { + /* Enable APS if previously enabled */ + if (adv_pwr_save == BMA4_ENABLE) + { + rslt = bma4_set_advance_power_save(BMA4_ENABLE, dev); + } + } + } + else + { + rslt = read_regs(addr, data, len, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/*! + * @brief This API reads the 8-bit data from the given register + * in the sensor. + */ +static int8_t read_regs(uint8_t addr, uint8_t *data, uint32_t len, struct bma4_dev *dev) +{ + int8_t rslt; + uint16_t indx; + uint8_t temp_buff[BMA4_MAX_LEN]; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (data != NULL)) + { + if (dev->intf == BMA4_SPI_INTF) + { + /* SPI mask added */ + addr = addr | BMA4_SPI_RD_MASK; + } + + /* Read the data from the register */ + dev->intf_rslt = dev->bus_read(addr, temp_buff, (len + dev->dummy_byte), dev->intf_ptr); + + if (dev->intf_rslt == BMA4_INTF_RET_SUCCESS) + { + for (indx = 0; indx < len; indx++) + { + /* Parsing and storing the valid data */ + data[indx] = temp_buff[indx + dev->dummy_byte]; + } + } + else + { + rslt = BMA4_E_COM_FAIL; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the 8-bit data when length is less than read write length + */ +static int8_t read_within_len_regs(uint8_t *data, uint32_t len, struct bma4_dev *dev) +{ + uint32_t idx; + int8_t rslt; + uint32_t loop_count; + uint16_t overflow; + uint16_t index; + + /* Calculate the no of writes to be + * performed according to the read/write + * length + */ + loop_count = len / dev->read_write_len; + overflow = len % dev->read_write_len; + index = 0; + rslt = set_feature_config_start_addr(dev); + + if (rslt == BMA4_OK) + { + for (idx = 0; idx < loop_count; idx++) + { + rslt = read_regs(BMA4_FEATURE_CONFIG_ADDR, data + index, dev->read_write_len, dev); + + if (rslt == BMA4_OK) + { + rslt = increment_feature_config_addr(dev); + + if (rslt == BMA4_OK) + { + index = index + dev->read_write_len; + } + } + } + + if ((overflow) && (rslt == BMA4_OK)) + { + rslt = read_regs(BMA4_FEATURE_CONFIG_ADDR, data + index, overflow, dev); + } + + if (rslt == BMA4_OK) + { + rslt = set_feature_config_start_addr(dev); + } + } + + return rslt; +} + +/*! @endcond */ + +/*! + * @brief This API reads the error status from the sensor. + */ +int8_t bma4_get_error_status(struct bma4_err_reg *err_reg, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (err_reg != NULL)) + { + /* Read the error codes*/ + rslt = bma4_read_regs(BMA4_ERROR_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + /* Fatal error*/ + err_reg->fatal_err = BMA4_GET_BITS_POS_0(data, BMA4_FATAL_ERR); + + /* Cmd error*/ + err_reg->cmd_err = BMA4_GET_BITSLICE(data, BMA4_CMD_ERR); + + /* User error*/ + err_reg->err_code = BMA4_GET_BITSLICE(data, BMA4_ERR_CODE); + + /* FIFO error*/ + err_reg->fifo_err = BMA4_GET_BITSLICE(data, BMA4_FIFO_ERR); + + /* Mag data ready error*/ + err_reg->aux_err = BMA4_GET_BITSLICE(data, BMA4_AUX_ERR); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the Accel data for x,y and z axis from the sensor. + * The data units is in LSB format. + */ +int8_t bma4_read_accel_xyz(struct bma4_accel *accel, struct bma4_dev *dev) +{ + int8_t rslt; + uint16_t lsb = 0; + uint16_t msb = 0; + uint8_t data[BMA4_ACCEL_DATA_LENGTH] = { 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel != NULL)) + { + rslt = bma4_read_regs(BMA4_DATA_8_ADDR, data, BMA4_ACCEL_DATA_LENGTH, dev); + if (rslt == BMA4_OK) + { + msb = data[1]; + lsb = data[0]; + + /* Accel data x axis */ + accel->x = (int16_t)((msb << 8) | lsb); + msb = data[3]; + lsb = data[2]; + + /* Accel data y axis */ + accel->y = (int16_t)((msb << 8) | lsb); + msb = data[5]; + lsb = data[4]; + + /* Accel data z axis */ + accel->z = (int16_t)((msb << 8) | lsb); + if (dev->resolution == BMA4_12_BIT_RESOLUTION) + { + accel->x = (accel->x / 0x10); + accel->y = (accel->y / 0x10); + accel->z = (accel->z / 0x10); + } + else if (dev->resolution == BMA4_14_BIT_RESOLUTION) + { + accel->x = (accel->x / 0x04); + accel->y = (accel->y / 0x04); + accel->z = (accel->z / 0x04); + } + + /* Get the re-mapped accelerometer data */ + get_remapped_data(accel, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the sensor time of Sensor time gets updated + * with every update of data register or FIFO. + */ +int8_t bma4_get_sensor_time(uint32_t *sensor_time, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[BMA4_SENSOR_TIME_LENGTH] = { 0 }; + uint8_t msb = 0; + uint8_t xlsb = 0; + uint8_t lsb = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (sensor_time != NULL)) + { + rslt = bma4_read_regs(BMA4_SENSORTIME_0_ADDR, data, BMA4_SENSOR_TIME_LENGTH, dev); + if (rslt == BMA4_OK) + { + msb = data[BMA4_SENSOR_TIME_MSB_BYTE]; + xlsb = data[BMA4_SENSOR_TIME_XLSB_BYTE]; + lsb = data[BMA4_SENSOR_TIME_LSB_BYTE]; + *sensor_time = (uint32_t)((msb << 16) | (xlsb << 8) | lsb); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the chip temperature of sensor. + * + * @note Using a scaling factor of 1000, to obtain integer values, which + * at the user end, are used to get accurate temperature value . + * BMA4_FAHREN_SCALED = 1.8 * 1000, BMA4_KELVIN_SCALED = 273.15 * 1000 + */ +int8_t bma4_get_temperature(int32_t *temp, uint8_t temp_unit, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[BMA4_TEMP_DATA_SIZE] = { 0 }; + int32_t temp_raw_scaled = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (temp != NULL)) + { + /* Read temperature value from the register */ + rslt = bma4_read_regs(BMA4_TEMPERATURE_ADDR, data, BMA4_TEMP_DATA_SIZE, dev); + if (rslt == BMA4_OK) + { + temp_raw_scaled = (int32_t)data[BMA4_TEMP_BYTE] * BMA4_SCALE_TEMP; + } + + /* '0' value read from the register corresponds to 23 degree C */ + (*temp) = temp_raw_scaled + (BMA4_OFFSET_TEMP * BMA4_SCALE_TEMP); + switch (temp_unit) + { + case BMA4_DEG: + break; + case BMA4_FAHREN: + + /* Temperature in degree Fahrenheit */ + (*temp) = (((*temp) / BMA4_SCALE_TEMP) * BMA4_FAHREN_SCALED) + (32 * BMA4_SCALE_TEMP); + break; + case BMA4_KELVIN: + + /* Temperature in degree Kelvin */ + (*temp) = (*temp) + BMA4_KELVIN_SCALED; + break; + default: + break; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the Output data rate, Bandwidth, perf_mode + * and Range of accel. + */ +int8_t bma4_get_accel_config(struct bma4_accel_config *accel, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[2] = { 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel != NULL)) + { + rslt = bma4_read_regs(BMA4_ACCEL_CONFIG_ADDR, data, BMA4_ACCEL_CONFIG_LENGTH, dev); + if (rslt == BMA4_OK) + { + /* To get the ODR */ + accel->odr = BMA4_GET_BITS_POS_0(data[0], BMA4_ACCEL_ODR); + + /* To get the bandwidth */ + accel->bandwidth = BMA4_GET_BITSLICE(data[0], BMA4_ACCEL_BW); + + /* To get the under sampling mode */ + accel->perf_mode = BMA4_GET_BITSLICE(data[0], BMA4_ACCEL_PERFMODE); + + /* Read the Accel range */ + accel->range = BMA4_GET_BITS_POS_0(data[1], BMA4_ACCEL_RANGE); + + /* Flag bit to store the performance mode status */ + dev->perf_mode_status = accel->perf_mode; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the output_data_rate, bandwidth, perf_mode + * and range of Accel. + */ +int8_t bma4_set_accel_config(const struct bma4_accel_config *accel, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t accel_config_data[2] = { 0, 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel != NULL)) + { + /* Check whether the bandwidth , odr and perf_mode combinations are valid */ + rslt = validate_odr_bandwidth_perfmode(accel->odr, accel->bandwidth, accel->perf_mode); + + if (rslt == BMA4_OK) + { + accel_config_data[0] = accel->odr & BMA4_ACCEL_ODR_MSK; + accel_config_data[0] |= (uint8_t)(accel->bandwidth << BMA4_ACCEL_BW_POS); + accel_config_data[0] |= (uint8_t)(accel->perf_mode << BMA4_ACCEL_PERFMODE_POS); + accel_config_data[1] = accel->range & BMA4_ACCEL_RANGE_MSK; + + rslt = bma4_write_regs(BMA4_ACCEL_RANGE_ADDR, &accel_config_data[1], 1, dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_write_regs(BMA4_ACCEL_CONFIG_ADDR, &accel_config_data[0], 1, dev); + + /* Flag bit to store the performance mode status */ + dev->perf_mode_status = ((accel_config_data[0] & BMA4_ACCEL_PERFMODE_MSK) >> BMA4_ACCEL_PERFMODE_POS); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/*! + * @brief This API validates the bandwidth, odr and perf_mode + * combinations set by the user. + */ +static int8_t validate_odr_bandwidth_perfmode(uint8_t odr, uint8_t bandwidth, uint8_t perf_mode) +{ + int8_t rslt; + + /* Check bandwidth and perf_mode combinations */ + rslt = validate_bandwidth_perfmode(bandwidth, perf_mode); + + if (rslt == BMA4_OK) + { + /* Check ODR validity */ + rslt = validate_odr(odr); + } + + if (rslt == BMA4_OK) + { + /* Validate ODR and bandwidth combinations when perf_mode = BMA4_CIC_AVG_MODE */ + if (perf_mode == BMA4_CIC_AVG_MODE) + { + rslt = validate_bandwidth_odr(bandwidth, odr); + } + } + + return rslt; + +} + +/*! + * @brief This API validates the bandwidth and perf_mode + * value set by the user. + */ +static int8_t validate_bandwidth_perfmode(uint8_t bandwidth, uint8_t perf_mode) +{ + int8_t rslt = BMA4_OK; + + if (perf_mode == BMA4_CONTINUOUS_MODE) + { + if (bandwidth > BMA4_ACCEL_NORMAL_AVG4) + { + /* Invalid bandwidth error for continuous mode */ + rslt = BMA4_E_OUT_OF_RANGE; + } + } + else if (perf_mode == BMA4_CIC_AVG_MODE) + { + if (bandwidth > BMA4_ACCEL_RES_AVG128) + { + /* Invalid bandwidth error for CIC avg. mode */ + rslt = BMA4_E_OUT_OF_RANGE; + } + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + + return rslt; +} + +/*! + * @brief This API validates the ODR value set by the user. + */ +static int8_t validate_odr(uint8_t odr) +{ + int8_t rslt = BMA4_OK; + + if ((odr < BMA4_OUTPUT_DATA_RATE_0_78HZ) || (odr > BMA4_OUTPUT_DATA_RATE_1600HZ)) + { + /* If odr is not valid return error */ + rslt = BMA4_E_OUT_OF_RANGE; + } + + return rslt; +} + +/*! + * @brief This API validates the bandwidth and odr when perf_mode = BMA4_CIC_AVG_MODE + */ +static int8_t validate_bandwidth_odr(uint8_t bandwidth, uint8_t odr) +{ + int8_t rslt = BMA4_OK; + uint8_t index; + + /* + * Array contains ODR values + * From BMA4_OUTPUT_DATA_RATE_0_78HZ (value = 1) + * To BMA4_OUTPUT_DATA_RATE_400HZ (value = 10) + */ + uint8_t accel_odr[10] = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 }; + + /* + * Array contains valid bandwidth values for each ODR + */ + uint8_t valid_bw[10] = { 7, 7, 7, 7, 6, 5, 4, 3, 2, 1 }; + + /* + * For ODR - 800Hz and 1600Hz, none of the bandwidth is applicable + */ + if ((odr == BMA4_OUTPUT_DATA_RATE_800HZ) || (odr == BMA4_OUTPUT_DATA_RATE_1600HZ)) + { + rslt = BMA4_E_AVG_MODE_INVALID_CONF; + } + + /* + * Maximum valid bandwidth value for accel_odr[index] is the + * corresponding value in valid_bw[index] + */ + for (index = 0; index < 10; index++) + { + if (odr == accel_odr[index]) + { + if (bandwidth > valid_bw[index]) + { + rslt = BMA4_E_AVG_MODE_INVALID_CONF; + } + } + } + + return rslt; +} + +/*! @endcond */ + +/*! + * @brief This API sets the advance power save mode in the sensor. + */ +int8_t bma4_set_advance_power_save(uint8_t adv_pwr_save, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITS_POS_0(data, BMA4_ADVANCE_POWER_SAVE, adv_pwr_save); + rslt = bma4_write_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API reads the status of advance power save mode + * from the sensor. + */ +int8_t bma4_get_advance_power_save(uint8_t *adv_pwr_save, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (adv_pwr_save != NULL)) + { + rslt = bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *adv_pwr_save = BMA4_GET_BITS_POS_0(data, BMA4_ADVANCE_POWER_SAVE); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the FIFO self wake up functionality in the sensor. + */ +int8_t bma4_set_fifo_self_wakeup(uint8_t fifo_self_wakeup, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_FIFO_SELF_WAKE_UP, fifo_self_wakeup); + rslt = bma4_write_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API gets the status of FIFO self wake up functionality from + * the sensor. + */ +int8_t bma4_get_fifo_self_wakeup(uint8_t *fifo_self_wake_up, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (fifo_self_wake_up != NULL)) + { + rslt = bma4_read_regs(BMA4_POWER_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *fifo_self_wake_up = BMA4_GET_BITSLICE(data, BMA4_FIFO_SELF_WAKE_UP); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables or disables the Accel in the sensor. + */ +int8_t bma4_set_accel_enable(uint8_t accel_en, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_ACCEL_ENABLE, accel_en); + + rslt = bma4_write_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev); + dev->delay_us(25000, dev->intf_ptr); + } + } + + return rslt; +} + +/*! + * @brief This API checks whether Accel is enabled or not in the sensor. + */ +int8_t bma4_get_accel_enable(uint8_t *accel_en, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel_en != NULL)) + { + rslt = bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *accel_en = BMA4_GET_BITSLICE(data, BMA4_ACCEL_ENABLE); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to enable or disable auxiliary Mag + * in the sensor. + */ +int8_t bma4_set_mag_enable(uint8_t mag_en, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITS_POS_0(data, BMA4_MAG_ENABLE, mag_en); + rslt = bma4_write_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API is used to check whether the auxiliary Mag is enabled + * or not in the sensor. + */ +int8_t bma4_get_mag_enable(uint8_t *mag_en, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag_en != NULL)) + { + rslt = bma4_read_regs(BMA4_POWER_CTRL_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *mag_en = BMA4_GET_BITS_POS_0(data, BMA4_MAG_ENABLE); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the SPI interface mode which is set for primary + * interface. + */ +int8_t bma4_get_spi_interface(uint8_t *spi, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (spi != NULL)) + { + /* Read SPI mode */ + rslt = bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *spi = BMA4_GET_BITS_POS_0(data, BMA4_CONFIG_SPI3); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API configures the SPI interface Mode for primary interface + */ +int8_t bma4_set_spi_interface(uint8_t spi, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + if (spi <= BMA4_MAX_VALUE_SPI3) + { + /* Write SPI mode */ + rslt = bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITS_POS_0(data, BMA4_CONFIG_SPI3, spi); + rslt = bma4_write_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + } + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + + return rslt; +} + +/*! + * @brief This API writes the available sensor specific commands + * to the sensor. + */ +int8_t bma4_set_command_register(uint8_t command_reg, struct bma4_dev *dev) +{ + int8_t rslt; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Write command register */ + rslt = bma4_write_regs(BMA4_CMD_ADDR, &command_reg, 1, dev); + } + + return rslt; +} + +/*! + * @brief This API sets the I2C device address of auxiliary sensor + */ +int8_t bma4_set_i2c_device_addr(struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0, dev_id = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Write the auxiliary I2C device address */ + rslt = bma4_read_regs(BMA4_AUX_DEV_ID_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + dev_id = BMA4_SET_BITSLICE(data, BMA4_I2C_DEVICE_ADDR, dev->aux_config.aux_dev_addr); + rslt = bma4_write_regs(BMA4_AUX_DEV_ID_ADDR, &dev_id, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API sets the register access on MAG_IF[2], MAG_IF[3], + * MAG_IF[4] in the sensor. This implies that the DATA registers are + * not updated with Mag values automatically. + */ +int8_t bma4_set_mag_manual_enable(uint8_t mag_manual, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Write the Mag manual*/ + rslt = bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev); + dev->delay_us(BMA4_GEN_READ_WRITE_DELAY, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Set the bit of Mag manual enable */ + data = BMA4_SET_BITSLICE(data, BMA4_MAG_MANUAL_ENABLE, mag_manual); + rslt = bma4_write_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + dev->aux_config.manual_enable = (uint8_t)mag_manual; + } + } + else + { + /*dev->mag_manual_enable = 0;*/ + dev->aux_config.manual_enable = 0; + } + } + + return rslt; +} + +/*! + * @brief This API checks whether the Mag access is done manually or + * automatically in the sensor. + * If the Mag access is done through manual mode then Mag data registers + * in sensor are not updated automatically. + */ +int8_t bma4_get_mag_manual_enable(uint8_t *mag_manual, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag_manual != NULL)) + { + /* Read Mag manual */ + rslt = bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *mag_manual = BMA4_GET_BITSLICE(data, BMA4_MAG_MANUAL_ENABLE); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the I2C interface configuration(if) mode + * for auxiliary Mag. + */ +int8_t bma4_set_aux_if_mode(uint8_t if_mode, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_IF_CONFIG_IF_MODE, if_mode); + rslt = bma4_write_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API gets the address of the register of Aux Mag sensor + * where the data to be read. + */ +int8_t bma4_get_mag_read_addr(uint8_t *mag_read_addr, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag_read_addr != NULL)) + { + rslt = bma4_read_regs(BMA4_AUX_RD_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *mag_read_addr = BMA4_GET_BITS_POS_0(data, BMA4_READ_ADDR); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the address of the register of Aux Mag sensor + * where the data to be read. + */ +int8_t bma4_set_mag_read_addr(uint8_t mag_read_addr, struct bma4_dev *dev) +{ + int8_t rslt; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Write the Mag read address*/ + rslt = bma4_write_regs(BMA4_AUX_RD_ADDR, &mag_read_addr, 1, dev); + } + + return rslt; +} + +/*! + * @brief This API gets the Aux Mag write address from the sensor. + * Mag write address is where the Mag data will be written. + */ +int8_t bma4_get_mag_write_addr(uint8_t *mag_write_addr, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag_write_addr != NULL)) + { + rslt = bma4_read_regs(BMA4_AUX_WR_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *mag_write_addr = BMA4_GET_BITS_POS_0(data, BMA4_WRITE_ADDR); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the Aux Mag write address in the sensor. + * Mag write address is where the Mag data will be written. + */ +int8_t bma4_set_mag_write_addr(uint8_t mag_write_addr, struct bma4_dev *dev) +{ + int8_t rslt; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_write_regs(BMA4_AUX_WR_ADDR, &mag_write_addr, 1, dev); + } + + return rslt; +} + +/*! + * @brief This API reads the data from the sensor which is written to the + * Mag. + */ +int8_t bma4_get_mag_write_data(uint8_t *mag_write_data, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag_write_data != NULL)) + { + rslt = bma4_read_regs(BMA4_AUX_WR_DATA_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *mag_write_data = BMA4_GET_BITS_POS_0(data, BMA4_WRITE_DATA); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the data in the sensor which in turn will + * be written to Mag. + */ +int8_t bma4_set_mag_write_data(uint8_t mag_write_data, struct bma4_dev *dev) +{ + int8_t rslt; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_write_regs(BMA4_AUX_WR_DATA_ADDR, &mag_write_data, 1, dev); + } + + return rslt; +} + +/*! + * @brief This API reads the x,y,z and r axis data from the auxiliary + * Mag BMM150/AKM9916 sensor. + */ +int8_t bma4_read_mag_xyzr(struct bma4_mag_xyzr *mag, struct bma4_dev *dev) +{ + int8_t rslt; + uint16_t msb = 0; + uint16_t lsb = 0; + uint8_t data[BMA4_MAG_XYZR_DATA_LENGTH] = { 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag != NULL)) + { + rslt = bma4_read_regs(BMA4_DATA_0_ADDR, data, BMA4_MAG_XYZR_DATA_LENGTH, dev); + if (rslt == BMA4_OK) + { + /* Data X */ + /* X-axis LSB value shifting */ + lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_X_LSB_BYTE], BMA4_DATA_MAG_X_LSB); + msb = data[BMA4_MAG_X_MSB_BYTE]; + mag->x = (int16_t)((msb << 8) | lsb); + mag->x = (mag->x / 0x08); + + /* Data Y */ + /* Y-axis LSB value shifting */ + lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_Y_LSB_BYTE], BMA4_DATA_MAG_Y_LSB); + msb = data[BMA4_MAG_Y_MSB_BYTE]; + mag->y = (int16_t)((msb << 8) | lsb); + mag->y = (mag->y / 0x08); + + /* Data Z */ + /* Z-axis LSB value shifting */ + lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_Z_LSB_BYTE], BMA4_DATA_MAG_Z_LSB); + msb = data[BMA4_MAG_Z_MSB_BYTE]; + mag->z = (int16_t)((msb << 8) | lsb); + mag->z = (mag->z / 0x02); + + /* RHall */ + /* R-axis LSB value shifting */ + lsb = BMA4_GET_BITSLICE(data[BMA4_MAG_R_LSB_BYTE], BMA4_DATA_MAG_R_LSB); + msb = data[BMA4_MAG_R_MSB_BYTE]; + mag->r = (int16_t)((msb << 8) | lsb); + mag->r = (mag->r / 0x04); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the burst data length (1,2,6,8 byte) of auxiliary + * Mag sensor. + */ +int8_t bma4_set_mag_burst(uint8_t mag_burst, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Write auxiliary burst mode length*/ + rslt = bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITS_POS_0(data, BMA4_MAG_BURST, mag_burst); + rslt = bma4_write_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API reads the burst data length of Mag set in the sensor. + */ +int8_t bma4_get_mag_burst(uint8_t *mag_burst, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag_burst != NULL)) + { + /* Write Mag burst mode length*/ + rslt = bma4_read_regs(BMA4_AUX_IF_CONF_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *mag_burst = BMA4_GET_BITS_POS_0(data, BMA4_MAG_BURST); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the FIFO data of Accel and/or Mag sensor + * NOTE : Dummy byte (for SPI Interface) required for FIFO data read + * must be given as part of data pointer in struct bma4_fifo_frame + */ +int8_t bma4_read_fifo_data(struct bma4_fifo_frame *fifo, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + uint8_t fifo_config_1 = 0; + uint16_t fifo_length = 0; + uint8_t addr = BMA4_FIFO_DATA_ADDR; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (fifo != NULL)) + { + /* reset the fifo data structure */ + reset_fifo_data_structure(fifo); + + if (dev->intf == BMA4_SPI_INTF) + { + /* SPI mask added */ + addr = addr | BMA4_SPI_RD_MASK; + } + + /* Read available fifo length */ + rslt = bma4_get_fifo_length(&fifo_length, dev); + + if (rslt == BMA4_OK) + { + /* Read FIFO header enable configuration */ + rslt = bma4_read_regs(BMA4_FIFO_CONFIG_1_ADDR, &fifo_config_1, 1, dev); + + if (rslt == BMA4_OK) + { + /* If fifo header is enabled, add sensortime overhead byte to total FIFO length */ + if ((fifo_config_1 & BMA4_FIFO_HEADER)) + { + /* This update will take care of dummy byte necessity based on interface selection */ + fifo->length = (fifo_length + BMA4_SENSORTIME_OVERHEAD_BYTE + dev->dummy_byte); + } + /* If fifo header is enabled, exclude addition of sensortime overhead byte to total FIFO length */ + else + { + /* This update will take care of dummy byte necessity based on interface selection */ + fifo->length = (fifo_length + dev->dummy_byte); + } + } + + /* Read FIFO data */ + dev->intf_rslt = dev->bus_read(addr, fifo->data, (uint32_t)fifo->length, dev->intf_ptr); + + /* If interface read fails, update rslt variable with communication failure */ + if (dev->intf_rslt != BMA4_INTF_RET_SUCCESS) + { + rslt = BMA4_E_COM_FAIL; + } + } + + if (rslt == BMA4_OK) + { + /* read fifo frame content configuration*/ + rslt = bma4_read_regs(BMA4_FIFO_CONFIG_1_ADDR, &data, 1, dev); + + if (rslt == BMA4_OK) + { + /* filter fifo header enabled status */ + fifo->fifo_header_enable = data & BMA4_FIFO_HEADER; + + /* filter accel/mag data enabled status */ + fifo->fifo_data_enable = data & BMA4_FIFO_M_A_ENABLE; + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API parses and extracts the accelerometer frames from + * FIFO data read by the "bma4_read_fifo_data" API and stores it in the + * "accel_data" structure instance. + */ +int8_t bma4_extract_accel(struct bma4_accel *accel_data, + uint16_t *accel_length, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + int8_t rslt; + uint16_t data_index = 0; + uint16_t accel_index = 0; + uint16_t data_read_length = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel_data != NULL) && (accel_length != NULL) && (fifo != NULL)) + { + /* Check if this is the first iteration of data unpacking + * if yes, then consider dummy byte on SPI + */ + if (fifo->accel_byte_start_idx == 0) + { + /* Dummy byte included */ + fifo->accel_byte_start_idx = dev->dummy_byte; + } + + /* Parsing the FIFO data in header-less mode */ + if (fifo->fifo_header_enable == 0) + { + get_accel_len_to_parse(&data_index, &data_read_length, accel_length, fifo); + + for (; data_index < data_read_length;) + { + unpack_acc_frm(accel_data, &data_index, &accel_index, fifo->fifo_data_enable, fifo, dev); + + /* Checks for the availability of set of FIFO data */ + check_empty_fifo(&data_index, fifo); + } + + /* update number of accel data read*/ + *accel_length = accel_index; + + /*update the accel byte index*/ + fifo->accel_byte_start_idx = data_index; + } + else + { + /* Parsing the FIFO data in header mode */ + extract_accel_header_mode(accel_data, accel_length, fifo, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API parses and extracts the magnetometer frames from + * FIFO data read by the "bma4_read_fifo_data" API and stores it in the + * "mag_data" structure instance parameter of this API + */ +int8_t bma4_extract_mag(const struct bma4_mag *mag_data, + uint16_t *mag_length, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + int8_t rslt; + uint16_t data_index = 0; + uint16_t mag_index = 0; + uint16_t data_read_length = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mag_data != NULL) && (mag_length != NULL) && (fifo != NULL)) + { + /* Check if this is the first iteration of data unpacking + * if yes, then consider dummy byte on SPI + */ + if (fifo->mag_byte_start_idx == 0) + { + /* Dummy byte included */ + fifo->mag_byte_start_idx = dev->dummy_byte; + } + + /* Parsing the FIFO data in header-less mode */ + if (fifo->fifo_header_enable == 0) + { + get_mag_len_to_parse(&data_index, &data_read_length, mag_length, fifo); + for (; data_index < data_read_length;) + { + rslt = unpack_mag_frm(mag_data, &data_index, &mag_index, fifo->fifo_data_enable, fifo, dev); + + /*Check for the availability of next + * two bytes of FIFO data + */ + check_empty_fifo(&data_index, fifo); + } + + /* update number of Aux. sensor data read*/ + *mag_length = mag_index; + + /*update the Aux. sensor frame index*/ + fifo->mag_byte_start_idx = data_index; + } + else + { + /* Parsing the FIFO data in header mode */ + rslt = extract_mag_header_mode(mag_data, mag_length, fifo, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the FIFO water mark level which is set + * in the sensor. + */ +int8_t bma4_get_fifo_wm(uint16_t *fifo_wm, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[2] = { 0, 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (fifo_wm != NULL)) + { + /* Read the FIFO water mark level*/ + rslt = bma4_read_regs(BMA4_FIFO_WTM_0_ADDR, data, BMA4_FIFO_WM_LENGTH, dev); + if (rslt == BMA4_OK) + { + *fifo_wm = (data[1] << 8) | (data[0]); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the FIFO watermark level in the sensor. + */ +int8_t bma4_set_fifo_wm(uint16_t fifo_wm, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[2] = { 0, 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + data[0] = BMA4_GET_LSB(fifo_wm); + data[1] = BMA4_GET_MSB(fifo_wm); + + /* consecutive write is not possible in suspend mode hence + * separate write is used with delay of 1 ms + */ + + /* Write the fifo watermark level*/ + rslt = bma4_write_regs(BMA4_FIFO_WTM_0_ADDR, &data[0], 1, dev); + + if (rslt == BMA4_OK) + { + dev->delay_us(BMA4_GEN_READ_WRITE_DELAY, dev->intf_ptr); + rslt = bma4_write_regs((BMA4_FIFO_WTM_0_ADDR + 1), &data[1], 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API checks whether the Accel FIFO data is set for filtered + * or unfiltered mode. + */ +int8_t bma4_get_accel_fifo_filter_data(uint8_t *accel_fifo_filter, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel_fifo_filter != NULL)) + { + /* Read the Accel FIFO filter data */ + rslt = bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *accel_fifo_filter = BMA4_GET_BITSLICE(data, BMA4_FIFO_FILTER_ACCEL); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the condition of Accel FIFO data either to + * filtered or unfiltered mode. + */ +int8_t bma4_set_accel_fifo_filter_data(uint8_t accel_fifo_filter, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + if (accel_fifo_filter <= BMA4_MAX_VALUE_FIFO_FILTER) + { + rslt = bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + /* Write Accel FIFO filter data */ + data = BMA4_SET_BITSLICE(data, BMA4_FIFO_FILTER_ACCEL, accel_fifo_filter); + rslt = bma4_write_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev); + } + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + + return rslt; +} + +/*! + * @brief This API reads the down sampling rates which is configured + * for Accel FIFO data. + */ +int8_t bma4_get_fifo_down_accel(uint8_t *fifo_down, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (fifo_down != NULL)) + { + /* Read the Accel FIFO down data */ + rslt = bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *fifo_down = BMA4_GET_BITSLICE(data, BMA4_FIFO_DOWN_ACCEL); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the down-sampling rates for Accel FIFO. + */ +int8_t bma4_set_fifo_down_accel(uint8_t fifo_down, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Write the Accel FIFO down data */ + rslt = bma4_read_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_FIFO_DOWN_ACCEL, fifo_down); + rslt = bma4_write_regs(BMA4_FIFO_DOWN_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API reads the length of FIFO data available in the sensor + * in the units of bytes. + */ +int8_t bma4_get_fifo_length(uint16_t *fifo_length, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t index = 0; + uint8_t data[BMA4_FIFO_DATA_LENGTH] = { 0, 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (fifo_length != NULL)) + { + /* Read FIFO length*/ + rslt = bma4_read_regs(BMA4_FIFO_LENGTH_0_ADDR, data, BMA4_FIFO_DATA_LENGTH, dev); + if (rslt == BMA4_OK) + { + index = BMA4_FIFO_LENGTH_MSB_BYTE; + data[index] = BMA4_GET_BITS_POS_0(data[index], BMA4_FIFO_BYTE_COUNTER_MSB); + *fifo_length = ((data[index] << 8) | data[index - 1]); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API aligns and compensates the Mag data of BMM150/AKM9916 + * sensor. + */ +int8_t bma4_second_if_mag_compensate_xyz(struct bma4_mag_fifo_data mag_fifo_data, + uint8_t mag_second_if, + const struct bma4_mag *compensated_mag_data) +{ + int8_t rslt = BMA4_OK; + +#ifdef BMM150 + int16_t mag_x = 0; + int16_t mag_y = 0; + int16_t mag_z = 0; + uint16_t mag_r = 0; +#else + + /* Suppress Warnings */ + (void)(mag_second_if); + (void)(mag_fifo_data); +#endif + + if (compensated_mag_data == NULL) + { + rslt = BMA4_E_NULL_PTR; + } + +#if defined(BMM150) || defined(AKM9916) + switch (mag_second_if) + { +#ifdef BMM150 + case BMA4_SEC_IF_BMM150: + + /* X data*/ + mag_x = (int16_t)((mag_fifo_data.mag_x_msb << 8) | (mag_fifo_data.mag_x_lsb)); + mag_x = (int16_t) (mag_x / 0x08); + + /* Y data*/ + mag_y = (int16_t)((mag_fifo_data.mag_y_msb << 8) | (mag_fifo_data.mag_y_lsb)); + mag_y = (int16_t) (mag_y / 0x08); + + /* Z data*/ + mag_z = (int16_t)((mag_fifo_data.mag_z_msb << 8) | (mag_fifo_data.mag_z_lsb)); + mag_z = (int16_t) (mag_z / 0x02); + + /* R data*/ + mag_r = (uint16_t)((mag_fifo_data.mag_r_y2_msb << 8) | (mag_fifo_data.mag_r_y2_lsb)); + mag_r = (uint16_t) (mag_r >> 2); + + /* Compensated Mag x data */ + compensated_mag_data->x = bma4_bmm150_mag_compensate_x(mag_x, mag_r); + + /* Compensated Mag y data */ + compensated_mag_data->y = bma4_bmm150_mag_compensate_y(mag_y, mag_r); + + /* Compensated Mag z data */ + compensated_mag_data->z = bma4_bmm150_mag_compensate_z(mag_z, mag_r); + break; +#endif + +#ifdef AKM9916 + case BMA4_SEC_IF_AKM09916: + + /* Compensated X data */ + compensated_mag_data->x = (int16_t)((mag_fifo_data.mag_x_msb << 8) | (mag_fifo_data.mag_x_lsb)); + + /* Compensated Y data*/ + compensated_mag_data->y = (int16_t)((mag_fifo_data.mag_y_msb << 8) | (mag_fifo_data.mag_y_lsb)); + + /* Compensated Z data*/ + compensated_mag_data->z = (int16_t)((mag_fifo_data.mag_z_msb << 8) | (mag_fifo_data.mag_z_lsb)); + break; +#endif + } +#endif + + return rslt; +} + +/*! + * @brief This API reads Mag. x,y and z axis data from either BMM150 or + * AKM9916 sensor + */ +int8_t bma4_read_mag_xyz(const struct bma4_mag *mag, uint8_t sensor_select, const struct bma4_dev *dev) +{ + int8_t rslt; + +#if defined(AKM9916) || defined(BMM150) + uint8_t index; + uint16_t msb = 0; + uint16_t lsb = 0; + uint8_t data[BMA4_MAG_XYZ_DATA_LENGTH] = { 0 }; +#else + + /* Suppress Warnings */ + (void)(sensor_select); +#endif + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((BMA4_OK != rslt) || (mag == NULL)) + { + rslt = BMA4_E_NULL_PTR; + } + else + { +#if defined(BMM150) || defined(AKM9916) + switch (sensor_select) + { + +#ifdef BMM150 + case BMA4_SEC_IF_BMM150: + rslt = bma4_read_regs(BMA4_DATA_0_ADDR, data, BMA4_MAG_XYZ_DATA_LENGTH, dev); + if (rslt == BMA4_OK) + { + index = BMA4_MAG_X_LSB_BYTE; + + /*X-axis LSB value shifting*/ + data[index] = BMA4_GET_BITSLICE(data[index], BMA4_DATA_MAG_X_LSB); + + /* Data X */ + msb = data[index + 1]; + lsb = data[index]; + mag->x = (int16_t)((msb << 8) | lsb); + mag->x = (mag->x / 0x08); + + /* Data Y */ + /*Y-axis LSB value shifting*/ + data[index + 2] = BMA4_GET_BITSLICE(data[index + 2], BMA4_DATA_MAG_Y_LSB); + msb = data[index + 3]; + lsb = data[index + 2]; + mag->y = (int16_t)((msb << 8) | lsb); + mag->y = (mag->y / 0x08); + + /* Data Z */ + /*Z-axis LSB value shifting*/ + data[index + 4] = BMA4_GET_BITSLICE(data[index + 4], BMA4_DATA_MAG_Z_LSB); + msb = data[index + 5]; + lsb = data[index + 4]; + mag->z = (int16_t)((msb << 8) | lsb); + mag->z = (mag->z / 0x02); + } + + break; +#endif + +#ifdef AKM9916 + case BMA4_SEC_IF_AKM09916: + if (dev->aux_sensor == AKM9916_SENSOR) + { + rslt = bma4_read_regs(BMA4_DATA_0_ADDR, data, BMA4_MAG_XYZ_DATA_LENGTH, dev); + if (rslt == BMA4_OK) + { + index = BMA4_MAG_X_LSB_BYTE; + + /* Data X */ + msb = data[index + 1]; + lsb = data[index]; + mag->x = (int16_t)((msb << 8) | lsb); + + /* Data Y */ + msb = data[index + 3]; + lsb = data[index + 2]; + mag->y = (int32_t)((msb << 8) | lsb); + + /* Data Z */ + msb = data[index + 5]; + lsb = data[index + 4]; + mag->z = (int16_t)((msb << 8) | lsb); + } + } + + break; +#endif + } +#else + rslt = BMA4_E_OUT_OF_RANGE; +#endif + } + + return rslt; +} + +/*! + * @brief This API reads the auxiliary I2C interface configuration which + * is set in the sensor. + */ +int8_t bma4_get_if_mode(uint8_t *if_mode, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (if_mode != NULL)) + { + /* Read auxiliary interface configuration */ + rslt = bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *if_mode = BMA4_GET_BITSLICE(data, BMA4_IF_CONFIG_IF_MODE); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the auxiliary interface configuration in the + * sensor. + */ +int8_t bma4_set_if_mode(uint8_t if_mode, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + if (if_mode <= BMA4_MAX_IF_MODE) + { + /* Write the interface configuration mode */ + rslt = bma4_read_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_IF_CONFIG_IF_MODE, if_mode); + rslt = bma4_write_regs(BMA4_IF_CONFIG_ADDR, &data, 1, dev); + } + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + + return rslt; +} + +/*! + * @brief This API reads the ASIC status from the sensor. + * The status information is mentioned in the below table. + */ +int8_t bma4_get_asic_status(struct bma4_asic_status *asic_status, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (asic_status != NULL)) + { + /* Read the Mag I2C device address*/ + rslt = bma4_read_regs(BMA4_INTERNAL_ERROR, &data, 1, dev); + if (rslt == BMA4_OK) + { + asic_status->sleep = (data & 0x01); + asic_status->irq_ovrn = ((data & 0x02) >> 0x01); + asic_status->wc_event = ((data & 0x04) >> 0x02); + asic_status->stream_transfer_active = ((data & 0x08) >> 0x03); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables the offset compensation for filtered and + * unfiltered Accel data. + */ +int8_t bma4_set_offset_comp(uint8_t offset_en, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + /* Write Accel FIFO filter data */ + data = BMA4_SET_BITSLICE(data, BMA4_NV_ACCEL_OFFSET, offset_en); + rslt = bma4_write_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API gets the status of Accel offset compensation + */ +int8_t bma4_get_offset_comp(uint8_t *offset_en, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (offset_en != NULL)) + { + rslt = bma4_read_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + /* Write Accel FIFO filter data */ + *offset_en = BMA4_GET_BITSLICE(data, BMA4_NV_ACCEL_OFFSET); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API checks whether the self-test functionality of the sensor + * is working or not. + * The following parameter of struct bma4_dev, should have the valid value + * before performing the self-test, + * 1. Variant and 2. Resolution + */ +int8_t bma4_perform_accel_selftest(int8_t *result, struct bma4_dev *dev) +{ + int8_t rslt; + struct bma4_accel positive = { 0, 0, 0 }; + struct bma4_accel negative = { 0, 0, 0 }; + + /*! Structure for difference of accel values in mg */ + struct bma4_selftest_delta_limit accel_data_diff_mg = { 0, 0, 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (result != NULL)) + { + *result = BMA4_SELFTEST_FAIL; + + rslt = set_accel_selftest_config(dev); + + if (rslt == BMA4_OK) + { + /* Wait for 2ms after accel self-test config please refer data sheet data sheet 4.9. sensor self-test */ + dev->delay_us(BMA4_MS_TO_US(2), dev->intf_ptr); + + rslt = selftest_config(BMA4_ENABLE, dev); + + if (rslt == BMA4_OK) + { + /* Taking positive data */ + + /* User should wait 50ms before interpreting the acceleration data. + * please refer data sheet 4.9. sensor self-test + */ + dev->delay_us(BMA4_MS_TO_US(50), dev->intf_ptr); + rslt = bma4_read_accel_xyz(&positive, dev); + + if (rslt == BMA4_OK) + { + rslt = selftest_config(BMA4_DISABLE, dev); + + if (rslt == BMA4_OK) + { + /* User should wait 50ms before interpreting the acceleration data. + * please refer data sheet 4.9. sensor self-test + */ + dev->delay_us(BMA4_MS_TO_US(50), dev->intf_ptr); + rslt = bma4_read_accel_xyz(&negative, dev); + if (rslt == BMA4_OK) + { + rslt = *result = get_accel_data_difference_and_validate(positive, + negative, + &accel_data_diff_mg, + dev); + + if (rslt == BMA4_OK) + { + /* Triggers a soft reset */ + rslt = bma4_soft_reset(dev); + dev->delay_us(BMA4_MS_TO_US(200), dev->intf_ptr); + } + } + } + } + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/*! + * @brief This Internal API validates accel self-test status from positive and negative axes input + */ +static int8_t get_accel_data_difference_and_validate(struct bma4_accel positive, + struct bma4_accel negative, + struct bma4_selftest_delta_limit *accel_data_diff_mg, + const struct bma4_dev *dev) +{ + int8_t rslt; + + /*! Structure for difference of accel values in g */ + struct bma4_selftest_delta_limit accel_data_diff = { 0, 0, 0 }; + + accel_data_diff.x = ABS(positive.x - negative.x); + accel_data_diff.y = ABS(positive.y - negative.y); + accel_data_diff.z = ABS(positive.z - negative.z); + + /*! Converting LSB of the differences of accel values to mg */ + convert_lsb_g(&accel_data_diff, accel_data_diff_mg, dev); + + /*! Validating self-test for accel values in mg */ + rslt = validate_selftest(accel_data_diff_mg, dev); + + return rslt; +} + +/*! @endcond */ + +/*! + * @brief API sets the interrupt to either interrupt1 or + * interrupt2 pin in the sensor. + */ +int8_t bma4_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[3] = { 0, 0, 0 }; + uint8_t index[2] = { BMA4_INT_MAP_1_ADDR, BMA4_INT_MAP_2_ADDR }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_INT_MAP_1_ADDR, data, 3, dev); + if (rslt == BMA4_OK) + { + if (enable == TRUE) + { + /* Feature interrupt mapping */ + data[int_line] |= (uint8_t)(int_map & (0x00FF)); + + /* Hardware interrupt mapping */ + data[2] |= (uint8_t)((int_map & (0xFF00)) >> (8 - (4 * int_line))); + } + else + { + /* Feature interrupt un-mapping */ + data[int_line] &= (~(uint8_t)(int_map & (0x00FF))); + + /* Hardware interrupt un-mapping */ + data[2] &= (~(uint8_t)((int_map & (0xFF00)) >> (8 - (4 * int_line)))); + } + + rslt = bma4_write_regs(index[int_line], &data[int_line], 1, dev); + if (rslt == BMA4_OK) + { + rslt = bma4_write_regs(BMA4_INT_MAP_DATA_ADDR, &data[2], 1, dev); + } + } + } + + return rslt; +} + +/*! + * @brief This API sets the interrupt mode in the sensor. + */ +int8_t bma4_set_interrupt_mode(uint8_t mode, struct bma4_dev *dev) +{ + int8_t rslt; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + if ((mode == BMA4_NON_LATCH_MODE) || (mode == BMA4_LATCH_MODE)) + { + rslt = bma4_write_regs(BMA4_INTR_LATCH_ADDR, &mode, 1, dev); + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + + return rslt; +} + +/*! + * @brief This API gets the interrupt mode which is set in the sensor. + */ +int8_t bma4_get_interrupt_mode(uint8_t *mode, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (mode != NULL)) + { + rslt = bma4_read_regs(BMA4_INTR_LATCH_ADDR, &data, 1, dev); + *mode = data; + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the auxiliary Mag(BMM150 or AKM9916) output data + * rate and offset. + */ +int8_t bma4_set_aux_mag_config(const struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (aux_mag != NULL)) + { + if ((aux_mag->odr >= BMA4_OUTPUT_DATA_RATE_0_78HZ) && (aux_mag->odr <= BMA4_OUTPUT_DATA_RATE_1600HZ) && + ((aux_mag->offset & BMA4_MAG_CONFIG_OFFSET_MSK) == 0x00)) + { + data = (uint8_t)(aux_mag->odr | ((aux_mag->offset << BMA4_MAG_CONFIG_OFFSET_POS))); + rslt = bma4_write_regs(BMA4_AUX_CONFIG_ADDR, &data, 1, dev); + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the auxiliary Mag(BMM150 or AKM9916) output data + * rate and offset. + */ +int8_t bma4_get_aux_mag_config(struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (aux_mag != NULL)) + { + rslt = bma4_read_regs(BMA4_AUX_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + aux_mag->odr = (data & 0x0F); + aux_mag->offset = (data & BMA4_MAG_CONFIG_OFFSET_MSK) >> 4; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @brief This API sets the FIFO configuration in the sensor. */ +int8_t bma4_set_fifo_config(uint8_t config, uint8_t enable, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[2] = { 0, 0 }; + uint8_t fifo_config_0 = config & BMA4_FIFO_CONFIG_0_MASK; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = bma4_read_regs(BMA4_FIFO_CONFIG_0_ADDR, data, BMA4_FIFO_CONFIG_LENGTH, dev); + if (rslt == BMA4_OK) + { + if (fifo_config_0 > 0) + { + if (enable == TRUE) + { + data[0] = data[0] | fifo_config_0; + } + else + { + data[0] = data[0] & (~fifo_config_0); + } + } + + if (enable == TRUE) + { + data[1] = data[1] | (config & BMA4_FIFO_CONFIG_1_MASK); + } + else + { + data[1] = data[1] & (~(config & BMA4_FIFO_CONFIG_1_MASK)); + } + + /* Burst write is not possible in suspend mode hence + * separate write is used with delay of 1 ms + */ + rslt = bma4_write_regs(BMA4_FIFO_CONFIG_0_ADDR, &data[0], 1, dev); + + if (rslt == BMA4_OK) + { + dev->delay_us(BMA4_GEN_READ_WRITE_DELAY, dev->intf_ptr); + rslt = bma4_write_regs(BMA4_FIFO_CONFIG_1_ADDR, &data[1], 1, dev); + } + } + } + + return rslt; +} + +/*! @brief This API reads the FIFO configuration from the sensor. + */ +int8_t bma4_get_fifo_config(uint8_t *fifo_config, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[2] = { 0, 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (fifo_config != NULL)) + { + rslt = bma4_read_regs(BMA4_FIFO_CONFIG_0_ADDR, data, BMA4_FIFO_CONFIG_LENGTH, dev); + if (rslt == BMA4_OK) + { + *fifo_config = ((uint8_t)((data[0] & BMA4_FIFO_CONFIG_0_MASK) | (data[1]))); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @brief This function sets the electrical behaviour of interrupt pin1 or + * pin2 in the sensor. + */ +int8_t bma4_set_int_pin_config(const struct bma4_int_pin_config *int_pin_config, uint8_t int_line, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t interrupt_address_array[2] = { BMA4_INT1_IO_CTRL_ADDR, BMA4_INT2_IO_CTRL_ADDR }; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (int_pin_config != NULL)) + { + if (int_line <= 1) + { + data = + ((uint8_t)((int_pin_config->edge_ctrl & BMA4_INT_EDGE_CTRL_MASK) | + ((int_pin_config->lvl << 1) & BMA4_INT_LEVEL_MASK) | + ((int_pin_config->od << 2) & BMA4_INT_OPEN_DRAIN_MASK) | + ((int_pin_config->output_en << 3) & BMA4_INT_OUTPUT_EN_MASK) | + ((int_pin_config->input_en << 4) & BMA4_INT_INPUT_EN_MASK))); + rslt = bma4_write_regs(interrupt_address_array[int_line], &data, 1, dev); + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @brief This API reads the electrical behavior of interrupt pin1 or pin2 + * from the sensor. + */ +int8_t bma4_get_int_pin_config(struct bma4_int_pin_config *int_pin_config, uint8_t int_line, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t interrupt_address_array[2] = { BMA4_INT1_IO_CTRL_ADDR, BMA4_INT2_IO_CTRL_ADDR }; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (int_pin_config != NULL)) + { + if (int_line <= 1) + { + rslt = bma4_read_regs(interrupt_address_array[int_line], &data, 1, dev); + + /* Assign interrupt configurations to the + * structure members + */ + if (rslt == BMA4_OK) + { + int_pin_config->edge_ctrl = data & BMA4_INT_EDGE_CTRL_MASK; + int_pin_config->lvl = ((data & BMA4_INT_LEVEL_MASK) >> BMA4_INT_LEVEL_POS); + int_pin_config->od = ((data & BMA4_INT_OPEN_DRAIN_MASK) >> BMA4_INT_OPEN_DRAIN_POS); + int_pin_config->output_en = ((data & BMA4_INT_OUTPUT_EN_MASK) >> BMA4_INT_OUTPUT_EN_POS); + int_pin_config->input_en = ((data & BMA4_INT_INPUT_EN_MASK) >> BMA4_INT_INPUT_EN_POS); + } + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the Feature and Hardware interrupt status from the sensor. + */ +int8_t bma4_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data[2] = { 0 }; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (int_status != NULL)) + { + rslt = bma4_read_regs(BMA4_INT_STAT_0_ADDR, data, 2, dev); + if (rslt == BMA4_OK) + { + *int_status = data[0]; + *((uint8_t *)int_status + 1) = data[1]; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API initializes the auxiliary interface to access + * auxiliary sensor + */ +int8_t bma4_aux_interface_init(struct bma4_dev *dev) +{ + /* Variable to return error codes */ + int8_t rslt; + + /* Check for Null pointer error */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Set the auxiliary sensor configuration */ + rslt = set_aux_interface_config(dev); + if (rslt != BMA4_OK) + { + rslt = BMA4_E_AUX_CONFIG_FAIL; + } + } + + return rslt; +} + +/*! + * @brief This API reads the data from the auxiliary sensor + */ +int8_t bma4_aux_read(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev) +{ + /* Variable to return error codes */ + int8_t rslt; + + /* Check for Null pointer error */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (aux_data != NULL)) + { + /* Read the data from the data register in terms of + * user defined length + */ + rslt = extract_aux_data(aux_reg_addr, aux_data, len, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API writes the data into the auxiliary sensor + */ +int8_t bma4_aux_write(uint8_t aux_reg_addr, const uint8_t *aux_data, uint16_t len, struct bma4_dev *dev) +{ + int8_t rslt; + + /* Check for Null pointer error */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (aux_data != NULL)) + { + /* Write data in terms of user defined length */ + if (len > 0) + { + while (len--) + { + /* First set data to write */ + rslt = bma4_write_regs(BMA4_AUX_WR_DATA_ADDR, aux_data, 1, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + if (rslt == BMA4_OK) + { + /* Then set address to write */ + rslt = bma4_write_regs(BMA4_AUX_WR_ADDR, &aux_reg_addr, 1, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + + /* Increment data array and register + * address until user-defined length is + * greater than 0 + */ + if ((rslt == BMA4_OK) && (len > 0)) + { + aux_data++; + aux_reg_addr++; + } + } + else + { + rslt = BMA4_E_COM_FAIL; + } + } + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the re-mapped x, y and z axes from the sensor and + * updates the values in the device structure. + */ +int8_t bma4_get_remap_axes(struct bma4_remap *remap_data, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Null-pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Get the re-mapped axes from the sensor */ + rslt = get_remap_axes(&dev->remap, feature_config, index, feature_len, dev); + if (rslt == BMA4_OK) + { + /* Store the receive re-mapped axis and sign from device structure */ + receive_remap_axis(dev->remap.x_axis, dev->remap.x_axis_sign, &remap_data->x); + receive_remap_axis(dev->remap.y_axis, dev->remap.y_axis_sign, &remap_data->y); + receive_remap_axis(dev->remap.z_axis, dev->remap.z_axis_sign, &remap_data->z); + } + } + + return rslt; +} + +/*! + * @brief This API sets the re-mapped x, y and z axes to the sensor and + * updates the them in the device structure. + */ +int8_t bma4_set_remap_axes(const struct bma4_remap *remapped_axis, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to store all the re-mapped axes */ + uint8_t remap_axes = 0; + + /* Null-pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Check whether all the axes are re-mapped */ + remap_axes = remapped_axis->x | remapped_axis->y | remapped_axis->z; + + /* If all the axes are re-mapped */ + if ((remap_axes & BMA4_AXIS_MASK) == BMA4_AXIS_MASK) + { + /* Store the value of re-mapped in device structure */ + assign_remap_axis(remapped_axis->x, &dev->remap.x_axis, &dev->remap.x_axis_sign); + assign_remap_axis(remapped_axis->y, &dev->remap.y_axis, &dev->remap.y_axis_sign); + assign_remap_axis(remapped_axis->z, &dev->remap.z_axis, &dev->remap.z_axis_sign); + + /* Set the re-mapped axes in the sensor */ + rslt = set_remap_axes(&dev->remap, feature_config, index, feature_len, dev); + } + else + { + rslt = BMA4_E_REMAP_ERROR; + } + } + + return rslt; +} + +/*****************************************************************************/ +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/* Static function definition */ + +/*! + * @brief This API converts lsb value of axes to mg for self-test * + */ +static void convert_lsb_g(const struct bma4_selftest_delta_limit *accel_data_diff, + struct bma4_selftest_delta_limit *accel_data_diff_mg, + const struct bma4_dev *dev) +{ + uint32_t lsb_per_g; + + /*! Range considered for self-test is 8g */ + uint8_t range = 8; + + /*! lsb_per_g for the respective resolution and 8g range*/ + lsb_per_g = (uint32_t)(power(2, dev->resolution) / (2 * range)); + + /*! accel x value in mg */ + accel_data_diff_mg->x = (accel_data_diff->x / (int32_t)lsb_per_g) * 1000; + + /*! accel y value in mg */ + accel_data_diff_mg->y = (accel_data_diff->y / (int32_t)lsb_per_g) * 1000; + + /*! accel z value in mg */ + accel_data_diff_mg->z = (accel_data_diff->z / (int32_t)lsb_per_g) * 1000; +} + +/*! + * @brief This API writes the config stream data in memory using burst mode + * @note index value should be even number. + */ +static int8_t stream_transfer_write(const uint8_t *stream_data, uint16_t index, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t asic_msb = (uint8_t)((index / 2) >> 4); + uint8_t asic_lsb = ((index / 2) & 0x0F); + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (stream_data != NULL)) + { + rslt = bma4_write_regs(BMA4_RESERVED_REG_5B_ADDR, &asic_lsb, 1, dev); + if (rslt == BMA4_OK) + { + rslt = bma4_write_regs(BMA4_RESERVED_REG_5C_ADDR, &asic_msb, 1, dev); + if (rslt == BMA4_OK) + { + rslt = write_regs(BMA4_FEATURE_CONFIG_ADDR, (uint8_t *)stream_data, dev->read_write_len, dev); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables or disables the Accel self-test feature in the + * sensor. + */ +static int8_t set_accel_selftest_enable(uint8_t accel_selftest_enable, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Read the self-test register */ + rslt = bma4_read_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITS_POS_0(data, BMA4_ACCEL_SELFTEST_ENABLE, accel_selftest_enable); + rslt = bma4_write_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API selects the sign of Accel self-test excitation. + */ +static int8_t set_accel_selftest_sign(uint8_t accel_selftest_sign, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + if (accel_selftest_sign <= BMA4_MAX_VALUE_SELFTEST_SIGN) + { + /* Read the Accel self-test sign*/ + rslt = bma4_read_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_ACCEL_SELFTEST_SIGN, accel_selftest_sign); + rslt = bma4_write_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev); + } + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + + return rslt; +} + +/*! + * @brief This API sets the Accel self-test amplitude in the sensor. + */ +static int8_t set_accel_selftest_amp(uint8_t accel_selftest_amp, struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + if (accel_selftest_amp <= BMA4_MAX_VALUE_SELFTEST_AMP) + { + /* Write self-test amplitude*/ + rslt = bma4_read_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_SELFTEST_AMP, accel_selftest_amp); + rslt = bma4_write_regs(BMA4_ACC_SELF_TEST_ADDR, &data, 1, dev); + } + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + + return rslt; +} + +/*! + * @brief This function enables and configures the Accel which is needed + * for self-test operation. + */ +static int8_t set_accel_selftest_config(struct bma4_dev *dev) +{ + int8_t rslt; + struct bma4_accel_config accel = { 0, 0, 0, 0 }; + + accel.odr = BMA4_OUTPUT_DATA_RATE_1600HZ; + accel.bandwidth = BMA4_ACCEL_NORMAL_AVG4; + accel.perf_mode = BMA4_ENABLE; + accel.range = BMA4_ACCEL_RANGE_8G; + + rslt = bma4_set_accel_enable(BMA4_ENABLE, dev); + dev->delay_us(BMA4_MS_TO_US(5), dev->intf_ptr); + + if (rslt == BMA4_OK) + { + rslt = bma4_set_accel_config(&accel, dev); + } + + return rslt; +} + +/*! + * @brief This API is used to reset the FIFO related configurations + * in the fifo_frame structure. + * + */ +static void reset_fifo_data_structure(struct bma4_fifo_frame *fifo) +{ + /*Prepare for next FIFO read by resetting FIFO's + * internal data structures + */ + fifo->accel_byte_start_idx = 0; + fifo->mag_byte_start_idx = 0; + fifo->sc_frame_byte_start_idx = 0; + fifo->sensor_time = 0; + fifo->skipped_frame_count = 0; + fifo->accel_dropped_frame_count = 0; + fifo->mag_dropped_frame_count = 0; +} + +/*! + * @brief This API computes the number of bytes of accel FIFO data + * which is to be parsed in header-less mode + */ +static void get_accel_len_to_parse(uint16_t *start_idx, + uint16_t *len, + const uint16_t *acc_count, + const struct bma4_fifo_frame *fifo) +{ + /*Data start index*/ + *start_idx = fifo->accel_byte_start_idx; + if (fifo->fifo_data_enable == BMA4_FIFO_A_ENABLE) + { + /*Len has the number of bytes to loop for */ + *len = (uint16_t)(((*acc_count) * BMA4_FIFO_A_LENGTH)); + } + else if (fifo->fifo_data_enable == BMA4_FIFO_M_A_ENABLE) + { + /*Len has the number of bytes to loop for */ + *len = (uint16_t)(((*acc_count) * BMA4_FIFO_MA_LENGTH)); + } + else + { + /*Only aux. sensor or no sensor is enabled in FIFO, + * so there will be no accel data. + * Update the data index as complete + */ + *start_idx = fifo->length; + } + + if ((*len) > fifo->length) + { + /*Handling the case where more data is requested + * than available + */ + *len = fifo->length; + } +} + +/*! + * @brief This API checks the fifo read data as empty frame, if it + * is empty frame then moves the index to last byte. + */ +static void check_empty_fifo(uint16_t *data_index, const struct bma4_fifo_frame *fifo) +{ + if ((*data_index + 6) < fifo->length) + { + /* Check if FIFO is empty (For X, Y and Z)*/ + if (((fifo->data[(*data_index)] == BMA4_FIFO_LSB_CONFIG_CHECK) && + (fifo->data[(*data_index) + 1] == BMA4_FIFO_MSB_CONFIG_CHECK)) && + ((fifo->data[(*data_index) + 2] == BMA4_FIFO_LSB_CONFIG_CHECK) && + (fifo->data[(*data_index) + 3] == BMA4_FIFO_MSB_CONFIG_CHECK)) && + ((fifo->data[(*data_index) + 4] == BMA4_FIFO_LSB_CONFIG_CHECK) && + (fifo->data[(*data_index) + 5] == BMA4_FIFO_MSB_CONFIG_CHECK))) + { + /*Update the data index as complete*/ + *data_index = fifo->length; + } + } +} + +/*! + * @brief This API is used to parse the accelerometer data from the + * FIFO data in header mode. + * + */ +static void extract_accel_header_mode(struct bma4_accel *accel_data, + uint16_t *accel_length, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + uint8_t frame_header = 0; + uint16_t data_index; + uint16_t accel_index = 0; + uint16_t frame_to_read = *accel_length; + + for (data_index = fifo->accel_byte_start_idx; data_index < fifo->length;) + { + /*Header byte is stored in the variable frame_header*/ + frame_header = fifo->data[data_index]; + + /*Get the frame details from header*/ + frame_header = frame_header & BMA4_FIFO_TAG_INTR_MASK; + + /*Index is moved to next byte where the data is starting*/ + data_index++; + switch (frame_header) + { + /* Accel frame */ + case BMA4_FIFO_HEAD_A: + case BMA4_FIFO_HEAD_M_A: + unpack_acc_frm(accel_data, &data_index, &accel_index, frame_header, fifo, dev); + break; + + /* Aux. sensor frame */ + case BMA4_FIFO_HEAD_M: + move_next_frame(&data_index, BMA4_FIFO_M_LENGTH, fifo); + break; + + /* Sensor time frame */ + case BMA4_FIFO_HEAD_SENSOR_TIME: + unpack_sensortime_frame(&data_index, fifo); + break; + + /* Skip frame */ + case BMA4_FIFO_HEAD_SKIP_FRAME: + unpack_skipped_frame(&data_index, fifo); + break; + + /* Input config frame */ + case BMA4_FIFO_HEAD_INPUT_CONFIG: + move_next_frame(&data_index, 1, fifo); + break; + + /* Sample drop frame */ + case BMA4_FIFO_HEAD_SAMPLE_DROP: + unpack_dropped_frame(&data_index, fifo); + break; + + /* Over read FIFO data */ + case BMA4_FIFO_HEAD_OVER_READ_MSB: + + /* Update the data index as complete*/ + data_index = fifo->length; + break; + default: + break; + } + if (frame_to_read == accel_index) + { + /*Number of frames to read completed*/ + break; + } + } + + /*Update number of accel data read*/ + *accel_length = accel_index; + + /*Update the accel frame index*/ + fifo->accel_byte_start_idx = data_index; +} + +/*! + * @brief This API is used to parse the accelerometer data from the + * FIFO data in both header mode and header-less mode. + * It update the idx value which is used to store the index of + * the current data byte which is parsed. + */ +static void unpack_acc_frm(struct bma4_accel *acc, + uint16_t *idx, + uint16_t *acc_idx, + uint8_t frm, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + + switch (frm) + { + case BMA4_FIFO_HEAD_A: + case BMA4_FIFO_A_ENABLE: + + /*Partial read, then skip the data*/ + if ((*idx + BMA4_FIFO_A_LENGTH) > fifo->length) + { + /*Update the data index as complete*/ + *idx = fifo->length; + break; + } + + /*Unpack the data array into the structure instance "acc" */ + unpack_accel_data(&acc[*acc_idx], *idx, fifo, dev); + + /*Move the data index*/ + *idx = *idx + BMA4_FIFO_A_LENGTH; + (*acc_idx)++; + break; + case BMA4_FIFO_HEAD_M_A: + case BMA4_FIFO_M_A_ENABLE: + + /*Partial read, then skip the data*/ + if ((*idx + BMA4_FIFO_MA_LENGTH) > fifo->length) + { + /*Update the data index as complete*/ + *idx = fifo->length; + break; + } + + /*Unpack the data array into structure instance "acc"*/ + unpack_accel_data(&acc[*acc_idx], *idx + BMA4_MA_FIFO_A_X_LSB, fifo, dev); + + /*Move the data index*/ + *idx = *idx + BMA4_FIFO_MA_LENGTH; + (*acc_idx)++; + break; + + /* Aux. sensor frame */ + case BMA4_FIFO_HEAD_M: + case BMA4_FIFO_M_ENABLE: + (*idx) = (*idx) + BMA4_FIFO_M_LENGTH; + break; + default: + break; + } +} + +/*! + * @brief This API is used to parse the accelerometer data from the + * FIFO data and store it in the instance of the structure bma4_accel. + */ +static void unpack_accel_data(struct bma4_accel *accel_data, + uint16_t data_start_index, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + uint16_t data_lsb; + uint16_t data_msb; + + /* Accel raw x data */ + data_lsb = fifo->data[data_start_index++]; + data_msb = fifo->data[data_start_index++]; + accel_data->x = (int16_t)((data_msb << 8) | data_lsb); + + /* Accel raw y data */ + data_lsb = fifo->data[data_start_index++]; + data_msb = fifo->data[data_start_index++]; + accel_data->y = (int16_t)((data_msb << 8) | data_lsb); + + /* Accel raw z data */ + data_lsb = fifo->data[data_start_index++]; + data_msb = fifo->data[data_start_index++]; + accel_data->z = (int16_t)((data_msb << 8) | data_lsb); + if (dev->resolution == BMA4_12_BIT_RESOLUTION) + { + accel_data->x = (accel_data->x / 0x10); + accel_data->y = (accel_data->y / 0x10); + accel_data->z = (accel_data->z / 0x10); + } + else if (dev->resolution == BMA4_14_BIT_RESOLUTION) + { + accel_data->x = (accel_data->x / 0x04); + accel_data->y = (accel_data->y / 0x04); + accel_data->z = (accel_data->z / 0x04); + } +} + +/*! + * @brief This API computes the number of bytes of Mag FIFO data which is + * to be parsed in header-less mode + * + */ +static void get_mag_len_to_parse(uint16_t *start_idx, + uint16_t *len, + const uint16_t *mag_count, + const struct bma4_fifo_frame *fifo) +{ + /*Data start index*/ + *start_idx = fifo->mag_byte_start_idx; + if (fifo->fifo_data_enable == BMA4_FIFO_M_ENABLE) + { + /*Len has the number of bytes to loop for */ + *len = (uint16_t)(((*mag_count) * BMA4_FIFO_M_LENGTH)); + } + else if (fifo->fifo_data_enable == BMA4_FIFO_M_A_ENABLE) + { + /*Len has the number of bytes to loop for */ + *len = (uint16_t)(((*mag_count) * BMA4_FIFO_MA_LENGTH)); + } + else + { + /*Only accel sensor or no sensor is enabled in FIFO, + * so there will be no mag data. + * Update the data index as complete + */ + *start_idx = fifo->length; + } + + /*Handling the case where more data is requested than available*/ + if ((*len) > fifo->length) + { + /*Len is equal to the FIFO length*/ + *len = fifo->length; + } +} + +/*! + * @brief This API is used to parse the magnetometer data from the + * FIFO data in header mode. + * + */ +static int8_t extract_mag_header_mode(const struct bma4_mag *data, + uint16_t *len, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + uint8_t frame_header = 0; + uint16_t data_index; + uint16_t mag_index = 0; + uint16_t frame_to_read = *len; + + for (data_index = fifo->mag_byte_start_idx; data_index < fifo->length;) + { + /*Header byte is stored in the variable frame_header*/ + frame_header = fifo->data[data_index]; + + /*Get the frame details from header*/ + frame_header = frame_header & BMA4_FIFO_TAG_INTR_MASK; + + /*Index is moved to next byte where the data is starting*/ + data_index++; + switch (frame_header) + { + /* Aux. sensor frame */ + case BMA4_FIFO_HEAD_M: + case BMA4_FIFO_HEAD_M_A: + rslt = unpack_mag_frm(data, &data_index, &mag_index, frame_header, fifo, dev); + break; + + /* Aux. sensor frame */ + case BMA4_FIFO_HEAD_A: + move_next_frame(&data_index, BMA4_FIFO_A_LENGTH, fifo); + break; + + /* Sensor time frame */ + case BMA4_FIFO_HEAD_SENSOR_TIME: + unpack_sensortime_frame(&data_index, fifo); + break; + + /* Skip frame */ + case BMA4_FIFO_HEAD_SKIP_FRAME: + unpack_skipped_frame(&data_index, fifo); + break; + + /* Input config frame */ + case BMA4_FIFO_HEAD_INPUT_CONFIG: + move_next_frame(&data_index, 1, fifo); + break; + + /* Sample drop frame */ + case BMA4_FIFO_HEAD_SAMPLE_DROP: + unpack_dropped_frame(&data_index, fifo); + break; + case BMA4_FIFO_HEAD_OVER_READ_MSB: + + /*Update the data index as complete*/ + data_index = fifo->length; + break; + default: + break; + } + if (frame_to_read == mag_index) + { + /*Number of frames to read completed*/ + break; + } + } + + /*update number of Aux. sensor data read*/ + *len = mag_index; + + /*update the Aux. sensor frame index*/ + fifo->mag_byte_start_idx = data_index; + + return rslt; +} + +/*! + * @brief This API is used to parse the magnetometer data from the + * FIFO data in both header mode and header-less mode and update the + * data_index value which is used to store the index of the current + * data byte which is parsed. + * + */ +static int8_t unpack_mag_frm(const struct bma4_mag *data, + uint16_t *idx, + uint16_t *mag_idx, + uint8_t frm, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + switch (frm) + { + case BMA4_FIFO_HEAD_M: + case BMA4_FIFO_M_ENABLE: + + /*partial read, then skip the data*/ + if ((*idx + BMA4_FIFO_M_LENGTH) > fifo->length) + { + /*update the data index as complete*/ + *idx = fifo->length; + break; + } + + /*unpack the data array into Aux. sensor data structure*/ + rslt = unpack_mag_data(&data[*mag_idx], *idx, fifo, dev); + + /*move the data index*/ + *idx = *idx + BMA4_FIFO_M_LENGTH; + (*mag_idx)++; + break; + case BMA4_FIFO_HEAD_M_A: + case BMA4_FIFO_M_A_ENABLE: + + /*partial read, then skip the data*/ + if ((*idx + BMA4_FIFO_MA_LENGTH) > fifo->length) + { + /*update the data index as complete*/ + *idx = fifo->length; + break; + } + + /*unpack the data array into Aux. sensor data structure*/ + rslt = unpack_mag_data(&data[*mag_idx], *idx, fifo, dev); + + /*move the data index to next frame*/ + *idx = *idx + BMA4_FIFO_MA_LENGTH; + (*mag_idx)++; + break; + + /* aux. sensor frame */ + case BMA4_FIFO_HEAD_A: + case BMA4_FIFO_A_ENABLE: + (*idx) = (*idx) + BMA4_FIFO_A_LENGTH; + break; + default: + break; + } + + return rslt; +} + +/*! + * @brief This API is used to parse the auxiliary magnetometer data from + * the FIFO data and store it in the instance of the structure mag_data. + * + */ +static int8_t unpack_mag_data(const struct bma4_mag *mag_data, + uint16_t start_idx, + const struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev) +{ + int8_t rslt; + struct bma4_mag_fifo_data mag_fifo_data; + + /* Aux. mag sensor raw x data */ + mag_fifo_data.mag_x_lsb = fifo->data[start_idx++]; + mag_fifo_data.mag_x_msb = fifo->data[start_idx++]; + + /* Aux. mag sensor raw y data */ + mag_fifo_data.mag_y_lsb = fifo->data[start_idx++]; + mag_fifo_data.mag_y_msb = fifo->data[start_idx++]; + + /* Aux. mag sensor raw z data */ + mag_fifo_data.mag_z_lsb = fifo->data[start_idx++]; + mag_fifo_data.mag_z_msb = fifo->data[start_idx++]; + + /* Aux. mag sensor raw r data */ + mag_fifo_data.mag_r_y2_lsb = fifo->data[start_idx++]; + mag_fifo_data.mag_r_y2_msb = fifo->data[start_idx++]; + + /*Compensated FIFO data output*/ + rslt = bma4_second_if_mag_compensate_xyz(mag_fifo_data, dev->aux_sensor, mag_data); + + return rslt; +} + +/*! + * @brief This API is used to parse and store the sensor time from the + * FIFO data in the structure instance dev. + * + */ +static void unpack_sensortime_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo) +{ + uint32_t sensor_time_byte3 = 0; + uint16_t sensor_time_byte2 = 0; + uint8_t sensor_time_byte1 = 0; + + /*Partial read, then move the data index to last data*/ + if ((*data_index + BMA4_SENSOR_TIME_LENGTH) > fifo->length) + { + /*Update the data index as complete*/ + *data_index = fifo->length; + } + else + { + sensor_time_byte3 = fifo->data[(*data_index) + BMA4_SENSOR_TIME_MSB_BYTE] << 16; + sensor_time_byte2 = fifo->data[(*data_index) + BMA4_SENSOR_TIME_XLSB_BYTE] << 8; + sensor_time_byte1 = fifo->data[(*data_index)]; + + /* Sensor time */ + fifo->sensor_time = (uint32_t)(sensor_time_byte3 | sensor_time_byte2 | sensor_time_byte1); + *data_index = (*data_index) + BMA4_SENSOR_TIME_LENGTH; + } +} + +/*! + * @brief This API is used to parse and store the skipped_frame_count from + * the FIFO data in the structure instance dev. + */ +static void unpack_skipped_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo) +{ + /*Partial read, then move the data index to last data*/ + if (*data_index >= fifo->length) + { + /*Update the data index as complete*/ + *data_index = fifo->length; + } + else + { + fifo->skipped_frame_count = fifo->data[*data_index]; + + /*Move the data index*/ + *data_index = (*data_index) + 1; + } +} + +/*! + * @brief This API is used to parse and store the dropped_frame_count from + * the FIFO data in the structure instance dev. + */ +static void unpack_dropped_frame(uint16_t *data_index, struct bma4_fifo_frame *fifo) +{ + uint8_t dropped_frame = 0; + + /*Partial read, then move the data index to last data*/ + if (*data_index >= fifo->length) + { + /*Update the data index as complete*/ + *data_index = fifo->length; + } + else + { + /*Extract accel and mag dropped frame count*/ + dropped_frame = fifo->data[*data_index] & BMA4_ACCEL_AUX_FIFO_DROP; + + /*Move the data index and update the dropped frame count*/ + switch (dropped_frame) + { + case BMA4_ACCEL_FIFO_DROP: + *data_index = (*data_index) + BMA4_FIFO_A_LENGTH; + fifo->accel_dropped_frame_count = fifo->accel_dropped_frame_count + 1; + break; + case BMA4_AUX_FIFO_DROP: + *data_index = (*data_index) + BMA4_FIFO_M_LENGTH; + fifo->mag_dropped_frame_count = fifo->mag_dropped_frame_count + 1; + break; + case BMA4_ACCEL_AUX_FIFO_DROP: + *data_index = (*data_index) + BMA4_FIFO_MA_LENGTH; + fifo->accel_dropped_frame_count = fifo->accel_dropped_frame_count + 1; + fifo->mag_dropped_frame_count = fifo->mag_dropped_frame_count + 1; + break; + default: + break; + } + } +} + +/*! + * @brief This API is used to move the data index ahead of the + * current_frame_length parameter when unnecessary FIFO data appears while + * extracting the user specified data. + */ +static void move_next_frame(uint16_t *data_index, uint8_t current_frame_length, const struct bma4_fifo_frame *fifo) +{ + /*Partial read, then move the data index to last data*/ + if ((*data_index + current_frame_length) > fifo->length) + { + /*Update the data index as complete*/ + *data_index = fifo->length; + } + else + { + /*Move the data index to next frame*/ + *data_index = *data_index + current_frame_length; + } +} + +/*! + * @brief This function validates the Accel self-test data and decides the + * result of self-test operation. + */ +static int8_t validate_selftest(const struct bma4_selftest_delta_limit *accel_data_diff, const struct bma4_dev *dev) +{ + int8_t rslt = 0; + uint16_t x_axis_signal_diff = 0; + uint16_t y_axis_signal_diff = 0; + uint16_t z_axis_signal_diff = 0; + + /* Set self-test amplitude based on variant */ + switch (dev->variant) + { + case BMA42X_VARIANT: + x_axis_signal_diff = BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF; + y_axis_signal_diff = BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF; + z_axis_signal_diff = BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF; + break; + + case BMA42X_B_VARIANT: + x_axis_signal_diff = BMA42X_B_ST_ACC_X_AXIS_SIGNAL_DIFF; + y_axis_signal_diff = BMA42X_B_ST_ACC_Y_AXIS_SIGNAL_DIFF; + z_axis_signal_diff = BMA42X_B_ST_ACC_Z_AXIS_SIGNAL_DIFF; + break; + + case BMA45X_VARIANT: + x_axis_signal_diff = BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF; + y_axis_signal_diff = BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF; + z_axis_signal_diff = BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF; + break; + + default: + rslt = BMA4_E_INVALID_SENSOR; + break; + } + + if (rslt != BMA4_E_INVALID_SENSOR) + { + if ((accel_data_diff->x <= x_axis_signal_diff) && (accel_data_diff->y <= y_axis_signal_diff) && + (accel_data_diff->z <= z_axis_signal_diff)) + { + rslt = BMA4_SELFTEST_DIFF_X_Y_AND_Z_AXIS_FAILED; + } + else if ((accel_data_diff->x <= x_axis_signal_diff) && (accel_data_diff->y <= y_axis_signal_diff)) + { + rslt = BMA4_SELFTEST_DIFF_X_AND_Y_AXIS_FAILED; + } + else if ((accel_data_diff->x <= x_axis_signal_diff) && (accel_data_diff->z <= z_axis_signal_diff)) + { + rslt = BMA4_SELFTEST_DIFF_X_AND_Z_AXIS_FAILED; + } + else if ((accel_data_diff->y <= y_axis_signal_diff) && (accel_data_diff->z <= z_axis_signal_diff)) + { + rslt = BMA4_SELFTEST_DIFF_Y_AND_Z_AXIS_FAILED; + } + else if (accel_data_diff->x <= x_axis_signal_diff) + { + rslt = BMA4_SELFTEST_DIFF_X_AXIS_FAILED; + } + else if (accel_data_diff->y <= y_axis_signal_diff) + { + rslt = BMA4_SELFTEST_DIFF_Y_AXIS_FAILED; + } + else if (accel_data_diff->z <= z_axis_signal_diff) + { + rslt = BMA4_SELFTEST_DIFF_Z_AXIS_FAILED; + } + else + { + rslt = BMA4_SELFTEST_PASS; + } + } + + return rslt; +} + +/*! + * @brief This API is used to calculate the power of 2 + */ +static int32_t power(int16_t base, uint8_t resolution) +{ + uint8_t i = 1; + + /* Initialize variable to store the power of 2 value */ + int32_t value = 1; + + for (; i <= resolution; i++) + { + value = (int32_t)(value * base); + } + + return value; +} + +/*! + * @brief This internal API brings up the secondary interface to access + * auxiliary sensor * + */ +static int8_t set_aux_interface_config(struct bma4_dev *dev) +{ + /* Variable to return error codes */ + int8_t rslt; + + /* Check for null pointer error */ + rslt = null_pointer_check(dev); + if (rslt == BMA4_OK) + { + /* Enable the auxiliary sensor */ + rslt = bma4_set_mag_enable(0x01, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Disable advance power save */ + rslt = bma4_set_advance_power_save(0x00, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Set the I2C device address of auxiliary device */ + rslt = bma4_set_i2c_device_addr(dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Set auxiliary interface to manual mode */ + rslt = bma4_set_mag_manual_enable(dev->aux_config.manual_enable, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Set the number of bytes for burst read */ + rslt = bma4_set_mag_burst(dev->aux_config.burst_read_length, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Switch on the the auxiliary interface mode */ + rslt = bma4_set_if_mode(dev->aux_config.if_mode, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + } + } + } + } + } + } + + return rslt; +} + +/*! + * @brief This internal API reads the data from the auxiliary sensor + * depending on burst length configured + */ +static int8_t extract_aux_data(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev) +{ + /* Variable to return error codes */ + int8_t rslt; + + /* Pointer variable to read data from the register */ + uint8_t data[15] = { 0 }; + + /* Variable to define length counts */ + uint8_t len_count = 0; + + /* Variable to define burst read length */ + uint8_t burst_len = 0; + + /* Variable to define read length */ + uint8_t read_length = 0; + + /* Variable to define the number of burst reads */ + uint8_t burst_count; + + /* Variable to define address of the data register*/ + uint8_t aux_read_addr = BMA4_DATA_0_ADDR; + + /* Extract burst read length in a variable */ + rslt = map_read_len(&burst_len, dev); + if ((rslt == BMA4_OK) && (aux_data != NULL)) + { + for (burst_count = 0; burst_count < len; burst_count += burst_len) + { + /* Set the address whose data is to be read */ + rslt = bma4_set_mag_read_addr(aux_reg_addr, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + if (rslt == BMA4_OK) + { + /* If user defined length is valid */ + if (len > 0) + { + /* Read the data from the data register */ + rslt = bma4_read_regs(aux_read_addr, data, (uint8_t)burst_len, dev); + dev->delay_us(BMA4_AUX_COM_DELAY, dev->intf_ptr); + if (rslt == BMA4_OK) + { + /* If defined user length or remaining + * length after a burst read is less than + * burst length + */ + if ((len - burst_count) < burst_len) + { + /* Read length is equal to burst + * length or remaining length + */ + read_length = (uint8_t)(len - burst_count); + } + else + { + /* Read length is equal to burst + * length + */ + read_length = burst_len; + } + + /* Copy the read data in terms of given + * read length + */ + for (len_count = 0; len_count < read_length; len_count++) + { + aux_data[burst_count + len_count] = data[len_count]; + } + + /* Increment the register address by + * burst read length + */ + aux_reg_addr += burst_len; + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_COM_FAIL; + } + } + else + { + rslt = BMA4_E_COM_FAIL; + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This internal API maps the actual burst read length with user + * length set. + */ +static int8_t map_read_len(uint8_t *len, const struct bma4_dev *dev) +{ + /* Variable to return error codes */ + int8_t rslt = BMA4_OK; + + switch (dev->aux_config.burst_read_length) + { + case BMA4_AUX_READ_LEN_0: + *len = 1; + break; + case BMA4_AUX_READ_LEN_1: + *len = 2; + break; + case BMA4_AUX_READ_LEN_2: + *len = 6; + break; + case BMA4_AUX_READ_LEN_3: + *len = 8; + break; + default: + rslt = BMA4_E_OUT_OF_RANGE; + break; + } + + return rslt; +} + +/*! + * @brief This internal API checks null pointer error + */ +static int8_t null_pointer_check(const struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if ((dev == NULL) || (dev->bus_read == NULL) || (dev->bus_write == NULL) || (dev->delay_us == NULL)) + { + rslt = BMA4_E_NULL_PTR; + } + else + { + rslt = BMA4_OK; + } + + return rslt; +} + +/*! @endcond */ + +/*! + * @brief This API does soft reset + */ +int8_t bma4_soft_reset(struct bma4_dev *dev) +{ + int8_t rslt; + + /* Variable to read the dummy byte */ + uint8_t dummy_read = 0; + + /* Variable contains soft reset command */ + uint8_t command_reg = BMA4_SOFT_RESET; + + /* Check the dev structure as NULL */ + rslt = null_pointer_check(dev); + + /* Check the bma4 structure as NULL */ + if (rslt == BMA4_OK) + { + /* Write command register */ + rslt = bma4_write_regs(BMA4_CMD_ADDR, &command_reg, 1, dev); + + if (rslt == BMA4_OK) + { + if (dev->intf == BMA4_SPI_INTF) + { + /* Dummy read to bring interface to SPI */ + rslt = bma4_read_regs(BMA4_CHIP_ID_ADDR, &dummy_read, 1, dev); + } + } + } + + return rslt; +} + +/*! + * @brief This API performs Fast Offset Compensation for accelerometer. + */ +int8_t bma4_perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Structure to define the accelerometer configurations */ + struct bma4_accel_config acc_cfg = { 0, 0, 0, 0 }; + + /* Variable to store status of advance power save */ + uint8_t aps = 0; + + /* Variable to store status of accelerometer enable */ + uint8_t acc_en = 0; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel_g_value != NULL)) + { + /* Check for input validity */ + if (((ABS(accel_g_value->x) + ABS(accel_g_value->y) + ABS(accel_g_value->z)) == 1) && + ((accel_g_value->sign == 1) || (accel_g_value->sign == 0))) + { + /* Save accelerometer configurations, accelerometer + * enable status and advance power save status + */ + rslt = save_accel_foc_config(&acc_cfg, &aps, &acc_en, dev); + + /* Set configurations for FOC */ + if (rslt == BMA4_OK) + { + rslt = set_accel_foc_config(dev); + } + + /* Perform accelerometer FOC */ + if (rslt == BMA4_OK) + { + rslt = perform_accel_foc(accel_g_value, &acc_cfg, dev); + } + + /* Restore the saved configurations */ + if (rslt == BMA4_OK) + { + rslt = restore_accel_foc_config(&acc_cfg, aps, acc_en, dev); + } + } + else + { + rslt = BMA4_E_OUT_OF_RANGE; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This internal API saves the configurations before performing FOC. + */ +static int8_t save_accel_foc_config(struct bma4_accel_config *acc_cfg, + uint8_t *aps, + uint8_t *acc_en, + struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to get the status from PWR_CTRL register */ + uint8_t pwr_ctrl_data = 0; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (acc_cfg != NULL) && (aps != NULL) && (acc_en != NULL)) + { + /* Get accelerometer configurations to be saved */ + rslt = bma4_get_accel_config(acc_cfg, dev); + if (rslt == BMA4_OK) + { + /* Get accelerometer enable status to be saved */ + rslt = bma4_read_regs(BMA4_POWER_CTRL_ADDR, &pwr_ctrl_data, 1, dev); + if (rslt == BMA4_OK) + { + *acc_en = BMA4_GET_BITSLICE(pwr_ctrl_data, BMA4_ACCEL_ENABLE); + } + + /* Get advance power save mode to be saved */ + if (rslt == BMA4_OK) + { + rslt = bma4_get_advance_power_save(aps, dev); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This internal API sets configurations for performing accelerometer FOC. + */ +static int8_t set_accel_foc_config(struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to set the accelerometer configuration value */ + uint8_t acc_conf_data = BMA4_FOC_ACC_CONF_VAL; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Disabling offset compensation */ + rslt = set_bma4_accel_offset_comp(BMA4_DISABLE, dev); + if (rslt == BMA4_OK) + { + /* Set accelerometer configurations to 50Hz, continuous mode, CIC mode */ + rslt = bma4_write_regs(BMA4_ACCEL_CONFIG_ADDR, &acc_conf_data, 1, dev); + if (rslt == BMA4_OK) + { + /* Set accelerometer to normal mode by enabling it */ + rslt = bma4_set_accel_enable(BMA4_ENABLE, dev); + if (rslt == BMA4_OK) + { + /* Disable advance power save mode */ + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + } + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This internal API enables/disables the offset compensation for + * filtered and un-filtered accelerometer data. + */ +static int8_t set_bma4_accel_offset_comp(uint8_t offset_en, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to store data */ + uint8_t data = 0; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Enable/Disable offset compensation */ + rslt = bma4_read_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + data = BMA4_SET_BITSLICE(data, BMA4_NV_ACCEL_OFFSET, offset_en); + rslt = bma4_write_regs(BMA4_NV_CONFIG_ADDR, &data, 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This internal API performs Fast Offset Compensation for accelerometer. + */ +static int8_t perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value, + const struct bma4_accel_config *acc_cfg, + struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to define count */ + uint8_t loop; + + /* Variable to store status read from the status register */ + uint8_t reg_status = 0; + + /* Array of structure to store accelerometer data */ + struct bma4_accel accel_value[128] = { { 0 } }; + + /* Structure to store accelerometer data temporarily */ + struct bma4_foc_temp_value temp = { 0, 0, 0 }; + + /* Structure to store the average of accelerometer data */ + struct bma4_accel accel_avg = { 0, 0, 0 }; + + /* Variable to define LSB per g value */ + uint16_t lsb_per_g = 0; + + /* Variable to define range */ + uint8_t range = 0; + + /* Variable to set limit for FOC sample */ + uint8_t limit = 128; + + /* Structure to store accelerometer data deviation from ideal value */ + struct bma4_offset_delta delta = { 0, 0, 0 }; + + /* Structure to store accelerometer offset values */ + struct bma4_accel_offset offset = { 0, 0, 0 }; + + /* Variable tries max 5 times for interrupt then generates timeout */ + uint8_t try_cnt; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (accel_g_value != NULL) && (acc_cfg != NULL)) + { + for (loop = 0; loop < limit; loop++) + { + try_cnt = 5; + while (try_cnt && (!(reg_status & BMA4_STAT_DATA_RDY_ACCEL_MSK))) + { + /* 20ms delay for 50Hz ODR */ + dev->delay_us(BMA4_MS_TO_US(20), dev->intf_ptr); + rslt = bma4_read_regs(BMA4_STATUS_ADDR, ®_status, 1, dev); + try_cnt--; + } + + if ((rslt == BMA4_OK) && (reg_status & BMA4_STAT_DATA_RDY_ACCEL_MSK)) + { + rslt = bma4_read_accel_xyz(&accel_value[loop], dev); + } + + if (rslt == BMA4_OK) + { + rslt = bma4_read_accel_xyz(&accel_value[loop], dev); + } + + if (rslt == BMA4_OK) + { + /* Store the data in a temporary structure */ + temp.x = temp.x + (int32_t)accel_value[loop].x; + temp.y = temp.y + (int32_t)accel_value[loop].y; + temp.z = temp.z + (int32_t)accel_value[loop].z; + } + else + { + break; + } + } + + if (rslt == BMA4_OK) + { + /* Take average of x, y and z data for lesser noise */ + accel_avg.x = (int16_t)(temp.x / 128); + accel_avg.y = (int16_t)(temp.y / 128); + accel_avg.z = (int16_t)(temp.z / 128); + + /* Get the exact range value */ + map_accel_range(acc_cfg->range, &range); + + /* Get the smallest possible measurable acceleration level given the range and + * resolution */ + lsb_per_g = (uint16_t)(power(2, dev->resolution) / (2 * range)); + + /* Compensate acceleration data against gravity */ + comp_for_gravity(lsb_per_g, accel_g_value, &accel_avg, &delta); + + /* Scale according to offset register resolution */ + scale_bma4_accel_offset(range, &delta, &offset, dev->resolution); + + /* Invert the accelerometer offset data */ + invert_bma4_accel_offset(&offset); + + /* Write offset data in the offset compensation register */ + rslt = write_bma4_accel_offset(&offset, dev); + + /* Enable offset compensation */ + if (rslt == BMA4_OK) + { + rslt = set_bma4_accel_offset_comp(BMA4_ENABLE, dev); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This internal API converts the accelerometer range value into + * corresponding integer value. + */ +static void map_accel_range(uint8_t range_in, uint8_t *range_out) +{ + switch (range_in) + { + case BMA4_ACCEL_RANGE_2G: + *range_out = 2; + break; + case BMA4_ACCEL_RANGE_4G: + *range_out = 4; + break; + case BMA4_ACCEL_RANGE_8G: + *range_out = 8; + break; + case BMA4_ACCEL_RANGE_16G: + *range_out = 16; + break; + default: + + /* By default RANGE 4G is set */ + *range_out = 4; + break; + } +} + +/*! + * @brief This internal API compensate the accelerometer data against gravity. + */ +static void comp_for_gravity(uint16_t lsb_per_g, + const struct bma4_accel_foc_g_value *g_val, + const struct bma4_accel *data, + struct bma4_offset_delta *comp_data) +{ + /* Array to store the accelerometer values in LSB */ + int16_t accel_value_lsb[3] = { 0 }; + + /* Convert g-value to LSB */ + accel_value_lsb[BMA4_X_AXIS] = (int16_t)(lsb_per_g * g_val->x); + accel_value_lsb[BMA4_Y_AXIS] = (int16_t)(lsb_per_g * g_val->y); + accel_value_lsb[BMA4_Z_AXIS] = (int16_t)(lsb_per_g * g_val->z); + + /* Get the compensated values for X, Y and Z axis */ + comp_data->x = (data->x - accel_value_lsb[BMA4_X_AXIS]); + comp_data->y = (data->y - accel_value_lsb[BMA4_Y_AXIS]); + comp_data->z = (data->z - accel_value_lsb[BMA4_Z_AXIS]); +} + +/*! + * @brief This internal API scales the compensated accelerometer data according + * to the offset register resolution. + */ +static void scale_bma4_accel_offset(uint8_t range, + const struct bma4_offset_delta *comp_data, + struct bma4_accel_offset *data, + uint8_t resolution) +{ + /* Variable to store the position of bit having 3.9mg resolution */ + int8_t bit_pos_3_9mg; + + /* Variable to store the position previous of bit having 3.9mg resolution */ + int8_t bit_pos_3_9mg_prev_bit = 0; + + /* Variable to store the round-off value */ + uint8_t round_off = 0; + + /* Find the bit position of 3.9mg */ + bit_pos_3_9mg = get_bit_pos_3_9mg(range, resolution); + + if (bit_pos_3_9mg < 0) + { + bit_pos_3_9mg = 0; + } + + /* Round off, consider if the next bit is high */ + if (bit_pos_3_9mg > 0) + { + bit_pos_3_9mg_prev_bit = bit_pos_3_9mg - 1; + round_off = (uint8_t)(power(2, ((uint8_t) bit_pos_3_9mg_prev_bit))); + } + + /* Scale according to offset register resolution */ + data->x = (uint8_t)((comp_data->x + round_off) / power(2, ((uint8_t) bit_pos_3_9mg))); + data->y = (uint8_t)((comp_data->y + round_off) / power(2, ((uint8_t) bit_pos_3_9mg))); + data->z = (uint8_t)((comp_data->z + round_off) / power(2, ((uint8_t) bit_pos_3_9mg))); +} + +/*! + * @brief This internal API inverts the accelerometer offset data. + */ +static void invert_bma4_accel_offset(struct bma4_accel_offset *offset_data) +{ + /* Get the offset data */ + offset_data->x = (uint8_t)((offset_data->x) * (-1)); + offset_data->y = (uint8_t)((offset_data->y) * (-1)); + offset_data->z = (uint8_t)((offset_data->z) * (-1)); +} + +/*! + * @brief This internal API writes the offset data in the offset compensation + * register. + */ +static int8_t write_bma4_accel_offset(const struct bma4_accel_offset *offset, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Array to store the offset data */ + uint8_t data_array[3] = { 0 }; + + data_array[0] = offset->x; + data_array[1] = offset->y; + data_array[2] = offset->z; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + /* Offset values are written in the offset register */ + rslt = bma4_write_regs(BMA4_OFFSET_0_ADDR, data_array, 3, dev); + } + + return rslt; +} + +/*! + * @brief This internal API finds the bit position of 3.9mg according to given + * range and resolution. + */ +static int8_t get_bit_pos_3_9mg(uint8_t range, uint8_t resolution) +{ + /* Variable to store the bit position of 3.9mg resolution */ + int8_t bit_pos_3_9mg; + + /* Variable to shift the bits according to the resolution */ + uint32_t divisor = 1; + + /* Scaling factor to get the bit position of 3.9 mg resolution */ + int16_t scale_factor = -1; + + /* Variable to store temporary value */ + uint16_t temp; + + /* Shift left by the times of resolution */ + divisor = divisor << (resolution - 1); + + /* Get the bit position to be shifted */ + temp = (uint16_t)(divisor / (range * 128)); + + /* Get the scaling factor until bit position is shifted to last bit */ + while (temp != 1) + { + scale_factor++; + temp = temp >> 1; + } + + /* Scaling factor is the bit position of 3.9 mg resolution */ + bit_pos_3_9mg = (int8_t) scale_factor; + + return bit_pos_3_9mg; +} + +/*! + * @brief This internal API restores the configurations saved before performing + * accelerometer FOC. + */ +static int8_t restore_accel_foc_config(const struct bma4_accel_config *acc_cfg, + uint8_t aps, + uint8_t acc_en, + struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Variable to get the status from PWR_CTRL register */ + uint8_t pwr_ctrl_data = 0; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if ((rslt == BMA4_OK) && (acc_cfg != NULL)) + { + /* Restore the saved accelerometer configurations */ + rslt = bma4_set_accel_config(acc_cfg, dev); + if (rslt == BMA4_OK) + { + /* Restore the saved accelerometer enable status */ + rslt = bma4_read_regs(BMA4_POWER_CTRL_ADDR, &pwr_ctrl_data, 1, dev); + if (rslt == BMA4_OK) + { + pwr_ctrl_data = BMA4_SET_BITSLICE(pwr_ctrl_data, BMA4_ACCEL_ENABLE, acc_en); + rslt = bma4_write_regs(BMA4_POWER_CTRL_ADDR, &pwr_ctrl_data, 1, dev); + + /* Restore the saved advance power save */ + if (rslt == BMA4_OK) + { + rslt = bma4_set_advance_power_save(aps, dev); + } + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This internal API is to store remapped axis and sign values + * in device structure + */ +static void assign_remap_axis(uint8_t remap_axis, uint8_t *axis, uint8_t *sign) +{ + /* Variable to store the re-mapped axis value */ + uint8_t axis_val = remap_axis & BMA4_AXIS_MASK; + + switch (axis_val) + { + case BMA4_X: + + /* If mapped to x-axis */ + (*axis) = BMA4_MAP_X_AXIS; + break; + case BMA4_Y: + + /* If mapped to y-axis */ + (*axis) = BMA4_MAP_Y_AXIS; + break; + case BMA4_Z: + + /* If mapped to z-axis */ + (*axis) = BMA4_MAP_Z_AXIS; + break; + default: + break; + } + + /* Store the re-mapped axis sign in the device structure */ + if (remap_axis & BMA4_AXIS_SIGN) + { + /* If axis mapped to negative sign */ + (*sign) = BMA4_MAP_NEGATIVE; + } + else + { + /* If axis mapped to positive sign */ + (*sign) = BMA4_MAP_POSITIVE; + } +} + +/*! + * @brief This internal API is to receive remapped axis and sign values + * in device structure and to local structure + */ +static void receive_remap_axis(uint8_t remap_axis, uint8_t remap_sign, uint8_t *axis) +{ + /* Get the re-mapped axis value from device structure */ + switch (remap_axis) + { + case BMA4_MAP_X_AXIS: + + /* If mapped to x-axis */ + (*axis) = BMA4_X; + break; + case BMA4_MAP_Y_AXIS: + + /* If mapped to y-axis */ + (*axis) = BMA4_Y; + break; + case BMA4_MAP_Z_AXIS: + + /* If mapped to z-axis */ + (*axis) = BMA4_Z; + break; + default: + break; + } + + /* Get the re-mapped axis sign from device structure */ + if (remap_sign) + { + /* If axis is mapped to negative sign */ + (*axis) |= BMA4_AXIS_SIGN; + } +} + +/*! + * @brief This API performs x, y and z-axis re-mapping in the sensor. + */ +static int8_t set_remap_axes(const struct bma4_axes_remap *remap_data, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev) +{ + /* Variable to hold execution status */ + int8_t rslt; + + /* Variable to define x-axis to be re-mapped */ + uint8_t x_axis; + + /* Variable to define y-axis to be re-mapped */ + uint8_t y_axis; + + /* Variable to define z-axis to be re-mapped */ + uint8_t z_axis; + + /* Variable to define x-axis sign to be re-mapped */ + uint8_t x_axis_sign; + + /* Variable to define y-axis sign to be re-mapped */ + uint8_t y_axis_sign; + + /* Variable to define z-axis sign to be re-mapped */ + uint8_t z_axis_sign; + + if (remap_data != NULL) + { + /* Read the configuration file */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, feature_len, dev); + + if (rslt == BMA4_OK) + { + /* Get x-axis to be re-mapped */ + x_axis = remap_data->x_axis & BMA4_X_AXIS_MSK; + + /* Get x-axis sign to be re-mapped */ + x_axis_sign = (remap_data->x_axis_sign << BMA4_X_AXIS_SIGN_POS) & BMA4_X_AXIS_SIGN_MSK; + + /* Get y-axis to be re-mapped */ + y_axis = (remap_data->y_axis << BMA4_Y_AXIS_POS) & BMA4_Y_AXIS_MSK; + + /* Get y-axis sign to be re-mapped */ + y_axis_sign = (remap_data->y_axis_sign << BMA4_Y_AXIS_SIGN_POS) & BMA4_Y_AXIS_SIGN_MSK; + + /* Get z-axis to be re-mapped */ + z_axis = (remap_data->z_axis << BMA4_Z_AXIS_POS) & BMA4_Z_AXIS_MSK; + + /* Get z-axis sign to be re-mapped */ + z_axis_sign = remap_data->z_axis_sign & BMA4_Z_AXIS_SIGN_MSK; + + /* Set the first byte for axis re-mapping */ + feature_config[index] = x_axis | x_axis_sign | y_axis | y_axis_sign | z_axis; + + /* Set the second byte for axis re-mapping */ + feature_config[index + 1] = z_axis_sign; + + /* Set the re-mapped axes */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, feature_len, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis re-mapped data from the sensor. + */ +static int8_t get_remap_axes(struct bma4_axes_remap *remap_data, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev) +{ + /* Variable to hold execution status */ + int8_t rslt; + + if (remap_data != NULL) + { + /* Read the configuration file */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, feature_len, dev); + + if (rslt == BMA4_OK) + { + /* Get re-mapped x-axis */ + remap_data->x_axis = BMA4_GET_BITS_POS_0(feature_config[index], BMA4_X_AXIS); + + /* Get re-mapped x-axis sign */ + remap_data->x_axis_sign = BMA4_GET_BITSLICE(feature_config[index], BMA4_X_AXIS_SIGN); + + /* Get re-mapped y-axis */ + remap_data->y_axis = BMA4_GET_BITSLICE(feature_config[index], BMA4_Y_AXIS); + + /* Get re-mapped y-axis sign */ + remap_data->y_axis_sign = BMA4_GET_BITSLICE(feature_config[index], BMA4_Y_AXIS_SIGN); + + /* Get re-mapped z-axis */ + remap_data->z_axis = BMA4_GET_BITSLICE(feature_config[index], BMA4_Z_AXIS); + + /* Get re-mapped z-axis sign */ + remap_data->z_axis_sign = BMA4_GET_BITS_POS_0(feature_config[index + 1], BMA4_Z_AXIS_SIGN); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This internal API gets the re-mapped accelerometer/gyroscope data. + */ +static void get_remapped_data(struct bma4_accel *data, const struct bma4_dev *dev) +{ + /* Array to defined the re-mapped sensor data */ + int16_t remap_data[3] = { 0 }; + int16_t pos_multiplier = INT16_C(1); + int16_t neg_multiplier = INT16_C(-1); + + /* Fill the array with the un-mapped sensor data */ + remap_data[0] = data->x; + remap_data[1] = data->y; + remap_data[2] = data->z; + + /* Get the re-mapped x axis data */ + if (dev->remap.x_axis_sign == BMA4_MAP_POSITIVE) + { + data->x = (int16_t)(remap_data[dev->remap.x_axis] * pos_multiplier); + } + else + { + data->x = (int16_t)(remap_data[dev->remap.x_axis] * neg_multiplier); + } + + /* Get the re-mapped y axis data */ + if (dev->remap.y_axis_sign == BMA4_MAP_POSITIVE) + { + data->y = (int16_t)(remap_data[dev->remap.y_axis] * pos_multiplier); + } + else + { + data->y = (int16_t)(remap_data[dev->remap.y_axis] * neg_multiplier); + } + + /* Get the re-mapped z axis data */ + if (dev->remap.z_axis_sign == BMA4_MAP_POSITIVE) + { + data->z = (int16_t)(remap_data[dev->remap.z_axis] * pos_multiplier); + } + else + { + data->z = (int16_t)(remap_data[dev->remap.z_axis] * neg_multiplier); + } +} + +/*! + * @brief This API performs the steps needed for self-test operation + * before reading the Accel self-test data. + */ +static int8_t selftest_config(uint8_t sign, struct bma4_dev *dev) +{ + int8_t rslt; + + /* NULL pointer check */ + rslt = null_pointer_check(dev); + + if (rslt == BMA4_OK) + { + rslt = set_accel_selftest_enable(BMA4_ENABLE, dev); + + if (rslt == BMA4_OK) + { + rslt = set_accel_selftest_sign(sign, dev); + + if (rslt == BMA4_OK) + { + /* Set self-test amplitude based on variant */ + switch (dev->variant) + { + case BMA42X_VARIANT: + + /* Set self-test amplitude to high for BMA42x */ + rslt = set_accel_selftest_amp(BMA4_ENABLE, dev); + break; + + case BMA42X_B_VARIANT: + + /* Set self-test amplitude to low for BMA42x_B */ + rslt = set_accel_selftest_amp(BMA4_DISABLE, dev); + break; + + case BMA45X_VARIANT: + + /* Set self-test amplitude to low for BMA45x */ + rslt = set_accel_selftest_amp(BMA4_DISABLE, dev); + break; + + default: + rslt = BMA4_E_INVALID_SENSOR; + break; + } + } + } + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bma4xx/bma4.h b/lib/SensorLib/src/bosch/bma4xx/bma4.h new file mode 100644 index 0000000..b912b0e --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma4.h @@ -0,0 +1,2218 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma4.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/* + * @file bma4.h + * @brief Source file for the BMA4 Sensor API + */ + +/*! + * @defgroup bma4xy BMA4XY + */ + +/** + * \ingroup bma4xy + * \defgroup bma4 BMA4 + * @brief Sensor driver for BMA4 sensor + */ + +#ifndef BMA4_H__ +#define BMA4_H__ + +/*********************************************************************/ +/* header files */ + +#include "bma4_defs.h" +#ifdef AKM9916 +#include "aux_akm9916.h" +#endif + +#ifdef BMM150 +#include "aux_bmm150.h" +#endif + +/*! CPP guard */ +#ifdef __cplusplus +extern "C" { +#endif + +/*********************************************************************/ +/* (extern) variable declarations */ +/*********************************************************************/ +/* function prototype declarations */ + +/** + * \ingroup bma4 + * \defgroup bma4ApiInit Initialization + * @brief Initialize the sensor and device structure + */ + +/*! + * \ingroup bma4ApiInit + * \page bma4_api_bma4_init bma4_init + * \code + * int8_t bma4_init(struct bma4_dev *dev); + * \endcode + * @details This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor which is the first step to + * verify the sensor and also it configures the read mechanism of SPI and + * I2C interface. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + * @note + * While changing the parameter of the bma4 + * consider the following point: + * Changing the reference value of the parameter + * will changes the local copy or local reference + * make sure your changes will not + * affect the reference value of the parameter + * (Better case don't change the reference value of the parameter) + */ +int8_t bma4_init(struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiConfig ConfigFile + * @brief Write binary configuration in the sensor + */ + +/*! + * \ingroup bma4ApiConfig + * \page bma4_api_bma4_write_config_file bma4_write_config_file + * \code + * int8_t bma4_write_config_file(struct bma4_dev *dev); + * \endcode + * @details This API is used to write the binary configuration in the sensor + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_write_config_file(struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiRegisters Registers + * @brief Perform read / write operation to registers of the sensor + */ + +/*! + * \ingroup bma4ApiRegisters + * \page bma4_api_bma4_write_regs bma4_write_regs + * \code + * int8_t bma4_write_regs(uint8_t addr, uint8_t *data, uint8_t len, struct bma4_dev *dev); + * \endcode + * @details This API checks whether the write operation requested is for + * feature config or register write and accordingly writes the data in the + * sensor. + * + * @note user has to disable the advance power save mode in the sensor when + * using this API in burst write mode. + * bma4_set_advance_power_save(BMA4_DISABLE, dev); + * + * @param[in] addr : Register address. + * @param[in] data : Write data buffer + * @param[in] len : No of bytes to write + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_write_regs(uint8_t addr, const uint8_t *data, uint32_t len, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiRegisters + * \page bma4_api_bma4_read_regs bma4_read_regs + * \code + * int8_t bma4_write_regs(uint8_t addr, uint8_t *data, uint8_t len, struct bma4_dev *dev); + * \endcode + * @details This API checks whether the read operation requested is for + * feature or register read and accordingly reads the data from the sensor. + * + * @param[in] addr : Register address. + * @param[in] data : Read data buffer. + * @param[in] len : No of bytes to read. + * @param[in] dev : Structure instance of bma4_dev + * + * @note For most of the registers auto address increment applies, with the + * exception of a few special registers, which trap the address. For e.g., + * Register address - 0x26, 0x5E. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_read_regs(uint8_t addr, uint8_t *data, uint32_t len, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiErrorStatus Error Status + * @brief Read error status of the sensor + */ + +/*! + * \ingroup bma4ApiErrorStatus + * \page bma4_api_bma4_get_error_status bma4_get_error_status + * \code + * int8_t bma4_get_error_status(struct bma4_err_reg *err_reg, struct bma4_dev *dev);; + * \endcode + * @details This API reads the error status from the sensor. + * + * Below table mention the types of error which can occur in the sensor + * + *@verbatim + ************************************************************************* + * Error | Description + *************************|*********************************************** + * | Fatal Error, chip is not in operational + * fatal | state (Boot-, power-system). + * | This flag will be reset only by + * | power-on-reset or soft reset. + *************************|*********************************************** + * cmd | Command execution failed. + *************************|*********************************************** + * | Value Name Description + * error_code | 000 no_error no error + * | 001 acc_err error in + * | ACC_CONF + *************************|*********************************************** + * | Error in FIFO detected: Input data was + * fifo | discarded in stream mode. This flag + * | will be reset when read. + *************************|*********************************************** + * mag | Error in I2C-Master detected. + * | This flag will be reset when read. + ************************************************************************* + *@endverbatim + * + * @param[in,out] err_reg : Pointer to structure variable which stores the + * error status read from the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_error_status(struct bma4_err_reg *err_reg, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAccelxyz Accel XYZ Data + * @brief Read accel xyz data from the sensor + */ + +/*! + * \ingroup bma4ApiAccelxyz + * \page bma4_api_bma4_read_accel_xyz bma4_read_accel_xyz + * \code + * int8_t bma4_read_accel_xyz(struct bma4_accel *accel, struct bma4_dev *dev); + * \endcode + * @details This API reads the Accel data for x,y and z axis from the sensor. + * The data units is in LSB format. + * + * @param[in] accel : Variable used to store the Accel data which is read + * from the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note For setting the Accel configuration use the below function + * bma4_set_accel_config + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_read_accel_xyz(struct bma4_accel *accel, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiSensorTime Sensor Time + * @brief Read sensor time of the sensor + */ + +/*! + * \ingroup bma4ApiSensorTime + * \page bma4_api_bma4_get_sensor_time bma4_get_sensor_time + * \code + * int8_t bma4_get_sensor_time(uint32_t *sensor_time, struct bma4_dev *dev); + * \endcode + * @details This API reads the sensor time of Sensor time gets updated + * with every update of data register or FIFO. + * + * @param[in] sensor_time : Pointer variable which stores sensor time + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_sensor_time(uint32_t *sensor_time, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiTemperature Temperature + * @brief Read chip temperature of the sensor + */ + +/*! + * \ingroup bma4ApiTemperature + * \page bma4_api_bma4_get_temperature bma4_get_temperature + * \code + * int8_t bma4_get_temperature(int32_t *temp, uint8_t temp_unit, struct bma4_dev *dev); + * \endcode + * @details This API reads the chip temperature of sensor. + * @note If Accel and Mag are disabled, the temperature value will be set + * to invalid. + * + * @param[out] temp : Pointer variable which stores the temperature value. + * @param[in] temp_unit : indicates the unit of temperature + * + * @verbatim + * temp_unit | description + * ------------|------------------- + * BMA4_DEG | degrees Celsius + * BMA4_FAHREN | degrees fahrenheit + * BMA4_KELVIN | degrees kelvin + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Using a scaling factor of 1000, to obtain integer values, which + * at the user end, are used to get accurate temperature value. + * BMA4_SCALE_FARHAN = 1.8 * 1000, BMA4_SCALE_KELVIN = 273.15 * 1000 + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_temperature(int32_t *temp, uint8_t temp_unit, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAccel Accel Configuration + * @brief Read / Write configurations of accel sensor + */ + +/*! + * \ingroup bma4ApiAccel + * \page bma4_api_bma4_get_accel_config bma4_get_accel_config + * \code + * int8_t bma4_get_accel_config(struct bma4_accel_config *accel, struct bma4_dev *dev); + * \endcode + * @details This API reads the Output data rate, Bandwidth, perf_mode + * and Range of accel. + * + * @param[in,out] accel : Address of user passed structure which is used + * to store the Accel configurations read from the sensor. + * + * @note Enums and corresponding values for structure parameters like + * Odr, Bandwidth and Range are mentioned in the below tables. + * + *@verbatim + * Value | Odr + * -----------|------------------------------------ + * 1 | BMA4_OUTPUT_DATA_RATE_0_78HZ + * 2 | BMA4_OUTPUT_DATA_RATE_1_56HZ + * 3 | BMA4_OUTPUT_DATA_RATE_3_12HZ + * 4 | BMA4_OUTPUT_DATA_RATE_6_25HZ + * 5 | BMA4_OUTPUT_DATA_RATE_12_5HZ + * 6 | BMA4_OUTPUT_DATA_RATE_25HZ + * 7 | BMA4_OUTPUT_DATA_RATE_50HZ + * 8 | BMA4_OUTPUT_DATA_RATE_100HZ + * 9 | BMA4_OUTPUT_DATA_RATE_200HZ + * 10 | BMA4_OUTPUT_DATA_RATE_400HZ + * 11 | BMA4_OUTPUT_DATA_RATE_800HZ + * 12 | BMA4_OUTPUT_DATA_RATE_1600HZ + *@endverbatim + * + *@verbatim + * Value | accel_bw + * ------|-------------------------- + * 0 | BMA4_ACCEL_OSR4_AVG1 + * 1 | BMA4_ACCEL_OSR2_AVG2 + * 2 | BMA4_ACCEL_NORMAL_AVG4 + * 3 | BMA4_ACCEL_CIC_AVG8 + * 4 | BMA4_ACCEL_RES_AVG16 + * 5 | BMA4_ACCEL_RES_AVG32 + * 6 | BMA4_ACCEL_RES_AVG64 + * 7 | BMA4_ACCEL_RES_AVG128 + *@endverbatim + * + *@verbatim + * Value | g_range + * --------|--------------------- + * 0x00 | BMA4_ACCEL_RANGE_2G + * 0x01 | BMA4_ACCEL_RANGE_4G + * 0x02 | BMA4_ACCEL_RANGE_8G + * 0x03 | BMA4_ACCEL_RANGE_16G + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_accel_config(struct bma4_accel_config *accel, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAccel + * \page bma4_api_bma4_set_accel_config bma4_set_accel_config + * \code + * int8_t bma4_set_accel_config(struct bma4_accel_config *accel, struct bma4_dev *dev); + * \endcode + * @details This API sets the output_data_rate, bandwidth, perf_mode + * and range of Accel. + * + * @param[in] accel : Pointer to structure variable which specifies the + * Accel configurations. + * + * @note Enums and corresponding values for structure parameters like + * Odr, Bandwidth and Range are mentioned in the below tables. + * + * @verbatim + * Value | ODR + * --------|----------------------------------------- + * 1 | BMA4_OUTPUT_DATA_RATE_0_78HZ + * 2 | BMA4_OUTPUT_DATA_RATE_1_56HZ + * 3 | BMA4_OUTPUT_DATA_RATE_3_12HZ + * 4 | BMA4_OUTPUT_DATA_RATE_6_25HZ + * 5 | BMA4_OUTPUT_DATA_RATE_12_5HZ + * 6 | BMA4_OUTPUT_DATA_RATE_25HZ + * 7 | BMA4_OUTPUT_DATA_RATE_50HZ + * 8 | BMA4_OUTPUT_DATA_RATE_100HZ + * 9 | BMA4_OUTPUT_DATA_RATE_200HZ + * 10 | BMA4_OUTPUT_DATA_RATE_400HZ + * 11 | BMA4_OUTPUT_DATA_RATE_800HZ + * 12 | BMA4_OUTPUT_DATA_RATE_1600HZ + * + *@endverbatim + * + *@verbatim + * Value | accel_bw + * ------|-------------------------- + * 0 | BMA4_ACCEL_OSR4_AVG1 + * 1 | BMA4_ACCEL_OSR2_AVG2 + * 2 | BMA4_ACCEL_NORMAL_AVG4 + * 3 | BMA4_ACCEL_CIC_AVG8 + * 4 | BMA4_ACCEL_RES_AVG16 + * 5 | BMA4_ACCEL_RES_AVG32 + * 6 | BMA4_ACCEL_RES_AVG64 + * 7 | BMA4_ACCEL_RES_AVG128 + *@endverbatim + * + *@verbatim + * Value | g_range + * --------|--------------------- + * 0x00 | BMA4_ACCEL_RANGE_2G + * 0x01 | BMA4_ACCEL_RANGE_4G + * 0x02 | BMA4_ACCEL_RANGE_8G + * 0x03 | BMA4_ACCEL_RANGE_16G + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_set_accel_config(const struct bma4_accel_config *accel, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAdvancedPowerMode Advanced Power Mode + * @brief Read / Write advance power mode of accel sensor + */ + +/*! + * \ingroup bma4ApiAdvancedPowerMode + * \page bma4_api_bma4_set_advance_power_save bma4_set_advance_power_save + * \code + * int8_t bma4_set_advance_power_save(uint8_t adv_pwr_save, struct bma4_dev *dev); + * \endcode + * @details This API sets the advance power save mode in the sensor. + * + * @note If advanced power save is enabled and the Accel and/or + * magnetometer operate in duty cycling mode, the length of the unlatched + * DRDY interrupt pulse is longer than 1/3.2 kHz (312.5 us). + * + * @param[in] adv_pwr_save : The value of advance power save mode + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_advance_power_save(uint8_t adv_pwr_save, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAdvancedPowerMode + * \page bma4_api_bma4_get_advance_power_save bma4_get_advance_power_save + * \code + * int8_t bma4_get_advance_power_save(uint8_t adv_pwr_save, struct bma4_dev *dev); + * \endcode + * @details This API reads the status of advance power save mode + * from the sensor. + * + * @note If the advanced power save is enabled and the Accel and/or + * magnetometer operate in duty cycling mode, the length of the unlatched + * DRDY interrupt pulse is longer than 1/3.2 kHz (312.5 us). + * + * @param[out] adv_pwr_save : The value of advance power save mode + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_advance_power_save(uint8_t *adv_pwr_save, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiFIFOSelfWakeUp FIFO Self Wake up + * @brief Read / Write FIFO self wake up functionality in the sensor + */ + +/*! + * \ingroup bma4ApiFIFOSelfWakeUp + * \page bma4_api_bma4_set_fifo_self_wakeup bma4_set_fifo_self_wakeup + * \code + * int8_t bma4_set_fifo_self_wakeup(uint8_t fifo_self_wakeup, struct bma4_dev *dev); + * \endcode + * @details This API sets the FIFO self wake up functionality in the sensor. + * + * @note Functionality related to FIFO self wake up depends upon the + * advance power save mode. for more info. refer data sheet. + * + * @param[in] fifo_self_wakeup : Variable used to enable or disable + * FIFO self wake up functionality. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_fifo_self_wakeup(uint8_t fifo_self_wakeup, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiFIFOSelfWakeUp + * \page bma4_api_bma4_get_fifo_self_wakeup bma4_get_fifo_self_wakeup + * \code + * int8_t bma4_get_fifo_self_wakeup(uint8_t *fifo_self_wakeup, struct bma4_dev *dev); + * \endcode + * @details This API gets the status of FIFO self wake up functionality from + * the sensor. + * + * @note Functionality related to FIFO self wake up depends upon the + * advance power save mode. for more info. refer data sheet. + * + * @param[out] fifo_self_wake_up : Pointer variable used to store the + * fifo self wake up status. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_fifo_self_wakeup(uint8_t *fifo_self_wake_up, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAccelEnable Accel Enable + * @brief Enables / Disables accelerometer in the sensor + */ + +/*! + * \ingroup bma4ApiAccelEnable + * \page bma4_api_bma4_set_accel_enable bma4_set_accel_enable + * \code + * int8_t bma4_set_accel_enable(uint8_t accel_en, struct bma4_dev *dev); + * \endcode + * @details This API enables or disables the Accel in the sensor. + * + * @note Before reading Accel data, user should call this API. + * + * @param[in] accel_en : Variable used to enable or disable the Accel. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_accel_enable(uint8_t accel_en, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAccelEnable + * \page bma4_api_bma4_get_accel_enable bma4_get_accel_enable + * \code + * int8_t bma4_get_accel_enable(uint8_t *accel_en, struct bma4_dev *dev); + * \endcode + * @details This API checks whether Accel is enabled or not in the sensor. + * + * @param[out] accel_en : Pointer variable used to store the Accel enable + * status + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_accel_enable(uint8_t *accel_en, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagEnable Magnetometer Enable + * @brief Enables / Disables Auxiliary Magnetometer in the sensor + */ + +/*! + * \ingroup bma4ApiMagEnable + * \page bma4_api_bma4_set_mag_enable bma4_set_mag_enable + * \code + * int8_t bma4_set_mag_enable(uint8_t mag_en, struct bma4_dev *dev); + * \endcode + * @details This API is used to enable or disable auxiliary Mag + * in the sensor. + * + * @note Before reading Mag data, user should call this API. + * + * @param[in] mag_en : Variable used to enable or disable the Mag. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_mag_enable(uint8_t mag_en, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiMagEnable + * \page bma4_api_bma4_get_mag_enable bma4_get_mag_enable + * \code + * int8_t bma4_get_mag_enable(uint8_t *mag_en, struct bma4_dev *dev); + * \endcode + * @details This API is used to check whether the auxiliary Mag is enabled + * or not in the sensor. + * + * @param[out] mag_en : Pointer variable used to store the enable status of + * Mag in the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_mag_enable(uint8_t *mag_en, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiSpiInterface SPI interface + * @brief Read / Write SPI interface mode set for primary interface + */ + +/*! + * \ingroup bma4AiSpiInterface + * \page bma4_api_bma4_set_spi_interface bma4_set_spi_interface + * \code + * int8_t bma4_set_spi_interface(uint8_t *spi, struct bma4_dev *dev); + * \endcode + * @details This API reads the SPI interface mode which is set for primary + * interface. + * + * @param[out] spi : Pointer variable which stores the SPI mode selection + * + * @verbatim + * Value | Description + * --------|------------------ + * 0 | SPI 4-wire mode + * 1 | SPI 3-wire mode + * + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_spi_interface(uint8_t *spi, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiSpiInterface + * \page bma4_api_bma4_get_spi_interface bma4_get_spi_interface + * \code + * int8_t bma4_get_spi_interface(uint8_t spi, struct bma4_dev *dev); + * \endcode + * @details This API configures the SPI interface Mode for primary interface + * + * @param[in] spi : The value of SPI mode selection + * + *@verbatim + * Value | Description + * --------|------------------ + * 0 | SPI 4-wire mode + * 1 | SPI 3-wire mode + * + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_spi_interface(uint8_t spi, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiCommandReg Command Register + * @brief Write available sensor specific commands to the sensor + */ + +/*! + * \ingroup bma4ApiCommandReg + * \page bma4_api_bma4_set_command_register bma4_set_command_register + * \code + * int8_t bma4_set_command_register(uint8_t command_reg, struct bma4_dev *dev); + * \endcode + * @details This API writes the available sensor specific commands + * to the sensor. + * + * @param[in] command_reg : The command to write to the command register + * + *@verbatim + * value | Description + * --------|------------------------------------------------------ + * 0xB6 | Triggers a soft reset + * 0xB0 | Clears all data in the FIFO, does not change + * | FIFO_CONFIG and FIFO_DOWNS registers + * 0xF0 | Reset acceleration data path + *@endverbatim + * + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Register will always read as 0x00 + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_command_register(uint8_t command_reg, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiI2CAddr i2C Device Address + * @brief Write I2C device address of auxiliary sensor + */ + +/*! + * \ingroup bma4ApiI2CAddr + * \page bma4_api_bma4_set_i2c_device_addr bma4_set_i2c_device_addr + * \code + * int8_t bma4_set_i2c_device_addr(struct bma4_dev *dev); + * \endcode + * @details This API sets the I2C device address of auxiliary sensor + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_i2c_device_addr(struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagManualEnable Mag Manual Enable + * @brief Read / Write register access on magnetometer manually + */ + +/*! + * \ingroup bma4ApiMagManualEnable + * \page bma4_api_bma4_set_mag_manual_enable bma4_set_mag_manual_enable + * \code + * int8_t bma4_set_mag_manual_enable(uint8_t mag_manual, struct bma4_dev *dev); + * \endcode + * @details This API sets the register access on MAG_IF[2], MAG_IF[3], + * MAG_IF[4] in the sensor. This implies that the DATA registers are + * not updated with Mag values automatically. + * + * @param[in] mag_manual : Variable used to specify the Mag manual + * enable status. + * + *@verbatim + * value | mag manual + * ---------|-------------------- + * 0x01 | BMA4_ENABLE + * 0x00 | BMA4_DISABLE + *@endverbatim + * + * @param[out] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_mag_manual_enable(uint8_t mag_manual, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiMagManualEnable + * \page bma4_api_bma4_get_mag_manual_enable bma4_get_mag_manual_enable + * \code + * int8_t bma4_get_mag_manual_enable(uint8_t *mag_manual, struct bma4_dev *dev); + * \endcode + * @details This API checks whether the Mag access is done manually or + * automatically in the sensor. + * If the Mag access is done through manual mode then Mag data registers + * in sensor are not updated automatically. + * + * @param[out] mag_manual : Mag manual enable value + * + *@verbatim + * value | mag_manual + * --------|------------------- + * 0x01 | BMA4_ENABLE + * 0x00 | BMA4_DISABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_mag_manual_enable(uint8_t *mag_manual, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagIFMode Mag Interface Mode + * @brief Set I2C interface configuration mode for auxiliary magnetometer + */ + +/*! + * \ingroup bma4ApiMagIFMode + * \page bma4_api_bma4_set_aux_if_mode bma4_set_aux_if_mode + * \code + * int8_t bma4_set_aux_if_mode(uint8_t if_mode, struct bma4_dev *dev); + * \endcode + * @details This API sets the I2C interface configuration(if) mode + * for auxiliary Mag. + * + * @param[in] if_mode : The value of interface configuration mode + * + *@verbatim + * Value | Description + * ------------|------------------------------------------- + * 0 | p_auto_s_off Auxiliary interface:off + * 1 | p_auto_s_mag Auxiliary interface:on + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_aux_if_mode(uint8_t if_mode, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagRead Mag Read + * @brief Set / Get address of register of Aux Mag sensor to read data + */ + +/*! + * \ingroup bma4ApiMagRead + * \page bma4_api_bma4_get_mag_read_addr bma4_get_mag_read_addr + * \code + * int8_t bma4_get_mag_read_addr(uint8_t *mag_read_addr, struct bma4_dev *dev); + * \endcode + * @details This API gets the address of the register of Aux Mag sensor + * where the data to be read. + * + * @param[out] mag_read_addr : Pointer variable used to store the + * mag read address. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_mag_read_addr(uint8_t *mag_read_addr, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiMagRead + * \page bma4_api_bma4_set_mag_read_addr bma4_set_mag_read_addr + * \code + * int8_t bma4_set_mag_read_addr(uint8_t mag_read_addr, struct bma4_dev *dev); + * \endcode + * @details This API sets the address of the register of Aux Mag sensor + * where the data to be read. + * + * @param[in] mag_read_addr: Value of Mag. read address in order to read + * the data from the auxiliary Mag. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_mag_read_addr(uint8_t mag_read_addr, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagWrite Mag Write + * @brief Set / Get address of register of Aux Mag sensor to write data + */ + +/*! + * \ingroup bma4ApiMagWrite + * \page bma4_api_bma4_get_mag_write_addr bma4_get_mag_write_addr + * \code + * int8_t bma4_get_mag_write_addr(uint8_t *mag_write_addr, struct bma4_dev *dev); + * \endcode + * @details This API gets the Aux Mag write address from the sensor. + * Mag write address is where the Mag data will be written. + * + * @param[out] mag_write_addr: Pointer used to store the Mag write address + * which is read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_mag_write_addr(uint8_t *mag_write_addr, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiMagWrite + * \page bma4_api_bma4_set_mag_write_addr bma4_set_mag_write_addr + * \code + * int8_t bma4_set_mag_write_addr(uint8_t mag_write_addr, struct bma4_dev *dev); + * \endcode + * @details This API sets the Aux Mag write address in the sensor. + * Mag write address is where the Mag data will be written. + * + * @param[in] mag_write_addr: Write address of Mag where the data will + * be written. + * @param[out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_mag_write_addr(uint8_t mag_write_addr, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagData Mag Data + * @brief Read / Write data from the Mag sensor + */ + +/*! + * \ingroup bma4ApiMagData + * \page bma4_api_bma4_get_mag_write_data bma4_get_mag_write_data + * \code + * int8_t bma4_get_mag_write_data(uint8_t *mag_write_data, struct bma4_dev *dev); + * \endcode + * @details This API reads the data from the sensor which is written to the + * Mag. + * + * @param[out] mag_write_data: Pointer variable which stores the + * data which is written in Mag through sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_mag_write_data(uint8_t *mag_write_data, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiMagData + * \page bma4_api_bma4_set_mag_write_data bma4_set_mag_write_data + * \code + * int8_t bma4_set_mag_write_data(uint8_t mag_write_data, struct bma4_dev *dev); + * \endcode + * @details This API sets the data in the sensor which in turn will + * be written to Mag. + * + * @param[in] mag_write_data: variable which specify the data which is to + * be written in Mag. + * @param[out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_mag_write_data(uint8_t mag_write_data, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiReadMagXYZR Mag xyzr Data + * @brief Read xyzr axes data from auxiliary Mag sensor + */ + +/*! + * \ingroup bma4ApiReadMagXYZR + * \page bma4_api_bma4_read_mag_xyzr bma4_read_mag_xyzr + * \code + * int8_t bma4_read_mag_xyzr(struct bma4_mag_xyzr *mag, struct bma4_dev *dev); + * \endcode + * @details This API reads the x,y,z and r axis data from the auxiliary + * Mag BMM150/AKM9916 sensor. + * + * @param[out] mag : Pointer variable to store the auxiliary Mag x,y,z + * and r axis data read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_read_mag_xyzr(struct bma4_mag_xyzr *mag, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagBurst Mag Burst + * @brief Set / Get burst data length of auxiliary Mag Sensor + */ + +/*! + * \ingroup bma4ApiMagBurst + * \page bma4_api_bma4_set_mag_burst bma4_set_mag_burst + * \code + * int8_t bma4_set_mag_burst(uint8_t mag_burst, struct bma4_dev *dev); + * \endcode + * @details This API sets the burst data length (1,2,6,8 byte) of auxiliary + * Mag sensor. + * + * @param[in] mag_burst : Variable used to specify the Mag burst read length + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_mag_burst(uint8_t mag_burst, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiMagBurst + * \page bma4_api_bma4_get_mag_burst bma4_get_mag_burst + * \code + * int8_t bma4_get_mag_burst(uint8_t *mag_burst, struct bma4_dev *dev); + * \endcode + * @details This API reads the burst data length of Mag set in the sensor. + * + * @param[out] mag_burst : Pointer variable used to store the burst length + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_mag_burst(uint8_t *mag_burst, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiReadFIFO Read FIFO Data + * @brief Read FIFO data of accel and/or Mag sensor + */ + +/*! + * \ingroup bma4ApiReadFIFO + * \page bma4_api_bma4_read_fifo_data bma4_read_fifo_data + * \code + * int8_t bma4_read_fifo_data(struct bma4_fifo_frame *fifo, struct bma4_dev *dev); + * \endcode + * @details This API reads the FIFO data of Accel and/or Mag sensor + * + * @param[in] fifo : Structure instance of bma4_fifo_frame + * @param[in] dev : Structure instance of bma4_dev + * + * @note : Dummy byte (for SPI Interface) required for FIFO data read + * must be given as part of data pointer in struct bma4_fifo_frame + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_read_fifo_data(struct bma4_fifo_frame *fifo, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiFIFOWM FIFO Watermark level + * @brief Read / Write FIFO watermark level in the sensor + */ + +/*! + * \ingroup bma4ApiFIFOWM + * \page bma4_api_bma4_get_fifo_wm bma4_get_fifo_wm + * \code + * int8_t bma4_get_fifo_wm(uint16_t *fifo_wm, struct bma4_dev *dev); + * \endcode + * @details This API reads the FIFO water mark level which is set + * in the sensor. + * + * @note The FIFO watermark is issued when the FIFO fill level is + * equal or above the watermark level. + * + * @param[out] fifo_wm : Pointer variable to store FIFO water mark level + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_fifo_wm(uint16_t *fifo_wm, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiFIFOWM + * \page bma4_api_bma4_set_fifo_wm bma4_set_fifo_wm + * \code + * int8_t bma4_set_fifo_wm(uint16_t fifo_wm, struct bma4_dev *dev); + * \endcode + * @details This API sets the FIFO watermark level in the sensor. + * + * @note The FIFO watermark is issued when the FIFO fill level is + * equal or above the watermark level. + * + * @param[in] fifo_wm : Variable used to set the FIFO water mark level + * @param[out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_fifo_wm(uint16_t fifo_wm, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAccelFIFOFilterData Accel FIFO Filter data + * @brief Set / Get Filtered or unfiltered mode of Accel FIFO data + */ + +/*! + * \ingroup bma4ApiAccelFIFOFilterData + * \page bma4_api_bma4_get_accel_fifo_filter_data bma4_get_accel_fifo_filter_data + * \code + * int8_t bma4_get_accel_fifo_filter_data(uint8_t *accel_fifo_filter, struct bma4_dev *dev); + * \endcode + * @details This API checks whether the Accel FIFO data is set for filtered + * or unfiltered mode. + * + * @param[out] accel_fifo_filter : Variable used to check whether the Accel + * data is filtered or unfiltered. + * + *@verbatim + * Value | accel_fifo_filter + * ---------|------------------------- + * 0x00 | Unfiltered data + * 0x01 | Filtered data + *@endverbatim + * + * @param[in] dev : structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_accel_fifo_filter_data(uint8_t *accel_fifo_filter, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAccelFIFOFilterData + * \page bma4_api_bma4_set_accel_fifo_filter_data bma4_set_accel_fifo_filter_data + * \code + * int8_t bma4_set_accel_fifo_filter_data(uint8_t accel_fifo_filter, struct bma4_dev *dev); + * \endcode + * @details This API sets the condition of Accel FIFO data either to + * filtered or unfiltered mode. + * + * @param[in] accel_fifo_filter : Variable used to set the filtered or + * unfiltered condition of Accel FIFO data. + * + *@verbatim + * value | accel_fifo_filter_data + * -----------|------------------------- + * 0x00 | Unfiltered data + * 0x01 | Filtered data + *@endverbatim + * + * @param[out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_accel_fifo_filter_data(uint8_t accel_fifo_filter, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAccelFIFODown Accel FIFO Down Sampling + * @brief Read / Write Down sampling rates configured for Accel FIFO Data + */ + +/*! + * \ingroup bma4ApiAccelFIFOFilterData + * \page bma4_api_bma4_get_fifo_down_accel bma4_get_fifo_down_accel + * \code + * int8_t bma4_get_fifo_down_accel(uint8_t *fifo_down, struct bma4_dev *dev); + * \endcode + * @details This API reads the down sampling rates which is configured + * for Accel FIFO data. + * + * @param[out] fifo_down : Variable used to specify the Accel FIFO + * down-sampling rates + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_fifo_down_accel(uint8_t *fifo_down, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAccelFIFOFilterData + * \page bma4_api_bma4_set_fifo_down_accel bma4_set_fifo_down_accel + * \code + * int8_t bma4_set_fifo_down_accel(uint8_t fifo_down, struct bma4_dev *dev); + * \endcode + * @details This API sets the down-sampling rates for Accel FIFO. + * + * @param[in] fifo_down : Variable used to specify the Accel FIFO + * down-sampling rates. + * @param[in] dev : structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_fifo_down_accel(uint8_t fifo_down, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiFIFOLength FIFO Length + * @brief Read length of FIFO data available in the sensor (unit of bytes) + */ + +/*! + * \ingroup bma4ApiAccelFIFOFilterData + * \page bma4_api_bma4_get_fifo_length bma4_get_fifo_length + * \code + * int8_t bma4_get_fifo_length(uint16_t *fifo_length, struct bma4_dev *dev); + * \endcode + * @details This API reads the length of FIFO data available in the sensor + * in the units of bytes. + * + * @note This byte counter is updated each time a complete frame was read + * or written + * + * @param[in] fifo_length : Pointer variable used to store the value of + * fifo byte counter + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_get_fifo_length(uint16_t *fifo_length, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagCompensate Compensate Mag data + * @brief Aligns and Compensates Mag Data of BMM150 / AKM9916 + */ + +/*! + * \ingroup bma4ApiAccelFIFOFilterData + * \page bma4_api_bma4_second_if_mag_compensate_xyz bma4_second_if_mag_compensate_xyz + * \code + * int8_t bma4_second_if_mag_compensate_xyz(struct bma4_mag_fifo_data mag_fifo_data, + * uint8_t mag_second_if, + * const struct bma4_mag *compensated_mag_data); + * + * \endcode + * @details This API aligns and compensates the Mag data of BMM150/AKM9916 + * sensor. + * + * @param[in] mag_fifo_data: Structure object which stores the Mag x,yand z + * axis FIFO data which is to be aligned and/or compensated. + * @param[in] mag_second_if: Variable used to select the Mag sensor. + * + *@verbatim + * Value | mag_second_if + * --------|---------------------- + * 1 | BMA4_SEC_IF_BMM150 + * 2 | BMA4_SEC_IF_AKM09916 + *@endverbatim + * + * @param[out] compensated_mag_data: Pointer variable used to store the + * compensated Mag xyz axis data + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_second_if_mag_compensate_xyz(struct bma4_mag_fifo_data mag_fifo_data, + uint8_t mag_second_if, + const struct bma4_mag *compensated_mag_data); + +/** + * \ingroup bma4 + * \defgroup bma4ApiMagXYZ Mag XYZ + * @brief Read x, y and z axes data from either BMM150 or AKM9916 sensor + */ + +/*! + * \ingroup bma4ApiMagXYZ + * \page bma4_api_bma4_read_mag_xyz bma4_read_mag_xyz + * \code + * int8_t bma4_read_mag_xyz(const struct bma4_mag *mag, uint8_t sensor_select, const struct bma4_dev *dev); + * \endcode + * @details This API reads Mag. x,y and z axis data from either BMM150 or + * AKM9916 sensor + * + * @param[out] mag : Structure pointer used to store the Mag x,y, and z axis + * data read from the sensor. + * + * @param[in] sensor_select : Variable used to select the Mag sensor + * + *@verbatim + * Value | Sensor + * ---------|---------------------- + * 0 | BMA4_SEC_IF_NULL + * 1 | BMA4_SEC_IF_BMM150 + * 2 | BMA4_SEC_IF_AKM09916 + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_read_mag_xyz(const struct bma4_mag *mag, uint8_t sensor_select, const struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiIFMode I2C interface configuration + * @brief Set / Get auxiliary I2C interface configuration set in the sensor + */ + +/*! + * \ingroup bma4ApiIFMode + * \page bma4_api_bma4_get_if_mode bma4_get_if_mode + * \code + * int8_t bma4_get_if_mode(uint8_t *if_mode, struct bma4_dev *dev); + * \endcode + * @details This API reads the auxiliary I2C interface configuration which + * is set in the sensor. + * + * @param[out] if_mode : Pointer variable used to store the auxiliary + * interface configuration. + * + *@verbatim + * Value | Description + * ----- |---------------------------------- + * 0x00 | auxiliary interface:off + * 0x01 | auxiliary interface:on + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_if_mode(uint8_t *if_mode, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiIFMode + * \page bma4_api_bma4_set_if_mode bma4_set_if_mode + * \code + * int8_t bma4_set_if_mode(uint8_t if_mode, struct bma4_dev *dev); + * \endcode + * @details This API sets the auxiliary interface configuration in the sensor. + * + * @param[in] if_mode : Variable used to select the auxiliary interface + * configuration. + * + *@verbatim + * Value | Description + * ----- |-------------------------- + * 0x00 | auxiliary interface:off + * 0x01 | auxiliary interface:on + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_if_mode(uint8_t if_mode, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiASICStatus ASIC status + * @brief Read ASIC status from the sensor + */ + +/*! + * \ingroup bma4ApiASICStatus + * \page bma4_api_bma4_get_asic_status bma4_get_asic_status + * \code + * int8_t bma4_get_asic_status(struct bma4_asic_status *asic_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the ASIC status from the sensor. + * The status information is mentioned in the below table. + * + *@verbatim + ******************************************************************************* + * Status | Description + **************************|**************************************************** + * sleep | ASIC is in sleep/halt state. + * irq_ovrn | Dedicated interrupt is set again before previous + * | interrupt was acknowledged. + * wc_event | Watchcell event detected (ASIC stopped). + * stream_transfer_active | stream transfer has started. + ******************************************************************************* + *@endverbatim + * + * @param[out] asic_status : Structure pointer used to store the ASIC + * status read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_asic_status(struct bma4_asic_status *asic_status, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiOffsetComp Accel Offset Compensation + * @brief Set / Get Accel Offset Compensation + */ + +/*! + * \ingroup bma4ApiOffsetComp + * \page bma4_api_bma4_set_offset_comp bma4_set_offset_comp + * \code + * int8_t bma4_set_offset_comp(uint8_t offset_en, struct bma4_dev *dev); + * \endcode + * @details This API enables the offset compensation for filtered and + * unfiltered Accel data. + * + * @param[in] offset_en : Variable used to enable or disable offset + * compensation + * + *@verbatim + * offset_en | Description + * ------------|---------------------- + * 0 | BMA4_DISABLE + * 1 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_offset_comp(uint8_t offset_en, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiOffsetComp + * \page bma4_api_bma4_get_offset_comp bma4_get_offset_comp + * \code + * int8_t bma4_get_offset_comp(uint8_t *offset_en, struct bma4_dev *dev); + * \endcode + * @details This API gets the status of Accel offset compensation + * + * @param[out] offset_en : Pointer variable used to store the Accel offset + * enable or disable status. + * + *@verbatim + * offset_en | Description + * ----------|-------------- + * 0 | BMA4_DISABLE + * 1 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_get_offset_comp(uint8_t *offset_en, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiExtractAccel Accel Extract and Parse Frames + * @brief Parse and Extract Accel frames from FIFO data read + */ + +/*! + * \ingroup bma4ApiExtractAccel + * \page bma4_api_bma4_extract_accel bma4_extract_accel + * \code + * int8_t bma4_extract_accel(struct bma4_accel *accel_data, + * uint16_t *accel_length, + * struct bma4_fifo_frame *fifo, + * const struct bma4_dev *dev); + * \endcode + * @details This API parses and extracts the accelerometer frames from + * FIFO data read by the "bma4_read_fifo_data" API and stores it in the + * "accel_data" structure instance. + * + * @note The bma4_extract_accel API should be called only after reading + * the FIFO data by calling the bma4_read_fifo_data() API + * + * @param[in,out] accel_data : Structure instance of bma4_accel where + * the accelerometer data in FIFO is stored. + * @param[in,out] accel_length : Number of accelerometer frames + * (x,y,z axes data) + * @param[in,out] dev : Structure instance of bma4_dev. + * + * @note accel_length has the number of accelerometer frames + * (1 accel frame = 6 bytes) which the user needs to extract and store is + * provided as input parameter by the user and the Number of valid + * accelerometer frames extracted and stored is updated in + * "accel_length" at the end of execution of this API. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_extract_accel(struct bma4_accel *accel_data, + uint16_t *accel_length, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiExtractMag Mag Extract and Parse Frames + * @brief Parse and Extract Accel frames from FIFO data read + */ + +/*! + * \ingroup bma4ApiExtractMag + * \page bma4_api_bma4_extract_mag bma4_extract_mag + * \code + * int8_t bma4_extract_mag(const struct bma4_mag *mag_data, + * uint16_t *mag_length, + * struct bma4_fifo_frame *fifo, + * const struct bma4_dev *dev); + * \endcode + * @details This API parses and extracts the magnetometer frames from + * FIFO data read by the "bma4_read_fifo_data" API and stores it in the + * "mag_data" structure instance parameter of this API + * + * @note The bma4_extract_mag API should be called only after reading + * the FIFO data by calling the bma4_read_fifo_data() API + * + * @param[in,out] mag_data : Structure instance of bma4_mag_xyzr where + * the magnetometer data in FIFO is stored. + * @param[in,out] mag_length : Number of magnetometer frames (x,y,z,r data) + * @param[in,out] dev : Structure instance of bma4_dev. + * + * @note mag_length has the number of magnetometer frames(x,y,z,r data) + * (1 mag frame = 8 bytes) which the user needs to extract and store,It is + * provided as input parameter by the user and the number of valid + * magnetometer frames extracted and stored is updated in + * "mag_length" at the end of execution of this API. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_extract_mag(const struct bma4_mag *mag_data, + uint16_t *mag_length, + struct bma4_fifo_frame *fifo, + const struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAccelSelftest Accel Self test + * @brief Self test for accel + */ + +/*! + * \ingroup bma4ApiAccelSelftest + * \page bma4_api_bma4_perform_accel_selftest bma4_perform_accel_selftest + * \code + * int8_t bma4_perform_accel_selftest(int8_t *result, struct bma4_dev *dev); + * \endcode + * @details This API checks whether the self test functionality of the sensor + * is working or not + * + * @param[in] result : Pointer variable used to store the result of self test + * operation + * + *@verbatim + * result | Description + * ---------|-------------------- + * 0x00 | BMA4_SELFTEST_PASS + * 0x01 | BMA4_SELFTEST_FAIL + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_perform_accel_selftest(int8_t *result, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiInterrupt Interrupt Functions + * @brief Interrupt mapping and set/get interrupt mode + */ + +/*! + * \ingroup bma4ApiInterrupt + * \page bma4_api_bma4_map_interrupt bma4_map_interrupt + * \code + * int8_t bma4_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details API sets the interrupt to either interrupt1 or + * interrupt2 pin in the sensor. + * + * @param[in] int_line: Variable used to select interrupt pin1 or pin2 + * + *@verbatim + * int_line | interrupt selection + * ---------|------------------- + * 0 | BMA4_INTR1_MAP + * 1 | BMA4_INTR2_MAP + *@endverbatim + * + * @param[in] int_map: Variable used to select a particular interrupt + * in the sensor + * + * @param[in] enable : Variable used to enable or disable the interrupt + * + *@verbatim + * Value | Behaviour + * ---------|------------------- + * 0x01 | BMA4_ENABLE + * 0x00 | BMA4_DISABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiInterrupt + * \page bma4_api_bma4_set_interrupt_mode bma4_set_interrupt_mode + * \code + * int8_t bma4_set_interrupt_mode(uint8_t mode, struct bma4_dev *dev); + * \endcode + * @details This API sets the interrupt mode in the sensor. + * + * @param[in] mode: Variable used to specify the interrupt mode which + * is to be set in the sensor. + * + *@verbatim + * Mode | Value + * ----------------------- |--------- + * BMA4_NON_LATCH_MODE | 0 + * BMA4_LATCH_MODE | 1 + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_set_interrupt_mode(uint8_t mode, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiInterrupt + * \page bma4_api_bma4_get_interrupt_mode bma4_get_interrupt_mode + * \code + * int8_t bma4_get_interrupt_mode(uint8_t *mode, struct bma4_dev *dev); + * \endcode + * @details This API gets the interrupt mode which is set in the sensor. + * + * @param[out] mode: Pointer variable used to store the interrupt mode set in + * in the sensor. + * + *@verbatim + * Mode | Value + * ---------------------|--------------- + * BMA4_NON_LATCH_MODE | 0 + * BMA4_LATCH_MODE | 1 + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_get_interrupt_mode(uint8_t *mode, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAuxMagConfig Auxiliary Mag Config + * @brief Set / Get Auxiliary Mag(BMM150 or AKM9916) output data rate and offset + */ + +/*! + * \ingroup bma4ApiAuxMagConfig + * \page bma4_api_bma4_set_aux_mag_config bma4_set_aux_mag_config + * \code + * int8_t bma4_set_aux_mag_config(const struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); + * \endcode + * @details This API sets the auxiliary Mag(BMM150 or AKM9916) output data + * rate and offset. + * + * @param[in] aux_mag : Pointer to structure variable used to specify + * the auxiliary Mag configuration. + * + *@verbatim + *------------------------------------------------------------------------------ + * Odr | Value + *----------------------------------------|--------------------------------- + * BMA4_OUTPUT_DATA_RATE_0_78HZ | 0x01 + * BMA4_OUTPUT_DATA_RATE_1_56HZ | 0x02 + * BMA4_OUTPUT_DATA_RATE_3_12HZ | 0x03 + * BMA4_OUTPUT_DATA_RATE_6_25HZ | 0x04 + * BMA4_OUTPUT_DATA_RATE_12_5HZ | 0x05 + * BMA4_OUTPUT_DATA_RATE_25HZ | 0x06 + * BMA4_OUTPUT_DATA_RATE_50HZ | 0x07 + * BMA4_OUTPUT_DATA_RATE_100HZ | 0x08 + * BMA4_OUTPUT_DATA_RATE_200HZ | 0x09 + * BMA4_OUTPUT_DATA_RATE_400HZ | 0x0A + * BMA4_OUTPUT_DATA_RATE_800HZ | 0x0B + * BMA4_OUTPUT_DATA_RATE_1600HZ | 0x0C + *------------------------------------------------------------------------------ + * Offset | Value + *--------------------------------------------|--------------------------------- + * BMA4_MAG_OFFSET_MAX | 0x00 + *--------------------------------------------|--------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_set_aux_mag_config(const struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAuxMagConfig + * \page bma4_api_bma4_get_aux_mag_config bma4_get_aux_mag_config + * \code + * int8_t bma4_get_aux_mag_config(struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); + * \endcode + * @details This API reads the auxiliary Mag(BMM150 or AKM9916) output data + * rate and offset. + * @note : Valid output data rates are mentioned in the below table + * + * @param[out] aux_mag : Pointer to structure variable used to store the + * auxiliary Mag configuration read from the sensor + * + *@verbatim + *------------------------------------------------------------------------ + * Odr | Value + *----------------------------------------|------------------------------- + * BMA4_OUTPUT_DATA_RATE_0_78HZ | 0x01 + * BMA4_OUTPUT_DATA_RATE_1_56HZ | 0x02 + * BMA4_OUTPUT_DATA_RATE_3_12HZ | 0x03 + * BMA4_OUTPUT_DATA_RATE_6_25HZ | 0x04 + * BMA4_OUTPUT_DATA_RATE_12_5HZ | 0x05 + * BMA4_OUTPUT_DATA_RATE_25HZ | 0x06 + * BMA4_OUTPUT_DATA_RATE_50HZ | 0x07 + * BMA4_OUTPUT_DATA_RATE_100HZ | 0x08 + * BMA4_OUTPUT_DATA_RATE_200HZ | 0x09 + * BMA4_OUTPUT_DATA_RATE_400HZ | 0x0A + * BMA4_OUTPUT_DATA_RATE_800HZ | 0x0B + * BMA4_OUTPUT_DATA_RATE_1600HZ | 0x0C + *------------------------------------------------------------------------- + * Offset | Value + *----------------------------------------|-------------------------------- + * BMA4_MAG_OFFSET_MAX | 0x00 + *------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_get_aux_mag_config(struct bma4_aux_mag_config *aux_mag, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiFIFOConfig FIFO Configuration + * @brief Set / Get FIFO Configuration in the sensor + */ + +/*! + * \ingroup bma4ApiFIFOConfig + * \page bma4_api_bma4_set_fifo_config bma4_set_fifo_config + * \code + * int8_t bma4_set_fifo_config(uint8_t config, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API sets the FIFO configuration in the sensor. + * + * @param[in] config : Enum variable used to specify the FIFO + * configurations which are to be enabled or disabled in the sensor. + * + * @note : User can set either one or more or all FIFO configurations + * by ORing the below mentioned enums. + * + *@verbatim + * config | Value + * ------------------------|--------------------------- + * BMA4_FIFO_STOP_ON_FULL | 0x01 + * BMA4_FIFO_TIME | 0x02 + * BMA4_FIFO_TAG_INTR2 | 0x04 + * BMA4_FIFO_TAG_INTR1 | 0x08 + * BMA4_FIFO_HEADER | 0x10 + * BMA4_FIFO_MAG | 0x20 + * BMA4_FIFO_ACCEL | 0x40 + * BMA4_FIFO_ALL | 0x7F + *@endverbatim + * + * @param[in] enable : Parameter used to enable or disable the above + * FIFO configuration + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_set_fifo_config(uint8_t config, uint8_t enable, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiFIFOConfig + * \page bma4_api_bma4_get_fifo_config bma4_get_fifo_config + * \code + * int8_t bma4_get_fifo_config(uint8_t *fifo_config, struct bma4_dev *dev); + * \endcode + * @details This API reads the FIFO configuration from the sensor. + * + * @param[in] fifo_config : Enum variable used to get the below fifo + * configuration from the sensor. + * + * @note After calling this function user should do the AND operation with + * the enum value populated by this function to know which FIFO + * configuration is enabled. + * + *@verbatim + * fifo_config | Value + * -------------------------|-------------------------- + * BMA4_FIFO_STOP_ON_FULL | 0x01 + * BMA4_FIFO_TIME | 0x02 + * BMA4_FIFO_TAG_INTR2 | 0x04 + * BMA4_FIFO_TAG_INTR1 | 0x08 + * BMA4_FIFO_HEADER | 0x10 + * BMA4_FIFO_MAG | 0x20 + * BMA4_FIFO_ACCEL | 0x40 + * BMA4_FIFO_ALL | 0x7F + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_get_fifo_config(uint8_t *fifo_config, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiIntConfig Interrupt Pin Config + * @brief Set / Get Electrical behavior of interrupt pin1 or pin2 of the sensor + */ + +/*! + * \ingroup bma4ApiIntConfig + * \page bma4_api_bma4_set_int_pin_config bma4_set_int_pin_config + * \code + * int8_t bma4_set_int_pin_config(const struct bma4_int_pin_config *int_pin_config, + * uint8_t int_line, + * struct bma4_dev *dev); + * + * \endcode + * @details This function sets the electrical behaviour of interrupt pin1 or + * pin2 in the sensor. + * + * @param[in] int_pin_config : Pointer to structure variable which specifies + * the configuration data of either interrupt pin1 or 2. + * + *@verbatim + * ************************************************************************ + * Structure field members | Macros + * ********************************|*************************************** + * edge_ctrl | BMA4_LEVEL_TRIGGER(0) + * | BMA4_EDGE_TRIGGER(1) + * ********************************|*************************************** + * lvl | BMA4_ACTIVE_LOW(0) + * | BMA4_ACTIVE_HIGH(1) + * ********************************|*************************************** + * od | BMA4_PUSH_PULL(0) + * | BMA4_OPEN_DRAIN(1) + * ********************************|*************************************** + * output_en | BMA4_OUTPUT_DISABLE(0) + * | BMA4_OUTPUT_ENABLE(1) + * ********************************|*************************************** + * input_en | BMA4_INPUT_DISABLE(0) + * | BMA4_INPUT_ENABLE(1) + * ************************************************************************ + *@endverbatim + * + * @param[in] int_line : Variable used to select the interrupt pin1 or + * pin2 for interrupt configuration. + * + *@verbatim + * int_line | Value + * ----------------|---------------------- + * BMA4_INTR1_MAP | 0 + * BMA4_INTR2_MAP | 1 + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma4_set_int_pin_config(const struct bma4_int_pin_config *int_pin_config, uint8_t int_line, + struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiIntConfig + * \page bma4_api_bma4_get_int_pin_config bma4_get_int_pin_config + * \code + * int8_t bma4_get_int_pin_config(struct bma4_int_pin_config *int_pin_config, uint8_t int_line, struct bma4_dev *dev); + * \endcode + * @details This API reads the electrical behavior of interrupt pin1 or pin2 + * from the sensor. + * + * @param[out] int_pin_config : Pointer to structure variable which stores the + * configuration data of either interrupt pin1 or pin2 read from the sensor + * + *@verbatim + * ************************************************************************ + * Structure field members | Macros + * ************************|*********************************************** + * edge_ctrl | BMA4_LEVEL_TRIGGER(0) + * | BMA4_EDGE_TRIGGER(1) + * ************************|*********************************************** + * lvl | BMA4_ACTIVE_LOW(0) + * | BMA4_ACTIVE_HIGH(1) + * ************************|*********************************************** + * od | BMA4_PUSH_PULL(0) + * | BMA4_OPEN_DRAIN(1) + * ************************|*********************************************** + * output_en | BMA4_OUTPUT_DISABLE(0) + * | BMA4_OUTPUT_ENABLE(1) + * ************************|*********************************************** + * input_en | BMA4_INPUT_DISABLE(0) + * | BMA4_INPUT_ENABLE(1) + * ************************************************************************ + *@endverbatim + * + * @param[in] int_line : Variable used to select the interrupt pin1 or + * pin2 for interrupt configuration. + * + *@verbatim + * int_line | Value + * -------------------|--------------- + * BMA4_INTR1_MAP | 0 + * BMA4_INTR2_MAP | 1 + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_get_int_pin_config(struct bma4_int_pin_config *int_pin_config, uint8_t int_line, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiIntStatus Interrupt Status + * @brief Read Feature interrupt and/or Hardware interrupt status from the sensor + */ + +/*! + * \ingroup bma4ApiIntStatus + * \page bma4_api_bma4_read_int_status bma4_read_int_status + * \code + * int8_t bma4_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the Feature and Hardware interrupt status from the sensor. + * + * @param[out] int_status : Variable used to get the interrupt status. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAux Auxiliary interface + * @brief Initialize and read/write data to auxiliary interface + */ + +/*! + * \ingroup bma4ApiAux + * \page bma4_api_bma4_aux_interface_init bma4_aux_interface_init + * \code + * int8_t bma4_aux_interface_init(struct bma4_dev *dev); + * \endcode + * @details This API initializes the auxiliary interface to access + * auxiliary sensor + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_aux_interface_init(struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAux + * \page bma4_api_bma4_aux_read bma4_aux_read + * \code + * int8_t bma4_aux_read(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); + * \endcode + * @details This API reads the data from the auxiliary sensor + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[in] len : User specified data length + * @param[out] aux_data : Pointer variable to store data read + * @param[in] aux_reg_addr : Variable to pass address from where + * data is to be read + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_aux_read(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAux + * \page bma4_api_bma4_aux_write bma4_aux_write + * \code + * int8_t bma4_aux_write(uint8_t aux_reg_addr, uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); + * \endcode + * @details This API writes the data into the auxiliary sensor + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[in] len : User specified data length + * @param[out] aux_data : Pointer variable to store data read + * @param[in] aux_reg_addr : Variable to pass address from where + * data is to be written + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_aux_write(uint8_t aux_reg_addr, const uint8_t *aux_data, uint16_t len, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiSoftReset Soft Reset + * @brief Perform Soft Reset of the sensor + */ + +/*! + * \ingroup bma4ApiSoftReset + * \page bma4_api_bma4_soft_reset bma4_soft_reset + * \code + * int8_t bma4_soft_reset(struct bma4_dev *dev); + * \endcode + * @details This API commands to do soft reset + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + * + */ +int8_t bma4_soft_reset(struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAccelFoc Accel FOC + * @brief Performs Fast Offset Compensation for accel + */ + +/*! + * \ingroup bma4ApiAccelFoc + * \page bma4_api_bma4_perform_accel_foc bma4_perform_accel_foc + * \code + * int8_t bma4_perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value, struct bma4_dev *dev); + * \endcode + * @details This API performs Fast Offset Compensation for Accel. + * @param[in] accel_g_value : Array which stores the Accel g units + * for x,y and z-axis. + * + *@verbatim + * accel_g_value | Description + * --------------------------|--------------------------------------- + * accel_g_value[0] | x-axis g units + * accel_g_value[1] | y-axis g units + * accel_g_value[2] | z-axis g units + *@endverbatim + * + * @param[in] dev : Structure instance of dev. + * + * @return Result of API execution status. + * @retval 0 -> Success + * @retval Any non zero value -> Fail + * + */ +int8_t bma4_perform_accel_foc(const struct bma4_accel_foc_g_value *accel_g_value, struct bma4_dev *dev); + +/** + * \ingroup bma4 + * \defgroup bma4ApiAxisRemap Axis Remap + * @brief Functions of axis re-mapping of bma4 sensors + */ + +/*! + * \ingroup bma4ApiAxisRemap + * @brief Set / Get x, y and z axis re-mapping in the sensor + * \page bma4_api_bma4_set_remap_axes bma4_set_remap_axes + * \code + * int8_t bma4_set_remap_axes(const struct bma4_remap *remapped_axis, uint8_t *feature_config, uint8_t index, uint8_t feature_len, struct bma4_dev *dev); + * \endcode + * @details This API sets the re-mapped x, y and z axes to the sensor and + * updates them in the device structure. + * + * @param[in] remap_data : Structure instance of bma4_remap + * @param[in] feature_config : Array data containing feature configurations + * @param[in] index : Index to which mapping has to be applied + * @param[in] feature_len : Length of feature configurations + * @param[in, out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status. + * + * @return 0 -> Success + * @return < 0 -> Fail + * + */ +int8_t bma4_set_remap_axes(const struct bma4_remap *remapped_axis, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev); + +/*! + * \ingroup bma4ApiAxisRemap + * \page bma4_api_bma4_get_remap_axes bma4_get_remap_axes + * \code + * int8_t bma4_get_remap_axes(struct bma4_remap *remapped_axis, uint8_t *feature_config, uint8_t index, uint8_t feature_len, struct bma4_dev *dev); + * \endcode + * @details This API gets the re-mapped x, y and z axes from the sensor and + * updates the values in the device structure. + * + * @param[out] remap_data : Structure instance of bma4_remap + * @param[in] feature_config : Array data containing feature configurations + * @param[in] index : Index to which mapping has to be applied + * @param[in] feature_len : Length of feature configurations + * @param[in, out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status. + * + * @return 0 -> Success + * @return < 0 -> Fail + * + */ +int8_t bma4_get_remap_axes(struct bma4_remap *remap_data, + uint8_t *feature_config, + uint8_t index, + uint8_t feature_len, + struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /*End of CPP guard */ + +#endif + +/* End of __BMA4_H__ */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma422_an.c b/lib/SensorLib/src/bosch/bma4xx/bma422_an.c new file mode 100644 index 0000000..743f923 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma422_an.c @@ -0,0 +1,736 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma422_an.c +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/***************************************************************************/ + +/*! Header files + ****************************************************************************/ +#include "bma422_an.h" + +/***************************************************************************/ + +/*! Global Variable + ****************************************************************************/ + +/*! @name Global array that stores the configuration file of BMA422_AN */ +const uint8_t bma422_an_config_file[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, + 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x53, 0x01, 0x80, 0x2e, 0xf8, 0x01, 0xb0, 0xf0, + 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf9, 0x00, 0x1f, 0x50, 0x1d, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41, + 0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x97, 0x20, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, + 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x2e, 0x55, 0xf0, 0xc0, 0x2e, 0x21, 0x2e, 0x55, 0xf0, 0x80, 0x2e, 0x18, 0x00, 0xaa, 0x00, 0x05, 0x00, 0xaa, + 0x00, 0x05, 0x00, 0x41, 0x44, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x52, 0x0b, 0x50, 0x60, 0x42, 0x00, 0x3f, 0x0d, 0x54, 0x42, 0x42, 0x69, 0x82, + 0x0f, 0x54, 0x42, 0x42, 0x42, 0x82, 0x4b, 0x30, 0x42, 0x40, 0x10, 0x08, 0x50, 0x42, 0x7e, 0x80, 0x4b, 0x42, 0x61, + 0x30, 0x01, 0x42, 0x10, 0x50, 0x03, 0x2e, 0x40, 0xf0, 0x52, 0x90, 0x08, 0x80, 0xf0, 0x7f, 0x31, 0x30, 0x1f, 0x2f, + 0x03, 0x30, 0x17, 0x52, 0x11, 0x54, 0x54, 0x33, 0x06, 0x30, 0x13, 0x50, 0x55, 0x32, 0x1d, 0x1a, 0xe3, 0x22, 0x18, + 0x1a, 0x15, 0x58, 0xe3, 0x22, 0x04, 0x30, 0xd5, 0x40, 0xb5, 0x0d, 0xe1, 0xbe, 0x6f, 0xbb, 0x80, 0x91, 0xa9, 0x0d, + 0x01, 0x89, 0xb5, 0x23, 0x10, 0xa1, 0xf7, 0x2f, 0xda, 0x0e, 0x54, 0x33, 0xeb, 0x2f, 0x01, 0x2e, 0x25, 0x00, 0x70, + 0x1a, 0x00, 0x30, 0x21, 0x30, 0x48, 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0x50, + 0x9c, 0xbe, 0x02, 0x40, 0x1d, 0x52, 0xf4, 0x33, 0xdc, 0xba, 0xd9, 0x0f, 0x94, 0x08, 0x06, 0x2f, 0x49, 0xaf, 0x04, + 0x2f, 0x51, 0x0a, 0x02, 0x34, 0x47, 0xa3, 0x8a, 0x0a, 0x91, 0x22, 0x3c, 0x80, 0x25, 0x2e, 0x59, 0xf0, 0x01, 0x40, + 0x01, 0x42, 0xb8, 0x2e, 0x1a, 0x24, 0x26, 0x00, 0x80, 0x2e, 0x58, 0x00, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x46, + 0x00, 0x40, 0x00, 0x4f, 0x00, 0x42, 0x00, 0x36, 0x00, 0xaf, 0x00, 0xff, 0x00, 0xec, 0x00, 0xff, 0xb7, 0x00, 0x02, + 0x00, 0xb0, 0x05, 0x80, 0xc9, 0xf0, 0x88, 0x00, 0x80, 0x00, 0x5e, 0xf0, 0x59, 0xf0, 0x89, 0xf0, 0x39, 0x00, 0x60, + 0x50, 0x03, 0x2e, 0x45, 0x00, 0xe0, 0x7f, 0xf1, 0x7f, 0xdb, 0x7f, 0x30, 0x30, 0x1b, 0x54, 0x0a, 0x1a, 0x28, 0x2f, + 0x1a, 0x25, 0x7a, 0x82, 0x00, 0x30, 0x43, 0x30, 0x32, 0x30, 0x05, 0x30, 0x04, 0x30, 0xf6, 0x6f, 0xf2, 0x09, 0xfc, + 0x13, 0xc2, 0xab, 0xb3, 0x09, 0xef, 0x23, 0x80, 0xb3, 0xe6, 0x6f, 0xb7, 0x01, 0x00, 0x2e, 0x8b, 0x41, 0x4b, 0x42, + 0x03, 0x2f, 0x46, 0x40, 0x86, 0x17, 0x81, 0x8d, 0x46, 0x42, 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0x2f, 0x01, 0x30, 0x1b, 0x2c, + 0x01, 0x42, 0x01, 0x40, 0x4c, 0x28, 0x82, 0x6f, 0x01, 0x42, 0x4a, 0x0e, 0x13, 0x2f, 0xc0, 0x6f, 0x00, 0xb2, 0x03, + 0x2f, 0x3f, 0x80, 0x20, 0x14, 0x21, 0x2e, 0x5e, 0xf0, 0xe1, 0x6f, 0xd0, 0x6f, 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, + 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x03, 0x2c, 0x01, 0x42, 0x10, 0x30, 0x40, 0x42, 0x80, 0x5f, 0xb8, + 0x2e, 0x10, 0x24, 0x0e, 0x02, 0x11, 0x24, 0x00, 0x0c, 0x12, 0x24, 0x80, 0x2e, 0x13, 0x24, 0x18, 0x00, 0x12, 0x42, + 0x13, 0x42, 0x41, 0x1a, 0xfb, 0x2f, 0x10, 0x24, 0x50, 0x39, 0x11, 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, + 0x2e, 0x11, 0x00, 0x80, 0x2e, 0x10, 0x00 +}; + +/***************************************************************************/ + +/*! Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This internal API is used to update variant information by reading from GPIO register. + * + * @param[in, out] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t update_variant(struct bma4_dev *dev); + +/***************************************************************************/ + +/*! User Interface Definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point. Call this API before using all other APIs + * This API reads the chip-id of the sensor and sets the resolution, feature + * length and the type of variant. + */ +int8_t bma422_an_init(struct bma4_dev *dev) +{ + /* Initialize BMA4 sensor */ + int8_t rslt = bma4_init(dev); + + /* Structure to define the default values for axes re-mapping */ + struct bma4_axes_remap axes_remap = { + .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS, + .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE + }; + + if (rslt == BMA4_OK) + { + if (dev->chip_id == BMA422_AN_CHIP_ID) + { + /* Resolution of BMA422_AN sensor is 12 bit */ + dev->resolution = BMA4_12_BIT_RESOLUTION; + + /* Size of configuration file */ + dev->feature_len = BMA422_AN_FEATURE_SIZE; + + dev->config_size = sizeof(bma422_an_config_file); + + /* Set the default values for axis + * re-mapping in the device structure + */ + dev->remap = axes_remap; + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + + return rslt; +} + +/*! + * @brief This API is used to upload the configuration file to enable the + * features of the sensor. + */ +int8_t bma422_an_write_config_file(struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Check for NULL pointer */ + if (dev != NULL) + { + /* Validate read/write length */ + if ((dev->read_write_len >= BMA422_AN_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA422_AN_RD_WR_MAX_LEN)) + { + /* Check if even or odd */ + if ((dev->read_write_len % 2) != 0) + { + dev->read_write_len = dev->read_write_len - 1; + } + + /* Assign stream data */ + dev->config_file_ptr = bma422_an_config_file; + + /* Load the configuration file */ + rslt = bma4_write_config_file(dev); + + if (rslt == BMA4_OK) + { + /* Update variant */ + rslt = update_variant(dev); + } + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the configuration id of the sensor. + */ +int8_t bma422_an_get_config_id(uint16_t *config_id, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Initialize index to get configuration id */ + uint8_t index = BMA422_AN_CONFIG_ID_START_ADDR; + + /* Variable to define MSB of configuration id */ + uint16_t config_id_lsb = 0; + + /* Variable to define LSB of configuration id */ + uint16_t config_id_msb = 0; + + /* Check for NULL pointer */ + if ((dev != NULL) && (config_id != NULL)) + { + /* Read the configuration file */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + + /* Get configuration id */ + if (rslt == BMA4_OK) + { + config_id_lsb = (uint16_t)feature_config[index]; + config_id_msb = ((uint16_t)feature_config[index + 1]) << 8; + *config_id = config_id_lsb | config_id_msb; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API maps/un-maps the user provided interrupt to either interrupt + * pin1 or pin2 in the sensor. + */ +int8_t bma422_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Check for NULL pointer */ + if (dev != NULL) + { + /* Validate the interrupt line */ + if (int_line <= 1) + { + /* Map/Un-map the interrupt */ + rslt = bma4_map_interrupt(int_line, int_map, enable, dev); + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the bma422_an interrupt status from the sensor. + */ +int8_t bma422_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Check for NULL pointer */ + if ((dev != NULL) && (int_status != NULL)) + { + /* Read the interrupt status */ + rslt = bma4_read_int_status(int_status, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API performs x, y and z axis re-mapping in the sensor. + */ +int8_t bma422_an_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Initialize index to set re-mapped data */ + uint8_t index = BMA422_AN_AXES_REMAP_START_ADDR; + + if (remap_axes != NULL) + { + rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA422_AN_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis re-mapped data from the sensor. + */ +int8_t bma422_an_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Initialize index to get re-mapped data */ + uint8_t index = BMA422_AN_AXES_REMAP_START_ADDR; + + if (remap_axes != NULL) + { + rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA422_AN_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of any-motion feature in the sensor. + * This API enables/disables the any-motion feature according to the axis set. + */ +int8_t bma422_an_set_any_mot_config(const struct bma422_an_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA422_AN_ANY_MOT_START_ADDR; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + int8_t rslt; + + if ((dev != NULL) && (any_mot != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(any_mot->threshold); + feature_config[index++] = BMA4_GET_MSB(any_mot->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA422_AN_ANY_NO_MOT_DUR, any_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA422_AN_ANY_NO_MOT_AXIS_EN, any_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index] = BMA4_GET_MSB(lsb_msb); + + /* Set any-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of any-motion feature from the + * sensor. + */ +int8_t bma422_an_get_any_mot_config(struct bma422_an_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA422_AN_ANY_MOT_START_ADDR; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + int8_t rslt = 0; + + if ((dev != NULL) && (any_mot != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + if (rslt == BMA4_OK) + { + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and any-motion + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + any_mot->threshold = lsb_msb & BMA422_AN_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + any_mot->duration = lsb_msb & BMA422_AN_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + any_mot->axes_en = + (uint8_t)((lsb_msb & BMA422_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA422_AN_ANY_NO_MOT_AXIS_EN_POS); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of no-motion feature in the sensor. + * This API enables/disables the no-motion feature according to the axis set. + */ +int8_t bma422_an_set_no_mot_config(const struct bma422_an_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA422_AN_NO_MOT_START_ADDR; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (no_mot != NULL)) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(no_mot->threshold); + feature_config[index++] = BMA4_GET_MSB(no_mot->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA422_AN_ANY_NO_MOT_DUR, no_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA422_AN_ANY_NO_MOT_AXIS_EN, no_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index] = BMA4_GET_MSB(lsb_msb); + + /* Set no-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of no-motion feature from the + * sensor. + */ +int8_t bma422_an_get_no_mot_config(struct bma422_an_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA422_AN_NO_MOT_START_ADDR; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (no_mot != NULL)) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and no-motion + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + no_mot->threshold = lsb_msb & BMA422_AN_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + no_mot->duration = lsb_msb & BMA422_AN_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + no_mot->axes_en = + (uint8_t)((lsb_msb & BMA422_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA422_AN_ANY_NO_MOT_AXIS_EN_POS); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the config file major and minor information. + */ +int8_t bma422_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA422_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to config file version */ + uint8_t index = BMA422_AN_CONFIG_ID_START_ADDR; + + /* Variable to define LSB */ + uint8_t lsb = 0; + + /* Variable to define MSB */ + uint8_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + /* Result of api are returned to this variable */ + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (config_major != NULL) && (config_minor != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Get config file identification from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA422_AN_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate config file identification */ + lsb = feature_config[index++]; + msb = feature_config[index++]; + lsb_msb = (uint16_t)(msb << 8 | lsb); + + /* Get major and minor version */ + *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR); + *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/***************************************************************************/ + +/*! Static Function Definitions + ****************************************************************************/ + +/*! + * @brief This internal API is used to update variant information by reading from GPIO register. + */ +static int8_t update_variant(struct bma4_dev *dev) +{ + int8_t rslt; + uint8_t data = 0; + + if (dev->chip_id == BMA422_AN_CHIP_ID) + { + /* Reads the mems_id output from the gpio register */ + rslt = bma4_read_regs(BMA4_MEMS_ID_ADDR, &data, 1, dev); + + if (rslt == BMA4_OK) + { + if (data == BMA4_MEMS_SPN_281) + { + dev->variant = BMA42X_VARIANT; + } + else if (data == BMA4_MEMS_SPN_013) + { + dev->variant = BMA42X_B_VARIANT; + } + else + { + rslt = BMA4_E_INVALID_MEMS_ID; + } + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + + return rslt; +} diff --git a/lib/SensorLib/src/bosch/bma4xx/bma422_an.h b/lib/SensorLib/src/bosch/bma4xx/bma422_an.h new file mode 100644 index 0000000..d23d7b9 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma422_an.h @@ -0,0 +1,593 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma422_an.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/** + * \ingroup bma4xy + * \defgroup bma422_an BMA422_AN + * @brief Sensor driver for BMA422_AN sensor + */ + +#ifndef BMA422_AN_H_ +#define BMA422_AN_H_ + +/*! CPP guard */ +#ifdef __cplusplus +extern "C" { +#endif + +/***************************************************************************/ + +/*! Header files + ****************************************************************************/ +#include "bma4.h" + +/***************************************************************************/ + +/*! Macro definitions + ****************************************************************************/ + +/*! @name Chip ID of BMA422_AN sensor */ +#define BMA422_AN_CHIP_ID UINT8_C(0x12) + +/*! @name Sensor feature size */ +#define BMA422_AN_FEATURE_SIZE UINT8_C(0x0C) + +/*! @name Data Lengths */ +#define BMA422_AN_RD_WR_MIN_LEN UINT8_C(0x02) + +/*! @name Maximum valid read write length is size of config file array */ +#define BMA422_AN_RD_WR_MAX_LEN ((uint16_t)sizeof(bma422_an_config_file)) + +/*! @name Feature start address */ +#define BMA422_AN_ANY_MOT_START_ADDR UINT8_C(0x00) +#define BMA422_AN_NO_MOT_START_ADDR UINT8_C(0x04) +#define BMA422_AN_CONFIG_ID_START_ADDR UINT8_C(0x08) +#define BMA422_AN_AXES_REMAP_START_ADDR UINT8_C(0x0A) + +/*! @name Mask definitions for axes re-mapping */ +#define BMA422_AN_X_AXIS_MSK UINT8_C(0x03) +#define BMA422_AN_X_AXIS_SIGN_MSK UINT8_C(0x04) +#define BMA422_AN_Y_AXIS_MSK UINT8_C(0x18) +#define BMA422_AN_Y_AXIS_SIGN_MSK UINT8_C(0x20) +#define BMA422_AN_Z_AXIS_MSK UINT8_C(0xC0) +#define BMA422_AN_Z_AXIS_SIGN_MSK UINT8_C(0x01) + +/*! @name Bit position for axes re-mapping */ +#define BMA422_AN_X_AXIS_SIGN_POS UINT8_C(0x02) +#define BMA422_AN_Y_AXIS_POS UINT8_C(0x03) +#define BMA422_AN_Y_AXIS_SIGN_POS UINT8_C(0x05) +#define BMA422_AN_Z_AXIS_POS UINT8_C(0x06) + +/*! @name Any/No-motion threshold macros */ +#define BMA422_AN_ANY_NO_MOT_THRES_MSK UINT16_C(0x07FF) + +/*! @name Any/No-motion enable macros */ +#define BMA422_AN_ANY_NO_MOT_AXIS_EN_MSK UINT16_C(0xE000) +#define BMA422_AN_ANY_NO_MOT_AXIS_EN_POS UINT8_C(0x0D) + +/*! @name Any/No-motion duration macros */ +#define BMA422_AN_ANY_NO_MOT_DUR_MSK UINT16_C(0x1FFF) + +/*! @name Any/No-motion axis enable macros */ +#define BMA422_AN_X_AXIS_EN UINT8_C(0x01) +#define BMA422_AN_Y_AXIS_EN UINT8_C(0x02) +#define BMA422_AN_Z_AXIS_EN UINT8_C(0x04) +#define BMA422_AN_EN_ALL_AXIS UINT8_C(0x07) +#define BMA422_AN_DIS_ALL_AXIS UINT8_C(0x00) + +/*! @name Interrupt status macros */ +#define BMA422_AN_ANY_MOT_INT UINT8_C(0x20) +#define BMA422_AN_NO_MOT_INT UINT8_C(0x40) +#define BMA422_AN_ERROR_INT UINT8_C(0x80) + +/******************************************************************************/ +/*! @name Structure Declarations */ +/******************************************************************************/ +/*! @name Structure to define any/no-motion configuration */ +struct bma422_an_any_no_mot_config +{ + /*! Expressed in 50 Hz samples (20 ms) */ + uint16_t duration; + + /*! Threshold value for Any-motion/No-motion detection in + * 5.11g format + */ + uint16_t threshold; + + /*! To enable selected axes */ + uint8_t axes_en; +}; + +/***************************************************************************/ + +/*! BMA422_AN User Interface function prototypes + ****************************************************************************/ + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiInit Initialization + * @brief Initialize the sensor and device structure + */ + +/*! + * \ingroup bma422_anApiInit + * \page bma422_an_api_bma422_an_init bma422_an_init + * \code + * int8_t bma422_an_init(struct bma4_dev *dev); + * \endcode + * @details This API is the entry point. Call this API before using all other APIs + * This API reads the chip-id of the sensor and sets the resolution, feature + * length and the type of variant. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_init(struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiConfig ConfigFile + * @brief Write binary configuration in the sensor + */ + +/*! + * \ingroup bma422_anApiConfig + * \page bma422_an_api_bma422_an_write_config_file bma422_an_write_config_file + * \code + * int8_t bma422_an_write_config_file(struct bma4_dev *dev); + * \endcode + * @details This API is used to upload the configuration file to enable the + * features of the sensor. + * + * @param[in, out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_write_config_file(struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiConfigId ConfigId + * @brief Get Configuration ID of the sensor + */ + +/*! + * \ingroup bma422_anApiConfig + * \page bma422_an_api_bma422_an_get_config_id bma422_an_get_config_id + * \code + * int8_t bma422_an_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the configuration id of the sensor. + * + * @param[out] config_id : Pointer variable used to store the configuration + * id. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiMapInt Map / Unmap Interrupt + * @brief Map / Unmap user provided interrupt to interrupt pin1 or pin2 of the sensor + */ + +/*! + * \ingroup bma422_anApiMapInt + * \page bma422_an_api_bma422_an_map_interrupt bma422_an_map_interrupt + * \code + * int8_t bma422_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API maps/un-maps the user provided interrupt to either interrupt + * pin1 or pin2 in the sensor. + * + * @param[in] int_line : Variable to select either interrupt pin1 or pin2. + * + *@verbatim + * int_line | Macros + * ------------|------------------- + * 0 | BMA4_INTR1_MAP + * 1 | BMA4_INTR2_MAP + *@endverbatim + * + * @param[in] int_map : Variable to specify the interrupts. + * @param[in] enable : Variable to specify mapping or un-mapping of + * interrupts. + * + *@verbatim + * enable | Macros + *----------|------------------- + * 0x01 | BMA4_EN + * 0x00 | BMA4_DIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the feature interrupts. + * - BMA422_AN_ANY_MOT_INT + * - BMA422_AN_NO_MOT_INT + * - BMA422_AN_ERROR_INT + * + * @note Below macros specify the hardware interrupts. + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiIntS Interrupt Status + * @brief Read interrupt status of the sensor + */ + +/*! + * \ingroup bma422_anApiIntS + * \page bma422_an_api_bma422_an_read_int_status bma422_an_read_int_status + * \code + * int8_t bma422_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the bma422_an interrupt status from the sensor. + * + * @param[out] int_status : Variable to store the interrupt status + * read from the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the feature interrupts. + * - BMA422_AN_ANY_MOT_INT + * - BMA422_AN_NO_MOT_INT + * - BMA422_AN_ERROR_INT + * + * @note Below macros specify the hardware interrupts. + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiRemap Remap Axes + * @brief Set / Get x, y and z axis re-mapping in the sensor + */ + +/*! + * \ingroup bma422_anApiRemap + * \page bma422_an_api_bma422_an_set_remap_axes bma422_an_set_remap_axes + * \code + * int8_t bma422_an_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API performs x, y and z axis re-mapping in the sensor. + * + * @param[in] remap_data : Pointer to store axes re-mapping data. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + +/*! + * \ingroup bma422_anApiRemap + * \page bma422_an_api_bma422_an_get_remap_axes bma422_an_get_remap_axes + * \code + * int8_t bma422_an_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API reads the x, y and z axis re-mapped data from the sensor. + * + * @param[out] remap_data : Pointer to store the read axes re-mapped data. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiAnyMot Any motion Feature + * @brief Functions of Any motion feature of the sensor + */ + +/*! + * \ingroup bma422_anApiAnyMot + * \page bma422_an_api_bma422_an_set_any_motion_config bma422_an_set_any_motion_config + * \code + * int8_t bma422_an_set_any_motion_config(const struct bma422_an_anymotion_config *any_motion, struct bma4_dev + **dev); + * \endcode + * @details This API sets the configuration of any-motion feature in the sensor + * This API enables/disables the any-motion feature according to the axis set. + * + * @param[in] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA422_AN_DIS_ALL_AXIS + * 0x01 | BMA422_AN_X_AXIS_EN + * 0x02 | BMA422_AN_Y_AXIS_EN + * 0x04 | BMA422_AN_Z_AXIS_EN + * 0x07 | BMA422_AN_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_set_any_mot_config(const struct bma422_an_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma422_anApiAnyMot + * \page bma422_an_api_bma422_an_get_any_motion_config bma422_an_get_any_motion_config + * \code + * int8_t bma422_an_get_any_motion_config(struct bma422_an_anymotion_config *any_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of any-motion feature from the + * sensor. + * + * @param[out] any_mot : Pointer to structure variable to configure + * any-motion. + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA422_AN_DIS_ALL_AXIS + * 0x01 | BMA422_AN_X_AXIS_EN + * 0x02 | BMA422_AN_Y_AXIS_EN + * 0x04 | BMA422_AN_Z_AXIS_EN + * 0x07 | BMA422_AN_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_get_any_mot_config(struct bma422_an_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiNomot No-Motion Feature + * @brief Operations of no-motion feature of the sensor + */ + +/*! + * \ingroup bma422_anApiNomot + * \page bma422_an_api_bma422_an_set_no_motion_config bma422_an_set_no_motion_config + * \code + * int8_t bma422_an_set_no_motion_config(const struct bma422_an_nomotion_config *no_motion, struct bma4_dev + **dev); + * \endcode + * @details This API sets the configuration of no-motion feature in the sensor + * This API enables/disables the no-motion feature according to the axis set. + * + * @param[in] no_mot : Pointer to structure variable to configure + * no-motion. + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA422_AN_DIS_ALL_AXIS + * 0x01 | BMA422_AN_X_AXIS_EN + * 0x02 | BMA422_AN_Y_AXIS_EN + * 0x04 | BMA422_AN_Z_AXIS_EN + * 0x07 | BMA422_AN_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_set_no_mot_config(const struct bma422_an_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma422_anApiNomot + * \page bma422_an_api_bma422_an_get_no_motion_config bma422_an_get_no_motion_config + * \code + * int8_t bma422_an_get_no_motion_config(struct bma422_an_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of no-motion feature from the + * sensor. + * + * @param[out] no_mot : Pointer to structure variable to configure + * no-motion. + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA422_AN_DIS_ALL_AXIS + * 0x01 | BMA422_AN_X_AXIS_EN + * 0x02 | BMA422_AN_Y_AXIS_EN + * 0x04 | BMA422_AN_Z_AXIS_EN + * 0x07 | BMA422_AN_EN_ALL_AXIS + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_get_no_mot_config(struct bma422_an_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/** + * \ingroup bma422_an + * \defgroup bma422_anApiVersionConfig Version Config + * @brief Get version configuration of the sensor + */ + +/*! + * \ingroup bma422_anApiVersionConfig + * \page bma422_an_api_bma422_an_get_version_config bma422_an_get_version_config + * \code + * int8_t bma422_an_get_version_config(uint16_t *config_major, + * uint16_t *config_minor, + * struct bma4_dev *dev); + * \endcode + * @details This API is used to get the config file major and minor information. + * @param[in] dev : Structure instance of bma4_dev. + * @param[out] config_major : pointer to data buffer to store the config major. + * @param[out] config_minor : pointer to data buffer to store the config minor. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma422_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /*End of CPP guard */ + +#endif /*End of header guard macro */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma423.c b/lib/SensorLib/src/bosch/bma4xx/bma423.c new file mode 100644 index 0000000..2f80240 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma423.c @@ -0,0 +1,1695 @@ +/**\mainpage +* +**************************************************************************** +* Copyright (C) 2017 - 2018 Bosch Sensortec GmbH +* +* File : bma423.c +* +* Date: 12 Oct 2017 +* +* Revision : 1.1.4 $ +* +* Usage: Sensor Driver for BMA423 sensor +* +**************************************************************************** +* +* \section Disclaimer +* +* Common: +* Bosch Sensortec products are developed for the consumer goods industry. +* They may only be used within the parameters of the respective valid +* product data sheet. Bosch Sensortec products are provided with the +* express understanding that there is no warranty of fitness for a +* particular purpose.They are not fit for use in life-sustaining, +* safety or security sensitive systems or any system or device +* that may lead to bodily harm or property damage if the system +* or device malfunctions. In addition,Bosch Sensortec products are +* not fit for use in products which interact with motor vehicle systems. +* The resale and or use of products are at the purchasers own risk and +* his own responsibility. The examination of fitness for the intended use +* is the sole responsibility of the Purchaser. +* +* The purchaser shall indemnify Bosch Sensortec from all third party +* claims, including any claims for incidental, or consequential damages, +* arising from any product use not covered by the parameters of +* the respective valid product data sheet or not approved by +* Bosch Sensortec and reimburse Bosch Sensortec for all costs in +* connection with such claims. +* +* The purchaser must monitor the market for the purchased products, +* particularly with regard to product safety and inform Bosch Sensortec +* without delay of all security relevant incidents. +* +* Engineering Samples are marked with an asterisk (*) or (e). +* Samples may vary from the valid technical specifications of the product +* series. They are therefore not intended or fit for resale to third +* parties or for use in end products. Their sole purpose is internal +* client testing. The testing of an engineering sample may in no way +* replace the testing of a product series. Bosch Sensortec assumes +* no liability for the use of engineering samples. +* By accepting the engineering samples, the Purchaser agrees to indemnify +* Bosch Sensortec from all claims arising from the use of engineering +* samples. +* +* Special: +* This software module (hereinafter called "Software") and any information +* on application-sheets (hereinafter called "Information") is provided +* free of charge for the sole purpose to support your application work. +* The Software and Information is subject to the following +* terms and conditions: +* +* The Software is specifically designed for the exclusive use for +* Bosch Sensortec products by personnel who have special experience +* and training. Do not use this Software if you do not have the +* proper experience or training. +* +* This Software package is provided `` as is `` and without any expressed +* or implied warranties,including without limitation, the implied warranties +* of merchantability and fitness for a particular purpose. +* +* Bosch Sensortec and their representatives and agents deny any liability +* for the functional impairment +* of this Software in terms of fitness, performance and safety. +* Bosch Sensortec and their representatives and agents shall not be liable +* for any direct or indirect damages or injury, except as +* otherwise stipulated in mandatory applicable law. +* +* The Information provided is believed to be accurate and reliable. +* Bosch Sensortec assumes no responsibility for the consequences of use +* of such Information nor for any infringement of patents or +* other rights of third parties which may result from its use. +* No license is granted by implication or otherwise under any patent or +* patent rights of Bosch. Specifications mentioned in the Information are +* subject to change without notice. +**************************************************************************/ +/*! \file bma423.c + \brief Sensor Driver for BMA423 sensor */ + +#include "bma423.h" + +/**\name Feature configuration file */ +const uint8_t bma423_config_file[] = { + 0x80, 0x2e, 0xfc, 0x00, 0x80, 0x2e, 0xfe, 0x00, 0xc8, 0x2e, 0x00, 0x2e, + 0x80, 0x2e, 0xfa, 0x00, 0x80, 0x2e, 0x23, 0xb1, 0x80, 0x2e, 0xfd, 0x00, + 0x80, 0x2e, 0xfb, 0x00, 0x80, 0x2e, 0x5a, 0xb1, 0x50, 0x39, 0x21, 0x2e, + 0xb0, 0xf0, 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xfc, 0x01, + 0x5d, 0x50, 0x45, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41, 0x30, 0x01, 0x42, + 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, + 0xb8, 0x2e, 0xb6, 0xd6, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, + 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Static Function Declarations +****************************************************************************/ +/*! + * @brief This API update the length for read and write. + * + * @param[in] len : Length for read and write + * @param[in] feature : Variable to specify the features + * which are to be set in the sensor. + * @param[in] enable : Variable which specifies whether to enable or + * disable the features in the bma455 sensor. + * enable | Macros + * ----------------|------------------- + * 0x01 | BMA4_EN + * 0x00 | BMA4_DIS + * @param[in] dev : Structure instance of bma4_dev. + * + * @return none + */ +static void update_len(uint8_t *len, uint8_t feature, uint8_t enable); + +/*! + * @brief This API enables the features of sensor. + * + * @param[in] feature : Variable to specify the features + * which are to be set in the sensor. + * @param[in] len : length to read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any positive value mentioned in ERROR CODES -> Fail + */ +static uint16_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API disables the features of sensor. + * + * @param[in] feature : Variable to specify the features + * which are to be unset in the sensor. + * @param[in] len : length to read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any positive value mentioned in ERROR CODES -> Fail + */ +static uint16_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API update the settings of step counter into write array. + * + * @param[in] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter25. + * @param[in] index : value for array traversing. + * @param[out] feature_config : Pointer to store the settings + * + * @return none + */ +static void update_stepcounter_parameter(const struct bma423_stepcounter_settings *setting, + uint8_t index, uint8_t *feature_config); +/*! + * @brief This API copy the settings of step counter into the + * structure of bma423_stepcounter_settings, which is read from sensor. + * + * @param[out] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter25 read from sensor. + * @param[in] data_p : Pointer of array which stores the parameters. + * + * @return none + */ +static void extract_stepcounter_parameter(struct bma423_stepcounter_settings *setting, const uint16_t *data_p); + +/***************************************************************************/ +/**\name Function definitions +****************************************************************************/ + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + */ +#include +uint16_t bma423_init(struct bma4_dev *dev) +{ + uint16_t rslt; + + rslt = bma4_init(dev); + + if (rslt == BMA4_OK) { + if (dev->chip_id == BMA423_CHIP_ID) { + /* Resolution of BMA423 sensor is 12 bit */ + dev->resolution = 12; + dev->feature_len = BMA423_FEATURE_SIZE; + dev->variant = BMA42X_VARIANT; + } else { + rslt |= BMA4_E_INVALID_SENSOR; + } + } + + return rslt; +} + +/*! + * @brief This API is used to upload the config file to enable + * the features of the sensor. + */ +uint16_t bma423_write_config_file(struct bma4_dev *dev) +{ + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + /* Config. stream read/write length boundary check */ + if ((dev->read_write_len >= BMA423_RD_WR_MIN_LEN) && + (dev->read_write_len <= BMA423_FEATURE_SIZE)) { + /* Even or odd check */ + if ((dev->read_write_len % 2) != 0) + dev->read_write_len = dev->read_write_len - 1; + /*Assign stream data */ + dev->config_file_ptr = bma423_config_file; + rslt = bma4_write_config_file(dev); + } else { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + return rslt; +} + +/*! + * @brief This API is used to get the configuration id of the sensor. + */ +uint16_t bma423_get_config_id(uint16_t *config_id, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_CONFIG_ID_OFFSET; + uint16_t rslt = BMA4_OK; + uint16_t config_id_lsb = 0; + uint16_t config_id_msb = 0; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + config_id_lsb = (uint16_t)feature_config[index]; + config_id_msb = ((uint16_t)feature_config[index + 1]) << 8; + *config_id = config_id_lsb | config_id_msb; + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets/unsets the user provided interrupt to either + * interrupt pin1 or pin2 in the sensor. + */ +uint16_t bma423_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + if (int_line <= 1) { + /* Map/Unmap the interrupt */ + rslt = bma4_map_interrupt(int_line, int_map, enable, dev); + } else { + rslt = BMA4_E_INT_LINE_INVALID; + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the bma423 interrupt status from the sensor. + */ +uint16_t bma423_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + /* Read the interrupt status */ + rslt = bma4_read_int_status(int_status, dev); + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables/disables the features of the sensor. + */ +uint16_t bma423_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint16_t rslt = BMA4_OK; + uint8_t len; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + /* Update the length for read and write */ + update_len(&len, feature, enable); + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + if (rslt == BMA4_OK) { + if (enable == TRUE) { + /* Enables the feature */ + rslt |= feature_enable(feature, len, feature_config, dev); + } else { + /* Disables the feature */ + rslt |= feature_disable(feature, len, feature_config, dev); + } + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API performs x, y and z axis remapping in the sensor. + */ +uint16_t bma423_set_remap_axes(const struct bma423_axes_remap *remap_data, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_AXES_REMAP_OFFSET; + uint16_t rslt = BMA4_OK; + uint8_t x_axis = 0; + uint8_t x_axis_sign = 0; + uint8_t y_axis = 0; + uint8_t y_axis_sign = 0; + uint8_t z_axis = 0; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + x_axis = remap_data->x_axis & BMA423_X_AXIS_MASK; + x_axis_sign = (remap_data->x_axis_sign << 2) & BMA423_X_AXIS_SIGN_MASK; + y_axis = (remap_data->y_axis << 3) & BMA423_Y_AXIS_MASK; + y_axis_sign = (remap_data->y_axis_sign << 5) & BMA423_Y_AXIS_SIGN_MASK; + z_axis = (remap_data->z_axis << 6) & BMA423_Z_AXIS_MASK; + feature_config[index] = x_axis | x_axis_sign | y_axis | y_axis_sign | z_axis; + feature_config[index + 1] = remap_data->z_axis_sign & BMA423_Z_AXIS_SIGN_MASK; + rslt |= bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis remap data from the sensor. + */ +uint16_t bma423_get_remap_axes(struct bma423_axes_remap *remap_data, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_AXES_REMAP_OFFSET; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + remap_data->x_axis = feature_config[index] & BMA423_X_AXIS_MASK; + remap_data->x_axis_sign = (feature_config[index] & BMA423_X_AXIS_SIGN_MASK) >> 2; + remap_data->y_axis = (feature_config[index] & BMA423_Y_AXIS_MASK) >> 3; + remap_data->y_axis_sign = (feature_config[index] & BMA423_Y_AXIS_SIGN_MASK) >> 5; + remap_data->z_axis = (feature_config[index] & BMA423_Z_AXIS_MASK) >> 6; + remap_data->z_axis_sign = (feature_config[index + 1] & BMA423_Z_AXIS_SIGN_MASK); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables the any motion feature according to the axis + * set by the user in the sensor. + */ +uint16_t bma423_anymotion_enable_axis(uint8_t axis, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_ANYMOTION_EN_LEN + 2] = {0}; + /* Anymotion axis enable bit pos. is 3 byte ahead of the + anymotion base address(0x00) */ + uint8_t index = 3; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_ANYMOTION_EN_LEN + 2, dev); + if (rslt == BMA4_OK) { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], + BMA423_ANY_NO_MOTION_AXIS_EN, axis); + rslt |= bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_ANYMOTION_EN_LEN + 2, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @brief This API sets the configuration of Any motion feature in + * the sensor. + */ +uint16_t bma423_set_any_motion_config(const struct bma423_anymotion_config *any_motion, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_ANYMOTION_EN_LEN + 2] = {0}; + uint8_t index = BMA423_ANY_NO_MOTION_OFFSET; + uint16_t duration_lsb = 0; + uint16_t duration_msb = 0; + uint16_t duration = 0; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_ANYMOTION_EN_LEN + 2, dev); + if (rslt == BMA4_OK) { + /* Assign threshold value in feature config array */ + feature_config[index++] = BMA4_GET_LSB(any_motion->threshold); + feature_config[index] = BMA4_GET_MSB(any_motion->threshold); + /* Assign no motion selection value in feature config array*/ + feature_config[index++] |= (uint8_t) + (any_motion->nomotion_sel << BMA423_ANY_NO_MOTION_SEL_POS); + + /* Extract duration */ + duration_lsb = feature_config[index]; + duration_msb = feature_config[index + 1] << 8; + duration = duration_lsb | duration_msb; + duration = BMA4_SET_BITS_POS_0(duration, + BMA423_ANY_NO_MOTION_DUR, any_motion->duration); + /* Assign duration value in feature config array*/ + feature_config[index++] = BMA4_GET_LSB(duration); + feature_config[index] = BMA4_GET_MSB(duration); + + /* Write any motion settings to the sensor*/ + rslt |= bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_ANYMOTION_EN_LEN + 2, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @brief This API gets the configuration of any motion feature from + * the sensor. + */ +uint16_t bma423_get_any_motion_config(struct bma423_anymotion_config *any_motion, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_ANYMOTION_EN_LEN + 2] = {0}; + uint8_t anymotion = 0; + uint16_t rslt = BMA4_OK; + uint16_t *data_p = (uint16_t *)feature_config; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_ANYMOTION_EN_LEN + 2, dev); + if (rslt == BMA4_OK) { + /* Extract threshold value */ + any_motion->threshold = (*data_p) & BMA423_ANY_NO_MOTION_THRES_MSK; + /* Extract threshold & nomotion selection + * data */ + anymotion = ((uint8_t)(*(data_p++) >> 8)) & BMA423_ANY_NO_MOTION_SEL_MSK; + /* Extract no motion field */ + any_motion->nomotion_sel = anymotion >> + BMA423_ANY_NO_MOTION_SEL_POS; + /* Extract duration value */ + any_motion->duration = (*(data_p)) & BMA423_ANY_NO_MOTION_DUR_MSK; + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables or disables the step detector feature in the + * sensor. + */ +uint16_t bma423_step_detector_enable(uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint16_t rslt = BMA4_OK; + /* Step detector enable bit pos. is 1 byte ahead of the base address */ + uint8_t index = BMA423_STEP_CNTR_OFFSET + 1; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], + BMA423_STEP_DETECTOR_EN, enable); + rslt |= bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the watermark level for step counter + * interrupt in the sensor. + */ +uint16_t bma423_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_STEP_CNTR_OFFSET; + uint16_t wm_lsb = 0; + uint16_t wm_msb = 0; + uint16_t rslt = BMA4_OK; + uint16_t data = 0; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + wm_lsb = feature_config[index]; + wm_msb = feature_config[index + 1] << 8; + data = wm_lsb | wm_msb; + /* Sets only watermark bits in the complete + 16 bits of data */ + data = BMA4_SET_BITS_POS_0(data, BMA423_STEP_CNTR_WM, step_counter_wm); + /* Splits 16 bits of data to individual + 8 bits data */ + feature_config[index] = BMA4_GET_LSB(data); + feature_config[index + 1] = BMA4_GET_MSB(data); + /* Writes stepcounter watermark settings + in the sensor */ + rslt |= bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the water mark level set for step counter interrupt + * in the sensor + */ +uint16_t bma423_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_STEP_CNTR_OFFSET; + uint16_t wm_lsb = 0; + uint16_t wm_msb = 0; + uint16_t rslt = BMA4_OK; + uint16_t data = 0; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + wm_lsb = feature_config[index]; + wm_msb = feature_config[index + 1] << 8; + data = wm_lsb | wm_msb; + *step_counter_wm = BMA4_GET_BITS_POS_0(data, BMA423_STEP_CNTR_WM); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API resets the counted steps of step counter. + */ +uint16_t bma423_reset_step_counter(struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + /* Reset bit is 1 byte ahead of base address */ + uint8_t index = BMA423_STEP_CNTR_OFFSET + 1; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], + BMA423_STEP_CNTR_RST, 1); + rslt |= bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + return rslt; +} + +/*! + * @brief This API gets the number of counted steps of the step counter + * feature from the sensor. + */ +uint16_t bma423_step_counter_output(uint32_t *step_count, struct bma4_dev *dev) +{ + uint8_t data[BMA423_STEP_CNTR_DATA_SIZE] = {0}; + uint16_t rslt = BMA4_OK; + uint32_t step_count_0 = 0; + uint32_t step_count_1 = 0; + uint32_t step_count_2 = 0; + uint32_t step_count_3 = 0; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + /* Reads the step counter output data from the + gpio register */ + rslt = bma4_read_regs(BMA4_STEP_CNT_OUT_0_ADDR, data, + BMA423_STEP_CNTR_DATA_SIZE, dev); + + if (rslt == BMA4_OK) { + step_count_0 = (uint32_t)data[0]; + step_count_1 = (uint32_t)data[1] << 8; + step_count_2 = (uint32_t)data[2] << 16; + step_count_3 = (uint32_t)data[3] << 24; + *step_count = step_count_0 | step_count_1 | step_count_2 | step_count_3; + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the output for activity feature. + */ +uint16_t bma423_activity_output(uint8_t *activity, struct bma4_dev *dev) +{ + uint8_t data = 0; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + /* Reads the activity output from the gpio register */ + rslt = bma4_read_regs(BMA4_ACTIVITY_OUT_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + *activity = data; + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API select the platform configuration wrist(Default) or phone. + */ +uint16_t bma423_select_platform(uint8_t platform, struct bma4_dev *dev) +{ + uint16_t rslt = BMA4_OK; + struct bma423_stepcounter_settings sc_settings = {0}; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + switch (platform) { + case BMA423_PHONE_CONFIG: + sc_settings.param1 = BMA423_PHONE_SC_PARAM_1; + sc_settings.param2 = BMA423_PHONE_SC_PARAM_2; + sc_settings.param3 = BMA423_PHONE_SC_PARAM_3; + sc_settings.param4 = BMA423_PHONE_SC_PARAM_4; + sc_settings.param5 = BMA423_PHONE_SC_PARAM_5; + sc_settings.param6 = BMA423_PHONE_SC_PARAM_6; + sc_settings.param7 = BMA423_PHONE_SC_PARAM_7; + sc_settings.param8 = BMA423_PHONE_SC_PARAM_8; + sc_settings.param9 = BMA423_PHONE_SC_PARAM_9; + sc_settings.param10 = BMA423_PHONE_SC_PARAM_10; + sc_settings.param11 = BMA423_PHONE_SC_PARAM_11; + sc_settings.param12 = BMA423_PHONE_SC_PARAM_12; + sc_settings.param13 = BMA423_PHONE_SC_PARAM_13; + sc_settings.param14 = BMA423_PHONE_SC_PARAM_14; + sc_settings.param15 = BMA423_PHONE_SC_PARAM_15; + sc_settings.param16 = BMA423_PHONE_SC_PARAM_16; + sc_settings.param17 = BMA423_PHONE_SC_PARAM_17; + sc_settings.param18 = BMA423_PHONE_SC_PARAM_18; + sc_settings.param19 = BMA423_PHONE_SC_PARAM_19; + sc_settings.param20 = BMA423_PHONE_SC_PARAM_20; + sc_settings.param21 = BMA423_PHONE_SC_PARAM_21; + sc_settings.param22 = BMA423_PHONE_SC_PARAM_22; + sc_settings.param23 = BMA423_PHONE_SC_PARAM_23; + sc_settings.param24 = BMA423_PHONE_SC_PARAM_24; + sc_settings.param25 = BMA423_PHONE_SC_PARAM_25; + break; + + case BMA423_WRIST_CONFIG: + sc_settings.param1 = BMA423_WRIST_SC_PARAM_1; + sc_settings.param2 = BMA423_WRIST_SC_PARAM_2; + sc_settings.param3 = BMA423_WRIST_SC_PARAM_3; + sc_settings.param4 = BMA423_WRIST_SC_PARAM_4; + sc_settings.param5 = BMA423_WRIST_SC_PARAM_5; + sc_settings.param6 = BMA423_WRIST_SC_PARAM_6; + sc_settings.param7 = BMA423_WRIST_SC_PARAM_7; + sc_settings.param8 = BMA423_WRIST_SC_PARAM_8; + sc_settings.param9 = BMA423_WRIST_SC_PARAM_9; + sc_settings.param10 = BMA423_WRIST_SC_PARAM_10; + sc_settings.param11 = BMA423_WRIST_SC_PARAM_11; + sc_settings.param12 = BMA423_WRIST_SC_PARAM_12; + sc_settings.param13 = BMA423_WRIST_SC_PARAM_13; + sc_settings.param14 = BMA423_WRIST_SC_PARAM_14; + sc_settings.param15 = BMA423_WRIST_SC_PARAM_15; + sc_settings.param16 = BMA423_WRIST_SC_PARAM_16; + sc_settings.param17 = BMA423_WRIST_SC_PARAM_17; + sc_settings.param18 = BMA423_WRIST_SC_PARAM_18; + sc_settings.param19 = BMA423_WRIST_SC_PARAM_19; + sc_settings.param20 = BMA423_WRIST_SC_PARAM_20; + sc_settings.param21 = BMA423_WRIST_SC_PARAM_21; + sc_settings.param22 = BMA423_WRIST_SC_PARAM_22; + sc_settings.param23 = BMA423_WRIST_SC_PARAM_23; + sc_settings.param24 = BMA423_WRIST_SC_PARAM_24; + sc_settings.param25 = BMA423_WRIST_SC_PARAM_25; + break; + + default: + rslt = BMA4_E_OUT_OF_RANGE; + break; + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + if (rslt == BMA4_OK) { + /* Set the step counter parameter */ + rslt = bma423_stepcounter_set_parameter(&sc_settings, dev); + } + + return rslt; +} + +/*! + * @brief This API gets the parameter1 to parameter7 settings of the + * step counter feature. + */ +uint16_t bma423_stepcounter_get_parameter(struct bma423_stepcounter_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint16_t *data_p = (uint16_t *)feature_config; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) { + /* To convert 8bit to 16 bit address */ + data_p = data_p + BMA423_STEP_CNTR_PARAM_OFFSET/2; + extract_stepcounter_parameter(setting, data_p); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the parameter1 to parameter7 settings of the + * step counter feature in the sensor. + */ +uint16_t bma423_stepcounter_set_parameter(const struct bma423_stepcounter_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_STEP_CNTR_PARAM_OFFSET; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + update_stepcounter_parameter(setting, index, feature_config); + /* Writes stepcounter parameter settings + in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the sensitivity of wake up feature in the sensor + */ +uint16_t bma423_wakeup_set_sensitivity(uint8_t sensitivity, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_WAKEUP_OFFSET; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], + BMA423_WAKEUP_SENS, sensitivity); + /* Writes sensitivity settings in the sensor */ + rslt |= bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the sensitivity of wake up feature in the sensor + */ +uint16_t bma423_wakeup_get_sensitivity(uint8_t *sensitivity, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0}; + uint8_t index = BMA423_WAKEUP_OFFSET; + uint16_t rslt = BMA4_OK; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + /* Extracts sensitivity data */ + *sensitivity = BMA4_GET_BITSLICE(feature_config[index], BMA423_WAKEUP_SENS); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to select single/double tap + * feature in the sensor + */ +uint16_t bma423_tap_selection(const uint8_t tap_select, struct bma4_dev *dev) +{ + uint16_t rslt = BMA4_OK; + uint8_t feature_config[BMA423_FEATURE_SIZE] = {0,}; + uint8_t index = BMA423_WAKEUP_OFFSET; + + if (dev != NULL) { + if (dev->chip_id == BMA423_CHIP_ID) { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA423_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], + BMA423_TAP_SEL, tap_select); + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, + BMA423_FEATURE_SIZE, dev); + } + } else { + rslt = BMA4_E_INVALID_SENSOR; + } + } else { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} +/*! + * @brief This API update the length for read and write. + */ +static void update_len(uint8_t *len, uint8_t feature, uint8_t enable) +{ + uint8_t length = BMA423_FEATURE_SIZE; + + if ((feature == BMA423_ANY_MOTION) || (feature == BMA423_NO_MOTION)) { + /* Change the feature length to 2 for reading and writing of 2 bytes for + any/no-motion enable */ + length = BMA423_ANYMOTION_EN_LEN; + + /* Read and write 4 byte to disable the any/no motion completely along with + all axis */ + if (enable == BMA4_DISABLE) { + /*Change the feature length to 4 for reading and writing + of 4 bytes for any/no-motion enable */ + length = length + 2; + } + } + + *len = length; +} + +/*! + * @brief This API enables the features of the sensor. + */ +static uint16_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + uint16_t rslt; + + /* Enable step counter */ + if ((feature & BMA423_STEP_CNTR) > 0) { + /* Step counter enable bit pos. is 1 byte ahead of the + base address */ + index = BMA423_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] | BMA423_STEP_CNTR_EN_MSK; + } + + /* Enable activity */ + if ((feature & BMA423_ACTIVITY) > 0) { + /* Activity enable bit pos. is 1 byte ahead of the + base address */ + index = BMA423_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] | BMA423_ACTIVITY_EN_MSK; + } + /* Enable tilt */ + if ((feature & BMA423_TILT) > 0) { + /* Tilt enable bit pos. is the base address(0x3A) of tilt */ + index = BMA423_TILT_OFFSET; + feature_config[index] = feature_config[index] | BMA423_TILT_EN_MSK; + } + + /* Enable wakeup */ + if ((feature & BMA423_WAKEUP) > 0) { + /* Wakeup enable bit pos. is the base address(0x38) of wakeup */ + index = BMA423_WAKEUP_OFFSET; + feature_config[index] = feature_config[index] | BMA423_WAKEUP_EN_MSK; + } + + /* Enable anymotion/nomotion */ + if ((feature & BMA423_ANY_MOTION) > 0 || (feature & BMA423_NO_MOTION) > 0) { + /* Any/Nomotion enable bit pos. is 1 bytes ahead of the + any/nomotion base address(0x00) */ + index = 1; + + if ((feature & BMA423_ANY_MOTION) > 0) { + /* Enable anymotion */ + feature_config[index] = feature_config[index] & (~BMA423_ANY_NO_MOTION_SEL_MSK); + } else { + /* Enable nomotion */ + feature_config[index] = feature_config[index] | BMA423_ANY_NO_MOTION_SEL_MSK; + } + } + + /* Write the feature enable settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + + return rslt; +} + +/*! + * @brief This API disables the features of the sensor. + */ +static uint16_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + uint16_t rslt; + + /* Disable step counter */ + if ((feature & BMA423_STEP_CNTR) > 0) { + /* Step counter enable bit pos. is 1 byte ahead of the + base address */ + index = BMA423_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] & (~BMA423_STEP_CNTR_EN_MSK); + } + + /* Disable activity */ + if ((feature & BMA423_ACTIVITY) > 0) { + /* Activity enable bit pos. is 1 byte ahead of the + base address */ + index = BMA423_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] & (~BMA423_ACTIVITY_EN_MSK); + } + /* Disable tilt */ + if ((feature & BMA423_TILT) > 0) { + /* Tilt enable bit pos. is the base address(0x3A) of tilt */ + index = BMA423_TILT_OFFSET; + feature_config[index] = feature_config[index] & (~BMA423_TILT_EN_MSK); + } + + /* Disable wakeup */ + if ((feature & BMA423_WAKEUP) > 0) { + /* Tilt enable bit pos. is the base address(0x38) of wakeup */ + index = BMA423_WAKEUP_OFFSET; + feature_config[index] = feature_config[index] & (~BMA423_WAKEUP_EN_MSK); + } + + /* Disable anymotion/nomotion */ + if ((feature & BMA423_ANY_MOTION) > 0 || (feature & BMA423_NO_MOTION) > 0) { + /* Any/Nomotion enable bit pos. is 1 bytes ahead of the + any/nomotion base address(0x00) */ + index = 1; + + if ((feature & BMA423_ANY_MOTION) > 0) { + /* Disable anymotion */ + feature_config[index] = feature_config[index] | BMA423_ANY_NO_MOTION_SEL_MSK; + } else { + /* Disable nomotion */ + feature_config[index] = feature_config[index] & (~BMA423_ANY_NO_MOTION_SEL_MSK); + } + /* Any/Nomotion axis enable bit pos. is 3 byte ahead of the + any/nomotion base address(0x00) */ + index = 3; + feature_config[index] = feature_config[index] & (~BMA423_ANY_NO_MOTION_AXIS_EN_MSK); + } + /* Write the configured settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + + return rslt; +} + +/*! + * @brief This API update the settings of step counter. + */ +static void update_stepcounter_parameter(const struct bma423_stepcounter_settings *setting, + uint8_t index, uint8_t *feature_config) +{ + feature_config[index++] = BMA4_GET_LSB(setting->param1); + feature_config[index++] = BMA4_GET_MSB(setting->param1); + feature_config[index++] = BMA4_GET_LSB(setting->param2); + feature_config[index++] = BMA4_GET_MSB(setting->param2); + feature_config[index++] = BMA4_GET_LSB(setting->param3); + feature_config[index++] = BMA4_GET_MSB(setting->param3); + feature_config[index++] = BMA4_GET_LSB(setting->param4); + feature_config[index++] = BMA4_GET_MSB(setting->param4); + feature_config[index++] = BMA4_GET_LSB(setting->param5); + feature_config[index++] = BMA4_GET_MSB(setting->param5); + feature_config[index++] = BMA4_GET_LSB(setting->param6); + feature_config[index++] = BMA4_GET_MSB(setting->param6); + feature_config[index++] = BMA4_GET_LSB(setting->param7); + feature_config[index++] = BMA4_GET_MSB(setting->param7); + feature_config[index++] = BMA4_GET_LSB(setting->param8); + feature_config[index++] = BMA4_GET_MSB(setting->param8); + feature_config[index++] = BMA4_GET_LSB(setting->param9); + feature_config[index++] = BMA4_GET_MSB(setting->param9); + feature_config[index++] = BMA4_GET_LSB(setting->param10); + feature_config[index++] = BMA4_GET_MSB(setting->param10); + feature_config[index++] = BMA4_GET_LSB(setting->param11); + feature_config[index++] = BMA4_GET_MSB(setting->param11); + feature_config[index++] = BMA4_GET_LSB(setting->param12); + feature_config[index++] = BMA4_GET_MSB(setting->param12); + feature_config[index++] = BMA4_GET_LSB(setting->param13); + feature_config[index++] = BMA4_GET_MSB(setting->param13); + feature_config[index++] = BMA4_GET_LSB(setting->param14); + feature_config[index++] = BMA4_GET_MSB(setting->param14); + feature_config[index++] = BMA4_GET_LSB(setting->param15); + feature_config[index++] = BMA4_GET_MSB(setting->param15); + feature_config[index++] = BMA4_GET_LSB(setting->param16); + feature_config[index++] = BMA4_GET_MSB(setting->param16); + feature_config[index++] = BMA4_GET_LSB(setting->param17); + feature_config[index++] = BMA4_GET_MSB(setting->param17); + feature_config[index++] = BMA4_GET_LSB(setting->param18); + feature_config[index++] = BMA4_GET_MSB(setting->param18); + feature_config[index++] = BMA4_GET_LSB(setting->param19); + feature_config[index++] = BMA4_GET_MSB(setting->param19); + feature_config[index++] = BMA4_GET_LSB(setting->param20); + feature_config[index++] = BMA4_GET_MSB(setting->param20); + feature_config[index++] = BMA4_GET_LSB(setting->param21); + feature_config[index++] = BMA4_GET_MSB(setting->param21); + feature_config[index++] = BMA4_GET_LSB(setting->param22); + feature_config[index++] = BMA4_GET_MSB(setting->param22); + feature_config[index++] = BMA4_GET_LSB(setting->param23); + feature_config[index++] = BMA4_GET_MSB(setting->param23); + feature_config[index++] = BMA4_GET_LSB(setting->param24); + feature_config[index++] = BMA4_GET_MSB(setting->param24); + feature_config[index++] = BMA4_GET_LSB(setting->param25); + feature_config[index] = BMA4_GET_MSB(setting->param25); +} + +/*! + * @brief This API copy the settings of step counter into the + * structure of bma423_stepcounter_settings, which is read from sensor. + */ +static void extract_stepcounter_parameter(struct bma423_stepcounter_settings *setting, const uint16_t *data_p) +{ + setting->param1 = *(data_p++); + setting->param2 = *(data_p++); + setting->param3 = *(data_p++); + setting->param4 = *(data_p++); + setting->param5 = *(data_p++); + setting->param6 = *(data_p++); + setting->param7 = *(data_p++); + setting->param8 = *(data_p++); + setting->param9 = *(data_p++); + setting->param10 = *(data_p++); + setting->param11 = *(data_p++); + setting->param12 = *(data_p++); + setting->param13 = *(data_p++); + setting->param14 = *(data_p++); + setting->param15 = *(data_p++); + setting->param16 = *(data_p++); + setting->param17 = *(data_p++); + setting->param18 = *(data_p++); + setting->param19 = *(data_p++); + setting->param20 = *(data_p++); + setting->param21 = *(data_p++); + setting->param22 = *(data_p++); + setting->param23 = *(data_p++); + setting->param24 = *(data_p++); + setting->param25 = *data_p; +} diff --git a/lib/SensorLib/src/bosch/bma4xx/bma423.h b/lib/SensorLib/src/bosch/bma4xx/bma423.h new file mode 100644 index 0000000..58ccc33 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma423.h @@ -0,0 +1,805 @@ +/* +* +**************************************************************************** +* Copyright (C) 2017 - 2018 Bosch Sensortec GmbH +* +* File : bma423.h +* +* Date: 12 Oct 2017 +* +* Revision : 1.1.4 $ +* +* Usage: Sensor Driver for BMA423 sensor +* +**************************************************************************** +* +* Disclaimer +* +* Common: +* Bosch Sensortec products are developed for the consumer goods industry. +* They may only be used within the parameters of the respective valid +* product data sheet. Bosch Sensortec products are provided with the +* express understanding that there is no warranty of fitness for a +* particular purpose.They are not fit for use in life-sustaining, +* safety or security sensitive systems or any system or device +* that may lead to bodily harm or property damage if the system +* or device malfunctions. In addition,Bosch Sensortec products are +* not fit for use in products which interact with motor vehicle systems. +* The resale and or use of products are at the purchasers own risk and +* his own responsibility. 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Specifications mentioned in the Information are +* subject to change without notice. +**************************************************************************/ +/*! \file bma423.h + \brief Sensor Driver for BMA423 sensor */ +#ifndef BMA423_H +#define BMA423_H + +#ifdef __cplusplus +extern "C" { +#endif +#include "bma4.h" + +/**\name Chip ID of BMA423 sensor */ +#define BMA423_CHIP_ID UINT8_C(0x13) + +/**\name Sensor feature size */ +#define BMA423_FEATURE_SIZE UINT8_C(64) +#define BMA423_ANYMOTION_EN_LEN UINT8_C(2) +#define BMA423_RD_WR_MIN_LEN UINT8_C(2) +#define BMA423_CONFIG_FILE_SIZE UINT16_C(6144) + +/**\name Feature offset address */ +#define BMA423_ANY_NO_MOTION_OFFSET UINT8_C(0x00) +#define BMA423_STEP_CNTR_OFFSET UINT8_C(0x36) +#define BMA423_STEP_CNTR_PARAM_OFFSET UINT8_C(0x04) +#define BMA423_WAKEUP_OFFSET UINT8_C(0x38) +#define BMA423_TILT_OFFSET UINT8_C(0x3A) +#define BMA423_CONFIG_ID_OFFSET UINT8_C(0x3C) +#define BMA423_AXES_REMAP_OFFSET UINT8_C(0x3E) + + +/**************************************************************/ +/**\name Remap Axes */ +/**************************************************************/ +#define BMA423_X_AXIS_MASK UINT8_C(0x03) +#define BMA423_X_AXIS_SIGN_MASK UINT8_C(0x04) +#define BMA423_Y_AXIS_MASK UINT8_C(0x18) +#define BMA423_Y_AXIS_SIGN_MASK UINT8_C(0x20) +#define BMA423_Z_AXIS_MASK UINT8_C(0xC0) +#define BMA423_Z_AXIS_SIGN_MASK UINT8_C(0x01) + +/**************************************************************/ +/**\name Step Counter & Detector */ +/**************************************************************/ +/**\name Step counter enable macros */ +#define BMA423_STEP_CNTR_EN_POS UINT8_C(4) +#define BMA423_STEP_CNTR_EN_MSK UINT8_C(0x10) +#define BMA423_ACTIVITY_EN_MSK UINT8_C(0x20) + +/**\name Step counter watermark macros */ +#define BMA423_STEP_CNTR_WM_MSK UINT16_C(0x03FF) + +/**\name Step counter reset macros */ +#define BMA423_STEP_CNTR_RST_POS UINT8_C(2) +#define BMA423_STEP_CNTR_RST_MSK UINT8_C(0x04) + +/**\name Step detector enable macros */ +#define BMA423_STEP_DETECTOR_EN_POS UINT8_C(3) +#define BMA423_STEP_DETECTOR_EN_MSK UINT8_C(0x08) + +/**\name Tilt enable macros */ +#define BMA423_TILT_EN_MSK UINT8_C(0x01) + +/**\name Step count output length*/ +#define BMA423_STEP_CNTR_DATA_SIZE UINT16_C(4) + +/**\name Wakeup enable macros */ +#define BMA423_WAKEUP_EN_MSK UINT8_C(0x01) + +/**\name Wake up sensitivity macros */ +#define BMA423_WAKEUP_SENS_POS UINT8_C(1) +#define BMA423_WAKEUP_SENS_MSK UINT8_C(0x0E) + +/**\name Tap selection macro */ +#define BMA423_TAP_SEL_POS UINT8_C(4) +#define BMA423_TAP_SEL_MSK UINT8_C(0x10) + +/**************************************************************/ +/**\name Any Motion */ +/**************************************************************/ +/**\name Any motion threshold macros */ +#define BMA423_ANY_NO_MOTION_THRES_POS UINT8_C(0) +#define BMA423_ANY_NO_MOTION_THRES_MSK UINT16_C(0x07FF) + +/**\name Any motion selection macros */ +#define BMA423_ANY_NO_MOTION_SEL_POS UINT8_C(3) +#define BMA423_ANY_NO_MOTION_SEL_MSK UINT8_C(0x08) + +/**\name Any motion enable macros */ +#define BMA423_ANY_NO_MOTION_AXIS_EN_POS UINT8_C(5) +#define BMA423_ANY_NO_MOTION_AXIS_EN_MSK UINT8_C(0xE0) + +/**\name Any motion duration macros */ +#define BMA423_ANY_NO_MOTION_DUR_MSK UINT16_C(0x1FFF) + +/**************************************************************/ +/**\name User macros */ +/**************************************************************/ + +/**\name Anymotion/Nomotion axis enable macros */ +#define BMA423_X_AXIS_EN UINT8_C(0x01) +#define BMA423_Y_AXIS_EN UINT8_C(0x02) +#define BMA423_Z_AXIS_EN UINT8_C(0x04) +#define BMA423_ALL_AXIS_EN UINT8_C(0x07) +#define BMA423_ALL_AXIS_DIS UINT8_C(0x00) + +/**\name Feature enable macros for the sensor */ +#define BMA423_STEP_CNTR UINT8_C(0x01) +/**\name Below macros are mutually exclusive */ +#define BMA423_ANY_MOTION UINT8_C(0x02) +#define BMA423_NO_MOTION UINT8_C(0x04) +#define BMA423_ACTIVITY UINT8_C(0x08) +#define BMA423_TILT UINT8_C(0x10) +#define BMA423_WAKEUP UINT8_C(0x20) + +/**\name Interrupt status macros */ +#define BMA423_STEP_CNTR_INT UINT8_C(0x02) +#define BMA423_ACTIVITY_INT UINT8_C(0x04) +#define BMA423_TILT_INT UINT8_C(0x08) +#define BMA423_WAKEUP_INT UINT8_C(0x20) +#define BMA423_ANY_NO_MOTION_INT UINT8_C(0x40) +#define BMA423_ERROR_INT UINT8_C(0x80) + +/**\name Activity recognition macros */ +#define BMA423_USER_STATIONARY UINT8_C(0x00) +#define BMA423_USER_WALKING UINT8_C(0x01) +#define BMA423_USER_RUNNING UINT8_C(0x02) +#define BMA423_STATE_INVALID UINT8_C(0x03) + +/**\name Configuration selection macros */ +#define BMA423_PHONE_CONFIG UINT8_C(0x00) +#define BMA423_WRIST_CONFIG UINT8_C(0x01) + +/**\name Step counter parameter setting(1-25) for phone */ +#define BMA423_PHONE_SC_PARAM_1 UINT16_C(0x132) +#define BMA423_PHONE_SC_PARAM_2 UINT16_C(0x78E6) +#define BMA423_PHONE_SC_PARAM_3 UINT16_C(0x84) +#define BMA423_PHONE_SC_PARAM_4 UINT16_C(0x6C9C) +#define BMA423_PHONE_SC_PARAM_5 UINT8_C(0x07) +#define BMA423_PHONE_SC_PARAM_6 UINT16_C(0x7564) +#define BMA423_PHONE_SC_PARAM_7 UINT16_C(0x7EAA) +#define BMA423_PHONE_SC_PARAM_8 UINT16_C(0x55F) +#define BMA423_PHONE_SC_PARAM_9 UINT16_C(0xABE) +#define BMA423_PHONE_SC_PARAM_10 UINT16_C(0x55F) +#define BMA423_PHONE_SC_PARAM_11 UINT16_C(0xE896) +#define BMA423_PHONE_SC_PARAM_12 UINT16_C(0x41EF) +#define BMA423_PHONE_SC_PARAM_13 UINT8_C(0x01) +#define BMA423_PHONE_SC_PARAM_14 UINT8_C(0x0C) +#define BMA423_PHONE_SC_PARAM_15 UINT8_C(0x0C) +#define BMA423_PHONE_SC_PARAM_16 UINT8_C(0x4A) +#define BMA423_PHONE_SC_PARAM_17 UINT8_C(0xA0) +#define BMA423_PHONE_SC_PARAM_18 UINT8_C(0x00) +#define BMA423_PHONE_SC_PARAM_19 UINT8_C(0x0C) +#define BMA423_PHONE_SC_PARAM_20 UINT16_C(0x3CF0) +#define BMA423_PHONE_SC_PARAM_21 UINT16_C(0x100) +#define BMA423_PHONE_SC_PARAM_22 UINT8_C(0x00) +#define BMA423_PHONE_SC_PARAM_23 UINT8_C(0x00) +#define BMA423_PHONE_SC_PARAM_24 UINT8_C(0x00) +#define BMA423_PHONE_SC_PARAM_25 UINT8_C(0x00) + +/**\name Step counter parameter setting(1-25) for wrist (Default) */ +#define BMA423_WRIST_SC_PARAM_1 UINT16_C(0x12D) +#define BMA423_WRIST_SC_PARAM_2 UINT16_C(0x7BD4) +#define BMA423_WRIST_SC_PARAM_3 UINT16_C(0x13B) +#define BMA423_WRIST_SC_PARAM_4 UINT16_C(0x7ADB) +#define BMA423_WRIST_SC_PARAM_5 UINT8_C(0x04) +#define BMA423_WRIST_SC_PARAM_6 UINT16_C(0x7B3F) +#define BMA423_WRIST_SC_PARAM_7 UINT16_C(0x6CCD) +#define BMA423_WRIST_SC_PARAM_8 UINT16_C(0x4C3) +#define BMA423_WRIST_SC_PARAM_9 UINT16_C(0x985) +#define BMA423_WRIST_SC_PARAM_10 UINT16_C(0x4C3) +#define BMA423_WRIST_SC_PARAM_11 UINT16_C(0xE6EC) +#define BMA423_WRIST_SC_PARAM_12 UINT16_C(0x460C) +#define BMA423_WRIST_SC_PARAM_13 UINT8_C(0x01) +#define BMA423_WRIST_SC_PARAM_14 UINT8_C(0x27) +#define BMA423_WRIST_SC_PARAM_15 UINT8_C(0x19) +#define BMA423_WRIST_SC_PARAM_16 UINT8_C(0x96) +#define BMA423_WRIST_SC_PARAM_17 UINT8_C(0xA0) +#define BMA423_WRIST_SC_PARAM_18 UINT8_C(0x01) +#define BMA423_WRIST_SC_PARAM_19 UINT8_C(0x0C) +#define BMA423_WRIST_SC_PARAM_20 UINT16_C(0x3CF0) +#define BMA423_WRIST_SC_PARAM_21 UINT16_C(0x100) +#define BMA423_WRIST_SC_PARAM_22 UINT8_C(0x01) +#define BMA423_WRIST_SC_PARAM_23 UINT8_C(0x03) +#define BMA423_WRIST_SC_PARAM_24 UINT8_C(0x01) +#define BMA423_WRIST_SC_PARAM_25 UINT8_C(0x0E) + +/*! + * @brief Any motion configuration + */ +struct bma423_anymotion_config { + /*! Expressed in 50 Hz samples (20 ms) */ + uint16_t duration; + /*! Threshold value for Any-motion / No-motion detection in + 5.11g format */ + uint16_t threshold; + /*! Indicates if No-motion or Any-motion is selected */ + uint8_t nomotion_sel; +}; + +/*! + * @brief Axes remapping configuration + */ +struct bma423_axes_remap { + uint8_t x_axis; + uint8_t x_axis_sign; + uint8_t y_axis; + uint8_t y_axis_sign; + uint8_t z_axis; + uint8_t z_axis_sign; +}; + +/*! + * @brief Step counter param settings + */ +struct bma423_stepcounter_settings { + /*! Step Counter param 1 */ + uint16_t param1; + /*! Step Counter param 2 */ + uint16_t param2; + /*! Step Counter param 3 */ + uint16_t param3; + /*! Step Counter param 4 */ + uint16_t param4; + /*! Step Counter param 5 */ + uint16_t param5; + /*! Step Counter param 6 */ + uint16_t param6; + /*! Step Counter param 7 */ + uint16_t param7; + /*! Step Counter param 8 */ + uint16_t param8; + /*! Step Counter param 9 */ + uint16_t param9; + /*! Step Counter param 10 */ + uint16_t param10; + /*! Step Counter param 11 */ + uint16_t param11; + /*! Step Counter param 12 */ + uint16_t param12; + /*! Step Counter param 13 */ + uint16_t param13; + /*! Step Counter param 14 */ + uint16_t param14; + /*! Step Counter param 15 */ + uint16_t param15; + /*! Step Counter param 16 */ + uint16_t param16; + /*! Step Counter param 17 */ + uint16_t param17; + /*! Step Counter param 18 */ + uint16_t param18; + /*! Step Counter param 19 */ + uint16_t param19; + /*! Step Counter param 20 */ + uint16_t param20; + /*! Step Counter param 21 */ + uint16_t param21; + /*! Step Counter param 22 */ + uint16_t param22; + /*! Step Counter param 23 */ + uint16_t param23; + /*! Step Counter param 24 */ + uint16_t param24; + /*! Step Counter param 25 */ + uint16_t param25; +}; + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_init(struct bma4_dev *dev); + +/*! + * @brief This API is used to upload the config file to enable + * the features of the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_write_config_file(struct bma4_dev *dev); + +/*! + * @brief This API is used to get the configuration id of the sensor. + * + * @param[out] config_id : Pointer variable used to store + * the configuration id. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + + +/*! + * @brief This API sets/unsets the user provided interrupt to either + * interrupt pin1 or pin2 in the sensor. + * + * @param[in] int_line: Variable to select either interrupt pin1 or pin2. + * int_line | Macros + * ------------|------------------- + * 0 | BMA4_INTR1_MAP + * 1 | BMA4_INTR2_MAP + * @param[in] int_map : Variable to specify the interrupts. + * @param[in] enable : Variable to specify mapping or unmapping of + * interrupts. + * enable | Macros + * --------------------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the interrupts. + * Feature Interrupts + * - BMA423_STEP_CNTR_INT + * - BMA423_ACTIVITY_INT + * - BMA423_TILT_INT + * - BMA423_WAKEUP_INT + * - BMA423_ANY_NO_MOTION_INT + * - BMA423_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/*! + * @brief This API reads the bma423 interrupt status from the sensor. + * + * @param[out] int_status : Variable to store the interrupt status + * read from the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros are used to check the interrupt status. + * Feature Interrupts + * + * - BMA423_STEP_CNTR_INT + * - BMA423_ACTIVITY_INT + * - BMA423_TILT_INT + * - BMA423_WAKEUP_INT + * - BMA423_ANY_NO_MOTION_INT + * - BMA423_ERROR_INT + * + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_MAG_DATA_RDY_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/*! + * @brief This API enables/disables the features of the sensor. + * + * @param[in] feature : Variable to specify the features + * which are to be set in bma423 sensor. + * @param[in] enable : Variable which specifies whether to enable or + * disable the features in the bma423 sensor + * enable | Macros + * --------------------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + * @param[in] dev : Structure instance of bma4_dev. + * + * @note User should use the below macros to enable or disable the + * features of bma423 sensor + * - BMA423_STEP_CNTR + * - BMA423_ANY_MOTION (or) BMA423_NO_MOTION + * - BMA423_ACTIVITY + * - BMA423_WAKEUP + * - BMA423_TILT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + + +/*! + * @brief This API performs x, y and z axis remapping in the sensor. + * + * @param[in] remap_data : Pointer to store axes remapping data. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_set_remap_axes(const struct bma423_axes_remap *remap_data, struct bma4_dev *dev); + +/*! + * @brief This API reads the x, y and z axis remap data from the sensor. + * + * @param[out] remap_data : Pointer to store axis remap data which is read + * from the bma423 sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_get_remap_axes(struct bma423_axes_remap *remap_data, struct bma4_dev *dev); + + +/*! + * @brief This API sets the watermark level for step counter + * interrupt in the sensor. + * + * @param[in] step_counter_wm : Variable which specifies watermark level + * count + * @note Valid values are from 1 to 1023 + * @note Value 0 is used for step detector interrupt + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev); + +/*! + * @brief This API gets the water mark level set for step counter interrupt + * in the sensor + * + * @param[out] step_counter_wm : Pointer variable which stores + * the water mark level read from the sensor. + * @note valid values are from 1 to 1023 + * @note value 0 is used for step detector interrupt + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev); + +/*! + * @brief This API resets the counted steps of step counter. + * + * @param[in] dev : structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_reset_step_counter(struct bma4_dev *dev); + +/*! + * @brief This API gets the number of counted steps of the step counter + * feature from the sensor. + * + * @param[out] step_count : Pointer variable which stores counted steps + * read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_step_counter_output(uint32_t *step_count, struct bma4_dev *dev); + +/*! + * @brief This API gets the output for activity feature. + * + * @param[out] activity : Pointer variable which stores activity output + * read from the sensor. + * activity | State + * --------------|------------------------ + * 0x00 | BMA423_USER_STATIONARY + * 0x01 | BMA423_USER_WALKING + * 0x02 | BMA423_USER_RUNNING + * 0x03 | BMA423_STATE_INVALID + * + * @param[in] dev : Structure instance of bma4_dev + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_activity_output(uint8_t *activity, struct bma4_dev *dev); + +/*! + * @brief This API select the platform configuration wrist(default) or phone. + * + * @param[in] platform : Variable to select wrist/phone + * + * platform | Macros + * -------------|------------------------ + * 0x00 | BMA423_PHONE_CONFIG + * 0x01 | BMA423_WRIST_CONFIG + * + * @param[in] dev : Structure instance of bma4_dev + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_select_platform(uint8_t platform, struct bma4_dev *dev); + +/*! + * @brief This API gets the parameter1 to parameter7 settings of the + * step counter feature. + * + * @param[out] setting : Pointer to structure variable which stores the + * parameter1 to parameter7 read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_stepcounter_get_parameter(struct bma423_stepcounter_settings *setting, struct bma4_dev *dev); + +/*! + * @brief This API sets the parameter1 to parameter7 settings of the + * step counter feature in the sensor. + * + * @param[in] setting : Pointer to structure variable which stores the + * parameter1 to parameter7 settings read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_stepcounter_set_parameter(const struct bma423_stepcounter_settings *setting, struct bma4_dev *dev); + +/*! + * @brief This API enables or disables the step detector feature in the + * sensor. + * + * @param[in] enable : Variable used to enable or disable step detector + * enable | Macros + * --------------------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_step_detector_enable(uint8_t enable, struct bma4_dev *dev); + +/*! + * @brief This API enables the any motion feature according to the axis + * set by the user in the sensor. + * + * @param[in] axis : Variable to specify the axis of the any motion feature + * to be enabled in the sensor. + * Value | Axis + * ---------|------------------------- + * 0x00 | BMA423_ALL_AXIS_DIS + * 0x01 | BMA423_X_AXIS_EN + * 0x02 | BMA423_Y_AXIS_EN + * 0x04 | BMA423_Z_AXIS_EN + * 0x07 | BMA423_ALL_AXIS_EN + * @param[in] dev : Structure instance of bma4_dev + * + * @return result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_anymotion_enable_axis(uint8_t axis, struct bma4_dev *dev); + +/*! @brief This API sets the configuration of Any motion feature in + * the sensor. + * + * @param[in] any_motion : Pointer to structure variable to specify + * the any motion feature settings. + * Structure members are provided in the table below + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion / No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Indicates if No motion (1) or + * nomotion_sel | Any-motion (0) is selected; + * | default value is 0 Any-motion. + * ------------------------------------------------------------------------- + *@endverbatim + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_set_any_motion_config(const struct bma423_anymotion_config *any_motion, struct bma4_dev *dev); + +/*! @brief This API gets the configuration of any motion feature from + * the sensor. + * + * @param[out] any_motion : Pointer to structure variable used to store + * the any motion feature settings read from the sensor. + * Structure members are provided in the table below + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion / No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Indicates if No motion (1) or + * nomotion_sel | Any-motion (0) is selected; + * | default value is 0 Any-motion. + * ------------------------------------------------------------------------- + *@endverbatim + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_get_any_motion_config(struct bma423_anymotion_config *any_motion, struct bma4_dev *dev); + +/*! + * @brief This API sets the sensitivity of wake up feature in the sensor + * + * @param[in] sensitivity : Variable used to specify the sensitivity of the + * Wake up feature. + * Value | Sensitivity + * --------|------------------------- + * 0x00 | MOST SENSITIVE + * 0x07 | LEAST SENSITIVE + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_wakeup_set_sensitivity(uint8_t sensitivity, struct bma4_dev *dev); + +/*! + * @brief This API gets the sensitivity of wake up feature in the sensor + * + * @param[out] sensitivity : Pointer variable which stores the sensitivity + * value read from the sensor. + * Value | Sensitivity + * --------|------------------------- + * 0x00 | MOST SENSITIVE + * 0x07 | LEAST SENSITIVE + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval Any non zero value -> Fail + */ +uint16_t bma423_wakeup_get_sensitivity(uint8_t *sensitivity, struct bma4_dev *dev); + +/*! + * @brief This API is used to select single/double tap + * feature in the sensor + * + * @param tap_select : Variable used to specify the single or + * double tap selection in the sensor + * tap_select | description + * ------------|------------------------ + * 0x00 | Double tap selected + * 0x01 | single tap selected + * + * @param dev : Structure instance of bma4_dev + * + * @return results of stream_transfer operation + * @retval 0 -> Success + * @retval Any positive value mentioned in ERROR CODES -> Fail + * + */ +uint16_t bma423_tap_selection(const uint8_t tap_select, struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /*End of CPP guard */ + +#endif /*End of header guard macro */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456_an.c b/lib/SensorLib/src/bosch/bma4xx/bma456_an.c new file mode 100644 index 0000000..e93da06 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456_an.c @@ -0,0 +1,619 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456_an.c +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/*! \file bma456_an.c + * \brief Sensor Driver for BMA456_AN sensor + */ + +#include "bma456_an.h" + +/**\name Feature configuration file */ +const uint8_t bma456_an_config_file[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, + 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x58, 0x01, 0x80, 0x2e, 0x42, 0x02, 0xb0, 0xf0, + 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf0, 0x00, 0x1f, 0x50, 0x1d, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41, + 0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x2c, 0x82, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, + 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x2e, 0x55, 0xf0, 0xc0, 0x2e, 0x21, 0x2e, 0x55, 0xf0, 0x44, 0x47, 0xaa, 0x00, 0x05, 0x00, 0xaa, + 0x00, 0x05, 0x00, 0x42, 0x58, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x52, 0x0b, 0x50, 0x60, 0x42, 0x00, 0x3f, 0x0d, 0x54, 0x42, 0x42, 0x69, 0x82, + 0x0f, 0x54, 0x42, 0x42, 0x42, 0x82, 0x4b, 0x30, 0x42, 0x40, 0x10, 0x08, 0x50, 0x42, 0x7e, 0x80, 0x4b, 0x42, 0x61, + 0x30, 0x01, 0x42, 0x10, 0x50, 0x03, 0x2e, 0x40, 0xf0, 0x56, 0xb2, 0x08, 0x80, 0x31, 0x30, 0xf0, 0x7f, 0x03, 0x2f, + 0x01, 0x2e, 0x40, 0xf0, 0x1a, 0x90, 0x21, 0x2f, 0x98, 0x2e, 0x1e, 0xb0, 0x03, 0x30, 0x13, 0x50, 0x17, 0x52, 0x11, + 0x54, 0x54, 0x33, 0x06, 0x30, 0x55, 0x32, 0x1d, 0x1a, 0xe3, 0x22, 0x18, 0x1a, 0x15, 0x58, 0xe3, 0x22, 0x04, 0x30, + 0xd5, 0x40, 0xb5, 0x0d, 0xe1, 0xbe, 0x6f, 0xbb, 0x80, 0x91, 0xa9, 0x0d, 0x01, 0x89, 0xb5, 0x23, 0x10, 0xa1, 0xf7, + 0x2f, 0xda, 0x0e, 0x54, 0x33, 0xeb, 0x2f, 0x01, 0x2e, 0x25, 0x00, 0x70, 0x1a, 0x00, 0x30, 0x21, 0x30, 0x48, 0x22, + 0x40, 0xb2, 0x06, 0x2f, 0x23, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, + 0x6f, 0x01, 0x31, 0x20, 0x26, 0x01, 0x42, 0x10, 0x30, 0x21, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x01, 0x50, + 0x03, 0x52, 0x98, 0x2e, 0x7f, 0x01, 0x01, 0x50, 0x05, 0x84, 0x13, 0x30, 0x05, 0x50, 0x64, 0x30, 0x07, 0x52, 0x93, + 0x42, 0x84, 0x42, 0x98, 0x2e, 0x7f, 0x01, 0x05, 0x50, 0x06, 0x80, 0x71, 0x30, 0x01, 0x42, 0x00, 0x2e, 0x00, 0x2e, + 0xd0, 0x2e, 0x98, 0x2e, 0xd6, 0x00, 0x01, 0x2e, 0x36, 0x00, 0x00, 0xb2, 0x0d, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0x36, + 0x00, 0x09, 0x50, 0x98, 0x2e, 0x18, 0x01, 0x09, 0x50, 0x01, 0x52, 0x98, 0x2e, 0x90, 0x01, 0x09, 0x50, 0x05, 0x52, + 0x98, 0x2e, 0x90, 0x01, 0x98, 0x2e, 0x3a, 0x00, 0xe6, 0x2d, 0x07, 0x2e, 0x00, 0xf0, 0x03, 0x2e, 0x00, 0xf0, 0x21, + 0x50, 0x9c, 0xbe, 0x02, 0x40, 0x1d, 0x52, 0xf4, 0x33, 0xdc, 0xba, 0xd9, 0x0f, 0x94, 0x08, 0x06, 0x2f, 0x49, 0xaf, + 0x04, 0x2f, 0x51, 0x0a, 0x02, 0x34, 0x47, 0xa3, 0x8a, 0x0a, 0x91, 0x22, 0x3c, 0x80, 0x25, 0x2e, 0x59, 0xf0, 0x01, + 0x40, 0x01, 0x42, 0xb8, 0x2e, 0x1a, 0x24, 0x26, 0x00, 0x80, 0x2e, 0x58, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, + 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x46, + 0x00, 0x40, 0x00, 0x4f, 0x00, 0x42, 0x00, 0x37, 0x00, 0xaf, 0x00, 0xff, 0x00, 0xec, 0x00, 0xff, 0xb7, 0x00, 0x02, + 0x00, 0xb0, 0x05, 0x80, 0xc9, 0xf0, 0x88, 0x00, 0x80, 0x00, 0x5e, 0xf0, 0x59, 0xf0, 0x89, 0xf0, 0x3a, 0x00, 0x80, + 0x2e, 0x00, 0xae, 0x44, 0x47, 0xfd, 0x2d, 0x00, 0x0c, 0x60, 0x50, 0x03, 0x2e, 0x45, 0x00, 0xe0, 0x7f, 0xf1, 0x7f, + 0xdb, 0x7f, 0x30, 0x30, 0x1b, 0x54, 0x0a, 0x1a, 0x28, 0x2f, 0x1a, 0x25, 0x7a, 0x82, 0x00, 0x30, 0x43, 0x30, 0x32, + 0x30, 0x05, 0x30, 0x04, 0x30, 0xf6, 0x6f, 0xf2, 0x09, 0xfc, 0x13, 0xc2, 0xab, 0xb3, 0x09, 0xef, 0x23, 0x80, 0xb3, + 0xe6, 0x6f, 0xb7, 0x01, 0x00, 0x2e, 0x8b, 0x41, 0x4b, 0x42, 0x03, 0x2f, 0x46, 0x40, 0x86, 0x17, 0x81, 0x8d, 0x46, + 0x42, 0x41, 0x8b, 0x23, 0xbd, 0xb3, 0xbd, 0x03, 0x89, 0x41, 0x82, 0x07, 0x0c, 0x43, 0xa3, 0xe6, 0x2f, 0xe1, 0x6f, + 0xa2, 0x6f, 0x52, 0x42, 0x00, 0x2e, 0xb2, 0x6f, 0x52, 0x42, 0x00, 0x2e, 0xc2, 0x6f, 0x42, 0x42, 0x03, 0xb2, 0x03, + 0x2e, 0x59, 0xf0, 0xf3, 0x3d, 0x02, 0x32, 0x0b, 0x08, 0x8a, 0x0a, 0xdb, 0x6f, 0x02, 0x22, 0xa0, 0x5f, 0x21, 0x2e, + 0x59, 0xf0, 0xb8, 0x2e, 0x60, 0x50, 0xc3, 0x7f, 0xd4, 0x7f, 0xe7, 0x7f, 0xf6, 0x7f, 0xb2, 0x7f, 0xa5, 0x7f, 0x36, + 0x30, 0x07, 0x2e, 0x01, 0xf0, 0xbe, 0xbd, 0xbe, 0xbb, 0x23, 0x58, 0x77, 0x05, 0x09, 0x56, 0x25, 0x54, 0x27, 0x41, + 0x06, 0x41, 0xf8, 0xbf, 0xbe, 0x0b, 0xb5, 0x11, 0xd6, 0x42, 0x03, 0x89, 0x5a, 0x0e, 0xf6, 0x2f, 0x12, 0x30, 0x25, + 0x2e, 0x36, 0x00, 0x02, 0x31, 0x25, 0x2e, 0xb8, 0xf0, 0xd4, 0x6f, 0xc3, 0x6f, 0xe7, 0x6f, 0xb2, 0x6f, 0xa5, 0x6f, + 0xf6, 0x6f, 0xa0, 0x5f, 0xc8, 0x2e, 0x09, 0x86, 0x02, 0x30, 0x12, 0x42, 0x43, 0x0e, 0xfc, 0x2f, 0x37, 0x80, 0x13, + 0x30, 0x13, 0x42, 0x12, 0x42, 0x12, 0x42, 0x12, 0x42, 0x02, 0x42, 0x03, 0x80, 0x41, 0x84, 0x11, 0x42, 0x02, 0x42, + 0xb8, 0x2e, 0x46, 0x84, 0x80, 0x50, 0xa3, 0x40, 0x83, 0x88, 0x82, 0x40, 0x04, 0x41, 0xc3, 0x7f, 0x42, 0x8a, 0x06, + 0x41, 0x6d, 0xbb, 0xf6, 0x7f, 0x80, 0xb3, 0xd5, 0x7f, 0xe0, 0x7f, 0x59, 0x2f, 0x31, 0x25, 0x55, 0x40, 0x41, 0x91, + 0xb1, 0x7f, 0x0f, 0x2f, 0x01, 0x30, 0xc1, 0x42, 0x00, 0x2e, 0xd2, 0x6f, 0x13, 0x40, 0x93, 0x42, 0x00, 0x2e, 0x13, + 0x40, 0x93, 0x42, 0x00, 0x2e, 0x00, 0x40, 0x80, 0x42, 0xbd, 0x80, 0xc0, 0x2e, 0x01, 0x42, 0x80, 0x5f, 0xc7, 0x86, + 0x01, 0x30, 0xc5, 0x40, 0xfb, 0x86, 0x45, 0x41, 0x04, 0x41, 0x43, 0xbe, 0xd5, 0xbe, 0x43, 0xba, 0xd5, 0xba, 0x84, + 0x7f, 0x95, 0x7f, 0xa1, 0x7f, 0x14, 0x30, 0x61, 0x15, 0xf5, 0x09, 0x15, 0x40, 0xc0, 0xb3, 0x0b, 0x2f, 0xc6, 0x40, + 0xae, 0x05, 0x07, 0x30, 0xfe, 0x05, 0x80, 0xa9, 0xb7, 0x23, 0x97, 0x6f, 0x77, 0x0f, 0xa6, 0x6f, 0xe6, 0x23, 0xf6, + 0x6f, 0xa7, 0x7f, 0x80, 0x90, 0x00, 0x2f, 0xc5, 0x42, 0x41, 0x82, 0xc1, 0x86, 0x43, 0xa2, 0xe7, 0x2f, 0xa1, 0x6f, + 0xb0, 0x6f, 0x0a, 0x1a, 0x02, 0x2f, 0x01, 0x30, 0x1b, 0x2c, 0x01, 0x42, 0x01, 0x40, 0x4c, 0x28, 0x82, 0x6f, 0x01, + 0x42, 0x4a, 0x0e, 0x13, 0x2f, 0xc0, 0x6f, 0x00, 0xb2, 0x03, 0x2f, 0x3f, 0x80, 0x20, 0x14, 0x21, 0x2e, 0x5e, 0xf0, + 0xe1, 0x6f, 0xd0, 0x6f, 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x03, + 0x2c, 0x01, 0x42, 0x10, 0x30, 0x40, 0x42, 0x80, 0x5f, 0xb8, 0x2e, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x30, 0x50, + 0x2a, 0x25, 0xbd, 0x84, 0xfb, 0x7f, 0x8b, 0x31, 0x27, 0x56, 0x83, 0x42, 0xeb, 0x7f, 0x06, 0x30, 0x14, 0x30, 0x05, + 0x30, 0x0d, 0x2c, 0x13, 0x56, 0x43, 0x1a, 0x02, 0x2f, 0x4e, 0x04, 0x06, 0x30, 0x15, 0x50, 0xec, 0x09, 0xd7, 0x01, + 0x41, 0x8b, 0xcb, 0x41, 0xc6, 0x01, 0x81, 0x8d, 0xcb, 0x43, 0x31, 0x0e, 0xf1, 0x2f, 0xfb, 0x6f, 0xd0, 0x5f, 0xb8, + 0x2e, 0x10, 0x50, 0x01, 0x2e, 0x35, 0x00, 0x00, 0xb2, 0xfb, 0x7f, 0x19, 0x2f, 0x29, 0x56, 0x2f, 0x52, 0x13, 0x54, + 0xc3, 0x00, 0x48, 0x04, 0xc2, 0x0f, 0x18, 0x22, 0x41, 0xb2, 0x0e, 0x2f, 0x12, 0x30, 0x8a, 0x08, 0x80, 0xb2, 0x06, + 0x2f, 0x7f, 0x82, 0x98, 0x2e, 0x00, 0xb0, 0x2d, 0x52, 0x23, 0x2e, 0xff, 0xb9, 0x06, 0x2d, 0xfb, 0x6f, 0xf0, 0x5f, + 0x80, 0x2e, 0x00, 0xb0, 0x2b, 0x52, 0x01, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x10, 0x24, 0x58, + 0x02, 0x11, 0x24, 0x00, 0x0c, 0x12, 0x24, 0x80, 0x2e, 0x13, 0x24, 0x18, 0x00, 0x12, 0x42, 0x13, 0x42, 0x41, 0x1a, + 0xfb, 0x2f, 0x10, 0x24, 0x50, 0x39, 0x11, 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, 0x2e, 0x11, 0x00, 0x80, + 0x2e, 0x10, 0x00 +}; + +/***************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + */ +int8_t bma456_an_init(struct bma4_dev *dev) +{ + int8_t rslt; + + /* Structure to define the default values for axes re-mapping */ + struct bma4_axes_remap axes_remap = { + .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS, + .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE + }; + + rslt = bma4_init(dev); + if (rslt == BMA4_OK) + { + if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) + { + /* Resolution of BMA456_AN sensor is 16 bit */ + dev->resolution = BMA4_16_BIT_RESOLUTION; + + dev->feature_len = BMA456_AN_FEATURE_SIZE; + + dev->config_size = sizeof(bma456_an_config_file); + + /* Set the default values for axis + * re-mapping in the device structure + */ + dev->remap = axes_remap; + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + + return rslt; +} + +/*! + * @brief This API is used to upload the configuration file to enable the + * features of the sensor. + */ +int8_t bma456_an_write_config_file(struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) + { + /* Configuration stream read/write length boundary + * check + */ + if ((dev->read_write_len >= BMA456_AN_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456_AN_RD_WR_MAX_LEN)) + { + /* Even or odd check */ + if ((dev->read_write_len % 2) != 0) + { + dev->read_write_len = dev->read_write_len - 1; + } + + /* Assign stream data */ + dev->config_file_ptr = bma456_an_config_file; + rslt = bma4_write_config_file(dev); + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the config file major and minor information. + */ +int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to config file version */ + uint8_t index = BMA456_AN_CONFIG_ID_OFFSET; + + /* Variable to define LSB */ + uint8_t lsb = 0; + + /* Variable to define MSB */ + uint8_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + /* Result of api are returned to this variable */ + int8_t rslt = BMA4_OK; + + if ((config_major != NULL) && (config_minor != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + if (rslt == BMA4_OK) + { + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + /* Get config file identification from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate config file identification */ + lsb = feature_config[index++]; + msb = feature_config[index++]; + + lsb_msb = (uint16_t)(msb << 8 | lsb); + + /* Get major and minor version */ + *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR); + *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets/un-sets the user provided interrupt to either interrupt + * pin1 or pin2 in the sensor. + */ +int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) + { + if (int_line <= 1) + { + /* Map/Unmap the interrupt */ + rslt = bma4_map_interrupt(int_line, int_map, enable, dev); + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the bma456_an interrupt status from the sensor. + */ +int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (int_status != NULL)) + { + if ((dev->chip_id == BMA456_AN_CHIP_ID_PRIM) || (dev->chip_id == BMA456_AN_CHIP_ID_SEC)) + { + /* Read the interrupt status */ + rslt = bma4_read_int_status(int_status, dev); + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API performs x, y and z axis remapping in the sensor. + */ +int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456_AN_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis remap data from the sensor. + */ +int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456_AN_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456_AN_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of any-motion feature in the sensor. + * This API enables/disables the any-motion feature according to the axis set. + */ +int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456_AN_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (any_motion != NULL)) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(any_motion->threshold); + feature_config[index++] = BMA4_GET_MSB(any_motion->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, any_motion->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, any_motion->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index] = BMA4_GET_MSB(lsb_msb); + + /* Set any-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of any-motion feature from the + * sensor. + */ +int8_t bma456_an_get_any_mot_config(struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456_AN_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (any_motion != NULL)) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and any-motion + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + any_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + any_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + any_motion->axes_en = + (uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of no-motion feature in the sensor. + * This API enables/disables the no-motion feature according to the axis set. + */ +int8_t bma456_an_set_no_mot_config(const struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456_AN_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (no_motion != NULL)) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(no_motion->threshold); + feature_config[index++] = BMA4_GET_MSB(no_motion->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_AN_ANY_NO_MOT_DUR, no_motion->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_AN_ANY_NO_MOT_AXIS_EN, no_motion->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index] = BMA4_GET_MSB(lsb_msb); + + /* Set no-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of no-motion feature from the + * sensor. + */ +int8_t bma456_an_get_no_mot_config(struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_AN_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456_AN_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (no_motion != NULL)) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_AN_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and no-motion + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + no_motion->threshold = lsb_msb & BMA456_AN_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + no_motion->duration = lsb_msb & BMA456_AN_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + no_motion->axes_en = + (uint8_t)((lsb_msb & BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456_AN_ANY_NO_MOT_AXIS_EN_POS); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @endcond */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456_an.h b/lib/SensorLib/src/bosch/bma4xx/bma456_an.h new file mode 100644 index 0000000..38a9f02 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456_an.h @@ -0,0 +1,566 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456_an.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/** + * \ingroup bma4xy + * \defgroup bma456_an BMA456_AN + * @brief Sensor driver for BMA456_AN sensor + */ + +#ifndef BMA456_AN_H +#define BMA456_AN_H + +#ifdef __cplusplus +extern "C" { +#endif +#include "bma4.h" + +/**\name Chip ID of BMA456_AN sensor */ +#define BMA456_AN_CHIP_ID_PRIM UINT8_C(0x16) +#define BMA456_AN_CHIP_ID_SEC UINT8_C(0x1A) + +/**\name Sensor feature size */ +#define BMA456_AN_FEATURE_SIZE UINT8_C(12) +#define BMA456_AN_ANY_MOT_LEN UINT8_C(4) + +/**\name Feature offset address */ +#define BMA456_AN_ANY_MOT_OFFSET UINT8_C(0x00) +#define BMA456_AN_NO_MOT_OFFSET UINT8_C(0x04) +#define BMA456_AN_CONFIG_ID_OFFSET UINT8_C(0x08) +#define BMA456_AN_AXES_REMAP_OFFSET UINT8_C(0x0A) + +/**\name Read/Write Lengths */ +#define BMA456_AN_RD_WR_MIN_LEN UINT8_C(2) + +/*! @name Maximum valid read write length is size of config file array */ +#define BMA456_AN_RD_WR_MAX_LEN ((uint16_t)sizeof(bma456_an_config_file)) + +#define BMA456_AN_NO_MOT_RD_WR_LEN (BMA456_AN_ANY_MOT_LEN + BMA456_AN_NO_MOT_OFFSET) + +/**************************************************************/ +/**\name Re-map Axes */ +/**************************************************************/ +#define BMA456_AN_X_AXIS_MASK UINT8_C(0x03) +#define BMA456_AN_X_AXIS_SIGN_MASK UINT8_C(0x04) +#define BMA456_AN_Y_AXIS_MASK UINT8_C(0x18) +#define BMA456_AN_Y_AXIS_SIGN_MASK UINT8_C(0x20) +#define BMA456_AN_Z_AXIS_MASK UINT8_C(0xC0) +#define BMA456_AN_Z_AXIS_SIGN_MASK UINT8_C(0x01) + +/**************************************************************/ +/**\name Any/no Motion */ +/**************************************************************/ +/**\name Any/No motion threshold macros */ +#define BMA456_AN_ANY_NO_MOT_THRES_MSK UINT16_C(0x07FF) + +/**\name Any/No motion duration macros */ +#define BMA456_AN_ANY_NO_MOT_DUR_MSK UINT16_C(0x1FFF) + +/**\name Any/No motion enable macros */ +#define BMA456_AN_ANY_NO_MOT_AXIS_EN_POS UINT8_C(0x0D) +#define BMA456_AN_ANY_NO_MOT_AXIS_EN_MSK UINT16_C(0xE000) + +/**************************************************************/ +/**\name User macros */ +/**************************************************************/ +/**\name Any-motion/No-motion axis enable macros */ +#define BMA456_AN_X_AXIS_EN UINT8_C(0x01) +#define BMA456_AN_Y_AXIS_EN UINT8_C(0x02) +#define BMA456_AN_Z_AXIS_EN UINT8_C(0x04) +#define BMA456_AN_EN_ALL_AXIS UINT8_C(0x07) +#define BMA456_AN_DIS_ALL_AXIS UINT8_C(0x00) + +/**\name Interrupt status macros */ +#define BMA456_AN_ANY_MOT_INT UINT8_C(0x20) +#define BMA456_AN_NO_MOT_INT UINT8_C(0x40) +#define BMA456_AN_ERROR_INT UINT8_C(0x80) + +/******************************************************************************/ +/*! @name Structure Declarations */ +/******************************************************************************/ + +/*! + * @brief Any/No motion configuration + */ +struct bma456_an_any_no_mot_config +{ + /*! Expressed in 50 Hz samples (20 ms) */ + uint16_t duration; + + /*! Threshold value for Any-motion/No-motion detection in + * 5.11g format + */ + uint16_t threshold; + + /*! To enable selected axes */ + uint8_t axes_en; +}; + +/***************************************************************************/ + +/*! BMA456_AN User Interface function prototypes + ****************************************************************************/ + +/** + * \ingroup bma456_an + * \defgroup bma456_anApiInit Initialization + * @brief Initialize the sensor and device structure + */ + +/*! + * \ingroup bma456_anApiInit + * \page bma456_an_api_bma456_an_init bma456_an_init + * \code + * int8_t bma456_an_init(struct bma4_dev *dev); + * \endcode + * @details This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_init(struct bma4_dev *dev); + +/** + * \ingroup bma456_an + * \defgroup bma456_anApiConfig ConfigFile + * @brief Write binary configuration in the sensor + */ + +/*! + * \ingroup bma456_anApiConfig + * \page bma456_an_api_bma456_an_write_config_file bma456_an_write_config_file + * \code + * int8_t bma456_an_write_config_file(struct bma4_dev *dev); + * \endcode + * @details This API is used to upload the config file to enable the features of + * the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_write_config_file(struct bma4_dev *dev); + +/*! + * \ingroup bma456_anApiConfig + * \page bma456_an_api_bma456_an_get_version_config bma456_an_get_version_config + * \code + *int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the config file major and minor information. + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[out] config_major : Pointer to data buffer to store the config major. + * @param[out] config_minor : Pointer to data buffer to store the config minor. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + +/** + * \ingroup bma456_an + * \defgroup bma456_anApiMapInt Map / Unmap Interrupt + * @brief Map / Unmap user provided interrupt to interrupt pin1 or pin2 of the sensor + */ + +/*! + * \ingroup bma456_anApiMapInt + * \page bma456_an_api_bma456_an_map_interrupt bma456_an_map_interrupt + * \code + * int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API sets/unsets the user provided interrupt to either + * interrupt pin1 or pin2 in the sensor. + * + * @param[in] int_line: Variable to select either interrupt pin1 or pin2. + * + *@verbatim + * int_line | Macros + * ------------|------------------- + * 0x00 | BMA4_INTR1_MAP + * 0x01 | BMA4_INTR2_MAP + *@endverbatim + * + * @param[in] int_map : Variable to specify the interrupts. + * @param[in] enable : Variable to specify mapping or unmapping of interrupts. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the interrupts. + * + * Feature Interrupts + * - BMA456_AN_ANY_MOT_INT + * - BMA456_AN_NO_MOT_INT + * - BMA456_AN_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456_an + * \defgroup bma456_anApiIntS Interrupt Status + * @brief Read interrupt status of the sensor + */ + +/*! + * \ingroup bma456_anApiIntS + * \page bma456_an_api_bma456_an_read_int_status bma456_an_read_int_status + * \code + * int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the bma456_an interrupt status from the sensor. + * + * @param[out] int_status : Variable to store the interrupt status read from + * the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros are used to check the interrupt status. + * + * Feature Interrupts + * - BMA456_AN_ANY_MOT_INT + * - BMA456_AN_NO_MOT_INT + * - BMA456_AN_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/** + * \ingroup bma456_an + * \defgroup bma456_anApiRemap Remap Axes + * @brief Set / Get x, y and z axis re-mapping in the sensor + */ + +/*! + * \ingroup bma456_anApiRemap + * \page bma456_an_api_bma456_an_set_remap_axes bma456_an_set_remap_axes + * \code + * int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API performs x, y and z axis remapping in the sensor. + * + * @param[in] remap_data : Pointer to store axes remapping data. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + +/*! + * \ingroup bma456_anApiRemap + * \page bma456_an_api_bma456_an_get_remap_axes bma456_an_get_remap_axes + * \code + * int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API reads the x, y and z axis remap data from the sensor. + * + * @param[out] remap_data : Pointer to store axis remap data which is read + * from the bma456_an sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + +/** + * \ingroup bma456_an + * \defgroup bma456_anApiAnyMot Any motion Feature + * @brief Functions of Any motion feature of the sensor + */ + +/*! + * \ingroup bma456_anApiAnyMot + * \page bma456_an_api_bma456_an_set_any_mot_config bma456_an_set_any_mot_config + * \code + * int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of any-motion feature in the sensor + * This API enables/disables the any-motion feature according to the axis set. + * + * @param[in] any_motion : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_AN_DIS_ALL_AXIS + * 0x01 | BMA456_AN_X_AXIS_EN + * 0x02 | BMA456_AN_Y_AXIS_EN + * 0x04 | BMA456_AN_Z_AXIS_EN + * 0x07 | BMA456_AN_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_set_any_mot_config(const struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev); + +/*! + * \ingroup bma456_anApiNomot + * \page bma456_an_api_bma456_an_get_any_motion_config bma456_an_get_any_motion_config + * \code + * int8_t bma456_an_get_any_motion_config(struct bma456_an_anymotion_config *any_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of any-motion feature from the + * sensor. + * + * @param[out] any_motion : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_AN_DIS_ALL_AXIS + * 0x01 | BMA456_AN_X_AXIS_EN + * 0x02 | BMA456_AN_Y_AXIS_EN + * 0x04 | BMA456_AN_Z_AXIS_EN + * 0x07 | BMA456_AN_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_get_any_mot_config(struct bma456_an_any_no_mot_config *any_motion, struct bma4_dev *dev); + +/** + * \ingroup bma456_an + * \defgroup bma456_anApiNomot No-Motion Feature + * @brief Operations of no-motion feature of the sensor + */ + +/*! + * \ingroup bma456_anApiNomot + * \page bma456_an_api_bma456_an_set_no_motion_config bma456_an_set_no_motion_config + * \code + * int8_t bma456_an_set_no_motion_config(const struct bma456_an_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of no-motion feature in the sensor + * This API enables/disables the no-motion feature according to the axis set. + * + * @param[in] no_motion : Pointer to structure variable to configure + * no-motion. + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_AN_DIS_ALL_AXIS + * 0x01 | BMA456_AN_X_AXIS_EN + * 0x02 | BMA456_AN_Y_AXIS_EN + * 0x04 | BMA456_AN_Z_AXIS_EN + * 0x07 | BMA456_AN_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_set_no_mot_config(const struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev); + +/*! + * \ingroup bma456_anApiAnyMot + * \page bma456_an_api_bma456_an_get_no_motion_config bma456_an_get_no_motion_config + * \code + * int8_t bma456_an_get_no_motion_config(struct bma456_an_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of no-motion feature from the + * sensor. + * + * @param[out] no_motion : Pointer to structure variable to configure + * no-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_AN_DIS_ALL_AXIS + * 0x01 | BMA456_AN_X_AXIS_EN + * 0x02 | BMA456_AN_Y_AXIS_EN + * 0x04 | BMA456_AN_Z_AXIS_EN + * 0x07 | BMA456_AN_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_an_get_no_mot_config(struct bma456_an_any_no_mot_config *no_motion, struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /*End of CPP guard */ + +#endif /*End of header guard macro */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456_tablet.c b/lib/SensorLib/src/bosch/bma4xx/bma456_tablet.c new file mode 100644 index 0000000..561a859 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456_tablet.c @@ -0,0 +1,1514 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456_tablet.c +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/*! \file bma456_tablet.c + * \brief Sensor Driver for BMA456_TABLET sensor + */ + +#include "bma456_tablet.h" + +/**\name Feature configuration file */ +const uint8_t bma456_tablet_config_file[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x9c, + 0xb0, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xcc, 0xb0, 0x80, 0x2e, 0x7a, 0x07, 0xb0, 0xf0, + 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf7, 0x01, 0x5b, 0x50, 0x4f, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41, + 0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x86, 0x52, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, + 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, + 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, + 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x02, 0x00, 0x04, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x01, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x07, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x2e, 0x55, 0xf0, 0xc0, 0x2e, + 0x21, 0x2e, 0x55, 0xf0, 0x30, 0x50, 0x00, 0x30, 0x53, 0x56, 0x05, 0x30, 0x05, 0x2c, 0xfb, 0x7f, 0x3e, 0xbe, 0xd2, + 0xba, 0xb2, 0xb9, 0x6c, 0x0b, 0x53, 0x0e, 0xf9, 0x2f, 0x53, 0x1a, 0x01, 0x2f, 0x4d, 0x0e, 0xf5, 0x2f, 0xd2, 0x7f, + 0x04, 0x30, 0x1f, 0x2c, 0xe1, 0x7f, 0xc5, 0x01, 0xa3, 0x03, 0x72, 0x0e, 0x03, 0x2f, 0x72, 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0x59, 0x1a, 0x04, 0x2f, 0xfd, 0x12, 0xc0, 0x90, 0x13, 0x30, 0x4b, 0x22, + 0x06, 0x25, 0x71, 0x25, 0xc0, 0xb3, 0x04, 0x2f, 0xa4, 0x42, 0xa4, 0x42, 0x83, 0x82, 0x84, 0x42, 0x44, 0x42, 0x00, + 0x2e, 0x8b, 0x6f, 0x40, 0x5f, 0xb8, 0x2e, 0x00, 0x2e, 0x10, 0x24, 0x90, 0x07, 0x11, 0x24, 0x00, 0x0c, 0x12, 0x24, + 0x80, 0x2e, 0x13, 0x24, 0x18, 0x00, 0x12, 0x42, 0x13, 0x42, 0x41, 0x1a, 0xfb, 0x2f, 0x10, 0x24, 0x50, 0x39, 0x11, + 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, 0x2e, 0x11, 0x00, 0x80, 0x2e, 0x10, 0x00 +}; + +/***************************************************************************/ +/*! Static Function Declarations */ +/***************************************************************************/ + +/*! + * @brief This API update the settings of tap into write array. + * + * @param[in] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter12. + * @param[in] index : Value for array traversing. + * @param[out] feature_config : Pointer to store the settings + * + * @return none + */ +static void update_tap_parameter(const struct bma456_tablet_tap_settings *setting, + uint16_t index, + uint8_t *feature_config); + +/*! + * @brief This API copy the settings of tap into the + * structure of bma456_tablet_tap_settings, which is read from sensor. + * + * @param[out] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter12 read from sensor. + * @param[in] data_p : Pointer of array which stores the parameters. + * + * @return none + */ +static void extract_tap_parameter(struct bma456_tablet_tap_settings *setting, const uint16_t *data_p); + +/*! + * @brief This API enables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be set in + * the sensor. + * @param[in] len : Length to read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API disables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be unset + * in the sensor. + * @param[in] len : Length to read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/***************************************************************************/ +/*! Global Function Definitions */ +/***************************************************************************/ + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + */ +int8_t bma456_tablet_init(struct bma4_dev *dev) +{ + int8_t rslt; + + /* Structure to define the default values for axes re-mapping */ + struct bma4_axes_remap axes_remap = { + .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS, + .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE + }; + + if (dev != NULL) + { + rslt = bma4_init(dev); + + if (rslt == BMA4_OK) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + /* Resolution of BMA456_TABLET sensor is 12 bit */ + dev->resolution = BMA4_12_BIT_RESOLUTION; + + dev->feature_len = BMA456_TABLET_FEATURE_SIZE; + + dev->config_size = sizeof(bma456_tablet_config_file); + + /* Set the default values for axis + * re-mapping in the device structure + */ + dev->remap = axes_remap; + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to upload the configuration file to enable the + * features of the sensor. + */ +int8_t bma456_tablet_write_config_file(struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + /* Configuration stream read/write length boundary + * check + */ + if ((dev->read_write_len >= BMA456_TABLET_RD_WR_MIN_LEN) && + (dev->read_write_len <= BMA456_TABLET_RD_WR_MAX_LEN)) + { + /* Even or odd check */ + if ((dev->read_write_len % 2) != 0) + { + dev->read_write_len = dev->read_write_len - 1; + } + + /* Assign stream data */ + dev->config_file_ptr = bma456_tablet_config_file; + rslt = bma4_write_config_file(dev); + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the config file major and minor information. + */ +int8_t bma456_tablet_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + + /* Update index to config file version */ + uint8_t index = BMA456_TABLET_CONFIG_ID_OFFSET; + + /* Variable to define LSB */ + uint8_t lsb = 0; + + /* Variable to define MSB */ + uint8_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + /* Result of api are returned to this variable */ + int8_t rslt = BMA4_OK; + + if ((config_major != NULL) && (config_minor != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + if (rslt == BMA4_OK) + { + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + /* Get config file identification from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate config file identification */ + lsb = feature_config[index++]; + msb = feature_config[index++]; + + lsb_msb = (uint16_t)(msb << 8 | lsb); + + /* Get major and minor version */ + *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR); + *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the configuration id of the sensor. + */ +int8_t bma456_tablet_get_config_id(uint16_t *config_id, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + uint16_t index = BMA456_TABLET_CONFIG_ID_OFFSET; + int8_t rslt = BMA4_OK; + uint16_t config_id_lsb = 0; + uint16_t config_id_msb = 0; + + if ((dev != NULL) && (config_id != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + config_id_lsb = (uint16_t)feature_config[index]; + config_id_msb = ((uint16_t)feature_config[index + 1]) << 8; + *config_id = config_id_lsb | config_id_msb; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets/un-sets the user provided interrupt to either interrupt + * pin1 or pin2 in the sensor. + */ +int8_t bma456_tablet_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + if (int_line <= 1) + { + /* Map/Unmap the interrupt */ + rslt = bma4_map_interrupt(int_line, int_map, enable, dev); + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the interrupt status from the sensor. + */ +int8_t bma456_tablet_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (int_status != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + /* Read the interrupt status */ + rslt = bma4_read_int_status(int_status, dev); + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables/disables the features of the sensor. + */ +int8_t bma456_tablet_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + int8_t rslt = BMA4_OK; + uint8_t len = BMA456_TABLET_FEATURE_SIZE; + + if (dev != NULL) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + /* Read feature configuration data */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + if (rslt == BMA4_OK) + { + if (enable == TRUE) + { + /* Enables the feature */ + rslt = feature_enable(feature, len, feature_config, dev); + } + else + { + /* Disables the feature */ + rslt = feature_disable(feature, len, feature_config, dev); + } + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API performs x, y and z axis remapping in the sensor. + */ +int8_t bma456_tablet_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456_TABLET_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456_TABLET_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis remap data from the sensor. + */ +int8_t bma456_tablet_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456_TABLET_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456_TABLET_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of any-motion feature in the sensor. + * This API enables/disables the any-motion feature according to the axis set. + */ +int8_t bma456_tablet_set_any_mot_config(const struct bma456_tablet_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456_TABLET_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (any_mot != NULL) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index] = BMA4_GET_LSB(any_mot->threshold); + feature_config[index + 1] = BMA4_GET_MSB(any_mot->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index + 2]; + msb = feature_config[index + 3] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_TABLET_ANY_NO_MOT_DUR, any_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_TABLET_ANY_NO_MOT_AXIS_EN, any_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index + 2] = BMA4_GET_LSB(lsb_msb); + feature_config[index + 3] = BMA4_GET_MSB(lsb_msb); + + /* Set any-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_ANY_MOT_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of any-motion feature from the + * sensor. + */ +int8_t bma456_tablet_get_any_mot_config(struct bma456_tablet_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456_TABLET_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (any_mot != NULL) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and any-motion + * select + */ + lsb = (uint16_t)feature_config[index]; + msb = (uint16_t)((feature_config[index + 1] << 8)); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + any_mot->threshold = lsb_msb & BMA456_TABLET_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index + 2]; + msb = (uint16_t)((feature_config[index + 3] << 8)); + lsb_msb = lsb | msb; + + /* Extract duration value */ + any_mot->duration = lsb_msb & BMA456_TABLET_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + any_mot->axes_en = BMA4_GET_BITSLICE(lsb_msb, BMA456_TABLET_ANY_NO_MOT_AXIS_EN); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of no-motion feature in the sensor. + * This API enables/disables the no-motion feature according to the axis set. + */ +int8_t bma456_tablet_set_no_mot_config(const struct bma456_tablet_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456_TABLET_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (no_mot != NULL) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index] = BMA4_GET_LSB(no_mot->threshold); + feature_config[index + 1] = BMA4_GET_MSB(no_mot->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index + 2]; + msb = feature_config[index + 3] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_TABLET_ANY_NO_MOT_DUR, no_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456_TABLET_ANY_NO_MOT_AXIS_EN, no_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index + 2] = BMA4_GET_LSB(lsb_msb); + feature_config[index + 3] = BMA4_GET_MSB(lsb_msb); + + /* Set no-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_NO_MOT_RD_WR_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of no-motion feature from the + * sensor. + */ +int8_t bma456_tablet_get_no_mot_config(struct bma456_tablet_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456_TABLET_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (no_mot != NULL) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and no-motion + * select + */ + lsb = (uint16_t)feature_config[index]; + msb = ((uint16_t)feature_config[index + 1] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + no_mot->threshold = lsb_msb & BMA456_TABLET_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index + 2]; + msb = (uint16_t)((feature_config[index + 3] << 8)); + lsb_msb = lsb | msb; + + /* Extract duration value */ + no_mot->duration = lsb_msb & BMA456_TABLET_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + no_mot->axes_en = BMA4_GET_BITSLICE(lsb_msb, BMA456_TABLET_ANY_NO_MOT_AXIS_EN); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the parameter1 to parameter12 settings of the + * tap feature. + */ +int8_t bma456_tablet_tap_get_parameter(struct bma456_tablet_tap_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + uint16_t *data_p = (uint16_t *)(void *)feature_config; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* To convert 8bit to 16 bit address */ + data_p = data_p + ((BMA456_TABLET_TAP_DETECTOR_OFFSET + 2) / 2); + extract_tap_parameter(setting, data_p); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the parameter1 to parameter12 settings of the + * tap feature in the sensor. + */ +int8_t bma456_tablet_tap_set_parameter(const struct bma456_tablet_tap_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + uint16_t index = BMA456_TABLET_TAP_DETECTOR_OFFSET + 4; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + update_tap_parameter(setting, index, feature_config); + + /* Writes tap parameter settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the output for tap feature. + */ +int8_t bma456_tablet_tap_output(struct bma456_tablet_tap_output *out_state, struct bma4_dev *dev) +{ + uint8_t data = { 0 }; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (out_state != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + /* Reads the tap output from the gpio register */ + rslt = bma4_read_regs(BMA456_TABLET_TAP_FEAT_OUT_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + out_state->s_tap = BMA4_GET_BITS_POS_0(data, BMA456_TABLET_SINGLE_TAP_OUT); + out_state->d_tap = BMA4_GET_BITSLICE(data, BMA456_TABLET_DOUBLE_TAP_OUT); + out_state->t_tap = BMA4_GET_BITSLICE(data, BMA456_TABLET_TRIPLE_TAP_OUT); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration for low-g feature of the sensor. + */ +int8_t bma456_tablet_set_low_g_config(const struct bma456_tablet_low_g_config *low_g, struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0, }; + uint8_t index = BMA456_TABLET_LOW_G_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (low_g != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Threshold */ + + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the threshold in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_TABLET_LOW_G_THRES, low_g->threshold); + + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Hysteresis */ + + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the hysteresis in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_TABLET_LOW_G_HYST, low_g->hysteresis); + + /* Set hysteresis value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Duration */ + + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456_TABLET_LOW_G_HYST, low_g->duration); + + /* Set duration value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Writes orientation settings value in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of low-g feature from the sensor + */ +int8_t bma456_tablet_get_low_g_config(struct bma456_tablet_low_g_config *low_g, struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456_TABLET_LOW_G_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (low_g != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Get threshold */ + + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + low_g->threshold = lsb_msb & BMA456_TABLET_LOW_G_THRES_MSK; + + /* Get hysteresis */ + + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract hysteresis value */ + low_g->hysteresis = lsb_msb & BMA456_TABLET_LOW_G_HYST_MSK; + + /* Get duration */ + + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + low_g->duration = lsb_msb & BMA456_TABLET_LOW_G_DUR_MSK; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration for orientation feature of the sensor. + */ +int8_t bma456_tablet_set_orientation_config(const struct bma456_tablet_orientation_config *orientation, + struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0, }; + uint8_t index = BMA456_TABLET_ORIENTATION_OFFSET; + uint16_t orient_settings_1_lsb = 0; + uint16_t orient_settings_1_msb = 0; + uint16_t orient_settings_1 = 0; + + if ((dev != NULL) && (orientation != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Extract upside/down, mode, blocking and hold_time */ + orient_settings_1_lsb = feature_config[index]; + orient_settings_1_msb = feature_config[index + 1] << 8; + orient_settings_1 = orient_settings_1_lsb | orient_settings_1_msb; + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, + BMA456_TABLET_ORIENT_UD, + orientation->upside_down); + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, BMA456_TABLET_ORIENT_MODE, orientation->mode); + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, + BMA456_TABLET_ORIENT_BLOCKING, + orientation->blocking); + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, + BMA456_TABLET_ORIENT_HOLD_TIME, + orientation->hold_time); + + /* Assign slope_thres and hysteresis value in feature config array*/ + feature_config[index++] = BMA4_GET_LSB(orient_settings_1); + feature_config[index++] = BMA4_GET_MSB(orient_settings_1); + + /* Extract slope_thres and hysteresis */ + orient_settings_1_lsb = feature_config[index]; + orient_settings_1_msb = feature_config[index + 1] << 8; + orient_settings_1 = orient_settings_1_lsb | orient_settings_1_msb; + orient_settings_1 = BMA4_SET_BITS_POS_0(orient_settings_1, + BMA456_TABLET_ORIENT_SLOPE_THRES, + orientation->slope_thres); + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, + BMA456_TABLET_ORIENT_HYST, + orientation->hysteresis); + + /* Assign theta value in feature config array*/ + feature_config[index++] = BMA4_GET_LSB(orient_settings_1); + feature_config[index++] = BMA4_GET_MSB(orient_settings_1); + + /* Extract theta */ + orient_settings_1_lsb = feature_config[index]; + orient_settings_1_msb = feature_config[index + 1] << 8; + orient_settings_1 = orient_settings_1_lsb | orient_settings_1_msb; + orient_settings_1 = BMA4_SET_BITS_POS_0(orient_settings_1, + BMA456_TABLET_ORIENT_THETA, + orientation->theta); + + /* Assign fall threshold value in feature config array*/ + feature_config[index++] = BMA4_GET_LSB(orient_settings_1); + feature_config[index++] = BMA4_GET_MSB(orient_settings_1); + + /* Writes orientation settings value in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of orientation feature from the sensor + */ +int8_t bma456_tablet_get_orientation_config(struct bma456_tablet_orientation_config *orientation, struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456_TABLET_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456_TABLET_ORIENTATION_OFFSET; + uint16_t orient_settings_lsb = 0; + uint16_t orient_settings_msb = 0; + uint16_t orient_settings = 0; + + if ((dev != NULL) && (orientation != NULL)) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456_TABLET_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Extract upside/down, mode, blocking and hold_time */ + orient_settings_lsb = feature_config[index]; + orient_settings_msb = feature_config[index + 1] << 8; + orient_settings = orient_settings_lsb | orient_settings_msb; + orientation->upside_down = BMA4_GET_BITSLICE(orient_settings, BMA456_TABLET_ORIENT_UD); + orientation->mode = BMA4_GET_BITSLICE(orient_settings, BMA456_TABLET_ORIENT_MODE); + orientation->blocking = BMA4_GET_BITSLICE(orient_settings, BMA456_TABLET_ORIENT_BLOCKING); + orientation->hold_time = BMA4_GET_BITSLICE(orient_settings, BMA456_TABLET_ORIENT_HOLD_TIME); + + /* Extract slope_thres and hysteresis */ + orient_settings_lsb = feature_config[index + 2]; + orient_settings_msb = feature_config[index + 3] << 8; + orient_settings = orient_settings_lsb | orient_settings_msb; + orientation->slope_thres = BMA4_GET_BITS_POS_0(orient_settings, BMA456_TABLET_ORIENT_SLOPE_THRES); + orientation->hysteresis = BMA4_GET_BITSLICE(orient_settings, BMA456_TABLET_ORIENT_HYST); + + /* Extract theta */ + orient_settings_lsb = feature_config[index + 4]; + orient_settings_msb = feature_config[index + 5] << 8; + orient_settings = orient_settings_lsb | orient_settings_msb; + orientation->theta = BMA4_GET_BITS_POS_0(orient_settings, BMA456_TABLET_ORIENT_THETA); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the output of orientation feature from the sensor. + */ +int8_t bma456_tablet_orientation_output(uint8_t *orientation_output, + uint8_t *orientation_faceup_down, + struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t data = 0; + + if (dev != NULL) + { + if (dev->chip_id == BMA456_TABLET_CHIP_ID) + { + /* Reads the orientation output from the gpio register */ + rslt = bma4_read_regs(BMA456_TABLET_ORIENTATION_OUT_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + *orientation_output = BMA4_GET_BITS_POS_0(data, BMA456_TABLET_ORIENT_OUT); + *orientation_faceup_down = BMA4_GET_BITSLICE(data, BMA456_TABLET_ORIENT_FACEUP_DOWN); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/***************************************************************************/ +/*! Static Function Definitions */ +/***************************************************************************/ + +/*! + * @brief This API update the settings of tap. + */ +static void update_tap_parameter(const struct bma456_tablet_tap_settings *setting, + uint16_t index, + uint8_t *feature_config) +{ + /* Update tap_sens_thres */ + feature_config[index++] = BMA4_GET_LSB(setting->tap_sens_thres); + feature_config[index++] = BMA4_GET_MSB(setting->tap_sens_thres); + + /* Update max_gest_dur */ + feature_config[index++] = BMA4_GET_LSB(setting->max_gest_dur); + feature_config[index++] = BMA4_GET_MSB(setting->max_gest_dur); + + /* Update tap_shock_dur */ + index = index + 2; + feature_config[index++] = BMA4_GET_LSB(setting->tap_shock_dur); + feature_config[index++] = BMA4_GET_MSB(setting->tap_shock_dur); + + /* Update quite_time_after_gest */ + index = index + 2; + feature_config[index++] = BMA4_GET_LSB(setting->quite_time_after_gest); + feature_config[index++] = BMA4_GET_MSB(setting->quite_time_after_gest); + + /* Update wait_for_timeout */ + feature_config[index++] = BMA4_GET_LSB(setting->wait_for_timeout); + feature_config[index++] = BMA4_GET_MSB(setting->wait_for_timeout); + + /* Update axis_sel */ + index = index + 2; + feature_config[index++] = BMA4_GET_LSB(setting->axis_sel); + feature_config[index++] = BMA4_GET_MSB(setting->axis_sel); +} + +/*! + * @brief This API copy the settings of tap into the structure of + * bma456_tablet_tap_settings, which is read from sensor. + */ +static void extract_tap_parameter(struct bma456_tablet_tap_settings *setting, const uint16_t *data_p) +{ + /* Extract tap_sens_thres */ + data_p++; + setting->tap_sens_thres = *(data_p++); + + /* Extract max_gest_dur */ + setting->max_gest_dur = *(data_p++); + + /* Extract tap_shock_dur */ + data_p++; + setting->tap_shock_dur = *(data_p++); + + /* Extract quite_time_after_gest */ + data_p++; + setting->quite_time_after_gest = *(data_p++); + + /* Extract wait_for_timeout */ + setting->wait_for_timeout = *(data_p++); + + /* Extract axis_sel */ + data_p++; + setting->axis_sel = *(data_p++); +} + +/*! + * @brief This API enables the features of the sensor. + */ +static int8_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (feature_config != NULL)) + { + /* Enable Low-G */ + if ((feature & BMA456_TABLET_LOW_G) > 0) + { + index = BMA456_TABLET_LOW_G_OFFSET + BMA456_TABLET_LOW_G_FEAT_EN_OFFSET; + feature_config[index] = feature_config[index] | BMA456_TABLET_LOW_G_EN_MSK; + } + + /* Enable orientation */ + if ((feature & BMA456_TABLET_ORIENTATION) > 0) + { + index = BMA456_TABLET_ORIENTATION_OFFSET; + feature_config[index] = feature_config[index] | BMA456_TABLET_ORIENT_EN_MSK; + } + + /* Enable single - tap */ + if ((feature & BMA456_TABLET_SINGLE_TAP) > 0) + { + index = BMA456_TABLET_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] | BMA456_TABLET_SINGLE_TAP_EN_MSK; + } + + /* Enable double - tap */ + if ((feature & BMA456_TABLET_DOUBLE_TAP) > 0) + { + index = BMA456_TABLET_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] | BMA456_TABLET_DOUBLE_TAP_EN_MSK; + } + + /* Enable triple - tap */ + if ((feature & BMA456_TABLET_TRIPLE_TAP) > 0) + { + index = BMA456_TABLET_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] | BMA456_TABLET_TRIPLE_TAP_EN_MSK; + } + + /* Write the feature enable settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + } + + return rslt; +} + +/*! + * @brief This API disables the features of the sensor. + */ +static int8_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (feature_config != NULL)) + { + /* Disable Low-G */ + if ((feature & BMA456_TABLET_LOW_G) > 0) + { + index = BMA456_TABLET_LOW_G_OFFSET + BMA456_TABLET_LOW_G_FEAT_EN_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456_TABLET_LOW_G_EN_MSK); + } + + /* Disable orientation */ + if ((feature & BMA456_TABLET_ORIENTATION) > 0) + { + index = BMA456_TABLET_ORIENTATION_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456_TABLET_ORIENT_EN_MSK); + } + + /* Disable single-tap */ + if ((feature & BMA456_TABLET_SINGLE_TAP) > 0) + { + index = BMA456_TABLET_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456_TABLET_SINGLE_TAP_EN_MSK); + } + + /* Disable double-tap */ + if ((feature & BMA456_TABLET_DOUBLE_TAP) > 0) + { + index = BMA456_TABLET_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456_TABLET_DOUBLE_TAP_EN_MSK); + } + + /* Disable triple-tap */ + if ((feature & BMA456_TABLET_TRIPLE_TAP) > 0) + { + index = BMA456_TABLET_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456_TABLET_TRIPLE_TAP_EN_MSK); + } + + /* Write the configured settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + } + + return rslt; +} + +/*! @endcond */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456_tablet.h b/lib/SensorLib/src/bosch/bma4xx/bma456_tablet.h new file mode 100644 index 0000000..77d8099 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456_tablet.h @@ -0,0 +1,1166 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456_tablet.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/** + * \ingroup bma4xy + * \defgroup bma456_tablet BMA456_TABLET + * @brief Sensor driver for BMA456_TABLET sensor + */ + +#ifndef BMA456_TABLET_H +#define BMA456_TABLET_H + +#ifdef __cplusplus +extern "C" { +#endif +#include "bma4.h" + +/**\name Chip ID */ +#define BMA456_TABLET_CHIP_ID UINT8_C(0x16) + +/**\name Sensor feature size */ +#define BMA456_TABLET_FEATURE_SIZE UINT8_C(50) + +/**\name Feature offset address */ +#define BMA456_TABLET_ANY_MOT_OFFSET UINT8_C(0x00) +#define BMA456_TABLET_NO_MOT_OFFSET UINT8_C(0x04) +#define BMA456_TABLET_LOW_G_OFFSET UINT8_C(0x08) +#define BMA456_TABLET_TAP_DETECTOR_OFFSET UINT8_C(0x0E) +#define BMA456_TABLET_ORIENTATION_OFFSET UINT8_C(0x28) +#define BMA456_TABLET_CONFIG_ID_OFFSET UINT8_C(0x2E) +#define BMA456_TABLET_AXES_REMAP_OFFSET UINT8_C(0x30) + +/**\name Read/Write Lengths */ +#define BMA456_TABLET_RD_WR_MIN_LEN UINT8_C(2) + +/*! @name Maximum valid read write length is size of config file array */ +#define BMA456_TABLET_RD_WR_MAX_LEN ((uint16_t)sizeof(bma456_tablet_config_file)) + +/**************************************************************/ +/**\name Re-map Axes */ +/**************************************************************/ +#define BMA456_TABLET_X_AXIS_MASK UINT8_C(0x03) +#define BMA456_TABLET_X_AXIS_SIGN_MASK UINT8_C(0x04) +#define BMA456_TABLET_Y_AXIS_MASK UINT8_C(0x18) +#define BMA456_TABLET_Y_AXIS_SIGN_MASK UINT8_C(0x20) +#define BMA456_TABLET_Z_AXIS_MASK UINT8_C(0xC0) +#define BMA456_TABLET_Z_AXIS_SIGN_MASK UINT8_C(0x01) + +/**************************************************************/ +/**\name Any/no Motion */ +/**************************************************************/ +#define BMA456_TABLET_ANY_MOT_LEN UINT8_C(4) +#define BMA456_TABLET_NO_MOT_RD_WR_LEN (BMA456_TABLET_ANY_MOT_LEN + BMA456_TABLET_NO_MOT_OFFSET) + +/**\name Any/No motion threshold macros */ +#define BMA456_TABLET_ANY_NO_MOT_THRES_MSK UINT16_C(0x07FF) + +/**\name Position and mask of interrupt behavior and slope */ +#define BMA456_TABLET_ANY_NO_MOTION_INTR_BHVR_EN_POS UINT8_C(0x03) +#define BMA456_TABLET_ANY_NO_MOTION_INTR_BHVR_EN_MSK UINT8_C(0x08) + +#define BMA456_TABLET_ANY_MOTION_SLOPE_EN_POS UINT8_C(0x04) +#define BMA456_TABLET_ANY_MOTION_SLOPE_EN_MSK UINT8_C(0x10) + +/**\name Any/No motion duration macros */ +#define BMA456_TABLET_ANY_NO_MOT_DUR_MSK UINT16_C(0x1FFF) + +/**\name Any/No motion enable macros */ +#define BMA456_TABLET_ANY_NO_MOT_AXIS_EN_POS UINT8_C(0x0D) +#define BMA456_TABLET_ANY_NO_MOT_AXIS_EN_MSK UINT16_C(0xE000) + +/**************************************************************/ +/**\name Single/Double/Triple Tap */ +/**************************************************************/ +/**\name Single tap enable macros */ +#define BMA456_TABLET_SINGLE_TAP_EN_MSK UINT8_C(0x01) + +/**\name Double tap enable macros */ +#define BMA456_TABLET_DOUBLE_TAP_EN_MSK UINT8_C(0x02) + +/**\name Triple tap enable macros */ +#define BMA456_TABLET_TRIPLE_TAP_EN_MSK UINT8_C(0x04) + +/**\name Tap averaging enable macros */ +#define BMA456_TABLET_TAP_AVG_EN_MSK UINT8_C(0x08) + +/**\name Tap output macros */ +#define BMA456_TABLET_SINGLE_TAP_OUT_MSK UINT8_C(0x01) + +#define BMA456_TABLET_DOUBLE_TAP_OUT_MSK UINT8_C(0x02) +#define BMA456_TABLET_DOUBLE_TAP_OUT_POS UINT8_C(0x01) + +#define BMA456_TABLET_TRIPLE_TAP_OUT_MSK UINT8_C(0x04) +#define BMA456_TABLET_TRIPLE_TAP_OUT_POS UINT8_C(0x02) + +/**************************************************************/ +/**\name Low-G */ +/**************************************************************/ +/**\name Low-G enable macros */ +#define BMA456_TABLET_LOW_G_FEAT_EN_OFFSET UINT8_C(0x03) +#define BMA456_TABLET_LOW_G_EN_POS UINT8_C(0x04) +#define BMA456_TABLET_LOW_G_EN_MSK UINT8_C(0x10) + +/**\name Low-g threshold macro */ +#define BMA456_TABLET_LOW_G_THRES_MSK UINT16_C(0x7FFF) + +/**\name Low-g hysteresis macro */ +#define BMA456_TABLET_LOW_G_HYST_MSK UINT16_C(0x0FFF) + +/**\name Low-g duration macro */ +#define BMA456_TABLET_LOW_G_DUR_MSK UINT16_C(0x0FFF) + +/**************************************************************/ +/**\name Orientation */ +/**************************************************************/ +#define BMA456_TABLET_ORIENTATION_OUT_ADDR UINT8_C(0x1E) + +/**\name Orientation enable macros */ +#define BMA456_TABLET_ORIENT_EN_MSK UINT8_C(0x01) + +/**\name Orientation upside/down detection macros */ +#define BMA456_TABLET_ORIENT_UD_POS UINT8_C(1) +#define BMA456_TABLET_ORIENT_UD_MSK UINT8_C(0x02) + +/**\name Orientation mode macros */ +#define BMA456_TABLET_ORIENT_MODE_POS UINT8_C(2) +#define BMA456_TABLET_ORIENT_MODE_MSK UINT8_C(0x0C) + +/**\name Orientation blocking macros */ +#define BMA456_TABLET_ORIENT_BLOCKING_POS UINT8_C(4) +#define BMA456_TABLET_ORIENT_BLOCKING_MSK UINT8_C(0x30) + +/**\name Orientation hold time macros */ +#define BMA456_TABLET_ORIENT_HOLD_TIME_POS UINT8_C(6) +#define BMA456_TABLET_ORIENT_HOLD_TIME_MSK UINT16_C(0x7C0) + +/**\name Orientation slope threshold macros */ +#define BMA456_TABLET_ORIENT_SLOPE_THRES_MSK UINT16_C(0x00FF) + +/**\name Orientation hysteresis macros */ +#define BMA456_TABLET_ORIENT_HYST_POS UINT8_C(8) +#define BMA456_TABLET_ORIENT_HYST_MSK UINT16_C(0xFF00) + +/**\name Orientation theta macros */ +#define BMA456_TABLET_ORIENT_THETA_MSK UINT16_C(0x00FF) + +/* Orientation output macros */ +#define BMA456_TABLET_ORIENT_OUT_POS UINT8_C(0) +#define BMA456_TABLET_ORIENT_OUT_MSK UINT8_C(0x03) +#define BMA456_TABLET_ORIENT_FACEUP_DOWN_POS UINT8_C(2) +#define BMA456_TABLET_ORIENT_FACEUP_DOWN_MSK UINT8_C(0x04) + +/**\name Orientation output macros */ +/* Bit pos 2 reflects the face-up (0) face-down(1) only if ud_en is enabled */ +#define BMA456_TABLET_FACE_UP UINT8_C(0x00) +#define BMA456_TABLET_FACE_DOWN UINT8_C(0x01) + +/* Bit pos 0-1 reflects the have the following value */ +#define BMA456_TABLET_PORTRAIT_UP_RIGHT UINT8_C(0x00) +#define BMA456_TABLET_LANDSCAPE_LEFT UINT8_C(0x01) +#define BMA456_TABLET_PORTRAIT_UP_DOWN UINT8_C(0x02) +#define BMA456_TABLET_LANDSCAPE_RIGHT UINT8_C(0x03) + +/**************************************************************/ +/**\name User macros */ +/**************************************************************/ +#define BMA456_TABLET_TAP_FEAT_OUT_ADDR UINT8_C(0x20) + +/**\name Any-motion/No-motion axis enable macros */ +#define BMA456_TABLET_X_AXIS_EN UINT8_C(0x01) +#define BMA456_TABLET_Y_AXIS_EN UINT8_C(0x02) +#define BMA456_TABLET_Z_AXIS_EN UINT8_C(0x04) +#define BMA456_TABLET_EN_ALL_AXIS UINT8_C(0x07) +#define BMA456_TABLET_DIS_ALL_AXIS UINT8_C(0x00) + +/**\name Feature enable macros for the sensor */ +#define BMA456_TABLET_LOW_G UINT8_C(0x01) +#define BMA456_TABLET_ORIENTATION UINT8_C(0x02) +#define BMA456_TABLET_SINGLE_TAP UINT8_C(0x04) +#define BMA456_TABLET_DOUBLE_TAP UINT8_C(0x08) +#define BMA456_TABLET_TRIPLE_TAP UINT8_C(0x10) + +/**\name Interrupt status macros */ +#define BMA456_TABLET_TAP_OUT_INT UINT8_C(0x01) +#define BMA456_TABLET_ORIENTATION_INT UINT8_C(0x02) +#define BMA456_TABLET_LOW_G_INT UINT8_C(0x04) +#define BMA456_TABLET_ANY_MOT_INT UINT8_C(0x20) +#define BMA456_TABLET_NO_MOT_INT UINT8_C(0x40) +#define BMA456_TABLET_ERROR_INT UINT8_C(0x80) + +/******************************************************************************/ +/*! @name Structure Declarations */ +/******************************************************************************/ + +/*! + * @brief Any/No motion configuration + */ +struct bma456_tablet_any_no_mot_config +{ + /*! Expressed in 50 Hz samples (20 ms) */ + uint16_t duration; + + /*! Threshold value for Any-motion/No-motion detection in + * 5.11g format + */ + uint16_t threshold; + + /*! To enable selected axes */ + uint8_t axes_en; +}; + +/*! + * @brief Tap param settings + */ +struct bma456_tablet_tap_settings +{ + /*! Scaling factor for threshold */ + uint16_t tap_sens_thres; + + /*! Maximum duration after the first tap */ + uint16_t max_gest_dur; + + /*! Settling time for high frequency acceleration signal */ + uint16_t tap_shock_dur; + + /*! Minimum quite time between the two gesture detection */ + uint16_t quite_time_after_gest; + + /*! Wait for the duration set by max_gest_dur after the first tap */ + uint16_t wait_for_timeout; + + /*! Selection of axis from 3D-acceleration signal vector */ + uint16_t axis_sel; +}; + +/*! + * @brief Tap output state + */ +struct bma456_tablet_tap_output +{ + /*! Single tap detected */ + uint8_t s_tap; + + /*! Double tap detected */ + uint8_t d_tap; + + /*! Triple tap detected */ + uint8_t t_tap; +}; + +/*! + * @brief Low-G configuration + */ +struct bma456_tablet_low_g_config +{ + /*! Threshold value for Low-G feature */ + uint16_t threshold; + + /*! Hysteresis value for Low-G feature */ + uint16_t hysteresis; + + /*! Duration in 50Hz samples(20msec) for + * which threshold has to be exceeded + */ + uint16_t duration; +}; + +/*! + * @brief Orientation configuration structure + */ +struct bma456_tablet_orientation_config +{ + /*! Upside/Downside detection */ + uint8_t upside_down; + + /*! Mode + * Symmetrical (values 0 or 3), High asymmetrical + * (value 1) or Low asymmetrical (value 2) + */ + uint8_t mode; + + /*! Blocking mode + * Sets the blocking mode. + * If blocking is set, no Orientation interrupt will be triggered. + * Default value is 3 � the most restrictive blocking mode. + */ + uint8_t blocking; + + /*! Hold Time + * The number of samples for which the orientation + * should be stable in 50Hz. Resolution: 5 = 100msecs + */ + uint8_t hold_time; + + /*! Slope Threshold + * The slope threshold for blocking mode. + * Resolution: 0.4g = 205 lsbs + */ + uint8_t slope_thres; + + /*! Hysteresis + * Hysteresis of acceleration for orientation change detection. + * Resolution: 62.5mg = 32 lsbs + */ + uint8_t hysteresis; + + /*! Theta + * Coded value of the threshold angle with horizontal + * used in Blocking modes; + * theta = 64 * (tan(angle)^2); + */ + uint8_t theta; +}; + +/***************************************************************************/ + +/*! BMA456_TABLET User Interface function prototypes + ****************************************************************************/ + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiInit Initialization + * @brief Initialize the sensor and device structure + */ + +/*! + * \ingroup bma456_tabletApiInit + * \page bma456_tablet_api_bma456_tablet_init bma456_tablet_init + * \code + * int8_t bma456_tablet_init(struct bma4_dev *dev); + * \endcode + * @details This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_init(struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiConfig Config + * @brief Configuration APIs + */ + +/*! + * \ingroup bma456_tabletApiConfig + * \page bma456_tablet_api_bma456_tablet_write_config_file bma456_tablet_write_config_file + * \code + * int8_t bma456_tablet_write_config_file(struct bma4_dev *dev); + * \endcode + * @details This API is used to upload the config file to enable the features of + * the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_write_config_file(struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApiConfig + * \page bma456_tablet_api_bma456_tablet_get_version_config bma456_tablet_get_version_config + * \code + *int8_t bma456_tablet_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the config file major and minor information. + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[out] config_major : Pointer to data buffer to store the config major. + * @param[out] config_minor : Pointer to data buffer to store the config minor. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApiConfig + * \page bma456_tablet_api_bma456_tablet_get_config_id bma456_tablet_get_config_id + * \code + * int8_t bma456_tablet_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the configuration id of the sensor. + * + * @param[out] config_id : Pointer variable used to store the configuration id. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiMapInt Map / Unmap Interrupt + * @brief Map / Unmap user provided interrupt to interrupt pin1 or pin2 of the sensor + */ + +/*! + * \ingroup bma456_tabletApiMapInt + * \page bma456_tablet_api_bma456_tablet_map_interrupt bma456_tablet_map_interrupt + * \code + * int8_t bma456_tablet_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API sets/unsets the user provided interrupt to either + * interrupt pin1 or pin2 in the sensor. + * + * @param[in] int_line: Variable to select either interrupt pin1 or pin2. + * + *@verbatim + * int_line | Macros + * ------------|------------------- + * 0x00 | BMA4_INTR1_MAP + * 0x01 | BMA4_INTR2_MAP + *@endverbatim + * + * @param[in] int_map : Variable to specify the interrupts. + * @param[in] enable : Variable to specify mapping or unmapping of interrupts. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the interrupts. + * + * Feature Interrupts + * - BMA456_TABLET_TAP_OUT_INT + * - BMA456_TABLET_ORIENTATION_INT + * - BMA456_TABLET_LOW_G_INT + * - BMA456_TABLET_ANY_MOT_INT + * - BMA456_TABLET_NO_MOT_INT + * - BMA456_TABLET_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_MAG_DATA_RDY_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiIntS Interrupt Status + * @brief Read interrupt status of the sensor + */ + +/*! + * \ingroup bma456_tabletApiIntS + * \page bma456_tablet_api_bma456_tablet_read_int_status bma456_tablet_read_int_status + * \code + * int8_t bma456_tablet_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the bma456 interrupt status from the sensor. + * + * @param[out] int_status : Variable to store the interrupt status read from + * the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros are used to check the interrupt status. + * + * Feature Interrupts + * - BMA456_TABLET_TAP_OUT_INT + * - BMA456_TABLET_ORIENTATION_INT + * - BMA456_TABLET_LOW_G_INT + * - BMA456_TABLET_ANY_MOT_INT + * - BMA456_TABLET_NO_MOT_INT + * - BMA456_TABLET_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_MAG_DATA_RDY_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiFeat Sensor Feature + * @brief Enables / Disables features of the sensor + */ + +/*! + * \ingroup bma456_tabletApiFeat + * \page bma456_tablet_api_bma456_tablet_feature_enable bma456_tablet_feature_enable + * \code + * int8_t bma456_tablet_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API enables/disables the features of the sensor. + * + * @param[in] feature : Variable to specify the features which are to be set in + * bma456 sensor. + * @param[in] enable : Variable which specifies whether to enable or disable the + * features in the bma456 sensor. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note User should use the below macros to enable or disable the + * features of bma456_tablet sensor + * + * - BMA456_TABLET_SINGLE_TAP + * - BMA456_TABLET_DOUBLE_TAP + * - BMA456_TABLET_TRIPLE_TAP + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiRemap Remap Axes + * @brief Set / Get x, y and z axis re-mapping in the sensor + */ + +/*! + * \ingroup bma456_tabletApiRemap + * \page bma456_tablet_api_bma456_tablet_set_remap_axes bma456_tablet_set_remap_axes + * \code + * int8_t bma456_tablet_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API performs x, y and z axis remapping in the sensor. + * + * @param[in] remap_data : Pointer to store axes remapping data. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApiRemap + * \page bma456_tablet_api_bma456_tablet_get_remap_axes bma456_tablet_get_remap_axes + * \code + * int8_t bma456_tablet_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API reads the x, y and z axis remap data from the sensor. + * + * @param[out] remap_data : Pointer to store axis remap data which is read + * from the bma456 sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiAnyMot Any motion Feature + * @brief Functions of Any motion feature of the sensor + */ + +/*! + * \ingroup bma456_tabletApiAnyMot + * \page bma456_tablet_api_bma456_tablet_set_any_mot_config bma456_tablet_set_any_mot_config + * \code + * int8_t bma456_tablet_set_any_mot_config(const struct bma456_tablet_any_no_mot_config *any_mot, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of any-motion feature in the sensor + * This API enables/disables the any-motion feature according to the axis set. + * + * @param[in] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * | Configuration for acceleration + * slope | scope computation. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_TABLET_DIS_ALL_AXIS + * 0x01 | BMA456_TABLET_X_AXIS_EN + * 0x02 | BMA456_TABLET_Y_AXIS_EN + * 0x04 | BMA456_TABLET_Z_AXIS_EN + * 0x07 | BMA456_TABLET_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_set_any_mot_config(const struct bma456_tablet_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApiAnyMot + * \page bma456_tablet_api_bma456_tablet_get_any_motion_config bma456_tablet_get_any_motion_config + * \code + * int8_t bma456_tablet_get_any_motion_config(struct bma456_tablet_anymotion_config *any_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of any-motion feature from the + * sensor. + * + * @param[out] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * | Configuration for acceleration + * slope | scope computation. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_TABLET_DIS_ALL_AXIS + * 0x01 | BMA456_TABLET_X_AXIS_EN + * 0x02 | BMA456_TABLET_Y_AXIS_EN + * 0x04 | BMA456_TABLET_Z_AXIS_EN + * 0x07 | BMA456_TABLET_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_get_any_mot_config(struct bma456_tablet_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiNomot No-Motion Feature + * @brief Operations of no-motion feature of the sensor + */ + +/*! + * \ingroup bma456_tabletApiNomot + * \page bma456_tablet_api_bma456_tablet_set_no_motion_config bma456_tablet_set_no_motion_config + * \code + * int8_t bma456_tablet_set_no_motion_config(const struct bma456_tablet_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of no-motion feature in the sensor + * This API enables/disables the no-motion feature according to the axis set. + * + * @param[in] no_mot : Pointer to structure variable to configure + * no-motion. + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_TABLET_DIS_ALL_AXIS + * 0x01 | BMA456_TABLET_X_AXIS_EN + * 0x02 | BMA456_TABLET_Y_AXIS_EN + * 0x04 | BMA456_TABLET_Z_AXIS_EN + * 0x07 | BMA456_TABLET_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_set_no_mot_config(const struct bma456_tablet_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApiNomot + * \page bma456_tablet_api_bma456_tablet_get_no_motion_config bma456_tablet_get_no_motion_config + * \code + * int8_t bma456_tablet_get_no_motion_config(struct bma456_tablet_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of no-motion feature from the + * sensor. + * + * @param[out] no_mot : Pointer to structure variable to configure + * no-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456_TABLET_DIS_ALL_AXIS + * 0x01 | BMA456_TABLET_X_AXIS_EN + * 0x02 | BMA456_TABLET_Y_AXIS_EN + * 0x04 | BMA456_TABLET_Z_AXIS_EN + * 0x07 | BMA456_TABLET_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_get_no_mot_config(struct bma456_tablet_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApOP Tap Output + * @brief Functions to provide tap feature output status + */ + +/*! + * \ingroup bma456_tabletApOP + * \page bma456_tablet_api_bma456_tablet_tap_output bma456_tablet_tap_output + * \code + * int8_t bma456_tablet_tap_output(struct bma456_tablet_tap_output *out_state, struct bma4_dev *dev); + * \endcode + * @details This API gets the output for tap(single, double, triple) feature. + * + * @param[out] out_state : Pointer variable which stores feature output values. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_tap_output(struct bma456_tablet_tap_output *out_state, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiTap Tap Feature + * @brief Tap feature operations + */ + +/*! + * \ingroup bma456_tabletApiTap + * \page bma456_tablet_api_bma456_tablet_tap_get_parameter bma456_tablet_tap_get_parameter + * \code + * int8_t bma456_tablet_tap_get_parameter(struct bma456_tablet_tap_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API gets the tap parameter settings. + * + * @param[out] setting : Pointer to structure variable which stores the + * tap parameters read from the sensor + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_tap_get_parameter(struct bma456_tablet_tap_settings *setting, struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApiTap + * \page bma456_tablet_api_bma456_tablet_tap_set_parameter bma456_tablet_tap_set_parameter + * \code + * int8_t bma456_tablet_tap_set_parameter(const struct bma456_tablet_tap_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API sets the tap parameter settings in the sensor. + * + * @param[in] setting : Pointer to structure variable which stores the + * tap parameter settings read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_tap_set_parameter(const struct bma456_tablet_tap_settings *setting, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApLowG Low-G Feature + * @brief Functions of Low-G feature of the sensor + */ + +/*! + * \ingroup bma456_tabletApLowG + * \page bma456_tablet_api_bma456_tablet_set_low_g_config bma456_tablet_set_low_g_config + * \code + * int8_t bma456_tablet_set_low_g_config(const struct bma456_tablet_low_g_config *low_g, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of low-g feature of the sensor. + * + * @param[in] low_g : Pointer to structure variable used to + * store the low-g feature settings to be written to the sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold value for low-g feature. + * threshold | Range is 0 to 1g. + * | Default value is 512 = 0.25g. + * --------------------------------|---------------------------------------- + * | Hysteresis value for low_g feature. + * hysteresis | Range is 0 to 0.5g. + * | Default value is 256 = 0.125g. + * --------------------------------|---------------------------------------- + * | Duration in 50 Hz samples (20 msec) for + * duration | which the threshold has to be exceeded. + * | Range is 0 to 82 sec. + * | Default value is 0 = 0 ms. + * --------------------------------|---------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_set_low_g_config(const struct bma456_tablet_low_g_config *low_g, struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApLowG + * \page bma456_tablet_api_bma456_tablet_get_low_g_config bma456_tablet_get_low_g_config + * \code + * int8_t bma456_tablet_get_low_g_config(struct bma456_tablet_low_g_config *low_g, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of significant motion feature + * from the sensor. + * + * @param[out] low_g : Pointer to structure variable used to + * store the low-g feature settings read from the sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold value for low-g feature. + * threshold | Range is 0 to 1g. + * | Default value is 512 = 0.25g. + * --------------------------------|---------------------------------------- + * | Hysteresis value for low_g feature. + * hysteresis | Range is 0 to 0.5g. + * | Default value is 256 = 0.125g. + * --------------------------------|---------------------------------------- + * | Duration in 50 Hz samples (20 msec) for + * duration | which the threshold has to be exceeded. + * | Range is 0 to 82 sec. + * | Default value is 0 = 0 ms. + * --------------------------------|---------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_get_low_g_config(struct bma456_tablet_low_g_config *low_g, struct bma4_dev *dev); + +/** + * \ingroup bma456_tablet + * \defgroup bma456_tabletApiOrientation Orientation Feature + * @brief Functions of Orientation feature of the sensor + */ + +/*! + * \ingroup bma456_tabletApiOrientation + * \page bma456_tablet_api_bma456_tablet_set_orientation_config bma456_tablet_set_orientation_config + * \code + * int8_t bma456_tablet_set_orientation_config(struct bma456_tablet_orientation_config *orientation, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of orientation feature of the sensor. + * + * @param[in] orientation : Pointer to structure variable used to + * store the orientation feature settings to be written to sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * ud_en | Enables face upside/downside + * | detection if set to 1 + * --------------------------------|---------------------------------------- + * | symmetrical (values 0 or 3), + * mode | high asymmetrical (value 1) + * | or low asymmetrical (value 2). + * --------------------------------|---------------------------------------- + * | Sets the blocking mode. + * blocking | Default value is 4, the most + * | restrictive blocking mode. + * ------------------------------------------------------------------------- + * | The number of samples for which + * hold_time | the orientation should be stable + * | in 50Hz. Reolution: 5 = 100msecs + * ------------------------------------------------------------------------- + * slope_thres | The slope threshold for blocking + * | mode. Resolution: 0.4g = 205 lsbs + * ------------------------------------------------------------------------- + * | Hysteresis of acceleration for + * hysteresis | orientation change detection. + * | Resolution: 62.5mg = 32 lsbs + * ------------------------------------------------------------------------- + * | Coded value of the threshold angle + * | with horizontal used in blocking + * theta | modes, theta = 64 * (tan(angle)^2). + * | Default value is 40 which is + * | equivalent to 38 degrees angle. + * ------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_set_orientation_config(const struct bma456_tablet_orientation_config *orientation, + struct bma4_dev *dev); + +/*! + * \ingroup bma456_tabletApiOrientation + * \page bma456_tablet_api_bma456_tablet_get_orientation_config bma456_tablet_get_orientation_config + * \code + * int8_t bma456_tablet_get_orientation_config(struct bma456_tablet_orientation_config *orientation, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of orientation feature from the sensor. + * + * @param[out] orientation : Pointer to structure variable used to + * store the orientation feature settings read from the sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * ud_en | Enables face upside/downside + * | detection if set to 1 + * --------------------------------|---------------------------------------- + * | symmetrical (values 0 or 3), + * mode | high asymmetrical (value 1) + * | or low asymmetrical (value 2). + * --------------------------------|---------------------------------------- + * | Sets the blocking mode. + * blocking | Default value is 4, the most + * | restrictive blocking mode. + * ------------------------------------------------------------------------- + * | The number of samples for which + * hold_time | the orientation should be stable + * | in 50Hz. Reolution: 5 = 100msecs + * ------------------------------------------------------------------------- + * slope_thres | The slope threshold for blocking + * | mode. Resolution: 0.4g = 205 lsbs + * ------------------------------------------------------------------------- + * | Hysteresis of acceleration for + * hysteresis | orientation change detection. + * | Resolution: 62.5mg = 32 lsbs + * ------------------------------------------------------------------------- + * | Coded value of the threshold angle + * | with horizontal used in blocking + * theta | modes, theta = 64 * (tan(angle)^2). + * | Default value is 40 which is + * | equivalent to 38 degrees angle. + * ------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_get_orientation_config(struct bma456_tablet_orientation_config *orientation, struct bma4_dev *dev); + +/*! + * \ingroup bma422nApiOrient + * \page bma456_tablet_api_bma456_tablet_orientation_output bma456_tablet_orientation_output + * \code + * int8_t bma456_tablet_orientation_output(uint8_t *orientation_output, uint8_t *orientation_faceup_down, + * struct bma4_dev *dev); + * + * \endcode + * @details This API gets the output of orientation feature from the sensor. + * + * @param orientation_output : pointer used to store the orientation output. + * + *@verbatim + * orientation_output | Values + *-------------------------------|----------------------------- + * Bit pos 0-1 reflects | BMA456_TABLET_PORTRAIT_UP_RIGHT + * orientation output value | BMA456_TABLET_LANDSCAPE_LEFT + * only if ud_en is enabled | BMA456_TABLET_PORTRAIT_UP_DOWN + * | BMA456_TABLET_LANDSCAPE_RIGHT + *-------------------------------|----------------------------- + *@endverbatim + * + * @param orientation_faceup_down : Output value of face down face up orientation + * + *@verbatim + * orientation_faceup_down | Values + *-------------------------------|----------------------------- + * Bit pos 2 reflects | BMA456_TABLET_FACE_UP + * face-up (0) or face-down(1) | BMA456_TABLET_FACE_DOWN + * only if ud_en is enabled | + *-------------------------------|----------------------------- + *@endverbatim + * + * @param dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456_tablet_orientation_output(uint8_t *orientation_output, + uint8_t *orientation_faceup_down, + struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /* End of CPP guard */ + +#endif /* End of header guard macro */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456h.c b/lib/SensorLib/src/bosch/bma4xx/bma456h.c new file mode 100644 index 0000000..b534037 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456h.c @@ -0,0 +1,1649 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456h.c +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/*! \file bma456h.c + * \brief Sensor Driver for BMA456H sensor + */ + +#include "bma456h.h" + +/**\name Feature configuration file */ +const uint8_t bma456h_config_file[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xae, 0x00, 0x80, 0x2e, 0x6e, + 0x01, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x9a, 0x01, 0x50, 0x35, 0x21, 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Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This API enables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be set in + * the sensor. + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_enable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API disables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be unset + * in the sensor. + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_disable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API update the settings of step counter into write array. + * + * @param[in] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter25. + * @param[in] index : Value for array traversing. + * @param[out] feature_config : Pointer to store the settings + * + * @return none + */ +static void update_stepcounter_parameter(const struct bma456h_stepcounter_settings *setting, + uint8_t index, + uint8_t *feature_config); + +/*! + * @brief This API copy the settings of step counter into the + * structure of bma456h_stepcounter_settings, which is read from sensor. + * + * @param[out] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter25 read from sensor. + * @param[in] data_p : Pointer of array which stores the parameters. + * + * @return none + */ +static void extract_stepcounter_parameter(struct bma456h_stepcounter_settings *setting, const uint16_t *data_p); + +/*! + * @brief This API update the settings of tap into write array. + * + * @param[in] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter12. + * @param[in] index : Value for array traversing. + * @param[out] feature_config : Pointer to store the settings + * + * @return none + */ +static void update_tap_parameter(const struct bma456h_multitap_settings *setting, uint8_t index, + uint8_t *feature_config); + +/*! + * @brief This API copy the settings of tap into the + * structure of bma456h_multitap_settings, which is read from sensor. + * + * @param[out] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter12 read from sensor. + * @param[in] data_p : Pointer of array which stores the parameters. + * + * @return none + */ +static void extract_tap_parameter(struct bma456h_multitap_settings *setting, const uint16_t *data_p); + +/***************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + */ +int8_t bma456h_init(struct bma4_dev *dev) +{ + int8_t rslt; + + /* Structure to define the default values for axes re-mapping */ + struct bma4_axes_remap axes_remap = { + .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS, + .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE + }; + + rslt = bma4_init(dev); + if (rslt == BMA4_OK) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + /* Resolution of BMA456H sensor is 16 bit */ + dev->resolution = BMA4_16_BIT_RESOLUTION; + + dev->feature_len = BMA456H_FEATURE_SIZE; + + dev->config_size = sizeof(bma456h_config_file); + + /* Set the default values for axis + * re-mapping in the device structure + */ + dev->remap = axes_remap; + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + + return rslt; +} + +/*! + * @brief This API is used to upload the configuration file to enable the + * features of the sensor. + */ +int8_t bma456h_write_config_file(struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + /* Configuration stream read/write length boundary + * check + */ + if ((dev->read_write_len >= BMA456H_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456H_RD_WR_MAX_LEN)) + { + /* Even or odd check */ + if (dev->read_write_len & 0x01) + { + dev->read_write_len = dev->read_write_len - 1; + } + + /* Assign stream data */ + dev->config_file_ptr = bma456h_config_file; + rslt = bma4_write_config_file(dev); + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the configuration id of the sensor. + */ +int8_t bma456h_get_config_id(uint16_t *config_id, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_CONFIG_ID_OFFSET; + int8_t rslt = BMA4_OK; + uint16_t config_id_lsb = 0; + uint16_t config_id_msb = 0; + + if ((dev != NULL) && (config_id != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + config_id_lsb = (uint16_t)feature_config[index]; + config_id_msb = ((uint16_t)feature_config[index + 1]) << 8; + *config_id = config_id_lsb | config_id_msb; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets/un-sets the user provided interrupt to either interrupt + * pin1 or pin2 in the sensor. + */ +int8_t bma456h_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + if (int_line <= 1) + { + /* Map/Unmap the interrupt */ + rslt = bma4_map_interrupt(int_line, int_map, enable, dev); + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the bma456h interrupt status from the sensor. + */ +int8_t bma456h_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (int_status != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + /* Read the interrupt status */ + rslt = bma4_read_int_status(int_status, dev); + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables/disables the features of the sensor. + */ +int8_t bma456h_feature_enable(uint16_t feature, uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEAT_EN_SIZE] = { 0, 0 }; + int8_t rslt = BMA4_OK; + uint8_t len = BMA456H_FEAT_EN_SIZE; + + if (dev != NULL) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + /* Read feature configuration data */ + rslt = bma4_read_regs(BMA456H_FEAT_EN_ADDR1, feature_config, len, dev); + if (rslt == BMA4_OK) + { + if (enable == TRUE) + { + /* Enables the feature */ + rslt = feature_enable(feature, feature_config, dev); + } + else + { + /* Disables the feature */ + rslt = feature_disable(feature, feature_config, dev); + } + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API performs x, y and z axis remapping in the sensor. + */ +int8_t bma456h_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456H_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis remap data from the sensor. + */ +int8_t bma456h_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456H_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of any-motion feature in the sensor. + * This API enables/disables the any-motion feature according to the axis set. + */ + +int8_t bma456h_set_any_mot_config(const struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456H_ANY_MOT_OFFSET; + + if ((dev != NULL) && (any_mot != NULL)) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index] = BMA4_GET_LSB(any_mot->threshold); + feature_config[index + 1] = BMA4_GET_MSB(any_mot->threshold); + feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], + BMA456H_ANY_NO_MOTION_INTR_BHVR_EN, + any_mot->intr_bhvr); + feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], + BMA456H_ANY_MOTION_SLOPE_EN, + any_mot->slope); + + /* Extract the word where duration and axes enable + * resides + */ + feature_config[index + 2] = BMA4_GET_LSB(any_mot->duration); + feature_config[index + 3] = BMA4_GET_MSB(any_mot->duration); + + /* Set any-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_ANY_MOT_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of any-motion feature from the + * sensor. + */ +int8_t bma456h_get_any_mot_config(struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456H_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (any_mot != NULL)) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and any-motion + * select + */ + lsb = (uint16_t)feature_config[index]; + msb = (uint16_t)((feature_config[index + 1] << 8) & (BMA456H_ANY_NO_MOT_THRES_MSK)); + lsb_msb = lsb | msb; + + /* Get word to calculate intr_bhvr */ + any_mot->intr_bhvr = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456H_ANY_NO_MOTION_INTR_BHVR_EN); + + /* Get word to calculate slope */ + any_mot->slope = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456H_ANY_MOTION_SLOPE_EN); + + /* Extract threshold value */ + any_mot->threshold = lsb_msb & BMA456H_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration */ + lsb = (uint16_t)feature_config[index + 2]; + msb = (uint16_t)((feature_config[index + 3] << 8) & (BMA456H_ANY_NO_MOT_DUR_MSK)); + lsb_msb = lsb | msb; + + /* Extract duration value */ + any_mot->duration = lsb_msb & BMA456H_ANY_NO_MOT_DUR_MSK; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of no-motion feature in the sensor. + * This API enables/disables the no-motion feature according to the axis set. + */ +int8_t bma456h_set_no_mot_config(const struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456H_NO_MOT_OFFSET; + + if ((dev != NULL) && (no_mot != NULL)) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index] = BMA4_GET_LSB(no_mot->threshold); + feature_config[index + 1] = BMA4_GET_MSB(no_mot->threshold); + + feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], + BMA456H_ANY_NO_MOTION_INTR_BHVR_EN, + no_mot->intr_bhvr); + + /* Extract the word where duration and axes enable + * resides + */ + feature_config[index + 2] = BMA4_GET_LSB(no_mot->duration); + feature_config[index + 3] = BMA4_GET_MSB(no_mot->duration); + + /* Set no-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_NO_MOT_RD_WR_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of no-motion feature from the + * sensor. + */ +int8_t bma456h_get_no_mot_config(struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456H_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (no_mot != NULL)) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and no-motion + * select + */ + lsb = (uint16_t)feature_config[index]; + msb = ((uint16_t)feature_config[index + 1] << 8); + lsb_msb = lsb | msb; + + /* Get word to calculate intr_bhvr */ + no_mot->intr_bhvr = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456H_ANY_NO_MOTION_INTR_BHVR_EN); + + /* Extract threshold value */ + no_mot->threshold = lsb_msb & BMA456H_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index + 2]; + msb = ((uint16_t)feature_config[index + 3] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + no_mot->duration = lsb_msb & BMA456H_ANY_NO_MOT_DUR_MSK; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables or disables the step detector feature in the sensor. + */ +int8_t bma456h_step_detector_enable(uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + int8_t rslt = BMA4_OK; + + /* Step detector enable bit position is 1 + * byte ahead of the base address + */ + uint8_t index = BMA456H_STEP_CNTR_OFFSET + 1; + + if (dev != NULL) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + feature_config[index] = BMA4_SET_BITS_POS_0(feature_config[index], BMA456H_STEP_DETR_EN, enable); + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the watermark level for step counter interrupt in the + * sensor. + */ +int8_t bma456h_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_STEP_CNTR_OFFSET; + uint16_t wm_lsb = 0; + uint16_t wm_msb = 0; + int8_t rslt = BMA4_OK; + uint16_t data = 0; + + if (dev != NULL) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + wm_lsb = feature_config[index]; + wm_msb = feature_config[index + 1] << 8; + data = wm_lsb | wm_msb; + + /* Sets only water-mark bits in the complete + * 16 bits of data + */ + data = BMA4_SET_BITS_POS_0(data, BMA456H_STEP_CNTR_WM, step_counter_wm); + + /* Splits 16 bits of data to individual + * 8 bits data + */ + feature_config[index] = BMA4_GET_LSB(data); + feature_config[index + 1] = BMA4_GET_MSB(data); + + /* Writes step counter water-mark settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the water mark level set for step counter interrupt + * in the sensor. + */ +int8_t bma456h_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_STEP_CNTR_OFFSET; + uint16_t wm_lsb = 0; + uint16_t wm_msb = 0; + int8_t rslt = BMA4_OK; + uint16_t data = 0; + + if ((dev != NULL) && (step_counter_wm != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + wm_lsb = feature_config[index]; + wm_msb = feature_config[index + 1] << 8; + data = wm_lsb | wm_msb; + *step_counter_wm = BMA4_GET_BITS_POS_0(data, BMA456H_STEP_CNTR_WM); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API resets the counted steps of step counter. + */ +int8_t bma456h_reset_step_counter(struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + + /* Reset bit is 1 byte ahead of base address */ + uint8_t index = BMA456H_STEP_CNTR_OFFSET + 1; + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], BMA456H_STEP_CNTR_RST, 1); + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the number of counted steps of the step counter + * feature from the sensor. + */ +int8_t bma456h_step_counter_output(uint32_t *step_count, struct bma4_dev *dev) +{ + uint8_t data[BMA456H_STEP_CNTR_DATA_SIZE] = { 0 }; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (step_count != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + /* Reads the step counter output data from the + * gpio register + */ + rslt = bma4_read_regs(BMA4_STEP_CNT_OUT_0_ADDR, data, BMA456H_STEP_CNTR_DATA_SIZE, dev); + if (rslt == BMA4_OK) + { + *step_count = ((uint32_t)data[0]) | ((uint32_t)data[1] << 8) | ((uint32_t)data[2] << 16) | + ((uint32_t)data[3] << 24); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the output for activity feature. + */ +int8_t bma456h_output_state(struct bma456h_out_state *out_state, struct bma4_dev *dev) +{ + uint8_t data = 0; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (out_state != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + /* Reads the activity output from the gpio register */ + rslt = bma4_read_regs(BMA456H_FEAT_OUT_ADDR, &data, 1, dev); + if (rslt == BMA4_OK) + { + out_state->activity_type = BMA4_GET_BITS_POS_0(data, BMA456H_ACTIVITY_OUT); + out_state->single_tap = BMA4_GET_BITSLICE(data, BMA456H_SINGLE_TAP_OUT); + out_state->double_tap = BMA4_GET_BITSLICE(data, BMA456H_DOUBLE_TAP_OUT); + out_state->triple_tap = BMA4_GET_BITSLICE(data, BMA456H_TRIPLE_TAP_OUT); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the parameter1 to parameter7 settings of the step + * counter feature. + */ +int8_t bma456h_stepcounter_get_parameter(struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint16_t *data_p = (uint16_t *)(void *)feature_config; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* To convert 8bit to 16 bit address */ + data_p = data_p + BMA456H_STEP_CNTR_PARAM_OFFSET / 2; + extract_stepcounter_parameter(setting, data_p); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the parameter1 to parameter7 settings of the step + * counter feature in the sensor. + */ +int8_t bma456h_stepcounter_set_parameter(const struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_STEP_CNTR_PARAM_OFFSET; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + update_stepcounter_parameter(setting, index, feature_config); + + /* Writes step counter parameter settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/*! + * @brief This API enables the features of the sensor. + */ +static int8_t feature_enable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (feature_config != NULL)) + { + feature_config[index] |= BMA4_GET_LSB(feature); + feature_config[index + 1] |= BMA4_GET_MSB(feature); + + /* Write the feature enable settings in the sensor */ + rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR1, &feature_config[0], 1, dev); + + if (rslt == BMA4_OK) + { + /* Delay required for write register */ + dev->delay_us(450, dev->intf_ptr); + rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR2, &feature_config[1], 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API disables the features of the sensor. + */ +static int8_t feature_disable(uint16_t feature, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (feature_config != NULL)) + { + feature = ~feature; + feature_config[index] &= BMA4_GET_LSB(feature); + feature_config[index + 1] &= BMA4_GET_MSB(feature); + + /* Write the configured settings in the sensor */ + rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR1, &feature_config[0], 1, dev); + + if (rslt == BMA4_OK) + { + /* Delay required for write register */ + dev->delay_us(450, dev->intf_ptr); + rslt = bma4_write_regs(BMA456H_FEAT_EN_ADDR2, &feature_config[1], 1, dev); + } + } + + return rslt; +} + +/*! + * @brief This API update the settings of step counter. + */ +static void update_stepcounter_parameter(const struct bma456h_stepcounter_settings *setting, + uint8_t index, + uint8_t *feature_config) +{ + uint8_t param_num; + const uint16_t *step_counter_param = &setting->param1; + + /* Number of step-counter parameter is 25 */ + for (param_num = 1; param_num <= 25; param_num++) + { + feature_config[index++] = BMA4_GET_LSB(*step_counter_param); + feature_config[index++] = BMA4_GET_MSB(*step_counter_param); + step_counter_param++; + } +} + +/*! + * @brief This API copy the settings of step counter into the structure of + * bma456h_stepcounter_settings, which is read from sensor. + */ +static void extract_stepcounter_parameter(struct bma456h_stepcounter_settings *setting, const uint16_t *data_p) +{ + uint8_t param_num; + uint16_t *step_counter_param = &setting->param1; + + /* Number of step-counter parameter is 25 */ + for (param_num = 1; param_num <= 25; param_num++) + { + *step_counter_param = *(data_p++); + step_counter_param++; + } +} + +/*! @endcond */ + +/*! + * @brief This API gets the parameter1 to parameter12 settings of the + * tap feature. + */ +int8_t bma456h_tap_get_parameter(struct bma456h_multitap_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint16_t *data_p = (uint16_t *)(void *)feature_config; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* To convert 8bit to 16 bit address */ + data_p = data_p + BMA456H_TAP_PARAM_OFFSET / 2; + extract_tap_parameter(setting, data_p); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the parameter1 to parameter12 settings of the + * tap feature in the sensor. + */ +int8_t bma456h_tap_set_parameter(const struct bma456h_multitap_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_TAP_PARAM_OFFSET; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + update_tap_parameter(setting, index, feature_config); + + /* Writes tap parameter settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/*! + * @brief This API update the settings of tap. + */ +static void update_tap_parameter(const struct bma456h_multitap_settings *setting, uint8_t index, + uint8_t *feature_config) +{ + uint8_t param_num; + uint8_t max_tap_param = 12; + const uint16_t *tap_param = &setting->reserved_1; + + /* Number of tap detection parameter is 12 */ + for (param_num = 1; param_num <= max_tap_param; param_num++) + { + feature_config[index++] = BMA4_GET_LSB(*tap_param); + feature_config[index++] = BMA4_GET_MSB(*tap_param); + tap_param++; + } +} + +/*! + * @brief This API copy the settings of tap into the structure of + * bma456h_multitap_settings, which is read from sensor. + */ +static void extract_tap_parameter(struct bma456h_multitap_settings *setting, const uint16_t *data_p) +{ + uint8_t param_num; + uint8_t max_tap_param = 12; + uint16_t *tap_param = &setting->reserved_1; + + /* Number of tap detection parameter is 12 */ + for (param_num = 1; param_num <= max_tap_param; param_num++) + { + *tap_param = *(data_p++); + tap_param++; + } +} + +/*! @endcond */ + +/*! + * @brief This API gets auto sleep configurations + */ +int8_t bma456h_get_auto_low_power_config(struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + int8_t rslt = BMA4_OK; + uint16_t msb_lsb; + + if ((dev != NULL) && (auto_low_power != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + + auto_low_power->no_motion = BMA4_GET_BITS_POS_0(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET], + BMA456H_NO_MOT_AUTO_LOW_POWER); + auto_low_power->time_out = BMA4_GET_BITSLICE(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET], + BMA456H_AUTO_LOW_POWER_TIME_OUT); + + msb_lsb = + (uint16_t)(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET] | + (uint16_t)(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET + 1] << 8)); + auto_low_power->time_out_dur = BMA4_GET_BITSLICE(msb_lsb, BMA456H_TIME_OUT_DUR); + + auto_low_power->lp_odr = BMA4_GET_BITSLICE(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET + 1], + BMA456H_LOW_POW_ODR); + auto_low_power->pwr_mgt = BMA4_GET_BITSLICE(feature_config[BMA456H_AUTO_LOW_POWER_OFFSET + 1], + BMA456H_PWR_MGT_ENABLE); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets power mode management configuration. + */ +int8_t bma456h_set_auto_low_power_config(const struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456H_AUTO_LOW_POWER_OFFSET; + int8_t rslt = BMA4_OK; + uint16_t msb_lsb; + + if ((dev != NULL) && (auto_low_power != NULL)) + { + if (dev->chip_id == BMA456H_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + + msb_lsb = (uint16_t)((feature_config[index]) | (uint16_t)(feature_config[index + 1] << 8)); + + msb_lsb = BMA4_SET_BITS_POS_0(msb_lsb, BMA456H_NO_MOT_AUTO_LOW_POWER_WORD, auto_low_power->no_motion); + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_AUTO_LOW_POWER_TIME_OUT_WORD, auto_low_power->time_out); + + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_TIME_OUT_DUR_WORD, auto_low_power->time_out_dur); + + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_LOW_POW_ODR_WORD, auto_low_power->lp_odr); + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456H_PWR_MGT_ENABLE_WORD, auto_low_power->pwr_mgt); + + feature_config[index] = BMA4_GET_LSB(msb_lsb); + feature_config[index + 1] = BMA4_GET_MSB(msb_lsb); + + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This api reads the auto low power state output status + */ +int8_t bma456h_get_auto_low_power_state(uint8_t *auto_low_power_state, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + uint8_t data; + + if ((dev != NULL) && (auto_low_power_state != NULL)) + { + rslt = bma4_read_regs(BMA4_INTERNAL_STAT, &data, 1, dev); + *auto_low_power_state = BMA4_GET_BITSLICE(data, BMA456H_AUTO_LOW_POWER_STATE); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the config file major and minor information. + */ +int8_t bma456h_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA456H_FEATURE_SIZE] = { 0 }; + + /* Update index to config file version */ + uint8_t index = BMA456H_CONFIG_ID_START_ADDR; + + /* Variable to define LSB */ + uint8_t lsb = 0; + + /* Variable to define MSB */ + uint8_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + /* Result of api are returned to this variable */ + int8_t rslt = BMA4_OK; + + if ((config_major != NULL) && (config_minor != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + if (rslt == BMA4_OK) + { + /* Get config file identification from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456H_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate config file identification */ + lsb = feature_config[index++]; + msb = feature_config[index++]; + + lsb_msb = (uint16_t)(msb << 8 | lsb); + + /* Get major and minor version */ + *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR); + *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @endcond */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456h.h b/lib/SensorLib/src/bosch/bma4xx/bma456h.h new file mode 100644 index 0000000..1e838f2 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456h.h @@ -0,0 +1,1322 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456h.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/** + * \ingroup bma4xy + * \defgroup bma456h BMA456H + * @brief Sensor driver for BMA456H sensor + */ + +#ifndef BMA456H_H +#define BMA456H_H + +#ifdef __cplusplus +extern "C" { +#endif +#include "bma4.h" + +/**\name Chip ID of BMA456H sensor */ +#define BMA456H_CHIP_ID UINT8_C(0x16) + +/**\ Configuration ID start position of BMA456H sensor */ +#define BMA456H_CONFIG_ID_START_ADDR UINT8_C(90) + +/**\name Sensor feature size */ +#define BMA456H_FEATURE_SIZE UINT8_C(94) +#define BMA456H_FEATURE_SIZE_WORDS UINT8_C(46) +#define BMA456H_ANY_MOT_LEN UINT8_C(4) + +/**************************************************************/ +/**\name Feature input offset: Features enable position */ +/**************************************************************/ +#define BMA456H_ANY_MOT_OFFSET UINT8_C(0x00) +#define BMA456H_NO_MOT_OFFSET UINT8_C(0x04) +#define BMA456H_STEP_CNTR_PARAM_OFFSET UINT8_C(0x08) +#define BMA456H_STEP_CNTR_OFFSET UINT8_C(0x3A) +#define BMA456H_TAP_PARAM_OFFSET UINT8_C(0x3C) +#define BMA456H_AUTO_LOW_POWER_OFFSET UINT8_C(0x58) +#define BMA456H_AUTO_LOW_POWER_OFFSET_WORDS UINT8_C(0x2C) + +/**\name Read/Write Lengths */ +#define BMA456H_RD_WR_MIN_LEN UINT8_C(2) +#define BMA456H_NO_MOT_RD_WR_LEN (BMA456H_ANY_MOT_LEN + BMA456H_NO_MOT_OFFSET) + +/*! @name Maximum valid read write length is size of config file array */ +#define BMA456H_RD_WR_MAX_LEN ((uint16_t)sizeof(bma456h_config_file)) + +/**************************************************************/ +/**\name General settings: Re-map Axes */ +/**************************************************************/ +#define BMA456H_CONFIG_ID_OFFSET UINT8_C(0x5A) +#define BMA456H_AXES_REMAP_OFFSET UINT8_C(0x5C) +#define BMA456H_X_AXIS_MASK UINT8_C(0x03) +#define BMA456H_X_AXIS_SIGN_MASK UINT8_C(0x04) +#define BMA456H_Y_AXIS_MASK UINT8_C(0x18) +#define BMA456H_Y_AXIS_SIGN_MASK UINT8_C(0x20) +#define BMA456H_Z_AXIS_MASK UINT8_C(0xC0) +#define BMA456H_Z_AXIS_SIGN_MASK UINT8_C(0x01) + +/**************************************************************/ +/**\name Output: Features enable position */ +/**************************************************************/ +#define BMA456H_NO_MOT_X_EN_POS UINT8_C(0) +#define BMA456H_NO_MOT_Y_EN_POS UINT8_C(1) +#define BMA456H_NO_MOT_Z_EN_POS UINT8_C(2) +#define BMA456H_ANY_MOT_X_EN_POS UINT8_C(3) +#define BMA456H_ANY_MOT_Y_EN_POS UINT8_C(4) +#define BMA456H_ANY_MOT_Z_EN_POS UINT8_C(5) + +#define BMA456H_STEP_DETR_EN_POS UINT8_C(0) +#define BMA456H_STEP_CNTR_EN_POS UINT8_C(1) +#define BMA456H_STEP_ACT_EN_POS UINT8_C(2) +#define BMA456H_AUTO_LOW_POWER_EN_POS UINT8_C(3) +#define BMA456H_SIN_TAP_EN_POS UINT8_C(4) +#define BMA456H_DBL_TAP_EN_POS UINT8_C(5) +#define BMA456H_TPL_TAP_EN_POS UINT8_C(6) +#define BMA456H_TAP_AVERAGE_EN_POS UINT8_C(7) + +/**************************************************************/ +/**\name Output: Features enable mask */ +/**************************************************************/ +#define BMA456H_NO_MOT_X_EN_MSK UINT8_C(0x01) +#define BMA456H_NO_MOT_Y_EN_MSK UINT8_C(0x02) +#define BMA456H_NO_MOT_Z_EN_MSK UINT8_C(0x04) +#define BMA456H_NO_MOT_ALL_EN_MSK UINT8_C(0x07) +#define BMA456H_NO_MOT_ALL_DIS_MSK UINT8_C(0x00) +#define BMA456H_ANY_MOT_X_EN_MSK UINT8_C(0x08) +#define BMA456H_ANY_MOT_Y_EN_MSK UINT8_C(0x10) +#define BMA456H_ANY_MOT_Z_EN_MSK UINT8_C(0x20) +#define BMA456H_ANY_MOT_ALL_EN_MSK UINT8_C(0x38) +#define BMA456H_ANY_MOT_ALL_DIS_MSK UINT8_C(0x00) + +#define BMA456H_STEP_DETR_EN_MSK UINT8_C(0x01) +#define BMA456H_STEP_CNTR_EN_MSK UINT8_C(0x02) +#define BMA456H_STEP_ACT_EN_MSK UINT8_C(0x04) +#define BMA456H_AUTO_LOW_POWER_EN_MSK UINT8_C(0x08) +#define BMA456H_SINGLE_TAP_EN_MSK UINT8_C(0x10) +#define BMA456H_DOUBLE_TAP_EN_MSK UINT8_C(0x20) +#define BMA456H_TRIPLE_TAP_EN_MSK UINT8_C(0x40) +#define BMA456H_TAP_AVERAGE_EN_MSK UINT8_C(0x80) + +/**\name Step counter water-mark macros */ +#define BMA456H_STEP_CNTR_WM_MSK UINT16_C(0x03FF) + +/**\name Step counter reset macros */ +#define BMA456H_STEP_CNTR_RST_POS UINT8_C(2) +#define BMA456H_STEP_CNTR_RST_MSK UINT8_C(0x04) + +/**\name Step counter output length */ +#define BMA456H_STEP_CNTR_DATA_SIZE UINT16_C(4) + +/**\name Step activity output macros */ +#define BMA456H_ACTIVITY_OUT_MSK UINT8_C(0x03) +#define BMA456H_ACTIVITY_OUT_POS UINT8_C(0x00) + +/**\name Tap output macros */ +#define BMA456H_SINGLE_TAP_OUT_MSK UINT8_C(0x04) +#define BMA456H_SINGLE_TAP_OUT_POS UINT8_C(0x02) + +#define BMA456H_DOUBLE_TAP_OUT_MSK UINT8_C(0x08) +#define BMA456H_DOUBLE_TAP_OUT_POS UINT8_C(0x03) + +#define BMA456H_TRIPLE_TAP_OUT_MSK UINT8_C(0x10) +#define BMA456H_TRIPLE_TAP_OUT_POS UINT8_C(0x04) + +#define BMA456H_TAP_OUT_MSK UINT8_C(0x1C) +#define BMA456H_TAP_OUT_POS UINT8_C(0x02) + +/**************************************************************/ +/**\name Any/no Motion */ +/**************************************************************/ +/**\name Any/No motion threshold macros */ +#define BMA456H_ANY_NO_MOT_THRES_MSK UINT16_C(0x07FF) + +/**\name Any/No motion duration macros */ +#define BMA456H_ANY_NO_MOT_DUR_MSK UINT16_C(0x1FFF) + +/**\name Any/No motion enable macros */ +#define BMA456H_ANY_NO_MOT_AXIS_EN_POS UINT8_C(0x03) +#define BMA456H_ANY_NO_MOT_AXIS_EN_MSK UINT16_C(0x78) + +#define BMA456H_NO_MOT_AUTO_LOW_POWER_MSK UINT8_C(0x01) + +#define BMA456H_AUTO_LOW_POWER_TIME_OUT_MSK UINT8_C(0x02) +#define BMA456H_AUTO_LOW_POWER_TIME_OUT_POS UINT8_C(0x1) +#define BMA456H_TIME_OUT_DUR_MSK UINT16_C(0x1FFC) +#define BMA456H_TIME_OUT_DUR_POS UINT16_C(0x02) +#define BMA456H_LOW_POW_ODR_MSK UINT8_C(0x60) +#define BMA456H_LOW_POW_ODR_POS UINT8_C(0x05) +#define BMA456H_PWR_MGT_ENABLE_MSK UINT8_C(0x80) +#define BMA456H_PWR_MGT_ENABLE_POS UINT8_C(0x07) +#define BMA456H_TIME_OUT_DUR_LSB_MSK UINT16_C(0X00FC) +#define BMA456H_TIME_OUT_DUR_LSB_POS UINT8_C(0x02) +#define BMA456H_TIME_OUT_DUR_MSB_MSK UINT16_C(0X07C0) +#define BMA456H_TIME_OUT_DUR_MSB_POS UINT8_C(0X06) + +#define BMA456H_NO_MOT_AUTO_LOW_POWER_WORD_MSK UINT16_C(0x01) + +#define BMA456H_AUTO_LOW_POWER_TIME_OUT_WORD_MSK UINT16_C(0x02) +#define BMA456H_AUTO_LOW_POWER_TIME_OUT_WORD_POS UINT8_C(0x1) + +#define BMA456H_TIME_OUT_DUR_WORD_MSK UINT16_C(0X1FFC) +#define BMA456H_TIME_OUT_DUR_WORD_POS UINT8_C(0x02) + +#define BMA456H_LOW_POW_ODR_WORD_MSK UINT16_C(0x6000) +#define BMA456H_LOW_POW_ODR_WORD_POS UINT8_C(0x0D) + +#define BMA456H_PWR_MGT_ENABLE_WORD_MSK UINT16_C(0x8000) +#define BMA456H_PWR_MGT_ENABLE_WORD_POS UINT8_C(0x0F) + +/**************************************************************/ +/**\name User macros */ +/**************************************************************/ +/**************************************************************/ +/**\name Output: Features for enable/disable */ +/**************************************************************/ +#define BMA456H_NO_MOTION_X_AXIS_EN UINT16_C(0x0001) +#define BMA456H_NO_MOTION_Y_AXIS_EN UINT16_C(0x0002) +#define BMA456H_NO_MOTION_Z_AXIS_EN UINT16_C(0x0004) +#define BMA456H_NO_MOTION_ALL_AXIS_EN UINT16_C(0x0007) +#define BMA456H_ANY_MOTION_X_AXIS_EN UINT16_C(0x0008) +#define BMA456H_ANY_MOTION_Y_AXIS_EN UINT16_C(0x0010) +#define BMA456H_ANY_MOTION_Z_AXIS_EN UINT16_C(0x0020) +#define BMA456H_ANY_MOTION_ALL_AXIS_EN UINT16_C(0x0038) + +#define BMA456H_STEP_DETECTOR_EN UINT16_C(0x0100) +#define BMA456H_STEP_COUNTER_EN UINT16_C(0x0200) +#define BMA456H_STEP_ACTIVITY_EN UINT16_C(0x0400) +#define BMA456H_AUTO_LOW_POWER_EN UINT16_C(0x0800) +#define BMA456H_SINGLE_TAP_EN UINT16_C(0x1000) +#define BMA456H_DOUBLE_TAP_EN UINT16_C(0x2000) +#define BMA456H_TRIPLE_TAP_EN UINT16_C(0x4000) +#define BMA456H_TAP_AVERAGE_EN UINT16_C(0x8000) + +/**\name Interrupt status macros */ +#define BMA456H_TAP_OUT_INT UINT8_C(0x01) +#define BMA456H_STEP_CNTR_INT UINT8_C(0x02) +#define BMA456H_ACTIVITY_INT UINT8_C(0x04) +#define BMA456H_ANY_MOT_INT UINT8_C(0x10) +#define BMA456H_NO_MOT_INT UINT8_C(0x20) +#define BMA456H_ERROR_INT UINT8_C(0x80) + +/**\name Activity recognition macros */ +#define BMA456H_USER_STATIONARY UINT8_C(0x00) +#define BMA456H_USER_WALKING UINT8_C(0x01) +#define BMA456H_USER_RUNNING UINT8_C(0x02) +#define BMA456H_UNKNOWN_ACTVTY UINT8_C(0x03) + +/**\name Address of features enable macros */ +#define BMA456H_FEAT_EN_ADDR1 UINT8_C(0x28) +#define BMA456H_FEAT_EN_ADDR2 UINT8_C(0x29) + +#define BMA456H_FEAT_OUT_ADDR UINT8_C(0x27) +#define BMA456H_FEAT_EN_SIZE UINT8_C(0x02) + +/**\name Position and mask of interrupt behavior and slope */ +#define BMA456H_ANY_NO_MOTION_INTR_BHVR_EN_POS UINT8_C(0x03) +#define BMA456H_ANY_NO_MOTION_INTR_BHVR_EN_MSK UINT8_C(0x08) + +#define BMA456H_ANY_MOTION_SLOPE_EN_POS UINT8_C(0x04) +#define BMA456H_ANY_MOTION_SLOPE_EN_MSK UINT8_C(0x10) + +#define BMA456H_MULTI_INTR UINT8_C(0x00) +#define BMA456H_SINGLE_SHOT UINT8_C(0x01) + +#define BMA456H_NON_CONSECUTIVE UINT8_C(0x00) +#define BMA456H_CONSECUTIVE UINT8_C(0x01) + +#define BMA456H_AUTO_LOW_POWER_STATE_POS UINT8_C(0x04) +#define BMA456H_AUTO_LOW_POWER_STATE_MSK UINT8_C(0x10) + +/******************************************************************************/ +/*! @name Structure Declarations */ +/******************************************************************************/ + +/*! + * @brief Any/No motion configuration + */ +struct bma456h_any_no_mot_config +{ + /*! Expressed in 50 Hz samples (20 ms) */ + uint16_t duration; + + /*! Threshold value for Any-motion/No-motion detection in + * 5.11g format + */ + uint16_t threshold; + + uint8_t intr_bhvr; + + uint8_t slope; +}; + +/*! + * @brief Step counter param settings + */ +struct bma456h_stepcounter_settings +{ + /*! Step Counter param 1 */ + uint16_t param1; + + /*! Step Counter param 2 */ + uint16_t param2; + + /*! Step Counter param 3 */ + uint16_t param3; + + /*! Step Counter param 4 */ + uint16_t param4; + + /*! Step Counter param 5 */ + uint16_t param5; + + /*! Step Counter param 6 */ + uint16_t param6; + + /*! Step Counter param 7 */ + uint16_t param7; + + /*! Step Counter param 8 */ + uint16_t param8; + + /*! Step Counter param 9 */ + uint16_t param9; + + /*! Step Counter param 10 */ + uint16_t param10; + + /*! Step Counter param 11 */ + uint16_t param11; + + /*! Step Counter param 12 */ + uint16_t param12; + + /*! Step Counter param 13 */ + uint16_t param13; + + /*! Step Counter param 14 */ + uint16_t param14; + + /*! Step Counter param 15 */ + uint16_t param15; + + /*! Step Counter param 16 */ + uint16_t param16; + + /*! Step Counter param 17 */ + uint16_t param17; + + /*! Step Counter param 18 */ + uint16_t param18; + + /*! Step Counter param 19 */ + uint16_t param19; + + /*! Step Counter param 20 */ + uint16_t param20; + + /*! Step Counter param 21 */ + uint16_t param21; + + /*! Step Counter param 22 */ + uint16_t param22; + + /*! Step Counter param 23 */ + uint16_t param23; + + /*! Step Counter param 24 */ + uint16_t param24; + + /*! Step Counter param 25 */ + uint16_t param25; +}; + +/*! + * @brief Auto sleep configuration + */ +struct bma456h_auto_low_power +{ + /*! Enters auto-sleep, when no-motion is detected */ + uint8_t no_motion; + + /*! Enters auto-sleep, when any-motion is not detected for time_out_dur period */ + uint8_t time_out; + + /*! Duration to enter to auto sleep, when any-motion event is not detected. + * Range : 0 ms to 40690 ms + * Resolution : 20 ms + * Default Value : 2000 ms + */ + uint16_t time_out_dur; + + /*! ODR for low power mode + * --------------------------------------- + * Value Name Description + * --------------------------------------- + * 0 odr_1p5 25/16 Hz + * 1 odr_3p1 25/8 Hz + * 2 odr_6p25 25/4 Hz + * 3 odr_12p5 25/2 Hz + */ + uint8_t lp_odr; + + /*! Power management + * -------------------------------------------- + * Value Name Description + * -------------------------------------------- + * 0 Disable Disable feature optimized + * acc conf. Uses host desired + * configuration + * 1 Enable Enable feature optimized + * acc conf + */ + uint8_t pwr_mgt; +}; + +/*! + * @brief Tap param settings + */ +struct bma456h_multitap_settings +{ + /*! Reserved parameter */ + uint16_t reserved_1; + + /*! Scaling factor for threshold */ + uint16_t tap_sens_thres; + + /*! Maximum duration after the first tap */ + uint16_t max_gest_dur; + + /*! Reserved parameter */ + uint16_t reserved_4; + + /*! Settling time for high frequency acceleration signal */ + uint16_t tap_shock_dur; + + /*! Reserved parameter */ + uint16_t reserved_6; + + /*! Minimum quite time between the two gesture detection */ + uint16_t quite_time_after_gest; + + /*! Wait for the duration set by max_gest_dur after the first tap */ + uint16_t wait_for_timeout; + + /*! Reserved parameter */ + uint16_t reserved_9; + + /*! Selection of axis from 3D-acceleration signal vector */ + uint16_t axis_sel; + + /*! Reserved parameter */ + uint16_t reserved_11; + + /*! Reserved parameter */ + uint16_t reserved_12; +}; + +/*! + * @brief activity, tap output state + */ +struct bma456h_out_state +{ + /*! Output value of activity detection feature. Value after device + * initialization is 0b0 i.e User Stationary + * ---------------------------------------------------------------- + * Value Name Description + * ---------------------------------------------------------------- + * 0 Still User Stationary + * 1 Walking User walking + * 2 Running User running + * 3 Unknown Unknown state + */ + uint8_t activity_type; + + /*! Single tap detected */ + uint8_t single_tap; + + /*! Double tap detected */ + uint8_t double_tap; + + /*! Triple tap detected */ + uint8_t triple_tap; +}; + +/***************************************************************************/ + +/*! BMA456H User Interface function prototypes + ****************************************************************************/ + +/** + * \ingroup bma456h + * \defgroup bma456hApiInit Initialization + * @brief Initialize the sensor and device structure + */ + +/*! + * \ingroup bma456hApiInit + * \page bma456h_api_bma456h_init bma456h_init + * \code + * int8_t bma456h_init(struct bma4_dev *dev); + * \endcode + * @details This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_init(struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiConfig ConfigFile + * @brief Write binary configuration in the sensor + */ + +/*! + * \ingroup bma456hApiConfig + * \page bma456h_api_bma456h_write_config_file bma456h_write_config_file + * \code + * int8_t bma456h_write_config_file(struct bma4_dev *dev); + * \endcode + * @details This API is used to upload the config file to enable the features of + * the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_write_config_file(struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiConfigId ConfigId + * @brief Get Configuration ID of the sensor + */ + +/*! + * \ingroup bma456hApiConfig + * \page bma456h_api_bma456h_get_config_id bma456h_get_config_id + * \code + * int8_t bma456h_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the configuration id of the sensor. + * + * @param[out] config_id : Pointer variable used to store the configuration id. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiMapInt Map / Unmap Interrupt + * @brief Map / Unmap user provided interrupt to interrupt pin1 or pin2 of the sensor + */ + +/*! + * \ingroup bma456hApiMapInt + * \page bma456h_api_bma456h_map_interrupt bma456h_map_interrupt + * \code + * int8_t bma456h_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API sets/unsets the user provided interrupt to either + * interrupt pin1 or pin2 in the sensor. + * + * @param[in] int_line: Variable to select either interrupt pin1 or pin2. + * + *@verbatim + * int_line | Macros + * ------------|------------------- + * 0x00 | BMA4_INTR1_MAP + * 0x01 | BMA4_INTR2_MAP + *@endverbatim + * + * @param[in] int_map : Variable to specify the interrupts. + * @param[in] enable : Variable to specify mapping or unmapping of interrupts. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the interrupts. + * + * Feature Interrupts + * - BMA456H_TAP_OUT_INT + * - BMA456H_STEP_CNTR_INT + * - BMA456H_ACTIVITY_INT + * - BMA456H_ANY_MOT_INT + * - BMA456H_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_MAG_DATA_RDY_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiIntS Interrupt Status + * @brief Read interrupt status of the sensor + */ + +/*! + * \ingroup bma456hApiIntS + * \page bma456h_api_bma456h_read_int_status bma456h_read_int_status + * \code + * int8_t bma456h_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the bma456h interrupt status from the sensor. + * + * @param[out] int_status : Variable to store the interrupt status read from + * the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros are used to check the interrupt status. + * + * Feature Interrupts + * - BMA456H_STEP_CNTR_INT + * - BMA456H_ACTIVITY_INT + * - BMA456H_SINGLE_TAP_EN + * - BMA456H_DOUBLE_TAP_EN + * - BMA456H_TRIPLE_TAP_EN + * - BMA456H_ANY_MOT_INT + * - BMA456H_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_MAG_DATA_RDY_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiFeat Sensor Feature + * @brief Enables / Disables features of the sensor + */ + +/*! + * \ingroup bma456hApiFeat + * \page bma456h_api_bma456h_feature_enable bma456h_feature_enable + * \code + * int8_t bma456h_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API enables/disables the features of the sensor. + * + * @param[in] feature : Variable to specify the features which are to be set in + * bma456h sensor. + * @param[in] enable : Variable which specifies whether to enable or disable the + * features in the bma456h sensor. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note User should use the below macros to enable or disable the + * features of bma456h sensor + * + * - BMA456H_NO_MOTION_X_AXIS_EN + * - BMA456H_NO_MOTION_Y_AXIS_EN + * - BMA456H_NO_MOTION_Z_AXIS_EN + * - BMA456H_NO_MOTION_ALL_AXIS_EN + * - BMA456H_ANY_MOTION_X_AXIS_EN + * - BMA456H_ANY_MOTION_Y_AXIS_EN + * - BMA456H_ANY_MOTION_Z_AXIS_EN + * - BMA456H_ANY_MOTION_ALL_AXIS_EN + * - BMA456H_STEP_DETECTOR_EN + * - BMA456H_STEP_COUNTER_EN + * - BMA456H_STEP_ACTIVITY_EN + * - BMA456H_AUTO_LOW_POWER_EN + * - BMA456H_SINGLE_TAP_EN + * - BMA456H_DOUBLE_TAP_EN + * - BMA456H_TRIPLE_TAP_EN + * - BMA456H_TAP_AVERAGE_EN + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_feature_enable(uint16_t feature, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiRemap Remap Axes + * @brief Set / Get x, y and z axis re-mapping in the sensor + */ + +/*! + * \ingroup bma456hApiRemap + * \page bma456h_api_bma456h_set_remap_axes bma456h_set_remap_axes + * \code + * int8_t bma456h_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API performs x, y and z axis remapping in the sensor. + * + * @param[in] remap_data : Pointer to store axes remapping data. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiRemap + * \page bma456h_api_bma456h_get_remap_axes bma456h_get_remap_axes + * \code + * int8_t bma456h_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API reads the x, y and z axis remap data from the sensor. + * + * @param[out] remap_data : Pointer to store axis remap data which is read + * from the bma456h sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiStepC Step counter + * @brief Operations of step counter feature of the sensor + */ + +/*! + * \ingroup bma456hApiStepC + * \page bma456h_api_bma456h_step_counter_set_watermark bma456h_step_counter_set_watermark + * \code + * int8_t bma456h_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev); + * \endcode + * @details This API sets the watermark level for step counter interrupt in + * the sensor. + * + * @param[in] step_counter_wm : Variable which specifies watermark level + * count + * @note Valid values are from 1 to 1023 + * @note Value 0 is used for step detector interrupt + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiStepC + * \page bma456h_api_bma456h_step_counter_get_watermark bma456h_step_counter_get_watermark + * \code + * int8_t bma456h_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev); + * \endcode + * @details This API gets the water mark level set for step counter interrupt + * in the sensor + * + * @param[out] step_counter_wm : Pointer variable which stores the water mark + * level read from the sensor. + * @note valid values are from 1 to 1023 + * @note value 0 is used for step detector interrupt + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiStepC + * \page bma456h_api_bma456h_reset_step_counter bma456h_reset_step_counter + * \code + * int8_t bma456h_reset_step_counter(struct bma4_dev *dev); + * \endcode + * @details This API resets the counted steps of step counter. + * + * @param[in] dev : structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_reset_step_counter(struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiStepC + * \page bma456h_api_bma456h_step_counter_output bma456h_step_counter_output + * \code + * int8_t bma456h_step_counter_output(uint32_t *step_count, struct bma4_dev *dev); + * \endcode + * @details This API gets the number of counted steps of the step counter + * feature from the sensor. + * + * @param[out] step_count : Pointer variable which stores counted steps + * read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_step_counter_output(uint32_t *step_count, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiAct Activity Feature + * @brief Get output for activity feature of the sensor + */ + +/*! + * \ingroup bma456hApiAct + * \page bma456h_api_bma456h_output_state bma456h_output_state + * \code + * int8_t bma456h_output_state(struct bma456h_out_state *out_state, struct bma4_dev *dev); + * \endcode + * @details This API gets the output for activity feature. + * + * @param[out] activity : Pointer variable which stores activity output read + * from the sensor. + * + *@verbatim + * activity | State + * --------------|------------------------ + * 0x00 | BMA456H_USER_STATIONARY + * 0x01 | BMA456H_USER_WALKING + * 0x02 | BMA456H_USER_RUNNING + * 0x03 | BMA456H_STATE_INVALID + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_output_state(struct bma456h_out_state *out_state, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiStepC + * \page bma456h_api_bma456h_stepcounter_get_parameter bma456h_stepcounter_get_parameter + * \code + * int8_t bma456h_stepcounter_get_parameter(struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API gets the parameter1 to parameter7 settings of the step + * counter feature. + * + * @param[out] setting : Pointer to structure variable which stores the + * parameter1 to parameter7 read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_stepcounter_get_parameter(struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiStepC + * \page bma456h_api_bma456h_stepcounter_set_parameter bma456h_stepcounter_set_parameter + * \code + * int8_t bma456h_stepcounter_set_parameter(const struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API sets the parameter1 to parameter7 settings of the step + * counter feature in the sensor. + * + * @param[in] setting : Pointer to structure variable which stores the + * parameter1 to parameter7 settings read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_stepcounter_set_parameter(const struct bma456h_stepcounter_settings *setting, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiStepD Step detector + * @brief Operations of step detector feature of the sensor + */ + +/*! + * \ingroup bma456hApiStepD + * \page bma456h_api_bma456h_step_detector_enable bma456h_step_detector_enable + * \code + * int8_t bma456h_step_detector_enable(uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API enables or disables the step detector feature in the + * sensor. + * + * @param[in] enable : Variable used to enable or disable step detector + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_step_detector_enable(uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiAnyMot Any motion Feature + * @brief Functions of Any motion feature of the sensor + */ + +/*! + * \ingroup bma456hApiAnyMot + * \page bma456h_api_bma456h_set_any_motion_config bma456h_set_any_motion_config + * \code + * int8_t bma456h_set_any_mot_config(const struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of any-motion feature in the sensor + * This API enables/disables the any-motion feature according to the axis set. + * + * @param[in] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold for duration to + * | detect any-motion event. + * | Range 0 to 163 seconds. + * duration | Resolution is 20 ms. + * | Default value is 100 ms + * | + * | + * | + * --------------------------------|---------------------------------------- + * | Threshold for acceleration + * | signal slope to detect any- + * threshold | motion event. Range is 0 to 1g. + * | Resolution is 0.4883mg. Default + * | value is 100 mg. + * --------------------------------|----------------------------------------- + * | Defines any motion interrupt + * | behavior + * | Value Name Description + * | + * | 0 multi_int Generates + * interrupt behavior | interrupt + * | as long as + * | condition + * | is valid + * | 1 single_shot Generate one + * | interrupt for + * | every valid + * | condition + * --------------------------------|----------------------------------------- + * | Configuration for acceleration + * | slope computation + * | + * | Value Name Description + * | 0 non- slope between + * | consecutive acceleration + * | vector at last + * Slope | event detection + * | to current. + * | 1 consecutive Computes the + * | slope between + * | consecutive + * | acceleration + * | vector samples + * --------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_set_any_mot_config(const struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiAnyMot + * \page bma456h_api_bma456h_get_any_mot_config bma456h_get_any_mot_config + * \code + * int8_t bma456h_get_any_mot_config(struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of any-motion feature from the + * sensor. + * + * @param[out] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold for duration to + * | detect any-motion event. + * | Range 0 to 163 seconds. + * duration | Resolution is 20 ms. + * | Default value is 100 ms + * | + * | + * | + * --------------------------------|---------------------------------------- + * | Threshold for acceleration + * | signal slope to detect any- + * threshold | motion event. Range is 0 to 1g. + * | Resolution is 0.4883mg. Default + * | value is 100 mg. + * --------------------------------|----------------------------------------- + * | Defines any motion interrupt + * | behavior + * | Value Name Description + * | + * | 0 multi_int Generates + * interrupt behavior | interrupt + * | as long as + * | condition + * | is valid + * | 1 single_shot Generate one + * | interrupt for + * | every valid + * | condition + * --------------------------------|----------------------------------------- + * | Configuration for acceleration + * | slope computation + * | + * | Value Name Description + * | 0 non- slope between + * | consecutive acceleration + * | vector at last + * Slope | event detection + * | to current. + * | 1 consecutive Computes the + * | slope between + * | consecutive + * | acceleration + * | vector samples + * --------------------------------------------------------------------------- + * @endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_get_any_mot_config(struct bma456h_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiNoMot No-motion Feature + * @brief Functions of no-motion feature of the sensor + */ + +/*! + * \ingroup bma456hApiNoMot + * \page bma456h_api_bma456h_set_no_mot_config bma456h_set_no_mot_config + * \code + * int8_t bma456h_set_no_mot_config(const struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of no-motion feature in the sensor + * This API enables/disables the no-motion feature according to the axis set. + * + * @param[in] no_mot : Pointer to structure variable to configure + * no-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold for acceleration + * | signal slope to detect no- + * threshold | motion event. Range is 0 to 1g. + * | Resolution is 0.4883mg. Default + * | value is 100 mg. + * --------------------------------|----------------------------------------- + * | Defines any motion interrupt + * | behavior + * | Value Name Description + * | + * | 0 multi_int Generates + * interrupt behavior | interrupt + * | as long as + * | condition + * | is valid + * | 1 single_shot Generate one + * | interrupt for + * | every valid + * | condition + * --------------------------------------------------------------------------- + * | Threshold for duration to + * | detect no-motion event. + * | Range 0 to 163 seconds. + * duration | Resolution is 20 ms. + * | Default value is 2000 ms + * | + * | + * | + * ------------------------------------------------------------------------- + * @endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_set_no_mot_config(const struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiNoMot + * \page bma456h_api_bma456h_get_no_mot_config bma456h_get_no_mot_config + * \code + * int8_t bma456h_get_no_mot_config(struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of no-motion feature from the + * sensor. + * + * @param[out] no_mot : Pointer to structure variable to configure + * no-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold for acceleration + * | signal slope to detect no- + * threshold | motion event. Range is 0 to 1g. + * | Resolution is 0.4883mg. Default + * | value is 100 mg. + * --------------------------------|----------------------------------------- + * | Defines any motion interrupt + * | behavior + * | Value Name Description + * | + * | 0 multi_int Generates + * interrupt behavior | interrupt + * | as long as + * | condition + * | is valid + * | 1 single_shot Generate one + * | interrupt for + * | every valid + * | condition + * --------------------------------------------------------------------------- + * | Threshold for duration to + * | detect no-motion event. + * | Range 0 to 163 seconds. + * duration | Resolution is 20 ms. + * | Default value is 2000 ms + * | + * | + * | + * ------------------------------------------------------------------------- + * @endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_get_no_mot_config(struct bma456h_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiTap Tap Feature + * @brief Tap feature operations + */ + +/*! + * \ingroup bma456hApiTap + * \page bma456h_api_bma456h_tap_get_parameter bma456h_tap_get_parameter + * \code + * int8_t bma456h_tap_get_parameter(struct bma456h_multitap_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API gets the parameter1 to parameter12 settings of the tap + * feature. + * + * @param[out] setting : Pointer to structure variable which stores the + * parameter1 to parameter12 read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_tap_get_parameter(struct bma456h_multitap_settings *setting, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiTap + * \page bma456h_api_bma456h_tap_set_parameter bma456h_tap_set_parameter + * \code + * int8_t bma456h_tap_set_parameter(const struct bma456h_multitap_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API sets the parameter1 to parameter12 settings of the tap + * feature in the sensor. + * + * @param[in] setting : Pointer to structure variable which stores the + * parameter1 to parameter12 settings read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_tap_set_parameter(const struct bma456h_multitap_settings *setting, struct bma4_dev *dev); + +/** + * \ingroup bma456h + * \defgroup bma456hApiAutoLP Auto Low power mode + * @brief Configurations and Status of auto low power mode of the sensor + */ + +/*! + * \ingroup bma456hApiAutoLP + * \page bma456h_api_bma456h_get_auto_low_power_config bma456h_get_auto_low_power_config + * \code + * int8_t bma456h_get_auto_low_power_config(struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev); + * \endcode + * @details This api gets the auto low power configuration + * + * @param auto_low_power[out] : this pointer gets the auto low power configuration. + * @param dev[in] : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_get_auto_low_power_config(struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiAutoLP + * \page bma456h_api_bma456h_set_auto_low_power_config bma456h_set_auto_low_power_config + * \code + * int8_t bma456h_set_auto_low_power_config(const struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev); + * \endcode + * @details This api sets the auto low power configuration + * + * @param auto_low_power[in] : this pointer sets the auto low power configuration. + * @param dev[in] : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_set_auto_low_power_config(const struct bma456h_auto_low_power *auto_low_power, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiAutoLP + * \page bma456h_api_bma456h_get_auto_low_power_state bma456h_get_auto_low_power_state + * \code + * int8_t bma456h_get_auto_low_power_state(uint8_t *auto_low_power_state, struct bma4_dev *dev); + * \endcode + * @details This api reads the auto low power state output status + * + * @param auto_low_power_state[out] : pointer reads auto low power state output bit status. + * @param dev[in] : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_get_auto_low_power_state(uint8_t *auto_low_power_state, struct bma4_dev *dev); + +/*! + * \ingroup bma456hApiVersionConfig + * \page bma456h_api_bma456h_get_version_config bma456h_get_version_config + * \code + *int8_t bma456h_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the config file major and minor information. + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[out] config_major : Pointer to data buffer to store the config major. + * @param[out] config_minor : Pointer to data buffer to store the config minor. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456h_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /*End of CPP guard */ + +#endif /*End of header guard macro */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456mm.c b/lib/SensorLib/src/bosch/bma4xx/bma456mm.c new file mode 100644 index 0000000..0056e7e --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456mm.c @@ -0,0 +1,1948 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456mm.c +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/*! \file bma456mm.c + * \brief Sensor Driver for BMA456MM sensor + */ + +#include "bma456mm.h" + +/**\name Feature configuration file */ +const uint8_t bma456mm_config_file[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x99, + 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x56, 0x01, 0x50, 0x39, 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Static Function Declarations */ +/***************************************************************************/ + +/*! + * @brief This API update the settings of tap into write array. + * + * @param[in] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter12. + * @param[in] index : Value for array traversing. + * @param[out] feature_config : Pointer to store the settings + * + * @return none + */ +static void update_tap_parameter(const struct bma456mm_multitap_settings *setting, + uint8_t index, + uint8_t *feature_config); + +/*! + * @brief This API copy the settings of tap into the + * structure of bma456mm_multitap_settings, which is read from sensor. + * + * @param[out] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter12 read from sensor. + * @param[in] data_p : Pointer of array which stores the parameters. + * + * @return none + */ +static void extract_tap_parameter(struct bma456mm_multitap_settings *setting, const uint16_t *data_p); + +/*! + * @brief This API enables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be set in + * the sensor. + * @param[in] len : Length to read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API disables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be unset + * in the sensor. + * @param[in] len : Length to read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/***************************************************************************/ +/*! Global Function Definitions */ +/***************************************************************************/ + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + */ +int8_t bma456mm_init(struct bma4_dev *dev) +{ + int8_t rslt; + + /* Structure to define the default values for axes re-mapping */ + struct bma4_axes_remap axes_remap = { + .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS, + .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE + }; + + if (dev != NULL) + { + rslt = bma4_init(dev); + + if (rslt == BMA4_OK) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + /* Resolution of BMA456MM sensor is 16 bit */ + dev->resolution = BMA4_16_BIT_RESOLUTION; + + dev->feature_len = BMA456MM_FEATURE_SIZE; + + dev->config_size = sizeof(bma456mm_config_file); + + /* Set the default values for axis + * re-mapping in the device structure + */ + dev->remap = axes_remap; + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to upload the configuration file to enable the + * features of the sensor. + */ +int8_t bma456mm_write_config_file(struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + /* Configuration stream read/write length boundary + * check + */ + if ((dev->read_write_len >= BMA456MM_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456MM_RD_WR_MAX_LEN)) + { + /* Even or odd check */ + if ((dev->read_write_len % 2) != 0) + { + dev->read_write_len = dev->read_write_len - 1; + } + + /* Assign stream data */ + dev->config_file_ptr = bma456mm_config_file; + rslt = bma4_write_config_file(dev); + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the config file major and minor information. + */ +int8_t bma456mm_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + + /* Update index to config file version */ + uint8_t index = BMA456MM_CONFIG_ID_OFFSET; + + /* Variable to define LSB */ + uint8_t lsb = 0; + + /* Variable to define MSB */ + uint8_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + /* Result of api are returned to this variable */ + int8_t rslt = BMA4_OK; + + if ((config_major != NULL) && (config_minor != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + if (rslt == BMA4_OK) + { + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + /* Get config file identification from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate config file identification */ + lsb = feature_config[index++]; + msb = feature_config[index++]; + + lsb_msb = (uint16_t)(msb << 8 | lsb); + + /* Get major and minor version */ + *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR); + *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the configuration id of the sensor. + */ +int8_t bma456mm_get_config_id(uint16_t *config_id, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_CONFIG_ID_OFFSET; + int8_t rslt = BMA4_OK; + uint16_t config_id_lsb = 0; + uint16_t config_id_msb = 0; + + if ((dev != NULL) && (config_id != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + config_id_lsb = (uint16_t)feature_config[index]; + config_id_msb = ((uint16_t)feature_config[index + 1]) << 8; + *config_id = config_id_lsb | config_id_msb; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets/un-sets the user provided interrupt to either interrupt + * pin1 or pin2 in the sensor. + */ +int8_t bma456mm_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + if (int_line <= 1) + { + /* Map/Unmap the interrupt */ + rslt = bma4_map_interrupt(int_line, int_map, enable, dev); + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the interrupt status from the sensor. + */ +int8_t bma456mm_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (int_status != