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Merge branch 'develop' into bugfix/detection-on-0x69-address

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This commit is contained in:
oscgonfer
2026-06-14 13:51:17 +02:00
committed by GitHub
co-authored by GitHub
parent 7c17e489c2 8a0c7592cc
commit 658197ccfd
19 changed files with 318 additions and 203 deletions
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.github/workflows/test_native.yml
+21 -1
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@@ -37,13 +37,33 @@ jobs:
sed -i -e "s#${PWD}#.#" coverage_base.info # Make paths relative.
- name: Integration test
# Cap the whole step: if the simulator ever fails to exit (e.g. the
# exit_simulator admin path regresses again) the job must fail fast,
# not run to GitHub's 6-hour limit.
timeout-minutes: 5
run: |
.pio/build/coverage/meshtasticd -s &
PID=$!
trap 'kill "$PID" 2>/dev/null || true' EXIT
timeout 20 bash -c "until ls -al /proc/$PID/fd | grep socket; do sleep 1; done"
echo "Simulator started, launching python test..."
python3 -c 'from meshtastic.test import testSimulator; testSimulator()'
wait
# The Python harness sends exit_simulator and exits; the simulator is
# expected to terminate on its own. Give it a moment, then verify.
# If it is still alive the exit handshake is broken — fail loudly and
# do NOT fall through to `wait`, which would otherwise block until the
# job's hard timeout.
for i in $(seq 1 10); do
kill -0 "$PID" 2>/dev/null || break
sleep 1
done
if kill -0 "$PID" 2>/dev/null; then
echo "::error title=Simulator did not exit::meshtasticd ignored exit_simulator and is still running after the integration test. The exit_simulator admin path is broken (see AdminModule::handleReceivedProtobuf, ARCH_PORTDUINO bypass). Killing it to avoid a 6-hour CI overrun."
kill -9 "$PID" 2>/dev/null || true
wait "$PID" 2>/dev/null || true
exit 1
fi
wait "$PID" 2>/dev/null || true
- name: Capture coverage information
if: always() # run this step even if previous step failed
boards/wiscore_rak4600.json
-50
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@@ -1,50 +0,0 @@
{
"build": {
"arduino": {
"ldscript": "nrf52832_s132_v6.ld"
},
"core": "nRF5",
"cpu": "cortex-m4",
"extra_flags": "-DNRF52832_XXAA -DNRF52",
"f_cpu": "64000000L",
"hwids": [
["0x239A", "0x8029"],
["0x239A", "0x0029"],
["0x239A", "0x002A"],
["0x239A", "0x802A"]
],
"usb_product": "Feather nRF52832 Express",
"mcu": "nrf52832",
"variant": "WisCore_RAK4600_Board",
"bsp": {
"name": "adafruit"
},
"softdevice": {
"sd_flags": "-DS132",
"sd_name": "s132",
"sd_version": "6.1.1",
"sd_fwid": "0x00B7"
},
"zephyr": {
"variant": "nrf52_adafruit_feather"
}
},
"connectivity": ["bluetooth"],
"debug": {
"jlink_device": "nRF52832_xxAA",
"svd_path": "nrf52.svd",
"openocd_target": "nrf52840-mdk-rs"
},
"frameworks": ["arduino", "zephyr"],
"name": "Adafruit Bluefruit nRF52832 Feather",
"upload": {
"maximum_ram_size": 65536,
"maximum_size": 524288,
"require_upload_port": true,
"speed": 115200,
"protocol": "nrfutil",
"protocols": ["jlink", "nrfjprog", "nrfutil", "stlink"]
},
"url": "https://www.adafruit.com/product/3406",
"vendor": "Adafruit"
}
mcp-server/tests/test_00_bake.py
+1 -1
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@@ -44,7 +44,7 @@ _ESP32_ARCHES = {
"esp32-c6",
"esp32c6",
}
_NRF52_ARCHES = {"nrf52", "nrf52840", "nrf52832"}
_NRF52_ARCHES = {"nrf52", "nrf52840"}
def _wait_port_free(port: str, *, timeout_s: float = 15.0, role: str = "") -> None:
src/configuration.h
+25 -9
View File
@@ -576,9 +576,10 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
// -----------------------------------------------------------------------------
// MESHTASTIC_LOCKDOWN — runtime, client-toggleable hardening (nRF52 only)
//
// There is NO build flag to turn lockdown on or off. On nRF52 (CC310 hardware
// crypto) the lockdown machinery is ALWAYS compiled in; whether it is ACTIVE
// is decided entirely at runtime by EncryptedStorage::isLockdownActive()
// Lockdown/protect support is opt-in at build time. Builds that need it pass
// -DMESHTASTIC_ENABLE_LOCKDOWN=1. When enabled on nRF52 (CC310 hardware
// crypto), whether it is ACTIVE is decided entirely at runtime by
// EncryptedStorage::isLockdownActive()
// (== a passphrase has been provisioned, i.e. /prefs/.dek exists). A device
// that has never been provisioned — or that the operator disabled from the
// client app — behaves exactly like stock firmware: plaintext storage, no
@@ -594,11 +595,10 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
// reboots into normal mode. APPROTECT is the one thing that
// does NOT revert (see below).