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + /* Read the interrupt status */ + rslt = bma4_read_int_status(int_status, dev); + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables/disables the features of the sensor. + */ +int8_t bma456mm_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + int8_t rslt = BMA4_OK; + uint8_t len = BMA456MM_FEATURE_SIZE; + + if (dev != NULL) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + /* Read feature configuration data */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + if (rslt == BMA4_OK) + { + if (enable == TRUE) + { + /* Enables the feature */ + rslt = feature_enable(feature, len, feature_config, dev); + } + else + { + /* Disables the feature */ + rslt = feature_disable(feature, len, feature_config, dev); + } + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API performs x, y and z axis remapping in the sensor. + */ +int8_t bma456mm_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456MM_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis remap data from the sensor. + */ +int8_t bma456mm_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456MM_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of any-motion feature in the sensor. + * This API enables/disables the any-motion feature according to the axis set. + */ +int8_t bma456mm_set_any_mot_config(const struct bma456mm_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456MM_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (any_mot != NULL) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index] = BMA4_GET_LSB(any_mot->threshold); + feature_config[index + 1] = BMA4_GET_MSB(any_mot->threshold); + feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], + BMA456MM_ANY_NO_MOTION_INTR_BHVR_EN, + any_mot->intr_bhvr); + feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], + BMA456MM_ANY_MOTION_SLOPE_EN, + any_mot->slope); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index + 2]; + msb = feature_config[index + 3] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456MM_ANY_NO_MOT_DUR, any_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456MM_ANY_NO_MOT_AXIS_EN, any_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index + 2] = BMA4_GET_LSB(lsb_msb); + feature_config[index + 3] = BMA4_GET_MSB(lsb_msb); + + /* Set any-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_ANY_MOT_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of any-motion feature from the + * sensor. + */ +int8_t bma456mm_get_any_mot_config(struct bma456mm_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456MM_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (any_mot != NULL) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_ANY_MOT_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and any-motion + * select + */ + lsb = (uint16_t)feature_config[index]; + msb = (uint16_t)((feature_config[index + 1] << 8)); + lsb_msb = lsb | msb; + + /* Get word to calculate intr_bhvr */ + any_mot->intr_bhvr = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456MM_ANY_NO_MOTION_INTR_BHVR_EN); + + /* Get word to calculate slope */ + any_mot->slope = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456MM_ANY_MOTION_SLOPE_EN); + + /* Extract threshold value */ + any_mot->threshold = lsb_msb & BMA456MM_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index + 2]; + msb = (uint16_t)((feature_config[index + 3] << 8)); + lsb_msb = lsb | msb; + + /* Extract duration value */ + any_mot->duration = lsb_msb & BMA456MM_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + any_mot->axes_en = BMA4_GET_BITSLICE(lsb_msb, BMA456MM_ANY_NO_MOT_AXIS_EN); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of no-motion feature in the sensor. + * This API enables/disables the no-motion feature according to the axis set. + */ +int8_t bma456mm_set_no_mot_config(const struct bma456mm_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456MM_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (no_mot != NULL) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index] = BMA4_GET_LSB(no_mot->threshold); + feature_config[index + 1] = BMA4_GET_MSB(no_mot->threshold); + + feature_config[index + 1] = BMA4_SET_BITSLICE(feature_config[index + 1], + BMA456MM_ANY_NO_MOTION_INTR_BHVR_EN, + no_mot->intr_bhvr); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index + 2]; + msb = feature_config[index + 3] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456MM_ANY_NO_MOT_DUR, no_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456MM_ANY_NO_MOT_AXIS_EN, no_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index + 2] = BMA4_GET_LSB(lsb_msb); + feature_config[index + 3] = BMA4_GET_MSB(lsb_msb); + + /* Set no-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_NO_MOT_RD_WR_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of no-motion feature from the + * sensor. + */ +int8_t bma456mm_get_no_mot_config(struct bma456mm_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456MM_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (no_mot != NULL) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_NO_MOT_RD_WR_LEN, dev); + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and no-motion + * select + */ + lsb = (uint16_t)feature_config[index]; + msb = ((uint16_t)feature_config[index + 1] << 8); + lsb_msb = lsb | msb; + + /* Get word to calculate intr_bhvr */ + no_mot->intr_bhvr = BMA4_GET_BITSLICE(feature_config[index + 1], BMA456MM_ANY_NO_MOTION_INTR_BHVR_EN); + + /* Extract threshold value */ + no_mot->threshold = lsb_msb & BMA456MM_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index + 2]; + msb = (uint16_t)((feature_config[index + 3] << 8)); + lsb_msb = lsb | msb; + + /* Extract duration value */ + no_mot->duration = lsb_msb & BMA456MM_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + no_mot->axes_en = BMA4_GET_BITSLICE(lsb_msb, BMA456MM_ANY_NO_MOT_AXIS_EN); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the parameter1 to parameter12 settings of the + * tap feature. + */ +int8_t bma456mm_tap_get_parameter(struct bma456mm_multitap_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint16_t *data_p = (uint16_t *)(void *)feature_config; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* To convert 8bit to 16 bit address */ + data_p = data_p + ((BMA456MM_TAP_DETECTOR_OFFSET + 2) / 2); + extract_tap_parameter(setting, data_p); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the parameter1 to parameter12 settings of the + * tap feature in the sensor. + */ +int8_t bma456mm_tap_set_parameter(const struct bma456mm_multitap_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_TAP_DETECTOR_OFFSET + 2; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (setting != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + update_tap_parameter(setting, index, feature_config); + + /* Writes tap parameter settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the output for activity feature. + */ +int8_t bma456mm_output_state(struct bma456mm_out_state *out_state, struct bma4_dev *dev) +{ + uint8_t data[3] = { 0 }; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (out_state != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + /* Reads the activity output from the gpio register */ + rslt = bma4_read_regs(BMA456MM_FEAT_OUT_ADDR, data, 3, dev); + if (rslt == BMA4_OK) + { + out_state->orientation_out = BMA4_GET_BITS_POS_0(data[0], BMA456MM_ORIENT_OUT); + out_state->orientation_faceup_down = BMA4_GET_BITSLICE(data[0], BMA456MM_ORIENT_FACEUP_DOWN); + + out_state->high_g_detect_x = BMA4_GET_BITS_POS_0(data[1], BMA456MM_HIGH_G_DETECT_X); + out_state->high_g_detect_y = BMA4_GET_BITSLICE(data[1], BMA456MM_HIGH_G_DETECT_Y); + out_state->high_g_detect_z = BMA4_GET_BITSLICE(data[1], BMA456MM_HIGH_G_DETECT_Z); + out_state->high_g_detect_sign = BMA4_GET_BITSLICE(data[1], BMA456MM_HIGH_G_DETECT_SIGN); + + out_state->s_tap = BMA4_GET_BITS_POS_0(data[2], BMA456MM_SINGLE_TAP_OUT); + out_state->d_tap = BMA4_GET_BITSLICE(data[2], BMA456MM_DOUBLE_TAP_OUT); + out_state->t_tap = BMA4_GET_BITSLICE(data[2], BMA456MM_TRIPLE_TAP_OUT); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration for orientation feature of the sensor. + */ +int8_t bma456mm_set_orientation_config(const struct bma456mm_orientation_config *orientation, struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0, }; + uint8_t index = BMA456MM_ORIENTATION_OFFSET; + uint16_t orient_settings_1_lsb = 0; + uint16_t orient_settings_1_msb = 0; + uint16_t orient_settings_1 = 0; + + if ((dev != NULL) && (orientation != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Extract upside/down, mode, block and theta */ + orient_settings_1_lsb = feature_config[index]; + orient_settings_1_msb = feature_config[index + 1] << 8; + orient_settings_1 = orient_settings_1_lsb | orient_settings_1_msb; + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, BMA456MM_ORIENT_UD, orientation->upside_down); + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, BMA456MM_ORIENT_MODE, orientation->mode); + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, BMA456MM_ORIENT_BLOCK, orientation->blocking); + orient_settings_1 = BMA4_SET_BITSLICE(orient_settings_1, BMA456MM_ORIENT_THETA, orientation->theta); + + /* Assign upside/down, mode, block and theta value in feature config array*/ + feature_config[index++] = BMA4_GET_LSB(orient_settings_1); + feature_config[index++] = BMA4_GET_MSB(orient_settings_1); + + /* Assign hysteresis value in feature config array */ + feature_config[index++] = BMA4_GET_LSB(orientation->hysteresis); + feature_config[index++] = BMA4_GET_MSB(orientation->hysteresis); + + /* Writes orientation settings value in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of orientation feature from the sensor + */ +int8_t bma456mm_get_orientation_config(struct bma456mm_orientation_config *orientation, struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_ORIENTATION_OFFSET; + uint16_t orient_settings_lsb = 0; + uint16_t orient_settings_msb = 0; + uint16_t orient_settings = 0; + + if ((dev != NULL) && (orientation != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Extract upside/down, mode, block and theta */ + orient_settings_lsb = feature_config[index]; + orient_settings_msb = feature_config[index + 1] << 8; + orient_settings = orient_settings_lsb | orient_settings_msb; + orientation->upside_down = BMA4_GET_BITSLICE(orient_settings, BMA456MM_ORIENT_UD); + orientation->mode = BMA4_GET_BITSLICE(orient_settings, BMA456MM_ORIENT_MODE); + orientation->blocking = BMA4_GET_BITSLICE(orient_settings, BMA456MM_ORIENT_BLOCK); + orientation->theta = BMA4_GET_BITSLICE(orient_settings, BMA456MM_ORIENT_THETA); + + /* Extract hysteresis */ + orient_settings_lsb = feature_config[index + 2]; + orient_settings_msb = feature_config[index + 3] << 8; + orient_settings = orient_settings_lsb | orient_settings_msb; + orientation->hysteresis = BMA4_GET_BITS_POS_0(orient_settings, BMA456MM_ORIENT_HYST); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration for low-g feature of the sensor. + */ +int8_t bma456mm_set_low_g_config(const struct bma456mm_low_g_config *low_g, struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0, }; + uint8_t index = BMA456MM_LOW_G_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (low_g != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Threshold */ + + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the threshold in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456MM_LOW_G_THRES, low_g->threshold); + + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Hysteresis */ + + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the hysteresis in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456MM_LOW_G_HYST, low_g->hysteresis); + + /* Set hysteresis value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Duration */ + + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456MM_LOW_G_HYST, low_g->duration); + + /* Set duration value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Writes orientation settings value in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of low-g feature from the sensor + */ +int8_t bma456mm_get_low_g_config(struct bma456mm_low_g_config *low_g, struct bma4_dev *dev) +{ + /* variable used to return the status of communication result*/ + int8_t rslt = BMA4_OK; + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_LOW_G_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if ((dev != NULL) && (low_g != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + /* Get threshold */ + + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + low_g->threshold = lsb_msb & BMA456MM_LOW_G_THRES_MSK; + + /* Get hysteresis */ + + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract hysteresis value */ + low_g->hysteresis = lsb_msb & BMA456MM_LOW_G_HYST_MSK; + + /* Get duration */ + + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + low_g->duration = lsb_msb & BMA456MM_LOW_G_DUR_MSK; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets auto sleep configurations + */ +int8_t bma456mm_get_auto_low_power_config(struct bma456mm_auto_low_power *auto_low_power, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + int8_t rslt = BMA4_OK; + uint16_t msb_lsb; + + if ((dev != NULL) && (auto_low_power != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + auto_low_power->no_motion = BMA4_GET_BITS_POS_0(feature_config[BMA456MM_AUTO_LOW_POWER_OFFSET], + BMA456MM_NO_MOT_AUTO_LOW_POWER); + auto_low_power->time_out = BMA4_GET_BITSLICE(feature_config[BMA456MM_AUTO_LOW_POWER_OFFSET], + BMA456MM_AUTO_LOW_POWER_TIME_OUT); + + msb_lsb = + (uint16_t)(feature_config[BMA456MM_AUTO_LOW_POWER_OFFSET] | + (uint16_t)(feature_config[BMA456MM_AUTO_LOW_POWER_OFFSET + 1] << 8)); + auto_low_power->time_out_dur = BMA4_GET_BITSLICE(msb_lsb, BMA456MM_TIME_OUT_DUR); + + auto_low_power->lp_odr = BMA4_GET_BITSLICE(feature_config[BMA456MM_AUTO_LOW_POWER_OFFSET + 1], + BMA456MM_LOW_POW_ODR); + auto_low_power->pwr_mgt = BMA4_GET_BITSLICE(feature_config[BMA456MM_AUTO_LOW_POWER_OFFSET + 1], + BMA456MM_PWR_MGT_ENABLE); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets power mode management configuration. + */ +int8_t bma456mm_set_auto_low_power_config(const struct bma456mm_auto_low_power *auto_low_power, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_AUTO_LOW_POWER_OFFSET; + int8_t rslt = BMA4_OK; + uint16_t msb_lsb; + + if ((dev != NULL) && (auto_low_power != NULL)) + { + if (dev->chip_id == BMA456MM_CHIP_ID) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + if (rslt == BMA4_OK) + { + + msb_lsb = (uint16_t)((feature_config[index]) | (uint16_t)(feature_config[index + 1] << 8)); + + msb_lsb = BMA4_SET_BITS_POS_0(msb_lsb, BMA456MM_NO_MOT_AUTO_LOW_POWER_WORD, auto_low_power->no_motion); + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456MM_AUTO_LOW_POWER_TIME_OUT_WORD, auto_low_power->time_out); + + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456MM_TIME_OUT_DUR_WORD, auto_low_power->time_out_dur); + + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456MM_LOW_POW_ODR_WORD, auto_low_power->lp_odr); + msb_lsb = BMA4_SET_BITSLICE(msb_lsb, BMA456MM_PWR_MGT_ENABLE_WORD, auto_low_power->pwr_mgt); + + feature_config[index] = BMA4_GET_LSB(msb_lsb); + feature_config[index + 1] = BMA4_GET_MSB(msb_lsb); + + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This api reads the auto low power state output status + */ +int8_t bma456mm_get_auto_low_power_state(uint8_t *auto_low_power_state, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + uint8_t data; + + if ((dev != NULL) && (auto_low_power_state != NULL)) + { + rslt = bma4_read_regs(BMA4_INTERNAL_STAT, &data, 1, dev); + *auto_low_power_state = BMA4_GET_BITSLICE(data, BMA456MM_AUTO_LOW_POWER_STATE); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of high-g feature in the sensor. + * This API enables/disables the high-g feature according to the axis set. + */ +int8_t bma456mm_set_high_g_config(const struct bma456mm_high_g_config *high_g, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + + /* Update index to configure high-g feature */ + uint8_t index = BMA456MM_HIGH_G_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (high_g != NULL) + { + /* Get high-g configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Assign threshold value in feature config array */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the threshold in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456MM_HIGH_G_THRES, high_g->threshold); + + /* Set threshold and motion selection value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + lsb = (uint16_t)feature_config[index]; + msb = ((uint16_t)feature_config[index + 1] << 8); + lsb_msb = lsb | msb; + + /* Set the hysteresis in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456MM_HIGH_G_HYST, high_g->hysteresis); + + /* Set the axes enable in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456MM_HIGH_G_AXIS_EN, high_g->axes_en); + + /* Set hysteresis and and axes enable in the same word */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Assign duration value in feature config array */ + feature_config[index] = BMA4_GET_LSB(high_g->duration); + feature_config[index + 1] = BMA4_GET_MSB(high_g->duration); + + /* Set high-g configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of high-g feature in the sensor. + * This API enables/disables the high-g feature according to the axis set. + */ +int8_t bma456mm_get_high_g_config(struct bma456mm_high_g_config *high_g, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + + /* Update index to configure high_g */ + uint8_t index = BMA456MM_HIGH_G_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (high_g != NULL) + { + /* Get high-g configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold selection + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + high_g->threshold = lsb_msb & BMA456MM_HIGH_G_THRES_MSK; + + /* Get word to calculate hysteresis and axis selection selection + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract select the hysteresis and axis enable value */ + high_g->hysteresis = lsb_msb & BMA456MM_HIGH_G_HYST_MSK; + + /* Extract axes enable value */ + high_g->axes_en = BMA4_GET_BITSLICE(lsb_msb, BMA456MM_HIGH_G_AXIS_EN); + + /* Get word to calculate duration */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + high_g->duration = lsb_msb & BMA456MM_HIGH_G_DUR_MSK; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of significant motion + * in the sensor. + */ +int8_t bma456mm_set_sig_motion_config(const struct bma456mm_sig_motion_config *sig_motion, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456MM_SIG_MOTION_OFFSET; + uint16_t skiptime_msb = 0; + uint16_t skiptime_lsb = 0; + uint16_t skiptime = 0; + int8_t rslt = BMA4_OK; + + if (sig_motion != NULL) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Assigns threshold value */ + feature_config[index++] = BMA4_GET_LSB(sig_motion->threshold); + feature_config[index++] = BMA4_GET_MSB(sig_motion->threshold); + + /* Gets skip time data bytes and sets only + * skip time bits + */ + skiptime_lsb = feature_config[index]; + skiptime_msb = feature_config[index + 1] << 8; + skiptime = skiptime_lsb | skiptime_msb; + skiptime = BMA4_SET_BITS_POS_0(skiptime, BMA456MM_SIG_MOTION_SKIPTIME, sig_motion->skiptime); + + /* Assigns skip time value */ + feature_config[index++] = BMA4_GET_LSB(skiptime); + feature_config[index++] = BMA4_GET_MSB(skiptime); + + /* Assigns proof time value */ + feature_config[index] = sig_motion->prooftime & BMA456MM_SIG_MOTION_PROOFTIME_MSK; + + /* Writes significant motion settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @brief This API gets the configuration of significant motion feature + * from the sensor. + */ +int8_t bma456mm_get_sig_motion_config(struct bma456mm_sig_motion_config *sig_motion, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456MM_FEATURE_SIZE] = { 0 }; + uint16_t *data_p = (uint16_t *)(void *)feature_config; + int8_t rslt = BMA4_OK; + + if (sig_motion != NULL) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456MM_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* To convert 8bit to 16 bit address */ + data_p = data_p + BMA456MM_SIG_MOTION_OFFSET / 2; + + /* Extracts threshold value */ + sig_motion->threshold = (*(data_p++)) & BMA456MM_SIG_MOTION_THRES_MSK; + + /* Extracts skip time value */ + sig_motion->skiptime = (*(data_p++)) & BMA456MM_SIG_MOTION_SKIPTIME_MSK; + + /* Extracts proof time value */ + sig_motion->prooftime = (uint8_t)((*data_p) & BMA456MM_SIG_MOTION_PROOFTIME_MSK); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/***************************************************************************/ +/*! Static Function Definitions */ +/***************************************************************************/ + +/*! + * @brief This API update the settings of tap. + */ +static void update_tap_parameter(const struct bma456mm_multitap_settings *setting, + uint8_t index, + uint8_t *feature_config) +{ + uint8_t param_num; + uint8_t max_tap_param = 12; + const uint16_t *tap_param = &setting->reserved_1; + + /* Number of tap detection parameter is 12 */ + for (param_num = 1; param_num <= max_tap_param; param_num++) + { + feature_config[index++] = BMA4_GET_LSB(*tap_param); + feature_config[index++] = BMA4_GET_MSB(*tap_param); + tap_param++; + } +} + +/*! + * @brief This API copy the settings of tap into the structure of + * bma456mm_multitap_settings, which is read from sensor. + */ +static void extract_tap_parameter(struct bma456mm_multitap_settings *setting, const uint16_t *data_p) +{ + uint8_t param_num; + uint8_t max_tap_param = 12; + uint16_t *tap_param = &setting->reserved_1; + + /* Number of tap detection parameter is 12 */ + for (param_num = 1; param_num <= max_tap_param; param_num++) + { + *tap_param = *(data_p++); + tap_param++; + } +} + +/*! + * @brief This API enables the features of the sensor. + */ +static int8_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (feature_config != NULL)) + { + /* Enable Low-G */ + if ((feature & BMA456MM_LOW_G) > 0) + { + index = BMA456MM_LOW_G_OFFSET + BMA456MM_LOW_G_FEAT_EN_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_LOW_G_EN_MSK; + } + + /* Enable orientation */ + if ((feature & BMA456MM_ORIENT) > 0) + { + index = BMA456MM_ORIENTATION_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_ORIENT_EN_MSK; + } + + /* Enable single - tap */ + if ((feature & BMA456MM_SINGLE_TAP) > 0) + { + index = BMA456MM_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_SINGLE_TAP_EN_MSK; + } + + /* Enable double - tap */ + if ((feature & BMA456MM_DOUBLE_TAP) > 0) + { + index = BMA456MM_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_DOUBLE_TAP_EN_MSK; + } + + /* Enable triple - tap */ + if ((feature & BMA456MM_TRIPLE_TAP) > 0) + { + index = BMA456MM_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_TRIPLE_TAP_EN_MSK; + } + + /* Enable auto-low-power */ + if ((feature & BMA456MM_AUTO_LOW_POWER) > 0) + { + index = BMA456MM_AUTO_LOW_POWER_EN_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_AUTO_LOW_POWER_ALP_EN_MSK; + } + + /* Enable high_g */ + if ((feature & BMA456MM_HIGH_G) > 0) + { + index = BMA456MM_HIGH_G_EN_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_HIGH_G_EN_MSK; + } + + /* Enable significant motion */ + if (feature & BMA456MM_SIG_MOTION) + { + index = BMA456MM_SIG_MOTION_EN_OFFSET; + feature_config[index] = feature_config[index] | BMA456MM_SIG_MOTION_EN_MSK; + } + + /* Write the feature enable settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + } + + return rslt; +} + +/*! + * @brief This API disables the features of the sensor. + */ +static int8_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt = BMA4_OK; + + if ((dev != NULL) && (feature_config != NULL)) + { + /* Disable Low-G */ + if ((feature & BMA456MM_LOW_G) > 0) + { + index = BMA456MM_LOW_G_OFFSET + BMA456MM_LOW_G_FEAT_EN_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_LOW_G_EN_MSK); + } + + /* Disable orientation */ + if ((feature & BMA456MM_ORIENT) > 0) + { + index = BMA456MM_ORIENTATION_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_ORIENT_EN_MSK); + } + + /* Disable single-tap */ + if ((feature & BMA456MM_SINGLE_TAP) > 0) + { + index = BMA456MM_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_SINGLE_TAP_EN_MSK); + } + + /* Disable double-tap */ + if ((feature & BMA456MM_DOUBLE_TAP) > 0) + { + index = BMA456MM_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_DOUBLE_TAP_EN_MSK); + } + + /* Disable triple-tap */ + if ((feature & BMA456MM_TRIPLE_TAP) > 0) + { + index = BMA456MM_TAP_DETECTOR_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_TRIPLE_TAP_EN_MSK); + } + + /* Disable auto-low-power */ + if ((feature & BMA456MM_AUTO_LOW_POWER) > 0) + { + index = BMA456MM_AUTO_LOW_POWER_EN_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_AUTO_LOW_POWER_ALP_EN_MSK); + } + + /* Disable high_g */ + if ((feature & BMA456MM_HIGH_G) > 0) + { + index = BMA456MM_HIGH_G_EN_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_HIGH_G_EN_MSK); + } + + /* Disable significant motion */ + if ((feature & BMA456MM_SIG_MOTION) > 0) + { + index = BMA456MM_SIG_MOTION_EN_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456MM_SIG_MOTION_EN_MSK); + } + + /* Write the configured settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + } + + return rslt; +} + +/*! @endcond */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456mm.h b/lib/SensorLib/src/bosch/bma4xx/bma456mm.h new file mode 100644 index 0000000..1a1f204 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456mm.h @@ -0,0 +1,1584 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456mm.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/** + * \ingroup bma4xy + * \defgroup bma456mm BMA456MM + * @brief Sensor driver for BMA456MM sensor + */ + +#ifndef BMA456MM_H +#define BMA456MM_H + +#ifdef __cplusplus +extern "C" { +#endif +#include "bma4.h" + +/**\name Chip ID of BMA456 sensor */ +#define BMA456MM_CHIP_ID UINT8_C(0x16) + +/**\name Sensor feature size */ +#define BMA456MM_FEATURE_SIZE UINT8_C(62) + +/**\name Feature offset address */ +#define BMA456MM_ANY_MOT_OFFSET UINT8_C(0x00) +#define BMA456MM_NO_MOT_OFFSET UINT8_C(0x04) +#define BMA456MM_ORIENTATION_OFFSET UINT8_C(0x08) +#define BMA456MM_LOW_G_OFFSET UINT8_C(0x0C) +#define BMA456MM_TAP_DETECTOR_OFFSET UINT8_C(0x12) +#define BMA456MM_AUTO_LOW_POWER_OFFSET UINT8_C(0x2C) +#define BMA456MM_HIGH_G_OFFSET UINT8_C(0x2E) +#define BMA456MM_SIG_MOTION_OFFSET UINT8_C(0x34) +#define BMA456MM_CONFIG_ID_OFFSET UINT8_C(0x3A) +#define BMA456MM_AXES_REMAP_OFFSET UINT8_C(0x3C) + +/**\name Read/Write Lengths */ +#define BMA456MM_RD_WR_MIN_LEN UINT8_C(2) + +/*! @name Maximum valid read write length is size of config file array */ +#define BMA456MM_RD_WR_MAX_LEN ((uint16_t)sizeof(bma456mm_config_file)) + +/**************************************************************/ +/**\name Re-map Axes */ +/**************************************************************/ +#define BMA456MM_X_AXIS_MASK UINT8_C(0x03) +#define BMA456MM_X_AXIS_SIGN_MASK UINT8_C(0x04) +#define BMA456MM_Y_AXIS_MASK UINT8_C(0x18) +#define BMA456MM_Y_AXIS_SIGN_MASK UINT8_C(0x20) +#define BMA456MM_Z_AXIS_MASK UINT8_C(0xC0) +#define BMA456MM_Z_AXIS_SIGN_MASK UINT8_C(0x01) + +/**************************************************************/ +/**\name Any/no Motion */ +/**************************************************************/ +#define BMA456MM_ANY_MOT_LEN UINT8_C(4) +#define BMA456MM_NO_MOT_RD_WR_LEN (BMA456MM_ANY_MOT_LEN + BMA456MM_NO_MOT_OFFSET) + +/**\name Any/No motion threshold macros */ +#define BMA456MM_ANY_NO_MOT_THRES_MSK UINT16_C(0x07FF) + +/**\name Position and mask of interrupt behavior and slope */ +#define BMA456MM_ANY_NO_MOTION_INTR_BHVR_EN_POS UINT8_C(0x03) +#define BMA456MM_ANY_NO_MOTION_INTR_BHVR_EN_MSK UINT8_C(0x08) + +#define BMA456MM_ANY_MOTION_SLOPE_EN_POS UINT8_C(0x04) +#define BMA456MM_ANY_MOTION_SLOPE_EN_MSK UINT8_C(0x10) + +/**\name Any/No motion duration macros */ +#define BMA456MM_ANY_NO_MOT_DUR_MSK UINT16_C(0x1FFF) + +/**\name Any/No motion enable macros */ +#define BMA456MM_ANY_NO_MOT_AXIS_EN_POS UINT8_C(0x0D) +#define BMA456MM_ANY_NO_MOT_AXIS_EN_MSK UINT16_C(0xE000) + +/**************************************************************/ +/**\name Single/Double Tap */ +/**************************************************************/ +/**\name Single tap enable macros */ +#define BMA456MM_SINGLE_TAP_EN_MSK UINT8_C(0x01) + +/**\name Double tap enable macros */ +#define BMA456MM_DOUBLE_TAP_EN_MSK UINT8_C(0x02) + +/**\name Triple tap enable macros */ +#define BMA456MM_TRIPLE_TAP_EN_MSK UINT8_C(0x04) + +/**\name Tap averaging enable macros */ +#define BMA456MM_TAP_AVG_EN_MSK UINT8_C(0x08) + +/**\name Tap output macros */ +#define BMA456MM_SINGLE_TAP_OUT_MSK UINT8_C(0x01) + +#define BMA456MM_DOUBLE_TAP_OUT_MSK UINT8_C(0x02) +#define BMA456MM_DOUBLE_TAP_OUT_POS UINT8_C(0x01) + +#define BMA456MM_TRIPLE_TAP_OUT_MSK UINT8_C(0x04) +#define BMA456MM_TRIPLE_TAP_OUT_POS UINT8_C(0x02) + +/**************************************************************/ +/**\name Orientation */ +/**************************************************************/ +#define BMA456MM_FEAT_OUT_ADDR UINT8_C(0x1E) + +#define BMA456MM_ORIENTATION_OUTPUT_MASK UINT8_C(0x07) + +/**\name Orientation enable macros */ +#define BMA456MM_ORIENT_EN_POS UINT8_C(0) +#define BMA456MM_ORIENT_EN_MSK UINT8_C(0x01) + +/**\name Orientation upside/down detection macros */ +#define BMA456MM_ORIENT_UD_POS UINT8_C(1) +#define BMA456MM_ORIENT_UD_MSK UINT8_C(0x02) + +/**\name Orientation mode macros */ +#define BMA456MM_ORIENT_MODE_POS UINT8_C(2) +#define BMA456MM_ORIENT_MODE_MSK UINT8_C(0x0C) + +/**\name Orientation blocking macros */ +#define BMA456MM_ORIENT_BLOCK_POS UINT8_C(4) +#define BMA456MM_ORIENT_BLOCK_MSK UINT8_C(0x30) + +/**\name Orientation theta macros */ +#define BMA456MM_ORIENT_THETA_POS UINT8_C(6) +#define BMA456MM_ORIENT_THETA_MSK UINT16_C(0x0FC0) + +/**\name Orientation hysteresis macros */ +#define BMA456MM_ORIENT_HYST_POS UINT8_C(0) +#define BMA456MM_ORIENT_HYST_MSK UINT16_C(0x07FF) + +/* Orientation output macros */ +#define BMA456MM_ORIENT_OUT_POS UINT8_C(0) +#define BMA456MM_ORIENT_OUT_MSK UINT8_C(0x03) +#define BMA456MM_ORIENT_FACEUP_DOWN_POS UINT8_C(2) +#define BMA456MM_ORIENT_FACEUP_DOWN_MSK UINT8_C(0x04) + +/**\name Orientation output macros */ +/* Bit pos 2 reflects the face-up (0) face-down(1) only if ud_en is enabled */ +#define BMA456MM_FACE_UP UINT8_C(0x00) +#define BMA456MM_FACE_DOWN UINT8_C(0x01) + +/* Bit pos 0-1 reflects the have the following value */ +#define BMA456MM_PORTRAIT_UP_RIGHT UINT8_C(0x00) +#define BMA456MM_LANDSCAPE_LEFT UINT8_C(0x01) +#define BMA456MM_PORTRAIT_UP_DOWN UINT8_C(0x02) +#define BMA456MM_LANDSCAPE_RIGHT UINT8_C(0x03) + +/**************************************************************/ +/**\name Low-G */ +/**************************************************************/ +/**\name Low-G enable macros */ +#define BMA456MM_LOW_G_FEAT_EN_OFFSET UINT8_C(0x03) +#define BMA456MM_LOW_G_EN_POS UINT8_C(0x04) +#define BMA456MM_LOW_G_EN_MSK UINT8_C(0x10) + +/**\name Low-g threshold macro */ +#define BMA456MM_LOW_G_THRES_MSK UINT16_C(0x7FFF) + +/**\name Low-g hysteresis macro */ +#define BMA456MM_LOW_G_HYST_MSK UINT16_C(0x0FFF) + +/**\name Low-g duration macro */ +#define BMA456MM_LOW_G_DUR_MSK UINT16_C(0x0FFF) + +/**************************************************************/ +/**\name Auto Low power */ +/**************************************************************/ + +#define BMA456MM_AUTO_LOW_POWER_EN_OFFSET UINT8_C(0x2D) + +#define BMA456MM_NO_MOT_AUTO_LOW_POWER_MSK UINT8_C(0x01) + +#define BMA456MM_AUTO_LOW_POWER_TIME_OUT_MSK UINT8_C(0x02) +#define BMA456MM_AUTO_LOW_POWER_TIME_OUT_POS UINT8_C(0x1) +#define BMA456MM_TIME_OUT_DUR_MSK UINT16_C(0x0FFC) +#define BMA456MM_TIME_OUT_DUR_POS UINT16_C(0x02) +#define BMA456MM_AUTO_LOW_POWER_ALP_EN_MSK UINT16_C(0x10) +#define BMA456MM_AUTO_LOW_POWER_ALP_EN_POS UINT8_C(0x04) +#define BMA456MM_LOW_POW_ODR_MSK UINT8_C(0x60) +#define BMA456MM_LOW_POW_ODR_POS UINT8_C(0x05) +#define BMA456MM_PWR_MGT_ENABLE_MSK UINT8_C(0x80) +#define BMA456MM_PWR_MGT_ENABLE_POS UINT8_C(0x07) + +#define BMA456MM_NO_MOT_AUTO_LOW_POWER_WORD_MSK UINT16_C(0x01) + +#define BMA456MM_AUTO_LOW_POWER_TIME_OUT_WORD_MSK UINT16_C(0x02) +#define BMA456MM_AUTO_LOW_POWER_TIME_OUT_WORD_POS UINT8_C(0x1) + +#define BMA456MM_TIME_OUT_DUR_WORD_MSK UINT16_C(0X1FFC) +#define BMA456MM_TIME_OUT_DUR_WORD_POS UINT8_C(0x02) + +#define BMA456MM_LOW_POW_ODR_WORD_MSK UINT16_C(0x6000) +#define BMA456MM_LOW_POW_ODR_WORD_POS UINT8_C(0x0D) + +#define BMA456MM_PWR_MGT_ENABLE_WORD_MSK UINT16_C(0x8000) +#define BMA456MM_PWR_MGT_ENABLE_WORD_POS UINT8_C(0x0F) + +#define BMA456MM_AUTO_LOW_POWER_STATE_POS UINT8_C(0x04) +#define BMA456MM_AUTO_LOW_POWER_STATE_MSK UINT8_C(0x10) + +/**************************************************************/ +/**\name High-g */ +/**************************************************************/ + +/**\name High-g enable macros */ +#define BMA456MM_HIGH_G_EN_OFFSET UINT8_C(0x31) +#define BMA456MM_HIGH_G_EN_MSK UINT8_C(0x80) +#define BMA456MM_HIGH_G_EN_POS UINT8_C(15) + +/**\name High-g threshold macros */ +#define BMA456MM_HIGH_G_THRES_MSK UINT16_C(0x7FFF) + +/**\name High-g hysteresis macros */ +#define BMA456MM_HIGH_G_HYST_MSK UINT16_C(0x0FFF) + +/**\name High-g duration macros */ +#define BMA456MM_HIGH_G_DUR_MSK UINT16_C(0x0FFF) + +/**\name High-g axis enable macros */ +#define BMA456MM_HIGH_G_AXIS_EN_MSK UINT8_C(0x7000) +#define BMA456MM_HIGH_G_AXIS_EN_POS UINT8_C(0x0C) + +/**\name High-g axis selection macros */ +#define BMA456MM_HIGH_G_X_EN UINT8_C(0x01) +#define BMA456MM_HIGH_G_Y_EN UINT8_C(0x02) +#define BMA456MM_HIGH_G_Z_EN UINT8_C(0x04) +#define BMA456MM_HIGH_G_EN_ALL_AXIS UINT8_C(0x07) +#define BMA456MM_HIGH_G_DIS_ALL_AXIS UINT8_C(0x00) + +/**\name High-g output macros */ +#define BMA456MM_HIGH_G_DETECT_X_MSK UINT8_C(0x01) + +#define BMA456MM_HIGH_G_DETECT_Y_MSK UINT8_C(0x02) +#define BMA456MM_HIGH_G_DETECT_Y_POS UINT8_C(0x01) + +#define BMA456MM_HIGH_G_DETECT_Z_MSK UINT8_C(0x04) +#define BMA456MM_HIGH_G_DETECT_Z_POS UINT8_C(0x02) + +#define BMA456MM_HIGH_G_DETECT_SIGN_MSK UINT8_C(0x08) +#define BMA456MM_HIGH_G_DETECT_SIGN_POS UINT8_C(0x03) + +/**************************************************************/ +/**\name Significant motion */ +/**************************************************************/ +/**\name Significant motion enable macros */ +#define BMA456MM_SIG_MOTION_EN_OFFSET UINT8_C(0x37) +#define BMA456MM_SIG_MOTION_EN_POS UINT8_C(1) +#define BMA456MM_SIG_MOTION_EN_MSK UINT8_C(0x02) + +/**\name Significant motion threshold macros */ +#define BMA456MM_SIG_MOTION_THRES_POS UINT8_C(0) +#define BMA456MM_SIG_MOTION_THRES_MSK UINT16_C(0x7FFF) + +/**\name Significant motion skiptime macros */ +#define BMA456MM_SIG_MOTION_SKIPTIME_MSK UINT16_C(0x01FF) + +/**\name Significant motion prooftime macros */ +#define BMA456MM_SIG_MOTION_PROOFTIME_POS UINT8_C(0) +#define BMA456MM_SIG_MOTION_PROOFTIME_MSK UINT8_C(0x7F) + +/**************************************************************/ +/**\name User macros */ +/**************************************************************/ +/**\name Any-motion/No-motion axis enable macros */ +#define BMA456MM_X_AXIS_EN UINT8_C(0x01) +#define BMA456MM_Y_AXIS_EN UINT8_C(0x02) +#define BMA456MM_Z_AXIS_EN UINT8_C(0x04) +#define BMA456MM_EN_ALL_AXIS UINT8_C(0x07) +#define BMA456MM_DIS_ALL_AXIS UINT8_C(0x00) + +/**\name Feature enable macros for the sensor */ +#define BMA456MM_LOW_G UINT8_C(0x01) +#define BMA456MM_ORIENT UINT8_C(0x02) +#define BMA456MM_SINGLE_TAP UINT8_C(0x04) +#define BMA456MM_DOUBLE_TAP UINT8_C(0x08) +#define BMA456MM_TRIPLE_TAP UINT8_C(0x10) +#define BMA456MM_AUTO_LOW_POWER UINT8_C(0x20) +#define BMA456MM_HIGH_G UINT8_C(0x40) +#define BMA456MM_SIG_MOTION UINT8_C(0x80) + +/**\name Interrupt status macros */ +#define BMA456MM_TAP_OUT_INT UINT8_C(0x01) +#define BMA456MM_ORIENT_INT UINT8_C(0x02) +#define BMA456MM_LOW_G_INT UINT8_C(0x04) +#define BMA456MM_HIGH_G_INT UINT8_C(0x08) +#define BMA456MM_SIG_MOT_INT UINT8_C(0x10) +#define BMA456MM_ANY_MOT_INT UINT8_C(0x20) +#define BMA456MM_NO_MOT_INT UINT8_C(0x40) +#define BMA456MM_ERROR_INT UINT8_C(0x80) + +/******************************************************************************/ +/*! @name Structure Declarations */ +/******************************************************************************/ + +/*! + * @brief Any/No motion configuration + */ +struct bma456mm_any_no_mot_config +{ + /*! Expressed in 50 Hz samples (20 ms) */ + uint16_t duration; + + /*! Threshold value for Any-motion/No-motion detection in + * 5.11g format + */ + uint16_t threshold; + + uint8_t intr_bhvr; + + uint8_t slope; + + /*! To enable selected axes */ + uint8_t axes_en; +}; + +/*! + * @brief Orientation configuration structure + */ +struct bma456mm_orientation_config +{ + /*! Upside/Downside detection */ + uint8_t upside_down; + + /*! Mode + * Symmetrical (values 0 or 3), High asymmetrical + * (value 1) or Low asymmetrical (value 2) + */ + uint8_t mode; + + /*! Blocking mode */ + uint8_t blocking; + + /*! Coded value of the threshold angle with horizontal + * used in Blocking modes + */ + uint8_t theta; + + /*! Acceleration hysteresis for Orientation detection */ + uint16_t hysteresis; +}; + +/*! + * @brief Low-G configuration + */ +struct bma456mm_low_g_config +{ + /*! Threshold value for Low-G feature */ + uint16_t threshold; + + /*! Hysteresis value for Low-G feature */ + uint16_t hysteresis; + + /*! Duration in 50Hz samples(20msec) for + * which threshold has to be exceeded + */ + uint16_t duration; +}; + +/*! + * @brief Auto sleep configuration + */ +struct bma456mm_auto_low_power +{ + /*! Enters auto-sleep, when no-motion is detected */ + uint8_t no_motion; + + /*! Enters auto-sleep, when any-motion is not detected for time_out_dur period */ + uint8_t time_out; + + /*! Duration to enter to auto sleep, when any-motion event is not detected. + * Range : 0 ms to 40690 ms + * Resolution : 20 ms + * Default Value : 2000 ms + */ + uint16_t time_out_dur; + + /*! ODR for low power mode + * --------------------------------------- + * Value Name Description + * --------------------------------------- + * 0 odr_1p5 25/16 Hz + * 1 odr_3p1 25/8 Hz + * 2 odr_6p25 25/4 Hz + * 3 odr_12p5 25/2 Hz + */ + uint8_t lp_odr; + + /*! Power management + * -------------------------------------------- + * Value Name Description + * -------------------------------------------- + * 0 Disable Disable feature optimized + * acc conf. Uses host desired + * configuration + * 1 Enable Enable feature optimized + * acc conf + */ + uint8_t pwr_mgt; +}; + +/*! + * @brief Tap param settings + */ +struct bma456mm_multitap_settings +{ + /*! Reserved parameter */ + uint16_t reserved_1; + + /*! Scaling factor for threshold */ + uint16_t tap_sens_thres; + + /*! Maximum duration after the first tap */ + uint16_t max_gest_dur; + + /*! Reserved parameter */ + uint16_t reserved_4; + + /*! Settling time for high frequency acceleration signal */ + uint16_t tap_shock_dur; + + /*! Reserved parameter */ + uint16_t reserved_6; + + /*! Minimum quite time between the two gesture detection */ + uint16_t quite_time_after_gest; + + /*! Wait for the duration set by max_gest_dur after the first tap */ + uint16_t wait_for_timeout; + + /*! Reserved parameter */ + uint16_t reserved_9; + + /*! Selection of axis from 3D-acceleration signal vector */ + uint16_t axis_sel; + + /*! Reserved parameter */ + uint16_t reserved_11; + + /*! Reserved parameter */ + uint16_t reserved_12; +}; + +/*! + * @brief High-g configuration + */ +struct bma456mm_high_g_config +{ + /*! Expressed in 200 Hz samples (5 ms) */ + uint16_t duration; + + /*! Hysteresis value for high-g in 0.74g */ + uint16_t hysteresis; + + /*! Threshold value for Any motion detection in + * 5.11g format + */ + uint16_t threshold; + + /*! To enable selected axes */ + uint8_t axes_en; +}; + +/*! + * @brief Significant motion configuration + */ +struct bma456mm_sig_motion_config +{ + /*! Holds the threshold in 5.11 g format */ + uint16_t threshold; + + /*! Holds the duration for skip in 50Hz samples (20ms) */ + uint16_t skiptime; + + /*! Holds the duration for proof in 50Hz samples (20ms) */ + uint8_t prooftime; +}; + +/*! + * @brief activity, tap output state + */ +struct bma456mm_out_state +{ + /*! + *-------------------------------|----------------------------- + * orientation_output | Values + *-------------------------------|----------------------------- + * Bit pos 0-1 reflects | BMA456MM_PORTRAIT_UP_RIGHT + * orientation output value | BMA456MM_LANDSCAPE_LEFT + * only if ud_en is enabled | BMA456MM_PORTRAIT_UP_DOWN + * | BMA456MM_LANDSCAPE_RIGHT + *-------------------------------|----------------------------- + */ + uint8_t orientation_out; + + /*! + *-------------------------------|----------------------------- + * orientation_faceup_down | Values + *-------------------------------|----------------------------- + * Bit pos 2 reflects | BMA456MM_FACE_UP + * face-up (0) or face-down(1) | BMA456MM_FACE_DOWN + * only if ud_en is enabled | + *-------------------------------|----------------------------- + */ + uint8_t orientation_faceup_down; + + /*! High-g detected on X-axis */ + uint8_t high_g_detect_x; + + /*! High-g detected on Y-axis */ + uint8_t high_g_detect_y; + + /*! High-g detected on Z-axis */ + uint8_t high_g_detect_z; + + /*! Axis direction for which the high-g was detected. + * 1 for negative axis, 0 for positive axis. + */ + uint8_t high_g_detect_sign; + + /*! Single tap detected */ + uint8_t s_tap; + + /*! Double tap detected */ + uint8_t d_tap; + + /*! Triple tap detected */ + uint8_t t_tap; +}; + +/***************************************************************************/ + +/*! BMA456MM User Interface function prototypes + ****************************************************************************/ + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiInit Initialization + * @brief Initialize the sensor and device structure + */ + +/*! + * \ingroup bma456mmApiInit + * \page bma456mm_api_bma456mm_init bma456mm_init + * \code + * int8_t bma456mm_init(struct bma4_dev *dev); + * \endcode + * @details This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_init(struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiConfig Config + * @brief Configuration APIs + */ + +/*! + * \ingroup bma456mmApiConfig + * \page bma456mm_api_bma456mm_write_config_file bma456mm_write_config_file + * \code + * int8_t bma456mm_write_config_file(struct bma4_dev *dev); + * \endcode + * @details This API is used to upload the config file to enable the features of + * the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_write_config_file(struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiConfig + * \page bma456mm_api_bma456mm_get_version_config bma456mm_get_version_config + * \code + *int8_t bma456mm_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the config file major and minor information. + * + * @param[in] dev : Structure instance of bma4_dev. + * @param[out] config_major : Pointer to data buffer to store the config major. + * @param[out] config_minor : Pointer to data buffer to store the config minor. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiConfig + * \page bma456mm_api_bma456mm_get_config_id bma456mm_get_config_id + * \code + * int8_t bma456mm_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the configuration id of the sensor. + * + * @param[out] config_id : Pointer variable used to store the configuration id. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiMapInt Map / Unmap Interrupt + * @brief Map / Unmap user provided interrupt to interrupt pin1 or pin2 of the sensor + */ + +/*! + * \ingroup bma456mmApiMapInt + * \page bma456mm_api_bma456mm_map_interrupt bma456mm_map_interrupt + * \code + * int8_t bma456mm_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API sets/unsets the user provided interrupt to either + * interrupt pin1 or pin2 in the sensor. + * + * @param[in] int_line: Variable to select either interrupt pin1 or pin2. + * + *@verbatim + * int_line | Macros + * ------------|------------------- + * 0x00 | BMA4_INTR1_MAP + * 0x01 | BMA4_INTR2_MAP + *@endverbatim + * + * @param[in] int_map : Variable to specify the interrupts. + * @param[in] enable : Variable to specify mapping or unmapping of interrupts. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the interrupts. + * + * Feature Interrupts + * - BMA456MM_SINGLE_TAP_INT + * - BMA456MM_ORIENT_INT + * - BMA456MM_LOW_G_INT + * - BMA456MM_DOUBLE_TAP_INT + * - BMA456MM_ANY_MOT_INT + * - BMA456MM_NO_MOT_INT + * - BMA456MM_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_MAG_DATA_RDY_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiIntS Interrupt Status + * @brief Read interrupt status of the sensor + */ + +/*! + * \ingroup bma456mmApiIntS + * \page bma456mm_api_bma456mm_read_int_status bma456mm_read_int_status + * \code + * int8_t bma456mm_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the bma456 interrupt status from the sensor. + * + * @param[out] int_status : Variable to store the interrupt status read from + * the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros are used to check the interrupt status. + * + * Feature Interrupts + * - BMA456MM_SINGLE_TAP_INT + * - BMA456MM_ORIENT_INT + * - BMA456MM_LOW_G_INT + * - BMA456MM_DOUBLE_TAP_INT + * - BMA456MM_ANY_MOT_INT + * - BMA456MM_NO_MOT_INT + * - BMA456MM_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_MAG_DATA_RDY_INT + * - BMA4_ACCEL_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiFeat Sensor Feature + * @brief Enables / Disables features of the sensor + */ + +/*! + * \ingroup bma456mmApiFeat + * \page bma456mm_api_bma456mm_feature_enable bma456mm_feature_enable + * \code + * int8_t bma456mm_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API enables/disables the features of the sensor. + * + * @param[in] feature : Variable to specify the features which are to be set in + * bma456 sensor. + * @param[in] enable : Variable which specifies whether to enable or disable the + * features in the bma456 sensor. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note User should use the below macros to enable or disable the + * features of bma456mm sensor + * + * - BMA456MM_LOW_G + * - BMA456MM_ORIENT + * - BMA456MM_SINGLE_TAP + * - BMA456MM_DOUBLE_TAP + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiRemap Remap Axes + * @brief Set / Get x, y and z axis re-mapping in the sensor + */ + +/*! + * \ingroup bma456mmApiRemap + * \page bma456mm_api_bma456mm_set_remap_axes bma456mm_set_remap_axes + * \code + * int8_t bma456mm_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API performs x, y and z axis remapping in the sensor. + * + * @param[in] remap_data : Pointer to store axes remapping data. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiRemap + * \page bma456mm_api_bma456mm_get_remap_axes bma456mm_get_remap_axes + * \code + * int8_t bma456mm_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API reads the x, y and z axis remap data from the sensor. + * + * @param[out] remap_data : Pointer to store axis remap data which is read + * from the bma456 sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiAnyMot Any motion Feature + * @brief Functions of Any motion feature of the sensor + */ + +/*! + * \ingroup bma456mmApiAnyMot + * \page bma456mm_api_bma456mm_set_any_mot_config bma456mm_set_any_mot_config + * \code + * int8_t bma456mm_set_any_mot_config(const struct bma456mm_any_no_mot_config *any_mot, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of any-motion feature in the sensor + * This API enables/disables the any-motion feature according to the axis set. + * + * @param[in] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * | Configuration for acceleration + * slope | scope computation. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456MM_DIS_ALL_AXIS + * 0x01 | BMA456MM_X_AXIS_EN + * 0x02 | BMA456MM_Y_AXIS_EN + * 0x04 | BMA456MM_Z_AXIS_EN + * 0x07 | BMA456MM_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_any_mot_config(const struct bma456mm_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiAnyMot + * \page bma456mm_api_bma456mm_get_any_motion_config bma456mm_get_any_motion_config + * \code + * int8_t bma456mm_get_any_motion_config(struct bma456mm_anymotion_config *any_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of any-motion feature from the + * sensor. + * + * @param[out] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * | Configuration for acceleration + * slope | scope computation. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456MM_DIS_ALL_AXIS + * 0x01 | BMA456MM_X_AXIS_EN + * 0x02 | BMA456MM_Y_AXIS_EN + * 0x04 | BMA456MM_Z_AXIS_EN + * 0x07 | BMA456MM_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_any_mot_config(struct bma456mm_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiNomot No-Motion Feature + * @brief Operations of no-motion feature of the sensor + */ + +/*! + * \ingroup bma456mmApiNomot + * \page bma456mm_api_bma456mm_set_no_motion_config bma456mm_set_no_motion_config + * \code + * int8_t bma456mm_set_no_motion_config(const struct bma456mm_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of no-motion feature in the sensor + * This API enables/disables the no-motion feature according to the axis set. + * + * @param[in] no_mot : Pointer to structure variable to configure + * no-motion. + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456MM_DIS_ALL_AXIS + * 0x01 | BMA456MM_X_AXIS_EN + * 0x02 | BMA456MM_Y_AXIS_EN + * 0x04 | BMA456MM_Z_AXIS_EN + * 0x07 | BMA456MM_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_no_mot_config(const struct bma456mm_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiNomot + * \page bma456mm_api_bma456mm_get_no_motion_config bma456mm_get_no_motion_config + * \code + * int8_t bma456mm_get_no_motion_config(struct bma456mm_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of no-motion feature from the + * sensor. + * + * @param[out] no_mot : Pointer to structure variable to configure + * no-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456MM_DIS_ALL_AXIS + * 0x01 | BMA456MM_X_AXIS_EN + * 0x02 | BMA456MM_Y_AXIS_EN + * 0x04 | BMA456MM_Z_AXIS_EN + * 0x07 | BMA456MM_EN_ALL_AXIS + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_no_mot_config(struct bma456mm_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiOrientation Orientation Feature + * @brief Functions of Orientation feature of the sensor + */ + +/*! + * \ingroup bma456mmApiOrientation + * \page bma456mm_api_bma456mm_set_orientation_config bma456mm_set_orientation_config + * \code + * int8_t bma456mm_set_orientation_config(struct bma456mm_orientation_config *orientation, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of orientation feature of the sensor. + * + * @param[in] orientation : Pointer to structure variable used to + * store the orientation feature settings to be written to sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * ud_en | Enables face upside/downside + * | detection if set to 1 + * --------------------------------|---------------------------------------- + * | Symmetrical (values 0 or 3), + * mode | High asymmetrical (value 1) + * | or Low asymmetrical (value 2). + * --------------------------------|---------------------------------------- + * | Sets the blocking mode. + * blocking | Default value is 3, the most + * | restrictive blocking mode. + * ------------------------------------------------------------------------- + * | Coded value of the threshold angle + * | with horizontal used in blocking + * theta | modes, theta = 64 * (tan(angle)^2). + * | Default value is 40 which is + * | equivalent to 38 degrees angle. + * ------------------------------------------------------------------------- + * | Acceleration hysteresis for + * | orientation detection. + * hysteresis | Range is 0 to 1g. + * | Default value is 0x80 = 0.0625g. + * ------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_orientation_config(const struct bma456mm_orientation_config *orientation, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiOrientation + * \page bma456mm_api_bma456mm_get_orientation_config bma456mm_get_orientation_config + * \code + * int8_t bma456mm_get_orientation_config(struct bma456mm_orientation_config *orientation, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of orientation feature from the sensor. + * + * @param[out] orientation : Pointer to structure variable used to + * store the orientation feature settings read from the sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * ud_en | Enables face upside/downside + * | detection if set to 1 + * --------------------------------|---------------------------------------- + * | symmetrical (values 0 or 3), + * mode | high asymmetrical (value 1) + * | or low asymmetrical (value 2). + * --------------------------------|---------------------------------------- + * | Sets the blocking mode. + * blocking | Default value is 3, the most + * | restrictive blocking mode. + * ------------------------------------------------------------------------- + * | Coded value of the threshold angle + * | with horizontal used in blocking + * theta | modes, theta = 64 * (tan(angle)^2). + * | Default value is 40 which is + * | equivalent to 38 degrees angle. + * ------------------------------------------------------------------------- + * | Acceleration hysteresis for + * | orientation detection. + * hysteresis | Range is 0 to 1g. + * | Default value is 0x80 = 0.0625g. + * ------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_orientation_config(struct bma456mm_orientation_config *orientation, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApLowG Low-G Feature + * @brief Functions of Low-G feature of the sensor + */ + +/*! + * \ingroup bma456mmApLowG + * \page bma456mm_api_bma456mm_set_low_g_config bma456mm_set_low_g_config + * \code + * int8_t bma456mm_set_low_g_config(const struct bma456mm_low_g_config *low_g, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of low-g feature of the sensor. + * + * @param[in] low_g : Pointer to structure variable used to + * store the low-g feature settings to be written to the sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold value for low-g feature. + * threshold | Range is 0 to 1g. + * | Default value is 512 = 0.25g. + * --------------------------------|---------------------------------------- + * | Hysteresis value for low_g feature. + * hysteresis | Range is 0 to 0.5g. + * | Default value is 256 = 0.125g. + * --------------------------------|---------------------------------------- + * | Duration in 50 Hz samples (20 msec) for + * duration | which the threshold has to be exceeded. + * | Range is 0 to 82 sec. + * | Default value is 0 = 0 ms. + * --------------------------------|---------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_low_g_config(const struct bma456mm_low_g_config *low_g, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApLowG + * \page bma456mm_api_bma456mm_get_low_g_config bma456mm_get_low_g_config + * \code + * int8_t bma456mm_get_low_g_config(struct bma456mm_low_g_config *low_g, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of significant motion feature + * from the sensor. + * + * @param[out] low_g : Pointer to structure variable used to + * store the low-g feature settings read from the sensor. + * + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Threshold value for low-g feature. + * threshold | Range is 0 to 1g. + * | Default value is 512 = 0.25g. + * --------------------------------|---------------------------------------- + * | Hysteresis value for low_g feature. + * hysteresis | Range is 0 to 0.5g. + * | Default value is 256 = 0.125g. + * --------------------------------|---------------------------------------- + * | Duration in 50 Hz samples (20 msec) for + * duration | which the threshold has to be exceeded. + * | Range is 0 to 82 sec. + * | Default value is 0 = 0 ms. + * --------------------------------|---------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_low_g_config(struct bma456mm_low_g_config *low_g, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApOP Output state + * @brief Functions to provide feature output status + */ + +/*! + * \ingroup bma456mmApOP + * \page bma456mm_api_bma456mm_output_state bma456mm_output_state + * \code + * int8_t bma456mm_output_state(struct bma456mm_out_state *out_state, struct bma4_dev *dev); + * \endcode + * @details This API gets the output for orientation, tap(single, double, triple) and high-g features. + * + * @param[out] out_state : Pointer variable which stores feature output values. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_output_state(struct bma456mm_out_state *out_state, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiTap Tap Feature + * @brief Tap feature operations + */ + +/*! + * \ingroup bma456mmApiTap + * \page bma456mm_api_bma456mm_tap_get_parameter bma456mm_tap_get_parameter + * \code + * int8_t bma456mm_tap_get_parameter(struct bma456mm_multitap_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API gets the parameter1 to parameter12 settings of the tap + * feature. + * + * @param[out] setting : Pointer to structure variable which stores the + * parameter1 to parameter12 read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_tap_get_parameter(struct bma456mm_multitap_settings *setting, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiTap + * \page bma456mm_api_bma456mm_tap_set_parameter bma456mm_tap_set_parameter + * \code + * int8_t bma456mm_tap_set_parameter(const struct bma456mm_multitap_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API sets the parameter1 to parameter12 settings of the tap + * feature in the sensor. + * + * @param[in] setting : Pointer to structure variable which stores the + * parameter1 to parameter12 settings read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_tap_set_parameter(const struct bma456mm_multitap_settings *setting, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiAutoLP Auto Low power mode + * @brief Configurations and Status of auto low power mode of the sensor + */ + +/*! + * \ingroup bma456mmApiAutoLP + * \page bma456mm_api_bma456mm_get_auto_low_power_config bma456mm_get_auto_low_power_config + * \code + * int8_t bma456mm_get_auto_low_power_config(struct bma456mm_auto_low_power *auto_low_power, struct bma4_dev *dev); + * \endcode + * @details This api gets the auto low power configuration + * + * @param auto_low_power[out] : Pointer gets the auto low power configuration. + * @param dev[in] : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_auto_low_power_config(struct bma456mm_auto_low_power *auto_low_power, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiAutoLP + * \page bma456mm_api_bma456mm_set_auto_low_power_config bma456mm_set_auto_low_power_config + * \code + * int8_t bma456mm_set_auto_low_power_config(const struct bma456mm_auto_low_power *auto_low_power, struct bma4_dev *dev); + * \endcode + * @details This api sets the auto low power configuration + * + * @param auto_low_power[in] : Pointer sets the auto low power configuration. + * @param dev[in] : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_auto_low_power_config(const struct bma456mm_auto_low_power *auto_low_power, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiAutoLP + * \page bma456mm_api_bma456mm_get_auto_low_power_state bma456mm_get_auto_low_power_state + * \code + * int8_t bma456mm_get_auto_low_power_state(uint8_t *auto_low_power_state, struct bma4_dev *dev); + * \endcode + * @details This api reads the auto low power state output status + * + * @param auto_low_power_state[out] : Pointer reads auto low power state output bit status. + * @param dev[in] : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_auto_low_power_state(uint8_t *auto_low_power_state, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApihighg High-g + * @brief Set/Get Configurations of high-g feature + */ + +/*! + * \ingroup bma456mmApihighg + * \page bma456mm_api_bma456mm_set_high_g_config bma456mm_set_high_g_config + * \code + * int8_t bma456mm_set_high_g_config(struct bma456mm_high_g_config *high_g, struct bma4_dev *dev); + * \endcode + * @details This API set the configuration of high_g feature from + * the sensor. + * + * @param[in] high_g : Pointer to structure variable used to + * store the high_g feature settings read from the sensor. + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | The acceleration threshold + * | above which the high_g motion + * | is signed 15 bit, signed int + * threshold | holding the threshold in 5.11 g format. + * | Default is 3072 = 2.25 g. + * | Range is 0 to 24g. + * --------------------------------|---------------------------------------- + * | Hysteresis value for high_g feature. + * hysterisis | Range is 0 to 3g. + * | Default value is 1000 = 0.74g. + * --------------------------------|---------------------------------------- + * | 12 bit signed character + * | (valid values 0...4095) holding + * duration | the duration in 200 Hz samples (5 ms) + * | for which the threshold has to be + * | exceeded; default value 4 = 20 msec. + * | Range is 0 to 20sec. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_high_g_config(const struct bma456mm_high_g_config *high_g, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApihighg + * \page bma456mm_api_bma456mm_get_high_g_config bma456mm_get_high_g_config + * \code + * int8_t bma456mm_get_high_g_config(struct bma456mm_high_g_config *high_g, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of high_g feature from + * the sensor. + * + * @param[out] high_g : Pointer to structure variable used to + * store the high_g feature settings read from the sensor. + * Structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | The acceleration threshold + * | above which the high_g motion + * | is signed 15 bit, signed int + * threshold | holding the threshold in 5.11 g format. + * | Default is 3072 = 2.25 g. + * | Range is 0 to 24g. + * --------------------------------|---------------------------------------- + * | Hysteresis value for high_g feature. + * hysterisis | Range is 0 to 3g. + * | Default value is 1000 = 0.74g. + * --------------------------------|---------------------------------------- + * | 12 bit signed character + * | (valid values 0...4095) holding + * duration | the duration in 200 Hz samples (5 ms) + * | for which the threshold has to be + * | exceeded; default value 4 = 20 msec. + * | Range is 0 to 20sec. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_high_g_config(struct bma456mm_high_g_config *high_g, struct bma4_dev *dev); + +/** + * \ingroup bma456mm + * \defgroup bma456mmApiSigMot Significant motion Feature + * @brief Functions of Significant motion feature of the sensor + */ + +/*! + * \ingroup bma456mmApiSigMot + * \page bma456mm_api_bma456mm_set_sig_motion_config bma456mm_set_sig_motion_config + * \code + * int8_t bma456mm_set_sig_motion_config(const struct bma456mm_sig_motion_config *sig_motion, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of significant motion + * in the sensor. + * + * @param[in] sig_motion : Pointer to structure variable used to + * specify the significant motion feature settings. + * structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------------------- + * Structure parameters | Description + * ------------------------------------------------------------------------------------- + * | Slope threshold value for this feature + * threshold | above which the significant motion is detected. + * | Range is 0 to 16g. Default is 307 = 150mg. + * ------------------------------------------------------------------------------------- + * | Defines the number of consecutive data points + * | for which the feature remains in sleep mode + * | after the first significant motion detection. + * skip_time | The feature checks for significant motion detection + * | again after this sleep duration. + * | It is expressed in 50 Hz samples (20 ms). + * | Range is 0 to 10sec. Default is 150 = 3sec + * ------------------------------------------------------------------------------------- + * | Defines duration of certain number of consecutive + * | data points after sleep time. The second significant + * proof_time | motion must be detected within this duration for + * | the interrupt to get triggered. + * | Range is 0 to 2.5sec. Default value is 50 = 1sec. + * ------------------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_set_sig_motion_config(const struct bma456mm_sig_motion_config *sig_motion, struct bma4_dev *dev); + +/*! + * \ingroup bma456mmApiSigMot + * \page bma456mm_api_bma456mm_get_sig_motion_config bma456mm_get_sig_motion_config + * \code + * int8_t bma456mm_get_sig_motion_config(struct bma456mm_sig_motion_config *sig_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of significant motion feature + * from the sensor. + * + * @param[out] sig_motion : Pointer to structure variable used to + * store the significant motion feature settings read from the sensor. + * structure members are provided in the table below + * + *@verbatim + * ------------------------------------------------------------------------------------- + * Structure parameters | Description + * ------------------------------------------------------------------------------------- + * | Slope threshold value for this feature + * threshold | above which the significant motion is detected. + * | Range is 0 to 16g. Default is 307 = 150mg. + * ------------------------------------------------------------------------------------- + * | Defines the number of consecutive data points + * | for which the feature remains in sleep mode + * | after the first significant motion detection. + * skip_time | The feature checks for significant motion detection + * | again after this sleep duration. + * | It is expressed in 50 Hz samples (20 ms). + * | Range is 0 to 10sec. Default is 150 = 3sec + * ------------------------------------------------------------------------------------- + * | Defines duration of certain number of consecutive + * | data points after sleep time. The second significant + * proof_time | motion must be detected within this duration for + * | the interrupt to get triggered. + * | Range is 0 to 2.5sec. Default value is 50 = 1sec. + * ------------------------------------------------------------------------------------- + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456mm_get_sig_motion_config(struct bma456mm_sig_motion_config *sig_motion, struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /*End of CPP guard */ + +#endif /*End of header guard macro */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456w.c b/lib/SensorLib/src/bosch/bma4xx/bma456w.c new file mode 100644 index 0000000..1fbfdbd --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456w.c @@ -0,0 +1,1545 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456w.c +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/*! \file bma456w.c + * \brief Sensor Driver for BMA456W sensor + */ + +#include "bma456w.h" + +/**\name Feature configuration file */ +const uint8_t bma456w_config_file[] = { + 0x80, 0x2e, 0xf0, 0x01, 0x80, 0x2e, 0xf2, 0x01, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xff, 0x00, 0x80, 0x2e, 0xfe, + 0x00, 0x80, 0x2e, 0xf1, 0x01, 0x80, 0x2e, 0xef, 0x01, 0x80, 0x2e, 0x92, 0xb0, 0x80, 0x2e, 0xb6, 0x09, 0xb0, 0xf0, + 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf3, 0x01, 0x71, 0x50, 0x6f, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41, + 0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x22, 0xeb, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, + 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, + 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, + 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, + 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x03, 0x00, 0x03, 0x00, 0x04, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x1e, 0x01, 0x01, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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Static Function Declarations + ****************************************************************************/ + +/*! + * @brief This API enables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be set + * in the sensor. + * @param[in] len : Length for read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API disables the features of sensor. + * + * @param[in] feature : Variable to specify the features which are to be unset + * in the sensor. + * @param[in] len : Length for read and write + * @param[in] feature_config : Array address which stores the feature + * configuration data + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +static int8_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev); + +/*! + * @brief This API update the settings of step counter into write array. + * + * @param[in] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter25. + * @param[in] index : Value for array traversing. + * @param[out] feature_config : Pointer to store the settings + * + * @return none + */ +static void update_stepcounter_parameter(const struct bma456w_stepcounter_settings *setting, + uint8_t index, + uint8_t *feature_config); + +/*! + * @brief This API copy the settings of step counter into the + * structure of bma456w_stepcounter_settings, which is read from sensor. + * + * @param[out] setting : Pointer to structure variable which stores the + * settings parameter1 to parameter25 read from sensor. + * @param[in] data_p : Pointer of array which stores the parameters. + * + * @return none + */ +static void extract_stepcounter_parameter(struct bma456w_stepcounter_settings *setting, const uint16_t *data_p); + +/***************************************************************************/ + +/**\name Function definitions + ****************************************************************************/ + +/*! + * @brief This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + */ +int8_t bma456w_init(struct bma4_dev *dev) +{ + int8_t rslt; + + /* Structure to define the default values for axes re-mapping */ + struct bma4_axes_remap axes_remap = { + .x_axis = BMA4_MAP_X_AXIS, .x_axis_sign = BMA4_MAP_POSITIVE, .y_axis = BMA4_MAP_Y_AXIS, + .y_axis_sign = BMA4_MAP_POSITIVE, .z_axis = BMA4_MAP_Z_AXIS, .z_axis_sign = BMA4_MAP_POSITIVE + }; + + rslt = bma4_init(dev); + + if (rslt == BMA4_OK) + { + if (dev->chip_id == BMA456W_CHIP_ID) + { + /* Resolution of BMA456 sensor is 16 bit */ + dev->resolution = BMA4_16_BIT_RESOLUTION; + + dev->feature_len = BMA456W_FEATURE_SIZE; + + dev->config_size = sizeof(bma456w_config_file); + + /* Set the default values for axis + * re-mapping in the device structure + */ + dev->remap = axes_remap; + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + + return rslt; +} + +/*! + * @brief This API is used to upload the configuration file to enable the + * features of the sensor. + */ +int8_t bma456w_write_config_file(struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + /* Configuration stream read/write length boundary + * check + */ + if ((dev->read_write_len >= BMA456W_RD_WR_MIN_LEN) && (dev->read_write_len <= BMA456W_RD_WR_MAX_LEN)) + { + /* Even or odd check */ + if ((dev->read_write_len % 2) != 0) + { + dev->read_write_len = dev->read_write_len - 1; + } + + /* Assign stream data */ + dev->config_file_ptr = bma456w_config_file; + rslt = bma4_write_config_file(dev); + } + else + { + rslt = BMA4_E_RD_WR_LENGTH_INVALID; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API is used to get the configuration id of the sensor. + */ +int8_t bma456w_get_config_id(uint16_t *config_id, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456W_CONFIG_ID_OFFSET; + int8_t rslt = BMA4_OK; + uint16_t config_id_lsb = 0; + uint16_t config_id_msb = 0; + + if (config_id != NULL) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + config_id_lsb = (uint16_t)feature_config[index]; + config_id_msb = ((uint16_t)feature_config[index + 1]) << 8; + *config_id = config_id_lsb | config_id_msb; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets/un-sets the user provided interrupt to either interrupt + * pin1 or pin2 in the sensor. + */ +int8_t bma456w_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (dev != NULL) + { + if (dev->chip_id == BMA456W_CHIP_ID) + { + if (int_line <= 1) + { + /* Map/Unmap the interrupt */ + rslt = bma4_map_interrupt(int_line, int_map, enable, dev); + } + else + { + rslt = BMA4_E_INT_LINE_INVALID; + } + } + else + { + rslt = BMA4_E_INVALID_SENSOR; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the bma456w interrupt status from the sensor. + */ +int8_t bma456w_read_int_status(uint16_t *int_status, struct bma4_dev *dev) +{ + int8_t rslt = BMA4_OK; + + if (int_status != NULL) + { + /* Read the interrupt status */ + rslt = bma4_read_int_status(int_status, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables/disables the features of the sensor. + */ +int8_t bma456w_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + int8_t rslt; + uint8_t len = BMA456W_FEATURE_SIZE; + + /* Read feature configuration data */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + + if (rslt == BMA4_OK) + { + if (enable == TRUE) + { + /* Enables the feature */ + rslt = feature_enable(feature, len, feature_config, dev); + } + else + { + /* Disables the feature */ + rslt = feature_disable(feature, len, feature_config, dev); + } + } + + return rslt; +} + +/*! + * @brief This API performs x, y and z axis remapping in the sensor. + */ +int8_t bma456w_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456W_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_set_remap_axes(remap_axes, feature_config, index, BMA456W_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API reads the x, y and z axis remap data from the sensor. + */ +int8_t bma456w_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456W_AXES_REMAP_OFFSET; + int8_t rslt = BMA4_OK; + + if (remap_axes != NULL) + { + rslt = bma4_get_remap_axes(remap_axes, feature_config, index, BMA456W_FEATURE_SIZE, dev); + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of any-motion feature in the sensor. + * This API enables/disables the any-motion feature according to the axis set. + */ +int8_t bma456w_set_any_mot_config(const struct bma456w_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456W_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (any_mot != NULL) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_ANY_MOT_LEN, dev); + + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(any_mot->threshold); + feature_config[index++] = BMA4_GET_MSB(any_mot->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456W_ANY_NO_MOT_DUR, any_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456W_ANY_NO_MOT_AXIS_EN, any_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index] = BMA4_GET_MSB(lsb_msb); + + /* Set any-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_ANY_MOT_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of any-motion feature from the + * sensor. + */ +int8_t bma456w_get_any_mot_config(struct bma456w_any_no_mot_config *any_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Update index to configure any-motion axes */ + uint8_t index = BMA456W_ANY_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (any_mot != NULL) + { + /* Get any-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_ANY_MOT_LEN, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and any-motion + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + any_mot->threshold = lsb_msb & BMA456W_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + any_mot->duration = lsb_msb & BMA456W_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + any_mot->axes_en = (uint8_t)((lsb_msb & BMA456W_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456W_ANY_NO_MOT_AXIS_EN_POS); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the configuration of no-motion feature in the sensor. + * This API enables/disables the no-motion feature according to the axis set. + */ +int8_t bma456w_set_no_mot_config(const struct bma456w_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456W_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (no_mot != NULL) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_NO_MOT_RD_WR_LEN, dev); + + if (rslt == BMA4_OK) + { + /* Set threshold value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(no_mot->threshold); + feature_config[index++] = BMA4_GET_MSB(no_mot->threshold); + + /* Extract the word where duration and axes enable + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the duration in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456W_ANY_NO_MOT_DUR, no_mot->duration); + + /* Set the axes in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456W_ANY_NO_MOT_AXIS_EN, no_mot->axes_en); + + /* Assign the word with set duration and axes enable + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index] = BMA4_GET_MSB(lsb_msb); + + /* Set no-motion configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_NO_MOT_RD_WR_LEN, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the configuration of no-motion feature from the + * sensor. + */ +int8_t bma456w_get_no_mot_config(struct bma456w_any_no_mot_config *no_mot, struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Update index to configure no-motion axes */ + uint8_t index = BMA456W_NO_MOT_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (no_mot != NULL) + { + /* Get no-motion configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_NO_MOT_RD_WR_LEN, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate threshold and no-motion + * select + */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract threshold value */ + no_mot->threshold = lsb_msb & BMA456W_ANY_NO_MOT_THRES_MSK; + + /* Get word to calculate duration and axes enable */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index] << 8); + lsb_msb = lsb | msb; + + /* Extract duration value */ + no_mot->duration = lsb_msb & BMA456W_ANY_NO_MOT_DUR_MSK; + + /* Extract axes enable value */ + no_mot->axes_en = (uint8_t)((lsb_msb & BMA456W_ANY_NO_MOT_AXIS_EN_MSK) >> BMA456W_ANY_NO_MOT_AXIS_EN_POS); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API enables or disables the step detector feature in the sensor. + */ +int8_t bma456w_step_detector_enable(uint8_t enable, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + int8_t rslt; + + /* Step detector enable bit position is 1 byte ahead of the base address */ + uint8_t index = BMA456W_STEP_CNTR_OFFSET + 1; + + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], BMA456W_STEP_DETECTOR_EN, enable); + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + } + + return rslt; +} + +/*! + * @brief This API sets the water mark level for step counter interrupt in the + * sensor. + */ +int8_t bma456w_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456W_STEP_CNTR_OFFSET; + uint16_t wm_lsb = 0; + uint16_t wm_msb = 0; + int8_t rslt; + uint16_t data = 0; + + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + wm_lsb = feature_config[index]; + wm_msb = feature_config[index + 1] << 8; + data = wm_lsb | wm_msb; + + /* Sets only water mark bits in the complete + * 16 bits of data + */ + data = BMA4_SET_BITS_POS_0(data, BMA456W_STEP_CNTR_WM, step_counter_wm); + + /* Splits 16 bits of data to individual + * 8 bits data + */ + feature_config[index] = BMA4_GET_LSB(data); + feature_config[index + 1] = BMA4_GET_MSB(data); + + /* Writes step counter water mark settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + } + + return rslt; +} + +/*! + * @brief This API gets the water mark level set for step counter interrupt + * in the sensor. + */ +int8_t bma456w_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456W_STEP_CNTR_OFFSET; + uint16_t wm_lsb = 0; + uint16_t wm_msb = 0; + int8_t rslt = BMA4_OK; + uint16_t data = 0; + + if (step_counter_wm != NULL) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + wm_lsb = feature_config[index]; + wm_msb = feature_config[index + 1] << 8; + data = wm_lsb | wm_msb; + *step_counter_wm = BMA4_GET_BITS_POS_0(data, BMA456W_STEP_CNTR_WM); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API resets the counted steps of step counter. + */ +int8_t bma456w_reset_step_counter(struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Reset bit is 1 byte ahead of base address */ + uint8_t index = BMA456W_STEP_CNTR_OFFSET + 1; + int8_t rslt; + + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + feature_config[index] = BMA4_SET_BITSLICE(feature_config[index], BMA456W_STEP_CNTR_RST, 1); + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + } + + return rslt; +} + +/*! + * @brief This API gets the number of counted steps of the step counter + * feature from the sensor. + */ +int8_t bma456w_step_counter_output(uint32_t *step_count, struct bma4_dev *dev) +{ + uint8_t data[BMA456W_STEP_CNTR_DATA_SIZE] = { 0 }; + int8_t rslt = BMA4_OK; + uint32_t step_count_0 = 0; + uint32_t step_count_1 = 0; + uint32_t step_count_2 = 0; + uint32_t step_count_3 = 0; + + if (step_count != NULL) + { + /* Reads the step counter output data from the + * gpio register + */ + rslt = bma4_read_regs(BMA4_STEP_CNT_OUT_0_ADDR, data, BMA456W_STEP_CNTR_DATA_SIZE, dev); + + if (rslt == BMA4_OK) + { + step_count_0 = (uint32_t)data[0]; + step_count_1 = (uint32_t)data[1] << 8; + step_count_2 = (uint32_t)data[2] << 16; + step_count_3 = (uint32_t)data[3] << 24; + *step_count = step_count_0 | step_count_1 | step_count_2 | step_count_3; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the output for activity feature. + */ +int8_t bma456w_activity_output(uint8_t *activity, struct bma4_dev *dev) +{ + uint8_t data = 0; + int8_t rslt = BMA4_OK; + + if (activity != NULL) + { + /* Reads the activity output from the gpio register */ + rslt = bma4_read_regs(BMA4_ACTIVITY_OUT_ADDR, &data, 1, dev); + + if (rslt == BMA4_OK) + { + *activity = data; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the parameter1 to parameter7 settings of the step + * counter feature. + */ +int8_t bma456w_stepcounter_get_parameter(struct bma456w_stepcounter_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + uint16_t *data_p = (uint16_t *)(void *)feature_config; + int8_t rslt = BMA4_OK; + + if (setting != NULL) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* To convert 8bit to 16 bit address */ + data_p = data_p + BMA456W_STEP_CNTR_PARAM_OFFSET / 2; + extract_stepcounter_parameter(setting, data_p); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the parameter1 to parameter7 settings of the step + * counter feature in the sensor. + */ +int8_t bma456w_stepcounter_set_parameter(const struct bma456w_stepcounter_settings *setting, struct bma4_dev *dev) +{ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + uint8_t index = BMA456W_STEP_CNTR_PARAM_OFFSET; + int8_t rslt = BMA4_OK; + + if (setting != NULL) + { + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + update_stepcounter_parameter(setting, index, feature_config); + + /* Writes step counter parameter settings + * in the sensor + */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API sets the wrist wear wakeup settings + */ +int8_t bma456w_set_wrist_wear_wakeup_param_config(const struct bma456w_wrist_wear_wakeup_params *setting, + struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Update index to configure wrist wear wakeup */ + uint8_t index = BMA456W_WRIST_WEAR_WAKEUP_PARAM_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (setting != NULL) + { + /* Get wrist wear wake up configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Set minimum angle focus value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(setting->min_angle_focus); + feature_config[index++] = BMA4_GET_MSB(setting->min_angle_focus); + + /* Set minimum angle non focus value in feature configuration array */ + feature_config[index++] = BMA4_GET_LSB(setting->min_angle_non_focus); + feature_config[index++] = BMA4_GET_MSB(setting->min_angle_non_focus); + + /* Extract the word where angle landscape right and angle landscape left + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the angle landscape right in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, + BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_RHT, + setting->angle_landscape_right); + + /* Set the angle landscape left in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, + BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_LEFT, + setting->angle_landscape_left); + + /* Assign the word with set angle landscape right and left + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Extract the word where angle portrait down and angle portrait up + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the portrait down in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, + BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_DOWN, + setting->angle_portrait_down); + + /* Set the portrait up in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_UP, setting->angle_portrait_up); + + /* Assign the word with set portrait down and portrait up + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index++] = BMA4_GET_MSB(lsb_msb); + + /* Extract the word where minimum duration moved and minimum duration quite + * resides + */ + lsb = feature_config[index]; + msb = feature_config[index + 1] << 8; + lsb_msb = lsb | msb; + + /* Set the minimum duration moved in the same word */ + lsb_msb = BMA4_SET_BITS_POS_0(lsb_msb, BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_MOVED, setting->min_dur_moved); + + /* Set the minimum duration quite in the same word */ + lsb_msb = BMA4_SET_BITSLICE(lsb_msb, BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_QUITE, setting->min_dur_quite); + + /* Assign the word with set minimum duration moved and minimum duration quite + * value back to feature configuration array + */ + feature_config[index++] = BMA4_GET_LSB(lsb_msb); + feature_config[index] = BMA4_GET_MSB(lsb_msb); + + /* Set wrist wear wakeup configuration to the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! + * @brief This API gets the wrist wear wakeup settings + */ +int8_t bma456w_get_wrist_wear_wakeup_param_config(struct bma456w_wrist_wear_wakeup_params *setting, + struct bma4_dev *dev) +{ + /* Variable to define error */ + int8_t rslt = BMA4_OK; + + /* Initialize configuration file */ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Update index to configure wrist wear wakeup */ + uint8_t index = BMA456W_WRIST_WEAR_WAKEUP_PARAM_OFFSET; + + /* Variable to define LSB */ + uint16_t lsb = 0; + + /* Variable to define MSB */ + uint16_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + if (setting != NULL) + { + /* Get wrist wear wakeup configuration from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get minimum angle focus value in feature configuration array */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract minimum angle focus value */ + setting->min_angle_focus = lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_MIN_ANG_FOCUS_MSK; + + /* Get minimum angle non focus value in feature configuration array */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract minimum angle non focus value */ + setting->min_angle_non_focus = lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_MIN_ANG_NON_FOCUS_MSK; + + /* Get landscape right and landscape left in feature configuration array */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract landscape right value */ + setting->angle_landscape_right = lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_RHT_MSK; + + /* Extract landscape left value */ + setting->angle_landscape_left = (lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_LEFT_MSK) >> + BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_LEFT_POS; + + /* Get portrait down and portrait up value in feature configuration array */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract portrait down value */ + setting->angle_portrait_down = lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_DOWN_MSK; + + /* Extract portrait up value */ + setting->angle_portrait_up = (lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_UP_MSK) >> + BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_UP_POS; + + /* Get min duration moved and min durtion quite value in feature configuration array */ + lsb = (uint16_t)feature_config[index++]; + msb = ((uint16_t)feature_config[index++] << 8); + lsb_msb = lsb | msb; + + /* Extract min duration moved value */ + setting->min_dur_moved = lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_MOVED_MSK; + + /* Extract min duration quite value */ + setting->min_dur_quite = (lsb_msb & BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_QUITE_MSK) >> + BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_QUITE_POS; + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @cond DOXYGEN_SUPRESS */ + +/* Suppressing doxygen warnings triggered for same static function names present across various sensor variant + * directories */ + +/*! + * @brief This API enables the features of the sensor. + */ +static int8_t feature_enable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt; + + /* Enable step counter */ + if ((feature & BMA456W_STEP_CNTR) > 0) + { + index = BMA456W_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] | BMA456W_STEP_CNTR_EN_MSK; + } + + /* Enable step activity */ + if ((feature & BMA456W_STEP_ACT) > 0) + { + index = BMA456W_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] | BMA456W_STEP_ACT_EN_MSK; + } + + /* Enable wrist wear wakeup */ + if ((feature & BMA456W_WRIST_WEAR_WAKEUP) > 0) + { + index = BMA456W_WRIST_WEAR_WAKEUP_OFFSET; + feature_config[index] = feature_config[index] | BMA456W_WRIST_WEAR_WAKEUP_EN_MSK; + } + + /* Write the feature enable settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + + return rslt; +} + +/*! + * @brief This API disables the features of the sensor. + */ +static int8_t feature_disable(uint8_t feature, uint8_t len, uint8_t *feature_config, struct bma4_dev *dev) +{ + uint8_t index = 0; + int8_t rslt; + + /* Disable step counter */ + if ((feature & BMA456W_STEP_CNTR) > 0) + { + index = BMA456W_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] & (~BMA456W_STEP_CNTR_EN_MSK); + } + + /* Disable step activity */ + if ((feature & BMA456W_STEP_ACT) > 0) + { + index = BMA456W_STEP_CNTR_OFFSET + 1; + feature_config[index] = feature_config[index] & (~BMA456W_STEP_ACT_EN_MSK); + } + + /* Disable wrist wear wakeup */ + if ((feature & BMA456W_WRIST_WEAR_WAKEUP) > 0) + { + index = BMA456W_WRIST_WEAR_WAKEUP_OFFSET; + feature_config[index] = feature_config[index] & (~BMA456W_WRIST_WEAR_WAKEUP_EN_MSK); + } + + /* Write the configured settings in the sensor */ + rslt = bma4_write_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, len, dev); + + return rslt; +} + +/*! + * @brief This API update the settings of step counter. + */ +static void update_stepcounter_parameter(const struct bma456w_stepcounter_settings *setting, + uint8_t index, + uint8_t *feature_config) +{ + feature_config[index++] = BMA4_GET_LSB(setting->param1); + feature_config[index++] = BMA4_GET_MSB(setting->param1); + feature_config[index++] = BMA4_GET_LSB(setting->param2); + feature_config[index++] = BMA4_GET_MSB(setting->param2); + feature_config[index++] = BMA4_GET_LSB(setting->param3); + feature_config[index++] = BMA4_GET_MSB(setting->param3); + feature_config[index++] = BMA4_GET_LSB(setting->param4); + feature_config[index++] = BMA4_GET_MSB(setting->param4); + feature_config[index++] = BMA4_GET_LSB(setting->param5); + feature_config[index++] = BMA4_GET_MSB(setting->param5); + feature_config[index++] = BMA4_GET_LSB(setting->param6); + feature_config[index++] = BMA4_GET_MSB(setting->param6); + feature_config[index++] = BMA4_GET_LSB(setting->param7); + feature_config[index++] = BMA4_GET_MSB(setting->param7); + feature_config[index++] = BMA4_GET_LSB(setting->param8); + feature_config[index++] = BMA4_GET_MSB(setting->param8); + feature_config[index++] = BMA4_GET_LSB(setting->param9); + feature_config[index++] = BMA4_GET_MSB(setting->param9); + feature_config[index++] = BMA4_GET_LSB(setting->param10); + feature_config[index++] = BMA4_GET_MSB(setting->param10); + feature_config[index++] = BMA4_GET_LSB(setting->param11); + feature_config[index++] = BMA4_GET_MSB(setting->param11); + feature_config[index++] = BMA4_GET_LSB(setting->param12); + feature_config[index++] = BMA4_GET_MSB(setting->param12); + feature_config[index++] = BMA4_GET_LSB(setting->param13); + feature_config[index++] = BMA4_GET_MSB(setting->param13); + feature_config[index++] = BMA4_GET_LSB(setting->param14); + feature_config[index++] = BMA4_GET_MSB(setting->param14); + feature_config[index++] = BMA4_GET_LSB(setting->param15); + feature_config[index++] = BMA4_GET_MSB(setting->param15); + feature_config[index++] = BMA4_GET_LSB(setting->param16); + feature_config[index++] = BMA4_GET_MSB(setting->param16); + feature_config[index++] = BMA4_GET_LSB(setting->param17); + feature_config[index++] = BMA4_GET_MSB(setting->param17); + feature_config[index++] = BMA4_GET_LSB(setting->param18); + feature_config[index++] = BMA4_GET_MSB(setting->param18); + feature_config[index++] = BMA4_GET_LSB(setting->param19); + feature_config[index++] = BMA4_GET_MSB(setting->param19); + feature_config[index++] = BMA4_GET_LSB(setting->param20); + feature_config[index++] = BMA4_GET_MSB(setting->param20); + feature_config[index++] = BMA4_GET_LSB(setting->param21); + feature_config[index++] = BMA4_GET_MSB(setting->param21); + feature_config[index++] = BMA4_GET_LSB(setting->param22); + feature_config[index++] = BMA4_GET_MSB(setting->param22); + feature_config[index++] = BMA4_GET_LSB(setting->param23); + feature_config[index++] = BMA4_GET_MSB(setting->param23); + feature_config[index++] = BMA4_GET_LSB(setting->param24); + feature_config[index++] = BMA4_GET_MSB(setting->param24); + feature_config[index++] = BMA4_GET_LSB(setting->param25); + feature_config[index] = BMA4_GET_MSB(setting->param25); +} + +/*! + * @brief This API copy the settings of step counter into the structure of + * bma456w_stepcounter_settings, which is read from sensor. + */ +static void extract_stepcounter_parameter(struct bma456w_stepcounter_settings *setting, const uint16_t *data_p) +{ + setting->param1 = *(data_p++); + setting->param2 = *(data_p++); + setting->param3 = *(data_p++); + setting->param4 = *(data_p++); + setting->param5 = *(data_p++); + setting->param6 = *(data_p++); + setting->param7 = *(data_p++); + setting->param8 = *(data_p++); + setting->param9 = *(data_p++); + setting->param10 = *(data_p++); + setting->param11 = *(data_p++); + setting->param12 = *(data_p++); + setting->param13 = *(data_p++); + setting->param14 = *(data_p++); + setting->param15 = *(data_p++); + setting->param16 = *(data_p++); + setting->param17 = *(data_p++); + setting->param18 = *(data_p++); + setting->param19 = *(data_p++); + setting->param20 = *(data_p++); + setting->param21 = *(data_p++); + setting->param22 = *(data_p++); + setting->param23 = *(data_p++); + setting->param24 = *(data_p++); + setting->param25 = *data_p; +} + +/*! + * @brief This API is used to get the config file major and minor information. + */ +int8_t bma456w_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev) +{ + /* Initialize configuration file */ + uint8_t feature_config[BMA456W_FEATURE_SIZE] = { 0 }; + + /* Update index to config file version */ + uint8_t index = BMA456W_CONFIG_ID_START_ADDR; + + /* Variable to define LSB */ + uint8_t lsb = 0; + + /* Variable to define MSB */ + uint8_t msb = 0; + + /* Variable to define LSB and MSB */ + uint16_t lsb_msb = 0; + + /* Result of api are returned to this variable */ + int8_t rslt = BMA4_OK; + + if ((config_major != NULL) && (config_minor != NULL)) + { + rslt = bma4_set_advance_power_save(BMA4_DISABLE, dev); + + if (rslt == BMA4_OK) + { + /* Wait for sensor time synchronization. Refer the data-sheet for + * more information + */ + dev->delay_us(450, dev->intf_ptr); + + /* Get config file identification from the sensor */ + rslt = bma4_read_regs(BMA4_FEATURE_CONFIG_ADDR, feature_config, BMA456W_FEATURE_SIZE, dev); + + if (rslt == BMA4_OK) + { + /* Get word to calculate config file identification */ + lsb = feature_config[index++]; + msb = feature_config[index++]; + + lsb_msb = (uint16_t)(msb << 8 | lsb); + + /* Get major and minor version */ + *config_major = BMA4_GET_BITSLICE(lsb_msb, BMA4_CONFIG_MAJOR); + *config_minor = BMA4_GET_BITS_POS_0(lsb, BMA4_CONFIG_MINOR); + } + } + } + else + { + rslt = BMA4_E_NULL_PTR; + } + + return rslt; +} + +/*! @endcond */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma456w.h b/lib/SensorLib/src/bosch/bma4xx/bma456w.h new file mode 100644 index 0000000..fc9ab33 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma456w.h @@ -0,0 +1,1205 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma456w.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/** + * \ingroup bma4xy + * \defgroup bma456w BMA456W + * @brief Sensor driver for BMA456W sensor + */ + +#ifndef BMA456W_H +#define BMA456W_H + +#ifdef __cplusplus +extern "C" { +#endif +#include "bma4.h" + +/**\name Chip ID of BMA456W sensor */ +#define BMA456W_CHIP_ID UINT8_C(0x16) + +/**\ Configuration ID start position of BMA456W sensor */ +#define BMA456W_CONFIG_ID_START_ADDR UINT8_C(72) + +/**\name Sensor feature size */ +#define BMA456W_FEATURE_SIZE UINT8_C(76) +#define BMA456W_ANY_MOT_LEN UINT8_C(4) + +/**\name Feature offset address */ +#define BMA456W_ANY_MOT_OFFSET UINT8_C(0x00) +#define BMA456W_NO_MOT_OFFSET UINT8_C(0x04) +#define BMA456W_STEP_CNTR_PARAM_OFFSET UINT8_C(0x08) +#define BMA456W_STEP_CNTR_OFFSET UINT8_C(0x3A) +#define BMA456W_WRIST_WEAR_WAKEUP_OFFSET UINT8_C(0x3C) +#define BMA456W_WRIST_WEAR_WAKEUP_PARAM_OFFSET UINT8_C(0x3E) +#define BMA456W_CONFIG_ID_OFFSET UINT8_C(0x48) +#define BMA456W_AXES_REMAP_OFFSET UINT8_C(0x4A) + +/**\name Read/Write Lengths */ +#define BMA456W_RD_WR_MIN_LEN UINT8_C(2) +#define BMA456W_NO_MOT_RD_WR_LEN (BMA456W_ANY_MOT_LEN + BMA456W_NO_MOT_OFFSET) + +/*! @name Maximum valid read write length is size of config file array */ +#define BMA456W_RD_WR_MAX_LEN ((uint16_t)sizeof(bma456w_config_file)) + +/**************************************************************/ +/**\name Step Counter/Detector/Activity */ +/**************************************************************/ +/**\name Step counter/activity enable macros */ +#define BMA456W_STEP_CNTR_EN_MSK UINT8_C(0x10) +#define BMA456W_STEP_ACT_EN_MSK UINT8_C(0x20) + +/**\name Step counter water-mark macros */ +#define BMA456W_STEP_CNTR_WM_MSK UINT16_C(0x03FF) + +/**\name Step counter reset macros */ +#define BMA456W_STEP_CNTR_RST_POS UINT8_C(2) +#define BMA456W_STEP_CNTR_RST_MSK UINT8_C(0x04) + +/**\name Step detector enable macros */ +#define BMA456W_STEP_DETECTOR_EN_POS UINT8_C(3) +#define BMA456W_STEP_DETECTOR_EN_MSK UINT8_C(0x08) + +/**\name Wrist-wear enable macros */ +#define BMA456W_WRIST_WEAR_WAKEUP_EN_MSK UINT8_C(0x10) +#define BMA456W_WRIST_WEAR_WAKEUP_EN_POS UINT8_C(4) + +/**\name Step count output length */ +#define BMA456W_STEP_CNTR_DATA_SIZE UINT8_C(4) + +/**************************************************************/ +/**\name Any/No-Motion */ +/**************************************************************/ +/**\name Any/No-motion threshold macros */ +#define BMA456W_ANY_NO_MOT_THRES_MSK UINT16_C(0x07FF) + +/**\name Any/No-motion duration macros */ +#define BMA456W_ANY_NO_MOT_DUR_MSK UINT16_C(0x1FFF) + +/**\name Any/No-motion enable macros */ +#define BMA456W_ANY_NO_MOT_AXIS_EN_POS UINT8_C(0x0D) +#define BMA456W_ANY_NO_MOT_AXIS_EN_MSK UINT16_C(0xE000) + +/**************************************************************/ +/**\name Wrist wear wakeup */ +/**************************************************************/ +/**\name Mask definition for minimum angle focus */ +#define BMA456W_WRIST_WEAR_WAKEUP_MIN_ANG_FOCUS_MSK UINT16_C(0xFFFF) + +/**\name Mask definition for minimum angle non focus */ +#define BMA456W_WRIST_WEAR_WAKEUP_MIN_ANG_NON_FOCUS_MSK UINT16_C(0xFFFF) + +/**\name Mask definition for angle landscape right */ +#define BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_RHT_MSK UINT8_C(0xFF) + +/**\name Mask definition for angle landscape left */ +#define BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_LEFT_MSK UINT16_C(0XFF00) + +/**\name Position definition for angle landscape left */ +#define BMA456W_WRIST_WEAR_WAKEUP_ANG_LSCAPE_LEFT_POS UINT8_C(8) + +/**\name Mask definition for angle portrait down */ +#define BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_DOWN_MSK UINT8_C(0xFF) + +/**\name Mask definition for angle portrait up */ +#define BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_UP_MSK UINT16_C(0xFF00) + +/**\name Position definition for angle portrait up */ +#define BMA456W_WRIST_WEAR_WAKEUP_ANG_PORTRAIT_UP_POS UINT8_C(8) + +/**\name Mask definition for minimum duration moved */ +#define BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_MOVED_MSK UINT8_C(0xFF) + +/**\name Mask definition for minimum duration quite */ +#define BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_QUITE_MSK UINT16_C(0xFF00) + +/**\name Position definition for minimum duration quite */ +#define BMA456W_WRIST_WEAR_WAKEUP_MIN_DUR_QUITE_POS UINT8_C(8) + +/**************************************************************/ +/**\name User macros */ +/**************************************************************/ +/**\name Any-motion/No-motion axis enable macros */ +#define BMA456W_X_AXIS_EN UINT8_C(0x01) +#define BMA456W_Y_AXIS_EN UINT8_C(0x02) +#define BMA456W_Z_AXIS_EN UINT8_C(0x04) +#define BMA456W_EN_ALL_AXIS UINT8_C(0x07) +#define BMA456W_DIS_ALL_AXIS UINT8_C(0x00) + +/**\name Feature enable macros for the sensor */ +#define BMA456W_STEP_CNTR UINT8_C(0x01) +#define BMA456W_STEP_ACT UINT8_C(0x02) +#define BMA456W_WRIST_WEAR_WAKEUP UINT8_C(0x04) + +/**\name Interrupt status macros */ +#define BMA456W_STEP_CNTR_INT UINT8_C(0x02) +#define BMA456W_ACTIVITY_INT UINT8_C(0x04) +#define BMA456W_WRIST_WEAR_WAKEUP_INT UINT8_C(0x08) +#define BMA456W_ANY_MOT_INT UINT8_C(0x20) +#define BMA456W_NO_MOT_INT UINT8_C(0x40) +#define BMA456W_ERROR_INT UINT8_C(0x80) + +/**\name Activity recognition macros */ +#define BMA456W_USER_STATIONARY UINT8_C(0x00) +#define BMA456W_USER_WALKING UINT8_C(0x01) +#define BMA456W_USER_RUNNING UINT8_C(0x02) +#define BMA456W_STATE_INVALID UINT8_C(0x03) + +/******************************************************************************/ +/*! @name Structure Declarations */ +/******************************************************************************/ + +/*! + * @brief Any/No-motion configuration + */ +struct bma456w_any_no_mot_config +{ + /*! Expressed in 50 Hz samples (20 ms) */ + uint16_t duration; + + /*! Threshold value for Any-motion/No-motion detection in + * 5.11g format + */ + uint16_t threshold; + + /*! To enable selected axes */ + uint8_t axes_en; +}; + +/*! + * @brief Step counter param settings + */ +struct bma456w_stepcounter_settings +{ + /*! Step Counter param 1 */ + uint16_t param1; + + /*! Step Counter param 2 */ + uint16_t param2; + + /*! Step Counter param 3 */ + uint16_t param3; + + /*! Step Counter param 4 */ + uint16_t param4; + + /*! Step Counter param 5 */ + uint16_t param5; + + /*! Step Counter param 6 */ + uint16_t param6; + + /*! Step Counter param 7 */ + uint16_t param7; + + /*! Step Counter param 8 */ + uint16_t param8; + + /*! Step Counter param 9 */ + uint16_t param9; + + /*! Step Counter param 10 */ + uint16_t param10; + + /*! Step Counter param 11 */ + uint16_t param11; + + /*! Step Counter param 12 */ + uint16_t param12; + + /*! Step Counter param 13 */ + uint16_t param13; + + /*! Step Counter param 14 */ + uint16_t param14; + + /*! Step Counter param 15 */ + uint16_t param15; + + /*! Step Counter param 16 */ + uint16_t param16; + + /*! Step Counter param 17 */ + uint16_t param17; + + /*! Step Counter param 18 */ + uint16_t param18; + + /*! Step Counter param 19 */ + uint16_t param19; + + /*! Step Counter param 20 */ + uint16_t param20; + + /*! Step Counter param 21 */ + uint16_t param21; + + /*! Step Counter param 22 */ + uint16_t param22; + + /*! Step Counter param 23 */ + uint16_t param23; + + /*! Step Counter param 24 */ + uint16_t param24; + + /*! Step Counter param 25 */ + uint16_t param25; +}; + +/*! + * @brief Wrist wear wakeup param settings + */ +struct bma456w_wrist_wear_wakeup_params +{ + /*! Cosine of minimum expected attitude change of the + * device within 1 second time window + * when moving within focus position. */ + uint16_t min_angle_focus; + + /*!Cosine of minimum expected attitude change of the + * device within 1 second time window + * when moving from non-focus to focus position.*/ + uint16_t min_angle_non_focus; + + /*! Sine of the maximum allowed tilt angle in + * landscape right direction of the device, + * when it is in focus position */ + uint8_t angle_landscape_right; + + /*! Sine of the maximum allowed tilt angle in + * landscape left direction of the device, + * when it is in focus position */ + uint8_t angle_landscape_left; + + /*! Sine of the maximum allowed forward + * tilt angle in portrait up direction + * of the device, when it is in focus position */ + uint8_t angle_portrait_up; + + /*! Sine of the maximum allowed backward tilt + * angle in portrait down direction of + * the device, when it is in focus position */ + uint8_t angle_portrait_down; + + /*! Minimum duration the arm should + * be moved while performing gesture.*/ + uint8_t min_dur_moved; + + /*! Minimum duration the arm should be + * static between two consecutive gestures */ + uint8_t min_dur_quite; +}; + +/***************************************************************************/ + +/*! BMA456W User Interface function prototypes + ****************************************************************************/ + +/** + * \ingroup bma456w + * \defgroup bma456wApiInit Initialization + * @brief Initialize the sensor and device structure + */ + +/*! + * \ingroup bma456wApiInit + * \page bma456w_api_bma456w_init bma456w_init + * \code + * int8_t bma456w_init(struct bma4_dev *dev); + * \endcode + * @details This API is the entry point. + * Call this API before using all other APIs. + * This API reads the chip-id of the sensor and sets the resolution. + * + * @param[in,out] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_init(struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiConfig ConfigFile + * @brief Write binary configuration in the sensor + */ + +/*! + * \ingroup bma456wApiConfig + * \page bma456w_api_bma456w_write_config_file bma456w_write_config_file + * \code + * int8_t bma456w_write_config_file(struct bma4_dev *dev); + * \endcode + * @details This API is used to upload the config file to enable the features of + * the sensor. + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_write_config_file(struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiConfigId ConfigId + * @brief Get Configuration ID of the sensor + */ + +/*! + * \ingroup bma456wApiConfig + * \page bma456w_api_bma456w_get_config_id bma456w_get_config_id + * \code + * int8_t bma456w_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the configuration id of the sensor. + * + * @param[out] config_id : Pointer variable used to store the configuration id. + * @param[in] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_get_config_id(uint16_t *config_id, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiMapInt Map / Unmap Interrupt + * @brief Map / Unmap user provided interrupt to interrupt pin1 or pin2 of the sensor + */ + +/*! + * \ingroup bma456wApiMapInt + * \page bma456w_api_bma456w_map_interrupt bma456w_map_interrupt + * \code + * int8_t bma456w_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API sets/unsets the user provided interrupt to either + * interrupt pin1 or pin2 in the sensor. + * + * @param[in] int_line: Variable to select either interrupt pin1 or pin2. + * + *@verbatim + * int_line | Macros + * ------------|------------------- + * 0x00 | BMA4_INTR1_MAP + * 0x01 | BMA4_INTR2_MAP + *@endverbatim + * + * @param[in] int_map : Variable to specify the interrupts. + * @param[in] enable : Variable to specify mapping or unmapping of interrupts. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros specify the interrupts. + * + * Feature Interrupts + * - BMA456W_STEP_CNTR_INT + * - BMA456W_ACTIVITY_INT + * - BMA456W_WRIST_WEAR_INT + * - BMA456W_ANY_MOT_INT + * - BMA456W_NO_MOT_INT + * - BMA456W_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_map_interrupt(uint8_t int_line, uint16_t int_map, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiIntS Interrupt Status + * @brief Read interrupt status of the sensor + */ + +/*! + * \ingroup bma456wApiIntS + * \page bma456w_api_bma456w_read_int_status bma456w_read_int_status + * \code + * int8_t bma456w_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + * \endcode + * @details This API reads the bma456w interrupt status from the sensor. + * + * @param[out] int_status : Variable to store the interrupt status read from + * the sensor. + * @param[in] dev : Structure instance of bma4_dev. + * + * @note Below macros are used to check the interrupt status. + * + * Feature Interrupts + * - BMA456W_STEP_CNTR_INT + * - BMA456W_ACTIVITY_INT + * - BMA456W_WRIST_WEAR_INT + * - BMA456W_ANY_MOT_INT + * - BMA456W_NO_MOT_INT + * - BMA456W_ERROR_INT + * + * Hardware Interrupts + * - BMA4_FIFO_FULL_INT + * - BMA4_FIFO_WM_INT + * - BMA4_DATA_RDY_INT + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_read_int_status(uint16_t *int_status, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiFeat Sensor Feature + * @brief Enables / Disables features of the sensor + */ + +/*! + * \ingroup bma456wApiFeat + * \page bma456w_api_bma456w_feature_enable bma456w_feature_enable + * \code + * int8_t bma456w_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API enables/disables the features of the sensor. + * + * @param[in] feature : Variable to specify the features which are to be set in + * bma456w sensor. + * @param[in] enable : Variable which specifies whether to enable or disable the + * features in the bma456w sensor. + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev. + * + * @note User should use the below macros to enable or disable the + * features of bma456w sensor + * + * - BMA456W_STEP_CNTR + * - BMA456W_ACTIVITY + * - BMA456W_WAKEUP + * - BMA456W_WRIST_WEAR + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_feature_enable(uint8_t feature, uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiRemap Remap Axes + * @brief Set / Get x, y and z axis re-mapping in the sensor + */ + +/*! + * \ingroup bma456wApiRemap + * \page bma456w_api_bma456w_set_remap_axes bma456w_set_remap_axes + * \code + * int8_t bma456w_set_remap_axes(const struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API performs x, y and z axis remapping in the sensor. + * + * @param[in] remap_axes : Structure instance of bma4_remap + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_set_remap_axes(const struct bma4_remap *remap_axes, struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiRemap + * \page bma456w_api_bma456w_get_remap_axes bma456w_get_remap_axes + * \code + * int8_t bma456w_get_remap_axes(struct bma4_remap *remap_data, struct bma4_dev *dev); + * \endcode + * @details This API reads the x, y and z axis remap data from the sensor. + * + * @param[out] remap_axes : Structure instance of bma4_remap + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_get_remap_axes(struct bma4_remap *remap_axes, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiStepC Step counter + * @brief Operations of step counter feature of the sensor + */ + +/*! + * \ingroup bma456wApiStepC + * \page bma456w_api_bma456w_step_counter_set_watermark bma456w_step_counter_set_watermark + * \code + * int8_t bma456w_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev); + * \endcode + * @details This API sets the watermark level for step counter interrupt in + * the sensor. + * + * @param[in] step_counter_wm : Variable which specifies watermark level + * count + * @note Valid values are from 1 to 1023 + * @note Value 0 is used for step detector interrupt + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_step_counter_set_watermark(uint16_t step_counter_wm, struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiStepC + * \page bma456w_api_bma456w_step_counter_get_watermark bma456w_step_counter_get_watermark + * \code + * int8_t bma456w_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev); + * \endcode + * @details This API gets the water mark level set for step counter interrupt + * in the sensor + * + * @param[out] step_counter_wm : Pointer variable which stores the water mark + * level read from the sensor. + * @note valid values are from 1 to 1023 + * @note value 0 is used for step detector interrupt + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_step_counter_get_watermark(uint16_t *step_counter_wm, struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiStepC + * \page bma456w_api_bma456w_reset_step_counter bma456w_reset_step_counter + * \code + * int8_t bma456w_reset_step_counter(struct bma4_dev *dev); + * \endcode + * @details This API resets the counted steps of step counter. + * + * @param[in] dev : structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_reset_step_counter(struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiStepC + * \page bma456w_api_bma456w_step_counter_output bma456w_step_counter_output + * \code + * int8_t bma456w_step_counter_output(uint32_t *step_count, struct bma4_dev *dev); + * \endcode + * @details This API gets the number of counted steps of the step counter + * feature from the sensor. + * + * @param[out] step_count : Pointer variable which stores counted steps + * read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_step_counter_output(uint32_t *step_count, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiAct Activity Feature + * @brief Get output for activity feature of the sensor + */ + +/*! + * \ingroup bma456wApiAct + * \page bma456w_api_bma456w_activity_output bma456w_activity_output + * \code + * int8_t bma456w_activity_output(uint8_t *activity, struct bma4_dev *dev); + * \endcode + * @details This API gets the output for activity feature. + * + * @param[out] activity : Pointer variable which stores activity output read + * from the sensor. + * + *@verbatim + * activity | State + * --------------|------------------------ + * 0x00 | BMA456W_USER_STATIONARY + * 0x01 | BMA456W_USER_WALKING + * 0x02 | BMA456W_USER_RUNNING + * 0x03 | BMA456W_STATE_INVALID + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_activity_output(uint8_t *activity, struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiStepC + * \page bma456w_api_bma456w_stepcounter_get_parameter bma456w_stepcounter_get_parameter + * \code + * int8_t bma456w_stepcounter_get_parameter(struct bma456w_stepcounter_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API gets the parameter1 to parameter7 settings of the step + * counter feature. + * + * @param[out] setting : Pointer to structure variable which stores the + * parameter1 to parameter7 read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_stepcounter_get_parameter(struct bma456w_stepcounter_settings *setting, struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiStepC + * \page bma456w_api_bma456w_stepcounter_set_parameter bma456w_stepcounter_set_parameter + * \code + * int8_t bma456w_stepcounter_set_parameter(const struct bma456w_stepcounter_settings *setting, struct bma4_dev *dev); + * \endcode + * @details This API sets the parameter1 to parameter7 settings of the step + * counter feature in the sensor. + * + * @param[in] setting : Pointer to structure variable which stores the + * parameter1 to parameter7 settings read from the sensor. + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_stepcounter_set_parameter(const struct bma456w_stepcounter_settings *setting, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiStepD Step detector + * @brief Operations of step detector feature of the sensor + */ + +/*! + * \ingroup bma456wApiStepD + * \page bma456w_api_bma421_step_detector_enable bma456w_step_detector_enable + * \code + * int8_t bma456w_step_detector_enable(uint8_t enable, struct bma4_dev *dev); + * \endcode + * @details This API enables or disables the step detector feature in the + * sensor. + * + * @param[in] enable : Variable used to enable or disable step detector + * + *@verbatim + * enable | Macros + * --------|------------------- + * 0x00 | BMA4_DISABLE + * 0x01 | BMA4_ENABLE + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_step_detector_enable(uint8_t enable, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiAnyMot Any motion Feature + * @brief Functions of Any motion feature of the sensor + */ + +/*! + * \ingroup bma456wApiAnyMot + * \page bma456w_api_bma456w_set_any_motion_config bma456w_set_any_motion_config + * \code + * int8_t bma456w_set_any_motion_config(const struct bma456w_anymotion_config *any_motion, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of any-motion feature in the sensor + * This API enables/disables the any-motion feature according to the axis set. + * + * @param[in] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456W_ANY_NO_MOT_ALL_AXIS_DIS + * 0x01 | BMA456W_ANY_NO_MOT_X_AXIS_EN + * 0x02 | BMA456W_ANY_NO_MOT_Y_AXIS_EN + * 0x04 | BMA456W_ANY_NO_MOT_Z_AXIS_EN + * 0x07 | BMA456W_ANY_NO_MOT_ALL_AXIS_EN + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_set_any_mot_config(const struct bma456w_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiAnyMot + * \page bma456w_api_bma456w_get_any_motion_config bma456w_get_any_motion_config + * \code + * int8_t bma456w_get_any_motion_config(struct bma456w_anymotion_config *any_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of any-motion feature from the + * sensor. + * + * @param[out] any_mot : Pointer to structure variable to configure + * any-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | Any-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456W_ANY_NO_MOT_ALL_AXIS_DIS + * 0x01 | BMA456W_ANY_NO_MOT_X_AXIS_EN + * 0x02 | BMA456W_ANY_NO_MOT_Y_AXIS_EN + * 0x04 | BMA456W_ANY_NO_MOT_Z_AXIS_EN + * 0x07 | BMA456W_ANY_NO_MOT_ALL_AXIS_EN + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_get_any_mot_config(struct bma456w_any_no_mot_config *any_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiNomot No-Motion Feature + * @brief Operations of no-motion feature of the sensor + */ + +/*! + * \ingroup bma456wApiNomot + * \page bma456w_api_bma456w_set_no_motion_config bma456w_set_no_motion_config + * \code + * int8_t bma456w_set_no_motion_config(const struct bma456w_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of no-motion feature in the sensor + * This API enables/disables the no-motion feature according to the axis set. + * + * @param[in] no_mot : Pointer to structure variable to configure + * no-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|---------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456W_ANY_NO_MOT_ALL_AXIS_DIS + * 0x01 | BMA456W_ANY_NO_MOT_X_AXIS_EN + * 0x02 | BMA456W_ANY_NO_MOT_Y_AXIS_EN + * 0x04 | BMA456W_ANY_NO_MOT_Z_AXIS_EN + * 0x07 | BMA456W_ANY_NO_MOT_ALL_AXIS_EN + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_set_no_mot_config(const struct bma456w_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiNomot + * \page bma456w_api_bma456w_get_no_motion_config bma456w_get_no_motion_config + * \code + * int8_t bma456w_get_no_motion_config(struct bma456w_nomotion_config *no_motion, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of no-motion feature from the + * sensor. + * + * @param[out] no_mot : Pointer to structure variable to configure + * no-motion. + * + * @verbatim + * ------------------------------------------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Defines the number of + * | consecutive data points for + * | which the threshold condition + * duration | must be respected, for interrupt + * | assertion. It is expressed in + * | 50 Hz samples (20 ms). + * | Range is 0 to 163sec. + * | Default value is 5 = 100ms. + * --------------------------------|---------------------------------------- + * | Slope threshold value for + * | No-motion detection + * threshold | in 5.11g format. + * | Range is 0 to 1g. + * | Default value is 0xAA = 83mg. + * --------------------------------|----------------------------------------- + * | Enables the feature on a per-axis + * axis_en | basis. + * --------------------------------------------------------------------------- + * @endverbatim + * + *@verbatim + * Value | axis_en + * ---------|------------------------- + * 0x00 | BMA456W_ANY_NO_MOT_ALL_AXIS_DIS + * 0x01 | BMA456W_ANY_NO_MOT_X_AXIS_EN + * 0x02 | BMA456W_ANY_NO_MOT_Y_AXIS_EN + * 0x04 | BMA456W_ANY_NO_MOT_Z_AXIS_EN + * 0x07 | BMA456W_ANY_NO_MOT_ALL_AXIS_EN + *@endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_get_no_mot_config(struct bma456w_any_no_mot_config *no_mot, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiVersionConfig Version Config + * @brief Get version configuration of the sensor + */ + +/*! + * \ingroup bma456wApiVersionConfig + * \page bma456w_api_bma456w_get_version_config bma456w_get_version_config + * \code + * int8_t bma456w_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + * \endcode + * @details This API is used to get the config file major and minor information. + * + * @param[out] config_major : Pointer to data buffer to store the config major. + * @param[out] config_minor : Pointer to data buffer to store the config minor. + * @param[in, out] dev : Structure instance of bma4_dev. + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_get_version_config(uint16_t *config_major, uint16_t *config_minor, struct bma4_dev *dev); + +/** + * \ingroup bma456w + * \defgroup bma456wApiWristwearwakeup Wrist wear wakeup + * @brief Wrist wear wakeup configurations of the sensor + */ + +/*! + * \ingroup bma456wApiWristwearwakeup + * \page bma456w_api_bma456w_set_wrist_wear_wakeup_param_config bma456w_set_wrist_wear_wakeup_param_config + * \code + * int8_t bma456w_set_wrist_wear_wakeup_param_config(const struct bma456w_wrist_wear_wakeup_params *setting, struct bma4_dev *dev); + * \endcode + * @details This API sets the configuration of wrist wear wakeup feature from the + * sensor. + * + * @param[in] setting : Pointer to structure variable to configure + * wrist wear wakeup. + * + * @verbatim + * --------------------------------|----------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Cosine of minimum expected attitude change of the + * | device within 1 second time window + * Minimum angle focus | when moving within focus position. + * | The parameter is scaled by 2048 + * | i.e. 2048 * cos(angle). + * | Range is 1024 to 1774. Default is 1774. + * | + * --------------------------------|---------------------------------------- + * | Cosine of minimum expected attitude change of the + * | device within 1 second time window + * Minimum angle non focus | when moving from non-focus to focus position + * | The parameter is scaled by 2048 + * | i.e. 2048 * cos(angle). Range is 1448 to 1856. + * | Default value is 1522. + * --------------------------------|----------------------------------------- + * | Sine of the maximum allowed tilt angle + * | in landscape right direction of the device, + * Angle landscape right | when it is in focus position + * | (i.e. user is able to comfortably + * | look at the dial of wear device). + * | The configuration parameter is scaled + * | by 256 i.e. 256 * sin(angle). Range is + * | 88 to 128. Default value is 128. + * --------------------------------|------------------------------------------- + * | Sine of the maximum allowed tilt angle + * | in landscape left direction of the device, + * Angle landscape left | when it is in focus position + * | (i.e. user is able to comfortably look at + * | the dial of wear device). + * | The configuration parameter is scaled by 256 + * | i.e. 256 * sin(angle). Range is 88 to 128. + * | Default value is 128. + * --------------------------------|----------------------------------------- + * | Sine of the maximum allowed backward tilt + * | angle in portrait down direction of the device, + * Angle portrait down | when it is in focus position (i.e. user is + * | able to comfortably look at the dial of wear device). + * | The configuration parameter is scaled by 256 + * | i.e. 256 * sin(angle). + * | Range is 0 to179. Default value is 22. + * | basis. + * --------------------------------|------------------------------------------- + * | Sine of the maximum allowed forward tilt angle + * | in portrait up direction of the device, + * Angle portrait up | when it is in focus position + * | (i.e. user is able to comfortably look at + * | the dial of wear device). + * | The configuration parameter is scaled by 256 i.e. + * | 256 * sin(angle). + * | Range is 222 to 247. Default value is 241. + * --------------------------------|----------------------------------------- + * | Minimum duration the arm should be moved + * Minimum duration moved | while performing gesture. + * | Range: 1 to 10, resolution = 20 ms + * --------------------------------|------------------------------------------ + * | Minimum duration the arm should be + * Minimum duration quite | static between two consecutive gestures. + * | Range: 1 to 10, resolution = 20 ms + * --------------------------------|----------------------------------------- + * @endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_set_wrist_wear_wakeup_param_config(const struct bma456w_wrist_wear_wakeup_params *setting, + struct bma4_dev *dev); + +/*! + * \ingroup bma456wApiWristwearwakeup + * \page bma456w_api_bma456w_get_wrist_wear_wakeup_param_config bma456w_set_wrist_wear_wakeup_param_config + * \code + * int8_t bma456w_get_wrist_wear_wakeup_param_config(struct bma456w_wrist_wear_wakeup_params *setting, struct bma4_dev *dev); + * \endcode + * @details This API gets the configuration of wrist wear wakeup feature from the + * sensor. + * + * @param[in] setting : Pointer to structure variable to store + * wrist wear wakeup. + * + * @verbatim + * --------------------------------|----------------------------------------- + * Structure parameters | Description + * --------------------------------|---------------------------------------- + * | Cosine of minimum expected attitude change of the + * | device within 1 second time window + * Minimum angle focus | when moving within focus position. + * | The parameter is scaled by 2048 + * | i.e. 2048 * cos(angle). + * | Range is 1024 to 1774. Default is 1774. + * | + * --------------------------------|---------------------------------------- + * | Cosine of minimum expected attitude change of the + * | device within 1 second time window + * Minimum angle non focus | when moving from non-focus to focus position + * | The parameter is scaled by 2048 + * | i.e. 2048 * cos(angle). Range is 1448 to 1856. + * | Default value is 1522. + * --------------------------------|----------------------------------------- + * | Sine of the maximum allowed tilt angle + * | in landscape right direction of the device, + * Angle landscape right | when it is in focus position + * | (i.e. user is able to comfortably + * | look at the dial of wear device). + * | The configuration parameter is scaled + * | by 256 i.e. 256 * sin(angle). Range is + * | 88 to 128. Default value is 128. + * --------------------------------|------------------------------------------- + * | Sine of the maximum allowed tilt angle + * | in landscape left direction of the device, + * Angle landscape left | when it is in focus position + * | (i.e. user is able to comfortably look at + * | the dial of wear device). + * | The configuration parameter is scaled by 256 + * | i.e. 256 * sin(angle). Range is 88 to 128. + * | Default value is 128. + * --------------------------------|----------------------------------------- + * | Sine of the maximum allowed backward tilt + * | angle in portrait down direction of the device, + * Angle portrait down | when it is in focus position (i.e. user is + * | able to comfortably look at the dial of wear device). + * | The configuration parameter is scaled by 256 + * | i.e. 256 * sin(angle). + * | Range is 0 to179. Default value is 22. + * | basis. + * --------------------------------|------------------------------------------- + * | Sine of the maximum allowed forward tilt angle + * | in portrait up direction of the device, + * Angle portrait up | when it is in focus position + * | (i.e. user is able to comfortably look at + * | the dial of wear device). + * | The configuration parameter is scaled by 256 i.e. + * | 256 * sin(angle). + * | Range is 222 to 247. Default value is 241. + * --------------------------------|----------------------------------------- + * | Minimum duration the arm should be moved + * Minimum duration moved | while performing gesture. + * | Range: 1 to 10, resolution = 20 ms + * --------------------------------|------------------------------------------ + * | Minimum duration the arm should