//
// MESHTASTIC_LOCKDOWN here is an INTERNAL capability marker, auto-defined for
// nRF52. It gates the UI bits (lock screen, pairing-PIN handling). It is NOT
// something a variant sets. Flash-constrained nRF52 variants that genuinely
// cannot afford the ~tens-of-KB of crypto + access-control code may opt OUT
// with -DMESHTASTIC_EXCLUDE_LOCKDOWN=1.
// MESHTASTIC_LOCKDOWN here is an INTERNAL capability marker. It gates the UI
// bits (lock screen, pairing-PIN handling). Flash-constrained nRF52 variants
// that genuinely cannot afford the ~tens-of-KB of crypto + access-control code
// may also opt out with -DMESHTASTIC_EXCLUDE_LOCKDOWN=1.
//
// MESHTASTIC_PHONEAPI_ACCESS_CONTROL — per-connection auth + redaction,
// gated at runtime on isLockdownActive()
@@ -615,7 +615,22 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
// -DMESHTASTIC_LOCKDOWN_DEBUG=1 keeps the irreversible APPROTECT burn disabled
// even when provisioned — for development so dev boards never lose SWD.
// -----------------------------------------------------------------------------
#if defined(ARCH_NRF52) && !defined(MESHTASTIC_EXCLUDE_LOCKDOWN)
#if defined(ARCH_NRF52)
#ifndef MESHTASTIC_ENABLE_LOCKDOWN
#define MESHTASTIC_ENABLE_LOCKDOWN 0
#endif
#if !MESHTASTIC_ENABLE_LOCKDOWN
#undef MESHTASTIC_LOCKDOWN
#undef MESHTASTIC_PHONEAPI_ACCESS_CONTROL
#undef MESHTASTIC_ENCRYPTED_STORAGE
#undef MESHTASTIC_ENABLE_APPROTECT
#ifndef MESHTASTIC_EXCLUDE_LOCKDOWN
#define MESHTASTIC_EXCLUDE_LOCKDOWN 1
#endif
#endif
#if MESHTASTIC_ENABLE_LOCKDOWN && !defined(MESHTASTIC_EXCLUDE_LOCKDOWN)
#define MESHTASTIC_LOCKDOWN 1
#define MESHTASTIC_PHONEAPI_ACCESS_CONTROL 1
#define MESHTASTIC_ENCRYPTED_STORAGE 1
@@ -623,6 +638,7 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#define MESHTASTIC_ENABLE_APPROTECT 1
#endif
#endif
#endif
#ifdef MESHTASTIC_LOCKDOWN
src/gps/GPS.cpp
+71 -17
View File
@@ -80,6 +80,12 @@ namespace
constexpr uint32_t GPS_PROBE_CACHE_MAGIC = 0x47504348UL; // "GPCH"
constexpr uint16_t GPS_PROBE_CACHE_VERSION = 1;
constexpr const char *GPS_PROBE_CACHE_FILE = "/prefs/gps_probe_cache.dat";
constexpr int MIN_PLAUSIBLE_GPS_YEAR = 2020;
constexpr int MAX_PLAUSIBLE_GPS_YEAR = 2100;
#ifdef TRACKER_T1000_E
constexpr uint32_t T1000_E_AIROHA_WAKE_MS = 1000;
constexpr uint32_t T1000_E_AIROHA_WAKE_INTERVAL_MS = 40;
#endif
struct GPSProbeCacheRecord {
uint32_t magic;
@@ -101,6 +107,45 @@ bool isValidProbeBaud(uint32_t baud)
return baud >= 1200 && baud <= 921600;
}
template <typename T> void wakeAirohaForActiveProbe(T *serialGps)
{
#ifdef TRACKER_T1000_E
digitalWrite(PIN_GPS_EN, GPS_EN_ACTIVE);
digitalWrite(GPS_RTC_INT, HIGH);
delay(3);
digitalWrite(GPS_RTC_INT, LOW);
delay(50);
const uint32_t start = millis();
do {
serialGps->write("$PAIR382,1*2E\r\n");
delay(T1000_E_AIROHA_WAKE_INTERVAL_MS);
} while (Throttle::isWithinTimespanMs(start, T1000_E_AIROHA_WAKE_MS));
#elif defined(GNSS_AIROHA)
serialGps->write("$PAIR382,1*2E\r\n");
delay(20);
#else
(void)serialGps;
#endif
}
bool isPlausibleNmeaTime(const struct tm &t)
{
const int year = t.tm_year + 1900;
if (year < MIN_PLAUSIBLE_GPS_YEAR || year > MAX_PLAUSIBLE_GPS_YEAR) {
return false;
}
#ifdef BUILD_EPOCH
const int64_t candidate = static_cast<int64_t>(gm_mktime(&t));
const int64_t minEpoch = static_cast<int64_t>(BUILD_EPOCH);
const int64_t maxEpoch = minEpoch + static_cast<int64_t>(FORTY_YEARS);
return candidate >= minEpoch && candidate <= maxEpoch;
#else
return true;
#endif
}
template <typename T> bool sawNmeaSentenceAtBaud(T *serialGps, uint32_t timeoutMs)
{
// Lightweight passive check: look for at least one complete
@@ -689,6 +734,7 @@ bool GPS::verifyCachedProbePresence()
case GNSS_MODEL_AG3352:
if (cachedProbeModel == GNSS_MODEL_AG3352)
cachedProbeModelName = "AG3352";
wakeAirohaForActiveProbe(_serial_gps);
_serial_gps->write("$PAIR021*39\r\n");
present = (getACK("$PAIR021,", 900) == GNSS_RESPONSE_OK);
break;
@@ -741,7 +787,6 @@ bool GPS::verifyCachedProbePresence()
if (!present) {
LOG_WARN("Cached GPS probe is stale (%s @ %d), clearing cache", cachedProbeModelName, cachedProbeBaud);
clearProbeCache();
cachedProbeFailedThisBoot = true;
return false;
}
@@ -762,13 +807,6 @@ bool GPS::setup()
{
if (!didSerialInit) {
int msglen = 0;
if (cachedProbeFailedThisBoot) {
// If cached verification failed, suppress further probing until
// reboot.