be + * Minimum duration quite | static between two consecutive gestures. + * | Range: 1 to 10, resolution = 20 ms + * --------------------------------|----------------------------------------- + * @endverbatim + * + * @param[in] dev : Structure instance of bma4_dev + * + * @return Result of API execution status + * @retval 0 -> Success + * @retval < 0 -> Fail + */ +int8_t bma456w_get_wrist_wear_wakeup_param_config(struct bma456w_wrist_wear_wakeup_params *setting, + struct bma4_dev *dev); + +#ifdef __cplusplus +} +#endif /*End of CPP guard */ + +#endif /*End of header guard macro */ diff --git a/lib/SensorLib/src/bosch/bma4xx/bma4_defs.h b/lib/SensorLib/src/bosch/bma4xx/bma4_defs.h new file mode 100644 index 0000000..2a77756 --- /dev/null +++ b/lib/SensorLib/src/bosch/bma4xx/bma4_defs.h @@ -0,0 +1,1299 @@ +/** +* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. +* +* BSD-3-Clause +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its +* contributors may be used to endorse or promote products derived from +* this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, +* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING +* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* @file bma4_defs.h +* @date 2023-07-05 +* @version V2.29.0 +* +*/ + +/*! \file bma4_defs.h + * \brief Sensor Driver for BMA4 family of sensors + */ +#ifndef BMA4_DEFS_H__ +#define BMA4_DEFS_H__ + +/*********************************************************************/ +/**\ header files */ +#ifdef __KERNEL__ +#include +#else +#include +#include +#include +#endif + +/*********************************************************************/ +/* macro definitions */ + +#ifdef __KERNEL__ + +#if (!defined(UINT8_C) && !defined(INT8_C)) +#define INT8_C(x) S8_C(x) +#define UINT8_C(x) U8_C(x) +#endif + +#if (!defined(UINT16_C) && !defined(INT16_C)) +#define INT16_C(x) S16_C(x) +#define UINT16_C(x) U16_C(x) +#endif + +#if (!defined(INT32_C) && !defined(UINT32_C)) +#define INT32_C(x) S32_C(x) +#define UINT32_C(x) U32_C(x) +#endif + +#if (!defined(INT64_C) && !defined(UINT64_C)) +#define INT64_C(x) S64_C(x) +#define UINT64_C(x) U64_C(x) +#endif + +#else /* __KERNEL__ */ + +#if (!defined(UINT8_C) && !defined(INT8_C)) +#define INT8_C(x) (x) +#define UINT8_C(x) (x##U) +#endif + +#if (!defined(UINT16_C) && !defined(INT16_C)) +#define INT16_C(x) (x) +#define UINT16_C(x) (x##U) +#endif + +#if (!defined(INT32_C) && !defined(UINT32_C)) +#define INT32_C(x) (x) +#define UINT32_C(x) (x##U) +#endif + +#if (!defined(INT64_C) && !defined(UINT64_C)) +#define INT64_C(x) (x##LL) +#define UINT64_C(x) (x##ULL) +#endif + +#endif /* __KERNEL__ */ + +/**\name CHIP ID ADDRESS*/ +#define BMA4_CHIP_ID_ADDR UINT8_C(0x00) + +/**\name ERROR STATUS*/ +#define BMA4_ERROR_ADDR UINT8_C(0x02) + +/**\name STATUS REGISTER FOR SENSOR STATUS FLAG*/ +#define BMA4_STATUS_ADDR UINT8_C(0x03) + +/**\name AUX/ACCEL DATA BASE ADDRESS REGISTERS*/ +#define BMA4_DATA_0_ADDR UINT8_C(0x0A) +#define BMA4_DATA_8_ADDR UINT8_C(0x12) + +/**\name SENSOR TIME REGISTERS*/ +#define BMA4_SENSORTIME_0_ADDR UINT8_C(0x18) + +/**\name INTERRUPT/FEATURE STATUS REGISTERS*/ +#define BMA4_INT_STAT_0_ADDR UINT8_C(0x1C) + +/**\name INTERRUPT/FEATURE STATUS REGISTERS*/ +#define BMA4_INT_STAT_1_ADDR UINT8_C(0x1D) + +/**\name TEMPERATURE REGISTERS*/ +#define BMA4_TEMPERATURE_ADDR UINT8_C(0x22) + +/**\name FIFO REGISTERS*/ +#define BMA4_FIFO_LENGTH_0_ADDR UINT8_C(0x24) +#define BMA4_FIFO_DATA_ADDR UINT8_C(0x26) + +/**\name ACCEL CONFIG REGISTERS*/ +#define BMA4_ACCEL_CONFIG_ADDR UINT8_C(0x40) + +/**\name ACCEL RANGE ADDRESS*/ +#define BMA4_ACCEL_RANGE_ADDR UINT8_C(0x41) + +/**\name AUX CONFIG REGISTERS*/ +#define BMA4_AUX_CONFIG_ADDR UINT8_C(0x44) + +/**\name FIFO DOWN SAMPLING REGISTER ADDRESS FOR ACCEL*/ +#define BMA4_FIFO_DOWN_ADDR UINT8_C(0x45) + +/**\name FIFO WATERMARK REGISTER ADDRESS*/ +#define BMA4_FIFO_WTM_0_ADDR UINT8_C(0x46) + +/**\name FIFO CONFIG REGISTERS*/ +#define BMA4_FIFO_CONFIG_0_ADDR UINT8_C(0x48) +#define BMA4_FIFO_CONFIG_1_ADDR UINT8_C(0x49) + +/**\name MAG INTERFACE REGISTERS*/ +#define BMA4_AUX_DEV_ID_ADDR UINT8_C(0x4B) +#define BMA4_AUX_IF_CONF_ADDR UINT8_C(0x4C) +#define BMA4_AUX_RD_ADDR UINT8_C(0x4D) +#define BMA4_AUX_WR_ADDR UINT8_C(0x4E) +#define BMA4_AUX_WR_DATA_ADDR UINT8_C(0x4F) + +/**\name INTERRUPT ENABLE REGISTERS*/ +#define BMA4_INT1_IO_CTRL_ADDR UINT8_C(0x53) +#define BMA4_INT2_IO_CTRL_ADDR UINT8_C(0x54) + +/**\name LATCH DURATION REGISTERS*/ +#define BMA4_INTR_LATCH_ADDR UINT8_C(0x55) + +/**\name MAP INTERRUPT 1 and 2 REGISTERS*/ +#define BMA4_INT_MAP_1_ADDR UINT8_C(0x56) +#define BMA4_INT_MAP_2_ADDR UINT8_C(0x57) +#define BMA4_INT_MAP_DATA_ADDR UINT8_C(0x58) +#define BMA4_INIT_CTRL_ADDR UINT8_C(0x59) + +/**\name FEATURE CONFIG RELATED */ +#define BMA4_RESERVED_REG_5B_ADDR UINT8_C(0x5B) +#define BMA4_RESERVED_REG_5C_ADDR UINT8_C(0x5C) +#define BMA4_FEATURE_CONFIG_ADDR UINT8_C(0x5E) +#define BMA4_INTERNAL_ERROR UINT8_C(0x5F) + +/**\name SERIAL INTERFACE SETTINGS REGISTER*/ +#define BMA4_IF_CONFIG_ADDR UINT8_C(0x6B) + +/**\name SELF_TEST REGISTER*/ +#define BMA4_ACC_SELF_TEST_ADDR UINT8_C(0x6D) + +/**\name Macro to define accelerometer configuration value for FOC */ +#define BMA4_FOC_ACC_CONF_VAL UINT8_C(0xB7) + +/**\name SPI,I2C SELECTION REGISTER*/ +#define BMA4_NV_CONFIG_ADDR UINT8_C(0x70) + +/**\name ACCEL OFFSET REGISTERS*/ +#define BMA4_OFFSET_0_ADDR UINT8_C(0x71) +#define BMA4_OFFSET_1_ADDR UINT8_C(0x72) +#define BMA4_OFFSET_2_ADDR UINT8_C(0x73) + +/**\name POWER_CTRL REGISTER*/ +#define BMA4_POWER_CONF_ADDR UINT8_C(0x7C) +#define BMA4_POWER_CTRL_ADDR UINT8_C(0x7D) + +/**\name COMMAND REGISTER*/ +#define BMA4_CMD_ADDR UINT8_C(0x7E) + +/**\name GPIO REGISTERS*/ +#define BMA4_STEP_CNT_OUT_0_ADDR UINT8_C(0x1E) +#define BMA4_HIGH_G_OUT_ADDR UINT8_C(0x1F) +#define BMA4_ACTIVITY_OUT_ADDR UINT8_C(0x27) +#define BMA4_ORIENTATION_OUT_ADDR UINT8_C(0x28) +#define BMA4_MEMS_ID_ADDR UINT8_C(0x29) +#define BMA4_INTERNAL_STAT UINT8_C(0x2A) + +/* Maximum length to read */ +#define BMA4_MAX_LEN UINT8_C(128) + +/*! Macro to read sensortime byte in FIFO */ +#define BMA4_SENSORTIME_OVERHEAD_BYTE UINT8_C(150) + +/* Sensortime resolution in seconds */ +#define BMA4_SENSORTIME_RESOLUTION 0.0000390625f + +/*! + * @brief Block size for config write + */ +#define BMA4_BLOCK_SIZE UINT8_C(32) + +/**\name I2C slave address */ +#define BMA4_I2C_ADDR_PRIMARY UINT8_C(0x18) +#define BMA4_I2C_ADDR_SECONDARY UINT8_C(0x19) +#define BMA4_I2C_BMM150_ADDR UINT8_C(0x10) + +/**\name Interface selection macro */ +#define BMA4_SPI_WR_MASK UINT8_C(0x7F) +#define BMA4_SPI_RD_MASK UINT8_C(0x80) + +/**\name Chip ID macros */ +#define BMA4_CHIP_ID_MIN UINT8_C(0x10) +#define BMA4_CHIP_ID_MAX UINT8_C(0x15) + +/**\name Auxiliary sensor selection macro */ +#define BMM150_SENSOR UINT8_C(1) +#define AKM9916_SENSOR UINT8_C(2) +#define BMA4_ASIC_INITIALIZED UINT8_C(0x01) + +/**\name Auxiliary sensor chip id macros */ +#define BMM150_CHIP_ID UINT8_C(0x32) + +/**\name Auxiliary sensor other macros */ +#define BMM150_POWER_CONTROL_REG UINT8_C(0x4B) +#define BMM150_POWER_MODE_REG UINT8_C(0x4C) + +/**\name CONSTANTS */ +#define BMA4_FIFO_CONFIG_LENGTH UINT8_C(2) +#define BMA4_ACCEL_CONFIG_LENGTH UINT8_C(2) +#define BMA4_FIFO_WM_LENGTH UINT8_C(2) +#define BMA4_NON_LATCH_MODE UINT8_C(0) +#define BMA4_LATCH_MODE UINT8_C(1) +#define BMA4_OPEN_DRAIN UINT8_C(1) +#define BMA4_PUSH_PULL UINT8_C(0) +#define BMA4_ACTIVE_HIGH UINT8_C(1) +#define BMA4_ACTIVE_LOW UINT8_C(0) +#define BMA4_EDGE_TRIGGER UINT8_C(1) +#define BMA4_LEVEL_TRIGGER UINT8_C(0) +#define BMA4_OUTPUT_ENABLE UINT8_C(1) +#define BMA4_OUTPUT_DISABLE UINT8_C(0) +#define BMA4_INPUT_ENABLE UINT8_C(1) +#define BMA4_INPUT_DISABLE UINT8_C(0) + +/**\name ACCEL RANGE CHECK*/ +#define BMA4_ACCEL_RANGE_2G UINT8_C(0) +#define BMA4_ACCEL_RANGE_4G UINT8_C(1) +#define BMA4_ACCEL_RANGE_8G UINT8_C(2) +#define BMA4_ACCEL_RANGE_16G UINT8_C(3) + +/**\name CONDITION CHECK FOR READING AND WRTING DATA*/ +#define BMA4_MAX_VALUE_FIFO_FILTER UINT8_C(1) +#define BMA4_MAX_VALUE_SPI3 UINT8_C(1) +#define BMA4_MAX_VALUE_SELFTEST_AMP UINT8_C(1) +#define BMA4_MAX_IF_MODE UINT8_C(3) +#define BMA4_MAX_VALUE_SELFTEST_SIGN UINT8_C(1) + +/**\name BUS READ AND WRITE LENGTH FOR MAG & ACCEL*/ +#define BMA4_MAG_TRIM_DATA_SIZE UINT8_C(16) +#define BMA4_MAG_XYZ_DATA_LENGTH UINT8_C(6) +#define BMA4_MAG_XYZR_DATA_LENGTH UINT8_C(8) +#define BMA4_ACCEL_DATA_LENGTH UINT8_C(6) +#define BMA4_FIFO_DATA_LENGTH UINT8_C(2) +#define BMA4_TEMP_DATA_SIZE UINT8_C(1) + +/**\name TEMPERATURE CONSTANT */ +#define BMA4_OFFSET_TEMP UINT8_C(23) +#define BMA4_DEG UINT8_C(1) +#define BMA4_FAHREN UINT8_C(2) +#define BMA4_KELVIN UINT8_C(3) + +/**\name DELAY DEFINITION IN MSEC*/ +#define BMA4_AUX_IF_DELAY UINT8_C(5) +#define BMA4_BMM150_WAKEUP_DELAY1 UINT8_C(2) +#define BMA4_BMM150_WAKEUP_DELAY2 UINT8_C(3) +#define BMA4_BMM150_WAKEUP_DELAY3 UINT8_C(1) +#define BMA4_GEN_READ_WRITE_DELAY UINT16_C(1000) +#define BMA4_AUX_COM_DELAY UINT16_C(10000) + +/**\name ARRAY PARAMETER DEFINITIONS*/ +#define BMA4_SENSOR_TIME_MSB_BYTE UINT8_C(2) +#define BMA4_SENSOR_TIME_XLSB_BYTE UINT8_C(1) +#define BMA4_SENSOR_TIME_LSB_BYTE UINT8_C(0) +#define BMA4_MAG_X_LSB_BYTE UINT8_C(0) +#define BMA4_MAG_X_MSB_BYTE UINT8_C(1) +#define BMA4_MAG_Y_LSB_BYTE UINT8_C(2) +#define BMA4_MAG_Y_MSB_BYTE UINT8_C(3) +#define BMA4_MAG_Z_LSB_BYTE UINT8_C(4) +#define BMA4_MAG_Z_MSB_BYTE UINT8_C(5) +#define BMA4_MAG_R_LSB_BYTE UINT8_C(6) +#define BMA4_MAG_R_MSB_BYTE UINT8_C(7) +#define BMA4_TEMP_BYTE UINT8_C(0) +#define BMA4_FIFO_LENGTH_MSB_BYTE UINT8_C(1) + +/*! @name To define success code */ +#define BMA4_OK INT8_C(0) + +/*! @name To define error codes */ +#define BMA4_E_NULL_PTR INT8_C(-1) +#define BMA4_E_COM_FAIL INT8_C(-2) +#define BMA4_E_DEV_NOT_FOUND INT8_C(-3) +#define BMA4_E_INVALID_SENSOR INT8_C(-4) +#define BMA4_E_CONFIG_STREAM_ERROR INT8_C(-5) +#define BMA4_E_SELF_TEST_FAIL INT8_C(-6) +#define BMA4_E_INVALID_STATUS INT8_C(-7) +#define BMA4_E_OUT_OF_RANGE INT8_C(-8) +#define BMA4_E_INT_LINE_INVALID INT8_C(-9) +#define BMA4_E_RD_WR_LENGTH_INVALID INT8_C(-10) +#define BMA4_E_AUX_CONFIG_FAIL INT8_C(-11) +#define BMA4_E_SC_FIFO_HEADER_ERR INT8_C(-12) +#define BMA4_E_SC_FIFO_CONFIG_ERR INT8_C(-13) +#define BMA4_E_REMAP_ERROR INT8_C(-14) +#define BMA4_E_AVG_MODE_INVALID_CONF INT8_C(-15) +#define BMA4_E_INVALID_MEMS_ID INT8_C(-16) + +/**\name UTILITY MACROS */ +#define BMA4_SET_LOW_BYTE UINT16_C(0x00FF) +#define BMA4_SET_HIGH_BYTE UINT16_C(0xFF00) +#define BMA4_SET_LOW_NIBBLE UINT8_C(0x0F) + +/* Macros for variant information */ +#define BMA4_MEMS_SPN_281 UINT8_C(0x00) +#define BMA4_MEMS_SPN_013 UINT8_C(0x01) + +/* Macros used for Self test (BMA42X_VARIANT) */ +/* Self-test: Resulting minimum difference signal in mg for BMA42X */ +#define BMA42X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(400) +#define BMA42X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(800) +#define BMA42X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(400) + +/* Macros used for Self test (BMA42X_B_VARIANT) */ +/* Self-test: Resulting minimum difference signal in mg for BMA42X_B */ +#define BMA42X_B_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA42X_B_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA42X_B_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800) + +/* Macros used for Self test (BMA45X_VARIANT) */ +/* Self-test: Resulting minimum difference signal in mg for BMA45X */ +#define BMA45X_ST_ACC_X_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA45X_ST_ACC_Y_AXIS_SIGNAL_DIFF UINT16_C(1800) +#define BMA45X_ST_ACC_Z_AXIS_SIGNAL_DIFF UINT16_C(1800) + +/**\name BOOLEAN TYPES*/ +#ifndef TRUE +#define TRUE UINT8_C(0x01) +#endif + +#ifndef FALSE +#define FALSE UINT8_C(0x00) +#endif + +#ifndef NULL +#define NULL UINT8_C(0x00) +#endif + +/**\name ERROR STATUS POSITION AND MASK*/ +#define BMA4_FATAL_ERR_MSK UINT8_C(0x01) +#define BMA4_CMD_ERR_POS UINT8_C(1) +#define BMA4_CMD_ERR_MSK UINT8_C(0x02) +#define BMA4_ERR_CODE_POS UINT8_C(2) +#define BMA4_ERR_CODE_MSK UINT8_C(0x1C) +#define BMA4_FIFO_ERR_POS UINT8_C(6) +#define BMA4_FIFO_ERR_MSK UINT8_C(0x40) +#define BMA4_AUX_ERR_POS UINT8_C(7) +#define BMA4_AUX_ERR_MSK UINT8_C(0x80) + +/**\name Mask definition for config version */ +#define BMA4_CONFIG_MAJOR_MSK UINT16_C(0x3C0) +#define BMA4_CONFIG_MINOR_MSK UINT8_C(0x3F) + +/**\name Bit position for major version from config */ +#define BMA4_CONFIG_MAJOR_POS UINT8_C(0x06) + +/**\name NV_CONFIG POSITION AND MASK*/ +/* NV_CONF Description - Reg Addr --> (0x70), Bit --> 3 */ +#define BMA4_NV_ACCEL_OFFSET_POS UINT8_C(3) +#define BMA4_NV_ACCEL_OFFSET_MSK UINT8_C(0x08) + +/**\name MAG DATA XYZ POSITION AND MASK*/ +#define BMA4_DATA_MAG_X_LSB_POS UINT8_C(3) +#define BMA4_DATA_MAG_X_LSB_MSK UINT8_C(0xF8) +#define BMA4_DATA_MAG_Y_LSB_POS UINT8_C(3) +#define BMA4_DATA_MAG_Y_LSB_MSK UINT8_C(0xF8) +#define BMA4_DATA_MAG_Z_LSB_POS UINT8_C(1) +#define BMA4_DATA_MAG_Z_LSB_MSK UINT8_C(0xFE) +#define BMA4_DATA_MAG_R_LSB_POS UINT8_C(2) +#define BMA4_DATA_MAG_R_LSB_MSK UINT8_C(0xFC) + +/**\name ACCEL DATA READY POSITION AND MASK*/ +#define BMA4_STAT_DATA_RDY_ACCEL_POS UINT8_C(7) +#define BMA4_STAT_DATA_RDY_ACCEL_MSK UINT8_C(0x80) + +/**\name MAG DATA READY POSITION AND MASK*/ +#define BMA4_STAT_DATA_RDY_MAG_POS UINT8_C(5) +#define BMA4_STAT_DATA_RDY_MAG_MSK UINT8_C(0x20) + +/**\name ADVANCE POWER SAVE POSITION AND MASK*/ +#define BMA4_ADVANCE_POWER_SAVE_MSK UINT8_C(0x01) + +/**\name ACCELEROMETER ENABLE POSITION AND MASK*/ +#define BMA4_ACCEL_ENABLE_POS UINT8_C(2) +#define BMA4_ACCEL_ENABLE_MSK UINT8_C(0x04) + +/**\name MAGNETOMETER ENABLE POSITION AND MASK*/ +#define BMA4_MAG_ENABLE_MSK UINT8_C(0x01) + +/**\name ACCEL CONFIGURATION POSITION AND MASK*/ +#define BMA4_ACCEL_ODR_MSK UINT8_C(0x0F) +#define BMA4_ACCEL_BW_POS UINT8_C(4) +#define BMA4_ACCEL_BW_MSK UINT8_C(0x70) +#define BMA4_ACCEL_RANGE_MSK UINT8_C(0x03) +#define BMA4_ACCEL_PERFMODE_POS UINT8_C(7) +#define BMA4_ACCEL_PERFMODE_MSK UINT8_C(0x80) + +/**\name MAG CONFIGURATION POSITION AND MASK*/ +#define BMA4_MAG_CONFIG_OFFSET_POS UINT8_C(4) +#define BMA4_MAG_CONFIG_OFFSET_LEN UINT8_C(4) +#define BMA4_MAG_CONFIG_OFFSET_MSK UINT8_C(0xF0) +#define BMA4_MAG_CONFIG_OFFSET_REG (BMA4_AUX_CONFIG_ADDR) + +/**\name FIFO SELF WAKE UP POSITION AND MASK*/ +#define BMA4_FIFO_SELF_WAKE_UP_POS UINT8_C(1) +#define BMA4_FIFO_SELF_WAKE_UP_MSK UINT8_C(0x02) + +/**\name FIFO BYTE COUNTER POSITION AND MASK*/ +#define BMA4_FIFO_BYTE_COUNTER_MSB_MSK UINT8_C(0x3F) + +/**\name FIFO DATA POSITION AND MASK*/ +#define BMA4_FIFO_DATA_POS UINT8_C(0) +#define BMA4_FIFO_DATA_MSK UINT8_C(0xFF) + +/**\name FIFO FILTER FOR ACCEL POSITION AND MASK*/ +#define BMA4_FIFO_DOWN_ACCEL_POS UINT8_C(4) +#define BMA4_FIFO_DOWN_ACCEL_MSK UINT8_C(0x70) +#define BMA4_FIFO_FILTER_ACCEL_POS UINT8_C(7) +#define BMA4_FIFO_FILTER_ACCEL_MSK UINT8_C(0x80) + +/**\name FIFO HEADER DATA DEFINITIONS */ +#define BMA4_FIFO_HEAD_A UINT8_C(0x84) +#define BMA4_FIFO_HEAD_M UINT8_C(0x90) +#define BMA4_FIFO_HEAD_M_A UINT8_C(0x94) +#define BMA4_FIFO_HEAD_SENSOR_TIME UINT8_C(0x44) +#define BMA4_FIFO_HEAD_INPUT_CONFIG UINT8_C(0x48) +#define BMA4_FIFO_HEAD_SKIP_FRAME UINT8_C(0x40) +#define BMA4_FIFO_HEAD_OVER_READ_MSB UINT8_C(0x80) +#define BMA4_FIFO_HEAD_SAMPLE_DROP UINT8_C(0x50) + +/**\name FIFO HEADERLESS MODE DATA ENABLE DEFINITIONS */ +#define BMA4_FIFO_M_A_ENABLE UINT8_C(0x60) +#define BMA4_FIFO_A_ENABLE UINT8_C(0x40) +#define BMA4_FIFO_M_ENABLE UINT8_C(0x20) + +/**\name FIFO CONFIGURATION SELECTION */ +#define BMA4_FIFO_STOP_ON_FULL UINT8_C(0x01) +#define BMA4_FIFO_TIME UINT8_C(0x02) +#define BMA4_FIFO_TAG_INTR2 UINT8_C(0x04) +#define BMA4_FIFO_TAG_INTR1 UINT8_C(0x08) +#define BMA4_FIFO_HEADER UINT8_C(0x10) +#define BMA4_FIFO_MAG UINT8_C(0x20) +#define BMA4_FIFO_ACCEL UINT8_C(0x40) +#define BMA4_FIFO_ALL UINT8_C(0x7F) +#define BMA4_FIFO_CONFIG_0_MASK UINT8_C(0x03) +#define BMA4_FIFO_CONFIG_1_MASK UINT8_C(0xFC) + +/**\name FIFO FRAME COUNT DEFINITION */ +#define BMA4_FIFO_LSB_CONFIG_CHECK UINT8_C(0x00) +#define BMA4_FIFO_MSB_CONFIG_CHECK UINT8_C(0x80) +#define BMA4_FIFO_TAG_INTR_MASK UINT8_C(0xFC) + +/**\name FIFO DROPPED FRAME DEFINITION */ +#define BMA4_AUX_FIFO_DROP UINT8_C(0x04) +#define BMA4_ACCEL_AUX_FIFO_DROP UINT8_C(0x05) +#define BMA4_ACCEL_FIFO_DROP UINT8_C(0x01) + +/**\name FIFO MAG DEFINITION*/ +#define BMA4_MA_FIFO_A_X_LSB UINT8_C(8) + +/**\name FIFO sensor time length definitions*/ +#define BMA4_SENSOR_TIME_LENGTH UINT8_C(3) + +/**\name FIFO LENGTH DEFINITION*/ +#define BMA4_FIFO_A_LENGTH UINT8_C(6) +#define BMA4_FIFO_M_LENGTH UINT8_C(8) +#define BMA4_FIFO_MA_LENGTH UINT8_C(14) + +/**\name MAG I2C ADDRESS SELECTION POSITION AND MASK*/ +#define BMA4_I2C_DEVICE_ADDR_POS UINT8_C(1) +#define BMA4_I2C_DEVICE_ADDR_MSK UINT8_C(0xFE) + +/**\name MAG CONFIGURATION FOR SECONDARY INTERFACE POSITION AND MASK*/ +#define BMA4_MAG_BURST_MSK UINT8_C(0x03) +#define BMA4_MAG_MANUAL_ENABLE_POS UINT8_C(7) +#define BMA4_MAG_MANUAL_ENABLE_MSK UINT8_C(0x80) +#define BMA4_READ_ADDR_MSK UINT8_C(0xFF) +#define BMA4_WRITE_ADDR_MSK UINT8_C(0xFF) +#define BMA4_WRITE_DATA_MSK UINT8_C(0xFF) + +/**\name OUTPUT TYPE ENABLE POSITION AND MASK*/ +#define BMA4_INT_EDGE_CTRL_MASK UINT8_C(0x01) +#define BMA4_INT_EDGE_CTRL_POS UINT8_C(0x00) +#define BMA4_INT_LEVEL_MASK UINT8_C(0x02) +#define BMA4_INT_LEVEL_POS UINT8_C(0x01) +#define BMA4_INT_OPEN_DRAIN_MASK UINT8_C(0x04) +#define BMA4_INT_OPEN_DRAIN_POS UINT8_C(0x02) +#define BMA4_INT_OUTPUT_EN_MASK UINT8_C(0x08) +#define BMA4_INT_OUTPUT_EN_POS UINT8_C(0x03) +#define BMA4_INT_INPUT_EN_MASK UINT8_C(0x10) +#define BMA4_INT_INPUT_EN_POS UINT8_C(0x04) + +/**\name IF CONFIG POSITION AND MASK*/ +#define BMA4_CONFIG_SPI3_MSK UINT8_C(0x01) +#define BMA4_IF_CONFIG_IF_MODE_POS UINT8_C(4) +#define BMA4_IF_CONFIG_IF_MODE_MSK UINT8_C(0x10) + +/**\name ACCEL SELF TEST POSITION AND MASK*/ +#define BMA4_ACCEL_SELFTEST_ENABLE_MSK UINT8_C(0x01) +#define BMA4_ACCEL_SELFTEST_SIGN_POS UINT8_C(2) +#define BMA4_ACCEL_SELFTEST_SIGN_MSK UINT8_C(0x04) +#define BMA4_SELFTEST_AMP_POS UINT8_C(3) +#define BMA4_SELFTEST_AMP_MSK UINT8_C(0x08) + +/**\name ACCEL ODR */ +#define BMA4_OUTPUT_DATA_RATE_0_78HZ UINT8_C(0x01) +#define BMA4_OUTPUT_DATA_RATE_1_56HZ UINT8_C(0x02) +#define BMA4_OUTPUT_DATA_RATE_3_12HZ UINT8_C(0x03) +#define BMA4_OUTPUT_DATA_RATE_6_25HZ UINT8_C(0x04) +#define BMA4_OUTPUT_DATA_RATE_12_5HZ UINT8_C(0x05) +#define BMA4_OUTPUT_DATA_RATE_25HZ UINT8_C(0x06) +#define BMA4_OUTPUT_DATA_RATE_50HZ UINT8_C(0x07) +#define BMA4_OUTPUT_DATA_RATE_100HZ UINT8_C(0x08) +#define BMA4_OUTPUT_DATA_RATE_200HZ UINT8_C(0x09) +#define BMA4_OUTPUT_DATA_RATE_400HZ UINT8_C(0x0A) +#define BMA4_OUTPUT_DATA_RATE_800HZ UINT8_C(0x0B) +#define BMA4_OUTPUT_DATA_RATE_1600HZ UINT8_C(0x0C) + +/**\name ACCEL BANDWIDTH PARAMETER */ +#define BMA4_ACCEL_OSR4_AVG1 UINT8_C(0) +#define BMA4_ACCEL_OSR2_AVG2 UINT8_C(1) +#define BMA4_ACCEL_NORMAL_AVG4 UINT8_C(2) +#define BMA4_ACCEL_CIC_AVG8 UINT8_C(3) +#define BMA4_ACCEL_RES_AVG16 UINT8_C(4) +#define BMA4_ACCEL_RES_AVG32 UINT8_C(5) +#define BMA4_ACCEL_RES_AVG64 UINT8_C(6) +#define BMA4_ACCEL_RES_AVG128 UINT8_C(7) + +/**\name ACCEL PERFMODE PARAMETER */ +#define BMA4_CIC_AVG_MODE UINT8_C(0) +#define BMA4_CONTINUOUS_MODE UINT8_C(1) + +/**\name MAG OFFSET */ +#define BMA4_MAG_OFFSET_MAX UINT8_C(0x00) + +/**\name ENABLE/DISABLE SELECTIONS */ +#define BMA4_X_AXIS UINT8_C(0) +#define BMA4_Y_AXIS UINT8_C(1) +#define BMA4_Z_AXIS UINT8_C(2) + +/**\name SELF TEST*/ +#define BMA4_SELFTEST_PASS INT8_C(0) +#define BMA4_SELFTEST_FAIL INT8_C(1) + +#define BMA4_SELFTEST_DIFF_X_AXIS_FAILED INT8_C(1) +#define BMA4_SELFTEST_DIFF_Y_AXIS_FAILED INT8_C(2) +#define BMA4_SELFTEST_DIFF_Z_AXIS_FAILED INT8_C(3) +#define BMA4_SELFTEST_DIFF_X_AND_Y_AXIS_FAILED INT8_C(4) +#define BMA4_SELFTEST_DIFF_X_AND_Z_AXIS_FAILED INT8_C(5) +#define BMA4_SELFTEST_DIFF_Y_AND_Z_AXIS_FAILED INT8_C(6) +#define BMA4_SELFTEST_DIFF_X_Y_AND_Z_AXIS_FAILED INT8_C(7) + +/**\name INTERRUPT MAPS */ +#define BMA4_INTR1_MAP UINT8_C(0) +#define BMA4_INTR2_MAP UINT8_C(1) + +/**\name INTERRUPT MASKS */ +#define BMA4_FIFO_FULL_INT UINT16_C(0x0100) +#define BMA4_FIFO_WM_INT UINT16_C(0x0200) +#define BMA4_DATA_RDY_INT UINT16_C(0x0400) +#define BMA4_MAG_DATA_RDY_INT UINT16_C(0x2000) +#define BMA4_ACCEL_DATA_RDY_INT UINT16_C(0x8000) + +/**\name AKM POWER MODE SELECTION */ +#define BMA4_AKM_POWER_DOWN_MODE UINT8_C(0) +#define BMA4_AKM_SINGLE_MEAS_MODE UINT8_C(1) + +/**\name SECONDARY_MAG POWER MODE SELECTION */ +#define BMA4_MAG_FORCE_MODE UINT8_C(0) +#define BMA4_MAG_SUSPEND_MODE UINT8_C(1) + +/**\name MAG POWER MODE SELECTION */ +#define BMA4_FORCE_MODE UINT8_C(0) +#define BMA4_SUSPEND_MODE UINT8_C(1) + +/**\name ACCEL POWER MODE */ +#define BMA4_ACCEL_MODE_NORMAL UINT8_C(0x11) + +/**\name MAG POWER MODE */ +#define BMA4_MAG_MODE_SUSPEND UINT8_C(0x18) + +/**\name ENABLE/DISABLE BIT VALUES */ +#define BMA4_ENABLE UINT8_C(0x01) +#define BMA4_DISABLE UINT8_C(0x00) + +/**\name DEFINITION USED FOR DIFFERENT WRITE */ +#define BMA4_MANUAL_DISABLE UINT8_C(0x00) +#define BMA4_MANUAL_ENABLE UINT8_C(0x01) +#define BMA4_ENABLE_MAG_IF_MODE UINT8_C(0x01) +#define BMA4_MAG_DATA_READ_REG UINT8_C(0x0A) +#define BMA4_BMM_POWER_MODE_REG UINT8_C(0x06) +#define BMA4_SEC_IF_NULL UINT8_C(0) +#define BMA4_SEC_IF_BMM150 UINT8_C(1) +#define BMA4_SEC_IF_AKM09916 UINT8_C(2) +#define BMA4_ENABLE_AUX_IF_MODE UINT8_C(0x01) + +/**\name SENSOR RESOLUTION */ +#define BMA4_12_BIT_RESOLUTION UINT8_C(12) +#define BMA4_14_BIT_RESOLUTION UINT8_C(14) +#define BMA4_16_BIT_RESOLUTION UINT8_C(16) + +/*************** FOC Macros ******************/ + +/* Reference value with positive and negative noise range in lsb */ + +/* Resolution : 16 bit */ + +/* + * As per datasheet, Zero-g offset : +/- 20mg + * + * In range 2G, 1G is 16384. so, 16384 x 20 x (10 ^ -3) = 328 + * In range 4G, 1G is 8192. so, 8192 x 20 x (10 ^ -3) = 164 + * In range 8G, 1G is 4096. so, 4096 x 20 x (10 ^ -3) = 82 + * In range 16G, 1G is 2048. so, 2048 x 20 x (10 ^ -3) = 41 + */ +#define BMA4_16BIT_ACC_FOC_2G_REF UINT16_C(16384) +#define BMA4_16BIT_ACC_FOC_4G_REF UINT16_C(8192) +#define BMA4_16BIT_ACC_FOC_8G_REF UINT16_C(4096) +#define BMA4_16BIT_ACC_FOC_16G_REF UINT16_C(2048) + +#define BMA4_16BIT_ACC_FOC_2G_OFFSET UINT16_C(328) +#define BMA4_16BIT_ACC_FOC_4G_OFFSET UINT16_C(164) +#define BMA4_16BIT_ACC_FOC_8G_OFFSET UINT16_C(82) +#define BMA4_16BIT_ACC_FOC_16G_OFFSET UINT16_C(41) + +#define BMA4_16BIT_ACC_2G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_2G_REF + BMA4_16BIT_ACC_FOC_2G_OFFSET) +#define BMA4_16BIT_ACC_2G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_2G_REF - BMA4_16BIT_ACC_FOC_2G_OFFSET) +#define BMA4_16BIT_ACC_4G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_4G_REF + BMA4_16BIT_ACC_FOC_4G_OFFSET) +#define BMA4_16BIT_ACC_4G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_4G_REF - BMA4_16BIT_ACC_FOC_4G_OFFSET) +#define BMA4_16BIT_ACC_8G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_8G_REF + BMA4_16BIT_ACC_FOC_8G_OFFSET) +#define BMA4_16BIT_ACC_8G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_8G_REF - BMA4_16BIT_ACC_FOC_8G_OFFSET) +#define BMA4_16BIT_ACC_16G_MAX_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_16G_REF + BMA4_16BIT_ACC_FOC_16G_OFFSET) +#define BMA4_16BIT_ACC_16G_MIN_NOISE_LIMIT (BMA4_16BIT_ACC_FOC_16G_REF - BMA4_16BIT_ACC_FOC_16G_OFFSET) + +/* Resolution : 12 bit */ + +/* + * As per datasheet, Zero-g offset : +/- 80mg + * + * In range 2G, 1G is 1024. so, 1024 x 80 x (10 ^ -3) = 82 + * In range 4G, 1G is 512. so, 512 x 80 x (10 ^ -3) = 41 + * In range 8G, 1G is 256. so, 256 x 80 x (10 ^ -3) = 20 + * In range 16G, 1G is 128. so, 128 x 80 x (10 ^ -3) = 10 + */ +#define BMA4_12BIT_ACC_FOC_2G_REF UINT16_C(1024) +#define BMA4_12BIT_ACC_FOC_4G_REF UINT16_C(512) +#define BMA4_12BIT_ACC_FOC_8G_REF UINT16_C(256) +#define BMA4_12BIT_ACC_FOC_16G_REF UINT16_C(128) + +#define BMA4_12BIT_ACC_FOC_2G_OFFSET UINT8_C(82) +#define BMA4_12BIT_ACC_FOC_4G_OFFSET UINT8_C(41) +#define BMA4_12BIT_ACC_FOC_8G_OFFSET UINT8_C(20) +#define BMA4_12BIT_ACC_FOC_16G_OFFSET UINT8_C(10) + +#define BMA4_12BIT_ACC_2G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_2G_REF + BMA4_12BIT_ACC_FOC_2G_OFFSET) +#define BMA4_12BIT_ACC_2G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_2G_REF - BMA4_12BIT_ACC_FOC_2G_OFFSET) +#define BMA4_12BIT_ACC_4G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_4G_REF + BMA4_12BIT_ACC_FOC_4G_OFFSET) +#define BMA4_12BIT_ACC_4G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_4G_REF - BMA4_12BIT_ACC_FOC_4G_OFFSET) +#define BMA4_12BIT_ACC_8G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_8G_REF + BMA4_12BIT_ACC_FOC_8G_OFFSET) +#define BMA4_12BIT_ACC_8G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_8G_REF - BMA4_12BIT_ACC_FOC_8G_OFFSET) +#define BMA4_12BIT_ACC_16G_MAX_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_16G_REF + BMA4_12BIT_ACC_FOC_16G_OFFSET) +#define BMA4_12BIT_ACC_16G_MIN_NOISE_LIMIT (BMA4_12BIT_ACC_FOC_16G_REF - BMA4_12BIT_ACC_FOC_16G_OFFSET) + +/*! for handling float temperature values */ +#define BMA4_SCALE_TEMP INT32_C(1000) + +/* BMA4_FAHREN_SCALED = 1.8 * 1000 */ +#define BMA4_FAHREN_SCALED INT32_C(1800) + +/* BMA4_KELVIN_SCALED = 273.15 * 1000 */ +#define BMA4_KELVIN_SCALED INT32_C(273150) + +/**\name MAP BURST READ LENGTHS */ +#define BMA4_AUX_READ_LEN_0 UINT8_C(0) +#define BMA4_AUX_READ_LEN_1 UINT8_C(1) +#define BMA4_AUX_READ_LEN_2 UINT8_C(2) +#define BMA4_AUX_READ_LEN_3 UINT8_C(3) + +#define BMA4_CONFIG_STREAM_MESSAGE_MSK UINT8_C(0x0F) + +#define BMA4_SOFT_RESET UINT8_C(0xB6) +#define BMA4_FIFO_FLUSH UINT8_C(0xB0) + +/*********************************************************************/ +/*! @name Macro Definitions for Axes re-mapping */ +/*********************************************************************/ + +/**\name Define values of axis and its sign for re-map settings */ +#define BMA4_MAP_X_AXIS UINT8_C(0x00) +#define BMA4_MAP_Y_AXIS UINT8_C(0x01) +#define BMA4_MAP_Z_AXIS UINT8_C(0x02) +#define BMA4_MAP_POSITIVE UINT8_C(0x00) +#define BMA4_MAP_NEGATIVE UINT8_C(0x01) + +/*! @name Macros for the user-defined values of axes and their polarities */ +#define BMA4_X UINT8_C(0x01) +#define BMA4_NEG_X UINT8_C(0x09) +#define BMA4_Y UINT8_C(0x02) +#define BMA4_NEG_Y UINT8_C(0x0A) +#define BMA4_Z UINT8_C(0x04) +#define BMA4_NEG_Z UINT8_C(0x0C) +#define BMA4_AXIS_MASK UINT8_C(0x07) +#define BMA4_AXIS_SIGN UINT8_C(0x08) + +/**\name Mask definitions for axes re-mapping */ +#define BMA4_X_AXIS_MSK UINT8_C(0x03) +#define BMA4_X_AXIS_SIGN_MSK UINT8_C(0x04) +#define BMA4_Y_AXIS_MSK UINT8_C(0x18) +#define BMA4_Y_AXIS_SIGN_MSK UINT8_C(0x20) +#define BMA4_Z_AXIS_MSK UINT8_C(0xC0) +#define BMA4_Z_AXIS_SIGN_MSK UINT8_C(0x01) + +/**\name Bit position for axes re-mapping */ +#define BMA4_X_AXIS_SIGN_POS UINT8_C(0x02) +#define BMA4_Y_AXIS_POS UINT8_C(0x03) +#define BMA4_Y_AXIS_SIGN_POS UINT8_C(0x05) +#define BMA4_Z_AXIS_POS UINT8_C(0x06) + +#define BMA4_MS_TO_US(X) (X * 1000) + +#ifndef ABS +#define ABS(a) ((a) > 0 ? (a) : -(a)) /*!< Absolute value */ +#endif + +/**\name BIT SLICE GET AND SET FUNCTIONS */ +#define BMA4_GET_BITSLICE(regvar, bitname) \ + ((regvar & bitname##_MSK) >> bitname##_POS) + +#define BMA4_SET_BITSLICE(regvar, bitname, val) \ + ((regvar & ~bitname##_MSK) | \ + ((val << bitname##_POS) & bitname##_MSK)) + +#define BMA4_GET_DIFF(x, y) ((x) - (y)) + +#define BMA4_GET_LSB(var) (uint8_t)(var & BMA4_SET_LOW_BYTE) +#define BMA4_GET_MSB(var) (uint8_t)((var & BMA4_SET_HIGH_BYTE) >> 8) + +#define BMA4_SET_BIT_VAL_0(reg_data, bitname) (reg_data & ~(bitname##_MSK)) + +#define BMA4_SET_BITS_POS_0(reg_data, bitname, data) \ + ((reg_data & ~(bitname##_MSK)) | \ + (data & bitname##_MSK)) + +#define BMA4_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK)) + +/** + * BMA4_INTF_RET_TYPE is the read/write interface return type which can be overwritten by the build system. + * The default is set to int8_t. + */ +#ifndef BMA4_INTF_RET_TYPE +#define BMA4_INTF_RET_TYPE int8_t +#endif + +/** + * BST_INTF_RET_SUCCESS is the success return value read/write interface return type which can be + * overwritten by the build system. The default is set to 0. It is used to check for a successful + * execution of the read/write functions + */ +#ifndef BMA4_INTF_RET_SUCCESS +#define BMA4_INTF_RET_SUCCESS INT8_C(0) +#endif + +/******************************************************************************/ +/*! @name TYPEDEF DEFINITIONS */ +/******************************************************************************/ + +/*! + * @brief Bus communication function pointer which should be mapped to + * the platform specific read functions of the user + * + * @param[in] reg_addr : Register address from which data is read. + * @param[out] read_data : Pointer to data buffer where read data is stored. + * @param[in] len : Number of bytes of data to be read. + * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors + * for interface related call backs. + * + * @retval 0 for Success + * @retval Non-zero for Failure + */ +typedef BMA4_INTF_RET_TYPE (*bma4_read_fptr_t)(uint8_t reg_addr, uint8_t *read_data, uint32_t len, void *intf_ptr); + +/*! + * @brief Bus communication function pointer which should be mapped to + * the platform specific write functions of the user + * + * @param[in] reg_addr : Register address to which the data is written. + * @param[in] read_data : Pointer to data buffer in which data to be written + * is stored. + * @param[in] len : Number of bytes of data to be written. + * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors + * for interface related call backs + * + * @retval 0 for Success + * @retval Non-zero for Failure + */ +typedef BMA4_INTF_RET_TYPE (*bma4_write_fptr_t)(uint8_t reg_addr, const uint8_t *read_data, uint32_t len, + void *intf_ptr); + +/*! + * @brief Delay function pointer which should be mapped to + * delay function of the user + * + * @param[in] period : Delay in microseconds. + * @param[in, out] intf_ptr : Void pointer that can enable the linking of descriptors + * for interface related call backs + * + */ +typedef void (*bma4_delay_us_fptr_t)(uint32_t period, void *intf_ptr); + +/******************************************************************************/ +/*! @name Enum Declarations */ +/******************************************************************************/ +/*! @name Enum to define BMA4 variants */ +enum bma4_variant { + BMA42X_VARIANT = UINT8_C(1), + BMA42X_B_VARIANT, + BMA45X_VARIANT +}; + +/* Enumerator describing interfaces */ +enum bma4_intf { + BMA4_SPI_INTF, + BMA4_I2C_INTF +}; + +/**\name STRUCTURE DEFINITIONS*/ + +/*! + * @brief + * This structure holds asic info. for feature configuration. + */ +struct bma4_asic_data +{ + /* Feature config start addr (0-3 bits)*/ + uint8_t asic_lsb; + + /* Feature config start addr (4-11 bits)*/ + uint8_t asic_msb; +}; + +/*! + * @brief Auxiliary configuration structure for user settings + */ +struct bma4_aux_config +{ + /*! Device address of auxiliary sensor */ + uint8_t aux_dev_addr; + + /*! To enable manual or auto mode */ + uint8_t manual_enable; + + /*! No of bytes to be read at a time */ + uint8_t burst_read_length; + + /*! Variable to set the auxiliary interface */ + uint8_t if_mode; +}; + +/*! @name Structure to store the re-mapped axis */ +struct bma4_remap +{ + /*! Re-mapped x-axis */ + uint8_t x; + + /*! Re-mapped y-axis */ + uint8_t y; + + /*! Re-mapped z-axis */ + uint8_t z; +}; + +/*! + * @brief Axes re-mapping configuration + */ +struct bma4_axes_remap +{ + /*! Re-mapped x-axis */ + uint8_t x_axis; + + /*! Re-mapped y-axis */ + uint8_t y_axis; + + /*! Re-mapped z-axis */ + uint8_t z_axis; + + /*! Re-mapped x-axis sign */ + uint8_t x_axis_sign; + + /*! Re-mapped y-axis sign */ + uint8_t y_axis_sign; + + /*! Re-mapped z-axis sign */ + uint8_t z_axis_sign; +}; + +/*! + * @brief + * This structure holds all relevant information about BMA4 + */ +struct bma4_dev +{ + /*! Chip id of BMA4 */ + uint8_t chip_id; + + /*! Chip id of auxiliary sensor */ + uint8_t aux_chip_id; + + /*! Interface pointer */ + void *intf_ptr; + + /*! Interface detail */ + enum bma4_intf intf; + + /*! Variable that holds error code */ + BMA4_INTF_RET_TYPE intf_rslt; + + /*! Auxiliary sensor information */ + uint8_t aux_sensor; + + /*! Decide SPI or I2C read mechanism */ + uint8_t dummy_byte; + + /*! Resolution for FOC */ + uint8_t resolution; + + /*! Define the BMA4 variant */ + enum bma4_variant variant; + + /*! Used to check mag manual/auto mode status + * int8_t mag_manual_enable; + */ + + /*! Config stream data buffer address will be assigned*/ + const uint8_t *config_file_ptr; + + /*! Read/write length */ + uint16_t read_write_len; + + /*! Feature len */ + uint8_t feature_len; + + /*! Contains asic information */ + struct bma4_asic_data asic_data; + + /*! Contains aux configuration settings */ + struct bma4_aux_config aux_config; + + /*! Structure to maintain a copy of the re-mapped axis */ + struct bma4_axes_remap remap; + + /*! Bus read function pointer */ + bma4_read_fptr_t bus_read; + + /*! Bus write function pointer */ + bma4_write_fptr_t bus_write; + + /*! Delay(in microsecond) function pointer */ + bma4_delay_us_fptr_t delay_us; + + /*! Variable to store the size of config file */ + uint16_t config_size; + + /*! Variable to store the status of performance mode */ + uint8_t perf_mode_status; +}; + +/*! + * @brief This structure holds the information for usage of + * FIFO by the user. + */ +struct bma4_fifo_frame +{ + /*! Data buffer of user defined length is to be mapped here */ + uint8_t *data; + + /*! Number of bytes of FIFO to be read as specified by the user */ + uint16_t length; + + /*! Enabling of the FIFO header to stream in header mode */ + uint8_t fifo_header_enable; + + /*! Streaming of the Accelerometer, Auxiliary + * sensor data or both in FIFO + */ + uint8_t fifo_data_enable; + + /*! Will be equal to length when no more frames are there to parse */ + uint16_t accel_byte_start_idx; + + /*! Will be equal to length when no more frames are there to parse */ + uint16_t mag_byte_start_idx; + + /*! Will be equal to length when no more frames are there to parse */ + uint16_t sc_frame_byte_start_idx; + + /*! Value of FIFO sensor time time */ + uint32_t sensor_time; + + /*! Value of Skipped frame counts */ + uint8_t skipped_frame_count; + + /*! Value of accel dropped frame count */ + uint8_t accel_dropped_frame_count; + + /*! Value of mag dropped frame count */ + uint8_t mag_dropped_frame_count; +}; + +/*! + * @brief Error Status structure + */ +struct bma4_err_reg +{ + /*! Indicates fatal error */ + uint8_t fatal_err; + + /*! Indicates command error */ + uint8_t cmd_err; + + /*! Indicates error code */ + uint8_t err_code; + + /*! Indicates fifo error */ + uint8_t fifo_err; + + /*! Indicates mag error */ + uint8_t aux_err; +}; + +/*! + * @brief Asic Status structure + */ +struct bma4_asic_status +{ + /*! Asic is in sleep/halt state */ + uint8_t sleep; + + /*! Dedicated interrupt is set again before previous interrupt + * was acknowledged + */ + uint8_t irq_ovrn; + + /*! Watchcell event detected (asic stopped) */ + uint8_t wc_event; + + /*! Stream transfer has started and transactions are ongoing */ + uint8_t stream_transfer_active; +}; + +/*! + * @brief Interrupt Pin Configuration structure + */ +struct bma4_int_pin_config +{ + /*! Trigger condition of interrupt pin */ + uint8_t edge_ctrl; + + /*! Level of interrupt pin */ + uint8_t lvl; + + /*! Behaviour of interrupt pin to open drain */ + uint8_t od; + + /*! Output enable for interrupt pin */ + uint8_t output_en; + + /*! Input enable for interrupt pin */ + uint8_t input_en; +}; + +/*! + * @brief Accelerometer configuration structure + */ +struct bma4_accel_config +{ + /*! Output data rate in Hz */ + uint8_t odr; + + /*! Bandwidth parameter, determines filter configuration */ + uint8_t bandwidth; + + /*! Filter performance mode */ + uint8_t perf_mode; + + /*! G-range */ + uint8_t range; +}; + +/*! + * @brief Auxiliary magnetometer configuration structure + */ +struct bma4_aux_mag_config +{ + /*! Poll rate for the sensor attached to the Magnetometer interface */ + uint8_t odr; + + /*! Trigger-readout offset in units of 2.5 ms. + * If set to zero, the offset is maximum, i.e. after readout a trigger + * is issued immediately + */ + uint8_t offset; +}; + +/*! + * @brief ASIC Config structure + */ +struct bma4_asic_config +{ + /*! Enable/Disable ASIC Wake Up */ + uint8_t asic_en; + + /*! Configure stream_transfer/FIFO mode */ + uint8_t fifo_mode_en; + + /*! Mapping of instance RAM1 */ + uint8_t mem_conf_ram1; + + /*! Mapping of instance RAM2 */ + uint8_t mem_conf_ram2; + + /*! Mapping of instance RAM3 */ + uint8_t mem_conf_ram3; +}; + +/*! + * @brief bmm150 or akm09916 + * magnetometer values structure + */ +struct bma4_mag +{ + /*! BMM150 and AKM09916 X raw data */ + int32_t x; + + /*! BMM150 and AKM09916 Y raw data */ + int32_t y; + + /*! BMM150 and AKM09916 Z raw data */ + int32_t z; +}; + +/*! + * @brief bmm150 xyz data structure + */ +struct bma4_mag_xyzr +{ + /*! BMM150 X raw data */ + int16_t x; + + /*! BMM150 Y raw data */ + int16_t y; + + /*! BMM150 Z raw data */ + int16_t z; + + /*! BMM150 R raw data */ + uint16_t r; +}; + +/*! + * @brief Accel xyz data structure + */ +struct bma4_accel +{ + /*! Accel X data */ + int16_t x; + + /*! Accel Y data */ + int16_t y; + + /*! Accel Z data */ + int16_t z; +}; + +/*! + * @brief FIFO mag data structure + */ +struct bma4_mag_fifo_data +{ + /*! The value of mag x LSB data */ + uint8_t mag_x_lsb; + + /*! The value of mag x MSB data */ + uint8_t mag_x_msb; + + /*! The value of mag y LSB data */ + uint8_t mag_y_lsb; + + /*! The value of mag y MSB data */ + uint8_t mag_y_msb; + + /*! The value of mag z LSB data */ + uint8_t mag_z_lsb; + + /*! The value of mag z MSB data */ + uint8_t mag_z_msb; + + /*! The value of mag r for BMM150 Y2 for YAMAHA LSB data */ + uint8_t mag_r_y2_lsb; + + /*! The value of mag r for BMM150 Y2 for YAMAHA MSB data */ + uint8_t mag_r_y2_msb; +}; + +/*! + * @brief Accel self test difference data structure + */ +struct bma4_selftest_delta_limit +{ + /*! Accel X data */ + int32_t x; + + /*! Accel Y data */ + int32_t y; + + /*! Accel Z data */ + int32_t z; +}; + +/*! @name Structure to enable an accel axis for FOC */ +struct bma4_accel_foc_g_value +{ + /* '0' to disable x-axis and '1' to enable x-axis */ + uint8_t x; + + /* '0' to disable y-axis and '1' to enable y-axis */ + uint8_t y; + + /* '0' to disable z-axis and '1' to enable z-axis */ + uint8_t z; + + /* '0' for positive input and '1' for negative input */ + uint8_t sign; +}; + +/*! @name Structure to store temporary accelerometer values */ +struct bma4_foc_temp_value +{ + /*! X data */ + int32_t x; + + /*! Y data */ + int32_t y; + + /*! Z data */ + int32_t z; +}; + +/* Structure to store temporary axes data values */ +struct bma4_temp_axes_val +{ + /* X data */ + int32_t x; + + /* Y data */ + int32_t y; + + /* Z data */ + int32_t z; +}; + +#endif /* End of BMA4_DEFS_H__ */ diff --git a/lib/SensorLib/src/bosch/common/common.cpp b/lib/SensorLib/src/bosch/common/common.cpp deleted file mode 100644 index 9304ff3..0000000 --- a/lib/SensorLib/src/bosch/common/common.cpp +++ /dev/null @@ -1,975 +0,0 @@ -/** - * Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. - * - * BSD-3-Clause - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) - * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, - * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING - * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * @file common.c - * @brief Common source file for the BHy260 examples - * @note Adapting Arduino based on BHY2-Sensor-API by lewis - */ - -#include "common.h" -#include "bosch/bhy2_parse.h" -#include "bosch/bhy2.h" - - -void time_to_s_ns(uint64_t time_ticks, uint32_t *s, uint32_t *ns, uint64_t *tns) -{ - *tns = time_ticks * 15625; /* timestamp is now in nanoseconds */ - *s = (uint32_t)(*tns / UINT64_C(1000000000)); - *ns = (uint32_t)(*tns - ((*s) * UINT64_C(1000000000))); -} - -const char *get_api_error(int8_t error_code) -{ - const char *ret; - - switch (error_code) { - case BHY2_OK: - ret = "[API Success]"; - break; - case BHY2_E_NULL_PTR: - ret = "[API Error] Null pointer"; - break; - case BHY2_E_INVALID_PARAM: - ret = "[API Error] Invalid parameter"; - break; - case BHY2_E_IO: - ret = "[API Error] IO error"; - break; - case BHY2_E_MAGIC: - ret = "[API Error] Invalid firmware"; - break; - case BHY2_E_TIMEOUT: - ret = "[API Error] Timed out"; - break; - case BHY2_E_BUFFER: - ret = "[API Error] Invalid buffer"; - break; - case BHY2_E_INVALID_FIFO_TYPE: - ret = "[API Error] Invalid FIFO type"; - break; - case BHY2_E_INVALID_EVENT_SIZE: - ret = "[API Error] Invalid Event size"; - break; - case BHY2_E_PARAM_NOT_SET: - ret = "[API Error] Parameter not set"; - break; - default: - ret = "[API Error] Unknown API error code"; - } - - return ret; -} - -const char *get_sensor_error_text(uint8_t sensor_error) -{ - const char *ret; - - switch (sensor_error) { - case 0x00: - break; - case 0x10: - ret = "[Sensor error] Bootloader reports: Firmware Expected Version Mismatch"; - break; - case 0x11: - ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Header CRC"; - break; - case 0x12: - ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: SHA Hash Mismatch"; - break; - case 0x13: - ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Image CRC"; - break; - case 0x14: - ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: ECDSA Signature Verification Failed"; - break; - case 0x15: - ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Public Key CRC"; - break; - case 0x16: - ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Signed Firmware Required"; - break; - case 0x17: - ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: FW Header Missing"; - break; - case 0x19: - ret = "[Sensor error] Bootloader reports: Unexpected Watchdog Reset"; - break; - case 0x1A: - ret = "[Sensor error] ROM Version Mismatch"; - break; - case 0x1B: - ret = "[Sensor error] Bootloader reports: Fatal Firmware Error"; - break; - case 0x1C: - ret = "[Sensor error] Chained Firmware Error: Next Payload Not Found"; - break; - case 0x1D: - ret = "[Sensor error] Chained Firmware Error: Payload Not Valid"; - break; - case 0x1E: - ret = "[Sensor error] Chained Firmware Error: Payload Entries Invalid"; - break; - case 0x1F: - ret = "[Sensor error] Bootloader reports: Bootloader Error: OTP CRC Invalid"; - break; - case 0x20: - ret = "[Sensor error] Firmware Init Failed"; - break; - case 0x21: - ret = "[Sensor error] Sensor Init Failed: Unexpected Device ID"; - break; - case 0x22: - ret = "[Sensor error] Sensor Init Failed: No Response from Device"; - break; - case 0x23: - ret = "[Sensor error] Sensor Init Failed: Unknown"; - break; - case 0x24: - ret = "[Sensor error] Sensor Error: No Valid Data"; - break; - case 0x25: - ret = "[Sensor error] Slow Sample Rate"; - break; - case 0x26: - ret = "[Sensor error] Data Overflow (saturated sensor data)"; - break; - case 0x27: - ret = "[Sensor error] Stack Overflow"; - break; - case 0x28: - ret = "[Sensor error] Insufficient Free RAM"; - break; - case 0x29: - ret = "[Sensor error] Sensor Init Failed: Driver Parsing Error"; - break; - case 0x2A: - ret = "[Sensor error] Too Many RAM Banks Required"; - break; - case 0x2B: - ret = "[Sensor error] Invalid Event Specified"; - break; - case 0x2C: - ret = "[Sensor error] More than 32 On Change"; - break; - case 0x2D: - ret = "[Sensor error] Firmware Too Large"; - break; - case 0x2F: - ret = "[Sensor error] Invalid RAM Banks"; - break; - case 0x30: - ret = "[Sensor error] Math Error"; - break; - case 0x40: - ret = "[Sensor error] Memory Error"; - break; - case 0x41: - ret = "[Sensor error] SWI3 Error"; - break; - case 0x42: - ret = "[Sensor error] SWI4 Error"; - break; - case 0x43: - ret = "[Sensor error] Illegal Instruction Error"; - break; - case 0x44: - ret = "[Sensor error] Bootloader reports: Unhandled Interrupt Error / Exception / Postmortem Available"; - break; - case 0x45: - ret = "[Sensor error] Invalid Memory Access"; - break; - case 0x50: - ret = "[Sensor error] Algorithm Error: BSX Init"; - break; - case 0x51: - ret = "[Sensor error] Algorithm Error: BSX Do Step"; - break; - case 0x52: - ret = "[Sensor error] Algorithm Error: Update Sub"; - break; - case 0x53: - ret = "[Sensor error] Algorithm Error: Get Sub"; - break; - case 0x54: - ret = "[Sensor error] Algorithm Error: Get Phys"; - break; - case 0x55: - ret = "[Sensor error] Algorithm Error: Unsupported Phys Rate"; - break; - case 0x56: - ret = "[Sensor error] Algorithm Error: Cannot find BSX Driver"; - break; - case 0x60: - ret = "[Sensor error] Sensor Self-Test Failure"; - break; - case 0x61: - ret = "[Sensor error] Sensor Self-Test X Axis Failure"; - break; - case 0x62: - ret = "[Sensor error] Sensor Self-Test Y Axis Failure"; - break; - case 0x64: - ret = "[Sensor error] Sensor Self-Test Z Axis Failure"; - break; - case 0x65: - ret = "[Sensor error] FOC Failure"; - break; - case 0x66: - ret = "[Sensor error] Sensor Busy"; - break; - case 0x6F: - ret = "[Sensor error] Self-Test or FOC Test Unsupported"; - break; - case 0x72: - ret = "[Sensor error] No Host Interrupt Set"; - break; - case 0x73: - ret = "[Sensor error] Event ID Passed to Host Interface Has No Known Size"; - break; - case 0x75: - ret = "[Sensor error] Host Download Channel Underflow (Host Read Too Fast)"; - break; - case 0x76: - ret = "[Sensor error] Host Upload Channel Overflow (Host Wrote Too Fast)"; - break; - case 0x77: - ret = "[Sensor error] Host Download Channel Empty"; - break; - case 0x78: - ret = "[Sensor error] DMA Error"; - break; - case 0x79: - ret = "[Sensor error] Corrupted Input Block Chain"; - break; - case 0x7A: - ret = "[Sensor error] Corrupted Output Block Chain"; - break; - case 0x7B: - ret = "[Sensor error] Buffer Block Manager Error"; - break; - case 0x7C: - ret = "[Sensor error] Input Channel Not Word Aligned"; - break; - case 0x7D: - ret = "[Sensor error] Too Many Flush Events"; - break; - case 0x7E: - ret = "[Sensor error] Unknown Host Channel Error"; - break; - case 0x81: - ret = "[Sensor error] Decimation Too Large"; - break; - case 0x90: - ret = "[Sensor error] Master SPI/I2C Queue Overflow"; - break; - case 0x91: - ret = "[Sensor error] SPI/I2C Callback Error"; - break; - case 0xA0: - ret = "[Sensor error] Timer Scheduling Error"; - break; - case 0xB0: - ret = "[Sensor error] Invalid GPIO for Host IRQ"; - break; - case 0xB1: - ret = "[Sensor error] Error Sending Initialized Meta Events"; - break; - case 0xC0: - ret = "[Sensor error] Bootloader reports: Command Error"; - break; - case 0xC1: - ret = "[Sensor error] Bootloader reports: Command Too Long"; - break; - case 0xC2: - ret = "[Sensor error] Bootloader reports: Command Buffer Overflow"; - break; - case 0xD0: - ret = "[Sensor error] User Mode Error: Sys Call Invalid"; - break; - case 0xD1: - ret = "[Sensor error] User Mode Error: Trap Invalid"; - break; - case 0xE1: - ret = "[Sensor error] Firmware Upload Failed: Firmware header corrupt"; - break; - case 0xE2: - ret = "[Sensor error] Sensor Data Injection: Invalid input stream"; - break; - default: - ret = "[Sensor error] Unknown error code"; - } - - return ret; -} - -const char *get_sensor_name(uint8_t sensor_id) -{ - const char *ret; - - switch (sensor_id) { - case BHY2_SENSOR_ID_ACC_PASS: - ret = "Accelerometer passthrough"; - break; - case BHY2_SENSOR_ID_ACC_RAW: - ret = "Accelerometer uncalibrated"; - break; - case BHY2_SENSOR_ID_ACC: - ret = "Accelerometer corrected"; - break; - case BHY2_SENSOR_ID_ACC_BIAS: - ret = "Accelerometer offset"; - break; - case BHY2_SENSOR_ID_ACC_WU: - ret = "Accelerometer corrected wake up"; - break; - case BHY2_SENSOR_ID_ACC_RAW_WU: - ret = "Accelerometer uncalibrated wake up"; - break; - case BHY2_SENSOR_ID_GYRO_PASS: - ret = "Gyroscope passthrough"; - break; - case BHY2_SENSOR_ID_GYRO_RAW: - ret = "Gyroscope uncalibrated"; - break; - case BHY2_SENSOR_ID_GYRO: - ret = "Gyroscope corrected"; - break; - case BHY2_SENSOR_ID_GYRO_BIAS: - ret = "Gyroscope offset"; - break; - case BHY2_SENSOR_ID_GYRO_WU: - ret = "Gyroscope wake up"; - break; - case BHY2_SENSOR_ID_GYRO_RAW_WU: - ret = "Gyroscope uncalibrated wake up"; - break; - case BHY2_SENSOR_ID_MAG_PASS: - ret = "Magnetometer passthrough"; - break; - case BHY2_SENSOR_ID_MAG_RAW: - ret = "Magnetometer uncalibrated"; - break; - case BHY2_SENSOR_ID_MAG: - ret = "Magnetometer corrected"; - break; - case BHY2_SENSOR_ID_MAG_BIAS: - ret = "Magnetometer offset"; - break; - case BHY2_SENSOR_ID_MAG_WU: - ret = "Magnetometer wake up"; - break; - case BHY2_SENSOR_ID_MAG_RAW_WU: - ret = "Magnetometer uncalibrated wake up"; - break; - case BHY2_SENSOR_ID_GRA: - ret = "Gravity vector"; - break; - case BHY2_SENSOR_ID_GRA_WU: - ret = "Gravity vector wake up"; - break; - case BHY2_SENSOR_ID_LACC: - ret = "Linear acceleration"; - break; - case BHY2_SENSOR_ID_LACC_WU: - ret = "Linear acceleration wake up"; - break; - case BHY2_SENSOR_ID_RV: - ret = "Rotation vector"; - break; - case BHY2_SENSOR_ID_RV_WU: - ret = "Rotation vector wake up"; - break; - case BHY2_SENSOR_ID_GAMERV: - ret = "Game rotation vector"; - break; - case BHY2_SENSOR_ID_GAMERV_WU: - ret = "Game rotation vector wake up"; - break; - case BHY2_SENSOR_ID_GEORV: - ret = "Geo-magnetic rotation vector"; - break; - case BHY2_SENSOR_ID_GEORV_WU: - ret = "Geo-magnetic rotation vector wake up"; - break; - case BHY2_SENSOR_ID_ORI: - ret = "Orientation"; - break; - case BHY2_SENSOR_ID_ORI_WU: - ret = "Orientation wake up"; - break; - case BHY2_SENSOR_ID_ACC_BIAS_WU: - ret = "Accelerometer offset wake up"; - break; - case BHY2_SENSOR_ID_GYRO_BIAS_WU: - ret = "Gyroscope offset wake up"; - break; - case BHY2_SENSOR_ID_MAG_BIAS_WU: - ret = "Magnetometer offset wake up"; - break; - case BHY2_SENSOR_ID_TEMP: - ret = "Temperature"; - break; - case BHY2_SENSOR_ID_BARO: - ret = "Barometer"; - break; - case BHY2_SENSOR_ID_HUM: - ret = "Humidity"; - break; - case BHY2_SENSOR_ID_GAS: - ret = "Gas"; - break; - case BHY2_SENSOR_ID_TEMP_WU: - ret = "Temperature wake up"; - break; - case BHY2_SENSOR_ID_BARO_WU: - ret = "Barometer wake up"; - break; - case BHY2_SENSOR_ID_HUM_WU: - ret = "Humidity wake up"; - break; - case BHY2_SENSOR_ID_GAS_WU: - ret = "Gas wake up"; - break; - case BHY2_SENSOR_ID_KLIO: - ret = "Klio"; - break; - case BHY2_SENSOR_ID_KLIO_LOG: - ret = "Klio log"; - break; - case BHY2_SENSOR_ID_SWIM: - ret = "Swim recognition"; - break; - case BHY2_SENSOR_ID_SI_ACCEL: - ret = "SI Accel"; - break; - case BHY2_SENSOR_ID_SI_GYROS: - ret = "SI Gyro"; - break; - case BHY2_SENSOR_ID_LIGHT: - ret = "Light"; - break; - case BHY2_SENSOR_ID_LIGHT_WU: - ret = "Light wake up"; - break; - case BHY2_SENSOR_ID_PROX: - ret = "Proximity"; - break; - case BHY2_SENSOR_ID_PROX_WU: - ret = "Proximity wake up"; - break; - case BHY2_SENSOR_ID_STC: - ret = "Step counter"; - break; - case BHY2_SENSOR_ID_STC_WU: - ret = "Step counter wake up"; - break; - case BHY2_SENSOR_ID_STC_LP: - ret = "Low Power Step counter"; - break; - case BHY2_SENSOR_ID_STC_LP_WU: - ret = "Low Power Step counter wake up"; - break; - case BHY2_SENSOR_ID_SIG: - ret = "Significant motion"; - break; - case BHY2_SENSOR_ID_STD: - ret = "Step detector"; - break; - case BHY2_SENSOR_ID_STD_WU: - ret = "Step detector wake up"; - break; - case BHY2_SENSOR_ID_TILT_DETECTOR: - ret = "Tilt detector"; - break; - case BHY2_SENSOR_ID_WAKE_GESTURE: - ret = "Wake gesture"; - break; - case BHY2_SENSOR_ID_GLANCE_GESTURE: - ret = "Glance gesture"; - break; - case BHY2_SENSOR_ID_PICKUP_GESTURE: - ret = "Pickup gesture"; - break; - case BHY2_SENSOR_ID_SIG_LP: - ret = "Low Power Significant motion"; - break; - case BHY2_SENSOR_ID_SIG_LP_WU: - ret = "Low Power Significant motion wake up"; - break; - case BHY2_SENSOR_ID_STD_LP: - ret = "Low Power Step detector"; - break; - case BHY2_SENSOR_ID_STD_LP_WU: - ret = "Low Power Step detector wake up"; - break; - case BHY2_SENSOR_ID_AR: - ret = "Activity recognition"; - break; - case BHY2_SENSOR_ID_EXCAMERA: - ret = "External camera trigger"; - break; - case BHY2_SENSOR_ID_GPS: - ret = "GPS"; - break; - case BHY2_SENSOR_ID_WRIST_TILT_GESTURE: - ret = "Wrist tilt gesture"; - break; - case BHY2_SENSOR_ID_DEVICE_ORI: - ret = "Device orientation"; - break; - case BHY2_SENSOR_ID_DEVICE_ORI_WU: - ret = "Device orientation wake up"; - break; - case BHY2_SENSOR_ID_STATIONARY_DET: - ret = "Stationary detect"; - break; - case BHY2_SENSOR_ID_ANY_MOTION_LP: - ret = "Low Power Any motion"; - break; - case BHY2_SENSOR_ID_ANY_MOTION_LP_WU: - ret = "Low Power Any motion wake up"; - break; - case BHI3_SENSOR_ID_NO_MOTION_LP_WU: - ret = "Low Power No Motion wake up"; - break; - case BHY2_SENSOR_ID_MOTION_DET: - ret = "Motion detect"; - break; - case BHI3_SENSOR_ID_AR_WEAR_WU: - ret = "Activity recognition for Wearables"; - break; - case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU: - ret = "Low Power Wrist Wear wake up"; - break; - case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU: - ret = "Low Power Wrist Gesture wake up"; - break; - case BHI3_SENSOR_ID_MULTI_TAP: - ret = "Multi Tap Detector"; - break; - case BHY2_SENSOR_ID_AIR_QUALITY: - ret = "Air Quality"; - break; - case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: - ret = "Head Misalignment Calibrator"; - break; - case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: - ret = "IMU Head Orientation Quaternion"; - break; - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: - ret = "NDOF Head Orientation Quaternion"; - break; - case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: - ret = "IMU Head Orientation Euler"; - break; - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: - ret = "NDOF Head Orientation Euler"; - break; - case BHY2_SENSOR_ID_GPIO_EXP: - ret = "Expansion GPIO"; - break; - default: - if ((sensor_id >= BHY2_SENSOR_ID_CUSTOM_START) && (sensor_id <= BHY2_SENSOR_ID_CUSTOM_END)) { - ret = "Custom sensor ID "; - } else { - ret = "Undefined sensor ID "; - } - } - - return ret; -} - -float get_sensor_default_scaling(uint8_t sensor_id) -{ - float scaling = -1.0f; - - switch (sensor_id) { - case BHY2_SENSOR_ID_ACC_PASS: - case BHY2_SENSOR_ID_ACC_RAW: - case BHY2_SENSOR_ID_ACC: - case BHY2_SENSOR_ID_ACC_BIAS: - case BHY2_SENSOR_ID_ACC_WU: - case BHY2_SENSOR_ID_ACC_RAW_WU: - case BHY2_SENSOR_ID_GRA: - case BHY2_SENSOR_ID_GRA_WU: - case BHY2_SENSOR_ID_LACC: - case BHY2_SENSOR_ID_LACC_WU: - case BHY2_SENSOR_ID_ACC_BIAS_WU: - scaling = 1.0f / 4096.0f; - break; - case BHY2_SENSOR_ID_GYRO_PASS: - case BHY2_SENSOR_ID_GYRO_RAW: - case BHY2_SENSOR_ID_GYRO: - case BHY2_SENSOR_ID_GYRO_BIAS: - case BHY2_SENSOR_ID_GYRO_WU: - case BHY2_SENSOR_ID_GYRO_RAW_WU: - case BHY2_SENSOR_ID_GYRO_BIAS_WU: - scaling = 2000.0f / 32768.0f; - break; - case BHY2_SENSOR_ID_MAG_PASS: - case BHY2_SENSOR_ID_MAG_RAW: - case BHY2_SENSOR_ID_MAG: - case BHY2_SENSOR_ID_MAG_BIAS: - case BHY2_SENSOR_ID_MAG_WU: - case BHY2_SENSOR_ID_MAG_RAW_WU: - case BHY2_SENSOR_ID_MAG_BIAS_WU: - scaling = 2500.0f / 32768.0f; - break; - case BHY2_SENSOR_ID_RV: - case BHY2_SENSOR_ID_RV_WU: - case BHY2_SENSOR_ID_GAMERV: - case BHY2_SENSOR_ID_GAMERV_WU: - case BHY2_SENSOR_ID_GEORV: - case BHY2_SENSOR_ID_GEORV_WU: - scaling = 1.0f / 16384.0f; - break; - case BHY2_SENSOR_ID_ORI: - case BHY2_SENSOR_ID_ORI_WU: - scaling = 360.0f / 32768.0f; - break; - case BHY2_SENSOR_ID_TEMP: - case BHY2_SENSOR_ID_TEMP_WU: - scaling = 1.0f / 100.0f; - break; - case BHY2_SENSOR_ID_BARO: - case BHY2_SENSOR_ID_BARO_WU: - scaling = 100.0f / 128.0f; - break; - case BHY2_SENSOR_ID_HUM: - case BHY2_SENSOR_ID_HUM_WU: - scaling = 1.0f; - break; - case BHY2_SENSOR_ID_GAS: - case BHY2_SENSOR_ID_GAS_WU: - scaling = 1.0f; - break; - case BHY2_SENSOR_ID_LIGHT: - case BHY2_SENSOR_ID_LIGHT_WU: - scaling = 10000.0f / 216.0f; - break; - case BHY2_SENSOR_ID_PROX: - case BHY2_SENSOR_ID_PROX_WU: - scaling = 1.0f; - break; - case BHY2_SENSOR_ID_SI_ACCEL: - case BHY2_SENSOR_ID_SI_GYROS: - - /* Scaling factor already applied in firmware*/ - break; - case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: - case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: - scaling = 1.0f / 16384.0f; /*2^14 -> 16384*/ - break; - case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: - scaling = 360.0f / 32768.0f; /*2^15 -> 32768*/ - break; - default: - scaling = -1.0f; /* Do not apply the scaling factor */ - } - - return scaling; -} - -const char *get_sensor_parse_format(uint8_t sensor_id) -{ - const char *ret; - - switch (sensor_id) { - case BHY2_SENSOR_ID_ACC_PASS: - case BHY2_SENSOR_ID_ACC_RAW: - case BHY2_SENSOR_ID_ACC: - case BHY2_SENSOR_ID_ACC_BIAS: - case BHY2_SENSOR_ID_ACC_BIAS_WU: - case BHY2_SENSOR_ID_ACC_WU: - case BHY2_SENSOR_ID_ACC_RAW_WU: - case BHY2_SENSOR_ID_GYRO_PASS: - case BHY2_SENSOR_ID_GYRO_RAW: - case BHY2_SENSOR_ID_GYRO: - case BHY2_SENSOR_ID_GYRO_BIAS: - case BHY2_SENSOR_ID_GYRO_BIAS_WU: - case BHY2_SENSOR_ID_GYRO_WU: - case BHY2_SENSOR_ID_GYRO_RAW_WU: - case BHY2_SENSOR_ID_MAG_PASS: - case BHY2_SENSOR_ID_MAG_RAW: - case BHY2_SENSOR_ID_MAG: - case BHY2_SENSOR_ID_MAG_BIAS: - case BHY2_SENSOR_ID_MAG_BIAS_WU: - case BHY2_SENSOR_ID_MAG_WU: - case BHY2_SENSOR_ID_MAG_RAW_WU: - case BHY2_SENSOR_ID_GRA: - case BHY2_SENSOR_ID_GRA_WU: - case BHY2_SENSOR_ID_LACC: - case BHY2_SENSOR_ID_LACC_WU: - ret = "s16,s16,s16"; - break; - case BHY2_SENSOR_ID_RV: - case BHY2_SENSOR_ID_RV_WU: - case BHY2_SENSOR_ID_GAMERV: - case BHY2_SENSOR_ID_GAMERV_WU: - case BHY2_SENSOR_ID_GEORV: - case BHY2_SENSOR_ID_GEORV_WU: - ret = "s16,s16,s16,s16,u16"; - break; - case BHY2_SENSOR_ID_ORI: - case BHY2_SENSOR_ID_ORI_WU: - ret = "s16,s16,s16"; - break; - case BHY2_SENSOR_ID_DEVICE_ORI: - case BHY2_SENSOR_ID_DEVICE_ORI_WU: - case BHY2_SENSOR_ID_HUM: - case BHY2_SENSOR_ID_HUM_WU: - case BHY2_SENSOR_ID_PROX: - case BHY2_SENSOR_ID_PROX_WU: - case BHY2_SENSOR_ID_EXCAMERA: - case BHI3_SENSOR_ID_MULTI_TAP: - ret = "u8"; - break; - case BHY2_SENSOR_ID_TEMP: - case BHY2_SENSOR_ID_TEMP_WU: - ret = "s16"; - break; - case BHY2_SENSOR_ID_BARO: - case BHY2_SENSOR_ID_BARO_WU: - ret = "u24"; - break; - case BHY2_SENSOR_ID_GAS: - case BHY2_SENSOR_ID_GAS_WU: - case BHY2_SENSOR_ID_STC: - case BHY2_SENSOR_ID_STC_WU: - case BHY2_SENSOR_ID_STC_LP: - case BHY2_SENSOR_ID_STC_LP_WU: - ret = "u32"; - break; - case BHY2_SENSOR_ID_KLIO: - ret = "u8,u8,u8,u8,u8,u8,f"; - break; - case BHY2_SENSOR_ID_SWIM: - ret = "u16,u16,u16,u16,u16,u16,u16"; - break; - case BHY2_SENSOR_ID_SI_ACCEL: - case BHY2_SENSOR_ID_SI_GYROS: - ret = "f,f,f"; - break; - case BHY2_SENSOR_ID_LIGHT: - case BHY2_SENSOR_ID_LIGHT_WU: - ret = "s16"; - break; - case BHY2_SENSOR_ID_SIG: - case BHY2_SENSOR_ID_STD: - case BHY2_SENSOR_ID_STD_WU: - case BHY2_SENSOR_ID_TILT_DETECTOR: - case BHY2_SENSOR_ID_WAKE_GESTURE: - case BHY2_SENSOR_ID_GLANCE_GESTURE: - case BHY2_SENSOR_ID_PICKUP_GESTURE: - case BHY2_SENSOR_ID_SIG_LP: - case BHY2_SENSOR_ID_SIG_LP_WU: - case BHY2_SENSOR_ID_STD_LP: - case BHY2_SENSOR_ID_STD_LP_WU: - case BHY2_SENSOR_ID_WRIST_TILT_GESTURE: - case BHY2_SENSOR_ID_STATIONARY_DET: - case BHY2_SENSOR_ID_ANY_MOTION_LP: - case BHY2_SENSOR_ID_ANY_MOTION_LP_WU: - case BHI3_SENSOR_ID_NO_MOTION_LP_WU: - case BHY2_SENSOR_ID_MOTION_DET: - case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU: - ret = ""; - break; - case BHY2_SENSOR_ID_AR: - case BHI3_SENSOR_ID_AR_WEAR_WU: - ret = "u16"; - break; - case BHY2_SENSOR_ID_GPS: - ret = "st"; - break; - case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU: - ret = "u8"; - break; - case BHY2_SENSOR_ID_AIR_QUALITY: - ret = "f32,f32,f32,f32,f32,f32,f32,u8"; - break; - case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: - case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: - ret = "s16,s16,s16,s16,u8"; - break; - - case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: - ret = "s16,s16,s16,u8"; - break; - default: - ret = ""; - } - - return ret; -} - -const char *get_sensor_axis_names(uint8_t sensor_id) -{ - const char *ret; - - switch (sensor_id) { - case BHY2_SENSOR_ID_ACC_PASS: - case BHY2_SENSOR_ID_ACC_RAW: - case BHY2_SENSOR_ID_ACC: - case BHY2_SENSOR_ID_ACC_BIAS: - case BHY2_SENSOR_ID_ACC_BIAS_WU: - case BHY2_SENSOR_ID_ACC_WU: - case BHY2_SENSOR_ID_ACC_RAW_WU: - case BHY2_SENSOR_ID_GYRO_PASS: - case BHY2_SENSOR_ID_GYRO_RAW: - case BHY2_SENSOR_ID_GYRO: - case BHY2_SENSOR_ID_GYRO_BIAS: - case BHY2_SENSOR_ID_GYRO_BIAS_WU: - case BHY2_SENSOR_ID_GYRO_WU: - case BHY2_SENSOR_ID_GYRO_RAW_WU: - case BHY2_SENSOR_ID_MAG_PASS: - case BHY2_SENSOR_ID_MAG_RAW: - case BHY2_SENSOR_ID_MAG: - case BHY2_SENSOR_ID_MAG_BIAS: - case BHY2_SENSOR_ID_MAG_BIAS_WU: - case BHY2_SENSOR_ID_MAG_WU: - case BHY2_SENSOR_ID_MAG_RAW_WU: - case BHY2_SENSOR_ID_GRA: - case BHY2_SENSOR_ID_GRA_WU: - case BHY2_SENSOR_ID_LACC: - case BHY2_SENSOR_ID_LACC_WU: - case BHY2_SENSOR_ID_SI_ACCEL: - case BHY2_SENSOR_ID_SI_GYROS: - ret = "x,y,z"; - break; - case BHY2_SENSOR_ID_RV: - case BHY2_SENSOR_ID_RV_WU: - case BHY2_SENSOR_ID_GAMERV: - case BHY2_SENSOR_ID_GAMERV_WU: - case BHY2_SENSOR_ID_GEORV: - case BHY2_SENSOR_ID_GEORV_WU: - ret = "x,y,z,w,ar"; - break; - case BHY2_SENSOR_ID_ORI: - case BHY2_SENSOR_ID_ORI_WU: - ret = "h,p,r"; - break; - case BHY2_SENSOR_ID_DEVICE_ORI: - case BHY2_SENSOR_ID_DEVICE_ORI_WU: - ret = "o"; - break; - case BHY2_SENSOR_ID_TEMP: - case BHY2_SENSOR_ID_TEMP_WU: - ret = "t"; - break; - case BHY2_SENSOR_ID_BARO: - case BHY2_SENSOR_ID_BARO_WU: - ret = "p"; - break; - case BHY2_SENSOR_ID_HUM: - case BHY2_SENSOR_ID_HUM_WU: - ret = "h"; - break; - case BHY2_SENSOR_ID_GAS: - case BHY2_SENSOR_ID_GAS_WU: - ret = "g"; - break; - case BHY2_SENSOR_ID_KLIO: - ret = "lin,lid,lpr,lcr,rin,rid,rc"; - break; - case BHY2_SENSOR_ID_SWIM: - ret = "d,lc,f,br,bu,ba,sc"; - break; - case BHY2_SENSOR_ID_LIGHT: - case BHY2_SENSOR_ID_LIGHT_WU: - ret = "l"; - break; - case BHY2_SENSOR_ID_PROX: - case BHY2_SENSOR_ID_PROX_WU: - ret = "p"; - break; - case BHY2_SENSOR_ID_STC: - case BHY2_SENSOR_ID_STC_WU: - case BHY2_SENSOR_ID_STC_LP: - case BHY2_SENSOR_ID_STC_LP_WU: - case BHY2_SENSOR_ID_EXCAMERA: - ret = "c"; - break; - case BHY2_SENSOR_ID_SIG: - case BHY2_SENSOR_ID_STD: - case BHY2_SENSOR_ID_STD_WU: - case BHY2_SENSOR_ID_TILT_DETECTOR: - case BHY2_SENSOR_ID_WAKE_GESTURE: - case BHY2_SENSOR_ID_GLANCE_GESTURE: - case BHY2_SENSOR_ID_PICKUP_GESTURE: - case BHY2_SENSOR_ID_SIG_LP: - case BHY2_SENSOR_ID_SIG_LP_WU: - case BHY2_SENSOR_ID_STD_LP: - case BHY2_SENSOR_ID_STD_LP_WU: - case BHY2_SENSOR_ID_WRIST_TILT_GESTURE: - case BHY2_SENSOR_ID_STATIONARY_DET: - case BHY2_SENSOR_ID_ANY_MOTION_LP: - case BHY2_SENSOR_ID_ANY_MOTION_LP_WU: - case BHI3_SENSOR_ID_NO_MOTION_LP_WU: - case BHY2_SENSOR_ID_MOTION_DET: - case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU: - ret = "e"; - break; - case BHY2_SENSOR_ID_AR: - case BHI3_SENSOR_ID_AR_WEAR_WU: - ret = "a"; - break; - case BHY2_SENSOR_ID_GPS: - ret = "g"; - break; - case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU: - ret = "wrist_gesture"; - break; - case BHI3_SENSOR_ID_MULTI_TAP: - ret = "taps"; - break; - case BHY2_SENSOR_ID_AIR_QUALITY: - ret = "t,h,g,i,si,c,v,a"; - break; - case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG: - case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q: - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q: - ret = "x,y,z,w,a"; - break; - case BHY2_SENSOR_ID_IMU_HEAD_ORI_E: - case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E: - ret = "h,p,r,a"; - break; - default: - ret = ""; - } - - return ret; -} diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BME68x-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BME68x-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BME68x-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BME68x-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BME68x.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BME68x.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BME68x.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BME68x.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BMP390-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BMP390-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BMP390-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BMP390-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BMP390.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BMP390.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BMP390.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_BMP390.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_turbo-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_turbo-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_turbo-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_turbo-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_turbo.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_turbo.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_turbo.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_APP30_SHUTTLE_BHI260_turbo.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_GPIO-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_GPIO-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_GPIO-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_GPIO-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_GPIO.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_GPIO.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_GPIO.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_GPIO.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BEM280-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BEM280-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BEM280-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BEM280-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BEM280.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BEM280.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BEM280.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BEM280.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280_GPIO-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280_GPIO-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280_GPIO-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280_GPIO-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280_GPIO.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280_GPIO.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280_GPIO.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_BEM280_GPIO.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_GPIO-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_GPIO-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_GPIO-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_GPIO-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_GPIO.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_GPIO.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_GPIO.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_BHI260_aux_BMM150_GPIO.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_bhi260_klio-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_bhi260_klio-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_bhi260_klio.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_bhi260_klio.fw diff --git a/lib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio_turbo-flash.fw b/lib/SensorLib/src/bosch/firmware/bhi260/Bosch_bhi260_klio_turbo-flash.fw similarity index 100% rename from lib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio_turbo-flash.fw rename to lib/SensorLib/src/bosch/firmware/bhi260/Bosch_bhi260_klio_turbo-flash.fw diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260.h index 8fe689f..190b904 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260.h @@ -9108,3 +9108,5 @@ const unsigned char bosch_app30_shuttle_bhi260_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char* bosch_firmware_name = "Bosch app30 shuttle bhi260"; + diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150.h index b27972b..a8e560a 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150.h @@ -9387,3 +9387,4 @@ const unsigned char bosch_app30_shuttle_bhi260_aux_bmm150_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_aux_bmm150_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_aux_bmm150_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_aux_bmm150_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 aux bmm150"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h index d50ce83..9f4d691 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h @@ -9995,3 +9995,4 @@ const unsigned char bosch_app30_shuttle_bhi260_aux_bmm150_flash_firmware_image[] const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_aux_bmm150_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_aux_bmm150_flash_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_aux_bmm150_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 aux bmm150 flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x.h index 3089383..b29c386 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x.h @@ -9963,3 +9963,5 @@ const unsigned char bosch_app30_shuttle_bhi260_bme68x_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_bme68x_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_bme68x_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_bme68x_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch app shuttle bhi260 bme68x"; + diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x_flash.h index 9064f74..a884461 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bme68x_flash.h @@ -10568,3 +10568,4 @@ const unsigned char bosch_app30_shuttle_bhi260_bme68x_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_bme68x_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_bme68x_flash_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_bme68x_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 bme68x flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390.h index 6579e4e..1cfc4a8 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390.h @@ -9279,3 +9279,4 @@ const unsigned char bosch_app30_shuttle_bhi260_bmp390_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_bmp390_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_bmp390_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_bmp390_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 bmp390"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390_flash.h index 4a60108..d10f664 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_bmp390_flash.h @@ -9804,3 +9804,4 @@ const unsigned char bosch_app30_shuttle_bhi260_bmp390_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_bmp390_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_bmp390_flash_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_bmp390_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 bmp390 flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_flash.h index 1900a1a..1ef8cc1 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_flash.h @@ -9607,3 +9607,4 @@ const unsigned char bosch_app30_shuttle_bhi260_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_flash_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo.h index 3a526fd..2710b4a 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo.h @@ -9107,3 +9107,4 @@ const unsigned char bosch_app30_shuttle_bhi260_turbo_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_turbo_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_turbo_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_turbo_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 turbo"; \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo_flash.h index a1e7e55..3bba7fb 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_app30_shuttle_bhi260_turbo_flash.h @@ -9607,3 +9607,4 @@ const unsigned char bosch_app30_shuttle_bhi260_turbo_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_app30_shuttle_bhi260_turbo_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_app30_shuttle_bhi260_turbo_flash_firmware_image)/sizeof(bosch_app30_shuttle_bhi260_turbo_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch app30 shuttle bhi260 turbo flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bem280.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bem280.h index e0f1fb1..ab48d01 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bem280.h @@ -9384,3 +9384,4 @@ const unsigned char bosch_bhi260_aux_bem280_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bem280_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bem280_firmware_image)/sizeof(bosch_bhi260_aux_bem280_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch bhi260 aux bem280"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bem280_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bem280_flash.h index cccc010..acd2ca0 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bem280_flash.h @@ -9959,3 +9959,4 @@ const unsigned char bosch_bhi260_aux_bem280_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bem280_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bem280_flash_firmware_image)/sizeof(bosch_bhi260_aux_bem280_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch bhi260 aux bem280 flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280.h index 28c139a..4419bf8 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280.h @@ -9667,3 +9667,4 @@ const unsigned char bosch_bhi260_aux_bmm150_bem280_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bmm150_bem280_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bmm150_bem280_firmware_image)/sizeof(bosch_bhi260_aux_bmm150_bem280_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch bhi260 aux bmm150 bem280"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_flash.h index 2f88934..d9b5087 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_flash.h @@ -10350,3 +10350,4 @@ const unsigned char bosch_bhi260_aux_bmm150_bem280_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bmm150_bem280_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bmm150_bem280_flash_firmware_image)/sizeof(bosch_bhi260_aux_bmm150_bem280_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch bhi260 aux bmm150 bem280 flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio.h index e79c34e..80e7b3d 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio.h @@ -10535,3 +10535,4 @@ const unsigned char bosch_bhi260_aux_bmm150_bem280_gpio_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bmm150_bem280_gpio_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bmm150_bem280_gpio_firmware_image)/sizeof(bosch_bhi260_aux_bmm150_bem280_gpio_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch bhi260 aux bmm150 bem280 gpio"; \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h index a8ae625..3af833e 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h @@ -11238,3 +11238,4 @@ const unsigned char bosch_bhi260_aux_bmm150_bem280_gpio_flash_firmware_image[] = const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bmm150_bem280_gpio_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bmm150_bem280_gpio_flash_firmware_image)/sizeof(bosch_bhi260_aux_bmm150_bem280_gpio_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch bhi260 aux bmm150 bem280 gpio flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio.h index 4e39690..c248b80 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio.h @@ -10264,3 +10264,4 @@ const unsigned char bosch_bhi260_aux_bmm150_gpio_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bmm150_gpio_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bmm150_gpio_firmware_image)/sizeof(bosch_bhi260_aux_bmm150_gpio_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch bhi260 aux bmm150 gpio"; \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio_flash.h index 9615ea7..c0cc8c0 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_aux_bmm150_gpio_flash.h @@ -10886,3 +10886,4 @@ const unsigned char bosch_bhi260_aux_bmm150_gpio_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_aux_bmm150_gpio_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_aux_bmm150_gpio_flash_firmware_image)/sizeof(bosch_bhi260_aux_bmm150_gpio_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch bhi260 aux bmm150 gpio flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_gpio.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_gpio.h index 395db8e..ac48aaa 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_gpio.h @@ -9980,3 +9980,4 @@ const unsigned char bosch_bhi260_gpio_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_gpio_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_gpio_firmware_image)/sizeof(bosch_bhi260_gpio_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch bhi260 gpio"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_gpio_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_gpio_flash.h index 42e2b86..1fe4b14 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_gpio_flash.h @@ -10498,3 +10498,4 @@ const unsigned char bosch_bhi260_gpio_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_gpio_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_gpio_flash_firmware_image)/sizeof(bosch_bhi260_gpio_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch bhi260 gpio flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio.h index 40c079c..623453a 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio.h @@ -10311,3 +10311,4 @@ const unsigned char bosch_bhi260_klio_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_klio_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_klio_firmware_image)/sizeof(bosch_bhi260_klio_firmware_image[0]); const unsigned char bosch_firmware_type = 0; +const char *bosch_firmware_name = "Bosch bhi260 klio"; \ No newline at end of file diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio_flash.h index d44fa32..bd056ec 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio_flash.h @@ -10862,3 +10862,4 @@ const unsigned char bosch_bhi260_klio_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_klio_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_klio_flash_firmware_image)/sizeof(bosch_bhi260_klio_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch bhi260 klio flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_turbo_flash.h b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio_turbo_flash.h similarity index 99% rename from lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_turbo_flash.h rename to lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio_turbo_flash.h index 1da60e3..2e31259 100644 --- a/lib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_turbo_flash.h +++ b/lib/SensorLib/src/bosch/firmware/bhi260/bosch_bhi260_klio_turbo_flash.h @@ -10862,3 +10862,4 @@ const unsigned char bosch_bhi260_klio_turbo_flash_firmware_image[] = { const unsigned char *bosch_firmware_image = bosch_bhi260_klio_turbo_flash_firmware_image; const unsigned int bosch_firmware_size = sizeof(bosch_bhi260_klio_turbo_flash_firmware_image)/sizeof(bosch_bhi260_klio_turbo_flash_firmware_image[0]); const unsigned char bosch_firmware_type = 1; +const char *bosch_firmware_name = "Bosch bhi260 klio turbo flash"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360.fw new file mode 100644 index 0000000..36c3303 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM150.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM150.fw new file mode 100644 index 0000000..fe86e54 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM150.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM150_HeadOrientation.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM150_HeadOrientation.fw new file mode 100644 index 0000000..ef43d55 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM150_HeadOrientation.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM350.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM350.fw new file mode 100644 index 0000000..d066b78 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM350.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM350_HeadOrientation.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM350_HeadOrientation.fw new file mode 100644 index 0000000..c932985 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_BMM350_HeadOrientation.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_HeadOrientation.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_HeadOrientation.fw new file mode 100644 index 0000000..5a752b5 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_HeadOrientation.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_MotionAI.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_MotionAI.fw new file mode 100644 index 0000000..68f4542 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_MotionAI.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_env.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_env.fw new file mode 100644 index 0000000..90419cd Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_DataInject_BHI360_env.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360.fw new file mode 100644 index 0000000..c6f07da Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_Aux_BMM150.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_Aux_BMM150.fw new file mode 100644 index 0000000..7ed624d Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_Aux_BMM150.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150.fw new file mode 100644 index 0000000..e6bd65a Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150_BMP580_BME688.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150_BMP580_BME688.fw new file mode 100644 index 0000000..d87762a Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150_BMP580_BME688.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150_HeadOrientation.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150_HeadOrientation.fw new file mode 100644 index 0000000..68a9121 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM150_HeadOrientation.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C.fw new file mode 100644 index 0000000..12ca2e5 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BME688_IAQ.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BME688_IAQ.fw new file mode 100644 index 0000000..1a83781 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BME688_IAQ.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BMP580.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BMP580.fw new file mode 100644 index 0000000..aaac876 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BMP580.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BMP580_BME688.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BMP580_BME688.fw new file mode 100644 index 0000000..b580f18 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_BMP580_BME688.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_HeadOrientation.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_HeadOrientation.fw new file mode 100644 index 0000000..502f360 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_HeadOrientation.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_Poll.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_Poll.fw new file mode 100644 index 0000000..ca16861 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_Poll.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_Turbo.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_Turbo.fw new file mode 100644 index 0000000..48c8632 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMM350C_Turbo.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMP580_test_example.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMP580_test_example.fw new file mode 100644 index 0000000..2a7b2f8 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_BMP580_test_example.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_HWActivity.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_HWActivity.fw new file mode 100644 index 0000000..a130bb6 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_HWActivity.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_HWActivity_Turbo.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_HWActivity_Turbo.fw new file mode 100644 index 0000000..dcb84d9 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_HWActivity_Turbo.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_IMU_HeadOrientation.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_IMU_HeadOrientation.fw new file mode 100644 index 0000000..ff5a1d7 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_IMU_HeadOrientation.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_TEMP.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_TEMP.fw new file mode 100644 index 0000000..f359f4d Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_TEMP.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_Turbo.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_Turbo.fw new file mode 100644 index 0000000..9b4761c Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_Turbo.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_polling_step_counter.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_polling_step_counter.fw new file mode 100644 index 0000000..af10de6 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_polling_step_counter.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_testDataSource.fw b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_testDataSource.fw new file mode 100644 index 0000000..655a775 Binary files /dev/null and b/lib/SensorLib/src/bosch/firmware/bhi360/Bosch_Shuttle3_BHI360_testDataSource.fw differ diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360.h new file mode 100644 index 0000000..52869e9 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360.h @@ -0,0 +1,8318 @@ +const unsigned char bosch_data_inject_bhi360[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 0x6d, 0x12, 0x00, 0x7c, 0x6d, 0x12, 0x00, 0x64, 0xb6, 0x10, 0x00, + 0xec, 0xb6, 0x10, 0x00, 0x34, 0xb8, 0x10, 0x00, 0x40, 0x6a, 0x12, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0x2c, 0x1a, 0x10, 0x00, 0xc8, 0xb5, 0x10, 0x00, + 0x10, 0x15, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xb8, 0x18, 0x10, 0x00, 0x6c, 0x19, 0x10, 0x00, 0x24, 0x6e, 0x12, 0x00, + 0x24, 0x6e, 0x12, 0x00, 0x24, 0x6e, 0x12, 0x00, 0x8c, 0xca, 0x12, 0x00, + 0xc1, 0x02, 0xcf, 0xf2, 0x5d, 0x07, 0x4f, 0xf6, 0xf5, 0x04, 0x00, 0x01, + 0x59, 0x06, 0x00, 0x01, 0x4d, 0x06, 0xcf, 0xf7, 0x69, 0x06, 0xcf, 0xf7, + 0x85, 0x06, 0xcf, 0xf7, 0xd9, 0x07, 0xcf, 0xf7, 0xe5, 0x05, 0xcf, 0xf9, + 0x35, 0x06, 0xcf, 0xf9, 0x11, 0x07, 0xcf, 0xf9, 0xa1, 0x01, 0x0f, 0xfa, + 0xa9, 0x01, 0x0f, 0xfa, 0x95, 0x02, 0x0f, 0xfa, 0x09, 0x06, 0x0f, 0xfa, + 0xb1, 0x00, 0xc0, 0x07, 0x19, 0x01, 0x4f, 0xfa, 0xb5, 0x04, 0x4f, 0xfa, + 0xf5, 0x04, 0x4f, 0xfa, 0x5d, 0x05, 0x4f, 0xfa, 0x2d, 0x04, 0xc0, 0x00, + 0x59, 0x06, 0x4f, 0xfa, 0x71, 0x06, 0x4f, 0xfa, 0x95, 0x00, 0xc0, 0x07, + 0xb5, 0x01, 0x8f, 0xfa, 0xd9, 0x01, 0x8f, 0xfa, 0x0d, 0x01, 0xc0, 0x07, + 0x41, 0x02, 0x8f, 0xfa, 0x65, 0x03, 0x8f, 0xfa, 0xbd, 0x03, 0x8f, 0xfa, + 0x15, 0x04, 0x8f, 0xfa, 0x61, 0x04, 0x8f, 0xfa, 0x79, 0x04, 0x8f, 0xfa, + 0x29, 0x01, 0xc0, 0x07, 0xf9, 0x04, 0x8f, 0xfa, 0xd9, 0x05, 0x40, 0x01, + 0x4d, 0x06, 0x8f, 0xfa, 0x81, 0x07, 0x8f, 0xfa, 0xa5, 0x01, 0xcf, 0xfa, + 0xa5, 0x02, 0xcf, 0xfa, 0x6d, 0x03, 0xcf, 0xfa, 0x79, 0x06, 0xcf, 0xfa, + 0xb5, 0x02, 0x40, 0x01, 0x35, 0x00, 0x0f, 0xfb, 0x75, 0x00, 0x0f, 0xfb, + 0xa9, 0x00, 0x0f, 0xfb, 0xd9, 0x00, 0x0f, 0xfb, 0xe1, 0x00, 0x0f, 0xfb, + 0xed, 0x00, 0x0f, 0xfb, 0xf5, 0x00, 0x0f, 0xfb, 0x05, 0x01, 0x0f, 0xfb, + 0x49, 0x02, 0x0f, 0xfb, 0x4d, 0x02, 0x0f, 0xfb, 0x55, 0x02, 0x0f, 0xfb, + 0x65, 0x02, 0x0f, 0xfb, 0x75, 0x02, 0x0f, 0xfb, 0x81, 0x02, 0x0f, 0xfb, + 0x75, 0x03, 0x0f, 0xfb, 0xad, 0x04, 0x0f, 0xfb, 0xd5, 0x04, 0x0f, 0xfb, + 0xed, 0x04, 0x0f, 0xfb, 0xf5, 0x04, 0x0f, 0xfb, 0x19, 0x05, 0x0f, 0xfb, + 0xc9, 0x03, 0x40, 0x01, 0x21, 0x06, 0x0f, 0xfb, 0x8d, 0x03, 0xc0, 0x07, + 0xd9, 0x06, 0x0f, 0xfb, 0x29, 0x01, 0x4f, 0xfb, 0x31, 0x05, 0xc0, 0x00, + 0x15, 0x02, 0x4f, 0xfb, 0xf1, 0x02, 0x4f, 0xfb, 0xad, 0x00, 0x80, 0x00, + 0x65, 0x00, 0x80, 0x00, 0xf5, 0x07, 0x40, 0x00, 0x39, 0x00, 0x80, 0x00, + 0x11, 0x00, 0x80, 0x00, 0x79, 0x00, 0x80, 0x00, 0xd9, 0x00, 0x80, 0x00, + 0xb5, 0x00, 0x80, 0x00, 0xf5, 0x05, 0x4f, 0xfb, 0xb9, 0x06, 0x4f, 0xfb, + 0xfd, 0x06, 0x4f, 0xfb, 0x69, 0x03, 0x40, 0x01, 0x51, 0x06, 0x8f, 0xfb, + 0x29, 0x02, 0xcf, 0xfb, 0xb5, 0x02, 0x0f, 0xfc, 0x35, 0x04, 0x0f, 0xfc, + 0x81, 0x04, 0x0f, 0xfc, 0x8d, 0x04, 0x0f, 0xfc, 0x61, 0x05, 0x0f, 0xfc, + 0x0d, 0x01, 0x8f, 0xfd, 0xa1, 0x01, 0x8f, 0xfd, 0xb1, 0x01, 0x8f, 0xfd, + 0xc1, 0x01, 0x8f, 0xfd, 0x29, 0x02, 0x40, 0x01, 0x91, 0x03, 0x8f, 0xfd, + 0x09, 0x05, 0x8f, 0xfd, 0x71, 0x04, 0xc0, 0x00, 0x99, 0x00, 0xcf, 0xfd, + 0x05, 0x04, 0xc0, 0x00, 0x51, 0x02, 0x0f, 0xef, 0xbd, 0x04, 0xcf, 0xfd, + 0x25, 0x05, 0xcf, 0xfd, 0x6d, 0x06, 0xcf, 0xfd, 0xa5, 0x06, 0xcf, 0xfd, + 0x5d, 0x07, 0xcf, 0xfd, 0xf5, 0x07, 0xcf, 0xfd, 0x29, 0x00, 0x0f, 0xfe, + 0xb9, 0x01, 0x40, 0x01, 0x11, 0x02, 0x0f, 0xfe, 0xa1, 0x02, 0x0f, 0xfe, + 0x39, 0x03, 0x0f, 0xfe, 0xc9, 0x03, 0x0f, 0xfe, 0xb1, 0x04, 0x0f, 0xfe, + 0x71, 0x07, 0x0f, 0xfe, 0xa5, 0x06, 0x80, 0x08, 0xfd, 0x07, 0x0f, 0xfe, + 0x0d, 0x00, 0x4f, 0xfe, 0x61, 0x00, 0x4f, 0xfe, 0xb5, 0x00, 0x4f, 0xfe, + 0xb9, 0x00, 0x4f, 0xfe, 0xcd, 0x00, 0x4f, 0xfe, 0xf5, 0x00, 0x4f, 0xfe, + 0x05, 0x02, 0x4f, 0xfe, 0xd9, 0x05, 0x8f, 0xfe, 0x65, 0x06, 0x8f, 0xfe, + 0x7d, 0x06, 0x8f, 0xfe, 0x75, 0x00, 0x40, 0x01, 0x35, 0x07, 0x8f, 0xfe, + 0x49, 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a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150.h new file mode 100644 index 0000000..cd6e83f --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150.h @@ -0,0 +1,8409 @@ +const unsigned char bosch_data_inject_bhi360_bmm150_firmware_image[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 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sizeof(bosch_data_inject_bhi360_bmm150_firmware_image)/sizeof(bosch_data_inject_bhi360_bmm150_firmware_image[0]); +const char *bosch_firmware_name = "Bosch data inject bhi360 bmm150"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150_head_orientation.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150_head_orientation.h new file mode 100644 index 0000000..ebbb01b --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm150_head_orientation.h @@ -0,0 +1,9329 @@ +const unsigned char bosch_data_inject_bhi360_bmm150_head_orientation_firmware_image[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 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0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_data_inject_bhi360_bmm150_head_orientation_firmware_image; +const unsigned int bosch_firmware_size = sizeof(bosch_data_inject_bhi360_bmm150_head_orientation_firmware_image)/sizeof(bosch_data_inject_bhi360_bmm150_head_orientation_firmware_image[0]); +const char *bosch_firmware_name = "Bosch data inject bhi360 bmm150 head orientation"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350.h new file mode 100644 index 0000000..5e06f7c --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350.h @@ -0,0 +1,8408 @@ +const unsigned char bosch_data_inject_bhi360_bmm350_firmware_image[] = { + 0x2b, 0x66, 0x00, 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0xa1, 0x00, 0xf0, 0x19, 0xa1, 0x00, 0xfc, 0x19, 0xa1, + 0x00, 0x0c, 0x1a, 0xa1, 0x00, 0xac, 0x1a, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xb4, 0x2f, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0xb4, 0x19, 0xa1, + 0x00, 0xa4, 0x1a, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0x7c, 0xf8, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_data_inject_bhi360_bmm350_firmware_image; +const unsigned int bosch_firmware_size = sizeof(bosch_data_inject_bhi360_bmm350_firmware_image)/sizeof(bosch_data_inject_bhi360_bmm350_firmware_image[0]); +const char *bosch_firmware_name = "Bosch data inject bhi360 bmm350"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350_head_orientation.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350_head_orientation.h new file mode 100644 index 0000000..bc4ec3f --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_bmm350_head_orientation.h @@ -0,0 +1,9329 @@ +const unsigned char bosch_data_inject_bhi360_bmm350_head_orientation_firmware_image[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 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0xa1, 0x00, 0x14, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0xa1, 0x00, 0xcc, 0xf6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_data_inject_bhi360_bmm350_head_orientation_firmware_image; +const unsigned int bosch_firmware_size = sizeof(bosch_data_inject_bhi360_bmm350_head_orientation_firmware_image)/sizeof(bosch_data_inject_bhi360_bmm350_head_orientation_firmware_image[0]); +const char *bosch_firmware_name = "Bosch data inject bhi360 bmm350 head orientation"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_env.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_env.h new file mode 100644 index 0000000..4e0e72a --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_env.h @@ -0,0 +1,10763 @@ +const unsigned char bosch_data_inject_bhi360_env_firmware_image[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 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0xa0, 0x30, 0xa1, 0x00, 0xa8, 0x30, 0xa1, 0x00, 0xdc, 0x30, 0xa1, + 0x00, 0xe8, 0x30, 0xa1, 0x00, 0xf8, 0x30, 0xa1, 0x00, 0x98, 0x31, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x4d, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0xb0, 0x30, 0xa1, 0x00, 0x90, 0x31, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0xa1, 0x00, 0xac, 0xe1, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_data_inject_bhi360_env_firmware_image; +const unsigned int bosch_firmware_size = sizeof(bosch_data_inject_bhi360_env_firmware_image)/sizeof(bosch_data_inject_bhi360_env_firmware_image[0]); +const char *bosch_firmware_name = "Bosch data inject bhi360 env"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_head_orientation.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_head_orientation.h new file mode 100644 index 0000000..faaaaf1 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_head_orientation.h @@ -0,0 +1,9158 @@ +const unsigned char bosch_data_inject_bhi360_head_orientation[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 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0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_data_inject_bhi360_head_orientation; +const unsigned int bosch_firmware_size = sizeof(bosch_data_inject_bhi360_head_orientation)/sizeof(bosch_data_inject_bhi360_head_orientation[0]); +const char *bosch_firmware_name = "Bosch data inject bhi360 head orientation"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_motion_ai.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_motion_ai.h new file mode 100644 index 0000000..e31a0fd --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_data_inject_bhi360_motion_ai.h @@ -0,0 +1,8874 @@ +const unsigned char bosch_data_inject_bhi360_motion_ai[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 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0x1b, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x34, 0x3c, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0x3c, 0x1b, 0xa1, 0x00, 0xac, 0x1b, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x3c, 0x3c, 0xa1, 0x00, 0x1d, 0x00, 0x00, 0x00, 0x01, 0x34, 0x1b, 0xa1, + 0x00, 0x5c, 0x1b, 0xa1, 0x00, 0x64, 0x1b, 0xa1, 0x00, 0x98, 0x1b, 0xa1, + 0x00, 0xa4, 0x1b, 0xa1, 0x00, 0xb4, 0x1b, 0xa1, 0x00, 0x54, 0x1c, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x58, 0x3c, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0x6c, 0x1b, 0xa1, 0x00, 0x4c, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0xa1, 0x00, 0xf4, 0xf6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_data_inject_bhi360_motion_ai; +const unsigned int bosch_firmware_size = sizeof(bosch_data_inject_bhi360_motion_ai)/sizeof(bosch_data_inject_bhi360_motion_ai[0]); +const char *bosch_firmware_name = "Bosch data inject bhi360 motion ai"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360.h new file mode 100644 index 0000000..257856a --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360.h @@ -0,0 +1,10865 @@ +const unsigned char bosch_shuttle3_bhi360[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360)/sizeof(bosch_shuttle3_bhi360[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_aux_bmm150.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_aux_bmm150.h new file mode 100644 index 0000000..2949a42 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_aux_bmm150.h @@ -0,0 +1,11188 @@ +const unsigned char bosch_shuttle3_bhi360_aux_bmm150[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 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0x1c, 0xa1, 0x00, 0x48, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xcc, 0x5c, 0xa1, 0x00, 0x19, 0x00, 0x00, 0x00, 0x01, 0xdc, 0x1c, 0xa1, + 0x00, 0xe4, 0x1c, 0xa1, 0x00, 0x28, 0x1d, 0xa1, 0x00, 0x40, 0x1d, 0xa1, + 0x00, 0x50, 0x1d, 0xa1, 0x00, 0xf0, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xe4, 0x5c, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0xec, 0x1c, 0xa1, + 0x00, 0xe8, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0xc0, 0xf5, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_aux_bmm150; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_aux_bmm150)/sizeof(bosch_shuttle3_bhi360_aux_bmm150[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 aux bmm150"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150.h new file mode 100644 index 0000000..5ff02f8 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150.h @@ -0,0 +1,11051 @@ +const unsigned char bosch_shuttle3_bhi360_bmm150[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 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0x68, 0x1d, 0xa1, + 0x00, 0x78, 0x1d, 0xa1, 0x00, 0x18, 0x1e, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xdc, 0x5c, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x14, 0x1d, 0xa1, + 0x00, 0x10, 0x1e, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0xb4, 0xf5, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm150; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm150)/sizeof(bosch_shuttle3_bhi360_bmm150[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm150"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_bmp580_bme688.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_bmp580_bme688.h new file mode 100644 index 0000000..6361f84 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_bmp580_bme688.h @@ -0,0 +1,11917 @@ +const unsigned char bosch_shuttle3_bhi360_bmm150_bmp580_bme688[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 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0x00, 0xac, 0x1e, 0xa1, 0x00, 0xb8, 0x1e, 0xa1, + 0x00, 0xd4, 0x1e, 0xa1, 0x00, 0x74, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x4c, 0x65, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x70, 0x1e, 0xa1, + 0x00, 0x6c, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0x10, 0xf5, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm150_bmp580_bme688; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm150_bmp580_bme688)/sizeof(bosch_shuttle3_bhi360_bmm150_bmp580_bme688[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm150 bmp580 bme688"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_head_orientation.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_head_orientation.h new file mode 100644 index 0000000..5cce4a2 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm150_head_orientation.h @@ -0,0 +1,11974 @@ +const unsigned char bosch_shuttle3_bhi360_bmm150_head_orientation[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm150_head_orientation; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm150_head_orientation)/sizeof(bosch_shuttle3_bhi360_bmm150_head_orientation[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm150 head orientation"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c.h new file mode 100644 index 0000000..f40acae --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c.h @@ -0,0 +1,11583 @@ +const unsigned char bosch_shuttle3_bhi360_bmm350c[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 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0x00, 0x01, 0xf4, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xfc, 0x5c, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x50, 0x1e, 0xa1, + 0x00, 0x10, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x04, 0x5d, 0xa1, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0xfc, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x08, 0x5d, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x04, 0x1e, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x0c, 0x5d, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0xec, 0x1d, 0xa1, 0x00, 0x6c, 0x1e, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x14, 0x5d, 0xa1, 0x00, 0x19, 0x00, 0x00, 0x00, 0x01, 0x0c, 0x1e, 0xa1, + 0x00, 0x14, 0x1e, 0xa1, 0x00, 0x58, 0x1e, 0xa1, 0x00, 0x64, 0x1e, 0xa1, + 0x00, 0x80, 0x1e, 0xa1, 0x00, 0x20, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x2c, 0x5d, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x1c, 0x1e, 0xa1, + 0x00, 0x18, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0xa0, 0xf4, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm350c; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm350c)/sizeof(bosch_shuttle3_bhi360_bmm350c[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm350c"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bme688_iaq.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bme688_iaq.h new file mode 100644 index 0000000..51b71e7 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bme688_iaq.h @@ -0,0 +1,13482 @@ +const unsigned char bosch_shuttle3_bhi360_bmm350c_bme688_iaq[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 0x6d, 0x12, 0x00, 0x7c, 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0x02, + 0x80, 0x37, 0x02, 0x80, 0x03, 0x04, 0x02, 0x0f, 0xaf, 0xc7, 0x0f, 0x03, + 0x06, 0x10, 0x0f, 0x80, 0x05, 0x17, 0xb8, 0x02, 0x7c, 0xa0, 0x02, 0x04, + 0x05, 0x0e, 0x0f, 0x06, 0x0f, 0x10, 0x00, 0x00, 0xeb, 0x0f, 0x80, 0x02, + 0x23, 0xea, 0xad, 0x9a, 0x02, 0x80, 0x34, 0x02, 0x80, 0x9a, 0x02, 0x04, + 0x02, 0x0f, 0x0f, 0x03, 0x06, 0x10, 0x02, 0x0f, 0x1e, 0x04, 0x18, 0x54, + 0x22, 0x80, 0x18, 0x32, 0x04, 0x0e, 0x00, 0xe4, 0x02, 0x04, 0x04, 0x11, + 0x0f, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x08, 0x79, 0xa1, 0x00, 0x36, 0x00, 0x00, 0x00, + 0x00, 0x32, 0xdd, 0x00, 0x02, 0x01, 0xe0, 0x01, 0x02, 0x05, 0x0e, 0x03, + 0xd0, 0x41, 0x03, 0x11, 0x19, 0x03, 0x05, 0x0f, 0x04, 0x0a, 0x10, 0x03, + 0x0a, 0x0c, 0x09, 0x0b, 0x18, 0x00, 0x8c, 0x6a, 0x14, 0x09, 0x0d, 0x0f, + 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x88, 0x79, 0xa1, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x98, 0x2e, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x8c, 0x79, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0xb0, 0x2f, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x90, 0x79, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0xa0, 0x2e, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x94, 0x79, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0xa8, 0x2e, 0xa1, 0x00, 0x08, 0x2f, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x9c, 0x79, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x90, 0x2e, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xa0, 0x79, 0xa1, 0x00, + 0x11, 0x00, 0x00, 0x00, 0x01, 0xb0, 0x2e, 0xa1, 0x00, 0xb8, 0x2e, 0xa1, + 0x00, 0x20, 0x2f, 0xa1, 0x00, 0xc0, 0x2f, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xb0, 0x79, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0xc0, 0x2e, 0xa1, + 0x00, 0xb8, 0x2f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0xe0, 0xe4, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm350c_bme688_iaq; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm350c_bme688_iaq)/sizeof(bosch_shuttle3_bhi360_bmm350c_bme688_iaq[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm350c bme688 iaq"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580.h new file mode 100644 index 0000000..26dc13e --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580.h @@ -0,0 +1,11803 @@ +const unsigned char bosch_shuttle3_bhi360_bmm350c_bmp580[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 0x6d, 0x12, 0x00, 0x7c, 0x6d, 0x12, 0x00, 0x64, 0xb6, 0x10, 0x00, + 0xec, 0xb6, 0x10, 0x00, 0x34, 0xb8, 0x10, 0x00, 0x40, 0x6a, 0x12, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0x2c, 0x1a, 0x10, 0x00, 0xc8, 0xb5, 0x10, 0x00, + 0x10, 0x15, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xb8, 0x18, 0x10, 0x00, 0x6c, 0x19, 0x10, 0x00, 0x24, 0x6e, 0x12, 0x00, + 0x24, 0x6e, 0x12, 0x00, 0x24, 0x6e, 0x12, 0x00, 0x8c, 0xca, 0x12, 0x00, + 0xc1, 0x02, 0xcf, 0xf2, 0x5d, 0x07, 0x4f, 0xf6, 0xf5, 0x04, 0x00, 0x01, + 0x59, 0x06, 0x00, 0x01, 0x4d, 0x06, 0xcf, 0xf7, 0x69, 0x06, 0xcf, 0xf7, + 0x85, 0x06, 0xcf, 0xf7, 0xd9, 0x07, 0xcf, 0xf7, 0xe5, 0x05, 0xcf, 0xf9, + 0x35, 0x06, 0xcf, 0xf9, 0x11, 0x07, 0xcf, 0xf9, 0xa1, 0x01, 0x0f, 0xfa, + 0xa9, 0x01, 0x0f, 0xfa, 0x95, 0x02, 0x0f, 0xfa, 0x09, 0x06, 0x0f, 0xfa, + 0xb1, 0x00, 0xc0, 0x07, 0x19, 0x01, 0x4f, 0xfa, 0xb5, 0x04, 0x4f, 0xfa, + 0xf5, 0x04, 0x4f, 0xfa, 0x5d, 0x05, 0x4f, 0xfa, 0x2d, 0x04, 0xc0, 0x00, + 0x59, 0x06, 0x4f, 0xfa, 0x71, 0x06, 0x4f, 0xfa, 0x95, 0x00, 0xc0, 0x07, + 0xb5, 0x01, 0x8f, 0xfa, 0xd9, 0x01, 0x8f, 0xfa, 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0x01, 0xa8, 0x1e, 0xa1, + 0x00, 0x68, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xdc, 0x60, 0xa1, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x54, 0x1e, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xe0, 0x60, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x5c, 0x1e, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0xe4, 0x60, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0x44, 0x1e, 0xa1, 0x00, 0xc4, 0x1e, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xec, 0x60, 0xa1, 0x00, 0x19, 0x00, 0x00, 0x00, 0x01, 0x64, 0x1e, 0xa1, + 0x00, 0x6c, 0x1e, 0xa1, 0x00, 0xb0, 0x1e, 0xa1, 0x00, 0xbc, 0x1e, 0xa1, + 0x00, 0xd8, 0x1e, 0xa1, 0x00, 0x78, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x04, 0x61, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x74, 0x1e, 0xa1, + 0x00, 0x70, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0x54, 0xf4, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm350c_bmp580; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm350c_bmp580)/sizeof(bosch_shuttle3_bhi360_bmm350c_bmp580[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm350c bmp580"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580_bme688.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580_bme688.h new file mode 100644 index 0000000..0177c8b --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_bmp580_bme688.h @@ -0,0 +1,12351 @@ +const unsigned char bosch_shuttle3_bhi360_bmm350c_bmp580_bme688[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 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0xf6, 0xf5, 0x04, 0x00, 0x01, + 0x59, 0x06, 0x00, 0x01, 0x4d, 0x06, 0xcf, 0xf7, 0x69, 0x06, 0xcf, 0xf7, + 0x85, 0x06, 0xcf, 0xf7, 0xd9, 0x07, 0xcf, 0xf7, 0xe5, 0x05, 0xcf, 0xf9, + 0x35, 0x06, 0xcf, 0xf9, 0x11, 0x07, 0xcf, 0xf9, 0xa1, 0x01, 0x0f, 0xfa, + 0xa9, 0x01, 0x0f, 0xfa, 0x95, 0x02, 0x0f, 0xfa, 0x09, 0x06, 0x0f, 0xfa, + 0xb1, 0x00, 0xc0, 0x07, 0x19, 0x01, 0x4f, 0xfa, 0xb5, 0x04, 0x4f, 0xfa, + 0xf5, 0x04, 0x4f, 0xfa, 0x5d, 0x05, 0x4f, 0xfa, 0x2d, 0x04, 0xc0, 0x00, + 0x59, 0x06, 0x4f, 0xfa, 0x71, 0x06, 0x4f, 0xfa, 0x95, 0x00, 0xc0, 0x07, + 0xb5, 0x01, 0x8f, 0xfa, 0xd9, 0x01, 0x8f, 0xfa, 0x0d, 0x01, 0xc0, 0x07, + 0x41, 0x02, 0x8f, 0xfa, 0x65, 0x03, 0x8f, 0xfa, 0xbd, 0x03, 0x8f, 0xfa, + 0x15, 0x04, 0x8f, 0xfa, 0x61, 0x04, 0x8f, 0xfa, 0x79, 0x04, 0x8f, 0xfa, + 0x29, 0x01, 0xc0, 0x07, 0xf9, 0x04, 0x8f, 0xfa, 0xd9, 0x05, 0x40, 0x01, + 0x4d, 0x06, 0x8f, 0xfa, 0x81, 0x07, 0x8f, 0xfa, 0xa5, 0x01, 0xcf, 0xfa, + 0xa5, 0x02, 0xcf, 0xfa, 0x6d, 0x03, 0xcf, 0xfa, 0x79, 0x06, 0xcf, 0xfa, + 0xb5, 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0xa1, 0x00, 0x00, 0x00, 0x00, + 0x84, 0x65, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x50, 0x1f, 0xa1, + 0x00, 0xd0, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x8c, 0x65, 0xa1, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0x70, 0x1f, 0xa1, 0x00, 0x78, 0x1f, 0xa1, + 0x00, 0xbc, 0x1f, 0xa1, 0x00, 0xc8, 0x1f, 0xa1, 0x00, 0xe4, 0x1f, 0xa1, + 0x00, 0x84, 0x20, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xa4, 0x65, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0x80, 0x1f, 0xa1, 0x00, 0x7c, 0x20, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, 0xfc, 0xf3, 0xff, 0xff, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm350c_bmp580_bme688; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm350c_bmp580_bme688)/sizeof(bosch_shuttle3_bhi360_bmm350c_bmp580_bme688[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm350c bmp580 bme688"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_head_orientation.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_head_orientation.h new file mode 100644 index 0000000..4edac01 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_head_orientation.h @@ -0,0 +1,12498 @@ +const unsigned char bosch_shuttle3_bhi360_bmm350c_head_orientation[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 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0x01, 0xb4, 0x1f, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x8c, 0x63, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0x9c, 0x1f, 0xa1, 0x00, 0x1c, 0x20, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x94, 0x63, 0xa1, 0x00, 0x2d, 0x00, 0x00, 0x00, 0x01, 0xbc, 0x1f, 0xa1, + 0x00, 0xc4, 0x1f, 0xa1, 0x00, 0x08, 0x20, 0xa1, 0x00, 0x14, 0x20, 0xa1, + 0x00, 0x64, 0x20, 0xa1, 0x00, 0x88, 0x20, 0xa1, 0x00, 0xa8, 0x20, 0xa1, + 0x00, 0xc8, 0x20, 0xa1, 0x00, 0xe8, 0x20, 0xa1, 0x00, 0xf0, 0x20, 0xa1, + 0x00, 0x90, 0x21, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x63, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0xcc, 0x1f, 0xa1, 0x00, 0x88, 0x21, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, 0xf0, 0xf2, 0xff, 0xff, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm350c_head_orientation; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm350c_head_orientation)/sizeof(bosch_shuttle3_bhi360_bmm350c_head_orientation[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm350c head orientation"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_poll.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_poll.h new file mode 100644 index 0000000..964666a --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_poll.h @@ -0,0 +1,11472 @@ +const unsigned char bosch_shuttle3_bhi360_bmm350c_poll[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 0x6d, 0x12, 0x00, 0x7c, 0x6d, 0x12, 0x00, 0x64, 0xb6, 0x10, 0x00, + 0xec, 0xb6, 0x10, 0x00, 0x34, 0xb8, 0x10, 0x00, 0x40, 0x6a, 0x12, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0x2c, 0x1a, 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0x00, 0x18, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x08, 0x5d, 0xa1, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0x04, 0x1e, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x0c, 0x5d, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x0c, 0x1e, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x10, 0x5d, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0xf4, 0x1d, 0xa1, 0x00, 0x74, 0x1e, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x18, 0x5d, 0xa1, 0x00, 0x19, 0x00, 0x00, 0x00, 0x01, 0x14, 0x1e, 0xa1, + 0x00, 0x1c, 0x1e, 0xa1, 0x00, 0x60, 0x1e, 0xa1, 0x00, 0x6c, 0x1e, 0xa1, + 0x00, 0x88, 0x1e, 0xa1, 0x00, 0x28, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x30, 0x5d, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x24, 0x1e, 0xa1, + 0x00, 0x20, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0xa0, 0xf4, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm350c_poll; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm350c_poll)/sizeof(bosch_shuttle3_bhi360_bmm350c_poll[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm350c poll"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_turbo.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_turbo.h new file mode 100644 index 0000000..4cc2c58 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmm350c_turbo.h @@ -0,0 +1,11582 @@ +const unsigned char bosch_shuttle3_bhi360_bmm350c_turbo[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 0x6d, 0x12, 0x00, 0x7c, 0x6d, 0x12, 0x00, 0x64, 0xb6, 0x10, 0x00, + 0xec, 0xb6, 0x10, 0x00, 0x34, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmm350c_turbo; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmm350c_turbo)/sizeof(bosch_shuttle3_bhi360_bmm350c_turbo[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmm350c turbo"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmp580_test_example.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmp580_test_example.h new file mode 100644 index 0000000..925b5b7 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_bmp580_test_example.h @@ -0,0 +1,10392 @@ +const unsigned char bosch_shuttle3_bhi360_bmp580_test_example[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 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0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_bmp580_test_example; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_bmp580_test_example)/sizeof(bosch_shuttle3_bhi360_bmp580_test_example[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 bmp580 test example"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity.h new file mode 100644 index 0000000..f71ea20 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity.h @@ -0,0 +1,10493 @@ +const unsigned char bosch_shuttle3_bhi360_hw_activity[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 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0x8c, 0x55, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0x9c, 0x1b, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x90, 0x55, 0xa1, 0x00, + 0x15, 0x00, 0x00, 0x00, 0x01, 0xbc, 0x1b, 0xa1, 0x00, 0xc4, 0x1b, 0xa1, + 0x00, 0xf8, 0x1b, 0xa1, 0x00, 0x10, 0x1c, 0xa1, 0x00, 0xb0, 0x1c, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0xa4, 0x55, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0xcc, 0x1b, 0xa1, 0x00, 0xa8, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0xa1, 0x00, 0xc8, 0xf6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_hw_activity; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_hw_activity)/sizeof(bosch_shuttle3_bhi360_hw_activity[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 hw activity"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity_turbo.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity_turbo.h new file mode 100644 index 0000000..45f0ef8 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_hw_activity_turbo.h @@ -0,0 +1,10491 @@ +const unsigned char bosch_shuttle3_bhi360_hw_activity_turbo[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 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0x01, 0xa4, 0x1b, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x7c, 0x55, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0xf0, 0x1b, 0xa1, 0x00, 0xa0, 0x1c, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x84, 0x55, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0xac, 0x1b, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x88, 0x55, 0xa1, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0xb4, 0x1b, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x8c, 0x55, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x9c, 0x1b, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x90, 0x55, 0xa1, 0x00, 0x15, 0x00, 0x00, 0x00, + 0x01, 0xbc, 0x1b, 0xa1, 0x00, 0xc4, 0x1b, 0xa1, 0x00, 0xf8, 0x1b, 0xa1, + 0x00, 0x10, 0x1c, 0xa1, 0x00, 0xb0, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xa4, 0x55, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0xcc, 0x1b, 0xa1, + 0x00, 0xa8, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0xc8, 0xf6, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_hw_activity_turbo; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_hw_activity_turbo)/sizeof(bosch_shuttle3_bhi360_hw_activity_turbo[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 hw activity turbo"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_imu_head_orientation.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_imu_head_orientation.h new file mode 100644 index 0000000..f5be340 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_imu_head_orientation.h @@ -0,0 +1,11693 @@ +const unsigned char bosch_shuttle3_bhi360_imu_head_orientation[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 0x6d, 0x12, 0x00, 0x7c, 0x6d, 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0x1f, 0xa1, 0x00, 0x50, 0x1f, 0xa1, + 0x00, 0x58, 0x1f, 0xa1, 0x00, 0xf8, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x98, 0x5b, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x84, 0x1e, 0xa1, + 0x00, 0xf0, 0x1f, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0x10, 0xf4, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_imu_head_orientation; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_imu_head_orientation)/sizeof(bosch_shuttle3_bhi360_imu_head_orientation[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 imu head orientation"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_polling_step_counter.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_polling_step_counter.h new file mode 100644 index 0000000..ada1e9f --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_polling_step_counter.h @@ -0,0 +1,10872 @@ +const unsigned char bosch_shuttle3_bhi360_polling_step_counter[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 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0x00, 0x00, + 0x01, 0xbc, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xac, 0x56, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0x08, 0x1d, 0xa1, 0x00, 0xc8, 0x1d, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0xb4, 0x56, 0xa1, 0x00, 0x05, 0x00, 0x00, 0x00, + 0x01, 0xc4, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xb8, 0x56, 0xa1, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0xcc, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xbc, 0x56, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0xb4, 0x1c, 0xa1, + 0x00, 0x30, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xc4, 0x56, 0xa1, 0x00, + 0x1d, 0x00, 0x00, 0x00, 0x01, 0x64, 0x1c, 0xa1, 0x00, 0xd4, 0x1c, 0xa1, + 0x00, 0xdc, 0x1c, 0xa1, 0x00, 0x10, 0x1d, 0xa1, 0x00, 0x28, 0x1d, 0xa1, + 0x00, 0x38, 0x1d, 0xa1, 0x00, 0xd8, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0xe0, 0x56, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0xe4, 0x1c, 0xa1, + 0x00, 0xd0, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, + 0xc0, 0xf5, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_polling_step_counter; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_polling_step_counter)/sizeof(bosch_shuttle3_bhi360_polling_step_counter[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 polling step counter"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_temp.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_temp.h new file mode 100644 index 0000000..02c50c9 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_temp.h @@ -0,0 +1,10901 @@ +const unsigned char bosch_shuttle3_bhi360_temp[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 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0x00, 0x00, 0x58, 0xa1, 0x00, + 0x05, 0x00, 0x00, 0x00, 0x01, 0xd4, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x04, 0x58, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0xbc, 0x1c, 0xa1, + 0x00, 0x38, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x58, 0xa1, 0x00, + 0x19, 0x00, 0x00, 0x00, 0x01, 0xdc, 0x1c, 0xa1, 0x00, 0xe4, 0x1c, 0xa1, + 0x00, 0x18, 0x1d, 0xa1, 0x00, 0x30, 0x1d, 0xa1, 0x00, 0x40, 0x1d, 0xa1, + 0x00, 0xe0, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x24, 0x58, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0xec, 0x1c, 0xa1, 0x00, 0xd8, 0x1d, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, 0xb4, 0xf5, 0xff, 0xff, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_temp; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_temp)/sizeof(bosch_shuttle3_bhi360_temp[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 temp"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_test_data_source.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_test_data_source.h new file mode 100644 index 0000000..5dc05be --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_test_data_source.h @@ -0,0 +1,10967 @@ +const unsigned char bosch_shuttle3_bhi360_test_data_source[] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x4c, 0x09, 0x96, 0xf6, 0x4e, 0x81, + 0x3b, 0xcb, 0xa0, 0x82, 0x18, 0xcc, 0x49, 0x98, 0xed, 0x9a, 0x57, 0x6e, + 0xf9, 0x36, 0x18, 0x4e, 0x8a, 0x15, 0x43, 0x5e, 0x09, 0x55, 0x97, 0xdc, + 0x14, 0x82, 0x9a, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x60, 0xda, 0xcf, 0x72, + 0x1c, 0x32, 0x5c, 0xc4, 0x21, 0x0a, 0xd7, 0xe0, 0x7f, 0x65, 0xbf, 0xcd, + 0x6e, 0x5b, 0xee, 0x8b, 0x00, 0x00, 0x00, 0x00, 0x40, 0xa2, 0xa0, 0xfd, + 0x05, 0x17, 0xee, 0x91, 0x05, 0x60, 0xee, 0xc2, 0xac, 0x97, 0x70, 0xb5, + 0xe8, 0x93, 0xe3, 0xa9, 0xf0, 0x4f, 0x01, 0x00, 0xef, 0x0f, 0xe9, 0xaa, + 0xdc, 0x39, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x70, 0xbb, 0x7c, 0x77, 0xb8, 0x7a, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x84, 0x46, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x98, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x80, 0x4d, 0x12, 0x00, + 0x7c, 0x6d, 0x12, 0x00, 0x7c, 0x6d, 0x12, 0x00, 0x64, 0xb6, 0x10, 0x00, + 0xec, 0xb6, 0x10, 0x00, 0x34, 0xb8, 0x10, 0x00, 0x40, 0x6a, 0x12, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0x2c, 0x1a, 0x10, 0x00, 0xc8, 0xb5, 0x10, 0x00, + 0x10, 0x15, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xb8, 0x18, 0x10, 0x00, 0x6c, 0x19, 0x10, 0x00, 0x24, 0x6e, 0x12, 0x00, + 0x24, 0x6e, 0x12, 0x00, 0x24, 0x6e, 0x12, 0x00, 0x8c, 0xca, 0x12, 0x00, + 0xc1, 0x02, 0xcf, 0xf2, 0x5d, 0x07, 0x4f, 0xf6, 0xf5, 0x04, 0x00, 0x01, + 0x59, 0x06, 0x00, 0x01, 0x4d, 0x06, 0xcf, 0xf7, 0x69, 0x06, 0xcf, 0xf7, + 0x85, 0x06, 0xcf, 0xf7, 0xd9, 0x07, 0xcf, 0xf7, 0xe5, 0x05, 0xcf, 0xf9, + 0x35, 0x06, 0xcf, 0xf9, 0x11, 0x07, 0xcf, 0xf9, 0xa1, 0x01, 0x0f, 0xfa, + 0xa9, 0x01, 0x0f, 0xfa, 0x95, 0x02, 0x0f, 0xfa, 0x09, 0x06, 0x0f, 0xfa, + 0xb1, 0x00, 0xc0, 0x07, 0x19, 0x01, 0x4f, 0xfa, 0xb5, 0x04, 0x4f, 0xfa, + 0xf5, 0x04, 0x4f, 0xfa, 0x5d, 0x05, 0x4f, 0xfa, 0x2d, 0x04, 0xc0, 0x00, + 0x59, 0x06, 0x4f, 0xfa, 0x71, 0x06, 0x4f, 0xfa, 0x95, 0x00, 0xc0, 0x07, + 0xb5, 0x01, 0x8f, 0xfa, 0xd9, 0x01, 0x8f, 0xfa, 0x0d, 0x01, 0xc0, 0x07, + 0x41, 0x02, 0x8f, 0xfa, 0x65, 0x03, 0x8f, 0xfa, 0xbd, 0x03, 0x8f, 0xfa, + 0x15, 0x04, 0x8f, 0xfa, 0x61, 0x04, 0x8f, 0xfa, 0x79, 0x04, 0x8f, 0xfa, + 0x29, 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0xa1, 0x00, 0x58, 0x1d, 0xa1, + 0x00, 0xf8, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, 0x80, 0x5b, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0xd4, 0x1c, 0xa1, 0x00, 0xf0, 0x1d, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0xa1, 0x00, 0xc0, 0xf5, 0xff, 0xff, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_test_data_source; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_test_data_source)/sizeof(bosch_shuttle3_bhi360_test_data_source[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 test data source"; diff --git a/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_turbo.h b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_turbo.h new file mode 100644 index 0000000..92db959 --- /dev/null +++ b/lib/SensorLib/src/bosch/firmware/bhi360/bosch_shuttle3_bhi360_turbo.h @@ -0,0 +1,10865 @@ +const unsigned char bosch_shuttle3_bhi360_turbo[] = { + 0x2b, 0x66, 0x00, 0x00, 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0x00, 0x00, + 0x01, 0xbc, 0x1c, 0xa1, 0x00, 0x00, 0x00, 0x00, 0xac, 0x56, 0xa1, 0x00, + 0x09, 0x00, 0x00, 0x00, 0x01, 0xa4, 0x1c, 0xa1, 0x00, 0x14, 0x1d, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0xb4, 0x56, 0xa1, 0x00, 0x19, 0x00, 0x00, 0x00, + 0x01, 0xc4, 0x1c, 0xa1, 0x00, 0xcc, 0x1c, 0xa1, 0x00, 0x00, 0x1d, 0xa1, + 0x00, 0x0c, 0x1d, 0xa1, 0x00, 0x28, 0x1d, 0xa1, 0x00, 0xc8, 0x1d, 0xa1, + 0x00, 0x00, 0x00, 0x00, 0xcc, 0x56, 0xa1, 0x00, 0x09, 0x00, 0x00, 0x00, + 0x01, 0xd4, 0x1c, 0xa1, 0x00, 0xc0, 0x1d, 0xa1, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x12, 0xa1, 0x00, 0xc0, 0xf5, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, +}; + +const unsigned char *bosch_firmware_image = bosch_shuttle3_bhi360_turbo; +const unsigned int bosch_firmware_size = sizeof(bosch_shuttle3_bhi360_turbo)/sizeof(bosch_shuttle3_bhi360_turbo[0]); +const char *bosch_firmware_name = "Bosch shuttle3 bhi360 turbo"; diff --git a/lib/SensorLib/src/haptic_drivers/AW86224_RamData.hpp b/lib/SensorLib/src/haptic_drivers/AW86224_RamData.hpp new file mode 100644 index 0000000..5bd3e84 --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/AW86224_RamData.hpp @@ -0,0 +1,92 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file AW86224_RamData.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-01 + * + */ +#pragma once + +#include + +static constexpr uint8_t aw862xx_ram_data[] = { + 0x55, 0x08, 0x11, 0x09, 0x76, 0x09, 0x77, 0x0a, 0x80, 0x0a, 0x81, 0x0b, 0x2e, 0x0b, 0x2f, 0x0b, + 0x61, 0x00, 0x0e, 0x1d, 0x2b, 0x38, 0x45, 0x50, 0x5b, 0x63, 0x6b, 0x71, 0x75, 0x77, 0x77, 0x76, + 0x73, 0x6e, 0x68, 0x5f, 0x56, 0x4b, 0x3f, 0x32, 0x24, 0x16, 0x07, 0xfa, 0xeb, 0xdd, 0xcf, 0xc2, + 0xb6, 0xab, 0xa1, 0x99, 0x92, 0x8d, 0x8a, 0x89, 0x89, 0x8b, 0x8f, 0x95, 0x9c, 0xa5, 0xaf, 0xba, + 0xc7, 0xd4, 0xe2, 0xf1, 0x00, 0x0d, 0x1c, 0x2a, 0x37, 0x44, 0x50, 0x5a, 0x63, 0x6a, 0x70, 0x74, + 0x77, 0x77, 0x76, 0x73, 0x6e, 0x68, 0x60, 0x57, 0x4c, 0x40, 0x33, 0x25, 0x17, 0x08, 0xfb, 0xec, + 0xde, 0xd0, 0xc3, 0xb6, 0xab, 0xa2, 0x99, 0x93, 0x8e, 0x8a, 0x89, 0x89, 0x8b, 0x8f, 0x94, 0x9c, + 0xa4, 0xae, 0xba, 0xc6, 0xd3, 0xe1, 0xf0, 0xff, 0x0c, 0x1b, 0x29, 0x37, 0x43, 0x4f, 0x59, 0x62, + 0x6a, 0x70, 0x74, 0x77, 0x77, 0x76, 0x73, 0x6f, 0x69, 0x61, 0x57, 0x4c, 0x41, 0x34, 0x26, 0x18, + 0x09, 0xfb, 0xed, 0xde, 0xd1, 0xc3, 0xb7, 0xac, 0xa2, 0x9a, 0x93, 0x8e, 0x8a, 0x89, 0x89, 0x8b, + 0x8e, 0x94, 0x9b, 0xa4, 0xae, 0xb9, 0xc5, 0xd3, 0xe1, 0xef, 0x00, 0xf3, 0xe5, 0xd8, 0xcb, 0xbf, + 0xb4, 0xaa, 0xa2, 0x9a, 0x95, 0x91, 0x8e, 0x8e, 0x8e, 0x91, 0x95, 0x9b, 0xa3, 0xab, 0xb5, 0xc0, + 0xcd, 0xd9, 0xe7, 0xf4, 0x01, 0x0f, 0x1d, 0x2a, 0x37, 0x43, 0x4e, 0x57, 0x60, 0x67, 0x6c, 0x70, + 0x72, 0x72, 0x71, 0x6e, 0x6a, 0x64, 0x5c, 0x53, 0x49, 0x3e, 0x32, 0x25, 0x17, 0x0a, 0xfd, 0xef, + 0xe1, 0xd4, 0xc7, 0xbc, 0xb1, 0xa8, 0x9f, 0x99, 0x93, 0x90, 0x8e, 0x8e, 0x8f, 0x92, 0x97, 0x9d, + 0xa5, 0xae, 0xb8, 0xc4, 0xd0, 0xdd, 0xea, 0xf8, 0x05, 0x13, 0x21, 0x2e, 0x3a, 0x46, 0x50, 0x5a, + 0x62, 0x68, 0x6d, 0x71, 0x72, 0x72, 0x71, 0x6d, 0x68, 0x62, 0x5a, 0x51, 0x46, 0x3b, 0x2e, 0x21, + 0x14, 0x00, 0xf9, 0xf2, 0xeb, 0xe4, 0xde, 0xd8, 0xd3, 0xcf, 0xcb, 0xc8, 0xc6, 0xc5, 0xc5, 0xc5, + 0xc7, 0xc9, 0xcc, 0xd1, 0xd5, 0xdb, 0xe1, 0xe7, 0xee, 0xf5, 0xfd, 0x03, 0x0a, 0x11, 0x18, 0x1f, + 0x25, 0x2a, 0x2f, 0x33, 0x37, 0x39, 0x3b, 0x3b, 0x3b, 0x3a, 0x38, 0x35, 0x32, 0x2d, 0x28, 0x23, + 0x1c, 0x16, 0x0f, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x07, 0x16, 0x24, 0x32, 0x3f, 0x4b, 0x56, 0x5f, 0x67, 0x6e, 0x73, 0x76, 0x77, 0x77, + 0x75, 0x71, 0x6b, 0x64, 0x5b, 0x51, 0x45, 0x39, 0x2b, 0x1d, 0x0f, 0x00, 0xf2, 0xe4, 0xd6, 0xc8, + 0xbc, 0xb0, 0xa6, 0x9d, 0x95, 0x90, 0x8b, 0x89, 0x89, 0x8a, 0x8d, 0x92, 0x98, 0xa0, 0xaa, 0xb5, + 0xc1, 0xce, 0xdb, 0xea, 0xf8, 0x06, 0x15, 0x23, 0x31, 0x3e, 0x4a, 0x55, 0x5f, 0x67, 0x6e, 0x73, + 0x76, 0x77, 0x77, 0x75, 0x71, 0x6b, 0x64, 0x5b, 0x51, 0x46, 0x39, 0x2c, 0x1e, 0x10, 0x01, 0xf3, + 0xe5, 0xd7, 0xc9, 0xbc, 0xb1, 0xa6, 0x9d, 0x96, 0x90, 0x8c, 0x89, 0x89, 0x8a, 0x8d, 0x91, 0x98, + 0xa0, 0xa9, 0xb4, 0xc0, 0xcd, 0xda, 0xe9, 0xf7, 0x05, 0x14, 0x22, 0x30, 0x3d, 0x49, 0x54, 0x5e, + 0x66, 0x6d, 0x72, 0x76, 0x77, 0x77, 0x75, 0x71, 0x6c, 0x65, 0x5c, 0x52, 0x47, 0x3a, 0x2d, 0x1f, + 0x11, 0x00, 0x0f, 0x1e, 0x2c, 0x3a, 0x47, 0x53, 0x5e, 0x67, 0x6f, 0x75, 0x79, 0x7c, 0x7c, 0x7b, + 0x78, 0x74, 0x6d, 0x65, 0x5b, 0x50, 0x44, 0x37, 0x29, 0x1a, 0x0b, 0xfd, 0xee, 0xdf, 0xd0, 0xc3, + 0xb6, 0xaa, 0xa0, 0x97, 0x90, 0x8a, 0x86, 0x84, 0x84, 0x85, 0x89, 0x8e, 0x95, 0x9d, 0xa7, 0xb3, + 0xbf, 0xcd, 0xdb, 0xea, 0xf9, 0x07, 0x16, 0x25, 0x33, 0x41, 0x4d, 0x59, 0x63, 0x6b, 0x72, 0x77, + 0x7b, 0x7c, 0x7c, 0x7a, 0x76, 0x70, 0x69, 0x60, 0x56, 0x4a, 0x3d, 0x30, 0x21, 0x13, 0x00, 0xfa, + 0xf4, 0xee, 0xe9, 0xe4, 0xdf, 0xdb, 0xd7, 0xd4, 0xd1, 0xd0, 0xcf, 0xcf, 0xcf, 0xd0, 0xd2, 0xd5, + 0xd9, 0xdd, 0xe1, 0xe6, 0xeb, 0xf1, 0xf7, 0xfd, 0x02, 0x08, 0x0e, 0x14, 0x1a, 0x1f, 0x23, 0x27, + 0x2b, 0x2d, 0x30, 0x31, 0x31, 0x31, 0x30, 0x2f, 0x2c, 0x29, 0x26, 0x21, 0x1d, 0x17, 0x12, 0x0c, + 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x52, 0x63, 0x6d, 0x73, + 0x78, 0x7a, 0x7c, 0x7d, 0x7d, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7e, 0x7d, 0x7c, 0x7b, 0x79, 0x76, + 0x71, 0x68, 0x5b, 0x47, 0x26, 0xf2, 0xc8, 0xae, 0x9d, 0x93, 0x8c, 0x88, 0x86, 0x84, 0x83, 0x83, + 0x82, 0x82, 0x82, 0x82, 0x83, 0x83, 0x84, 0x85, 0x88, 0x8b, 0x91, 0x9a, 0xa9, 0xc1, 0xe6, 0x07, + 0x17, 0x26, 0x34, 0x42, 0x4f, 0x5a, 0x64, 0x6d, 0x74, 0x79, 0x7d, 0x7e, 0x7e, 0x7c, 0x78, 0x72, + 0x6a, 0x61, 0x56, 0x4a, 0x3d, 0x2f, 0x20, 0x11, 0x00, 0x0d, 0x1a, 0x27, 0x33, 0x3f, 0x49, 0x53, + 0x5b, 0x62, 0x67, 0x6b, 0x6d, 0x6d, 0x6c, 0x6a, 0x65, 0x5f, 0x58, 0x4f, 0x46, 0x3b, 0x2f, 0x22, + 0x15, 0x08, 0xf9, 0xe9, 0xda, 0xcc, 0xbe, 0xb1, 0xa6, 0x9c, 0x93, 0x8c, 0x87, 0x83, 0x82, 0x82, + 0x84, 0x88, 0x8e, 0x96, 0x9f, 0xaa, 0xb6, 0xc3, 0xd1, 0xe0, 0xef, 0x40, 0x53, 0x5e, 0x66, 0x6b, + 0x6e, 0x6f, 0x71, 0x71, 0x72, 0x72, 0x72, 0x72, 0x72, 0x72, 0x72, 0x71, 0x70, 0x6f, 0x6d, 0x6a, + 0x64, 0x5c, 0x4f, 0x39, 0x17, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x08, 0x11, 0x19, 0x21, 0x28, 0x2f, 0x35, 0x3a, 0x3e, 0x41, 0x44, 0x45, 0x45, 0x45, 0x43, 0x40, + 0x3c, 0x37, 0x32, 0x2c, 0x25, 0x1d, 0x15, 0x0d, 0x04, 0xfc, 0xf4, 0xec, 0xe4, 0xdc, 0xd5, 0xce, + 0xc9, 0xc4, 0xc0, 0xbd, 0xbb, 0xbb, 0xbb, 0xbc, 0xbe, 0xc2, 0xc6, 0xcb, 0xd1, 0xd8, 0xdf, 0xe7, + 0xef, 0xf7 +}; + +static constexpr uint32_t aw862xx_ram_len = sizeof(aw862xx_ram_data); diff --git a/lib/SensorLib/src/haptic_drivers/HapticBase.hpp b/lib/SensorLib/src/haptic_drivers/HapticBase.hpp new file mode 100644 index 0000000..7b4cded --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticBase.hpp @@ -0,0 +1,340 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once + +#include "HapticDefs.hpp" + +/** + * @brief Abstract base class for haptic drivers. + * + * This class provides a unified interface for different haptic motor drivers + * (e.g., DRV2605, AW86224, AW86225). It allows users to write platform-independent + * haptic control code while each driver handles chip-specific details. + * + * @section usage Usage Example + * @code + * // Works with any HapticBase-compatible driver + * HapticBase* haptic; + * + * // Query capabilities + * auto cap = haptic->getCapabilities(); + * if (cap.hasContinuousMode) { + * haptic->continuousVibration(1000); // 1 second + * } + * @endcode + * + * @section design Design Principles + * - **Feature probing**: Return false or default values for unsupported operations + * - **Unified API**: Same method names across different chips + * - **Optional features**: Subclasses can override default implementations + */ +class HapticBase +{ +public: + virtual ~HapticBase() = default; + + // ==================== Lifecycle ==================== + + /** + * @brief Deinitialize the haptic driver and release resources. + */ + virtual void end() {} + + /** + * @brief Check if the driver is initialized and ready. + * @return true if ready, false otherwise. + */ + virtual bool isReady() const = 0; + + // ==================== Playback Control ==================== + + /** + * @brief Start haptic playback. + * @return true if successful, false otherwise. + */ + virtual bool run() = 0; + + /** + * @brief Stop haptic playback immediately. + * @return true if successful, false otherwise. + */ + virtual bool stop() = 0; + + /** + * @brief Check if haptic is currently playing. + * @return true if playing, false otherwise. + */ + virtual bool isPlaying() const = 0; + + /** + * @brief Get current playback status. + * @return Current HapticStatus. + */ + virtual HapticStatus getStatus() const = 0; + + /** + * @brief Emergency stop - stops all vibration immediately. + * + * Default implementation calls stop(). Subclasses can override + * for chip-specific emergency handling. + */ + virtual void emergencyStop() + { + stop(); + } + + // ==================== Gain Control ==================== + + /** + * @brief Set the gain/amplitude (0x00 to 0xFF). + * @param gain Gain value. + * @return true if successful, false otherwise. + */ + virtual bool setGain(uint8_t gain) = 0; + + /** + * @brief Get the current gain value. + * @return Current gain (0x00 to 0xFF), or 0 if unsupported. + */ + virtual uint8_t getGain() const = 0; + + // ==================== Effect Playback ==================== + + /** + * @brief Play a haptic effect. + * + * This is a blocking call - it returns only after the effect completes. + * For chips that don't support blocking, use playEffectAsync() instead. + * + * @param effect Effect ID to play (chip-specific mapping). + * @return true if successful, false otherwise. + */ + virtual bool playEffect(HapticEffectId effect) = 0; + + /** + * @brief Play a haptic effect (non-blocking). + * + * Returns immediately; use isPlaying() or vibrationUpdate() to check status. + * + * @param effect Effect ID to play. + * @return true if started successfully, false otherwise. + */ + virtual bool playEffectAsync(HapticEffectId effect) + { + return playEffect(effect); + } + + /** + * @brief Play a continuous vibration for specified duration. + * + * Default implementation uses playEffect() in a loop. + * Subclasses should override for optimized continuous mode. + * + * @param duration_ms Duration in milliseconds. + * @param blocking If true, blocks until vibration completes. + */ + virtual void continuousVibration(uint32_t duration_ms, bool blocking = true); + + /** + * @brief Update vibration state (for non-blocking mode). + * + * Call this periodically in your main loop when using non-blocking + * vibration functions. Default implementation does nothing. + */ + virtual void vibrationUpdate() {} + + // ==================== Waveform Sequence ==================== + + /** + * @brief Set a waveform in the sequence. + * @param slot Sequence slot index (0 to maxSequenceLength-1). + * @param effect Effect ID to play at this slot. + * @return true if successful, false otherwise. + */ + virtual bool setSequence(uint8_t slot, HapticEffectId effect) + { + (void)slot; + (void)effect; + return false; + } + + /** + * @brief Clear the waveform sequence. + * @return true if successful, false otherwise. + */ + virtual bool clearSequence() + { + return false; + } + + /** + * @brief Play the waveform sequence. + * @return true if successful, false otherwise. + */ + virtual bool playSequence() + { + return false; + } + + // ==================== Device Information ==================== + + /** + * @brief Get the chip name. + * @return Null-terminated string with chip name. + */ + virtual const char *getChipName() const = 0; + + /** + * @brief Get the chip ID. + * @return Chip identifier value. + */ + virtual uint8_t getChipID() const = 0; + + /** + * @brief Get the actuator type. + * @return Current actuator type (ERM or LRA). + */ + virtual HapticActuatorType getActuatorType() const = 0; + + /** + * @brief Set the actuator type. + * @param type Actuator type to set (ERM or LRA). + * @return true if successful, false otherwise. + */ + virtual bool setActuatorType(HapticActuatorType type) = 0; + + /** + * @brief Get device capabilities. + * @return HapticCapabilities struct describing supported features. + */ + virtual HapticCapabilities getCapabilities() const = 0; + + // ==================== Calibration ==================== + + /** + * @brief Perform auto-calibration. + * @return true if successful, false otherwise. + */ + virtual bool calibrate() + { + return false; + } + + /** + * @brief Check if calibration is needed. + * @return true if calibration is required, false otherwise. + */ + virtual bool needsCalibration() const + { + return false; + } + + /** + * @brief Get the measured resonant frequency (F0). + * @return F0 in Hz, or 0 if not available. + */ + virtual uint32_t getF0() const + { + return 0; + } + + /** + * @brief Get the battery voltage. + * @return Voltage in mV, or 0 if unsupported. + */ + virtual uint32_t getVbat() + { + return 0; + } + + // ==================== Mode Control ==================== + + /** + * @brief Set the operating mode. + * @param mode Mode to set. + * @return true if successful, false otherwise. + */ + virtual bool setMode(HapticMode mode) + { + (void)mode; + return false; + } + + /** + * @brief Get the current operating mode. + * @return Current HapticMode. + */ + virtual HapticMode getMode() const + { + return HapticMode::INTERNAL_TRIGGER; + } + + // ==================== RTP (Real-Time Playback) ==================== + + /** + * @brief Set RTP (real-time playback) value. + * + * Only meaningful when in REAL_TIME_PLAYBACK mode. + * + * @param value RTP drive value (0x00 to 0xFF). + * @return true if successful, false otherwise. + */ + virtual bool setRealtimeValue(uint8_t value) + { + (void)value; + return false; + } + +protected: + /** + * @brief Constructor for derived classes. + * @param name Chip name string for getChipName(). + */ + explicit HapticBase(const char* name) : _chipName(name), _isReady(false) {} + + /** + * @brief Set ready state. + * @param ready Ready state to set. + */ + void setReady(bool ready) + { + _isReady = ready; + } + + const char *_chipName; + bool _isReady; +}; + + +inline void HapticBase::continuousVibration(uint32_t duration_ms, bool blocking) +{ + (void)duration_ms; + (void)blocking; +} diff --git a/lib/SensorLib/src/haptic_drivers/HapticDefs.hpp b/lib/SensorLib/src/haptic_drivers/HapticDefs.hpp new file mode 100644 index 0000000..d8c4362 --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticDefs.hpp @@ -0,0 +1,122 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDefs.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once + +#include + +/** + * @brief Actuator type. + */ +enum class HapticActuatorType : uint8_t { + ERM = 0, ///< Eccentric Rotating Mass motor + LRA = 1, ///< Linear Resonant Actuator +}; + +/** + * @brief Generic haptic operating mode. + */ +enum class HapticMode : uint8_t { + INTERNAL_TRIGGER, ///< Play by selecting waveforms/effects and calling run() + EXT_TRIGGER_EDGE, ///< External trigger on edge (pin interrupt) + EXT_TRIGGER_LEVEL, ///< External trigger on level (pin state) + PWM_ANALOG, ///< PWM or analog input drive + AUDIO_TO_VIBE, ///< Audio input to vibration + REAL_TIME_PLAYBACK, ///< RTP mode (direct drive value) + DIAGNOSTICS, ///< Diagnostics mode + AUTO_CALIBRATE, ///< Auto-calibration mode +}; + +/** + * @brief Haptic effect ID type. + * For chips like DRV2605, this maps to ROM waveform index. + * For AW862xx, this maps to RAM waveform slot. + */ +using HapticEffectId = uint16_t; + +/** + * @brief Vibration playback status. + */ +enum class HapticStatus : uint8_t { + IDLE = 0, ///< Not playing + PLAYING = 1, ///< Currently playing + PAUSED = 2, ///< Playback paused + CALIBRATING = 3, ///< Calibrating + ERROR = 4, ///< Error state +}; + +/** + * @brief Device capability flags. + * + * Use with getCapabilities() to query what features + * a specific haptic driver supports. + */ +struct HapticCapabilities { + uint8_t hasF0Calibration : 1; ///< Supports F0 (resonant frequency) calibration + uint8_t hasVbatCompensation : 1; ///< Supports automatic voltage compensation + uint8_t hasRTP : 1; ///< Supports Real-Time Playback mode + uint8_t hasSequence : 1; ///< Supports waveform sequencing + uint8_t hasAutoCalibration : 1; ///< Supports auto-calibration + uint8_t hasBreakEffect : 1; ///< Supports brake/break effects + uint8_t hasOverdrive : 1; ///< Supports overdrive effects + uint8_t hasContinuousMode : 1; ///< Supports continuous vibration mode + + uint8_t maxEffectCount; ///< Maximum number of effect IDs supported + uint8_t maxSequenceLength; ///< Maximum waveform sequence length + uint16_t maxDurationMs; ///< Maximum vibration duration in ms (0 = unlimited) + + constexpr HapticCapabilities() + : hasF0Calibration(0), hasVbatCompensation(0), hasRTP(0) + , hasSequence(0), hasAutoCalibration(0), hasBreakEffect(0) + , hasOverdrive(0), hasContinuousMode(0) + , maxEffectCount(0), maxSequenceLength(0), maxDurationMs(0) {} +}; + +/** + * @brief Preset haptic effect types for common use cases. + * + * These provide a unified way to play common effects across + * different haptic driver chips. + */ +enum class HapticPreset : uint8_t { + CLICK, ///< Short click/tick + DOUBLE_CLICK, ///< Double click + TRIPLE_CLICK, ///< Triple click + LONG_VIBRATION, ///< Continuous vibration + BUZZ, ///< Medium buzz + STRONG_BUZZ, ///< Strong buzz + TAP, ///< Light tap + HEAVY_TAP, ///< Heavy tap + PULSE, ///< Pulsed vibration + RAMP_UP, ///< Gradually increasing intensity + RAMP_DOWN, ///< Gradually decreasing intensity + WAVE, ///< Wave-like pattern + RAINBOW, ///< Multi-frequency effect +}; + diff --git a/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224.cpp b/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224.cpp new file mode 100644 index 0000000..bc3f7d3 --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224.cpp @@ -0,0 +1,1009 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDriver_AW86224.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-06 + * + */ + +#include "HapticDriver_AW86224.hpp" +#include "HapticDriver_AW86224_Reg.hpp" +#include "AW86224_RamData.hpp" + +HapticDriver_AW86224::HapticDriver_AW86224() : + HapticBase("AW86224"), + _rstPin(-1), + _chipID(0), + _playMode(PlayMode::STANDBY), + _gain(0x80), + _f0(0), _vbat(0), _lra(0), + _ramInit(false), + _cont_drv2_lvl(0), + _f0_cali_data(0), + _f0_pre(1700), + _ramBaseAddr(0), _ramNum(0), + _lra_vrms(1000), + _cont_brk_time(0x06), _cont_brk_gain(0x08), + _cont_drv1_lvl(0x7F), _cont_drv1_time(0x04), _cont_drv2_time(0x14), + _cont_track_margin(0x0F), + _d2s_gain(0x05), + _pwmcfg4_prtime(0x32), _pwmcfg3_prlvl(0x3F), + _auto_brk_enabled(false), + _f0_cali_percent(7), + _duration(0), _vibrationStartTime(0), + _isCalibrated(false) +{ +} + +void HapticDriver_AW86224::setPins(uint8_t resetPin, uint8_t intPin) +{ + _rstPin = resetPin; + _intPin = intPin; +} + +void HapticDriver_AW86224::end() +{ + stop(); + setReady(false); +} + +bool HapticDriver_AW86224::isReady() const +{ + return _isReady && _ramInit; +} + +const char *HapticDriver_AW86224::getChipName() const +{ + return "AW86224"; +} + +// ==================== HapticBase Interface ==================== + +HapticCapabilities HapticDriver_AW86224::getCapabilities() const +{ + HapticCapabilities cap; + cap.hasF0Calibration = 1; + cap.hasVbatCompensation = 1; + cap.hasRTP = 1; + cap.hasSequence = 1; + cap.hasAutoCalibration = 0; + cap.hasBreakEffect = 1; + cap.hasOverdrive = 0; + cap.hasContinuousMode = 1; + cap.maxEffectCount = _ramNum > 0 ? _ramNum : 4; + cap.maxSequenceLength = 8; + cap.maxDurationMs = 0; // Unlimited + return cap; +} + +HapticStatus HapticDriver_AW86224::getStatus() const +{ + if (!_isReady) return HapticStatus::ERROR; + if (isPlaying()) return HapticStatus::PLAYING; + return HapticStatus::IDLE; +} + +bool HapticDriver_AW86224::isPlaying() const +{ + if (_playMode == PlayMode::STANDBY) return false; + uint8_t state = getGlobalState() & 0x0F; + return state != 0x00 && state != 0x07; +} + +uint8_t HapticDriver_AW86224::getGain() const +{ + return _gain; +} + +bool HapticDriver_AW86224::playEffect(HapticEffectId effect) +{ + if (!_ramInit) return false; + shortVibration(static_cast(effect), _gain, 1); + return true; +} + +bool HapticDriver_AW86224::playEffectAsync(HapticEffectId effect) +{ + if (!_ramInit) return false; + if (isPlaying()) { + stop(); + hal->delay(20); + } + cancelVibration(); + softReset(); + hal->delay(10); + + setTrimLRA(static_cast(_f0_cali_data)); + setWaveSeq(0, static_cast(effect)); + setWaveSeq(1, 0); + setWaveLoop(0, 0); + setGain(_gain); + playMode(PlayMode::RAM); + run(); + return true; +} + +void HapticDriver_AW86224::continuousVibration(uint32_t duration_ms, bool blocking) +{ + if (!_ramInit) return; + longVibration(2, _gain, duration_ms, blocking); +} + +void HapticDriver_AW86224::vibrationUpdate() +{ + if (!isPlaying()) return; + + if (_duration > 0 && hal->millis() - _vibrationStartTime >= _duration) { + stop(); + return; + } + + if ((getGlobalState() & 0x0F) != 0x07) run(); +} + +bool HapticDriver_AW86224::setSequence(uint8_t slot, HapticEffectId effect) +{ + if (slot >= 8) return false; + setWaveSeq(slot, static_cast(effect)); + return true; +} + +bool HapticDriver_AW86224::clearSequence() +{ + for (uint8_t i = 0; i < 8; i++) { + setWaveSeq(i, 0); + } + return true; +} + +bool HapticDriver_AW86224::playSequence() +{ + if (!_ramInit) return false; + playMode(PlayMode::RAM); + return run(); +} + +bool HapticDriver_AW86224::calibrate() +{ + if (!_isReady) return false; + f0Calibration(); + _isCalibrated = true; + return _f0 > 0; +} + +bool HapticDriver_AW86224::needsCalibration() const +{ + return !_isCalibrated || _f0 == 0; +} + +// ==================== Internal Helper Functions ==================== + +void HapticDriver_AW86224::cancelVibration() +{ + playStop(); +} + +void HapticDriver_AW86224::ram_vbat_comp(bool flag) +{ + if (!flag) return; + + uint32_t vbat = _vbat < 3000 ? 3000 : _vbat; + int temp_gain = static_cast(_gain) * AW_VBAT_REFER / vbat; + if (temp_gain > 255) temp_gain = 255; + +#ifdef HAPTIC_DEBUG + Serial.printf("[VBAT_COMP] vbat=%d, orig=0x%02X, comp=0x%02X\n", vbat, _gain, temp_gain); +#endif + + setGain(static_cast(temp_gain)); +} + +void HapticDriver_AW86224::ramInit(bool enable) +{ + if (enable) { + updateBits(REG_SYSCTRL1, MASK_EN_RAMINIT, MASK_EN_RAMINIT); + hal->delayMicroseconds(500); + } else { + updateBits(REG_SYSCTRL1, MASK_EN_RAMINIT, 0); + } +} + +void HapticDriver_AW86224::playStop() +{ + _playMode = PlayMode::STANDBY; + ramInit(true); + updateBits(REG_PLAYCFG3, MASK_PLAY_MODE, MASK_PLAY_MODE); + writeReg(REG_PLAYCFG4, PLAYCFG4_GO_ON); + ramInit(false); + + uint8_t val = 0; + uint8_t cnt = 40; + while (cnt--) { + val = readReg(REG_GLBRD5); + if ((val & MASK_GLB_STATE) == STATE_STANDBY) break; + hal->delay(5); + } + + if ((val & MASK_GLB_STATE) != STATE_STANDBY) { + updateBits(REG_SYSCTRL2, MASK_STANDBY, MASK_STANDBY); + hal->delay(2); + updateBits(REG_SYSCTRL2, MASK_STANDBY, 0); + } +} + +bool HapticDriver_AW86224::checkQualify() +{ + return (readReg(REG_CHIPID) & 0x80) == 0x80; +} + +bool HapticDriver_AW86224::offsetCalibration() +{ + if (_d2s_gain == 0) return false; + + updateBits(REG_SYSCTRL7, MASK_D2S_GAIN, _d2s_gain & MASK_D2S_GAIN); + int d2s_gain = selectD2sGain(_d2s_gain & MASK_D2S_GAIN); + if (d2s_gain < 0) return false; + + ramInit(true); + updateBits(REG_DETCFG1, MASK_RL_OS, 0); + updateBits(REG_DETCFG2, MASK_DIAG_GO, MASK_DIAG_GO); + hal->delay(3); + + uint8_t reg_val[2]; + reg_val[0] = readReg(REG_DET_OS); + reg_val[1] = readReg(REG_DET_LO); + ramInit(false); + + int os_code = (reg_val[1] & 0xFC) >> 2; + os_code = (reg_val[0] << 2) | os_code; + os_code = os_formula(os_code, d2s_gain); + + return (os_code <= 15 && os_code >= -15); +} + +int HapticDriver_AW86224::selectD2sGain(uint8_t reg) +{ + switch (reg) { + case 0: return 1; + case 1: return 2; + case 2: return 4; + case 3: return 5; + case 4: return 8; + case 5: return 10; + case 6: return 20; + case 7: return 40; + default: return -1; + } +} + +void HapticDriver_AW86224::setSramSize(SramSize size) +{ + switch (size) { + case SramSize::SRAM_1K: + updateBits(REG_RTPCFG1, _BV(5), 0); + updateBits(REG_RTPCFG1, _BV(4), _BV(4)); + break; + case SramSize::SRAM_2K: + updateBits(REG_RTPCFG1, _BV(5), _BV(5)); + updateBits(REG_RTPCFG1, _BV(4), 0); + break; + case SramSize::SRAM_3K: + updateBits(REG_RTPCFG1, _BV(4) | _BV(5), _BV(4) | _BV(5)); + break; + } +} + +void HapticDriver_AW86224::autoBrkConfig(bool enable) +{ + updateBits(REG_PLAYCFG3, MASK_BRK_EN, enable ? MASK_BRK_EN : 0); +} + +void HapticDriver_AW86224::setPwm(PwmMode mode) +{ + switch (mode) { + case PwmMode::PWM_48K: updateBits(REG_SYSCTRL2, MASK_WAVDAT_MODE, 1); break; + case PwmMode::PWM_24K: updateBits(REG_SYSCTRL2, MASK_WAVDAT_MODE, 0); break; + case PwmMode::PWM_12K: updateBits(REG_SYSCTRL2, MASK_WAVDAT_MODE, 2); break; + } +} + +void HapticDriver_AW86224::playMode(PlayMode mode) +{ + _playMode = mode; + switch (mode) { + case PlayMode::STANDBY: + playStop(); + break; + case PlayMode::RAM: + setPwm(PwmMode::PWM_12K); + autoBrkConfig(false); + updateBits(REG_PLAYCFG3, MASK_PLAY_MODE, 0); + break; + case PlayMode::RAM_LOOP: + setPwm(PwmMode::PWM_12K); + autoBrkConfig(true); + updateBits(REG_PLAYCFG3, MASK_PLAY_MODE, 0); + break; + case PlayMode::CONT: + autoBrkConfig(true); + updateBits(REG_PLAYCFG3, MASK_PLAY_MODE, 2); + break; + case PlayMode::RTP: + setPwm(PwmMode::PWM_24K); + autoBrkConfig(true); + updateBits(REG_PLAYCFG3, MASK_PLAY_MODE, 1); + break; + } +} + +void HapticDriver_AW86224::config() +{ + setSramSize(SramSize::SRAM_3K); + updateBits(REG_TRGCFG8, MASK_TRG1_MODE, 0x10); + updateBits(REG_ANACFG8, MASK_TRTF_CTRL_HDRV, MASK_TRTF_CTRL_HDRV); + + if (_cont_brk_time) writeReg(REG_CONTCFG10, _cont_brk_time); + else _cont_brk_time = 1; + + if (_cont_brk_gain) updateBits(REG_CONTCFG5, MASK_BRK_GAIN, _cont_brk_gain); + else _cont_brk_gain = 1; +} + +void HapticDriver_AW86224::protectConfig(uint8_t prtime, uint8_t prlvl) +{ + updateBits(REG_PWMCFG1, MASK_PRC_EN, 0); + if (prlvl != 0) { + writeReg(REG_PWMCFG3, MASK_PR_EN | (prlvl & ~MASK_PRLVL)); + writeReg(REG_PWMCFG4, prtime); + } else { + updateBits(REG_PWMCFG3, MASK_PR_EN, 0); + } +} + +void HapticDriver_AW86224::miscParaInit() +{ + updateBits(REG_SYSCTRL7, MASK_GAIN_BYPASS, GAIN_BYPASS_CHANGEABLE); + _cont_drv2_lvl = drv2_lvl_formula(_f0_pre, _lra_vrms); + if (_cont_drv2_lvl > 127) _cont_drv2_lvl = 127; + config(); + setPwm(PwmMode::PWM_12K); + protectConfig(_pwmcfg4_prtime, _pwmcfg3_prlvl); +} + +void HapticDriver_AW86224::trigInit() +{ + updateBits(REG_TRGCFG8, MASK_TRG1_MODE, 0x10); + updateBits(REG_SYSCTRL2, MASK_INTN_PIN, 0); +} + +void HapticDriver_AW86224::setTrimLRA(uint8_t val) +{ + updateBits(REG_TRIMCFG3, MASK_TRIM_LRA, val); +} + +bool HapticDriver_AW86224::measureF0() +{ + uint8_t val[2] = {0}; + uint8_t brk_en_temp = 0; + uint32_t f0_reg = 0; + int cnt = 200; + bool success = false; + + playStop(); + updateBits(REG_SYSCTRL7, MASK_D2S_GAIN, _d2s_gain & MASK_D2S_GAIN); + + _playMode = PlayMode::CONT; + autoBrkConfig(true); + updateBits(REG_PLAYCFG3, MASK_PLAY_MODE, 2); + updateBits(REG_CONTCFG1, MASK_EN_F0_DET, MASK_EN_F0_DET); + updateBits(REG_CONTCFG6, MASK_TRACK_EN, MASK_TRACK_EN); + + brk_en_temp = readReg(REG_PLAYCFG3) & MASK_BRK_EN; + updateBits(REG_CONTCFG6, MASK_DRV1_LVL, _cont_drv1_lvl); + writeReg(REG_CONTCFG7, _cont_drv2_lvl); + writeReg(REG_CONTCFG8, _cont_drv1_time); + writeReg(REG_CONTCFG9, _cont_drv2_time); + writeReg(REG_CONTCFG11, _cont_track_margin); + + if (_f0_pre == 0) return false; + int drv_width = (((_f0_pre / 10) * 15) / (_cont_track_margin + 3)) / 100; + if (drv_width < 8) drv_width = 8; + if (drv_width > 255) drv_width = 255; + writeReg(REG_CONTCFG3, static_cast(drv_width)); + + run(); + hal->delay(20); + + while (cnt--) { + if ((getGlobalState() & MASK_GLB_STATE) == STATE_STANDBY) { + success = true; + break; + } + hal->delay(10); + } + + if (success) { + readRegBuff(REG_CONTRD14, val, 2); + f0_reg = (val[0] << 8) | val[1]; + if (f0_reg) _f0 = f0_formula(f0_reg); + } + + updateBits(REG_CONTCFG1, MASK_EN_F0_DET, 0); + updateBits(REG_PLAYCFG3, MASK_BRK_EN, brk_en_temp); + playStop(); + return success; +} + +bool HapticDriver_AW86224::measureVbat() +{ + playStop(); + ramInit(true); + updateBits(REG_DETCFG2, MASK_VBAT_GO, MASK_VBAT_GO); + hal->delay(2); + + uint32_t vbat_code = readReg(REG_DET_VBAT) << 2; + vbat_code |= (readReg(REG_DET_LO) & MASK_VBAT_LO) >> SHIFT_VBAT_LO; + + _vbat = vbat_formula(vbat_code); + if (_vbat > 4500) _vbat = 4500; + if (_vbat < 3000) _vbat = 3000; + + ramInit(false); + return true; +} + +void HapticDriver_AW86224::getLraResistance() +{ + uint8_t d2s_gain_temp = readReg(REG_SYSCTRL7) & MASK_D2S_GAIN; + int d2s_gain = selectD2sGain(5); + if (d2s_gain < 0) return; + + playStop(); + ramInit(true); + hal->delay(2); + updateBits(REG_SYSCTRL2, MASK_STANDBY, 0); + updateBits(REG_DETCFG1, MASK_RL_OS, MASK_RL_OS); + updateBits(REG_DETCFG2, MASK_DIAG_GO, MASK_DIAG_GO); + hal->delay(3); + + uint32_t lra_code = readReg(REG_DET_RL) << 2; + lra_code |= readReg(REG_DET_LO) & MASK_RL_LO; + _lra = rl_formula(lra_code, d2s_gain) * 10; + + ramInit(false); + updateBits(REG_SYSCTRL7, MASK_D2S_GAIN, d2s_gain_temp); +} + +void HapticDriver_AW86224::setPlayMode(PlayMode mode) +{ + playMode(mode); +} + +bool HapticDriver_AW86224::setGain(uint8_t gain) +{ + _gain = gain; + writeReg(REG_PLAYCFG2, gain); + return true; +} + +bool HapticDriver_AW86224::run() +{ + ramInit(true); + hal->delayMicroseconds(50); + int ret = writeReg(REG_PLAYCFG4, PLAYCFG4_GO_ON); + hal->delayMicroseconds(50); + ramInit(false); + return ret == 0; +} + +bool HapticDriver_AW86224::stop() +{ + playStop(); + _duration = 0; + return true; +} + +void HapticDriver_AW86224::shortVibration(uint8_t index, uint8_t gain, uint8_t loop) +{ + if (!_ramInit || index == 0) return; + + if (isPlaying()) { + stop(); + hal->delay(20); + } + + cancelVibration(); + softReset(); + hal->delay(10); + + setTrimLRA(static_cast(_f0_cali_data)); + setWaveSeq(0, index); + setWaveSeq(1, 0); + setWaveLoop(0, loop > 0 ? loop - 1 : 0); + setGain(gain); + playMode(PlayMode::RAM); + run(); + + uint32_t playTime = loop * 50; + if (playTime < 100) playTime = 100; + hal->delay(playTime); +} + +void HapticDriver_AW86224::longVibration(uint8_t index, uint8_t gain, uint32_t duration_ms, bool blocking) +{ + if (!_ramInit || index == 0 || duration_ms == 0) return; + + if (isPlaying()) { + stop(); + hal->delay(20); + } + + cancelVibration(); + softReset(); + hal->delay(10); + + _gain = gain; + _duration = duration_ms; + _vibrationStartTime = hal->millis(); + setTrimLRA(static_cast(_f0_cali_data)); + setGain(gain); + ram_vbat_comp(true); + + setRepeatSeq(index); + playMode(PlayMode::RAM_LOOP); + run(); + + if (blocking) { + uint32_t start = hal->millis(); + while (hal->millis() - start < duration_ms) { + if ((getGlobalState() & 0x0F) != 0x07) run(); + hal->delay(10); + } + stop(); + } +} + +void HapticDriver_AW86224::stopVibration() +{ + stop(); +} + +void HapticDriver_AW86224::setWaveSeq(uint8_t wav, uint8_t seq) +{ + writeReg(REG_WAVCFG1 + wav, seq); +} + +void HapticDriver_AW86224::setWaveLoop(uint8_t wav, uint8_t loop) +{ + uint8_t reg = REG_WAVCFG9 + (wav / 2); + if (wav % 2) { + updateBits(reg, MASK_SEQ2LOOP, loop << SHIFT_SEQ2LOOP); + } else { + updateBits(reg, MASK_SEQ1LOOP, loop << SHIFT_SEQ1LOOP); + } +} + +void HapticDriver_AW86224::setFifoAddr() +{ + uint8_t ae_addr_h = (_ramBaseAddr >> 1) >> 4 & 0xF0; + uint8_t af_addr_h = ((_ramBaseAddr - (_ramBaseAddr >> 2)) >> 8) & 0x0F; + uint8_t val[3] = { + static_cast(ae_addr_h | af_addr_h), + static_cast((_ramBaseAddr >> 1) & 0xFF), + static_cast((_ramBaseAddr - (_ramBaseAddr >> 2)) & 0xFF) + }; + writeRegBuff(REG_RTPCFG3, val, 3); +} + +void HapticDriver_AW86224::setBaseAddr() +{ + updateBits(REG_RTPCFG1, MASK_BASE_ADDR_H, (_ramBaseAddr >> 8) & MASK_BASE_ADDR_H); + writeReg(REG_RTPCFG2, _ramBaseAddr & 0xFF); +} + +void HapticDriver_AW86224::setRamAddr() +{ + writeReg(REG_RAMADDRH, (_ramBaseAddr >> 8) & 0x3F); + writeReg(REG_RAMADDRL, _ramBaseAddr & 0xFF); +} + +void HapticDriver_AW86224::setRtpData(uint8_t *data, uint32_t len) +{ + writeRegBuff(REG_RTPDATA, data, len); +} + +bool HapticDriver_AW86224::playRtp(const uint8_t *data, uint32_t len, uint8_t gain) +{ + if (!data || len == 0) return false; + + playStop(); + irqClear(); + setRtpAei(false); + setGain(gain); + setTrimLRA(0x00); + setPwm(PwmMode::PWM_24K); + autoBrkConfig(true); + playMode(PlayMode::RTP); + + ramInit(true); + updateBits(REG_RTPCFG1, MASK_BASE_ADDR_H, (_ramBaseAddr >> 8) & MASK_BASE_ADDR_H); + writeReg(REG_RTPCFG2, _ramBaseAddr & 0xFF); + ramInit(false); + + if (!run()) return false; + hal->delay(1); + + if (!waitRtpGo(200)) { + playStop(); + return false; + } + + writeRegBuff(REG_RTPDATA, const_cast(data), len); + + if (len > 256) { + uint32_t cnt = 256; + while (cnt < len && _playMode == PlayMode::RTP) { + uint32_t buf_len = (len - cnt) > 64 ? 64 : (len - cnt); + writeRegBuff(REG_RTPDATA, const_cast(data + cnt), buf_len); + cnt += buf_len; + } + } + return true; +} + +bool HapticDriver_AW86224::waitRtpGo(uint32_t timeout_ms) +{ + uint32_t start = hal->millis(); + while (hal->millis() - start < timeout_ms) { + if ((readReg(REG_GLBRD5) & 0x0F) == STATE_RTP_GO) return true; + hal->delayMicroseconds(1000); + } + return false; +} + +void HapticDriver_AW86224::setRepeatSeq(uint8_t seq) +{ + setWaveSeq(0, seq); + setWaveSeq(1, 0); + setWaveLoop(0, WAVLOOP_INIFINITELY); +} + +void HapticDriver_AW86224::contConfig() +{ + _playMode = PlayMode::CONT; + updateBits(REG_CONTCFG6, MASK_TRACK_EN | MASK_DRV1_LVL, MASK_TRACK_EN | (_cont_drv1_lvl & MASK_DRV1_LVL)); + writeReg(REG_CONTCFG7, _cont_drv2_lvl); + writeReg(REG_CONTCFG9, 0xFF); + run(); +} + +void HapticDriver_AW86224::interruptSetup() +{ + updateBits(REG_SYSCTRL7, INT_MODE_EDGE, INT_MODE_EDGE); + updateBits(REG_SYSCTRL7, _BV(5), INT_EDGE_MODE_POS); + updateBits(REG_SYSINTM, MASK_UVLM | MASK_FF_AEM | MASK_FF_AFM | MASK_OCDM | MASK_OTM | MASK_DONEM, MASK_UVLM); +} + +uint8_t HapticDriver_AW86224::getGlobalState() const +{ + return readReg(REG_GLBRD5); +} + +bool HapticDriver_AW86224::waitStandby(uint32_t timeout_ms) +{ + uint32_t start = hal->millis(); + while (hal->millis() - start < timeout_ms) { + if ((getGlobalState() & MASK_GLB_STATE) == STATE_STANDBY) return true; + hal->delay(2); + } + return false; +} + +int HapticDriver_AW86224::getIrqState() +{ + uint8_t reg_val = readReg(REG_SYSINT); + if (reg_val & MASK_UVLI) return IRQ_UVL; + if (reg_val & MASK_OCDI) return IRQ_OCD; + if (reg_val & MASK_OTI) return IRQ_OT; + if (reg_val & MASK_DONEI) return IRQ_DONE; + if (reg_val & MASK_FF_AFI) return IRQ_ALMOST_FULL; + if (reg_val & MASK_FF_AEI) return IRQ_ALMOST_EMPTY; + return IRQ_NULL; +} + +void HapticDriver_AW86224::irqClear() +{ + readReg(REG_SYSINT); +} + +uint8_t HapticDriver_AW86224::rtpGetFifoAfs() +{ + return (readReg(REG_SYSST) & MASK_FF_AFS) >> 3; +} + +void HapticDriver_AW86224::setRtpAei(bool enable) +{ + updateBits(REG_SYSINTM, MASK_FF_AEM, enable ? 0 : MASK_FF_AEM); +} + +bool HapticDriver_AW86224::loadRamData(const uint8_t *data, uint32_t len) +{ + if (!data || len == 0) return false; + if (!getBaseAddr(data, len)) return false; + + playStop(); + ramInit(true); + setBaseAddr(); + setFifoAddr(); + setRamAddr(); + + uint32_t i = 0; + while (i < len) { + uint32_t chunk = (len - i) > 32 ? 32 : (len - i); + writeRegBuff(REG_RAMDATA, const_cast(data + i), chunk); + i += chunk; + hal->delayMicroseconds(100); + } + + ramInit(false); + trigInit(); + _ramInit = true; + return true; +} + +bool HapticDriver_AW86224::getBaseAddr(const uint8_t *data, uint32_t len) +{ + uint16_t last_end = 0, next_start = 0; + int ram_num = 1; + + for (int i = 3; i < static_cast(len); i += 4) { + last_end = (data[i] << 8) | data[i + 1]; + next_start = (data[i + 2] << 8) | data[i + 3]; + if ((next_start - last_end) == 1) ram_num++; + else break; + } + + for (int i = ram_num * 4; i >= 4; i -= 4) { + last_end = (data[i - 1] << 8) | data[i]; + _ramBaseAddr = static_cast((data[1] << 8) | data[2]) - ram_num * 4 - 1; + if ((last_end - _ramBaseAddr + 1) == static_cast(len)) { + _ramNum = ram_num; + return true; + } + ram_num--; + } + + _ramBaseAddr = (data[1] << 8) | data[2]; + _ramNum = ((_ramBaseAddr - _ramBaseAddr) - 1) / 4; + return true; +} + +void HapticDriver_AW86224::vbatModeConfig(uint8_t flag) +{ + if (flag == CONT_VBAT_HW_COMP_MODE) { + writeReg(REG_GLBCFG2, 0x0C); + updateBits(REG_SYSCTRL1, MASK_VBAT_MODE, MASK_VBAT_MODE); + } else { + updateBits(REG_SYSCTRL1, MASK_VBAT_MODE, 0); + } +} + +void HapticDriver_AW86224::calculateCaliData() +{ + int f0_cali_step = 100000 * (static_cast(_f0) - static_cast(_f0_pre)) / (static_cast(_f0_pre) * F0_CALI_ACCURACY); + + if (f0_cali_step >= 0) { + f0_cali_step = (f0_cali_step % 10 >= 5) ? (32 + f0_cali_step / 10 + 1) : (32 + f0_cali_step / 10); + } else { + f0_cali_step = (f0_cali_step % 10 <= -5) ? (32 + f0_cali_step / 10 - 1) : (32 + f0_cali_step / 10); + } + + int8_t f0_cali_lra = (f0_cali_step > 31) ? static_cast(f0_cali_step - 32) : static_cast(f0_cali_step + 32); + _f0_cali_data = f0_cali_lra; +} + +void HapticDriver_AW86224::reset() +{ + if (_rstPin != -1) { + hal->pinMode(_rstPin, OUTPUT); + hal->digitalWrite(_rstPin, LOW); + hal->delay(2); + hal->digitalWrite(_rstPin, HIGH); + hal->delay(8); + } +} + +bool HapticDriver_AW86224::setActuatorType(HapticActuatorType type) +{ + (void)type; + return false; +} + +HapticActuatorType HapticDriver_AW86224::getActuatorType() const +{ + return HapticActuatorType::LRA; +} + +bool HapticDriver_AW86224::setMode(HapticMode mode) +{ + switch (mode) { + case HapticMode::INTERNAL_TRIGGER: + playMode(PlayMode::RAM); + break; + case HapticMode::REAL_TIME_PLAYBACK: + playMode(PlayMode::RTP); + break; + default: + return false; + } + return true; +} + +HapticMode HapticDriver_AW86224::getMode() const +{ + switch (_playMode) { + case PlayMode::RTP: + return HapticMode::REAL_TIME_PLAYBACK; + case PlayMode::CONT: + return HapticMode::AUTO_CALIBRATE; + default: + return HapticMode::INTERNAL_TRIGGER; + } +} + +bool HapticDriver_AW86224::setRealtimeValue(uint8_t value) +{ + if (_playMode != PlayMode::RTP) { + playMode(PlayMode::RTP); + } + setGain(value); + return true; +} + +uint32_t HapticDriver_AW86224::getVbat() +{ + measureVbat(); + return _vbat; +} + +uint32_t HapticDriver_AW86224::getF0() const +{ + return _f0; +} + +void HapticDriver_AW86224::softReset() +{ + writeReg(REG_SRST, SOFTRESET_VAL); + hal->delay(2); +} + +uint8_t HapticDriver_AW86224::getChipID() const +{ + return _chipID; +} + +bool HapticDriver_AW86224::initImpl(uint8_t param) +{ + (void)param; + + if (_rstPin != -1) { + hal->pinMode(_rstPin, OUTPUT); + hal->digitalWrite(_rstPin, LOW); + hal->delay(2); + hal->digitalWrite(_rstPin, HIGH); + hal->delay(8); + } + + if (!parseChipID()) return false; + + softReset(); + + if (!offsetCalibration()) { + softReset(); + offsetCalibration(); + } + + interruptSetup(); + hapticInit(); + trigInit(); + + if (!loadRamData(aw862xx_ram_data, aw862xx_ram_len)) return false; + playMode(PlayMode::STANDBY); + return true; +} + +bool HapticDriver_AW86224::parseChipID() +{ + uint8_t reg = 0; + for (int i = 0; i < 5; i++) { + reg = readReg(0x00); + if (reg != 0) break; + hal->delay(2); + } + + if (reg == 0x00) { + uint8_t ef_id = readReg(REG_CHIPID); + if ((ef_id & 0x41) == 0x01) _chipID = static_cast(ChipID::AW86223); + else if ((ef_id & 0x41) == 0x00) _chipID = static_cast(ChipID::AW86224); + else return false; + } else if (reg == 0x01) { + uint8_t ef_id = readReg(REG_CHIPID); + if ((ef_id & 0x41) == 0x01) _chipID = static_cast(ChipID::AW86214); + else return false; + } else { + return false; + } + return true; +} + +void HapticDriver_AW86224::hapticInit() +{ + _f0_pre = F0_PRE_VAL; + playMode(PlayMode::STANDBY); + miscParaInit(); + measureVbat(); + vbatModeConfig(CONT_VBAT_HW_COMP_MODE); + f0Calibration(); + playMode(PlayMode::STANDBY); +} + +void HapticDriver_AW86224::f0Calibration() +{ + setTrimLRA(0x00); + + if (!measureF0()) { + _f0 = _f0_pre; + } + + if (!judgeF0WithinRange()) return; + + calculateCaliData(); + setTrimLRA(static_cast(_f0_cali_data)); + _isCalibrated = true; +} + +bool HapticDriver_AW86224::judgeF0WithinRange() +{ + uint32_t f0_cali_min = _f0_pre * (100 - _f0_cali_percent) / 100; + uint32_t f0_cali_max = _f0_pre * (100 + _f0_cali_percent) / 100; + return (_f0 >= f0_cali_min && _f0 <= f0_cali_max); +} + +void HapticDriver_AW86224::printRegs() +{ +#ifdef HAPTIC_DEBUG + Serial.println("\n=== Register Dump ==="); + Serial.printf("PLAYCFG2: 0x%02X\n", readReg(0x07)); + Serial.printf("PLAYCFG3: 0x%02X\n", readReg(0x08)); + Serial.printf("PLAYCFG4: 0x%02X\n", readReg(0x09)); + Serial.printf("WAVCFG1: 0x%02X\n", readReg(0x0A)); + Serial.printf("WAVCFG2: 0x%02X\n", readReg(0x0B)); + Serial.printf("WAVCFG9: 0x%02X\n", readReg(0x12)); + Serial.printf("GLBRD5: 0x%02X\n", readReg(0x3F)); + Serial.printf("SYSCTRL7: 0x%02X\n", readReg(0x49)); + Serial.printf("TRIMCFG3: 0x%02X\n", readReg(0x5A)); + Serial.println("======================"); +#endif +} diff --git a/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224.hpp b/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224.hpp new file mode 100644 index 0000000..c9136df --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224.hpp @@ -0,0 +1,784 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDriver_AW86224.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-06 + * + */ + +#pragma once + +#include "platform/comm/I2CDeviceWithHal.hpp" +#include "HapticBase.hpp" + +/** + * @brief AW86224 I2C slave address + * + * Default I2C slave address for AW86224/86225 haptic driver. + */ +static constexpr uint8_t AW8624_SLAVE_ADDRESS = (0x58); + +/** + * @brief AW86224/86225 Haptic Driver Class + * + * This class provides a complete interface for controlling the AW86224/86225 + * haptic motor driver. It inherits from HapticBase and I2CDeviceWithHal to + * provide standardized haptic control and I2C communication. + * + * @par Vibration Modes: + * - STANDBY: Low power standby mode, no vibration + * - RAM: Single play of RAM waveform + * - RAM_LOOP: Continuous loop playback of RAM waveform + * - CONT: Continuous mode using F0 tracking + * - RTP: Real-time playback mode for custom waveforms + * + * @par Calibration: + * The driver performs F0 (resonant frequency) calibration automatically + * during initialization. This ensures optimal vibration performance across + * different motor characteristics. + * + * @par Thread Safety: + * When using non-blocking vibration modes, ensure vibrationUpdate() is called + * regularly in your main loop to maintain proper timing. + */ +class HapticDriver_AW86224 : public HapticBase, public I2CDeviceWithHal +{ +public: + + /** + * @brief Playback mode enumeration + * + * Defines the operating mode of the haptic driver. + */ + enum class PlayMode : uint8_t { + STANDBY = 0, /**< Standby mode, minimal power consumption */ + RAM = 1, /**< RAM playback mode, single play */ + RAM_LOOP = 2, /**< RAM loop mode, continuous playback */ + CONT = 3, /**< Continuous mode with F0 tracking */ + RTP = 4 /**< Real-time playback mode */ + }; + + /** + * @brief SRAM size selection + * + * Configures the internal SRAM size for waveform storage. + */ + enum class SramSize : uint8_t { + SRAM_1K = 0, /**< 1KB SRAM */ + SRAM_2K = 1, /**< 2KB SRAM */ + SRAM_3K = 2 /**< 3KB SRAM */ + }; + + /** + * @brief Chip ID enumeration + * + * Identifies the connected AWinic haptic chip model. + */ + enum class ChipID : uint8_t { + AW86223 = 1, /**< AW86223 chip */ + AW86224 = 2, /**< AW86224 chip */ + AW86225 = 3, /**< AW86225 chip */ + AW86214 = 4 /**< AW86214 chip */ + }; + + /** + * @brief PWM mode selection + * + * Defines the PWM sampling rate for waveform playback. + */ + enum class PwmMode : uint8_t { + PWM_48K = 0, /**< 48kHz PWM rate */ + PWM_24K = 1, /**< 24kHz PWM rate */ + PWM_12K = 2 /**< 12kHz PWM rate (default) */ + }; + + //========================================================================= + // Constructor & Initialization + //========================================================================= + + /** + * @brief Default constructor + * + * Initializes the driver with default parameters. + * Call begin() before use. + */ + HapticDriver_AW86224(); + + //========================================================================= + // HapticBase Interface - Lifecycle + //========================================================================= + + /** + * @brief setPins + * @note Sets the reset and interrupt pins for the haptic driver. + * No support for interrupt pins has been added; they are currently reserved for use as a general interface. + * @param[in] resetPin: The GPIO pin number for the reset pin. + * @param[in] intPin: The GPIO pin number for the interrupt pin. + * @retval None + */ + void setPins(uint8_t resetPin, uint8_t intPin); + + void end() override; + bool isReady() const override; + const char *getChipName() const override; + + //========================================================================= + // HapticBase Interface - Playback Control + //========================================================================= + + bool run() override; + bool stop() override; + bool isPlaying() const override; + HapticStatus getStatus() const override; + + //========================================================================= + // HapticBase Interface - Gain Control + //========================================================================= + + bool setGain(uint8_t gain) override; + uint8_t getGain() const override; + + //========================================================================= + // HapticBase Interface - Effect Playback + //========================================================================= + + bool playEffect(HapticEffectId effect) override; + bool playEffectAsync(HapticEffectId effect) override; + void continuousVibration(uint32_t duration_ms, bool blocking = true) override; + void vibrationUpdate() override; + + //========================================================================= + // HapticBase Interface - Waveform Sequence + //========================================================================= + + bool setSequence(uint8_t slot, HapticEffectId effect) override; + bool clearSequence() override; + bool playSequence() override; + + //========================================================================= + // HapticBase Interface - Device Information + //========================================================================= + + uint8_t getChipID() const override; + HapticCapabilities getCapabilities() const override; + + //========================================================================= + // HapticBase Interface - Calibration + //========================================================================= + + bool calibrate() override; + bool needsCalibration() const override; + uint32_t getF0() const override; + uint32_t getVbat() override; + + //========================================================================= + // HapticBase Interface - Mode Control + //========================================================================= + + bool setMode(HapticMode mode) override; + HapticMode getMode() const override; + HapticActuatorType getActuatorType() const override; + bool setActuatorType(HapticActuatorType type) override; + + //========================================================================= + // HapticBase Interface - RTP + //========================================================================= + + bool setRealtimeValue(uint8_t value) override; + + //========================================================================= + // Core Playback Control + //========================================================================= + + /** + * @brief Perform soft reset + * + * Resets the chip to default state via software command. + * This clears any residual configuration from previous operations. + */ + void softReset(); + + //========================================================================= + // Vibration Effects + //========================================================================= + + /** + * @brief Play a short vibration effect + * + * Plays a short haptic effect using a RAM waveform with specified loop count. + * This is a blocking call that waits for the effect to complete. + * + * @param[in] index Waveform index (1-4, based on loaded RAM data) + * @param[in] gain Vibration intensity (0x00-0xFF, default 0x80) + * @param[in] loop Number of repetitions (1-16, default 1) + * + * @par Example: + * @code + * // Short click + * haptic.shortVibration(1, 0x80, 1); + * + * // Double buzz + * haptic.shortVibration(2, 0xA0, 2); + * + * // Maximum intensity click + * haptic.shortVibration(1, 0xFF, 1); + * @endcode + */ + void shortVibration(uint8_t index, uint8_t gain = 0x80, uint8_t loop = 1); + + /** + * @brief Play a long continuous vibration effect + * + * Plays a continuous vibration effect for the specified duration. + * Supports both blocking and non-blocking modes. + * + * @param[in] index Waveform index (1-4) + * @param[in] gain Vibration intensity (0x00-0xFF) + * @param[in] duration_ms Duration in milliseconds + * @param[in] blocking true = wait for completion (blocking), + * false = return immediately (non-blocking) + * + * @par Blocking Mode Example: + * @code + * // Wait 2 seconds for vibration to complete + * haptic.longVibration(2, 0x80, 2000, true); + * // Vibration finished, continue with other code + * @endcode + * + * @par Non-Blocking Mode Example: + * @code + * // Start vibration, return immediately + * haptic.longVibration(2, 0x80, 5000, false); + * + * // Do other work while vibrating + * while (haptic.isPlaying()) { + * haptic.vibrationUpdate(); + * // Your code here + * } + * @endcode + * + * @note In non-blocking mode, call vibrationUpdate() regularly in your loop. + * If a new vibration is started while one is running, the previous + * vibration will be stopped automatically. + */ + void longVibration(uint8_t index, uint8_t gain = 0x80, uint32_t duration_ms = 1000, bool blocking = true); + + /** + * @brief Stop any ongoing vibration + * + * Immediately stops vibration and enters standby mode. + * Works for both blocking and non-blocking modes. + * + * @par Example: + * @code + * haptic.longVibration(2, 0x80, 10000, false); // Start long vibration + * // ... + * if (emergencyStop) { + * haptic.stopVibration(); // Immediate stop + * } + * @endcode + */ + void stopVibration(); + + /** + * @brief Update vibration state (for non-blocking mode) + * + * Must be called regularly when using non-blocking vibration modes. + * This function: + * - Checks if the vibration duration has elapsed + * - Auto-restarts playback if it stops prematurely + * - Stops the vibration when duration is complete + * + * @par Usage: + * @code + * void loop() { + * if (haptic.isPlaying()) { + * haptic.vibrationUpdate(); + * } + * // Other loop code... + * } + * @endcode + * + * @note Call this at least every 10-50ms for smooth vibration. + */ + + //========================================================================= + // Waveform Configuration + //========================================================================= + + /** + * @brief Set waveform sequence + * + * Configures which waveform is played for each sequencer slot. + * + * @param[in] wav Wave slot (0-7) + * @param[in] seq Waveform index to play (0-15) + * + * @par Example: + * @code + * haptic.setWaveSeq(0, 2); // Slot 0 plays waveform 2 + * haptic.setWaveSeq(1, 0); // Slot 1 plays waveform 0 (wait) + * @endcode + */ + void setWaveSeq(uint8_t wav, uint8_t seq); + + /** + * @brief Set waveform loop count + * + * Configures how many times a waveform repeats before advancing. + * + * @param[in] wav Wave slot (0-7) + * @param[in] loop Loop count (0-15, where 15 = infinite) + * + * @par Example: + * @code + * haptic.setWaveLoop(0, 15); // Infinite loop for slot 0 + * haptic.setWaveLoop(1, 0); // No loop for slot 1 + * @endcode + */ + void setWaveLoop(uint8_t wav, uint8_t loop); + + /** + * @brief Set playback mode + * + * @param[in] mode Playback mode (see PlayMode enum) + */ + void setPlayMode(PlayMode mode); + + /** + * @brief Set LRA frequency trim value + * + * Used after F0 calibration to optimize vibration. + * + * @param[in] val Trim value from calibration (typically 0x00-0x3F) + */ + void setTrimLRA(uint8_t val); + + //========================================================================= + // RTP (Real-Time Playback) Mode + //========================================================================= + + /** + * @brief Set RTP waveform data + * + * Loads waveform data for RTP mode playback. + * + * @param[in] data Pointer to waveform data buffer + * @param[in] len Length of data in bytes + */ + void setRtpData(uint8_t *data, uint32_t len); + + /** + * @brief Play RTP (Real-Time Playback) waveform + * + * Plays a custom waveform in RTP mode. + * + * @param[in] data Waveform data buffer + * @param[in] len Data length in bytes + * @param[in] gain Playback gain (0x00-0xFF) + * @return true if successful + * + * @par Example: + * @code + * uint8_t sineWave[] = {0x00, 0x40, 0x80, 0xC0, 0xFF, ...}; + * haptic.playRtp(sineWave, sizeof(sineWave), 0x80); + * delay(1000); + * haptic.stopVibration(); + * @endcode + */ + bool playRtp(const uint8_t *data, uint32_t len, uint8_t gain = 0x80); + + //========================================================================= + // Calibration Functions + //========================================================================= + + /** + * @brief Load RAM waveform data + * + * Loads pre-compiled waveform data into the haptic chip's RAM. + * + * @param[in] data Pointer to RAM data array + * @param[in] len Length of RAM data + * @return true if successful + */ + bool loadRamData(const uint8_t *data, uint32_t len); + + //========================================================================= + // Status & Information Getters + //========================================================================= + + /** + * @brief Get number of loaded waveforms + * @return Waveform count + */ + uint8_t getRamNum() const + { + return _ramNum; + } + + /** + * @brief Check if RAM is initialized + * @return true if RAM data is loaded + */ + bool isRamInit() const + { + return _ramInit; + } + + /** + * @brief Get current voltage reading + * @return Voltage in millivolts + */ + uint32_t getVbatValue() const + { + return _vbat; + } + + /** + * @brief Get current play mode + * @return PlayMode enum value + */ + PlayMode getPlayMode() const + { + return _playMode; + } + + /** + * @brief Get F0 calibration data + * @return Calibration value + */ + int8_t getF0CaliData() const + { + return _f0_cali_data; + } + + /** + * @brief Get LRA resistance + * @return LRA value + */ + uint32_t getLraValue() const + { + return _lra; + } + + //========================================================================= + // Parameter Setters (for advanced configuration) + //========================================================================= + + /** + * @brief Set expected F0 (resonant frequency) + * @param[in] val F0 in Hz (default: 1700) + */ + void setF0Pre(uint32_t val) + { + _f0_pre = val; + } + uint32_t getF0Pre() const + { + return _f0_pre; + } + + /** + * @brief Set LRA rated voltage + * @param[in] val Voltage in mV (default: 1000) + */ + void setLraVrms(uint32_t val) + { + _lra_vrms = val; + } + uint32_t getLraVrms() const + { + return _lra_vrms; + } + + /** + * @brief Set continuous mode break time + * @param[in] val Break time value (0x00-0xFF) + */ + void setContBrkTime(uint8_t val) + { + _cont_brk_time = val; + } + uint8_t getContBrkTime() const + { + return _cont_brk_time; + } + + /** + * @brief Set continuous mode break gain + * @param[in] val Break gain value (0x00-0xFF) + */ + void setContBrkGain(uint8_t val) + { + _cont_brk_gain = val; + } + uint8_t getContBrkGain() const + { + return _cont_brk_gain; + } + + /** + * @brief Set continuous mode drive level 1 + * @param[in] val Drive level (0x00-0x7F) + */ + void setContDrv1Lvl(uint8_t val) + { + _cont_drv1_lvl = val; + } + uint8_t getContDrv1Lvl() const + { + return _cont_drv1_lvl; + } + + /** + * @brief Set continuous mode drive time 1 + * @param[in] val Drive time value (0x00-0xFF) + */ + void setContDrv1Time(uint8_t val) + { + _cont_drv1_time = val; + } + uint8_t getContDrv1Time() const + { + return _cont_drv1_time; + } + + /** + * @brief Set continuous mode drive time 2 + * @param[in] val Drive time value (0x00-0xFF) + */ + void setContDrv2Time(uint8_t val) + { + _cont_drv2_time = val; + } + uint8_t getContDrv2Time() const + { + return _cont_drv2_time; + } + + /** + * @brief Set continuous mode track margin + * @param[in] val Margin value (0x00-0xFF) + */ + void setContTrackMargin(uint8_t val) + { + _cont_track_margin = val; + } + uint8_t getContTrackMargin() const + { + return _cont_track_margin; + } + + /** + * @brief Set D2S gain (digital to simulation gain) + * @param[in] val Gain value (0x00-0x07) + */ + void setD2sGain(uint8_t val) + { + _d2s_gain = val; + } + uint8_t getD2sGain() const + { + return _d2s_gain; + } + + /** + * @brief Set protection time + * @param[in] val Time value + */ + void setPwmcfg4Prtime(uint8_t val) + { + _pwmcfg4_prtime = val; + } + uint8_t getPwmcfg4Prtime() const + { + return _pwmcfg4_prtime; + } + + /** + * @brief Set protection level + * @param[in] val Level value + */ + void setPwmcfg3Prlvl(uint8_t val) + { + _pwmcfg3_prlvl = val; + } + uint8_t getPwmcfg3Prlvl() const + { + return _pwmcfg3_prlvl; + } + + /** + * @brief Enable/disable auto break + * @param[in] val true = enabled, false = disabled + */ + void setAutoBrkEnabled(bool val) + { + _auto_brk_enabled = val; + } + bool getAutoBrkEnabled() const + { + return _auto_brk_enabled; + } + + /** + * @brief Set F0 calibration tolerance percentage + * @param[in] val Percentage (default: 7) + */ + void setF0CaliPercent(uint8_t val) + { + _f0_cali_percent = val; + } + uint8_t getF0CaliPercent() const + { + return _f0_cali_percent; + } + + /** + * @brief Check if vibration is currently active (alias for isPlaying) + * @return true if vibration is running, false otherwise + */ + bool isVibrating() const + { + return isPlaying(); + } + +private: + // Internal helper functions + bool waitRtpGo(uint32_t timeout_ms); + + /** + * @brief Print register values for debugging + * + * Outputs current register contents to Serial. + * Useful for troubleshooting. + */ + void printRegs(); + + // RAM initialization + void ramInit(bool enable); + void playStop(); + void reset(); + bool checkQualify(); + bool offsetCalibration(); + int selectD2sGain(uint8_t reg); + bool measureF0(); + bool measureVbat(); + void getLraResistance(); + void setSramSize(SramSize size); + void setFifoAddr(); + void setBaseAddr(); + void setRamAddr(); + bool getBaseAddr(const uint8_t *data, uint32_t len); + void setRepeatSeq(uint8_t seq); + void autoBrkConfig(bool enable); + void setPwm(PwmMode mode); + void playMode(PlayMode mode); + void config(); + void protectConfig(uint8_t prtime, uint8_t prlvl); + void miscParaInit(); + void trigInit(); + void contConfig(); + void interruptSetup(); + void vbatModeConfig(uint8_t flag); + void calculateCaliData(); + bool parseChipID(); + void hapticInit(); + void f0Calibration(); + bool judgeF0WithinRange(); + uint8_t getGlobalState() const; + bool waitStandby(uint32_t timeout_ms = 100); + int getIrqState(); + void irqClear(); + uint8_t rtpGetFifoAfs(); + void setRtpAei(bool enable); + void cancelVibration(); + void ram_vbat_comp(bool flag); + + // Calculation formulas + inline uint8_t drv2_lvl_formula(uint32_t f0, uint32_t vrms) + { + uint32_t base = (f0 < 1800) ? 1809920 : 1990912; + return static_cast((base / 1000 * vrms) / 61000); + } + + bool initImpl(uint8_t param); + + void afterInitSuccess(uint8_t param) override + { + setReady(true); + } + + inline uint32_t vbat_formula(uint32_t value) + { + return (6100 * (value) / 1024); + } + + inline uint32_t f0_formula(uint32_t value) + { + return (384000 * 10 / (value)); + } + + inline uint32_t rl_formula(uint32_t value, uint32_t gain) + { + return (((value) * 678 * 100) / (1024 * (gain))); + } + + inline int os_formula(int value, int d2s_gain) + { + return (2440 * (value - 512) / (1024 * (d2s_gain + 1))); + } + + // Member variables + int _rstPin; + int _intPin; + uint8_t _chipID; + PlayMode _playMode; + uint8_t _gain; + uint32_t _f0; + uint32_t _vbat; + uint32_t _lra; + bool _ramInit; + uint8_t _cont_drv2_lvl; + int8_t _f0_cali_data; + uint32_t _f0_pre; + uint16_t _ramBaseAddr; + uint8_t _ramNum; + uint32_t _lra_vrms; + uint8_t _cont_brk_time; + uint8_t _cont_brk_gain; + uint8_t _cont_drv1_lvl; + uint8_t _cont_drv1_time; + uint8_t _cont_drv2_time; + uint8_t _cont_track_margin; + uint8_t _d2s_gain; + uint8_t _pwmcfg4_prtime; + uint8_t _pwmcfg3_prlvl; + bool _auto_brk_enabled; + uint8_t _f0_cali_percent; + uint32_t _duration; + uint32_t _vibrationStartTime; + bool _isCalibrated; +}; diff --git a/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224_Reg.hpp b/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224_Reg.hpp new file mode 100644 index 0000000..df36769 --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticDriver_AW86224_Reg.hpp @@ -0,0 +1,669 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDriver_AW86224_Reg.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-01 + * + */ +#pragma once + +#include + +#ifdef _BV +#undef _BV +#endif +#define _BV(bit) (1U << (bit)) + +static constexpr uint8_t SOFTRESET_VAL = 0xAA; + +static constexpr uint32_t EN_RAMINIT = _BV(3); +static constexpr uint32_t VBAT_GO = _BV(1); + +static constexpr uint8_t PLAYCFG4_GO_ON = _BV(0); +static constexpr uint8_t PLAYCFG4_STOP_ON = _BV(1); + +static constexpr uint8_t MASK_GLB_STATE = 0x0F; +static constexpr uint8_t STATE_STANDBY = 0; +static constexpr uint8_t STATE_RTP_GO = 8; + +static constexpr uint8_t WAVLOOP_INIFINITELY = 0x0F; + +static constexpr uint16_t AW_VBAT_MIN = 3000; +static constexpr uint16_t AW_VBAT_REFER = 4200; +static constexpr uint8_t AW_DEFAULT_GAIN = 0x80; + +static constexpr uint8_t IRQ_NULL = 0; +static constexpr uint8_t IRQ_UVL = 1; +static constexpr uint8_t IRQ_OCD = 2; +static constexpr uint8_t IRQ_OT = 3; +static constexpr uint8_t IRQ_DONE = 4; +static constexpr uint8_t IRQ_ALMOST_FULL = 5; +static constexpr uint8_t IRQ_ALMOST_EMPTY = 6; + +static constexpr uint8_t CONT_VBAT_SW_COMP_MODE = 0; +static constexpr uint8_t CONT_VBAT_HW_COMP_MODE = 1; + +static constexpr uint16_t F0_PRE_VAL = 1700; +static constexpr uint16_t LRA_VRMS_VAL = 1000; +static constexpr uint8_t CONT_BRK_TIME_VAL = 0x06; +static constexpr uint8_t CONT_BRK_GAIN_VAL = 0x08; +static constexpr uint8_t D2S_GAIN_VAL = 0x05; +static constexpr uint8_t PWMCFG4_PRTIME_VAL = 0x32; +static constexpr uint8_t PWMCFG3_PRLVL_VAL = 0x3F; +static constexpr uint8_t CONT_DRV1_LVL_VAL = 0x7F; +static constexpr uint8_t F0_CALI_ACCURACY = 24; +static constexpr uint8_t CONT_DRV1_TIME_VAL = 0x04; +static constexpr uint8_t CONT_DRV2_TIME_VAL = 0x14; +static constexpr uint8_t CONT_TRACK_MARGIN_VAL = 0x0F; +static constexpr uint8_t GAIN_BYPASS_CHANGEABLE = _BV(6); + +static constexpr uint8_t INT_MODE_EDGE = _BV(4); +static constexpr uint8_t INT_EDGE_MODE_POS = 0; + + +// ============================================== +// 0x00 (WO) +// ============================================== +// Register : SRST +static constexpr uint8_t REG_SRST = 0x00; +static constexpr uint8_t MASK_RESET = 0xFF; // write 0xAA to reset + +// ============================================== +// 0x01 (RO) +// ============================================== +// Register : SYSST +static constexpr uint8_t REG_SYSST = 0x01; +static constexpr uint8_t MASK_DONES = _BV(0); +static constexpr uint8_t MASK_OTS = _BV(1); +static constexpr uint8_t MASK_OCDS = _BV(2); +static constexpr uint8_t MASK_FF_AFS = _BV(3); +static constexpr uint8_t MASK_FF_AES = _BV(4); +static constexpr uint8_t MASK_UVLS = _BV(5); + +// ============================================== +// 0x02 (RC) +// ============================================== +// Register : SYSINT +static constexpr uint8_t REG_SYSINT = 0x02; +static constexpr uint8_t MASK_DONEI = _BV(0); +static constexpr uint8_t MASK_OTI = _BV(1); +static constexpr uint8_t MASK_OCDI = _BV(2); +static constexpr uint8_t MASK_FF_AFI = _BV(3); +static constexpr uint8_t MASK_FF_AEI = _BV(4); +static constexpr uint8_t MASK_UVLI = _BV(5); + +// ============================================== +// 0x03 (RW) +// ============================================== +// Register : SYSINTM +static constexpr uint8_t REG_SYSINTM = 0x03; +static constexpr uint8_t MASK_DONEM = _BV(0); +static constexpr uint8_t MASK_OTM = _BV(1); +static constexpr uint8_t MASK_OCDM = _BV(2); +static constexpr uint8_t MASK_FF_AFM = _BV(3); +static constexpr uint8_t MASK_FF_AEM = _BV(4); +static constexpr uint8_t MASK_UVLM = _BV(5); + +// ============================================== +// 0x04 (RO) +// ============================================== +// Register : SYSST2 +static constexpr uint8_t REG_SYSST2 = 0x04; +static constexpr uint8_t MASK_LDO_OK = _BV(3); + +// ============================================== +// 0x07 (RW) +// ============================================== +// Register : PLAYCFG2 +static constexpr uint8_t REG_PLAYCFG2 = 0x07; +static constexpr uint8_t MASK_GAIN = 0xFF; +static constexpr uint8_t SHIFT_GAIN = 0; + +// ============================================== +// 0x08 (RW) +// ============================================== +// Register : PLAYCFG3 +static constexpr uint8_t REG_PLAYCFG3 = 0x08; +static constexpr uint8_t MASK_STOP_MODE = _BV(5); +static constexpr uint8_t MASK_BRK_EN = _BV(2); +static constexpr uint8_t MASK_PLAY_MODE = 0x03; +static constexpr uint8_t SHIFT_PLAY_MODE = 0; + +// ============================================== +// 0x09 (RW) +// ============================================== +// Register : PLAYCFG4 +static constexpr uint8_t REG_PLAYCFG4 = 0x09; +static constexpr uint8_t MASK_STOP = _BV(1); +static constexpr uint8_t MASK_GO = _BV(0); + +// ============================================== +// 0x0A (RW) +// ============================================== +// Register : WAVCFG1 +static constexpr uint8_t REG_WAVCFG1 = 0x0A; +static constexpr uint8_t MASK_SEQ1WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ1 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ1 = 0; + +// ============================================== +// 0x0B (RW) +// ============================================== +// Register : WAVCFG2 +static constexpr uint8_t REG_WAVCFG2 = 0x0B; +static constexpr uint8_t MASK_SEQ2WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ2 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ2 = 0; + +// ============================================== +// 0x0C (RW) +// ============================================== +// Register : WAVCFG3 +static constexpr uint8_t REG_WAVCFG3 = 0x0C; +static constexpr uint8_t MASK_SEQ3WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ3 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ3 = 0; + +// ============================================== +// 0x0D (RW) +// ============================================== +// Register : WAVCFG4 +static constexpr uint8_t REG_WAVCFG4 = 0x0D; +static constexpr uint8_t MASK_SEQ4WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ4 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ4 = 0; + +// ============================================== +// 0x0E (RW) +// ============================================== +// Register : WAVCFG5 +static constexpr uint8_t REG_WAVCFG5 = 0x0E; +static constexpr uint8_t MASK_SEQ5WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ5 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ5 = 0; + +// ============================================== +// 0x0F (RW) +// ============================================== +// Register : WAVCFG6 +static constexpr uint8_t REG_WAVCFG6 = 0x0F; +static constexpr uint8_t MASK_SEQ6WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ6 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ6 = 0; + +// ============================================== +// 0x10 (RW) +// ============================================== +// Register : WAVCFG7 +static constexpr uint8_t REG_WAVCFG7 = 0x10; +static constexpr uint8_t MASK_SEQ7WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ7 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ7 = 0; + +// ============================================== +// 0x11 (RW) +// ============================================== +// Register : WAVCFG8 +static constexpr uint8_t REG_WAVCFG8 = 0x11; +static constexpr uint8_t MASK_SEQ8WAIT = _BV(7); +static constexpr uint8_t MASK_WAVSEQ8 = 0x7F; +static constexpr uint8_t SHIFT_WAVSEQ8 = 0; + +// ============================================== +// 0x12 (RW) +// ============================================== +// Register : WAVCFG9 +static constexpr uint8_t REG_WAVCFG9 = 0x12; +static constexpr uint8_t MASK_SEQ1LOOP = 0xF0; +static constexpr uint8_t SHIFT_SEQ1LOOP = 4; +static constexpr uint8_t MASK_SEQ2LOOP = 0x0F; +static constexpr uint8_t SHIFT_SEQ2LOOP = 0; + +// ============================================== +// 0x13 (RW) +// ============================================== +// Register : WAVCFG10 +static constexpr uint8_t REG_WAVCFG10 = 0x13; +static constexpr uint8_t MASK_SEQ3LOOP = 0xF0; +static constexpr uint8_t SHIFT_SEQ3LOOP = 4; +static constexpr uint8_t MASK_SEQ4LOOP = 0x0F; +static constexpr uint8_t SHIFT_SEQ4LOOP = 0; + +// ============================================== +// 0x14 (RW) +// ============================================== +// Register : WAVCFG11 +static constexpr uint8_t REG_WAVCFG11 = 0x14; +static constexpr uint8_t MASK_SEQ5LOOP = 0xF0; +static constexpr uint8_t SHIFT_SEQ5LOOP = 4; +static constexpr uint8_t MASK_SEQ6LOOP = 0x0F; +static constexpr uint8_t SHIFT_SEQ6LOOP = 0; + +// ============================================== +// 0x15 (RW) +// ============================================== +// Register : WAVCFG12 +static constexpr uint8_t REG_WAVCFG12 = 0x15; +static constexpr uint8_t MASK_SEQ7LOOP = 0xF0; +static constexpr uint8_t SHIFT_SEQ7LOOP = 4; +static constexpr uint8_t MASK_SEQ8LOOP = 0x0F; +static constexpr uint8_t SHIFT_SEQ8LOOP = 0; + +// ============================================== +// 0x16 (RW) +// ============================================== +// Register : WAVCFG13 +static constexpr uint8_t REG_WAVCFG13 = 0x16; +static constexpr uint8_t MASK_WAITSLOT = 0x60; // bits 6:5 +static constexpr uint8_t SHIFT_WAITSLOT = 5; +static constexpr uint8_t MASK_MAINLOOP = 0x0F; +static constexpr uint8_t SHIFT_MAINLOOP = 0; + +// ============================================== +// 0x18 (RW) +// ============================================== +// Register : CONTCFG1 +static constexpr uint8_t REG_CONTCFG1 = 0x18; +static constexpr uint8_t MASK_EDGE_FRE = 0xF0; +static constexpr uint8_t SHIFT_EDGE_FRE = 4; +static constexpr uint8_t MASK_EN_F0_DET = _BV(3); +static constexpr uint8_t MASK_SIN_MODE = _BV(0); + +// ============================================== +// 0x19 (RW) +// ============================================== +// Register : CONTCFG2 +static constexpr uint8_t REG_CONTCFG2 = 0x19; +static constexpr uint8_t MASK_F_PRE = 0xFF; +static constexpr uint8_t SHIFT_F_PRE = 0; + +// ============================================== +// 0x1A (RW) +// ============================================== +// Register : CONTCFG3 +static constexpr uint8_t REG_CONTCFG3 = 0x1A; +static constexpr uint8_t MASK_DRV_WIDTH = 0xFF; +static constexpr uint8_t SHIFT_DRV_WIDTH = 0; + +// ============================================== +// 0x1C (RW) +// ============================================== +// Register : CONTCFG5 +static constexpr uint8_t REG_CONTCFG5 = 0x1C; +static constexpr uint8_t MASK_BRK_GAIN = 0x0F; +static constexpr uint8_t SHIFT_BRK_GAIN = 0; + +// ============================================== +// 0x1D (RW) +// ============================================== +// Register : CONTCFG6 +static constexpr uint8_t REG_CONTCFG6 = 0x1D; +static constexpr uint8_t MASK_TRACK_EN = _BV(7); +static constexpr uint8_t MASK_DRV1_LVL = 0x7F; +static constexpr uint8_t SHIFT_DRV1_LVL = 0; + +// ============================================== +// 0x1E (RW) +// ============================================== +// Register : CONTCFG7 +static constexpr uint8_t REG_CONTCFG7 = 0x1E; +static constexpr uint8_t MASK_DRV2_LVL = 0x7F; +static constexpr uint8_t SHIFT_DRV2_LVL = 0; + +// ============================================== +// 0x1F (RW) +// ============================================== +// Register : CONTCFG8 +static constexpr uint8_t REG_CONTCFG8 = 0x1F; +static constexpr uint8_t MASK_DRV1_TIME = 0xFF; +static constexpr uint8_t SHIFT_DRV1_TIME = 0; + +// ============================================== +// 0x20 (RW) +// ============================================== +// Register : CONTCFG9 +static constexpr uint8_t REG_CONTCFG9 = 0x20; +static constexpr uint8_t MASK_DRV2_TIME = 0xFF; +static constexpr uint8_t SHIFT_DRV2_TIME = 0; + +// ============================================== +// 0x21 (RW) +// ============================================== +// Register : CONTCFG10 +static constexpr uint8_t REG_CONTCFG10 = 0x21; +static constexpr uint8_t MASK_BRK_TIME = 0xFF; +static constexpr uint8_t SHIFT_BRK_TIME = 0; + +// ============================================== +// 0x22 (RW) +// ============================================== +// Register : CONTCFG11 +static constexpr uint8_t REG_CONTCFG11 = 0x22; +static constexpr uint8_t MASK_TRACK_MARGIN = 0xFF; +static constexpr uint8_t SHIFT_TRACK_MARGIN = 0; + +// ============================================== +// 0x25 (RO) +// ============================================== +// Register : CONTRD14 +static constexpr uint8_t REG_CONTRD14 = 0x25; +static constexpr uint8_t MASK_F_LRA_F0_H = 0xFF; +static constexpr uint8_t SHIFT_F_LRA_F0_H = 0; + +// ============================================== +// 0x26 (RO) +// ============================================== +// Register : CONTRD15 +static constexpr uint8_t REG_CONTRD15 = 0x26; +static constexpr uint8_t MASK_F_LRA_F0_L = 0xFF; +static constexpr uint8_t SHIFT_F_LRA_F0_L = 0; + +// ============================================== +// 0x27 (RO) +// ============================================== +// Register : CONTRD16 +static constexpr uint8_t REG_CONTRD16 = 0x27; +static constexpr uint8_t MASK_CONT_F0_H = 0xFF; +static constexpr uint8_t SHIFT_CONT_F0_H = 0; + +// ============================================== +// 0x28 (RO) +// ============================================== +// Register : CONTRD17 +static constexpr uint8_t REG_CONTRD17 = 0x28; +static constexpr uint8_t MASK_CONT_F0_L = 0xFF; +static constexpr uint8_t SHIFT_CONT_F0_L = 0; + +// ============================================== +// 0x2D (RW) +// ============================================== +// Register : RTPCFG1 +static constexpr uint8_t REG_RTPCFG1 = 0x2D; +static constexpr uint8_t MASK_BASE_ADDR_H = 0x0F; +static constexpr uint8_t SHIFT_BASE_ADDR_H = 0; + +// ============================================== +// 0x2E (RW) +// ============================================== +// Register : RTPCFG2 +static constexpr uint8_t REG_RTPCFG2 = 0x2E; +static constexpr uint8_t MASK_BASE_ADDR_L = 0xFF; +static constexpr uint8_t SHIFT_BASE_ADDR_L = 0; + +// ============================================== +// 0x2F (RW) +// ============================================== +// Register : RTPCFG3 +static constexpr uint8_t REG_RTPCFG3 = 0x2F; +static constexpr uint8_t MASK_FIFO_AEH = 0xF0; +static constexpr uint8_t SHIFT_FIFO_AEH = 4; +static constexpr uint8_t MASK_FIFO_AFH = 0x0F; +static constexpr uint8_t SHIFT_FIFO_AFH = 0; + +// ============================================== +// 0x30 (RW) +// ============================================== +// Register : RTPCFG4 +static constexpr uint8_t REG_RTPCFG4 = 0x30; +static constexpr uint8_t MASK_FIFO_AEL = 0xFF; +static constexpr uint8_t SHIFT_FIFO_AEL = 0; + +// ============================================== +// 0x31 (RW) +// ============================================== +// Register : RTPCFG5 +static constexpr uint8_t REG_RTPCFG5 = 0x31; +static constexpr uint8_t MASK_FIFO_AFL = 0xFF; +static constexpr uint8_t SHIFT_FIFO_AFL = 0; + +// ============================================== +// 0x32 (RW) +// ============================================== +// Register : RTPDATA +static constexpr uint8_t REG_RTPDATA = 0x32; +static constexpr uint8_t MASK_RTP_DATA = 0xFF; +static constexpr uint8_t SHIFT_RTP_DATA = 0; + +// ============================================== +// 0x33 (RW) +// ============================================== +// Register : TRGCFG1 +static constexpr uint8_t REG_TRGCFG1 = 0x33; +static constexpr uint8_t MASK_TRG1_POS = _BV(7); +static constexpr uint8_t MASK_TRG1SEQ_P = 0x7F; +static constexpr uint8_t SHIFT_TRG1SEQ_P = 0; + +// ============================================== +// 0x36 (RW) +// ============================================== +// Register : TRGCFG4 +static constexpr uint8_t REG_TRGCFG4 = 0x36; +static constexpr uint8_t MASK_TRG1_NEG = _BV(7); +static constexpr uint8_t MASK_TRG1SEQ_N = 0x7F; +static constexpr uint8_t SHIFT_TRG1SEQ_N = 0; + +// ============================================== +// 0x39 (RW) +// ============================================== +// Register : TRGCFG7 +static constexpr uint8_t REG_TRGCFG7 = 0x39; +static constexpr uint8_t MASK_TRG1_POLAR = _BV(7); +static constexpr uint8_t MASK_TRG1_LEV = _BV(6); +static constexpr uint8_t MASK_TRG1_BRK = _BV(5); + +// ============================================== +// 0x3A (RW) +// ============================================== +// Register : TRGCFG8 +static constexpr uint8_t REG_TRGCFG8 = 0x3A; +static constexpr uint8_t MASK_TRG1_MODE = 0x18; // bits 4:3 +static constexpr uint8_t SHIFT_TRG1_MODE = 3; +static constexpr uint8_t MASK_TRG1_STOP = _BV(2); + +// ============================================== +// 0x3C (RW) +// ============================================== +// Register : GLBCFG2 +static constexpr uint8_t REG_GLBCFG2 = 0x3C; +static constexpr uint8_t MASK_START_DLY = 0xFF; +static constexpr uint8_t SHIFT_START_DLY = 0; + +// ============================================== +// 0x3E (RW) +// ============================================== +// Register : GLBCFG4 +static constexpr uint8_t REG_GLBCFG4 = 0x3E; +static constexpr uint8_t MASK_GO_PRIO = 0xC0; // bits 7:6 +static constexpr uint8_t SHIFT_GO_PRIO = 6; +static constexpr uint8_t MASK_TRG1_PRIO = 0x03; // bits 1:0 +static constexpr uint8_t SHIFT_TRG1_PRIO = 0; + +// ============================================== +// 0x3F (RO) +// ============================================== +// Register : GLBRD5 +static constexpr uint8_t REG_GLBRD5 = 0x3F; +static constexpr uint8_t SHIFT_GLB_STATE = 0; + +// ============================================== +// 0x40 (RW) +// ============================================== +// Register : RAMADDRH +static constexpr uint8_t REG_RAMADDRH = 0x40; +static constexpr uint8_t MASK_RAMADDRH = 0x0F; +static constexpr uint8_t SHIFT_RAMADDRH = 0; + +// ============================================== +// 0x41 (RW) +// ============================================== +// Register : RAMADDRL +static constexpr uint8_t REG_RAMADDRL = 0x41; +static constexpr uint8_t MASK_RAMADDRL = 0xFF; +static constexpr uint8_t SHIFT_RAMADDRL = 0; + +// ============================================== +// 0x42 (RW) +// ============================================== +// Register : RAMDATA +static constexpr uint8_t REG_RAMDATA = 0x42; +static constexpr uint8_t MASK_RAMDATA = 0xFF; +static constexpr uint8_t SHIFT_RAMDATA = 0; + +// ============================================== +// 0x43 (RW) +// ============================================== +// Register : SYSCTRL1 +static constexpr uint8_t REG_SYSCTRL1 = 0x43; +static constexpr uint8_t MASK_VBAT_MODE = _BV(7); +static constexpr uint8_t MASK_EN_RAMINIT = _BV(3); +static constexpr uint8_t MASK_EN_FIR = _BV(2); + +// ============================================== +// 0x44 (RW) +// ============================================== +// Register : SYSCTRL2 +static constexpr uint8_t REG_SYSCTRL2 = 0x44; +static constexpr uint8_t MASK_WAKE = _BV(7); +static constexpr uint8_t MASK_STANDBY = _BV(6); +static constexpr uint8_t MASK_INTN_PIN = _BV(3); +static constexpr uint8_t MASK_WAVDAT_MODE = 0x03; +static constexpr uint8_t SHIFT_WAVDAT_MODE = 0; + +// ============================================== +// 0x49 (RW) +// ============================================== +// Register : SYSCTRL7 +static constexpr uint8_t REG_SYSCTRL7 = 0x49; +static constexpr uint8_t MASK_GAIN_BYPASS = _BV(6); +static constexpr uint8_t MASK_D2S_GAIN = 0x07; +static constexpr uint8_t SHIFT_D2S_GAIN = 0; + +// ============================================== +// 0x4C (RW) +// ============================================== +// Register : PWMCFG1 +static constexpr uint8_t REG_PWMCFG1 = 0x4C; +static constexpr uint8_t MASK_PRC_EN = _BV(7); +static constexpr uint8_t MASK_PRCTIME = 0x7F; +static constexpr uint8_t SHIFT_PRCTIME = 0; + +// ============================================== +// 0x4D (RW) +// ============================================== +// Register : PWMCFG2 +static constexpr uint8_t REG_PWMCFG2 = 0x4D; +static constexpr uint8_t MASK_PD_HWM = _BV(4); // shutdown half wave modulate + +// ============================================== +// 0x4E (RW) +// ============================================== +// Register : PWMCFG3 +static constexpr uint8_t REG_PWMCFG3 = 0x4E; +static constexpr uint8_t MASK_PR_EN = _BV(7); +static constexpr uint8_t MASK_PRLVL = 0x7F; +static constexpr uint8_t SHIFT_PRLVL = 0; + +// ============================================== +// 0x4F (RW) +// ============================================== +// Register : PWMCFG4 +static constexpr uint8_t REG_PWMCFG4 = 0x4F; +static constexpr uint8_t MASK_PRTIME = 0xFF; +static constexpr uint8_t SHIFT_PRTIME = 0; + +// ============================================== +// 0x51 (RW) +// ============================================== +// Register : DETCFG1 +static constexpr uint8_t REG_DETCFG1 = 0x51; +static constexpr uint8_t MASK_RL_OS = _BV(4); +static constexpr uint8_t MASK_CLK_ADC = 0x07; +static constexpr uint8_t SHIFT_CLK_ADC = 0; + +// ============================================== +// 0x52 (RW) +// ============================================== +// Register : DETCFG2 +static constexpr uint8_t REG_DETCFG2 = 0x52; +static constexpr uint8_t MASK_VBAT_GO = _BV(1); +static constexpr uint8_t MASK_DIAG_GO = _BV(0); + +// ============================================== +// 0x53 (RO) +// ============================================== +// Register : DET_RL +static constexpr uint8_t REG_DET_RL = 0x53; +static constexpr uint8_t MASK_RL = 0xFF; +static constexpr uint8_t SHIFT_RL = 0; + +// ============================================== +// 0x55 (RO) +// ============================================== +// Register : DET_VBAT +static constexpr uint8_t REG_DET_VBAT = 0x55; +static constexpr uint8_t MASK_VBAT = 0xFF; +static constexpr uint8_t SHIFT_VBAT = 0; + +// ============================================== +// 0x57 (RO) +// ============================================== +// Register : DET_LO +static constexpr uint8_t REG_DET_LO = 0x57; +static constexpr uint8_t MASK_VBAT_LO = 0x30; // bits 5:4 +static constexpr uint8_t SHIFT_VBAT_LO = 4; +static constexpr uint8_t MASK_RL_LO = 0x03; // bits 1:0 +static constexpr uint8_t SHIFT_RL_LO = 0; + +// ============================================== +// 0x54 (RO) +// ============================================== +// Register : DET_OS +static constexpr uint8_t REG_DET_OS = 0x54; +static constexpr uint8_t MASK_OS = 0xFF; +static constexpr uint8_t SHIFT_OS = 0; + +// ============================================== +// 0x5A (RW) +// ============================================== +// Register : TRIMCFG3 +static constexpr uint8_t REG_TRIMCFG3 = 0x5A; +static constexpr uint8_t MASK_TRIM_LRA = 0x3F; +static constexpr uint8_t SHIFT_TRIM_LRA = 0; + +// ============================================== +// 0x64 (RO) +// ============================================== +// Register : CHIPID +static constexpr uint8_t REG_CHIPID = 0x64; +static constexpr uint8_t MASK_CHIPID_H = _BV(6); +static constexpr uint8_t MASK_CHIPID_L = _BV(0); + +// ============================================== +// 0x77 (RW) +// ============================================== +// Register : ANACFG8 +static constexpr uint8_t REG_ANACFG8 = 0x77; +static constexpr uint8_t MASK_TRTF_CTRL_HDRV = 0xC0; // bits 7:6 +static constexpr uint8_t SHIFT_TRTF_CTRL_HDRV = 6; \ No newline at end of file diff --git a/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605.cpp b/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605.cpp new file mode 100644 index 0000000..b02d0df --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605.cpp @@ -0,0 +1,440 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2024 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. + * + * @file HapticDriver_DRV2605.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2024-04-03 + */ +#include "HapticDriver_DRV2605.hpp" +#include "HapticDriver_DRV2605_Reg.hpp" + +HapticDriver_DRV2605::HapticDriver_DRV2605() + : HapticBase("DRV2605") + , _currentLibrary(1) + , _waveformCount(0) + , _isERM(true) +{ + for (int i = 0; i < 8; i++) { + _waveformSeq[i] = 0; + } +} + +HapticDriver_DRV2605::~HapticDriver_DRV2605() +{ + end(); +} + +void HapticDriver_DRV2605::end() +{ + stop(); + setReady(false); +} + +bool HapticDriver_DRV2605::isReady() const +{ + return _isReady; +} + +const char *HapticDriver_DRV2605::getChipName() const +{ + return "DRV2605"; +} + +bool HapticDriver_DRV2605::run() +{ + return writeReg(DRV2605_REG_GO, 1) == 0; +} + +bool HapticDriver_DRV2605::stop() +{ + return writeReg(DRV2605_REG_GO, 0) == 0; +} + +bool HapticDriver_DRV2605::isPlaying() const +{ + int value = readReg(DRV2605_REG_GO); + return value > 0 && value != -1; +} + +HapticStatus HapticDriver_DRV2605::getStatus() const +{ + if (!_isReady) return HapticStatus::ERROR; + if (isPlaying()) return HapticStatus::PLAYING; + return HapticStatus::IDLE; +} + +void HapticDriver_DRV2605::emergencyStop() +{ + stop(); +} + +bool HapticDriver_DRV2605::setGain(uint8_t gain) +{ + // DRV2605 doesn't have a dedicated gain register + // For ROM library effects, the intensity is pre-defined + // We can only use RTP mode for direct amplitude control + // Store the value for reference, but return false to indicate + // this chip doesn't support runtime gain adjustment + (void)gain; + return false; +} + +uint8_t HapticDriver_DRV2605::getGain() const +{ + // DRV2605 doesn't have a gain register for ROM effects + // Return stored value or 0 to indicate not applicable + return 0; +} + +bool HapticDriver_DRV2605::playEffect(HapticEffectId effect) +{ + if (!_isReady) return false; + setWaveform(0, static_cast(effect)); + setWaveform(1, 0); + return run(); +} + +bool HapticDriver_DRV2605::playEffectAsync(HapticEffectId effect) +{ + return playEffect(effect); +} + +void HapticDriver_DRV2605::continuousVibration(uint32_t duration_ms, bool blocking) +{ + (void)duration_ms; + (void)blocking; +} + +void HapticDriver_DRV2605::vibrationUpdate() +{ +} + +bool HapticDriver_DRV2605::setSequence(uint8_t slot, HapticEffectId effect) +{ + if (slot >= 8) return false; + _waveformSeq[slot] = static_cast(effect); + setWaveform(slot, _waveformSeq[slot]); + return true; +} + +bool HapticDriver_DRV2605::clearSequence() +{ + for (uint8_t i = 0; i < 8; i++) { + _waveformSeq[i] = 0; + setWaveform(i, 0); + } + return true; +} + +bool HapticDriver_DRV2605::playSequence() +{ + return run(); +} + +HapticCapabilities HapticDriver_DRV2605::getCapabilities() const +{ + HapticCapabilities cap; + cap.hasF0Calibration = 0; + cap.hasVbatCompensation = 0; + cap.hasRTP = 1; + cap.hasSequence = 1; + cap.hasAutoCalibration = 1; + cap.hasBreakEffect = 1; + cap.hasOverdrive = 1; + cap.hasContinuousMode = 0; + cap.maxEffectCount = 117; // ROM library has many effects + cap.maxSequenceLength = 8; + cap.maxDurationMs = 0; // Duration depends on waveform, not continuous + return cap; +} + +uint8_t HapticDriver_DRV2605::getChipID() const +{ + int chipID = readReg(DRV2605_REG_STATUS); + if (chipID < 0) return 0; + return static_cast(chipID >> 5); +} + +HapticActuatorType HapticDriver_DRV2605::getActuatorType() const +{ + return _isERM ? HapticActuatorType::ERM : HapticActuatorType::LRA; +} + +bool HapticDriver_DRV2605::setActuatorType(HapticActuatorType type) +{ + _isERM = (type == HapticActuatorType::ERM); + + if (_isERM) { + writeReg(DRV2605_REG_LIBRARY, 1); + updateBits(DRV2605_REG_FEEDBACK, 0x80, 0x00); + } else { + writeReg(DRV2605_REG_LIBRARY, 6); + updateBits(DRV2605_REG_FEEDBACK, 0x80, 0x80); + } + return true; +} + +bool HapticDriver_DRV2605::setMode(HapticMode mode) +{ + uint8_t value = 0; + switch (mode) { + case HapticMode::INTERNAL_TRIGGER: + value = 0x00; + break; + case HapticMode::EXT_TRIGGER_EDGE: + value = 0x01; + break; + case HapticMode::EXT_TRIGGER_LEVEL: + value = 0x02; + break; + case HapticMode::PWM_ANALOG: + value = 0x03; + break; + case HapticMode::AUDIO_TO_VIBE: + value = 0x04; + break; + case HapticMode::REAL_TIME_PLAYBACK: + value = 0x05; + break; + case HapticMode::DIAGNOSTICS: + value = 0x06; + break; + case HapticMode::AUTO_CALIBRATE: + value = 0x07; + break; + default: + return false; + } + return writeReg(DRV2605_REG_MODE, value) == 0; +} + +HapticMode HapticDriver_DRV2605::getMode() const +{ + int value = readReg(DRV2605_REG_MODE); + if (value < 0) { + return HapticMode::INTERNAL_TRIGGER; + } + return static_cast(value & 0x07); +} + +bool HapticDriver_DRV2605::setRealtimeValue(uint8_t value) +{ + return writeReg(DRV2605_REG_RTPIN, value) == 0; +} + +uint8_t HapticDriver_DRV2605::getRealtimeValue() const +{ + int value = readReg(DRV2605_REG_RTPIN); + return value >= 0 ? static_cast(value) : 0; +} + +bool HapticDriver_DRV2605::calibrate() +{ + int result = autoCal(); + return result >= 0; +} + +bool HapticDriver_DRV2605::needsCalibration() const +{ + return true; // DRV2605 typically needs calibration +} + +uint32_t HapticDriver_DRV2605::getF0() const +{ + int value = readReg(DRV2605_REG_LRARESON); + if (value < 0) return 0; + + uint8_t period = static_cast(value & 0x7F); + if (period == 0) return 0; + + return static_cast(1000000 / (period * 75)); +} + +uint32_t HapticDriver_DRV2605::getVbat() +{ + int vbat = readReg(DRV2605_REG_VBAT); + if (vbat < 0) { + return 0; + } + uint32_t mv = (static_cast(vbat) * 5.6 / 255) * 1000; + return mv; +} + +void HapticDriver_DRV2605::setWaveform(uint8_t slot, uint8_t w) +{ + writeReg(static_cast(DRV2605_REG_WAVESEQ1 + slot), w); +} + +void HapticDriver_DRV2605::selectLibrary(uint8_t lib) +{ + _currentLibrary = lib; + writeReg(DRV2605_REG_LIBRARY, lib); +} + +bool HapticDriver_DRV2605::isDone() const +{ + int value = readReg(DRV2605_REG_GO); + return value == 0; +} + +void HapticDriver_DRV2605::trigger() +{ + run(); +} + +void HapticDriver_DRV2605::setRatedVoltage(uint8_t value) +{ + writeReg(DRV2605_REG_RATEDV, value); +} + +void HapticDriver_DRV2605::setOverdriveClamp(uint8_t value) +{ + writeReg(DRV2605_REG_CLAMPV, value); +} + +int HapticDriver_DRV2605::autoCal() +{ + setMode(HapticMode::AUTO_CALIBRATE); + run(); + + uint32_t start = millis(); + while (!isDone() && (millis() - start < 1000)) { + delay(10); + } + + if (isDone()) { + int comp = readReg(DRV2605_REG_AUTOCALCOMP); + int backEmf = readReg(DRV2605_REG_AUTOCALEMP); + + setMode(HapticMode::INTERNAL_TRIGGER); + + if (comp >= 0 && backEmf >= 0) { + return comp; + } + } + + return -1; +} + +void HapticDriver_DRV2605::setAutoBrake(bool enable) +{ + int value = readReg(DRV2605_REG_CONTROL2); + if (value >= 0) { + if (enable) { + value |= 0x10; + } else { + value &= ~0x10; + } + writeReg(DRV2605_REG_CONTROL2, static_cast(value)); + } +} + +void HapticDriver_DRV2605::setOverdriveTime(uint8_t cycles) +{ + writeReg(DRV2605_REG_OVERDRIVE, cycles); +} + +void HapticDriver_DRV2605::setBrakeTime(uint8_t time) +{ + writeReg(DRV2605_REG_BREAK, time); +} + +void HapticDriver_DRV2605::setRtpOverdrive(bool enable) +{ + int value = readReg(DRV2605_REG_CONTROL3); + if (value >= 0) { + if (enable) { + value |= 0x80; + } else { + value &= ~0x80; + } + writeReg(DRV2605_REG_CONTROL3, static_cast(value)); + } +} + +void HapticDriver_DRV2605::setERMLRA(bool erm) +{ + _isERM = erm; + setActuatorType(erm ? HapticActuatorType::ERM : HapticActuatorType::LRA); +} + +void HapticDriver_DRV2605::setCtrl4(uint8_t value) +{ + writeReg(DRV2605_REG_CONTROL4, value); +} + +uint8_t HapticDriver_DRV2605::getLRAFrequency() const +{ + int value = readReg(DRV2605_REG_LRARESON); + return value >= 0 ? static_cast(value & 0x7F) : 0; +} + +bool HapticDriver_DRV2605::initImpl(uint8_t param) +{ + (void)param; + + int chipID = readReg(DRV2605_REG_STATUS); + if (chipID < 0) { + return false; + } + + chipID >>= 5; + + switch (chipID) { + case DRV2604_CHIP_ID: + case DRV2605_CHIP_ID: + case DRV2604L_CHIP_ID: + case DRV2605L_CHIP_ID: + case DRV2605X_CHIP_ID: + break; + default: + return false; + } + + writeReg(DRV2605_REG_MODE, 0x00); + writeReg(DRV2605_REG_RTPIN, 0x00); + + writeReg(DRV2605_REG_WAVESEQ1, 1); + writeReg(DRV2605_REG_WAVESEQ2, 0); + + writeReg(DRV2605_REG_OVERDRIVE, 0); + writeReg(DRV2605_REG_SUSTAINPOS, 0); + writeReg(DRV2605_REG_SUSTAINNEG, 0); + writeReg(DRV2605_REG_BREAK, 0); + writeReg(DRV2605_REG_AUDIOMAX, 0x64); + + int value = readReg(DRV2605_REG_FEEDBACK); + if (value == -1) { + return false; + } + writeReg(DRV2605_REG_FEEDBACK, static_cast(value & 0x7F)); + + int control3 = readReg(DRV2605_REG_CONTROL3); + if (control3 == -1) { + return false; + } + writeReg(DRV2605_REG_CONTROL3, static_cast(control3 | 0x20)); + + return true; +} diff --git a/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605.hpp b/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605.hpp new file mode 100644 index 0000000..4914884 --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605.hpp @@ -0,0 +1,520 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2024 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. + * + * @file HapticDriver_DRV2605.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2024-04-03 + */ +#pragma once + +#include "platform/comm/I2CDeviceNoHal.hpp" +#include "HapticBase.hpp" + +/** + * @brief Default I2C slave address for DRV2605/DRV2604 haptic driver. + */ +static constexpr uint8_t DRV2605_SLAVE_ADDRESS = 0x5A; + +/** + * @brief Driver for the TI DRV2605/DRV2604 haptic motor controller. + * + * This driver provides a complete interface for controlling the DRV2605/DRV2604 + * haptic motor driver IC via I2C. It inherits from HapticBase to provide a + * unified interface across different haptic drivers. + * + * @par Supported Features: + * - ROM waveform library playback (117 built-in effects) + * - Waveform sequencing (8 slots) + * - Real-Time Playback (RTP) mode for direct amplitude control + * - Auto-calibration for ERM and LRA actuators + * - Multiple operating modes (internal trigger, external trigger, audio-to-vibe, etc.) + * - ERM and LRA actuator support + * + * @par Unsupported Features: + * - Runtime gain adjustment (ROM effect intensity is pre-defined) + * - Continuous vibration mode (use RTP mode instead) + * - F0 calibration (use autoCal() instead) + * - VBAT compensation + * + * @par ROM Library Reference: + * - Library 1: Strong Click (default) + * - Library 2: Sharp Click + * - Library 3: Soft Click + * - Library 4: Medium Click + * - Library 5: Soft Bump + * - Library 6: Double Click + * - Library 7: Triple Click + * - Library 8: Soft Fuzz + * - Library 9: Buzz + * - Library 10: Butterly + * - Library 11: Crash + * - Library 12: Tick + * - Library 13: Pop + * - Library 14: Generic Click + * - Library 15: Generic Snap + * - Library 16: Generic Roll + * - Library 17: Generic Pitch + * + * @note LRA Library (Library 6) is specifically designed for Linear Resonant Actuators. + * ERM libraries (1-5) are for Eccentric Rotating Mass motors. + * + * @par Usage Example: + * @code + * #include + * #include "HapticDriver_DRV2605.hpp" + * + * HapticDriver_DRV2605 haptic; + * + * void setup() { + * Serial.begin(115200); + * Wire.begin(); + * + * if (!haptic.begin(Wire, DRV2605_SLAVE_ADDRESS)) { + * Serial.println("Init failed!"); + * while (1); + * } + * + * // Select LRA library for linear resonant actuator + * haptic.selectLibrary(6); + * + * // Play a built-in effect + * haptic.playEffect(1); // Strong click + * + * // Or use RTP for direct control + * haptic.setMode(HapticMode::REAL_TIME_PLAYBACK); + * haptic.setRealtimeValue(0x80); + * } + * @endcode + * + * @warning You must call begin() successfully before using any other API. + */ +class HapticDriver_DRV2605 : public HapticBase, public I2CDeviceNoHal +{ +public: + /** + * @brief Construct an uninitialized driver instance. + */ + HapticDriver_DRV2605(); + + /** + * @brief Destructor. Deinitializes communication backend if created. + */ + ~HapticDriver_DRV2605() override; + + // ==================== HapticBase Interface - Lifecycle ==================== + + /** + * @brief Deinitialize the driver and release resources. + */ + void end() override; + + /** + * @brief Check if the driver is initialized and ready. + * @return true if ready, false otherwise. + */ + bool isReady() const override; + + /** + * @brief Get the chip name. + * @return Always returns "DRV2605". + */ + const char *getChipName() const override; + + // ==================== HapticBase Interface - Playback Control ==================== + + /** + * @brief Start haptic playback. + * @return true if successful, false otherwise. + */ + bool run() override; + + /** + * @brief Stop haptic playback immediately. + * @return true if successful, false otherwise. + */ + bool stop() override; + + /** + * @brief Check if haptic is currently playing. + * @return true if playing, false otherwise. + */ + bool isPlaying() const override; + + /** + * @brief Get current playback status. + * @return HapticStatus::PLAYING if playing, HapticStatus::IDLE otherwise. + */ + HapticStatus getStatus() const override; + + /** + * @brief Emergency stop - stops all vibration immediately. + * @note Calls stop() internally. + */ + void emergencyStop() override; + + // ==================== HapticBase Interface - Gain Control ==================== + + /** + * @brief Set the gain/amplitude. + * + * @note NOT SUPPORTED by DRV2605. This chip uses ROM waveforms with + * pre-defined intensities. For amplitude control, use RTP mode + * (setRealtimeValue) instead. + * + * @param gain Ignored. + * @return Always returns false. + */ + bool setGain(uint8_t gain) override; + + /** + * @brief Get the current gain value. + * + * @note NOT SUPPORTED by DRV2605. ROM effect intensities are pre-defined. + * + * @return Always returns 0. + */ + uint8_t getGain() const override; + + // ==================== HapticBase Interface - Effect Playback ==================== + + /** + * @brief Play a haptic effect. + * + * Plays a ROM waveform effect with blocking (waits for completion). + * + * @param effect Effect ID (1-117 based on selected library). + * @return true if started successfully, false otherwise. + */ + bool playEffect(HapticEffectId effect) override; + + /** + * @brief Play a haptic effect (non-blocking). + * + * @note For DRV2605, this behaves the same as playEffect() since + * the chip handles playback internally. + * + * @param effect Effect ID to play. + * @return true if started successfully, false otherwise. + */ + bool playEffectAsync(HapticEffectId effect) override; + + /** + * @brief Play a continuous vibration for specified duration. + * + * @note NOT SUPPORTED by DRV2605. This chip plays pre-defined ROM + * effects and cannot produce true continuous vibration. + * For amplitude control, use RTP mode instead. + * + * @param duration_ms Ignored. + * @param blocking Ignored. + */ + void continuousVibration(uint32_t duration_ms, bool blocking = true) override; + + /** + * @brief Update vibration state (for non-blocking mode). + * + * @note NOT SUPPORTED. DRV2605 handles playback internally. + * This function does nothing. + */ + void vibrationUpdate() override; + + // ==================== HapticBase Interface - Waveform Sequence ==================== + + /** + * @brief Set a waveform in the sequence. + * + * @param slot Sequence slot index (0 to 7). + * @param effect Effect ID to play at this slot. + * @return true if successful, false otherwise. + */ + bool setSequence(uint8_t slot, HapticEffectId effect) override; + + /** + * @brief Clear the waveform sequence. + * @return true if successful, false otherwise. + */ + bool clearSequence() override; + + /** + * @brief Play the waveform sequence. + * @return true if successful, false otherwise. + */ + bool playSequence() override; + + // ==================== HapticBase Interface - Device Information ==================== + + /** + * @brief Get device capabilities. + * @return HapticCapabilities struct describing supported features. + * + * Supported: RTP, Sequence, AutoCalibration, BreakEffect, Overdrive + * Unsupported: F0Calibration, VbatCompensation, ContinuousMode + */ + HapticCapabilities getCapabilities() const override; + + /** + * @brief Get the chip ID. + * @return Chip identifier value (shifted from STATUS register). + */ + uint8_t getChipID() const override; + + /** + * @brief Get the actuator type. + * @return HapticActuatorType::ERM or HapticActuatorType::LRA. + */ + HapticActuatorType getActuatorType() const override; + + /** + * @brief Set the actuator type. + * + * Automatically selects the appropriate ROM library: + * - ERM: Library 1 + * - LRA: Library 6 + * + * @param type Actuator type to set (ERM or LRA). + * @return true if successful, false otherwise. + */ + bool setActuatorType(HapticActuatorType type) override; + + // ==================== HapticBase Interface - Mode Control ==================== + + /** + * @brief Set the operating mode. + * + * @param mode Mode to set: + * - INTERNAL_TRIGGER: Waveform playback triggered by GO bit + * - EXT_TRIGGER_EDGE: External trigger on edge + * - EXT_TRIGGER_LEVEL: External trigger on level + * - PWM_ANALOG: PWM or analog input drive + * - AUDIO_TO_VIBE: Audio input to vibration + * - REAL_TIME_PLAYBACK: Direct RTP amplitude control + * - DIAGNOSTICS: Diagnostics mode + * - AUTO_CALIBRATE: Auto-calibration mode + * + * @return true if successful, false otherwise. + */ + bool setMode(HapticMode mode) override; + + /** + * @brief Get the current operating mode. + * @return Current HapticMode. + */ + HapticMode getMode() const override; + + // ==================== HapticBase Interface - RTP ==================== + + /** + * @brief Set RTP (real-time playback) value. + * + * Provides direct amplitude control in RTP mode. + * + * @param value RTP drive value (0x00 to 0xFF). + * @return true if successful, false otherwise. + */ + bool setRealtimeValue(uint8_t value) override; + + // ==================== HapticBase Interface - Calibration ==================== + + /** + * @brief Perform auto-calibration. + * + * Runs the built-in auto-calibration sequence. + * + * @return true if successful, false otherwise. + */ + bool calibrate() override; + + /** + * @brief Check if calibration is needed. + * @return Always returns true for DRV2605. + */ + bool needsCalibration() const override; + + /** + * @brief Get the measured resonant frequency (F0). + * + * @note For LRA mode, reads the resonance period and calculates F0. + * For ERM mode, this returns 0. + * + * @return F0 in Hz, or 0 if not available. + */ + uint32_t getF0() const override; + + /** + * @brief Get the battery voltage. + * @return Voltage in mV, or 0 if unsupported. + */ + uint32_t getVbat() override; + + // ==================== Extended API ==================== + + /** + * @brief Set a waveform entry in the playback sequence table. + * + * Playback starts at slot 0 and continues sequentially until a value of 0 is + * encountered, or slot 7 is reached. + * + * @param slot Sequence slot index (0..7). + * @param w Waveform index in the device ROM library (0 = end). + */ + void setWaveform(uint8_t slot, uint8_t w); + + /** + * @brief Select the ROM waveform library. + * + * Different libraries contain different sets of built-in effects. + * + * @param lib Library selection: + * - 0: Empty + * - 1..5: ERM libraries (1=Strong Click, 2=Sharp Click, etc.) + * - 6: LRA library (for Linear Resonant Actuators) + */ + void selectLibrary(uint8_t lib); + + /** + * @brief Check if playback is done. + * @return true if GO bit is clear (playback stopped). + */ + bool isDone() const; + + /** + * @brief Trigger a single playback cycle. + * + * Sets the GO bit to start playback of the waveform sequence. + * Equivalent to run(). + */ + void trigger(); + + /** + * @brief Get the current RTP value. + * @return Current RTP register value (0x00 to 0xFF). + */ + uint8_t getRealtimeValue() const; + + /** + * @brief Set the rated voltage for auto-calibration. + * + * This value should match the rated voltage of your actuator. + * + * @param value Rated voltage value (register value). + */ + void setRatedVoltage(uint8_t value); + + /** + * @brief Set the overdrive clamp voltage for auto-calibration. + * + * This value controls the maximum voltage during auto-calibration. + * + * @param value Overdrive clamp voltage value. + */ + void setOverdriveClamp(uint8_t value); + + /** + * @brief Perform auto-calibration and return compensation result. + * + * Runs the full auto-calibration sequence and returns the + * compensation value stored in the AUTOCALCOMP register. + * + * @return Auto-calibration compensation value (0-255), or -1 on failure. + */ + int autoCal(); + + /** + * @brief Enable/disable automatic braking. + * + * When enabled, the chip automatically applies braking + * after each waveform effect. + * + * @param enable true to enable, false to disable. + */ + void setAutoBrake(bool enable); + + /** + * @brief Set the number of overdrive cycles. + * + * Controls how long the overdrive period lasts at the + * beginning of each waveform. + * + * @param cycles Number of overdrive cycles (0-255). + */ + void setOverdriveTime(uint8_t cycles); + + /** + * @brief Set the brake time offset. + * + * Controls the braking period after each waveform. + * + * @param time Brake time offset value (0-255). + */ + void setBrakeTime(uint8_t time); + + /** + * @brief Enable/disable RTP overdrive. + * + * When enabled, RTP mode uses overdrive to reach the + * target amplitude faster. + * + * @param enable true to enable, false to disable. + */ + void setRtpOverdrive(bool enable); + + /** + * @brief Enable/disable ERM/LRA mode. + * + * @deprecated Use setActuatorType() instead. + * + * @param erm true for ERM, false for LRA. + */ + void setERMLRA(bool erm); + + /** + * @brief Set the control4 register value. + * + * @warning Advanced use only. Incorrect values may cause + * unpredictable behavior. + * + * @param value Control4 register value. + */ + void setCtrl4(uint8_t value); + + /** + * @brief Read the LRA resonance period (for LRA calibration). + * + * @return LRA resonance period value (bits 6:0), or 0 if unavailable. + */ + uint8_t getLRAFrequency() const; + +private: + bool initImpl(uint8_t param) override; + + void afterInitSuccess(uint8_t param) override + { + setReady(true); + } + uint8_t _currentLibrary; + uint8_t _waveformSeq[8]; + uint8_t _waveformCount; + uint8_t _gain; + bool _isERM; +}; \ No newline at end of file diff --git a/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605_Reg.hpp b/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605_Reg.hpp new file mode 100644 index 0000000..6056a52 --- /dev/null +++ b/lib/SensorLib/src/haptic_drivers/HapticDriver_DRV2605_Reg.hpp @@ -0,0 +1,80 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file HapticDriver_DRV2605_Reg.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-04-01 + * + */ +#pragma once + +#include + +// ----------------------- +// Chip IDs (STATUS[7:5]) +// ----------------------- + +static constexpr uint8_t DRV2604_CHIP_ID = 0x04; +static constexpr uint8_t DRV2605_CHIP_ID = 0x03; +static constexpr uint8_t DRV2604L_CHIP_ID = 0x06; +static constexpr uint8_t DRV2605L_CHIP_ID = 0x07; +static constexpr uint8_t DRV2605X_CHIP_ID = 0x05; + +// ----------------------- +// Register addresses +// ----------------------- + +static constexpr uint8_t DRV2605_REG_STATUS = 0x00; +static constexpr uint8_t DRV2605_REG_MODE = 0x01; +static constexpr uint8_t DRV2605_REG_RTPIN = 0x02; +static constexpr uint8_t DRV2605_REG_LIBRARY = 0x03; +static constexpr uint8_t DRV2605_REG_WAVESEQ1 = 0x04; +static constexpr uint8_t DRV2605_REG_WAVESEQ2 = 0x05; +static constexpr uint8_t DRV2605_REG_WAVESEQ3 = 0x06; +static constexpr uint8_t DRV2605_REG_WAVESEQ4 = 0x07; +static constexpr uint8_t DRV2605_REG_WAVESEQ5 = 0x08; +static constexpr uint8_t DRV2605_REG_WAVESEQ6 = 0x09; +static constexpr uint8_t DRV2605_REG_WAVESEQ7 = 0x0A; +static constexpr uint8_t DRV2605_REG_WAVESEQ8 = 0x0B; +static constexpr uint8_t DRV2605_REG_GO = 0x0C; +static constexpr uint8_t DRV2605_REG_OVERDRIVE = 0x0D; +static constexpr uint8_t DRV2605_REG_SUSTAINPOS = 0x0E; +static constexpr uint8_t DRV2605_REG_SUSTAINNEG = 0x0F; +static constexpr uint8_t DRV2605_REG_BREAK = 0x10; +static constexpr uint8_t DRV2605_REG_AUDIOCTRL = 0x11; +static constexpr uint8_t DRV2605_REG_AUDIOLVL = 0x12; +static constexpr uint8_t DRV2605_REG_AUDIOMAX = 0x13; +static constexpr uint8_t DRV2605_REG_AUDIOOUTMIN = 0x14; +static constexpr uint8_t DRV2605_REG_AUDIOOUTMAX = 0x15; +static constexpr uint8_t DRV2605_REG_RATEDV = 0x16; +static constexpr uint8_t DRV2605_REG_CLAMPV = 0x17; +static constexpr uint8_t DRV2605_REG_AUTOCALCOMP = 0x18; +static constexpr uint8_t DRV2605_REG_AUTOCALEMP = 0x19; +static constexpr uint8_t DRV2605_REG_FEEDBACK = 0x1A; +static constexpr uint8_t DRV2605_REG_CONTROL1 = 0x1B; +static constexpr uint8_t DRV2605_REG_CONTROL2 = 0x1C; +static constexpr uint8_t DRV2605_REG_CONTROL3 = 0x1D; +static constexpr uint8_t DRV2605_REG_CONTROL4 = 0x1E; +static constexpr uint8_t DRV2605_REG_VBAT = 0x21; +static constexpr uint8_t DRV2605_REG_LRARESON = 0x22; diff --git a/lib/SensorLib/src/platform/SensorCommBase.hpp b/lib/SensorLib/src/platform/SensorCommBase.hpp index 7b2c4ca..ee07466 100644 --- a/lib/SensorLib/src/platform/SensorCommBase.hpp +++ b/lib/SensorLib/src/platform/SensorCommBase.hpp @@ -25,28 +25,37 @@ * @file SensorCommBase.hpp * @author Lewis He (lewishe@outlook.com) * @date 2025-01-18 + * @note + * This header provides utility functions and base classes for sensor + * communication and hardware abstraction. + * + * It includes: + * - A fallback std::make_unique for C++11. + * - A compile-time array size helper. + * - Base parameter classes for I2C and SPI settings. + * - Abstract interface for sensor communication (SensorCommBase). + * - Hardware abstraction layers (SensorHalCustom and SensorHal). * */ #pragma once #include "SensorLib.h" #include +#include "SensorErrorMixin.hpp" -typedef struct { - uint8_t byte0 : 8; - uint8_t byte1 : 8; - uint8_t byte2 : 8; - uint8_t byte3 : 8; -} ByteStruct; - -typedef union { - uint32_t value; - ByteStruct bytes; - uint8_t byte_array[4]; -} ByteUnion; - +//-------------------------------------------------------------------------- +// C++11 compatibility: provide std::make_unique if not yet in the standard. +//-------------------------------------------------------------------------- #if __cplusplus == 201103L namespace std { +/** + * @brief Creates a unique_ptr for a given type, forwarding constructor arguments. + * @tparam T Type of the object to create. + * @tparam Args Types of the constructor arguments. + * @param args Arguments to forward to T's constructor. + * @return std::unique_ptr owning the newly created object. + * @note This is a C++11 fallback; from C++14 onward std::make_unique is part of the standard. + */ template std::unique_ptr make_unique(Args &&... args) { @@ -55,145 +64,446 @@ std::unique_ptr make_unique(Args &&... args) } #endif - +//-------------------------------------------------------------------------- +// Compile‑time array size utility +//-------------------------------------------------------------------------- +/** + * @brief Returns the number of elements in a C‑style array at compile time. + * @tparam T Element type. + * @tparam N Array size (deduced). + * @param arr Reference to the array. + * @return constexpr size_t Number of elements (N). + */ template constexpr size_t arraySize(const T (&arr)[N]) { return N; } +//============================================================================ +// Communication parameter base classes +//============================================================================ +/** + * @brief Abstract base for all communication parameter objects. + * Used to pass configuration (I2C, SPI, etc.) to a SensorCommBase instance. + */ class CommParamsBase { public: virtual ~CommParamsBase() = default; }; +//-------------------------------------------------------------------------- +// I2C specific parameters +//-------------------------------------------------------------------------- +/** + * @brief I2C communication parameters. + * Encapsulates a type (which setting to change) and a value. + */ class I2CParam : public CommParamsBase { public: + /** + * @brief Identifiers for the various I2C settings that can be changed. + */ enum I2CParamType { - I2C_SET_ADDR, - I2C_SET_FLAG, - I2C_SET_CLOCK, - I2C_SET_WRITE_DELAY_US, - I2C_SET_READ_DELAY_US, + I2C_SET_ADDR, //!< Set device address + I2C_SET_FLAG, //!< Set a generic flag (interpretation depends on driver) + I2C_SET_CLOCK, //!< Set I2C clock frequency + I2C_SET_WRITE_DELAY_US, //!< Delay after write operations (microseconds) + I2C_SET_READ_DELAY_US, //!< Delay after read operations (microseconds) }; + /** + * @brief Construct an I2C parameter object. + * @param type Which parameter to change (see I2CParamType). + * @param params The value associated with the parameter. + */ I2CParam(I2CParamType type, uint32_t params) : type(type), params(params) {} + /** + * @brief Retrieve the stored parameter value. + * @return uint32_t The parameter value. + */ uint32_t getParams() const { return params; } + + /** + * @brief Retrieve the parameter type. + * @return uint8_t The I2CParamType (cast to uint8_t). + */ uint8_t getType() const { return type; } protected: - enum I2CParamType type; - uint32_t params; + enum I2CParamType type; //!< Which I2C parameter this object represents. + uint32_t params; //!< The value of the parameter. }; +//-------------------------------------------------------------------------- +// SPI settings emulation for non‑Arduino environments +//-------------------------------------------------------------------------- #if !defined(ARDUINO) -#define SPI_MODE0 0 -#define SPI_MODE1 1 -#define SPI_MODE2 2 -#define SPI_MODE3 3 +// Standard SPI mode constants (mirror Arduino's definitions) +#define SPI_MODE0 0 //!< CPOL = 0, CPHA = 0 +#define SPI_MODE1 1 //!< CPOL = 0, CPHA = 1 +#define SPI_MODE2 2 //!< CPOL = 1, CPHA = 0 +#define SPI_MODE3 3 //!< CPOL = 1, CPHA = 1 -#define SPI_LSB 0 -#define SPI_MSB 1 +#define SPI_LSB 0 //!< Least significant bit first +#define SPI_MSB 1 //!< Most significant bit first +/** + * @brief Emulation of Arduino's SPISettings class. + * Bundles clock speed, bit order, and SPI mode. + */ class SPISettings { public: SPISettings() : clock(1000000), bitOrder(SPI_MSB), dataMode(SPI_MODE0) {} SPISettings(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) : clock(clock), bitOrder(bitOrder), dataMode(dataMode) {} - uint32_t clock; - uint8_t bitOrder; - uint8_t dataMode; + + uint32_t clock; //!< SPI clock frequency in Hz. + uint8_t bitOrder; //!< SPI_LSB or SPI_MSB. + uint8_t dataMode; //!< SPI_MODE0 .. SPI_MODE3. }; #endif - +//-------------------------------------------------------------------------- +// SPI specific parameters +//-------------------------------------------------------------------------- +/** + * @brief SPI communication parameters. + * Wraps an SPISettings object. + */ class SPIParam : public CommParamsBase { private: - SPISettings setting; + SPISettings setting; //!< The SPI settings (clock, bit order, mode). + public: + /** + * @brief Construct an SPI parameter object from an SPISettings. + * @param setting The SPI configuration to use. + */ SPIParam(SPISettings setting) : setting(setting) {} + + /** + * @brief Retrieve the stored SPI settings. + * @return SPISettings The current SPI configuration. + */ SPISettings getSetting() const { return setting; } }; -class SensorCommBase +//============================================================================ +// Abstract sensor communication interface +//============================================================================ +// Note: SensorErrorMixin is assumed to be defined elsewhere and provides +// error handling / status reporting. + +/** + * @brief Abstract base class for low‑level sensor communication. + * Defines the interface for reading/writing registers, buffers, + * and performing combined transactions. + */ +class SensorCommBase : public SensorErrorMixin { public: + //---------------------------------------------------------------------- + // Initialisation / deinitialisation + //---------------------------------------------------------------------- + /** + * @brief Initialise the communication interface (open device, etc.). + * @return true if successful, false otherwise. + */ virtual bool init() = 0; + + /** + * @brief Deinitialise the communication interface (close device, etc.). + */ virtual void deinit() = 0; - virtual int readRegister(const uint8_t reg) = 0; + //---------------------------------------------------------------------- + // Read operations + //---------------------------------------------------------------------- + /** + * @brief Read a single byte from a register. + * @param reg Register address. + * @return int The byte value on success, or a negative error code. + */ + virtual int readRegister(const uint8_t reg) + { + int err = 0; + uint8_t value = 0x00; + err = readRegister(reg, &value, 1); + if (err < 0) { + return err; // Propagate read error + } + return value; + } + + /** + * @brief Read multiple bytes from a register into a buffer. + * @param reg Register address. + * @param buf Destination buffer. + * @param len Number of bytes to read. + * @return int Number of bytes read on success, negative error code otherwise. + */ virtual int readRegister(const uint8_t reg, uint8_t *buf, size_t len) = 0; - virtual int writeRegister(const uint8_t reg, uint8_t val) = 0; + /** + * @brief Read bytes directly from the device (no register address sent). + * @param buf Destination buffer. + * @param len Number of bytes to read. + * @return int Number of bytes read on success, negative error code otherwise. + */ + virtual int readBuffer(uint8_t *buf, size_t len) = 0; + + //---------------------------------------------------------------------- + // Write operations + //---------------------------------------------------------------------- + /** + * @brief Write a single byte to a register. + * @param reg Register address. + * @param val Value to write. + * @return int 0 on success, negative error code otherwise. + */ + virtual int writeRegister(const uint8_t reg, uint8_t val) + { + return writeRegister(reg, &val, 1); + } + + /** + * @brief Write multiple bytes to a register. + * @param reg Register address. + * @param buf Source buffer containing data to write. + * @param len Number of bytes to write. + * @return int Number of bytes written on success, negative error code otherwise. + */ virtual int writeRegister(const uint8_t reg, uint8_t *buf, size_t len) = 0; - virtual int writeRegister(const uint8_t reg, uint8_t norVal, uint8_t orVal) = 0; + + /** + * @brief Modify a register using a NOR and OR mask. + * Typically implemented as: new_val = (old_val & norVal) | orVal. + * @param reg Register address. + * @param norVal Bits to clear (NOR mask). + * @param orVal Bits to set (OR mask). + * @return int 0 on success, negative error code otherwise. + */ + virtual int writeRegister(const uint8_t reg, uint8_t norVal, uint8_t orVal) + { + int val = readRegister(reg); + if (val < 0) { + return val; // Propagate read error + } + val &= norVal; + val |= orVal; + return writeRegister(reg, reinterpret_cast(&val), 1); + } + + /** + * @brief Write a buffer directly to the device (no register address). + * @param buffer Source buffer. + * @param len Number of bytes to write. + * @return int Number of bytes written on success, negative error code otherwise. + */ virtual int writeBuffer(uint8_t *buffer, size_t len) = 0; - virtual int writeThenRead(const uint8_t *write_buffer, size_t write_len, uint8_t *read_buffer, size_t read_len) = 0; + //---------------------------------------------------------------------- + // Combined transactions + //---------------------------------------------------------------------- + /** + * @brief Perform a write followed by a read (e.g., for register‑based sensors). + * @param write_buffer Data to write (usually register address + optional command). + * @param write_len Length of write buffer. + * @param read_buffer Buffer to store read data. + * @param read_len Number of bytes to read. + * @return int Number of bytes read on success, negative error code otherwise. + */ + virtual int writeThenRead(const uint8_t *write_buffer, size_t write_len, + uint8_t *read_buffer, size_t read_len) = 0; - virtual bool setRegisterBit(const uint8_t reg, uint8_t bit) = 0; - virtual bool clrRegisterBit(const uint8_t reg, uint8_t bit) = 0; - virtual bool getRegisterBit(const uint8_t reg, uint8_t bit) = 0; + //---------------------------------------------------------------------- + // Bit‑level register manipulation + //---------------------------------------------------------------------- + /** + * @brief Set a specific bit in a register. + * @param reg Register address. + * @param bit Bit index (0‑based, LSB). + * @return true if the operation succeeded, false otherwise. + */ + virtual bool setRegisterBit(const uint8_t reg, uint8_t bit) + { + int value = readRegister(reg); + if (value < 0) + return false; + value |= (1 << bit); + return writeRegister(reg, reinterpret_cast(&value), 1) == 0; + } + /** + * @brief Clear a specific bit in a register. + * @param reg Register address. + * @param bit Bit index (0‑based, LSB). + * @return true if the operation succeeded, false otherwise. + */ + virtual bool clrRegisterBit(const uint8_t reg, uint8_t bit) + { + int value = readRegister(reg); + if (value < 0) + return false; + value &= ~(1 << bit); + return writeRegister(reg, reinterpret_cast(&value), 1) == 0; + } + + /** + * @brief Read the state of a specific bit in a register. + * @param reg Register address. + * @param bit Bit index (0‑based, LSB). + * @return true if the bit is set, false if cleared or on error. + */ + virtual bool getRegisterBit(const uint8_t reg, uint8_t bit) + { + int value = readRegister(reg); + if (value < 0) + return false; + return (value & (1 << bit)) != 0; + } + + /** + * @brief Update specific bits in a register. + * @param reg Register address. + * @param mask Bitmask to select bits to update. + * @param value_shifted New values for the selected bits (must be shifted into position). + * @return int 0 on success, negative error code otherwise. + */ + virtual int updateBits(uint8_t reg, uint8_t mask, uint8_t value_shifted) + { + int cur = readRegister(reg); + if (cur < 0) return cur; // Propagate read error + uint8_t newv = (uint8_t(cur) & ~mask) | (value_shifted & mask); + return writeRegister(reg, newv); + } + + //---------------------------------------------------------------------- + // Parameter configuration + //---------------------------------------------------------------------- + /** + * @brief Apply communication parameters (e.g., I2C address, SPI settings). + * @param params A CommParamsBase derived object (I2CParam or SPIParam). + */ virtual void setParams(const CommParamsBase ¶ms) = 0; + + //---------------------------------------------------------------------- + // Destructor + //---------------------------------------------------------------------- virtual ~SensorCommBase() = default; }; +//============================================================================ +// Hardware abstraction layers +//============================================================================ + +/** + * @brief Customisation point for low‑level GPIO callbacks. + * Allows injection of user‑defined functions for pin manipulation. + */ class SensorHalCustom { public: - using CustomWrite = void(*)(uint8_t pin, uint8_t level); - using CustomRead = uint8_t(*)(uint8_t pin); - using CustomMode = void(*)(uint8_t pin, uint8_t mode); + // Type aliases for callback signatures + using CustomWrite = void(*)(uint8_t pin, uint8_t level); //!< Set pin level (0/1) + using CustomRead = uint8_t(*)(uint8_t pin); //!< Read pin level + using CustomMode = void(*)(uint8_t pin, uint8_t mode); //!< Set pin mode (INPUT/OUTPUT, etc.) SensorHalCustom() : writeCallback(nullptr), readCallback(nullptr), modeCallback(nullptr) {} + /** + * @brief Set a custom digitalWrite implementation. + * @param callback Function pointer to be used as digitalWrite. + */ void setCustomWrite(CustomWrite callback) { writeCallback = callback; } + /** + * @brief Set a custom digitalRead implementation. + * @param callback Function pointer to be used as digitalRead. + */ void setCustomRead(CustomRead callback) { readCallback = callback; } + /** + * @brief Set a custom pinMode implementation. + * @param callback Function pointer to be used as pinMode. + */ void setCustomMode(CustomMode callback) { modeCallback = callback; } protected: - CustomWrite writeCallback; - CustomRead readCallback; - CustomMode modeCallback; + CustomWrite writeCallback; //!< Custom digitalWrite, nullptr if not set. + CustomRead readCallback; //!< Custom digitalRead, nullptr if not set. + CustomMode modeCallback; //!< Custom pinMode, nullptr if not set. }; +/** + * @brief Abstract hardware abstraction layer. + * Provides the basic I/O and timing functions required by sensor drivers. + */ class SensorHal : public SensorHalCustom { public: + /** + * @brief Set the mode of a digital pin. + * @param pin Pin number. + * @param mode Mode (e.g., INPUT, OUTPUT, INPUT_PULLUP). + */ virtual void pinMode(uint8_t pin, uint8_t mode) = 0; + + /** + * @brief Write a digital value to a pin. + * @param pin Pin number. + * @param level Logic level (0 = LOW, 1 = HIGH). + */ virtual void digitalWrite(uint8_t pin, uint8_t level) = 0; + + /** + * @brief Read the digital value from a pin. + * @param pin Pin number. + * @return uint8_t The read level (0 = LOW, 1 = HIGH). + */ virtual uint8_t digitalRead(uint8_t pin) = 0; + + /** + * @brief Get the current system time in milliseconds. + * @return uint32_t Milliseconds since some epoch (e.g., boot). + */ virtual uint32_t millis() = 0; + + /** + * @brief Blocking delay for a given number of milliseconds. + * @param ms Delay duration in milliseconds. + */ virtual void delay(uint32_t ms) = 0; + + /** + * @brief Blocking delay for a given number of microseconds. + * @param us Delay duration in microseconds. + */ virtual void delayMicroseconds(uint32_t us) = 0; }; - - diff --git a/lib/SensorLib/src/platform/SensorCommCustom.hpp b/lib/SensorLib/src/platform/SensorCommCustom.hpp index ebf069c..901cc21 100644 --- a/lib/SensorLib/src/platform/SensorCommCustom.hpp +++ b/lib/SensorLib/src/platform/SensorCommCustom.hpp @@ -45,22 +45,6 @@ public: void deinit() override {} - int writeRegister(const uint8_t reg, uint8_t val) override - { - return writeRegister(reg, &val, 1); - } - - int writeRegister(const uint8_t reg, uint8_t norVal, uint8_t orVal) override - { - int val = readRegister(reg); - if (val < 0) { - return -1; - } - val &= norVal; - val |= orVal; - return writeRegister(reg, reinterpret_cast(&val), 1); - } - int writeRegister(const uint8_t reg, uint8_t *buf, size_t len) override { if (customCallback(addr, reg, buf, len, true, true)) { @@ -79,13 +63,13 @@ public: } } - int readRegister(const uint8_t reg) override + int readBuffer(uint8_t *buf, size_t len) override { - uint8_t value = 0x00; - if (readRegister(reg, &value, 1) < 0) { + if (customCallback(addr, 0x00, buf, len, false, false)) { + return 0; + } else { return -1; } - return value; } int readRegister(const uint8_t reg, uint8_t *buf, size_t len) override @@ -107,26 +91,6 @@ public: } } - bool setRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value |= (1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool clrRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value &= ~(1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool getRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - return (value & (1 << bit)) != 0; - } - void setParams(const CommParamsBase ¶ms) override { #if defined(__cpp_rtti) diff --git a/lib/SensorLib/src/VirtualGpio.hpp b/lib/SensorLib/src/platform/SensorCommInterface.hpp similarity index 72% rename from lib/SensorLib/src/VirtualGpio.hpp rename to lib/SensorLib/src/platform/SensorCommInterface.hpp index 7985970..ccb4ef0 100644 --- a/lib/SensorLib/src/VirtualGpio.hpp +++ b/lib/SensorLib/src/platform/SensorCommInterface.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2024 lewis he + * Copyright (c) 2026 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 @@ -22,33 +22,20 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. * - * @file VirtualGpio.hpp + * @file SensorCommInterface.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2024-11-22 + * @date 2026-03-29 * */ - #pragma once +#include -#include +class SensorCommBase; -class VirtualGpio +class SensorCommInterface { public: - - virtual void pinMode(uint8_t pin, uint8_t mode) = 0; - - virtual void digitalWrite(uint8_t pin, uint8_t val) = 0; - - virtual int digitalRead(uint8_t pin) = 0; - - virtual void setClock(uint32_t frequency) - { - (void)frequency; - }; - - virtual uint32_t getClock() - { - return 0; - }; + virtual bool ensureValid() const = 0; + virtual SensorCommBase* getComm() const = 0; + virtual ~SensorCommInterface() = default; }; diff --git a/lib/SensorLib/src/platform/SensorCommWrapper.hpp b/lib/SensorLib/src/platform/SensorCommWrapper.hpp new file mode 100644 index 0000000..0935e80 --- /dev/null +++ b/lib/SensorLib/src/platform/SensorCommWrapper.hpp @@ -0,0 +1,120 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorCommWrapper.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-29 + * + */ +#pragma once +#include "SensorErr.hpp" +#include "SensorCommInterface.hpp" +#include "SensorCommBase.hpp" + +class SensorCommWrapper : public SensorCommInterface +{ +public: + SensorCommWrapper() = default; + + int readReg(uint8_t reg) const + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->readRegister(reg); + } + + int readRegBuff(uint8_t reg, uint8_t *buf, size_t len) const + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->readRegister(reg, buf, len); + } + + int readBuff(uint8_t *buf, size_t len) const + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->readBuffer(buf, len); + } + + int writeReg(uint8_t reg, uint8_t val) + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->writeRegister(reg, val); + } + + int writeRegBuff(uint8_t reg, uint8_t *buf, size_t len) + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->writeRegister(reg, buf, len); + } + + int writeBuff(uint8_t *buf, size_t len) + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->writeBuffer(buf, len); + } + + int writeThenRead(const uint8_t *write_buffer, size_t write_len, + uint8_t *read_buffer, size_t read_len) + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->writeThenRead(write_buffer, write_len, read_buffer, read_len); + } + + bool setRegBit(uint8_t reg, uint8_t bit) + { + if (!ensureValid()) return false; + return getComm()->setRegisterBit(reg, bit); + } + + bool clrRegBit(uint8_t reg, uint8_t bit) + { + if (!ensureValid()) return false; + return getComm()->clrRegisterBit(reg, bit); + } + + bool getRegBit(uint8_t reg, uint8_t bit) + { + if (!ensureValid()) return false; + return getComm()->getRegisterBit(reg, bit); + } + + int updateBits(uint8_t reg, uint8_t mask, uint8_t value_shifted) + { + if (!ensureValid()) return SENSOR_ERR_NOT_INITIALIZED; + return getComm()->updateBits(reg, mask, value_shifted); + } + + void setAddress(uint8_t address) + { + if (!ensureValid()) return; + I2CParam params(I2CParam::I2C_SET_ADDR, address); + getComm()->setParams(params); + } + + void setAck(bool enable) + { + if (!ensureValid()) return; + I2CParam params(I2CParam::I2C_SET_FLAG, enable); + getComm()->setParams(params); + } +}; diff --git a/lib/SensorLib/src/platform/SensorDataTypeClass.hpp b/lib/SensorLib/src/platform/SensorDataTypeClass.hpp deleted file mode 100644 index cd33caf..0000000 --- a/lib/SensorLib/src/platform/SensorDataTypeClass.hpp +++ /dev/null @@ -1,135 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2025 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. - * - * @file SensorDataTypeClass.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-23 - * - */ -#pragma once - -template -class Vector3D { -public: - Vector3D(T x = 0, T y = 0, T z = 0) : x(x), y(y), z(z) {} - - // Get the x-axis component - T getX() const { return x; } - // Get the y-axis component - T getY() const { return y; } - // Get the z-axis component - T getZ() const { return z; } - - // Set the x-axis component - void setX(T value) { x = value; } - // Set the y-axis component - void setY(T value) { y = value; } - // Set the z-axis component - void setZ(T value) { z = value; } - -private: - T x; - T y; - T z; -}; - -class AccelerationData { -public: - AccelerationData(const Vector3D& accel = Vector3D()) : acceleration(accel) {} - - // Get acceleration data - Vector3D getAcceleration() const { return acceleration; } - // Set acceleration data - void setAcceleration(const Vector3D& accel) { acceleration = accel; } - -private: - Vector3D acceleration; -}; - -class GyroscopeData { -public: - GyroscopeData(const Vector3D& gyro = Vector3D()) : gyroscope(gyro) {} - - // Get gyroscope data - Vector3D getGyroscope() const { return gyroscope; } - // Set gyroscope data - void setGyroscope(const Vector3D& gyro) { gyroscope = gyro; } - -private: - Vector3D gyroscope; -}; - -class MagnetometerData { -public: - MagnetometerData(const Vector3D& mag = Vector3D()) : magnetometer(mag) {} - - // Get magnetometer data - Vector3D getMagnetometer() const { return magnetometer; } - // Set magnetometer data - void setMagnetometer(const Vector3D& mag) { magnetometer = mag; } - -private: - Vector3D magnetometer; -}; - - -class IMUData { -public: - IMUData(const AccelerationData* accel = nullptr, - const GyroscopeData* gyro = nullptr, - const MagnetometerData* mag = nullptr) - : acceleration(accel), gyroscope(gyro), magnetometer(mag) {} - - // Get the acceleration data pointer - const AccelerationData* getAccelerationData() const { return acceleration; } - // Get the gyroscope data pointer - const GyroscopeData* getGyroscopeData() const { return gyroscope; } - // Get the magnetometer data pointer - const MagnetometerData* getMagnetometerData() const { return magnetometer; } - - // Set the acceleration data pointer - void setAccelerationData(const AccelerationData* accel) { acceleration = accel; } - // Set the gyroscope data pointer - void setGyroscopeData(const GyroscopeData* gyro) { gyroscope = gyro; } - // Set the magnetometer data pointer - void setMagnetometerData(const MagnetometerData* mag) { magnetometer = mag; } - -private: - const AccelerationData* acceleration; - const GyroscopeData* gyroscope; - const MagnetometerData* magnetometer; -}; - -// Examples: -// Vector3D accelVec(1.0, 2.0, 3.0); -// AccelerationData accelData(accelVec); - -// Vector3D gyroVec(0.1, 0.2, 0.3); -// GyroscopeData gyroData(gyroVec); - -// Vector3D magVec(0.01, 0.02, 0.03); -// MagnetometerData magData(magVec); - -// IMUData imuDataWithAccelGyro(&accelData, &gyroData, nullptr); - diff --git a/lib/SensorLib/src/platform/SensorErr.hpp b/lib/SensorLib/src/platform/SensorErr.hpp new file mode 100644 index 0000000..0507eaa --- /dev/null +++ b/lib/SensorLib/src/platform/SensorErr.hpp @@ -0,0 +1,112 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorErr.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-08 + * + */ +#pragma once + +#include + +// 0 = OK, negative = error +typedef enum SENSOR_ERROR_CODE : int16_t { + // OK + SENSOR_OK = 0, + + // ===== GENERIC / STATE (-100..-199) ===== + SENSOR_ERR = -100, + SENSOR_ERR_NOT_INITIALIZED = -101, + SENSOR_ERR_ALREADY_INITIALIZED = -102, + SENSOR_ERR_INVALID_ARG = -103, + SENSOR_ERR_OUT_OF_RANGE = -104, + SENSOR_ERR_NOT_SUPPORTED = -105, + SENSOR_ERR_BUSY = -106, + SENSOR_ERR_TIMEOUT = -107, + SENSOR_ERR_INTERNAL = -108, + SENSOR_ERR_UNKNOWN = -109, + + // ===== COMMUNICATION (-200..-299) ===== + SENSOR_ERR_COMM = -200, + SENSOR_ERR_COMM_INIT = -201, + SENSOR_ERR_COMM_TIMEOUT = -202, + SENSOR_ERR_COMM_NACK = -203, + SENSOR_ERR_COMM_ARBITRATION = -204, + SENSOR_ERR_COMM_BUS = -205, + SENSOR_ERR_COMM_CRC = -206, + SENSOR_ERR_COMM_FRAME = -207, + SENSOR_ERR_COMM_UNAVAILABLE = -208, + SENSOR_ERR_COMM_DATA_TOO_LONG = -209, + + // ===== DEVICE PROBE / IDENTITY (-300..-399) ===== + SENSOR_ERR_DEVICE_NOT_FOUND = -300, + SENSOR_ERR_DEVICE_ID_MISMATCH = -301, + SENSOR_ERR_DEVICE_RESET_FAIL = -302, + SENSOR_ERR_DEVICE_CONFIG_FAIL = -303, + SENSOR_ERR_DEVICE_SELF_TEST_FAIL = -304, + + // ===== REGISTER ACCESS (-400..-499) ===== + SENSOR_ERR_REG_READ = -400, + SENSOR_ERR_REG_WRITE = -401, + SENSOR_ERR_REG_VERIFY = -402, + + // ===== DATA PATH (-500..-599) ===== + SENSOR_ERR_NO_DATA = -500, + SENSOR_ERR_DATA_INVALID = -501, + SENSOR_ERR_DATA_OVERFLOW = -502, + SENSOR_ERR_DATA_UNDERFLOW = -503, + SENSOR_ERR_FIFO = -504, + SENSOR_ERR_CALIBRATION_REQUIRED = -505, + SENSOR_ERR_CALIBRATION_FAIL = -506, + + // ===== BOSCH SMART SENSOR / FIRMWARE (-600..-699) ===== + SENSOR_ERR_FW_MISSING = -600, + SENSOR_ERR_FW_INVALID = -601, + SENSOR_ERR_FW_UPLOAD_FAIL = -602, + SENSOR_ERR_FW_BOOT_FAIL = -603, + SENSOR_ERR_FW_VERSION_UNSUPPORTED = -604, + SENSOR_ERR_FEATURE_NOT_FOUND = -605, + SENSOR_ERR_FEATURE_ENABLE_FAIL = -606, + SENSOR_ERR_META_EVENT = -607, + + // ===== TOUCH (-700..-799) ===== + SENSOR_ERR_TOUCH_NO_POINT = -700, + SENSOR_ERR_TOUCH_COORD_INVALID = -701, + SENSOR_ERR_TOUCH_RESOLUTION_NOT_SET = -702, + SENSOR_ERR_TOUCH_CHIPID_MISMATCH = -703, + SENSOR_ERR_TOUCH_MODE_INVALID = -704, + SENSOR_ERR_TOUCH_INT_CONFIG = -705, + + // ===== IO EXPANDER / GPIO (-800..-899) ===== + SENSOR_ERR_GPIO_INVALID_PIN = -800, + SENSOR_ERR_GPIO_INVALID_MODE = -801, + SENSOR_ERR_GPIO_WRITE_FAIL = -802, + SENSOR_ERR_GPIO_READ_FAIL = -803, + + // ===== MEMORY / RESOURCES (-900..-999) ===== + SENSOR_ERR_NO_MEMORY = -900, + SENSOR_ERR_BUFFER_TOO_SMALL = -901, + SENSOR_ERR_RESOURCE_EXHAUSTED = -902 +} SENSOR_ERROR_CODE; diff --git a/lib/SensorLib/src/platform/SensorErrUtils.hpp b/lib/SensorLib/src/platform/SensorErrUtils.hpp new file mode 100644 index 0000000..af49d8e --- /dev/null +++ b/lib/SensorLib/src/platform/SensorErrUtils.hpp @@ -0,0 +1,180 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorErrUtils.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-08 + * + * SensorErrUtils.hpp - Utility functions for SENSOR_ERROR_CODE handling. + * + * Provides: + * - isOk(), isErr() for success/failure checks + * - Category checks (isCommErr(), isDeviceErr(), etc.) for telemetry/log routing + * - toString() to convert code to ALL-CAPS name (for logs/UI) + * - hint() for optional short human-readable hints (NOT all caps; for docs/serial output) + */ +#pragma once + +#include "SensorErr.hpp" + +namespace SensorErrUtils +{ + // 0 = OK, negative = error + static inline bool isOk(SENSOR_ERROR_CODE code) + { + return code == SENSOR_OK; + } + + static inline bool isErr(SENSOR_ERROR_CODE code) + { + return code < 0; + } + + // Category checks (ranges) + static inline bool isGenericErr(SENSOR_ERROR_CODE code) + { + return code <= -100 && code > -200; + } + static inline bool isCommErr(SENSOR_ERROR_CODE code) + { + return code <= -200 && code > -300; + } + static inline bool isDeviceErr(SENSOR_ERROR_CODE code) + { + return code <= -300 && code > -400; + } + static inline bool isRegErr(SENSOR_ERROR_CODE code) + { + return code <= -400 && code > -500; + } + static inline bool isDataErr(SENSOR_ERROR_CODE code) + { + return code <= -500 && code > -600; + } + static inline bool isFwErr(SENSOR_ERROR_CODE code) + { + return code <= -600 && code > -700; + } + static inline bool isTouchErr(SENSOR_ERROR_CODE code) + { + return code <= -700 && code > -800; + } + static inline bool isGpioErr(SENSOR_ERROR_CODE code) + { + return code <= -800 && code > -900; + } + static inline bool isResourceErr(SENSOR_ERROR_CODE code) + { + return code <= -900 && code > -1000; + } + + // Convert to ALL-CAPS token for logging/telemetry/UI + static inline const char *toString(SENSOR_ERROR_CODE code) + { + switch (code) { + case SENSOR_OK: return "SENSOR_OK"; + + case SENSOR_ERR: return "SENSOR_ERR"; + case SENSOR_ERR_NOT_INITIALIZED: return "SENSOR_ERR_NOT_INITIALIZED"; + case SENSOR_ERR_ALREADY_INITIALIZED: return "SENSOR_ERR_ALREADY_INITIALIZED"; + case SENSOR_ERR_INVALID_ARG: return "SENSOR_ERR_INVALID_ARG"; + case SENSOR_ERR_OUT_OF_RANGE: return "SENSOR_ERR_OUT_OF_RANGE"; + case SENSOR_ERR_NOT_SUPPORTED: return "SENSOR_ERR_NOT_SUPPORTED"; + case SENSOR_ERR_BUSY: return "SENSOR_ERR_BUSY"; + case SENSOR_ERR_TIMEOUT: return "SENSOR_ERR_TIMEOUT"; + case SENSOR_ERR_INTERNAL: return "SENSOR_ERR_INTERNAL"; + case SENSOR_ERR_UNKNOWN: return "SENSOR_ERR_UNKNOWN"; + + case SENSOR_ERR_COMM: return "SENSOR_ERR_COMM"; + case SENSOR_ERR_COMM_INIT: return "SENSOR_ERR_COMM_INIT"; + case SENSOR_ERR_COMM_TIMEOUT: return "SENSOR_ERR_COMM_TIMEOUT"; + case SENSOR_ERR_COMM_NACK: return "SENSOR_ERR_COMM_NACK"; + case SENSOR_ERR_COMM_ARBITRATION: return "SENSOR_ERR_COMM_ARBITRATION"; + case SENSOR_ERR_COMM_BUS: return "SENSOR_ERR_COMM_BUS"; + case SENSOR_ERR_COMM_CRC: return "SENSOR_ERR_COMM_CRC"; + case SENSOR_ERR_COMM_FRAME: return "SENSOR_ERR_COMM_FRAME"; + case SENSOR_ERR_COMM_UNAVAILABLE: return "SENSOR_ERR_COMM_UNAVAILABLE"; + + case SENSOR_ERR_DEVICE_NOT_FOUND: return "SENSOR_ERR_DEVICE_NOT_FOUND"; + case SENSOR_ERR_DEVICE_ID_MISMATCH: return "SENSOR_ERR_DEVICE_ID_MISMATCH"; + case SENSOR_ERR_DEVICE_RESET_FAIL: return "SENSOR_ERR_DEVICE_RESET_FAIL"; + case SENSOR_ERR_DEVICE_CONFIG_FAIL: return "SENSOR_ERR_DEVICE_CONFIG_FAIL"; + case SENSOR_ERR_DEVICE_SELF_TEST_FAIL: return "SENSOR_ERR_DEVICE_SELF_TEST_FAIL"; + + case SENSOR_ERR_REG_READ: return "SENSOR_ERR_REG_READ"; + case SENSOR_ERR_REG_WRITE: return "SENSOR_ERR_REG_WRITE"; + case SENSOR_ERR_REG_VERIFY: return "SENSOR_ERR_REG_VERIFY"; + + case SENSOR_ERR_NO_DATA: return "SENSOR_ERR_NO_DATA"; + case SENSOR_ERR_DATA_INVALID: return "SENSOR_ERR_DATA_INVALID"; + case SENSOR_ERR_DATA_OVERFLOW: return "SENSOR_ERR_DATA_OVERFLOW"; + case SENSOR_ERR_DATA_UNDERFLOW: return "SENSOR_ERR_DATA_UNDERFLOW"; + case SENSOR_ERR_FIFO: return "SENSOR_ERR_FIFO"; + case SENSOR_ERR_CALIBRATION_REQUIRED: return "SENSOR_ERR_CALIBRATION_REQUIRED"; + case SENSOR_ERR_CALIBRATION_FAIL: return "SENSOR_ERR_CALIBRATION_FAIL"; + + case SENSOR_ERR_FW_MISSING: return "SENSOR_ERR_FW_MISSING"; + case SENSOR_ERR_FW_INVALID: return "SENSOR_ERR_FW_INVALID"; + case SENSOR_ERR_FW_UPLOAD_FAIL: return "SENSOR_ERR_FW_UPLOAD_FAIL"; + case SENSOR_ERR_FW_BOOT_FAIL: return "SENSOR_ERR_FW_BOOT_FAIL"; + case SENSOR_ERR_FW_VERSION_UNSUPPORTED: return "SENSOR_ERR_FW_VERSION_UNSUPPORTED"; + case SENSOR_ERR_FEATURE_NOT_FOUND: return "SENSOR_ERR_FEATURE_NOT_FOUND"; + case SENSOR_ERR_FEATURE_ENABLE_FAIL: return "SENSOR_ERR_FEATURE_ENABLE_FAIL"; + case SENSOR_ERR_META_EVENT: return "SENSOR_ERR_META_EVENT"; + + case SENSOR_ERR_TOUCH_NO_POINT: return "SENSOR_ERR_TOUCH_NO_POINT"; + case SENSOR_ERR_TOUCH_COORD_INVALID: return "SENSOR_ERR_TOUCH_COORD_INVALID"; + case SENSOR_ERR_TOUCH_RESOLUTION_NOT_SET: return "SENSOR_ERR_TOUCH_RESOLUTION_NOT_SET"; + case SENSOR_ERR_TOUCH_CHIPID_MISMATCH: return "SENSOR_ERR_TOUCH_CHIPID_MISMATCH"; + case SENSOR_ERR_TOUCH_MODE_INVALID: return "SENSOR_ERR_TOUCH_MODE_INVALID"; + case SENSOR_ERR_TOUCH_INT_CONFIG: return "SENSOR_ERR_TOUCH_INT_CONFIG"; + + case SENSOR_ERR_GPIO_INVALID_PIN: return "SENSOR_ERR_GPIO_INVALID_PIN"; + case SENSOR_ERR_GPIO_INVALID_MODE: return "SENSOR_ERR_GPIO_INVALID_MODE"; + case SENSOR_ERR_GPIO_WRITE_FAIL: return "SENSOR_ERR_GPIO_WRITE_FAIL"; + case SENSOR_ERR_GPIO_READ_FAIL: return "SENSOR_ERR_GPIO_READ_FAIL"; + + case SENSOR_ERR_NO_MEMORY: return "SENSOR_ERR_NO_MEMORY"; + case SENSOR_ERR_BUFFER_TOO_SMALL: return "SENSOR_ERR_BUFFER_TOO_SMALL"; + case SENSOR_ERR_RESOURCE_EXHAUSTED: return "SENSOR_ERR_RESOURCE_EXHAUSTED"; + + default: return "SENSOR_ERR_UNKNOWN"; + } + } + + // Optional: map error code to a stable numeric category (for compact logs) + static inline int16_t category(SENSOR_ERROR_CODE code) + { + if (!isErr(code)) return 0; + // e.g. -203 -> 200, -701 -> 700 (absolute hundred group) + int16_t v = (code < 0) ? (int16_t)(-code) : (int16_t)code; + return (int16_t)((v / 100) * 100); + } + + // Compatibility helper: turn a bool result + default error into code + static inline SENSOR_ERROR_CODE fromBool(bool ok, SENSOR_ERROR_CODE errIfFalse = SENSOR_ERR) + { + return ok ? SENSOR_OK : errIfFalse; + } +} // namespace SensorErrUtils diff --git a/lib/SensorLib/src/REG/QSTMagneticConstants.h b/lib/SensorLib/src/platform/SensorErrorMixin.hpp similarity index 60% rename from lib/SensorLib/src/REG/QSTMagneticConstants.h rename to lib/SensorLib/src/platform/SensorErrorMixin.hpp index 07be243..8ac35c2 100644 --- a/lib/SensorLib/src/REG/QSTMagneticConstants.h +++ b/lib/SensorLib/src/platform/SensorErrorMixin.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2025 lewis he + * Copyright (c) 2026 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 @@ -22,34 +22,37 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. * - * @file QSTMagneticConstants.h + * @file SensorErrorMixin.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2025-08-16 + * @date 2026-03-08 * */ - #pragma once +#include "SensorErr.hpp" -#include - -class QSTMagneticConstants +class SensorErrorMixin { +public: + SENSOR_ERROR_CODE lastError() const + { + return last_error_; + } + void clearError() + { + last_error_ = SENSOR_OK; + } + protected: - // Register addresses - static constexpr uint8_t REG_CHIP_ID = 0x00; - static constexpr uint8_t REG_LSB_DX = 0x01; - static constexpr uint8_t REG_MSB_DX = 0x02; - static constexpr uint8_t REG_LSB_DY = 0x03; - static constexpr uint8_t REG_MSB_DY = 0x04; - static constexpr uint8_t REG_LSB_DZ = 0x05; - static constexpr uint8_t REG_MSB_DZ = 0x06; - static constexpr uint8_t REG_STAT = 0x09; - static constexpr uint8_t REG_CMD1 = 0x0A; - static constexpr uint8_t REG_CMD2 = 0x0B; - static constexpr uint8_t REG_SIGN = 0x29; - static constexpr uint8_t QMC6310_CHIP_ID = 0x80; - static constexpr uint8_t QMC5883P_CHIP_ID = 0x80; + void setError(SENSOR_ERROR_CODE e) + { + last_error_ = e; + } + SENSOR_ERROR_CODE setErrorAndReturn(SENSOR_ERROR_CODE e) + { + setError(e); + return e; + } + +private: + SENSOR_ERROR_CODE last_error_ = SENSOR_OK; }; - - - diff --git a/lib/SensorLib/src/platform/TouchDataTypeClass.hpp b/lib/SensorLib/src/platform/TouchDataTypeClass.hpp deleted file mode 100644 index e1c0cdd..0000000 --- a/lib/SensorLib/src/platform/TouchDataTypeClass.hpp +++ /dev/null @@ -1,162 +0,0 @@ -/** - * - * @license MIT License - * - * Copyright (c) 2025 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. - * - * @file SensorDataTypeClass.hpp - * @author Lewis He (lewishe@outlook.com) - * @date 2025-01-23 - * - */ -#pragma once - -#include - -// Define the coordinate structure -template -struct Coordinate { - T x; - T y; -}; - -// Define the enumeration type of gesture -enum class Gesture { - TAP, - SWIPE_UP, - SWIPE_DOWN, - SWIPE_LEFT, - SWIPE_RIGHT, - HOLD -}; - -template -class TouchDataTypeClass -{ -private: - Coordinate coordinates[MAX_COORDINATES]; - int validCoordinateCount; - double pressure; - - // If gestures are enabled, store the gestures - typename std::conditional::type gesture; - -public: - - template - TouchDataTypeClass(const Coordinate *coords, int validCount, double p, Args... args) - : validCoordinateCount(validCount), pressure(p) - { - for (int i = 0; i < validCount && i < MAX_COORDINATES; ++i) { - coordinates[i] = coords[i]; - } - if constexpr (HAS_GESTURE) { - gesture = static_cast(args...); - } - } - - // Get the coordinate array - const Coordinate *getCoordinates() const - { - return coordinates; - } - - // Get the number of valid coordinate groups - int getValidCoordinateCount() const - { - return validCoordinateCount; - } - - // Get the compression pressure data - double getPressure() const - { - return pressure; - } - - // If the gesture function is enabled, how to get the gesture - template = 0> - Gesture getGesture() const - { - return gesture; - } - - // Set the coordinate array - void setCoordinates(const Coordinate *coords, int validCount) - { - validCoordinateCount = validCount; - for (int i = 0; i < validCount && i < MAX_COORDINATES; ++i) { - coordinates[i] = coords[i]; - } - } - - // Set the number of valid coordinate groups - void setValidCoordinateCount(int count) - { - validCoordinateCount = count; - } - - // Set the pressing pressure data - void setPressure(double p) - { - pressure = p; - } - - // If the gesture function is enabled, set the gesture method - template = 0> - void setGesture(Gesture g) - { - gesture = g; - } - - // Print touch information - void printTouchInfo() const - { - if constexpr (HAS_GESTURE) { - log_i("Gesture: "); - switch (gesture) { - case Gesture::TAP: - log_i("TAP"); - break; - case Gesture::SWIPE_UP: - log_i("SWIPE_UP"); - break; - case Gesture::SWIPE_DOWN: - log_i("SWIPE_DOWN"); - break; - case Gesture::SWIPE_LEFT: - log_i("SWIPE_LEFT"); - break; - case Gesture::SWIPE_RIGHT: - log_i("SWIPE_RIGHT"); - break; - case Gesture::HOLD: - log_i("HOLD"); - break; - } - } - log_i("Valid Coordinate Count: "); - log_i("Coordinates:"); - for (int i = 0; i < validCoordinateCount; ++i) { - log_i("x: %04d, y: %04d\n", coordinates[i].x, coordinates[i].y); - } - log_i("Pressure: %u", pressure ); - } -}; \ No newline at end of file diff --git a/lib/SensorLib/src/platform/arduino/SensorCommArduino_I2C.hpp b/lib/SensorLib/src/platform/arduino/SensorCommArduino_I2C.hpp index 35bb88e..fc2f77c 100644 --- a/lib/SensorLib/src/platform/arduino/SensorCommArduino_I2C.hpp +++ b/lib/SensorLib/src/platform/arduino/SensorCommArduino_I2C.hpp @@ -37,7 +37,8 @@ class SensorCommI2C : public SensorCommBase { public: - SensorCommI2C(TwoWire &wire, uint8_t addr, int sda, int scl, SensorHal *hal = nullptr) : hal(hal), wire(wire), addr(addr), sda(sda), scl(scl), sendStopFlag(true) {} + SensorCommI2C(TwoWire &wire, uint8_t addr, int sda, int scl, SensorHal *hal = nullptr) + : hal(hal), wire(wire), addr(addr), sda(sda), scl(scl), sendStopFlag(true) {} bool init() override { @@ -52,98 +53,54 @@ public: // wire.end(); } - int writeRegister(const uint8_t reg, uint8_t val) override - { - return writeRegister(reg, &val, 1); - } - - int writeRegister(const uint8_t reg, uint8_t norVal, uint8_t orVal) override - { - int val = readRegister(reg); - if (val < 0) { - return -1; - } - val &= norVal; - val |= orVal; - return writeRegister(reg, reinterpret_cast(&val), 1); - } - int writeRegister(const uint8_t reg, uint8_t *buf, size_t len) override { - // log_d("ADDR:0x%02X REG:0x%02X, LEN:%u", addr, reg, len); wire.beginTransmission(addr); wire.write(reg); if (buf && len > 0) { wire.write(buf, len); } - if (wire.endTransmission() == 0) { - return 0; - } else { - return -1; - } + uint8_t err = wire.endTransmission(); + return getErrorCode(err); } - int writeBuffer(uint8_t *buffer, size_t len) + int writeBuffer(uint8_t *buffer, size_t len) override { - if (!buffer || len == 0)return -1; + if (!buffer || len == 0) return SENSOR_ERR_INVALID_ARG; wire.beginTransmission(addr); wire.write(buffer, len); - if (wire.endTransmission() == 0) { - return 0; - } else { - return -1; - } + uint8_t err = wire.endTransmission(); + return getErrorCode(err); } - - int readRegister(const uint8_t reg) override + int readBuffer(uint8_t *buf, size_t len) override { - uint8_t value = 0x00; - if (readRegister(reg, &value, 1) < 0) { - return -1; - } - return value; + wire.requestFrom(addr, static_cast(len)); + return wire.readBytes(buf, len) == len ? SENSOR_OK : SENSOR_ERR_COMM_NACK; } int readRegister(const uint8_t reg, uint8_t *buf, size_t len) override { - // log_d("ADDR:0x%02X REG:0x%02X, LEN:%u", addr, reg, len); wire.beginTransmission(addr); wire.write(reg); - wire.endTransmission(sendStopFlag); + uint8_t err = wire.endTransmission(sendStopFlag); + if (err != 0) { + return getErrorCode(err); + } wire.requestFrom(addr, static_cast(len)); - return wire.readBytes(buf, len) == len ? 0 : -1; + return wire.readBytes(buf, len) == len ? SENSOR_OK : SENSOR_ERR_COMM_NACK; } int writeThenRead(const uint8_t *write_buffer, size_t write_len, uint8_t *read_buffer, size_t read_len) override { wire.beginTransmission(addr); wire.write(write_buffer, write_len); - if (wire.endTransmission(sendStopFlag) != 0) { - return -1; + uint8_t err = wire.endTransmission(sendStopFlag); + if (err != 0) { + return getErrorCode(err); } wire.requestFrom(addr, read_len); - return wire.readBytes(read_buffer, read_len) == read_len ? 0 : -1; - } - - bool setRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value |= (1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool clrRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value &= ~(1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool getRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - return (value & (1 << bit)) != 0; + return wire.readBytes(read_buffer, read_len) == read_len ? SENSOR_OK : SENSOR_ERR_COMM_NACK; } void setParams(const CommParamsBase ¶ms) override @@ -168,6 +125,21 @@ public: private: + // https://docs.arduino.cc/language-reference/en/functions/communication/wire/endTransmission/ + int inline getErrorCode(int err) + { + switch (err) { + case 0: break; + case 1: return SENSOR_ERR_COMM_DATA_TOO_LONG; ///< data too long to fit in transmit buffer. + case 2: return SENSOR_ERR_COMM_NACK; ///< received NACK on transmit of address. + case 3: return SENSOR_ERR_COMM_NACK; ///< received NACK on transmit of data. + case 4: return SENSOR_ERR_COMM_BUS; ///< other error. + case 5: return SENSOR_ERR_COMM_TIMEOUT; ///< timeout. + default: return SENSOR_ERR_UNKNOWN; + } + return SENSOR_OK; ///< success. + } + void setPins() { if (sda != -1 && scl != -1) { diff --git a/lib/SensorLib/src/platform/arduino/SensorCommArduino_SPI.hpp b/lib/SensorLib/src/platform/arduino/SensorCommArduino_SPI.hpp index a8c827a..66b7361 100644 --- a/lib/SensorLib/src/platform/arduino/SensorCommArduino_SPI.hpp +++ b/lib/SensorLib/src/platform/arduino/SensorCommArduino_SPI.hpp @@ -55,9 +55,9 @@ public: bool init() override { - log_d("SensorCommSPI"); if (!hal) { log_e("hal pointer is null"); + setError(SENSOR_ERR_INVALID_ARG); return false; } if (mosi != -1 && miso != -1 && sck != -1) { @@ -81,6 +81,9 @@ public: #else #warning "SPI custom GPIO mapping function is not implemented" #endif + } else { + // Use default pins + spi.begin(); } hal->pinMode(csPin, OUTPUT); hal->digitalWrite(csPin, HIGH); @@ -93,24 +96,11 @@ public: // spi.end(); } - int writeRegister(const uint8_t reg, uint8_t val) override - { - return writeRegister(reg, &val, 1); - } - - int writeRegister(const uint8_t reg, uint8_t norVal, uint8_t orVal) override - { - int val = readRegister(reg); - if (val < 0) { - return -1; - } - val &= norVal; - val |= orVal; - return writeRegister(reg, reinterpret_cast(&val), 1); - } - int writeRegister(const uint8_t reg, uint8_t *buf, size_t len) override { + if (hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } hal->digitalWrite(csPin, LOW); spi.beginTransaction(setting); spi.transfer(reg); @@ -119,20 +109,30 @@ public: } spi.endTransaction(); hal->digitalWrite(csPin, HIGH); - return 0; + return SENSOR_OK; } - int readRegister(const uint8_t reg) override + int readBuffer(uint8_t *buf, size_t len) override { - uint8_t value = 0x00; - if (readRegister(reg, &value, 1) < 0) { - return -1; + if (hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; } - return value; + hal->digitalWrite(csPin, LOW); + spi.beginTransaction(setting); + spi.transfer(0x00); + for (size_t i = 0; i < len; ++i) { + buf[i] = spi.transfer(0x00); + } + spi.endTransaction(); + hal->digitalWrite(csPin, HIGH); + return SENSOR_OK; } - int writeBuffer(uint8_t *buffer, size_t len) + int writeBuffer(uint8_t *buffer, size_t len) override { + if (hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } hal->digitalWrite(csPin, LOW); spi.beginTransaction(setting); if (buffer && len > 0) { @@ -141,11 +141,14 @@ public: } spi.endTransaction(); hal->digitalWrite(csPin, HIGH); - return 0; + return SENSOR_OK; } int readRegister(const uint8_t reg, uint8_t *buf, size_t len) override { + if (hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } hal->digitalWrite(csPin, LOW); spi.beginTransaction(setting); spi.transfer(reg | 0x80); @@ -158,11 +161,14 @@ public: #endif spi.endTransaction(); hal->digitalWrite(csPin, HIGH); - return 0; + return SENSOR_OK; } int writeThenRead(const uint8_t *write_buffer, size_t write_len, uint8_t *read_buffer, size_t read_len) override { + if (hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } hal->digitalWrite(csPin, LOW); spi.beginTransaction(setting); @@ -177,27 +183,7 @@ public: } spi.endTransaction(); hal->digitalWrite(csPin, HIGH); - return 0; - } - - bool setRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value |= (1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool clrRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value &= ~(1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool getRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - return (value & (1 << bit)) != 0; + return SENSOR_OK; } void setParams(const CommParamsBase ¶ms) override diff --git a/lib/SensorLib/src/platform/arduino/StreamArduinoAdapter.hpp b/lib/SensorLib/src/platform/arduino/StreamArduinoAdapter.hpp new file mode 100644 index 0000000..11f5f27 --- /dev/null +++ b/lib/SensorLib/src/platform/arduino/StreamArduinoAdapter.hpp @@ -0,0 +1,57 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file ArduinoStreamAdapter.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-11 + * + */ +#pragma once + +#ifdef ARDUINO +#include +#include + +class ArduinoStreamPrinter { +private: + Stream& stream; + +public: + ArduinoStreamPrinter(Stream& s) : stream(s) {} + + int operator()(const char* format, ...) const { + char buffer[256]; + va_list args; + va_start(args, format); + int len = vsnprintf(buffer, sizeof(buffer), format, args); + va_end(args); + + if (len > 0) { + stream.print(buffer); + } + return len; + } +}; + +#endif diff --git a/lib/SensorLib/src/platform/comm/ComplexDeviceWithHal.hpp b/lib/SensorLib/src/platform/comm/ComplexDeviceWithHal.hpp new file mode 100644 index 0000000..633ef36 --- /dev/null +++ b/lib/SensorLib/src/platform/comm/ComplexDeviceWithHal.hpp @@ -0,0 +1,185 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file ComplexDeviceWithHal.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once + +#include "DeviceBeginCommon.hpp" + +class ComplexDeviceWithHal : public DeviceBeginCommon +{ +public: +#if defined(ARDUINO) + /** + * @brief Initialization using the Arduino Wire Interface + * @note This function sets up the I2C communication parameters for the sensor. + * @param &wire: Reference to the TwoWire I2C interface. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(TwoWire &wire, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, wire, addr, sda, scl)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } + + /** + * @brief Initialize using Arduino SPI interface. + * @param spi Reference to SPIClass object. + * @param csPin SPI chip select pin number. + * @param mosi SPI MOSI pin number (optional, uses default if -1). + * @param miso SPI MISO pin number (optional, uses default if -1). + * @param sck SPI clock pin number (optional, uses default if -1). + * @return True if initialization is successful, false otherwise. + */ + bool begin(SPIClass &spi, uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, spi, csPin, mosi, miso, sck)) return false; + _addr = 0; _iface = COMM_SPI; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } + +#elif defined(ESP_PLATFORM) +#if defined(USEING_I2C_LEGACY) + /** + * @brief Initialization using the ESP-IDF I2C Legacy Interface + * @param port_num: I2C port number. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_port_t port_num, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, port_num, addr, sda, scl)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#else + /** + * @brief Initialization using the ESP-IDF I2C LL Interface idf version > 5.0.0 + * @param handle: I2C master bus handle. + * @param addr: I2C address of the sensor. + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_master_bus_handle_t handle, uint8_t addr) + { + beforeBegin(); + if (!beginCommon(comm, hal, handle, addr)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#endif + /** + * @brief Initialize using ESP-IDF SPI interface. + * @param host SPI host device. + * @param handle SPI device handle. + * @param csPin SPI chip select pin number. + * @param mosi SPI MOSI pin number. + * @param miso SPI MISO pin number. + * @param sck SPI clock pin number. + * @return True if initialization is successful, false otherwise. + */ + bool begin(spi_host_device_t host, spi_device_handle_t handle, + uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, host, handle, csPin, mosi, miso, sck)) return false; + _addr = 0; _iface = COMM_SPI; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } +#endif + /** + * @brief Initialize the sensor using custom callback interface. + * @note Suitable for other platforms not covered by standard implementations. + * @param interface Communication interface type (COMM_SPI or COMM_I2C). + * @param callback Register read/write callback function. + * @param hal_callback Platform digital IO and delay callback function. + * @param addr Device address,if use I2C interface + * @return True if initialization is successful, false otherwise. + */ + bool begin(CommInterface interface, + SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback, + uint8_t addr = 0) + { + beforeBegin(); + if (!beginCommCustomCallback( + interface, callback, hal_callback, addr, comm, hal)) { + return false; + } + _addr = addr; _iface = interface; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } +protected: + /** + * @brief Ensure the communication interface is valid. + * @return True if valid, false otherwise. + */ + bool ensureValid() const override + { + if (!comm || !hal) return false; + return true; + } +}; diff --git a/lib/SensorLib/src/platform/comm/ComplexStaticDeviceWithHal.hpp b/lib/SensorLib/src/platform/comm/ComplexStaticDeviceWithHal.hpp new file mode 100644 index 0000000..8361f28 --- /dev/null +++ b/lib/SensorLib/src/platform/comm/ComplexStaticDeviceWithHal.hpp @@ -0,0 +1,184 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file ComplexStaticDeviceWithHal.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once +#include "DeviceBeginCommon.hpp" + +class ComplexStaticDeviceWithHal : public DeviceBeginCommon +{ +public: +#if defined(ARDUINO) + /** + * @brief Initialization using the Arduino Wire Interface + * @note This function sets up the I2C communication parameters for the sensor. + * @param &wire: Reference to the TwoWire I2C interface. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(TwoWire &wire, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + if (!beginCommonStatic(comm, staticComm, hal, wire, addr, sda, scl)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } + + /** + * @brief Initialize using Arduino SPI interface. + * @param spi Reference to SPIClass object. + * @param csPin SPI chip select pin number. + * @param mosi SPI MOSI pin number (optional, uses default if -1). + * @param miso SPI MISO pin number (optional, uses default if -1). + * @param sck SPI clock pin number (optional, uses default if -1). + * @return True if initialization is successful, false otherwise. + */ + bool begin(SPIClass &spi, uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1) + { + beforeBegin(); + if (!beginCommonStatic(comm, staticComm, hal, spi, csPin, mosi, miso, sck)) return false; + _addr = 0; _iface = COMM_SPI; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } + +#elif defined(ESP_PLATFORM) +#if defined(USEING_I2C_LEGACY) + /** + * @brief Initialization using the ESP-IDF I2C Legacy Interface + * @param port_num: I2C port number. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_port_t port_num, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + if (!beginCommonStatic(comm, staticComm, hal, port_num, addr, sda, scl)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#else + /** + * @brief Initialization using the ESP-IDF I2C LL Interface idf version > 5.0.0 + * @param handle: I2C master bus handle. + * @param addr: I2C address of the sensor. + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_master_bus_handle_t handle, uint8_t addr) + { + beforeBegin(); + if (!beginCommonStatic(comm, staticComm, hal, handle, addr)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } +#endif + /** + * @brief Initialize using ESP-IDF SPI interface. + * @param host SPI host device. + * @param handle SPI device handle. + * @param csPin SPI chip select pin number. + * @param mosi SPI MOSI pin number. + * @param miso SPI MISO pin number. + * @param sck SPI clock pin number. + * @return True if initialization is successful, false otherwise. + */ + bool begin(spi_host_device_t host, spi_device_handle_t handle, + uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1) + { + beforeBegin(); + if (!beginCommonStatic(comm, staticComm, hal, host, handle, csPin, mosi, miso, sck)) return false; + _addr = 0; _iface = COMM_SPI; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } +#endif + /** + * @brief Initialize the sensor using custom callback interface. + * @note Suitable for other platforms not covered by standard implementations. + * @param interface Communication interface type (COMM_SPI or COMM_I2C). + * @param callback Register read/write callback function. + * @param hal_callback Platform digital IO and delay callback function. + * @param addr Device address,if use I2C interface + * @return True if initialization is successful, false otherwise. + */ + bool begin(CommInterface interface, + SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback, + uint8_t addr = 0) + { + beforeBegin(); + if (!beginCommCustomCallback( + interface, callback, hal_callback, addr, comm, hal)) { + return false; + } + _addr = addr; _iface = interface; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } +protected: + /** + * @brief Ensure the communication interface is valid. + * @return True if valid, false otherwise. + */ + bool ensureValid() const + { + if (!comm || !hal) return false; + return true; + } +}; diff --git a/lib/SensorLib/src/platform/comm/DeviceBeginCommon.hpp b/lib/SensorLib/src/platform/comm/DeviceBeginCommon.hpp new file mode 100644 index 0000000..a5f5615 --- /dev/null +++ b/lib/SensorLib/src/platform/comm/DeviceBeginCommon.hpp @@ -0,0 +1,93 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file DeviceBeginCommon.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once +#include "../../SensorPlatform.hpp" +#include "../SensorCommWrapper.hpp" + +class DeviceBeginCommon : public SensorCommWrapper +{ +public: + virtual ~DeviceBeginCommon() + { + if (comm) { + comm->deinit(); + } + } + + uint8_t getAddress() const { return _addr; } + uint8_t getInterface() const { return _iface; } + +protected: + DeviceBeginCommon() = default; + + virtual bool initImpl(uint8_t param) = 0; + + virtual bool ensureValid() const override + { + if (!comm) return false; + return true; + } + + virtual SensorCommBase* getComm() const override + { + return comm.get(); + } + + // ---- Hooks functions ---- + + // 1) Before comm/hal/staticComm is created (some parameters can be prepared). + virtual void beforeBegin() {} + + // 2) comm/hal/staticComm has been created + comm->init() has been completed, + // but initImpl has not yet run + // Typical use case: Touch driver sets hal->setCustomMode/Read/Write + virtual void afterCommReady() {} + + // 3) initImpl has succeeded (default register configuration, cache reset, etc. can be done here) + virtual void afterInitSuccess(uint8_t param) {} + + // 4) If any begin operation fails (error code can be logged). + virtual void onBeginFail() {} + + // 5) Unified fail handling to ensure consistent error paths for each begin branch + bool fail() + { + onBeginFail(); + return false; + } + +protected: + std::unique_ptr comm; + std::unique_ptr hal; + std::unique_ptr staticComm; + + uint8_t _addr = 0; + uint8_t _iface = COMM_CUSTOM; +}; diff --git a/lib/SensorLib/src/platform/comm/I2CDeviceNoHal.hpp b/lib/SensorLib/src/platform/comm/I2CDeviceNoHal.hpp new file mode 100644 index 0000000..1db7b6c --- /dev/null +++ b/lib/SensorLib/src/platform/comm/I2CDeviceNoHal.hpp @@ -0,0 +1,129 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file I2CDeviceNoHal.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once +#include "DeviceBeginCommon.hpp" + +class I2CDeviceNoHal : public DeviceBeginCommon +{ +public: +#if defined(ARDUINO) + /** + * @brief Initialization using the Arduino Wire Interface + * @note This function sets up the I2C communication parameters for the sensor. + * @param &wire: Reference to the TwoWire I2C interface. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(TwoWire &wire, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + comm = std::make_unique(wire, addr, sda, scl); + if (!comm) return false; + comm->init(); + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#elif defined(ESP_PLATFORM) +#if defined(USEING_I2C_LEGACY) + /** + * @brief Initialization using the ESP-IDF I2C Legacy Interface + * @param port_num: I2C port number. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_port_t port_num, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + comm = std::make_unique(port_num, addr, sda, scl); + if (!comm) return false; + comm->init(); + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#else + /** + * @brief Initialization using the ESP-IDF I2C LL Interface idf version > 5.0.0 + * @param handle: I2C master bus handle. + * @param addr: I2C address of the sensor. + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_master_bus_handle_t handle, uint8_t addr) + { + beforeBegin(); + comm = std::make_unique(handle, addr); + if (!comm) return false; + comm->init(); + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#endif +#endif + /** + * @brief Initialize the sensor using custom callback interface. + * @note Suitable for other platforms not covered by standard implementations. + * @param interface Communication interface type (COMM_SPI or COMM_I2C). + * @param callback Register read/write callback function. + * @param addr Device address + * @return True if initialization is successful, false otherwise. + */ + bool begin(SensorCommCustom::CustomCallback callback, uint8_t addr) + { + beforeBegin(); + comm = std::make_unique(callback, addr); + if (!comm) return false; + comm->init(); + _addr = addr; _iface = COMM_CUSTOM; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +}; diff --git a/lib/SensorLib/src/platform/comm/I2CDeviceWithHal.hpp b/lib/SensorLib/src/platform/comm/I2CDeviceWithHal.hpp new file mode 100644 index 0000000..2e93bd9 --- /dev/null +++ b/lib/SensorLib/src/platform/comm/I2CDeviceWithHal.hpp @@ -0,0 +1,136 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file I2CDeviceWithHal.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once +#include "DeviceBeginCommon.hpp" + +class I2CDeviceWithHal : public DeviceBeginCommon +{ +public: +#if defined(ARDUINO) + /** + * @brief Initialization using the Arduino Wire Interface + * @note This function sets up the I2C communication parameters for the sensor. + * @param &wire: Reference to the TwoWire I2C interface. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(TwoWire &wire, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, wire, addr, sda, scl)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } + +#elif defined(ESP_PLATFORM) +#if defined(USEING_I2C_LEGACY) + /** + * @brief Initialization using the ESP-IDF I2C Legacy Interface + * @param port_num: I2C port number. + * @param addr: I2C address of the sensor. + * @param sda: SDA pin number, default is -1 (use board default) + * @param scl: SCL pin number, default is -1 (use board default) + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_port_t port, uint8_t addr, int sda = -1, int scl = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, port, addr, sda, scl)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#else + /** + * @brief Initialization using the ESP-IDF I2C LL Interface idf version > 5.0.0 + * @param handle: I2C master bus handle. + * @param addr: I2C address of the sensor. + * @retval True if initialization is successful, false otherwise. + */ + bool begin(i2c_master_bus_handle_t handle, uint8_t addr) + { + beforeBegin(); + if (!beginCommon(comm, hal, handle, addr)) return false; + _addr = addr; _iface = COMM_I2C; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +#endif //USEING_I2C_LEGACY +#endif //ARDUINO + /** + * @brief Initialize the sensor using custom callback interface. + * @note Suitable for other platforms not covered by standard implementations. + * @param interface Communication interface type (COMM_SPI or COMM_I2C). + * @param callback Register read/write callback function. + * @param hal_callback Platform digital IO and delay callback function. + * @param addr Device address + * @return True if initialization is successful, false otherwise. + */ + bool begin(SensorCommCustom::CustomCallback cb, + SensorCommCustomHal::CustomHalCallback hal_cb, + uint8_t addr) + { + beforeBegin(); + if (!beginCommCustomCallback(COMM_CUSTOM, cb, hal_cb, addr, comm, hal)) + return false; + _addr = addr; _iface = COMM_CUSTOM; + afterCommReady(); + if (!initImpl(_addr)) { + return fail(); + } + afterInitSuccess(_addr); + return true; + } +protected: + /** + * @brief Ensure the communication interface is valid. + * @return True if valid, false otherwise. + */ + bool ensureValid() const override + { + if (!comm || !hal) return false; + return true; + } +}; \ No newline at end of file diff --git a/lib/SensorLib/src/platform/comm/SPIDeviceWithHal.hpp b/lib/SensorLib/src/platform/comm/SPIDeviceWithHal.hpp new file mode 100644 index 0000000..ea82328 --- /dev/null +++ b/lib/SensorLib/src/platform/comm/SPIDeviceWithHal.hpp @@ -0,0 +1,121 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SPIDeviceWithHal.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-10 + * + */ +#pragma once +#include "DeviceBeginCommon.hpp" + +class SPIDeviceWithHal : public DeviceBeginCommon +{ +public: +#if defined(ARDUINO) + /** + * @brief Initialize using Arduino SPI interface. + * @param spi Reference to SPIClass object. + * @param csPin SPI chip select pin number. + * @param mosi SPI MOSI pin number (optional, uses default if -1). + * @param miso SPI MISO pin number (optional, uses default if -1). + * @param sck SPI clock pin number (optional, uses default if -1). + * @return True if initialization is successful, false otherwise. + */ + bool begin(SPIClass &spi, uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, spi, csPin, mosi, miso, sck)) { + return fail(); + } + _addr = 0; + _iface = COMM_SPI; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } +#elif defined(ESP_PLATFORM) + /** + * @brief Initialization using the ESP-IDF I2C LL Interface idf version > 5.0.0 + * @param handle: I2C master bus handle. + * @param addr: I2C address of the sensor. + * @retval True if initialization is successful, false otherwise. + */ + bool begin(spi_host_device_t host, spi_device_handle_t handle, + uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1) + { + beforeBegin(); + if (!beginCommon(comm, hal, host, handle, csPin, mosi, miso, sck)) { + return fail(); + } + _addr = 0; + _iface = COMM_SPI; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } +#endif + /** + * @brief Initialize the sensor using custom callback interface. + * @note Suitable for other platforms not covered by standard implementations. + * @param interface Communication interface type (COMM_SPI or COMM_I2C). + * @param callback Register read/write callback function. + * @param hal_callback Platform digital IO and delay callback function. + * @return True if initialization is successful, false otherwise. + */ + bool begin(SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback) + { + beforeBegin(); + if (!beginCommCustomCallback( + COMM_CUSTOM, callback, hal_callback, 0x00, comm, hal)) { + return fail(); + } + _addr = 0x00; + _iface = COMM_CUSTOM; + afterCommReady(); + if (!initImpl(_iface)) { + return fail(); + } + afterInitSuccess(_iface); + return true; + } + +protected: + /** + * @brief Ensure the communication interface is valid. + * @return True if valid, false otherwise. + */ + bool ensureValid() const override + { + if (!comm || !hal) return false; + return true; + } +}; diff --git a/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_HW.hpp b/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_HW.hpp index c656b72..86117ac 100644 --- a/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_HW.hpp +++ b/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_HW.hpp @@ -63,7 +63,7 @@ public: config.pull_up_en = GPIO_PULLUP_DISABLE; config.pull_down_en = GPIO_PULLDOWN_DISABLE; config.intr_type = GPIO_INTR_DISABLE; - ESP_ERROR_CHECK(gpio_config(&config)); + gpio_config(&config); } } diff --git a/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_I2C.hpp b/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_I2C.hpp index de13b1d..17bd792 100644 --- a/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_I2C.hpp +++ b/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_I2C.hpp @@ -80,28 +80,12 @@ public: #endif } - int writeRegister(const uint8_t reg, uint8_t val) override - { - return writeRegister(reg, &val, 1); - } - - int writeRegister(const uint8_t reg, uint8_t norVal, uint8_t orVal) override - { - int val = readRegister(reg); - if (val < 0) { - return -1; - } - val &= norVal; - val |= orVal; - return writeRegister(reg, reinterpret_cast(&val), 1); - } - int writeRegister(const uint8_t reg, uint8_t *buf, size_t len) override { size_t totalLength = sizeof(uint8_t) + len; uint8_t *write_buffer = (uint8_t *)malloc(totalLength); if (!write_buffer) { - return -1; + return SENSOR_ERR_NO_MEMORY; } write_buffer[0] = reg; if (buf && len > 0) { @@ -118,25 +102,30 @@ public: #if defined(USEING_I2C_LEGACY) if (ESP_OK == i2c_master_write_to_device(_i2cNum, addr, buffer, len, SENSORLIB_I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS)) { - return 0; + return SENSOR_OK; } #else //ESP_IDF_VERSION if (ESP_OK == i2c_master_transmit(_i2cDevice, buffer, len, -1)) { - return 0; + return SENSOR_OK; } #endif //ESP_IDF_VERSION - return -1; + return SENSOR_ERR_COMM_NACK; } - - int readRegister(const uint8_t reg) override + int readBuffer(uint8_t *buf, size_t len) override { - uint8_t value = 0x00; - if (readRegister(reg, &value, 1) < 0) { - return -1; +#if defined(USEING_I2C_LEGACY) + if (ESP_OK == i2c_master_write_read_device(_i2cNum, addr, NULL, 0, buf, len, + SENSORLIB_I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS)) { + return SENSOR_OK; } - return value; +#else //ESP_IDF_VERSION + if (ESP_OK == i2c_master_transmit_receive(_i2cDevice, NULL, 0, buf, len, -1)) { + return SENSOR_OK; + } +#endif //ESP_IDF_VERSION + return SENSOR_ERR_COMM_NACK; } int readRegister(const uint8_t reg, uint8_t *buf, size_t len) override @@ -144,14 +133,14 @@ public: #if defined(USEING_I2C_LEGACY) if (ESP_OK == i2c_master_write_read_device(_i2cNum, addr, (uint8_t *)®, 1, buf, len, SENSORLIB_I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS)) { - return 0; + return SENSOR_OK; } #else //ESP_IDF_VERSION if (ESP_OK == i2c_master_transmit_receive(_i2cDevice, (const uint8_t *)®, 1, buf, len, -1)) { - return 0; + return SENSOR_OK; } #endif //ESP_IDF_VERSION - return -1; + return SENSOR_ERR_COMM_NACK; } int writeThenRead(const uint8_t *write_buffer, size_t write_len, uint8_t *read_buffer, size_t read_len) override @@ -165,7 +154,7 @@ public: read_buffer, read_len, SENSORLIB_I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS)) { - return 0; + return SENSOR_OK; } #else //ESP_IDF_VERSION if (ESP_OK == i2c_master_transmit_receive( @@ -175,30 +164,10 @@ public: read_buffer, read_len, -1)) { - return 0; + return SENSOR_OK; } #endif //ESP_IDF_VERSION - return -1; - } - - bool setRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value |= (1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool clrRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value &= ~(1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool getRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - return (value & (1 << bit)) != 0; + return SENSOR_ERR_COMM_NACK; } void setParams(const CommParamsBase ¶ms) override @@ -255,7 +224,10 @@ private: // static const IDF_RX_BUF_DISABLE = 0; /*!< I2C master doesn't need buffer */ i2c_param_config(_i2cNum, &i2c_conf); - i2c_driver_install(_i2cNum, i2c_conf.mode, 0, 0, 0); + if(ESP_OK != i2c_driver_install(_i2cNum, i2c_conf.mode, 0, 0, 0)) { + setError(SENSOR_ERR_COMM_INIT); + return false; + } return true; } @@ -283,6 +255,7 @@ private: if (ESP_OK != i2c_master_bus_add_device(_busHandle, &devConf, &_i2cDevice)) { log_i("i2c_master_bus_add_device failed !"); + setError(SENSOR_ERR_COMM_INIT); return false; } log_i("Added Device Address : 0x%X New Dev Address: %p Speed :%lu ", addr, _i2cDevice, devConf.scl_speed_hz); diff --git a/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_SPI.hpp b/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_SPI.hpp index c981f4d..077ca8b 100644 --- a/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_SPI.hpp +++ b/lib/SensorLib/src/platform/espidf/SensorCommEspIDF_SPI.hpp @@ -49,6 +49,7 @@ public: bool init() override { if (!hal) { + setError(SENSOR_ERR_INVALID_ARG); return false; } if (mosi != -1 && miso != -1 && sck != -1) { @@ -78,10 +79,16 @@ public: esp_err_t ret; ret = spi_bus_initialize(host, &buscfg, SPI_DMA_CH_AUTO); - if (ret != ESP_OK)return false; + if (ret != ESP_OK) { + setError(SENSOR_ERR_COMM_INIT); + return false; + } ret = spi_bus_add_device(host, &devcfg, &spi); - if (ret != ESP_OK)return false; + if (ret != ESP_OK) { + setError(SENSOR_ERR_COMM_INIT); + return false; + } } hal->pinMode(csPin, OUTPUT); @@ -96,24 +103,12 @@ public: // spi_bus_free(host); } - int writeRegister(const uint8_t reg, uint8_t val) override - { - return writeRegister(reg, &val, 1); - } - - int writeRegister(const uint8_t reg, uint8_t norVal, uint8_t orVal) override - { - int val = readRegister(reg); - if (val < 0) { - return -1; - } - val &= norVal; - val |= orVal; - return writeRegister(reg, reinterpret_cast(&val), 1); - } - int writeRegister(const uint8_t reg, uint8_t *buf, size_t len) override { + if (hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } + hal->digitalWrite(csPin, LOW); spi_transaction_t trans; @@ -130,21 +125,33 @@ public: hal->digitalWrite(csPin, HIGH); - return ret; + return ret == ESP_OK ? SENSOR_OK : SENSOR_ERR_COMM_NACK; } - int readRegister(const uint8_t reg) override + int readBuffer(uint8_t *buf, size_t len) override { - uint8_t value = 0x00; - if (readRegister(reg, &value, 1) < 0) { - return -1; + if (!buf || len == 0 || hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; } - return value; + + hal->digitalWrite(csPin, LOW); + spi_transaction_t trans; + memset(&trans, 0, sizeof(trans)); + trans.addr = READ_MASK; + trans.length = len * 8; + trans.rxlength = len * 8; + trans.rx_buffer = buf; + esp_err_t ret = spi_device_transmit(spi, &trans); + hal->digitalWrite(csPin, HIGH); + return ret == ESP_OK ? SENSOR_OK : SENSOR_ERR_COMM_NACK; } + int writeBuffer(uint8_t *buf, size_t len) { - if (!buf || len == 0)return -1; + if (!buf || len == 0 || hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } hal->digitalWrite(csPin, LOW); @@ -161,7 +168,9 @@ public: int readRegister(const uint8_t reg, uint8_t *buf, size_t len) override { - if (!buf || len == 0)return -1; + if (!buf || len == 0 || hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } hal->digitalWrite(csPin, LOW); @@ -174,12 +183,14 @@ public: esp_err_t ret = spi_device_transmit(spi, &trans); hal->digitalWrite(csPin, HIGH); - return ret == ESP_OK ? 0 : -1; + return ret == ESP_OK ? SENSOR_OK : SENSOR_ERR_COMM_NACK; } int writeThenRead(const uint8_t *write_buffer, size_t write_len, uint8_t *read_buffer, size_t read_len) override { - if (!write_buffer || write_len == 0 || !read_buffer || read_len == 0) return -1; + if (!write_buffer || write_len == 0 || !read_buffer || read_len == 0 || hal == nullptr) { + return SENSOR_ERR_INVALID_ARG; + } hal->digitalWrite(csPin, LOW); @@ -204,28 +215,9 @@ public: hal->digitalWrite(csPin, HIGH); - return ret == ESP_OK ? 0 : -1; + return ret == ESP_OK ? SENSOR_OK : SENSOR_ERR_COMM_NACK; } - bool setRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value |= (1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool clrRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - value &= ~(1 << bit); - return writeRegister(reg, reinterpret_cast(&value), 1) == 0; - } - - bool getRegisterBit(const uint8_t reg, uint8_t bit) override - { - uint8_t value = readRegister(reg); - return (value & (1 << bit)) != 0; - } void setParams(const CommParamsBase ¶ms) override { diff --git a/lib/SensorLib/src/sensor/AccelerometerBase.hpp b/lib/SensorLib/src/sensor/AccelerometerBase.hpp new file mode 100644 index 0000000..efbd29d --- /dev/null +++ b/lib/SensorLib/src/sensor/AccelerometerBase.hpp @@ -0,0 +1,157 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file AccelerometerBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-22 + * + * @brief Abstract base class for accelerometer sensors + * @note This class cannot be instantiated directly. Use derived classes such as: + * - SensorBMA4XX for BMA4XX series accelerometers + */ +#pragma once + +#include "SensorBase.hpp" +#include "AccelerometerUtils.hpp" + +/** + * @brief Abstract base class for accelerometer implementations + * + * @note This is an abstract base class and cannot be instantiated directly. + * Use derived classes such as SensorBMA4XX, SensorMPU6050, etc. + */ +class AccelerometerBase : public SensorBase +{ +protected: + /** + * @brief Construct a new AccelerometerBase object + * + * @note Constructor is protected to prevent direct instantiation + */ + explicit AccelerometerBase() : SensorBase(SensorType::ACCELEROMETER) {} + + /** + * @brief Destroy the AccelerometerBase object + */ + virtual ~AccelerometerBase() = default; + + // Delete copy operations + AccelerometerBase(const AccelerometerBase &) = delete; + AccelerometerBase &operator=(const AccelerometerBase &) = delete; + +public: + // Pure virtual interface functions + + /** + * @brief Read accelerometer data + * + * @param data Reference to store accelerometer data + * @return true Read successful + * @return false Read failed + */ + virtual bool readData(AccelerometerData &data) override = 0; + + /** + * @brief Check if new accelerometer data is available + * + * @return true New data available + * @return false No new data + */ + virtual bool isDataReady() override = 0; + + /** + * @brief Reset accelerometer to default state + * + * @return true Reset successful + * @return false Reset failed + */ + virtual bool reset() override = 0; + + /** + * @brief Perform accelerometer self-test + * + * @return true Self-test passed + * @return false Self-test failed + */ + virtual bool selfTest() override = 0; + + /** + * @brief Set accelerometer full-scale range + * + * @param range Desired full-scale range + * @return true Configuration successful + * @return false Configuration failed + */ + virtual bool setFullScaleRange(AccelFullScaleRange range) = 0; + + /** + * @brief Set accelerometer output data rate + * + * @param data_rate_hz Desired output data rate in Hertz + * @return true Configuration successful + * @return false Configuration failed + */ + virtual bool setOutputDataRate(float data_rate_hz) = 0; + + /** + * @brief Set accelerometer operation mode + * + * @param mode Desired operation mode + * @return true Configuration successful + * @return false Configuration failed + */ + virtual bool setOperationMode(OperationMode mode) = 0; + + // Virtual getter functions with default implementations + + /** + * @brief Get current full-scale range setting + * + * @return float Full-scale range in g-force + */ + virtual float getFullScaleRange() const + { + return _config.range; + } + + /** + * @brief Get current output data rate setting + * + * @return float Output data rate in Hertz + */ + virtual float getOutputDataRate() const + { + return _config.sample_rate; + } + + /** + * @brief Get current operation mode setting + * + * @return OperationMode Operation mode enumeration + */ + virtual OperationMode getOperationMode() const + { + return _config.mode; + } +}; diff --git a/lib/SensorLib/src/sensor/AccelerometerUtils.hpp b/lib/SensorLib/src/sensor/AccelerometerUtils.hpp new file mode 100644 index 0000000..e5fa580 --- /dev/null +++ b/lib/SensorLib/src/sensor/AccelerometerUtils.hpp @@ -0,0 +1,141 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file AccelerometerUtils.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-04 + * + * @brief Utility class for accelerometer-specific calculations + */ +#pragma once + +#include "SensorDefs.hpp" + +// *INDENT-OFF* +/** + * @brief Utility class for accelerometer-specific calculations + */ +namespace AccelerometerUtils +{ + /** + * @brief Convert acceleration from g-force to m/s² + * + * @param g_value Acceleration in g-force (1g = 9.80665 m/s²) + * @return float Acceleration in m/s² + */ + float gToMps2(float g_value) + { + return g_value * 9.80665f; // Standard gravity constant + } + + /** + * @brief Convert acceleration from m/s² to g-force + * + * @param mps2_value Acceleration in m/s² + * @return float Acceleration in g-force + */ + float mps2ToG(float mps2_value) + { + return mps2_value / 9.80665f; + } + + /** + * @brief Convert full-scale range enumeration to g-force value + * + * @param range Full-scale range enumeration + * @return float Corresponding g-force value + */ + float rangeToG(AccelFullScaleRange range) + { + switch (range) { + case AccelFullScaleRange::FS_2G: return 2.0f; + case AccelFullScaleRange::FS_4G: return 4.0f; + case AccelFullScaleRange::FS_8G: return 8.0f; + case AccelFullScaleRange::FS_16G: return 16.0f; + case AccelFullScaleRange::FS_32G: return 32.0f; + case AccelFullScaleRange::FS_64G: return 64.0f; + case AccelFullScaleRange::FS_128G: return 128.0f; + default: return 8.0f; // Default fallback + } + } + + /** + * @brief Calculate magnitude of acceleration vector + * + * Computes the Euclidean norm: √(x² + y² + z²) + * + * @param data Accelerometer data structure + * @return float Magnitude of acceleration in m/s² + */ + float calculateMagnitude(const AccelerometerData &data) + { + const auto &acc = data.mps2; + return sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z); + } + + /** + * @brief Calculate inclination angle of specified axis relative to gravity + * + * Computes the angle between the specified axis and the total acceleration vector. + * Useful for tilt sensing and orientation detection. + * + * @param data Accelerometer data structure + * @param axis Axis to calculate inclination for (0=X, 1=Y, 2=Z) + * @return float Inclination angle in radians, or NAN if calculation invalid + */ + float calculateInclination(const AccelerometerData &data, uint8_t axis) + { + if (axis > 2) return NAN; + + float magnitude = calculateMagnitude(data); + if (magnitude == 0.0f) return NAN; + + switch (axis) { + case 0: // X-axis + return acosf(data.mps2.x / magnitude); + case 1: // Y-axis + return acosf(data.mps2.y / magnitude); + case 2: // Z-axis + return acosf(data.mps2.z / magnitude); + default: + return NAN; + } + } + + /** + * @brief Calculate inclination angle in degrees + * + * Convenience wrapper that converts radians to degrees. + * + * @param data Accelerometer data structure + * @param axis Axis to calculate inclination for (0=X, 1=Y, 2=Z) + * @return float Inclination angle in degrees, or NAN if calculation invalid + */ + float calculateInclinationDegrees(const AccelerometerData &data, uint8_t axis) + { + float rad = calculateInclination(data, axis); + return isnan(rad) ? NAN : rad * 180.0f / M_PI; + } +}; +// *INDENT-ON* diff --git a/lib/SensorLib/src/sensor/GyroscopeBase.hpp b/lib/SensorLib/src/sensor/GyroscopeBase.hpp new file mode 100644 index 0000000..26cd3ec --- /dev/null +++ b/lib/SensorLib/src/sensor/GyroscopeBase.hpp @@ -0,0 +1,114 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file GyroscopeBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-08 + * + * @brief Abstract base class for gyroscope sensors + * @note This class cannot be instantiated directly. Use derived classes such as: + * - SensorQMI8658, etc. + */ +#pragma once + +#include "SensorBase.hpp" +#include "GyroscopeUtils.hpp" + +/** + * @brief Abstract base class for gyroscope implementations + * + * @note This is an abstract base class and cannot be instantiated directly. + * Use derived classes for specific gyroscope sensor ICs. + */ +class GyroscopeBase : public SensorBase +{ +protected: + /** + * @brief Construct a new GyroscopeBase object + * + * @note Constructor is protected to prevent direct instantiation. + */ + explicit GyroscopeBase() : SensorBase(SensorType::GYROSCOPE) {} + + /** + * @brief Destroy the GyroscopeBase object + */ + virtual ~GyroscopeBase() = default; + + // Delete copy operations + GyroscopeBase(const GyroscopeBase &) = delete; + GyroscopeBase &operator=(const GyroscopeBase &) = delete; + +public: + /** + * @brief Read gyroscope data + * + * @param data Reference to store gyroscope data + * @return true Read successful + * @return false Read failed + */ + virtual bool readData(GyroscopeData &data) override = 0; + + /** + * @brief Check if new gyroscope data is available + * + * @return true New data available + * @return false No new data + */ + virtual bool isDataReady() override = 0; + + /** + * @brief Reset gyroscope to default state + * + * @return true Reset successful + * @return false Reset failed + */ + virtual bool reset() override = 0; + + /** + * @brief Perform gyroscope self-test + * + * @return true Self-test passed + * @return false Self-test failed + */ + virtual bool selfTest() override = 0; + + /** + * @brief Set gyroscope full-scale range + * + * @param range Desired full-scale range + * @return true Configuration successful + * @return false Configuration failed + */ + virtual bool setFullScaleRange(GyroFullScaleRange range) = 0; + + /** + * @brief Set gyroscope output data rate + * + * @param data_rate_hz Desired output data rate in Hertz + * @return true Configuration successful + * @return false Configuration failed + */ + virtual bool setOutputDataRate(float data_rate_hz) = 0; +}; diff --git a/lib/SensorLib/src/sensor/GyroscopeUtils.hpp b/lib/SensorLib/src/sensor/GyroscopeUtils.hpp new file mode 100644 index 0000000..13100b6 --- /dev/null +++ b/lib/SensorLib/src/sensor/GyroscopeUtils.hpp @@ -0,0 +1,29 @@ +#pragma once + +#include "SensorDefs.hpp" +#include + +// *INDENT-OFF* +namespace GyroscopeUtils +{ + /** + * @brief Convert full-scale range enumeration to degrees per second value + * + * @param range Full-scale range enumeration + * @return float Corresponding degrees per second value + */ + float rangeToDegreesPerSecond(GyroFullScaleRange range) + { + switch (range) { + case GyroFullScaleRange::FS_125_DPS: return 125.0f; + case GyroFullScaleRange::FS_250_DPS: return 250.0f; + case GyroFullScaleRange::FS_500_DPS: return 500.0f; + case GyroFullScaleRange::FS_1000_DPS: return 1000.0f; + case GyroFullScaleRange::FS_2000_DPS: return 2000.0f; + case GyroFullScaleRange::FS_4000_DPS: return 4000.0f; + default: return 500.0f; // Default fallback + } + return 0.0f; + } +} +// *INDENT-ON* diff --git a/lib/SensorLib/src/sensor/ImuAccelerometerAdapter.hpp b/lib/SensorLib/src/sensor/ImuAccelerometerAdapter.hpp new file mode 100644 index 0000000..456011d --- /dev/null +++ b/lib/SensorLib/src/sensor/ImuAccelerometerAdapter.hpp @@ -0,0 +1,76 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file ImuAccelerometerAdapter.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-08 + * + */ +#pragma once + +#include "AccelerometerBase.hpp" +#include "ImuBase.hpp" + +/** + * @brief Adapter: expose an IMU device as an AccelerometerBase. + */ +class ImuAccelerometerAdapter : public AccelerometerBase +{ +public: + explicit ImuAccelerometerAdapter(ImuBase &dev) : _dev(dev) {} + + bool readData(AccelerometerData &data) override + { + return _dev.readAccel(data); + } + + bool isDataReady() override + { + return _dev.accelIsDataReady(); + } + + bool reset() override + { + return _dev.reset(); + } + + bool selfTest() override + { + // device-level self-test; if you want accel-only selftest you can split later + return _dev.selfTest(); + } + + bool setFullScaleRange(AccelFullScaleRange range) override + { + return _dev.setAccelFullScaleRange(range); + } + + bool setOutputDataRate(float data_rate_hz) override + { + return _dev.setAccelOutputDataRate(data_rate_hz); + } + +private: + ImuBase &_dev; +}; \ No newline at end of file diff --git a/lib/SensorLib/src/sensor/ImuBase.hpp b/lib/SensorLib/src/sensor/ImuBase.hpp new file mode 100644 index 0000000..d004af7 --- /dev/null +++ b/lib/SensorLib/src/sensor/ImuBase.hpp @@ -0,0 +1,59 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file ImuBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-08 + * + */ +#pragma once + +#include "SensorDefs.hpp" +/** + * @brief Abstract IMU device interface (composition target). + * + * A concrete IMU driver (e.g., QMI8658...) should implement this. + * Then adapters can expose AccelerometerBase / GyroscopeBase views without multiple inheritance. + */ +class ImuBase +{ +public: + virtual ~ImuBase() = default; + + // Common / device-level operations + virtual bool reset() = 0; + virtual bool selfTest() = 0; + + // Accel capabilities + virtual bool accelIsDataReady() = 0; + virtual bool readAccel(AccelerometerData &out) = 0; + virtual bool setAccelFullScaleRange(AccelFullScaleRange range) = 0; + virtual bool setAccelOutputDataRate(float data_rate_hz) = 0; + + // Gyro capabilities + virtual bool gyroIsDataReady() = 0; + virtual bool readGyro(GyroscopeData &out) = 0; + virtual bool setGyroFullScaleRange(GyroFullScaleRange range) = 0; + virtual bool setGyroOutputDataRate(float data_rate_hz) = 0; +}; diff --git a/lib/SensorLib/src/REG/CM32181Constants.h b/lib/SensorLib/src/sensor/ImuGyroscopeAdapter.hpp similarity index 55% rename from lib/SensorLib/src/REG/CM32181Constants.h rename to lib/SensorLib/src/sensor/ImuGyroscopeAdapter.hpp index cea0826..ef44f9e 100644 --- a/lib/SensorLib/src/REG/CM32181Constants.h +++ b/lib/SensorLib/src/sensor/ImuGyroscopeAdapter.hpp @@ -2,7 +2,7 @@ * * @license MIT License * - * Copyright (c) 2022 lewis he + * Copyright (c) 2026 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 @@ -22,43 +22,54 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. * - * @file CM32181Constants.h + * @file ImuGyroscopeAdapter.hpp * @author Lewis He (lewishe@outlook.com) - * @date 2023-04-14 - * + * @date 2026-03-08 + * */ - #pragma once -#include +#include "GyroscopeBase.hpp" +#include "ImuBase.hpp" -// CM32181 slave address can be 0x10 or 0x48, determined by pin ADDR configuration -#define CM32181_ADDR_PRIMARY (0x10) -#define CM32181_ADDR_SECONDARY (0x48) -#define CM32181_SLAVE_ADDRESS (0x10) //Compatible with previous version definitions - -class CM32181Constants +/** + * @brief Adapter: expose an IMU device as a GyroscopeBase. + */ +class ImuGyroscopeAdapter : public GyroscopeBase { -protected: - // CM32181 registers - static constexpr uint8_t REG_ALS_CONF = 0x00; - static constexpr uint8_t REG_ALS_THDH = 0x01; - static constexpr uint8_t REG_ALS_THDL = 0x02; - static constexpr uint8_t REG_ALS_PSM = 0x03; - static constexpr uint8_t REG_ALS_DATA = 0x04; - static constexpr uint8_t REG_ALS_STATUS = 0x06; - static constexpr uint8_t REG_ID = 0x07; - static constexpr uint8_t CM32181_CHIP_ID = 0x81; -}; - - - - - +public: + explicit ImuGyroscopeAdapter(ImuBase &dev) : _dev(dev) {} + bool readData(GyroscopeData &data) override + { + return _dev.readGyro(data); + } + bool isDataReady() override + { + return _dev.gyroIsDataReady(); + } + bool reset() override + { + return _dev.reset(); + } + bool selfTest() override + { + return _dev.selfTest(); + } + bool setFullScaleRange(GyroFullScaleRange range) override + { + return _dev.setGyroFullScaleRange(range); + } + bool setOutputDataRate(float data_rate_hz) override + { + return _dev.setGyroOutputDataRate(data_rate_hz); + } +private: + ImuBase &_dev; +}; \ No newline at end of file diff --git a/lib/SensorLib/src/sensor/MagnetometerBase.hpp b/lib/SensorLib/src/sensor/MagnetometerBase.hpp new file mode 100644 index 0000000..31f7f23 --- /dev/null +++ b/lib/SensorLib/src/sensor/MagnetometerBase.hpp @@ -0,0 +1,201 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file MagnetometerBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-22 + */ +#pragma once + +#include "SensorBase.hpp" +#include "MagnetometerUtils.hpp" + +class MagnetometerBase : public SensorBase +{ +public: + + /** + * @brief Constructor for the MagnetometerBase class. + * @note This constructor initializes the magnetometer with default settings. + * @retval None + */ + explicit MagnetometerBase() : SensorBase(SensorType::MAGNETOMETER), + _oversampling_rate(128), _declination_rad(0.0) {} + + // *INDENT-OFF* + /** + * @brief Destructor for the MagnetometerBase class. + * @note This virtual destructor ensures proper cleanup of derived classes. + * @retval None + */ + virtual ~MagnetometerBase() = default; + + /** + * @brief Checks if new data is available from the magnetometer. + * @note This function should be called periodically to determine if new + * sensor data is ready to be read. + * @retval True if new data is available, false otherwise. + */ + bool readData(MagnetometerData &data) override = 0; + + /** + * @brief Checks if new data is available from the magnetometer. + * @note This function should be called periodically to determine if new + * sensor data is ready to be read. + * @retval True if new data is available, false otherwise. + */ + bool isDataReady() override = 0; + /** + * @brief Resets the magnetometer to its default settings. + * @note This function should be called to reset the sensor configuration. + * @retval True if the reset was successful, false otherwise. + */ + bool reset() override = 0; + + /** + * @brief Performs a self-test on the magnetometer. + * @note This function should be called to verify the sensor's functionality. + * @retval True if the self-test passed, false otherwise. + */ + bool selfTest() override = 0; + + /** + * @brief Sets the full-scale range for the magnetometer. + * @note This function should be called to configure the sensor's measurement range. + * @param range: The desired full-scale range. + * @retval True if the range was set successfully, false otherwise. + */ + virtual bool setFullScaleRange(MagFullScaleRange range) = 0; + + /** + * @brief Sets the output data rate for the magnetometer. + * @note This function should be called to configure the sensor's output data rate. + * @param odr: The desired output data rate in Hz. + * @retval True if the output data rate was set successfully, false otherwise. + */ + virtual bool setOutputDataRate(float odr) = 0; + + /** + * @brief Sets the operation mode for the magnetometer. + * @note This function should be called to configure the sensor's operation mode. + * @param mode: The desired operation mode. + * @retval True if the mode was set successfully, false otherwise. + */ + virtual bool setOperationMode(OperationMode mode) = 0; + + /** + * @brief Sets the oversampling rate for the magnetometer. + * @note This function should be called to configure the sensor's oversampling rate. + * @param osr: The desired oversampling rate. + * @retval True if the oversampling rate was set successfully, false otherwise. + */ + virtual bool setOversamplingRate(MagOverSampleRatio osr) = 0; + + /** + * @brief Sets the downsampling rate for the magnetometer. + * @note This function should be called to configure the sensor's downsampling rate. + * @param dsr: The desired downsampling rate. + * @retval True if the downsampling rate was set successfully, false otherwise. + */ + virtual bool setDownsamplingRate(MagDownSampleRatio dsr) = 0; + + /** + * @brief Configures the magnetometer with the specified settings. + * @note This function should be called to set up the sensor's operating parameters. + * @param mode: The desired operation mode. + * @param range: The desired full-scale range. + * @param data_rate_hz: The desired output data rate in Hz. + * @param osr: The desired oversampling rate. + * @param dsr: The desired downsampling rate. + * @retval True if the configuration was successful, false otherwise. + */ + virtual bool configMagnetometer(OperationMode mode, MagFullScaleRange range, float data_rate_hz, + MagOverSampleRatio osr, MagDownSampleRatio dsr) = 0; + + /** + * @brief Gets the full-scale range for the magnetometer. + * @note This function should be called to retrieve the sensor's measurement range. + * @retval The current full-scale range (e.g., 2.0, 4.0, 8.0, 16.0). + */ + virtual float getFullScaleRange() const { + return _config.range; + } + + /** + * @brief Gets the operation mode for the magnetometer. + * @note This function should be called to retrieve the sensor's current operation mode. + * @retval The current operation mode. + */ + virtual OperationMode getOperationMode() const { + return _config.mode; + } + + /** + * @brief Gets the oversampling rate for the magnetometer. + * @note This function should be called to retrieve the sensor's current oversampling rate. + * @retval The current oversampling rate. + */ + virtual uint16_t getOversamplingRate() const { return _oversampling_rate; } + + /** + * @brief Set the magnetic declination correction value. + * + * Magnetic declination is the angle between true north (geographic north) and + * magnetic north. This correction is essential for accurate compass headings. + * + * @note Positive values indicate east declination, negative values indicate west declination. + * Example: +7.5° for Boulder, Colorado; -3.33° for London, UK. + * + * @param declination_deg Magnetic declination in degrees + */ + virtual void setDeclination(float declination_deg) { + _declination_rad = declination_deg * M_PI / 180.0f; + } + + /** + * @brief Get the currently set magnetic declination in degrees. + * + * @return Magnetic declination in degrees (positive east, negative west) + */ + virtual float getDeclinationDeg() const { + return _declination_rad * 180.0f / M_PI; + } + + /** + * @brief Get the currently set magnetic declination in radians. + * + * This is the internal representation used for calculations. + * + * @return Magnetic declination in radians (positive east, negative west) + */ + virtual float getDeclinationRad() const { + return _declination_rad; + } + + // *INDENT-ON* + +protected: + uint16_t _oversampling_rate; + float _declination_rad; +}; diff --git a/lib/SensorLib/src/sensor/MagnetometerUtils.hpp b/lib/SensorLib/src/sensor/MagnetometerUtils.hpp new file mode 100644 index 0000000..39e02bf --- /dev/null +++ b/lib/SensorLib/src/sensor/MagnetometerUtils.hpp @@ -0,0 +1,197 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file AccelerometerUtils.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-04 + * + * @brief Utility class for accelerometer-specific calculations + */ +#pragma once + +#include "SensorDefs.hpp" + + +// *INDENT-OFF* +namespace MagnetometerUtils +{ + /** + * @brief Convert degrees-minutes-seconds to decimal degrees + * @param degrees Whole degrees (can be negative) + * @param minutes Arc minutes (0-59) + * @param seconds Arc seconds (0-59.999...) + * @return Decimal degrees + */ + float dmsToDecimalDegrees(int degrees, int minutes, float seconds = 0.0f) + { + float sign = (degrees < 0 || (degrees == 0 && (minutes < 0 || seconds < 0))) ? -1.0f : 1.0f; + return sign * (abs(degrees) + minutes / 60.0f + seconds / 3600.0f); + } + + /** + * @brief Convert degrees-minutes-seconds to radians + */ + float dmsToRadians(int degrees, int minutes, float seconds = 0.0f) + { + return dmsToDecimalDegrees(degrees, minutes, seconds) * M_PI / 180.0f; + } + + /** + * @brief Calculate heading (yaw) angle from magnetometer data in radians. + * + * This function computes the magnetic heading in the horizontal plane using + * the x and y components of the magnetometer. The result is corrected for + * magnetic declination (difference between true north and magnetic north). + * + * @note This calculation assumes the device is level (no tilt compensation). + * For accurate results when device is tilted, use with accelerometer data. + * + * @param data Magnetometer data structure containing magnetic field measurements + * @param declination Magnetic declination correction in radians (positive east) + * @return Heading angle in radians, range [0, 2π) (0 = magnetic north) + */ + float calculateHeading(const MagnetometerData& data, float declination = 0.0f) + { + const auto& mag = data.magnetic_field; + + // Handle edge case when magnetic field is zero or aligned vertically + if (mag.x == 0.0f && mag.y == 0.0f) { + return 0.0f; + } + + // Calculate angle from x-axis (east) using arctangent of y/x + // atan2 returns angle in range [-π, π] + float heading = atan2f(mag.y, mag.x); + + // Convert to [0, 2π) range (0 to 2π radians) + if (heading < 0) { + heading += 2 * M_PI; + } + + // Apply magnetic declination correction + // Positive declination adds to heading (east declination) + heading += declination; + + // Normalize to [0, 2π) range after declination adjustment + if (heading > 2 * M_PI) { + heading -= 2 * M_PI; + } else if (heading < 0) { + heading += 2 * M_PI; + } + + return heading; + } + + /** + * @brief Calculate heading (yaw) angle from magnetometer data in degrees. + * + * This is a convenience wrapper that returns the heading in degrees (0-360). + * + * @param data Magnetometer data structure containing magnetic field measurements + * @param declination_deg Magnetic declination correction in degrees (positive east) + * @return Heading angle in degrees, range [0, 360) (0 = magnetic north) + */ + float calculateHeadingDegrees(const MagnetometerData& data, float declination_deg = 0.0f) + { + const auto& mag = data.magnetic_field; + if (mag.x == 0.0f && mag.y == 0.0f) { + return 0.0f; + } + float heading_deg = atan2f(mag.y, mag.x) * 180.0f / M_PI; + if (heading_deg < 0) { + heading_deg += 360.0f; + } + heading_deg += declination_deg; + if (heading_deg >= 360.0f) { + heading_deg -= 360.0f; + } else if (heading_deg < 0) { + heading_deg += 360.0f; + } + return heading_deg; + } + + /** + * @brief Calculate total magnetic field strength. + * + * Computes the magnitude of the magnetic field vector from all three axes. + * This represents the total strength of the magnetic field at the sensor. + * + * @param data Magnetometer data structure containing magnetic field measurements + * @return Magnetic field strength in the same units as input (typically microtesla, μT) + */ + float calculateMagneticStrength(const MagnetometerData& data) + { + const auto& mag = data.magnetic_field; + + // Compute Euclidean norm of the magnetic field vector + return sqrtf(mag.x * mag.x + mag.y * mag.y + mag.z * mag.z); + } + + /** + * @brief Converts Gauss to microTesla. + * @note This function is used to convert magnetic field strength from Gauss to microTesla. + * @param gauss: The magnetic field strength in Gauss. + * @retval The magnetic field strength in microTesla. + */ + float gaussToMicroTesla(float gauss) + { + return gauss * 100.0f; // 1 Gauss = 100 μT + } + + /** + * @brief Converts microTesla to Gauss. + * @note This function is used to convert magnetic field strength from microTesla to Gauss. + * @param ut: The magnetic field strength in microTesla. + * @retval The magnetic field strength in Gauss. + */ + float microTeslaToGauss(float ut) + { + return ut * 0.01f; // 1 μT = 0.01 Gauss + } + + + float rangeToGauss(MagFullScaleRange range) + { + switch (range) { + case MagFullScaleRange::FS_4G: + return 4.0f; + case MagFullScaleRange::FS_8G: + return 8.0f; + case MagFullScaleRange::FS_12G: + return 12.0f; + case MagFullScaleRange::FS_16G: + return 16.0f; + case MagFullScaleRange::FS_25G: + return 25.0f; + case MagFullScaleRange::FS_30G: + return 30.0f; + case MagFullScaleRange::FS_32G: + return 32.0f; + default: + return 0.0f; + } + return 0.0f; + } +} +// *INDENT-ON* \ No newline at end of file diff --git a/lib/SensorLib/src/sensor/SensorBase.hpp b/lib/SensorLib/src/sensor/SensorBase.hpp new file mode 100644 index 0000000..8d68f2f --- /dev/null +++ b/lib/SensorLib/src/sensor/SensorBase.hpp @@ -0,0 +1,203 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorBase.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-22 + * + * @brief Abstract base class template for all sensors + * @note This class cannot be instantiated directly. Use derived classes such as: + * - AccelerometerBase for accelerometers + * - GyroscopeBase for gyroscopes + * - MagnetometerBase for magnetometers + */ +#pragma once + +#include "../SensorPlatform.hpp" +#include "SensorDefs.hpp" +#include +#include +#include + + +/** + * @brief Utility class providing static sensor-related helper functions + */ +class SensorUtils +{ +public: + /** + * @brief Convert sensor type enumeration to string representation + * + * @param type Sensor type enumeration value + * @return const char* String representation of the sensor type + */ + static const char *typeToString(SensorType type) + { + switch (type) { + case SensorType::ACCELEROMETER: return "ACCELEROMETER"; + case SensorType::GYROSCOPE: return "GYROSCOPE"; + case SensorType::MAGNETOMETER: return "MAGNETOMETER"; + case SensorType::PRESSURE: return "PRESSURE"; + case SensorType::TEMPERATURE: return "TEMPERATURE"; + case SensorType::HUMIDITY: return "HUMIDITY"; + case SensorType::MULTI_AXIS: return "MULTI_AXIS"; + default: return "UNKNOWN"; + } + } +}; + +/** + * @brief Template base class for all sensor implementations + * + * @tparam T Sensor data type (e.g., AccelerometerData, GyroscopeData) + * + * @note This is an abstract base class and cannot be instantiated directly. + * Derived classes must implement the pure virtual functions. + * + * @warning Constructor is protected to prevent direct instantiation + */ +template +class SensorBase +{ +protected: + /** + * @brief Construct a new SensorBase object + * + * @param sensor_type Type of sensor (default: UNKNOWN) + * + * @note Constructor is protected to prevent direct instantiation of abstract base class + */ + SensorBase(SensorType sensor_type = SensorType::UNKNOWN) + { + _info.type = sensor_type; + } + + /** + * @brief Virtual destructor for proper polymorphic cleanup + */ + virtual ~SensorBase() = default; + +public: + // Delete copy operations to prevent slicing + SensorBase(const SensorBase &) = delete; + SensorBase &operator=(const SensorBase &) = delete; + + /** + * @brief Set sensor calibration offsets + * + * @param x X-axis offset + * @param y Y-axis offset + * @param z Z-axis offset + */ + void setOffset(int16_t x, int16_t y, int16_t z) + { + _x_offset = x; + _y_offset = y; + _z_offset = z; + } + + /** + * @brief Get sensor sensitivity + * + * @return float Sensitivity value + */ + float getSensitivity() const + { + return _sensitivity; + } + + /** + * @brief Get sensor information + * + * @return SensorInfo Sensor information structure + */ + SensorInfo getSensorInfo() const + { + return _info; + } + + // Pure virtual interface functions + + /** + * @brief Read data from sensor + * + * @param data Reference to store read data + * @return true Read successful + * @return false Read failed + */ + virtual bool readData(T &data) = 0; + + /** + * @brief Check if new data is available + * + * @return true New data available + * @return false No new data + */ + virtual bool isDataReady() = 0; + + /** + * @brief Reset sensor to default state + * + * @return true Reset successful + * @return false Reset failed + */ + virtual bool reset() = 0; + + /** + * @brief Perform sensor self-test + * + * @return true Self-test passed + * @return false Self-test failed + */ + virtual bool selfTest() = 0; + + /** + * @brief Get current sensor configuration + * + * @return SensorConfig Current configuration + */ + virtual SensorConfig getConfig() const + { + return _config; + } + +private: + /** + * @brief Sensor-specific initialization implementation + * + * @param addr I2C address + * @return true Initialization successful + * @return false Initialization failed + */ + virtual bool initImpl(uint8_t addr) = 0; + +protected: + SensorConfig _config; ///< Current configuration + SensorInfo _info; ///< Sensor information + int16_t _x_offset; + int16_t _y_offset; + int16_t _z_offset; + float _sensitivity; +}; diff --git a/lib/SensorLib/src/sensor/SensorDefs.hpp b/lib/SensorLib/src/sensor/SensorDefs.hpp new file mode 100644 index 0000000..f5c8857 --- /dev/null +++ b/lib/SensorLib/src/sensor/SensorDefs.hpp @@ -0,0 +1,385 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file SensorDefs.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-02-04 + * + */ + +#pragma once + +#include +#include + +#ifndef M_PI +#define M_PI 3.14159265358979323846f +#endif +/** +* @enum SensorRemap +* @brief Enumeration representing different remapping options for the sensor's orientation. +* +* This enum defines various positions and orientations of the sensor chip. Each value corresponds +* to a specific corner or location of the chip, which can be used to remap the axes of the sensor +* according to its physical placement. +* +* Top view of the chip, where 'T' stands for top, +* 'B' stands for bottom, +* 'L' stands for left, and 'R' stands for right +* ------------- +* | TL TR | +* | | +* | | +* | | +* | BL BR | +* ------------- +* +* There is also a bottom view of the chip： +* +* ------------- +* | BT BB | +* | | +* | | +* | | +* | LT RT | +* ------------- +*/ +enum class SensorRemap { + // Chip top view, upper left corner + // ------------- + // | * | + // | | + // | | + // | | + // | | + // ------------- + TOP_LAYER_LEFT_CORNER, + // Chip top view, upper right corner + // ------------- + // | * | + // | | + // | | + // | | + // | | + // ------------- + TOP_LAYER_RIGHT_CORNER, + // Chip top view, bottom right corner of the top + // ------------- + // | | + // | | + // | | + // | | + // | * | + // ------------- + TOP_LAYER_BOTTOM_RIGHT_CORNER, + // The top view of the chip, the lower left corner of the front bottom + // ------------- + // | | + // | | + // | | + // | | + // | * | + // ------------- + TOP_LAYER_BOTTOM_LEFT_CORNER, + // The bottom view of the chip, the upper left corner of the top + // ------------- + // | * | + // | | + // | | + // | | + // | | + // ------------- + BOTTOM_LAYER_TOP_LEFT_CORNER, + // The bottom view of the chip, the upper right corner of the top + // ------------- + // | * | + // | | + // | | + // | | + // | | + // ------------- + BOTTOM_LAYER_TOP_RIGHT_CORNER, + // The bottom view of the chip, the lower right corner of the bottom + // ------------- + // | | + // | | + // | | + // | | + // | * | + // ------------- + BOTTOM_LAYER_BOTTOM_RIGHT_CORNER, + // Chip bottom view, bottom left corner + // ------------- + // | | + // | | + // | | + // | | + // | * | + // ------------- + BOTTOM_LAYER_BOTTOM_LEFT_CORNER, +}; + + +enum SensorDirection { + // ________________ + // | | + // | * | + // | | + // | | + // | | + // | | + // |________________| + DIRECTION_TOP_RIGHT, + + // ________________ + // | | + // | * | + // | | + // | | + // | | + // | | + // |________________| + DIRECTION_TOP_LEFT, + + // ________________ + // | | + // | | + // | | + // | | + // | | + // | * | + // |________________| + DIRECTION_BOTTOM_LEFT, + + // ________________ + // | | + // | | + // | | + // | | + // | | + // | * | + // |________________| + DIRECTION_BOTTOM_RIGHT, + + // ________________ + // |________________| + // * + DIRECTION_BOTTOM, + + // __*_____________ + // |________________| + DIRECTION_TOP, +}; + +/** + * @brief Enumeration of sensor types + */ +enum class SensorType { + UNKNOWN = 0, ///< Unknown sensor type + ACCELEROMETER, ///< Accelerometer sensor + GYROSCOPE, ///< Gyroscope sensor + MAGNETOMETER, ///< Magnetometer sensor + PRESSURE, ///< Pressure sensor + TEMPERATURE, ///< Temperature sensor + HUMIDITY, ///< Humidity sensor + MULTI_AXIS ///< Multi-axis sensor +}; + +/** + * @brief Structure representing a 3D vector with floating-point components + */ +struct SensorVector { + float x; ///< X-axis component + float y; ///< Y-axis component + float z; ///< Z-axis component +}; + +/** + * @brief Structure representing a raw 3D vector with 16-bit integer components + */ +struct RawVector { + int16_t x; ///< X-axis raw value + int16_t y; ///< Y-axis raw value + int16_t z; ///< Z-axis raw value +}; + +/** + * @brief Enumeration of sensor operation modes + */ +enum class OperationMode { + SUSPEND = 0, + NORMAL, + SINGLE_MEASUREMENT, + CONTINUOUS_MEASUREMENT, +}; + +/** + * @brief Enumeration of accelerometer full-scale range settings + */ +enum class AccelFullScaleRange { + FS_2G = 0, ///< ±2g range + FS_4G, ///< ±4g range + FS_8G, ///< ±8g range + FS_16G, ///< ±16g range + FS_32G, ///< ±32g range + FS_64G, ///< ±64g range + FS_128G ///< ±128g range +}; + +/** + * @brief Enumeration of interrupt pin mapping options + */ +enum class InterruptPinMap { + PIN1 = 1, ///< Interrupt pin 1 + PIN2, ///< Interrupt pin 2 +}; + + +/** +* @brief Enumeration defining full-scale range settings for the sensor. +*/ +enum class MagFullScaleRange { + FS_2G = 0, // ±2 Gauss + FS_4G, // ±4 Gauss + FS_8G, // ±8 Gauss + FS_12G, // ±12 Gauss + FS_16G, // ±16 Gauss + FS_20G, // ±20 Gauss + FS_25G, // ±25 Gauss + FS_30G, // ±30 Gauss + FS_32G // ±32 Gauss +}; + +/** +* @brief Enumeration defining over-sample ratios for the sensor. +*/ +enum class MagOverSampleRatio { + OSR_8, ///< 8x over-sample ratio + OSR_4, ///< 4x over-sample ratio + OSR_2, ///< 2x over-sample ratio + OSR_1 ///< 1x over-sample ratio +}; + +/** + * @brief Enumeration defining down-sample ratios for the sensor. + */ +enum class MagDownSampleRatio { + DSR_1, ///< 1x down-sample ratio + DSR_2, ///< 2x down-sample ratio + DSR_4, ///< 4x down-sample ratio + DSR_8, ///< 8x down-sample ratio +}; + +enum class MagLowPassFilter { + LPF_1, ///< 1 Hz low-pass filter + LPF_2, ///< 2 Hz low-pass filter + LPF_4, ///< 4 Hz low-pass filter + LPF_8, ///< 8 Hz low-pass filter + LPF_16 ///< 16 Hz low-pass filter +}; + +/** + * @brief Enumeration of gyroscope full-scale range settings + */ +enum class GyroFullScaleRange { + FS_125_DPS = 0, ///< ±125 °/s + FS_250_DPS, ///< ±250 °/s + FS_500_DPS, ///< ±500 °/s + FS_1000_DPS, ///< ±1000 °/s + FS_2000_DPS, ///< ±2000 °/s + FS_4000_DPS ///< ±4000 °/s (if supported) +}; + +/** + * @brief Structure representing accelerometer data + * + * Contains acceleration values in both raw format (LSB) and processed format (m/s²), + * as well as temperature if the sensor supports it. + */ +struct AccelerometerData { + SensorVector mps2; ///< Acceleration in meters per second squared (m/s²) + RawVector raw; ///< Raw sensor values in LSB (least significant bits) + float temperature; ///< Temperature in degrees Celsius (if available) + + AccelerometerData() : mps2{0, 0, 0}, raw{0, 0, 0}, temperature{0} {} +}; + +/** + * @brief Structure representing magnetometer data + * + * Contains magnetic field values in both raw format (LSB) and processed format (Gauss), + * as well as temperature if the sensor supports it. + */ +struct MagnetometerData { + SensorVector magnetic_field; ///< magnetic field strength (Gauss) + RawVector raw; ///< raw data + float temperature; ///< temperature (°C) + float heading; ///< heading angle (radians) + float heading_degrees; ///< heading angle (degrees) + bool overflow; ///< data overflow flag + bool skip_data; ///< skip data flag + + MagnetometerData() : magnetic_field{0, 0, 0}, raw{0, 0, 0}, temperature{0}, heading{0}, heading_degrees{0}, overflow{false}, skip_data{false} {} +}; + +/** + * @brief Structure representing gyroscope data + */ +struct GyroscopeData { + SensorVector dps; ///< Angular velocity in degrees per second (°/s) + RawVector raw; ///< Raw sensor values in LSB + float temperature; ///< Temperature in °C (if available) + + GyroscopeData() : dps{0, 0, 0}, raw{0, 0, 0}, temperature{0} {} +}; + +/** + * @brief Structure representing sensor configuration parameters + */ +struct SensorConfig { + + SensorType type; ///< Type of the sensor + float range; ///< Measurement range + float sample_rate; ///< Sample rate in Hz + uint32_t latency; ///< Reporting latency in milliseconds + OperationMode mode; ///< Operation mode + SensorConfig() : type(SensorType::UNKNOWN), range(0), sample_rate(0), latency(0), mode(OperationMode::SUSPEND) {} + + SensorConfig(SensorType type, float range, float sample_rate, uint32_t latency, OperationMode mode) + : type(type), range(range), sample_rate(sample_rate), latency(latency), mode(mode) {} +}; + +/** + * @brief Structure containing sensor identification information + */ +struct SensorInfo { + const char *manufacturer; ///< Manufacturer name + const char *model; ///< Model name/identifier + uint8_t i2c_address; ///< Default I2C address + uint8_t version; ///< Hardware/firmware version + uint32_t uid; ///< Unique identifier + SensorType type; ///< Sensor type + + SensorInfo() : manufacturer("Unknown"), model("Unknown"), i2c_address(0), version(0), uid(0), type(SensorType::UNKNOWN) {} +}; diff --git a/lib/SensorLib/src/touch/TouchDrvCHSC5816.cpp b/lib/SensorLib/src/touch/TouchDrvCHSC5816.cpp new file mode 100644 index 0000000..d6d171f --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvCHSC5816.cpp @@ -0,0 +1,116 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrvCHSC5816.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-05 + * + */ +#include "TouchDrvCHSC5816.hpp" + +void TouchDrvCHSC5816::sleep() +{ + uint8_t CHSC5816_REG_SLEEP[] = { + 0x20, 0x00, 0x00, 0x00, // CHSC5816_REG_CMD_BUFF + 0xF8, 0x16, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0xE9 + }; + writeBuff(CHSC5816_REG_SLEEP, arraySize(CHSC5816_REG_SLEEP)); +} + +const TouchPoints &TouchDrvCHSC5816::getTouchPoints() +{ + uint8_t buffer[POINT_BUFFER_SIZE] = {0}; + + _touchPoints.clear(); // Clear cached touch points + + addrToBeBuf(REG_POINT_EVENT, buffer); + if (writeThenRead(buffer, COMMAND_SIZE, buffer, POINT_BUFFER_SIZE) == 0) { + + // Get number of touch points + uint8_t numPoints = buffer[1]; + + if (numPoints > MAX_FINGER_NUM || numPoints == 0) { + return _touchPoints; + } + const uint16_t x = buffer[2] | ((buffer[5] & 0x0F) << 8); + const uint16_t y = buffer[3] | (((buffer[5] >> 4) & 0x0F) << 8); + const uint8_t pressure = buffer[4]; + const uint8_t eventFlag = (buffer[6] & 0x0F); + const uint8_t id = (buffer[6] >> 4) & 0x0F; + _touchPoints.addPoint(x, y, pressure, id, eventFlag); + + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); + } + return _touchPoints; +} + +const char *TouchDrvCHSC5816::getModelName() +{ + return "CHSC5816"; +} + +bool TouchDrvCHSC5816::initImpl(uint8_t) +{ + hal->delay(10); + + uint8_t buffer[16] = {0}; + + addrToBeBuf(REG_BOOT_STATE, buffer); + if (writeBuff(buffer, arraySize(buffer)) < 0) { + log_e("writeBuff clean boot state failed!"); + return false; + } + + hal->delay(10); + + bool success = false; + int retry = 5; + do { + addrToBeBuf(REG_BOOT_STATE, buffer); + if (writeThenRead(buffer, 4, buffer, 4) < 0) { + return false; + } + + hal->delay(20); + + // Check if the signature matches + // When device is startup , reg will report 0x43 0x48 0x53 0x43 + if (buffer[0] == 0x43 && buffer[1] == 0x48 && buffer[2] == 0x53 && buffer[3] == 0x43) { + log_d("Signature matched!"); + success = true; + break; + + } + } while (retry--); + + if (success) { + _maxTouchPoints = 1; + _chipID = 0x5816; // Fixed chip ID + return true; + } + + return false; +} diff --git a/lib/SensorLib/src/touch/TouchDrvCHSC5816.hpp b/lib/SensorLib/src/touch/TouchDrvCHSC5816.hpp new file mode 100644 index 0000000..f50d02c --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvCHSC5816.hpp @@ -0,0 +1,87 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2022 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. + * + * @file TouchDrvCHSC5816.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2023-04-12 + * + */ +#pragma once + +#include "TouchDrvInterface.hpp" + +static constexpr uint8_t CHSC5816_SLAVE_ADDRESS = (0x2E); + +class TouchDrvCHSC5816 : public TouchDrvInterface +{ +public: + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvCHSC5816() = default; + + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvCHSC5816() = default; + + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; + + /** + * @brief Get the touch points + * @note This function retrieves the touch points from the touch driver. + * @retval The touch points. + */ + const TouchPoints &getTouchPoints() override; + + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + +private: + + bool initImpl(uint8_t) override; + +protected: + static constexpr uint32_t REG_BOOT_STATE = 0x20000018; + static constexpr uint32_t REG_IMG_HEAD = 0x20000014; + static constexpr uint32_t REG_POINT_EVENT = 0x2000002C; + static constexpr uint32_t REG_POINT = 0x2000002E; + static constexpr uint8_t MAX_FINGER_NUM = (1); + static constexpr uint8_t BYTES_PER_POINT = (5); + static constexpr uint8_t POINT_BUFFER_SIZE = (MAX_FINGER_NUM * BYTES_PER_POINT + 3); + static constexpr uint8_t COMMAND_SIZE = (4); +}; diff --git a/lib/SensorLib/src/touch/TouchDrvCST226.cpp b/lib/SensorLib/src/touch/TouchDrvCST226.cpp index 2d92b8a..628fa40 100644 --- a/lib/SensorLib/src/touch/TouchDrvCST226.cpp +++ b/lib/SensorLib/src/touch/TouchDrvCST226.cpp @@ -28,238 +28,120 @@ */ #include "TouchDrvCST226.h" -TouchDrvCST226::TouchDrvCST226() : comm(nullptr), hal(nullptr) -{ - -} - -TouchDrvCST226::~TouchDrvCST226() -{ - if (comm) { - comm->deinit(); - } -} - -#if defined(ARDUINO) -bool TouchDrvCST226::begin(TwoWire &wire, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); -} -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) -bool TouchDrvCST226::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return true; -} -#else -bool TouchDrvCST226::begin(i2c_master_bus_handle_t handle, uint8_t addr) -{ - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return true; -} -#endif //USEING_I2C_LEGACY -#endif //ARDUINO - -bool TouchDrvCST226::begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) -{ - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); -} - void TouchDrvCST226::reset() { - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - hal->digitalWrite(_rst, LOW); + if (_pinsCfg.rstPin != -1) { + hal->pinMode(_pinsCfg.rstPin, OUTPUT); + hal->digitalWrite(_pinsCfg.rstPin, LOW); hal->delay(100); - hal->digitalWrite(_rst, HIGH); + hal->digitalWrite(_pinsCfg.rstPin, HIGH); hal->delay(100); } else { - comm->writeRegister(0xD1, 0x0E); + writeReg(0xD1, 0x0E); hal->delay(20); } } -uint8_t TouchDrvCST226::getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point) +const TouchPoints &TouchDrvCST226::getTouchPoints() { - static constexpr uint8_t statusReg = (0x00); - static constexpr uint8_t bufferSize = (28); - - uint8_t buffer[bufferSize]; + static constexpr uint8_t POINT_BUFFER_SIZE = 28; + static constexpr uint8_t STATUS_REG = 0x00; + uint8_t buffer[POINT_BUFFER_SIZE] = {0}; uint8_t index = 0; - if (comm->readRegister(statusReg, buffer, bufferSize) == -1) { - return 0; - } - if (buffer[0] == 0x83 && buffer[1] == 0x17 && buffer[5] == 0x80) { - if (_HButtonCallback) { - _HButtonCallback(_userData); + // Clear cached touch points + _touchPoints.clear(); + + if (readRegBuff(STATUS_REG, buffer, POINT_BUFFER_SIZE) == 0) { + + if (buffer[0] == 0x83 && buffer[1] == 0x17 && buffer[5] == 0x80) { + if (_HButtonCallback) { + _HButtonCallback(_userData); + } + return _touchPoints; } - return 0; - } - if (buffer[6] != 0xAB)return 0; - if (buffer[0] == 0xAB)return 0; - if (buffer[5] == 0x80)return 0; + if (buffer[6] != 0xAB)return _touchPoints; // Return zero points + if (buffer[0] == 0xAB)return _touchPoints; // Return zero points + if (buffer[5] == 0x80)return _touchPoints; // Return zero points - uint8_t numPoints = buffer[5] & 0x7F; + uint8_t numPoints = buffer[5] & 0x7F; // Get number of touch points (lower 7 bits) - if (numPoints > 5 || !numPoints) { - comm->writeRegister(0x00, 0xAB); - return 0; - } - - for (int i = 0; i < numPoints; i++) { - report.id[i] = buffer[index] >> 4; - report.status[i] = buffer[index] & 0x0F; - report.x[i] = (uint16_t)((buffer[index + 1] << 4) | ((buffer[index + 3] >> 4) & 0x0F)); - report.y[i] = (uint16_t)((buffer[index + 2] << 4) | (buffer[index + 3] & 0x0F)); - report.pressure[i] = buffer[index + 4]; - index = (i == 0) ? (index + 7) : (index + 5); - } - - updateXY(numPoints, report.x, report.y); - - if (numPoints) { - for (int i = 0; i < get_point; i++) { - x_array[i] = report.x[i]; - y_array[i] = report.y[i]; + // Validate number of touch points + if (numPoints == 0 || numPoints > MAX_FINGER_NUM) { + writeReg(0x00, 0xAB); + return _touchPoints; // Return zero points } - } - return numPoints; + // If not center button, add point + for (int i = 0; i < numPoints; i++) { + const uint16_t x = (buffer[index + 1] << 4) | ((buffer[index + 3] >> 4) & 0x0F); + const uint16_t y = (buffer[index + 2] << 4) | (buffer[index + 3] & 0x0F); + const uint16_t pressure = buffer[index + 4]; + const uint8_t id = (buffer[index] & 0xF0) >> 4; + const uint8_t event = buffer[index] & 0x0F; + _touchPoints.addPoint(x, y, pressure, id, event); + index = (i == 0) ? (index + 7) : (index + 5); + } + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); + } + return _touchPoints; } -bool TouchDrvCST226::isPressed() -{ - static uint32_t lastPulse = 0; - if (_irq != -1) { - int val = hal->digitalRead(_irq) == LOW; - if (val) { - //Filter low levels with intervals greater than 1000ms - val = (hal->millis() - lastPulse > 1000) ? false : true; - lastPulse = hal->millis(); - return val; - } - return false; - } - return getPoint(NULL, NULL, 1); -} - - const char *TouchDrvCST226::getModelName() { - return "CST226SE"; + switch (_chipID) { + case CST226SE_CHIPTYPE: + return "CST226SE"; + case CST328_CHIPTYPE: + return "CST328"; + default: + break; + } + return "Unknown"; } void TouchDrvCST226::sleep() { - comm->writeRegister(0xD1, 0x05); + writeReg(0xD1, 0x05); #ifdef ARDUINO_ARCH_ESP32 - if (_irq != -1) { - hal->pinMode(_irq, OPEN_DRAIN); + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, OPEN_DRAIN); } - if (_rst != -1) { - hal->pinMode(_rst, OPEN_DRAIN); + if (_pinsCfg.rstPin != -1) { + hal->pinMode(_pinsCfg.rstPin, OPEN_DRAIN); } #endif } -void TouchDrvCST226::wakeup() +bool TouchDrvCST226::initImpl(uint8_t) { - reset(); -} - -void TouchDrvCST226::idle() -{ - -} - -uint8_t TouchDrvCST226::getSupportTouchPoint() -{ - return 5; -} - -bool TouchDrvCST226::getResolution(int16_t *x, int16_t *y) -{ - *x = _resX; - *y = _resY; - return true; -} - -void TouchDrvCST226::setHomeButtonCallback(HomeButtonCallback cb, void *user_data) -{ - _HButtonCallback = cb; - _userData = user_data; -} - -void TouchDrvCST226::setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) -{ - SensorHalCustom::setCustomMode(mode_cb); - SensorHalCustom::setCustomWrite(write_cb); - SensorHalCustom::setCustomRead(read_cb); -} - -bool TouchDrvCST226::initImpl() -{ - - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - } - - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - - reset(); - uint8_t buffer[8]; // Enter Command mode - comm->writeRegister(0xD1, 0x01); + writeReg(0xD1, 0x01); hal->delay(10); uint8_t write_buffer[2] = {0xD1, 0xFC}; - comm->writeThenRead(write_buffer, 2, buffer, 4); - uint32_t checkcode = 0; - checkcode = buffer[3]; - checkcode <<= 8; - checkcode |= buffer[2]; - checkcode <<= 8; - checkcode |= buffer[1]; - checkcode <<= 8; - checkcode |= buffer[0]; + writeThenRead(write_buffer, 2, buffer, 4); - log_i("Chip checkcode:0x%lx.", checkcode); + uint32_t checkcode = (buffer[3] << 24) | (buffer[2] << 16) | (buffer[1] << 8) | buffer[0]; + log_i("Chip checkcode:0x%lX.", checkcode); - write_buffer[0] = {0xD1}; - write_buffer[1] = {0xF8}; - comm->writeThenRead(write_buffer, 2, buffer, 4); - _resX = ( buffer[1] << 8) | buffer[0]; - _resY = ( buffer[3] << 8) | buffer[2]; - log_i("Chip resolution X:%u Y:%u", _resX, _resY); - - write_buffer[0] = {0xD2}; - write_buffer[1] = {0x04}; - comm->writeThenRead(write_buffer, 2, buffer, 4); - uint32_t chipType = buffer[3]; - chipType <<= 8; - chipType |= buffer[2]; + write_buffer[0] = 0xD1; + write_buffer[1] = 0xF8; + writeThenRead(write_buffer, 2, buffer, 4); + _touchConfig.resolutionX = ( buffer[1] << 8) | buffer[0]; + _touchConfig.resolutionY = ( buffer[3] << 8) | buffer[2]; + log_i("Chip resolution X:%u Y:%u", _touchConfig.resolutionX, _touchConfig.resolutionY); + write_buffer[0] = 0xD2; + write_buffer[1] = 0x04; + writeThenRead(write_buffer, 2, buffer, 4); + // uint32_t chipType = buffer[3]; + // chipType <<= 8; + // chipType |= buffer[2]; + uint32_t chipType = buffer[2]; + // log_i("Chip ID high byte:0x%lx. low byte:0x%lx", buffer[3], buffer[2]); uint32_t ProjectID = buffer[1]; ProjectID <<= 8; @@ -268,10 +150,9 @@ bool TouchDrvCST226::initImpl() chipType, ProjectID); - - write_buffer[0] = {0xD2}; - write_buffer[1] = {0x08}; - comm->writeThenRead(write_buffer, 2, buffer, 8); + write_buffer[0] = 0xD2; + write_buffer[1] = 0x08; + writeThenRead(write_buffer, 2, buffer, 8); uint32_t fwVersion = buffer[3]; fwVersion <<= 8; @@ -301,31 +182,17 @@ bool TouchDrvCST226::initImpl() return false; } - if (chipType != CST226SE_CHIPTYPE) { - log_e("Chip ID does not match, should be 0x%2X", CST226SE_CHIPTYPE); + if (chipType != CST226SE_CHIPTYPE && chipType != CST328_CHIPTYPE) { + log_e("Chip ID does not match, should be 0x%02" PRIX8 " ,but is 0x%02" PRIX32, CST226SE_CHIPTYPE, chipType); return false; } _chipID = chipType; // Exit Command mode - comm->writeRegister(0xD1, 0x09); + writeReg(0xD1, 0x09); + + _maxTouchPoints = 5; return true; } - - - - - - - - - - - - - - - - diff --git a/lib/SensorLib/src/touch/TouchDrvCST226.h b/lib/SensorLib/src/touch/TouchDrvCST226.h index e62a680..6389e3e 100644 --- a/lib/SensorLib/src/touch/TouchDrvCST226.h +++ b/lib/SensorLib/src/touch/TouchDrvCST226.h @@ -30,70 +30,58 @@ #include "TouchDrvInterface.hpp" -#define CST226SE_SLAVE_ADDRESS (0x5A) +static constexpr uint8_t CST226SE_SLAVE_ADDRESS = (0x5A); class TouchDrvCST226 : public TouchDrvInterface { public: + using TouchDrvInterface::getPoint; + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvCST226() = default; - TouchDrvCST226(); + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvCST226() = default; - ~TouchDrvCST226(); + /** + * @brief Reset the touch driver + * @note This function will reset the touch driver by toggling the reset pin. + * @retval None + */ + void reset() override; -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t addr = CST226SE_SLAVE_ADDRESS, int sda = -1, int scl = -1); -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = CST226SE_SLAVE_ADDRESS, int sda = -1, int scl = -1); -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = CST226SE_SLAVE_ADDRESS); -#endif -#endif + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = CST226SE_SLAVE_ADDRESS); - - void reset(); - - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point); - - bool isPressed(); - - const char *getModelName(); - - void sleep(); - - void wakeup(); - - void idle(); - - uint8_t getSupportTouchPoint(); - - bool getResolution(int16_t *x, int16_t *y); - - void setHomeButtonCallback(HomeButtonCallback cb, void *user_data); - - void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb); + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; private: - bool initImpl(); -protected: - std::unique_ptr comm; - std::unique_ptr hal; - TouchData report; static constexpr uint8_t CST226SE_CHIPTYPE = (0xA8); + static constexpr uint8_t CST328_CHIPTYPE = (0x48); + static constexpr uint8_t MAX_FINGER_NUM = (5); + + bool initImpl(uint8_t) override; }; - - - - - - - - - - diff --git a/lib/SensorLib/src/touch/TouchDrvCST3530.cpp b/lib/SensorLib/src/touch/TouchDrvCST3530.cpp new file mode 100644 index 0000000..bbaf3e9 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvCST3530.cpp @@ -0,0 +1,144 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrvCST3530.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-21 + */ +#include "TouchDrvCST3530.h" + +uint16_t TouchDrvCST3530::check_sum_16(int val, uint8_t *buf, uint16_t len) +{ + uint16_t sum = val; + while (len--) sum += *buf++; + return sum; +} + +const TouchPoints &TouchDrvCST3530::getTouchPoints() +{ + uint8_t numPoints = 0; + uint8_t keyNumber = 0; + uint8_t read_buffer[MAX_READ_BYTES] = {0}; + + // Clear cached touch points + _touchPoints.clear(); + + // If read command fails, return zero points + if (!writeCommand(READ_COMMAND, read_buffer, sizeof(read_buffer))) { + writeCommand(CLEAR_COMMAND); + return _touchPoints; + } + // If status is not 0xFF, clear points + if (read_buffer[2] != 0xFF) { + writeCommand(CLEAR_COMMAND); + return _touchPoints; + } + + numPoints = read_buffer[3] & 0x0F; // Get number of touch points (lower 4 bits) + keyNumber = (read_buffer[3] & 0xF0) >> 4; // Get key number (upper 4 bits) + + if (numPoints == 0 || numPoints > MAX_FINGER_NUM) { + writeCommand(CLEAR_COMMAND); + return _touchPoints; + } + + for (uint8_t i = 0; i < numPoints; i++) { + uint16_t idx = (keyNumber + i) * 5; + if (idx + 8 >= MAX_READ_BYTES) { + break; + } + const uint8_t pos_id = read_buffer[idx + 8] & 0x0F; + const uint8_t event = read_buffer[idx + 8] >> 4; + const uint16_t pos_x = read_buffer[idx + 4] + ((uint16_t)(read_buffer[idx + 7] & 0x0F) << 8); + const uint16_t pos_y = read_buffer[idx + 5] + ((uint16_t)(read_buffer[idx + 7] & 0xF0) << 4); + const uint8_t pressure = read_buffer[idx + 6]; + + if (check_sum_16(0x55, &read_buffer[4], (keyNumber + numPoints) * 5) != (read_buffer[0] | read_buffer[1] << 8)) { + writeCommand(CLEAR_COMMAND); + return _touchPoints; + } + if (event != 0x00) { + _touchPoints.addPoint(pos_x, pos_y, pressure, pos_id, event); + } + } + // Clear cached touch points + writeCommand(CLEAR_COMMAND); + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); + return _touchPoints; +} + +const char *TouchDrvCST3530::getModelName() +{ + return "CST3530"; +} + +void TouchDrvCST3530::sleep() +{ + writeCommand(0xD0000400); + hal->delay(1); + writeCommand(0xD0000400); + writeCommand(SLEEP_COMMAND); +} + +void TouchDrvCST3530::wakeup() +{ + reset(); + writeCommand(0xD0000400); + hal->delay(1); + writeCommand(0xD0000400); + writeCommand(0xD0000000); + writeCommand(0xD0000C00); + writeCommand(0xD0000100); +} + +bool TouchDrvCST3530::initImpl(uint8_t) +{ + int retry = 5; + uint8_t buffer[50]; + while (retry--) { + if (writeCommand(INFO_COMMAND, buffer, sizeof(buffer))) { + if (buffer[2] == 0xCA && buffer[3] == 0xCA) { + _maxTouchPoints = MAX_FINGER_NUM; + _touchConfig.resolutionY = (buffer[31] << 8) | buffer[30]; + _touchConfig.resolutionX = (buffer[29] << 8) | buffer[28]; + _chipID = buffer[3] << 24 | buffer[2] << 16 | buffer[1] << 8 | buffer[0]; + log_d("Model:CST3530"); + log_d("RST Pin:%d", _pinsCfg.rstPin); + log_d("IRQ Pin:%d", _pinsCfg.irqPin); + log_d("Tx Channel:%d", buffer[48]); + log_d("Rx Channel:%d", buffer[49]); + log_d("Key Number:%d", buffer[27]); + log_d("Resolution: %d x %d", _touchConfig.resolutionX, _touchConfig.resolutionY); + log_d("Project ID:%04X", buffer[39] << 24 | buffer[38] << 16 | buffer[37] << 8 | buffer[36]); + log_d("Chip Type:%04" PRIX32, _chipID); + log_d("Firmware Version:%04X", buffer[35] << 24 | buffer[34] << 16 | buffer[33] << 8 | buffer[32]); + return true; + } + } + hal->delay(10); + } + return false; +} + diff --git a/lib/SensorLib/src/touch/TouchDrvCST3530.h b/lib/SensorLib/src/touch/TouchDrvCST3530.h new file mode 100644 index 0000000..8cb0ba8 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvCST3530.h @@ -0,0 +1,116 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2023 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. + * + * @file TouchDrvCST3530.h + * @author Lewis He (lewishe@outlook.com) + * @date 2026-01-21 + */ +#pragma once + +#include "TouchDrvInterface.hpp" + +// The device address is not fixed and is determined by the manufacturer. +static constexpr uint8_t CS3530_SLAVE_ADDRESS = (0x1A); + + +class TouchDrvCST3530 : public TouchDrvInterface +{ +public: + using TouchDrvInterface::getPoint; + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvCST3530() = default; + + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvCST3530() = default; + + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; + + /** + * @brief Wake up the touch driver + * @note This function will wake up the touch driver from sleep mode. + * @retval None + */ + void wakeup() override; + + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; + + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + +private: + + bool initImpl(uint8_t) override; + + void beforeBegin() override + { + _pinsCfg.rstHoldTimeMs = 30; + _pinsCfg.rstReleaseTimeMs = 50; + } + + bool writeCommand(uint32_t cmd, uint8_t *read_buffer = nullptr, size_t read_size = 0) + { + uint8_t write_buffer[4]; + write_buffer[0] = (cmd >> 24) & 0xFF; + write_buffer[1] = (cmd >> 16) & 0xFF; + write_buffer[2] = (cmd >> 8) & 0xFF; + write_buffer[3] = (cmd >> 0) & 0xFF; + if (read_buffer) { + return 0 == writeThenRead(write_buffer, arraySize(write_buffer), read_buffer, read_size); + } else { + return 0 == writeBuff(write_buffer, arraySize(write_buffer)); + } + } + + uint16_t check_sum_16(int val, uint8_t* buf, uint16_t len); + +protected: + static constexpr uint32_t READ_COMMAND = (0xD0070000); + static constexpr uint32_t INFO_COMMAND = (0xD0030000); + static constexpr uint32_t SLEEP_COMMAND = (0xD00022AB); + static constexpr uint32_t CLEAR_COMMAND = (0xD00002AB); + static constexpr uint8_t MAX_FINGER_NUM = (5); + static constexpr uint8_t MAX_READ_BYTES = (32); +}; diff --git a/lib/SensorLib/src/touch/TouchDrvCST816.cpp b/lib/SensorLib/src/touch/TouchDrvCST816.cpp index b8d0cc8..9709107 100644 --- a/lib/SensorLib/src/touch/TouchDrvCST816.cpp +++ b/lib/SensorLib/src/touch/TouchDrvCST816.cpp @@ -28,128 +28,45 @@ */ #include "TouchDrvCST816.h" -TouchDrvCST816::TouchDrvCST816() : comm(nullptr), hal(nullptr), - _center_btn_x(0), - _center_btn_y(0) +const TouchPoints &TouchDrvCST816::getTouchPoints() { -} + static constexpr uint8_t POINT_BUFFER_SIZE = 13; + uint8_t buffer[POINT_BUFFER_SIZE] = {0}; + uint16_t x = 0, y = 0; -TouchDrvCST816::~TouchDrvCST816() -{ - if (comm) { - comm->deinit(); - } -} + // Clear cached touch points + _touchPoints.clear(); -#if defined(ARDUINO) -bool TouchDrvCST816::begin(TwoWire &wire, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); -} -#elif defined(ESP_PLATFORM) + if (readRegBuff(CST8xx_REG_STATUS, buffer, POINT_BUFFER_SIZE) == 0) { -#if defined(USEING_I2C_LEGACY) -bool TouchDrvCST816::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return true; -} -#else -bool TouchDrvCST816::begin(i2c_master_bus_handle_t handle, uint8_t addr) -{ - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return true; -} -#endif //USEING_I2C_LEGACY -#endif //ARDUINO - -bool TouchDrvCST816::begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) -{ - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); -} - -void TouchDrvCST816::reset() -{ - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - hal->digitalWrite(_rst, LOW); - hal->delay(30); - hal->digitalWrite(_rst, HIGH); - hal->delay(50); - } -} - -uint8_t TouchDrvCST816::getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point) -{ - uint8_t buffer[13]; - if (comm->readRegister(CST8xx_REG_STATUS, buffer, 13) == -1) { - return 0; - } - - if (!buffer[2] || !x_array || !y_array || !get_point) { - return 0; - } - - // Some CST816T will return all 0xFF after turning off automatic sleep. - if (buffer[2] == 0xFF) { - return 0; - } - - uint8_t numPoints = buffer[2] & 0x0F; - - // CST816 only supports single touch - if (numPoints > 1) { - return 0; - } - - int16_t tmp_x, tmp_y; - - tmp_x = ((buffer[CST8xx_REG_XPOS_HIGH] & 0x0F) << 8 | buffer[CST8xx_REG_XPOS_LOW]); - tmp_y = ((buffer[CST8xx_REG_YPOS_HIGH] & 0x0F) << 8 | buffer[CST8xx_REG_YPOS_LOW]); - - // Depends on touch screen firmware - if (tmp_x == _center_btn_x && tmp_y == _center_btn_y && _HButtonCallback) { - _HButtonCallback(_userData); - return 0; - } - - x_array[0] = tmp_x; - y_array[0] = tmp_y; - - updateXY(numPoints, x_array, y_array); - - return numPoints; -} - -bool TouchDrvCST816::isPressed() -{ - static uint32_t lastPulse = 0; - if (_irq != -1) { - int val = hal->digitalRead(_irq) == LOW; - if (val) { - //Filter low levels with intervals greater than 1000ms - val = (hal->millis() - lastPulse > 1000) ? false : true; - lastPulse = hal->millis(); - return val; + // Some CST816T will return all 0xFF after turning off automatic sleep. + if (buffer[2] == 0x00 || buffer[2] == 0xFF) { + return _touchPoints; } - return false; - } - return getPoint(NULL, NULL, 1); -} + uint8_t numPoints = buffer[2] & 0x0F; // Get number of touch points (lower 4 bits) + + // CST816 only supports single touch + if (numPoints > MAX_FINGER_NUM || numPoints == 0 ) { + return _touchPoints; + } + + x = ((buffer[3] & 0x0F) << 8 | buffer[4]); + y = ((buffer[5] & 0x0F) << 8 | buffer[6]); + + // Depends on touch screen firmware + if (x == _center_btn_x && y == _center_btn_y && _HButtonCallback) { + _HButtonCallback(_userData); + return _touchPoints; // Return zero points + } + // If not center button, add point + _touchPoints.addPoint(x, y); + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); + } + + return _touchPoints; +} const char *TouchDrvCST816::getModelName() { @@ -167,55 +84,14 @@ const char *TouchDrvCST816::getModelName() default: break; } - return "UNKNOW"; + return "UNKNOWN"; } void TouchDrvCST816::sleep() { - comm->writeRegister(CST8xx_REG_SLEEP, 0x03); -#ifdef ARDUINO_ARCH_ESP32 - if (_irq != -1) { - hal->pinMode(_irq, OPEN_DRAIN); - } - if (_rst != -1) { - hal->pinMode(_rst, OPEN_DRAIN); - } -#endif + writeReg(CST8xx_REG_SLEEP, 0x03); } -void TouchDrvCST816::wakeup() -{ - reset(); -} - -void TouchDrvCST816::idle() -{ - -} - -uint8_t TouchDrvCST816::getSupportTouchPoint() -{ - return 1; -} - -bool TouchDrvCST816::getResolution(int16_t *x, int16_t *y) -{ - return false; -} - -void TouchDrvCST816::setHomeButtonCallback(HomeButtonCallback cb, void *user_data) -{ - _HButtonCallback = cb; - _userData = user_data; -} - -void TouchDrvCST816::setCenterButtonCoordinate(int16_t x, int16_t y) -{ - _center_btn_x = x; - _center_btn_y = y; -} - - void TouchDrvCST816::disableAutoSleep() { switch (_chipID) { @@ -225,7 +101,7 @@ void TouchDrvCST816::disableAutoSleep() case CST816D_CHIP_ID: reset(); hal->delay(50); - comm->writeRegister(CST8xx_REG_DIS_AUTOSLEEP, 0x01); + writeReg(CST8xx_REG_DIS_AUTOSLEEP, 0x01); break; case CST716_CHIP_ID: default: @@ -242,7 +118,7 @@ void TouchDrvCST816::enableAutoSleep() case CST816D_CHIP_ID: reset(); hal->delay(50); - comm->writeRegister(CST8xx_REG_DIS_AUTOSLEEP, (uint8_t)0x00); + writeReg(CST8xx_REG_DIS_AUTOSLEEP, (uint8_t)0x00); break; case CST716_CHIP_ID: default: @@ -250,32 +126,12 @@ void TouchDrvCST816::enableAutoSleep() } } -void TouchDrvCST816::setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) +bool TouchDrvCST816::initImpl(uint8_t) { - SensorHalCustom::setCustomMode(mode_cb); - SensorHalCustom::setCustomWrite(write_cb); - SensorHalCustom::setCustomRead(read_cb); -} - -bool TouchDrvCST816::initImpl() -{ - - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - } - - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - - reset(); - - int chip_id = comm->readRegister(CST8xx_REG_CHIP_ID); + int chip_id = readReg(CST8xx_REG_CHIP_ID); log_i("Chip ID:0x%x", chip_id); - int version = comm->readRegister(CST8xx_REG_FW_VERSION); + int version = readReg(CST8xx_REG_FW_VERSION); log_i("Version :0x%x", version); // CST716 : 0x20 @@ -297,9 +153,7 @@ bool TouchDrvCST816::initImpl() log_i("Touch type:%s", getModelName()); + _maxTouchPoints = 1; + return true; } - - - - diff --git a/lib/SensorLib/src/touch/TouchDrvCST816.h b/lib/SensorLib/src/touch/TouchDrvCST816.h index 3aa2a29..b640cb9 100644 --- a/lib/SensorLib/src/touch/TouchDrvCST816.h +++ b/lib/SensorLib/src/touch/TouchDrvCST816.h @@ -30,69 +30,72 @@ #include "TouchDrvInterface.hpp" -#define CST816_SLAVE_ADDRESS 0x15 +static constexpr uint8_t CST816_SLAVE_ADDRESS = (0x15); class TouchDrvCST816 : public TouchDrvInterface { public: - TouchDrvCST816(); + using TouchDrvInterface::getPoint; + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvCST816() = default; - ~TouchDrvCST816(); + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvCST816() = default; -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t address = CST816_SLAVE_ADDRESS, int sda = -1, int scl = -1); -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = CST816_SLAVE_ADDRESS, int sda = -1, int scl = -1); -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = CST816_SLAVE_ADDRESS); -#endif -#endif + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = CST816_SLAVE_ADDRESS); + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; - void reset(); + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point); + /** + * @brief Disable auto sleep mode + * @note This function will disable the auto sleep mode of the touch driver. + * + * @retval None + */ + void disableAutoSleep() ; - bool isPressed(); - - const char *getModelName(); - - void sleep(); - - void wakeup(); - - void idle(); - - uint8_t getSupportTouchPoint(); - - bool getResolution(int16_t *x, int16_t *y); - - void setCenterButtonCoordinate(int16_t x, int16_t y); - - void setHomeButtonCallback(HomeButtonCallback cb, void *user_data); - - void disableAutoSleep(); - - void enableAutoSleep(); - - void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb); + /** + * @brief Enable auto sleep mode + * @note This function will enable the auto sleep mode of the touch driver. + * @retval None + */ + void enableAutoSleep() ; private: - bool initImpl(); + bool initImpl(uint8_t) override; + + void beforeBegin() override + { + _pinsCfg.rstHoldTimeMs = 30; + _pinsCfg.rstReleaseTimeMs = 50; + } protected: - std::unique_ptr comm; - std::unique_ptr hal; - - int16_t _center_btn_x; - int16_t _center_btn_y; - static constexpr uint8_t CST8xx_REG_STATUS = (0x00); static constexpr uint8_t CST8xx_REG_XPOS_HIGH = (0x03); static constexpr uint8_t CST8xx_REG_XPOS_LOW = (0x04); @@ -107,12 +110,5 @@ protected: static constexpr uint8_t CST716_CHIP_ID = (0x20); static constexpr uint8_t CST820_CHIP_ID = (0xB7); static constexpr uint8_t CST816D_CHIP_ID = (0xB6); - + static constexpr uint8_t MAX_FINGER_NUM = (1); }; - - - - - - - diff --git a/lib/SensorLib/src/touch/TouchDrvCST92xx.cpp b/lib/SensorLib/src/touch/TouchDrvCST92xx.cpp index d9c4d25..d080de0 100644 --- a/lib/SensorLib/src/touch/TouchDrvCST92xx.cpp +++ b/lib/SensorLib/src/touch/TouchDrvCST92xx.cpp @@ -28,182 +28,77 @@ */ #include "TouchDrvCST92xx.h" -TouchDrvCST92xx::TouchDrvCST92xx() : comm(nullptr), hal(nullptr), - _slave_addr(-1), - _center_btn_x(0), - _center_btn_y(0) +TouchDrvCST92xx::TouchDrvCST92xx(): _slave_addr(-1) { } -TouchDrvCST92xx::~TouchDrvCST92xx() +const TouchPoints &TouchDrvCST92xx::getTouchPoints() { - if (comm) { - comm->deinit(); - } -} - - -#if defined(ARDUINO) -bool TouchDrvCST92xx::begin(TwoWire &wire, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, wire, addr, sda, scl)) { - return false; - } - return initImpl(); -} - -#elif defined(ESP_PLATFORM) - -#if defined(USEING_I2C_LEGACY) -bool TouchDrvCST92xx::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) -{ - if (!beginCommon(comm, hal, port_num, addr, sda, scl)) { - return false; - } - return true; -} -#else -bool TouchDrvCST92xx::begin(i2c_master_bus_handle_t handle, uint8_t addr) -{ - if (!beginCommon(comm, hal, handle, addr)) { - return false; - } - return true; -} -#endif //USEING_I2C_LEGACY -#endif //ARDUINO - -bool TouchDrvCST92xx::begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr) -{ - if (!beginCommCustomCallback(COMM_CUSTOM, - callback, hal_callback, addr, comm, hal)) { - return false; - } - return initImpl(); -} - -void TouchDrvCST92xx::reset() -{ - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - hal->digitalWrite(_rst, LOW); - hal->delay(10); - hal->digitalWrite(_rst, HIGH); - } -} - -void TouchDrvCST92xx::parseFingerData(uint8_t *data, cst9xx_point_t *point) -{ - const uint8_t id = (data[0] >> 4); - const uint8_t pressed = (data[0] & 0x0F); - const uint16_t x = ((data[1] << 4) | (data[3] >> 4)); - const uint16_t y = ((data[2] << 4) | (data[3] & 0x0F)); - - if (pressed == 0x06 && id < CST92XX_MAX_FINGER_NUM) { - point->finger_id = id; - point->evt = pressed; - point->x = x; - point->y = y; - } -} - -uint8_t TouchDrvCST92xx::getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point) -{ - int16_t res = 0; uint8_t numPoints = 0; - uint8_t read_buffer[CST92XX_MAX_FINGER_NUM * 5 + 5] = {0}; + uint8_t buffer[MAX_FINGER_NUM * 5 + 5] = {0}; uint8_t write_buffer[4] = {0}; - cst9xx_point_t point_info[CST92XX_MAX_FINGER_NUM]; - if (!x_array || !y_array || !get_point) { - return 0; - } - memset(&point_info, 0, sizeof(point_info)); + // Clear cached touch points + _touchPoints.clear(); - //Write read command - write_buffer[0] = highByte(CST92XX_READ_COMMAND); - write_buffer[1] = lowByte(CST92XX_READ_COMMAND); - res = comm->writeThenRead(write_buffer, 2, read_buffer, sizeof(read_buffer)); - if (res != 0) { - log_e("Write read command error"); - return 0; - } - // Write read ack - write_buffer[0] = highByte(CST92XX_READ_COMMAND); - write_buffer[1] = lowByte(CST92XX_READ_COMMAND); - write_buffer[2] = CST92XX_ACK; - res = comm->writeBuffer(write_buffer, 3); - if (res != 0) { - log_e("Write read ack error"); - return 0; - } + // Write read command + write_buffer[0] = highByte(REG_READ); + write_buffer[1] = lowByte(REG_READ); + addrToBeBuf(REG_READ, buffer); - // check device ack - if (read_buffer[6] != CST92XX_ACK) { - // log_e("Check device ack error , response code is 0x%x", read_buffer[6]); - return 0; - } + if (writeThenRead(buffer, 2, buffer, sizeof(buffer)) == 0) { - // palm + gesture - if (read_buffer[4] & 0xF0) { - log_d("read point read_buffer[4]=0x%x.