didSerialInit = true;
return true;
}
if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
if (!hasProbeCache && !triedProbeCache) {
(void)loadProbeCache();
@@ -777,12 +815,13 @@ bool GPS::setup()
if (hasProbeCache && !triedProbeCache) {
triedProbeCache = true;
if (!verifyCachedProbePresence()) {
// Cache was stale and got wiped; skip scanning this boot
// and let next boot do a full probe.
didSerialInit = true;
return true;
currentStep = 0;
speedSelect = 0;
probeTries = 0;
}
} else if (probeTries < GPS_PROBETRIES) {
}
if (gnssModel == GNSS_MODEL_UNKNOWN && probeTries < GPS_PROBETRIES) {
// No usable cache: walk common baud rates first.
gnssModel = probe(serialSpeeds[speedSelect]);
if (gnssModel != GNSS_MODEL_UNKNOWN) {
@@ -794,7 +833,7 @@ bool GPS::setup()
}
// Rare Serial Speeds
#ifndef CONFIG_IDF_TARGET_ESP32C6
else if (probeTries == GPS_PROBETRIES) {
else if (gnssModel == GNSS_MODEL_UNKNOWN && probeTries == GPS_PROBETRIES) {
// Then try less common baud rates before giving up.
gnssModel = probe(rareSerialSpeeds[speedSelect]);
if (gnssModel != GNSS_MODEL_UNKNOWN) {
@@ -1125,6 +1164,15 @@ void GPS::setPowerState(GPSPowerState newState, uint32_t sleepTime)
break;
if (oldState != GPS_ACTIVE && oldState != GPS_IDLE) // If hardware just waking now, clear buffer
clearBuffer();
#ifdef TRACKER_T1000_E
pinMode(GPS_VRTC_EN, OUTPUT);
digitalWrite(GPS_VRTC_EN, HIGH);
pinMode(GPS_SLEEP_INT, OUTPUT);
digitalWrite(GPS_SLEEP_INT, HIGH);
pinMode(GPS_RTC_INT, OUTPUT);
digitalWrite(GPS_RTC_INT, LOW);
pinMode(GPS_RESETB_OUT, INPUT_PULLUP);
#endif
powerMon->setState(meshtastic_PowerMon_State_GPS_Active); // Report change for power monitoring (during testing)
writePinEN(true); // Power (EN pin): on
setPowerPMU(true); // Power (PMU): on
@@ -1383,9 +1431,8 @@ int32_t GPS::runOnce()
if (!setup())
return currentDelay; // Setup failed, re-run in two seconds
if (cachedProbeFailedThisBoot || gnssModel == GNSS_MODEL_UNKNOWN) {
LOG_WARN("GPS not detected at cached settings; marked not present "
"for this boot");
if (gnssModel == GNSS_MODEL_UNKNOWN) {
LOG_WARN("GPS not detected; marked not present for this boot");
return disable();
}
@@ -1585,6 +1632,9 @@ GnssModel_t GPS::probe(int serialSpeed)
digitalWrite(PIN_GPS_RESET, GPS_RESET_MODE); // assert for 10ms
delay(10);
digitalWrite(PIN_GPS_RESET, !GPS_RESET_MODE);
#ifdef TRACKER_T1000_E
delay(100);
#endif
// attempt to detect the chip based on boot messages
std::vector<ChipInfo> passive_detect = {
@@ -1637,6 +1687,7 @@ GnssModel_t GPS::probe(int serialSpeed)
}
case 3: {
/* Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M */
wakeAirohaForActiveProbe(_serial_gps);
_serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF to reduce volume
_serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF to reduce volume
_serial_gps->write("$PAIR513*3D\r\n"); // save configuration
@@ -1968,6 +2019,9 @@ The Unix epoch (or Unix time or POSIX time or Unix timestamp) is the number of s
t.tm_year = d.year() - 1900;
t.tm_isdst = false;
if (t.tm_mon > -1) {
if (!isPlausibleNmeaTime(t)) {
return false;
}
if (perhapsSetRTC(RTCQualityGPS, t) == RTCSetResultSuccess) {
LOG_DEBUG("NMEA GPS time set %02d-%02d-%02d %02d:%02d:%02d age %d", d.year(), d.month(), t.tm_mday, t.tm_hour,
t.tm_min, t.tm_sec, ti.age());
src/gps/GPS.h
-2
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@@ -193,8 +193,6 @@ class GPS : private concurrency::OSThread
bool hasProbeCache = false;
// Ensures cached probe is attempted once per boot.
bool triedProbeCache = false;
// Latched when cached presence check fails
bool cachedProbeFailedThisBoot = false;
/**
* hasValidLocation - indicates that the position variables contain a complete
src/graphics/Screen.cpp
+26 -23
View File
@@ -233,6 +233,16 @@ static inline float wrapHeading360(float heading)
return heading;
}
static inline float wrapDelta180(float delta)
{
if (delta > 180.0f) {
delta -= 360.0f;
} else if (delta < -180.0f) {
delta += 360.0f;
}
return delta;
}
void Screen::setHeading(float heading)
{
const float wrappedHeading = wrapHeading360(heading);
@@ -244,37 +254,30 @@ void Screen::setHeading(float heading)
}
// Interpolate using shortest-path angular delta to avoid jumps around 0/360.
float delta = wrappedHeading - compassHeading;
if (delta > 180.0f) {
delta -= 360.0f;
} else if (delta < -180.0f) {
delta += 360.0f;
}
float delta = wrapDelta180(wrappedHeading - compassHeading);
// Adaptive filtering:
// - Strong damping for tiny deltas (jitter)
// - Faster response for larger turns
const float absDelta = (delta >= 0.0f) ? delta : -delta;
if (absDelta < 1.0f) {
return;
}
if (absDelta >= 1.0f) {
float alpha = 0.35f;
if (absDelta > 25.0f) {
alpha = 0.85f;
} else if (absDelta > 10.0f) {
alpha = 0.65f;
}
float alpha = 0.35f;
if (absDelta > 25.0f) {
alpha = 0.85f;
} else if (absDelta > 10.0f) {
alpha = 0.65f;
}
float step = delta * alpha;
const float maxStep = 12.0f;
if (step > maxStep) {
step = maxStep;
} else if (step < -maxStep) {
step = -maxStep;
}
float step = delta * alpha;
const float maxStep = 12.0f;
if (step > maxStep) {
step = maxStep;
} else if (step < -maxStep) {
step = -maxStep;
compassHeading = wrapHeading360(compassHeading + step);
}
compassHeading = wrapHeading360(compassHeading + step);
}
// ==============================
src/modules/AdminModule.cpp
+13
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@@ -19,6 +19,7 @@
#include "main.h"
#endif
#ifdef ARCH_PORTDUINO
#include "PortduinoGlue.h"
#include "unistd.h"
#endif
@@ -106,6 +107,18 @@ bool AdminModule::handleReceivedProtobuf(const meshtastic_MeshPacket &mp, meshta
if (mp.which_payload_variant != meshtastic_MeshPacket_decoded_tag) {
return handled;
}
#ifdef ARCH_PORTDUINO
// Simulator only: honor exit_simulator unconditionally for the local client (from==0).
// The from==0 branch below now covers pki_encrypted local packets too, but is_managed
// can still block it. Rather than threading simulator awareness through the auth gates,
// intercept here before any auth logic runs. Local-origin + force_simradio only.
// TODO: should a local client bypass admin auth at all? Fenced to the simulator for now.
if (portduino_config.force_simradio && mp.from == 0 &&
r->which_payload_variant == meshtastic_AdminMessage_exit_simulator_tag) {
LOG_INFO("Exiting simulator");
exit(0);
}
#endif
meshtastic_Channel *ch = &channels.getByIndex(mp.channel);
// Could tighten this up further by tracking the last public_key we went an AdminMessage request to
// and only allowing responses from that remote.