\n", read_buffer[4]); - if ((read_buffer[4] >> 7) == 0x01) { - if (_HButtonCallback) { - _HButtonCallback(_userData); + // Write read ACK + write_buffer[0] = highByte(REG_READ); + write_buffer[1] = lowByte(REG_READ); + write_buffer[2] = CST92XX_ACK; + + if (writeBuff(write_buffer, 3) != 0) { + return _touchPoints; + } + + if (buffer[0] == CST92XX_ACK || buffer[6] != CST92XX_ACK) { + return _touchPoints; + } + + // Check cover screen gesture + if (buffer[4] & 0xF0) { + if ((buffer[4] >> 7) == 0x01) { + if (_HButtonCallback) { + _HButtonCallback(_userData); + } + // Cover screen gesture detected, return zero points + return _touchPoints; } - // bool palm = true; - } else if (read_buffer[4] >> 4) { - //uint8_t gesture = read_buffer[4] >> 4; } - } - numPoints = (read_buffer[5] & 0x7F); - if (numPoints > CST92XX_MAX_FINGER_NUM || numPoints == 0) { - return 0; - } - - /* - // button - if ((read_buffer[5] & 0x80) == 0x80) { - uint8_t *data = read_buffer + numPoints * 5; - if (numPoints > 0) { - data += 2; + numPoints = (buffer[5] & 0x7F); // Get number of touch points + if (numPoints > MAX_FINGER_NUM || numPoints == 0) { + return _touchPoints; } - uint8_t key_id = data[0]; - uint8_t key_status = data[1]; - } - */ - for (uint8_t i = 0; i < numPoints; ++i) { - uint8_t *data = read_buffer + (i * 5) + (i == 0 ? 0 : 2); - parseFingerData(data, &point_info[i]); - x_array[i] = point_info[i].x; - y_array[i] = point_info[i].y; - log_d("Finger %d: x %d, y %d, id %d, event 0x%x.", i, point_info[i].x, point_info[i].y, point_info[i].finger_id, point_info[i].evt); + for (uint8_t i = 0; i < numPoints; ++i) { + uint8_t *pdat = buffer + (i * 5) + (i == 0 ? 0 : 2); + const uint8_t id = (pdat[0] >> 4); + const uint8_t event = (pdat[0] & 0x0F); + const uint16_t x = ((pdat[1] << 4) | (pdat[3] >> 4)); + const uint16_t y = ((pdat[2] << 4) | (pdat[3] & 0x0F)); + if (event == 0x06 && id < MAX_FINGER_NUM) { + _touchPoints.addPoint(x, y, 0, id, event); + } + } + + if (_touchPoints.getPoint(0).event == 0x00) { + _touchPoints.clear(); + return _touchPoints; + } + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); } - if (point_info[0].evt == 0x00) { - log_d("Release finger ...."); - return 0; - } - - updateXY(numPoints, x_array, y_array); - - return numPoints; + return _touchPoints; } -// CST9217/CST9217 touch level is once per second, not continuous low level -bool TouchDrvCST92xx::isPressed() -{ - if (_irq != -1) { - return hal->digitalRead(_irq) == LOW; - } - return getPoint(NULL, NULL, 1); -} - - const char *TouchDrvCST92xx::getModelName() { switch (_chipID) { @@ -214,50 +109,28 @@ const char *TouchDrvCST92xx::getModelName() default: break; } - return "UNKNOW"; + return "UNKNOWN"; } void TouchDrvCST92xx::sleep() { - uint8_t write_buffer[2] = {0}; + uint8_t buffer[2] = {0}; // Enter command mode - setMode(CST92_MODE_DEBUG_INFO); + setMode(MODE_DEBUG_INFO); //Send sleep command - write_buffer[0] = highByte(CST92XX_REG_SLEEP_MODE); - write_buffer[1] = lowByte(CST92XX_REG_SLEEP_MODE); - comm->writeBuffer(write_buffer, 2); + addrToBeBuf(REG_SLEEP_MODE, buffer); + writeBuff(buffer, 2); #ifdef ARDUINO_ARCH_ESP32 - if (_irq != -1) { - hal->pinMode(_irq, OPEN_DRAIN); + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, OPEN_DRAIN); } - if (_rst != -1) { - hal->pinMode(_rst, OPEN_DRAIN); + if (_pinsCfg.rstPin != -1) { + hal->pinMode(_pinsCfg.rstPin, OPEN_DRAIN); } #endif } -void TouchDrvCST92xx::wakeup() -{ - reset(); -} - -void TouchDrvCST92xx::idle() -{ -} - -uint8_t TouchDrvCST92xx::getSupportTouchPoint() -{ - return CST92XX_MAX_FINGER_NUM; -} - -bool TouchDrvCST92xx::getResolution(int16_t *x, int16_t *y) -{ - *x = _resX; - *y = _resY; - return true; -} - void TouchDrvCST92xx::setCoverScreenCallback(HomeButtonCallback cb, void *user_data) { _HButtonCallback = cb; @@ -274,8 +147,7 @@ uint32_t TouchDrvCST92xx::readWordFromMem(uint8_t type, uint16_t mem_addr) uint8_t read_buffer[4] = {0}; if (_slave_addr != -1 && _slave_addr != CST92XX_BOOT_ADDRESS) { - I2CParam params(I2CParam::I2C_SET_ADDR, CST92XX_BOOT_ADDRESS); - comm->setParams(params); + setAddress(CST92XX_BOOT_ADDRESS); } @@ -283,7 +155,7 @@ uint32_t TouchDrvCST92xx::readWordFromMem(uint8_t type, uint16_t mem_addr) write_buffer[1] = 0x10; write_buffer[2] = type; - res = comm->writeBuffer(write_buffer, 3); + res = writeBuff(write_buffer, 3); if (res != 0) { log_e("Write 0A010 failed"); goto ERROR; @@ -294,7 +166,7 @@ uint32_t TouchDrvCST92xx::readWordFromMem(uint8_t type, uint16_t mem_addr) write_buffer[2] = mem_addr; write_buffer[3] = mem_addr >> 8; - res = comm->writeBuffer(write_buffer, 4); + res = writeBuff(write_buffer, 4); if (res != 0) { log_e("Write 0A00C failed"); goto ERROR; @@ -304,7 +176,7 @@ uint32_t TouchDrvCST92xx::readWordFromMem(uint8_t type, uint16_t mem_addr) write_buffer[1] = 0x04; write_buffer[2] = 0xE4; - res = comm->writeBuffer(write_buffer, 3); + res = writeBuff(write_buffer, 3); if (res != 0) { log_e("Write 0A004E4 failed"); goto ERROR; @@ -316,7 +188,7 @@ uint32_t TouchDrvCST92xx::readWordFromMem(uint8_t type, uint16_t mem_addr) } write_buffer[0] = 0xA0; write_buffer[1] = 0x04; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 1); + res = writeThenRead(write_buffer, 2, read_buffer, 1); if (res != 0) { log_e("Write 0A004 failed"); goto ERROR; @@ -328,14 +200,13 @@ uint32_t TouchDrvCST92xx::readWordFromMem(uint8_t type, uint16_t mem_addr) } write_buffer[0] = 0xA0; write_buffer[1] = 0x18; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); + res = writeThenRead(write_buffer, 2, read_buffer, 4); if (res != 0) { goto ERROR; } if (_slave_addr != -1 && _slave_addr != CST92XX_BOOT_ADDRESS) { - I2CParam params(I2CParam::I2C_SET_ADDR, _slave_addr); - comm->setParams(params); + setAddress(_slave_addr); } return ((uint32_t)(read_buffer[0])) | @@ -344,44 +215,16 @@ uint32_t TouchDrvCST92xx::readWordFromMem(uint8_t type, uint16_t mem_addr) (((uint32_t)(read_buffer[3])) << 24); ERROR: if (_slave_addr != -1 && _slave_addr != CST92XX_BOOT_ADDRESS) { - I2CParam params(I2CParam::I2C_SET_ADDR, _slave_addr); - comm->setParams(params); + setAddress(_slave_addr); } return 0; } uint32_t TouchDrvCST92xx::getChipType() { -#if 0 - // uint32_t chip_id = 0; - uint32_t chip_type = 0; - for (uint8_t retry = 3; retry > 0; retry--) { - chip_type = readWordFromMem(1, 0x077C); - // chip_id = readWordFromMem(0, 0x7FC0); - if ((chip_type >> 16) == 0xCACA) { - chip_type &= 0xffff; - break; - } - hal->delay(10); - } - log_d("Chip Type: 0x%04lx", chip_type); - // log_d("Module_id: 0x%04x", chip_id); - if ((chip_type != CST9220_CHIP_ID) && (chip_type != CST9217_CHIP_ID)) { - log_e("Chip type error 0x%04lx", chip_type); - return 0; - } - return chip_type; -#else return chipType; -#endif } -uint32_t TouchDrvCST92xx::get_u32_from_ptr(const void *ptr) -{ - return *reinterpret_cast(ptr); -} - - /** * @note Only when the device address is equal to 0X5A can it be accessed. If the device address is not equal to 0X5A, it can only be accessed after reset. */ @@ -393,8 +236,7 @@ bool TouchDrvCST92xx::enterBootloader(void) uint8_t read_buffer[4] = {0}; if (_slave_addr != -1 && _slave_addr != CST92XX_BOOT_ADDRESS) { - I2CParam params(I2CParam::I2C_SET_ADDR, CST92XX_BOOT_ADDRESS); - comm->setParams(params); + setAddress(CST92XX_BOOT_ADDRESS); } for (uint8_t i = 10;; i += 2) { @@ -412,7 +254,7 @@ bool TouchDrvCST92xx::enterBootloader(void) write_buffer[0] = 0xA0; write_buffer[1] = 0x01; write_buffer[2] = 0xAA; - res = comm->writeBuffer(write_buffer, 3); + res = writeBuff(write_buffer, 3); if (res != 0) { hal->delay(2); continue; @@ -420,7 +262,7 @@ bool TouchDrvCST92xx::enterBootloader(void) hal->delay(2); write_buffer[0] = 0xA0; write_buffer[1] = 0x02; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 2); + res = writeThenRead(write_buffer, 2, read_buffer, 2); if (res != 0) { hal->delay(2); continue; @@ -437,22 +279,20 @@ bool TouchDrvCST92xx::enterBootloader(void) write_buffer[0] = 0xA0; write_buffer[1] = 0x01; write_buffer[2] = 0x00; - res = comm->writeBuffer(write_buffer, 3); + res = writeBuff(write_buffer, 3); if (res != 0) { log_e("Enter boot exit error"); goto ERROR; } if (_slave_addr != -1 && _slave_addr != CST92XX_BOOT_ADDRESS) { - I2CParam params(I2CParam::I2C_SET_ADDR, _slave_addr); - comm->setParams(params); + setAddress(_slave_addr); } log_d("Enter boot mode success!"); return true; ERROR: if (_slave_addr != -1 && _slave_addr != CST92XX_BOOT_ADDRESS) { - I2CParam params(I2CParam::I2C_SET_ADDR, _slave_addr); - comm->setParams(params); + setAddress(_slave_addr); } return false; @@ -467,10 +307,10 @@ bool TouchDrvCST92xx::getAttribute() uint8_t buffer[8]; // Enter Command mode - comm->writeRegister(0xD1, 0x01); + writeReg(0xD1, 0x01); hal->delay(10); uint8_t write_buffer[2] = {0xD1, 0xFC}; - comm->writeThenRead(write_buffer, 2, buffer, 4); + writeThenRead(write_buffer, 2, buffer, 4); uint32_t checkcode = 0; checkcode = buffer[3]; checkcode <<= 8; @@ -482,16 +322,16 @@ bool TouchDrvCST92xx::getAttribute() log_i("Chip checkcode:0x%lx.", checkcode); - write_buffer[0] = {0xD1}; - write_buffer[1] = {0xF8}; - comm->writeThenRead(write_buffer, 2, buffer, 4); - _resX = ( buffer[1] << 8) | buffer[0]; - _resY = ( buffer[3] << 8) | buffer[2]; - log_i("Chip resolution X:%u Y:%u", _resX, _resY); + write_buffer[0] = 0xD1; + write_buffer[1] = 0xF8; + writeThenRead(write_buffer, 2, buffer, 4); + _touchConfig.resolutionX = ( buffer[1] << 8) | buffer[0]; + _touchConfig.resolutionY = ( buffer[3] << 8) | buffer[2]; + log_i("Chip resolution X:%u Y:%u", _touchConfig.resolutionX, _touchConfig.resolutionY); - write_buffer[0] = {0xD2}; - write_buffer[1] = {0x04}; - comm->writeThenRead(write_buffer, 2, buffer, 4); + write_buffer[0] = 0xD2; + write_buffer[1] = 0x04; + writeThenRead(write_buffer, 2, buffer, 4); chipType = buffer[3]; chipType <<= 8; chipType |= buffer[2]; @@ -503,9 +343,9 @@ bool TouchDrvCST92xx::getAttribute() log_i("Chip type :0x%x, ProjectID:0X%lx", chipType, ProjectID); - write_buffer[0] = {0xD2}; - write_buffer[1] = {0x08}; - comm->writeThenRead(write_buffer, 2, buffer, 8); + write_buffer[0] = 0xD2; + write_buffer[1] = 0x08; + writeThenRead(write_buffer, 2, buffer, 8); uint32_t fwVersion = buffer[3]; fwVersion <<= 8; @@ -554,21 +394,21 @@ bool TouchDrvCST92xx::setMode(uint8_t mode) for (i = 0; i < 3; i++) { write_buffer[0] = 0xD1; write_buffer[1] = 0x1E; - res = comm->writeBuffer(write_buffer, 2); + res = writeBuff(write_buffer, 2); if (res != 0) { hal->delay(200); continue; } write_buffer[0] = 0xD1; write_buffer[1] = 0x1E; - res = comm->writeBuffer(write_buffer, 2); + res = writeBuff(write_buffer, 2); if (res != 0) { hal->delay(200); continue; } write_buffer[0] = 0x00; write_buffer[1] = 0x02; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); + res = writeThenRead(write_buffer, 2, read_buffer, 4); if (res != 0) { hal->delay(200); continue; @@ -578,36 +418,36 @@ bool TouchDrvCST92xx::setMode(uint8_t mode) } switch (mode) { - case CST92_MODE_NORMAL: { + case MODE_NORMAL: { log_d("set_work_mode: ENUM_MODE_NORMAL"); - write_buffer[0] = highByte(CST92XX_REG_NORMAL_MODE); - write_buffer[1] = lowByte(CST92XX_REG_NORMAL_MODE); + write_buffer[0] = highByte(REG_NORMAL_MODE); + write_buffer[1] = lowByte(REG_NORMAL_MODE); break; } - case CST92_MODE_DEBUG_DIFF: { + case MODE_DEBUG_DIFF: { log_d("set_work_mode: ENUM_MODE_DEBUG_DIFF"); - write_buffer[0] = highByte(CST92XX_REG_DIFF_MODE); - write_buffer[1] = lowByte(CST92XX_REG_DIFF_MODE); + write_buffer[0] = highByte(REG_DIFF_MODE); + write_buffer[1] = lowByte(REG_DIFF_MODE); break; } - case CST92_MODE_DEBUG_RAWDATA: { + case MODE_DEBUG_RAWDATA: { log_d("set_work_mode: ENUM_MODE_DEBUG_RAWDATA"); - write_buffer[0] = highByte(CST92XX_REG_RAW_MODE); - write_buffer[1] = lowByte(CST92XX_REG_RAW_MODE); + write_buffer[0] = highByte(REG_RAW_MODE); + write_buffer[1] = lowByte(REG_RAW_MODE); break; } - case CST92_MODE_DEBUG_INFO: { + case MODE_DEBUG_INFO: { log_d("set_work_mode: ENUM_MODE_DEBUG_INFO"); - write_buffer[0] = highByte(CST92XX_REG_DEBUG_MODE); - write_buffer[1] = lowByte(CST92XX_REG_DEBUG_MODE); + write_buffer[0] = highByte(REG_DEBUG_MODE); + write_buffer[1] = lowByte(REG_DEBUG_MODE); break; } - case CST92_MODE_FACTORY: { + case MODE_FACTORY: { log_d("set_work_mode: ENUM_MODE_FACTORY"); for (i = 0; i < 10; i++) { - write_buffer[0] = highByte(CST92XX_REG_FACTORY_MODE); - write_buffer[1] = lowByte(CST92XX_REG_FACTORY_MODE); - res = comm->writeBuffer(write_buffer, 2); + write_buffer[0] = highByte(REG_FACTORY_MODE); + write_buffer[1] = lowByte(REG_FACTORY_MODE); + res = writeBuff(write_buffer, 2); if (res != 0) { hal->delay(1); continue; @@ -615,7 +455,7 @@ bool TouchDrvCST92xx::setMode(uint8_t mode) hal->delay(10); write_buffer[0] = 0x00; write_buffer[1] = 0x09; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 1); + res = writeThenRead(write_buffer, 2, read_buffer, 1); if (res != 0) { hal->delay(1); continue; @@ -625,26 +465,26 @@ bool TouchDrvCST92xx::setMode(uint8_t mode) } write_buffer[0] = 0xD1; write_buffer[1] = 0x19; - res = comm->writeBuffer(write_buffer, 2); + res = writeBuff(write_buffer, 2); if (res != 0) { log_e("set_work_mode 0xD119 error"); return false; } break; } - case CST92_MODE_FACTORY_LOWDRV: { + case MODE_FACTORY_LOW_DRV: { log_d("set_work_mode: ENUM_MODE_FACTORY_LOWDRV"); write_buffer[0] = 0xD1; write_buffer[1] = 0x11; break; } - case CST92_MODE_FACTORY_HIGHDRV: { + case MODE_FACTORY_HIGH_DRV: { log_d("set_work_mode: ENUM_MODE_FACTORY_HIGHDRV"); write_buffer[0] = 0xD1; write_buffer[1] = 0x10; break; } - case CST92_MODE_FACTORY_SHORT: { + case MODE_FACTORY_SHORT: { log_d("set_work_mode: ENUM_MODE_FACTORY_SHORT"); write_buffer[0] = 0xD1; write_buffer[1] = 0x12; @@ -662,14 +502,14 @@ bool TouchDrvCST92xx::setMode(uint8_t mode) } } mode_cmd = write_buffer[1]; - res = comm->writeBuffer(write_buffer, 2); + res = writeBuff(write_buffer, 2); if (res != 0) { log_e("set_work_mode 0x%x 0x%x error", write_buffer[0], write_buffer[1]); return false; } write_buffer[0] = 0x00; write_buffer[1] = 0x02; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 2); + res = writeThenRead(write_buffer, 2, read_buffer, 2); if (res != 0) { log_e("set_work_mode read 0x0002 failed : 0x%X 0x%X", read_buffer[0], read_buffer[1]); } @@ -681,28 +521,8 @@ bool TouchDrvCST92xx::setMode(uint8_t mode) return true; } - - -void TouchDrvCST92xx::setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb) +bool TouchDrvCST92xx::initImpl(uint8_t) { - SensorHalCustom::setCustomMode(mode_cb); - SensorHalCustom::setCustomWrite(write_cb); - SensorHalCustom::setCustomRead(read_cb); -} - -bool TouchDrvCST92xx::initImpl() -{ - - if (_rst != -1) { - hal->pinMode(_rst, OUTPUT); - } - - if (_irq != -1) { - hal->pinMode(_irq, INPUT); - } - if (!getAttribute()) { return false; } @@ -711,567 +531,7 @@ bool TouchDrvCST92xx::initImpl() log_d("Touch type:%s", getModelName()); + _maxTouchPoints = MAX_FINGER_NUM; + return true; } - - -#if 0 /*DISABLE UPDATE FIRMWARE*/ - -void TouchDrvCST92xx::jumpCheck() -{ - _jump_check = true; -} - -bool TouchDrvCST92xx::getFirmwareInfo(void) -{ - uint8_t read_buffer[4] = {0}; - uint8_t write_buffer[6] = {0}; - uint32_t version = 0; - int16_t res = -1; - int32_t info_checksum = 0; - - setMode(CST92_MODE_DEBUG_INFO); - - hal->delay(1); - write_buffer[0] = 0xD1; - write_buffer[1] = 0x01; - res = comm->writeBuffer(write_buffer, 2); - res |= comm->writeBuffer(write_buffer, 2); - if (res != 0) { - log_e("write 0xD101 error"); - return false; - } - - // BOOT TIME + CBCB - write_buffer[0] = 0xD1; - write_buffer[1] = 0xFC; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); - if (res != 0) { - log_e("read 0xD1FC error"); - return false; - } - info_checksum += get_u32_from_ptr(read_buffer); - // d200: 0x55AA55AA - info_checksum += 0x55AA55AA; - // firmware_project_id firmware_ic_type - write_buffer[0] = 0xD2; - write_buffer[1] = 0x04; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); - if (res != 0) { - log_e("read 0xD204 error"); - return false; - } - info_checksum += get_u32_from_ptr(read_buffer); - uint16_t firmware_project_id = ((uint16_t)write_buffer[1] << 8) + write_buffer[0]; - uint16_t firmware_ic_type = ((uint16_t)write_buffer[3] << 8) + write_buffer[2]; - // firmware_version - write_buffer[0] = 0xD2; - write_buffer[1] = 0x08; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); - if (res != 0) { - log_e("read 0xD208 error"); - return false; - } - version = get_u32_from_ptr(read_buffer); - info_checksum += version; - uint32_t firmware_version = version; - // firmware_info_checksum - write_buffer[0] = 0xD2; - write_buffer[1] = 0x1c; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); - if (res != 0) { - log_e("read 0xD21c error"); - return false; - } - if (get_u32_from_ptr(read_buffer) != info_checksum) { - log_e("info_checksum error"); - return false; - } - // firmware_checksum - write_buffer[0] = 0xD2; - write_buffer[1] = 0x0C; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); - if (res != 0) { - log_e("read 0xD20c error"); - return false; - } - uint32_t firmware_checksum = ((uint32_t)write_buffer[3] << 24) + ((uint32_t)write_buffer[2] << 16) + ((uint32_t)write_buffer[1] << 8) + write_buffer[0]; - // tx_num rx_num key_num - write_buffer[0] = 0xD1; - write_buffer[1] = 0xF4; - res = comm->writeThenRead(write_buffer, 2, read_buffer, 4); - if (res != 0) { - log_e("read 0xD1F4 error"); - return false; - } - uint32_t tx_num = ((uint16_t)write_buffer[1] << 8) + write_buffer[0]; - uint32_t rx_num = write_buffer[2]; - uint32_t key_num = write_buffer[3]; - // Go back normal mode - setMode(CST92_MODE_NORMAL); - log_d("Chip firmware ic type: 0x%04lx", firmware_ic_type); - log_d("Chip firmware version: 0x%04lx", firmware_version); - log_d("Chip firmware project id: 0x%04lx", firmware_project_id); - log_d("Chip checksum: 0x%04lx", firmware_checksum); - log_d("Chip tx_num: %ld", tx_num); - log_d("Chip rx_num: %ld", rx_num); - log_d("Chip key_num: %ld", key_num); - return 0; -} - -/** - * @note Only when the device address is equal to 0X5A can it be accessed. If the device address is not equal to 0X5A, it can only be accessed after reset. - */ -int16_t TouchDrvCST92xx::eraseMem(void) -{ - int16_t res = 0; - uint8_t write_buffer[4] = {0}; - - uint8_t slave_address = _addr; - - _addr = CST92XX_BOOT_ADDRESS; - - write_buffer[0] = 0xA0; - write_buffer[1] = 0x14; - write_buffer[2] = 0x00; - write_buffer[3] = 0x00; - res = comm->writeBuffer(write_buffer, 4); - if (res != 0) { - goto ERROR; - } - write_buffer[0] = 0xA0; - write_buffer[1] = 0x0C; - write_buffer[2] = 0x80; - write_buffer[3] = 0x7F; - res = comm->writeBuffer(write_buffer, 4); - if (res != 0) { - goto ERROR; - } - write_buffer[0] = 0xA0; - write_buffer[1] = 0x04; - write_buffer[2] = 0xEC; - res = comm->writeBuffer(write_buffer, 3); - if (res != 0) { - goto ERROR; - } - hal->delay(300); - for (uint16_t i = 0;; i += 10) { - if (i >= 1000) { - goto ERROR; - } - hal->delay(10); - write_buffer[0] = 0xA0; - write_buffer[1] = 0x05; - res = comm->writeThenRead(write_buffer, 2, write_buffer, 2); - if (res != 0) { - hal->delay(10); - continue; - } - if (write_buffer[0] == 0x88) { - break; - } - } - _addr = slave_address; - return 0; -ERROR: - _addr = slave_address; - return -1; -} - -int16_t TouchDrvCST92xx::writeSRAM(uint8_t *buf, uint16_t len) -{ - - uint8_t write_buffer[CST92XX_PROGRAM_PAGE_SIZE + 2] = {0}; - int16_t res = 0; - uint16_t reg = 0xA018; - uint16_t per_len = sizeof(write_buffer) - 2; - - - uint8_t slave_address = _addr; - - _addr = CST92XX_BOOT_ADDRESS; - - while (len > 0) { - uint16_t cur_len = len; - if (cur_len > per_len) { - cur_len = per_len; - } - write_buffer[0] = reg >> 8; - write_buffer[1] = reg; - memcpy(write_buffer + 2, buf, cur_len); - res = comm->writeBuffer(write_buffer, cur_len + 2); - if (res != 0) { - _addr = slave_address; - return -1; - } - reg += cur_len; - buf += cur_len; - len -= cur_len; - } - _addr = slave_address; - return 0; -} - -int16_t TouchDrvCST92xx::writeMemPage(uint16_t addr, uint8_t *buf, uint16_t len) -{ - int16_t res = 0; - uint8_t write_buffer[4] = {0}; - - - uint8_t slave_address = _addr; - - _addr = CST92XX_BOOT_ADDRESS; - - write_buffer[0] = 0xA0; - write_buffer[1] = 0x0C; - write_buffer[2] = len; - write_buffer[3] = len >> 8; - res = comm->writeBuffer(write_buffer, 4); - if (res != 0) { - goto ERROR; - } - write_buffer[0] = 0xA0; - write_buffer[1] = 0x14; - write_buffer[2] = addr; - write_buffer[3] = addr >> 8; - res = comm->writeBuffer(write_buffer, 4); - if (res != 0) { - goto ERROR; - } - res = writeSRAM(buf, len); - if (res != 0) { - goto ERROR; - } - write_buffer[0] = 0xA0; - write_buffer[1] = 0x04; - write_buffer[2] = 0xEE; - res = comm->writeBuffer(write_buffer, 3); - if (res != 0) { - goto ERROR; - } - for (uint16_t t = 0;; t += 10) { - if (t >= 1000) { - goto ERROR; - } - hal->delay(10); - write_buffer[0] = 0xA0; - write_buffer[1] = 0x05; - res = comm->writeThenRead(write_buffer, 2, write_buffer, 1); - if (res != 0) { - hal->delay(10); - continue; - } - if (write_buffer[0] == 0x55) { - break; - } - } - _addr = slave_address; - return 0; -ERROR: - _addr = slave_address; - return -1; - -} - - -int16_t TouchDrvCST92xx::getFirmwareAddress(uint8_t data_seq, uint16_t data_len) -{ - if (bin_data.head_data == NULL) { - // GET firmware bin data point - log_e("getFirmwareAddress data NULL or len error return"); - return -1; - } - bin_data.data = (uint8_t *)bin_data.head_data + (data_seq * data_len); - // log_d("getFirmwareAddress data_seq:0x%04x,data_len:0x%04x.data_point:0x%04x",data_seq,data_len,(data_seq*data_len)); - if ((bin_data.data == NULL) || ((data_seq * data_len) > CST92XX_MEM_SIZE)) { - log_e("getFirmwareAddress data NULL or len error return"); - return -1; - } - return 0; -} - -int16_t TouchDrvCST92xx::writeMemAll(void) -{ - uint8_t *data; - uint16_t addr = 0; - uint16_t remain_len = CST92XX_MEM_SIZE; - - while (remain_len > 0) { - uint16_t cur_len = remain_len; - if (cur_len > CST92XX_PROGRAM_PAGE_SIZE) { - cur_len = CST92XX_PROGRAM_PAGE_SIZE; - } - // if write fw 128 bytes every time,need update point - if (getFirmwareAddress(((CST92XX_MEM_SIZE - remain_len) / CST92XX_PROGRAM_PAGE_SIZE), CST92XX_PROGRAM_PAGE_SIZE) < 0) { - log_e("getFirmwareAddress fail"); - return -1; - } - data = bin_data.data; - if (writeMemPage(addr, data, cur_len) < 0) { - return -1; - } - data += cur_len; // update bin point every 128 bytes - addr += cur_len; // update bin point every 128 bytes - remain_len -= cur_len; - } - return 0; -} - -int16_t TouchDrvCST92xx::calculateVerifyChecksum(void) -{ - int16_t res = 0; - uint8_t write_buffer[4] = {0}; - uint32_t checksum = 0; - - uint8_t slave_address = _addr; - - _addr = CST92XX_BOOT_ADDRESS; - - - write_buffer[0] = 0xA0; - write_buffer[1] = 0x03; - write_buffer[2] = 0x00; - res = comm->writeBuffer(write_buffer, 3); - if (res != 0) { - return -1; - } - for (uint16_t t = 0;; t += 10) { - if (t >= 1000) { - goto ERROR; - } - hal->delay(10); - write_buffer[0] = 0xA0; - write_buffer[1] = 0x00; - res = comm->writeThenRead(write_buffer, 2, write_buffer, 1); - if (res != 0) { - goto ERROR; - } - if (write_buffer[0] == 0x01) { - break; - } - if (write_buffer[0] == 0x02) { - goto ERROR; - } - } - - write_buffer[0] = 0xA0; - write_buffer[1] = 0x08; - res = comm->writeThenRead(write_buffer, 2, write_buffer, 4); - if (res != 0) { - goto ERROR; - } - - checksum = ((uint32_t)(write_buffer[0])) | - (((uint32_t)(write_buffer[1])) << 8) | - (((uint32_t)(write_buffer[2])) << 16) | - (((uint32_t)(write_buffer[3])) << 24); - - if (checksum != bin_data.checksum) { - goto ERROR; - } - _addr = slave_address; - return 0; -ERROR: - _addr = slave_address; - return -1; - -} - -int16_t TouchDrvCST92xx::upgradeFirmware(void) -{ - int16_t res = 0; - uint8_t retry = 3; - - while (retry--) { - - res = enterBootloader(); - - if (res != 0) { - log_e("enterBootloader fail.%d", retry); - continue; - } - res = eraseMem(); - if (res != 0) { - log_e("eraseMem fail.%d", retry); - continue; - } - res = writeMemAll(); - if (res != 0) { - log_e("writeMemAll fail.%d", retry); - continue; - } - res = calculateVerifyChecksum(); - if (res != 0) { - log_e("calculateVerifyChecksum fail.%d", retry); - continue; - } else { - break; - } - } - - reset(); - - hal->delay(40); - - if ((retry == 0) && (res)) { - log_e("upgradeFirmware fail exit.%d", retry); - return -1; - } else { - log_d("upgradeFirmware success exit"); - } - - return 0; -} - -uint32_t TouchDrvCST92xx::verifyFirmware(uint8_t *pdat, uint16_t order) -{ - uint32_t sum = 0; - uint16_t data_len = 0; - uint16_t i; - - if (!pdat) { - log_e("pdata error return"); - return 0; - } - data_len = 128; - if (order == 254) - data_len = (128 - 20); - for (i = 0; i < data_len; i += 4) { - sum += get_u32_from_ptr(pdat + i); - } - return sum; -} - -int16_t TouchDrvCST92xx::parseFirmware(void) -{ - uint16_t i; - // int16_t res; - uint32_t sum; - uint8_t *pdat; - - bin_data.checksum = 0; - // 0x7F6C-32620=32k-128-20=checksum - // 0x7F80-32640=32k-128 - sum = 0x55; - for (i = 0; i < 255; i++) { - if (getFirmwareAddress(i, 128) < 0) { - log_e("getFirmwareAddress fail."); - return -1; - } - pdat = bin_data.data; - sum += verifyFirmware(pdat, i); - // log_d("sum checksum data=0x%04x 0x%04x 0x%04x", sum, i,*pdat); - pdat += 128; // update bin point every 128 bytes - if (i == 254) { - pdat -= 20; // 0x7F6C - if (sum != get_u32_from_ptr(pdat)) { - log_e("main checksum data error 0x%04x 0x%04x", sum, get_u32_from_ptr(pdat)); - return -1; - } - sum = 0; - sum += get_u32_from_ptr(pdat - 4); // 0x7F68 - sum += get_u32_from_ptr(pdat - 8); // 0x7F64 - sum += get_u32_from_ptr(pdat - 12); // 0x7F60 - sum += get_u32_from_ptr(pdat - 16); // 0x7F5C - if (sum != get_u32_from_ptr(pdat + 16)) { // 0x7F7C - log_e("info checksum data error 0x%04x 0x%04x", sum, get_u32_from_ptr(pdat + 16)); - return -1; - } - bin_data.ok = true; - bin_data.checksum = get_u32_from_ptr(pdat + 0x7F6C - 0x7F6C); - bin_data.chip_type = (get_u32_from_ptr(pdat + 0x7F64 - 0x7F6C) >> 16); - bin_data.version = get_u32_from_ptr(pdat + 0x7F68 - 0x7F6C); - bin_data.project_id = (get_u32_from_ptr(pdat + 0x7F64 - 0x7F6C) & 0x0000FFFF); - } - } - log_d("bin_data.ok: 0x%x", bin_data.ok); - log_d("bin_data.checksum: 0x%04x", bin_data.checksum); - log_d("bin_data.version: 0x%04x", bin_data.version); - log_d("bin_data.project_id: 0x%04x", bin_data.project_id); - log_d("bin_data.chip_type: 0x%04x", bin_data.chip_type); - - return 0; -} - -int16_t TouchDrvCST92xx::upgradeFirmwareJudge(void) -{ - - if (!bin_data.ok) { - log_e("bin_data.ok %d is not ok.", bin_data.ok); - return -1; - } - if (chipType != bin_data.chip_type) { - log_e("chip type != bin data chip type"); - return -1; - } - if (IC_firmware.firmware_info_ok == 0) { - log_d("IC_firmware.firmware_info_ok error,need force update."); - return 0; - } else { - if (IC_firmware.firmware_project_id != bin_data.project_id) { - log_e("firmware_project_id != bin_data.firmware_project_id,no need update"); - return -1; - } - if (IC_firmware.firmware_checksum == bin_data.checksum) { - log_e("firmware_checksum == bin_data.checksum,no need update."); - return -1; - } else { - if (IC_firmware.firmware_version <= bin_data.version) { - log_d("firmware_version is lower than bin_data.version,need update"); - return 0; - } else { - log_e("firmware_version is higher,no need update"); - } - } - } - return -1; -} - - -int16_t TouchDrvCST92xx::updateFirmware(void) -{ - uint8_t need_upgrade = 0; - int16_t res = -1; - bin_data.head_data = (uint8_t *)cst92xx_firmware; - - res = parseFirmware(); - if (res < 0) { - log_e("parseFirmware fail."); - goto END_UPGRADE; - } - res = upgradeFirmwareJudge(); - if (res != 0) { - log_d("upgradeFirmwareJudge return,no need update fw."); - goto END_UPGRADE; - } else { - need_upgrade = 1; - } - log_d("need_upgrade=%d, firmware_version=0x%04X.", need_upgrade, bin_data.version); - if (need_upgrade) { - res = upgradeFirmware(); - if (res != 0) { - log_e("upgradeFirmware failed"); - goto END_UPGRADE; - } - log_d("upgradeFirmware OK done."); - reset(); - hal->delay(40); - if (!getFirmwareInfo()) { - log_e("get_firmware_info failed"); - reset(); - } - } - return 0; - -END_UPGRADE: - reset(); - return -1; -} - -#endif /*DISABLE UPDATE FIRMWARE*/ - - - - - - diff --git a/lib/SensorLib/src/touch/TouchDrvCST92xx.h b/lib/SensorLib/src/touch/TouchDrvCST92xx.h index 842b8ec..e4d6018 100644 --- a/lib/SensorLib/src/touch/TouchDrvCST92xx.h +++ b/lib/SensorLib/src/touch/TouchDrvCST92xx.h @@ -28,140 +28,104 @@ */ #pragma once -#include "REG/CST9xxConstants.h" #include "TouchDrvInterface.hpp" + +static constexpr uint8_t CST92XX_SLAVE_ADDRESS = (0x5A); -#define CST92XX_SLAVE_ADDRESS (0x5A) - -class TouchDrvCST92xx : public TouchDrvInterface, public CST92xxConstants +class TouchDrvCST92xx : public TouchDrvInterface { public: - + using TouchDrvInterface::getPoint; enum CST92_RunMode { - CST92_MODE_NORMAL = (0x00), - CST92_MODE_LOW_POWER = (0X01), - CST92_MODE_DEEP_SLEEP = (0X02), - CST92_MODE_WAKEUP = (0x03), - CST92_MODE_DEBUG_DIFF = (0x04), - CST92_MODE_DEBUG_RAWDATA = (0X05), - CST92_MODE_FACTORY = (0x06), - CST92_MODE_DEBUG_INFO = (0x07), - CST92_MODE_UPDATE_FW = (0x08), - CST92_MODE_FACTORY_HIGHDRV = (0x10), - CST92_MODE_FACTORY_LOWDRV = (0x11), - CST92_MODE_FACTORY_SHORT = (0x12), - CST92_MODE_LPSCAN = (0x13), + MODE_NORMAL = (0x00), + MODE_LOW_POWER = (0X01), + MODE_DEEP_SLEEP = (0X02), + MODE_WAKEUP = (0x03), + MODE_DEBUG_DIFF = (0x04), + MODE_DEBUG_RAWDATA = (0X05), + MODE_FACTORY = (0x06), + MODE_DEBUG_INFO = (0x07), + MODE_UPDATE_FW = (0x08), + MODE_FACTORY_HIGH_DRV = (0x10), + MODE_FACTORY_LOW_DRV = (0x11), + MODE_FACTORY_SHORT = (0x12), + MODE_LPSCAN = (0x13), }; + /** + * @brief Constructor for the touch driver + * @retval None + */ TouchDrvCST92xx(); - ~TouchDrvCST92xx(); + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvCST92xx() = default; -#if defined(ARDUINO) - bool begin(TwoWire &wire, uint8_t address = CST92XX_SLAVE_ADDRESS, int sda = -1, int scl = -1); -#elif defined(ESP_PLATFORM) -#if defined(USEING_I2C_LEGACY) - bool begin(i2c_port_t port_num, uint8_t addr = CST92XX_SLAVE_ADDRESS, int sda = -1, int scl = -1); -#else - bool begin(i2c_master_bus_handle_t handle, uint8_t addr = CST92XX_SLAVE_ADDRESS); -#endif -#endif + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; - bool begin(SensorCommCustom::CustomCallback callback, - SensorCommCustomHal::CustomHalCallback hal_callback, - uint8_t addr = CST92XX_SLAVE_ADDRESS); + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; - void reset(); - - uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point); - - bool isPressed(); - - const char *getModelName(); - - void sleep(); - - void wakeup(); - - void idle(); - - uint8_t getSupportTouchPoint(); - - bool getResolution(int16_t *x, int16_t *y); + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + /** + * @brief Set the cover screen callback + * @note This function will set the callback function for the cover screen. + * @param cb: The callback function to be set + * @param *user_data: Pointer to user data to be passed to the callback function + * @retval None + */ void setCoverScreenCallback(HomeButtonCallback cb, void *user_data = NULL); - void setGpioCallback(CustomMode mode_cb, - CustomWrite write_cb, - CustomRead read_cb); - private: - - - + bool initImpl(uint8_t) override; bool setMode(uint8_t mode); bool enterBootloader(); bool getAttribute(); uint32_t readWordFromMem(uint8_t type, uint16_t mem_addr); - void parseFingerData(uint8_t *data, cst9xx_point_t *point); - uint32_t get_u32_from_ptr(const void *ptr); - - -#if 0 /*DISABLE UPDATE FIRMWARE*/ - - struct { - bool firmware_info_ok; - uint32_t firmware_ic_type; - uint32_t firmware_version; - uint32_t firmware_checksum; - uint32_t firmware_project_id; - uint8_t tx_num; - uint8_t rx_num; - uint8_t key_num; - } IC_firmware; - - struct { - bool ok; - uint8_t *head_data; - uint8_t *data; - uint32_t checksum; - uint32_t version; - uint32_t project_id; - uint32_t chip_type; - } bin_data; - - bool getFirmwareInfo(void); - int16_t eraseMem(void); - int16_t writeSRAM(uint8_t *buf, uint16_t len); - int16_t writeMemPage(uint16_t addr, uint8_t *buf, uint16_t len) ; - int16_t writeMemAll(void) ; - int16_t calculateVerifyChecksum(void) ; - int16_t upgradeFirmware(void); - uint32_t verifyFirmware(uint8_t *pdata, uint16_t order); - int16_t parseFirmware(void); - int16_t upgradeFirmwareJudge(void); - int16_t getFirmwareAddress(uint8_t data_seq, uint16_t data_len) ; - int16_t updateFirmware(void); -#endif - - uint32_t getChipType(); - bool initImpl(); - - uint16_t chipType; protected: - std::unique_ptr comm; - std::unique_ptr hal; - int _slave_addr; - int16_t _center_btn_x; - int16_t _center_btn_y; + uint16_t chipType; + + static constexpr uint16_t CST9220_CHIP_ID = (0x9220); + static constexpr uint16_t CST9217_CHIP_ID = (0x9217); + + static constexpr uint16_t REG_READ = (0xD000); + static constexpr uint16_t REG_DEBUG_MODE = (0xD101); + static constexpr uint16_t REG_SLEEP_MODE = (0xD105); + static constexpr uint16_t REG_DIS_LOW_POWER_SCAN_MODE = (0xD106); + static constexpr uint16_t REG_NORMAL_MODE = (0xD109); + static constexpr uint16_t REG_RAW_MODE = (0xD10A); + static constexpr uint16_t REG_DIFF_MODE = (0xD10D); + static constexpr uint16_t REG_BASE_LINE_MODE = (0xD10E); + static constexpr uint16_t REG_LOW_POWER_MODE = (0xD10F); + static constexpr uint16_t REG_FACTORY_MODE = (0xD114); + + static constexpr uint8_t CST92XX_BOOT_ADDRESS = (0x5A); + static constexpr uint8_t CST92XX_ACK = (0xAB); + static constexpr uint32_t CST92XX_MEM_SIZE = (0x007F80);// 31KB + + static constexpr uint8_t MAX_FINGER_NUM = (2); + static constexpr uint8_t PROGRAM_PAGE_SIZE = (128); }; - - - - - - - diff --git a/lib/SensorLib/src/touch/TouchDrvCSTXXX.cpp b/lib/SensorLib/src/touch/TouchDrvCSTXXX.cpp new file mode 100644 index 0000000..a9c64fd --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvCSTXXX.cpp @@ -0,0 +1,195 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2022 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. + * + * @file TouchDrvCSTXXX.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2023-04-24 + * + */ +#include "TouchDrvCSTXXX.hpp" + +TouchDrvCSTXXX::DriverCreator TouchDrvCSTXXX::driverCreators[TouchDrvCSTXXX::driverCreatorMaxNum] = { + []() -> std::unique_ptr { return std::make_unique(); }, + []() -> std::unique_ptr { return std::make_unique(); }, + []() -> std::unique_ptr { return std::make_unique(); }, + []() -> std::unique_ptr { return std::make_unique(); } +}; + +TouchDrvCSTXXX::TouchDrvCSTXXX() : _touchType(TouchDrv_UNKNOWN) {} + + +void TouchDrvCSTXXX::setTouchDrvModel(TouchDrvType model) +{ + _touchType = model; +} + +void TouchDrvCSTXXX::setupDriver() +{ + if (_drv) { + _drv->setPins(_pinsCfg.rstPin, _pinsCfg.irqPin); + _drv->setGpioCallback(_halModeCallback, _halWriteCallback, _halReadCallback); + } +} + +#if defined(ARDUINO) +bool TouchDrvCSTXXX::begin(TwoWire &wire, uint8_t addr, int sda, int scl) +{ + return beginImpl(wire, addr, sda, scl); +} +#elif defined(ESP_PLATFORM) +#if defined(USEING_I2C_LEGACY) +bool TouchDrvCSTXXX::begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) +{ + return beginImpl(port_num, addr, sda, scl); +} +#else +bool TouchDrvCSTXXX::begin(i2c_master_bus_handle_t handle, uint8_t addr) +{ + return beginImpl(handle, addr); +} +#endif // ESP_PLATFORM +#endif // ARDUINO + + +bool TouchDrvCSTXXX::begin(SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback, + uint8_t addr) +{ + return beginImpl(callback, hal_callback, addr); +} + + +void TouchDrvCSTXXX::reset() +{ + if (!_drv)return; + _drv->reset(); +} + +const TouchPoints &TouchDrvCSTXXX::getTouchPoints() +{ + return _drv ? _drv->getTouchPoints() : _touchPoints; +} + +bool TouchDrvCSTXXX::isPressed(uint32_t filter_ms) +{ + if (!_drv)return false; + return _drv->isPressed(filter_ms); +} + +const char *TouchDrvCSTXXX::getModelName() +{ + return _drv ? _drv->getModelName() : "NULL"; +} + +uint32_t TouchDrvCSTXXX::getChipID() +{ + return _drv ? _drv->getChipID() : 0; +} + +void TouchDrvCSTXXX::sleep() +{ + if (!_drv)return; + _drv->sleep(); +} + +void TouchDrvCSTXXX::wakeup() +{ + if (!_drv)return; + _drv->wakeup(); +} + +uint8_t TouchDrvCSTXXX::getSupportTouchPoint() +{ + return _drv ? _drv->getSupportTouchPoint() : 0; +} + +void TouchDrvCSTXXX::getResolution(uint16_t &x, uint16_t &y) +{ + if (!_drv)return; + _drv->getResolution(x, y); +} + + +uint16_t TouchDrvCSTXXX::getResolutionY() +{ + return _drv ? _drv->getResolutionY() : 0; +} + +uint16_t TouchDrvCSTXXX::getResolutionX() +{ + return _drv ? _drv->getResolutionX() : 0; +} + + +void TouchDrvCSTXXX::setCenterButtonCoordinate(int16_t x, int16_t y) +{ + if (!_drv)return ; + if (_touchType == TouchDrv_CST8XX) { + static_cast(_drv.get())->setCenterButtonCoordinate(x, y); + } +} + +void TouchDrvCSTXXX::setHomeButtonCallback(TouchDrvInterface::HomeButtonCallback callback, void *user_data) +{ + if (!_drv)return ; + if (_touchType == TouchDrv_CST8XX) { + static_cast(_drv.get())->setHomeButtonCallback(callback, user_data); + } else if (_touchType == TouchDrv_CST226) { + static_cast(_drv.get())->setHomeButtonCallback(callback, user_data); + } +} + +void TouchDrvCSTXXX::disableAutoSleep() +{ + if (!_drv)return ; + if (_touchType == TouchDrv_CST8XX) { + static_cast(_drv.get())->disableAutoSleep(); + } +} + +void TouchDrvCSTXXX::enableAutoSleep() +{ + if (!_drv)return ; + if (_touchType == TouchDrv_CST8XX) { + static_cast(_drv.get())->enableAutoSleep(); + } +} + +void TouchDrvCSTXXX::setSwapXY(bool swap) +{ + if (!_drv)return ; + _drv->setSwapXY(swap); +} + +void TouchDrvCSTXXX::setMirrorXY(bool mirrorX, bool mirrorY) +{ + if (!_drv)return ; + _drv->setMirrorXY(mirrorX, mirrorY); +} + +void TouchDrvCSTXXX::setMaxCoordinates(uint16_t x, uint16_t y) +{ + if (!_drv)return ; + _drv->setMaxCoordinates(x, y); +} diff --git a/lib/SensorLib/src/touch/TouchDrvCSTXXX.hpp b/lib/SensorLib/src/touch/TouchDrvCSTXXX.hpp new file mode 100644 index 0000000..53b6343 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvCSTXXX.hpp @@ -0,0 +1,309 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2022 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. + * + * @file TouchDrvCSTXXX.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2023-04-24 + * @date last 2025-01-20 + * + */ +#pragma once + +#include "touch/TouchDrvCST226.h" +#include "touch/TouchDrvCST816.h" +#include "touch/TouchDrvCST92xx.h" +#include "touch/TouchDrvCST3530.h" + +static constexpr uint8_t CSTXXX_SLAVE_ADDRESS = (0x15); +static constexpr uint8_t CST328_SLAVE_ADDRESS = (0x1A); + +enum TouchDrvType { + TouchDrv_CST226, + TouchDrv_CST8XX, + TouchDrv_CST92XX, + TouchDrv_CST3530, + TouchDrv_UNKNOWN, +}; + +class TouchDrvCSTXXX : public TouchDrvInterface +{ +public: + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvCSTXXX(); + + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvCSTXXX() = default; + +// *INDENT-OFF* + /** + * @brief Set the touch driver model + * @note This function sets the touch driver model to be used. + * @param model: The touch driver model to set [TouchDrv_CST226, TouchDrv_CST8XX, TouchDrv_CST92XX, TouchDrv_CST3530]. + * @retval None + */ + void setTouchDrvModel(TouchDrvType model); + +#if defined(ARDUINO) + /** + * @brief Initialize the touch driver for Arduino + * @note This function initializes the touch driver with the specified I2C parameters. + * @param &wire: The I2C wire object to use for communication. + * @param addr: The I2C address of the touch driver. + * @param sda: The SDA pin number. + * @param scl: The SCL pin number. + * @retval True if successful, false otherwise. + */ + bool begin(TwoWire &wire, uint8_t addr, int sda, int scl) override; +#elif defined(ESP_PLATFORM) +#if defined(USEING_I2C_LEGACY) + /** + * @brief Initialize the touch driver for ESP32 using legacy I2C + * @note This function initializes the touch driver with the specified I2C parameters. + * @param port_num: The I2C port number to use for communication. + * @param addr: The I2C address of the touch driver. + * @param sda: The SDA pin number. + * @param scl: The SCL pin number. + * @retval True if successful, false otherwise. + */ + bool begin(i2c_port_t port_num, uint8_t addr, int sda = -1, int scl = -1) override; +#else + /** + * @brief Initialize the touch driver for ESP32 using new I2C + * @note This function initializes the touch driver with the specified I2C parameters. + * @param handle: The I2C master bus handle to use for communication. + * @param addr: The I2C address of the touch driver. + * @retval True if successful, false otherwise. + */ + bool begin(i2c_master_bus_handle_t handle, uint8_t addr) override; +#endif // ESP_PLATFORM +#endif // ARDUINO + + /** + * @brief Initialize the touch driver for custom communication + * @note This function initializes the touch driver with the specified custom callbacks. + * @param callback: The custom callback function for communication. + * @param hal_callback: The custom HAL callback function for hardware abstraction. + * @param addr: The I2C address of the touch driver. + * @retval True if successful, false otherwise. + */ + bool begin(SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback, + uint8_t addr) override; + + /** + * @brief Reset the touch driver + * @note This function will reset the touch driver by toggling the reset pin. + * @retval None + */ + void reset() override; + + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; + + /** + * @brief Wake up the touch driver + * @note This function will wake up the touch driver from sleep mode. + * @retval None + */ + void wakeup() override; + + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * @retval The touch points. + */ + const TouchPoints& getTouchPoints() override; + + /** + * @brief Check if any touch point is currently pressed. + * @note The `isPressed` method is suitable for screens with an interrupt pin connected, using the interrupt level + * to detect whether a touch is pressed. For devices without an interrupt pin connected, simply call `getTouchPoints`. + * @param filter_ms Optional debounce/filter time in milliseconds. If > 0, + * the function will only return true if a touch has been detected continuously for at least this duration. + * @retval true At least one touch point detected. + * @retval false No touch detected. + */ + bool isPressed(uint32_t filter_ms = 0) override; + + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + + /** + * @brief Get the chip ID + * @note This function will retrieve the chip ID from the touch driver. + * @retval The chip ID. + */ + uint32_t getChipID() override; + + /** + * @brief Set the center button coordinate + * @note This function will set the center button coordinate for the touch driver. + * @param x: The X coordinate of the center button + * @param y: The Y coordinate of the center button + * @retval None + */ + void setCenterButtonCoordinate(int16_t x, int16_t y) override; + + /** + * @brief Set the home button callback + * @note This function will set the callback function for the home button. + * @param cb: The callback function to set + * @param *user_data: Pointer to user data to pass to the callback function + * @retval None + */ + void setHomeButtonCallback(TouchDrvInterface::HomeButtonCallback callback, void *user_data = NULL) override; + + /** + * @brief Disable automatic sleep + * @note This function will disable automatic sleep for the touch driver,only for CST328 + * @retval None + */ + void disableAutoSleep(); + + /** + * @brief Enable automatic sleep + * @note This function will enable automatic sleep for the touch driver,only for CST328 + * @retval None + */ + void enableAutoSleep(); + + /** + * @brief Set the swap XY flag + * @note This function will set the swap XY flag for the touch driver. + * @param swap: True to swap X and Y coordinates, false otherwise. + * @retval None + */ + void setSwapXY(bool swap) override; + + /** + * @brief Set the mirror XY flag + * @note This function will set the mirror XY flag for the touch driver. + * @param mirrorX: True to mirror X coordinates, false otherwise. + * @param mirrorY: True to mirror Y coordinates, false otherwise. + * @retval None + */ + void setMirrorXY(bool mirrorX, bool mirrorY) override; + + /** + * @brief Set the maximum coordinates + * @note This function will set the maximum coordinates for the touch driver. + * @param x: The maximum X coordinate + * @param y: The maximum Y coordinate + * @retval None + */ + void setMaxCoordinates(uint16_t x, uint16_t y) override; + + /** + * @brief Gets the number of supported touch points + * @note This function retrieves the number of touch points supported by the touch driver. + * @retval The number of supported touch points. + */ + uint8_t getSupportTouchPoint() override; + + /** + * @brief Gets the touch point coordinates + * @note This function retrieves the touch point coordinates from the touch driver. + * @param &x: The X coordinate of the touch point + * @param &y: The Y coordinate of the touch point + * @retval None + */ + void getResolution(uint16_t &x, uint16_t &y) override; + + /** + * @brief Gets the touch point resolution + * @note This function retrieves the touch point resolution from the touch driver. + * @retval None + */ + uint16_t getResolutionX() override; + + /** + * @brief Gets the touch point resolution + * @note This function retrieves the touch point resolution from the touch driver. + * @retval None + */ + uint16_t getResolutionY() override; + +// *INDENT-ON* + +private: + + bool initImpl(uint8_t) override + { + return false; + } + + using DriverCreator = std::unique_ptr (*)(); + + static constexpr uint8_t driverCreatorMaxNum = 4; + static DriverCreator driverCreators[driverCreatorMaxNum]; + + std::unique_ptr createDriver(TouchDrvType type) + { + if (type < driverCreatorMaxNum) { + return driverCreators[type](); + } + return nullptr; + } + + template + bool beginImpl(Args&&... args) + { + for (int i = (_touchType == TouchDrv_UNKNOWN) ? 0 : _touchType; + i < driverCreatorMaxNum; ++i) { + _drv = createDriver(static_cast(i)); + setupDriver(); + if (_drv && _drv->begin(std::forward(args)...)) { + _touchType = static_cast(i); + return true; + } + } + _touchType = TouchDrv_UNKNOWN; + return false; + } + + static constexpr size_t TOUCH_DRV_TYPE_VALID_COUNT = TouchDrv_UNKNOWN; + + static_assert(sizeof(driverCreators) / sizeof(driverCreators[0]) == TOUCH_DRV_TYPE_VALID_COUNT, + "driverCreators size mismatch"); + + void setupDriver(); + TouchDrvType _touchType; + std::unique_ptr _drv; +}; diff --git a/lib/SensorLib/src/touch/TouchDrvFT6X36.cpp b/lib/SensorLib/src/touch/TouchDrvFT6X36.cpp new file mode 100644 index 0000000..2627847 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvFT6X36.cpp @@ -0,0 +1,206 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrvFT6X36.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-05 + * + */ +#include "TouchDrvFT6X36.hpp" + +void TouchDrvFT6X36::sleep() +{ + writeReg(FT6X36_REG_POWER_MODE, PMODE_DEEP_SLEEP); +} + +const TouchPoints &TouchDrvFT6X36::getTouchPoints() +{ + static constexpr size_t POINT_BUFFER_SIZE = MAX_FINGER_NUM * BYTES_PER_POINT; + uint8_t buffer[POINT_BUFFER_SIZE] = {0}; + _touchPoints.clear(); // Clear cached touch points + int numPoints = readReg(FT6X36_REG_STATUS); + if (numPoints < 0) { + log_e("Failed to read touch points: %d", numPoints); + return _touchPoints; + } + if (numPoints == 0 || numPoints > MAX_FINGER_NUM) { + return _touchPoints; + } + uint8_t expectedBytes = numPoints * BYTES_PER_POINT; // 6 bytes per touch point + + // Read all touch points data in a single burst read for efficiency + if (readRegBuff(FT6X36_REG_TOUCH1_XH, buffer, expectedBytes) == 0) { + for (int i = 0; i < numPoints; i++) { + const uint8_t eventFlag = (buffer[0 + i * BYTES_PER_POINT] & 0xC0) >> 6; + const uint8_t touchId = (buffer[2 + i * BYTES_PER_POINT] >> 4) & 0x0F; + const uint16_t x = ((buffer[0 + i * BYTES_PER_POINT] & 0x0F) << 8) | buffer[1 + i * BYTES_PER_POINT]; + const uint16_t y = ((buffer[2 + i * BYTES_PER_POINT] & 0x0F) << 8) | buffer[3 + i * BYTES_PER_POINT]; + const uint8_t weight = buffer[4 + i * BYTES_PER_POINT]; + // Not used in FT6206, but valid in FT6236/FT6336U, representing the touch area size. + // The value is typically 0-15, where higher values indicate a larger touch area, + // which can be useful for distinguishing between a fingertip and a larger object like a + // stylus or palm. In some applications, this information can be used to improve touch accuracy + // or to implement features like palm rejection. + // const uint8_t area = (buffer[5 + i * BYTES_PER_POINT] & 0xF0) >> 4; + // Serial.printf("Point %d: ID=%d, Event=%d, X=%d, Y=%d, Weight=%d, Area=%d\n", i, touchId, eventFlag, x, y, weight, area); + _touchPoints.addPoint(x, y, weight, touchId, eventFlag); + } + // Swap XY or mirroring coordinates, if set + updateXY(_touchPoints); + } + return _touchPoints; +} + +const char *TouchDrvFT6X36::getModelName() +{ + switch (_chipID) { + case FT6206_CHIP_ID: return "FT6206"; + case FT6236_CHIP_ID: return "FT6236"; + case FT6336U_CHIP_ID: return "FT6336U"; + case FT3267_CHIP_ID: return "FT3267"; + case FT5336_CHIP_ID: return "FT5336"; + case FT3068_CHIP_ID: return "FT3068"; + default: return "UNKNOWN"; + } +} + +uint8_t TouchDrvFT6X36::getDeviceMode(void) +{ + return readReg(FT6X36_REG_MODE) & 0x03; +} + +uint8_t TouchDrvFT6X36::getGesture() +{ + int val = readReg(FT6X36_REG_GEST); + switch (val) { + case 0x10: return MOVE_UP; + case 0x14: return MOVE_RIGHT; + case 0x18: return MOVE_DOWN; + case 0x1C: return MOVE_LEFT; + case 0x48: return ZOOM_IN; + case 0x49: return ZOOM_OUT; + default: break; + } + return NO_GESTURE; +} + +void TouchDrvFT6X36::setDeviceMode(uint8_t value) +{ + writeReg(FT6X36_REG_MODE, value); +} + +uint8_t TouchDrvFT6X36::getThreshold(void) +{ + return readReg(FT6X36_REG_THRESHOLD); +} + +void TouchDrvFT6X36::setThreshold(uint8_t value) +{ + writeReg(FT6X36_REG_THRESHOLD, value); +} + +uint8_t TouchDrvFT6X36::getMonitorTime(void) +{ + return readReg(FT6X36_REG_MONITOR_TIME); +} + +void TouchDrvFT6X36::setMonitorTime(uint8_t sec) +{ + writeReg(FT6X36_REG_MONITOR_TIME, sec); +} + +uint16_t TouchDrvFT6X36::getLibraryVersion() +{ + uint8_t buffer[2] = {0}; + readRegBuff(FT6X36_REG_LIB_VERSION_H, buffer, 2); + return (buffer[0] << 8) | buffer[1]; +} + +void TouchDrvFT6X36::interruptPolling(void) +{ + writeReg(FT6X36_REG_INT_STATUS, 0x00); +} + +void TouchDrvFT6X36::interruptTrigger(void) +{ + writeReg(FT6X36_REG_INT_STATUS, 0x01); +} + +void TouchDrvFT6X36::setPowerMode(PowerMode mode) +{ + writeReg(FT6X36_REG_POWER_MODE, mode); +} + +uint8_t TouchDrvFT6X36::getVendorID(void) +{ + return readReg(FT6X36_REG_VENDOR1_ID); +} + +uint8_t TouchDrvFT6X36::getErrorCode(void) +{ + return readReg(FT6X36_REG_ERROR_STATUS); +} + +bool TouchDrvFT6X36::initImpl(uint8_t) +{ + uint8_t vendId = readReg(FT6X36_REG_VENDOR1_ID); + + switch (vendId) { + case FT_VEND_ID1: + case FT_VEND_ID2: + case FT_VEND_ID3: + break; + default: + log_e("Vendor id: 0x%X not match!", vendId); + return false; + } + + _chipID = readReg(FT6X36_REG_CHIP_ID); + + switch (_chipID) { + case FT3267_CHIP_ID: + case FT5336_CHIP_ID: + case FT6206_CHIP_ID: + case FT6236_CHIP_ID: + case FT6336U_CHIP_ID: + case FT3068_CHIP_ID: + break; + default: + log_e("Chip ID: 0x%lx not match!", _chipID); + return false; + } + + log_i("Vend ID: 0x%X", vendId); + log_i("Chip ID: 0x%lx", _chipID); + log_i("Firmware Version: 0x%X", readReg(FT6X36_REG_FIRM_VERS)); + log_i("Report Rate Hz: %u", readReg(FT6X36_REG_PERIOD_ACTIVE)); + log_i("Threshold : %u", readReg(FT6X36_REG_THRESHOLD)); + log_i("Library version : 0x%x", getLibraryVersion()); + // This register describes period of monitor status, it should not less than 30. + log_i("Chip period of monitor status : 0x%x", readReg(FT6X36_REG_PERIOD_MONITOR)); + _maxTouchPoints = MAX_FINGER_NUM; + + return true; +} + diff --git a/lib/SensorLib/src/touch/TouchDrvFT6X36.hpp b/lib/SensorLib/src/touch/TouchDrvFT6X36.hpp new file mode 100644 index 0000000..33cbb5d --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvFT6X36.hpp @@ -0,0 +1,238 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2022 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. + * + * @file TouchDrvFT6X36.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2023-04-01 + * + */ +#pragma once + +#include "TouchDrvInterface.hpp" + +static constexpr uint8_t FT3267_SLAVE_ADDRESS = (0x38); +static constexpr uint8_t FT5206_SLAVE_ADDRESS = (0x38); +static constexpr uint8_t FT6X36_SLAVE_ADDRESS = (0x38); + +class TouchDrvFT6X36 : public TouchDrvInterface +{ +public: + using TouchDrvInterface::getPoint; + enum GesTrue { + NO_GESTURE, + MOVE_UP, + MOVE_LEFT, + MOVE_DOWN, + MOVE_RIGHT, + ZOOM_IN, + ZOOM_OUT, + } ; + + enum EventFlag { + EVENT_PUT_DOWN, + EVENT_PUT_UP, + EVENT_CONTACT, + EVENT_NONE, + } ; + + enum PowerMode { + PMODE_ACTIVE = 0, // ~4mA + PMODE_MONITOR = 1, // ~3mA + PMODE_DEEP_SLEEP = 3, // ~100uA The reset pin must be pulled down to wake up + } ; + + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvFT6X36() = default; + + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvFT6X36() = default; + + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; + + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; + + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + + /** + * @brief Get the device mode + * @note This function will retrieve the current device mode from the touch driver. + * @retval The device mode. + */ + uint8_t getDeviceMode(void); + + // Obtaining gestures depends on whether the built-in firmware of the chip has this function + uint8_t getGesture(); + + + /** + * @brief Set the device mode + * @note This function will set the current device mode for the touch driver. + * @param value: The device mode to set. + * @retval None + */ + void setDeviceMode(uint8_t value); + + /** + * @brief Get the touch threshold + * @note This function will retrieve the current touch threshold from the touch driver. + * @retval The touch threshold. + */ + uint8_t getThreshold(void); + + + /** + * @brief Set the touch threshold + * @note This function will set the touch threshold for the touch driver. + * @param value: The touch threshold to set. + * @retval None + */ + void setThreshold(uint8_t value); + + /** + * @brief Get the monitor time + * @note This function will retrieve the current monitor time from the touch driver. + * @retval The monitor time. + */ + uint8_t getMonitorTime(void); + + /** + * @brief Set the monitor time + * @note This function will set the monitor time for the touch driver. + * @param sec: The monitor time to set. + * @retval None + */ + void setMonitorTime(uint8_t sec); + + + /** + * @brief Get the library version + * @note This function will retrieve the current library version from the touch driver. + * @retval The library version. + */ + uint16_t getLibraryVersion(); + + /** + * @brief Polling mode for touch interrupt + * @note This function will configure the touch driver to use polling mode for touch interrupts. + * @retval None + */ + void interruptPolling(void); + + /** + * @brief Trigger mode for touch interrupt + * @note This function will configure the touch driver to use trigger mode for touch interrupts. + * @retval None + */ + void interruptTrigger(void); + + /** + * @brief Set the touch interrupt mode + * @note This function will configure the touch driver to use the specified interrupt mode. + * @param mode: The interrupt mode to set. + * @retval None + */ + void setPowerMode(PowerMode mode); + + /** + * @brief Get the vendor ID + * @note This function will retrieve the current vendor ID from the touch driver. + * @retval The vendor ID. + */ + uint8_t getVendorID(void); + + /** + * @brief Get the error code + * @note This function will retrieve the current error code from the touch driver. + * @retval The error code. + */ + uint8_t getErrorCode(void); + +private: + bool initImpl(uint8_t) override; + + void beforeBegin() override + { + _pinsCfg.rstHoldTimeMs = 30; + _pinsCfg.rstReleaseTimeMs = 160; + } + + + static constexpr uint8_t BYTES_PER_POINT = (6); + static constexpr uint8_t MAX_FINGER_NUM = (5); + + static constexpr uint8_t FT_VEND_ID1 = (0x11); + static constexpr uint8_t FT_VEND_ID2 = (0xCD); + static constexpr uint8_t FT_VEND_ID3 = (0x51); + + static constexpr uint8_t FT3267_CHIP_ID = (0x33); + static constexpr uint8_t FT3068_CHIP_ID = (0xA0); + static constexpr uint8_t FT5336_CHIP_ID = (0x14); + static constexpr uint8_t FT6206_CHIP_ID = (0x06); + static constexpr uint8_t FT6236_CHIP_ID = (0x36); + static constexpr uint8_t FT6336U_CHIP_ID = (0x64); + + static constexpr uint8_t FT6X36_REG_MODE = (0x00); + static constexpr uint8_t FT6X36_REG_GEST = (0x01); + static constexpr uint8_t FT6X36_REG_STATUS = (0x02); + static constexpr uint8_t FT6X36_REG_TOUCH1_XH = (0x03); + static constexpr uint8_t FT6X36_REG_TOUCH1_XL = (0x04); + static constexpr uint8_t FT6X36_REG_TOUCH1_YH = (0x05); + static constexpr uint8_t FT6X36_REG_TOUCH1_YL = (0x06); + static constexpr uint8_t FT6X36_REG_THRESHOLD = (0x80); + static constexpr uint8_t FT6X36_REG_MONITOR_TIME = (0x87); + static constexpr uint8_t FT6X36_REG_PERIOD_ACTIVE = (0x88); + static constexpr uint8_t FT6X36_REG_PERIOD_MONITOR = (0x89); + static constexpr uint8_t FT6X36_REG_AUTO_CLB_MODE = (0xA0); + static constexpr uint8_t FT6X36_REG_LIB_VERSION_H = (0xA1); + static constexpr uint8_t FT6X36_REG_LIB_VERSION_L = (0xA2); + static constexpr uint8_t FT6X36_REG_INT_STATUS = (0xA4); + static constexpr uint8_t FT6X36_REG_POWER_MODE = (0xA5); + static constexpr uint8_t FT6X36_REG_FIRM_VERS = (0xA6); + static constexpr uint8_t FT6X36_REG_CHIP_ID = (0xA3); + static constexpr uint8_t FT6X36_REG_VENDOR1_ID = (0xA8); + static constexpr uint8_t FT6X36_REG_ERROR_STATUS = (0xA9); +}; diff --git a/lib/SensorLib/src/touch/TouchDrvGT911.cpp b/lib/SensorLib/src/touch/TouchDrvGT911.cpp new file mode 100644 index 0000000..7a3b82a --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvGT911.cpp @@ -0,0 +1,465 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrvGT911.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-05 + * + */ +#include "TouchDrvGT911.hpp" + +void TouchDrvGT911::sleep() +{ + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, OUTPUT); + hal->digitalWrite(_pinsCfg.irqPin, LOW); + } + writeCommand(0x05); + + /* + * Depending on the chip and platform, setting it to input after removing sleep will affect power consumption. + * The chip platform determines whether + * + * * */ + // if (_pinsCfg.irqPin != -1) { + // hal->digitalWrite(_pinsCfg.irqPin, INPUT); + // } +} + +void TouchDrvGT911::wakeup() +{ + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, OUTPUT); + hal->digitalWrite(_pinsCfg.irqPin, HIGH); + hal->delay(8); + hal->pinMode(_pinsCfg.irqPin, INPUT); + } else { + reset(); + } +} + +const TouchPoints &TouchDrvGT911::getTouchPoints() +{ + static constexpr uint8_t POINT_BUFFER_SIZE = (MAX_FINGER_NUM * BYTES_PER_POINT); + uint8_t buffer[POINT_BUFFER_SIZE] = {0}; + int numPoints = 0; + + // Clear cached touch points + _touchPoints.clear(); + + numPoints = readGT911(GT911_POINT_INFO); + // If there is a home button callback and the home button is pressed + if (_HButtonCallback && (numPoints & 0x10)) { + _HButtonCallback(_userData); + clearBuffer(); + return _touchPoints; + } + + // Clear the buffer + clearBuffer(); + + // Mask the number of points + numPoints &= 0x0F; + if (numPoints <= 0 || numPoints > MAX_FINGER_NUM) { + return _touchPoints; + } + + uint8_t expectedBytes = numPoints * BYTES_PER_POINT; // 8 bytes per touch point + + // GT911_POINT_1 0X814F + addrToBeBuf(GT911_POINT_1, buffer); + + if (writeThenRead(buffer, COMMAND_SIZE, buffer, expectedBytes) == 0) { + for (int i = 0; i < numPoints; i++) { + const uint8_t id = buffer[i * BYTES_PER_POINT]; + const uint16_t x = buffer[1 + i * BYTES_PER_POINT] | (buffer[2 + i * BYTES_PER_POINT] << 8); + const uint16_t y = buffer[3 + i * BYTES_PER_POINT] | (buffer[4 + i * BYTES_PER_POINT] << 8); + const uint16_t pressure = buffer[5 + i * BYTES_PER_POINT] | (buffer[6 + i * BYTES_PER_POINT] << 8); + _touchPoints.addPoint(x, y, pressure, id); + } + + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); + } + + return _touchPoints; +} + +const char *TouchDrvGT911::getModelName() +{ + return "GT911"; +} + +bool TouchDrvGT911::setInterruptMode(InterruptMode mode) +{ + // GT911_MODULE_SWITCH_1 0x804D + uint8_t oldTriggerLevel = _pinsCfg.irqTriggerLevel; + uint8_t irqMode = readGT911(GT911_MODULE_SWITCH_1); + irqMode &= (~IRQ_TRIGGER_MASK); + switch (mode) { + case FALLING_EDGE: + irqMode |= 0x01; + _pinsCfg.irqTriggerLevel = LOW; + break; + case RISING_EDGE: + irqMode |= 0x00; + _pinsCfg.irqTriggerLevel = HIGH; + break; + case LOW_LEVEL_QUERY: + irqMode |= 0x02; + _pinsCfg.irqTriggerLevel = LOW; + break; + case HIGH_LEVEL_QUERY: + irqMode |= 0x03; + _pinsCfg.irqTriggerLevel = HIGH; + break; + } + writeGT911(GT911_MODULE_SWITCH_1, irqMode); + if (!reloadConfig()) { + _pinsCfg.irqTriggerLevel = oldTriggerLevel; + return false; + } + return true; +} + +TouchDrvGT911::InterruptMode TouchDrvGT911::getInterruptMode() +{ + uint8_t irqMode = readGT911(GT911_MODULE_SWITCH_1); + irqMode &= IRQ_TRIGGER_MASK; + switch (irqMode) { + case 0: ///< RISING_EDGE + _pinsCfg.irqTriggerLevel = HIGH; + break; + case 1: ///< FALLING_EDGE + _pinsCfg.irqTriggerLevel = LOW; + break; + case 2: ///< LOW_LEVEL_QUERY + _pinsCfg.irqTriggerLevel = LOW; + break; + case 3: ///< HIGH_LEVEL_QUERY + _pinsCfg.irqTriggerLevel = HIGH; + break; + default: + break; + } + return static_cast(irqMode); +} + +uint32_t TouchDrvGT911::getChipID() +{ + char product_id[4] = {0}; + // GT911_PRODUCT_ID 0x8140 + for (int i = 0; i < 4; ++i) { + product_id[i] = readGT911(GT911_PRODUCT_ID + i); + } + return atoi(product_id); +} + +uint16_t TouchDrvGT911::getFwVersion() +{ + uint8_t fw_ver[2] = {0}; + // GT911_FIRMWARE_VERSION 0x8144 + for (int i = 0; i < 2; ++i) { + fw_ver[i] = readGT911(GT911_FIRMWARE_VERSION + i); + } + return fw_ver[0] | (fw_ver[1] << 8); +} + +uint8_t TouchDrvGT911::getConfigVersion() +{ + return readGT911(GT911_CONFIG_VERSION); +} + +void TouchDrvGT911::updateRefreshRate(uint8_t rate_ms) +{ + if (rate_ms < 5) { + rate_ms = 5; + } + if (rate_ms > 15) { + rate_ms = 15; + } + rate_ms -= 5; + writeGT911(GT911_REFRESH_RATE, rate_ms); + reloadConfig(); +} + +uint8_t TouchDrvGT911::getRefreshRate() +{ + uint8_t rate_ms = readGT911(GT911_REFRESH_RATE); + return rate_ms + GT911_BASE_REF_RATE ; +} + +int TouchDrvGT911::getVendorID() +{ + return readGT911(GT911_VENDOR_ID); +} + +#ifdef ENABLE_GT911_CONFIG +bool TouchDrvGT911::writeConfig(const uint8_t *config_buffer, size_t buffer_size) +{ + uint8_t check_sum = 0; + for (int i = 0; i < (GT911_REG_LENGTH - 2 ); i++) { + check_sum += config_buffer[i]; + } + check_sum = (~check_sum) + 1; + if (check_sum != config_buffer[GT911_REG_LENGTH - 2]) { + log_e("Config checksum error !"); + return false; + } + log_d("Update touch config , write %lu Bytes check sum:0x%X", buffer_size, check_sum); + uint8_t cmd[] = {lowByte(GT911_CONFIG_VERSION), highByte(GT911_CONFIG_VERSION)}; + int err = writeBuff(GT911_CONFIG_VERSION, (uint8_t *)config_buffer, buffer_size); + return err == 0; +} +#endif + +// Load touch configuration ,need manual release memory +uint8_t *TouchDrvGT911::loadConfig(size_t *output_size, bool print_out) +{ + *output_size = 0; + uint8_t *buffer = (uint8_t *)malloc(GT911_REG_LENGTH); + if (!buffer)return NULL; + addrToBeBuf(GT911_CONFIG_VERSION, buffer); + if (writeThenRead(buffer, COMMAND_SIZE, buffer, GT911_REG_LENGTH) == -1) { + return NULL; + } + if (print_out) { + printf("const unsigned char config[186] = {"); + for (int i = 0; i < GT911_REG_LENGTH; ++i) { + if ( (i % 8) == 0) { + printf("\n"); + } + printf(" 0x%02X", buffer[i]); + if ((i + 1) < GT911_REG_LENGTH) { + printf(","); + } + } + printf("};\n"); + } + *output_size = GT911_REG_LENGTH; + return buffer; +} + +bool TouchDrvGT911::reloadConfig() +{ + uint8_t buffer[GT911_REG_LENGTH] = {}; + buffer[0] = highByte(GT911_CONFIG_VERSION); + buffer[1] = lowByte(GT911_CONFIG_VERSION); + if (writeThenRead(buffer, 2, buffer, GT911_REG_LENGTH - 2) == -1) { + return false; + } + + uint8_t check_sum = 0; + for (int i = 0; i < (GT911_REG_LENGTH - 2 ); i++) { + check_sum += buffer[i]; + } + check_sum = (~check_sum) + 1; + log_d("reloadConfig check_sum : 0x%X\n", check_sum); + writeGT911(GT911_CONFIG_CHKSUM, check_sum); + writeGT911(GT911_CONFIG_FRESH, 0x01); + return true; +} + +void TouchDrvGT911::setMaxTouchPoint(uint8_t num) +{ + if (num < 1)num = 1; + if (num > 5) num = 5; + writeGT911(GT911_TOUCH_NUMBER, num); + reloadConfig(); +} + +uint8_t TouchDrvGT911::readGT911(uint16_t cmd) +{ + uint8_t value = 0x00; + uint8_t write_buffer[2] = {highByte(cmd), lowByte(cmd)}; + writeThenRead(write_buffer, arraySize(write_buffer), + &value, 1); + return value; +} + +int TouchDrvGT911::writeGT911(uint16_t cmd, uint8_t value) +{ + uint8_t write_buffer[3] = {highByte(cmd), lowByte(cmd), value}; + return writeBuff(write_buffer, arraySize(write_buffer)); +} + +void TouchDrvGT911::writeCommand(uint8_t command) +{ + // GT911_COMMAND 0x8040 + uint8_t write_buffer[3] = {0x80, 0x40, command}; + writeBuff(write_buffer, arraySize(write_buffer)); +} + +void TouchDrvGT911::clearBuffer() +{ + writeGT911(GT911_POINT_INFO, 0x00); +} + +bool TouchDrvGT911::probeAddress() +{ + const uint8_t device_address[2] = {GT911_SLAVE_ADDRESS_L, GT911_SLAVE_ADDRESS_H}; + for (size_t i = 0; i < arraySize(device_address); ++i) { + setAddress(device_address[i]); + for (int retry = 0; retry < 3; ++retry) { + _chipID = getChipID(); + if (_chipID == GT911_DEV_ID) { + log_i("Touch device address found is : 0x%X", device_address[i]); + return true; + } + } + } + log_e("GT911 not found, touch device 7-bit address should be 0x5D or 0x14"); + return false; +} + +bool TouchDrvGT911::initImpl(uint8_t) +{ + if (_addr == GT911_SLAVE_ADDRESS_H && _pinsCfg.rstPin != -1 && _pinsCfg.irqPin != -1) { + + log_i("Try using 0x14 as the device address"); + + hal->pinMode(_pinsCfg.rstPin, OUTPUT); + hal->pinMode(_pinsCfg.irqPin, OUTPUT); + + hal->digitalWrite(_pinsCfg.rstPin, LOW); + hal->digitalWrite(_pinsCfg.irqPin, HIGH); + hal->delayMicroseconds(120); + hal->digitalWrite(_pinsCfg.rstPin, HIGH); + // The stable value after testing was 18ms. + hal->delay(18); + + hal->pinMode(_pinsCfg.irqPin, INPUT); + + } else if (_addr == GT911_SLAVE_ADDRESS_L && _pinsCfg.rstPin != -1 && _pinsCfg.irqPin != -1) { + + log_i("Try using 0x5D as the device address"); + + hal->pinMode(_pinsCfg.rstPin, OUTPUT); + hal->pinMode(_pinsCfg.irqPin, OUTPUT); + + hal->digitalWrite(_pinsCfg.rstPin, LOW); + hal->digitalWrite(_pinsCfg.irqPin, LOW); + hal->delayMicroseconds(120); + hal->digitalWrite(_pinsCfg.rstPin, HIGH); + // The stable value after testing was 18ms. + hal->delay(18); + hal->pinMode(_pinsCfg.irqPin, INPUT); + + } else { + if (!autoProbe()) { + return false; + } + } + + // For variants where the GPIO is controlled by I2C, a hal->delay is required here + hal->delay(20); + + + /* + * For the ESP32 platform, the default buffer is 128. + * Need to re-apply for a larger buffer to fully read the configuration table. + * + * TODO: NEED FIX + if (!this->reallocBuffer(GT911_REG_LENGTH + 2)) { + log_e("realloc i2c buffer failed !"); + return false; + } + */ + + _chipID = getChipID(); + + if (_chipID != GT911_DEV_ID) { + log_i("Not found device GT911,Try to found the GT911"); + if (!autoProbe()) { + return false; + } + } + + uint8_t x_resolution[2] = {0}, y_resolution[2] = {0}; + for (int i = 0; i < 2; ++i) { + x_resolution[i] = readGT911(GT911_X_RESOLUTION + i); + } + for (int i = 0; i < 2; ++i) { + y_resolution[i] = readGT911(GT911_Y_RESOLUTION + i); + } + + _touchConfig.resolutionX = x_resolution[0] | (x_resolution[1] << 8); + _touchConfig.resolutionY = y_resolution[0] | (y_resolution[1] << 8); + log_d("Model:GT911"); + log_d("RST Pin:%d", _pinsCfg.rstPin); + log_d("IRQ Pin:%d", _pinsCfg.irqPin); + log_i("Product id:%ld", _chipID); + log_d("Firmware version: 0x%x", getFwVersion()); + log_d("Resolution : X = %d Y = %d", _touchConfig.resolutionX, _touchConfig.resolutionY); + log_d("Vendor id:%d", getVendorID()); + log_d("Refresh Rate:%d ms", getRefreshRate()); + _maxTouchPoints = readGT911(GT911_TOUCH_NUMBER) & 0x0F; + log_d("MaxTouchPoint:%d", _maxTouchPoints); + + // Get the default interrupt trigger mode of the current screen + uint8_t irqMode = getInterruptMode(); + switch (irqMode) { + case 0: ///< RISING + log_d("Interrupt Mode: RISING"); + break; + case 1: ///< FALLING + log_d("Interrupt Mode: FALLING"); + break; + case 2: ///< LOW_LEVEL_QUERY + log_d("Interrupt Mode: LOW_LEVEL_QUERY"); + break; + case 3: ///< HIGH_LEVEL_QUERY + log_d("Interrupt Mode: HIGH_LEVEL_QUERY"); + break; + default: + log_e("Interrupt Mode: UNKNOWN"); + break; + } + + return true; +} + +bool TouchDrvGT911::autoProbe() +{ + if (_pinsCfg.rstPin != -1) { + hal->pinMode(_pinsCfg.rstPin, OUTPUT); + hal->digitalWrite(_pinsCfg.rstPin, HIGH); + hal->delay(10); + } + + // Automatically determine the current device + // address when using the reset pin without connection + if (!probeAddress()) { + return false; + } + + // Reset Config + reset(); + + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, INPUT); + } + + return true; +} diff --git a/lib/SensorLib/src/REG/GT911Constants.h b/lib/SensorLib/src/touch/TouchDrvGT911.hpp similarity index 58% rename from lib/SensorLib/src/REG/GT911Constants.h rename to lib/SensorLib/src/touch/TouchDrvGT911.hpp index a942af4..f24edc9 100644 --- a/lib/SensorLib/src/REG/GT911Constants.h +++ b/lib/SensorLib/src/touch/TouchDrvGT911.hpp @@ -22,27 +22,235 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. * - * @file GT911Constants.h + * @file TouchDrvGT911.hpp * @author Lewis He (lewishe@outlook.com) * @date 2023-04-12 * */ - #pragma once -#include +#include "TouchDrvInterface.hpp" -#define GT911_SLAVE_ADDRESS_H (0x14) -#define GT911_SLAVE_ADDRESS_L (0x5D) -#define GT911_SLAVE_ADDRESS_UNKOWN (0xFF) +//! Dangerous operation! If power is lost during the writing process, all parameters will be lost due to the absence of the original parameters, resulting in touch screen errors. +// #define ENABLE_GT911_CONFIG -class GT911Constants + +#if defined(ARDUINO_ARCH_NRF52) +// NRF52840 I2C BUFFER : 64 Bytes , +#warning "NRF Platform I2C Buffer expansion is not implemented , GT911 requires at least 188 bytes to read all configurations" +#endif + +static constexpr uint8_t GT911_SLAVE_ADDRESS_H = (0x14); +static constexpr uint8_t GT911_SLAVE_ADDRESS_L = (0x5D); +static constexpr uint8_t GT911_SLAVE_ADDRESS_UNKNOWN = (0xFF); + +class TouchDrvGT911 : public TouchDrvInterface { +public: + using TouchDrvInterface::getPoint; + + enum InterruptMode { + RISING_EDGE = 0x00, + FALLING_EDGE = 0x01, + LOW_LEVEL_QUERY = 0x02, + HIGH_LEVEL_QUERY = 0x03 + }; + + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvGT911() = default; + + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvGT911() = default; + + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; + + /** + * @brief Wake up the touch driver + * @note This function will wake up the touch driver from sleep mode. + * @retval None + */ + void wakeup() override; + + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; + + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + + /** + * @brief Set the interrupt mode + * @note This function will set the interrupt mode for the touch driver. + * @param mode: The interrupt mode to set , see InterruptMode. + * @retval True if the operation was successful, false otherwise. + */ + bool setInterruptMode(InterruptMode mode); + + /** + * @brief Get the interrupt mode + * @note This function will retrieve the current interrupt mode from the touch driver. + * @retval The interrupt mode. + * 0x0: Rising edge trigger + * 0x1: Falling edge trigger + * 0x2: Low level query + * 0x3: High level query + */ + InterruptMode getInterruptMode(); + + /** + * @brief Get the chip ID + * @note This function will retrieve the chip ID from the touch driver. + * @retval The chip ID. + */ + uint32_t getChipID() override; + + /** + * @brief Get the firmware version + * @note This function will retrieve the firmware version from the touch driver. + * @retval The firmware version. + */ + uint16_t getFwVersion(); + + /** + * @brief Get the configuration version + * @note This function will retrieve the configuration version from the touch driver. + * @retval The configuration version. + */ + uint8_t getConfigVersion(); + + /** + * @brief Get the refresh rate + * @note This function will retrieve the current refresh rate from the touch driver. + * @param rate_ms: Pointer to store the refresh rate in milliseconds , 5 ~ 15 ms. + * @retval None + */ + void updateRefreshRate(uint8_t rate_ms); + + /** + * @brief Get the refresh rate + * @note This function will retrieve the current refresh rate from the touch driver. + * @retval The refresh rate in milliseconds. + */ + uint8_t getRefreshRate(); + + /** + * @brief Get the vendor ID + * @note This function will retrieve the vendor ID from the touch driver. + * @retval The vendor ID. + */ + int getVendorID(); + +#ifdef ENABLE_GT911_CONFIG + /** + * @brief Set the home button callback + * @note This function will set the callback function for the home button. + * @param *config_buffer: Pointer to the configuration buffer. + * @param buffer_size: Size of the configuration buffer. + * @retval None + */ + bool writeConfig(const uint8_t *config_buffer, size_t buffer_size); +#endif + + /** + * @brief Load the configuration data + * @note This function will load the configuration data from the touch driver. + * Memory allocation is automatically managed within the class and does not require manual deallocation. + * @param *output_size: Pointer to store the size of the output data. + * @param print_out: Flag to indicate whether to print the output. + * @retval The pointer to the configuration data buffer. + */ + uint8_t *loadConfig(size_t *output_size, bool print_out = false); + + /** + * @brief Reload the configuration data + * @note This function will reload the configuration data from the touch driver. + * @retval True if the operation was successful, false otherwise. + */ + bool reloadConfig(); + + /** + * @brief Set the maximum touch points + * @note This function will set the maximum number of touch points. + * @param num: The maximum number of touch points (1-5). + * @retval None + */ + void setMaxTouchPoint(uint8_t num); + + +private: + /** + * @brief Read a register from the GT911 touch driver + * @note This function will read a register from the touch driver. + * @param cmd: The register address to read. + * @retval The value read from the register. + */ + uint8_t readGT911(uint16_t cmd); + /** + * @brief Write a register to the GT911 touch driver + * @note This function will write a register to the touch driver. + * @param cmd: The register address to write. + * @param value: The value to write to the register. + * @retval None + */ + int writeGT911(uint16_t cmd, uint8_t value); + + /** + * @brief Write a command to the GT911 touch driver + * @note This function will write a command to the touch driver. + * @param command: The command to write. + * @retval None + */ + void writeCommand(uint8_t command); + + /** + * @brief Clear the touch buffer + * @note This function will clear the touch buffer. + * @retval None + */ + void clearBuffer(); + + /** + * @brief Probe the I2C address of the GT911 touch driver + * @note This function will try to communicate with the touch driver at the specified I2C address. + * @retval True if the device is found, false otherwise. + */ + bool probeAddress(); + + bool initImpl(uint8_t) override; + + bool autoProbe(); + + + + static constexpr uint8_t MAX_FINGER_NUM = (5); + static constexpr uint8_t BYTES_PER_POINT = (8); + protected: // Real-time command (Write only) static constexpr uint16_t GT911_COMMAND = (0x8040); static constexpr uint16_t GT911_ESD_CHECK = (0x8041); static constexpr uint16_t GT911_COMMAND_CHECK = (0x8046); + static constexpr uint8_t IRQ_TRIGGER_MASK = (0x03); // Configuration information (R/W) static constexpr uint16_t GT911_CONFIG_START = (0x8047); @@ -160,13 +368,9 @@ protected: static constexpr uint16_t GT911_POINT_4 = (0X8167); static constexpr uint16_t GT911_POINT_5 = (0X816F); + static constexpr uint16_t COMMAND_SIZE = (2); static constexpr uint16_t GT911_DEV_ID = (911); static constexpr uint8_t GT911_BASE_REF_RATE = (5); static constexpr uint8_t GT911_REG_LENGTH = (186); - }; - - - - diff --git a/lib/SensorLib/src/touch/TouchDrvGT9895.cpp b/lib/SensorLib/src/touch/TouchDrvGT9895.cpp new file mode 100644 index 0000000..a87f0a8 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvGT9895.cpp @@ -0,0 +1,224 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2024 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. + * + * @file TouchDrvGT9895.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2024-09-21 + * + */ +#include "TouchDrvGT9895.hpp" + +void TouchDrvGT9895::sleep() +{ + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, OUTPUT); + hal->digitalWrite(_pinsCfg.irqPin, LOW); + } + + uint8_t sleep_cmd[10] = {0}; + addrToBeBuf(REG_CMD, sleep_cmd); + sleep_cmd[4] = 0x00; + sleep_cmd[5] = 0x00; + sleep_cmd[6] = 0x04; + sleep_cmd[7] = 0x84; + sleep_cmd[8] = 0x88; + sleep_cmd[9] = 0x00; + writeBuff(sleep_cmd, sizeof(sleep_cmd)); +} + +void TouchDrvGT9895::wakeup() +{ + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, OUTPUT); + hal->digitalWrite(_pinsCfg.irqPin, HIGH); + hal->delay(8); + } + reset(); +} + +const TouchPoints &TouchDrvGT9895::getTouchPoints() +{ + uint8_t type = 0; + uint8_t write_buffer[4]; + uint8_t buffer[IRQ_EVENT_HEAD_LEN + MAX_FINGER_NUM * BYTES_PER_POINT + 2] = {0}; + + _touchPoints.clear(); + + // Read the event header (8 bytes) to get the number of fingers. + addrToBeBuf(REG_POINT, write_buffer); + if (writeThenRead(write_buffer, 4, buffer, IRQ_EVENT_HEAD_LEN) != 0) { + return _touchPoints; + } + // Check if touch event is valid + if (buffer[0] == 0x00) { + return _touchPoints; + } + // Check if the number of touch points is valid + uint8_t numPoints = buffer[2] & 0x0F; + if (numPoints == 0 || numPoints > MAX_FINGER_NUM) { + clearStatus(); + return _touchPoints; + } + // Read the remaining data from the offset address. + uint16_t remaining_len = numPoints * BYTES_PER_POINT + COORDS_DATA_CHECKSUM_SIZE; + addrToBeBuf(REG_POINT + IRQ_EVENT_HEAD_LEN, write_buffer); + if (writeThenRead(write_buffer, 4, &buffer[IRQ_EVENT_HEAD_LEN], remaining_len) != 0) { + return _touchPoints; + } + + if (calculateChecksum(buffer, IRQ_EVENT_HEAD_LEN, CHECKSUM_MODE_U8_LE)) { + // If touch data checksum fails + clearStatus(); + return _touchPoints; + } + + if (buffer[0] & 0x80) { + type = buffer[IRQ_EVENT_HEAD_LEN] & 0x0F; + uint16_t checksum_size = (type == POINT_TYPE_STYLUS || type == POINT_TYPE_STYLUS_HOVER) ? + (BYTES_PER_POINT * 2 + 2) : (numPoints * BYTES_PER_POINT + 2); + + if (calculateChecksum(&buffer[IRQ_EVENT_HEAD_LEN], checksum_size, CHECKSUM_MODE_U8_LE)) { + // If touch data checksum fails + clearStatus(); + return _touchPoints; + } + // Add touch points + for (int i = 0; i < numPoints; i++) { + uint8_t offset = IRQ_EVENT_HEAD_LEN + i * BYTES_PER_POINT; + uint16_t x = buffer[offset + 2] | (buffer[offset + 3] << 8); + uint16_t y = buffer[offset + 4] | (buffer[offset + 5] << 8); + uint16_t w = buffer[offset + 6] | (buffer[offset + 7] << 8); + uint8_t id = (buffer[offset] >> 4) & 0x0F; + _touchPoints.addPoint(x, y, w, id); + } + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); + } + + clearStatus(); + return _touchPoints; +} + +const char *TouchDrvGT9895::getModelName() +{ + return "GT9895"; +} + +int TouchDrvGT9895::calculateChecksum(const uint8_t *data, int size, CheckSumMode mode) +{ + uint32_t cal_checksum = 0; + uint32_t r_checksum = 0; + if (mode == CHECKSUM_MODE_U8_LE) { + if (size < 2) + return 1; + for (int i = 0; i < size - 2; i++) + cal_checksum += data[i]; + r_checksum = data[size - 2] + (data[size - 1] << 8); + return (cal_checksum & 0xFFFF) == r_checksum ? 0 : 1; + } + + if (size < 4) + return 1; + for (int i = 0; i < size - 4; i += 2) + cal_checksum += data[i] + (data[i + 1] << 8); + r_checksum = data[size - 4] + (data[size - 3] << 8) + + (data[size - 2] << 16) + (data[size - 1] << 24); + return cal_checksum == r_checksum ? 0 : 1; +} + +uint32_t TouchDrvGT9895::getChipPID() +{ + struct ChipInfo { + uint8_t rom_pid[6]; + uint8_t rom_vid[3]; + uint8_t rom_vid_reserved; + uint8_t patch_pid[8]; + uint8_t patch_vid[4]; + uint8_t patch_vid_reserved; + uint8_t sensor_id; + uint8_t reserved[2]; + uint16_t checksum; + } info; + + int ret = 0; + uint8_t temp_pid[8] = {0}; + uint8_t buffer[28] = {0}; + addrToBeBuf(REG_FW_VERSION, buffer); + for (int i = 0; i < 2; i++) { + if (writeThenRead(buffer, 4, buffer, sizeof(buffer)) == -1) { + log_e("Failed to read firmware version"); + ret = -1; + hal->delay(5); + continue; + } + if (!calculateChecksum(buffer, sizeof(buffer), CHECKSUM_MODE_U8_LE)) { + ret = 0; + break; + } + log_e("Invalid fw version: checksum error!"); + log_e("Firmware version:%*ph", (int)sizeof(buffer), buffer); + ret = -1; + hal->delay(15); + } + if (ret == -1) { + log_e("Failed get valid firmware version"); + return 0; + } + memcpy(&info, buffer, sizeof(info)); + memcpy(temp_pid, info.rom_pid, sizeof(info.rom_pid)); + log_d("ROM_PID:%s", (const char *)temp_pid); + log_d("ROM_VID:%*p", (int)sizeof(info.rom_vid), info.rom_vid); + log_d("PID:%s", (const char *)info.patch_pid); + log_d("VID:%*p", (int)sizeof(info.patch_vid), info.patch_vid); + log_d("Sensor ID:%d", info.sensor_id); + if (info.patch_pid[0] == '9' && info.patch_pid[1] == '8' + && info.patch_pid[2] == '9' && info.patch_pid[3] == '5') { + return CHIP_PID; + } + return 0; +} + +void TouchDrvGT9895::clearStatus() +{ + uint8_t buffer[5] = { 0x00, 0x01, 0x03, 0x08, 0x00}; + writeBuff(buffer, 5); +} + +bool TouchDrvGT9895::initImpl(uint8_t) +{ + if (getChipPID() != 0x9895) { + return false; + } + _maxTouchPoints = MAX_FINGER_NUM; + _chipID = CHIP_PID; + return true; +} + +/* +[ 572][D][TouchDrvGT9895.cpp:236] getChipPID(): ROM_PID:BERLIN +[ 578][D][TouchDrvGT9895.cpp:237] getChipPID(): ROM_VID:0x4ff3d66a +[ 584][D][TouchDrvGT9895.cpp:238] getChipPID(): PID:9895 +[ 589][D][TouchDrvGT9895.cpp:239] getChipPID(): VID:0x4ff3d676 +[ 595][D][TouchDrvGT9895.cpp:240] getChipPID(): Sensor ID:255 +*/ diff --git a/lib/SensorLib/src/touch/TouchDrvGT9895.hpp b/lib/SensorLib/src/touch/TouchDrvGT9895.hpp new file mode 100644 index 0000000..2ee1f2c --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvGT9895.hpp @@ -0,0 +1,136 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2024 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. + * + * @file TouchDrvGT9895.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2024-09-21 + * + */ +#pragma once + +#include "TouchDrvInterface.hpp" + +static constexpr uint8_t GT9895_SLAVE_ADDRESS_H = (0x14); +static constexpr uint8_t GT9895_SLAVE_ADDRESS_L = (0x5D); + +class TouchDrvGT9895 : public TouchDrvInterface +{ +public: + using TouchDrvInterface::getPoint; + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvGT9895() = default; + + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvGT9895() = default; + + /** + * @brief Puts the touch driver to sleep + * @note This function puts the touch driver into sleep mode. + * If the device does not have a reset pin connected, it cannot be woken up after being put + * into sleep mode and must be powered on again. + * @retval None + */ + void sleep() override; + + /** + * @brief Wake up the touch driver + * @note This function will wake up the touch driver from sleep mode. + * @retval None + */ + void wakeup() override; + + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * TouchPoints is configured with a 5-point touch point buffer by default, + * so it can return touch data from a maximum of 5 points. Although the GT9895 + * supports 10-point touch + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; + + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + +private: + + enum CheckSumMode { + CHECKSUM_MODE_U8_LE, + CHECKSUM_MODE_U16_LE, + }; + + bool initImpl(uint8_t) override; + + /** + * @brief Compare the checksum of the data + * @note This function will compare the checksum of the data with the expected value. + * @param *data: Pointer to the data buffer + * @param size: Size of the data buffer + * @param mode: Checksum mode + * @retval 0 if the checksum is valid, -1 if it is invalid + */ + int calculateChecksum(const uint8_t *data, int size, CheckSumMode mode); + + /** + * @brief Get chip pid + * @note This function will retrieve the chip pid from the touch driver. + * @retval The chip pid. + */ + uint32_t getChipPID(); + + /** + * @brief Clear the touch driver status + * @note This function will clear the touch driver status. + * @retval None + */ + void clearStatus(); + +protected: + + static constexpr uint8_t MAX_FINGER_NUM = (10); + static constexpr uint8_t IRQ_EVENT_HEAD_LEN = (8); + static constexpr uint8_t BYTES_PER_POINT = (8); + static constexpr uint8_t COORDS_DATA_CHECKSUM_SIZE = (2); + + static constexpr uint8_t POINT_TYPE_STYLUS_HOVER = (1); + static constexpr uint8_t POINT_TYPE_STYLUS = (3); + + static constexpr uint32_t REG_FW_VERSION = (0x010014); + static constexpr uint32_t REG_INFO = (0x010070); + static constexpr uint32_t REG_CMD = (0x010174); + static constexpr uint32_t REG_POINT = (0x010308); + static constexpr uint32_t REG_NUM_POINT = (0x01030A); + + static constexpr uint32_t CHIP_PID = (0x9895); +}; diff --git a/lib/SensorLib/src/touch/TouchDrvHI8561.cpp b/lib/SensorLib/src/touch/TouchDrvHI8561.cpp new file mode 100644 index 0000000..412d579 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvHI8561.cpp @@ -0,0 +1,106 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrvHI8561.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-06 + * + */ +#include "TouchDrvHI8561.hpp" + +void TouchDrvHI8561::sleep() +{ + // Unable to achieve, relies on screen sleep +} + +const TouchPoints &TouchDrvHI8561::getTouchPoints() +{ + static constexpr uint8_t POINT_BUFFER_SIZE = (MAX_FINGER_NUM * BYTES_PER_POINT); + + uint8_t buffer[POINT_BUFFER_SIZE] = {0}; + + _touchPoints.clear(); // Clear cached touch points + + uint8_t numPoints = 0; + if (!makePacketThenRead(REG_INFO, buffer, 1)) { + return _touchPoints; + } + + numPoints = buffer[0]; + if (numPoints == 0 || numPoints > MAX_FINGER_NUM) { + return _touchPoints; + } + + uint8_t expectedBytes = numPoints * BYTES_PER_POINT; // 6 bytes per touch point + + if (!makePacketThenRead(REG_POINT, buffer, expectedBytes)) { + return _touchPoints; + } + + for (uint8_t i = 0; i < numPoints; i++) { + const uint8_t offset = i * BYTES_PER_POINT ; + uint16_t x = buffer[offset + 1] | (buffer[offset + 0] << 8); + uint16_t y = buffer[offset + 3] | (buffer[offset + 2] << 8); + uint8_t pressure = buffer[offset + 4]; + // Once edge detection is triggered, subsequent touch points are untrusted and do not need to continue looping. + if (x == UINT16_MAX || y == UINT16_MAX) { + log_e("Edge trigger detected, id %d set to invalid coordinates", i); + break; + } + _touchPoints.addPoint(x, y, pressure, i); + } + // Swap XY or mirroring coordinates,if set + updateXY(_touchPoints); + + return _touchPoints; +} + +const char *TouchDrvHI8561::getModelName() +{ + return "HI8561"; +} + +bool TouchDrvHI8561::initImpl(uint8_t) +{ + // Disable I2C stop bit + setAck(false); + + // Check if the starting address matches + uint8_t buffer[6]; + if (!makePacketThenRead(REG_SECTION_INFO, buffer, sizeof(buffer))) { + return false; + } + uint32_t reg = buffer[0] + (buffer[1] << 8) + (buffer[2] << 16) + (buffer[3] << 24); + if (reg != REG_INFO) { + log_e("Invalid touch info start address: 0x%08" PRIu32, reg); + return false; + } + + // Use fixed values ​​to identify chip models. + _chipID = 0x8561; + + log_d("HI8561 touch start address: 0x%08" PRIu32, reg); + + return true; +} diff --git a/lib/SensorLib/src/touch/TouchDrvHI8561.hpp b/lib/SensorLib/src/touch/TouchDrvHI8561.hpp new file mode 100644 index 0000000..9065b31 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvHI8561.hpp @@ -0,0 +1,111 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchDrvHI8561.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-06 + * + */ +#pragma once + +#include "TouchDrvInterface.hpp" + +static constexpr uint8_t HI8561_SLAVE_ADDRESS = (0x68); + +/** +* @brief HI8561 Touchscreen Display Chip Touch Class +* This class provides the touch reading functionality for the HI8561. +* Note: This class cannot be used independently; the screen must be +* initialized first before calling this class for initialization. +* This is a characteristic of most touchscreen display chips. +*/ +class TouchDrvHI8561 : public TouchDrvInterface +{ +public: + /** + * @brief Constructor for the touch driver + * @retval None + */ + TouchDrvHI8561() = default; + + /** + * @brief Destructor for the touch driver + * @retval None + */ + ~TouchDrvHI8561() = default; + + /** + * @brief Puts the touch driver to sleep + * @note The chip integrates touch and display functions, and a sleep mode cannot be set. + * @retval None + */ + void sleep() override; + + /** + * @brief Get the touch points + * @note This function will retrieve the touch points from the touch driver. + * TouchPoints is configured with a 5-point touch point buffer by default, + * so it can return touch data from a maximum of 5 points. Although the HI8561 + * supports 10-point touch + * @retval A reference to the touch points. + */ + const TouchPoints &getTouchPoints() override; + + /** + * @brief Get the model name + * @note This function will retrieve the model name from the touch driver. + * @retval The model name. + */ + const char *getModelName() override; + +private: + + /** + * @brief Initialize the touch driver + * @note This function will initialize the touch driver by setting up the I2C communication. + * @param No use + * @retval True if the initialization was successful, false otherwise. + */ + bool initImpl(uint8_t) override; + + bool inline makePacketThenRead(uint32_t addr, uint8_t *data, uint16_t len) + { + uint8_t addrBuf[6]; + addrBuf[0] = 0xF3; + addrBuf[1] = (uint8_t)((addr & 0xFF000000) >> 24); + addrBuf[2] = (uint8_t)((addr & 0x00FF0000) >> 16); + addrBuf[3] = (uint8_t)((addr & 0x0000FF00) >> 8); + addrBuf[4] = (uint8_t)((addr & 0x000000FF) >> 0); + addrBuf[5] = 0x03; + return writeThenRead(addrBuf, sizeof(addrBuf), data, len) == 0; + } + +protected: + static constexpr uint32_t REG_SECTION_INFO = 0x200110D8; + static constexpr uint32_t REG_INFO = 0x20011120; + static constexpr uint32_t REG_POINT = 0x20011123; + static constexpr uint8_t BYTES_OFFSET = 3; + static constexpr uint8_t MAX_FINGER_NUM = (10); + static constexpr uint8_t BYTES_PER_POINT = (5); +}; diff --git a/lib/SensorLib/src/touch/TouchDrvInterface.hpp b/lib/SensorLib/src/touch/TouchDrvInterface.hpp new file mode 100644 index 0000000..50105f6 --- /dev/null +++ b/lib/SensorLib/src/touch/TouchDrvInterface.hpp @@ -0,0 +1,643 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2022 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. + * + * @file TouchDrvInterface.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2023-04-17 + * + */ +#pragma once + +#include "platform/comm/I2CDeviceWithHal.hpp" +#include "TouchPoints.hpp" + +/** + * @brief Abstract base class for touch screen drivers. + * + * This class provides a common interface for initializing, configuring, + * and reading touch data from various touch controller chips. + * It also handles coordinate transformations (swap, mirror, scaling) and + * optional home button callbacks. + */ +class TouchDrvInterface : public I2CDeviceWithHal +{ +public: + + struct TouchPinsCfg { + int rstPin; // Reset pin number, -1 if not used + int irqPin; // Interrupt pin number, -1 if not used + int rstActiveLevel; // Active level for reset pin (HIGH or LOW) + int irqTriggerLevel; // Trigger level for interrupt pin (HIGH or LOW) + int rstHoldTimeMs; // Minimum hold time for reset signal in milliseconds + int rstReleaseTimeMs; // Minimum release time after reset in milliseconds + }; + + struct TouchConfig { + bool swapXY; // Whether to swap X and Y coordinates + bool mirrorX; // Whether to mirror X coordinates + bool mirrorY; // Whether to mirror Y coordinates + bool scalingEnabled; // Whether scaling is enabled + uint16_t xMax; // Maximum X coordinate value from the hardware + uint16_t yMax; // Maximum Y coordinate value from the hardware + uint16_t resolutionX; // Physical resolution of the touch panel (used for scaling) + uint16_t resolutionY; // Physical resolution of the touch panel (used for scaling) + float scaleX; // Scaling factor for X coordinates + float scaleY; // Scaling factor for Y coordinates + }; + + /** + * @brief Callback type for home button events. + * @param user_data Pointer to user-defined data passed during callback registration. + */ + using HomeButtonCallback = void(*)(void *user_data); + + /** + * @brief Construct a new TouchDrvInterface object. + * + * Initializes member variables to default values. + * Does not allocate any hardware resources. + */ + TouchDrvInterface() : _halModeCallback(nullptr), + _halWriteCallback(nullptr), _halReadCallback(nullptr), + _chipID(0x00), _HButtonCallback(nullptr), _userData(nullptr), _maxTouchPoints(0), + _center_btn_x(-1), _center_btn_y(-1), + _lastPulse(0), _pinsCfg({-1, -1, LOW, LOW, 10, 10}), + _touchConfig({false, false, false, false, 0, 0, 0, 0, 1.0f, 1.0f}) + { + } + + /** + * @brief Destroy the TouchDrvInterface object. + * + * Deinitializes the communication interface if it was created. + */ + virtual ~TouchDrvInterface() = default; + +// *INDENT-OFF* +#if defined(ARDUINO) + /** + * @brief Initialize the touch driver using Arduino I2C (TwoWire). + * + * @param wire Reference to the Arduino TwoWire I2C object. + * @param addr I2C slave address of the touch controller. + * @param sda SDA pin number (optional, default -1 means use default Wire pins). + * @param scl SCL pin number (optional, default -1 means use default Wire pins). + * @retval true Initialization successful. + * @retval false Initialization failed. + */ + virtual bool begin(TwoWire &wire, uint8_t addr, int sda = -1, int scl = -1) + { + return I2CDeviceWithHal::begin(wire, addr, sda, scl); + } + +#elif defined(ESP_PLATFORM) + +#if defined(USEING_I2C_LEGACY) + + /** + * @brief Initialize the touch driver using ESP-IDF legacy I2C driver. + * + * @param port_num I2C port number (e.g., I2C_NUM_0). + * @param addr I2C slave address of the touch controller. + * @param sda SDA pin number. + * @param scl SCL pin number. + * @retval true Initialization successful. + * @retval false Initialization failed. + */ + virtual bool begin(i2c_port_t port_num, uint8_t addr, int sda, int scl) + { + return I2CDeviceWithHal::begin(port_num, addr, sda, scl); + } + +#else + + /** + * @brief Initialize the touch driver using ESP-IDF I2C master bus handle (new driver). + * + * @param handle I2C master bus handle obtained from `i2c_new_master_bus()`. + * @param addr I2C slave address of the touch controller. + * @retval true Initialization successful. + * @retval false Initialization failed. + */ + virtual bool begin(i2c_master_bus_handle_t handle, uint8_t addr) + { + return I2CDeviceWithHal::begin(handle, addr); + } + +#endif //USEING_I2C_LEGACY +#endif //ARDUINO + + /** + * @brief Initialize the touch driver with custom communication callbacks. + * + * Use this method when you need to provide your own low-level I2C/SPI-like + * communication functions (e.g., for non-standard buses or simulated interfaces). + * + * @param callback Custom callback for basic communication operations. + * @param hal_callback Custom callback for hardware abstraction layer (GPIO) operations. + * @param addr I2C slave address (ignored if not applicable). + * @retval true Initialization successful. + * @retval false Initialization failed. + */ + virtual bool begin(SensorCommCustom::CustomCallback callback, + SensorCommCustomHal::CustomHalCallback hal_callback, + uint8_t addr) + { + return I2CDeviceWithHal::begin(callback, hal_callback, addr); + } + + /** + * @brief Set custom GPIO callbacks for pin control (e.g., reset, interrupt). + * + * These callbacks will be used by the HAL to manipulate GPIO pins. + * Must be called before `begin()` if custom GPIO handling is required. + * + * @param mode_cb Callback to set pin mode (input/output). + * @param write_cb Callback to write a digital value to a pin. + * @param read_cb Callback to read a digital value from a pin. + */ + virtual void setGpioCallback(SensorHalCustom::CustomMode mode_cb, + SensorHalCustom::CustomWrite write_cb, + SensorHalCustom::CustomRead read_cb) { + _halModeCallback = mode_cb; + _halWriteCallback = write_cb; + _halReadCallback = read_cb; + } + + /** + * @brief Get the maximum number of touch points supported by the hardware. + * + * @return uint8_t Maximum number of simultaneous touches. + */ + virtual uint8_t getSupportTouchPoint() { + return _maxTouchPoints; + } + + /** + * @brief Get the raw resolution (maximum coordinate values) of the touch panel. + * + * @param[out] x Reference to store the maximum X coordinate. + * @param[out] y Reference to store the maximum Y coordinate. + */ + virtual void getResolution(uint16_t &x, uint16_t &y) { + x = _touchConfig.resolutionX; + y = _touchConfig.resolutionY; + } + + /** + * @brief Get the raw maximum X coordinate of the touch panel. + * + * @return uint16_t Maximum X coordinate. + */ + virtual uint16_t getResolutionX() { + return _touchConfig.resolutionX; + } + + /** + * @brief Get the raw maximum Y coordinate of the touch panel. + * + * @return uint16_t Maximum Y coordinate. + */ + virtual uint16_t getResolutionY() { + return _touchConfig.resolutionY; + } + + /** + * @brief Device-specific initialization implementation (pure virtual). + * + * This method must be implemented by derived classes to perform + * hardware-specific initialization, such as reading chip ID, + * configuring registers, and setting up default behavior. + * + * @param param Reserved parameters for future use (e.g., I2C address, configuration flags). + * @retval true Initialization successful. + * @retval false Initialization failed. + */ + virtual bool initImpl(uint8_t param) = 0; + + /** + * @brief Reset the touch controller. + * + * Typically toggles the reset pin (if connected) or sends a software reset command. + */ + virtual void reset() + { + if (_pinsCfg.rstPin != -1) { + // Perform hardware reset using the reset pin + hal->digitalWrite(_pinsCfg.rstPin, _pinsCfg.rstActiveLevel); + hal->delay(_pinsCfg.rstHoldTimeMs); + hal->digitalWrite(_pinsCfg.rstPin, !_pinsCfg.rstActiveLevel); + hal->delay(_pinsCfg.rstReleaseTimeMs); + } + // If no reset pin is available, derived classes can override this method to implement a software reset if supported. + } + + /** + * @brief Put the touch controller into low-power sleep mode (pure virtual). + * + * @note If the device does not have a hardware reset pin connected, + * it may not be possible to wake it from sleep without power cycling. + */ + virtual void sleep() = 0; + + /** + * @brief Wake the touch controller from sleep mode (pure virtual). + * @note Most touch devices cannot be woken up by commands when they are in deep sleep; + * they are usually woken up by pulling the reset button low. + * This method can be overridden by subclasses, and the default is to call the reset method. + */ + virtual void wakeup() + { + reset(); + } + + /** + * @brief Retrieve touch point coordinates (deprecated). + * + * @deprecated Use `getTouchPoints()` instead, which returns a richer TouchPoints object. + * + * @param[out] x_array Pointer to array to store X coordinates. + * @param[out] y_array Pointer to array to store Y coordinates. + * @param get_point Number of points to retrieve (max). + * @return uint8_t Actual number of touch points detected. + */ + virtual uint8_t getPoint(int16_t *x_array, int16_t *y_array, uint8_t get_point) __attribute__((deprecated("use getTouchPoints instead of getPoint"))) + { + TouchPoints data = getTouchPoints(); + + if (x_array == nullptr || y_array == nullptr) { + return data.getPointCount(); + } + if (data.hasPoints()) { + uint8_t pointsToCopy = (get_point < data.getPointCount()) ? get_point : data.getPointCount(); + for (int i = 0; i < pointsToCopy; i++) { + const TouchPoint &pt = data.getPoint(i); + x_array[i] = pt.x; + y_array[i] = pt.y; + } + } + return data.getPointCount(); + } + + /** + * @brief Get the current touch points (pure virtual). + * + * @return const TouchPoints& Reference to an object containing all detected touch points, + * their coordinates, and additional metadata. + */ + virtual const TouchPoints& getTouchPoints() = 0; + + /** + * @brief Check if any touch point is currently pressed. + * @note The `isPressed` method is suitable for screens with an interrupt pin connected, using the interrupt level + * to detect whether a touch is pressed. For devices without an interrupt pin connected, simply call `getTouchPoints`. + * @param filter_ms Optional debounce/filter time in milliseconds. If > 0, + * the function will only return true if a touch has been detected continuously for at least this duration. + * @retval true At least one touch point detected. + * @retval false No touch detected. + */ + virtual bool isPressed(uint32_t filter_ms = 0) + { + if (_pinsCfg.irqPin != -1) { + if (hal->digitalRead(_pinsCfg.irqPin) == _pinsCfg.irqTriggerLevel) { + if(filter_ms == 0){ + return true; + } + uint32_t now = hal->millis(); + if (now - _lastPulse > filter_ms) { + _lastPulse = now; + return true; + } + } + return false; + } + return getTouchPoints().hasPoints(); + } + + /** + * @brief Get the human-readable model name of the touch controller. + * + * @return const char* String describing the chip model (e.g., "FT6336"). + */ + virtual const char *getModelName() = 0; + + /** + * @brief Get the chip identifier (e.g., ID register value). + * + * @return uint32_t Chip ID. + */ + virtual uint32_t getChipID() { + return _chipID; + } + + /** + * @brief Set the hardware reset and interrupt pin numbers. + * + * These pins will be used by the driver for hardware control. + * Must be called before `begin()` if the pins are connected. + * + * @param rst Reset pin number (negative value if not used). + * @param irq Interrupt pin number (negative value if not used). + */ + virtual void setPins(int rst, int irq) { + _pinsCfg.irqPin = irq; + _pinsCfg.rstPin = rst; + } + + /** + * @brief Get the current touch pins configuration. + * + * @return const TouchPinsCfg& Reference to the touch pins configuration. + */ + virtual const TouchPinsCfg& getTouchPinsCfg() const { return _pinsCfg; } + + /** + * @brief Enable or disable swapping of X and Y coordinates. + * + * @param swap true to swap X and Y, false to keep original order. + */ + virtual void setSwapXY(bool swap) { + _touchConfig.swapXY = swap; + } + + /** + * @brief Check if X and Y coordinates are swapped. + * + * @return true if coordinates are swapped, false otherwise. + */ + virtual bool isSwapXY() const { return _touchConfig.swapXY; } + + /** + * @brief Enable or disable mirroring of X and/or Y coordinates. + * + * Mirroring is applied after scaling, using the maximum coordinates + * set via `setMaxCoordinates()` or `setTargetResolution()`. + * + * @param mirrorX true to mirror X (flip horizontally). + * @param mirrorY true to mirror Y (flip vertically). + */ + virtual void setMirrorXY(bool mirrorX, bool mirrorY) { + _touchConfig.mirrorX = mirrorX; + _touchConfig.mirrorY = mirrorY; + } + + /** + * @brief Check if X coordinates are mirrored. + * + * @return true if X is mirrored, false otherwise. + */ + virtual bool isMirrorX() const { return _touchConfig.mirrorX; } + + /** + * @brief Check if Y coordinates are mirrored. + * + * @return true if Y is mirrored, false otherwise. + */ + virtual bool isMirrorY() const { return _touchConfig.mirrorY; } + + /** + * @brief Set the maximum coordinate values used for mirroring. + * + * These values define the reference range when mirroring is enabled. + * If you also use scaling, consider using `setTargetResolution()` instead, + * which automatically sets these maxima. + * + * @param x Maximum X coordinate (e.g., display width). + * @param y Maximum Y coordinate (e.g., display height). + */ + virtual void setMaxCoordinates(uint16_t x, uint16_t y) { + _touchConfig.xMax = x; + _touchConfig.yMax = y; + } + + /** + * @brief Get the maximum coordinates used for mirroring. + * @param &x: Reference to store the maximum X coordinate. + * @param &y: Reference to store the maximum Y coordinate. + * @retval None + */ + virtual void getMaxCoordinates(uint16_t &x, uint16_t &y) { + x = _touchConfig.xMax; + y = _touchConfig.yMax; + } + + /** + * @brief Get the maximum X coordinate (e.g., display width). + * @note + * @retval Maximum X coordinate. + */ + virtual uint16_t getMaxX() { return _touchConfig.xMax; } + + /** + * @brief Get the maximum Y coordinate (e.g., display height). + * @retval Maximum Y coordinate. + */ + virtual uint16_t getMaxY() { return _touchConfig.yMax; } + + /** + * @brief Check if coordinate scaling is enabled. + * @retval true if scaling is enabled, false otherwise. + */ + virtual bool isScalingEnabled() { return _touchConfig.scalingEnabled; } + + /** + * @brief Set the raw resolution of the touch panel (physical maximum coordinates). + * + * This should be called if the touch controller does not provide its resolution automatically. + * These values are used to compute scaling factors when `setTargetResolution()` is called. + * + * @param width Maximum X coordinate reported by the touch controller. + * @param height Maximum Y coordinate reported by the touch controller. + */ + virtual void setResolution(uint16_t width, uint16_t height) { + _touchConfig.resolutionX = width; + _touchConfig.resolutionY = height; + } + + /** + * @brief Set the target display resolution to map touch coordinates to screen pixels. + * + * This function calculates scaling factors based on the previously set raw resolution + * (via `setResolution()`). If raw resolution is not set (both zero), scaling is disabled. + * It also stores the target dimensions as maximum coordinates for mirroring. + * + * @param width Target display width in pixels. + * @param height Target display height in pixels. + */ + virtual void setTargetResolution(uint16_t width, uint16_t height) { + if (_touchConfig.resolutionX == 0 || _touchConfig.resolutionY == 0) { + _touchConfig.scaleX = _touchConfig.scaleY = 1.0f; + _touchConfig.scalingEnabled = false; + } else { + _touchConfig.scaleX = (float)width / _touchConfig.resolutionX; + _touchConfig.scaleY = (float)height / _touchConfig.resolutionY; + _touchConfig.scalingEnabled = true; + } + _touchConfig.xMax = width; + _touchConfig.yMax = height; + } + + /** + * @brief Apply coordinate transformations (swap, scale, mirror) to all touch points. + * + * Transformations are applied in the following order: + * 1. Swap X and Y (if `_touchConfig.swapXY` is true). + * 2. Scale from raw to target resolution (if `_touchConfig.scalingEnabled` is true). + * 3. Mirror X (if `_touchConfig.mirrorX` true) using `_touchConfig.xMax` as the maximum X value. + * 4. Mirror Y (if `_touchConfig.mirrorY` true) using `_touchConfig.yMax` as the maximum Y value. + * 5. Clamp coordinates to `[0, _touchConfig.xMax]` and `[0, _touchConfig.yMax]`. + * + * @param points The TouchPoints object to transform (modified in-place). + */ + virtual void updateXY(TouchPoints &points) const + { + uint8_t count = points.getPointCount(); + if (count == 0){ + return; + } + for (uint8_t i = 0; i < count; ++i) { + TouchPoint &pt = points.getPoint(i); + + // Swap XY + if (_touchConfig.swapXY) { + uint16_t tmp = pt.x; + pt.x = pt.y; + pt.y = tmp; + } + + // Apply scaling if target resolution set + if (_touchConfig.scalingEnabled) { + pt.x = static_cast(pt.x * _touchConfig.scaleX + 0.5f); + pt.y = static_cast(pt.y * _touchConfig.scaleY + 0.5f); + } + + // Mirror X + if (_touchConfig.mirrorX && _touchConfig.xMax > 0) { + pt.x = _touchConfig.xMax - pt.x; + } + + // Mirror Y + if (_touchConfig.mirrorY && _touchConfig.yMax > 0) { + pt.y = _touchConfig.yMax - pt.y; + } + + // Clamp to display bounds + if(_touchConfig.xMax != 0) { + if (pt.x > _touchConfig.xMax) { + pt.x = _touchConfig.xMax; + } + } + if(_touchConfig.yMax != 0) { + if (pt.y > _touchConfig.yMax) { + pt.y = _touchConfig.yMax; + } + } + } + } + + /** + * @brief Register a callback for home button events. + * + * The callback will be invoked when a touch event occurs near the center button area + * (coordinates set via `setCenterButtonCoordinate()`). + * + * @param cb Function pointer to the callback. + * @param user_data Pointer to user-defined data passed to the callback. + */ + virtual void setHomeButtonCallback(HomeButtonCallback cb, void *user_data) { + _HButtonCallback = cb; + _userData = user_data; + } + + /** + * @brief Set the expected screen coordinates of a hardware home button. + * + * @note This feature is hardware-dependent and not all touch panels support it. + * It's only available on specific hardware. + * Please refer to the sample program for your specific model for details. + * + * @param x X coordinate of the button center. + * @param y Y coordinate of the button center. + */ + virtual void setCenterButtonCoordinate(int16_t x, int16_t y) { + _center_btn_x = x; + _center_btn_y = y; + } + +// *INDENT-ON* + +protected: + + SensorHalCustom::CustomMode _halModeCallback; ///< Custom GPIO mode callback + SensorHalCustom::CustomWrite _halWriteCallback; ///< Custom GPIO write callback + SensorHalCustom::CustomRead _halReadCallback; ///< Custom GPIO read callback + + uint32_t _chipID; ///< Chip identification value + HomeButtonCallback _HButtonCallback; ///< Home button callback function + void *_userData; ///< User data for home button callback + uint8_t _maxTouchPoints; ///< Maximum supported touch points + int16_t _center_btn_x; ///< X coordinate of home button center + int16_t _center_btn_y; ///< Y coordinate of home button center + uint32_t _lastPulse; ///< Timestamp of the last touch event + TouchPinsCfg _pinsCfg; ///< Configuration for reset and interrupt pins + TouchConfig _touchConfig; ///< Configuration for coordinate transformations + TouchPoints _touchPoints; ///< Touch points data + +private: + /** + * @brief Called after communication with the touch controller is ready. + * + * This function sets up custom GPIO callbacks and initializes GPIO pins. + */ + virtual void afterCommReady() override + { + if (_halModeCallback) { + hal->setCustomMode(_halModeCallback); + } + if (_halWriteCallback) { + hal->setCustomWrite(_halWriteCallback); + } + if (_halReadCallback) { + hal->setCustomRead(_halReadCallback); + } + initGpioPins(); + } + + /** + * @brief Initialize GPIO pins for reset and interrupt. + * + * Configures the reset pin as OUTPUT and the interrupt pin as INPUT based on the current configuration. + * Also performs an initial reset of the touch controller if a reset pin is configured. + */ + virtual void initGpioPins() + { + if (_pinsCfg.rstPin != -1) { + hal->pinMode(_pinsCfg.rstPin, OUTPUT); + } + if (_pinsCfg.irqPin != -1) { + hal->pinMode(_pinsCfg.irqPin, INPUT); + } + reset(); + } +}; diff --git a/lib/SensorLib/src/touch/TouchPoints.cpp b/lib/SensorLib/src/touch/TouchPoints.cpp new file mode 100644 index 0000000..52df4af --- /dev/null +++ b/lib/SensorLib/src/touch/TouchPoints.cpp @@ -0,0 +1,93 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchPoints.cpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-05 + */ +#include "TouchPoints.hpp" + +TouchPoint TouchPoints::emptyPoint = {}; /**< Empty touch point. */ + +TouchPoints::TouchPoints() : pointCount(0), gestureValid(false), gesture(Gesture::NONE) {} + +void TouchPoints::clear() +{ + pointCount = 0; + gestureValid = false; + gesture = Gesture::NONE; +} + +bool TouchPoints::addPoint(uint16_t x, uint16_t y, uint16_t pressure, uint8_t id, uint8_t event) +{ + if (pointCount >= MAX_POINTS) return false; + points[pointCount].x = x; + points[pointCount].y = y; + points[pointCount].pressure = pressure; + points[pointCount].id = id; + points[pointCount].event = event; + pointCount++; + return true; +} + +void TouchPoints::setGesture(Gesture g) +{ + gesture = g; + gestureValid = true; +} + +uint8_t TouchPoints::getPointCount() const +{ + return pointCount; +} + +TouchPoint &TouchPoints::getPoint(uint8_t index) +{ + if (index < pointCount) return points[index]; + log_e("Invalid touch point index: %u", index); + return emptyPoint; +} + +const TouchPoint &TouchPoints::getPoint(uint8_t index) const +{ + if (index < pointCount) return points[index]; + log_e("Invalid touch point index: %u", index); + return emptyPoint; +} + +bool TouchPoints::hasPoints() const +{ + return pointCount > 0; +} + + +bool TouchPoints::hasGesture() const +{ + return gestureValid; +} + +Gesture TouchPoints::getGesture() const +{ + return gesture; +} diff --git a/lib/SensorLib/src/touch/TouchPoints.hpp b/lib/SensorLib/src/touch/TouchPoints.hpp new file mode 100644 index 0000000..434868b --- /dev/null +++ b/lib/SensorLib/src/touch/TouchPoints.hpp @@ -0,0 +1,160 @@ +/** + * + * @license MIT License + * + * Copyright (c) 2026 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. + * + * @file TouchPoints.hpp + * @author Lewis He (lewishe@outlook.com) + * @date 2026-03-05 + */ +#pragma once + +#include "SensorPlatform.hpp" + +/** + * @brief Represents a single touch point with its properties. + */ +struct TouchPoint { + uint16_t x; /**< X coordinate of the touch point. */ + uint16_t y; /**< Y coordinate of the touch point. */ + uint16_t pressure; /**< Pressure value (0 if not supported by the chip). */ + uint8_t id; /**< Touch point ID for multi‑touch tracking. */ + uint8_t event; /**< Event type based on actual hardware feedback, most touch devices do not support. */ +}; + +/** + * @brief Gesture types recognized by the touch controller. + */ +enum class Gesture { + NONE, /**< No gesture detected. */ + TAP, /**< Single tap gesture. */ + SWIPE_UP, /**< Swipe upward gesture. */ + SWIPE_DOWN, /**< Swipe downward gesture. */ + SWIPE_LEFT, /**< Swipe leftward gesture. */ + SWIPE_RIGHT,/**< Swipe rightward gesture. */ + HOLD /**< Hold (long press) gesture. */ +}; + +/** + * @brief Container for touch point data and optional gesture information. + * + * This class holds up to MAX_POINTS touch points and an optional gesture. + * It is designed to be filled by a touch driver and consumed by the application. + */ +class TouchPoints +{ +public: + /** Maximum number of touch points supported. */ + static constexpr uint8_t MAX_POINTS = 5; + + /** + * @brief Constructs an empty TouchPoints object. + */ + TouchPoints(); + + ~TouchPoints() = default; + + /** + * @brief Clears all stored touch points and gesture. + * + * Resets the object to its initial empty state. + */ + void clear(); + + /** + * @brief Adds a touch point to the container. + * + * @param x X coordinate of the touch point. + * @param y Y coordinate of the touch point. + * @param pressure Pressure value (default 0). + * @param id Touch point ID (default 0). + * @param event Event type (default 0). + * @return true if the point was added successfully, false if the container is full. + */ + bool addPoint(uint16_t x, uint16_t y, uint16_t pressure = 0, uint8_t id = 0, uint8_t event = 0); + + /** + * @brief Sets the gesture for this touch event. + * + * @param g The gesture to set. + */ + void setGesture(Gesture g); + + /** + * @brief Returns the number of stored touch points. + * + * @return Number of valid touch points. + */ + uint8_t getPointCount() const; + + /** + * @brief Gets a reference to a touch point at the specified index. + * @note The index must be valid (0 to getPointCount()-1). + * @param index: The index of the touch point to retrieve. + * @retval A reference to the touch point at the specified index. + */ + TouchPoint &getPoint(uint8_t index); + + /** + * @brief Gets a constant reference to a touch point at the specified index. + * @note The index must be valid (0 to getPointCount()-1). + * @param index: The index of the touch point to retrieve. + * @retval A constant reference to the touch point at the specified index. + */ + const TouchPoint &getPoint(uint8_t index) const; + + /** + * @brief Checks whether any touch points are stored. + * + * @return true if at least one touch point is present, false otherwise. + */ + bool hasPoints() const; + + /** + * @brief Checks whether a gesture is stored. + * + * @return true if a valid gesture is present, false otherwise. + */ + bool hasGesture() const; + + /** + * @brief Returns the stored gesture. + * + * @return The gesture value. Valid only if hasGesture() returns true. + */ + Gesture getGesture() const; + + TouchPoint& operator[](uint8_t index) { return getPoint(index); } + const TouchPoint& operator[](uint8_t index) const { return getPoint(index); } + + TouchPoint* begin() { return points; } + TouchPoint* end() { return points + pointCount; } + const TouchPoint* begin() const { return points; } + const TouchPoint* end() const { return points + pointCount; } + +private: + TouchPoint points[MAX_POINTS]; /**< Array of touch points. */ + uint8_t pointCount; /**< Number of valid touch points. */ + bool gestureValid; /**< Flag indicating whether gesture is valid. */ + Gesture gesture; /**< Stored gesture. */ + static TouchPoint emptyPoint; /**< Empty touch point. */ +}; \ No newline at end of file diff --git a/lib/SensorLib/tools/config.json b/lib/SensorLib/tools/config.json new file mode 100644 index 0000000..0310898 --- /dev/null +++ b/lib/SensorLib/tools/config.json @@ -0,0 +1,7 @@ +{ + "fqbn": "esp32:esp32:esp32p4:DebugLevel=none", + "port": "COM66", + "build_root": ".pio/build", + "library": ".", + "arduino_cli": "arduino-cli.exe" +} \ No newline at end of file diff --git a/lib/SensorLib/tools/fw2h/fw2h.c b/lib/SensorLib/tools/fw2h/fw2h.c new file mode 100644 index 0000000..f95634d --- /dev/null +++ b/lib/SensorLib/tools/fw2h/fw2h.c @@ -0,0 +1,104 @@ +/** + * Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved. + * + * BSD-3-Clause + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * @file fw2h.c + * @brief Firmware to Header example for the BHI260/BHA260 + * + */ +#include +#include +#include + +#define N_ROWS 12 + +/*lint -e818 suppressing parameter(argv) could be declared as pointer to constant info as the info is not addressed + * after declaring the parameter as pointer to constant */ +int main(int argc, char *argv[]) +{ + FILE *input_file, *output_file; + char output_file_name[256]; /* Limit file name to 256 characters */ + unsigned char fw[N_ROWS]; + + printf("Utility to convert binary files to .h\n"); + if (argc == 1) + { + printf("Pass a firmware file as an argument. Exiting\n"); + exit(-1); + } + else + { + for (int i = 1; i < argc; i++) + { + input_file = fopen(argv[i], "rb"); + if (input_file) + { + sprintf(output_file_name, "%s" ".h", (char *)argv[i]); + printf("Copying firmware to %s\n", output_file_name); + output_file = fopen(output_file_name, "w"); + if (output_file) + { + fprintf(output_file, "const unsigned char bhy2_firmware_image[] = {\n"); + unsigned char bytes_read = 0; + unsigned char j = 0; + do + { + bytes_read = (uint8_t)fread(fw, 1, N_ROWS, input_file); + if (bytes_read) + { + fprintf(output_file, " "); + for (j = 0; j < bytes_read; j++) + { + fprintf(output_file, "0x%02x, ", fw[j]); + } + + fprintf(output_file, "\n"); + } + } while (bytes_read != 0); + fprintf(output_file, "};\n"); + fclose(output_file); + } + else + { + printf("Could not create %s\n", output_file_name); + } + } + else + { + printf("Could not open %s.\n", argv[i]); + } + + fclose(input_file); + } + } +} + +/*lint +e818*/ diff --git a/lib/SensorLib/tools/fw2h/fw2h.py b/lib/SensorLib/tools/fw2h/fw2h.py new file mode 100644 index 0000000..a5a18f0 --- /dev/null +++ b/lib/SensorLib/tools/fw2h/fw2h.py @@ -0,0 +1,38 @@ +''' + * @file fw2h.py + * @author Lewis He (lewishe@outlook.com) + * @date 2024-07-24 +''' + +import sys +import struct + +def convert_binary_to_header(input_file_path): + output_file_name = 'py_' + input_file_path + ".h" + print(f"Utility to convert binary files to .h") + print(f"Copying firmware to {output_file_name}") + + with open(input_file_path, "rb") as input_file, open(output_file_name, "w") as output_file: + output_file.write("const unsigned char bhy2_firmware_image[] = {\n") + fw = bytearray(12) # Assuming 12 rows as in the C program + bytes_read = 0 + + while True: + bytes_read = input_file.readinto(fw) + if not bytes_read: + break + + output_file.write(" ") + for j in range(bytes_read): + output_file.write(f"0x{fw[j]:02x}, ") + output_file.write("\n") + + output_file.write("};\n") + +if __name__ == "__main__": + if len(sys.argv) == 1: + print("Pass a firmware file as an argument. Exiting") + sys.exit(-1) + + for i in range(1, len(sys.argv)): + convert_binary_to_header(sys.argv[i]) \ No newline at end of file diff --git a/lib/SensorLib/tools/generate_tasks.py b/lib/SensorLib/tools/generate_tasks.py new file mode 100644 index 0000000..e554feb --- /dev/null +++ b/lib/SensorLib/tools/generate_tasks.py @@ -0,0 +1,127 @@ +#!/usr/bin/env python3 +import os +import json +import configparser +from pathlib import Path + +def get_project_root(): + script_dir = Path(__file__).parent.resolve() + return script_dir.parent + +def find_examples(root_dir): + examples_dir = root_dir / "examples" + if not examples_dir.exists(): + return [] + ino_files = list(examples_dir.rglob("*.ino")) + return [p.relative_to(root_dir) for p in ino_files] + +def load_config(script_dir): + config = {} + json_path = script_dir / "config.json" + ini_path = script_dir / "config.ini" + if json_path.exists(): + with open(json_path, "r", encoding="utf-8") as f: + config = json.load(f) + elif ini_path.exists(): + parser = configparser.ConfigParser() + parser.read(ini_path, encoding="utf-8") + if parser.has_section("DEFAULT"): + config = dict(parser["DEFAULT"]) + elif parser.has_section("arduino"): + config = dict(parser["arduino"]) + else: + sections = parser.sections() + if sections: + config = dict(parser[sections[0]]) + else: + print("WARNING: NO tools/config.json OR tools/config.ini FOUND, USING DEFAULT VALUES") + defaults = { + "fqbn": "esp32:esp32:esp32p4:DebugLevel=debug", + "port": "COM3", + "build_root": ".pio/build", + "libraries": ".", + "arduino_cli": "arduino-cli.exe" + } + for key, value in defaults.items(): + if key not in config: + config[key] = value + return config + +def generate_tasks(example_paths, config, project_root): + tasks = [] + workspace_var = "${workspaceFolder}" + + for ino_rel in example_paths: + example_name = ino_rel.stem + build_dir = f"{workspace_var}/{config['build_root']}/{example_name}" + + compile_label = f"Compile: {example_name}" + compile_cmd = ( + f"{config['arduino_cli']} compile --fqbn {config['fqbn']} " + f"--verbose -j 0 " + f"--build-path \"{build_dir}\" " + f"--library \"{workspace_var}/{config['library']}\" " + f"\"{workspace_var}/{ino_rel.as_posix()}\"" + ) + tasks.append({ + "label": compile_label, + "type": "shell", + "command": compile_cmd, + "group": "build", + "problemMatcher": [] + }) + + upload_label = f"Compile & Upload: {example_name}" + upload_cmd = ( + f"{config['arduino_cli']} compile --fqbn {config['fqbn']} " + f"--verbose -j 0 " + f"--build-path \"{build_dir}\" " + f"--library \"{workspace_var}/{config['library']}\" " + f"--port {config['port']} --upload " + f"\"{workspace_var}/{ino_rel.as_posix()}\"" + ) + tasks.append({ + "label": upload_label, + "type": "shell", + "command": upload_cmd, + "group": { + "kind": "build", + "isDefault": False + }, + "problemMatcher": [] + }) + + return {"version": "2.0.0", "tasks": tasks} + +def main(): + project_root = get_project_root() + script_dir = Path(__file__).parent.resolve() + print(f"PROJECT ROOT : {project_root}") + print(f"SCRIPT DIR : {script_dir}") + + examples = find_examples(project_root) + if not examples: + print("No examples found") + return + + print(f"FOUND {len(examples)} EXAMPLES:") + for ex in examples: + print(f" - {ex}") + + config = load_config(script_dir) + print(f"USING CONFIG : fqbn={config['fqbn']}, port={config['port']}") + + tasks_json = generate_tasks(examples, config, project_root) + + vscode_dir = project_root / ".vscode" + vscode_dir.mkdir(exist_ok=True) + tasks_path = vscode_dir / "tasks.json" + with open(tasks_path, "w", encoding="utf-8") as f: + json.dump(tasks_json, f, indent=2, ensure_ascii=False) + + print(f"GENERATED {tasks_path}") + print("NOW YOU CAN PRESS Ctrl+Shift+P IN VS CODE AND SELECT 'Tasks: Run Task' TO EXECUTE THE BUILD OR UPLOAD.") + +if __name__ == "__main__": + main() + \ No newline at end of file diff --git a/platformio.ini b/platformio.ini index 402a9f2..da7f467 100644 --- a/platformio.ini +++ b/platformio.ini @@ -35,6 +35,8 @@ ; default_envs = T_BEAM_S3_SUPREME_SX1262 ; default_envs = T_BEAM_S3_SUPREME_LR1121 +; default_envs = T_BEAM_S3_SUPREME_SX1262, T_BEAM_S3_SUPREME_LR1121, T_BEAM_S3_SUPREME_SX1262_JP, T_BEAM_S3_SUPREME_LR1121_JP + ; ! T3-S3 v1.3 Same T3-S3 v1.2 ; default_envs = T3_S3_V1_2_SX1262 ; default_envs = T3_S3_V1_2_SX1276 @@ -138,7 +140,7 @@ ; src_dir = examples/TBeamFactory ; T-Beam V1.2 / T-Beam S3 Supreme / T-Beam-1W / T-Beam-BPF factory example -; src_dir = examples/Factory +src_dir = examples/Factory boards_dir = boards @@ -256,6 +258,22 @@ build_flags = ${esp32s3_base.build_flags} -DBOARD_HAS_PSRAM board_build.partitions = huge_app.csv +[env:T_BEAM_S3_SUPREME_SX1262_JP] +board = t-beams3-supreme +build_flags = ${esp32s3_base.build_flags} + -DT_BEAM_S3_SUPREME_SX1262 + -DBOARD_HAS_PSRAM + -DJAPAN_MIC_CERTIFICATION +board_build.partitions = huge_app.csv + +[env:T_BEAM_S3_SUPREME_LR1121_JP] +board = t-beams3-supreme +build_flags = ${esp32s3_base.build_flags} + -DT_BEAM_S3_SUPREME_LR1121 + -DBOARD_HAS_PSRAM + -DJAPAN_MIC_CERTIFICATION +board_build.partitions = huge_app.csv + [env:T3_S3_V1_2_SX1262] board = t3_s3_v1_x build_flags = ${esp32s3_base.build_flags}