src/modules/Telemetry/AirQualityTelemetry.cpp
-14
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@@ -428,20 +428,6 @@ bool AirQualityTelemetryModule::sendTelemetry(NodeNum dest, bool phoneOnly)
LOG_DEBUG("Start next execution in 5s, then sleep");
setIntervalFromNow(FIVE_SECONDS_MS);
}
if (config.device.role == meshtastic_Config_DeviceConfig_Role_SENSOR && config.power.is_power_saving) {
meshtastic_ClientNotification *notification = clientNotificationPool.allocZeroed();
notification->level = meshtastic_LogRecord_Level_INFO;
notification->time = getValidTime(RTCQualityFromNet);
sprintf(notification->message, "Sending telemetry and sleeping for %us interval in a moment",
Default::getConfiguredOrDefaultMs(moduleConfig.telemetry.air_quality_interval,
default_telemetry_broadcast_interval_secs) /
1000U);
service->sendClientNotification(notification);
sleepOnNextExecution = true;
LOG_DEBUG("Start next execution in 5s, then sleep");
setIntervalFromNow(FIVE_SECONDS_MS);
}
}
return true;
}
src/motion/ICM42607PSensor.cpp
+25 -7
View File
@@ -4,10 +4,16 @@
#include "detect/ScanI2CTwoWire.h"
#include <ICM42670P.h>
#include <math.h>
static constexpr uint16_t ICM42607P_ACCEL_ODR_HZ = 50;
static constexpr uint16_t ICM42607P_ACCEL_FSR_G = 2;
static constexpr float ICM42607P_COUNTS_PER_G = 32768.0f / ICM42607P_ACCEL_FSR_G;
static constexpr float ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE =
#ifdef ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG
ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG;
#else
0.0f;
#endif
#ifdef ICM_42607P_INT_PIN
volatile static bool ICM42607P_IRQ = false;
@@ -18,10 +24,7 @@ void ICM42607PSetInterrupt()
}
#endif
ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice)
{
wire = ScanI2CTwoWire::fetchI2CBus(foundDevice.address);
}
ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
ICM42607PSensor::~ICM42607PSensor() = default;
@@ -30,6 +33,7 @@ bool ICM42607PSensor::init()
bool addressLsb = deviceAddress() == ICM42607P_ADDR_ALT;
LOG_DEBUG("ICM-42607-P begin on addr 0x%02X (port=%d)", deviceAddress(), devicePort());
TwoWire *wire = ScanI2CTwoWire::fetchI2CBus(device.address);
sensor.reset();
auto newSensor = std::make_unique<ICM42670>(*wire, addressLsb);
@@ -82,8 +86,22 @@ int32_t ICM42607PSensor::runOnce()
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
// LOG_DEBUG("ICM-42607-P accel read x=%.3fg y=%.3fg z=%.3fg", (float)event.accel[0] / ICM42607P_COUNTS_PER_G,
// (float)event.accel[1] / ICM42607P_COUNTS_PER_G, (float)event.accel[2] / ICM42607P_COUNTS_PER_G);
float ax = static_cast<float>(event.accel[0]);
float ay = static_cast<float>(event.accel[1]);
const float az = static_cast<float>(event.accel[2]);
if (ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE != 0.0f) {
static const float rotRad = ICM42607P_ACCEL_TO_COMPASS_ROTATION_DEG_VALUE * DEG_TO_RAD;
static const float cosTheta = cosf(rotRad);
static const float sinTheta = sinf(rotRad);
const float rotatedX = (ax * cosTheta) - (ay * sinTheta);
const float rotatedY = (ax * sinTheta) + (ay * cosTheta);
ax = rotatedX;
ay = rotatedY;
}
// Match the accel sign convention used by other FusionCompass sensor paths.
publishCompassAccelSample(ax, -ay, -az);
return MOTION_SENSOR_CHECK_INTERVAL_MS;
#endif
src/motion/ICM42607PSensor.h
-1
View File
@@ -14,7 +14,6 @@ class ICM42607PSensor : public MotionSensor
{
private:
std::unique_ptr<ICM42670> sensor;
TwoWire *wire = nullptr;
public:
explicit ICM42607PSensor(ScanI2C::FoundDevice foundDevice);
src/motion/MMC5983MASensor.cpp
+45 -13
View File
@@ -2,6 +2,7 @@
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
#include "Fusion/Fusion.h"
#include "detect/ScanI2CTwoWire.h"
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
@@ -10,8 +11,11 @@ extern graphics::Screen *screen;
static constexpr float MMC5983MA_ZERO_FIELD = 131072.0f;
static constexpr float MMC5983MA_COUNTS_PER_GAUSS = 16384.0f;
static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 10;
static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 50;
static constexpr int32_t MMC5983MA_UPDATE_INTERVAL_MS = 20;
static constexpr float MMC5983MA_HEADING_OFFSET_DEG = 180.0f;
static constexpr uint32_t MMC5983MA_ACCEL_STALE_MS = 300;
static constexpr float MMC5983MA_MIN_AXIS_RADIUS = 1e-4f;
MMC5983MASensor::MMC5983MASensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
@@ -62,7 +66,7 @@ int32_t MMC5983MASensor::runOnce()
{
float magX = 0, magY = 0, magZ = 0;
if (!readMagnetometer(magX, magY, magZ)) {
return MOTION_SENSOR_CHECK_INTERVAL_MS;
return MMC5983MA_UPDATE_INTERVAL_MS;
}
#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
@@ -74,25 +78,53 @@ int32_t MMC5983MASensor::runOnce()
}
#endif
magX -= (highestX + lowestX) / 2;
magY -= (highestY + lowestY) / 2;
magZ -= (highestZ + lowestZ) / 2;
// Hard-iron bias removal.
magX -= (highestX + lowestX) * 0.5f;
magY -= (highestY + lowestY) * 0.5f;
magZ -= (highestZ + lowestZ) * 0.5f;
// Soft-iron diagonal scaling from calibration extrema.
const float radiusX = (highestX - lowestX) * 0.5f;
const float radiusY = (highestY - lowestY) * 0.5f;
const float radiusZ = (highestZ - lowestZ) * 0.5f;
const float avgRadius = (radiusX + radiusY + radiusZ) / 3.0f;
magX *= (radiusX > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusX) : 1.0f;
magY *= (radiusY > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusY) : 1.0f;
magZ *= (radiusZ > MMC5983MA_MIN_AXIS_RADIUS) ? (avgRadius / radiusZ) : 1.0f;
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
float heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
if (heading < 0.0f) {
heading += 360.0f;
} else if (heading >= 360.0f) {
heading -= 360.0f;
float heading;
float accelX = 0.0f;
float accelY = 0.0f;
float accelZ = 0.0f;
uint32_t accelAgeMs = 0;
if (getLatestCompassAccelSample(accelX, accelY, accelZ, accelAgeMs) && accelAgeMs <= MMC5983MA_ACCEL_STALE_MS) {
FusionVector ga = {.axis = {accelX, accelY, accelZ}};
FusionVector ma = {.axis = {magX, magY, magZ}};
if (config.display.compass_orientation > meshtastic_Config_DisplayConfig_CompassOrientation_DEGREES_270) {
ma = FusionAxesSwap(ma, FusionAxesAlignmentNXNYPZ);
ga = FusionAxesSwap(ga, FusionAxesAlignmentNXNYPZ);
}
heading = FusionCompassCalculateHeading(FusionConventionNed, ga, ma) + MMC5983MA_HEADING_OFFSET_DEG;
} else {
heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
}
if (heading >= 360.0f)
heading -= 360.0f;
else if (heading < 0.0f)
heading += 360.0f;
heading = 360.0f - heading;
if (heading >= 360.0f)
heading -= 360.0f;
heading = applyCompassOrientation(heading);
if (screen) {
if (screen)
screen->setHeading(heading);
}
#endif
return MOTION_SENSOR_CHECK_INTERVAL_MS;
return MMC5983MA_UPDATE_INTERVAL_MS;
}
void MMC5983MASensor::calibrate(uint16_t forSeconds)
src/motion/MagnetometerThread.h
+1 -2
View File
@@ -47,9 +47,8 @@ class MagnetometerThread : public concurrency::OSThread
{
canSleep = true;
if (isInitialised) {
if (isInitialised)
return sensor->runOnce();
}
return MOTION_SENSOR_CHECK_INTERVAL_MS;
}
src/motion/MotionSensor.cpp
+41
View File
@@ -2,6 +2,7 @@
#include "FSCommon.h"
#include "SPILock.h"
#include "SafeFile.h"
#include "concurrency/LockGuard.h"
#include "graphics/draw/CompassRenderer.h"
#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C
@@ -30,6 +31,17 @@ bool isRangeValid(float highest, float lowest)
// NaN/Inf guard without pulling in extra math helpers.
return (highest == highest) && (lowest == lowest) && (highest > lowest);
}
struct CompassAccelSample {
float x = 0.0f;
float y = 0.0f;
float z = 0.0f;
uint32_t sampledAtMs = 0;
bool valid = false;
};
concurrency::Lock latestCompassAccelLock;
CompassAccelSample latestCompassAccelSample;
} // namespace
// screen is defined in main.cpp
@@ -204,6 +216,35 @@ float MotionSensor::applyCompassOrientation(float heading)
}
}
void MotionSensor::publishCompassAccelSample(float x, float y, float z)
{
concurrency::LockGuard guard(&latestCompassAccelLock);
latestCompassAccelSample.x = x;
latestCompassAccelSample.y = y;
latestCompassAccelSample.z = z;
latestCompassAccelSample.sampledAtMs = millis();
latestCompassAccelSample.valid = true;
}
bool MotionSensor::getLatestCompassAccelSample(float &x, float &y, float &z, uint32_t &ageMs)
{
uint32_t sampledAtMs = 0;
{
concurrency::LockGuard guard(&latestCompassAccelLock);
if (!latestCompassAccelSample.valid) {
return false;
}
x = latestCompassAccelSample.x;
y = latestCompassAccelSample.y;
z = latestCompassAccelSample.z;
sampledAtMs = latestCompassAccelSample.sampledAtMs;
}
ageMs = millis() - sampledAtMs;
return true;
}
#if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
void MotionSensor::drawFrameCalibration(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
{
src/motion/MotionSensor.h
+2
View File
@@ -67,6 +67,8 @@ class MotionSensor
static void updateCalibrationExtrema(float x, float y, float z, float &highestX, float &lowestX, float &highestY,
float &lowestY, float &highestZ, float &lowestZ);
static float applyCompassOrientation(float heading);
static void publishCompassAccelSample(float x, float y, float z);
static bool getLatestCompassAccelSample(float &x, float &y, float &z, uint32_t &ageMs);
ScanI2C::FoundDevice device;
src/platform/nrf52/NRF52Bluetooth.cpp
+2
View File
@@ -71,9 +71,11 @@ void onConnect(uint16_t conn_handle)
// the (single, reused) bluetoothPhoneAPI instance, so a prior session's
// authorization can otherwise survive a quick reconnect. handleStartConfig()
// re-locks on every want_config too; this closes the window before that.
#ifdef MESHTASTIC_PHONEAPI_ACCESS_CONTROL
if (bluetoothPhoneAPI) {
bluetoothPhoneAPI->setAdminAuthorized(false);
}
#endif
// Notify UI (or any other interested firmware components)
meshtastic::BluetoothStatus newStatus(meshtastic::BluetoothStatus::ConnectionState::CONNECTED);
variants/nrf52840/heltec_mesh_node_t1/variant.h
+41 -53
View File
@@ -18,21 +18,20 @@
#ifndef _VARIANT_HELTEC_MESH_NODE_T1_
#define _VARIANT_HELTEC_MESH_NODE_T1_
/** Master clock frequency */
#define VARIANT_MCK (64000000ul)
#define USE_LFXO // Board uses 32khz crystal for LF
/*----------------------------------------------------------------------------
* Headers
*----------------------------------------------------------------------------*/
#include "WVariant.h"
#ifdef __cplusplus
extern "C" {
#endif // __cplusplus
#define HELTEC_MESH_NODE_T1
// Display (ST7735, 80x160 TFT via SPI1)
#define ST7735_CS (0 + 12)
#define ST7735_RS (0 + 22) // DC
#define ST7735_SDA (0 + 24)
@@ -41,7 +40,7 @@ extern "C" {
#define ST7735_MISO -1
#define ST7735_BUSY -1
#define ST7735_BL (0 + 15)
#define VTFT_CTRL (0 + 13) // Active HIGH, powers the ST7735 display
#define VTFT_CTRL (0 + 13) // Active HIGH, powers the ST7735 display
#define SPI_FREQUENCY 80000000
#define SPI_READ_FREQUENCY 16000000
#define SCREEN_ROTATE
@@ -50,51 +49,47 @@ extern "C" {
#define TFT_OFFSET_X 24
#define TFT_OFFSET_Y 0
#define TFT_INVERT false
#define SCREEN_TRANSITION_FRAMERATE 3 // fps
#define DISPLAY_FORCE_SMALL_FONTS
#define FORCE_LOW_RES 1 // 80px-wide panel causes artifacts with full-res UI elements
// Pins
// Number of pins defined in PinDescription array
#define PINS_COUNT (48)
#define NUM_DIGITAL_PINS (48)
#define NUM_ANALOG_INPUTS (1)
#define NUM_ANALOG_OUTPUTS (0)
// LEDs
#define PIN_LED1 (0 + 16)
#define LED_BLUE PIN_LED1 // fake for bluefruit library
#define LED_GREEN PIN_LED1
#define LED_STATE_ON 0 // State when LED is lit
/*
* Buttons
*/
// Buttons
#define PIN_BUTTON1 (32 + 10)
#define PIN_BUTTON2 (0 + 14)
/*
No longer populated on PCB
*/
// Serial (unused, not populated on PCB)
#define PIN_SERIAL2_RX (-1)
#define PIN_SERIAL2_TX (-1)
/*
* I2C
*/
// I2C (ICM42607P IMU and MMC5983MA compass)
#define WIRE_INTERFACES_COUNT 1
// I2C bus 1
#define PIN_WIRE_SDA (32 + 3)
#define PIN_WIRE_SCL (0 + 10)
#define PIN_SENSOR_EN (32 + 6) // Power control pin for sensors
#define PIN_SENSOR_EN_ACTIVE LOW // Power control active state
// #define ICM_42607P_INT_PIN (32 + 1) // ICM42607P INT1, Arduino pin 33 / nRF P1.01
// #define ICM_42607P_INT2_PIN (32 + 7) // ICM42607P INT2, Arduino pin 39 / nRF P1.07
#define PIN_SENSOR_EN (32 + 6) // Active LOW — controls IMU and compass VDD
#define PIN_SENSOR_EN_ACTIVE LOW
/*
* Lora radio
*/
// ICM42607P interrupt pins — populated on PCB, not yet used in firmware
// #define ICM_42607P_INT_PIN (32 + 1) // INT1 — P1.01
// #define ICM_42607P_INT2_PIN (32 + 7) // INT2 — P1.07
// LoRa (SX1262)
#define USE_SX1262
#define SX126X_CS (32 + 11) // FIXME - we really should define LORA_CS instead
@@ -105,46 +100,48 @@ No longer populated on PCB
#define SX126X_DIO2_AS_RF_SWITCH
#define SX126X_DIO3_TCXO_VOLTAGE 1.8
/*
* SPI Interfaces
*/
// SPI
#define SPI_INTERFACES_COUNT 2
// For LORA, spi 0
// SPI0 — LoRa
#define PIN_SPI_MISO (0 + 3)
#define PIN_SPI_MOSI (32 + 14)
#define PIN_SPI_SCK (32 + 13)
#define PIN_SPI1_MISO ST7735_MISO
// SPI1 — Display (ST7735, write-only)
#define PIN_SPI1_MISO ST7735_MISO
#define PIN_SPI1_MOSI ST7735_SDA
#define PIN_SPI1_SCK ST7735_SCK
#define PIN_SPI1_SCK ST7735_SCK
// GPS (UC6580)
/*
* GPS pins
*/
#define GPS_UC6580
#define GPS_BAUDRATE 115200
#define PIN_GPS_RESET (0 + 26)
#define GPS_RESET_MODE LOW
#define PIN_GPS_EN (0 + 4)
#define GPS_EN_ACTIVE LOW
#define PERIPHERAL_WARMUP_MS 1000 // Make sure I2C QuickLink has stable power before continuing
#define PERIPHERAL_WARMUP_MS 1000 // Allow I2C bus to stabilise after sensor power-on
#define PIN_GPS_PPS (32 + 9) // Pulse per second input from the GPS
#define GPS_TX_PIN (0 + 7)
#define GPS_RX_PIN (0 + 8)
#define GPS_THREAD_INTERVAL 50
#define PIN_SERIAL1_RX GPS_RX_PIN
#define PIN_SERIAL1_TX GPS_TX_PIN
// Buzzer
#define PIN_BUZZER (0 + 9)
#define PIN_BUZZER_VOLTAGE_MULTIPLIER_1 (32 + 2)
#define PIN_BUZZER_VOLTAGE_MULTIPLIER_2 (32 + 5)
// Battery / ADC
#define ADC_CTRL 11
#define ADC_CTRL_ENABLED HIGH
#define BATTERY_PIN 5
#define BATTERY_PIN 5 // nRF52840 AIN3
#define ADC_RESOLUTION 14
#define BATTERY_SENSE_RESOLUTION_BITS 12
@@ -154,24 +151,15 @@ No longer populated on PCB
#define VBAT_AR_INTERNAL AR_INTERNAL_3_0
#define ADC_MULTIPLIER (4.916F)
// nrf52840 AIN3 = Pin 5
// commented out due to power leakage of 2.9mA in shutdown state see reported issue #8801
#define BATTERY_LPCOMP_INPUT NRF_LPCOMP_INPUT_3
// #define BATTERY_LPCOMP_INPUT NRF_LPCOMP_INPUT_3 // UNSAFE: causes 2.9 mA deep-sleep leakage (issue #8801)
// We have AIN3 with a VBAT divider so AIN3 = VBAT * (100/490)
// We have the device going deep sleep under 3.1V, which is AIN3 = 0.63V
// So we can wake up when VBAT>=VDD is restored to 3.3V, where AIN3 = 0.67V
// Ratio 0.67/3.3 = 0.20, so we can pick a bit higher, 2/8 VDD, which means
// VBAT=4.04V
#define BATTERY_LPCOMP_THRESHOLD NRF_LPCOMP_REF_SUPPLY_2_8
// Power / USB
#define NRF_APM // USB VBUS detection via nrfx_power_usbstatus_get() — no dedicated charging IC on this board
#define HAS_RTC 0 // No external RTC fitted
#define HAS_RTC 0
#ifdef __cplusplus
}
#endif
/*----------------------------------------------------------------------------
* Arduino objects - C++ only
*----------------------------------------------------------------------------*/
#endif
variants/nrf52840/nrf52832.ini
-6
View File
@@ -1,6 +0,0 @@
[nrf52832_base]
extends = nrf52_base
build_flags =
${nrf52_base.build_flags}
-DSERIAL_BUFFER_SIZE=1024
variants/nrf52840/tracker-t1000-e/variant.cpp
+4 -4
View File
@@ -45,13 +45,13 @@ void initVariant()
digitalWrite(BUZZER_EN_PIN, HIGH);
pinMode(PIN_GPS_EN, OUTPUT);
digitalWrite(PIN_GPS_EN, LOW);
digitalWrite(PIN_GPS_EN, GPS_EN_ACTIVE);
pinMode(GPS_VRTC_EN, OUTPUT);
digitalWrite(GPS_VRTC_EN, HIGH);
pinMode(PIN_GPS_RESET, OUTPUT);
digitalWrite(PIN_GPS_RESET, LOW);
digitalWrite(PIN_GPS_RESET, !GPS_RESET_MODE);
pinMode(GPS_SLEEP_INT, OUTPUT);
digitalWrite(GPS_SLEEP_INT, HIGH);
@@ -59,5 +59,5 @@ void initVariant()
pinMode(GPS_RTC_INT, OUTPUT);
digitalWrite(GPS_RTC_INT, LOW);
pinMode(GPS_RESETB_OUT, INPUT);
}
pinMode(GPS_RESETB_OUT, INPUT_PULLUP);
}